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#ifndef INCLUDE_USGSCSM_USGSASTROPROJECTEDSENSORMODEL_H_
#define INCLUDE_USGSCSM_USGSASTROPROJECTEDSENSORMODEL_H_

#include <RasterGM.h>
#include <SettableEllipsoid.h>

#include<utility>
#include<memory>
#include<string>
#include<vector>

#include "ale/Orientations.h"
#include "ale/States.h"

#include "spdlog/spdlog.h"

#include "UsgsAstroLsSensorModel.h"

class UsgsAstroProjectedSensorModel : public csm::RasterGM,
                                      virtual public csm::SettableEllipsoid {

public:
    // Initializes the class from state data as formatted
    // in a string by the toString() method
    void setState(const std::string &state);

    virtual void replaceModelState(const std::string &stateString);
    //> This method attempts to initialize the current model with the state
    //  given by argState.  The argState argument can be a string previously
    //  retrieved from the getModelState method.
    //
    //  If argState contains a valid state for the current model,
    //  the internal state of the model is updated.
    //
    //  If the model cannot be updated to the given state, a csm::Error is
    //  thrown and the internal state of the model is undefined.
    //
    //  If the argument state string is empty, the model remains unchanged.
    //<

    // This method checks to see if the model name is recognized
    // in the input state string.
    static std::string getModelNameFromModelState(const std::string &model_state);

    std::string constructStateFromIsd(const std::string imageSupportData,
                                      csm::WarningList *list);

    // State data elements;
    double m_majorAxis;
    double m_minorAxis;
    std::vector<double> m_geoTransform;
    std::string m_projString;

    // Define logging pointer and file content
    std::shared_ptr<spdlog::logger> m_logger = spdlog::get("usgscsm_logger");

    // Hardcoded
    static const std::string _SENSOR_MODEL_NAME; // state date element 0

    static const std::string _STATE_KEYWORD[];

    // Set to default values
    void reset();

    //--------------------------------------------------------------
    // Constructors/Destructor
    //--------------------------------------------------------------

    UsgsAstroProjectedSensorModel();
    ~UsgsAstroProjectedSensorModel();

    virtual std::string getModelState() const;

    // Set the sensor model based on the input state data
    void set(const std::string &state_data);

    //----------------------------------------------------------------
    // The following public methods are implementations of
    // the methods inherited from RasterGM and SettableEllipsoid.
    // These are defined in the CSM API.
    //----------------------------------------------------------------

    //---
    // Core Photogrammetry
    //---
    virtual csm::ImageCoord groundToImage(
        const csm::EcefCoord &groundPt, double desiredPrecision = 0.001,
        double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;

