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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 | /* $Id$ */ | |
17 | ||
18 | //----------------------------------------------------------------------------- | |
19 | /// \class AliMUONTrackReconstructorK | |
20 | /// | |
21 | /// MUON track reconstructor using the kalman method | |
22 | /// | |
23 | /// This class contains as data: | |
24 | /// - the parameters for the track reconstruction | |
25 | /// | |
26 | /// It contains as methods, among others: | |
27 | /// - MakeTracks to build the tracks | |
28 | /// | |
29 | //----------------------------------------------------------------------------- | |
30 | ||
31 | #include "AliMUONTrackReconstructorK.h" | |
32 | ||
33 | #include "AliMUONConstants.h" | |
34 | #include "AliMUONVCluster.h" | |
35 | #include "AliMUONVClusterServer.h" | |
36 | #include "AliMUONVClusterStore.h" | |
37 | #include "AliMUONTrack.h" | |
38 | #include "AliMUONTrackParam.h" | |
39 | #include "AliMUONTrackExtrap.h" | |
40 | #include "AliMUONRecoParam.h" | |
41 | ||
42 | #include "AliMpArea.h" | |
43 | ||
44 | #include "AliLog.h" | |
45 | ||
46 | #include <Riostream.h> | |
47 | #include <TMath.h> | |
48 | #include <TMatrixD.h> | |
49 | ||
50 | /// \cond CLASSIMP | |
51 | ClassImp(AliMUONTrackReconstructorK) // Class implementation in ROOT context | |
52 | /// \endcond | |
53 | ||
54 | //__________________________________________________________________________ | |
55 | AliMUONTrackReconstructorK::AliMUONTrackReconstructorK(const AliMUONRecoParam* recoParam, AliMUONVClusterServer* clusterServer) | |
56 | : AliMUONVTrackReconstructor(recoParam, clusterServer) | |
57 | { | |
58 | /// Constructor | |
59 | } | |
60 | ||
61 | //__________________________________________________________________________ | |
62 | AliMUONTrackReconstructorK::~AliMUONTrackReconstructorK() | |
63 | { | |
64 | /// Destructor | |
65 | } | |
66 | ||
67 | //__________________________________________________________________________ | |
68 | Bool_t AliMUONTrackReconstructorK::MakeTrackCandidates(AliMUONVClusterStore& clusterStore) | |
69 | { | |
70 | /// To make track candidates (assuming linear propagation if AliMUONRecoParam::MakeTrackCandidatesFast() return kTRUE): | |
71 | /// Start with segments station(1..) 4 or 5 then follow track in station 5 or 4. | |
72 | /// Good candidates are made of at least three clusters if both stations are requested (two otherwise). | |
73 | /// Keep only best candidates or all of them according to the flag AliMUONRecoParam::TrackAllTracks(). | |
74 | ||
75 | TClonesArray *segments; | |
76 | AliMUONObjectPair *segment; | |
77 | AliMUONTrack *track; | |
78 | Int_t iCandidate = 0; | |
79 | Bool_t clusterFound; | |
80 | ||
81 | AliDebug(1,"Enter MakeTrackCandidates"); | |
82 | ||
83 | // Unless we're doing combined tracking, we'll clusterize all stations at once | |
84 | Int_t firstChamber(0); | |
85 | Int_t lastChamber(9); | |
86 | ||
87 | if (GetRecoParam()->CombineClusterTrackReco()) { | |
88 | // ... Here's the exception : ask the clustering to reconstruct | |
89 | // clusters *only* in station 4 and 5 for combined tracking | |
90 | firstChamber = 6; | |
91 | } | |
92 | ||
93 | for (Int_t i = firstChamber; i <= lastChamber; ++i ) | |
94 | { | |
95 | if (fClusterServer && GetRecoParam()->UseChamber(i)) fClusterServer->Clusterize(i, clusterStore, AliMpArea(), GetRecoParam()); | |
96 | } | |
97 | ||
98 | // Loop over stations(1..) 5 and 4 and make track candidates | |
99 | for (Int_t istat=4; istat>=3; istat--) { | |
100 | ||
101 | // Make segments in the station | |
102 | segments = MakeSegmentsBetweenChambers(clusterStore, 2*istat, 2*istat+1); | |
103 | ||
104 | // Loop over segments | |
105 | for (Int_t iSegment=0; iSegment<segments->GetEntriesFast(); iSegment++) { | |
106 | AliDebug(1,Form("Making primary candidate(1..) %d",++iCandidate)); | |
107 | segment = (AliMUONObjectPair*) segments->UncheckedAt(iSegment); | |
108 | ||
109 | // Transform segments to tracks and put them at the end of fRecTracksPtr | |
110 | track = new ((*fRecTracksPtr)[fRecTracksPtr->GetLast()+1]) AliMUONTrack(segment,GetRecoParam()->GetBendingVertexDispersion()); | |
111 | fNRecTracks++; | |
112 | ||
113 | // Look for compatible cluster(s) in the other station | |
114 | if (GetRecoParam()->MakeTrackCandidatesFast()) clusterFound = FollowLinearTrackInStation(*track, clusterStore, 7-istat); | |
115 | else clusterFound = FollowTrackInStation(*track, clusterStore, 7-istat); | |
116 | ||
117 | // Remove track if no cluster found on a requested station | |
118 | // or abort tracking if there are too many candidates | |
119 | if (GetRecoParam()->RequestStation(7-istat)) { | |
120 | if (!clusterFound) { | |
121 | fRecTracksPtr->Remove(track); | |
122 | fNRecTracks--; | |
123 | } else if (fNRecTracks > GetRecoParam()->GetMaxTrackCandidates()) { | |
124 | AliError(Form("Too many track candidates (%d tracks). Stop tracking.", fNRecTracks)); | |
125 | delete segments; | |
126 | return kFALSE; | |
127 | } | |
128 | } else { | |
129 | if ((fNRecTracks + segments->GetEntriesFast() - iSegment - 1) > GetRecoParam()->GetMaxTrackCandidates()) { | |
130 | AliError(Form("Too many track candidates (%d tracks). Abandion tracking.", fNRecTracks + segments->GetEntriesFast() - iSegment - 1)); | |
131 | delete segments; | |
132 | return kFALSE; | |
133 | } | |
134 | } | |
135 | ||
136 | } | |
137 | ||
138 | // delete the array of segments | |
139 | delete segments; | |
140 | } | |
141 | ||
142 | // Keep all different tracks if required | |
143 | if (GetRecoParam()->TrackAllTracks()) RemoveIdenticalTracks(); | |
144 | ||
145 | // Retrace tracks using Kalman filter and select them if needed | |
146 | Int_t nCurrentTracks = fRecTracksPtr->GetLast()+1; | |
147 | for (Int_t iRecTrack = 0; iRecTrack < nCurrentTracks; iRecTrack++) { | |
148 | track = (AliMUONTrack*) fRecTracksPtr->UncheckedAt(iRecTrack); | |
149 | ||
150 | // skip empty slots | |
151 | if(!track) continue; | |
152 | ||
153 | // retrace tracks using Kalman filter | |
154 | RetraceTrack(*track,kTRUE); | |
155 | ||
156 | // remove tracks out of limits | |
157 | if (!IsAcceptable(*((AliMUONTrackParam*)track->GetTrackParamAtCluster()->First()))) { | |
158 | fRecTracksPtr->Remove(track); | |
159 | fNRecTracks--; | |
160 | } | |
161 | ||
162 | } | |
163 | ||
164 | // Keep only the best tracks if required | |
165 | if (!GetRecoParam()->TrackAllTracks()) RemoveDoubleTracks(); | |
166 | else fRecTracksPtr->Compress(); | |
167 | ||
168 | AliDebug(1,Form("Number of good candidates = %d",fNRecTracks)); | |
169 | ||
170 | return kTRUE; | |
171 | ||
172 | } | |
173 | ||
174 | //__________________________________________________________________________ | |
175 | Bool_t AliMUONTrackReconstructorK::MakeMoreTrackCandidates(AliMUONVClusterStore& clusterStore) | |
176 | { | |
177 | /// To make extra track candidates assuming linear propagation: | |
178 | /// clustering is supposed to be already done | |
179 | /// Start with segments made of 1 cluster in each of the stations 4 and 5 then follow track in remaining chambers. | |
180 | /// Good candidates are made of at least three clusters if both stations are requested (two otherwise). | |
181 | /// Keep only best candidates or all of them according to the flag fgkTrackAllTracks. | |
182 | ||
183 | TClonesArray *segments; | |
184 | AliMUONObjectPair *segment; | |
185 | AliMUONTrack *track; | |
186 | Int_t iCandidate = 0, iCurrentTrack, nCurrentTracks; | |
187 | Int_t initialNRecTracks = fNRecTracks; | |
188 | Bool_t clusterFound; | |
189 | ||
190 | AliDebug(1,"Enter MakeMoreTrackCandidates"); | |
191 | ||
192 | // Double loop over chambers in stations(1..) 4 and 5 to make track candidates | |
193 | for (Int_t ich1 = 6; ich1 <= 7; ich1++) { | |
194 | for (Int_t ich2 = 8; ich2 <= 9; ich2++) { | |
195 | ||
196 | // Make segments between ch1 and ch2 | |
197 | segments = MakeSegmentsBetweenChambers(clusterStore, ich1, ich2); | |
198 | ||
199 | /// Remove segments already attached to a track | |
200 | RemoveUsedSegments(*segments); | |
201 | ||
202 | // Loop over segments | |
203 | for (Int_t iSegment=0; iSegment<segments->GetEntriesFast(); iSegment++) { | |
204 | AliDebug(1,Form("Making primary candidate(1..) %d",++iCandidate)); | |
205 | segment = (AliMUONObjectPair*) segments->UncheckedAt(iSegment); | |
206 | ||
207 | // Transform segments to tracks and put them at the end of fRecTracksPtr | |
208 | iCurrentTrack = fRecTracksPtr->GetLast()+1; | |
209 | track = new ((*fRecTracksPtr)[iCurrentTrack]) AliMUONTrack(segment,GetRecoParam()->GetBendingVertexDispersion()); | |
210 | fNRecTracks++; | |
211 | ||
212 | // Look for compatible cluster(s) in the second chamber of station 5 | |
213 | clusterFound = FollowLinearTrackInChamber(*track, clusterStore, 17-ich2); | |
214 | ||
215 | // skip the original track in case it has been removed | |
216 | if (GetRecoParam()->TrackAllTracks() && clusterFound) iCurrentTrack++; | |
217 | ||
218 | // loop over every new tracks | |
219 | nCurrentTracks = fRecTracksPtr->GetLast()+1; | |
220 | while (iCurrentTrack < nCurrentTracks) { | |
221 | track = (AliMUONTrack*) fRecTracksPtr->UncheckedAt(iCurrentTrack); | |
222 | ||
223 | // Look for compatible cluster(s) in the second chamber of station 4 | |
224 | FollowLinearTrackInChamber(*track, clusterStore, 13-ich1); | |
225 | ||
226 | iCurrentTrack++; | |
227 | } | |
228 | ||
229 | // abort tracking if there are too many candidates | |
