def METHOD_NAME(self) -> None:
    """Test Align of list of Pose2Pair.
    Scenario:
       3 object poses
       same scale (no gauge ambiguity)
       world frame has poses rotated about 180 degrees.
       world and egovehicle frame translated by 15 meters w.r.t. each other
    """
    R180 = Rot2.fromDegrees(180)
    # Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame)
    # Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame
    eTo0 = Pose2(Rot2(), np.array([5, 0]))
    eTo1 = Pose2(Rot2(), np.array([10, 0]))
    eTo2 = Pose2(Rot2(), np.array([15, 0]))
    eToi_list = [eTo0, eTo1, eTo2]
    # Create destination poses
    # (same three objects, but instead living in the world "w" frame)
    wTo0 = Pose2(R180, np.array([-10, 0]))
    wTo1 = Pose2(R180, np.array([-5, 0]))
    wTo2 = Pose2(R180, np.array([0, 0]))
    wToi_list = [wTo0, wTo1, wTo2]
    we_pairs = list(zip(wToi_list, eToi_list))
    # Recover the transformation wSe (i.e. world_S_egovehicle)
    wSe = Similarity2.Align(we_pairs)
    for wToi, eToi in zip(wToi_list, eToi_list):
        self.gtsamAssertEquals(wToi, wSe.transformFrom(eToi))