#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"