import numpy as np
import winkelumrechnungen as wu
import ausgaben as aus
import jacobian_Ligas


class EllipsoidBiaxial:
    def __init__(self, a: float, b: float):
        self.a = a
        self.b = b
        self.c = a ** 2 / b
        self.e = np.sqrt(a ** 2 - b ** 2) / a
        self.e_ = np.sqrt(a ** 2 - b ** 2) / b

    @classmethod
    def init_name(cls, name: str):
        if name == "Bessel":
            a = 6377397.15508
            b = 6356078.96290
            return cls(a, b)
        elif name == "Hayford":
            a = 6378388
            f = 1/297
            b = a - a * f
            return cls(a, b)
        elif name == "Krassowski":
            a = 6378245
            f = 298.3
            b = a - a * f
            return cls(a, b)
        elif name == "WGS84":
            a = 6378137
            f = 298.257223563
            b = a - a * f
            return cls(a, b)

    @classmethod
    def init_af(cls, a: float, f: float):
        b = a - a * f
        return cls(a, b)

    V = lambda self, phi: np.sqrt(1 + self.e_ ** 2 * np.cos(phi) ** 2)
    M = lambda self, phi: self.c / self.V(phi) ** 3
    N = lambda self, phi: self.c / self.V(phi)

    beta2psi = lambda self, beta: np.arctan(self.a / self.b * np.tan(beta))
    beta2phi = lambda self, beta: np.arctan(self.a ** 2 / self.b ** 2 * np.tan(beta))

    psi2beta = lambda self, psi: np.arctan(self.b / self.a * np.tan(psi))
    psi2phi = lambda self, psi: np.arctan(self.a / self.b * np.tan(psi))

    phi2beta = lambda self, phi: np.arctan(self.b ** 2 / self.a ** 2 * np.tan(phi))
    phi2psi = lambda self, phi: np.arctan(self.b / self.a * np.tan(phi))

    phi2p = lambda self, phi: self.N(phi) * np.cos(phi)

    def cart2ell(self, Eh, Ephi, x, y, z):
        p = np.sqrt(x**2+y**2)
        # print(f"p = {round(p, 5)} m")

        lamb = np.arctan(y/x)

        phi_null = np.arctan(z/p*(1-self.e**2)**-1)

        hi = [0]
        phii = [phi_null]

        i = 0

        while True:
            N = self.a*(1-self.e**2*np.sin(phii[i])**2)**(-1/2)
            h = p/np.cos(phii[i])-N
            phi = np.arctan(z/p*(1-(self.e**2*N)/(N+h))**(-1))
            hi.append(h)
            phii.append(phi)
            dh = abs(hi[i]-h)
            dphi = abs(phii[i]-phi)
            i = i+1
            if dh < Eh:
                if dphi < Ephi:
                    break
        for i in range(len(phii)):
            # print(f"P3[{i}]: {aus.gms('phi', phii[i], 5)}\th = {round(hi[i], 5)} m")
            pass
        return phi, lamb, h

    def ell2cart(self, phi, lamb, h):
        W = np.sqrt(1 - self.e**2 * np.sin(phi)**2)
        N = self.a / W
        x = (N+h) * np.cos(phi) * np.cos(lamb)
        y = (N+h) * np.cos(phi) * np.sin(lamb)
        z = (N * (1-self.e**2) + h) * np.sin(lamb)
        return x, y, z

class EllipsoidTriaxial:
    def __init__(self, ax: float, ay: float, b: float):
        self.ax = ax
        self.ay = ay
        self.b = b
        self.ex = np.sqrt((self.ax**2 - self.b**2) / self.ax**2)
        self.ey = np.sqrt((self.ay**2 - self.b**2) / self.ay**2)
        self.ee = np.sqrt((self.ax**2 - self.ay**2) / self.ax**2)
        self.ex_ = np.sqrt((self.ax**2 - self.b**2) / self.b**2)
        self.ey_ = np.sqrt((self.ay**2 - self.b**2) / self.b**2)
        self.ee_ = np.sqrt((self.ax**2 - self.ay**2) / self.ay**2)
        self.Ex = np.sqrt(self.ax**2 - self.b**2)
        self.Ey = np.sqrt(self.ay**2 - self.b**2)
        self.Ee = np.sqrt(self.ax**2 - self.ay**2)

