gps_pvt 0.1.1

data/ext/ninja-scan-light/tool/navigation/MagneticField.h

@@ -0,0 +1,928 @@
+/*
+ * Copyright (c) 2015, M.Naruoka (fenrir)
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * - Redistributions of source code must retain the above copyright notice,
+ *   this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright notice,
+ *   this list of conditions and the following disclaimer in the documentation
+ *   and/or other materials provided with the distribution.
+ * - Neither the name of the naruoka.org nor the names of its contributors
+ *   may be used to endorse or promote products derived from this software
+ *   without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS
+ * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+ * OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#ifndef __MAGNETIC_FIELD_H__
+#define __MAGNETIC_FIELD_H__
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+
+#include "WGS84.h"
+
+template <class FloatT>
+class MagneticFieldGeneric {
+  public:
+    struct model_t {
+      const char *name;
+      FloatT year;
+      int dof;
+      FloatT coef[256];
+    };
+    
+    static void model_inter_extra_polation(
+        model_t &model_new,
+        const model_t &model_early, const model_t &model_late){
+      FloatT factor((model_new.year - model_early.year)
+          / (model_late.year - model_early.year));
+      
+      model_new.name = "(generated)";
+      int coef_common;
+      
+      if(model_new.dof > 0){ // fixed DOF
+        coef_common =  model_new.dof * (model_new.dof + 2);
+      }else{ // automatically determine DOF
+        if(model_early.dof >= model_late.dof){
+          coef_common =  model_late.dof * (model_late.dof + 2);
+          model_new.dof = model_early.dof;
+
+          for(int i(coef_common); i < model_early.dof * (model_early.dof + 2); i--){
+            model_new.coef[i] = model_early.coef[i] * (1.0 - factor);
+          }
+        }else{
+          coef_common =  model_early.dof * (model_early.dof + 2);
+          model_new.dof = model_late.dof;
+
+          for(int i(coef_common); i < model_late.dof * (model_late.dof + 2); i--){
+            model_new.coef[i] = model_late.coef[i] * factor;
+          }
+        }
+      }
+      for(int i(0); i < coef_common; i++){
+        model_new.coef[i] = model_early.coef[i] 
+            + factor * (model_late.coef[i] - model_early.coef[i]);
+      }
+    }
+    static model_t model_inter_extra_polation(
+        const FloatT &year,
+        const model_t &model_early, const model_t &model_late,
+        const int &dof = 0){
+      model_t model_new;
+      model_new.year = year;
+      model_new.dof = dof; // default(0): automatically determine DOF
+      model_inter_extra_polation(model_new, model_early, model_late);
+      return model_new;
+    }
+    
+    static void make_model(
+        model_t &model_new, const model_t *models[], const unsigned int &models_size){
+      if(models_size < 1){
+        return;
+      }else if(models_size == 1){
+        model_new = *models[0];
+        return;
+      }
+      const model_t *a(models[0]), *b(models[1]);
+      FloatT a_dist(std::abs(model_new.year - a->year)), b_dist(std::abs(model_new.year - b->year));
+      for(unsigned int i(2); i < models_size; ++i){
+        FloatT dist(std::abs(model_new.year - models[i]->year));
+        if(dist < a_dist){
+          if(a_dist < b_dist){
+            b = models[i];
+            b_dist = dist;
+          }else{
+            a = models[i];
+            a_dist = dist;
+          }
+        }else if(dist < b_dist){
+          b = models[i];
+          b_dist = dist;
+        }
+      }
+      model_inter_extra_polation(model_new, *a, *b);
+    }
+    static model_t make_model(
+        const FloatT &year,
+        const model_t *models[], const unsigned int &models_size,
+        const int &dof = 0){
+      model_t res;
+      res.year = year;
+      res.dof = dof; // default(0): automatically determine DOF
+      make_model(res, models, models_size);
+      return res;
+    }
+
+    struct field_components_res_t {FloatT north, east, down;};
+  protected:
+    static field_components_res_t field_components_geocentric(
+        const model_t &model,
+        const FloatT &sin_geocentric_latitude, const FloatT &cos_geocentric_latitude,
+        const FloatT &longitude_rad,
+        const FloatT &radius_meter){
+      using std::cos;
+      using std::sin;
+      using std::pow;
+      using std::sqrt;
+      field_components_res_t res;
+      
+      // @see http://mooring.ucsd.edu/software/matlab/mfiles/toolbox/geo/IGRF/geomag60.c
+
+      const FloatT slat(sin_geocentric_latitude);
+      const FloatT clat(cos_geocentric_latitude);
+
+      FloatT sl[13] = {sin(longitude_rad)};
+      FloatT cl[13] = {cos(longitude_rad)};
+      
+      res.north = res.east = res.down = 0;
+      
+      FloatT aa, bb, cc, rr;
+      
+      aa = sqrt(3.0);
+      FloatT p[118] = {
+          2.0 * slat,
+          2.0 * clat,
+          4.5 * slat * slat - 1.5,
+          3.0 * aa * clat * slat};
+      FloatT q[118] = {
+          -clat,
+          slat,
+          -3.0 * clat * slat,
+          aa * (slat * slat - clat * clat)};
+      
+      for(int k(0), l(0), m(0), n(-1); k < ((model.dof * (model.dof + 3)) / 2); k++, m++){
+        if(m > n){
+          m = -1;
+          n++;
+          static const FloatT earths_radius(6371.2E3);
+          rr = pow(earths_radius / radius_meter, n + 3);
+        }
+        FloatT fm(m + 1), fn(n + 1);
+        if (k > 3){
+          if (m == n){
+            aa = sqrt(1.0 - 0.5 / fm);
+            int j(k - n - 2);
