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a65a7e70 | 1 | /************************************************************************** |
2 | * Copyright(c) 2007-2009, ALICE Experiment at CERN, All rights reserved. * | |
3 | * * | |
4 | * Author: The ALICE Off-line Project. * | |
5 | * Contributors are mentioned in the code where appropriate. * | |
6 | * * | |
7 | * Permission to use, copy, modify and distribute this software and its * | |
8 | * documentation strictly for non-commercial purposes is hereby granted * | |
9 | * without fee, provided that the above copyright notice appears in all * | |
10 | * copies and that both the copyright notice and this permission notice * | |
11 | * appear in the supporting documentation. The authors make no claims * | |
12 | * about the suitability of this software for any purpose. It is * | |
13 | * provided "as is" without express or implied warranty. * | |
14 | **************************************************************************/ | |
15 | ||
16 | /* $Id$ */ | |
17 | //----------------------------------------------------------------------------- | |
18 | /// \class AliITSAlignMille2Module | |
19 | /// Alignment class for the ALICE ITS detector | |
20 | /// | |
21 | /// This class is used by AliITSAlignMille to build custom supermodules | |
22 | /// made of ITS sensitive modules. These supermodules are then aligned | |
23 | /// | |
24 | /// Custom supermodules must have VolumeID > 14335 | |
25 | /// | |
26 | /// \author M. Lunardon | |
27 | //----------------------------------------------------------------------------- | |
28 | ||
29 | #include <TGeoManager.h> | |
30 | #include <TGeoMatrix.h> | |
31 | ||
32 | #include "AliITSAlignMille2Module.h" | |
33 | #include "AliITSgeomTGeo.h" | |
34 | #include "AliGeomManager.h" | |
35 | #include "AliAlignObjParams.h" | |
36 | #include "AliLog.h" | |
37 | #include "AliITSAlignMille2.h" | |
38 | ||
39 | /// \cond CLASSIMP | |
40 | ClassImp(AliITSAlignMille2Module) | |
41 | /// \endcond | |
42 | ||
43 | #define CORHW_ | |
44 | ||
45 | ||
46 | const Float_t AliITSAlignMille2Module::fgkDummyConstraint = 1e-2;//1.E3; | |
47 | ||
48 | //------------------------------------------------------------- | |
49 | AliITSAlignMille2Module::AliITSAlignMille2Module() : | |
50 | TNamed(), | |
51 | fNSensVol(0), | |
52 | fIndex(-1), | |
53 | fDetType(-1), | |
54 | fVolumeID(0), | |
55 | fNParTot(0), | |
56 | fNParFree(0), | |
57 | fParOffs(0), | |
58 | fNProcPoints(0), | |
59 | fParVals(0), | |
60 | fParErrs(0), | |
61 | fParCstr(0), | |
62 | fSensVolIndex(0), | |
63 | fSensVolVolumeID(0), | |
64 | fMatrix(NULL), | |
65 | fSensVolMatrix(NULL), | |
66 | fSensVolModifMatrix(NULL), | |
67 | fParent(NULL), | |
68 | fChildren(0) | |
69 | { | |
70 | /// void constructor | |
71 | fMatrix = new TGeoHMatrix; | |
72 | fSensVolMatrix = new TGeoHMatrix; | |
73 | fSensVolModifMatrix = new TGeoHMatrix; | |
74 | fSensVolIndex.Set(1); | |
75 | fSensVolVolumeID.Set(1); | |
76 | fSigmaFactor[0]=fSigmaFactor[1]=fSigmaFactor[2]=1.0; | |
77 | } | |
78 | ||
79 | //------------------------------------------------------------- | |
80 | AliITSAlignMille2Module::AliITSAlignMille2Module(Int_t index, UShort_t volid, const char* symname, | |
81 | const TGeoHMatrix *m, Int_t nsv, const UShort_t *volidsv) : | |
82 | TNamed(), | |
83 | fNSensVol(0), | |
84 | fIndex(-1), | |
85 | fDetType(-1), | |
86 | fVolumeID(0), | |
87 | fNParTot(0), | |
88 | fNParFree(0), | |
89 | fParOffs(kMaxParGeom), | |
90 | fNProcPoints(0), | |
91 | fParVals(0), | |
92 | fParErrs(0), | |
93 | fParCstr(0), | |
94 | fSensVolIndex(0), | |
95 | fSensVolVolumeID(0), | |
96 | fMatrix(NULL), | |
97 | fSensVolMatrix(NULL), | |
98 | fSensVolModifMatrix(NULL), | |
99 | fParent(NULL), | |
100 | fChildren(0) | |
101 | { | |
102 | /// void constructor | |
103 | fMatrix = new TGeoHMatrix; | |
104 | fSensVolMatrix = new TGeoHMatrix; | |
105 | fSensVolModifMatrix = new TGeoHMatrix; | |
106 | fSigmaFactor[0]=fSigmaFactor[1]=fSigmaFactor[2]=1.0; | |
107 | for (int i=kMaxParGeom;i--;) fParOffs[i] = -1; | |
108 | if (Set(index,volid,symname,m,nsv,volidsv)) { | |
109 | AliInfo("Error in AliITSAlignMille2Module::Set() - initializing void supermodule..."); | |
110 | } | |
111 | AssignDetType(); | |
112 | } | |
113 | ||
114 | //------------------------------------------------------------- | |
115 | AliITSAlignMille2Module::AliITSAlignMille2Module(UShort_t volid) : | |
116 | TNamed(), | |
117 | fNSensVol(0), | |
118 | fIndex(-1), | |
119 | fDetType(-1), | |
120 | fVolumeID(0), | |
121 | fNParTot(0), | |
122 | fNParFree(0), | |
123 | fParOffs(kMaxParGeom), | |
124 | fNProcPoints(0), | |
125 | fParVals(0), | |
126 | fParErrs(0), | |
127 | fParCstr(0), | |
128 | fSensVolIndex(0), | |
129 | fSensVolVolumeID(0), | |
130 | fMatrix(NULL), | |
131 | fSensVolMatrix(NULL), | |
132 | fSensVolModifMatrix(NULL), | |
133 | fParent(NULL), | |
134 | fChildren(0) | |
135 | { | |
136 | /// simple constructor building a supermodule from a single sensitive volume | |
137 | fMatrix = new TGeoHMatrix; | |
138 | fSensVolMatrix = new TGeoHMatrix; | |
139 | fSensVolModifMatrix = new TGeoHMatrix; | |
140 | // temporary align object, just use the rotation... | |
141 | fSensVolIndex.Set(1); | |
142 | fSensVolVolumeID.Set(1); | |
143 | fSigmaFactor[0]=fSigmaFactor[1]=fSigmaFactor[2]=1.0; | |
144 | for (int i=kMaxParGeom;i--;) fParOffs[i] = -1; | |
145 | // | |
146 | fIndex = GetIndexFromVolumeID(volid); | |
147 | if (fIndex>=0 && gGeoManager) { // good sensitive module and geometry loaded | |
148 | SetName(AliGeomManager::SymName(volid)); | |
149 | fVolumeID = volid; | |
150 | AddSensitiveVolume(volid); | |
151 | SetSensorsProvided(kTRUE); | |
152 | if (SensVolMatrix(volid, fMatrix)) | |
153 | AliInfo("Matrix not defined"); | |
154 | } | |
155 | else { | |
156 | AliInfo("Wrong VolumeID or Geometry not loaded - initializing void supermodule..."); | |
157 | } | |
158 | AssignDetType(); | |
159 | } | |
160 | ||
161 | ||
162 | //_____________________________________________________________________________ | |
163 | AliITSAlignMille2Module::AliITSAlignMille2Module(const AliITSAlignMille2Module &m) : | |
164 | TNamed(m), | |
165 | fNSensVol(m.fNSensVol), | |
166 | fIndex(m.fIndex), | |
167 | fDetType(m.fDetType), | |
168 | fVolumeID(m.fVolumeID), | |
169 | fNParTot(m.fNParTot), | |
170 | fNParFree(m.fNParFree), | |
171 | fParOffs(m.fNParTot), | |
172 | fNProcPoints(0), | |
173 | fParVals(0), | |
174 | fParErrs(0), | |
