private Arm GetArmByAngles(ref Angles a)
{
Arm arm = new Arm();
Point initialElbow = new Point(0, Globals.MountPoint.Y - Globals.ArmLength);
arm.elbow = RotatePoint(initialElbow, Globals.MountPoint, a.alpha);
Point initialHand = new Point(0, Globals.MountPoint.Y - 2 * Globals.ArmLength);
var rotatedHand = RotatePoint(initialHand, Globals.MountPoint, a.alpha);
arm.hand = RotatePoint(rotatedHand, arm.elbow, a.beta);
return(arm);
}
private void GenerateLearningExamples()
{
examples = new Example[Globals.LearningExamplesCount];
for (int i = 0; i < examples.Length; ++i)
{
Example t = new Example(0, 0);
Arm arm = GetArmByAngles(ref t.angles);
//while (arm.hand.X < 0)
//{
// t = new Example(0, 0);
// arm = GetArmByAngles(ref t.angles);
//}
t.point = arm.hand;
NormalizePoint(ref t.point);
NormalizeAngles(ref t.angles);
examples[i] = t;
}
}