#include <mrpt/core/lock_helper.h>#include <mrpt/maps/CSimplePointsMap.h>#include <mrpt/opengl/COpenGLScene.h>#include <mrpt/opengl/stock_objects.h>#include <mrpt/random.h>#include <mrpt/version.h>#include <mvsim/Sensors/Lidar3D.h>#include <mvsim/VehicleBase.h>#include <mvsim/World.h>#include <mvsim/WorldElements/OccupancyGridMap.h>#include "xml_utils.h"