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lines changed Original file line number Diff line number Diff line change 1446
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(R+btPb-1bt (m* R+btPb-1 bt))
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(qt (scale-matrix Q ct)))
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(dotimes (i delay)
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- (let* ((qt (if (= i (1- delay)) (m* P qt ) qt))
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+ (let* ((qt (if (= i (1- delay)) (m* P ct ) qt))
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(fa (m* R+btPb-1 (m* bt (m* gsi qt)))))
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(setq gsi (m* A-bKt gsi))
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(dotimes (ii input-dim)
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(assert
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(every #' identity (test-preview-control-0 :preview-controller-class extended-preview-controller))))
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+ (deftest test-test-extended-preview-control-0-QR
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+ (assert
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+ (every #' identity (mapcar #' (lambda (x y) (and (eps= (cadr (memq :zmp x)) (cadr (memq :zmp y)))
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+ (eps= (cadr (memq :cog x)) (cadr (memq :cog y)))))
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+ (test-preview-control-0 :preview-controller-class extended-preview-controller :q 1 :r 1e-6 )
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+ (test-preview-control-0 :preview-controller-class extended-preview-controller :q 1e1 :r 1e-5 )))))
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+
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(deftest test-test-preview-control-1
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(assert
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(every #' identity (test-preview-control-1))))
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