[u/mrichter/AliRoot.git] / STEER / AliTrackResidualsLinear.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.                  *
 **************************************************************************/

/* $Id$ */

//-----------------------------------------------------------------
//   Implementation of the derived class for track residuals
//   based on linear chi2 minimization 
//  The minimization relies on the fact that the alignment parameters     
//   (angles and translations) are small.                                  
//   TLinearFitter used for minimization
//   Possibility to fix Paramaters
//   FixParameter()ReleaseParameter();
//   Possibility to define fraction of outliers to be skipped
//
//   marian.ivanov@cern.ch
//
//-----------------------------------------------------------------

#include <TMath.h>
#include <TGeoMatrix.h>

#include "AliLog.h"
#include "AliAlignObj.h"
#include "AliTrackPointArray.h"
#include "AliTrackResidualsLinear.h"
#include "AliAlignObj.h"
#include "TLinearFitter.h"
#include  "TDecompSVD.h"

ClassImp(AliTrackResidualsLinear)

//______________________________________________________________________________
AliTrackResidualsLinear::AliTrackResidualsLinear():
  AliTrackResiduals(),
  fFitter(0),
  fFraction(-1),
  fChi2Orig(0)
{
  // Default constructor
  for (Int_t ipar=0; ipar<6; ipar++){
    fBFixed[ipar] = kFALSE;
    fFixed[ipar]  = 0;;
    fParams[ipar]  = 0;
  }  
  for (Int_t icov=0; icov<36; icov++){ fCovar[icov]=0;}
}

//______________________________________________________________________________
AliTrackResidualsLinear::AliTrackResidualsLinear(Int_t ntracks):
  AliTrackResiduals(ntracks),
  fFitter(new TLinearFitter(6,"hyp6")),
  fFraction(-1),
  fChi2Orig(0)
{
  // Constructor
  for (Int_t ipar=0; ipar<6; ipar++){
    fBFixed[ipar] = kFALSE;
    fFixed[ipar]  = 0;
    fParams[ipar]  = 0;
  }
  for (Int_t icov=0; icov<36; icov++){ fCovar[icov]=0;}
}
 
//______________________________________________________________________________
AliTrackResidualsLinear::AliTrackResidualsLinear(const AliTrackResidualsLinear &res):
  AliTrackResiduals(res),
  fFitter(new TLinearFitter(*(res.fFitter))),
  fFraction(res.fFraction),
  fChi2Orig(res.fChi2Orig)
{
  // Copy constructor
  //..
  for (Int_t ipar=0; ipar<6; ipar++){
    fBFixed[ipar]  = res.fBFixed[ipar];
    fFixed[ipar]   = res.fFixed[ipar];
    fParams[ipar]  = res.fParams[ipar];
  }
  for (Int_t icov=0; icov<36; icov++){ fCovar[icov]= res.fCovar[icov];}
  fChi2Orig = res.fChi2Orig;
}

//______________________________________________________________________________
AliTrackResidualsLinear &AliTrackResidualsLinear::operator= (const AliTrackResidualsLinear& res)
{
  // Assignment operator
 ((AliTrackResiduals *)this)->operator=(res);
 return *this;
}
//______________________________________________________________________________
AliTrackResidualsLinear::~AliTrackResidualsLinear()
{
  //
  //
  //
  delete fFitter;
}


//______________________________________________________________________________
Bool_t AliTrackResidualsLinear::Minimize()
{
  // Implementation of fast linear Chi2 minimizer
  // based on TLinear fitter
  //
  if (!fFitter) fFitter = new TLinearFitter(6,"hyp6");
  fFitter->StoreData(kTRUE);
  fFitter->ClearPoints();
  fChi2Orig = 0;
  AliTrackPoint p1,p2;
  for (Int_t itrack = 0; itrack < fLast; itrack++) {
    if (!fVolArray[itrack] || !fTrackArray[itrack]) continue;
    for (Int_t ipoint = 0; ipoint < fVolArray[itrack]->GetNPoints(); ipoint++) {
      fVolArray[itrack]->GetPoint(p1,ipoint);
      fTrackArray[itrack]->GetPoint(p2,ipoint);
      AddPoints(p1,p2);
    }
  }
  Bool_t isOK = Update();
  if (!isOK) return isOK;
  //
  TGeoHMatrix  matrix;
  fAlignObj->GetMatrix(matrix);
  return isOK;
}


