BundleControlPoint.h

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#ifndef BundleControlPoint_h
#define BundleControlPoint_h

#include <QVector>

#include <QSharedPointer>

#include "BundleMeasure.h"
#include "BundleSettings.h"
#include "ControlPoint.h"
#include "SparseBlockMatrix.h"
#include "SurfacePoint.h"

namespace Isis {

  class ControlMeasure;

  class BundleControlPoint : public QVector<BundleMeasureQsp> {

    public:
      BundleControlPoint(ControlPoint *point); // default constructor
      BundleControlPoint(const BundleControlPoint &src);
      ~BundleControlPoint();

      // copy
      BundleControlPoint &operator=(const BundleControlPoint &src);// ??? not implemented
      void copy(const BundleControlPoint &src);

      // mutators
      BundleMeasureQsp addMeasure(ControlMeasure *controlMeasure);
      void computeResiduals();
      void setAdjustedSurfacePoint(SurfacePoint surfacePoint);
      void setNumberOfRejectedMeasures(int numRejected);
      void setRejected(bool reject);
      void setWeights(const BundleSettingsQsp settings, double metersToRadians);
      void zeroNumberOfRejectedMeasures();

      // accessors
      ControlPoint *rawControlPoint() const;
      bool isRejected() const;
      int numberOfMeasures() const;
      int numberOfRejectedMeasures() const;
      double residualRms() const;
      SurfacePoint adjustedSurfacePoint() const;
      QString id() const;
      ControlPoint::PointType type() const;
      boost::numeric::ublas::bounded_vector< double, 3 > &corrections();
      boost::numeric::ublas::bounded_vector< double, 3 > &aprioriSigmas();
      boost::numeric::ublas::bounded_vector< double, 3 > &adjustedSigmas();
      boost::numeric::ublas::bounded_vector< double, 3 > &weights();
      boost::numeric::ublas::bounded_vector<double, 3> &nicVector();
      SparseBlockRowMatrix &cholmodQMatrix();

      // string format methods
      QString formatBundleOutputSummaryString(bool errorPropagation) const;
      QString formatBundleOutputDetailString(bool errorPropagation, double RTM, bool solveRadius=false) const;
      QString formatValue(double value, int fieldWidth, int precision) const;
      QString formatAprioriSigmaString(int type, int fieldWidth, int precision, bool solveRadius=false) const;
      QString formatLatitudeAprioriSigmaString(int fieldWidth, int precision) const;
      QString formatLongitudeAprioriSigmaString(int fieldWidth, int precision) const;
      QString formatRadiusAprioriSigmaString(int fieldWidth, int precision, bool solveRadius=false) const;
      QString formatAdjustedSigmaString(int type, int fieldWidth, int precision,
                                        bool errorPropagation) const;
      QString formatLatitudeAdjustedSigmaString(int fieldWidth, int precision,
                                                bool errorPropagation) const;
      QString formatLongitudeAdjustedSigmaString(int fieldWidth, int precision,
                                                 bool errorPropagation) const;
      QString formatRadiusAdjustedSigmaString(int fieldWidth, int precision, 
                                              bool errorPropagation) const;

    private:
      ControlPoint *m_controlPoint;

      boost::numeric::ublas::bounded_vector< double, 3 > m_corrections;
      boost::numeric::ublas::bounded_vector< double, 3 > m_aprioriSigmas;
      boost::numeric::ublas::bounded_vector< double, 3 > m_adjustedSigmas;
      boost::numeric::ublas::bounded_vector< double, 3 > m_weights;
      boost::numeric::ublas::bounded_vector<double, 3> m_nicVector;
      SparseBlockRowMatrix m_cholmodQMatrix;
  };

  // typedefs
  typedef QSharedPointer<BundleControlPoint> BundleControlPointQsp;
}

#endif // BundleControlPoint_h