Fix torque controller pass qref mode

[orikuma]

TorqueControllerに関して, 以下の変更をしました.

• qRefInが更新される前にqRefInのバッファにアクセスする場合があるバグを修正しました.
• TorqueControllerが無効なときに関節可動域確認なしでqRefInをそのまま出力するように変更しました.
• トルク制御時に制御器が出す関節角度差分に上限・下限を加えました.

[k-okada]

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http:https://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2503/

Build Log
last 10 lines

[...truncated 9474 lines...]
    at org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)
    at org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:27)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:12)
    at hudson.model.listeners.RunListener.fireCompleted(RunListener.java:201)
    at hudson.model.Run.execute(Run.java:1783)
    at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)
    at hudson.model.ResourceController.execute(ResourceController.java:98)
    at hudson.model.Executor.run(Executor.java:410)

Test FAILed.

[k-okada]

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http:https://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2507/

Build Log
last 10 lines

[...truncated 3779 lines...]
    at org.jenkinsci.plugins.ghprb.GhprbRepository.createCommitStatus(GhprbRepository.java:122)
    at org.jenkinsci.plugins.ghprb.GhprbBuilds.onCompleted(GhprbBuilds.java:118)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:27)
    at org.jenkinsci.plugins.ghprb.GhprbBuildListener.onCompleted(GhprbBuildListener.java:12)
    at hudson.model.listeners.RunListener.fireCompleted(RunListener.java:201)
    at hudson.model.Run.execute(Run.java:1783)
    at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)
    at hudson.model.ResourceController.execute(ResourceController.java:98)
    at hudson.model.Executor.run(Executor.java:410)

Test FAILed.