    //> This method converts the given groundPt (x,y,z in ECEF meters) to a
    //  returned image coordinate (line, sample in full image space pixels).
    //
    //  Iterative algorithms will use desiredPrecision, in meters, as the
    //  convergence criterion, otherwise it will be ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the actual precision, in meters, achieved by iterative
    //  algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual csm::ImageCoordCovar groundToImage(
        const csm::EcefCoordCovar &groundPt, double desiredPrecision = 0.001,
        double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This method converts the given groundPt (x,y,z in ECEF meters and
    //  corresponding 3x3 covariance in ECEF meters squared) to a returned
    //  image coordinate with covariance (line, sample in full image space
    //  pixels and corresponding 2x2 covariance in pixels squared).
    //
    //  Iterative algorithms will use desiredPrecision, in meters, as the
    //  convergence criterion, otherwise it will be ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the actual precision, in meters, achieved by iterative
    //  algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual csm::EcefCoord imageToGround(const csm::ImageCoord &imagePt,
                                         double height,
                                         double desiredPrecision = 0.001,
                                         double *achievedPrecision = NULL,
                                         csm::WarningList *warnings = NULL) const;
    //> This method converts the given imagePt (line,sample in full image
    //  space pixels) and given height (in meters relative to the WGS-84
    //  ellipsoid) to a returned ground coordinate (x,y,z in ECEF meters).
    //
    //  Iterative algorithms will use desiredPrecision, in meters, as the
    //  convergence criterion, otherwise it will be ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the actual precision, in meters, achieved by iterative
    //  algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual csm::EcefCoordCovar imageToGround(
        const csm::ImageCoordCovar &imagePt, double height, double heightVariance,
        double desiredPrecision = 0.001, double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This method converts the given imagePt (line, sample in full image
    //  space pixels and corresponding 2x2 covariance in pixels squared)
    //  and given height (in meters relative to the WGS-84 ellipsoid) and
    //  corresponding heightVariance (in meters) to a returned ground
    //  coordinate with covariance (x,y,z in ECEF meters and corresponding
    //  3x3 covariance in ECEF meters squared).
    //
    //  Iterative algorithms will use desiredPrecision, in meters, as the
    //  convergence criterion, otherwise it will be ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the actual precision, in meters, achieved by iterative
    //  algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual csm::EcefLocus imageToProximateImagingLocus(
        const csm::ImageCoord &imagePt, const csm::EcefCoord &groundPt,
        double desiredPrecision = 0.001, double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This method, for the given imagePt (line, sample in full image space
    //  pixels), returns the position and direction of the imaging locus
    //  nearest the given groundPt (x,y,z in ECEF meters).
    //
    //  Note that there are two opposite directions possible.  Both are
    //  valid, so either can be returned; the calling application can convert
    //  to the other as necessary.
    //
    //  Iterative algorithms will use desiredPrecision, in meters, as the
    //  convergence criterion for the locus position, otherwise it will be
    //  ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the actual precision, in meters, achieved by iterative
    //  algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual csm::EcefLocus imageToRemoteImagingLocus(
        const csm::ImageCoord &imagePt, double desiredPrecision = 0.001,
        double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This method, for the given imagePt (line, sample in full image space
    //  pixels), returns the position and direction of the imaging locus
    //  at the sensor.
    //
    //  Note that there are two opposite directions possible.  Both are
    //  valid, so either can be returned; the calling application can convert
    //  to the other as necessary.
    //
    //  Iterative algorithms will use desiredPrecision, in meters, as the
    //  convergence criterion for the locus position, otherwise it will be
    //  ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the actual precision, in meters, achieved by iterative
    //  algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //
    //  Notes:
    //
    //  The remote imaging locus is only well-defined for optical sensors.
    //  It is undefined for SAR sensors and might not be available for
    //  polynomial and other non-physical models.  The
    //  imageToProximateImagingLocus method should be used instead where
    //  possible.
    //<

    //---
    // Monoscopic Mensuration
    //---
    virtual csm::ImageCoord getImageStart() const;
    //> This method returns the starting coordinate (line, sample in full
    //  image space pixels) for the imaging operation.  Typically (0,0).
    //<

    virtual csm::ImageVector getImageSize() const;
    //> This method returns the number of lines and samples in full image
    //  space pixels for the imaging operation.
    //
    //  Note that the model might not be valid over the entire imaging
    //  operation.  Use getValidImageRange() to get the valid range of image
    //  coordinates.
    //<

    virtual std::pair<csm::ImageCoord, csm::ImageCoord> getValidImageRange()
        const;
    //> This method returns the minimum and maximum image coordinates
    //  (line, sample in full image space pixels), respectively, over which
    //  the current model is valid.  The image coordinates define opposite
    //  corners of a rectangle whose sides are parallel to the line and
    //  sample axes.
    //
    //  The valid image range does not always match the full image
    //  coverage as returned by the getImageStart and getImageSize methods.
    //
    //  Used in conjunction with the getValidHeightRange method, it is
    //  possible to determine the full range of ground coordinates over which
    //  the model is valid.
    //<

    virtual std::pair<double, double> getValidHeightRange() const;
    //> This method returns the minimum and maximum heights (in meters
    //  relative to WGS-84 ellipsoid), respectively, over which the model is
    //  valid.  For example, a model for an airborne platform might not be
    //  designed to return valid coordinates for heights above the aircraft.
    //
    //  If there are no limits defined for the model, (-99999.0,99999.0)
    //  will be returned.
    //<

    virtual csm::EcefVector getIlluminationDirection(
        const csm::EcefCoord &groundPt) const;
    //> This method returns a vector defining the direction of
    //  illumination at the given groundPt (x,y,z in ECEF meters).
    //  Note that there are two opposite directions possible.  Both are
    //  valid, so either can be returned; the calling application can convert
    //  to the other as necessary.
    //<

