RMLVelocityInputParameters.h

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#ifndef __RMLVelocityInputParameters__
#define __RMLVelocityInputParameters__


#include "RMLInputParameters.h"
#include <math.h>


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class RMLVelocityInputParameters : public RMLInputParameters
{
public:


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    RMLVelocityInputParameters(const unsigned int DegreesOfFreedom) : RMLInputParameters(DegreesOfFreedom)
    {
    }


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    RMLVelocityInputParameters(const RMLVelocityInputParameters &IP) : RMLInputParameters(IP)
    {
    }


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    ~RMLVelocityInputParameters(void)
    {
    }


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    inline RMLVelocityInputParameters &operator = (const RMLVelocityInputParameters &IP)
    {
        RMLInputParameters::operator=(IP);

        return(*this);
    }



// #############################################################################


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    bool CheckForValidity(void) const
    {
        unsigned int        i                           =   0;

        double              MinimumOrderOfMagnitude     =   0.0
                        ,   MaximumOrderOfMagnitude     =   0.0;

        for (i = 0; i < this->NumberOfDOFs; i++)
        {
            if ((this->SelectionVector->VecData)[i])
            {
                if (    ((this->MaxAccelerationVector->VecData)[i]  >=  (this->MaxJerkVector->VecData)                  [i] )
                    &&  ((this->MaxAccelerationVector->VecData)[i]  >=  fabs((this->TargetVelocityVector->VecData)      [i]))
                    &&  ((this->MaxAccelerationVector->VecData)[i]  >=  fabs((this->CurrentPositionVector->VecData)     [i]))
                    &&  ((this->MaxAccelerationVector->VecData)[i]  >=  fabs((this->CurrentVelocityVector->VecData)     [i]))
                    &&  ((this->MaxAccelerationVector->VecData)[i]  >=  fabs((this->CurrentAccelerationVector->VecData) [i])))
                {
                    MaximumOrderOfMagnitude =   (this->MaxAccelerationVector->VecData)[i];
                }
                else
                {
                    if (    ((this->MaxJerkVector->VecData)[i]  >=  fabs((this->TargetVelocityVector->VecData)      [i]))
                        &&  ((this->MaxJerkVector->VecData)[i]  >=  fabs((this->CurrentPositionVector->VecData)     [i]))
                        &&  ((this->MaxJerkVector->VecData)[i]  >=  fabs((this->CurrentVelocityVector->VecData)     [i]))
                        &&  ((this->MaxJerkVector->VecData)[i]  >=  fabs((this->CurrentAccelerationVector->VecData) [i])))
                    {
                        MaximumOrderOfMagnitude =   (this->MaxJerkVector->VecData)[i];
                    }
                    else
                    {
                        if (    (fabs((this->TargetVelocityVector->VecData)[i]) >=  fabs((this->CurrentPositionVector->VecData)     [i]))
                            &&  (fabs((this->TargetVelocityVector->VecData)[i]) >=  fabs((this->CurrentVelocityVector->VecData)     [i]))
                            &&  (fabs((this->TargetVelocityVector->VecData)[i]) >=  fabs((this->CurrentAccelerationVector->VecData) [i])))
                        {
                            MaximumOrderOfMagnitude =   fabs((this->TargetVelocityVector->VecData)[i]);
                        }
                        else
                        {
                            if (    (fabs((this->CurrentPositionVector->VecData)[i])    >=  fabs((this->CurrentVelocityVector->VecData)     [i]))
                                &&  (fabs((this->CurrentPositionVector->VecData)[i])    >=  fabs((this->CurrentAccelerationVector->VecData) [i])))
                            {
                                MaximumOrderOfMagnitude =   fabs((this->CurrentPositionVector->VecData)[i]);
                            }
                            else
                            {
                                MaximumOrderOfMagnitude =   fabs((this->CurrentAccelerationVector->VecData)[i]);
                            }
                        }
                    }
                }

                if ((this->MaxAccelerationVector->VecData)[i]   <=  (this->MaxJerkVector->VecData)[i])
                {
                    MinimumOrderOfMagnitude =   (this->MaxAccelerationVector->VecData)[i];
                }
                else
                {
                    MinimumOrderOfMagnitude =   (this->MaxJerkVector->VecData)[i];
                }

                // The value of MinimumOrderOfMagnitude is greater than
                // zero:
                if (    (MaximumOrderOfMagnitude / MinimumOrderOfMagnitude)
                    >   (double)pow((float)10, (int)(RMLVelocityInputParameters::MAXIMUM_MAGNITUDE_RANGE)))
                {
                    return(false);
                }
            }
        }

        if (this->MinimumSynchronizationTime > 1e10)
        {
            return(false);
        }

        return(true);
    }


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    void Echo(FILE* FileHandler = stdout) const
    {
        RMLInputParameters::Echo(FileHandler);
        return;
    }

protected:


    enum
    {
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        MAXIMUM_MAGNITUDE_RANGE =   10
    };



};// class RMLVelocityInputParameters



#endif