Provides support for NAIF's Digital Shape Kernel (DSK) More...

#include <NaifDskShape.h>

Inheritance diagram for Isis::NaifDskShape:

Collaboration diagram for Isis::NaifDskShape:

Public Member Functions
	NaifDskShape ()
	Generic constructor sets type to a TIN. More...

	NaifDskShape (Target *target, Pvl &pvl)
	Constructor provided for instantiation from an ISIS cube. More...

	NaifDskShape (const NaifDskPlateModel &model)
	Constructor for creating new shape model from the same DSK file. More...

	~NaifDskShape ()
	Destructor - cleanup is handled automagically. More...

bool	intersectSurface (std::vector< double > observerPos, std::vector< double > lookDirection)
	Compute a DEM intersection from and observer and look direction. More...

void	calculateDefaultNormal ()
	Return the surface normal of the ellipsoid as the default. More...

bool	isDEM () const
	Indicates that this shape model is not from a DEM. More...

void	setLocalNormalFromIntercept ()
	Set the normal vector to the intercept point normal. More...

void	calculateLocalNormal (QVector< double * > cornerNeighborPoints)
	Compute the normal for a local region of surface points. More...

void	calculateSurfaceNormal ()
	Return the surface normal of the ellipsi=oud. More...

Distance	localRadius (const Latitude &lat, const Longitude &lon)
	Determine DEM radius at a given lat/lon grid point. More...

QVector< double >	ellipsoidNormal ()
	Compute the true surface normal vector of an ellipsoid. More...

const NaifDskPlateModel &	model () const
	Returns a direct reference to the DSK plate model file interface. More...

const Intercept *	intercept () const
	Returns a pointer to the current intercept. More...

void	Initialize ()
	Initializes the ShapeModel private variables. More...

SurfacePoint *	surfaceIntersection () const
	Returns the surface intersection for this ShapeModel. More...

bool	hasIntersection ()
	Returns intersection status. More...

bool	hasNormal () const
	Returns surface point normal status. More...

void	clearSurfacePoint ()
	Clears or resets the current surface point. More...

virtual double	emissionAngle (const std::vector< double > &sB)
	Computes and returns emission angle, in degrees, given the observer position. More...

virtual double	incidenceAngle (const std::vector< double > &uB)
	Computes and returns incidence angle, in degrees, given the illuminator position. More...

virtual double	phaseAngle (const std::vector< double > &sB, const std::vector< double > &uB)
	Computes and returns phase angle, in degrees, given the positions of the observer and illuminator. More...

QString	name () const
	Gets the shape name. More...

void	setHasIntersection (bool b)
	Sets the flag to indicate whether this ShapeModel has an intersection. More...

void	setSurfacePoint (const SurfacePoint &surfacePoint)
	Set surface intersection point. More...

std::vector< double >	normal ()
	Returns the local surface normal at the current intersection point. More...

Protected Member Functions
void	setNormal (const std::vector< double >)
	Sets the normal for the currect intersection point. More...

void	setNormal (const double a, const double b, const double c)
	Sets the normal for the currect intersection point. More...

void	setName (QString name)
	Sets the shape name. More...

void	calculateEllipsoidalSurfaceNormal ()
	Calculates the ellipsoidal surface normal. More...

bool	hasEllipsoidIntersection ()
	Returns the status of the ellipsoid model intersection. More...

bool	intersectEllipsoid (const std::vector< double > observerPosRelativeToTarget, const std::vector< double > &observerLookVectorToTarget)
	Finds the intersection point on the ellipsoid model using the given position of the observer (spacecraft) and direction vector from the observer to the target (body). More...

bool	hasValidTarget () const
	Returns the status of the target. More...

std::vector< Distance >	targetRadii () const
	Returns the radii of the body in km. More...

void	setHasNormal (bool status)
	Sets the flag to indicate whether this ShapeModel has a surface normal. More...

double	resolution ()
	Convenience method to get pixel resolution (m/pix) at current intersection point. More...

Private Member Functions
	NaifDskShape (const NaifDskShape &model)

NaifDskShape &	operator= (const NaifDskShape &model)

Private Attributes
NaifDskPlateModel	m_model
	Plate model to intersect. More...

