/***************************************************************************
 *   Copyright (C) 2006 by pamelaprod                                      *
 *   pamelaprod@P1.pamela                                                  *
 *                                                                         *
 *   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 of the License, 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, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#include <InclinationInfo.h>
#include <TMath.h>
#include <TMatrixD.h>

using namespace std;

// InclinationInfoI()::InclinationInfoI() {
//   //  memset(time,0,6*sizeof(double)); 
//   // memset(quad,0,6*4*sizeof(double));
// };

void InclinationInfoI::fill(TArrayC* data){
  short extIndex = 0;
  short innIndex = 0;
  long tempData = 0;
  for (int i = 0; i < 6; i++){
    extIndex = 20*i;
    time[i] = (((data->At(extIndex) << 24) & 0xFF000000) +
	       ((data->At(extIndex + 1) << 16) & 0x00FF0000) + ((data->At(extIndex + 2) << 8) & 0x0000FF00) +
	       (data->At(extIndex + 3) & 0x000000FF))/128.0;
    
    for (int j = 0; j < 4; j++){
      innIndex = extIndex + 4*j;
      tempData = ((data->At(innIndex + 4) << 24) & 0xFF000000) + ((data->At(innIndex + 5) << 16) & 0x00FF0000) + ((data->At(innIndex + 6) << 8) & 0x0000FF00) + (data->At(innIndex + 7) & 0x000000FF);
      if (data->At(innIndex + 4) >> 8) {
	quat[i][j] = (~tempData * -1.0)/1073741824.0;
      } else {
	quat[i][j] = tempData / 1073741824.0;
      }
    }
  }
}

//   const char* InclinationInfoItem::toXML(char* tab = ""){
//     stringstream oss;
//     oss.str("");
//     for (int i = 0; i < 6; i++){
//     	oss << tab << "<QUATERNION>\n";
//   	oss << tab << "\t <param name = 'time'>" <<  time[i]    << "</param>\n";
//   	oss << tab << "\t <param name = 'L0'>"   <<  quat[i][0] << "</param>\n";
//     	oss << tab << "\t <param name = 'L1'>"   <<  quat[i][1] << "</param>\n";
//     	oss << tab << "\t <param name = 'L2'>"   <<  quat[i][2] << "</param>\n";
//     	oss << tab << "\t <param name = 'L3'>"   <<  quat[i][3] << "</param>\n";
//     	oss << tab << "</QUATERNION>\n";
//   }
//     return oss.str().c_str();
//   }


Quaternions::Quaternions() 
  : InclinationInfoI()
{
}


Quaternions::~Quaternions()
{
}

InclinationInfo::InclinationInfo()
  : TObject()
{
}

InclinationInfo::~InclinationInfo()
{
}

short int Sign_1(double_t a, Int_t b){
  if(a>0){b=1;}
  if(a<0){b=-1;}
  else{b=0;}
  return b; 
}

void InclinationInfo::QuaternionstoAngle(Quaternions Qua){
  
  double_t a11     = pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][2],2.)-pow(Qua.quat[0][3],2.);
  double_t a12     = 2*(Qua.quat[0][1]*Qua.quat[0][2]+Qua.quat[0][0]*Qua.quat[0][3]);
  double_t a13     = 2*(Qua.quat[0][1]*Qua.quat[0][3]-Qua.quat[0][0]*Qua.quat[0][2]);
  double_t a21     = 2*(Qua.quat[0][1]*Qua.quat[0][2]-Qua.quat[0][0]*Qua.quat[0][3]);
  double_t a22     = pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][2],2.)-pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][3],2.);
  double_t a23     = 2*(Qua.quat[0][2]*Qua.quat[0][3]+Qua.quat[0][0]*Qua.quat[0][1]);
  double_t a31     = 2*(Qua.quat[0][1]*Qua.quat[0][3]+Qua.quat[0][0]*Qua.quat[0][2]);
  double_t a32     = 2*(Qua.quat[0][2]*Qua.quat[0][3]-Qua.quat[0][0]*Qua.quat[0][1]);
  double_t a33     = pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][3],2.)-pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][2],2.);
  double_t a       = 360/(2*TMath::Pi());
  double_t eksi    = 0.0000001;
  double_t eteta   = 0.0000001;
  double_t ksteta  = a22*a22/(a12*a12+a22*a22);
  double_t ksksi   = a33*a33/(a33*a33+a31*a31);
  
  Int_t kj1;
  if (a33<0){kj1=1;
  } else {kj1=0;};
  Int_t kj2;
  if (ksksi>eksi){kj2=1;
  } else {kj2=0;};
  Int_t kj3;
  if (ksksi<=eksi){kj3=1;
  } else {kj3=0;};
  Int_t kj4;
  if (a22<0){kj4=1;
  } else {kj4=0;};
  Int_t kj5;
  if (ksteta>eteta){kj5=1;
  } else {kj5=0;};
  Int_t kj6;
  if (ksteta<=eteta){kj6=1;
  } else {kj6=0;};
  if (abs((int)a32)>1){exit(1);};
  Int_t fr;

