From 89908285029b0929ed3212be2966a917def61271 Mon Sep 17 00:00:00 2001 From: "U-tackya-PC\\tackya" Date: Sun, 5 Feb 2012 17:34:18 +0900 Subject: [PATCH] [1] The function 'next-iter' was modified so that used non column swap version of 'lin-solve'. non column swap version. --- dynamics/src/math.clj | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/dynamics/src/math.clj b/dynamics/src/math.clj index c845eea..b7b6591 100755 --- 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))))) -- 2.11.0