#	Geo::Ellipsoid
#
#	This package implements an Ellipsoid class to perform latitude 
#	and longitude calculations on the surface of an ellipsoid.
#
#	This is a Perl conversion of existing Fortran code (see
#	ACKNOWLEDGEMENTS) and the author of this class makes no 
#	claims of originality. Nor can he even vouch for the 
#	results of the calculations, although they do seem to 
#	work for him and have been tested against other methods.

package Geo::Ellipsoid;

use warnings;
use strict;
use 5.006_00;

use Scalar::Util 'looks_like_number';
use Math::Trig;
use Carp;

=head1 NAME

Geo::Ellipsoid - Longitude and latitude calculations using an ellipsoid model.

=head1 VERSION

Version 1.12, released July 4, 2008.

=cut

our $VERSION = '1.12';
our $DEBUG = 0;

=head1 SYNOPSIS

  use Geo::Ellipsoid;
  $geo = Geo::Ellipsoid->new(ellipsoid=>'NAD27', units=>'degrees');
  @origin = ( 37.619002, -122.374843 );    # SFO
  @dest = ( 33.942536, -118.408074 );      # LAX
  ( $range, $bearing ) = $geo->to( @origin, @dest );
  ($lat,$lon) = $geo->at( @origin, 2000, 45.0 );
  ( $x, $y ) = $geo->displacement( @origin, $lat, $lon );
  @pos = $geo->location( $lat, $lon, $x, $y );

=head1 DESCRIPTION

Geo::Ellipsoid performs geometrical calculations on the surface of 
an ellipsoid. An ellipsoid is a three-dimension object formed from 
the rotation of an ellipse about one of its axes. The approximate 
shape of the earth is an ellipsoid, so Geo::Ellipsoid can accurately
calculate distance and bearing between two widely-separated locations 
on the earth's surface.

The shape of an ellipsoid is defined by the lengths of its
semi-major and semi-minor axes. The shape may also be specifed by
the flattening ratio C<f> as:

    f = ( semi-major - semi-minor ) / semi-major
    
which, since f is a small number, is normally given as the reciprocal 
of the flattening C<1/f>.

The shape of the earth has been surveyed and estimated differently
at different times over the years. The two most common sets of values
used to describe the size and shape of the earth in the United States
are 'NAD27', dating from 1927, and 'WGS84', from 1984. United States
Geological Survey topographical maps, for example, use one or the
other of these values, and commonly-available Global Positioning
System (GPS) units can be set to use one or the other.
See L<"DEFINED ELLIPSOIDS"> below for the ellipsoid survey values
that may be selected for use by Geo::Ellipsoid.

=cut

# class data and constants
our $degrees_per_radian = 180/pi;
our $eps = 1.0e-23;
our $max_loop_count = 20;
our $twopi = 2 * pi;
our $halfpi = pi/2;
our %defaults = ( 
  ellipsoid => 'WGS84', 
  units => 'radians',
  distance_units => 'meter', 
  longitude => 0,
  latitude => 1,	# allows use of _normalize_output
  bearing => 0,
);
our %distance = (
  'foot'      => 0.3048,
  'kilometer' => 1_000,
  'meter'     => 1.0,
  'mile'      => 1_609.344,
  'nm'        => 1_852,
);

# set of ellipsoids that can be used.
# values are 
#  1) a = semi-major (equatorial) radius of Ellipsoid 
#  2) 1/f = reciprocal of flattening (f), the ratio of the semi-minor 
#     (polar) radius to the semi-major (equatorial) axis, or
#     polar radius = equatorial radius * ( 1 - f )

