Revert "Adding SymmetricMatrix and UpperSymmetricMatrix typedefs to LinearAlgebra." (0eae9882) · Commits · aflab / astrogeology / ISIS3

isis/src/base/objs/LinearAlgebra/LinearAlgebra.h

+1 −12

Original line number	Original line	Diff line number	Diff line
	@@ -26,9 +26,8 @@
	#include <iostream>		#include <iostream>

	// boost library		// boost library
	#include <boost/numeric/ublas/io.hpp>
	#include <boost/numeric/ublas/matrix.hpp>		#include <boost/numeric/ublas/matrix.hpp>
	#include <boost/numeric/ublas/symmetric.hpp>		#include <boost/numeric/ublas/io.hpp>

	// Qt Library		// Qt Library
	#include <QDebug>		#include <QDebug>
	@@ -113,16 +112,6 @@ namespace Isis {
	* API.		* API.
	*/		*/
	typedef boost::numeric::ublas::matrix<double> Matrix;		typedef boost::numeric::ublas::matrix<double> Matrix;
	/**
	* Definition for an Isis::LinearAlgebra::UpperSymmetricMatrix
	* of doubles. This is a typedef for a boost matrix.
	*/
	typedef boost::numeric::ublas::symmetric_matrix<double> SymmetricMatrix;
	/**
	* Definition for an Isis::LinearAlgebra::UpperSymmetricMatrix
	* of doubles. This is a typedef for a boost matrix.
	*/
	typedef boost::numeric::ublas::symmetric_matrix<double, upper> UpperSymmetricMatrix;
	/**		/**
	* Definition for an Isis::LinearAlgebra::Vector of doubles. This is a		* Definition for an Isis::LinearAlgebra::Vector of doubles. This is a
	* typedef for a boost vector.		* typedef for a boost vector.

isis/src/base/objs/SurfacePoint/SurfacePoint.cpp

+21 −21

Original line number	Original line	Diff line number	Diff line
	@@ -5,9 +5,9 @@
	#include "IException.h"		#include "IException.h"
	#include "IString.h"		#include "IString.h"
	#include "Latitude.h"		#include "Latitude.h"
	#include "LinearAlgebra.h"
	#include "Longitude.h"		#include "Longitude.h"

			using namespace boost::numeric::ublas;
	using namespace std;		using namespace std;

	namespace Isis {		namespace Isis {
	@@ -70,14 +70,14 @@ namespace Isis {
	}		}

	if(other.p_rectCovar) {		if(other.p_rectCovar) {
	p_rectCovar = new LinearAlgebra::UpperSymmetricMatrix(*other.p_rectCovar);		p_rectCovar = new symmetric_matrix<double, upper>(*other.p_rectCovar);
	}		}
	else {		else {
	p_rectCovar = NULL;		p_rectCovar = NULL;
	}		}

	if(other.p_sphereCovar) {		if(other.p_sphereCovar) {
	p_sphereCovar = new LinearAlgebra::UpperSymmetricMatrix(*other.p_sphereCovar);		p_sphereCovar = new symmetric_matrix<double, upper>(*other.p_sphereCovar);
	}		}
	else {		else {
	p_sphereCovar = NULL;		p_sphereCovar = NULL;
	@@ -132,7 +132,7 @@ namespace Isis {
	*		*
	*/		*/
	SurfacePoint::SurfacePoint(const Latitude &lat, const Longitude &lon,		SurfacePoint::SurfacePoint(const Latitude &lat, const Longitude &lon,
	const Distance &radius, const LinearAlgebra::UpperSymmetricMatrix &covar) {		const Distance &radius, const symmetric_matrix<double, upper> &covar) {
	InitCovariance();		InitCovariance();
	InitPoint();		InitPoint();
	InitRadii();		InitRadii();
	@@ -190,7 +190,7 @@ namespace Isis {
	* @param covar The variance/covariance matrix of the point		* @param covar The variance/covariance matrix of the point
	*/		*/
	SurfacePoint::SurfacePoint(const Displacement &x, const Displacement &y,		SurfacePoint::SurfacePoint(const Displacement &x, const Displacement &y,
	const Displacement &z, const LinearAlgebra::UpperSymmetricMatrix &covar) {		const Displacement &z, const symmetric_matrix<double, upper> &covar) {
	InitCovariance();		InitCovariance();
	InitPoint();		InitPoint();
	InitRadii();		InitRadii();
	@@ -318,7 +318,7 @@ namespace Isis {
	* @return void		* @return void
	*/		*/
	void SurfacePoint::SetRectangular(Displacement x, Displacement y, Displacement z,		void SurfacePoint::SetRectangular(Displacement x, Displacement y, Displacement z,
	const LinearAlgebra::UpperSymmetricMatrix &covar) {		const symmetric_matrix<double,upper>& covar) {
	SetRectangularPoint(x, y, z);		SetRectangularPoint(x, y, z);
	SetRectangularMatrix(covar);		SetRectangularMatrix(covar);
	}		}
	@@ -342,7 +342,7 @@ namespace Isis {
	throw IException(IException::User, msg, _FILEINFO_);		throw IException(IException::User, msg, _FILEINFO_);
	}		}

