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98937d93 | 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 | // Class AliTrackPointArray // | |
18 | // This class contains the ESD track space-points which are used during // | |
19 | // the alignment procedures. Each space-point consist of 3 coordinates // | |
20 | // (and their errors) and the index of the sub-detector which contains // | |
21 | // the space-point. // | |
22 | // cvetan.cheshkov@cern.ch 3/11/2005 // | |
23 | ////////////////////////////////////////////////////////////////////////////// | |
24 | ||
46ae650f | 25 | #include <TMath.h> |
4dcdc747 | 26 | #include <TMatrixD.h> |
46ae650f | 27 | #include <TMatrixDSym.h> |
28 | ||
98937d93 | 29 | #include "AliTrackPointArray.h" |
30 | ||
31 | ClassImp(AliTrackPointArray) | |
32 | ||
33 | //______________________________________________________________________________ | |
fe12e09c | 34 | AliTrackPointArray::AliTrackPointArray() : |
35 | TObject(), | |
36 | fNPoints(0), | |
37 | fX(0), | |
38 | fY(0), | |
39 | fZ(0), | |
40 | fSize(0), | |
41 | fCov(0), | |
42 | fVolumeID(0) | |
98937d93 | 43 | { |
98937d93 | 44 | } |
45 | ||
46 | //______________________________________________________________________________ | |
47 | AliTrackPointArray::AliTrackPointArray(Int_t npoints): | |
fe12e09c | 48 | TObject(), |
49 | fNPoints(npoints), | |
50 | fX(new Float_t[npoints]), | |
51 | fY(new Float_t[npoints]), | |
52 | fZ(new Float_t[npoints]), | |
53 | fSize(6*npoints), | |
54 | fCov(new Float_t[fSize]), | |
55 | fVolumeID(new UShort_t[npoints]) | |
98937d93 | 56 | { |
57 | // Constructor | |
58 | // | |
98937d93 | 59 | } |
60 | ||
61 | //______________________________________________________________________________ | |
62 | AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array): | |
fe12e09c | 63 | TObject(array), |
64 | fNPoints(array.fNPoints), | |
65 | fX(new Float_t[fNPoints]), | |
66 | fY(new Float_t[fNPoints]), | |
67 | fZ(new Float_t[fNPoints]), | |
68 | fSize(array.fSize), | |
69 | fCov(new Float_t[fSize]), | |
70 | fVolumeID(new UShort_t[fNPoints]) | |
98937d93 | 71 | { |
72 | // Copy constructor | |
73 | // | |
98937d93 | 74 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); |
75 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
76 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
77 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
78 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
79 | } | |
80 | ||
81 | //_____________________________________________________________________________ | |
82 | AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array) | |
83 | { | |
84 | // assignment operator | |
85 | // | |
86 | if(this==&array) return *this; | |
87 | ((TObject *)this)->operator=(array); | |
88 | ||
89 | fNPoints = array.fNPoints; | |
90 | fSize = array.fSize; | |
6989bff3 | 91 | delete [] fX; |
98937d93 | 92 | fX = new Float_t[fNPoints]; |
6989bff3 | 93 | delete [] fY; |
98937d93 | 94 | fY = new Float_t[fNPoints]; |
6989bff3 | 95 | delete [] fZ; |
98937d93 | 96 | fZ = new Float_t[fNPoints]; |
6989bff3 | 97 | delete [] fVolumeID; |
98937d93 | 98 | fVolumeID = new UShort_t[fNPoints]; |
6989bff3 | 99 | delete [] fCov; |
98937d93 | 100 | fCov = new Float_t[fSize]; |
101 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); | |
102 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
103 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
104 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
105 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
106 | ||
107 | return *this; | |
108 | } | |
109 | ||
110 | //______________________________________________________________________________ | |
111 | AliTrackPointArray::~AliTrackPointArray() | |
112 | { | |
113 | // Destructor | |
114 | // | |
115 | delete [] fX; | |
116 | delete [] fY; | |
117 | delete [] fZ; | |
118 | delete [] fVolumeID; | |
119 | delete [] fCov; | |
120 | } | |
121 | ||
122 | ||
123 | //______________________________________________________________________________ | |
124 | Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p) | |
125 | { | |
126 | // Add a point to the array at position i | |
127 | // | |
128 | if (i >= fNPoints) return kFALSE; | |
