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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> |
26 | #include <TMatrixDSym.h> | |
27 | ||
98937d93 | 28 | #include "AliTrackPointArray.h" |
29 | ||
30 | ClassImp(AliTrackPointArray) | |
31 | ||
32 | //______________________________________________________________________________ | |
fe12e09c | 33 | AliTrackPointArray::AliTrackPointArray() : |
34 | TObject(), | |
35 | fNPoints(0), | |
36 | fX(0), | |
37 | fY(0), | |
38 | fZ(0), | |
39 | fSize(0), | |
40 | fCov(0), | |
41 | fVolumeID(0) | |
98937d93 | 42 | { |
98937d93 | 43 | } |
44 | ||
45 | //______________________________________________________________________________ | |
46 | AliTrackPointArray::AliTrackPointArray(Int_t npoints): | |
fe12e09c | 47 | TObject(), |
48 | fNPoints(npoints), | |
49 | fX(new Float_t[npoints]), | |
50 | fY(new Float_t[npoints]), | |
51 | fZ(new Float_t[npoints]), | |
52 | fSize(6*npoints), | |
53 | fCov(new Float_t[fSize]), | |
54 | fVolumeID(new UShort_t[npoints]) | |
98937d93 | 55 | { |
56 | // Constructor | |
57 | // | |
98937d93 | 58 | } |
59 | ||
60 | //______________________________________________________________________________ | |
61 | AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array): | |
fe12e09c | 62 | TObject(array), |
63 | fNPoints(array.fNPoints), | |
64 | fX(new Float_t[fNPoints]), | |
65 | fY(new Float_t[fNPoints]), | |
66 | fZ(new Float_t[fNPoints]), | |
67 | fSize(array.fSize), | |
68 | fCov(new Float_t[fSize]), | |
69 | fVolumeID(new UShort_t[fNPoints]) | |
98937d93 | 70 | { |
71 | // Copy constructor | |
72 | // | |
98937d93 | 73 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); |
74 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
75 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
76 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
77 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
78 | } | |
79 | ||
80 | //_____________________________________________________________________________ | |
81 | AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array) | |
82 | { | |
83 | // assignment operator | |
84 | // | |
85 | if(this==&array) return *this; | |
86 | ((TObject *)this)->operator=(array); | |
87 | ||
88 | fNPoints = array.fNPoints; | |
89 | fSize = array.fSize; | |
90 | fX = new Float_t[fNPoints]; | |
91 | fY = new Float_t[fNPoints]; | |
92 | fZ = new Float_t[fNPoints]; | |
93 | fVolumeID = new UShort_t[fNPoints]; | |
94 | fCov = new Float_t[fSize]; | |
95 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); | |
96 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
97 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
98 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
99 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
100 | ||
101 | return *this; | |
102 | } | |
103 | ||
104 | //______________________________________________________________________________ | |
105 | AliTrackPointArray::~AliTrackPointArray() | |
106 | { | |
107 | // Destructor | |
108 | // | |
109 | delete [] fX; | |
110 | delete [] fY; | |
111 | delete [] fZ; | |
112 | delete [] fVolumeID; | |
113 | delete [] fCov; | |
114 | } | |
115 | ||
116 | ||
117 | //______________________________________________________________________________ | |
118 | Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p) | |
119 | { | |
120 | // Add a point to the array at position i | |
121 | // | |
122 | if (i >= fNPoints) return kFALSE; | |
123 | fX[i] = p->GetX(); | |
124 | fY[i] = p->GetY(); | |
125 | fZ[i] = p->GetZ(); | |
126 | fVolumeID[i] = p->GetVolumeID(); | |
127 | memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t)); | |
128 | return kTRUE; | |
129 | } | |
130 | ||
131 | //______________________________________________________________________________ | |
132 | Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const | |
133 | { | |
134 | // Get the point at position i | |
135 | // | |
136 | if (i >= fNPoints) return kFALSE; | |
137 | p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]); | |
138 | p.SetVolumeID(fVolumeID[i]); | |
139 | return kTRUE; | |
140 | } | |
141 | ||
142 | //______________________________________________________________________________ | |
143 | Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const | |
