From bc79d02eba4d844c839185ba98ebc9b8e67f5929 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Fri, 12 Jan 2018 21:50:44 -0800
Subject: [PATCH] add test

---
 .../frenet_optimal_trajectory.py                  |  7 ++++---
 README.md                                         |  8 +++++---
 tests/test_frenet_optimal_trajectory.py           | 15 +++++++++++++++
 tests/{test_rrtdubins.py => test_rrt_dubins.py}   |  0
 4 files changed, 24 insertions(+), 6 deletions(-)
 create mode 100644 tests/test_frenet_optimal_trajectory.py
 rename tests/{test_rrtdubins.py => test_rrt_dubins.py} (100%)

diff --git a/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py b/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
index fed59db0..3957df90 100644
--- a/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
+++ b/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
@@ -333,9 +333,10 @@ def main():
             plt.pause(0.0001)
 
     print("Finish")
-    plt.grid(True)
-    plt.pause(0.0001)
-    plt.show()
+    if show_animation:
+        plt.grid(True)
+        plt.pause(0.0001)
+        plt.show()
 
 
 if __name__ == '__main__':
diff --git a/README.md b/README.md
index a8348cc1..84a62a00 100644
--- a/README.md
+++ b/README.md
@@ -350,15 +350,16 @@ Ref:
 - [ghliu/pyReedsShepp: Implementation of Reeds Shepp curve\.](https://github.com/ghliu/pyReedsShepp)
 
 
-## Frenet Optimal Trajectory
+## Optimal Trajectory in a Frenet Frame 
 
 ![3](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/FrenetOptimalTrajectory/animation.gif)
 
-It is a optimal trajectory generation on Frenet Frame.
+It is a optimal trajectory generation in a Frenet Frame.
 
-The cyan line is target course and black crosses are obstacles.
+The cyan line is the target course and black crosses are obstacles.
 
 The red line is predicted path.
+
 　
 Ref:
 
@@ -367,6 +368,7 @@ Ref:
 - [Optimal trajectory generation for dynamic street scenarios in a Frenet Frame](https://www.youtube.com/watch?v=Cj6tAQe7UCY)
 
 
+
 ## Mix Integer Optimization based model predictive planning and control
 
 ![2](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/MixIntegerPathPlanning/animation.gif)
diff --git a/tests/test_frenet_optimal_trajectory.py b/tests/test_frenet_optimal_trajectory.py
new file mode 100644
index 00000000..4e154809
--- /dev/null
+++ b/tests/test_frenet_optimal_trajectory.py
@@ -0,0 +1,15 @@
+from unittest import TestCase
+
+import sys
+sys.path.append("./PathPlanning/FrenetOptimalTrajectory/")
+
+from PathPlanning.FrenetOptimalTrajectory import frenet_optimal_trajectory as m
+
+print(__file__)
+
+
+class Test(TestCase):
+
+    def test1(self):
+        m.show_animation = False
+        m.main()
diff --git a/tests/test_rrtdubins.py b/tests/test_rrt_dubins.py
similarity index 100%
rename from tests/test_rrtdubins.py
rename to tests/test_rrt_dubins.py