[u/mrichter/AliRoot.git] / STEER / AliTrackFitterRieman.cxx

/**************************************************************************
 * Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
 *                                                                        *
 * Author: The ALICE Off-line Project.                                    *
 * Contributors are mentioned in the code where appropriate.              *
 *                                                                        *
 * Permission to use, copy, modify and distribute this software and its   *
 * documentation strictly for non-commercial purposes is hereby granted   *
 * without fee, provided that the above copyright notice appears in all   *
 * copies and that both the copyright notice and this permission notice   *
 * appear in the supporting documentation. The authors make no claims     *
 * about the suitability of this software for any purpose. It is          *
 * provided "as is" without express or implied warranty.                  *
 **************************************************************************/

/* $Id$ */

///////////////////////////////////////////////////////////////////////////////
//
// Class to the track points on the Riemann sphere. Inputs are
// the set of id's (volids) of the volumes in which residuals are
// calculated to construct a chi2 function to be minimized during 
// the alignment procedures. For the moment the track extrapolation is 
// taken at the space-point reference plane. The reference plane is
// found using the covariance matrix of the point
// (assuming sigma(x)=0 at the reference coordinate system.
//
// Internal usage of AliRieman class for minimization
//
//////////////////////////////////////////////////////////////////////////////

#include <TArrayI.h>
#include <TLinearFitter.h>
#include <TMath.h>
#include <TMatrixD.h>
#include <TMatrixDSym.h>
#include <TRandom.h>
#include <TTreeStream.h>

#include "AliLog.h"
#include "AliLog.h"
#include "AliRieman.h"
#include "AliTrackFitterRieman.h"

ClassImp(AliTrackFitterRieman)


AliTrackFitterRieman::AliTrackFitterRieman():
  AliTrackFitter(),
  fBCorrection(kFALSE),
  fAlpha(0.),
  fNUsed(0),
  fConv(kFALSE),
  fMaxDelta(3),
  fRieman(new AliRieman(10000)),  // allocate rieman
  fDebugStream(new TTreeSRedirector("RiemanAlignDebug.root"))
{
  //
  // default constructor
  //
}


AliTrackFitterRieman::AliTrackFitterRieman(AliTrackPointArray *array, Bool_t owner):
  AliTrackFitter(array,owner),
  fBCorrection(kFALSE),
  fAlpha(0.),
  fNUsed(0),
  fConv(kFALSE),
  fMaxDelta(3),
  fRieman(new AliRieman(10000)),  //allocate rieman
  fDebugStream(0)
{
  //
  // Constructor
  //
  if (AliLog::GetDebugLevel("","AliTrackFitterRieman")) fDebugStream = new TTreeSRedirector("RiemanAlignDebug.root");
}

AliTrackFitterRieman::AliTrackFitterRieman(const AliTrackFitterRieman &rieman):
  AliTrackFitter(rieman),
  fBCorrection(rieman.fBCorrection),
  fAlpha(rieman.fAlpha),
  fNUsed(rieman.fNUsed),
  fConv(rieman.fConv),
  fMaxDelta(rieman.fMaxDelta),
  fRieman(new AliRieman(*(rieman.fRieman))),
  fDebugStream(0)
{
  //
  // copy constructor
  //
  if (AliLog::GetDebugLevel("","AliTrackFitterRieman")) fDebugStream = new TTreeSRedirector("RiemanAlignDebug.root");
}

//_____________________________________________________________________________
AliTrackFitterRieman &AliTrackFitterRieman::operator =(const AliTrackFitterRieman& rieman)
{
  //
  // Assignment operator
  //
  if(this==&rieman) return *this;
  ((AliTrackFitter *)this)->operator=(rieman);

  fBCorrection = rieman.fBCorrection;
  fAlpha  = rieman.fAlpha;
  fNUsed  = rieman.fNUsed;
  fConv   = rieman.fConv;
  fMaxDelta = rieman.fMaxDelta;
  fRieman = new AliRieman(*(rieman.fRieman));
  fDebugStream = 0;
  if (AliLog::GetDebugLevel("","AliTrackFitterRieman")) fDebugStream = new TTreeSRedirector("RiemanAlignDebug.root");
  return *this;
}


AliTrackFitterRieman::~AliTrackFitterRieman(){
  //
  //
  //
  delete fRieman;
  delete fDebugStream;
}

void AliTrackFitterRieman::Reset()
{
  // Reset the track parameters and
  // rieman sums
  //
  AliTrackFitter::Reset();
  fRieman->Reset();
  fAlpha = 0.;
  fNUsed = 0;
  fConv =kFALSE;
}

Bool_t AliTrackFitterRieman::Fit(const TArrayI *volIds,const TArrayI *volIdsFit,
				 AliAlignObj::ELayerID layerRangeMin,
			 AliAlignObj::ELayerID layerRangeMax)
{
  // Fit the track points. The method takes as an input
  // the set of id's (volids) of the volumes in which
  // one wants to calculate the residuals.
  // The following parameters are used to define the
  // range of volumes to be used in the fitting
  // As a result two AliTrackPointArray's obects are filled.
  // The first one contains the space points with
  // volume id's from volids list. The second array of points represents
  // the track extrapolations corresponding to the space points
  // in the first array. The two arrays can be used to find
  // the residuals in the volids and consequently construct a
  // chi2 function to be minimized during the alignment
  // procedures. For the moment the track extrapolation is taken
  // at the space-point reference plane. The reference plane is
  // found using the covariance matrix of the point
  // (assuming sigma(x)=0 at the reference coordinate system.
  Int_t debugLevel = AliLog::GetDebugLevel("","AliTrackFitterRieman");
  
