Adding SymmetricMatrix and UpperSymmetricMatrix typedefs to LinearAlgebra. (58347e6b) · Commits · aflab / astrogeology / ISIS3

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

+12 −1

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

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

		// Qt Library
		#include <QDebug>
		@@ -112,6 +113,16 @@ namespace Isis {
		* API.
		*/
		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
		* typedef for a boost vector.

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

+21 −21

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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


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

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

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

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

+10 −20

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

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

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

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

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

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


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

		// Spherical loading utilities

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

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

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

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

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

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

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

+7 −9

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

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

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

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

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

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

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

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

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

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

+12 −11

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

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

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

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

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

		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))
		@@ -2657,8 +2658,8 @@ namespace Isis {
		printf(" Time: %s\n\n", currentTime.c_str());

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

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

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

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

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