//  ---------------------- Doxygen info ----------------------
//! \file TypeIIRMLStep2WithoutSynchronization.cpp
//!
//! \brief
//! Implementation file for the function
//! TypeIIRMLMath::Step2WithoutSynchronization()
//!
//! \details
//! For further information, please refer to the file
//! TypeIIRMLStep2WithoutSynchronization.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 <TypeIIRMLStep2WithoutSynchronization.h>
#include <TypeIIRMLStep1Profiles.h>
#include <TypeIIRMLDecisionTree2.h>
#include <TypeIIRMLMath.h>
#include <TypeIIRMLDecisions.h>
#include <TypeIIRMLStep2Profiles.h>
#include <TypeIIRMLStep2IntermediateProfiles.h>


//****************************************************************************
// Step2WithoutSynchronization()

void TypeIIRMLMath::Step2WithoutSynchronization(		const double						&CurrentPosition
													,	const double						&CurrentVelocity
													,	const double						&TargetPosition
													,	const double						&TargetVelocity
													,	const double						&MaxVelocity
													,	const double						&MaxAcceleration
													,	const TypeIIRMLMath::Step1_Profile	&UsedProfile
													,	const double						&MinimumExecutionTime
													,	MotionPolynomials					*PolynomialsInternal)
{
    bool			Inverted				=	false;
                    
    double			CurrentTime				=	0.0
				,	ThisCurrentPosition		=	CurrentPosition				
                ,	ThisCurrentVelocity		=	CurrentVelocity				
                ,	ThisTargetPosition		=	TargetPosition
                ,	ThisTargetVelocity		=	TargetVelocity		;

	if (!Decision_2___001(ThisCurrentVelocity))
	{
		NegateStep2(		&ThisCurrentPosition
						,	&ThisCurrentVelocity
						,	&ThisTargetPosition
						,	&ThisTargetVelocity
						,	&Inverted				);
	}

	if (!Decision_2___002(		ThisCurrentVelocity
							,	MaxVelocity			))
	{
		VToVMaxStep2(		&CurrentTime
						,	&ThisCurrentPosition
						,	&ThisCurrentVelocity
						,	MaxVelocity
						,	MaxAcceleration
						,	&(*PolynomialsInternal)
						,	Inverted				);
	}

	if (	(UsedProfile == Step1_Profile_NegLinHldPosLin	)
		||	(UsedProfile == Step1_Profile_NegLinPosLin		)
		||	(UsedProfile == Step1_Profile_NegTrapPosLin		)
		||	(UsedProfile == Step1_Profile_NegTriPosLin		)	)
	{
		VToZeroStep2(		&CurrentTime
						,	&ThisCurrentPosition
						,	&ThisCurrentVelocity
						,	MaxAcceleration
						,	&(*PolynomialsInternal)
						,	Inverted				);

		NegateStep2(		&ThisCurrentPosition
						,	&ThisCurrentVelocity
						,	&ThisTargetPosition
						,	&ThisTargetVelocity
						,	&Inverted				);
	}

	if (	(UsedProfile == Step1_Profile_PosLinHldNegLin	)
		||	(UsedProfile == Step1_Profile_NegLinHldPosLin	)
		||	(UsedProfile == Step1_Profile_PosLinNegLin		)
		||	(UsedProfile == Step1_Profile_NegLinPosLin		)	)
	{
		ProfileStep2PosLinHldNegLin(	CurrentTime
									,	MinimumExecutionTime
									,	ThisCurrentPosition
									,	ThisCurrentVelocity
									,	ThisTargetPosition
									,	ThisTargetVelocity
									,	MaxAcceleration
									,	&(*PolynomialsInternal)
									,	Inverted				);
	}
	else
	{
		ProfileStep2PosTrapNegLin(		CurrentTime
									,	MinimumExecutionTime
									,	ThisCurrentPosition
									,	ThisCurrentVelocity
									,	ThisTargetPosition
									,	ThisTargetVelocity
									,	MaxAcceleration
									,	&(*PolynomialsInternal)
									,	Inverted				);
	}

    return;
}

