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c18195b9 | 1 | /************************************************************************** |
2 | * Copyright(c) 1998-1999, 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 | ||
090026bf | 16 | /* $Id$ */ |
17 | ||
c18195b9 | 18 | //----------------------------------------------------------------- |
7e154d52 | 19 | // Implementation of the alignment object class, holding the alignment |
20 | // constants for a single volume, through the abstract class AliAlignObj. | |
21 | // From it two derived concrete representation of alignment object class | |
90dbf5fb | 22 | // (AliAlignObjParams, AliAlignObjMatrix) are derived in separate files. |
c18195b9 | 23 | //----------------------------------------------------------------- |
a1e17193 | 24 | |
995ad051 | 25 | #include <TGeoManager.h> |
268f57b1 | 26 | #include <TGeoMatrix.h> |
995ad051 | 27 | #include <TGeoPhysicalNode.h> |
d555b92a | 28 | #include <TGeoOverlap.h> |
090026bf | 29 | #include <TMath.h> |
2499b21b | 30 | #include <TMatrixDSym.h> |
995ad051 | 31 | |
c18195b9 | 32 | #include "AliAlignObj.h" |
03b18860 | 33 | #include "AliTrackPointArray.h" |
34 | #include "AliLog.h" | |
98937d93 | 35 | |
c18195b9 | 36 | ClassImp(AliAlignObj) |
37 | ||
38 | //_____________________________________________________________________________ | |
39 | AliAlignObj::AliAlignObj(): | |
fe12e09c | 40 | fVolPath(), |
c18195b9 | 41 | fVolUID(0) |
42 | { | |
03b18860 | 43 | // default constructor |
90dbf5fb | 44 | for(Int_t i=0; i<6; i++) fDiag[i]=-999.; |
6b1b1a3b | 45 | for(Int_t i=0; i<15; i++) fODia[i]=-999.; |
c18195b9 | 46 | } |
47 | ||
48 | //_____________________________________________________________________________ | |
b760c02e | 49 | AliAlignObj::AliAlignObj(const char* symname, UShort_t voluid) : |
fe12e09c | 50 | TObject(), |
b760c02e | 51 | fVolPath(symname), |
fe12e09c | 52 | fVolUID(voluid) |
d9cc42ed | 53 | { |
54 | // standard constructor | |
55 | // | |
90dbf5fb | 56 | for(Int_t i=0; i<6; i++) fDiag[i]=-999.; |
6b1b1a3b | 57 | for(Int_t i=0; i<15; i++) fODia[i]=-999.; |
90dbf5fb | 58 | } |
59 | ||
60 | //_____________________________________________________________________________ | |
61 | AliAlignObj::AliAlignObj(const char* symname, UShort_t voluid, Double_t* cmat) : | |
62 | TObject(), | |
63 | fVolPath(symname), | |
64 | fVolUID(voluid) | |
65 | { | |
66 | // standard constructor | |
67 | // | |
68 | SetCorrMatrix(cmat); | |
d9cc42ed | 69 | } |
70 | ||
d9cc42ed | 71 | //_____________________________________________________________________________ |
c18195b9 | 72 | AliAlignObj::AliAlignObj(const AliAlignObj& theAlignObj) : |
fe12e09c | 73 | TObject(theAlignObj), |
b760c02e | 74 | fVolPath(theAlignObj.GetSymName()), |
fe12e09c | 75 | fVolUID(theAlignObj.GetVolUID()) |
c18195b9 | 76 | { |
77 | //copy constructor | |
90dbf5fb | 78 | for(Int_t i=0; i<6; i++) fDiag[i]=theAlignObj.fDiag[i]; |
6b1b1a3b | 79 | for(Int_t i=0; i<15; i++) fODia[i]=theAlignObj.fODia[i]; |
c18195b9 | 80 | } |
81 | ||
82 | //_____________________________________________________________________________ | |
83 | AliAlignObj &AliAlignObj::operator =(const AliAlignObj& theAlignObj) | |
84 | { | |
85 | // assignment operator | |
86 | if(this==&theAlignObj) return *this; | |
b760c02e | 87 | fVolPath = theAlignObj.GetSymName(); |
c18195b9 | 88 | fVolUID = theAlignObj.GetVolUID(); |
90dbf5fb | 89 | for(Int_t i=0; i<6; i++) fDiag[i]=theAlignObj.fDiag[i]; |
6b1b1a3b | 90 | for(Int_t i=0; i<15; i++) fODia[i]=theAlignObj.fODia[i]; |
c18195b9 | 91 | return *this; |
92 | } | |
93 | ||
38b3a170 | 94 | //_____________________________________________________________________________ |
95 | AliAlignObj &AliAlignObj::operator*=(const AliAlignObj& theAlignObj) | |
96 | { | |
97 | // multiplication operator | |
98 | // The operator can be used to 'combine' | |
