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It looks like RobotModelConstPrt is declared in http://docs.ros.org/jade/api/moveit_core/html/robot__model_8h_source.html by MOVEIT_CLASS_FORWARD(RobotModel); .

This is in the moveit::core namespace, so the fully qualified type name would be moveit::core::RobotModelConstPtr

Instead of:

const RobotModelConstPtr kinematic_model; //need it later for RobotState

Try:

const moveit::core::RobotModelConstPtr kinematic_model; //need it later for RobotState