  //  Float_t debugRatio = 1./(1.+debugLevel);
  Float_t debugRatio = debugLevel? 1.0/debugLevel : 1.0;

  const Int_t kMinPoints =1;
  Int_t npoints = fPoints->GetNPoints();
  if ( npoints<fMinNPoints) return kFALSE;
  //
  // fast count points
  Int_t countFit = 0;  
  for (Int_t ifit=0; ifit<volIdsFit->GetSize(); ifit++){
    Int_t volIdFit  = volIdsFit->At(ifit);
    for (Int_t ipoint = 0; ipoint < npoints; ipoint++)
      if (volIdFit==fPoints->GetVolumeID()[ipoint]) countFit++;    
  }
  if (countFit<fMinNPoints) return kFALSE;
  //
  Int_t countPoint = 0;  
  for (Int_t jpoint=0; jpoint<volIds->GetSize(); jpoint++){
    Int_t volIdPoint  = volIds->At(jpoint);
    for (Int_t ipoint = 0; ipoint < npoints; ipoint++)
      if (volIdPoint==fPoints->GetVolumeID()[ipoint]) countPoint++;    
  }
  if (countPoint<kMinPoints) return kFALSE;
  //
  //

  Reset();

  if (fPoints && AliLog::GetDebugLevel("","AliTrackFitterRieman")>1&& gRandom->Rndm()<debugRatio){
    Int_t nVol    = volIds->GetSize();
    Int_t nVolFit = volIdsFit->GetSize();
    Int_t volId  = volIds->At(0);    
    (*fDebugStream)<<"PInput"<<
      "NPoints="<<npoints<<    // number of points
      "VolId="<<volId<<        // first vol ID
      "NVol="<<nVol<<          // number of volumes 
      "NvolFit="<<nVolFit<<    // number of volumes to fit
      "fPoints.="<<fPoints<<   // input points
      "\n";
  }

  Bool_t isAlphaCalc = kFALSE;
  AliTrackPoint p,plocal;
//   fPoints->GetPoint(p,0);
//   fAlpha = TMath::ATan2(p.GetY(),p.GetX());

  Int_t npVolId = 0;
  fNUsed = 0;
  Int_t *pindex = new Int_t[npoints];
  for (Int_t ipoint = 0; ipoint < npoints; ipoint++)
    {
      fPoints->GetPoint(p,ipoint);
      UShort_t iVolId = p.GetVolumeID();
      if (FindVolId(volIds,iVolId)) {
	pindex[npVolId] = ipoint;
	npVolId++;
      }
      if (volIdsFit != 0x0) {
	if (!FindVolId(volIdsFit,iVolId)) continue;
      }
      else {
	if (iVolId < AliAlignObj::LayerToVolUID(layerRangeMin,0) ||
	    iVolId > AliAlignObj::LayerToVolUID(layerRangeMax,
						AliAlignObj::LayerSize(layerRangeMax))) continue;
      }
      if (!isAlphaCalc) {
	fAlpha = p.GetAngle();
	isAlphaCalc = kTRUE;
      }
      plocal = p.Rotate(fAlpha);
      if (TMath::Abs(plocal.GetX())>500 || TMath::Abs(plocal.GetX())<2 || plocal.GetCov()[3]<=0 ||plocal.GetCov()[5]<=0 ){
	printf("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<</n");
	p.Dump();
	plocal.Dump();
	printf("Problematic point\n");	
	printf("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<</n");
      }else{
	AddPoint(plocal.GetX(),plocal.GetY(),plocal.GetZ(),
		 TMath::Sqrt(plocal.GetCov()[3]),TMath::Sqrt(plocal.GetCov()[5]));
      }
      // fNUsed++;  AddPoint should be responsible
    }

  if (npVolId == 0 || fNUsed < fMinNPoints) {
    delete [] pindex;
    return kFALSE;
  }

  Update();
 
  if (!fConv) {
    delete [] pindex;
    return kFALSE;
  }

  if ((fParams[0] == 0) ||
      ((-fParams[2]*fParams[0]+fParams[1]*fParams[1]+1) <= 0)) {
    delete [] pindex;
    return kFALSE;
  }


  if (fNUsed < fMinNPoints) {
    delete [] pindex;
    return kFALSE;
  }

  fPVolId = new AliTrackPointArray(npVolId);
  fPTrack = new AliTrackPointArray(npVolId);
  AliTrackPoint p2;
  for (Int_t ipoint = 0; ipoint < npVolId; ipoint++)
    {
      Int_t index = pindex[ipoint];
      fPoints->GetPoint(p,index);
      if (GetPCA(p,p2) && (
	  TMath::Abs(p.GetX()-p2.GetX())<fMaxDelta && 
	  TMath::Abs(p.GetY()-p2.GetY())<fMaxDelta &&
	  TMath::Abs(p.GetZ()-p2.GetZ())<fMaxDelta
	  )) {
	Float_t xyz[3],xyz2[3];
	p.GetXYZ(xyz); p2.GetXYZ(xyz2);
	//	printf("residuals %f %d %d %f %f %f %f %f %f\n",fChi2,fNUsed,fConv,xyz[0],xyz[1],xyz[2],xyz2[0]-xyz[0],xyz2[1]-xyz[1],xyz2[2]-xyz[2]);	
	fPVolId->AddPoint(ipoint,&p);
	fPTrack->AddPoint(ipoint,&p2);
      }else{
	// what should be default bahavior -  
	delete [] pindex;
	delete fPVolId;
	delete fPTrack;
	fPVolId =0;
	fPTrack =0;
	return kFALSE;
      }
    }  
  
  if (AliLog::GetDebugLevel("","AliTrackFitterRieman")>0 && gRandom->Rndm()<debugRatio){
    //
    // Debug Info
    //
    AliTrackPointArray *lPVolId = new AliTrackPointArray(npVolId);
    AliTrackPointArray *lPTrack = new AliTrackPointArray(npVolId);
    AliTrackPointArray *lPTrackE = new AliTrackPointArray(npVolId);
    AliRieman * residual = fRieman->MakeResiduals();
    for (Int_t ipoint = 0; ipoint < npVolId; ipoint++){
      AliTrackPoint p0, p0local;      
      AliTrackPoint pFit, pFitlocal, pFitLocalE;      
      fPVolId->GetPoint(p0,ipoint);
      Float_t lAngle = p0.GetAngle();
      p0local= p0.MasterToLocal();
      fPTrack->GetPoint(pFit,ipoint);
      pFitlocal= pFit.Rotate(lAngle);
      //
      Float_t xyz[3], cov[6];
      xyz[0] = pFitlocal.GetX();
      xyz[1] = pFitlocal.GetY();
      xyz[2] = pFitlocal.GetZ();
      for (Int_t icov=0; icov<6; icov++) cov[icov]=0;
      cov[3] = GetErrY2at(xyz[0]);
      cov[5] = GetErrZ2at(xyz[0]);      
      pFitLocalE.SetXYZ(xyz,cov);
      //
      lPVolId->AddPoint(ipoint,&p0local);
      lPTrack->AddPoint(ipoint,&pFitlocal);
      lPTrackE->AddPoint(ipoint,&pFitLocalE);
    }      
    //
    // debug info
    //
    Int_t nVol    = volIds->GetSize();
    Int_t nVolFit = volIdsFit->GetSize();
    Int_t volId   = volIds->At(0);   
    Int_t modId   =0;
    Int_t layer   =  AliAlignObj::VolUIDToLayer(volId,modId);
    Int_t volIdFit   = volIdsFit->At(0);   
    Int_t modIdFit   =0;
    Int_t layerFit   =  AliAlignObj::VolUIDToLayer(volIdFit,modIdFit);
    
