Index: /trunk/psLib/src/astro/psEarthOrientation.c
===================================================================
--- /trunk/psLib/src/astro/psEarthOrientation.c	(revision 5770)
+++ /trunk/psLib/src/astro/psEarthOrientation.c	(revision 5771)
@@ -8,6 +8,6 @@
  *  @author Robert Daniel DeSonia, MHPCC
  *
- *  @version $Revision: 1.22 $ $Name: not supported by cvs2svn $
- *  @date $Date: 2005-12-08 02:49:04 $
+ *  @version $Revision: 1.23 $ $Name: not supported by cvs2svn $
+ *  @date $Date: 2005-12-13 01:31:54 $
  *
  *  Copyright 2005 Maui High Performance Computing Center, University of Hawaii
@@ -432,4 +432,9 @@
     double S = psPolynomial1DEval(sPoly,t);
 
+    X = SEC_TO_RAD(X * 1e-6);
+    Y = SEC_TO_RAD(Y * 1e-6);
+    S = SEC_TO_RAD(S * 1e-6);
+
+
     // now calculate the non-poly portion from the tables
 
@@ -448,6 +453,9 @@
         double as = cols[1][lcv];
         double ac = cols[2][lcv];
-
-        X += as*tj*sin(arg) + ac*tj*cos(arg);
+        //        printf("as-x, ac-x, = %.13g, %.13g\n", as, ac);
+        as = SEC_TO_RAD(as) * 1e-6;
+        ac = SEC_TO_RAD(ac) * 1e-6;
+        //        X += as*tj*sin(arg) + ac*tj*cos(arg);
+        X += (as*tj*sin(arg) + ac*cos(arg)) * tj;
     }
 
@@ -465,6 +473,9 @@
         double as = cols[1][lcv];
         double ac = cols[2][lcv];
-
-        Y += as*tj*sin(arg) + ac*tj*cos(arg);
+        as = SEC_TO_RAD(as) * 1e-6;
+        ac = SEC_TO_RAD(ac) * 1e-6;
+
+        //        Y += as*tj*sin(arg) + ac*tj*cos(arg);
+        Y += (as*tj*sin(arg) + ac*cos(arg)) * tj;
     }
 
@@ -482,6 +493,9 @@
         double as = cols[1][lcv];
         double ac = cols[2][lcv];
-
-        S += as*tj*sin(arg) + ac*tj*cos(arg);
+        as = SEC_TO_RAD(as) * 1e-6;
+        ac = SEC_TO_RAD(ac) * 1e-6;
+
+        //        S += as*tj*sin(arg) + ac*tj*cos(arg);
+        S += (as*tj*sin(arg) + ac*cos(arg)) * tj;
     }
 
@@ -700,4 +714,5 @@
         A[2][2] = 1.0 - a*(pole->x*pole->x + pole->y*pole->y);
     */
+
     A[0][0] = (1.0 - a*pole->x*pole->x)*cos(pole->s) - a*pole->x*pole->y*sin(pole->s);
     A[1][0] = -a*pole->x*pole->y*cos(pole->s) + (1.0 - a*pole->y*pole->y)*sin(pole->s);
@@ -709,4 +724,5 @@
     A[1][2] = -pole->y;
     A[2][2] = 1.0 - a*(pole->x*pole->x + pole->y*pole->y);
+
     double x, y, s;
     x = pole->x;
@@ -1010,18 +1026,136 @@
     psSphereRot *out = NULL;
 
