function [IDDATA] = solve_forward_dynamic(IDDATA,DYDATA,CMDATA)
%{
Function for solving the forward dynamic problem.
--------------------------------------------------------------------------
Syntax :
[FDDATA] = solve_forward_dynamic(KEDATA,EFDATA,CMDATA)
--------------------------------------------------------------------------
Function Description :
This function built on the state-space developed already integrate the
motion to get the results of the forward dynamic problem.
--------------------------------------------------------------------------
%}

for j = 1:size(IDDATA.t,2)-1
disp(['solving the foward dynamic simulation, Time Stamp : ', num2str(j), '/', num2str(size(IDDATA.t,2)-1)]);
    % Define the initial conditions
    if j==1
        U0 = [IDDATA.ImposedMotion([1,4,7],1);0;-2e-3;0;
              IDDATA.ImposedMotion([2,5,8],1);0;0;0];
    else
        U0 = sol.y(:,end);
    end
    
    
    ti = IDDATA.t(j);
    tf = IDDATA.t(j+1);
    
    options = odeset('RelTol',1e-5,'MaxStep',IDDATA.StepSize);
    sol = ode45(@(t,u) StateSpace(t,u,j, IDDATA, DYDATA, CMDATA), [ti tf], U0, options);
    
    % to use only the feedforward controller change StateSpace_CL to
    % StateSpace.
    
    solutions(j)=sol;
end
    FDDATA = solutions;

% Show the Results Comparision
 IDDATA = show_the_results(IDDATA, FDDATA);
    
return