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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/*
17$Log$
18Revision 1.19 2007/10/02 09:46:08 arcelli
19add methods to retrieve real survey data, and make some analysis (by B. Guerzoni)
20
21Revision 1.17 2007/06/06 16:26:46 arcelli
22remove fall-back call to local CDB storage
23
24Revision 1.16 2007/05/15 16:25:44 cvetan
25Moving the alignment-related static methods from AliAlignObj to the new geometry steering class AliGeomManager (macro from Raffaele)
26
27Revision 1.15 2007/05/03 09:25:10 decaro
28Coding convention: RN13 violation -> suppression
29
30Revision 1.14 2007/04/18 14:49:54 arcelli
31Some code cleanup, added more debug info
32
33Revision 1.13 2007/04/17 16:38:36 arcelli
34Include Methods to derive TOF AlignObjs from Survey Data
35
36Revision 1.12 2007/02/28 18:09:23 arcelli
37Add protection against failed retrieval of the CDB cal object
38
39Revision 1.11 2006/09/19 14:31:26 cvetan
40Bugfixes and clean-up of alignment object classes. Introduction of so called symbolic names used to identify the alignable volumes (Raffaele and Cvetan)
41
42Revision 1.10 2006/08/22 13:26:05 arcelli
43removal of effective c++ warnings (C.Zampolli)
44
45Revision 1.9 2006/08/10 14:46:54 decaro
46TOF raw data format: updated version
47
48Revision 1.8 2006/05/04 19:41:42 hristov
49Possibility for partial TOF geometry (S.Arcelli)
50
51Revision 1.7 2006/04/27 13:13:29 hristov
52Moving the destructor to the implementation file
53
54Revision 1.6 2006/04/20 22:30:49 hristov
55Coding conventions (Annalisa)
56
57Revision 1.5 2006/04/16 22:29:05 hristov
58Coding conventions (Annalisa)
59
60Revision 1.4 2006/04/05 08:35:38 hristov
61Coding conventions (S.Arcelli, C.Zampolli)
62
63Revision 1.3 2006/03/31 13:49:07 arcelli
64Removing some junk printout
65
66Revision 1.2 2006/03/31 11:26:30 arcelli
67 changing CDB Ids according to standard convention
68
69Revision 1.1 2006/03/28 14:54:48 arcelli
70class for TOF alignment
71
72author: Silvia Arcelli, arcelli@bo.infn.it
73*/
74
75/////////////////////////////////////////////////////////
76// //
77// Class for alignment procedure //
78// //
79// //
80// //
81/////////////////////////////////////////////////////////
82
83#include <Rtypes.h>
84
85#include "TGeoMatrix.h"
86#include "TMath.h"
87#include "TFile.h"
88#include "TRandom.h"
89#include "TGeoManager.h"
90#include "TGeoVolume.h"
91#include "TGeoBBox.h"
92#include "TGeoTrd1.h"
93#include "TGeoPhysicalNode.h"
94#include "TGeoNode.h"
95#include "TObjString.h"
96
97#include "AliLog.h"
98//#include "AliAlignObj.h"
99#include "AliAlignObjParams.h"
100#include "AliAlignObjMatrix.h"
101#include "AliCDBManager.h"
102#include "AliCDBMetaData.h"
103#include "AliCDBId.h"
104#include "AliCDBEntry.h"
105#include "AliTOFAlignment.h"
106#include "AliSurveyObj.h"
107#include "AliSurveyPoint.h"
108
109ClassImp(AliTOFAlignment)
110
111const Double_t AliTOFAlignment::fgkRorigTOF = 384.5; // Mean Radius of the TOF ext. volume, cm
112const Double_t AliTOFAlignment::fgkX1BTOF = 124.5; //x1 size of BTOF
113const Double_t AliTOFAlignment::fgkX2BTOF = 134.7262; //x2 size of BTOF
114const Double_t AliTOFAlignment::fgkYBTOF = 747.2; //y size of BTOF
115const Double_t AliTOFAlignment::fgkZBTOF = 29.0; //z size of BTOF
116const Double_t AliTOFAlignment::fgkXFM = 38.0; //x pos of FM in BTOF, cm
117const Double_t AliTOFAlignment::fgkYFM = 457.3; //y pos of FM in BTOF, cm
118const Double_t AliTOFAlignment::fgkZFM = 11.2; //z pos of FM in BTOF, cm
119
120//_____________________________________________________________________________
121AliTOFAlignment::AliTOFAlignment():
122 TTask("AliTOFAlignment",""),
123 fNTOFAlignObj(0),
124 fTOFmgr(0x0),
125 fTOFAlignObjArray(0x0)
126 {
127 //AliTOFalignment main Ctor
128 for(Int_t i=0; i<18;i++)
129 for(Int_t j=0; j<5; j++)
130 fNFMforSM[i][j]=0;
131 for(Int_t i=0; i<72; i++)
132 for (Int_t j=0; j<6; j++)
133 fCombFMData[i][j]=0;
134
135 for(Int_t i=0; i<18;i++)
136 fTOFMatrixId[i]=0;
137
138}
139//_____________________________________________________________________________
140AliTOFAlignment::AliTOFAlignment(const AliTOFAlignment &t):
141 TTask(t),
142 fNTOFAlignObj(t.fNTOFAlignObj),
143 fTOFmgr(0x0),
144 fTOFAlignObjArray(t.fTOFAlignObjArray)
145{
146 //AliTOFAlignment copy Ctor
147
148 //AliTOFalignment main Ctor
149 for(Int_t i=0; i<18;i++)
150 for(Int_t j=0; j<5; j++)
151 fNFMforSM[i][j]=t.fNFMforSM[i][j];
152 for(Int_t i=0; i<72; i++)
153 for (Int_t j=0; j<6; j++)
154 fCombFMData[i][j]=t.fCombFMData[i][j];
155
156 for(Int_t i=0; i<18;i++)
157 fTOFMatrixId[i]=t.fTOFMatrixId[i];
158
159}
160//_____________________________________________________________________________
161AliTOFAlignment& AliTOFAlignment::operator=(const AliTOFAlignment &t){
162 //AliTOFAlignment assignment operator
163
164 if (&t == this)
165 return *this;
166
167 TTask::operator=(t);
168 fNTOFAlignObj=t.fNTOFAlignObj;
169 fTOFmgr=t.fTOFmgr;
170 fTOFAlignObjArray=t.fTOFAlignObjArray;
171 for(Int_t i=0; i<18;i++)
172 fTOFMatrixId[i]=t.fTOFMatrixId[i];
173
174 return *this;
175
176}
177//_____________________________________________________________________________
178AliTOFAlignment::~AliTOFAlignment() {
179 delete fTOFAlignObjArray;
180 delete fTOFmgr;
181}
182
183//_____________________________________________________________________________
184void AliTOFAlignment::Smear(Float_t * const tr, Float_t * const rot)
185{
186 //Introduce Random Offset/Tilts
187 fTOFAlignObjArray = new TObjArray(kMaxAlignObj);
188 Float_t dx, dy, dz; // shifts
189 Float_t dpsi, dtheta, dphi; // angular displacements
190 TRandom *rnd = new TRandom(1567);
191
192 Int_t nSMTOF = 18;
193 AliGeomManager::ELayerID iLayer = AliGeomManager::kInvalidLayer;
194 UShort_t iIndex=0; //dummy volume index
195 // AliGeomManager::ELayerID iLayer = AliGeomManager::kTOF;
196 // Int_t iIndex=1; //dummy volume index