	LinearAlgebra::UpperSymmetricMatrix covar(3);		symmetric_matrix<double,upper> covar(3);
	covar.clear();		covar.clear();
	covar(0,0) = xSigma.meters() * xSigma.meters();		covar(0,0) = xSigma.meters() * xSigma.meters();
	covar(1,1) = ySigma.meters() * ySigma.meters();		covar(1,1) = ySigma.meters() * ySigma.meters();
	@@ -359,7 +359,7 @@ namespace Isis {
	* @return void		* @return void
	*/		*/
	void SurfacePoint::SetRectangularMatrix(		void SurfacePoint::SetRectangularMatrix(
	const LinearAlgebra::UpperSymmetricMatrix &covar) {		const symmetric_matrix<double, upper> &covar) {
	// Make sure the point is set first		// Make sure the point is set first
	if (!Valid()) {		if (!Valid()) {
	IString msg = "A point must be set before a variance/covariance matrix "		IString msg = "A point must be set before a variance/covariance matrix "
	@@ -371,7 +371,7 @@ namespace Isis {
	*p_rectCovar = covar;		*p_rectCovar = covar;
	}		}
	else {		else {
	p_rectCovar = new LinearAlgebra::UpperSymmetricMatrix(covar);		p_rectCovar = new symmetric_matrix<double, upper>(covar);
	}		}

	SpiceDouble rectMat[3][3];		SpiceDouble rectMat[3][3];
	@@ -406,7 +406,7 @@ namespace Isis {
	J[2][2] = p_z->meters() / radius;		J[2][2] = p_z->meters() / radius;

	if(!p_sphereCovar)		if(!p_sphereCovar)
	p_sphereCovar = new LinearAlgebra::UpperSymmetricMatrix(3);		p_sphereCovar = new symmetric_matrix<double, upper>(3);

	SpiceDouble mat[3][3];		SpiceDouble mat[3][3];
	mxm_c (J, rectMat, mat);		mxm_c (J, rectMat, mat);
	@@ -486,7 +486,7 @@ namespace Isis {
	* @param covar Spherical variance/covariance matrix in m*m		* @param covar Spherical variance/covariance matrix in m*m
	*/		*/
	void SurfacePoint::SetSpherical(const Latitude &lat, const Longitude &lon,		void SurfacePoint::SetSpherical(const Latitude &lat, const Longitude &lon,
	const Distance &radius, const LinearAlgebra::UpperSymmetricMatrix &covar) {		const Distance &radius, const symmetric_matrix<double, upper> &covar) {
	SetSphericalPoint(lat, lon, radius);		SetSphericalPoint(lat, lon, radius);
	SetSphericalMatrix(covar);		SetSphericalMatrix(covar);
	}		}
	@@ -518,7 +518,7 @@ namespace Isis {
	const Angle &lonSigma,		const Angle &lonSigma,
	const Distance &radiusSigma) {		const Distance &radiusSigma) {
	if (latSigma.isValid() && lonSigma.isValid() && radiusSigma.isValid()) {		if (latSigma.isValid() && lonSigma.isValid() && radiusSigma.isValid()) {
	LinearAlgebra::UpperSymmetricMatrix covar(3);		symmetric_matrix<double,upper> covar(3);
	covar.clear();		covar.clear();