+            p[k] = (1.0 + 1.0 / fm) * aa * clat * p[j];
+            q[k] = aa * (clat * q[j] + slat/fm * p[j]);
+            sl[m] = sl[m-1] * cl[0] + cl[m-1] * sl[0];
+            cl[m] = cl[m-1] * cl[0] - sl[m-1] * sl[0];
+          }else{
+            aa = sqrt(fn * fn - fm * fm);
+            bb = sqrt(((fn - 1.0) * (fn - 1.0)) - (fm * fm)) / aa;
+            cc = (2.0 * fn - 1.0) / aa;
+            int i(k - n - 1), j(k - 2 * n - 1);
+            p[k] = (fn + 1.0) * (cc * slat / fn * p[i] - bb / (fn - 1.0) * p[j]);
+            q[k] = cc * (slat * q[i] - clat / fn * p[i]) - bb * q[j];
+          }
+        }
+        aa = rr * model.coef[l];
+        
+        if(m < 0){
+          res.north += aa * q[k];
+          res.down -= aa * p[k];
+          l++;
+        }else{
+          bb = rr * model.coef[l + 1];
+          cc = aa * cl[m] + bb * sl[m];
+          res.north += cc * q[k];
+          res.down -= cc * p[k];
+          if (clat > 0){
+            res.east += (aa * sl[m] - bb * cl[m]) * fm * p[k]/((fn + 1.0) * clat);
+          }else{
+            res.east += (aa * sl[m] - bb * cl[m]) * q[k] * slat;
+          }
+          l += 2;
+        }
+      }
+
+      return res;
+    }
+
+  public:
+    static field_components_res_t field_components_geocentric(
+        const model_t &model,
+        const FloatT &geocentric_latitude,
+        const FloatT &longitude_rad,
+        const FloatT &radius_meter = 6371.2E3){
+
+      return field_components_geocentric(model,
+          std::sin(geocentric_latitude), std::cos(geocentric_latitude),
+          longitude_rad,
+          radius_meter);
+    }
+
+    static field_components_res_t field_components(
+        const model_t &model,
+        const FloatT &latitude_rad, const FloatT &longitude_rad,
+        const FloatT &height_meter){
+      using std::cos;
+      using std::sin;
+      using std::pow;
+      using std::sqrt;
+
+      FloatT slat(sin(latitude_rad)), clat(cos(latitude_rad));
+      FloatT sd, cd, r;
+
+      {
+        // Correction of latitude
+        FloatT latitude_deg(latitude_rad / M_PI * 180);
+        if((90.0 - latitude_deg) < 1E-3){
+          clat = cos((90.0 - 1E-3) / 180 * M_PI); // 300 ft. from North pole
+        }else if((90.0 + latitude_deg) < 1E-3){
+          clat = cos((-90.0 + 1E-3) / 180 * M_PI); // 300 ft. from South pole
+        }
+      }
+
+      {
+        // Convert geographic lat/lng(�n���ܓx�o�x) to geocentric lat/lng(�n�S�ܓx�o�x)
+        FloatT aa, bb, cc, dd;
+        static const FloatT a2(40680631.59E6);            /* WGS84, a*a (m^2) */
+        static const FloatT b2(40408299.98E6);            /* WGS84, b*b (m^2) */
+        aa = a2 * clat * clat;
+        bb = b2 * slat * slat;
+        cc = aa + bb;
+        dd = sqrt(cc);
+        r = sqrt(height_meter * (height_meter + 2.0 * dd) + (a2 * aa + b2 * bb) / cc);
+        cd = (height_meter + dd) / r;
+        sd = (a2 - b2) / dd * slat * clat / r;
+      }
+
+      field_components_res_t res(field_components_geocentric(
+          model,
+          slat * cd - clat * sd, clat * cd + slat * sd,
+          longitude_rad, r));
+
+      { // coordinate transform
+        FloatT _north(res.north);
+        res.north = _north * cd + res.down * sd;
+        res.down = res.down * cd - _north * sd;
+      }
+
+      return res;
+    }
+
+    struct latlng_t {
+      FloatT latitude, longitude;
+    };
+    /**
+     * Calculate geomagnetic latitude and longitude
+     *
+     * @see "Magnetic Coordinate Systems" DOI 10.1007/s11214-016-0275-y
+     */
+    static latlng_t geomagnetic_latlng(
+        const model_t &model,
+        const FloatT &geocentric_latitude, const FloatT &longitude){
+      const FloatT &g10(model.coef[0]), &g11(model.coef[1]), &h11(model.coef[2]);
+      FloatT m[] = {g11, h11, g10}; // Eq.(11)
+      FloatT b0(-std::sqrt(std::pow(m[0], 2) + std::pow(m[1], 2) + std::pow(m[2], 2))); // Eq.(12)
+      FloatT z_cd[] = {m[0] / b0, m[1] / b0, m[2] / b0}; // Eq.(16)
+      FloatT y_cd_denom(-std::sqrt((h11 * h11) + (g11 * g11)));
+      FloatT y_cd[] = {-h11 / y_cd_denom, g11 / y_cd_denom, 0}; /* = [0,0,1] * z_cd */
+      FloatT x_cd[] = { /* y_cd * z_cd */
+        y_cd[1] * z_cd[2] - y_cd[2] * z_cd[1],
+        y_cd[2] * z_cd[0] - y_cd[0] * z_cd[2],
+        y_cd[0] * z_cd[1] - y_cd[1] * z_cd[0],
+      };
+      FloatT
+          clat(std::cos(geocentric_latitude)), slat(std::sin(geocentric_latitude)),
+          clng(std::cos(longitude)), slng(std::sin(longitude));
+      FloatT vec_geoc[] = {clat * clng, clat * slng, slat}; // Eq.(13) Theta_N = (pi - lat)
+      FloatT vec_geom[] = {
+        x_cd[0] * vec_geoc[0] + x_cd[1] * vec_geoc[1] + x_cd[2] * vec_geoc[2],
+        y_cd[0] * vec_geoc[0] + y_cd[1] * vec_geoc[1] + y_cd[2] * vec_geoc[2],
+        z_cd[0] * vec_geoc[0] + z_cd[1] * vec_geoc[1] + z_cd[2] * vec_geoc[2],
+      };
+      latlng_t res = {
+        std::asin(vec_geom[2]),
+        std::atan2(vec_geom[1], vec_geom[0])
+      };
+      return res;
+    }
+};
+
+typedef MagneticFieldGeneric<double> MagneticField;
+
+template <class FloatT, template <class> class Binder>
+struct MagneticFieldGeneric2 : public MagneticFieldGeneric<FloatT> {
+  static typename MagneticFieldGeneric<FloatT>::model_t get_model(
+      const FloatT &year, const int &dof = 0){
+    return MagneticFieldGeneric<FloatT>::make_model(
+        year,
+        Binder<FloatT>::models,
+#if defined(__GNUC__)
+        sizeof(Binder<FloatT>::models) / sizeof(Binder<FloatT>::models[0]),
+#else
+        Binder<FloatT>::models_num,
+#endif
+        dof);
+  }
+  static typename MagneticFieldGeneric<FloatT>::latlng_t geomagnetic_latlng(
