/// <summary>
/// Calculate the error of ANFIS against the mathematical solution
/// </summary>
/// <returns></returns>
public async Task <IEnumerable <MathErrorOutcome> > CalculateMathError()
{
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>();
Positions.ToList().ForEach((endPoint) => {
var anfisOut = CalculateAngelsUsingANFIS(endPoint).GetAwaiter().GetResult();
var mathOuts = CalculateArmJoint(endPoint).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);
});
return(await _fuzzyHelper.CalculateMathError(mathematicalOutcomes, anfisOutcomes));
}