    (*fDebugStream)<<"Fit"<<
      "VolId="<<volId<<        // volume ID
      "Layer="<<layer<<        // layer ID
      "Module="<<modId<<       // module ID
      "LayerFit="<<layerFit<<        // layer ID fit
      "ModuleFit="<<modIdFit<<       // module ID fit
      "NVol="<<nVol<<          // number of volumes 
      "NvolFit="<<nVolFit<<    // number of volumes to fit
      "Points0.="<<fPVolId<<    // original points
      "Points1.="<<fPTrack<<    // fitted points 
      "LPoints0.="<<lPVolId<<   // original points - local frame
      "LPoints1.="<<lPTrack<<   // fitted points   - local frame      
      "LPointsE.="<<lPTrackE<<   // fitted points with ext error - local frame      
      "Rieman.="<<this<<        // original rieman fit
      "Res.="<<residual<<       // residuals of rieman fit  
      "\n";
    delete lPVolId;
    delete lPTrack;
    delete residual;
  }

  delete [] pindex;
  return kTRUE;
}


void AliTrackFitterRieman::AddPoint(Float_t x, Float_t y, Float_t z, Float_t sy, Float_t sz)
{
  //
  // add point to rieman fitter
  //
  fRieman->AddPoint(x,y,z,sy,sz);
  fNUsed = fRieman->GetN();
}


void AliTrackFitterRieman::Update(){
  //
  // 
  //
  fRieman->Update();
  fConv = kFALSE;
  if (fRieman->IsValid()){
    for (Int_t ipar=0; ipar<6; ipar++){
      fParams[ipar] = fRieman->GetParam()[ipar];
    }
    fChi2  =  fRieman->GetChi2();
    fNdf   =  fRieman->GetN()- 2;
    fNUsed =  fRieman->GetN();
    fConv = kTRUE;
  }
  //
  //
  //
  TLinearFitter fitY(3,"pol2");
  TLinearFitter fitZ(3,"pol2");
  for (Int_t ip=0; ip<fRieman->GetN();ip++){
    Double_t x = fRieman->GetX()[ip]; 
    fitY.AddPoint(&x,fRieman->GetY()[ip]-fRieman->GetYat(x),1);
    fitZ.AddPoint(&x,fRieman->GetZ()[ip]-fRieman->GetZat(x),1);    
  }
  fitY.Eval();
  fitZ.Eval();
  for (Int_t iparam=0; iparam<3; iparam++){
    fCorrY[iparam]=fitY.GetParameter(iparam);
    fCorrZ[iparam]=fitZ.GetParameter(iparam);
  }
  fCorrY[3]=fitY.GetChisquare()/Float_t(fRieman->GetN()-3);   
  fCorrZ[3]=fitZ.GetChisquare()/Float_t(fRieman->GetN()-3);
}


//_____________________________________________________________________________
Bool_t AliTrackFitterRieman::GetPCA(const AliTrackPoint &p, AliTrackPoint &p2) const
{
  //
  // Get the closest to a given spacepoint track trajectory point
  // Look for details in the description of the Fit() method
  //
  if (!fConv) return kFALSE;

  // First X and Y coordinates
  Double_t sin = TMath::Sin(fAlpha);
  Double_t cos = TMath::Cos(fAlpha);
  //  fParam[0]  = 1/y0
  //  fParam[1]  = -x0/y0
  //  fParam[2]  = - (R^2 - x0^2 - y0^2)/y0
  if (fParams[0] == 0) return kFALSE;
  // Track parameters in the global coordinate system
  Double_t x0 = -fParams[1]/fParams[0]*cos -         1./fParams[0]*sin;
  Double_t y0 =          1./fParams[0]*cos - fParams[1]/fParams[0]*sin;
  if ((-fParams[2]*fParams[0]+fParams[1]*fParams[1]+1) <= 0) return kFALSE;
  Double_t r  = TMath::Sqrt(-fParams[2]*fParams[0]+fParams[1]*fParams[1]+1)/
                fParams[0];

  // Define space-point refence plane
  Double_t alphap = p.GetAngle();
  Double_t sinp = TMath::Sin(alphap);
  Double_t cosp = TMath::Cos(alphap);
  Double_t x  = p.GetX()*cosp + p.GetY()*sinp;
  Double_t y  = p.GetY()*cosp - p.GetX()*sinp;
  Double_t x0p= x0*cosp + y0*sinp;
  Double_t y0p= y0*cosp - x0*sinp;
  if ((r*r - (x-x0p)*(x-x0p))<0) {
    AliWarning(Form("Track extrapolation failed ! (Track radius = %f, track circle x = %f, space-point x = %f, reference plane angle = %f\n",r,x0p,x,alphap));
    return kFALSE;
  }
  Double_t temp = TMath::Sqrt(r*r - (x-x0p)*(x-x0p));
  Double_t y1 = y0p + temp;
  Double_t y2 = y0p - temp;
  Double_t yprime = y1;
  if(TMath::Abs(y2-y) < TMath::Abs(y1-y)) yprime = y2;

  // Back to the global coordinate system
  Double_t xsecond = x*cosp - yprime*sinp;
  Double_t ysecond = yprime*cosp + x*sinp;

