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distribution_tests.cpp

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// Bring in my package's API, which is what I'm testing
#include "probabilistic_grasp_planner/distribution_evaluator.h"
#include "probabilistic_grasp_planner/probabilistic_planner_tools.h"
// Bring in gtest
#include <gtest/gtest.h>

// Declare a test
TEST(DistributionEvaluator, testUniformDistribution)
{
  probabilistic_grasp_planner::UniformDistributionEvaluator evaluator;

  probabilistic_grasp_planner::GraspWithMetadata grasp;
  EXPECT_DOUBLE_EQ(evaluator.get_normalization_term(),0);
  double res = evaluator.evaluate(grasp,grasp);
  EXPECT_DOUBLE_EQ(res, 1.0);

}


// Declare another test
TEST(DistributionEvaluator, testNormalDistribution)
{
  double position_sigma = 0.01;
  double orientation_concentration = 10.0;

  probabilistic_grasp_planner::NormalDistributionEvaluator evaluator2(position_sigma, orientation_concentration);
  EXPECT_DOUBLE_EQ(evaluator2.get_normalization_term(),0);

  probabilistic_grasp_planner::GraspWithMetadata gstar;
  gstar.tool_point_pose_.setIdentity();

  probabilistic_grasp_planner::GraspWithMetadata grasp1;
  grasp1.tool_point_pose_.setIdentity();
  grasp1.tool_point_pose_.setOrigin(btVector3(0.01,0,0));

  double res = evaluator2.evaluate(gstar,grasp1);
  EXPECT_DOUBLE_EQ(res, 0.60653065971263342);

  probabilistic_grasp_planner::GraspWithMetadata grasp2;
  grasp2.tool_point_pose_.setIdentity();
  grasp2.tool_point_pose_.setOrigin(btVector3(0.01,0.01,0));
  res = evaluator2.evaluate(gstar,grasp2);
  EXPECT_DOUBLE_EQ(res, 0.36787944117144233);

  probabilistic_grasp_planner::GraspWithMetadata grasp3;
  grasp3.tool_point_pose_.setIdentity();
  btMatrix3x3 basis;
  basis.setEulerYPR(0.0,0.0,0.0);
  grasp3.tool_point_pose_.setBasis(basis);
  res = evaluator2.evaluate(gstar,grasp3);
  EXPECT_DOUBLE_EQ(res, 1.0);

  basis.setEulerYPR(0.0,0.0,M_PI_4);
  grasp3.tool_point_pose_.setBasis(basis);
  res = evaluator2.evaluate(gstar,grasp3);
  EXPECT_DOUBLE_EQ(res, 0.23120139832879863);

}

//TEST(TestSuite, )

// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}

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probabilistic_grasp_planner
Author(s): Peter Brook
autogenerated on Fri Mar 1 21:32:05 2013