26 #include <unordered_map>
29 #include <Eigen/Geometry>
36 struct TransformHeader;
40 class RobotDescription;
45 struct RobotDescription;
49 using Robots = std::vector<Robot>;
59 struct TransformHeader;
70 using RobotPoseMap = std::unordered_map<std::string, Eigen::Affine3f>;