	double sphericalCoordinate;		double sphericalCoordinate;
	@@ -584,7 +584,7 @@ namespace Isis {
	* @return void		* @return void
	*/		*/
	void SurfacePoint::SetSphericalMatrix(		void SurfacePoint::SetSphericalMatrix(
	const LinearAlgebra::UpperSymmetricMatrix &covar) {		const symmetric_matrix<double, upper> & covar) {

	// Make sure the point is set first		// Make sure the point is set first
	if (!Valid()) {		if (!Valid()) {
	@@ -597,7 +597,7 @@ namespace Isis {
	*p_sphereCovar = covar;		*p_sphereCovar = covar;
	}		}
	else {		else {
	p_sphereCovar = new LinearAlgebra::UpperSymmetricMatrix(covar);		p_sphereCovar = new symmetric_matrix<double, upper>(covar);
	}		}

	SpiceDouble sphereMat[3][3];		SpiceDouble sphereMat[3][3];
	@@ -637,7 +637,7 @@ namespace Isis {
	J[2][2] = sinPhi;		J[2][2] = sinPhi;

	if(!p_rectCovar)		if(!p_rectCovar)
	p_rectCovar = new LinearAlgebra::UpperSymmetricMatrix(3);		p_rectCovar = new symmetric_matrix<double, upper>(3);

	SpiceDouble mat[3][3];		SpiceDouble mat[3][3];
	mxm_c (J, sphereMat, mat);		mxm_c (J, sphereMat, mat);
	@@ -825,10 +825,10 @@ namespace Isis {
	}		}


	LinearAlgebra::UpperSymmetricMatrix SurfacePoint::GetRectangularMatrix()		symmetric_matrix<double, upper> SurfacePoint::GetRectangularMatrix()
	const {		const {
	if(!p_rectCovar) {		if(!p_rectCovar) {
	LinearAlgebra::UpperSymmetricMatrix tmp(3);		symmetric_matrix<double, upper> tmp(3);
	tmp.clear();		tmp.clear();
	return tmp;		return tmp;
	}		}
	@@ -977,9 +977,9 @@ namespace Isis {
	}		}


	LinearAlgebra::UpperSymmetricMatrix SurfacePoint::GetSphericalMatrix() const {		symmetric_matrix<double, upper> SurfacePoint::GetSphericalMatrix() const {
	if(!p_sphereCovar) {		if(!p_sphereCovar) {
	LinearAlgebra::UpperSymmetricMatrix tmp(3);		symmetric_matrix<double, upper> tmp(3);
	tmp.clear();		tmp.clear();
	return tmp;		return tmp;
	}		}
	@@ -1192,11 +1192,11 @@ namespace Isis {
	}		}

	if(other.p_rectCovar) {		if(other.p_rectCovar) {
	p_rectCovar = new LinearAlgebra::UpperSymmetricMatrix(*other.p_rectCovar);		p_rectCovar = new symmetric_matrix<double, upper>(*other.p_rectCovar);
	}		}

	if(other.p_sphereCovar) {		if(other.p_sphereCovar) {
	p_sphereCovar = new LinearAlgebra::UpperSymmetricMatrix(*other.p_sphereCovar);		p_sphereCovar = new symmetric_matrix<double, upper>(*other.p_sphereCovar);
	}		}
	}		}

isis/src/base/objs/SurfacePoint/SurfacePoint.h

+20 −10

Original line number	Original line	Diff line number	Diff line
	@@ -25,6 +25,9 @@
	#include <vector>		#include <vector>
	#include <cmath>		#include <cmath>

			#include "boost/numeric/ublas/symmetric.hpp"
			#include "boost/numeric/ublas/io.hpp"

	#include "Displacement.h"		#include "Displacement.h"
	#include "Distance.h"		#include "Distance.h"
	#include "Angle.h"		#include "Angle.h"
	@@ -93,7 +96,8 @@ namespace Isis {
	const Distance &radiusSigma);		const Distance &radiusSigma);
	SurfacePoint(const Latitude &lat, const Longitude &lon,		SurfacePoint(const Latitude &lat, const Longitude &lon,
	const Distance &radius,		const Distance &radius,
	const LinearAlgebra::UpperSymmetricMatrix &covar);		const boost::numeric::ublas::symmetric_matrix
			<double,boost::numeric::ublas::upper>& covar);
	SurfacePoint(const Displacement &x, const Displacement &y,		SurfacePoint(const Displacement &x, const Displacement &y,
	const Displacement &z);		const Displacement &z);
	SurfacePoint(const Displacement &x, const Displacement &y,		SurfacePoint(const Displacement &x, const Displacement &y,
	@@ -101,7 +105,8 @@ namespace Isis {
	const Distance &zSigma);		const Distance &zSigma);
	SurfacePoint(const Displacement &x, const Displacement &y,		SurfacePoint(const Displacement &x, const Displacement &y,
	const Displacement &z,		const Displacement &z,
	const LinearAlgebra::UpperSymmetricMatrix &covar);		const boost::numeric::ublas::symmetric_matrix
			<double,boost::numeric::ublas::upper>& covar);
	~SurfacePoint();		~SurfacePoint();

	// Rectangular loading utilities		// Rectangular loading utilities
	@@ -110,7 +115,7 @@ namespace Isis {
	const Distance &ySigma=Distance(), const Distance &zSigma=Distance());		const Distance &ySigma=Distance(), const Distance &zSigma=Distance());

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

	//! Set surface point and sigmas in rectangular coordinates and convert to planetocentric		//! Set surface point and sigmas in rectangular coordinates and convert to planetocentric
	void SetRectangularSigmas(const Distance &xSigma, const Distance &ySigma,		void SetRectangularSigmas(const Distance &xSigma, const Distance &ySigma,
	@@ -118,7 +123,7 @@ namespace Isis {


	void SetRectangularMatrix(		void SetRectangularMatrix(
	const LinearAlgebra::UpperSymmetricMatrix &covar);		const boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>& covar);

	// Spherical loading utilities		// Spherical loading utilities

	@@ -131,13 +136,14 @@ namespace Isis {

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

	void SetSphericalCoordinates(const Latitude &lat, const Longitude &lon,		void SetSphericalCoordinates(const Latitude &lat, const Longitude &lon,
	const Distance &radius);		const Distance &radius);

	void SetSphericalMatrix(		void SetSphericalMatrix(
	const LinearAlgebra::UpperSymmetricMatrix &covar);		const boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>& covar);

	void SetSphericalSigmas(const Angle &latSigma, const Angle &lonSigma,		void SetSphericalSigmas(const Angle &latSigma, const Angle &lonSigma,
	const Distance &radiusSigma);		const Distance &radiusSigma);
	@@ -159,7 +165,8 @@ namespace Isis {
	Distance GetXSigma() const;		Distance GetXSigma() const;
	Distance GetYSigma() const;		Distance GetYSigma() const;
	Distance GetZSigma() const;		Distance GetZSigma() const;
	LinearAlgebra::UpperSymmetricMatrix GetRectangularMatrix() const;		boost::numeric::ublas::symmetric_matrix<double,boost::numeric::ublas::upper>
			GetRectangularMatrix() const;
	Latitude GetLatitude() const;		Latitude GetLatitude() const;
	Longitude GetLongitude() const;		Longitude GetLongitude() const;
	Distance GetLocalRadius() const;		Distance GetLocalRadius() const;
	@@ -171,7 +178,8 @@ namespace Isis {
	double GetLonWeight() const;		double GetLonWeight() const;
	Distance GetLocalRadiusSigma() const;		Distance GetLocalRadiusSigma() const;
	double GetLocalRadiusWeight() const;		double GetLocalRadiusWeight() const;
	LinearAlgebra::UpperSymmetricMatrix GetSphericalMatrix() const;		boost::numeric::ublas::symmetric_matrix
			<double,boost::numeric::ublas::upper> GetSphericalMatrix() const;

