EquationSystem.hpp

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#pragma ident "$Id: EquationSystem.hpp 2583 2011-05-04 01:26:05Z yanweignss $"

#ifndef GPSTK_EQUATIONSYSTEM_HPP
#define GPSTK_EQUATIONSYSTEM_HPP

//============================================================================
//
//  This file is part of GPSTk, the GPS Toolkit.
//
//  The GPSTk is free software; you can redistribute it and/or modify
//  it under the terms of the GNU Lesser General Public License as published
//  by the Free Software Foundation; either version 2.1 of the License, or
//  any later version.
//
//  The GPSTk is distributed in the hope that it will be useful,
//  but WITHOUT ANY WARRANTY; without even the implied warranty of
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//  GNU Lesser General Public License for more details.
//
//  You should have received a copy of the GNU Lesser General Public
//  License along with GPSTk; if not, write to the Free Software Foundation,
//  Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//
//  Dagoberto Salazar - gAGE ( http://www.gage.es ). 2009
//
//============================================================================


#include <algorithm>

#include "DataStructures.hpp"
#include "StochasticModel.hpp"
#include "Equation.hpp"
#include "ConstraintSystem.hpp"


namespace gpstk
{

   NEW_EXCEPTION_CLASS(InvalidEquationSystem, gpstk::Exception);




   class EquationSystem
   {
   public:

      EquationSystem()
         : isPrepared(false)
      {};


      virtual EquationSystem& addEquation( const Equation& equation );


      virtual EquationSystem& removeEquation( const Variable& indterm );


      virtual EquationSystem& clearEquations();


      virtual EquationSystem& Prepare( gnssSatTypeValue& gData )
      { gnssRinex gds(gData); return ( Prepare(gds) ); };


      virtual EquationSystem& Prepare( gnssRinex& gData );


      virtual EquationSystem& Prepare( gnssDataMap& gdsMap );


      virtual int getTotalNumVariables() const
         throw(InvalidEquationSystem);


      virtual VariableSet getVarUnknowns() const
         throw(InvalidEquationSystem);


      virtual int getCurrentNumVariables() const
         throw(InvalidEquationSystem);


      virtual VariableSet getCurrentUnknowns() const
         throw(InvalidEquationSystem);


      virtual int getCurrentNumSources() const
         throw(InvalidEquationSystem);


      virtual SourceIDSet getCurrentSources() const
         throw(InvalidEquationSystem);


      virtual int getCurrentNumSats() const
         throw(InvalidEquationSystem);


      virtual SatIDSet getCurrentSats() const
         throw(InvalidEquationSystem);


      virtual Vector<double> getPrefitsVector() const
         throw(InvalidEquationSystem);


      virtual Matrix<double> getGeometryMatrix() const
         throw(InvalidEquationSystem);


      virtual Matrix<double> getWeightsMatrix() const
         throw(InvalidEquationSystem);


      virtual Matrix<double> getPhiMatrix() const
         throw(InvalidEquationSystem);


      virtual Matrix<double> getQMatrix() const
         throw(InvalidEquationSystem);


      virtual int getEquationDefinitionNumber() const
      { return equationDescriptionList.size(); };


      virtual std::list<Equation> getCurrentEquationsList() const
      { return currentEquationsList; };


      virtual ConstraintSystem getConstraintSystem() const
      { return equationConstraints; };


      virtual EquationSystem& setConstraintSystem(
                                         const ConstraintSystem& equationConst )
      { equationConstraints = equationConst; return (*this); };

         
      virtual EquationSystem& clearConstraintSystem()
      { equationConstraints.clearConstraint(); return (*this); };

      virtual ~EquationSystem() {};


   private:

      ConstraintSystem equationConstraints;

      std::list<Equation> equationDescriptionList;

      std::list<Equation> currentEquationsList;

      VariableSet varUnknowns;

      VariableSet currentUnknowns;

      VariableSet oldUnknowns;

      std::list<Variable> allUnknowns;

      VariableSet rejectUnknowns;

      bool isPrepared;

      SourceIDSet currentSourceSet;

      SatIDSet currentSatSet;

      Matrix<double> phiMatrix;

      Matrix<double> qMatrix;

      Matrix<double> hMatrix;

      Matrix<double> rMatrix;

      Vector<double> measVector;

      void prepareCurrentSourceSat( gnssDataMap& gdsMap );

      VariableSet prepareCurrentUnknownsAndEquations( gnssDataMap& gdsMap );

      void getPhiQ( const gnssDataMap& gdsMap );

      void getPrefit( gnssDataMap& gdsMap );

      void getGeometryWeights( gnssDataMap& gdsMap );

      void imposeConstraints();

      static WhiteNoiseModel whiteNoiseModel;


   }; // End of class 'EquationSystem'


}  // End of namespace gpstk

#endif   // GPSTK_EQUATIONSYSTEM_HPP

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