    //---
    // Time and Trajectory
    //---
    virtual double getImageTime(const csm::ImageCoord &imagePt) const;
    //> This method returns the time in seconds at which the pixel at the
    //  given imagePt (line, sample in full image space pixels) was captured
    //
    //  The time provided is relative to the reference date and time given
    //  by the Model::getReferenceDateAndTime method.
    //<

    virtual csm::EcefCoord getSensorPosition(
        const csm::ImageCoord &imagePt) const;
    //> This method returns the position of the physical sensor
    // (x,y,z in ECEF meters) when the pixel at the given imagePt
    // (line, sample in full image space pixels) was captured.
    //
    // A csm::Error will be thrown if the sensor position is not available.
    //<

    virtual csm::EcefCoord getSensorPosition(double time) const;
    //> This method returns the position of the physical sensor
    //  (x,y,z meters ECEF) at the given time relative to the reference date
    //  and time given by the Model::getReferenceDateAndTime method.
    //<

    virtual csm::EcefVector getSensorVelocity(
        const csm::ImageCoord &imagePt) const;
    //> This method returns the velocity of the physical sensor
    // (x,y,z in ECEF meters per second) when the pixel at the given imagePt
    // (line, sample in full image space pixels) was captured.
    //<

    virtual csm::EcefVector getSensorVelocity(double time) const;
    //> This method returns the velocity of the physical sensor
    //  (x,y,z in ECEF meters per second ) at the given time relative to the
    //  reference date and time given by the Model::getReferenceDateAndTime
    //  method.
    //<

    virtual csm::RasterGM::SensorPartials computeSensorPartials(
        int index, const csm::EcefCoord &groundPt,
        double desiredPrecision = 0.001, double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This is one of two overloaded methods.  This method takes only
    //  the necessary inputs.  Some effieciency can be obtained by using the
    //  other method.  Even more efficiency can be obtained by using the
    //  computeAllSensorPartials method.
    //
    //  This method returns the partial derivatives of line and sample
    //  (in pixels per the applicable model parameter units), respectively,
    //  with respect to the model parameter given by index at the given
    //  groundPt (x,y,z in ECEF meters).
    //
    //  Derived model implementations may wish to implement this method by
    //  calling the groundToImage method and passing the resulting image
    //  coordinate to the other computeSensorPartials method.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the highest actual precision, in meters, achieved by
    //  iterative algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the actual precision, in meters, achieved by iterative
    //  algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual csm::RasterGM::SensorPartials computeSensorPartials(
        int index, const csm::ImageCoord &imagePt, const csm::EcefCoord &groundPt,
        double desiredPrecision = 0.001, double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This is one of two overloaded methods.  This method takes
    //  an input image coordinate for efficiency.  Even more efficiency can
    //  be obtained by using the computeAllSensorPartials method.
    //
    //  This method returns the partial derivatives of line and sample
    //  (in pixels per the applicable model parameter units), respectively,
    //  with respect to the model parameter given by index at the given
    //  groundPt (x,y,z in ECEF meters).
    //
    //  The imagePt, corresponding to the groundPt, is given so that it does
    //  not need to be computed by the method.  Results are unpredictable if
    //  the imagePt provided does not correspond to the result of calling the
    //  groundToImage method with the given groundPt.
    //
    //  Implementations with iterative algorithms (typically ground-to-image
    //  calls) will use desiredPrecision, in meters, as the convergence
    //  criterion, otherwise it will be ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the highest actual precision, in meters, achieved by
    //  iterative algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual std::vector<csm::RasterGM::SensorPartials> computeAllSensorPartials(
        const csm::EcefCoord &groundPt, csm::param::Set pSet = csm::param::VALID,
        double desiredPrecision = 0.001, double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This is one of two overloaded methods.  This method takes only
    //  the necessary inputs.  Some effieciency can be obtained by using the
    //  other method.
    //
    //  This method returns the partial derivatives of line and sample
    //  (in pixels per the applicable model parameter units), respectively,
    //  with respect to to each of the desired model parameters at the given
    //  groundPt (x,y,z in ECEF meters).  Desired model parameters are
    //  indicated by the given pSet.
    //
    //  Implementations with iterative algorithms (typically ground-to-image
    //  calls) will use desiredPrecision, in meters, as the convergence
    //  criterion, otherwise it will be ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the highest actual precision, in meters, achieved by
    //  iterative algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //
    //  The value returned is a vector of pairs with line and sample partials
    //  for one model parameter in each pair.  The indices of the
    //  corresponding model parameters can be found by calling the
    //  getParameterSetIndices method for the given pSet.
    //
    //  Derived models may wish to implement this directly for efficiency,
    //  but an implementation is provided here that calls the
    //  computeSensorPartials method for each desired parameter index.
    //<

