#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>