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043badeb | 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 | ||
16 | /////////////////////////////////////////////////////////////////////////////// | |
17 | // | |
18 | // Kalman filter based aligner: | |
044eb03e | 19 | // Finds alignement constants for two tracking volumes (by default ITS |
20 | // and TPC) | |
55d5da9e | 21 | // Determines the inverse transformation of the second volume (TPC) |
22 | // with respect to the first (ITS) (how to realign TPC to ITS) | |
23 | // by measuring the residual between the 2 tracks. | |
044eb03e | 24 | // Additionally calculates some callibration parameters for TPC |
043badeb | 25 | // Fit parameters are: |
26 | // - 3 shifts, x,y,z | |
27 | // - 3 Cardan angles, psi, theta, phi (see definition in alignment docs), | |
c3b5bfc1 | 28 | // - TPC drift velocity correction, |
55d5da9e | 29 | // - TPC time offset correction. |
043badeb | 30 | // |
31 | // Basic usage: | |
3ebfbf52 | 32 | // When aligning two volumes, at any given time a single instance of |
043badeb | 33 | // the class should be active. The fit of the parameters is updated |
55d5da9e | 34 | // by adding new data using one of the Add.... methods: |
043badeb | 35 | // |
3ebfbf52 | 36 | // In collision events add an ESD event to update the fit (adds all tracks): |
55d5da9e | 37 | // |
3ebfbf52 | 38 | // Bool_t AddESDevent( AliESDevent* pTrack ); |
39 | // | |
40 | // or add each individual track | |
41 | // | |
42 | // AddESDtrack( AliESDtrack* pTrack ); | |
55d5da9e | 43 | // |
044eb03e | 44 | // For cosmic data, the assumption is that the tracking is done twice: |
55d5da9e | 45 | // once global and once only ITS and the tracklets are saved inside |
044eb03e | 46 | // one AliESDEvent. The method |
55d5da9e | 47 | // |
48 | // Bool_t AddCosmicEvent( AliESDEvent* pEvent ); | |
49 | // | |
044eb03e | 50 | // then searches the event for matching tracklets and upon succes it updates. |
51 | // One cosmic ideally triggers two updates: for the upper and lower half of | |
52 | // the cosmic (upper ITS tracklet+upper TPC tracklet, idem dito for lower) | |
55d5da9e | 53 | // |
3ebfbf52 | 54 | // by default give misalignment parameters for TPC as they appear to be. |
55 | // TPC calibration parameters are always given as correction to values used in reco. | |
56 | // | |
044eb03e | 57 | // _________________________________________________________________________ |
58 | // Expert options: | |
3ebfbf52 | 59 | // look at AddESDevent() and AddCosmicEvent() to get the idea of how the |
60 | // aligner works, it's safe to repeat the needed steps outside of the class, | |
61 | // only public methods are used. | |
043badeb | 62 | // |
63 | // Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch | |
64 | // | |
65 | ////////////////////////////////////////////////////////////////////////////// | |
66 | ||
55d5da9e | 67 | #include <iostream> |
68 | #include <TObject.h> | |
69 | #include <TMath.h> | |
70 | #include <TMatrix.h> | |
71 | #include <TVector.h> | |
72 | #include <TVector3.h> | |
73 | #include <TDecompLU.h> | |
74 | #include <TArrayI.h> | |
75 | #include <TH1D.h> | |
76 | #include <TF1.h> | |
77 | ||
78 | #include "AliESDtrack.h" | |
79 | #include "AliTrackPointArray.h" | |
80 | #include "AliGeomManager.h" | |
81 | #include "AliTrackFitterKalman.h" | |
82 | #include "AliTrackFitterRieman.h" | |
83 | #include "AliESDfriendTrack.h" | |
84 | #include "AliESDEvent.h" | |
85 | #include "AliESDVertex.h" | |
86 | #include "AliExternalTrackParam.h" | |
87 | ||
043badeb | 88 | #include "AliRelAlignerKalman.h" |
89 | ||
90 | ClassImp(AliRelAlignerKalman) | |
91 | ||
044eb03e | 92 | //______________________________________________________________________________ |
043badeb | 93 | AliRelAlignerKalman::AliRelAlignerKalman(): |
3ebfbf52 | 94 | TObject(), |
044eb03e | 95 | fAlpha(0.), |
96 | fLocalX(80.), | |
3ebfbf52 | 97 | fPTrackParamArr1(new AliExternalTrackParam[fgkNTracksPerMeasurement]), |
98 | fPTrackParamArr2(new AliExternalTrackParam[fgkNTracksPerMeasurement]), | |
99 | fMagField(0.), | |
782e5230 | 100 | fPX(new TVectorD( fgkNSystemParams )), |
101 | fPXcov(new TMatrixDSym( fgkNSystemParams )), | |
044eb03e | 102 | fPH(new TMatrixD( fgkNMeasurementParams, fgkNSystemParams )), |
55d5da9e | 103 | fQ(1.e-15), |
044eb03e | 104 | fPMeasurement(new TVectorD( fgkNMeasurementParams )), |
105 | fPMeasurementCov(new TMatrixDSym( fgkNMeasurementParams )), | |
106 | fOutRejSigmas(1.), | |
3ebfbf52 | 107 | fDelta(new Double_t[fgkNSystemParams]), |
108 | fNumericalParanoia(kTRUE), | |
044eb03e | 109 | fRejectOutliers(kTRUE), |
c3b5bfc1 | 110 | fRequireMatchInTPC(kFALSE), |
043badeb | 111 | fCuts(kFALSE), |
c3b5bfc1 | 112 | fMinPointsVol1(3), |
044eb03e | 113 | fMinPointsVol2(50), |
043badeb | 114 | fMinMom(0.), |
55d5da9e | 115 | fMaxMom(1.e100), |
c3b5bfc1 | 116 | fMaxMatchingAngle(0.1), |
55d5da9e | 117 | fMaxMatchingDistance(10.), //in cm |
118 | fCorrectionMode(kFALSE), | |
044eb03e | 119 | fNTracks(0), |
120 | fNUpdates(0), | |
121 | fNOutliers(0), | |
122 | fNMatchedCosmics(0), | |
c3b5bfc1 | 123 | fNMatchedTPCtracklets(0), |
044eb03e | 124 | fNProcessedEvents(0), |
3ebfbf52 | 125 | fTrackInBuffer(0), |
55d5da9e | 126 | fTPCvd(2.64), |
3ebfbf52 | 127 | fTPCZLengthA(2.4972500e02), |
128 | fTPCZLengthC(2.4969799e02) | |
043badeb | 129 | { |
55d5da9e | 130 | //Default constructor |
131 | ||
132 | //default seed: zero, reset errors to large default | |
133 | Reset(); | |
55d5da9e | 134 | } |
135 | ||
136 | //______________________________________________________________________________ | |
137 | AliRelAlignerKalman::AliRelAlignerKalman(const AliRelAlignerKalman& a): | |
3ebfbf52 | 138 | TObject(static_cast<TObject>(a)), |
55d5da9e | 139 | fAlpha(a.fAlpha), |
140 | fLocalX(a.fLocalX), | |
3ebfbf52 | 141 | fPTrackParamArr1(new AliExternalTrackParam[fgkNTracksPerMeasurement]), |
142 | fPTrackParamArr2(new AliExternalTrackParam[fgkNTracksPerMeasurement]), | |
143 | fMagField(a.fMagField), | |
55d5da9e | 144 | fPX(new TVectorD( *a.fPX )), |
145 | fPXcov(new TMatrixDSym( *a.fPXcov )), | |
146 | fPH(new TMatrixD( *a.fPH )), | |
147 | fQ(a.fQ), | |
148 | fPMeasurement(new TVectorD( *a.fPMeasurement )), | |
149 | fPMeasurementCov(new TMatrixDSym( *a.fPMeasurementCov )), | |
150 | fOutRejSigmas(a.fOutRejSigmas), | |
3ebfbf52 | 151 | fDelta(new Double_t[fgkNSystemParams]), |
152 | fNumericalParanoia(a.fNumericalParanoia), | |
55d5da9e | 153 | fRejectOutliers(a.fRejectOutliers), |
55d5da9e | 154 | fRequireMatchInTPC(a.fRequireMatchInTPC), |
55d5da9e | 155 | fCuts(a.fCuts), |
156 | fMinPointsVol1(a.fMinPointsVol1), | |
157 | fMinPointsVol2(a.fMinPointsVol2), | |
158 | fMinMom(a.fMinMom), | |
159 | fMaxMom(a.fMaxMom), | |
160 | fMaxMatchingAngle(a.fMaxMatchingAngle), | |
161 | fMaxMatchingDistance(a.fMaxMatchingDistance), //in cm | |
162 | fCorrectionMode(a.fCorrectionMode), | |
163 | fNTracks(a.fNTracks), | |
164 | fNUpdates(a.fNUpdates), | |
165 | fNOutliers(a.fNOutliers), | |
166 | fNMatchedCosmics(a.fNMatchedCosmics), | |
167 | fNMatchedTPCtracklets(a.fNMatchedTPCtracklets), | |
168 | fNProcessedEvents(a.fNProcessedEvents), | |
3ebfbf52 | 169 | fTrackInBuffer(a.fTrackInBuffer), |
55d5da9e | 170 | fTPCvd(a.fTPCvd), |
171 | fTPCZLengthA(a.fTPCZLengthA), | |
172 | fTPCZLengthC(a.fTPCZLengthC) | |
3ebfbf52 | 173 | //fApplyCovarianceCorrection(a.fApplyCovarianceCorrection), |
174 | //fCalibrationMode(a.fCalibrationMode), | |
175 | //fFillHistograms(a.fFillHistograms), | |
176 | //fNHistogramBins(a.fNHistogramBins), | |
177 | //fPMes0Hist(new TH1D(*a.fPMes0Hist)), | |
178 | //fPMes1Hist(new TH1D(*a.fPMes1Hist)), | |
179 | //fPMes2Hist(new TH1D(*a.fPMes2Hist)), | |
180 | //fPMes3Hist(new TH1D(*a.fPMes3Hist)), | |
181 | //fPMesErr0Hist(new TH1D(*a.fPMesErr0Hist)), | |
182 | //fPMesErr1Hist(new TH1D(*a.fPMesErr1Hist)), | |
183 | //fPMesErr2Hist(new TH1D(*a.fPMesErr2Hist)), | |
