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1 | #ifndef ALIRELALIGNERKALMAN_H | |
2 | #define ALIRELALIGNERKALMAN_H | |
3 | ||
4 | /* Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. * | |
5 | * See cxx source for full Copyright notice */ | |
6 | ||
7 | /////////////////////////////////////////////////////////////////////////////// | |
8 | // | |
9 | // Relative alignment of two tracking volumes (default ITS and TPC) | |
10 | // (see AliRelAlignerKalman.cxx for details) | |
11 | // | |
12 | // Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch | |
13 | // | |
14 | ////////////////////////////////////////////////////////////////////////////// | |
15 | ||
16 | #include <TMath.h> | |
17 | #include <TVectorD.h> | |
18 | #include <TMatrix.h> | |
19 | ||
20 | class TObject; | |
21 | class AliExternalTrackParam; | |
22 | class AliESDEvent; | |
23 | class AliESDtrack; | |
24 | class TArrayI; | |
25 | class TObjArray; | |
26 | ||
27 | class AliRelAlignerKalman : public TObject { | |
28 | ||
29 | public: | |
30 | AliRelAlignerKalman(); | |
31 | virtual ~AliRelAlignerKalman(); | |
32 | AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a ); | |
33 | AliRelAlignerKalman(const AliRelAlignerKalman& a); | |
34 | ||
35 | //User methods: | |
36 | Bool_t AddCosmicEvent( const AliESDEvent* pEvent ); | |
37 | Bool_t AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 ); | |
38 | ||
39 | void Print(Option_t* option="") const; | |
40 | ||
41 | Double_t GetPsi() const {return (*fPX)(0);} | |
42 | Double_t GetTheta() const {return (*fPX)(1);} | |
43 | Double_t GetPhi() const {return (*fPX)(2);} | |
44 | Double_t GetX() const {return (*fPX)(3);} | |
45 | Double_t GetY() const {return (*fPX)(4);} | |
46 | Double_t GetZ() const {return (*fPX)(5);} | |
47 | Double_t GetTPCvdCorr() const {return (*fPX)(6);} | |
48 | Double_t GetTPCt0() const {return (*fPX)(7);} | |
49 | Double_t GetTPCvdY() const {if (fgkNSystemParams>8) return (*fPX)(8); else return 0.0;} | |
50 | Double_t GetPsiErr() const {return TMath::Sqrt((*fPXcov)(0,0));} | |
51 | Double_t GetThetaErr() const {return TMath::Sqrt((*fPXcov)(1,1));} | |
52 | Double_t GetPhiErr() const {return TMath::Sqrt((*fPXcov)(2,2));} | |
53 | Double_t GetXErr() const {return TMath::Sqrt((*fPXcov)(3,3));} | |
54 | Double_t GetYErr() const {return TMath::Sqrt((*fPXcov)(4,4));} | |
55 | Double_t GetZErr() const {return TMath::Sqrt((*fPXcov)(5,5));} | |
56 | Double_t GetTPCvdCorrErr() const {return TMath::Sqrt((*fPXcov)(6,6));} | |
57 | Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(7,7));} | |
58 | Double_t GetTPCvdYErr() const {if (fgkNSystemParams>8) return TMath::Sqrt((*fPXcov)(8,8)); else return 0.0;} | |
59 | void GetMeasurement( TVectorD& mes ) const { mes = *fPMeasurement; } | |
60 | TVectorD* GetMeasurement() { return fPMeasurement; } | |
61 | void GetMeasurementCov( TMatrixDSym& cov ) const { cov = *fPMeasurementCov; } | |
62 | void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;} | |
63 | void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;} | |
64 | TMatrixDSym* GetMeasurementCov() const { return fPMeasurementCov; } | |
65 | void GetState( TVectorD& state ) const { state = *fPX; } | |
66 | TVectorD* GetState() const { return fPX; } | |
67 | void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; } | |
68 | void SetState( const TVectorD& param ) {*fPX = param;} | |
69 | void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;} | |
70 | TMatrixDSym* GetStateCov() const { return fPXcov; } | |
71 | void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; } | |
72 | void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; } | |
73 | Bool_t Merge( const AliRelAlignerKalman* al ); | |
74 | Long64_t Merge( TCollection* list ); | |
75 | ||
76 | //Expert methods: | |
