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	PrimitiveController::PrimitiveController(
		PotentialPtr potential,
		EffectorTransformPtr effector_transform,
		SensorTransformPtr sensor_transform,
		CombinationStrategyPtr combination_strategy,
		std::vector<PrimitiveControllerPtr> subordinate_controllers,
		CBFFloat alpha,
		CBFFloat beta,
		CBFFloat max_gradient_norm,
		bool init_reference_from_sensor_transform 
		) :
		m_SubordinateControllers(subordinate_controllers),
		m_SensorTransform(sensor_transform),
		m_Potential(potential),
		m_EffectorTransform(effector_transform),
		m_CombinationStrategy(combination_strategy),
		m_Alpha(alpha),
		m_Beta(beta),
		m_MaxGradientNorm(max_gradient_norm),
		m_InitReferenceFromSensorTransform(init_reference_from_sensor_transform)
	{
		CBF_DEBUG("[PrimitiveController]: Constructor1")
			}

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