230 | if ((fNRecTracks + segments->GetEntriesFast() - iSegment - 1) > GetRecoParam()->GetMaxTrackCandidates()) { | |
231 | AliError(Form("Too many track candidates (%d tracks). Stop tracking.", fNRecTracks + segments->GetEntriesFast() - iSegment - 1)); | |
232 | delete segments; | |
233 | return kFALSE; | |
234 | } | |
235 | ||
236 | } | |
237 | ||
238 | // delete the array of segments | |
239 | delete segments; | |
240 | } | |
241 | } | |
242 | ||
243 | // Retrace tracks using Kalman filter (also compute track chi2) and select them | |
244 | nCurrentTracks = fRecTracksPtr->GetLast()+1; | |
245 | for (Int_t iRecTrack = initialNRecTracks; iRecTrack < nCurrentTracks; iRecTrack++) { | |
246 | track = (AliMUONTrack*) fRecTracksPtr->UncheckedAt(iRecTrack); | |
247 | ||
248 | // skip empty slots | |
249 | if(!track) continue; | |
250 | ||
251 | // retrace tracks using Kalman filter | |
252 | RetraceTrack(*track,kTRUE); | |
253 | ||
254 | // remove tracks with absolute bending momentum out of limits | |
255 | if (!IsAcceptable(*((AliMUONTrackParam*)track->GetTrackParamAtCluster()->First()))) { | |
256 | fRecTracksPtr->Remove(track); | |
257 | fNRecTracks--; | |
258 | } | |
259 | ||
260 | } | |
261 | ||
262 | // Keep only the best tracks if required | |
263 | if (!GetRecoParam()->TrackAllTracks()) RemoveDoubleTracks(); | |
264 | else fRecTracksPtr->Compress(); | |
265 | ||
266 | AliDebug(1,Form("Number of good candidates = %d",fNRecTracks)); | |
267 | ||
268 | return kTRUE; | |
269 | ||
270 | } | |
271 | ||
272 | //__________________________________________________________________________ | |
273 | void AliMUONTrackReconstructorK::RetraceTrack(AliMUONTrack &trackCandidate, Bool_t resetSeed) | |
274 | { | |
275 | /// Re-run the kalman filter from the most downstream cluster to the most uptream one | |
276 | AliDebug(1,"Enter RetraceTrack"); | |
277 | ||
278 | AliMUONTrackParam* lastTrackParam = (AliMUONTrackParam*) trackCandidate.GetTrackParamAtCluster()->Last(); | |
279 | ||
280 | // Reset the "seed" (= track parameters and their covariances at last cluster) if required | |
281 | if (resetSeed) { | |
282 | ||
283 | // parameters at last cluster | |
284 | AliMUONVCluster* cluster2 = lastTrackParam->GetClusterPtr(); | |
285 | Double_t x2 = cluster2->GetX(); | |
286 | Double_t y2 = cluster2->GetY(); | |
287 | Double_t z2 = cluster2->GetZ(); | |
288 | ||
289 | // parameters at last but one cluster | |
290 | AliMUONTrackParam* previousTrackParam = (AliMUONTrackParam*) trackCandidate.GetTrackParamAtCluster()->Before(lastTrackParam); | |
291 | AliMUONVCluster* cluster1 = previousTrackParam->GetClusterPtr(); | |
292 | // make sure it is on the previous chamber (can have 2 clusters in the same chamber after "ComplementTrack") | |
293 | if (cluster2->GetChamberId() == cluster1->GetChamberId()) { | |
294 | previousTrackParam = (AliMUONTrackParam*) trackCandidate.GetTrackParamAtCluster()->Before(previousTrackParam); | |
295 | cluster1 = previousTrackParam->GetClusterPtr(); | |
296 | } | |
297 | Double_t x1 = cluster1->GetX(); | |
298 | Double_t y1 = cluster1->GetY(); | |
299 | Double_t z1 = cluster1->GetZ(); | |
300 | ||
301 | // reset track parameters | |
302 | Double_t dZ = z1 - z2; | |
303 | lastTrackParam->SetNonBendingCoor(x2); | |
304 | lastTrackParam->SetBendingCoor(y2); | |
305 | lastTrackParam->SetZ(z2); | |
306 | lastTrackParam->SetNonBendingSlope((x1 - x2) / dZ); | |
307 | lastTrackParam->SetBendingSlope((y1 - y2) / dZ); | |
308 | Double_t bendingImpact = y2 - z2 * lastTrackParam->GetBendingSlope(); | |
309 | Double_t inverseBendingMomentum = 1. / AliMUONTrackExtrap::GetBendingMomentumFromImpactParam(bendingImpact); | |
310 | lastTrackParam->SetInverseBendingMomentum(inverseBendingMomentum); | |
311 | ||
312 | // => Reset track parameter covariances at last cluster (as if the other clusters did not exist) | |
313 | TMatrixD lastParamCov(5,5); | |
314 | lastParamCov.Zero(); | |
315 | // Non bending plane | |
316 | lastParamCov(0,0) = cluster2->GetErrX2(); | |
317 | lastParamCov(0,1) = - cluster2->GetErrX2() / dZ; | |
318 | lastParamCov(1,0) = lastParamCov(0,1); | |
319 | lastParamCov(1,1) = ( 1000. * cluster1->GetErrX2() + cluster2->GetErrX2() ) / dZ / dZ; | |
320 | // Bending plane | |
321 | lastParamCov(2,2) = cluster2->GetErrY2(); | |
322 | lastParamCov(2,3) = - cluster2->GetErrY2() / dZ; | |
323 | lastParamCov(3,2) = lastParamCov(2,3); | |
324 | lastParamCov(3,3) = ( 1000. * cluster1->GetErrY2() + cluster2->GetErrY2() ) / dZ / dZ; | |
325 | // Inverse bending momentum (vertex resolution + bending slope resolution + 10% error on dipole parameters+field) | |
326 | if (AliMUONTrackExtrap::IsFieldON()) { | |
327 | lastParamCov(4,4) = ((GetRecoParam()->GetBendingVertexDispersion() * | |
328 | GetRecoParam()->GetBendingVertexDispersion() + | |
329 | (z1 * z1 * cluster2->GetErrY2() + z2 * z2 * 1000. * cluster1->GetErrY2()) / dZ / dZ) / | |
330 | bendingImpact / bendingImpact + 0.1 * 0.1) * inverseBendingMomentum * inverseBendingMomentum; | |
331 | lastParamCov(2,4) = z1 * cluster2->GetErrY2() * inverseBendingMomentum / bendingImpact / dZ; | |
332 | lastParamCov(4,2) = lastParamCov(2,4); | |
333 | lastParamCov(3,4) = - (z1 * cluster2->GetErrY2() + z2 * 1000. * cluster1->GetErrY2()) * | |
334 | inverseBendingMomentum / bendingImpact / dZ / dZ; | |
335 | lastParamCov(4,3) = lastParamCov(3,4); | |
336 | } else lastParamCov(4,4) = inverseBendingMomentum*inverseBendingMomentum; | |
337 | lastTrackParam->SetCovariances(lastParamCov); | |
338 | ||
339 | // Reset the track chi2 | |
340 | lastTrackParam->SetTrackChi2(0.); | |
341 | ||
342 | } | |
343 | ||
344 | // Redo the tracking | |
345 | RetracePartialTrack(trackCandidate, lastTrackParam); | |
346 | ||
347 | } | |
348 | ||
349 | //__________________________________________________________________________ | |
350 | void AliMUONTrackReconstructorK::RetracePartialTrack(AliMUONTrack &trackCandidate, const AliMUONTrackParam* startingTrackParam) | |
351 | { | |
352 | /// Re-run the kalman filter from the cluster attached to startingTrackParam to the most uptream cluster | |
353 | AliDebug(1,"Enter RetracePartialTrack"); | |
354 | ||
355 | // Printout for debuging | |
356 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
357 | cout << "RetracePartialTrack: track chi2 before re-tracking: " << trackCandidate.GetGlobalChi2() << endl; | |
358 | } | |
359 | ||
360 | // Reset the track chi2 | |
361 | trackCandidate.SetGlobalChi2(startingTrackParam->GetTrackChi2()); | |
362 | ||
363 | // loop over attached clusters until the first one and recompute track parameters and covariances using kalman filter | |
364 | Int_t expectedChamber = startingTrackParam->GetClusterPtr()->GetChamberId() - 1; | |
365 | Int_t currentChamber; | |
366 | Double_t addChi2TrackAtCluster; | |
367 | AliMUONTrackParam* trackParamAtCluster = (AliMUONTrackParam*) trackCandidate.GetTrackParamAtCluster()->Before(startingTrackParam); | |
368 | while (trackParamAtCluster) { | |
369 | ||
370 | // reset track parameters and their covariances | |
371 | trackParamAtCluster->SetParameters(startingTrackParam->GetParameters()); | |
372 | trackParamAtCluster->SetZ(startingTrackParam->GetZ()); | |
373 | trackParamAtCluster->SetCovariances(startingTrackParam->GetCovariances()); | |
374 | ||
375 | // add MCS effect | |
376 | AliMUONTrackExtrap::AddMCSEffect(trackParamAtCluster,AliMUONConstants::ChamberThicknessInX0(),1.); | |
377 | ||
378 | // reset propagator for smoother | |
379 | if (GetRecoParam()->UseSmoother()) trackParamAtCluster->ResetPropagator(); | |
380 | ||
381 | // add MCS in missing chambers if any | |
382 | currentChamber = trackParamAtCluster->GetClusterPtr()->GetChamberId(); | |
383 | while (currentChamber < expectedChamber) { | |
384 | // extrapolation to the missing chamber (update the propagator) | |
385 | AliMUONTrackExtrap::ExtrapToZCov(trackParamAtCluster, AliMUONConstants::DefaultChamberZ(expectedChamber), | |
386 | GetRecoParam()->UseSmoother()); | |
387 | // add MCS effect | |
388 | AliMUONTrackExtrap::AddMCSEffect(trackParamAtCluster,AliMUONConstants::ChamberThicknessInX0(),1.); | |
389 | expectedChamber--; | |
390 | } | |
391 | ||
392 | // extrapolation to the plane of the cluster attached to the current trackParamAtCluster (update the propagator) | |
393 | AliMUONTrackExtrap::ExtrapToZCov(trackParamAtCluster, trackParamAtCluster->GetClusterPtr()->GetZ(), | |
394 | GetRecoParam()->UseSmoother()); | |
395 | ||
396 | if (GetRecoParam()->UseSmoother()) { | |
397 | // save extrapolated parameters for smoother | |
398 | trackParamAtCluster->SetExtrapParameters(trackParamAtCluster->GetParameters()); | |
399 | ||
400 | // save extrapolated covariance matrix for smoother | |
401 | trackParamAtCluster->SetExtrapCovariances(trackParamAtCluster->GetCovariances()); | |
402 | } | |
403 | ||
404 | // Compute new track parameters using kalman filter | |
405 | addChi2TrackAtCluster = RunKalmanFilter(*trackParamAtCluster); | |
406 | ||
407 | // Update the track chi2 | |
408 | trackCandidate.SetGlobalChi2(trackCandidate.GetGlobalChi2() + addChi2TrackAtCluster); | |
409 | trackParamAtCluster->SetTrackChi2(trackCandidate.GetGlobalChi2()); | |
410 | ||
411 | // prepare next step | |
412 | expectedChamber = currentChamber - 1; | |
413 | startingTrackParam = trackParamAtCluster; | |
414 | trackParamAtCluster = (AliMUONTrackParam*) (trackCandidate.GetTrackParamAtCluster()->Before(startingTrackParam)); | |
415 | } | |
416 | ||
417 | // Printout for debuging | |