QScopedPointer< Intercept >	m_intercept
	Pointer to the shape's intercept. More...

Detailed Description

Provides support for NAIF's Digital Shape Kernel (DSK)

Author: 2014-02-07 Kris Becker

History:

20104-02-07 - Kris Becker - Original Version

2015-03-08 Jeannie Backer - Changed name from NaifDskShapeModel to match other classes derived from ShapeModel. Added documentation and test. Added class to ISIS trunk. References #2035

2015-03-14 Jeannie Backer - Modified calculateLocalNormal() to simply call setLocalNormalFromIntercept() rather than trying to interpolate based on the neighbor values. References #2035

2015-04-30 Jeannie Backer - Added isDEM() method. References #2243.

2016-06-13 Kelvin Rodriguez - Removed redundant contructor PlaneShape(Target, Pvl). References #2214

Todo:: Remove Model from name to match other derived classes

Definition at line 55 of file NaifDskShape.h.

Constructor & Destructor Documentation

Isis::NaifDskShape::NaifDskShape ( )

Generic constructor sets type to a TIN.

Definition at line 53 of file NaifDskShape.cpp.

References Isis::ShapeModel::setName().

Isis::NaifDskShape::NaifDskShape	(	Target *	target,
		Pvl &	pvl
	)

Constructor provided for instantiation from an ISIS cube.

This constructor is typically used for and ISIS cube that has been initialized by spiceinit. The DEM name should be that of a NAIF DSK file. This constructor will throw an exception if it fails to open the DSK file.

Author: 2014-02-12 Kris Becker

Parameters

target	Target object describing the observed body
pvl	ISIS Cube label. Extract the name of the DEM from the Kernels group

Definition at line 77 of file NaifDskShape.cpp.

References Isis::PvlObject::findGroup(), Isis::PvlContainer::hasKeyword(), m_model, Isis::ShapeModel::setName(), and Isis::PvlObject::Traverse.

Isis::NaifDskShape::NaifDskShape ( const NaifDskPlateModel & model )

Constructor for creating new shape model from the same DSK file.

This constructor provides the ability to create a formal shape model from the NAIF DSK plate model file already opened. This approach allows multiple threads to access the same DSK file interface without the overhead of opening many instances of the same file.

Author: 2014-02-12 Kris Becker

Parameters

model DSK plate model from an existing NaidDskPlateModel (see the model() method

Definition at line 119 of file NaifDskShape.cpp.

Isis::NaifDskShape::~NaifDskShape ( )

Destructor - cleanup is handled automagically.

Definition at line 130 of file NaifDskShape.cpp.

Member Function Documentation

void Isis::NaifDskShape::calculateDefaultNormal ( )

virtual

Return the surface normal of the ellipsoid as the default.

Implements Isis::ShapeModel.

Definition at line 263 of file NaifDskShape.cpp.

References calculateSurfaceNormal().

void Isis::ShapeModel::calculateEllipsoidalSurfaceNormal ( )

protectedinherited

Calculates the ellipsoidal surface normal.

Definition at line 81 of file ShapeModel.cpp.

References _FILEINFO_.

Referenced by Isis::EllipsoidShape::calculateDefaultNormal(), Isis::DemShape::calculateDefaultNormal(), Isis::EllipsoidShape::calculateSurfaceNormal(), and Isis::DemShape::calculateSurfaceNormal().

void Isis::NaifDskShape::calculateLocalNormal ( QVector< double * > neighborPoints )

virtual

Compute the normal for a local region of surface points.

This method will calculate the surface normal of an assumed very local region of points. This method is provided to fullfil the specs of the ShapeModel class but this approach is not the most efficent means to accomplish this for a pre-exising intercept point. See setLocalNormalFromIntercept() for this.

The ShapeModel class makes the assumption that the four pixel corners of the center intercept point forms a plane from which a surface normal can be computed. For the Naif DSK plate model, we have already identified the plate (see m_intercept) from the DSK plate model (m_model) of the intercept point that provides it directly. That is what setLocalNormalFromIntercept() provides.

