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Merge pull request #551 from Naoki-Hiraoka/fix-bag-of-extended-preview-controller
fix bug of extended-preview-controller
2 parents 9f64ae9 + 11c2611 commit ecfc50e

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irteus/irtdyna.l

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@@ -1446,7 +1446,7 @@
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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)

irteus/test/irteus-demo.l

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@@ -89,6 +89,13 @@
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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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(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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