C ++********************************************************************
C                                                                      *
C                                                                      *
C                                                                      *
C **********************************************************************
C=* FROM: SPIDER - MODULAR IMAGE PROCESSING SYSTEM.   AUTHOR: J.FRANK  *
C=* Copyright (C) 1985-2005  Health Research Inc.                      *
C=*                                                                    *
C=* HEALTH RESEARCH INCORPORATED (HRI),                                *   
C=* ONE UNIVERSITY PLACE, RENSSELAER, NY 12144-3455.                   *
C=*                                                                    *
C=* Email:  spider@wadsworth.org                                       *
C=*                                                                    *
C=* This program is free software; you can redistribute it and/or      *
C=* modify it under the terms of the GNU General Public License as     *
C=* published by the Free Software Foundation; either version 2 of the *
C=* License, or (at your option) any later version.                    *
C=*                                                                    *
C=* This program is distributed in the hope that it will be useful,    *
C=* but WITHOUT ANY WARRANTY; without even the implied warranty of     *
C=* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU  *
C=* General Public License for more details.                           *
C=*                                                                    *
C=* You should have received a copy of the GNU General Public License  *
C=* along with this program; if not, write to the                      *
C=* Free Software Foundation, Inc.,                                    *
C=* 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.      *
C=*                                                                    *
C **********************************************************************
C                                                                      *
C                                                                      *
C                                                                      *
C  PURPOSE:                                                            *
C                                                                      *
C  PARAMETERS:                                                         *
C                                                                      *
C IMAGE_PROCESSING_ROUTINE                                             *
C                                                                      *
C        0         2         3         4         5         6         7 *
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C***********************************************************************

        SUBROUTINE  UQU

        PARAMETER  (N=3)
        DIMENSION  P(N+1,N),Y(N+1),PR(N),PRR(N),PBAR(N),AK(N)
        COMMON /ITERU/  ITER
        COMMON  /PARM/  NT,PIT(4)
        EXTERNAL  FCNQ

        DATA  PI/3.1415926/

        ITER=0
        DO    I=1,3
           P(2,I)=PIT(I)/180.0*PI
        ENDDO

C       BRACKET BY 20 DEGS
        BRACKET=0.34906585
        P(1,1)=P(2,1)-BRACKET
        P(1,2)=P(2,2)+BRACKET
        P(1,3)=P(2,3)+BRACKET
        P(3,1)=P(2,1)+BRACKET
        P(3,2)=P(2,2)+BRACKET
        P(3,3)=P(2,3)-BRACKET
        P(4,1)=P(2,1)-BRACKET
        P(4,2)=P(2,2)+BRACKET
        P(4,3)=P(2,3)-BRACKET

C       FIND INITIAL VALUES
        DO    J=1,4
           DO    I=1,3
              AK(I)=P(J,I)
           ENDDO
           Y(J)=FCNQ(AK)
        ENDDO

        EPS=0.0001
        ITRMAX=300      
        CALL  AMOEBA(P,Y,N,EPS,FCNQ,ITER,ITRMAX,PR,PRR,PBAR)

        DO    I=1,3
           PIT(I)=P(4,I)*180.0/PI
        ENDDO

        PIT(4)=1.0-Y(4)
        WRITE(NT,1020)  (PIT(L),L=1,4)
1020    FORMAT(' THE EULERIAN ANGLES FOUND BY MINIMIZATION PROCEDURE',/,
     &  '     PHI,  THETA,  PSI  AND  FUNCTION VALUE',/,
     &  3(1X,F9.4),1X,F10.7)
        END