129 | fX[i] = p->GetX(); | |
130 | fY[i] = p->GetY(); | |
131 | fZ[i] = p->GetZ(); | |
132 | fVolumeID[i] = p->GetVolumeID(); | |
133 | memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t)); | |
134 | return kTRUE; | |
135 | } | |
136 | ||
ec9e17f9 | 137 | |
98937d93 | 138 | //______________________________________________________________________________ |
139 | Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const | |
140 | { | |
141 | // Get the point at position i | |
142 | // | |
143 | if (i >= fNPoints) return kFALSE; | |
144 | p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]); | |
145 | p.SetVolumeID(fVolumeID[i]); | |
146 | return kTRUE; | |
147 | } | |
148 | ||
149 | //______________________________________________________________________________ | |
150 | Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const | |
151 | { | |
152 | // This method checks if the array | |
153 | // has at least one hit in the detector | |
154 | // volume defined by volid | |
155 | Bool_t check = kFALSE; | |
156 | for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++) | |
157 | if (fVolumeID[ipoint] == volid) check = kTRUE; | |
158 | ||
159 | return check; | |
160 | } | |
161 | ||
162 | ClassImp(AliTrackPoint) | |
163 | ||
164 | //______________________________________________________________________________ | |
fe12e09c | 165 | AliTrackPoint::AliTrackPoint() : |
166 | TObject(), | |
167 | fX(0), | |
168 | fY(0), | |
169 | fZ(0), | |
170 | fVolumeID(0) | |
98937d93 | 171 | { |
172 | // Default constructor | |
173 | // | |
98937d93 | 174 | memset(fCov,0,6*sizeof(Float_t)); |
175 | } | |
176 | ||
177 | ||
178 | //______________________________________________________________________________ | |
fe12e09c | 179 | AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) : |
180 | TObject(), | |
181 | fX(0), | |
182 | fY(0), | |
183 | fZ(0), | |
184 | fVolumeID(0) | |
98937d93 | 185 | { |
186 | // Constructor | |
187 | // | |
188 | SetXYZ(x,y,z,cov); | |
189 | SetVolumeID(volid); | |
190 | } | |
191 | ||
192 | //______________________________________________________________________________ | |
fe12e09c | 193 | AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) : |
194 | TObject(), | |
195 | fX(0), | |
196 | fY(0), | |
197 | fZ(0), | |
198 | fVolumeID(0) | |
98937d93 | 199 | { |
200 | // Constructor | |
201 | // | |
202 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
203 | SetVolumeID(volid); | |
204 | } | |
205 | ||
206 | //______________________________________________________________________________ | |
207 | AliTrackPoint::AliTrackPoint(const AliTrackPoint &p): | |
fe12e09c | 208 | TObject(p), |
209 | fX(0), | |
210 | fY(0), | |
211 | fZ(0), | |
212 | fVolumeID(0) | |
98937d93 | 213 | { |
214 | // Copy constructor | |
215 | // | |
216 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
217 | SetVolumeID(p.fVolumeID); | |
218 | } | |
219 | ||
220 | //_____________________________________________________________________________ | |
221 | AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p) | |
222 | { | |
223 | // assignment operator | |
224 | // | |
225 | if(this==&p) return *this; | |
226 | ((TObject *)this)->operator=(p); | |
227 | ||
228 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
229 | SetVolumeID(p.fVolumeID); | |
230 | ||
231 | return *this; | |
232 | } | |
233 | ||
234 | //______________________________________________________________________________ | |
235 | void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov) | |
236 | { | |
237 | // Set XYZ coordinates and their cov matrix | |
238 | // | |
239 | fX = x; | |
240 | fY = y; | |
241 | fZ = z; | |
242 | if (cov) | |
243 | memcpy(fCov,cov,6*sizeof(Float_t)); | |
244 | } | |
245 | ||
246 | //______________________________________________________________________________ | |
247 | void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov) | |
248 | { | |
249 | // Set XYZ coordinates and their cov matrix | |
250 | // | |
251 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
252 | } | |
253 | ||
254 | //______________________________________________________________________________ | |
255 | void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const | |
