[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.                  *
 **************************************************************************/

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