Commit d5cb442c authored by Ken Edmundson's avatar Ken Edmundson
Browse files

code cleanup

parent a5cc26cd

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

+1 −9
Original line number Diff line number Diff line
@@ -8,10 +8,8 @@ 
#include "CameraGroundMap.h"

#include "SpicePosition.h"



// boost lib

#include <boost/numeric/ublas/matrix_sparse.hpp>

// Boost Library

#include <boost/numeric/ublas/vector_proxy.hpp>

#include <boost/numeric/ublas/matrix_proxy.hpp>



using namespace boost::numeric::ublas;
@@ -135,7 +133,6 @@ namespace Isis { 
    // vtpv is the weight sum of squares of the residuals

    double t = m_rangeObserved - m_rangeComputed;

    m_vtpv = t * t * m_rangeObservedWeightSqrt * m_rangeObservedWeightSqrt;

    int fred=1;

  }
@@ -258,14 +255,9 @@ namespace Isis { 
    // form N22

    N22 += prod(trans(m_coeff_range_point3D), m_coeff_range_point3D);



//  std::cout << "N22" << std::endl << N22 << std::endl;

//  std::cout << "n2" << std::endl << n2 << std::endl;



    // contribution to n2 vector

    n2 += prod(trans(m_coeff_range_point3D), m_coeff_range_RHS);



//  std::cout << "n2" << std::endl << n2 << std::endl;



    return true;

  }

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

+2 −1
Original line number Diff line number Diff line
@@ -42,7 +42,8 @@ namespace Isis { 
   * @author 2018-04-13 Ken Edmundson

   *

   * @internal

   *   @history 2017-04-13 Ken Edmundson - Original version.

   *   @history 2018-04-13 Ken Edmundson - Original version.

   *   @history 2018-06-27 Ken Edmundson - Code clean up.

   */

  class BundleLidarRangeConstraint : public BundleConstraint {

    public: