BundleObservationSolveSettings.cpp

 
/* SPDX-License-Identifier: CC0-1.0 */
 
#include "BundleObservationSolveSettings.h"
 
#include <QDataStream>
#include <QDebug>
#include <QFile>
#include <QList>
#include <QSet>
#include <QString>
#include <QUuid>
#include <QXmlInputSource>
#include <QXmlStreamWriter>
 
#include "BundleImage.h"
#include "Camera.h"
#include "FileName.h"
#include "IException.h"
#include "IString.h"
#include "Project.h"
#include "PvlKeyword.h"
#include "PvlObject.h"
#include "XmlStackedHandlerReader.h"
 
 
namespace Isis {
 
  BundleObservationSolveSettings::BundleObservationSolveSettings() {
    initialize();
  }
 
 
  BundleObservationSolveSettings::BundleObservationSolveSettings(
                                                             Project *project,
                                                             XmlStackedHandlerReader *xmlReader) {
    initialize();
    xmlReader->pushContentHandler(new XmlHandler(this, project));
    xmlReader->setErrorHandler(new XmlHandler(this, project));
  }
 
 
  BundleObservationSolveSettings::BundleObservationSolveSettings(const PvlGroup &scParameterGroup) {
    initialize();
 
    // group name must be instrument id
    m_instrumentId = (QString)scParameterGroup.nameKeyword();
 
    // If CKDEGREE is not specified, then a default of 2 is used
    if (scParameterGroup.hasKeyword("CKDEGREE")) {
      m_ckDegree = (int)(scParameterGroup.findKeyword("CKDEGREE"));
    }
 
    // If CKSOLVEDEGREE is not specified, then a default of 2 is used
    if (scParameterGroup.hasKeyword("CKSOLVEDEGREE")) {
      m_ckSolveDegree = (int) (scParameterGroup.findKeyword("CKSOLVEDEGREE"));
    }
 
    // do we solve for No pointing, ANGLES only, ANGLES+ANGULAR VELOCITY, ANGLES+ANGULAR VELOCITY+
    // ANGULAR ACCELERATION, or a higher order polynomial
    QString csolve = "NONE";
    csolve = (QString)scParameterGroup.findKeyword("CAMSOLVE");
    csolve = csolve.toUpper();
    if (csolve == "NONE") {
      m_instrumentPointingSolveOption = NoPointingFactors;
      m_numberCamAngleCoefSolved = 0;
    }
    else if (csolve == "ANGLES") {
      m_instrumentPointingSolveOption = AnglesOnly;
      m_numberCamAngleCoefSolved = 1;
    }
    else if (csolve == "VELOCITIES") {
      m_instrumentPointingSolveOption = AnglesVelocity;
      m_numberCamAngleCoefSolved = 2;
    }
    else if (csolve == "ACCELERATIONS") {
      m_instrumentPointingSolveOption = AnglesVelocityAcceleration;
      m_numberCamAngleCoefSolved = 3;
    }
    else if (csolve == "ALL"){
      m_instrumentPointingSolveOption = AllPointingCoefficients;
      m_numberCamAngleCoefSolved = m_ckSolveDegree + 1;
    }
 
    // If OVEREXISTING is not specified, then a default of NO is used
    if (scParameterGroup.hasKeyword("OVEREXISTING")) {
      QString parval = (QString)scParameterGroup.findKeyword("OVEREXISTING");
      parval = parval.toUpper();
      if (parval == "TRUE" || parval == "YES") {
        m_solvePointingPolynomialOverExisting = true;
        m_pointingInterpolationType = SpiceRotation::PolyFunctionOverSpice;
      }
      else if (parval == "FALSE" || parval == "NO") {
        m_solvePointingPolynomialOverExisting = false;
        m_pointingInterpolationType = SpiceRotation::PolyFunction;
      }
      else {
        QString msg = "The OVEREXISTING parameter must be set to TRUE or FALSE; YES or NO";
        throw IException(IException::User, msg, _FILEINFO_);
      }
    }
 
    // If SPKDEGREE is not specified, then a default of 2 is used
    if (scParameterGroup.hasKeyword("SPKDEGREE"))
      m_spkDegree = (int)(scParameterGroup.findKeyword("SPKDEGREE"));
 
    // If SPKSOLVEDEGREE is not specified, then a default of 2 is used
    if (scParameterGroup.hasKeyword("SPKSOLVEDEGREE"))
      m_spkSolveDegree = (int)(scParameterGroup.findKeyword("SPKSOLVEDEGREE"));
 
    // do we solve for No position, POSITION only, POSITION+VELOCITY, POSITION+VELOCITY+
    // ACCELERATION, or a higher order polynomial
    QString ssolve = "NONE";
    ssolve = (QString)scParameterGroup.findKeyword("SPSOLVE");
    ssolve = ssolve.toUpper();
    if (ssolve == "NONE") {
      m_instrumentPositionSolveOption = NoPositionFactors;
      m_numberCamPosCoefSolved = 0;
    }
    else if (ssolve == "POSITION") {
      m_instrumentPositionSolveOption = PositionOnly;
      m_numberCamPosCoefSolved = 1;
    }
    else if (ssolve == "VELOCITIES") {
      m_instrumentPositionSolveOption = PositionVelocity;
      m_numberCamPosCoefSolved = 2;
    }
    else if (ssolve == "ACCELERATIONS") {
      m_instrumentPositionSolveOption = PositionVelocityAcceleration;
      m_numberCamPosCoefSolved = 3;
    }
    else if (csolve == "ALL"){
      m_instrumentPositionSolveOption = AllPositionCoefficients;
      m_numberCamPosCoefSolved = m_spkSolveDegree + 1;
    }
 