+      const FloatT &year,
+      const FloatT &geocentric_latitude, const FloatT &longitude){
+    return MagneticFieldGeneric<FloatT>::geomagnetic_latlng(
+        get_model(year, 1),
+        geocentric_latitude, longitude);
+  }
+};
+
+/* IGRF11 is the eleventh generation standard main field model adopted
+ * by the International Association of Geomagnetism and Aeronomy (IAGA).
+ * This is a degree and order 10 model from 1900 to 1995 and a degree and
+ * order 13 model from 2000 to 2015, providing estimates of the main field
+ * for dates between January 1, 1900 and January 1, 2015. For more information
+ * on the IGRF and IAGA, visit the IAGA Working Group V-MOD Web site at:
+ *         http://www.ngdc.noaa.gov/IAGA/vmod/
+ */
+
+template <class FloatT>
+struct IGRF11Preset {
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF2000;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF2005;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF45;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF50;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF55;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF60;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF65;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF70;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF75;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF80;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF85;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF90;
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF95;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF00;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF05;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF10;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF15;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF20;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF2010;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF25;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF30;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF35;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF40;
+};
+
+template <class FloatT>
+struct IGRF11Generic : public MagneticFieldGeneric2<FloatT, IGRF11Generic>, public IGRF11Preset<FloatT> {
+  typedef IGRF11Preset<FloatT> preset_t;
+  static const typename MagneticFieldGeneric<FloatT>::model_t *models[];
+  static const int models_num;
+};
+
+typedef IGRF11Generic<double> IGRF11;
+
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF2000 = {
+    "DGRF2000",
+    2000.0,
+    13,
+    {-29619.4, -1728.2, 5186.1, // 1
+        -2267.7, 3068.4, -2481.6, 1670.9, -458.0, // 2
+        1339.6, -2288.0, -227.6, 1252.1, 293.4, 714.5, -491.1, // 3
+        932.3, 786.8, 272.6, 250.0, -231.9, -403.0, 119.8, 111.3, -303.8, // 4
+        -218.8, 351.4, 43.8, 222.3, 171.9, -130.4, -133.1, -168.6, -39.3, -12.9, 106.3, // 5
+        72.3, 68.2, -17.4, 74.2, 63.7, -160.9, 65.1, -5.9, -61.2, 16.9, 0.7, -90.4, 43.8, // 6
+        79.0, -74.0, -64.6, 0.0, -24.2, 33.3, 6.2, 9.1, 24.0, 6.9, 14.8, 7.3, -25.4, -1.2, -5.8, // 7
+        24.4, 6.6, 11.9, -9.2, -21.5, -7.9, 8.5, -16.6, -21.5, 9.1, 15.5, 7.0, 8.9, -7.9, -14.9, -7.0, -2.1, // 8
+        5.0, 9.4, -19.7, 3.0, 13.4, -8.4, 12.5, 6.3, -6.2, -8.9, -8.4, -1.5, 8.4, 9.3, 3.8, -4.3, -8.2, -8.2, 4.8, // 9
+        -2.6, -6.0, 1.7, 1.7, 0.0, -3.1, 4.0, -0.5, 4.9, 3.7, -5.9, 1.0, -1.2, 2.0, -2.9, 4.2, 0.2, 0.3, -2.2, -1.1, -7.4, // 10
+        2.7, -1.7, 0.1, -1.9, 1.3, 1.5, -0.9, -0.1, -2.6, 0.1, 0.9, -0.7, -0.7, 0.7, -2.8, 1.7, -0.9, 0.1, -1.2, 1.2, -1.9, 4.0, -0.9, // 11
+        -2.2, -0.3, -0.4, 0.2, 0.3, 0.9, 2.5, -0.2, -2.6, 0.9, 0.7, -0.5, 0.3, 0.3, 0.0, -0.3, 0.0, -0.4, 0.3, -0.1, -0.9, -0.2, -0.4, -0.4, 0.8, // 12
+        -0.2, -0.9, -0.9, 0.3, 0.2, 0.1, 1.8, -0.4, -0.4, 1.3, -1.0, -0.4, -0.1, 0.7, 0.7, -0.4, 0.3, 0.3, 0.6, -0.1, 0.3, 0.4, -0.2, 0.0, -0.5, 0.1, -0.9, } // 13
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF2005 = {
+    "DGRF2005",
+    2005.0,
+    13,
+    {-29554.63, -1669.05, 5077.99, // 1
+        -2337.24, 3047.69, -2594.5, 1657.76, -515.43, // 2
+        1336.3, -2305.83, -198.86, 1246.39, 269.72, 672.51, -524.72, // 3
+        920.55, 797.96, 282.07, 210.65, -225.23, -379.86, 145.15, 100.0, -305.36, // 4
+        -227.0, 354.41, 42.72, 208.95, 180.25, -136.54, -123.45, -168.05, -19.57, -13.55, 103.85, // 5
+        73.6, 69.56, -20.33, 76.74, 54.75, -151.34, 63.63, -14.58, -63.53, 14.58, 0.24, -86.36, 50.94, // 6
+        79.88, -74.46, -61.14, -1.65, -22.57, 38.73, 6.82, 12.3, 25.35, 9.37, 10.93, 5.42, -26.32, 1.94, -4.64, // 7
+        24.8, 7.62, 11.2, -11.73, -20.88, -6.88, 9.83, -18.11, -19.71, 10.17, 16.22, 9.36, 7.61, -11.25, -12.76, -4.87, -0.06, // 8
+        5.58, 9.76, -20.11, 3.58, 12.69, -6.94, 12.67, 5.01, -6.72, -10.76, -8.16, -1.25, 8.1, 8.76, 2.92, -6.66, -7.73, -9.22, 6.01, // 9
+        -2.17, -6.12, 2.19, 1.42, 0.1, -2.35, 4.46, -0.15, 4.76, 3.06, -6.58, 0.29, -1.01, 2.06, -3.47, 3.77, -0.86, -0.21, -2.31, -2.09, -7.93, // 10
+        2.95, -1.6, 0.26, -1.88, 1.44, 1.44, -0.77, -0.31, -2.27, 0.29, 0.9, -0.79, -0.58, 0.53, -2.69, 1.8, -1.08, 0.16, -1.58, 0.96, -1.9, 3.99, -1.39, // 11
+        -2.15, -0.29, -0.55, 0.21, 0.23, 0.89, 2.38, -0.38, -2.63, 0.96, 0.61, -0.3, 0.4, 0.46, 0.01, -0.35, 0.02, -0.36, 0.28, 0.08, -0.87, -0.49, -0.34, -0.08, 0.88, // 12
+        -0.16, -0.88, -0.76, 0.3, 0.33, 0.28, 1.72, -0.43, -0.54, 1.18, -1.07, -0.37, -0.04, 0.75, 0.63, -0.26, 0.21, 0.35, 0.53, -0.05, 0.38, 0.41, -0.22, -0.1, -0.57, -0.18, -0.82, } // 13
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF45 = {
+    "DGRF45",
+    1945.0,
+    10,
