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043badeb | 1 | #ifndef ALIRELALIGNERKALMAN_H |
2 | #define ALIRELALIGNERKALMAN_H | |
3 | ||
4 | /* Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. * | |
5 | * See cxx source for full Copyright notice */ | |
6 | ||
7 | /////////////////////////////////////////////////////////////////////////////// | |
8 | // | |
9 | // Relative alignment of two tracking volumes (default ITS and TPC) | |
10 | // (see AliRelAlignerKalman.cxx for details) | |
11 | // | |
12 | // Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch | |
13 | // | |
14 | ////////////////////////////////////////////////////////////////////////////// | |
15 | ||
782e5230 | 16 | #include <TMath.h> |
55d5da9e | 17 | #include <TObject.h> |
18 | #include <TVectorD.h> | |
782e5230 | 19 | #include <TMatrix.h> |
55d5da9e | 20 | |
21 | class AliExternalTrackParam; | |
22 | class AliESDEvent; | |
23 | class AliESDtrack; | |
043badeb | 24 | |
044eb03e | 25 | class AliRelAlignerKalman : public TObject { |
043badeb | 26 | |
27 | public: | |
28 | AliRelAlignerKalman(); | |
044eb03e | 29 | virtual ~AliRelAlignerKalman(); |
30 | AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a ); | |
31 | AliRelAlignerKalman(const AliRelAlignerKalman& a); | |
043badeb | 32 | |
33 | //User methods: | |
55d5da9e | 34 | Bool_t AddCosmicEvent( const AliESDEvent* pEvent ); |
18f65700 | 35 | Bool_t AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 ); |
043badeb | 36 | |
044eb03e | 37 | void Print(Option_t* option="") const; |
043badeb | 38 | |
55d5da9e | 39 | Double_t GetPsi() const {return (*fPX)(0);} |
40 | Double_t GetTheta() const {return (*fPX)(1);} | |
41 | Double_t GetPhi() const {return (*fPX)(2);} | |
42 | Double_t GetX() const {return (*fPX)(3);} | |
43 | Double_t GetY() const {return (*fPX)(4);} | |
44 | Double_t GetZ() const {return (*fPX)(5);} | |
45 | Double_t GetTPCvdCorr() const {return (*fPX)(6);} | |
3ebfbf52 | 46 | Double_t GetTPCt0() const {return (*fPX)(7);} |
47 | Double_t GetTPCvdY() const {if (fgkNSystemParams>8) return (*fPX)(8); else return 0.0;} | |
55d5da9e | 48 | Double_t GetPsiErr() const {return TMath::Sqrt((*fPXcov)(0,0));} |
49 | Double_t GetThetaErr() const {return TMath::Sqrt((*fPXcov)(1,1));} | |
50 | Double_t GetPhiErr() const {return TMath::Sqrt((*fPXcov)(2,2));} | |
51 | Double_t GetXErr() const {return TMath::Sqrt((*fPXcov)(3,3));} | |
52 | Double_t GetYErr() const {return TMath::Sqrt((*fPXcov)(4,4));} | |
53 | Double_t GetZErr() const {return TMath::Sqrt((*fPXcov)(5,5));} | |
54 | Double_t GetTPCvdCorrErr() const {return TMath::Sqrt((*fPXcov)(6,6));} | |
3ebfbf52 | 55 | Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(7,7));} |
56 | Double_t GetTPCvdYErr() const {if (fgkNSystemParams>8) return TMath::Sqrt((*fPXcov)(8,8)); else return 0.0;} | |
55d5da9e | 57 | void GetMeasurement( TVectorD& mes ) const { mes = *fPMeasurement; } |
3ebfbf52 | 58 | TVectorD* GetMeasurement() { return fPMeasurement; } |
55d5da9e | 59 | void GetMeasurementCov( TMatrixDSym& cov ) const { cov = *fPMeasurementCov; } |
043badeb | 60 | void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;} |
044eb03e | 61 | void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;} |
3ebfbf52 | 62 | TMatrixDSym* GetMeasurementCov() const { return fPMeasurementCov; } |
63 | void GetState( TVectorD& state ) const { state = *fPX; } | |
64 | TVectorD* GetState() const { return fPX; } | |
65 | void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; } | |
043badeb | 66 | void SetState( const TVectorD& param ) {*fPX = param;} |
