Object/Developer/_bundle_control_point_8h_source.html

#ifndef BundleControlPoint_h

#define BundleControlPoint_h


/* SPDX-License-Identifier: CC0-1.0 */


#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