our %ellipsoids = (
    'AIRY'               => [ 6377563.396, 299.3249646     ],
    'AIRY-MODIFIED'      => [ 6377340.189, 299.3249646     ],
    'AUSTRALIAN'         => [ 6378160.0,   298.25          ],
    'BESSEL-1841'        => [ 6377397.155, 299.1528128     ],
    'CLARKE-1880'        => [ 6378249.145, 293.465         ],
    'EVEREST-1830'       => [ 6377276.345, 300.8017        ],
    'EVEREST-MODIFIED'   => [ 6377304.063, 300.8017        ],
    'FISHER-1960'        => [ 6378166.0,   298.3           ],
    'FISHER-1968'        => [ 6378150.0,   298.3           ],
    'GRS80'              => [ 6378137.0,   298.25722210088 ],
    'HOUGH-1956'         => [ 6378270.0,   297.0           ],
    'HAYFORD'            => [ 6378388.0,   297.0           ],
    'IAU76'              => [ 6378140.0,   298.257         ],
    'KRASSOVSKY-1938'    => [ 6378245.0,   298.3           ],
    'NAD27'              => [ 6378206.4,   294.9786982138  ],
    'NWL-9D'             => [ 6378145.0,   298.25          ],
    'SOUTHAMERICAN-1969' => [ 6378160.0,   298.25          ],
    'SOVIET-1985'        => [ 6378136.0,   298.257         ],
    'WGS72'              => [ 6378135.0,   298.26          ],
    'WGS84'              => [ 6378137.0,   298.257223563   ],
);

=head1 CONSTRUCTOR

=head2 new

The new() constructor may be called with a hash list to set the value of the
ellipsoid to be used, the value of the units to be used for angles and
distances, and whether or not the output range of longitudes and bearing 
angles should be symmetric around zero or always greater than zero.  
The initial default constructor is equivalent to the following:

    my $geo = Geo::Ellipsoid->new( 
      ellipsoid => 'WGS84', 
      units => 'radians' ,
      distance_units => 'meter',
      longitude => 0,
      bearing => 0,
    );
    
The constructor arguments may be of any case and, with the exception of
the ellipsoid value, abbreviated to their first three characters. 
Thus, ( UNI => 'DEG', DIS => 'FEE', Lon => 1, ell => 'NAD27', bEA => 0 ) 
is valid. 

=cut

sub new
{
  my( $class, %args ) = @_;
  my $self = {%defaults};
  print "new: @_\n" if $DEBUG;
  foreach my $key ( keys %args ) {
    my $val = $args{$key};
    if( $key =~ /^ell/i ) {
      $self->{ellipsoid} = uc $args{$key};
    }elsif( $key =~ /^uni/i ) {
      $self->{units} = $args{$key};
    }elsif( $key =~ /^dis/i ) {
      $self->{distance_units} = $args{$key};
    }elsif( $key =~ /^lon/i ) {
      $self->{longitude} = $args{$key};
    }elsif( $key =~ /^bea/i ) {
      $self->{bearing} = $args{$key};
    }else{
      carp("Unknown argument: $key => $args{$key}");
    }
  }
  set_units($self,$self->{units});
  set_ellipsoid($self,$self->{ellipsoid});
  set_distance_unit($self,$self->{distance_units});
  set_longitude_symmetric($self,$self->{longitude});
  set_bearing_symmetric($self,$self->{bearing});
  print 
    "Ellipsoid(units=>$self->{units},distance_units=>" .
    "$self->{distance_units},ellipsoid=>$self->{ellipsoid}," .
    "longitude=>$self->{longitude},bearing=>$self->{bearing})\n" if $DEBUG;
  bless $self,$class;
  return $self;
}

=head1 METHODS

=head2 set_units

Set the angle units used by the Geo::Ellipsoid object. The units may 
also be set in the constructor of the object. The allowable values are 
'degrees' or 'radians'. The default is 'radians'. The units value is 
not case sensitive and may be abbreviated to 3 letters. The units of
angle apply to both input and output latitude, longitude, and bearing
values.

    $geo->set_units('degrees');

=cut

sub set_units
{
  my $self = shift;
  my $units = shift;
  if( $units =~ /deg/i ) {
    $units = 'degrees';
  }elsif( $units =~ /rad/i ) {
    $units = 'radians';
  }else{
    croak("Invalid units specifier '$units' - please use either " .
      "degrees or radians (the default)") unless $units =~ /rad/i;
  }
  $self->{units} = $units;
}

=head2 set_distance_unit

Set the distance unit used by the Geo::Ellipsoid object. The unit of
distance may also be set in the constructor of the object. The recognized 
values are 'meter', 'kilometer', 'mile', 'nm' (nautical mile), or 'foot'. 
The default is 'meter'. The value is not case sensitive and may be 
abbreviated to 3 letters.

    $geo->set_distance_unit('kilometer');

For any other unit of distance not recogized by this method, pass a
numerical argument representing the length of the distance unit in
meters. For example, to use units of furlongs, call

    $geo->set_distance_unit(201.168);

The distance conversion factors used by this module are as follows:

  Unit          Units per meter
  --------      ---------------
  foot             0.3048
  kilometer     1000.0
  mile          1609.344
  nm            1852.0

=cut

sub set_distance_unit
{
  my $self = shift;
  my $unit = shift;
  print "distance unit = $unit\n" if $DEBUG;

  my $conversion = 0;

  if( defined $unit ) {
  
    my( $key, $val );
    while( ($key,$val) = each %distance ) {
      my $re = substr($key,0,3);
      print "trying ($key,$re,$val)\n" if $DEBUG;
      if( $unit =~ /^$re/i ) {
        $self->{distance_units} = $unit;
        $conversion = $val;	

	# finish iterating to reset 'each' function call
	while( each %distance ) {}
	last;
      }
    }

    if( $conversion == 0 ) {
      if( looks_like_number($unit) ) {
        $conversion = $unit;
      }else{
        carp("Unknown argument to set_distance_unit: $unit\nAssuming meters");
        $conversion = 1.0;
      }
    }
  }else{
    carp("Missing or undefined argument to set_distance_unit: ".
      "$unit\nAssuming meters");
    $conversion = 1.0;
  }
  $self->{conversion} = $conversion;
}

=head2 set_ellipsoid

Set the ellipsoid to be used by the Geo::Ellipsoid object. See 
L<"DEFINED ELLIPSOIDS"> below for the allowable values. The value
may also be set by the constructor. The default value is 'WGS84'.

    $geo->set_ellipsoid('NAD27');

=cut

sub set_ellipsoid
{
  my $self = shift;
  my $ellipsoid = uc shift || $defaults{ellipsoid};
  print "  set ellipsoid to $ellipsoid\n" if $DEBUG;
  unless( exists $ellipsoids{$ellipsoid} ) {
    croak("Ellipsoid $ellipsoid does not exist - please use " .
      "set_custom_ellipsoid to use an ellipsoid not in valid set");
  }
  $self->{ellipsoid} = $ellipsoid;
  my( $major, $recip ) = @{$ellipsoids{$ellipsoid}};
  $self->{equatorial} = $major;
  if( $recip == 0 ) {
    carp("Infinite flattening specified by ellipsoid -- assuming a sphere");
    $self->{polar} = $self->{equatorial};
    $self->{flattening} = 0;
    $self->{eccentricity} = 0;
  }else{
    $self->{flattening} = ( 1.0 / $ellipsoids{$ellipsoid}[1]);
    $self->{polar} = $self->{equatorial} * ( 1.0  - $self->{flattening} );
    $self->{eccentricity} = sqrt( 2.0 * $self->{flattening} - 
      ( $self->{flattening} * $self->{flattening} ) );
  }
}

=head2 set_custom_ellipsoid

Sets the ellipsoid parameters to the specified ( major semiaxis and
reciprocal flattening. A zero value for the reciprocal flattening
will result in a sphere for the ellipsoid, and a warning message 
will be issued.

    $geo->set_custom_ellipsoid( 'sphere', 6378137, 0 );
    
=cut

sub set_custom_ellipsoid
{
  my $self = shift;
  my( $name, $major, $recip ) = @_;
  $name = uc $name;
  $recip = 0 unless defined $recip;
  if( $major ) {
    $ellipsoids{$name} = [ $major, $recip ];
  }else{  
    croak("set_custom_ellipsoid called without semi-major radius parameter");
  }
  set_ellipsoid($self,$name);
}

=head2 set_longitude_symmetric

If called with no argument or a true argument, sets the range of output 
values for longitude to be in the range [-pi,+pi) radians.  If called with 
a false or undefined argument, sets the output angle range to be 
[0,2*pi) radians.

    $geo->set_longitude_symmetric(1);

=cut

sub set_longitude_symmetric
{
  my( $self, $sym ) = @_;
  # see if argument passed
  if( $#_ > 0 ) {
    # yes -- use value passed
    $self->{longitude} = $sym;
  }else{
    # no -- set to true
    $self->{longitude} = 1;
  }
}

=head2 set_bearing_symmetric

If called with no argument or a true argument, sets the range of output 
values for bearing to be in the range [-pi,+pi) radians.  If called with 
a false or undefined argument, sets the output angle range to be 
[0,2*pi) radians.

