+ /*************************************************************************/
+ /* */
+ /* This is a fixed-point CORDIC implementation of trigonometric */
+ /* functions as well as transformations between Cartesian and polar */
+ /* coordinates. The angles are represented as 16.16 fixed-point values */
+ /* in degrees, i.e., the angular resolution is 2^-16 degrees. Note that */
+ /* only vectors longer than 2^16*180/pi (or at least 22 bits) on a */
+ /* discrete Cartesian grid can have the same or better angular */
+ /* resolution. Therefore, to maintain this precision, some functions */
+ /* require an interim upscaling of the vectors, whereas others operate */
+ /* with 24-bit long vectors directly. */
+ /* */
+ /*************************************************************************/