BundleLidarRangeConstraint.h

#ifndef BundleLidarRangeConstraint_h
#define BundleLidarRangeConstraint_h
/* SPDX-License-Identifier: CC0-1.0 */
// Qt Library
#include <QSharedPointer>
 
// Isis Library
#include "BundleLidarControlPoint.h"
#include "BundleMeasure.h"
#include "BundleObservation.h"
#include "LinearAlgebra.h"
#include "SparseBlockMatrix.h"
 
namespace Isis {
  class BundleLidarRangeConstraint {
    public:
      // constructor
      BundleLidarRangeConstraint(LidarControlPointQsp lidarControlPoint, BundleMeasureQsp measure);
 
      // copy constructor
      BundleLidarRangeConstraint(const BundleLidarRangeConstraint &src);
 
      // destructor
      ~BundleLidarRangeConstraint();
 
      // Assignment operator
      BundleLidarRangeConstraint &operator= (const BundleLidarRangeConstraint &src);
 
      bool applyConstraint(SparseBlockMatrix &normalsMatrix,
                           LinearAlgebra::MatrixUpperTriangular& N22,
                           SparseBlockColumnMatrix& N12,
                           LinearAlgebra::VectorCompressed& n1,
                           LinearAlgebra::Vector& n2);
 
      double vtpv();
      void errorPropagation();
 
      void computeRange();
      double rangeObserved();
      double rangeComputed();
      double rangeObservedSigma();
      double rangeAdjustedSigma();
 
      QString formatBundleOutputString(bool errorProp=false);
 
    private:
      LidarControlPointQsp m_lidarControlPoint;       
      BundleObservationQsp m_bundleObservation;       
 
      BundleMeasureQsp m_simultaneousMeasure;         
      double m_dX, m_dY, m_dZ;                       
      double m_rangeObserved;                        
      double m_rangeComputed;                        
      double m_rangeObservedSigma;                   
      double m_rangeObservedWeightSqrt;              
      double m_adjustedSigma;                        
      double m_vtpv;                                 
  };
 
  typedef QSharedPointer<BundleLidarRangeConstraint> BundleLidarRangeConstraintQsp;
}
 
#endif