int img_simple_cylindrical(img *p, const double *v, double lon, double lat, double *t)
{
#if 0
lon = tolon(lon - M_PI);
#endif
t[0] = p->line_projection_offset - p->map_resolution * (todeg(lat) - todeg( p->center_latitude)) - 1; // FIRST_PIXEL
t[1] = p->sample_projection_offset + p->map_resolution * (todeg(lon) - todeg(p->center_longitude)) - 1; // FIRST_PIXEL
return 1;
}
void DriveStrategy::moveTo(ITank &tank, double x, double y, Action &action)
{
double angle = tank.angleTo(x, y);
//std::cerr << "angle = " << todeg(angle) << std::endl;
if (fabs(todeg(angle)) < 15)
{
action.setLeft(1.0);
action.setRight(1.0);
}
else if (fabs(angle) < M_PI / 2.0)
{
double left = std::max(1.0, tank.rearFactor() * 1.5);
double right = -1.0;
if (angle < 0)
std::swap(left, right);
action.setLeft(left);
action.setRight(right);
}
else if (angle < 0)
{
action.setLeft(-1);
action.setRight(tank.rearFactor());
}
else
{
action.setRight(-1);
action.setLeft(tank.rearFactor());
}
}
static double
phase( double pdate,
double *pphase, /* Illuminated fraction */
double *mage, /* Age of moon in days */
double *dist, /* Distance in kilometres */
double *angdia, /* Angular diameter in degrees */
double *sudist, /* Distance to Sun */
double *suangdia ) /* Sun's angular diameter */
{
double Day, N, M, Ec, Lambdasun, ml, MM, MN, Ev, Ae, A3, MmP,
mEc, A4, lP, V, lPP, NP, y, x, Lambdamoon,
MoonAge, MoonPhase,
MoonDist, MoonDFrac, MoonAng,
F, SunDist, SunAng;
/* Calculation of the Sun's position */
Day = pdate - epoch; /* Date within epoch */
N = fixangle((360.0 / 365.2422) * Day); /* Mean anomaly of the Sun */
M = fixangle(N + elonge - elongp); /* Convert from perigee
co-ordinates to epoch 1980.0 */
Ec = kepler(M, eccent); /* Solve equation of Kepler */
Ec = sqrt((1.0 + eccent) / (1.0 - eccent)) * tan(Ec / 2.0);
Ec = 2.0 * todeg(atan(Ec)); /* True anomaly */
Lambdasun = fixangle(Ec + elongp); /* Sun's geocentric ecliptic
longitude */
/* Orbital distance factor */
F = ((1.0 + eccent * cos(torad(Ec))) / (1.0 - eccent * eccent));
SunDist = sunsmax / F; /* Distance to Sun in km */
SunAng = F * sunangsiz; /* Sun's angular size in degrees */
/* Calculation of the Moon's position */
/* Moon's mean longitude */
ml = fixangle(13.1763966 * Day + mmlong);
/* Moon's mean anomaly */
MM = fixangle(ml - 0.1114041 * Day - mmlongp);
/* Moon's ascending node mean longitude */
MN = fixangle(mlnode - 0.0529539 * Day);
/* Evection */
Ev = 1.2739 * sin(torad(2.0 * (ml - Lambdasun) - MM));
/* Annual equation */
Ae = 0.1858 * sin(torad(M));
/* Correction term */
A3 = 0.37 * sin(torad(M));
/* Corrected anomaly */
MmP = MM + Ev - Ae - A3;
/* Correction for the equation of the centre */
mEc = 6.2886 * sin(torad(MmP));
/* Another correction term */
A4 = 0.214 * sin(torad(2.0 * MmP));
/* Corrected longitude */
lP = ml + Ev + mEc - Ae + A4;
/* Variation */
V = 0.6583 * sin(torad(2.0 * (lP - Lambdasun)));
/* True longitude */
lPP = lP + V;
/* Corrected longitude of the node */
NP = MN - 0.16 * sin(torad(M));
/* Y inclination coordinate */
y = sin(torad(lPP - NP)) * cos(torad(minc));
/* X inclination coordinate */
x = cos(torad(lPP - NP));
/* Ecliptic longitude */
Lambdamoon = todeg(atan2(y, x));
Lambdamoon += NP;
#if 0
/* Ecliptic latitude */
(void)todeg(asin(sin(torad(lPP - NP)) * sin(torad(minc))));
#endif
/* Calculation of the phase of the Moon */
/* Age of the Moon in degrees */
MoonAge = lPP - Lambdasun;
/* Phase of the Moon */
MoonPhase = (1.0 - cos(torad(MoonAge))) / 2.0;
/* Calculate distance of moon from the centre of the Earth */
MoonDist = (msmax * (1.0 - mecc * mecc)) /
(1.0 + mecc * cos(torad(MmP + mEc)));
/* Calculate Moon's angular diameter */
MoonDFrac = MoonDist / msmax;
MoonAng = mangsiz / MoonDFrac;
#if 0
/* Calculate Moon's parallax */
MoonPar = mparallax / MoonDFrac;
#endif
*pphase = MoonPhase;
*mage = synmonth * (fixangle(MoonAge) / 360.0);
*dist = MoonDist;
*angdia = MoonAng;
*sudist = SunDist;
*suangdia = SunAng;
return fixangle(MoonAge) / 360.0;
}
virtual void tolatlon(double l, double s, double& lat, double& lon) const
{
lon = torad(todeg(lonp) + (s - s0) / res);
lat = torad(todeg(latp) - (l - l0) / res);
}
virtual void torowcol(double lat, double lon, double& l, double& s) const
{
s = s0 + res * (todeg(lon) - todeg(lonp));
l = l0 - res * (todeg(lat) - todeg(latp));
}