//______________________________________________________________________________
void AliTrackResidualsLinear::AddPoints(AliTrackPoint &p, AliTrackPoint &pprime)
{
  //
  // add points to linear fitter - option with correlation betwee measurement in different dimensions
  // p1      - local point
  // pprime  - track extrapolation point
  //
  Float_t xyz[3],xyzp[3];
  Float_t cov[6],covp[6];
  p.GetXYZ(xyz,cov); pprime.GetXYZ(xyzp,covp);
  //
  //
  TMatrixD mcov(3,3);   // local point covariance
  mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
  mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
  mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
  TMatrixD mcovp(3,3); //  extrapolation point covariance  
  mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
  mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
  mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
  mcov+=mcovp;
  //mcov.Invert();
  if (!mcov.IsValid()) return; 
  TMatrixD mcovBack = mcov;  // for debug purposes
  //
  // decompose matrix
  //
  TDecompSVD svd(mcov);              // mcov  = svd.fU * covDiagonal * svd.fV.Invert   
  if (!svd.Decompose()) return;      // decomposition failed
  TMatrixD   matrixV = svd.GetV();   // transformation matrix to diagonalize covariance matrix
  Double_t   covDiagonal[3] = {svd.GetSig()[0],svd.GetSig()[1],svd.GetSig()[2]};    // diagonalized covariance matrix
  //
  // residual vector 
  TMatrixD  deltaR(3,1);
  deltaR(0,0) = (xyzp[0]-xyz[0]); 
  deltaR(1,0) = (xyzp[1]-xyz[1]);
  deltaR(2,0) = (xyzp[2]-xyz[2]);   
  //
  // parametrization matrix
  //
  TMatrixD        mparam(3,6);
  mparam(0,0) = 1;      mparam(1,0) = 0;       mparam(2,0) = 0;            // xshift
  mparam(0,1) = 0;      mparam(1,1) = 1;       mparam(2,1) = 0;            // yshift
  mparam(0,2) = 0;      mparam(1,2) = 0;       mparam(2,2) = 1;            // zshift
  mparam(0,3) = 0;      mparam(1,3) =-xyz[2];  mparam(2,3) = xyz[1];       // x rotation
  mparam(0,4) = xyz[2]; mparam(1,4) = 0;       mparam(2,4) =-xyz[0];       // y rotation
  mparam(0,5) =-xyz[1]; mparam(1,5) = xyz[0];  mparam(2,5) = 0;            // z rotation
  //
  
  TMatrixD  deltaT(matrixV, TMatrixD::kTransposeMult, deltaR);   // tranformed delta
  TMatrixD  mparamT(matrixV,TMatrixD::kTransposeMult, mparam);   // tranformed linear transformation
  if (AliLog::GetDebugLevel("","AliTrackResidualsLinear")>2){    
    //
    // debug part
    //
    //   covDiag = U^-1 * mcov * V      -- diagonalization of covariance matrix