418 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
419 | cout << "RetracePartialTrack: track chi2 after re-tracking: " << trackCandidate.GetGlobalChi2() << endl; | |
420 | } | |
421 | ||
422 | } | |
423 | ||
424 | //__________________________________________________________________________ | |
425 | Bool_t AliMUONTrackReconstructorK::FollowTracks(AliMUONVClusterStore& clusterStore) | |
426 | { | |
427 | /// Follow tracks in stations(1..) 3, 2 and 1 | |
428 | AliDebug(1,"Enter FollowTracks"); | |
429 | ||
430 | AliMUONTrack *track; | |
431 | Int_t currentNRecTracks; | |
432 | ||
433 | for (Int_t station = 2; station >= 0; station--) { | |
434 | ||
435 | // Save the actual number of reconstructed track in case of | |
436 | // tracks are added or suppressed during the tracking procedure | |
437 | // !! Do not compress fRecTracksPtr until the end of the loop over tracks !! | |
438 | currentNRecTracks = fNRecTracks; | |
439 | ||
440 | for (Int_t iRecTrack = 0; iRecTrack <currentNRecTracks; iRecTrack++) { | |
441 | AliDebug(1,Form("FollowTracks: track candidate(1..) %d", iRecTrack+1)); | |
442 | ||
443 | track = (AliMUONTrack*) fRecTracksPtr->UncheckedAt(iRecTrack); | |
444 | ||
445 | // Look for compatible cluster(s) in station(0..) "station" | |
446 | if (!FollowTrackInStation(*track, clusterStore, station)) { | |
447 | ||
448 | // Try to recover track if required | |
449 | if (GetRecoParam()->RecoverTracks()) { | |
450 | ||
451 | // work on a copy of the track if this station is not required | |
452 | // to keep the case where no cluster is reconstructed as a possible candidate | |
453 | if (!GetRecoParam()->RequestStation(station)) { | |
454 | track = new ((*fRecTracksPtr)[fRecTracksPtr->GetLast()+1]) AliMUONTrack(*track); | |
455 | fNRecTracks++; | |
456 | } | |
457 | ||
458 | // try to recover | |
459 | if (!RecoverTrack(*track, clusterStore, station)) { | |
460 | // remove track if no cluster found | |
461 | fRecTracksPtr->Remove(track); | |
462 | fNRecTracks--; | |
463 | } | |
464 | ||
465 | } else if (GetRecoParam()->RequestStation(station)) { | |
466 | // remove track if no cluster found | |
467 | fRecTracksPtr->Remove(track); | |
468 | fNRecTracks--; | |
469 | } | |
470 | ||
471 | } | |
472 | ||
473 | // abort tracking if there are too many candidates | |
474 | if (GetRecoParam()->RequestStation(station)) { | |
475 | if (fNRecTracks > GetRecoParam()->GetMaxTrackCandidates()) { | |
476 | AliError(Form("Too many track candidates (%d tracks). Stop tracking.", fNRecTracks)); | |
477 | return kFALSE; | |
478 | } | |
479 | } else { | |
480 | if ((fNRecTracks + currentNRecTracks - iRecTrack - 1) > GetRecoParam()->GetMaxTrackCandidates()) { | |
481 | AliError(Form("Too many track candidates (%d tracks). Stop tracking.", fNRecTracks + currentNRecTracks - iRecTrack - 1)); | |
482 | return kFALSE; | |
483 | } | |
484 | } | |
485 | ||
486 | } | |
487 | ||
488 | fRecTracksPtr->Compress(); // this is essential before checking tracks | |
489 | ||
490 | // Keep only the best tracks if required | |
491 | if (!GetRecoParam()->TrackAllTracks()) RemoveDoubleTracks(); | |
492 | ||
493 | } | |
494 | ||
495 | return kTRUE; | |
496 | ||
497 | } | |
498 | ||
499 | //__________________________________________________________________________ | |
500 | Bool_t AliMUONTrackReconstructorK::FollowTrackInChamber(AliMUONTrack &trackCandidate, AliMUONVClusterStore& clusterStore, Int_t nextChamber) | |
501 | { | |
502 | /// Follow trackCandidate in chamber(0..) nextChamber and search for compatible cluster(s) | |
503 | /// Keep all possibilities or only the best one(s) according to the flag fgkTrackAllTracks: | |
504 | /// kTRUE: duplicate "trackCandidate" if there are several possibilities and add the new tracks at the end of | |
505 | /// fRecTracksPtr to avoid conficts with other track candidates at this current stage of the tracking procedure. | |
506 | /// Remove the obsolete "trackCandidate" at the end. | |
507 | /// kFALSE: add only the best cluster(s) to the "trackCandidate". Try to add a couple of clusters in priority. | |
508 | /// return kTRUE if new cluster(s) have been found (otherwise return kFALSE) | |
509 | AliDebug(1,Form("Enter FollowTrackInChamber(1..) %d", nextChamber+1)); | |
510 | ||
511 | Double_t chi2OfCluster; | |
512 | Double_t maxChi2OfCluster = 2. * GetRecoParam()->GetSigmaCutForTracking() * | |
513 | GetRecoParam()->GetSigmaCutForTracking(); // 2 because 2 quantities in chi2 | |
514 | Double_t addChi2TrackAtCluster; | |
515 | Double_t bestAddChi2TrackAtCluster = 1.e10; | |
516 | Bool_t foundOneCluster = kFALSE; | |
517 | AliMUONTrack *newTrack = 0x0; | |
518 | AliMUONVCluster *cluster; | |
519 | AliMUONTrackParam extrapTrackParamAtCh; | |
520 | AliMUONTrackParam extrapTrackParamAtCluster; | |
521 | AliMUONTrackParam bestTrackParamAtCluster; | |
522 | ||
523 | // Get track parameters according to the propagation direction | |
524 | if (nextChamber > 7) extrapTrackParamAtCh = *(AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->Last(); | |
525 | else extrapTrackParamAtCh = *(AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->First(); | |
526 | ||
527 | // Printout for debuging | |
528 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 2) || (AliLog::GetGlobalDebugLevel() >= 2)) { | |
529 | cout<<endl<<"Track parameters and covariances at first cluster:"<<endl; | |
530 | extrapTrackParamAtCh.GetParameters().Print(); | |
531 | extrapTrackParamAtCh.GetCovariances().Print(); | |
532 | } | |
533 | ||
534 | // Add MCS effect | |
535 | AliMUONTrackExtrap::AddMCSEffect(&extrapTrackParamAtCh,AliMUONConstants::ChamberThicknessInX0(),1.); | |
536 | ||
537 | // reset propagator for smoother | |
538 | if (GetRecoParam()->UseSmoother()) extrapTrackParamAtCh.ResetPropagator(); | |
539 | ||
540 | // Add MCS in the missing chamber(s) if any | |
541 | Int_t currentChamber = extrapTrackParamAtCh.GetClusterPtr()->GetChamberId(); | |
542 | while (currentChamber > nextChamber + 1) { | |
543 | // extrapolation to the missing chamber | |
544 | currentChamber--; | |
545 | AliMUONTrackExtrap::ExtrapToZCov(&extrapTrackParamAtCh, AliMUONConstants::DefaultChamberZ(currentChamber), | |
546 | GetRecoParam()->UseSmoother()); | |
547 | // add MCS effect | |
548 | AliMUONTrackExtrap::AddMCSEffect(&extrapTrackParamAtCh,AliMUONConstants::ChamberThicknessInX0(),1.); | |
549 | } | |
550 | ||
551 | //Extrapolate trackCandidate to chamber | |
552 | AliMUONTrackExtrap::ExtrapToZCov(&extrapTrackParamAtCh, AliMUONConstants::DefaultChamberZ(nextChamber), | |
553 | GetRecoParam()->UseSmoother()); | |
554 | ||
555 | // Printout for debuging | |
556 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 2) || (AliLog::GetGlobalDebugLevel() >= 2)) { | |
557 | cout<<endl<<"Track parameters and covariances at first cluster extrapolated to z = "<<AliMUONConstants::DefaultChamberZ(nextChamber)<<":"<<endl; | |
558 | extrapTrackParamAtCh.GetParameters().Print(); | |
559 | extrapTrackParamAtCh.GetCovariances().Print(); | |
560 | } | |
561 | ||
562 | // Printout for debuging | |
563 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
564 | cout << "FollowTrackInChamber: look for clusters in chamber(1..): " << nextChamber+1 << endl; | |
565 | } | |
566 | ||
567 | // Ask the clustering to reconstruct new clusters around the track position in the current chamber | |
568 | // except for station 4 and 5 that are already entirely clusterized | |
569 | if (GetRecoParam()->CombineClusterTrackReco()) { | |
570 | if (nextChamber < 6) AskForNewClustersInChamber(extrapTrackParamAtCh, clusterStore, nextChamber); | |
571 | } | |
572 | ||
573 | // Create iterators to loop over clusters in both chambers | |
574 | TIter next(clusterStore.CreateChamberIterator(nextChamber,nextChamber)); | |
575 | ||
576 | // look for candidates in chamber | |
577 | while ( ( cluster = static_cast<AliMUONVCluster*>(next()) ) ) { | |
578 | ||
579 | // try to add the current cluster fast | |
580 | if (!TryOneClusterFast(extrapTrackParamAtCh, cluster)) continue; | |
581 | ||
582 | // try to add the current cluster accuratly | |
583 | chi2OfCluster = TryOneCluster(extrapTrackParamAtCh, cluster, extrapTrackParamAtCluster, | |
584 | GetRecoParam()->UseSmoother()); | |
585 | ||
586 | // if good chi2 then consider to add cluster | |
587 | if (chi2OfCluster < maxChi2OfCluster) { | |
588 | ||
589 | if (GetRecoParam()->UseSmoother()) { | |
590 | // save extrapolated parameters for smoother | |
591 | extrapTrackParamAtCluster.SetExtrapParameters(extrapTrackParamAtCluster.GetParameters()); | |
592 | ||
593 | // save extrapolated covariance matrix for smoother | |
594 | extrapTrackParamAtCluster.SetExtrapCovariances(extrapTrackParamAtCluster.GetCovariances()); | |
595 | } | |
596 | ||
597 | // Compute new track parameters including new cluster using kalman filter | |
598 | addChi2TrackAtCluster = RunKalmanFilter(extrapTrackParamAtCluster); | |
599 | ||
600 | // skip track out of limits | |
601 | if (!IsAcceptable(extrapTrackParamAtCluster)) continue; | |
602 | ||
603 | // remember a cluster was found | |
604 | foundOneCluster = kTRUE; | |
605 | ||
606 | // Printout for debuging | |
607 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
608 | cout << "FollowTrackInChamber: found one cluster in chamber(1..): " << nextChamber+1 | |
609 | << " (Chi2 = " << chi2OfCluster << ")" << endl; | |
610 | cluster->Print(); | |
611 | } | |
612 | ||
613 | if (GetRecoParam()->TrackAllTracks()) { | |
