#include <sstream>#include <set>#include <vector>#include <string>#include <ros/ros.h>#include <boost/shared_ptr.hpp>#include <boost/pointer_cast.hpp>#include <kdl/chainjnttojacsolver.hpp>#include "cob_twist_controller/constraints/constraint.h"#include "cob_twist_controller/constraints/constraint_params.h"#include "cob_twist_controller/constraints/constraint_ca_impl.h"#include "cob_twist_controller/constraints/constraint_jla_impl.h"
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