    TMatrixD   matrixU = svd.GetU();                      // transformation matrix to diagonalize covariance matrix
    TMatrixD   matrixUI= svd.GetU(); 
    matrixUI.Invert();
    //
    TMatrixD   test0   = matrixUI*matrixV;                // test matrix - should be unit matrix
    TMatrixD   test1   = matrixUI*mcovBack*matrixV;       // test matrix - diagonal - should be diagonal with covDiagonal on diag
    TMatrixD   test2   = matrixU.T()*matrixV;             // test ortogonality - shoul be unit
    printf("Test matrix 2 - should be unit\n");
    test2.Print();
    printf("Test matrix 0 - should be unit\n"); 
    test0.Print();
    printf("Test matrix 1 - should be diagonal\n"); 
    test1.Print();
    printf("Diagonal matrix\n"); 
    svd.GetSig().Print();
    printf("Original param matrix\n"); 
    mparam.Print();
    printf("Rotated  param matrix\n"); 
    mparamT.Print();
    //
    //
    printf("Trans Matrix:\n");
    matrixV.Print();
    printf("Delta Orig\n");
    deltaR.Print();
    printf("Delta Rotated");
    deltaT.Print();
    //
    //    
  }
  //
  Double_t sumChi2=0;
  for (Int_t idim = 1; idim<3; idim++){
    Double_t yf;     // input points to fit in TLinear fitter
    Double_t xf[6];  // input points to fit
    yf = deltaT(idim,0);
    for (Int_t ipar =0; ipar<6; ipar++) xf[ipar] = mparamT(idim,ipar); 
    if (covDiagonal[idim]>0.){
      fFitter->AddPoint(xf,yf, TMath::Sqrt(covDiagonal[idim]));
      // accumulate chi2
      Double_t chi2       = (yf*yf)/covDiagonal[idim];
      fChi2Orig += (yf*yf)/covDiagonal[idim];  
      if (chi2>100 && AliLog::GetDebugLevel("","AliTrackResidualsLinear")>1){
	printf("Too big chi2- %f\n",chi2);
	printf("Delta Orig\n");
	deltaR.Print();
	printf("Delta Rotated");
	deltaT.Print();
	matrixV.Print();
	printf("Too big chi2 - End\n");	
      }
      sumChi2+=chi2;
    }
    else{
      printf("Bug\n");
    }
  }
  if (AliLog::GetDebugLevel("","AliTrackResidualsLinear")>1){
    TMatrixD matChi0=(mcov.Invert()*deltaR);
    TMatrixD matChi2=deltaR.T()*matChi0;
    printf("Chi2:\t%f\t%f", matChi2(0,0), sumChi2);
  }

  fNdf +=2;
}

//______________________________________________________________________________
Bool_t AliTrackResidualsLinear::Update()
{
  // Find the alignment parameters
  // using TLinear fitter  + fill data containers
  // 
  //
  fFitter->Eval();
  //
  // TLinear fitter put as first parameter offset - fixing parameter shifted by one
  //
  fFitter->FixParameter(0);
  for (Int_t ipar =0; ipar<6; ipar++){
    if (fBFixed[ipar])  fFitter->FixParameter(ipar+1,fFixed[ipar]);
  }
  if (fFraction>0.5) {
    fFitter->EvalRobust(fFraction);
  }else{
    fFitter->Eval();
  }
  //
  fFitter->ReleaseParameter(0);
  for (Int_t ipar=0; ipar<6; ipar++) {
    if (fBFixed[ipar])  fFitter->ReleaseParameter(ipar+1);
  }
    