614 | // copy trackCandidate into a new track put at the end of fRecTracksPtr and add the new cluster | |
615 | newTrack = new ((*fRecTracksPtr)[fRecTracksPtr->GetLast()+1]) AliMUONTrack(trackCandidate); | |
616 | UpdateTrack(*newTrack,extrapTrackParamAtCluster,addChi2TrackAtCluster); | |
617 | fNRecTracks++; | |
618 | ||
619 | // Printout for debuging | |
620 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
621 | cout << "FollowTrackInChamber: added one cluster in chamber(1..): " << nextChamber+1 << endl; | |
622 | if (AliLog::GetGlobalDebugLevel() >= 3) newTrack->RecursiveDump(); | |
623 | } | |
624 | ||
625 | } else if (addChi2TrackAtCluster < bestAddChi2TrackAtCluster) { | |
626 | // keep track of the best cluster | |
627 | bestAddChi2TrackAtCluster = addChi2TrackAtCluster; | |
628 | bestTrackParamAtCluster = extrapTrackParamAtCluster; | |
629 | } | |
630 | ||
631 | } | |
632 | ||
633 | } | |
634 | ||
635 | // fill out the best track if required else clean up the fRecTracksPtr array | |
636 | if (!GetRecoParam()->TrackAllTracks()) { | |
637 | if (foundOneCluster) { | |
638 | UpdateTrack(trackCandidate,bestTrackParamAtCluster,bestAddChi2TrackAtCluster); | |
639 | ||
640 | // Printout for debuging | |
641 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
642 | cout << "FollowTrackInChamber: added the best cluster in chamber(1..): " << bestTrackParamAtCluster.GetClusterPtr()->GetChamberId()+1 << endl; | |
643 | if (AliLog::GetGlobalDebugLevel() >= 3) newTrack->RecursiveDump(); | |
644 | } | |
645 | ||
646 | } else return kFALSE; | |
647 | ||
648 | } else if (foundOneCluster) { | |
649 | ||
650 | // remove obsolete track | |
651 | fRecTracksPtr->Remove(&trackCandidate); | |
652 | fNRecTracks--; | |
653 | ||
654 | } else return kFALSE; | |
655 | ||
656 | return kTRUE; | |
657 | ||
658 | } | |
659 | ||
660 | //__________________________________________________________________________ | |
661 | Bool_t AliMUONTrackReconstructorK::FollowTrackInStation(AliMUONTrack &trackCandidate, AliMUONVClusterStore& clusterStore, Int_t nextStation) | |
662 | { | |
663 | /// Follow trackCandidate in station(0..) nextStation and search for compatible cluster(s) | |
664 | /// Keep all possibilities or only the best one(s) according to the flag fgkTrackAllTracks: | |
665 | /// kTRUE: duplicate "trackCandidate" if there are several possibilities and add the new tracks at the end of | |
666 | /// fRecTracksPtr to avoid conficts with other track candidates at this current stage of the tracking procedure. | |
667 | /// Remove the obsolete "trackCandidate" at the end. | |
668 | /// kFALSE: add only the best cluster(s) to the "trackCandidate". Try to add a couple of clusters in priority. | |
669 | /// return kTRUE if new cluster(s) have been found (otherwise return kFALSE) | |
670 | AliDebug(1,Form("Enter FollowTrackInStation(1..) %d", nextStation+1)); | |
671 | ||
672 | // Order the chamber according to the propagation direction (tracking starts with chamber 2): | |
673 | // - nextStation == station(1...) 5 => forward propagation | |
674 | // - nextStation < station(1...) 5 => backward propagation | |
675 | Int_t ch1, ch2; | |
676 | if (nextStation==4) { | |
677 | ch1 = 2*nextStation+1; | |
678 | ch2 = 2*nextStation; | |
679 | } else { | |
680 | ch1 = 2*nextStation; | |
681 | ch2 = 2*nextStation+1; | |
682 | } | |
683 | ||
684 | Double_t chi2OfCluster; | |
685 | Double_t maxChi2OfCluster = 2. * GetRecoParam()->GetSigmaCutForTracking() * | |
686 | GetRecoParam()->GetSigmaCutForTracking(); // 2 because 2 quantities in chi2 | |
687 | Double_t addChi2TrackAtCluster1; | |
688 | Double_t addChi2TrackAtCluster2; | |
689 | Double_t bestAddChi2TrackAtCluster1 = 1.e10; | |
690 | Double_t bestAddChi2TrackAtCluster2 = 1.e10; | |
691 | Bool_t foundOneCluster = kFALSE; | |
692 | Bool_t foundTwoClusters = kFALSE; | |
693 | AliMUONTrack *newTrack = 0x0; | |
694 | AliMUONVCluster *clusterCh1, *clusterCh2; | |
695 | AliMUONTrackParam extrapTrackParam; | |
696 | AliMUONTrackParam extrapTrackParamAtCh; | |
697 | AliMUONTrackParam extrapTrackParamAtCluster1; | |
698 | AliMUONTrackParam extrapTrackParamAtCluster2; | |
699 | AliMUONTrackParam bestTrackParamAtCluster1; | |
700 | AliMUONTrackParam bestTrackParamAtCluster2; | |
701 | ||
702 | Int_t nClusters = clusterStore.GetSize(); | |
703 | Bool_t *clusterCh1Used = new Bool_t[nClusters]; | |
704 | for (Int_t i = 0; i < nClusters; i++) clusterCh1Used[i] = kFALSE; | |
705 | Int_t iCluster1; | |
706 | ||
707 | // Get track parameters according to the propagation direction | |
708 | ||
709 | if (nextStation==4) extrapTrackParamAtCh = *(AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->Last(); | |
710 | else extrapTrackParamAtCh = *(AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->First(); | |
711 | ||
712 | // Printout for debuging | |
713 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 2) || (AliLog::GetGlobalDebugLevel() >= 2)) { | |
714 | cout<<endl<<"Track parameters and covariances at first cluster:"<<endl; | |
715 | extrapTrackParamAtCh.GetParameters().Print(); | |
716 | extrapTrackParamAtCh.GetCovariances().Print(); | |
717 | } | |
718 | ||
719 | // Add MCS effect | |
720 | AliMUONTrackExtrap::AddMCSEffect(&extrapTrackParamAtCh,AliMUONConstants::ChamberThicknessInX0(),1.); | |
721 | ||
722 | // reset propagator for smoother | |
723 | if (GetRecoParam()->UseSmoother()) extrapTrackParamAtCh.ResetPropagator(); | |
724 | ||
725 | // Add MCS in the missing chamber(s) if any | |
726 | Int_t currentChamber = extrapTrackParamAtCh.GetClusterPtr()->GetChamberId(); | |
727 | while (ch1 < ch2 && currentChamber > ch2 + 1) { | |
728 | // extrapolation to the missing chamber | |
729 | currentChamber--; | |
730 | AliMUONTrackExtrap::ExtrapToZCov(&extrapTrackParamAtCh, AliMUONConstants::DefaultChamberZ(currentChamber), | |
731 | GetRecoParam()->UseSmoother()); | |
732 | // add MCS effect | |
733 | AliMUONTrackExtrap::AddMCSEffect(&extrapTrackParamAtCh,AliMUONConstants::ChamberThicknessInX0(),1.); | |
734 | } | |
735 | ||
736 | //Extrapolate trackCandidate to chamber "ch2" | |
737 | AliMUONTrackExtrap::ExtrapToZCov(&extrapTrackParamAtCh, AliMUONConstants::DefaultChamberZ(ch2), | |
738 | GetRecoParam()->UseSmoother()); | |
739 | ||
740 | // Printout for debuging | |
741 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 2) || (AliLog::GetGlobalDebugLevel() >= 2)) { | |
742 | cout<<endl<<"Track parameters and covariances at first cluster extrapolated to z = "<<AliMUONConstants::DefaultChamberZ(ch2)<<":"<<endl; | |
743 | extrapTrackParamAtCh.GetParameters().Print(); | |
744 | extrapTrackParamAtCh.GetCovariances().Print(); | |
745 | } | |
746 | ||
747 | // Printout for debuging | |
748 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
749 | cout << "FollowTrackInStation: look for clusters in chamber(1..): " << ch2+1 << endl; | |
750 | } | |
751 | ||
752 | // Ask the clustering to reconstruct new clusters around the track position in the current station | |
753 | // except for station 4 and 5 that are already entirely clusterized | |
754 | if (GetRecoParam()->CombineClusterTrackReco()) { | |
755 | if (nextStation < 3) AskForNewClustersInStation(extrapTrackParamAtCh, clusterStore, nextStation); | |
756 | } | |
757 | ||
758 | // Create iterators to loop over clusters in both chambers | |
759 | TIter nextInCh1(clusterStore.CreateChamberIterator(ch1,ch1)); | |
760 | TIter nextInCh2(clusterStore.CreateChamberIterator(ch2,ch2)); | |
761 | ||
762 | // look for candidates in chamber 2 | |
763 | while ( ( clusterCh2 = static_cast<AliMUONVCluster*>(nextInCh2()) ) ) { | |
764 | ||
765 | // try to add the current cluster fast | |
766 | if (!TryOneClusterFast(extrapTrackParamAtCh, clusterCh2)) continue; | |
767 | ||
768 | // try to add the current cluster accuratly | |
769 | chi2OfCluster = TryOneCluster(extrapTrackParamAtCh, clusterCh2, extrapTrackParamAtCluster2, | |
770 | GetRecoParam()->UseSmoother()); | |
771 | ||
772 | // if good chi2 then try to attach a cluster in the other chamber too | |
773 | if (chi2OfCluster < maxChi2OfCluster) { | |
774 | ||
775 | if (GetRecoParam()->UseSmoother()) { | |
776 | // save extrapolated parameters for smoother | |
777 | extrapTrackParamAtCluster2.SetExtrapParameters(extrapTrackParamAtCluster2.GetParameters()); | |
778 | ||
779 | // save extrapolated covariance matrix for smoother | |
780 | extrapTrackParamAtCluster2.SetExtrapCovariances(extrapTrackParamAtCluster2.GetCovariances()); | |
781 | } | |
782 | ||
783 | // Compute new track parameters including "clusterCh2" using kalman filter | |
784 | addChi2TrackAtCluster2 = RunKalmanFilter(extrapTrackParamAtCluster2); | |
785 | ||
786 | // skip track out of limits | |
787 | if (!IsAcceptable(extrapTrackParamAtCluster2)) continue; | |
788 | ||
789 | // Printout for debuging | |
790 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
791 | cout << "FollowTrackInStation: found one cluster in chamber(1..): " << ch2+1 | |
792 | << " (Chi2 = " << chi2OfCluster << ")" << endl; | |
793 | clusterCh2->Print(); | |
794 | cout << " look for second clusters in chamber(1..): " << ch1+1 << " ..." << endl; | |
795 | } | |
796 | ||
797 | // copy new track parameters for next step | |
798 | extrapTrackParam = extrapTrackParamAtCluster2; | |
799 | ||
800 | // add MCS effect | |
801 | AliMUONTrackExtrap::AddMCSEffect(&extrapTrackParam,AliMUONConstants::ChamberThicknessInX0(),1.); | |
802 | ||
803 | // reset propagator for smoother | |
