This class defines a body-fixed surface point. More...

#include <SurfacePoint.h>

Collaboration diagram for Isis::SurfacePoint:

Public Types
enum	CoordinateType { Latitudinal , Rectangular }
	Defines the coordinate typ, units, and coordinate index for some of the output methods. More...

enum	CoordUnits { Degrees , Kilometers , Meters , Radians }

enum	CoordIndex { One =0 , Two =1 , Three =2 }

Public Member Functions
	SurfacePoint ()
	Constructs an empty SurfacePoint object.

	SurfacePoint (const SurfacePoint &other)
	Constructs a new SurfacePoint object from an existing SurfacePoint.

	SurfacePoint (const Latitude &lat, const Longitude &lon, const Distance &radius)
	Constructs a SurfacePoint object with a spherical point only.

	SurfacePoint (const Latitude &lat, const Longitude &lon, const Distance &radius, const Angle &latSigma, const Angle &lonSigma, const Distance &radiusSigma)
	Constructs a SurfacePoint object with a spherical point and its sigmas.

	SurfacePoint (const Latitude &lat, const Longitude &lon, const Distance &radius, const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar)

	SurfacePoint (const Displacement &x, const Displacement &y, const Displacement &z)
	Constructs a SurfacePoint object with a rectangular point only.

	SurfacePoint (const Displacement &x, const Displacement &y, const Displacement &z, const Distance &xSigma, const Distance &ySigma, const Distance &zSigma)
	Constructs a SurfacePoint object with a rectangular point and sigmas.

	SurfacePoint (const Displacement &x, const Displacement &y, const Displacement &z, const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar)

	~SurfacePoint ()
	Destroys a SurfacePoint object/.

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	SetRectangular (const Displacement x, const Displacement y, const Displacement z, const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar)

void	SetRectangularCoordinates (const Displacement &x, const Displacement &y, const Displacement &z)
	Set surface point in rectangular coordinates.

void	SetRectangularSigmas (const Distance &xSigma, const Distance &ySigma, const Distance &zSigma)
	Set surface point and sigmas in rectangular coordinates and convert to planetocentric.

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	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 (Latitude, Longitude in degrees, Radius in meters; matrix in radians and radians**2)

void	SetSpherical (const Latitude &lat, const Longitude &lon, const Distance &radius, const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar)

void	SetSphericalCoordinates (const Latitude &lat, const Longitude &lon, const Distance &radius)
	Update spherical coordinates (lat/lon/radius)

void	SetSphericalMatrix (const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar, SurfacePoint::CoordUnits units=SurfacePoint::Meters)
	Set spherical covariance matrix.

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, radians^2, km^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.

void	ResetLocalRadius (const Distance &radius)
	This method resets the local radius of a SurfacePoint.

bool	Valid () const

void	SetMatrix (CoordinateType type, const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &covar)
	Set the covariance matrix.

std::vector< double >	Partial (CoordinateType type, CoordIndex index)
	Compute partial derivative of conversion from body-fixed coordinates to the specified.

double	GetCoord (CoordinateType type, CoordIndex index, CoordUnits units)
	This method returns a coordinate of a SurfacePoint.

double	GetSigma (CoordinateType type, CoordIndex index, CoordUnits units)
	This method returns a sigma of a SurfacePoint coordinate.

Distance	GetSigmaDistance (CoordinateType type, CoordIndex index)
	This method returns a sigma of a SurfacePoint coordinate as a Distance.

double	GetWeight (CoordinateType type, CoordIndex index)
	This method returns the weight of a SurfacePoint coordinate Note: At this time a units argument is not included.

Displacement	GetX () const

Displacement	GetY () const

Displacement	GetZ () const

Distance	GetXSigma () const

Distance	GetYSigma () const

Distance	GetZSigma () const

double	GetXWeight () const
	Return X weight for bundle adjustment Units are 1/(kilometers)^2.

double	GetYWeight () const
	Return Y weight for bundle adjustment Units are 1/(kilometers)^2.

double	GetZWeight () const
	Return Z weight for bundle adjustment Units are 1/(kilometers)^2.

boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper >	GetRectangularMatrix (SurfacePoint::CoordUnits units=SurfacePoint::Meters) const

Latitude	GetLatitude () const
	Return the body-fixed latitude for the surface point.

Longitude	GetLongitude () const
	Return the body-fixed longitude for the surface point.

Distance	GetLocalRadius () const
	Return the radius of the surface point.

Angle	GetLatSigma () const

Distance	GetLatSigmaDistance () const
	Return the latitude sigma as a Distance.

double	GetLatWeight () const
	Return latitude weight for bundle adjustment Units are 1/(radians)^2.

Angle	GetLonSigma () const

Distance	GetLonSigmaDistance () const
	Return the longitude sigma in meters.

double	GetLonWeight () const
	Return longitude weight for bundle adjustment Units are 1/(radians)^2.

