#include <vector>#include <opencv2/opencv.hpp>#include <boost/random.hpp>#include <boost/random/mersenne_twister.hpp>#include <boost/nondet_random.hpp>#include <boost/random/normal_distribution.hpp>#include <Eigen/Core>#include <Eigen/Eigen>#include <ros/ros.h>#include <geometry_msgs/Twist.h>#include <nav_msgs/Odometry.h>#include <nav_msgs/OccupancyGrid.h>#include <nav_msgs/GetMap.h>#include <sensor_msgs/LaserScan.h>#include <tf/tf.h>#include <tf/transform_broadcaster.h>#include <visualization_msgs/Marker.h>#include "featuresextractor.h"#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl_ros/publisher.h>#include <pcl_ros/point_cloud.h>#include <pcl/common/transforms.h>#include <tf/transform_listener.h>#include <pcl_ros/transforms.h>#include <pcl_conversions/pcl_conversions.h>#include <pcl/registration/icp.h>#include <pcl/registration/icp_nl.h>#include <pcl/filters/voxel_grid.h>#include <pcl/filters/statistical_outlier_removal.h>#include <filter/extendedkalmanfilter.h>#include <pdf/analyticconditionalgaussian.h>#include <pdf/linearanalyticconditionalgaussian.h>#include <model/linearanalyticsystemmodel_gaussianuncertainty.h>#include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h>#include "bayesian_filtering/nonlinearanalyticconditionalgaussianmobile.h"#include <laser_geometry/laser_geometry.h>
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