Isis::BundleLidarRangeConstraint Class Reference

Implements range constraint between image position and lidar point acquired simultaneously with the image. More...

#include <BundleLidarRangeConstraint.h>

Collaboration diagram for Isis::BundleLidarRangeConstraint:

Public Member Functions
	BundleLidarRangeConstraint (LidarControlPointQsp lidarControlPoint, BundleMeasureQsp measure)
	constructor
	BundleLidarRangeConstraint (const BundleLidarRangeConstraint &src)
	Copy constructor.
	~BundleLidarRangeConstraint ()
	Destructor.
BundleLidarRangeConstraint &	operator= (const BundleLidarRangeConstraint &src)
	Assignment operator.
bool	applyConstraint (SparseBlockMatrix &normalsMatrix, LinearAlgebra::MatrixUpperTriangular &N22, SparseBlockColumnMatrix &N12, LinearAlgebra::VectorCompressed &n1, LinearAlgebra::Vector &n2)
	Computes partial derivatives of range condition equation and adds contribution into the bundle adjustment normal equation matrices.
double	vtpv ()
	Return current value of weighted sum-of-squares of residual.
void	errorPropagation ()
	TODO: to be completed.
void	computeRange ()
	Compute range between spacecraft & lidar point on surface given the current values of the spacecraft position & lidar point coordinates in the bundle adjustment.
double	rangeObserved ()
	Return observed lidar range.
double	rangeComputed ()
	Return computed lidar range.
double	rangeObservedSigma ()
	Return sigma of range observation.
double	rangeAdjustedSigma ()
	Return adjusted sigma of range observation.
QString	formatBundleOutputString (bool errorProp=false)
	Creates & returns formatted QString for lidar range constraint to output to bundleout_lidar.csv file.

Detailed Description

Implements range constraint between image position and lidar point acquired simultaneously with the image.

Author

2018-04-13 Ken Edmundson

Constructor & Destructor Documentation

BundleLidarRangeConstraint() [1/2]

Isis::BundleLidarRangeConstraint::BundleLidarRangeConstraint	(	LidarControlPointQsp	lidarControlPoint,
		BundleMeasureQsp	measure )

constructor

Parameters

lidarControlPoint	input lidar control point
measure	associated BundleMeasureQsp.

References _FILEINFO_, computeRange(), Isis::Camera::Csm, and Isis::IException::Programmer.

BundleLidarRangeConstraint() [2/2]

Isis::BundleLidarRangeConstraint::BundleLidarRangeConstraint

(

const BundleLidarRangeConstraint &

src

)

Copy constructor.

Constructs a BundleLidarRangeConstraint from another.

Parameters

src	Source BundleLidarRangeConstraint to copy.

~BundleLidarRangeConstraint()

Isis::BundleLidarRangeConstraint::~BundleLidarRangeConstraint

(

)

Destructor.

Member Function Documentation

applyConstraint()

bool Isis::BundleLidarRangeConstraint::applyConstraint	(	SparseBlockMatrix &	normalsMatrix,
		LinearAlgebra::MatrixUpperTriangular &	N22,
		SparseBlockColumnMatrix &	N12,
		LinearAlgebra::VectorCompressed &	n1,
		LinearAlgebra::Vector &	n2 )

Computes partial derivatives of range condition equation and adds contribution into the bundle adjustment normal equation matrices.

Parameters

normalsMatrix	Bundle Adjustment normal equations matrix.
N22	Normal equation matrix for the point.
N12	Normal equations block between image and point.
n1	Right hand side vector for the images and target body.
n2	Right hand side vector for the point.

Returns

bool success.

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

computeRange()

void Isis::BundleLidarRangeConstraint::computeRange

(

)

Compute range between spacecraft & lidar point on surface given the current values of the spacecraft position & lidar point coordinates in the bundle adjustment.

Steps are as follows...

1) set image to establish camera model for simultaneous measure 2) get spacecraft & lidar point coordinates in body-fixed reference system 3) compute & save dX, dY, dZ between spacecraft & lidar point 4) compute range with dX, dY, dZ

References _FILEINFO_, Isis::SurfacePoint::GetX(), Isis::SurfacePoint::GetY(), Isis::SurfacePoint::GetZ(), Isis::Displacement::kilometers(), and Isis::IException::Programmer.

Referenced by BundleLidarRangeConstraint(), and vtpv().

errorPropagation()

void Isis::BundleLidarRangeConstraint::errorPropagation

(

)

TODO: to be completed.

Error propagation for adjusted range sigma using distance equation.

formatBundleOutputString()

QString Isis::BundleLidarRangeConstraint::formatBundleOutputString

(

bool

errorProp = false

)

Creates & returns formatted QString for lidar range constraint to output to bundleout_lidar.csv file.

Parameters

errorProp

Bool indicating if error propagation is ON in the bundle adjustment.

Returns

QString Formatted QString summarizing lidar range constraint to output to bundleout_lidar.csv.

operator=()

BundleLidarRangeConstraint & Isis::BundleLidarRangeConstraint::operator=

(

const BundleLidarRangeConstraint &

src

)

Assignment operator.

Assigns state of this BundleLidarRangeConstraint from another.

Parameters

src	Source BundleLidarRangeConstraint to assign state from.

Returns

BundleLidarRangeConstraint& Returns reference to this BundleLidarRangeConstraint.

rangeAdjustedSigma()

double Isis::BundleLidarRangeConstraint::rangeAdjustedSigma

(

)

Return adjusted sigma of range observation.

Returns

double Adjusted sigma of range observation.

rangeComputed()

double Isis::BundleLidarRangeConstraint::rangeComputed

(

)

Return computed lidar range.

Returns

double Computed lidar range.

rangeObserved()

double Isis::BundleLidarRangeConstraint::rangeObserved

(

)

Return observed lidar range.

Returns

double Observed lidar range.

rangeObservedSigma()

double Isis::BundleLidarRangeConstraint::rangeObservedSigma

(

)

Return sigma of range observation.

Returns

double Sigma of range observation.

vtpv()

double Isis::BundleLidarRangeConstraint::vtpv

(

)

Return current value of weighted sum-of-squares of residual.

Returns

double Current value of weighted sum-of-squares of residual.

References computeRange().

---

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

• /Users/chkim/repos/ISIS3/isis/src/control/objs/BundleUtilities/BundleLidarRangeConstraint.h
• /Users/chkim/repos/ISIS3/isis/src/control/objs/BundleUtilities/BundleLidarRangeConstraint.cpp