Distance	GetLocalRadiusSigma () const

double	GetLocalRadiusWeight () const
	Return radius weight for bundle adjustment Units are 1/(kilometers)^2.

boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper >	GetSphericalMatrix (SurfacePoint::CoordUnits units=SurfacePoint::Meters) const

double	DisplacementToDouble (Displacement disp, CoordUnits units)
	This method returns a double version of a Displacement in the specified units.

double	DistanceToDouble (Distance dist, CoordUnits units)
	This method returns a double version of a Distance in the specified units.

double	MetersToLatitude (double latLength)
	This method returns an angular measure of a distance in the direction of and relative to the latitude of the SurfacePoint.

double	MetersToLongitude (double lonLength)
	This method returns an angular measure in radians of a distance in the direction of and relative to the longitude of the SurfacePoint.

double	LatitudeToMeters (double latitude) const
	This method returns a Displacement of an Angle relative to the current SurfacePoint latitude.

double	LongitudeToMeters (double longitude) const
	This method returns a length in meters version of a delta longitude angle in radians relative to the current SurfacePoint longitude.

double	LatToDouble (Latitude lat, CoordUnits units)
	This method returns a double version of a Latitude in the specified units.

double	LonToDouble (Longitude lon, CoordUnits units)
	This method returns a double version of a Longitude in the specified units.

Distance	GetDistanceToPoint (const SurfacePoint &other) const
	Computes and returns the distance between two surface points.

Distance	GetDistanceToPoint (const SurfacePoint &other, const Distance &sphereRadius) const
	Computes and returns the distance between two surface points, assuming both points are on a sphere with the given radius.

std::vector< double >	LatitudinalDerivative (CoordIndex index)
	Compute partial derivative of the conversion of the latitudinal coordinates to body-fixed rectangular coordinates with respect to the indicated coordinate.

std::vector< double >	RectangularDerivative (CoordIndex index)
	Compute partial derivative of the body-fixed rectangular coordinates with respect to the indicated coordinate.

void	ToNaifArray (double naifOutput[3]) const
	A naif array is a c-style array of size 3.

void	FromNaifArray (const double naifValues[3])
	A naif array is a c-style array of size 3.

bool	operator== (const SurfacePoint &other) const

SurfacePoint &	operator= (const SurfacePoint &other)

Static Public Member Functions
static CoordinateType	stringToCoordinateType (QString type)
	This method converts the given string value to a SurfacePoint::CoordinateType enumeration.

static QString	coordinateTypeToString (CoordinateType type)
	Converts the given SurfacePoint::CoordinateType enumeration to a string.

Detailed Description

This class defines a body-fixed surface point.

This class is a container for body-fixed surface points. It provides methods to set and present the coordinates of surface points in various usable units to support projection of image points to the ground and bundle adjustment.

Author: 2010-07-30 Tracie Sucharski, Ken L. Edmunson, and Debbie A. Cook

Member Enumeration Documentation

◆ CoordinateType

enum Isis::SurfacePoint::CoordinateType

Defines the coordinate typ, units, and coordinate index for some of the output methods.

Enumerator
Latitudinal	Planetocentric latitudinal (lat/lon/rad) coordinates.
Rectangular	Body-fixed rectangular x/y/z coordinates.

◆ CoordIndex

enum Isis::SurfacePoint::CoordIndex

Enumerator
One
Two
Three

◆ CoordUnits

enum Isis::SurfacePoint::CoordUnits

Enumerator
Degrees
Kilometers
Meters
Radians

Constructor & Destructor Documentation

◆ SurfacePoint() [1/8]

Isis::SurfacePoint::SurfacePoint ( )

Constructs an empty SurfacePoint object.

◆ SurfacePoint() [2/8]

Isis::SurfacePoint::SurfacePoint ( const SurfacePoint & other )

Constructs a new SurfacePoint object from an existing SurfacePoint.

◆ SurfacePoint() [3/8]

Isis::SurfacePoint::SurfacePoint	(	const Latitude &	lat,
		const Longitude &	lon,
		const Distance &	radius )

Constructs a SurfacePoint object with a spherical point only.

Parameters

lat	The latitude of the surface point
lon	The longitude of the surface point
radius	The radius of the surface point

◆ SurfacePoint() [4/8]

Isis::SurfacePoint::SurfacePoint	(	const Latitude &	lat,
		const Longitude &	lon,
		const Distance &	radius,
		const Angle &	latSigma,
		const Angle &	lonSigma,
		const Distance &	radiusSigma )

Constructs a SurfacePoint object with a spherical point and its sigmas.

Parameters

lat	The latitude of the surface point
lon	The longitude of the surface point
radius	The radius of the surface point The sigmas indicate the accuracy of the point. For instance, a latitude sigma of 5 degrees would indicate that the latitiude value could have an error or + or - 5 degrees.
sigmaLat	The sigma of the latitude
sigmaLon	The sigma of the longitude
sigmaRadius	The sigma of the local radius

References SetSpherical().

◆ SurfacePoint() [5/8]

Isis::SurfacePoint::SurfacePoint	(	const Latitude &	lat,
		const Longitude &	lon,
		const Distance &	radius,
		const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &	covar )

◆ SurfacePoint() [6/8]

Isis::SurfacePoint::SurfacePoint	(	const Displacement &	x,
		const Displacement &	y,
		const Displacement &	z )

Constructs a SurfacePoint object with a rectangular point only.

Parameters

x	The x coordinate of the surface point
y	The y coordinate of the surface point
z	The z coordinate of the surface point

References SetRectangular().

