Commit fa131eaf authored by Jesse Mapel's avatar Jesse Mapel
Browse files

Added PiecewisePolynomial class and updated SpicePosition to use it. References #4650, #5000. 

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/branches/PiecewisePolynomials@7827 41f8697f-d340-4b68-9986-7bafba869bb8
parent 506707fd

isis/src/base/objs/LeastSquares/LeastSquares.cpp

+3 −3
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@@ -571,8 +571,8 @@ namespace Isis { 
    p_degreesOfFreedom = p_sparseRows + p_constrainedParameters - p_sparseCols;



    if( p_degreesOfFreedom <= 0.0 ) {

      printf("Observations: %d\nConstrained: %d\nParameters: %d\nDOF: %d\n",

             p_sparseRows,p_constrainedParameters,p_sparseCols,p_degreesOfFreedom);

//       printf("Observations: %d\nConstrained: %d\nParameters: %d\nDOF: %d\n",

//              p_sparseRows,p_constrainedParameters,p_sparseCols,p_degreesOfFreedom);

      p_sigma0 = 1.0;

    }

    else
@@ -582,7 +582,7 @@ namespace Isis { 
    p_sigma0 = sqrt(p_sigma0);



    // kle testing - output residuals and some stats

    printf("Sigma0 = %20.10lf\nNumber of Observations = %d\nNumber of Parameters = %d\nNumber of Constrained Parameters = %d\nDOF = %d\n",p_sigma0,p_sparseRows,p_sparseCols,p_constrainedParameters,p_degreesOfFreedom);

//     printf("Sigma0 = %20.10lf\nNumber of Observations = %d\nNumber of Parameters = %d\nNumber of Constrained Parameters = %d\nDOF = %d\n",p_sigma0,p_sparseRows,p_sparseCols,p_constrainedParameters,p_degreesOfFreedom);

//    printf("printing residuals\n");

//    for( int k = 0; k < p_sparseRows; k++ )

//    {

isis/src/base/objs/PiecewisePolynomial/Makefile

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ifeq ($(ISISROOT), $(BLANK))

.SILENT:

error:

	echo "Please set ISISROOT";

else

	include $(ISISROOT)/make/isismake.objs

endif
 
 No newline at end of file

isis/src/base/objs/PiecewisePolynomial/PiecewisePolynomial.cpp

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File added.

Preview size limit exceeded, changes collapsed.

isis/src/base/objs/PiecewisePolynomial/PiecewisePolynomial.h

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#ifndef PiecewisePolynomial_h

#define PiecewisePolynomial_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 &amp; 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 <vector>



#include "LinearAlgebra.h"

#include "PolynomialUnivariate.h"



namespace Isis {



  /**

   * The PiecewisePolynomial class encapsulates a piecewise-polynomial

   * function. It can be set based on a known function or it can be fit to a

   * data set. Specifically, this class is designed to represent a

   * parameterized space curve such as an object's position over time.

   *

   * @author 2017-03-02 Jesse Mapel

   *

   * @internal

   *   @history 2017-03-02 Jesse Mapel - Original version. References #4650.

   *   @history 2017-03-11 Jesse Mapel - Reordered input data vector, improved

   *                           documentation and error throws and unit test.

   *                           References #4650.

   */

  class PiecewisePolynomial {



    public:

      PiecewisePolynomial();

      PiecewisePolynomial(double minValue, double maxValue,

                          int degree, int dimensions);

      PiecewisePolynomial(const PiecewisePolynomial &other);



      ~PiecewisePolynomial();



      PiecewisePolynomial &operator=(const PiecewisePolynomial &other);



      std::vector<double> evaluate(double value);

      std::vector<double> derivativeVariable(double value);

      void fitPolynomials(const std::vector<double> &values,

                          const std::vector< std::vector<double> > &data,

                          int segments);



      int degree() const;

      std::vector< std::vector<double> > coefficients(int segment) const;

      int dimensions() const;

      const std::vector<double> knots() const;

      int segments() const;



      void setDegree(int degree);

      void setCoefficients(int segment,

                           const std::vector< std::vector<double> > &coefficients);

      void setDimensions(int dimensions);

      void setKnots(std::vector<double> &knots);



    private:

      void validateData(const std::vector<double> &values,

                        const std::vector< std::vector<double> > &data,

                        int segments);

      void computeKnots(const std::vector<double> &values,

                        const std::vector< std::vector<double> > &data,

                        int segments);

      double computeCurvature(const std::vector<double> &localValues,

                              const std::vector<double> &firstPoint,

                              const std::vector<double> &secondPoint,

                              const std::vector<double> &thirdPoint);

      double computeArcLength(const std::vector<double> &firstPoint,

                              const std::vector<double> &secondPoint);

      void computePolynomials(const std::vector<double> &values,

                              const std::vector< std::vector<double> > &data);

      int segmentIndex(double value);

      int derivativeCoefficient(int coeffOrder, int derivativeOrder);



      int m_degree; //< The degree of the polynomials.

      int m_dimensions; //< The number of dimensions of the space curve.

      std::vector<double> m_knots; //!< The knots or segment boundaries.

      std::vector< std::vector<PolynomialUnivariate> > m_polynomials;

      /**!< Vector containing vectors of polynomials for each segment.