+    {-30594.0, -2285.0, 5810.0, // 1
+        -1244.0, 2990.0, -1702.0, 1578.0, 477.0, // 2
+        1282.0, -1834.0, -499.0, 1255.0, 186.0, 913.0, -11.0, // 3
+        944.0, 776.0, 144.0, 544.0, -276.0, -421.0, -55.0, 304.0, -178.0, // 4
+        -253.0, 346.0, -12.0, 194.0, 95.0, -20.0, -67.0, -142.0, -119.0, -82.0, 82.0, // 5
+        59.0, 57.0, 6.0, 6.0, 100.0, -246.0, 16.0, -25.0, -9.0, 21.0, -16.0, -104.0, -39.0, // 6
+        70.0, -40.0, -45.0, 0.0, -18.0, 0.0, 2.0, -29.0, 6.0, -10.0, 28.0, 15.0, -17.0, 29.0, -22.0, // 7
+        13.0, 7.0, 12.0, -8.0, -21.0, -5.0, -12.0, 9.0, -7.0, 7.0, 2.0, -10.0, 18.0, 7.0, 3.0, 2.0, -11.0, // 8
+        5.0, -21.0, -27.0, 1.0, 17.0, -11.0, 29.0, 3.0, -9.0, 16.0, 4.0, -3.0, 9.0, -4.0, 6.0, -3.0, 1.0, -4.0, 8.0, // 9
+        -3.0, 11.0, 5.0, 1.0, 1.0, 2.0, -20.0, -5.0, -1.0, -1.0, -6.0, 8.0, 6.0, -1.0, -4.0, -3.0, -2.0, 5.0, 0.0, -2.0, -2.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF50 = {
+    "DGRF50",
+    1950.0,
+    10,
+    {-30554.0, -2250.0, 5815.0, // 1
+        -1341.0, 2998.0, -1810.0, 1576.0, 381.0, // 2
+        1297.0, -1889.0, -476.0, 1274.0, 206.0, 896.0, -46.0, // 3
+        954.0, 792.0, 136.0, 528.0, -278.0, -408.0, -37.0, 303.0, -210.0, // 4
+        -240.0, 349.0, 3.0, 211.0, 103.0, -20.0, -87.0, -147.0, -122.0, -76.0, 80.0, // 5
+        54.0, 57.0, -1.0, 4.0, 99.0, -247.0, 33.0, -16.0, -12.0, 12.0, -12.0, -105.0, -30.0, // 6
+        65.0, -55.0, -35.0, 2.0, -17.0, 1.0, 0.0, -40.0, 10.0, -7.0, 36.0, 5.0, -18.0, 19.0, -16.0, // 7
+        22.0, 15.0, 5.0, -4.0, -22.0, -1.0, 0.0, 11.0, -21.0, 15.0, -8.0, -13.0, 17.0, 5.0, -4.0, -1.0, -17.0, // 8
+        3.0, -7.0, -24.0, -1.0, 19.0, -25.0, 12.0, 10.0, 2.0, 5.0, 2.0, -5.0, 8.0, -2.0, 8.0, 3.0, -11.0, 8.0, -7.0, // 9
+        -8.0, 4.0, 13.0, -1.0, -2.0, 13.0, -10.0, -4.0, 2.0, 4.0, -3.0, 12.0, 6.0, 3.0, -3.0, 2.0, 6.0, 10.0, 11.0, 3.0, 8.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF55 = {
+    "DGRF55",
+    1955.0,
+    10,
+    {-30500.0, -2215.0, 5820.0, // 1
+        -1440.0, 3003.0, -1898.0, 1581.0, 291.0, // 2
+        1302.0, -1944.0, -462.0, 1288.0, 216.0, 882.0, -83.0, // 3
+        958.0, 796.0, 133.0, 510.0, -274.0, -397.0, -23.0, 290.0, -230.0, // 4
+        -229.0, 360.0, 15.0, 230.0, 110.0, -23.0, -98.0, -152.0, -121.0, -69.0, 78.0, // 5
+        47.0, 57.0, -9.0, 3.0, 96.0, -247.0, 48.0, -8.0, -16.0, 7.0, -12.0, -107.0, -24.0, // 6
+        65.0, -56.0, -50.0, 2.0, -24.0, 10.0, -4.0, -32.0, 8.0, -11.0, 28.0, 9.0, -20.0, 18.0, -18.0, // 7
+        11.0, 9.0, 10.0, -6.0, -15.0, -14.0, 5.0, 6.0, -23.0, 10.0, 3.0, -7.0, 23.0, 6.0, -4.0, 9.0, -13.0, // 8
+        4.0, 9.0, -11.0, -4.0, 12.0, -5.0, 7.0, 2.0, 6.0, 4.0, -2.0, 1.0, 10.0, 2.0, 7.0, 2.0, -6.0, 5.0, 5.0, // 9
+        -3.0, -5.0, -4.0, -1.0, 0.0, 2.0, -8.0, -3.0, -2.0, 7.0, -4.0, 4.0, 1.0, -2.0, -3.0, 6.0, 7.0, -2.0, -1.0, 0.0, -3.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF60 = {
+    "DGRF60",
+    1960.0,
+    10,
+    {-30421.0, -2169.0, 5791.0, // 1
+        -1555.0, 3002.0, -1967.0, 1590.0, 206.0, // 2
+        1302.0, -1992.0, -414.0, 1289.0, 224.0, 878.0, -130.0, // 3
+        957.0, 800.0, 135.0, 504.0, -278.0, -394.0, 3.0, 269.0, -255.0, // 4
+        -222.0, 362.0, 16.0, 242.0, 125.0, -26.0, -117.0, -156.0, -114.0, -63.0, 81.0, // 5
+        46.0, 58.0, -10.0, 1.0, 99.0, -237.0, 60.0, -1.0, -20.0, -2.0, -11.0, -113.0, -17.0, // 6
+        67.0, -56.0, -55.0, 5.0, -28.0, 15.0, -6.0, -32.0, 7.0, -7.0, 23.0, 17.0, -18.0, 8.0, -17.0, // 7
+        15.0, 6.0, 11.0, -4.0, -14.0, -11.0, 7.0, 2.0, -18.0, 10.0, 4.0, -5.0, 23.0, 10.0, 1.0, 8.0, -20.0, // 8
+        4.0, 6.0, -18.0, 0.0, 12.0, -9.0, 2.0, 1.0, 0.0, 4.0, -3.0, -1.0, 9.0, -2.0, 8.0, 3.0, 0.0, -1.0, 5.0, // 9
+        1.0, -3.0, 4.0, 4.0, 1.0, 0.0, 0.0, -1.0, 2.0, 4.0, -5.0, 6.0, 1.0, 1.0, -1.0, -1.0, 6.0, 2.0, 0.0, 0.0, -7.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF65 = {
+    "DGRF65",
+    1965.0,
+    10,
+    {-30334.0, -2119.0, 5776.0, // 1
+        -1662.0, 2997.0, -2016.0, 1594.0, 114.0, // 2
+        1297.0, -2038.0, -404.0, 1292.0, 240.0, 856.0, -165.0, // 3
+        957.0, 804.0, 148.0, 479.0, -269.0, -390.0, 13.0, 252.0, -269.0, // 4
+        -219.0, 358.0, 19.0, 254.0, 128.0, -31.0, -126.0, -157.0, -97.0, -62.0, 81.0, // 5
+        45.0, 61.0, -11.0, 8.0, 100.0, -228.0, 68.0, 4.0, -32.0, 1.0, -8.0, -111.0, -7.0, // 6
+        75.0, -57.0, -61.0, 4.0, -27.0, 13.0, -2.0, -26.0, 6.0, -6.0, 26.0, 13.0, -23.0, 1.0, -12.0, // 7
+        13.0, 5.0, 7.0, -4.0, -12.0, -14.0, 9.0, 0.0, -16.0, 8.0, 4.0, -1.0, 24.0, 11.0, -3.0, 4.0, -17.0, // 8
+        8.0, 10.0, -22.0, 2.0, 15.0, -13.0, 7.0, 10.0, -4.0, -1.0, -5.0, -1.0, 10.0, 5.0, 10.0, 1.0, -4.0, -2.0, 1.0, // 9
+        -2.0, -3.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 4.0, -4.0, 4.0, 0.0, 0.0, -2.0, 2.0, 3.0, 2.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF70 = {
+    "DGRF70",
+    1970.0,
+    10,
+    {-30220.0, -2068.0, 5737.0, // 1
+        -1781.0, 3000.0, -2047.0, 1611.0, 25.0, // 2
+        1287.0, -2091.0, -366.0, 1278.0, 251.0, 838.0, -196.0, // 3
+        952.0, 800.0, 167.0, 461.0, -266.0, -395.0, 26.0, 234.0, -279.0, // 4
+        -216.0, 359.0, 26.0, 262.0, 139.0, -42.0, -139.0, -160.0, -91.0, -56.0, 83.0, // 5
+        43.0, 64.0, -12.0, 15.0, 100.0, -212.0, 72.0, 2.0, -37.0, 3.0, -6.0, -112.0, 1.0, // 6
+        72.0, -57.0, -70.0, 1.0, -27.0, 14.0, -4.0, -22.0, 8.0, -2.0, 23.0, 13.0, -23.0, -2.0, -11.0, // 7
+        14.0, 6.0, 7.0, -2.0, -15.0, -13.0, 6.0, -3.0, -17.0, 5.0, 6.0, 0.0, 21.0, 11.0, -6.0, 3.0, -16.0, // 8
+        8.0, 10.0, -21.0, 2.0, 16.0, -12.0, 6.0, 10.0, -4.0, -1.0, -5.0, 0.0, 10.0, 3.0, 11.0, 1.0, -2.0, -1.0, 1.0, // 9
