Commit 10821515 authored by Jesse Mapel's avatar Jesse Mapel
Browse files

Updated BundleConstraint unit test. 

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/branches/PiecewisePolynomials@8266 41f8697f-d340-4b68-9986-7bafba869bb8
parent f779abf0

isis/src/control/objs/BundleConstraint/BundleConstraint.truth

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File added.

Preview size limit exceeded, changes collapsed.

isis/src/control/objs/BundleConstraint/BundlePolynomialContinuityConstraint.cpp

+44 −4
Original line number Diff line number Diff line
@@ -140,16 +140,26 @@ namespace Isis { 
  BundlePolynomialContinuityConstraint::

      BundlePolynomialContinuityConstraint(const BundlePolynomialContinuityConstraint &src) {

    m_parentObservation = src.m_parentObservation;



    m_numberSegmentParameters = src.m_numberSegmentParameters;

    m_numberParameters = src.m_numberParameters;

    m_numberConstraintEquations = src.m_numberConstraintEquations;



    m_ckKnots = src.m_ckKnots;

    m_spkKnots = src.m_spkKnots;

    m_numberCkCoefficients = src.m_numberCkCoefficients;

    m_numberSpkCoefficients = src.m_numberSpkCoefficients;

    m_numberCkSegments = src.m_numberCkSegments;

    m_numberSpkSegments = src.m_numberCkSegments;

    m_numberSpkBoundaries = src.m_numberSpkBoundaries;

    m_numberSpkSegments = src.m_numberSpkSegments;

    m_numberCkBoundaries = src.m_numberCkBoundaries;

    m_numberSpkBoundaries = src.m_numberSpkBoundaries;

    m_numberCkSegmentParameters = src.m_numberCkSegmentParameters;

    m_numberSpkSegmentParameters = src.m_numberSpkSegmentParameters;



    m_designMatrix = src.m_designMatrix;

    m_normalsMatrix = src.m_normalsMatrix;

    m_rightHandSide = src.m_rightHandSide;

    m_omcVector = src.m_omcVector;

  }
@@ -170,16 +180,26 @@ namespace Isis { 
    // Prevent self assignment

    if (this != &src) {

      m_parentObservation = src.m_parentObservation;



      m_numberSegmentParameters = src.m_numberSegmentParameters;

      m_numberParameters = src.m_numberParameters;

      m_numberConstraintEquations = src.m_numberConstraintEquations;



      m_ckKnots = src.m_ckKnots;

      m_spkKnots = src.m_spkKnots;

      m_numberCkCoefficients = src.m_numberCkCoefficients;

      m_numberSpkCoefficients = src.m_numberSpkCoefficients;

      m_numberCkSegments = src.m_numberCkSegments;

      m_numberSpkSegments = src.m_numberCkSegments;

      m_numberSpkBoundaries = src.m_numberSpkBoundaries;

      m_numberSpkSegments = src.m_numberSpkSegments;

      m_numberCkBoundaries = src.m_numberCkBoundaries;

      m_numberSpkBoundaries = src.m_numberSpkBoundaries;

      m_numberCkSegmentParameters = src.m_numberCkSegmentParameters;

      m_numberSpkSegmentParameters = src.m_numberSpkSegmentParameters;



      m_designMatrix = src.m_designMatrix;

      m_normalsMatrix = src.m_normalsMatrix;

      m_rightHandSide = src.m_rightHandSide;

      m_omcVector = src.m_omcVector;

    }



    return *this;
@@ -206,6 +226,26 @@ namespace Isis { 
  }





  /**

   * Returns number of spk coefficients in piecewise polynomial

   *

   * @return @b int Returns number of spk coefficients in piecewise polynomial

   */

  int BundlePolynomialContinuityConstraint::numberSpkCoefficients() const {

    return m_numberSpkCoefficients;

  }





  /**

   * Returns number of ck coefficients in piecewise polynomial

   *

   * @return @b int Returns number of ck coefficients in piecewise polynomial

   */

  int BundlePolynomialContinuityConstraint::numberCkCoefficients() const {

    return m_numberCkCoefficients;

  }





  /**

   * Returns number of continuity constraint equations

   *

isis/src/control/objs/BundleConstraint/BundlePolynomialContinuityConstraint.h

+1 −1
Original line number Diff line number Diff line
@@ -66,7 +66,6 @@ namespace Isis { 
      void updateRightHandSide();

      LinearAlgebra::MatrixUpperTriangular &normalsMatrix();

      LinearAlgebra::Vector &rightHandSideVector();

      LinearAlgebra::Vector m_omcVector;



