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srcs/RobotNet10/Tests/RobotNet10.GlobalPathPlanner.Test/IPathPlannerTests.cs

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+using RobotNet10.GlobalPathPlanner.Differential;
+using RobotNet10.GlobalPathPlanner.Model;
+
+namespace RobotNet10.GlobalPathPlanner.UnitTest;
+
+/// <summary>
+/// Tests for IPathPlanner interface contract
+/// </summary>
+public class IPathPlannerTests
+{
+    [Fact]
+    public void IPathPlanner_Implementation_ShouldImplementAllMethods()
+    {
+        // Arrange
+        var planner = new DifferentialPlanner() as IPathPlanner;
+
+        // Assert
+        Assert.NotNull(planner);
+        Assert.NotNull(planner.GetType().GetMethod(nameof(IPathPlanner.SetData)));
+        Assert.NotNull(planner.GetType().GetMethod(nameof(IPathPlanner.SetOptions)));
+        Assert.NotNull(planner.GetType().GetMethod(nameof(IPathPlanner.PathPlanning), new[] { typeof(double), typeof(double), typeof(double), typeof(Guid), typeof(CancellationToken?) }));
+        Assert.NotNull(planner.GetType().GetMethod(nameof(IPathPlanner.PathPlanning), new[] { typeof(Guid), typeof(double), typeof(Guid), typeof(CancellationToken?) }));
+    }
+
+    [Fact]
+    public void IPathPlanner_SetData_ShouldAcceptNodesAndEdges()
+    {
+        // Arrange
+        var planner = new DifferentialPlanner();
+        var (nodes, edges) = TestHelpers.CreateSimpleLinearGraph();
+
+        // Act & Assert - Should not throw
+        planner.SetData(nodes, edges);
+        Assert.True(true);
+    }
+
+    [Fact]
+    public void IPathPlanner_SetOptions_ShouldAcceptOptions()
+    {
+        // Arrange
+        var planner = new DifferentialPlanner();
+        var options = new PathPlannerOptions
+        {
+            LimitDistanceToEdge = 1.0,
+            LimitDistanceToNode = 0.3
+        };
+
+        // Act & Assert - Should not throw
+        planner.SetOptions(options);
+        Assert.True(true);
+    }
+
+    [Fact]
+    public void IPathPlanner_AllPathPlanningMethods_ShouldReturnTuple()
+    {
+        // Arrange
+        var planner = new DifferentialPlanner();
+        var (nodes, edges) = TestHelpers.CreateSimpleLinearGraph();
+        planner.SetData(nodes, edges);
+
+        var x = 0.0;
+        var y = 0.0;
+        var theta = 0.0;
+        var goalId = nodes[2].Id;
+
+        // Act
+        var result1 = planner.PathPlanning(x, y, theta, goalId);
+        var result2 = planner.PathPlanningWithStartDirection(x, y, theta, goalId);
+        var result3 = planner.PathPlanningWithFinalDirection(x, y, theta, goalId);
+        var result4 = planner.PathPlanningWithAngle(x, y, theta, goalId, 90.0);
+
+        // Assert
+        Assert.NotNull(result1.Nodes);
+        Assert.NotNull(result1.Edges);
+        Assert.NotNull(result2.Nodes);
+        Assert.NotNull(result2.Edges);
+        Assert.NotNull(result3.Nodes);
+        Assert.NotNull(result3.Edges);
+        Assert.NotNull(result4.Nodes);
+        Assert.NotNull(result4.Edges);
+    }
+}