public async Task <IEnumerable <MathErrorOutcome> > DoExperiment(IExperiment experiment)
{
if (!(experiment.ExperimentPositions?.Any() ?? false))
{
throw new Exception("No Experiment Positions generated.");
}
if (!IsDataSetCalculated)
{
throw new ApplicationException("DataSet is not calculated");
}
if (!IsANFISTrained)
{
throw new ApplicationException("ANFIS is not trained");
}
var mathematicalOutcomes = new List <IKinematicOutcome>();
var anfisOutcomes = new List <IKinematicOutcome>();
experiment.ExperimentPositions.ToList().ForEach(point => {
var anfisOut = CalculateAngelsUsingANFIS(point).GetAwaiter().GetResult();
var mathOuts = CalculateArmJoint(point).GetAwaiter().GetResult()
.Select(x => new KinematicOutcome(x.Theta1.ConvertRadiansToDegrees(), x.Theta2.ConvertRadiansToDegrees(), x.JointPosition));
var mathOut = mathOuts.OrderBy(x => x, new CustomSort(anfisOut)).FirstOrDefault();
anfisOutcomes.Add(anfisOut);
mathematicalOutcomes.Add(mathOut);
});
experiment.SetActualOutputs(mathematicalOutcomes);
experiment.SetAnfisOutputs(anfisOutcomes);
return(await experiment.CalculateError());
}
