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Package fr3_impedance_controller_real in nix env

Merged Kevin Haninger requested to merge 7-add-local-package-to-nix-flake-new into main
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7 files
+ 58
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@@ -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();
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