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Isis 3 Programmer Reference
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15 #include "boost/numeric/ublas/symmetric.hpp"
16 #include "boost/numeric/ublas/io.hpp"
19 #include "Displacement.h"
159 const Distance &radius);
161 const Distance &radius,
const Angle &latSigma,
const Angle &lonSigma,
162 const Distance &radiusSigma);
164 const Distance &radius,
165 const boost::numeric::ublas::symmetric_matrix
166 <
double,boost::numeric::ublas::upper>& covar);
167 SurfacePoint(
const Displacement &x,
const Displacement &y,
168 const Displacement &z);
169 SurfacePoint(
const Displacement &x,
const Displacement &y,
170 const Displacement &z,
const Distance &xSigma,
const Distance &ySigma,
171 const Distance &zSigma);
172 SurfacePoint(
const Displacement &x,
const Displacement &y,
173 const Displacement &z,
174 const boost::numeric::ublas::symmetric_matrix
175 <
double,boost::numeric::ublas::upper>& covar);
180 const Displacement &z,
const Distance &xSigma=Distance(),
181 const Distance &ySigma=Distance(),
const Distance &zSigma=Distance());
183 void SetRectangular(
const Displacement x,
const Displacement y,
const Displacement z,
184 const boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>& covar);
187 const Displacement &z);
191 const Distance &zSigma);
194 const boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>& covar,
195 SurfacePoint::CoordUnits units = SurfacePoint::Meters);
201 void SetSpherical (
const Latitude &lat,
const Longitude &lon,
202 const Distance &radius,
const Angle &latSigma=Angle(),
203 const Angle &lonSigma=Angle(),
204 const Distance &radiusSigma=Distance());
206 void SetSpherical (
const Latitude &lat,
const Longitude &lon,
207 const Distance &radius,
208 const boost::numeric::ublas::symmetric_matrix
209 <
double,boost::numeric::ublas::upper>& covar);
212 const Distance &radius);
215 const boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>& covar,
216 SurfacePoint::CoordUnits units = SurfacePoint::Meters);
219 const Distance &radiusSigma);
222 const Distance &lonSigma,
223 const Distance &radiusSigma);
232 const boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>& covar);
245 Displacement GetX()
const;
246 Displacement GetY()
const;
247 Displacement GetZ()
const;
248 Distance GetXSigma()
const;
249 Distance GetYSigma()
const;
250 Distance GetZSigma()
const;
254 boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>
255 GetRectangularMatrix(SurfacePoint::CoordUnits units = SurfacePoint::Meters)
const;
259 Angle GetLatSigma()
const;
262 Angle GetLonSigma()
const;
265 Distance GetLocalRadiusSigma()
const;
267 boost::numeric::ublas::symmetric_matrix
268 <double,boost::numeric::ublas::upper> GetSphericalMatrix
269 (SurfacePoint::CoordUnits units = SurfacePoint::Meters)
const;
278 double LatToDouble(Latitude lat, CoordUnits units);
279 double LonToDouble(Longitude lon, CoordUnits units);
286 const Distance &sphereRadius)
const;
302 void SetRectangularPoint(
const Displacement &x,
const Displacement &y,
const Displacement &z);
303 void SetSphericalPoint(
const Latitude &lat,
const Longitude &lon,
const Distance &radius);
304 void FreeAllocatedMemory();
306 Distance p_localRadius;
311 boost::numeric::ublas::symmetric_matrix
314 boost::numeric::ublas::symmetric_matrix
void SetRectangular(const Displacement &x, const Displacement &y, const Displacement &z, const Distance &xSigma=Distance(), const Distance &ySigma=Distance(), const Distance &zSigma=Distance())
Set surface point in rectangular body-fixed coordinates wtih optional sigmas.
void ComputeLocalRadius()
Compute the local radius of the surface point.
double MetersToLatitude(double latLength)
This method returns an angular measure of a distance in the direction of and relative to the latitude...
~SurfacePoint()
Destroys a SurfacePoint object/.
double LonToDouble(Longitude lon, CoordUnits units)
This method returns a double version of a Longitude in the specified units.
void SetSpherical(const Latitude &lat, const Longitude &lon, const Distance &radius, const Angle &latSigma=Angle(), const Angle &lonSigma=Angle(), const Distance &radiusSigma=Distance())
Set surface point and covariance matrix in planetocentric coordinates and convert to rectangular (Lat...
double GetSigma(CoordinateType type, CoordIndex index, CoordUnits units)
This method returns a sigma of a SurfacePoint coordinate.
Distance GetLonSigmaDistance() const
Return the longitude sigma in meters.
Distance GetDistanceToPoint(const SurfacePoint &other) const
Computes and returns the distance between two surface points.
