text: from unittest import TestCase
  
  import numpy as np
  np.random.seed(12345)
  
  from PathPlanning.DubinsPath import dubins_path_planning
  
  
  class Test(TestCase):
  
      @staticmethod
      def check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x, end_y, end_yaw):
          assert (abs(px[0] - start_x) <= 0.01)
          assert (abs(py[0] - start_y) <= 0.01)
          assert (abs(pyaw[0] - start_yaw) <= 0.01)
          print("x", px[-1], end_x)
          assert (abs(px[-1] - end_x) <= 0.01)
          print("y", py[-1], end_y)
          assert (abs(py[-1] - end_y) <= 0.01)
          print("yaw", pyaw[-1], end_yaw)
          assert (abs(pyaw[-1] - end_yaw) <= 0.01)
  
      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)
  
          self.check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x, end_y, end_yaw)
  
      def test2(self):
          dubins_path_planning.show_animation = False
          dubins_path_planning.main()
  
      def test3(self):
          N_TEST = 10
  
          for i in range(N_TEST):
              start_x = (np.random.rand() - 0.5) * 10.0  # [m]
              start_y = (np.random.rand() - 0.5) * 10.0  # [m]
              start_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0)  # [rad]
  
              end_x = (np.random.rand() - 0.5) * 10.0  # [m]
              end_y = (np.random.rand() - 0.5) * 10.0  # [m]
              end_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0)  # [rad]
  
              curvature = 1.0 / (np.random.rand() * 5.0)
  
              px, py, pyaw, mode, clen = dubins_path_planning.dubins_path_planning(
                  start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature)
  
              self.check_edge_condition(px, py, pyaw, start_x, start_y, start_yaw, end_x, end_y, end_yaw)
  