//  ---------------------- Doxygen info ----------------------
//! \file TypeIIRMLDecisionTree1C.cpp
//!
//! \brief
//! Implementation file for the Step 1 decision tree 1C of the Type II
//! On-Line Trajectory Generation algorithm
//!
//! \details
//! For further information, please refer to the file
//! TypeIIRMLDecisionTree1C.h
//! \n
//! \n
//! <b>GNU Lesser General Public License</b> 
//! \n
//! \n
//! This file is part of the Type II Reflexxes Motion Library.
//! \n\n
//! The Type II Reflexxes Motion Library is free software: you can redistribute
//! it and/or modify it under the terms of the GNU Lesser General Public License
//! as published by the Free Software Foundation, either version 3 of the
//! License, or (at your option) any later version.
//! \n\n
//! The Type II Reflexxes Motion Library is distributed in the hope that it
//! will be useful, but WITHOUT ANY WARRANTY; without even the implied 
//! warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See
//! the GNU Lesser General Public License for more details.
//! \n\n
//! You should have received a copy of the GNU Lesser General Public License
//! along with the Type II Reflexxes Motion Library. If not, see 
//! <http://www.gnu.org/licenses/>.
//! \n
//! \n
//! \n
//! Reflexxes GmbH\n
//! Sandknoell 7\n
//! D-24805 Hamdorf\n
//! GERMANY\n
//! \n
//! http://www.reflexxes.com\n
//!
//! \date June 2013
//! 
//! \version 1.2.4
//!
//!	\author Torsten Kroeger, <info@reflexxes.com> \n
//!	
//!
//! \note Copyright (C) 2013 Reflexxes GmbH.
//  ----------------------------------------------------------
//   For a convenient reading of this file's source code,
//   please use a tab width of four characters.
//  ----------------------------------------------------------


#include <TypeIIRMLDecisionTree1C.h>
#include <TypeIIRMLStep1Profiles.h>
#include <TypeIIRMLMath.h>
#include <TypeIIRMLDecisions.h>
#include <TypeIIRMLStep1IntermediateProfiles.h>
#include <TypeIIRMLStep1Profiles.h>


//************************************************************************************
// TypeIIRMLDecisionTree1C()

void TypeIIRMLMath::TypeIIRMLDecisionTree1C(	const double	&CurrentPosition
											,	const double	&CurrentVelocity
											,	const double	&TargetPosition
											,	const double	&TargetVelocity
											,	const double	&MaxVelocity
											,	const double	&MaxAcceleration
											,	double			*AlternativeExecutionTime)
{
    double			ThisCurrentPosition		=	CurrentPosition				
                ,	ThisCurrentVelocity		=	CurrentVelocity				
                ,	ThisTargetPosition		=	TargetPosition
                ,	ThisTargetVelocity		=	TargetVelocity		;

	*AlternativeExecutionTime	=	0.0;

	// ********************************************************************
	if (Decision_1C__001(ThisCurrentVelocity))
	{
		goto MDecision_1C__002;
	}
	else
	{
		NegateStep1(		&ThisCurrentPosition
						,	&ThisCurrentVelocity
						,	&ThisTargetPosition
						,	&ThisTargetVelocity	);

		goto MDecision_1C__002;
	}
	// ********************************************************************
MDecision_1C__002:
	if (Decision_1C__002(		ThisCurrentVelocity
							,	MaxVelocity			))
	{
		goto MDecision_1C__003;
	}
	else
	{
		VToVMaxStep1(		AlternativeExecutionTime
						,	&ThisCurrentPosition
						,	&ThisCurrentVelocity
						,	MaxVelocity
						,	MaxAcceleration		);

		goto MDecision_1C__003;
	}
	// ********************************************************************
MDecision_1C__003:

	VToZeroStep1(		AlternativeExecutionTime
					,	&ThisCurrentPosition
					,	&ThisCurrentVelocity
					,	MaxAcceleration			);

	NegateStep1(		&ThisCurrentPosition
					,	&ThisCurrentVelocity
					,	&ThisTargetPosition
					,	&ThisTargetVelocity	);


	if (Decision_1C__003(		ThisCurrentPosition
							,	ThisCurrentVelocity
							,	ThisTargetPosition
							,	ThisTargetVelocity
							,	MaxVelocity
							,	MaxAcceleration			))
	{
		*AlternativeExecutionTime	+=	ProfileStep1PosTriNegLin(		ThisCurrentPosition
																	,	ThisCurrentVelocity
																	,	ThisTargetPosition
																	,	ThisTargetVelocity
																	,	MaxAcceleration			);
	}
	else
	{
		*AlternativeExecutionTime	+=	ProfileStep1PosTrapNegLin(		ThisCurrentPosition
																	,	ThisCurrentVelocity
																	,	ThisTargetPosition
																	,	ThisTargetVelocity
																	,	MaxVelocity
																	,	MaxAcceleration			);
	}
	// ********************************************************************

	return;
}