So, this implementation will compute the centroid of the neighboring points and make a determination if it intercepts the current intercept plate as defined by m_intercept - if it is valid. If it does not exist or does not intercept the plate, a new intercept point is computed and returned here.

Author: 2014-02-14 Kris Becker

Parameters

neighborPoints Input body-fixed points to compute normal for

Implements Isis::ShapeModel.

Definition at line 249 of file NaifDskShape.cpp.

References _FILEINFO_, Isis::ShapeModel::hasIntersection(), Isis::IException::Programmer, and setLocalNormalFromIntercept().

void Isis::NaifDskShape::calculateSurfaceNormal ( )

virtual

Return the surface normal of the ellipsi=oud.

Implements Isis::ShapeModel.

Definition at line 269 of file NaifDskShape.cpp.

References ellipsoidNormal(), and Isis::ShapeModel::setNormal().

Referenced by calculateDefaultNormal().

void Isis::ShapeModel::clearSurfacePoint ( )

inherited

Clears or resets the current surface point.

Definition at line 327 of file ShapeModel.cpp.

Referenced by Isis::Camera::RawFocalPlanetoImage(), Isis::Sensor::SetGround(), Isis::Camera::SetGround(), Isis::Sensor::SetGroundLocal(), Isis::Camera::SetImage(), Isis::Camera::SetImageMapProjection(), Isis::Camera::SetImageSkyMapProjection(), Isis::Sensor::setTime(), Isis::Sensor::SetUniversalGround(), and Isis::Camera::SetUniversalGround().

QVector< double > Isis::NaifDskShape::ellipsoidNormal ( )

Compute the true surface normal vector of an ellipsoid.

This routine is used instead of the one provided by the ShapeModel implementation. This is primarly because ShapeModel::calculateEllipsoidalSurfaceNormal() it is only suitable for a spheroid. This implementation is intended for irregular bodies so we expect triaxial ellipsoids.

Author: 2014-02-12 Kris Becker

Returns: QVector<double> Normal vector at the intercept point relative to the ellipsoid (not the plate model)

Definition at line 289 of file NaifDskShape.cpp.

References _FILEINFO_, Isis::NaifStatus::CheckErrors(), Isis::ShapeModel::hasIntersection(), Isis::ShapeModel::hasValidTarget(), Isis::IException::Programmer, Isis::ShapeModel::surfaceIntersection(), Isis::ShapeModel::targetRadii(), and Isis::SurfacePoint::ToNaifArray().

Referenced by calculateSurfaceNormal().

double Isis::ShapeModel::emissionAngle ( const std::vector< double > & observerBodyFixedPosition )

virtualinherited

Computes and returns emission angle, in degrees, given the observer position.

Emission Angle: The angle between the surface normal vector at the intersection point and the vector from the intersection point to the observer (usually the spacecraft). The emission angle varies from 0 degrees when the observer is viewing the sub-spacecraft point (nadir viewing) to 90 degrees when the intercept is tangent to the surface of the target body. Thus, higher values of emission angle indicate more oblique viewing of the target.

Parameters

observerBodyFixedPosition Three dimensional position of the observer, in the coordinate system of the target body.

Returns: The emission angle, in decimal degrees.

Reimplemented in Isis::PlaneShape.

Definition at line 126 of file ShapeModel.cpp.

References Isis::RAD2DEG().

Referenced by Isis::Sensor::EmissionAngle(), and Isis::Sensor::SetGroundLocal().

bool Isis::ShapeModel::hasEllipsoidIntersection ( )

protectedinherited

Returns the status of the ellipsoid model intersection.

Returns: bool Indicates whether this shape model has a valid ellipsoid intersection.

Definition at line 154 of file ShapeModel.cpp.

bool Isis::ShapeModel::hasIntersection ( )

inherited

Returns intersection status.

Returns: bool Indicates whether this ShapeModel has an intersection.

Definition at line 309 of file ShapeModel.cpp.