Distance GetLatSigmaDistance() const
Return the latitude sigma as a Distance.
void SetRectangularCoordinates(const Displacement &x, const Displacement &y, const Displacement &z)
Set surface point in rectangular coordinates.
double GetZWeight() const
Return Z weight for bundle adjustment Units are 1/(kilometers)^2.
boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > * p_rectCovar
3x3 upper triangular covariance matrix rectangular coordinates
double GetYWeight() const
Return Y weight for bundle adjustment Units are 1/(kilometers)^2.
void SetRectangularMatrix(const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar, SurfacePoint::CoordUnits units=SurfacePoint::Meters)
Set rectangular covariance matrix and store in units of km**2.
void SetSphericalMatrix(const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar, SurfacePoint::CoordUnits units=SurfacePoint::Meters)
Set spherical covariance matrix.
void SetRectangularPoint(const Displacement &x, const Displacement &y, const Displacement &z)
This is a private method to set a surface point in rectangular, body-fixed coordinates.
Latitude GetLatitude() const
Return the body-fixed latitude for the surface point.
void InitPoint()
Initialize a surface point.
void ResetLocalRadius(const Distance &radius)
This method resets the local radius of a SurfacePoint.
static QString coordinateTypeToString(CoordinateType type)
Converts the given SurfacePoint::CoordinateType enumeration to a string.
void SetSphericalPoint(const Latitude &lat, const Longitude &lon, const Distance &radius)
This is a private method to set a surface point in spherical (lat/lon/radius), body-fixed coordinates...
std::vector< double > LatitudinalDerivative(CoordIndex index)
Compute partial derivative of the conversion of the latitudinal coordinates to body-fixed rectangular...
void SetRectangularSigmas(const Distance &xSigma, const Distance &ySigma, const Distance &zSigma)
Set surface point and sigmas in rectangular coordinates and convert to planetocentric.
double GetCoord(CoordinateType type, CoordIndex index, CoordUnits units)
This method returns a coordinate of a SurfacePoint.
double LongitudeToMeters(double longitude) const
This method returns a length in meters version of a delta longitude angle in radians relative to the ...
std::vector< double > RectangularDerivative(CoordIndex index)
Compute partial derivative of the body-fixed rectangular coordinates with respect to the indicated co...
void InitCovariance()
Initialize the variance/covariance matrices.
double DisplacementToDouble(Displacement disp, CoordUnits units)
This method returns a double version of a Displacement in the specified units.
void SetMatrix(CoordinateType type, const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar)
Set the covariance matrix.
@ Rectangular
Body-fixed rectangular x/y/z coordinates.
CoordinateType
Defines the coordinate typ, units, and coordinate index for some of the output methods.
double GetLocalRadiusWeight() const
Return radius weight for bundle adjustment Units are 1/(kilometers)^2.
double LatToDouble(Latitude lat, CoordUnits units)
This method returns a double version of a Latitude in the specified units.
double LatitudeToMeters(double latitude) const
This method returns a Displacement of an Angle relative to the current SurfacePoint latitude.
double MetersToLongitude(double lonLength)
This method returns an angular measure in radians of a distance in the direction of and relative to t...
void FromNaifArray(const double naifValues[3])
A naif array is a c-style array of size 3.
std::vector< double > Partial(CoordinateType type, CoordIndex index)
Compute partial derivative of conversion from body-fixed coordinates to the specified.
static CoordinateType stringToCoordinateType(QString type)
This method converts the given string value to a SurfacePoint::CoordinateType enumeration.
double GetXWeight() const
Return X weight for bundle adjustment Units are 1/(kilometers)^2.
SurfacePoint()
Constructs an empty SurfacePoint object.
Longitude GetLongitude() const
Return the body-fixed longitude for the surface point.
Distance GetLocalRadius() const
Return the radius of the surface point.
void SetSphericalCoordinates(const Latitude &lat, const Longitude &lon, const Distance &radius)
Update spherical coordinates (lat/lon/radius)
void ToNaifArray(double naifOutput[3]) const
A naif array is a c-style array of size 3.
double GetLonWeight() const
Return longitude weight for bundle adjustment Units are 1/(radians)^2.
Distance GetSigmaDistance(CoordinateType type, CoordIndex index)
This method returns a sigma of a SurfacePoint coordinate as a Distance.
double DistanceToDouble(Distance dist, CoordUnits units)
This method returns a double version of a Distance in the specified units.
@ Latitudinal
Planetocentric latitudinal (lat/lon/rad) coordinates.
void SetSphericalSigmas(const Angle &latSigma, const Angle &lonSigma, const Distance &radiusSigma)
Set the spherical sigmas into the spherical variance/covariance matrix in diagonal units of radians^2...
void SetSphericalSigmasDistance(const Distance &latSigma, const Distance &lonSigma, const Distance &radiusSigma)
Set the spherical sigmas (in Distance units) into the spherical variance/covariance matrix.
double GetLatWeight() const
Return latitude weight for bundle adjustment Units are 1/(radians)^2.
boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > * p_sphereCovar
3x3 upper triangular covariance matrix ocentric coordinates
double GetWeight(CoordinateType type, CoordIndex index)
This method returns the weight of a SurfacePoint coordinate Note: At this time a units argument is no...
This class defines a body-fixed surface point.
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