- bracket2=f_c_ik*bracket1;
- bracket2_n_1=pow(bracket2,n-1.0);
- bracket2_n=bracket2_n_1*bracket2;
- bracket3=1+betan*bracket2_n;
+ if(f_c_ik==0.0) {
+ bracket2=0.0;
+ bracket2_n_1=0.0;
+ bracket2_n=0.0;
+ bracket3=1.0;
+ printf("Foo -> 0: ");
+ }
+ else {
+ bracket2=f_c_ik*bracket1;
+ bracket2_n_1=pow(bracket2,n-1.0);
+ bracket2_n=bracket2_n_1*bracket2;
+ bracket3=1.0+betan*bracket2_n;
+ printf("Foo -> 1: ");
+ }