    virtual std::vector<csm::RasterGM::SensorPartials> computeAllSensorPartials(
        const csm::ImageCoord &imagePt, const csm::EcefCoord &groundPt,
        csm::param::Set pSet = csm::param::VALID, double desiredPrecision = 0.001,
        double *achievedPrecision = NULL,
        csm::WarningList *warnings = NULL) const;
    //> This is one of two overloaded methods.  This method takes
    //  an input image coordinate for efficiency.
    //
    //  This method returns the partial derivatives of line and sample
    //  (in pixels per the applicable model parameter units), respectively,
    //  with respect to to each of the desired model parameters at the given
    //  groundPt (x,y,z in ECEF meters).  Desired model parameters are
    //  indicated by the given pSet.
    //
    //  The imagePt, corresponding to the groundPt, is given so that it does
    //  not need to be computed by the method.  Results are unpredictable if
    //  the imagePt provided does not correspond to the result of calling the
    //  groundToImage method with the given groundPt.
    //
    //  Implementations with iterative algorithms (typically ground-to-image
    //  calls) will use desiredPrecision, in meters, as the convergence
    //  criterion, otherwise it will be ignored.
    //
    //  If a non-NULL achievedPrecision argument is received, it will be
    //  populated with the highest actual precision, in meters, achieved by
    //  iterative algorithms and 0.0 for deterministic algorithms.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //
    //  The value returned is a vector of pairs with line and sample partials
    //  for one model parameter in each pair.  The indices of the
    //  corresponding model parameters can be found by calling the
    //  getParameterSetIndices method for the given pSet.
    //
    //  Derived models may wish to implement this directly for efficiency,
    //  but an implementation is provided here that calls the
    //  computeSensorPartials method for each desired parameter index.
    //<

    virtual std::vector<double> computeGroundPartials(
        const csm::EcefCoord &groundPt) const;
    //> This method returns the partial derivatives of line and sample
    //  (in pixels per meter) with respect to the given groundPt
    //  (x,y,z in ECEF meters).
    //
    //  The value returned is a vector with six elements as follows:
    //
    //-  [0] = line wrt x
    //-  [1] = line wrt y
    //-  [2] = line wrt z
    //-  [3] = sample wrt x
    //-  [4] = sample wrt y
    //-  [5] = sample wrt z
    //<

    virtual const csm::CorrelationModel &getCorrelationModel() const;
    //> This method returns a reference to a CorrelationModel.
    //  The CorrelationModel is used to determine the correlation between
    //  the model parameters of different models of the same type.
    //  These correlations are used to establish the "a priori" cross-covariance
    //  between images. While some applications (such as generation of a
    //  replacement sensor model) may wish to call this method directly,
    //  it is reccommended that the inherited method
    //  GeometricModel::getCrossCovarianceMatrix() be called instead.
    //<