    @classmethod
    def init_name(cls, name: str):
        """
        Mögliche Ellipsoide: BursaFialova1993, BursaSima1980, Eitschberger1978, Bursa1972, Bursa1970, BesselBiaxial
        :param name: Name des dreiachsigen Ellipsoids
        """
        if name == "BursaFialova1993":
            ax = 6378171.36
            ay = 6378101.61
            b = 6356751.84
            return cls(ax, ay, b)
        elif name == "BursaSima1980":
            ax = 6378172
            ay = 6378102.7
            b = 6356752.6
            return cls(ax, ay, b)
        elif name == "BursaSima1980round":
            # Panou 2013
            ax = 6378172
            ay = 6378103
            b = 6356753
            return cls(ax, ay, b)
        elif name == "Eitschberger1978":
            ax = 6378173.435
            ay = 6378103.9
            b = 6356754.4
            return cls(ax, ay, b)
        elif name == "Bursa1972":
            ax = 6378173
            ay = 6378104
            b = 6356754
            return cls(ax, ay, b)
        elif name == "Bursa1970":
            ax = 6378173
            ay = 6378105
            b = 6356754
            return cls(ax, ay, b)
        elif name == "BesselBiaxial":
            ax = 6377397.15509
            ay = 6377397.15508
            b = 6356078.96290
            return cls(ax, ay, b)
        elif name == "Fiction":
            ax = 5500000
            ay = 4500000
            b = 4000000
            return cls(ax, ay, b)

    def point_on(self, point: np.ndarray) -> bool:
        """
        Test, ob ein Punkt auf dem Ellipsoid liegt.
        :param point: kartesische 3D-Koordinaten
        :return: Punkt auf dem Ellispoid?
        """
        value = point[0]**2/self.ax**2 + point[1]**2/self.ay**2 + point[2]**2/self.b**2
        if abs(1-value) < 0.000001:
            return True
        else:
            return False

    def ellu2cart(self, beta: float, lamb: float, u: float) -> np.ndarray:
        """
        Panou 2014 12ff.
        Ellipsoidische Breite+Länge sind nicht gleich der geodätischen
        Verhältnisse des Ellipsoids bekannt, Größe verändern bis Punkt erreicht,
           dann ist u die Größe entlang der z-Achse
        :param beta: ellipsoidische Breite [rad]
        :param lamb: ellipsoidische Länge [rad]
        :param u: Größe entlang der z-Achse
        :return: Punkt in kartesischen Koordinaten
        """
        # s1 = u**2 - self.b**2
        # s2 = -self.ay**2 * np.sin(beta)**2 - self.b**2 * np.cos(beta)**2
        # s3 = -self.ax**2 * np.sin(lamb)**2 - self.ay**2 * np.cos(lamb)**2
        # print(s1, s2, s3)

        # xe = np.sqrt(((self.ax**2+s1) * (self.ax**2+s2) * (self.ax**2+s3)) /
        #              ((self.ax**2-self.ay**2) * (self.ax**2-self.b**2)))
        # ye = np.sqrt(((self.ay**2+s1) * (self.ay**2+s2) * (self.ay**2+s3)) /
        #              ((self.ay**2-self.ax**2) * (self.ay**2-self.b**2)))
        # ze = np.sqrt(((self.b**2+s1) * (self.b**2+s2) * (self.b**2+s3)) /
        #              ((self.b**2-self.ax**2) * (self.b**2-self.ay**2)))

        x = np.sqrt(u**2 + self.Ex**2) * np.sqrt(np.cos(beta)**2 + self.Ee**2/self.Ex**2 * np.sin(beta)**2) * np.cos(lamb)
        y = np.sqrt(u**2 + self.Ey**2) * np.cos(beta) * np.sin(lamb)
        z = u * np.sin(beta) * np.sqrt(1 - self.Ee**2/self.Ex**2 * np.cos(lamb)**2)

        return np.array([x, y, z])

