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/DisturbanceObserver.hpp

@@ -5,9 +5,6 @@
 #ifndef DISTURBANCE_OBSERVER_HPP_
 #define DISTURBANCE_OBSERVER_HPP_
 
-/* C++ STL */
-#include <iostream>
-
 /* Custom Headers */
 #include "eigen_types.hpp"
 
@@ -17,19 +14,26 @@ class DisturbanceObserver
 private:
   T dt_;                        // timestep
   VecX<T> fq_;                  // Q-filter cutoff-frequency [Hz]
-  VecX<T> Fd_hat_;              // estimated force disturbance [N]
+  VecX<T> Fd_hat_;              // estimated force disturbance [N, Nm]
   VecX<T> F_lhs_, F_lhs_prev_;  // left-hand-side state of DOB
   VecX<T> F_rhs_, F_rhs_prev_;  // right-hand-side state of DOB
 
 public:
-  DisturbanceObserver(const T & dt, const VecX<T> & fq);
+  DisturbanceObserver(const VecX<T> & fq);
+
+  //* ----- SETTERS --------------------------------------------------------------------------------
+  void set_parameters(const T & dt, const VecX<T> & fq)
+  {
+    dt_ = dt;
+    fq_ = fq;
+  }
 
   //* ----- METHODS --------------------------------------------------------------------------------
-  // void update_previous_states()
-  // {
-  //   F_lhs_prev_ = F_lhs_;
-  //   F_rhs_prev_ = F_rhs_;
-  // };
+  void update_previous_states()
+  {
+    F_lhs_prev_ = F_lhs_;
+    F_rhs_prev_ = F_rhs_;
+  };
 
   //* ----- GETTERS --------------------------------------------------------------------------------
   /**