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>
28 #include <TGeoMatrix.h>
29 #include <TMatrixDSymEigen.h>
31 #include "AliTrackPointArray.h"
33 ClassImp(AliTrackPointArray)
35 //______________________________________________________________________________
36 AliTrackPointArray::AliTrackPointArray() :
51 //______________________________________________________________________________
52 AliTrackPointArray::AliTrackPointArray(Int_t npoints):
56 fX(new Float_t[npoints]),
57 fY(new Float_t[npoints]),
58 fZ(new Float_t[npoints]),
59 fCharge(new Float_t[npoints]),
60 fDriftTime(new Float_t[npoints]),
62 fCov(new Float_t[fSize]),
63 fVolumeID(new UShort_t[npoints])
67 for (Int_t ip=0; ip<npoints;ip++){
74 for (Int_t icov=0;icov<6; icov++)
79 //______________________________________________________________________________
80 AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array):
82 fSorted(array.fSorted),
83 fNPoints(array.fNPoints),
84 fX(new Float_t[fNPoints]),
85 fY(new Float_t[fNPoints]),
86 fZ(new Float_t[fNPoints]),
87 fCharge(new Float_t[fNPoints]),
88 fDriftTime(new Float_t[fNPoints]),
90 fCov(new Float_t[fSize]),
91 fVolumeID(new UShort_t[fNPoints])
95 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
96 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
97 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
99 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
101 memset(fCharge, 0, fNPoints*sizeof(Float_t));
103 if (array.fDriftTime) {
104 memcpy(fDriftTime,array.fDriftTime,fNPoints*sizeof(Float_t));
106 memset(fDriftTime, 0, fNPoints*sizeof(Float_t));
108 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
109 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
112 //_____________________________________________________________________________
113 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
115 // assignment operator
117 if(this==&array) return *this;
118 ((TObject *)this)->operator=(array);
120 fSorted = array.fSorted;
121 fNPoints = array.fNPoints;
124 fX = new Float_t[fNPoints];
126 fY = new Float_t[fNPoints];
128 fZ = new Float_t[fNPoints];
130 fCharge = new Float_t[fNPoints];
131 delete [] fDriftTime;
132 fDriftTime = new Float_t[fNPoints];
134 fVolumeID = new UShort_t[fNPoints];
136 fCov = new Float_t[fSize];
137 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
138 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
139 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
140 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
141 memcpy(fDriftTime,array.fDriftTime,fNPoints*sizeof(Float_t));
142 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
143 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
148 //______________________________________________________________________________
149 AliTrackPointArray::~AliTrackPointArray()
157 delete [] fDriftTime;
163 //______________________________________________________________________________
164 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
166 // Add a point to the array at position i
168 if (i >= fNPoints) return kFALSE;
172 fCharge[i] = p->GetCharge();
173 fDriftTime[i] = p->GetDriftTime();
174 fVolumeID[i] = p->GetVolumeID();
175 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
180 //______________________________________________________________________________
181 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
183 // Get the point at position i
185 if (i >= fNPoints) return kFALSE;
186 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
187 p.SetVolumeID(fVolumeID[i]);
188 p.SetCharge(fCharge[i]);
189 p.SetDriftTime(fDriftTime[i]);
193 //______________________________________________________________________________
194 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
196 // This method checks if the array
197 // has at least one hit in the detector
198 // volume defined by volid
199 Bool_t check = kFALSE;
200 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
201 if (fVolumeID[ipoint] == volid) check = kTRUE;
206 //______________________________________________________________________________
207 void AliTrackPointArray::Sort(Bool_t down)
209 // Sort the array by the values of Y-coordinate of the track points.
210 // The order is given by "down".
211 // Optimized more for maintenance rather than for speed.
215 Int_t *index=new Int_t[fNPoints];
216 AliTrackPointArray a(*this);
217 TMath::Sort(fNPoints,a.GetY(),index,down);
220 for (Int_t i = 0; i < fNPoints; i++) {
221 a.GetPoint(p,index[i]);
229 ClassImp(AliTrackPoint)
231 //______________________________________________________________________________
232 AliTrackPoint::AliTrackPoint() :
241 // Default constructor
243 memset(fCov,0,6*sizeof(Float_t));
247 //______________________________________________________________________________
248 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid, Float_t charge, Float_t drifttime) :
261 SetDriftTime(drifttime);
265 //______________________________________________________________________________
266 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid, Float_t charge, Float_t drifttime) :
277 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
279 SetDriftTime(drifttime);
283 //______________________________________________________________________________
284 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
295 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
296 SetCharge(p.fCharge);
297 SetDriftTime(p.fDriftTime);
298 SetVolumeID(p.fVolumeID);
301 //_____________________________________________________________________________
302 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
304 // assignment operator
306 if(this==&p) return *this;
307 ((TObject *)this)->operator=(p);
309 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
310 SetCharge(p.fCharge);
311 SetDriftTime(p.fDriftTime);
312 SetVolumeID(p.fVolumeID);
317 //______________________________________________________________________________
318 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
320 // Set XYZ coordinates and their cov matrix
326 memcpy(fCov,cov,6*sizeof(Float_t));
329 //______________________________________________________________________________
330 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
332 // Set XYZ coordinates and their cov matrix
334 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
337 //______________________________________________________________________________
338 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
344 memcpy(cov,fCov,6*sizeof(Float_t));
347 //______________________________________________________________________________
348 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
350 // This method calculates the track to space-point residuals. The track
351 // interpolation is also stored as AliTrackPoint. Using the option
352 // 'weighted' one can calculate the residual either with or without
353 // taking into account the covariance matrix of the space-point and
354 // track interpolation. The second case the residual becomes a pull.
