[u/mrichter/AliRoot.git] / STEER / AliRelAlignerKalman.h

#ifndef ALIRELALIGNERKALMAN_H
#define ALIRELALIGNERKALMAN_H

/* Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
 * See cxx source for full Copyright notice                               */

///////////////////////////////////////////////////////////////////////////////
//
//     Relative alignment of two tracking volumes (default ITS and TPC)
//     (see AliRelAlignerKalman.cxx for details)
//
//     Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch
//
//////////////////////////////////////////////////////////////////////////////

#include <iostream>
#include <TObject.h>
#include <TMath.h>
#include <TMatrix.h>
#include <TVector.h>
#include <TVector3.h>
#include <TDecompLU.h>
#include <TArrayI.h>
#include <TH1D.h>
#include <TF1.h>

#include "AliESDtrack.h"
#include "AliTrackPointArray.h"
#include "AliGeomManager.h"
#include "AliTrackFitterKalman.h"
#include "AliTrackFitterRieman.h"
#include "AliESDfriendTrack.h"
#include "AliESDEvent.h"
#include "AliESDVertex.h"
#include "AliExternalTrackParam.h"

class AliRelAlignerKalman : public TObject {

public:
    AliRelAlignerKalman();
    virtual ~AliRelAlignerKalman();
    AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a );
    AliRelAlignerKalman(const AliRelAlignerKalman& a);

    //User methods:
    Bool_t AddESDTrack( AliESDtrack* pTrack );
    Bool_t AddCosmicEventSeparateTracking( AliESDEvent* pEvent );
    
    void Print(Option_t* option="") const;

    Double_t GetPsi() {return (*fPX)(0);}
    Double_t GetTheta() {return (*fPX)(1);}
    Double_t GetPhi() {return (*fPX)(2);}
    Double_t GetX() {return (*fPX)(3);}
    Double_t GetY() {return (*fPX)(4);}
    Double_t GetZ() {return (*fPX)(5);}
    Double_t GetTPCdriftCorr() {return (*fPX)(6);}
    Double_t GetTPCoffset() {return (*fPX)(7);}
    Double_t GetPsiErr() {return TMath::Sqrt((*fPXcov)(0,0));}
    Double_t GetThetaErr() {return TMath::Sqrt((*fPXcov)(1,1));}
    Double_t GetPhiErr() {return TMath::Sqrt((*fPXcov)(2,2));}
    Double_t GetXErr() {return TMath::Sqrt((*fPXcov)(3,3));}
    Double_t GetYErr() {return TMath::Sqrt((*fPXcov)(4,4));}
    Double_t GetZErr() {return TMath::Sqrt((*fPXcov)(5,5));}
    Double_t GetTPCdriftCorrErr() {return TMath::Sqrt((*fPXcov)(6,6));}
    Double_t GetTPCoffsetErr() {return TMath::Sqrt((*fPXcov)(7,7));}
    void GetMeasurement( TVectorD& mes ) { mes = *fPMeasurement; }
    void GetMeasurementCov( TMatrixDSym& cov ) { cov = *fPMeasurementCov; }
    void GetState( TVectorD& state ) { state = *fPX; }
    void GetStateCov ( TMatrixDSym& cov ) { cov = *fPXcov; }
    void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) { seed = *fPX; seedCov = *fPXcov; }
    void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
    void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
    void SetState( const TVectorD& param ) {*fPX = param;}
    void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
    void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }

    //Expert methods:
    Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );
    Bool_t PrepareUpdate();
    Bool_t Update();
    void SetRefSurface( const Double_t x, const Double_t alpha );
    void PrintDebugInfo();
    void PrintCorrelationMatrix();
    void PrintCovarianceCorrection();
    void PrintSystemMatrix();
    void ResetCovariance( const Double_t number=0. );
    Double_t* GetStateArr() { return fPX->GetMatrixArray(); }
    Double_t* GetStateCovArr() { return fPXcov->GetMatrixArray(); }
    Double_t* GetMeasurementArr() { return fPMeasurement->GetMatrixArray(); }
    Double_t* GetMeasurementCovArr() { return fPMeasurementCov->GetMatrixArray(); }
    Double_t* GetDeltaArr() {return fDelta;}
    TH1D* GetMes0Hist() {return fPMes0Hist;}
    TH1D* GetMes1Hist() {return fPMes1Hist;} 
    TH1D* GetMes2Hist() {return fPMes2Hist;}
    TH1D* GetMes3Hist() {return fPMes3Hist;}
    TH1D* GetMesErr0Hist() {return fPMesErr0Hist;}
    TH1D* GetMesErr1Hist() {return fPMesErr1Hist;}
    TH1D* GetMesErr2Hist() {return fPMesErr2Hist;}
    TH1D* GetMesErr3Hist() {return fPMesErr3Hist;}
    Bool_t SetCalibrationMode( Bool_t cp=kTRUE );
    void SetApplyCovarianceCorrection( const Bool_t s=kTRUE ) {fApplyCovarianceCorrection = s;}
    void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
    void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
    void SetCovarianceCorrection( const TMatrixDSym& c ) {*fPMeasurementCovCorr = c;}
    void GetCovarianceCorrection( TMatrixDSym& c ) {c=*fPMeasurementCovCorr;}
    void SetTrackParams1( const AliExternalTrackParam* exparam );
    void SetTrackParams2( const AliExternalTrackParam* exparam );
    void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;}
    void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;}
    void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;}
    void SetNHistogramBins( const Int_t n ) {fNHistogramBins = n;}
    void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
    void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;}
    void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;}
    static Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
    static void Angles( TVectorD &angles, const TMatrixD &rotmat );
    static void RotMat( TMatrixD& R, const TVectorD& angles );
    static void TMatrixDSym_from_TMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
    