175 | fParCstr(0), | |
176 | fSensVolIndex(m.fSensVolIndex), | |
177 | fSensVolVolumeID(m.fSensVolVolumeID), | |
178 | fMatrix(new TGeoHMatrix(*m.GetMatrix())), | |
179 | fSensVolMatrix(new TGeoHMatrix), | |
180 | fSensVolModifMatrix(new TGeoHMatrix), | |
181 | fParent(m.fParent), | |
182 | fChildren(0) | |
183 | { | |
184 | // Copy constructor | |
185 | fSensVolIndex = m.fSensVolIndex; | |
186 | fSensVolVolumeID = m.fSensVolVolumeID; | |
187 | for (int i=m.fNParTot;i--;) fParOffs[i] = m.fParOffs[i]; | |
188 | for (int i=3;i--;) fSigmaFactor[i] = m.fSigmaFactor[i]; | |
189 | if (fNParTot) { | |
190 | fParVals = new Float_t[fNParTot]; | |
191 | fParErrs = new Float_t[fNParTot]; | |
192 | fParCstr = new Float_t[fNParTot]; | |
193 | for (int i=fNParTot;i--;) { | |
194 | fParVals[i] = m.fParVals[i]; | |
195 | fParErrs[i] = m.fParErrs[i]; | |
196 | fParCstr[i] = m.fParCstr[i]; | |
197 | } | |
198 | } | |
199 | } | |
200 | ||
201 | //_____________________________________________________________________________ | |
202 | AliITSAlignMille2Module& AliITSAlignMille2Module::operator=(const AliITSAlignMille2Module &m) | |
203 | { | |
204 | // operator = | |
205 | // | |
206 | if(this==&m) return *this; | |
207 | this->TNamed::operator=(m); | |
208 | // | |
209 | fNSensVol=m.fNSensVol; | |
210 | fIndex=m.fIndex; | |
211 | fDetType = m.fDetType; | |
212 | fVolumeID=m.fVolumeID; | |
213 | fNParTot = m.fNParTot; | |
214 | fNParFree = m.fNParFree; | |
215 | fNProcPoints = m.fNProcPoints; | |
216 | delete[] fParVals; fParVals = 0; | |
217 | delete[] fParErrs; fParErrs = 0; | |
218 | delete[] fParCstr; fParCstr = 0; | |
219 | // | |
220 | if (fNParTot) { | |
221 | fParVals = new Float_t[fNParTot]; | |
222 | fParErrs = new Float_t[fNParTot]; | |
223 | fParCstr = new Float_t[fNParTot]; | |
224 | for (int i=m.GetNParTot();i--;) { | |
225 | fParVals[i] = m.fParVals[i]; | |
226 | fParErrs[i] = m.fParErrs[i]; | |
227 | fParCstr[i] = m.fParCstr[i]; | |
228 | } | |
229 | } | |
230 | // | |
231 | fParOffs.Set(fNParTot); | |
232 | for (int i=0;i<fNParTot;i++) fParOffs[i] = m.fParOffs[i]; | |
233 | for (int i=0;i<3;i++) fSigmaFactor[i] = m.fSigmaFactor[i]; | |
234 | if (fMatrix) delete fMatrix; | |
235 | fMatrix=new TGeoHMatrix(*m.GetMatrix()); | |
236 | if(fSensVolMatrix) delete fSensVolMatrix; | |
237 | fSensVolMatrix = new TGeoHMatrix(*m.fSensVolMatrix); | |
238 | if(fSensVolModifMatrix) delete fSensVolModifMatrix; | |
239 | fSensVolModifMatrix = new TGeoHMatrix(*m.fSensVolModifMatrix); | |
240 | fSensVolIndex = m.fSensVolIndex; | |
241 | fSensVolVolumeID = m.fSensVolVolumeID; | |
242 | fParent = m.fParent; | |
243 | fChildren.Clear(); | |
244 | for (int i=0;i<m.GetNChildren();i++) fChildren.Add(m.GetChild(i)); | |
245 | return *this; | |
246 | } | |
247 | ||
248 | ||
249 | //------------------------------------------------------------- | |
250 | AliITSAlignMille2Module::~AliITSAlignMille2Module() { | |
251 | /// Destructor | |
252 | delete fMatrix; | |
253 | delete fSensVolMatrix; | |
254 | delete fSensVolModifMatrix; | |
255 | delete[] fParVals; | |
256 | delete[] fParErrs; | |
257 | delete[] fParCstr; | |
258 | fChildren.Clear(); | |
259 | } | |
260 | ||
261 | //------------------------------------------------------------- | |
262 | Int_t AliITSAlignMille2Module::Set(Int_t index, UShort_t volid, const char* symname, | |
263 | const TGeoHMatrix *m, Int_t nsv, const UShort_t *volidsv) | |
264 | { | |
265 | // initialize a custom supermodule | |
266 | // index, volid, symname and matrix must be given | |
267 | // if (volidsv) add nsv sensitive volumes to the supermodules | |
268 | // return 0 if success | |
269 | ||
270 | if (index<2198) { | |
271 | AliInfo("Index must be >= 2198"); | |
272 | return -1; | |
273 | } | |
274 | if (volid<14336) { | |
275 | AliInfo("VolumeID must be >= 14336"); | |
276 | return -2; | |
277 | } | |
278 | ||
279 | if (!symname) return -3; | |
280 | for (Int_t i=0; i<2198; i++) { | |
281 | if (!strcmp(symname,AliITSgeomTGeo::GetSymName(i))) { | |
282 | AliInfo("Symname already used by a Sensitive Volume"); | |
283 | return -3; | |
284 | } | |
285 | } | |
286 | ||
287 | if (!m) return -4; | |
288 | ||
289 | // can initialize needed stuffs | |
290 | fIndex = index; | |
291 | fVolumeID = volid; | |
292 | SetName(symname); | |
293 | // | |
294 | (*fMatrix) = (*m); | |
295 | // | |
296 | fSensVolIndex.Set(nsv); | |
297 | fSensVolVolumeID.Set(nsv); | |
298 | // add sensitive volumes | |
299 | for (Int_t i=0; i<nsv; i++) AddSensitiveVolume(volidsv[i]); | |
300 | ||
301 | return 0; | |
302 | } | |
303 | ||
304 | //------------------------------------------------------------- | |
305 | void AliITSAlignMille2Module::SetFreeDOF(Int_t dof,Double_t cstr) | |
306 | { | |
307 | if (AliITSAlignMille2::IsZero(cstr)) fParCstr[dof] = 0; // fixed parameter | |
308 | else if (cstr>0) fParCstr[dof] = fgkDummyConstraint+1.; // the parameter is free and unconstrained | |
309 | else fParCstr[dof] = -cstr; // the parameter is free but constrained | |
310 | } | |
311 | ||
312 | //------------------------------------------------------------- | |
313 | Bool_t AliITSAlignMille2Module::IsSensor(UShort_t voluid) | |
314 | { | |
315 | // Does this volid correspond to sensor ? | |
316 | AliGeomManager::ELayerID layId = AliGeomManager::VolUIDToLayerSafe(voluid); | |
317 | if (layId>0 && layId<7) { | |
318 | Int_t mId = Int_t(voluid & 0x7ff); | |
319 | if( mId>=0 && mId<AliGeomManager::LayerSize(layId)) return kTRUE; | |
320 | } | |
321 | return kFALSE; | |
322 | } | |
323 | ||
324 | //------------------------------------------------------------- | |
325 | Int_t AliITSAlignMille2Module::GetIndexFromVolumeID(UShort_t voluid) { | |
326 | /// index from volume ID | |
327 | AliGeomManager::ELayerID lay = AliGeomManager::VolUIDToLayer(voluid); | |
328 | if (lay<1|| lay>6) return -1; | |
329 | Int_t idx=Int_t(voluid)-2048*lay; | |
330 | if (idx>=AliGeomManager::LayerSize(lay)) return -1; | |
331 | for (Int_t ilay=1; ilay<lay; ilay++) | |
332 | idx += AliGeomManager::LayerSize(ilay); | |
333 | return idx; | |
334 | } | |
335 | ||
336 | //------------------------------------------------------------- | |
337 | void AliITSAlignMille2Module::AddSensitiveVolume(UShort_t voluid) | |
338 | { | |
339 | /// add a sensitive volume to this supermodule | |
340 | if (GetIndexFromVolumeID(voluid)<0) return; // bad volid | |
341 | // | |
342 | // in principle, the correct size of fSensVol... arrays was set outside but check anyway | |