197 UShort_t dvoluid = AliGeomManager::LayerToVolUID(iLayer,iIndex); //dummy volume identity
198 Int_t i;
199
200 const Int_t kSize=100;
201 Char_t path[kSize];
202 for (i = 0; i<nSMTOF ; i++) {
203 snprintf(path,kSize,"/ALIC_1/B077_1/BSEGMO%i_1/BTOF%i_1",i,i);
204
205 dx = (rnd->Gaus(0.,1.))*tr[0];
206 dy = (rnd->Gaus(0.,1.))*tr[1];
207 dz = (rnd->Gaus(0.,1.))*tr[2];
208 dpsi = rot[0];
209 dtheta = rot[1];
210 dphi = rot[2];
211 AliAlignObjParams *o =new AliAlignObjParams(path, dvoluid, dx, dy, dz, dpsi, dtheta, dphi, kTRUE);
212 fTOFAlignObjArray->Add(o);
213 }
214
215 fNTOFAlignObj=fTOFAlignObjArray->GetEntries();
216 AliInfo(Form("Number of Alignable Volumes: %d",fNTOFAlignObj));
217 delete rnd;
218}
219
220//_____________________________________________________________________________
221void AliTOFAlignment::Align(Float_t * const tr, Float_t * const rot)
222{
223 //Introduce Offset/Tilts
224
225 fTOFAlignObjArray = new TObjArray(kMaxAlignObj);
226 Float_t dx, dy, dz; // shifts
227 Float_t dpsi, dtheta, dphi; // angular displacements
228
229
230 Int_t nSMTOF = 18;
231 AliGeomManager::ELayerID iLayer = AliGeomManager::kInvalidLayer;
232 UShort_t iIndex=0; //dummy volume index
233 UShort_t dvoluid = AliGeomManager::LayerToVolUID(iLayer,iIndex); //dummy volume identity
234
235 const Int_t kSize=100;
236 Char_t path[kSize];
237 Int_t i;
238 for (i = 0; i<nSMTOF ; i++) {
239
240 snprintf(path,kSize,"/ALIC_1/B077_1/BSEGMO%i_1/BTOF%i_1",i,i);
241 dx = tr[0];
242 dy = tr[1];
243 dz = tr[2];
244 dpsi = rot[0];
245 dtheta = rot[1];
246 dphi = rot[2];
247
248 AliAlignObjParams *o =new AliAlignObjParams(path, dvoluid, dx, dy, dz, dpsi, dtheta, dphi, kTRUE);
249 fTOFAlignObjArray->Add(o);
250 }
251 fNTOFAlignObj=fTOFAlignObjArray->GetEntries();
252 AliInfo(Form("Number of Alignable Volumes: %d",fNTOFAlignObj));
253}
254//_____________________________________________________________________________
255void AliTOFAlignment::WriteParOnCDB(const Char_t *sel, Int_t minrun, Int_t maxrun)
256{
257 //Write Align Par on CDB
258 AliCDBManager *man = AliCDBManager::Instance();
259 const Char_t *sel1 = "AlignPar" ;
260 const Int_t kSize=100;
261 Char_t out[kSize];
262 snprintf(out,kSize,"%s/%s",sel,sel1);
263 AliCDBId idTOFAlign(out,minrun,maxrun);
264 AliCDBMetaData *mdTOFAlign = new AliCDBMetaData();
265 mdTOFAlign->SetResponsible("TOF");
266 AliInfo(Form("Number of Alignable Volumes: %d",fNTOFAlignObj));
267 man->Put(fTOFAlignObjArray,idTOFAlign,mdTOFAlign);
268}
269//_____________________________________________________________________________
270void AliTOFAlignment::ReadParFromCDB(const Char_t *sel, Int_t nrun)
271{
272 //Read Align Par from CDB
273 AliCDBManager *man = AliCDBManager::Instance();
274 const Char_t *sel1 = "AlignPar" ;
275 const Int_t kSize=100;
276 Char_t out[kSize];
277
278 snprintf(out,kSize,"%s/%s",sel,sel1);
279 AliCDBEntry *entry = man->Get(out,nrun);
280 if (!entry) {
281 AliError(Form("Failed to get entry: %s",out));
282 return;
283 }
284 fTOFAlignObjArray=(TObjArray*)entry->GetObject();
285 fNTOFAlignObj=fTOFAlignObjArray->GetEntries();
286 AliInfo(Form("Number of Alignable Volumes from CDB: %d",fNTOFAlignObj));
287
288}
289//_____________________________________________________________________________
290void AliTOFAlignment::WriteSimParOnCDB(const Char_t *sel, Int_t minrun, Int_t maxrun)
291{
292 //Write Sim Align Par on CDB
293 AliCDBManager *man = AliCDBManager::Instance();
294 const Char_t *sel1 = "AlignSimPar" ;
295 const Int_t kSize=100;
296 Char_t out[kSize];
297 snprintf(out,kSize,"%s/%s",sel,sel1);
298 AliCDBId idTOFAlign(out,minrun,maxrun);
299 AliCDBMetaData *mdTOFAlign = new AliCDBMetaData();
300 mdTOFAlign->SetResponsible("TOF");
301 AliInfo(Form("Number of Alignable Volumes: %d",fNTOFAlignObj));
302 man->Put(fTOFAlignObjArray,idTOFAlign,mdTOFAlign);
303}
304//_____________________________________________________________________________
305void AliTOFAlignment::ReadSimParFromCDB(const Char_t *sel, Int_t nrun){
306 //Read Sim Align Par from CDB
307 AliCDBManager *man = AliCDBManager::Instance();
308 const Char_t *sel1 = "AlignSimPar" ;
309 const Int_t kSize=100;
310 Char_t out[kSize];
311 snprintf(out,kSize,"%s/%s",sel,sel1);
312 AliCDBEntry *entry = man->Get(out,nrun);
313 if (!entry) {
314 AliError(Form("Failed to get entry: %s",out));
315 return;
316 }
317 fTOFAlignObjArray=(TObjArray*)entry->GetObject();
318 fNTOFAlignObj=fTOFAlignObjArray->GetEntries();
319 AliInfo(Form("Number of Alignable Volumes from CDB: %d",fNTOFAlignObj));
320
321}
322//_____________________________________________________________________________
323void AliTOFAlignment::WriteOnCDBforDC()
324{
325 //Write Align Par on CDB for DC06
326 AliCDBManager *man = AliCDBManager::Instance();
327 AliCDBId idTOFAlign("TOF/Align/Data",0,0);
328 AliCDBMetaData *mdTOFAlign = new AliCDBMetaData();
329 mdTOFAlign->SetComment("Alignment objects for ideal geometry, i.e. applying them to TGeo has to leave geometry unchanged");
330 mdTOFAlign->SetResponsible("TOF");
331 AliInfo(Form("Number of Alignable Volumes: %d",fNTOFAlignObj));
332 man->Put(fTOFAlignObjArray,idTOFAlign,mdTOFAlign);
333}
334//_____________________________________________________________________________
335void AliTOFAlignment::ReadFromCDBforDC()
336{
337 //Read Sim Align Par from CDB for DC06
338 AliCDBManager *man = AliCDBManager::Instance();
339 AliCDBEntry *entry = man->Get("TOF/Align/Data",0);
340 fTOFAlignObjArray=(TObjArray*)entry->GetObject();
341 fNTOFAlignObj=fTOFAlignObjArray->GetEntries();
342 AliInfo(Form("Number of Alignable Volumes from CDB: %d",fNTOFAlignObj));
343
344}
345
346//_____________________________________________________________________________
347void AliTOFAlignment::BuildGeomForSurvey()
348{
349
350 //Generates the ideal TOF structure with four Fiducial Marks in each
351 //supermodule (two on each z side) in their expected position.
