#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"