  Double_t gamar = -atan(a32/sqrt(1-pow(a32,2.)));
  Double_t ksir  = (-atan(a31/a33)-TMath::Pi()*kj1*Sign_1(a31, fr))*kj2-0.5*TMath::Pi()*kj3*Sign_1(a31, fr);
  Double_t tetar = -(-atan(a12/a22)-TMath::Pi()*kj4*Sign_1(a12, fr))*kj5+0.5*TMath::Pi()*kj6*Sign_1(a12, fr);
//  if (gamar<0){A11=gamar*a+360;}else{A11=gamar*a;};
//  if (ksir<0){A11=ksir*a+360;}else{A11=ksir*a;};
//  if (tetar<0){A13=tetar*a+360;}else{A13=tetar*a;};

//  gamar = acos(pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][3],2.)-pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][2],2.));
//  tetar = atan((Qua.quat[0][2]*Qua.quat[0][3]+Qua.quat[0][0]*Qua.quat[0][2])/(Qua.quat[0][2]*Qua.quat[0][3]+Qua.quat[0][1]*Qua.quat[0][0]));
//  ksir = atan((Qua.quat[0][1]*Qua.quat[0][3]-Qua.quat[0][0]*Qua.quat[0][2])/(Qua.quat[0][2]*Qua.quat[0][3]-Qua.quat[0][1]*Qua.quat[0][0]));
  
  
  A13=tetar*a;
  A12=ksir*a;
  A11=gamar*a;
 
return ;
}

/******************************************************************************************************************/
/******************************************************************************************************************/
//*********************                             ***************************************************************/
//*********************     COORDINATE SYSTEMS      ***************************************************************/
//*********************                             ***************************************************************/
//*****************************************************************************************************************/
//*****************************************************************************************************************/
//
//                                  ZISK
//                                 +
//                                / \       YOSK      ZOSK (Directed by Radius)
//                                 |       _        _.
//                                 |      |\        /|
//                                 |        \      / 
//                                 |         \    /
//                                 |.__..__   \  /
//                Orbit     _._.***|        **.\/_        XOSK (Directed by velocity)
//                        .*       | (X0,Y0,Z0) **--.___\
//                     _**         |        /     *.    /
//                   .*            |       *        *
//                  *        ..****|***.. /  R       * 
//                         .*      |    .*.
//                        .*       |   /  *.
//                        * EARTH  |  /    *                                    YISK
//                        *        | /_ _  _*_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _\
//                        *        /       *                                   /
//                         *      /      .*
//                          *.   /      .*
//                            **/*******
//                             /
//                            /
//                           /
//                          /
//                         /
//                        /
//                      |/
//                      *--
//                  XISK
//
//****************************************************************************************************/
//****************************************************************************************************/

//void OrbitalInfo::coefplane(Double_t x1,Double_t y1,Double_t z1,Double_t x2, Double_t y2, Double_t z2){
//    k1 = ((z1/y1)*((x2*y1 - x1*y2)/(z2*y1 - z1*y2)) - x1/y1);
//    k2 = (x1*y2 - x2*y1)/(z2*y1 - z1*y2);
//    }
    
//Double_t OrbitalInfo::AngBetAxes(Double_t x1,Double_t y1,Double_t z1,Double_t x2, Double_t y2, Double_t z2){
//    return acos((x1*x2+y1*y2+z1*z2)/sqrt(pow(x1,2)+pow(y1,2)+pow(z1,2))/sqrt(pow(x2,2)+pow(y2,2)+pow(z2,2)));
//    }
    
//Double_t OrbitalInfo::ValueT(Double_t x1, Double_t y1, Double_t z1, Double_t n1, Double_t n2){
//    return -(x1+n1*y1+n2*z1)/(1+pow(n1,2)+pow(n2,2));
//    }
    
//Double_t OrbitalInfo::AngBetPlan(Double_t x1, Double_t y1, Double_t z1, Double_t n1, Double_t n2){
//    return asin((x1+n1*y1+n2*z1)/(sqrt(pow(x1,2)+pow(y1,2)+pow(z1,2))*sqrt(1+pow(n1,2)+pow(n2,2))));
//    }
    
void InclinationInfo::TransAngle(Double_t x0, Double_t y0, Double_t z0, Double_t Vx0, Double_t Vy0, Double_t Vz0, Double_t gamar, Double_t ksir, Double_t tetar, Double_t q0, Double_t q1, Double_t q2, Double_t q3){
    
    double_t a = 360/(2*TMath::Pi());

