RMLPositionFlags.h

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#ifndef __RMLPositionFlags__
#define __RMLPositionFlags__


#include "RMLFlags.h"


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class RMLPositionFlags : public RMLFlags
{
public:


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    RMLPositionFlags(void)
    {
        this->SynchronizationBehavior                       =   RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE ;
        this->BehaviorAfterFinalStateOfMotionIsReached      =   RMLPositionFlags::KEEP_TARGET_VELOCITY      ;
        this->EnableTheCalculationOfTheExtremumMotionStates =   true                                        ;
        this->KeepCurrentVelocityInCaseOfFallbackStrategy   =   false                                       ;
    }


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    ~RMLPositionFlags(void)
    {
    }


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    inline bool operator == (const RMLPositionFlags &Flags) const
    {
        return(     (RMLFlags::operator==(Flags))
                &&  (this->BehaviorAfterFinalStateOfMotionIsReached
                        ==  Flags.BehaviorAfterFinalStateOfMotionIsReached)
                &&  (this->KeepCurrentVelocityInCaseOfFallbackStrategy
                        ==  Flags.KeepCurrentVelocityInCaseOfFallbackStrategy));
    }


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    inline bool operator != (const RMLPositionFlags &Flags) const
    {
        return(!(*this == Flags));
    }


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    enum FinalMotionBehaviorEnum
    {
        KEEP_TARGET_VELOCITY    =   0   ,
        RECOMPUTE_TRAJECTORY    =   1
    };


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    int             BehaviorAfterFinalStateOfMotionIsReached;


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    bool                KeepCurrentVelocityInCaseOfFallbackStrategy;


};// class RMLPositionFlags



#endif