  //
  fChi2 = fFitter->GetChisquare();
  fNdf -= 6;
  TVectorD vector(7);
  fFitter->GetParameters(vector);
  fParams[0] = vector[1];
  fParams[1] = vector[2];
  fParams[2] = vector[3];  
  fParams[3] = vector[4];
  fParams[4] = vector[5];
  fParams[5] = vector[6];
  TMatrixD covar(7,7);
  fFitter->GetCovarianceMatrix(covar);
  for (Int_t i0=0; i0 <6; i0++)
    for (Int_t j0=0; j0 <6; j0++){
      fCovar[i0*6+j0] = covar(i0+1,j0+1);
    }
  //
  fAlignObj->SetPars(fParams[0], fParams[1], fParams[2],
		     TMath::RadToDeg()*fParams[3],
		     TMath::RadToDeg()*fParams[4],
		     TMath::RadToDeg()*fParams[5]);
  return kTRUE;
}
Commit	Line	Data
bf9a6ef9	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
3010c308	16	/* $Id$ */
3010c308	17
bf9a6ef9	18	//-----------------------------------------------------------------
	19	// Implementation of the derived class for track residuals
	20	// based on linear chi2 minimization
	21	// The minimization relies on the fact that the alignment parameters
	22	// (angles and translations) are small.
	23	// TLinearFitter used for minimization
	24	// Possibility to fix Paramaters
	25	// FixParameter()ReleaseParameter();
	26	// Possibility to define fraction of outliers to be skipped
	27	//
	28	// marian.ivanov@cern.ch
	29	//
	30	//-----------------------------------------------------------------
	31
3010c308	32	#include <TMath.h>
bf9a6ef9	33	#include <TGeoMatrix.h>
	34
	35	#include "AliLog.h"
	36	#include "AliAlignObj.h"
	37	#include "AliTrackPointArray.h"
	38	#include "AliTrackResidualsLinear.h"
	39	#include "AliAlignObj.h"
	40	#include "TLinearFitter.h"
	41	#include "TDecompSVD.h"
	42
	43	ClassImp(AliTrackResidualsLinear)
	44
	45	//______________________________________________________________________________
75e3794b	46	AliTrackResidualsLinear::AliTrackResidualsLinear():
	47	AliTrackResiduals(),
	48	fFitter(0),
	49	fFraction(-1),
	50	fChi2Orig(0)
bf9a6ef9	51	{
bf9a6ef9	52	// Default constructor
bf9a6ef9	53	for (Int_t ipar=0; ipar<6; ipar++){
	54	fBFixed[ipar] = kFALSE;
	55	fFixed[ipar] = 0;;
	56	fParams[ipar] = 0;
	57	}
dfce6628	58	for (Int_t icov=0; icov<36; icov++){ fCovar[icov]=0;}
bf9a6ef9	59	}
	60
	61	//______________________________________________________________________________
	62	AliTrackResidualsLinear::AliTrackResidualsLinear(Int_t ntracks):
75e3794b	63	AliTrackResiduals(ntracks),
	64	fFitter(new TLinearFitter(6,"hyp6")),
	65	fFraction(-1),
	66	fChi2Orig(0)
bf9a6ef9	67	{
bf9a6ef9	68	// Constructor
bf9a6ef9	69	for (Int_t ipar=0; ipar<6; ipar++){
	70	fBFixed[ipar] = kFALSE;
	71	fFixed[ipar] = 0;
	72	fParams[ipar] = 0;
	73	}
dfce6628	74	for (Int_t icov=0; icov<36; icov++){ fCovar[icov]=0;}
bf9a6ef9	75	}
	76
	77	//______________________________________________________________________________
	78	AliTrackResidualsLinear::AliTrackResidualsLinear(const AliTrackResidualsLinear &res):
75e3794b	79	AliTrackResiduals(res),
	80	fFitter(new TLinearFitter(*(res.fFitter))),
	81	fFraction(res.fFraction),
	82	fChi2Orig(res.fChi2Orig)
bf9a6ef9	83	{
	84	// Copy constructor
	85	//..
bf9a6ef9	86	for (Int_t ipar=0; ipar<6; ipar++){
	87	fBFixed[ipar] = res.fBFixed[ipar];
	88	fFixed[ipar] = res.fFixed[ipar];
	89	fParams[ipar] = res.fParams[ipar];
	90	}
dfce6628	91	for (Int_t icov=0; icov<36; icov++){ fCovar[icov]= res.fCovar[icov];}
dfce6628	92	fChi2Orig = res.fChi2Orig;
bf9a6ef9	93	}
	94
	95	//______________________________________________________________________________
	96	AliTrackResidualsLinear &AliTrackResidualsLinear::operator= (const AliTrackResidualsLinear& res)
	97	{
	98	// Assignment operator
	99	((AliTrackResiduals *)this)->operator=(res);
	100	return *this;
	101	}