//  Points on three axes of Resurs' coordinate system (RCS)
    Int_t XRCS[3]; Int_t YRCS[3]; Int_t ZRCS[3];
    
// Angles between our Axes(RCS) and planes of Orbital Coordinate System (OCS);
//    Double_t AboAa0ZX[3];
//    Double_t AboAa0XY[3];
//    Double_t AboAa0YZ[3];
    
// Angles between our Axes(RCS) and Axes of OCS  
//    Double_t AboA0X[3];
//    Double_t AboA0Y[3];
//    Double_t AboA0Z[3];

//Angles between Proection of our axes on every plane of OCS and axes of it plane.
//    Double_t AbPoAaAoP0ZX[3];
//    Double_t AbPoAaAoP0XY[3];
//    Double_t AbPoAaAoP0YZ[3];
    
    XRCS[0] = 1;  YRCS[0] = 0;  ZRCS[0] = 0;   // Points on X-axis RCS.
    XRCS[1] = 0;  YRCS[1] = 1;  ZRCS[1] = 0;   // Points on Y-axis RCS.
    XRCS[2] = 0;  YRCS[2] = 0;  ZRCS[2] = 1;   // Points on Z-axis
    
// Transition matrix RCS -> Inertial Coordinate System (ICS)   
    TMatrixD Bij(3,3);
    Bij(0,0) = cos(tetar)*cos(ksir)-sin(tetar)*sin(gamar)*sin(ksir);
    Bij(0,1) = -sin(tetar)*cos(gamar);
    Bij(0,2) = cos(tetar)*sin(ksir)+sin(tetar)*sin(gamar)*cos(ksir);
    Bij(1,0) = sin(tetar)*cos(ksir)+cos(tetar)*sin(gamar)*sin(ksir);
    Bij(1,1) = cos(tetar)*cos(gamar);
    Bij(1,2) = sin(tetar)*sin(ksir)-cos(tetar)*sin(gamar)*cos(ksir);
    Bij(2,0) = -sin(ksir)*cos(gamar);
    Bij(2,1) = sin(gamar);
    Bij(2,2) = cos(ksir)*cos(gamar);
    
//********************************************************************************************/
//*********************** OTHER METHOD OF GETING COORDINATE IN OCS****************************/
//********************************************************************************************/
    
    TMatrixD Pij(3,3);
    Pij(0,0) = pow(q0,2)+pow(q1,2)-pow(q2,2)-pow(q3,2);
    Pij(0,1) = 2*(q1*q2+q0*q3);
    Pij(0,2) = 2*(q1*q3-q0*q2);
    Pij(1,0) = 2*(q1*q2-q0*q3);
    Pij(1,1) = pow(q0,2)-pow(q1,2)+pow(q2,2)-pow(q3,2);
    Pij(1,2) = 2*(q2*q3+q0*q1);
    Pij(2,0) = 2*(q1*q3+q0*q2);
    Pij(2,1) = 2*(q2*q3-q0*q1);
    Pij(2,2) = pow(q0,2)-pow(q1,2)-pow(q2,2)+pow(q3,2);

    TMatrixD Aij(3,3);
//    Double_t AbPoAaAoP0ZX_2m[3];  Double_t AboAa0ZX_2m[3];
//    Double_t AbPoAaAoP0XY_2m[3];  Double_t AboAa0XY_2m[3];
//    Double_t AbPoAaAoP0YZ_2m[3];  Double_t AboAa0YZ_2m[3];
    
    Double_t C1 = y0*Vz0 - z0*Vy0;
    Double_t C2 = z0*Vx0 - x0*Vz0;
    Double_t C3 = x0*Vy0 - y0*Vx0;
    Double_t C  = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2));
    Double_t V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2));
    //cout<<"C1= "<<(Vy0*C3-Vz0*C2)/(V0*C)<<", C2= "<<(Vz0*C1-Vx0*C3)/(V0*C)<<", C3="<<(Vx0*C2-Vy0*C1)/(V0*C)<<"\n";
    Double_t R0 = sqrt(pow(x0,2)+pow(y0,2) + pow(z0,2));
    Aij(0,0) = /*(C2*z0-C3*y0)/(C*R0);/*/Vx0/V0;
    Aij(0,1) = C1/C;
    Aij(0,2) = /*x0/R0;/*/(Vy0*C3-Vz0*C2)/(V0*C);
    Aij(1,0) = /*(C3*x0-C1*z0)/(C*R0);/*/Vy0/V0;
    Aij(1,1) = C2/C;
    Aij(1,2) = /*y0/R0;/*/(Vz0*C1-Vx0*C3)/(V0*C);
    Aij(2,0) = /*(C1*y0-C2*x0)/(C*R0);/*/Vz0/V0;
    Aij(2,1) = C3/C;
    Aij(2,2) = /*x0/R0;/*/(Vx0*C2-Vy0*C1)/(V0*C);
    Aij.Invert();
//    Double_t Xnew = Aij(0,0)*(X-x0)+Aij(0,1)*(Y-y0)+Aij(0,2)*(Z-z0);
//    Double_t Ynew = Aij(1,0)*(X-x0)+Aij(1,1)*(Y-y0)+Aij(1,2)*(Z-z0);
//    Double_t Znew = Aij(2,0)*(X-x0)+Aij(2,1)*(Y-y0)+Aij(2,2)*(Z-z0);

