Fixed some warnings in RobotPose

Author: TimSchneider42

include/franky/robot_pose.hpp

@@ -14,7 +14,11 @@ class RobotPose {
 
   RobotPose(const RobotPose &robot_pose);
 
+  // Suppress implicit conversion warning
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wimplicit-conversion"
   RobotPose(Affine end_effector_pose, std::optional<double> elbow_position = std::nullopt);
+#pragma clang diagnostic pop
 
   explicit RobotPose(const Vector7d &vector_repr, bool ignore_elbow = false);
 
@@ -27,15 +31,19 @@ class RobotPose {
   [[nodiscard]] franka::CartesianPose as_franka_pose() const;
 
   [[nodiscard]] inline RobotPose left_transform(const Affine &transform) const {
-    return RobotPose(transform * end_effector_pose_, elbow_position_);
+    return {transform * end_effector_pose_, elbow_position_};
   }
 
   [[nodiscard]] inline RobotPose right_transform(const Affine &transform) const {
-    return RobotPose(end_effector_pose_ * transform, elbow_position_);
+    return {end_effector_pose_ * transform, elbow_position_};
+  }
+
+  [[nodiscard]] inline RobotPose changeEndEffectorFrame(const Affine &transform) const {
+    return {end_effector_pose_ * transform.inverse(), elbow_position_};
   }
 
   [[nodiscard]] inline RobotPose with_elbow_position(const std::optional<double> elbow_position) const {
-    return RobotPose(end_effector_pose_, elbow_position);
+    return {end_effector_pose_, elbow_position};
   }
 
   [[nodiscard]] inline Affine end_effector_pose() const {