  // Now Z coordinate and track angles
  Double_t x2 = xsecond*cos + ysecond*sin;
  Double_t zsecond = GetZat(x2);
  Double_t dydx = GetDYat(x2);
  Double_t dzdx = GetDZat(x2);

  // Fill the cov matrix of the track extrapolation point
  Double_t cov[6] = {0,0,0,0,0,0};
  Double_t sigmax = 100*100.;
  cov[0] = sigmax;           cov[1] = sigmax*dydx;      cov[2] = sigmax*dzdx;
  cov[3] = sigmax*dydx*dydx; cov[4] = sigmax*dydx*dzdx;
  cov[5] = sigmax*dzdx*dzdx;

  Double_t sigmay2 = GetErrY2at(x2);
  Double_t sigmaz2 = GetErrZ2at(x2);
  cov[3] += sigmay2;
  cov[5] += sigmaz2;
   

  Float_t  newcov[6];
  newcov[0] = cov[0]*cos*cos-
            2*cov[1]*sin*cos+
              cov[3]*sin*sin;
  newcov[1] = cov[1]*(cos*cos-sin*sin)-
             (cov[3]-cov[0])*sin*cos;
  newcov[2] = cov[2]*cos-
              cov[4]*sin;
  newcov[3] = cov[0]*sin*sin+
            2*cov[1]*sin*cos+
              cov[3]*cos*cos;
  newcov[4] = cov[4]*cos+
              cov[2]*sin;
  newcov[5] = cov[5];

  p2.SetXYZ(xsecond,ysecond,zsecond,newcov);
  Int_t debugLevel = AliLog::GetDebugLevel("","AliTrackFitterRieman");
  Float_t debugRatio = 1./(1.+debugLevel);
  if (AliLog::GetDebugLevel("","AliTrackFitterRieman")>0 && gRandom->Rndm()<debugRatio){
    AliTrackPoint lp0(p);
    AliTrackPoint lp2(p2);
    AliTrackPoint localp0(p);
    AliTrackPoint localp2(p2);
    Float_t lAngle = lp0.GetAngle();
    localp0 = localp0.Rotate(lAngle);
    localp2 = localp2.Rotate(lAngle);

    (*fDebugStream)<<"PCA"<<
      "P0.="<<&lp0<<  //global position
      "P2.="<<&lp2<<
      "LP0.="<<&localp0<<  //local position
      "LP2.="<<&localp2<<
      "\n";
  }
  return kTRUE;
}

Double_t AliTrackFitterRieman::GetYat(Double_t x) const  {
  //
  // get y position at given point 
  //
  Double_t correction=0;
  if (fBCorrection){ // systematic effect correction
    correction  =  fCorrY[0]+fCorrY[1]*x +fCorrY[2]*x*x;
  }
  return fRieman->GetYat(x)+correction;
}

Double_t AliTrackFitterRieman::GetZat(Double_t x) const  {
  //
  // get z position at given point 
  //
  Double_t correction=0;
  if (fBCorrection){ // systematic effect correction
    correction  =  fCorrZ[0]+fCorrZ[1]*x +fCorrZ[2]*x*x;
  }
  return fRieman->GetZat(x)+correction;
}

Double_t AliTrackFitterRieman::GetErrY2at(Double_t x) const {
  //
  // get estimate of extrapolation error
  //
  Double_t error = fRieman->GetErrY(x);
  Double_t correction=0;
  if (fBCorrection){ // everestimate error due systematic effect
    error      *=fCorrY[3];
    correction  =  fCorrY[0]+fCorrY[1]*x +fCorrY[2]*x*x;
    correction *=correction;
  }
  return TMath::Sqrt(error+correction);
}

