Fix conflict

CMakeLists.txt

@@ -295,9 +295,7 @@ add_subdirectory(gtsam)
 add_subdirectory(tests)
 
 # Build examples
-if (GTSAM_BUILD_EXAMPLES)
 add_subdirectory(examples)
-endif(GTSAM_BUILD_EXAMPLES)
 
 # Matlab toolbox
 if (GTSAM_INSTALL_MATLAB_TOOLBOX)

cmake/GtsamBuildTypes.cmake

@@ -45,8 +45,8 @@ if(NOT FIRST_PASS_DONE)
     set(CMAKE_EXE_LINKER_FLAGS_TIMING  "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
     set(CMAKE_SHARED_LINKER_FLAGS_TIMING  "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
     mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
-    set(CMAKE_C_FLAGS_PROFILING        "-g1 -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+    set(CMAKE_C_FLAGS_PROFILING        "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
-    set(CMAKE_CXX_FLAGS_PROFILING      "-g1 -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+    set(CMAKE_CXX_FLAGS_PROFILING      "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
     set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
 	set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE__LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
     mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING)
@@ -62,7 +62,7 @@ endif()
 
 # Set up build type library postfixes
 if(GTSAM_BUILD_TYPE_POSTFIXES)
-	foreach(build_type Debug Timing RelWithDebInfo MinSizeRel)
+	foreach(build_type Debug Timing Profiling RelWithDebInfo MinSizeRel)
 		string(TOUPPER "${build_type}" build_type_toupper)
 		set(CMAKE_${build_type_toupper}_POSTFIX ${build_type})
 	endforeach()

cmake/GtsamTesting.cmake

@@ -160,7 +160,7 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 			# Only have a main function in one script - use preprocessor
 			set(rest_script_srcs ${script_srcs})
 			list(REMOVE_AT rest_script_srcs 0)
-			set_property(SOURCE ${rest_script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "main=static no_main")
+			set_property(SOURCE ${rest_script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "main=inline no_main")
 		
 			# Add target dependencies
 			add_test(NAME ${target_name} COMMAND ${target_name})

examples/SolverComparer.cpp

@@ -95,6 +95,7 @@ int lastStep;
 int nThreads;
 int relinSkip;
 bool incremental;
+bool dogleg;
 bool batch;
 bool compare;
 bool perturb;
@@ -126,6 +127,7 @@ int main(int argc, char *argv[]) {
     ("threads", po::value<int>(&nThreads)->default_value(-1), "Number of threads, or -1 to use all processors")
     ("relinSkip", po::value<int>(&relinSkip)->default_value(10), "Fluid relinearization check every arg steps")
     ("incremental", "Run in incremental mode using ISAM2 (default)")
+    ("dogleg", "When in incremental mode, solve with Dogleg instead of Gauss-Newton in iSAM2")
     ("batch", "Run in batch mode, requires an initialization from --read-solution")
     ("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files")
     ("perturb", po::value<double>(&perturbationNoise), "Perturb a solution file with the specified noise")
@@ -141,6 +143,7 @@ int main(int argc, char *argv[]) {
   stats = (vm.count("stats") > 0);
   const int modesSpecified = int(batch) + int(compare) + int(perturb) + int(stats);
   incremental = (vm.count("incremental") > 0 || modesSpecified == 0);
+  dogleg = (vm.count("dogleg") > 0);
   if(compare) {
     const vector<string>& compareFiles = vm["compare"].as<vector<string> >();
     if(compareFiles.size() != 2) {
@@ -233,6 +236,8 @@ int main(int argc, char *argv[]) {
 void runIncremental()
 {
   ISAM2Params params;
+  if(dogleg)
+    params.optimizationParams = ISAM2DoglegParams();
   params.relinearizeSkip = relinSkip;
   params.enablePartialRelinearizationCheck = true;
   ISAM2 isam2(params);

gtsam.h

@@ -563,15 +563,15 @@ virtual class Pose3 : gtsam::Value {
   void serialize() const;
 };
 
-#include <gtsam/geometry/Sphere2.h>
+#include <gtsam/geometry/Unit3.h>
-virtual class Sphere2 : gtsam::Value {
+virtual class Unit3 : gtsam::Value {
   // Standard Constructors
-  Sphere2();
+  Unit3();
-  Sphere2(const gtsam::Point3& pose);
+  Unit3(const gtsam::Point3& pose);
 
   // Testable
   void print(string s) const;
-  bool equals(const gtsam::Sphere2& pose, double tol) const;
+  bool equals(const gtsam::Unit3& pose, double tol) const;
 
   // Other functionality
   Matrix basis() const;
@@ -580,14 +580,14 @@ virtual class Sphere2 : gtsam::Value {
   // Manifold
   static size_t Dim();
   size_t dim() const;
-  gtsam::Sphere2 retract(Vector v) const;
+  gtsam::Unit3 retract(Vector v) const;
-  Vector localCoordinates(const gtsam::Sphere2& s) const;
+  Vector localCoordinates(const gtsam::Unit3& s) const;
 };
 
 #include <gtsam/geometry/EssentialMatrix.h>
 virtual class EssentialMatrix : gtsam::Value {
   // Standard Constructors
-  EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Sphere2& aTb);
+  EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb);
 
   // Testable
   void print(string s) const;
@@ -601,7 +601,7 @@ virtual class EssentialMatrix : gtsam::Value {
 
   // Other methods:
   gtsam::Rot3 rotation() const;
-  gtsam::Sphere2 direction() const;
+  gtsam::Unit3 direction() const;
   Matrix matrix() const;
   double error(Vector vA, Vector vB);
 };

gtsam/3rdparty/CMakeLists.txt

@@ -26,3 +26,11 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
 endif()
 
 add_subdirectory(metis-5.1.0)
+############ NOTE:  When updating GeographicLib be sure to disable building their examples
+############        and unit tests by commenting out their lines:
+# add_subdirectory (examples)
+# set (TOOLS CartConvert ConicProj GeodesicProj GeoConvert GeodSolve
+#   GeoidEval Gravity MagneticField Planimeter TransverseMercatorProj)
+# add_subdirectory (tools)
+
+add_subdirectory(GeographicLib)

gtsam/3rdparty/GeographicLib/00README.txt

@@ -0,0 +1,143 @@
+A library for geographic projections.
+
+Written by Charles Karney <charles@karney.com> and licensed under
+the MIT/X11 License.  For more information, see
+
+    http://geographiclib.sourceforge.net/
+
+Files
+
+    00README.txt  -- this file
+    AUTHORS -- the authors of the library
+    LICENSE.txt -- the MIT/X11 License
+    INSTALL -- brief installation instructions
+    NEWS -- a history of changes
+
+    include/GeographicLib/ and src/
+      Config.h.in, Config.h -- system dependent configuration
+      Constants.hpp -- WGS84 constants
+      Math.hpp -- math routines
+      Utility.hpp -- I/O and date routines
+      Accumulator.[ch]pp -- quad precision adder
+      PolarStereographic.[ch]pp -- polar stereographic projection
+      TransverseMercator.[ch]pp -- transverse Mercator projection
+      UTMUPS.[ch]pp -- UTM and UPS
+      MGRS.[ch]pp -- MGRS
+      TransverseMercatorExact.[ch]pp -- exact TM projection
+      EllipticFunction.[ch]pp -- elliptic functions
+      GeoCoords.[ch]pp -- hold geographic location
+      DMS.[ch]pp -- handle degrees minutes seconds
+      Geocentric.[ch]pp -- geocentric coordinates
+      LocalCartesian.[ch]pp -- local cartesian coordinates
+      Geodesic.[ch]pp -- geodesic calculations
+      GeodesicLine.[ch]pp -- calculations on a single geodesic
+      PolygonArea.[ch]pp -- polygon area
+      AzimuthalEquidistant.[ch]pp -- azimuthal equidistant projection
+      Gnomonic.[ch]pp -- gnomonic projection
+      CassiniSoldner.[ch]pp -- Cassini-Soldner equidistant projection
+      Geoid.[ch]pp -- geoid heights
+      Gravity{Model,Circle}.[ch]pp -- gravity models
+      Magnetic{Model,Circle}.[ch]pp -- geomagentic models
+      {Spherical,Circular}Engine.[ch]pp -- spherical harmonic sums
+      SphericalHarmonic{,1,2}.hpp -- frontend for spherical harmonics
+      LambertConformalConic.[ch]pp -- Lambert conformal conic projection
+      AlbersEqualArea.[ch]pp -- Albers equal area projection
+      Gnomonic.[ch]pp -- Ellipsoidal gnomonic projection
+      OSGB.[ch]pp -- Ordnance Survey grid system
+      Geohash.[ch]pp -- conversions for geohashes
+      Ellipsoid.[ch]pp -- ellipsoid properties
+
+    examples/
+      example-*.cpp -- simple usage examples for all the classes
+      GeoidToGTX.cpp -- a parallelization example
+
+    tools/
+      GeoConvert.cpp -- geographic conversion utility
+      TransverseMercatorTest.cpp -- TM tester
+      GeodSolve.cpp -- geodesic utility
+      CartConvert.cpp -- convert to geocentric and local cartesian
+      EquidistantTest.cpp -- exercise AzimuthalEquidistant and CassiniSoldner
+      GeoidEval.cpp -- evaluate geoid heights
+      Gravity.cpp -- evaluate gravity
+      MagneticField.cpp -- evaluate magnetic field
+      Planimeter.cpp -- computer polygon areas
+      geographiclib-get-geoids -- download geoid datasets
+      geographiclib-get-magnetic -- download geomagnetic models
+
+    windows/
+      GeographicLib-vc9.sln -- MS Studio 2008 solution
+      Geographic-vc9.vcproj -- project for library
+      GeoConvert-vc9.vcproj -- project for GeoConvert
+      TransverseMercatorTest-vc9.vcproj -- project for TransverseMercatorTest
+      Geod-vc9.vcproj -- project for Geod
+      Planimeter-vc9.vcproj -- project for Planimeter
+      CartConvert-vc9.vcproj -- project for CartConvert
+      EquidistantTest-vc9.vcproj -- project for EquidistantTest
+      GeoidEval-vc9.vcproj -- project for GeoidEval
+      Gravity-vc9.vcproj -- project for Gravity
+      MagneticField-vc9.vcproj -- project for MagneticField
+      also files for MS Studio 2005 (with vc8)
+      also files for MS Studio 2010 (with vc10)
+      NETGeographic-vc10.vcxproj -- project for .NET wrapper
+
+    maxima/
+      tm.mac -- Maxima code for high precision TM
+      ellint.mac -- Maxima code for elliptic functions needed by tm.mac
+      tmseries.mac -- Maxima code for series approximations for TM
+      geod.mac -- Maxima code for series approximations for Geodesic
+      geodesic.mac -- Maxima code for geodesic problems
+
+    matlab/
+      geographiclibinterface.m -- Matlab code to compile Matlab interfaces
+      utmupsforward.{cpp,m} -- Matlab code to convert geographic to UTM/UPS
+      utmupsreverse.{cpp,m} -- Matlab code to convert UTM/UPS to geographic
+      mgrsforward.{cpp,m} -- Matlab code to convert UTM/UPS to MGRS
+      mgrsreverse.{cpp,m} -- Matlab code to convert MGRS to UTM/UPS
+      geodesicdirect.{cpp,m} -- Matlab code for the direct geodesic problem
+      geodesicinverse.{cpp,m} -- Matlab code for the inverse geodesic problem
+      geodesicline.{cpp,m} -- Matlab code for geodesic lines
+      geoidheight.{cpp,m} -- Matlab code to look up geoid heights
+      polygonarea.{cpp,m} -- Matlab code for polygon areas
+      geoddoc.m -- documentation for native Matlab geodesic routines
+      geodreckon.m -- native Matlab implementation of direct geodesic problem
+      geoddistance.m -- native Matlab implementation of inverse geodesic problem
+      geodarea.m -- native Matlab implementation of polygon area
+      defaultellipsoid.m, ecc2flat.m, flat2ecc.m -- auxiliary functions
+      geodproj.m -- documentation for geodesic projections
+      *_{fwd,inv}.m -- native Matlab implementation of geodesic projections
+      private/*.m -- internal functions for geodesic routines
+
+    doc/
+      doxyfile.in -- Doxygen config file
+      Geographic.dox -- main page of Doxygen documentation
+      geodseries30.html -- geodesic series to 30th order
+      tmseries30.html -- transverse Mercator series to 30th order
+      html/* -- directory with built documentation
+      scripts/*.html -- demonstrations of the JavaScript interface
+      scripts/GeographicLib/*.js -- JavaScript implementation of geodesics
+
+    man/
+      *.pod -- plain old documentation
+      *.1 -- man pages in nroff format
+      *.1.html -- man pages in html format
+      *.usage -- documentation for incorporation into executables
+
+    python/GeographicLib/*.py -- Python implementation of geodesic routines
+
+    java/.../*.java -- Java implementation of geodesic routines
+
+    dotnet/NETGeographicLib/*.{cpp,h} -- .NET wrapper for GeographicLib
+    dotnet/examples/CS/*.cs -- simple C# examples for each class
+    dotnet/examples/ManagedCPP/*.cpp -- Managed C++ examples for each class
+    dotnet/examples/VB/*.vb -- simple Visual Basic examples for each class
+    dotnet/Projection/* -- a more complex C# application
+
+    legacy/C/* -- C implementation of geodesic routines
+    legacy/Fortran/* -- Fortran implementation of geodesic routines
+
+    Makefile.mk -- Unix/Linux makefiles
+    configure -- autoconf configuration script
+    CMakeLists.txt -- cmake configuration files
+    cmake/
+      FindGeographicLib.cmake -- cmake find script
+      *.cmake.in -- cmake config templates

gtsam/3rdparty/GeographicLib/AUTHORS

@@ -0,0 +1,6 @@
+Charles Karney <charles@karney.com>
+Francesco Paolo Lovergine <frankie@debian.org> (autoconfiscation)
+Mathieu Peyréga <mathieu.peyrega@gmail.com> (help with gravity models)
+Andrew MacIntyre <Andrew.MacIntyre@acma.gov.au> (python/setup.py)
+Skip Breidbach <skip.breidbach@sri.com> (maven support for Java)
+Scott Heiman <mrmtdew2@outlook.com> (.NET wrappers + C# examples)

gtsam/3rdparty/GeographicLib/CMakeLists.txt

@@ -0,0 +1,489 @@
+project (GeographicLib)
+
+# Version information
+set (PROJECT_VERSION_MAJOR 1)
+set (PROJECT_VERSION_MINOR 34)
+set (PROJECT_VERSION_PATCH 0)
+set (PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
+if (PROJECT_VERSION_PATCH GREATER 0)
+  set (PROJECT_VERSION "${PROJECT_VERSION}.${PROJECT_VERSION_PATCH}")
+endif ()
+
+set (CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+set (CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+set (CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+
+# The library version tracks the numbering given by libtool in the
+# autoconf set up.
+set (LIBVERSION 10)
+set (LIBVERSIONFULL 10.1.1)
+string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
+string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
+
+cmake_minimum_required (VERSION 2.8.4) # This version was released 2011-02-16
+
+# User-settable variables
+
+# (1) COMMON_INSTALL_PATH governs the installation convention.  If it
+# is on ON (the Linux default), the installation is to a common
+# directory, e.g., /usr/local.  If it is OFF (the Windows default),
+# the installation directory contains the package name, e.g.,
+# c:/pkg/GeographicLib-1.22.  The installation directories for the
+# documentation, cmake configuration, python and matlab interfaces all
+# depend on the variable with deeper paths relative to
+# CMAKE_INSTALL_PREFIX being used when it's ON.
+
+if (WIN32)
+  option (COMMON_INSTALL_PATH "Use a common installation path for packages" OFF)
+else ()
+  option (COMMON_INSTALL_PATH "Use a common installation path for packages" ON)
+endif ()
+
+# The use of PACKAGE_PATH and INSTALL_PATH is now DEPRECATED.
+# (2) PACKAGE_PATH and INSTALL_PATH govern the find_package search
+# path and the installation directory.  (find_package is not used by
+# GeographicLib since it doesn't depend on other packages.  However
+# PACKAGE_PATH is used here for uniformity with other packages which
+# adopt the same conventions.)
+#
+# If PACKAGE_PATH is defined, it is prepended to CMAKE_PREFIX_PATH.
+#
+# If INSTALL_PATH is not specified but PACKAGE_PATH is, then
+# INSTALL_PATH is set to
+#   ${PACKAGE_PATH}, if COMMON_INSTALL_PATH is ON;
+#   ${PACKAGE_PATH}/${PROJECT_NAME}-${PROJECT_VERSION}, otherwise.
+#
+# If INSTALL_PATH is now defined, then set CMAKE_INSTALL_PREFIX to
+# INSTALL_PATH.
+#
+# Typically, only PACKAGE_PATH needs to be specified, e.g.,
+# cmake -D PACKAGE_PATH=/opt .. (on Linux)
+#   => CMAKE_PREFIX_PATH=/opt   CMAKE_INSTALL_PREFIX=/opt
+# cmake -D PACKAGE_PATH=C:/pkg .. (on Windows)
+#   => CMAKE_PREFIX_PATH=C:/pkg CMAKE_INSTALL_PREFIX=C:/pkg/GeographicLib-1.22
+
+if (PACKAGE_PATH)
+  set (CMAKE_PREFIX_PATH ${PACKAGE_PATH} ${CMAKE_PREFIX_PATH})
+  message (STATUS "CMAKE_PREFIX_PATH set to ${CMAKE_PREFIX_PATH}")
+endif ()
+
+if (NOT INSTALL_PATH AND PACKAGE_PATH)
+  if (COMMON_INSTALL_PATH)
+    set (INSTALL_PATH ${PACKAGE_PATH} CACHE PATH "Installation directory" FORCE)
+  else ()
+    set (INSTALL_PATH ${PACKAGE_PATH}/${PROJECT_NAME}-${PROJECT_VERSION}
+      CACHE PATH "Installation directory" FORCE)
+  endif ()
+endif ()
+if (INSTALL_PATH)
+  file (TO_CMAKE_PATH ${INSTALL_PATH} CMAKE_INSTALL_PREFIX)
+  message (STATUS "CMAKE_INSTALL_PREFIX set to ${CMAKE_INSTALL_PREFIX}")
+endif ()
+
+# (3) Where to look for data files.  Various classes look in the geoids,
+# gravity, magnetic, subdirectories of ${GEOGRAPHICLIB_DATA}.
+if (WIN32)
+  # The binary installers for the data files for Windows are created
+  # with Inno Setup which uses {commonappdata}.  On most Windows
+  # systems this is
+  # "C:/Documents and Settings/All Users/Application Data", while on
+  # newer systems (Windows 7), it is C:/ProgramData.  However the
+  # longer name "works" on all Windows systems.
+  set (GEOGRAPHICLIB_DATA
+    "C:/Documents and Settings/All Users/Application Data/GeographicLib"
+    CACHE PATH "Location for data for GeographicLib")
+else ()
+  set (GEOGRAPHICLIB_DATA
+    "/usr/local/share/GeographicLib"
+    CACHE PATH "Location for data for GeographicLib")
+endif ()
+
+# (4) Build which libraries?  Possible values are SHARED, STATIC, BOTH.
+if (MSVC)
+  set (GEOGRAPHICLIB_LIB_TYPE STATIC CACHE STRING
+    "Types of library generated: SHARED, STATIC (default), or BOTH")
+else ()
+  set (GEOGRAPHICLIB_LIB_TYPE SHARED CACHE STRING
+    "Types of library generated: SHARED (default), STATIC, or BOTH")
+endif ()
+set_property (CACHE GEOGRAPHICLIB_LIB_TYPE
+  PROPERTY STRINGS "SHARED" "STATIC" "BOTH")
+
+if (GEOGRAPHICLIB_LIB_TYPE STREQUAL "BOTH")
+  set (GEOGRAPHICLIB_SHARED_LIB ON)
+  set (GEOGRAPHICLIB_STATIC_LIB ON)
+  set (GEOGRAPHICLIB_LIB_TYPE_VAL 2)
+elseif (GEOGRAPHICLIB_LIB_TYPE STREQUAL "SHARED")
+  set (GEOGRAPHICLIB_SHARED_LIB ON)
+  set (GEOGRAPHICLIB_STATIC_LIB OFF)
+  set (GEOGRAPHICLIB_LIB_TYPE_VAL 1)
+elseif (GEOGRAPHICLIB_LIB_TYPE STREQUAL "STATIC")
+  set (GEOGRAPHICLIB_SHARED_LIB OFF)
+  set (GEOGRAPHICLIB_STATIC_LIB ON)
+  set (GEOGRAPHICLIB_LIB_TYPE_VAL 0)
+else ()
+  message (FATAL_ERROR
+    "Bad value of GEOGRAPHICLIB_LIB_TYPE, \"${GEOGRAPHICLIB_LIB_TYPE}\" "
+    "(should be SHARED, STATIC or BOTH)")
+endif ()
+
+if (GEOGRAPHICLIB_STATIC_LIB)
+  set (PROJECT_STATIC_LIBRARIES GeographicLib_STATIC)
+  set (PROJECT_STATIC_DEFINITIONS -DGEOGRAPHICLIB_SHARED_LIB=0)
+else ()
+  set (PROJECT_STATIC_LIBRARIES)
+  set (PROJECT_STATIC_DEFINITIONS)
+endif ()
+
+if (GEOGRAPHICLIB_SHARED_LIB)
+  set (PROJECT_SHARED_LIBRARIES GeographicLib)
+  set (PROJECT_LIBRARIES ${PROJECT_SHARED_LIBRARIES})
+  set (PROJECT_SHARED_DEFINITIONS -DGEOGRAPHICLIB_SHARED_LIB=1)
+  set (PROJECT_DEFINITIONS ${PROJECT_SHARED_DEFINITIONS})
+else ()
+  set (PROJECT_SHARED_LIBRARIES)
+  set (PROJECT_LIBRARIES ${PROJECT_STATIC_LIBRARIES})
+  set (PROJECT_SHARED_DEFINITIONS)
+  set (PROJECT_DEFINITIONS ${PROJECT_STATIC_DEFINITIONS})
+endif ()
+
+# (5) Compile the Matlab interfaces?  Skip Matlab compilation if OFF
+set (MATLAB_COMPILER OFF CACHE STRING
+  "Compiler for matlab/octave interface: mex or mkoctfile or OFF")
+set_property (CACHE MATLAB_COMPILER PROPERTY STRINGS "mex" "mkoctfile" OFF)
+
+# (6) Create the documentation?  This depends on whether doxygen can be
+# found.  If this is OFF, then links will be provided to the online
+# documentation on Sourceforge.
+option (GEOGRAPHICLIB_DOCUMENTATION
+  "Use doxygen to create the documentation" OFF)
+
+# (7) Build .NET wrapper library NETGeographicLib.  This only applies to
+# Windows.  Default is OFF, because, currently, most people don't use
+# this interface.
+option (BUILD_NETGEOGRAPHICLIB "Build NETGeographicLib library" OFF)
+
+# (8) Set the default "real" precision.  This should probably be left
+# at 2 (double).
+set (GEOGRAPHICLIB_PRECISION 2 CACHE STRING
+  "Default real precision: 1 = float, 2 = double, 3 = long double")
+set_property (CACHE GEOGRAPHICLIB_PRECISION PROPERTY STRINGS 1 2 3)
+
+# (9) When making a binary package, should we include the debug version
+# of the library?  This applies to MSVC only, because that's the
+# platform where debug and release compilations do not inter-operate.
+# It requires building as follows:
+#   cmake --build . --config Debug   --target ALL_BUILD
+#   cmake --build . --config Release --target ALL_BUILD
+#   cmake --build . --config Release --target PACKAGE
+option (PACKAGE_DEBUG_LIBS
+  "Include debug versions of library in binary package" OFF)
+
+set (LIBNAME Geographic)
+if (MSVC OR CMAKE_CONFIGURATION_TYPES)
+  # For multi-config systems and for Visual Studio, the debug version of
+  # the library is called Geographic_d.
+  set (CMAKE_DEBUG_POSTFIX _d)
+endif ()
+
+if (NOT MSVC)
+  # Set the run time path for shared libraries for non-Windows machines.
+  # (1) include link path for external packages (not needed with
+  # GeographicLib because there are no external packages).
+  set (CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+  # (2) include installed path for GeographicLib.
+  if (NOT APPLE)
+    # Use relative path so that package is relocatable
+    set (CMAKE_INSTALL_RPATH "\$ORIGIN/../lib${LIB_SUFFIX}")
+  else ()
+    # Need absolute path with MacOSx
+    set (CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}")
+  endif ()
+endif ()
+
+if (NOT CYGWIN)
+  # cygwin has a long double but the support for ::cbrtl etc is missing
+  include (CheckTypeSize)
+  check_type_size ("long double" LONG_DOUBLE BUILTIN_TYPES_ONLY)
+endif ()
+include (TestBigEndian)
+test_big_endian (WORDS_BIGENDIAN)
+
+# Create a Config.h to expose system information to the compiler
+configure_file (
+  include/GeographicLib/Config.h.in
+  include/GeographicLib/Config.h )
+
+# The documentation depends on doxygen.  Need version 1.8.1.2 or later
+# for support of greek letters and math symbols.
+if (GEOGRAPHICLIB_DOCUMENTATION)
+  set (DOXYGEN_SKIP_DOT ON)
+  find_package (Doxygen 1.8.1.2)
+  if (DOXYGEN_FOUND)
+    execute_process (COMMAND ${DOXYGEN_EXECUTABLE} --version
+      OUTPUT_VARIABLE DOXYGEN_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if (DOXYGEN_VERSION VERSION_LESS 1.4.0)
+      set (DOXYGEN_FOUND FALSE)
+      message (STATUS "Doxygen version found, ${DOXYGEN_VERSION}, is too old")
+    endif ()
+  endif ()
+endif ()
+
+# The man pages are written as pod files and converted to nroff format,
+# C++ code, and html.  Because this require tools that may not be
+# available on an end-user's system, the creation of the final
+# documentation is therefore only done in "MAINTAINER" mode.  The
+# maintainer runs "make distrib-all" which installs the transformed
+# documentation files into the source tree.
+if (NOT WIN32 AND NOT APPLE)
+  find_program (HAVE_POD2MAN pod2man)
+  find_program (HAVE_POD2HTML pod2html)
+  find_program (HAVE_COL col)
+endif ()
+if (HAVE_POD2MAN AND HAVE_POD2HTML AND HAVE_COL)
+  set (MAINTAINER ON)
+else ()
+  set (MAINTAINER OFF)
+endif ()
+if (MAINTAINER)
+  add_custom_target (distrib-all)
+  add_dependencies (distrib-all distrib-man)
+endif ()
+
+# Look for the tool to compile the Matlab interfaces.
+if (MATLAB_COMPILER)
+  if (WIN32)
+    set (MATLAB_COMPILER_EXT ".bat")
+  else ()
+    set (MATLAB_COMPILER_EXT "")
+  endif ()
+  find_program (MEX "${MATLAB_COMPILER}${MATLAB_COMPILER_EXT}")
+  if (MATLAB_COMPILER MATCHES "mex")
+    get_filename_component (MATLABDIR "${MEX}" REALPATH)
+    get_filename_component (MATLABDIR "${MATLABDIR}" PATH)
+    find_program (MEXEXTPROG "mexext${MATLAB_COMPILER_EXT}"
+      PATHS "${MATLABDIR}")
+    execute_process (COMMAND "${MEXEXTPROG}"
+      OUTPUT_VARIABLE MEXEXT OUTPUT_STRIP_TRAILING_WHITESPACE)
+    set (MEXOPTIONS "-largeArrayDims")
+  else ()
+    set (MEXEXT "mex")
+    set (MEXOPTIONS "--mex")
+  endif ()
+  if (NOT MSVC)
+    # mex files are shared objects => require static lib to be built with
+    # position independent code
+    set (CMAKE_POSITION_INDEPENDENT_CODE ON)
+  endif ()
+  if (NOT MEX)
+    message (WARNING
+      "Cannot find Matlab compiler ${MATLAB_COMPILER}${MATLAB_COMPILER_EXT}")
+  elseif (NOT MEXEXT)
+    set (MEX OFF)
+    message (WARNING "Cannot determine extension for Matlab compiled code")
+  endif ()
+endif ()
+
+# Set a default build type for single-configuration cmake generators if
+# no build type is set.
+if (NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set (CMAKE_BUILD_TYPE Release)
+endif ()
+
+# Make the compiler more picky.
+if (MSVC)
+  string (REGEX REPLACE "/W[0-4]" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+else ()
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
+  # check for C++11 support
+  include (CheckCXXCompilerFlag)
+  set (CXX11FLAG "-std=c++11")
+  check_cxx_compiler_flag (${CXX11FLAG} CXX11TEST1)
+  if (NOT CXX11TEST1)
+    set (CXX11FLAG "-std=c++0x")
+    check_cxx_compiler_flag (${CXX11FLAG} CXX11TEST2)
+    if (NOT CXX11TEST2)
+      unset (CXX11FLAG)
+    endif ()
+  endif ()
+  if (CXX11FLAG)
+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11FLAG}")
+  endif ()
+endif ()
+
+if (APPLE)
+  if (CMAKE_SYSTEM_PROCESSOR MATCHES "i.86" OR
+      CMAKE_SYSTEM_PROCESSOR MATCHES "amd64" OR
+      CMAKE_SYSTEM_PROCESSOR MATCHES "x86")
+    set (CMAKE_OSX_ARCHITECTURES "i386 -arch x86_64")
+  endif ()
+endif ()
+
+# The list of tools (to be installed into, e.g., /usr/local/bin)
+#set (TOOLS CartConvert ConicProj GeodesicProj GeoConvert GeodSolve
+#  GeoidEval Gravity MagneticField Planimeter TransverseMercatorProj)
+# The list of scripts (to be installed into, e.g., /usr/local/sbin)
+set (SCRIPTS
+  geographiclib-get-geoids geographiclib-get-gravity geographiclib-get-magnetic)
+
+set_property (GLOBAL PROPERTY USE_FOLDERS ON)
+
+# Set the include directories.  Look in ${PROJECT_BINARY_DIR}/include
+# first because that's where Config.h will be
+include_directories ("${PROJECT_BINARY_DIR}/include" include)
+
+# The list of subdirectories to process
+add_subdirectory (src)
+add_subdirectory (include/GeographicLib)
+# add_subdirectory (tools)
+add_subdirectory (man)
+add_subdirectory (doc)
+add_subdirectory (matlab)
+add_subdirectory (python/geographiclib)
+# if (GEOGRAPHICLIB_PRECISION EQUAL 2)
+#   # The examples assume double precision
+#   add_subdirectory (examples)
+# endif ()
+if (BUILD_NETGEOGRAPHICLIB)
+  set (NETGEOGRAPHICLIB_LIBRARIES NETGeographicLib)
+  set (NETLIBNAME NETGeographic)
+  add_subdirectory (dotnet/NETGeographicLib)
+  if (GEOGRAPHICLIB_PRECISION EQUAL 2)
+    add_subdirectory (dotnet/examples/ManagedCPP)
+  endif ()
+endif ()
+add_subdirectory (cmake)
+if (EXISTS ${PROJECT_SOURCE_DIR}/tests/CMakeLists.txt)
+  add_subdirectory (tests)
+endif ()
+
+# Packaging support; we deal with
+# (1) a source distribution: cmake make a tar.gz file and the zip file
+# is created from this.  Only the maintainer can do this, because of
+# the need to generate additional documentation files.
+# (2) a binary distribution: code is included for Linux, Apple, and
+# Windows, but only the Windows distribution has been exercised.
+
+# Need to ensure that system dlls get included in a binary distribution
+if (NOT DEFINED CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS)
+  # Visual Studio Express does include redistributable components so
+  # squelch the warning.
+  set (CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_NO_WARNINGS ON)
+endif ()
+set (CMAKE_INSTALL_DEBUG_LIBRARIES ON)
+include (InstallRequiredSystemLibraries)
+
+# The configuration of CPack is via variable that need to be set before
+# the include (CPack).
+set (CPACK_PACKAGE_CONTACT charles@karney.com)
+set (CPACK_PACKAGE_VENDOR "GeographicLib")
+set (CPACK_PACKAGE_DESCRIPTION_SUMMARY
+  "GeographicLib library, utilities, and documentation")
+# The list of files to be excluded from the source distribution.
+set (CPACK_SOURCE_IGNORE_FILES
+  "#"
+  "~\$"
+  "/\\\\.git"
+  "${PROJECT_SOURCE_DIR}/BUILD"
+  "${PROJECT_SOURCE_DIR}/(tests|testdata|cgi-bin|.*\\\\.cache)/"
+  "${PROJECT_SOURCE_DIR}/(distrib|.*-distrib|.*-installer|geodesic-papers)/"
+  "${PROJECT_SOURCE_DIR}/[^/]*\\\\.(html|kmz|pdf|xml)\$"
+  "${PROJECT_SOURCE_DIR}/(autogen|biblio|js-compress)\\\\.sh\$"
+  "${PROJECT_SOURCE_DIR}/(geodesic-biblio.txt|makefile-admin|[^/]*\\\\.png)\$"
+  "${PROJECT_SOURCE_DIR}/matlab/matlab-.*blurb.txt\$" )
+set (CPACK_SOURCE_GENERATOR TGZ)
+
+set (CPACK_RESOURCE_FILE_LICENSE ${PROJECT_SOURCE_DIR}/LICENSE.txt)
+set (CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}-${PROJECT_VERSION}")
+set (CPACK_SOURCE_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}")
+
+if (WIN32)
+  # The Windows binary packager is NSIS.  Set the necessary variables
+  # for this.
+  set (CPACK_NSIS_CONTACT "charles@karney.com")
+  set (CPACK_NSIS_URL_INFO_ABOUT "http://geographiclib.sf.net")
+  set (CPACK_NSIS_HELP_LINK "mailto:charles@karney.com")
+  if (CMAKE_SIZEOF_VOID_P EQUAL 8)
+    # Hardcode the prefix for Visual Studio 10
+    set (CPACK_NSIS_INSTALL_ROOT "C:\\\\pkg-vc10-x64")
+    set (CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}-win64")
+    set (CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME} x64 ${PROJECT_VERSION}")
+    set (CPACK_PACKAGE_INSTALL_REGISTRY_KEY
+      "${PROJECT_NAME}-x64-${PROJECT_VERSION}")
+  else ()
+    # Hardcode the prefix for Visual Studio 10
+    set (CPACK_NSIS_INSTALL_ROOT "C:\\\\pkg-vc10")
+    set (CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}-win32")
+    set (CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME} ${PROJECT_VERSION}")
+    set (CPACK_PACKAGE_INSTALL_REGISTRY_KEY
+      "${PROJECT_NAME}-${PROJECT_VERSION}")
+  endif ()
+  set (CPACK_NSIS_DISPLAY_NAME ${CPACK_NSIS_PACKAGE_NAME})
+  set (CPACK_NSIS_MENU_LINKS
+    "http://geographiclib.sf.net/${PROJECT_VERSION}/index.html"
+    "Library documentation"
+    "http://geographiclib.sf.net/${PROJECT_VERSION}/utilities.html"
+    "Utilities documentation"
+    "http://geographiclib.sf.net" "GeographicLib home page"
+    "http://sf.net/projects/geographiclib/" "Main project page")
+  set (CPACK_NSIS_MODIFY_PATH ON)
+elseif (APPLE)
+  # Not tested
+  set (CPACK_GENERATOR Bundle)
+  set (CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_INSTALL_DIRECTORY}-darwin")
+else ()
+  # Not tested
+  set (CPACK_GENERATOR TGZ)
+endif ()
+
+include (CPack)
+
+# Another maintainer-specific target is building the source distribution
+# via the target dist.  This calls package_source to make a tar.gz file.
+# However this needs to be touched up to support the vanilla Makefiles
+# provided with GeographicLib.  This entails
+# (1) creating Makefile (which includes Makefile.mk);
+# (2) creating a bare-bones Config.h (with just the version information);
+# (3) making sure that make thinks the generated documentation files are
+# up-to-date.
+# Then a new tar.gz file and zip file are created.  To avoid potential
+# problems with directory permissions, tar and zip are told only to
+# archive the files.
+if (MAINTAINER)
+  add_custom_target (dist
+    COMMAND ${CMAKE_MAKE_PROGRAM} package_source
+    COMMAND
+      cd _CPack_Packages/Linux-Source/TGZ/${CPACK_SOURCE_PACKAGE_FILE_NAME} &&
+      echo include Makefile.mk > Makefile &&
+      sed -e "s/Unconfigured/${PROJECT_VERSION}/"
+      -e "s/MAJOR .*/MAJOR ${CPACK_PACKAGE_VERSION_MAJOR}/"
+      -e "s/MINOR .*/MINOR ${CPACK_PACKAGE_VERSION_MINOR}/"
+      -e "s/PATCH .*/PATCH ${CPACK_PACKAGE_VERSION_PATCH}/"
+      include/GeographicLib/Config.h > include/GeographicLib/Config.h.new &&
+      mv include/GeographicLib/Config.h.new include/GeographicLib/Config.h
+    COMMAND
+      cd _CPack_Packages/Linux-Source/TGZ/${CPACK_SOURCE_PACKAGE_FILE_NAME} &&
+      touch man/[A-Za-z]*.usage man/[A-Za-z]*.1 man/[A-Za-z]*.1.html &&
+      chmod -R g-w .
+    COMMAND
+      cd _CPack_Packages/Linux-Source/TGZ &&
+      find ${CPACK_SOURCE_PACKAGE_FILE_NAME} -type f |
+      tar cfzT ${CMAKE_BINARY_DIR}/${CPACK_SOURCE_PACKAGE_FILE_NAME}.tar.gz -
+    COMMAND
+      rm -f ${CMAKE_BINARY_DIR}/${CPACK_SOURCE_PACKAGE_FILE_NAME}.zip &&
+      rsync -a --delete
+      _CPack_Packages/Linux-Source/TGZ/${CPACK_SOURCE_PACKAGE_FILE_NAME}
+      _CPack_Packages/Linux-Source/TGZ.DOS/ &&
+      cd _CPack_Packages/Linux-Source/TGZ.DOS &&
+      find . -type f |
+      egrep  '/\(doxyfile.*\\.in|MANIFEST.in|NEWS|AUTHORS|INSTALL|pom\\.xml|dummy.*\\.in|.*\\.\(cpp|hpp|h\\.in|txt|pro|usage|pod|py|m|mac|cmake\\.in|cmake|h|js|c|for|dox|cs|vb|inc|java|html\\.in\)\)$$' |
+      xargs unix2dos -q -k &&
+      find ${CPACK_SOURCE_PACKAGE_FILE_NAME} -type f |
+      zip -q ${CMAKE_BINARY_DIR}/${CPACK_SOURCE_PACKAGE_FILE_NAME}.zip -@
+  )
+  add_dependencies (dist distrib-all)
+endif ()
+
+# Add a test target; the tests are in tools.
+enable_testing ()

gtsam/3rdparty/GeographicLib/INSTALL

@@ -0,0 +1,3 @@
+For installation instructions, open
+
+  http://geographiclib.sourceforge.net/html/install.html

gtsam/3rdparty/GeographicLib/LICENSE.txt

@@ -0,0 +1,23 @@
+This license applies to GeographicLib, versions 1.12 and later.
+
+Copyright (c) 2008-2013, Charles Karney
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the "Software"), to deal in the Software without
+restriction, including without limitation the rights to use, copy,
+modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT.  IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.

gtsam/3rdparty/GeographicLib/Makefile

@@ -0,0 +1 @@
+include Makefile.mk

gtsam/3rdparty/GeographicLib/Makefile.am

@@ -0,0 +1,51 @@
+#
+# Makefile.am
+#
+# Copyright (C) 2009, Francesco P. Lovergine <frankie@debian.org>
+
+AUTOMAKE_OPTIONS = foreign
+
+ACLOCAL_AMFLAGS = -I m4
+
+SUBDIRS = src man tools doc include matlab python cmake examples
+
+EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL \
+	Makefile.mk CMakeLists.txt windows maxima doc legacy java dotnet
+
+dist-hook:
+	rm -rf $(distdir)/doc/html $(distdir)/doc/manpages ; \
+	find $(distdir)/maxima -type f -name '*.lsp' | xargs rm -rf ; \
+	rm -rf $(distdir)/java/targets ; \
+	find $(distdir)/java -type f -name '*.class' | xargs rm -rf ; \
+	find $(distdir)/windows -mindepth 1 -type d | xargs rm -rf ; \
+	find $(distdir)/windows -type f \
+		! \( -name '*.sln' -o -name '*.vc*proj' -o -name '*.mk' \)| \
+		xargs rm -f ; \
+	find $(distdir) \
+		\( -name .svn -o -name '.git*' -o -name CVS -o -name Makefile -o -name '*~' -o -name '*#*' -o -name 'CMakeFiles' -o -name '*.log' -o -name '*.tmp' -o -name '*.pyc' -o -name '*.bak' -o -name '*.BAK' -o -name geographiclib.js \)| \
+		xargs rm -rf ; \
+	echo include Makefile.mk > $(distdir)/Makefile ; \
+	sed -e "s/Unconfigured/$(PACKAGE_VERSION)/" \
+		-e "s/MAJOR .*/MAJOR ${GEOGRAPHICLIB_VERSION_MAJOR}/" \
+		-e "s/MINOR .*/MINOR ${GEOGRAPHICLIB_VERSION_MINOR}/" \
+		-e "s/PATCH .*/PATCH ${GEOGRAPHICLIB_VERSION_PATCH}/" \
+		$(top_srcdir)/include/GeographicLib/Config.h > \
+		$(distdir)/include/GeographicLib/Config.h
+# Custom rules
+
+all-local: man doc
+install-data-local: install-doc # install-matlab
+
+doc: man
+	$(MAKE) -C doc doc
+
+install-doc:
+	$(MAKE) -C doc install-doc
+
+man:
+	$(MAKE) -C man man
+
+# install-matlab:
+# 	$(MAKE) -C matlab install-matlab
+
+.PHONY: doc install-doc man install-matlab install-python

gtsam/3rdparty/GeographicLib/Makefile.in

@@ -0,0 +1,832 @@
+# Makefile.in generated by automake 1.12.2 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2012 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+
+#
+# Makefile.am
+#
+# Copyright (C) 2009, Francesco P. Lovergine <frankie@debian.org>
+VPATH = @srcdir@
+am__make_dryrun = \
+  { \
+    am__dry=no; \
+    case $$MAKEFLAGS in \
+      *\\[\ \	]*) \
+        echo 'am--echo: ; @echo "AM"  OK' | $(MAKE) -f - 2>/dev/null \
+          | grep '^AM OK$$' >/dev/null || am__dry=yes;; \
+      *) \
+        for am__flg in $$MAKEFLAGS; do \
+          case $$am__flg in \
+            *=*|--*) ;; \
+            *n*) am__dry=yes; break;; \
+          esac; \
+        done;; \
+    esac; \
+    test $$am__dry = yes; \
+  }
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+target_triplet = @target@
+subdir = .
+DIST_COMMON = $(am__configure_deps) $(srcdir)/Makefile.am \
+	$(srcdir)/Makefile.in $(top_srcdir)/configure \
+	$(top_srcdir)/include/GeographicLib/Config-ac.h.in AUTHORS \
+	INSTALL NEWS config.guess config.sub depcomp install-sh \
+	ltmain.sh missing
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/m4/libtool.m4 \
+	$(top_srcdir)/m4/ltoptions.m4 $(top_srcdir)/m4/ltsugar.m4 \
+	$(top_srcdir)/m4/ltversion.m4 $(top_srcdir)/m4/lt~obsolete.m4 \
+	$(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+am__CONFIG_DISTCLEAN_FILES = config.status config.cache config.log \
+ configure.lineno config.status.lineno
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/include/GeographicLib/Config-ac.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+SOURCES =
+DIST_SOURCES =
+RECURSIVE_TARGETS = all-recursive check-recursive dvi-recursive \
+	html-recursive info-recursive install-data-recursive \
+	install-dvi-recursive install-exec-recursive \
+	install-html-recursive install-info-recursive \
+	install-pdf-recursive install-ps-recursive install-recursive \
+	installcheck-recursive installdirs-recursive pdf-recursive \
+	ps-recursive uninstall-recursive
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+RECURSIVE_CLEAN_TARGETS = mostlyclean-recursive clean-recursive	\
+  distclean-recursive maintainer-clean-recursive
+AM_RECURSIVE_TARGETS = $(RECURSIVE_TARGETS:-recursive=) \
+	$(RECURSIVE_CLEAN_TARGETS:-recursive=) tags TAGS ctags CTAGS \
+	cscope distdir dist dist-all distcheck
+ETAGS = etags
+CTAGS = ctags
+CSCOPE = cscope
+DIST_SUBDIRS = $(SUBDIRS)
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+distdir = $(PACKAGE)-$(VERSION)
+top_distdir = $(distdir)
+am__remove_distdir = \
+  if test -d "$(distdir)"; then \
+    find "$(distdir)" -type d ! -perm -200 -exec chmod u+w {} ';' \
+      && rm -rf "$(distdir)" \
+      || { sleep 5 && rm -rf "$(distdir)"; }; \
+  else :; fi
+am__post_remove_distdir = $(am__remove_distdir)
+am__relativize = \
+  dir0=`pwd`; \
+  sed_first='s,^\([^/]*\)/.*$$,\1,'; \
+  sed_rest='s,^[^/]*/*,,'; \
+  sed_last='s,^.*/\([^/]*\)$$,\1,'; \
+  sed_butlast='s,/*[^/]*$$,,'; \
+  while test -n "$$dir1"; do \
+    first=`echo "$$dir1" | sed -e "$$sed_first"`; \
+    if test "$$first" != "."; then \
+      if test "$$first" = ".."; then \
+        dir2=`echo "$$dir0" | sed -e "$$sed_last"`/"$$dir2"; \
+        dir0=`echo "$$dir0" | sed -e "$$sed_butlast"`; \
+      else \
+        first2=`echo "$$dir2" | sed -e "$$sed_first"`; \
+        if test "$$first2" = "$$first"; then \
+          dir2=`echo "$$dir2" | sed -e "$$sed_rest"`; \
+        else \
+          dir2="../$$dir2"; \
+        fi; \
+        dir0="$$dir0"/"$$first"; \
+      fi; \
+    fi; \
+    dir1=`echo "$$dir1" | sed -e "$$sed_rest"`; \
+  done; \
+  reldir="$$dir2"
+DIST_ARCHIVES = $(distdir).tar.gz
+GZIP_ENV = --best
+DIST_TARGETS = dist-gzip
+distuninstallcheck_listfiles = find . -type f -print
+am__distuninstallcheck_listfiles = $(distuninstallcheck_listfiles) \
+  | sed 's|^\./|$(prefix)/|' | grep -v '$(infodir)/dir$$'
+distcleancheck_listfiles = find . -type f -print
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CFLAGS = @CFLAGS@
+COL = @COL@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GEOGRAPHICLIB_VERSION_MAJOR = @GEOGRAPHICLIB_VERSION_MAJOR@
+GEOGRAPHICLIB_VERSION_MINOR = @GEOGRAPHICLIB_VERSION_MINOR@
+GEOGRAPHICLIB_VERSION_PATCH = @GEOGRAPHICLIB_VERSION_PATCH@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_AGE = @LT_AGE@
+LT_CURRENT = @LT_CURRENT@
+LT_REVISION = @LT_REVISION@
+MAINT = @MAINT@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+POD2HTML = @POD2HTML@
+POD2MAN = @POD2MAN@
+POW_LIB = @POW_LIB@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target = @target@
+target_alias = @target_alias@
+target_cpu = @target_cpu@
+target_os = @target_os@
+target_vendor = @target_vendor@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+AUTOMAKE_OPTIONS = foreign
+ACLOCAL_AMFLAGS = -I m4
+SUBDIRS = src man tools doc include matlab python cmake examples
+EXTRA_DIST = AUTHORS 00README.txt LICENSE.txt NEWS INSTALL \
+	Makefile.mk CMakeLists.txt windows maxima doc legacy java dotnet
+
+all: all-recursive
+
+.SUFFIXES:
+am--refresh: Makefile
+	@:
+$(srcdir)/Makefile.in: @MAINTAINER_MODE_TRUE@ $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      echo ' cd $(srcdir) && $(AUTOMAKE) --foreign'; \
+	      $(am__cd) $(srcdir) && $(AUTOMAKE) --foreign \
+		&& exit 0; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    echo ' $(SHELL) ./config.status'; \
+	    $(SHELL) ./config.status;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	$(SHELL) ./config.status --recheck
+
+$(top_srcdir)/configure: @MAINTAINER_MODE_TRUE@ $(am__configure_deps)
+	$(am__cd) $(srcdir) && $(AUTOCONF)
+$(ACLOCAL_M4): @MAINTAINER_MODE_TRUE@ $(am__aclocal_m4_deps)
+	$(am__cd) $(srcdir) && $(ACLOCAL) $(ACLOCAL_AMFLAGS)
+$(am__aclocal_m4_deps):
+
+include/GeographicLib/Config-ac.h: include/GeographicLib/stamp-h1
+	@if test ! -f $@; then rm -f include/GeographicLib/stamp-h1; else :; fi
+	@if test ! -f $@; then $(MAKE) $(AM_MAKEFLAGS) include/GeographicLib/stamp-h1; else :; fi
+
+include/GeographicLib/stamp-h1: $(top_srcdir)/include/GeographicLib/Config-ac.h.in $(top_builddir)/config.status
+	@rm -f include/GeographicLib/stamp-h1
+	cd $(top_builddir) && $(SHELL) ./config.status include/GeographicLib/Config-ac.h
+$(top_srcdir)/include/GeographicLib/Config-ac.h.in: @MAINTAINER_MODE_TRUE@ $(am__configure_deps) 
+	($(am__cd) $(top_srcdir) && $(AUTOHEADER))
+	rm -f include/GeographicLib/stamp-h1
+	touch $@
+
+distclean-hdr:
+	-rm -f include/GeographicLib/Config-ac.h include/GeographicLib/stamp-h1
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+
+distclean-libtool:
+	-rm -f libtool config.lt
+
+# This directory's subdirectories are mostly independent; you can cd
+# into them and run 'make' without going through this Makefile.
+# To change the values of 'make' variables: instead of editing Makefiles,
+# (1) if the variable is set in 'config.status', edit 'config.status'
+#     (which will cause the Makefiles to be regenerated when you run 'make');
+# (2) otherwise, pass the desired values on the 'make' command line.
+$(RECURSIVE_TARGETS) $(RECURSIVE_CLEAN_TARGETS):
+	@fail= failcom='exit 1'; \
+	for f in x $$MAKEFLAGS; do \
+	  case $$f in \
+	    *=* | --[!k]*);; \
+	    *k*) failcom='fail=yes';; \
+	  esac; \
+	done; \
+	dot_seen=no; \
+	target=`echo $@ | sed s/-recursive//`; \
+	case "$@" in \
+	  distclean-* | maintainer-clean-*) list='$(DIST_SUBDIRS)' ;; \
+	  *) list='$(SUBDIRS)' ;; \
+	esac; \
+	for subdir in $$list; do \
+	  echo "Making $$target in $$subdir"; \
+	  if test "$$subdir" = "."; then \
+	    dot_seen=yes; \
+	    local_target="$$target-am"; \
+	  else \
+	    local_target="$$target"; \
+	  fi; \
+	  ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) $$local_target) \
+	  || eval $$failcom; \
+	done; \
+	if test "$$dot_seen" = "no"; then \
+	  $(MAKE) $(AM_MAKEFLAGS) "$$target-am" || exit 1; \
+	fi; test -z "$$fail"
+tags-recursive:
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  test "$$subdir" = . || ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) tags); \
+	done
+ctags-recursive:
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  test "$$subdir" = . || ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) ctags); \
+	done
+cscopelist-recursive:
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  test "$$subdir" = . || ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) cscopelist); \
+	done
+
+ID: $(HEADERS) $(SOURCES) $(LISP) $(TAGS_FILES)
+	list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	mkid -fID $$unique
+tags: TAGS
+
+TAGS: tags-recursive $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	set x; \
+	here=`pwd`; \
+	if ($(ETAGS) --etags-include --version) >/dev/null 2>&1; then \
+	  include_option=--etags-include; \
+	  empty_fix=.; \
+	else \
+	  include_option=--include; \
+	  empty_fix=; \
+	fi; \
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    test ! -f $$subdir/TAGS || \
+	      set "$$@" "$$include_option=$$here/$$subdir/TAGS"; \
+	  fi; \
+	done; \
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	shift; \
+	if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  if test $$# -gt 0; then \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: CTAGS
+CTAGS: ctags-recursive $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+
+cscope: cscope.files
+	test ! -s cscope.files \
+	  || $(CSCOPE) -b -q $(AM_CSCOPEFLAGS) $(CSCOPEFLAGS) -i cscope.files $(CSCOPE_ARGS)
+
+clean-cscope:
+	-rm -f cscope.files
+
+cscope.files: clean-cscope cscopelist-recursive cscopelist
+
+cscopelist: cscopelist-recursive $(HEADERS) $(SOURCES) $(LISP)
+	list='$(SOURCES) $(HEADERS) $(LISP)'; \
+	case "$(srcdir)" in \
+	  [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+	  *) sdir=$(subdir)/$(srcdir) ;; \
+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
+	done >> $(top_builddir)/cscope.files
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+	-rm -f cscope.out cscope.in.out cscope.po.out cscope.files
+
+distdir: $(DISTFILES)
+	$(am__remove_distdir)
+	test -d "$(distdir)" || mkdir "$(distdir)"
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+	@list='$(DIST_SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    $(am__make_dryrun) \
+	      || test -d "$(distdir)/$$subdir" \
+	      || $(MKDIR_P) "$(distdir)/$$subdir" \
+	      || exit 1; \
+	    dir1=$$subdir; dir2="$(distdir)/$$subdir"; \
+	    $(am__relativize); \
+	    new_distdir=$$reldir; \
+	    dir1=$$subdir; dir2="$(top_distdir)"; \
+	    $(am__relativize); \
+	    new_top_distdir=$$reldir; \
+	    echo " (cd $$subdir && $(MAKE) $(AM_MAKEFLAGS) top_distdir="$$new_top_distdir" distdir="$$new_distdir" \\"; \
+	    echo "     am__remove_distdir=: am__skip_length_check=: am__skip_mode_fix=: distdir)"; \
+	    ($(am__cd) $$subdir && \
+	      $(MAKE) $(AM_MAKEFLAGS) \
+	        top_distdir="$$new_top_distdir" \
+	        distdir="$$new_distdir" \
+		am__remove_distdir=: \
+		am__skip_length_check=: \
+		am__skip_mode_fix=: \
+	        distdir) \
+	      || exit 1; \
+	  fi; \
+	done
+	$(MAKE) $(AM_MAKEFLAGS) \
+	  top_distdir="$(top_distdir)" distdir="$(distdir)" \
+	  dist-hook
+	-test -n "$(am__skip_mode_fix)" \
+	|| find "$(distdir)" -type d ! -perm -755 \
+		-exec chmod u+rwx,go+rx {} \; -o \
+	  ! -type d ! -perm -444 -links 1 -exec chmod a+r {} \; -o \
+	  ! -type d ! -perm -400 -exec chmod a+r {} \; -o \
+	  ! -type d ! -perm -444 -exec $(install_sh) -c -m a+r {} {} \; \
+	|| chmod -R a+r "$(distdir)"
+dist-gzip: distdir
+	tardir=$(distdir) && $(am__tar) | GZIP=$(GZIP_ENV) gzip -c >$(distdir).tar.gz
+	$(am__post_remove_distdir)
+
+dist-bzip2: distdir
+	tardir=$(distdir) && $(am__tar) | BZIP2=$${BZIP2--9} bzip2 -c >$(distdir).tar.bz2
+	$(am__post_remove_distdir)
+
+dist-lzip: distdir
+	tardir=$(distdir) && $(am__tar) | lzip -c $${LZIP_OPT--9} >$(distdir).tar.lz
+	$(am__post_remove_distdir)
+
+dist-xz: distdir
+	tardir=$(distdir) && $(am__tar) | XZ_OPT=$${XZ_OPT--e} xz -c >$(distdir).tar.xz
+	$(am__post_remove_distdir)
+
+dist-tarZ: distdir
+	tardir=$(distdir) && $(am__tar) | compress -c >$(distdir).tar.Z
+	$(am__post_remove_distdir)
+
+dist-shar: distdir
+	shar $(distdir) | GZIP=$(GZIP_ENV) gzip -c >$(distdir).shar.gz
+	$(am__post_remove_distdir)
+
+dist-zip: distdir
+	-rm -f $(distdir).zip
+	zip -rq $(distdir).zip $(distdir)
+	$(am__post_remove_distdir)
+
+dist dist-all:
+	$(MAKE) $(AM_MAKEFLAGS) $(DIST_TARGETS) am__post_remove_distdir='@:'
+	$(am__post_remove_distdir)
+
+# This target untars the dist file and tries a VPATH configuration.  Then
+# it guarantees that the distribution is self-contained by making another
+# tarfile.
+distcheck: dist
+	case '$(DIST_ARCHIVES)' in \
+	*.tar.gz*) \
+	  GZIP=$(GZIP_ENV) gzip -dc $(distdir).tar.gz | $(am__untar) ;;\
+	*.tar.bz2*) \
+	  bzip2 -dc $(distdir).tar.bz2 | $(am__untar) ;;\
+	*.tar.lz*) \
+	  lzip -dc $(distdir).tar.lz | $(am__untar) ;;\
+	*.tar.xz*) \
+	  xz -dc $(distdir).tar.xz | $(am__untar) ;;\
+	*.tar.Z*) \
+	  uncompress -c $(distdir).tar.Z | $(am__untar) ;;\
+	*.shar.gz*) \
+	  GZIP=$(GZIP_ENV) gzip -dc $(distdir).shar.gz | unshar ;;\
+	*.zip*) \
+	  unzip $(distdir).zip ;;\
+	esac
+	chmod -R a-w $(distdir); chmod u+w $(distdir)
+	mkdir $(distdir)/_build
+	mkdir $(distdir)/_inst
+	chmod a-w $(distdir)
+	test -d $(distdir)/_build || exit 0; \
+	dc_install_base=`$(am__cd) $(distdir)/_inst && pwd | sed -e 's,^[^:\\/]:[\\/],/,'` \
+	  && dc_destdir="$${TMPDIR-/tmp}/am-dc-$$$$/" \
+	  && am__cwd=`pwd` \
+	  && $(am__cd) $(distdir)/_build \
+	  && ../configure --srcdir=.. --prefix="$$dc_install_base" \
+	    $(AM_DISTCHECK_CONFIGURE_FLAGS) \
+	    $(DISTCHECK_CONFIGURE_FLAGS) \
+	  && $(MAKE) $(AM_MAKEFLAGS) \
+	  && $(MAKE) $(AM_MAKEFLAGS) dvi \
+	  && $(MAKE) $(AM_MAKEFLAGS) check \
+	  && $(MAKE) $(AM_MAKEFLAGS) install \
+	  && $(MAKE) $(AM_MAKEFLAGS) installcheck \
+	  && $(MAKE) $(AM_MAKEFLAGS) uninstall \
+	  && $(MAKE) $(AM_MAKEFLAGS) distuninstallcheck_dir="$$dc_install_base" \
+	        distuninstallcheck \
+	  && chmod -R a-w "$$dc_install_base" \
+	  && ({ \
+	       (cd ../.. && umask 077 && mkdir "$$dc_destdir") \
+	       && $(MAKE) $(AM_MAKEFLAGS) DESTDIR="$$dc_destdir" install \
+	       && $(MAKE) $(AM_MAKEFLAGS) DESTDIR="$$dc_destdir" uninstall \
+	       && $(MAKE) $(AM_MAKEFLAGS) DESTDIR="$$dc_destdir" \
+	            distuninstallcheck_dir="$$dc_destdir" distuninstallcheck; \
+	      } || { rm -rf "$$dc_destdir"; exit 1; }) \
+	  && rm -rf "$$dc_destdir" \
+	  && $(MAKE) $(AM_MAKEFLAGS) dist \
+	  && rm -rf $(DIST_ARCHIVES) \
+	  && $(MAKE) $(AM_MAKEFLAGS) distcleancheck \
+	  && cd "$$am__cwd" \
+	  || exit 1
+	$(am__post_remove_distdir)
+	@(echo "$(distdir) archives ready for distribution: "; \
+	  list='$(DIST_ARCHIVES)'; for i in $$list; do echo $$i; done) | \
+	  sed -e 1h -e 1s/./=/g -e 1p -e 1x -e '$$p' -e '$$x'
+distuninstallcheck:
+	@test -n '$(distuninstallcheck_dir)' || { \
+	  echo 'ERROR: trying to run $@ with an empty' \
+	       '$$(distuninstallcheck_dir)' >&2; \
+	  exit 1; \
+	}; \
+	$(am__cd) '$(distuninstallcheck_dir)' || { \
+	  echo 'ERROR: cannot chdir into $(distuninstallcheck_dir)' >&2; \
+	  exit 1; \
+	}; \
+	test `$(am__distuninstallcheck_listfiles) | wc -l` -eq 0 \
+	   || { echo "ERROR: files left after uninstall:" ; \
+	        if test -n "$(DESTDIR)"; then \
+	          echo "  (check DESTDIR support)"; \
+	        fi ; \
+	        $(distuninstallcheck_listfiles) ; \
+	        exit 1; } >&2
+distcleancheck: distclean
+	@if test '$(srcdir)' = . ; then \
+	  echo "ERROR: distcleancheck can only run from a VPATH build" ; \
+	  exit 1 ; \
+	fi
+	@test `$(distcleancheck_listfiles) | wc -l` -eq 0 \
+	  || { echo "ERROR: files left in build directory after distclean:" ; \
+	       $(distcleancheck_listfiles) ; \
+	       exit 1; } >&2
+check-am: all-am
+check: check-recursive
+all-am: Makefile all-local
+installdirs: installdirs-recursive
+installdirs-am:
+install: install-recursive
+install-exec: install-exec-recursive
+install-data: install-data-recursive
+uninstall: uninstall-recursive
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-recursive
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-recursive
+
+clean-am: clean-generic clean-libtool mostlyclean-am
+
+distclean: distclean-recursive
+	-rm -f $(am__CONFIG_DISTCLEAN_FILES)
+	-rm -f Makefile
+distclean-am: clean-am distclean-generic distclean-hdr \
+	distclean-libtool distclean-tags
+
+dvi: dvi-recursive
+
+dvi-am:
+
+html: html-recursive
+
+html-am:
+
+info: info-recursive
+
+info-am:
+
+install-data-am: install-data-local
+
+install-dvi: install-dvi-recursive
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-recursive
+
+install-html-am:
+
+install-info: install-info-recursive
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-recursive
+
+install-pdf-am:
+
+install-ps: install-ps-recursive
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-recursive
+	-rm -f $(am__CONFIG_DISTCLEAN_FILES)
+	-rm -rf $(top_srcdir)/autom4te.cache
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-recursive
+
+mostlyclean-am: mostlyclean-generic mostlyclean-libtool
+
+pdf: pdf-recursive
+
+pdf-am:
+
+ps: ps-recursive
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: $(RECURSIVE_CLEAN_TARGETS) $(RECURSIVE_TARGETS) \
+	cscopelist-recursive ctags-recursive install-am install-strip \
+	tags-recursive
+
+.PHONY: $(RECURSIVE_CLEAN_TARGETS) $(RECURSIVE_TARGETS) CTAGS GTAGS \
+	all all-am all-local am--refresh check check-am clean \
+	clean-cscope clean-generic clean-libtool cscope cscopelist \
+	cscopelist-recursive ctags ctags-recursive dist dist-all \
+	dist-bzip2 dist-gzip dist-hook dist-lzip dist-shar dist-tarZ \
+	dist-xz dist-zip distcheck distclean distclean-generic \
+	distclean-hdr distclean-libtool distclean-tags distcleancheck \
+	distdir distuninstallcheck dvi dvi-am html html-am info \
+	info-am install install-am install-data install-data-am \
+	install-data-local install-dvi install-dvi-am install-exec \
+	install-exec-am install-html install-html-am install-info \
+	install-info-am install-man install-pdf install-pdf-am \
+	install-ps install-ps-am install-strip installcheck \
+	installcheck-am installdirs installdirs-am maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-generic \
+	mostlyclean-libtool pdf pdf-am ps ps-am tags tags-recursive \
+	uninstall uninstall-am
+
+
+dist-hook:
+	rm -rf $(distdir)/doc/html $(distdir)/doc/manpages ; \
+	find $(distdir)/maxima -type f -name '*.lsp' | xargs rm -rf ; \
+	rm -rf $(distdir)/java/targets ; \
+	find $(distdir)/java -type f -name '*.class' | xargs rm -rf ; \
+	find $(distdir)/windows -mindepth 1 -type d | xargs rm -rf ; \
+	find $(distdir)/windows -type f \
+		! \( -name '*.sln' -o -name '*.vc*proj' -o -name '*.mk' \)| \
+		xargs rm -f ; \
+	find $(distdir) \
+		\( -name .svn -o -name '.git*' -o -name CVS -o -name Makefile -o -name '*~' -o -name '*#*' -o -name 'CMakeFiles' -o -name '*.log' -o -name '*.tmp' -o -name '*.pyc' -o -name '*.bak' -o -name '*.BAK' -o -name geographiclib.js \)| \
+		xargs rm -rf ; \
+	echo include Makefile.mk > $(distdir)/Makefile ; \
+	sed -e "s/Unconfigured/$(PACKAGE_VERSION)/" \
+		-e "s/MAJOR .*/MAJOR ${GEOGRAPHICLIB_VERSION_MAJOR}/" \
+		-e "s/MINOR .*/MINOR ${GEOGRAPHICLIB_VERSION_MINOR}/" \
+		-e "s/PATCH .*/PATCH ${GEOGRAPHICLIB_VERSION_PATCH}/" \
+		$(top_srcdir)/include/GeographicLib/Config.h > \
+		$(distdir)/include/GeographicLib/Config.h
+# Custom rules
+
+all-local: man doc
+install-data-local: install-doc # install-matlab
+
+doc: man
+	$(MAKE) -C doc doc
+
+install-doc:
+	$(MAKE) -C doc install-doc
+
+man:
+	$(MAKE) -C man man
+
+# install-matlab:
+# 	$(MAKE) -C matlab install-matlab
+
+.PHONY: doc install-doc man install-matlab install-python
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:

gtsam/3rdparty/GeographicLib/Makefile.mk

@@ -0,0 +1,51 @@
+MAKEFILE := $(lastword $(MAKEFILE_LIST))
+MAKE := $(MAKE) -f $(MAKEFILE)
+SUBDIRS = src man tools doc
+ALLDIRS = include $(SUBDIRS) maxima matlab python cmake
+
+all: src man tools
+
+$(SUBDIRS):
+	$(MAKE) -C $@
+
+tools: src
+install: install-headers install-lib install-tools install-man install-cmake \
+	install-doc install-matlab install-python
+clean: clean-src clean-tools clean-doc clean-man clean-matlab clean-python
+
+install-headers:
+	$(MAKE) -C include install
+install-lib:
+	$(MAKE) -C src install
+install-tools: src
+	$(MAKE) -C tools install
+install-cmake:
+	$(MAKE) -C cmake install
+install-doc: doc
+	$(MAKE) -C doc install
+install-man: man
+	$(MAKE) -C man install
+install-matlab: matlab
+	$(MAKE) -C matlab install
+install-python: python
+	$(MAKE) -C python install
+clean-src:
+	$(MAKE) -C src clean
+clean-tools:
+	$(MAKE) -C tools clean
+clean-doc:
+	$(MAKE) -C doc clean
+clean-man:
+	$(MAKE) -C man clean
+clean-matlab: matlab
+	$(MAKE) -C matlab clean
+clean-python: python
+	$(MAKE) -C python clean
+
+VERSION:=$(shell grep '\bVERSION=' configure | cut -f2 -d\' | head -1)
+
+.PHONY: all $(SUBDIRS) install \
+	install-headers install-lib install-tools install-cmake install-man \
+	install-matlab install-python \
+	clean clean-src clean-tools clean-doc clean-man clean-matlab \
+	clean-python

