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() :
47 //______________________________________________________________________________
48 AliTrackPointArray::AliTrackPointArray(Int_t npoints):
52 fX(new Float_t[npoints]),
53 fY(new Float_t[npoints]),
54 fZ(new Float_t[npoints]),
56 fCov(new Float_t[fSize]),
57 fVolumeID(new UShort_t[npoints])
63 //______________________________________________________________________________
64 AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array):
66 fSorted(array.fSorted),
67 fNPoints(array.fNPoints),
68 fX(new Float_t[fNPoints]),
69 fY(new Float_t[fNPoints]),
70 fZ(new Float_t[fNPoints]),
72 fCov(new Float_t[fSize]),
73 fVolumeID(new UShort_t[fNPoints])
77 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
78 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
79 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
80 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
81 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
84 //_____________________________________________________________________________
85 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
87 // assignment operator
89 if(this==&array) return *this;
90 ((TObject *)this)->operator=(array);
92 fSorted = array.fSorted;
93 fNPoints = array.fNPoints;
96 fX = new Float_t[fNPoints];
98 fY = new Float_t[fNPoints];
100 fZ = new Float_t[fNPoints];
102 fVolumeID = new UShort_t[fNPoints];
104 fCov = new Float_t[fSize];
105 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
106 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
107 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
108 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
109 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
114 //______________________________________________________________________________
115 AliTrackPointArray::~AliTrackPointArray()
127 //______________________________________________________________________________
128 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
130 // Add a point to the array at position i
132 if (i >= fNPoints) return kFALSE;
136 fVolumeID[i] = p->GetVolumeID();
137 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
142 //______________________________________________________________________________
143 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
145 // Get the point at position i
147 if (i >= fNPoints) return kFALSE;
148 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
149 p.SetVolumeID(fVolumeID[i]);
153 //______________________________________________________________________________
154 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
156 // This method checks if the array
157 // has at least one hit in the detector
158 // volume defined by volid
159 Bool_t check = kFALSE;
160 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
161 if (fVolumeID[ipoint] == volid) check = kTRUE;
166 //______________________________________________________________________________
167 void AliTrackPointArray::Sort(Bool_t down)
169 // Sort the array by the values of Y-coordinate of the track points.
170 // The order is given by "down".
171 // Optimized more for maintenance rather than for speed.
175 Int_t *index=new Int_t[fNPoints];
176 AliTrackPointArray a(*this);
177 TMath::Sort(fNPoints,a.GetY(),index,down);
180 for (Int_t i = 0; i < fNPoints; i++) {
181 a.GetPoint(p,index[i]);
189 ClassImp(AliTrackPoint)
191 //______________________________________________________________________________
192 AliTrackPoint::AliTrackPoint() :
199 // Default constructor
201 memset(fCov,0,6*sizeof(Float_t));
205 //______________________________________________________________________________
206 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) :
219 //______________________________________________________________________________
220 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) :
229 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
233 //______________________________________________________________________________
234 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
243 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
244 SetVolumeID(p.fVolumeID);
247 //_____________________________________________________________________________
248 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
250 // assignment operator
252 if(this==&p) return *this;
253 ((TObject *)this)->operator=(p);
255 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
256 SetVolumeID(p.fVolumeID);
261 //______________________________________________________________________________
262 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
264 // Set XYZ coordinates and their cov matrix
270 memcpy(fCov,cov,6*sizeof(Float_t));
273 //______________________________________________________________________________
274 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
276 // Set XYZ coordinates and their cov matrix
278 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
281 //______________________________________________________________________________
282 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
288 memcpy(cov,fCov,6*sizeof(Float_t));
291 //______________________________________________________________________________
292 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
294 // This method calculates the track to space-point residuals. The track
295 // interpolation is also stored as AliTrackPoint. Using the option
296 // 'weighted' one can calculate the residual either with or without
297 // taking into account the covariance matrix of the space-point and
298 // track interpolation. The second case the residual becomes a pull.
