A type L satisfies LaserScan requirements if given l a possibly const instance of L:

• L::Scalar is defined and is a scalar type to be used for range and angle values,
• l.ranges() returns a view to the beam ranges (in meters),
• l.angles() returns a view to the corresponding beam angles in sensor frame (in radians),
• l.min_range() returns the minimum allowed range value (in meters),
• l.max_range() returns the maximum allowed range value (in meters),
• l.origin() returns the transform, of Sophus::SE3d type, from the global to local frame in the sensor space;