Merge pull request #202 from kledmundson/LroLidar_Infrastructure

#include "BundleControlPointVector.h"

#include <QDebug>

#include <QFutureWatcher>

#include <QtConcurrentRun>

#include "IException.h"

namespace Isis {

  /**

   * Constructs an empty BundleControlPointVector.

   */

  BundleControlPointVector::BundleControlPointVector() {

  }

  /**

   * Copy constructor.

   * 

   * @param src A reference to the BundleControlPointVector to copy from.

   */

  BundleControlPointVector::BundleControlPointVector(const BundleControlPointVector &src)

      :QVector<BundleControlPointQsp>(src) {

  }

  /**

   * Destructor.

   *

   * Contained BundleControlPoints will remain until all shared pointers to them are deleted.

   */

  BundleControlPointVector::~BundleControlPointVector() {

    clear();

  }

  /**

   * Assignment operator.

   * 

   * Assigns the state of the source BundleControlPointVector to this BundleControlPointVector.

   * 

   * @param src The BundleControlPointVector to assign from.

   * 

   * @return BundleControlPointVector& A reference to this BundleControlPointVector.

   */

  BundleControlPointVector &BundleControlPointVector::operator=(const BundleControlPointVector &src) {

    if (&src != this) {

      QVector<BundleControlPointQsp>::operator=(src);

    }

    return *this;

  }

  /**

   * Apply point parameter corrections.

   *

   * @param normalsMatrix Normal equations matrix.

   * @param imageSolution Current iteration solution vector for image parameters.

   *

   */

  void BundleControlPointVector::applyParameterCorrections(SparseBlockMatrix &normalsMatrix,

                                                           LinearAlgebra::Vector &imageSolution) {

    for (int i = 0; i < size(); i++) {

      at(i)->applyParameterCorrections(normalsMatrix, imageSolution);

    }

  }

  /**

   * Compute vtpv, the weighted sum of squares of constrained point residuals.

   *

   * @return double Weighted sum of squares of constrained point residuals.

   */

  void BundleControlPointVector::computeMeasureResiduals() {

    for (int i = 0; i < size(); i++) {

      at(i)->computeResiduals();

    }

  }

  /**

   * Compute vtpv of image measures (weighted sum of squares of measure residuals).

   *

   * @return double weighted sum of squares of measure residuals (vtpv).

   */

  double BundleControlPointVector::vtpvMeasureContribution() {

    double vtpv = 0;

    for (int i = 0; i < size(); i++) {

      vtpv += at(i)->vtpvMeasures();

    }

    return vtpv;

  }

  /**

   * Compute vtpv, the weighted sum of squares of constrained point residuals.

   *

   * @return double Weighted sum of squares of constrained point residuals.

   */

  double BundleControlPointVector::vtpvContribution() {

    double vtpvControl = 0;

    for (int i = 0; i < size(); i++) {

      vtpvControl += at(i)->vtpv();

    }

    return vtpvControl;

  }

  /**

   * Compute vtpv of lidar range constraints.

   *

   * @return double vtpv of lidar range constraints.

   */

  double BundleControlPointVector::vtpvRangeContribution() {

    double vtpv = 0;

    for (int i = 0; i < size(); i++) {

      vtpv += at(i)->vtpvRangeContribution();

    }

    return vtpv;

  }

}

#ifndef BundleControlPointVector_h

#define BundleControlPointVector_h

/**

 * @file

 * $Revision: 1.20 $

 * $Date: 2014/5/22 01:35:17 $

 *

 *   Unless noted otherwise, the portions of Isis written by the USGS are

 *   public domain. See individual third-party library and package descriptions

 *   for intellectual property information, user agreements, and related

 *   information.

 *

 *   Although Isis has been used by the USGS, no warranty, expressed or

 *   implied, is made by the USGS as to the accuracy and functioning of such

 *   software and related material nor shall the fact of distribution

 *   constitute any such warranty, and no responsibility is assumed by the

 *   USGS in connection therewith.

 *

 *   For additional information, launch

 *   $ISISROOT/doc//documents/Disclaimers/Disclaimers.html

 *   in a browser or see the Privacy & Disclaimers page on the Isis website,

 *   http://isis.astrogeology.usgs.gov, and the USGS privacy and disclaimers on

 *   http://www.usgs.gov/privacy.html.

 */

#include <QMap>

#include <QSharedPointer>

#include <QString>

#include <QVector>

#include "BundleControlPoint.h"

namespace Isis {

  /**

   * This class is a container class for BundleControlPoints.

   *

   * Contained BundleControlPoints are stored as shared pointers, so are automatically deleted when

   * all shared pointers are deleted.

   *

   * @author 2014-05-22 Ken Edmundson

   *

   * @internal

   *   @history 2018-04-16 Ken Edmundson - Original version.

   */

  class BundleControlPointVector : public QVector<BundleControlPointQsp> {

    public:

      BundleControlPointVector();

      BundleControlPointVector(const BundleControlPointVector &src);

      ~BundleControlPointVector();

      BundleControlPointVector &operator=(const BundleControlPointVector &src);

      void applyParameterCorrections(SparseBlockMatrix &normalsMatrix,

                                     LinearAlgebra::Vector &imageSolution);

      void computeMeasureResiduals();

      double vtpvContribution();

      double vtpvMeasureContribution();

      double vtpvRangeContribution();

  };

}

#endif // BundleControlPointVector_h