cleanup, mods, documentation

   */

  class BundleLidarRangeConstraint : public BundleConstraint {

    public:

      // constructors

      BundleLidarRangeConstraint(LidarControlPointQsp lidarControlPoint,

                                 BundleMeasureQsp measure);

      // constructor

      BundleLidarRangeConstraint(LidarControlPointQsp lidarControlPoint, BundleMeasureQsp measure);

      // copy constructor

      BundleLidarRangeConstraint(const BundleLidarRangeConstraint &src);

      QString formatBundleOutputString(bool errorProp=false);

    private:

      void init();

      LidarControlPointQsp m_parentLidarControlPoint; //!< Parent lidar control point

      BundleObservationQsp m_bundleObservation;       //!< Associated BundleObservation

//      SpicePosition *m_instrumentPosition;            //!< Instrument spice position

//      SpiceRotation *m_bodyRotation;                  //!< Body spice rotation.

      LidarControlPointQsp m_lidarControlPoint;       //!< Parent lidar control point

      BundleObservationQsp m_bundleObservation;       //!< BundleObservation associated with measure

      BundleMeasureQsp m_simultaneousMeasure;         /**! Point in image acquired simultaneously

                                                           with a lidar observation. NOTE this point

                                                           coordinates are obtained by back

                                                           projection of the lidar 3D point into the

                                                           image using the image's current exterior

                                                           orientation. The "measure" is corrected

                                                           in each iteration of the bundle adjustment

                                                           by it's residuals.*/

      LinearAlgebra::Matrix m_coeff_range_image;     //! Partials w/respect to image position

      LinearAlgebra::Matrix m_coeff_range_point3D;   //! Partials w/respect to lidar point

      LinearAlgebra::Vector m_coeff_range_RHS;       //! Right hand side of normals

                                                           orientation (SPICE). The "measure" is

                                                           corrected in each iteration of the bundle

                                                           adjustement by it's residuals.*/

      // TODO: should partial matrices be static?

      // NOTE: they will be different size for different images

      LinearAlgebra::Matrix m_coeff_range_image;     //!< Partials w/respect to image position

      LinearAlgebra::Matrix m_coeff_range_point3D;   //!< Partials w/respect to lidar point

      LinearAlgebra::Vector m_coeff_range_RHS;       //!< Right hand side of normals

      std::vector<double> m_pointBodyFixed;          //! Body fixed coordinates of lidar point

      std::vector<double> m_cameraJ2K;               //! J2K coordinates of camera

      std::vector<double> m_cameraBodyFixed;         //! Body fixed coordinates of camera

      std::vector<double> m_matrixTargetToJ2K;       //! Rotates spacecraft from J2K to body-fixed

      std::vector<double> m_pointBodyFixed;          //!< Body fixed coordinates of lidar point

      std::vector<double> m_camPositionJ2K;          //!< J2K coordinates of camera

      std::vector<double> m_camPositionBodyFixed;    //!< Body fixed coordinates of camera

      std::vector<double> m_matrixTargetToJ2K;       //!< Rotates spacecraft from J2K to body-fixed

      double m_observedRange;

      double m_observedRangeSigma;

      double m_observedRangeWeight;

      double m_computedRange;

      double m_adjustedSigma;

      double m_vtpv;

      double m_scaledTime;                           //!< Current time for simultaneous measure

      double m_rangeObserved;                        //!< Observed range from lidar input data

      double m_rangeComputed;                        //!< Computed range from distance condition

      double m_rangeObservedSigma;                   //!< Uncertainty of observed range

      double m_rangeObservedWeightSqrt;              //!< Square-root of observed range weight

      double m_adjustedSigma;                        //!< Uncertainty of range after adjustment

      double m_vtpv;                                 //!< weighted sum-of-squares of residual

  };

  //! Typdef for BundleLidarRangeConstraint QSharedPointer.