    $geo->set_bearing_symmetric(1);

=cut

sub set_bearing_symmetric
{
  my( $self, $sym ) = @_;
  # see if argument passed
  if( $#_ > 0 ) {
    # yes -- use value passed
    $self->{bearing} = $sym;
  }else{
    # no -- set to true
    $self->{bearing} = 1;
  }
}

=head2 set_defaults

Sets the defaults for the new method. Call with key, value pairs similar to 
new.

    $Geo::Ellipsoid->set_defaults( 
      units => 'degrees', 
      ellipsoid => 'GRS80',
      distance_units => 'kilometer',
      longitude => 1,
      bearing => 0
    );

Keys and string values (except for the ellipsoid identifier) may be shortened 
to their first three letters and are case-insensitive:

    $Geo::Ellipsoid->set_defaults( 
      uni => 'deg', 
      ell => 'GRS80',
      dis => 'kil',
      lon => 1,
      bea => 0
    );

=cut

sub set_defaults
{
  my $self = shift;
  my %args = @_;
  foreach my $key ( keys %args ) {
    if( $key =~ /^ell/i ) {
      $defaults{ellipsoid} = uc $args{$key};
    }elsif( $key =~ /^uni/i ) {
      $defaults{units} = $args{$key};
    }elsif( $key =~ /^dis/i ) {
      $defaults{distance_units} = $args{$key};
    }elsif( $key =~ /^lon/i ) {
      $defaults{longitude} = $args{$key};
    }elsif( $key =~ /^bea/i ) {
      $defaults{bearing} = $args{$key};
    }else{  
      croak("Geo::Ellipsoid::set_defaults called with invalid key: $key");
    }
  }
  print "Defaults set to ($defaults{ellipsoid},$defaults{units}\n"
    if $DEBUG;
}

=head2 scales

Returns a list consisting of the distance unit per angle of latitude 
and longitude (degrees or radians) at the specified latitude. 
These values may be used for fast approximations of distance
calculations in the vicinity of some location.

    ( $lat_scale, $lon_scale ) = $geo->scales($lat0);
    $x = $lon_scale * ($lon - $lon0); 
    $y = $lat_scale * ($lat - $lat0); 

=cut

sub scales
{
  my $self = shift;
  my $units = $self->{units};
  my $lat = $_[0];
  if( defined $lat ) {
    $lat /= $degrees_per_radian if( $units eq 'degrees' );
  }else{
    carp("scales() method requires latitude argument; assuming 0");
    $lat = 0;
  }
  
  my $aa = $self->{equatorial};
  my $bb = $self->{polar};
  my $a2 = $aa*$aa;
  my $b2 = $bb*$bb;
  my $d1 = $aa * cos($lat);
  my $d2 = $bb * sin($lat);
  my $d3 = $d1*$d1 + $d2*$d2;
  my $d4 = sqrt($d3);
  my $n1 = $aa * $bb;
  my $latscl = ( $n1 * $n1 ) / ( $d3 * $d4 * $self->{conversion} );
  my $lonscl = ( $aa * $d1 ) / ( $d4 * $self->{conversion} );
  
  if( $DEBUG ) {
    print "lat=$lat, aa=$aa, bb=$bb\nd1=$d1, d2=$d2, d3=$d3, d4=$d4\n";
    print "latscl=$latscl, lonscl=$lonscl\n";
  }

  if( $self->{units} eq 'degrees' ) {
    $latscl /= $degrees_per_radian;
    $lonscl /= $degrees_per_radian;
  }
  return ( $latscl, $lonscl );
}

=head2 range

Returns the range in distance units between two specified locations given
as latitude, longitude pairs.

    my $dist = $geo->range( $lat1, $lon1, $lat2, $lon2 );
    my $dist = $geo->range( @origin, @destination );

=cut
    
sub range
{
  my $self = shift;
  my @args = _normalize_input($self->{units},@_);
  my($range,$bearing) = _inverse($self,@args);
  print "inverse(@_[1..4]) returns($range,$bearing)\n" if $DEBUG;
  return $range;
}