    virtual std::vector<double> getUnmodeledCrossCovariance(
        const csm::ImageCoord &pt1, const csm::ImageCoord &pt2) const;
    //> This method returns the 2x2 line and sample cross covariance
    //  (in pixels squared) between the given imagePt1 and imagePt2 for any
    //  model error not accounted for by the model parameters.  The error is
    //  reported as the four terms of a 2x2 matrix, returned as a 4 element
    //  vector.
    //<

    virtual csm::EcefCoord getReferencePoint() const;
    //> This method returns the ground point indicating the general
    //  location of the image.
    //<

    virtual void setReferencePoint(const csm::EcefCoord &groundPt);
    //> This method sets the ground point indicating the general location
    //  of the image.
    //<

    //---
    // Sensor Model Parameters
    //---
    virtual int getNumParameters() const;
    //> This method returns the number of adjustable parameters.
    //<

    virtual std::string getParameterName(int index) const;
    //> This method returns the name for the adjustable parameter
    //  indicated by the given index.
    //
    //  If the index is out of range, a csm::Error may be thrown.
    //<

    virtual std::string getParameterUnits(int index) const;
    //> This method returns the units for the adjustable parameter
    //  indicated by the given index.  This string is intended for human
    //  consumption, not automated analysis.  Preferred unit names are:
    //
    //-    meters                "m"
    //-    centimeters           "cm"
    //-    millimeters           "mm"
    //-    micrometers           "um"
    //-    nanometers            "nm"
    //-    kilometers            "km"
    //-    inches-US             "inch"
    //-    feet-US               "ft"
    //-    statute miles         "mi"
    //-    nautical miles        "nmi"
    //-
    //-    radians               "rad"
    //-    microradians          "urad"
    //-    decimal degrees       "deg"
    //-    arc seconds           "arcsec"
    //-    arc minutes           "arcmin"
    //-
    //-    seconds               "sec"
    //-    minutes               "min"
    //-    hours                 "hr"
    //-
    //-    steradian             "sterad"
    //-
    //-    none                  "unitless"
    //-
    //-    lines per second      "lines/sec"
    //-    samples per second    "samples/sec"
    //-    frames per second     "frames/sec"
    //-
    //-    watts                 "watt"
    //-
    //-    degrees Kelvin        "K"
    //-
    //-    gram                  "g"
    //-    kilogram              "kg"
    //-    pound - US            "lb"
    //-
    //-    hertz                 "hz"
    //-    megahertz             "mhz"
    //-    gigahertz             "ghz"
    //
    //  Units may be combined with "/" or "." to indicate division or
    //  multiplication.  The caret symbol "^" can be used to indicate
    //  exponentiation.  Thus "m.m" and "m^2" are the same and indicate
    //  square meters.  The return "m/sec^2" indicates an acceleration in
    //  meters per second per second.
    //
    //  Derived classes may choose to return additional unit names, as
    //  required.
    //<

    virtual bool hasShareableParameters() const;
    //> This method returns true if there exists at least one adjustable
    //  parameter on the model that is shareable.  See the
    //  isParameterShareable() method.  This method should return false if
    //  all calls to isParameterShareable() return false.
    //<

    virtual bool isParameterShareable(int index) const;
    //> This method returns a flag to indicate whether or not the adjustable
    //  parameter referenced by index is shareable across models.
    //<

    virtual csm::SharingCriteria getParameterSharingCriteria(int index) const;
    //> This method returns characteristics to indicate how the adjustable
    //  parameter referenced by index is shareable across models.
    //<

    virtual double getParameterValue(int index) const;
    //> This method returns the value of the adjustable parameter
    //  referenced by the given index.
    //<

    virtual void setParameterValue(int index, double value);
    //> This method sets the value for the adjustable parameter referenced by
    //  the given index.
    //<

    virtual csm::param::Type getParameterType(int index) const;
    //> This method returns the type of the adjustable parameter
    //  referenced by the given index.
    //<

    virtual void setParameterType(int index, csm::param::Type pType);
    //> This method sets the type of the adjustable parameter
    //  reference by the given index.
    //<

