added deadzone for adaptivekp

source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointPeriodicTSDMPCompliantController.cpp

@@ -356,7 +356,7 @@ namespace armarx
         if (diff > cfg->phaseDist0)
         {
             isPhaseStop = true;
-            adaptK = ((float)exp(-fabs(diff - cfg->phaseDist0) * cfg->adaptCoeff)) * adaptK;
+            adaptK = ((float)exp(-(diff - cfg->phaseDist0) * cfg->adaptCoeff)) * adaptK;
             adaptK(2) = kpos(2);
         }