307 lines
9.1 KiB
C++
307 lines
9.1 KiB
C++
// fg_geodesy.cxx -- routines to convert between geodetic and geocentric
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// coordinate systems.
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//
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// Copied and adapted directly from LaRCsim/ls_geodesy.c
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//
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// See below for the complete original LaRCsim comments.
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//
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// $Id$
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// (Log is kept at end of this file)
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#include "Include/compiler.h"
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#ifdef FG_HAVE_STD_INCLUDES
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# include <cmath>
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# include <cerrno>
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#else
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# include <math.h>
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# include <errno.h>
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#endif
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#include <Include/fg_constants.h>
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#include <Math/fg_geodesy.hxx>
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#include <Math/point3d.hxx>
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#ifndef FG_HAVE_NATIVE_SGI_COMPILERS
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FG_USING_STD(cout);
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#endif
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// ONE_SECOND is pi/180/60/60, or about 100 feet at earths' equator
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#define ONE_SECOND 4.848136811E-6
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// fgGeocToGeod(lat_geoc, radius, *lat_geod, *alt, *sea_level_r)
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// INPUTS:
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// lat_geoc Geocentric latitude, radians, + = North
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// radius C.G. radius to earth center (meters)
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//
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// OUTPUTS:
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// lat_geod Geodetic latitude, radians, + = North
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// alt C.G. altitude above mean sea level (meters)
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// sea_level_r radius from earth center to sea level at
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// local vertical (surface normal) of C.G. (meters)
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void fgGeocToGeod( double lat_geoc, double radius, double
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*lat_geod, double *alt, double *sea_level_r )
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{
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double t_lat, x_alpha, mu_alpha, delt_mu, r_alpha, l_point, rho_alpha;
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double sin_mu_a, denom,delt_lambda, lambda_sl, sin_lambda_sl;
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if( ( (FG_PI_2 - lat_geoc) < ONE_SECOND ) // near North pole
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|| ( (FG_PI_2 + lat_geoc) < ONE_SECOND ) ) // near South pole
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{
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*lat_geod = lat_geoc;
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*sea_level_r = EQUATORIAL_RADIUS_M*E;
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*alt = radius - *sea_level_r;
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} else {
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t_lat = tan(lat_geoc);
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x_alpha = E*EQUATORIAL_RADIUS_M/sqrt(t_lat*t_lat + E*E);
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double tmp = RESQ_M - x_alpha * x_alpha;
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if ( tmp < 0.0 ) { tmp = 0.0; }
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mu_alpha = atan2(sqrt(tmp),E*x_alpha);
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if (lat_geoc < 0) mu_alpha = - mu_alpha;
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sin_mu_a = sin(mu_alpha);
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delt_lambda = mu_alpha - lat_geoc;
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r_alpha = x_alpha/cos(lat_geoc);
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l_point = radius - r_alpha;
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*alt = l_point*cos(delt_lambda);
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// check for domain error
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if ( errno == EDOM ) {
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cout << "Domain ERROR in fgGeocToGeod!!!!\n";
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*alt = 0.0;
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}
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denom = sqrt(1-EPS*EPS*sin_mu_a*sin_mu_a);
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rho_alpha = EQUATORIAL_RADIUS_M*(1-EPS)/
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(denom*denom*denom);
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delt_mu = atan2(l_point*sin(delt_lambda),rho_alpha + *alt);
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*lat_geod = mu_alpha - delt_mu;
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lambda_sl = atan( E*E * tan(*lat_geod) ); // SL geoc. latitude
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sin_lambda_sl = sin( lambda_sl );
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*sea_level_r =
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sqrt(RESQ_M / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
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// check for domain error
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if ( errno == EDOM ) {
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cout << "Domain ERROR in fgGeocToGeod!!!!\n";
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*sea_level_r = 0.0;
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}
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}
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}
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// fgGeodToGeoc( lat_geod, alt, *sl_radius, *lat_geoc )
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// INPUTS:
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// lat_geod Geodetic latitude, radians, + = North
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// alt C.G. altitude above mean sea level (meters)
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//
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// OUTPUTS:
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// sl_radius SEA LEVEL radius to earth center (meters)
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// (add Altitude to get true distance from earth center.
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// lat_geoc Geocentric latitude, radians, + = North
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//
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void fgGeodToGeoc( double lat_geod, double alt, double *sl_radius,
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double *lat_geoc )
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{
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double lambda_sl, sin_lambda_sl, cos_lambda_sl, sin_mu, cos_mu, px, py;
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lambda_sl = atan( E*E * tan(lat_geod) ); // sea level geocentric latitude
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sin_lambda_sl = sin( lambda_sl );
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cos_lambda_sl = cos( lambda_sl );
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sin_mu = sin(lat_geod); // Geodetic (map makers') latitude
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cos_mu = cos(lat_geod);
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*sl_radius =
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sqrt(RESQ_M / (1 + ((1/(E*E))-1)*sin_lambda_sl*sin_lambda_sl));
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py = *sl_radius*sin_lambda_sl + alt*sin_mu;
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px = *sl_radius*cos_lambda_sl + alt*cos_mu;
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*lat_geoc = atan2( py, px );
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}
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/***************************************************************************
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TITLE: ls_geodesy
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----------------------------------------------------------------------------
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FUNCTION: Converts geocentric coordinates to geodetic positions
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----------------------------------------------------------------------------
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MODULE STATUS: developmental
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----------------------------------------------------------------------------
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GENEALOGY: Written as part of LaRCSim project by E. B. Jackson
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----------------------------------------------------------------------------
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DESIGNED BY: E. B. Jackson
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CODED BY: E. B. Jackson
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MAINTAINED BY: E. B. Jackson
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----------------------------------------------------------------------------
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MODIFICATION HISTORY:
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DATE PURPOSE BY
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930208 Modified to avoid singularity near polar region. EBJ
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930602 Moved backwards calcs here from ls_step. EBJ
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931214 Changed erroneous Latitude and Altitude variables to
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*lat_geod and *alt in routine ls_geoc_to_geod. EBJ
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940111 Changed header files from old ls_eom.h style to ls_types,
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and ls_constants. Also replaced old DATA type with new
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SCALAR type. EBJ
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CURRENT RCS HEADER:
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$Header$
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$Log$
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Revision 1.1 1999/04/05 21:32:33 curt
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Initial revision
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Revision 1.6 1999/03/02 01:01:49 curt
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Tweaks for compiling with native SGI compilers.