/*********************************************************************************************/    

    Double_t Azim = atan(R0*C3/(y0*C1-x0*C2));
    Double_t Sa = sin(Azim); Double_t Ca = cos(Azim);
    Double_t R1 = sqrt(pow(x0,2)+pow(y0,2));
    Double_t Sb = z0/R0; Double_t Cb = R1/R0;
    Double_t Sl = y0/R1; Double_t Cl = x0/R1;
    
    TMatrixD Tij(3,3);
    Tij(0,0) = -Cl*Sb*Ca-Sa*Sl;
    Tij(0,1) = Sa*Cl-Ca*Sl*Sb;
    Tij(0,2) = Ca*Cb;
    Tij(1,0) = Ca*Sl-Sa*Sb*Cl;
    Tij(1,1) = -Sa*Sl*Sb-Ca*Cl;
    Tij(1,2) = Sa*Cb;
    Tij(2,0) = Cb*Cl;
    Tij(2,1) = Cb*Sl;
    Tij(2,2) = Sb;
    //cout<<"Tij\n";
    //cout<<Tij(0,0)<<" "<<Tij(0,1)<<" "<<Tij(0,2)<<"\n";
    //cout<<Tij(1,0)<<" "<<Tij(1,1)<<" "<<Tij(1,2)<<"\n";
    //cout<<Tij(2,0)<<" "<<Tij(2,1)<<" "<<Tij(2,2)<<"\n";
    //cout<<"Aij\n";
    
    
    //TMatrixD Mij = new TMatrixD(Otestij,TMatrixD::kMult,Oij);
    //Mij=Pij*Bij;
    //Mij=Otestij*Oij;
    //Mij*=Tij;
    
    //cout<<Mij(0,0)<<" "<<Mij(0,1)<<" "<<Mij(0,2)<<"\n";
    //cout<<Mij(1,0)<<" "<<Mij(1,1)<<" "<<Mij(1,2)<<"\n";
    //cout<<Mij(2,0)<<" "<<Mij(2,1)<<" "<<Mij(2,2)<<"\n";
// Generaly idea is to Get orientation of Satellite as angles between RCS axes and all axes and planes of OCS
// We will get equations of RCS axes in ICS

// equation of line in space is (X-X0)/(X1-X0)=(Y-Y0)/(Y1-Y0)=(Z-Z0)/(Z1-Z0), where
// (X0,Y0,Z0)=(0,0,0) and (X1,Y1,Z1)=(XRCS[i],YRCS[i],ZRCS[i]) here i is may be x, y or z
// for us this equation is X/X1=Y/Y1=Z/Z1;

// We need in equation of line in spase for OCS also. For it take next points (Vx0,Vy0,Vz0) on X-axis
// and (x0,y0,z0) on Z-axis.    
//    Double_t XonX = Vx0; Double_t YonX = Vy0; Double_t ZonX = Vz0;
//    Double_t XonZ = x0;  Double_t YonZ = y0;  Double_t ZonZ = z0;
//after this we have equations for Z- and X axis OCS it's
// X/XonX=Y/YonX=Z/ZonX for X-axis and X/XonZ=Y/YonZ=Z/ZonZ for Z-axis    
    
// Next we need in equation of plane 0xz of OCS: Generaly equation is Ax+By+Cz+D=0;
// But all our plan pass through (0,0,0) and D=0 then we can write equation in naxt kind:
//  x+(B/A)y+(C/A)z=0; => x+k1*y+k2*z=0;
//    Double_t k1y;
//    Double_t k2y;
    //cout<<YonX<<"  "<<ZonX*YonZ<<" "<<ZonZ*YonX<<"\n";
//    if ((YonZ != 0) && (ZonX*YonZ != ZonZ*YonX)){
//	coefplane(XonX,YonX,ZonX,XonZ,YonZ,ZonZ);
	//coefplane(1,0.00001,0.00001,0,0,1);
//	k1y = k1; k2y = k2;
//    } else {k1y = 1; k2y = YonX/ZonX; cout<<"ELSE";}
    //cout<<"P1= "<<(Vx0+k1y*Vy0+k2y*Vz0)<<"\n";
    //cout<<"P2= "<<(x0+k1y*y0+k2y*z0)<<"\n";
    //cout<<"P3= "<<(Vx0+k1y*Vy0+k2y*Vz0)<<"\n";
    //cout<<"k1y= "<<k1y<<", k2y= "<<k2y<<"\n";
//    int uchu;
//    cin>>uchu;