352 //Make BTOF
353
354 fTOFmgr = new TGeoManager("Geom","survey to alignment for TOF");
355 TGeoMedium *medium = 0;
356 TGeoVolume *top = fTOFmgr->MakeBox("TOP",medium,1000,1000,1000);
357 fTOFmgr->SetTopVolume(top);
358 // make shape components:
359 // This is the BTOF containing the FTOA
360 TGeoTrd1 *strd1 = new TGeoTrd1(fgkX1BTOF*0.5,fgkX2BTOF*0.5, fgkYBTOF*0.5,fgkZBTOF*0.5);
361 TGeoVolume* trd1[18];
362
363 // Now four fiducial marks on SM, expressed in local coordinates
364 // They are positioned at x=+/- 38 cm, y=+/- 457.3 cm, z=11.2 cm
365
366 TGeoBBox *fmbox = new TGeoBBox(1,1,1);
367 TGeoVolume* fm = new TGeoVolume("FM",fmbox);
368 fm->SetLineColor(2);
369
370
371 TGeoTranslation* mAtr = new TGeoTranslation("mAtr",-fgkXFM, -fgkYFM ,fgkZFM);
372 TGeoTranslation* mBtr = new TGeoTranslation("mBtr",fgkXFM, -fgkYFM ,fgkZFM );
373 TGeoTranslation* mCtr = new TGeoTranslation("mCtr",fgkXFM, fgkYFM ,fgkZFM );
374 TGeoTranslation* mDtr = new TGeoTranslation("mDtr",-fgkXFM, fgkYFM ,fgkZFM );
375
376 // position all this stuff in the global ALICE frame
377
378 const Int_t kSize=100;
379 char name[kSize];
380 Double_t smX = 0.;
381 Double_t smY = 0.;
382 Double_t smZ = 0.;
383 Float_t smR = fgkRorigTOF;
384 for (Int_t iSM = 0; iSM < 18; iSM++) {
385 Int_t mod = iSM + 13;
386 if (mod > 17) mod -= 18;
387 snprintf(name,kSize, "BTOF%d",mod);
388 trd1[iSM] = new TGeoVolume(name,strd1);
389 Float_t phi = iSM * 20.;
390 Float_t phi2 = 270 + phi;
391 if (phi2 >= 360.) phi2 -= 360.;
392 smX = TMath::Sin(phi*TMath::Pi()/180.)*smR;
393 smY = -TMath::Cos(phi*TMath::Pi()/180.)*smR;
394 smZ = 0.;
395 TGeoRotation* bTOFRot = new TGeoRotation("bTOFRot",phi,90,0.);
396 TGeoCombiTrans trans = *(new TGeoCombiTrans(smX,smY,smZ, bTOFRot));
397 TGeoMatrix* id = new TGeoHMatrix();
398 TGeoHMatrix transMat = *id * trans;
399 TGeoHMatrix *smTrans = new TGeoHMatrix(transMat);
400
401 trd1[iSM]->AddNode(fm,1,mAtr); //place FM in BTOF
402 trd1[iSM]->AddNode(fm,2,mBtr);
403 trd1[iSM]->AddNode(fm,3,mCtr);
404 trd1[iSM]->AddNode(fm,4,mDtr);
405 top->AddNode(trd1[iSM],1,smTrans); //place BTOF_iSM in ALICE
406 trd1[iSM]->SetVisDaughters();
407 trd1[iSM]->SetLineColor(iSM); //black
408
409 }
410
411 fTOFmgr->CloseGeometry();
412 fTOFmgr->GetTopVolume()->Draw();
413 fTOFmgr->SetVisOption(0);
414 fTOFmgr->SetVisLevel(6);
415
416 // Now Store the "Ideal" Global Matrices (local to global) for later use
417
418 for (Int_t iSM = 0; iSM < 18; iSM++) {
419
420 snprintf(name,kSize, "TOP_1/BTOF%d_1", iSM);
421 printf("\n\n***************** TOF SuperModule: %s ****************** \n",name);
422 TGeoPhysicalNode* pn3 = fTOFmgr->MakePhysicalNode(name);
423 fTOFMatrixId[iSM] = pn3->GetMatrix(); //save "ideal" global matrix
424 printf("\n\n*************** The Ideal Matrix in GRS *****************\n");
425 fTOFMatrixId[iSM]->Print();
426
427 }
428}
429
430//_____________________________________________________________________________
431void AliTOFAlignment::InsertMisAlignment(Float_t * const mis)
432{
433 // Now Apply the Displacements and store the misaligned FM positions...
434 //
435 //
436
437 Double_t lA[3]={-fgkXFM, -fgkYFM ,fgkZFM};
438 Double_t lB[3]={fgkXFM, -fgkYFM ,fgkZFM};
439 Double_t lC[3]={fgkXFM, fgkYFM ,fgkZFM};
440 Double_t lD[3]={-fgkXFM, fgkYFM ,fgkZFM};
441
442 const Int_t kSize=16;
443 char name[kSize];
444
445 for(Int_t iSM=0;iSM<18;iSM++){
446 snprintf(name,kSize, "TOP_1/BTOF%d_1", iSM);
447 fTOFmgr->cd(name);
448 printf("\n\n******Misaligning TOF SuperModule ************** %s \n",name);
449
450 // ************* get ideal global matrix *******************
451 TGeoHMatrix g3 = *fTOFmgr->GetCurrentMatrix();
452 AliInfo(Form("This is the ideal global trasformation of SM %i",iSM));
453 g3.Print(); // g3 is the local(BTOF) to global (ALICE) matrix and is the same of fTOFMatrixId