343 | if (fSensVolVolumeID.GetSize()<fNSensVol+1) { | |
344 | fSensVolVolumeID.Set(fNSensVol+1); | |
345 | fSensVolIndex.Set(fNSensVol+1); | |
346 | } | |
347 | // | |
348 | fSensVolVolumeID[fNSensVol] = Short_t(voluid); | |
349 | fSensVolIndex[fNSensVol] = GetIndexFromVolumeID(voluid); | |
350 | fNSensVol++; | |
351 | } | |
352 | ||
353 | //------------------------------------------------------------- | |
354 | void AliITSAlignMille2Module::DelSensitiveVolume(Int_t at) | |
355 | { | |
356 | // Suppress sensor at position "at" | |
357 | // in fact we are swapping with the last valid one | |
358 | int lastValid = --fNSensVol; | |
359 | int tmpv = fSensVolIndex[at]; | |
360 | fSensVolIndex[at] = fSensVolIndex[lastValid]; | |
361 | tmpv = fSensVolVolumeID[at]; | |
362 | fSensVolVolumeID[at] = fSensVolVolumeID[lastValid]; | |
363 | fSensVolVolumeID[lastValid] = tmpv; | |
364 | // | |
365 | } | |
366 | ||
367 | //------------------------------------------------------------- | |
368 | Bool_t AliITSAlignMille2Module::IsIn(UShort_t voluid) const | |
369 | { | |
370 | /// check if voluid is defined | |
371 | if (!voluid) return kFALSE; // only positive voluid are accepted | |
372 | for (Int_t i=0; i<fNSensVol; i++) if (UShort_t(fSensVolVolumeID[i])==voluid) return kTRUE; | |
373 | return kFALSE; | |
374 | } | |
375 | ||
376 | //------------------------------------------------------------- | |
377 | Bool_t AliITSAlignMille2Module::BelongsTo(AliITSAlignMille2Module* parent) const | |
378 | { | |
379 | /// check if parent contains the sensors of this volume | |
380 | if (fNSensVol<1 || fNSensVol>=parent->GetNSensitiveVolumes()) return kFALSE; | |
381 | return parent->IsIn( fSensVolVolumeID[0] ); | |
382 | } | |
383 | ||
384 | //------------------------------------------------------------- | |
385 | TGeoHMatrix *AliITSAlignMille2Module::GetSensitiveVolumeModifiedMatrix(UShort_t voluid, const Double_t *delta,Bool_t local) | |
386 | { | |
387 | // modify the original TGeoHMatrix of the sensitive module 'voluid' according | |
388 | // with a delta transform. applied to the supermodule matrix | |
389 | // return NULL if error | |
390 | ||
391 | if (!IsIn(voluid)) return NULL; | |
392 | if (!gGeoManager) return NULL; | |
393 | ||
394 | // prepare the TGeoHMatrix | |
395 | Double_t tr[3],ang[3]; | |
396 | tr[0]=delta[0]; // in centimeter | |
397 | tr[1]=delta[1]; | |
398 | tr[2]=delta[2]; | |
399 | ang[0]=delta[3]; // psi (X) in deg | |
400 | ang[1]=delta[4]; // theta (Y) | |
401 | ang[2]=delta[5]; // phi (Z) | |
402 | // | |
403 | static AliAlignObjParams tempAlignObj; | |
404 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); | |
405 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); | |
406 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); | |
407 | TGeoHMatrix hm; | |
408 | tempAlignObj.GetMatrix(hm); | |
409 | //printf("\n0: delta matrix\n");hm.Print(); | |
410 | ||
411 | // 1) start setting fSensVolModif = fSensVol | |
412 | if (SensVolMatrix(voluid, fSensVolModifMatrix)) return NULL; | |
413 | // | |
414 | if (local) { | |
415 | // 2) set fSensVolModif = SensVolRel | |
416 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); | |
417 | // 3) multiply left by delta | |
418 | fSensVolModifMatrix->MultiplyLeft( &hm ); | |
419 | // 4) multiply left by fMatrix | |
420 | fSensVolModifMatrix->MultiplyLeft( fMatrix ); | |
421 | } | |
422 | else fSensVolModifMatrix->MultiplyLeft( &hm ); | |
423 | // | |
424 | return fSensVolModifMatrix; | |
425 | } | |
426 | ||
427 | //------------------------------------------------------------- | |
428 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeMisalignment(UShort_t voluid, const Double_t *deltalocal) | |
429 | { | |
430 | // calculate misalignment of sens.vol. 'voluid' according with a displacement 'deltalocal' | |
431 | // of the mother volume. The misalignment is returned as AliAlignObjParams object | |
432 | ||
433 | if (!IsIn(voluid)) return NULL; | |
434 | if (!gGeoManager) return NULL; | |
435 | ||
436 | // prepare the TGeoHMatrix | |
437 | Double_t tr[3],ang[3]; | |
438 | tr[0]=deltalocal[0]; // in centimeter | |
439 | tr[1]=deltalocal[1]; | |
440 | tr[2]=deltalocal[2]; | |
441 | ang[0]=deltalocal[3]; // psi (X) in deg | |
442 | ang[1]=deltalocal[4]; // theta (Y) | |
443 | ang[2]=deltalocal[5]; // phi (Z) | |
444 | // | |
445 | static AliAlignObjParams tempAlignObj; | |
446 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); | |
447 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); | |
448 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); | |
449 | // | |
450 | return GetSensitiveVolumeMisalignment(voluid,&tempAlignObj); | |
451 | } | |
452 | ||
453 | //------------------------------------------------------------- | |
454 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeMisalignment(UShort_t voluid, const AliAlignObjParams *a) | |
455 | { | |
456 | // return the misalignment of the sens. vol. 'voluid' corresponding with | |
457 | // a misalignment 'a' in the mother volume | |
458 | // return NULL if error | |
459 | ||
460 | // Gsv = Gg * Gg-1 * Gsv -> Lsv,g = Gg-1 * Gsv | |
461 | // G'sv = Gg * Dg * Lsv,g === Gsv * Dsv | |
462 | // Gg * Dg * Gg-1 * Gsv = Gsv * Gsv-1 * Gg * Dg * Gg-1 * Gsv | |
463 | // | |
464 | // => Dsv = (Gsv-1 * Gg * Dg * Gg-1 * Gsv) | |
465 | // | |
466 | ||
467 | if (!IsIn(voluid)) return NULL; | |
468 | if (!gGeoManager) return NULL; | |
469 | ||
470 | //a->Print(""); | |
471 | ||
472 | // prepare the Delta matrix Dg | |
473 | TGeoHMatrix dg; | |
474 | a->GetMatrix(dg); | |
475 | //dg.Print(); | |
476 | ||
477 | // 1) start setting fSensVolModif = Gsv | |
478 | if (SensVolMatrix(voluid, fSensVolModifMatrix)) return NULL; | |
479 | //printf("\n1: modif=orig del sensvol\n");fSensVolModifMatrix->Print(); | |
480 | ||
481 | // 2) set fSensVolModif = Gg-1 * Gsv | |
482 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); | |
483 | //printf("\n2: modif=relative del sensvol\n");fSensVolModifMatrix->Print(); | |
484 | ||
485 | // 3) set fSensVolModif = Dg * Gg-1 * Gsv | |
486 | fSensVolModifMatrix->MultiplyLeft( &dg ); | |
487 | //printf("\n3: modif= delta*relative\n");fSensVolModifMatrix->Print(); | |
488 | ||
489 | // 4) set fSensVolModif = Gg * Dg * Gg-1 * Gsv | |
490 | fSensVolModifMatrix->MultiplyLeft( fMatrix ); | |
491 | //printf("\n4: modif=quasi,manca il Gsv-1...\n");fSensVolModifMatrix->Print(); | |
492 | ||
493 | // 5) set fSensVolModif = Gsv-1 * Gg * Dg * Gg-1 * Gsv | |