      QString formatBundleOutputString();
@@ -97,6 +96,7 @@ namespace Isis { 
      LinearAlgebra::MatrixCompressed m_designMatrix;          //! design matrix

      LinearAlgebra::MatrixUpperTriangular m_normalsMatrix;    //! normals matrix contribution

      LinearAlgebra::Vector m_rightHandSide;                   //! right hand side of normals

      LinearAlgebra::Vector m_omcVector;                       //! observed minus corrected vector

  };



  //! Typdef for BundlePolynomialContinuityConstraint QSharedPointer.

isis/src/control/objs/BundleConstraint/unitTest.cpp

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#include <QDebug>

#include <QString>



#include "BundleImage.h"

#include "BundleObservation.h"

#include "BundleObservationSolveSettings.h"

#include "BundlePolynomialContinuityConstraint.h"

#include "BundleTargetBody.h"

#include "Camera.h"

#include "Cube.h"

#include "FileName.h"

#include "ObservationNumber.h"

#include "Preference.h"

#include "Pvl.h"

#include "SerialNumber.h"



using namespace std;

using namespace Isis;



void outputConstraint(BundlePolynomialContinuityConstraint &constraint);



/**

 * Unit test for BundleConstraint.

 *

 * @internal

 *   @history 2017-10-29 Jesse Mapel - Original Version.

 */

int main(int argc, char *argv[]) {

  Preference::Preferences(true);



  cout.precision(6);

  qDebug() << "Unit test for BundlePolynomialContinuityConstraint...";

  qDebug() << "";



  try {

    qDebug() << "Test a default constraint...";

    qDebug() << "";



    BundlePolynomialContinuityConstraint defConst;

    outputConstraint(defConst);



    qDebug() << "Test a constraint for an actual image...";

    qDebug() << "";



    QString testCubeFileName("$lro/testData/M111607830RE_crop.cub");

    FileName testCubeFile(testCubeFileName);

    qDebug() << "Test cube: " << testCubeFileName;

    qDebug() << "";



    // Setup an observation in order to create a constraint

    Cube testCube(testCubeFile);

    Pvl *testLabel = testCube.label();

    Camera *testCam = testCube.camera();

    QString testSerialNumber = SerialNumber::Compose(*testLabel, true);

    QString testObservationNumber = ObservationNumber::Compose(*testLabel, true);

    QString testInstrumentId = testLabel->findObject("IsisCube")

                                         .findGroup("Instrument")["InstrumentId"][0];

    BundleImageQsp testImage( new BundleImage(testCam, testSerialNumber,

                                              testCubeFileName) );

    BundleTargetBodyQsp testTargetBody( new BundleTargetBody(testCam->target()) );

    BundleObservationQsp acc3Spk3CkObservation(

                               new BundleObservation(testImage, testObservationNumber,

                                                     testInstrumentId, testTargetBody) );

#if 0

    The observation solve settings are as follows:



    Solve for twist

    Solve for angular acceleration

    Do not solve for bias over existing pointing

    Pointing apriori degree:            2

    Pointing solve degree:              2

    Pointing segment count:             3

    Angle apriori sigma:                2

    Angular velocity apriori sigma:     1

    Angular acceleration apriori sigma: 0.1



    Solve for acceleration

    Do not solve for bias over existing position

    Position apriori degree:    2

    Position solve degree:      2

    Position segment count:     3

    Position apriori sigma:     50

    Velocity apriori sigma:     1

    Acceleration apriori sigma: 0.1

#endif

    BundleObservationSolveSettings solveAcc3Spk3CkSettings;

    solveAcc3Spk3CkSettings.setInstrumentPointingSettings(

                                  BundleObservationSolveSettings::AnglesVelocityAcceleration,

                                  true, 2, 2, 3, false, 2, 1, 0.1);

    solveAcc3Spk3CkSettings.setInstrumentPositionSettings(

                                  BundleObservationSolveSettings::PositionVelocityAcceleration,

                                  2, 2, 3, false, 50, 1, 0.1);

    acc3Spk3CkObservation->setSolveSettings(solveAcc3Spk3CkSettings);

    acc3Spk3CkObservation->initializeExteriorOrientation();



    // Finally create a constraint

    BundlePolynomialContinuityConstraint acc3Spk3CkConstraint(acc3Spk3CkObservation);

    outputConstraint(acc3Spk3CkConstraint);



    qDebug() << "Test with 1 position segment...";

    qDebug() << "";



    BundleObservationQsp acc1Spk3CkObservation(

                               new BundleObservation(testImage, testObservationNumber,

                                                     testInstrumentId, testTargetBody) );

#if 0

    The observation solve settings are as follows:



    Solve for twist

    Solve for angular acceleration

    Do not solve for bias over existing pointing

    Pointing apriori degree:            2

    Pointing solve degree:              2

    Pointing segment count:             3

    Angle apriori sigma:                2

    Angular velocity apriori sigma:     1

    Angular acceleration apriori sigma: 0.1



    Solve for acceleration

    Do not solve for bias over existing position

    Position apriori degree:    2

    Position solve degree:      2

    Position segment count:     1

    Position apriori sigma:     50

    Velocity apriori sigma:     1

    Acceleration apriori sigma: 0.1

#endif

    BundleObservationSolveSettings acc1Spk3CkSettings;

    acc1Spk3CkSettings.setInstrumentPointingSettings(

                             BundleObservationSolveSettings::AnglesVelocityAcceleration,

                             true, 2, 2, 3, false, 2, 1, 0.1);

    acc1Spk3CkSettings.setInstrumentPositionSettings(

                             BundleObservationSolveSettings::PositionVelocity,

                             2, 2, 1, false, 50, 1, 0.1);

    acc1Spk3CkObservation->setSolveSettings(acc1Spk3CkSettings);

    acc1Spk3CkObservation->initializeExteriorOrientation();



    BundlePolynomialContinuityConstraint acc1Spk3CkConstraint(acc1Spk3CkObservation);

    outputConstraint(acc1Spk3CkConstraint);



    qDebug() << "Test with 1 pointing segment...";

    qDebug() << "";



    BundleObservationQsp acc3Spk1CkObservation(

                               new BundleObservation(testImage, testObservationNumber,

                                                     testInstrumentId, testTargetBody) );

#if 0

    The observation solve settings are as follows:



    Solve for twist

    Solve for angular acceleration

    Do not solve for bias over existing pointing

    Pointing apriori degree:            2

    Pointing solve degree:              2

    Pointing segment count:             1

    Angle apriori sigma:                2

    Angular velocity apriori sigma:     1

    Angular acceleration apriori sigma: 0.1



    Solve for acceleration

    Do not solve for bias over existing position

    Position apriori degree:    2

    Position solve degree:      2

    Position segment count:     3

    Position apriori sigma:     50

    Velocity apriori sigma:     3

    Acceleration apriori sigma: 0.1

#endif

    BundleObservationSolveSettings acc3Spk1CkSettings;

    acc3Spk1CkSettings.setInstrumentPointingSettings(

                             BundleObservationSolveSettings::AnglesVelocityAcceleration,

                             true, 2, 2, 1, false, 2, 1, 0.1);

    acc3Spk1CkSettings.setInstrumentPositionSettings(

                             BundleObservationSolveSettings::PositionVelocity,

                             2, 2, 3, false, 50, 1, 0.1);

    acc3Spk1CkObservation->setSolveSettings(acc3Spk1CkSettings);

    acc3Spk1CkObservation->initializeExteriorOrientation();



    BundlePolynomialContinuityConstraint acc3Spk1CkConstraint(acc3Spk1CkObservation);

    outputConstraint(acc3Spk1CkConstraint);



    qDebug() << "Test when not solving for twist...";

    qDebug() << "";



    BundleObservationQsp noTwistObservation(

                               new BundleObservation(testImage, testObservationNumber,

                                                     testInstrumentId, testTargetBody) );

#if 0

    The observation solve settings are as follows:



    Do not solve for twist

    Solve for angular acceleration

    Do not solve for bias over existing pointing

    Pointing apriori degree:            2

    Pointing solve degree:              2

    Pointing segment count:             3

    Angle apriori sigma:                2

    Angular velocity apriori sigma:     1

    Angular acceleration apriori sigma: 0.1



    Solve for velocity

    Do not solve for bias over existing position

    Position apriori degree: 2

    Position solve degree:   1

    Position segment count:  3

    Position apriori sigma:  50

    Velocity apriori sigma:  1

#endif

    BundleObservationSolveSettings noTwistSettings;

    noTwistSettings.setInstrumentPointingSettings(

                          BundleObservationSolveSettings::AnglesVelocityAcceleration,

                          false, 2, 2, 3, false, 2, 1, 0.1);

    noTwistSettings.setInstrumentPositionSettings(

                          BundleObservationSolveSettings::PositionVelocity,

                          2, 1, 3, false, 50, 1, -1);

    noTwistObservation->setSolveSettings(noTwistSettings);

    noTwistObservation->initializeExteriorOrientation();



    BundlePolynomialContinuityConstraint noTwistConstraint(noTwistObservation);

    outputConstraint(noTwistConstraint);



    qDebug() << "Test when not solving for pointing...";

    qDebug() << "";