256 | { | |
257 | xyz[0] = fX; | |
258 | xyz[1] = fY; | |
259 | xyz[2] = fZ; | |
260 | if (cov) | |
261 | memcpy(cov,fCov,6*sizeof(Float_t)); | |
262 | } | |
46ae650f | 263 | |
264 | //______________________________________________________________________________ | |
265 | Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const | |
266 | { | |
267 | // This method calculates the track to space-point residuals. The track | |
268 | // interpolation is also stored as AliTrackPoint. Using the option | |
269 | // 'weighted' one can calculate the residual either with or without | |
270 | // taking into account the covariance matrix of the space-point and | |
271 | // track interpolation. The second case the residual becomes a pull. | |
272 | ||
273 | Float_t res = 0; | |
274 | ||
275 | if (!weighted) { | |
276 | Float_t xyz[3],xyzp[3]; | |
277 | GetXYZ(xyz); | |
278 | p.GetXYZ(xyzp); | |
279 | res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+ | |
280 | (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+ | |
281 | (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]); | |
282 | } | |
283 | else { | |
284 | Float_t xyz[3],xyzp[3]; | |
285 | Float_t cov[6],covp[6]; | |
286 | GetXYZ(xyz,cov); | |
287 | TMatrixDSym mcov(3); | |
288 | mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2]; | |
289 | mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4]; | |
290 | mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5]; | |
291 | p.GetXYZ(xyzp,covp); | |
292 | TMatrixDSym mcovp(3); | |
293 | mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2]; | |
294 | mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4]; | |
295 | mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5]; | |
296 | TMatrixDSym msum = mcov + mcovp; | |
297 | msum.Invert(); | |
cc345ce3 | 298 | // mcov.Print(); mcovp.Print(); msum.Print(); |
46ae650f | 299 | if (msum.IsValid()) { |
300 | for (Int_t i = 0; i < 3; i++) | |
301 | for (Int_t j = 0; j < 3; j++) | |
302 | res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j); | |
303 | } | |
304 | } | |
305 | ||
306 | return res; | |
307 | } | |
308 | ||
4dcdc747 | 309 | //_____________________________________________________________________________ |
310 | Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const | |
311 | { | |
312 | // | |
313 | // Get the intersection point between this point and | |
314 | // the point "p" belongs to. | |
315 | // The result is stored as a point 'out' | |
316 | // return kFALSE in case of failure. | |
317 | out.SetXYZ(0,0,0); | |
318 | ||
319 | TMatrixD t(3,1); | |
320 | t(0,0)=GetX(); | |
321 | t(1,0)=GetY(); | |
322 | t(2,0)=GetZ(); | |
323 | ||
324 | TMatrixDSym tC(3); | |
325 | { | |
326 | const Float_t *cv=GetCov(); | |
327 | tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2]; | |
328 | tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4]; | |
329 | tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5]; | |
330 | } | |
331 | ||
332 | TMatrixD m(3,1); | |
333 | m(0,0)=p.GetX(); | |
334 | m(1,0)=p.GetY(); | |
335 | m(2,0)=p.GetZ(); | |
336 | ||
337 | TMatrixDSym mC(3); | |
338 | { | |
339 | const Float_t *cv=p.GetCov(); | |
340 | mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2]; | |
341 | mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4]; | |
342 | mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5]; | |
343 | } | |
344 | ||
345 | TMatrixDSym tmW(tC); | |
346 | tmW+=mC; | |
347 | tmW.Invert(); | |
348 | if (!tmW.IsValid()) return kFALSE; | |
349 | ||
350 | TMatrixD mW(tC,TMatrixD::kMult,tmW); | |
351 | TMatrixD tW(mC,TMatrixD::kMult,tmW); | |
352 | ||
353 | TMatrixD mi(mW,TMatrixD::kMult,m); | |
354 | TMatrixD ti(tW,TMatrixD::kMult,t); | |
355 | ti+=mi; | |
356 | ||
357 | TMatrixD iC(tC,TMatrixD::kMult,tmW); | |
358 | iC*=mC; | |
359 | ||
360 | out.SetXYZ(ti(0,0),ti(1,0),ti(2,0)); | |
361 | UShort_t id=p.GetVolumeID(); | |
362 | out.SetVolumeID(id); | |
363 | ||
364 | return kTRUE; | |
365 | } | |
366 | ||
46ae650f | 367 | //______________________________________________________________________________ |
368 | Float_t AliTrackPoint::GetAngle() const | |
369 | { | |
370 | // The method uses the covariance matrix of | |
