public void TestGetJointPositions(double shoulder, double elbow, double wrist, double palmEndX, double palmEndY)
        {
            var joints = AnglesToCoordinatesTask.GetJointPositions(shoulder, elbow, wrist);
            Assert.AreEqual(palmEndX, joints[2].X, 1e-5, "palm endX");
            Assert.AreEqual(palmEndY, joints[2].Y, 1e-5, "palm endY");
            Assert.AreEqual(Manipulator.UpperArm, GetDistance(new PointF(0, 0), joints[0]));
            Assert.AreEqual(Manipulator.Forearm, GetDistance(joints[0], joints[1]));
            Assert.AreEqual(Manipulator.Palm, GetDistance(joints[1], joints[2]));
        }

        double GetDistance(PointF firstPoint, PointF secondPoint)
        {
            var dX = firstPoint.X - secondPoint.X;
            var dY = firstPoint.Y - secondPoint.Y;
            return Math.Sqrt(dX * dX + dY * dY);
         }