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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(), | |
bead9796 | 36 | fSorted(kFALSE), |
fe12e09c | 37 | fNPoints(0), |
38 | fX(0), | |
39 | fY(0), | |
40 | fZ(0), | |
41 | fSize(0), | |
42 | fCov(0), | |
43 | fVolumeID(0) | |
98937d93 | 44 | { |
98937d93 | 45 | } |
46 | ||
47 | //______________________________________________________________________________ | |
48 | AliTrackPointArray::AliTrackPointArray(Int_t npoints): | |
fe12e09c | 49 | TObject(), |
bead9796 | 50 | fSorted(kFALSE), |
fe12e09c | 51 | fNPoints(npoints), |
52 | fX(new Float_t[npoints]), | |
53 | fY(new Float_t[npoints]), | |
54 | fZ(new Float_t[npoints]), | |
55 | fSize(6*npoints), | |
56 | fCov(new Float_t[fSize]), | |
57 | fVolumeID(new UShort_t[npoints]) | |
98937d93 | 58 | { |
59 | // Constructor | |
60 | // | |
98937d93 | 61 | } |
62 | ||
63 | //______________________________________________________________________________ | |
64 | AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array): | |
fe12e09c | 65 | TObject(array), |
bead9796 | 66 | fSorted(array.fSorted), |
fe12e09c | 67 | fNPoints(array.fNPoints), |
68 | fX(new Float_t[fNPoints]), | |
69 | fY(new Float_t[fNPoints]), | |
70 | fZ(new Float_t[fNPoints]), | |
71 | fSize(array.fSize), | |
72 | fCov(new Float_t[fSize]), | |
73 | fVolumeID(new UShort_t[fNPoints]) | |
98937d93 | 74 | { |
75 | // Copy constructor | |
76 | // | |
98937d93 | 77 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); |
78 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
79 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
80 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
81 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
82 | } | |
83 | ||
84 | //_____________________________________________________________________________ | |
85 | AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array) | |
86 | { | |
87 | // assignment operator | |
88 | // | |
89 | if(this==&array) return *this; | |
90 | ((TObject *)this)->operator=(array); | |
91 | ||
bead9796 | 92 | fSorted = array.fSorted; |
98937d93 | 93 | fNPoints = array.fNPoints; |
94 | fSize = array.fSize; | |
6989bff3 | 95 | delete [] fX; |
98937d93 | 96 | fX = new Float_t[fNPoints]; |
6989bff3 | 97 | delete [] fY; |
98937d93 | 98 | fY = new Float_t[fNPoints]; |
6989bff3 | 99 | delete [] fZ; |
98937d93 | 100 | fZ = new Float_t[fNPoints]; |
6989bff3 | 101 | delete [] fVolumeID; |
98937d93 | 102 | fVolumeID = new UShort_t[fNPoints]; |
6989bff3 | 103 | delete [] fCov; |
98937d93 | 104 | fCov = new Float_t[fSize]; |
105 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); | |
106 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
107 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
108 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
109 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
110 | ||
111 | return *this; | |
112 | } | |
113 | ||
114 | //______________________________________________________________________________ | |
115 | AliTrackPointArray::~AliTrackPointArray() | |
116 | { | |
117 | // Destructor | |
118 | // | |
119 | delete [] fX; | |
120 | delete [] fY; | |
121 | delete [] fZ; | |
122 | delete [] fVolumeID; | |
123 | delete [] fCov; | |
124 | } | |
125 | ||
126 | ||
127 | //______________________________________________________________________________ | |
128 | Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p) | |
129 | { | |
130 | // Add a point to the array at position i | |
131 | // | |
132 | if (i >= fNPoints) return kFALSE; | |
133 | fX[i] = p->GetX(); | |
134 | fY[i] = p->GetY(); | |
135 | fZ[i] = p->GetZ(); | |
136 | fVolumeID[i] = p->GetVolumeID(); | |
137 | memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t)); | |
138 | return kTRUE; | |
139 | } | |
140 | ||
ec9e17f9 | 141 | |
98937d93 | 142 | //______________________________________________________________________________ |
143 | Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const | |
144 | { | |
145 | // Get the point at position i | |
146 | // | |
147 | if (i >= fNPoints) return kFALSE; | |
148 | p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]); | |
149 | p.SetVolumeID(fVolumeID[i]); | |
150 | return kTRUE; | |
151 | } | |
152 | ||