◆ SurfacePoint() [7/8]

Isis::SurfacePoint::SurfacePoint	(	const Displacement &	x,
		const Displacement &	y,
		const Displacement &	z,
		const Distance &	xSigma,
		const Distance &	ySigma,
		const Distance &	zSigma )

Constructs a SurfacePoint object with a rectangular point and sigmas.

Parameters

x	The x coordinate of the surface point
y	The y coordinate of the surface point
z	The z coordinate of the surface point The sigmas indicate the accuracy of the point. For instance, a sigmaX=100 m, would indicate that the x coordinate was accurate to within 100 meters.
xSigma	The x coordinate of the surface point
ySigma	The y coordinate of the surface point
zSigma	The z coordinate of the surface point

References SetRectangular().

◆ SurfacePoint() [8/8]

Isis::SurfacePoint::SurfacePoint	(	const Displacement &	x,
		const Displacement &	y,
		const Displacement &	z,
		const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &	covar )

◆ ~SurfacePoint()

Isis::SurfacePoint::~SurfacePoint ( )

Destroys a SurfacePoint object/.

Member Function Documentation

◆ coordinateTypeToString()

QString Isis::SurfacePoint::coordinateTypeToString ( SurfacePoint::CoordinateType type )

static

Converts the given SurfacePoint::CoordinateType enumeration to a string.

This method is used to print the type of control point coordinates used in the bundle adjustment.

Parameters

type	The Coordinate Type enumeration to be converted.

Returns: QString The name associated with the given CoordinateType.

Exceptions

Isis::Exception::Programmer "Unknown SurfacePoint CoordinateType enum."

References _FILEINFO_, Latitudinal, Isis::IException::Programmer, Rectangular, and Isis::toString().

Referenced by Isis::BundleSolutionInfo::outputHeader().

◆ DisplacementToDouble()

double Isis::SurfacePoint::DisplacementToDouble	(	Displacement	disp,
		CoordUnits	units )

This method returns a double version of a Displacement in the specified units.

Parameters

disp	The displacement to convert to a double
units	The units in which to return the displacement (see CoordinateUnits in .h file)

References _FILEINFO_, Kilometers, Meters, and Isis::IException::Programmer.

Referenced by GetCoord().

◆ DistanceToDouble()

double Isis::SurfacePoint::DistanceToDouble	(	Distance	dist,
		CoordUnits	units )

This method returns a double version of a Distance in the specified units.

Parameters

dist	The distance to convert to a double
units	The units in which to return the distance (see CoordinateUnits in .h file)

References _FILEINFO_, Kilometers, Meters, and Isis::IException::Programmer.

Referenced by GetCoord(), and GetSigma().

◆ FromNaifArray()

void Isis::SurfacePoint::FromNaifArray ( const double naifValues[3] )

A naif array is a c-style array of size 3.

The element types are double... keep in mind a SpiceDouble is a double. The values' units are kilometers because that is the unit naif works in. The first element is X, the second Y, and the third Z. This loads the naif array into the surface point.

Parameters

naifValues The naif array to use as rectangular coordinates

References GetLocalRadius(), Isis::Displacement::Kilometers, and Isis::Displacement::setKilometers().

Referenced by Isis::ShapeModel::intersectEllipsoid().

◆ GetCoord()

double Isis::SurfacePoint::GetCoord	(	CoordinateType	type,
		CoordIndex	index,
		CoordUnits	units )

This method returns a coordinate of a SurfacePoint.

Parameters

type	The coordinate type to return (see CoordinateType in .h file)
index	The coordinate index to return (1 <= index <= 3)
units	The units in which to return the coordinate value (see CoordinateUnits in .h file)

References _FILEINFO_, DisplacementToDouble(), DistanceToDouble(), GetLatitude(), GetLocalRadius(), GetLongitude(), GetX(), GetY(), GetZ(), Latitudinal, LatToDouble(), LonToDouble(), One, Isis::IException::Programmer, Rectangular, Three, Isis::toString(), and Two.

Referenced by Isis::BundleControlPoint::formatBundleOutputSummaryString().

◆ GetDistanceToPoint() [1/2]

Distance Isis::SurfacePoint::GetDistanceToPoint ( const SurfacePoint & other ) const

Computes and returns the distance between two surface points.

The average of the local radii will be used.

References GetDistanceToPoint(), GetLocalRadius(), and Valid().

Referenced by GetDistanceToPoint().

◆ GetDistanceToPoint() [2/2]

Distance Isis::SurfacePoint::GetDistanceToPoint	(	const SurfacePoint &	other,
		const Distance &	sphereRadius ) const

Computes and returns the distance between two surface points, assuming both points are on a sphere with the given radius.

This uses the haversine formula to compute the distance. Using a spherical model gives errors typically <1%

References GetLatitude(), GetLongitude(), and Valid().

◆ GetLatitude()

Latitude Isis::SurfacePoint::GetLatitude ( ) const

◆ GetLatSigma()

Angle Isis::SurfacePoint::GetLatSigma ( ) const

References Isis::Angle::Radians.

Referenced by GetLatSigmaDistance(), and GetLatWeight().

◆ GetLatSigmaDistance()

Distance Isis::SurfacePoint::GetLatSigmaDistance ( ) const

Return the latitude sigma as a Distance.

