/// <summary>
/// Calcula a lei dos cossenos em todos os planos
/// </summary>
/// <param name="subPose">SubPose que contém a posição dos joints</param>
/// <returns>Retorna um objeto que contém o resultado do angulo em cada um dos planos 2D utilizando a lei dos cossenos</returns>
internal static LawOfCosinesResult LawOfCosinesCalculation( SubPose subPose )
{
LawOfCosinesResult lawOfCosinesResult = new LawOfCosinesResult();
lawOfCosinesResult.PlanXY = LawOfCosinesPlanCalculation( subPose.AuxiliaryJoint1.Position, subPose.CenterJoint.Position, subPose.AuxiliaryJoint2.Position, Axis.X, Axis.Y );
lawOfCosinesResult.PlanXZ = LawOfCosinesPlanCalculation( subPose.AuxiliaryJoint1.Position, subPose.CenterJoint.Position, subPose.AuxiliaryJoint2.Position, Axis.X, Axis.Z );
lawOfCosinesResult.PlanYZ = LawOfCosinesPlanCalculation( subPose.AuxiliaryJoint1.Position, subPose.CenterJoint.Position, subPose.AuxiliaryJoint2.Position, Axis.Y, Axis.Z );
return lawOfCosinesResult;
}
/// <summary>
/// Constructor that initializes the result properties
/// </summary>
/// <param name="scalarProductResult">The result of Scalar Product calculation</param>
/// <param name="lawOfCosinesResult">The result of Law of Cosines calculation in all plans</param>
internal AngleCalculation( double scalarProductResult, LawOfCosinesResult lawOfCosinesResult )
{
this.LawOfCosinesResult = lawOfCosinesResult;
this.ScalarProductResult = scalarProductResult;
}