184 | //fPMesErr3Hist(new TH1D(*a.fPMesErr3Hist)), | |
185 | //fPMeasurementCovCorr(new TMatrixDSym(*a.fPMeasurementCovCorr)), | |
55d5da9e | 186 | { |
187 | //copy constructor | |
188 | memcpy(fDelta,a.fDelta,fgkNSystemParams*sizeof(Double_t)); | |
189 | } | |
190 | ||
191 | //______________________________________________________________________________ | |
192 | AliRelAlignerKalman& AliRelAlignerKalman::operator=(const AliRelAlignerKalman& a) | |
193 | { | |
194 | //assignment operator | |
3ebfbf52 | 195 | //fAlpha=a.fAlpha; |
196 | //fLocalX=a.fLocalX; | |
197 | //memcpy(fPTrackParamArr1,a.fPTrackParamArr1,fgkNTracksPerMeasurement*sizeof(AliExternalTrackParam)); | |
198 | //memcpy(fPTrackParamArr2,a.fPTrackParamArr2,fgkNTracksPerMeasurement*sizeof(AliExternalTrackParam)); | |
199 | fMagField=a.fMagField, | |
55d5da9e | 200 | *fPX = *a.fPX; |
201 | *fPXcov = *a.fPXcov; | |
3ebfbf52 | 202 | //*fPH = *a.fPH; |
55d5da9e | 203 | fQ=a.fQ; |
3ebfbf52 | 204 | //*fPMeasurement=*a.fPMeasurement; |
205 | //*fPMeasurementCov=*a.fPMeasurementCov; | |
55d5da9e | 206 | fOutRejSigmas=a.fOutRejSigmas; |
207 | memcpy(fDelta,a.fDelta,fgkNSystemParams*sizeof(Double_t)); | |
3ebfbf52 | 208 | fNumericalParanoia=a.fNumericalParanoia; |
55d5da9e | 209 | fRejectOutliers=a.fRejectOutliers; |
55d5da9e | 210 | fRequireMatchInTPC=a.fRequireMatchInTPC; |
55d5da9e | 211 | fCuts=a.fCuts; |
212 | fMinPointsVol1=a.fMinPointsVol1; | |
213 | fMinPointsVol2=a.fMinPointsVol2; | |
214 | fMinMom=a.fMinMom; | |
215 | fMaxMom=a.fMaxMom; | |
216 | fMaxMatchingAngle=a.fMaxMatchingAngle; | |
217 | fMaxMatchingDistance=a.fMaxMatchingDistance; //in c; | |
218 | fCorrectionMode=a.fCorrectionMode; | |
219 | fNTracks=a.fNTracks; | |
220 | fNUpdates=a.fNUpdates; | |
221 | fNOutliers=a.fNOutliers; | |
222 | fNMatchedCosmics=a.fNMatchedCosmics; | |
223 | fNMatchedTPCtracklets=a.fNMatchedTPCtracklets; | |
224 | fNProcessedEvents=a.fNProcessedEvents; | |
3ebfbf52 | 225 | fTrackInBuffer=a.fTrackInBuffer; |
226 | //fApplyCovarianceCorrection=a.fApplyCovarianceCorrection; | |
227 | //fCalibrationMode=a.fCalibrationMode; | |
228 | //fFillHistograms=a.fFillHistograms; | |
229 | //fNHistogramBins=a.fNHistogramBins; | |
230 | //*fPMes0Hist=*(a.fPMes0Hist); | |
231 | //*fPMes1Hist=*(a.fPMes1Hist); | |
232 | //*fPMes2Hist=*(a.fPMes2Hist); | |
233 | //*fPMes3Hist=*(a.fPMes3Hist); | |
234 | //*fPMesErr0Hist=*(a.fPMesErr0Hist); | |
235 | //*fPMesErr1Hist=*(a.fPMesErr1Hist); | |
236 | //*fPMesErr2Hist=*(a.fPMesErr2Hist); | |
237 | //*fPMesErr3Hist=*(a.fPMesErr3Hist); | |
238 | //*fPMeasurementCovCorr=*(a.fPMeasurementCovCorr); | |
55d5da9e | 239 | fTPCvd=a.fTPCvd; |
240 | fTPCZLengthA=a.fTPCZLengthA; | |
241 | fTPCZLengthC=a.fTPCZLengthC; | |
242 | return *this; | |
043badeb | 243 | } |
244 | ||
044eb03e | 245 | //______________________________________________________________________________ |
246 | AliRelAlignerKalman::~AliRelAlignerKalman() | |
043badeb | 247 | { |
55d5da9e | 248 | //destructor |
3ebfbf52 | 249 | if (fPTrackParamArr1) delete [] fPTrackParamArr1; |
250 | if (fPTrackParamArr2) delete [] fPTrackParamArr2; | |
251 | if (fPX) delete fPX; | |
252 | if (fPXcov) delete fPXcov; | |
253 | if (fPH) delete fPH; | |
254 | if (fPMeasurement) delete fPMeasurement; | |
255 | if (fPMeasurementCov) delete fPMeasurementCov; | |
256 | if (fDelta) delete [] fDelta; | |
257 | //if (fPMes0Hist) delete fPMes0Hist; | |
258 | //if (fPMes1Hist) delete fPMes1Hist; | |
259 | //if (fPMes2Hist) delete fPMes2Hist; | |
260 | //if (fPMes3Hist) delete fPMes3Hist; | |
261 | //if (fPMesErr0Hist) delete fPMesErr0Hist; | |
262 | //if (fPMesErr1Hist) delete fPMesErr1Hist; | |
263 | //if (fPMesErr2Hist) delete fPMesErr2Hist; | |
264 | //if (fPMesErr3Hist) delete fPMesErr3Hist; | |
265 | //if (fPMeasurementCovCorr) delete fPMeasurementCovCorr; | |
266 | } | |
267 | ||
268 | //______________________________________________________________________________ | |
269 | Bool_t AliRelAlignerKalman::AddESDevent( const AliESDEvent* pEvent ) | |
270 | { | |
271 | //Add all tracks in an ESD event | |
272 | ||
273 | fNProcessedEvents++; //update the counter | |
274 | ||
275 | Bool_t success=kFALSE; | |
276 | SetMagField( pEvent->GetMagneticField() ); | |
277 | AliESDtrack* track; | |
278 | ||
279 | for (Int_t i=0; i<pEvent->GetNumberOfTracks(); i++) | |
280 | { | |
281 | track = pEvent->GetTrack(i); | |
282 | if (!track) continue; | |
283 | if ( ((track->GetStatus()&AliESDtrack::kTPCin)>0)&& | |
284 | ((track->GetStatus()&AliESDtrack::kITSout)>0)&& | |
285 | (track->GetNcls(0)>=fMinPointsVol1)&& | |
286 | (track->GetNcls(1)>=fMinPointsVol2) ) | |
287 | { | |
288 | success = ( AddESDtrack( track ) || success ); | |
289 | } | |
290 | } | |
291 | return success; | |
043badeb | 292 | } |
293 | ||
044eb03e | 294 | //______________________________________________________________________________ |
3ebfbf52 | 295 | Bool_t AliRelAlignerKalman::AddESDtrack( const AliESDtrack* pTrack ) |
043badeb | 296 | { |
3ebfbf52 | 297 | ////Adds a full track, returns true if results in a new estimate |
298 | ||
299 | //const AliExternalTrackParam* pconstparamsITS = pTrack->GetOuterParam(); | |
300 | //if (!pconstparamsITS) return kFALSE; | |
301 | //const AliExternalTrackParam* pconstparamsTPC = pTrack->GetInnerParam(); | |
302 | //if (!pconstparamsTPC) return kFALSE; | |
303 | // | |
304 | ////TPC part | |
305 | //AliExternalTrackParam paramsTPC = (*pconstparamsTPC); | |
306 | //paramsTPC.Rotate(pconstparamsITS->GetAlpha()); | |
307 | //paramsTPC.PropagateTo(pconstparamsITS->GetX(), pconstparamsITS->GetAlpha()); | |
308 | ||
309 | //if (!SetTrackParams( pconstparamsITS, ¶msTPC )) return kFALSE; | |
310 | // | |
311 | ////do some accounting and update | |
312 | //return (Update()); | |
313 | ||
314 | const AliESDtrack* p; | |
315 | p=pTrack; //shuts up the compiler | |
316 | ||
55d5da9e | 317 | return kFALSE; |
043badeb | 318 | } |
319 | ||
044eb03e | 320 | //______________________________________________________________________________ |
55d5da9e | 321 | Bool_t AliRelAlignerKalman::AddCosmicEvent( const AliESDEvent* pEvent ) |
043badeb | 322 | { |
55d5da9e | 323 | //Add an cosmic with separately tracked ITS and TPC parts, do trackmatching |
324 | ||
3ebfbf52 | 325 | fNProcessedEvents++; //update the counter |
326 | ||
55d5da9e | 327 | Bool_t success=kFALSE; |
328 | TArrayI trackTArrITS(1); | |
329 | TArrayI trackTArrTPC(1); | |
330 | if (!FindCosmicTrackletNumbersInEvent( trackTArrITS, trackTArrTPC, pEvent )) return kFALSE; | |
3ebfbf52 | 331 | SetMagField( pEvent->GetMagneticField() ); |
55d5da9e | 332 | AliESDtrack* ptrack; |
3ebfbf52 | 333 | const AliExternalTrackParam* pconstparams1; |
334 | const AliExternalTrackParam* pconstparams2; | |
335 | AliExternalTrackParam params1; | |
336 | AliExternalTrackParam params2; | |
337 | ||
55d5da9e | 338 | //////////////////////////////// |
339 | for (Int_t i=0;i<trackTArrITS.GetSize();i++) | |
340 | { | |
341 | //ITS track | |
342 | ptrack = pEvent->GetTrack(trackTArrITS[i]); | |
3ebfbf52 | 343 | pconstparams1 = ptrack->GetOuterParam(); |
344 | if (!pconstparams1) continue; | |
345 | params1 = *pconstparams1; //make copy to be safe | |
044eb03e | 346 | |
55d5da9e | 347 | //TPC track |
348 | ptrack = pEvent->GetTrack(trackTArrTPC[i]); | |
3ebfbf52 | 349 | pconstparams2 = ptrack->GetInnerParam(); |
350 | if (!pconstparams2) continue; | |
351 | params2 = *pconstparams2; //make copy | |
352 | params2.Rotate(params1.GetAlpha()); | |
353 | params2.PropagateTo( params1.GetX(), params1.GetAlpha() ); | |
354 | ||
355 | if (!SetTrackParams( ¶ms1, ¶ms2 )) continue; | |
55d5da9e | 356 | |
357 | //do some accounting and update | |
55d5da9e | 358 | if (Update()) |
359 | success = kTRUE; | |
360 | else | |
361 | continue; | |
362 | } | |
363 | return success; | |
043badeb | 364 | } |
365 | ||
044eb03e | 366 | //______________________________________________________________________________ |