144 | { | |
145 | // This method checks if the array | |
146 | // has at least one hit in the detector | |
147 | // volume defined by volid | |
148 | Bool_t check = kFALSE; | |
149 | for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++) | |
150 | if (fVolumeID[ipoint] == volid) check = kTRUE; | |
151 | ||
152 | return check; | |
153 | } | |
154 | ||
155 | ClassImp(AliTrackPoint) | |
156 | ||
157 | //______________________________________________________________________________ | |
fe12e09c | 158 | AliTrackPoint::AliTrackPoint() : |
159 | TObject(), | |
160 | fX(0), | |
161 | fY(0), | |
162 | fZ(0), | |
163 | fVolumeID(0) | |
98937d93 | 164 | { |
165 | // Default constructor | |
166 | // | |
98937d93 | 167 | memset(fCov,0,6*sizeof(Float_t)); |
168 | } | |
169 | ||
170 | ||
171 | //______________________________________________________________________________ | |
fe12e09c | 172 | AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) : |
173 | TObject(), | |
174 | fX(0), | |
175 | fY(0), | |
176 | fZ(0), | |
177 | fVolumeID(0) | |
98937d93 | 178 | { |
179 | // Constructor | |
180 | // | |
181 | SetXYZ(x,y,z,cov); | |
182 | SetVolumeID(volid); | |
183 | } | |
184 | ||
185 | //______________________________________________________________________________ | |
fe12e09c | 186 | AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) : |
187 | TObject(), | |
188 | fX(0), | |
189 | fY(0), | |
190 | fZ(0), | |
191 | fVolumeID(0) | |
98937d93 | 192 | { |
193 | // Constructor | |
194 | // | |
195 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
196 | SetVolumeID(volid); | |
197 | } | |
198 | ||
199 | //______________________________________________________________________________ | |
200 | AliTrackPoint::AliTrackPoint(const AliTrackPoint &p): | |
fe12e09c | 201 | TObject(p), |
202 | fX(0), | |
203 | fY(0), | |
204 | fZ(0), | |
205 | fVolumeID(0) | |
98937d93 | 206 | { |
207 | // Copy constructor | |
208 | // | |
209 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
210 | SetVolumeID(p.fVolumeID); | |
211 | } | |
212 | ||
213 | //_____________________________________________________________________________ | |
214 | AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p) | |
215 | { | |
216 | // assignment operator | |
217 | // | |
218 | if(this==&p) return *this; | |
219 | ((TObject *)this)->operator=(p); | |
220 | ||
221 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
222 | SetVolumeID(p.fVolumeID); | |
223 | ||
224 | return *this; | |
225 | } | |
226 | ||
227 | //______________________________________________________________________________ | |
228 | void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov) | |
229 | { | |
230 | // Set XYZ coordinates and their cov matrix | |
231 | // | |
232 | fX = x; | |
233 | fY = y; | |
234 | fZ = z; | |
235 | if (cov) | |
236 | memcpy(fCov,cov,6*sizeof(Float_t)); | |
237 | } | |
238 | ||
239 | //______________________________________________________________________________ | |
240 | void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov) | |
241 | { | |
242 | // Set XYZ coordinates and their cov matrix | |
243 | // | |
244 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
245 | } | |
246 | ||
247 | //______________________________________________________________________________ | |
248 | void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const | |
249 | { | |
250 | xyz[0] = fX; | |
251 | xyz[1] = fY; | |
252 | xyz[2] = fZ; | |
253 | if (cov) | |
254 | memcpy(cov,fCov,6*sizeof(Float_t)); | |
255 | } | |
46ae650f | 256 | |
257 | //______________________________________________________________________________ | |
258 | Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const | |
259 | { | |
260 | // This method calculates the track to space-point residuals. The track | |
261 | // interpolation is also stored as AliTrackPoint. Using the option | |
262 | // 'weighted' one can calculate the residual either with or without | |
263 | // taking into account the covariance matrix of the space-point and | |
264 | // track interpolation. The second case the residual becomes a pull. | |
265 | ||
266 | Float_t res = 0; | |
267 | ||
268 | if (!weighted) { | |
269 | Float_t xyz[3],xyzp[3]; | |
270 | GetXYZ(xyz); | |