gtsam/3rdparty/GeographicLib/NEWS

@@ -0,0 +1,886 @@
+A reverse chronological list of changes to GeographicLib
+
+For more information, see
+
+    http://geographiclib.sourceforge.net/
+
+The current version of the library is 1.34.
+
+Changes between 1.34 (released 2013-12-11) and 1.33 versions:
+
+   * Many changes in cmake support:
+     + minimum version of cmake needed increased to 2.8.4 (which was
+       released in 2011-02);
+     + allow building both shared and static librarys with
+       -D GEOGRAPHICLIB_LIB_TYPE=BOTH;
+     + both shared and static libraries (Release plus Debug) included in
+       binary installer;
+     + find_package uses COMPONENTS and GeographicLib_USE_STATIC_LIBS to
+       select the library to use;
+     + find_package version checking allows nmake and Visual Studio
+       generators to interoperate on Windows;
+     + find_package (GeographicLib ...) requires that GeographicLib be
+       capitalized correctly;
+     + on Unix/Linux, don't include the version number in directory for
+       the cmake configuration files;
+     + defaults for GEOGRAPHICLIB_DOCUMENTATION and
+       BUILD_NETGEOGRAPHICLIB are now OFF;
+     + the GEOGRAPHICLIB_EXAMPLES configuration parameter is no longer
+       used; cmake always configures to build the examples, but they are
+       not built by default (instead build targets: exampleprograms and
+       netexamples);
+     + matlab-all target renamed to matlabinterface;
+     + the configuration parameters PACKAGE_PATH and INSTALL_PATH are
+       now deprecated (use CMAKE_INSTALL_PREFIX instead);
+     + on Linux, the installed package is relocatable;
+     + on MacOSX, the installed utilities can find the shared library.
+
+   * Use a more precise value for OSGB::CentralScale().
+
+   * Add Arc routines to python interface.
+
+   * The Geod utility has been removed; the same functionality lives on
+     with GeodSolve (introduced in version 1.30).
+
+Changes between 1.33 (released 2013-10-08) and 1.32 versions:
+
+   * Add NETGeographic .NET wrapper library (courtesy of Scott Heiman).
+
+   * Make inspector functions in GeographicLib::Ellipsoid const.
+
+   * Add Accumulator.cpp to instantiate GeographicLib::Accumulator.
+
+   * Defer some of the initialization of GeographicLib::OSGB to when it
+     is first called.
+
+   * Fix bug in autoconf builds under MacOS.
+
+Changes between 1.32 (released 2013-07-12) and 1.31 versions:
+
+   * Generalize C interface for polygon areas to allow vertices to be
+     specified incrementally.
+
+   * Fix way flags for C++11 support are determined.
+
+Changes between 1.31 (released 2013-07-01) and 1.30 versions:
+
+   * Changes breaking binary compatibility (source compatibility is
+     maintained):
+     + overloaded versions of DMS::Encode,
+       EllipticFunction::EllipticFunction, and
+       GeoCoords::DMSRepresentation, have been eliminated by the use of
+       optional arguments;
+     + correct the declaration of first arg to UTMUPS::DecodeEPSG.
+
+   * FIX BUG in GeographicLib::GravityCircle constructor (found by
+     Mathieu Peyréga) which caused bogus results for the gravity
+     disturbance and gravity anomaly vectors. (This only affected
+     calculations using GravityCircle. GravityModel calculations did not
+     suffer from this bug.)
+
+   * Improvements to the build:
+     + add macros GEOGRAPHICLIB_VERSION_{MAJOR,MINOR,PATCH} to Config.h;
+     + fix documentation for new version of perlpod;
+     + improving setting of runtime path for Unix-like systems with
+       cmake;
+     + install PDB files when compiling with Visual Studio to aid
+       debugging;
+     + Windows binary release now uses Matlab R2013a (64-bit) and uses
+       the -largeArrayDims option.
+
+   * Changes to the geodesic routines:
+     + add Java implementation of the geodesic routines (thanks to Skip
+       Breidbach for the maven support);
+     + FIX BUG: avoid altering input args in Fortran implementation;
+     + more systematic treatment of very short geodesic;
+     + fixes to python port so that they work with version 3.x, in
+       addition to 2.x (courtesy of Amato);
+     + accumulate the perimeter and area of polygons via a double-wide
+       accumulator in Fortran, C, and Matlab implementations (this is
+       already included in the other implementations);
+     + port PolygonArea::AddEdge and PolygonArea::TestEdge to JavaScript
+       and python interfaces;
+     + include documentation on short geodesics.
+
+   * Unix scripts for downloading datasets,
+     geographiclib-get-{geoids,gravity,magnetic}, skip already download
+     models by default, unless the -f flag is given.
+
+   * FIX BUGS: meridian convergence and scale returned by
+     TransverseMercatorExact was wrong at a pole.
+
+   * Improve efficiency of MGRS::Forward by avoiding the calculation of
+     the latitude if possible (adapting an idea of Craig Rollins).
+
+   * Fixes to the way the Matlab interface routines are built (thanks to
+     Phil Miller and Chris F.).
+
+Changes between 1.30 (released 2013-02-27) and 1.29 versions:
+
+   * Changes to geodesic routines:
+     + fix BUG in fail-safe mechanisms in Geodesic::Inverse;
+     + the command line utility Geod is now called GeodSolve;
+     + allow addition of polygon edges in PolygonArea;
+     + add full Maxima implementation of geodesic algorithms.
+
+Changes between 1.29 (released 2013-01-16) and 1.28 versions:
+
+   * Changes to allow compilation with libc++ (courtesy of Kal Conley).
+
+   * Add description of geodesics on triaxial ellipsoid to
+     documentation.
+
+   * Update journal reference for "Algorithms for geodesics".
+
+Changes between 1.28 (released 2012-12-11) and 1.27 versions:
+
+   * Changes to geodesic routines:
+     + compute longitude difference exactly;
+     + hence fix BUG in area calculations for polygons with vertices very
+       close to the prime meridian;
+     + fix BUG is geoddistance.m where the value of m12 was wrong for
+       meridional geodesics;
+     + add Matlab implementations of the geodesic projections;
+     + remove unneeded special code for geodesics which start at a pole;
+     + include polygon area routine in C and Fortran implementations;
+     + add doxygen documentation for C and Fortran libraries.
+
+Changes between 1.27 (released 2012-11-29) and 1.26 versions:
+
+   * Changes to geodesic routines:
+     + add native Matlab implementations: geoddistance.m, geodreckon.m,
+       geodarea.m;
+     + add C and Fortran implementations;
+     + improve the solution of the direct problem so that the series
+       solution is accurate to round off for |f| < 1/50;
+     + tighten up the convergence criteria for solution of the inverse
+       problem;
+     + no longer signal failures of convergence with NaNs (a slightly
+       less accurate answer is returned instead).
+
+   * Fix DMS::Decode double rounding BUG.
+
+   * On MacOSX platforms with the cmake configuration, universal
+     binaries are built.
+
+Changes between 1.26 (released 2012-10-22) and 1.25 versions:
+
+   * Replace the series used for geodesic areas by one with better
+     convergence (this only makes an appreciable difference if |f| >
+     1/150).
+
+Changes between 1.25 (released 2012-10-16) and 1.24 versions:
+
+   * Changes to geodesic calculations:
+     + restart Newton's method in Geodesic::Inverse when it goes awry;
+     + back up Newton's method with the bisection method;
+     + Geodesic::Inverse now converges for any value of f;
+     + add GeodesicExact and GeodesicLineExact which are formulated in
+       terms of elliptic integrals and thus yield accurate results
+       even for very eccentric ellipsoids.
+     + the -E option to Geod invokes these exact classes.
+
+   * Add functionality to EllipticFunction:
+     + add all the traditional elliptic integrals;
+     + remove restrictions on argument range for incomplete elliptic
+       integrals;
+     + allow imaginary modulus for elliptic integrals and elliptic
+       functions;
+     + make interface to the symmetric elliptic integrals public.
+
+   * Allow GeographicLib::Ellipsoid to be copied.
+
+   * Changes to the build tools:
+     + cmake uses folders in Visual Studio to reduce clutter;
+     + allow precision of reals to be set in cmake;
+     + fail gracefully in the absence of pod documentation tools;
+     + remove support for maintainer tasks in Makefile.mk.
+
+Changes between 1.24 (released 2012-09-22) and 1.23 versions:
+
+   * Allow the specification of the hemisphere in UTM coordinates in
+     order to provide continuity across the equator:
+     + add UTMUPS::Transfer;
+     + add GeoCoords::UTMUPSRepresentation(bool, int) and
+       GeoCoords::AltUTMUPSRepresentation(bool, int);
+     + use the hemisphere letter in, e.g., GeoConvert -u -z 31N.
+
+   * Add UTMUPS::DecodeEPSG and UTMUPS::EncodeEPSG.
+
+   * cmake changes:
+     + restore support for cmake 2.4.x;
+     + explicitly check version of doxygen.
+
+   * Fix building under cygwin.
+
+   * Document restrictions on f in the Introduction.
+
+   * Fix python interface to work with version 2.6.x.
+
+Changes between 1.23 (released 2012-07-17) and 1.22 versions:
+
+  * Documentation changes:
+    + remove html documentation from distribution and use web links if
+      doxygen is not available;
+    + use doxygen tags to document exceptions;
+    + begin migrating the documentation to using Greek letters where
+      appropriate (requires doxygen 1.8.1.2 or later).
+
+  * Add Math::AngNormalize and Math::AngNormalize2; the allowed range
+    for longitudes and azimuths widened to [-540d, 540d).
+
+  * DMS::Decode understands more unicode symbols.
+
+  * Geohash uses geohash code "nan" to stand for not a number.
+
+  * Add Ellipsoid::NormalCurvatureRadius.
+
+  * Various fixes in LambertConformalConic, TransverseMercator,
+    PolarStereographic, and Ellipsoid to handle reverse projections of
+    points near infinity.
+
+  * Fix programming blunder in LambertConformalConic::Forward (incorrect
+    results were returned if the tangent latitude was negative).
+
+Changes between 1.22 (released 2012-05-27) and 1.21 versions:
+
+  * Add Geohash and Ellipsoid classes.
+
+  * Fix bug in AlbersEqualArea of very prolate ellipsoids (b^2 > 2
+    a^2).
+
+  * cmake changes:
+    + optionally use PACKAGE_PATH and INSTALL_PATH to determine
+      CMAKE_INSTALL_PREFIX;
+    + use COMMON_INSTALL_PATH to determine layout of installation
+      directories;
+    + as a consequence, the installation paths for the documentation,
+      and python and matlab interfaces are shortened for Windows;
+    + zip source distribution now uses DOS line endings;
+    + the tests work in debug mode for Windows;
+    + default setting of GEOGRAPHICLIB_DATA does not depend on
+      CMAKE_INSTALL_PREFIX;
+    + add a cmake configuration for build tree.
+
+Changes between 1.21 (released 2012-04-25) and 1.20 versions:
+
+  * Support colon-separated DMS output:
+    + DMS::Encode and GeoCoords::DMSRepresentation generalized;
+    + GeoConvert and Geod now accept a -: option.
+
+  * GeoidEval does not print the gradient of the geoid height by default
+    (because it's subject to large errors); give the -g option to get
+    the gradient printed.
+
+  * Work around optimization BUG in GeographicLib::Geodesic::Inverse
+    with tdm mingw g++ version 4.6.1.
+
+  * autoconf fixed to ensure that that out-of-sources builds work;
+    document this as the preferred method of using autoconf.
+
+  * cmake tweaks:
+    + simplify the configuration of doxygen;
+    + allow the Matlab compiler to be specified with the MATLAB_COMPILER option.
+
+Changes between 1.20 (released 2012-03-23) and 1.19 versions:
+
+  * cmake tweaks:
+    + improve find_package's matching of compiler versions;
+    + CMAKE_INSTALL_PREFIX set from CMAKE_PREFIX_PATH if available;
+    + add "x64" to the package name for the 64-bit binary installer;
+    + fix cmake warning with Visual Studio Express.
+
+  * Fix SphericalEngine to deal with aggessive iterator checking by
+    Visual Studio.
+
+  * Fix transcription BUG is Geodesic.js.
+
+Changes between 1.19 (released 2012-03-13) and 1.18 versions:
+
+  * Slight improvement in Geodesic::Inverse for very short lines.
+
+  * Fix argument checking tests in MGRS::Forward.
+
+  * Add --comment-delimiter and --line-separator options to the utility
+    programs.
+
+  * Add installer for 64-bit Windows; the compiled Matlab interface is
+    supplied with the Windows 64-bit installer only.
+
+Changes between 1.18 (released 2012-02-18) and 1.17 versions:
+
+  * Improve documentation on configuration with cmake.
+
+  * cmake's find_package ensures that the compiler versions match on Windows.
+
+  * Improve documentation on compiling Matlab interface.
+
+  * Binary installer for Windows installs under C:/pkg-vc10 by default.
+
+Changes between 1.17 (released 2012-01-21) and 1.16 versions:
+
+  * Work around optimization BUG in Geodesic::Inverse with g++ version
+    4.4.0 (mingw).
+
+  * Fix BUG in argument checking with OSGB::GridReference.
+
+  * Fix missing include file in SphericalHarmonic2.
+
+  * Add simple examples of usage for each class.
+
+  * Add internal documenation to the cmake configuration files.
+
+Changes between 1.16 (released 2011-12-07) and 1.15 versions:
+
+  * Add calculation of the earth's gravitational field:
+    + add NormalGravity GravityModel and GravityCircle classes;
+    + add command line utility Gravity;
+    + add Gravity models;
+    + add Constants::WGS84_GM(), Constants::WGS84_omega(), and similarly
+      for GRS80.
+
+  * Build uses GEOGRAPHICLIB_DATA to specify a common parent directory
+    for geoid, gravity, and magnetic data (instead of
+    GEOGRAPHICLIB_GEOID_PATH, etc.); similarly, GeoidEval, Gravity, and
+    MagneticField, look at the environment variable GEOGRAPHICLIB_DATA
+    to locate the data.
+
+  * Spherical harmonic software changes:
+    + capitalize enums SphericalHarmonic::FULL and
+      SphericalHarmonic::SCHMIDT (the lower case names are retained but
+      deprecated);
+    + optimize the sum by using a static table of square roots which is
+      updated by SphericalEngine::RootTable;
+    + avoid overflow for high degree models.
+
+  * Magnetic software fixes:
+    + fix documentation BUG in MagneticModel::Circle;
+    + make MagneticModel constructor explicit;
+    + provide default MagneticCircle constructor;
+    + add additional inspector functions to MagneticCircle;
+    + add -c option to MagneticField;
+    + default height to zero in MagneticField.
+
+Changes between 1.15 (released 2011-11-08) and 1.14 versions:
+
+  * Add calculation of the earth's magnetic field:
+    + add MagneticModel and MagneticCircle classes;
+    + add command line utility MagneticField;
+    + add Magnetic models;
+    + add Installing the magnetic field models;
+    + add The format of the magnetic model files;
+    + add classes SphericalEngine, CircularEngine, SphericalHarmonic,
+      SphericalHarmonic1, and SphericalHarmonic2. which sum spherical
+      harmonic series.
+
+  * Add Utility class to support I/O and date manipulation.
+
+  * Cmake configuration includes a _d suffix on the library built in
+    debug mode.
+
+  * For the Python package, include manifest and readme files; don't
+    install setup.py for non-Windows systems.
+
+  * Include Doxygen tag file in distribution as doc/html/Geographic.tag.
+
+Changes between 1.14 (released 2011-09-30) and 1.13 versions:
+
+  * Ensure that geographiclib-config.cmake is relocatable.
+
+  * Allow more unicode symbols to be used in DMS::Decode.
+
+  * Modify GeoidEval so that it can be used to convert the height datum
+    for LIDAR data.
+
+  * Modest speed-up of Geodesic::Inverse.
+
+  * Changes in python interface:
+    + FIX BUG in transcription of Geodesic::Inverse;
+    + include setup.py for easy installation;
+    + python only distribution is available at
+      http://pypi.python.org/pypi/geographiclib
+
+  * Supply a minimal Qt qmake project file for library
+    src/Geographic.pro.
+
+Changes between 1.13 (released 2011-08-13) and 1.12 versions:
+
+  * Changes to I/O:
+    + allow : (colon) to be used as a DMS separator in DMS::Decode;
+    + also accept Unicode symbols for degrees, minutes, and seconds
+      (coded as UTF-8);
+    + provide optional swaplatlong argument to various DMS and GeoCoords
+      functions to make longitude precede latitude;
+    + GeoConvert now has a -w option to make longitude precede latitude
+      on input and output;
+    + include a JavaScript version of DMS.
+
+  * Slight improvement in starting guess for solution of geographic
+    latitude in terms of conformal latitude in TransverseMercator,
+    TransverseMercatorExact, and LambertConformalConic.
+
+  * For most classes, get rid of const member variables so that the
+    default copy assignment works.
+
+  * Put Math and Accumulator in their own header files.
+
+  * Remove unused "fast" GeographicLib::Accumulator method.
+
+  * Reorganize the Python interface.
+
+  * Withdraw some deprecated routines.
+
+  * cmake changes:
+    + include FindGeographic.cmake in distribution;
+    + building with cmake creates and installs
+      geographiclib-config.cmake;
+    + better support for building a shared library under Windows.
+
+Changes between 1.12 (released 2011-07-21) and 1.11 versions:
+
+  * Change license to MIT/X11.
+
+  * Add GeographicLib::PolygonArea class and equivalent Matlab function.
+
+  * Provide JavaScript and Python implementations of geodesic routines.
+
+  * Fix Windows installer to include runtime dlls for Matlab.
+
+  * Fix (innocuous) unassigned variable in Geodesic::GenInverse.
+
+  * Geodesic routines in Matlab return a12 as first column of aux return
+    value (incompatible change).
+
+  * A couple of code changes to enable compilation with Visual Studio
+    2003.
+
+Changes between 1.11 (released 2011-06-27) and 1.10 versions:
+
+  * Changes to Planimeter:
+    + add -l flag to Planimeter for polyline calculations;
+    + trim precision of area to 3 decimal places;
+    + FIX BUG with pole crossing edges (due to compiler optimization).
+
+  * Geod no longer reports the reduced length by default; however the -f
+    flag still reports this and in addition gives the geodesic scales
+    and the geodesic area.
+
+  * FIX BUGS (compiler-specific) in inverse geodesic calculations.
+
+  * FIX BUG: accommodate tellg() returning -1 at end of string.
+
+  * Change way flattening of the ellipsoid is specified:
+    + constructors take f argument which is taken to be the flattening
+      if f < 1 and the inverse flattening otherwise (this is a
+      compatible change for spheres and oblate ellipsoids, but it is an
+      INCOMPATIBLE change for prolate ellipsoids);
+    + the -e arguments to the Utility Programs are handled similarly; in
+      addition, simple fractions, e.g., 1/297, can be used for the
+      flattening;
+    + introduce Constants::WGS84_f() for the WGS84 flattening (and
+      deprecate Constants::WGS84_r() for the inverse flattening);
+    + most classes have a Flattening() member function;
+    + InverseFlattening() has been deprecated (and now returns inf for a
+      sphere, instead of 0).
+
+Changes between 1.10 (released 2011-06-11) and 1.9 versions:
+
+  * Improvements to Matlab/Octave interface:
+     + add {geocentric,localcartesian}{forward,reverse};
+     + make geographiclibinterface more general;
+     + install the source for the interface;
+     + cmake compiles the interface if ENABLE_MATLAB=ON;
+     + include compiled interface with Windows binary installer.
+
+  * Fix various configuration issues
+     + autoconf did not install Config.h;
+     + cmake installed in man/man1 instead of share/man/man1;
+     + cmake did not set the rpath on the tools.
+
+Changes between 1.9 (released 2011-05-28) and 1.8 versions:
+
+  * FIX BUG in area returned by Planimeter for pole encircling polygons.
+
+  * FIX BUG in error message reported when DMS::Decode reads the string
+    "5d.".
+
+  * FIX BUG in AlbersEqualArea::Reverse (lon0 not being used).
+
+  * Ensure that all exceptions thrown in the Utility Programs are
+    caught.
+
+  * Avoid using catch within GeographicLib::DMS.
+
+  * Move Accumulator class from Planimeter.cpp to Constants.hpp.
+
+  * Add Math::sq<T>.
+
+  * Simplify Installing the geoid datasets
+    + add geographiclib-get-geoids for Unix-like systems;
+    + add installers for Windows.
+
+  * Provide cmake support:
+    + build binary installer for Windows;
+    + include regression tests;
+    + add --input-string, --input-file, --output-file options to the
+      Utility Programs to support tests.
+
+  * Rename utility EquidistantTest as GeodesicProj and
+    TransverseMercatorTest as TransverseMercatorProj.
+
+  * Add ConicProj.
+
+  * Reverse the initial sense of the -s option for Planimeter.
+
+  * Migrate source from subversion to git.
+
+Changes between 1.8 (released 2011-02-22) and 1.7 versions:
+
+  * Optionally return rotation matrix from GeographicLib::Geocentric and
+    GeographicLib::LocalCartesian.
+
+  * For the Utility Programs, supply man pages, -h prints the synopsis,
+    --help prints the man page, --version prints the version.
+
+  * Use accurate summation in Planimeter.
+
+  * Add 64-bit targets for Visual Studio 2010.
+
+  * Use templates for defining math functions and some constants.
+
+  * GeographicLib::Geoid updates
+    + Add GeographicLib::Geoid::DefaultGeoidPath and
+      GeographicLib::Geoid::DefaultGeoidName;
+    + GeoidEval uses environment variable GEOID_NAME as the default
+      geoid;
+    + Add --msltohae and --haetomsl as GeoidEval options (and don't
+      document the single hyphen versions).
+
+  * Remove documentation that duplicates papers on transverse Mercator
+    and geodesics.
+
+Changes between 1.7 (released 2010-12-21) and 1.6 versions:
+
+  * FIX BUG in scale returned by GeographicLib::LambertConformalConic::Reverse.
+
+  * Add GeographicLib::AlbersEqualArea projection.
+
+  * Library created by Visual Studio is Geographic.lib instead of
+    GeographicLib.lib (compatible with makefiles).
+
+  * Make classes NaN aware.
+
+  * Use cell arrays for MGRS strings in Matlab.
+
+  * Add solution/project files for Visual Studio 2010 (32-bit only).
+
+  * Use C++11 static_assert and math functions, if available.
+
+Change between 1.6 (released 2010-11-23) and 1.5 versions:
+
+  * FIX BUG introduced in GeographicLib::Geoid in version 1.5 (found by
+    Dave Edwards).
+
+Changes between 1.5 (released 2010-11-19) and 1.4 versions:
+
+  * Improve area calculations for small polygons.
+
+  * Add -s and -r flags to Planimeter utility.
+
+  * Improve the accuracy of GeographicLib::LambertConformalConic using
+    divided differences.
+
+  * FIX BUG in meridian convergence returned by
+    LambertConformalConic::Forward.
+
+  * Add optional threadsafe parameter to GeographicLib::Geoid
+    constructor.  WARNING: This changes may break binary compatibility
+    with previous versions of GeographicLib.  However, the library is
+    source compatible.
+
+  * Add GeographicLib::OSGB.
+
+  * Matlab and Octave interfaces to GeographicLib::UTMUPS,
+    GeographicLib::MGRS, GeographicLib::Geoid, GeographicLib::Geodesic
+    provided.
+
+  * Minor changes
+    + explicitly turn on optimization in Visual Studio 2008 projects;
+    + add missing dependencies in some Makefiles;
+    + move pi() and degree() from GeographicLib::Constants to
+      GeographicLib::Math;
+    + introduce GeographicLib::Math::extended type to aid testing;
+    + add GeographicLib::Math::epi() and GeographicLib::Math::edegree().
+    + fixes to compile under cygwin;
+    + tweak expression used to find latitude from conformal latitude.
+
+Changes between 1.4 (released 2010-09-12) and 1.3 versions:
+
+  * Changes to GeographicLib::Geodesic and GeographicLib::GeodesicLine:
+    + FIX BUG in Geodesic::Inverse with prolate ellipsoids;
+    + add area computations to Geodesic::Direct and Geodesic::Inverse;
+    + add geodesic areas to geodesic test set;
+    + make GeodesicLine constructor public;
+    + change longitude series in Geodesic into Helmert-like form;
+    + ensure that equatorial geodesics have cos(alpha0) = 0 identically;
+    + generalize interface for Geodesic and GeodesicLine;
+    + split GeodesicLine and Geodesic into different files;
+    + signal convergence failure in Geodesic::Inverse with NaNs;
+    + deprecate one function in Geodesic and two functions in
+      GeodesicLine;
+    + deprecate -n option for Geod.
+    WARNING: These changes may break binary compatibility with previous
+    versions of GeographicLib.  However, the library is source
+    compatible (with the proviso that GeographicLib/GeodesicLine.hpp may
+    now need to be included).
+
+  * Add the Planimeter utility for computing the areas of
+    geodesic polygons.
+
+  * Improve iterative solution of GeographicLib::Gnomonic::Reverse.
+
+  * Add GeographicLib::Geoid::ConvertHeight.
+
+  * Add -msltohae, -haetomsl, and -z options to \ref geoideval.
+
+  * Constructors check that minor radius is positive.
+
+  * Add overloaded Forward and Reverse functions to the projection
+    classes which don't return the convergence (or azimuth) and scale.
+
+  * Document function parameters and return values consistently.
+
+Changes between 1.3 (released 2010-07-21) and 1.2 versions:
+
+  * Add GeographicLib::Gnomonic, the ellipsoid generalization of the
+    gnomonic projection.
+
+  * Add -g and -e options to Equidistanttest.
+
+  * Use fixed-point notation for output from Cartconvert,
+    Equidistanttest, Transversemercatortest.
+
+  * PolarStereographic:
+    + Improved conversion to conformal coordinates;
+    + Fix bug with scale at opposite pole;
+    + Complain if latitude out of range in SetScale.
+
+  * Add GeographicLib::Math::NaN().
+
+  * Add long double version of hypot for Windows.
+
+  * Add EllipticFunction::E(real).
+
+  * Update references to Geotrans in MGRS documentation.
+
+  * Speed up tmseries.mac.
+
+Changes between 1.2 (released 2010-05-21) and 1.1 versions:
+
+  * FIX BUGS in GeographicLib::Geodesic,
+    + wrong azimuth returned by Direct if point 2 is on a pole;
+    + Inverse sometimes fails with very close points.
+
+  * Improve calculation of scale in GeographicLib::CassiniSoldner,
+    + add GeodesicLine::Scale, GeodesicLine::EquatorialAzimuth, and
+      GeodesicLine::EquatorialArc;
+    + break friend connection between CassiniSoldner and Geodesic.
+
+  * Add DMS::DecodeAngle and DMS::DecodeAzimuth. Extend DMS::Decode and
+    DMS::Encode to deal with distances.
+
+  * Code and documentation changes in Geodesic and Geocentric for
+    consistency with the forthcoming paper on geodesics.
+
+  * Increase order of series using in Geodesic to 6 (full accuracy
+    maintained for ellipsoid flattening < 0.01).
+
+  * Macro __NO_LONG_DOUBLE_MATH to disable use of long double.
+
+  * Correct declaration of Math::isfinite to return a bool.
+
+  * Changes in the Utility Programs,
+    + improve error reporting when parsing command line arguments;
+    + accept latitudes and longitudes in decimal degrees or degrees,
+      minutes, and seconds, with optional hemisphere designators;
+    + GeoConvert -z accepts zone or zone+hemisphere;
+    + GeoidEval accepts any of the input formats used by GeoConvert;
+    + CartConvert allows the ellipsoid to be specified with -e.
+
+Changes between 1.1 (released 2010-02-09) and 1.0 versions:
+
+  * FIX BUG (introduced in 2009-03) in EllipticFunction::E(sn,cn,dn).
+
+  * Increase accuracy of scale calculation in TransverseMercator and
+    TransverseMercatorExact.
+
+  * Code and documentation changes for consistency with arXiv:1002.1417
+
+Changes between 1.0 (released 2010-01-07) and 2009-11 versions:
+
+  * Add autoconf configuration files.
+
+  * BUG FIX: Improve initial guess for Newton's method in
+    PolarStereographic::Reverse.  (Previously this failed to converge
+    when the co-latitude exceeded about 130 deg.)
+
+  * Constructors for TransverseMercator, TransverseMercatorExact,
+    PolarStereographic, Geocentric, and Geodesic now check for obvious
+    problems with their arguments and throw an exception if necessary.
+
+  * Most classes now include inspector functions such as MajorRadius()
+    so that you can determine how instances were constructed.
+
+  * Add GeographicLib::LambertConformalConic class.
+
+  * Add GeographicLib::PolarStereographic::SetScale to allow the
+    latitude of true scale to be specified.
+
+  * Add solution and project files for Visual Studio 2008.
+
+  * Add GeographicLib::GeographicErr for exceptions.
+
+  * GeographicLib::Geoid changes:
+    + BUG FIX: fix typo in GeographicLib::Geoid::Cache which could cause
+      a segmentation fault in some cases when the cached area spanned
+      the prime meridian.
+    + Include sufficient edge data to allow heights to be returned for
+      cached area without disk reads;
+    + Add inspector functions to query the extent of the cache.
+
+Changes between 2009-11 and 2009-10 versions:
+
+  * Allow specification of "closest UTM zone" in GeographicLib::UTMUPS
+    and GeoConvert (via -t option).
+
+  * Utilities now complain is there are too many tokens on input lines.
+
+  * Include real-to-real versions of GeographicLib::DMS::Decode and
+    GeographicLib::DMS::Encode.
+
+  * More house-cleaning changes:
+    + Ensure that functions which return results through reference
+      arguments do not alter the arguments when an exception is thrown.
+    + Improve accuracy of GeographicLib::MGRS::Forward.
+    + Include more information in some error messages.
+    + Improve accuracy of inverse hyperbolic functions.
+    + Fix the way GeographicLib::Math functions handle different
+      precisions.
+
+Changes between 2009-10 and 2009-09 versions:
+
+  * Change web site to http://geographiclib.sourceforge.net
+
+  * Several house-cleaning changes:
+    + Change from the a flat directory structure to a more easily
+      maintained one.
+    + Introduce Math class for common mathematical functions (in
+      Constants.hpp).
+    + Use Math::real as the type for all real quantities.  By default this
+      is typedef'ed to double; and the library should be installed this
+      way.
+    + Eliminate const reference members of AzimuthalEquidistant,
+      CassiniSoldner and LocalCartesian so that they may be copied.
+    + Make several constructors explicit.  Disallow some constructors.
+      Disallow copy constructor/assignment for Geoid.
+    + Document least square formulas in Geoid.cpp.
+    + Use unsigned long long for files positions of geoid files in Geoid.
+    + Introduce optional mgrslimits argument in UTMUPS::Forward and
+      UTMUPS::Reverse to enforce stricter MGRS limits on eastings and
+      northings.in
+    + Add 64-bit targets in Visual Studio project files.
+
+Changes between 2009-09 and 2009-08 versions:
+
+  * Add GeographicLib::Geoid and GeoidEval utility.
+
+Changes between 2009-08 and 2009-07 versions:
+
+  * Add GeographicLib::CassiniSoldner class and EquidistantTest utility.
+
+  * Fix bug in GeographicLib::Geodesic::Inverse where NaNs were
+    sometimes returned.
+
+  * INCOMPATIBLE CHANGE: AzimuthalEquidistant now returns the reciprocal
+    of the azimuthal scale instead of the reduced length.
+
+  * Add -n option to GeoConvert.
+
+Changes between 2009-07 and 2009-06 versions:
+
+  * Speed up the series inversion code in tmseries.mac and geod.mac.
+
+  * Reference Borkowski in section on Geocentric coordinates.
+
+Changes between 2009-06 and 2009-05 versions:
+
+  * Add routines to decode and encode zone+hemisphere to GeographicLib::UTMUPS.
+
+  * Clean up code in GeographicLib::Geodesic.
+
+Changes between 2009-05 and 2009-04 versions:
+
+  * Improvements to GeographicLib::Geodesic:
+    + more economical series expansions,
+    + return reduced length (as does the Geod utility),
+    + improved calculation of starting point for inverse method,
+    + use reduced length to give derivative for Newton's method.
+
+  * Add AzimuthalEquidistant class.
+
+  + Make GeographicLib::Geocentric, GeographicLib::TransverseMercator,
+    and GeographicLib::PolarStereographic classes work with prolate
+    ellipsoids.
+
+  * CartConvert checks its inputs more carefully.
+
+  * Remove reference to defunct Constants.cpp from GeographicLib.vcproj.
+
+Changes between 2009-04 and 2009-03 versions:
+
+  * Use compile-time constants to select the order of series in
+    GeographicLib::TransverseMercator.
+
+  * 2x unroll of Clenshaw summation to avoid data shuffling.
+
+  * Simplification of GeographicLib::EllipticFunction::E.
+
+  * Use STATIC_ASSERT for compile-time checking of constants.
+
+  * Improvements to GeographicLib::Geodesic:
+    + compile-time option to change order of series used,
+    + post maxima code for generating the series,
+    + tune the order of series for double,
+    + improvements in the selection of starting points for Newton's
+      method,
+    + accept and return spherical arc lengths,
+    + works with both oblate and prolate spheroids,
+    + add -a, -e, -b options to the Geod utility.
+
+Changes between 2009-03 and 2009-02 versions:
+
+  * Add GeographicLib::Geodesic and the Geod utility.
+
+  * Declare when no exceptions are thrown by functions.
+
+  * Minor changes to GeographicLib::DMS class.
+
+  * Use invf = 0 to mean a sphere in constructors to some classes.
+
+  * The makefile creates a library and includes an install target.
+
+  * Rename GeographicLib::ECEF to GeographicLib::Geocentric, ECEFConvert
+    to CartConvert.
+
+  * Use inline functions to define constant doubles in Constants.hpp.
+
+Changes between 2009-02 and 2009-01 versions:
+
+  * Fix documentation of constructors (flattening -> inverse
+    flattening).
+
+  * Use std versions of math functions.
+
+  * Add ECEF and LocalCartesian classes and ECEFConvert utility.
+
+  * Gather the documentation on the utility programs onto one page.

gtsam/3rdparty/GeographicLib/cmake/CMakeLists.txt

@@ -0,0 +1,52 @@
+# config file support for find_package (GeographicLib).  This needs to
+# deal with two environments: (1) finding the build tree and (2)
+# finding the install tree.  geographiclib-config.cmake detects which
+# situation it is handing by looking at @PROJECT_ROOT_DIR@.  If
+# this is an absolute path, it's in the build tree; otherwise, it's in the
+# install tree.  (Note that the whole install tree can be relocated.)
+
+# geographiclib-config.cmake for the build tree
+set (PROJECT_ROOT_DIR "${PROJECT_BINARY_DIR}")
+set (PROJECT_INCLUDE_DIRS
+  "${PROJECT_BINARY_DIR}/include" "${PROJECT_SOURCE_DIR}/include" )
+configure_file (project-config.cmake.in
+  "${PROJECT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake" @ONLY)
+configure_file (project-config-version.cmake.in
+  "${PROJECT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake" @ONLY)
+export (TARGETS ${PROJECT_SHARED_LIBRARIES} ${PROJECT_STATIC_LIBRARIES} ${TOOLS}
+  FILE "${PROJECT_BINARY_DIR}/${PROJECT_NAME_LOWER}-depends.cmake")
+
+# geographiclib-config.cmake for the install tree.  It's installed in
+# ${INSTALL_CMAKE_DIR} and @PROJECT_ROOT_DIR@ is the relative
+# path to the root from there.  (Note that the whole install tree can
+# be relocated.)
+if (COMMON_INSTALL_PATH)
+  set (INSTALL_CMAKE_DIR "share/cmake/${PROJECT_NAME}")
+  set (PROJECT_ROOT_DIR "../../..")
+else ()
+  set (INSTALL_CMAKE_DIR "cmake")
+  set (PROJECT_ROOT_DIR "..")
+endif ()
+# @PROJECT_INCLUDE_DIRS@ is not used in the install tree; reset
+# it to prevent the source and build paths appearing in the installed
+# config files
+set (PROJECT_INCLUDE_DIRS)
+configure_file (project-config.cmake.in
+  ${PROJECT_NAME_LOWER}-config.cmake @ONLY)
+configure_file (project-config-version.cmake.in
+  ${PROJECT_NAME_LOWER}-config-version.cmake @ONLY)
+install (FILES
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config.cmake"
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME_LOWER}-config-version.cmake"
+  DESTINATION "${INSTALL_CMAKE_DIR}")
+# Make information about the cmake targets (the library and the tools)
+# available.
+install (EXPORT depends
+  FILE ${PROJECT_NAME_LOWER}-depends.cmake
+  DESTINATION "${INSTALL_CMAKE_DIR}")
+
+if (MSVC AND PACKAGE_DEBUG_LIBS)
+  install (FILES
+    "${PROJECT_BINARY_DIR}/cmake/CMakeFiles/Export/cmake/${PROJECT_NAME_LOWER}-depends-debug.cmake"
+    DESTINATION "${INSTALL_CMAKE_DIR}" CONFIGURATIONS Release)
+endif ()

gtsam/3rdparty/GeographicLib/cmake/FindGeographicLib.cmake

@@ -0,0 +1,31 @@
+# Look for GeographicLib
+#
+# Set
+#  GEOGRAPHICLIB_FOUND = TRUE
+#  GeographicLib_INCLUDE_DIRS = /usr/local/include
+#  GeographicLib_LIBRARIES = /usr/local/lib/libGeographic.so
+#  GeographicLib_LIBRARY_DIRS = /usr/local/lib
+
+find_library (GeographicLib_LIBRARIES Geographic
+  PATHS "${CMAKE_INSTALL_PREFIX}/../GeographicLib/lib")
+
+if (GeographicLib_LIBRARIES)
+  get_filename_component (GeographicLib_LIBRARY_DIRS
+    "${GeographicLib_LIBRARIES}" PATH)
+  get_filename_component (_ROOT_DIR "${GeographicLib_LIBRARY_DIRS}" PATH)
+  set (GeographicLib_INCLUDE_DIRS "${_ROOT_DIR}/include")
+  set (GeographicLib_BINARY_DIRS "${_ROOT_DIR}/bin")
+  unset (_ROOT_DIR)
+  if (NOT EXISTS "${GeographicLib_INCLUDE_DIRS}/GeographicLib/Config.h")
+    unset (GeographicLib_INCLUDE_DIRS)
+    unset (GeographicLib_LIBRARIES)
+    unset (GeographicLib_LIBRARY_DIRS)
+    unset (GeographicLib_BINARY_DIRS)
+  endif ()
+endif ()
+
+include (FindPackageHandleStandardArgs)
+find_package_handle_standard_args (GeographicLib DEFAULT_MSG
+  GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS)
+mark_as_advanced (GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES
+  GeographicLib_INCLUDE_DIRS)

gtsam/3rdparty/GeographicLib/cmake/Makefile.am

@@ -0,0 +1,14 @@
+#
+# Makefile.am
+#
+# Copyright (C) 2011, Charles Karney <charles@karney.com>
+
+cmakedir=$(datadir)/cmake/GeographicLib
+
+install:
+	$(INSTALL) -d $(DESTDIR)$(cmakedir)
+	$(INSTALL) -m 644 $(srcdir)/FindGeographicLib.cmake \
+		$(DESTDIR)$(cmakedir)
+
+EXTRA_DIST = Makefile.mk CMakeLists.txt FindGeographicLib.cmake \
+	project-config-version.cmake.in project-config.cmake.in

gtsam/3rdparty/GeographicLib/cmake/Makefile.in

@@ -0,0 +1,415 @@
+# Makefile.in generated by automake 1.12.2 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2012 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+
+#
+# Makefile.am
+#
+# Copyright (C) 2011, Charles Karney <charles@karney.com>
+VPATH = @srcdir@
+am__make_dryrun = \
+  { \
+    am__dry=no; \
+    case $$MAKEFLAGS in \
+      *\\[\ \	]*) \
+        echo 'am--echo: ; @echo "AM"  OK' | $(MAKE) -f - 2>/dev/null \
+          | grep '^AM OK$$' >/dev/null || am__dry=yes;; \
+      *) \
+        for am__flg in $$MAKEFLAGS; do \
+          case $$am__flg in \
+            *=*|--*) ;; \
+            *n*) am__dry=yes; break;; \
+          esac; \
+        done;; \
+    esac; \
+    test $$am__dry = yes; \
+  }
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+target_triplet = @target@
+subdir = cmake
+DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/m4/libtool.m4 \
+	$(top_srcdir)/m4/ltoptions.m4 $(top_srcdir)/m4/ltsugar.m4 \
+	$(top_srcdir)/m4/ltversion.m4 $(top_srcdir)/m4/lt~obsolete.m4 \
+	$(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/include/GeographicLib/Config-ac.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+SOURCES =
+DIST_SOURCES =
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CFLAGS = @CFLAGS@
+COL = @COL@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GEOGRAPHICLIB_VERSION_MAJOR = @GEOGRAPHICLIB_VERSION_MAJOR@
+GEOGRAPHICLIB_VERSION_MINOR = @GEOGRAPHICLIB_VERSION_MINOR@
+GEOGRAPHICLIB_VERSION_PATCH = @GEOGRAPHICLIB_VERSION_PATCH@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_AGE = @LT_AGE@
+LT_CURRENT = @LT_CURRENT@
+LT_REVISION = @LT_REVISION@
+MAINT = @MAINT@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+POD2HTML = @POD2HTML@
+POD2MAN = @POD2MAN@
+POW_LIB = @POW_LIB@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target = @target@
+target_alias = @target_alias@
+target_cpu = @target_cpu@
+target_os = @target_os@
+target_vendor = @target_vendor@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+cmakedir = $(datadir)/cmake/GeographicLib
+EXTRA_DIST = Makefile.mk CMakeLists.txt FindGeographicLib.cmake \
+	project-config-version.cmake.in project-config.cmake.in
+
+all: all-am
+
+.SUFFIXES:
+$(srcdir)/Makefile.in: @MAINTAINER_MODE_TRUE@ $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --gnu cmake/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --gnu cmake/Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure: @MAINTAINER_MODE_TRUE@ $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4): @MAINTAINER_MODE_TRUE@ $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+tags: TAGS
+TAGS:
+
+ctags: CTAGS
+CTAGS:
+
+cscope cscopelist:
+
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-am
+all-am: Makefile
+installdirs:
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-generic clean-libtool mostlyclean-am
+
+distclean: distclean-am
+	-rm -f Makefile
+distclean-am: clean-am distclean-generic
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-generic mostlyclean-libtool
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: install-am install-strip
+
+.PHONY: all all-am check check-am clean clean-generic clean-libtool \
+	distclean distclean-generic distclean-libtool distdir dvi \
+	dvi-am html html-am info info-am install install-am \
+	install-data install-data-am install-dvi install-dvi-am \
+	install-exec install-exec-am install-html install-html-am \
+	install-info install-info-am install-man install-pdf \
+	install-pdf-am install-ps install-ps-am install-strip \
+	installcheck installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-generic \
+	mostlyclean-libtool pdf pdf-am ps ps-am uninstall uninstall-am
+
+
+install:
+	$(INSTALL) -d $(DESTDIR)$(cmakedir)
+	$(INSTALL) -m 644 $(srcdir)/FindGeographicLib.cmake \
+		$(DESTDIR)$(cmakedir)
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:

gtsam/3rdparty/GeographicLib/cmake/Makefile.mk

@@ -0,0 +1,13 @@
+DEST = $(PREFIX)/share/cmake/GeographicLib
+
+INSTALL=install -b
+
+all:
+	@:
+install:
+	test -d $(DEST) || mkdir -p $(DEST)
+	$(INSTALL) -m 644 FindGeographicLib.cmake $(DEST)
+clean:
+	@:
+
+.PHONY: all install clean

gtsam/3rdparty/GeographicLib/cmake/project-config-version.cmake.in

@@ -0,0 +1,54 @@
+# Version checking for @PROJECT_NAME@
+
+set (PACKAGE_VERSION "@PROJECT_VERSION@")
+set (PACKAGE_VERSION_MAJOR "@PROJECT_VERSION_MAJOR@")
+set (PACKAGE_VERSION_MINOR "@PROJECT_VERSION_MINOR@")
+set (PACKAGE_VERSION_PATCH "@PROJECT_VERSION_PATCH@")
+
+if (NOT PACKAGE_FIND_NAME STREQUAL "@PROJECT_NAME@")
+  # Check package name (in particular, because of the way cmake finds
+  # package config files, the capitalization could easily be "wrong").
+  # This is necessary to ensure that the automatically generated
+  # variables, e.g., <package>_FOUND, are consistently spelled.  Make
+  # this a WARNING, because this is a user error that needs to be fixed.
+  message (WARNING
+    "Mismatched package names: use find_package(@PROJECT_NAME@ ...) instead"
+    " of find_package(${PACKAGE_FIND_NAME} ...)")
+  set (PACKAGE_VERSION_UNSUITABLE TRUE)
+elseif (NOT (APPLE OR CMAKE_SIZEOF_VOID_P EQUAL @CMAKE_SIZEOF_VOID_P@))
+  # Reject if there's a 32-bit/64-bit mismatch (not necessary with Apple
+  # since a multi-architecture library is built for that platform).
+  message (STATUS
+    "${CMAKE_CURRENT_LIST_FILE} unsuitable because package built with "
+    "sizeof(*void) =  @CMAKE_SIZEOF_VOID_P@")
+  set (PACKAGE_VERSION_UNSUITABLE TRUE)
+elseif (MSVC AND NOT MSVC_VERSION STREQUAL "@MSVC_VERSION@")
+  # Reject if there's a mismatch in MSVC compiler versions
+  message (STATUS
+    "${CMAKE_CURRENT_LIST_FILE} unsuitable because package built with "
+    "_MSC_VER = @MSVC_VERSION@")
+  set (PACKAGE_VERSION_UNSUITABLE TRUE)
+elseif (PACKAGE_FIND_VERSION)
+  if (PACKAGE_FIND_VERSION VERSION_EQUAL PACKAGE_VERSION)
+    set (PACKAGE_VERSION_EXACT TRUE)
+  elseif (PACKAGE_FIND_VERSION VERSION_LESS PACKAGE_VERSION
+    AND PACKAGE_FIND_VERSION_MAJOR EQUAL PACKAGE_VERSION_MAJOR)
+    set (PACKAGE_VERSION_COMPATIBLE TRUE)
+  endif ()
+endif ()
+
+set (@PROJECT_NAME@_SHARED_FOUND @GEOGRAPHICLIB_SHARED_LIB@)
+set (@PROJECT_NAME@_STATIC_FOUND @GEOGRAPHICLIB_STATIC_LIB@)
+set (@PROJECT_NAME@_NETGeographicLib_FOUND @BUILD_NETGEOGRAPHICLIB@)
+
+# Check for the components requested.  The convention is that
+# GeographicLib_${comp}_FOUND should be true for all the required
+# components.
+if (@PROJECT_NAME@_FIND_COMPONENTS)
+  foreach (comp ${@PROJECT_NAME@_FIND_COMPONENTS})
+    if (@PROJECT_NAME@_FIND_REQUIRED_${comp} AND
+        NOT @PROJECT_NAME@_${comp}_FOUND)
+      set (PACKAGE_VERSION_UNSUITABLE TRUE)
+    endif ()
+  endforeach ()
+endif ()

gtsam/3rdparty/GeographicLib/cmake/project-config.cmake.in

@@ -0,0 +1,82 @@
+# Configure @PROJECT_NAME@
+#
+# Set
+#  @PROJECT_NAME@_FOUND = @PROJECT_NAME_UPPER@_FOUND = 1
+#  @PROJECT_NAME@_INCLUDE_DIRS = /usr/local/include
+#  @PROJECT_NAME@_SHARED_LIBRARIES = GeographicLib        (or empty)
+#  @PROJECT_NAME@_STATIC_LIBRARIES = GeographicLib_STATIC (or empty)
+#  @PROJECT_NAME@_SHARED_DEFINITIONS = GEOGRAPHICLIB_SHARED_LIB=1
+#  @PROJECT_NAME@_STATIC_DEFINITIONS = GEOGRAPHICLIB_SHARED_LIB=0
+#  @PROJECT_NAME@_LIBRARY_DIRS = /usr/local/lib
+#  @PROJECT_NAME@_BINARY_DIRS = /usr/local/bin
+#  @PROJECT_NAME@_VERSION = 1.9 (for example)
+#  Depending on @PROJECT_NAME@_USE_STATIC_LIBS
+#    @PROJECT_NAME@_LIBRARIES = ${@PROJECT_NAME@_SHARED_LIBRARIES}, if OFF
+#    @PROJECT_NAME@_LIBRARIES = ${@PROJECT_NAME@_STATIC_LIBRARIES}, if ON
+#    @PROJECT_NAME@_DEFINITIONS = ${@PROJECT_NAME@_SHARED_DEFINITIONS}, if OFF
+#    @PROJECT_NAME@_DEFINITIONS = ${@PROJECT_NAME@_STATIC_DEFINITIONS}, if ON
+#  If only one of the libraries is provided, then
+#    @PROJECT_NAME@_USE_STATIC_LIBS is ignored.
+
+message (STATUS "Reading ${CMAKE_CURRENT_LIST_FILE}")
+set (@PROJECT_NAME@_VERSION "@PROJECT_VERSION@")
+message (STATUS
+  "@PROJECT_NAME@ configuration, version ${@PROJECT_NAME@_VERSION}")
+
+# Tell the user project where to find our headers and libraries
+get_filename_component (_DIR ${CMAKE_CURRENT_LIST_FILE} PATH)
+if (IS_ABSOLUTE "@PROJECT_ROOT_DIR@")
+  # This is an uninstalled package (still in the build tree)
+  set (_ROOT "@PROJECT_ROOT_DIR@")
+  set (@PROJECT_NAME@_INCLUDE_DIRS "@PROJECT_INCLUDE_DIRS@")
+  set (@PROJECT_NAME@_LIBRARY_DIRS "${_ROOT}/src")
+  set (@PROJECT_NAME@_BINARY_DIRS "${_ROOT}/src")
+else ()
+  # This is an installed package; figure out the paths relative to the
+  # current directory.
+  get_filename_component (_ROOT "${_DIR}/@PROJECT_ROOT_DIR@" ABSOLUTE)
+  set (@PROJECT_NAME@_INCLUDE_DIRS "${_ROOT}/include")
+  set (@PROJECT_NAME@_LIBRARY_DIRS "${_ROOT}/lib")
+  set (@PROJECT_NAME@_BINARY_DIRS "${_ROOT}/bin")
+endif ()
+message (STATUS "  include directory: \${@PROJECT_NAME@_INCLUDE_DIRS}")
+
+set (@PROJECT_NAME@_SHARED_LIBRARIES @PROJECT_SHARED_LIBRARIES@)
+set (@PROJECT_NAME@_STATIC_LIBRARIES @PROJECT_STATIC_LIBRARIES@)
+set (@PROJECT_NAME@_SHARED_DEFINITIONS @PROJECT_SHARED_DEFINITIONS@)
+set (@PROJECT_NAME@_STATIC_DEFINITIONS @PROJECT_STATIC_DEFINITIONS@)
+# Read in the exported definition of the library
+include ("${_DIR}/@PROJECT_NAME_LOWER@-depends.cmake")
+
+if ((NOT @PROJECT_NAME@_SHARED_LIBRARIES) OR
+    (@PROJECT_NAME@_USE_STATIC_LIBS AND @PROJECT_NAME@_STATIC_LIBRARIES))
+  set (@PROJECT_NAME@_LIBRARIES ${@PROJECT_NAME@_STATIC_LIBRARIES})
+  set (@PROJECT_NAME@_DEFINITIONS ${@PROJECT_NAME@_STATIC_DEFINITIONS})
+  message (STATUS "  \${@PROJECT_NAME@_LIBRARIES} set to static library")
+else ()
+  set (@PROJECT_NAME@_LIBRARIES ${@PROJECT_NAME@_SHARED_LIBRARIES})
+  set (@PROJECT_NAME@_DEFINITIONS ${@PROJECT_NAME@_SHARED_DEFINITIONS})
+  message (STATUS "  \${@PROJECT_NAME@_LIBRARIES} set to shared library")
+endif ()
+
+set (@PROJECT_NAME@_NETGeographicLib_LIBRARIES @NETGEOGRAPHICLIB_LIBRARIES@)
+
+# Check for the components requested.  This only supports components
+# STATIC, SHARED, and NETGeographicLib by checking the value of
+# @PROJECT_NAME@_${comp}_LIBRARIES.  No need to check if the component
+# is required or not--the version file took care of that.
+# @PROJECT_NAME@_${comp}_FOUND is set appropriately for each component.
+if (@PROJECT_NAME@_FIND_COMPONENTS)
+  foreach (comp ${@PROJECT_NAME@_FIND_COMPONENTS})
+    if (@PROJECT_NAME@_${comp}_LIBRARIES)
+      set (@PROJECT_NAME@_${comp}_FOUND 1)
+      message (STATUS "@PROJECT_NAME@ component ${comp} found")
+    else ()
+      set (@PROJECT_NAME@_${comp}_FOUND 0)
+      message (WARNING "@PROJECT_NAME@ component ${comp} not found")
+    endif ()
+  endforeach ()
+endif ()
+
+# @PROJECT_NAME@_FOUND is set to 1 automatically
+set (@PROJECT_NAME_UPPER@_FOUND 1)     # for backwards compatibility

gtsam/3rdparty/GeographicLib/configure.ac

@@ -0,0 +1,96 @@
+dnl
+dnl Copyright (C) 2009, Francesco P. Lovergine <frankie@debian.org>
+
+AC_INIT([GeographicLib],[1.34],[charles@karney.com])
+AC_CANONICAL_SYSTEM
+AC_PREREQ(2.61)
+AC_CONFIG_SRCDIR(src/Geodesic.cpp)
+AC_CONFIG_MACRO_DIR(m4)
+AM_INIT_AUTOMAKE
+
+GEOGRAPHICLIB_VERSION_MAJOR=1
+GEOGRAPHICLIB_VERSION_MINOR=34
+GEOGRAPHICLIB_VERSION_PATCH=0
+AC_DEFINE_UNQUOTED([GEOGRAPHICLIB_VERSION_MAJOR],
+	[$GEOGRAPHICLIB_VERSION_MAJOR],[major version number])
+AC_DEFINE_UNQUOTED([GEOGRAPHICLIB_VERSION_MINOR],
+	[$GEOGRAPHICLIB_VERSION_MINOR],[minor version number])
+AC_DEFINE_UNQUOTED([GEOGRAPHICLIB_VERSION_PATCH],
+	[$GEOGRAPHICLIB_VERSION_PATCH],[patch number])
+AC_SUBST(GEOGRAPHICLIB_VERSION_MAJOR)
+AC_SUBST(GEOGRAPHICLIB_VERSION_MINOR)
+AC_SUBST(GEOGRAPHICLIB_VERSION_PATCH)
+
+dnl
+dnl This directive is deprecated by someone, but I prefer to avoid
+dnl running autotools if not required explicitly. The reason is
+dnl the need to be in sync with autoconf/automake.
+dnl
+AM_MAINTAINER_MODE
+
+AC_CONFIG_HEADERS(include/GeographicLib/Config-ac.h)
+
+dnl Library code modified:              REVISION++
+dnl Interfaces changed/added/removed:   CURRENT++ REVISION=0
+dnl Interfaces added:                   AGE++
+dnl Interfaces removed:                 AGE=0
+LT_CURRENT=11
+LT_REVISION=1
+LT_AGE=1
+AC_SUBST(LT_CURRENT)
+AC_SUBST(LT_REVISION)
+AC_SUBST(LT_AGE)
+
+AC_ARG_PROGRAM
+AC_PROG_CPP
+AC_PROG_MAKE_SET
+AC_PROG_INSTALL
+AC_PROG_CXX
+AC_PROG_LIBTOOL
+
+# Checks for header files.
+AC_CHECK_HEADERS([float.h])
+
+# Checks for typedefs, structures, and compiler characteristics.
+AC_HEADER_STDBOOL
+AC_C_INLINE
+AC_TYPE_LONG_DOUBLE
+
+# Checks for library functions.
+AC_FUNC_STRTOD
+AC_CHECK_FUNCS([strtol])
+AC_SEARCH_LIBS([floor],[m])
+AC_SEARCH_LIBS([pow],[m])
+AC_SEARCH_LIBS([sqrt],[m])
+
+# Check endianness
+AC_C_BIGENDIAN
+
+# Check for doxygen.
+# Need version 1.8.1.2 or later for greek and math symbols.
+AC_CHECK_PROGS([DOXYGEN], [doxygen])
+AM_CONDITIONAL([HAVE_DOXYGEN],
+	[test "$DOXYGEN" && test `"$DOXYGEN" --version |
+	sed 's/^\([[0-9]]\)\.\([[0-9]]\)\./\1.0\2./'` '>' 1.08.1.1])
+
+AC_CHECK_PROGS([POD2MAN], [pod2man])
+AC_CHECK_PROGS([POD2HTML], [pod2html])
+AC_CHECK_PROGS([COL], [col])
+AM_CONDITIONAL([HAVE_PODPROGS], [test "$POD2MAN" -a  "$POD2HTML" -a "$COL"])
+
+dnl
+dnl Add here new file to be generated
+dnl
+AC_CONFIG_FILES([
+Makefile
+src/Makefile
+include/Makefile
+tools/Makefile
+doc/Makefile
+man/Makefile
+matlab/Makefile
+python/Makefile
+cmake/Makefile
+examples/Makefile
+])
+AC_OUTPUT

gtsam/3rdparty/GeographicLib/depcomp

@@ -0,0 +1,707 @@
+#! /bin/sh
+# depcomp - compile a program generating dependencies as side-effects
+
+scriptversion=2012-03-27.16; # UTC
+
+# Copyright (C) 1999-2012 Free Software Foundation, Inc.
+
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+# As a special exception to the GNU General Public License, if you
+# distribute this file as part of a program that contains a
+# configuration script generated by Autoconf, you may include it under
+# the same distribution terms that you use for the rest of that program.
+
+# Originally written by Alexandre Oliva <oliva@dcc.unicamp.br>.
+
+case $1 in
+  '')
+     echo "$0: No command.  Try '$0 --help' for more information." 1>&2
+     exit 1;
+     ;;
+  -h | --h*)
+    cat <<\EOF
+Usage: depcomp [--help] [--version] PROGRAM [ARGS]
+
+Run PROGRAMS ARGS to compile a file, generating dependencies
+as side-effects.
+
+Environment variables:
+  depmode     Dependency tracking mode.
+  source      Source file read by 'PROGRAMS ARGS'.
+  object      Object file output by 'PROGRAMS ARGS'.
+  DEPDIR      directory where to store dependencies.
+  depfile     Dependency file to output.
+  tmpdepfile  Temporary file to use when outputting dependencies.
+  libtool     Whether libtool is used (yes/no).
+
+Report bugs to <bug-automake@gnu.org>.
+EOF
+    exit $?
+    ;;
+  -v | --v*)
+    echo "depcomp $scriptversion"
+    exit $?
+    ;;
+esac
+
+# A tabulation character.
+tab='	'
+# A newline character.
+nl='
+'
+
+if test -z "$depmode" || test -z "$source" || test -z "$object"; then
+  echo "depcomp: Variables source, object and depmode must be set" 1>&2
+  exit 1
+fi
+
+# Dependencies for sub/bar.o or sub/bar.obj go into sub/.deps/bar.Po.
+depfile=${depfile-`echo "$object" |
+  sed 's|[^\\/]*$|'${DEPDIR-.deps}'/&|;s|\.\([^.]*\)$|.P\1|;s|Pobj$|Po|'`}
+tmpdepfile=${tmpdepfile-`echo "$depfile" | sed 's/\.\([^.]*\)$/.T\1/'`}
+
+rm -f "$tmpdepfile"
+
+# Some modes work just like other modes, but use different flags.  We
+# parameterize here, but still list the modes in the big case below,
+# to make depend.m4 easier to write.  Note that we *cannot* use a case
+# here, because this file can only contain one case statement.
+if test "$depmode" = hp; then
+  # HP compiler uses -M and no extra arg.
+  gccflag=-M
+  depmode=gcc
+fi
+
+if test "$depmode" = dashXmstdout; then
+   # This is just like dashmstdout with a different argument.
+   dashmflag=-xM
+   depmode=dashmstdout
+fi
+
+cygpath_u="cygpath -u -f -"
+if test "$depmode" = msvcmsys; then
+   # This is just like msvisualcpp but w/o cygpath translation.
+   # Just convert the backslash-escaped backslashes to single forward
+   # slashes to satisfy depend.m4
+   cygpath_u='sed s,\\\\,/,g'
+   depmode=msvisualcpp
+fi
+
+if test "$depmode" = msvc7msys; then
+   # This is just like msvc7 but w/o cygpath translation.
+   # Just convert the backslash-escaped backslashes to single forward
+   # slashes to satisfy depend.m4
+   cygpath_u='sed s,\\\\,/,g'
+   depmode=msvc7
+fi
+
+if test "$depmode" = xlc; then
+   # IBM C/C++ Compilers xlc/xlC can output gcc-like dependency informations.
+   gccflag=-qmakedep=gcc,-MF
+   depmode=gcc
+fi
+
+case "$depmode" in
+gcc3)
+## gcc 3 implements dependency tracking that does exactly what
+## we want.  Yay!  Note: for some reason libtool 1.4 doesn't like
+## it if -MD -MP comes after the -MF stuff.  Hmm.
+## Unfortunately, FreeBSD c89 acceptance of flags depends upon
+## the command line argument order; so add the flags where they
+## appear in depend2.am.  Note that the slowdown incurred here
+## affects only configure: in makefiles, %FASTDEP% shortcuts this.
+  for arg
+  do
+    case $arg in
+    -c) set fnord "$@" -MT "$object" -MD -MP -MF "$tmpdepfile" "$arg" ;;
+    *)  set fnord "$@" "$arg" ;;
+    esac
+    shift # fnord
+    shift # $arg
+  done
+  "$@"
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  mv "$tmpdepfile" "$depfile"
+  ;;
+
+gcc)
+## There are various ways to get dependency output from gcc.  Here's
+## why we pick this rather obscure method:
+## - Don't want to use -MD because we'd like the dependencies to end
+##   up in a subdir.  Having to rename by hand is ugly.
+##   (We might end up doing this anyway to support other compilers.)
+## - The DEPENDENCIES_OUTPUT environment variable makes gcc act like
+##   -MM, not -M (despite what the docs say).
+## - Using -M directly means running the compiler twice (even worse
+##   than renaming).
+  if test -z "$gccflag"; then
+    gccflag=-MD,
+  fi
+  "$@" -Wp,"$gccflag$tmpdepfile"
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  alpha=ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz
+## The second -e expression handles DOS-style file names with drive letters.
+  sed -e 's/^[^:]*: / /' \
+      -e 's/^['$alpha']:\/[^:]*: / /' < "$tmpdepfile" >> "$depfile"
+## This next piece of magic avoids the "deleted header file" problem.
+## The problem is that when a header file which appears in a .P file
+## is deleted, the dependency causes make to die (because there is
+## typically no way to rebuild the header).  We avoid this by adding
+## dummy dependencies for each header file.  Too bad gcc doesn't do
+## this for us directly.
+  tr ' ' "$nl" < "$tmpdepfile" |
+## Some versions of gcc put a space before the ':'.  On the theory
+## that the space means something, we add a space to the output as
+## well.  hp depmode also adds that space, but also prefixes the VPATH
+## to the object.  Take care to not repeat it in the output.
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly.  Breaking it into two sed invocations is a workaround.
+    sed -e 's/^\\$//' -e '/^$/d' -e "s|.*$object$||" -e '/:$/d' \
+      | sed -e 's/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+hp)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+sgi)
+  if test "$libtool" = yes; then
+    "$@" "-Wp,-MDupdate,$tmpdepfile"
+  else
+    "$@" -MDupdate "$tmpdepfile"
+  fi
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+
+  if test -f "$tmpdepfile"; then  # yes, the sourcefile depend on other files
+    echo "$object : \\" > "$depfile"
+
+    # Clip off the initial element (the dependent).  Don't try to be
+    # clever and replace this with sed code, as IRIX sed won't handle
+    # lines with more than a fixed number of characters (4096 in
+    # IRIX 6.2 sed, 8192 in IRIX 6.5).  We also remove comment lines;
+    # the IRIX cc adds comments like '#:fec' to the end of the
+    # dependency line.
+    tr ' ' "$nl" < "$tmpdepfile" \
+    | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' | \
+    tr "$nl" ' ' >> "$depfile"
+    echo >> "$depfile"
+
+    # The second pass generates a dummy entry for each header file.
+    tr ' ' "$nl" < "$tmpdepfile" \
+   | sed -e 's/^.*\.o://' -e 's/#.*$//' -e '/^$/ d' -e 's/$/:/' \
+   >> "$depfile"
+  else
+    # The sourcefile does not contain any dependencies, so just
+    # store a dummy comment line, to avoid errors with the Makefile
+    # "include basename.Plo" scheme.
+    echo "#dummy" > "$depfile"
+  fi
+  rm -f "$tmpdepfile"
+  ;;
+
+xlc)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+aix)
+  # The C for AIX Compiler uses -M and outputs the dependencies
+  # in a .u file.  In older versions, this file always lives in the
+  # current directory.  Also, the AIX compiler puts '$object:' at the
+  # start of each line; $object doesn't have directory information.
+  # Version 6 uses the directory in both cases.
+  dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
+  test "x$dir" = "x$object" && dir=
+  base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
+  if test "$libtool" = yes; then
+    tmpdepfile1=$dir$base.u
+    tmpdepfile2=$base.u
+    tmpdepfile3=$dir.libs/$base.u
+    "$@" -Wc,-M
+  else
+    tmpdepfile1=$dir$base.u
+    tmpdepfile2=$dir$base.u
+    tmpdepfile3=$dir$base.u
+    "$@" -M
+  fi
+  stat=$?
+
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3"
+    exit $stat
+  fi
+
+  for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3"
+  do
+    test -f "$tmpdepfile" && break
+  done
+  if test -f "$tmpdepfile"; then
+    # Each line is of the form 'foo.o: dependent.h'.
+    # Do two passes, one to just change these to
+    # '$object: dependent.h' and one to simply 'dependent.h:'.
+    sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile"
+    sed -e 's,^.*\.[a-z]*:['"$tab"' ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile"
+  else
+    # The sourcefile does not contain any dependencies, so just
+    # store a dummy comment line, to avoid errors with the Makefile
+    # "include basename.Plo" scheme.
+    echo "#dummy" > "$depfile"
+  fi
+  rm -f "$tmpdepfile"
+  ;;
+
+icc)
+  # Intel's C compiler anf tcc (Tiny C Compiler) understand '-MD -MF file'.
+  # However on
+  #    $CC -MD -MF foo.d -c -o sub/foo.o sub/foo.c
+  # ICC 7.0 will fill foo.d with something like
+  #    foo.o: sub/foo.c
+  #    foo.o: sub/foo.h
+  # which is wrong.  We want
+  #    sub/foo.o: sub/foo.c
+  #    sub/foo.o: sub/foo.h
+  #    sub/foo.c:
+  #    sub/foo.h:
+  # ICC 7.1 will output
+  #    foo.o: sub/foo.c sub/foo.h
+  # and will wrap long lines using '\':
+  #    foo.o: sub/foo.c ... \
+  #     sub/foo.h ... \
+  #     ...
+  # tcc 0.9.26 (FIXME still under development at the moment of writing)
+  # will emit a similar output, but also prepend the continuation lines
+  # with horizontal tabulation characters.
+  "$@" -MD -MF "$tmpdepfile"
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+  # Each line is of the form 'foo.o: dependent.h',
+  # or 'foo.o: dep1.h dep2.h \', or ' dep3.h dep4.h \'.
+  # Do two passes, one to just change these to
+  # '$object: dependent.h' and one to simply 'dependent.h:'.
+  sed -e "s/^[ $tab][ $tab]*/  /" -e "s,^[^:]*:,$object :," \
+    < "$tmpdepfile" > "$depfile"
+  sed '
+    s/[ '"$tab"'][ '"$tab"']*/ /g
+    s/^ *//
+    s/ *\\*$//
+    s/^[^:]*: *//
+    /^$/d
+    /:$/d
+    s/$/ :/
+  ' < "$tmpdepfile" >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+hp2)
+  # The "hp" stanza above does not work with aCC (C++) and HP's ia64
+  # compilers, which have integrated preprocessors.  The correct option
+  # to use with these is +Maked; it writes dependencies to a file named
+  # 'foo.d', which lands next to the object file, wherever that
+  # happens to be.
+  # Much of this is similar to the tru64 case; see comments there.
+  dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
+  test "x$dir" = "x$object" && dir=
+  base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
+  if test "$libtool" = yes; then
+    tmpdepfile1=$dir$base.d
+    tmpdepfile2=$dir.libs/$base.d
+    "$@" -Wc,+Maked
+  else
+    tmpdepfile1=$dir$base.d
+    tmpdepfile2=$dir$base.d
+    "$@" +Maked
+  fi
+  stat=$?
+  if test $stat -eq 0; then :
+  else
+     rm -f "$tmpdepfile1" "$tmpdepfile2"
+     exit $stat
+  fi
+
+  for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2"
+  do
+    test -f "$tmpdepfile" && break
+  done
+  if test -f "$tmpdepfile"; then
+    sed -e "s,^.*\.[a-z]*:,$object:," "$tmpdepfile" > "$depfile"
+    # Add 'dependent.h:' lines.
+    sed -ne '2,${
+	       s/^ *//
+	       s/ \\*$//
+	       s/$/:/
+	       p
+	     }' "$tmpdepfile" >> "$depfile"
+  else
+    echo "#dummy" > "$depfile"
+  fi
+  rm -f "$tmpdepfile" "$tmpdepfile2"
+  ;;
+
+tru64)
+   # The Tru64 compiler uses -MD to generate dependencies as a side
+   # effect.  'cc -MD -o foo.o ...' puts the dependencies into 'foo.o.d'.
+   # At least on Alpha/Redhat 6.1, Compaq CCC V6.2-504 seems to put
+   # dependencies in 'foo.d' instead, so we check for that too.
+   # Subdirectories are respected.
+   dir=`echo "$object" | sed -e 's|/[^/]*$|/|'`
+   test "x$dir" = "x$object" && dir=
+   base=`echo "$object" | sed -e 's|^.*/||' -e 's/\.o$//' -e 's/\.lo$//'`
+
+   if test "$libtool" = yes; then
+      # With Tru64 cc, shared objects can also be used to make a
+      # static library.  This mechanism is used in libtool 1.4 series to
+      # handle both shared and static libraries in a single compilation.
+      # With libtool 1.4, dependencies were output in $dir.libs/$base.lo.d.
+      #
+      # With libtool 1.5 this exception was removed, and libtool now
+      # generates 2 separate objects for the 2 libraries.  These two
+      # compilations output dependencies in $dir.libs/$base.o.d and
+      # in $dir$base.o.d.  We have to check for both files, because
+      # one of the two compilations can be disabled.  We should prefer
+      # $dir$base.o.d over $dir.libs/$base.o.d because the latter is
+      # automatically cleaned when .libs/ is deleted, while ignoring
+      # the former would cause a distcleancheck panic.
+      tmpdepfile1=$dir.libs/$base.lo.d   # libtool 1.4
+      tmpdepfile2=$dir$base.o.d          # libtool 1.5
+      tmpdepfile3=$dir.libs/$base.o.d    # libtool 1.5
+      tmpdepfile4=$dir.libs/$base.d      # Compaq CCC V6.2-504
+      "$@" -Wc,-MD
+   else
+      tmpdepfile1=$dir$base.o.d
+      tmpdepfile2=$dir$base.d
+      tmpdepfile3=$dir$base.d
+      tmpdepfile4=$dir$base.d
+      "$@" -MD
+   fi
+
+   stat=$?
+   if test $stat -eq 0; then :
+   else
+      rm -f "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
+      exit $stat
+   fi
+
+   for tmpdepfile in "$tmpdepfile1" "$tmpdepfile2" "$tmpdepfile3" "$tmpdepfile4"
+   do
+     test -f "$tmpdepfile" && break
+   done
+   if test -f "$tmpdepfile"; then
+      sed -e "s,^.*\.[a-z]*:,$object:," < "$tmpdepfile" > "$depfile"
+      sed -e 's,^.*\.[a-z]*:['"$tab"' ]*,,' -e 's,$,:,' < "$tmpdepfile" >> "$depfile"
+   else
+      echo "#dummy" > "$depfile"
+   fi
+   rm -f "$tmpdepfile"
+   ;;
+
+msvc7)
+  if test "$libtool" = yes; then
+    showIncludes=-Wc,-showIncludes
+  else
+    showIncludes=-showIncludes
+  fi
+  "$@" $showIncludes > "$tmpdepfile"
+  stat=$?
+  grep -v '^Note: including file: ' "$tmpdepfile"
+  if test "$stat" = 0; then :
+  else
+    rm -f "$tmpdepfile"
+    exit $stat
+  fi
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  # The first sed program below extracts the file names and escapes
+  # backslashes for cygpath.  The second sed program outputs the file
+  # name when reading, but also accumulates all include files in the
+  # hold buffer in order to output them again at the end.  This only
+  # works with sed implementations that can handle large buffers.
+  sed < "$tmpdepfile" -n '
+/^Note: including file:  *\(.*\)/ {
+  s//\1/
+  s/\\/\\\\/g
+  p
+}' | $cygpath_u | sort -u | sed -n '
+s/ /\\ /g
+s/\(.*\)/'"$tab"'\1 \\/p
+s/.\(.*\) \\/\1:/
+H
+$ {
+  s/.*/'"$tab"'/
+  G
+  p
+}' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+msvc7msys)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+#nosideeffect)
+  # This comment above is used by automake to tell side-effect
+  # dependency tracking mechanisms from slower ones.
+
+dashmstdout)
+  # Important note: in order to support this mode, a compiler *must*
+  # always write the preprocessed file to stdout, regardless of -o.
+  "$@" || exit $?
+
+  # Remove the call to Libtool.
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+
+  # Remove '-o $object'.
+  IFS=" "
+  for arg
+  do
+    case $arg in
+    -o)
+      shift
+      ;;
+    $object)
+      shift
+      ;;
+    *)
+      set fnord "$@" "$arg"
+      shift # fnord
+      shift # $arg
+      ;;
+    esac
+  done
+
+  test -z "$dashmflag" && dashmflag=-M
+  # Require at least two characters before searching for ':'
+  # in the target name.  This is to cope with DOS-style filenames:
+  # a dependency such as 'c:/foo/bar' could be seen as target 'c' otherwise.
+  "$@" $dashmflag |
+    sed 's:^['"$tab"' ]*[^:'"$tab"' ][^:][^:]*\:['"$tab"' ]*:'"$object"'\: :' > "$tmpdepfile"
+  rm -f "$depfile"
+  cat < "$tmpdepfile" > "$depfile"
+  tr ' ' "$nl" < "$tmpdepfile" | \
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly.  Breaking it into two sed invocations is a workaround.
+    sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+dashXmstdout)
+  # This case only exists to satisfy depend.m4.  It is never actually
+  # run, as this mode is specially recognized in the preamble.
+  exit 1
+  ;;
+
+makedepend)
+  "$@" || exit $?
+  # Remove any Libtool call
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+  # X makedepend
+  shift
+  cleared=no eat=no
+  for arg
+  do
+    case $cleared in
+    no)
+      set ""; shift
+      cleared=yes ;;
+    esac
+    if test $eat = yes; then
+      eat=no
+      continue
+    fi
+    case "$arg" in
+    -D*|-I*)
+      set fnord "$@" "$arg"; shift ;;
+    # Strip any option that makedepend may not understand.  Remove
+    # the object too, otherwise makedepend will parse it as a source file.
+    -arch)
+      eat=yes ;;
+    -*|$object)
+      ;;
+    *)
+      set fnord "$@" "$arg"; shift ;;
+    esac
+  done
+  obj_suffix=`echo "$object" | sed 's/^.*\././'`
+  touch "$tmpdepfile"
+  ${MAKEDEPEND-makedepend} -o"$obj_suffix" -f"$tmpdepfile" "$@"
+  rm -f "$depfile"
+  # makedepend may prepend the VPATH from the source file name to the object.
+  # No need to regex-escape $object, excess matching of '.' is harmless.
+  sed "s|^.*\($object *:\)|\1|" "$tmpdepfile" > "$depfile"
+  sed '1,2d' "$tmpdepfile" | tr ' ' "$nl" | \
+## Some versions of the HPUX 10.20 sed can't process this invocation
+## correctly.  Breaking it into two sed invocations is a workaround.
+    sed -e 's/^\\$//' -e '/^$/d' -e '/:$/d' | sed -e 's/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile" "$tmpdepfile".bak
+  ;;
+
+cpp)
+  # Important note: in order to support this mode, a compiler *must*
+  # always write the preprocessed file to stdout.
+  "$@" || exit $?
+
+  # Remove the call to Libtool.
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+
+  # Remove '-o $object'.
+  IFS=" "
+  for arg
+  do
+    case $arg in
+    -o)
+      shift
+      ;;
+    $object)
+      shift
+      ;;
+    *)
+      set fnord "$@" "$arg"
+      shift # fnord
+      shift # $arg
+      ;;
+    esac
+  done
+
+  "$@" -E |
+    sed -n -e '/^# [0-9][0-9]* "\([^"]*\)".*/ s:: \1 \\:p' \
+       -e '/^#line [0-9][0-9]* "\([^"]*\)".*/ s:: \1 \\:p' |
+    sed '$ s: \\$::' > "$tmpdepfile"
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  cat < "$tmpdepfile" >> "$depfile"
+  sed < "$tmpdepfile" '/^$/d;s/^ //;s/ \\$//;s/$/ :/' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+msvisualcpp)
+  # Important note: in order to support this mode, a compiler *must*
+  # always write the preprocessed file to stdout.
+  "$@" || exit $?
+
+  # Remove the call to Libtool.
+  if test "$libtool" = yes; then
+    while test "X$1" != 'X--mode=compile'; do
+      shift
+    done
+    shift
+  fi
+
+  IFS=" "
+  for arg
+  do
+    case "$arg" in
+    -o)
+      shift
+      ;;
+    $object)
+      shift
+      ;;
+    "-Gm"|"/Gm"|"-Gi"|"/Gi"|"-ZI"|"/ZI")
+	set fnord "$@"
+	shift
+	shift
+	;;
+    *)
+	set fnord "$@" "$arg"
+	shift
+	shift
+	;;
+    esac
+  done
+  "$@" -E 2>/dev/null |
+  sed -n '/^#line [0-9][0-9]* "\([^"]*\)"/ s::\1:p' | $cygpath_u | sort -u > "$tmpdepfile"
+  rm -f "$depfile"
+  echo "$object : \\" > "$depfile"
+  sed < "$tmpdepfile" -n -e 's% %\\ %g' -e '/^\(.*\)$/ s::'"$tab"'\1 \\:p' >> "$depfile"
+  echo "$tab" >> "$depfile"
+  sed < "$tmpdepfile" -n -e 's% %\\ %g' -e '/^\(.*\)$/ s::\1\::p' >> "$depfile"
+  rm -f "$tmpdepfile"
+  ;;
+
+msvcmsys)
+  # This case exists only to let depend.m4 do its work.  It works by
+  # looking at the text of this script.  This case will never be run,
+  # since it is checked for above.
+  exit 1
+  ;;
+
+none)
+  exec "$@"
+  ;;
+
+*)
+  echo "Unknown depmode $depmode" 1>&2
+  exit 1
+  ;;
+esac
+
+exit 0
+
+# Local Variables:
+# mode: shell-script
+# sh-indentation: 2
+# eval: (add-hook 'write-file-hooks 'time-stamp)
+# time-stamp-start: "scriptversion="
+# time-stamp-format: "%:y-%02m-%02d.%02H"
+# time-stamp-time-zone: "UTC"
+# time-stamp-end: "; # UTC"
+# End:

gtsam/3rdparty/GeographicLib/doc/CMakeLists.txt

@@ -0,0 +1,83 @@
+# Where the html versions of the man pages (extension .1.html) are
+# found.
+set (MANDIR ${PROJECT_BINARY_DIR}/man)
+
+# Build up a list of the .1.html files.
+set (HTMLMAN)
+foreach (TOOL ${TOOLS})
+  set (HTMLMAN ${HTMLMAN} ${MANDIR}/${TOOL}.1.html)
+endforeach ()
+
+if (COMMON_INSTALL_PATH)
+  set (INSTALL_DOC_DIR "share/doc/GeographicLib")
+else ()
+  set (INSTALL_DOC_DIR "doc")
+endif ()
+
+# Run doxygen, if available
+
+# First assemble a list of all the files the documentation uses.  Add a
+# dependency on htmlman (from man/CMakeLists.txt).  Use html/index.html
+# as the make target.  To make this target, copy the non-doxygen
+# generated files into html/.  Run doxfile.in thru cmake's config
+# process so that absolute path names are used and so that the pathnames
+# are properly stripped by doxygen (via STRIP_FROM_PATH). The
+# distrib-doc target copies the html directory into the source tree.
+
+# If doxygen is not available, only the install step (from the source
+# tree) is done.
+
+file (MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html-stage)
+if (DOXYGEN_FOUND)
+  configure_file (doxyfile.in doxyfile)
+  configure_file (doxyfile-c.in doxyfile-c)
+  configure_file (doxyfile-for.in doxyfile-for)
+  configure_file (doxyfile-net.in doxyfile-net)
+  file (GLOB SOURCES
+    ../src/[A-Za-z]*.cpp ../include/GeographicLib/[A-Za-z]*.hpp
+    ../tools/[A-Za-z]*.cpp ../examples/[A-Za-z]*.cpp
+    ../legacy/C/*.[ch] ../legacy/Fortran/*.for ../legacy/Fortran/*.inc
+    ../dotnet/NETGeographicLib/*.cpp ../dotnet/NETGeographicLib/*.h
+    ../dotnet/examples/CS/*.cs ../dotnet/examples/ManagedCPP/*.cpp
+    ../dotnet/examples/VB/*.vb)
+  file (GLOB EXTRA_FILES ../maxima/[A-Za-z]*.mac
+    tmseries30.html geodseries30.html ../LICENSE.txt)
+  file (GLOB FIGURES *.png)
+  file (COPY ${EXTRA_FILES} DESTINATION html-stage)
+  add_custom_target (doc ALL
+    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/html/index.html)
+  add_dependencies (doc htmlman)
+  add_custom_command (OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/html/index.html
+    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/doxyfile
+      ${CMAKE_CURRENT_BINARY_DIR}/doxyfile-c
+      ${CMAKE_CURRENT_BINARY_DIR}/doxyfile-for
+      ${CMAKE_CURRENT_BINARY_DIR}/doxyfile-net
+      GeographicLib.dox geodesic-c.dox geodesic-for.dox NETGeographicLib.dox
+      ${SOURCES} ${EXTRA_FILES} ${FIGURES} ${HTMLMAN}
+    COMMAND ${CMAKE_COMMAND} -E remove_directory html
+    COMMAND ${CMAKE_COMMAND} -E copy_directory html-stage html
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile > doxygen.log
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile-c > doxygen-c.log
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile-for > doxygen-for.log
+    COMMAND ${DOXYGEN_EXECUTABLE} doxyfile-net > doxygen-net.log
+    COMMENT "Generating html documentation tree")
+  install (DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html
+    DESTINATION ${INSTALL_DOC_DIR})
+else ()
+  file (COPY ../LICENSE.txt DESTINATION html)
+  # Need to absolute path on destination to support old versions of cmake
+  configure_file (index.html.in html/index.html)
+  configure_file (utilities.html.in html/utilities.html)
+  install (FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/html/LICENSE.txt
+    ${CMAKE_CURRENT_BINARY_DIR}/html/index.html
+    ${CMAKE_CURRENT_BINARY_DIR}/html/utilities.html
+    DESTINATION ${INSTALL_DOC_DIR}/html)
+endif ()
+
+# Finally install the JavaScript files
+file (GLOB SCRIPTDRIVERS scripts/[A-Za-z]*.html)
+file (GLOB JSSCRIPTS scripts/GeographicLib/[A-Za-z]*.js)
+install (FILES ${SCRIPTDRIVERS} DESTINATION ${INSTALL_DOC_DIR}/scripts)
+install (FILES ${JSSCRIPTS}
+  DESTINATION ${INSTALL_DOC_DIR}/scripts/GeographicLib)

gtsam/3rdparty/GeographicLib/doc/Makefile.am

@@ -0,0 +1,160 @@
+EXTRAFILES = $(srcdir)/tmseries30.html $(srcdir)/geodseries30.html
+
+FIGURES = $(srcdir)/gauss-krueger-graticule.png \
+	$(srcdir)/thompson-tm-graticule.png \
+	$(srcdir)/gauss-krueger-convergence-scale.png \
+	$(srcdir)/gauss-schreiber-graticule-a.png \
+	$(srcdir)/gauss-krueger-graticule-a.png \
+	$(srcdir)/thompson-tm-graticule-a.png \
+	$(srcdir)/gauss-krueger-error.png \
+	$(srcdir)/meridian-measures.png
+
+SCRIPTDRIVERS = \
+	$(srcdir)/scripts/geod-calc.html \
+	$(srcdir)/scripts/geod-google.html \
+	$(srcdir)/scripts/geod-google-instructions.html
+
+JSSCRIPTS = \
+	$(srcdir)/scripts/GeographicLib/Math.js \
+	$(srcdir)/scripts/GeographicLib/Geodesic.js \
+	$(srcdir)/scripts/GeographicLib/GeodesicLine.js \
+	$(srcdir)/scripts/GeographicLib/PolygonArea.js \
+	$(srcdir)/scripts/GeographicLib/DMS.js \
+	$(srcdir)/scripts/GeographicLib/Interface.js
+
+HPPFILES = \
+	$(top_srcdir)/include/GeographicLib/Accumulator.hpp \
+	$(top_srcdir)/include/GeographicLib/AlbersEqualArea.hpp \
+	$(top_srcdir)/include/GeographicLib/AzimuthalEquidistant.hpp \
+	$(top_srcdir)/include/GeographicLib/CassiniSoldner.hpp \
+	$(top_srcdir)/include/GeographicLib/Constants.hpp \
+	$(top_srcdir)/include/GeographicLib/DMS.hpp \
+	$(top_srcdir)/include/GeographicLib/Ellipsoid.hpp \
+	$(top_srcdir)/include/GeographicLib/EllipticFunction.hpp \
+	$(top_srcdir)/include/GeographicLib/Geocentric.hpp \
+	$(top_srcdir)/include/GeographicLib/GeoCoords.hpp \
+	$(top_srcdir)/include/GeographicLib/Geodesic.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicExact.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLine.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLineExact.hpp \
+	$(top_srcdir)/include/GeographicLib/Geohash.hpp \
+	$(top_srcdir)/include/GeographicLib/Geoid.hpp \
+	$(top_srcdir)/include/GeographicLib/Gnomonic.hpp \
+	$(top_srcdir)/include/GeographicLib/LambertConformalConic.hpp \
+	$(top_srcdir)/include/GeographicLib/LocalCartesian.hpp \
+	$(top_srcdir)/include/GeographicLib/Math.hpp \
+	$(top_srcdir)/include/GeographicLib/MGRS.hpp \
+	$(top_srcdir)/include/GeographicLib/OSGB.hpp \
+	$(top_srcdir)/include/GeographicLib/PolarStereographic.hpp \
+	$(top_srcdir)/include/GeographicLib/PolygonArea.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercatorExact.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercator.hpp \
+	$(top_srcdir)/include/GeographicLib/UTMUPS.hpp
+
+ALLSOURCES = \
+	$(top_srcdir)/src/AlbersEqualArea.cpp \
+	$(top_srcdir)/src/AzimuthalEquidistant.cpp \
+	$(top_srcdir)/src/CassiniSoldner.cpp \
+	$(top_srcdir)/src/DMS.cpp \
+	$(top_srcdir)/src/Ellipsoid.cpp \
+	$(top_srcdir)/src/EllipticFunction.cpp \
+	$(top_srcdir)/src/Geocentric.cpp \
+	$(top_srcdir)/src/GeoCoords.cpp \
+	$(top_srcdir)/src/Geodesic.cpp \
+	$(top_srcdir)/src/GeodesicLine.cpp \
+	$(top_srcdir)/src/Geohash.cpp \
+	$(top_srcdir)/src/Geoid.cpp \
+	$(top_srcdir)/src/Gnomonic.cpp \
+	$(top_srcdir)/src/LambertConformalConic.cpp \
+	$(top_srcdir)/src/LocalCartesian.cpp \
+	$(top_srcdir)/src/MGRS.cpp \
+	$(top_srcdir)/src/OSGB.cpp \
+	$(top_srcdir)/src/PolarStereographic.cpp \
+	$(top_srcdir)/src/PolygonArea.cpp \
+	$(top_srcdir)/src/TransverseMercator.cpp \
+	$(top_srcdir)/src/TransverseMercatorExact.cpp \
+	$(top_srcdir)/src/UTMUPS.cpp \
+	$(top_srcdir)/tools/CartConvert.cpp \
+	$(top_srcdir)/tools/ConicProj.cpp \
+	$(top_srcdir)/tools/GeodesicProj.cpp \
+	$(top_srcdir)/tools/GeoConvert.cpp \
+	$(top_srcdir)/tools/GeodSolve.cpp \
+	$(top_srcdir)/tools/GeoidEval.cpp \
+	$(top_srcdir)/tools/Gravity.cpp \
+	$(top_srcdir)/tools/Planimeter.cpp \
+	$(top_srcdir)/tools/TransverseMercatorProj.cpp
+
+MANPAGES = \
+	../man/CartConvert.1.html \
+	../man/ConicProj.1.html \
+	../man/GeodesicProj.1.html \
+	../man/GeoConvert.1.html \
+	../man/GeodSolve.1.html \
+	../man/GeoidEval.1.html \
+	../man/Gravity.1.html \
+	../man/MagneticField.1.html \
+	../man/Planimeter.1.html \
+	../man/TransverseMercatorProj.1.html
+
+LEGACYFILES = \
+	$(top_srcdir)/legacy/C/geodesic.c \
+	$(top_srcdir)/legacy/C/geodesic.h \
+	$(top_srcdir)/legacy/C/direct.c \
+	$(top_srcdir)/legacy/C/inverse.c \
+	$(top_srcdir)/legacy/C/planimeter.c \
+	$(top_srcdir)/legacy/Fortran/geodesic.for \
+	$(top_srcdir)/legacy/Fortran/geodesic.inc \
+	$(top_srcdir)/legacy/Fortran/geoddirect.for \
+	$(top_srcdir)/legacy/Fortran/geodinverse.for \
+	$(top_srcdir)/legacy/Fortran/planimeter.for
+
+doc: html/index.html
+
+if HAVE_DOXYGEN
+manpages: $(MANPAGES)
+	if test -d html; then rm -rf html/*; else mkdir html; fi
+	cp $^ html/
+	touch $@
+
+html/index.html: manpages doxyfile.in GeographicLib.dox \
+	$(HPPFILES) $(ALLSOURCES) $(EXTRAFILES) $(FIGURES) \
+	doxyfile-c.in geodesic-c.dox doxyfile-for.in geodesic-for.dox \
+	$(LEGACYFILES)
+	cp -p $(EXTRAFILES) $(top_srcdir)/maxima/*.mac \
+	$(top_srcdir)/LICENSE.txt html/
+	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/doxyfile.in | $(DOXYGEN) -
+	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/doxyfile-c.in | $(DOXYGEN) -
+	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/doxyfile-for.in | $(DOXYGEN) -
+else
+html/index.html: index.html.in utilities.html.in
+	if test -d html; then rm -rf html/*; else mkdir html; fi
+	cp $(top_srcdir)/LICENSE.txt html/
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/utilities.html.in > html/utilities.html
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	$(srcdir)/index.html.in > html/index.html
+endif
+
+maintainer-clean-local:
+	rm -rf html manpages
+
+install-doc: html/index.html
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html
+	$(INSTALL) -m 644 `dirname $<`/*.* $(DESTDIR)$(docdir)/html
+	-test -f `dirname $<`/C/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/C && \
+	$(INSTALL) -m 644 `dirname $<`/C/*.* $(DESTDIR)$(docdir)/html/C
+	-test -f `dirname $<`/Fortran/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/Fortran && \
+	$(INSTALL) -m 644 `dirname $<`/Fortran/*.* \
+	$(DESTDIR)$(docdir)/html/Fortran
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -m 644 $(SCRIPTDRIVERS) $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts/GeographicLib
+	$(INSTALL) -m 644 $(JSSCRIPTS) $(DESTDIR)$(docdir)/scripts/GeographicLib

gtsam/3rdparty/GeographicLib/doc/Makefile.in

@@ -0,0 +1,561 @@
+# Makefile.in generated by automake 1.12.2 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2012 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+VPATH = @srcdir@
+am__make_dryrun = \
+  { \
+    am__dry=no; \
+    case $$MAKEFLAGS in \
+      *\\[\ \	]*) \
+        echo 'am--echo: ; @echo "AM"  OK' | $(MAKE) -f - 2>/dev/null \
+          | grep '^AM OK$$' >/dev/null || am__dry=yes;; \
+      *) \
+        for am__flg in $$MAKEFLAGS; do \
+          case $$am__flg in \
+            *=*|--*) ;; \
+            *n*) am__dry=yes; break;; \
+          esac; \
+        done;; \
+    esac; \
+    test $$am__dry = yes; \
+  }
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+target_triplet = @target@
+subdir = doc
+DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/m4/libtool.m4 \
+	$(top_srcdir)/m4/ltoptions.m4 $(top_srcdir)/m4/ltsugar.m4 \
+	$(top_srcdir)/m4/ltversion.m4 $(top_srcdir)/m4/lt~obsolete.m4 \
+	$(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/include/GeographicLib/Config-ac.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+SOURCES =
+DIST_SOURCES =
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AR = @AR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CFLAGS = @CFLAGS@
+COL = @COL@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+FGREP = @FGREP@
+GEOGRAPHICLIB_VERSION_MAJOR = @GEOGRAPHICLIB_VERSION_MAJOR@
+GEOGRAPHICLIB_VERSION_MINOR = @GEOGRAPHICLIB_VERSION_MINOR@
+GEOGRAPHICLIB_VERSION_PATCH = @GEOGRAPHICLIB_VERSION_PATCH@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_AGE = @LT_AGE@
+LT_CURRENT = @LT_CURRENT@
+LT_REVISION = @LT_REVISION@
+MAINT = @MAINT@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+POD2HTML = @POD2HTML@
+POD2MAN = @POD2MAN@
+POW_LIB = @POW_LIB@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target = @target@
+target_alias = @target_alias@
+target_cpu = @target_cpu@
+target_os = @target_os@
+target_vendor = @target_vendor@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+EXTRAFILES = $(srcdir)/tmseries30.html $(srcdir)/geodseries30.html
+FIGURES = $(srcdir)/gauss-krueger-graticule.png \
+	$(srcdir)/thompson-tm-graticule.png \
+	$(srcdir)/gauss-krueger-convergence-scale.png \
+	$(srcdir)/gauss-schreiber-graticule-a.png \
+	$(srcdir)/gauss-krueger-graticule-a.png \
+	$(srcdir)/thompson-tm-graticule-a.png \
+	$(srcdir)/gauss-krueger-error.png \
+	$(srcdir)/meridian-measures.png
+
+SCRIPTDRIVERS = \
+	$(srcdir)/scripts/geod-calc.html \
+	$(srcdir)/scripts/geod-google.html \
+	$(srcdir)/scripts/geod-google-instructions.html
+
+JSSCRIPTS = \
+	$(srcdir)/scripts/GeographicLib/Math.js \
+	$(srcdir)/scripts/GeographicLib/Geodesic.js \
+	$(srcdir)/scripts/GeographicLib/GeodesicLine.js \
+	$(srcdir)/scripts/GeographicLib/PolygonArea.js \
+	$(srcdir)/scripts/GeographicLib/DMS.js \
+	$(srcdir)/scripts/GeographicLib/Interface.js
+
+HPPFILES = \
+	$(top_srcdir)/include/GeographicLib/Accumulator.hpp \
+	$(top_srcdir)/include/GeographicLib/AlbersEqualArea.hpp \
+	$(top_srcdir)/include/GeographicLib/AzimuthalEquidistant.hpp \
+	$(top_srcdir)/include/GeographicLib/CassiniSoldner.hpp \
+	$(top_srcdir)/include/GeographicLib/Constants.hpp \
+	$(top_srcdir)/include/GeographicLib/DMS.hpp \
+	$(top_srcdir)/include/GeographicLib/Ellipsoid.hpp \
+	$(top_srcdir)/include/GeographicLib/EllipticFunction.hpp \
+	$(top_srcdir)/include/GeographicLib/Geocentric.hpp \
+	$(top_srcdir)/include/GeographicLib/GeoCoords.hpp \
+	$(top_srcdir)/include/GeographicLib/Geodesic.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicExact.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLine.hpp \
+	$(top_srcdir)/include/GeographicLib/GeodesicLineExact.hpp \
+	$(top_srcdir)/include/GeographicLib/Geohash.hpp \
+	$(top_srcdir)/include/GeographicLib/Geoid.hpp \
+	$(top_srcdir)/include/GeographicLib/Gnomonic.hpp \
+	$(top_srcdir)/include/GeographicLib/LambertConformalConic.hpp \
+	$(top_srcdir)/include/GeographicLib/LocalCartesian.hpp \
+	$(top_srcdir)/include/GeographicLib/Math.hpp \
+	$(top_srcdir)/include/GeographicLib/MGRS.hpp \
+	$(top_srcdir)/include/GeographicLib/OSGB.hpp \
+	$(top_srcdir)/include/GeographicLib/PolarStereographic.hpp \
+	$(top_srcdir)/include/GeographicLib/PolygonArea.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercatorExact.hpp \
+	$(top_srcdir)/include/GeographicLib/TransverseMercator.hpp \
+	$(top_srcdir)/include/GeographicLib/UTMUPS.hpp
+
+ALLSOURCES = \
+	$(top_srcdir)/src/AlbersEqualArea.cpp \
+	$(top_srcdir)/src/AzimuthalEquidistant.cpp \
+	$(top_srcdir)/src/CassiniSoldner.cpp \
+	$(top_srcdir)/src/DMS.cpp \
+	$(top_srcdir)/src/Ellipsoid.cpp \
+	$(top_srcdir)/src/EllipticFunction.cpp \
+	$(top_srcdir)/src/Geocentric.cpp \
+	$(top_srcdir)/src/GeoCoords.cpp \
+	$(top_srcdir)/src/Geodesic.cpp \
+	$(top_srcdir)/src/GeodesicLine.cpp \
+	$(top_srcdir)/src/Geohash.cpp \
+	$(top_srcdir)/src/Geoid.cpp \
+	$(top_srcdir)/src/Gnomonic.cpp \
+	$(top_srcdir)/src/LambertConformalConic.cpp \
+	$(top_srcdir)/src/LocalCartesian.cpp \
+	$(top_srcdir)/src/MGRS.cpp \
+	$(top_srcdir)/src/OSGB.cpp \
+	$(top_srcdir)/src/PolarStereographic.cpp \
+	$(top_srcdir)/src/PolygonArea.cpp \
+	$(top_srcdir)/src/TransverseMercator.cpp \
+	$(top_srcdir)/src/TransverseMercatorExact.cpp \
+	$(top_srcdir)/src/UTMUPS.cpp \
+	$(top_srcdir)/tools/CartConvert.cpp \
+	$(top_srcdir)/tools/ConicProj.cpp \
+	$(top_srcdir)/tools/GeodesicProj.cpp \
+	$(top_srcdir)/tools/GeoConvert.cpp \
+	$(top_srcdir)/tools/GeodSolve.cpp \
+	$(top_srcdir)/tools/GeoidEval.cpp \
+	$(top_srcdir)/tools/Gravity.cpp \
+	$(top_srcdir)/tools/Planimeter.cpp \
+	$(top_srcdir)/tools/TransverseMercatorProj.cpp
+
+MANPAGES = \
+	../man/CartConvert.1.html \
+	../man/ConicProj.1.html \
+	../man/GeodesicProj.1.html \
+	../man/GeoConvert.1.html \
+	../man/GeodSolve.1.html \
+	../man/GeoidEval.1.html \
+	../man/Gravity.1.html \
+	../man/MagneticField.1.html \
+	../man/Planimeter.1.html \
+	../man/TransverseMercatorProj.1.html
+
+LEGACYFILES = \
+	$(top_srcdir)/legacy/C/geodesic.c \
+	$(top_srcdir)/legacy/C/geodesic.h \
+	$(top_srcdir)/legacy/C/direct.c \
+	$(top_srcdir)/legacy/C/inverse.c \
+	$(top_srcdir)/legacy/C/planimeter.c \
+	$(top_srcdir)/legacy/Fortran/geodesic.for \
+	$(top_srcdir)/legacy/Fortran/geodesic.inc \
+	$(top_srcdir)/legacy/Fortran/geoddirect.for \
+	$(top_srcdir)/legacy/Fortran/geodinverse.for \
+	$(top_srcdir)/legacy/Fortran/planimeter.for
+
+all: all-am
+
+.SUFFIXES:
+$(srcdir)/Makefile.in: @MAINTAINER_MODE_TRUE@ $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --gnu doc/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --gnu doc/Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure: @MAINTAINER_MODE_TRUE@ $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4): @MAINTAINER_MODE_TRUE@ $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+tags: TAGS
+TAGS:
+
+ctags: CTAGS
+CTAGS:
+
+cscope cscopelist:
+
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-am
+all-am: Makefile
+installdirs:
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-generic clean-libtool mostlyclean-am
+
+distclean: distclean-am
+	-rm -f Makefile
+distclean-am: clean-am distclean-generic
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic \
+	maintainer-clean-local
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-generic mostlyclean-libtool
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: install-am install-strip
+
+.PHONY: all all-am check check-am clean clean-generic clean-libtool \
+	distclean distclean-generic distclean-libtool distdir dvi \
+	dvi-am html html-am info info-am install install-am \
+	install-data install-data-am install-dvi install-dvi-am \
+	install-exec install-exec-am install-html install-html-am \
+	install-info install-info-am install-man install-pdf \
+	install-pdf-am install-ps install-ps-am install-strip \
+	installcheck installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic maintainer-clean-local mostlyclean \
+	mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+	uninstall uninstall-am
+
+
+doc: html/index.html
+
+@HAVE_DOXYGEN_TRUE@manpages: $(MANPAGES)
+@HAVE_DOXYGEN_TRUE@	if test -d html; then rm -rf html/*; else mkdir html; fi
+@HAVE_DOXYGEN_TRUE@	cp $^ html/
+@HAVE_DOXYGEN_TRUE@	touch $@
+
+@HAVE_DOXYGEN_TRUE@html/index.html: manpages doxyfile.in GeographicLib.dox \
+@HAVE_DOXYGEN_TRUE@	$(HPPFILES) $(ALLSOURCES) $(EXTRAFILES) $(FIGURES) \
+@HAVE_DOXYGEN_TRUE@	doxyfile-c.in geodesic-c.dox doxyfile-for.in geodesic-for.dox \
+@HAVE_DOXYGEN_TRUE@	$(LEGACYFILES)
+@HAVE_DOXYGEN_TRUE@	cp -p $(EXTRAFILES) $(top_srcdir)/maxima/*.mac \
+@HAVE_DOXYGEN_TRUE@	$(top_srcdir)/LICENSE.txt html/
+@HAVE_DOXYGEN_TRUE@	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+@HAVE_DOXYGEN_TRUE@	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_TRUE@	$(srcdir)/doxyfile.in | $(DOXYGEN) -
+@HAVE_DOXYGEN_TRUE@	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+@HAVE_DOXYGEN_TRUE@	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_TRUE@	$(srcdir)/doxyfile-c.in | $(DOXYGEN) -
+@HAVE_DOXYGEN_TRUE@	sed -e "s%@PROJECT_SOURCE_DIR@%$(top_srcdir)%g" \
+@HAVE_DOXYGEN_TRUE@	-e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_TRUE@	$(srcdir)/doxyfile-for.in | $(DOXYGEN) -
+@HAVE_DOXYGEN_FALSE@html/index.html: index.html.in utilities.html.in
+@HAVE_DOXYGEN_FALSE@	if test -d html; then rm -rf html/*; else mkdir html; fi
+@HAVE_DOXYGEN_FALSE@	cp $(top_srcdir)/LICENSE.txt html/
+@HAVE_DOXYGEN_FALSE@	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_FALSE@	$(srcdir)/utilities.html.in > html/utilities.html
+@HAVE_DOXYGEN_FALSE@	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+@HAVE_DOXYGEN_FALSE@	$(srcdir)/index.html.in > html/index.html
+
+maintainer-clean-local:
+	rm -rf html manpages
+
+install-doc: html/index.html
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html
+	$(INSTALL) -m 644 `dirname $<`/*.* $(DESTDIR)$(docdir)/html
+	-test -f `dirname $<`/C/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/C && \
+	$(INSTALL) -m 644 `dirname $<`/C/*.* $(DESTDIR)$(docdir)/html/C
+	-test -f `dirname $<`/Fortran/index.html && \
+	$(INSTALL) -d $(DESTDIR)$(docdir)/html/Fortran && \
+	$(INSTALL) -m 644 `dirname $<`/Fortran/*.* \
+	$(DESTDIR)$(docdir)/html/Fortran
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -m 644 $(SCRIPTDRIVERS) $(DESTDIR)$(docdir)/scripts
+	$(INSTALL) -d $(DESTDIR)$(docdir)/scripts/GeographicLib
+	$(INSTALL) -m 644 $(JSSCRIPTS) $(DESTDIR)$(docdir)/scripts/GeographicLib
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:

gtsam/3rdparty/GeographicLib/doc/Makefile.mk

@@ -0,0 +1,30 @@
+SCRIPTDRIVERS = $(wildcard scripts/[A-Za-z]*.html)
+JSSCRIPTS = $(wildcard scripts/GeographicLib/[A-Za-z]*.js)
+
+VERSION:=$(shell grep '\bVERSION=' ../configure | cut -f2 -d\' | head -1)
+
+doc: html/index.html
+
+html/index.html: index.html.in utilities.html.in
+	if test -d html; then rm -rf html/*; else mkdir html; fi
+	cp ../LICENSE.txt html/
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	utilities.html.in > html/utilities.html
+	sed -e "s%@PROJECT_VERSION@%$(VERSION)%g" \
+	index.html.in > html/index.html
+
+PREFIX = /usr/local
+DEST = $(PREFIX)/share/doc/GeographicLib
+DOCDEST = $(DEST)/html
+SCRIPTDEST = $(DEST)/scripts
+INSTALL = install -b
+
+install: html/index.html
+	test -d $(DOCDEST) || mkdir -p $(DOCDEST)
+	$(INSTALL) -m 644 html/* $(DOCDEST)/
+	test -d $(SCRIPTDEST)/GeographicLib || \
+	mkdir -p $(SCRIPTDEST)/GeographicLib
+	$(INSTALL) -m 644 $(SCRIPTDRIVERS) $(SCRIPTDEST)/
+	$(INSTALL) -m 644 $(JSSCRIPTS) $(SCRIPTDEST)/GeographicLib/
+
+.PHONY: doc install clean

gtsam/3rdparty/GeographicLib/doc/NETGeographicLib.dox

@@ -0,0 +1,241 @@
+// -*- text -*-
+/**
+ * \file NETGeographicLib.dox
+ * \brief Documentation for NETGeographicLib
+ *
+ * Written by Scott Heiman <mrmtdew2@outlook.com> and licensed under the
+ * MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+/**
+\mainpage NETGeographicLib library
+\author Scott Heiman (mrmtdew2@outlook.com)
+\version 1.34
+\date 2013-12-11
+
+\section abstract Abstract
+
+%NETGeographicLib is a .NET wrapper for GeographicLib.  It allows
+.NET developers to access GeographicLib classes within C#, Visual
+Basic, Managed C++, and other Microsoft .NET languages.
+
+NETGeographicLib is written in Managed C++.  It IS NOT a reimplementation
+of the GeographicLib software.  It is a container that provides interfaces
+to the GeographicLib classes.  GeographicLib and NETGeographicLib is an
+integrated product.
+
+The NETGeographic project in the GeographicLib-vc10.sln file located in
+\<install folder\>/GeographicLib-1.34/windows will create the NETGeographicLib
+DLL.  The source code for NETGeographicLib is located in
+\<install folder\>/GeographicLib-1.34/dotnet/NETGeographicLib.  NETGeographicLib
+is not available for older versions of Microsoft Visual Studio.
+
+NETGeographicLib has been tested with C#, Managed C++, and Visual Basic.
+Sample code snippets can be found in
+\<install folder\>/GeographicLib-1.34/dotnet/examples.
+
+\section differences Differences between NETGeographicLib and GeographicLib
+
+The NETGeographicLib class names are identical to the GeographicLib class names.
+All NETGeographicLib classes are in the NETGeographicLib namespace.
+
+NETGeographicLib exposes most of the GeographicLib classes.  The exceptions
+are SphericalEngine, GeographicLib::Math, and GeographicLib::Utility.  The
+SphericalEngine class is a template class which (according to the comments in
+the SphericalEngine.h file) is not usually accessible to developers.  The
+GeographicLib::Math class contains several specialized functions required by
+GeographicLib classes.  They have limited use outside GeographicLib.  This class
+may be exposed in a future release if there is demand for it.  The functions
+provided by GeographicLib::Utility duplicate functions provided by existing .NET
+controls (DateTime).
+
+The SphericalCoefficients class replaces the SphericalEngine::coeff class.
+
+The NETGeographicLib class function interfaces are similar, and in many cases,
+identical to the GeographicLib interfaces.  There are differences because of
+limitations in .NET and other differences that are discretionary.  The comments
+in the header files contain a section labeled "INTERFACE DIFFERENCES" that detail
+the differences between the NETGeographicLib interfaces and the GeographicLib
+interfaces.  The differences are summarized in the text that follows.
+
+Default values for function parameters are not supported in .NET.
+
+Several GeographicLib class functions accept or return a "capabilities mask" as
+an unsigned integer.  The NETGeographicLib classes accept and return the capabilities
+mask as an enumeration.
+
+The Geocentric and LocalCartesian classes have functions that return a rotation matrix.
+The NETGeographicLib versions return a two-dimensional, 3 &times; 3 array rather than a vector.
+
+A lot of GeographicLib classes have inspector functions (MajorRadius,
+Flattening, etc.).  These inspector functions are implemented as
+properties in NETGeographicLib.
+
+NETGeographicLib classes do not implement constructors that create "uninitialized" objects.
+
+Many NETGeographicLib classes implement a default constructor that assumes WGS84 parameters.
+
+Several GeographicLib classes implement the () operator.  NETGeographicLib classes
+replace the () operator with a specific function.  Managed C++ allows developers to
+overload the () operator; however, the () operator is not 'elegantly' supported in
+other .NET languages.  For example, if the () operator was implemented in the
+NETGeographicLib::Geoid class, then C# code would look like
+\code
+Geoid geoid = new Geoid();
+double h = geoid.op_FuncCall(latitude,longitude);  // if () operator was implemented.
+h = geoid.Height(latitude,longitude); // with () operator replaced with Height
+\endcode
+The author felt that the op_FuncCall syntax did not appropriately define the purpose
+of the function call.
+
+.NET does not allow developers to overload the assignment operators (=,+=,-=,*=).
+These operators have been replaced with functions in the NETGeographicLib::Accumulator class.
+
+\section library Using NETGeographicLib in a .NET Application
+
+If you have access to the NETGeographicLib and GeographicLib projects then
+-# Create a new solution.
+-# Create a new project using any .NET language.  For this example, call it MyApp.
+-# Add the NETGeographic and Geographic projects to the solution.  Verify that NETGeographicLib depends upon GeographicLib.
+-# Right-Click MyApp in the Solution View and select "Add Reference..." (C#/VB) or "References..." (Managed C++) in the pop-up menu.
+-# (Managed C++) Click the "Add New Reference..." button in the Properties dialog.
+\image html NETGeographicLib3.png
+-# Click the Projects Tab and select NETGeographic.
+   \image html NETGeographicLib1.png
+-# Click OK.
+
+If you only have access to the NETGeographic.dll then
+-# Create a new solution.
+-# Create a new project using any .NET language.  For this example, call it MyApp.
+-# Right-Click MyApp in the Solution View and select "Add Reference..." in the popup menu.
+-# Right-Click MyApp in the Solution View and select "Add Reference..." (C#/VB) or "References..." (Managed C++) in the pop-up menu.
+-# (Managed C++) Click the "Add New Reference..." button in the Properties dialog.
+\image html NETGeographicLib3.png
+-# Click the Browse Tab and navigate to the folder containing NETGeographic.dll.
+\image html NETGeographicLib2.png
+-# Select NETGeographic.dll and click OK.
+
+The MyApp project will have access to all public NETGeographicLib classes after the
+NETGeographic reference is added to MyApp.
+
+C# developers should add
+\code using NETGeographicLib; \endcode
+to any C# source file that uses NETGeographicLib.
+
+Managed C++ developers should add
+\code using namespace NETGeographicLib; \endcode
+to any C++ source that uses NETGeographicLib classes.
+
+Visual Basic developers should add
+\code Imports NETGeographicLib \endcode
+to any Visual Basic source that uses NETGeographicLib classes.
+
+\section sample C# Sample Application
+
+A C# sample application is provided that demonstrates NETGeographicLib classes.
+The source code for the sample application is located in
+\<install folder\>/GeographicLib-1.34/dotnet/Projections.  The sample
+application creates a tabbed dialog.  Each tab provides data entry fields that
+allow the user to exercise one or more NETGeographicLib classes.
+
+The following table lists the source code that demonstrates specific classes.
+<center>
+<TABLE>
+<TR><TH>Source File</TH><TH>Classes</TH></TR>
+<TR><TD>AccumPanel.cs</TD><TD>Accumulator</TD></TR>
+<TR><TD>AlbersPanel.cs</TD><TD>AlbersEqualArea, LambertConformalConic, TransverseMercator, TransverseMercatorExact</TD></TR>
+<TR><TD>EllipsoidPanel.cs</TD><TD>Ellipsoid</TD></TR>
+<TR><TD>EllipticPanel.cs</TD><TD>EllipticFunction</TD></TR>
+<TR><TD>GeocentricPanel.cs</TD><TD>Geocentric</TD></TR>
+<TR><TD>GeodesicPanel.cs</TD><TD>Geodesic, GeodesicLine, GeodesicExact, GeodesicLineExact</TD></TR>
+<TR><TD>GeoidPanel.cs</TD><TD>Geoid</TD></TR>
+<TR><TD>GravityPanel.cs</TD><TD>NormalGravity, GravityModel, GravityCircle</TD></TR>
+<TR><TD>LocalCartesianPanel.cs</TD><TD>LocalCartesian</TD></TR>
+<TR><TD>MagneticPanel.cs</TD><TD>MagneticModel, MagneticCircle</TD></TR>
+<TR><TD>MiscPanel.cs</TD><TD>DMS, Geohash</TD></TR>
+<TR><TD>PolarStereoPanel.cs</TD><TD>PolarStereographic</TD></TR>
+<TR><TD>PolyPanel.cs</TD><TD>PolygonArea</TD></TR>
+<TR><TD>ProjectionsPanel.cs</TD><TD>AzimuthalEquidistant, CassiniSoldner, Gnomonic</TD></TR>
+<TR><TD>SphericalHarmonicsPanel.cs</TD><TD>SphericalHarmonic, SphericalHarmonic1, SphericalHarmonic2, CircularEngine, SphericalCoefficients</TD></TR>
+<TR><TD>TypeIIIProjPanel.cs</TD><TD>UTMUPS, MGRS, OSGB</TD></TR>
+</TABLE>
+</center>
+
+\section netcmake Using cmake to build a Managed C++ Application
+
+The following assumes that you have installed %GeographicLib in one of
+two ways:
+- you have built and installed %GeographicLib using cmake with
+  <code>-D BUILD_NETGEOGRAPHICLIB=ON</code> (see
+  \ref cmake "Installation with cmake" in the %GeographicLib
+  documentation).  You can use any version of Visual Studio to build
+  %GeographicLib and should use the same version to build your
+  application.  You can build %GeographicLib as a shared library using
+  <code>-D GEOGRAPHICLIB_LIB_TYPE=SHARED</code> or <code>BOTH</code>.
+- you have installed %GeographicLib using one of the binary installers (see
+  \ref windowsbin "Using a binary installer for Windows" in the
+  %GeographicLib documentation).  In this case, you are restricted to using
+  Visual Studio 10.
+
+The minimum recommended version of cmake for use with NETGeographicLib
+is 2.8.7.  In order to build an application that uses NETGeographicLib
+with cmake, ask for the NETGeographicLib "component" of %GeographicLib
+using \verbatim
+find_package(GeographicLib COMPONENTS NETGeographicLib) \endverbatim
+If NETGeographicLib is found, then
+<code>GeographicLib_NETGeographicLib_FOUND</code> will be set to true and
+<code>GeographicLib_NETGeographicLib_LIBRARIES</code> will be set to the
+NETGeographic shared library.  This is the name of the cmake target from
+which the pathname of the dll can be obtained.
+
+Here is a very simple test code, which uses the
+NETGeographicLib::Geodesic class:
+\include example-Geodesic-small.cpp
+This example is
+<code>dotnet/examples/ManagedCPP/example-Geodesic-small.cpp</code>.
+
+Here is a complete CMakeList.txt files you can use to build this test
+code using the installed library: \verbatim
+project (geodesictest)
+cmake_minimum_required (VERSION 2.8.7) # required for VS_DOTNET_REFERENCES
+
+find_package (GeographicLib 1.34 REQUIRED COMPONENTS NETGeographicLib)
+
+add_executable (${PROJECT_NAME} example-Geodesic-small.cpp)
+set_target_properties (${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "/clr")
+string (REPLACE "/RTC1" "" CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}")
+string (REPLACE "/EHsc" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+
+# This is set up for Release builds only.  Change RELEASE to DEBUG for
+# Debug builds.
+get_target_property (_LOC "${GeographicLib_NETGeographicLib_LIBRARIES}"
+  IMPORTED_LOCATION_RELEASE)
+set_target_properties (${PROJECT_NAME} PROPERTIES VS_DOTNET_REFERENCES ${_LOC})
+
+get_target_property (_LIB "${GeographicLib_NETGeographicLib_LIBRARIES}"
+  IMPORTED_LINK_INTERFACE_LIBRARIES_RELEASE)
+get_target_property (_LIBTYPE ${_LIB} TYPE)
+if (_LIBTYPE STREQUAL "SHARED_LIBRARY")
+  # On Windows systems, copy the shared library to build directory
+  add_custom_command (TARGET ${PROJECT_NAME} POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E
+    copy $<TARGET_FILE:${_LIB}> ${CMAKE_CFG_INTDIR}
+    COMMENT "Copying shared library for GeographicLib")
+endif () \endverbatim
+The typical invocation of cmake is \verbatim
+mkdir BUILD
+cd BUILD
+cmake -G "Visual Studio 10" -D CMAKE_PREFIX_PATH=C:/pkg-vc10 ..
+cmake --build . --config Release \endverbatim
+The version of Visual Studio should match that used to build
+NETGeographicLib.  <b>NOTE:</b> With Visual Studio 10, this results in
+warnings such as \verbatim
+warning C4945: 'ExtensionAttribute' : cannot import symbol from ... \endverbatim
+which can be safely(?) ignored.
+
+Running the example with \verbatim
+Release\geodesictest.exe  \endverbatim
+should give \verbatim
+  5551.75940031868 km \endverbatim
+**********************************************************************/

gtsam/3rdparty/GeographicLib/doc/geodesic-c.dox

@@ -0,0 +1,118 @@
+// -*- text -*-
+/**
+ * \file geodesic-c.dox
+ * \brief Documentation for geodesic routines implemented in C
+ *
+ * Written by Charles Karney <charles@karney.com> and licensed under the
+ * MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+/**
+\mainpage Geodesic routines implemented in C
+\author Charles F. F. Karney (charles@karney.com)
+\version 1.32
+
+\section abstract Abstract
+
+This is a C implementation of the geodesic algorithms from <a
+href="http://geographiclib.sf.net">GeographicLib</a>.  This is a
+self-contained library (requiring only the standard C math library)
+which makes it easy to do geodesic computations for an ellipsoid of
+revolution in a C program.  It uses ANSI C as described in
+B. W. Kernigan and D. M. Ritchie, The C Programming Language, 2nd
+Ed. (Prentice Hall, 1988), and so should compile correctly with just
+about any C compiler.
+
+\section download Downloading the source
+
+The C library is part of %GeographicLib which available for download at
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.32.tar.gz">
+  GeographicLib-1.32.tar.gz</a>
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.32.zip">
+  GeographicLib-1.32.zip</a>
+.
+as either a compressed tar file (tar.gz) or a zip file.  After unpacking
+the source, the C library can be found in GeographicLib-1.32/legacy/C.
+The library consists of two files geodesic.c and geodesic.h.
+
+The library is also included as part of
+<a href="http://trac.osgeo.org/proj/">proj.4</a> starting with version
+4.9.0, where is used as the computational backend for
+<a href="http://trac.osgeo.org/proj/wiki/man_geod">geod(1)</a>.
+Instructions for how to use the library via proj.4 are given below.
+
+\section doc Library documentation
+
+The interface to the library is documented via doxygen in the header
+file.  To access this, see geodesic.h.
+
+\section samples Sample programs
+
+Also included are 3 small test programs:
+ - direct.c is a simple command line utility for solving the
+   direct geodesic problem;
+ - inverse.c is a simple command line utility for solving the
+   inverse geodesic problem;
+ - planimeter.c is a simple command line utility for computing the
+   area of a geodesic polygon given its vertices.
+ .
+Here, for example, is inverse.c
+\include inverse.c
+To compile, link, and run this, you would typically use \verbatim
+cc -o inverse inverse.c geodesic.c -lm
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+These sample programs can also be built with the supplied cmake file,
+CMakeLists.txt, as follows \verbatim
+mkdir BUILD
+cd BUILD
+cmake ..
+make
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+
+Alternatively, if you have proj.4 installed, you can compile and link
+with \verbatim
+cc -c inverse.c
+cc -o inverse inverse.o -lproj
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+If proj.4 is installed, e.g., in /usr/local, you might have to use
+\verbatim
+cc -c -I/usr/local/include inverse.c
+cc -o inverse inverse.o -lproj -L/usr/local/lib -Wl,-rpath=/usr/local/lib
+echo 30 0 29.5 179.5 | ./inverse \endverbatim
+
+\section library Using the library
+
+- Put @verbatim
+  #include "geodesic.h" @endverbatim
+  in your source code.  If you are using the library via proj.4, change
+  this to @verbatim
+  #include <geodesic.h> @endverbatim
+- make calls to the geodesic routines from your code.  The interface to
+  the library is documented in geodesic.h.
+- Compile and link as described above.
+
+\section external External links
+
+- These algorithms are derived in C. F. F. Karney,
+  <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+  Algorithms for geodesics</a>,
+  J. Geodesy <b>87</b>, 43--55 (2013)
+  (<a href="http://geographiclib.sf.net/geod-addenda.html"> addenda</a>).
+- A longer paper on geodesics: C. F. F. Karney,
+   <a href="http://arxiv.org/abs/1102.1215v1">Geodesics
+   on an ellipsoid of revolution</a>,
+   Feb. 2011
+   (<a href="http://geographiclib.sf.net/geod-addenda.html#geod-errata">
+   errata</a>).
+- <a href="http://geographiclib.sf.net">The GeographicLib web site</a>.
+- <a href="../index.html">The C++ library</a>.
+- <a href="../java/index.html">The Java library</a>.
+- <a href="../Fortran/index.html">The Fortran library</a>.
+- Documentation on the C++ classes: GeographicLib::Geodesic,
+  GeographicLib::GeodesicLine, GeographicLib::PolygonArea.
+- The section in the %GeographicLib documentation on geodesics: \ref
+  geodesic.
+- <a href="http://geographiclib.sf.net/geodesic-papers/biblio.html">
+  An online geodesic bibliography</a>.
+**********************************************************************/

gtsam/3rdparty/GeographicLib/doc/geodesic-for.dox

@@ -0,0 +1,100 @@
+// -*- text -*-
+/**
+ * \file geodesic-for.dox
+ * \brief Documentation for geodesic routines implemented in Fortran
+ *
+ * Written by Charles Karney <charles@karney.com> and licensed under the
+ * MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+/**
+\mainpage Geodesic routines implemented in Fortran
+\author Charles F. F. Karney (charles@karney.com)
+\version 1.31
+
+\section abstract Abstract
+
+This is a Fortran implementation of the geodesic algorithms from <a
+href="http://geographiclib.sf.net">GeographicLib</a>.  This is a
+self-contained library which makes it easy to do geodesic computations
+for an ellipsoid of revolution in a Fortran program.  It is written in
+Fortran 77 (avoiding features which are now deprecated) and should
+compile correctly with just about any Fortran compiler.
+
+\section download Downloading the source
+
+The Fortran library is part of %GeographicLib which available for download at
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.31.tar.gz">
+  GeographicLib-1.31.tar.gz</a>
+- <a href="http://sf.net/projects/geographiclib/files/distrib/GeographicLib-1.31.zip">
+  GeographicLib-1.31.zip</a>
+.
+as either a compressed tar file (tar.gz) or a zip file.  After unpacking
+the source, the Fortran library can be found in
+GeographicLib-1.31/legacy/Fortran.  The library consists of the file
+geodesic.for.
+
+\section doc Library documentation
+
+The interface to the library is documented via doxygen in the source
+file.  To access this, see geodesic.for.
+
+\section samples Sample programs
+
+Also included are 3 small test programs:
+ - geoddirect.for is a simple command line utility for solving the
+   direct geodesic problem;
+ - geodinverse.for is a simple command line utility for solving the
+   inverse geodesic problem;
+ - planimeter.for is a simple command line utility for computing the
+   area of a geodesic polygon given its vertices.
+ .
+Here, for example, is geodinverse.for
+\include geodinverse.for
+To compile, link, and run this, you would typically use \verbatim
+f95 -o geodinverse geodinverse.for geodesic.for
+echo 30 0 29.5 179.5 | ./geodinverse \endverbatim
+These sample programs can also be built with the supplied cmake file,
+CMakeLists.txt, as follows \verbatim
+mkdir BUILD
+cd BUILD
+cmake ..
+make
+echo 30 0 29.5 179.5 | ./geodinverse \endverbatim
+
+\section library Using the library
+
+- Optionall put @verbatim
+  include "geodesic.inc" @endverbatim
+  in declaration section of your subroutines.
+- make calls to the geodesic routines from your code.  The interface to
+  the library is documented in geodesic.for.
+- Compile and link as described above.
+
+\section external External links
+
+- These algorithms are derived in C. F. F. Karney,
+  <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+  Algorithms for geodesics</a>,
+  J. Geodesy <b>87</b>, 43--55 (2013)
+  (<a href="http://geographiclib.sf.net/geod-addenda.html"> addenda</a>).
+- A longer paper on geodesics: C. F. F. Karney,
+   <a href="http://arxiv.org/abs/1102.1215v1">Geodesics
+   on an ellipsoid of revolution</a>,
+   Feb. 2011
+   (<a href="http://geographiclib.sf.net/geod-addenda.html#geod-errata">
+   errata</a>).
+- <a href="http://geographiclib.sf.net">The GeographicLib web site</a>.
+- <a href="../index.html">The C++ library</a>.
+- <a href="../C/index.html">The C library</a>.
+- <a href="../java/index.html">The Java library</a>.
+- Documentation on the C++ classes: GeographicLib::Geodesic,
+  GeographicLib::GeodesicLine, GeographicLib::PolygonArea.
+- The section in the %GeographicLib documentation on geodesics: \ref
+  geodesic.
+- <a href="http://geographiclib.sf.net/geodesic-papers/biblio.html">
+  An online geodesic bibliography</a>.
+**********************************************************************/
+
+**********************************************************************/

gtsam/3rdparty/GeographicLib/doc/index.html.in

@@ -0,0 +1,24 @@
+<html>
+  <head>
+    <title>GeographicLib-@PROJECT_VERSION@ documentation</title>
+    <meta HTTP-EQUIV="Refresh"
+	  CONTENT="0; URL=http://geographiclib.sourceforge.net/@PROJECT_VERSION@/index.html">
+  </head>
+  <body topmargin=10 leftmargin=10>
+    <h3>
+      <blockquote>
+	<em>
+	  Online documentation for GeographicLib version
+	  @PROJECT_VERSION@ is available at
+	  <center>
+	    <a href="http://geographiclib.sourceforge.net/@PROJECT_VERSION@/index.html">
+	      http://geographiclib.sourceforge.net/@PROJECT_VERSION@/index.html</a>.
+	  </center>
+	  <br>
+	  You will be redirected there.  Click on the link to go there
+	  directly.
+	</em>
+      </blockquote>
+    </h3>
+  </body>
+</html>

gtsam/3rdparty/GeographicLib/doc/scripts/GeographicLib/DMS.js

@@ -0,0 +1,364 @@
+/**
+ * DMS.js
+ * Transcription of DMS.[ch]pp into JavaScript.
+ *
+ * See the documentation for the C++ class.  The conversion is a literal
+ * conversion from C++.
+ *
+ * Copyright (c) Charles Karney (2011) <charles@karney.com> and licensed
+ * under the MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+GeographicLib.DMS = {};
+
+(function() {
+  var d = GeographicLib.DMS;
+  var m = GeographicLib.Math;
+  d.lookup = function(s, c) {
+    return s.indexOf(c.toUpperCase());
+  }
+  d.zerofill = function(s, n) {
+    return String("0000").substr(0, Math.max(0, Math.min(4, n-s.length))) +
+      s;
+  }
+  d.hemispheres_ = "SNWE";
+  d.signs_ = "-+";
+  d.digits_ = "0123456789";
+  d.dmsindicators_ = "D'\":";
+  // d.dmsindicatorsu_ = "\u00b0\u2032\u2033"; // Unicode variants
+  d.dmsindicatorsu_ = "\u00b0'\""; // Use degree symbol
+  d.components_ = ["degrees", "minutes", "seconds"];
+  d.NONE = 0;
+  d.LATITUDE = 1;
+  d.LONGITUDE = 2;
+  d.AZIMUTH = 3;
+  d.NUMBER = 4;
+  d.DEGREE = 0;
+  d.MINUTE = 1;
+  d.SECOND = 2;
+
+  // return val, ind
+  d.Decode = function(dms) {
+    var vals = {};
+    var errormsg = new String("");
+    var dmsa = dms;
+    dmsa = dmsa.replace(/\u00b0/g, 'd');
+    dmsa = dmsa.replace(/\u00ba/g, 'd');
+    dmsa = dmsa.replace(/\u2070/g, 'd');
+    dmsa = dmsa.replace(/\u02da/g, 'd');
+    dmsa = dmsa.replace(/\u2032/g, '\'');
+    dmsa = dmsa.replace(/\u00b4/g, '\'');
+    dmsa = dmsa.replace(/\u2019/g, '\'');
+    dmsa = dmsa.replace(/\u2033/g, '"');
+    dmsa = dmsa.replace(/\u201d/g, '"');
+    dmsa = dmsa.replace(/''/g, '"');
+    dmsa = dmsa.replace(/^\s+/, "");
+    dmsa = dmsa.replace(/\s+$/, "");
+    do {                       // Executed once (provides the ability to break)
+      var sign = 1;
+      var beg = 0, end = dmsa.length;
+      var ind1 = d.NONE;
+      var k = -1;
+      if (end > beg && (k = d.lookup(d.hemispheres_, dmsa.charAt(beg))) >= 0) {
+        ind1 = (k & 2) ? d.LONGITUDE : d.LATITUDE;
+        sign = (k & 1) ? 1 : -1;
+        ++beg;
+      }
+      if (end > beg &&
+          (k = d.lookup(d.hemispheres_, dmsa.charAt(end-1))) >= 0) {
+        if (k >= 0) {
+          if (ind1 != d.NONE) {
+            if (dmsa.charAt(beg - 1).toUpperCase() ==
+                dmsa.charAt(end - 1).toUpperCase())
+              errormsg = "Repeated hemisphere indicators " +
+              dmsa.charAt(beg - 1) + " in " +
+              dmsa.substr(beg - 1, end - beg + 1);
+            else
+              errormsg = "Contradictory hemisphere indicators " +
+              dmsa.charAt(beg - 1) + " and " + dmsa.charAt(end - 1) + " in " +
+              dmsa.substr(beg - 1, end - beg + 1);
+            break;
+          }
+          ind1 = (k & 2) ? d.LONGITUDE : d.LATITUDE;
+          sign = (k & 1) ? 1 : -1;
+          --end;
+        }
+      }
+      if (end > beg && (k = d.lookup(d.signs_, dmsa.charAt(beg))) >= 0) {
+        if (k >= 0) {
+          sign *= k ? 1 : -1;
+          ++beg;
+        }
+      }
+      if (end == beg) {
+        errormsg = "Empty or incomplete DMS string " + dmsa;
+        break;
+      }
+      var ipieces = [0, 0, 0];
+      var fpieces = [0, 0, 0];
+      var npiece = 0;
+      var icurrent = 0;
+      var fcurrent = 0;
+      var ncurrent = 0, p = beg;
+      var pointseen = false;
+      var digcount = 0;
+      var intcount = 0;
+      while (p < end) {
+        var x = dmsa.charAt(p++);
+        if ((k = d.lookup(d.digits_, x)) >= 0) {
+          ++ncurrent;
+          if (digcount > 0)
+            ++digcount;         // Count of decimal digits
+          else {
+            icurrent = 10 * icurrent + k;
+            ++intcount;
+          }
+        } else if (x == '.') {
+          if (pointseen) {
+            errormsg = "Multiple decimal points in "
+              + dmsa.substr(beg, end - beg);
+            break;
+          }
+          pointseen = true;
+          digcount = 1;
+        } else if ((k = d.lookup(d.dmsindicators_, x)) >= 0) {
+          if (k >= 3) {
+            if (p == end) {
+              errormsg = "Illegal for : to appear at the end of " +
+                dmsa.substr(beg, end - beg);
+              break;
+            }
+            k = npiece;
+          }
+          if (k == npiece - 1) {
+            errormsg = "Repeated " + d.components_[k] +
+              " component in " + dmsa.substr(beg, end - beg);
+            break;
+          } else if (k < npiece) {
+            errormsg = d.components_[k] + " component follows "
+              + d.components_[npiece - 1] + " component in "
+              + dmsa.substr(beg, end - beg);
+            break;
+          }
+          if (ncurrent == 0) {
+            errormsg = "Missing numbers in " + d.components_[k] +
+              " component of " + dmsa.substr(beg, end - beg);
+            break;
+          }
+          if (digcount > 1) {
+            fcurrent = parseFloat(dmsa.substr(p - intcount - digcount - 1,
+                                              intcount + digcount));
+            icurrent = 0;
+          }
+          ipieces[k] = icurrent;
+          fpieces[k] = icurrent + fcurrent;
+          if (p < end) {
+            npiece = k + 1;
+            icurrent = fcurrent = 0;
+            ncurrent = digcount = intcount = 0;
+          }
+        } else if (d.lookup(d.signs_, x) >= 0) {
+          errormsg = "Internal sign in DMS string "
+            + dmsa.substr(beg, end - beg);
+          break;
+        } else {
+          errormsg = "Illegal character " + x + " in DMS string "
+            + dmsa.substr(beg, end - beg);
+          break;
+        }
+      }
+      if (errormsg.length)
+        break;
+      if (d.lookup(d.dmsindicators_, dmsa.charAt(p - 1)) < 0) {
+        if (npiece >= 3) {
+          errormsg = "Extra text following seconds in DMS string "
+            + dmsa.substr(beg, end - beg);
+          break;
+        }
+        if (ncurrent == 0) {
+          errormsg = "Missing numbers in trailing component of "
+            + dmsa.substr(beg, end - beg);
+          break;
+        }
+        if (digcount > 1) {
+          fcurrent = parseFloat(dmsa.substr(p - intcount - digcount,
+                                            intcount + digcount));
+          icurrent = 0;
+        }
+        ipieces[npiece] = icurrent;
+        fpieces[npiece] = icurrent + fcurrent;
+      }
+      if (pointseen && digcount == 0) {
+        errormsg = "Decimal point in non-terminal component of "
+          + dmsa.substr(beg, end - beg);
+        break;
+      }
+      // Note that we accept 59.999999... even though it rounds to 60.
+      if (ipieces[1] >= 60) {
+        errormsg = "Minutes " + fpieces[1] + " not in range [0, 60)";
+        break;
+      }
+      if (ipieces[2] >= 60) {
+        errormsg = "Seconds " + fpieces[2] + " not in range [0, 60)";
+        break;
+      }
+      vals.ind = ind1;
+      // Assume check on range of result is made by calling routine (which
+      // might be able to offer a better diagnostic).
+      vals.val = sign * (fpieces[0] + (fpieces[1] + fpieces[2] / 60) / 60);
+      return vals;
+    } while (false);
+    vals.val = d.NumMatch(dmsa);
+    if (vals.val == 0)
+      throw new Error(errormsg);
+    else
+      vals.ind = d.NONE;
+    return vals;
+  }
+
+  d.NumMatch = function(s) {
+    if (s.length < 3)
+      return 0;
+    var t = s.toUpperCase().replace(/0+$/,"");
+    var sign = t.charAt(0) == '-' ? -1 : 1;
+    var p0 = t.charAt(0) == '-' || t.charAt(0) == '+' ? 1 : 0;
+    var p1 = t.length - 1;
+    if (p1 + 1 < p0 + 3)
+      return 0;
+    // Strip off sign and trailing 0s
+    t = t.substr(p0, p1 + 1 - p0); // Length at least 3
+    if (t == "NAN" || t == "1.#QNAN" || t == "1.#SNAN" || t == "1.#IND" ||
+        t == "1.#R")
+      return sign * Number.NaN;
+    else if (t == "INF" || t == "1.#INF")
+      return sign * Number.POSITIVE_INFINITY;
+    return 0;
+  }
+
+  // return lat, lon
+  d.DecodeLatLon = function(stra, strb, swaplatlong) {
+    var vals = {};
+    if (!swaplatlong) swaplatlong = false;
+    var valsa = d.Decode(stra);
+    var valsb = d.Decode(strb);
+    var a = valsa.val, ia = valsa.ind;
+    var b = valsb.val, ib = valsb.ind;
+    if (ia == d.NONE && ib == d.NONE) {
+      // Default to lat, long unless swaplatlong
+      ia = swaplatlong ? d.LONGITUDE : d.LATITUDE;
+      ib = swaplatlong ? d.LATITUDE : d.LONGITUDE;
+    } else if (ia == d.NONE)
+      ia = d.LATITUDE + d.LONGITUDE - ib;
+    else if (ib == d.NONE)
+      ib = d.LATITUDE + d.LONGITUDE - ia;
+    if (ia == ib)
+      throw new Error("Both " + stra + " and "
+                      + strb + " interpreted as "
+                      + (ia == d.LATITUDE ? "latitudes" : "longitudes"));
+    var lat = ia == d.LATITUDE ? a : b, lon = ia == d.LATITUDE ? b : a;
+    if (Math.abs(lat) > 90)
+      throw new Error("Latitude " + lat + "d not in [-90d, 90d]");
+    if (lon < -540 || lon >= 540)
+      throw new Error("Latitude " + lon + "d not in [-540d, 540d)");
+    lon = m.AngNormalize(lon);
+    vals.lat = lat;
+    vals.lon = lon;
+    return vals;
+  }
+
+  d.DecodeAngle = function(angstr) {
+    var vals = d.Decode(angstr);
+    var ang = vals.val, ind = vals.ind;
+    if (ind != d.NONE)
+      throw new Error("Arc angle " + angstr
+                      + " includes a hemisphere, N/E/W/S");
+    return ang;
+  }
+
+  d.DecodeAzimuth = function(azistr) {
+    var vals = d.Decode(azistr);
+    var azi = vals.val, ind = vals.ind;
+    if (ind == d.LATITUDE)
+      throw new Error("Azimuth " + azistr
+                      + " has a latitude hemisphere, N/S");
+    if (azi < -540 || azi >= 540)
+      throw new Error("Azimuth " + azistr + " not in range [-540d, 540d)");
+    azi = m.AngNormalize(azi);
+    return azi;
+  }
+
+  d.Encode = function(angle, trailing, prec, ind) {
+    // Assume check on range of input angle has been made by calling
+    // routine (which might be able to offer a better diagnostic).
+    if (!ind) ind = d.NONE;
+    if (!isFinite(angle))
+      return angle < 0 ? String("-inf") :
+      (angle > 0 ? String("inf") : String("nan"));
+
+    // 15 - 2 * trailing = ceiling(log10(2^53/90/60^trailing)).
+    // This suffices to give full real precision for numbers in [-90,90]
+    prec = Math.min(15 - 2 * trailing, prec);
+    var scale = 1, i;
+    for (i = 0; i < trailing; ++i)
+      scale *= 60;
+    for (i = 0; i < prec; ++i)
+      scale *= 10;
+    if (ind == d.AZIMUTH)
+      angle -= Math.floor(angle/360) * 360;
+    var sign = angle < 0 ? -1 : 1;
+    angle *= sign;
+
+    // Break off integer part to preserve precision in manipulation of
+    // fractional part.
+    var
+    idegree = Math.floor(angle),
+    fdegree = Math.floor((angle - idegree) * scale + 0.5) / scale;
+    if (fdegree >= 1) {
+      idegree += 1;
+      fdegree -= 1;
+    }
+    var pieces = [fdegree, 0, 0];
+    for (i = 1; i <= trailing; ++i) {
+      var
+      ip = Math.floor(pieces[i - 1]),
+      fp = pieces[i - 1] - ip;
+      pieces[i] = fp * 60;
+      pieces[i - 1] = ip;
+    }
+    pieces[0] += idegree;
+    var s = new String("");
+    if (ind == d.NONE && sign < 0)
+      s += '-';
+    switch (trailing) {
+    case d.DEGREE:
+      s += d.zerofill(pieces[0].toFixed(prec),
+                      ind == d.NONE ? 0 :
+                      1 + Math.min(ind, 2) + prec + (prec ? 1 : 0)) +
+        d.dmsindicatorsu_.charAt(0);
+      break;
+    default:
+      s += d.zerofill(pieces[0].toFixed(0),
+                      ind == d.NONE ? 0 : 1 + Math.min(ind, 2)) +
+        d.dmsindicatorsu_.charAt(0);
+      switch (trailing) {
+      case d.MINUTE:
+        s += d.zerofill(pieces[1].toFixed(prec), 2 + prec + (prec ? 1 : 0)) +
+          d.dmsindicatorsu_.charAt(1);
+        break;
+      case d.SECOND:
+        s += d.zerofill(pieces[1].toFixed(0), 2) + d.dmsindicatorsu_.charAt(1);
+        s += d.zerofill(pieces[2].toFixed(prec), 2 + prec + (prec ? 1 : 0)) +
+          d.dmsindicatorsu_.charAt(2);
+        break;
+      default:
+        break;
+      }
+    }
+    if (ind != d.NONE && ind != d.AZIMUTH)
+      s += d.hemispheres_.charAt((ind == d.LATITUDE ? 0 : 2) +
+                                 (sign < 0 ? 0 : 1));
+    return s;
+  }
+
+})();