494 | if (SensVolMatrix(voluid, &dg)) return NULL; | |
495 | fSensVolModifMatrix->MultiplyLeft( &dg.Inverse() ); | |
496 | //printf("\n5: modif=finale\n");fSensVolModifMatrix->Print(); | |
497 | // | |
498 | // >> RS | |
499 | // 6) mo' fSensVolModif dovrebbe essere la Dsv(loc) t.c. G'sv = Gsv*Dsv(loc) | |
500 | // per trasformarla in Dsv(loc rispetto al Gsv0, non modificato) dovrebbe essere: | |
501 | // Dsv(loc) -> Dpre * Dsv(loc) * Dpre-1 | |
502 | //TGeoHMatrix dpre; // dpre = Gsv0-1*Gsv | |
503 | //if (SensVolOrigGlobalMatrix(voluid, &dg)) return NULL; | |
504 | //if (SensVolMatrix(voluid, &dpre)) return NULL; | |
505 | //dpre.MultiplyLeft( &dg.Inverse() ); | |
506 | //fSensVolModifMatrix->Multiply( &dpre.Inverse() ); | |
507 | //fSensVolModifMatrix->MultiplyLeft( &dpre ); | |
508 | // direi che NON FUNZIONA!!!! | |
509 | ||
510 | // << RS | |
511 | ||
512 | // reset align object (may not be needed...) | |
513 | static AliAlignObjParams tempAlignObj; | |
514 | tempAlignObj.SetVolUID(0); | |
515 | tempAlignObj.SetSymName(""); | |
516 | tempAlignObj.SetTranslation(0,0,0); | |
517 | tempAlignObj.SetRotation(0,0,0); | |
518 | // | |
519 | // >> RS | |
520 | #ifdef CORHW_ | |
521 | // correction for SPD y-shift | |
522 | if (voluid>=2048 && voluid<4256) { | |
523 | TGeoHMatrix deltay; | |
524 | double dy[3]={0.,0.0081,0.}; | |
525 | deltay.SetTranslation(dy); | |
526 | fSensVolModifMatrix->MultiplyLeft( &deltay ); | |
527 | fSensVolModifMatrix->Multiply( &deltay.Inverse() ); | |
528 | } | |
529 | #endif | |
530 | // << RS | |
531 | if (!tempAlignObj.SetMatrix(*fSensVolModifMatrix)) return NULL; | |
532 | tempAlignObj.SetVolUID(voluid); | |
533 | tempAlignObj.SetSymName(AliGeomManager::SymName(voluid)); | |
534 | // | |
535 | return &tempAlignObj; | |
536 | } | |
537 | ||
538 | // >> RS | |
539 | //------------------------------------------------------------- | |
540 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeTotalMisalignment(UShort_t voluid, const Double_t *deltalocal) | |
541 | { | |
542 | // calculate misalignment of sens.vol. 'voluid' according with a displacement 'deltalocal' | |
543 | // of the mother volume. The misalignment is returned as AliAlignObjParams object including | |
544 | // the (evenctual) prealignment => no merging needed | |
545 | ||
546 | if (!IsIn(voluid)) return NULL; | |
547 | if (!gGeoManager) return NULL; | |
548 | ||
549 | // prepare the TGeoHMatrix | |
550 | Double_t tr[3],ang[3]; | |
551 | tr[0]=deltalocal[0]; // in centimeter | |
552 | tr[1]=deltalocal[1]; | |
553 | tr[2]=deltalocal[2]; | |
554 | ang[0]=deltalocal[3]; // psi (X) in deg | |
555 | ang[1]=deltalocal[4]; // theta (Y) | |
556 | ang[2]=deltalocal[5]; // phi (Z) | |
557 | ||
558 | // reset align object (may not be needed...) | |
559 | static AliAlignObjParams tempAlignObj; | |
560 | tempAlignObj.SetVolUID(0); | |
561 | tempAlignObj.SetSymName(""); | |
562 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); | |
563 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); | |
564 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); | |
565 | ||
566 | // Gsv = Gg * Gg-1 * Gsv -> Lsv,g = Gg-1 * Gsv | |
567 | // G'sv = Gg * Dg * Lsv,g === DGsv * Gsv | |
568 | // | |
569 | // => Dsv = (G0sv-1 * Gg * Dg * Gg-1 * GMsv) // | |
570 | // | |
571 | ||
572 | // prepare the Delta matrix Dg | |
573 | TGeoHMatrix dg; | |
574 | tempAlignObj.GetMatrix(dg); | |
575 | //dg.Print(); | |
576 | ||
577 | // 1) start setting fSensVolModif = Gsv | |
578 | if (SensVolMatrix(voluid, fSensVolModifMatrix)) return NULL; | |
579 | //printf("\n1: modif=orig del sensvol\n");fSensVolModifMatrix->Print(); | |
580 | ||
581 | // 2) set fSensVolModif = Gg-1 * Gsv | |
582 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); | |
583 | //printf("\n2: modif=relative del sensvol\n");fSensVolModifMatrix->Print(); | |
584 | ||
585 | // 3) set fSensVolModif = Dg * Gg-1 * Gsv | |
586 | fSensVolModifMatrix->MultiplyLeft( &dg ); | |
587 | //printf("\n3: modif= delta*relative\n");fSensVolModifMatrix->Print(); | |
588 | ||
589 | // 4) set fSensVolModif = Gg * Dg * Gg-1 * Gsv | |
590 | fSensVolModifMatrix->MultiplyLeft( fMatrix ); | |
591 | //printf("\n4: modif=quasi,manca il Gsv-1...\n");fSensVolModifMatrix->Print(); | |
592 | ||
593 | // 5) set fSensVolModif = G0sv-1 * Gg * Dg * Gg-1 * Gsv | |
594 | // qui usa l'orig anziche' la prealigned... | |
595 | if (SensVolOrigGlobalMatrix(voluid, &dg)) return NULL; | |
596 | fSensVolModifMatrix->MultiplyLeft( &dg.Inverse() ); | |
597 | //printf("\n5: modif=finale\n");fSensVolModifMatrix->Print(); | |
598 | ||
599 | // reset align object (may not be needed...) | |
600 | tempAlignObj.SetVolUID(0); | |
601 | tempAlignObj.SetSymName(""); | |
602 | tempAlignObj.SetTranslation(0,0,0); | |
603 | tempAlignObj.SetRotation(0,0,0); | |
604 | ||
605 | #ifdef CORHW_ | |
606 | // correction for SPD y-shift | |
607 | if (voluid>=2048 && voluid<4256) { | |
608 | TGeoHMatrix deltay; | |
609 | double dy[3]={0.,0.0081,0.}; | |
610 | deltay.SetTranslation(dy); | |
611 | fSensVolModifMatrix->MultiplyLeft( &deltay ); | |
612 | fSensVolModifMatrix->Multiply( &deltay.Inverse() ); | |
613 | } | |
614 | #endif | |
615 | if (!tempAlignObj.SetMatrix(*fSensVolModifMatrix)) return NULL; | |
616 | tempAlignObj.SetVolUID(voluid); | |
617 | tempAlignObj.SetSymName(AliGeomManager::SymName(voluid)); | |
618 | ||
619 | ||
620 | //tempAlignObj.Print(""); | |
621 | ||
622 | return &tempAlignObj; | |
623 | } | |
624 | //------------------------------------------------------------- | |
625 | ||
626 | //------------------------------------------------------------- | |
627 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeGlobalMisalignment(UShort_t voluid, const Double_t *deltalocal) | |
628 | { | |
629 | // calculate misalignment of sens.vol. 'voluid' according with a displacement 'deltalocal' | |
630 | // of the mother volume. The misalignment is returned as AliAlignObjParams object | |
631 | ||
632 | if (!IsIn(voluid)) return NULL; | |
633 | if (!gGeoManager) return NULL; | |
634 | ||
635 | // prepare the TGeoHMatrix | |
636 | Double_t tr[3],ang[3]; | |
637 | tr[0]=deltalocal[0]; // in centimeter | |
638 | tr[1]=deltalocal[1]; | |
639 | tr[2]=deltalocal[2]; | |
640 | ang[0]=deltalocal[3]; // psi (X) in deg | |
641 | ang[1]=deltalocal[4]; // theta (Y) | |
642 | ang[2]=deltalocal[5]; // phi (Z) | |
643 | ||
644 | // reset align object (may not be needed...) | |
645 | static AliAlignObjParams tempAlignObj; | |
