Convert between undistorted focal plane coordinate (slant range) and ground coordinates. More...

#include <RadarGroundMap.h>

Inheritance diagram for Isis::RadarGroundMap:

Collaboration diagram for Isis::RadarGroundMap:

Public Types
enum	PartialType { WRT_Latitude , WRT_Longitude , WRT_Radius , WRT_MajorAxis , WRT_MinorAxis , WRT_PolarAxis }
	Radius axes types to use when computing partials. More...

Public Member Functions
	RadarGroundMap (Camera *parent, Radar::LookDirection ldir, double waveLength)

virtual	~RadarGroundMap ()
	Destructor. More...

virtual bool	SetFocalPlane (const double ux, const double uy, const double uz)
	Compute ground position from slant range. More...

virtual bool	SetGround (const Latitude &lat, const Longitude &lon)
	Compute undistorted focal plane coordinate from ground position. More...

virtual bool	SetGround (const SurfacePoint &surfacePoint)
	Compute undistorted focal plane coordinate from ground position that includes a local radius. More...

virtual bool	GetXY (const SurfacePoint &spoint, double cudx, double cudy, bool test=false)
	Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call. More...

virtual bool	GetdXYdPosition (const SpicePosition::PartialType varType, int coefIndex, double cudx, double cudy)
	Compute derivative w/r to position of focal plane coordinate from ground position using current Spice from SetImage call. More...

virtual bool	GetdXYdPoint (std::vector< double > d_lookB, double dx, double dy)
	Compute derivative of focal plane coordinate w/r to ground point from ground position using current Spice from SetImage call. More...

void	SetRangeSigma (double rangeSigma)
	Set the range sigma. More...

double	RangeSigma ()
	Return the range sigma. More...

void	SetDopplerSigma (double dopplerSigma)
	Set the doppler sigma. More...

double	YScale ()
	Return the doppler sigma. More...

double	WaveLength ()
	Return the wavelength. More...

virtual bool	GetXY (const double lat, const double lon, const double radius, double cudx, double cudy)
	Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call. More...

virtual bool	GetdXYdOrientation (const SpiceRotation::PartialType varType, int coefIndex, double cudx, double cudy)
	Compute derivative of focal plane coordinate w/r to instrument using current state from SetImage call. More...

virtual bool	GetdXYdTOrientation (const SpiceRotation::PartialType varType, int coefIndex, double cudx, double cudy)
	Compute derivative of focal plane coordinate w/r to target body using current state. More...

std::vector< double >	PointPartial (SurfacePoint spoint, PartialType wrt)
	Compute derivative with respect to indicated variable of conversion function from lat/lon/rad to rectangular coord. More...

std::vector< double >	EllipsoidPartial (SurfacePoint spoint, PartialType raxis)
	Compute derivative of focal plane coordinate w/r to one of the ellipsoidal radii (a, b, or c) More...

std::vector< double >	MeanRadiusPartial (SurfacePoint spoint, Distance meanRadius)
	Compute derivative of focal plane coordinate w/r to mean of the ellipsoidal radii (a, b, c) More...

double	DQuotient (std::vector< double > &look, std::vector< double > &dlook, int index)
	Convenience method for quotient rule applied to look vector. More...

double	FocalPlaneX () const

double	FocalPlaneY () const

Protected Attributes
double	p_focalPlaneX
	Camera's x focal plane coordinate. More...

double	p_focalPlaneY
	Camera's y focal plane coordinate. More...

Detailed Description

Convert between undistorted focal plane coordinate (slant range) and ground coordinates.

This class is used to convert between undistorted focal plane coordinate (the slant range) and ground coordinates lat/lon. This class handles the case of Radar instruments.

See also: Camera

Author: 2008-06-16 Jeff Anderson

Member Enumeration Documentation

◆ PartialType

enum Isis::CameraGroundMap::PartialType

inherited

Radius axes types to use when computing partials.

When computing partials, this enum represents the "with respect to" variable in the computation.

Enumerator
WRT_Latitude
WRT_Longitude
WRT_Radius
WRT_MajorAxis
WRT_MinorAxis
WRT_PolarAxis

Constructor & Destructor Documentation

◆ RadarGroundMap()

Isis::RadarGroundMap::RadarGroundMap	(	Camera *	parent,
		Radar::LookDirection	ldir,
		double	waveLength
	)

References Isis::Camera::Lines().

