adding BundlePolynomialContinuityConstraint

#ifndef BundlePolynomialContinuityConstraint_h

#define BundlePolynomialContinuityConstraint_h

/**

 * @file

 * $Revision: 1.17 $

 * $Date: 2010/03/27 07:01:33 $

 *

 *   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.

 */

// Qt Library

#include <QSharedPointer>

// Isis Library

#include "BundleConstraint.h"

#include "BundleObservation.h"

#include "LinearAlgebra.h"

namespace Isis {

  /**

   * @brief Implements 0, 1, and 2-order piecewise polynomial continuity constraints for bundle

   * adjustment.

   *

   * @ingroup ControlNetworks

   *

   * @author 2017-03-03 Ken Edmundson

   *

   * @internal

   *   @history 2017-03-03 Ken Edmundson - Original version.

   */

  class BundlePolynomialContinuityConstraint : public BundleConstraint {

    public:

      // constructors

      BundlePolynomialContinuityConstraint();

      BundlePolynomialContinuityConstraint(BundleObservationQsp solveSettings);

      // copy constructor

      BundlePolynomialContinuityConstraint(const BundlePolynomialContinuityConstraint &src);

      // destructor

      ~BundlePolynomialContinuityConstraint();

      BundlePolynomialContinuityConstraint &operator=(const BundlePolynomialContinuityConstraint &src);

      int numberSpkSegments() const;

      int numberCkSegments() const;

      int numberSpkCoefficients() const;

      int numberCkCoefficients() const;

      int numberConstraintEquations() const;

      void updateRightHandSide();

      LinearAlgebra::MatrixUpperTriangular &normalsMatrix();

      LinearAlgebra::Vector &rightHandSideVector();

      LinearAlgebra::Vector m_omcVector;

      QString formatBundleOutputString();

    private:

      void constructMatrices();

      void positionContinuity(int &designRow);

      void pointingContinuity(int &designRow);

      BundleObservationQsp m_parentObservation;                //! parent BundleObservation

      // spk related members

      std::vector<double> m_spkKnots;                          //! scaled boundary times

      int m_numberSpkCoefficients;                             //! # coefficients

      int m_numberSpkSegments;                                 //! # segments

      int m_numberSpkBoundaries;                               //! # segment boundaries

      int m_numberSpkSegmentParameters;

      // ck related members

      std::vector<double> m_ckKnots;                           //! scaled boundary times

      int m_numberCkCoefficients;                              //! # coefficients

      int m_numberCkSegments;                                  //! # segments

      int m_numberCkBoundaries;                                //! # segment boundaries

      int m_numberCkSegmentParameters;

      int m_numberSegmentParameters;                           //! TODO: # parameters per segment

      int m_numberParameters;                                  //! TODO: # parameters

      int m_numberConstraintEquations;                         //! # constraint equations

      LinearAlgebra::MatrixCompressed m_designMatrix;          //! design matrix

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

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

  };

  //! Typdef for BundlePolynomialContinuityConstraint QSharedPointer.

  typedef QSharedPointer<BundlePolynomialContinuityConstraint> BundlePolynomialContinuityConstraintQsp;

};

#endif