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refactor: Eliminate leg branches - #2

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irajkovic wants to merge 1 commit into
XRobots:masterfrom
irajkovic:refactor-ifs
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refactor: Eliminate leg branches#2
irajkovic wants to merge 1 commit into
XRobots:masterfrom
irajkovic:refactor-ifs

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Removes unnecessary if conditions by generalizing calculations using signX and signY variables.

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