References GetLatSigma(), LatitudeToMeters(), and Isis::Distance::Meters.

Referenced by Isis::AdjustedLatitudeSigmaFilter::evaluate(), Isis::APrioriLatitudeSigmaFilter::evaluate(), GetSigma(), GetSigmaDistance(), and Isis::ControlNetVersioner::toPvl().

◆ GetLatWeight()

double Isis::SurfacePoint::GetLatWeight ( ) const

Return latitude weight for bundle adjustment Units are 1/(radians)^2.

References _FILEINFO_, GetLatSigma(), Isis::IException::Programmer, and Isis::Angle::radians().

Referenced by GetWeight().

◆ GetLocalRadius()

Distance Isis::SurfacePoint::GetLocalRadius ( ) const

Return the radius of the surface point.

Referenced by Isis::BundleLidarRangeConstraint::applyConstraint(), Isis::AdjustedRadiusFilter::evaluate(), Isis::APrioriRadiusFilter::evaluate(), Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), FromNaifArray(), GetCoord(), Isis::AbstractPointItem::getData(), GetDistanceToPoint(), LatitudeToMeters(), LatitudinalDerivative(), LongitudeToMeters(), MetersToLatitude(), MetersToLongitude(), Isis::AbstractPointItem::setData(), SetSphericalMatrix(), Isis::ControlNetVersioner::toPvl(), and Isis::LidarData::write().

◆ GetLocalRadiusSigma()

Distance Isis::SurfacePoint::GetLocalRadiusSigma ( ) const

References Isis::Distance::Kilometers.

Referenced by Isis::AdjustedRadiusSigmaFilter::evaluate(), Isis::APrioriRadiusSigmaFilter::evaluate(), GetLocalRadiusWeight(), GetSigma(), GetSigmaDistance(), and Isis::ControlNetVersioner::toPvl().

◆ GetLocalRadiusWeight()

double Isis::SurfacePoint::GetLocalRadiusWeight ( ) const

Return radius weight for bundle adjustment Units are 1/(kilometers)^2.

References _FILEINFO_, GetLocalRadiusSigma(), Isis::Distance::kilometers(), and Isis::IException::Programmer.

Referenced by GetWeight().

◆ GetLongitude()

Longitude Isis::SurfacePoint::GetLongitude ( ) const

◆ GetLonSigma()

Angle Isis::SurfacePoint::GetLonSigma ( ) const

References Isis::Angle::Radians.

Referenced by GetLonSigmaDistance(), and GetLonWeight().

◆ GetLonSigmaDistance()

Distance Isis::SurfacePoint::GetLonSigmaDistance ( ) const

Return the longitude sigma in meters.

References GetLonSigma(), LongitudeToMeters(), and Isis::Distance::Meters.

Referenced by Isis::AdjustedLongitudeSigmaFilter::evaluate(), Isis::APrioriLongitudeSigmaFilter::evaluate(), GetSigma(), GetSigmaDistance(), and Isis::ControlNetVersioner::toPvl().

◆ GetLonWeight()

double Isis::SurfacePoint::GetLonWeight ( ) const

Return longitude weight for bundle adjustment Units are 1/(radians)^2.

References _FILEINFO_, GetLonSigma(), Isis::IException::Programmer, and Isis::Angle::radians().

Referenced by GetWeight().

◆ GetRectangularMatrix()

symmetric_matrix< double, upper > Isis::SurfacePoint::GetRectangularMatrix ( SurfacePoint::CoordUnits units = SurfacePoint::Meters ) const

References _FILEINFO_, Kilometers, Meters, and Isis::IException::Programmer.

Referenced by Isis::ControlNetVersioner::toPvl().

◆ GetSigma()

double Isis::SurfacePoint::GetSigma	(	CoordinateType	type,
		CoordIndex	index,
		CoordUnits	units )

This method returns a sigma of a SurfacePoint coordinate.

Parameters

type	The coordinate type to return (see CoordinateType in .h file)
index	The coordinate index to return (1 <= index <= 3)
units	The units in which to return the coordinate value (see CoordinateUnits in .h file)

References _FILEINFO_, DistanceToDouble(), GetLatSigmaDistance(), GetLocalRadiusSigma(), GetLonSigmaDistance(), GetXSigma(), GetYSigma(), GetZSigma(), Latitudinal, One, Isis::IException::Programmer, Rectangular, Three, Isis::toString(), and Two.

◆ GetSigmaDistance()

Distance Isis::SurfacePoint::GetSigmaDistance	(	CoordinateType	type,
		CoordIndex	index )

This method returns a sigma of a SurfacePoint coordinate as a Distance.

Parameters

type	The coordinate type to return (see CoordinateType in .h file)
index	The coordinate index to return (1 <= index <= 3)

References _FILEINFO_, GetLatSigmaDistance(), GetLocalRadiusSigma(), GetLonSigmaDistance(), GetXSigma(), GetYSigma(), GetZSigma(), Latitudinal, One, Isis::IException::Programmer, Rectangular, Three, Isis::toString(), and Two.

Referenced by Isis::BundleControlPoint::formatAdjustedSigmaString(), and Isis::BundleControlPoint::setWeights().

