1 /**************************************************************************
2 * Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
4 * Author: The ALICE Off-line Project. *
5 * Contributors are mentioned in the code where appropriate. *
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 **************************************************************************/
16 //////////////////////////////////////////////////////////////////////////////
17 // Class AliTrackPointArray //
18 // This class contains the ESD track space-points which are used during //
19 // the alignment procedures. Each space-point consist of 3 coordinates //
20 // (and their errors) and the index of the sub-detector which contains //
21 // the space-point. //
22 // cvetan.cheshkov@cern.ch 3/11/2005 //
23 //////////////////////////////////////////////////////////////////////////////
27 #include <TMatrixDSym.h>
29 #include "AliTrackPointArray.h"
31 ClassImp(AliTrackPointArray)
33 //______________________________________________________________________________
34 AliTrackPointArray::AliTrackPointArray() :
48 //______________________________________________________________________________
49 AliTrackPointArray::AliTrackPointArray(Int_t npoints):
53 fX(new Float_t[npoints]),
54 fY(new Float_t[npoints]),
55 fZ(new Float_t[npoints]),
56 fCharge(new Float_t[npoints]),
58 fCov(new Float_t[fSize]),
59 fVolumeID(new UShort_t[npoints])
63 for (Int_t ip=0; ip<npoints;ip++){
69 for (Int_t icov=0;icov<6; icov++)
74 //______________________________________________________________________________
75 AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array):
77 fSorted(array.fSorted),
78 fNPoints(array.fNPoints),
79 fX(new Float_t[fNPoints]),
80 fY(new Float_t[fNPoints]),
81 fZ(new Float_t[fNPoints]),
82 fCharge(new Float_t[fNPoints]),
84 fCov(new Float_t[fSize]),
85 fVolumeID(new UShort_t[fNPoints])
89 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
90 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
91 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
92 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
93 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
94 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
97 //_____________________________________________________________________________
98 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
100 // assignment operator
102 if(this==&array) return *this;
103 ((TObject *)this)->operator=(array);
105 fSorted = array.fSorted;
106 fNPoints = array.fNPoints;
109 fX = new Float_t[fNPoints];
111 fY = new Float_t[fNPoints];
113 fZ = new Float_t[fNPoints];
115 fCharge = new Float_t[fNPoints];
117 fVolumeID = new UShort_t[fNPoints];
119 fCov = new Float_t[fSize];
120 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
121 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
122 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
123 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
124 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
125 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
130 //______________________________________________________________________________
131 AliTrackPointArray::~AliTrackPointArray()
144 //______________________________________________________________________________
145 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
147 // Add a point to the array at position i
149 if (i >= fNPoints) return kFALSE;
153 fCharge[i] = p->GetCharge();
154 fVolumeID[i] = p->GetVolumeID();
155 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
160 //______________________________________________________________________________
161 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
163 // Get the point at position i
165 if (i >= fNPoints) return kFALSE;
166 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
167 p.SetVolumeID(fVolumeID[i]);
168 p.SetCharge(fCharge[i]);
172 //______________________________________________________________________________
173 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
175 // This method checks if the array
176 // has at least one hit in the detector
177 // volume defined by volid
178 Bool_t check = kFALSE;
179 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
180 if (fVolumeID[ipoint] == volid) check = kTRUE;
185 //______________________________________________________________________________
186 void AliTrackPointArray::Sort(Bool_t down)
188 // Sort the array by the values of Y-coordinate of the track points.
189 // The order is given by "down".
190 // Optimized more for maintenance rather than for speed.
194 Int_t *index=new Int_t[fNPoints];
195 AliTrackPointArray a(*this);
196 TMath::Sort(fNPoints,a.GetY(),index,down);
199 for (Int_t i = 0; i < fNPoints; i++) {
200 a.GetPoint(p,index[i]);
208 ClassImp(AliTrackPoint)
210 //______________________________________________________________________________
211 AliTrackPoint::AliTrackPoint() :
219 // Default constructor
221 memset(fCov,0,6*sizeof(Float_t));
225 //______________________________________________________________________________
226 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid, Float_t charge) :
241 //______________________________________________________________________________
242 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid, Float_t charge) :
252 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
257 //______________________________________________________________________________
258 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
268 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
269 SetCharge(p.fCharge);
270 SetVolumeID(p.fVolumeID);
273 //_____________________________________________________________________________
274 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
276 // assignment operator
278 if(this==&p) return *this;
279 ((TObject *)this)->operator=(p);
281 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
282 SetCharge(p.fCharge);
283 SetVolumeID(p.fVolumeID);
288 //______________________________________________________________________________
289 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
291 // Set XYZ coordinates and their cov matrix
297 memcpy(fCov,cov,6*sizeof(Float_t));
300 //______________________________________________________________________________
301 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
303 // Set XYZ coordinates and their cov matrix
305 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
308 //______________________________________________________________________________
309 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
315 memcpy(cov,fCov,6*sizeof(Float_t));
318 //______________________________________________________________________________
319 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
321 // This method calculates the track to space-point residuals. The track
322 // interpolation is also stored as AliTrackPoint. Using the option
323 // 'weighted' one can calculate the residual either with or without
324 // taking into account the covariance matrix of the space-point and
325 // track interpolation. The second case the residual becomes a pull.
