general fix and optimization

include/sas_robot_driver_franka.h

@@ -48,16 +48,18 @@
 using namespace DQ_robotics;
 using namespace Eigen;
 
+struct RobotInterfaceFranka::FrankaInterfaceConfiguration;  // Forward declaration
+
 namespace sas
 {
 
-
 struct RobotDriverFrankaConfiguration
 {
     std::string ip_address;
     std::string mode;
     int port;
     double speed;
+    RobotInterfaceFranka::FrankaInterfaceConfiguration interface_configuration;
 };
 
 
@@ -81,7 +83,7 @@ private:
     std::atomic_bool* break_loops_;
 
     // hotfix function to update cartesian contact and pose information
-    void _update_cartesian_contact_and_pose() const;
+    void _update_stiffness_contact_and_pose() const;
 
 
 public: