trajectories: optimize.
trajectories: optimize.

	* share/urbi/trajectory-generator.u (run): Use an "at" instead of
	an looped if.
	Remove duplicate variables.
	Avoid "return".
	Precompute when applicable.

urbiforge/urbi,urbiforge/urbi,aldebaran/urbi,aldebaran/urbi,aldebaran/urbi,urbiforge/urbi,urbiforge/urbi,urbiforge/urbi,aldebaran/urbi,urbiforge/urbi,aldebaran/urbi,urbiforge/urbi,urbiforge/urbi,aldebaran/urbi,urbiforge/urbi,aldebaran/urbi,aldebaran/urbi