gtsam/3rdparty/GeographicLib/doc/scripts/GeographicLib/GeodesicLine.js

@@ -0,0 +1,294 @@
+/**
+ * GeodesicLine.js
+ * Transcription of GeodesicLine.[ch]pp into JavaScript.
+ *
+ * See the documentation for the C++ class.  The conversion is a literal
+ * conversion from C++.
+ *
+ * The algorithms are derived in
+ *
+ *    Charles F. F. Karney,
+ *    Algorithms for geodesics, J. Geodesy 87, 43-55 (2013);
+ *    http://dx.doi.org/10.1007/s00190-012-0578-z
+ *    Addenda: http://geographiclib.sf.net/geod-addenda.html
+ *
+ * Copyright (c) Charles Karney (2011-2012) <charles@karney.com> and licensed
+ * under the MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+// Load AFTER GeographicLib/Math.js and GeographicLib/Geodesic.js
+
+(function() {
+  var g = GeographicLib.Geodesic;
+  var l = GeographicLib.GeodesicLine;
+  var m = GeographicLib.Math;
+
+  l.GeodesicLine = function(geod, lat1, lon1, azi1, caps) {
+    this._a = geod._a;
+    this._f = geod._f;
+    this._b = geod._b;
+    this._c2 = geod._c2;
+    this._f1 = geod._f1;
+    this._caps = !caps ? g.ALL : (caps | g.LATITUDE | g.AZIMUTH);
+
+    azi1 = g.AngRound(m.AngNormalize(azi1));
+    lon1 = m.AngNormalize(lon1);
+    this._lat1 = lat1;
+    this._lon1 = lon1;
+    this._azi1 = azi1;
+    // alp1 is in [0, pi]
+    var alp1 = azi1 * m.degree;
+    // Enforce sin(pi) == 0 and cos(pi/2) == 0.  Better to face the ensuing
+    // problems directly than to skirt them.
+    this._salp1 =          azi1  == -180 ? 0 : Math.sin(alp1);
+    this._calp1 = Math.abs(azi1) ==   90 ? 0 : Math.cos(alp1);
+    var cbet1, sbet1, phi;
+    phi = lat1 * m.degree;
+    // Ensure cbet1 = +epsilon at poles
+    sbet1 = this._f1 * Math.sin(phi);
+    cbet1 = Math.abs(lat1) == 90 ? g.tiny_ : Math.cos(phi);
+    // SinCosNorm(sbet1, cbet1);
+    var t = m.hypot(sbet1, cbet1); sbet1 /= t; cbet1 /= t;
+    this._dn1 = Math.sqrt(1 + geod._ep2 * m.sq(sbet1));
+
+    // Evaluate alp0 from sin(alp1) * cos(bet1) = sin(alp0),
+    this._salp0 = this._salp1 * cbet1; // alp0 in [0, pi/2 - |bet1|]
+    // Alt: calp0 = hypot(sbet1, calp1 * cbet1).  The following
+    // is slightly better (consider the case salp1 = 0).
+    this._calp0 = m.hypot(this._calp1, this._salp1 * sbet1);
+    // Evaluate sig with tan(bet1) = tan(sig1) * cos(alp1).
+    // sig = 0 is nearest northward crossing of equator.
+    // With bet1 = 0, alp1 = pi/2, we have sig1 = 0 (equatorial line).
+    // With bet1 =  pi/2, alp1 = -pi, sig1 =  pi/2
+    // With bet1 = -pi/2, alp1 =  0 , sig1 = -pi/2
+    // Evaluate omg1 with tan(omg1) = sin(alp0) * tan(sig1).
+    // With alp0 in (0, pi/2], quadrants for sig and omg coincide.
+    // No atan2(0,0) ambiguity at poles since cbet1 = +epsilon.
+    // With alp0 = 0, omg1 = 0 for alp1 = 0, omg1 = pi for alp1 = pi.
+    this._ssig1 = sbet1; this._somg1 = this._salp0 * sbet1;
+    this._csig1 = this._comg1 =
+      sbet1 != 0 || this._calp1 != 0 ? cbet1 * this._calp1 : 1;
+    // SinCosNorm(this._ssig1, this._csig1); // sig1 in (-pi, pi]
+    var t = m.hypot(this._ssig1, this._csig1);
+    this._ssig1 /= t; this._csig1 /= t;
+    // SinCosNorm(this._somg1, this._comg1); -- don't need to normalize!
+
+    this._k2 = m.sq(this._calp0) * geod._ep2;
+    var eps = this._k2 / (2 * (1 + Math.sqrt(1 + this._k2)) + this._k2);
+
+    if (this._caps & g.CAP_C1) {
+      this._A1m1 = g.A1m1f(eps);
+      this._C1a = new Array(g.nC1_ + 1);
+      g.C1f(eps, this._C1a);
+      this._B11 = g.SinCosSeries(true, this._ssig1, this._csig1,
+                                 this._C1a, g.nC1_);
+      var s = Math.sin(this._B11), c = Math.cos(this._B11);
+      // tau1 = sig1 + B11
+      this._stau1 = this._ssig1 * c + this._csig1 * s;
+      this._ctau1 = this._csig1 * c - this._ssig1 * s;
+      // Not necessary because C1pa reverts C1a
+      //    _B11 = -SinCosSeries(true, _stau1, _ctau1, _C1pa, nC1p_);
+    }
+
+    if (this._caps & g.CAP_C1p) {
+      this._C1pa = new Array(g.nC1p_ + 1),
+      g.C1pf(eps, this._C1pa);
+    }
+
+    if (this._caps & g.CAP_C2) {
+      this._A2m1 = g.A2m1f(eps);
+      this._C2a = new Array(g.nC2_ + 1);
+      g.C2f(eps, this._C2a);
+      this._B21 = g.SinCosSeries(true, this._ssig1, this._csig1,
+                                 this._C2a, g.nC2_);
+    }
+
+    if (this._caps & g.CAP_C3) {
+      this._C3a = new Array(g.nC3_);
+      geod.C3f(eps, this._C3a);
+      this._A3c = -this._f * this._salp0 * geod.A3f(eps);
+      this._B31 = g.SinCosSeries(true, this._ssig1, this._csig1,
+                                 this._C3a, g.nC3_-1);
+    }
+
+    if (this._caps & g.CAP_C4) {
+      this._C4a = new Array(g.nC4_); // all the elements of _C4a are used
+      geod.C4f(eps, this._C4a);
+      // Multiplier = a^2 * e^2 * cos(alpha0) * sin(alpha0)
+      this._A4 = m.sq(this._a) * this._calp0 * this._salp0 * geod._e2;
+      this._B41 = g.SinCosSeries(false, this._ssig1, this._csig1,
+                                 this._C4a, g.nC4_);
+    }
+  }
+
+  // return a12, lat2, lon2, azi2, s12, m12, M12, M21, S12
+  l.GeodesicLine.prototype.GenPosition = function(arcmode, s12_a12,
+                                                  outmask) {
+    var vals = {};
+    outmask &= this._caps & g.OUT_ALL;
+    if (!( arcmode || (this._caps & g.DISTANCE_IN & g.OUT_ALL) )) {
+      // Uninitialized or impossible distance calculation requested
+      vals.a12 = Number.NaN;
+      return vals;
+    }
+
+    // Avoid warning about uninitialized B12.
+    var sig12, ssig12, csig12, B12 = 0, AB1 = 0;
+    if (arcmode) {
+      // Interpret s12_a12 as spherical arc length
+      sig12 = s12_a12 * m.degree;
+      var s12a = Math.abs(s12_a12);
+      s12a -= 180 * Math.floor(s12a / 180);
+      ssig12 = s12a ==  0 ? 0 : Math.sin(sig12);
+      csig12 = s12a == 90 ? 0 : Math.cos(sig12);
+    } else {
+      // Interpret s12_a12 as distance
+      var
+      tau12 = s12_a12 / (this._b * (1 + this._A1m1)),
+      s = Math.sin(tau12),
+      c = Math.cos(tau12);
+      // tau2 = tau1 + tau12
+      B12 = - g.SinCosSeries(true,
+                             this._stau1 * c + this._ctau1 * s,
+                             this._ctau1 * c - this._stau1 * s,
+                             this._C1pa, g.nC1p_);
+      sig12 = tau12 - (B12 - this._B11);
+      ssig12 = Math.sin(sig12); csig12 = Math.cos(sig12);
+      if (Math.abs(this._f) > 0.01) {
+        // Reverted distance series is inaccurate for |f| > 1/100, so correct
+        // sig12 with 1 Newton iteration.  The following table shows the
+        // approximate maximum error for a = WGS_a() and various f relative to
+        // GeodesicExact.
+        //     erri = the error in the inverse solution (nm)
+        //     errd = the error in the direct solution (series only) (nm)
+        //     errda = the error in the direct solution (series + 1 Newton) (nm)
+        //
+        //       f     erri  errd errda
+        //     -1/5    12e6 1.2e9  69e6
+        //     -1/10  123e3  12e6 765e3
+        //     -1/20   1110 108e3  7155
+        //     -1/50  18.63 200.9 27.12
+        //     -1/100 18.63 23.78 23.37
+        //     -1/150 18.63 21.05 20.26
+        //      1/150 22.35 24.73 25.83
+        //      1/100 22.35 25.03 25.31
+        //      1/50  29.80 231.9 30.44
+        //      1/20   5376 146e3  10e3
+        //      1/10  829e3  22e6 1.5e6
+        //      1/5   157e6 3.8e9 280e6
+        var
+          ssig2 = this._ssig1 * csig12 + this._csig1 * ssig12,
+          csig2 = this._csig1 * csig12 - this._ssig1 * ssig12;
+        B12 = g.SinCosSeries(true, ssig2, csig2, this._C1a, g.nC1_);
+        var serr = (1 + this._A1m1) * (sig12 + (B12 - this._B11)) -
+          s12_a12 / this._b;
+        sig12 = sig12 - serr / Math.sqrt(1 + this._k2 * m.sq(ssig2));
+        ssig12 = Math.sin(sig12); csig12 = Math.cos(sig12);
+        // Update B12 below
+      }
+    }
+
+    var omg12, lam12, lon12;
+    var ssig2, csig2, sbet2, cbet2, somg2, comg2, salp2, calp2;
+    // sig2 = sig1 + sig12
+    ssig2 = this._ssig1 * csig12 + this._csig1 * ssig12;
+    csig2 = this._csig1 * csig12 - this._ssig1 * ssig12;
+    var dn2 = Math.sqrt(1 + this._k2 * m.sq(ssig2));
+    if (outmask & (g.DISTANCE | g.REDUCEDLENGTH | g.GEODESICSCALE)) {
+      if (arcmode || Math.abs(this._f) > 0.01)
+        B12 = g.SinCosSeries(true, ssig2, csig2, this._C1a, g.nC1_);
+      AB1 = (1 + this._A1m1) * (B12 - this._B11);
+    }
+    // sin(bet2) = cos(alp0) * sin(sig2)
+    sbet2 = this._calp0 * ssig2;
+    // Alt: cbet2 = hypot(csig2, salp0 * ssig2);
+    cbet2 = m.hypot(this._salp0, this._calp0 * csig2);
+    if (cbet2 == 0)
+      // I.e., salp0 = 0, csig2 = 0.  Break the degeneracy in this case
+      cbet2 = csig2 = g.tiny_;
+    // tan(omg2) = sin(alp0) * tan(sig2)
+    somg2 = this._salp0 * ssig2; comg2 = csig2; // No need to normalize
+    // tan(alp0) = cos(sig2)*tan(alp2)
+    salp2 = this._salp0; calp2 = this._calp0 * csig2; // No need to normalize
+    // omg12 = omg2 - omg1
+    omg12 = Math.atan2(somg2 * this._comg1 - comg2 * this._somg1,
+                       comg2 * this._comg1 + somg2 * this._somg1);
+
+    if (outmask & g.DISTANCE)
+      vals.s12 = arcmode ? this._b * ((1 + this._A1m1) * sig12 + AB1) : s12_a12;
+
+    if (outmask & g.LONGITUDE) {
+      lam12 = omg12 + this._A3c *
+        ( sig12 + (g.SinCosSeries(true, ssig2, csig2, this._C3a, g.nC3_-1)
+                   - this._B31));
+      lon12 = lam12 / m.degree;
+      // Use AngNormalize2 because longitude might have wrapped multiple times.
+      lon12 = m.AngNormalize2(lon12);
+      vals.lon2 = m.AngNormalize(this._lon1 + lon12);
+    }
+
+    if (outmask & g.LATITUDE)
+      vals.lat2 = Math.atan2(sbet2, this._f1 * cbet2) / m.degree;
+
+    if (outmask & g.AZIMUTH)
+      // minus signs give range [-180, 180). 0- converts -0 to +0.
+      vals.azi2 = 0 - Math.atan2(-salp2, calp2) / m.degree;
+
+    if (outmask & (g.REDUCEDLENGTH | g.GEODESICSCALE)) {
+      var
+      B22 = g.SinCosSeries(true, ssig2, csig2, this._C2a, g.nC2_),
+      AB2 = (1 + this._A2m1) * (B22 - this._B21),
+      J12 = (this._A1m1 - this._A2m1) * sig12 + (AB1 - AB2);
+      if (outmask & g.REDUCEDLENGTH)
+        // Add parens around (_csig1 * ssig2) and (_ssig1 * csig2) to ensure
+        // accurate cancellation in the case of coincident points.
+        vals.m12 = this._b * ((      dn2 * (this._csig1 * ssig2) -
+                               this._dn1 * (this._ssig1 * csig2))
+                              - this._csig1 * csig2 * J12);
+      if (outmask & g.GEODESICSCALE) {
+        var t = this._k2 * (ssig2 - this._ssig1) * (ssig2 + this._ssig1) /
+          (this._dn1 + dn2);
+        vals.M12 = csig12 + (t * ssig2 - csig2 * J12) * this._ssig1 / this._dn1;
+        vals.M21 = csig12 - (t * this._ssig1 - this._csig1 * J12) * ssig2 / dn2;
+      }
+    }
+
+    if (outmask & g.AREA) {
+      var
+      B42 = g.SinCosSeries(false, ssig2, csig2, this._C4a, g.nC4_);
+      var salp12, calp12;
+      if (this._calp0 == 0 || this._salp0 == 0) {
+        // alp12 = alp2 - alp1, used in atan2 so no need to normalized
+        salp12 = salp2 * this._calp1 - calp2 * this._salp1;
+        calp12 = calp2 * this._calp1 + salp2 * this._salp1;
+        // The right thing appears to happen if alp1 = +/-180 and alp2 = 0, viz
+        // salp12 = -0 and alp12 = -180.  However this depends on the sign being
+        // attached to 0 correctly.  The following ensures the correct behavior.
+        if (salp12 == 0 && calp12 < 0) {
+          salp12 = g.tiny_ * this._calp1;
+          calp12 = -1;
+        }
+      } else {
+        // tan(alp) = tan(alp0) * sec(sig)
+        // tan(alp2-alp1) = (tan(alp2) -tan(alp1)) / (tan(alp2)*tan(alp1)+1)
+        // = calp0 * salp0 * (csig1-csig2) / (salp0^2 + calp0^2 * csig1*csig2)
+        // If csig12 > 0, write
+        //   csig1 - csig2 = ssig12 * (csig1 * ssig12 / (1 + csig12) + ssig1)
+        // else
+        //   csig1 - csig2 = csig1 * (1 - csig12) + ssig12 * ssig1
+        // No need to normalize
+        salp12 = this._calp0 * this._salp0 *
+          (csig12 <= 0 ? this._csig1 * (1 - csig12) + ssig12 * this._ssig1 :
+           ssig12 * (this._csig1 * ssig12 / (1 + csig12) + this._ssig1));
+        calp12 = m.sq(this._salp0) + m.sq(this._calp0) * this._csig1 * csig2;
+      }
+      vals.S12 = this._c2 * Math.atan2(salp12, calp12) +
+        this._A4 * (B42 - this._B41);
+    }
+
+    vals.a12 = arcmode ? s12_a12 : sig12 / m.degree;
+    return vals;
+  }
+
+})();

gtsam/3rdparty/GeographicLib/doc/scripts/GeographicLib/Interface.js

@@ -0,0 +1,257 @@
+/**
+ * Interface.js
+ * JavaScript interface routines for the geodesic routines GeographicLib.
+ *
+ * This provides JavaScript-style interfaces to Math.js, Geodesic.js,
+ * GeodesicLine.js, and PolygonArea.js which, in turn, are rather
+ * literal translations of the following classes from GeographicLib:
+ * Math, Accumulator, Geodesic, GeodesicLine, PolygonArea.  See the
+ * documentation for the C++ class for more information at
+ *
+ *    http://geographiclib.sourceforge.net/html/annotated.html
+ *
+ * The algorithms are derived in
+ *
+ *    Charles F. F. Karney,
+ *    Algorithms for geodesics, J. Geodesy 87, 43-55 (2013);
+ *    http://dx.doi.org/10.1007/s00190-012-0578-z
+ *    Addenda: http://geographiclib.sf.net/geod-addenda.html
+ *
+ * Copyright (c) Charles Karney (2011) <charles@karney.com> and licensed
+ * under the MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************
+ * GeographicLib.Geodesic.WGS84.Inverse(lat1, lon1, lat2, lon2, outmask);
+ * GeographicLib.Geodesic.WGS84.Direct(lat1, lon1, azi1, s12, outmask);
+ *
+ * perform the basic geodesic calculations.  These return an object with
+ * (some) of the following fields:
+ *
+ *   lat1 latitude of point 1
+ *   lon1 longitude of point 1
+ *   azi1 azimuth of line at point 1
+ *   lat2 latitude of point 2
+ *   lon2 longitude of point 2
+ *   azi2 azimuth of line at point 2
+ *   s12 distance from 1 to 2
+ *   a12 arc length on auxiliary sphere from 1 to 2
+ *   m12 reduced length of geodesic
+ *   M12 geodesic scale 2 relative to 1
+ *   M21 geodesic scale 1 relative to 2
+ *   S12 area between geodesic and equator
+ *
+ * outmask determines which fields get included and if outmask is
+ * omitted, then only the basic geodesic fields are computed.  The mask
+ * is an or'ed combination of the following values
+ *
+ *   GeographicLib.Geodesic.LATITUDE
+ *   GeographicLib.Geodesic.LONGITUDE
+ *   GeographicLib.Geodesic.AZIMUTH
+ *   GeographicLib.Geodesic.DISTANCE
+ *   GeographicLib.Geodesic.REDUCEDLENGTH
+ *   GeographicLib.Geodesic.GEODESICSCALE
+ *   GeographicLib.Geodesic.AREA
+ *   GeographicLib.Geodesic.ALL
+ *
+ **********************************************************************
+ * GeographicLib.Geodesic.WGS84.InversePath(lat1, lon1, lat2, lon2, ds12, maxk);
+ * GeographicLib.Geodesic.WGS84.DirectPath(lat1, lon1, azi1, s12, ds12, maxk);
+ *
+ * splits a geodesic line into k equal pieces which are no longer than
+ * about ds12 (but k cannot exceed maxk, default 20), and returns an
+ * array of length k + 1 of objects with fields
+ *
+ *   lat, lon, azi
+ *
+ **********************************************************************
+ * GeographicLib.Geodesic.Envelope(lat1, lon1, azi1, s12, k)
+ *
+ * return the geodesic circle of radius s12 centered on the point lat1,
+ * lon1.  k equally spaced azimuths starting at azi1 are computed.  This
+ * returns an array of k + 1 points with fields lat and lon (with the
+ * first and last points matching).
+ *
+ **********************************************************************
+ * GeographicLib.Geodesic.Envelope(lat1, lon1, k, ord);
+ *
+ * returns the ord'th order envelope for geodesics emanating from lat1,
+ * lon1.  This is located approximately circumference * ord/2 from the
+ * point.  Thus odd numbered envelopes are centered at the antipodal
+ * point and even number envelopes are centered on the point itself.
+ * This returns an array of k + 1 points with fields lat and lon (with
+ * the first and last points matching).
+ *
+ **********************************************************************
+ * GeographicLib.Geodesic.WGS84.Area(points, polyline);
+ *
+ * computes the area of a polygon with vertices given by an array
+ * points, each of whose elements contains lat and lon fields.  The
+ * function returns an object with fields.
+ *
+ *   number, perimeter, area
+ *
+ * There is no need to "close" the polygon.  If polyline (default =
+ * false) is true, then the points denote a polyline and its length is
+ * returned as the perimeter (and the area is not calculated).
+ **********************************************************************/
+
+(function() {
+  var m = GeographicLib.Math;
+  var g = GeographicLib.Geodesic;
+  var l = GeographicLib.GeodesicLine;
+
+  g.Geodesic.CheckPosition = function(lat, lon) {
+    if (!(Math.abs(lat) <= 90))
+      throw new Error("latitude " + lat + " not in [-90, 90]");
+    if (!(lon >= -540 && lon < 540))
+      throw new Error("longitude " + lon + " not in [-540, 540)");
+    return m.AngNormalize(lon);
+  }
+
+  g.Geodesic.CheckAzimuth = function(azi) {
+    if (!(azi >= -540 && azi < 540))
+      throw new Error("longitude " + azi + " not in [-540, 540)");
+    return m.AngNormalize(azi);
+  }
+
+  g.Geodesic.CheckDistance = function(s) {
+    if (!(isFinite(s)))
+      throw new Error("distance " + s + " not a finite number");
+  }
+
+  g.Geodesic.prototype.Inverse = function(lat1, lon1, lat2, lon2, outmask) {
+    if (!outmask) outmask = g.DISTANCE | g.AZIMUTH;
+    lon1 = g.Geodesic.CheckPosition(lat1, lon1);
+    lon2 = g.Geodesic.CheckPosition(lat2, lon2);
+
+    var result = this.GenInverse(lat1, lon1, lat2, lon2, outmask);
+    result.lat1 = lat1; result.lon1 = lon1;
+    result.lat2 = lat2; result.lon2 = lon2;
+
+    return result;
+  }
+
+  g.Geodesic.prototype.Direct = function(lat1, lon1, azi1, s12, outmask) {
+    if (!outmask) outmask = g.LATITUDE | g.LONGITUDE | g.AZIMUTH;
+    lon1 = g.Geodesic.CheckPosition(lat1, lon1);
+    azi1 = g.Geodesic.CheckAzimuth(azi1);
+    g.Geodesic.CheckDistance(s12);
+
+    var result = this.GenDirect(lat1, lon1, azi1, false, s12, outmask);
+    result.lat1 = lat1; result.lon1 = lon1;
+    result.azi1 = azi1; result.s12 = s12;
+
+    return result;
+  }
+
+  g.Geodesic.prototype.InversePath =
+    function(lat1, lon1, lat2, lon2, ds12, maxk) {
+    var t = this.Inverse(lat1, lon1, lat2, lon2);
+    if (!maxk) maxk = 20;
+    if (!(ds12 > 0))
+      throw new Error("ds12 must be a positive number")
+    var
+    k = Math.max(1, Math.min(maxk, Math.ceil(t.s12/ds12))),
+    points = new Array(k + 1);
+    points[0] = {lat: t.lat1, lon: t.lon1, azi: t.azi1};
+    points[k] = {lat: t.lat2, lon: t.lon2, azi: t.azi2};
+    if (k > 1) {
+      var line = new l.GeodesicLine(this, t.lat1, t.lon1, t.azi1,
+                                    g.LATITUDE | g.LONGITUDE | g.AZIMUTH),
+      da12 = t.a12/k;
+      var vals;
+      for (var i = 1; i < k; ++i) {
+        vals =
+        line.GenPosition(true, i * da12, g.LATITUDE | g.LONGITUDE | g.AZIMUTH);
+        points[i] = {lat: vals.lat2, lon: vals.lon2, azi: vals.azi2};
+      }
+    }
+    return points;
+  }
+
+  g.Geodesic.prototype.DirectPath =
+    function(lat1, lon1, azi1, s12, ds12, maxk) {
+    var t = this.Direct(lat1, lon1, azi1, s12);
+    if (!maxk) maxk = 20;
+    if (!(ds12 > 0))
+      throw new Error("ds12 must be a positive number")
+    var
+    k = Math.max(1, Math.min(maxk, Math.ceil(Math.abs(t.s12)/ds12))),
+    points = new Array(k + 1);
+    points[0] = {lat: t.lat1, lon: t.lon1, azi: t.azi1};
+    points[k] = {lat: t.lat2, lon: t.lon2, azi: t.azi2};
+    if (k > 1) {
+      var line = new l.GeodesicLine(this, t.lat1, t.lon1, t.azi1,
+                                    g.LATITUDE | g.LONGITUDE | g.AZIMUTH),
+      da12 = t.a12/k;
+      var vals;
+      for (var i = 1; i < k; ++i) {
+        vals =
+        line.GenPosition(true, i * da12, g.LATITUDE | g.LONGITUDE | g.AZIMUTH);
+        points[i] = {lat: vals.lat2, lon: vals.lon2, azi: vals.azi2};
+      }
+    }
+    return points;
+  }
+
+  g.Geodesic.prototype.Circle = function(lat1, lon1, azi1, s12, k) {
+    if (!(Math.abs(lat1) <= 90))
+      throw new Error("lat1 must be in [-90, 90]");
+    if (!(lon1 >= -540 && lon1 < 540))
+      throw new Error("lon1 must be in [-540, 540)");
+    if (!(azi1 >= -540 && azi1 < 540))
+      throw new Error("azi1 must be in [-540, 540)");
+    if (!(isFinite(s12)))
+      throw new Error("s12 must be a finite number");
+    lon1 = m.AngNormalize(lon1);
+    azi1 = m.AngNormalize(azi1);
+    if (!k || k < 4) k = 24;
+    var points = new Array(k + 1);
+    var vals;
+    for (var i = 0; i <= k; ++i) {
+      var azi1a = azi1 + (k - i) * 360 / k; // Traverse circle counter-clocwise
+      if (azi1a >= 180) azi1a -= 360;
+      vals =
+        this.GenDirect(lat1, lon1, azi1a, false, s12, g.LATITUDE | g.LONGITUDE);
+      points[i] = {lat: vals.lat2, lon: vals.lon2};
+    }
+    return points;
+  }
+
+  g.Geodesic.prototype.Envelope = function(lat1, lon1, k, ord) {
+    if (!(Math.abs(lat1) <= 90))
+      throw new Error("lat1 must be in [-90, 90]");
+    if (!(lon1 >= -540 && lon1 < 540))
+      throw new Error("lon1 must be in [-540, 540)");
+    lon1 = m.AngNormalize(lon1);
+    if (!k || k < 4) k = 24;
+    if (!ord) ord = 1;
+    var points = new Array(k + 1);
+    var vals, line, s12, j;
+    for (var i = 0; i <= k; ++i) {
+      var azi1 = -180 + i * 360 / k;
+      line = new l.GeodesicLine(this, lat1, lon1, azi1,
+                                g.LATITUDE | g.LONGITUDE | g.DISTANCE_IN |
+                                g.DISTANCE | g.REDUCEDLENGTH | g.GEODESICSCALE);
+      vals = line.GenPosition(true, 180 * ord,
+                              g.DISTANCE | g.REDUCEDLENGTH | g.GEODESICSCALE);
+      j = 0;
+      while (true) {
+        // Solve m12(s12) = 0 by Newton's method using dm12/ds12 = M21
+        s12 = vals.s12 - vals.m12/vals.M21;
+        if (Math.abs(vals.m12) < line._a * g.tol2_ * 0.1 || ++j > 10)
+          break;
+        vals = line.GenPosition(false, s12,
+                                g.DISTANCE | g.REDUCEDLENGTH | g.GEODESICSCALE);
+      }
+      vals = line.GenPosition(false, s12, g.LATITUDE | g.LONGITUDE);
+      points[i] = {lat: vals.lat2, lon: vals.lon2};
+    }
+    return points;
+  }
+
+  g.Geodesic.prototype.Area = function(points, polyline) {
+    return GeographicLib.PolygonArea.Area(this, points, polyline);
+  }
+
+})();

gtsam/3rdparty/GeographicLib/doc/scripts/GeographicLib/Math.js

@@ -0,0 +1,172 @@
+/**
+ * Math.js
+ * Transcription of Math.hpp, Constants.hpp, and Accumulator.hpp into
+ * JavaScript.
+ *
+ * Copyright (c) Charles Karney (2011) <charles@karney.com> and licensed
+ * under the MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+var GeographicLib; if (!GeographicLib) GeographicLib = {};
+
+GeographicLib.Math = {};
+
+GeographicLib.Math.sq = function(x) { return x * x; }
+
+GeographicLib.Math.hypot = function(x, y) {
+  x = Math.abs(x);
+  y = Math.abs(y);
+  var a = Math.max(x, y), b = Math.min(x, y) / (a ? a : 1);
+  return a * Math.sqrt(1 + b * b);
+}
+
+GeographicLib.Math.cbrt = function(x) {
+  var y = Math.pow(Math.abs(x), 1/3);
+  return x < 0 ? -y : y;
+}
+
+GeographicLib.Math.log1p = function(x) {
+  var
+  y = 1 + x,
+  z = y - 1;
+  // Here's the explanation for this magic: y = 1 + z, exactly, and z
+  // approx x, thus log(y)/z (which is nearly constant near z = 0) returns
+  // a good approximation to the true log(1 + x)/x.  The multiplication x *
+  // (log(y)/z) introduces little additional error.
+  return z == 0 ? x : x * Math.log(y) / z;
+}
+
+GeographicLib.Math.atanh = function(x) {
+  var y = Math.abs(x);          // Enforce odd parity
+  y = GeographicLib.Math.log1p(2 * y/(1 - y))/2;
+  return x < 0 ? -y : y;
+}
+
+GeographicLib.Math.sum = function(u, v) {
+  var
+  s = u + v,
+  up = s - v,
+  vpp = s - up;
+  up -= u;
+  vpp -= v;
+  t = -(up + vpp);
+  // u + v =       s      + t
+  //       = round(u + v) + t
+  return {s: s, t: t};
+}
+
+GeographicLib.Math.AngNormalize = function(x) {
+  // Place angle in [-180, 180).  Assumes x is in [-540, 540).
+  return x >= 180 ? x - 360 : (x < -180 ? x + 360 : x);
+}
+
+GeographicLib.Math.AngNormalize2 = function(x) {
+  // Place arbitrary angle in [-180, 180).
+  return GeographicLib.Math.AngNormalize(x % 360);
+}
+
+GeographicLib.Math.AngDiff = function(x, y) {
+  // Compute y - x and reduce to [-180,180] accurately.
+  // This is the same logic as the Accumulator class uses.
+  var
+  d = y - x,
+  yp = d + x,
+  xpp = yp - d;
+  yp -= y;
+  xpp -= x;
+  var t =  xpp - yp;
+  // y - x =       d      + t
+  //       = round(y - x) + t
+  if ((d - 180) + t > 0)        // y - x > 180
+    d -= 360;                   // exact
+  else if ((d + 180) + t <= 0)  // y - x <= -180
+    d += 360;                   // exact
+  return d + t;
+}
+
+GeographicLib.Math.epsilon = Math.pow(0.5, 52);
+GeographicLib.Math.degree = Math.PI/180;
+GeographicLib.Math.digits = 53;
+
+GeographicLib.Constants = {};
+GeographicLib.Constants.WGS84 = { a: 6378137, f: 1/298.257223563 };
+
+GeographicLib.Accumulator = {};
+(function() {
+  a = GeographicLib.Accumulator;
+  var m = GeographicLib.Math;
+
+  a.Accumulator = function(y) {
+    this.Set(y);
+  }
+
+  a.Accumulator.prototype.Set = function(y) {
+    if (!y) y = 0;
+    if (y.constructor == a.Accumulator) {
+      this._s = y._s;
+      this._t = y._t;
+    } else {
+      this._s = y;
+      this._t = 0;
+    }
+  }
+
+  a.Accumulator.prototype.Add = function(y) {
+    // Here's Shewchuk's solution...
+    // Accumulate starting at least significant end
+    var u = m.sum(y, this._t);
+    var v = m.sum(u.s, this._s);
+    u = u.t;
+    this._s = v.s;
+    this._t = v.t;
+    // Start is _s, _t decreasing and non-adjacent.  Sum is now (s + t + u)
+    // exactly with s, t, u non-adjacent and in decreasing order (except
+    // for possible zeros).  The following code tries to normalize the
+    // result.  Ideally, we want _s = round(s+t+u) and _u = round(s+t+u -
+    // _s).  The follow does an approximate job (and maintains the
+    // decreasing non-adjacent property).  Here are two "failures" using
+    // 3-bit floats:
+    //
+    // Case 1: _s is not equal to round(s+t+u) -- off by 1 ulp
+    // [12, -1] - 8 -> [4, 0, -1] -> [4, -1] = 3 should be [3, 0] = 3
+    //
+    // Case 2: _s+_t is not as close to s+t+u as it shold be
+    // [64, 5] + 4 -> [64, 8, 1] -> [64,  8] = 72 (off by 1)
+    //                    should be [80, -7] = 73 (exact)
+    //
+    // "Fixing" these problems is probably not worth the expense.  The
+    // representation inevitably leads to small errors in the accumulated
+    // values.  The additional errors illustrated here amount to 1 ulp of
+    // the less significant word during each addition to the Accumulator
+    // and an additional possible error of 1 ulp in the reported sum.
+    //
+    // Incidentally, the "ideal" representation described above is not
+    // canonical, because _s = round(_s + _t) may not be true.  For
+    // example, with 3-bit floats:
+    //
+    // [128, 16] + 1 -> [160, -16] -- 160 = round(145).
+    // But [160, 0] - 16 -> [128, 16] -- 128 = round(144).
+    //
+    if (this._s == 0)           // This implies t == 0,
+      this._s = u;              // so result is u
+    else
+      this._t += u;             // otherwise just accumulate u to t.
+  }
+
+  a.Accumulator.prototype.Sum = function(y) {
+    if (!y)
+      return this._s;
+    else {
+      var b = new a.Accumulator(this);
+      b.Add(y);
+      return b._s;
+    }
+  }
+
+  a.Accumulator.prototype.Negate = function() {
+    this._s *= -1;
+    this._t *= -1;
+  }
+
+})();

gtsam/3rdparty/GeographicLib/doc/scripts/GeographicLib/PolygonArea.js

@@ -0,0 +1,241 @@
+/**
+ * PolygonArea.js
+ * Transcription of PolygonArea.[ch]pp into JavaScript.
+ *
+ * See the documentation for the C++ class.  The conversion is a literal
+ * conversion from C++.
+ *
+ * The algorithms are derived in
+ *
+ *    Charles F. F. Karney,
+ *    Algorithms for geodesics, J. Geodesy 87, 43-55 (2013);
+ *    http://dx.doi.org/10.1007/s00190-012-0578-z
+ *    Addenda: http://geographiclib.sf.net/geod-addenda.html
+ *
+ * Copyright (c) Charles Karney (2011-2013) <charles@karney.com> and licensed
+ * under the MIT/X11 License.  For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+// Load AFTER GeographicLib/Math.js and GeographicLib/Geodesic.js
+
+GeographicLib.PolygonArea = {};
+
+(function() {
+  var m = GeographicLib.Math;
+  var a = GeographicLib.Accumulator;
+  var g = GeographicLib.Geodesic;
+  var p = GeographicLib.PolygonArea;
+
+  p.transit = function(lon1, lon2) {
+    // Return 1 or -1 if crossing prime meridian in east or west direction.
+    // Otherwise return zero.
+    // Compute lon12 the same way as Geodesic::Inverse.
+    lon1 = m.AngNormalize(lon1);
+    lon2 = m.AngNormalize(lon2);
+    var lon12 = m.AngDiff(lon1, lon2);
+    var cross =
+      lon1 < 0 && lon2 >= 0 && lon12 > 0 ? 1 :
+      (lon2 < 0 && lon1 >= 0 && lon12 < 0 ? -1 : 0);
+    return cross;
+  }
+
+  p.PolygonArea = function(earth, polyline) {
+    this._earth = earth;
+    this._area0 = 4 * Math.PI * earth._c2;
+    this._polyline = !polyline ? false : polyline;
+    this._mask = g.LATITUDE | g.LONGITUDE | g.DISTANCE |
+          (this._polyline ? g.NONE : g.AREA);
+    if (!this._polyline)
+      this._areasum = new a.Accumulator(0);
+    this._perimetersum = new a.Accumulator(0);
+    this.Clear();
+  }
+
+  p.PolygonArea.prototype.Clear = function() {
+    this._num = 0;
+    this._crossings = 0;
+    if (!this._polyline)
+      this._areasum.Set(0);
+    this._perimetersum.Set(0);
+    this._lat0 = this._lon0 = this._lat1 = this._lon1 = Number.NaN;
+  }
+
+  p.PolygonArea.prototype.AddPoint = function(lat, lon) {
+    if (this._num == 0) {
+      this._lat0 = this._lat1 = lat;
+      this._lon0 = this._lon1 = lon;
+    } else {
+      var t = this._earth.Inverse(this._lat1, this._lon1, lat, lon, this._mask);
+      this._perimetersum.Add(t.s12);
+      if (!this._polyline) {
+        this._areasum.Add(t.S12);
+        this._crossings += p.transit(this._lon1, lon);
+      }
+      this._lat1 = lat;
+      this._lon1 = lon;
+    }
+    ++this._num;
+  }
+
+  p.PolygonArea.prototype.AddEdge = function(azi, s) {
+    if (this._num) {
+      var t = this._earth.Direct(this._lat1, this._lon1, azi, s, this._mask);
+      this._perimetersum.Add(s);
+      if (!this._polyline) {
+        this._areasum.Add(t.S12);
+        this._crossings += p.transit(this._lon1, t.lon2);
+      }
+      this._lat1 = t.lat2;
+      this._lon1 = t.lon2;
+    }
+    ++this._num;
+  }
+
+  // return number, perimeter, area
+  p.PolygonArea.prototype.Compute = function(reverse, sign) {
+    var vals = {number: this._num};
+    if (this._num < 2) {
+      vals.perimeter = 0;
+      if (!this._polyline)
+        vals.area = 0;
+      return vals;
+    }
+    if (this._polyline) {
+      vals.perimeter = this._perimetersum.Sum();
+      return vals;
+    }
+    var t = this._earth.Inverse(this._lat1, this._lon1, this._lat0, this._lon0,
+                                this._mask);
+    vals.perimeter = this._perimetersum.Sum(t.s12);
+    var tempsum = new a.Accumulator(this._areasum);
+    tempsum.Add(t.S12);
+    var crossings = this._crossings + p.transit(this._lon1, this._lon0);
+    if (crossings & 1)
+      tempsum.Add( (tempsum.Sum() < 0 ? 1 : -1) * this._area0/2 );
+    // area is with the clockwise sense.  If !reverse convert to
+    // counter-clockwise convention.
+    if (!reverse)
+      tempsum.Negate();
+    // If sign put area in (-area0/2, area0/2], else put area in [0, area0)
+    if (sign) {
+      if (tempsum.Sum() > this._area0/2)
+        tempsum.Add( -this._area0 );
+      else if (tempsum.Sum() <= -this._area0/2)
+        tempsum.Add( +this._area0 );
+    } else {
+      if (tempsum.Sum() >= this._area0)
+        tempsum.Add( -this._area0 );
+      else if (tempsum < 0)
+        tempsum.Add( -this._area0 );
+    }
+    vals.area = tempsum.Sum();
+    return vals;
+  }
+
+  // return number, perimeter, area
+  p.PolygonArea.prototype.TestPoint = function(lat, lon, reverse, sign) {
+    var vals = {number: this._num + 1};
+    if (this._num == 0) {
+      vals.perimeter = 0;
+      if (!this._polyline)
+        vals.area = 0;
+      return vals;
+    }
+    vals.perimeter = this._perimetersum.Sum();
+    var tempsum = this._polyline ? 0 : this._areasum.Sum();
+    var crossings = this._crossings;
+    var t;
+    for (var i = 0; i < (this._polyline ? 1 : 2); ++i) {
+      t = this._earth.Inverse
+      (i == 0 ? this._lat1 : lat, i == 0 ? this._lon1 : lon,
+       i != 0 ? this._lat0 : lat, i != 0 ? this._lon0 : lon,
+       this._mask);
+      vals.perimeter += t.s12;
+      if (!this._polyline) {
+        tempsum += t.S12;
+        crossings += p.transit(i == 0 ? this._lon1 : lon,
+                               i != 0 ? this._lon0 : lon);
+      }
+    }
+
+    if (this._polyline)
+      return vals;
+
+    if (crossings & 1)
+      tempsum += (tempsum < 0 ? 1 : -1) * this._area0/2;
+    // area is with the clockwise sense.  If !reverse convert to
+    // counter-clockwise convention.
+    if (!reverse)
+      tempsum *= -1;
+    // If sign put area in (-area0/2, area0/2], else put area in [0, area0)
+    if (sign) {
+      if (tempsum > this._area0/2)
+        tempsum -= this._area0;
+      else if (tempsum <= -this._area0/2)
+        tempsum += this._area0;
+    } else {
+      if (tempsum >= this._area0)
+        tempsum -= this._area0;
+      else if (tempsum < 0)
+        tempsum += this._area0;
+    }
+    vals.area = tempsum;
+    return vals;
+  }
+
+  // return number, perimeter, area
+  p.PolygonArea.prototype.TestEdge = function(azi, s, reverse, sign) {
+    var vals = {number: this._num ? this._num + 1 : 0};
+    if (this._num == 0)
+      return vals;
+    vals.perimeter = this._perimetersum.Sum() + s;
+    if (this._polyline)
+      return vals;
+
+    var tempsum = this._areasum.Sum();
+    var crossings = this._crossings;
+    var t;
+    t = this._earth.Direct(this._lat1, this._lon1, azi, s, this._mask);
+    tempsum += t.S12;
+    crossings += p.transit(this._lon1, t.lon2);
+    t = this._earth(t.lat2, t.lon2, this._lat0, this._lon0, this._mask);
+    perimeter += t.s12;
+    tempsum += t.S12;
+    crossings += p.transit(t.lon2, this._lon0);
+
+    if (crossings & 1)
+      tempsum += (tempsum < 0 ? 1 : -1) * this._area0/2;
+    // area is with the clockwise sense.  If !reverse convert to
+    // counter-clockwise convention.
+    if (!reverse)
+      tempsum *= -1;
+    // If sign put area in (-area0/2, area0/2], else put area in [0, area0)
+    if (sign) {
+      if (tempsum > this._area0/2)
+        tempsum -= this._area0;
+      else if (tempsum <= -this._area0/2)
+        tempsum += this._area0;
+    } else {
+      if (tempsum >= this._area0)
+        tempsum -= this._area0;
+      else if (tempsum < 0)
+        tempsum += this._area0;
+    }
+    vals.area = tempsum;
+    return vals;
+  }
+
+  p.PolygonArea.prototype.CurrentPoint = function() {
+    var vals = {lat: this._lat1, lon: this._lon1};
+    return vals;
+  }
+
+  p.Area = function(earth, points, polyline) {
+    var poly = new p.PolygonArea(earth, polyline);
+    for (var i = 0; i < points.length; ++i)
+      poly.AddPoint(points[i].lat, points[i].lon);
+    return poly.Compute(false, true);
+  }
+
+})();

gtsam/3rdparty/GeographicLib/doc/scripts/geod-calc.html

@@ -0,0 +1,471 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <title>Geodesic calculations for an ellipsoid done right</title>
+    <meta name="description"
+	  content="Geodesic calculations for an ellipsoid done right" />
+    <meta name="author" content="Charles F. F. Karney">
+    <meta name="keywords"
+	  content="geodesics,
+		   geodesic distance,
+		   geographic distance,
+		   shortest path,
+		   direct geodesic problem,
+		   inverse geodesic problem,
+		   distance and azimuth,
+		   distance and heading,
+		   range and bearing,
+		   geographic area,
+		   geodesic polygon,
+		   spheroidal triangle,
+		   latitude and longitude,
+		   online calculator,
+		   WGS84 ellipsoid,
+		   GeographicLib" />
+    <script type="text/javascript"
+	    src="http://geographiclib.sf.net/scripts/geographiclib.js">
+    </script>
+    <script type="text/javascript">
+<!--
+var geod = GeographicLib.Geodesic.WGS84;
+var dms = GeographicLib.DMS;
+function formatpoint(lat, lon, azi, dmsformat, prec) {
+  prec += 5;
+  if (dmsformat) {
+    var trail = prec < 2 ? dms.DEGREE :
+      (prec < 4 ? dms.MINUTE : dms.SECOND);
+    prec = prec < 2 ? prec : (prec < 4 ? prec - 2 : prec - 4);
+    return (dms.Encode(lat, trail, prec, dms.LATITUDE) + " " +
+	    dms.Encode(lon, trail, prec, dms.LONGITUDE) + " " +
+	    dms.Encode(azi, trail, prec, dms.AZIMUTH));
+  } else {
+    return (lat.toFixed(prec) + " " +
+	    lon.toFixed(prec) + " " +
+	    azi .toFixed(prec));
+  }
+}
+
+function GeodesicInverse(input, dmsformat, prec) {
+  var result = {};
+  try {
+    // Input is a blank-delimited line: lat1 lon1 lat2 lon2
+    var t = new String(input);
+    t = t.replace(/^\s+/,"").replace(/\s+$/,"").split(/[\s,]+/,6);
+    if (t.length != 4)
+      throw new Error("Need 4 input items");
+    var p1 = GeographicLib.DMS.DecodeLatLon(t[0], t[1]);
+    var p2 = GeographicLib.DMS.DecodeLatLon(t[2], t[3]);
+    t = geod.Inverse(p1.lat, p1.lon, p2.lat, p2.lon);
+    result.status = "OK";
+    result.p1 = formatpoint(t.lat1, t.lon1, t.azi1, dmsformat, prec);
+    result.p2 = formatpoint(t.lat2, t.lon2, t.azi2, dmsformat, prec);
+    result.s12 = t.s12.toFixed(prec);
+  }
+  catch (e) {
+    result.status = "ERROR: " + e.message;
+    result.p1 = "";
+    result.p2 = "";
+    result.s12 = "";
+  }
+  return result;
+}
+
+function GeodesicDirect(input, dmsformat, prec) {
+  var result = {};
+  try {
+    // Input is a blank-delimited line: lat1 lon1 azi1 s12
+    var t = new String(input);
+    t = t.replace(/^\s+/,"").replace(/\s+$/,"").split(/[\s,]+/,6);
+    if (t.length != 4)
+      throw new Error("Need 4 input items");
+    var p1 = GeographicLib.DMS.DecodeLatLon(t[0], t[1]);
+    var azi1 = GeographicLib.DMS.DecodeAzimuth(t[2]);
+    var s12 = parseFloat(t[3]);
+    t = geod.Direct(p1.lat, p1.lon, azi1, s12);
+    result.status = "OK";
+    result.p1 = formatpoint(t.lat1, t.lon1, t.azi1, dmsformat, prec);
+    result.p2 = formatpoint(t.lat2, t.lon2, t.azi2, dmsformat, prec);
+    result.s12 = t.s12.toFixed(prec);
+  }
+  catch (e) {
+    result.status = "ERROR: " + e.message;
+    result.p1 = "";
+    result.p2 = "";
+    result.s12 = "";
+  }
+  return result;
+}
+
+function GeodesicInversePath(input, dmsformat, prec) {
+  var result = {};
+  try {
+    // Input is a blank-delimited line: lat1 lon1 lat2 lon2 ds12 maxnum
+    var t = new String(input);
+    t = t.replace(/^\s+/,"").replace(/\s+$/,"").split(/[\s,]+/,8);
+    if (t.length != 6)
+      throw new Error("Need 6 input items");
+    var p1 = GeographicLib.DMS.DecodeLatLon(t[0], t[1]);
+    var p2 = GeographicLib.DMS.DecodeLatLon(t[2], t[3]);
+    var ds12 = parseFloat(t[4]);
+    var maxnum = parseInt(t[5]);
+    var t = new String(input);
+    t = t.split(/[\s,]+/,8);
+    if (t[0] == "") t.shift();
+    t = geod.InversePath(p1.lat, p1.lon, p2.lat, p2.lon, ds12, maxnum);
+    result.status = "OK";
+    result.points = ""
+    for (var i = 0; i < t.length; ++i)
+      result.points +=
+      formatpoint(t[i].lat, t[i].lon, t[i].azi, dmsformat, prec) + "\n";
+  }
+  catch (e) {
+    result.status = "ERROR: " + e.message;
+    result.points = "";
+  }
+  return result;
+}
+
+function GeodesicArea(input, polyline) {
+  var result = {};
+  try {
+    // Input is a newline-delimited points;
+    // each point is blank-delimited: lat lon
+    var t = new String(input);
+    t = t.split(/[\r\n]/);
+    if (t[0] == "") t.shift();
+    if (t[t.length-1] == "") t.pop();
+    for (var i = 0; i < t.length; ++i) {
+      var pos = t[i].replace(/^\s+/,"").replace(/\s+$/,"").split(/[\s,]+/,4);
+      if (pos.length != 2)
+	throw new Error("Need 2 items on each line");
+      t[i] = dms.DecodeLatLon(pos[0], pos[1]);
+    }
+    t = geod.Area(t, polyline);
+    result.status = "OK";
+    result.area = t.number + " " +
+      t.perimeter.toFixed(8);
+    if (!polyline)
+      result.area += " " + t.area.toFixed(2);
+  }
+  catch (e) {
+    result.status = "ERROR: " + e.message;
+    result.area = "";
+  }
+  return result;
+}
+//-->
+    </script>
+  </head>
+  <body>
+    <div>
+      <h2>Geodesic calculations for an ellipsoid done right</h2>
+    </div>
+    <p>
+      This page illustrates the geodesic routines available in
+      <a href="http://geographiclib.sourceforge.net">GeographicLib</a>.
+      The C++ code has been converted to JavaScript so the calculations
+      are carried out on the client.  The algorithms are considerably
+      more accurate than Vincenty's method, and offer more functionality
+      (an inverse method which never fails to converge, differential
+      properties of the geodesic, and the area under a geodesic).  The
+      algorithms are derived in
+      <blockquote>
+	Charles F. F. Karney,<br>
+	<a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+	  <i>Algorithms for geodesics</i></a>,<br>
+	J. Geodesy <b>87</b>(1), 43&ndash;55 (Jan. 2013);<br>
+	DOI:
+	<a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+	  10.1007/s00190-012-0578-z</a>
+	(<a href="http://dx.doi.org/10.1007/s00190-012-0578-z">pdf</a>);
+	addenda: <a href="http://geographiclib.sf.net/geod-addenda.html">
+	  geod-addenda.html</a>.
+      </blockquote>
+      This page just provides a basic interface.  Enter latitudes,
+      longitudes, and azimuths as degrees and distances as meters using
+      spaces or commas as separators.  (Angles may be entered as decimal
+      degrees or as degrees, minutes, and seconds, e.g. -20.51125,
+      20&deg;30&prime;40.5&Prime;S, S20d30'40.5&quot;, or
+      -20:30:40.5.)  The results are accurate to about
+      15&nbsp;nanometers (or 0.1&nbsp;m<sup>2</sup> per vertex for
+      areas).  A slicker page where the geodesics are incorporated into
+      Google Maps is given <a href="geod-google.html">here</a>.
+    <p>
+      Jump to:
+      <ul>
+	<li><a href="#inverse">Inverse problem</a></li>
+	<li><a href="#direct">Direct problem</a></li>
+	<li><a href="#path">Geodesic path</a></li>
+	<li><a href="#area">Polygon area</a></li>
+	<li><a href="geod-google.html">Geodesic lines, circles, and
+	envelopes in Google Maps</a></li>
+      </ul>
+    </p>
+    <hr>
+    <form name="inverse" >
+      <h3><a class="anchor" id="inverse">Inverse problem</h3>
+      <p>
+	Find the shortest path between two points on the earth.  The
+	path is characterized by its length <i>s12</i> and its azimuth
+	at the two ends <i>azi1</i> and <i>azi2</i>.  The sample
+	calculation finds the shortest path between Wellington, New
+	Zealand, and Salamanca, Spain.  (For this example, the
+	<a href="http://www.ngs.noaa.gov/">NGS</a>
+	<a href="http://www.ngs.noaa.gov/cgi-bin/Inv_Fwd/inverse2.prl">
+        inverse geodesic calculator</a> returns a result which is 1.2 km
+	too long with an azimuth which is off by 3 degrees.)  To perform
+	the calculation, press the &ldquo;COMPUTE&rdquo; button.
+      </p>
+      <p>Enter <i>&ldquo;lat1 lon1 lat2 lon2&rdquo;</i>:</p>
+      <p>input:
+        <input name="input" size=72 value="-41.32 174.81 40.96 -5.50" />
+      </p>
+      <p>
+	Output format:&nbsp;&nbsp;<label for="ig">
+	  <input type="radio" value="g" name="format" id="ig" checked>
+	  decimal degrees
+	</label>&nbsp;
+	<label for="id">
+	  <input type="radio" value="d" name="format" id="id">
+	  degrees minutes seconds
+	</label><br>
+	Output precision:&nbsp;&nbsp;<select name="prec" size=1>
+	  <option value='0'> 1m 0.00001d 0.1"</option>
+	  <option value='1'> 100mm 0.01"</option>
+	  <option value='2'> 10mm 0.001"</option>
+	  <option value='3' selected> 1mm 0.0001"</option>
+	  <option value='4'> 100um 0.00001"</option>
+	  <option value='5'> 10um 0.000001"</option>
+	  <option value='6'> 1um 0.0000001"</option>
+	  <option value='7'> 100nm 0.00000001"</option>
+	  <option value='8'> 10nm 0.000000001"</option>
+	  <option value='9'> 1nm 0.0000000001"</option>
+	</select>
+      </p>
+      <p>
+        <input type="button" value="COMPUTE"
+	       onclick="var t = GeodesicInverse(document.inverse.input.value,
+			        document.inverse.format[1].checked,
+				document.inverse.prec.selectedIndex);
+			document.inverse.status.value = t.status;
+			document.inverse.p1.value = t.p1;
+			document.inverse.p2.value = t.p2;
+			document.inverse.s12.value = t.s12;" />
+      </p>
+      <p>
+	status:
+        <input name="status" size=50 readonly />
+      </p>
+      <p>
+	lat1 lon1 <font color='blue'>azi1</font>:
+        <input name="p1" size=75 readonly />
+      </p>
+      <p>
+	lat2 lon2 <font color='blue'>azi2</font>:
+        <input name="p2" size=75 readonly />
+      </p>
+      <p>
+	<font color='blue'>s12</font>:
+        <input name="s12" size=25 readonly />
+      </p>
+    </form>
+    <hr>
+    <form name="direct">
+      <h3><a class="anchor" id="direct">Direct problem</h3>
+      <p>
+	Find the destination traveling a given distance along a geodesic
+	with a given azimuth at the starting point.  The destination is
+	characterized by its position <i>lat2, lon2</i> and its azimuth
+	at the destination <i>azi2</i>.  The sample calculation shows
+	the result of travelling 10000 km NE from JFK airport.  To perform
+	the calculation, press the &ldquo;COMPUTE&rdquo; button.
+      </p>
+      <p>Enter <i>&ldquo;lat1 lon1 azi1 s12&rdquo;</i>:</p>
+      <p>input:
+        <input name="input" size=72 value="40.6 -73.8 45 10000e3" />
+      </p>
+      <p>
+	Output format:&nbsp;&nbsp;<label for="dg">
+	  <input type="radio" value="g" name="format" id="dg" checked>
+	  decimal degrees
+	</label>&nbsp;
+	<label for="dd">
+	  <input type="radio" value="d" name="format" id="dd">
+	  degrees minutes seconds
+	</label><br>
+	Output precision:&nbsp;&nbsp;<select name="prec" size=1>
+	  <option value='0'> 1m 0.00001d 0.1"</option>
+	  <option value='1'> 100mm 0.01"</option>
+	  <option value='2'> 10mm 0.001"</option>
+	  <option value='3' selected> 1mm 0.0001"</option>
+	  <option value='4'> 100um 0.00001"</option>
+	  <option value='5'> 10um 0.000001"</option>
+	  <option value='6'> 1um 0.0000001"</option>
+	  <option value='7'> 100nm 0.00000001"</option>
+	  <option value='8'> 10nm 0.000000001"</option>
+	  <option value='9'> 1nm 0.0000000001"</option>
+	</select>
+      </p>
+      <p>
+        <input type="button" value="COMPUTE"
+	       onclick="var t = GeodesicDirect(document.direct.input.value,
+			        document.direct.format[1].checked,
+				document.direct.prec.selectedIndex);
+			document.direct.status.value = t.status;
+			document.direct.p1.value = t.p1;
+			document.direct.p2.value = t.p2;
+			document.direct.s12.value = t.s12;" />
+      </p>
+      <p>
+	status:
+        <input name="status" size=50 readonly />
+      </p>
+      <p>
+	lat1 lon1 azi1:
+        <input name="p1" size=75 readonly />
+      </p>
+      <p>
+	<font color='blue'>lat2 lon2 azi2</font>:
+        <input name="p2" size=75 readonly />
+      </p>
+      <p>
+	s12:
+        <input name="s12" size=25 readonly />
+      </p>
+    </form>
+    <hr>
+    <form name="path">
+      <h3><a class="anchor" id="path">Geodesic path</h3>
+      <p>
+	Find intermediate points along a geodesic.  In addition to
+	specifying the endpoints, give <i>ds12</i>, the maximum distance
+	between the intermediate points and <i>maxk</i>, the maximum
+	number of intervals the geodesic is broken into.  The output
+	gives a sequence of positions <i>lat, lon</i> together with the
+	corresponding azimuths <i>azi</i>.  The sample shows the path
+	from JFK to Singapore's Changi Airport at about 1000 km
+	intervals.  (In this example, the path taken by Google Earth
+	deviates from the shortest path by about 2.9 km.)  To perform
+	the calculation, press the &ldquo;COMPUTE&rdquo; button.
+      </p>
+      <p>Enter <i>&ldquo;lat1 lon1 lat2 lon2 ds12 maxk&rdquo;</i>:</p>
+      <p>input:
+        <input name="input" size=72 value="40.6 -73.8 1.4 104 1000e3 20" />
+      </p>
+      <p>
+	Output format:&nbsp;&nbsp;<label for="pg">
+	  <input type="radio" value="g" name="format" id="pg" checked>
+	  decimal degrees
+	</label>&nbsp;
+	<label for="pd">
+	  <input type="radio" value="d" name="format" id="pd">
+	  degrees minutes seconds
+	</label><br>
+	Output precision:&nbsp;&nbsp;<select name="prec" size=1>
+	  <option value='0' selected> 1m 0.00001d 0.1"</option>
+	  <option value='1'> 100mm 0.01"</option>
+	  <option value='2'> 10mm 0.001"</option>
+	  <option value='3'> 1mm 0.0001"</option>
+	  <option value='4'> 100um 0.00001"</option>
+	  <option value='5'> 10um 0.000001"</option>
+	  <option value='6'> 1um 0.0000001"</option>
+	  <option value='7'> 100nm 0.00000001"</option>
+	  <option value='8'> 10nm 0.000000001"</option>
+	  <option value='9'> 1nm 0.0000000001"</option>
+	</select>
+      </p>
+      <p>
+        <input type="button" value="COMPUTE"
+	       onclick="var t = GeodesicInversePath(document.path.input.value,
+			        document.path.format[1].checked,
+				document.path.prec.selectedIndex);
+			document.path.status.value = t.status;
+			document.path.points.value = t.points;" />
+      </p>
+      <p>
+	status:
+        <input name="status" size=50 readonly />
+      </p>
+      <p>
+	points (lat lon azi):<br>
+        <textarea name="points" cols=70 rows=21 readonly></textarea>
+      </p>
+    </form>
+    <hr>
+    <form name="area">
+      <h3><a class="anchor" id="area">Polygon area</h3>
+      <p>
+	Find the perimeter and area of a polygon whose sides are
+	geodesics.  The polygon must be simple (i.e., must not intersect
+	itself).  (There's no need to ensure that the polygon is
+	closed.)  Counter-clockwise traversal of the polygon results in
+	a positive area.  The polygon can encircle one or both poles.
+	The sample gives the approximate perimeter (in m) and area (in
+	m<sup>2</sup>) of Antarctica.  (For this example, Google Earth
+	Pro returns an area which is 30 times too large!  However this
+	is a little unfair, since Google Earth has no concept of
+	polygons which encircle a pole.)  If the <i>polyline</i> option
+	is selected then just the length of the line joining the points
+	is is returned.  To perform the calculation, press the
+	&ldquo;COMPUTE&rdquo; button.
+      </p>
+      <p>Enter points, one per line, as <i>&ldquo;lat lon&rdquo;</i>:</p>
+      <p>points (lat lon):<br>
+        <textarea name="input" cols=36 rows=13>-63.1  -58
+-72.9  -74
+-71.9 -102
+-74.9 -102
+-74.3 -131
+-77.5 -163
+-77.4  163
+-71.7  172
+-65.9  140
+-65.7  113
+-66.6   88
+-66.9   59
+-69.8   25
+-70.0   -4
+-71.0  -14
+-77.3  -33
+-77.9  -46
+-74.7  -61
+</textarea>
+      </p>
+      <p>
+	Treat points as:&nbsp;&nbsp;<label for="lg">
+	  <input type="radio" value="p" name="polyline" id="lg" checked>
+	  polygon
+	</label>&nbsp;
+	<label for="ll">
+	  <input type="radio" value="l" name="polyline" id="ll">
+	  polyline
+	</label>
+      </p>
+      <p>
+        <input type="button" value="COMPUTE"
+	       onclick="var t = GeodesicArea(document.area.input.value,
+			document.area.polyline[1].checked);
+			document.area.status.value = t.status;
+			document.area.area.value = t.area;" />
+      </p>
+      <p>
+	status:
+        <input name="status" size=50 readonly />
+      </p>
+      <p>
+	number perimeter area:
+        <input name="area" size=55 readonly />
+      </p>
+    </form>
+    <hr>
+    <address>Charles Karney
+      <a href="mailto:charles@karney.com">&lt;charles@karney.com&gt;</a>
+      (2011-08-04)</address>
+    <br>
+    <a href="http://geographiclib.sourceforge.net">
+      <img
+	 src="http://sourceforge.net/sflogo.php?group_id=283628&amp;type=9"
+	 border="0" height="15" width="80" alt="SourceForge.net" />
+    </a>
+  </body>
+</html>

gtsam/3rdparty/GeographicLib/doc/scripts/geod-google-instructions.html

@@ -0,0 +1,118 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <title>
+      Geodesic lines, circles, envelopes in Google Maps (instructions)
+    </title>
+    <meta name="description"
+	  content="Geodesic lines, circles,
+		   envelopes in Google Maps (instructions)" />
+    <meta name="author" content="Charles F. F. Karney">
+    <meta name="keywords"
+	  content="geodesics,
+		   geodesic distance,
+		   geographic distance,
+		   shortest path,
+		   direct geodesic problem,
+		   inverse geodesic problem,
+		   distance and azimuth,
+		   distance and heading,
+		   range and bearing,
+		   geographic circle,
+		   geodesic envelope,
+		   geodesic astroid,
+		   latitude and longitude,
+		   Google Maps,
+		   WGS84 ellipsoid,
+		   GeographicLib" />
+  </head>
+  <body>
+    <h2>
+      Geodesic lines, circles, envelopes in Google Maps (instructions)
+    </h2>
+    <p>
+      The <a href="geod-google.html">page</a> allows you to draw
+      accurate ellipsoidal geodesics on Google Maps.  You can specify the
+      geodesic in one of two forms:
+      <ul>
+	<li>
+	  The <b>direct</b> problem: specify a starting point, an
+	  azimuth and a distance as <i>lat1 lon1 azi1 s12</i> as degrees
+	  and meters.
+	<li>
+	  The <b>inverse</b> problem: specify the two end points
+	  as <i>lat1 lon1 lat2 lon2</i> as degrees; this finds the
+	  shortest path between the two points.
+      </ul>
+      (Angles may be entered as decimal degrees or as degrees, minutes,
+      and seconds, e.g. -20.51125, 20&deg;30&prime;40.5&Prime;S,
+      S20d30'40.5&quot;, or -20:30:40.5.)  Click on the
+      corresponding "compute" button.  The display then shows
+      <ul>
+	<li>The requested geodesic as a <font color="blue">blue
+	  line</font>; the WGS84 ellipsoid model is used.
+	<li>The geodesic circle as a <font color="green">green
+	  curve</font>; this shows the locus of points a
+	  distance <i>s12</i> from <i>lat1, lon1</i>.
+	<li>The geodesic envelopes as <font color="red">red
+	  curves</font>; all the geodesics emanating from <i>lat1,
+	  lon1</i> are tangent to the envelopes (providing they are
+	  extended far enough).  The number of solutions to the inverse
+	  problem changes depending on whether <i>lat2, lon2</i> lies
+	  inside the envelopes.  For example, there are four (resp. two)
+	  approximately hemispheroidal geodesics if this point lies
+	  inside (resp. outside) the inner envelope (only one of which
+	  is a shortest path).
+      </ul>
+    </p>
+    <p>
+      The sample data has <i>lat1, lon1</i> in Wellington, New
+      Zealand, <i>lat2, lon2</i> in Salamanca, Spain, and <i>s12</i>
+      about 1.5 times the earth's circumference.  Try clicking on the
+      "compute" button next to the "Direct:" input box when the page
+      first loads.  You can navigate around the map using the normal
+      Google Map controls.
+    </p>
+    <p>
+      The precision of output for the geodesic is 0.1&quot; or 1&nbsp;m.
+      A text-only <a href="geod-calc.html">geodesic calculator</a> based
+      on the same JavaScript library is also available; this calculator
+      solves the inverse and direct geodesic problems, computes
+      intermediate points on a geodesic, and finds the area of a
+      geodesic polygon; it allows you to specify the precision of the
+      output and choose between decimal degrees and degress, minutes,
+      and seconds.
+    <p>
+      The Javascipt code for computing the geodesic lines, circles, and
+      envelopes is part of
+      <a href="http://geographiclib.sourceforge.net/">GeographicLib</a>.
+      The algorithms are derived in
+      <blockquote>
+	Charles F. F. Karney,<br>
+	<a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+	  <i>Algorithms for geodesics</i></a>,<br>
+	J. Geodesy <b>87</b>(1), 43&ndash;55 (Jan. 2013);<br>
+	DOI:
+	<a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+	  10.1007/s00190-012-0578-z</a>
+	(<a href="http://dx.doi.org/10.1007/s00190-012-0578-z">pdf</a>);<br>
+	addenda: <a href="http://geographiclib.sf.net/geod-addenda.html">
+	  geod-addenda.html</a>.
+      </blockquote>
+      In putting together this Google Maps demonstration, I started with
+      the sample code
+      <a href="http://code.google.com/apis/maps/documentation/javascript/examples/geometry-headings.html">
+	geometry-headings.html</a>.
+    </p>
+    <hr>
+    <address>Charles Karney
+      <a href="mailto:charles@karney.com">&lt;charles@karney.com&gt;</a>
+      (2011-08-02)</address>
+    <br>
+    <a href="http://geographiclib.sourceforge.net">
+      <img
+	 src="http://sourceforge.net/sflogo.php?group_id=283628&amp;type=9"
+	 border="0" height="15" width="80" alt="SourceForge.net" />
+    </a>
+  </body>
+</html>

gtsam/3rdparty/GeographicLib/doc/scripts/geod-google.html

@@ -0,0 +1,221 @@
+<!DOCTYPE html>
+<html>
+  <head>
+    <meta name="viewport" content="initial-scale=1.0, user-scalable=no" />
+    <meta http-equiv="content-type" content="text/html; charset=UTF-8"/>
+    <title>Geodesic lines, circles, envelopes in Google Maps</title>
+    <meta name="description"
+	  content="Geodesic lines, circles, envelopes in Google Maps" />
+    <meta name="author" content="Charles F. F. Karney">
+    <meta name="keywords"
+	  content="geodesics,
+		   geodesic distance,
+		   geographic distance,
+		   shortest path,
+		   direct geodesic problem,
+		   inverse geodesic problem,
+		   distance and azimuth,
+		   distance and heading,
+		   range and bearing,
+		   geographic circle,
+		   geodesic envelope,
+		   geodesic astroid,
+		   latitude and longitude,
+		   Google Maps,
+		   WGS84 ellipsoid,
+		   GeographicLib" />
+    <link href="http://code.google.com/apis/maps/documentation/javascript/examples/default.css"
+	  rel="stylesheet" type="text/css" />
+    <script type="text/javascript"
+	    src="http://geographiclib.sf.net/scripts/geographiclib.js">
+    </script>
+    <script type="text/javascript"
+	    src="http://maps.googleapis.com/maps/api/js?sensor=false">
+    </script>
+    <script type="text/javascript">
+var geod = GeographicLib.Geodesic.WGS84;
+var dms = GeographicLib.DMS;
+var geodesic, circle, envelope;
+
+function initialize() {
+  var mapOptions = {
+    zoom: 8,
+    center: new google.maps.LatLng(41.3, -5.5),
+    mapTypeId: google.maps.MapTypeId.ROADMAP
+  };
+  map = new google.maps.Map(document.getElementById('map_canvas'), mapOptions);
+
+  var geodesicOptions = {
+    strokeColor: '#0000FF',
+    strokeOpacity: 1,
+    strokeWeight: 3,
+    geodesic: true
+  }
+  geodesic = new google.maps.Polyline(geodesicOptions);
+  geodesic.setMap(map);
+
+  var circleOptions = {
+    strokeColor: '#00FF00',
+    strokeOpacity: 1,
+    strokeWeight: 3,
+    geodesic: true
+  }
+  circle = new google.maps.Polyline(circleOptions);
+  circle.setMap(map);
+
+  var envelopeOptions = {
+    strokeColor: '#FF0000',
+    strokeOpacity: 1,
+    strokeWeight: 3,
+    geodesic: true
+  }
+  envelope = new Array(4);
+  for (var i = 0; i < 4; ++i) {
+    envelope[i] = new google.maps.Polyline(envelopeOptions);
+    envelope[i].setMap(map);
+  }
+}
+
+function formatpoint(lat, lon, azi, dmsformat, prec) {
+  prec += 5;
+  if (dmsformat) {
+    var trail = prec < 2 ? dms.DEGREE :
+      (prec < 4 ? dms.MINUTE : dms.SECOND);
+    prec = prec < 2 ? prec : (prec < 4 ? prec - 2 : prec - 4);
+    return (dms.Encode(lat, trail, prec, dms.LATITUDE) + " " +
+	    dms.Encode(lon, trail, prec, dms.LONGITUDE) + " " +
+	    dms.Encode(azi, trail, prec, dms.AZIMUTH));
+  } else {
+    return (lat.toFixed(prec) + " " +
+	    lon.toFixed(prec) + " " +
+	    azi .toFixed(prec));
+  }
+}
+
+function GeodesicInverse(input) {
+  var result = {};
+  try {
+    // Input is a blank-delimited line: lat1 lon1 lat2 lon2
+    var t = new String(input);
+    t = t.replace(/^\s+/,"").replace(/\s+$/,"").split(/[\s,]+/,6);
+    if (t.length != 4)
+      throw new Error("Need 4 input items");
+    var p1 = GeographicLib.DMS.DecodeLatLon(t[0], t[1]);
+    var p2 = GeographicLib.DMS.DecodeLatLon(t[2], t[3]);
+    var v = geod.Inverse(p1.lat, p1.lon, p2.lat, p2.lon);
+    result.status = "OK";
+    result.p1 = formatpoint(v.lat1, v.lon1, v.azi1, true, 0);
+    result.p2 = formatpoint(v.lat2, v.lon2, v.azi2, true, 0);
+    result.s12 = v.s12.toFixed(0);
+    draw(v);
+  }
+  catch (e) {
+    result.status = "ERROR: " + e.message;
+    result.p1 = "";
+    result.p2 = "";
+    result.s12 = "";
+  }
+  return result;
+}
+function GeodesicDirect(input) {
+  var result = {};
+  try {
+    // Input is a blank-delimited line: lat1 lon1 azi1 s12
+    var t = new String(input);
+   t = t.replace(/^\s+/,"").replace(/\s+$/,"").split(/[\s,]+/,6);
+    if (t.length != 4)
+      throw new Error("Need 4 input items");
+    var p1 = GeographicLib.DMS.DecodeLatLon(t[0], t[1]);
+    var azi1 = GeographicLib.DMS.DecodeAzimuth(t[2]);
+    var s12 = parseFloat(t[3]);
+    var v =  geod.Direct(p1.lat, p1.lon, azi1, s12);
+    result.status = "OK";
+    result.p1 = formatpoint(v.lat1, v.lon1, v.azi1, true, 0);
+    result.p2 = formatpoint(v.lat2, v.lon2, v.azi2, true, 0);
+    result.s12 = v.s12.toFixed(0);
+    draw(v);
+  }
+  catch (e) {
+    result.status = "ERROR: " + e.message;
+    result.p1 = "";
+    result.p2 = "";
+    result.s12 = "";
+  }
+  return result;
+}
+
+function draw(v) {
+  var points = geod.DirectPath(v.lat1, v.lon1, v.azi1, v.s12,
+			100000, 100);
+  clearPaths();
+  var i, k, path;
+
+  path = geodesic.getPath();
+  for (k = 0; k < points.length; ++k)
+    path.push(new google.maps.LatLng(points[k].lat, points[k].lon));
+  points = geod.Circle(v.lat1, v.lon1, v.azi1, v.s12, 72);
+  path = circle.getPath();
+  for (k = 0; k < points.length; ++k)
+    path.push(new google.maps.LatLng(points[k].lat, points[k].lon));
+  for (i = 0; i < 4; ++i) {
+    points = geod.Envelope(v.lat1, v.lon1, 72, i+1);
+    path = envelope[i].getPath();
+    for (k = 0; k < points.length; ++k)
+      path.push(new google.maps.LatLng(points[k].lat, points[k].lon));
+  }
+  map.panTo(new google.maps.LatLng(v.lat2, v.lon2));
+}
+
+function clearPaths() {
+  cPath = geodesic.getPath();
+  while (cPath.getLength()) cPath.pop();
+  cPath = circle.getPath();
+  while (cPath.getLength()) cPath.pop();
+  for (var i = 0; i < 4; ++i) {
+    cPath = envelope[i].getPath();
+    while (cPath.getLength()) cPath.pop();
+  }
+}
+    </script>
+  </head>
+  <body onload="initialize()">
+    <div id="map_canvas"
+	 style="position:relative; border: 1px solid black; width:99.5%;
+	 height:72%;">
+    </div>
+    <div>
+      <p>
+	&nbsp;Direct:&nbsp;&nbsp;
+	<input id="inputb" size=60 value="41°19'S 174°49'E 135° 60000e3" />
+	<input type="button" value="compute"
+	       onclick="var t = GeodesicDirect(document.getElementById('inputb').value);
+			document.getElementById('status').value = t.status;
+			document.getElementById('p1').value = t.p1;
+			document.getElementById('p2').value = t.p2;
+			document.getElementById('s12').value = t.s12;" />
+      </p>
+      <p>
+	&nbsp;Inverse:
+	<input id="inputa" size=60 value="41°19'S 174°49'E 40°58'N 5°30'W" />
+	<input type="button" value="compute"
+	       onclick="var t = GeodesicInverse(document.getElementById('inputa').value);
+			document.getElementById('status').value = t.status;
+			document.getElementById('p1').value = t.p1;
+			document.getElementById('p2').value = t.p2;
+			document.getElementById('s12').value = t.s12;" />
+      </p>
+      <p>
+	&nbsp;lat1 lon1 azi1: <input type="text" "readonly" id="p1" size=60>
+      </p>
+      <p>
+	&nbsp;lat2 lon2 azi2: <input type="text" "readonly" id="p2" size=60>
+      </p>
+      <p>
+	&nbsp;s12: <input type="text" "readonly" id="s12" size=20>
+	&nbsp;&nbsp; status: <input "readonly" id="status" size=30>
+	&nbsp;&nbsp;
+	<a href="geod-google-instructions.html"><b>INSTRUCTIONS HERE</b></a>
+    </p>
+  </div>
+  </body>
+</html>

gtsam/3rdparty/GeographicLib/doc/utilities.html.in

@@ -0,0 +1,24 @@
+<html>
+  <head>
+    <title>GeographicLib-@PROJECT_VERSION@ utilities</title>
+    <meta HTTP-EQUIV="Refresh"
+	  CONTENT="0; URL=http://geographiclib.sourceforge.net/@PROJECT_VERSION@/utilities.html">
+  </head>
+  <body topmargin=10 leftmargin=10>
+    <h3>
+      <blockquote>
+	<em>
+	  Online documentation for utilities for GeographicLib version
+	  @PROJECT_VERSION@ is available at
+	  <center>
+	    <a href="http://geographiclib.sourceforge.net/@PROJECT_VERSION@/utilities.html">
+	      http://geographiclib.sourceforge.net/@PROJECT_VERSION@/utilities.html</a>.
+	  </center>
+	  <br>
+	  You will be redirected there.  Click on the link to go there
+	  directly.
+	</em>
+      </blockquote>
+    </h3>
+  </body>
+</html>

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Accumulator.cpp

@@ -0,0 +1,99 @@
+/**
+ * \file NETGeographicLib/Accumulator.cpp
+ * \brief Implementation for NETGeographicLib::Accumulator class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/Accumulator.hpp"
+#include "Accumulator.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+//*****************************************************************************
+Accumulator::!Accumulator(void)
+{
+    if ( m_pAccumulator != NULL )
+    {
+        delete m_pAccumulator;
+        m_pAccumulator = NULL;
+    }
+}
+
+//*****************************************************************************
+Accumulator::Accumulator(void)
+{
+    try
+    {
+        m_pAccumulator = new GeographicLib::Accumulator<double>();
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr("Failed to allocate memory for a GeogrpicLib::Accumulator");
+    }
+}
+
+//*****************************************************************************
+void Accumulator::Assign( double a )
+{
+    m_pAccumulator->operator=( a);
+}
+
+//*****************************************************************************
+double Accumulator::Result()
+{
+    return m_pAccumulator->operator()();
+}
+
+//*****************************************************************************
+void Accumulator::Sum( double a )
+{
+    m_pAccumulator->operator+=( a );
+}
+
+//*****************************************************************************
+void Accumulator::Multiply( int i )
+{
+    m_pAccumulator->operator*=( i );
+}
+
+//*****************************************************************************
+bool Accumulator::operator == ( Accumulator^ lhs, double a )
+{
+    return lhs->m_pAccumulator->operator==( a );
+}
+
+//*****************************************************************************
+bool Accumulator::operator != ( Accumulator^ lhs, double a )
+{
+    return lhs->m_pAccumulator->operator!=( a );
+}
+
+//*****************************************************************************
+bool Accumulator::operator < ( Accumulator^ lhs, double a )
+{
+    return lhs->m_pAccumulator->operator<( a );
+}
+
+//*****************************************************************************
+bool Accumulator::operator <= ( Accumulator^ lhs, double a )
+{
+    return lhs->m_pAccumulator->operator<=( a );
+}
+
+//*****************************************************************************
+bool Accumulator::operator > ( Accumulator^ lhs, double a )
+{
+    return lhs->m_pAccumulator->operator>( a );
+}
+
+//*****************************************************************************
+bool Accumulator::operator >= ( Accumulator^ lhs, double a )
+{
+    return lhs->m_pAccumulator->operator>=( a );
+}

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Accumulator.h

@@ -0,0 +1,116 @@
+#pragma once
+/**
+ * \file NETGeographicLib/Accumulator.h
+ * \brief Header for NETGeographicLib::Accumulator class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+namespace NETGeographicLib
+{
+    /*!
+    \brief .NET wrapper for GeographicLib::Accumulator.
+
+    This class allows .NET applications to access GeographicLib::Accumulator<double>.
+
+    This allow many numbers of floating point type \e double to be added together
+    with twice the normal precision.  The effective
+    precision of the sum is 106 bits or about 32 decimal places.
+
+    The implementation follows J. R. Shewchuk,
+    <a href="http://dx.doi.org/10.1007/PL00009321"> Adaptive Precision
+    Floating-Point Arithmetic and Fast Robust Geometric Predicates</a>,
+    Discrete & Computational Geometry 18(3) 305--363 (1997).
+
+    C# Example:
+    \include example-Accumulator.cs
+    Managed C++ Example:
+    \include example-Accumulator.cpp
+    Visual Basic Example:
+    \include example-Accumulator.vb
+
+    <B>INTERFACE DIFFERENCES:</B><BR>
+    Since assignment operators (=,+=,-=,*=) are not supported in managed classes;
+    - the Assign() method replaces the = operator,
+    - the Sum() method replaces the += and -= operators, and
+    - the Multiply() method replaces the *= operator,
+
+    Use Result() instead of the () operator to obtain the summed value from the accumulator.
+    */
+    public ref class Accumulator
+    {
+    private:
+        // Pointer to the unmanaged GeographicLib::Accumulator.
+        GeographicLib::Accumulator<double>* m_pAccumulator;
+        // The finalizer releases the unmanaged object when this class is destroyrd.
+        !Accumulator(void);
+    public:
+        //! \brief Constructor.
+        Accumulator(void);
+        //! \brief Destructor calls the finalizer.
+        ~Accumulator() { this->!Accumulator(); }
+        /*!
+        \brief Assigns a value to an accumulator.
+        \param[in] a The value to be assigned.
+        */
+        void Assign( double a );
+        //! \brief Returns the accumulated value.
+        double Result();
+        /*!
+        \brief Adds a value to the accumulator.
+        \param[in] a The value to be added.
+        */
+        void Sum( double a );
+        /*!
+        \brief Multiplication by an integer
+        \param[in] i The multiplier.
+        */
+        void Multiply( int i );
+        /*!
+        \brief Equality operator.
+        \param[in] lhs The accumulator.
+        \param[in] a The value to be compared to.
+        \return true if the accumulated value is equal to a.
+        */
+        static bool operator == ( Accumulator^ lhs, double a );
+        /*!
+        \brief Inequality operator.
+        \param[in] lhs The accumulator.
+        \param[in] a The value to be compared to.
+        \return true if the accumulated value is not equal to a.
+        */
+        static bool operator != ( Accumulator^ lhs, double a );
+        /*!
+        \brief Less than operator.
+        \param[in] lhs The accumulator.
+        \param[in] a The value to be compared to.
+        \return true if the accumulated value is less than a.
+        */
+        static bool operator < ( Accumulator^ lhs, double a );
+        /*!
+        \brief Less than or equal to operator.
+        \param[in] lhs The accumulator.
+        \param[in] a The value to be compared to.
+        \return true if the accumulated value is less than or equal to a.
+        */
+        static bool operator <= ( Accumulator^ lhs, double a );
+        /*!
+        \brief Greater than operator.
+        \param[in] lhs The accumulator.
+        \param[in] a The value to be compared to.
+        \return true if the accumulated value is greater than a.
+        */
+        static bool operator > ( Accumulator^ lhs, double a );
+        /*!
+        \brief Greater than or equal to operator.
+        \param[in] lhs The accumulator.
+        \param[in] a The value to be compared to.
+        \return true if the accumulated value is greater than or equal to a.
+        */
+        static bool operator >= ( Accumulator^ lhs, double a );
+    };
+} //namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/AlbersEqualArea.cpp

@@ -0,0 +1,186 @@
+/**
+ * \file NETGeographicLib/AlbersEqualArea.cpp
+ * \brief Implementation for NETGeographicLib::AlbersEqualArea class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/AlbersEqualArea.hpp"
+#include "AlbersEqualArea.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+//*****************************************************************************
+AlbersEqualArea::!AlbersEqualArea()
+{
+    if ( m_pAlbersEqualArea != NULL )
+    {
+        delete m_pAlbersEqualArea;
+        m_pAlbersEqualArea = NULL;
+    }
+}
+
+//*****************************************************************************
+AlbersEqualArea::AlbersEqualArea( StandardTypes type )
+{
+    try
+    {
+        switch ( type )
+        {
+        case StandardTypes::CylindricalEqualArea:
+            m_pAlbersEqualArea = new GeographicLib::AlbersEqualArea( GeographicLib::AlbersEqualArea::CylindricalEqualArea );
+            break;
+        case StandardTypes::AzimuthalEqualAreaNorth:
+            m_pAlbersEqualArea = new GeographicLib::AlbersEqualArea( GeographicLib::AlbersEqualArea::AzimuthalEqualAreaNorth );
+            break;
+        case StandardTypes::AzimuthalEqualAreaSouth:
+            m_pAlbersEqualArea = new GeographicLib::AlbersEqualArea( GeographicLib::AlbersEqualArea::AzimuthalEqualAreaSouth );
+            break;
+        }
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( "Failed to allocate memory for a GeographicLib::AlbersEqualArea" );
+    }
+}
+
+//*****************************************************************************
+AlbersEqualArea::AlbersEqualArea(double a, double f, double stdlat1, double stdlat2, double k1)
+{
+    try
+    {
+        m_pAlbersEqualArea = new GeographicLib::AlbersEqualArea( a, f, stdlat1, stdlat2, k1 );
+    }
+    catch ( GeographicLib::GeographicErr err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( "Failed to allocate memory for a GeographicLib::AlbersEqualArea" );
+    }
+}
+
+//*****************************************************************************
+AlbersEqualArea::AlbersEqualArea(double a, double f, double stdlat, double k0)
+{
+    try
+    {
+        m_pAlbersEqualArea = new GeographicLib::AlbersEqualArea( a, f, stdlat, k0 );
+    }
+    catch ( GeographicLib::GeographicErr err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( "Failed to allocate memory for a GeographicLib::AlbersEqualArea" );
+    }
+}
+
+//*****************************************************************************
+AlbersEqualArea::AlbersEqualArea(double a, double f,
+                        double sinlat1, double coslat1,
+                        double sinlat2, double coslat2,
+                        double k1)
+{
+    try
+    {
+        m_pAlbersEqualArea = new GeographicLib::AlbersEqualArea(
+            a, f, sinlat1, coslat1, sinlat2, coslat2, k1 );
+    }
+    catch ( GeographicLib::GeographicErr err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( "Failed to allocate memory for a GeographicLib::AlbersEqualArea" );
+    }
+}
+
+//*****************************************************************************
+void AlbersEqualArea::SetScale(double lat, double k)
+{
+    try
+    {
+        m_pAlbersEqualArea->SetScale( lat, k );
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+
+//*****************************************************************************
+void AlbersEqualArea::Forward(double lon0, double lat, double lon,
+                [System::Runtime::InteropServices::Out] double% x,
+                [System::Runtime::InteropServices::Out] double% y,
+                [System::Runtime::InteropServices::Out] double% gamma,
+                [System::Runtime::InteropServices::Out] double% k)
+{
+    double lx, ly, lgamma, lk;
+    m_pAlbersEqualArea->Forward( lon0, lat, lon, lx, ly, lgamma, lk );
+    x = lx;
+    y = ly;
+    gamma = lgamma;
+    k = lk;
+}
+
+//*****************************************************************************
+void AlbersEqualArea::Reverse(double lon0, double x, double y,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon,
+                     [System::Runtime::InteropServices::Out] double% gamma,
+                     [System::Runtime::InteropServices::Out] double% k)
+{
+    double llat, llon, lgamma, lk;
+    m_pAlbersEqualArea->Reverse( lon0, x, y, llat, llon, lgamma, lk );
+    lat = llat;
+    lon = llon;
+    gamma = lgamma;
+    k = lk;
+}
+
+//*****************************************************************************
+void AlbersEqualArea::Forward(double lon0, double lat, double lon,
+                     [System::Runtime::InteropServices::Out] double% x,
+                     [System::Runtime::InteropServices::Out] double% y)
+{
+    double lx, ly, lgamma, lk;
+    m_pAlbersEqualArea->Forward( lon0, lat, lon, lx, ly, lgamma, lk );
+    x = lx;
+    y = ly;
+}
+
+//*****************************************************************************
+void AlbersEqualArea::Reverse(double lon0, double x, double y,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon)
+{
+    double llat, llon, lgamma, lk;
+    m_pAlbersEqualArea->Reverse( lon0, x, y, llat, llon, lgamma, lk );
+    lat = llat;
+    lon = llon;
+}
+
+//*****************************************************************************
+double AlbersEqualArea::MajorRadius::get()
+{ return m_pAlbersEqualArea->MajorRadius(); }
+
+//*****************************************************************************
+double AlbersEqualArea::Flattening::get()
+{ return m_pAlbersEqualArea->Flattening(); }
+
+//*****************************************************************************
+double AlbersEqualArea::OriginLatitude::get()
+{ return m_pAlbersEqualArea->OriginLatitude(); }
+
+//*****************************************************************************
+double AlbersEqualArea::CentralScale::get()
+{ return m_pAlbersEqualArea->CentralScale(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/AlbersEqualArea.h

@@ -0,0 +1,269 @@
+#pragma once
+/**
+ * \file NETGeographicLib/AlbersEqualArea.h
+ * \brief Header for NETGeographicLib::AlbersEqualArea class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET Wrapper for GeographicLib::AlbersEqualArea.
+   *
+   * This class allows .NET applications to access
+   * GeographicLib::AlbersEqualArea
+   *
+   * Implementation taken from the report,
+   * - J. P. Snyder,
+   *   <a href="http://pubs.er.usgs.gov/usgspubs/pp/pp1395"> Map Projections: A
+   *   Working Manual</a>, USGS Professional Paper 1395 (1987),
+   *   pp. 101--102.
+   *
+   * This is a implementation of the equations in Snyder except that divided
+   * differences will be [have been] used to transform the expressions into
+   * ones which may be evaluated accurately.  [In this implementation, the
+   * projection correctly becomes the cylindrical equal area or the azimuthal
+   * equal area projection when the standard latitude is the equator or a
+   * pole.]
+   *
+   * The ellipsoid parameters, the standard parallels, and the scale on the
+   * standard parallels are set in the constructor.  Internally, the case with
+   * two standard parallels is converted into a single standard parallel, the
+   * latitude of minimum azimuthal scale, with an azimuthal scale specified on
+   * this parallel.  This latitude is also used as the latitude of origin which
+   * is returned by AlbersEqualArea::OriginLatitude.  The azimuthal scale on
+   * the latitude of origin is given by AlbersEqualArea::CentralScale.  The
+   * case with two standard parallels at opposite poles is singular and is
+   * disallowed.  The central meridian (which is a trivial shift of the
+   * longitude) is specified as the \e lon0 argument of the
+   * AlbersEqualArea::Forward and AlbersEqualArea::Reverse functions.
+   * AlbersEqualArea::Forward and AlbersEqualArea::Reverse also return the
+   * meridian convergence, &gamma;, and azimuthal scale, \e k.  A small square
+   * aligned with the cardinal directions is projected to a rectangle with
+   * dimensions \e k (in the E-W direction) and 1/\e k (in the N-S direction).
+   * The E-W sides of the rectangle are oriented &gamma; degrees
+   * counter-clockwise from the \e x axis.  There is no provision in this class
+   * for specifying a false easting or false northing or a different latitude
+   * of origin.
+   *
+   * C# Example:
+   * \include example-AlbersEqualArea.cs
+   * Managed C++ Example:
+   * \include example-AlbersEqualArea.cpp
+   * Visual Basic Example:
+   * \include example-AlbersEqualArea.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A constructor has been provided that creates the standard projections.
+   *
+   * The MajorRadius, Flattening, OriginLatitude, and CentralScale functions
+   * are implemented as properties.
+   **********************************************************************/
+    public ref class AlbersEqualArea
+    {
+    private:
+        // pointer to the unmanaged GeographicLib::AlbersEqualArea
+        GeographicLib::AlbersEqualArea* m_pAlbersEqualArea;
+
+        // Frees the unmanaged m_pAlbersEqualArea when object is destroyed.
+        !AlbersEqualArea();
+    public:
+        /**
+         Standard AlbersEqualAreaProjections that assume the WGS84 ellipsoid.
+         *********************************************************************/
+        enum class StandardTypes
+        {
+            CylindricalEqualArea,       //!< cylindrical equal area projection (stdlat = 0, and \e k0 = 1)
+            AzimuthalEqualAreaNorth,    //!< Lambert azimuthal equal area projection (stdlat = 90&deg;, and \e k0 = 1)
+            AzimuthalEqualAreaSouth     //!< Lambert azimuthal equal area projection (stdlat = &minus;90&deg;, and \e k0 = 1)
+        };
+
+        //! \brief Destructor
+        ~AlbersEqualArea() { this->!AlbersEqualArea(); }
+
+        /**!
+         * Constructor for one of the standard types.
+         * @param[in] type The desired standard type.
+         **********************************************************************/
+        AlbersEqualArea( StandardTypes type );
+
+        /**
+         * Constructor with a single standard parallel.
+         *
+         * @param[in] a equatorial radius of ellipsoid (meters).
+         * @param[in] f flattening of ellipsoid.  Setting \e f = 0 gives a sphere.
+         *   Negative \e f gives a prolate ellipsoid.  If \e f > 1, set flattening
+         *   to 1/\e f.
+         * @param[in] stdlat standard parallel (degrees), the circle of tangency.
+         * @param[in] k0 azimuthal scale on the standard parallel.
+         * @exception GeographicErr if \e a, (1 &minus; \e f ) \e a, or \e k0 is
+         *   not positive.
+         * @exception GeographicErr if \e stdlat is not in [&minus;90&deg;,
+         *   90&deg;].
+         **********************************************************************/
+        AlbersEqualArea(double a, double f, double stdlat, double k0);
+
+        /**
+         * Constructor with two standard parallels.
+         *
+         * @param[in] a equatorial radius of ellipsoid (meters).
+         * @param[in] f flattening of ellipsoid.  Setting \e f = 0 gives a sphere.
+         *   Negative \e f gives a prolate ellipsoid.  If \e f > 1, set flattening
+         *   to 1/\e f.
+         * @param[in] stdlat1 first standard parallel (degrees).
+         * @param[in] stdlat2 second standard parallel (degrees).
+         * @param[in] k1 azimuthal scale on the standard parallels.
+         * @exception GeographicErr if \e a, (1 &minus; \e f ) \e a, or \e k1 is
+         *   not positive.
+         * @exception GeographicErr if \e stdlat1 or \e stdlat2 is not in
+         *   [&minus;90&deg;, 90&deg;], or if \e stdlat1 and \e stdlat2 are
+         *   opposite poles.
+         **********************************************************************/
+        AlbersEqualArea(double a, double f, double stdlat1, double stdlat2, double k1);
+
+        /**
+         * Constructor with two standard parallels specified by sines and cosines.
+         *
+         * @param[in] a equatorial radius of ellipsoid (meters).
+         * @param[in] f flattening of ellipsoid.  Setting \e f = 0 gives a sphere.
+         *   Negative \e f gives a prolate ellipsoid.  If \e f > 1, set flattening
+         *   to 1/\e f.
+         * @param[in] sinlat1 sine of first standard parallel.
+         * @param[in] coslat1 cosine of first standard parallel.
+         * @param[in] sinlat2 sine of second standard parallel.
+         * @param[in] coslat2 cosine of second standard parallel.
+         * @param[in] k1 azimuthal scale on the standard parallels.
+         * @exception GeographicErr if \e a, (1 &minus; \e f ) \e a, or \e k1 is
+         *   not positive.
+         * @exception GeographicErr if \e stdlat1 or \e stdlat2 is not in
+         *   [&minus;90&deg;, 90&deg;], or if \e stdlat1 and \e stdlat2 are
+         *   opposite poles.
+         *
+         * This allows parallels close to the poles to be specified accurately.
+         * This routine computes the latitude of origin and the azimuthal scale at
+         * this latitude.  If \e dlat = abs(\e lat2 &minus; \e lat1) &le; 160&deg;,
+         * then the error in the latitude of origin is less than 4.5 &times;
+         * 10<sup>&minus;14</sup>d;.
+         **********************************************************************/
+        AlbersEqualArea(double a, double f,
+                        double sinlat1, double coslat1,
+                        double sinlat2, double coslat2,
+                        double k1);
+
+        /**
+         * Set the azimuthal scale for the projection.
+         *
+         * @param[in] lat (degrees).
+         * @param[in] k azimuthal scale at latitude \e lat (default 1).
+         * @exception GeographicErr \e k is not positive.
+         * @exception GeographicErr if \e lat is not in (&minus;90&deg;,
+         *   90&deg;).
+         *
+         * This allows a "latitude of conformality" to be specified.
+         **********************************************************************/
+        void SetScale(double lat, double k);
+
+        /**
+         * Forward projection, from geographic to Lambert conformal conic.
+         *
+         * @param[in] lon0 central meridian longitude (degrees).
+         * @param[in] lat latitude of point (degrees).
+         * @param[in] lon longitude of point (degrees).
+         * @param[out] x easting of point (meters).
+         * @param[out] y northing of point (meters).
+         * @param[out] gamma meridian convergence at point (degrees).
+         * @param[out] k azimuthal scale of projection at point; the radial
+         *   scale is the 1/\e k.
+         *
+         * The latitude origin is given by AlbersEqualArea::LatitudeOrigin().  No
+         * false easting or northing is added and \e lat should be in the range
+         * [&minus;90&deg;, 90&deg;]; \e lon and \e lon0 should be in the
+         * range [&minus;540&deg;, 540&deg;).  The values of \e x and \e y
+         * returned for points which project to infinity (i.e., one or both of the
+         * poles) will be large but finite.
+         **********************************************************************/
+        void Forward(double lon0, double lat, double lon,
+                     [System::Runtime::InteropServices::Out] double% x,
+                     [System::Runtime::InteropServices::Out] double% y,
+                     [System::Runtime::InteropServices::Out] double% gamma,
+                     [System::Runtime::InteropServices::Out] double% k);
+
+        /**
+         * Reverse projection, from Lambert conformal conic to geographic.
+         *
+         * @param[in] lon0 central meridian longitude (degrees).
+         * @param[in] x easting of point (meters).
+         * @param[in] y northing of point (meters).
+         * @param[out] lat latitude of point (degrees).
+         * @param[out] lon longitude of point (degrees).
+         * @param[out] gamma meridian convergence at point (degrees).
+         * @param[out] k azimuthal scale of projection at point; the radial
+         *   scale is the 1/\e k.
+         *
+         * The latitude origin is given by AlbersEqualArea::LatitudeOrigin().  No
+         * false easting or northing is added.  \e lon0 should be in the range
+         * [&minus;540&deg;, 540&deg;).  The value of \e lon returned is in
+         * the range [&minus;180&deg;, 180&deg;).  The value of \e lat
+         * returned is in the range [&minus;90&deg;, 90&deg;].  If the
+         * input point is outside the legal projected space the nearest pole is
+         * returned.
+         **********************************************************************/
+        void Reverse(double lon0, double x, double y,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon,
+                     [System::Runtime::InteropServices::Out] double% gamma,
+                     [System::Runtime::InteropServices::Out] double% k);
+
+        /**
+         * AlbersEqualArea::Forward without returning the convergence and
+         * scale.
+         **********************************************************************/
+        void Forward(double lon0, double lat, double lon,
+                     [System::Runtime::InteropServices::Out] double% x,
+                     [System::Runtime::InteropServices::Out] double% y);
+
+        /**
+         * AlbersEqualArea::Reverse without returning the convergence and
+         * scale.
+         **********************************************************************/
+        void Reverse(double lon0, double x, double y,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon);
+
+        /** \name Inspector functions
+         **********************************************************************/
+        ///@{
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the flattening of the ellipsoid.  This is the value used in
+         *   the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+
+        /**
+         * @return latitude of the origin for the projection (degrees).
+         *
+         * This is the latitude of minimum azimuthal scale and equals the \e stdlat
+         * in the 1-parallel constructor and lies between \e stdlat1 and \e stdlat2
+         * in the 2-parallel constructors.
+         **********************************************************************/
+        property double OriginLatitude { double get(); }
+
+        /**
+         * @return central scale for the projection.  This is the azimuthal scale
+         *   on the latitude of origin.
+         **********************************************************************/
+        property double CentralScale { double get(); }
+        ///@}
+    };
+} // namespace NETGeographic

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/AssemblyInfo.cpp

@@ -0,0 +1,43 @@
+#include "stdafx.h"
+
+using namespace System;
+using namespace System::Reflection;
+using namespace System::Runtime::CompilerServices;
+using namespace System::Runtime::InteropServices;
+using namespace System::Security::Permissions;
+
+//
+// General Information about an assembly is controlled through the following
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+//
+[assembly:AssemblyTitleAttribute("NETGeographic")];
+[assembly:AssemblyDescriptionAttribute(".NET Interface for GeographicLib")];
+[assembly:AssemblyConfigurationAttribute("1.33")];
+[assembly:AssemblyCompanyAttribute("Open Source")];
+[assembly:AssemblyProductAttribute("NETGeographic")];
+[assembly:AssemblyCopyrightAttribute("GeographicLib copyright (c) Charles Karney 2013\nNETGeographicLib copyright (c) Scott Heiman 2013")];
+[assembly:AssemblyTrademarkAttribute("")];
+[assembly:AssemblyCultureAttribute("")];
+
+//
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version
+//      Build Number
+//      Revision
+//
+// You can specify all the value or you can default the Revision and Build Numbers
+// by using the '*' as shown below:
+
+[assembly:AssemblyVersionAttribute("1.33.*")];
+
+[assembly:ComVisible(false)];
+
+[assembly:CLSCompliantAttribute(true)];
+
+#if _MSC_VER < 1800
+// RequestMinium marked as obsolete in Visual Studio 12 (2013)
+[assembly:SecurityPermission(SecurityAction::RequestMinimum, UnmanagedCode = true)];
+#endif

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/AzimuthalEquidistant.cpp

@@ -0,0 +1,110 @@
+/**
+ * \file NETGeographicLib/AzimuthalEquidistant.cpp
+ * \brief Implementation for NETGeographicLib::AzimuthalEquidistant class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/AzimuthalEquidistant.hpp"
+#include "AzimuthalEquidistant.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::AzimuthalEquidistant";
+
+//*****************************************************************************
+AzimuthalEquidistant::!AzimuthalEquidistant()
+{
+    if ( m_pAzimuthalEquidistant != NULL )
+    {
+        delete m_pAzimuthalEquidistant;
+        m_pAzimuthalEquidistant = NULL;
+    }
+}
+
+//*****************************************************************************
+AzimuthalEquidistant::AzimuthalEquidistant(void)
+{
+    try
+    {
+        m_pAzimuthalEquidistant = new GeographicLib::AzimuthalEquidistant( GeographicLib::Geodesic::WGS84 );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+AzimuthalEquidistant::AzimuthalEquidistant( Geodesic^ g )
+{
+    try
+    {
+        const GeographicLib::Geodesic* pGeodesic =
+            reinterpret_cast<const GeographicLib::Geodesic*>(
+                g->GetUnmanaged()->ToPointer() );
+        m_pAzimuthalEquidistant = new GeographicLib::AzimuthalEquidistant( *pGeodesic );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+void AzimuthalEquidistant::Forward(double lat0, double lon0, double lat, double lon,
+                double% x, double% y, double% azi, double% rk)
+{
+    double lx, ly, lazi, lrk;
+    m_pAzimuthalEquidistant->Forward( lat0, lon0, lat, lon,
+            lx, ly, lazi, lrk );
+    x = lx;
+    y = ly;
+    azi = lazi;
+    rk = lrk;
+}
+
+//*****************************************************************************
+void AzimuthalEquidistant::Reverse(double lat0, double lon0, double x, double y,
+                double% lat, double% lon, double% azi, double% rk)
+{
+    double llat, llon, lazi, lrk;
+    m_pAzimuthalEquidistant->Reverse(lat0, lon0, x, y,
+            llat, llon, lazi, lrk);
+    lat = llat;
+    lon = llon;
+    azi = lazi;
+    rk = lrk;
+}
+//*****************************************************************************
+void AzimuthalEquidistant::Forward(double lat0, double lon0, double lat, double lon,
+                double% x, double% y)
+{
+    double azi, rk, lx, ly;
+    m_pAzimuthalEquidistant->Forward(lat0, lon0, lat, lon, lx, ly, azi, rk);
+    x = lx;
+    y = ly;
+}
+
+//*****************************************************************************
+void AzimuthalEquidistant::Reverse(double lat0, double lon0, double x, double y,
+                double% lat, double% lon)
+{
+    double azi, rk, llat, llon;
+    m_pAzimuthalEquidistant->Reverse(lat0, lon0, x, y, llat, llon, azi, rk);
+    lat = llat;
+    lon = llon;
+}
+
+//*****************************************************************************
+double AzimuthalEquidistant::MajorRadius::get()
+{ return m_pAzimuthalEquidistant->MajorRadius(); }
+
+//*****************************************************************************
+double AzimuthalEquidistant::Flattening::get()
+{ return m_pAzimuthalEquidistant->Flattening(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/AzimuthalEquidistant.h

@@ -0,0 +1,161 @@
+/**
+ * \file NETGeographicLib/AzimuthalEquidistant.h
+ * \brief Header for NETGeographicLib::AzimuthalEquidistant class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+#include "Geodesic.h"
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::AzimuthalEquidistant.
+   *
+   * This class allows .NET applications to access GeographicLib::AzimuthalEquidistant.
+   *
+   * Azimuthal equidistant projection centered at an arbitrary position on the
+   * ellipsoid.  For a point in projected space (\e x, \e y), the geodesic
+   * distance from the center position is hypot(\e x, \e y) and the azimuth of
+   * the geodesic from the center point is atan2(\e x, \e y).  The Forward and
+   * Reverse methods also return the azimuth \e azi of the geodesic at (\e x,
+   * \e y) and reciprocal scale \e rk in the azimuthal direction which,
+   * together with the basic properties of the projection, serve to specify
+   * completely the local affine transformation between geographic and
+   * projected coordinates.
+   *
+   * The conversions all take place using a Geodesic object (by default
+   * Geodesic::WGS84).  For more information on geodesics see \ref geodesic.
+   *
+   * C# Example:
+   * \include example-AzimuthalEquidistant.cs
+   * Managed C++ Example:
+   * \include example-AzimuthalEquidistant.cpp
+   * Visual Basic Example:
+   * \include example-AzimuthalEquidistant.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A default constructor is provided that assumes a WGS84 ellipsoid.
+   *
+   * The MajorRadius and Flattening functions are implemented as
+   * properties.
+   **********************************************************************/
+    public ref class AzimuthalEquidistant
+    {
+    private:
+        // Pointer to the unmanaged GeographicLib::AzimuthalEquidistant
+        const GeographicLib::AzimuthalEquidistant* m_pAzimuthalEquidistant;
+
+        // Frees the unmanaged memory when the object is destroyed.
+        !AzimuthalEquidistant();
+    public:
+        /**
+         * Default Constructor for AzimuthalEquidistant.
+         * Assumes WGS84 Geodesic
+         **********************************************************************/
+        AzimuthalEquidistant(void);
+
+        /**
+         * Constructor for AzimuthalEquidistant.
+         *
+         * @param[in] earth the Geodesic object to use for geodesic calculations.
+         **********************************************************************/
+        AzimuthalEquidistant( Geodesic^ earth );
+
+        /**
+         * Destructor
+         *
+         * frees unmanaged memory.
+         **********************************************************************/
+        ~AzimuthalEquidistant()
+        { this->!AzimuthalEquidistant(); }
+
+        /**
+         * Forward projection, from geographic to azimuthal equidistant.
+         *
+         * @param[in] lat0 latitude of center point of projection (degrees).
+         * @param[in] lon0 longitude of center point of projection (degrees).
+         * @param[in] lat latitude of point (degrees).
+         * @param[in] lon longitude of point (degrees).
+         * @param[out] x easting of point (meters).
+         * @param[out] y northing of point (meters).
+         * @param[out] azi azimuth of geodesic at point (degrees).
+         * @param[out] rk reciprocal of azimuthal scale at point.
+         *
+         * \e lat0 and \e lat should be in the range [&minus;90&deg;,
+         * 90&deg;] and \e lon0 and \e lon should be in the range
+         * [&minus;540&deg;, 540&deg;).  The scale of the projection is 1
+         * in the "radial" direction, \e azi clockwise from true north, and is 1/\e
+         * rk in the direction perpendicular to this.  A call to Forward followed
+         * by a call to Reverse will return the original (\e lat, \e lon) (to
+         * within roundoff).
+         **********************************************************************/
+        void Forward(double lat0, double lon0, double lat, double lon,
+                     [System::Runtime::InteropServices::Out] double% x,
+                     [System::Runtime::InteropServices::Out] double% y,
+                     [System::Runtime::InteropServices::Out] double% azi,
+                     [System::Runtime::InteropServices::Out] double% rk);
+
+        /**
+         * Reverse projection, from azimuthal equidistant to geographic.
+         *
+         * @param[in] lat0 latitude of center point of projection (degrees).
+         * @param[in] lon0 longitude of center point of projection (degrees).
+         * @param[in] x easting of point (meters).
+         * @param[in] y northing of point (meters).
+         * @param[out] lat latitude of point (degrees).
+         * @param[out] lon longitude of point (degrees).
+         * @param[out] azi azimuth of geodesic at point (degrees).
+         * @param[out] rk reciprocal of azimuthal scale at point.
+         *
+         * \e lat0 should be in the range [&minus;90&deg;, 90&deg;] and \e
+         * lon0 should be in the range [&minus;540&deg;, 540&deg;).  \e lat
+         * will be in the range [&minus;90&deg;, 90&deg;] and \e lon will
+         * be in the range [&minus;180&deg;, 180&deg;).  The scale of the
+         * projection is 1 in the "radial" direction, \e azi clockwise from true
+         * north, and is 1/\e rk in the direction perpendicular to this.  A call to
+         * Reverse followed by a call to Forward will return the original (\e x, \e
+         * y) (to roundoff) only if the geodesic to (\e x, \e y) is a shortest
+         * path.
+         **********************************************************************/
+        void Reverse(double lat0, double lon0, double x, double y,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon,
+                     [System::Runtime::InteropServices::Out] double% azi,
+                     [System::Runtime::InteropServices::Out] double% rk);
+
+        /**
+         * AzimuthalEquidistant::Forward without returning the azimuth and scale.
+         **********************************************************************/
+        void Forward(double lat0, double lon0, double lat, double lon,
+                     [System::Runtime::InteropServices::Out] double% x,
+                     [System::Runtime::InteropServices::Out] double% y);
+
+        /**
+         * AzimuthalEquidistant::Reverse without returning the azimuth and scale.
+         **********************************************************************/
+        void Reverse(double lat0, double lon0, double x, double y,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon);
+
+        /** \name Inspector functions
+         **********************************************************************/
+        ///@{
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value inherited from the Geodesic object used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the flattening of the ellipsoid.  This is the value
+         *   inherited from the Geodesic object used in the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+        ///@}
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/CMakeLists.txt

@@ -0,0 +1,42 @@
+# Build the .NET library...
+
+# Include all the .cpp files in the library.
+file (GLOB SOURCES [A-Za-z]*.cpp)
+file (GLOB HEADERS [A-Za-z]*.h)
+
+add_library (${NETGEOGRAPHICLIB_LIBRARIES} SHARED ${SOURCES} ${HEADERS})
+set_target_properties (${NETGEOGRAPHICLIB_LIBRARIES}
+  PROPERTIES COMPILE_FLAGS "/clr")
+
+string (REPLACE "/RTC1" "" CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG}")
+string (REPLACE "/EHsc" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+
+add_definitions (${PROJECT_DEFINITIONS})
+target_link_libraries (${NETGEOGRAPHICLIB_LIBRARIES} ${PROJECT_LIBRARIES})
+
+# Set the version number on the library
+set_target_properties (${NETGEOGRAPHICLIB_LIBRARIES} PROPERTIES
+  VERSION "${LIBVERSIONFULL}" OUTPUT_NAME ${NETLIBNAME}
+  PDB_NAME ${NETLIBNAME}${CMAKE_DEBUG_POSTFIX})
+
+# Specify where the library is installed, adding it to the export depends
+install (TARGETS ${NETGEOGRAPHICLIB_LIBRARIES}
+  EXPORT depends
+  RUNTIME DESTINATION bin)
+
+if (PACKAGE_DEBUG_LIBS)
+  install (PROGRAMS
+    "${CMAKE_CURRENT_BINARY_DIR}/Debug/${NETLIBNAME}${CMAKE_DEBUG_POSTFIX}.dll"
+    DESTINATION bin CONFIGURATIONS Release)
+endif ()
+
+# Install pdb file in debug mode.
+get_target_property (_P ${NETGEOGRAPHICLIB_LIBRARIES} LOCATION_DEBUG)
+get_filename_component (_P ${_P} PATH)
+get_target_property (_N ${NETGEOGRAPHICLIB_LIBRARIES} PDB_NAME)
+set (_PDB ${_P}/${_N}.pdb)
+install (FILES ${_PDB} DESTINATION bin
+  RENAME ${NETLIBNAME}${CMAKE_DEBUG_POSTFIX}.pdb CONFIGURATIONS Debug)
+
+# Put all the library into a folder in the IDE
+set_property (TARGET ${NETGEOGRAPHICLIB_LIBRARIES} PROPERTY FOLDER library)

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/CassiniSoldner.cpp

@@ -0,0 +1,134 @@
+/**
+ * \file NETGeographicLib/CassiniSoldner.cpp
+ * \brief Implementation for NETGeographicLib::CassiniSoldner class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/CassiniSoldner.hpp"
+#include "Geodesic.h"
+#include "CassiniSoldner.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::CassiniSoldner";
+
+//*****************************************************************************
+CassiniSoldner::!CassiniSoldner()
+{
+    if ( m_pCassiniSoldner != NULL )
+    {
+        delete m_pCassiniSoldner;
+        m_pCassiniSoldner = NULL;
+    }
+}
+
+//*****************************************************************************
+CassiniSoldner::CassiniSoldner(double lat0, double lon0)
+{
+    try
+    {
+        m_pCassiniSoldner = new GeographicLib::CassiniSoldner( GeographicLib::Geodesic::WGS84 );
+        m_pCassiniSoldner->Reset(lat0, lon0);
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+CassiniSoldner::CassiniSoldner(double lat0, double lon0,
+                Geodesic^ earth )
+{
+    try
+    {
+        const GeographicLib::Geodesic* pGeodesic =
+            reinterpret_cast<const GeographicLib::Geodesic*>(
+                earth->GetUnmanaged()->ToPointer() );
+        m_pCassiniSoldner = new GeographicLib::CassiniSoldner( *pGeodesic );
+        m_pCassiniSoldner->Reset(lat0, lon0);
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+void CassiniSoldner::Reset(double lat0, double lon0)
+{
+    m_pCassiniSoldner->Reset(lat0, lon0);
+}
+
+//*****************************************************************************
+void CassiniSoldner::Forward(double lat, double lon,
+                [System::Runtime::InteropServices::Out] double% x,
+                [System::Runtime::InteropServices::Out] double% y,
+                [System::Runtime::InteropServices::Out] double% azi,
+                [System::Runtime::InteropServices::Out] double% rk)
+{
+    double lx, ly, lazi, lrk;
+    m_pCassiniSoldner->Forward(lat, lon, lx, ly, lazi, lrk);
+    x = lx;
+    y = ly;
+    azi = lazi;
+    rk = lrk;
+}
+
+//*****************************************************************************
+void CassiniSoldner::Reverse(double x, double y,
+                [System::Runtime::InteropServices::Out] double% lat,
+                [System::Runtime::InteropServices::Out] double% lon,
+                [System::Runtime::InteropServices::Out] double% azi,
+                [System::Runtime::InteropServices::Out] double% rk)
+{
+    double llat, llon, lazi, lrk;
+    m_pCassiniSoldner->Reverse( x, y, llat, llon, lazi, lrk );
+    lat = llat;
+    lon = llon;
+    azi = lazi;
+    rk = lrk;
+}
+//*****************************************************************************
+void CassiniSoldner::Forward(double lat, double lon,
+    [System::Runtime::InteropServices::Out] double% x,
+    [System::Runtime::InteropServices::Out] double% y)
+{
+    double lx, ly, azi, rk;
+    m_pCassiniSoldner->Forward(lat, lon, lx, ly, azi, rk);
+    x = lx;
+    y = ly;
+}
+
+//*****************************************************************************
+void CassiniSoldner::Reverse(double x, double y,
+    [System::Runtime::InteropServices::Out] double% lat,
+    [System::Runtime::InteropServices::Out] double% lon)
+{
+    double llat, llon, lazi, lrk;
+    m_pCassiniSoldner->Reverse( x, y, llat, llon, lazi, lrk );
+    lat = llat;
+    lon = llon;
+}
+
+//*****************************************************************************
+double CassiniSoldner::LatitudeOrigin::get()
+{ return m_pCassiniSoldner->LatitudeOrigin(); }
+
+//*****************************************************************************
+double CassiniSoldner::LongitudeOrigin::get()
+{ return m_pCassiniSoldner->LongitudeOrigin(); }
+
+//*****************************************************************************
+double CassiniSoldner::MajorRadius::get()
+{ return m_pCassiniSoldner->MajorRadius(); }
+
+//*****************************************************************************
+double CassiniSoldner::Flattening::get()
+{ return m_pCassiniSoldner->Flattening(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/CassiniSoldner.h

@@ -0,0 +1,201 @@
+/**
+ * \file NETGeographicLib/CassiniSoldner.h
+ * \brief Header for NETGeographicLib::CassiniSoldner class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::CassiniSoldner.
+   *
+   * This class allows .NET applications to access GeographicLib::CassiniSoldner.
+   *
+   * Cassini-Soldner projection centered at an arbitrary position, \e lat0, \e
+   * lon0, on the ellipsoid.  This projection is a transverse cylindrical
+   * equidistant projection.  The projection from (\e lat, \e lon) to easting
+   * and northing (\e x, \e y) is defined by geodesics as follows.  Go north
+   * along a geodesic a distance \e y from the central point; then turn
+   * clockwise 90&deg; and go a distance \e x along a geodesic.
+   * (Although the initial heading is north, this changes to south if the pole
+   * is crossed.)  This procedure uniquely defines the reverse projection.  The
+   * forward projection is constructed as follows.  Find the point (\e lat1, \e
+   * lon1) on the meridian closest to (\e lat, \e lon).  Here we consider the
+   * full meridian so that \e lon1 may be either \e lon0 or \e lon0 +
+   * 180&deg;.  \e x is the geodesic distance from (\e lat1, \e lon1) to
+   * (\e lat, \e lon), appropriately signed according to which side of the
+   * central meridian (\e lat, \e lon) lies.  \e y is the shortest distance
+   * along the meridian from (\e lat0, \e lon0) to (\e lat1, \e lon1), again,
+   * appropriately signed according to the initial heading.  [Note that, in the
+   * case of prolate ellipsoids, the shortest meridional path from (\e lat0, \e
+   * lon0) to (\e lat1, \e lon1) may not be the shortest path.]  This procedure
+   * uniquely defines the forward projection except for a small class of points
+   * for which there may be two equally short routes for either leg of the
+   * path.
+   *
+   * Because of the properties of geodesics, the (\e x, \e y) grid is
+   * orthogonal.  The scale in the easting direction is unity.  The scale, \e
+   * k, in the northing direction is unity on the central meridian and
+   * increases away from the central meridian.  The projection routines return
+   * \e azi, the true bearing of the easting direction, and \e rk = 1/\e k, the
+   * reciprocal of the scale in the northing direction.
+   *
+   * The conversions all take place using a Geodesic object (by default
+   * Geodesic::WGS84).  For more information on geodesics see \ref geodesic.
+   * The determination of (\e lat1, \e lon1) in the forward projection is by
+   * solving the inverse geodesic problem for (\e lat, \e lon) and its twin
+   * obtained by reflection in the meridional plane.  The scale is found by
+   * determining where two neighboring geodesics intersecting the central
+   * meridian at \e lat1 and \e lat1 + \e dlat1 intersect and taking the ratio
+   * of the reduced lengths for the two geodesics between that point and,
+   * respectively, (\e lat1, \e lon1) and (\e lat, \e lon).
+   *
+   * C# Example:
+   * \include example-CassiniSoldner.cs
+   * Managed C++ Example:
+   * \include example-CassiniSoldner.cpp
+   * Visual Basic Example:
+   * \include example-CassiniSoldner.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * The LatitudeOrigin, LongitudeOrigin, MajorRadius and Flattening
+   * functions are implimented as properties.
+   **********************************************************************/
+    public ref class CassiniSoldner
+    {
+        private:
+        // A pointer to the unmanaged GeographicLib::CassiniSoldner
+        GeographicLib::CassiniSoldner* m_pCassiniSoldner;
+
+        // The finalizer frees the unmanaged memory when the object is destroyed.
+        !CassiniSoldner();
+    public:
+        /**
+         * Constructor for CassiniSoldner specifying a center point and
+         * assuming the WGS84 ellipsoid.
+         *
+         * @param[in] lat0 latitude of center point of projection (degrees).
+         * @param[in] lon0 longitude of center point of projection (degrees).
+         **********************************************************************/
+        CassiniSoldner(double lat0, double lon0);
+
+        /**
+         * Constructor for CassiniSoldner specifying a center point.
+         *
+         * @param[in] lat0 latitude of center point of projection (degrees).
+         * @param[in] lon0 longitude of center point of projection (degrees).
+         * @param[in] earth the Geodesic object to use for geodesic calculations.
+         *   By default this uses the WGS84 ellipsoid.
+         *
+         * \e lat0 should be in the range [&minus;90&deg;, 90&deg;] and \e
+         * lon0 should be in the range [&minus;540&deg;, 540&deg;).
+         **********************************************************************/
+        CassiniSoldner(double lat0, double lon0, Geodesic^ earth );
+
+        /**
+         * The destructor calls the finalizer.
+         **********************************************************************/
+        ~CassiniSoldner()
+        { this->!CassiniSoldner(); }
+
+        /**
+         * Set the central point of the projection
+         *
+         * @param[in] lat0 latitude of center point of projection (degrees).
+         * @param[in] lon0 longitude of center point of projection (degrees).
+         *
+         * \e lat0 should be in the range [&minus;90&deg;, 90&deg;] and \e
+         * lon0 should be in the range [&minus;540&deg;, 540&deg;).
+         **********************************************************************/
+        void Reset(double lat0, double lon0);
+
+        /**
+         * Forward projection, from geographic to Cassini-Soldner.
+         *
+         * @param[in] lat latitude of point (degrees).
+         * @param[in] lon longitude of point (degrees).
+         * @param[out] x easting of point (meters).
+         * @param[out] y northing of point (meters).
+         * @param[out] azi azimuth of easting direction at point (degrees).
+         * @param[out] rk reciprocal of azimuthal northing scale at point.
+         *
+         * \e lat should be in the range [&minus;90&deg;, 90&deg;] and \e
+         * lon should be in the range [&minus;540&deg;, 540&deg;).  A call
+         * to Forward followed by a call to Reverse will return the original (\e
+         * lat, \e lon) (to within roundoff).  The routine does nothing if the
+         * origin has not been set.
+         **********************************************************************/
+        void Forward(double lat, double lon,
+                     [System::Runtime::InteropServices::Out] double% x,
+                     [System::Runtime::InteropServices::Out] double% y,
+                     [System::Runtime::InteropServices::Out] double% azi,
+                     [System::Runtime::InteropServices::Out] double% rk);
+
+        /**
+         * Reverse projection, from Cassini-Soldner to geographic.
+         *
+         * @param[in] x easting of point (meters).
+         * @param[in] y northing of point (meters).
+         * @param[out] lat latitude of point (degrees).
+         * @param[out] lon longitude of point (degrees).
+         * @param[out] azi azimuth of easting direction at point (degrees).
+         * @param[out] rk reciprocal of azimuthal northing scale at point.
+         *
+         * A call to Reverse followed by a call to Forward will return the original
+         * (\e x, \e y) (to within roundoff), provided that \e x and \e y are
+         * sufficiently small not to "wrap around" the earth.  The routine does
+         * nothing if the origin has not been set.
+         **********************************************************************/
+        void Reverse(double x, double y,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon,
+                     [System::Runtime::InteropServices::Out] double% azi,
+                     [System::Runtime::InteropServices::Out] double% rk);
+
+        /**
+         * CassiniSoldner::Forward without returning the azimuth and scale.
+         **********************************************************************/
+        void Forward(double lat, double lon,
+            [System::Runtime::InteropServices::Out] double% x,
+            [System::Runtime::InteropServices::Out] double% y);
+
+        /**
+         * CassiniSoldner::Reverse without returning the azimuth and scale.
+         **********************************************************************/
+        void Reverse(double x, double y,
+            [System::Runtime::InteropServices::Out] double% lat,
+            [System::Runtime::InteropServices::Out] double% lon);
+
+        /** \name Inspector functions
+         **********************************************************************/
+        ///@{
+        /**
+         * @return \e lat0 the latitude of origin (degrees).
+         **********************************************************************/
+        property double LatitudeOrigin { double get(); }
+
+        /**
+         * @return \e lon0 the longitude of origin (degrees).
+         **********************************************************************/
+        property double LongitudeOrigin { double get(); }
+
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value inherited from the Geodesic object used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the flattening of the ellipsoid.  This is the value
+         *   inherited from the Geodesic object used in the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+        ///@}
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/CircularEngine.cpp

@@ -0,0 +1,83 @@
+/**
+ * \file NETGeographicLib/CircularEngine.cpp
+ * \brief Implementation for NETGeographicLib::CircularEngine class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/CircularEngine.hpp"
+#include "CircularEngine.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+//*****************************************************************************
+CircularEngine::CircularEngine(const GeographicLib::CircularEngine& c)
+{
+    try
+    {
+        m_pCircularEngine = new GeographicLib::CircularEngine( c );
+    }
+    catch ( GeographicLib::GeographicErr err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( "Failed to allocate memory for a GeographicLib::CircularEngine" );
+    }
+}
+
+//*****************************************************************************
+CircularEngine::!CircularEngine()
+{
+    if ( m_pCircularEngine != NULL )
+    {
+        delete m_pCircularEngine;
+        m_pCircularEngine = NULL;
+    }
+}
+
+//*****************************************************************************
+double CircularEngine::LongitudeSum(double coslon, double sinlon)
+{
+    return m_pCircularEngine->operator()( coslon, sinlon );
+}
+
+//*****************************************************************************
+double CircularEngine::LongitudeSum(double lon)
+{
+    return m_pCircularEngine->operator()( lon );
+}
+
+//*****************************************************************************
+double CircularEngine::LongitudeSum(double coslon, double sinlon,
+                        [System::Runtime::InteropServices::Out] double% gradx,
+                        [System::Runtime::InteropServices::Out] double% grady,
+                        [System::Runtime::InteropServices::Out] double% gradz)
+{
+    double lgradx, lgrady, lgradz;
+    double output = m_pCircularEngine->operator()( coslon, sinlon, lgradx, lgrady, lgradz );
+    gradx = lgradx;
+    grady = lgrady;
+    gradz = lgradz;
+    return output;
+}
+
+//*****************************************************************************
+double CircularEngine::LongitudeSum(double lon,
+                        [System::Runtime::InteropServices::Out] double% gradx,
+                        [System::Runtime::InteropServices::Out] double% grady,
+                        [System::Runtime::InteropServices::Out] double% gradz)
+{
+    double lgradx, lgrady, lgradz;
+    double output = m_pCircularEngine->operator()( lon, lgradx, lgrady, lgradz );
+    gradx = lgradx;
+    grady = lgrady;
+    gradz = lgradz;
+    return output;
+}

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/CircularEngine.h

@@ -0,0 +1,142 @@
+/**
+ * \file NETGeographicLib/CircularEngine.h
+ * \brief Header for NETGeographicLib::CircularEngine class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::CircularEngine.
+   *
+   * This class allows .NET applications to access GeographicLib::CircularEngine.
+   *
+   * The class is a companion to SphericalEngine.  If the results of a
+   * spherical harmonic sum are needed for several points on a circle of
+   * constant latitude \e lat and height \e h, then SphericalEngine::Circle can
+   * compute the inner sum, which is independent of longitude \e lon, and
+   * produce a CircularEngine object.  CircularEngine::LongitudeSum() can
+   * then be used to perform the outer sum for particular values of \e lon.
+   * This can lead to substantial improvements in computational speed for high
+   * degree sum (approximately by a factor of \e N / 2 where \e N is the
+   * maximum degree).
+   *
+   * CircularEngine is tightly linked to the internals of SphericalEngine.  For
+   * that reason, the constructor for this class is for internal use only.  Use
+   * SphericalHarmonic::Circle, SphericalHarmonic1::Circle, and
+   * SphericalHarmonic2::Circle to create instances of this class.
+   *
+   * CircularEngine stores the coefficients needed to allow the summation over
+   * order to be performed in 2 or 6 vectors of length \e M + 1 (depending on
+   * whether gradients are to be calculated).  For this reason the constructor
+   * may throw a GeographicErr exception.
+   *
+   * C# Example:
+   * \include example-CircularEngine.cs
+   * Managed C++ Example:
+   * \include example-CircularEngine.cpp
+   * Visual Basic Example:
+   * \include example-CircularEngine.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * The () operator has been replaced with with LongitudeSum.
+   *
+   * This class does not have a constructor that can be used in a .NET
+   * application.  Use SphericalHarmonic::Circle, SphericalHarmonic1::Circle or
+   * SphericalHarmonic2::Circle to create instances of this class.
+   **********************************************************************/
+    public ref class CircularEngine
+    {
+        private:
+        // pointer to the unmanaged GeographicLib::CircularEngine
+        const GeographicLib::CircularEngine* m_pCircularEngine;
+
+        // The finalizer frees the unmanaged memory when the object is destroyed.
+        !CircularEngine();
+    public:
+        /**
+         * The constructor.
+         *
+         * This constructor should not be used in .NET applications.
+         * Use SphericalHarmonic::Circle, SphericalHarmonic1::Circle or
+         * SphericalHarmonic2::Circle to create instances of this class.
+         *
+         * @param[in] c The unmanaged CircularEngine to be copied.
+         **********************************************************************/
+        CircularEngine( const GeographicLib::CircularEngine& c );
+
+        /**
+         * The destructor calls the finalizer
+         **********************************************************************/
+        ~CircularEngine()
+        { this->!CircularEngine(); }
+
+        /**
+         * Evaluate the sum for a particular longitude given in terms of its
+         * cosine and sine.
+         *
+         * @param[in] coslon the cosine of the longitude.
+         * @param[in] sinlon the sine of the longitude.
+         * @return \e V the value of the sum.
+         *
+         * The arguments must satisfy <i>coslon</i><sup>2</sup> +
+         * <i>sinlon</i><sup>2</sup> = 1.
+         **********************************************************************/
+        double LongitudeSum(double coslon, double sinlon);
+
+        /**
+         * Evaluate the sum for a particular longitude.
+         *
+         * @param[in] lon the longitude (degrees).
+         * @return \e V the value of the sum.
+         **********************************************************************/
+        double LongitudeSum(double lon);
+
+        /**
+         * Evaluate the sum and its gradient for a particular longitude given in
+         * terms of its cosine and sine.
+         *
+         * @param[in] coslon the cosine of the longitude.
+         * @param[in] sinlon the sine of the longitude.
+         * @param[out] gradx \e x component of the gradient.
+         * @param[out] grady \e y component of the gradient.
+         * @param[out] gradz \e z component of the gradient.
+         * @return \e V the value of the sum.
+         *
+         * The gradients will only be computed if the CircularEngine object was
+         * created with this capability (e.g., via \e gradp = true in
+         * SphericalHarmonic::Circle).  If not, \e gradx, etc., will not be
+         * touched.  The arguments must satisfy <i>coslon</i><sup>2</sup> +
+         * <i>sinlon</i><sup>2</sup> = 1.
+         **********************************************************************/
+        double LongitudeSum(double coslon, double sinlon,
+                        [System::Runtime::InteropServices::Out] double% gradx,
+                        [System::Runtime::InteropServices::Out] double% grady,
+                        [System::Runtime::InteropServices::Out] double% gradz);
+
+        /**
+         * Evaluate the sum and its gradient for a particular longitude.
+         *
+         * @param[in] lon the longitude (degrees).
+         * @param[out] gradx \e x component of the gradient.
+         * @param[out] grady \e y component of the gradient.
+         * @param[out] gradz \e z component of the gradient.
+         * @return \e V the value of the sum.
+         *
+         * The gradients will only be computed if the CircularEngine object was
+         * created with this capability (e.g., via \e gradp = true in
+         * SphericalHarmonic::Circle).  If not, \e gradx, etc., will not be
+         * touched.
+         **********************************************************************/
+        double LongitudeSum(double lon,
+                    [System::Runtime::InteropServices::Out] double% gradx,
+                    [System::Runtime::InteropServices::Out] double% grady,
+                    [System::Runtime::InteropServices::Out] double% gradz);
+    };
+} //namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/DMS.cpp

@@ -0,0 +1,130 @@
+/**
+ * \file NETGeographicLib/DMS.cpp
+ * \brief Implementation for NETGeographicLib::DMS class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/DMS.hpp"
+#include "DMS.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+//*****************************************************************************
+double DMS::Decode( System::String^ dms,
+    [System::Runtime::InteropServices::Out] Flag% ind)
+{
+    try
+    {
+        GeographicLib::DMS::flag lind;
+        double out =  GeographicLib::DMS::Decode( StringConvert::ManagedToUnmanaged(dms), lind );
+        ind = static_cast<Flag>(lind);
+        return out;
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+
+//*****************************************************************************
+double DMS::Decode(System::String^ str)
+{
+    try
+    {
+        return GeographicLib::DMS::Decode(StringConvert::ManagedToUnmanaged(str));
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+
+//*****************************************************************************
+void DMS::DecodeLatLon(System::String^ dmsa, System::String^ dmsb,
+                        [System::Runtime::InteropServices::Out] double% lat,
+                        [System::Runtime::InteropServices::Out] double% lon,
+                        bool swaplatlong )
+{
+    try
+    {
+        double llat, llon;
+        GeographicLib::DMS::DecodeLatLon( StringConvert::ManagedToUnmanaged( dmsa ),
+            StringConvert::ManagedToUnmanaged( dmsb ), llat, llon, swaplatlong );
+        lat = llat;
+        lon = llon;
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+
+//*****************************************************************************
+double DMS::DecodeAngle(System::String^ angstr)
+{
+    try
+    {
+        return GeographicLib::DMS::DecodeAngle(StringConvert::ManagedToUnmanaged( angstr ));
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+
+//*****************************************************************************
+double DMS::DecodeAzimuth(System::String^ azistr)
+{
+    try
+    {
+        return GeographicLib::DMS::DecodeAzimuth(StringConvert::ManagedToUnmanaged( azistr ));
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+
+//*****************************************************************************
+System::String^ DMS::Encode(double angle, Component trailing, unsigned prec,
+                            Flag ind, char dmssep)
+{
+    try
+    {
+        return StringConvert::UnmanagedToManaged(
+            GeographicLib::DMS::Encode( angle,
+                static_cast<GeographicLib::DMS::component>(trailing),
+                prec,
+                static_cast<GeographicLib::DMS::flag>(ind),
+                dmssep )
+            );
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+//*****************************************************************************
+System::String^ DMS::Encode(double angle, unsigned prec, Flag ind,
+                            char dmssep )
+{
+    try
+    {
+        return StringConvert::UnmanagedToManaged(
+            GeographicLib::DMS::Encode( angle,
+                prec,
+                static_cast<GeographicLib::DMS::flag>(ind),
+                dmssep )
+            );
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/DMS.h