◆ ~RadarGroundMap()

virtual Isis::RadarGroundMap::~RadarGroundMap ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ DQuotient()

double Isis::CameraGroundMap::DQuotient	(	std::vector< double > &	look,
		std::vector< double > &	dlook,
		int	index
	)

inherited

Convenience method for quotient rule applied to look vector.

This method will compute the derivative of the following function (coordinate x or y) / (coordinate z)

Parameters

look	look vector in camera frame
dlook	derivative of look vector in camera frame
index	vector value to differentiate

Returns: double derivative Computed derivative

Referenced by Isis::CameraGroundMap::GetdXYdOrientation(), Isis::CameraGroundMap::GetdXYdPoint(), Isis::CameraGroundMap::GetdXYdPosition(), and Isis::CameraGroundMap::GetdXYdTOrientation().

◆ EllipsoidPartial()

vector< double > Isis::CameraGroundMap::EllipsoidPartial	(	SurfacePoint	spoint,
		PartialType	raxis
	)

inherited

Compute derivative of focal plane coordinate w/r to one of the ellipsoidal radii (a, b, or c)

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the a (major axis), b (minor axis), or c (polar axis) radius, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

spoint	Surface point whose derivative is to be evalutated
raxis	Radius axis enumerated partial type (definitions in this header)

Exceptions

IException::Programmer "Invalid partial type for this method"

Returns: vector<double> partialDerivative of body-fixed point with respect to selected ellipsoid axis

References _FILEINFO_, Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLongitude(), Isis::IException::Programmer, Isis::Angle::radians(), Isis::CameraGroundMap::WRT_MajorAxis, Isis::CameraGroundMap::WRT_MinorAxis, and Isis::CameraGroundMap::WRT_PolarAxis.

Referenced by Isis::IsisBundleObservation::computeTargetPartials().

◆ FocalPlaneX()

double Isis::CameraGroundMap::FocalPlaneX ( ) const

inlineinherited

Returns: The undistorted focal plane x

References Isis::CameraGroundMap::p_focalPlaneX.

◆ FocalPlaneY()

double Isis::CameraGroundMap::FocalPlaneY ( ) const

inlineinherited

Returns: The undistorted focal plane y

References Isis::CameraGroundMap::p_focalPlaneY.

◆ GetdXYdOrientation()

bool Isis::CameraGroundMap::GetdXYdOrientation	(	const SpiceRotation::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)

virtualinherited

Compute derivative of focal plane coordinate w/r to instrument using current state from SetImage call.

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the instrument orientation, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	out] pointer to partial derivative of undistorted focal plane x
*dy	[out] pointer to partial derivative of undistorted focal plane y

Returns: bool If conversion was successful

References Isis::Camera::DistortionMap(), Isis::CameraGroundMap::DQuotient(), Isis::Spice::instrumentRotation(), Isis::CameraGroundMap::p_camera, Isis::SpiceRotation::ReferenceVector(), Isis::SpiceRotation::ToReferencePartial(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

Referenced by Isis::IsisBundleObservation::computeImagePartials().

◆ GetdXYdPoint()

bool Isis::RadarGroundMap::GetdXYdPoint	(	std::vector< double >	d_lookB,
		double *	dx,
		double *	dy
	)

virtual

Compute derivative of focal plane coordinate w/r to ground point from ground position using current Spice from SetImage call.

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to lat, lon, or radius, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Reimplemented from Isis::CameraGroundMap.

◆ GetdXYdPosition()

bool Isis::RadarGroundMap::GetdXYdPosition	(	const SpicePosition::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)

virtual

Compute derivative w/r to position of focal plane coordinate from ground position using current Spice from SetImage call.

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to a spacecraft position coordinate, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	pointer to partial derivative of undistorted focal plane x
*dy	pointer to partial derivative of undistorted focal plane y

Returns: conversion was successful

Reimplemented from Isis::CameraGroundMap.

References Isis::Spice::bodyRotation(), Isis::SpicePosition::CoordinatePartial(), Isis::Spice::instrumentPosition(), Isis::SpiceRotation::ReferenceVector(), and Isis::SpicePosition::VelocityPartial().

◆ GetdXYdTOrientation()

bool Isis::CameraGroundMap::GetdXYdTOrientation	(	const SpiceRotation::PartialType	varType,
		int	coefIndex,
		double *	dx,
		double *	dy
	)

virtualinherited

Compute derivative of focal plane coordinate w/r to target body using current state.