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Revision 1.5 1999/01/27 04:46:14 curt
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Portability tweaks by Bernie Bright.
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Revision 1.4 1998/11/20 01:00:36 curt
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Patch in fgGeoc2Geod() to avoid a floating explosion.
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point3d.hxx include math.h for FreeBSD
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Revision 1.3 1998/11/11 00:18:36 curt
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Check for domain error in fgGeoctoGeod()
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Revision 1.2 1998/10/16 23:36:36 curt
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c++-ifying.
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Revision 1.1 1998/10/16 19:30:40 curt
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Renamed .c -> .h so we can start adding c++ supporting routines.
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Revision 1.6 1998/07/08 14:40:07 curt
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polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
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Updated fg_geodesy comments to reflect that routines expect and produce
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meters.
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Revision 1.5 1998/04/25 22:06:23 curt
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Edited cvs log messages in source files ... bad bad bad!
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Revision 1.4 1998/01/27 00:47:59 curt
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Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message
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system and commandline/config file processing code.
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Revision 1.3 1998/01/19 19:27:12 curt
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Merged in make system changes from Bob Kuehne <rpk@sgi.com>
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This should simplify things tremendously.
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Revision 1.2 1997/12/15 23:54:54 curt
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Add xgl wrappers for debugging.
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Generate terrain normals on the fly.
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Revision 1.1 1997/07/31 23:13:14 curt
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Initial revision.
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Revision 1.1 1997/05/29 00:09:56 curt
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Initial Flight Gear revision.
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* Revision 1.5 1994/01/11 18:47:05 bjax
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* Changed include files to use types and constants, not ls_eom.h
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* Also changed DATA type to SCALAR type.
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*
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* Revision 1.4 1993/12/14 21:06:47 bjax
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* Removed global variable references Altitude and Latitude. EBJ
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*
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* Revision 1.3 1993/06/02 15:03:40 bjax
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* Made new subroutine for calculating geodetic to geocentric; changed name
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* of forward conversion routine from ls_geodesy to ls_geoc_to_geod.
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*
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----------------------------------------------------------------------------
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REFERENCES:
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[ 1] Stevens, Brian L.; and Lewis, Frank L.: "Aircraft
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Control and Simulation", Wiley and Sons, 1992.
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ISBN 0-471-61397-5
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----------------------------------------------------------------------------
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CALLED BY: ls_aux
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----------------------------------------------------------------------------
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CALLS TO:
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----------------------------------------------------------------------------
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INPUTS:
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lat_geoc Geocentric latitude, radians, + = North
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radius C.G. radius to earth center, ft
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----------------------------------------------------------------------------
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OUTPUTS:
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lat_geod Geodetic latitude, radians, + = North
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alt C.G. altitude above mean sea level, ft
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sea_level_r radius from earth center to sea level at
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local vertical (surface normal) of C.G.
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--------------------------------------------------------------------------*/
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// $Log$
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// Revision 1.1 1999/04/05 21:32:33 curt
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// Initial revision
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//
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// Revision 1.6 1999/03/02 01:01:49 curt
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// Tweaks for compiling with native SGI compilers.
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//
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// Revision 1.5 1999/01/27 04:46:14 curt
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// Portability tweaks by Bernie Bright.
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//
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// Revision 1.4 1998/11/20 01:00:36 curt
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// Patch in fgGeoc2Geod() to avoid a floating explosion.
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// point3d.hxx include math.h for FreeBSD
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//
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// Revision 1.3 1998/11/11 00:18:36 curt
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// Check for domain error in fgGeoctoGeod()
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//
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// Revision 1.2 1998/10/16 23:36:36 curt
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// c++-ifying.
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//
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// Revision 1.1 1998/10/16 19:30:40 curt
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// Renamed .c -> .h so we can start adding c++ supporting routines.
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//
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// Revision 1.6 1998/07/08 14:40:07 curt
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// polar3d.[ch] renamed to polar3d.[ch]xx, vector.[ch] renamed to vector.[ch]xx
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// Updated fg_geodesy comments to reflect that routines expect and produce
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// meters.
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//
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// Revision 1.5 1998/04/25 22:06:23 curt
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// Edited cvs log messages in source files ... bad bad bad!
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//
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// Revision 1.4 1998/01/27 00:47:59 curt
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// Incorporated Paul Bleisch's <pbleisch@acm.org> new debug message
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// system and commandline/config file processing code.
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//
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// Revision 1.3 1998/01/19 19:27:12 curt
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// Merged in make system changes from Bob Kuehne <rpk@sgi.com>
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// This should simplify things tremendously.
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//
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// Revision 1.2 1997/12/15 23:54:54 curt
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// Add xgl wrappers for debugging.
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// Generate terrain normals on the fly.
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//
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// Revision 1.1 1997/07/31 23:13:14 curt
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// Initial revision.
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//
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