protected:
    Bool_t UpdateCalibration();
    Bool_t UpdateEstimateKalman();
    Bool_t PrepareMeasurement();
    Bool_t PrepareSystemMatrix();
    Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
    Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
    Bool_t CalculateCovarianceCorrection();

private:
    static const Int_t fgkNMeasurementParams = 4;           //how many measurables
    static const Int_t fgkNSystemParams = 8;                //how many fit parameters
    
    //Track parameters
    Double_t fAlpha;       //rotation angle between the local and global coordinate system like in AliExternalTrackParam
    Double_t fLocalX;      //local x coordinate of reference plane = r(global)
    const AliExternalTrackParam* fPTrackParam1;   //local track parameters (theta,phi,y,z)
    const AliExternalTrackParam* fPTrackParam2;   //local track parameters

    //Kalman filter related stuff
    TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
    TMatrixDSym* fPXcov; //covariance matrix of system parameters
    TMatrixD* fPH;      //System measurement matrix
    Double_t fQ;        //measure for system noise
    TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
    TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
    Double_t fOutRejSigmas; //number of sigmas for outlier rejection
    Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())

    //Control
    Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter
    Bool_t fCalibrationMode;            //are we running in calibration mode?
    Bool_t fFillHistograms;     //whether to fill the histograms with residuals
    Bool_t fRequireMatchInTPC;  //when looking for a cosmic in event, require that TPC has 2 matching segments
    Bool_t fApplyCovarianceCorrection;         //add the correction to the covariance of measurement
    Bool_t fCuts;    //track cuts?
    Int_t fMinPointsVol1;   //mininum number of points in volume 1
    Int_t fMinPointsVol2;   //mininum number of points in volume 2
    Double_t fMinMom;       //min momentum of track for track cuts
    Double_t fMaxMom;       //max momentum of track for track cuts
    Double_t fMaxMatchingAngle; //cuts
    Double_t fMaxMatchingDistance; //cuts
    
    //Counters
    Int_t fNTracks; //number of processed tracks
    Int_t fNUpdates; //number of successful Kalman updates
    Int_t fNOutliers; //number of outliers
    Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets
    Int_t fNMatchedTPCtracklets;
    Int_t fNProcessedEvents; //number of processed events

    //Calibration histograms
    Int_t fNHistogramBins;   //how many bins in control histograms
    TH1D* fPMes0Hist;  //histo of x measurement
    TH1D* fPMes1Hist;  //histo of y measurement
    TH1D* fPMes2Hist; //histo of phi measurement
    TH1D* fPMes3Hist; //histo of theta measurement
    TH1D* fPMesErr0Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesErr1Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesErr2Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesErr3Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TMatrixDSym* fPMeasurementCovCorr; //correction to be added to the measurement covariance
    
    ClassDef(AliRelAlignerKalman,1)     //AliRelAlignerKalman class
};