    // If TWIST is not specified, then a default of YES is used
    if (scParameterGroup.hasKeyword("TWIST")) {
      QString parval = (QString)scParameterGroup.findKeyword("TWIST");
      parval = parval.toUpper();
      if (parval == "TRUE" || parval == "YES") { // is this necessary ??? i think pvl and toString can handle it...
        m_solveTwist = true;
      }
      else if (parval == "FALSE" || parval == "NO") {
        m_solveTwist = false;
      }
      else {
        QString msg = "The TWIST parameter must be set to TRUE or FALSE; YES or NO";
        throw IException(IException::User, msg, _FILEINFO_);
      }
    }
    // If OVERHERMITE is not specified, then a default of NO is used
    if (scParameterGroup.hasKeyword("OVERHERMITE")) {
     QString parval = (QString)scParameterGroup.findKeyword("OVERHERMITE");
     parval = parval.toUpper();
     if (parval == "TRUE" || parval == "YES") {
       m_solvePositionOverHermiteSpline = true;
       m_positionInterpolationType = SpicePosition::PolyFunctionOverHermiteConstant;
     }
     else if (parval == "FALSE" || parval == "NO") {
       m_solvePositionOverHermiteSpline = false;
       m_positionInterpolationType = SpicePosition::PolyFunction;
     }
     else {
       QString msg = "The OVERHERMITE parameter must be set to TRUE or FALSE; YES or NO";
       throw IException(IException::User, msg, _FILEINFO_);
     }
    }
 
    if (m_instrumentPointingSolveOption != NoPointingFactors) {
      if (scParameterGroup.hasKeyword("CAMERA_ANGLES_SIGMA")) {
        m_anglesAprioriSigma.append((double)(scParameterGroup.findKeyword("CAMERA_ANGLES_SIGMA")));
      }
      else {
        m_anglesAprioriSigma.append(Isis::Null);
      }
      if (scParameterGroup.hasKeyword("CAMERA_ANGULAR_VELOCITY_SIGMA")){
        m_anglesAprioriSigma.append(
           (double)(scParameterGroup.findKeyword("CAMERA_ANGULAR_VELOCITY_SIGMA")));
      }
      else {
        m_anglesAprioriSigma.append(Isis::Null);
      }
      if (scParameterGroup.hasKeyword("CAMERA_ANGULAR_ACCELERATION_SIGMA")){
        m_anglesAprioriSigma.append(
           (double)(scParameterGroup.findKeyword("CAMERA_ANGULAR_ACCELERATION_SIGMA")));
      }
      else {
        m_anglesAprioriSigma.append(Isis::Null);
      }
      if (scParameterGroup.hasKeyword("ADDITIONAL_CAMERA_POINTING_SIGMAS")) {
        PvlKeyword additionalSigmas = scParameterGroup.findKeyword("ADDITIONAL_CAMERA_POINTING_SIGMAS");
        for (int i = 0; i < additionalSigmas.size(); i++ ) {
          m_anglesAprioriSigma.append(toDouble(additionalSigmas[i]));
        }
      }
    }
 
    if (m_instrumentPositionSolveOption != NoPositionFactors) {
      if (scParameterGroup.hasKeyword("SPACECRAFT_POSITION_SIGMA")) {
        m_positionAprioriSigma.append((double)(scParameterGroup.findKeyword("SPACECRAFT_POSITION_SIGMA")));
      }
      else {
        m_positionAprioriSigma.append(Isis::Null);
      }
      if (scParameterGroup.hasKeyword("SPACECRAFT_VELOCITY_SIGMA")){
        m_positionAprioriSigma.append((double)(scParameterGroup.findKeyword("SPACECRAFT_VELOCITY_SIGMA")));
      }
      else {
        m_positionAprioriSigma.append(Isis::Null);
      }
      if (scParameterGroup.hasKeyword("SPACECRAFT_ACCELERATION_SIGMA")) {
        m_positionAprioriSigma.append((double)(scParameterGroup.findKeyword("SPACECRAFT_ACCELERATION_SIGMA")));
      }
      else {
        m_positionAprioriSigma.append(Isis::Null);
      }
      if (scParameterGroup.hasKeyword("ADDITIONAL_SPACECRAFT_POSITION_SIGMAS")) {
        PvlKeyword additionalSigmas = scParameterGroup.findKeyword("ADDITIONAL_SPACECRAFT_POSITION_SIGMAS");
        for (int i = 0; i < additionalSigmas.size(); i++ ) {
          m_positionAprioriSigma.append(toDouble(additionalSigmas[i]));
        }
      }
    }
 
    // CSM settings
    if (scParameterGroup.hasKeyword("CSMSOLVESET")) {
      setCSMSolveSet(stringToCSMSolveSet(scParameterGroup.findKeyword("CSMSOLVESET")));
    }
    else if (scParameterGroup.hasKeyword("CSMSOLVETYPE")) {
      setCSMSolveType(stringToCSMSolveType(scParameterGroup.findKeyword("CSMSOLVETYPE")));
    }
    else if (scParameterGroup.hasKeyword("CSMSOLVELIST")) {
      PvlKeyword csmSolveListKey = scParameterGroup.findKeyword("CSMSOLVELIST");
      QStringList csmSolveList;
      for (int i = 0; i < csmSolveListKey.size(); i++) {
        csmSolveList.append(csmSolveListKey[i]);
      }
      setCSMSolveParameterList(csmSolveList);
    }
  }
 
