">if</span>(tmp[i] &gt; bnds[i+6]) bnds[i+6] = tmp[i];
<a name="l00062"></a>00062         }
<a name="l00063"></a>00063       }
<a name="l00064"></a>00064 
<a name="l00065"></a>00065       <span class="comment">// theta0 is in [-pi,pi]</span>
<a name="l00066"></a>00066       bnds[3] = -M_PI - 0.0001;
<a name="l00067"></a>00067       bnds[9] = M_PI + 0.0001;
<a name="l00068"></a>00068       <span class="comment">// theta2 is in [-pi/2, pi/2]</span>
<a name="l00069"></a>00069       bnds[4] = -M_PI_2 - 0.0001;