367 | void AliRelAlignerKalman::Print(Option_t*) const | |
043badeb | 368 | { |
55d5da9e | 369 | //Print some useful info |
370 | Double_t rad2deg = 180./TMath::Pi(); | |
3ebfbf52 | 371 | printf("\nAliRelAlignerKalman\n"); |
372 | if (fCorrectionMode) printf("(Correction mode)\n"); | |
55d5da9e | 373 | printf(" %i pairs, %i updates, %i outliers,\n", fNTracks, fNUpdates, fNOutliers ); |
3ebfbf52 | 374 | printf(" %i TPC matches, %i ITS-TPC matches in %i events\n", fNMatchedTPCtracklets, fNMatchedCosmics, fNProcessedEvents ); |
55d5da9e | 375 | printf(" psi(x): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(0), 1e3*TMath::Sqrt((*fPXcov)(0,0)),(*fPX)(0)*rad2deg,TMath::Sqrt((*fPXcov)(0,0))*rad2deg); |
376 | printf(" theta(y): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(1), 1e3*TMath::Sqrt((*fPXcov)(1,1)),(*fPX)(1)*rad2deg,TMath::Sqrt((*fPXcov)(1,1))*rad2deg); | |
377 | printf(" phi(z): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(2), 1e3*TMath::Sqrt((*fPXcov)(2,2)),(*fPX)(2)*rad2deg,TMath::Sqrt((*fPXcov)(2,2))*rad2deg); | |
378 | printf(" x: % .3f ± (%.2f) micron\n", 1e4*(*fPX)(3), 1e4*TMath::Sqrt((*fPXcov)(3,3))); | |
379 | printf(" y: % .3f ± (%.2f) micron\n", 1e4*(*fPX)(4), 1e4*TMath::Sqrt((*fPXcov)(4,4))); | |
380 | printf(" z: % .3f ± (%.2f) micron\n", 1e4*(*fPX)(5), 1e4*TMath::Sqrt((*fPXcov)(5,5))); | |
3ebfbf52 | 381 | if (fgkNSystemParams>6) printf(" vd corr % .5g ± (%.2g) [ vd should be %.4g (was %.4g in reco) ]\n", (*fPX)(6), TMath::Sqrt((*fPXcov)(6,6)), (*fPX)(6)*fTPCvd, fTPCvd); |
382 | if (fgkNSystemParams>7) printf(" t0 % .5g ± (%.2g) us | %.4g ± (%.2g) cm [ t0_real = t0_rec+t0 ]\n",(*fPX)(7), TMath::Sqrt((*fPXcov)(7,7)), fTPCvd*(*fPX)(7), fTPCvd*TMath::Sqrt((*fPXcov)(7,7))); | |
383 | if (fgkNSystemParams>8) printf(" vd/dy % .5f ± (%.2f) (cm/us)/m\n", (*fPX)(8), TMath::Sqrt((*fPXcov)(8,8))); | |
55d5da9e | 384 | printf("\n"); |
385 | return; | |
043badeb | 386 | } |
387 | ||
044eb03e | 388 | //______________________________________________________________________________ |
389 | void AliRelAlignerKalman::PrintSystemMatrix() | |
043badeb | 390 | { |
55d5da9e | 391 | //Print the system matrix for this measurement |
392 | printf("Kalman system matrix:\n"); | |
393 | for ( Int_t i=0; i<fgkNMeasurementParams; i++ ) | |
394 | { | |
395 | for ( Int_t j=0; j<fgkNSystemParams; j++ ) | |
044eb03e | 396 | { |
55d5da9e | 397 | printf("% -2.2f ", (*fPH)(i,j) ); |
398 | }//for i | |
044eb03e | 399 | printf("\n"); |
55d5da9e | 400 | }//for j |
401 | printf("\n"); | |
402 | return; | |
043badeb | 403 | } |
404 | ||
044eb03e | 405 | //______________________________________________________________________________ |
3ebfbf52 | 406 | Bool_t AliRelAlignerKalman::SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 ) |
043badeb | 407 | { |
3ebfbf52 | 408 | //Set the parameters, exparam1 will normally be ITS and exparam 2 tht TPC |
409 | ||
410 | fPTrackParamArr1[fTrackInBuffer] = *exparam1; | |
411 | fPTrackParamArr2[fTrackInBuffer] = *exparam2; | |
412 | ||
413 | fTrackInBuffer++; | |
043badeb | 414 | |
3ebfbf52 | 415 | if (fTrackInBuffer == fgkNTracksPerMeasurement) |
416 | { | |
417 | fTrackInBuffer = 0; | |
418 | return kTRUE; | |
419 | } | |
420 | return kFALSE; | |
043badeb | 421 | } |
422 | ||
044eb03e | 423 | //______________________________________________________________________________ |
424 | void AliRelAlignerKalman::SetRefSurface( const Double_t radius, const Double_t alpha ) | |
043badeb | 425 | { |
55d5da9e | 426 | //sets the reference surface by setting the radius (localx) |
427 | //and rotation angle wrt the global frame of reference | |
428 | //locally the reference surface becomes a plane with x=r; | |
429 | fLocalX = radius; | |
430 | fAlpha = alpha; | |
043badeb | 431 | } |
432 | ||
044eb03e | 433 | //______________________________________________________________________________ |
3ebfbf52 | 434 | Bool_t AliRelAlignerKalman::Update() |
043badeb | 435 | { |
3ebfbf52 | 436 | //perform the update |
437 | ||
438 | //if (fCalibrationMode) return UpdateCalibration(); | |
439 | //if (fFillHistograms) | |
440 | //{ | |
441 | // if (!UpdateEstimateKalman()) return kFALSE; | |
442 | // return UpdateCalibration(); //Update histograms only when update ok. | |
443 | //} | |
444 | //else return UpdateEstimateKalman(); | |
55d5da9e | 445 | if (!PrepareMeasurement()) return kFALSE; |
446 | if (!PrepareSystemMatrix()) return kFALSE; | |
3ebfbf52 | 447 | return UpdateEstimateKalman(); |
043badeb | 448 | } |
449 | ||
044eb03e | 450 | //______________________________________________________________________________ |
043badeb | 451 | void AliRelAlignerKalman::RotMat( TMatrixD &R, const TVectorD& angles ) |
452 | { | |
55d5da9e | 453 | //Get Rotation matrix R given the Cardan angles psi, theta, phi (around x, y, z). |
454 | Double_t sinpsi = TMath::Sin(angles(0)); | |
455 | Double_t sintheta = TMath::Sin(angles(1)); | |
456 | Double_t sinphi = TMath::Sin(angles(2)); | |
457 | Double_t cospsi = TMath::Cos(angles(0)); | |
458 | Double_t costheta = TMath::Cos(angles(1)); | |
459 | Double_t cosphi = TMath::Cos(angles(2)); | |
460 | ||
461 | R(0,0) = costheta*cosphi; | |
462 | R(0,1) = -costheta*sinphi; | |
463 | R(0,2) = sintheta; | |
464 | R(1,0) = sinpsi*sintheta*cosphi + cospsi*sinphi; | |
465 | R(1,1) = -sinpsi*sintheta*sinphi + cospsi*cosphi; | |
466 | R(1,2) = -costheta*sinpsi; | |
467 | R(2,0) = -cospsi*sintheta*cosphi + sinpsi*sinphi; | |
468 | R(2,1) = cospsi*sintheta*sinphi + sinpsi*cosphi; | |
469 | R(2,2) = costheta*cospsi; | |
043badeb | 470 | } |
471 | ||
044eb03e | 472 | //______________________________________________________________________________ |
473 | Bool_t AliRelAlignerKalman::PrepareMeasurement() | |
043badeb | 474 | { |
55d5da9e | 475 | //Calculate the residuals and their covariance matrix |
3ebfbf52 | 476 | |
477 | for (Int_t i=0;i<fgkNTracksPerMeasurement;i++) | |
478 | { | |
479 | const Double_t* pararr1 = fPTrackParamArr1[i].GetParameter(); | |
480 | const Double_t* pararr2 = fPTrackParamArr2[i].GetParameter(); | |
481 | ||
482 | //Take the track parameters and calculate the input to the Kalman filter | |
483 | Int_t x = i*4; | |
484 | (*fPMeasurement)(x+0) = pararr2[0]-pararr1[0]; | |
485 | (*fPMeasurement)(x+1) = pararr2[1]-pararr1[1]; | |
486 | (*fPMeasurement)(x+2) = pararr2[2]-pararr1[2]; | |
487 | (*fPMeasurement)(x+3) = pararr2[3]-pararr1[3]; | |
488 | ||
489 | //the covariance | |
490 | const Double_t* parcovarr1 = fPTrackParamArr1[i].GetCovariance(); | |
491 | const Double_t* parcovarr2 = fPTrackParamArr2[i].GetCovariance(); | |
492 | (*fPMeasurementCov)(x+0,x+0)=parcovarr1[0]; | |
493 | (*fPMeasurementCov)(x+0,x+1)=parcovarr1[1]; | |
494 | (*fPMeasurementCov)(x+0,x+2)=parcovarr1[3]; | |
495 | (*fPMeasurementCov)(x+0,x+3)=parcovarr1[6]; | |
496 | (*fPMeasurementCov)(x+1,x+0)=parcovarr1[1]; | |
497 | (*fPMeasurementCov)(x+1,x+1)=parcovarr1[2]; | |
498 | (*fPMeasurementCov)(x+1,x+2)=parcovarr1[4]; | |
499 | (*fPMeasurementCov)(x+1,x+3)=parcovarr1[7]; | |
500 | (*fPMeasurementCov)(x+2,x+0)=parcovarr1[3]; | |
501 | (*fPMeasurementCov)(x+2,x+1)=parcovarr1[4]; | |
502 | (*fPMeasurementCov)(x+2,x+2)=parcovarr1[5]; | |
503 | (*fPMeasurementCov)(x+2,x+3)=parcovarr1[8]; | |
504 | (*fPMeasurementCov)(x+3,x+0)=parcovarr1[6]; | |
505 | (*fPMeasurementCov)(x+3,x+1)=parcovarr1[7]; | |
506 | (*fPMeasurementCov)(x+3,x+2)=parcovarr1[8]; | |
507 | (*fPMeasurementCov)(x+3,x+3)=parcovarr1[9]; | |
508 | (*fPMeasurementCov)(x+0,x+0)+=parcovarr2[0]; | |
509 | (*fPMeasurementCov)(x+0,x+1)+=parcovarr2[1]; | |
510 | (*fPMeasurementCov)(x+0,x+2)+=parcovarr2[3]; | |
511 | (*fPMeasurementCov)(x+0,x+3)+=parcovarr2[6]; | |
512 | (*fPMeasurementCov)(x+1,x+0)+=parcovarr2[1]; | |
513 | (*fPMeasurementCov)(x+1,x+1)+=parcovarr2[2]; | |
514 | (*fPMeasurementCov)(x+1,x+2)+=parcovarr2[4]; | |
515 | (*fPMeasurementCov)(x+1,x+3)+=parcovarr2[7]; | |
516 | (*fPMeasurementCov)(x+2,x+0)+=parcovarr2[3]; | |
517 | (*fPMeasurementCov)(x+2,x+1)+=parcovarr2[4]; | |