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the target body orientation, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

varType	enumerated partial type (definitions in SpicePosition)
coefIndex	coefficient index of fit polynomial
*dx	[out] pointer to partial derivative of undistorted focal plane x
*dy	[out] pointer to partial derivative of undistorted focal plane y

Returns: bool If conversion was successful

References Isis::Spice::bodyRotation(), Isis::Camera::DistortionMap(), Isis::CameraGroundMap::DQuotient(), Isis::Spice::instrumentRotation(), Isis::CameraGroundMap::p_camera, Isis::SpiceRotation::ReferenceVector(), Isis::SpiceRotation::toJ2000Partial(), and Isis::CameraDistortionMap::UndistortedFocalPlaneZ().

Referenced by Isis::IsisBundleObservation::computeTargetPartials().

◆ GetXY() [1/2]

bool Isis::CameraGroundMap::GetXY	(	const double	lat,
		const double	lon,
		const double	radius,
		double *	cudx,
		double *	cudy
	)

virtualinherited

Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call.

This method will compute the undistorted focal plane coordinate for a ground position, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/m_pB/x/y. The class value for m_lookJ is set by this method.

Parameters

lat	Latitude in degrees
lon	Longitude in degrees
radius	Radius in meters
cudx	[out] Pointer to computed undistored x focal plane coordinate
cudy	[out] Pointer to computed undistored y focal plane coordinate

Returns: bool If conversion was successful

See also: the application socetlinescankeywords

References Isis::Angle::Degrees, Isis::CameraGroundMap::GetXY(), and Isis::Distance::Meters.

◆ GetXY() [2/2]

bool Isis::RadarGroundMap::GetXY	(	const SurfacePoint &	spoint,
		double *	cudx,
		double *	cudy,
		bool	test = `false`
	)

virtual

Compute undistorted focal plane coordinate from ground position using current Spice from SetImage call.

This method will compute the undistorted focal plane coordinate for a ground position, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y and related radar parameter p_slantRange.

History:: 2019-05-15 Debbie A. Cook - Added optional bool argument to match parent GetXY method to allow the bundle adjustment to skip the back of planet test during iterations. References #2591.

Parameters

spoint

Returns: conversion was successful

Reimplemented from Isis::CameraGroundMap.

References _FILEINFO_, Isis::Spice::bodyRotation(), Isis::SpicePosition::Coordinate(), Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::Spice::instrumentPosition(), Isis::Displacement::kilometers(), Isis::IException::Programmer, Isis::SpiceRotation::ReferenceVector(), and Isis::SpicePosition::Velocity().

◆ MeanRadiusPartial()

vector< double > Isis::CameraGroundMap::MeanRadiusPartial	(	SurfacePoint	spoint,
		Distance	meanRadius
	)

inherited

Compute derivative of focal plane coordinate w/r to mean of the ellipsoidal radii (a, b, c)

This method will compute the derivative of the undistorted focal plane coordinate for a ground position with respect to the mean of the a (major axis), b (minor axis), and c (polar axis) radius, using the current Spice settings (time and kernels) without resetting the current point values for lat/lon/radius/x/y.

Parameters

spoint	Surface point whose derivative is to be evalutated
meanRadius	Computed mean of radii

Returns: vector<double> partialDerivative of body-fixed point with respect to mean radius TODO This method assumes the radii of all points in the adjustment have been set identically to the ???

References Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::Displacement::kilometers(), and Isis::Distance::kilometers().

Referenced by Isis::IsisBundleObservation::computeTargetPartials().

◆ PointPartial()

vector< double > Isis::CameraGroundMap::PointPartial	(	SurfacePoint	spoint,
		PartialType	wrt
	)

inherited

Compute derivative with respect to indicated variable of conversion function from lat/lon/rad to rectangular coord.

Parameters

spoint	Surface point (ground position)
wrt	take derivative with respect to this value

Returns: vector<double> partialDerivative Computed derivative

References Isis::SurfacePoint::GetLatitude(), Isis::SurfacePoint::GetLocalRadius(), Isis::SurfacePoint::GetLongitude(), Isis::Distance::kilometers(), Isis::Angle::radians(), Isis::CameraGroundMap::WRT_Latitude, and Isis::CameraGroundMap::WRT_Longitude.

◆ RangeSigma()

double Isis::RadarGroundMap::RangeSigma ( )

inline

Return the range sigma.

◆ SetDopplerSigma()

void Isis::RadarGroundMap::SetDopplerSigma ( double dopplerSigma )

inline

Set the doppler sigma.

Referenced by Isis::MiniRF::MiniRF().

◆ SetFocalPlane()

bool Isis::RadarGroundMap::SetFocalPlane	(	const double	ux,
		const double	uy,
		const double	uz
	)

virtual

Compute ground position from slant range.

