- rc ** 2.0 + (r1 ** 2.0 * r2 ** 2.0 * (r1 * (cos (alpha2 + theta - theta1 - theta2) - cos (alpha2 - theta) * cos (theta1 - theta2)) * sin (alpha1 - theta1) + r2 * (-cos (alpha1 + theta - theta1 - theta2) + cos (alpha1 - theta) * cos (theta1 - theta2)) * sin (alpha2 - theta2)) ** 2.0 * sin (theta1 - theta2) ** 2.0) /
- (sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2.0 - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.0) ** 2.0 -
- (2.0 * r1 * r2 * rc * cos (theta - psi) * (r1 * (cos (alpha2 + theta - theta1 - theta2) - cos (alpha2 - theta) * cos (theta1 - theta2)) * sin (alpha1 - theta1) + r2 * (-cos (alpha1 + theta - theta1 - theta2) + cos (alpha1 - theta) * cos (theta1 - theta2)) * sin (alpha2 - theta2)) * sin (theta1 - theta2)) /
- (sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2.0 - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.0))
-
- // We search for an interval [theta_a, theta_b] and assume the function is unimodal in this interval.
- let r1eTheta, r1e = goldenSectionSearch rellipse accuracy_extremum_search_2 0.0 (Math.PI / 2.0) Maximum // Pi/2 and not pi because the period is Pi.
- let r2eTheta, r2e = goldenSectionSearch rellipse accuracy_extremum_search_2 0.0 (Math.PI / 2.0) Minimum
-
+ rc ** 2. + (r1 ** 2. * r2 ** 2. * (r1 * (cos (alpha2 + theta - theta1 - theta2) - cos (alpha2 - theta) * cos (theta1 - theta2)) * sin (alpha1 - theta1) + r2 * (-cos (alpha1 + theta - theta1 - theta2) + cos (alpha1 - theta) * cos (theta1 - theta2)) * sin (alpha2 - theta2)) ** 2. * sin (theta1 - theta2) ** 2.) /
+ (sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2. - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.) ** 2. -
+ (2. * r1 * r2 * rc * cos (theta - psi) * (r1 * (cos (alpha2 + theta - theta1 - theta2) - cos (alpha2 - theta) * cos (theta1 - theta2)) * sin (alpha1 - theta1) + r2 * (-cos (alpha1 + theta - theta1 - theta2) + cos (alpha1 - theta) * cos (theta1 - theta2)) * sin (alpha2 - theta2)) * sin (theta1 - theta2)) /
+ (sin (alpha1 - theta1) * sin (alpha2 - theta2) * (r1 * sin (theta - theta1) - r2 * sin (theta - theta2)) ** 2. - r1 * r2 * sin (alpha1 - theta) * sin (alpha2 - theta) * sin (theta1 - theta2) ** 2.))
+
+ // We search for an interval [theta_a, theta_b] and assume the function is unimodal in this interval.
+ let r1eTheta, r1e = goldenSectionSearch rellipse accuracy_extremum_search_2 0. (Math.PI / 2.) Maximum // Pi/2 and not pi because the period is Pi.
+ let r2eTheta, r2e = goldenSectionSearch rellipse accuracy_extremum_search_2 0. (Math.PI / 2.) Minimum
+