67 | void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;} | |
3ebfbf52 | 68 | TMatrixDSym* GetStateCov() const { return fPXcov; } |
69 | void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; } | |
043badeb | 70 | void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; } |
a80268df | 71 | Bool_t Merge( const AliRelAlignerKalman* al ); |
044eb03e | 72 | |
73 | //Expert methods: | |
3ebfbf52 | 74 | Bool_t AddESDevent( const AliESDEvent* pEvent ); |
75 | Bool_t AddESDtrack( const AliESDtrack* pTrack ); | |
76 | void SetMagField( const Double_t f ) { fMagField=f; } | |
77 | Double_t GetMagField() const { return fMagField; } | |
c3b5bfc1 | 78 | Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent ); |
043badeb | 79 | Bool_t Update(); |
044eb03e | 80 | void SetRefSurface( const Double_t x, const Double_t alpha ); |
044eb03e | 81 | void PrintCorrelationMatrix(); |
3ebfbf52 | 82 | //void PrintCovarianceCorrection(); |
044eb03e | 83 | void PrintSystemMatrix(); |
55d5da9e | 84 | void Reset(); |
c3b5bfc1 | 85 | void ResetCovariance( const Double_t number=0. ); |
55d5da9e | 86 | void ResetTPCparamsCovariance( const Double_t number=0. ); |
87 | Double_t* GetStateArr() const { return fPX->GetMatrixArray(); } | |
88 | Double_t* GetStateCovArr() const { return fPXcov->GetMatrixArray(); } | |
89 | Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); } | |
90 | Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); } | |
3ebfbf52 | 91 | TMatrixD* GetH() const { return fPH; } |
55d5da9e | 92 | const Double_t* GetDeltaArr() const {return fDelta;} |
3ebfbf52 | 93 | void SetNumericalParanoia( const Bool_t mode=kFALSE ) { fNumericalParanoia=mode; } |
94 | void SetCorrectionMode( const Bool_t mode=kTRUE ) { fCorrectionMode=mode; } | |
044eb03e | 95 | void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; } |
96 | void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;} | |
3ebfbf52 | 97 | Bool_t SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 ); |
98 | const AliExternalTrackParam* GetTrackParams1() const {return fPTrackParamArr1;} | |
99 | const AliExternalTrackParam* GetTrackParams2() const {return fPTrackParamArr2;} | |
c3b5bfc1 | 100 | void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;} |
101 | void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;} | |
102 | void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;} | |
044eb03e | 103 | void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; } |
c3b5bfc1 | 104 | void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;} |
105 | void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;} | |
55d5da9e | 106 | void SetTPCvd( const Float_t v ) {fTPCvd=v;} |
107 | void SetTPCZLengthA( const Double_t l ) {fTPCZLengthA=l;} | |
108 | void SetTPCZLengthC( const Double_t l ) {fTPCZLengthC=l;} | |
3ebfbf52 | 109 | Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const; |
110 | Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const; | |
044eb03e | 111 | static void Angles( TVectorD &angles, const TMatrixD &rotmat ); |
112 | static void RotMat( TMatrixD& R, const TVectorD& angles ); | |
55d5da9e | 113 | static void TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat ); |
3ebfbf52 | 114 | Bool_t IsPositiveDefinite( const TMatrixD& mat ) const; |
a80268df | 115 | void SetTimeStamp( const UInt_t ts ) { fTimeStamp = ts; } |
116 | UInt_t GetTimeStamp() const {return fTimeStamp;} | |
043badeb | 117 | |
118 | protected: | |
043badeb | 119 | Bool_t UpdateEstimateKalman(); |
044eb03e | 120 | Bool_t PrepareMeasurement(); |