99 | // two alignment objects | |
100 | TGeoHMatrix m1; | |
101 | GetMatrix(m1); | |
102 | TGeoHMatrix m2; | |
103 | theAlignObj.GetMatrix(m2); | |
104 | m1.MultiplyLeft(&m2); | |
105 | SetMatrix(m1); | |
6b1b1a3b | 106 | // temporary solution: the covariance matrix of the resulting combined object |
107 | // is set equal to the covariance matrix of the right operand | |
108 | // (not to be used for combining alignment objects for different levels) | |
109 | for(Int_t i=0; i<6; i++) fDiag[i] = theAlignObj.fDiag[i]; | |
110 | for(Int_t i=0; i<15; i++) fODia[i] = theAlignObj.fODia[i]; | |
38b3a170 | 111 | return *this; |
112 | } | |
113 | ||
c18195b9 | 114 | //_____________________________________________________________________________ |
115 | AliAlignObj::~AliAlignObj() | |
116 | { | |
117 | // dummy destructor | |
118 | } | |
119 | ||
befe2c08 | 120 | //_____________________________________________________________________________ |
25be1e5c | 121 | void AliAlignObj::SetVolUID(AliGeomManager::ELayerID detId, Int_t modId) |
befe2c08 | 122 | { |
123 | // From detector name and module number (according to detector numbering) | |
124 | // build fVolUID, unique numerical identity of that volume inside ALICE | |
125 | // fVolUID is 16 bits, first 5 reserved for detID (32 possible values), | |
126 | // remaining 11 for module ID inside det (2048 possible values). | |
127 | // | |
25be1e5c | 128 | fVolUID = AliGeomManager::LayerToVolUID(detId,modId); |
befe2c08 | 129 | } |
130 | ||
131 | //_____________________________________________________________________________ | |
25be1e5c | 132 | void AliAlignObj::GetVolUID(AliGeomManager::ELayerID &layerId, Int_t &modId) const |
befe2c08 | 133 | { |
7e154d52 | 134 | // From the fVolUID, unique numerical identity of that volume inside ALICE, |
135 | // (voluid is 16 bits, first 5 reserved for layerID (32 possible values), | |
136 | // remaining 11 for module ID inside det (2048 possible values)), sets | |
137 | // the argument layerId to the identity of the layer to which that volume | |
138 | // belongs and sets the argument modId to the identity of that volume | |
139 | // internally to the layer. | |
befe2c08 | 140 | // |
25be1e5c | 141 | layerId = AliGeomManager::VolUIDToLayer(fVolUID,modId); |
befe2c08 | 142 | } |
143 | ||
b760c02e | 144 | //_____________________________________________________________________________ |
145 | Bool_t AliAlignObj::GetPars(Double_t tr[], Double_t angles[]) const | |
146 | { | |
147 | GetTranslation(tr); | |
148 | return GetAngles(angles); | |
149 | } | |
150 | ||
4b94e753 | 151 | //_____________________________________________________________________________ |
152 | Int_t AliAlignObj::GetLevel() const | |
153 | { | |
85fbf070 | 154 | // Return the geometry level of the alignable volume to which |
155 | // the alignment object is associated; this is the number of | |
156 | // slashes in the corresponding volume path | |
157 | // | |
158 | if(!gGeoManager){ | |
44a3c417 | 159 | AliWarning("gGeoManager doesn't exist or it is still open: unable to return meaningful level value."); |
85fbf070 | 160 | return (-1); |
161 | } | |
162 | const char* symname = GetSymName(); | |
163 | const char* path; | |
164 | TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname); | |
165 | if(pne){ | |
166 | path = pne->GetTitle(); | |
167 | }else{ | |
168 | path = symname; | |
169 | } | |
170 | ||
2499b21b | 171 | TString pathStr = path; |
172 | if(pathStr[0]!='/') pathStr.Prepend('/'); | |
173 | return pathStr.CountChar('/'); | |
4b94e753 | 174 | } |
175 | ||
176 | //_____________________________________________________________________________ | |
177 | Int_t AliAlignObj::Compare(const TObject *obj) const | |
178 | { | |
179 | // Compare the levels of two | |
180 | // alignment objects | |
181 | // Used in the sorting during | |
182 | // the application of alignment | |