=head2 bearing

Returns the bearing in degrees or radians from the first location to
the second. Zero bearing is true north.

    my $bearing = $geo->bearing( $lat1, $lon1, $lat2, $lon2 );

=cut

sub bearing
{
  my $self = shift;
  my $units = $self->{units};
  my @args = _normalize_input($units,@_);
  my($range,$bearing) = _inverse($self,@args);
  print "inverse(@args) returns($range,$bearing)\n" if $DEBUG;
  my $t = $bearing;
  $self->_normalize_output('bearing',$bearing);
  print "_normalize_output($t) returns($bearing)\n" if $DEBUG;
  return $bearing;
}


=head2 at

Returns the list (latitude,longitude) in degrees or radians that is a
specified range and bearing from a given location.

    my( $lat2, $lon2 ) = $geo->at( $lat1, $lon1, $range, $bearing );

=cut

sub at
{
  my $self = shift;
  my $units = $self->{units};
  my( $lat, $lon, $az ) = _normalize_input($units,@_[0,1,3]);
  my $r = $_[2];
  print "at($lat,$lon,$r,$az)\n" if $DEBUG;
  my( $lat2, $lon2 ) = _forward($self,$lat,$lon,$r,$az);
  print "_forward returns ($lat2,$lon2)\n" if $DEBUG; 
  $self->_normalize_output('longitude',$lon2);
  $self->_normalize_output('latitude',$lat2);
  return ( $lat2, $lon2 );  
}

=head2 to

In list context, returns (range, bearing) between two specified locations.
In scalar context, returns just the range.

    my( $dist, $theta ) = $geo->to( $lat1, $lon1, $lat2, $lon2 );
    my $dist = $geo->to( $lat1, $lon1, $lat2, $lon2 );

=cut

sub to
{
  my $self = shift;
  my $units = $self->{units};
  my @args = _normalize_input($units,@_);
  print "to($units,@args)\n" if $DEBUG;
  my($range,$bearing) = _inverse($self,@args);
  print "to: inverse(@args) returns($range,$bearing)\n" if $DEBUG;
  #$bearing *= $degrees_per_radian if $units eq 'degrees';
  $self->_normalize_output('bearing',$bearing);
  if( wantarray() ) {
    return ( $range, $bearing );
  }else{
    return $range;
  }
}

=head2 displacement

Returns the (x,y) displacement in distance units between the two specified 
locations.

    my( $x, $y ) = $geo->displacement( $lat1, $lon1, $lat2, $lon2 );
    
NOTE: The x and y displacements are only approximations and only valid
between two locations that are fairly near to each other. Beyond 10 kilometers
or more, the concept of X and Y on a curved surface loses its meaning.

=cut

sub displacement
{
  my $self = shift;
  print "displacement(",join(',',@_),"\n" if $DEBUG;
  my @args = _normalize_input($self->{units},@_);
  print "call _inverse(@args)\n" if $DEBUG;
  my( $range, $bearing ) = _inverse($self,@args);
  print "disp: _inverse(@args) returns ($range,$bearing)\n" if $DEBUG;
  my $x = $range * sin($bearing);
  my $y = $range * cos($bearing);
  return ($x,$y);
}

=head2 location

Returns the list (latitude,longitude) of a location at a given (x,y)
displacement from a given location.

	my @loc = $geo->location( $lat, $lon, $x, $y );

=cut

sub location
{
  my $self = shift;
  my $units = $self->{units};
  my($lat,$lon,$x,$y) = @_;
  my $range = sqrt( $x*$x+ $y*$y );
  my $bearing = atan2($x,$y);
  $bearing *= $degrees_per_radian if $units eq 'degrees';
  print "location($lat,$lon,$x,$y,$range,$bearing)\n" if $DEBUG;
  return $self->at($lat,$lon,$range,$bearing);
}

########################################################################
#
#      internal functions
#
#	inverse
#
#	Calculate the displacement from origin to destination.
#	The input to this subroutine is 
#	  ( latitude-1, longitude-1, latitude-2, longitude-2 ) in radians.
#
#	Return the results as the list (range,bearing) with range in the
#	current specified distance unit and bearing in radians.

