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 LinearAlgebra;
  class SparseBlockMatrix;

  class BundleControlPoint : public QVector<BundleMeasureQsp> {

    public:
      // default constructor
      BundleControlPoint(BundleSettingsQsp bundleSettings,
                         ControlPoint *point);
      // copy constructor
      BundleControlPoint(const BundleControlPoint &src);

      //destructor
      ~BundleControlPoint();

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

      // copy method
      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);
      void setSigmaWeightFromGlobals(double gSigma, int index); 
      void setSigmaWeightFromGlobals(double gSigma, int index, double cFactor); 
      void zeroNumberOfRejectedMeasures();
      void productAlphaAV(double alpha,
                          SparseBlockMatrix &sparseNormals,
                          // boost::numeric::ublas::bounded_vector< double, 3 >  &v2,
                          // SparseBlockRowMatrix                                &Q,
                          LinearAlgebra::Vector                               &v1);
      void applyParameterCorrections(LinearAlgebra::Vector imageSolution,
           SparseBlockMatrix &sparseNormals, const BundleTargetBodyQsp target);

      // 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;
      SurfacePoint::CoordinateType coordTypeReports() const;
      SurfacePoint::CoordinateType coordTypeBundle() 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, bool solveRadius=false) const;
      QString formatBundleLatitudinalOutputDetailString(bool errorPropagation, 
                                                        bool solveRadius=false) const;
      QString formatBundleRectangularOutputDetailString(bool errorPropagation) const;
      QString formatValue(double value, int fieldWidth, int precision) const;
      QString formatAprioriSigmaString(SurfacePoint::CoordIndex index, int fieldWidth,
                                       int precision, bool solveRadius=false) const;
      QString formatCoordAprioriSigmaString(SurfacePoint::CoordIndex index, int fieldWidth,
                                            int precision, bool solveRadius=false) const;
      QString formatAdjustedSigmaString(SurfacePoint::CoordIndex, int fieldWidth, int precision,
                                        bool errorPropagation) const;
      QString formatCoordAdjustedSigmaString(SurfacePoint::CoordIndex, int fieldWidth, int precision,
                                                bool errorPropagation) const;

    private:
      // methods
      void updateAdjustedSurfacePointLatitudinally(const BundleTargetBodyQsp target);
      void updateAdjustedSurfacePointRectangularly();
      
      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;
      SurfacePoint::CoordinateType m_coordTypeReports;
      SurfacePoint::CoordinateType m_coordTypeBundle;
  };

  // typedefs
  typedef QSharedPointer<BundleControlPoint> BundleControlPointQsp;
}

#endif // BundleControlPoint_h