Double_t AliTrackFitterRieman::GetErrZ2at(Double_t x) const {
  //
  // get estimate of extrapolation error
  //
  Double_t error = fRieman->GetErrZ(x)*fCorrZ[3];
  Double_t correction=0;
  if (fBCorrection){  
     error    *=  fCorrZ[3];
    correction =  fCorrZ[0]+fCorrZ[1]*x +fCorrZ[2]*x*x;
    correction*=  correction;
  }
  return TMath::Sqrt(error+correction);
}
Commit	Line	Data
6b6cba33	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	/* $Id$ */
	17
	18	///////////////////////////////////////////////////////////////////////////////
	19	//
	20	// Class to the track points on the Riemann sphere. Inputs are
	21	// the set of id's (volids) of the volumes in which residuals are
	22	// calculated to construct a chi2 function to be minimized during
	23	// the alignment procedures. For the moment the track extrapolation is
	24	// taken at the space-point reference plane. The reference plane is
	25	// found using the covariance matrix of the point
	26	// (assuming sigma(x)=0 at the reference coordinate system.
	27	//
8849da04	28	// Internal usage of AliRieman class for minimization
8849da04	29	//
6b6cba33	30	//////////////////////////////////////////////////////////////////////////////
6b6cba33	31
3010c308	32	#include <TArrayI.h>
	33	#include <TLinearFitter.h>
	34	#include <TMath.h>
	35	#include <TMatrixD.h>
	36	#include <TMatrixDSym.h>
	37	#include <TRandom.h>
	38	#include <TTreeStream.h>
	39
24d4520d	40	#include "AliLog.h"
8849da04	41	#include "AliLog.h"
3010c308	42	#include "AliRieman.h"
3010c308	43	#include "AliTrackFitterRieman.h"
98937d93	44
	45	ClassImp(AliTrackFitterRieman)
	46
8849da04	47
98937d93	48	AliTrackFitterRieman::AliTrackFitterRieman():
75e3794b	49	AliTrackFitter(),
dfce6628	50	fBCorrection(kFALSE),
75e3794b	51	fAlpha(0.),
	52	fNUsed(0),
	53	fConv(kFALSE),
	54	fMaxDelta(3),
	55	fRieman(new AliRieman(10000)), // allocate rieman
	56	fDebugStream(new TTreeSRedirector("RiemanAlignDebug.root"))
98937d93	57	{
	58	//
	59	// default constructor
	60	//
98937d93	61	}
	62
	63
	64	AliTrackFitterRieman::AliTrackFitterRieman(AliTrackPointArray *array, Bool_t owner):
75e3794b	65	AliTrackFitter(array,owner),
dfce6628	66	fBCorrection(kFALSE),
75e3794b	67	fAlpha(0.),
	68	fNUsed(0),
	69	fConv(kFALSE),
	70	fMaxDelta(3),
	71	fRieman(new AliRieman(10000)), //allocate rieman
	72	fDebugStream(0)
98937d93	73	{
	74	//
	75	// Constructor
	76	//
8849da04	77	if (AliLog::GetDebugLevel("","AliTrackFitterRieman")) fDebugStream = new TTreeSRedirector("RiemanAlignDebug.root");
98937d93	78	}
	79
	80	AliTrackFitterRieman::AliTrackFitterRieman(const AliTrackFitterRieman &rieman):
75e3794b	81	AliTrackFitter(rieman),
dfce6628	82	fBCorrection(rieman.fBCorrection),
75e3794b	83	fAlpha(rieman.fAlpha),
	84	fNUsed(rieman.fNUsed),
	85	fConv(rieman.fConv),
	86	fMaxDelta(rieman.fMaxDelta),
	87	fRieman(new AliRieman(*(rieman.fRieman))),
	88	fDebugStream(0)
98937d93	89	{
	90	//
	91	// copy constructor
	92	//
75e3794b	93	if (AliLog::GetDebugLevel("","AliTrackFitterRieman")) fDebugStream = new TTreeSRedirector("RiemanAlignDebug.root");
98937d93	94	}
	95
	96	//_____________________________________________________________________________
	97	AliTrackFitterRieman &AliTrackFitterRieman::operator =(const AliTrackFitterRieman& rieman)
	98	{
6b6cba33	99	//
6b6cba33	100	// Assignment operator
98937d93	101	//
	102	if(this==&rieman) return *this;
	103	((AliTrackFitter *)this)->operator=(rieman);
	104
dfce6628	105	fBCorrection = rieman.fBCorrection;
8849da04	106	fAlpha = rieman.fAlpha;
	107	fNUsed = rieman.fNUsed;
	108	fConv = rieman.fConv;
186e6ced	109	fMaxDelta = rieman.fMaxDelta;
8849da04	110	fRieman = new AliRieman(*(rieman.fRieman));
75e3794b	111	fDebugStream = 0;
75e3794b	112	if (AliLog::GetDebugLevel("","AliTrackFitterRieman")) fDebugStream = new TTreeSRedirector("RiemanAlignDebug.root");
98937d93	113	return *this;
	114	}
	115
8849da04	116
	117	AliTrackFitterRieman::~AliTrackFitterRieman(){
	118	//
	119	//
	120	//
	121	delete fRieman;
	122	delete fDebugStream;
	123	}
	124
98937d93	125	void AliTrackFitterRieman::Reset()
	126	{
	127	// Reset the track parameters and
	128	// rieman sums
6b6cba33	129	//
98937d93	130	AliTrackFitter::Reset();
8849da04	131	fRieman->Reset();
98937d93	132	fAlpha = 0.;
46ae650f	133	fNUsed = 0;
98937d93	134	fConv =kFALSE;
	135	}
	136
cc345ce3	137	Bool_t AliTrackFitterRieman::Fit(const TArrayI volIds,const TArrayI volIdsFit,
98937d93	138	AliAlignObj::ELayerID layerRangeMin,
8849da04	139	AliAlignObj::ELayerID layerRangeMax)
98937d93	140	{
98937d93	141	// Fit the track points. The method takes as an input
cc345ce3	142	// the set of id's (volids) of the volumes in which
	143	// one wants to calculate the residuals.
	144	// The following parameters are used to define the
98937d93	145	// range of volumes to be used in the fitting
	146	// As a result two AliTrackPointArray's obects are filled.