183 | // objects to the geometry | |
7e154d52 | 184 | // |
4b94e753 | 185 | Int_t level = GetLevel(); |
186 | Int_t level2 = ((AliAlignObj *)obj)->GetLevel(); | |
187 | if (level == level2) | |
188 | return 0; | |
189 | else | |
190 | return ((level > level2) ? 1 : -1); | |
191 | } | |
192 | ||
90dbf5fb | 193 | //______________________________________________________________________________ |
194 | void AliAlignObj::GetCovMatrix(Double_t *cmat) const | |
195 | { | |
196 | // Fills the cmat argument with the coefficients of the external cov matrix (21 elements) | |
197 | // calculating them from the correlation matrix data member | |
198 | // | |
199 | ||
200 | for(Int_t i=0; i<6; ++i) { | |
201 | // Off diagonal elements | |
202 | for(Int_t j=0; j<i; ++j) { | |
203 | cmat[i*(i+1)/2+j] = (fDiag[j] >= 0. && fDiag[i] >= 0.) ? fODia[(i-1)*i/2+j]*fDiag[j]*fDiag[i]: -999.; | |
204 | } | |
205 | ||
206 | // Diagonal elements | |
207 | cmat[i*(i+1)/2+i] = (fDiag[i] >= 0.) ? fDiag[i]*fDiag[i] : -999.; | |
208 | } | |
e9304cb8 | 209 | |
210 | return; | |
211 | } | |
212 | ||
213 | //______________________________________________________________________________ | |
214 | void AliAlignObj::GetCovMatrix(TMatrixDSym& mcov) const | |
215 | { | |
216 | // Fills the matrix m passed as argument as the covariance matrix calculated | |
217 | // from the coefficients of the reduced covariance matrix data members | |
218 | // | |
219 | ||
220 | for(Int_t i=0; i<6; ++i) { | |
221 | // Off diagonal elements | |
222 | for(Int_t j=0; j<i; ++j) { | |
223 | mcov(j,i) = mcov(i,j) = (fDiag[j] >= 0. && fDiag[i] >= 0.) ? fODia[(i-1)*i/2+j]*fDiag[j]*fDiag[i]: -999.; | |
224 | } | |
225 | ||
226 | // Diagonal elements | |
227 | mcov(i,i) = (fDiag[i] >= 0.) ? fDiag[i]*fDiag[i] : -999.; | |
228 | } | |
229 | ||
90dbf5fb | 230 | } |
231 | ||
232 | //______________________________________________________________________________ | |
233 | void AliAlignObj::SetCorrMatrix(Double_t *cmat) | |
234 | { | |
235 | // Sets the correlation matrix data member from the coefficients of the external covariance | |
236 | // matrix (21 elements passed as argument). | |
237 | // | |
238 | if(cmat) { | |
239 | ||
240 | // Diagonal elements first | |
241 | for(Int_t i=0; i<6; ++i) { | |
242 | fDiag[i] = (cmat[i*(i+1)/2+i] >= 0.) ? TMath::Sqrt(cmat[i*(i+1)/2+i]) : -999.; | |
243 | } | |
244 | ||
245 | // ... then the ones off diagonal | |
246 | for(Int_t i=0; i<6; ++i) | |
247 | // Off diagonal elements | |
248 | for(Int_t j=0; j<i; ++j) { | |
249 | fODia[(i-1)*i/2+j] = (fDiag[i] > 0. && fDiag[j] > 0.) ? cmat[i*(i+1)/2+j]/(fDiag[j]*fDiag[i]) : 0.; // check for division by zero (due to diagonal element of 0) and for fDiag != -999. (due to negative input diagonal element). | |
250 | if (fODia[(i-1)*i/2+j]>1.) fODia[(i-1)*i/2+j] = 1.; // check upper boundary | |
251 | if (fODia[(i-1)*i/2+j]<-1.) fODia[(i-1)*i/2+j] = -1.; // check lower boundary | |
252 | } | |
253 | } else { | |
254 | for(Int_t i=0; i< 6; ++i) fDiag[i]=-999.; | |
255 | for(Int_t i=0; i< 6*(6-1)/2; ++i) fODia[i]=0.; | |
256 | } | |
257 | ||
258 | return; | |
259 | } | |
260 | ||
e9304cb8 | 261 | //______________________________________________________________________________ |
262 | void AliAlignObj::SetCorrMatrix(TMatrixDSym& mcov) | |
263 | { | |
264 | // Sets the correlation matrix data member from the covariance matrix mcov passed | |
265 | // passed as argument. | |
266 | // | |
267 | if(mcov.IsValid()) { | |
268 | ||
269 | // Diagonal elements first | |
270 | for(Int_t i=0; i<6; ++i) { | |
271 | fDiag[i] = (mcov(i,i) >= 0.) ? TMath::Sqrt(mcov(i,i)) : -999.; | |
272 | } | |
273 | ||
274 | // ... then the ones off diagonal | |
275 | for(Int_t i=0; i<6; ++i) | |
276 | // Off diagonal elements | |
277 | for(Int_t j=0; j<i; ++j) { | |
