std::vector<long double> Cordic::Iterate(std::vector<long double>& nextIteration, int currentIteration)
{
    ///////////////////////////////////////
    // Implement the rotation equations. //
    ///////////////////////////////////////
    // 'nextIteration[0]' item : x_{x+1} = x_i - d_{i}*y_{i}*2^{-i}
    // 'nextIteration[1]' item : y_{y+1} = y_i + d_{i}*x_{i}*2^{-i}
    // 'nextIteration[2]' item : z_{i+1} = z_i - d_{i}*\alpha_i
    // All units are in radians.

    nextIteration[0] = nextIteration[0] - Utility::Sgn(nextIteration[2]) * nextIteration[1] * exp2(-currentIteration);
    nextIteration[1] = nextIteration[1] + Utility::Sgn(nextIteration[2]) * nextIteration[0] * exp2(-currentIteration);
    nextIteration[2] = nextIteration[2] - Utility::Sgn(nextIteration[2]) * this->ArctanLookupTable[currentIteration];

    currentIteration++;
    //std::cout << currentIteration;
    if (currentIteration == Utility::ITERATION_MAX)
    {
        return nextIteration;
    }
    else
    {
        nextIteration = Iterate(nextIteration, currentIteration);
        return nextIteration;
    }

}