aspect Computation {
  syn boolean RobotArm.isInSafetyZone() {
    System.out.println("isInSafetyZone()");
    for (Link link : getLinkList()) {
      if (model().getZoneModel().isInSafetyZone(link.getCurrentPosition())) {
        return true;
      }
    }
    return model().getZoneModel().isInSafetyZone(getEndEffector().getCurrentPosition());
  }

  cache ZoneModel.isInSafetyZone(IntPosition pos);
  syn boolean ZoneModel.isInSafetyZone(IntPosition pos) {
    System.out.println("isInSafetyZone(" + pos + ")");
    for (Zone sz : getSafetyZoneList()) {
      for (Coordinate coordinate : sz.getCoordinateList()) {
        if (coordinate.getPosition().equals(pos)) {
          return true;
        }
      }
    }
    return false;
  }

  syn double RobotArm.getAppropriateSpeed() {
    return isInSafetyZone() ? 0.4d : 1.0d;
  }
}