#include <labust/control/VelocityControl.hpp>#include <labust/tools/MatrixLoader.hpp>#include <labust/simulation/matrixfwd.hpp>#include <labust/simulation/DynamicsParams.hpp>#include <labust/tools/DynamicsLoader.hpp>#include <labust/math/NumberManipulation.hpp>#include <labust/tools/conversions.hpp>#include <auv_msgs/BodyForceReq.h>#include <boost/bind.hpp>#include <cmath>#include <vector>#include <string>