 
  BundleObservationSolveSettings::BundleObservationSolveSettings(const BundleObservationSolveSettings &other) {
 
    m_id = NULL;
    m_id = new QUuid(other.m_id->toString());
     // TODO: add check to all copy constructors (verify other.xxx is not null) and operator= ???
     // or intit all variables in all constructors
 
    m_instrumentId = other.m_instrumentId;
    m_csmSolveOption = other.m_csmSolveOption;
    m_csmSolveSet = other.m_csmSolveSet;
    m_csmSolveType = other.m_csmSolveType;
    m_csmSolveList = other.m_csmSolveList;
    m_instrumentPointingSolveOption = other.m_instrumentPointingSolveOption;
    m_observationNumbers = other.m_observationNumbers;
    m_numberCamAngleCoefSolved = other.m_numberCamAngleCoefSolved;
    m_ckDegree = other.m_ckDegree;
    m_ckSolveDegree = other.m_ckSolveDegree;
    m_solveTwist = other.m_solveTwist;
    m_solvePointingPolynomialOverExisting = other.m_solvePointingPolynomialOverExisting;
    m_anglesAprioriSigma = other.m_anglesAprioriSigma;
    m_pointingInterpolationType = other.m_pointingInterpolationType;
    m_instrumentPositionSolveOption = other.m_instrumentPositionSolveOption;
    m_numberCamPosCoefSolved = other.m_numberCamPosCoefSolved;
    m_spkDegree = other.m_spkDegree;
    m_spkSolveDegree = other.m_spkSolveDegree;
    m_solvePositionOverHermiteSpline = other.m_solvePositionOverHermiteSpline;
    m_positionAprioriSigma = other.m_positionAprioriSigma;
    m_positionInterpolationType = other.m_positionInterpolationType;
  }
 
 
  BundleObservationSolveSettings::~BundleObservationSolveSettings() {
 
    delete m_id;
    m_id = NULL;
 
  }
 
 
  BundleObservationSolveSettings
      &BundleObservationSolveSettings::operator=(const BundleObservationSolveSettings &other) {
    if (&other != this) {
      delete m_id;
      m_id = NULL;
      m_id = new QUuid(other.m_id->toString());
 
      m_instrumentId = other.m_instrumentId;
      m_observationNumbers = other.m_observationNumbers;
 
      // CSM related
      m_csmSolveOption = other.m_csmSolveOption;
      m_csmSolveSet = other.m_csmSolveSet;
      m_csmSolveType = other.m_csmSolveType;
      m_csmSolveList = other.m_csmSolveList;
 
      // pointing related
      m_instrumentPointingSolveOption = other.m_instrumentPointingSolveOption;
      m_numberCamAngleCoefSolved = other.m_numberCamAngleCoefSolved;
      m_ckDegree = other.m_ckDegree;
      m_ckSolveDegree = other.m_ckSolveDegree;
      m_solveTwist = other.m_solveTwist;
      m_solvePointingPolynomialOverExisting = other.m_solvePointingPolynomialOverExisting;
      m_pointingInterpolationType = other.m_pointingInterpolationType;
      m_anglesAprioriSigma = other.m_anglesAprioriSigma;
 
      // position related
      m_instrumentPositionSolveOption = other.m_instrumentPositionSolveOption;
      m_numberCamPosCoefSolved = other.m_numberCamPosCoefSolved;
      m_spkDegree = other.m_spkDegree;
      m_spkSolveDegree = other.m_spkSolveDegree;
      m_solvePositionOverHermiteSpline = other.m_solvePositionOverHermiteSpline;
      m_positionInterpolationType = other.m_positionInterpolationType;
      m_positionAprioriSigma = other.m_positionAprioriSigma;
 
    }
 
    return *this;
 
  }
 
 
  void BundleObservationSolveSettings::initialize() {
    m_id = NULL;
    m_id = new QUuid(QUuid::createUuid());
 
    m_instrumentId = "";
 
    // CSM solve options
    m_csmSolveOption = BundleObservationSolveSettings::NoCSMParameters;
    m_csmSolveSet = csm::param::ADJUSTABLE;
    m_csmSolveType = csm::param::REAL;
    m_csmSolveList = QStringList();
 
    // Camera Pointing Options
    // Defaults:
    //     m_instrumentPointingSolveOption = AnglesOnly;
    //     m_numberCamAngleCoefSolved = 1; // AnglesOnly;
    //     m_ckDegree = 2;
    //     m_ckSolveDegree = 2;
    //     m_solveTwist = true;
    //     m_solvePointingPolynomialOverExisting = false;
    //     m_pointingInterpolationType = SpiceRotation::PolyFunction;
    //     m_anglesAprioriSigma.append(Isis::Null); // num cam angle
    //     coef = 1
    setInstrumentPointingSettings(AnglesOnly, true, 2, 2, false);
 
    // Spacecraft Position Options
    // Defaults:
    //     m_instrumentPositionSolveOption = NoPositionFactors;
    //     m_numberCamPosCoefSolved = 0; // NoPositionFactors;
    //     m_spkDegree = 2;
    //     m_spkSolveDegree = 2;
    //     m_solvePositionOverHermiteSpline = false;
    //     m_positionInterpolationType = SpicePosition::PolyFunction;
    //     m_positionAprioriSigma.clear();
    setInstrumentPositionSettings(NoPositionFactors, 2, 2, false);
 