518 | (*fPMeasurementCov)(x+2,x+2)+=parcovarr2[5]; | |
519 | (*fPMeasurementCov)(x+2,x+3)+=parcovarr2[8]; | |
520 | (*fPMeasurementCov)(x+3,x+0)+=parcovarr2[6]; | |
521 | (*fPMeasurementCov)(x+3,x+1)+=parcovarr2[7]; | |
522 | (*fPMeasurementCov)(x+3,x+2)+=parcovarr2[8]; | |
523 | (*fPMeasurementCov)(x+3,x+3)+=parcovarr2[9]; | |
524 | ||
525 | fNTracks++; //count added track sets | |
526 | } | |
527 | //if (fApplyCovarianceCorrection) | |
528 | // *fPMeasurementCov += *fPMeasurementCovCorr; | |
55d5da9e | 529 | return kTRUE; |
043badeb | 530 | } |
531 | ||
044eb03e | 532 | //______________________________________________________________________________ |
533 | Bool_t AliRelAlignerKalman::PrepareSystemMatrix() | |
043badeb | 534 | { |
55d5da9e | 535 | //Calculate the system matrix for the Kalman filter |
536 | //approximate the system using as reference the track in the first volume | |
537 | ||
538 | TVectorD z1( fgkNMeasurementParams ); | |
539 | TVectorD z2( fgkNMeasurementParams ); | |
540 | TVectorD x1( fgkNSystemParams ); | |
541 | TVectorD x2( fgkNSystemParams ); | |
55d5da9e | 542 | //get the derivatives |
543 | for ( Int_t i=0; i<fgkNSystemParams; i++ ) | |
544 | { | |
545 | x1 = *fPX; | |
546 | x2 = *fPX; | |
3ebfbf52 | 547 | x1(i) = x1(i) - fDelta[i]/(2.0); |
548 | x2(i) = x2(i) + fDelta[i]/(2.0); | |
55d5da9e | 549 | if (!PredictMeasurement( z1, x1 )) return kFALSE; |
550 | if (!PredictMeasurement( z2, x2 )) return kFALSE; | |
551 | for (Int_t j=0; j<fgkNMeasurementParams; j++ ) | |
3ebfbf52 | 552 | { |
553 | (*fPH)(j,i) = ( z2(j)-z1(j) ) / fDelta[i]; | |
554 | } | |
55d5da9e | 555 | } |
556 | return kTRUE; | |
043badeb | 557 | } |
558 | ||
044eb03e | 559 | //______________________________________________________________________________ |
043badeb | 560 | Bool_t AliRelAlignerKalman::PredictMeasurement( TVectorD& pred, const TVectorD& state ) |
561 | { | |
55d5da9e | 562 | // Implements a system model for the Kalman fit |
563 | // pred is [dy,dz,dsinphi,dtgl] | |
564 | // state is [psi,theta,phi,x,y,z,driftTPC,offsetTPC] | |
565 | // note: the measurement is in a local frame, so the prediction also has to be | |
566 | // note: state is the misalignment in global reference system | |
567 | ||
55d5da9e | 568 | if (fCorrectionMode) |
569 | { | |
3ebfbf52 | 570 | for (Int_t i=0;i<fgkNTracksPerMeasurement;i++) |
571 | { | |
572 | AliExternalTrackParam track(fPTrackParamArr2[i]); //make a copy track | |
573 | if (!CorrectTrack( &track, state )) return kFALSE; //predict what the ideal track would be by applying correction | |
574 | ||
575 | const Double_t* oldparam = fPTrackParamArr2[i].GetParameter(); | |
576 | const Double_t* newparam = track.GetParameter(); | |
577 | ||
578 | Int_t x = 4*i; | |
579 | //calculate the predicted residual | |
580 | pred(x+0) = oldparam[0] - newparam[0]; | |
581 | pred(x+1) = oldparam[1] - newparam[1]; | |
582 | pred(x+2) = oldparam[2] - newparam[2]; | |
583 | pred(x+3) = oldparam[3] - newparam[3]; | |
584 | return kTRUE; | |
585 | } | |
55d5da9e | 586 | } |
587 | else | |
588 | { | |
3ebfbf52 | 589 | for (Int_t i=0;i<fgkNTracksPerMeasurement;i++) |
590 | { | |
591 | AliExternalTrackParam track(fPTrackParamArr1[i]); //make a copy track | |
592 | if (!MisalignTrack( &track, state )) return kFALSE; //predict what the measured track would be by applying misalignment | |
593 | ||
594 | const Double_t* oldparam = fPTrackParamArr1[i].GetParameter(); | |
595 | const Double_t* newparam = track.GetParameter(); | |
596 | ||
597 | Int_t x = 4*i; | |
598 | //calculate the predicted residual | |
599 | pred(x+0) = newparam[0] - oldparam[0]; | |
600 | pred(x+1) = newparam[1] - oldparam[1]; | |
601 | pred(x+2) = newparam[2] - oldparam[2]; | |
602 | pred(x+3) = newparam[3] - oldparam[3]; | |
603 | return kTRUE; | |
604 | } | |
55d5da9e | 605 | } |
606 | return kFALSE; | |
043badeb | 607 | } |
608 | ||
044eb03e | 609 | //______________________________________________________________________________ |
043badeb | 610 | Bool_t AliRelAlignerKalman::UpdateEstimateKalman() |
611 | { | |
55d5da9e | 612 | //Kalman estimation of noisy constants: in the model A=1 |
613 | //The arguments are (following the usual convention): | |
614 | // fPX - the state vector (parameters) | |
615 | // fPXcov - the state covariance matrix (parameter errors) | |
616 | // fPMeasurement - measurement vector | |
617 | // fPMeasurementCov - measurement covariance matrix | |
618 | // fPH - measurement model matrix ( fPMeasurement = Hx + v ) v being measurement noise (error fR) | |
619 | ||
620 | TMatrixDSym identity(TMatrixDSym::kUnit, (*fPXcov)); //unit matrix | |
621 | ||
622 | //predict the state | |
623 | //(*fPXcov) = (*fPXcov) + fQ*identity; //add some process noise (diagonal) | |
624 | ||
625 | // update prediction with measurement | |
626 | // calculate Kalman gain | |
627 | // K = PH/(HPH+fPMeasurementCov) | |
628 | TMatrixD pht( (*fPXcov), TMatrixD::kMultTranspose, (*fPH) ); //common factor (used twice) | |
629 | TMatrixD hpht( (*fPH), TMatrixD::kMult, pht ); | |
630 | hpht += (*fPMeasurementCov); | |
3ebfbf52 | 631 | |
55d5da9e | 632 | //shit happens so protect yourself! |
3ebfbf52 | 633 | // if (fNumericalParanoia) |
634 | // { | |
635 | // TDecompLU lu(hpht); | |
636 | // if (lu.Condition() > 1e12) return kFALSE; | |
637 | // lu.Invert(hpht); | |
638 | // } | |
639 | // else | |
640 | // { | |
641 | Double_t det; | |
642 | hpht.InvertFast(&det); //since the matrix is small... | |
643 | if (det < 2e-55) return kFALSE; //we need some sort of protection even in this case.... | |
644 | // } | |
645 | //printf("KalmanUpdate: det(hpht): %.4g\n",det); | |
646 | ||
647 | TMatrixD k(pht, TMatrixD::kMult, hpht ); //compute K (hpht is already inverted) | |
55d5da9e | 648 | |
649 | // update the state and its covariance matrix | |
650 | TVectorD xupdate(fgkNSystemParams); | |
651 | TVectorD hx(fgkNMeasurementParams); | |
652 | PredictMeasurement( hx, (*fPX) ); | |
653 | xupdate = k*((*fPMeasurement)-hx); | |
654 | ||
655 | //SIMPLE OUTLIER REJECTION | |
656 | if ( IsOutlier( xupdate, (*fPXcov) ) && fRejectOutliers ) | |
657 | { | |
658 | fNOutliers++; | |
659 | return kFALSE; | |
660 | } | |
661 | ||
55d5da9e | 662 | TMatrixD kh( k, TMatrixD::kMult, (*fPH) ); |
663 | TMatrixD ikh(fgkNSystemParams,fgkNSystemParams); //this is because for some reason TMatrixD::kAdd didn't work | |
664 | ikh = identity - kh; | |
665 | TMatrixD ikhp( ikh, TMatrixD::kMult, (*fPXcov) ); // (identity-KH)fPXcov | |
3ebfbf52 | 666 | if (!IsPositiveDefinite(ikhp)) return kFALSE; |
667 | ||
668 | (*fPX) += xupdate; | |
669 | TMatrixDSymFromTMatrixD( (*fPXcov), ikhp ); //make the matrix completely symetrical | |
670 | ||
55d5da9e | 671 | fNUpdates++; |
3ebfbf52 | 672 | |
55d5da9e | 673 | return kTRUE; |
043badeb | 674 | } |
675 | ||
044eb03e | 676 | //______________________________________________________________________________ |
677 | Bool_t AliRelAlignerKalman::IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix ) | |
678 | { | |
55d5da9e | 679 | //check whether an update is an outlier given the covariance matrix of the fit |
680 | ||
681 | Bool_t is=kFALSE; | |
682 | for (Int_t i=0;i<fgkNSystemParams;i++) | |
683 | { | |
3ebfbf52 | 684 | if (covmatrix(i,i)<0.) return kTRUE; //if cov matrix has neg diagonals something went wrong |
55d5da9e | 685 | is = (is) || (TMath::Abs(update(i)) > fOutRejSigmas*TMath::Sqrt((covmatrix)(i,i))); |
686 | } | |
687 | return is; | |
044eb03e | 688 | } |
689 | ||
3ebfbf52 | 690 | //______________________________________________________________________________ |
691 | Bool_t AliRelAlignerKalman::IsPositiveDefinite( const TMatrixD& mat ) const | |
692 | { | |
693 | for (Int_t i=0; i<mat.GetNcols(); i++) | |
694 | { | |
695 | if (mat(i,i)<=0.) return kFALSE; | |
696 | } | |
697 | ||
698 | if (!fNumericalParanoia) return kTRUE; | |
699 | ||
700 | TDecompLU lu(mat); | |
701 | return (lu.Decompose()); | |
