SurveyAlignmentPoints Class Reference

#include <SurveyAlignmentPoints.h>

Inheritance diagram for SurveyAlignmentPoints:

List of all members.

Public Member Functions
	SurveyAlignmentPoints (const align::Alignables &sensors, const std::vector< align::StructureType > &levels)
	Constructor to set the sensors and residual levels in base class.
Protected Member Functions
virtual void	findAlignPars (bool bias=false)
	Find the alignment parameters for all sensors.

---

Detailed Description

Survey alignment using point residuals.

The local residuals for survey points are found for each sensor. The alignment parameters are found using the HIP algorithm.

Date:

2007/10/08 16:38:03

Revision:

1.4

Author:

Chung Khim Lae

Definition at line 18 of file SurveyAlignmentPoints.h.

---

Constructor & Destructor Documentation

SurveyAlignmentPoints::SurveyAlignmentPoints	(	const align::Alignables &	sensors,
		const std::vector< align::StructureType > &	levels
	)

Constructor to set the sensors and residual levels in base class.

Definition at line 8 of file SurveyAlignmentPoints.cc.

                                                                                         :
  SurveyAlignment(sensors, levels)
{
}

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Member Function Documentation

void SurveyAlignmentPoints::findAlignPars

(

bool

bias = false

)

[protected, virtual]

Find the alignment parameters for all sensors.

Implements SurveyAlignment.

Definition at line 14 of file SurveyAlignmentPoints.cc.

References SurveyDet::derivatives(), i, j, prof2calltree::l, SurveyResidual::pointsResidual(), Alignable::setAlignmentParameters(), Alignable::survey(), SurveyAlignment::theLevels, SurveyAlignment::theSensors, SurveyResidual::valid(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

{
  unsigned int nSensor = theSensors.size();

  for (unsigned int i = 0; i < nSensor; ++i)
  {
    Alignable* ali = theSensors[i];

    AlgebraicSymMatrix sumJVJT(6, 0); // 6 by 6 symmetric matrix init to 0
    AlgebraicVector    sumJVe(6, 0);  // init to 0

    for (unsigned int l = 0; l < theLevels.size(); ++l)
    {
      SurveyResidual res(*ali, theLevels[l], bias);

      if ( !res.valid() ) continue;

      align::LocalVectors residuals = res.pointsResidual();

      unsigned int nPoints = residuals.size();

      for (unsigned int j = 0; j < nPoints; ++j)
      {
        AlgebraicMatrix J = ali->survey()->derivatives(j);
        AlgebraicSymMatrix V(3, 1); // identity for now
        AlgebraicVector e(3); // local residual

        const align::LocalVector& lr = residuals[j];

        e(1) = lr.x(); e(2) = lr.y(); e(3) = lr.z();
        V /= 1e-4 * 1e-4;
        sumJVe  += J * (V * e);
        sumJVJT += V.similarity(J);
      }
    }

    int dummy;
    sumJVJT.invert(dummy); // sumJVJT = sumJVJT^-1
    sumJVe = -sumJVJT * sumJVe;

    ali->setAlignmentParameters( new SurveyParameters(ali, sumJVe, sumJVJT) );
  }
}