+    double x,y,s;
+    x = motion->x;
+    y = motion->y;
+    s = motion->s;
+
+
     //Setup Rotation Matrix for transformation (x,y,z rotation)
     //XXX: May need to be (z,y,x as in Mathworld?)
-    A[0][0] = cos(motion->x)*cos(-motion->s);
-    A[0][1] = sin(motion->y)*sin(motion->x)*cos(-motion->s) + cos(motion->y)*sin(-motion->s);
-    A[0][2] = -cos(motion->y)*sin(motion->x)*cos(-motion->s) + sin(motion->y)*sin(-motion->s);
-    A[1][0] = -cos(motion->x)*sin(-motion->s);
-    A[1][1] = -sin(motion->y)*sin(motion->x)*sin(-motion->s) + cos(motion->y)*cos(-motion->s);
-    A[1][2] = cos(motion->y)*sin(motion->x)*sin(-motion->s) + sin(motion->y)*cos(-motion->s);
-    A[2][0] = sin(motion->x);
-    A[2][1] = -sin(motion->y)*cos(motion->x);
-    A[2][2] = cos(motion->y)*cos(motion->x);
+    /*   A[0][0] = cos(motion->x)*cos(-motion->s);
+        A[0][1] = sin(motion->y)*sin(motion->x)*cos(-motion->s) + cos(motion->y)*sin(-motion->s);
+        A[0][2] = -cos(motion->y)*sin(motion->x)*cos(-motion->s) + sin(motion->y)*sin(-motion->s);
+        A[1][0] = -cos(motion->x)*sin(-motion->s);
+        A[1][1] = -sin(motion->y)*sin(motion->x)*sin(-motion->s) + cos(motion->y)*cos(-motion->s);
+        A[1][2] = cos(motion->y)*sin(motion->x)*sin(-motion->s) + sin(motion->y)*cos(-motion->s);
+        A[2][0] = sin(motion->x);
+        A[2][1] = -sin(motion->y)*cos(motion->x);
+        A[2][2] = cos(motion->y)*cos(motion->x);
+    */
+    /*
+        A[0][0] = cos(motion->x)*cos(-motion->s);
+        A[1][0] = sin(motion->y)*sin(motion->x)*cos(-motion->s) + cos(motion->y)*sin(-motion->s);
+        A[2][0] = -cos(motion->y)*sin(motion->x)*cos(-motion->s) + sin(motion->y)*sin(-motion->s);
+        A[0][1] = -cos(motion->x)*sin(-motion->s);
+        A[1][1] = -sin(motion->y)*sin(motion->x)*sin(-motion->s) + cos(motion->y)*cos(-motion->s);
+        A[2][1] = cos(motion->y)*sin(motion->x)*sin(-motion->s) + sin(motion->y)*cos(-motion->s);
+        A[0][2] = sin(motion->x);
+        A[1][2] = -sin(motion->y)*cos(motion->x);
+        A[2][2] = cos(motion->y)*cos(motion->x);
+    */
+    /*
+        A[0][0] = cos(s)*cos(x);
+        A[0][1] = sin(s)*sin(y) + cos(s)*sin(x)*sin(y);
+        A[0][2] = sin(s)*sin(y) - cos(s)*sin(x)*cos(y);
+        A[1][0] = -sin(s)*cos(x);
+        A[1][1] = cos(s)*cos(y) - sin(s)*sin(x)*sin(y);
+        A[1][2] = cos(s)*sin(y) + sin(s)*sin(x)*cos(y);
+        A[2][0] = sin(x);
+        A[2][1] = -cos(x)*sin(y);
+        A[2][2] = cos(x)*cos(y);
+    */
+    /*
+        A[0][0] = cos(s)*cos(x);
+        A[1][0] = sin(s)*sin(y) + cos(s)*sin(x)*sin(y);
+        A[2][0] = sin(s)*sin(y) - cos(s)*sin(x)*cos(y);
+        A[0][1] = -sin(s)*cos(x);
+        A[1][1] = cos(s)*cos(y) - sin(s)*sin(x)*sin(y);
+        A[2][1] = cos(s)*sin(y) + sin(s)*sin(x)*cos(y);
+        A[0][2] = sin(x);
+        A[1][2] = -cos(x)*sin(y);
+        A[2][2] = cos(x)*cos(y);
+    */
+
+    /*
+        psSphereRot r,s,t;
+     
+        // directly from ADD -- there must be a better way?!
+        r.q0=sin(motion->y/2.0);
+        r.q1=0;
+        r.q2=0;
+        r.q3=cos(motion->y/2.0);
+     
+        s.q0=0;
+        s.q1=sin(motion->x/2.0);
+        s.q2=0;
+        s.q3=cos(motion->x/2.0);
+     
+        t.q0=0;
+        t.q1=0;
+        t.q2=sin(-motion->s/2.0);
+        t.q3=cos(-motion->s/2.0);
+     
+        // calculate t*s*r.
+        psSphereRot* temp = psSphereRotCombine(NULL,&t,&s);
+        out = psSphereRotCombine(NULL, temp, &r);
+        psFree(temp);
+     
+        return out;
+    */
+
+    s = -s;
+    //Newest trial - mult. y matrix * x * z
+    /*    A[0][0] = cos(x)*cos(s);
+        A[1][0] = cos(x)*sin(s);
+        A[2][0] = -sin(x);
+        A[0][1] = sin(x)*sin(y)*cos(s) - cos(y)*sin(s);
+        A[1][1] = sin(x)*sin(y)*sin(s) + cos(y)*cos(s);
+        A[2][1] = cos(x)*sin(y);
+        A[0][2] = sin(x)*cos(y)*cos(s) + sin(y)*sin(s);
+        A[1][2] = sin(x)*cos(y)*sin(s) - sin(y)*cos(s);
+        A[2][2] = cos(x)*cos(y);
+    */
+    /*    A[0][0] = cos(x)*cos(s);
+        A[0][1] = cos(x)*sin(s);
+        A[0][2] = -sin(x);
+        A[1][0] = sin(x)*sin(y)*cos(s) - cos(y)*sin(s);
+        A[1][1] = sin(x)*sin(y)*sin(s) + cos(y)*cos(s);
+        A[1][2] = cos(x)*sin(y);
+        A[2][0] = sin(x)*cos(y)*cos(s) + sin(y)*sin(s);
+        A[2][1] = sin(x)*cos(y)*sin(s) - sin(y)*cos(s);
+        A[2][2] = cos(x)*cos(y);
+    */
+    //New trial - mult z * y * x
+    /*    A[0][0] = cos(s)*cos(x);
+        A[1][0] = sin(s)*cos(y) + cos(s)*sin(x)*sin(y);
+        A[2][0] = sin(s)*sin(y) - cos(s)*sin(x)*cos(y);
+        A[0][1] = -sin(s)*cos(x);
+        A[1][1] = cos(s)*cos(y) - sin(s)*sin(x)*sin(y);
+        A[2][1] = cos(s)*sin(y) + sin(s)*sin(x)*cos(y);
+        A[0][2] = sin(x);
+        A[1][2] = -cos(x)*sin(y);
+        A[2][2] = cos(x)*cos(y);
+    */
+    A[0][0] = cos(s)*cos(x);
+    A[0][1] = sin(s)*cos(y) + cos(s)*sin(x)*sin(y);
+    A[0][2] = sin(s)*sin(y) - cos(s)*sin(x)*cos(y);
+    A[1][0] = -sin(s)*cos(x);
+    A[1][1] = cos(s)*cos(y) - sin(s)*sin(x)*sin(y);
+    A[1][2] = cos(s)*sin(y) + sin(s)*sin(x)*cos(y);
+    A[2][0] = sin(x);
+    A[2][1] = -cos(x)*sin(y);
+    A[2][2] = cos(x)*cos(y);
+
 
