#include <gmock/gmock.h>#include <gtest/gtest.h>#include <limits>#include <utility>#include <vector>#include <range/v3/range/conversion.hpp>#include <range/v3/view/all.hpp>#include <sophus/common.hpp>#include <sophus/se3.hpp>#include "beluga/sensor/data/laser_scan.hpp"#include "beluga/testing/sophus_matchers.hpp"