702 | } | |
703 | ||
044eb03e | 704 | //______________________________________________________________________________ |
55d5da9e | 705 | void AliRelAlignerKalman::TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat ) |
043badeb | 706 | { |
55d5da9e | 707 | //Produce a valid symmetric matrix out of an almost symmetric TMatrixD |
043badeb | 708 | |
55d5da9e | 709 | for (Int_t i=0; i<mat.GetNcols(); i++) |
710 | { | |
711 | matsym(i,i) = mat(i,i); //copy diagonal | |
712 | for (Int_t j=i+1; j<mat.GetNcols(); j++) | |
043badeb | 713 | { |
55d5da9e | 714 | //copy the rest |
715 | Double_t average = (mat(i,j)+mat(j,i))/2.; | |
716 | matsym(i,j)=average; | |
717 | matsym(j,i)=average; | |
043badeb | 718 | } |
55d5da9e | 719 | } |
3ebfbf52 | 720 | matsym.MakeValid(); |
55d5da9e | 721 | return; |
043badeb | 722 | } |
723 | ||
044eb03e | 724 | //______________________________________________________________________________ |
043badeb | 725 | void AliRelAlignerKalman::Angles( TVectorD &angles, const TMatrixD &rotmat ) |
726 | { | |
55d5da9e | 727 | //Calculate the Cardan angles (psi,theta,phi) from rotation matrix |
728 | //b = R*a | |
729 | angles(0) = TMath::ATan2( -rotmat(1,2), rotmat(2,2) ); | |
730 | angles(1) = TMath::ASin( rotmat(0,2) ); | |
731 | angles(2) = TMath::ATan2( -rotmat(0,1), rotmat(0,0) ); | |
732 | return; | |
043badeb | 733 | } |
734 | ||
044eb03e | 735 | //______________________________________________________________________________ |
043badeb | 736 | void AliRelAlignerKalman::PrintCorrelationMatrix() |
737 | { | |
55d5da9e | 738 | //Print the correlation matrix for the fitted parameters |
739 | printf("Correlation matrix for system parameters:\n"); | |
740 | for ( Int_t i=0; i<fgkNSystemParams; i++ ) | |
741 | { | |
742 | for ( Int_t j=0; j<i+1; j++ ) | |
043badeb | 743 | { |
3ebfbf52 | 744 | if ((*fPXcov)(i,i)==0. || (*fPXcov)(j,j)==0.) printf(" NaN "); |
745 | else | |
746 | printf("% -1.3f ", (*fPXcov)(i,j)/TMath::Sqrt( (*fPXcov)(i,i) * (*fPXcov)(j,j) ) ); | |
55d5da9e | 747 | }//for j |
043badeb | 748 | printf("\n"); |
55d5da9e | 749 | }//for i |
750 | printf("\n"); | |
751 | return; | |
043badeb | 752 | } |
753 | ||
044eb03e | 754 | //______________________________________________________________________________ |
c3b5bfc1 | 755 | Bool_t AliRelAlignerKalman::FindCosmicTrackletNumbersInEvent( TArrayI& outITSindexTArr, TArrayI& outTPCindexTArr, const AliESDEvent* pEvent ) |
043badeb | 756 | { |
55d5da9e | 757 | //Find matching track segments in an event with tracks in TPC and ITS(standalone) |
043badeb | 758 | |
55d5da9e | 759 | //Sanity cuts on tracks + check which tracks are ITS which are TPC |
760 | Int_t ntracks = pEvent->GetNumberOfTracks(); ////printf("number of tracks in event: %i\n", ntracks); | |
3ebfbf52 | 761 | fMagField = pEvent->GetMagneticField(); |
55d5da9e | 762 | if (ntracks<2) |
763 | { | |
764 | //printf("TrackFinder: less than 2 tracks!\n"); | |
765 | return kFALSE; | |
766 | } | |
767 | Float_t* phiArr = new Float_t[ntracks]; | |
768 | Float_t* thetaArr = new Float_t[ntracks]; | |
769 | Int_t* goodtracksArr = new Int_t[ntracks]; | |
770 | Int_t* candidateTPCtracksArr = new Int_t[ntracks]; | |
771 | Int_t* matchedITStracksArr = new Int_t[ntracks]; | |
772 | Int_t* matchedTPCtracksArr = new Int_t[ntracks]; | |
773 | Int_t* tracksArrITS = new Int_t[ntracks]; | |
774 | Int_t* tracksArrTPC = new Int_t[ntracks]; | |
775 | Int_t* nPointsArr = new Int_t[ntracks]; | |
776 | Int_t nITStracks = 0; | |
777 | Int_t nTPCtracks = 0; | |
778 | Int_t nGoodTracks = 0; | |
779 | Int_t nCandidateTPCtracks = 0; | |
780 | Int_t nMatchedITStracks = 0; | |
781 | AliESDtrack* pTrack = NULL; | |
782 | Bool_t foundMatchTPC = kFALSE; | |
783 | ||
784 | //select and clasify tracks | |
785 | for (Int_t itrack=0; itrack < ntracks; itrack++) | |
786 | { | |
787 | pTrack = pEvent->GetTrack(itrack); | |
788 | if (!pTrack) | |
043badeb | 789 | { |
3ebfbf52 | 790 | //std::cout<<"no track!"<<std::endl; |
55d5da9e | 791 | continue; |
043badeb | 792 | } |
55d5da9e | 793 | if (fCuts) |
c3b5bfc1 | 794 | { |
55d5da9e | 795 | if (pTrack->GetP()<fMinMom || pTrack->GetP()>fMaxMom) continue; |
043badeb | 796 | } |
55d5da9e | 797 | goodtracksArr[nGoodTracks]=itrack; |
798 | Float_t phi = pTrack->GetAlpha()+TMath::ASin(pTrack->GetSnp()); | |
799 | Float_t theta = 0.5*TMath::Pi()-TMath::ATan(pTrack->GetTgl()); | |
800 | phiArr[nGoodTracks]=phi; | |
801 | thetaArr[nGoodTracks]=theta; | |
802 | ||
803 | //check if track is ITS | |
804 | Int_t nClsITS = pTrack->GetNcls(0); | |
805 | Int_t nClsTPC = pTrack->GetNcls(1); | |
806 | if ( ((pTrack->GetStatus()&AliESDtrack::kITSout)>0)&& | |
807 | !((pTrack->GetStatus()&AliESDtrack::kTPCin)>0)&& | |
808 | !(nClsITS<fMinPointsVol1) ) //enough points | |
043badeb | 809 | { |
55d5da9e | 810 | tracksArrITS[nITStracks] = nGoodTracks; |
811 | nITStracks++; | |
812 | nGoodTracks++; | |
813 | continue; | |
043badeb | 814 | } |
815 | ||
55d5da9e | 816 | //check if track is TPC |
817 | if ( ((pTrack->GetStatus()&AliESDtrack::kTPCin)>0)&& | |
818 | !(nClsTPC<fMinPointsVol2) ) //enough points | |
043badeb | 819 | { |
55d5da9e | 820 | tracksArrTPC[nTPCtracks] = nGoodTracks; |
821 | nTPCtracks++; | |
822 | nGoodTracks++; | |
823 | //printf("tracksArrTPC[%d]=%d, goodtracksArr[%d]=%d\n",nTPCtracks-1,tracksArrTPC[nTPCtracks-1],nGoodTracks-1,goodtracksArr[nGoodTracks-1]); | |
824 | continue; | |
044eb03e | 825 | } |
55d5da9e | 826 | }//for itrack - selection fo tracks |
044eb03e | 827 | |
55d5da9e | 828 | //printf("TrackFinder: %d ITS | %d TPC out of %d tracks in event\n", nITStracks,nTPCtracks,ntracks); |
829 | ||
830 | if ( nITStracks < 1 || nTPCtracks < 1 ) | |
831 | { | |
832 | delete [] phiArr; | |
833 | delete [] thetaArr; | |
834 | delete [] goodtracksArr; | |
835 | delete [] matchedITStracksArr; | |
836 | delete [] candidateTPCtracksArr; | |
837 | delete [] matchedTPCtracksArr; | |
838 | delete [] tracksArrITS; | |
839 | delete [] tracksArrTPC; | |
840 | delete [] nPointsArr; | |
841 | return kFALSE; | |
842 | } | |
843 | ||
844 | //find matching in TPC | |
845 | if (nTPCtracks>1) //if there is something to be matched, try and match it | |
846 | { | |
847 | Float_t min = 10000000.; | |
848 | for (Int_t itr1=0; itr1<nTPCtracks; itr1++) | |
044eb03e | 849 | { |
55d5da9e | 850 | for (Int_t itr2=itr1+1; itr2<nTPCtracks; itr2++) |
851 | { | |
852 | Float_t deltatheta = TMath::Abs(TMath::Pi()-thetaArr[tracksArrTPC[itr1]]-thetaArr[tracksArrTPC[itr2]]); | |
853 | if (deltatheta > fMaxMatchingAngle) continue; | |
854 | Float_t deltaphi = TMath::Abs(TMath::Abs(phiArr[tracksArrTPC[itr1]]-phiArr[tracksArrTPC[itr2]])-TMath::Pi()); | |
855 | if (deltaphi > fMaxMatchingAngle) continue; | |
856 | if (deltatheta+deltaphi<min) //only the best matching pair | |
043badeb | 857 | { |
55d5da9e | 858 | min=deltatheta+deltaphi; |
859 | candidateTPCtracksArr[0] = tracksArrTPC[itr1]; //store the index of track in goodtracksArr[] | |
860 | candidateTPCtracksArr[1] = tracksArrTPC[itr2]; | |
861 | nCandidateTPCtracks = 2; | |
862 | foundMatchTPC = kTRUE; | |
863 | //printf("TrackFinder: Matching TPC tracks candidates:\n"); | |
864 | //printf("TrackFinder: candidateTPCtracksArr[0]=%d\n",tracksArrTPC[itr1]); | |
865 | //printf("TrackFinder: candidateTPCtracksArr[1]=%d\n",tracksArrTPC[itr2]); | |
043badeb | 866 | } |
55d5da9e | 867 | } |
043badeb | 868 | } |
55d5da9e | 869 | }//if nTPCtracks>1 |
870 | else //if nTPCtracks==1 - if nothing to match, take the only one we've got | |
871 | { | |
872 | candidateTPCtracksArr[0] = tracksArrTPC[0]; | |
873 | nCandidateTPCtracks = 1; | |
874 | foundMatchTPC = kFALSE; | |
875 | } | |
876 | if (foundMatchTPC) fNMatchedTPCtracklets++; | |
877 | //if no match but the requirement is set return kFALSE | |
878 | if (fRequireMatchInTPC && !foundMatchTPC) | |
879 | { | |
880 | delete [] phiArr; | |
881 | delete [] thetaArr; | |
882 | delete [] goodtracksArr; | |