646 | tempAlignObj.SetTranslation(0,0,0); | |
647 | tempAlignObj.SetRotation(0,0,0); | |
648 | ||
649 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); | |
650 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); | |
651 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); | |
652 | ||
653 | // Gsv = Gg * Gg-1 * Gsv -> Lsv,g = Gg-1 * Gsv | |
654 | // G'sv = Gg * Dg * Lsv,g === DGsv * Gsv | |
655 | // | |
656 | // => DGsv = (Gg * Dg * Gg-1) | |
657 | // | |
658 | ||
659 | // prepare the Delta matrix Dg | |
660 | TGeoHMatrix dg; | |
661 | tempAlignObj.GetMatrix(dg); | |
662 | //dg.Print(); | |
663 | ||
664 | dg.MultiplyLeft( fMatrix ); | |
665 | dg.Multiply( &fMatrix->Inverse() ); | |
666 | ||
667 | // reset align object (may not be needed...) | |
668 | tempAlignObj.SetTranslation(0,0,0); | |
669 | tempAlignObj.SetRotation(0,0,0); | |
670 | ||
671 | tempAlignObj.SetVolUID(voluid); | |
672 | tempAlignObj.SetSymName(AliGeomManager::SymName(voluid)); | |
673 | ||
674 | if (!tempAlignObj.SetMatrix(dg)) return NULL; | |
675 | ||
676 | //tempAlignObj.Print(""); | |
677 | ||
678 | return &tempAlignObj; | |
679 | } | |
680 | // << RS | |
681 | ||
682 | //------------------------------------------------------------- | |
683 | TGeoHMatrix *AliITSAlignMille2Module::GetSensitiveVolumeMatrix(UShort_t voluid) | |
684 | { | |
685 | // return TGeoHMatrix of the sens.vol. 'voluid' in the current geometry | |
686 | if (SensVolMatrix(voluid,fSensVolMatrix)) return NULL; | |
687 | return fSensVolMatrix; | |
688 | } | |
689 | ||
690 | //------------------------------------------------------------- | |
691 | TGeoHMatrix *AliITSAlignMille2Module::GetSensitiveVolumeOrigGlobalMatrix(UShort_t voluid) | |
692 | { | |
693 | // return original ideal position (from AliGeomManager::GetOrigGlobalMatrix()) | |
694 | if (SensVolOrigGlobalMatrix(voluid,fSensVolMatrix)) return NULL; | |
695 | return fSensVolMatrix; | |
696 | } | |
697 | //------------------------------------------------------------- | |
698 | Int_t AliITSAlignMille2Module::SensVolMatrix(UShort_t volid, TGeoHMatrix *m) | |
699 | { | |
700 | // set matrix for sensitive modules (SPD corrected) | |
701 | // return 0 if success | |
702 | Double_t rot[9]; | |
703 | Int_t idx=GetIndexFromVolumeID(volid); | |
704 | if (idx<0) return -1; | |
705 | if (!AliITSgeomTGeo::GetRotation(idx,rot)) return -2; | |
706 | m->SetRotation(rot); | |
707 | Double_t oLoc[3]={0,0,0}; | |
708 | Double_t oGlo[3]={0,0,0}; | |
709 | if (!AliITSgeomTGeo::LocalToGlobal(idx,oLoc,oGlo)) return -3; | |
710 | m->SetTranslation(oGlo); | |
711 | return 0; | |
712 | } | |
713 | ||
714 | //------------------------------------------------------------- | |
715 | Int_t AliITSAlignMille2Module::SensVolOrigGlobalMatrix(UShort_t volid, TGeoHMatrix *m) | |
716 | { | |
717 | // set original global matrix for sensitive modules (SPD corrected) | |
718 | // return 0 if success | |
719 | Int_t idx=GetIndexFromVolumeID(volid); | |
720 | if (idx<0) return -1; | |
721 | TGeoHMatrix mo; | |
722 | if (!AliGeomManager::GetOrigGlobalMatrix(AliGeomManager::SymName(volid),mo)) return -1; | |
723 | (*m)=mo; | |
724 | // | |
725 | #ifdef CORHW_ | |
726 | // SPD y-shift by 81 mu | |
727 | if (volid<5000) { | |
728 | Double_t oLoc[3]={0.0,0.0081,0.0}; | |
729 | Double_t oGlo[3]={0,0,0}; | |
730 | m->LocalToMaster(oLoc,oGlo); | |
731 | m->SetTranslation(oGlo); | |
732 | } | |
733 | #endif | |
734 | return 0; | |
735 | } | |
736 | ||
737 | //------------------------------------------------------------- | |
738 | UShort_t AliITSAlignMille2Module::GetVolumeIDFromSymname(const Char_t *symname) { | |
739 | /// volume ID from symname | |
740 | if (!symname) return 0; | |
741 | ||
742 | for (UShort_t voluid=2000; voluid<13300; voluid++) { | |
743 | Int_t modId; | |
744 | AliGeomManager::ELayerID layerId = AliGeomManager::VolUIDToLayer(voluid,modId); | |
745 | if (layerId>0 && layerId<7 && modId>=0 && modId<AliGeomManager::LayerSize(layerId)) { | |
746 | if (!strcmp(symname,AliGeomManager::SymName(layerId,modId))) return voluid; | |
747 | } | |
748 | } | |
749 | ||
750 | return 0; | |
751 | } | |
752 | ||
753 | //------------------------------------------------------------- | |
754 | UShort_t AliITSAlignMille2Module::GetVolumeIDFromIndex(Int_t index) { | |
755 | /// volume ID from index | |
756 | if (index<0 || index>2197) return 0; | |
757 | return GetVolumeIDFromSymname(AliITSgeomTGeo::GetSymName(index)); | |
758 | } | |
759 | ||
760 | //------------------------------------------------------------- | |
761 | void AliITSAlignMille2Module::Print(Option_t*) const | |
762 | { | |
763 | // print data | |
764 | // | |
765 | const char* typeName[] = {"SPD","SDD","SSD"}; | |
766 | printf("*** ITS SuperModule for AliITSAlignMille ***\n"); | |
767 | printf("symname : %s (type: %s)\n",GetName(),fDetType<0 ? "N/A":typeName[fDetType]); | |
768 | printf("parent : %s | %d children\n",fParent ? fParent->GetName() : "N/A",GetNChildren()); | |
769 | printf("volumeID : %4d | index : %4d | Geom.Params are %s\n",fVolumeID,fIndex, | |
770 | GeomParamsGlobal() ? "Global":"Local"); | |
771 | printf("Factors : X=%.2f Y=%.2f Z=%.2f\n" | |
772 | "DOF: %cTx:%5d| %cTy:%5d| %cTz:%5d| %cPsi:%5d| %cTheta:%5d| %cPhi:%5d|", | |
773 | fSigmaFactor[0],fSigmaFactor[1],fSigmaFactor[2], | |
774 | IsFreeDOF(kDOFTX) ? '+':'-',GetParOffset(kDOFTX),IsFreeDOF(kDOFTY) ? '+':'-',GetParOffset(kDOFTY), | |
775 | IsFreeDOF(kDOFTZ) ? '+':'-',GetParOffset(kDOFTZ),IsFreeDOF(kDOFPS) ? '+':'-',GetParOffset(kDOFPS), | |
776 | IsFreeDOF(kDOFTH) ? '+':'-',GetParOffset(kDOFTH),IsFreeDOF(kDOFPH) ? '+':'-',GetParOffset(kDOFPH)); | |
777 | if (IsSDD()) { | |
778 | printf("%cT0:%5d| %cDVl:%5d| %cDVr:%5d|",IsFreeDOF(kDOFT0)?'+':'-',GetParOffset(kDOFT0), | |
779 | IsFreeDOF(kDOFDVL)?'+':'-',GetParOffset(kDOFDVL),IsFreeDOF(kDOFDVR)?'+':'-',GetParOffset(kDOFDVR)); | |
780 | if (IsVDriftLRSame()) printf("(dVL=dVR)"); | |
781 | } | |
782 | printf("\n"); | |
783 | fMatrix->Print(); | |
784 | printf("%4d Sensitive volumes | %6d Processed Points\n",fNSensVol,fNProcPoints); | |
785 | for (Int_t i=0; i<fNSensVol; i++) printf(" voluid[%d] = %d\n",i,UShort_t(fSensVolVolumeID[i])); | |
786 | } | |
787 | ||
788 | //------------------------------------------------------------- | |
789 | Bool_t AliITSAlignMille2Module::IsAlignable() const | |
790 | { | |
791 | // it it alignable? | |
792 | TGeoManager* geoManager = AliGeomManager::GetGeometry(); | |
793 | if (!geoManager) { | |
794 | AliInfo("Couldn't initialize geometry"); | |
