def _computeNextPose(self, previousPose, currentPose, goalPose, elapsed, elapsedPrevious, maxSpeed):
        v = 1.0/elapsedPrevious * (currentPose % previousPose)
        u = -self._Kp*(currentPose - goalPose) - self._Kd*v # u = -K*x
        v_next = v + elapsed*u
        v_next = np.clip(v_next,-maxSpeed,maxSpeed) # velocity clamp
        nextPose = currentPose + v_next*elapsed
        nextPose = self.clipPoseToJointLimits(nextPose)
        return nextPose
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testAtlasCommand.py/AtlasCommandStream._computeNextPose/operator `-` -> `%`