update gain adaptation, update abag parameters

* gain saturation must be between 0 and 1
* tune ABAG params with focus on z axis

generated/abag.c

@@ -82,7 +82,7 @@ void gainAdapater_sched(double const * e_bar, double const * gain_threshold, dou
 
   /* saturation saturateGain */
   if      (*adapted_gain > 1.) *adapted_gain = 1.;
-  else if (*adapted_gain < -1.) *adapted_gain = -1.;
+  else if (*adapted_gain < 0.) *adapted_gain = 0.;
 
   /* update output ports */
 }

src/control_kinova.cpp

@@ -103,11 +103,11 @@ void example_cyclic_torque_control (
     const std::vector<double> cart_force_limit {5.0, 5.0, 5.0, 5.0, 5.0, 5.0}; // N
 
     // ABAG parameters
-    const double alphaPosition[3] = { 0.75, 0.75, 0.75 };
+    const double alphaPosition[3] = { 0.8, 0.9, 0.95 };
     const double biasThresPos[3] = { 0.000407, 0.000407, 0.000407 };
     const double biasStepPos[3] = { 0.000400, 0.000400, 0.000400 };
-    const double gainThresPos[3] = { 0.502492, 0.502492, 0.502492 };
-    const double gainStepPos[3] = { 0.002, 0.002, 0.002 };
+    const double gainThresPos[3] = { 0.502492, 0.55, 0.550000 };
+    const double gainStepPos[3] = { 0.002, 0.003, 0.003 };
     double desiredPosistion[3] = { 0.0 };
     double errorPos[3] = { 0.0 };
     double commandPos[3] = { 0.0 };