    def ell2cart(self, beta: float, lamb: float) -> np.ndarray:
        """
        Panou, Korakitis 2019 2
        :param beta: ellipsoidische Breite [rad]
        :param lamb: ellipsoidische Länge [rad]
        :return: Punkt in kartesischen Koordinaten
        """
        if beta == -np.pi/2:
            return np.array([0, 0, -self.b])
        elif beta == np.pi/2:
            return np.array([0, 0, self.b])
        elif beta == 0 and lamb == -np.pi/2:
            return np.array([0, -self.ay, 0])
        elif beta == 0 and lamb == np.pi/2:
            return np.array([0, self.ay, 0])
        elif beta == 0 and lamb == 0:
            return np.array([self.ax, 0, 0])
        elif beta == 0 and lamb == np.pi:
            return np.array([-self.ax, 0, 0])
        else:
            B = self.Ex**2 * np.cos(beta)**2 + self.Ee**2 * np.sin(beta)**2
            L = self.Ex**2 - self.Ee**2 * np.cos(lamb)**2
            x = self.ax / self.Ex * np.sqrt(B) * np.cos(lamb)
            y = self.ay * np.cos(beta) * np.sin(lamb)
            z = self.b / self.Ex * np.sin(beta) * np.sqrt(L)
            return np.array([x, y, z])

    def cart2ellu(self, point: np.ndarray) -> tuple[float, float, float]:
        """
        Panou 2014 15ff.
        :param point: Punkt in kartesischen Koordinaten
        :return: ellipsoidische Breite, ellipsoidische Länge, Größe entlang der z-Achse
        """
        x, y, z = point
        c2 = self.ax**2 + self.ay**2 + self.b**2 - x**2 - y**2 - z**2
        c1 = (self.ax**2 * self.ay**2 + self.ax**2 * self.b**2 + self.ay**2 * self.b**2 -
              (self.ay**2+self.b**2) * x**2 - (self.ax**2 + self.b**2) * y**2 - (self.ax**2 + self.ay**2) * z**2)
        c0 = (self.ax**2 * self.ay**2 * self.b**2 - self.ay**2 * self.b**2 * x**2 -
              self.ax**2 * self.b**2 * y**2 - self.ax**2 * self.ay**2 * z**2)

        p = (c2**2 - 3*c1) / 9
        q = (9*c1*c2 - 27*c0 - 2*c2**3) / 54
        omega = np.arccos(q / np.sqrt(p**3))

        s1 = 2 * np.sqrt(p) * np.cos(omega/3) - c2/3
        s2 = 2 * np.sqrt(p) * np.cos(omega/3 - 2*np.pi/3) - c2/3
        s3 = 2 * np.sqrt(p) * np.cos(omega/3 - 4*np.pi/3) - c2/3
        # print(s1, s2, s3)

        beta = np.arctan(np.sqrt((-self.b**2 - s2) / (self.ay**2 + s2)))
        lamb = np.arctan(np.sqrt((-self.ay**2 - s3) / (self.ax**2 + s3)))
        u = np.sqrt(self.b**2 + s1)

        return beta, lamb, u

    def cart2ell(self, point: np.ndarray) -> tuple[float, float]:
        """
        Panou, Korakitis 2019 2f.
        :param point: Punkt in kartesischen Koordinaten
        :return: ellipsoidische Breite, ellipsoidische Länge
        """
        x, y, z = point

        eps = 1e-9

        if abs(x) < eps and abs(y) < eps:  # Punkt in der z-Achse
            beta = np.pi / 2 if z > 0 else -np.pi / 2
            lamb = 0.0
            return beta, lamb

        elif abs(x) < eps and abs(z) < eps:  # Punkt in der y-Achse
            beta = 0.0
            lamb = np.pi / 2 if y > 0 else -np.pi / 2
            return beta, lamb

        elif abs(y) < eps and abs(z) < eps:  # Punkt in der x-Achse
            beta = 0.0
            lamb = 0.0 if x > 0 else np.pi
            return beta, lamb

        # ---- Allgemeiner Fall -----

        c1 = x ** 2 + y ** 2 + z ** 2 - (self.ax ** 2 + self.ay ** 2 + self.b ** 2)
        c0 = (self.ax ** 2 * self.ay ** 2 + self.ax ** 2 * self.b ** 2 + self.ay ** 2 * self.b ** 2 -
              (self.ay ** 2 + self.b ** 2) * x ** 2 - (self.ax ** 2 + self.b ** 2) * y ** 2 - (
                      self.ax ** 2 + self.ay ** 2) * z ** 2)
        t2 = (-c1 + np.sqrt(c1 ** 2 - 4 * c0)) / 2
        t1 = c0 / t2

        num_beta = max(t1 - self.b ** 2, 0)
        den_beta = max(self.ay ** 2 - t1, 0)
        num_lamb = max(t2 - self.ay ** 2, 0)
        den_lamb = max(self.ax ** 2 - t2, 0)
        beta = np.arctan(np.sqrt(num_beta / den_beta))
        lamb = np.arctan(np.sqrt(num_lamb / den_lamb))

