#include "preview_ik/postures.hpp"
#include <math.h>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <iostream>
#include "example-robot-data/path.hpp"
#include "pinocchio/algorithm/center-of-mass.hpp"
#include "pinocchio/algorithm/crba.hpp"
#include "pinocchio/algorithm/frames.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"
#include "pinocchio/algorithm/kinematics.hpp"
#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/parsers/sample-models.hpp"
#include "pinocchio/parsers/srdf.hpp"
#include "pinocchio/parsers/urdf.hpp"
#include "preview_ik/configuration.hpp"