public void set(double kpPosition, double zetaPosition, double kiPosition, double maxIntegralPosError, double kpOrientation, double zetaOrientation, double kiOrientation, double maxIntegralOriError)
{
double kdPosition = GainCalculator.computeDerivativeGain(kpPosition, zetaPosition);
setPositionGains(kpPosition, kdPosition, kiPosition, maxIntegralPosError);
double kdOrientation = GainCalculator.computeDerivativeGain(kpOrientation, zetaOrientation);
setOrientationGains(kpOrientation, kdOrientation, kiOrientation, maxIntegralOriError);
}