#include <boost/algorithm/string/trim.hpp>#include <boost/algorithm/string/split.hpp>#include <moveit/ompl_interface/model_based_planning_context.h>#include <moveit/ompl_interface/detail/state_validity_checker.h>#include <moveit/ompl_interface/detail/constrained_sampler.h>#include <moveit/ompl_interface/detail/constrained_goal_sampler.h>#include <moveit/ompl_interface/detail/goal_union.h>#include <moveit/ompl_interface/detail/projection_evaluators.h>#include <moveit/ompl_interface/detail/constraints_library.h>#include <moveit/kinematic_constraints/utils.h>#include <moveit/profiler/profiler.h>#include <moveit/utils/lexical_casts.h>#include <ompl/config.h>#include <ompl/base/samplers/UniformValidStateSampler.h>#include <ompl/base/goals/GoalLazySamples.h>#include <ompl/tools/config/SelfConfig.h>#include <ompl/base/spaces/SE3StateSpace.h>#include <ompl/datastructures/PDF.h>#include <ompl/base/terminationconditions/IterationTerminationCondition.h>#include <ompl/base/terminationconditions/CostConvergenceTerminationCondition.h>#include "ompl/base/objectives/PathLengthOptimizationObjective.h"#include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"#include "ompl/base/objectives/MinimaxObjective.h"#include "ompl/base/objectives/StateCostIntegralObjective.h"#include "ompl/base/objectives/MaximizeMinClearanceObjective.h"#include <ompl/geometric/planners/prm/LazyPRM.h>
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