BundleObservation.h

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#ifndef BundleObservation_h
#define BundleObservation_h

#include <QStringList>
#include <QVector>

#include "BundleImage.h"
#include "BundleObservationSolveSettings.h"
#include "BundleTargetBody.h"
#include "LinearAlgebra.h"

namespace Isis {
  class BundleObservationSolveSettings;
  class SpicePosition;
  class SpiceRotation;

  class BundleObservation : public QVector<BundleImageQsp> {

    public:
      // default constructor
      BundleObservation();

      // constructor
      BundleObservation(BundleImageQsp image, QString observationNumber, QString instrumentId,
                        BundleTargetBodyQsp bundleTargetBody);

      // copy constructor
      BundleObservation(const BundleObservation &src);

      // destructor
      ~BundleObservation();

      // equals operator
      BundleObservation &operator=(const BundleObservation &src);

      // copy method
      void copy(const BundleObservation &src);

      void append(const BundleImageQsp &value);

      BundleImageQsp imageByCubeSerialNumber(QString cubeSerialNumber);

      bool setSolveSettings(BundleObservationSolveSettings solveSettings);

      void setIndex(int n);
      int index();

      int numberPositionParameters();
      int numberPointingParameters();
      int numberParameters();

      QString instrumentId();

      SpiceRotation *spiceRotation();
      SpicePosition *spicePosition();

      LinearAlgebra::Vector &parameterWeights();
      LinearAlgebra::Vector &parameterCorrections();
      LinearAlgebra::Vector &aprioriSigmas();
      LinearAlgebra::Vector &adjustedSigmas();

      const BundleObservationSolveSettingsQsp solveSettings();

      bool applyParameterCorrections(LinearAlgebra::Vector corrections);
      bool initializeExteriorOrientation();
      void initializeBodyRotation();
      void updateBodyRotation();

      void bundleOutputFetchData(QVector<double> &finalParameterValues,
                            int &nPositionCoefficients, int &nPointingCoefficients,
                            bool &useDefaultPosition, bool &useDefaultPointing,
                            bool &useDefaultTwist);
      void bundleOutputString(std::ostream &fpOut,bool errorPropagation);
      QString bundleOutputCSV(bool errorPropagation);

      QString formatBundleOutputString(bool errorPropagation, bool imageCSV=false);
      QStringList parameterList();
      QStringList imageNames();

    private:
      bool initParameterWeights();

    private:
      QString m_observationNumber; 
      int m_index; 

      QMap<QString, BundleImageQsp> m_cubeSerialNumberToBundleImageMap;

      QStringList m_serialNumbers;      
      QStringList m_parameterNamesList; 
      QStringList m_imageNames;         

      QString m_instrumentId;      

      BundleObservationSolveSettingsQsp m_solveSettings; 

      SpiceRotation *m_instrumentRotation;   
      SpicePosition *m_instrumentPosition;   
//    SpiceRotation *m_bodyRotation;         //!< Instrument body rotation (in primary image).

      BundleTargetBodyQsp m_bundleTargetBody;       

    // TODO??? change these to LinearAlgebra vectors...
      LinearAlgebra::Vector m_weights;     
      LinearAlgebra::Vector m_corrections;
      //LinearAlgebra::Vector m_solution;  //!< parameter solution vector.
      LinearAlgebra::Vector m_aprioriSigmas;
      LinearAlgebra::Vector m_adjustedSigmas;
  };

  typedef QSharedPointer<BundleObservation> BundleObservationQsp;
}

#endif // BundleObservation_h