@@ -0,0 +1,326 @@
+/**
+ * \file NETGeographicLib/DMS.h
+ * \brief Header for NETGeographicLib::DMS class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::DMS.
+   *
+   * Parse a string representing degree, minutes, and seconds and return the
+   * angle in degrees and format an angle in degrees as degree, minutes, and
+   * seconds.  In addition, handle NANs and infinities on input and output.
+   *
+   * C# Example:
+   * \include example-DMS.cs
+   * Managed C++ Example:
+   * \include example-DMS.cpp
+   * Visual Basic Example:
+   * \include example-DMS.vb
+   **********************************************************************/
+public ref class DMS
+{
+public:
+    /**
+     * Indicator for presence of hemisphere indicator (N/S/E/W) on latitudes
+     * and longitudes.
+     **********************************************************************/
+    enum class Flag {
+      /**
+       * No indicator present.
+       * @hideinitializer
+       **********************************************************************/
+      NONE = 0,
+      /**
+       * Latitude indicator (N/S) present.
+       * @hideinitializer
+       **********************************************************************/
+      LATITUDE = 1,
+      /**
+       * Longitude indicator (E/W) present.
+       * @hideinitializer
+       **********************************************************************/
+      LONGITUDE = 2,
+      /**
+       * Used in Encode to indicate output of an azimuth in [000, 360) with no
+       * letter indicator.
+       * @hideinitializer
+       **********************************************************************/
+      AZIMUTH = 3,
+      /**
+       * Used in Encode to indicate output of a plain number.
+       * @hideinitializer
+       **********************************************************************/
+      NUMBER = 4,
+    };
+
+    /**
+     * Indicator for trailing units on an angle.
+     **********************************************************************/
+    enum class Component {
+      /**
+       * Trailing unit is degrees.
+       * @hideinitializer
+       **********************************************************************/
+      DEGREE = 0,
+      /**
+       * Trailing unit is arc minutes.
+       * @hideinitializer
+       **********************************************************************/
+      MINUTE = 1,
+      /**
+       * Trailing unit is arc seconds.
+       * @hideinitializer
+       **********************************************************************/
+      SECOND = 2,
+    };
+
+    /**
+     * Convert a string in DMS to an angle.
+     *
+     * @param[in] dms string input.
+     * @param[out] ind a DMS::flag value signaling the presence of a
+     *   hemisphere indicator.
+     * @exception GeographicErr if \e dms is malformed (see below).
+     * @return angle (degrees).
+     *
+     * Degrees, minutes, and seconds are indicated by the characters d, '
+     * (single quote), &quot; (double quote), and these components may only be
+     * given in this order.  Any (but not all) components may be omitted and
+     * other symbols (e.g., the &deg; symbol for degrees and the unicode
+     * prime and double prime symbols for minutes and seconds) may be
+     * substituted.  The last component indicator may be omitted and is assumed
+     * to be the next smallest unit (thus 33d10 is interpreted as 33d10').  The
+     * final component may be a decimal fraction but the non-final components
+     * must be integers.  Instead of using d, ', and &quot; to indicate
+     * degrees, minutes, and seconds, : (colon) may be used to <i>separate</i>
+     * these components (numbers must appear before and after each colon); thus
+     * 50d30'10.3&quot; may be written as 50:30:10.3, 5.5' may be written
+     * 0:5.5, and so on.  The integer parts of the minutes and seconds
+     * components must be less than 60.  A single leading sign is permitted.  A
+     * hemisphere designator (N, E, W, S) may be added to the beginning or end
+     * of the string.  The result is multiplied by the implied sign of the
+     * hemisphere designator (negative for S and W).  In addition \e ind is set
+     * to DMS::LATITUDE if N or S is present, to DMS::LONGITUDE if E or W is
+     * present, and to DMS::NONE otherwise.  Throws an error on a malformed
+     * string.  No check is performed on the range of the result.  Examples of
+     * legal and illegal strings are
+     * - <i>LEGAL</i> (all the entries on each line are equivalent)
+     *   - -20.51125, 20d30'40.5&quot;S, -20&deg;30'40.5, -20d30.675,
+     *     N-20d30'40.5&quot;, -20:30:40.5
+     *   - 4d0'9, 4d9&quot;, 4d9'', 4:0:9, 004:00:09, 4.0025, 4.0025d, 4d0.15,
+     *     04:.15
+     * - <i>ILLEGAL</i> (the exception thrown explains the problem)
+     *   - 4d5&quot;4', 4::5, 4:5:, :4:5, 4d4.5'4&quot;, -N20.5, 1.8e2d, 4:60,
+     *     4d-5'
+     *
+     * <b>NOTE:</b> At present, all the string handling in the C++
+     * implementation %GeographicLib is with 8-bit characters.  The support for
+     * unicode symbols for degrees, minutes, and seconds is therefore via the
+     * <a href="http://en.wikipedia.org/wiki/UTF-8">UTF-8</a> encoding.  (The
+     * JavaScript implementation of this class uses unicode natively, of
+     * course.)
+     *
+     * Here is the list of Unicode symbols supported for degrees, minutes,
+     * seconds:
+     * - degrees:
+     *   - d, D lower and upper case letters
+     *   - U+00b0 degree symbol (&deg;)
+     *   - U+00ba masculine ordinal indicator
+     *   - U+2070 superscript zero
+     *   - U+02da ring above
+     * - minutes:
+     *   - ' apostrophe
+     *   - U+2032 prime (&prime;)
+     *   - U+00b4 acute accent
+     *   - U+2019 right single quote (&rsquo;)
+     * - seconds:
+     *   - &quot; quotation mark
+     *   - U+2033 double prime (&Prime;)
+     *   - U+201d right double quote (&rdquo;)
+     *   - '&nbsp;' any two consecutive symbols for minutes
+     * .
+     * The codes with a leading zero byte, e.g., U+00b0, are accepted in their
+     * UTF-8 coded form 0xc2 0xb0 and as a single byte 0xb0.
+     **********************************************************************/
+    static double Decode(System::String^ dms,
+        [System::Runtime::InteropServices::Out] Flag% ind);
+
+    /**
+     * Convert DMS to an angle.
+     *
+     * @param[in] d degrees.
+     * @param[in] m arc minutes.
+     * @param[in] s arc seconds.
+     * @return angle (degrees)
+     *
+     * This does not propagate the sign on \e d to the other components, so
+     * -3d20' would need to be represented as - DMS::Decode(3.0, 20.0) or
+     * DMS::Decode(-3.0, -20.0).
+     **********************************************************************/
+    static double Decode(double d, double m, double s )
+    { return d + (m + s/double(60))/double(60); }
+
+    /// \cond SKIP
+    /**
+     * <b>DEPRECATED</b> (use Utility::num, instead).
+     * Convert a string to a double number.
+     *
+     * @param[in] str string input.
+     * @exception GeographicErr if \e str is malformed.
+     * @return decoded number.
+     **********************************************************************/
+    static double Decode(System::String^ str);
+    /// \endcond
+
+    /**
+     * Convert a pair of strings to latitude and longitude.
+     *
+     * @param[in] dmsa first string.
+     * @param[in] dmsb second string.
+     * @param[out] lat latitude.
+     * @param[out] lon longitude reduced to the range [&minus;180&deg;,
+     *   180&deg;).
+     * @param[in] swaplatlong if true assume longitude is given before latitude
+     *   in the absence of hemisphere designators (default false).
+     * @exception GeographicErr if \e dmsa or \e dmsb is malformed.
+     * @exception GeographicErr if \e dmsa and \e dmsb are both interpreted as
+     *   latitudes.
+     * @exception GeographicErr if \e dmsa and \e dmsb are both interpreted as
+     *   longitudes.
+     * @exception GeographicErr if decoded latitude is not in [&minus;90&deg;,
+     *   90&deg;].
+     * @exception GeographicErr if decoded longitude is not in
+     *   [&minus;540&deg;, 540&deg;).
+     *
+     * By default, the \e lat (resp., \e lon) is assigned to the results of
+     * decoding \e dmsa (resp., \e dmsb).  However this is overridden if either
+     * \e dmsa or \e dmsb contain a latitude or longitude hemisphere designator
+     * (N, S, E, W).  If an exception is thrown, \e lat and \e lon are
+     * unchanged.
+     **********************************************************************/
+    static void DecodeLatLon(System::String^ dmsa, System::String^ dmsb,
+                     [System::Runtime::InteropServices::Out] double% lat,
+                     [System::Runtime::InteropServices::Out] double% lon,
+                     bool swaplatlong );
+
+    /**
+     * Convert a string to an angle in degrees.
+     *
+     * @param[in] angstr input string.
+     * @exception GeographicErr if \e angstr is malformed.
+     * @exception GeographicErr if \e angstr includes a hemisphere designator.
+     * @return angle (degrees)
+     *
+     * No hemisphere designator is allowed and no check is done on the range of
+     * the result.
+     **********************************************************************/
+    static double DecodeAngle(System::String^ angstr);
+
+    /**
+     * Convert a string to an azimuth in degrees.
+     *
+     * @param[in] azistr input string.
+     * @exception GeographicErr if \e azistr is malformed.
+     * @exception GeographicErr if \e azistr includes a N/S designator.
+     * @exception GeographicErr if decoded azimuth is not in
+     *   [&minus;540&deg;, 540&deg;).
+     * @return azimuth (degrees) reduced to the range [&minus;180&deg;,
+     *   180&deg;).
+     *
+     * A hemisphere designator E/W can be used; the result is multiplied by
+     * &minus;1 if W is present.
+     **********************************************************************/
+    static double DecodeAzimuth(System::String^ azistr);
+
+    /**
+     * Convert angle (in degrees) into a DMS string (using d, ', and &quot;).
+     *
+     * @param[in] angle input angle (degrees)
+     * @param[in] trailing DMS::component value indicating the trailing units
+     *   on the string and this is given as a decimal number if necessary.
+     * @param[in] prec the number of digits after the decimal point for the
+     *   trailing component.
+     * @param[in] ind DMS::flag value indicated additional formatting.
+     * @param[in] dmssep if non-null, use as the DMS separator character
+     *   (instead of d, ', &quot; delimiters).
+     * @exception GeographicErr if memory for the string can't be allocated.
+     * @return formatted string
+     *
+     * The interpretation of \e ind is as follows:
+     * - ind == DMS::NONE, signed result no leading zeros on degrees except in
+     *   the units place, e.g., -8d03'.
+     * - ind == DMS::LATITUDE, trailing N or S hemisphere designator, no sign,
+     *   pad degrees to 2 digits, e.g., 08d03'S.
+     * - ind == DMS::LONGITUDE, trailing E or W hemisphere designator, no
+     *   sign, pad degrees to 3 digits, e.g., 008d03'W.
+     * - ind == DMS::AZIMUTH, convert to the range [0, 360&deg;), no
+     *   sign, pad degrees to 3 digits, , e.g., 351d57'.
+     * .
+     * The integer parts of the minutes and seconds components are always given
+     * with 2 digits.
+     **********************************************************************/
+    static System::String^ Encode(double angle, Component trailing, unsigned prec,
+                              Flag ind, char dmssep );
+
+    /**
+     * Convert angle into a DMS string (using d, ', and &quot;) selecting the
+     * trailing component based on the precision.
+     *
+     * @param[in] angle input angle (degrees)
+     * @param[in] prec the precision relative to 1 degree.
+     * @param[in] ind DMS::flag value indicated additional formatting.
+     * @param[in] dmssep if non-null, use as the DMS separator character
+     *   (instead of d, ', &quot; delimiters).
+     * @exception std::bad_alloc if memory for the string can't be allocated.
+     * @return formatted string
+     *
+     * \e prec indicates the precision relative to 1 degree, e.g., \e prec = 3
+     * gives a result accurate to 0.1' and \e prec = 4 gives a result accurate
+     * to 1&quot;.  \e ind is interpreted as in DMS::Encode with the additional
+     * facility that DMS::NUMBER represents \e angle as a number in fixed
+     * format with precision \e prec.
+     **********************************************************************/
+    static System::String^ Encode(double angle, unsigned prec, Flag ind,
+                              char dmssep );
+
+    /**
+     * Split angle into degrees and minutes
+     *
+     * @param[in] ang angle (degrees)
+     * @param[out] d degrees (an integer returned as a double)
+     * @param[out] m arc minutes.
+     **********************************************************************/
+    static void Encode(double ang,
+        [System::Runtime::InteropServices::Out] double% d,
+        [System::Runtime::InteropServices::Out] double% m)
+    {
+      d = int(ang); m = 60 * (ang - d);
+    }
+
+    /**
+     * Split angle into degrees and minutes and seconds.
+     *
+     * @param[in] ang angle (degrees)
+     * @param[out] d degrees (an integer returned as a double)
+     * @param[out] m arc minutes (an integer returned as a double)
+     * @param[out] s arc seconds.
+     **********************************************************************/
+    static void Encode(double ang,
+        [System::Runtime::InteropServices::Out] double% d,
+        [System::Runtime::InteropServices::Out] double% m,
+        [System::Runtime::InteropServices::Out] double% s)
+    {
+      d = int(ang); ang = 60 * (ang - d);
+      m = int(ang); s = 60 * (ang - m);
+    }
+};
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Ellipsoid.cpp

@@ -0,0 +1,270 @@
+/**
+ * \file NETGeographicLib/Ellipsoid.cpp
+ * \brief Implementation for NETGeographicLib::Ellipsoid class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/Ellipsoid.hpp"
+#include "Ellipsoid.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::Ellipsoid";
+
+//*****************************************************************************
+Ellipsoid::!Ellipsoid(void)
+{
+    if ( m_pEllipsoid != NULL )
+    {
+        delete m_pEllipsoid;
+        m_pEllipsoid = NULL;
+    }
+}
+
+//*****************************************************************************
+Ellipsoid::Ellipsoid()
+{
+    try
+    {
+        m_pEllipsoid = new GeographicLib::Ellipsoid( GeographicLib::Ellipsoid::WGS84 );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+Ellipsoid::Ellipsoid(double a, double f)
+{
+    try
+    {
+        m_pEllipsoid = new GeographicLib::Ellipsoid( a, f );
+    }
+    catch ( std::bad_alloc err )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+double Ellipsoid::ParametricLatitude(double phi)
+{
+    return m_pEllipsoid->ParametricLatitude( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::InverseParametricLatitude(double beta)
+{
+    return m_pEllipsoid->InverseParametricLatitude( beta );
+}
+
+//*****************************************************************************
+double Ellipsoid::GeocentricLatitude(double phi)
+{
+    return m_pEllipsoid->GeocentricLatitude( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::InverseGeocentricLatitude(double theta)
+{
+    return m_pEllipsoid->InverseGeocentricLatitude( theta );
+}
+
+//*****************************************************************************
+double Ellipsoid::RectifyingLatitude(double phi)
+{
+    return m_pEllipsoid->RectifyingLatitude( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::InverseRectifyingLatitude(double mu)
+{
+    return m_pEllipsoid->InverseRectifyingLatitude( mu );
+}
+
+//*****************************************************************************
+double Ellipsoid::AuthalicLatitude(double phi)
+{
+    return m_pEllipsoid->AuthalicLatitude( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::InverseAuthalicLatitude(double xi)
+{
+    return m_pEllipsoid->InverseAuthalicLatitude( xi );
+}
+
+//*****************************************************************************
+double Ellipsoid::ConformalLatitude(double phi)
+{
+    return m_pEllipsoid->ConformalLatitude( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::InverseConformalLatitude(double chi)
+{
+    return m_pEllipsoid->InverseConformalLatitude( chi );
+}
+
+//*****************************************************************************
+double Ellipsoid::IsometricLatitude(double phi)
+{
+    return m_pEllipsoid->IsometricLatitude( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::InverseIsometricLatitude(double psi)
+{
+    return m_pEllipsoid->InverseIsometricLatitude( psi );
+}
+
+//*****************************************************************************
+double Ellipsoid::CircleRadius(double phi)
+{
+    return m_pEllipsoid->CircleRadius( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::CircleHeight(double phi)
+{
+    return m_pEllipsoid->CircleHeight( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::MeridianDistance(double phi)
+{
+    return m_pEllipsoid->MeridianDistance( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::MeridionalCurvatureRadius(double phi)
+{
+    return m_pEllipsoid->MeridionalCurvatureRadius( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::TransverseCurvatureRadius(double phi)
+{
+    return m_pEllipsoid->TransverseCurvatureRadius( phi );
+}
+
+//*****************************************************************************
+double Ellipsoid::NormalCurvatureRadius(double phi, double azi)
+{
+    return m_pEllipsoid->NormalCurvatureRadius( phi, azi );
+}
+
+//*****************************************************************************
+double Ellipsoid::SecondFlatteningToFlattening(double fp)
+{
+    return GeographicLib::Ellipsoid::SecondFlatteningToFlattening( fp );
+}
+
+//*****************************************************************************
+double Ellipsoid::FlatteningToSecondFlattening(double f)
+{
+    return GeographicLib::Ellipsoid::FlatteningToSecondFlattening( f );
+}
+
+//*****************************************************************************
+double Ellipsoid::ThirdFlatteningToFlattening(double n)
+{
+    return GeographicLib::Ellipsoid::ThirdFlatteningToFlattening( n );
+}
+
+//*****************************************************************************
+double Ellipsoid::FlatteningToThirdFlattening(double f)
+{
+    return GeographicLib::Ellipsoid::FlatteningToThirdFlattening( f );
+}
+
+//*****************************************************************************
+double Ellipsoid::EccentricitySqToFlattening(double e2)
+{
+    return GeographicLib::Ellipsoid::EccentricitySqToFlattening( e2 );
+}
+
+//*****************************************************************************
+double Ellipsoid::FlatteningToEccentricitySq(double f)
+{
+    return GeographicLib::Ellipsoid::FlatteningToEccentricitySq( f );
+}
+
+//*****************************************************************************
+double Ellipsoid::SecondEccentricitySqToFlattening(double ep2)
+{
+    return GeographicLib::Ellipsoid::SecondEccentricitySqToFlattening( ep2 );
+}
+
+//*****************************************************************************
+double Ellipsoid::FlatteningToSecondEccentricitySq(double f)
+{
+    return GeographicLib::Ellipsoid::FlatteningToSecondEccentricitySq( f );
+}
+
+//*****************************************************************************
+double Ellipsoid::ThirdEccentricitySqToFlattening(double epp2)
+{
+    return GeographicLib::Ellipsoid::ThirdEccentricitySqToFlattening( epp2 );
+}
+
+//*****************************************************************************
+double Ellipsoid::FlatteningToThirdEccentricitySq(double f)
+{
+    return GeographicLib::Ellipsoid::FlatteningToThirdEccentricitySq( f );
+}
+
+//*****************************************************************************
+double Ellipsoid::MajorRadius::get()
+{ return m_pEllipsoid->MajorRadius(); }
+
+//*****************************************************************************
+double Ellipsoid::MinorRadius::get()
+{ return m_pEllipsoid->MinorRadius(); }
+
+//*****************************************************************************
+double Ellipsoid::QuarterMeridian::get()
+{ return m_pEllipsoid->QuarterMeridian(); }
+
+//*****************************************************************************
+double Ellipsoid::Area::get()
+{ return m_pEllipsoid->Area(); }
+
+//*****************************************************************************
+double Ellipsoid::Volume::get()
+{ return m_pEllipsoid->Volume(); }
+
+//*****************************************************************************
+double Ellipsoid::Flattening::get()
+{ return m_pEllipsoid->Flattening(); }
+
+//*****************************************************************************
+double Ellipsoid::SecondFlattening::get()
+{ return m_pEllipsoid->SecondFlattening(); }
+
+//*****************************************************************************
+double Ellipsoid::ThirdFlattening::get()
+{ return m_pEllipsoid->ThirdFlattening(); }
+
+//*****************************************************************************
+double Ellipsoid::EccentricitySq::get()
+{ return m_pEllipsoid->EccentricitySq(); }
+
+//*****************************************************************************
+double Ellipsoid::SecondEccentricitySq::get()
+{ return m_pEllipsoid->SecondEccentricitySq(); }
+
+//*****************************************************************************
+double Ellipsoid::ThirdEccentricitySq::get()
+{ return m_pEllipsoid->ThirdEccentricitySq(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Ellipsoid.h

@@ -0,0 +1,521 @@
+/**
+ * \file NETGeographicLib/Ellipsoid.h
+ * \brief Header for NETGeographicLib::Ellipsoid class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::Ellipsoid.
+   *
+   * This class allows .NET applications to access GeographicLib::Ellipsoid.
+   *
+   * This class returns various properties of the ellipsoid and converts
+   * between various types of latitudes.  The latitude conversions are also
+   * possible using the various projections supported by %GeographicLib; but
+   * Ellipsoid provides more direct access (sometimes using private functions
+   * of the projection classes).  Ellipsoid::RectifyingLatitude,
+   * Ellipsoid::InverseRectifyingLatitude, and Ellipsoid::MeridianDistance
+   * provide functionality which can be provided by the Geodesic class.
+   * However Geodesic uses a series approximation (valid for abs \e f < 1/150),
+   * whereas Ellipsoid computes these quantities using EllipticFunction which
+   * provides accurate results even when \e f is large.  Use of this class
+   * should be limited to &minus;3 < \e f < 3/4 (i.e., 1/4 < b/a < 4).
+   *
+   * C# Example:
+   * \include example-Ellipsoid.cs
+   * Managed C++ Example:
+   * \include example-Ellipsoid.cpp
+   * Visual Basic Example:
+   * \include example-Ellipsoid.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A default constructor has been provided that assumes a WGS84 ellipsoid.
+   *
+   * The following functions are implemented as properties:
+   * MajorRadius, MinorRadius, QuarterMeridian, Area, Volume, Flattening,
+   * SecondFlattening, ThirdFlattening, EccentricitySq, SecondEccentricitySq,
+   * and ThirdEccentricitySq.
+   **********************************************************************/
+    public ref class Ellipsoid
+    {
+        private:
+        // A pointer to the unmanaged GeographicLib::Ellipsoid
+        GeographicLib::Ellipsoid* m_pEllipsoid;
+
+        // Th efinalizer frees the unmanaged memory when the object is destroyed.
+        !Ellipsoid();
+    public:
+        /** \name Constructor
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Constructor for a WGS84 ellipsoid
+         **********************************************************************/
+        Ellipsoid();
+
+        /**
+         * Constructor for a ellipsoid with
+         *
+         * @param[in] a equatorial radius (meters).
+         * @param[in] f flattening of ellipsoid.  Setting \e f = 0 gives a sphere.
+         *   Negative \e f gives a prolate ellipsoid.  If \e f > 1, set flattening
+         *   to 1/\e f.
+         * @exception GeographicErr if \e a or (1 &minus; \e f ) \e a is not
+         *   positive.
+         **********************************************************************/
+        Ellipsoid(double a, double f);
+        ///@}
+
+        /** The destructor calls the finalizer.
+         **********************************************************************/
+        ~Ellipsoid()
+        { this->!Ellipsoid(); }
+
+        /** \name %Ellipsoid dimensions.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e b the polar semi-axis (meters).
+         **********************************************************************/
+        property double MinorRadius { double get(); }
+
+        /**
+         * @return \e L the distance between the equator and a pole along a
+         *   meridian (meters).  For a sphere \e L = (&pi;/2) \e a.  The radius
+         *   of a sphere with the same meridian length is \e L / (&pi;/2).
+         **********************************************************************/
+        property double QuarterMeridian { double get(); }
+
+        /**
+         * @return \e A the total area of the ellipsoid (meters<sup>2</sup>).  For
+         *   a sphere \e A = 4&pi; <i>a</i><sup>2</sup>.  The radius of a sphere
+         *   with the same area is sqrt(\e A / (4&pi;)).
+         **********************************************************************/
+        property double Area { double get(); }
+
+        /**
+         * @return \e V the total volume of the ellipsoid (meters<sup>3</sup>).
+         *   For a sphere \e V = (4&pi; / 3) <i>a</i><sup>3</sup>.  The radius of
+         *   a sphere with the same volume is cbrt(\e V / (4&pi;/3)).
+         **********************************************************************/
+        property double Volume { double get(); }
+        ///@}
+
+        /** \name %Ellipsoid shape
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @return \e f = (\e a &minus; \e b) / \e a, the flattening of the
+         *   ellipsoid.  This is the value used in the constructor.  This is zero,
+         *   positive, or negative for a sphere, oblate ellipsoid, or prolate
+         *   ellipsoid.
+         **********************************************************************/
+        property double Flattening { double get(); }
+
+        /**
+         * @return \e f ' = (\e a &minus; \e b) / \e b, the second flattening of
+         *   the ellipsoid.  This is zero, positive, or negative for a sphere,
+         *   oblate ellipsoid, or prolate ellipsoid.
+         **********************************************************************/
+        property double SecondFlattening { double get(); }
+
+        /**
+         * @return \e n = (\e a &minus; \e b) / (\e a + \e b), the third flattening
+         *   of the ellipsoid.  This is zero, positive, or negative for a sphere,
+         *   oblate ellipsoid, or prolate ellipsoid.
+         **********************************************************************/
+        property double ThirdFlattening { double get(); }
+
+        /**
+         * @return <i>e</i><sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / <i>a</i><sup>2</sup>, the eccentricity squared
+         *   of the ellipsoid.  This is zero, positive, or negative for a sphere,
+         *   oblate ellipsoid, or prolate ellipsoid.
+         **********************************************************************/
+        property double EccentricitySq { double get(); }
+
+        /**
+         * @return <i>e'</i> <sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / <i>b</i><sup>2</sup>, the second eccentricity
+         *   squared of the ellipsoid.  This is zero, positive, or negative for a
+         *   sphere, oblate ellipsoid, or prolate ellipsoid.
+         **********************************************************************/
+        property double SecondEccentricitySq { double get(); }
+
+        /**
+         * @return <i>e''</i> <sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / (<i>a</i><sup>2</sup> + <i>b</i><sup>2</sup>),
+         *   the third eccentricity squared of the ellipsoid.  This is zero,
+         *   positive, or negative for a sphere, oblate ellipsoid, or prolate
+         *   ellipsoid.
+         **********************************************************************/
+        property double ThirdEccentricitySq { double get(); }
+        ///@}
+
+        /** \name Latitude conversion.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &beta; the parametric latitude (degrees).
+         *
+         * The geographic latitude, &phi;, is the angle beween the equatorial
+         * plane and a vector normal to the surface of the ellipsoid.
+         *
+         * The parametric latitude (also called the reduced latitude), &beta;,
+         * allows the cartesian coordinated of a meridian to be expressed
+         * conveniently in parametric form as
+         * - \e R = \e a cos &beta;
+         * - \e Z = \e b sin &beta;
+         * .
+         * where \e a and \e b are the equatorial radius and the polar semi-axis.
+         * For a sphere &beta; = &phi;.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &beta; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double ParametricLatitude(double phi);
+
+        /**
+         * @param[in] beta the parametric latitude (degrees).
+         * @return &phi; the geographic latitude (degrees).
+         *
+         * &beta; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &phi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double InverseParametricLatitude(double beta);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &theta; the geocentric latitude (degrees).
+         *
+         * The geocentric latitude, &theta;, is the angle beween the equatorial
+         * plane and a line between the center of the ellipsoid and a point on the
+         * ellipsoid.  For a sphere &theta; = &phi;.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &theta; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double GeocentricLatitude(double phi);
+
+        /**
+         * @param[in] theta the geocentric latitude (degrees).
+         * @return &phi; the geographic latitude (degrees).
+         *
+         * &theta; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &phi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double InverseGeocentricLatitude(double theta);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &mu; the rectifying latitude (degrees).
+         *
+         * The rectifying latitude, &mu;, has the property that the distance along
+         * a meridian of the ellipsoid between two points with rectifying latitudes
+         * &mu;<sub>1</sub> and &mu;<sub>2</sub> is equal to
+         * (&mu;<sub>2</sub> - &mu;<sub>1</sub>) \e L / 90&deg;,
+         * where \e L = QuarterMeridian().  For a sphere &mu; = &phi;.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &mu; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double RectifyingLatitude(double phi);
+
+        /**
+         * @param[in] mu the rectifying latitude (degrees).
+         * @return &phi; the geographic latitude (degrees).
+         *
+         * &mu; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &phi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double InverseRectifyingLatitude(double mu);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &xi; the authalic latitude (degrees).
+         *
+         * The authalic latitude, &xi;, has the property that the area of the
+         * ellipsoid between two circles with authalic latitudes
+         * &xi;<sub>1</sub> and &xi;<sub>2</sub> is equal to (sin
+         * &xi;<sub>2</sub> - sin &xi;<sub>1</sub>) \e A / 2, where \e A
+         * = Area().  For a sphere &xi; = &phi;.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &xi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double AuthalicLatitude(double phi);
+
+        /**
+         * @param[in] xi the authalic latitude (degrees).
+         * @return &phi; the geographic latitude (degrees).
+         *
+         * &xi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &phi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double InverseAuthalicLatitude(double xi);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &chi; the conformal latitude (degrees).
+         *
+         * The conformal latitude, &chi;, gives the mapping of the ellipsoid to a
+         * sphere which which is conformal (angles are preserved) and in which the
+         * equator of the ellipsoid maps to the equator of the sphere.  For a
+         * sphere &chi; = &phi;.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &chi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double ConformalLatitude(double phi);
+
+        /**
+         * @param[in] chi the conformal latitude (degrees).
+         * @return &phi; the geographic latitude (degrees).
+         *
+         * &chi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.  The returned value
+         * &phi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double InverseConformalLatitude(double chi);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &psi; the isometric latitude (degrees).
+         *
+         * The isometric latitude gives the mapping of the ellipsoid to a plane
+         * which which is conformal (angles are preserved) and in which the equator
+         * of the ellipsoid maps to a straight line of constant scale; this mapping
+         * defines the Mercator projection.  For a sphere &psi; =
+         * sinh<sup>&minus;1</sup> tan &phi;.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.
+         **********************************************************************/
+        double IsometricLatitude(double phi);
+
+        /**
+         * @param[in] psi the isometric latitude (degrees).
+         * @return &phi; the geographic latitude (degrees).
+         *
+         * The returned value &phi; lies in [&minus;90&deg;, 90&deg;].
+         **********************************************************************/
+        double InverseIsometricLatitude(double psi);
+        ///@}
+
+        /** \name Other quantities.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return \e R = \e a cos &beta; the radius of a circle of latitude
+         *   &phi; (meters).  \e R (&pi;/180&deg;) gives meters per degree
+         *   longitude measured along a circle of latitude.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.
+         **********************************************************************/
+        double CircleRadius(double phi);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return \e Z = \e b sin &beta; the distance of a circle of latitude
+         *   &phi; from the equator measured parallel to the ellipsoid axis
+         *   (meters).
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.
+         **********************************************************************/
+        double CircleHeight(double phi);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return \e s the distance along a meridian
+         *   between the equator and a point of latitude &phi; (meters).  \e s is
+         *   given by \e s = &mu; \e L / 90&deg;, where \e L =
+         *   QuarterMeridian()).
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.
+         **********************************************************************/
+        double MeridianDistance(double phi);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &rho; the meridional radius of curvature of the ellipsoid at
+         *   latitude &phi; (meters); this is the curvature of the meridian.  \e
+         *   rho is given by &rho; = (180&deg;/&pi;) d\e s / d&phi;,
+         *   where \e s = MeridianDistance(); thus &rho; (&pi;/180&deg;)
+         *   gives meters per degree latitude measured along a meridian.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.
+         **********************************************************************/
+        double MeridionalCurvatureRadius(double phi);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @return &nu; the transverse radius of curvature of the ellipsoid at
+         *   latitude &phi; (meters); this is the curvature of a curve on the
+         *   ellipsoid which also lies in a plane perpendicular to the ellipsoid
+         *   and to the meridian.  &nu; is related to \e R = CircleRadius() by \e
+         *   R = &nu; cos &phi;.
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;]; the
+         * result is undefined if this condition does not hold.
+         **********************************************************************/
+        double TransverseCurvatureRadius(double phi);
+
+        /**
+         * @param[in] phi the geographic latitude (degrees).
+         * @param[in] azi the angle between the meridian and the normal section
+         *   (degrees).
+         * @return the radius of curvature of the ellipsoid in the normal
+         *   section at latitude &phi; inclined at an angle \e azi to the
+         *   meridian (meters).
+         *
+         * &phi; must lie in the range [&minus;90&deg;, 90&deg;] and \e
+         * azi must lie in the range [&minus;540&deg;, 540&deg;); the
+         * result is undefined if either of conditions does not hold.
+         **********************************************************************/
+        double NormalCurvatureRadius(double phi, double azi);
+        ///@}
+
+        /** \name Eccentricity conversions.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @param[in] fp = \e f ' = (\e a &minus; \e b) / \e b, the second
+         *   flattening.
+         * @return \e f = (\e a &minus; \e b) / \e a, the flattening.
+         *
+         * \e f ' should lie in (&minus;1, &infin;).
+         * The returned value \e f lies in (&minus;&infin;, 1).
+         **********************************************************************/
+        static double SecondFlatteningToFlattening(double fp);
+
+        /**
+         * @param[in] f = (\e a &minus; \e b) / \e a, the flattening.
+         * @return \e f ' = (\e a &minus; \e b) / \e b, the second flattening.
+         *
+         * \e f should lie in (&minus;&infin;, 1).
+         * The returned value \e f ' lies in (&minus;1, &infin;).
+         **********************************************************************/
+        static double FlatteningToSecondFlattening(double f);
+
+        /**
+         * @param[in] n = (\e a &minus; \e b) / (\e a + \e b), the third
+         *   flattening.
+         * @return \e f = (\e a &minus; \e b) / \e a, the flattening.
+         *
+         * \e n should lie in (&minus;1, 1).
+         * The returned value \e f lies in (&minus;&infin;, 1).
+         **********************************************************************/
+        static double ThirdFlatteningToFlattening(double n);
+
+        /**
+         * @param[in] f = (\e a &minus; \e b) / \e a, the flattening.
+         * @return \e n = (\e a &minus; \e b) / (\e a + \e b), the third
+         *   flattening.
+         *
+         * \e f should lie in (&minus;&infin;, 1).
+         * The returned value \e n lies in (&minus;1, 1).
+         **********************************************************************/
+        static double FlatteningToThirdFlattening(double f);
+
+        /**
+         * @param[in] e2 = <i>e</i><sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / <i>a</i><sup>2</sup>, the eccentricity
+         *   squared.
+         * @return \e f = (\e a &minus; \e b) / \e a, the flattening.
+         *
+         * <i>e</i><sup>2</sup> should lie in (&minus;&infin;, 1).
+         * The returned value \e f lies in (&minus;&infin;, 1).
+         **********************************************************************/
+        static double EccentricitySqToFlattening(double e2);
+
+        /**
+         * @param[in] f = (\e a &minus; \e b) / \e a, the flattening.
+         * @return <i>e</i><sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / <i>a</i><sup>2</sup>, the eccentricity
+         *   squared.
+         *
+         * \e f should lie in (&minus;&infin;, 1).
+         * The returned value <i>e</i><sup>2</sup> lies in (&minus;&infin;, 1).
+         **********************************************************************/
+        static double FlatteningToEccentricitySq(double f);
+
+        /**
+         * @param[in] ep2 = <i>e'</i> <sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / <i>b</i><sup>2</sup>, the second eccentricity
+         *   squared.
+         * @return \e f = (\e a &minus; \e b) / \e a, the flattening.
+         *
+         * <i>e'</i> <sup>2</sup> should lie in (&minus;1, &infin;).
+         * The returned value \e f lies in (&minus;&infin;, 1).
+         **********************************************************************/
+        static double SecondEccentricitySqToFlattening(double ep2);
+
+        /**
+         * @param[in] f = (\e a &minus; \e b) / \e a, the flattening.
+         * @return <i>e'</i> <sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / <i>b</i><sup>2</sup>, the second eccentricity
+         *   squared.
+         *
+         * \e f should lie in (&minus;&infin;, 1).
+         * The returned value <i>e'</i> <sup>2</sup> lies in (&minus;1, &infin;).
+         **********************************************************************/
+        static double FlatteningToSecondEccentricitySq(double f);
+
+        /**
+         * @param[in] epp2 = <i>e''</i> <sup>2</sup> = (<i>a</i><sup>2</sup>
+         *   &minus; <i>b</i><sup>2</sup>) / (<i>a</i><sup>2</sup> +
+         *   <i>b</i><sup>2</sup>), the third eccentricity squared.
+         * @return \e f = (\e a &minus; \e b) / \e a, the flattening.
+         *
+         * <i>e''</i> <sup>2</sup> should lie in (&minus;1, 1).
+         * The returned value \e f lies in (&minus;&infin;, 1).
+         **********************************************************************/
+        static double ThirdEccentricitySqToFlattening(double epp2);
+
+        /**
+         * @param[in] f = (\e a &minus; \e b) / \e a, the flattening.
+         * @return <i>e''</i> <sup>2</sup> = (<i>a</i><sup>2</sup> &minus;
+         *   <i>b</i><sup>2</sup>) / (<i>a</i><sup>2</sup> + <i>b</i><sup>2</sup>),
+         *   the third eccentricity squared.
+         *
+         * \e f should lie in (&minus;&infin;, 1).
+         * The returned value <i>e''</i> <sup>2</sup> lies in (&minus;1, 1).
+         **********************************************************************/
+        static double FlatteningToThirdEccentricitySq(double f);
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/EllipticFunction.cpp

@@ -0,0 +1,311 @@
+/**
+ * \file NETGeographicLib/EllipticFunction.cpp
+ * \brief Implementation for NETGeographicLib::EllipticFunction class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/EllipticFunction.hpp"
+#include "EllipticFunction.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for the GeographicLib::EllipticFunction.";
+
+//*****************************************************************************
+EllipticFunction::EllipticFunction(double k2, double alpha2)
+{
+    try
+    {
+        m_pEllipticFunction = new GeographicLib::EllipticFunction( k2, alpha2 );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+EllipticFunction::EllipticFunction(double k2, double alpha2, double kp2, double alphap2)
+{
+    try
+    {
+        m_pEllipticFunction = new GeographicLib::EllipticFunction( k2, alpha2, kp2, alphap2 );
+    }
+    catch ( std::bad_alloc err )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+EllipticFunction::!EllipticFunction()
+{
+    if ( m_pEllipticFunction != NULL )
+    {
+        delete m_pEllipticFunction;
+        m_pEllipticFunction = NULL;
+    }
+}
+
+//*****************************************************************************
+void EllipticFunction::Reset(double k2, double alpha2 )
+{
+    m_pEllipticFunction->Reset( k2, alpha2 );
+}
+
+//*****************************************************************************
+void EllipticFunction::Reset(double k2, double alpha2, double kp2, double alphap2)
+{
+    m_pEllipticFunction->Reset( k2, alpha2, kp2, alphap2 );
+}
+
+//*****************************************************************************
+double EllipticFunction::K()
+{
+    return m_pEllipticFunction->K();
+}
+
+//*****************************************************************************
+double EllipticFunction::E()
+{
+    return m_pEllipticFunction->E();
+}
+
+//*****************************************************************************
+double EllipticFunction::D()
+{
+    return m_pEllipticFunction->D();
+}
+
+//*****************************************************************************
+double EllipticFunction::KE()
+{
+    return m_pEllipticFunction->KE();
+}
+
+//*****************************************************************************
+double EllipticFunction::Pi()
+{
+    return m_pEllipticFunction->Pi();
+}
+
+//*****************************************************************************
+double EllipticFunction::G()
+{
+    return m_pEllipticFunction->G();
+}
+
+//*****************************************************************************
+double EllipticFunction::H()
+{
+    return m_pEllipticFunction->H();
+}
+
+//*****************************************************************************
+double EllipticFunction::F(double phi)
+{
+    return m_pEllipticFunction->F( phi );
+}
+
+//*****************************************************************************
+double EllipticFunction::E(double phi)
+{
+    return m_pEllipticFunction->E( phi );
+}
+
+//*****************************************************************************
+double EllipticFunction::Ed(double ang)
+{
+    return m_pEllipticFunction->Ed(ang);
+}
+
+//*****************************************************************************
+double EllipticFunction::Einv(double x)
+{
+    return m_pEllipticFunction->Einv(x);
+}
+
+//*****************************************************************************
+double EllipticFunction::Pi(double phi)
+{
+    return m_pEllipticFunction->Pi(phi);
+}
+
+//*****************************************************************************
+double EllipticFunction::D(double phi)
+{
+    return m_pEllipticFunction->D(phi);
+}
+
+//*****************************************************************************
+double EllipticFunction::G(double phi)
+{
+    return m_pEllipticFunction->G(phi);
+}
+
+//*****************************************************************************
+double EllipticFunction::H(double phi)
+{
+    return m_pEllipticFunction->H(phi);
+}
+
+//*****************************************************************************
+double EllipticFunction::F(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->F( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::E(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->E( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::Pi(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->Pi( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::D(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->D( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::G(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->G( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::H(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->H( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::deltaF(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->deltaF( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::deltaE(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->deltaE( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::deltaEinv(double stau, double ctau)
+{
+    return m_pEllipticFunction->deltaEinv( stau, ctau );
+}
+
+//*****************************************************************************
+double EllipticFunction::deltaPi(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->deltaPi( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::deltaD(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->deltaD( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::deltaG(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->deltaG( sn, cn, dn );
+}
+
+//*****************************************************************************
+double EllipticFunction::deltaH(double sn, double cn, double dn)
+{
+    return m_pEllipticFunction->deltaH( sn, cn, dn );
+}
+
+//*****************************************************************************
+void EllipticFunction::sncndn(double x,
+    [System::Runtime::InteropServices::Out] double% sn,
+    [System::Runtime::InteropServices::Out] double% cn,
+    [System::Runtime::InteropServices::Out] double% dn)
+{
+    double lsn, lcn, ldn;
+    m_pEllipticFunction->sncndn( x, lsn, lcn, ldn );
+    sn = lsn;
+    cn = lcn;
+    dn = ldn;
+}
+
+//*****************************************************************************
+double EllipticFunction::Delta(double sn, double cn)
+{
+    return m_pEllipticFunction->Delta( sn, cn );
+}
+
+//*****************************************************************************
+double EllipticFunction::RF(double x, double y, double z)
+{
+    return GeographicLib::EllipticFunction::RF( x, y, z );
+}
+
+//*****************************************************************************
+double EllipticFunction::RF(double x, double y)
+{
+    return GeographicLib::EllipticFunction::RF( x, y );
+}
+
+//*****************************************************************************
+double EllipticFunction::RC(double x, double y)
+{
+    return GeographicLib::EllipticFunction::RC( x, y );
+}
+
+//*****************************************************************************
+double EllipticFunction::RG(double x, double y, double z)
+{
+    return GeographicLib::EllipticFunction::RG( x, y, z );
+}
+
+//*****************************************************************************
+double EllipticFunction::RG(double x, double y)
+{
+    return GeographicLib::EllipticFunction::RG( x, y );
+}
+
+//*****************************************************************************
+double EllipticFunction::RJ(double x, double y, double z, double p)
+{
+    return GeographicLib::EllipticFunction::RJ( x, y, z, p );
+}
+
+//*****************************************************************************
+double EllipticFunction::RD(double x, double y, double z)
+{
+    return GeographicLib::EllipticFunction::RD( x, y, z );
+}
+
+//*****************************************************************************
+double EllipticFunction::k2::get()
+{ return m_pEllipticFunction->k2(); }
+
+//*****************************************************************************
+double EllipticFunction::kp2::get()
+{ return m_pEllipticFunction->kp2(); }
+
+//*****************************************************************************
+double EllipticFunction::alpha2::get()
+{ return m_pEllipticFunction->alpha2(); }
+
+//*****************************************************************************
+double EllipticFunction::alphap2::get()
+{ return m_pEllipticFunction->alpha2(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/EllipticFunction.h

@@ -0,0 +1,698 @@
+/**
+ * \file NETGeographicLib/EllipticFunction.h
+ * \brief Header for NETGeographicLib::EllipticFunction class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::EllipticFunction.
+   *
+   * This class allows .NET applications to access GeographicLib::EllipticFunction.
+   *
+   * This provides the elliptic functions and integrals needed for Ellipsoid,
+   * GeodesicExact, and TransverseMercatorExact.  Two categories of function
+   * are provided:
+   * - \e static functions to compute symmetric elliptic integrals
+   *   (http://dlmf.nist.gov/19.16.i)
+   * - \e member functions to compute Legrendre's elliptic
+   *   integrals (http://dlmf.nist.gov/19.2.ii) and the
+   *   Jacobi elliptic functions (http://dlmf.nist.gov/22.2).
+   * .
+   * In the latter case, an object is constructed giving the modulus \e k (and
+   * optionally the parameter &alpha;<sup>2</sup>).  The modulus is always
+   * passed as its square <i>k</i><sup>2</sup> which allows \e k to be pure
+   * imaginary (<i>k</i><sup>2</sup> &lt; 0).  (Confusingly, Abramowitz and
+   * Stegun call \e m = <i>k</i><sup>2</sup> the "parameter" and \e n =
+   * &alpha;<sup>2</sup> the "characteristic".)
+   *
+   * In geodesic applications, it is convenient to separate the incomplete
+   * integrals into secular and periodic components, e.g.,
+   * \f[
+   *   E(\phi, k) = (2 E(\phi) / \pi) [ \phi + \delta E(\phi, k) ]
+   * \f]
+   * where &delta;\e E(&phi;, \e k) is an odd periodic function with period
+   * &pi;.
+   *
+   * The computation of the elliptic integrals uses the algorithms given in
+   * - B. C. Carlson,
+   *   <a href="http://dx.doi.org/10.1007/BF02198293"> Computation of real or
+   *   complex elliptic integrals</a>, Numerical Algorithms 10, 13--26 (1995)
+   * .
+   * with the additional optimizations given in http://dlmf.nist.gov/19.36.i.
+   * The computation of the Jacobi elliptic functions uses the algorithm given
+   * in
+   * - R. Bulirsch,
+   *   <a href="http://dx.doi.org/10.1007/BF01397975"> Numerical Calculation of
+   *   Elliptic Integrals and Elliptic Functions</a>, Numericshe Mathematik 7,
+   *   78--90 (1965).
+   * .
+   * The notation follows http://dlmf.nist.gov/19 and http://dlmf.nist.gov/22
+   *
+   * C# Example:
+   * \include example-EllipticFunction.cs
+   * Managed C++ Example:
+   * \include example-EllipticFunction.cpp
+   * Visual Basic Example:
+   * \include example-EllipticFunction.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * The k2, kp2, alpha2, and alphap2 functions are implemented as properties.
+   **********************************************************************/
+    public ref class EllipticFunction
+    {
+    private:
+        // a pointer to the unmanaged GeographicLib::EllipticFunction.
+        GeographicLib::EllipticFunction* m_pEllipticFunction;
+
+        // The finalizer frees the unmanaged memory.
+        !EllipticFunction();
+    public:
+        /** \name Constructor
+         **********************************************************************/
+        ///@{
+        /**
+         * Constructor specifying the modulus and parameter.
+         *
+         * @param[in] k2 the square of the modulus <i>k</i><sup>2</sup>.
+         *   <i>k</i><sup>2</sup> must lie in (-&infin;, 1).  (No checking is
+         *   done.)
+         * @param[in] alpha2 the parameter &alpha;<sup>2</sup>.
+         *   &alpha;<sup>2</sup> must lie in (-&infin;, 1).  (No checking is done.)
+         *
+         * If only elliptic integrals of the first and second kinds are needed,
+         * then set &alpha;<sup>2</sup> = 0 (the default value); in this case, we
+         * have &Pi;(&phi;, 0, \e k) = \e F(&phi;, \e k), \e G(&phi;, 0, \e k) = \e
+         * E(&phi;, \e k), and \e H(&phi;, 0, \e k) = \e F(&phi;, \e k) - \e
+         * D(&phi;, \e k).
+         **********************************************************************/
+        EllipticFunction(double k2, double alpha2 );
+
+        /**
+         * Constructor specifying the modulus and parameter and their complements.
+         *
+         * @param[in] k2 the square of the modulus <i>k</i><sup>2</sup>.
+         *   <i>k</i><sup>2</sup> must lie in (-&infin;, 1).  (No checking is
+         *   done.)
+         * @param[in] alpha2 the parameter &alpha;<sup>2</sup>.
+         *   &alpha;<sup>2</sup> must lie in (-&infin;, 1).  (No checking is done.)
+         * @param[in] kp2 the complementary modulus squared <i>k'</i><sup>2</sup> =
+         *   1 &minus; <i>k</i><sup>2</sup>.
+         * @param[in] alphap2 the complementary parameter &alpha;'<sup>2</sup> = 1
+         *   &minus; &alpha;<sup>2</sup>.
+         *
+         * The arguments must satisfy \e k2 + \e kp2 = 1 and \e alpha2 + \e alphap2
+         * = 1.  (No checking is done that these conditions are met.)  This
+         * constructor is provided to enable accuracy to be maintained, e.g., when
+         * \e k is very close to unity.
+         **********************************************************************/
+        EllipticFunction(double k2, double alpha2, double kp2, double alphap2);
+
+        /**
+         * Destructor calls the finalizer.
+         **********************************************************************/
+        ~EllipticFunction()
+        { this->!EllipticFunction(); }
+
+        /**
+         * Reset the modulus and parameter.
+         *
+         * @param[in] k2 the new value of square of the modulus
+         *   <i>k</i><sup>2</sup> which must lie in (-&infin;, 1).  (No checking is
+         *   done.)
+         * @param[in] alpha2 the new value of parameter &alpha;<sup>2</sup>.
+         *   &alpha;<sup>2</sup> must lie in (-&infin;, 1).  (No checking is done.)
+         **********************************************************************/
+        void Reset(double k2, double alpha2 );
+
+        /**
+         * Reset the modulus and parameter supplying also their complements.
+         *
+         * @param[in] k2 the square of the modulus <i>k</i><sup>2</sup>.
+         *   <i>k</i><sup>2</sup> must lie in (-&infin;, 1).  (No checking is
+         *   done.)
+         * @param[in] alpha2 the parameter &alpha;<sup>2</sup>.
+         *   &alpha;<sup>2</sup> must lie in (-&infin;, 1).  (No checking is done.)
+         * @param[in] kp2 the complementary modulus squared <i>k'</i><sup>2</sup> =
+         *   1 &minus; <i>k</i><sup>2</sup>.
+         * @param[in] alphap2 the complementary parameter &alpha;'<sup>2</sup> = 1
+         *   &minus; &alpha;<sup>2</sup>.
+         *
+         * The arguments must satisfy \e k2 + \e kp2 = 1 and \e alpha2 + \e alphap2
+         * = 1.  (No checking is done that these conditions are met.)  This
+         * constructor is provided to enable accuracy to be maintained, e.g., when
+         * is very small.
+         **********************************************************************/
+        void Reset(double k2, double alpha2, double kp2, double alphap2);
+
+        ///@}
+
+        /** \name Inspector functions.
+         **********************************************************************/
+        ///@{
+        /**
+         * @return the square of the modulus <i>k</i><sup>2</sup>.
+         **********************************************************************/
+        property double k2 { double get(); }
+
+        /**
+         * @return the square of the complementary modulus <i>k'</i><sup>2</sup> =
+         *   1 &minus; <i>k</i><sup>2</sup>.
+         **********************************************************************/
+        property double kp2 { double get(); }
+
+        /**
+         * @return the parameter &alpha;<sup>2</sup>.
+         **********************************************************************/
+        property double alpha2 { double get(); }
+
+        /**
+         * @return the complementary parameter &alpha;'<sup>2</sup> = 1 &minus;
+         *   &alpha;<sup>2</sup>.
+         **********************************************************************/
+        property double alphap2 { double get(); }
+        ///@}
+
+        /** \name Complete elliptic integrals.
+         **********************************************************************/
+        ///@{
+        /**
+         * The complete integral of the first kind.
+         *
+         * @return \e K(\e k).
+         *
+         * \e K(\e k) is defined in http://dlmf.nist.gov/19.2.E4
+         * \f[
+         *   K(k) = \int_0^{\pi/2} \frac1{\sqrt{1-k^2\sin^2\phi}}\,d\phi.
+         * \f]
+         **********************************************************************/
+        double K();
+
+        /**
+         * The complete integral of the second kind.
+         *
+         * @return \e E(\e k)
+         *
+         * \e E(\e k) is defined in http://dlmf.nist.gov/19.2.E5
+         * \f[
+         *   E(k) = \int_0^{\pi/2} \sqrt{1-k^2\sin^2\phi}\,d\phi.
+         * \f]
+         **********************************************************************/
+        double E();
+
+        /**
+         * Jahnke's complete integral.
+         *
+         * @return \e D(\e k).
+         *
+         * \e D(\e k) is defined in http://dlmf.nist.gov/19.2.E6
+         * \f[
+         *   D(k) = \int_0^{\pi/2} \frac{\sin^2\phi}{\sqrt{1-k^2\sin^2\phi}}\,d\phi.
+         * \f]
+         **********************************************************************/
+        double D();
+
+        /**
+         * The difference between the complete integrals of the first and second
+         * kinds.
+         *
+         * @return \e K(\e k) &minus; \e E(\e k).
+         **********************************************************************/
+        double KE();
+
+        /**
+         * The complete integral of the third kind.
+         *
+         * @return &Pi;(&alpha;<sup>2</sup>, \e k)
+         *
+         * &Pi;(&alpha;<sup>2</sup>, \e k) is defined in
+         * http://dlmf.nist.gov/19.2.E7
+         * \f[
+         *   \Pi(\alpha^2, k) = \int_0^{\pi/2}
+         *     \frac1{\sqrt{1-k^2\sin^2\phi}(1 - \alpha^2\sin^2\phi_)}\,d\phi.
+         * \f]
+         **********************************************************************/
+        double Pi();
+
+        /**
+         * Legendre's complete geodesic longitude integral.
+         *
+         * @return \e G(&alpha;<sup>2</sup>, \e k)
+         *
+         * \e G(&alpha;<sup>2</sup>, \e k) is given by
+         * \f[
+         *   G(\alpha^2, k) = \int_0^{\pi/2}
+         *     \frac{\sqrt{1-k^2\sin^2\phi}}{1 - \alpha^2\sin^2\phi}\,d\phi.
+         * \f]
+         **********************************************************************/
+        double G();
+
+        /**
+         * Cayley's complete geodesic longitude difference integral.
+         *
+         * @return \e H(&alpha;<sup>2</sup>, \e k)
+         *
+         * \e H(&alpha;<sup>2</sup>, \e k) is given by
+         * \f[
+         *   H(\alpha^2, k) = \int_0^{\pi/2}
+         *     \frac{\cos^2\phi}{(1-\alpha^2\sin^2\phi)\sqrt{1-k^2\sin^2\phi}}
+         *     \,d\phi.
+         * \f]
+         **********************************************************************/
+        double H();
+        ///@}
+
+        /** \name Incomplete elliptic integrals.
+         **********************************************************************/
+        ///@{
+        /**
+         * The incomplete integral of the first kind.
+         *
+         * @param[in] phi
+         * @return \e F(&phi;, \e k).
+         *
+         * \e F(&phi;, \e k) is defined in http://dlmf.nist.gov/19.2.E4
+         * \f[
+         *   F(\phi, k) = \int_0^\phi \frac1{\sqrt{1-k^2\sin^2\theta}}\,d\theta.
+         * \f]
+         **********************************************************************/
+        double F(double phi);
+
+        /**
+         * The incomplete integral of the second kind.
+         *
+         * @param[in] phi
+         * @return \e E(&phi;, \e k).
+         *
+         * \e E(&phi;, \e k) is defined in http://dlmf.nist.gov/19.2.E5
+         * \f[
+         *   E(\phi, k) = \int_0^\phi \sqrt{1-k^2\sin^2\theta}\,d\theta.
+         * \f]
+         **********************************************************************/
+        double E(double phi);
+
+        /**
+         * The incomplete integral of the second kind with the argument given in
+         * degrees.
+         *
+         * @param[in] ang in <i>degrees</i>.
+         * @return \e E(&pi; <i>ang</i>/180, \e k).
+         **********************************************************************/
+        double Ed(double ang);
+
+        /**
+         * The inverse of the incomplete integral of the second kind.
+         *
+         * @param[in] x
+         * @return &phi; = <i>E</i><sup>&minus;1</sup>(\e x, \e k); i.e., the
+         *   solution of such that \e E(&phi;, \e k) = \e x.
+         **********************************************************************/
+        double Einv(double x);
+
+        /**
+         * The incomplete integral of the third kind.
+         *
+         * @param[in] phi
+         * @return &Pi;(&phi;, &alpha;<sup>2</sup>, \e k).
+         *
+         * &Pi;(&phi;, &alpha;<sup>2</sup>, \e k) is defined in
+         * http://dlmf.nist.gov/19.2.E7
+         * \f[
+         *   \Pi(\phi, \alpha^2, k) = \int_0^\phi
+         *     \frac1{\sqrt{1-k^2\sin^2\theta}(1 - \alpha^2\sin^2\theta_)}\,d\theta.
+         * \f]
+         **********************************************************************/
+        double Pi(double phi);
+
+        /**
+         * Jahnke's incomplete elliptic integral.
+         *
+         * @param[in] phi
+         * @return \e D(&phi;, \e k).
+         *
+         * \e D(&phi;, \e k) is defined in http://dlmf.nist.gov/19.2.E4
+         * \f[
+         *   D(\phi, k) = \int_0^\phi
+         *    \frac{\sin^2\theta}{\sqrt{1-k^2\sin^2\theta}}\,d\theta.
+         * \f]
+         **********************************************************************/
+        double D(double phi);
+
+        /**
+         * Legendre's geodesic longitude integral.
+         *
+         * @param[in] phi
+         * @return \e G(&phi;, &alpha;<sup>2</sup>, \e k).
+         *
+         * \e G(&phi;, &alpha;<sup>2</sup>, \e k) is defined by
+         * \f[
+         *   \begin{aligned}
+         *   G(\phi, \alpha^2, k) &=
+         *   \frac{k^2}{\alpha^2} F(\phi, k) +
+         *      \biggl(1 - \frac{k^2}{\alpha^2}\biggr) \Pi(\phi, \alpha^2, k) \\
+         *    &= \int_0^\phi
+         *     \frac{\sqrt{1-k^2\sin^2\theta}}{1 - \alpha^2\sin^2\theta}\,d\theta.
+         *   \end{aligned}
+         * \f]
+         *
+         * Legendre expresses the longitude of a point on the geodesic in terms of
+         * this combination of elliptic integrals in Exercices de Calcul
+         * Int&eacute;gral, Vol. 1 (1811), p. 181,
+         * http://books.google.com/books?id=riIOAAAAQAAJ&pg=PA181.
+         *
+         * See \ref geodellip for the expression for the longitude in terms of this
+         * function.
+         **********************************************************************/
+        double G(double phi);
+
+        /**
+         * Cayley's geodesic longitude difference integral.
+         *
+         * @param[in] phi
+         * @return \e H(&phi;, &alpha;<sup>2</sup>, \e k).
+         *
+         * \e H(&phi;, &alpha;<sup>2</sup>, \e k) is defined by
+         * \f[
+         *   \begin{aligned}
+         *   H(\phi, \alpha^2, k) &=
+         *   \frac1{\alpha^2} F(\phi, k) +
+         *        \biggl(1 - \frac1{\alpha^2}\biggr) \Pi(\phi, \alpha^2, k) \\
+         *   &= \int_0^\phi
+         *     \frac{\cos^2\theta}{(1-\alpha^2\sin^2\theta)\sqrt{1-k^2\sin^2\theta}}
+         *     \,d\theta.
+         *   \end{aligned}
+         * \f]
+         *
+         * Cayley expresses the longitude difference of a point on the geodesic in
+         * terms of this combination of elliptic integrals in Phil. Mag. <b>40</b>
+         * (1870), p. 333, http://books.google.com/books?id=Zk0wAAAAIAAJ&pg=PA333.
+         *
+         * See \ref geodellip for the expression for the longitude in terms of this
+         * function.
+         **********************************************************************/
+        double H(double phi);
+        ///@}
+
+        /** \name Incomplete integrals in terms of Jacobi elliptic functions.
+         **********************************************************************/
+        /**
+         * The incomplete integral of the first kind in terms of Jacobi elliptic
+         * functions.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return \e F(&phi;, \e k) as though &phi; &isin; (&minus;&pi;, &pi;].
+         **********************************************************************/
+        double F(double sn, double cn, double dn);
+
+        /**
+         * The incomplete integral of the second kind in terms of Jacobi elliptic
+         * functions.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return \e E(&phi;, \e k) as though &phi; &isin; (&minus;&pi;, &pi;].
+         **********************************************************************/
+        double E(double sn, double cn, double dn);
+
+        /**
+         * The incomplete integral of the third kind in terms of Jacobi elliptic
+         * functions.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return &Pi;(&phi;, &alpha;<sup>2</sup>, \e k) as though &phi; &isin;
+         *   (&minus;&pi;, &pi;].
+         **********************************************************************/
+        double Pi(double sn, double cn, double dn);
+
+        /**
+         * Jahnke's incomplete elliptic integral in terms of Jacobi elliptic
+         * functions.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return \e D(&phi;, \e k) as though &phi; &isin; (&minus;&pi;, &pi;].
+         **********************************************************************/
+        double D(double sn, double cn, double dn);
+
+        /**
+         * Legendre's geodesic longitude integral in terms of Jacobi elliptic
+         * functions.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return \e G(&phi;, &alpha;<sup>2</sup>, \e k) as though &phi; &isin;
+         *   (&minus;&pi;, &pi;].
+         **********************************************************************/
+        double G(double sn, double cn, double dn);
+
+        /**
+         * Cayley's geodesic longitude difference integral in terms of Jacobi
+         * elliptic functions.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return \e H(&phi;, &alpha;<sup>2</sup>, \e k) as though &phi; &isin;
+         *   (&minus;&pi;, &pi;].
+         **********************************************************************/
+        double H(double sn, double cn, double dn);
+        ///@}
+
+        /** \name Periodic versions of incomplete elliptic integrals.
+         **********************************************************************/
+        ///@{
+        /**
+         * The periodic incomplete integral of the first kind.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return the periodic function &pi; \e F(&phi;, \e k) / (2 \e K(\e k)) -
+         *   &phi;
+         **********************************************************************/
+        double deltaF(double sn, double cn, double dn);
+
+        /**
+         * The periodic incomplete integral of the second kind.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return the periodic function &pi; \e E(&phi;, \e k) / (2 \e E(\e k)) -
+         *   &phi;
+         **********************************************************************/
+        double deltaE(double sn, double cn, double dn);
+
+        /**
+         * The periodic inverse of the incomplete integral of the second kind.
+         *
+         * @param[in] stau = sin&tau;
+         * @param[in] ctau = sin&tau;
+         * @return the periodic function <i>E</i><sup>&minus;1</sup>(&tau; (2 \e
+         *   E(\e k)/&pi;), \e k) - &tau;
+         **********************************************************************/
+        double deltaEinv(double stau, double ctau);
+
+        /**
+         * The periodic incomplete integral of the third kind.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return the periodic function &pi; &Pi;(&phi;, \e k) / (2 &Pi;(\e k)) -
+         *   &phi;
+         **********************************************************************/
+        double deltaPi(double sn, double cn, double dn);
+
+        /**
+         * The periodic Jahnke's incomplete elliptic integral.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return the periodic function &pi; \e D(&phi;, \e k) / (2 \e D(\e k)) -
+         *   &phi;
+         **********************************************************************/
+        double deltaD(double sn, double cn, double dn);
+
+        /**
+         * Legendre's periodic geodesic longitude integral.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return the periodic function &pi; \e G(&phi;, \e k) / (2 \e G(\e k)) -
+         *   &phi;
+         **********************************************************************/
+        double deltaG(double sn, double cn, double dn);
+
+        /**
+         * Cayley's periodic geodesic longitude difference integral.
+         *
+         * @param[in] sn = sin&phi;
+         * @param[in] cn = cos&phi;
+         * @param[in] dn = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         * @return the periodic function &pi; \e H(&phi;, \e k) / (2 \e H(\e k)) -
+         *   &phi;
+         **********************************************************************/
+        double deltaH(double sn, double cn, double dn);
+        ///@}
+
+        /** \name Elliptic functions.
+         **********************************************************************/
+        ///@{
+        /**
+         * The Jacobi elliptic functions.
+         *
+         * @param[in] x the argument.
+         * @param[out] sn sn(\e x, \e k).
+         * @param[out] cn cn(\e x, \e k).
+         * @param[out] dn dn(\e x, \e k).
+         **********************************************************************/
+        void sncndn(double x,
+            [System::Runtime::InteropServices::Out] double% sn,
+            [System::Runtime::InteropServices::Out] double% cn,
+            [System::Runtime::InteropServices::Out] double% dn);
+
+        /**
+         * The &Delta; amplitude function.
+         *
+         * @param[in] sn sin&phi;
+         * @param[in] cn cos&phi;
+         * @return &Delta; = sqrt(1 &minus; <i>k</i><sup>2</sup>
+         *   sin<sup>2</sup>&phi;)
+         **********************************************************************/
+        double Delta(double sn, double cn);
+        ///@}
+
+        /** \name Symmetric elliptic integrals.
+         **********************************************************************/
+        ///@{
+        /**
+         * Symmetric integral of the first kind <i>R<sub>F</sub></i>.
+         *
+         * @param[in] x
+         * @param[in] y
+         * @param[in] z
+         * @return <i>R<sub>F</sub></i>(\e x, \e y, \e z)
+         *
+         * <i>R<sub>F</sub></i> is defined in http://dlmf.nist.gov/19.16.E1
+         * \f[ R_F(x, y, z) = \frac12
+         *       \int_0^\infty\frac1{\sqrt{(t + x) (t + y) (t + z)}}\, dt \f]
+         * If one of the arguments is zero, it is more efficient to call the
+         * two-argument version of this function with the non-zero arguments.
+         **********************************************************************/
+        static double RF(double x, double y, double z);
+
+        /**
+         * Complete symmetric integral of the first kind, <i>R<sub>F</sub></i> with
+         * one argument zero.
+         *
+         * @param[in] x
+         * @param[in] y
+         * @return <i>R<sub>F</sub></i>(\e x, \e y, 0)
+         **********************************************************************/
+        static double RF(double x, double y);
+
+        /**
+         * Degenerate symmetric integral of the first kind <i>R<sub>C</sub></i>.
+         *
+         * @param[in] x
+         * @param[in] y
+         * @return <i>R<sub>C</sub></i>(\e x, \e y) = <i>R<sub>F</sub></i>(\e x, \e
+         *   y, \e y)
+         *
+         * <i>R<sub>C</sub></i> is defined in http://dlmf.nist.gov/19.2.E17
+         * \f[ R_C(x, y) = \frac12
+         *       \int_0^\infty\frac1{\sqrt{t + x}(t + y)}\,dt \f]
+         **********************************************************************/
+        static double RC(double x, double y);
+
+        /**
+         * Symmetric integral of the second kind <i>R<sub>G</sub></i>.
+         *
+         * @param[in] x
+         * @param[in] y
+         * @param[in] z
+         * @return <i>R<sub>G</sub></i>(\e x, \e y, \e z)
+         *
+         * <i>R<sub>G</sub></i> is defined in Carlson, eq 1.5
+         * \f[ R_G(x, y, z) = \frac14
+         *       \int_0^\infty[(t + x) (t + y) (t + z)]^{-1/2}
+         *        \biggl(
+         *             \frac x{t + x} + \frac y{t + y} + \frac z{t + z}
+         *        \biggr)t\,dt \f]
+         * See also http://dlmf.nist.gov/19.16.E3.
+         * If one of the arguments is zero, it is more efficient to call the
+         * two-argument version of this function with the non-zero arguments.
+         **********************************************************************/
+        static double RG(double x, double y, double z);
+
+        /**
+         * Complete symmetric integral of the second kind, <i>R<sub>G</sub></i>
+         * with one argument zero.
+         *
+         * @param[in] x
+         * @param[in] y
+         * @return <i>R<sub>G</sub></i>(\e x, \e y, 0)
+         **********************************************************************/
+        static double RG(double x, double y);
+
+        /**
+         * Symmetric integral of the third kind <i>R<sub>J</sub></i>.
+         *
+         * @param[in] x
+         * @param[in] y
+         * @param[in] z
+         * @param[in] p
+         * @return <i>R<sub>J</sub></i>(\e x, \e y, \e z, \e p)
+         *
+         * <i>R<sub>J</sub></i> is defined in http://dlmf.nist.gov/19.16.E2
+         * \f[ R_J(x, y, z, p) = \frac32
+         *       \int_0^\infty[(t + x) (t + y) (t + z)]^{-1/2} (t + p)^{-1}\, dt \f]
+         **********************************************************************/
+        static double RJ(double x, double y, double z, double p);
+
+        /**
+         * Degenerate symmetric integral of the third kind <i>R<sub>D</sub></i>.
+         *
+         * @param[in] x
+         * @param[in] y
+         * @param[in] z
+         * @return <i>R<sub>D</sub></i>(\e x, \e y, \e z) = <i>R<sub>J</sub></i>(\e
+         *   x, \e y, \e z, \e z)
+         *
+         * <i>R<sub>D</sub></i> is defined in http://dlmf.nist.gov/19.16.E5
+         * \f[ R_D(x, y, z) = \frac32
+         *       \int_0^\infty[(t + x) (t + y)]^{-1/2} (t + z)^{-3/2}\, dt \f]
+         **********************************************************************/
+        static double RD(double x, double y, double z);
+        ///@}
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeoCoords.cpp