	147	// The first one contains the space points with
cc345ce3	148	// volume id's from volids list. The second array of points represents
cc345ce3	149	// the track extrapolations corresponding to the space points
98937d93	150	// in the first array. The two arrays can be used to find
cc345ce3	151	// the residuals in the volids and consequently construct a
98937d93	152	// chi2 function to be minimized during the alignment
98937d93	153	// procedures. For the moment the track extrapolation is taken
cc345ce3	154	// at the space-point reference plane. The reference plane is
	155	// found using the covariance matrix of the point
	156	// (assuming sigma(x)=0 at the reference coordinate system.
dfce6628	157	Int_t debugLevel = AliLog::GetDebugLevel("","AliTrackFitterRieman");
d9e9045c	158
	159	// Float_t debugRatio = 1./(1.+debugLevel);
	160	Float_t debugRatio = debugLevel? 1.0/debugLevel : 1.0;
98937d93	161
dfce6628	162	const Int_t kMinPoints =1;
98937d93	163	Int_t npoints = fPoints->GetNPoints();
dfce6628	164	if ( npoints<fMinNPoints) return kFALSE;
	165	//
	166	// fast count points
	167	Int_t countFit = 0;
	168	for (Int_t ifit=0; ifit<volIdsFit->GetSize(); ifit++){
	169	Int_t volIdFit = volIdsFit->At(ifit);
	170	for (Int_t ipoint = 0; ipoint < npoints; ipoint++)
	171	if (volIdFit==fPoints->GetVolumeID()[ipoint]) countFit++;
	172	}
	173	if (countFit<fMinNPoints) return kFALSE;
	174	//
	175	Int_t countPoint = 0;
	176	for (Int_t jpoint=0; jpoint<volIds->GetSize(); jpoint++){
	177	Int_t volIdPoint = volIds->At(jpoint);
	178	for (Int_t ipoint = 0; ipoint < npoints; ipoint++)
	179	if (volIdPoint==fPoints->GetVolumeID()[ipoint]) countPoint++;
	180	}
	181	if (countPoint<kMinPoints) return kFALSE;
	182	//
	183	//
	184
	185	Reset();
	186
	187	if (fPoints && AliLog::GetDebugLevel("","AliTrackFitterRieman")>1&& gRandom->Rndm()<debugRatio){
8849da04	188	Int_t nVol = volIds->GetSize();
	189	Int_t nVolFit = volIdsFit->GetSize();
	190	Int_t volId = volIds->At(0);
	191	(*fDebugStream)<<"PInput"<<
	192	"NPoints="<<npoints<< // number of points
	193	"VolId="<<volId<< // first vol ID
	194	"NVol="<<nVol<< // number of volumes
	195	"NvolFit="<<nVolFit<< // number of volumes to fit
	196	"fPoints.="<<fPoints<< // input points
	197	"\n";
	198	}
98937d93	199
cc345ce3	200	Bool_t isAlphaCalc = kFALSE;
46ae650f	201	AliTrackPoint p,plocal;
cc345ce3	202	// fPoints->GetPoint(p,0);
cc345ce3	203	// fAlpha = TMath::ATan2(p.GetY(),p.GetX());
98937d93	204
98937d93	205	Int_t npVolId = 0;
46ae650f	206	fNUsed = 0;
98937d93	207	Int_t *pindex = new Int_t[npoints];
	208	for (Int_t ipoint = 0; ipoint < npoints; ipoint++)
	209	{
	210	fPoints->GetPoint(p,ipoint);
	211	UShort_t iVolId = p.GetVolumeID();
cc345ce3	212	if (FindVolId(volIds,iVolId)) {
98937d93	213	pindex[npVolId] = ipoint;
	214	npVolId++;
	215	}
cc345ce3	216	if (volIdsFit != 0x0) {
cc345ce3	217	if (!FindVolId(volIdsFit,iVolId)) continue;
46ae650f	218	}
	219	else {
	220	if (iVolId < AliAlignObj::LayerToVolUID(layerRangeMin,0) \|\|
	221	iVolId > AliAlignObj::LayerToVolUID(layerRangeMax,
c041444f	222	AliAlignObj::LayerSize(layerRangeMax))) continue;
46ae650f	223	}
cc345ce3	224	if (!isAlphaCalc) {
	225	fAlpha = p.GetAngle();
	226	isAlphaCalc = kTRUE;
	227	}
46ae650f	228	plocal = p.Rotate(fAlpha);
186e6ced	229	if (TMath::Abs(plocal.GetX())>500 \|\| TMath::Abs(plocal.GetX())<2 \|\| plocal.GetCov()[3]<=0 \|\|plocal.GetCov()[5]<=0 ){
8849da04	230	printf("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<</n");
	231	p.Dump();
	232	plocal.Dump();
	233	printf("Problematic point\n");
	234	printf("<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<</n");
186e6ced	235	}else{
	236	AddPoint(plocal.GetX(),plocal.GetY(),plocal.GetZ(),
	237	TMath::Sqrt(plocal.GetCov()[3]),TMath::Sqrt(plocal.GetCov()[5]));
8849da04	238	}
8849da04	239	// fNUsed++; AddPoint should be responsible
98937d93	240	}
98937d93	241
8849da04	242	if (npVolId == 0 \|\| fNUsed < fMinNPoints) {
98937d93	243	delete [] pindex;
	244	return kFALSE;
	245	}
	246
	247	Update();
cc345ce3	248
98937d93	249	if (!fConv) {
	250	delete [] pindex;
	251	return kFALSE;
	252	}
	253
	254	if ((fParams[0] == 0) \|\|
	255	((-fParams[2]fParams[0]+fParams[1]fParams[1]+1) <= 0)) {
	256	delete [] pindex;
	257	return kFALSE;
	258	}
	259
cc345ce3	260
	261	if (fNUsed < fMinNPoints) {
	262	delete [] pindex;
	263	return kFALSE;
	264	}
	265
46ae650f	266	fPVolId = new AliTrackPointArray(npVolId);
46ae650f	267	fPTrack = new AliTrackPointArray(npVolId);
98937d93	268	AliTrackPoint p2;
	269	for (Int_t ipoint = 0; ipoint < npVolId; ipoint++)
	270	{
	271	Int_t index = pindex[ipoint];
	272	fPoints->GetPoint(p,index);
186e6ced	273	if (GetPCA(p,p2) && (
	274	TMath::Abs(p.GetX()-p2.GetX())<fMaxDelta &&
	275	TMath::Abs(p.GetY()-p2.GetY())<fMaxDelta &&
	276	TMath::Abs(p.GetZ()-p2.GetZ())<fMaxDelta
	277	)) {
cc345ce3	278	Float_t xyz[3],xyz2[3];
cc345ce3	279	p.GetXYZ(xyz); p2.GetXYZ(xyz2);
