#include <sstream>#include <string>#include <vector>#include <limits>#include <ros/ros.h>#include <boost/shared_ptr.hpp>#include <boost/pointer_cast.hpp>#include <kdl/chainjnttojacsolver.hpp>#include <kdl/jntarray.hpp>#include "cob_twist_controller/constraints/constraint.h"#include "cob_twist_controller/constraints/constraint_params.h"#include "cob_twist_controller/damping_methods/damping.h"#include "cob_twist_controller/inverse_jacobian_calculations/inverse_jacobian_calculation.h"#include <eigen_conversions/eigen_kdl.h>
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