◆ GetSphericalMatrix()

symmetric_matrix< double, upper > Isis::SurfacePoint::GetSphericalMatrix ( SurfacePoint::CoordUnits units = SurfacePoint::Meters ) const

References _FILEINFO_, Kilometers, Meters, and Isis::IException::Programmer.

Referenced by Isis::LidarData::write().

◆ GetWeight()

double Isis::SurfacePoint::GetWeight	(	CoordinateType	type,
		CoordIndex	index )

This method returns the weight of a SurfacePoint coordinate Note: At this time a units argument is not included.

If BundleAdjust is modified to allow different distance or displacement units other than kilometers, the units argument can be added similar to the GetCoord and GetSigma methods. Angle weights are in 1/rad^2 and distance and displacements are in 1/km^2

Parameters

type	The coordinate type to return (see CoordinateType in .h file)
index	The coordinate index to return (1 <= index <= 3)

References _FILEINFO_, GetLatWeight(), GetLocalRadiusWeight(), GetLonWeight(), GetXWeight(), GetYWeight(), GetZWeight(), Latitudinal, One, Isis::IException::Programmer, Rectangular, Three, Isis::toString(), and Two.

Referenced by Isis::BundleControlPoint::setWeights().

◆ GetX()

Displacement Isis::SurfacePoint::GetX ( ) const

Referenced by Isis::BundleLidarRangeConstraint::computeRange(), Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), GetCoord(), Isis::CameraGroundMap::GetXY(), Isis::ControlPoint::HasAprioriCoordinates(), Isis::IsisShape::intersect(), Isis::Camera::LocalPhotometricAngles(), Isis::Sensor::SolarDistance(), and Isis::ControlNetVersioner::toPvl().

◆ GetXSigma()

Distance Isis::SurfacePoint::GetXSigma ( ) const

References Isis::Distance::Kilometers.

Referenced by GetSigma(), GetSigmaDistance(), and GetXWeight().

◆ GetXWeight()

double Isis::SurfacePoint::GetXWeight ( ) const

Return X weight for bundle adjustment Units are 1/(kilometers)^2.

References _FILEINFO_, GetXSigma(), Isis::Distance::kilometers(), and Isis::IException::Programmer.

Referenced by GetWeight().

◆ GetY()

Displacement Isis::SurfacePoint::GetY ( ) const

Referenced by Isis::BundleLidarRangeConstraint::computeRange(), Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), GetCoord(), Isis::CameraGroundMap::GetXY(), Isis::ControlPoint::HasAprioriCoordinates(), Isis::IsisShape::intersect(), Isis::Camera::LocalPhotometricAngles(), Isis::Sensor::SolarDistance(), and Isis::ControlNetVersioner::toPvl().

◆ GetYSigma()

Distance Isis::SurfacePoint::GetYSigma ( ) const

References Isis::Distance::Kilometers.

Referenced by GetSigma(), GetSigmaDistance(), and GetYWeight().

◆ GetYWeight()

double Isis::SurfacePoint::GetYWeight ( ) const

Return Y weight for bundle adjustment Units are 1/(kilometers)^2.

References _FILEINFO_, GetYSigma(), Isis::Distance::kilometers(), and Isis::IException::Programmer.

Referenced by GetWeight().

◆ GetZ()

Displacement Isis::SurfacePoint::GetZ ( ) const

Referenced by Isis::BundleLidarRangeConstraint::computeRange(), Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), Isis::BundleControlPoint::formatBundleRectangularOutputDetailString(), GetCoord(), Isis::CameraGroundMap::GetXY(), Isis::ControlPoint::HasAprioriCoordinates(), Isis::IsisShape::intersect(), Isis::Camera::LocalPhotometricAngles(), Isis::Sensor::SolarDistance(), and Isis::ControlNetVersioner::toPvl().

◆ GetZSigma()

Distance Isis::SurfacePoint::GetZSigma ( ) const

References Isis::Distance::Kilometers.

Referenced by GetSigma(), GetSigmaDistance(), and GetZWeight().

◆ GetZWeight()

double Isis::SurfacePoint::GetZWeight ( ) const

Return Z weight for bundle adjustment Units are 1/(kilometers)^2.

References _FILEINFO_, GetZSigma(), Isis::Distance::kilometers(), and Isis::IException::Programmer.

Referenced by GetWeight().

◆ LatitudeToMeters()

double Isis::SurfacePoint::LatitudeToMeters ( double relativeLat ) const

This method returns a Displacement of an Angle relative to the current SurfacePoint latitude.

It should only be used to convert relative latitudes near the SurfacePoint latitude. Typical usage would be to convert latitude sigmas and point corrections for the SurfacePoint.

Parameters

latRadians The latitude in Angle units to convert to Displacement units

Returns: LatDisp The converted latitude in displacement units at the SurfacePoint latitude

References GetLocalRadius(), Isis::IsSpecial(), Isis::Distance::meters(), Isis::Null, and Valid().

Referenced by Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), and GetLatSigmaDistance().

◆ LatitudinalDerivative()

std::vector< double > Isis::SurfacePoint::LatitudinalDerivative ( CoordIndex index )

Compute partial derivative of the conversion of the latitudinal coordinates to body-fixed rectangular coordinates with respect to the indicated coordinate.

