private static void createDampingUpdaters(Map<Axis, DoubleParameter> kpMap, Map<Axis, YoDouble> kdMap, Map<Axis, DoubleParameter> zetaMap, GainCoupling gainCoupling) { switch (gainCoupling) { case NONE: addDampingUpdater(Axis.X, kpMap, kdMap, zetaMap); addDampingUpdater(Axis.Y, kpMap, kdMap, zetaMap); addDampingUpdater(Axis.Z, kpMap, kdMap, zetaMap); break; case XY: addDampingUpdater(Axis.X, kpMap, kdMap, zetaMap); addDampingUpdater(Axis.Z, kpMap, kdMap, zetaMap); break; case YZ: addDampingUpdater(Axis.X, kpMap, kdMap, zetaMap); addDampingUpdater(Axis.Y, kpMap, kdMap, zetaMap); break; case XZ: addDampingUpdater(Axis.X, kpMap, kdMap, zetaMap); addDampingUpdater(Axis.Y, kpMap, kdMap, zetaMap); break; case XYZ: addDampingUpdater(Axis.X, kpMap, kdMap, zetaMap); break; } }