#include <mrpt/io/CFileGZInputStream.h>#include <mrpt/maps/CSimplePointsMap.h>#include <mrpt/opengl/COpenGLScene.h>#include <mrpt/poses/CPose2D.h>#include <mrpt/serialization/CArchive.h>#include <mrpt/system/filesystem.h>#include <mvsim/World.h>#include <mvsim/WorldElements/OccupancyGridMap.h>#include <rapidxml.hpp>#include "xml_utils.h"