#include <yarp/os/Network.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include "fakeNavigationDev.h"
#include <math.h>
#include <cmath>