26 #include <VirtualRobot/IK/DifferentialIK.h>
27 #include <VirtualRobot/Robot.h>
28 #include <Eigen/Dense>
32 class CartesianVelocityRamp;
50 float maxPositionAcceleration = 0;
51 float maxOrientationAcceleration = 0;
53 Eigen::VectorXf state = Eigen::VectorXf::Zero(6);