	// Computational methods		// Computational methods
	Distance GetDistanceToPoint(const SurfacePoint &other) const;		Distance GetDistanceToPoint(const SurfacePoint &other) const;
	@@ -201,9 +209,11 @@ namespace Isis {
	Displacement *p_y;		Displacement *p_y;
	Displacement *p_z;		Displacement *p_z;
	//! 3x3 upper triangular covariance matrix rectangular coordinates		//! 3x3 upper triangular covariance matrix rectangular coordinates
	LinearAlgebra::UpperSymmetricMatrix *p_rectCovar;		boost::numeric::ublas::symmetric_matrix
			<double,boost::numeric::ublas::upper> *p_rectCovar;
	//! 3x3 upper triangular covariance matrix ocentric coordinates		//! 3x3 upper triangular covariance matrix ocentric coordinates
	LinearAlgebra::UpperSymmetricMatrix *p_sphereCovar;		boost::numeric::ublas::symmetric_matrix
			<double,boost::numeric::ublas::upper> *p_sphereCovar;
	};		};
	};		};

isis/src/base/objs/SurfacePoint/unitTest.cpp

+9 −7

Original line number	Original line	Diff line number	Diff line
	@@ -8,13 +8,15 @@
	#include "Distance.h"		#include "Distance.h"
	#include "IException.h"		#include "IException.h"
	#include "Latitude.h"		#include "Latitude.h"
	#include "LinearAlgebra.h"
	#include "Longitude.h"		#include "Longitude.h"
	#include "Preference.h"		#include "Preference.h"
	#include "SurfacePoint.h"		#include "SurfacePoint.h"

			#include "boost/numeric/ublas/symmetric.hpp"

	using namespace Isis;		using namespace Isis;
	using namespace std;		using namespace std;
			using namespace boost::numeric::ublas;

	/**		/**
	*		*
	@@ -26,7 +28,7 @@ using namespace std;
	*/		*/
	int main(int argc, char *argv[]) {		int main(int argc, char *argv[]) {
	Isis::Preference::Preferences(true);		Isis::Preference::Preferences(true);
	LinearAlgebra::UpperSymmetricMatrix cvRect,cvOc;		symmetric_matrix<double,upper> cvRect,cvOc;

	try {		try {
	cout << "UnitTest for SurfacePoint" << endl << endl;		cout << "UnitTest for SurfacePoint" << endl << endl;
	@@ -39,7 +41,7 @@ int main(int argc, char *argv[]) {
	Distance(1000., Distance::Meters),		Distance(1000., Distance::Meters),
	Distance(1000., Distance::Meters));		Distance(1000., Distance::Meters));

	LinearAlgebra::UpperSymmetricMatrix covar;		symmetric_matrix<double,upper> covar;
	covar.resize(3);		covar.resize(3);
	covar.clear();		covar.clear();
	covar(0,0) = 100.;		covar(0,0) = 100.;
	@@ -56,7 +58,7 @@ int main(int argc, char *argv[]) {
	double latSig = spRec.GetLatSigma().degrees();		double latSig = spRec.GetLatSigma().degrees();
	double lonSig = spRec.GetLonSigma().degrees();		double lonSig = spRec.GetLonSigma().degrees();
	double radSig = spRec.GetLocalRadiusSigma().meters();		double radSig = spRec.GetLocalRadiusSigma().meters();
	LinearAlgebra::UpperSymmetricMatrix covarSphere(3);		symmetric_matrix<double,upper> covarSphere(3);
	covarSphere.clear();		covarSphere.clear();
	covarSphere = spRec.GetSphericalMatrix();		covarSphere = spRec.GetSphericalMatrix();

	@@ -106,7 +108,7 @@ int main(int argc, char *argv[]) {
	Longitude(lon, Angle::Degrees),		Longitude(lon, Angle::Degrees),
	Distance(radius, Distance::Meters),		Distance(radius, Distance::Meters),
	covarSphere );		covarSphere );
	LinearAlgebra::UpperSymmetricMatrix covarRec(3);		symmetric_matrix<double,upper> covarRec(3);
	covarRec.clear();		covarRec.clear();
	covarRec = spSphere.GetRectangularMatrix();		covarRec = spSphere.GetRectangularMatrix();

