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Simulation Construction Set

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package us.ihmc.simulationconstructionset.util;

/**
 * Centralized location for the names related to contols
 * 
 * Nomenqlature:

 * 

 * q_ = position. from Lagrangian mechanics
 * qd_ = velocity. deriviative of position
 * STUFF_d = desired value of STUFF
 * _k = gain
 * 
 * 
 */
public enum CommonNames
{
   q_d("_q_d"),
   qd_d("_qd_d"),
   f_d("_f_d"),
   k_q_p("_k_q_p"),
   k_q_i("_k_q_i"),
   k_qd_p("_k_qd_p"),
   k_f_p("_k_f_p"),
   ff_qd("_ff_qd"),
   ff_qd_d("_ff_qd_d"),
   ff_f_d("_ff_f_d"),
   ff_const("_ff_const"),
   a_k_q_p("_a_k_q_p"),
   a_k_q_i("_a_k_q_i"),
   a_k_qd_p("_a_k_qd_p"),
   a_k_f_p("_a_k_f_p"),
   a_ff_qd("_a_ff_qd"),
   a_ff_qd_d("_a_ff_qd_d"),
   a_ff_f_d("_a_ff_f_d"),
   qerr_int_abs_max("qerr_int_abs_max"),
   kp("_kp"),
   kd("_kd"),
   current("_i"),
   doIHMCControlRatio("doIHMCControlRatio");

   private String name;

   CommonNames(String name)
   {
      this.name = name;
   }

   @Override
   public String toString()
   {
      return name;
   }
}