// Next we must find equation of Y-axis of OCS. For it we must find equation  of line passing through 
// point (0,0,0) perpendicularly by 0ZX plane of OCS
// generaly equation is:
//                       x = x0 + At;
//                       y = y0 + Bt;
//                       z = z0 + Ct;
// But we have point (x0,y0,z0) is (0,0,0) and other plane equation. For us it's:
//                       x = t;
//                       y = (B/A)*t   =>  y = (B/A)*x; or x/x1=y/y1=z/z1 where
//                       z = (C/A)*t       z = (C/A)*x;    y1=B/A,z1=C/A and x1 we must find

//    if ((YonX<0 && ZonZ>0)||(YonX>0 && ZonZ<0)) XonY = 1; 
//    if ((YonX>0 && ZonZ>0)||(YonX>0 && ZonZ<0)) XonY = 1;
//    Double_t XonY = 1; Double_t YonY = -k1; Double_t ZonY = k2;
    
// coefficients for equations of 0XY plane of OCS.    
//    coefplane(XonX,YonX,ZonX,XonY,YonY,ZonY);
//    Double_t k1XY = k1; Double_t k2XY = k2;
    //cout<<"P3= "<<(XonY+k1XY*YonY+k2XY*ZonY)<<"\n";
    //cout<<"P3= "<<(XonX+k1XY*YonX+k2XY*ZonX)<<"\n";
    //cout<<"k1XY= "<<k1XY<<", k2XY= "<<k2XY<<"\n";
// coefficients for equations of 0XY plane of OCS.
//    coefplane(XonY,YonY,ZonY,XonZ,YonZ,ZonZ);
//    Double_t k1YZ = k1; Double_t k2YZ = k2;
    //cout<<"P4= "<<(XonY+k1YZ*YonY+k2YZ*ZonY)<<"\n";
    //cout<<"P4= "<<(XonZ+k1YZ*YonZ+k2YZ*ZonZ)<<"\n";
    //cout<<"k1YZ= "<<k1YZ<<", k2YZ= "<<k2YZ<<"\n";
    
//    TMatrixD Gij(3,3);
    Pij.Invert();
//    Gij=Pij*Aij;
    //Gij.Invert();
    //XXRCS = Gij(0,0); XYRCS = Gij(0,1); XZRCS = Gij(2,0);
    //YXRCS = Gij(1,0); YYRCS = Gij(1,1); YZRCS = Gij(2,1);
    //ZXRCS = Gij(2,0); ZYRCS = Gij(1,2); ZZRCS = Gij(2,2);
    
    //cout<<"XXRCS= "<<XXRCS<<", YXRCS= "<<YXRCS<<", ZXRCS= "<<ZXRCS<<"\n";
    //cout<<"XYRCS= "<<XYRCS<<", YYRCS= "<<YYRCS<<", ZYRCS= "<<ZYRCS<<"\n";
    //cout<<"XZRCS= "<<XZRCS<<", YZRCS= "<<YZRCS<<", ZZRCS= "<<ZZRCS<<"\n";
    //int yuip;
    //cin>>yuip;
    
    for (Int_t i = 0; i<3; i++) {
// Values of points on axes of RCS in ICS
	Double_t XICS = Pij(0,0)*XRCS[i] + Pij(0,1)*YRCS[i] + Pij(0,2)*ZRCS[i];// + x0;
	Double_t YICS = Pij(1,0)*XRCS[i] + Pij(1,1)*YRCS[i] + Pij(1,2)*ZRCS[i];// + y0;
	Double_t ZICS = Pij(2,0)*XRCS[i] + Pij(2,1)*YRCS[i] + Pij(2,2)*ZRCS[i];// + z0;
	//cout<<"XICS= "<<XICS<<", YICS= "<<YICS<<", ZICS= "<<ZICS<<"\n";
	//cout<<"XICS= "<<XICS<<", YICS= "<<YICS<<", ZICS= "<<ZICS<<"\n";
	//int oiu;
	//cin>>oiu;

// Angles between our Axis and Z,Y,X-axes of OCS
//	AboA0Z[i]  = AngBetAxes(XICS,YICS,ZICS,XonZ,YonZ,ZonZ);
//	AboA0Y[i]  = AngBetAxes(XICS,YICS,ZICS,XonY,YonY,ZonY);
//	AboA0X[i]  = AngBetAxes(XICS,YICS,ZICS,XonX,YonX,ZonX);