	102	//______________________________________________________________________________
	103	AliTrackResidualsLinear::~AliTrackResidualsLinear()
	104	{
	105	//
	106	//
	107	//
	108	delete fFitter;
	109	}
	110
	111
	112	//______________________________________________________________________________
	113	Bool_t AliTrackResidualsLinear::Minimize()
	114	{
	115	// Implementation of fast linear Chi2 minimizer
	116	// based on TLinear fitter
	117	//
	118	if (!fFitter) fFitter = new TLinearFitter(6,"hyp6");
	119	fFitter->StoreData(kTRUE);
	120	fFitter->ClearPoints();
	121	fChi2Orig = 0;
	122	AliTrackPoint p1,p2;
	123	for (Int_t itrack = 0; itrack < fLast; itrack++) {
	124	if (!fVolArray[itrack] \|\| !fTrackArray[itrack]) continue;
	125	for (Int_t ipoint = 0; ipoint < fVolArray[itrack]->GetNPoints(); ipoint++) {
	126	fVolArray[itrack]->GetPoint(p1,ipoint);
	127	fTrackArray[itrack]->GetPoint(p2,ipoint);
	128	AddPoints(p1,p2);
	129	}
	130	}
	131	Bool_t isOK = Update();
	132	if (!isOK) return isOK;
	133	//
	134	TGeoHMatrix matrix;
	135	fAlignObj->GetMatrix(matrix);
	136	return isOK;
	137	}
	138
	139
	140
	141	//______________________________________________________________________________
	142	void AliTrackResidualsLinear::AddPoints(AliTrackPoint &p, AliTrackPoint &pprime)
	143	{
	144	//
	145	// add points to linear fitter - option with correlation betwee measurement in different dimensions
	146	// p1 - local point
	147	// pprime - track extrapolation point
	148	//
	149	Float_t xyz[3],xyzp[3];
	150	Float_t cov[6],covp[6];
	151	p.GetXYZ(xyz,cov); pprime.GetXYZ(xyzp,covp);
	152	//
	153	//
	154	TMatrixD mcov(3,3); // local point covariance
	155	mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
	156	mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
157	mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
158	TMatrixD mcovp(3,3); // extrapolation point covariance
159	mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
160	mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
161	mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
162	mcov+=mcovp;
dfce6628	163	//mcov.Invert();
bf9a6ef9	164	if (!mcov.IsValid()) return;
	165	TMatrixD mcovBack = mcov; // for debug purposes
	166	//
	167	// decompose matrix
	168	//
	169	TDecompSVD svd(mcov); // mcov = svd.fU * covDiagonal * svd.fV.Invert
	170	if (!svd.Decompose()) return; // decomposition failed
	171	TMatrixD matrixV = svd.GetV(); // transformation matrix to diagonalize covariance matrix
	172	Double_t covDiagonal[3] = {svd.GetSig()[0],svd.GetSig()[1],svd.GetSig()[2]}; // diagonalized covariance matrix
	173	//
	174	// residual vector
	175	TMatrixD deltaR(3,1);
	176	deltaR(0,0) = (xyzp[0]-xyz[0]);
	177	deltaR(1,0) = (xyzp[1]-xyz[1]);
	178	deltaR(2,0) = (xyzp[2]-xyz[2]);
	179	//
	180	// parametrization matrix
	181	//
	182	TMatrixD mparam(3,6);
	183	mparam(0,0) = 1; mparam(1,0) = 0; mparam(2,0) = 0; // xshift
	184	mparam(0,1) = 0; mparam(1,1) = 1; mparam(2,1) = 0; // yshift
	185	mparam(0,2) = 0; mparam(1,2) = 0; mparam(2,2) = 1; // zshift
	186	mparam(0,3) = 0; mparam(1,3) =-xyz[2]; mparam(2,3) = xyz[1]; // x rotation
	187	mparam(0,4) = xyz[2]; mparam(1,4) = 0; mparam(2,4) =-xyz[0]; // y rotation
	188	mparam(0,5) =-xyz[1]; mparam(1,5) = xyz[0]; mparam(2,5) = 0; // z rotation
	189	//
	190
	191	TMatrixD deltaT(matrixV, TMatrixD::kTransposeMult, deltaR); // tranformed delta
	192	TMatrixD mparamT(matrixV,TMatrixD::kTransposeMult, mparam); // tranformed linear transformation
dfce6628	193	if (AliLog::GetDebugLevel("","AliTrackResidualsLinear")>2){
bf9a6ef9	194	//
	195	// debug part
	196	//
	197	// covDiag = U^-1 * mcov * V -- diagonalization of covariance matrix
	198
