#include "PlanMotion.h"
#include <algorithm>
#include <ArmarXCore/core/util/OnScopeExit.h>
#include <RobotComponents/components/MotionPlanning/CSpace/ScaledCSpace.h>
#include <RobotComponents/components/MotionPlanning/CSpace/SimoxCSpace.h>
#include <RobotComponents/components/MotionPlanning/Tasks/RRTConnect/Task.h>