Referenced by Isis::EllipsoidShape::calculateLocalNormal(), calculateLocalNormal(), ellipsoidNormal(), Isis::Camera::GetLocalNormal(), Isis::Sensor::HasSurfaceIntersection(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::DemShape::intersectSurface(), and setLocalNormalFromIntercept().

bool Isis::ShapeModel::hasNormal ( ) const

inherited

Returns surface point normal status.

Returns: Indicates whether this ShapeModel has a surface normal.

Definition at line 319 of file ShapeModel.cpp.

Referenced by Isis::Camera::GetLocalNormal().

bool Isis::ShapeModel::hasValidTarget ( ) const

protectedinherited

Returns the status of the target.

If it is NULL, this method returns false.

Returns: Indicates whether the target is valid.

Definition at line 360 of file ShapeModel.cpp.

Referenced by ellipsoidNormal().

double Isis::ShapeModel::incidenceAngle ( const std::vector< double > & illuminatorBodyFixedPosition )

virtualinherited

Computes and returns incidence angle, in degrees, given the illuminator position.

Incidence Angle: The angle between the surface normal vector at the intersection point and the vector from the intersection point to the illuminator (usually the sun).

Note: this method does not use the surface model.

Parameters

illuminatorBodyFixedPosition Three dimensional position for the illuminator, in the body-fixed coordinate system.

Returns: double Incidence angle, in degrees.

Reimplemented in Isis::PlaneShape.

Definition at line 173 of file ShapeModel.cpp.

References Isis::RAD2DEG().

Referenced by Isis::Sensor::IncidenceAngle().

void Isis::ShapeModel::Initialize ( )

inherited

Initializes the ShapeModel private variables.

Definition at line 57 of file ShapeModel.cpp.

const Intercept * Isis::NaifDskShape::intercept ( ) const

Returns a pointer to the current intercept.

This method returns a const pointer to the intercept last computed from the intersectSurface() call. Note it is left to the caller to ensure it is non-NULL.

Author: 2014-02-12 Kris Becker

Returns: const Intercept* Pointer reference to the last computed intercept point. Could be NULL so check it!

Definition at line 338 of file NaifDskShape.cpp.

References m_intercept.

bool Isis::ShapeModel::intersectEllipsoid	(	const std::vector< double >	observerBodyFixedPosition,
		const std::vector< double > &	observerLookVectorToTarget
	)

protectedinherited

Finds the intersection point on the ellipsoid model using the given position of the observer (spacecraft) and direction vector from the observer to the target (body).

Parameters

observerBodyFixedPosition	Three dimensional position of the observer, in the coordinate system of the target body.
observerLookVectorToTarget	Three dimensional direction vector from the observer to the target.

Returns: bool Indicates whether this shape model found a valid ellipsoid intersection.

Definition at line 208 of file ShapeModel.cpp.

Referenced by Isis::EllipsoidShape::intersectSurface(), and Isis::DemShape::intersectSurface().

bool Isis::NaifDskShape::intersectSurface	(	std::vector< double >	observerPos,
		std::vector< double >	lookDirection
	)

virtual

Compute a DEM intersection from and observer and look direction.

This method computes a DEM intercept point given an observer location and direction vector in body fixed coordinates. This method provides true ray intercept techiques as implemented by NAIF's DSK API.

If the intercept is successful, its state is retain in this class for further application. Use of a scoped pointer handles the memory management and indication of success.

Author: 2014-02-13 Kris Becker

Parameters

observerPos	Position of observer in body fixed coordiates
lookDirection	Look direction (ray) from the observer

Returns: bool Returns true if an intercept was successful, false otherwise

Implements Isis::ShapeModel.

Definition at line 151 of file NaifDskShape.cpp.

References Isis::NaifDskPlateModel::intercept(), m_intercept, m_model, and Isis::ShapeModel::setSurfacePoint().

bool Isis::NaifDskShape::isDEM ( ) const

virtual

Indicates that this shape model is not from a DEM.

Since this method returns false for this class, the Camera class will not calculate the local normal using neighbor points.

Returns: bool Indicates that this is not a DEM shape model.

Implements Isis::ShapeModel.

Definition at line 219 of file NaifDskShape.cpp.

