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There are two principal datums used in South Africa. These include Hartebeesthoek94 and Cape. Hartebeesthoek94 Datum is the official geodetic datum for South Africa. The Cape datum is the older of the two is no longer used. This references the Clarke 1880 ellipsoid and it was developed by Sir Thomas Maclear and Sir David Gill in the later 19th - early ...


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The guidelines I use for "small" angles are: The difference between the radian value of the angle and sin of the angle is close enough to zero The cos of the angle is close enough to one. In the unlikely case you are not dealing with small angles here is a list of some papers I found helpful when working on 3D transformations (rigid body): "Deakin, ...



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