795 | return kFALSE; | |
796 | } | |
797 | return geoManager->GetAlignableEntry(GetName())!=0; | |
798 | } | |
799 | ||
800 | //------------------------------------------------------------- | |
801 | void AliITSAlignMille2Module::GetLocalMatrix(TGeoHMatrix &mat) const | |
802 | { | |
803 | // return the local matrix for transformation to its parent | |
804 | mat = *fMatrix; | |
805 | if (fParent) mat.MultiplyLeft( &fParent->GetMatrix()->Inverse() ); | |
806 | } | |
807 | ||
808 | //------------------------------------------------------------- | |
809 | void AliITSAlignMille2Module::AssignDetType() | |
810 | { | |
811 | // assign the detector type | |
812 | TString tp = GetName(); | |
813 | if (tp.Contains("SPD",TString::kIgnoreCase)) fDetType = kSPD; | |
814 | else if (tp.Contains("SDD",TString::kIgnoreCase)) fDetType = kSDD; | |
815 | else if (tp.Contains("SSD",TString::kIgnoreCase)) fDetType = kSSD; | |
816 | else fDetType = -1; | |
817 | fNParTot = IsSDD() ? kMaxParTot:kMaxParGeom; | |
818 | fNParFree = 0; | |
819 | fParVals = new Float_t[fNParTot]; | |
820 | fParErrs = new Float_t[fNParTot]; | |
821 | fParCstr = new Float_t[fNParTot]; | |
822 | if (fParOffs.GetSize()<fNParTot) fParOffs.Set(fNParTot); | |
823 | for (int i=fNParTot;i--;) { | |
824 | fParVals[i] = fParErrs[i] = 0.; | |
825 | fParCstr[i] = 0.; | |
826 | fParOffs[i] = -1; | |
827 | } | |
828 | } | |
829 | ||
830 | //------------------------------------------------------------- | |
831 | void AliITSAlignMille2Module::EvaluateDOF() | |
832 | { | |
833 | // count d.o.f. | |
834 | fNParFree = 0; | |
835 | for (int i=fNParTot;i--;) if (IsFreeDOF(i)) fNParFree++; | |
836 | } | |
837 | ||
838 | //------------------------------------------------------------- | |
839 | void AliITSAlignMille2Module::GetSensVolGlobalParams(UShort_t volid,Double_t *t, Double_t *r) | |
840 | { | |
841 | // return global parameters of the sensor volid | |
842 | for (int i=3;i--;) t[i] = r[i] = 0.; | |
843 | if (SensVolMatrix(volid,fSensVolMatrix)) return; | |
844 | AliAlignObjParams tempAlignObj; | |
845 | tempAlignObj.SetMatrix(*fSensVolMatrix); | |
846 | tempAlignObj.GetPars(t,r); | |
847 | } | |
848 | ||
849 | //------------------------------------------------------------- | |
850 | void AliITSAlignMille2Module::GetSensVolLocalParams(UShort_t volid,Double_t *t, Double_t *r) | |
851 | { | |
852 | // return parameters of the sensor volid in the current module | |
853 | for (int i=3;i--;) t[i] = r[i] = 0.; | |
854 | if (SensVolMatrix(volid,fSensVolMatrix)) return; | |
855 | fSensVolMatrix->MultiplyLeft( &fMatrix->Inverse() ); | |
856 | AliAlignObjParams tempAlignObj; | |
857 | tempAlignObj.SetMatrix(*fSensVolMatrix); | |
858 | tempAlignObj.GetPars(t,r); | |
859 | } | |
860 | ||
861 | //------------------------------------------------------------- | |
862 | void AliITSAlignMille2Module::GetSensVolGlobalParams(UShort_t volid,const Double_t* loct, const Double_t* locr,Double_t *t, Double_t *r) | |
863 | { | |
864 | // return global parameters of the sensor volid modified by the localDelta params | |
865 | for (int i=3;i--;) t[i] = r[i] = 0.; | |
866 | if (SensVolMatrix(volid,fSensVolMatrix)) return; | |
867 | AliAlignObjParams tempAlignObj; | |
868 | tempAlignObj.SetTranslation(loct[0],loct[1],loct[2]); | |
869 | tempAlignObj.SetRotation(locr[0],locr[1],locr[2]); | |
870 | // | |
871 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // obtain local delta | |
872 | fSensVolModifMatrix->MultiplyLeft( fSensVolMatrix ); // obtain global delta | |
873 | tempAlignObj.SetMatrix(*fSensVolModifMatrix); | |
874 | tempAlignObj.GetPars(t,r); // obtain global params | |
875 | } | |
876 | ||
877 | //------------------------------------------------------------- | |
878 | void AliITSAlignMille2Module::GetSensVolLocalParams(UShort_t volid,const Double_t* loct,const Double_t* locr,Double_t *t, Double_t *r) | |
879 | { | |
880 | // return parameters of the sensor volid (modified by the localDelta params) in the current volume | |
881 | for (int i=3;i--;) t[i] = r[i] = 0.; | |
882 | if (SensVolMatrix(volid,fSensVolMatrix)) return; | |
883 | AliAlignObjParams tempAlignObj; | |
884 | tempAlignObj.SetTranslation(loct[0],loct[1],loct[2]); | |
885 | tempAlignObj.SetRotation(locr[0],locr[1],locr[2]); | |
886 | // | |
887 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // obtain local delta | |
888 | fSensVolModifMatrix->MultiplyLeft( fSensVolMatrix ); // obtain global delta | |
889 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); // obtain delta in current volume | |
890 | tempAlignObj.SetMatrix(*fSensVolModifMatrix); | |
891 | tempAlignObj.GetPars(t,r); // obtain params | |
892 | } | |
893 | ||
894 | //------------------------------------------------------------- | |
895 | void AliITSAlignMille2Module::SetParVals(Double_t *vl,Int_t npar) | |
896 | { | |
897 | // set parameters | |
898 | for (int i=TMath::Min(npar,(Int_t)fNParTot);i--;) fParVals[i] = vl[i]; | |
899 | } | |
900 | ||
901 | //------------------------------------------------------------- | |
902 | void AliITSAlignMille2Module::GetGeomParamsGlo(Double_t *pars) | |
903 | { | |
904 | // recompute parameters from local to global frame | |
905 | // | |
906 | // is there anything to do? | |
907 | if (GeomParamsGlobal()) {for (int i=kMaxParGeom;i--;) pars[i] = fParVals[i]; return;} | |
908 | // | |
909 | // IMPORTANT: It is assumed that the parents params are defined in a same way (local or global) | |
910 | // as for the current module. Since in the mp2 the modules are stored from parents to children, | |
911 | // it is safe to call this method in loop staring from the lowest level child, i.e. from the end | |
912 | // of the modules array. | |
913 | // | |
914 | // DeltaGlobal = (ModifParents)*DeltaLocal*(ModifParents)^-1 | |
915 | // | |
916 | *fSensVolMatrix = *fMatrix; // current global matrix | |
917 | AliAlignObjParams tempAlignObj; | |
918 | AliITSAlignMille2Module* parent = GetParent(); | |
919 | while (parent) { | |
920 | if (parent->GeomParamsGlobal()) { | |
921 | AliError("Cannot convert params to Global when the parents are already Global\n"); | |
922 | for (int i=kMaxParGeom;i--;) pars[i] = 0; | |
923 | return; | |
924 | } | |
925 | fSensVolMatrix->MultiplyLeft( &parent->GetMatrix()->Inverse() ); // Local Matrix | |
926 | Float_t *parpar = parent->GetParVals(); | |
927 | tempAlignObj.SetTranslation(parpar[0],parpar[1],parpar[2]); | |
928 | tempAlignObj.SetRotation(parpar[3],parpar[4],parpar[5]); | |
