Reduce includes

source/RobotAPI/libraries/core/PIDController.cpp

@@ -26,6 +26,7 @@
 #include <ArmarXCore/core/time/TimeUtil.h>
 #include <RobotAPI/libraries/core/math/MathUtils.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
 #include <ArmarXCore/observers/filters/rtfilters/ButterworthFilter.h>
 
 #include <memory>

source/RobotAPI/libraries/core/PIDController.h

@@ -27,7 +27,6 @@
 #include "MultiDimPIDController.h"
 
 #include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/observers/filters/rtfilters/RTFilterBase.h>
 
 #include <Eigen/Core>
 
@@ -36,6 +35,11 @@
 
 namespace armarx
 {
+    namespace rtfilters
+    {
+        class RTFilterBase;
+    }
+
     class PIDController :
         public Logging
     {
@@ -77,8 +81,8 @@ namespace armarx
         bool firstRun;
         bool limitless;
         bool threadSafe = true;
-        rtfilters::RTFilterBasePtr differentialFilter;
-        rtfilters::RTFilterBasePtr pdOutputFilter;
+        std::shared_ptr<rtfilters::RTFilterBase> differentialFilter;
+        std::shared_ptr<rtfilters::RTFilterBase> pdOutputFilter;
     private:
         using ScopedRecursiveLock = std::unique_lock<std::recursive_mutex>;
         using ScopedRecursiveLockPtr = std::unique_ptr<ScopedRecursiveLock>;

source/RobotAPI/libraries/core/math/MathUtils.h

@@ -22,9 +22,9 @@
 
 #pragma once
 
-#include <math.h>
-#include <Eigen/Eigen>
+#include <Eigen/Core>
 #include <vector>
+#include <math.h>
 
 namespace armarx::math
 {