##############################################
# The MIT License (MIT)
# Copyright (c) 2016 Kevin Walchko
# see LICENSE for full details
##############################################
from numpy import sqrt
from numpy import pi
# from math import cos, sin
# import ins_nav.wgs84

RAD2DEG = 180/pi
DEG2RAD = pi/180
rad2deg = 180/pi
deg2rad = pi/180
FT2M = 0.3048   # feet to meters
MI2M = 1609.34  # miles to meters

# def normalize3(x, y, z):
#     """Return a unit vector"""
#     norm = sqrt(x * x + y * y + z * z)

#     # already a unit vector
#     if norm == 1.0:
#         return (x, y, z)

#     inorm = 1.0/norm
#     if inorm > 1e-6:
#         x *= inorm
#         y *= inorm
#         z *= inorm
#     else:
#         raise ZeroDivisionError(f'norm({x:.4f}, {y:.4f}, {z:.4f},) = {inorm:.6f}')
#     return (x, y, z,)