454 TGeoNode* n3 = fTOFmgr->GetCurrentNode();
455 TGeoMatrix* l3 = n3->GetMatrix();
456
457 Double_t gA[3], gB[3], gC[3], gD[3]; // ideal global FM point coord.
458 g3.LocalToMaster(lA,gA);
459 g3.LocalToMaster(lB,gB);
460 g3.LocalToMaster(lC,gC);
461 g3.LocalToMaster(lD,gD);
462
463 // We apply a delta transformation to the surveyed vol to represent
464 // its real position, given below by ng3 nl3, which differs from its
465 // ideal position saved above in g3 and l3
466
467 //we have to express the displacements as regards the old local RS (non misaligned BTOF)
468 Double_t dx = mis[0]; // shift along x
469 Double_t dy = mis[1]; // shift along y
470 Double_t dz = mis[2]; // shift along z
471 Double_t dphi = mis[3]; // rot around z
472 Double_t dtheta = mis[4]; // rot around x'
473 Double_t dpsi = mis[5]; // rot around z''
474
475 TGeoRotation* rrot = new TGeoRotation("rot",dphi,dtheta,dpsi);
476 TGeoCombiTrans localdelta = *(new TGeoCombiTrans(dx,dy,dz, rrot));
477 AliInfo(Form("This is the local delta trasformation for SM %i \n",iSM));
478 localdelta.Print();
479 TGeoHMatrix nlocal = *l3 * localdelta;
480 TGeoHMatrix* nl3 = new TGeoHMatrix(nlocal); // new matrix, representing real position (from new local mis RS to the global one)
481
482 TGeoPhysicalNode* pn3 = fTOFmgr->MakePhysicalNode(name);
483
484 pn3->Align(nl3);
485
486 TGeoHMatrix* ng3 = pn3->GetMatrix(); //"real" global matrix, what survey sees
487 printf("\n\n************* The Misaligned Matrix in GRS **************\n");
488 ng3->Print();
489 Double_t ngA[3], ngB[3], ngC[3], ngD[3];// real FM point coord., global RS
490 ng3->LocalToMaster(lA,ngA);
491 ng3->LocalToMaster(lB,ngB);
492 ng3->LocalToMaster(lC,ngC);
493 ng3->LocalToMaster(lD,ngD);
494
495 for(Int_t coord=0;coord<3;coord++){
496 fCombFMData[iSM*4][2*coord]=ngA[coord];
497 fCombFMData[iSM*4][2*coord+1]=1;
498 fCombFMData[iSM*4+1][2*coord]=ngB[coord];
499 fCombFMData[iSM*4+1][2*coord+1]=1;
500 fCombFMData[iSM*4+2][2*coord]=ngC[coord];
501 fCombFMData[iSM*4+2][2*coord+1]=1;
502 fCombFMData[iSM*4+3][2*coord]=ngD[coord];
503 fCombFMData[iSM*4+3][2*coord+1]=1;
504 }
505 }
506
507}
508
509//____________________________________________________________________________
510void AliTOFAlignment::WriteCombData(const Char_t *nomefile, Int_t option)
511{
512 // 1 for simulated data; 0 for data from survey file
513 // write combined data on a file
514 //
515
516 FILE *data;
517 /* Open file in text mode: */
518 if( (data = fopen( nomefile, "w+t" )) != NULL ){
519 if (option==1){
520 fprintf( data, "simulated data\n" );} else {
521 fprintf( data, "survey data\n" );}
522 if (option==1){
523 fprintf( data, "data from InsertMisAlignmentBTOF method\n");}
524 else {fprintf( data, "real survey data from text file (coordinate in global RS)\n");}
525 fprintf( data, "Point Name,XPH,YPH,ZPH,PrecisionX(mm),PrecisionY(mm),PrecisionZ(mm)\n");
526 fprintf( data, "> Data:\n");
527 for(Int_t i=0;i<72;i++){
528 if (fCombFMData[i][0]!=0){
529 fprintf( data, "SM%02iFM%i %f %f %f M Y %f %f %f\n", (i-i%4)/4, i%4, fCombFMData[i][0],fCombFMData[i][2],fCombFMData[i][4],fCombFMData[i][1]*10,fCombFMData[i][3]*10,fCombFMData[i][5]*10);
530 }
531 }
532 fclose( data );
533 }
534 else{
535 printf( "Problem opening the file\n" );
536 }
537
538 return;
539}
540
541//____________________________________________________________________________
542void AliTOFAlignment::WriteSimSurveyData(const Char_t *nomefile)
543{
544 // write sim data in standard format
545 //
546 //
547
548 FILE *data;
549 /* Open file in text mode: */
550 if( (data = fopen( nomefile, "w+t" )) != NULL )
551 {
552 fprintf( data, "> Title:\n" );
553 fprintf( data, "simulated data\n" );
554 fprintf( data, "> Date:\n" );
555 fprintf( data, "24.09.2007\n" );
556 fprintf( data, "> Subdetector:\n" );
557 fprintf( data, "TOF\n" );
558 fprintf( data, "> Report URL:\n" );
559 fprintf( data, "https://edms.cern.ch/document/835615\n" );
560 fprintf( data, "> Version:\n" );
561 fprintf( data, "1\n");
562 fprintf( data, "> General Observations:\n");
563 fprintf( data, "data from InsertMisAlignmentBTOF method\n");
564 fprintf( data, "> Coordinate System:\n");
565 fprintf( data, "\\ALICEPH\n");
566 fprintf( data, "> Units:\n");
567 fprintf( data, "cm\n");
568 fprintf( data, "> Nr Columns:\n");
569 fprintf( data, "9\n");
570 fprintf( data, "> Column Names:\n");
571 fprintf( data, "Point Name,XPH,YPH,ZPH,Point Type,Target Used,PrecisionX(mm),PrecisionY(mm),PrecisionZ(mm)\n");
572 fprintf( data, "> Data:\n");
573 for(Int_t i=0;i<72;i++)
574 if (fCombFMData[i][0]!=0)
575 fprintf( data, "SM%02iFM%i %f %f %f M Y %f %f %f\n", (i-i%4)/4, i%4, fCombFMData[i][0],fCombFMData[i][2],fCombFMData[i][4],fCombFMData[i][1],fCombFMData[i][3],fCombFMData[i][5]);
576
577 fclose( data );
578 }
579 else
580 printf( "Problem opening the file\n" );
581}
582
583//____________________________________________________________________________
584void AliTOFAlignment::MakeDefData(const Int_t nf,TString namefiles[])
585{
586 //this method combines survey data from different files (namefiles[])
587 //
588 //
589
590 Float_t data[72][6][100];
591 for (Int_t i=0;i<72;i++)
592 for (Int_t j=0; j<6; j++)
593 for(Int_t k=0; k<100; k++)
594 data[i][j][k]=0;
595 Int_t nfm=0;
596 Int_t nsm=0;
597 Long64_t totdata[72]={0};
598
599 for (Int_t ii=0;ii<nf; ii++)
600 {
601 AliSurveyObj *so = new AliSurveyObj();
602 const Char_t *nome=namefiles[ii];
603 so->FillFromLocalFile(nome);
604 TObjArray *points = so->GetData();
605 Int_t nSurveyPoint=points->GetEntries();
606 for(Int_t jj=0;jj<nSurveyPoint;jj++){
