Transformation
(θ1, θ2)→(Qx, Qz).
Note: it uses the global value |||VelkeK|
= .
*/
void QxQz_from_Theta1Theta2 (
double& Qx, double& Qz, double Theta1, double Theta2 )
if (RecSpaceNearOriginApprox)
Qz = VelkeK * ( Theta1 + Theta2 ); //+
Qz = K(θ1 + θ2)
Qx = Qz * ( Theta1 - Theta2 ) /2; //+
Qx = (θ12 - θ22)
else
Qz = VelkeK * ( sin(Theta2)+sin(Theta1) ); //+
Qz = K(sinθ1 + sinθ2)
Qx = VelkeK * ( cos(Theta2)-cos(Theta1) ); //+
Qx = K(cosθ1 - cosθ2)
/*+