278 | fODia[(i-1)*i/2+j] = (fDiag[i] > 0. && fDiag[j] > 0.) ? mcov(i,j)/(fDiag[j]*fDiag[i]) : 0.; // check for division by zero (due to diagonal element of 0) and for fDiag != -999. (due to negative input diagonal element). | |
279 | if (fODia[(i-1)*i/2+j]>1.) fODia[(i-1)*i/2+j] = 1.; // check upper boundary | |
280 | if (fODia[(i-1)*i/2+j]<-1.) fODia[(i-1)*i/2+j] = -1.; // check lower boundary | |
281 | } | |
282 | } else { | |
283 | for(Int_t i=0; i< 6; ++i) fDiag[i]=-999.; | |
284 | for(Int_t i=0; i< 6*(6-1)/2; ++i) fODia[i]=0.; | |
285 | } | |
286 | ||
287 | return; | |
288 | } | |
289 | ||
c18195b9 | 290 | //_____________________________________________________________________________ |
291 | void AliAlignObj::AnglesToMatrix(const Double_t *angles, Double_t *rot) const | |
292 | { | |
fdf65bb5 | 293 | // Calculates the rotation matrix using the |
294 | // Euler angles in "x y z" notation | |
7e154d52 | 295 | // |
c18195b9 | 296 | Double_t degrad = TMath::DegToRad(); |
297 | Double_t sinpsi = TMath::Sin(degrad*angles[0]); | |
298 | Double_t cospsi = TMath::Cos(degrad*angles[0]); | |
299 | Double_t sinthe = TMath::Sin(degrad*angles[1]); | |
300 | Double_t costhe = TMath::Cos(degrad*angles[1]); | |
301 | Double_t sinphi = TMath::Sin(degrad*angles[2]); | |
302 | Double_t cosphi = TMath::Cos(degrad*angles[2]); | |
303 | ||
304 | rot[0] = costhe*cosphi; | |
305 | rot[1] = -costhe*sinphi; | |
306 | rot[2] = sinthe; | |
307 | rot[3] = sinpsi*sinthe*cosphi + cospsi*sinphi; | |
308 | rot[4] = -sinpsi*sinthe*sinphi + cospsi*cosphi; | |
309 | rot[5] = -costhe*sinpsi; | |
310 | rot[6] = -cospsi*sinthe*cosphi + sinpsi*sinphi; | |
311 | rot[7] = cospsi*sinthe*sinphi + sinpsi*cosphi; | |
312 | rot[8] = costhe*cospsi; | |
313 | } | |
314 | ||
315 | //_____________________________________________________________________________ | |
316 | Bool_t AliAlignObj::MatrixToAngles(const Double_t *rot, Double_t *angles) const | |
317 | { | |
fdf65bb5 | 318 | // Calculates the Euler angles in "x y z" notation |
319 | // using the rotation matrix | |
b760c02e | 320 | // Returns false in case the rotation angles can not be |
321 | // extracted from the matrix | |
7e154d52 | 322 | // |
b760c02e | 323 | if(TMath::Abs(rot[0])<1e-7 || TMath::Abs(rot[8])<1e-7) { |
324 | AliError("Failed to extract roll-pitch-yall angles!"); | |
325 | return kFALSE; | |
326 | } | |
c18195b9 | 327 | Double_t raddeg = TMath::RadToDeg(); |
328 | angles[0]=raddeg*TMath::ATan2(-rot[5],rot[8]); | |
329 | angles[1]=raddeg*TMath::ASin(rot[2]); | |
330 | angles[2]=raddeg*TMath::ATan2(-rot[1],rot[0]); | |
331 | return kTRUE; | |
332 | } | |
333 | ||
03b18860 | 334 | //______________________________________________________________________________ |
6b1b1a3b | 335 | void AliAlignObj::Transform(AliTrackPoint &p, Bool_t copycov) const |
03b18860 | 336 | { |
337 | // The method transforms the space-point coordinates using the | |
338 | // transformation matrix provided by the AliAlignObj | |
6b1b1a3b | 339 | // In case the copycov flag is set to kTRUE, the covariance matrix |
340 | // of the alignment object is copied into the space-point | |
7e154d52 | 341 | // |
03b18860 | 342 | if (fVolUID != p.GetVolumeID()) |
343 | AliWarning(Form("Alignment object ID is not equal to the space-point ID (%d != %d)",fVolUID,p.GetVolumeID())); | |
344 | ||
345 | TGeoHMatrix m; | |
346 | GetMatrix(m); | |
347 | Double_t *rot = m.GetRotationMatrix(); | |
348 | Double_t *tr = m.GetTranslation(); | |
349 | ||
350 | Float_t xyzin[3],xyzout[3]; | |
351 | p.GetXYZ(xyzin); | |
352 | for (Int_t i = 0; i < 3; i++) | |
353 | xyzout[i] = tr[i]+ | |
354 | xyzin[0]*rot[3*i]+ | |
355 | xyzin[1]*rot[3*i+1]+ | |
356 | xyzin[2]*rot[3*i+2]; | |
357 | p.SetXYZ(xyzout); | |
6b1b1a3b | 358 | |
359 | if(copycov){ | |
360 | TMatrixDSym covmat(6); | |
361 | GetCovMatrix(covmat); | |
362 | p.SetAlignCovMatrix(covmat); | |
363 | } | |
03b18860 | 364 | |
365 | } | |
366 | ||
