text: /*
   * Copyright (C) 2019-2020 LEIDOS.
   *
   * Licensed under the Apache License, Version 2.0 (the "License"); you may not
   * use this file except in compliance with the License. You may obtain a copy of
   * the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
   * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
   * License for the specific language governing permissions and limitations under
   * the License.
   */
  
  
  #include "localizer.h"
  #include <gtest/gtest.h>
  #include <ros/ros.h>
  namespace localizer{
  
  TEST(GnssNdtSelectorTest, testReliabilityCounter)
  {
      //default 
      localizer::NDTReliabilityCounter counter_default;
      EXPECT_EQ(0, counter_default.getNDTReliabilityCounter());
      counter_default.onNDTScore(1.5);
      EXPECT_EQ(0, counter_default.getNDTReliabilityCounter());
      counter_default.onNDTScore(3);
      EXPECT_EQ(1, counter_default.getNDTReliabilityCounter());
      counter_default.onNDTScore(-1);
      EXPECT_EQ(2, counter_default.getNDTReliabilityCounter());
      counter_default.onNDTScore(3);
      counter_default.onNDTScore(3);
      counter_default.onNDTScore(3);
      counter_default.onNDTScore(3);
      EXPECT_EQ(6, counter_default.getNDTReliabilityCounter());
      counter_default.onNDTScore(100);
      EXPECT_EQ(7, counter_default.getNDTReliabilityCounter());
      counter_default.onNDTScore(100);
      EXPECT_EQ(7, counter_default.getNDTReliabilityCounter());
      // other case
      localizer::NDTReliabilityCounter counter(2.0, 2);
      EXPECT_EQ(0, counter.getNDTReliabilityCounter());
      counter.onNDTScore(1.5);
      EXPECT_EQ(0, counter.getNDTReliabilityCounter());
      counter.onNDTScore(100.0);
      EXPECT_EQ(1, counter.getNDTReliabilityCounter());
      counter.onNDTScore(100.0);
      EXPECT_EQ(2, counter.getNDTReliabilityCounter());
      counter.onNDTScore(100.0);
      EXPECT_EQ(3, counter.getNDTReliabilityCounter());
      counter.onNDTScore(1.5);
      EXPECT_EQ(2, counter.getNDTReliabilityCounter());
      counter.onNDTScore(100.0);
      EXPECT_EQ(3, counter.getNDTReliabilityCounter());
      counter.onNDTScore(100.0);
      EXPECT_EQ(4, counter.getNDTReliabilityCounter());
      counter.onNDTScore(100.0);
      EXPECT_EQ(5, counter.getNDTReliabilityCounter());
      counter.onNDTScore(100.0);
      EXPECT_EQ(5, counter.getNDTReliabilityCounter());
      counter.onNDTScore(1.5);
      EXPECT_EQ(4, counter.getNDTReliabilityCounter());
      counter.onNDTScore(1.5);
      counter.onNDTScore(1.5);
      counter.onNDTScore(1.5);
      counter.onNDTScore(1.5);
      EXPECT_EQ(0, counter.getNDTReliabilityCounter());
      counter.onNDTScore(0.1);
      EXPECT_EQ(0, counter.getNDTReliabilityCounter());
  }
  
  }
  
  
  // Run all the tests
  int main(int argc, char **argv)
  {
      testing::InitGoogleTest(&argc, argv);
      return RUN_ALL_TESTS();
  }
  