153 | //______________________________________________________________________________ | |
154 | Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const | |
155 | { | |
156 | // This method checks if the array | |
157 | // has at least one hit in the detector | |
158 | // volume defined by volid | |
159 | Bool_t check = kFALSE; | |
160 | for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++) | |
161 | if (fVolumeID[ipoint] == volid) check = kTRUE; | |
162 | ||
163 | return check; | |
164 | } | |
165 | ||
bead9796 | 166 | //______________________________________________________________________________ |
167 | void AliTrackPointArray::Sort(Bool_t down) | |
168 | { | |
169 | // Sort the array by the values of Y-coordinate of the track points. | |
170 | // The order is given by "down". | |
171 | // Optimized more for maintenance rather than for speed. | |
172 | ||
173 | if (fSorted) return; | |
174 | ||
175 | Int_t *index=new Int_t[fNPoints]; | |
176 | AliTrackPointArray a(*this); | |
177 | TMath::Sort(fNPoints,a.GetY(),index,down); | |
178 | ||
179 | AliTrackPoint p; | |
180 | for (Int_t i = 0; i < fNPoints; i++) { | |
181 | a.GetPoint(p,index[i]); | |
182 | AddPoint(i,&p); | |
183 | } | |
184 | ||
185 | delete[] index; | |
186 | fSorted=kTRUE; | |
187 | } | |
188 | ||
98937d93 | 189 | ClassImp(AliTrackPoint) |
190 | ||
191 | //______________________________________________________________________________ | |
fe12e09c | 192 | AliTrackPoint::AliTrackPoint() : |
193 | TObject(), | |
194 | fX(0), | |
195 | fY(0), | |
196 | fZ(0), | |
197 | fVolumeID(0) | |
98937d93 | 198 | { |
199 | // Default constructor | |
200 | // | |
98937d93 | 201 | memset(fCov,0,6*sizeof(Float_t)); |
202 | } | |
203 | ||
204 | ||
205 | //______________________________________________________________________________ | |
fe12e09c | 206 | AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) : |
207 | TObject(), | |
208 | fX(0), | |
209 | fY(0), | |
210 | fZ(0), | |
211 | fVolumeID(0) | |
98937d93 | 212 | { |
213 | // Constructor | |
214 | // | |
215 | SetXYZ(x,y,z,cov); | |
216 | SetVolumeID(volid); | |
217 | } | |
218 | ||
219 | //______________________________________________________________________________ | |
fe12e09c | 220 | AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) : |
221 | TObject(), | |
222 | fX(0), | |
223 | fY(0), | |
224 | fZ(0), | |
225 | fVolumeID(0) | |
98937d93 | 226 | { |
227 | // Constructor | |
228 | // | |
229 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
230 | SetVolumeID(volid); | |
231 | } | |
232 | ||
233 | //______________________________________________________________________________ | |
234 | AliTrackPoint::AliTrackPoint(const AliTrackPoint &p): | |
fe12e09c | 235 | TObject(p), |
236 | fX(0), | |
237 | fY(0), | |
238 | fZ(0), | |
239 | fVolumeID(0) | |
98937d93 | 240 | { |
241 | // Copy constructor | |
242 | // | |
243 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
244 | SetVolumeID(p.fVolumeID); | |
245 | } | |
246 | ||
247 | //_____________________________________________________________________________ | |
248 | AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p) | |
249 | { | |
250 | // assignment operator | |
251 | // | |
252 | if(this==&p) return *this; | |
253 | ((TObject *)this)->operator=(p); | |
254 | ||
255 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
256 | SetVolumeID(p.fVolumeID); | |
257 | ||
258 | return *this; | |
259 | } | |
260 | ||
261 | //______________________________________________________________________________ | |
262 | void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov) | |
263 | { | |
264 | // Set XYZ coordinates and their cov matrix | |
265 | // | |
266 | fX = x; | |
267 | fY = y; | |
268 | fZ = z; | |
269 | if (cov) | |
270 | memcpy(fCov,cov,6*sizeof(Float_t)); | |
271 | } | |
272 | ||
273 | //______________________________________________________________________________ | |
274 | void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov) | |
275 | { | |
276 | // Set XYZ coordinates and their cov matrix | |
277 | // | |
278 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
279 | } | |
280 | ||
281 | //______________________________________________________________________________ | |
