[1] The function 'next-iter' was modified so that used non column swap version

    of 'lin-solve'.
    non column swap version.

diff --git a/dynamics/src/math.clj b/dynamics/src/math.clj
index c845eea..b7b6591 100755 (executable)
--- a/dynamics/src/math.clj
+++ b/dynamics/src/math.clj
@@ -189,9 +189,8 @@
                       (t* *h* (phys xis))
                       (t- (t* *h* jaco xis))
                       ))
-        [solved varswap] (lin-solve (map #(conj %1 %2)
-                                         (map vec lhs) rhs))]
+        solved (lin-solve (map #(conj %1 %2)
+                               (map vec lhs) rhs))]
     (vec (cons (first xis)
-               (reduce #(swap (nth %2 0) (nth %2 1) %1)
-                       (map #(nth % (dec (count xis))) solved)
-                       varswap)))))
+               (map #(nth % (count solved))
+                    solved)))))