#include <mrpt/core/lock_helper.h>
#include <mrpt/math/TTwist2D.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/version.h>
#include <mvsim/World.h>
#include <map>