        if z < 0:
            beta = -beta

        if y < 0:
            lamb = -lamb

        if x < 0:
            lamb = np.pi - lamb

        if abs(x) < eps:
            lamb = -np.pi/2 if y < 0 else np.pi/2

        elif abs(y) < eps:
            lamb = 0 if x > 0 else np.pi

        elif abs(z) < eps:
            beta = 0

        return beta, lamb

    def cart2geod(self, mode: str, point: np.ndarray, maxIter: int = 30, maxLoa: float = 0.005) -> tuple[float, float, float]:
        """
        Ligas 2012
        :param mode: ligas1, ligas2, oder ligas3
        :param point: Punkt in kartesischen Koordinaten
        :param maxIter: maximale Anzahl Iterationen
        :param maxLoa: Level of Accuracy, das erreicht werden soll
        :return: phi, lambda, h
        """
        xG, yG, zG = point

        eps = 1e-9

        if abs(xG) < eps and abs(yG) < eps:  # Punkt in der z-Achse
            phi = np.pi / 2 if zG > 0 else -np.pi / 2
            lamb = 0.0
            h = abs(zG) - ell.b
            return phi, lamb, h

        elif abs(xG) < eps and abs(zG) < eps:  # Punkt in der y-Achse
            phi = 0.0
            lamb = np.pi / 2 if yG > 0 else -np.pi / 2
            h = abs(yG) - ell.ay
            return phi, lamb, h

        elif abs(yG) < eps and abs(zG) < eps:  # Punkt in der x-Achse
            phi = 0.0
            lamb = 0.0 if xG > 0 else np.pi
            h = abs(xG) - ell.ax
            return phi, lamb, h

        # elif abs(zG) < eps: # Punkt in der xy-Ebene
        #     phi = 0
        #     lamb = np.arctan2(yG / ell.ay**2, xG / ell.ax**2)
        #     rG = np.sqrt(xG ** 2 + yG ** 2)
        #     pE = np.array([self.ax * xG / rG, self.ax * yG / rG, self.ax * zG / rG], dtype=np.float64)
        #     rE = np.sqrt(pE[0] ** 2 + pE[1] ** 2)
        #     h = rG - rE
        #     return phi, lamb, h
        #
        # elif abs(yG) < eps: # Punkt in der xz-Ebene
        #     phi = np.arctan2(zG / ell.b**2, xG / ell.ax**2)
        #     lamb = 0 if xG > 0 else np.pi
        #     rG = np.sqrt(xG ** 2 + zG ** 2)
        #     pE = np.array([self.ax * xG / rG, self.ax * yG / rG, self.ax * zG / rG], dtype=np.float64)
        #     rE = np.sqrt(pE[0] ** 2 + pE[2] ** 2)
        #     h = rG - rE
        #     return phi, lamb, h

        rG = np.sqrt(xG ** 2 + yG ** 2 + zG ** 2)
        pE = np.array([self.ax * xG / rG, self.ax * yG / rG, self.ax * zG / rG], dtype=np.float64)

        E = 1 / self.ax**2
        F = 1 / self.ay**2
        G = 1 / self.b**2

        i = 0
        loa = np.inf

        while i < maxIter and loa > maxLoa:
            if mode == "ligas1":
                invJ, fxE = jacobian_Ligas.case1(E, F, G, np.array([xG, yG, zG]), pE)
            elif mode == "ligas2":
                invJ, fxE = jacobian_Ligas.case2(E, F, G, np.array([xG, yG, zG]), pE)
            elif mode == "ligas3":
                invJ, fxE = jacobian_Ligas.case3(E, F, G, np.array([xG, yG, zG]), pE)
            pEi = pE.reshape(-1, 1) - invJ @ fxE.reshape(-1, 1)
            pEi = pEi.reshape(1, -1).flatten()
            loa = np.sqrt((pEi[0]-pE[0])**2 + (pEi[1]-pE[1])**2 + (pEi[2]-pE[2])**2)
            pE = pEi
            i += 1

