anchor.diff:  
   (defun trajx-point-data (points)
     (let* ((n (length points))
  -         (data (amino::make-vec (* 9 (length points)))))
  +         (data (amino::make-vec (* 9 n))))
       (dotimes (i n)
         (let ((point (elt points i))
  -            (offset (* i n)))
  +            (offset (* i (/ (length data) n))))
           (setf (aref data offset)
                 (trajx-point-time point))
           (replace data (amino::matrix-data (trajx-point-pose point))
  
positive.code: 
  (defvar *last-traj*)
  
  
  (defun pir-start ()
    (assert (null *ctrl-channel*))
  
negative.code:             (q (extract 'q 29)))
          (multiple-value-bind (r-l x-l) (amino::tf-duqu2qv s-l)
            (multiple-value-bind (r-r x-r) (amino::tf-duqu2qv s-r)
              (setq *state*
                    (make-pir-state
                     :q q
                     :dq (extract 'dq 29)
                     :q-l (amino::vec-copy q :start 1 :end 8)
                     :q-r (amino::vec-copy q :start 8 :end 15)
                     :q-sdh-l (amino::vec-copy q :start 15 :end 22)
                     :q-sdh-r (amino::vec-copy q :start 22 :end 28)
                     :f-l (extract 'f-l 6)
                     :f-r (extract 'f-r 6)
                     :s-l s-l
                     :s-r s-r
                     :s-eer-l s-eer-l
                     :s-eer-r s-eer-r
                     :s-f-l (aa::tf-duqu-mul s-l s-eer-l)
                     :s-f-r (aa::tf-duqu-mul s-r s-eer-r)
                     :r-l r-l
                     :r-r r-r
                     :x-l x-l
                     :x-r x-r))))))))
  
  (defun pir-set-mode (msg mode)
    (assert (< (length mode) 63))
  