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- 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);
- }
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