607 const char* pointName= ((AliSurveyPoint *) points->At(jj))->GetPointName().Data();
608 nfm=atoi(&pointName[6]);
609 nsm=atoi(&pointName[2]);
610 data[nsm*4+nfm][0][totdata[nsm*4+nfm]]=((AliSurveyPoint *) points->At(jj))->GetX();
611 data[nsm*4+nfm][2][totdata[nsm*4+nfm]]=((AliSurveyPoint *) points->At(jj))->GetY();
612 data[nsm*4+nfm][4][totdata[nsm*4+nfm]]=((AliSurveyPoint *) points->At(jj))->GetZ();
613 data[nsm*4+nfm][1][totdata[nsm*4+nfm]]=((AliSurveyPoint *) points->At(jj))->GetPrecisionX();
614 data[nsm*4+nfm][3][totdata[nsm*4+nfm]]=((AliSurveyPoint *) points->At(jj))->GetPrecisionY();
615 data[nsm*4+nfm][5][totdata[nsm*4+nfm]]=((AliSurveyPoint *) points->At(jj))->GetPrecisionZ();
616 totdata[nsm*4+nfm]=totdata[nsm*4+nfm]+1;
617 }
618 delete so;
619 }
620
621
622 for(Int_t i=0; i<72 ;i++){
623 Float_t numx=0, numy=0,numz=0, comodox=0, comodoy=0, comodoz=0,denx=0, deny=0, denz=0;
624 if(totdata[i]!=0){
625 for(Int_t j=0; j<totdata[i]; j++){
626 comodox=1/(data[i][1][j]/10*data[i][1][j]/10);//precision in mm, position in cm
627 numx=numx+data[i][0][j]*comodox;
628 denx=denx+comodox;
629 comodoy=1/(data[i][3][j]/10*data[i][3][j]/10);
630 numy=numy+data[i][2][j]*comodoy;
631 deny=deny+comodoy;
632 comodoz=1/(data[i][5][j]/10*data[i][5][j]/10);
633 numz=numz+data[i][4][j]*comodoz;
634 denz=denz+comodoz;
635 }
636 fCombFMData[i][1]=TMath::Sqrt(1/denx); //error for x position
637 fCombFMData[i][3]=TMath::Sqrt(1/deny); //error for y position
638 fCombFMData[i][5]=TMath::Sqrt(1/denz); //error for z position
639 fCombFMData[i][0]=numx/denx; //combined survey data for x position of FM
640 fCombFMData[i][2]=numy/deny; //combined survey data for y position of FM
641 fCombFMData[i][4]=numz/denz; //combined survey data for z position of FM
642 } else continue;
643 }
644
645 for(Int_t i=0;i<72;i++)
646 if (fCombFMData[i][0]!=0){
647 fNFMforSM[(i-i%4)/4][i%4]=1;
648 fNFMforSM[(i-i%4)/4][4]=fNFMforSM[(i-i%4)/4][4]+1;
649 }
650}
651
652//_____________________________________________________________________________
653void AliTOFAlignment::ReadSurveyDataAndAlign(){
654 //
655 // read the survey data and, if we know the positions of at least 3 FM
656 //for a SM, call the right Alignement procedure
657
658 fTOFAlignObjArray = new TObjArray(kMaxAlignObj);
659
660 Float_t deltaFM0=0, deltaFM1=0, deltaFM2=0, deltaFM3=0;
661
662 for(Int_t i=0; i<18; i++){
663 switch(fNFMforSM[i][4]){
664 case 0:
665 printf("we don't know the position of any FM of SM %i\n",i);
666 break;
667 case 1:
668 printf("we know the position of only one FM for SM %i\n",i);
669
670 break;
671 case 2:
672 printf("we know the position of only 2 FM for SM %i\n",i);
673
674 break;
675 case 3:
676 if (fNFMforSM[i][0]==1 && fNFMforSM[i][1]==1 && fNFMforSM[i][2]==1){
677 printf("we know the position of FM A B C for SM %i\n",i);
678 AliTOFAlignment::AlignFromSurveyABC(i);};
679
680
681 if (fNFMforSM[i][0]==1 && fNFMforSM[i][1]==1 && fNFMforSM[i][3]==1){
682 printf("we know the position of FM A B D for SM %i\n",i);
683 AliTOFAlignment::AlignFromSurveyABD(i);};
684
685
686 if (fNFMforSM[i][0]==1 && fNFMforSM[i][2]==1 && fNFMforSM[i][3]==1){
687 printf("we know the position of FM A C D for SM %i\n",i);
688 AliTOFAlignment::AlignFromSurveyACD(i);};
689
690
691 if (fNFMforSM[i][1]==1 && fNFMforSM[i][2]==1 && fNFMforSM[i][3]==1){
692 printf("we know the position of FM B C D for SM %i\n",i);
693 AliTOFAlignment::AlignFromSurveyBCD(i);};
694
695
696 break;
697 case 4:
698 printf("we know the position of all the 4 FM for SM %i\n",i);
699 //check the precision of the measurement
700
701 deltaFM0=fCombFMData[i*4][1]/TMath::Abs(fCombFMData[i*4][0])+fCombFMData[i*4][3]/TMath::Abs(fCombFMData[i*4][2])+fCombFMData[i*4][5]/TMath::Abs(fCombFMData[i*4][4]);
702 deltaFM1=fCombFMData[i*4+1][1]/TMath::Abs(fCombFMData[i*4+1][0])+fCombFMData[i*4+1][3]/TMath::Abs(fCombFMData[i*4+1][2])+fCombFMData[i*4+1][5]/TMath::Abs(fCombFMData[i*4+1][4]);
703 deltaFM2=fCombFMData[i*4+2][1]/TMath::Abs(fCombFMData[i*4+2][0])+fCombFMData[i*4+2][3]/TMath::Abs(fCombFMData[i*4+2][2])+fCombFMData[i*4+2][5]/TMath::Abs(fCombFMData[i*4+2][4]);
704 deltaFM3=fCombFMData[i*4+3][1]/TMath::Abs(fCombFMData[i*4+3][0])+fCombFMData[i*4+3][3]/TMath::Abs(fCombFMData[i*4+3][2])+fCombFMData[i*4+3][5]/TMath::Abs(fCombFMData[i*4+3][4]);
705
706 //to AlignFromSurvey we use the 3 FM whose positions are known with greatest precision
707 if(deltaFM0>=deltaFM1 && deltaFM0>=deltaFM2 && deltaFM0>=deltaFM3){
708 printf("to Align we use FM B,C,D");
709 AliTOFAlignment::AlignFromSurveyBCD(i);} else
710 if(deltaFM1>=deltaFM0 && deltaFM1>=deltaFM2 && deltaFM1>=deltaFM3){
711 printf("to Align we use FM A,C,D");
712 AliTOFAlignment::AlignFromSurveyACD(i);} else
713 if(deltaFM2>=deltaFM0 && deltaFM2>=deltaFM1 && deltaFM2>=deltaFM3){
714 printf("to Align we use FM A,B,D");
715 AliTOFAlignment::AlignFromSurveyABD(i);} else{
716 printf("to Align we use FM A,B,C");
717 AliTOFAlignment::AlignFromSurveyABC(i);}
718
719 break;
720 }
721
722 }
723
724 // saving TOF AligObjs from survey on a file, for the moment..
725 fNTOFAlignObj=fTOFAlignObjArray->GetEntries();
726 AliInfo(Form("Number of Alignable Volumes: %d",fNTOFAlignObj));
727 TFile f("TOFAlignFromSurvey.root","RECREATE");
728 f.cd();
729 f.WriteObject(fTOFAlignObjArray,"TOFAlignObjs","kSingleKey");
730 f.Close();
731
732
733}
734
735//_____________________________________________________________________________
736void AliTOFAlignment::AlignFromSurveyABC(Int_t iSM)
737{
738
739 //From Survey data, derive the needed transformations to get the
740 //Alignment Objects.
741 //Again, highly "inspired" to Raffaele's example...
