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)
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