/***************************************************************************

	TITLE:	ls_geodesy
	
----------------------------------------------------------------------------

	FUNCTION:	Converts geocentric coordinates to geodetic positions

----------------------------------------------------------------------------

	MODULE STATUS:	developmental

----------------------------------------------------------------------------

	GENEALOGY:	Written as part of LaRCSim project by E. B. Jackson

----------------------------------------------------------------------------

	DESIGNED BY:	E. B. Jackson
	
	CODED BY:	E. B. Jackson
	
	MAINTAINED BY:	E. B. Jackson

----------------------------------------------------------------------------

	MODIFICATION HISTORY:
	
	DATE	PURPOSE						BY
	
	930208	Modified to avoid singularity near polar region.	EBJ
	930602	Moved backwards calcs here from ls_step.		EBJ
	931214	Changed erroneous Latitude and Altitude variables to 
		*lat_geod and *alt in routine ls_geoc_to_geod.		EBJ
	940111	Changed header files from old ls_eom.h style to ls_types, 
		and ls_constants.  Also replaced old DATA type with new
		SCALAR type.						EBJ

	CURRENT RCS HEADER:

$Header$
$Log$
Revision 1.2  1998/01/19 18:40:25  curt
Tons of little changes to clean up the code and to remove fatal errors
when building with the c++ compiler.

Revision 1.1  1997/05/29 00:09:56  curt
Initial Flight Gear revision.

 * Revision 1.5  1994/01/11  18:47:05  bjax
 * Changed include files to use types and constants, not ls_eom.h
 * Also changed DATA type to SCALAR type.
 *
 * Revision 1.4  1993/12/14  21:06:47  bjax
 * Removed global variable references Altitude and Latitude.   EBJ
 *
 * Revision 1.3  1993/06/02  15:03:40  bjax
 * Made new subroutine for calculating geodetic to geocentric; changed name
 * of forward conversion routine from ls_geodesy to ls_geoc_to_geod.
 *

----------------------------------------------------------------------------

	REFERENCES:

		[ 1]	Stevens, Brian L.; and Lewis, Frank L.: "Aircraft 
			Control and Simulation", Wiley and Sons, 1992.
			ISBN 0-471-61397-5		      


----------------------------------------------------------------------------

	CALLED BY:	ls_aux

----------------------------------------------------------------------------

	CALLS TO:

----------------------------------------------------------------------------

	INPUTS:	
		lat_geoc	Geocentric latitude, radians, + = North
		radius		C.G. radius to earth center, ft

----------------------------------------------------------------------------

	OUTPUTS:
		lat_geod	Geodetic latitude, radians, + = North
		alt		C.G. altitude above mean sea level, ft
		sea_level_r	radius from earth center to sea level at
				local vertical (surface normal) of C.G.

--------------------------------------------------------------------------*/

#include "ls_types.h"
#include "ls_constants.h"
#include "ls_geodesy.h"
#include <math.h>

/* ONE_SECOND is pi/180/60/60, or about 100 feet at earths' equator */
#define ONE_SECOND 4.848136811E-6
#define HALF_PI 0.5*PI


void ls_geoc_to_geod( SCALAR lat_geoc, SCALAR radius, SCALAR *lat_geod, 
		      SCALAR *alt, SCALAR *sea_level_r )
{
	SCALAR	t_lat, x_alpha, mu_alpha, delt_mu, r_alpha, l_point, rho_alpha;
	SCALAR	sin_mu_a, denom,delt_lambda, lambda_sl, sin_lambda_sl;

	if(   ( (HALF_PI - lat_geoc) < ONE_SECOND )     /* near North pole */
	   || ( (HALF_PI + lat_geoc) < ONE_SECOND ) )   /* near South pole */
	  {
	    *lat_geod = lat_geoc;
	    *sea_level_r = EQUATORIAL_RADIUS*E;
	    *alt = radius - *sea_level_r;
	  }
	else
	  {
	    t_lat = tan(lat_geoc);
	    x_alpha = E*EQUATORIAL_RADIUS/sqrt(t_lat*t_lat + E*E);
	    mu_alpha = atan2(sqrt(RESQ - x_alpha*x_alpha),E*x_alpha);
	    if (lat_geoc < 0) mu_alpha = - mu_alpha;
	    sin_mu_a = sin(mu_alpha);
	    delt_lambda = mu_alpha - lat_geoc;
	    r_alpha = x_alpha/cos(lat_geoc);
	    l_point = radius - r_alpha;
	    *alt = l_point*cos(delt_lambda);
	    denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
	    rho_alpha = EQUATORIAL_RADIUS*(1-EPS)/
	      (denom*denom*denom);
	    delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
	    *lat_geod = mu_alpha - delt_mu;
	    lambda_sl = atan( E*E * tan(*lat_geod) ); /* SL geoc. latitude */
	    sin_lambda_sl = sin( lambda_sl );
	    *sea_level_r = sqrt(RESQ
			   /(1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
	  }
}


void ls_geod_to_geoc( SCALAR lat_geod, SCALAR alt, 
		      SCALAR *sl_radius, SCALAR *lat_geoc )
{
    SCALAR lambda_sl, sin_lambda_sl, cos_lambda_sl, sin_mu, cos_mu, px, py;
    
    lambda_sl = atan( E*E * tan(lat_geod) ); /* sea level geocentric latitude */
    sin_lambda_sl = sin( lambda_sl );
    cos_lambda_sl = cos( lambda_sl );
    sin_mu = sin(lat_geod);	/* Geodetic (map makers') latitude */
    cos_mu = cos(lat_geod);
    *sl_radius = sqrt(RESQ
	/(1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
    py = *sl_radius*sin_lambda_sl + alt*sin_mu;
    px = *sl_radius*cos_lambda_sl + alt*cos_mu;
    *lat_geoc = atan2( py, px );
}