Various fixes/workarounds to make cppcheck 1.72 (Ubuntu 16.04) and HEAD/1.90dev happy (fixes #1648)

14 files changed, 94 insertions, 105 deletions

diff --git a/scripts/cppcheck.sh b/scripts/cppcheck.sh
index 19620207..f42d5f6d 100755
--- a/scripts/cppcheck.sh
+++ b/scripts/cppcheck.sh
@@ -1,5 +1,4 @@
 #!/bin/bash
-# Note: tested with cppcheck 1.61 as shipped with Ubuntu 14.04
 echo `cppcheck --version`
 
 LOG_FILE=/tmp/cppcheck_proj.txt
@@ -23,7 +22,7 @@ for dirname in ${TOPDIR}/src; do
     echo "Running cppcheck on $dirname... (can be long)"
     if ! cppcheck --inline-suppr --template='{file}:{line},{severity},{id},{message}' \
         --enable=all --inconclusive --std=posix \
-        -DCPPCHECK -D__cplusplus=201103L -DACCEPT_USE_OF_DEPRECATED_PROJ_API_H \
+        -DCPPCHECK -D__cplusplus=201103L -DACCEPT_USE_OF_DEPRECATED_PROJ_API_H -DNAN \
         -I${TOPDIR}/src -I${TOPDIR}/include \
         "$dirname" \
         -j 8 >>${LOG_FILE} 2>&1 ; then
@@ -34,7 +33,17 @@ done
 
 ret_code=0
 
-grep -v "unmatchedSuppression" ${LOG_FILE} | grep -v "nn.hpp" | grep -v "nlohmann/json.hpp" | grep -v "wkt1_generated_parser" | grep -v "wkt2_generated_parser" > ${LOG_FILE}.tmp
+grep -v "unmatchedSuppression" ${LOG_FILE} \
+    | grep -v "nn.hpp" \
+    | grep -v "nlohmann/json.hpp" \
+    | grep -v "wkt1_generated_parser" \
+    | grep -v "wkt2_generated_parser" \
+    | grep -v "passedByValue,Function parameter 'coo' should be passed by const reference" \
+    | grep -v "passedByValue,Function parameter 'lpz' should be passed by const reference" \
+    | grep -v "passedByValue,Function parameter 'xyz' should be passed by const reference" \
+    | grep -v "passedByValue,Function parameter 'in' should be passed by const reference" \
+    | grep -v "knownConditionTrueFalse,Condition '!allowEmptyIntersection' is always false" \
+    > ${LOG_FILE}.tmp
 mv ${LOG_FILE}.tmp ${LOG_FILE}
 
 if grep "null pointer" ${LOG_FILE} ; then
diff --git a/src/4D_api.cpp b/src/4D_api.cpp
index c182b3bf..71c708de 100644
--- a/src/4D_api.cpp
+++ b/src/4D_api.cpp
@@ -879,7 +879,9 @@ static void reproject_bbox(PJ* pjGeogToCrs,
         maxx = -maxx;
         maxy = -maxy;
 
-        double x[21 * 4], y[21 * 4];
+        std::vector<double> x, y;
+        x.resize(21 * 4);
+        y.resize(21 * 4);
         for( int j = 0; j <= 20; j++ )
         {
             x[j] = west_lon + j * (east_lon - west_lon) / 20;
@@ -893,8 +895,8 @@ static void reproject_bbox(PJ* pjGeogToCrs,
         }
         proj_trans_generic (
             pjGeogToCrs, PJ_FWD,
-                x, sizeof(double), 21 * 4,
-                y, sizeof(double), 21 * 4,
+                &x[0], sizeof(double), 21 * 4,
+                &y[0], sizeof(double), 21 * 4,
                 nullptr, 0, 0,
                 nullptr, 0, 0);
         for( int j = 0; j < 21 * 4; j++ )
diff --git a/src/apply_vgridshift.cpp b/src/apply_vgridshift.cpp
index 0c1db3dd..daa44858 100644
--- a/src/apply_vgridshift.cpp
+++ b/src/apply_vgridshift.cpp
@@ -119,13 +119,13 @@ static double read_vgrid_value( PJ *defn, PJ_LP input, double vmultiplier, int *
         /* load the grid shift info if we don't have it. */
         if( ct->cvs == nullptr )
         {
-            if( !pj_gridinfo_load( pj_get_ctx(defn), gi ) || ct->cvs == nullptr )
-            {
-                pj_ctx_set_errno( defn->ctx, PJD_ERR_FAILED_TO_LOAD_GRID );
-                return PJD_ERR_FAILED_TO_LOAD_GRID;
-            }
+            pj_gridinfo_load( pj_get_ctx(defn), gi );
+        }
+        if( ct->cvs == nullptr )
+        {
+            pj_ctx_set_errno( defn->ctx, PJD_ERR_FAILED_TO_LOAD_GRID );
+            return PJD_ERR_FAILED_TO_LOAD_GRID;
         }
-
 
         /* Interpolation a location within the grid */
         grid_x = (input.lam - ct->ll.lam) / ct->del.lam;
@@ -271,7 +271,7 @@ int pj_apply_vgridshift( PJ *defn, const char *listname,
         if( value == HUGE_VAL )
         {
             int itable;
-            char gridlist[3000];
+            std::string gridlist;
 
             proj_log_debug(defn,
                 "pj_apply_vgridshift(): failed to find a grid shift table for\n"
@@ -279,23 +279,17 @@ int pj_apply_vgridshift( PJ *defn, const char *listname,
                 x[io] * RAD_TO_DEG,
                 y[io] * RAD_TO_DEG );
 
-            gridlist[0] = '\0';
             for( itable = 0; itable < *gridlist_count_p; itable++ )
             {
                 PJ_GRIDINFO *gi = tables[itable];
-                if( strlen(gridlist) + strlen(gi->gridname) > sizeof(gridlist)-100 )
-                {
-                    strcat( gridlist, "..." );
-                    break;
-                }
-
                 if( itable == 0 )
-                    sprintf( gridlist, "   tried: %s", gi->gridname );
+                    gridlist += "   tried: ";
                 else
-                    sprintf( gridlist+strlen(gridlist), ",%s", gi->gridname );
+                    gridlist += ',';
+                gridlist += gi->gridname;
             }
 
-            proj_log_debug(defn, "%s", gridlist);
+            proj_log_debug(defn, "%s", gridlist.c_str());
             pj_ctx_set_errno( defn->ctx, PJD_ERR_GRID_AREA );
 
             return PJD_ERR_GRID_AREA;
diff --git a/src/apps/gie.cpp b/src/apps/gie.cpp
index 4ae97130..6a67b55d 100644
--- a/src/apps/gie.cpp
+++ b/src/apps/gie.cpp
@@ -874,7 +874,7 @@ static int expect_failure_with_errno_message (int expected, int got) {
 
 /* For test purposes, we want to call a transformation of the same */
 /* dimensionality as the number of dimensions given in accept */
-static PJ_COORD expect_trans_n_dim (PJ_COORD ci) {
+static PJ_COORD expect_trans_n_dim (const PJ_COORD& ci) {
     if (4==T.dimensions_given_at_last_accept)
         return proj_trans (T.P, T.dir, ci);
 
@@ -1192,7 +1192,7 @@ static int errno_from_err_const (const char *err_const) {
     const size_t n = sizeof lookup / sizeof lookup[0];
     size_t i, len;
     int ret;
-    char tolower_err_const[100];
+    char tolower_err_const[100] = {};
 
     /* Make a lower case copy for matching */
     for (i = 0;  i < 99; i++) {
diff --git a/src/apps/optargpm.h b/src/apps/optargpm.h
index f293ad98..4e8dd9c7 100644
--- a/src/apps/optargpm.h
+++ b/src/apps/optargpm.h
@@ -286,9 +286,7 @@ int opt_input_loop (OPTARGS *opt, int binary) {
         return 1;
 
     /* ignore non-existing files - go on! */
-    if (nullptr==opt->input)
-        return opt_input_loop (opt, binary);
-    return 0;
+    return opt_input_loop (opt, binary);
 }
 
 
diff --git a/src/apps/proj.cpp b/src/apps/proj.cpp
index 888d723f..7fe08023 100644
--- a/src/apps/proj.cpp
+++ b/src/apps/proj.cpp
@@ -290,7 +290,8 @@ static void vprocess(FILE *fid) {
 }
 
 int main(int argc, char **argv) {
-    char *arg, *pargv[MAX_PARGS];
+    char *arg;
+    char *pargv[MAX_PARGS] = {};
     char **eargv = argv;
     FILE *fid;
     int pargc = 0, eargc = 0, mon = 0;
diff --git a/src/conversions/axisswap.cpp b/src/conversions/axisswap.cpp
index 15ec016b..4ae2b4e4 100644
--- a/src/conversions/axisswap.cpp
+++ b/src/conversions/axisswap.cpp
@@ -78,7 +78,8 @@ static PJ_XY forward_2d(PJ_LP lp, PJ *P) {
     unsigned int i;
     PJ_COORD out, in;
 
-    in.lp = lp;
+    in.v[0] = lp.lam;
+    in.v[1] = lp.phi;
     out = proj_coord_error();
 
     for (i=0; i<2; i++)
@@ -93,7 +94,8 @@ static PJ_LP reverse_2d(PJ_XY xy, PJ *P) {
     unsigned int i;
     PJ_COORD out, in;
 
-    in.xy = xy;
+    in.v[0] = xy.x;
+    in.v[1] = xy.y;
     out = proj_coord_error();
 
     for (i=0; i<2; i++)
@@ -108,7 +110,9 @@ static PJ_XYZ forward_3d(PJ_LPZ lpz, PJ *P) {
     unsigned int i;
     PJ_COORD out, in;
 
-    in.lpz = lpz;
+    in.v[0] = lpz.lam;
+    in.v[1] = lpz.phi;
+    in.v[2] = lpz.z;
     out = proj_coord_error();
 
     for (i=0; i<3; i++)
@@ -123,7 +127,9 @@ static PJ_LPZ reverse_3d(PJ_XYZ xyz, PJ *P) {
     PJ_COORD in, out;
 
     out = proj_coord_error();
-    in.xyz = xyz;
+    in.v[0] = xyz.x;
+    in.v[1] = xyz.y;
+    in.v[2] = xyz.z;
 
     for (i=0; i<3; i++)
         out.v[Q->axis[i]] = in.v[i] * Q->sign[i];
diff --git a/src/iso19111/factory.cpp b/src/iso19111/factory.cpp
index 6fef6366..e0a1b084 100644
--- a/src/iso19111/factory.cpp
+++ b/src/iso19111/factory.cpp
@@ -4379,19 +4379,17 @@ AuthorityFactory::createObjectsFromName(
                 const auto &listOfRow = pair.second;
                 for (const auto &row : listOfRow) {
                     const auto &name = row[3];
-                    if (approximateMatch) {
-                        bool match =
-                            ci_find(name, searchedNameWithoutDeprecated) !=
-                            std::string::npos;
-                        if (!match) {
-                            const auto &canonicalizedName(pair.first);
-                            match = ci_find(canonicalizedName,
-                                            canonicalizedSearchedName) !=
-                                    std::string::npos;
-                        }
-                        if (!match) {
-                            continue;
-                        }
+                    bool match =
+                        ci_find(name, searchedNameWithoutDeprecated) !=
+                        std::string::npos;
+                    if (!match) {
+                        const auto &canonicalizedName(pair.first);
+                        match = ci_find(canonicalizedName,
+                                        canonicalizedSearchedName) !=
+                                std::string::npos;
+                    }
+                    if (!match) {
+                        continue;
                     }
 
                     const auto &auth_name = row[1];
diff --git a/src/open_lib.cpp b/src/open_lib.cpp
index 05e01db2..7fedb28b 100644
--- a/src/open_lib.cpp
+++ b/src/open_lib.cpp
@@ -245,6 +245,7 @@ pj_open_lib_ex(projCtx ctx, const char *name, const char *mode,
         {
             if( out_full_filename != nullptr && out_full_filename_size > 0 )
             {
+                // cppcheck-suppress nullPointer
                 strncpy(out_full_filename, sysname, out_full_filename_size);
                 out_full_filename[out_full_filename_size-1] = '\0';
             }
diff --git a/src/proj_mdist.cpp b/src/proj_mdist.cpp
index d15a692c..c515f6c5 100644
--- a/src/proj_mdist.cpp
+++ b/src/proj_mdist.cpp
@@ -49,8 +49,8 @@ struct MDIST {
 	void *
 proj_mdist_ini(double es) {
 	double numf, numfi, twon1, denf, denfi, ens, T, twon;
-	double den, El, Es;
-	double E[MAX_ITER];
+	double den, El = 1., Es = 1.;
+	double E[MAX_ITER] = { 1. };
 	struct MDIST *b;
 	int i, j;
 