303 Float_t xyz[3],xyzp[3];
306 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
307 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
308 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
311 Float_t xyz[3],xyzp[3];
312 Float_t cov[6],covp[6];
315 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
316 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
317 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
319 TMatrixDSym mcovp(3);
320 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
321 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
322 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
323 TMatrixDSym msum = mcov + mcovp;
325 // mcov.Print(); mcovp.Print(); msum.Print();
326 if (msum.IsValid()) {
327 for (Int_t i = 0; i < 3; i++)
328 for (Int_t j = 0; j < 3; j++)
329 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
336 //_____________________________________________________________________________
337 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
340 // Get the intersection point between this point and
341 // the point "p" belongs to.
342 // The result is stored as a point 'out'
343 // return kFALSE in case of failure.
353 const Float_t *cv=GetCov();
354 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
355 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
356 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
366 const Float_t *cv=p.GetCov();
367 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
368 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
369 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
375 if (!tmW.IsValid()) return kFALSE;
377 TMatrixD mW(tC,TMatrixD::kMult,tmW);
378 TMatrixD tW(mC,TMatrixD::kMult,tmW);
380 TMatrixD mi(mW,TMatrixD::kMult,m);
381 TMatrixD ti(tW,TMatrixD::kMult,t);
384 TMatrixD iC(tC,TMatrixD::kMult,tmW);
387 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
388 UShort_t id=p.GetVolumeID();
394 //______________________________________________________________________________
395 Float_t AliTrackPoint::GetAngle() const
397 // The method uses the covariance matrix of
398 // the space-point in order to extract the
399 // orientation of the detector plane.
400 // The rotation in XY plane only is calculated.
402 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
404 phi = TMath::Pi() - phi;
405 if ((fY-fX) < 0) phi += TMath::Pi();
408 if ((fX+fY) < 0) phi += TMath::Pi();
415 //_____________________________________________________________________________
416 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
418 // Transform the space-point coordinates
419 // and covariance matrix from global to
420 // local (detector plane) coordinate system
421 // XY plane rotation only
423 static AliTrackPoint p;
426 Float_t xyz[3],cov[6];
429 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
431 Float_t newxyz[3],newcov[6];
432 newxyz[0] = cos*xyz[0] + sin*xyz[1];
433 newxyz[1] = cos*xyz[1] - sin*xyz[0];
436 newcov[0] = cov[0]*cos*cos+
439 newcov[1] = cov[1]*(cos*cos-sin*sin)+
440 (cov[3]-cov[0])*sin*cos;
441 newcov[2] = cov[2]*cos+
443 newcov[3] = cov[0]*sin*sin-
446 newcov[4] = cov[4]*cos-
450 p.SetXYZ(newxyz,newcov);
451 p.SetVolumeID(GetVolumeID());
456 //_____________________________________________________________________________
457 AliTrackPoint& AliTrackPoint::MasterToLocal() const
459 // Transform the space-point coordinates
460 // and the covariance matrix from the
461 // (master) to the local (tracking)
464 Float_t alpha = GetAngle();
465 return Rotate(alpha);
468 //_____________________________________________________________________________
469 void AliTrackPoint::Print(Option_t *) const
471 // Print the space-point coordinates and
474 printf("VolumeID=%d\n", GetVolumeID());
475 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
476 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
477 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
482 //________________________________
483 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
484 // Add the uncertainty on the cluster position due to alignment
485 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
486 // present Cov. Matrix
494 cov(1,0)=cov(0,1)=fCov[1];
495 cov(2,0)=cov(0,2)=fCov[2];
497 cov(2,1)=cov(1,2)=fCov[4];
500 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
501 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
502 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
503 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
504 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
505 jacob(0,5) = fY; jacob(1,5) = fX; jacob(2,5) = 0;
507 TMatrixD jacobT=jacob.T();jacob.T();
509 coval=jacob*alignparmtrx*jacobT+cov;
512 newcov[0]=coval(0,0);
513 newcov[1]=coval(1,0);
514 newcov[2]=coval(2,0);
515 newcov[3]=coval(1,1);
516 newcov[4]=coval(2,1);
517 newcov[5]=coval(2,2);
519 SetXYZ(fX,fY,fZ,newcov);