Clean up includes

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp

@@ -21,8 +21,8 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
+
 #include "NJointCartesianVelocityController.h"
-#include "../RobotUnit.h"
 
 #include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
 

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h

@@ -24,33 +24,19 @@
 #pragma once
 
 
-#include "NJointControllerWithTripleBuffer.h"
-#include <VirtualRobot/Robot.h>
-#include "../ControlTargets/ControlTarget1DoFActuator.h"
-#include "../SensorValues/SensorValue1DoFActuator.h"
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <RobotAPI/libraries/core/CartesianVelocityController.h>
+#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
+
+#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
+#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
 #include <RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.h>
+#include <RobotAPI/libraries/core/CartesianVelocityController.h>
+
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/VirtualRobot.h>
 
 namespace armarx
 {
-
     TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityController);
-    //TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityControllerConfig);
-
-    /*class NJointCartesianVelocityControllerConfig : virtual public NJointControllerConfig
-    {
-    public:
-        NJointCartesianVelocityControllerConfig(std::string const& nodeSetName, const std::string& tcpName, VirtualRobot::IKSolver::CartesianSelection mode):
-            nodeSetName(nodeSetName),
-            tcpName(tcpName),
-            mode(mode)
-        {}
-
-        const std::string nodeSetName;
-        const std::string tcpName;
-        const VirtualRobot::IKSolver::CartesianSelection mode;
-    };*/
 
     TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityControllerControlData);
     class NJointCartesianVelocityControllerControlData