#include <gmock/gmock.h>#include <gtest/gtest.h>#include <cstddef>#include <unordered_map>#include <range/v3/range/primitives.hpp>#include <range/v3/view/take_exactly.hpp>#include "beluga/random/multivariate_uniform_distribution.hpp"#include "beluga/test/static_occupancy_grid.hpp"#include "beluga/testing/sophus_matchers.hpp"#include "beluga/views/sample.hpp"