330 Float_t xyz[3],xyzp[3];
333 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
334 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
335 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
338 Float_t xyz[3],xyzp[3];
339 Float_t cov[6],covp[6];
342 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
343 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
344 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
346 TMatrixDSym mcovp(3);
347 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
348 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
349 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
350 TMatrixDSym msum = mcov + mcovp;
352 // mcov.Print(); mcovp.Print(); msum.Print();
353 if (msum.IsValid()) {
354 for (Int_t i = 0; i < 3; i++)
355 for (Int_t j = 0; j < 3; j++)
356 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
363 //_____________________________________________________________________________
364 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
367 // Get the intersection point between this point and
368 // the point "p" belongs to.
369 // The result is stored as a point 'out'
370 // return kFALSE in case of failure.
380 const Float_t *cv=GetCov();
381 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
382 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
383 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
393 const Float_t *cv=p.GetCov();
394 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
395 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
396 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
402 if (!tmW.IsValid()) return kFALSE;
404 TMatrixD mW(tC,TMatrixD::kMult,tmW);
405 TMatrixD tW(mC,TMatrixD::kMult,tmW);
407 TMatrixD mi(mW,TMatrixD::kMult,m);
408 TMatrixD ti(tW,TMatrixD::kMult,t);
411 TMatrixD iC(tC,TMatrixD::kMult,tmW);
414 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
415 UShort_t id=p.GetVolumeID();
421 //______________________________________________________________________________
422 Float_t AliTrackPoint::GetAngle() const
424 // The method uses the covariance matrix of
425 // the space-point in order to extract the
426 // orientation of the detector plane.
427 // The rotation in XY plane only is calculated.
429 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
431 phi = TMath::Pi() - phi;
432 if ((fY-fX) < 0) phi += TMath::Pi();
435 if ((fX+fY) < 0) phi += TMath::Pi();
442 //_____________________________________________________________________________
443 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
445 // Transform the space-point coordinates
446 // and covariance matrix from global to
447 // local (detector plane) coordinate system
448 // XY plane rotation only
450 static AliTrackPoint p;
453 Float_t xyz[3],cov[6];
456 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
458 Float_t newxyz[3],newcov[6];
459 newxyz[0] = cos*xyz[0] + sin*xyz[1];
460 newxyz[1] = cos*xyz[1] - sin*xyz[0];
463 newcov[0] = cov[0]*cos*cos+
466 newcov[1] = cov[1]*(cos*cos-sin*sin)+
467 (cov[3]-cov[0])*sin*cos;
468 newcov[2] = cov[2]*cos+
470 newcov[3] = cov[0]*sin*sin-
473 newcov[4] = cov[4]*cos-
477 p.SetXYZ(newxyz,newcov);
478 p.SetVolumeID(GetVolumeID());
483 //_____________________________________________________________________________
484 AliTrackPoint& AliTrackPoint::MasterToLocal() const
486 // Transform the space-point coordinates
487 // and the covariance matrix from the
488 // (master) to the local (tracking)
491 Float_t alpha = GetAngle();
492 return Rotate(alpha);
495 //_____________________________________________________________________________
496 void AliTrackPoint::Print(Option_t *) const
498 // Print the space-point coordinates and
501 printf("VolumeID=%d\n", GetVolumeID());
502 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
503 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
504 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
505 printf("Charge = %f\n", fCharge);
510 //________________________________
511 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
512 // Add the uncertainty on the cluster position due to alignment
513 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
514 // present Cov. Matrix
522 cov(1,0)=cov(0,1)=fCov[1];
523 cov(2,0)=cov(0,2)=fCov[2];
525 cov(2,1)=cov(1,2)=fCov[4];
528 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
529 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
530 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
531 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
532 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
533 jacob(0,5) = -fY; jacob(1,5) = fX; jacob(2,5) = 0;
535 TMatrixD jacobT=jacob.T();jacob.T();
537 coval=jacob*alignparmtrx*jacobT+cov;
540 newcov[0]=coval(0,0);
541 newcov[1]=coval(1,0);
542 newcov[2]=coval(2,0);
543 newcov[3]=coval(1,1);
544 newcov[4]=coval(2,1);
545 newcov[5]=coval(2,2);
547 SetXYZ(fX,fY,fZ,newcov);