sinA+sinB=2*sin[(A+B)/2]*cos[(A-B)/2]
sinA-sinB=2*sin[(A-B)/2]*cos[(A+B)/2]
cosA+cosB=2*cos[(A+B)/2]*cos[(A-B)/2]
cosA-cosB=-2*sin[(A+B)/2]*sin[(A-B)/2]
sin(A+B)=sinAcosB+cosAsinB
sin(A-B)=sinAcosB-cosAsinB
coa(A+B)=cosAcosB-sinAsinB
coa(A-B)=cosAcosB+sinAsinB
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