	@@ -153,7 +155,7 @@ int main(int argc, char *argv[]) {
	double latSig = (spRec.GetLatSigma()).degrees();		double latSig = (spRec.GetLatSigma()).degrees();
	double lonSig = (spRec.GetLonSigma()).degrees();		double lonSig = (spRec.GetLonSigma()).degrees();
	double radSig = spRec.GetLocalRadiusSigma().meters();		double radSig = spRec.GetLocalRadiusSigma().meters();
	LinearAlgebra::UpperSymmetricMatrix covarSphere(3);		symmetric_matrix<double,upper> covarSphere(3);
	covarSphere.clear();		covarSphere.clear();
	covarSphere = spRec.GetSphericalMatrix();		covarSphere = spRec.GetSphericalMatrix();

	@@ -184,7 +186,7 @@ int main(int argc, char *argv[]) {
	Angle(1.78752107, Angle::Degrees),		Angle(1.78752107, Angle::Degrees),
	Distance(38.454887335682053718134171237789,		Distance(38.454887335682053718134171237789,
	Distance::Meters));		Distance::Meters));
	LinearAlgebra::UpperSymmetricMatrix covarRec(3);		symmetric_matrix<double,upper> covarRec(3);
	covarRec.clear();		covarRec.clear();
	covarRec = spSphere1.GetRectangularMatrix();		covarRec = spSphere1.GetRectangularMatrix();
	spSphere2.SetSpherical(Latitude(0.55850536, Angle::Radians),		spSphere2.SetSpherical(Latitude(0.55850536, Angle::Radians),

isis/src/control/objs/BundleAdjust/BundleAdjust.cpp

+11 −12

Original line number	Original line	Diff line number	Diff line
	@@ -37,7 +37,6 @@
	#include "ImageList.h"		#include "ImageList.h"
	#include "iTime.h"		#include "iTime.h"
	#include "Latitude.h"		#include "Latitude.h"
	#include "LinearAlgebra.h"
	#include "Longitude.h"		#include "Longitude.h"
	#include "MaximumLikelihoodWFunctions.h"		#include "MaximumLikelihoodWFunctions.h"
	#include "SpecialPixel.h"		#include "SpecialPixel.h"
	@@ -1031,7 +1030,7 @@ namespace Isis {
	static LinearAlgebra::Matrix coeffImage;		static LinearAlgebra::Matrix coeffImage;
	static LinearAlgebra::Matrix coeffPoint3D(2, 3);		static LinearAlgebra::Matrix coeffPoint3D(2, 3);
	static LinearAlgebra::Vector coeffRHS(2);		static LinearAlgebra::Vector coeffRHS(2);
	static LinearAlgebra::UpperSymmetricMatrix N22(3);		static boost::numeric::ublas::symmetric_matrix<double, upper> N22(3);
	SparseBlockColumnMatrix N12;		SparseBlockColumnMatrix N12;
	static LinearAlgebra::Vector n2(3);		static LinearAlgebra::Vector n2(3);
	boost::numeric::ublas::compressed_vector<double> n1(m_rank);		boost::numeric::ublas::compressed_vector<double> n1(m_rank);
	@@ -1148,7 +1147,7 @@ namespace Isis {
	*		*
	* @see BundleAdjust::formNormalEquations		* @see BundleAdjust::formNormalEquations
	*/		*/
	bool BundleAdjust::formMeasureNormals(LinearAlgebra::UpperSymmetricMatrix &N22,		bool BundleAdjust::formMeasureNormals(symmetric_matrix<double, upper>&N22,
	SparseBlockColumnMatrix &N12,		SparseBlockColumnMatrix &N12,
	compressed_vector<double> &n1,		compressed_vector<double> &n1,
	vector<double> &n2,		vector<double> &n2,
	@@ -1158,7 +1157,7 @@ namespace Isis {
	vector<double> &coeffRHS,		vector<double> &coeffRHS,
	int observationIndex) {		int observationIndex) {