Parameters

index Coordinate index

Returns: std::vector<double> The derivative of the latitudinal to body-fixed vector

References _FILEINFO_, GetLatitude(), GetLocalRadius(), GetLongitude(), Isis::Distance::kilometers(), One, Isis::IException::Programmer, Isis::Angle::radians(), Three, and Two.

Referenced by Isis::CsmBundleObservation::computePoint3DPartials(), and Partial().

◆ LatToDouble()

double Isis::SurfacePoint::LatToDouble	(	Latitude	lat,
		CoordUnits	units )

This method returns a double version of a Latitude in the specified units.

Parameters

lat	The latitude to convert to a double
units	The units in which to return the latitude (see CoordinateUnits in .h file)

References _FILEINFO_, Isis::Angle::degrees(), Degrees, GetLatitude(), Isis::IException::Programmer, Isis::Angle::radians(), and Radians.

Referenced by GetCoord().

◆ LongitudeToMeters()

double Isis::SurfacePoint::LongitudeToMeters ( double deltaLonRadians ) const

This method returns a length in meters version of a delta longitude angle in radians relative to the current SurfacePoint longitude.

It should only be used to convert delta longitudes relative to the SurfacePoint longitude.
Typical usage would be to convert longitude sigmas and point corrections for the SurfacePoint.

Parameters

lonRadians The delta longitude in radians to convert to meters

Returns: relativeLonDist The delta longitude in meters from the SurfacePoint longitude

References GetLatitude(), GetLocalRadius(), Isis::IsSpecial(), Isis::Distance::meters(), Isis::Null, and Valid().

Referenced by Isis::BundleControlPoint::formatBundleLatitudinalOutputDetailString(), and GetLonSigmaDistance().

◆ LonToDouble()

double Isis::SurfacePoint::LonToDouble	(	Longitude	lon,
		CoordUnits	units )

This method returns a double version of a Longitude in the specified units.

Parameters

lon	The longitude to convert to a double
units	The units in which to return the longitude (see CoordinateUnits in .h file)

References _FILEINFO_, Isis::Angle::degrees(), Degrees, GetLongitude(), Isis::IException::Programmer, Isis::Angle::radians(), and Radians.

Referenced by GetCoord().

◆ MetersToLatitude()

double Isis::SurfacePoint::MetersToLatitude ( double latLength )

This method returns an angular measure of a distance in the direction of and relative to the latitude of the SurfacePoint.

It should only be used to convert lengths relative to the SurfacePoint and in the direction of latitude. Typical usage would be to convert latitude sigmas and point corrections for the SurfacePoint.

Parameters

latLength The latitude in meters to convert to radian units

Returns: LatDispAngle The converted linear measure in radian units

References GetLocalRadius(), Isis::IsSpecial(), Isis::Distance::meters(), Isis::Null, and Valid().

Referenced by Isis::BundleControlPoint::setSigmaWeightFromGlobals(), and SetSphericalSigmasDistance().

◆ MetersToLongitude()

double Isis::SurfacePoint::MetersToLongitude ( double deltaLonMeters )

This method returns an angular measure in radians of a distance in the direction of and relative to the longitude of the SurfacePoint.

It should only be used to
convert lengths relative to the SurfacePoint and in the direction of longitude. Typical usage is to convert longitude sigmas and point corrections for the SurfacePoint.

Parameters

lonLength The delta longitude distance in meters to convert to radians

Returns: LonDistAngle The converted delta length in radians

References GetLatitude(), GetLocalRadius(), Isis::IsSpecial(), Isis::Distance::meters(), Isis::Null, Isis::PI, and Valid().

Referenced by Isis::BundleControlPoint::setSigmaWeightFromGlobals(), and SetSphericalSigmasDistance().

◆ operator=()

SurfacePoint & Isis::SurfacePoint::operator= ( const SurfacePoint & other )

◆ operator==()

bool Isis::SurfacePoint::operator== ( const SurfacePoint & other ) const

◆ Partial()

std::vector< double > Isis::SurfacePoint::Partial	(	CoordinateType	type,
		CoordIndex	index )

Compute partial derivative of conversion from body-fixed coordinates to the specified.

Compute partial derivative of the conversion of the body-fixed surface point coordinate to the specified coordinate type.

Parameters

covar variance/covariance matrix

Returns: void

References _FILEINFO_, Latitudinal, LatitudinalDerivative(), Isis::IException::Programmer, Rectangular, RectangularDerivative(), and Isis::toString().

Referenced by Isis::IsisBundleObservation::computePoint3DPartials().

◆ RectangularDerivative()

std::vector< double > Isis::SurfacePoint::RectangularDerivative ( CoordIndex index )

Compute partial derivative of the body-fixed rectangular coordinates with respect to the indicated coordinate.

Parameters

index Coordinate index

Returns: std::vector<double> The derivative of the body-fixed vector

References _FILEINFO_, One, Isis::IException::Programmer, Three, and Two.

Referenced by Partial().

◆ ResetLocalRadius()

void Isis::SurfacePoint::ResetLocalRadius ( const Distance & radius )

This method resets the local radius of a SurfacePoint.