  }
 
 
  // =============================================================================================//
  // =============================================================================================//
  // =============================================================================================//
 
  void BundleObservationSolveSettings::setInstrumentId(QString instrumentId) {
    m_instrumentId = instrumentId;
  }
 
 
  QString BundleObservationSolveSettings::instrumentId() const {
    return m_instrumentId;
  }
 
 
  void BundleObservationSolveSettings::addObservationNumber(QString observationNumber) {
    m_observationNumbers.insert(observationNumber);
  }
 
 
  bool BundleObservationSolveSettings::removeObservationNumber(QString observationNumber) {
    return m_observationNumbers.remove(observationNumber);
  }
 
 
  QSet<QString> BundleObservationSolveSettings::observationNumbers() const {
    return m_observationNumbers;
  }
 
 
  // =============================================================================================//
  // ======================== CSM Options ========================================================//
  // =============================================================================================//
 
 
  BundleObservationSolveSettings::CSMSolveOption
      BundleObservationSolveSettings::stringToCSMSolveOption(QString option) {
    if (option.compare("NoCSMParameters", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::NoCSMParameters;
    }
    else if (option.compare("Set", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::Set;
    }
    else if (option.compare("Type", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::Type;
    }
    else if (option.compare("List", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::List;
    }
    else {
      throw IException(IException::Unknown,
                       "Unknown bundle CSM solve option " + option + ".",
                       _FILEINFO_);
    }
  }
 
 
  QString BundleObservationSolveSettings::csmSolveOptionToString(CSMSolveOption option) {
    if (option == BundleObservationSolveSettings::NoCSMParameters) {
      return "NoCSMParameters";
    }
    else if (option == BundleObservationSolveSettings::Set)  {
      return "Set";
    }
    else if (option == BundleObservationSolveSettings::Type) {
      return "Type";
    }
    else if (option == BundleObservationSolveSettings::List) {
      return "List";
    }
    else {
      throw IException(IException::Programmer,
                       "Unknown CSM solve option enum [" + toString(option) + "].",
                       _FILEINFO_);
    }
  }
 
 
  csm::param::Set BundleObservationSolveSettings::stringToCSMSolveSet(QString set) {
    if (set.compare("VALID", Qt::CaseInsensitive) == 0) {
      return csm::param::VALID;
    }
    else if (set.compare("ADJUSTABLE", Qt::CaseInsensitive) == 0) {
      return csm::param::ADJUSTABLE;
    }
    else if (set.compare("NON_ADJUSTABLE", Qt::CaseInsensitive) == 0) {
      return csm::param::NON_ADJUSTABLE;
    }
    else {
      throw IException(IException::Unknown,
                       "Unknown bundle CSM parameter set " + set + ".",
                       _FILEINFO_);
    }
  }
 
 
  QString BundleObservationSolveSettings::csmSolveSetToString(csm::param::Set set) {
    if (set == csm::param::VALID) {
      return "VALID";
    }
    else if (set == csm::param::ADJUSTABLE)  {
      return "ADJUSTABLE";
    }
    else if (set == csm::param::NON_ADJUSTABLE) {
      return "NON_ADJUSTABLE";
    }
    else {
      throw IException(IException::Programmer,
                       "Unknown CSM parameter set enum [" + toString(set) + "].",
                       _FILEINFO_);
    }
  }
 
 
  csm::param::Type BundleObservationSolveSettings::stringToCSMSolveType(QString type) {
    if (type.compare("NONE", Qt::CaseInsensitive) == 0) {
      return csm::param::NONE;
    }
    else if (type.compare("FICTITIOUS", Qt::CaseInsensitive) == 0) {
      return csm::param::FICTITIOUS;
    }
    else if (type.compare("REAL", Qt::CaseInsensitive) == 0) {
      return csm::param::REAL;
    }
    else if (type.compare("FIXED", Qt::CaseInsensitive) == 0) {
      return csm::param::FIXED;
    }
    else {
      throw IException(IException::Unknown,
                       "Unknown bundle CSM parameter type " + type + ".",
                       _FILEINFO_);
    }
  }
 
 
  QString BundleObservationSolveSettings::csmSolveTypeToString(csm::param::Type type) {
    if (type == csm::param::NONE) {
      return "NONE";
    }
    else if (type == csm::param::FICTITIOUS)  {
      return "FICTITIOUS";
    }
    else if (type == csm::param::REAL) {
      return "REAL";
    }
    else if (type == csm::param::FIXED) {
      return "FIXED";
    }
    else {
      throw IException(IException::Programmer,
                       "Unknown CSM parameter type enum [" + toString(type) + "].",
                       _FILEINFO_);
    }
  }
 
 
  void BundleObservationSolveSettings::setCSMSolveSet(csm::param::Set set) {
    m_csmSolveOption = BundleObservationSolveSettings::Set;
    m_csmSolveSet = set;
  }
 
 
  void BundleObservationSolveSettings::setCSMSolveType(csm::param::Type type) {
    m_csmSolveOption = BundleObservationSolveSettings::Type;
    m_csmSolveType = type;
  }
 
 
  void BundleObservationSolveSettings::setCSMSolveParameterList(QStringList list) {
    m_csmSolveOption = BundleObservationSolveSettings::List;
    m_csmSolveList = list;
  }
 