742 //we use FM A,B,C
743
744 Double_t ngA[3], ngB[3], ngC[3]; // real FM point coord., global RS
745 // Get the 'realistic' input from the Survey Matrix
746 for(Int_t coord=0;coord<3;coord++){
747 ngA[coord]= fCombFMData[iSM*4][coord*2];
748 ngB[coord]= fCombFMData[iSM*4+1][coord*2];
749 ngC[coord]= fCombFMData[iSM*4+2][coord*2];
750 }
751
752 printf("\n\n******Survey analysis for TOF SuperModule ************** %i \n",iSM);
753
754 // From the real fiducial marks coordinates derive back the
755 // new global position of the surveyed volume
756 //*** What follows is the actual survey-to-alignment procedure
757
758 Double_t ab[3], bc[3], n[3];
759 Double_t plane[4], s=1.;
760
761 // first vector on the plane of the fiducial marks
762 for(Int_t i=0;i<3;i++){
763 ab[i] = (ngB[i] - ngA[i]);
764 }
765
766 // second vector on the plane of the fiducial marks
767 for(Int_t i=0;i<3;i++){
768 bc[i] = (ngC[i] - ngB[i]);
769 }
770
771 // vector normal to the plane of the fiducial marks obtained
772 // as cross product of the two vectors on the plane d0^d1
773 n[0] = (ab[1] * bc[2] - ab[2] * bc[1]);
774 n[1] = (ab[2] * bc[0] - ab[0] * bc[2]);
775 n[2] = (ab[0] * bc[1] - ab[1] * bc[0]);
776
777 Double_t sizen = TMath::Sqrt( n[0]*n[0] + n[1]*n[1] + n[2]*n[2] );
778 if(sizen>1.e-8){
779 s = Double_t(1.)/sizen ; //normalization factor
780 }else{
781 AliInfo("Problem in normalizing the vector");
782 }
783
784 // plane expressed in the hessian normal form, see:
785 // http://mathworld.wolfram.com/HessianNormalForm.html
786 // the first three are the coordinates of the orthonormal vector
787 // the fourth coordinate is equal to the distance from the origin
788
789 for(Int_t i=0;i<3;i++){
790 plane[i] = n[i] * s;
791 }
792 plane[3] = ( plane[0] * ngA[0] + plane[1] * ngA[1] + plane[2] * ngA[2] );
793
794 // The center of the square with fiducial marks as corners
795 // as the middle point of one diagonal - md
796 // Used below to get the center - orig - of the surveyed box
797
798 Double_t orig[3], md[3];
799 for(Int_t i=0;i<3;i++){
800 md[i] = (ngA[i] + ngC[i]) * 0.5;
801 }
802
803 // The center of the box, gives the global translation
804 for(Int_t i=0;i<3;i++){
805 orig[i] = md[i] - plane[i]*fgkZFM;
806 }
807
808 // get local directions needed to write the global rotation matrix
809 // for the surveyed volume by normalising vectors ab and bc
810 Double_t sx = TMath::Sqrt(ab[0]*ab[0] + ab[1]*ab[1] + ab[2]*ab[2]);
811
812
813 if(sx>1.e-8){
814 for(Int_t i=0;i<3;i++){
815 ab[i] /= sx;
816 }
817 }
818 Double_t sy = TMath::Sqrt(bc[0]*bc[0] + bc[1]*bc[1] + bc[2]*bc[2]);
819 if(sy>1.e-8){
820 for(Int_t i=0;i<3;i++){
821 bc[i] /= sy;
822 }
823 }
824 Double_t rot[9] = {ab[0],bc[0],plane[0],ab[1],bc[1],plane[1],ab[2],bc[2],plane[2]}; // the rotation matrix
825 // the Aligned matrix for the current TOF SM in the Global RS, as derived from Survey
826 TGeoHMatrix ng;
827 ng.SetTranslation(orig);
828 ng.SetRotation(rot);
829 printf("\n\n**** The Misaligned Matrix in GRS, as from Survey data ***\n");
830 ng.Print();
831
832 // Calculate the delta transformation wrt Ideal geometry
833 // (Should be gdelta.rot ==I and gdelta.tr=0 if no misalignment is applied.)
834
835 printf("\n\n**** The ideal matrix ***\n");
836 fTOFMatrixId[iSM]->Print();
837
838 TGeoHMatrix gdelta =fTOFMatrixId[iSM]->Inverse();
839 printf("\n\n**** The inverse of the ideal matrix ***\n");
840 gdelta.Print();
841
842 gdelta.MultiplyLeft(&ng);
843 printf("\n\n**** The Delta Matrix in GRS, as from Survey data ***\n");
844 gdelta.Print(); //this is the global delta trasformation
845
846 // Now Write the Alignment Objects....
847 Int_t index=0; //let all SM modules have index=0
848 AliGeomManager::ELayerID layer = AliGeomManager::kInvalidLayer;
849 UShort_t dvoluid = AliGeomManager::LayerToVolUID(layer,index); //dummy vol id
850 TString symname(Form("TOF/sm%02d",iSM));
851 AliAlignObjMatrix* o = new AliAlignObjMatrix(symname.Data(),dvoluid,gdelta,kTRUE);
852 fTOFAlignObjArray->Add(o);
853
854 }
855
856
857//_____________________________________________________________________________
858void AliTOFAlignment::AlignFromSurveyABD(Int_t iSM)
859{
860
861 //From Survey data, derive the needed transformations to get the
862 //Alignment Objects.
863 //Again, highly "inspired" to Raffaele's example...
864 //we use FM A,B,D
865
866 Double_t ngA[3], ngB[3], ngD[3];// real FM point coord., global RS
867
868 // Get the 'realistic' input from the Survey Matrix
869 for(Int_t coord=0;coord<3;coord++){
870 ngA[coord]= fCombFMData[iSM*4][coord*2];
871 ngB[coord]= fCombFMData[iSM*4+1][coord*2];
872 ngD[coord]= fCombFMData[iSM*4+3][coord*2];
873 }
874
875 printf("\n\n******Survey analysis for TOF SuperModule ************** %i \n",iSM);
876
877 // From the new fiducial marks coordinates derive back the
878 // new global position of the surveyed volume
879 //*** What follows is the actual survey-to-alignment procedure
880
881 Double_t ab[3], ad[3], n[3];
882 Double_t plane[4], s=1.;
883
884 // first vector on the plane of the fiducial marks
885 for(Int_t i=0;i<3;i++){
886 ab[i] = (ngB[i] - ngA[i]);
887 }
888
889 // second vector on the plane of the fiducial marks
890 for(Int_t i=0;i<3;i++){
891 ad[i] = (ngD[i] - ngA[i]);
892 }
893
894 // vector normal to the plane of the fiducial marks obtained
895 // as cross product of the two vectors on the plane d0^d1
896 n[0] = (ab[1] * ad[2] - ab[2] * ad[1]);
897 n[1] = (ab[2] * ad[0] - ab[0] * ad[2]);
898 n[2] = (ab[0] * ad[1] - ab[1] * ad[0]);
899
900 Double_t sizen = TMath::Sqrt( n[0]*n[0] + n[1]*n[1] + n[2]*n[2] );
901 if(sizen>1.e-8){
902 s = Double_t(1.)/sizen ; //normalization factor
903 }else{
904 AliInfo("Problem in normalizing the vector");
905 }
906
907 // plane expressed in the hessian normal form, see:
908 // http://mathworld.wolfram.com/HessianNormalForm.html
909 // the first three are the coordinates of the orthonormal vector
910 // the fourth coordinate is equal to the distance from the origin
911
912 for(Int_t i=0;i<3;i++){
913 plane[i] = n[i] * s;
914 }
915 plane[3] = ( plane[0] * ngA[0] + plane[1] * ngA[1] + plane[2] * ngA[2] );
916
917 // The center of the square with fiducial marks as corners
918 // as the middle point of one diagonal - md
919 // Used below to get the center - orig - of the surveyed box
920
921 Double_t orig[3], md[3];
922 for(Int_t i=0;i<3;i++){
923 md[i] = (ngB[i] + ngD[i]) * 0.5;
924 }
925
926 // The center of the box, gives the global translation
927 for(Int_t i=0;i<3;i++){
928 orig[i] = md[i] - plane[i]*fgkZFM;
929 }
930
931 // get local directions needed to write the global rotation matrix
932 // for the surveyed volume by normalising vectors ab and bc
933 Double_t sx = TMath::Sqrt(ab[0]*ab[0] + ab[1]*ab[1] + ab[2]*ab[2]);
934 if(sx>1.e-8){
935 for(Int_t i=0;i<3;i++){
936 ab[i] /= sx;
937 }
938 }
939 Double_t sy = TMath::Sqrt(ad[0]*ad[0] + ad[1]*ad[1] + ad[2]*ad[2]);
940 if(sy>1.e-8){
941 for(Int_t i=0;i<3;i++){
942 ad[i] /= sy;
943 }
944 }
945 Double_t rot[9] = {ab[0],ad[0],plane[0],ab[1],ad[1],plane[1],ab[2],ad[2],plane[2]};
946 // the Aligned matrix for the current TOF SM in the Global RS, as derived from Survey:
947 TGeoHMatrix ng;
948 ng.SetTranslation(orig);
949 ng.SetRotation(rot);
950 printf("\n\n**** The Misaligned Matrix in GRS, as from Survey data ***\n");
951 ng.Print();
952
953 // Calculate the delta transformation wrt Ideal geometry
954 // (Should be gdelta.rot ==I and gdelta.tr=0 if no misalignment is applied.)
