From 79a07d857ce757604ae46d5cd1b2a25635afae22 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Wed, 28 Mar 2018 22:13:13 -0700
Subject: [PATCH] add a test for graph_based_slam

---
 README.md                               |  2 ++
 SLAM/GraphBasedSLAM/graph_based_slam.py |  4 ++++
 tests/test_graph_based_slam.py          | 12 ++++++++++++
 3 files changed, 18 insertions(+)
 create mode 100644 tests/test_graph_based_slam.py

diff --git a/README.md b/README.md
index 35585084..0477142f 100644
--- a/README.md
+++ b/README.md
@@ -264,6 +264,8 @@ The black line is dead reckoning.
 
 The red line is the estimated trajectory with Graph based SLAM.
 
+The black stars are landmarks for graph edge generation.
+
 ![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/SLAM/GraphBasedSLAM/animation.gif)
 
 Ref:
diff --git a/SLAM/GraphBasedSLAM/graph_based_slam.py b/SLAM/GraphBasedSLAM/graph_based_slam.py
index 3d63a372..a3f7604c 100644
--- a/SLAM/GraphBasedSLAM/graph_based_slam.py
+++ b/SLAM/GraphBasedSLAM/graph_based_slam.py
@@ -4,6 +4,10 @@ Graph based SLAM example
 
 author: Atsushi Sakai (@Atsushi_twi)
 
+Ref
+
+[A Tutorial on Graph-Based SLAM](http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf)
+
 """
 
 import numpy as np
diff --git a/tests/test_graph_based_slam.py b/tests/test_graph_based_slam.py
new file mode 100644
index 00000000..13524366
--- /dev/null
+++ b/tests/test_graph_based_slam.py
@@ -0,0 +1,12 @@
+from unittest import TestCase
+
+from SLAM.GraphBasedSLAM import graph_based_slam as m
+
+print(__file__)
+
+
+class Test(TestCase):
+
+    def test1(self):
+        m.show_animation = False
+        m.main()