        phi = np.arctan((1-self.ee**2) / (1-self.ex**2) * pE[2] / np.sqrt((1-self.ee**2)**2 * pE[0]**2 + pE[1]**2))
        lamb = np.arctan(1/(1-self.ee**2) * pE[1]/pE[0])
        h = np.sign(zG - pE[2]) * np.sign(pE[2]) * np.sqrt((pE[0] - xG) ** 2 + (pE[1] - yG) ** 2 + (pE[2] - zG) ** 2)

        if xG < 0 and yG < 0:
            lamb = -np.pi + lamb

        elif xG < 0:
            lamb = np.pi + lamb

        if abs(zG) < eps:
            phi = 0

        return phi, lamb, h

    def geod2cart(self, phi: float, lamb: float, h: float) -> np.ndarray:
        """
        Ligas 2012, 250
        :param phi: geodätische Breite [rad]
        :param lamb: geodätische Länge [rad]
        :param h: Höhe über dem Ellipsoid
        :return: kartesische Koordinaten
        """
        v = self.ax / np.sqrt(1 - self.ex**2*np.sin(phi)**2-self.ee**2*np.cos(phi)**2*np.sin(lamb)**2)
        xG = (v + h) * np.cos(phi) * np.cos(lamb)
        yG = (v * (1-self.ee**2) + h) * np.cos(phi) * np.sin(lamb)
        zG = (v * (1-self.ex**2) + h) * np.sin(phi)
        return np.array([xG, yG, zG])

    def cartonell(self, point: np.ndarray) -> tuple[np.ndarray, float, float, float]:
        """
        Berechnung des Lotpunktes auf einem Ellipsoiden
        :param point: Punkt in kartesischen Koordinaten, der gelotet werden soll
        :return: Lotpunkt in kartesischen Koordinaten, geodätische Koordinaten des Punktes
        """
        phi, lamb, h = self.cart2geod("ligas3", point)
        x, y, z = self. geod2cart(phi, lamb, 0)
        return np.array([x, y, z]), phi, lamb, h

    def cartellh(self, point: np.ndarray, h: float) -> np.ndarray:
        """
        Punkt auf Ellipsoid hoch loten
        :param point: Punkt auf dem Ellipsoid
        :param h: Höhe über dem Ellipsoid
        :return: hochgeloteter Punkt
        """
        phi, lamb, _ = self.cart2geod("ligas3", point)
        pointH = self. geod2cart(phi, lamb, h)
        return pointH

    def para2cart(self, u: float, v: float) -> np.ndarray:
        """
        Panou, Korakitits 2020, 4
        :param u: Parameter u
        :param v: Parameter v
        :return: Punkt in kartesischen Koordinaten
        """
        x = self.ax * np.cos(u) * np.cos(v)
        y = self.ay * np.cos(u) * np.sin(v)
        z = self.b * np.sin(u)
        return np.array([x, y, z])

    def cart2para(self, point: np.ndarray) -> tuple[float, float]:
        """
        Panou, Korakitits 2020, 4
        :param point: Punkt in kartesischen Koordinaten
        :return: parametrische Koordinaten
        """
        x, y, z = point

        u_check1 = z*np.sqrt(1 - self.ee**2)
        u_check2 = np.sqrt(x**2 * (1-self.ee**2) + y**2) * np.sqrt(1-self.ex**2)
        if u_check1 <= u_check2:
            u = np.arctan2(u_check1, u_check2)
        else:
            u = np.pi/2 - np.arctan2(u_check2, u_check1)

        v_check1 = y
        v_check2 = x*np.sqrt(1-self.ee**2)
        v_factor = np.sqrt(x**2*(1-self.ee**2)+y**2)
        if v_check1 <= v_check2:
            v = 2 * np.arctan2(v_check1, v_check2 + v_factor)
        else:
            v = np.pi/2 - 2 * np.arctan2(v_check2, v_check1 + v_factor)

        return u, v

    def p_q(self, x, y, z) -> dict:
        """
        Berechnung sämtlicher Größen
        :param x: x
        :param y: y
        :param z: z
        :return: Dictionary sämtlicher Größen
        """
        H = x ** 2 + y ** 2 / (1 - self.ee ** 2) ** 2 + z ** 2 / (1 - self.ex ** 2) ** 2

        n = np.array([x / np.sqrt(H), y / ((1 - self.ee ** 2) * np.sqrt(H)), z / ((1 - self.ex ** 2) * np.sqrt(H))])

