SRI.hpp

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#pragma ident "$Id: SRI.hpp 2293 2010-02-12 18:14:16Z btolman $"

//============================================================================
//
//  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
//  
//  Copyright 2004, The University of Texas at Austin
//
//============================================================================

//============================================================================
//
//This software developed by Applied Research Laboratories at the University of
//Texas at Austin, under contract to an agency or agencies within the U.S. 
//Department of Defense. The U.S. Government retains all rights to use,
//duplicate, distribute, disclose, or release this software. 
//
//Pursuant to DoD Directive 523024 
//
// DISTRIBUTION STATEMENT A: This software has been approved for public 
//                           release, distribution is unlimited.
//
//=============================================================================

//------------------------------------------------------------------------------------
// TD go back thru and add const and throw() everywhere, also in Namelist
// TD check that names CAN have different length than R and Z -- see zeroAll

//------------------------------------------------------------------------------------
#ifndef CLASS_SQUAREROOTINFORMATION_INCLUDE
#define CLASS_SQUAREROOTINFORMATION_INCLUDE

//------------------------------------------------------------------------------------
// system includes
#include <string>
// GPSTk
#include "Matrix.hpp"
#include "StringUtils.hpp"
// geomatics
#include "Namelist.hpp"
#include "SRIMatrix.hpp"

namespace gpstk
{

//------------------------------------------------------------------------------------
extern const Matrix<double> SRINullMatrix;

//------------------------------------------------------------------------------------
class SRI {
public:
   SRI(void) throw() { }

   SRI(const unsigned int)
      throw();

   SRI(const Namelist&)
      throw();

   SRI(const Matrix<double>&,
       const Vector<double>&,
       const Namelist&)
      throw(MatrixException);

   SRI(const SRI&)
      throw();

   SRI& operator=(const SRI& right)
      throw();

   // modify SRIs

   void permute(const Namelist&)
      throw(MatrixException,VectorException);

   void split(const Namelist&, SRI&)
      throw(MatrixException,VectorException);

   SRI& operator+=(const Namelist&)
      throw(MatrixException,VectorException);

   void reshape(const Namelist&)
      throw(MatrixException,VectorException);

   void merge(const SRI& S)
      throw(MatrixException,VectorException)
   { *this += S; }

   SRI& operator+=(const SRI&)
      throw(MatrixException,VectorException);

   friend SRI operator+(const SRI&,
                        const SRI&)
      throw(MatrixException,VectorException);

   SRI& append(const SRI& S)
      throw(MatrixException,VectorException);

   void zeroOne(const unsigned int n)
      throw();

   void zeroAll(const int n=0)
      throw();

   void zeroState(void)
      throw()
   { Z = 0.0; }

   //void reset(int n=0)
   //   throw();

   void shift(const Vector<double>& X0)
      throw(MatrixException);

   void shiftZ(const Vector<double>& Z0)
      throw(MatrixException);

   void transform(const Matrix<double>& T,
                  const Matrix<double>& invT=SRINullMatrix)
      throw(MatrixException,VectorException);

   void transformState(const Matrix<double>& invT)
      throw(MatrixException);

   void Qbump(const unsigned int& in,
              const double& q=0.0)
      throw(MatrixException,VectorException);

   void stateFix(const unsigned int& index,
                 const double& value)
      throw(MatrixException,VectorException);

   void stateFix(const Namelist& drops,
                 const Vector<double>& values)
      throw(MatrixException,VectorException);

   void addAPriori(const Matrix<double>& Cov, const Vector<double>& X)
      throw(MatrixException);

   void addAPrioriInformation(const Matrix<double>& ICov, const Vector<double>& X)
      throw(MatrixException);

   void measurementUpdate(Matrix<double>& Partials,
                          Vector<double>& Data)
      throw(MatrixException)
   { SrifMU(R, Z, Partials, Data); }

   void getConditionNumber(double& small, double& big)
      throw(MatrixException);

   void getState(Vector<double>& X, int *ptrSingularIndex=NULL)
      throw(MatrixException);

   void getStateAndCovariance(Vector<double>& X,
                              Matrix<double>& C,
                              double *ptrSmall=NULL,
                              double *ptrBig=NULL)
      throw(MatrixException,VectorException);

      // member access
   unsigned int size(void) const
      throw()
   { return R.rows(); }

   Namelist getNames(void)
      throw()
   { return names; }

   std::string getName(const unsigned int in)
      throw()
   { return names.getName(in); }

   bool setName(const unsigned int in,
                const std::string& name)
      throw()
   { return names.setName(in,name); }

   unsigned int index(std::string& name)
      throw()
   { return names.index(name); }

   Matrix<double> getR(void)
      throw()
   { return R; }

   Vector<double> getZ(void)
      throw()
   { return Z; }

   friend std::ostream& operator<<(std::ostream& s,
                                   const SRI&);

protected:
   // member data
   Matrix<double> R;

   Vector<double> Z;

   Namelist names;

}; // end class SRI

} // end namespace gpstk

//------------------------------------------------------------------------------------
#endif

---