add a test for graph_based_slam

Author: AtsushiSakai

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:

SLAM/GraphBasedSLAM/graph_based_slam.py

@@ -4,6 +4,10 @@
 
 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

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()