diff --git a/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp b/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp index 218327ec62..86943e795d 100644 --- a/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp +++ b/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp @@ -2886,9 +2886,9 @@ namespace Isis { /** - * Return the full rotation TJ as a matrix + * Return the full rotation TJ as a matrix in row major order * - * @return @b vector Returned matrix. + * @return @b vector Returned matrix (as an array of rows). */ std::vector SpiceRotation::Matrix() { NaifStatus::CheckErrors(); diff --git a/isis/src/base/objs/SpiceRotation/SpiceRotation.h b/isis/src/base/objs/SpiceRotation/SpiceRotation.h index d700aada49..671281bfff 100644 --- a/isis/src/base/objs/SpiceRotation/SpiceRotation.h +++ b/isis/src/base/objs/SpiceRotation/SpiceRotation.h @@ -217,6 +217,8 @@ namespace Isis { * The current example is the comet 67P/CHURYUMOV-GERASIMENKO * imaged by Rosetta. Some future comet/astroid missions are expected * to use a CK defined body fixed reference frame. Fixes #5408. + * @history 2019-03-20 Debbie A. Cook - Added documentation to the Matrix() method. + * References #5343. * * @todo Downsize using Hermite cubic spline and allow Nadir tables to be downsized again. * @todo Consider making this a base class with child classes based on frame type or diff --git a/isis/src/control/apps/jigsaw/jigsaw.xml b/isis/src/control/apps/jigsaw/jigsaw.xml index 6d43034f22..d91aca3abf 100644 --- a/isis/src/control/apps/jigsaw/jigsaw.xml +++ b/isis/src/control/apps/jigsaw/jigsaw.xml @@ -279,6 +279,13 @@ Added output of lidar adjusted csv file and output of adjusted lidar data file. + + Added exclusions to SPSOLVE NONE option for LIDARDATA and + OLIDARDATA to prevent any attempt to run with lidar points and not + solve for spacecraft position. The lidar solution includes a constraint + on the range, which requires spacecraft position to be part of + the bundle adjustment. References #3053. + @@ -355,11 +362,13 @@ none input - Input Lidar Point File + Input Lidar Point File - requires SPSOLVE to be turned on This file is a lidar point data generated from lrolola2isis.cpp. It contains lidar control points and associated measures for simultaneous images. + If lidar point data are used, SPSOLVE must be turned on (anything besides NONE) + @@ -373,7 +382,7 @@ none output - Output lidar data file + Output lidar data file - requires SPSOLVE to be turned on This output file contains the adjusted lidar data with @@ -1028,6 +1037,8 @@ No spacecraft position parameters will be adjusted. + LIDARDATA + OLIDARDATA SPKDEGREE SPKSOLVEDEGREE POSITIONSEGMENTS diff --git a/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp b/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp index c748aa8229..aa5437fcf2 100644 --- a/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp +++ b/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp @@ -1,4 +1,4 @@ - #include "BundleAdjust.h" +#include "BundleAdjust.h" // std lib #include diff --git a/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml b/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml index 80bb8b95a4..3797d4a3c7 100644 --- a/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml +++ b/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml @@ -49,7 +49,8 @@ Added new input parameter FROMLIST to allow entering multiple input - Lidar CSV files. All input points are written out into a single Lidar data file. + Lidar CSV files. All input points are written out into a single Lidar data + file. References #5343. diff --git a/isis/src/lro/apps/lrolola2isis/main.cpp b/isis/src/lro/apps/lrolola2isis/main.cpp index a8b88ee828..4f6063c76d 100644 --- a/isis/src/lro/apps/lrolola2isis/main.cpp +++ b/isis/src/lro/apps/lrolola2isis/main.cpp @@ -119,7 +119,7 @@ void IsisMain() { lidarPoint->setRange(range); lidarPoint->setSigmaRange(rangeSigma); - // Set the point coordinates and their sigmas and add to the Lidar Control Point file + // Set the point coordinates and their sigmas and add to the Lidar Control Point SurfacePoint spoint(lat, lon, radius); spoint.SetSphericalSigmasDistance( Distance(latSigma, Distance::Units::Meters), diff --git a/isis/src/lro/apps/lrolola2isis/tsts/multipleInputs/Makefile b/isis/src/lro/apps/lrolola2isis/tsts/multipleInputs/Makefile new file mode 100644 index 0000000000..587e6ddf14 --- /dev/null +++ b/isis/src/lro/apps/lrolola2isis/tsts/multipleInputs/Makefile @@ -0,0 +1,20 @@ +APPNAME = lrolola2isis +# This test exercises the ingestion of Lola data from the LRO mission +# with multiple input files. The output is sorted by id to have consistent +# output for comparison with the truth data. Normal behavior fills the +# file from a hash so the order varies. +# +# 2019-03-13 Debbie A. Cook - original test + +include $(ISISROOT)/make/isismake.tsts + +commands: +# ls $(INPUT)/*.cub > $(OUTPUT)/multipleInputs.lis + cp $(INPUT)/*.lis $(OUTPUT) + $(APPNAME) fromlist=$(OUTPUT)/shortCsv.lis cubes=$(OUTPUT)/shortMultipleInput.lis \ + to=$(OUTPUT)/LidarTest.json outputtype=test threshold=10 \ + point_range_sigma=10 point_latitude_sigma=10 point_longitude_sigma=10 \ + point_radius_sigma=10 pointid=Lidar???? \ + > /dev/null; + rm $(OUTPUT)/*.lis + mv $(OUTPUT)/LidarTest.json $(OUTPUT)/LidarTest.txt