Parameters

ux	Slant range distance in meters scaled to focal plane
uy	Doppler shift (always 0.0)
uz	Not used

Returns: conversion was successful

Reimplemented from Isis::CameraGroundMap.

References Isis::Spice::bodyRotation(), Isis::SpicePosition::Coordinate(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::SpiceRotation::J2000Vector(), Isis::Distance::kilometers(), Isis::PI, Isis::Spice::radii(), Isis::SpiceRotation::ReferenceVector(), and Isis::SpicePosition::Velocity().

◆ SetGround() [1/2]

bool Isis::RadarGroundMap::SetGround	(	const Latitude &	lat,
		const Longitude &	lon
	)

virtual

Compute undistorted focal plane coordinate from ground position.

Parameters

lat	planetocentric latitude in degrees
lon	planetocentric longitude in degrees

Returns: conversion was successful

Reimplemented from Isis::CameraGroundMap.

References Isis::Distance::isValid(), Isis::Sensor::LocalRadius(), and SetGround().

Referenced by SetGround().

◆ SetGround() [2/2]

bool Isis::RadarGroundMap::SetGround ( const SurfacePoint & surfacePoint )

virtual

Compute undistorted focal plane coordinate from ground position that includes a local radius.

Parameters

lat	planetocentric latitude in degrees
lon	planetocentric longitude in degrees
radius	local radius in meters

Returns: conversion was successful

Reimplemented from Isis::CameraGroundMap.

References Isis::Spice::bodyRotation(), Isis::SpicePosition::Coordinate(), Isis::Spice::instrumentPosition(), Isis::Spice::instrumentRotation(), Isis::SpiceRotation::J2000Vector(), Isis::Radar::Left, Isis::CameraGroundMap::p_focalPlaneX, Isis::CameraGroundMap::p_focalPlaneY, Isis::SpiceRotation::ReferenceVector(), Isis::Radar::Right, Isis::Camera::SetFocalLength(), Isis::ShapeModel::setSurfacePoint(), Isis::Target::shape(), Isis::Spice::target(), Isis::SurfacePoint::ToNaifArray(), Isis::SurfacePoint::Valid(), and Isis::SpicePosition::Velocity().

◆ SetRangeSigma()

void Isis::RadarGroundMap::SetRangeSigma ( double rangeSigma )

inline

Set the range sigma.

Referenced by Isis::MiniRF::MiniRF().

◆ WaveLength()

double Isis::RadarGroundMap::WaveLength ( )

inline

Return the wavelength.

◆ YScale()

double Isis::RadarGroundMap::YScale ( )

inline

Return the doppler sigma.

Member Data Documentation

◆ p_focalPlaneX

double Isis::CameraGroundMap::p_focalPlaneX

protectedinherited

Camera's x focal plane coordinate.

Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), Isis::CameraGroundMap::FocalPlaneX(), Isis::VimsGroundMap::SetGround(), and SetGround().

◆ p_focalPlaneY

double Isis::CameraGroundMap::p_focalPlaneY

protectedinherited

Camera's y focal plane coordinate.

Referenced by Isis::LineScanCameraGroundMap::FindFocalPlane(), Isis::CameraGroundMap::FocalPlaneY(), Isis::VimsGroundMap::SetGround(), and SetGround().

The documentation for this class was generated from the following files:

/Users/arsanders/repos/ISIS3/isis/src/base/objs/RadarGroundMap/RadarGroundMap.h
/Users/arsanders/repos/ISIS3/isis/src/base/objs/RadarGroundMap/RadarGroundMap.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ PartialType

Constructor & Destructor Documentation

◆ RadarGroundMap()

◆ ~RadarGroundMap()

Member Function Documentation

◆ DQuotient()

◆ EllipsoidPartial()

◆ FocalPlaneX()

◆ FocalPlaneY()

◆ GetdXYdOrientation()

◆ GetdXYdPoint()

◆ GetdXYdPosition()

◆ GetdXYdTOrientation()

◆ GetXY() [1/2]

◆ GetXY() [2/2]

◆ MeanRadiusPartial()

◆ PointPartial()

◆ RangeSigma()

◆ SetDopplerSigma()

◆ SetFocalPlane()

◆ SetGround() [1/2]

◆ SetGround() [2/2]

◆ SetRangeSigma()

◆ WaveLength()

◆ YScale()

Member Data Documentation

◆ p_focalPlaneX

◆ p_focalPlaneY