       *    Each inner vector represents a segment. Each inner vector

       *    has m_dimensions polynomial functions.**/

      

  };

};



#endif

isis/src/base/objs/PiecewisePolynomial/PiecewisePolynomial.truth

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Unit test for PiecewisePolynomial



Create 1D PiecewisePolynomial:



Number of segments: 1

Space curve dimensions: 1

Polynomial degree: 2

Polynomial knots:

  -5.0

  5.0



Segment 1 polynomial:

Dimension 1 coefficients:

  0.0

  0.0

  0.0



Fit to 1D data:



Number of segments: 2

Space curve dimensions: 1

Polynomial degree: 2

Polynomial knots:

  -4.0

  -0.45

  4.0



Segment 1 polynomial:

Dimension 1 coefficients:

  1.71009

  3.96381

  1.41881



Segment 2 polynomial:

Dimension 1 coefficients:

  1.30584

  2.16714

  -0.577498



Calculating residuals for 17 points.

  -4.0  0.555796

  -3.5  0.0328341

  -3.0  0.412059

  -2.5  0.58188

  -2.0  0.542296

  -1.5  0.293306

  -1.0  0.165088

  -0.5  0.832887

  0.0  1.30584

  0.5  0.495033

  1.0  0.104523

  1.5  0.492827

  2.0  0.669881

  2.5  0.635683

  3.0  0.390234

  3.5  0.0664653

  4.0  0.734416

RMS Error: 0.699203



Create 3D PiecewisePolynomial:



Number of segments: 1

Space curve dimensions: 3

Polynomial degree: 2

Polynomial knots:

  -6.0

  4.0



Segment 1 polynomial:

Dimension 1 coefficients:

  0.0

  0.0

  0.0

Dimension 2 coefficients:

  0.0

  0.0

  0.0

Dimension 3 coefficients:

  0.0

  0.0

  0.0



Fit to 3D data:



Number of segments: 3

Space curve dimensions: 3

Polynomial degree: 2

Polynomial knots:

  -5.0

  -2.20163

  -0.143386

  3.0



Segment 1 polynomial:

Dimension 1 coefficients:

  0.326338

  -1.81105

  -0.474491

Dimension 2 coefficients:

  0.217688

  0.459387

  0.0170194

Dimension 3 coefficients:

  2.78236

  -0.126021

  -0.0170146



Segment 2 polynomial:

Dimension 1 coefficients:

  -0.143298

  -2.23768

  -0.571379

Dimension 2 coefficients:

  -0.0955277

  0.174856

  -0.0475988

Dimension 3 coefficients:

  3.09553

  0.158469

  0.0475944



Segment 3 polynomial:

Dimension 1 coefficients:

  -0.112189

  -1.80376

  0.941727

Dimension 2 coefficients:

  -0.074788

  0.46414

  0.961159

Dimension 3 coefficients:

  3.07479

  -0.130813

  -0.961156



Calculating residuals for 17 points.

  -5.0  0.026584

  -4.5  0.0101199

  -4.0  0.029289

  -3.5  0.0309233

  -3.0  0.0150228

  -2.5  0.0184126

  -2.0  0.0639684

  -1.5  0.0723248

  -1.0  0.0316254

  -0.5  0.0581297

  0.0  0.154185

  0.5  0.0393608

  1.0  0.0354222

  1.5  0.0701638

  2.0  0.0648641

  2.5  0.0195231

  3.0  0.0658593

RMS Error: 0.0580648



Test fitting to a single point

Number of segments: 1

Space curve dimensions: 3

Polynomial degree: 0

Polynomial knots:

  -1.797693e+308

  1.797693e+308



Segment 1 polynomial:

Dimension 1 coefficients:

  -2.5

Dimension 2 coefficients:

  -1.66667

Dimension 3 coefficients:

  3.0



Calculating residuals for 1 points.

  -5.0  0.0

RMS Error: 0.0



Test error throws



Attempt to evaluate at value outside of range:

**PROGRAMMER ERROR** Failed evaluating piecewise polynomial at value [20.0].

**PROGRAMMER ERROR** Value [20.0] is not within valid range [-4.0, 4.0].



Polynomial fit errors:

**PROGRAMMER ERROR** The number of input values [3] and data points [1] do not match.

**PROGRAMMER ERROR** The number of data points [2] is insufficient to fit polynomials. at least [5] data points are required.

**PROGRAMMER ERROR** Input values are not sorted in ascending order.

**PROGRAMMER ERROR** Data point number [7] has the incorrect number of dimensions [2]. Expected [1] dimensions.

**PROGRAMMER ERROR** Cannot compute curvature. The triangle between points is degenerate.



Attempt to set to negative degree:

**PROGRAMMER ERROR** Input degree [-1] must be greater than or equal to 0.



Attempt to set non-positive dimensions:

**PROGRAMMER ERROR** Input dimensions [0] must be greater than 0.



Setting coefficients errors:

**PROGRAMMER ERROR** Segment index [4] is invalid. Valid segment indices are between [0] and [1] inclusive.

**PROGRAMMER ERROR** Invalid number of dimensions [1]. Expected [3] dimensions.

**PROGRAMMER ERROR** Invalid number of coefficients [2] for dimension number [3]. Expected [3] coefficients.



Attempt to set less than 2 knots:

**PROGRAMMER ERROR** Invalid number of knots [1]. At least 2 knots must be specified.