#include <pilz_industrial_motion_planner/trajectory_generator_lin.h>#include <pilz_industrial_motion_planner/tip_frame_getter.h>#include <cassert>#include <sstream>#include <time.h>#include <moveit/robot_state/conversions.h>#include <kdl/path_line.hpp>#include <kdl/trajectory_segment.hpp>#include <kdl/utilities/error.h>#include <tf2/convert.h>#include <rclcpp/logger.hpp>#include <rclcpp/logging.hpp>#include <tf2_eigen/tf2_eigen.hpp>#include <tf2_eigen_kdl/tf2_eigen_kdl.hpp>#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
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