#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <utility>
#include <vector>
#include <range/v3/range/conversion.hpp>
#include <range/v3/view/transform.hpp>
#include <sophus/common.hpp>
#include "beluga/sensor/likelihood_field_model.hpp"
#include "beluga/test/static_occupancy_grid.hpp"