79e21da6 | 367 | //_____________________________________________________________________________ |
03b18860 | 368 | void AliAlignObj::Transform(AliTrackPointArray &array) const |
369 | { | |
e1e6896f | 370 | // This method is used to transform all the track points |
371 | // from the input AliTrackPointArray | |
7e154d52 | 372 | // |
03b18860 | 373 | AliTrackPoint p; |
374 | for (Int_t i = 0; i < array.GetNPoints(); i++) { | |
375 | array.GetPoint(p,i); | |
376 | Transform(p); | |
377 | array.AddPoint(i,&p); | |
378 | } | |
379 | } | |
380 | ||
c18195b9 | 381 | //_____________________________________________________________________________ |
382 | void AliAlignObj::Print(Option_t *) const | |
383 | { | |
384 | // Print the contents of the | |
385 | // alignment object in angles and | |
386 | // matrix representations | |
7e154d52 | 387 | // |
c18195b9 | 388 | Double_t tr[3]; |
389 | GetTranslation(tr); | |
390 | Double_t angles[3]; | |
391 | GetAngles(angles); | |
392 | TGeoHMatrix m; | |
393 | GetMatrix(m); | |
394 | const Double_t *rot = m.GetRotationMatrix(); | |
c18195b9 | 395 | |
b760c02e | 396 | printf("Volume=%s\n",GetSymName()); |
c041444f | 397 | if (GetVolUID() != 0) { |
25be1e5c | 398 | AliGeomManager::ELayerID layerId; |
c041444f | 399 | Int_t modId; |
400 | GetVolUID(layerId,modId); | |
25be1e5c | 401 | printf("VolumeID=%d LayerID=%d ( %s ) ModuleID=%d\n", GetVolUID(),layerId,AliGeomManager::LayerName(layerId),modId); |
c041444f | 402 | } |
403 | printf("%12.8f%12.8f%12.8f Tx = %12.8f Psi = %12.8f\n", rot[0], rot[1], rot[2], tr[0], angles[0]); | |
404 | printf("%12.8f%12.8f%12.8f Ty = %12.8f Theta = %12.8f\n", rot[3], rot[4], rot[5], tr[1], angles[1]); | |
405 | printf("%12.8f%12.8f%12.8f Tz = %12.8f Phi = %12.8f\n", rot[6], rot[7], rot[8], tr[2], angles[2]); | |
406 | ||
407 | } | |
408 | ||
b760c02e | 409 | //_____________________________________________________________________________ |
410 | void AliAlignObj::SetPars(Double_t x, Double_t y, Double_t z, | |
411 | Double_t psi, Double_t theta, Double_t phi) | |
412 | { | |
32898fe7 | 413 | // Set the global delta transformation by passing 3 angles (expressed in |
414 | // degrees) and 3 shifts (in centimeters) | |
7e154d52 | 415 | // |
b760c02e | 416 | SetTranslation(x,y,z); |
417 | SetRotation(psi,theta,phi); | |
418 | } | |
419 | ||
1bfe7ffc | 420 | //_____________________________________________________________________________ |
421 | Bool_t AliAlignObj::SetLocalPars(Double_t x, Double_t y, Double_t z, | |
422 | Double_t psi, Double_t theta, Double_t phi) | |
423 | { | |
32898fe7 | 424 | // Set the global delta transformation by passing the parameters |
425 | // for the local delta transformation (3 shifts and 3 angles). | |
7e154d52 | 426 | // In case that the TGeo was not initialized or not closed, |
427 | // returns false and the object parameters are not set. | |
428 | // | |
b760c02e | 429 | TGeoHMatrix m; |
430 | Double_t tr[3] = {x, y, z}; | |
431 | m.SetTranslation(tr); | |
432 | Double_t angles[3] = {psi, theta, phi}; | |
433 | Double_t rot[9]; | |
434 | AnglesToMatrix(angles,rot); | |
435 | m.SetRotation(rot); | |
436 | ||
437 | return SetLocalMatrix(m); | |
438 | ||
439 | } | |
440 | ||
32898fe7 | 441 | //_____________________________________________________________________________ |
442 | Bool_t AliAlignObj::SetLocalTranslation(Double_t x, Double_t y, Double_t z) | |
443 | { | |
444 | // Set the global delta transformation by passing the three shifts giving | |
445 | // the translation in the local reference system of the alignable | |
446 | // volume (known by TGeo geometry). | |
447 | // In case that the TGeo was not initialized or not closed, | |
448 | // returns false and the object parameters are not set. | |
449 | // | |
450 | TGeoHMatrix m; | |
451 | Double_t tr[3] = {x, y, z}; | |
452 | m.SetTranslation(tr); | |
453 | ||
454 | return SetLocalMatrix(m); | |
455 | ||