    BundleObservationQsp noPointingObservation(

                               new BundleObservation(testImage, testObservationNumber,

                                                     testInstrumentId, testTargetBody) );

#if 0

    The observation solve settings are as follows:



    Do not solve for pointing



    Solve for velocity

    Do not solve for bias over existing position

    Position apriori degree: 1

    Position solve degree:   1

    Position segment count:  3

    Position apriori sigma:  50

    Velocity apriori sigma:  1

#endif

    BundleObservationSolveSettings noPointingSettings;

    noPointingSettings.setInstrumentPointingSettings(

                             BundleObservationSolveSettings::NoPointingFactors,

                             true, 1, 1, 3, false, -1, -1, -1);

    noPointingSettings.setInstrumentPositionSettings(

                             BundleObservationSolveSettings::PositionVelocity,

                             1, 1, 3, false, 50, 1, -1);

    noPointingObservation->setSolveSettings(noPointingSettings);

    noPointingObservation->initializeExteriorOrientation();



    BundlePolynomialContinuityConstraint noPointingConstraint(noPointingObservation);

    outputConstraint(noPointingConstraint);



    qDebug() << "Test when not solving for position...";

    qDebug() << "";



    BundleObservationQsp noPositionObservation(

                               new BundleObservation(testImage, testObservationNumber,

                                                     testInstrumentId, testTargetBody) );

#if 0

    The observation solve settings are as follows:



    Do solve for twist

    Solve for angular velocity

    Do not solve for bias over existing pointing

    Pointing apriori degree:        1

    Pointing solve degree:          1

    Pointing segment count:         3

    Angle apriori sigma:            2

    Angular velocity apriori sigma: 1



    Do not solve for position

#endif

    BundleObservationSolveSettings noPositionSettings;

    noPositionSettings.setInstrumentPointingSettings(

                             BundleObservationSolveSettings::AnglesVelocity,

                             true, 1, 1, 3, false, 2, 1, -1);

    noPositionSettings.setInstrumentPositionSettings(

                             BundleObservationSolveSettings::NoPositionFactors,

                             1, 1, 3, false, -1, -1, -1);

    noPositionObservation->setSolveSettings(noPointingSettings);

    noPositionObservation->initializeExteriorOrientation();



    BundlePolynomialContinuityConstraint noPositionConstraint(noPositionObservation);

    outputConstraint(noPositionConstraint);



    qDebug() << "Test copy constructor...";

    qDebug() << "";



    BundlePolynomialContinuityConstraint copyConstraint(noTwistConstraint);

    outputConstraint(copyConstraint);



    qDebug() << "Test assignment operator...";

    qDebug() << "";



    BundlePolynomialContinuityConstraint assignedConstraint;

    assignedConstraint = noPointingConstraint;

    outputConstraint(copyConstraint);



    qDebug() << "Test bundle output string...";

    qDebug() << "";



    qDebug() << "When solving with everything";

    qDebug() << acc3Spk3CkConstraint.formatBundleOutputString();

    qDebug() << "";



    qDebug() << "When solving with 1 position segment";

    qDebug() << acc1Spk3CkConstraint.formatBundleOutputString();

    qDebug() << "";



    qDebug() << "When solving with 1 pointing segment";

    qDebug() << acc3Spk1CkConstraint.formatBundleOutputString();

    qDebug() << "";



    qDebug() << "When not solving for twist";

    qDebug() << noTwistConstraint.formatBundleOutputString();

    qDebug() << "";



    qDebug() << "When not solving for pointing";

    qDebug() << noPointingConstraint.formatBundleOutputString();

    qDebug() << "";



    qDebug() << "When not solving for position";

    qDebug() << noPositionConstraint.formatBundleOutputString();

  }

  catch (IException &e) {

    e.print();

  }



}





void outputConstraint(BundlePolynomialContinuityConstraint &constraint) {

    qDebug() << "BundlePolynomialContinuityConstraint status...";

    qDebug() << "";

    qDebug() << "Number of position segements: "

             << constraint.numberSpkSegments();

    qDebug() << "Number of position coefficients: "

             << constraint.numberSpkCoefficients();

    qDebug() << "";

    qDebug() << "Number of pointing segements: "

             << constraint.numberCkSegments();

    qDebug() << "Number of pointing coefficients: "

             << constraint.numberCkCoefficients();

    qDebug() << "";

    qDebug() << "Number of constraint equations: "

             << constraint.numberConstraintEquations();

    qDebug() << "";

    qDebug() << "Normals matrix: ";

    qDebug() << constraint.normalsMatrix();

    qDebug() << "";

    qDebug() << "Right hand side vector: ";

    qDebug() << constraint.rightHandSideVector();

    qDebug() << "";

}