    //---
    // Uncertainty Propagation
    //---
    virtual double getParameterCovariance(int index1, int index2) const;
    //> This method returns the covariance between the parameters
    //  referenced by index1 and index2.  Variance of a single parameter
    //  is indicated by specifying the samve value for index1 and index2.
    //<

    virtual void setParameterCovariance(int index1, int index2,
                                        double covariance);
    //> This method is used to set the covariance between the parameters
    //  referenced by index1 and index2.  Variance of a single parameter
    //  is indicated by specifying the samve value for index1 and index2.
    //<

    //---
    // Error Correction
    //---
    virtual int getNumGeometricCorrectionSwitches() const;
    //> This method returns the number of geometric correction switches
    //  implemented for the current model.
    //<

    virtual std::string getGeometricCorrectionName(int index) const;
    //> This method returns the name for the geometric correction switch
    //  referenced by the given index.
    //<

    virtual void setGeometricCorrectionSwitch(int index, bool value,
                                              csm::param::Type pType);
    //> This method is used to enable/disable the geometric correction switch
    //  referenced by the given index.
    //<

    virtual bool getGeometricCorrectionSwitch(int index) const;
    //> This method returns the value of the geometric correction switch
    //  referenced by the given index.
    //<

    virtual std::vector<double> getCrossCovarianceMatrix(
        const csm::GeometricModel &comparisonModel,
        csm::param::Set pSet = csm::param::VALID,
        const csm::GeometricModel::GeometricModelList &otherModels =
            csm::GeometricModel::GeometricModelList()) const;
    //> This method returns a matrix containing the elements of the error
    //  cross covariance between this model and a given second model
    //  (comparisonModel).  The set of cross covariance elements returned is
    //  indicated by pSet, which, by default, is all VALID parameters.
    //
    //  If comparisonModel is the same as this model, the covariance for
    //  this model will be returned.  It is equivalent to calling
    //  getParameterCovariance() for the same set of elements.  Note that
    //  even if the cross covariance for a particular model type is always
    //  zero, the covariance for this model must still be supported.
    //
    //  The otherModels list contains all of the models in the current
    //  photogrammetric process; some cross-covariance implementations are
    //  influenced by other models.  It can be omitted if it is not needed
    //  by any models being used.
    //
    //  The returned vector will logically be a two-dimensional matrix of
    //  covariances, though for simplicity it is stored in a one-dimensional
    //  vector (STL has no two-dimensional structure).  The height (number of
    //  rows) of this matrix is the number of parameters on the current model,
    //  and the width (number of columns) is the number of parameters on
    //  the comparison model.  Thus, the covariance between p1 on this model
    //  and p2 on the comparison model is found in index (N*p1 + p2)
    //  in the returned vector.  N is the size of the vector returned by
    //  getParameterSetIndices() on the comparison model for the given pSet).
    //
    //  Note that cross covariance is often zero.  Non-zero cross covariance
    //  can occur for models created from the same sensor (or different
    //  sensors on the same platform).  While cross covariances can result
    //  from a bundle adjustment involving multiple models, no mechanism
    //  currently exists within csm to "set" the cross covariance between
    //  models.  It should thus be assumed that the returned cross covariance
    //  reflects the "un-adjusted" state of the models.
    //<

    virtual csm::Version getVersion() const;
    //> This method returns the version of the model code.  The Version
    //  object can be compared to other Version objects with its comparison
    //  operators.  Not to be confused with the CSM API version.
    //<

    virtual std::string getModelName() const;
    //> This method returns a string identifying the name of the model.
    //<

    virtual std::string getPedigree() const;
    //> This method returns a string that identifies the sensor,
    //  the model type, its mode of acquisition and processing path.
    //  For example, an optical sensor model or a cubic rational polynomial
    //  model created from the same sensor's support data would produce
    //  different pedigrees for each case.
    //<

