From e4c4bc311023412722a3aab3e481914535db2901 Mon Sep 17 00:00:00 2001
From: Robby Sleiti <167654950+rsleiti@users.noreply.github.com>
Date: Mon, 9 Jun 2025 21:42:22 -0400
Subject: [PATCH 1/2] Add files via upload


From 3839489cd42188db0e560253c3e344c8952d53ab Mon Sep 17 00:00:00 2001
From: Robby Sleiti <167654950+rsleiti@users.noreply.github.com>
Date: Mon, 9 Jun 2025 21:43:10 -0400
Subject: [PATCH 2/2] Add files via upload

---
 PathPlanning/AStar/__init__.py        |  0
 PathPlanning/AStar/test_astar_unit.py | 53 +++++++++++++++++++++++++++
 2 files changed, 53 insertions(+)
 create mode 100644 PathPlanning/AStar/__init__.py
 create mode 100644 PathPlanning/AStar/test_astar_unit.py

diff --git a/PathPlanning/AStar/__init__.py b/PathPlanning/AStar/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/PathPlanning/AStar/test_astar_unit.py b/PathPlanning/AStar/test_astar_unit.py
new file mode 100644
index 0000000000..70e56b9f0b
--- /dev/null
+++ b/PathPlanning/AStar/test_astar_unit.py
@@ -0,0 +1,53 @@
+import unittest
+from PathPlanning.AStar.a_star import AStarPlanner
+
+
+class TestAStar(unittest.TestCase):
+    def test_basic_path(self):
+        # create simple U-shaped obstacle walls
+        ox = [i for i in range(60)]          # bottom wall
+        oy = [0 for _ in range(60)]
+
+        for i in range(60):                  # right wall
+            ox.append(60)
+            oy.append(i)
+
+        sx = 10.0        # start (x, y)
+        sy = 10.0
+        gx = 50.0        # goal (x, y)
+        gy = 50.0
+        grid_size = 2.0
+        robot_radius = 1.0
+
+        planner = AStarPlanner(ox, oy, grid_size, robot_radius)
+        rx, ry = planner.planning(sx, sy, gx, gy)
+
+        # basic sanity checks
+        self.assertTrue(len(rx) > 0)
+        self.assertEqual(len(rx), len(ry))
+
+        # the algorithm may return the path in either direction;
+        # verify the two endpoints match {start, goal} regardless of order
+        self.assertCountEqual(
+            {(rx[0], ry[0]), (rx[-1], ry[-1])},
+            {(sx, sy), (gx, gy)}
+        )
+
+    def test_start_equals_goal(self):
+        # provide ONE dummy obstacle so min()/max() calls succeed
+        sx = sy = gx = gy = 10.0
+        ox = [sx]
+        oy = [sy]
+        grid_size = 1.0
+        robot_radius = 1.0
+
+        planner = AStarPlanner(ox, oy, grid_size, robot_radius)
+        rx, ry = planner.planning(sx, sy, gx, gy)
+
+        # when start == goal, path should contain exactly that single point
+        self.assertEqual(len(rx), 1)
+        self.assertEqual((rx[0], ry[0]), (sx, sy))
+
+
+if __name__ == '__main__':
+    unittest.main()