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/SlidingModeObserver.hpp

@@ -28,12 +28,23 @@ private:
   MatX<T> S1_, S2_, T1_, T2_;
 
 public:
-  SlidingModeObserver(const T & dt, const VecX<T> & s1, const VecX<T> & s2, const VecX<T> & t1,
+  SlidingModeObserver(const VecX<T> & s1, const VecX<T> & s2, const VecX<T> & t1,
                       const VecX<T> & t2);
 
   //* ----- SETTERS ---------------------------------------------------------------------------- *//
   void set_dynamics(const VecX<T> & tau, const MatX<T> & M, const MatX<T> & C, const VecX<T> & g);
 
+  // ! this may cause compile-error
+  void set_parameters(const T & dt, const VecX<T> & s1, const VecX<T> & s2, const VecX<T> & t1,
+                      const VecX<T> & t2)
+  {
+    dt_ = dt;
+    S1_.setIdentity().diagonal() = s1;
+    S2_.setIdentity().diagonal() = s2;
+    T1_.setIdentity().diagonal() = t1;
+    T2_.setIdentity().diagonal() = t2;
+  }
+
   //* ----- METHODS ---------------------------------------------------------------------------- *//
   void compute_momentum_estimation(const VecX<T> & dq);
   // void update_previous_states();