int Map_Consistency_Evaluator::update_grid(
	std::vector<mb_swath_struct> &mb_swath_list,
	std::vector<sensor_record> &nav_private,
	std::vector<sensor_record> &nav_shared, std::string mode,
	std::string path_name)
{
	// Find first multibeam observation to use
	unsigned int start_index = 0;
	ofstream point_cloud_out;
	// ....
	if (!path_name.empty() && log_point_clouds)
	{
		string point_cloud_filename = path_name.append("_point_cloud.data");
		point_cloud_out.open(point_cloud_filename.c_str());
	}
  // as path_name is always empty, the file is never created
}