186e6ced	280	// printf("residuals %f %d %d %f %f %f %f %f %f\n",fChi2,fNUsed,fConv,xyz[0],xyz[1],xyz[2],xyz2[0]-xyz[0],xyz2[1]-xyz[1],xyz2[2]-xyz[2]);
46ae650f	281	fPVolId->AddPoint(ipoint,&p);
46ae650f	282	fPTrack->AddPoint(ipoint,&p2);
8849da04	283	}else{
	284	// what should be default bahavior -
	285	delete [] pindex;
	286	delete fPVolId;
	287	delete fPTrack;
	288	fPVolId =0;
	289	fPTrack =0;
	290	return kFALSE;
98937d93	291	}
98937d93	292	}
8849da04	293
dfce6628	294	if (AliLog::GetDebugLevel("","AliTrackFitterRieman")>0 && gRandom->Rndm()<debugRatio){
8849da04	295	//
	296	// Debug Info
	297	//
	298	AliTrackPointArray *lPVolId = new AliTrackPointArray(npVolId);
	299	AliTrackPointArray *lPTrack = new AliTrackPointArray(npVolId);
dfce6628	300	AliTrackPointArray *lPTrackE = new AliTrackPointArray(npVolId);
8849da04	301	AliRieman * residual = fRieman->MakeResiduals();
8849da04	302	for (Int_t ipoint = 0; ipoint < npVolId; ipoint++){
dfce6628	303	AliTrackPoint p0, p0local;
	304	AliTrackPoint pFit, pFitlocal, pFitLocalE;
	305	fPVolId->GetPoint(p0,ipoint);
	306	Float_t lAngle = p0.GetAngle();
	307	p0local= p0.MasterToLocal();
	308	fPTrack->GetPoint(pFit,ipoint);
	309	pFitlocal= pFit.Rotate(lAngle);
	310	//
14b34be5	311	Float_t xyz[3], cov[6];
dfce6628	312	xyz[0] = pFitlocal.GetX();
	313	xyz[1] = pFitlocal.GetY();
	314	xyz[2] = pFitlocal.GetZ();
	315	for (Int_t icov=0; icov<6; icov++) cov[icov]=0;
	316	cov[3] = GetErrY2at(xyz[0]);
	317	cov[5] = GetErrZ2at(xyz[0]);
	318	pFitLocalE.SetXYZ(xyz,cov);
	319	//
	320	lPVolId->AddPoint(ipoint,&p0local);
	321	lPTrack->AddPoint(ipoint,&pFitlocal);
	322	lPTrackE->AddPoint(ipoint,&pFitLocalE);
8849da04	323	}
	324	//
	325	// debug info
	326	//
	327	Int_t nVol = volIds->GetSize();
	328	Int_t nVolFit = volIdsFit->GetSize();
	329	Int_t volId = volIds->At(0);
	330	Int_t modId =0;
	331	Int_t layer = AliAlignObj::VolUIDToLayer(volId,modId);
dfce6628	332	Int_t volIdFit = volIdsFit->At(0);
	333	Int_t modIdFit =0;
	334	Int_t layerFit = AliAlignObj::VolUIDToLayer(volIdFit,modIdFit);
8849da04	335
	336	(*fDebugStream)<<"Fit"<<
	337	"VolId="<<volId<< // volume ID
	338	"Layer="<<layer<< // layer ID
	339	"Module="<<modId<< // module ID
dfce6628	340	"LayerFit="<<layerFit<< // layer ID fit
dfce6628	341	"ModuleFit="<<modIdFit<< // module ID fit
8849da04	342	"NVol="<<nVol<< // number of volumes
	343	"NvolFit="<<nVolFit<< // number of volumes to fit
	344	"Points0.="<<fPVolId<< // original points
	345	"Points1.="<<fPTrack<< // fitted points
	346	"LPoints0.="<<lPVolId<< // original points - local frame
	347	"LPoints1.="<<lPTrack<< // fitted points - local frame
dfce6628	348	"LPointsE.="<<lPTrackE<< // fitted points with ext error - local frame
8849da04	349	"Rieman.="<<this<< // original rieman fit
	350	"Res.="<<residual<< // residuals of rieman fit
	351	"\n";
	352	delete lPVolId;
	353	delete lPTrack;
	354	delete residual;
	355	}
98937d93	356
98937d93	357	delete [] pindex;
98937d93	358	return kTRUE;
	359	}
	360
8849da04	361
98937d93	362	void AliTrackFitterRieman::AddPoint(Float_t x, Float_t y, Float_t z, Float_t sy, Float_t sz)
	363	{
	364	//
8849da04	365	// add point to rieman fitter
98937d93	366	//
8849da04	367	fRieman->AddPoint(x,y,z,sy,sz);
8849da04	368	fNUsed = fRieman->GetN();
98937d93	369	}
98937d93	370
8849da04	371
8849da04	372
98937d93	373	void AliTrackFitterRieman::Update(){
98937d93	374	//
8849da04	375	//
98937d93	376	//
8849da04	377	fRieman->Update();
	378	fConv = kFALSE;
	379	if (fRieman->IsValid()){
	380	for (Int_t ipar=0; ipar<6; ipar++){
	381	fParams[ipar] = fRieman->GetParam()[ipar];
98937d93	382	}
8849da04	383	fChi2 = fRieman->GetChi2();
	384	fNdf = fRieman->GetN()- 2;
	385	fNUsed = fRieman->GetN();
	386	fConv = kTRUE;
98937d93	387	}
dfce6628	388	//
	389	//
	390	//
	391	TLinearFitter fitY(3,"pol2");
	392	TLinearFitter fitZ(3,"pol2");
	393	for (Int_t ip=0; ip<fRieman->GetN();ip++){
	394	Double_t x = fRieman->GetX()[ip];
	395	fitY.AddPoint(&x,fRieman->GetY()[ip]-fRieman->GetYat(x),1);
	396	fitZ.AddPoint(&x,fRieman->GetZ()[ip]-fRieman->GetZat(x),1);
	397	}
	398	fitY.Eval();
	399	fitZ.Eval();
	400	for (Int_t iparam=0; iparam<3; iparam++){
	401	fCorrY[iparam]=fitY.GetParameter(iparam);
	402	fCorrZ[iparam]=fitZ.GetParameter(iparam);
	403	}
	404	fCorrY[3]=fitY.GetChisquare()/Float_t(fRieman->GetN()-3);
	405	fCorrZ[3]=fitZ.GetChisquare()/Float_t(fRieman->GetN()-3);
98937d93	406	}
98937d93	407
dfce6628	408
dfce6628	409
6b6cba33	410	//_____________________________________________________________________________
98937d93	411	Bool_t AliTrackFitterRieman::GetPCA(const AliTrackPoint &p, AliTrackPoint &p2) const
98937d93	412	{
6b6cba33	413	//
98937d93	414	// Get the closest to a given spacepoint track trajectory point
98937d93	415	// Look for details in the description of the Fit() method
6b6cba33	416	//
98937d93	417	if (!fConv) return kFALSE;
	418