804 | if (GetRecoParam()->UseSmoother()) extrapTrackParam.ResetPropagator(); | |
805 | ||
806 | //Extrapolate track parameters to chamber "ch1" | |
807 | AliMUONTrackExtrap::ExtrapToZCov(&extrapTrackParam, AliMUONConstants::DefaultChamberZ(ch1), | |
808 | GetRecoParam()->UseSmoother()); | |
809 | ||
810 | // reset cluster iterator of chamber 1 | |
811 | nextInCh1.Reset(); | |
812 | iCluster1 = -1; | |
813 | ||
814 | // look for second candidates in chamber 1 | |
815 | Bool_t foundSecondCluster = kFALSE; | |
816 | while ( ( clusterCh1 = static_cast<AliMUONVCluster*>(nextInCh1()) ) ) { | |
817 | iCluster1++; | |
818 | ||
819 | // try to add the current cluster fast | |
820 | if (!TryOneClusterFast(extrapTrackParam, clusterCh1)) continue; | |
821 | ||
822 | // try to add the current cluster accuratly | |
823 | chi2OfCluster = TryOneCluster(extrapTrackParam, clusterCh1, extrapTrackParamAtCluster1, | |
824 | GetRecoParam()->UseSmoother()); | |
825 | ||
826 | // if good chi2 then consider to add the 2 clusters to the "trackCandidate" | |
827 | if (chi2OfCluster < maxChi2OfCluster) { | |
828 | ||
829 | if (GetRecoParam()->UseSmoother()) { | |
830 | // save extrapolated parameters for smoother | |
831 | extrapTrackParamAtCluster1.SetExtrapParameters(extrapTrackParamAtCluster1.GetParameters()); | |
832 | ||
833 | // save extrapolated covariance matrix for smoother | |
834 | extrapTrackParamAtCluster1.SetExtrapCovariances(extrapTrackParamAtCluster1.GetCovariances()); | |
835 | } | |
836 | ||
837 | // Compute new track parameters including "clusterCh1" using kalman filter | |
838 | addChi2TrackAtCluster1 = RunKalmanFilter(extrapTrackParamAtCluster1); | |
839 | ||
840 | // skip track out of limits | |
841 | if (!IsAcceptable(extrapTrackParamAtCluster1)) continue; | |
842 | ||
843 | // remember a second cluster was found | |
844 | foundSecondCluster = kTRUE; | |
845 | foundTwoClusters = kTRUE; | |
846 | ||
847 | // Printout for debuging | |
848 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
849 | cout << "FollowTrackInStation: found one cluster in chamber(1..): " << ch1+1 | |
850 | << " (Chi2 = " << chi2OfCluster << ")" << endl; | |
851 | clusterCh1->Print(); | |
852 | } | |
853 | ||
854 | if (GetRecoParam()->TrackAllTracks()) { | |
855 | // copy trackCandidate into a new track put at the end of fRecTracksPtr and add the new clusters | |
856 | newTrack = new ((*fRecTracksPtr)[fRecTracksPtr->GetLast()+1]) AliMUONTrack(trackCandidate); | |
857 | UpdateTrack(*newTrack,extrapTrackParamAtCluster1,extrapTrackParamAtCluster2,addChi2TrackAtCluster1,addChi2TrackAtCluster2); | |
858 | fNRecTracks++; | |
859 | ||
860 | // Tag clusterCh1 as used | |
861 | clusterCh1Used[iCluster1] = kTRUE; | |
862 | ||
863 | // Printout for debuging | |
864 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
865 | cout << "FollowTrackInStation: added two clusters in station(1..): " << nextStation+1 << endl; | |
866 | if (AliLog::GetGlobalDebugLevel() >= 3) newTrack->RecursiveDump(); | |
867 | } | |
868 | ||
869 | } else if (addChi2TrackAtCluster1+addChi2TrackAtCluster2 < bestAddChi2TrackAtCluster1+bestAddChi2TrackAtCluster2) { | |
870 | // keep track of the best couple of clusters | |
871 | bestAddChi2TrackAtCluster1 = addChi2TrackAtCluster1; | |
872 | bestAddChi2TrackAtCluster2 = addChi2TrackAtCluster2; | |
873 | bestTrackParamAtCluster1 = extrapTrackParamAtCluster1; | |
874 | bestTrackParamAtCluster2 = extrapTrackParamAtCluster2; | |
875 | } | |
876 | ||
877 | } | |
878 | ||
879 | } | |
880 | ||
881 | // if no clusterCh1 found then consider to add clusterCh2 only | |
882 | if (!foundSecondCluster) { | |
883 | ||
884 | // remember a cluster was found | |
885 | foundOneCluster = kTRUE; | |
886 | ||
887 | if (GetRecoParam()->TrackAllTracks()) { | |
888 | // copy trackCandidate into a new track put at the end of fRecTracksPtr and add the new cluster | |
889 | newTrack = new ((*fRecTracksPtr)[fRecTracksPtr->GetLast()+1]) AliMUONTrack(trackCandidate); | |
890 | UpdateTrack(*newTrack,extrapTrackParamAtCluster2,addChi2TrackAtCluster2); | |
891 | fNRecTracks++; | |
892 | ||
893 | // Printout for debuging | |
894 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
895 | cout << "FollowTrackInStation: added one cluster in chamber(1..): " << ch2+1 << endl; | |
896 | if (AliLog::GetGlobalDebugLevel() >= 3) newTrack->RecursiveDump(); | |
897 | } | |
898 | ||
899 | } else if (!foundTwoClusters && addChi2TrackAtCluster2 < bestAddChi2TrackAtCluster1) { | |
900 | // keep track of the best single cluster except if a couple of clusters has already been found | |
901 | bestAddChi2TrackAtCluster1 = addChi2TrackAtCluster2; | |
902 | bestTrackParamAtCluster1 = extrapTrackParamAtCluster2; | |
903 | } | |
904 | ||
905 | } | |
906 | ||
907 | } | |
908 | ||
909 | } | |
910 | ||
911 | // look for candidates in chamber 1 not already attached to a track | |
912 | // if we want to keep all possible tracks or if no good couple of clusters has been found | |
913 | if (GetRecoParam()->TrackAllTracks() || !foundTwoClusters) { | |
914 | ||
915 | // add MCS effect for next step | |
916 | AliMUONTrackExtrap::AddMCSEffect(&extrapTrackParamAtCh,AliMUONConstants::ChamberThicknessInX0(),1.); | |
917 | ||
918 | //Extrapolate trackCandidate to chamber "ch1" | |
919 | AliMUONTrackExtrap::ExtrapToZCov(&extrapTrackParamAtCh, AliMUONConstants::DefaultChamberZ(ch1), | |
920 | GetRecoParam()->UseSmoother()); | |
921 | ||
922 | // Printout for debuging | |
923 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 2) || (AliLog::GetGlobalDebugLevel() >= 2)) { | |
924 | cout<<endl<<"Track parameters and covariances at first cluster extrapolated to z = "<<AliMUONConstants::DefaultChamberZ(ch1)<<":"<<endl; | |
925 | extrapTrackParamAtCh.GetParameters().Print(); | |
926 | extrapTrackParamAtCh.GetCovariances().Print(); | |
927 | } | |
928 | ||
929 | // Printout for debuging | |
930 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
931 | cout << "FollowTrackInStation: look for single clusters in chamber(1..): " << ch1+1 << endl; | |
932 | } | |
933 | ||
934 | // reset cluster iterator of chamber 1 | |
935 | nextInCh1.Reset(); | |
936 | iCluster1 = -1; | |
937 | ||
938 | // look for second candidates in chamber 1 | |
939 | while ( ( clusterCh1 = static_cast<AliMUONVCluster*>(nextInCh1()) ) ) { | |
940 | iCluster1++; | |
941 | ||
942 | if (clusterCh1Used[iCluster1]) continue; // Skip clusters already used | |
943 | ||
944 | // try to add the current cluster fast | |
945 | if (!TryOneClusterFast(extrapTrackParamAtCh, clusterCh1)) continue; | |
946 | ||
947 | // try to add the current cluster accuratly | |
948 | chi2OfCluster = TryOneCluster(extrapTrackParamAtCh, clusterCh1, extrapTrackParamAtCluster1, | |
949 | GetRecoParam()->UseSmoother()); | |
950 | ||
951 | // if good chi2 then consider to add clusterCh1 | |
952 | // We do not try to attach a cluster in the other chamber too since it has already been done above | |
953 | if (chi2OfCluster < maxChi2OfCluster) { | |
954 | ||
955 | if (GetRecoParam()->UseSmoother()) { | |
956 | // save extrapolated parameters for smoother | |
957 | extrapTrackParamAtCluster1.SetExtrapParameters(extrapTrackParamAtCluster1.GetParameters()); | |
958 | ||
959 | // save extrapolated covariance matrix for smoother | |
960 | extrapTrackParamAtCluster1.SetExtrapCovariances(extrapTrackParamAtCluster1.GetCovariances()); | |
961 | } | |
962 | ||
963 | // Compute new track parameters including "clusterCh1" using kalman filter | |
964 | addChi2TrackAtCluster1 = RunKalmanFilter(extrapTrackParamAtCluster1); | |
965 | ||
966 | // skip track out of limits | |
967 | if (!IsAcceptable(extrapTrackParamAtCluster1)) continue; | |
968 | ||
969 | // remember a cluster was found | |
970 | foundOneCluster = kTRUE; | |
971 | ||
972 | // Printout for debuging | |
973 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
974 | cout << "FollowTrackInStation: found one cluster in chamber(1..): " << ch1+1 | |
975 | << " (Chi2 = " << chi2OfCluster << ")" << endl; | |
976 | clusterCh1->Print(); | |
977 | } | |
978 | ||
979 | if (GetRecoParam()->TrackAllTracks()) { | |
980 | // copy trackCandidate into a new track put at the end of fRecTracksPtr and add the new cluster | |
981 | newTrack = new ((*fRecTracksPtr)[fRecTracksPtr->GetLast()+1]) AliMUONTrack(trackCandidate); | |
982 | UpdateTrack(*newTrack,extrapTrackParamAtCluster1,addChi2TrackAtCluster1); | |
983 | fNRecTracks++; | |
984 | ||
985 | // Printout for debuging | |
986 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
987 | cout << "FollowTrackInStation: added one cluster in chamber(1..): " << ch1+1 << endl; | |
988 | if (AliLog::GetGlobalDebugLevel() >= 3) newTrack->RecursiveDump(); | |
989 | } | |
990 | ||
991 | } else if (addChi2TrackAtCluster1 < bestAddChi2TrackAtCluster1) { | |
992 | // keep track of the best single cluster except if a couple of clusters has already been found | |
993 | bestAddChi2TrackAtCluster1 = addChi2TrackAtCluster1; | |
994 | bestTrackParamAtCluster1 = extrapTrackParamAtCluster1; | |
995 | } | |
996 | ||
997 | } | |
998 | ||
999 | } | |
1000 | ||
1001 | } | |
1002 | ||
1003 | // fill out the best track if required else clean up the fRecTracksPtr array | |
1004 | if (!GetRecoParam()->TrackAllTracks()) { | |
1005 | if (foundTwoClusters) { | |
1006 | UpdateTrack(trackCandidate,bestTrackParamAtCluster1,bestTrackParamAtCluster2,bestAddChi2TrackAtCluster1,bestAddChi2TrackAtCluster2); | |
1007 | ||
1008 | // Printout for debuging | |