Distance Isis::NaifDskShape::localRadius	(	const Latitude &	lat,
		const Longitude &	lon
	)

virtual

Determine DEM radius at a given lat/lon grid point.

This method computes the radius value of a point on an ellipsoid. A vector from the center of the body through the lart/lon location on the ellipsiod. From this, a look direction back toward the center of the body is genrated and then an intercept point is determined. See NaifDskPlateMode::point() for details.

Author: 2014-02-10 Kris Becker

Parameters

lat	Latitude coordinate of grid point
lon	Longitude coordinate of grid point

Returns: Distance Radius value of the intercept grid point

Implements Isis::ShapeModel.

Definition at line 181 of file NaifDskShape.cpp.

References m_model, and Isis::NaifDskPlateModel::point().

const NaifDskPlateModel & Isis::NaifDskShape::model ( ) const

Returns a direct reference to the DSK plate model file interface.

Definition at line 322 of file NaifDskShape.cpp.

References m_model.

QString Isis::ShapeModel::name ( ) const

inherited

Gets the shape name.

Returns: QString The name of the ShapeModel.

Definition at line 454 of file ShapeModel.cpp.

Referenced by Isis::UniversalGroundMap::GroundRange(), Isis::VimsGroundMap::SetGround(), Isis::Camera::SetGround(), Isis::Camera::SetImageMapProjection(), Isis::TrackTool::updateLabels(), and Isis::AdvancedTrackTool::updateRow().

std::vector< double > Isis::ShapeModel::normal ( )

inherited

Returns the local surface normal at the current intersection point.

Note: This method will throw an error if the normal doesn't exist. Use the hasNormal() method to verify before calling this method.

See Also: hasNormal()

Returns: A surface normal vector, if it exists.

Definition at line 342 of file ShapeModel.cpp.

References _FILEINFO_.

Referenced by Isis::EllipsoidShape::calculateLocalNormal(), Isis::DemShape::calculateLocalNormal(), and Isis::Camera::GetLocalNormal().

double Isis::ShapeModel::phaseAngle	(	const std::vector< double > &	observerBodyFixedPosition,
		const std::vector< double > &	illuminatorBodyFixedPosition
	)

virtualinherited

Computes and returns phase angle, in degrees, given the positions of the observer and illuminator.

Phase Angle: The angle between the vector from the intersection point to the observer (usually the spacecraft) and the vector from the intersection point to the illuminator (usually the sun).

Parameters

observerBodyFixedPosition	Three dimensional position of the observer, in the coordinate system of the target body.
illuminatorBodyFixedPosition	Three dimensional position for the illuminator, in the body-fixed coordinate system.

Returns: double Phase angle, in degrees.

Definition at line 265 of file ShapeModel.cpp.

References Isis::RAD2DEG().

Referenced by Isis::Sensor::PhaseAngle().

double Isis::ShapeModel::resolution ( )

protectedinherited

Convenience method to get pixel resolution (m/pix) at current intersection point.

Returns: The pixel resolution at the surface intersection.

Definition at line 503 of file ShapeModel.cpp.

References _FILEINFO_.

Referenced by Isis::DemShape::intersectSurface().

void Isis::ShapeModel::setHasIntersection ( bool b )

inherited

Sets the flag to indicate whether this ShapeModel has an intersection.

Parameters

b	Indicates whether there is an intersection.

Definition at line 465 of file ShapeModel.cpp.

Referenced by Isis::EquatorialCylindricalShape::intersectSurface(), Isis::DemShape::intersectSurface(), Isis::PlaneShape::intersectSurface(), Isis::Camera::RawFocalPlanetoImage(), Isis::Sensor::SetGroundLocal(), Isis::Camera::SetImageMapProjection(), and Isis::Sensor::SetLookDirection().

void Isis::ShapeModel::setHasNormal ( bool status )

protectedinherited

Sets the flag to indicate whether this ShapeModel has a surface normal.

Parameters

b	Indicates whether there is a normal.

Definition at line 492 of file ShapeModel.cpp.