+        -3.0, -3.0, 1.0, 2.0, 1.0, -5.0, 3.0, -1.0, 4.0, 6.0, -4.0, 4.0, 0.0, 1.0, -1.0, 0.0, 3.0, 3.0, 1.0, -1.0, -4.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF75 = {
+    "DGRF75",
+    1975.0,
+    10,
+    {-30100.0, -2013.0, 5675.0, // 1
+        -1902.0, 3010.0, -2067.0, 1632.0, -68.0, // 2
+        1276.0, -2144.0, -333.0, 1260.0, 262.0, 830.0, -223.0, // 3
+        946.0, 791.0, 191.0, 438.0, -265.0, -405.0, 39.0, 216.0, -288.0, // 4
+        -218.0, 356.0, 31.0, 264.0, 148.0, -59.0, -152.0, -159.0, -83.0, -49.0, 88.0, // 5
+        45.0, 66.0, -13.0, 28.0, 99.0, -198.0, 75.0, 1.0, -41.0, 6.0, -4.0, -111.0, 11.0, // 6
+        71.0, -56.0, -77.0, 1.0, -26.0, 16.0, -5.0, -14.0, 10.0, 0.0, 22.0, 12.0, -23.0, -5.0, -12.0, // 7
+        14.0, 6.0, 6.0, -1.0, -16.0, -12.0, 4.0, -8.0, -19.0, 4.0, 6.0, 0.0, 18.0, 10.0, -10.0, 1.0, -17.0, // 8
+        7.0, 10.0, -21.0, 2.0, 16.0, -12.0, 7.0, 10.0, -4.0, -1.0, -5.0, -1.0, 10.0, 4.0, 11.0, 1.0, -3.0, -2.0, 1.0, // 9
+        -3.0, -3.0, 1.0, 2.0, 1.0, -5.0, 3.0, -2.0, 4.0, 5.0, -4.0, 4.0, -1.0, 1.0, -1.0, 0.0, 3.0, 3.0, 1.0, -1.0, -5.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF80 = {
+    "DGRF80",
+    1980.0,
+    10,
+    {-29992.0, -1956.0, 5604.0, // 1
+        -1997.0, 3027.0, -2129.0, 1663.0, -200.0, // 2
+        1281.0, -2180.0, -336.0, 1251.0, 271.0, 833.0, -252.0, // 3
+        938.0, 782.0, 212.0, 398.0, -257.0, -419.0, 53.0, 199.0, -297.0, // 4
+        -218.0, 357.0, 46.0, 261.0, 150.0, -74.0, -151.0, -162.0, -78.0, -48.0, 92.0, // 5
+        48.0, 66.0, -15.0, 42.0, 93.0, -192.0, 71.0, 4.0, -43.0, 14.0, -2.0, -108.0, 17.0, // 6
+        72.0, -59.0, -82.0, 2.0, -27.0, 21.0, -5.0, -12.0, 16.0, 1.0, 18.0, 11.0, -23.0, -2.0, -10.0, // 7
+        18.0, 6.0, 7.0, 0.0, -18.0, -11.0, 4.0, -7.0, -22.0, 4.0, 9.0, 3.0, 16.0, 6.0, -13.0, -1.0, -15.0, // 8
+        5.0, 10.0, -21.0, 1.0, 16.0, -12.0, 9.0, 9.0, -5.0, -3.0, -6.0, -1.0, 9.0, 7.0, 10.0, 2.0, -6.0, -5.0, 2.0, // 9
+        -4.0, -4.0, 1.0, 2.0, 0.0, -5.0, 3.0, -2.0, 6.0, 5.0, -4.0, 3.0, 0.0, 1.0, -1.0, 2.0, 4.0, 3.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF85 = {
+    "DGRF85",
+    1985.0,
+    10,
+    {-29873.0, -1905.0, 5500.0, // 1
+        -2072.0, 3044.0, -2197.0, 1687.0, -306.0, // 2
+        1296.0, -2208.0, -310.0, 1247.0, 284.0, 829.0, -297.0, // 3
+        936.0, 780.0, 232.0, 361.0, -249.0, -424.0, 69.0, 170.0, -297.0, // 4
+        -214.0, 355.0, 47.0, 253.0, 150.0, -93.0, -154.0, -164.0, -75.0, -46.0, 95.0, // 5
+        53.0, 65.0, -16.0, 51.0, 88.0, -185.0, 69.0, 4.0, -48.0, 16.0, -1.0, -102.0, 21.0, // 6
+        74.0, -62.0, -83.0, 3.0, -27.0, 24.0, -2.0, -6.0, 20.0, 4.0, 17.0, 10.0, -23.0, 0.0, -7.0, // 7
+        21.0, 6.0, 8.0, 0.0, -19.0, -11.0, 5.0, -9.0, -23.0, 4.0, 11.0, 4.0, 14.0, 4.0, -15.0, -4.0, -11.0, // 8
+        5.0, 10.0, -21.0, 1.0, 15.0, -12.0, 9.0, 9.0, -6.0, -3.0, -6.0, -1.0, 9.0, 7.0, 9.0, 1.0, -7.0, -5.0, 2.0, // 9
+        -4.0, -4.0, 1.0, 3.0, 0.0, -5.0, 3.0, -2.0, 6.0, 5.0, -4.0, 3.0, 0.0, 1.0, -1.0, 2.0, 4.0, 3.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF90 = {
+    "DGRF90",
+    1990.0,
+    10,
+    {-29775.0, -1848.0, 5406.0, // 1
+        -2131.0, 3059.0, -2279.0, 1686.0, -373.0, // 2
+        1314.0, -2239.0, -284.0, 1248.0, 293.0, 802.0, -352.0, // 3
+        939.0, 780.0, 247.0, 325.0, -240.0, -423.0, 84.0, 141.0, -299.0, // 4
+        -214.0, 353.0, 46.0, 245.0, 154.0, -109.0, -153.0, -165.0, -69.0, -36.0, 97.0, // 5
+        61.0, 65.0, -16.0, 59.0, 82.0, -178.0, 69.0, 3.0, -52.0, 18.0, 1.0, -96.0, 24.0, // 6
+        77.0, -64.0, -80.0, 2.0, -26.0, 26.0, 0.0, -1.0, 21.0, 5.0, 17.0, 9.0, -23.0, 0.0, -4.0, // 7
+        23.0, 5.0, 10.0, -1.0, -19.0, -10.0, 6.0, -12.0, -22.0, 3.0, 12.0, 4.0, 12.0, 2.0, -16.0, -6.0, -10.0, // 8
+        4.0, 9.0, -20.0, 1.0, 15.0, -12.0, 11.0, 9.0, -7.0, -4.0, -7.0, -2.0, 9.0, 7.0, 8.0, 1.0, -7.0, -6.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 3.0, -2.0, 6.0, 4.0, -4.0, 3.0, 0.0, 1.0, -2.0, 3.0, 3.0, 3.0, -1.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::DGRF95 = {
+    "DGRF95",
+    1995.0,
+    10,
+    {-29692.0, -1784.0, 5306.0, // 1
+        -2200.0, 3070.0, -2366.0, 1681.0, -413.0, // 2
+        1335.0, -2267.0, -262.0, 1249.0, 302.0, 759.0, -427.0, // 3
+        940.0, 780.0, 262.0, 290.0, -236.0, -418.0, 97.0, 122.0, -306.0, // 4
+        -214.0, 352.0, 46.0, 235.0, 165.0, -118.0, -143.0, -166.0, -55.0, -17.0, 107.0, // 5
+        68.0, 67.0, -17.0, 68.0, 72.0, -170.0, 67.0, -1.0, -58.0, 19.0, 1.0, -93.0, 36.0, // 6
+        77.0, -72.0, -69.0, 1.0, -25.0, 28.0, 4.0, 5.0, 24.0, 4.0, 17.0, 8.0, -24.0, -2.0, -6.0, // 7
+        25.0, 6.0, 11.0, -6.0, -21.0, -9.0, 8.0, -14.0, -23.0, 9.0, 15.0, 6.0, 11.0, -5.0, -16.0, -7.0, -4.0, // 8
+        4.0, 9.0, -20.0, 3.0, 15.0, -10.0, 12.0, 8.0, -6.0, -8.0, -8.0, -1.0, 8.0, 10.0, 5.0, -2.0, -8.0, -8.0, 3.0, // 9
+        -3.0, -6.0, 1.0, 2.0, 0.0, -4.0, 4.0, -1.0, 5.0, 4.0, -5.0, 2.0, -1.0, 2.0, -2.0, 5.0, 1.0, 1.0, -2.0, 0.0, -7.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF00 = {
+    "IGRF00",
+    1900.0,
+    10,
+    {-31543.0, -2298.0, 5922.0, // 1
+        -677.0, 2905.0, -1061.0, 924.0, 1121.0, // 2
+        1022.0, -1469.0, -330.0, 1256.0, 3.0, 572.0, 523.0, // 3
+        876.0, 628.0, 195.0, 660.0, -69.0, -361.0, -210.0, 134.0, -75.0, // 4
+        -184.0, 328.0, -210.0, 264.0, 53.0, 5.0, -33.0, -86.0, -124.0, -16.0, 3.0, // 5
+        63.0, 61.0, -9.0, -11.0, 83.0, -217.0, 2.0, -58.0, -35.0, 59.0, 36.0, -90.0, -69.0, // 6
+        70.0, -55.0, -45.0, 0.0, -13.0, 34.0, -10.0, -41.0, -1.0, -21.0, 28.0, 18.0, -12.0, 6.0, -22.0, // 7