sub _inverse()
{
  my $self = shift;
  my( $lat1, $lon1, $lat2, $lon2 ) = (@_);
  print "_inverse($lat1,$lon1,$lat2,$lon2)\n" if $DEBUG;
  
  my $a = $self->{equatorial};
  my $f = $self->{flattening};
  
  my $r = 1.0 - $f;
  my $tu1 = $r * sin($lat1) / cos($lat1);
  my $tu2 = $r * sin($lat2) / cos($lat2);
  my $cu1 = 1.0 / ( sqrt(($tu1*$tu1) + 1.0) );
  my $su1 = $cu1 * $tu1;
  my $cu2 = 1.0 / ( sqrt( ($tu2*$tu2) + 1.0 ));
  my $s = $cu1 * $cu2;
  my $baz = $s * $tu2;
  my $faz = $baz * $tu1;
  my $dlon = $lon2 - $lon1;
  
  if( $DEBUG ) {
    printf "lat1=%.8f, lon1=%.8f\n", $lat1, $lon1; 
    printf "lat2=%.8f, lon2=%.8f\n", $lat2, $lon2;
    printf "r=%.8f, tu1=%.8f, tu2=%.8f\n", $r, $tu1, $tu2;
    printf "faz=%.8f, dlon=%.8f\n", $faz, $dlon;
  }
  
  my $x = $dlon;
  my $cnt = 0;
  print "enter loop:\n" if $DEBUG;
  my( $c2a, $c, $cx, $cy, $cz, $d, $del, $e, $sx, $sy, $y );
  do {
    printf "  x=%.8f\n", $x if $DEBUG;
    $sx = sin($x);
    $cx = cos($x);
    $tu1 = $cu2*$sx;
    $tu2 = $baz - ($su1*$cu2*$cx);
  
    printf "    sx=%.8f, cx=%.8f, tu1=%.8f, tu2=%.8f\n", 
      $sx, $cx, $tu1, $tu2 if $DEBUG;
  
    $sy = sqrt( $tu1*$tu1 + $tu2*$tu2 );
    $cy = $s*$cx + $faz;
    $y = atan2($sy,$cy);
    my $sa;
    if( $sy == 0.0 ) {
      $sa = 1.0;
    }else{
      $sa = ($s*$sx) / $sy;
    }
  
    printf "    sy=%.8f, cy=%.8f, y=%.8f, sa=%.8f\n", $sy, $cy, $y, $sa
      if $DEBUG;
  
    $c2a = 1.0 - ($sa*$sa);
    $cz = $faz + $faz;
    if( $c2a > 0.0 ) {
      $cz = ((-$cz)/$c2a) + $cy;
    }
    $e = ( 2.0 * $cz * $cz ) - 1.0;
    $c = ( ((( (-3.0 * $c2a) + 4.0)*$f) + 4.0) * $c2a * $f )/16.0;
    $d = $x;
    $x = ( ($e * $cy * $c + $cz) * $sy * $c + $y) * $sa;
    $x = ( 1.0 - $c ) * $x * $f + $dlon;
    $del = $d - $x;
  
    if( $DEBUG ) {
      printf "    c2a=%.8f, cz=%.8f\n", $c2a, $cz;
      printf "    e=%.8f, d=%.8f\n", $e, $d;
      printf "    (d-x)=%.8g\n", $del;
    }
  
  }while( (abs($del) > $eps) && ( ++$cnt <= $max_loop_count ) );
  
  $faz = atan2($tu1,$tu2);
  $baz = atan2($cu1*$sx,($baz*$cx - $su1*$cu2)) + pi;
  $x = sqrt( ((1.0/($r*$r)) -1.0 ) * $c2a+1.0 ) + 1.0;
  $x = ($x-2.0)/$x;
  $c = 1.0 - $x;
  $c = (($x*$x)/4.0 + 1.0)/$c;
  $d = ((0.375*$x*$x) - 1.0)*$x;
  $x = $e*$cy;
  
  if( $DEBUG ) {
    printf "e=%.8f, cy=%.8f, x=%.8f\n", $e, $cy, $x;
    printf "sy=%.8f, c=%.8f, d=%.8f\n", $sy, $c, $d;
    printf "cz=%.8f, a=%.8f, r=%.8f\n", $cz, $a, $r;
  }
  