929 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); | |
930 | fSensVolMatrix->MultiplyLeft(fSensVolModifMatrix); | |
931 | fSensVolMatrix->MultiplyLeft(parent->GetMatrix()); // global matrix after parents modifications | |
932 | parent = parent->GetParent(); | |
933 | } | |
934 | // | |
935 | tempAlignObj.SetTranslation(fParVals[0],fParVals[1],fParVals[2]); | |
936 | tempAlignObj.SetRotation(fParVals[3],fParVals[4],fParVals[5]); | |
937 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // local delta matrix | |
938 | fSensVolModifMatrix->Multiply( &fSensVolMatrix->Inverse() ); | |
939 | fSensVolModifMatrix->MultiplyLeft( fSensVolMatrix ); | |
940 | tempAlignObj.SetMatrix( *fSensVolModifMatrix ); // global delta matrix | |
941 | tempAlignObj.GetPars(pars,pars+3); | |
942 | // | |
943 | } | |
944 | ||
945 | //------------------------------------------------------------- | |
946 | void AliITSAlignMille2Module::GetGeomParamsLoc(Double_t *pars) | |
947 | { | |
948 | // recompute parameters from global to local frame | |
949 | // | |
950 | // is there anything to do? | |
951 | if (!GeomParamsGlobal()) {for (int i=kMaxParGeom;i--;) pars[i] = fParVals[i]; return;} | |
952 | // | |
953 | // IMPORTANT: It is assumed that the parents params are defined in a same way (local or global) | |
954 | // as for the current module. Since in the mp2 the modules are stored from parents to children, | |
955 | // it is safe to call this method in loop staring from the lowest level child, i.e. from the end | |
956 | // of the modules array. | |
957 | // | |
958 | // DeltaLocal = (DeltaParents*GlobalMat)^-1*DeltaGlobal*(DeltaParents*GlobalMat) | |
959 | // | |
960 | AliITSAlignMille2Module* parent = GetParent(); | |
961 | AliAlignObjParams tempAlignObj; | |
962 | tempAlignObj.SetTranslation(0.,0.,0.); | |
963 | tempAlignObj.SetRotation(0.,0.,0.); | |
964 | tempAlignObj.GetMatrix(*fSensVolMatrix); // get no-shift matrix | |
965 | // | |
966 | while (parent) { // accumulate the product of parents global modifications | |
967 | if (!parent->GeomParamsGlobal()) { | |
968 | AliError("Cannot convert params to Local when the parents are already Local\n"); | |
969 | for (int i=kMaxParGeom;i--;) pars[i] = 0; | |
970 | return; | |
971 | } | |
972 | Float_t *parpar = parent->GetParVals(); | |
973 | tempAlignObj.SetTranslation(parpar[0],parpar[1],parpar[2]); | |
974 | tempAlignObj.SetRotation(parpar[3],parpar[4],parpar[5]); | |
975 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); | |
976 | fSensVolMatrix->Multiply(fSensVolModifMatrix); | |
977 | parent = parent->GetParent(); | |
978 | } | |
979 | // global matrix after parents modifications | |
980 | fSensVolMatrix->Multiply(fMatrix); | |
981 | // | |
982 | tempAlignObj.SetTranslation(fParVals[0],fParVals[1],fParVals[2]); | |
983 | tempAlignObj.SetRotation(fParVals[3],fParVals[4],fParVals[5]); | |
984 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // global delta matrix | |
985 | fSensVolModifMatrix->MultiplyLeft( &fSensVolMatrix->Inverse() ); | |
986 | fSensVolModifMatrix->Multiply( fSensVolMatrix ); | |
987 | tempAlignObj.SetMatrix( *fSensVolModifMatrix ); // local delta matrix | |
988 | tempAlignObj.GetPars(pars,pars+3); | |
989 | // | |
990 | } | |
991 | ||
992 | ||
993 | //------------------------------------------------------------- | |
994 | void AliITSAlignMille2Module::CalcDerivDPosDPar(Int_t sensVol,const Double_t* pl, Double_t *deriv) | |
995 | { | |
996 | // calculate jacobian of the global position vs Parameters (dPos/dParam) | |
997 | // for the point in the sensor sensVol | |
998 | const double kDel = 0.01; | |
999 | double pos0[3],pos1[3],pos2[3],pos3[3]; | |
1000 | double delta[kMaxParGeom]; | |
1001 | // | |
1002 | for (int ip=kMaxParGeom;ip--;) delta[ip] = 0; | |
1003 | // | |
1004 | for (int ip=kMaxParGeom;ip--;) { | |
1005 | // | |
1006 | delta[ip] -= kDel; | |
1007 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos0); | |
1008 | delta[ip] += kDel/2; | |
1009 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos1); | |
1010 | delta[ip] += kDel; | |
1011 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos2); | |
1012 | delta[ip] += kDel/2; | |
1013 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos3); | |
1014 | // | |
1015 | delta[ip] = 0; | |
1016 | double *curd = deriv + ip*3; | |
1017 | for (int i=3;i--;) curd[i] = (8.*(pos2[i]-pos1[i]) - (pos3[i]-pos0[i]))/6./kDel; | |
1018 | } | |
1019 | // | |
1020 | } | |
1021 | ||
1022 | //------------------------------------------------------------- | |
1023 | void AliITSAlignMille2Module::CalcDerivGloLoc(Int_t idx,Double_t *deriv) | |
1024 | { | |
1025 | // calculate derivative of global params vs local param idx: deriv[j] = dParGlo[j]/dParLoc[idx] | |
1026 | Double_t lpar[kMaxParGeom]; | |
1027 | for (int i=kMaxParGeom;i--;) lpar[i] = 0.; | |
1028 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... | |
1029 | Double_t par1[kMaxParGeom]; // f(x-h) | |
1030 | Double_t par2[kMaxParGeom]; // f(x-h/2) | |
1031 | Double_t par3[kMaxParGeom]; // f(x+h/2) | |
1032 | Double_t par4[kMaxParGeom]; // f(x+h) | |
1033 | // | |
1034 | const Double_t dpar = 1e-3; | |
1035 | // | |
1036 | // first values | |
1037 | lpar[idx] -= dpar; | |
1038 | GetGlobalParams(lpar,lpar+3, par1,par1+3); | |
1039 | // | |
1040 | // second values | |
1041 | lpar[idx] += dpar/2; | |
1042 | GetGlobalParams(lpar,lpar+3, par2,par2+3); | |
1043 | // | |
1044 | // third values | |
1045 | lpar[idx] += dpar; | |
1046 | GetGlobalParams(lpar,lpar+3, par3,par3+3); | |
1047 | // | |
1048 | // fourth values | |
1049 | lpar[idx] += dpar/2; | |
1050 | GetGlobalParams(lpar,lpar+3, par4,par4+3); | |
1051 | // | |
1052 | Double_t h2 = 1./(2.*dpar); | |
1053 | for (int i=kMaxParGeom;i--;) { | |
1054 | Double_t d0 = par4[i]-par1[i]; | |
1055 | Double_t d2 = 2.*(par3[i]-par2[i]); | |
1056 | deriv[i] = h2*(4*d2 - d0)/3.; | |
1057 | if (TMath::Abs(deriv[i]) < 1.0e-9) deriv[i] = 0.0; | |
1058 | } | |
1059 | // | |
1060 | } | |
1061 | ||
1062 | //------------------------------------------------------------- | |
1063 | void AliITSAlignMille2Module::CalcDerivLocGlo(Double_t *deriv) | |
1064 | { | |
1065 | // calculate derivative of local params vs global params: deriv[i][j] = dParLoc[i]/dParGlo[j] | |
1066 | Double_t gpar[kMaxParGeom]; | |
1067 | for (int i=kMaxParGeom;i--;) gpar[i] = 0.; | |
1068 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... | |
1069 | Double_t par1[kMaxParGeom]; // f(x-h) | |