883 | delete [] candidateTPCtracksArr; | |
884 | delete [] matchedITStracksArr; | |
885 | delete [] matchedTPCtracksArr; | |
886 | delete [] tracksArrITS; | |
887 | delete [] tracksArrTPC; | |
888 | delete [] nPointsArr; | |
889 | //printf("TrackFinder: no match in TPC && required\n"); | |
890 | return kFALSE; | |
891 | } | |
043badeb | 892 | |
55d5da9e | 893 | //if no match and more than one track take all TPC tracks |
894 | if (!fRequireMatchInTPC && !foundMatchTPC) | |
895 | { | |
896 | for (Int_t i=0;i<nTPCtracks;i++) | |
c3b5bfc1 | 897 | { |
55d5da9e | 898 | candidateTPCtracksArr[i] = tracksArrTPC[i]; |
c3b5bfc1 | 899 | } |
55d5da9e | 900 | nCandidateTPCtracks = nTPCtracks; |
901 | } | |
902 | //printf("TrackFinder: nCandidateTPCtracks: %i\n", nCandidateTPCtracks); | |
903 | ||
904 | Double_t* minDifferenceArr = new Double_t[nCandidateTPCtracks]; | |
905 | ||
906 | //find ITS matches for good TPC tracks | |
907 | Bool_t matchedITStracks=kFALSE; | |
908 | for (Int_t itpc=0;itpc<nCandidateTPCtracks;itpc++) | |
909 | { | |
910 | minDifferenceArr[nMatchedITStracks] = 10000000.; | |
911 | matchedITStracks=kFALSE; | |
912 | for (Int_t iits=0; iits<nITStracks; iits++) | |
c3b5bfc1 | 913 | { |
55d5da9e | 914 | AliESDtrack* itstrack = pEvent->GetTrack(goodtracksArr[tracksArrITS[iits]]); |
915 | const AliExternalTrackParam* parits = itstrack->GetOuterParam(); | |
916 | AliESDtrack* tpctrack = pEvent->GetTrack(goodtracksArr[candidateTPCtracksArr[itpc]]); | |
917 | const AliExternalTrackParam* tmp = tpctrack->GetInnerParam(); | |
918 | AliExternalTrackParam partpc(*tmp); //make a copy to avoid tampering with original params | |
919 | partpc.Rotate(parits->GetAlpha()); | |
3ebfbf52 | 920 | partpc.PropagateTo(parits->GetX(),fMagField); |
55d5da9e | 921 | Float_t dtgl = TMath::Abs(partpc.GetTgl()-parits->GetTgl()); |
922 | if (dtgl > fMaxMatchingAngle) continue; | |
923 | Float_t dsnp = TMath::Abs(partpc.GetSnp()-parits->GetSnp()); | |
924 | if (dsnp > fMaxMatchingAngle) continue; | |
925 | Float_t dy = TMath::Abs(partpc.GetY()-parits->GetY()); | |
926 | Float_t dz = TMath::Abs(partpc.GetZ()-parits->GetZ()); | |
927 | if (TMath::Sqrt(dy*dy+dz*dz) > fMaxMatchingDistance) continue; | |
928 | if (dtgl+dsnp<minDifferenceArr[nMatchedITStracks]) //only the best matching pair | |
929 | { | |
930 | minDifferenceArr[nMatchedITStracks]=dtgl+dsnp; | |
931 | matchedITStracksArr[nMatchedITStracks] = tracksArrITS[iits]; | |
932 | matchedTPCtracksArr[nMatchedITStracks] = candidateTPCtracksArr[itpc]; //this tells us minDifferenceArrwhich TPC track this ITS track belongs to | |
933 | //printf("TrackFinder: Matching ITS to TPC:\n"); | |
934 | //printf("TrackFinder: minDifferenceArr[%i]=%.2f\n",nMatchedITStracks,minDifferenceArr[nMatchedITStracks]); | |
935 | //printf("TrackFinder: matchedITStracksArr[%i]=%i\n",nMatchedITStracks,matchedITStracksArr[nMatchedITStracks]); | |
936 | //printf("TrackFinder: matchedTPCtracksArr[%i]=%i\n",nMatchedITStracks,matchedTPCtracksArr[nMatchedITStracks]); | |
937 | matchedITStracks=kTRUE;; | |
938 | } | |
c3b5bfc1 | 939 | } |
55d5da9e | 940 | if (matchedITStracks) nMatchedITStracks++; |
941 | } | |
044eb03e | 942 | |
55d5da9e | 943 | if (nMatchedITStracks==0) //no match in ITS |
944 | { | |
c3b5bfc1 | 945 | delete [] phiArr; |
946 | delete [] thetaArr; | |
947 | delete [] minDifferenceArr; | |
044eb03e | 948 | delete [] goodtracksArr; |
c3b5bfc1 | 949 | delete [] matchedITStracksArr; |
55d5da9e | 950 | delete [] candidateTPCtracksArr; |
c3b5bfc1 | 951 | delete [] matchedTPCtracksArr; |
55d5da9e | 952 | delete [] tracksArrITS; |
953 | delete [] tracksArrTPC; | |
044eb03e | 954 | delete [] nPointsArr; |
55d5da9e | 955 | //printf("TrackFinder: No match in ITS\n"); |
956 | return kFALSE; | |
957 | } | |
958 | ||
959 | //printf("TrackFinder: nMatchedITStracks: %i\n",nMatchedITStracks); | |
960 | //we found a cosmic | |
961 | fNMatchedCosmics++; | |
962 | ||
963 | //Now we may have ended up with more matches than we want in the case there was | |
964 | //no TPC match and there were many TPC tracks | |
965 | //a cosmic in a scenario like this will only have produced 1 pair, the rest is garbage | |
966 | //so take only the best pair. | |
967 | //same applies when there are more matches than ITS tracks - means that one ITS track | |
968 | //matches more TPC tracks. | |
969 | if ((nMatchedITStracks>2 && !foundMatchTPC) || nMatchedITStracks>nITStracks) | |
970 | { | |
971 | Int_t imin = TMath::LocMin(nMatchedITStracks,minDifferenceArr); | |
972 | matchedITStracksArr[0] = matchedITStracksArr[imin]; | |
973 | matchedTPCtracksArr[0] = matchedTPCtracksArr[imin]; | |
974 | nMatchedITStracks = 1; | |
975 | //printf("TrackFinder: too many matches - take only the best one\n"); | |
976 | //printf("TrackFinder: LocMin in matched its tracks: %d\n",imin); | |
977 | //printf("TrackFinder: matchedITStracksArr[0]=%d\n",matchedITStracksArr[0]); | |
978 | //printf("TrackFinder: matchedTPCtracksArr[0]=%d\n",matchedTPCtracksArr[0]); | |
979 | } | |
980 | ||
981 | /////////////////////////////////////////////////////////////////////////// | |
982 | outITSindexTArr.Set(nMatchedITStracks); | |
983 | outTPCindexTArr.Set(nMatchedITStracks); | |
984 | for (Int_t i=0;i<nMatchedITStracks;i++) | |
985 | { | |
986 | outITSindexTArr.AddAt( goodtracksArr[matchedITStracksArr[i]], i ); | |
987 | outTPCindexTArr.AddAt( goodtracksArr[matchedTPCtracksArr[i]], i ); | |
988 | //printf("TrackFinder: Fill the output\n"); | |
989 | //printf("TrackFinder: matchedITStracksArr[%d]=%d\n",i,matchedITStracksArr[i]); | |
990 | //printf("TrackFinder: matchedTPCtracksArr[%d]=%d\n",i,matchedTPCtracksArr[i]); | |
991 | } | |
992 | //printf("TrackFinder: Size of outputarrays: %d, %d\n", outITSindexTArr.GetSize(), outTPCindexTArr.GetSize()); | |
993 | /////////////////////////////////////////////////////////////////////////// | |
994 | ||
995 | delete [] phiArr; | |
996 | delete [] thetaArr; | |
997 | delete [] minDifferenceArr; | |
998 | delete [] goodtracksArr; | |
999 | delete [] candidateTPCtracksArr; | |
1000 | delete [] matchedITStracksArr; | |
1001 | delete [] matchedTPCtracksArr; | |
1002 | delete [] tracksArrITS; | |
1003 | delete [] tracksArrTPC; | |
1004 | delete [] nPointsArr; | |
1005 | return kTRUE; | |
043badeb | 1006 | } |
55d5da9e | 1007 | |
044eb03e | 1008 | //______________________________________________________________________________ |
3ebfbf52 | 1009 | Bool_t AliRelAlignerKalman::CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misal ) const |
043badeb | 1010 | { |
55d5da9e | 1011 | //implements the system model - |
1012 | //applies correction for misalignment and calibration to track | |
3ebfbf52 | 1013 | //track needs to be already propagated to the global reference plane |
55d5da9e | 1014 | |
1015 | Double_t x = tr->GetX(); | |
1016 | Double_t alpha = tr->GetAlpha(); | |
1017 | Double_t point[3],dir[3]; | |
1018 | tr->GetXYZ(point); | |
1019 | tr->GetDirection(dir); | |
1020 | TVector3 Point(point); | |
1021 | TVector3 Dir(dir); | |
1022 | ||
1023 | //Apply corrections to track | |
1024 | ||
1025 | //Shift | |
3ebfbf52 | 1026 | Point(0) -= misal(3); //add shift in x |
1027 | Point(1) -= misal(4); //add shift in y | |
1028 | Point(2) -= misal(5); //add shift in z | |
55d5da9e | 1029 | //Rotation |
1030 | TMatrixD rotmat(3,3); | |
1031 | RotMat( rotmat, misal ); | |
3ebfbf52 | 1032 | Point = rotmat.T() * Point; |
55d5da9e | 1033 | Dir = rotmat * Dir; |
1034 | ||
1035 | //TPC vdrift and T0 corrections | |
3ebfbf52 | 1036 | TVector3 Point2; //second point of the track |
1037 | Point2 = Point + Dir; | |
1038 | Double_t vdCorr = 1./misal(6); | |
1039 | Double_t t0 = misal(7); | |
1040 | Double_t vdY = 0.0; | |
1041 | if (fgkNSystemParams>8) vdY = misal(8)/100.; //change over 100cm. | |
1042 | ||
1043 | //my model | |
55d5da9e | 1044 | if (Point(2)>0) |
1045 | { | |
1046 | //A-Side | |