 
  BundleObservationSolveSettings::CSMSolveOption
      BundleObservationSolveSettings::csmSolveOption() const {
    return m_csmSolveOption;
  }
 
 
  csm::param::Set BundleObservationSolveSettings::csmParameterSet() const {
    return m_csmSolveSet;
  }
 
 
  csm::param::Type BundleObservationSolveSettings::csmParameterType() const {
    return m_csmSolveType;
  }
 
 
  QStringList BundleObservationSolveSettings::csmParameterList() const {
    return m_csmSolveList;
  }
 
 
  // =============================================================================================//
  // ======================== Camera Pointing Options ============================================//
  // =============================================================================================//
 
 
  BundleObservationSolveSettings::InstrumentPointingSolveOption
      BundleObservationSolveSettings::stringToInstrumentPointingSolveOption(QString option) {
    if (option.compare("NONE", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::NoPointingFactors;
    }
    else if (option.compare("NoPointingFactors", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::NoPointingFactors;
    }
    else if (option.compare("ANGLES", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AnglesOnly;
    }
    else if (option.compare("AnglesOnly", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AnglesOnly;
    }
    else if (option.compare("VELOCITIES", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AnglesVelocity;
    }
    else if (option.compare("AnglesAndVelocity", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AnglesVelocity;
    }
    else if (option.compare("ACCELERATIONS", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AnglesVelocityAcceleration;
    }
    else if (option.compare("AnglesVelocityAndAcceleration", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AnglesVelocityAcceleration;
    }
    else if (option.compare("ALL", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AllPointingCoefficients;
    }
    else if (option.compare("AllPolynomialCoefficients", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AllPointingCoefficients;
    }
    else {
      throw IException(IException::Unknown,
                       "Unknown bundle instrument pointing solve option " + option + ".",
                       _FILEINFO_);
    }
  }
 
 
  QString BundleObservationSolveSettings::instrumentPointingSolveOptionToString(
      InstrumentPointingSolveOption option) {
    if (option == NoPointingFactors)               return "None";
    else if (option == AnglesOnly)                 return "AnglesOnly";
    else if (option == AnglesVelocity)             return "AnglesAndVelocity";
    else if (option == AnglesVelocityAcceleration) return "AnglesVelocityAndAcceleration";
    else if (option == AllPointingCoefficients)    return "AllPolynomialCoefficients";
    else throw IException(IException::Programmer,
                          "Unknown pointing solve option enum [" + toString(option) + "].",
                          _FILEINFO_);
  }
 
 
  void BundleObservationSolveSettings::setInstrumentPointingSettings(
                                           InstrumentPointingSolveOption option,
                                           bool solveTwist,
                                           int ckDegree,
                                           int ckSolveDegree,
                                           bool solvePolynomialOverExisting,
                                           double anglesAprioriSigma,
                                           double angularVelocityAprioriSigma,
                                           double angularAccelerationAprioriSigma,QList<double> * additionalPointingSigmas) {
 
    // automatically set the solve option and ck degree to the user entered values
    m_instrumentPointingSolveOption = option;
 
    // the ck solve degree entered is only used if we are solving for all coefficients
    // otherwise it defaults to 2.
    if (option == AllPointingCoefficients) {
      // update spkDegree and spkSolveDegree
      m_ckDegree = ckDegree;
      m_ckSolveDegree = ckSolveDegree;
 
      // we are solving for (solve degree + 1) coefficients
      // this is the maximum number of apriori sigmas allowed
      m_numberCamAngleCoefSolved = m_ckSolveDegree + 1;
    }
    else {
      // let spkDegree and spkSolveDegree default to 2, 2
      m_ckDegree = 2;
      m_ckSolveDegree = 2;
 
      // solve for the appropriate number of coefficients, based on solve option enum
      m_numberCamAngleCoefSolved = ((int) option);
    }
 
    m_anglesAprioriSigma.clear();
    if (m_numberCamAngleCoefSolved > 0) {
      if (anglesAprioriSigma > 0.0) {
        m_anglesAprioriSigma.append(anglesAprioriSigma);
      }
      else {
        m_anglesAprioriSigma.append(Isis::Null);
      }
 
      if (m_numberCamAngleCoefSolved > 1) {
        if (angularVelocityAprioriSigma > 0.0) {
          m_anglesAprioriSigma.append(angularVelocityAprioriSigma);
        }
        else {
          m_anglesAprioriSigma.append(Isis::Null);
        }
 
        if (m_numberCamAngleCoefSolved > 2) {
          if (angularAccelerationAprioriSigma > 0.0) {
            m_anglesAprioriSigma.append(angularAccelerationAprioriSigma);
          }
          else {
            m_anglesAprioriSigma.append(Isis::Null);
          }
        }
      }
    }
 
    if (additionalPointingSigmas) {
      for (int i=0;i < additionalPointingSigmas->count();i++) {
          m_anglesAprioriSigma.append(additionalPointingSigmas->value(i));
      }
    }
 
 
 
 
 
    m_solveTwist = solveTwist; // dependent on solve option???
 