955
956 printf("\n\n**** The ideal matrix ***\n");
957 fTOFMatrixId[iSM]->Print();
958
959 TGeoHMatrix gdelta =fTOFMatrixId[iSM]->Inverse();
960 printf("\n\n**** The inverse of the ideal matrix ***\n");
961 gdelta.Print();
962
963 gdelta.MultiplyLeft(&ng);
964 printf("\n\n**** The Delta Matrix in GRS, as from Survey data ***\n");
965 gdelta.Print(); //global delta trasformation
966
967 // Now Write the Alignment Objects....
968 Int_t index=0; //let all SM modules have index=0
969 AliGeomManager::ELayerID layer = AliGeomManager::kInvalidLayer;
970 UShort_t dvoluid = AliGeomManager::LayerToVolUID(layer,index); //dummy vol id
971 TString symname(Form("TOF/sm%02d",iSM));
972 AliAlignObjMatrix* o = new AliAlignObjMatrix(symname.Data(),dvoluid,gdelta,kTRUE);
973 fTOFAlignObjArray->Add(o);
974
975 }
976//_____________________________________________________________________________
977void AliTOFAlignment::AlignFromSurveyACD(Int_t iSM)
978{
979 //From Survey data, derive the needed transformations to get the
980 //Alignment Objects.
981 //Again, highly "inspired" to Raffaele's example...
982 //we use FM A,C,D
983
984
985 Double_t ngA[3], ngC[3], ngD[3];// real FM point coord., global RS
986
987 // Get the 'realistic' input from the Survey Matrix
988 for(Int_t coord=0;coord<3;coord++){
989 ngA[coord]= fCombFMData[iSM*4][coord*2];
990 ngC[coord]= fCombFMData[iSM*4+2][coord*2];
991 ngD[coord]= fCombFMData[iSM*4+3][coord*2];
992 }
993
994 printf("\n\n******Survey analysis for TOF SuperModule ************** %i \n",iSM);
995
996 // From the new fiducial marks coordinates derive back the
997 // new global position of the surveyed volume
998 //*** What follows is the actual survey-to-alignment procedure
999
1000 Double_t cd[3], ad[3], n[3];
1001 Double_t plane[4], s=1.;
1002
1003 // first vector on the plane of the fiducial marks
1004 for(Int_t i=0;i<3;i++){
1005 cd[i] = (ngC[i] - ngD[i]);
1006 }
1007
1008 // second vector on the plane of the fiducial marks
1009 for(Int_t i=0;i<3;i++){
1010 ad[i] = (ngD[i] - ngA[i]);
1011 }
1012
1013 // vector normal to the plane of the fiducial marks obtained
1014 // as cross product of the two vectors on the plane d0^d1
1015 n[0] = (ad[1] * cd[2] - ad[2] * cd[1]);
1016 n[1] = (ad[2] * cd[0] - ad[0] * cd[2]);
1017 n[2] = (ad[0] * cd[1] - ad[1] * cd[0]);
1018
1019 Double_t sizen = TMath::Sqrt( n[0]*n[0] + n[1]*n[1] + n[2]*n[2] );
1020 if(sizen>1.e-8){
1021 s = Double_t(1.)/sizen ; //normalization factor
1022 }else{
1023 AliInfo("Problem in normalizing the vector");
1024 }
1025
1026 // plane expressed in the hessian normal form, see:
1027 // http://mathworld.wolfram.com/HessianNormalForm.html
1028 // the first three are the coordinates of the orthonormal vector
1029 // the fourth coordinate is equal to the distance from the origin
1030
1031 for(Int_t i=0;i<3;i++){
1032 plane[i] = n[i] * s;
1033 }
1034 plane[3] = ( plane[0] * ngA[0] + plane[1] * ngA[1] + plane[2] * ngA[2] );
1035
1036 // The center of the square with fiducial marks as corners
1037 // as the middle point of one diagonal - md
1038 // Used below to get the center - orig - of the surveyed box
1039
1040 Double_t orig[3], md[3];
1041 for(Int_t i=0;i<3;i++){
1042 md[i] = (ngA[i] + ngC[i]) * 0.5;
1043 }
1044
1045 // The center of the box, gives the global translation
1046 for(Int_t i=0;i<3;i++){
1047 orig[i] = md[i] + plane[i]*fgkZFM;
1048 }
1049
1050 // get local directions needed to write the global rotation matrix
1051 // for the surveyed volume by normalising vectors ab and bc
1052 Double_t sx = TMath::Sqrt(ad[0]*ad[0] + ad[1]*ad[1] + ad[2]*ad[2]);
1053 if(sx>1.e-8){
1054 for(Int_t i=0;i<3;i++){
1055 ad[i] /= sx;
1056 }
1057 }
1058 Double_t sy = TMath::Sqrt(cd[0]*cd[0] + cd[1]*cd[1] + cd[2]*cd[2]);
1059 if(sy>1.e-8){
1060 for(Int_t i=0;i<3;i++){
1061 cd[i] /= sy;
1062 }
1063 }
1064 Double_t rot[9] = {cd[0],ad[0],-plane[0],cd[1],ad[1],-plane[1],cd[2],ad[2],-plane[2]};
1065 // the Aligned matrix for the current TOF SM in the Global RS, as derived from Survey:
1066 TGeoHMatrix ng;
1067 ng.SetTranslation(orig);
1068 ng.SetRotation(rot);
1069 printf("\n\n**** The Misaligned Matrix in GRS, as from Survey data ***\n");
1070 ng.Print();
1071
1072 // Calculate the delta transformation wrt Ideal geometry
1073 // (Should be gdelta.rot ==I and gdelta.tr=0 if no misalignment is applied.)
