[Stabilizer.cpp, Stabilizer.h] fix swing leg modification rule

[eisoku9618]

式が微妙におかしかったことに気づいたので修正しました．
デフォルトの挙動は変えていないつもりです．

以下メモ

(progn
  (load "package:https://hrpsys_ros_bridge_jvrc/euslisp/jaxon_jvrc-interface.l")
  (setq *robot* (jaxon_jvrc-init))
  (send *ri* :set-gait-generator-param :default-step-height 0.1 :default-step-time 1 :default-orbit-type 2)
  (send *ri* :stop-st)
  (send *ri* :set-st-param :st-algorithm 3)
  (send *ri* :start-st)
  (let ((pos-gain 1.0)
        (rot-gain 1.0)
        (body-gain 10)
        (time-const 0.7))
    (send *ri* :set-st-param
          :eefm-body-attitude-control-gain (list body-gain body-gain)
          :eefm-swing-rot-spring-gain (list (float-vector rot-gain rot-gain 0)
                                            (float-vector rot-gain rot-gain 0)
                                            (float-vector rot-gain rot-gain 0)
                                            (float-vector rot-gain rot-gain 0))
          :eefm-swing-pos-spring-gain (list (float-vector 0 0 pos-gain)
                                            (float-vector 0 0 pos-gain)
                                            (float-vector 0 0 pos-gain)
                                            (float-vector 0 0 pos-gain))
          :eefm-swing-rot-time-const (list (float-vector time-const time-const time-const)
                                           (float-vector time-const time-const time-const)
                                           (float-vector time-const time-const time-const)
                                           (float-vector time-const time-const time-const))
          :eefm-swing-pos-time-const (list (float-vector time-const time-const time-const)
                                           (float-vector time-const time-const time-const)
                                           (float-vector time-const time-const time-const)
                                           (float-vector time-const time-const time-const))
          ))
  (send *ri* :go-velocity 1 0 0)
  (read-line)
  (send *ri* :go-stop))

[k-okada]

Refer to this link for build results (access rights to CI server needed):
https://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2558/
Test PASSed.

[snozawa]

Please merge origin/master.

#905
でおこってる問題がtravisでおきているようにみえて、
#950
で別な方法で回避しています（DataLoggerの出力を使う）

[k-okada]

Refer to this link for build results (access rights to CI server needed):
https://jenkins.jsk.imi.i.u-tokyo.ac.jp:8080/job/hrpsys-qnx/2560/
Test PASSed.

[eisoku9618]

ありがとうございます．
origin/masterをマージしまして，トラビスが通りましたので，マージして頂けると幸いです．