1070 | Double_t par2[kMaxParGeom]; // f(x-h/2) | |
1071 | Double_t par3[kMaxParGeom]; // f(x+h/2) | |
1072 | Double_t par4[kMaxParGeom]; // f(x+h) | |
1073 | // | |
1074 | const Double_t dpar = 1e-3; | |
1075 | // | |
1076 | for (int ig=kMaxParGeom;ig--;) { | |
1077 | // first values | |
1078 | gpar[ig] -= dpar; | |
1079 | GetLocalParams(gpar,gpar+3, par1,par1+3); | |
1080 | // | |
1081 | // second values | |
1082 | gpar[ig] += dpar/2; | |
1083 | GetLocalParams(gpar,gpar+3, par2,par2+3); | |
1084 | // | |
1085 | // third values | |
1086 | gpar[ig] += dpar; | |
1087 | GetLocalParams(gpar,gpar+3, par3,par3+3); | |
1088 | // | |
1089 | // fourth values | |
1090 | gpar[ig] += dpar/2; | |
1091 | GetLocalParams(gpar,gpar+3, par4,par4+3); | |
1092 | // | |
1093 | Double_t h2 = 1./(2.*dpar); | |
1094 | for (int i=kMaxParGeom;i--;) { | |
1095 | Double_t d0 = par4[i]-par1[i]; | |
1096 | Double_t d2 = 2.*(par3[i]-par2[i]); | |
1097 | int idig = i*kMaxParGeom + ig; | |
1098 | deriv[idig] = h2*(4*d2 - d0)/3.; | |
1099 | if (TMath::Abs(deriv[idig]) < 1.0e-9) deriv[idig] = 0.0; | |
1100 | } | |
1101 | } | |
1102 | // | |
1103 | } | |
1104 | ||
1105 | //________________________________________________________________________________________________________ | |
1106 | void AliITSAlignMille2Module::CalcDerivGloLoc(Int_t sensVol,Int_t paridx,Double_t* derivative) | |
1107 | { | |
1108 | /// calculate numerically the derivatives of global params vs local param paridx for sensor sensVol: dPglob/dPloc_paridx | |
1109 | // | |
1110 | Double_t lpar[kMaxParGeom]; | |
1111 | for (int i=kMaxParGeom;i--;) lpar[i] = 0.; | |
1112 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... | |
1113 | Double_t par1[kMaxParGeom]; // f(x-h) | |
1114 | Double_t par2[kMaxParGeom]; // f(x-h/2) | |
1115 | Double_t par3[kMaxParGeom]; // f(x+h/2) | |
1116 | Double_t par4[kMaxParGeom]; // f(x+h) | |
1117 | // | |
1118 | const Double_t dpar = 1e-3; | |
1119 | // | |
1120 | // first values | |
1121 | lpar[paridx] -= dpar; | |
1122 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par1,par1+3); | |
1123 | // | |
1124 | // second values | |
1125 | lpar[paridx] += dpar/2; | |
1126 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par2,par2+3); | |
1127 | // | |
1128 | // third values | |
1129 | lpar[paridx] += dpar; | |
1130 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par3,par3+3); | |
1131 | // | |
1132 | // fourth values | |
1133 | lpar[paridx] += dpar/2; | |
1134 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par4,par4+3); | |
1135 | // | |
1136 | Double_t h2 = 1./(2.*dpar); | |
1137 | for (int i=kMaxParGeom;i--;) { | |
1138 | Double_t d0 = par4[i]-par1[i]; | |
1139 | Double_t d2 = 2.*(par3[i]-par2[i]); | |
1140 | derivative[i] = h2*(4*d2 - d0)/3.; | |
1141 | if (TMath::Abs(derivative[i]) < 1.0e-9) derivative[i] = 0.0; | |
1142 | } | |
1143 | // | |
1144 | } | |
1145 | ||
1146 | //________________________________________________________________________________________________________ | |
1147 | void AliITSAlignMille2Module::CalcDerivCurLoc(Int_t sensVol,Int_t paridx,Double_t* derivative) | |
1148 | { | |
1149 | /// calculate numerically the derivatives of sensor params in the current volume vs sensor local param paridx | |
1150 | // | |
1151 | Double_t lpar[kMaxParGeom]; | |
1152 | for (int i=kMaxParGeom;i--;) lpar[i] = 0.; | |
1153 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... | |
1154 | Double_t par1[kMaxParGeom]; // f(x-h) | |
1155 | Double_t par2[kMaxParGeom]; // f(x-h/2) | |
1156 | Double_t par3[kMaxParGeom]; // f(x+h/2) | |
1157 | Double_t par4[kMaxParGeom]; // f(x+h) | |
1158 | // | |
1159 | const Double_t dpar = 1e-3; | |
1160 | // | |
1161 | // first values | |
1162 | lpar[paridx] -= dpar; | |
1163 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par1,par1+3); | |
1164 | // | |
1165 | // second values | |
1166 | lpar[paridx] += dpar/2; | |
1167 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par2,par2+3); | |
1168 | // | |
1169 | // third values | |
1170 | lpar[paridx] += dpar; | |
1171 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par3,par3+3); | |
1172 | // | |
1173 | // fourth values | |
1174 | lpar[paridx] += dpar/2; | |
1175 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par4,par4+3); | |
1176 | // | |
1177 | Double_t h2 = 1./(2.*dpar); | |
1178 | for (int i=kMaxParGeom;i--;) { | |
1179 | Double_t d0 = par4[i]-par1[i]; | |
1180 | Double_t d2 = 2.*(par3[i]-par2[i]); | |
1181 | derivative[i] = h2*(4*d2 - d0)/3.; | |
1182 | if (TMath::Abs(derivative[i]) < 1.0e-9) derivative[i] = 0.0; | |
1183 | } | |
1184 | // | |
1185 | } | |
1186 | ||
1187 | ||
1188 | //------------------------------------------------------------- | |
1189 | void AliITSAlignMille2Module::GetGlobalParams(Double_t *t, Double_t *r) const | |
1190 | { | |
1191 | // global parameters of the module | |
1192 | AliAlignObjParams tempAlignObj; | |
1193 | tempAlignObj.SetMatrix( *fMatrix ); | |
1194 | tempAlignObj.GetPars(t,r); | |
1195 | } | |
1196 | ||
1197 | //------------------------------------------------------------- | |
1198 | void AliITSAlignMille2Module::GetGlobalParams(const Double_t* loct, const Double_t* locr, Double_t *t, Double_t *r) | |
1199 | { | |
1200 | // global parameters of the module after the modification by local loct,locr | |
1201 | AliAlignObjParams tempAlignObj; | |
1202 | tempAlignObj.SetTranslation(loct[0],loct[1],loct[2]); | |
1203 | tempAlignObj.SetRotation(locr[0],locr[1],locr[2]); | |
1204 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); | |
1205 | *fSensVolMatrix = *fMatrix; | |
1206 | fSensVolMatrix->Multiply(fSensVolModifMatrix); | |
1207 | tempAlignObj.SetMatrix(*fSensVolMatrix); | |
1208 | tempAlignObj.GetPars(t,r); | |
1209 | } | |
1210 | ||
1211 | //------------------------------------------------------------- | |
1212 | void AliITSAlignMille2Module::GetLocalParams(const Double_t* glot, const Double_t* glor, Double_t *t, Double_t *r) | |
1213 | { | |
1214 | // obtain local delta parameters from global delta params | |
1215 | AliAlignObjParams tempAlignObj; | |
1216 | tempAlignObj.SetTranslation(glot[0],glot[1],glot[2]); | |
1217 | tempAlignObj.SetRotation(glor[0],glor[1],glor[2]); | |
1218 | tempAlignObj.GetMatrix(*fSensVolMatrix); | |
1219 | fSensVolMatrix->Multiply( fMatrix ); | |
1220 | fSensVolMatrix->MultiplyLeft( &fMatrix->Inverse() ); | |
1221 | tempAlignObj.SetMatrix(*fSensVolMatrix); | |
1222 | tempAlignObj.GetPars(t,r); | |
1223 | } |