All of the Flavians had rather poor relations with the Senate due to their autocratic rule; however, Domitian was the only one who encountered significant problems. His continuous control as consul and censor throughout his rule—the former his father shared in much the same way as his Julio-Claudian forerunners, the latter presented difficulty even to obtain—were unheard of. In addition, he often appeared in full military regalia as an imperator, an affront to the idea of what the Principate-era emperor's power was based upon: the emperor as the princeps.