1074
1075 printf("\n\n**** The ideal matrix ***\n");
1076 fTOFMatrixId[iSM]->Print();
1077
1078 TGeoHMatrix gdelta =fTOFMatrixId[iSM]->Inverse();
1079 printf("\n\n**** The inverse of the ideal matrix ***\n");
1080 gdelta.Print();
1081
1082 gdelta.MultiplyLeft(&ng);
1083 printf("\n\n**** The Delta Matrix in GRS, as from Survey data ***\n");
1084 gdelta.Print(); //global delta trasformation
1085
1086 // Now Write the Alignment Objects....
1087 Int_t index=0; //let all SM modules have index=0
1088 AliGeomManager::ELayerID layer = AliGeomManager::kInvalidLayer;
1089 UShort_t dvoluid = AliGeomManager::LayerToVolUID(layer,index); //dummy vol id
1090 TString symname(Form("TOF/sm%02d",iSM));
1091 AliAlignObjMatrix* o = new AliAlignObjMatrix(symname.Data(),dvoluid,gdelta,kTRUE);
1092 fTOFAlignObjArray->Add(o);
1093 }
1094
1095//___________________________________________________________________________
1096void AliTOFAlignment::AlignFromSurveyBCD(Int_t iSM)
1097{
1098 //From Survey data, derive the needed transformations to get the
1099 //Alignment Objects.
1100 //Again, highly "inspired" to Raffaele's example...
1101 //we use FM B,C,D
1102
1103 Double_t ngB[3], ngC[3], ngD[3];// real FM point coord., global RS
1104
1105
1106 // Get the 'realistic' input from the Survey Matrix
1107 for(Int_t coord=0;coord<3;coord++){
1108 ngB[coord]= fCombFMData[iSM*4+1][coord*2];
1109 ngC[coord]= fCombFMData[iSM*4+2][coord*2];
1110 ngD[coord]= fCombFMData[iSM*4+3][coord*2];
1111 }
1112
1113 printf("\n\n******Survey analysis for TOF SuperModule ************** %i \n",iSM);
1114
1115 // From the new fiducial marks coordinates derive back the
1116 // new global position of the surveyed volume
1117 //*** What follows is the actual survey-to-alignment procedure
1118
1119 Double_t cd[3], bc[3], n[3];
1120 Double_t plane[4], s=1.;
1121
1122 // first vector on the plane of the fiducial marks
1123 for(Int_t i=0;i<3;i++){
1124 cd[i] = (ngC[i] - ngD[i]);
1125 }
1126
1127 // second vector on the plane of the fiducial marks
1128 for(Int_t i=0;i<3;i++){
1129 bc[i] = (ngC[i] - ngB[i]);
1130 }
1131
1132 // vector normal to the plane of the fiducial marks obtained
1133 // as cross product of the two vectors on the plane d0^d1
1134 n[0] = (bc[1] * cd[2] - bc[2] * cd[1]);
1135 n[1] = (bc[2] * cd[0] - bc[0] * cd[2]);
1136 n[2] = (bc[0] * cd[1] - bc[1] * cd[0]);
1137
1138 Double_t sizen = TMath::Sqrt( n[0]*n[0] + n[1]*n[1] + n[2]*n[2] );
1139 if(sizen>1.e-8){
1140 s = Double_t(1.)/sizen ; //normalization factor
1141 }else{
1142 AliInfo("Problem in normalizing the vector");
1143 }
1144
1145 // plane expressed in the hessian normal form, see:
1146 // http://mathworld.wolfram.com/HessianNormalForm.html
1147 // the first three are the coordinates of the orthonormal vector
1148 // the fourth coordinate is equal to the distance from the origin
1149
1150 for(Int_t i=0;i<3;i++){
1151 plane[i] = n[i] * s;
1152 }
1153 plane[3] = ( plane[0] * ngB[0] + plane[1] * ngB[1] + plane[2] * ngB[2] );
1154
1155 // The center of the square with fiducial marks as corners
1156 // as the middle point of one diagonal - md
1157 // Used below to get the center - orig - of the surveyed box
1158
1159 Double_t orig[3], md[3];
1160 for(Int_t i=0;i<3;i++){
1161 md[i] = (ngB[i] + ngD[i]) * 0.5;
1162 }
1163
1164 // The center of the box, gives the global translation
1165 for(Int_t i=0;i<3;i++){
1166 orig[i] = md[i] + plane[i]*fgkZFM;
1167 }
1168
1169 // get local directions needed to write the global rotation matrix
1170 // for the surveyed volume by normalising vectors ab and bc
1171 Double_t sx = TMath::Sqrt(cd[0]*cd[0] + cd[1]*cd[1] + cd[2]*cd[2]);
1172 if(sx>1.e-8){
1173 for(Int_t i=0;i<3;i++){
1174 cd[i] /= sx;
1175 }
1176 }
1177 Double_t sy = TMath::Sqrt(bc[0]*bc[0] + bc[1]*bc[1] + bc[2]*bc[2]);
1178 if(sy>1.e-8){
1179 for(Int_t i=0;i<3;i++){
1180 bc[i] /= sy;
1181 }
1182 }
1183 Double_t rot[9] = {cd[0],bc[0],-plane[0],cd[1],bc[1],-plane[1],cd[2],bc[2],-plane[2]};
1184 // the Aligned matrix for the current TOF SM in the Global RS, as derived from Survey:
1185 TGeoHMatrix ng;
1186 ng.SetTranslation(orig);
1187 ng.SetRotation(rot);
1188 printf("\n\n**** The Misaligned Matrix in GRS, as from Survey data ***\n");
1189 ng.Print();
1190
1191 // Calculate the delta transformation wrt Ideal geometry
1192 // (Should be gdelta.rot ==I and gdelta.tr=0 if no misalignment is applied.)
1193
1194 printf("\n\n**** The ideal matrix ***\n");
1195 fTOFMatrixId[iSM]->Print();
1196
1197 TGeoHMatrix gdelta =fTOFMatrixId[iSM]->Inverse();
1198 printf("\n\n**** The inverse of the ideal matrix ***\n");
1199 gdelta.Print();
1200
1201 gdelta.MultiplyLeft(&ng);
1202 printf("\n\n**** The Delta Matrix in GRS, as from Survey data ***\n");
1203 gdelta.Print(); //global delta trasformation
1204
1205 // Now Write the Alignment Objects....
1206 Int_t index=0; //let all SM modules have index=0
1207 AliGeomManager::ELayerID layer = AliGeomManager::kInvalidLayer;
1208 UShort_t dvoluid = AliGeomManager::LayerToVolUID(layer,index); //dummy vol id
1209 TString symname(Form("TOF/sm%02d",iSM));
1210 AliAlignObjMatrix* o = new AliAlignObjMatrix(symname.Data(),dvoluid,gdelta,kTRUE);
1211 fTOFAlignObjArray->Add(o);
1212 }
1213
1214