  $s = 1.0 - $e - $e;
  $s = (((((((( $sy * $sy * 4.0 ) - 3.0) * $s * $cz * $d/6.0) - $x) * 
    $d /4.0) + $cz) * $sy * $d) + $y ) * $c * $a * $r;
  
  printf "s=%.8f\n", $s if $DEBUG;
  
  # adjust azimuth to (0,360) or (-180,180) as specified
  if( $self->{symmetric} ) {
    $faz += $twopi if $faz < -(pi);
    $faz -= $twopi if $faz >= pi;
  }else{
    $faz += $twopi if $faz < 0;
    $faz -= $twopi if $faz >= $twopi;
  }

  # return result
  my @disp = ( ($s/$self->{conversion}), $faz );
  print "disp = (@disp)\n" if $DEBUG;
  return @disp;
}

#	_forward
#
#	Calculate the location (latitue,longitude) of a point
#	given a starting point and a displacement from that
#	point as (range,bearing)
#
sub _forward
{
  my $self = shift;
  my( $lat1, $lon1, $range, $bearing ) = @_;

  if( $DEBUG ) {
    printf "_forward(lat1=%.8f,lon1=%.8f,range=%.8f,bearing=%.8f)\n",
      $lat1, $lon1, $range, $bearing;
  }

  my $eps = 0.5e-13;

  my $a = $self->{equatorial};
  my $f = $self->{flattening};
  my $r = 1.0 - $f;

  my $tu = $r * sin($lat1) / cos($lat1);
  my $faz = $bearing;
  my $s = $self->{conversion} * $range;
  my $sf = sin($faz);
  my $cf = cos($faz);

  my $baz = 0.0;
  $baz = 2.0 * atan2($tu,$cf) if( $cf != 0.0 );
  
  my $cu = 1.0 / sqrt(1.0 + $tu*$tu);
  my $su = $tu * $cu;
  my $sa = $cu * $sf;
  my $c2a = 1.0 - ($sa*$sa);
  my $x = 1.0 + sqrt( (((1.0/($r*$r)) - 1.0 )*$c2a) +1.0);
  $x = ($x-2.0)/$x;
  my $c = 1.0 - $x;
  $c = ((($x*$x)/4.0) + 1.0)/$c;
  my $d = $x * ((0.375*$x*$x)-1.0);
  $tu = (($s/$r)/$a)/$c;
  my $y = $tu;

  if( $DEBUG ) {
    printf "r=%.8f, tu=%.8f, faz=%.8f\n", $r, $tu, $faz;
    printf "baz=%.8f, sf=%.8f, cf=%.8f\n", $baz, $sf, $cf;
    printf "cu=%.8f, su=%.8f, sa=%.8f\n", $cu, $su, $sa; 
    printf "x=%.8f, c=%.8f, y=%.8f\n", $x, $c, $y;
  }

  my( $cy, $cz, $e, $sy );
  do {
    $sy = sin($y);
    $cy = cos($y);
    $cz = cos($baz+$y);
    $e = (2.0*$cz*$cz)-1.0;
    $c = $y;
    $x = $e * $cy;
    $y = (2.0 * $e) - 1.0;
    $y = ((((((((($sy*$sy*4.0)-3.0)*$y*$cz*$d)/6.0)+$x)*$d)/4.0)-$cz)*$sy*$d) +
      $tu;
    } while( abs($y-$c) > $eps );

  $baz = ($cu*$cy*$cf) - ($su*$sy);
  $c = $r*sqrt(($sa*$sa) + ($baz*$baz));
  $d = $su*$cy + $cu*$sy*$cf;
  my $lat2 = atan2($d,$c);
  $c = $cu*$cy - $su*$sy*$cf;
  $x = atan2($sy*$sf,$c);
  $c = (((((-3.0*$c2a)+4.0)*$f)+4.0)*$c2a*$f)/16.0;
  $d = (((($e*$cy*$c) + $cz)*$sy*$c)+$y)*$sa;
  my $lon2 = $lon1 + $x - (1.0-$c)*$d*$f;
  #$baz = atan2($sa,$baz) + pi;

