//  ---------------------- Doxygen info ----------------------
//! \file TypeIIRMLVelocitySetupPhaseSyncSelectionVector.cpp
//!
//! \brief
//! Implementation file for the Type II On-Line Trajectory
//! Generation algorithm
//!
//! \details
//! For further information, please refer to the file TypeIIRMLVelocity.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 <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		;
        }
    }
}
