std::string config_file = "../../../laser_odometry.ini";
std::string rawlog_fname = "";
std::string fname_GT = "";
auto node_reg = mrpt::graphslam::deciders::CICPCriteriaNRD<mrpt::graphs::CNetworkOfPoses2DInf>{};
auto edge_reg = mrpt::graphslam::deciders::CICPCriteriaERD<mrpt::graphs::CNetworkOfPoses2DInf>{};
auto optimizer = mrpt::graphslam::optimizers::CLevMarqGSO<mrpt::graphs::CNetworkOfPoses2DInf>{};

auto win3d = mrpt::gui::CDisplayWindow3D{"Slam", 800, 600};
auto win_observer = mrpt::graphslam::CWindowObserver{};
auto win_manager = mrpt::graphslam::CWindowManager{&win3d, &win_observer};

auto engine = mrpt::graphslam::CGraphSlamEngine<mrpt::graphs::CNetworkOfPoses2DInf>{
  config_file, rawlog_fname, fname_GT, &win_manager, &node_reg, &edge_reg, &optimizer};

for (size_t measurement_count = 0;;) {
   // grab laser scan from the network, then fill it (hardcoded values for now), e.g:
   auto scan_ptr = mrpt::obs::CObservation2DRangeScan::Create();
   scan_ptr->timestamp = std::chrono::system_clock::now().time_since_epoch().count();
   scan_ptr->rightToLeft = true;
   scan_ptr->sensorLabel = "";
   scan_ptr->aperture = 3.14;  // rad (max-min)
   scan_ptr->maxRange = 3.0;   // m
   scan_ptr->sensorPose = mrpt::poses::CPose3D{};

   scan_ptr->resizeScan(30);
   for (int i = 0; i < 30; ++i) {
     scan_ptr->setScanRange(i, 0.5);
     scan_ptr->setScanRangeValidity(i, true);
   }

   { // Send LaserScan measurement to the slam engine
     auto obs_ptr = std::dynamic_pointer_cast<mrpt::obs::CObservation>(scan_ptr);
     engine.execGraphSlamStep(obs_ptr, measurement_count);
     ++measurement_count;
   }


   // grab odometry from the network, then fill it (hardcoded values for now), e.g:
   auto odometry_ptr = mrpt::obs::CObservationOdometry::Create();
   odometry_ptr->timestamp = std::chrono::system_clock::now().time_since_epoch().count();
   odometry_ptr->hasVelocities = false;
   odometry_ptr->odometry.x(0);
   odometry_ptr->odometry.y(0);
   odometry_ptr->odometry.phi(0);

   { // Send Odometry measurement to the slam engine
     auto obs_ptr = std::dynamic_pointer_cast<mrpt::obs::CObservation>(odometry_ptr);
     engine.execGraphSlamStep(obs_ptr, measurement_count);
     ++measurement_count;
   }

   // Get pose estimation from the engine
   auto pose = engine.getCurrentRobotPosEstimation();

}