#include "sine.ih"double Sine::calcAngle(vector<Params>& params, double startTime){  WorldModel& wm = WorldModel::getInstance();  double angle = 0;  for (vector<Params>::iterator iter = params.begin(); iter != params.end(); ++iter)  {    Params parameters = *iter;    angle += parameters.amplitude * sin((wm.getTime() - startTime) / parameters.period * 2 * M_PI + parameters.phase) + parameters.offset;  }    angle *= M_PI / 180.0;  return angle;}