Referenced by Isis::EllipsoidShape::calculateLocalNormal(), and Isis::DemShape::calculateLocalNormal().

void Isis::NaifDskShape::setLocalNormalFromIntercept ( )

Set the normal vector to the intercept point normal.

This method will reassign the ShapeModel normal to the current intecept point shape (which is a triangular plate) normal. If an intercept point is not defined, an error will ensue.

Author: 2014-02-14 Kris Becker

Definition at line 197 of file NaifDskShape.cpp.

References _FILEINFO_, Isis::ShapeModel::hasIntersection(), m_intercept, Isis::IException::Programmer, and Isis::ShapeModel::setNormal().

Referenced by calculateLocalNormal().

void Isis::ShapeModel::setName ( QString name )

protectedinherited

Sets the shape name.

Parameters

name	The name of the ShapeModel.

Definition at line 443 of file ShapeModel.cpp.

Referenced by Isis::DemShape::DemShape(), Isis::EllipsoidShape::EllipsoidShape(), Isis::EquatorialCylindricalShape::EquatorialCylindricalShape(), NaifDskShape(), and Isis::PlaneShape::PlaneShape().

void Isis::ShapeModel::setNormal ( const std::vector< double > normal )

protectedinherited

Sets the normal for the currect intersection point.

Note: This method will throw an error if this ShapeModel doesn't have and intersection. Use the hasIntersection() method to verify before calling this method.

See Also: hasIntersection()

Parameters

normal Three dimensional surface normal vector.

Definition at line 398 of file ShapeModel.cpp.

References _FILEINFO_.

Referenced by Isis::EllipsoidShape::calculateLocalNormal(), Isis::DemShape::calculateLocalNormal(), calculateSurfaceNormal(), Isis::PlaneShape::intersectSurface(), and setLocalNormalFromIntercept().

void Isis::ShapeModel::setNormal	(	const double	a,
		const double	b,
		const double	c
	)

protectedinherited

Sets the normal for the currect intersection point.

Note: This method will throw an error if this ShapeModel doesn't have and intersection. Use the hasIntersection() method to verify before calling this method.

See Also: hasIntersection()

Parameters

a	First coordinate value for the three dimensional surface normal.
b	Second coordinate value for the three dimensional surface normal.
c	Third coordinate value for the three dimensional surface normal.

Definition at line 423 of file ShapeModel.cpp.

References _FILEINFO_.

void Isis::ShapeModel::setSurfacePoint ( const SurfacePoint & surfacePoint )

inherited

Set surface intersection point.

Parameters

surfacePoint Position coordinate for the surface point.

Definition at line 476 of file ShapeModel.cpp.

Referenced by intersectSurface(), Isis::RadarGroundMap::SetGround(), and Isis::Sensor::SetGround().

SurfacePoint * Isis::ShapeModel::surfaceIntersection ( ) const

inherited

Returns the surface intersection for this ShapeModel.

Returns: SurfacePoint Three dimensional position for the surface intersection, in body-fixed coordinate system.

Definition at line 299 of file ShapeModel.cpp.

Referenced by Isis::EllipsoidShape::calculateLocalNormal(), Isis::DemShape::calculateLocalNormal(), Isis::Sensor::Coordinate(), ellipsoidNormal(), Isis::PlaneShape::emissionAngle(), Isis::Sensor::GetLatitude(), Isis::Sensor::GetLongitude(), Isis::Sensor::GetSurfacePoint(), Isis::PlaneShape::incidenceAngle(), Isis::EquatorialCylindricalShape::intersectSurface(), Isis::DemShape::intersectSurface(), Isis::PlaneShape::intersectSurface(), Isis::PlaneShape::localRadius(), Isis::Sensor::LocalRadius(), Isis::Sensor::SetGroundLocal(), Isis::Sensor::SetUniversalGround(), Isis::Sensor::SlantDistance(), and Isis::Sensor::SolarDistance().

std::vector< Distance > Isis::ShapeModel::targetRadii ( ) const

protectedinherited

Returns the radii of the body in km.

The radii are obtained from the target. Note: This method will throw an error if the ShapeModel does not have a valid target. Use the hasValidTarget() method to verify before calling this method.