From 014110cf90917820cebd4ae85b2bdef94b890224 Mon Sep 17 00:00:00 2001
From: Marcell Vazquez-Chanlatte <mvc@linux.com>
Date: Wed, 21 Dec 2016 19:18:01 -0800
Subject: [PATCH] sketch out tests for smooth robustness

---
 stl/test_robustness.py | 31 ++++++++++++++++++++++++++++++-
 stl/utils.py           |  2 +-
 2 files changed, 31 insertions(+), 2 deletions(-)

diff --git a/stl/test_robustness.py b/stl/test_robustness.py
index 467db95..d2a515b 100644
--- a/stl/test_robustness.py
+++ b/stl/test_robustness.py
@@ -1,5 +1,7 @@
 import stl
+import stl.boolean_eval
 import stl.robustness
+import stl.smooth_robustness
 import pandas as pd
 from nose2.tools import params
 import unittest
@@ -19,7 +21,34 @@ x = pd.DataFrame([[1,2], [1,4], [4,2]], index=[0,0.1,0.2],
 
 class TestSTLRobustness(unittest.TestCase):
     @params(ex1, ex2, ex3, ex4, ex5, ex6)
-    def test_stl(self, phi_str, r):
+    def test_robustness_sign(self, phi_str, _):
+        phi = stl.parse(phi_str)
+        stl_eval = stl.boolean_eval.pointwise_sat(phi)
+        stl_eval2 = stl.robustness.pointwise_robustness(phi)
+        r = stl_eval2(x, 0)
+        assert (r == 0 or ((r > 0) == stl_eval(x, 0)))
+
+
+    @params(ex1, ex2, ex3, ex4, ex5, ex6)
+    def test_robustness_value(self, phi_str, r):
         phi = stl.parse(phi_str)
         stl_eval = stl.robustness.pointwise_robustness(phi)
         self.assertEqual(stl_eval(x, 0), r)
+
+
+    @params(ex1, ex2, ex3, ex4, ex5, ex6)
+    def test_eps_robustness(self, phi_str, r):
+        phi = stl.parse(phi_str)
+        r = stl.robustness.pointwise_robustness(phi)(x, 0)
+        lo, hi = stl.smooth_robustness.smooth_robustness(phi, L=1, eps=0.1)
+        # hi - lo <= eps
+        # lo <= r <= hi
+        raise NotImplementedError
+
+
+    @params(ex1, ex2, ex3, ex4, ex5, ex6)
+    def test_interval_polarity(self, phi_str, r):
+        phi = stl.parse(phi_str)
+        lo, hi = stl.smooth_robustness.smooth_robustness(phi, L=1, eps=0.1)
+        # hi - lo > 0
+        raise NotImplementedError
diff --git a/stl/utils.py b/stl/utils.py
index d4e3b6b..1cdf605 100644
--- a/stl/utils.py
+++ b/stl/utils.py
@@ -66,7 +66,7 @@ def terms_lens(phi:"STL", bind=True) -> lens:
 def param_lens(phi):
     is_sym = lambda x: isinstance(x, sympy.Symbol)
     def focus_lens(leaf):
-        return [lens().const, lens().id] if isinstance(leaf, LinEq) else [lens().interval[0], lens().interval[1]]
+        return [lens().const] if isinstance(leaf, LinEq) else [lens().interval[0], lens().interval[1]]
 
     return ast_lens(phi, pred=type_pred(LinEq, F, G), 
                     focus_lens=focus_lens).filter_(is_sym)