@@ -0,0 +1,243 @@
+/**
+ * \file NETGeographicLib/GeoCoords.cpp
+ * \brief Implementation for NETGeographicLib::GeoCoords class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/GeoCoords.hpp"
+#include "GeoCoords.h"
+#include "UTMUPS.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::GeoCoords";
+
+//*****************************************************************************
+GeoCoords::!GeoCoords(void)
+{
+    if ( m_pGeoCoords != NULL )
+    {
+        delete m_pGeoCoords;
+        m_pGeoCoords = NULL;
+    }
+}
+
+//*****************************************************************************
+GeoCoords::GeoCoords()
+{
+    try
+    {
+        m_pGeoCoords = new GeographicLib::GeoCoords();
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+GeoCoords::GeoCoords(System::String^ s, bool centerp, bool swaplatlong )
+{
+    try
+    {
+        m_pGeoCoords = new GeographicLib::GeoCoords(StringConvert::ManagedToUnmanaged(s), centerp, swaplatlong);
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+GeoCoords::GeoCoords(double latitude, double longitude, int zone )
+{
+    try
+    {
+        m_pGeoCoords = new GeographicLib::GeoCoords(latitude, longitude, zone);
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+GeoCoords::GeoCoords(int zone, bool northp, double easting, double northing)
+{
+    try
+    {
+        m_pGeoCoords = new GeographicLib::GeoCoords(zone, northp, easting, northing);
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+void GeoCoords::Reset( System::String^ s, bool centerp, bool swaplatlong )
+{
+    try
+    {
+        m_pGeoCoords->Reset(StringConvert::ManagedToUnmanaged(s), centerp, swaplatlong);
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+void GeoCoords::Reset(double latitude, double longitude, int zone)
+{
+    try
+    {
+        m_pGeoCoords->Reset(latitude, longitude, zone);
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+void GeoCoords::Reset(int zone, bool northp, double easting, double northing)
+{
+    try
+    {
+        m_pGeoCoords->Reset(zone, northp, easting, northing);
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+void GeoCoords::AltZone::set( int zone )
+{
+    try
+    {
+        m_pGeoCoords->SetAltZone(zone);
+    }
+    catch ( GeographicLib::GeographicErr err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+int GeoCoords::AltZone::get() { return m_pGeoCoords->AltZone(); }
+
+//*****************************************************************************
+double GeoCoords::Latitude::get() { return m_pGeoCoords->Latitude(); }
+
+//*****************************************************************************
+double GeoCoords::Longitude::get() { return m_pGeoCoords->Longitude(); }
+
+//*****************************************************************************
+double GeoCoords::Easting::get() { return m_pGeoCoords->Easting(); }
+
+//*****************************************************************************
+double GeoCoords::Northing::get() { return m_pGeoCoords->Northing(); }
+
+//*****************************************************************************
+double GeoCoords::Convergence::get() { return m_pGeoCoords->Convergence(); }
+
+//*****************************************************************************
+double GeoCoords::Scale::get() { return m_pGeoCoords->Scale(); }
+
+//*****************************************************************************
+bool GeoCoords::Northp::get() { return m_pGeoCoords->Northp(); }
+
+//*****************************************************************************
+char GeoCoords::Hemisphere::get() { return m_pGeoCoords->Hemisphere(); }
+
+//*****************************************************************************
+int GeoCoords::Zone::get() { return m_pGeoCoords->Zone(); }
+
+//*****************************************************************************
+double GeoCoords::AltEasting::get() { return m_pGeoCoords->AltEasting(); }
+
+//*****************************************************************************
+double GeoCoords::AltNorthing::get() { return m_pGeoCoords->AltNorthing(); }
+
+//*****************************************************************************
+double GeoCoords::AltConvergence::get()
+{ return m_pGeoCoords->AltConvergence(); }
+
+//*****************************************************************************
+double GeoCoords::AltScale::get() { return m_pGeoCoords->AltScale(); }
+
+//*****************************************************************************
+double GeoCoords::MajorRadius::get() { return UTMUPS::MajorRadius(); }
+
+//*****************************************************************************
+double GeoCoords::Flattening::get() { return UTMUPS::Flattening(); }
+
+//*****************************************************************************
+System::String^ GeoCoords::GeoRepresentation(int prec, bool swaplatlong )
+{
+    return gcnew System::String( m_pGeoCoords->GeoRepresentation(prec, swaplatlong).c_str() );
+}
+
+//*****************************************************************************
+System::String^ GeoCoords::DMSRepresentation(int prec, bool swaplatlong,
+                                char dmssep )
+{
+    return gcnew System::String( m_pGeoCoords->DMSRepresentation(prec, swaplatlong, dmssep).c_str() );
+}
+
+//*****************************************************************************
+System::String^ GeoCoords::MGRSRepresentation(int prec)
+{
+    return gcnew System::String( m_pGeoCoords->MGRSRepresentation(prec).c_str() );
+}
+
+//*****************************************************************************
+System::String^ GeoCoords::UTMUPSRepresentation(int prec)
+{
+    return gcnew System::String( m_pGeoCoords->UTMUPSRepresentation(prec).c_str() );
+}
+
+//*****************************************************************************
+System::String^ GeoCoords::UTMUPSRepresentation(bool northp, int prec)
+{
+    return gcnew System::String( m_pGeoCoords->UTMUPSRepresentation(northp, prec).c_str() );
+}
+
+//*****************************************************************************
+System::String^ GeoCoords::AltMGRSRepresentation(int prec)
+{
+    return gcnew System::String( m_pGeoCoords->AltMGRSRepresentation(prec).c_str() );
+}
+
+//*****************************************************************************
+System::String^ GeoCoords::AltUTMUPSRepresentation(int prec)
+{
+    return gcnew System::String( m_pGeoCoords->AltUTMUPSRepresentation(prec).c_str() );
+}
+
+//*****************************************************************************
+System::String^ GeoCoords::AltUTMUPSRepresentation(bool northp, int prec)
+{
+    return gcnew System::String( m_pGeoCoords->AltUTMUPSRepresentation(northp, prec).c_str() );
+}

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeoCoords.h

@@ -0,0 +1,474 @@
+/**
+ * \file NETGeographicLib/GeoCoords.h
+ * \brief Header for NETGeographicLib::GeoCoords class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::GeoCoords.
+   *
+   * This class allows .NET applications to access GeographicLib::GeoCoords.
+   *
+   * This class stores a geographic position which may be set via the
+   * constructors or Reset via
+   * - latitude and longitude
+   * - UTM or UPS coordinates
+   * - a string representation of these or an MGRS coordinate string
+   *
+   * The state consists of the latitude and longitude and the supplied UTM or
+   * UPS coordinates (possibly derived from the MGRS coordinates).  If latitude
+   * and longitude were given then the UTM/UPS coordinates follows the standard
+   * conventions.
+   *
+   * The mutable state consists of the UTM or UPS coordinates for a alternate
+   * zone.  A method SetAltZone is provided to set the alternate UPS/UTM zone.
+   *
+   * Methods are provided to return the geographic coordinates, the input UTM
+   * or UPS coordinates (and associated meridian convergence and scale), or
+   * alternate UTM or UPS coordinates (and their associated meridian
+   * convergence and scale).
+   *
+   * Once the input string has been parsed, you can print the result out in any
+   * of the formats, decimal degrees, degrees minutes seconds, MGRS, UTM/UPS.
+   *
+   * C# Example:
+   * \include example-GeoCoords.cs
+   * Managed C++ Example:
+   * \include example-GeoCoords.cpp
+   * Visual Basic Example:
+   * \include example-GeoCoords.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * The following functions are implemented as properties: MajorRadius,
+   * Flattening, Latitude, Longitude, Easting, Northing, Convergence,
+   * Scale, Northp, Hemisphere, Zone, AltZone, AltEasting, AltNorthing,
+   * AltConvergence, and AltScale.
+   **********************************************************************/
+    public ref class GeoCoords
+    {
+        private:
+        // pointer to the unmanaged  GeographicLib::GeoCoords
+        GeographicLib::GeoCoords* m_pGeoCoords;
+
+        // The finalizer frees unmanaged memory when the object is destroyed.
+        !GeoCoords();
+    public:
+        /** \name Initializing the GeoCoords object
+         **********************************************************************/
+        ///@{
+        /**
+         * The default constructor is equivalent to \e latitude = 90&deg;,
+         * \e longitude = 0&deg;.
+         **********************************************************************/
+        GeoCoords();
+
+        /**
+         * Construct from a string.
+         *
+         * @param[in] s 1-element, 2-element, or 3-element string representation of
+         *   the position.
+         * @param[in] centerp governs the interpretation of MGRS coordinates (see
+         *   below).
+         * @param[in] swaplatlong governs the interpretation of geographic
+         *   coordinates (see below).
+         * @exception GeographicErr if the \e s is malformed (see below).
+         *
+         * Parse as a string and interpret it as a geographic position.  The input
+         * string is broken into space (or comma) separated pieces and Basic
+         * decision on which format is based on number of components
+         * -# MGRS
+         * -# "Lat Long" or "Long Lat"
+         * -# "Zone Easting Northing" or "Easting Northing Zone"
+         *
+         * The following inputs are approximately the same (Ar Ramadi Bridge, Iraq)
+         * - Latitude and Longitude
+         *   -  33.44      43.27
+         *   -  N33d26.4'  E43d16.2'
+         *   -  43d16'12&quot;E 33d26'24&quot;N
+         *   -  43:16:12E  33:26:24
+         * - MGRS
+         *   -  38SLC301
+         *   -  38SLC391014
+         *   -  38SLC3918701405
+         *   -  37SHT9708
+         * - UTM
+         *   -  38N 339188 3701405
+         *   -  897039 3708229 37N
+         *
+         * <b>Latitude and Longitude parsing</b>: Latitude precedes longitude,
+         * unless a N, S, E, W hemisphere designator is used on one or both
+         * coordinates.  If \e swaplatlong = true (default is false), then
+         * longitude precedes latitude in the absence of a hemisphere designator.
+         * Thus (with \e swaplatlong = false)
+         * - 40 -75
+         * - N40 W75
+         * - -75 N40
+         * - 75W 40N
+         * - E-75 -40S
+         * .
+         * are all the same position.  The coordinates may be given in
+         * decimal degrees, degrees and decimal minutes, degrees, minutes,
+         * seconds, etc.  Use d, ', and &quot; to mark off the degrees,
+         * minutes and seconds.  Various alternative symbols for degrees, minutes,
+         * and seconds are allowed.  Alternatively, use : to separate these
+         * components.  (See DMS::Decode for details.)  Thus
+         * - 40d30'30&quot;
+         * - 40d30'30
+         * - 40&deg;30'30
+         * - 40d30.5'
+         * - 40d30.5
+         * - 40:30:30
+         * - 40:30.5
+         * - 40.508333333
+         * .
+         * all specify the same angle.  The leading sign applies to all components
+         * so -1d30 is -(1+30/60) = -1.5.  Latitudes must be in the range
+         * [&minus;90&deg;, 90&deg;] and longitudes in the range
+         * [&minus;540&deg;, 540&deg;).  Internally longitudes are reduced
+         * to the range [&minus;180&deg;, 180&deg;).
+         *
+         * <b>UTM/UPS parsing</b>: For UTM zones (&minus;80&deg; &le; Lat <
+         * 84&deg;), the zone designator is made up of a zone number (for 1 to 60)
+         * and a hemisphere letter (N or S), e.g., 38N.  The latitude zone designer
+         * ([C--M] in the southern hemisphere and [N--X] in the northern) should
+         * NOT be used.  (This is part of the MGRS coordinate.)  The zone
+         * designator for the poles (where UPS is employed) is a hemisphere letter
+         * by itself, i.e., N or S.
+         *
+         * <b>MGRS parsing</b> interprets the grid references as square area at the
+         * specified precision (1m, 10m, 100m, etc.).  If \e centerp = true (the
+         * default), the center of this square is then taken to be the precise
+         * position; thus:
+         * - 38SMB           = 38N 450000 3650000
+         * - 38SMB4484       = 38N 444500 3684500
+         * - 38SMB44148470   = 38N 444145 3684705
+         * .
+         * Otherwise, the "south-west" corner of the square is used, i.e.,
+         * - 38SMB           = 38N 400000 3600000
+         * - 38SMB4484       = 38N 444000 3684000
+         * - 38SMB44148470   = 38N 444140 3684700
+         **********************************************************************/
+        GeoCoords(System::String^ s, bool centerp, bool swaplatlong );
+
+        /**
+         * Construct from geographic coordinates.
+         *
+         * @param[in] latitude (degrees).
+         * @param[in] longitude (degrees).
+         * @param[in] zone if specified, force the UTM/UPS representation to use a
+         *   specified zone using the rules given in UTMUPS::zonespec.
+         * @exception GeographicErr if \e latitude is not in [&minus;90&deg;,
+         *   90&deg;].
+         * @exception GeographicErr if \e longitude is not in [&minus;540&deg;,
+         *   540&deg;).
+         * @exception GeographicErr if \e zone cannot be used for this location.
+         **********************************************************************/
+        GeoCoords(double latitude, double longitude, int zone );
+
+        /**
+         * Construct from UTM/UPS coordinates.
+         *
+         * @param[in] zone UTM zone (zero means UPS).
+         * @param[in] northp hemisphere (true means north, false means south).
+         * @param[in] easting (meters).
+         * @param[in] northing (meters).
+         * @exception GeographicErr if \e zone, \e easting, or \e northing is
+         *   outside its allowed range.
+         **********************************************************************/
+        GeoCoords(int zone, bool northp, double easting, double northing);
+
+        /**
+         * The destructor calls the finalizer.
+         **********************************************************************/
+        ~GeoCoords() { this->!GeoCoords(); }
+
+        /**
+         * Reset the location from a string.  See
+         * GeoCoords(const std::string& s, bool centerp, bool swaplatlong).
+         *
+         * @param[in] s 1-element, 2-element, or 3-element string representation of
+         *   the position.
+         * @param[in] centerp governs the interpretation of MGRS coordinates.
+         * @param[in] swaplatlong governs the interpretation of geographic
+         *   coordinates.
+         * @exception GeographicErr if the \e s is malformed.
+         **********************************************************************/
+        void Reset( System::String^ s, bool centerp, bool swaplatlong);
+
+        /**
+         * Reset the location in terms of geographic coordinates.  See
+         * GeoCoords(double latitude, double longitude, int zone).
+         *
+         * @param[in] latitude (degrees).
+         * @param[in] longitude (degrees).
+         * @param[in] zone if specified, force the UTM/UPS representation to use a
+         *   specified zone using the rules given in UTMUPS::zonespec.
+         * @exception GeographicErr if \e latitude is not in [&minus;90&deg;,
+         *   90&deg;].
+         * @exception GeographicErr if \e longitude is not in [&minus;540&deg;,
+         *   540&deg;).
+         * @exception GeographicErr if \e zone cannot be used for this location.
+         **********************************************************************/
+        void Reset(double latitude, double longitude, int zone ) ;
+
+        /**
+         * Reset the location in terms of UPS/UPS coordinates.  See
+         * GeoCoords(int zone, bool northp, double easting, double northing).
+         *
+         * @param[in] zone UTM zone (zero means UPS).
+         * @param[in] northp hemisphere (true means north, false means south).
+         * @param[in] easting (meters).
+         * @param[in] northing (meters).
+         * @exception GeographicErr if \e zone, \e easting, or \e northing is
+         *   outside its allowed range.
+         **********************************************************************/
+        void Reset(int zone, bool northp, double easting, double northing);
+        ///@}
+
+        /** \name Querying the GeoCoords object
+         **********************************************************************/
+        ///@{
+        /**
+         * @return latitude (degrees)
+         **********************************************************************/
+        property double Latitude { double get(); }
+
+        /**
+         * @return longitude (degrees)
+         **********************************************************************/
+        property double Longitude { double get(); }
+
+        /**
+         * @return easting (meters)
+         **********************************************************************/
+        property double Easting { double get(); }
+
+        /**
+         * @return northing (meters)
+         **********************************************************************/
+        property double Northing { double get(); }
+
+        /**
+         * @return meridian convergence (degrees) for the UTM/UPS projection.
+         **********************************************************************/
+        property double Convergence { double get(); }
+
+        /**
+         * @return scale for the UTM/UPS projection.
+         **********************************************************************/
+        property double Scale { double get(); }
+
+        /**
+         * @return hemisphere (false means south, true means north).
+         **********************************************************************/
+        property bool Northp { bool get(); }
+
+        /**
+         * @return hemisphere letter N or S.
+         **********************************************************************/
+        property char Hemisphere { char get(); }
+
+        /**
+         * @return the zone corresponding to the input (return 0 for UPS).
+         **********************************************************************/
+        property int Zone { int get(); }
+
+        /**
+         * Gets/Sets the current alternate zone (0 = UPS).
+         * @exception GeographicErr if \e zone cannot be used for this location.
+         *
+         * See UTMUPS::zonespec for more information on the interpretation of \e
+         * zone.  Note that \e zone == UTMUPS::STANDARD (the default) use the
+         * standard UPS or UTM zone, UTMUPS::MATCH does nothing retaining the
+         * existing alternate representation.  Before this is called the alternate
+         * zone is the input zone.
+         **********************************************************************/
+        property int AltZone
+        {
+            int get();
+            void set( int zone );
+        }
+        ///@}
+
+        /**
+         * @return easting (meters) for alternate zone.
+         **********************************************************************/
+        property double AltEasting { double get(); }
+
+        /**
+         * @return northing (meters) for alternate zone.
+         **********************************************************************/
+        property double AltNorthing { double get(); }
+
+        /**
+         * @return meridian convergence (degrees) for alternate zone.
+         **********************************************************************/
+        property double AltConvergence { double get(); }
+
+        /**
+         * @return scale for alternate zone.
+         **********************************************************************/
+        property double AltScale { double get(); }
+        ///@}
+
+        /** \name String representations of the GeoCoords object
+         **********************************************************************/
+        ///@{
+        /**
+         * String representation with latitude and longitude as signed decimal
+         * degrees.
+         *
+         * @param[in] prec precision (relative to about 1m).
+         * @param[in] swaplatlong if true give longitude first (default = false)
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return decimal latitude/longitude string representation.
+         *
+         * Precision specifies accuracy of representation as follows:
+         * - prec = &minus;5 (min), 1&deg;
+         * - prec = 0, 10<sup>&minus;5</sup>&deg; (about 1m)
+         * - prec = 3, 10<sup>&minus;8</sup>&deg;
+         * - prec = 9 (max), 10<sup>&minus;14</sup>&deg;
+         **********************************************************************/
+        System::String^ GeoRepresentation(int prec, bool swaplatlong );
+
+        /**
+         * String representation with latitude and longitude as degrees, minutes,
+         * seconds, and hemisphere.
+         *
+         * @param[in] prec precision (relative to about 1m)
+         * @param[in] swaplatlong if true give longitude first (default = false)
+         * @param[in] dmssep if non-null, use as the DMS separator character
+         *   (instead of d, ', &quot; delimiters).
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return DMS latitude/longitude string representation.
+         *
+         * Precision specifies accuracy of representation as follows:
+         * - prec = &minus;5 (min), 1&deg;
+         * - prec = &minus;4, 0.1&deg;
+         * - prec = &minus;3, 1'
+         * - prec = &minus;2, 0.1'
+         * - prec = &minus;1, 1&quot;
+         * - prec = 0, 0.1&quot; (about 3m)
+         * - prec = 1, 0.01&quot;
+         * - prec = 10 (max), 10<sup>&minus;11</sup>&quot;
+         **********************************************************************/
+        System::String^ DMSRepresentation(int prec, bool swaplatlong,
+                                      char dmssep );
+
+        /**
+         * MGRS string.
+         *
+         * @param[in] prec precision (relative to about 1m).
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return MGRS string.
+         *
+         * This gives the coordinates of the enclosing grid square with size given
+         * by the precision.  Thus 38N 444180 3684790 converted to a MGRS
+         * coordinate at precision &minus;2 (100m) is 38SMB441847 and not
+         * 38SMB442848.  \e prec specifies the precision of the MGRS string as
+         * follows:
+         * - prec = &minus;5 (min), 100km
+         * - prec = &minus;4, 10km
+         * - prec = &minus;3, 1km
+         * - prec = &minus;2, 100m
+         * - prec = &minus;1, 10m
+         * - prec = 0, 1m
+         * - prec = 1, 0.1m
+         * - prec = 6 (max), 1&mu;m
+         **********************************************************************/
+        System::String^ MGRSRepresentation(int prec);
+
+        /**
+         * UTM/UPS string.
+         *
+         * @param[in] prec precision (relative to about 1m)
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return UTM/UPS string representation: zone designator, easting, and
+         *   northing.
+         *
+         * Precision specifies accuracy of representation as follows:
+         * - prec = &minus;5 (min), 100km
+         * - prec = &minus;3, 1km
+         * - prec = 0, 1m
+         * - prec = 3, 1mm
+         * - prec = 6, 1&mu;m
+         * - prec = 9 (max), 1nm
+         **********************************************************************/
+        System::String^ UTMUPSRepresentation(int prec);
+
+        /**
+         * UTM/UPS string with hemisphere override.
+         *
+         * @param[in] prec precision (relative to about 1m)
+         * @param[in] northp hemisphere override
+         * @exception GeographicErr if the hemisphere override attempts to change
+         *   UPS N to UPS S or vice verse.
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return UTM/UPS string representation: zone designator, easting, and
+         *   northing.
+         **********************************************************************/
+        System::String^ UTMUPSRepresentation(bool northp, int prec);
+
+        /**
+         * MGRS string for the alternate zone.  See GeoCoords::MGRSRepresentation.
+         *
+         * @param[in] prec precision (relative to about 1m).
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return MGRS string.
+         **********************************************************************/
+        System::String^ AltMGRSRepresentation(int prec);
+
+        /**
+         * UTM/UPS string for the alternate zone.  See
+         * GeoCoords::UTMUPSRepresentation.
+         *
+         * @param[in] prec precision (relative to about 1m)
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return UTM/UPS string representation: zone designator, easting, and
+         *   northing.
+         **********************************************************************/
+        System::String^ AltUTMUPSRepresentation(int prec);
+
+        /**
+         * UTM/UPS string for the alternate zone, with hemisphere override.
+         *
+         * @param[in] prec precision (relative to about 1m)
+         * @param[in] northp hemisphere override
+         * @exception GeographicErr if the hemisphere override attempts to change
+         *   UPS N to UPS S or vice verse.
+         * @exception std::bad_alloc if memory for the string can't be allocated.
+         * @return UTM/UPS string representation: zone designator, easting, and
+         *   northing.
+         **********************************************************************/
+        System::String^ AltUTMUPSRepresentation(bool northp, int prec);
+        ///@}
+
+        /** \name Inspector functions
+         **********************************************************************/
+        ///@{
+        /**
+         * @return \e a the equatorial radius of the WGS84 ellipsoid (meters).
+         *
+         * (The WGS84 value is returned because the UTM and UPS projections are
+         * based on this ellipsoid.)
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the flattening of the WGS84 ellipsoid.
+         *
+         * (The WGS84 value is returned because the UTM and UPS projections are
+         * based on this ellipsoid.)
+         **********************************************************************/
+        property double Flattening { double get(); }
+        ///@}
+    };
+} //namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geocentric.cpp

@@ -0,0 +1,151 @@
+/**
+ * \file NETGeographicLib/Geocentric.cpp
+ * \brief Implementation for NETGeographicLib::Geocentric class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/Geocentric.hpp"
+#include "Geocentric.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Unable to allocate memory for a GeographicLib::Geocentric";
+
+//*****************************************************************************
+Geocentric::!Geocentric()
+{
+    if ( m_pGeocentric != NULL )
+    {
+        delete m_pGeocentric;
+        m_pGeocentric = NULL;
+    }
+}
+
+//*****************************************************************************
+Geocentric::Geocentric(void)
+{
+    try
+    {
+        m_pGeocentric = new GeographicLib::Geocentric(
+            GeographicLib::Geocentric::WGS84 );
+    }
+    catch (std::bad_alloc)
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+Geocentric::Geocentric(double a, double f)
+{
+    try
+    {
+        m_pGeocentric = new GeographicLib::Geocentric( a, f );
+    }
+    catch (std::bad_alloc)
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+    catch (std::exception err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+Geocentric::Geocentric( const GeographicLib::Geocentric& g )
+{
+    try
+    {
+        m_pGeocentric = new GeographicLib::Geocentric( g );
+    }
+    catch (std::bad_alloc)
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+void Geocentric::Forward(double lat, double lon, double h,
+    [System::Runtime::InteropServices::Out] double% X,
+    [System::Runtime::InteropServices::Out] double% Y,
+    [System::Runtime::InteropServices::Out] double% Z)
+{
+    double lX, lY, lZ;
+    m_pGeocentric->Forward( lat, lon, h, lX, lY, lZ);
+    X = lX;
+    Y = lY;
+    Z = lZ;
+}
+
+//*****************************************************************************
+void Geocentric::Forward(double lat, double lon, double h,
+    [System::Runtime::InteropServices::Out] double% X,
+    [System::Runtime::InteropServices::Out] double% Y,
+    [System::Runtime::InteropServices::Out] double% Z,
+    [System::Runtime::InteropServices::Out] array<double,2>^% M)
+{
+    double lX, lY, lZ;
+    std::vector<double> lM(9);
+    m_pGeocentric->Forward( lat, lon, h, lX, lY, lZ, lM);
+    X = lX;
+    Y = lY;
+    Z = lZ;
+    M = gcnew array<double,2>( 3, 3 );
+    for ( int i = 0; i < 3; i++ )
+        for ( int j = 0; j < 3; j++ )
+            M[i,j] = lM[3*i+j];
+}
+
+//*****************************************************************************
+void Geocentric::Reverse(double X, double Y, double Z,
+    [System::Runtime::InteropServices::Out] double% lat,
+    [System::Runtime::InteropServices::Out] double% lon,
+    [System::Runtime::InteropServices::Out] double% h)
+{
+    double llat, llon, lh;
+    m_pGeocentric->Reverse(X, Y, Z, llat, llon, lh);
+    lat = llat;
+    lon = llon;
+    h = lh;
+}
+
+//*****************************************************************************
+void Geocentric::Reverse(double X, double Y, double Z,
+    [System::Runtime::InteropServices::Out] double% lat,
+    [System::Runtime::InteropServices::Out] double% lon,
+    [System::Runtime::InteropServices::Out] double% h,
+    [System::Runtime::InteropServices::Out] array<double,2>^% M)
+{
+    std::vector<double> lM(9);
+    double llat, llon, lh;
+    m_pGeocentric->Reverse(X, Y, Z, llat, llon, lh, lM);
+    lat = llat;
+    lon = llon;
+    h = lh;
+    M = gcnew array<double,2>( 3, 3 );
+    for ( int i = 0; i < 3; i++ )
+        for ( int j = 0; j < 3; j++ )
+            M[i,j] = lM[3*i+j];
+}
+
+//*****************************************************************************
+System::IntPtr^ Geocentric::GetUnmanaged()
+{
+    return gcnew System::IntPtr( const_cast<void*>(
+        reinterpret_cast<const void*>(m_pGeocentric) ) );
+}
+
+//*****************************************************************************
+double Geocentric::MajorRadius::get()
+{ return m_pGeocentric->MajorRadius(); }
+
+//*****************************************************************************
+double Geocentric::Flattening::get()
+{ return m_pGeocentric->Flattening(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geocentric.h

@@ -0,0 +1,227 @@
+/**
+ * \file NETGeographicLib/Geocentric.h
+ * \brief Header for NETGeographicLib::Geocentric class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::Geocentric.
+   *
+   * This class allows .NET applications to access GeographicLib::Geocentric.
+   *
+   * Convert between geodetic coordinates latitude = \e lat, longitude = \e
+   * lon, height = \e h (measured vertically from the surface of the ellipsoid)
+   * to geocentric coordinates (\e X, \e Y, \e Z).  The origin of geocentric
+   * coordinates is at the center of the earth.  The \e Z axis goes thru the
+   * north pole, \e lat = 90&deg;.  The \e X axis goes thru \e lat = 0,
+   * \e lon = 0.  %Geocentric coordinates are also known as earth centered,
+   * earth fixed (ECEF) coordinates.
+   *
+   * The conversion from geographic to geocentric coordinates is
+   * straightforward.  For the reverse transformation we use
+   * - H. Vermeille,
+   *   <a href="http://dx.doi.org/10.1007/s00190-002-0273-6"> Direct
+   *   transformation from geocentric coordinates to geodetic coordinates</a>,
+   *   J. Geodesy 76, 451--454 (2002).
+   * .
+   * Several changes have been made to ensure that the method returns accurate
+   * results for all finite inputs (even if \e h is infinite).  The changes are
+   * described in Appendix B of
+   * - C. F. F. Karney,
+   *   <a href="http://arxiv.org/abs/1102.1215v1">Geodesics
+   *   on an ellipsoid of revolution</a>,
+   *   Feb. 2011;
+   *   preprint
+   *   <a href="http://arxiv.org/abs/1102.1215v1">arxiv:1102.1215v1</a>.
+   * .
+   * See \ref geocentric for more information.
+   *
+   * The errors in these routines are close to round-off.  Specifically, for
+   * points within 5000 km of the surface of the ellipsoid (either inside or
+   * outside the ellipsoid), the error is bounded by 7 nm (7 nanometers) for
+   * the WGS84 ellipsoid.  See \ref geocentric for further information on the
+   * errors.
+   *
+   * C# Example:
+   * \include example-Geocentric.cs
+   * Managed C++ Example:
+   * \include example-Geocentric.cpp
+   * Visual Basic Example:
+   * \include example-Geocentric.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A default constructor is provided that assumes WGS84 parameters.
+   *
+   * The MajorRadius and Flattening functions are implemented as properties.
+   *
+   * The Forward and Reverse functions return rotation matrices as 2D,
+   * 3 &times; 3 arrays rather than vectors.
+   **********************************************************************/
+    public ref class Geocentric
+    {
+    private:
+        // pointer to the unmanaged GeographicLib::Geocentric
+        const GeographicLib::Geocentric* m_pGeocentric;
+
+        // The finalizer frees unmanaged memory when the object is destroyed.
+        !Geocentric();
+    public:
+        /**
+         * Constructor for a ellipsoid with
+         *
+         * @param[in] a equatorial radius (meters).
+         * @param[in] f flattening of ellipsoid.  Setting \e f = 0 gives a sphere.
+         *   Negative \e f gives a prolate ellipsoid.  If \e f > 1, set flattening
+         *   to 1/\e f.
+         * @exception GeographicErr if \e a or (1 &minus; \e f ) \e a is not
+         *   positive.
+         **********************************************************************/
+        Geocentric(double a, double f);
+
+        /**
+         * A default constructor which assumes WGS84.
+         **********************************************************************/
+        Geocentric();
+
+        /**
+         * A constructor that is initialized from an unmanaged
+         * GeographicLib::Geocentric.  For internal use only.
+         * @param[in] g An existing GeographicLib::Geocentric.
+         **********************************************************************/
+        Geocentric( const GeographicLib::Geocentric& g );
+
+        /**
+         * The destructor calls the finalizer.
+         **********************************************************************/
+        ~Geocentric()
+        { this->!Geocentric(); }
+
+        /**
+         * Convert from geodetic to geocentric coordinates.
+         *
+         * @param[in] lat latitude of point (degrees).
+         * @param[in] lon longitude of point (degrees).
+         * @param[in] h height of point above the ellipsoid (meters).
+         * @param[out] X geocentric coordinate (meters).
+         * @param[out] Y geocentric coordinate (meters).
+         * @param[out] Z geocentric coordinate (meters).
+         *
+         * \e lat should be in the range [&minus;90&deg;, 90&deg;]; \e lon
+         * should be in the range [&minus;540&deg;, 540&deg;).
+         **********************************************************************/
+        void Forward(double lat, double lon, double h,
+            [System::Runtime::InteropServices::Out] double% X,
+            [System::Runtime::InteropServices::Out] double% Y,
+            [System::Runtime::InteropServices::Out] double% Z);
+
+        /**
+         * Convert from geodetic to geocentric coordinates and return rotation
+         * matrix.
+         *
+         * @param[in] lat latitude of point (degrees).
+         * @param[in] lon longitude of point (degrees).
+         * @param[in] h height of point above the ellipsoid (meters).
+         * @param[out] X geocentric coordinate (meters).
+         * @param[out] Y geocentric coordinate (meters).
+         * @param[out] Z geocentric coordinate (meters).
+         * @param[out] M a 3 &times; 3 rotation matrix.
+         *
+         * Let \e v be a unit vector located at (\e lat, \e lon, \e h).  We can
+         * express \e v as \e column vectors in one of two ways
+         * - in east, north, up coordinates (where the components are relative to a
+         *   local coordinate system at (\e lat, \e lon, \e h)); call this
+         *   representation \e v1.
+         * - in geocentric \e X, \e Y, \e Z coordinates; call this representation
+         *   \e v0.
+         * .
+         * Then we have \e v0 = \e M &sdot; \e v1.
+         **********************************************************************/
+        void Forward(double lat, double lon, double h,
+            [System::Runtime::InteropServices::Out] double% X,
+            [System::Runtime::InteropServices::Out] double% Y,
+            [System::Runtime::InteropServices::Out] double% Z,
+            [System::Runtime::InteropServices::Out] array<double,2>^% M);
+
+        /**
+         * Convert from geocentric to geodetic to coordinates.
+         *
+         * @param[in] X geocentric coordinate (meters).
+         * @param[in] Y geocentric coordinate (meters).
+         * @param[in] Z geocentric coordinate (meters).
+         * @param[out] lat latitude of point (degrees).
+         * @param[out] lon longitude of point (degrees).
+         * @param[out] h height of point above the ellipsoid (meters).
+         *
+         * In general there are multiple solutions and the result which maximizes
+         * \e h is returned.  If there are still multiple solutions with different
+         * latitudes (applies only if \e Z = 0), then the solution with \e lat > 0
+         * is returned.  If there are still multiple solutions with different
+         * longitudes (applies only if \e X = \e Y = 0) then \e lon = 0 is
+         * returned.  The value of \e h returned satisfies \e h &ge; &minus; \e a
+         * (1 &minus; <i>e</i><sup>2</sup>) / sqrt(1 &minus; <i>e</i><sup>2</sup>
+         * sin<sup>2</sup>\e lat).  The value of \e lon returned is in the range
+         * [&minus;180&deg;, 180&deg;).
+         **********************************************************************/
+        void Reverse(double X, double Y, double Z,
+            [System::Runtime::InteropServices::Out] double% lat,
+            [System::Runtime::InteropServices::Out] double% lon,
+            [System::Runtime::InteropServices::Out] double% h);
+
+        /**
+         * Convert from geocentric to geodetic to coordinates.
+         *
+         * @param[in] X geocentric coordinate (meters).
+         * @param[in] Y geocentric coordinate (meters).
+         * @param[in] Z geocentric coordinate (meters).
+         * @param[out] lat latitude of point (degrees).
+         * @param[out] lon longitude of point (degrees).
+         * @param[out] h height of point above the ellipsoid (meters).
+         * @param[out] M a 3 &times; 3 rotation matrix.
+         *
+         * Let \e v be a unit vector located at (\e lat, \e lon, \e h).  We can
+         * express \e v as \e column vectors in one of two ways
+         * - in east, north, up coordinates (where the components are relative to a
+         *   local coordinate system at (\e lat, \e lon, \e h)); call this
+         *   representation \e v1.
+         * - in geocentric \e X, \e Y, \e Z coordinates; call this representation
+         *   \e v0.
+         * .
+         * Then we have \e v1 = \e M<sup>T</sup> &sdot; \e v0, where \e
+         * M<sup>T</sup> is the transpose of \e M.
+         **********************************************************************/
+        void Reverse(double X, double Y, double Z,
+            [System::Runtime::InteropServices::Out] double% lat,
+            [System::Runtime::InteropServices::Out] double% lon,
+            [System::Runtime::InteropServices::Out] double% h,
+            [System::Runtime::InteropServices::Out] array<double,2>^% M);
+
+        /** \name Inspector functions
+         **********************************************************************/
+        ///@{
+        /**
+         * @return a pointer to the unmanaged GeographicLib::Geocentric.
+         **********************************************************************/
+        System::IntPtr^ GetUnmanaged();
+
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the  flattening of the ellipsoid.  This is the
+         *   value used in the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+        ///@}
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geodesic.cpp

@@ -0,0 +1,483 @@
+/**
+ * \file NETGeographicLib/Geodesic.cpp
+ * \brief Implementation for NETGeographicLib::Geodesic class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include <GeographicLib/Geodesic.hpp>
+#include "Geodesic.h"
+#include "GeodesicLine.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::Geodesic";
+
+//*****************************************************************************
+Geodesic::!Geodesic()
+{
+    if ( m_pGeodesic != NULL )
+    {
+        delete m_pGeodesic;
+        m_pGeodesic = NULL;
+    }
+}
+
+//*****************************************************************************
+Geodesic::Geodesic(double a, double f)
+{
+    try
+    {
+        m_pGeodesic = new GeographicLib::Geodesic( a, f );
+    }
+    catch ( std::bad_alloc err )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+    catch ( GeographicLib::GeographicErr err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+Geodesic::Geodesic()
+{
+    try
+    {
+        m_pGeodesic = new GeographicLib::Geodesic( GeographicLib::Geodesic::WGS84 );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+double Geodesic::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21,
+                    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesic->Direct(lat1, lon1, azi1, s12,
+                    llat2, llon2, lazi2, lm12, lM12, lM21, lS12);
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    double out = m_pGeodesic->Direct(lat1, lon1, azi1, s12,
+                    llat2, llon2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    double out = m_pGeodesic->Direct(lat1, lon1, azi1, s12,
+                    llat2, llon2, lazi2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, lm12;
+    double out = m_pGeodesic->Direct(lat1, lon1, azi1, s12,
+                    llat2, llon2, lazi2, lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lM12, lM21;
+    double out = m_pGeodesic->Direct(lat1, lon1, azi1, s12,
+                    llat2, llon2, lazi2, lM12, lM21);
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21;
+    double out = m_pGeodesic->Direct(lat1, lon1, azi1, s12,
+                    llat2, llon2, lazi2, lm12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+void Geodesic::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% m12,
+                [System::Runtime::InteropServices::Out] double% M12,
+                [System::Runtime::InteropServices::Out] double% M21,
+                [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12;
+    m_pGeodesic->ArcDirect(lat1, lon1, azi1, a12,
+            llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12);
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+}
+
+//*****************************************************************************
+void Geodesic::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    m_pGeodesic->ArcDirect(lat1, lon1, azi1, a12, llat2, llon2 );
+    lat2 = llat2;
+    lon2 = llon2;
+}
+
+//*****************************************************************************
+void Geodesic::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                   [System::Runtime::InteropServices::Out] double% lat2,
+                   [System::Runtime::InteropServices::Out] double% lon2,
+                   [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    m_pGeodesic->ArcDirect(lat1, lon1, azi1, a12, llat2, llon2, lazi2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+}
+
+//*****************************************************************************
+void Geodesic::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12)
+{
+    double llat2, llon2, lazi2, ls12;
+    m_pGeodesic->ArcDirect(lat1, lon1, azi1, a12,
+            llat2, llon2, lazi2, ls12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+}
+
+//*****************************************************************************
+void Geodesic::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, ls12, lm12;
+    m_pGeodesic->ArcDirect(lat1, lon1, azi1, a12,
+            llat2, llon2, lazi2, ls12, lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+}
+
+//*****************************************************************************
+void Geodesic::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% M12,
+                [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lM12, lM21;
+    m_pGeodesic->ArcDirect(lat1, lon1, azi1, a12,
+            llat2, llon2, lazi2, ls12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+void Geodesic::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% m12,
+                [System::Runtime::InteropServices::Out] double% M12,
+                [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21;
+    m_pGeodesic->ArcDirect(lat1, lon1, azi1, a12,
+            llat2, llon2, lazi2, ls12, lm12, lM12, lM21);
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    s12 = ls12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+double Geodesic::GenDirect(double lat1, double lon1, double azi1,
+                        bool arcmode, double s12_a12,
+                        NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% lat2,
+                        [System::Runtime::InteropServices::Out] double% lon2,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21, ls12, lS12;
+    double out = m_pGeodesic->GenDirect(lat1, lon1, azi1, arcmode, s12_a12,
+                    static_cast<unsigned>(outmask),
+                    llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12);
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    s12 = ls12;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21,
+                    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double ls12, lazi1, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesic->Inverse(lat1, lon1, lat2, lon2,
+                    ls12, lazi1, lazi2, lm12, lM12, lM21, lS12);
+    s12 = ls12;
+    azi1 = lazi1;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12)
+{
+    double ls12;
+    double out = m_pGeodesic->Inverse(lat1, lon1, lat2, lon2, ls12 );
+    s12 = ls12;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double lazi1, lazi2;
+    double out = m_pGeodesic->Inverse(lat1, lon1, lat2, lon2, lazi1, lazi2);
+    azi1 = lazi1;
+    azi2 = lazi2;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double ls12, lazi1, lazi2;
+    double out = m_pGeodesic->Inverse(lat1, lon1, lat2, lon2,
+                    ls12, lazi1, lazi2 );
+    azi1 = lazi1;
+    azi2 = lazi2;
+    s12 = ls12;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double ls12, lazi1, lazi2, lm12;
+    double out = m_pGeodesic->Inverse(lat1, lon1, lat2, lon2,
+                ls12, lazi1, lazi2, lm12 );
+    azi1 = lazi1;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double ls12, lazi1, lazi2, lM12, lM21;
+    double out = m_pGeodesic->Inverse(lat1, lon1, lat2, lon2,
+                    ls12, lazi1, lazi2, lM12, lM21 );
+    azi1 = lazi1;
+    azi2 = lazi2;
+    s12 = ls12;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double ls12, lazi1, lazi2, lm12, lM12, lM21;
+    double out = m_pGeodesic->Inverse(lat1, lon1, lat2, lon2,
+                    ls12, lazi1, lazi2, lm12, lM12, lM21 );
+    azi1 = lazi1;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double Geodesic::GenInverse(double lat1, double lon1, double lat2, double lon2,
+                        NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% azi1,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12)
+{
+    double ls12, lazi1, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesic->GenInverse(lat1, lon1, lat2, lon2,
+                    static_cast<unsigned>(outmask),
+                    ls12, lazi1, lazi2, lm12, lM12, lM21, lS12);
+    azi1 = lazi1;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+System::IntPtr^ Geodesic::GetUnmanaged()
+{
+    return gcnew System::IntPtr( const_cast<void*>(reinterpret_cast<const void*>(m_pGeodesic)) );
+}
+
+//*****************************************************************************
+GeodesicLine^ Geodesic::Line(double lat1, double lon1, double azi1,
+                             NETGeographicLib::Mask caps )
+{
+    return gcnew GeodesicLine( this, lat1, lon1, azi1, caps );
+}
+
+//*****************************************************************************
+double Geodesic::MajorRadius::get() { return m_pGeodesic->MajorRadius(); }
+
+//*****************************************************************************
+double Geodesic::Flattening::get() { return m_pGeodesic->Flattening(); }
+
+//*****************************************************************************
+double Geodesic::EllipsoidArea::get() { return m_pGeodesic->EllipsoidArea(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geodesic.h

@@ -0,0 +1,688 @@
+/**
+ * \file NETGeographicLib/Geodesic.h
+ * \brief Header for NETGeographicLib::Geodesic class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#pragma once
+#include "NETGeographicLib.h"
+
+namespace NETGeographicLib
+{
+    ref class GeodesicLine;
+  /**
+   * \brief .NET wrapper for GeographicLib::Geodesic.
+   *
+   * This class allows .NET applications to access GeographicLib::Geodesic.
+   *
+   * The shortest path between two points on a ellipsoid at (\e lat1, \e lon1)
+   * and (\e lat2, \e lon2) is called the geodesic.  Its length is \e s12 and
+   * the geodesic from point 1 to point 2 has azimuths \e azi1 and \e azi2 at
+   * the two end points.  (The azimuth is the heading measured clockwise from
+   * north.  \e azi2 is the "forward" azimuth, i.e., the heading that takes you
+   * beyond point 2 not back to point 1.)
+   *
+   * Given \e lat1, \e lon1, \e azi1, and \e s12, we can determine \e lat2, \e
+   * lon2, and \e azi2.  This is the \e direct geodesic problem and its
+   * solution is given by the function Geodesic::Direct.  (If \e s12 is
+   * sufficiently large that the geodesic wraps more than halfway around the
+   * earth, there will be another geodesic between the points with a smaller \e
+   * s12.)
+   *
+   * Given \e lat1, \e lon1, \e lat2, and \e lon2, we can determine \e azi1, \e
+   * azi2, and \e s12.  This is the \e inverse geodesic problem, whose solution
+   * is given by Geodesic::Inverse.  Usually, the solution to the inverse
+   * problem is unique.  In cases where there are multiple solutions (all with
+   * the same \e s12, of course), all the solutions can be easily generated
+   * once a particular solution is provided.
+   *
+   * The standard way of specifying the direct problem is the specify the
+   * distance \e s12 to the second point.  However it is sometimes useful
+   * instead to specify the arc length \e a12 (in degrees) on the auxiliary
+   * sphere.  This is a mathematical construct used in solving the geodesic
+   * problems.  The solution of the direct problem in this form is provided by
+   * Geodesic::ArcDirect.  An arc length in excess of 180&deg; indicates that
+   * the geodesic is not a shortest path.  In addition, the arc length between
+   * an equatorial crossing and the next extremum of latitude for a geodesic is
+   * 90&deg;.
+   *
+   * This class can also calculate several other quantities related to
+   * geodesics.  These are:
+   * - <i>reduced length</i>.  If we fix the first point and increase \e azi1
+   *   by \e dazi1 (radians), the second point is displaced \e m12 \e dazi1 in
+   *   the direction \e azi2 + 90&deg;.  The quantity \e m12 is called
+   *   the "reduced length" and is symmetric under interchange of the two
+   *   points.  On a curved surface the reduced length obeys a symmetry
+   *   relation, \e m12 + \e m21 = 0.  On a flat surface, we have \e m12 = \e
+   *   s12.  The ratio <i>s12</i>/\e m12 gives the azimuthal scale for an
+   *   azimuthal equidistant projection.
+   * - <i>geodesic scale</i>.  Consider a reference geodesic and a second
+   *   geodesic parallel to this one at point 1 and separated by a small
+   *   distance \e dt.  The separation of the two geodesics at point 2 is \e
+   *   M12 \e dt where \e M12 is called the "geodesic scale".  \e M21 is
+   *   defined similarly (with the geodesics being parallel at point 2).  On a
+   *   flat surface, we have \e M12 = \e M21 = 1.  The quantity 1/\e M12 gives
+   *   the scale of the Cassini-Soldner projection.
+
+   * - <i>area</i>.  The area between the geodesic from point 1 to point 2 and
+   *   the equation is represented by \e S12; it is the area, measured
+   *   counter-clockwise, of the geodesic quadrilateral with corners
+   *   (<i>lat1</i>,<i>lon1</i>), (0,<i>lon1</i>), (0,<i>lon2</i>), and
+   *   (<i>lat2</i>,<i>lon2</i>).  It can be used to compute the area of any
+   *   simple geodesic polygon.
+   *
+   * Overloaded versions of Geodesic::Direct, Geodesic::ArcDirect, and
+   * Geodesic::Inverse allow these quantities to be returned.  In addition
+   * there are general functions Geodesic::GenDirect, and Geodesic::GenInverse
+   * which allow an arbitrary set of results to be computed.  The quantities \e
+   * m12, \e M12, \e M21 which all specify the behavior of nearby geodesics
+   * obey addition rules.  If points 1, 2, and 3 all lie on a single geodesic,
+   * then the following rules hold:
+   * - \e s13 = \e s12 + \e s23
+   * - \e a13 = \e a12 + \e a23
+   * - \e S13 = \e S12 + \e S23
+   * - \e m13 = \e m12 \e M23 + \e m23 \e M21
+   * - \e M13 = \e M12 \e M23 &minus; (1 &minus; \e M12 \e M21) \e m23 / \e m12
+   * - \e M31 = \e M32 \e M21 &minus; (1 &minus; \e M23 \e M32) \e m12 / \e m23
+   *
+   * Additional functionality is provided by the GeodesicLine class, which
+   * allows a sequence of points along a geodesic to be computed.
+   *
+   * The shortest distance returned by the solution of the inverse problem is
+   * (obviously) uniquely defined.  However, in a few special cases there are
+   * multiple azimuths which yield the same shortest distance.  Here is a
+   * catalog of those cases:
+   * - \e lat1 = &minus;\e lat2 (with neither at a pole).  If \e azi1 = \e
+   *   azi2, the geodesic is unique.  Otherwise there are two geodesics and the
+   *   second one is obtained by setting [\e azi1, \e azi2] = [\e azi2, \e
+   *   azi1], [\e M12, \e M21] = [\e M21, \e M12], \e S12 = &minus;\e S12.
+   *   (This occurs when the longitude difference is near &plusmn;180&deg; for
+   *   oblate ellipsoids.)
+   * - \e lon2 = \e lon1 &plusmn; 180&deg; (with neither at a pole).  If \e
+   *   azi1 = 0&deg; or &plusmn;180&deg;, the geodesic is unique.  Otherwise
+   *   there are two geodesics and the second one is obtained by setting [\e
+   *   azi1, \e azi2] = [&minus;\e azi1, &minus;\e azi2], \e S12 = &minus;\e
+   *   S12.  (This occurs when the \e lat2 is near &minus;\e lat1 for prolate
+   *   ellipsoids.)
+   * - Points 1 and 2 at opposite poles.  There are infinitely many geodesics
+   *   which can be generated by setting [\e azi1, \e azi2] = [\e azi1, \e
+   *   azi2] + [\e d, &minus;\e d], for arbitrary \e d.  (For spheres, this
+   *   prescription applies when points 1 and 2 are antipodal.)
+   * - s12 = 0 (coincident points).  There are infinitely many geodesics which
+   *   can be generated by setting [\e azi1, \e azi2] = [\e azi1, \e azi2] +
+   *   [\e d, \e d], for arbitrary \e d.
+   *
+   * The calculations are accurate to better than 15 nm (15 nanometers) for the
+   * WGS84 ellipsoid.  See Sec. 9 of
+   * <a href="http://arxiv.org/abs/1102.1215v1">arXiv:1102.1215v1</a> for
+   * details.  The algorithms used by this class are based on series expansions
+   * using the flattening \e f as a small parameter.  These are only accurate
+   * for |<i>f</i>| &lt; 0.02; however reasonably accurate results will be
+   * obtained for |<i>f</i>| &lt; 0.2.  Here is a table of the approximate
+   * maximum error (expressed as a distance) for an ellipsoid with the same
+   * major radius as the WGS84 ellipsoid and different values of the
+   * flattening.<pre>
+   *     |f|      error
+   *     0.01     25 nm
+   *     0.02     30 nm
+   *     0.05     10 um
+   *     0.1     1.5 mm
+   *     0.2     300 mm
+   * </pre>
+   * For very eccentric ellipsoids, use GeodesicExact instead.
+   *
+   * The algorithms are described in
+   * - C. F. F. Karney,
+   *   <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+   *   Algorithms for geodesics</a>,
+   *   J. Geodesy <b>87</b>, 43--55 (2013);
+   *   DOI: <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+   *   10.1007/s00190-012-0578-z</a>;
+   *   addenda: <a href="http://geographiclib.sf.net/geod-addenda.html">
+   *   geod-addenda.html</a>.
+   * .
+   * For more information on geodesics see \ref geodesic.
+   *
+   * C# Example:
+   * \include example-Geodesic.cs
+   * Managed C++ Example:
+   * \include example-Geodesic.cpp
+   * Visual Basic Example:
+   * \include example-Geodesic.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A default constructor has been provided that assumes WGS84 parameters.
+   *
+   * The MajorRadius, Flattening, and EllipsoidArea functions are
+   * implemented as properties.
+   *
+   * The GenDirect, GenInverse, and Line functions accept the
+   * "capabilities mask" as a NETGeographicLib::Mask rather than an
+   * unsigned.
+   **********************************************************************/
+    public ref class Geodesic
+    {
+        private:
+        // The pointer to the unmanaged GeographicLib::Geodesic.
+        const GeographicLib::Geodesic* m_pGeodesic;
+
+        // Frees the unmanaged memory when this object is destroyed.
+        !Geodesic();
+    public:
+        /** \name Constructor
+         **********************************************************************/
+        ///@{
+        /**
+         * Constructor for a ellipsoid with
+         *
+         * @param[in] a equatorial radius (meters).
+         * @param[in] f flattening of ellipsoid.  Setting \e f = 0 gives a sphere.
+         *   Negative \e f gives a prolate ellipsoid.  If \e f > 1, set flattening
+         *   to 1/\e f.
+         * @exception GeographicErr if \e a or (1 &minus; \e f ) \e a is not
+         *   positive.
+         **********************************************************************/
+        Geodesic(double a, double f);
+
+        /**
+         * Constructor for the WGS84 ellipsoid.
+         **********************************************************************/
+        Geodesic();
+        ///@}
+
+        /**
+         * \brief the destructor calls the finalizer.
+         **********************************************************************/
+        ~Geodesic() { this->!Geodesic(); }
+
+        /** \name Direct geodesic problem specified in terms of distance.
+         **********************************************************************/
+        ///@{
+        /**
+         * Solve the direct geodesic problem where the length of the geodesic
+         * is specified in terms of distance.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] s12 distance between point 1 and point 2 (meters); it can be
+         *   negative.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).  The values of
+         * \e lon2 and \e azi2 returned are in the range [&minus;180&deg;,
+         * 180&deg;).
+         *
+         * If either point is at a pole, the azimuth is defined by keeping the
+         * longitude fixed, writing \e lat = &plusmn;(90&deg; &minus; &epsilon;),
+         * and taking the limit &epsilon; &rarr; 0+.  An arc length greater that
+         * 180&deg; signifies a geodesic which is not a shortest path.  (For a
+         * prolate ellipsoid, an additional condition is necessary for a shortest
+         * path: the longitudinal extent must not exceed of 180&deg;.)
+         *
+         * The following functions are overloaded versions of Geodesic::Direct
+         * which omit some of the output parameters.  Note, however, that the arc
+         * length is always computed and returned as the function value.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% m12,
+                          [System::Runtime::InteropServices::Out] double% M12,
+                          [System::Runtime::InteropServices::Out] double% M21,
+                          [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for Geodesic::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for Geodesic::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for Geodesic::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for Geodesic::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% M12,
+                          [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for Geodesic::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% m12,
+                          [System::Runtime::InteropServices::Out] double% M12,
+                          [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name Direct geodesic problem specified in terms of arc length.
+         **********************************************************************/
+        ///@{
+        /**
+         * Solve the direct geodesic problem where the length of the geodesic
+         * is specified in terms of arc length.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] a12 arc length between point 1 and point 2 (degrees); it can
+         *   be negative.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).  The values of
+         * \e lon2 and \e azi2 returned are in the range [&minus;180&deg;,
+         * 180&deg;).
+         *
+         * If either point is at a pole, the azimuth is defined by keeping the
+         * longitude fixed, writing \e lat = &plusmn;(90&deg; &minus; &epsilon;),
+         * and taking the limit &epsilon; &rarr; 0+.  An arc length greater that
+         * 180&deg; signifies a geodesic which is not a shortest path.  (For a
+         * prolate ellipsoid, an additional condition is necessary for a shortest
+         * path: the longitudinal extent must not exceed of 180&deg;.)
+         *
+         * The following functions are overloaded versions of Geodesic::Direct
+         * which omit some of the output parameters.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% m12,
+                       [System::Runtime::InteropServices::Out] double% M12,
+                       [System::Runtime::InteropServices::Out] double% M21,
+                       [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for Geodesic::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for Geodesic::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for Geodesic::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12);
+
+        /**
+         * See the documentation for Geodesic::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for Geodesic::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% M12,
+                       [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for Geodesic::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% m12,
+                       [System::Runtime::InteropServices::Out] double% M12,
+                       [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name General version of the direct geodesic solution.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * The general direct geodesic problem.  Geodesic::Direct and
+         * Geodesic::ArcDirect are defined in terms of this function.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] arcmode boolean flag determining the meaning of the \e
+         *   s12_a12.
+         * @param[in] s12_a12 if \e arcmode is false, this is the distance between
+         *   point 1 and point 2 (meters); otherwise it is the arc length between
+         *   point 1 and point 2 (degrees); it can be negative.
+         * @param[in] outmask a bitor'ed combination of NETGeographicLib::Mask values
+         *   specifying which of the following parameters should be set.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The NETGeographicLib::Mask values possible for \e outmask are
+         * - \e outmask |= NETGeographicLib::Mask::LATITUDE for the latitude \e lat2;
+         * - \e outmask |= NETGeographicLib::Mask::LONGITUDE for the latitude \e lon2;
+         * - \e outmask |= NETGeographicLib::Mask::AZIMUTH for the latitude \e azi2;
+         * - \e outmask |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e outmask |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length \e
+         *   m12;
+         * - \e outmask |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales \e
+         *   M12 and \e M21;
+         * - \e outmask |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e outmask |= NETGeographicLib::Mask::ALL for all of the above.
+         * .
+         * The function value \e a12 is always computed and returned and this
+         * equals \e s12_a12 is \e arcmode is true.  If \e outmask includes
+         * NETGeographicLib::Mask::DISTANCE and \e arcmode is false, then
+         * \e s12 = \e s12_a12.  It is not necessary to include
+         * NETGeographicLib::Mask::DISTANCE_IN in \e outmask; this is
+         * automatically included is \e arcmode is false.
+         **********************************************************************/
+        double GenDirect(double lat1, double lon1, double azi1,
+                        bool arcmode, double s12_a12,
+                        NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% lat2,
+                        [System::Runtime::InteropServices::Out] double% lon2,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12);
+        ///@}
+
+        /** \name Inverse geodesic problem.
+         **********************************************************************/
+        ///@{
+        /**
+         * Solve the inverse geodesic problem.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] lat2 latitude of point 2 (degrees).
+         * @param[in] lon2 longitude of point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] azi1 azimuth at point 1 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * \e lat1 and \e lat2 should be in the range [&minus;90&deg;, 90&deg;]; \e
+         * lon1 and \e lon2 should be in the range [&minus;540&deg;, 540&deg;).
+         * The values of \e azi1 and \e azi2 returned are in the range
+         * [&minus;180&deg;, 180&deg;).
+         *
+         * If either point is at a pole, the azimuth is defined by keeping the
+         * longitude fixed, writing \e lat = &plusmn;(90&deg; &minus; &epsilon;),
+         * and taking the limit &epsilon; &rarr; 0+.
+         *
+         * The solution to the inverse problem is found using Newton's method.  If
+         * this fails to converge (this is very unlikely in geodetic applications
+         * but does occur for very eccentric ellipsoids), then the bisection method
+         * is used to refine the solution.
+         *
+         * The following functions are overloaded versions of Geodesic::Inverse
+         * which omit some of the output parameters.  Note, however, that the arc
+         * length is always computed and returned as the function value.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2,
+                           [System::Runtime::InteropServices::Out] double% m12,
+                           [System::Runtime::InteropServices::Out] double% M12,
+                           [System::Runtime::InteropServices::Out] double% M21,
+                           [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for Geodesic::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12);
+
+        /**
+         * See the documentation for Geodesic::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for Geodesic::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for Geodesic::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2,
+                           [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for Geodesic::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2,
+                           [System::Runtime::InteropServices::Out] double% M12,
+                           [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for Geodesic::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2,
+                           [System::Runtime::InteropServices::Out] double% m12,
+                           [System::Runtime::InteropServices::Out] double% M12,
+                           [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name General version of inverse geodesic solution.
+         **********************************************************************/
+        ///@{
+        /**
+         * The general inverse geodesic calculation.  Geodesic::Inverse is defined
+         * in terms of this function.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] lat2 latitude of point 2 (degrees).
+         * @param[in] lon2 longitude of point 2 (degrees).
+         * @param[in] outmask a bitor'ed combination of Geodesic::mask values
+         *   specifying which of the following parameters should be set.
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] azi1 azimuth at point 1 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The Geodesic::mask values possible for \e outmask are
+         * - \e outmask |= Geodesic::DISTANCE for the distance \e s12;
+         * - \e outmask |= Geodesic::AZIMUTH for the latitude \e azi2;
+         * - \e outmask |= Geodesic::REDUCEDLENGTH for the reduced length \e
+         *   m12;
+         * - \e outmask |= Geodesic::GEODESICSCALE for the geodesic scales \e
+         *   M12 and \e M21;
+         * - \e outmask |= Geodesic::AREA for the area \e S12;
+         * - \e outmask |= Geodesic::ALL for all of the above.
+         * .
+         * The arc length is always computed and returned as the function value.
+         **********************************************************************/
+        double GenInverse(double lat1, double lon1, double lat2, double lon2,
+                        NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% azi1,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12);
+        ///@}
+
+        /** \name Interface to GeodesicLine.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Set up to compute several points on a single geodesic.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] caps bitor'ed combination of NETGeographicLib::Mask values
+         *   specifying the capabilities the GeodesicLine object should possess,
+         *   i.e., which quantities can be returned in calls to
+         *   GeodesicLine::Position.
+         * @return a GeodesicLine object.
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).
+         *
+         * The NETGeographicLib::Mask values are
+         * - \e caps |= NETGeographicLib::Mask::LATITUDE for the latitude \e lat2; this is
+         *   added automatically;
+         * - \e caps |= NETGeographicLib::Mask::LONGITUDE for the latitude \e lon2;
+         * - \e caps |= NETGeographicLib::Mask::AZIMUTH for the azimuth \e azi2; this is
+         *   added automatically;
+         * - \e caps |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e caps |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length \e m12;
+         * - \e caps |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales \e M12
+         *   and \e M21;
+         * - \e caps |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e caps |= NETGeographicLib::Mask::DISTANCE_IN permits the length of the
+         *   geodesic to be given in terms of \e s12; without this capability the
+         *   length can only be specified in terms of arc length;
+         * - \e caps |= NETGeographicLib::Mask::ALL for all of the above.
+         * .
+         *
+         * If the point is at a pole, the azimuth is defined by keeping \e lon1
+         * fixed, writing \e lat1 = &plusmn;(90 &minus; &epsilon;), and taking the
+         * limit &epsilon; &rarr; 0+.
+         **********************************************************************/
+        GeodesicLine^ Line(double lat1, double lon1, double azi1,
+                           NETGeographicLib::Mask caps );
+
+        ///@}
+
+        /** \name Inspector functions.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the  flattening of the ellipsoid.  This is the
+         *   value used in the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+
+        /**
+         * @return total area of ellipsoid in meters<sup>2</sup>.  The area of a
+         *   polygon encircling a pole can be found by adding
+         *   Geodesic::EllipsoidArea()/2 to the sum of \e S12 for each side of the
+         *   polygon.
+         **********************************************************************/
+        property double EllipsoidArea { double get(); }
+
+        /**
+         * %return The unmanaged pointer to the GeographicLib::Geodesic.
+         *
+         * This function is for internal use only.
+         **********************************************************************/
+        System::IntPtr^ GetUnmanaged();
+        ///@}
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeodesicExact.cpp

@@ -0,0 +1,489 @@
+/**
+ * \file NETGeographicLib/GeodesicExact.cpp
+ * \brief Implementation for NETGeographicLib::GeodesicExact class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/GeodesicExact.hpp"
+#include "GeodesicExact.h"
+#include "GeodesicLineExact.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::GeodesicExact";
+
+//*****************************************************************************
+GeodesicExact::!GeodesicExact(void)
+{
+    if ( m_pGeodesicExact != NULL )
+    {
+        delete m_pGeodesicExact;
+        m_pGeodesicExact = NULL;
+    }
+}
+
+//*****************************************************************************
+GeodesicExact::GeodesicExact()
+{
+    try
+    {
+        m_pGeodesicExact = new GeographicLib::GeodesicExact( GeographicLib::GeodesicExact::WGS84 );
+    }
+    catch ( std::bad_alloc err )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+GeodesicExact::GeodesicExact(double a, double f)
+{
+    try
+    {
+        m_pGeodesicExact = new GeographicLib::GeodesicExact( a, f );
+    }
+    catch ( std::bad_alloc err )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+    catch ( GeographicLib::GeographicErr err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+double GeodesicExact::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21,
+                    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicExact->Direct( lat1, lon1, azi1, s12,
+                llat2, llon2, lazi2, lm12, lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    double out = m_pGeodesicExact->Direct( lat1, lon1, azi1, s12,
+                llat2, llon2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    double out = m_pGeodesicExact->Direct( lat1, lon1, azi1, s12,
+                llat2, llon2, lazi2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, lm12;
+    double out = m_pGeodesicExact->Direct( lat1, lon1, azi1, s12,
+                llat2, llon2, lazi2, lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lM12, lM21;
+    double out = m_pGeodesicExact->Direct( lat1, lon1, azi1, s12,
+                llat2, llon2, lazi2, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Direct(double lat1, double lon1, double azi1, double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21;
+    double out = m_pGeodesicExact->Direct( lat1, lon1, azi1, s12,
+                llat2, llon2, lazi2, lm12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+void GeodesicExact::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% m12,
+                [System::Runtime::InteropServices::Out] double% M12,
+                [System::Runtime::InteropServices::Out] double% M21,
+                [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12;
+    m_pGeodesicExact->ArcDirect( lat1, lon1, azi1, a12,
+                llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+}
+
+//*****************************************************************************
+void GeodesicExact::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    m_pGeodesicExact->ArcDirect( lat1, lon1, azi1, a12,
+                llat2, llon2 );
+    lat2 = llat2;
+    lon2 = llon2;
+}
+
+//*****************************************************************************
+void GeodesicExact::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    m_pGeodesicExact->ArcDirect( lat1, lon1, azi1, a12,
+                llat2, llon2, lazi2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+}
+
+//*****************************************************************************
+void GeodesicExact::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12)
+{
+    double llat2, llon2, lazi2, ls12;
+    m_pGeodesicExact->ArcDirect( lat1, lon1, azi1, a12,
+                llat2, llon2, lazi2, ls12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+}
+
+//*****************************************************************************
+void GeodesicExact::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, ls12, lm12;
+    m_pGeodesicExact->ArcDirect( lat1, lon1, azi1, a12,
+                llat2, llon2, lazi2, ls12, lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+}
+
+//*****************************************************************************
+void GeodesicExact::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% M12,
+                [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lM12, lM21;
+    m_pGeodesicExact->ArcDirect( lat1, lon1, azi1, a12,
+                llat2, llon2, lazi2, ls12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+void GeodesicExact::ArcDirect(double lat1, double lon1, double azi1, double a12,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% m12,
+                [System::Runtime::InteropServices::Out] double% M12,
+                [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21;
+    m_pGeodesicExact->ArcDirect( lat1, lon1, azi1, a12,
+                llat2, llon2, lazi2, ls12, lm12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+double GeodesicExact::GenDirect(double lat1, double lon1, double azi1,
+                        bool arcmode, double s12_a12,
+                        NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% lat2,
+                        [System::Runtime::InteropServices::Out] double% lon2,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicExact->GenDirect( lat1, lon1, azi1, arcmode, s12_a12,
+                static_cast<unsigned>(outmask), llat2, llon2, lazi2, ls12, lm12, lM12,
+                lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21,
+                    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double ls12, lazi1, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicExact->Inverse( lat1, lon1, lat2, lon2,
+                ls12, lazi1, lazi2, lm12, lM12, lM21, lS12 );
+    s12 = ls12;
+    azi1 = lazi1;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12)
+{
+    double ls12;
+    double out = m_pGeodesicExact->Inverse( lat1, lon1, lat2, lon2, ls12 );
+    s12 = ls12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double lazi1, lazi2;
+    double out = m_pGeodesicExact->Inverse( lat1, lon1, lat2, lon2,
+                lazi1, lazi2 );
+    azi1 = lazi1;
+    azi2 = lazi2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double ls12, lazi1, lazi2;
+    double out = m_pGeodesicExact->Inverse( lat1, lon1, lat2, lon2,
+                ls12, lazi1, lazi2 );
+    s12 = ls12;
+    azi1 = lazi1;
+    azi2 = lazi2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double ls12, lazi1, lazi2, lm12;
+    double out = m_pGeodesicExact->Inverse( lat1, lon1, lat2, lon2,
+                ls12, lazi1, lazi2, lm12 );
+    s12 = ls12;
+    azi1 = lazi1;
+    azi2 = lazi2;
+    m12 = lm12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double ls12, lazi1, lazi2, lM12, lM21;
+    double out = m_pGeodesicExact->Inverse( lat1, lon1, lat2, lon2,
+                ls12, lazi1, lazi2, lM12, lM21 );
+    s12 = ls12;
+    azi1 = lazi1;
+    azi2 = lazi2;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double ls12, lazi1, lazi2, lm12, lM12, lM21;
+    double out = m_pGeodesicExact->Inverse( lat1, lon1, lat2, lon2,
+                ls12, lazi1, lazi2, lm12, lM12, lM21 );
+    s12 = ls12;
+    azi1 = lazi1;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicExact::GenInverse(double lat1, double lon1, double lat2, double lon2,
+                        NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% azi1,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12)
+{
+    double ls12, lazi1, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicExact->GenInverse( lat1, lon1, lat2, lon2,
+                static_cast<unsigned>(outmask), ls12, lazi1, lazi2, lm12, lM12,
+                lM21, lS12 );
+    s12 = ls12;
+    azi1 = lazi1;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+System::IntPtr^ GeodesicExact::GetUnmanaged()
+{
+    return gcnew System::IntPtr( const_cast<void*>(
+        reinterpret_cast<const void*>(m_pGeodesicExact) ) );
+}
+
+//*****************************************************************************
+GeodesicLineExact^ GeodesicExact::Line(double lat1, double lon1, double azi1,
+    NETGeographicLib::Mask caps )
+{
+    return gcnew GeodesicLineExact( this, lat1, lon1, azi1, caps );
+}
+
+//*****************************************************************************
+double GeodesicExact::MajorRadius::get()
+{ return m_pGeodesicExact->MajorRadius(); }
+
+//*****************************************************************************
+double GeodesicExact::Flattening::get()
+{ return m_pGeodesicExact->Flattening(); }
+
+//*****************************************************************************
+double GeodesicExact::EllipsoidArea::get()
+{ return m_pGeodesicExact->EllipsoidArea(); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeodesicExact.h