	static LinearAlgebra::UpperSymmetricMatrix N11;		static symmetric_matrix<double, upper> N11;
	static matrix<double> N11TargetImage;		static matrix<double> N11TargetImage;

	int blockIndex = observationIndex;		int blockIndex = observationIndex;
	@@ -1284,7 +1283,7 @@ namespace Isis {
	*		*
	* @see BundleAdjust::formNormalEquations		* @see BundleAdjust::formNormalEquations
	*/		*/
	bool BundleAdjust::formPointNormals(LinearAlgebra::UpperSymmetricMatrix &N22,		bool BundleAdjust::formPointNormals(symmetric_matrix<double, upper>&N22,
	SparseBlockColumnMatrix &N12,		SparseBlockColumnMatrix &N12,
	vector<double> &n2,		vector<double> &n2,
	vector<double> &nj,		vector<double> &nj,
	@@ -1455,7 +1454,7 @@ namespace Isis {
	*		*
	* @see BundleAdjust::formPointNormals		* @see BundleAdjust::formPointNormals
	*/		*/
	bool BundleAdjust::productATransB(LinearAlgebra::UpperSymmetricMatrix &N22,		bool BundleAdjust::productATransB(symmetric_matrix <double,upper> &N22,
	SparseBlockColumnMatrix &N12,		SparseBlockColumnMatrix &N12,
	SparseBlockRowMatrix &Q) {		SparseBlockRowMatrix &Q) {

	@@ -1796,11 +1795,11 @@ namespace Isis {
	*		*
	* @TODO Move to LinearAlgebra		* @TODO Move to LinearAlgebra
	*/		*/
	bool BundleAdjust::invert3x3(LinearAlgebra::UpperSymmetricMatrix &m) {		bool BundleAdjust::invert3x3(symmetric_matrix<double, upper> &m) {
	double det;		double det;
	double den;		double den;

	LinearAlgebra::UpperSymmetricMatrix c = m;		boost::numeric::ublas::symmetric_matrix< double, upper > c = m;

	den = m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1))		den = m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1))
	- m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0))		- m(0, 1) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0))
	@@ -2658,8 +2657,8 @@ namespace Isis {
	printf(" Time: %s\n\n", currentTime.c_str());		printf(" Time: %s\n\n", currentTime.c_str());

	// create and initialize array of 3x3 matrices for all object points		// create and initialize array of 3x3 matrices for all object points
	std::vector< LinearAlgebra::SymmetricMatrix > pointCovariances(numObjectPoints,		std::vector< symmetric_matrix<double> > pointCovariances(numObjectPoints,
	SymmetricMatrix(3));		symmetric_matrix<double>(3));
	for (int d = 0; d < numObjectPoints; d++) {		for (int d = 0; d < numObjectPoints; d++) {
	pointCovariances[d].clear();		pointCovariances[d].clear();
	}		}
	@@ -2809,7 +2808,7 @@ namespace Isis {
	T.clear();		T.clear();

	// get corresponding point covariance matrix		// get corresponding point covariance matrix
	LinearAlgebra::SymmetricMatrix &covariance = pointCovariances[pointIndex];		boost::numeric::ublas::symmetric_matrix<double> &covariance = pointCovariances[pointIndex];

	// get firstQBlock - index i is the key into Q for firstQBlock		// get firstQBlock - index i is the key into Q for firstQBlock
	LinearAlgebra::Matrix *firstQBlock = Q.value(i);		LinearAlgebra::Matrix *firstQBlock = Q.value(i);
	@@ -2898,7 +2897,7 @@ namespace Isis {
	}		}

	// get corresponding point covariance matrix		// get corresponding point covariance matrix
	LinearAlgebra::SymmetricMatrix &covariance = pointCovariances[pointIndex];		boost::numeric::ublas::symmetric_matrix<double> &covariance = pointCovariances[pointIndex];

	// Ask Ken what is happening here...Setting just the sigmas is not very accurate		// Ask Ken what is happening here...Setting just the sigmas is not very accurate
	// Shouldn't we be updating and setting the matrix??? TODO		// Shouldn't we be updating and setting the matrix??? TODO