#include <cmath>
#include <thread>
#include "ros/ros.h"
#include "ros/callback_queue.h"
#include "std_msgs/Int8MultiArray.h"
#include "std_msgs/Float64MultiArray.h"
#include "sensor_msgs/JointState.h"
#include <kinematics/kinematics.h>
#include <debug_utils/debug_utils.h>
#include <math_utils/Core>
#include <Eigen/Core>
#include <kindr/Core>
#include <drake/common/symbolic.h>
#include <drake/solvers/mathematical_program.h>
#include <drake/solvers/solve.h>
#include <drake/solvers/osqp_solver.h>
#include <drake/solvers/equality_constrained_qp_solver.h>
#include <drake/solvers/clp_solver.h>
#include <drake/solvers/scs_solver.h>
#include <drake/solvers/snopt_solver.h>

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Classes
class	HierarchicalOptimizationControl
	A class for hierarchical optimization control. More...

struct	HierarchicalOptimizationControl::Task
	Task struct. More...

Classes