/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/


#pragma once

#include "robot/RobCoGenContainer.h"
#include "robot/Kinematics.h"
#include "robot/Dynamics.h"

#include "robot/actuator/SecondOrderActuatorDynamics.h"
#include "robot/actuator/SEADynamicsFirstOrder.h"

#include "robot/control/IDControllerFB.h"
#include "robot/control/WholeBodyController.h"
#include "robot/control/InfiniteHorizonLQRwithInverseDynamics.h"
#include "robot/control/JointPositionPIDController.h"
#include "robot/control/SelectionMatrix.h"

#include "robot/costfunction/TermTaskspacePosition.hpp"
#include "robot/costfunction/TermTaskspacePose.hpp"
#include "robot/costfunction/TermTaskspacePoseCG.hpp"
#include "robot/costfunction/TermTaskspaceGeometricJacobian.hpp"

#include "robot/kinematics/EndEffector.h"
#include "robot/kinematics/ik_nlp/IKCostEvaluator.h"
#include "robot/kinematics/ik_nlp/IKNLP.h"
#include "robot/kinematics/ik_nlp/IKNLPSolverIpopt.h"