        beta, lamb, u = self.cart2ellu(np.array([x, y, z]))
        B = self.Ex ** 2 * np.cos(beta) ** 2 + self.Ee ** 2 * np.sin(beta) ** 2
        L = self.Ex ** 2 - self.Ee ** 2 * np.cos(lamb) ** 2

        c1 = x ** 2 + y ** 2 + z ** 2 - (self.ax ** 2 + self.ay ** 2 + self.b ** 2)
        c0 = (self.ax ** 2 * self.ay ** 2 + self.ax ** 2 * self.b ** 2 + self.ay ** 2 * self.b ** 2 -
              (self.ay ** 2 + self.b ** 2) * x ** 2 - (self.ax ** 2 + self.b ** 2) * y ** 2 - (
                      self.ax ** 2 + self.ay ** 2) * z ** 2)
        t2 = (-c1 + np.sqrt(c1 ** 2 - 4 * c0)) / 2
        t1 = c0 / t2
        t2e = self.ax ** 2 * np.sin(lamb) ** 2 + self.ay ** 2 * np.cos(lamb) ** 2
        t1e = self.ay ** 2 * np.sin(beta) ** 2 + self.b ** 2 * np.cos(beta) ** 2

        F = self.Ey ** 2 * np.cos(beta) ** 2 + self.Ee ** 2 * np.sin(lamb) ** 2
        p1 = -np.sqrt(L / (F * t2)) * self.ax / self.Ex * np.sqrt(B) * np.sin(lamb)
        p2 = np.sqrt(L / (F * t2)) * self.ay * np.cos(beta) * np.cos(lamb)
        p3 = 1 / np.sqrt(F * t2) * (self.b * self.Ee ** 2) / (2 * self.Ex) * np.sin(beta) * np.sin(2 * lamb)
        # p1 = -np.sign(y) * np.sqrt(L / (F * t2)) * self.ax / (self.Ex * self.Ee) * np.sqrt(B) * np.sqrt(t2 - self.ay ** 2)
        # p2 = np.sign(x) * np.sqrt(L / (F * t2)) * self.ay / (self.Ey * self.Ee) * np.sqrt((ell.ay ** 2 - t1) * (self.ax ** 2 - t2))
        # p3 = np.sign(x) * np.sign(y) * np.sign(z) * 1 / np.sqrt(F * t2) * self.b / (self.Ex * self.Ey) * np.sqrt(
        #     (t1 - self.b ** 2) * (t2 - self.ay ** 2) * (self.ax ** 2 - t2))
        p = np.array([p1, p2, p3])
        q = np.array([n[1] * p[2] - n[2] * p[1],
                      n[2] * p[0] - n[0] * p[2],
                      n[1] * p[1] - n[1] * p[0]])

        return {"H": H, "n": n, "beta": beta, "lamb": lamb, "u": u, "B": B, "L": L, "c1": c1, "c0": c0, "t1": t1,
                "t2": t2,
                "F": F, "p": p, "q": q}


if __name__ == "__main__":
    ell = EllipsoidTriaxial.init_name("Eitschberger1978")
    diff_list = []
    for beta_deg in range(-150, 210, 30):
        for lamb_deg in range(-150, 210, 30):
            beta = wu.deg2rad(beta_deg)
            lamb = wu.deg2rad(lamb_deg)
            point = ell.ell2cart(beta, lamb)

            elli = ell.cart2ell(point)
            cart_elli = ell.ell2cart(elli[0], elli[1])
            diff_ell = np.sum(np.abs(point-cart_elli))

            para = ell.cart2para(point)
            cart_para = ell.para2cart(para[0], para[1])
            diff_para = np.sum(np.abs(point-cart_para))

            geod = ell.cart2geod("ligas1", point)
            cart_geod = ell.geod2cart(geod[0], geod[1], geod[2])
            diff_geod1 = np.sum(np.abs(point-cart_geod))

            geod = ell.cart2geod("ligas2", point)
            cart_geod = ell.geod2cart(geod[0], geod[1], geod[2])
            diff_geod2 = np.sum(np.abs(point-cart_geod))

            geod = ell.cart2geod("ligas3", point)
            cart_geod = ell.geod2cart(geod[0], geod[1], geod[2])
            diff_geod3 = np.sum(np.abs(point-cart_geod))

            diff_list.append([beta_deg, lamb_deg, diff_ell, diff_para, diff_geod1, diff_geod2, diff_geod3])

    diff_list = np.array(diff_list)
    pass