282 | void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const | |
283 | { | |
284 | xyz[0] = fX; | |
285 | xyz[1] = fY; | |
286 | xyz[2] = fZ; | |
287 | if (cov) | |
288 | memcpy(cov,fCov,6*sizeof(Float_t)); | |
289 | } | |
46ae650f | 290 | |
291 | //______________________________________________________________________________ | |
292 | Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const | |
293 | { | |
294 | // This method calculates the track to space-point residuals. The track | |
295 | // interpolation is also stored as AliTrackPoint. Using the option | |
296 | // 'weighted' one can calculate the residual either with or without | |
297 | // taking into account the covariance matrix of the space-point and | |
298 | // track interpolation. The second case the residual becomes a pull. | |
299 | ||
300 | Float_t res = 0; | |
301 | ||
302 | if (!weighted) { | |
303 | Float_t xyz[3],xyzp[3]; | |
304 | GetXYZ(xyz); | |
305 | p.GetXYZ(xyzp); | |
306 | res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+ | |
307 | (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+ | |
308 | (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]); | |
309 | } | |
310 | else { | |
311 | Float_t xyz[3],xyzp[3]; | |
312 | Float_t cov[6],covp[6]; | |
313 | GetXYZ(xyz,cov); | |
314 | TMatrixDSym mcov(3); | |
315 | mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2]; | |
316 | mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4]; | |
317 | mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5]; | |
318 | p.GetXYZ(xyzp,covp); | |
319 | TMatrixDSym mcovp(3); | |
320 | mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2]; | |
321 | mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4]; | |
322 | mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5]; | |
323 | TMatrixDSym msum = mcov + mcovp; | |
324 | msum.Invert(); | |
cc345ce3 | 325 | // mcov.Print(); mcovp.Print(); msum.Print(); |
46ae650f | 326 | if (msum.IsValid()) { |
327 | for (Int_t i = 0; i < 3; i++) | |
328 | for (Int_t j = 0; j < 3; j++) | |
329 | res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j); | |
330 | } | |
331 | } | |
332 | ||
333 | return res; | |
334 | } | |
335 | ||
4dcdc747 | 336 | //_____________________________________________________________________________ |
337 | Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const | |
338 | { | |
339 | // | |
340 | // Get the intersection point between this point and | |
341 | // the point "p" belongs to. | |
342 | // The result is stored as a point 'out' | |
343 | // return kFALSE in case of failure. | |
344 | out.SetXYZ(0,0,0); | |
345 | ||
346 | TMatrixD t(3,1); | |
347 | t(0,0)=GetX(); | |
348 | t(1,0)=GetY(); | |
349 | t(2,0)=GetZ(); | |
350 | ||
351 | TMatrixDSym tC(3); | |
352 | { | |
353 | const Float_t *cv=GetCov(); | |
354 | tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2]; | |
355 | tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4]; | |
356 | tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5]; | |
357 | } | |
358 | ||
359 | TMatrixD m(3,1); | |
360 | m(0,0)=p.GetX(); | |
361 | m(1,0)=p.GetY(); | |
362 | m(2,0)=p.GetZ(); | |
363 | ||
364 | TMatrixDSym mC(3); | |
365 | { | |
366 | const Float_t *cv=p.GetCov(); | |
367 | mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2]; | |
368 | mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4]; | |
369 | mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5]; | |
370 | } | |
371 | ||
372 | TMatrixDSym tmW(tC); | |
373 | tmW+=mC; | |
374 | tmW.Invert(); | |
375 | if (!tmW.IsValid()) return kFALSE; | |
376 | ||
377 | TMatrixD mW(tC,TMatrixD::kMult,tmW); | |
378 | TMatrixD tW(mC,TMatrixD::kMult,tmW); | |
379 | ||
380 | TMatrixD mi(mW,TMatrixD::kMult,m); | |
381 | TMatrixD ti(tW,TMatrixD::kMult,t); | |
382 | ti+=mi; | |
383 | ||
384 | TMatrixD iC(tC,TMatrixD::kMult,tmW); | |
385 | iC*=mC; | |
386 | ||
387 | out.SetXYZ(ti(0,0),ti(1,0),ti(2,0)); | |
388 | UShort_t id=p.GetVolumeID(); | |
389 | out.SetVolumeID(id); | |
390 | ||
391 | return kTRUE; | |
392 | } | |
393 | ||
46ae650f | 394 | //______________________________________________________________________________ |
395 | Float_t AliTrackPoint::GetAngle() const | |
396 | { | |
397 | // The method uses the covariance matrix of | |