371 | // the space-point in order to extract the | |
372 | // orientation of the detector plane. | |
373 | // The rotation in XY plane only is calculated. | |
374 | ||
8e52c1a8 | 375 | Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3])); |
376 | if (fCov[1] > 0) { | |
377 | phi = TMath::Pi() - phi; | |
378 | if ((fY-fX) < 0) phi += TMath::Pi(); | |
379 | } | |
46ae650f | 380 | else { |
8e52c1a8 | 381 | if ((fX+fY) < 0) phi += TMath::Pi(); |
382 | } | |
383 | ||
384 | return phi; | |
385 | ||
46ae650f | 386 | } |
387 | ||
388 | //_____________________________________________________________________________ | |
389 | AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const | |
390 | { | |
391 | // Transform the space-point coordinates | |
392 | // and covariance matrix from global to | |
393 | // local (detector plane) coordinate system | |
394 | // XY plane rotation only | |
395 | ||
396 | static AliTrackPoint p; | |
397 | p = *this; | |
398 | ||
399 | Float_t xyz[3],cov[6]; | |
400 | GetXYZ(xyz,cov); | |
401 | ||
402 | Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha); | |
403 | ||
404 | Float_t newxyz[3],newcov[6]; | |
405 | newxyz[0] = cos*xyz[0] + sin*xyz[1]; | |
406 | newxyz[1] = cos*xyz[1] - sin*xyz[0]; | |
407 | newxyz[2] = xyz[2]; | |
408 | ||
409 | newcov[0] = cov[0]*cos*cos+ | |
410 | 2*cov[1]*sin*cos+ | |
411 | cov[3]*sin*sin; | |
412 | newcov[1] = cov[1]*(cos*cos-sin*sin)+ | |
413 | (cov[3]-cov[0])*sin*cos; | |
414 | newcov[2] = cov[2]*cos+ | |
415 | cov[4]*sin; | |
416 | newcov[3] = cov[0]*sin*sin- | |
417 | 2*cov[1]*sin*cos+ | |
418 | cov[3]*cos*cos; | |
419 | newcov[4] = cov[4]*cos- | |
420 | cov[2]*sin; | |
421 | newcov[5] = cov[5]; | |
422 | ||
423 | p.SetXYZ(newxyz,newcov); | |
424 | p.SetVolumeID(GetVolumeID()); | |
425 | ||
426 | return p; | |
427 | } | |
428 | ||
429 | //_____________________________________________________________________________ | |
430 | AliTrackPoint& AliTrackPoint::MasterToLocal() const | |
431 | { | |
432 | // Transform the space-point coordinates | |
433 | // and the covariance matrix from the | |
434 | // (master) to the local (tracking) | |
435 | // coordinate system | |
436 | ||
437 | Float_t alpha = GetAngle(); | |
438 | return Rotate(alpha); | |
439 | } | |
440 | ||
441 | //_____________________________________________________________________________ | |
442 | void AliTrackPoint::Print(Option_t *) const | |
443 | { | |
444 | // Print the space-point coordinates and | |
445 | // covariance matrix | |
446 | ||
447 | printf("VolumeID=%d\n", GetVolumeID()); | |
448 | printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]); | |
449 | printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]); | |
450 | printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]); | |
451 | ||
452 | } | |
ec9e17f9 | 453 | |
454 | ||
455 | //________________________________ | |
456 | void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){ | |
457 | // Add the uncertainty on the cluster position due to alignment | |
458 | // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already | |
459 | // present Cov. Matrix | |
460 | ||
461 | TMatrixDSym cov(3); | |
462 | TMatrixD coval(3,3); | |
463 | TMatrixD jacob(3,6); | |
464 | Float_t newcov[6]; | |
465 | ||
466 | cov(0,0)=fCov[0]; | |
467 | cov(1,0)=cov(0,1)=fCov[1]; | |
468 | cov(2,0)=cov(0,2)=fCov[2]; | |
469 | cov(1,1)=fCov[3]; | |
470 | cov(2,1)=cov(1,2)=fCov[4]; | |
471 | cov(2,2)=fCov[5]; | |
472 | ||
473 | jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0; | |
474 | jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0; | |
475 | jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1; | |
476 | jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY; | |
477 | jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX; | |
478 | jacob(0,5) = fY; jacob(1,5) = fX; jacob(2,5) = 0; | |
479 | ||
480 | TMatrixD jacobT=jacob.T();jacob.T(); | |
481 | ||
482 | coval=jacob*alignparmtrx*jacobT+cov; | |
483 | ||
484 | ||
485 | newcov[0]=coval(0,0); | |
486 | newcov[1]=coval(1,0); | |
487 | newcov[2]=coval(2,0); | |
488 | newcov[3]=coval(1,1); | |
489 | newcov[4]=coval(2,1); | |
490 | newcov[5]=coval(2,2); | |
491 | ||
492 | SetXYZ(fX,fY,fZ,newcov); | |
493 | ||
494 | } |