456 | } | |
457 | ||
458 | //_____________________________________________________________________________ | |
459 | Bool_t AliAlignObj::SetLocalTranslation(const TGeoMatrix& m) | |
460 | { | |
461 | // Set the global delta transformation by passing the matrix of | |
462 | // the local delta transformation and taking its translational part | |
463 | // In case that the TGeo was not initialized or not closed, | |
464 | // returns false and the object parameters are not set. | |
465 | // | |
466 | const Double_t* tr = m.GetTranslation(); | |
467 | TGeoHMatrix mtr; | |
468 | mtr.SetTranslation(tr); | |
469 | ||
470 | return SetLocalMatrix(mtr); | |
471 | ||
472 | } | |
473 | ||
474 | //_____________________________________________________________________________ | |
475 | Bool_t AliAlignObj::SetLocalRotation(Double_t psi, Double_t theta, Double_t phi) | |
476 | { | |
477 | // Set the global delta transformation by passing the three angles giving | |
478 | // the rotation in the local reference system of the alignable | |
479 | // volume (known by TGeo geometry). | |
480 | // In case that the TGeo was not initialized or not closed, | |
481 | // returns false and the object parameters are not set. | |
482 | // | |
483 | TGeoHMatrix m; | |
484 | Double_t angles[3] = {psi, theta, phi}; | |
485 | Double_t rot[9]; | |
486 | AnglesToMatrix(angles,rot); | |
487 | m.SetRotation(rot); | |
488 | ||
489 | return SetLocalMatrix(m); | |
490 | ||
491 | } | |
492 | ||
493 | //_____________________________________________________________________________ | |
494 | Bool_t AliAlignObj::SetLocalRotation(const TGeoMatrix& m) | |
495 | { | |
496 | // Set the global delta transformation by passing the matrix of | |
497 | // the local delta transformation and taking its rotational part | |
498 | // In case that the TGeo was not initialized or not closed, | |
499 | // returns false and the object parameters are not set. | |
500 | // | |
501 | TGeoHMatrix rotm; | |
502 | const Double_t* rot = m.GetRotationMatrix(); | |
503 | rotm.SetRotation(rot); | |
504 | ||
505 | return SetLocalMatrix(rotm); | |
506 | ||
507 | } | |
508 | ||
b760c02e | 509 | //_____________________________________________________________________________ |
510 | Bool_t AliAlignObj::SetLocalMatrix(const TGeoMatrix& m) | |
511 | { | |
32898fe7 | 512 | // Set the global delta transformation by passing the TGeo matrix |
513 | // for the local delta transformation. | |
7e154d52 | 514 | // In case that the TGeo was not initialized or not closed, |
515 | // returns false and the object parameters are not set. | |
516 | // | |
1bfe7ffc | 517 | if (!gGeoManager || !gGeoManager->IsClosed()) { |
44a3c417 | 518 | AliError("Can't set the local alignment object parameters! gGeoManager doesn't exist or it is still open!"); |
1bfe7ffc | 519 | return kFALSE; |
520 | } | |
521 | ||
b760c02e | 522 | const char* symname = GetSymName(); |
523 | TGeoPhysicalNode* node; | |
524 | TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname); | |
525 | if(pne){ | |
44a3c417 | 526 | if(!pne->GetPhysicalNode()){ |
527 | node = gGeoManager->MakeAlignablePN(pne); | |
528 | }else{ | |
529 | node = pne->GetPhysicalNode(); | |
530 | } | |
b760c02e | 531 | }else{ |
532 | AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname)); | |
533 | node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(symname); | |
534 | } | |
535 | ||
1bfe7ffc | 536 | if (!node) { |
b760c02e | 537 | AliError(Form("Volume name or path %s not valid!",symname)); |
1bfe7ffc | 538 | return kFALSE; |
539 | } | |
540 | if (node->IsAligned()) | |
b760c02e | 541 | AliWarning(Form("Volume %s has been already misaligned!",symname)); |
1bfe7ffc | 542 | |
b760c02e | 543 | TGeoHMatrix m1; |
544 | const Double_t *tr = m.GetTranslation(); | |
545 | m1.SetTranslation(tr); | |
546 | const Double_t* rot = m.GetRotationMatrix(); | |
547 | m1.SetRotation(rot); | |