359 Float_t xyz[3],xyzp[3];
362 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
363 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
364 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
367 Float_t xyz[3],xyzp[3];
368 Float_t cov[6],covp[6];
371 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
372 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
373 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
375 TMatrixDSym mcovp(3);
376 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
377 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
378 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
379 TMatrixDSym msum = mcov + mcovp;
381 // mcov.Print(); mcovp.Print(); msum.Print();
382 if (msum.IsValid()) {
383 for (Int_t i = 0; i < 3; i++)
384 for (Int_t j = 0; j < 3; j++)
385 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
392 //_____________________________________________________________________________
393 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
396 // Get the intersection point between this point and
397 // the point "p" belongs to.
398 // The result is stored as a point 'out'
399 // return kFALSE in case of failure.
409 const Float_t *cv=GetCov();
410 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
411 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
412 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
422 const Float_t *cv=p.GetCov();
423 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
424 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
425 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
431 if (!tmW.IsValid()) return kFALSE;
433 TMatrixD mW(tC,TMatrixD::kMult,tmW);
434 TMatrixD tW(mC,TMatrixD::kMult,tmW);
436 TMatrixD mi(mW,TMatrixD::kMult,m);
437 TMatrixD ti(tW,TMatrixD::kMult,t);
440 TMatrixD iC(tC,TMatrixD::kMult,tmW);
443 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
444 UShort_t id=p.GetVolumeID();
450 //______________________________________________________________________________
451 Float_t AliTrackPoint::GetAngle() const
453 // The method uses the covariance matrix of
454 // the space-point in order to extract the
455 // orientation of the detector plane.
456 // The rotation in XY plane only is calculated.
458 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
460 phi = TMath::Pi() - phi;
461 if ((fY-fX) < 0) phi += TMath::Pi();
464 if ((fX+fY) < 0) phi += TMath::Pi();
471 //______________________________________________________________________________
472 Bool_t AliTrackPoint::GetRotMatrix(TGeoRotation& rot) const
474 // Returns the orientation of the
475 // sensitive layer (using cluster
476 // covariance matrix).
477 // Assumes that cluster has errors only in the layer's plane.
478 // Return value is kTRUE in case of success.
482 const Float_t *cov=GetCov();
483 mcov(0,0)=cov[0]; mcov(0,1)=cov[1]; mcov(0,2)=cov[2];
484 mcov(1,0)=cov[1]; mcov(1,1)=cov[3]; mcov(1,2)=cov[4];
485 mcov(2,0)=cov[2]; mcov(2,1)=cov[4]; mcov(2,2)=cov[5];
488 TMatrixDSymEigen eigen(mcov);
489 TMatrixD eigenMatrix = eigen.GetEigenVectors();
491 rot.SetMatrix(eigenMatrix.GetMatrixArray());
497 //_____________________________________________________________________________
498 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
500 // Transform the space-point coordinates
501 // and covariance matrix from global to
502 // local (detector plane) coordinate system
503 // XY plane rotation only
505 static AliTrackPoint p;
508 Float_t xyz[3],cov[6];
511 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
513 Float_t newxyz[3],newcov[6];
514 newxyz[0] = cos*xyz[0] + sin*xyz[1];
515 newxyz[1] = cos*xyz[1] - sin*xyz[0];
518 newcov[0] = cov[0]*cos*cos+
521 newcov[1] = cov[1]*(cos*cos-sin*sin)+
522 (cov[3]-cov[0])*sin*cos;
523 newcov[2] = cov[2]*cos+
525 newcov[3] = cov[0]*sin*sin-
528 newcov[4] = cov[4]*cos-
532 p.SetXYZ(newxyz,newcov);
533 p.SetVolumeID(GetVolumeID());
538 //_____________________________________________________________________________
539 AliTrackPoint& AliTrackPoint::MasterToLocal() const
541 // Transform the space-point coordinates
542 // and the covariance matrix from the
543 // (master) to the local (tracking)
546 Float_t alpha = GetAngle();
547 return Rotate(alpha);
550 //_____________________________________________________________________________
551 void AliTrackPoint::Print(Option_t *) const
553 // Print the space-point coordinates and
556 printf("VolumeID=%d\n", GetVolumeID());
557 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
558 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
559 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
560 printf("Charge = %f\n", fCharge);
561 printf("Drift Time = %f\n", fDriftTime);
566 //________________________________
567 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
568 // Add the uncertainty on the cluster position due to alignment
569 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
570 // present Cov. Matrix
578 cov(1,0)=cov(0,1)=fCov[1];
579 cov(2,0)=cov(0,2)=fCov[2];
581 cov(2,1)=cov(1,2)=fCov[4];
584 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
585 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
586 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
587 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
588 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
589 jacob(0,5) = -fY; jacob(1,5) = fX; jacob(2,5) = 0;
591 TMatrixD jacobT=jacob.T();jacob.T();
593 coval=jacob*alignparmtrx*jacobT+cov;
596 newcov[0]=coval(0,0);
597 newcov[1]=coval(1,0);
598 newcov[2]=coval(2,0);
599 newcov[3]=coval(1,1);
600 newcov[4]=coval(2,1);
601 newcov[5]=coval(2,2);
603 SetXYZ(fX,fY,fZ,newcov);