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In procedure fxhyp, extracted the body of the loop on ik into a new procedure: fxhyp_loop_ik. dzoomx and dzoomy must now be fractions of the entire range, they cannot be ranges in degrees or rad. In fxhyp, force Xf(2 * nmax) = pi_d instead of possibly doing it in fxhyp_loop_ik. In fxhyp_loop_ik, when testing whether xvrai is between -pi and pi, changed the boundaries from -pi - 0.1 to - pi_d - 1d-5 and from pi + 0.1 to pi_d + 1d-5. This reveals a misconception of the code. Therefore, this version does not work.
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