1bfe7ffc | 548 | |
549 | TGeoHMatrix align,gprime,gprimeinv; | |
550 | gprime = *node->GetMatrix(); | |
551 | gprimeinv = gprime.Inverse(); | |
b760c02e | 552 | m1.Multiply(&gprimeinv); |
553 | m1.MultiplyLeft(&gprime); | |
1bfe7ffc | 554 | |
b760c02e | 555 | return SetMatrix(m1); |
556 | } | |
1bfe7ffc | 557 | |
b760c02e | 558 | //_____________________________________________________________________________ |
559 | Bool_t AliAlignObj::SetMatrix(const TGeoMatrix& m) | |
560 | { | |
32898fe7 | 561 | // Set the global delta transformation by passing the TGeoMatrix |
562 | // for it | |
7e154d52 | 563 | // |
b760c02e | 564 | SetTranslation(m); |
565 | return SetRotation(m); | |
1bfe7ffc | 566 | } |
567 | ||
32898fe7 | 568 | //_____________________________________________________________________________ |
569 | Bool_t AliAlignObj::GetLocalPars(Double_t transl[], Double_t angles[]) const | |
570 | { | |
571 | // Get the translations and angles (in degrees) expressing the | |
572 | // local delta transformation. | |
573 | // In case that the TGeo was not initialized or not closed, | |
574 | // returns false and the object parameters are not set. | |
575 | // | |
576 | if(!GetLocalTranslation(transl)) return kFALSE; | |
577 | return GetLocalAngles(angles); | |
578 | } | |
579 | ||
580 | //_____________________________________________________________________________ | |
581 | Bool_t AliAlignObj::GetLocalTranslation(Double_t* tr) const | |
582 | { | |
583 | // Get the 3 shifts giving the translational part of the local | |
584 | // delta transformation. | |
585 | // In case that the TGeo was not initialized or not closed, | |
586 | // returns false and the object parameters are not set. | |
587 | // | |
588 | TGeoHMatrix ml; | |
589 | if(!GetLocalMatrix(ml)) return kFALSE; | |
590 | const Double_t* transl; | |
591 | transl = ml.GetTranslation(); | |
592 | tr[0]=transl[0]; | |
593 | tr[1]=transl[1]; | |
594 | tr[2]=transl[2]; | |
595 | return kTRUE; | |
596 | } | |
597 | ||
598 | //_____________________________________________________________________________ | |
599 | Bool_t AliAlignObj::GetLocalAngles(Double_t* angles) const | |
600 | { | |
601 | // Get the 3 angles giving the rotational part of the local | |
602 | // delta transformation. | |
603 | // In case that the TGeo was not initialized or not closed, | |
604 | // returns false and the object parameters are not set. | |
605 | // | |
606 | TGeoHMatrix ml; | |
607 | if(!GetLocalMatrix(ml)) return kFALSE; | |
608 | const Double_t *rot = ml.GetRotationMatrix(); | |
609 | return MatrixToAngles(rot,angles); | |
610 | } | |
611 | ||
612 | //_____________________________________________________________________________ | |
613 | Bool_t AliAlignObj::GetLocalMatrix(TGeoHMatrix& m) const | |
614 | { | |
615 | // Get the matrix for the local delta transformation. | |
616 | // In case that the TGeo was not initialized or not closed, | |
617 | // returns false and the object parameters are not set. | |
618 | // | |
619 | if (!gGeoManager || !gGeoManager->IsClosed()) { | |
44a3c417 | 620 | AliError("Can't get the local alignment object parameters! gGeoManager doesn't exist or it is still open!"); |
32898fe7 | 621 | return kFALSE; |
622 | } | |
623 | ||
624 | const char* symname = GetSymName(); | |
625 | TGeoPhysicalNode* node; | |
626 | TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname); | |
627 | if(pne){ | |
44a3c417 | 628 | if(!pne->GetPhysicalNode()){ |
629 | node = gGeoManager->MakeAlignablePN(pne); | |
630 | }else{ | |
631 | node = pne->GetPhysicalNode(); | |
632 | } | |
32898fe7 | 633 | }else{ |
634 | AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname)); | |
635 | node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(symname); | |
636 | } | |
637 | ||
638 | if (!node) { | |
639 | AliError(Form("Volume name or path %s not valid!",symname)); | |