#endif
Commit	Line	Data
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
	16	#include <iostream>
044eb03e	17	#include <TObject.h>
782e5230	18	#include <TMath.h>
	19	#include <TMatrix.h>
	20	#include <TVector.h>
	21	#include <TVector3.h>
	22	#include <TDecompLU.h>
	23	#include <TArrayI.h>
	24	#include <TH1D.h>
	25	#include <TF1.h>
043badeb	26
	27	#include "AliESDtrack.h"
	28	#include "AliTrackPointArray.h"
	29	#include "AliGeomManager.h"
	30	#include "AliTrackFitterKalman.h"
	31	#include "AliTrackFitterRieman.h"
	32	#include "AliESDfriendTrack.h"
	33	#include "AliESDEvent.h"
	34	#include "AliESDVertex.h"
044eb03e	35	#include "AliExternalTrackParam.h"
043badeb	36
044eb03e	37	class AliRelAlignerKalman : public TObject {
043badeb	38
	39	public:
	40	AliRelAlignerKalman();
044eb03e	41	virtual ~AliRelAlignerKalman();
	42	AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a );
	43	AliRelAlignerKalman(const AliRelAlignerKalman& a);
043badeb	44
	45	//User methods:
	46	Bool_t AddESDTrack( AliESDtrack* pTrack );
043badeb	47	Bool_t AddCosmicEventSeparateTracking( AliESDEvent* pEvent );
043badeb	48
044eb03e	49	void Print(Option_t* option="") const;
043badeb	50
c3b5bfc1	51	Double_t GetPsi() {return (*fPX)(0);}
	52	Double_t GetTheta() {return (*fPX)(1);}
	53	Double_t GetPhi() {return (*fPX)(2);}
	54	Double_t GetX() {return (*fPX)(3);}
	55	Double_t GetY() {return (*fPX)(4);}
	56	Double_t GetZ() {return (*fPX)(5);}
	57	Double_t GetTPCdriftCorr() {return (*fPX)(6);}
	58	Double_t GetTPCoffset() {return (*fPX)(7);}
	59	Double_t GetPsiErr() {return TMath::Sqrt((*fPXcov)(0,0));}
	60	Double_t GetThetaErr() {return TMath::Sqrt((*fPXcov)(1,1));}
	61	Double_t GetPhiErr() {return TMath::Sqrt((*fPXcov)(2,2));}
	62	Double_t GetXErr() {return TMath::Sqrt((*fPXcov)(3,3));}
	63	Double_t GetYErr() {return TMath::Sqrt((*fPXcov)(4,4));}
	64	Double_t GetZErr() {return TMath::Sqrt((*fPXcov)(5,5));}
	65	Double_t GetTPCdriftCorrErr() {return TMath::Sqrt((*fPXcov)(6,6));}
	66	Double_t GetTPCoffsetErr() {return TMath::Sqrt((*fPXcov)(7,7));}
043badeb	67	void GetMeasurement( TVectorD& mes ) { mes = *fPMeasurement; }
044eb03e	68	void GetMeasurementCov( TMatrixDSym& cov ) { cov = *fPMeasurementCov; }
043badeb	69	void GetState( TVectorD& state ) { state = *fPX; }
	70	void GetStateCov ( TMatrixDSym& cov ) { cov = *fPXcov; }
	71	void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) { seed = fPX; seedCov = fPXcov; }
043badeb	72	void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
044eb03e	73	void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
043badeb	74	void SetState( const TVectorD& param ) {*fPX = param;}
	75	void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
	76	void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {fPX = seed; fPXcov = seedCov; }
044eb03e	77
044eb03e	78	//Expert methods:
c3b5bfc1	79	Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );
043badeb	80	Bool_t PrepareUpdate();
043badeb	81	Bool_t Update();
044eb03e	82	void SetRefSurface( const Double_t x, const Double_t alpha );
043badeb	83	void PrintDebugInfo();
044eb03e	84	void PrintCorrelationMatrix();
	85	void PrintCovarianceCorrection();
	86	void PrintSystemMatrix();
c3b5bfc1	87	void ResetCovariance( const Double_t number=0. );
044eb03e	88	Double_t* GetStateArr() { return fPX->GetMatrixArray(); }
	89	Double_t* GetStateCovArr() { return fPXcov->GetMatrixArray(); }
	90	Double_t* GetMeasurementArr() { return fPMeasurement->GetMatrixArray(); }
	91	Double_t* GetMeasurementCovArr() { return fPMeasurementCov->GetMatrixArray(); }
	92	Double_t* GetDeltaArr() {return fDelta;}
	93	TH1D* GetMes0Hist() {return fPMes0Hist;}
	94	TH1D* GetMes1Hist() {return fPMes1Hist;}
	95	TH1D* GetMes2Hist() {return fPMes2Hist;}
	96	TH1D* GetMes3Hist() {return fPMes3Hist;}
	97	TH1D* GetMesErr0Hist() {return fPMesErr0Hist;}
	98	TH1D* GetMesErr1Hist() {return fPMesErr1Hist;}
	99	TH1D* GetMesErr2Hist() {return fPMesErr2Hist;}
	100	TH1D* GetMesErr3Hist() {return fPMesErr3Hist;}
	101	Bool_t SetCalibrationMode( Bool_t cp=kTRUE );
	102	void SetApplyCovarianceCorrection( const Bool_t s=kTRUE ) {fApplyCovarianceCorrection = s;}
	103	void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
	104	void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
	105	void SetCovarianceCorrection( const TMatrixDSym& c ) {*fPMeasurementCovCorr = c;}
	106	void GetCovarianceCorrection( TMatrixDSym& c ) {c=*fPMeasurementCovCorr;}
	107	void SetTrackParams1( const AliExternalTrackParam* exparam );
