I hereby send the formula for calculating the asin and acos. They're included a a GIF file, of which I'm sure you can view. I hope they'll be helpfull to you. Jeroen vd. Vegt PS I suppose you already know that 'asin x' does NOT equal '(sin x)^-1', (...) (27 years ago, 21-Nov-97, to lugnet.robotics.handyboard)
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