//Find coordinate of our point in OCS	
//	Double_t XOCS;
//	Double_t YOCS;
//	Double_t ZOCS;
//	Double_t T     = ValueT(XICS,YICS,ZICS,k1y,k2y);
//	Double_t XonXZ = XICS + T;
//	Double_t YonXZ = YICS + k1y*T;
//	Double_t ZonXZ = ZICS + k2y*T;
//	Double_t R     = T*sqrt(1+pow(k1y,2)+pow(k2y,2));
//	YOCS = R;
	//cout<<"CHECK= "<<XonXZ+k1y*YonXZ+k2y*ZonXZ<<"\n";
//	T = ValueT(XICS,YICS,ZICS,k1XY,k2XY);
//	Double_t XonXY = XICS + T;
//	Double_t YonXY = YICS + k1XY*T;
//	Double_t ZonXY = ZICS + k2XY*T;
//	R = T*sqrt(1+pow(k1XY,2)+pow(k2XY,2));
//	ZOCS = R;
	//cout<<"CHECK= "<<XonXY+k1XY*YonXY+k2XY*ZonXY<<"\n";
//	T = ValueT(XICS,YICS,ZICS,k1YZ,k2YZ);
//	Double_t XonYZ = XICS + T;
//	Double_t YonYZ = YICS + k1YZ*T;
//	Double_t ZonYZ = ZICS + k2YZ*T;
//	R = T*sqrt(1+pow(k1YZ,2)+pow(k2YZ,2));
//	XOCS = R;
	//cout<<"CHECK= "<<XonYZ+k1YZ*YonYZ+k2YZ*ZonYZ<<"\n";
	//cout<<"XOCS= "<<XOCS<<", YOCS= "<<YOCS<<", ZOCS="<<ZOCS<<"\n";
	
	//Double_t AbPoAaAoP0ZX_2m[3];  Double_t AboAa0ZX_2m[3];
	//Double_t AbPoAaAoP0XY_2m[3];  Double_t AboAa0XY_2m[3];
	//Double_t AbPoAaAoP0YZ_2m[3];  Double_t AboAa0YZ_2m[3];
    
/*	C1 = YICS*Vz0 - ZICS*Vy0;
	C2 = ZICS*Vx0 - XICS*Vz0;
	C3 = XICS*Vy0 - YICS*Vx0;
        C  = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2));
	V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2));
        Aij(0,0) = Vx0/V0;
	Aij(0,1) = C1/C;
        Aij(0,2) = (Vy0*C3-Vz0*C2)/(V0*C);
	Aij(1,0) = Vy0/V0;
        Aij(1,1) = C2/C;
	Aij(1,2) = (Vz0*C1-Vx0*C3)/(V0*C);
        Aij(2,0) = Vz0/V0;
	Aij(2,1) = C3/C;
        Aij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C);
	Aij.Invert();
*/
//2th method of getting XOCS,YOCS,ZOCS	
	Double_t XOCS_2m = Aij(0,0)*(XICS)+Aij(0,1)*(YICS)+Aij(0,2)*(ZICS);
	Double_t YOCS_2m = Aij(1,0)*(XICS)+Aij(1,1)*(YICS)+Aij(1,2)*(ZICS);
	Double_t ZOCS_2m = Aij(2,0)*(XICS)+Aij(2,1)*(YICS)+Aij(2,2)*(ZICS);
	
	if (i == 0) {XXRCS = XOCS_2m; YXRCS = YOCS_2m; ZXRCS = ZOCS_2m;}
	if (i == 1) {XYRCS = XOCS_2m; YYRCS = YOCS_2m; ZYRCS = ZOCS_2m;}
	if (i == 2) {XZRCS = XOCS_2m; YZRCS = YOCS_2m; ZZRCS = ZOCS_2m;}

	//cout<<"XOCS_2m= "<<XOCS_2m<<", YOCS_2m= "<<YOCS_2m<<", ZOCS= "<<ZOCS_2m<<"\n";
	//int alsdj;
	//cin>>alsdj;
	
//Find	Angles between RCS-axes and OCS-planes;
//	AboAa0ZX[i]     = AngBetPlan(XICS,YICS,ZICS,k1y,k2y);
//	AboAa0XY[i]     = AngBetPlan(XICS,YICS,ZICS,k1XY,k2XY);
//	AboAa0YZ[i]     = AngBetPlan(XICS,YICS,ZICS,k1YZ,k2YZ);
	//AbPoAaAoP0ZX[i] = atan(ZOCS/XOCS);	AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m);
	//AbPoAaAoP0XY[i] = atan(XOCS/YOCS);	AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m);
	//AbPoAaAoP0YZ[i] = atan(ZOCS/YOCS);	AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m);
	