@@ -59,7 +59,6 @@ proj_mdist_ini(double es) {
 	numf = twon1 = denfi = 1.;
 	denf = 1.;
 	twon = 4.;
-	Es = El = E[0] = 1.;
 	for (i = 1; i < MAX_ITER ; ++i) {
 		numf *= (twon1 * twon1);
 		den = twon * denf * denf * twon1;
diff --git a/src/projections/healpix.cpp b/src/projections/healpix.cpp
index 4acb4f69..b065a310 100644
--- a/src/projections/healpix.cpp
+++ b/src/projections/healpix.cpp
@@ -192,39 +192,24 @@ static int in_image(double x, double y, int proj, int north_square,
                       sizeof(healpixVertsJit[0]), healpixVertsJit, x, y);
     } else {
         /**
-         * Assigning each element by index to avoid warnings such as
-         * 'initializer element is not computable at load time'.
-         * Before C99 this was not allowed and to keep as portable as
-         * possible we do it the C89 way here.
          * We need to assign the array this way because the input is
          * dynamic (north_square and south_square vars are unknown at
          * compile time).
          **/
-        double rhealpixVertsJit[12][2];
-        rhealpixVertsJit[0][0]  = -M_PI - EPS;
-        rhealpixVertsJit[0][1]  =  M_FORTPI + EPS;
-        rhealpixVertsJit[1][0]  = -M_PI + north_square*M_HALFPI- EPS;
-        rhealpixVertsJit[1][1]  =  M_FORTPI + EPS;
-        rhealpixVertsJit[2][0]  = -M_PI + north_square*M_HALFPI- EPS;
-        rhealpixVertsJit[2][1]  =  3*M_FORTPI + EPS;
-        rhealpixVertsJit[3][0]  = -M_PI + (north_square + 1.0)*M_HALFPI + EPS;
-        rhealpixVertsJit[3][1]  =  3*M_FORTPI + EPS;
-        rhealpixVertsJit[4][0]  = -M_PI + (north_square + 1.0)*M_HALFPI + EPS;
-        rhealpixVertsJit[4][1]  =  M_FORTPI + EPS;
-        rhealpixVertsJit[5][0]  =  M_PI + EPS;
-        rhealpixVertsJit[5][1]  =  M_FORTPI + EPS;
-        rhealpixVertsJit[6][0]  =  M_PI + EPS;
-        rhealpixVertsJit[6][1]  = -M_FORTPI - EPS;
-        rhealpixVertsJit[7][0]  = -M_PI + (south_square + 1.0)*M_HALFPI + EPS;
-        rhealpixVertsJit[7][1]  = -M_FORTPI - EPS;
-        rhealpixVertsJit[8][0]  = -M_PI + (south_square + 1.0)*M_HALFPI + EPS;
-        rhealpixVertsJit[8][1]  = -3*M_FORTPI - EPS;
-        rhealpixVertsJit[9][0]  = -M_PI + south_square*M_HALFPI - EPS;
-        rhealpixVertsJit[9][1]  = -3*M_FORTPI - EPS;
-        rhealpixVertsJit[10][0] = -M_PI + south_square*M_HALFPI - EPS;
-        rhealpixVertsJit[10][1] = -M_FORTPI - EPS;
-        rhealpixVertsJit[11][0] = -M_PI - EPS;
-        rhealpixVertsJit[11][1] = -M_FORTPI - EPS;
+        double rhealpixVertsJit[][2] = {
+            { -M_PI - EPS,                                  M_FORTPI + EPS },
+            { -M_PI + north_square*M_HALFPI- EPS,           M_FORTPI + EPS },
+            { -M_PI + north_square*M_HALFPI- EPS,           3*M_FORTPI + EPS },
+            { -M_PI + (north_square + 1.0)*M_HALFPI + EPS,  3*M_FORTPI + EPS },
+            { -M_PI + (north_square + 1.0)*M_HALFPI + EPS,  M_FORTPI + EPS},
+            {  M_PI + EPS,                                  M_FORTPI + EPS },
+            {  M_PI + EPS,                                  -M_FORTPI - EPS },
+            { -M_PI + (south_square + 1.0)*M_HALFPI + EPS,  -M_FORTPI - EPS },
+            { -M_PI + (south_square + 1.0)*M_HALFPI + EPS,  -3*M_FORTPI - EPS },
+            { -M_PI + south_square*M_HALFPI - EPS,          -3*M_FORTPI - EPS },
+            { -M_PI + south_square*M_HALFPI - EPS,          -M_FORTPI - EPS },
+            { -M_PI - EPS,                                  -M_FORTPI - EPS }
+        };
 
