diff --git a/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp b/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp
index 218327ec62960b6b63898a15e202b9bd31abc99d..86943e795de96c35d6f954bd74fd35cbc63139e8 100644
--- a/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp
+++ b/isis/src/base/objs/SpiceRotation/SpiceRotation.cpp
@@ -2886,9 +2886,9 @@ namespace Isis {
/**
- * Return the full rotation TJ as a matrix
+ * Return the full rotation TJ as a matrix in row major order
*
- * @return @b vector<double> Returned matrix.
+ * @return @b vector<double> Returned matrix (as an array of rows).
*/
std::vector<double> SpiceRotation::Matrix() {
NaifStatus::CheckErrors();
diff --git a/isis/src/base/objs/SpiceRotation/SpiceRotation.h b/isis/src/base/objs/SpiceRotation/SpiceRotation.h
index d700aada49507f3b623f692d9befb8ee010475ac..671281bfff647acea4f6c9bef67728b3be5c6a8a 100644
--- a/isis/src/base/objs/SpiceRotation/SpiceRotation.h
+++ b/isis/src/base/objs/SpiceRotation/SpiceRotation.h
@@ -217,6 +217,8 @@ namespace Isis {
* The current example is the comet 67P/CHURYUMOV-GERASIMENKO
* imaged by Rosetta. Some future comet/astroid missions are expected
* to use a CK defined body fixed reference frame. Fixes #5408.
+ * @history 2019-03-20 Debbie A. Cook - Added documentation to the Matrix() method.
+ * References #5343.
*
* @todo Downsize using Hermite cubic spline and allow Nadir tables to be downsized again.
* @todo Consider making this a base class with child classes based on frame type or
diff --git a/isis/src/control/apps/jigsaw/jigsaw.xml b/isis/src/control/apps/jigsaw/jigsaw.xml
index 6d43034f22fd1f69f6642dc9f96ef2917933f0f9..d91aca3abf757a66edcc8eb0ea1b34fbdb0a8b52 100644
--- a/isis/src/control/apps/jigsaw/jigsaw.xml
+++ b/isis/src/control/apps/jigsaw/jigsaw.xml
@@ -279,6 +279,13 @@
<change name="Ken Edmundson" date="2018-06-22">
Added output of lidar adjusted csv file and output of adjusted lidar data file.
</change>
+ <change name="Debbie A. Cook" date="2019-05-20">
+ Added exclusions to SPSOLVE NONE option for LIDARDATA and
+ OLIDARDATA to prevent any attempt to run with lidar points and not
+ solve for spacecraft position. The lidar solution includes a constraint
+ on the range, which requires spacecraft position to be part of
+ the bundle adjustment. References #3053.
+ </change>
</history>
<groups>
@@ -355,11 +362,13 @@
<internalDefault>none</internalDefault>
<fileMode>input</fileMode>
<brief>
- Input Lidar Point File
+ Input Lidar Point File - requires SPSOLVE to be turned on
</brief>
<description>
This file is a <def>lidar point data</def> generated from <b>lrolola2isis.cpp</b>.
It contains <def>lidar control point</def>s and associated measures for simultaneous images.
+ If <def>lidar point data</def> are used, SPSOLVE must be turned on (anything besides NONE)
+
</description>
<exclusions>
</exclusions>
@@ -373,7 +382,7 @@
<internalDefault>none</internalDefault>
<fileMode>output</fileMode>
<brief>
- Output lidar data file
+ Output lidar data file - requires SPSOLVE to be turned on
</brief>
<description>
This output file contains the adjusted <def>lidar data</def> with
@@ -1028,6 +1037,8 @@
No spacecraft position parameters will be adjusted.
</description>
<exclusions>
+ <item>LIDARDATA</item>
+ <item>OLIDARDATA</item>
<item>SPKDEGREE</item>
<item>SPKSOLVEDEGREE</item>
<item>POSITIONSEGMENTS</item>
diff --git a/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp b/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp
index c748aa8229e1569def63e55dd462a72c742931d8..aa5437fcf216f6847c1eed2952f0a081c3711112 100644
--- a/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp
+++ b/isis/src/control/objs/BundleAdjust/BundleAdjust.cpp
@@ -1,4 +1,4 @@
- #include "BundleAdjust.h"
+#include "BundleAdjust.h"
// std lib
#include <iomanip>
diff --git a/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml b/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml
index 80bb8b95a447a9012504300faa1ecbde93dd37c2..3797d4a3c75fba73e76b747e1d3721bc85131d0b 100644
--- a/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml
+++ b/isis/src/lro/apps/lrolola2isis/lrolola2isis.xml
@@ -49,7 +49,8 @@
</change>
<change name="Debbie A Cook" date="2019-03-11">
Added new input parameter FROMLIST to allow entering multiple input
- Lidar CSV files. All input points are written out into a single Lidar data file.
+ Lidar CSV files. All input points are written out into a single Lidar data
+ file. References #5343.
</change>
</history>
diff --git a/isis/src/lro/apps/lrolola2isis/main.cpp b/isis/src/lro/apps/lrolola2isis/main.cpp
index a8b88ee828d008adc83a653dddeb3fbaf1dd0455..4f6063c76db99c9f1a2095ce29df098e8c5584d0 100644
--- a/isis/src/lro/apps/lrolola2isis/main.cpp
+++ b/isis/src/lro/apps/lrolola2isis/main.cpp
@@ -119,7 +119,7 @@ void IsisMain() {
lidarPoint->setRange(range);
lidarPoint->setSigmaRange(rangeSigma);
- // Set the point coordinates and their sigmas and add to the Lidar Control Point file
+ // Set the point coordinates and their sigmas and add to the Lidar Control Point
SurfacePoint spoint(lat, lon, radius);
spoint.SetSphericalSigmasDistance(
Distance(latSigma, Distance::Units::Meters),
diff --git a/isis/src/lro/apps/lrolola2isis/tsts/multipleInputs/Makefile b/isis/src/lro/apps/lrolola2isis/tsts/multipleInputs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..587e6ddf148e9bdb6344d2b2af8ca71da1e676dc
--- /dev/null
+++ b/isis/src/lro/apps/lrolola2isis/tsts/multipleInputs/Makefile
@@ -0,0 +1,20 @@
+APPNAME = lrolola2isis
+# This test exercises the ingestion of Lola data from the LRO mission
+# with multiple input files. The output is sorted by id to have consistent
+# output for comparison with the truth data. Normal behavior fills the
+# file from a hash so the order varies.
+#
+# 2019-03-13 Debbie A. Cook - original test
+
+include $(ISISROOT)/make/isismake.tsts
+
+commands:
+# ls $(INPUT)/*.cub > $(OUTPUT)/multipleInputs.lis
+ cp $(INPUT)/*.lis $(OUTPUT)
+ $(APPNAME) fromlist=$(OUTPUT)/shortCsv.lis cubes=$(OUTPUT)/shortMultipleInput.lis \
+ to=$(OUTPUT)/LidarTest.json outputtype=test threshold=10 \
+ point_range_sigma=10 point_latitude_sigma=10 point_longitude_sigma=10 \
+ point_radius_sigma=10 pointid=Lidar???? \
+ > /dev/null;
+ rm $(OUTPUT)/*.lis
+ mv $(OUTPUT)/LidarTest.json $(OUTPUT)/LidarTest.txt