def METHOD_NAME(self):
    """Test localToWorld."""
    local = gtsam.Values()
    local.insert(0, gtsam.Point2(10, 10))
    local.insert(1, gtsam.Pose2(6, 11, 0.0))
    base = gtsam.Pose2(1, 0, 0)
    world = gtsam.utilities.localToWorld(local, base)
    expected_point2 = gtsam.Point2(11, 10)
    expected_pose2 = gtsam.Pose2(7, 11, 0)
    np.testing.assert_allclose(world.atPoint2(0), expected_point2)
    np.testing.assert_allclose(
        world.atPose2(1).matrix(), expected_pose2.matrix())
    user_keys = [1]
    world = gtsam.utilities.localToWorld(local, base, user_keys)
    np.testing.assert_allclose(
        world.atPose2(1).matrix(), expected_pose2.matrix())
    # Raise error since 0 is not in user_keys
    self.assertRaises(RuntimeError, world.atPoint2, 0)