77 | Bool_t AddESDevent( const AliESDEvent* pEvent ); | |
78 | Bool_t AddESDtrack( const AliESDtrack* pTrack ); | |
79 | void SetMagField( const Double_t f ) { fMagField=f; } | |
80 | Double_t GetMagField() const { return fMagField; } | |
81 | Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent ); | |
82 | Int_t FindMatchingTracks(TObjArray& arrITS, TObjArray& arrTPC, AliESDEvent* pESD); | |
83 | Bool_t Update(); | |
84 | void PrintCorrelationMatrix(); | |
85 | //void PrintCovarianceCorrection(); | |
86 | void PrintSystemMatrix(); | |
87 | void Reset(); | |
88 | void ResetCovariance( const Double_t number=0. ); | |
89 | void ResetTPCparamsCovariance( const Double_t number=0. ); | |
90 | Double_t* GetStateArr() const { return fPX->GetMatrixArray(); } | |
91 | Double_t* GetStateCovArr() const { return fPXcov->GetMatrixArray(); } | |
92 | Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); } | |
93 | Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); } | |
94 | TMatrixD* GetH() const { return fPH; } | |
95 | TVectorD* GetMeasurementPrediction() const {return fPMeasurementPrediction;} | |
96 | const Double_t* GetDeltaArr() const {return fDelta;} | |
97 | void SetNumericalParanoia( const Bool_t mode=kFALSE ) { fNumericalParanoia=mode; } | |
98 | void SetCorrectionMode( const Bool_t mode=kTRUE ) { fCorrectionMode=mode; } | |
99 | void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; } | |
100 | void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;} | |
101 | void SetRejectOutliersSigma2Median( const Bool_t b=kTRUE ); | |
102 | void SetOutRejSigma2Median( const Double_t s ) {fOutRejSigma2Median = s;} | |
103 | Bool_t SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 ); | |
104 | const AliExternalTrackParam* GetTrackParams1() const {return fPTrackParamArr1;} | |
105 | const AliExternalTrackParam* GetTrackParams2() const {return fPTrackParamArr2;} | |
106 | void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;} | |
107 | void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;} | |
108 | void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;} | |
109 | void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; } | |
110 | void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;} | |
111 | void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;} | |
112 | void SetTPCvd( const Float_t v ) {fTPCvd=v;} | |
113 | void SetTPCZLengthA( const Double_t l ) {fTPCZLengthA=l;} | |
114 | void SetTPCZLengthC( const Double_t l ) {fTPCZLengthC=l;} | |
115 | Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const; | |
116 | Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const; | |
117 | static void Angles( TVectorD &angles, const TMatrixD &rotmat ); | |
118 | static void RotMat( TMatrixD& R, const TVectorD& angles ); | |
119 | static void TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat ); | |
120 | Bool_t IsPositiveDefinite( const TMatrixD& mat ) const; | |
121 | void SetTimeStamp( const UInt_t ts ) { fTimeStamp = ts; } | |
122 | UInt_t GetTimeStamp() const {return fTimeStamp;} | |
123 | void SetRunNumber( const Int_t rn ) { fRunNumber = rn; } | |
124 | Int_t GetRunNumber() const {return fRunNumber;} | |
125 | Int_t Compare(const TObject *obj) const; | |
126 | Bool_t IsSortable() const { return kTRUE; } | |
127 | Int_t GetNTracks() const {return fNTracks;} | |
128 | Int_t GetNUpdates() const {return fNUpdates;} | |
129 | Int_t GetNOutliers() const {return fNOutliers;} | |
130 | Int_t GetNOutliersSigma2Median() const {return fNOutliersSigma2Median;} | |
131 | Int_t GetNMerges() const {return fNMerges;} | |
132 | Int_t GetNMergesFailed() const {return fNMergesFailed;} | |
133 | void SetPoint2Track( Bool_t o ); | |
134 | ||
135 | protected: | |
136 | Bool_t UpdateEstimateKalman(); | |
137 | Bool_t PrepareMeasurement(); | |
138 | Bool_t PrepareSystemMatrix(); | |
