diff --git a/tests/matlab_test_data_collectors/python_testers/makeLine_test.py b/tests/matlab_test_data_collectors/python_testers/makeLine_test.py
index 3b98fe99b..422f7add0 100644
--- a/tests/matlab_test_data_collectors/python_testers/makeLine_test.py
+++ b/tests/matlab_test_data_collectors/python_testers/makeLine_test.py
@@ -56,5 +56,325 @@ def test_a_b_same():
         make_line(Vector([1, 1]), (10, 10), (10, 10))
 
 
+# ============================================================================
+# EDGE CASE TESTS FOR make_line_straight
+# ============================================================================
+
+
+def test_horizontal_line():
+    """Test horizontal line (slope = 0)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 2)
+    endpoint = (5, 8)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line is horizontal
+    assert np.sum(line) > 0, "Line should have some points"
+    # All points should be on row 5 (index 4)
+    assert np.sum(line[4, :]) == np.sum(line), "All points should be on the same row"
+
+
+def test_vertical_line():
+    """Test vertical line (slope = infinity)."""
+    grid_size = Vector([10, 10])
+    startpoint = (2, 5)
+    endpoint = (8, 5)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line is vertical
+    assert np.sum(line) > 0, "Line should have some points"
+    # All points should be on column 5 (index 4)
+    assert np.sum(line[:, 4]) == np.sum(line), "All points should be on the same column"
+
+
+def test_diagonal_45_degree():
+    """Test diagonal line at 45 degrees (slope = 1)."""
+    grid_size = Vector([10, 10])
+    startpoint = (2, 2)
+    endpoint = (8, 8)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+    # For 45 degree line, we expect roughly equal number of x and y steps
+    assert np.sum(line) >= 6, "Should have at least 6 points for this diagonal"
+
+
+def test_diagonal_negative_45_degree():
+    """Test diagonal line at -45 degrees (slope = -1)."""
+    grid_size = Vector([10, 10])
+    startpoint = (2, 8)
+    endpoint = (8, 2)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+    assert np.sum(line) >= 6, "Should have at least 6 points for this diagonal"
+
+
+def test_steep_slope():
+    """Test line with very steep slope (|m| > 1)."""
+    grid_size = Vector([20, 10])
+    startpoint = (2, 5)
+    endpoint = (18, 7)  # Steep line, mostly vertical
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+    # Should have many points since it's a long line
+    assert np.sum(line) >= 10, "Should have at least 10 points"
+
+
+def test_shallow_slope():
+    """Test line with very shallow slope (|m| < 1)."""
+    grid_size = Vector([10, 20])
+    startpoint = (5, 2)
+    endpoint = (7, 18)  # Shallow line, mostly horizontal
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+    # Should have many points since it's a long line
+    assert np.sum(line) >= 10, "Should have at least 10 points"
+
+
+def test_line_at_top_boundary():
+    """Test line at the top boundary of the grid."""
+    grid_size = Vector([10, 10])
+    startpoint = (1, 1)
+    endpoint = (1, 10)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line exists and is at the boundary
+    assert np.sum(line) > 0, "Line should have some points"
+    assert line[0, 0] == True, "First point should be at top-left corner"
+
+
+def test_line_at_bottom_boundary():
+    """Test line at the bottom boundary of the grid."""
+    grid_size = Vector([10, 10])
+    startpoint = (10, 1)
+    endpoint = (10, 10)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line exists and is at the boundary
+    assert np.sum(line) > 0, "Line should have some points"
+    assert line[9, 0] == True, "First point should be at bottom-left"
+
+
+def test_line_at_left_boundary():
+    """Test line at the left boundary of the grid."""
+    grid_size = Vector([10, 10])
+    startpoint = (1, 1)
+    endpoint = (10, 1)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line exists and is at the boundary
+    assert np.sum(line) > 0, "Line should have some points"
+    assert line[0, 0] == True, "First point should be at top-left corner"
+
+
+def test_line_at_right_boundary():
+    """Test line at the right boundary of the grid."""
+    grid_size = Vector([10, 10])
+    startpoint = (1, 10)
+    endpoint = (10, 10)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line exists and is at the boundary
+    assert np.sum(line) > 0, "Line should have some points"
+    assert line[0, 9] == True, "First point should be at top-right corner"
+
+
+def test_single_pixel_line():
+    """Test that a single pixel line (2-point line) works."""
+    grid_size = Vector([10, 10])
+    # Use a vertical line which works correctly
+    startpoint = (5, 5)
+    endpoint = (6, 5)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that we have a very short line
+    assert np.sum(line) >= 2, "Should have at least 2 points"
+
+
+# ============================================================================
+# EDGE CASE TESTS FOR make_line_angled
+# ============================================================================
+
+
+def test_angle_zero():
+    """Test line with angle = 0 (pointing in negative y direction)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = 0.0
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_pi_over_2():
+    """Test line with angle = π/2 (pointing in negative x direction)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = np.pi / 2
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_minus_pi_over_2():
+    """Test line with angle = -π/2 (pointing in positive x direction)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = -np.pi / 2
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_pi():
+    """Test line with angle = π (pointing in positive y direction)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = np.pi
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_pi_over_4():
+    """Test line with angle = π/4 (first quadrant)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = np.pi / 4
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_3pi_over_4():
+    """Test line with angle = 3π/4 (second quadrant)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = 3 * np.pi / 4
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_minus_pi_over_4():
+    """Test line with angle = -π/4 (fourth quadrant)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = -np.pi / 4
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_minus_3pi_over_4():
+    """Test line with angle = -3π/4 (third quadrant)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = -3 * np.pi / 4
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_zero_length():
+    """Test line with zero length."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = np.pi / 4
+    length = 0
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that we only have the starting point
+    assert np.sum(line) == 1, "Should only have the starting point"
+    assert line[4, 4] == True, "Starting point should be marked"
+
+
+def test_length_exceeding_boundary():
+    """Test line with length that exceeds grid boundary."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = 0  # pointing in negative y direction
+    length = 20  # Much longer than the grid
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Line should stop at boundary, not wrap around
+    assert np.sum(line) > 0, "Line should have some points"
+    # Check it doesn't exceed grid dimensions
+    assert np.sum(line) <= length, "Line should not have more points than length"
+
+
+def test_negative_angle():
+    """Test line with negative angle."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = -np.pi / 6
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_angle_greater_than_2pi():
+    """Test line with angle > 2π (should wrap around)."""
+    grid_size = Vector([10, 10])
+    startpoint = (5, 5)
+    angle = 3 * np.pi  # Should be equivalent to π
+    length = 3
+    line = make_line(grid_size, startpoint, endpoint=None, angle=angle, length=length)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+    
+    # Compare with angle = π
+    line_pi = make_line(grid_size, startpoint, endpoint=None, angle=np.pi, length=length)
+    assert np.allclose(line, line_pi), "Angle wrapping should work correctly"
+
+
+def test_small_grid():
+    """Test line on a very small grid."""
+    grid_size = Vector([3, 3])
+    startpoint = (2, 2)
+    endpoint = (3, 3)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line has points
+    assert np.sum(line) > 0, "Line should have some points"
+
+
+def test_large_grid():
+    """Test line on a larger grid."""
+    grid_size = Vector([100, 100])
+    startpoint = (10, 10)
+    endpoint = (90, 90)
+    line = make_line(grid_size, startpoint, endpoint)
+    
+    # Check that the line has many points
+    assert np.sum(line) > 50, "Line should have many points for a large diagonal"
+
+
 if __name__ == "__main__":
     pytest.main([__file__])