From 592c1ce683b6ec8bcd65c333a2746dd0b2079907 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Thu, 25 Jan 2018 11:59:04 -0800
Subject: [PATCH] fix test and add test for EKF

---
 .../RRTStarReedsShepp/rrt_star_reeds_shepp.py        |  2 ++
 tests/test_extended_kalman_filter.py                 | 12 ++++++++++++
 2 files changed, 14 insertions(+)
 create mode 100644 tests/test_extended_kalman_filter.py

diff --git a/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py b/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
index d30001fb..e4b01b48 100644
--- a/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
+++ b/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
@@ -65,6 +65,8 @@ class RRT():
 
         # generate coruse
         lastIndex = self.get_best_last_index()
+        if lastIndex is None:
+            return None
         path = self.gen_final_course(lastIndex)
         return path
 
diff --git a/tests/test_extended_kalman_filter.py b/tests/test_extended_kalman_filter.py
new file mode 100644
index 00000000..299ee71b
--- /dev/null
+++ b/tests/test_extended_kalman_filter.py
@@ -0,0 +1,12 @@
+from unittest import TestCase
+
+from Localization.extended_kalman_filter import extended_kalman_filter as m
+
+print(__file__)
+
+
+class Test(TestCase):
+
+    def test1(self):
+        m.show_animation = False
+        m.main()