271 | p.GetXYZ(xyzp); | |
272 | res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+ | |
273 | (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+ | |
274 | (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]); | |
275 | } | |
276 | else { | |
277 | Float_t xyz[3],xyzp[3]; | |
278 | Float_t cov[6],covp[6]; | |
279 | GetXYZ(xyz,cov); | |
280 | TMatrixDSym mcov(3); | |
281 | mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2]; | |
282 | mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4]; | |
283 | mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5]; | |
284 | p.GetXYZ(xyzp,covp); | |
285 | TMatrixDSym mcovp(3); | |
286 | mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2]; | |
287 | mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4]; | |
288 | mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5]; | |
289 | TMatrixDSym msum = mcov + mcovp; | |
290 | msum.Invert(); | |
cc345ce3 | 291 | // mcov.Print(); mcovp.Print(); msum.Print(); |
46ae650f | 292 | if (msum.IsValid()) { |
293 | for (Int_t i = 0; i < 3; i++) | |
294 | for (Int_t j = 0; j < 3; j++) | |
295 | res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j); | |
296 | } | |
297 | } | |
298 | ||
299 | return res; | |
300 | } | |
301 | ||
302 | //______________________________________________________________________________ | |
303 | Float_t AliTrackPoint::GetAngle() const | |
304 | { | |
305 | // The method uses the covariance matrix of | |
306 | // the space-point in order to extract the | |
307 | // orientation of the detector plane. | |
308 | // The rotation in XY plane only is calculated. | |
309 | ||
8e52c1a8 | 310 | Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3])); |
311 | if (fCov[1] > 0) { | |
312 | phi = TMath::Pi() - phi; | |
313 | if ((fY-fX) < 0) phi += TMath::Pi(); | |
314 | } | |
46ae650f | 315 | else { |
8e52c1a8 | 316 | if ((fX+fY) < 0) phi += TMath::Pi(); |
317 | } | |
318 | ||
319 | return phi; | |
320 | ||
46ae650f | 321 | } |
322 | ||
323 | //_____________________________________________________________________________ | |
324 | AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const | |
325 | { | |
326 | // Transform the space-point coordinates | |
327 | // and covariance matrix from global to | |
328 | // local (detector plane) coordinate system | |
329 | // XY plane rotation only | |
330 | ||
331 | static AliTrackPoint p; | |
332 | p = *this; | |
333 | ||
334 | Float_t xyz[3],cov[6]; | |
335 | GetXYZ(xyz,cov); | |
336 | ||
337 | Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha); | |
338 | ||
339 | Float_t newxyz[3],newcov[6]; | |
340 | newxyz[0] = cos*xyz[0] + sin*xyz[1]; | |
341 | newxyz[1] = cos*xyz[1] - sin*xyz[0]; | |
342 | newxyz[2] = xyz[2]; | |
343 | ||
344 | newcov[0] = cov[0]*cos*cos+ | |
345 | 2*cov[1]*sin*cos+ | |
346 | cov[3]*sin*sin; | |
347 | newcov[1] = cov[1]*(cos*cos-sin*sin)+ | |
348 | (cov[3]-cov[0])*sin*cos; | |
349 | newcov[2] = cov[2]*cos+ | |
350 | cov[4]*sin; | |
351 | newcov[3] = cov[0]*sin*sin- | |
352 | 2*cov[1]*sin*cos+ | |
353 | cov[3]*cos*cos; | |
354 | newcov[4] = cov[4]*cos- | |
355 | cov[2]*sin; | |
356 | newcov[5] = cov[5]; | |
357 | ||
358 | p.SetXYZ(newxyz,newcov); | |
359 | p.SetVolumeID(GetVolumeID()); | |
360 | ||
361 | return p; | |
362 | } | |
363 | ||
364 | //_____________________________________________________________________________ | |
365 | AliTrackPoint& AliTrackPoint::MasterToLocal() const | |
366 | { | |
367 | // Transform the space-point coordinates | |
368 | // and the covariance matrix from the | |
369 | // (master) to the local (tracking) | |
370 | // coordinate system | |
371 | ||
372 | Float_t alpha = GetAngle(); | |
373 | return Rotate(alpha); | |
374 | } | |
375 | ||
376 | //_____________________________________________________________________________ | |
377 | void AliTrackPoint::Print(Option_t *) const | |
378 | { | |
379 | // Print the space-point coordinates and | |
380 | // covariance matrix | |
381 | ||
382 | printf("VolumeID=%d\n", GetVolumeID()); | |
383 | printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]); | |
384 | printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]); | |
385 | printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]); | |
386 | ||
387 | } |