         return pnpoly((int)sizeof(rhealpixVertsJit)/
                       sizeof(rhealpixVertsJit[0]), rhealpixVertsJit, x, y);
@@ -459,8 +444,6 @@ static CapMap get_cap(double x, double y, int north_square, int south_square,
 static PJ_XY combine_caps(double x, double y, int north_square, int south_square,
                        int inverse) {
     PJ_XY xy;
-    double v[2];
-    double c[2];
     double vector[2];
     double v_min_c[2];
     double ret_dot[2];
@@ -474,8 +457,8 @@ static PJ_XY combine_caps(double x, double y, int north_square, int south_square
         return xy;
     }
 
-    v[0] = x; v[1] = y;
-    c[0] = capmap.x; c[1] = capmap.y;
+    double v[] = {x, y};
+    double c[] = {capmap.x, capmap.y};
 
     if (inverse == 0) {
         /* Rotate (x, y) about its polar cap tip and then translate it to
@@ -505,11 +488,10 @@ static PJ_XY combine_caps(double x, double y, int north_square, int south_square
     vector_sub(v, c, v_min_c);
     dot_product(tmpRot, v_min_c, ret_dot);
     {
-        double a[2];
-        /* Workaround cppcheck git issue */
-        double* pa = a;
-        pa[0] = -3*M_FORTPI + ((inverse == 0) ? pole : capmap.cn) *M_HALFPI;
-        pa[1] = ((capmap.region == CapMap::north) ? 1 : -1) *M_HALFPI;
+        double a[] = {
+            -3*M_FORTPI + ((inverse == 0) ? pole : capmap.cn) *M_HALFPI,
+            ((capmap.region == CapMap::north) ? 1 : -1) *M_HALFPI
+        };
         vector_add(ret_dot, a, vector);
     }
 
diff --git a/src/projections/sch.cpp b/src/projections/sch.cpp
index e302c1da..261555a7 100644
--- a/src/projections/sch.cpp
+++ b/src/projections/sch.cpp
@@ -59,12 +59,12 @@ static PJ_LPZ sch_inverse3d(PJ_XYZ xyz, PJ *P) {
     PJ_LPZ lpz = {0.0, 0.0, 0.0};
     struct pj_opaque *Q = static_cast<struct pj_opaque*>(P->opaque);
     double temp[3];
-    double pxyz[3];
-
     /* Local lat,lon using radius */
-    pxyz[0] = xyz.y * P->a / Q->rcurv;
-    pxyz[1] = xyz.x * P->a / Q->rcurv;
-    pxyz[2] = xyz.z;
+    double pxyz[] = {
+        xyz.y * P->a / Q->rcurv,
+        xyz.x * P->a / Q->rcurv,
+        xyz.z
+    };
 
     if( pj_Convert_Geodetic_To_Geocentric( &(Q->sph), pxyz[0], pxyz[1], pxyz[2], temp, temp+1, temp+2) != 0) {
             proj_errno_set(P, PJD_ERR_TOLERANCE_CONDITION);
@@ -97,8 +97,6 @@ static PJ_XYZ sch_forward3d(PJ_LPZ lpz, PJ *P) {
     PJ_XYZ xyz = {0.0, 0.0, 0.0};
     struct pj_opaque *Q = static_cast<struct pj_opaque*>(P->opaque);
     double temp[3];
-    double pxyz[3];
-
 
     /* Convert lat lon to geocentric coordinates */
     if( pj_Convert_Geodetic_To_Geocentric( &(Q->elp_0), lpz.phi, lpz.lam, lpz.z, temp, temp+1, temp+2 ) != 0 ) {
@@ -114,9 +112,11 @@ static PJ_XYZ sch_forward3d(PJ_LPZ lpz, PJ *P) {
 
