text: from unittest import TestCase
  from PathPlanning.DubinsPath import dubins_path_planning
  import numpy as np
  
  
  class Test(TestCase):
  
      def test1(self):
          start_x = 1.0  # [m]
          start_y = 1.0  # [m]
          start_yaw = np.deg2rad(45.0)  # [rad]
  
          end_x = -3.0  # [m]
          end_y = -3.0  # [m]
          end_yaw = np.deg2rad(-45.0)  # [rad]
  
          curvature = 1.0
  
          px, py, pyaw, mode, clen = dubins_path_planning.dubins_path_planning(
              start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature)
  
          assert(abs(px[-1] - end_x) <= 0.1)
          assert(abs(py[-1] - end_y) <= 0.1)
          assert(abs(pyaw[-1] - end_yaw) <= 0.1)
  
      def test2(self):
          dubins_path_planning.show_animation = False
          dubins_path_planning.main()
  
      def test3(self):
          dubins_path_planning.show_animation = False
          dubins_path_planning.test()
  