+        11.0, 8.0, 8.0, -4.0, -14.0, -9.0, 7.0, 1.0, -13.0, 2.0, 5.0, -9.0, 16.0, 5.0, -5.0, 8.0, -18.0, // 8
+        8.0, 10.0, -20.0, 1.0, 14.0, -11.0, 5.0, 12.0, -3.0, 1.0, -2.0, -2.0, 8.0, 2.0, 10.0, -1.0, -2.0, -1.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -2.0, 2.0, 4.0, 2.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF05 = {
+    "IGRF05",
+    1905.0,
+    10,
+    {-31464.0, -2298.0, 5909.0, // 1
+        -728.0, 2928.0, -1086.0, 1041.0, 1065.0, // 2
+        1037.0, -1494.0, -357.0, 1239.0, 34.0, 635.0, 480.0, // 3
+        880.0, 643.0, 203.0, 653.0, -77.0, -380.0, -201.0, 146.0, -65.0, // 4
+        -192.0, 328.0, -193.0, 259.0, 56.0, -1.0, -32.0, -93.0, -125.0, -26.0, 11.0, // 5
+        62.0, 60.0, -7.0, -11.0, 86.0, -221.0, 4.0, -57.0, -32.0, 57.0, 32.0, -92.0, -67.0, // 6
+        70.0, -54.0, -46.0, 0.0, -14.0, 33.0, -11.0, -41.0, 0.0, -20.0, 28.0, 18.0, -12.0, 6.0, -22.0, // 7
+        11.0, 8.0, 8.0, -4.0, -15.0, -9.0, 7.0, 1.0, -13.0, 2.0, 5.0, -8.0, 16.0, 5.0, -5.0, 8.0, -18.0, // 8
+        8.0, 10.0, -20.0, 1.0, 14.0, -11.0, 5.0, 12.0, -3.0, 1.0, -2.0, -2.0, 8.0, 2.0, 10.0, 0.0, -2.0, -1.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -2.0, 2.0, 4.0, 2.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF10 = {
+    "IGRF10",
+    1910.0,
+    10,
+    {-31354.0, -2297.0, 5898.0, // 1
+        -769.0, 2948.0, -1128.0, 1176.0, 1000.0, // 2
+        1058.0, -1524.0, -389.0, 1223.0, 62.0, 705.0, 425.0, // 3
+        884.0, 660.0, 211.0, 644.0, -90.0, -400.0, -189.0, 160.0, -55.0, // 4
+        -201.0, 327.0, -172.0, 253.0, 57.0, -9.0, -33.0, -102.0, -126.0, -38.0, 21.0, // 5
+        62.0, 58.0, -5.0, -11.0, 89.0, -224.0, 5.0, -54.0, -29.0, 54.0, 28.0, -95.0, -65.0, // 6
+        71.0, -54.0, -47.0, 1.0, -14.0, 32.0, -12.0, -40.0, 1.0, -19.0, 28.0, 18.0, -13.0, 6.0, -22.0, // 7
+        11.0, 8.0, 8.0, -4.0, -15.0, -9.0, 6.0, 1.0, -13.0, 2.0, 5.0, -8.0, 16.0, 5.0, -5.0, 8.0, -18.0, // 8
+        8.0, 10.0, -20.0, 1.0, 14.0, -11.0, 5.0, 12.0, -3.0, 1.0, -2.0, -2.0, 8.0, 2.0, 10.0, 0.0, -2.0, -1.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -2.0, 2.0, 4.0, 2.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF15 = {
+    "IGRF15",
+    1915.0,
+    10,
+    {-31212.0, -2306.0, 5875.0, // 1
+        -802.0, 2956.0, -1191.0, 1309.0, 917.0, // 2
+        1084.0, -1559.0, -421.0, 1212.0, 84.0, 778.0, 360.0, // 3
+        887.0, 678.0, 218.0, 631.0, -109.0, -416.0, -173.0, 178.0, -51.0, // 4
+        -211.0, 327.0, -148.0, 245.0, 58.0, -16.0, -34.0, -111.0, -126.0, -51.0, 32.0, // 5
+        61.0, 57.0, -2.0, -10.0, 93.0, -228.0, 8.0, -51.0, -26.0, 49.0, 23.0, -98.0, -62.0, // 6
+        72.0, -54.0, -48.0, 2.0, -14.0, 31.0, -12.0, -38.0, 2.0, -18.0, 28.0, 19.0, -15.0, 6.0, -22.0, // 7
+        11.0, 8.0, 8.0, -4.0, -15.0, -9.0, 6.0, 2.0, -13.0, 3.0, 5.0, -8.0, 16.0, 6.0, -5.0, 8.0, -18.0, // 8
+        8.0, 10.0, -20.0, 1.0, 14.0, -11.0, 5.0, 12.0, -3.0, 1.0, -2.0, -2.0, 8.0, 2.0, 10.0, 0.0, -2.0, -1.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -2.0, 1.0, 4.0, 2.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF20 = {
+    "IGRF20",
+    1920.0,
+    10,
+    {-31060.0, -2317.0, 5845.0, // 1
+        -839.0, 2959.0, -1259.0, 1407.0, 823.0, // 2
+        1111.0, -1600.0, -445.0, 1205.0, 103.0, 839.0, 293.0, // 3
+        889.0, 695.0, 220.0, 616.0, -134.0, -424.0, -153.0, 199.0, -57.0, // 4
+        -221.0, 326.0, -122.0, 236.0, 58.0, -23.0, -38.0, -119.0, -125.0, -62.0, 43.0, // 5
+        61.0, 55.0, 0.0, -10.0, 96.0, -233.0, 11.0, -46.0, -22.0, 44.0, 18.0, -101.0, -57.0, // 6
+        73.0, -54.0, -49.0, 2.0, -14.0, 29.0, -13.0, -37.0, 4.0, -16.0, 28.0, 19.0, -16.0, 6.0, -22.0, // 7
+        11.0, 7.0, 8.0, -3.0, -15.0, -9.0, 6.0, 2.0, -14.0, 4.0, 5.0, -7.0, 17.0, 6.0, -5.0, 8.0, -19.0, // 8
+        8.0, 10.0, -20.0, 1.0, 14.0, -11.0, 5.0, 12.0, -3.0, 1.0, -2.0, -2.0, 9.0, 2.0, 10.0, 0.0, -2.0, -1.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -2.0, 1.0, 4.0, 3.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF2010 = {
+    "IGRF2010",
+    2010.0,
+    13,
+    {-29496.5, -1585.9, 4945.1, // 1
+        -2396.6, 3026.0, -2707.7, 1668.6, -575.4, // 2
+        1339.7, -2326.3, -160.5, 1231.7, 251.7, 634.2, -536.8, // 3
+        912.6, 809.0, 286.4, 166.6, -211.2, -357.1, 164.4, 89.7, -309.2, // 4
+        -231.1, 357.2, 44.7, 200.3, 188.9, -141.2, -118.1, -163.1, 0.1, -7.7, 100.9, // 5
+        72.8, 68.6, -20.8, 76.0, 44.2, -141.4, 61.5, -22.9, -66.3, 13.1, 3.1, -77.9, 54.9, // 6
+        80.4, -75.0, -57.8, -4.7, -21.2, 45.3, 6.6, 14.0, 24.9, 10.4, 7.0, 1.6, -27.7, 4.9, -3.4, // 7
+        24.3, 8.2, 10.9, -14.5, -20.0, -5.7, 11.9, -19.3, -17.4, 11.6, 16.7, 10.9, 7.1, -14.1, -10.8, -3.7, 1.7, // 8
+        5.4, 9.4, -20.5, 3.4, 11.6, -5.3, 12.8, 3.1, -7.2, -12.4, -7.4, -0.8, 8.0, 8.4, 2.2, -8.4, -6.1, -10.1, 7.0, // 9
+        -2.0, -6.3, 2.8, 0.9, -0.1, -1.1, 4.7, -0.2, 4.4, 2.5, -7.2, -0.3, -1.0, 2.2, -4.0, 3.1, -2.0, -1.0, -2.0, -2.8, -8.3, // 10
+        3.0, -1.5, 0.1, -2.1, 1.7, 1.6, -0.6, -0.5, -1.8, 0.5, 0.9, -0.8, -0.4, 0.4, -2.5, 1.8, -1.3, 0.2, -2.1, 0.8, -1.9, 3.8, -1.8, // 11
+        -2.1, -0.2, -0.8, 0.3, 0.3, 1.0, 2.2, -0.7, -2.5, 0.9, 0.5, -0.1, 0.6, 0.5, 0.0, -0.4, 0.1, -0.4, 0.3, 0.2, -0.9, -0.8, -0.2, 0.0, 0.8, // 12
+        -0.2, -0.9, -0.8, 0.3, 0.3, 0.4, 1.7, -0.4, -0.6, 1.1, -1.2, -0.3, -0.1, 0.8, 0.5, -0.2, 0.1, 0.4, 0.5, 0.0, 0.4, 0.4, -0.2, -0.3, -0.5, -0.3, -0.8, } // 13
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF25 = {
+    "IGRF25",
+    1925.0,
+    10,
+    {-30926.0, -2318.0, 5817.0, // 1