139 | Bool_t PreparePrediction(); | |
140 | Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x ); | |
141 | Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix ); | |
142 | Bool_t IsOutlierSigma2Median( const AliExternalTrackParam* pITS, const AliExternalTrackParam* pTPC ); | |
143 | ||
144 | private: | |
145 | static const Int_t fgkNTracksPerMeasurement=1; //how many tracks for one update | |
146 | static const Int_t fgkNSystemParams=9; //how many fit parameters | |
147 | static const Int_t fgkNtracksSigma2Median=500; //how many sets for median and rms | |
148 | ||
149 | //Track parameters | |
150 | AliExternalTrackParam* fPTrackParamArr1; //!local track parameters | |
151 | AliExternalTrackParam* fPTrackParamArr2; //!local track parameters | |
152 | Double_t fMagField; //magnetic field | |
153 | ||
154 | //Kalman filter related stuff | |
155 | Int_t fNMeasurementParams; //how many measurables | |
156 | TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset ) | |
157 | TMatrixDSym* fPXcov; //covariance matrix of system parameters | |
158 | TMatrixD* fPH; //!System measurement matrix | |
159 | Double_t fQ; //!measure for system noise | |
160 | TVectorD* fPMeasurement; //!the measurement vec for Kalman filter (theta,phi,x,z) | |
161 | TMatrixDSym* fPMeasurementCov; //!measurement vec cvariance | |
162 | TVectorD* fPMeasurementPrediction; //!prediction of the measurement | |
163 | Double_t fOutRejSigmas; //number of sigmas for outlier rejection | |
164 | Double_t fOutRejSigma2Median; //nsigmas to median of input residual distribution | |
165 | Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix()) | |
166 | Double_t* fResArrSigma2Median[4]; //!holds residuals for median based outlier removal | |
167 | ||
168 | //Control | |
169 | Bool_t fYZOnly; //whether to consider only yz without directions. | |
170 | Bool_t fNumericalParanoia; //whether to perform additional checks for numerical stability | |
171 | Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter | |
172 | Bool_t fRejectOutliersSigma2Median; //whether to reject input based on distance to median | |
173 | Bool_t fRequireMatchInTPC; //when looking for a cosmic in event, require that TPC has 2 matching segments | |
174 | Bool_t fCuts; //track cuts? | |
175 | Int_t fMinPointsVol1; //mininum number of points in volume 1 | |
176 | Int_t fMinPointsVol2; //mininum number of points in volume 2 | |
177 | Double_t fMinPt; //min momentum of track for track cuts | |
178 | Double_t fMaxPt; //max momentum of track for track cuts | |
179 | Double_t fMaxMatchingAngle; //cuts | |
180 | Double_t fMaxMatchingDistance; //cuts | |
181 | Bool_t fCorrectionMode; //calculate corrective transform for TPC (or monitor actual TPC misal params) | |
182 | ||
183 | //Counters | |
184 | Int_t fNTracks; //number of processed tracks | |
185 | Int_t fNUpdates; //number of successful Kalman updates | |
186 | Int_t fNOutliers; //number of outliers | |
187 | Int_t fNOutliersSigma2Median; //number of rejected inputs | |
188 | Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets (good cosmics) | |
189 | Int_t fNMatchedTPCtracklets;//number of cosmic events with 2 matching TPC tracklets | |
190 | Int_t fNProcessedEvents; //number of processed events | |
191 | Int_t fTrackInBuffer; //!number of tracks in buffer | |
192 | UInt_t fTimeStamp; //time stamp | |
193 | Int_t fRunNumber; //run number | |
194 | Int_t fNMerges; //how many succesful merges | |
195 | Int_t fNMergesFailed; //how many merges failed | |
196 | ||
197 | //TPC stuff | |
198 | Double_t fTPCvd; //TPC drift velocity | |
199 | Double_t fTPCZLengthA; //TPC length side A | |
200 | Double_t fTPCZLengthC; //TPC length side C | |
201 | ||
202 | ClassDef(AliRelAlignerKalman,4) //AliRelAlignerKalman class | |
203 | }; | |
204 | ||
205 | #endif | |
206 | ||
207 |