added kp and kd for ActiveImpedanceControlTarget

source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h

@@ -98,7 +98,8 @@ namespace armarx
     {
     public:
         float position;
-        float stiffness;
+        float kp;
+        float kd;
 
         const std::string& getControlMode() const override
         {
@@ -107,17 +108,19 @@ namespace armarx
         void reset() override
         {
             position = 0;
-            stiffness = 0;
+            kp = 0;
+            kd = 0;
         }
         bool isValid() const override
         {
-            return std::isfinite(position) && stiffness >= 0;
+            return std::isfinite(position) && kp >= 0;
         }
         static ControlTargetInfo<ActiveImpedanceControlTarget> GetClassMemberInfo()
         {
             ControlTargetInfo<ActiveImpedanceControlTarget> cti;
             cti.addMemberVariable(&ActiveImpedanceControlTarget::position, "position");
-            cti.addMemberVariable(&ActiveImpedanceControlTarget::stiffness, "stiffness");
+            cti.addMemberVariable(&ActiveImpedanceControlTarget::kp, "kp");
+            cti.addMemberVariable(&ActiveImpedanceControlTarget::kd, "kd");
             return cti;
         }
         DETAIL_ControlTargetBase_DEFAULT_METHOD_IMPLEMENTATION