public void Inline() { Vector3 shoulderToElbow = new Vector3(1, 0, 0); double pitch = InverseKinematics.GetShoulderPitch(shoulderL2R, shoulderToElbow); Assert.AreEqual(0, pitch, angleTolerance); }
public void ElbowPointingUp() { Vector3 shoulderToElbow = new Vector3(0, 1, 0); double pitch = InverseKinematics.GetShoulderPitch(shoulderL2R, shoulderToElbow); Assert.AreEqual(-90, pitch, angleTolerance); }
public void ElbowPointingForward() { Vector3 shoulderToElbow = new Vector3(0, 0, -1); double pitch = InverseKinematics.GetShoulderPitch(shoulderR2L, shoulderToElbow); Assert.AreEqual(-90, pitch, angleTolerance); }