//	if (XOCS_2m>0) AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m);
//	if ((XOCS_2m<0)&&(ZOCS_2m>=0)) AbPoAaAoP0ZX_2m[i] = 180/a + atan(ZOCS_2m/XOCS_2m);
//	if ((XOCS_2m<0)&&(ZOCS_2m<0)) AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m) - 180/a;
//	if ((XOCS_2m=0)&&(ZOCS_2m>0)) AbPoAaAoP0ZX_2m[i] = 90/a;
//	if ((XOCS_2m=0)&&(ZOCS_2m<0)) AbPoAaAoP0ZX_2m[i] = -90/a;
//	if ((XOCS_2m=0)&&(ZOCS_2m=0)) AbPoAaAoP0ZX_2m[i] = 0;
	
//	if (XOCS_2m>0) AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m);
//	if ((XOCS_2m<0)&&(YOCS_2m>=0)) AbPoAaAoP0XY_2m[i] = 180/a + atan(YOCS_2m/XOCS_2m);
//	if ((XOCS_2m<0)&&(YOCS_2m<0)) AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m) - 180/a;
//	if ((XOCS_2m=0)&&(YOCS_2m>0)) AbPoAaAoP0XY_2m[i] = 90/a;
//	if ((XOCS_2m=0)&&(YOCS_2m<0)) AbPoAaAoP0XY_2m[i] = -90/a;
//	if ((XOCS_2m=0)&&(YOCS_2m=0)) AbPoAaAoP0XY_2m[i] = 0;
	
//	if (YOCS_2m>0) AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m);
//	if ((YOCS_2m<0)&&(ZOCS_2m>=0)) AbPoAaAoP0YZ_2m[i] = 180/a + atan(ZOCS_2m/YOCS_2m);
//	if ((YOCS_2m<0)&&(ZOCS_2m<0)) AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m) - 180/a;
//	if ((YOCS_2m=0)&&(ZOCS_2m>0)) AbPoAaAoP0YZ_2m[i] = 90/a;
//	if ((YOCS_2m=0)&&(ZOCS_2m<0)) AbPoAaAoP0YZ_2m[i] = -90/a;
//	if ((YOCS_2m=0)&&(ZOCS_2m=0)) AbPoAaAoP0YZ_2m[i] = 0;

	//if (i==0) cout<<"AbPoAaAoP0ZX_2m[i]"<<AbPoAaAoP0ZX_2m[i]<<"\n";
	//cout<<"XOCS/ZOCS= "<<XOCS_2m/ZOCS_2m<<"\n";
	//cout<<"Atan= "<<AbPoAaAoP0ZX_2m[i]<<"\n";
	//cout<<"atan= "<<a*atan(0.2);
	//int GJH;
	//cin>>GJH;
	
    }
    Double_t u13 = XYRCS/*Gij(0,2)*/; Double_t u33 = ZYRCS/*Gij(2,2)*/; 
    Double_t u23 = YYRCS/*Gij(1,2)*/; Double_t u21 = YZRCS/*Gij(1,0)*/; 
    Double_t u22 = YXRCS/*Gij(1,1)*/;
    Tangazh = a*atan(-u13/u33);
    //cout<<"u13= "<<u13<<", u33= "<<u33<<"\n";
    Kren = a*atan(-u23/sqrt(1 - pow(u23,2)));
    //Ryskanie = a*atan(u21/u22);
    
    if (u22>0) Ryskanie = a*atan(u21/u22);
    //cout<<Ryskanie<<"\n";
    if ((u22<0)&&(u21>=0)) Ryskanie = 180 + a*atan(u21/u22);
    if ((u22<0)&&(u21<0)) Ryskanie = a*atan(u21/u22) - 180;
    if ((u22=0)&&(u21>0)) Ryskanie = 90;
    if ((u22=0)&&(u21<0)) Ryskanie = -90;
    if ((u22=0)&&(u21=0)) Ryskanie = 0;
    
//    AXrXo = AboA0X[0]*a;    AXrZXo = AboAa0ZX[0]*a;	ApXrZXoZ = AbPoAaAoP0ZX[0]*a;
//    AXrYo = AboA0Y[0]*a;    AXrXYo = AboAa0XY[0]*a;	ApXrXYoZ = AbPoAaAoP0XY[0]*a;
//    AXrZo = AboA0Z[0]*a;    AXrYZo = AboAa0YZ[0]*a;	ApXrYZoZ = AbPoAaAoP0YZ[0]*a;	
//    AYrXo = AboA0X[1]*a;    AYrZXo = AboAa0ZX[1]*a;	ApYrZXoZ = AbPoAaAoP0ZX[1]*a;
//    AYrYo = AboA0Y[1]*a;    AYrXYo = AboAa0XY[1]*a;	ApYrXYoZ = AbPoAaAoP0XY[1]*a;
//    AYrZo = AboA0Z[1]*a;    AYrYZo = AboAa0YZ[1]*a;	ApYrYZoZ = AbPoAaAoP0YZ[1]*a;
//    AZrXo = AboA0X[2]*a;    AZrZXo = AboAa0ZX[2]*a;	ApZrZXoZ = AbPoAaAoP0ZX[2]*a;
//    AZrYo = AboA0Y[2]*a;    AZrXYo = AboAa0XY[2]*a;	ApZrXYoZ = AbPoAaAoP0XY[2]*a;
//    AZrZo = AboA0Z[2]*a;    AZrYZo = AboAa0YZ[2]*a;	ApZrYZoZ = AbPoAaAoP0YZ[2]*a;

