#include <ros/ros.h>
#include <std_msgs/Float64.h>
#include <strstream>
#include <sstream>
#include <exception>
#include <boost/thread.hpp>
#include <sensor_msgs/JointState.h>
#include "image_transport/subscriber.h"
#include "sensor_msgs/Image.h"
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include "opencv2/imgproc/imgproc.hpp"
#include <sensor_msgs/image_encodings.h>
#include <std_msgs/Float64MultiArray.h>

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Classes
class	VisualServoController
Defines
#define	CAMERA_DATA_SIZE 20
#define	DOF 4
#define	JOINTS_ERROR 0.01
#define	JOINTS_NUM 6
#define	KERNEL_SIZE 4
#define	L1 0.3
#define	L2 0.25
#define	L3 0.16
#define	L5 0.072
#define	LAMBDA_THETA -0.01
#define	LAMBDA_X 200
#define	LAMBDA_Y 200
#define	LAMBDA_Z 200
#define	SAMPLE_TIME 0.01