     //Convert rotation matrix to quaternions
     out = rotMatrix_To_Quat(A);
+
+    //    out = psSphereRotAlloc(motion->y, motion->x, motion->s);
+
+    //    out->q0 = SEC_TO_RAD(out->q0);
+    //    out->q1 = SEC_TO_RAD(out->q1);
+    //    out->q2 = SEC_TO_RAD(out->q2) + (out->q0+out->q1/2.0);
+    //    out->q3 = sqrt(1.0 - (out->q0*out->q0 + out->q1*out->q1 + out->q2*out->q2) );
     /*    double diag_sum[3];
         int maxi;
Index: /trunk/psLib/test/astro/tst_psEarthOrientation.c
===================================================================
--- /trunk/psLib/test/astro/tst_psEarthOrientation.c	(revision 5770)
+++ /trunk/psLib/test/astro/tst_psEarthOrientation.c	(revision 5771)
@@ -5,6 +5,6 @@
 *  @author d-Rob, MHPCC
 *
-*  @version $Revision: 1.20 $ $Name: not supported by cvs2svn $
-*  @date $Date: 2005-12-08 02:49:04 $
+*  @version $Revision: 1.21 $ $Name: not supported by cvs2svn $
+*  @date $Date: 2005-12-13 01:31:54 $
 *
 *  Copyright 2004-2005 Maui High Performance Computing Center, University of Hawaii
@@ -344,4 +344,6 @@
         yy = -0.0287618408203125;
         ss = 0.0;
+        xx = SEC_TO_RAD(xx) * 1e-6;
+        yy = SEC_TO_RAD(yy) * 1e-6;
         if ( fabs(pcorr->x - xx) > DBL_EPSILON || fabs(pcorr->y - yy) > DBL_EPSILON
                 || fabs(pcorr->s - ss) > DBL_EPSILON) {
@@ -599,4 +601,8 @@
     //    in->y += -0.0287618408203125;
     //    in->s += 0.0;
+    //    in->x += 3.05224300720406e-7;
+    //    in->y += -1.39441339235822e-7;
+    in->s += 0.0;
+
     double q0,q1,q2,q3;
     q0 = -1.1984522406756289e-5;
@@ -619,13 +625,28 @@
     }
 