	108	void SetTrackParams2( const AliExternalTrackParam* exparam );
c3b5bfc1	109	void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;}
	110	void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;}
	111	void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;}
	112	void SetNHistogramBins( const Int_t n ) {fNHistogramBins = n;}
044eb03e	113	void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
c3b5bfc1	114	void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;}
c3b5bfc1	115	void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;}
044eb03e	116	static Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
	117	static void Angles( TVectorD &angles, const TMatrixD &rotmat );
	118	static void RotMat( TMatrixD& R, const TVectorD& angles );
	119	static void TMatrixDSym_from_TMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
043badeb	120
043badeb	121	protected:
044eb03e	122	Bool_t UpdateCalibration();
043badeb	123	Bool_t UpdateEstimateKalman();
044eb03e	124	Bool_t PrepareMeasurement();
044eb03e	125	Bool_t PrepareSystemMatrix();
043badeb	126	Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
044eb03e	127	Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
044eb03e	128	Bool_t CalculateCovarianceCorrection();
043badeb	129
043badeb	130	private:
044eb03e	131	static const Int_t fgkNMeasurementParams = 4; //how many measurables
044eb03e	132	static const Int_t fgkNSystemParams = 8; //how many fit parameters
043badeb	133
044eb03e	134	//Track parameters
	135	Double_t fAlpha; //rotation angle between the local and global coordinate system like in AliExternalTrackParam
	136	Double_t fLocalX; //local x coordinate of reference plane = r(global)
	137	const AliExternalTrackParam* fPTrackParam1; //local track parameters (theta,phi,y,z)
	138	const AliExternalTrackParam* fPTrackParam2; //local track parameters
	139
043badeb	140	//Kalman filter related stuff
043badeb	141	TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
043badeb	142	TMatrixDSym* fPXcov; //covariance matrix of system parameters
043badeb	143	TMatrixD* fPH; //System measurement matrix
043badeb	144	Double_t fQ; //measure for system noise
043badeb	145	TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
043badeb	146	TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
043badeb	147	Double_t fOutRejSigmas; //number of sigmas for outlier rejection
044eb03e	148	Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
	149
	150	//Control
	151	Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter
	152	Bool_t fCalibrationMode; //are we running in calibration mode?
	153	Bool_t fFillHistograms; //whether to fill the histograms with residuals
c3b5bfc1	154	Bool_t fRequireMatchInTPC; //when looking for a cosmic in event, require that TPC has 2 matching segments
044eb03e	155	Bool_t fApplyCovarianceCorrection; //add the correction to the covariance of measurement
043badeb	156	Bool_t fCuts; //track cuts?
043badeb	157	Int_t fMinPointsVol1; //mininum number of points in volume 1
	158	Int_t fMinPointsVol2; //mininum number of points in volume 2
	159	Double_t fMinMom; //min momentum of track for track cuts
	160	Double_t fMaxMom; //max momentum of track for track cuts
043badeb	161	Double_t fMaxMatchingAngle; //cuts
043badeb	162	Double_t fMaxMatchingDistance; //cuts
782e5230	163
044eb03e	164	//Counters
	165	Int_t fNTracks; //number of processed tracks
	166	Int_t fNUpdates; //number of successful Kalman updates
	167	Int_t fNOutliers; //number of outliers
	168	Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets
c3b5bfc1	169	Int_t fNMatchedTPCtracklets;
044eb03e	170	Int_t fNProcessedEvents; //number of processed events
	171
	172	//Calibration histograms
c3b5bfc1	173	Int_t fNHistogramBins; //how many bins in control histograms
044eb03e	174	TH1D* fPMes0Hist; //histo of x measurement
	175	TH1D* fPMes1Hist; //histo of y measurement
	176	TH1D* fPMes2Hist; //histo of phi measurement
	177	TH1D* fPMes3Hist; //histo of theta measurement
	178	TH1D* fPMesErr0Hist; //histogram of the covariance of a fit parameter, used in calibration
	179	TH1D* fPMesErr1Hist; //histogram of the covariance of a fit parameter, used in calibration
	180	TH1D* fPMesErr2Hist; //histogram of the covariance of a fit parameter, used in calibration
	181	TH1D* fPMesErr3Hist; //histogram of the covariance of a fit parameter, used in calibration
	182	TMatrixDSym* fPMeasurementCovCorr; //correction to be added to the measurement covariance
043badeb	183
	184	ClassDef(AliRelAlignerKalman,1) //AliRelAlignerKalman class
	185	};
	186
	187	#endif
044eb03e	188