#include <labust/control/VirtualTarget.hpp>
#include <labust/tools/MatrixLoader.hpp>
#include <labust/tools/conversions.hpp>
#include <auv_msgs/BodyVelocityReq.h>
#include <geometry_msgs/TransformStamped.h>
#include <boost/bind.hpp>
#include <cmath>
#include <vector>
#include <string>