Package fr3_impedance_controller_real in nix env

Including all deps. Tested with nix develop then roslaunch franka_example_controllers ....

Issue with libfranka version, in the end needed to use fetchGithub in Nix to get proper files.

Closes #7 (closed)

common/include/controller/ImpedanceController.hpp

@@ -10,21 +10,23 @@ private:
   Vec6<T> x_0e_err_;       // end-effector 6-DoF pose error
   Vec6<T> x_0e_err_prev_;  // previous error
   Mat6<T> K_task_;         // task-space stiffness matrix
-  Mat6<T> B_task_;         // task-space damping matrix
+  Mat6<T> D_task_;         // task-space damping matrix
   Vec6<T> F_task_;         // computed task-space wrench from impedance controller
   Vec7<T> tau_task_;       // joint-spce impedance torque
 
   Vec7<T> q_null_err_;       // null-space joint configuration error
   Vec7<T> q_null_err_prev_;  // previous error
   Mat7<T> K_null_;           // null-space stiffness matrix
-  Mat7<T> B_null_;           // null-space damping matrix
+  Mat7<T> D_null_;           // null-space damping matrix
   Vec7<T> tau_null_;         // computed null-space torque from impedance controller
 
 public:
-  ImpedanceController(const Mat6<T> & K_task, const Mat6<T> & B_task, const Mat7<T> & K_null,
-                      const Mat7<T> & B_null);
+  ImpedanceController();
+  //* ----- SETTERS --------------------------------------------------------------------------------
+  void set_parameters(const Mat6<T> & K_task, const Mat6<T> & D_task,  //
+                      const Mat7<T> & K_null, const Mat7<T> & D_null);
 
-  //* ----- METHODS ---------------------------------------------------------------------------- *//
+  //* ----- METHODS --------------------------------------------------------------------------------
   /**
    * @param q_null_des : desired null-space joint configuration
    * @param q_null_mes : measured null-space joint configuration
@@ -36,7 +38,7 @@ public:
     x_0e_err_prev_ = x_0e_err_;
   };
 
-  //* ----- GETTERS ---------------------------------------------------------------------------- *//
+  //* ----- GETTERS --------------------------------------------------------------------------------
   /**
    * @param dt : timestep
    * @param p_0e_des : desired end-effector position in {W} frame
@@ -61,7 +63,7 @@ public:
   Vec7<T> get_null_impedance_torque(const Vec7<T> & dq_null_err, const Eigen::MatrixXd & J,
                                     const Eigen::MatrixXd & Jt_pinv);
 
-  //* ----- PRINTER ---------------------------------------------------------------------------- *//
+  //* ----- PRINTER --------------------------------------------------------------------------------
   void print_pose_error();
   void print_impedance_torque();
 };