640 | return kFALSE; | |
641 | } | |
642 | if (node->IsAligned()) | |
643 | AliWarning(Form("Volume %s has been already misaligned!",symname)); | |
644 | ||
645 | GetMatrix(m); | |
646 | TGeoHMatrix gprime,gprimeinv; | |
647 | gprime = *node->GetMatrix(); | |
648 | gprimeinv = gprime.Inverse(); | |
649 | m.Multiply(&gprime); | |
650 | m.MultiplyLeft(&gprimeinv); | |
651 | ||
652 | return kTRUE; | |
653 | } | |
654 | ||
995ad051 | 655 | //_____________________________________________________________________________ |
5590c6c3 | 656 | Bool_t AliAlignObj::ApplyToGeometry(Bool_t ovlpcheck) |
995ad051 | 657 | { |
7e154d52 | 658 | // Apply the current alignment object to the TGeo geometry |
659 | // This method returns FALSE if the symname of the object was not | |
660 | // valid neither to get a TGeoPEntry nor as a volume path | |
661 | // | |
995ad051 | 662 | if (!gGeoManager || !gGeoManager->IsClosed()) { |
44a3c417 | 663 | AliError("Can't apply the alignment object! gGeoManager doesn't exist or it is still open!"); |
995ad051 | 664 | return kFALSE; |
665 | } | |
171c4ef9 | 666 | |
44a3c417 | 667 | if (gGeoManager->IsLocked()){ |
668 | AliError("Can't apply the alignment object! Geometry is locked!"); | |
669 | return kFALSE; | |
670 | } | |
671 | ||
b760c02e | 672 | const char* symname = GetSymName(); |
673 | const char* path; | |
674 | TGeoPhysicalNode* node; | |
675 | TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname); | |
676 | if(pne){ | |
b760c02e | 677 | path = pne->GetTitle(); |
7e154d52 | 678 | node = gGeoManager->MakeAlignablePN(pne); |
b760c02e | 679 | }else{ |
5bd470e1 | 680 | AliDebug(1,Form("The symbolic volume name %s does not correspond to a physical entry. Using it as a volume path!",symname)); |
b760c02e | 681 | path=symname; |
7e154d52 | 682 | if (!gGeoManager->CheckPath(path)) { |
5bd470e1 | 683 | AliDebug(1,Form("Volume path %s not valid!",path)); |
b760c02e | 684 | return kFALSE; |
685 | } | |
7e154d52 | 686 | if (gGeoManager->GetListOfPhysicalNodes()->FindObject(path)) { |
687 | AliError(Form("Volume %s has already been misaligned!",path)); | |
b760c02e | 688 | return kFALSE; |
689 | } | |
690 | node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(path); | |
995ad051 | 691 | } |
48cac49d | 692 | |
48cac49d | 693 | if (!node) { |
b760c02e | 694 | AliError(Form("Volume path %s not valid!",path)); |
995ad051 | 695 | return kFALSE; |
696 | } | |
697 | ||
d555b92a | 698 | Double_t threshold = 0.001; |
171c4ef9 | 699 | |
995ad051 | 700 | TGeoHMatrix align,gprime; |
701 | gprime = *node->GetMatrix(); | |
702 | GetMatrix(align); | |
703 | gprime.MultiplyLeft(&align); | |
704 | TGeoHMatrix *ginv = new TGeoHMatrix; | |
705 | TGeoHMatrix *g = node->GetMatrix(node->GetLevel()-1); | |
706 | *ginv = g->Inverse(); | |
707 | *ginv *= gprime; | |
25be1e5c | 708 | AliGeomManager::ELayerID layerId; // unique identity for layer in the alobj |
b760c02e | 709 | Int_t modId; // unique identity for volume inside layer in the alobj |
995ad051 | 710 | GetVolUID(layerId, modId); |
b760c02e | 711 | AliDebug(2,Form("Aligning volume %s of detector layer %d with local ID %d",symname,layerId,modId)); |
5590c6c3 | 712 | if(ovlpcheck){ |
d555b92a | 713 | node->Align(ginv,0,kTRUE); //(trunk of root takes threshold as additional argument) |
714 | }else{ | |
715 | node->Align(ginv,0,kFALSE); | |
716 | } | |
717 | if(ovlpcheck) | |
718 | { | |
719 | TObjArray* ovlpArray = gGeoManager->GetListOfOverlaps(); | |
720 | Int_t nOvlp = ovlpArray->GetEntriesFast(); | |
721 | if(nOvlp) | |
722 | { | |
723 | AliInfo(Form("Misalignment of node %s generated the following overlaps/extrusions:",node->GetName())); | |
724 | for(Int_t i=0; i<nOvlp; i++) | |
725 | ((TGeoOverlap*)ovlpArray->UncheckedAt(i))->PrintInfo(); | |
5590c6c3 | 726 | } |
727 | } | |
d555b92a | 728 | |
995ad051 | 729 | return kTRUE; |
730 | } | |
731 | ||
171c4ef9 | 732 |