text: 
  #include "gtest/gtest.h"
  #include "gflags/gflags.h"
  #include "mapOptmization.cpp"
  #include "ros/ros.h"
  
  namespace{
  class  MapOptimizationTest :public testing::Test
  {
    protected:
    
     virtual void SetUp()  {
       
     }
  
  
  };
  
  
  }
  
  TEST_F(MapOptimizationTest,TestTransformAssociateToMap){
  
  
  
  
  }
  
  int main(int argc,char ** argv)
  {
    ros::init(argc,argv,"MapOptimizationTest");
    mapOptimization map_optimization_;
    float data[6] = {0, 0, 0, 0, 1, 2};
  
    for (int i = 0; i < 100; i++) {
      for (int j = 0; j < 100; j++) {
        for (int k = 0; k < 100; k++) {
          data[0] = i + 0.1;
          data[1] = j + 0.2;
          data[2] = k + 0.3;  
  
          map_optimization_.SetTransformTobeMapped(data);
          map_optimization_.transformAssociateToMap();
          auto tran1 = map_optimization_.GettransformAssociateToMap();
          map_optimization_.SetTransformTobeMapped(data);
          auto tran = map_optimization_.transformAssociateToMap(0);
          for(int i  = 0;i<6;i++){
             EXPECT_NEAR(tran1[i], tran[i],1e-3);
          }
         
        }
      }
    }
  }