def METHOD_NAME(self, e, edot, qdot):
    dt = self.sampling_period.to_sec()
    # theta_hat = np.copy(self.theta_hat)
    r = self.Kp_trans.dot(e) + self.Kd_trans.dot(edot)
    Y = self.get_Y(edot, qdot)
    print self.gamma.dot(Y.transpose().dot(r))
    self.theta_hat += self.gamma.dot(np.transpose(Y).dot(r)) * dt
    # return np.clip(self.theta_hat, [0.0, 0.0], [np.inf, np.inf])
    return self.theta_hat