  # return result
  return ($lat2,$lon2);

}

#	_normalize_input
#
#	Normalize a set of input angle values by converting to
#	radians if given in degrees and by converting to the
#	range [0,2pi), i.e. greater than or equal to zero and
#	less than two pi.
#
sub _normalize_input
{
  my $units = shift;
  my @args = @_;
  return map {
    $_ = deg2rad($_) if $units eq 'degrees';
    while( $_ < 0 ) { $_ += $twopi }
    while( $_ >= $twopi ) { $_ -= $twopi }
    $_
  } @args;
}  

#	_normalize_output
#
#	Normalize a set of output angle values by converting to
#	degrees if needed and by converting to the range [-pi,+pi) or
#	[0,2pi) as needed.
#
sub _normalize_output
{
  my $self = shift;
  my $elem = shift;	# 'bearing' or 'longitude'
  # adjust remaining input values by reference
  for ( @_ ) {
    if( $self->{$elem} ) {
      # normalize to range [-pi,pi)
      while( $_ < -(pi) ) { $_ += $twopi }
      while( $_ >= pi ) { $_ -= $twopi }
    }else{
      # normalize to range [0,2*pi)
      while( $_ < 0 ) { $_ += $twopi }
      while( $_ >= $twopi ) { $_ -= $twopi }
    }
    $_ = rad2deg($_) if $self->{units} eq 'degrees';
  }
}  

=head1 DEFINED ELLIPSOIDS

The following ellipsoids are defined in Geo::Ellipsoid, with the 
semi-major axis in meters and the reciprocal flattening as shown.
The default ellipsoid is WGS84.

    Ellipsoid        Semi-Major Axis (m.)     1/Flattening
    ---------        -------------------     ---------------
    AIRY                 6377563.396         299.3249646
    AIRY-MODIFIED        6377340.189         299.3249646
    AUSTRALIAN           6378160.0           298.25
    BESSEL-1841          6377397.155         299.1528128
    CLARKE-1880          6378249.145         293.465
    EVEREST-1830         6377276.345         290.8017
    EVEREST-MODIFIED     6377304.063         290.8017
    FISHER-1960          6378166.0           298.3
    FISHER-1968          6378150.0           298.3
    GRS80                6378137.0           298.25722210088
    HOUGH-1956           6378270.0           297.0
    HAYFORD              6378388.0           297.0
    IAU76                6378140.0           298.257
    KRASSOVSKY-1938      6378245.0           298.3
    NAD27                6378206.4           294.9786982138
    NWL-9D               6378145.0           298.25
    SOUTHAMERICAN-1969   6378160.0           298.25
    SOVIET-1985          6378136.0           298.257
    WGS72                6378135.0           298.26
    WGS84                6378137.0           298.257223563

=head1 LIMITATIONS

The methods should not be used on points which are too near the poles
(above or below 89 degrees), and should not be used on points which
are antipodal, i.e., exactly on opposite sides of the ellipsoid. The
methods will not return valid results in these cases.

=head1 ACKNOWLEDGEMENTS

The conversion algorithms used here are Perl translations of Fortran
routines written by LCDR S<L. Pfeifer> NGS Rockville MD that implement
S<T. Vincenty's> Modified Rainsford's method with Helmert's elliptical
terms as published in "Direct and Inverse Solutions of Ellipsoid on
the Ellipsoid with Application of Nested Equations", S<T. Vincenty,>
Survey Review, April 1975.

The Fortran source code files inverse.for and forward.for
may be obtained from

    ftp://ftp.ngs.noaa.gov/pub/pcsoft/for_inv.3d/source/

=head1 AUTHOR

Jim Gibson, C<< <Jim@Gibson.org> >>

=head1 BUGS

See LIMITATIONS, above.

Please report any bugs or feature requests to
C<bug-geo-ellipsoid@rt.cpan.org>, or through the web interface at
L<http://rt.cpan.org/NoAuth/ReportBug.html?Queue=Geo-Ellipsoid>.

=head1 COPYRIGHT & LICENSE

Copyright 2005-2008 Jim Gibson, all rights reserved.

This program is free software; you can redistribute it and/or modify it
under the same terms as Perl itself.

=head1 SEE ALSO

Geo::Distance, Geo::Ellipsoids

=cut

1; # End of Geo::Ellipsoid