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() :
52 //______________________________________________________________________________
53 AliTrackPointArray::AliTrackPointArray(Int_t npoints):
57 fX(new Float_t[npoints]),
58 fY(new Float_t[npoints]),
59 fZ(new Float_t[npoints]),
60 fCharge(new Float_t[npoints]),
61 fDriftTime(new Float_t[npoints]),
62 fIsExtra(new Bool_t[npoints]),
64 fCov(new Float_t[fSize]),
65 fVolumeID(new UShort_t[npoints])
69 for (Int_t ip=0; ip<npoints;ip++){
77 for (Int_t icov=0;icov<6; icov++)
82 //______________________________________________________________________________
83 AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array):
85 fSorted(array.fSorted),
86 fNPoints(array.fNPoints),
87 fX(new Float_t[fNPoints]),
88 fY(new Float_t[fNPoints]),
89 fZ(new Float_t[fNPoints]),
90 fCharge(new Float_t[fNPoints]),
91 fDriftTime(new Float_t[fNPoints]),
92 fIsExtra(new Bool_t[fNPoints]),
94 fCov(new Float_t[fSize]),
95 fVolumeID(new UShort_t[fNPoints])
99 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
100 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
101 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
103 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
105 memset(fCharge, 0, fNPoints*sizeof(Float_t));
107 if (array.fDriftTime) {
108 memcpy(fDriftTime,array.fDriftTime,fNPoints*sizeof(Float_t));
110 memset(fDriftTime, 0, fNPoints*sizeof(Float_t));
112 if (array.fIsExtra) {
113 memcpy(fIsExtra,array.fIsExtra,fNPoints*sizeof(Bool_t));
115 memset(fIsExtra, 0, fNPoints*sizeof(Bool_t));
117 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
118 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
121 //_____________________________________________________________________________
122 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
124 // assignment operator
126 if(this==&array) return *this;
127 ((TObject *)this)->operator=(array);
129 fSorted = array.fSorted;
130 fNPoints = array.fNPoints;
133 fX = new Float_t[fNPoints];
135 fY = new Float_t[fNPoints];
137 fZ = new Float_t[fNPoints];
139 fCharge = new Float_t[fNPoints];
140 delete [] fDriftTime;
141 fDriftTime = new Float_t[fNPoints];
143 fIsExtra = new Bool_t[fNPoints];
145 fVolumeID = new UShort_t[fNPoints];
147 fCov = new Float_t[fSize];
148 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
149 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
150 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
151 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
152 memcpy(fDriftTime,array.fDriftTime,fNPoints*sizeof(Float_t));
153 memcpy(fIsExtra,array.fIsExtra,fNPoints*sizeof(Bool_t));
154 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
155 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
160 //______________________________________________________________________________
161 AliTrackPointArray::~AliTrackPointArray()
169 delete [] fDriftTime;
176 //______________________________________________________________________________
177 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
179 // Add a point to the array at position i
181 if (i >= fNPoints) return kFALSE;
185 fCharge[i] = p->GetCharge();
186 fDriftTime[i] = p->GetDriftTime();
187 fIsExtra[i] = p->IsExtra();
188 fVolumeID[i] = p->GetVolumeID();
189 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
194 //______________________________________________________________________________
195 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
197 // Get the point at position i
199 if (i >= fNPoints) return kFALSE;
200 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
201 p.SetVolumeID(fVolumeID[i]);
202 p.SetCharge(fCharge[i]);
203 p.SetDriftTime(fDriftTime[i]);
204 p.SetExtra(fIsExtra ? fIsExtra[i] : kFALSE);
208 //______________________________________________________________________________
209 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
211 // This method checks if the array
212 // has at least one hit in the detector
213 // volume defined by volid
214 Bool_t check = kFALSE;
215 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
216 if (fVolumeID[ipoint] == volid) check = kTRUE;
221 //______________________________________________________________________________
222 void AliTrackPointArray::Sort(Bool_t down)
224 // Sort the array by the values of Y-coordinate of the track points.
225 // The order is given by "down".
226 // Optimized more for maintenance rather than for speed.
230 Int_t *index=new Int_t[fNPoints];
231 AliTrackPointArray a(*this);
232 TMath::Sort(fNPoints,a.GetY(),index,down);
235 for (Int_t i = 0; i < fNPoints; i++) {
236 a.GetPoint(p,index[i]);
244 ClassImp(AliTrackPoint)
246 //______________________________________________________________________________
247 AliTrackPoint::AliTrackPoint() :
257 // Default constructor
259 memset(fCov,0,6*sizeof(Float_t));
263 //______________________________________________________________________________
264 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid, Float_t charge, Float_t drifttime) :
278 SetDriftTime(drifttime);
282 //______________________________________________________________________________
283 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid, Float_t charge, Float_t drifttime) :
295 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
297 SetDriftTime(drifttime);
301 //______________________________________________________________________________
302 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
314 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
315 SetCharge(p.fCharge);
316 SetDriftTime(p.fDriftTime);
317 SetExtra(p.fIsExtra);
318 SetVolumeID(p.fVolumeID);
321 //_____________________________________________________________________________
322 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
324 // assignment operator
326 if(this==&p) return *this;
327 ((TObject *)this)->operator=(p);
329 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
330 SetCharge(p.fCharge);
331 SetDriftTime(p.fDriftTime);
332 SetExtra(p.fIsExtra);
333 SetVolumeID(p.fVolumeID);
338 //______________________________________________________________________________
339 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
341 // Set XYZ coordinates and their cov matrix
347 memcpy(fCov,cov,6*sizeof(Float_t));
350 //______________________________________________________________________________
351 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
353 // Set XYZ coordinates and their cov matrix
355 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
358 //______________________________________________________________________________
359 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
365 memcpy(cov,fCov,6*sizeof(Float_t));
368 //______________________________________________________________________________
369 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
371 // This method calculates the track to space-point residuals. The track
372 // interpolation is also stored as AliTrackPoint. Using the option
373 // 'weighted' one can calculate the residual either with or without
374 // taking into account the covariance matrix of the space-point and
375 // track interpolation. The second case the residual becomes a pull.