121 | Bool_t PrepareSystemMatrix(); | |
a80268df | 122 | Bool_t PreparePrediction(); |
043badeb | 123 | Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x ); |
044eb03e | 124 | Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix ); |
043badeb | 125 | |
126 | private: | |
3ebfbf52 | 127 | static const Int_t fgkNTracksPerMeasurement=1; //how many tracks for one update |
128 | static const Int_t fgkNMeasurementParams=4; //how many measurables | |
129 | static const Int_t fgkNSystemParams=9; //how many fit parameters | |
043badeb | 130 | |
044eb03e | 131 | //Track parameters |
3ebfbf52 | 132 | Double_t fAlpha; //!rotation angle between the local and global coordinate system like in AliExternalTrackParam |
133 | Double_t fLocalX; //!local x coordinate of reference plane = r(global) | |
134 | AliExternalTrackParam* fPTrackParamArr1; //!local track parameters | |
135 | AliExternalTrackParam* fPTrackParamArr2; //!local track parameters | |
a80268df | 136 | Double_t fMagField; //!magnetic field |
044eb03e | 137 | |
043badeb | 138 | //Kalman filter related stuff |
043badeb | 139 | TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset ) |
140 | TMatrixDSym* fPXcov; //covariance matrix of system parameters | |
3ebfbf52 | 141 | TMatrixD* fPH; //!System measurement matrix |
142 | Double_t fQ; //!measure for system noise | |
143 | TVectorD* fPMeasurement; //!the measurement vec for Kalman filter (theta,phi,x,z) | |
144 | TMatrixDSym* fPMeasurementCov; //!measurement vec cvariance | |
a80268df | 145 | TVectorD* fPMeasurementPrediction; //!prediction of the measurement |
043badeb | 146 | Double_t fOutRejSigmas; //number of sigmas for outlier rejection |
3ebfbf52 | 147 | Double_t* fDelta; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix()) |
044eb03e | 148 | |
149 | //Control | |
a80268df | 150 | Bool_t fNumericalParanoia; //!whether to perform additional checks for numerical stability |
151 | Bool_t fRejectOutliers; //!whether to do outlier rejection in the Kalman filter | |
152 | Bool_t fRequireMatchInTPC; //!when looking for a cosmic in event, require that TPC has 2 matching segments | |
153 | Bool_t fCuts; //!track cuts? | |
154 | Int_t fMinPointsVol1; //!mininum number of points in volume 1 | |
155 | Int_t fMinPointsVol2; //!mininum number of points in volume 2 | |
156 | Double_t fMinMom; //!min momentum of track for track cuts | |
157 | Double_t fMaxMom; //!max momentum of track for track cuts | |
158 | Double_t fMaxMatchingAngle; //!cuts | |
159 | Double_t fMaxMatchingDistance; //!cuts | |
55d5da9e | 160 | Bool_t fCorrectionMode; //calculate corrective transform for TPC (or monitor actual TPC misal params) |
782e5230 | 161 | |
044eb03e | 162 | //Counters |
163 | Int_t fNTracks; //number of processed tracks | |
164 | Int_t fNUpdates; //number of successful Kalman updates | |
165 | Int_t fNOutliers; //number of outliers | |
55d5da9e | 166 | Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets (good cosmics) |
167 | Int_t fNMatchedTPCtracklets;//number of cosmic events with 2 matching TPC tracklets | |
044eb03e | 168 | Int_t fNProcessedEvents; //number of processed events |
a80268df | 169 | Int_t fTrackInBuffer; //!number of tracks in buffer |
170 | UInt_t fTimeStamp; | |
55d5da9e | 171 | |
172 | //TPC stuff | |
173 | Double_t fTPCvd; //TPC drift velocity | |
174 | Double_t fTPCZLengthA; //TPC length side A | |
175 | Double_t fTPCZLengthC; //TPC length side C | |
043badeb | 176 | |
3ebfbf52 | 177 | ClassDef(AliRelAlignerKalman,1) //AliRelAlignerKalman class |
043badeb | 178 | }; |
179 | ||
180 | #endif | |
044eb03e | 181 |