+        -893.0, 2969.0, -1334.0, 1471.0, 728.0, // 2
+        1140.0, -1645.0, -462.0, 1202.0, 119.0, 881.0, 229.0, // 3
+        891.0, 711.0, 216.0, 601.0, -163.0, -426.0, -130.0, 217.0, -70.0, // 4
+        -230.0, 326.0, -96.0, 226.0, 58.0, -28.0, -44.0, -125.0, -122.0, -69.0, 51.0, // 5
+        61.0, 54.0, 3.0, -9.0, 99.0, -238.0, 14.0, -40.0, -18.0, 39.0, 13.0, -103.0, -52.0, // 6
+        73.0, -54.0, -50.0, 3.0, -14.0, 27.0, -14.0, -35.0, 5.0, -14.0, 29.0, 19.0, -17.0, 6.0, -21.0, // 7
+        11.0, 7.0, 8.0, -3.0, -15.0, -9.0, 6.0, 2.0, -14.0, 4.0, 5.0, -7.0, 17.0, 7.0, -5.0, 8.0, -19.0, // 8
+        8.0, 10.0, -20.0, 1.0, 14.0, -11.0, 5.0, 12.0, -3.0, 1.0, -2.0, -2.0, 9.0, 2.0, 10.0, 0.0, -2.0, -1.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -2.0, 1.0, 4.0, 3.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF30 = {
+    "IGRF30",
+    1930.0,
+    10,
+    {-30805.0, -2316.0, 5808.0, // 1
+        -951.0, 2980.0, -1424.0, 1517.0, 644.0, // 2
+        1172.0, -1692.0, -480.0, 1205.0, 133.0, 907.0, 166.0, // 3
+        896.0, 727.0, 205.0, 584.0, -195.0, -422.0, -109.0, 234.0, -90.0, // 4
+        -237.0, 327.0, -72.0, 218.0, 60.0, -32.0, -53.0, -131.0, -118.0, -74.0, 58.0, // 5
+        60.0, 53.0, 4.0, -9.0, 102.0, -242.0, 19.0, -32.0, -16.0, 32.0, 8.0, -104.0, -46.0, // 6
+        74.0, -54.0, -51.0, 4.0, -15.0, 25.0, -14.0, -34.0, 6.0, -12.0, 29.0, 18.0, -18.0, 6.0, -20.0, // 7
+        11.0, 7.0, 8.0, -3.0, -15.0, -9.0, 5.0, 2.0, -14.0, 5.0, 5.0, -6.0, 18.0, 8.0, -5.0, 8.0, -19.0, // 8
+        8.0, 10.0, -20.0, 1.0, 14.0, -12.0, 5.0, 12.0, -3.0, 1.0, -2.0, -2.0, 9.0, 3.0, 10.0, 0.0, -2.0, -2.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -2.0, 1.0, 4.0, 3.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF35 = {
+    "IGRF35",
+    1935.0,
+    10,
+    {-30715.0, -2306.0, 5812.0, // 1
+        -1018.0, 2984.0, -1520.0, 1550.0, 586.0, // 2
+        1206.0, -1740.0, -494.0, 1215.0, 146.0, 918.0, 101.0, // 3
+        903.0, 744.0, 188.0, 565.0, -226.0, -415.0, -90.0, 249.0, -114.0, // 4
+        -241.0, 329.0, -51.0, 211.0, 64.0, -33.0, -64.0, -136.0, -115.0, -76.0, 64.0, // 5
+        59.0, 53.0, 4.0, -8.0, 104.0, -246.0, 25.0, -25.0, -15.0, 25.0, 4.0, -106.0, -40.0, // 6
+        74.0, -53.0, -52.0, 4.0, -17.0, 23.0, -14.0, -33.0, 7.0, -11.0, 29.0, 18.0, -19.0, 6.0, -19.0, // 7
+        11.0, 7.0, 8.0, -3.0, -15.0, -9.0, 5.0, 1.0, -15.0, 6.0, 5.0, -6.0, 18.0, 8.0, -5.0, 7.0, -19.0, // 8
+        8.0, 10.0, -20.0, 1.0, 15.0, -12.0, 5.0, 11.0, -3.0, 1.0, -3.0, -2.0, 9.0, 3.0, 11.0, 0.0, -2.0, -2.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -1.0, 2.0, 4.0, 3.0, 0.0, 0.0, -6.0, } // 10
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF11Preset<FloatT>::IGRF40 = {
+    "IGRF40",
+    1940.0,
+    10,
+    {-30654.0, -2292.0, 5821.0, // 1
+        -1106.0, 2981.0, -1614.0, 1566.0, 528.0, // 2
+        1240.0, -1790.0, -499.0, 1232.0, 163.0, 916.0, 43.0, // 3
+        914.0, 762.0, 169.0, 550.0, -252.0, -405.0, -72.0, 265.0, -141.0, // 4
+        -241.0, 334.0, -33.0, 208.0, 71.0, -33.0, -75.0, -141.0, -113.0, -76.0, 69.0, // 5
+        57.0, 54.0, 4.0, -7.0, 105.0, -249.0, 33.0, -18.0, -15.0, 18.0, 0.0, -107.0, -33.0, // 6
+        74.0, -53.0, -52.0, 4.0, -18.0, 20.0, -14.0, -31.0, 7.0, -9.0, 29.0, 17.0, -20.0, 5.0, -19.0, // 7
+        11.0, 7.0, 8.0, -3.0, -14.0, -10.0, 5.0, 1.0, -15.0, 6.0, 5.0, -5.0, 19.0, 9.0, -5.0, 7.0, -19.0, // 8
+        8.0, 10.0, -21.0, 1.0, 15.0, -12.0, 5.0, 11.0, -3.0, 1.0, -3.0, -2.0, 9.0, 3.0, 11.0, 1.0, -2.0, -2.0, 2.0, // 9
+        -3.0, -4.0, 2.0, 2.0, 1.0, -5.0, 2.0, -2.0, 6.0, 6.0, -4.0, 4.0, 0.0, 0.0, -1.0, 2.0, 4.0, 3.0, 0.0, 0.0, -6.0, } // 10
+    };
+
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t *IGRF11Generic<FloatT>::models[] = {
+  &preset_t::IGRF00,
+  &preset_t::IGRF05,
+  &preset_t::IGRF10,
+  &preset_t::IGRF15,
+  &preset_t::IGRF20,
+  &preset_t::IGRF25,
+  &preset_t::IGRF30,
+  &preset_t::IGRF35,
+  &preset_t::IGRF40,
+  &preset_t::DGRF45,
+  &preset_t::DGRF50,
+  &preset_t::DGRF55,
+  &preset_t::DGRF60,
+  &preset_t::DGRF65,
+  &preset_t::DGRF70,
+  &preset_t::DGRF75,
+  &preset_t::DGRF80,
+  &preset_t::DGRF85,
+  &preset_t::DGRF90,
+  &preset_t::DGRF95,
+  &preset_t::DGRF2000,
+  &preset_t::DGRF2005,
+  &preset_t::IGRF2010,
+};
+
+template <class FloatT>
+const int IGRF11Generic<FloatT>::models_num = sizeof(models) / sizeof(models[0]);
+
+template <class FloatT>
+struct IGRF12Preset : public IGRF11Preset<FloatT> {
+  static const typename MagneticFieldGeneric<FloatT>::model_t DGRF2010;
+  static const typename MagneticFieldGeneric<FloatT>::model_t IGRF2015;
+};
+
+template <class FloatT>
+struct IGRF12Generic : public MagneticFieldGeneric2<FloatT, IGRF12Generic>, public IGRF12Preset<FloatT> {
+  typedef IGRF12Preset<FloatT> preset_t;
+  static const typename MagneticFieldGeneric<FloatT>::model_t *models[];
+  static const int models_num;
+};
+
+typedef IGRF12Generic<double> IGRF12;
+
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF12Preset<FloatT>::DGRF2010 = {
+    "DGRF2010",
+    2010.0,
+    13,
+    {-29496.57, -1586.42, 4944.26, // 1
+        -2396.06, 3026.34, -2708.54, 1668.17, -575.73, // 2
+        1339.85, -2326.54, -160.4, 1232.1, 251.75, 633.73, -537.03, // 3
+        912.66, 808.97, 286.48, 166.58, -211.03, -356.83, 164.46, 89.4, -309.72, // 4
+        -230.87, 357.29, 44.58, 200.26, 189.01, -141.05, -118.06, -163.17, -0.01, -8.03, 101.04, // 5
+        72.78, 68.69, -20.9, 75.92, 44.18, -141.4, 61.54, -22.83, -66.26, 13.1, 3.02, -78.09, 55.4, // 6
+        80.44, -75.0, -57.8, -4.55, -21.2, 45.24, 6.54, 14.0, 24.96, 10.46, 7.03, 1.64, -27.61, 4.92, -3.28, // 7