380 Float_t xyz[3],xyzp[3];
383 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
384 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
385 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
388 Float_t xyz[3],xyzp[3];
389 Float_t cov[6],covp[6];
392 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
393 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
394 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
396 TMatrixDSym mcovp(3);
397 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
398 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
399 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
400 TMatrixDSym msum = mcov + mcovp;
402 // mcov.Print(); mcovp.Print(); msum.Print();
403 if (msum.IsValid()) {
404 for (Int_t i = 0; i < 3; i++)
405 for (Int_t j = 0; j < 3; j++)
406 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
413 //_____________________________________________________________________________
414 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
417 // Get the intersection point between this point and
418 // the point "p" belongs to.
419 // The result is stored as a point 'out'
420 // return kFALSE in case of failure.
430 const Float_t *cv=GetCov();
431 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
432 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
433 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
443 const Float_t *cv=p.GetCov();
444 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
445 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
446 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
452 if (!tmW.IsValid()) return kFALSE;
454 TMatrixD mW(tC,TMatrixD::kMult,tmW);
455 TMatrixD tW(mC,TMatrixD::kMult,tmW);
457 TMatrixD mi(mW,TMatrixD::kMult,m);
458 TMatrixD ti(tW,TMatrixD::kMult,t);
461 TMatrixD iC(tC,TMatrixD::kMult,tmW);
464 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
465 UShort_t id=p.GetVolumeID();
471 //______________________________________________________________________________
472 Float_t AliTrackPoint::GetAngle() const
474 // The method uses the covariance matrix of
475 // the space-point in order to extract the
476 // orientation of the detector plane.
477 // The rotation in XY plane only is calculated.
479 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
481 phi = TMath::Pi() - phi;
482 if ((fY-fX) < 0) phi += TMath::Pi();
485 if ((fX+fY) < 0) phi += TMath::Pi();
492 //______________________________________________________________________________
493 Bool_t AliTrackPoint::GetRotMatrix(TGeoRotation& rot) const
495 // Returns the orientation of the
496 // sensitive layer (using cluster
497 // covariance matrix).
498 // Assumes that cluster has errors only in the layer's plane.
499 // Return value is kTRUE in case of success.
503 const Float_t *cov=GetCov();
504 mcov(0,0)=cov[0]; mcov(0,1)=cov[1]; mcov(0,2)=cov[2];
505 mcov(1,0)=cov[1]; mcov(1,1)=cov[3]; mcov(1,2)=cov[4];
506 mcov(2,0)=cov[2]; mcov(2,1)=cov[4]; mcov(2,2)=cov[5];
509 TMatrixDSymEigen eigen(mcov);
510 TMatrixD eigenMatrix = eigen.GetEigenVectors();
512 rot.SetMatrix(eigenMatrix.GetMatrixArray());
518 //_____________________________________________________________________________
519 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
521 // Transform the space-point coordinates
522 // and covariance matrix from global to
523 // local (detector plane) coordinate system
524 // XY plane rotation only
526 static AliTrackPoint p;
529 Float_t xyz[3],cov[6];
532 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
534 Float_t newxyz[3],newcov[6];
535 newxyz[0] = cos*xyz[0] + sin*xyz[1];
536 newxyz[1] = cos*xyz[1] - sin*xyz[0];
539 newcov[0] = cov[0]*cos*cos+
542 newcov[1] = cov[1]*(cos*cos-sin*sin)+
543 (cov[3]-cov[0])*sin*cos;
544 newcov[2] = cov[2]*cos+
546 newcov[3] = cov[0]*sin*sin-
549 newcov[4] = cov[4]*cos-
553 p.SetXYZ(newxyz,newcov);
554 p.SetVolumeID(GetVolumeID());
559 //_____________________________________________________________________________
560 AliTrackPoint& AliTrackPoint::MasterToLocal() const
562 // Transform the space-point coordinates
563 // and the covariance matrix from the
564 // (master) to the local (tracking)
567 Float_t alpha = GetAngle();
568 return Rotate(alpha);
571 //_____________________________________________________________________________
572 void AliTrackPoint::Print(Option_t *) const
574 // Print the space-point coordinates and
577 printf("VolumeID=%d\n", GetVolumeID());
578 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
579 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
580 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
581 printf("Charge = %f\n", fCharge);
582 printf("Drift Time = %f\n", fDriftTime);
583 if(fIsExtra) printf("This is an extra point\n");
588 //________________________________
589 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
590 // Add the uncertainty on the cluster position due to alignment
591 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
592 // present Cov. Matrix
600 cov(1,0)=cov(0,1)=fCov[1];
601 cov(2,0)=cov(0,2)=fCov[2];
603 cov(2,1)=cov(1,2)=fCov[4];
606 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
607 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
608 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
609 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
610 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
611 jacob(0,5) = -fY; jacob(1,5) = fX; jacob(2,5) = 0;
613 TMatrixD jacobT=jacob.T();jacob.T();
615 coval=jacob*alignparmtrx*jacobT+cov;
618 newcov[0]=coval(0,0);
619 newcov[1]=coval(1,0);
620 newcov[2]=coval(2,0);
621 newcov[3]=coval(1,1);
622 newcov[4]=coval(2,1);
623 newcov[5]=coval(2,2);
625 SetXYZ(fX,fY,fZ,newcov);