diff --git a/tests/unit_test.rs b/tests/unit_test.rs
new file mode 100644
index 0000000..5ebdd66
--- /dev/null
+++ b/tests/unit_test.rs
@@ -0,0 +1,238 @@
+#[cfg(test)]
+mod tests {
+    use dubins_path::*;
+
+    const ERROR: f64 = 0.000000000000001;
+
+    fn circle_in_error_margin(
+        result: CircleVector,
+        expected_result: CircleVector,
+    ) -> Result<(), ()> {
+        if result.center.x - expected_result.center.x > ERROR {
+            return Err(());
+        }
+        if result.center.x - expected_result.center.x < -ERROR {
+            return Err(());
+        }
+        if result.center.y - expected_result.center.y > ERROR {
+            return Err(());
+        }
+        if result.center.y - expected_result.center.y < -ERROR {
+            return Err(());
+        }
+        if result.radius - expected_result.radius > ERROR {
+            return Err(());
+        }
+        if result.radius - expected_result.radius < -ERROR {
+            return Err(());
+        }
+        if result.angle.radians - expected_result.angle.radians > ERROR
+            && result.angle.signed().radians - expected_result.angle.signed().radians > ERROR
+        {
+            return Err(());
+        }
+
+        if result.angle.radians - expected_result.angle.radians < -ERROR
+            && result.angle.signed().radians - expected_result.angle.signed().radians < -ERROR
+        {
+            return Err(());
+        }
+        Ok(())
+    }
+
+    fn vector_in_error_margin(result: Vector, expected_result: Vector) -> Result<(), ()> {
+        if result.origin.x - expected_result.origin.x > ERROR {
+            return Err(());
+        }
+        if result.origin.x - expected_result.origin.x < -ERROR {
+            return Err(());
+        }
+        if result.origin.y - expected_result.origin.y > ERROR {
+            return Err(());
+        }
+        if result.origin.y - expected_result.origin.y < -ERROR {
+            return Err(());
+        }
+        if result.angle.radians - expected_result.angle.radians > ERROR
+            || result.angle.signed().radians - expected_result.angle.signed().radians > ERROR
+        {
+            return Err(());
+        }
+        if result.angle.radians - expected_result.angle.radians < -ERROR
+            || result.angle.signed().radians - expected_result.angle.signed().radians < -ERROR
+        {
+            return Err(());
+        }
+        if result.magnitude - expected_result.magnitude > ERROR {
+            return Err(());
+        }
+        if result.magnitude - expected_result.magnitude < -ERROR {
+            return Err(());
+        }
+        Ok(())
+    }
+
+    #[test]
+    #[should_panic]
+    fn test_overlapping_circles_rsl() {
+        let radius = 0.5;
+        let test_point = Vector {
+            origin: Point::new(radius, 0.0),
+            angle: Angle::zero(),
+            magnitude: radius,
+        };
+        rsl(test_point).unwrap();
+    }
+
+    #[test]
+    #[should_panic]
+    fn test_overlapping_circles_lsr() {
+        let radius = 0.5;
+        let test_point = Vector {
+            origin: Point::new(-radius, 0.0),
+            angle: Angle::zero(),
+            magnitude: radius,
+        };
+        lsr(test_point).unwrap();
+    }
+
+    #[test]
+    fn test_points_rsr() {
+        {
+            let radius = 0.5;
+            let test_point = Vector {
+                origin: Point::new(0.0, 10.0),
+                angle: Angle::zero(),
+                magnitude: radius,
+            };
+            let expected_result_rsr = RouteCSC {
+                start: CircleVector {
+                    center: Point::new(0.5, 0.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+                tangent: Vector {
+                    origin: Point::new(0.0, 0.0),
+                    angle: Angle::frac_pi_2(),
+                    magnitude: 10.0,
+                },
+                end: CircleVector {
+                    center: Point::new(0.5, 10.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+            };
+
+            let result_rsr = rsr(test_point).unwrap();
+
+            circle_in_error_margin(result_rsr.start, expected_result_rsr.start).unwrap();
+            vector_in_error_margin(result_rsr.tangent, expected_result_rsr.tangent).unwrap();
+            circle_in_error_margin(result_rsr.end, expected_result_rsr.end).unwrap();
+        }
+    }
+
+    #[test]
+    fn test_points_rsl() {
+        {
+            let radius = 0.5;
+            let test_point = Vector {
+                origin: Point::new(0.0, 10.0),
+                angle: Angle::zero(),
+                magnitude: radius,
+            };
+            let expected_result_rsl = RouteCSC {
+                start: CircleVector {
+                    center: Point::new(0.5, 0.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+                tangent: Vector {
+                    origin: Point::new(0.0, 0.0),
+                    angle: Angle::frac_pi_2(),
+                    magnitude: 10.0,
+                },
+                end: CircleVector {
+                    center: Point::new(-0.5, 10.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+            };
+
+            let result_rsl = rsl(test_point).unwrap();
+
+            circle_in_error_margin(result_rsl.start, expected_result_rsl.start).unwrap();
+            vector_in_error_margin(result_rsl.tangent, expected_result_rsl.tangent).unwrap();
+            circle_in_error_margin(result_rsl.end, expected_result_rsl.end).unwrap();
+        }
+    }
+
+    #[test]
+    fn test_points_lsl() {
+        {
+            let radius = 0.5;
+            let test_point = Vector {
+                origin: Point::new(0.0, 10.0),
+                angle: Angle::zero(),
+                magnitude: radius,
+            };
+            let expected_result_lsl = RouteCSC {
+                start: CircleVector {
+                    center: Point::new(-0.5, 0.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+                tangent: Vector {
+                    origin: Point::new(0.0, 0.0),
+                    angle: Angle::frac_pi_2(),
+                    magnitude: 10.0,
+                },
+                end: CircleVector {
+                    center: Point::new(-0.5, 10.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+            };
+
+            let result_lsl = lsl(test_point).unwrap();
+
+            circle_in_error_margin(result_lsl.start, expected_result_lsl.start).unwrap();
+            vector_in_error_margin(result_lsl.tangent, expected_result_lsl.tangent).unwrap();
+            circle_in_error_margin(result_lsl.end, expected_result_lsl.end).unwrap();
+        }
+    }
+
+    #[test]
+    fn test_point_lsr() {
+        {
+            let radius = 0.5;
+            let test_point = Vector {
+                origin: Point::new(0.0, 10.0),
+                angle: Angle::zero(),
+                magnitude: radius,
+            };
+            let expected_result_lsr = RouteCSC {
+                start: CircleVector {
+                    center: Point::new(-0.5, 0.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+                tangent: Vector {
+                    origin: Point::new(0.0, 0.0),
+                    angle: Angle::frac_pi_2(),
+                    magnitude: 10.0,
+                },
+                end: CircleVector {
+                    center: Point::new(0.5, 10.0),
+                    radius: radius,
+                    angle: Angle::zero(),
+                },
+            };
+
+            let result_lsr = lsr(test_point).unwrap();
+
+            circle_in_error_margin(result_lsr.start, expected_result_lsr.start).unwrap();
+            vector_in_error_margin(result_lsr.tangent, expected_result_lsr.tangent).unwrap();
+            circle_in_error_margin(result_lsr.end, expected_result_lsr.end).unwrap();
+        }
+    }
+}