Parameters

radius The new local radius value to set

References _FILEINFO_, GetLatitude(), GetLongitude(), Isis::Displacement::isValid(), Isis::IException::Programmer, Isis::Angle::radians(), and Isis::Displacement::setKilometers().

◆ SetMatrix()

void Isis::SurfacePoint::SetMatrix	(	CoordinateType	type,
		const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &	covar )

Set the covariance matrix.

Set covariance matrix in km.

Parameters

covar variance/covariance matrix

Returns: void

References _FILEINFO_, Kilometers, Latitudinal, Isis::IException::Programmer, Rectangular, SetRectangularMatrix(), SetSphericalMatrix(), and Isis::toString().

◆ SetRectangular() [1/2]

void Isis::SurfacePoint::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.

Parameters

x	x value of body-fixed coordinate of surface point
y	y value of body-fixed coordinate of surface point
z	z value of body-fixed coordinate of surface point
xSigma	x sigma of body-fixed coordinate of surface point
ySigma	y sigma of body-fixed coordinate of surface point
zSigma	z sigma of body-fixed coordinate of surface point

Returns: void

References SetRectangularSigmas().

Referenced by Isis::ControlPoint::ComputeApriori(), Isis::ControlPointV0001::ControlPointV0001(), SurfacePoint(), and SurfacePoint().

◆ SetRectangular() [2/2]

void Isis::SurfacePoint::SetRectangular	(	const Displacement	x,
		const Displacement	y,
		const Displacement	z,
		const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &	covar )

◆ SetRectangularCoordinates()

void Isis::SurfacePoint::SetRectangularCoordinates	(	const Displacement &	x,
		const Displacement &	y,
		const Displacement &	z )

Set surface point in rectangular coordinates.

Parameters

x	x value of body-fixed coordinate of surface point
y	y value of body-fixed coordinate of surface point
z	z value of body-fixed coordinate of surface point

Returns: void

◆ SetRectangularMatrix()

void Isis::SurfacePoint::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.

Parameters

covar	Rectangular variance/covariance matrix
units	Units of matrix are units**2

Returns: void

References _FILEINFO_, Kilometers, Isis::Displacement::meters(), Meters, Isis::IException::Programmer, and Valid().

Referenced by SetMatrix(), and SetRectangularSigmas().

◆ SetRectangularSigmas()

void Isis::SurfacePoint::SetRectangularSigmas	(	const Distance &	xSigma,
		const Distance &	ySigma,
		const Distance &	zSigma )

Set surface point and sigmas in rectangular coordinates and convert to planetocentric.

Set the rectangular sigmas into the rectangular variance/covariance matrix with diagonal element units of km^2, km^2, and km^2.

Parameters

xSigma	x sigma of body-fixed coordinate of surface point
ySigma	y sigma of body-fixed coordinate of surface point
zSigma	z sigma of body-fixed coordinate of surface point

References _FILEINFO_, Meters, SetRectangularMatrix(), and Isis::IException::User.

Referenced by SetRectangular().

◆ SetSpherical() [1/2]

void Isis::SurfacePoint::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 (Latitude, Longitude in degrees, Radius in meters; matrix in radians and radians**2)

Set surface point in spherical body-fixed coordinates (lat/lon/radius) wtih optional sigmas.

Parameters

lat	Body-fixed latitude of surface point
lon	Body-fixed longitude of surface point
radius	Local radius of surface point
latSigma	Latitude sigma of of spherical coordinate of surface point
lonSigma	Longitude sigma of of spherical coordinate of surface point
radiusSigma	Local radius sigma of of spherical coordinate of surface point

References SetSphericalSigmas().

Referenced by SurfacePoint().

◆ SetSpherical() [2/2]

void Isis::SurfacePoint::SetSpherical	(	const Latitude &	lat,
		const Longitude &	lon,
		const Distance &	radius,
		const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &	covar )

◆ SetSphericalCoordinates()

void Isis::SurfacePoint::SetSphericalCoordinates	(	const Latitude &	lat,
		const Longitude &	lon,
		const Distance &	radius )

Update spherical coordinates (lat/lon/radius)

Parameters

lat
lon
radius

◆ SetSphericalMatrix()

void Isis::SurfacePoint::SetSphericalMatrix	(	const boost::numeric::ublas::symmetric_matrix< double, boost::numeric::ublas::upper > &	covar,
		SurfacePoint::CoordUnits	units = SurfacePoint::Meters )

Set spherical covariance matrix.

Parameters

covar Spherical variance/covariance matrix (radians**2 for lat and lon)

Returns: void

References _FILEINFO_, GetLatitude(), GetLocalRadius(), GetLongitude(), Isis::Distance::kilometers(), Kilometers, Isis::Distance::meters(), Meters, Isis::IException::Programmer, Isis::Angle::radians(), and Valid().

Referenced by SetMatrix(), and SetSphericalSigmas().

◆ SetSphericalSigmas()

void Isis::SurfacePoint::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, radians^2, km^2.

Parameters

latSigma	Latitude sigma of body-fixed coordinate of surface point
lonSigma	Longitude sigma of body-fixed coordinate of surface point
radiusSigma	Radius sigma of body-fixed coordinate of surface point

References SetSphericalMatrix().

Referenced by SetSpherical(), and SetSphericalSigmasDistance().