    //---
    // Basic collection information
    //---
    virtual std::string getImageIdentifier() const;
    //> This method returns an identifier to uniquely indicate the imaging
    //  operation associated with this model.
    //  This is the primary identifier of the model.
    //
    //  This method may return an empty string if the ID is unknown.
    //<

    virtual void setImageIdentifier(const std::string &imageId,
                                    csm::WarningList *warnings = NULL);
    //> This method sets an identifier to uniquely indicate the imaging
    //  operation associated with this model.  Typically used for models
    //  whose initialization does not produce an adequate identifier.
    //
    //  If a non-NULL warnings argument is received, it will be populated
    //  as applicable.
    //<

    virtual std::string getSensorIdentifier() const;
    //> This method returns an identifier to indicate the specific sensor
    //  that was used to acquire the image.  This ID must be unique among
    //  sensors for a given model name.  It is used to determine parameter
    //  correlation and sharing.  Equivalent to camera or mission ID.
    //
    //  This method may return an empty string if the sensor ID is unknown.
    //<

    virtual std::string getPlatformIdentifier() const;
    //> This method returns an identifier to indicate the specific platform
    //  that was used to acquire the image.  This ID must unique among
    //  platforms for a given model name.  It is used to determine parameter
    //  correlation sharing.  Equivalent to vehicle or aircraft tail number.
    //
    //  This method may return an empty string if the platform ID is unknown.
    //<

    virtual std::string getCollectionIdentifier() const;
    //> This method returns an identifer to indicate a collection activity
    //  common to a set of images.  This ID must be unique among collection
    //  activities for a given model name.  It is used to determine parameter
    //  correlation and sharing.
    //<

    virtual std::string getTrajectoryIdentifier() const;
    //> This method returns an identifier to indicate a trajectory common
    //  to a set of images.  This ID must be unique among trajectories
    //  for a given model name.  It is used to determine parameter
    //  correlation and sharing.
    //<

    virtual std::string getSensorType() const;
    //> This method returns a description of the sensor type (EO, IR, SAR,
    //  etc).  See csm.h for a list of common types.  Should return
    //  CSM_SENSOR_TYPE_UNKNOWN if the sensor type is unknown.
    //<

    virtual std::string getSensorMode() const;
    //> This method returns a description of the sensor mode (FRAME,
    //  PUSHBROOM, SPOT, SCAN, etc).  See csm.h for a list of common modes.
    //  Should return CSM_SENSOR_MODE_UNKNOWN if the sensor mode is unknown.
    //<

    virtual std::string getReferenceDateAndTime() const;
    //> This method returns an approximate date and time at which the
    //  image was taken.  The returned string follows the ISO 8601 standard.
    //
    //-    Precision   Format           Example
    //-    year        yyyy             "1961"
    //-    month       yyyymm           "196104"
    //-    day         yyyymmdd         "19610420"
    //-    hour        yyyymmddThh      "19610420T20"
    //-    minute      yyyymmddThhmm    "19610420T2000"
    //-    second      yyyymmddThhmmss  "19610420T200000"
    //<

    //---
    // Sensor Model State
    //---
    // virtual std::string setModelState(std::string stateString) const;
    //> This method returns a string containing the data to exactly recreate
    //  the current model.  It can be used to restore this model to a
    //  previous state with the replaceModelState method or create a new
    //  model object that is identical to this model.
    //  The string could potentially be saved to a file for later use.
    //  An empty string is returned if it is not possible to save the
    //  current state.
    //<

    virtual csm::Ellipsoid getEllipsoid() const;
    //> This method returns the planetary ellipsoid.
    //<

    virtual void setEllipsoid(const csm::Ellipsoid &ellipsoid);
    //> This method sets the planetary ellipsoid.
    //<

 protected:
  csm::RasterGM *m_camera;
};

#endif  // INCLUDE_USGSCSM_USGSASTROPROJECTEDSENSORMODEL_H_
