#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <numeric>
#include <stdexcept>
#include <utility>
#include <vector>
#include <Eigen/Core>
#include <range/v3/range/conversion.hpp>
#include <range/v3/view/generate.hpp>
#include <range/v3/view/take_exactly.hpp>
#include "beluga/algorithm/estimation.hpp"
#include "beluga/random/multivariate_normal_distribution.hpp"
#include "beluga/test/utils/eigen_initializers.hpp"
#include "beluga/testing/sophus_matchers.hpp"
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