private void computeDerivativeTerm(
FrameVector desiredAngularVelocity, FrameVector currentAngularVelocity) {
desiredAngularVelocity.changeFrame(bodyFrame);
currentAngularVelocity.changeFrame(bodyFrame);
derivativeTerm.sub(desiredAngularVelocity, currentAngularVelocity);
// Limit the maximum velocity error considered for control action
double maximumVelocityError = gains.getMaximumDerivativeError();
double velocityErrorMagnitude = derivativeTerm.length();
if (velocityErrorMagnitude > maximumVelocityError) {
derivativeTerm.scale(maximumVelocityError / velocityErrorMagnitude);
}
velocityError.set(derivativeTerm);
derivativeGainMatrix.transform(derivativeTerm.getVector());
}
