ossimSarModel.h

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//----------------------------------------------------------------------------
//
// License:  See top level LICENSE.txt file.
//
// Author:  David Hicks
//
// Description: Base class for Synthetic Aperture Radar model.
//
//              This model represents a standard model using relatively
//              generic support data based on the following references:
//                [1] Modern Photogrammetry; Mikhail, Bethel, & McGlone;
//                    Sections 11.7-11.9
//                [2] The Compendium of Controlled Extensions for NITFS
//                    21 Mar 2006, paragraph E.3.8, SAR MPDSR
//
//----------------------------------------------------------------------------
// $Id: ossimSarModel.h 15766 2009-10-20 12:37:09Z gpotts $
#ifndef ossimSarModel_HEADER
#define ossimSarModel_HEADER

#include <ossim/projection/ossimSensorModel.h>
#include <ossim/base/ossimDpt.h>
#include <ossim/base/ossimEcefPoint.h>
#include <ossim/base/ossimEcefVector.h>

class ossimHgtRef;


class OSSIM_DLL ossimSarModel : public ossimSensorModel
{
public:

   enum AcquisitionMode
   {
      UNKNOWN = 0,
      SCAN    = 1,
      SPOT    = 2
   };

   enum AdjustParamIndex
   {
      X_POS = 0,
      Y_POS,
      Z_POS,
      NUM_ADJUSTABLE_PARAMS // not an index
   };

   ossimSarModel();

   virtual bool loadState(const ossimKeywordlist& kwl,
                          const char* prefix=0);
   virtual bool saveState(ossimKeywordlist& kwl,
                          const char* prefix=0) const;
   
   static void writeGeomTemplate(ostream& os);
                          
                          
   virtual ossimObject* dup() const { return 0; } // TBR

   virtual std::ostream& print(std::ostream& out) const;


   virtual void lineSampleToWorld(const ossimDpt& image_point,
                                  ossimGpt&       world_point) const;
   virtual void worldToLineSample(const ossimGpt& world_point,
                                  ossimDpt&       image_point) const;
   virtual void lineSampleHeightToWorld(const ossimDpt& lineSampPt,
                                        const double&   heightAboveEllipsoid,
                                        ossimGpt&       worldPt) const;
   virtual void imagingRay(const ossimDpt& image_point,
                           ossimEcefRay&   image_ray) const;

   virtual double sensorAzimuth(const ossimDpt& image_point) const;
   
   virtual ossimDpt getForwardDeriv(int parmIdx, const ossimGpt& gpos, double h);

   inline virtual bool useForward() const
   {
      return false; 
   } 

   virtual void updateModel();

   virtual ossimSensorModel::CovMatStatus getObsCovMat(
      const ossimDpt& ipos, NEWMAT::SymmetricMatrix& Cov);
   
protected:
   virtual ~ossimSarModel();
   
   
   void initAdjustableParameters();

   virtual ossim_float64 getArpTime() const;

   virtual ossim_float64 getArpTime(const ossimDpt& imgPt) const;

   virtual ossimEcefPoint  getArpPos() const;

   virtual ossimEcefPoint  getArpPos(const ossim_float64& time) const;

   virtual ossimEcefVector getArpVel() const;

   virtual ossimEcefVector getArpVel(const ossim_float64& time) const;
   
   virtual bool computeRangeDoppler(const ossimEcefPoint& pt,
                                    const ossimEcefPoint& arpPos,
                                    const ossimEcefVector& arpVel,
                                    ossim_float64& range,
                                    ossim_float64& doppler) const;

   virtual bool computeImageFromOP(const ossimEcefPoint& opPt, ossimDpt& imgPt) const;
   
   virtual bool computeOPfromImage(const ossimDpt& imgPt, ossimEcefPoint& opPt) const;
   
   virtual bool projOPtoSurface(const ossimEcefPoint& opPt,
                                const ossim_float64& range,
                                const ossim_float64& doppler,
                                const ossimEcefPoint& arpPos,
                                const ossimEcefVector& arpVel,
                                const ossimHgtRef* hgtRef,
                                ossimEcefPoint& ellPt) const;

   virtual bool projEllipsoidToOP(const ossimEcefPoint& ellPt,
                                  ossimEcefPoint& opPt) const;



   ossimString getAcquistionModeString() const;

   void setAcquisitionMode(const ossimString& mode);

   AcquisitionMode theAcquisitionMode;

   ossimEcefPoint theOrpPosition;

   ossimDpt theOrpCenter;

   ossimEcefVector theOutputPlaneNormal;

   ossimEcefVector theOutputPlaneXaxis;

   ossim_float64 theOipr;

   ossim_float64 thePixelSize;

   ossim_float64 theArpTime;

   vector<ossim_float64> theArpXPolCoeff;
   vector<ossim_float64> theArpYPolCoeff;
   vector<ossim_float64> theArpZPolCoeff;

   vector<ossim_float64> theTimeCoeff;

   ossim_float64 thePixelSpacing;
   
   ossimEcefVector theOPX;
   ossimEcefVector theOPY;
   ossimEcefVector theOPZ;
   
   
   ossim_float64   theObsRng;
   ossim_float64   theObsDop;
   ossim_float64   theObsTime;
   ossimEcefPoint  theObsPosition;
   ossimEcefPoint  theObsOP;
   ossimEcefPoint  theObsArpPos;
   ossimEcefVector theObsArpVel;
   ossimEcefVector theObsArpVel_U;
   ossim_float64   theObsArpVel_Mag;
   
   ossim_float64 theParDopWRTaz;

   ossimEcefVector theLsrOffset;      // meters

   TYPE_DATA
};

#endif /* #ifndef ossimSarModel_HEADER */