From 05b765b79bf05a524e388f079b459339cc6d79f5 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Fri, 29 Nov 2019 22:38:09 +0100
Subject: [PATCH] Slightly optimize includes

---
 GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp           | 2 ++
 SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp | 1 +
 VirtualRobot/BoundingBox.cpp                                 | 1 +
 VirtualRobot/BoundingBox.h                                   | 4 +---
 VirtualRobot/IK/FeetPosture.cpp                              | 1 +
 VirtualRobot/IK/SupportPolygon.cpp                           | 1 +
 6 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp b/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp
index 1cb1f8178..3025b442e 100644
--- a/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp
+++ b/GraspPlanning/GraspPlanner/GenericGraspPlanner.cpp
@@ -5,6 +5,8 @@
 #include <VirtualRobot/RobotConfig.h>
 #include <VirtualRobot/Nodes/RobotNode.h>
 #include <VirtualRobot/math/Helpers.h>
+#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
+
 
 #include "../GraspQuality/GraspQualityMeasureWrenchSpace.h"
 #include "../GraspQuality/GraspQualityMeasure.h"
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
index 2d3fbffb4..56822fe3f 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
@@ -6,6 +6,7 @@
 #include <VirtualRobot/Nodes/RobotNodeRevolute.h>
 #include <SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.h>
 #include <VirtualRobot/XML/ObjectIO.h>
+#include <VirtualRobot/CollisionDetection/CollisionChecker.h>
 #include <QFileDialog>
 #include <Eigen/Geometry>
 
diff --git a/VirtualRobot/BoundingBox.cpp b/VirtualRobot/BoundingBox.cpp
index 1af12ffdd..ed141169e 100644
--- a/VirtualRobot/BoundingBox.cpp
+++ b/VirtualRobot/BoundingBox.cpp
@@ -1,3 +1,4 @@
+#include "CollisionDetection/CollisionChecker.h"
 #include "BoundingBox.h"
 
 namespace VirtualRobot
diff --git a/VirtualRobot/BoundingBox.h b/VirtualRobot/BoundingBox.h
index b51096436..ddb808862 100644
--- a/VirtualRobot/BoundingBox.h
+++ b/VirtualRobot/BoundingBox.h
@@ -22,16 +22,14 @@
 */
 #pragma once
 
-#include "VirtualRobot.h"
 #include "MathTools.h"
-#include "CollisionDetection/CollisionChecker.h"
 
 #include <Eigen/Core>
 #include <vector>
 
 namespace VirtualRobot
 {
-
+    class CollisionChecker;
     /*!
         An axis oriented bounding box.
         Todo: Some parts of this class are similar to MathTools::OOBB.
diff --git a/VirtualRobot/IK/FeetPosture.cpp b/VirtualRobot/IK/FeetPosture.cpp
index 3b3b02d3e..9d657f6b4 100644
--- a/VirtualRobot/IK/FeetPosture.cpp
+++ b/VirtualRobot/IK/FeetPosture.cpp
@@ -1,3 +1,4 @@
+#include "CollisionDetection/CollisionChecker.h"
 #include "FeetPosture.h"
 #include <VirtualRobot/Robot.h>
 
diff --git a/VirtualRobot/IK/SupportPolygon.cpp b/VirtualRobot/IK/SupportPolygon.cpp
index c47b57536..2b18b793c 100644
--- a/VirtualRobot/IK/SupportPolygon.cpp
+++ b/VirtualRobot/IK/SupportPolygon.cpp
@@ -1,3 +1,4 @@
+#include "CollisionDetection/CollisionChecker.h"
 #include "SupportPolygon.h"
 
 using namespace std;
-- 
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