1009 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
1010 | cout << "FollowTrackInStation: added the two best clusters in station(1..): " << nextStation+1 << endl; | |
1011 | if (AliLog::GetGlobalDebugLevel() >= 3) newTrack->RecursiveDump(); | |
1012 | } | |
1013 | ||
1014 | } else if (foundOneCluster) { | |
1015 | UpdateTrack(trackCandidate,bestTrackParamAtCluster1,bestAddChi2TrackAtCluster1); | |
1016 | ||
1017 | // Printout for debuging | |
1018 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
1019 | cout << "FollowTrackInStation: added the best cluster in chamber(1..): " << bestTrackParamAtCluster1.GetClusterPtr()->GetChamberId()+1 << endl; | |
1020 | if (AliLog::GetGlobalDebugLevel() >= 3) newTrack->RecursiveDump(); | |
1021 | } | |
1022 | ||
1023 | } else { | |
1024 | delete [] clusterCh1Used; | |
1025 | return kFALSE; | |
1026 | } | |
1027 | ||
1028 | } else if (foundOneCluster || foundTwoClusters) { | |
1029 | ||
1030 | // remove obsolete track | |
1031 | fRecTracksPtr->Remove(&trackCandidate); | |
1032 | fNRecTracks--; | |
1033 | ||
1034 | } else { | |
1035 | delete [] clusterCh1Used; | |
1036 | return kFALSE; | |
1037 | } | |
1038 | ||
1039 | delete [] clusterCh1Used; | |
1040 | return kTRUE; | |
1041 | ||
1042 | } | |
1043 | ||
1044 | //__________________________________________________________________________ | |
1045 | Double_t AliMUONTrackReconstructorK::RunKalmanFilter(AliMUONTrackParam &trackParamAtCluster) | |
1046 | { | |
1047 | /// Compute new track parameters and their covariances including new cluster using kalman filter | |
1048 | /// return the additional track chi2 | |
1049 | AliDebug(1,"Enter RunKalmanFilter"); | |
1050 | ||
1051 | // Get actual track parameters (p) | |
1052 | TMatrixD param(trackParamAtCluster.GetParameters()); | |
1053 | ||
1054 | // Get new cluster parameters (m) | |
1055 | AliMUONVCluster *cluster = trackParamAtCluster.GetClusterPtr(); | |
1056 | TMatrixD clusterParam(5,1); | |
1057 | clusterParam.Zero(); | |
1058 | clusterParam(0,0) = cluster->GetX(); | |
1059 | clusterParam(2,0) = cluster->GetY(); | |
1060 | ||
1061 | // Compute the actual parameter weight (W) | |
1062 | TMatrixD paramWeight(trackParamAtCluster.GetCovariances()); | |
1063 | if (paramWeight.Determinant() != 0) { | |
1064 | paramWeight.Invert(); | |
1065 | } else { | |
1066 | AliWarning(" Determinant = 0"); | |
1067 | return 1.e10; | |
1068 | } | |
1069 | ||
1070 | // Compute the new cluster weight (U) | |
1071 | TMatrixD clusterWeight(5,5); | |
1072 | clusterWeight.Zero(); | |
1073 | clusterWeight(0,0) = 1. / cluster->GetErrX2(); | |
1074 | clusterWeight(2,2) = 1. / cluster->GetErrY2(); | |
1075 | ||
1076 | // Compute the new parameters covariance matrix ( (W+U)^-1 ) | |
1077 | TMatrixD newParamCov(paramWeight,TMatrixD::kPlus,clusterWeight); | |
1078 | if (newParamCov.Determinant() != 0) { | |
1079 | newParamCov.Invert(); | |
1080 | } else { | |
1081 | AliWarning(" Determinant = 0"); | |
1082 | return 1.e10; | |
1083 | } | |
1084 | ||
1085 | // Save the new parameters covariance matrix | |
1086 | trackParamAtCluster.SetCovariances(newParamCov); | |
1087 | ||
1088 | // Compute the new parameters (p' = ((W+U)^-1)U(m-p) + p) | |
1089 | TMatrixD tmp(clusterParam,TMatrixD::kMinus,param); | |
1090 | TMatrixD tmp2(clusterWeight,TMatrixD::kMult,tmp); // U(m-p) | |
1091 | TMatrixD newParam(newParamCov,TMatrixD::kMult,tmp2); // ((W+U)^-1)U(m-p) | |
1092 | newParam += param; // ((W+U)^-1)U(m-p) + p | |
1093 | ||
1094 | // Save the new parameters | |
1095 | trackParamAtCluster.SetParameters(newParam); | |
1096 | ||
1097 | // Compute the additional chi2 (= ((p'-p)^-1)W(p'-p) + ((p'-m)^-1)U(p'-m)) | |
1098 | tmp = newParam; // p' | |
1099 | tmp -= param; // (p'-p) | |
1100 | TMatrixD tmp3(paramWeight,TMatrixD::kMult,tmp); // W(p'-p) | |
1101 | TMatrixD addChi2Track(tmp,TMatrixD::kTransposeMult,tmp3); // ((p'-p)^-1)W(p'-p) | |
1102 | tmp = newParam; // p' | |
1103 | tmp -= clusterParam; // (p'-m) | |
1104 | TMatrixD tmp4(clusterWeight,TMatrixD::kMult,tmp); // U(p'-m) | |
1105 | addChi2Track += TMatrixD(tmp,TMatrixD::kTransposeMult,tmp4); // ((p'-p)^-1)W(p'-p) + ((p'-m)^-1)U(p'-m) | |
1106 | ||
1107 | return addChi2Track(0,0); | |
1108 | ||
1109 | } | |
1110 | ||
1111 | //__________________________________________________________________________ | |
1112 | void AliMUONTrackReconstructorK::UpdateTrack(AliMUONTrack &track, AliMUONTrackParam &trackParamAtCluster, Double_t addChi2) | |
1113 | { | |
1114 | /// Add 1 cluster to the track candidate | |
1115 | /// Update chi2 of the track | |
1116 | ||
1117 | // Flag cluster as being (not) removable | |
1118 | if (GetRecoParam()->RequestStation(trackParamAtCluster.GetClusterPtr()->GetChamberId()/2)) | |
1119 | trackParamAtCluster.SetRemovable(kFALSE); | |
1120 | else trackParamAtCluster.SetRemovable(kTRUE); | |
1121 | trackParamAtCluster.SetLocalChi2(0.); // --> Local chi2 not used | |
1122 | ||
1123 | // Update the track chi2 into trackParamAtCluster | |
1124 | trackParamAtCluster.SetTrackChi2(track.GetGlobalChi2() + addChi2); | |
1125 | ||
1126 | // Update the chi2 of the new track | |
1127 | track.SetGlobalChi2(trackParamAtCluster.GetTrackChi2()); | |
1128 | ||
1129 | // Update array of TrackParamAtCluster | |
1130 | track.AddTrackParamAtCluster(trackParamAtCluster,*(trackParamAtCluster.GetClusterPtr())); | |
1131 | ||
1132 | } | |
1133 | ||
1134 | //__________________________________________________________________________ | |
1135 | void AliMUONTrackReconstructorK::UpdateTrack(AliMUONTrack &track, AliMUONTrackParam &trackParamAtCluster1, AliMUONTrackParam &trackParamAtCluster2, | |
1136 | Double_t addChi2AtCluster1, Double_t addChi2AtCluster2) | |
1137 | { | |
1138 | /// Add 2 clusters to the track candidate (order is important) | |
1139 | /// Update track and local chi2 | |
1140 | ||
1141 | // Update local chi2 at first cluster | |
1142 | AliMUONVCluster* cluster1 = trackParamAtCluster1.GetClusterPtr(); | |
1143 | Double_t deltaX = trackParamAtCluster1.GetNonBendingCoor() - cluster1->GetX(); | |
1144 | Double_t deltaY = trackParamAtCluster1.GetBendingCoor() - cluster1->GetY(); | |
1145 | Double_t localChi2AtCluster1 = deltaX*deltaX / cluster1->GetErrX2() + | |
1146 | deltaY*deltaY / cluster1->GetErrY2(); | |
1147 | trackParamAtCluster1.SetLocalChi2(localChi2AtCluster1); | |
1148 | ||
1149 | // Flag first cluster as being removable | |
1150 | trackParamAtCluster1.SetRemovable(kTRUE); | |
1151 | ||
1152 | // Update local chi2 at second cluster | |
1153 | AliMUONVCluster* cluster2 = trackParamAtCluster2.GetClusterPtr(); | |
1154 | AliMUONTrackParam extrapTrackParamAtCluster2(trackParamAtCluster1); | |
1155 | AliMUONTrackExtrap::ExtrapToZ(&extrapTrackParamAtCluster2, trackParamAtCluster2.GetZ()); | |
1156 | deltaX = extrapTrackParamAtCluster2.GetNonBendingCoor() - cluster2->GetX(); | |
1157 | deltaY = extrapTrackParamAtCluster2.GetBendingCoor() - cluster2->GetY(); | |
1158 | Double_t localChi2AtCluster2 = deltaX*deltaX / cluster2->GetErrX2() + | |
1159 | deltaY*deltaY / cluster2->GetErrY2(); | |
1160 | trackParamAtCluster2.SetLocalChi2(localChi2AtCluster2); | |
1161 | ||
1162 | // Flag second cluster as being removable | |
1163 | trackParamAtCluster2.SetRemovable(kTRUE); | |
1164 | ||
1165 | // Update the track chi2 into trackParamAtCluster2 | |
1166 | trackParamAtCluster2.SetTrackChi2(track.GetGlobalChi2() + addChi2AtCluster2); | |
1167 | ||
1168 | // Update the track chi2 into trackParamAtCluster1 | |
1169 | trackParamAtCluster1.SetTrackChi2(trackParamAtCluster2.GetTrackChi2() + addChi2AtCluster1); | |
1170 | ||
1171 | // Update the chi2 of the new track | |
1172 | track.SetGlobalChi2(trackParamAtCluster1.GetTrackChi2()); | |
1173 | ||
1174 | // Update array of trackParamAtCluster | |
1175 | track.AddTrackParamAtCluster(trackParamAtCluster1,*cluster1); | |
1176 | track.AddTrackParamAtCluster(trackParamAtCluster2,*cluster2); | |
1177 | ||
1178 | } | |
1179 | ||
1180 | //__________________________________________________________________________ | |
1181 | Bool_t AliMUONTrackReconstructorK::RecoverTrack(AliMUONTrack &trackCandidate, AliMUONVClusterStore& clusterStore, Int_t nextStation) | |
1182 | { | |
1183 | /// Try to recover the track candidate in the next station | |
1184 | /// by removing the worst of the two clusters attached in the current station | |
1185 | /// Return kTRUE if recovering succeeds | |
1186 | AliDebug(1,"Enter RecoverTrack"); | |
1187 | ||
1188 | // Do not try to recover track until we have attached cluster(s) on station(1..) 3 | |
1189 | if (nextStation > 1) return kFALSE; | |
1190 | ||
1191 | Int_t worstClusterNumber = -1; | |
1192 | Double_t localChi2, worstLocalChi2 = -1.; | |
1193 | ||
1194 | // Look for the cluster to remove | |
1195 | for (Int_t clusterNumber = 0; clusterNumber < 2; clusterNumber++) { | |
1196 | AliMUONTrackParam *trackParamAtCluster = (AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->UncheckedAt(clusterNumber); | |
1197 | ||
1198 | // check if current cluster is in the previous station | |
1199 | if (trackParamAtCluster->GetClusterPtr()->GetChamberId()/2 != nextStation+1) break; | |
1200 | ||
1201 | // check if current cluster is removable | |
1202 | if (!trackParamAtCluster->IsRemovable()) return kFALSE; | |
1203 | ||
1204 | // reset the current cluster as being not removable if it is on a required station | |
1205 | if (GetRecoParam()->RequestStation(nextStation+1)) trackParamAtCluster->SetRemovable(kFALSE); | |
1206 | ||
