private void computeProportionalTerm(FrameOrientation desiredOrientation) {
desiredOrientation.changeFrame(bodyFrame);
desiredOrientation.getQuaternion(errorQuaternion);
errorAngleAxis.set(errorQuaternion);
errorAngleAxis.setAngle(AngleTools.trimAngleMinusPiToPi(errorAngleAxis.getAngle()));
// Limit the maximum position error considered for control action
double maximumError = gains.getMaximumProportionalError();
if (errorAngleAxis.getAngle() > maximumError) {
errorAngleAxis.setAngle(Math.signum(errorAngleAxis.getAngle()) * maximumError);
}
proportionalTerm.set(errorAngleAxis.getX(), errorAngleAxis.getY(), errorAngleAxis.getZ());
proportionalTerm.scale(errorAngleAxis.getAngle());
rotationErrorInBody.set(proportionalTerm);
proportionalGainMatrix.transform(proportionalTerm.getVector());
}
