#include <labust/allocation/x2d_adaptive.h>
#include <labust/math/NumberManipulation.hpp>
#include <pluginlib/class_list_macros.h>
#include <std_msgs/Float32.h>
#include <ros/ros.h>
#include <boost/array.hpp>
#include <Eigen/Dense>
#include <cmath>
#include <vector>