@@ -0,0 +1,603 @@
+#pragma once
+/**
+ * \file NETGeographicLib/GeodesicExact.h
+ * \brief Header for NETGeographicLib::GeodesicExact class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "NETGeographicLib.h"
+
+namespace NETGeographicLib
+{
+    ref class GeodesicLineExact;
+    /*!
+    \brief .NET wrapper for GeographicLib::GeodesicExact.
+
+    This class allows .NET applications to access GeographicLib::GeodesicExact.
+    */
+  /**
+   * \brief .NET wrapper for GeographicLib::GeodesicExact.
+   *
+   * This class allows .NET applications to access GeographicLib::GeodesicExact.
+   *
+   * The equations for geodesics on an ellipsoid can be expressed in terms of
+   * incomplete elliptic integrals.  The Geodesic class expands these integrals
+   * in a series in the flattening \e f and this provides an accurate solution
+   * for \e f &isin [-0.01, 0.01].  The GeodesicExact class computes the
+   * ellitpic integrals directly and so provides a solution which is valid for
+   * all \e f.  However, in practice, its use should be limited to about \e
+   * b/\e a &isin; [0.01, 100] or \e f &isin; [-99, 0.99].
+   *
+   * For the WGS84 ellipsoid, these classes are 2--3 times \e slower than the
+   * series solution and 2--3 times \e less \e accurate (because it's less easy
+   * to control round-off errors with the elliptic integral formulation); i.e.,
+   * the error is about 40 nm (40 nanometers) instead of 15 nm.  However the
+   * error in the series solution scales as <i>f</i><sup>7</sup> while the
+   * error in the elliptic integral solution depends weakly on \e f.  If the
+   * quarter meridian distance is 10000 km and the ratio \e b/\e a = 1 &minus;
+   * \e f is varied then the approximate maximum error (expressed as a
+   * distance) is <pre>
+   *       1 - f  error (nm)
+   *       1/128     387
+   *       1/64      345
+   *       1/32      269
+   *       1/16      210
+   *       1/8       115
+   *       1/4        69
+   *       1/2        36
+   *         1        15
+   *         2        25
+   *         4        96
+   *         8       318
+   *        16       985
+   *        32      2352
+   *        64      6008
+   *       128     19024
+   * </pre>
+   *
+   * The computation of the area in these classes is via a 30th order series.
+   * This gives accurate results for \e b/\e a &isin; [1/2, 2]; the accuracy is
+   * about 8 decimal digits for \e b/\e a &isin; [1/4, 4].
+   *
+   * See \ref geodellip for the formulation.  See the documentation on the
+   * Geodesic class for additional information on the geodesics problems.
+   *
+   * C# Example:
+   * \include example-GeodesicExact.cs
+   * Managed C++ Example:
+   * \include example-GeodesicExact.cpp
+   * Visual Basic Example:
+   * \include example-GeodesicExact.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A default constructor is provided that assumes WGS84 parameters.
+   *
+   * The MajorRadius, Flattening, and EllipsoidArea functions are
+   * implemented as properties.
+   *
+   * The GenDirect, GenInverse, and Line functions accept the
+   * "capabilities mask" as a NETGeographicLib::Mask rather than an
+   * unsigned.
+   **********************************************************************/
+    public ref class GeodesicExact
+    {
+        private:
+        // pointer to the unmanaged GeographicLib::GeodesicExact.
+        const GeographicLib::GeodesicExact* m_pGeodesicExact;
+
+        // the finalizer deletes the unmanaged memory.
+        !GeodesicExact();
+    public:
+        /** \name Constructor
+         **********************************************************************/
+        ///@{
+        /**
+         * Constructor for a WGS84 ellipsoid
+         **********************************************************************/
+        GeodesicExact();
+
+        /**
+         * Constructor for a ellipsoid with
+         *
+         * @param[in] a equatorial radius (meters).
+         * @param[in] f flattening of ellipsoid.  Setting \e f = 0 gives a sphere.
+         *   Negative \e f gives a prolate ellipsoid.  If \e f > 1, set flattening
+         *   to 1/\e f.
+         * @exception GeographicErr if \e a or (1 &minus; \e f ) \e a is not
+         *   positive.
+         **********************************************************************/
+        GeodesicExact(double a, double f);
+        ///@}
+
+        /**
+         * The desstructor calls the finalizer.
+         **********************************************************************/
+        ~GeodesicExact()
+        { this->!GeodesicExact(); }
+
+        /** \name Direct geodesic problem specified in terms of distance.
+         **********************************************************************/
+        ///@{
+        /**
+         * Perform the direct geodesic calculation where the length of the geodesic
+         * is specified in terms of distance.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] s12 distance between point 1 and point 2 (meters); it can be
+         *   signed.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).  The values of
+         * \e lon2 and \e azi2 returned are in the range [&minus;180&deg;,
+         * 180&deg;).
+         *
+         * If either point is at a pole, the azimuth is defined by keeping the
+         * longitude fixed, writing \e lat = &plusmn;(90&deg; &minus; &epsilon;),
+         * and taking the limit &epsilon; &rarr; 0+.  An arc length greater that
+         * 180&deg; signifies a geodesic which is not a shortest path.  (For a
+         * prolate ellipsoid, an additional condition is necessary for a shortest
+         * path: the longitudinal extent must not exceed of 180&deg;.)
+         *
+         * The following functions are overloaded versions of GeodesicExact::Direct
+         * which omit some of the output parameters.  Note, however, that the arc
+         * length is always computed and returned as the function value.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% m12,
+                          [System::Runtime::InteropServices::Out] double% M12,
+                          [System::Runtime::InteropServices::Out] double% M21,
+                          [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for GeodesicExact::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for GeodesicExact::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicExact::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for GeodesicExact::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% M12,
+                          [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for GeodesicExact::Direct.
+         **********************************************************************/
+        double Direct(double lat1, double lon1, double azi1, double s12,
+                          [System::Runtime::InteropServices::Out] double% lat2,
+                          [System::Runtime::InteropServices::Out] double% lon2,
+                          [System::Runtime::InteropServices::Out] double% azi2,
+                          [System::Runtime::InteropServices::Out] double% m12,
+                          [System::Runtime::InteropServices::Out] double% M12,
+                          [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name Direct geodesic problem specified in terms of arc length.
+         **********************************************************************/
+        ///@{
+        /**
+         * Perform the direct geodesic calculation where the length of the geodesic
+         * is specified in terms of arc length.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] a12 arc length between point 1 and point 2 (degrees); it can
+         *   be signed.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).  The values of
+         * \e lon2 and \e azi2 returned are in the range [&minus;180&deg;,
+         * 180&deg;).
+         *
+         * If either point is at a pole, the azimuth is defined by keeping the
+         * longitude fixed, writing \e lat = &plusmn;(90&deg; &minus; &epsilon;),
+         * and taking the limit &epsilon; &rarr; 0+.  An arc length greater that
+         * 180&deg; signifies a geodesic which is not a shortest path.  (For a
+         * prolate ellipsoid, an additional condition is necessary for a shortest
+         * path: the longitudinal extent must not exceed of 180&deg;.)
+         *
+         * The following functions are overloaded versions of GeodesicExact::Direct
+         * which omit some of the output parameters.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% m12,
+                       [System::Runtime::InteropServices::Out] double% M12,
+                       [System::Runtime::InteropServices::Out] double% M21,
+                       [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for GeodesicExact::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for GeodesicExact::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicExact::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12);
+
+        /**
+         * See the documentation for GeodesicExact::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for GeodesicExact::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% M12,
+                       [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for GeodesicExact::ArcDirect.
+         **********************************************************************/
+        void ArcDirect(double lat1, double lon1, double azi1, double a12,
+                       [System::Runtime::InteropServices::Out] double% lat2,
+                       [System::Runtime::InteropServices::Out] double% lon2,
+                       [System::Runtime::InteropServices::Out] double% azi2,
+                       [System::Runtime::InteropServices::Out] double% s12,
+                       [System::Runtime::InteropServices::Out] double% m12,
+                       [System::Runtime::InteropServices::Out] double% M12,
+                       [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name General version of the direct geodesic solution.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * The general direct geodesic calculation.  GeodesicExact::Direct and
+         * GeodesicExact::ArcDirect are defined in terms of this function.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] arcmode boolean flag determining the meaning of the second
+         *   parameter.
+         * @param[in] s12_a12 if \e arcmode is false, this is the distance between
+         *   point 1 and point 2 (meters); otherwise it is the arc length between
+         *   point 1 and point 2 (degrees); it can be signed.
+         * @param[in] outmask a bitor'ed combination of  NETGeographicLib::Mask values
+         *   specifying which of the following parameters should be set.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The  NETGeographicLib::Mask values possible for \e outmask are
+         * - \e outmask |= NETGeographicLib::Mask::LATITUDE for the latitude \e lat2;
+         * - \e outmask |= NETGeographicLib::Mask::LONGITUDE for the latitude \e lon2;
+         * - \e outmask |= NETGeographicLib::Mask::AZIMUTH for the latitude \e azi2;
+         * - \e outmask |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e outmask |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length \e
+         *   m12;
+         * - \e outmask |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales \e
+         *   M12 and \e M21;
+         * - \e outmask |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e outmask |= NETGeographicLib::Mask::ALL for all of the above.
+         * .
+         * The function value \e a12 is always computed and returned and this
+         * equals \e s12_a12 is \e arcmode is true.  If \e outmask includes
+         * GeodesicExact::DISTANCE and \e arcmode is false, then \e s12 = \e
+         * s12_a12.  It is not necessary to include  NETGeographicLib::Mask::DISTANCE_IN in
+         * \e outmask; this is automatically included is \e arcmode is false.
+         **********************************************************************/
+        double GenDirect(double lat1, double lon1, double azi1,
+                        bool arcmode, double s12_a12, NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% lat2,
+                        [System::Runtime::InteropServices::Out] double% lon2,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12);
+        ///@}
+
+        /** \name Inverse geodesic problem.
+         **********************************************************************/
+        ///@{
+        /**
+         * Perform the inverse geodesic calculation.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] lat2 latitude of point 2 (degrees).
+         * @param[in] lon2 longitude of point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] azi1 azimuth at point 1 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * \e lat1 and \e lat2 should be in the range [&minus;90&deg;, 90&deg;]; \e
+         * lon1 and \e lon2 should be in the range [&minus;540&deg;, 540&deg;).
+         * The values of \e azi1 and \e azi2 returned are in the range
+         * [&minus;180&deg;, 180&deg;).
+         *
+         * If either point is at a pole, the azimuth is defined by keeping the
+         * longitude fixed, writing \e lat = &plusmn;(90&deg; &minus; &epsilon;),
+         * and taking the limit &epsilon; &rarr; 0+.
+         *
+         * The following functions are overloaded versions of GeodesicExact::Inverse
+         * which omit some of the output parameters.  Note, however, that the arc
+         * length is always computed and returned as the function value.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2,
+                           [System::Runtime::InteropServices::Out] double% m12,
+                           [System::Runtime::InteropServices::Out] double% M12,
+                           [System::Runtime::InteropServices::Out] double% M21,
+                           [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for GeodesicExact::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% s12);
+
+        /**
+         * See the documentation for GeodesicExact::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                           [System::Runtime::InteropServices::Out] double% azi1,
+                           [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicExact::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicExact::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for GeodesicExact::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for GeodesicExact::Inverse.
+         **********************************************************************/
+        double Inverse(double lat1, double lon1, double lat2, double lon2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% azi1,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name General version of inverse geodesic solution.
+         **********************************************************************/
+        ///@{
+        /**
+         * The general inverse geodesic calculation.  GeodesicExact::Inverse is
+         * defined in terms of this function.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] lat2 latitude of point 2 (degrees).
+         * @param[in] lon2 longitude of point 2 (degrees).
+         * @param[in] outmask a bitor'ed combination of  NETGeographicLib::Mask values
+         *   specifying which of the following parameters should be set.
+         * @param[out] s12 distance between point 1 and point 2 (meters).
+         * @param[out] azi1 azimuth at point 1 (degrees).
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters).
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless).
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless).
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>).
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The NETGeographicLib::Mask values possible for \e outmask are
+         * - \e outmask |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e outmask |= NETGeographicLib::Mask::AZIMUTH for the latitude \e azi2;
+         * - \e outmask |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length \e
+         *   m12;
+         * - \e outmask |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales \e
+         *   M12 and \e M21;
+         * - \e outmask |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e outmask |= NETGeographicLib::Mask::ALL for all of the above.
+         * .
+         * The arc length is always computed and returned as the function value.
+         **********************************************************************/
+        double GenInverse(double lat1, double lon1, double lat2, double lon2,
+                        NETGeographicLib::Mask outmask,
+                        [System::Runtime::InteropServices::Out] double% s12,
+                        [System::Runtime::InteropServices::Out] double% azi1,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12);
+        ///@}
+
+        /** \name Interface to GeodesicLineExact.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Set up to compute several points on a single geodesic.
+         *
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] caps bitor'ed combination of NETGeographicLib::Mask values
+         *   specifying the capabilities the GeodesicLineExact object should
+         *   possess, i.e., which quantities can be returned in calls to
+         *   GeodesicLineExact::Position.
+         * @return a GeodesicLineExact object.
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).
+         *
+         * The GeodesicExact::mask values are
+         * - \e caps |= NETGeographicLib::Mask::LATITUDE for the latitude \e lat2; this is
+         *   added automatically;
+         * - \e caps |= NETGeographicLib::Mask::LONGITUDE for the latitude \e lon2;
+         * - \e caps |= NETGeographicLib::Mask::AZIMUTH for the azimuth \e azi2; this is
+         *   added automatically;
+         * - \e caps |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e caps |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length \e m12;
+         * - \e caps |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales \e M12
+         *   and \e M21;
+         * - \e caps |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e caps |= NETGeographicLib::Mask::DISTANCE_IN permits the length of the
+         *   geodesic to be given in terms of \e s12; without this capability the
+         *   length can only be specified in terms of arc length;
+         * - \e caps |= GeodesicExact::ALL for all of the above.
+         * .
+         * The default value of \e caps is GeodesicExact::ALL which turns on all
+         * the capabilities.
+         *
+         * If the point is at a pole, the azimuth is defined by keeping \e lon1
+         * fixed, writing \e lat1 = &plusmn;(90 &minus; &epsilon;), and taking the
+         * limit &epsilon; &rarr; 0+.
+         **********************************************************************/
+        GeodesicLineExact^ Line(double lat1, double lon1, double azi1,
+            NETGeographicLib::Mask caps );
+
+        ///@}
+
+        /** \name Inspector functions.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the  flattening of the ellipsoid.  This is the
+         *   value used in the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+
+        /**
+         * @return total area of ellipsoid in meters<sup>2</sup>.  The area of a
+         *   polygon encircling a pole can be found by adding
+         *   GeodesicExact::EllipsoidArea()/2 to the sum of \e S12 for each side of
+         *   the polygon.
+         **********************************************************************/
+        property double EllipsoidArea { double get(); }
+        ///@}
+
+        /**
+         * @return A pointer to the unmanaged GeographicLib::GeodesicExact.
+         *
+         * This function is for internal use only.
+         **********************************************************************/
+        System::IntPtr^ GetUnmanaged();
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeodesicLine.cpp

@@ -0,0 +1,350 @@
+/**
+ * \file NETGeographicLib/GeodesicLine.cpp
+ * \brief Implementation for NETGeographicLib::GeodesicLine class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/GeodesicLine.hpp"
+#include "Geodesic.h"
+#include "GeodesicLine.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::GeodesicLine";
+
+//*****************************************************************************
+GeodesicLine::!GeodesicLine(void)
+{
+    if ( m_pGeodesicLine != NULL )
+    {
+        delete m_pGeodesicLine;
+        m_pGeodesicLine = NULL;
+    }
+}
+
+//*****************************************************************************
+GeodesicLine::GeodesicLine( Geodesic^ g, double lat1, double lon1, double azi1,
+                NETGeographicLib::Mask caps )
+{
+    try
+    {
+        const GeographicLib::Geodesic* pGeodesic =
+            reinterpret_cast<const GeographicLib::Geodesic*>(
+                g->GetUnmanaged()->ToPointer() );
+        m_pGeodesicLine = new GeographicLib::GeodesicLine( *pGeodesic,
+            lat1, lon1, azi1, static_cast<unsigned>(caps) );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+GeodesicLine::GeodesicLine(double lat1, double lon1, double azi1,
+                           NETGeographicLib::Mask caps)
+{
+    try
+    {
+        m_pGeodesicLine = new GeographicLib::GeodesicLine(
+            GeographicLib::Geodesic::WGS84, lat1, lon1, azi1,
+            static_cast<unsigned>(caps) );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+double GeodesicLine::Position(double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21,
+                    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicLine->Position( s12, llat2, llon2, lazi2, lm12,
+        lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLine::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    double out = m_pGeodesicLine->Position( s12, llat2, llon2);
+    lat2 = llat2;
+    lon2 = llon2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLine::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    double out = m_pGeodesicLine->Position( s12, llat2, llon2, lazi2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLine::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, lm12;
+    double out = m_pGeodesicLine->Position( s12, llat2, llon2, lazi2,
+                                            lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLine::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lM12, lM21;
+    double out = m_pGeodesicLine->Position( s12, llat2, llon2, lazi2,
+        lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLine::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21;
+    double out = m_pGeodesicLine->Position( s12, llat2, llon2, lazi2, lm12,
+        lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+void GeodesicLine::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21,
+    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12;
+    m_pGeodesicLine->ArcPosition( a12, llat2, llon2, lazi2,
+        ls12, lm12, lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+}
+
+//*****************************************************************************
+void GeodesicLine::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    m_pGeodesicLine->ArcPosition( a12, llat2, llon2 );
+    lat2 = llat2;
+    lon2 = llon2;
+}
+
+//*****************************************************************************
+void GeodesicLine::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    m_pGeodesicLine->ArcPosition( a12, llat2, llon2, lazi2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+}
+
+//*****************************************************************************
+void GeodesicLine::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12)
+{
+    double llat2, llon2, lazi2, ls12;
+    m_pGeodesicLine->ArcPosition( a12, llat2, llon2, lazi2, ls12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+}
+
+//*****************************************************************************
+void GeodesicLine::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, ls12, lm12;
+    m_pGeodesicLine->ArcPosition( a12, llat2, llon2, lazi2, ls12, lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+}
+
+//*****************************************************************************
+void GeodesicLine::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lM12, lM21;
+    m_pGeodesicLine->ArcPosition( a12, llat2, llon2, lazi2,
+        ls12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+void GeodesicLine::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21;
+    m_pGeodesicLine->ArcPosition( a12, llat2, llon2, lazi2,
+        ls12, lm12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+double GeodesicLine::GenPosition(bool arcmode, double s12_a12,
+    NETGeographicLib::Mask outmask,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21,
+    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicLine->GenPosition( arcmode, s12_a12,
+        static_cast<unsigned>(outmask),
+        llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLine::Latitude::get() { return m_pGeodesicLine->Latitude(); }
+
+//*****************************************************************************
+double GeodesicLine::Longitude::get() { return m_pGeodesicLine->Longitude(); }
+
+//*****************************************************************************
+double GeodesicLine::Azimuth::get() { return m_pGeodesicLine->Azimuth(); }
+
+//*****************************************************************************
+double GeodesicLine::EquatorialAzimuth::get()
+{ return m_pGeodesicLine->EquatorialAzimuth(); }
+
+//*****************************************************************************
+double GeodesicLine::EquatorialArc::get()
+{ return m_pGeodesicLine->EquatorialArc(); }
+
+//*****************************************************************************
+double GeodesicLine::MajorRadius::get()
+{ return m_pGeodesicLine->MajorRadius(); }
+
+//*****************************************************************************
+double GeodesicLine::Flattening::get()
+{ return m_pGeodesicLine->Flattening(); }
+
+//*****************************************************************************
+NETGeographicLib::Mask GeodesicLine::Capabilities()
+{ return static_cast<NETGeographicLib::Mask>(m_pGeodesicLine->Capabilities()); }
+
+//*****************************************************************************
+bool GeodesicLine::Capabilities(NETGeographicLib::Mask testcaps)
+{ return m_pGeodesicLine->Capabilities( static_cast<unsigned>(testcaps) ); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeodesicLine.h

@@ -0,0 +1,471 @@
+#pragma once
+/**
+ * \file NETGeographicLib/GeodesicLine.h
+ * \brief Header for NETGeographicLib::GeodesicLine class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "NETGeographicLib.h"
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::GeodesicLine.
+   *
+   * This class allows .NET applications to access GeographicLib::GeodesicLine.
+   *
+   * GeodesicLine facilitates the determination of a series of points on a
+   * single geodesic.  The starting point (\e lat1, \e lon1) and the azimuth \e
+   * azi1 are specified in the constructor.  GeodesicLine.Position returns the
+   * location of point 2 a distance \e s12 along the geodesic.  Alternatively
+   * GeodesicLine.ArcPosition gives the position of point 2 an arc length \e
+   * a12 along the geodesic.
+   *
+   * The default copy constructor and assignment operators work with this
+   * class.  Similarly, a vector can be used to hold GeodesicLine objects.
+   *
+   * The calculations are accurate to better than 15 nm (15 nanometers).  See
+   * Sec. 9 of
+   * <a href="http://arxiv.org/abs/1102.1215v1">arXiv:1102.1215v1</a> for
+   * details.  The algorithms used by this class are based on series expansions
+   * using the flattening \e f as a small parameter.  These are only accurate
+   * for |<i>f</i>| &lt; 0.02; however reasonably accurate results will be
+   * obtained for |<i>f</i>| &lt; 0.2.  For very eccentric ellipsoids, use
+   * GeodesicLineExact instead.
+   *
+   * The algorithms are described in
+   * - C. F. F. Karney,
+   *   <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+   *   Algorithms for geodesics</a>,
+   *   J. Geodesy <b>87</b>, 43--55 (2013);
+   *   DOI: <a href="http://dx.doi.org/10.1007/s00190-012-0578-z">
+   *   10.1007/s00190-012-0578-z</a>;
+   *   addenda: <a href="http://geographiclib.sf.net/geod-addenda.html">
+   *   geod-addenda.html</a>.
+   * .
+   * For more information on geodesics see \ref geodesic.
+   *
+   * C# Example:
+   * \include example-GeodesicLine.cs
+   * Managed C++ Example:
+   * \include example-GeodesicLine.cpp
+   * Visual Basic Example:
+   * \include example-GeodesicLine.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A constructor has been provided which assumes WGS84 parameters.
+   *
+   * The following functions are implemented as properties:
+   * Latitude, Longitude, Azimuth, EquatorialAzimuth, EquatorialArc,
+   * MajorRadius, and Flattening.
+   *
+   * The constructors, Capabilities, and GenPosition functions accept the
+   * "capabilities mask" as a NETGeographicLib::Mask rather than an
+   * unsigned.  The Capabilities function returns a  NETGeographicLib::Mask
+   * rather than an unsigned.
+   **********************************************************************/
+    public ref class GeodesicLine
+    {
+        private:
+        // pointer to the unmanaged GeographicLib::GeodesicLine.
+        const GeographicLib::GeodesicLine* m_pGeodesicLine;
+
+        // The finalizer frees the unmanaged memory when this object is destroyed.
+        !GeodesicLine(void);
+    public:
+        /** \name Constructors
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Constructor for a geodesic line staring at latitude \e lat1, longitude
+         * \e lon1, and azimuth \e azi1 (all in degrees).
+         *
+         * @param[in] g A Geodesic object used to compute the necessary information
+         *   about the GeodesicLine.
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] caps bitor'ed combination of NETGeographicLib::Mask values
+         *   specifying the capabilities the GeodesicLine object should possess,
+         *   i.e., which quantities can be returned in calls to
+         *   GeodesicLine::Position.
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).
+         *
+         * The NETGeographicLib::Mask values are
+         * - \e caps |= GeodesicLine::LATITUDE for the latitude \e lat2; this is
+         *   added automatically;
+         * - \e caps |= GeodesicLine::LONGITUDE for the latitude \e lon2;
+         * - \e caps |= GeodesicLine::AZIMUTH for the latitude \e azi2; this is
+         *   added automatically;
+         * - \e caps |= GeodesicLine::DISTANCE for the distance \e s12;
+         * - \e caps |= GeodesicLine::REDUCEDLENGTH for the reduced length \e m12;
+         * - \e caps |= GeodesicLine::GEODESICSCALE for the geodesic scales \e M12
+         *   and \e M21;
+         * - \e caps |= GeodesicLine::AREA for the area \e S12;
+         * - \e caps |= GeodesicLine::DISTANCE_IN permits the length of the
+         *   geodesic to be given in terms of \e s12; without this capability the
+         *   length can only be specified in terms of arc length;
+         * - \e caps |= GeodesicLine::ALL for all of the above.
+         * .
+         * The default value of \e caps is GeodesicLine::ALL.
+         *
+         * If the point is at a pole, the azimuth is defined by keeping \e lon1
+         * fixed, writing \e lat1 = &plusmn;(90&deg; &minus; &epsilon;), and taking
+         * the limit &epsilon; &rarr; 0+.
+         **********************************************************************/
+        GeodesicLine( Geodesic^ g, double lat1, double lon1, double azi1,
+                      NETGeographicLib::Mask caps );
+
+        /**
+         * A constructor which assumes the WGS84 ellipsoid.
+         **********************************************************************/
+        GeodesicLine(double lat1, double lon1, double azi1,
+                     NETGeographicLib::Mask caps);
+        ///@}
+
+        /**
+         * The destructor calls the finalizer.
+         **********************************************************************/
+        ~GeodesicLine()
+        { this->!GeodesicLine(); }
+
+        /** \name Position in terms of distance
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Compute the position of point 2 which is a distance \e s12 (meters) from
+         * point 1.
+         *
+         * @param[in] s12 distance between point 1 and point 2 (meters); it can be
+         *   negative.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees); requires that the
+         *   GeodesicLine object was constructed with \e caps |=
+         *   GeodesicLine::LONGITUDE.
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters); requires that the
+         *   GeodesicLine object was constructed with \e caps |=
+         *   GeodesicLine::REDUCEDLENGTH.
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless); requires that the GeodesicLine object was constructed
+         *   with \e caps |= GeodesicLine::GEODESICSCALE.
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless); requires that the GeodesicLine object was constructed
+         *   with \e caps |= GeodesicLine::GEODESICSCALE.
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>); requires
+         *   that the GeodesicLine object was constructed with \e caps |=
+         *   GeodesicLine::AREA.
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The values of \e lon2 and \e azi2 returned are in the range
+         * [&minus;180&deg;, 180&deg;).
+         *
+         * The GeodesicLine object \e must have been constructed with \e caps |=
+         * GeodesicLine::DISTANCE_IN; otherwise Math::NaN() is returned and no
+         * parameters are set.  Requesting a value which the GeodesicLine object is
+         * not capable of computing is not an error; the corresponding argument
+         * will not be altered.
+         *
+         * The following functions are overloaded versions of
+         * GeodesicLine::Position which omit some of the output parameters.  Note,
+         * however, that the arc length is always computed and returned as the
+         * function value.
+         **********************************************************************/
+        double Position(double s12,
+                        [System::Runtime::InteropServices::Out] double% lat2,
+                        [System::Runtime::InteropServices::Out] double% lon2,
+                        [System::Runtime::InteropServices::Out] double% azi2,
+                        [System::Runtime::InteropServices::Out] double% m12,
+                        [System::Runtime::InteropServices::Out] double% M12,
+                        [System::Runtime::InteropServices::Out] double% M21,
+                        [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for GeodesicLine::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for GeodesicLine::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicLine::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for GeodesicLine::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for GeodesicLine::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% m12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+
+        ///@}
+
+        /** \name Position in terms of arc length
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Compute the position of point 2 which is an arc length \e a12 (degrees)
+         * from point 1.
+         *
+         * @param[in] a12 arc length between point 1 and point 2 (degrees); it can
+         *   be negative.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees); requires that the
+         *   GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::LONGITUDE.
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters); requires
+         *   that the GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::DISTANCE.
+         * @param[out] m12 reduced length of geodesic (meters); requires that the
+         *   GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::REDUCEDLENGTH.
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless); requires that the GeodesicLine object was constructed
+         *   with \e caps |= NETGeographicLib::Mask::GEODESICSCALE.
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless); requires that the GeodesicLine object was constructed
+         *   with \e caps |= NETGeographicLib::Mask::GEODESICSCALE.
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>); requires
+         *   that the GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::AREA.
+         *
+         * The values of \e lon2 and \e azi2 returned are in the range
+         * [&minus;180&deg;, 180&deg;).
+         *
+         * Requesting a value which the GeodesicLine object is not capable of
+         * computing is not an error; the corresponding argument will not be
+         * altered.
+         *
+         * The following functions are overloaded versions of
+         * GeodesicLine::ArcPosition which omit some of the output parameters.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% m12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21,
+            [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for GeodesicLine::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for GeodesicLine::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicLine::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12);
+
+        /**
+         * See the documentation for GeodesicLine::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for GeodesicLine::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for GeodesicLine::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% m12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name The general position function.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * The general position function.  GeodesicLine::Position and
+         * GeodesicLine::ArcPosition are defined in terms of this function.
+         *
+         * @param[in] arcmode boolean flag determining the meaning of the second
+         *   parameter; if arcmode is false, then the GeodesicLine object must have
+         *   been constructed with \e caps |= GeodesicLine::DISTANCE_IN.
+         * @param[in] s12_a12 if \e arcmode is false, this is the distance between
+         *   point 1 and point 2 (meters); otherwise it is the arc length between
+         *   point 1 and point 2 (degrees); it can be negative.
+         * @param[in] outmask a bitor'ed combination of NETGeographicLib::Mask values
+         *   specifying which of the following parameters should be set.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees); requires that the
+         *   GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::LONGITUDE.
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters); requires
+         *   that the GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::DISTANCE.
+         * @param[out] m12 reduced length of geodesic (meters); requires that the
+         *   GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::REDUCEDLENGTH.
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless); requires that the GeodesicLine object was constructed
+         *   with \e caps |= NETGeographicLib::Mask::GEODESICSCALE.
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless); requires that the GeodesicLine object was constructed
+         *   with \e caps |= NETGeographicLib::Mask::GEODESICSCALE.
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>); requires
+         *   that the GeodesicLine object was constructed with \e caps |=
+         *   NETGeographicLib::Mask::AREA.
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The GeodesicLine::mask values possible for \e outmask are
+         * - \e outmask |= NETGeographicLib::Mask::LATITUDE for the latitude \e lat2;
+         * - \e outmask |= NETGeographicLib::Mask::LONGITUDE for the latitude \e lon2;
+         * - \e outmask |= NETGeographicLib::Mask::AZIMUTH for the latitude \e azi2;
+         * - \e outmask |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e outmask |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length \e
+         *   m12;
+         * - \e outmask |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales \e
+         *   M12 and \e M21;
+         * - \e outmask |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e outmask |= NETGeographicLib::Mask::ALL for all of the above.
+         * .
+         * Requesting a value which the GeodesicLine object is not capable of
+         * computing is not an error; the corresponding argument will not be
+         * altered.  Note, however, that the arc length is always computed and
+         * returned as the function value.
+         **********************************************************************/
+        double GenPosition(bool arcmode, double s12_a12,
+                    NETGeographicLib::Mask outmask,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% s12,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21,
+                    [System::Runtime::InteropServices::Out] double% S12);
+
+        ///@}
+
+        /** \name Inspector functions
+         **********************************************************************/
+        ///@{
+
+        /**
+         * @return \e lat1 the latitude of point 1 (degrees).
+         **********************************************************************/
+        property double Latitude { double get(); }
+
+        /**
+         * @return \e lon1 the longitude of point 1 (degrees).
+         **********************************************************************/
+        property double Longitude { double get(); }
+
+        /**
+         * @return \e azi1 the azimuth (degrees) of the geodesic line at point 1.
+         **********************************************************************/
+        property double Azimuth { double get(); }
+
+        /**
+         * @return \e azi0 the azimuth (degrees) of the geodesic line as it crosses
+         *   the equator in a northward direction.
+         **********************************************************************/
+        property double EquatorialAzimuth { double get(); }
+
+        /**
+         * @return \e a1 the arc length (degrees) between the northward equatorial
+         *   crossing and point 1.
+         **********************************************************************/
+        property double EquatorialArc { double get(); }
+
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value inherited from the Geodesic object used in the constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the flattening of the ellipsoid.  This is the value
+         *   inherited from the Geodesic object used in the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+
+        /**
+         * @return \e caps the computational capabilities that this object was
+         *   constructed with.  LATITUDE and AZIMUTH are always included.
+         **********************************************************************/
+        NETGeographicLib::Mask Capabilities();
+
+        /**
+         * @param[in] testcaps a set of bitor'ed GeodesicLine::mask values.
+         * @return true if the GeodesicLine object has all these capabilities.
+         **********************************************************************/
+        bool Capabilities(NETGeographicLib::Mask testcaps);
+        ///@}
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeodesicLineExact.cpp

@@ -0,0 +1,354 @@
+/**
+ * \file NETGeographicLib/GeodesicLineExact.cpp
+ * \brief Implementation for NETGeographicLib::GeodesicLineExact class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/GeodesicLineExact.hpp"
+#include "GeodesicLineExact.h"
+#include "GeodesicExact.h"
+
+using namespace NETGeographicLib;
+
+const char BADALLOC[] = "Failed to allocate memory for a GeographicLib::GeodesicLineExact";
+
+//*****************************************************************************
+GeodesicLineExact::!GeodesicLineExact(void)
+{
+    if ( m_pGeodesicLineExact != NULL )
+    {
+        delete m_pGeodesicLineExact;
+        m_pGeodesicLineExact = NULL;
+    }
+}
+
+//*****************************************************************************
+GeodesicLineExact::GeodesicLineExact(GeodesicExact^ g, double lat1,
+    double lon1, double azi1, NETGeographicLib::Mask caps )
+{
+    try
+    {
+        const GeographicLib::GeodesicExact* pGeodesicExact=
+            reinterpret_cast<const GeographicLib::GeodesicExact*>(
+                g->GetUnmanaged()->ToPointer() );
+        m_pGeodesicLineExact = new GeographicLib::GeodesicLineExact(
+            *pGeodesicExact, lat1, lon1, azi1, static_cast<unsigned>(caps) );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+GeodesicLineExact::GeodesicLineExact(double lat1, double lon1, double azi1,
+                                     NETGeographicLib::Mask caps)
+{
+    try
+    {
+        m_pGeodesicLineExact = new GeographicLib::GeodesicLineExact(
+            GeographicLib::GeodesicExact::WGS84, lat1, lon1, azi1,
+            static_cast<unsigned>(caps) );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( BADALLOC );
+    }
+}
+
+//*****************************************************************************
+double GeodesicLineExact::Position(double s12,
+        [System::Runtime::InteropServices::Out] double% lat2,
+        [System::Runtime::InteropServices::Out] double% lon2,
+        [System::Runtime::InteropServices::Out] double% azi2,
+        [System::Runtime::InteropServices::Out] double% m12,
+        [System::Runtime::InteropServices::Out] double% M12,
+        [System::Runtime::InteropServices::Out] double% M21,
+        [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicLineExact->Position( s12, llat2, llon2, lazi2,
+        lm12, lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLineExact::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    double out = m_pGeodesicLineExact->Position( s12, llat2, llon2);
+    lat2 = llat2;
+    lon2 = llon2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLineExact::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    double out = m_pGeodesicLineExact->Position( s12, llat2, llon2, lazi2);
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLineExact::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, lm12;
+    double out = m_pGeodesicLineExact->Position( s12, llat2, llon2, lazi2,
+        lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLineExact::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lM12, lM21;
+    double out = m_pGeodesicLineExact->Position( s12, llat2, llon2, lazi2,
+        lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLineExact::Position(double s12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, lm12, lM12, lM21;
+    double out = m_pGeodesicLineExact->Position( s12, llat2, llon2, lazi2,
+        lm12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    return out;
+}
+
+//*****************************************************************************
+void GeodesicLineExact::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21,
+    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12;
+    m_pGeodesicLineExact->ArcPosition( a12, llat2, llon2, lazi2, ls12,
+        lm12, lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+}
+
+//*****************************************************************************
+void GeodesicLineExact::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2)
+{
+    double llat2, llon2;
+    m_pGeodesicLineExact->ArcPosition( a12, llat2, llon2 );
+    lat2 = llat2;
+    lon2 = llon2;
+}
+
+//*****************************************************************************
+void GeodesicLineExact::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2)
+{
+    double llat2, llon2, lazi2;
+    m_pGeodesicLineExact->ArcPosition( a12, llat2, llon2, lazi2 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+}
+
+//*****************************************************************************
+void GeodesicLineExact::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12)
+{
+    double llat2, llon2, lazi2, ls12;
+    m_pGeodesicLineExact->ArcPosition( a12, llat2, llon2, lazi2, ls12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+}
+
+//*****************************************************************************
+void GeodesicLineExact::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12)
+{
+    double llat2, llon2, lazi2, ls12, lm12;
+    m_pGeodesicLineExact->ArcPosition( a12, llat2, llon2, lazi2, ls12,
+        lm12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+}
+
+//*****************************************************************************
+void GeodesicLineExact::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lM12, lM21;
+    m_pGeodesicLineExact->ArcPosition( a12, llat2, llon2, lazi2, ls12,
+        lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+void GeodesicLineExact::ArcPosition(double a12,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21;
+    m_pGeodesicLineExact->ArcPosition( a12, llat2, llon2, lazi2, ls12,
+        lm12, lM12, lM21 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+}
+
+//*****************************************************************************
+double GeodesicLineExact::GenPosition(bool arcmode, double s12_a12,
+    NETGeographicLib::Mask outmask,
+    [System::Runtime::InteropServices::Out] double% lat2,
+    [System::Runtime::InteropServices::Out] double% lon2,
+    [System::Runtime::InteropServices::Out] double% azi2,
+    [System::Runtime::InteropServices::Out] double% s12,
+    [System::Runtime::InteropServices::Out] double% m12,
+    [System::Runtime::InteropServices::Out] double% M12,
+    [System::Runtime::InteropServices::Out] double% M21,
+    [System::Runtime::InteropServices::Out] double% S12)
+{
+    double llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12;
+    double out = m_pGeodesicLineExact->GenPosition( arcmode, s12_a12,
+        static_cast<unsigned>(outmask),
+        llat2, llon2, lazi2, ls12, lm12, lM12, lM21, lS12 );
+    lat2 = llat2;
+    lon2 = llon2;
+    azi2 = lazi2;
+    s12 = ls12;
+    m12 = lm12;
+    M12 = lM12;
+    M21 = lM21;
+    S12 = lS12;
+    return out;
+}
+
+//*****************************************************************************
+double GeodesicLineExact::Latitude::get()
+{ return m_pGeodesicLineExact->Latitude(); }
+
+//*****************************************************************************
+double GeodesicLineExact::Longitude::get()
+{ return m_pGeodesicLineExact->Longitude(); }
+
+//*****************************************************************************
+double GeodesicLineExact::Azimuth::get()
+{ return m_pGeodesicLineExact->Azimuth(); }
+
+//*****************************************************************************
+double GeodesicLineExact::EquatorialAzimuth::get()
+{ return m_pGeodesicLineExact->EquatorialAzimuth(); }
+
+//*****************************************************************************
+double GeodesicLineExact::EquatorialArc::get()
+{ return m_pGeodesicLineExact->EquatorialArc(); }
+
+//*****************************************************************************
+double GeodesicLineExact::MajorRadius::get()
+{ return m_pGeodesicLineExact->MajorRadius(); }
+
+//*****************************************************************************
+double GeodesicLineExact::Flattening::get()
+{ return m_pGeodesicLineExact->Flattening(); }
+
+//*****************************************************************************
+NETGeographicLib::Mask GeodesicLineExact::Capabilities()
+{ return static_cast<NETGeographicLib::Mask>(m_pGeodesicLineExact->Capabilities()); }
+
+//*****************************************************************************
+bool GeodesicLineExact::Capabilities(NETGeographicLib::Mask testcaps)
+{ return m_pGeodesicLineExact->Capabilities(static_cast<unsigned>(testcaps)); }

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/GeodesicLineExact.h

@@ -0,0 +1,448 @@
+#pragma once
+/**
+ * \file NETGeographicLib/GeodesicLineExact.h
+ * \brief Header for NETGeographicLib::GeodesicLineExact class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "NETGeographicLib.h"
+
+namespace NETGeographicLib
+{
+    ref class GeodesicExact;
+  /**
+   * \brief .NET wrapper for GeographicLib::GeodesicLineExact.
+   *
+   * This class allows .NET applications to access GeographicLib::GeodesicLineExact.
+   *
+   * GeodesicLineExact facilitates the determination of a series of points on a
+   * single geodesic.  This is a companion to the GeodesicExact class.  For
+   * additional information on this class see the documentation on the
+   * GeodesicLine class.
+   *
+   * C# Example:
+   * \include example-GeodesicLineExact.cs
+   * Managed C++ Example:
+   * \include example-GeodesicLineExact.cpp
+   * Visual Basic Example:
+   * \include example-GeodesicLineExact.vb
+   *
+   * <B>INTERFACE DIFFERENCES:</B><BR>
+   * A constructor has been provided that assumes WGS84 parameters.
+   *
+   * The following functions are implemented as properties:
+   * Latitude, Longitude, Azimuth, EquatorialAzimuth, EquatorialArc,
+   * MajorRadius, and Flattening.
+   *
+   * The constructors, GenPosition, and Capabilities functions accept the
+   * "capabilities mask" as a NETGeographicLib::Mask rather than an
+   * unsigned.  The Capabilities function returns a NETGeographicLib::Mask
+   * rather than an unsigned.
+   **********************************************************************/
+    public ref class GeodesicLineExact
+    {
+        private:
+        // a pointer to the GeographicLib::GeodesicLineExact.
+        const GeographicLib::GeodesicLineExact* m_pGeodesicLineExact;
+
+        // the finalizer frees the unmanaged memory when the object is destroyed.
+        !GeodesicLineExact(void);
+    public:
+
+        /** \name Constructors
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Constructor for a geodesic line staring at latitude \e lat1, longitude
+         * \e lon1, and azimuth \e azi1 (all in degrees).
+         *
+         * @param[in] g A GeodesicExact object used to compute the necessary
+         *   information about the GeodesicLineExact.
+         * @param[in] lat1 latitude of point 1 (degrees).
+         * @param[in] lon1 longitude of point 1 (degrees).
+         * @param[in] azi1 azimuth at point 1 (degrees).
+         * @param[in] caps bitor'ed combination of NETGeographicLib::Mask values
+         *   specifying the capabilities the GeodesicLineExact object should
+         *   possess, i.e., which quantities can be returned in calls to
+         *   GeodesicLine::Position.
+         *
+         * \e lat1 should be in the range [&minus;90&deg;, 90&deg;]; \e lon1 and \e
+         * azi1 should be in the range [&minus;540&deg;, 540&deg;).
+         *
+         * The NETGeographicLib::Mask values are
+         * - \e caps |= GeodesicLineExact::LATITUDE for the latitude \e lat2; this
+         *   is added automatically;
+         * - \e caps |= NETGeographicLib::Mask::LONGITUDE for the latitude \e lon2;
+         * - \e caps |= NETGeographicLib::Mask::AZIMUTH for the latitude \e azi2; this is
+         *   added automatically;
+         * - \e caps |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e caps |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length \e
+             m12;
+         * - \e caps |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales \e
+         *   M12 and \e M21;
+         * - \e caps |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e caps |= NETGeographicLib::Mask::DISTANCE_IN permits the length of the
+         *   geodesic to be given in terms of \e s12; without this capability the
+         *   length can only be specified in terms of arc length;
+         * - \e caps |= NETGeographicLib::Mask::ALL for all of the above.
+         * .
+         *
+         * If the point is at a pole, the azimuth is defined by keeping \e lon1
+         * fixed, writing \e lat1 = &plusmn;(90&deg; &minus; &epsilon;), and taking
+         * the limit &epsilon; &rarr; 0+.
+         **********************************************************************/
+        GeodesicLineExact(GeodesicExact^ g, double lat1, double lon1, double azi1,
+                          NETGeographicLib::Mask caps );
+
+        /**
+         * A default constructor which assumes the WGS84 ellipsoid.  See
+         * constructor comments for details.
+         **********************************************************************/
+        GeodesicLineExact(double lat1, double lon1, double azi1,
+                          NETGeographicLib::Mask caps);
+        ///@}
+
+        /**
+         * The destructor calls the finalizer
+         **********************************************************************/
+        ~GeodesicLineExact()
+        { this->!GeodesicLineExact(); }
+
+        /** \name Position in terms of distance
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Compute the position of point 2 which is a distance \e s12 (meters)
+         * from point 1.
+         *
+         * @param[in] s12 distance between point 1 and point 2 (meters); it can be
+         *   signed.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees); requires that the
+         *   GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::LONGITUDE.
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] m12 reduced length of geodesic (meters); requires that the
+         *   GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::REDUCEDLENGTH.
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless); requires that the GeodesicLineExact object was
+         *   constructed with \e caps |= GeodesicLineExact::GEODESICSCALE.
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless); requires that the GeodesicLineExact object was
+         *   constructed with \e caps |= GeodesicLineExact::GEODESICSCALE.
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>); requires
+         *   that the GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::AREA.
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The values of \e lon2 and \e azi2 returned are in the range
+         * [&minus;180&deg;, 180&deg;).
+         *
+         * The GeodesicLineExact object \e must have been constructed with \e caps
+         * |= GeodesicLineExact::DISTANCE_IN; otherwise Math::NaN() is returned and
+         * no parameters are set.  Requesting a value which the GeodesicLineExact
+         * object is not capable of computing is not an error; the corresponding
+         * argument will not be altered.
+         *
+         * The following functions are overloaded versions of
+         * GeodesicLineExact::Position which omit some of the output parameters.
+         * Note, however, that the arc length is always computed and returned as
+         * the function value.
+         **********************************************************************/
+        double Position(double s12,
+                    [System::Runtime::InteropServices::Out] double% lat2,
+                    [System::Runtime::InteropServices::Out] double% lon2,
+                    [System::Runtime::InteropServices::Out] double% azi2,
+                    [System::Runtime::InteropServices::Out] double% m12,
+                    [System::Runtime::InteropServices::Out] double% M12,
+                    [System::Runtime::InteropServices::Out] double% M21,
+                    [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for GeodesicLineExact::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for GeodesicLineExact::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicLineExact::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for GeodesicLineExact::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for GeodesicLineExact::Position.
+         **********************************************************************/
+        double Position(double s12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% m12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+
+        ///@}
+
+        /** \name Position in terms of arc length
+         **********************************************************************/
+        ///@{
+
+        /**
+         * Compute the position of point 2 which is an arc length \e a12 (degrees)
+         * from point 1.
+         *
+         * @param[in] a12 arc length between point 1 and point 2 (degrees); it can
+         *   be signed.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees); requires that the
+         *   GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::LONGITUDE.
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters); requires
+         *   that the GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::DISTANCE.
+         * @param[out] m12 reduced length of geodesic (meters); requires that the
+         *   GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::REDUCEDLENGTH.
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless); requires that the GeodesicLineExact object was
+         *   constructed with \e caps |= GeodesicLineExact::GEODESICSCALE.
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless); requires that the GeodesicLineExact object was
+         *   constructed with \e caps |= GeodesicLineExact::GEODESICSCALE.
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>); requires
+         *   that the GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::AREA.
+         *
+         * The values of \e lon2 and \e azi2 returned are in the range
+         * [&minus;180&deg;, 180&deg;).
+         *
+         * Requesting a value which the GeodesicLineExact object is not capable of
+         * computing is not an error; the corresponding argument will not be
+         * altered.
+         *
+         * The following functions are overloaded versions of
+         * GeodesicLineExact::ArcPosition which omit some of the output parameters.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% m12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21,
+            [System::Runtime::InteropServices::Out] double% S12);
+
+        /**
+         * See the documentation for GeodesicLineExact::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2);
+
+        /**
+         * See the documentation for GeodesicLineExact::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2);
+
+        /**
+         * See the documentation for GeodesicLineExact::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12);
+
+        /**
+         * See the documentation for GeodesicLineExact::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% m12);
+
+        /**
+         * See the documentation for GeodesicLineExact::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+
+        /**
+         * See the documentation for GeodesicLineExact::ArcPosition.
+         **********************************************************************/
+        void ArcPosition(double a12,
+            [System::Runtime::InteropServices::Out] double% lat2,
+            [System::Runtime::InteropServices::Out] double% lon2,
+            [System::Runtime::InteropServices::Out] double% azi2,
+            [System::Runtime::InteropServices::Out] double% s12,
+            [System::Runtime::InteropServices::Out] double% m12,
+            [System::Runtime::InteropServices::Out] double% M12,
+            [System::Runtime::InteropServices::Out] double% M21);
+        ///@}
+
+        /** \name The general position function.
+         **********************************************************************/
+        ///@{
+
+        /**
+         * The general position function.  GeodesicLineExact::Position and
+         * GeodesicLineExact::ArcPosition are defined in terms of this function.
+         *
+         * @param[in] arcmode boolean flag determining the meaning of the second
+         *   parameter; if arcmode is false, then the GeodesicLineExact object must
+         *   have been constructed with \e caps |= GeodesicLineExact::DISTANCE_IN.
+         * @param[in] s12_a12 if \e arcmode is false, this is the distance between
+         *   point 1 and point 2 (meters); otherwise it is the arc length between
+         *   point 1 and point 2 (degrees); it can be signed.
+         * @param[in] outmask a bitor'ed combination of NETGeographicLib::Mask
+         *   values specifying which of the following parameters should be set.
+         * @param[out] lat2 latitude of point 2 (degrees).
+         * @param[out] lon2 longitude of point 2 (degrees); requires that the
+         *   GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::LONGITUDE.
+         * @param[out] azi2 (forward) azimuth at point 2 (degrees).
+         * @param[out] s12 distance between point 1 and point 2 (meters); requires
+         *   that the GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::DISTANCE.
+         * @param[out] m12 reduced length of geodesic (meters); requires that the
+         *   GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::REDUCEDLENGTH.
+         * @param[out] M12 geodesic scale of point 2 relative to point 1
+         *   (dimensionless); requires that the GeodesicLineExact object was
+         *   constructed with \e caps |= GeodesicLineExact::GEODESICSCALE.
+         * @param[out] M21 geodesic scale of point 1 relative to point 2
+         *   (dimensionless); requires that the GeodesicLineExact object was
+         *   constructed with \e caps |= GeodesicLineExact::GEODESICSCALE.
+         * @param[out] S12 area under the geodesic (meters<sup>2</sup>); requires
+         *   that the GeodesicLineExact object was constructed with \e caps |=
+         *   GeodesicLineExact::AREA.
+         * @return \e a12 arc length of between point 1 and point 2 (degrees).
+         *
+         * The NETGeographicLib::Mask values possible for \e outmask are
+         * - \e outmask |= NETGeographicLib::Mask::LATITUDE for the latitude \e lat2;
+         * - \e outmask |= NETGeographicLib::Mask::LONGITUDE for the latitude \e lon2;
+         * - \e outmask |= NETGeographicLib::Mask::AZIMUTH for the latitude \e azi2;
+         * - \e outmask |= NETGeographicLib::Mask::DISTANCE for the distance \e s12;
+         * - \e outmask |= NETGeographicLib::Mask::REDUCEDLENGTH for the reduced length
+         *   \e m12;
+         * - \e outmask |= NETGeographicLib::Mask::GEODESICSCALE for the geodesic scales
+         *   \e M12 and \e M21;
+         * - \e outmask |= NETGeographicLib::Mask::AREA for the area \e S12;
+         * - \e outmask |= NETGeographicLib::Mask::ALL for all of the above.
+         * .
+         * Requesting a value which the GeodesicLineExact object is not capable of
+         * computing is not an error; the corresponding argument will not be
+         * altered.  Note, however, that the arc length is always computed and
+         * returned as the function value.
+         **********************************************************************/
+        double GenPosition(bool arcmode, double s12_a12,
+                NETGeographicLib::Mask outmask,
+                [System::Runtime::InteropServices::Out] double% lat2,
+                [System::Runtime::InteropServices::Out] double% lon2,
+                [System::Runtime::InteropServices::Out] double% azi2,
+                [System::Runtime::InteropServices::Out] double% s12,
+                [System::Runtime::InteropServices::Out] double% m12,
+                [System::Runtime::InteropServices::Out] double% M12,
+                [System::Runtime::InteropServices::Out] double% M21,
+                [System::Runtime::InteropServices::Out] double% S12);
+
+        ///@}
+
+        /** \name Inspector functions
+         **********************************************************************/
+        ///@{
+        /**
+         * @return \e lat1 the latitude of point 1 (degrees).
+         **********************************************************************/
+        property double Latitude { double get(); }
+
+        /**
+         * @return \e lon1 the longitude of point 1 (degrees).
+         **********************************************************************/
+        property double Longitude { double get(); }
+
+        /**
+         * @return \e azi1 the azimuth (degrees) of the geodesic line at point 1.
+         **********************************************************************/
+        property double Azimuth { double get(); }
+
+        /**
+         * @return \e azi0 the azimuth (degrees) of the geodesic line as it crosses
+         * the equator in a northward direction.
+         **********************************************************************/
+        property double EquatorialAzimuth { double get(); }
+
+        /**
+         * @return \e a1 the arc length (degrees) between the northward equatorial
+         * crossing and point 1.
+         **********************************************************************/
+        property double EquatorialArc { double get(); }
+
+        /**
+         * @return \e a the equatorial radius of the ellipsoid (meters).  This is
+         *   the value inherited from the GeodesicExact object used in the
+         *   constructor.
+         **********************************************************************/
+        property double MajorRadius { double get(); }
+
+        /**
+         * @return \e f the flattening of the ellipsoid.  This is the value
+         *   inherited from the GeodesicExact object used in the constructor.
+         **********************************************************************/
+        property double Flattening { double get(); }
+
+        /**
+         * @return \e caps the computational capabilities that this object was
+         *   constructed with.  LATITUDE and AZIMUTH are always included.
+         **********************************************************************/
+        NETGeographicLib::Mask Capabilities();
+
+        /**
+         * @param[in] testcaps a set of bitor'ed GeodesicLineExact::mask values.
+         * @return true if the GeodesicLineExact object has all these capabilities.
+         **********************************************************************/
+        bool Capabilities(NETGeographicLib::Mask testcaps);
+        ///@}
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geohash.cpp

@@ -0,0 +1,84 @@
+/**
+ * \file NETGeographicLib/Geohash.cpp
+ * \brief Implementation for NETGeographicLib::Geohash class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/Geohash.hpp"
+#include "Geohash.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+//*****************************************************************************
+void Geohash::Forward(double lat, double lon, int len, System::String^% geohash)
+{
+    try
+    {
+        std::string l;
+        GeographicLib::Geohash::Forward( lat, lon, len, l );
+        geohash = gcnew System::String( l.c_str() );
+    }
+    catch ( const std::exception& xcpt )
+    {
+        throw gcnew GeographicErr( xcpt.what() );
+    }
+}
+
+//*****************************************************************************
+void Geohash::Reverse(System::String^ geohash,
+    [System::Runtime::InteropServices::Out] double% lat,
+    [System::Runtime::InteropServices::Out] double% lon,
+    [System::Runtime::InteropServices::Out] int% len,
+    bool centerp )
+{
+    try
+    {
+        double llat, llon;
+        int llen;
+        GeographicLib::Geohash::Reverse( StringConvert::ManagedToUnmanaged( geohash ),
+            llat, llon, llen, centerp );
+        lat = llat;
+        lon = llon;
+        len = llen;
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+double Geohash::LatitudeResolution(int len)
+{
+    return GeographicLib::Geohash::LatitudeResolution( len );
+}
+
+//*****************************************************************************
+double Geohash::LongitudeResolution(int len)
+{
+    return GeographicLib::Geohash::LongitudeResolution( len );
+}
+
+//*****************************************************************************
+int Geohash::GeohashLength(double res)
+{
+    return GeographicLib::Geohash::GeohashLength( res );
+}
+
+//*****************************************************************************
+int Geohash::GeohashLength(double latres, double lonres)
+{
+    return GeographicLib::Geohash::GeohashLength( latres, lonres );
+}
+
+//*****************************************************************************
+int Geohash::DecimalPrecision(int len)
+{
+    return GeographicLib::Geohash::DecimalPrecision( len );
+}

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geohash.h

@@ -0,0 +1,139 @@
+#pragma once
+/**
+ * \file NETGeographicLib/Geohash.h
+ * \brief Header for NETGeographicLib::Geohash class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+
+namespace NETGeographicLib
+{
+  /**
+   * \brief .NET wrapper for GeographicLib::Geohash.
+   *
+   * Geohashes are described in
+   * - http://en.wikipedia.org/wiki/Geohash
+   * - http://geohash.org/
+   * .
+   * They provide a compact string representation of a particular geographic
+   * location (expressed as latitude and longitude), with the property that if
+   * trailing characters are dropped from the string the geographic location
+   * remains nearby.
+   *
+   * C# Example:
+   * \include example-Geohash.cs
+   * Managed C++ Example:
+   * \include example-Geohash.cpp
+   * Visual Basic Example:
+   * \include example-Geohash.vb
+   **********************************************************************/
+    public ref class Geohash
+    {
+        private:
+        // hide the constructor since all members of this class are static.
+        Geohash() {}
+    public:
+
+        /**
+         * Convert from geographic coordinates to a geohash.
+         *
+         * @param[in] lat latitude of point (degrees).
+         * @param[in] lon longitude of point (degrees).
+         * @param[in] len the length of the resulting geohash.
+         * @param[out] geohash the geohash.
+         * @exception GeographicErr if \e la is not in [&minus;90&deg;,
+         *   90&deg;].
+         * @exception GeographicErr if \e lon is not in [&minus;540&deg;,
+         *   540&deg;).
+         * @exception std::bad_alloc if memory for \e geohash can't be allocated.
+         *
+         * Internally, \e len is first put in the range [0, 18].
+         *
+         * If \e lat or \e lon is NaN, the returned geohash is "nan".
+         **********************************************************************/
+        static void Forward(double lat, double lon, int len,
+            [System::Runtime::InteropServices::Out] System::String^% geohash);
+
+        /**
+         * Convert from a geohash to geographic coordinates.
+         *
+         * @param[in] geohash the geohash.
+         * @param[out] lat latitude of point (degrees).
+         * @param[out] lon longitude of point (degrees).
+         * @param[out] len the length of the geohash.
+         * @param[in] centerp if true (the default) return the center of the
+         *   geohash location, otherwise return the south-west corner.
+         * @exception GeographicErr if \e geohash contains illegal characters.
+         *
+         * Only the first 18 characters for \e geohash are considered.  The case of
+         * the letters in \e geohash is ignored.
+         *
+         * If the first three characters in \e geohash are "nan", then \e lat and
+         * \e lon are set to NaN.
+         **********************************************************************/
+        static void Reverse(System::String^ geohash,
+            [System::Runtime::InteropServices::Out] double% lat,
+            [System::Runtime::InteropServices::Out] double% lon,
+            [System::Runtime::InteropServices::Out] int% len,
+            bool centerp);
+
+        /**
+         * The latitude resolution of a geohash.
+         *
+         * @param[in] len the length of the geohash.
+         * @return the latitude resolution (degrees).
+         *
+         * Internally, \e len is first put in the range [0, 18].
+         **********************************************************************/
+        static double LatitudeResolution(int len);
+
+        /**
+         * The longitude resolution of a geohash.
+         *
+         * @param[in] len the length of the geohash.
+         * @return the longitude resolution (degrees).
+         *
+         * Internally, \e len is first put in the range [0, 18].
+         **********************************************************************/
+        static double LongitudeResolution(int len);
+
+        /**
+         * The geohash length required to meet a given geographic resolution.
+         *
+         * @param[in] res the minimum of resolution in latitude and longitude
+         *   (degrees).
+         * @return geohash length.
+         *
+         * The returned length is in the range [0, 18].
+         **********************************************************************/
+        static int GeohashLength(double res);
+
+        /**
+         * The geohash length required to meet a given geographic resolution.
+         *
+         * @param[in] latres the resolution in latitude (degrees).
+         * @param[in] lonres the resolution in longitude (degrees).
+         * @return geohash length.
+         *
+         * The returned length is in the range [0, 18].
+         **********************************************************************/
+        static int GeohashLength(double latres, double lonres);
+
+        /**
+         * The decimal geographic precision required to match a given geohash
+         * length.  This is the number of digits needed after decimal point in a
+         * decimal degrees representation.
+         *
+         * @param[in] len the length of the geohash.
+         * @return the decimal precision (may be negative).
+         *
+         * Internally, \e len is first put in the range [0, 18].  The returned
+         * decimal precision is in the range [&minus;2, 12].
+         **********************************************************************/
+        static int DecimalPrecision(int len);
+    };
+} // namespace NETGeographicLib

gtsam/3rdparty/GeographicLib/dotnet/NETGeographicLib/Geoid.cpp

@@ -0,0 +1,215 @@
+/**
+ * \file NETGeographicLib/Geoid.cpp
+ * \brief Implementation for NETGeographicLib::Geoid class
+ *
+ * NETGeographicLib is copyright (c) Scott Heiman (2013)
+ * GeographicLib is Copyright (c) Charles Karney (2010-2012)
+ * <charles@karney.com> and licensed under the MIT/X11 License.
+ * For more information, see
+ * http://geographiclib.sourceforge.net/
+ **********************************************************************/
+#include "stdafx.h"
+#include "GeographicLib/Geoid.hpp"
+#include "Geoid.h"
+#include "NETGeographicLib.h"
+
+using namespace NETGeographicLib;
+
+//*****************************************************************************
+Geoid::!Geoid(void)
+{
+    if ( m_pGeoid != NULL )
+    {
+        delete m_pGeoid;
+        m_pGeoid = NULL;
+    }
+}
+
+//*****************************************************************************
+Geoid::Geoid(System::String^ name, System::String^ path,
+                bool cubic, bool threadsafe)
+{
+    if ( name == nullptr ) throw gcnew GeographicErr("name cannot be a null pointer.");
+    if ( path == nullptr ) throw gcnew GeographicErr("path cannot be a null pointer.");
+    try
+    {
+        m_pGeoid = new GeographicLib::Geoid(
+            StringConvert::ManagedToUnmanaged( name ),
+            StringConvert::ManagedToUnmanaged( path ),
+            cubic, threadsafe );
+    }
+    catch ( std::bad_alloc )
+    {
+        throw gcnew GeographicErr( "Failed to allocate memory for a GeographicLib::Geoid" );
+    }
+    catch ( const GeographicLib::GeographicErr& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+//*****************************************************************************
+void Geoid::CacheArea(double south, double west, double north, double east)
+{
+    try
+    {
+        m_pGeoid->CacheArea( south, west, north, east );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+void Geoid::CacheAll()
+{
+    try
+    {
+        m_pGeoid->CacheAll();
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+void Geoid::CacheClear()
+{
+    m_pGeoid->CacheClear();
+}
+
+//*****************************************************************************
+double Geoid::Height(double lat, double lon)
+{
+    try
+    {
+        return m_pGeoid->operator()( lat, lon );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+double Geoid::Height(double lat, double lon,
+    [System::Runtime::InteropServices::Out] double% gradn,
+    [System::Runtime::InteropServices::Out] double% grade)
+{
+    try
+    {
+        double lgradn, lgrade;
+        double out = m_pGeoid->operator()( lat, lon, lgradn, lgrade );
+        gradn = lgradn;
+        grade = lgrade;
+        return out;
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+double Geoid::ConvertHeight(double lat, double lon, double h,
+                            ConvertFlag d)
+{
+    try
+    {
+        return m_pGeoid->ConvertHeight( lat, lon, h,
+            static_cast<GeographicLib::Geoid::convertflag>(d) );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+System::String^ Geoid::DefaultGeoidPath()
+{
+    try
+    {
+        return StringConvert::UnmanagedToManaged(
+            GeographicLib::Geoid::DefaultGeoidPath() );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+System::String^ Geoid::DefaultGeoidName()
+{
+    try
+    {
+        return StringConvert::UnmanagedToManaged(
+            GeographicLib::Geoid::DefaultGeoidName() );
+    }
+    catch ( const std::exception& err )
+    {
+        throw gcnew GeographicErr( err.what() );
+    }
+}
+
+//*****************************************************************************
+System::String^ Geoid::Description::get()
+{ return StringConvert::UnmanagedToManaged(m_pGeoid->Description()); }
+
+//*****************************************************************************
+System::String^ Geoid::DateTime::get()
+{ return StringConvert::UnmanagedToManaged(m_pGeoid->DateTime()); }
+
+//*****************************************************************************
+System::String^ Geoid::GeoidFile::get()
+{ return StringConvert::UnmanagedToManaged(m_pGeoid->GeoidFile()); }
+
+//*****************************************************************************
+System::String^ Geoid::GeoidName::get()
+{ return StringConvert::UnmanagedToManaged(m_pGeoid->GeoidName()); }
+
+//*****************************************************************************
+System::String^ Geoid::GeoidDirectory::get()
+{ return StringConvert::UnmanagedToManaged(m_pGeoid->GeoidDirectory()); }
+
+//*****************************************************************************
+System::String^ Geoid::Interpolation::get()
+{ return StringConvert::UnmanagedToManaged(m_pGeoid->Interpolation()); }
+
+//*****************************************************************************
+double Geoid::MaxError::get() { return m_pGeoid->MaxError(); }
+
+//*****************************************************************************
+double Geoid::RMSError::get() { return m_pGeoid->RMSError(); }
+
+//*****************************************************************************
+double Geoid::Offset::get() { return m_pGeoid->Offset(); }
+
+//*****************************************************************************
+double Geoid::Scale::get() { return m_pGeoid->Scale(); }
+
+//*****************************************************************************
+bool Geoid::ThreadSafe::get() { return m_pGeoid->ThreadSafe(); }
+
+//*****************************************************************************
+bool Geoid::Cache::get() { return m_pGeoid->Cache(); }
+
+//*****************************************************************************
+double Geoid::CacheWest::get() { return m_pGeoid->CacheWest(); }
+
+//*****************************************************************************
+double Geoid::CacheEast::get() { return m_pGeoid->CacheEast(); }
+
+//*****************************************************************************
+double Geoid::CacheNorth::get() { return m_pGeoid->CacheNorth(); }
+
+//*****************************************************************************
+double Geoid::CacheSouth::get() { return m_pGeoid->CacheSouth(); }
+
+//*****************************************************************************
+double Geoid::MajorRadius::get() { return m_pGeoid->MajorRadius(); }
+
+//*****************************************************************************
+double Geoid::Flattening::get() { return m_pGeoid->Flattening(); }