// --- private ---
void InitializeInputArrays(Doll doll, out double[] unknowns, out double[] lowerLimits, out double[] upperLimits)
{
var unknownList = new List <double>();
var lowerLimitList = new List <double>();
var upperLimitList = new List <double>();
// Field of view
unknownList.Add(System.Math.PI / 4); // Initial assumption is 45 degree
lowerLimitList.Add(30 * System.Math.PI / 180);
upperLimitList.Add(50 * System.Math.PI / 180);
// Center position
for (int i = 0; i < 3; i++)
{
unknownList.Add(0.0); // Origin
lowerLimitList.Add(double.MinValue);
upperLimitList.Add(double.MaxValue);
}
// Angles
foreach (var part in _targetParts)
{
// Heading-Pitch-Bank order
for (int i = 0; i < 3; i++)
{
unknownList.Add(0.0); // No rotation
}
var limit = doll.GetEulerAngleLimit(part);
lowerLimitList.Add(limit.Min.HeadingDeg);
lowerLimitList.Add(limit.Min.PitchDeg);
lowerLimitList.Add(limit.Min.BankDeg);
upperLimitList.Add(limit.Max.HeadingDeg);
upperLimitList.Add(limit.Max.PitchDeg);
upperLimitList.Add(limit.Max.BankDeg);
}
unknowns = unknownList.ToArray();
lowerLimits = lowerLimitList.ToArray();
upperLimits = upperLimitList.ToArray();
}