1047 | Point(2) = Point(2) - (fTPCZLengthA-Point(2)) * (vdCorr-1.+vdY*Point(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point(1))*t0; | |
1048 | Point2(2) = Point2(2) - (fTPCZLengthA-Point2(2)) * (vdCorr-1.+vdY*Point2(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point2(1))*t0; | |
1049 | } | |
1050 | else | |
1051 | { | |
1052 | //C-side | |
1053 | Point(2) = Point(2) - (fTPCZLengthC+Point(2)) * (1.-vdCorr-vdY*Point(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point(1))*t0; | |
1054 | Point2(2) = Point2(2) - (fTPCZLengthC+Point2(2)) * (1.-vdCorr-vdY*Point2(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point2(1))*t0; | |
1055 | } | |
3ebfbf52 | 1056 | |
1057 | //Stefan's model | |
1058 | //if (Point(2)>0) | |
1059 | //{ | |
1060 | // //A-Side | |
1061 | // Point(2) = Point(2) - (fTPCZLengthA-Point(2)) * (1.-vdCorr+vdY*Point(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point(1))*t0; | |
1062 | // Point2(2) = Point2(2) - (fTPCZLengthA-Point2(2)) * (1.-vdCorr+vdY*Point2(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point2(1))*t0; | |
1063 | //} | |
1064 | //else | |
1065 | //{ | |
1066 | // //C-side | |
1067 | // Point(2) = Point(2) + (fTPCZLengthC+Point(2)) * (1.-vdCorr+vdY*Point(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point(1))*t0; | |
1068 | // Point2(2) = Point2(2) + (fTPCZLengthC+Point2(2)) * (1.-vdCorr+vdY*Point2(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point2(1))*t0; | |
1069 | //} | |
1070 | ||
55d5da9e | 1071 | Dir = Point2-Point; |
1072 | Dir=Dir.Unit(); //keep unit length | |
1073 | ||
1074 | //Turn back to local system | |
1075 | Dir.GetXYZ(dir); | |
1076 | Point.GetXYZ(point); | |
1077 | tr->Global2LocalPosition(point,alpha); | |
1078 | tr->Global2LocalPosition(dir,alpha); | |
1079 | ||
1080 | //Calculate new intersection point with ref plane | |
1081 | Double_t p[5],pcov[15]; | |
1082 | if (dir[0]==0.0) return kFALSE; | |
1083 | Double_t s=(x-point[0])/dir[0]; | |
1084 | p[0] = point[1]+s*dir[1]; | |
1085 | p[1] = point[2]+s*dir[2]; | |
1086 | Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]); | |
1087 | if (pt==0.0) return kFALSE; | |
1088 | p[2] = dir[1]/pt; | |
1089 | p[3] = dir[2]/pt; | |
55d5da9e | 1090 | //insert everything back into track |
1091 | const Double_t* pcovtmp = tr->GetCovariance(); | |
3ebfbf52 | 1092 | p[4] = tr->GetSigned1Pt(); //copy the momentum |
55d5da9e | 1093 | memcpy(pcov,pcovtmp,15*sizeof(Double_t)); |
1094 | tr->Set(x,alpha,p,pcov); | |
55d5da9e | 1095 | return kTRUE; |
3ebfbf52 | 1096 | |
1097 | ////put params back into track and propagate to ref | |
1098 | //Double_t p[5],pcov[15]; | |
1099 | //p[0] = point[1]; | |
1100 | //p[1] = point[2]; | |
1101 | //Double_t xnew = point[0]; | |
1102 | //Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]); | |
1103 | //if (pt==0.0) return kFALSE; | |
1104 | //p[2] = dir[1]/pt; | |
1105 | //p[3] = dir[2]/pt; | |
1106 | //p[4] = tr->GetSigned1Pt(); //copy the momentum | |
1107 | //const Double_t* pcovtmp = tr->GetCovariance(); | |
1108 | //memcpy(pcov,pcovtmp,15*sizeof(Double_t)); | |
1109 | //tr->Set(xnew,alpha,p,pcov); | |
1110 | //return tr->PropagateTo(x,fMagField); | |
043badeb | 1111 | } |
1112 | ||
044eb03e | 1113 | //______________________________________________________________________________ |
3ebfbf52 | 1114 | Bool_t AliRelAlignerKalman::MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misal ) const |
043badeb | 1115 | { |
55d5da9e | 1116 | //implements the system model - |
1117 | //applies misalignment and miscalibration to reference track | |
3ebfbf52 | 1118 | //trackparams have to be at the global reference plane |
55d5da9e | 1119 | |
1120 | Double_t x = tr->GetX(); | |
1121 | Double_t alpha = tr->GetAlpha(); | |
1122 | Double_t point[3],dir[3]; | |
1123 | tr->GetXYZ(point); | |
1124 | tr->GetDirection(dir); | |
1125 | TVector3 Point(point); | |
1126 | TVector3 Dir(dir); | |
1127 | ||
1128 | //Apply misalignment to track | |
1129 | ||
1130 | //TPC vdrift and T0 corrections | |
3ebfbf52 | 1131 | TVector3 Point2; //second point of the track |
1132 | Point2 = Point + Dir; | |
1133 | Double_t vdCorr = 1./misal(6); | |
1134 | Double_t t0 = misal(7); | |
1135 | Double_t vdY = 0.0; | |
1136 | if (fgkNSystemParams>8) vdY = misal(8)/100.; //change over 100cm. | |
1137 | ||
55d5da9e | 1138 | if (Point(2)>0) |
1139 | { | |
1140 | //A-Side | |
1141 | Point(2) = Point(2) + ((fTPCZLengthA-Point(2))/(vdCorr*fTPCvd+vdY*Point(1))) | |
1142 | * (fTPCvd*(vdCorr-1.)+vdY*Point(1)) + fTPCvd*t0; | |
1143 | Point2(2) = Point2(2) + ((fTPCZLengthA-Point2(2))/(vdCorr*fTPCvd+vdY*Point2(1))) | |
1144 | * (fTPCvd*(vdCorr-1.)+vdY*Point2(1)) + fTPCvd*t0; | |
1145 | } | |
1146 | else | |
1147 | { | |
1148 | //C-side | |
1149 | Point(2) = Point(2) + (fTPCZLengthC+Point(2))/(vdCorr*fTPCvd+vdY*Point(1)) | |
1150 | * (fTPCvd*(1.-vdCorr)-vdY*Point(1)) - fTPCvd*t0; | |
1151 | Point2(2) = Point2(2) + (fTPCZLengthC+Point2(2))/(vdCorr*fTPCvd+vdY*Point2(1)) | |
1152 | * (fTPCvd*(1.-vdCorr)-vdY*Point2(1)) - fTPCvd*t0; | |
1153 | } | |
1154 | Dir = Point2-Point; | |
1155 | Dir=Dir.Unit(); //keep unit length | |
1156 | ||
1157 | //Rotation | |
1158 | TMatrixD rotmat(3,3); | |
1159 | RotMat( rotmat, misal ); | |
1160 | Point = rotmat * Point; | |
1161 | Dir = rotmat * Dir; | |
1162 | //Shift | |
1163 | Point(0) += misal(3); //add shift in x | |
1164 | Point(1) += misal(4); //add shift in y | |
1165 | Point(2) += misal(5); //add shift in z | |
1166 | ||
1167 | //Turn back to local system | |
1168 | Dir.GetXYZ(dir); | |
1169 | Point.GetXYZ(point); | |
1170 | tr->Global2LocalPosition(point,alpha); | |
1171 | tr->Global2LocalPosition(dir,alpha); | |
1172 | ||
1173 | //Calculate new intersection point with ref plane | |
1174 | Double_t p[5],pcov[15]; | |
3ebfbf52 | 1175 | if (dir[0]==0.0) return kFALSE; |
55d5da9e | 1176 | Double_t s=(x-point[0])/dir[0]; |
1177 | p[0] = point[1]+s*dir[1]; | |
1178 | p[1] = point[2]+s*dir[2]; | |
1179 | Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]); | |
3ebfbf52 | 1180 | if (pt==0.0) return kFALSE; |
55d5da9e | 1181 | p[2] = dir[1]/pt; |
1182 | p[3] = dir[2]/pt; | |
55d5da9e | 1183 | //insert everything back into track |
1184 | const Double_t* pcovtmp = tr->GetCovariance(); | |
3ebfbf52 | 1185 | p[4] = tr->GetSigned1Pt(); //copy the momentum |
55d5da9e | 1186 | memcpy(pcov,pcovtmp,15*sizeof(Double_t)); |
1187 | tr->Set(x,alpha,p,pcov); | |
55d5da9e | 1188 | return kTRUE; |
3ebfbf52 | 1189 | |
1190 | ////put params back into track and propagate to ref | |
1191 | //Double_t p[5]; | |
1192 | //Double_t pcov[15]; | |
1193 | //p[0] = point[1]; | |
1194 | //p[1] = point[2]; | |
1195 | //Double_t xnew = point[0]; | |
1196 | //Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]); | |
1197 | //if (pt==0.0) return kFALSE; | |
1198 | //p[2] = dir[1]/pt; | |
1199 | //p[3] = dir[2]/pt; | |
1200 | //p[4] = tr->GetSigned1Pt(); //copy the momentum | |
1201 | //const Double_t* pcovtmp = tr->GetCovariance(); | |
1202 | //memcpy(pcov,pcovtmp,15*sizeof(Double_t)); | |
1203 | //printf("x before: %.5f, after: %.5f\n",x, xnew); | |
1204 | //printf("before: %.4f %.4f %.4f %.4f %.4f \n",tr->GetParameter()[0],tr->GetParameter()[1],tr->GetParameter()[2],tr->GetParameter()[3],tr->GetParameter()[4]); | |
1205 | //printf("after: %.4f %.4f %.4f %.4f %.4f \n",p[0],p[1],p[2],p[3],p[4]); | |
1206 | //tr->Set(xnew,alpha,p,pcov); | |
1207 | //return tr->PropagateTo(x,fMagField); | |
043badeb | 1208 | } |
1209 | ||
044eb03e | 1210 | //______________________________________________________________________________ |
55d5da9e | 1211 | void AliRelAlignerKalman::Reset() |
043badeb | 1212 | { |
3ebfbf52 | 1213 | //full reset to defaults |
55d5da9e | 1214 | fPX->Zero(); |
1215 | (*fPX)(6)=1.; | |
1216 | ResetCovariance(); | |
3ebfbf52 | 1217 | |
1218 | //initialize the differentials per parameter | |
1219 | for (Int_t i=0;i<fgkNSystemParams;i++) fDelta[i] = 1.e-6; | |
1220 | ||
1221 | fNMatchedCosmics=0; | |
1222 | fNMatchedTPCtracklets=0; | |