    // Set the SpiceRotation interpolation type enum appropriately
    m_solvePointingPolynomialOverExisting = solvePolynomialOverExisting;
    if (m_solvePointingPolynomialOverExisting) {
      m_pointingInterpolationType = SpiceRotation::PolyFunctionOverSpice;
    }
    else {
      m_pointingInterpolationType = SpiceRotation::PolyFunction;
    }
 
  }
 
 
  BundleObservationSolveSettings::InstrumentPointingSolveOption
      BundleObservationSolveSettings::instrumentPointingSolveOption() const {
    return m_instrumentPointingSolveOption;
  }
 
 
  bool BundleObservationSolveSettings::solveTwist() const {
    return m_solveTwist;
  }
 
 
  int BundleObservationSolveSettings::ckDegree() const {
    return m_ckDegree;
  }
 
 
  int BundleObservationSolveSettings::ckSolveDegree()const {
    return m_ckSolveDegree;
  }
 
 
  int BundleObservationSolveSettings::numberCameraAngleCoefficientsSolved() const {
    return m_numberCamAngleCoefSolved;
  }
 
 
  bool BundleObservationSolveSettings::solvePolyOverPointing() const {
    return m_solvePointingPolynomialOverExisting;
  }
 
 
  QList<double> BundleObservationSolveSettings::aprioriPointingSigmas() const {
    return m_anglesAprioriSigma;
  }
 
 
  SpiceRotation::Source BundleObservationSolveSettings::pointingInterpolationType() const {
    return m_pointingInterpolationType;
  }
 
 
  // =============================================================================================//
  // ======================== Spacecraft Position Options ========================================//
  // =============================================================================================//
 
 
  BundleObservationSolveSettings::InstrumentPositionSolveOption
      BundleObservationSolveSettings::stringToInstrumentPositionSolveOption(QString option) {
    if (option.compare("NONE", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::NoPositionFactors;
    }
    else if (option.compare("NoPositionFactors", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::NoPositionFactors;
    }
    else if (option.compare("POSITIONS", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::PositionOnly;
    }
    else if (option.compare("PositionOnly", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::PositionOnly;
    }
    else if (option.compare("VELOCITIES", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::PositionVelocity;
    }
    else if (option.compare("PositionAndVelocity", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::PositionVelocity;
    }
    else if (option.compare("ACCELERATIONS", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::PositionVelocityAcceleration;
    }
    else if (option.compare("PositionVelocityAndAcceleration", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::PositionVelocityAcceleration;
    }
    else if (option.compare("ALL", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AllPositionCoefficients;
    }
    else if (option.compare("AllPolynomialCoefficients", Qt::CaseInsensitive) == 0) {
      return BundleObservationSolveSettings::AllPositionCoefficients;
    }
    else {
      throw IException(IException::Unknown,
                          "Unknown bundle instrument position solve option " + option + ".",
                          _FILEINFO_);
    }
  }
 
 
  QString BundleObservationSolveSettings::instrumentPositionSolveOptionToString(
      InstrumentPositionSolveOption option) {
    if (option == NoPositionFactors)                 return "None";
    else if (option == PositionOnly)                 return "PositionOnly";
    else if (option == PositionVelocity)             return "PositionAndVelocity";
    else if (option == PositionVelocityAcceleration) return "PositionVelocityAndAcceleration";
    else if (option == AllPositionCoefficients)      return "AllPolynomialCoefficients";
    else throw IException(IException::Programmer,
                          "Unknown position solve option enum [" + toString(option) + "].",
                          _FILEINFO_);
  }
 
 
  void BundleObservationSolveSettings::setInstrumentPositionSettings(InstrumentPositionSolveOption option,
                                           int spkDegree,
                                           int spkSolveDegree,
                                           bool positionOverHermite,
                                           double positionAprioriSigma,
                                           double velocityAprioriSigma,
                                           double accelerationAprioriSigma,
                                           QList<double> *additionalPositionSigmas) {
    // automatically set the solve option and spk degree to the user entered values
    m_instrumentPositionSolveOption = option;
 
    // the spk solve degree entered is only used if we are solving for all coefficients
    // otherwise it defaults to 2.
    if (option == AllPositionCoefficients) {
      // update spkDegree and spkSolveDegree
      m_spkDegree = spkDegree;
      m_spkSolveDegree = spkSolveDegree;
      // we are solving for (solve degree + 1) coefficients
      // this is the maximum number of apriori sigmas allowed
      m_numberCamPosCoefSolved = m_spkSolveDegree + 1;
    }
    else {
      // let spkDegree and spkSolveDegree default to 2, 2
      m_spkDegree = 2;
      m_spkSolveDegree = 2;
 
      // solve for the appropriate number of coefficients, based on solve option enum
      m_numberCamPosCoefSolved = ((int) option);
    }
 
    m_positionAprioriSigma.clear();
    if (m_numberCamPosCoefSolved > 0) {
      if (positionAprioriSigma > 0.0) {
        m_positionAprioriSigma.append(positionAprioriSigma);
      }
      else {
        m_positionAprioriSigma.append(Isis::Null);
      }
 
      if (m_numberCamPosCoefSolved > 1) {
        if (velocityAprioriSigma > 0.0) {
          m_positionAprioriSigma.append(velocityAprioriSigma);
        }
        else {
          m_positionAprioriSigma.append(Isis::Null);
        }
 
        if (m_numberCamPosCoefSolved > 2) {
          if (accelerationAprioriSigma > 0.0) {
            m_positionAprioriSigma.append(accelerationAprioriSigma);
          }
          else {
            m_positionAprioriSigma.append(Isis::Null);
          }
        }
      }
    }
 
    if (additionalPositionSigmas) {
      for (int i=0;i < additionalPositionSigmas->count();i++) {
          m_positionAprioriSigma.append(additionalPositionSigmas->value(i));
      }
    }
 
    // Set the SpicePosition interpolation type enum appropriately
    m_solvePositionOverHermiteSpline = positionOverHermite;
    if (m_solvePositionOverHermiteSpline) {
      m_positionInterpolationType = SpicePosition::PolyFunctionOverHermiteConstant;
    }
    else {
      m_positionInterpolationType = SpicePosition::PolyFunction;
    }
 