1207 | // Pick up cluster with the worst chi2 | |
1208 | localChi2 = trackParamAtCluster->GetLocalChi2(); | |
1209 | if (localChi2 > worstLocalChi2) { | |
1210 | worstLocalChi2 = localChi2; | |
1211 | worstClusterNumber = clusterNumber; | |
1212 | } | |
1213 | } | |
1214 | ||
1215 | // check if worst cluster found | |
1216 | if (worstClusterNumber < 0) return kFALSE; | |
1217 | ||
1218 | // Remove the worst cluster | |
1219 | trackCandidate.RemoveTrackParamAtCluster((AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->UncheckedAt(worstClusterNumber)); | |
1220 | ||
1221 | // Re-calculate track parameters at the (new) first cluster | |
1222 | RetracePartialTrack(trackCandidate,(AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->UncheckedAt(1)); | |
1223 | ||
1224 | // skip track out of limits | |
1225 | if (!IsAcceptable(*((AliMUONTrackParam*)trackCandidate.GetTrackParamAtCluster()->First()))) return kFALSE; | |
1226 | ||
1227 | // Look for new cluster(s) in next station | |
1228 | return FollowTrackInStation(trackCandidate, clusterStore, nextStation); | |
1229 | ||
1230 | } | |
1231 | ||
1232 | //__________________________________________________________________________ | |
1233 | Bool_t AliMUONTrackReconstructorK::RunSmoother(AliMUONTrack &track) | |
1234 | { | |
1235 | /// Compute new track parameters and their covariances using smoother | |
1236 | AliDebug(1,"Enter UseSmoother"); | |
1237 | ||
1238 | AliMUONTrackParam *previousTrackParam = (AliMUONTrackParam*) track.GetTrackParamAtCluster()->First(); | |
1239 | ||
1240 | // Smoothed parameters and covariances at first cluster = filtered parameters and covariances | |
1241 | previousTrackParam->SetSmoothParameters(previousTrackParam->GetParameters()); | |
1242 | previousTrackParam->SetSmoothCovariances(previousTrackParam->GetCovariances()); | |
1243 | ||
1244 | AliMUONTrackParam *currentTrackParam = (AliMUONTrackParam*) track.GetTrackParamAtCluster()->After(previousTrackParam); | |
1245 | ||
1246 | // Save local chi2 at first cluster = last additional chi2 provided by Kalman | |
1247 | previousTrackParam->SetLocalChi2(previousTrackParam->GetTrackChi2() - currentTrackParam->GetTrackChi2()); | |
1248 | ||
1249 | // if the track contains only 2 clusters simply copy the filtered parameters | |
1250 | if (track.GetNClusters() == 2) { | |
1251 | currentTrackParam->SetSmoothParameters(currentTrackParam->GetParameters()); | |
1252 | currentTrackParam->SetSmoothCovariances(currentTrackParam->GetCovariances()); | |
1253 | currentTrackParam->SetLocalChi2(currentTrackParam->GetTrackChi2()); | |
1254 | return kTRUE; | |
1255 | } | |
1256 | ||
1257 | while (currentTrackParam) { | |
1258 | ||
1259 | // Get variables | |
1260 | const TMatrixD &extrapParameters = previousTrackParam->GetExtrapParameters(); // X(k+1 k) | |
1261 | const TMatrixD &filteredParameters = currentTrackParam->GetParameters(); // X(k k) | |
1262 | const TMatrixD &previousSmoothParameters = previousTrackParam->GetSmoothParameters(); // X(k+1 n) | |
1263 | const TMatrixD &propagator = previousTrackParam->GetPropagator(); // F(k) | |
1264 | const TMatrixD &extrapCovariances = previousTrackParam->GetExtrapCovariances(); // C(k+1 k) | |
1265 | const TMatrixD &filteredCovariances = currentTrackParam->GetCovariances(); // C(k k) | |
1266 | const TMatrixD &previousSmoothCovariances = previousTrackParam->GetSmoothCovariances(); // C(k+1 n) | |
1267 | ||
1268 | // Compute smoother gain: A(k) = C(kk) * F(k)^t * (C(k+1 k))^-1 | |
1269 | TMatrixD extrapWeight(extrapCovariances); | |
1270 | if (extrapWeight.Determinant() != 0) { | |
1271 | extrapWeight.Invert(); // (C(k+1 k))^-1 | |
1272 | } else { | |
1273 | AliWarning(" Determinant = 0"); | |
1274 | return kFALSE; | |
1275 | } | |
1276 | TMatrixD smootherGain(filteredCovariances,TMatrixD::kMultTranspose,propagator); // C(kk) * F(k)^t | |
1277 | smootherGain *= extrapWeight; // C(kk) * F(k)^t * (C(k+1 k))^-1 | |
1278 | ||
1279 | // Compute smoothed parameters: X(k n) = X(k k) + A(k) * (X(k+1 n) - X(k+1 k)) | |
1280 | TMatrixD tmpParam(previousSmoothParameters,TMatrixD::kMinus,extrapParameters); // X(k+1 n) - X(k+1 k) | |
1281 | TMatrixD smoothParameters(smootherGain,TMatrixD::kMult,tmpParam); // A(k) * (X(k+1 n) - X(k+1 k)) | |
1282 | smoothParameters += filteredParameters; // X(k k) + A(k) * (X(k+1 n) - X(k+1 k)) | |
1283 | ||
1284 | // Save smoothed parameters | |
1285 | currentTrackParam->SetSmoothParameters(smoothParameters); | |
1286 | ||
1287 | // Compute smoothed covariances: C(k n) = C(k k) + A(k) * (C(k+1 n) - C(k+1 k)) * (A(k))^t | |
1288 | TMatrixD tmpCov(previousSmoothCovariances,TMatrixD::kMinus,extrapCovariances); // C(k+1 n) - C(k+1 k) | |
1289 | TMatrixD tmpCov2(tmpCov,TMatrixD::kMultTranspose,smootherGain); // (C(k+1 n) - C(k+1 k)) * (A(k))^t | |
1290 | TMatrixD smoothCovariances(smootherGain,TMatrixD::kMult,tmpCov2); // A(k) * (C(k+1 n) - C(k+1 k)) * (A(k))^t | |
1291 | smoothCovariances += filteredCovariances; // C(k k) + A(k) * (C(k+1 n) - C(k+1 k)) * (A(k))^t | |
1292 | ||
1293 | // Save smoothed covariances | |
1294 | currentTrackParam->SetSmoothCovariances(smoothCovariances); | |
1295 | ||
1296 | // Compute smoothed residual: r(k n) = cluster - X(k n) | |
1297 | AliMUONVCluster* cluster = currentTrackParam->GetClusterPtr(); | |
1298 | TMatrixD smoothResidual(2,1); | |
1299 | smoothResidual.Zero(); | |
1300 | smoothResidual(0,0) = cluster->GetX() - smoothParameters(0,0); | |
1301 | smoothResidual(1,0) = cluster->GetY() - smoothParameters(2,0); | |
1302 | ||
1303 | // Compute weight of smoothed residual: W(k n) = (clusterCov - C(k n))^-1 | |
1304 | TMatrixD smoothResidualWeight(2,2); | |
1305 | smoothResidualWeight(0,0) = cluster->GetErrX2() - smoothCovariances(0,0); | |
1306 | smoothResidualWeight(0,1) = - smoothCovariances(0,2); | |
1307 | smoothResidualWeight(1,0) = - smoothCovariances(2,0); | |
1308 | smoothResidualWeight(1,1) = cluster->GetErrY2() - smoothCovariances(2,2); | |
1309 | if (smoothResidualWeight.Determinant() != 0) { | |
1310 | smoothResidualWeight.Invert(); | |
1311 | } else { | |
1312 | AliWarning(" Determinant = 0"); | |
1313 | return kFALSE; | |
1314 | } | |
1315 | ||
1316 | // Compute local chi2 = (r(k n))^t * W(k n) * r(k n) | |
1317 | TMatrixD tmpChi2(smoothResidual,TMatrixD::kTransposeMult,smoothResidualWeight); // (r(k n))^t * W(k n) | |
1318 | TMatrixD localChi2(tmpChi2,TMatrixD::kMult,smoothResidual); // (r(k n))^t * W(k n) * r(k n) | |
1319 | ||
1320 | // Save local chi2 | |
1321 | currentTrackParam->SetLocalChi2(localChi2(0,0)); | |
1322 | ||
1323 | previousTrackParam = currentTrackParam; | |
1324 | currentTrackParam = (AliMUONTrackParam*) track.GetTrackParamAtCluster()->After(previousTrackParam); | |
1325 | } | |
1326 | ||
1327 | return kTRUE; | |
1328 | ||
1329 | } | |
1330 | ||
1331 | //__________________________________________________________________________ | |
1332 | Bool_t AliMUONTrackReconstructorK::ComplementTracks(const AliMUONVClusterStore& clusterStore) | |
1333 | { | |
1334 | /// Complete tracks by adding missing clusters (if there is an overlap between | |
1335 | /// two detection elements, the track may have two clusters in the same chamber). | |
1336 | /// Recompute track parameters and covariances at each clusters. | |
1337 | /// Return kTRUE if one or more tracks have been complemented. | |
1338 | AliDebug(1,"Enter ComplementTracks"); | |
1339 | ||
1340 | Int_t chamberId, detElemId; | |
1341 | Double_t chi2OfCluster, addChi2TrackAtCluster, bestAddChi2TrackAtCluster; | |
1342 | Double_t maxChi2OfCluster = 2. * GetRecoParam()->GetSigmaCutForTracking() * | |
1343 | GetRecoParam()->GetSigmaCutForTracking(); // 2 because 2 quantities in chi2 | |
1344 | Bool_t foundOneCluster, trackModified, hasChanged = kFALSE; | |
1345 | AliMUONVCluster *cluster; | |
1346 | AliMUONTrackParam *trackParam, *previousTrackParam, *nextTrackParam, trackParamAtCluster, bestTrackParamAtCluster; | |
1347 | ||
1348 | AliMUONTrack *track = (AliMUONTrack*) fRecTracksPtr->First(); | |
1349 | while (track) { | |
1350 | trackModified = kFALSE; | |
1351 | ||
1352 | trackParam = (AliMUONTrackParam*)track->GetTrackParamAtCluster()->First(); | |
1353 | previousTrackParam = trackParam; | |
1354 | while (trackParam) { | |
1355 | foundOneCluster = kFALSE; | |
1356 | bestAddChi2TrackAtCluster = 1.e10; | |
1357 | chamberId = trackParam->GetClusterPtr()->GetChamberId(); | |
1358 | detElemId = trackParam->GetClusterPtr()->GetDetElemId(); | |
1359 | ||
1360 | // prepare nextTrackParam before adding new cluster because of the sorting | |
1361 | nextTrackParam = (AliMUONTrackParam*)track->GetTrackParamAtCluster()->After(trackParam); | |
1362 | ||
1363 | // Create iterators to loop over clusters in current chamber | |
1364 | TIter nextInCh(clusterStore.CreateChamberIterator(chamberId,chamberId)); | |
1365 | ||
1366 | // look for one second candidate in the same chamber | |
1367 | while ( ( cluster = static_cast<AliMUONVCluster*>(nextInCh()) ) ) { | |
1368 | ||
1369 | // look for a cluster in another detection element | |
1370 | if (cluster->GetDetElemId() == detElemId) continue; | |
1371 | ||
1372 | // try to add the current cluster fast | |
1373 | if (!TryOneClusterFast(*trackParam, cluster)) continue; | |
1374 | ||
1375 | // try to add the current cluster accurately | |
1376 | // never use track parameters at last cluster because the covariance matrix is meaningless | |
1377 | if (nextTrackParam) chi2OfCluster = TryOneCluster(*trackParam, cluster, trackParamAtCluster); | |
