Add seven new files for Multi-point capabilities. GAS/3.0.4

MultiPointCloudGM.cpp

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+//##############################################################################
+//
+//    FILENAME:          MultiPointCloudGM.cpp
+//
+//    CLASSIFICATION:    Unclassified
+//
+//    DESCRIPTION:
+//
+//    
+//
+//    LIMITATIONS:       None
+//
+//
+//    SOFTWARE HISTORY:
+//     Date          Author   Comment
+//     -----------   ------   -------
+//     09-Nov-20221  EJR    Initial version.
+//
+//    NOTES:
+//
+//##############################################################################
+
+#define CSM_LIBRARY
+
+#include "MultiPointCloudGM.h"
+
+namespace csm
+{
+	//*****************************************************************************
+	// MultiPointCloudGM::~MultiPointCloudGM
+	//*****************************************************************************
+	MultiPointCloudGM::~MultiPointCloudGM()
+	{}
+
+	//*****************************************************************************
+	// MultiPointCloudGM::getFamily()
+	//*****************************************************************************
+	std::string MultiPointCloudGM::getFamily() const
+	{
+		return (PointCloudGM::getFamily() + CSM_MPR_FAMILY);
+	}
+}

MultiPointCloudGM.h

@@ -0,0 +1,238 @@
+//#############################################################################
+//
+//    FILENAME:          MultiPointCloudGM.h
+//
+//    CLASSIFICATION:    Unclassified
+//
+//    DESCRIPTION:
+//
+//    
+//
+//    LIMITATIONS:       None
+//
+//
+//    SOFTWARE HISTORY:
+//     Date          Author   Comment
+//     -----------   ------   -------
+//     31-Dec-2021   EJR    Initial version.
+//
+//    NOTES:
+//
+//#############################################################################
+
+#ifndef __CSM_MULTI_POINTCLOUDGM_H
+#define __CSM_MULTI_POINTCLOUDGM_H
+
+#include "PointCloudGM.h"
+#include "csmPointCloud.h"
+#include "csmMultiPoint.h"
+
+#define CSM_POINTCLOUD_FAMILY "PointCloud"
+
+namespace csm {
+
+	class CorrelationModel;
+
+	class CSM_EXPORT_API MultiPointCloudGM : public PointCloudGM {
+
+	public:
+		MultiPointCloudGM() {};
+		virtual std::string getFamily() const;
+
+		// destructor implementation is needed so there will be something to call when derived
+			// classes are destroyed.
+		virtual ~MultiPointCloudGM();
+		//> This method returns the Family ID for the current model.
+		//<
+
+
+		virtual MultiModelCoord multiGroundToModel(MultiEcefCoord& groundPts,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecisions = NULL,
+			WarningList* warnings = NULL) const = 0;
+		//> This method converts the given vector of groundPt (x,y,z in ECEF meters) to a
+		//  returned vector of model coordinates (m0,m1,m2 in the model's coordinate
+		//  space).
+		//
+		//  Iterative algorithms will use desiredPrecision, in meters, as the
+		//  convergence criterion, otherwise it will be ignored.
+		//
+		//  If a non-NULL vector of achievedPrecision arguments are received, it will be
+		//  populated with the actual precisions, in meters, achieved by iterative
+		//  algorithms and 0.0 for deterministic algorithms.
+		//
+		//  If a non-NULL warnings argument is received, it will be populated
+		//  as applicable.
+		//<
+
+
+		virtual std::vector<ModelCoordCovar> multiGroundToModel(MultiEcefCoordCovar& groundPts,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecisions = NULL,
+			WarningList* warnings = NULL) const = 0;
+		//> This method converts the given vector of groundPts (x,y,z in ECEF meters and
+		//  corresponding 3x3 covariance in ECEF meters squared) to a returned
+		//  vector of model coordinates with covariance (m0,m1,m2 in the model's
+		//  coordinate space and corresponding 3x3 covariance).
+		//
+		//  Iterative algorithms will use desiredPrecision, in meters, as the
+		//  convergence criterion, otherwise it will be ignored.
+		//
+		//  If a non-NULL vector of achievedPrecision arguments is received, it will be
+		//  populated with the actual precision, in meters, achieved by iterative
+		//  algorithms and 0.0 for deterministic algorithms.
+		//
+		//  If a non-NULL warnings argument is received, it will be populated
+		//  as applicable.
+		//<
+
+		virtual MultiEcefCoord multiModelToGround(MultiModelCoord& modelPts,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecision = NULL,
+			WarningList* warnings = NULL) const = 0;
+		//> This method converts the given vector of modelPts (m0,m1,m2 in model
+		//  coordinates) to a returned vector of ground coordinates (x,y,z in ECEF meters).
+		//
+		//  Iterative algorithms will use desiredPrecision, in meters, as the
+		//  convergence criterion, otherwise it will be ignored.
+		//
+		//  If a non-NULL vector of achievedPrecision arguments is received, it will be
+		//  populated with the actual precision, in meters, achieved by iterative
+		//  algorithms and 0.0 for deterministic algorithms.
+		//
+		//  If a non-NULL warnings argument is received, it will be populated
+		//  as applicable.
+		//<
+
+		virtual MultiEcefCoordCovar multiModelToGround(MultiModelCoordCovar& modelPts,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecisions = NULL,
+			WarningList* warnings = NULL) const = 0;
+		//> This method converts the given vector of modelPts (m0,m1,m2 in model
+		//  coordinates) and corresponding 3x3 covariance to a returned vector of ground
+		//  coordinates with covariance (x,y,z in ECEF meters and corresponding
+		//  3x3 covariance in ECEF meters squared).
+		//
+		//  Iterative algorithms will use desiredPrecision, in meters, as the
+		//  convergence criterion, otherwise it will be ignored.
+		//
+		//  If a non-NULL vector of achievedPrecision arguments is received, it will be
+		//  populated with the actual precision, in meters, achieved by iterative
+		//  algorithms and 0.0 for deterministic algorithms.
+		//
+		//  If a non-NULL warnings argument is received, it will be populated
+		//  as applicable.
+		//<
+
+	 //---
+	 // Uncertainty Propagation
+	 //---
+
+		//> This type is used to hold the partial derivatives of model
+		//  coordinates m0, m1, and m2, respectively, with respect to a model
+		//  parameter.
+		//<
+
+
+		virtual std::vector<csm::PointCloudGM::SensorPartials> multiComputeSensorPartials(int index,
+			MultiEcefCoord& groundPts,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecision = NULL,
+			WarningList* warnings = NULL) const = 0;
+		//> 
+		// This is the multi-point version of ComputeSensorPartials that takes EcefCoord input.
+		//<
+
+		virtual std::vector<csm::PointCloudGM::SensorPartials> multiComputeSensorPartials(int index,
+			const MultiModelCoord& modelPts,
+			MultiEcefCoord& groundPts,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecision = NULL,
+			WarningList* warnings = NULL) const = 0;
+		//> 
+	   // This is the multi-point version of ComputeSensorPartials that takes all forms of input
+	   // ground points for efficiency.
+	   //<
+
+		virtual std::vector<ModelPartialsVctr> multiComputeAllSensorPartials(const 
+			MultiEcefCoord& groundPts,
+			param::Set pSet = param::VALID,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecision = NULL,
+			WarningList* warnings = NULL) const=0;
+		//> 
+		// This is the multi-point version of ComputeAllSensorPartials that takes EcefCoord input.
+		//<
+
+		virtual std::vector<ModelPartialsVctr> multiComputeAllSensorPartials(const 
+			MultiModelCoord& modelPts,
+			const std::vector<EcefCoord>& groundPts,
+			param::Set pSet = param::VALID,
+			double desiredPrecision = 0.001,
+			MultiDbl* achievedPrecision = NULL,
+			WarningList* warnings = NULL) const=0;
+		//> 
+	 // This is the multi-point version of ComputeAllSensorPartials that takes all forms of input
+	 // ground points for efficiency.
+	 //<
+
+		virtual MultiDblVctr multiComputeGroundPartials(const MultiEcefCoord& groundPts) const = 0;
+		//> This method returns a vector of vectors of partial derivatives of model
+		//  coordinates m0, m1, m2 with respect to the given groundPts (x,y,z in ECEF meters).
+		//
+		//  The inner vector contains the set of 9 partial dervitatives for a given point.
+		//  The value returned is a vector with nine elements as follows:
+		//
+		//-  [0] = partial derivative of m0 with respect to x
+		//-  [1] = partial derivative of m0 with respect to y
+		//-  [2] = partial derivative of m0 with respect to z
+		//-  [3] = partial derivative of m1 with respect to x
+		//-  [4] = partial derivative of m1 with respect to y
+		//-  [5] = partial derivative of m1 with respect to z
+		//-  [6] = partial derivative of m2 with respect to x
+		//-  [7] = partial derivative of m2 with respect to y
+		//-  [8] = partial derivative of m2 with respect to z
+		//<
+
+		virtual MultiDblVctr multiGetUnmodeledError(const MultiModelCoord& modelPts) const = 0;
+		//> This method returns a vector of 3x3 covariance matrices (in model coordinates)
+		//  at the given vector of modelPt for any model error not accounted for by the
+		//  model parameters.
+		//
+		//  The inner vector contains the 9 values of the 3x3 covariance matrix for a single point.
+		//  The value returned is a vector of nine elements as follows:
+		//
+		//-  [0] = m0 variance
+		//-  [1] = m0/m1 covariance
+		//-  [2] = m0/m2 covariance
+		//-  [3] = m1/m0 covariance
+		//-  [4] = m1 variance
+		//-  [5] = m1/m2 covariance
+		//-  [6] = m2/m0 covariance
+		//-  [7] = m2/m1 covariance
+		//-  [8] = m2 variance
+		//<
+
+		virtual MultiDblVctr multiGetUnmodeledCrossCovariance(const MultiModelCoordPair& modelCoords) const = 0;
+		//> This method returns a vector of 3x3 cross-covariance matrix (in model
+		//  coordinates) between eaach pair of model points pts1 and pts2 for any model error not
+		//  accounted for by the model parameters.
+		//
+		//  The inner vector contains the 9 elements of the cross covariance between a pair of points.
+		//  The value returned is a vector of nine elements as follows:
+		//
+		//-  [0] = pt1.m0/pt2.m0 covariance
+		//-  [1] = pt1.m0/pt2.m1 covariance
+		//-  [2] = pt1.m0/pt2.m2 covariance
+		//-  [3] = pt1.m1/pt2.m0 covariance
+		//-  [4] = pt1.m1/pt2.m1 covariance
+		//-  [5] = pt1.m1/pt2.m2 covariance
+		//-  [6] = pt1.m2/pt2.m0 covariance
+		//-  [7] = pt1.m2/pt2.m1 covariance
+		//-  [8] = pt1.m2/pt2.m2 covariance
+		//<
+	};
+
+} // namespace csm
+
+#endif // __CSM_MULTI_POINTCLOUDGM_H

MultiPointRasterGM.cpp

@@ -0,0 +1,43 @@
+//##############################################################################
+//
+//    FILENAME:          MultiPointRasterGM.cpp
+//
+//    CLASSIFICATION:    Unclassified
+//
+//    DESCRIPTION:
+//
+//    
+//
+//    LIMITATIONS:       None
+//
+//
+//    SOFTWARE HISTORY:
+//     Date          Author   Comment
+//     -----------   ------   -------
+//     31-Dec-2021  JPK    Initial version.
+//
+//    NOTES:
+//
+//##############################################################################
+
+#define CSM_LIBRARY
+
+#include "MultiPointRasterGM.h"
+
+namespace csm
+{
+	//*****************************************************************************
+	// MultiPointRasterGM::~MultiRasterPointGM
+	//*****************************************************************************
+	MultiPointRasterGM::~MultiPointRasterGM()
+	{}
+
+	//*****************************************************************************
+	// MultiPointRasterGM::getFamily()
+	//*****************************************************************************
+	std::string MultiPointRasterGM::getFamily() const
+	{
+		return (RasterGM::getFamily() + CSM_MPR_FAMILY);
+	}
+
+} // namespace csm