related to optimization

 * Functions for position latitude and longitude (heading is fixed)

 * hll4a_...

 */

// p0 = new L.LatLng(lat0,lng0)

// p1 = new L.LatLng(lat0,lng0)

// p0.distanceTo(p1)

function hll4a_r_i(i,v){

  return hll3_r_i(i,v);

}

function hll4a_dr_dx_i(i,v){

  return hll3_dr_dx_i(i,v);

}

function hll4a_dr_dy_i(i,v){

  return hll3_dr_dy_i(i,v);

}

function hll4a_w_i(i,v){

  return hll3_w_i(i,v);

}

function hll4b_3d_i(i,v){

  var base = Data.camera;

  var mark = Data.markers[i];

  // 3D model part

  var xyz_real = x3dom_scene_to_heading(mark.align.x,mark.align.y,mark.align.z);

  var vec_xz = new x3dom.fields.SFVec3f(xyz_real.x,0,xyz_real.z);

  var d_3d = vec_xz.length();

  return d_3d;

}

function hll4b_map_i(i,v){

  var base = Data.camera;

  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);

  var d_map = p1_ll.distanceTo(p2_ll);

  return d_map;

}

function hll4b_r_i(i,v){

  var base = Data.camera;

  var mark = Data.markers[i];

  // 3D model part

  var d_3d = hll4b_3d_i(i,v);

  // Map part

  var d_map = hll4b_map_i(i,v);

  // bring error to degrees:

  var result = Math.atan((d_3d-d_map)/d_3d)*180/Math.PI;

  return result;

}

// latitude

function hll4b_dr_dx_i(i,v){

  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);

  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;

  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;

  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;

  // L.CRS.Earth.R - distance in meters

  var a = Math.sin(dlat/2)*Math.sin(dlat/2)+Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.sin(dlon/2);

  var da = -1/2*Math.sin(dlat/4)-Math.sin(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.sin(dlon/2)*(-1);

  var res = L.CRS.Earth.R*(1/Math.sqrt(a))*(1/Math.sqrt(1-a))*da;

  // extra coeff

  var d_3d  = hll4b_3d_i(i,v);

  var d_map = hll4b_map_i(i,v);

  //var k = -1/d_3d*180/Math.PI;

  var result = 1/(1+((d_3d-d_map)/d_3d))*(-1)*res*180/Math.PI;

  return result;

}

// longitude

function hll4b_dr_dy_i(i,v){

  var mark = Data.markers[i];

  var p1_ll = new L.LatLng(v[0],v[1]);

  var p2_ll = new L.LatLng(mark.align.latitude,mark.align.longitude);

  p1_ll.lat = p1_ll.lat*Math.PI/180;

  p1_ll.lng = p1_ll.lng*Math.PI/180;

  p2_ll.lat = p2_ll.lat*Math.PI/180;

  p2_ll.lng = p2_ll.lng*Math.PI/180;

  var dlat = p2_ll.lat-p1_ll.lat;

  var dlon = p2_ll.lng-p1_ll.lng;

  // L.CRS.Earth.R - distance in meters

  var a = Math.sin(dlat/2)*Math.sin(dlat/2)+Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.sin(dlon/2);

  var da = (-1/2)*Math.cos(p1_ll.lat)*Math.cos(p2_ll.lat)*Math.sin(dlon/2)*Math.cos(dlon/2);

  var res = L.CRS.Earth.R*(1/Math.sqrt(a))*(1/Math.sqrt(1-a))*da;

  // extra coeff

  var d_3d  = hll4b_3d_i(i,v);

  var d_map = hll4b_map_i(i,v);

  //var k = -1/d_3d*180/Math.PI;

  var result = 1/(1+((d_3d-d_map)/d_3d))*(-1)*res*180/Math.PI;

  return result;

}

function hll4b_w_i(i,v){

  return 1;

}

/**

 * Functions for relative altitude, tilt and roll