1378 | else chi2OfCluster = TryOneCluster(*previousTrackParam, cluster, trackParamAtCluster); | |
1379 | ||
1380 | // if good chi2 then consider to add this cluster to the track | |
1381 | if (chi2OfCluster < maxChi2OfCluster) { | |
1382 | ||
1383 | // Compute local track parameters including current cluster using kalman filter | |
1384 | addChi2TrackAtCluster = RunKalmanFilter(trackParamAtCluster); | |
1385 | ||
1386 | // keep track of the best cluster | |
1387 | if (addChi2TrackAtCluster < bestAddChi2TrackAtCluster) { | |
1388 | bestAddChi2TrackAtCluster = addChi2TrackAtCluster; | |
1389 | bestTrackParamAtCluster = trackParamAtCluster; | |
1390 | foundOneCluster = kTRUE; | |
1391 | } | |
1392 | ||
1393 | } | |
1394 | ||
1395 | } | |
1396 | ||
1397 | // add new cluster if any | |
1398 | if (foundOneCluster) { | |
1399 | ||
1400 | // Printout for debuging | |
1401 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
1402 | cout << "ComplementTracks: found one cluster in chamber(1..): " << chamberId+1 << endl; | |
1403 | bestTrackParamAtCluster.GetClusterPtr()->Print(); | |
1404 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 2) || (AliLog::GetGlobalDebugLevel() >= 2)) { | |
1405 | cout<<endl<<"Track parameters and covariances at cluster:"<<endl; | |
1406 | bestTrackParamAtCluster.GetParameters().Print(); | |
1407 | bestTrackParamAtCluster.GetCovariances().Print(); | |
1408 | } | |
1409 | } | |
1410 | ||
1411 | trackParam->SetRemovable(kTRUE); | |
1412 | bestTrackParamAtCluster.SetRemovable(kTRUE); | |
1413 | track->AddTrackParamAtCluster(bestTrackParamAtCluster,*(bestTrackParamAtCluster.GetClusterPtr())); | |
1414 | trackModified = kTRUE; | |
1415 | hasChanged = kTRUE; | |
1416 | } | |
1417 | ||
1418 | previousTrackParam = trackParam; | |
1419 | trackParam = nextTrackParam; | |
1420 | } | |
1421 | ||
1422 | // re-compute track parameters using kalman filter if needed | |
1423 | if (trackModified) RetraceTrack(*track,kTRUE); | |
1424 | ||
1425 | track = (AliMUONTrack*) fRecTracksPtr->After(track); | |
1426 | } | |
1427 | ||
1428 | return hasChanged; | |
1429 | ||
1430 | } | |
1431 | ||
1432 | //__________________________________________________________________________ | |
1433 | void AliMUONTrackReconstructorK::ImproveTrack(AliMUONTrack &track) | |
1434 | { | |
1435 | /// Improve the given track by removing removable clusters with local chi2 highter than the defined cut | |
1436 | /// Removable clusters are identified by the method AliMUONTrack::TagRemovableClusters() | |
1437 | /// Recompute track parameters and covariances at the remaining clusters | |
1438 | AliDebug(1,"Enter ImproveTrack"); | |
1439 | ||
1440 | Double_t localChi2, worstLocalChi2; | |
1441 | AliMUONTrackParam *trackParamAtCluster, *worstTrackParamAtCluster, *nextTrackParam, *next2nextTrackParam; | |
1442 | Int_t nextChamber, next2nextChamber; | |
1443 | Bool_t smoothed; | |
1444 | Double_t sigmaCut2 = GetRecoParam()->GetSigmaCutForImprovement() * | |
1445 | GetRecoParam()->GetSigmaCutForImprovement(); | |
1446 | ||
1447 | while (!track.IsImproved()) { | |
1448 | ||
1449 | // identify removable clusters | |
1450 | track.TagRemovableClusters(GetRecoParam()->RequestedStationMask()); | |
1451 | ||
1452 | // Run smoother if required | |
1453 | smoothed = kFALSE; | |
1454 | if (GetRecoParam()->UseSmoother()) smoothed = RunSmoother(track); | |
1455 | ||
1456 | // Use standard procedure to compute local chi2 if smoother not required or not working | |
1457 | if (!smoothed) { | |
1458 | ||
1459 | // Update track parameters and covariances | |
1460 | track.UpdateCovTrackParamAtCluster(); | |
1461 | ||
1462 | // Compute local chi2 of each clusters | |
1463 | track.ComputeLocalChi2(kTRUE); | |
1464 | } | |
1465 | ||
1466 | // Look for the cluster to remove | |
1467 | worstTrackParamAtCluster = 0x0; | |
1468 | worstLocalChi2 = -1.; | |
1469 | trackParamAtCluster = (AliMUONTrackParam*)track.GetTrackParamAtCluster()->First(); | |
1470 | while (trackParamAtCluster) { | |
1471 | ||
1472 | // save parameters into smooth parameters in case of smoother did not work properly | |
1473 | if (GetRecoParam()->UseSmoother() && !smoothed) { | |
1474 | trackParamAtCluster->SetSmoothParameters(trackParamAtCluster->GetParameters()); | |
1475 | trackParamAtCluster->SetSmoothCovariances(trackParamAtCluster->GetCovariances()); | |
1476 | } | |
1477 | ||
1478 | // Pick up cluster with the worst chi2 | |
1479 | localChi2 = trackParamAtCluster->GetLocalChi2(); | |
1480 | if (localChi2 > worstLocalChi2) { | |
1481 | worstLocalChi2 = localChi2; | |
1482 | worstTrackParamAtCluster = trackParamAtCluster; | |
1483 | } | |
1484 | ||
1485 | trackParamAtCluster = (AliMUONTrackParam*)track.GetTrackParamAtCluster()->After(trackParamAtCluster); | |
1486 | } | |
1487 | ||
1488 | // Check whether the worst chi2 is under requirement or not | |
1489 | if (worstLocalChi2 < 2. * sigmaCut2) { // 2 because 2 quantities in chi2 | |
1490 | track.SetImproved(kTRUE); | |
1491 | break; | |
1492 | } | |
1493 | ||
1494 | // if the worst cluster is not removable then stop improvement | |
1495 | if (!worstTrackParamAtCluster->IsRemovable()) { | |
1496 | // restore the kalman parameters in case they have been lost | |
1497 | if (!smoothed) RetraceTrack(track,kTRUE); | |
1498 | break; | |
1499 | } | |
1500 | ||
1501 | // get track parameters at cluster next to the one to be removed | |
1502 | nextTrackParam = (AliMUONTrackParam*) track.GetTrackParamAtCluster()->After(worstTrackParamAtCluster); | |
1503 | ||
1504 | // Remove the worst cluster | |
1505 | track.RemoveTrackParamAtCluster(worstTrackParamAtCluster); | |
1506 | ||
1507 | // Re-calculate track parameters | |
1508 | // - from the cluster immediately downstream the one suppressed | |
1509 | // - or from the begining - if parameters have been re-computed using the standard method (kalman parameters have been lost) | |
1510 | // - or if the removed cluster was used to compute the tracking seed | |
1511 | if (smoothed && nextTrackParam) { | |
1512 | ||
1513 | nextChamber = nextTrackParam->GetClusterPtr()->GetChamberId(); | |
1514 | next2nextTrackParam = nextTrackParam; | |
1515 | do { | |
1516 | ||
1517 | next2nextChamber = next2nextTrackParam->GetClusterPtr()->GetChamberId(); | |
1518 | next2nextTrackParam = (AliMUONTrackParam*) track.GetTrackParamAtCluster()->After(next2nextTrackParam); | |
1519 | ||
1520 | } while (next2nextTrackParam && (next2nextChamber == nextChamber)); | |
1521 | ||
1522 | if (next2nextChamber == nextChamber) RetraceTrack(track,kTRUE); | |
1523 | else RetracePartialTrack(track,nextTrackParam); | |
1524 | ||
1525 | } else RetraceTrack(track,kTRUE); | |
1526 | ||
1527 | // Printout for debuging | |
1528 | if ((AliLog::GetDebugLevel("MUON","AliMUONTrackReconstructorK") >= 1) || (AliLog::GetGlobalDebugLevel() >= 1)) { | |
1529 | cout << "ImproveTracks: track " << fRecTracksPtr->IndexOf(&track)+1 << " improved " << endl; | |
1530 | } | |
1531 | ||
1532 | } | |
1533 | ||
1534 | } | |
1535 | ||
1536 | //__________________________________________________________________________ | |
1537 | void AliMUONTrackReconstructorK::FinalizeTrack(AliMUONTrack &track) | |
1538 | { | |
1539 | /// Update track parameters and covariances at each attached cluster | |
1540 | /// using smoother if required, if not already done | |
1541 | ||
1542 | AliMUONTrackParam *trackParamAtCluster; | |
1543 | Bool_t smoothed = kFALSE; | |
1544 | ||
1545 | // update track parameters (using smoother if required) if not already done | |
1546 | if (!track.IsImproved()) { | |
1547 | smoothed = kFALSE; | |
1548 | if (GetRecoParam()->UseSmoother()) smoothed = RunSmoother(track); | |
1549 | if (!smoothed) { | |
1550 | track.UpdateCovTrackParamAtCluster(); | |
1551 | track.ComputeLocalChi2(kTRUE); | |
1552 | } | |
1553 | } else smoothed = GetRecoParam()->UseSmoother(); | |
1554 | ||
1555 | // copy smoothed parameters and covariances if any | |
1556 | if (smoothed) { | |
1557 | ||
1558 | trackParamAtCluster = (AliMUONTrackParam*) (track.GetTrackParamAtCluster()->First()); | |
1559 | while (trackParamAtCluster) { | |
1560 | ||
1561 | trackParamAtCluster->SetParameters(trackParamAtCluster->GetSmoothParameters()); | |
1562 | trackParamAtCluster->SetCovariances(trackParamAtCluster->GetSmoothCovariances()); | |
1563 | ||
1564 | trackParamAtCluster = (AliMUONTrackParam*) (track.GetTrackParamAtCluster()->After(trackParamAtCluster)); | |
1565 | } | |
1566 | ||
1567 | } | |
1568 | ||
1569 | } | |
1570 | ||
1571 | //__________________________________________________________________________ | |
1572 | Bool_t AliMUONTrackReconstructorK::RefitTrack(AliMUONTrack &track, Bool_t enableImprovement) | |
1573 | { | |
1574 | /// re-fit the given track | |
1575 | AliDebug(1,"Enter RefitTrack"); | |
1576 | ||
1577 | // check validity of the track (i.e. at least 2 chambers hit on stations 4 and 5) | |
1578 | if (!track.IsValid(0)) { | |
1579 | AliWarning("the track is not valid --> unable to refit"); | |
1580 | return kFALSE; | |
1581 | } | |
1582 | ||
1583 | // re-compute track parameters and covariances using Kalman filter | |
1584 | RetraceTrack(track,kTRUE); | |
1585 | ||
1586 | // Improve the reconstructed tracks if required | |
1587 | track.SetImproved(kFALSE); | |
1588 | if (enableImprovement && GetRecoParam()->ImproveTracks()) ImproveTrack(track); | |
1589 | ||
1590 | // Fill AliMUONTrack data members | |
1591 | FinalizeTrack(track); | |
1592 | ||
1593 | return kTRUE; | |
1594 | ||
1595 | } | |
1596 |