-    //    psCube *tempCube = psCubeAlloc();
-    //    tempCube->x = -0.35963388069046304;
-    //    tempCube->y = 0.5555192509816625;
-    //    tempCube->z = 0.749078321908413;
-    //    obj = psCubeToSphere(tempCube);
-    //    psFree(tempCube);
-    obj = psSphereAlloc();
-    obj->r = objR;
-    obj->d = objD;
+    if (fabs(rot->q0-q0) > DBL_EPSILON || fabs(rot->q1-q1) > DBL_EPSILON ||
+            fabs(rot->q2-q2) > DBL_EPSILON || fabs(rot->q3-q3) > DBL_EPSILON) {
+        psError(PS_ERR_BAD_PARAMETER_VALUE, false,
+                "psSphereRot_CEOtoGCRS failed to return expected values.\n");
+        printf("\n  Output sphere rotation   = %.13g,%.13g,%.13g,%.13g\n",
+               rot->q0, rot->q1, rot->q2, rot->q3);
+        printf("  Expected sphere rotation = %.13g,%.13g,%.13g,%.13g\n", q0,q1,q2,q3);
+        printf("  a difference:   %.13g, %.13g, %.13g, %.13g \n", (rot->q0-q0), (rot->q1-q1),
+               (rot->q2-q2), (rot->q3-q3) );
+        printf("  abs difference:   %.13g, %.13g, %.13g, %.13g \n\n", (rot->q0+q0), (rot->q1+q1),
+               (rot->q2+q2), (rot->q3+q3) );
+        //        return 3;
+    }
+
+
+    psCube *tempCube = psCubeAlloc();
+    tempCube->x = -0.35963388069046304;
+    tempCube->y = 0.5555192509816625;
+    tempCube->z = 0.7497078321908413;
+    obj = psCubeToSphere(tempCube);
+    psFree(tempCube);
+    //    obj = psSphereAlloc();
+    //    obj->r = objR;
+    //    obj->d = objD;
     psSphereRot *precessionNutation = psSphereRotConjugate(NULL, rot);
     psSphere *result = psSphereRotApply(NULL, precessionNutation, obj);
@@ -639,20 +660,20 @@
     printf("A difference of:   %.13g, %.13g, %.13g\n\n",
            (x-cube->x), (y-cube->y), (z-cube->z));
+
+    //great sphere difference between result and expected
+    //Re = 6.38x10^6m
+    psCube *expect = psCubeAlloc();
+    expect->x = x;
+    expect->y = y;
+    expect->z = z;
+    psSphere *expected = psCubeToSphere(expect);
+    psFree(expect);
+    double d = (6.38e6) * acos(cos(result->r)*cos(expected->r)*cos(result->d-expected->d) + sin(result->r)*sin(expected->r));
+    printf("\n\nGreat circle difference of:  %.13g \n", d);
+
+    psFree(expected);
     psFree(obj);
 
 
-    if (fabs(rot->q0-q0) > DBL_EPSILON || fabs(rot->q1-q1) > DBL_EPSILON ||
-            fabs(rot->q2-q2) > DBL_EPSILON || fabs(rot->q3-q3) > DBL_EPSILON) {
-        psError(PS_ERR_BAD_PARAMETER_VALUE, false,
-                "psSphereRot_CEOtoGCRS failed to return expected values.\n");
-        printf("\n  Output sphere rotation   = %.13g,%.13g,%.13g,%.13g\n",
-               rot->q0, rot->q1, rot->q2, rot->q3);
-        printf("  Expected sphere rotation = %.13g,%.13g,%.13g,%.13g\n", q0,q1,q2,q3);
-        printf("  a difference:   %.13g, %.13g, %.13g, %.13g \n", (rot->q0-q0), (rot->q1-q1),
-               (rot->q2-q2), (rot->q3-q3) );
-        printf("  abs difference:   %.13g, %.13g, %.13g, %.13g \n\n", (rot->q0+q0), (rot->q1+q1),
-               (rot->q2+q2), (rot->q3+q3) );
-        return 3;
-    }
 
     psSphere *test = psSphereAlloc();
@@ -708,9 +729,9 @@
         psError(PS_ERR_BAD_PARAMETER_VALUE, false,
                 "psSphereRot_ITRStoTEO failed to return expected values.\n");
-        printf("\n  Output sphere rotation   = %.13g,%.13g,%.13g,%.13g\n",
+        printf("\n  Output sphere rotation   = %.13g, %.13g, %.13g, %.13g\n",
                rot->q0, rot->q1, rot->q2, rot->q3);
-        printf("  Expected sphere rotation = %.13g,%.13g,%.13g,%.13g\n", q0,q1,q2,q3);
-        printf("  a difference:   %.13g, %.13g, %.13g, %.13g \n", (rot->q0-q0), (rot->q1-q1),
-               (rot->q2-q2), (rot->q3-q3) );
+        printf("  Expected sphere rotation = %.13g, %.13g, %.13g, %.13g\n", q0,q1,q2,q3);
+        //        printf("  a difference:   %.13g, %.13g, %.13g, %.13g \n", (rot->q0-q0), (rot->q1-q1),
+        //               (rot->q2-q2), (rot->q3-q3) );
         return 3;
     }