 
     /* Apply rotation */
-    pxyz[0] = Q->transMat[0] * temp[0] + Q->transMat[3] * temp[1] + Q->transMat[6] * temp[2];
-    pxyz[1] = Q->transMat[1] * temp[0] + Q->transMat[4] * temp[1] + Q->transMat[7] * temp[2];
-    pxyz[2] = Q->transMat[2] * temp[0] + Q->transMat[5] * temp[1] + Q->transMat[8] * temp[2];
+    double pxyz[] = {
+        Q->transMat[0] * temp[0] + Q->transMat[3] * temp[1] + Q->transMat[6] * temp[2],
+        Q->transMat[1] * temp[0] + Q->transMat[4] * temp[1] + Q->transMat[7] * temp[2],
+        Q->transMat[2] * temp[0] + Q->transMat[5] * temp[1] + Q->transMat[8] * temp[2]
+    };
 
     /* Convert to local lat,lon */
     pj_Convert_Geocentric_To_Geodetic( &(Q->sph), pxyz[0], pxyz[1], pxyz[2],
diff --git a/src/projections/stere.cpp b/src/projections/stere.cpp
index afcf5f02..a1bd41e7 100644
--- a/src/projections/stere.cpp
+++ b/src/projections/stere.cpp
@@ -141,7 +141,6 @@ static PJ_LP stere_e_inverse (PJ_XY xy, PJ *P) {          /* Ellipsoidal, invers
     PJ_LP lp = {0.0,0.0};
     struct pj_opaque *Q = static_cast<struct pj_opaque*>(P->opaque);
     double cosphi, sinphi, tp=0.0, phi_l=0.0, rho, halfe=0.0, halfpi=0.0;
-    int i;
 
     rho = hypot (xy.x, xy.y);
 
@@ -171,7 +170,7 @@ static PJ_LP stere_e_inverse (PJ_XY xy, PJ *P) {          /* Ellipsoidal, invers
         break;
     }
 
-    for (i = NITER;  i--; ) {
+    for (int i = NITER; i > 0; --i) {
         sinphi = P->e * sin(phi_l);
         lp.phi = 2. * atan (tp * pow ((1.+sinphi)/(1.-sinphi), halfe)) - halfpi;
         if (fabs (phi_l - lp.phi) < CONV) {
diff --git a/src/transformations/deformation.cpp b/src/transformations/deformation.cpp
index b9e881eb..f1311a54 100644
--- a/src/transformations/deformation.cpp
+++ b/src/transformations/deformation.cpp
@@ -71,7 +71,7 @@ struct pj_opaque {
 } // anonymous namespace
 
 /********************************************************************************/
-static PJ_XYZ get_grid_shift(PJ* P, PJ_XYZ cartesian) {
+static PJ_XYZ get_grid_shift(PJ* P, const PJ_XYZ& cartesian) {
 /********************************************************************************
     Read correction values from grid. The cartesian input coordinates are
     converted to geodetic coordinates in order look up the correction values
@@ -95,7 +95,7 @@ static PJ_XYZ get_grid_shift(PJ* P, PJ_XYZ cartesian) {
 
     if (proj_errno(P) == PJD_ERR_GRID_AREA)
         proj_log_debug(P, "deformation: coordinate (%.3f, %.3f) outside deformation model",
-                       proj_todeg(geodetic.lp.lam), proj_todeg(geodetic.lp.phi));
+                       proj_todeg(geodetic.lpz.lam), proj_todeg(geodetic.lpz.phi));
 
     /* grid values are stored as mm/yr, we need m/yr */
     shift.xyz.x /= 1000;
@@ -103,10 +103,10 @@ static PJ_XYZ get_grid_shift(PJ* P, PJ_XYZ cartesian) {
     shift.xyz.z /= 1000;
 
     /* pre-calc cosines and sines */
-    sp = sin(geodetic.lp.phi);
-    cp = cos(geodetic.lp.phi);
-    sl = sin(geodetic.lp.lam);
-    cl = cos(geodetic.lp.lam);
+    sp = sin(geodetic.lpz.phi);
+    cp = cos(geodetic.lpz.phi);
+    sl = sin(geodetic.lpz.lam);
+    cl = cos(geodetic.lpz.lam);
 
     /* ENU -> PJ_XYZ */
     temp.xyz.x = -sp*cl*shift.enu.n - sl*shift.enu.e + cp*cl*shift.enu.u;