#include <mpc_local_planner/optimal_control/full_discretization_grid_base_se2.h>#include <mpc_local_planner/utils/math_utils.h>#include <corbo-optimal-control/structured_ocp/edges/finite_differences_collocation_edges.h>#include <corbo-communication/utilities.h>#include <corbo-core/console.h>#include <algorithm>#include <cmath>#include <memory>
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