1223 | fNUpdates=0; | |
1224 | fNOutliers=0; | |
1225 | fNTracks=0; | |
1226 | fNProcessedEvents=0; | |
043badeb | 1227 | } |
1228 | ||
044eb03e | 1229 | //______________________________________________________________________________ |
c3b5bfc1 | 1230 | void AliRelAlignerKalman::ResetCovariance( const Double_t number ) |
043badeb | 1231 | { |
55d5da9e | 1232 | //Resets the covariance to the default if arg=0 or resets the off diagonals |
1233 | //to zero and releases the diagonals by factor arg. | |
1234 | if (number!=0.) | |
1235 | { | |
3ebfbf52 | 1236 | for (Int_t z=0;z<6;z++) |
c3b5bfc1 | 1237 | { |
3ebfbf52 | 1238 | for (Int_t zz=0;zz<6;zz++) |
55d5da9e | 1239 | { |
1240 | if (zz==z) continue; //don't touch diagonals | |
1241 | (*fPXcov)(zz,z) = 0.; | |
1242 | (*fPXcov)(z,zz) = 0.; | |
1243 | } | |
1244 | (*fPXcov)(z,z) = (*fPXcov)(z,z) * number; | |
c3b5bfc1 | 1245 | } |
55d5da9e | 1246 | } |
1247 | else | |
1248 | { | |
1249 | //Resets the covariance of the fit to a default value | |
1250 | fPXcov->Zero(); | |
3ebfbf52 | 1251 | (*fPXcov)(0,0) = .08*.08; //psi (rad) |
1252 | (*fPXcov)(1,1) = .08*.08; //theta (rad | |
1253 | (*fPXcov)(2,2) = .08*.08; //phi (rad) | |
1254 | (*fPXcov)(3,3) = .3*.3; //x (cm) | |
1255 | (*fPXcov)(4,4) = .3*.3; //y (cm) | |
1256 | (*fPXcov)(5,5) = .3*.3; //z (cm) | |
55d5da9e | 1257 | } |
3ebfbf52 | 1258 | ResetTPCparamsCovariance(number); |
55d5da9e | 1259 | } |
1260 | ||
1261 | //______________________________________________________________________________ | |
1262 | void AliRelAlignerKalman::ResetTPCparamsCovariance( const Double_t number ) | |
1263 | { | |
1264 | //Resets the covariance to the default if arg=0 or resets the off diagonals | |
1265 | //to zero and releases the diagonals by factor arg. | |
1266 | ||
1267 | //release diagonals | |
1268 | if (number==0.) | |
1269 | { | |
3ebfbf52 | 1270 | if (fgkNSystemParams>6) (*fPXcov)(6,6) = .1*.1; |
1271 | if (fgkNSystemParams>7) (*fPXcov)(7,7) = 1.*1.; | |
1272 | if (fgkNSystemParams>8) (*fPXcov)(8,8) = 1.*1.; | |
55d5da9e | 1273 | } |
1274 | else | |
1275 | { | |
3ebfbf52 | 1276 | if (fgkNSystemParams>6) (*fPXcov)(6,6) = number * (*fPXcov)(6,6); |
1277 | if (fgkNSystemParams>7) (*fPXcov)(7,7) = number * (*fPXcov)(7,7); | |
1278 | if (fgkNSystemParams>8) (*fPXcov)(8,8) = number * (*fPXcov)(8,8); | |
55d5da9e | 1279 | } |
1280 | ||
1281 | //set crossterms to zero | |
1282 | for (Int_t i=0;i<fgkNSystemParams;i++) | |
1283 | { | |
3ebfbf52 | 1284 | for (Int_t j=6;j<fgkNSystemParams;j++) //TPC params |
c3b5bfc1 | 1285 | { |
55d5da9e | 1286 | if (i==j) continue; //don't touch diagonals |
1287 | (*fPXcov)(i,j) = 0.; | |
1288 | (*fPXcov)(j,i) = 0.; | |
c3b5bfc1 | 1289 | } |
55d5da9e | 1290 | } |
043badeb | 1291 | } |
55d5da9e | 1292 | |
3ebfbf52 | 1293 | //______________________________________________________________________________ |
1294 | //void AliRelAlignerKalman::PrintCovarianceCorrection() | |
1295 | //{ | |
1296 | // //Print the measurement covariance correction matrix | |
1297 | // printf("Covariance correction matrix:\n"); | |
1298 | // for ( Int_t i=0; i<fgkNMeasurementParams; i++ ) | |
1299 | // { | |
1300 | // for ( Int_t j=0; j<i+1; j++ ) | |
1301 | // { | |
1302 | // printf("% -2.2f ", (*fPMeasurementCovCorr)(i,j) ); | |
1303 | // }//for i | |
1304 | // printf("\n"); | |
1305 | // }//for j | |
1306 | // printf("\n"); | |
1307 | // return; | |
1308 | //} | |
1309 | ||
1310 | //_______________________________________________________________________________ | |
1311 | //Bool_t AliRelAlignerKalman::UpdateCalibration() | |
1312 | //{ | |
1313 | // //Update the calibration with new data (in calibration mode) | |
1314 | // | |
1315 | // fPMes0Hist->Fill( (*fPMeasurement)(0) ); | |
1316 | // fPMes1Hist->Fill( (*fPMeasurement)(1) ); | |
1317 | // fPMes2Hist->Fill( (*fPMeasurement)(2) ); | |
1318 | // fPMes3Hist->Fill( (*fPMeasurement)(3) ); | |
1319 | // fPMesErr0Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(0,0)) ); | |
1320 | // fPMesErr1Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(1,1)) ); | |
1321 | // fPMesErr2Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(2,2)) ); | |
1322 | // fPMesErr3Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(3,3)) ); | |
1323 | // return kTRUE; | |
1324 | //} | |
1325 | ||
1326 | //______________________________________________________________________________ | |
1327 | //Bool_t AliRelAlignerKalman::SetCalibrationMode( const Bool_t cp ) | |
1328 | //{ | |
1329 | // //sets the calibration mode | |
1330 | // if (cp) | |
1331 | // { | |
1332 | // fCalibrationMode=kTRUE; | |
1333 | // return kTRUE; | |
1334 | // }//if (cp) | |
1335 | // else | |
1336 | // { | |
1337 | // if (fCalibrationMode) // do it only after the calibration pass | |
1338 | // { | |
1339 | // CalculateCovarianceCorrection(); | |
1340 | // SetApplyCovarianceCorrection(); | |
1341 | // fCalibrationMode=kFALSE; | |
1342 | // return kTRUE; | |
1343 | // }//if (fCalibrationMode) | |
1344 | // }//else (cp) | |
1345 | // return kFALSE; | |
1346 | //} | |
1347 | ||
1348 | //______________________________________________________________________________ | |
1349 | //Bool_t AliRelAlignerKalman::CalculateCovarianceCorrection() | |
1350 | //{ | |
1351 | // //Calculates the correction to the measurement covariance | |
1352 | // //using the calibration histograms | |
1353 | // | |
1354 | // fPMeasurementCovCorr->Zero(); //reset the correction | |
1355 | // | |
1356 | // Double_t s,m,c; //sigma,meansigma,correction | |
1357 | // | |
1358 | // //TF1* fitformula; | |
1359 | // //fPMes0Hist->Fit("gaus"); | |
1360 | // //fitformula = fPMes0Hist->GetFunction("gaus"); | |
1361 | // //s = fitformula->GetParameter(2); //spread of the measurement | |
1362 | // //fPMesErr0Hist->Fit("gaus"); | |
1363 | // //fitformula = fPMesErr0Hist->GetFunction("gaus"); //average error from cov matrices | |
1364 | // //m = fitformula->GetParameter(1); | |
1365 | // s = fPMes0Hist->GetRMS(); | |
1366 | // m = fPMesErr0Hist->GetMean(); | |
1367 | // c = s-m; //the difference between the average error and real spread of the data | |
1368 | // if (c>0) //only correct is spread bigger than average error | |
1369 | // (*fPMeasurementCovCorr)(0,0) = c*c; | |
1370 | // | |
1371 | // //fPMes1Hist->Fit("gaus"); | |
1372 | // //fitformula = fPMes1Hist->GetFunction("gaus"); | |
1373 | // //s = fitformula->GetParameter(2); | |
1374 | // //fPMesErr1Hist->Fit("gaus"); | |
1375 | // //fitformula = fPMesErr1Hist->GetFunction("gaus"); | |
1376 | // //m = fitformula->GetParameter(1); | |
1377 | // s = fPMes1Hist->GetRMS(); | |
1378 | // m = fPMesErr1Hist->GetMean(); | |
1379 | // c = s-m; | |
1380 | // if (c>0) //only correct is spread bigger than average error | |
1381 | // (*fPMeasurementCovCorr)(1,1) = c*c; | |
1382 | // | |
1383 | // //fPMes2Hist->Fit("gaus"); | |
1384 | // //fitformula = fPMes2Hist->GetFunction("gaus"); | |
1385 | // //s = fitformula->GetParameter(2); | |
1386 | // //fPMesErr2Hist->Fit("gaus"); | |
1387 | // //fitformula = fPMesErr2Hist->GetFunction("gaus"); | |
1388 | // //m = fitformula->GetParameter(1); | |
1389 | // s = fPMes2Hist->GetRMS(); | |
1390 | // m = fPMesErr2Hist->GetMean(); | |
1391 | // c = s-m; | |
1392 | // if (c>0) //only correct is spread bigger than average error | |
1393 | // (*fPMeasurementCovCorr)(2,2) = c*c; | |
1394 | // | |
1395 | // //fPMes3Hist->Fit("gaus"); | |
1396 | // //fitformula = fPMes3Hist->GetFunction("gaus"); | |
1397 | // //s = fitformula->GetParameter(2); | |
1398 | // //fPMesErr3Hist->Fit("gaus"); | |
1399 | // //fitformula = fPMesErr3Hist->GetFunction("gaus"); | |
1400 | // //m = fitformula->GetParameter(1); | |
1401 | // s = fPMes3Hist->GetRMS(); | |
1402 | // m = fPMesErr3Hist->GetMean(); | |
1403 | // c = s-m; | |
1404 | // if (c>0) //only correct is spread bigger than average error | |
1405 | // (*fPMeasurementCovCorr)(3,3) = c*c; | |
1406 | // | |
1407 | // return kTRUE; | |
1408 | //} | |
1409 |