public RigidBodySpatialAccelerationControlModule(String namePrefix, TwistCalculator twistCalculator, RigidBody endEffector, ReferenceFrame endEffectorFrame, double dt, YoSE3PIDGainsInterface taskspaceGains, YoVariableRegistry parentRegistry) { this.registry = new YoVariableRegistry(namePrefix + getClass().getSimpleName()); this.twistCalculator = twistCalculator; this.endEffector = endEffector; this.endEffectorFrame = endEffectorFrame; this.se3pdController = new SE3PIDController(namePrefix, endEffectorFrame, dt, taskspaceGains, registry); this.acceleration = new SpatialAccelerationVector(); parentRegistry.addChild(registry); }