  }
 
 
  BundleObservationSolveSettings::InstrumentPositionSolveOption
      BundleObservationSolveSettings::instrumentPositionSolveOption() const {
    return m_instrumentPositionSolveOption;
  }
 
 
  int BundleObservationSolveSettings::spkDegree() const {
    return m_spkDegree;
  }
 
 
  int BundleObservationSolveSettings::spkSolveDegree() const {
    return m_spkSolveDegree;
  }
 
 
  int BundleObservationSolveSettings::numberCameraPositionCoefficientsSolved() const {
    return m_numberCamPosCoefSolved;
  }
 
 
  bool BundleObservationSolveSettings::solvePositionOverHermite() const {
    return m_solvePositionOverHermiteSpline;
  }
 
 
  QList<double> BundleObservationSolveSettings::aprioriPositionSigmas() const {
    return m_positionAprioriSigma;
  }
 
 
  SpicePosition::Source BundleObservationSolveSettings::positionInterpolationType() const {
    return m_positionInterpolationType;
  }
 
 
  // =============================================================================================//
  // =============================================================================================//
  // =============================================================================================//
 
 
  void BundleObservationSolveSettings::save(QXmlStreamWriter &stream,
                                            const Project *project) const {
 
    stream.writeStartElement("bundleObservationSolveSettings");
    stream.writeTextElement("id", m_id->toString());
    stream.writeTextElement("instrumentId", instrumentId());
 
    // pointing related
    stream.writeStartElement("instrumentPointingOptions");
    stream.writeAttribute("solveOption",
                           instrumentPointingSolveOptionToString(m_instrumentPointingSolveOption));
    stream.writeAttribute("numberCoefSolved", toString(m_numberCamAngleCoefSolved));
    stream.writeAttribute("degree", toString(m_ckDegree));
    stream.writeAttribute("solveDegree", toString(m_ckSolveDegree));
    stream.writeAttribute("solveTwist", toString(m_solveTwist));
    stream.writeAttribute("solveOverExisting", toString(m_solvePointingPolynomialOverExisting));
    stream.writeAttribute("interpolationType", toString(m_pointingInterpolationType));
 
    stream.writeStartElement("aprioriPointingSigmas");
    for (int i = 0; i < m_anglesAprioriSigma.size(); i++) {
      if (IsSpecial(m_anglesAprioriSigma[i])) {
        stream.writeTextElement("sigma", "N/A");
      }
      else {
        stream.writeTextElement("sigma", toString(m_anglesAprioriSigma[i]));
      }
    }
    stream.writeEndElement();// end aprioriPointingSigmas
    stream.writeEndElement();// end instrumentPointingOptions
 
    // position related
    stream.writeStartElement("instrumentPositionOptions");
    stream.writeAttribute("solveOption",
                           instrumentPositionSolveOptionToString(m_instrumentPositionSolveOption));
    stream.writeAttribute("numberCoefSolved", toString(m_numberCamPosCoefSolved));
    stream.writeAttribute("degree", toString(m_spkDegree));
    stream.writeAttribute("solveDegree", toString(m_spkSolveDegree));
    stream.writeAttribute("solveOverHermiteSpline", toString(m_solvePositionOverHermiteSpline));
    stream.writeAttribute("interpolationType", toString(m_positionInterpolationType));
 
    stream.writeStartElement("aprioriPositionSigmas");
    for (int i = 0; i < m_positionAprioriSigma.size(); i++) {
      if (IsSpecial(m_positionAprioriSigma[i])) {
        stream.writeTextElement("sigma", "N/A");
      }
      else {
        stream.writeTextElement("sigma", toString(m_positionAprioriSigma[i]));
      }
    }
    stream.writeEndElement();// end aprioriPositionSigmas
    stream.writeEndElement(); // end instrumentPositionOptions
 
    stream.writeEndElement(); // end bundleObservationSolveSettings
 
  }
 
 
  BundleObservationSolveSettings::XmlHandler::XmlHandler(BundleObservationSolveSettings *settings,
                                                         Project *project) {
    m_xmlHandlerObservationSettings = settings;
    m_xmlHandlerProject = project;  // TODO: does xml stuff need project???
    m_xmlHandlerCharacters = "";
  }
 
 
  BundleObservationSolveSettings::XmlHandler::~XmlHandler() {
    // do not delete this pointer... we don't own it, do we???
    // passed into StatCumProbDistDynCalc constructor as pointer
    // delete m_xmlHandlerProject;  // TODO: does xml stuff need project???
    m_xmlHandlerProject = NULL;
  }
 
 
  bool BundleObservationSolveSettings::XmlHandler::startElement(const QString &namespaceURI,
                                                                const QString &localName,
                                                                const QString &qName,
                                                                const QXmlAttributes &atts) {
    m_xmlHandlerCharacters = "";
    if (XmlStackedHandler::startElement(namespaceURI, localName, qName, atts)) {
      if (localName == "instrumentPointingOptions") {
 
        QString pointingSolveOption = atts.value("solveOption");
        if (!pointingSolveOption.isEmpty()) {
          m_xmlHandlerObservationSettings->m_instrumentPointingSolveOption
              = stringToInstrumentPointingSolveOption(pointingSolveOption);
        }
 
        QString numberCoefSolved = atts.value("numberCoefSolved");
        if (!numberCoefSolved.isEmpty()) {
          m_xmlHandlerObservationSettings->m_numberCamAngleCoefSolved = toInt(numberCoefSolved);
        }
 