◆ SetSphericalSigmasDistance()

void Isis::SurfacePoint::SetSphericalSigmasDistance	(	const Distance &	latSigma,
		const Distance &	lonSigma,
		const Distance &	radiusSigma )

Set the spherical sigmas (in Distance units) into the spherical variance/covariance matrix.

Parameters

latSigma	Latitude sigma of body-fixed coordinate of surface point as a Distance
lonSigma	Longitude sigma of body-fixed coordinate of surface point as a Distance
radiusSigma	Radius sigma of body-fixed coordinate of surface point in meters

References _FILEINFO_, MetersToLatitude(), MetersToLongitude(), Isis::IException::Programmer, Isis::Angle::Radians, SetSphericalSigmas(), and Valid().

◆ stringToCoordinateType()

SurfacePoint::CoordinateType Isis::SurfacePoint::stringToCoordinateType ( QString type )

static

This method converts the given string value to a SurfacePoint::CoordinateType enumeration.

Currently (March 31, 2017) accepted inputs are listed below.
This method is case insensitive.

Parameters

type	The coordinate type name to be converted

Returns: CoordinateType The enumeration corresponding to the input name

References _FILEINFO_, Latitudinal, Isis::IException::Programmer, and Rectangular.

◆ ToNaifArray()

void Isis::SurfacePoint::ToNaifArray ( double naifOutput[3] ) const

A naif array is a c-style array of size 3.

The element types are double... keep in mind a SpiceDouble is a double. The values' units are kilometers because that is the unit naif works in. The first element is X, the second Y, and the third Z.

Parameters

naifOutput The naif array to populate with the surface point's XYZ position.

References _FILEINFO_, Isis::Displacement::kilometers(), Isis::IException::Programmer, and Valid().

Referenced by Isis::TriangularPlate::hasPoint(), Isis::TriangularPlate::point(), and Isis::RadarGroundMap::SetGround().

◆ Valid()

bool Isis::SurfacePoint::Valid ( ) const

References Isis::Displacement::isValid(), and Isis::Displacement::Meters.

Referenced by Isis::ControlPoint::ComputeApriori(), Isis::ControlPoint::GetBestSurfacePoint(), GetDistanceToPoint(), GetDistanceToPoint(), GetLatitude(), GetLongitude(), LatitudeToMeters(), LongitudeToMeters(), MetersToLatitude(), MetersToLongitude(), Isis::RadarGroundMap::SetGround(), SetRectangularMatrix(), SetSphericalMatrix(), SetSphericalSigmasDistance(), ToNaifArray(), Isis::ControlNetVersioner::toPvl(), and Isis::LidarData::write().

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

/Users/astamile/ISIS3/isis/src/base/objs/SurfacePoint/SurfacePoint.h
/Users/astamile/ISIS3/isis/src/base/objs/SurfacePoint/SurfacePoint.cpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ CoordinateType

◆ CoordIndex

◆ CoordUnits

Constructor & Destructor Documentation

◆ SurfacePoint() [1/8]

◆ SurfacePoint() [2/8]

◆ SurfacePoint() [3/8]

◆ SurfacePoint() [4/8]

◆ SurfacePoint() [5/8]

◆ SurfacePoint() [6/8]

◆ SurfacePoint() [7/8]

◆ SurfacePoint() [8/8]

◆ ~SurfacePoint()

Member Function Documentation

◆ coordinateTypeToString()

◆ DisplacementToDouble()

◆ DistanceToDouble()

◆ FromNaifArray()

◆ GetCoord()

◆ GetDistanceToPoint() [1/2]

◆ GetDistanceToPoint() [2/2]

◆ GetLatitude()

◆ GetLatSigma()

◆ GetLatSigmaDistance()

◆ GetLatWeight()

◆ GetLocalRadius()

◆ GetLocalRadiusSigma()

◆ GetLocalRadiusWeight()

◆ GetLongitude()

◆ GetLonSigma()

◆ GetLonSigmaDistance()

◆ GetLonWeight()

◆ GetRectangularMatrix()

◆ GetSigma()

◆ GetSigmaDistance()

◆ GetSphericalMatrix()

◆ GetWeight()

◆ GetX()

◆ GetXSigma()

◆ GetXWeight()

◆ GetY()

◆ GetYSigma()

◆ GetYWeight()

◆ GetZ()

◆ GetZSigma()

◆ GetZWeight()

◆ LatitudeToMeters()

◆ LatitudinalDerivative()

◆ LatToDouble()

◆ LongitudeToMeters()

◆ LonToDouble()

◆ MetersToLatitude()

◆ MetersToLongitude()

◆ operator=()

◆ operator==()

◆ Partial()

◆ RectangularDerivative()

◆ ResetLocalRadius()

◆ SetMatrix()

◆ SetRectangular() [1/2]

◆ SetRectangular() [2/2]

◆ SetRectangularCoordinates()

◆ SetRectangularMatrix()

◆ SetRectangularSigmas()

◆ SetSpherical() [1/2]

◆ SetSpherical() [2/2]

◆ SetSphericalCoordinates()

◆ SetSphericalMatrix()

◆ SetSphericalSigmas()

◆ SetSphericalSigmasDistance()

◆ stringToCoordinateType()

◆ ToNaifArray()

◆ Valid()