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facto standard M_PI and its ilk. Change names that are widely used in the project to be in the M_ namespace, so HALFPI becomes M_HALFPI. HALFPI is #defined as M_PI_2 (the defacto standard name). #defines _USE_MATH_DEFINES for MS Visual Studio (I didn't personally test this part, but Appveyor will not build otherwise).
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Eliminated mixed code and declarations, converted C++ style comments and
probably did a few more things highlighted by running gcc with the "-W
-Wall -Wextra -pedantic" flags
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- New SCH coordinate system for radar imaging systems
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