	199	TMatrixD matrixU = svd.GetU(); // transformation matrix to diagonalize covariance matrix
	200	TMatrixD matrixUI= svd.GetU();
	201	matrixUI.Invert();
	202	//
	203	TMatrixD test0 = matrixUI*matrixV; // test matrix - should be unit matrix
	204	TMatrixD test1 = matrixUImcovBackmatrixV; // test matrix - diagonal - should be diagonal with covDiagonal on diag
	205	TMatrixD test2 = matrixU.T()*matrixV; // test ortogonality - shoul be unit
	206	printf("Test matrix 2 - should be unit\n");
	207	test2.Print();
	208	printf("Test matrix 0 - should be unit\n");
	209	test0.Print();
	210	printf("Test matrix 1 - should be diagonal\n");
	211	test1.Print();
	212	printf("Diagonal matrix\n");
	213	svd.GetSig().Print();
	214	printf("Original param matrix\n");
	215	mparam.Print();
	216	printf("Rotated param matrix\n");
	217	mparamT.Print();
	218	//
dfce6628	219	//
	220	printf("Trans Matrix:\n");
	221	matrixV.Print();
	222	printf("Delta Orig\n");
	223	deltaR.Print();
	224	printf("Delta Rotated");
	225	deltaT.Print();
	226	//
	227	//
bf9a6ef9	228	}
bf9a6ef9	229	//
dfce6628	230	Double_t sumChi2=0;
dfce6628	231	for (Int_t idim = 1; idim<3; idim++){
bf9a6ef9	232	Double_t yf; // input points to fit in TLinear fitter
	233	Double_t xf[6]; // input points to fit
	234	yf = deltaT(idim,0);
	235	for (Int_t ipar =0; ipar<6; ipar++) xf[ipar] = mparamT(idim,ipar);
	236	if (covDiagonal[idim]>0.){
dfce6628	237	fFitter->AddPoint(xf,yf, TMath::Sqrt(covDiagonal[idim]));
	238	// accumulate chi2
	239	Double_t chi2 = (yf*yf)/covDiagonal[idim];
	240	fChi2Orig += (yf*yf)/covDiagonal[idim];
	241	if (chi2>100 && AliLog::GetDebugLevel("","AliTrackResidualsLinear")>1){
	242	printf("Too big chi2- %f\n",chi2);
	243	printf("Delta Orig\n");
	244	deltaR.Print();
	245	printf("Delta Rotated");
	246	deltaT.Print();
	247	matrixV.Print();
	248	printf("Too big chi2 - End\n");
	249	}
	250	sumChi2+=chi2;
	251	}
	252	else{
	253	printf("Bug\n");
bf9a6ef9	254	}
bf9a6ef9	255	}
dfce6628	256	if (AliLog::GetDebugLevel("","AliTrackResidualsLinear")>1){
	257	TMatrixD matChi0=(mcov.Invert()*deltaR);
	258	TMatrixD matChi2=deltaR.T()*matChi0;
	259	printf("Chi2:\t%f\t%f", matChi2(0,0), sumChi2);
	260	}
	261
	262	fNdf +=2;
bf9a6ef9	263	}
	264
	265	//______________________________________________________________________________
	266	Bool_t AliTrackResidualsLinear::Update()
	267	{
	268	// Find the alignment parameters
	269	// using TLinear fitter + fill data containers
	270	//
	271	//
	272	fFitter->Eval();
	273	//
	274	// TLinear fitter put as first parameter offset - fixing parameter shifted by one
	275	//
	276	fFitter->FixParameter(0);
	277	for (Int_t ipar =0; ipar<6; ipar++){
	278	if (fBFixed[ipar]) fFitter->FixParameter(ipar+1,fFixed[ipar]);
	279	}
	280	if (fFraction>0.5) {
	281	fFitter->EvalRobust(fFraction);
	282	}else{
	283	fFitter->Eval();
	284	}
	285	//
	286	fFitter->ReleaseParameter(0);
dfce6628	287	for (Int_t ipar=0; ipar<6; ipar++) {
bf9a6ef9	288	if (fBFixed[ipar]) fFitter->ReleaseParameter(ipar+1);
	289	}
	290
	291
	292	//
	293	fChi2 = fFitter->GetChisquare();
	294	fNdf -= 6;
	295	TVectorD vector(7);
	296	fFitter->GetParameters(vector);
	297	fParams[0] = vector[1];
	298	fParams[1] = vector[2];
	299	fParams[2] = vector[3];
	300	fParams[3] = vector[4];
	301	fParams[4] = vector[5];
	302	fParams[5] = vector[6];
dfce6628	303	TMatrixD covar(7,7);
	304	fFitter->GetCovarianceMatrix(covar);
	305	for (Int_t i0=0; i0 <6; i0++)
	306	for (Int_t j0=0; j0 <6; j0++){
	307	fCovar[i0*6+j0] = covar(i0+1,j0+1);
	308	}
bf9a6ef9	309	//
	310	fAlignObj->SetPars(fParams[0], fParams[1], fParams[2],
	311	TMath::RadToDeg()*fParams[3],
	312	TMath::RadToDeg()*fParams[4],
	313	TMath::RadToDeg()*fParams[5]);
	314	return kTRUE;
	315	}