398 | // the space-point in order to extract the | |
399 | // orientation of the detector plane. | |
400 | // The rotation in XY plane only is calculated. | |
401 | ||
8e52c1a8 | 402 | Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3])); |
403 | if (fCov[1] > 0) { | |
404 | phi = TMath::Pi() - phi; | |
405 | if ((fY-fX) < 0) phi += TMath::Pi(); | |
406 | } | |
46ae650f | 407 | else { |
8e52c1a8 | 408 | if ((fX+fY) < 0) phi += TMath::Pi(); |
409 | } | |
410 | ||
411 | return phi; | |
412 | ||
46ae650f | 413 | } |
414 | ||
415 | //_____________________________________________________________________________ | |
416 | AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const | |
417 | { | |
418 | // Transform the space-point coordinates | |
419 | // and covariance matrix from global to | |
420 | // local (detector plane) coordinate system | |
421 | // XY plane rotation only | |
422 | ||
423 | static AliTrackPoint p; | |
424 | p = *this; | |
425 | ||
426 | Float_t xyz[3],cov[6]; | |
427 | GetXYZ(xyz,cov); | |
428 | ||
429 | Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha); | |
430 | ||
431 | Float_t newxyz[3],newcov[6]; | |
432 | newxyz[0] = cos*xyz[0] + sin*xyz[1]; | |
433 | newxyz[1] = cos*xyz[1] - sin*xyz[0]; | |
434 | newxyz[2] = xyz[2]; | |
435 | ||
436 | newcov[0] = cov[0]*cos*cos+ | |
437 | 2*cov[1]*sin*cos+ | |
438 | cov[3]*sin*sin; | |
439 | newcov[1] = cov[1]*(cos*cos-sin*sin)+ | |
440 | (cov[3]-cov[0])*sin*cos; | |
441 | newcov[2] = cov[2]*cos+ | |
442 | cov[4]*sin; | |
443 | newcov[3] = cov[0]*sin*sin- | |
444 | 2*cov[1]*sin*cos+ | |
445 | cov[3]*cos*cos; | |
446 | newcov[4] = cov[4]*cos- | |
447 | cov[2]*sin; | |
448 | newcov[5] = cov[5]; | |
449 | ||
450 | p.SetXYZ(newxyz,newcov); | |
451 | p.SetVolumeID(GetVolumeID()); | |
452 | ||
453 | return p; | |
454 | } | |
455 | ||
456 | //_____________________________________________________________________________ | |
457 | AliTrackPoint& AliTrackPoint::MasterToLocal() const | |
458 | { | |
459 | // Transform the space-point coordinates | |
460 | // and the covariance matrix from the | |
461 | // (master) to the local (tracking) | |
462 | // coordinate system | |
463 | ||
464 | Float_t alpha = GetAngle(); | |
465 | return Rotate(alpha); | |
466 | } | |
467 | ||
468 | //_____________________________________________________________________________ | |
469 | void AliTrackPoint::Print(Option_t *) const | |
470 | { | |
471 | // Print the space-point coordinates and | |
472 | // covariance matrix | |
473 | ||
474 | printf("VolumeID=%d\n", GetVolumeID()); | |
475 | printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]); | |
476 | printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]); | |
477 | printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]); | |
478 | ||
479 | } | |
ec9e17f9 | 480 | |
481 | ||
482 | //________________________________ | |
483 | void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){ | |
484 | // Add the uncertainty on the cluster position due to alignment | |
485 | // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already | |
486 | // present Cov. Matrix | |
487 | ||
488 | TMatrixDSym cov(3); | |
489 | TMatrixD coval(3,3); | |
490 | TMatrixD jacob(3,6); | |
491 | Float_t newcov[6]; | |
492 | ||
493 | cov(0,0)=fCov[0]; | |
494 | cov(1,0)=cov(0,1)=fCov[1]; | |
495 | cov(2,0)=cov(0,2)=fCov[2]; | |
496 | cov(1,1)=fCov[3]; | |
497 | cov(2,1)=cov(1,2)=fCov[4]; | |
498 | cov(2,2)=fCov[5]; | |
499 | ||
500 | jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0; | |
501 | jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0; | |
502 | jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1; | |
503 | jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY; | |
504 | jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX; | |
347c4515 | 505 | jacob(0,5) = -fY; jacob(1,5) = fX; jacob(2,5) = 0; |
ec9e17f9 | 506 | |
507 | TMatrixD jacobT=jacob.T();jacob.T(); | |
508 | ||
509 | coval=jacob*alignparmtrx*jacobT+cov; | |
510 | ||
511 | ||
512 | newcov[0]=coval(0,0); | |
513 | newcov[1]=coval(1,0); | |
514 | newcov[2]=coval(2,0); | |
515 | newcov[3]=coval(1,1); | |
516 | newcov[4]=coval(2,1); | |
517 | newcov[5]=coval(2,2); | |
518 | ||
519 | SetXYZ(fX,fY,fZ,newcov); | |
520 | ||
521 | } | |
bead9796 | 522 |