#include <mpc_local_planner/controller.h>#include <corbo-optimal-control/functions/hybrid_cost.h>#include <corbo-optimal-control/functions/minimum_time.h>#include <corbo-optimal-control/functions/quadratic_control_cost.h>#include <corbo-optimal-control/structured_ocp/discretization_grids/finite_differences_variable_grid.h>#include <corbo-optimal-control/structured_ocp/structured_optimal_control_problem.h>#include <corbo-optimization/hyper_graph/hyper_graph_optimization_problem_edge_based.h>#include <corbo-optimization/solver/levenberg_marquardt_sparse.h>#include <corbo-optimization/solver/nlp_solver_ipopt.h>#include <corbo-optimization/solver/qp_solver_osqp.h>#include <mpc_local_planner/optimal_control/fd_collocation_se2.h>#include <mpc_local_planner/optimal_control/final_state_conditions_se2.h>#include <mpc_local_planner/optimal_control/finite_differences_variable_grid_se2.h>#include <mpc_local_planner/optimal_control/min_time_via_points_cost.h>#include <mpc_local_planner/optimal_control/quadratic_cost_se2.h>#include <mpc_local_planner/optimal_control/stage_inequality_se2.h>#include <mpc_local_planner/systems/kinematic_bicycle_model.h>#include <mpc_local_planner/systems/simple_car.h>#include <mpc_local_planner/systems/unicycle_robot.h>#include <mpc_local_planner/utils/time_series_se2.h>#include <mpc_local_planner_msgs/OptimalControlResult.h>#include <mpc_local_planner_msgs/StateFeedback.h>#include <corbo-communication/utilities.h>#include <corbo-core/console.h>#include <tf2/utils.h>#include <memory>#include <mutex>
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