        QString ckDegree = atts.value("degree");
        if (!ckDegree.isEmpty()) {
          m_xmlHandlerObservationSettings->m_ckDegree = toInt(ckDegree);
        }
 
        QString ckSolveDegree = atts.value("solveDegree");
        if (!ckSolveDegree.isEmpty()) {
          m_xmlHandlerObservationSettings->m_ckSolveDegree = toInt(ckSolveDegree);
        }
 
        QString solveTwist = atts.value("solveTwist");
        if (!solveTwist.isEmpty()) {
          m_xmlHandlerObservationSettings->m_solveTwist = toBool(solveTwist);
        }
 
        QString solveOverExisting = atts.value("solveOverExisting");
        if (!solveOverExisting.isEmpty()) {
          m_xmlHandlerObservationSettings->m_solvePointingPolynomialOverExisting =
              toBool(solveOverExisting);
        }
 
        QString interpolationType = atts.value("interpolationType");
        if (!interpolationType.isEmpty()) {
          m_xmlHandlerObservationSettings->m_pointingInterpolationType =
              SpiceRotation::Source(toInt(interpolationType));
        }
 
      }
      else if (localName == "aprioriPointingSigmas") {
        m_xmlHandlerAprioriSigmas.clear();
      }
      else if (localName == "instrumentPositionOptions") {
 
        QString positionSolveOption = atts.value("solveOption");
        if (!positionSolveOption.isEmpty()) {
          m_xmlHandlerObservationSettings->m_instrumentPositionSolveOption
              = stringToInstrumentPositionSolveOption(positionSolveOption);
        }
 
        QString numberCoefSolved = atts.value("numberCoefSolved");
        if (!numberCoefSolved.isEmpty()) {
          m_xmlHandlerObservationSettings->m_numberCamPosCoefSolved = toInt(numberCoefSolved);
        }
 
        QString spkDegree = atts.value("degree");
        if (!spkDegree.isEmpty()) {
          m_xmlHandlerObservationSettings->m_spkDegree = toInt(spkDegree);
        }
 
        QString spkSolveDegree = atts.value("solveDegree");
        if (!spkSolveDegree.isEmpty()) {
          m_xmlHandlerObservationSettings->m_spkSolveDegree = toInt(spkSolveDegree);
        }
 
        QString solveOverHermiteSpline = atts.value("solveOverHermiteSpline");
        if (!solveOverHermiteSpline.isEmpty()) {
          m_xmlHandlerObservationSettings->m_solvePositionOverHermiteSpline =
              toBool(solveOverHermiteSpline);
        }
 
        QString interpolationType = atts.value("interpolationType");
        if (!interpolationType.isEmpty()) {
          m_xmlHandlerObservationSettings->m_positionInterpolationType =
              SpicePosition::Source(toInt(interpolationType));
        }
      }
      else if (localName == "aprioriPositionSigmas") {
        m_xmlHandlerAprioriSigmas.clear();
      }
    }
    return true;
  }
 
 
  bool BundleObservationSolveSettings::XmlHandler::characters(const QString &ch) {
    m_xmlHandlerCharacters += ch;
    return XmlStackedHandler::characters(ch);
  }
 
 
  bool BundleObservationSolveSettings::XmlHandler::endElement(const QString &namespaceURI,
                                                              const QString &localName,
                                                              const QString &qName) {
    if (!m_xmlHandlerCharacters.isEmpty()) {
      if (localName == "id") {
        m_xmlHandlerObservationSettings->m_id = NULL;
        m_xmlHandlerObservationSettings->m_id = new QUuid(m_xmlHandlerCharacters);
      }
      else if (localName == "instrumentId") {
        m_xmlHandlerObservationSettings->setInstrumentId(m_xmlHandlerCharacters);
      }
//    else if (localName == "bundleObservationSolveSettings") {
//      // end tag for this entire class... how to get out???
//      // call parse, as in Control List???
//    }
      else if (localName == "sigma") {
        m_xmlHandlerAprioriSigmas.append(m_xmlHandlerCharacters);
      }
      else if (localName == "aprioriPointingSigmas") {
        m_xmlHandlerObservationSettings->m_anglesAprioriSigma.clear();
        for (int i = 0; i < m_xmlHandlerAprioriSigmas.size(); i++) {
          if (m_xmlHandlerAprioriSigmas[i] == "N/A") {
            m_xmlHandlerObservationSettings->m_anglesAprioriSigma.append(Isis::Null);
          }
          else {
            m_xmlHandlerObservationSettings->m_anglesAprioriSigma.append(
                toDouble(m_xmlHandlerAprioriSigmas[i]));
          }
        }
      }
      else if (localName == "aprioriPositionSigmas") {
        m_xmlHandlerObservationSettings->m_positionAprioriSigma.clear();
        for (int i = 0; i < m_xmlHandlerAprioriSigmas.size(); i++) {
          if (m_xmlHandlerAprioriSigmas[i] == "N/A") {
            m_xmlHandlerObservationSettings->m_positionAprioriSigma.append(Isis::Null);
          }
          else {
            m_xmlHandlerObservationSettings->m_positionAprioriSigma.append(
                                                   toDouble(m_xmlHandlerAprioriSigmas[i]));
          }
        }
      }
      m_xmlHandlerCharacters = "";
    }
    return XmlStackedHandler::endElement(namespaceURI, localName, qName);
  }
}