//    AXrZXo_2m = AboAa0ZX_2m[0]*a;	ApXrZXoZ_2m = AbPoAaAoP0ZX_2m[0]*a;
//    AXrXYo_2m = AboAa0XY_2m[0]*a;	ApXrXYoZ_2m = AbPoAaAoP0XY_2m[0]*a;
//    AXrYZo_2m = AboAa0YZ_2m[0]*a;	ApXrYZoZ_2m = AbPoAaAoP0YZ_2m[0]*a;	
//    AYrZXo_2m = AboAa0ZX_2m[1]*a;	ApYrZXoZ_2m = AbPoAaAoP0ZX_2m[1]*a;
//    AYrXYo_2m = AboAa0XY_2m[1]*a;	ApYrXYoZ_2m = AbPoAaAoP0XY_2m[1]*a;
//    AYrYZo_2m = AboAa0YZ_2m[1]*a;	ApYrYZoZ_2m = AbPoAaAoP0YZ_2m[1]*a;
//    AZrZXo_2m = AboAa0ZX_2m[2]*a;	ApZrZXoZ_2m = AbPoAaAoP0ZX_2m[2]*a;
//    AZrXYo_2m = AboAa0XY_2m[2]*a;	ApZrXYoZ_2m = AbPoAaAoP0XY_2m[2]*a;
//    AZrYZo_2m = AboAa0YZ_2m[2]*a;	ApZrYZoZ_2m = AbPoAaAoP0YZ_2m[2]*a;
    
/*        
    //Int_t Y=2;Int_t X=2;Int_t Z=4;Int_t Vx=5;Int_t Vz=9;Int_t Vy=5;
    
    Double_t X[2]; Double_t Y[2]; Double_t Z[2]; Double_t Vx[2]; Double_t Vy[2]; Double_t Vz[2];
    
    TMatrixD Aij(3,3);
    TMatrixD Bij(3,3);
    
    Bij(0,0) = cos(tetar)*cos(ksir)-sin(tetar)*sin(gamar)*sin(ksir);
    Bij(0,1) = -sin(tetar)*cos(gamar);
    Bij(0,2) = cos(tetar)*sin(ksir)+sin(tetar)*sin(gamar)*cos(ksir);
    Bij(1,0) = sin(tetar)*cos(ksir)+cos(tetar)*sin(gamar)*sin(ksir);
    Bij(1,1) = cos(tetar)*cos(gamar);
    Bij(1,2) = sin(tetar)*sin(ksir)-cos(tetar)*sin(gamar)*cos(ksir);
    Bij(2,0) = -sin(ksir)*cos(gamar);
    Bij(2,1) = sin(gamar);
    Bij(2,2) = cos(ksir)*cos(gamar);
    
    Double_t C1 = Y[0]*Vz[0] - Z[0]*Vy[0];
    Double_t C2 = Z[0]*Vx[0] - X[0]*Vz[0];
    Double_t C3 = X[0]*Vy[0] - Y[0]*Vx[0];
    Double_t C  = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2));
    Double_t V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2));
    Aij(0,0) = Vx0/V0;
    Aij(0,1) = C1/C;
    Aij(0,2) = (Vy0*C3-Vz0*C2)/(V0*C);
    Aij(1,0) = Vy0/V0;
    Aij(1,1) = C2/C;
    Aij(1,2) = (Vz0*C1-Vx0*C3)/(V0*C);
    Aij(2,0) = Vz0/V0;
    Aij(2,1) = C3/C;
    Aij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C);
    Aij.Invert();
    Double_t Xnew = Aij(0,0)*(X-x0)+Aij(0,1)*(Y-y0)+Aij(0,2)*(Z-z0);
    Double_t Ynew = Aij(1,0)*(X-x0)+Aij(1,1)*(Y-y0)+Aij(1,2)*(Z-z0);
    Double_t Znew = Aij(2,0)*(X-x0)+Aij(2,1)*(Y-y0)+Aij(2,2)*(Z-z0);
    */
    //A21 = NewTetar;
    //A22 = NewGamar;
    //A23 = NewKsir;

return ;    
}


//ClassImp(McmdItem)
ClassImp(InclinationInfoI)
ClassImp(Quaternions)
ClassImp(InclinationInfo)