+        24.41, 8.21, 10.84, -14.5, -20.03, -5.59, 11.83, -19.34, -17.41, 11.61, 16.71, 10.85, 6.96, -14.05, -10.74, -3.54, 1.64, // 8
+        5.5, 9.45, -20.54, 3.45, 11.51, -5.27, 12.75, 3.13, -7.14, -12.38, -7.42, -0.76, 7.97, 8.43, 2.14, -8.42, -6.08, -10.08, 7.01, // 9
+        -1.94, -6.24, 2.73, 0.89, -0.1, -1.07, 4.71, -0.16, 4.44, 2.45, -7.22, -0.33, -0.96, 2.13, -3.95, 3.09, -1.99, -1.03, -1.97, -2.8, -8.31, // 10
+        3.05, -1.48, 0.13, -2.03, 1.67, 1.65, -0.66, -0.51, -1.76, 0.54, 0.85, -0.79, -0.39, 0.37, -2.51, 1.79, -1.27, 0.12, -2.11, 0.75, -1.94, 3.75, -1.86, // 11
+        -2.12, -0.21, -0.87, 0.3, 0.27, 1.04, 2.13, -0.63, -2.49, 0.95, 0.49, -0.11, 0.59, 0.52, 0.0, -0.39, 0.13, -0.37, 0.27, 0.21, -0.86, -0.77, -0.23, 0.04, 0.87, // 12
+        -0.09, -0.89, -0.87, 0.31, 0.3, 0.42, 1.66, -0.45, -0.59, 1.08, -1.14, -0.31, -0.07, 0.78, 0.54, -0.18, 0.1, 0.38, 0.49, 0.02, 0.44, 0.42, -0.25, -0.26, -0.53, -0.26, -0.79, } // 13
+    };
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t IGRF12Preset<FloatT>::IGRF2015 = {
+    "IGRF2015",
+    2015.0,
+    13,
+    {-29442.0, -1501.0, 4797.1, // 1
+        -2445.1, 3012.9, -2845.6, 1676.7, -641.9, // 2
+        1350.7, -2352.3, -115.3, 1225.6, 244.9, 582.0, -538.4, // 3
+        907.6, 813.7, 283.3, 120.4, -188.7, -334.9, 180.9, 70.4, -329.5, // 4
+        -232.6, 360.1, 47.3, 192.4, 197.0, -140.9, -119.3, -157.5, 16.0, 4.1, 100.2, // 5
+        70.0, 67.7, -20.8, 72.7, 33.2, -129.9, 58.9, -28.9, -66.7, 13.2, 7.3, -70.9, 62.6, // 6
+        81.6, -76.1, -54.1, -6.8, -19.5, 51.8, 5.7, 15.0, 24.4, 9.4, 3.4, -2.8, -27.4, 6.8, -2.2, // 7
+        24.2, 8.8, 10.1, -16.9, -18.3, -3.2, 13.3, -20.6, -14.6, 13.4, 16.2, 11.7, 5.7, -15.9, -9.1, -2.0, 2.1, // 8
+        5.4, 8.8, -21.6, 3.1, 10.8, -3.3, 11.8, 0.7, -6.8, -13.3, -6.9, -0.1, 7.8, 8.7, 1.0, -9.1, -4.0, -10.5, 8.4, // 9
+        -1.9, -6.3, 3.2, 0.1, -0.4, 0.5, 4.6, -0.5, 4.4, 1.8, -7.9, -0.7, -0.6, 2.1, -4.2, 2.4, -2.8, -1.8, -1.2, -3.6, -8.7, // 10
+        3.1, -1.5, -0.1, -2.3, 2.0, 2.0, -0.7, -0.8, -1.1, 0.6, 0.8, -0.7, -0.2, 0.2, -2.2, 1.7, -1.4, -0.2, -2.5, 0.4, -2.0, 3.5, -2.4, // 11
+        -1.9, -0.2, -1.1, 0.4, 0.4, 1.2, 1.9, -0.8, -2.2, 0.9, 0.3, 0.1, 0.7, 0.5, -0.1, -0.3, 0.3, -0.4, 0.2, 0.2, -0.9, -0.9, -0.1, 0.0, 0.7, // 12
+        0.0, -0.9, -0.9, 0.4, 0.4, 0.5, 1.6, -0.5, -0.5, 1.0, -1.2, -0.2, -0.1, 0.8, 0.4, -0.1, -0.1, 0.3, 0.4, 0.1, 0.5, 0.5, -0.3, -0.4, -0.4, -0.3, -0.8, } // 13
+    };
+
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t *IGRF12Generic<FloatT>::models[] = {
+  &preset_t::IGRF00,
+  &preset_t::IGRF05,
+  &preset_t::IGRF10,
+  &preset_t::IGRF15,
+  &preset_t::IGRF20,
+  &preset_t::IGRF25,
+  &preset_t::IGRF30,
+  &preset_t::IGRF35,
+  &preset_t::IGRF40,
+  &preset_t::DGRF45,
+  &preset_t::DGRF50,
+  &preset_t::DGRF55,
+  &preset_t::DGRF60,
+  &preset_t::DGRF65,
+  &preset_t::DGRF70,
+  &preset_t::DGRF75,
+  &preset_t::DGRF80,
+  &preset_t::DGRF85,
+  &preset_t::DGRF90,
+  &preset_t::DGRF95,
+  &preset_t::DGRF2000,
+  &preset_t::DGRF2005,
+  &preset_t::DGRF2010,
+  &preset_t::IGRF2015,
+};
+
+template <class FloatT>
+const int IGRF12Generic<FloatT>::models_num = sizeof(models) / sizeof(models[0]);
+
+/*
+ * WMM2010 is the standard model for the U.S. and U.K. Departments of Defense  
+ * and for NATO, also used widely in civilian navigation systems. This is a
+ * degree and order 12 main field model for 2010.0 and degree and order 12
+ * secular variation model for 2010 - 2015. For more information on the WMM or
+ * to download the Technical Report, visit the WMM Web site at:
+ *        http://www.ngdc.noaa.gov/geomag/WMM/
+ */
+
+template <class FloatT>
+struct WMM2010Generic : public MagneticFieldGeneric<FloatT> {
+  static const typename MagneticFieldGeneric<FloatT>::model_t WMM;
+
+  static typename MagneticFieldGeneric<FloatT>::model_t get_model(const FloatT &year){
+    return WMM;
+  }
+  static typename MagneticFieldGeneric<FloatT>::latlng_t geomagnetic_latlng(
+      const FloatT &year,
+      const FloatT &geocentric_latitude, const FloatT &longitude){
+    return MagneticFieldGeneric<FloatT>::geomagnetic_latlng(
+        WMM,
+        geocentric_latitude, longitude);
+  }
+};
+
+typedef WMM2010Generic<double> WMM2010;
+
+template <class FloatT>
+const typename MagneticFieldGeneric<FloatT>::model_t WMM2010Generic<FloatT>::WMM = {
+    "WMM2010",
+    2010.0,
+    12,
+    {-29496.6, -1586.3, 4944.4, // 1
+        -2396.6, 3026.1, -2707.7, 1668.6, -576.1, // 2
+        1340.1, -2326.2, -160.2, 1231.9, 251.9, 634.0, -536.6, // 3
+        912.6, 808.9, 286.4, 166.7, -211.2, -357.1, 164.3, 89.4, -309.1, // 4
+        -230.9, 357.2, 44.6, 200.3, 188.9, -141.1, -118.2, -163.0, 0.0, -7.8, 100.9, // 5
+        72.8, 68.6, -20.8, 76.0, 44.1, -141.4, 61.5, -22.8, -66.3, 13.2, 3.1, -77.9, 55.0, // 6
+        80.5, -75.1, -57.9, -4.7, -21.1, 45.3, 6.5, 13.9, 24.9, 10.4, 7.0, 1.7, -27.7, 4.9, -3.3, // 7
+        24.4, 8.1, 11.0, -14.5, -20.0, -5.6, 11.9, -19.3, -17.4, 11.5, 16.7, 10.9, 7.0, -14.1, -10.8, -3.7, 1.7, // 8
+        5.4, 9.4, -20.5, 3.4, 11.5, -5.2, 12.8, 3.1, -7.2, -12.4, -7.4, -0.7, 8.0, 8.4, 2.1, -8.5, -6.1, -10.1, 7.0, // 9
+        -2.0, -6.3, 2.8, 0.9, -0.1, -1.1, 4.7, -0.2, 4.4, 2.5, -7.2, -0.3, -1.0, 2.2, -3.9, 3.1, -2.0, -1.0, -2.0, -2.8, -8.3, // 10
+        3.0, -1.5, 0.2, -2.1, 1.7, 1.7, -0.6, -0.5, -1.8, 0.5, 0.9, -0.8, -0.4, 0.4, -2.5, 1.8, -1.3, 0.1, -2.1, 0.7, -1.9, 3.8, -1.8, // 11
+        -2.2, -0.2, -0.9, 0.3, 0.3, 1.0, 2.1, -0.6, -2.5, 0.9, 0.5, -0.1, 0.6, 0.5, -0.0, -0.4, 0.1, -0.4, 0.3, 0.2, -0.9, -0.8, -0.2, 0.0, 0.9, } // 12
+    };
+
+#endif /* __MAGNETIC_FIELD_H__ */