	419	// First X and Y coordinates
	420	Double_t sin = TMath::Sin(fAlpha);
	421	Double_t cos = TMath::Cos(fAlpha);
	422	// fParam[0] = 1/y0
	423	// fParam[1] = -x0/y0
	424	// fParam[2] = - (R^2 - x0^2 - y0^2)/y0
	425	if (fParams[0] == 0) return kFALSE;
cc345ce3	426	// Track parameters in the global coordinate system
98937d93	427	Double_t x0 = -fParams[1]/fParams[0]cos - 1./fParams[0]sin;
	428	Double_t y0 = 1./fParams[0]cos - fParams[1]/fParams[0]sin;
	429	if ((-fParams[2]fParams[0]+fParams[1]fParams[1]+1) <= 0) return kFALSE;
6b6cba33	430	Double_t r = TMath::Sqrt(-fParams[2]fParams[0]+fParams[1]fParams[1]+1)/
98937d93	431	fParams[0];
98937d93	432
cc345ce3	433	// Define space-point refence plane
	434	Double_t alphap = p.GetAngle();
	435	Double_t sinp = TMath::Sin(alphap);
	436	Double_t cosp = TMath::Cos(alphap);
	437	Double_t x = p.GetX()cosp + p.GetY()sinp;
	438	Double_t y = p.GetY()cosp - p.GetX()sinp;
	439	Double_t x0p= x0cosp + y0sinp;
	440	Double_t y0p= y0cosp - x0sinp;
6b6cba33	441	if ((rr - (x-x0p)(x-x0p))<0) {
6b6cba33	442	AliWarning(Form("Track extrapolation failed ! (Track radius = %f, track circle x = %f, space-point x = %f, reference plane angle = %f\n",r,x0p,x,alphap));
24d4520d	443	return kFALSE;
24d4520d	444	}
6b6cba33	445	Double_t temp = TMath::Sqrt(rr - (x-x0p)(x-x0p));
cc345ce3	446	Double_t y1 = y0p + temp;
	447	Double_t y2 = y0p - temp;
	448	Double_t yprime = y1;
	449	if(TMath::Abs(y2-y) < TMath::Abs(y1-y)) yprime = y2;
	450
	451	// Back to the global coordinate system
	452	Double_t xsecond = xcosp - yprimesinp;
	453	Double_t ysecond = yprimecosp + xsinp;
	454
	455	// Now Z coordinate and track angles
	456	Double_t x2 = xsecondcos + ysecondsin;
	457	Double_t zsecond = GetZat(x2);
	458	Double_t dydx = GetDYat(x2);
	459	Double_t dzdx = GetDZat(x2);
	460
	461	// Fill the cov matrix of the track extrapolation point
	462	Double_t cov[6] = {0,0,0,0,0,0};
	463	Double_t sigmax = 100*100.;
	464	cov[0] = sigmax; cov[1] = sigmaxdydx; cov[2] = sigmaxdzdx;
	465	cov[3] = sigmaxdydxdydx; cov[4] = sigmaxdydxdzdx;
	466	cov[5] = sigmaxdzdxdzdx;
	467
dfce6628	468	Double_t sigmay2 = GetErrY2at(x2);
	469	Double_t sigmaz2 = GetErrZ2at(x2);
	470	cov[3] += sigmay2;
	471	cov[5] += sigmaz2;
	472
	473
cc345ce3	474	Float_t newcov[6];
	475	newcov[0] = cov[0]coscos-
	476	2cov[1]sin*cos+
	477	cov[3]sinsin;
	478	newcov[1] = cov[1](coscos-sin*sin)-
	479	(cov[3]-cov[0])sincos;
	480	newcov[2] = cov[2]*cos-
	481	cov[4]*sin;
	482	newcov[3] = cov[0]sinsin+
	483	2cov[1]sin*cos+
	484	cov[3]coscos;
	485	newcov[4] = cov[4]*cos+
	486	cov[2]*sin;
	487	newcov[5] = cov[5];
	488
	489	p2.SetXYZ(xsecond,ysecond,zsecond,newcov);
dfce6628	490	Int_t debugLevel = AliLog::GetDebugLevel("","AliTrackFitterRieman");
	491	Float_t debugRatio = 1./(1.+debugLevel);
	492	if (AliLog::GetDebugLevel("","AliTrackFitterRieman")>0 && gRandom->Rndm()<debugRatio){
8849da04	493	AliTrackPoint lp0(p);
8849da04	494	AliTrackPoint lp2(p2);
d9e9045c	495	AliTrackPoint localp0(p);
	496	AliTrackPoint localp2(p2);
	497	Float_t lAngle = lp0.GetAngle();
	498	localp0 = localp0.Rotate(lAngle);
	499	localp2 = localp2.Rotate(lAngle);
	500
dfce6628	501	(*fDebugStream)<<"PCA"<<
d9e9045c	502	"P0.="<<&lp0<< //global position
8849da04	503	"P2.="<<&lp2<<
d9e9045c	504	"LP0.="<<&localp0<< //local position
d9e9045c	505	"LP2.="<<&localp2<<
8849da04	506	"\n";
8849da04	507	}
98937d93	508	return kTRUE;
98937d93	509	}
dfce6628	510
	511	Double_t AliTrackFitterRieman::GetYat(Double_t x) const {
	512	//
	513	// get y position at given point
	514	//
	515	Double_t correction=0;
	516	if (fBCorrection){ // systematic effect correction
	517	correction = fCorrY[0]+fCorrY[1]x +fCorrY[2]x*x;
	518	}
	519	return fRieman->GetYat(x)+correction;
	520	}
	521
	522	Double_t AliTrackFitterRieman::GetZat(Double_t x) const {
	523	//
	524	// get z position at given point
	525	//
	526	Double_t correction=0;
	527	if (fBCorrection){ // systematic effect correction
	528	correction = fCorrZ[0]+fCorrZ[1]x +fCorrZ[2]x*x;
	529	}
	530	return fRieman->GetZat(x)+correction;
	531	}
	532
	533	Double_t AliTrackFitterRieman::GetErrY2at(Double_t x) const {
	534	//
	535	// get estimate of extrapolation error
	536	//
	537	Double_t error = fRieman->GetErrY(x);
	538	Double_t correction=0;
	539	if (fBCorrection){ // everestimate error due systematic effect
	540	error *=fCorrY[3];
	541	correction = fCorrY[0]+fCorrY[1]x +fCorrY[2]x*x;
	542	correction *=correction;
	543	}
	544	return TMath::Sqrt(error+correction);
	545	}
	546
	547	Double_t AliTrackFitterRieman::GetErrZ2at(Double_t x) const {
	548	//
	549	// get estimate of extrapolation error
	550	//
	551	Double_t error = fRieman->GetErrZ(x)*fCorrZ[3];
	552	Double_t correction=0;
	553	if (fBCorrection){
	554	error *= fCorrZ[3];
	555	correction = fCorrZ[0]+fCorrZ[1]x +fCorrZ[2]x*x;
	556	correction*= correction;
	557	}
	558	return TMath::Sqrt(error+correction);
	559	}