TypeIIRMLVelocitySetupPhaseSyncSelectionVector.cpp

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#include <TypeIIRMLVelocity.h>
#include <TypeIIRMLMath.h>
#include <RMLVelocityInputParameters.h>
#include <RMLVector.h>


using namespace TypeIIRMLMath;



//****************************************************************************
// SetupPhaseSyncSelectionVector()

void TypeIIRMLVelocity::SetupPhaseSyncSelectionVector(void)
{
    unsigned int                i       =   0;

    *(this->PhaseSyncSelectionVector)   =   *(this->CurrentInputParameters->SelectionVector);

    for (i = 0; i < this->NumberOfDOFs; i++)
    {
        if  (   ((this->CurrentInputParameters->SelectionVector->VecData)[i])
            &&  ( (this->ExecutionTimes->VecData)[i] <= this->CycleTime)
            &&  (IsEpsilonEquality(     0.0
                                    ,   (this->CurrentInputParameters->CurrentVelocityVector->VecData)[i]
                                    ,   0.5 * this->CycleTime * (this->CurrentInputParameters->MaxAccelerationVector->VecData)[i]))
            &&  ((this->CurrentInputParameters->TargetVelocityVector->VecData)[i] == 0.0) )
        {
            (this->PhaseSyncSelectionVector->VecData)                           [i] =   false   ;
            (this->CurrentInputParameters->CurrentVelocityVector->VecData)      [i] =   0.0     ;
        }
    }
}