<commit_before>#include <boost/shared_ptr.hpp>
#include <lcm/lcm-cpp.hpp>

#include <model-client/model-client.hpp>
#include <ConciseArgs>

#include <Eigen/Core>
#include <Eigen/Dense>
#include <lcmtypes/bot_core/pose_t.hpp>
#include <lcmtypes/pronto/controller_status_t.hpp>
#include <lcmtypes/pronto/behavior_t.hpp>
#include <lcmtypes/bot_core/joint_state_t.hpp>
#include <lcmtypes/bot_core/system_status_t.hpp>
#include <lcmtypes/bot_core/utime_t.hpp>
#include <pronto_utils/pronto_math.hpp>

#include <yaw_lock/yaw_lock.hpp>


struct CommandLineConfig
{
    std::string output_channel;
    int correction_period;

    // should you detect a yaw slip of yaw_slip_threshold_degrees, dont update lock for yaw_slip_disable_period seconds
    bool yaw_slip_detect;
    double yaw_slip_threshold_degrees;
    double yaw_slip_disable_period;

    std::string behavior_input_mode;
};


class App{
  public:
    App(lcm::LCM* &lcm_, const CommandLineConfig& cl_cfg_);

    ~App(){
    }<commit_msg>include fix<commit_after>#include <boost/shared_ptr.hpp>
#include <lcm/lcm-cpp.hpp>

#include <model-client/model-client.hpp>
#include <ConciseArgs>

#include <Eigen/Core>
#include <Eigen/Dense>
#include <lcmtypes/bot_core/pose_t.hpp>
#include <lcmtypes/pronto/controller_status_t.hpp>
#include <lcmtypes/pronto/behavior_t.hpp>
#include <lcmtypes/bot_core/joint_state_t.hpp>
#include <lcmtypes/bot_core/system_status_t.hpp>
#include <lcmtypes/bot_core/utime_t.hpp>
#include <pronto_utils/pronto_math.hpp>

#include <mav_state_est/mav-est-yawlock/yawlock.hpp>


struct CommandLineConfig
{
    std::string output_channel;
    int correction_period;

    // should you detect a yaw slip of yaw_slip_threshold_degrees, dont update lock for yaw_slip_disable_period seconds
    bool yaw_slip_detect;
    double yaw_slip_threshold_degrees;
    double yaw_slip_disable_period;

    std::string behavior_input_mode;
};


class App{
  public:
    App(lcm::LCM* &lcm_, const CommandLineConfig& cl_cfg_);

    ~App(){
    }
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