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));
93 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
95 memset(fCharge, 0, fNPoints*sizeof(Float_t));
97 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
98 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
101 //_____________________________________________________________________________
102 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
104 // assignment operator
106 if(this==&array) return *this;
107 ((TObject *)this)->operator=(array);
109 fSorted = array.fSorted;
110 fNPoints = array.fNPoints;
113 fX = new Float_t[fNPoints];
115 fY = new Float_t[fNPoints];
117 fZ = new Float_t[fNPoints];
119 fCharge = new Float_t[fNPoints];
121 fVolumeID = new UShort_t[fNPoints];
123 fCov = new Float_t[fSize];
124 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
125 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
126 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
127 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
128 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
129 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
134 //______________________________________________________________________________
135 AliTrackPointArray::~AliTrackPointArray()
148 //______________________________________________________________________________
149 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
151 // Add a point to the array at position i
153 if (i >= fNPoints) return kFALSE;
157 fCharge[i] = p->GetCharge();
158 fVolumeID[i] = p->GetVolumeID();
159 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
164 //______________________________________________________________________________
165 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
167 // Get the point at position i
169 if (i >= fNPoints) return kFALSE;
170 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
171 p.SetVolumeID(fVolumeID[i]);
172 p.SetCharge(fCharge[i]);
176 //______________________________________________________________________________
177 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
179 // This method checks if the array
180 // has at least one hit in the detector
181 // volume defined by volid
182 Bool_t check = kFALSE;
183 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
184 if (fVolumeID[ipoint] == volid) check = kTRUE;
189 //______________________________________________________________________________
190 void AliTrackPointArray::Sort(Bool_t down)
192 // Sort the array by the values of Y-coordinate of the track points.
193 // The order is given by "down".
194 // Optimized more for maintenance rather than for speed.
198 Int_t *index=new Int_t[fNPoints];
199 AliTrackPointArray a(*this);
200 TMath::Sort(fNPoints,a.GetY(),index,down);
203 for (Int_t i = 0; i < fNPoints; i++) {
204 a.GetPoint(p,index[i]);
212 ClassImp(AliTrackPoint)
214 //______________________________________________________________________________
215 AliTrackPoint::AliTrackPoint() :
223 // Default constructor
225 memset(fCov,0,6*sizeof(Float_t));
229 //______________________________________________________________________________
230 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid, Float_t charge) :
245 //______________________________________________________________________________
246 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid, Float_t charge) :
256 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
261 //______________________________________________________________________________
262 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
272 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
273 SetCharge(p.fCharge);
274 SetVolumeID(p.fVolumeID);
277 //_____________________________________________________________________________
278 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
280 // assignment operator
282 if(this==&p) return *this;
283 ((TObject *)this)->operator=(p);
285 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
286 SetCharge(p.fCharge);
287 SetVolumeID(p.fVolumeID);
292 //______________________________________________________________________________
293 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
295 // Set XYZ coordinates and their cov matrix
301 memcpy(fCov,cov,6*sizeof(Float_t));
304 //______________________________________________________________________________
305 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
307 // Set XYZ coordinates and their cov matrix
309 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
312 //______________________________________________________________________________
313 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
319 memcpy(cov,fCov,6*sizeof(Float_t));
322 //______________________________________________________________________________
323 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
325 // This method calculates the track to space-point residuals. The track
326 // interpolation is also stored as AliTrackPoint. Using the option
327 // 'weighted' one can calculate the residual either with or without
328 // taking into account the covariance matrix of the space-point and
329 // track interpolation. The second case the residual becomes a pull.
334 Float_t xyz[3],xyzp[3];
337 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
338 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
339 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
342 Float_t xyz[3],xyzp[3];
343 Float_t cov[6],covp[6];
346 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
347 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
348 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
350 TMatrixDSym mcovp(3);
351 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
352 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
353 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
354 TMatrixDSym msum = mcov + mcovp;
356 // mcov.Print(); mcovp.Print(); msum.Print();
357 if (msum.IsValid()) {
358 for (Int_t i = 0; i < 3; i++)
359 for (Int_t j = 0; j < 3; j++)
360 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
367 //_____________________________________________________________________________
368 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
371 // Get the intersection point between this point and
372 // the point "p" belongs to.
373 // The result is stored as a point 'out'
374 // return kFALSE in case of failure.
384 const Float_t *cv=GetCov();
385 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
386 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
387 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
397 const Float_t *cv=p.GetCov();
398 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
399 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
400 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
406 if (!tmW.IsValid()) return kFALSE;
408 TMatrixD mW(tC,TMatrixD::kMult,tmW);
409 TMatrixD tW(mC,TMatrixD::kMult,tmW);
411 TMatrixD mi(mW,TMatrixD::kMult,m);
412 TMatrixD ti(tW,TMatrixD::kMult,t);
415 TMatrixD iC(tC,TMatrixD::kMult,tmW);
418 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
419 UShort_t id=p.GetVolumeID();
425 //______________________________________________________________________________
426 Float_t AliTrackPoint::GetAngle() const
428 // The method uses the covariance matrix of
429 // the space-point in order to extract the
430 // orientation of the detector plane.
431 // The rotation in XY plane only is calculated.
433 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
435 phi = TMath::Pi() - phi;
436 if ((fY-fX) < 0) phi += TMath::Pi();
439 if ((fX+fY) < 0) phi += TMath::Pi();
446 //_____________________________________________________________________________
447 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
449 // Transform the space-point coordinates
450 // and covariance matrix from global to
451 // local (detector plane) coordinate system
452 // XY plane rotation only
454 static AliTrackPoint p;
457 Float_t xyz[3],cov[6];
460 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
462 Float_t newxyz[3],newcov[6];
463 newxyz[0] = cos*xyz[0] + sin*xyz[1];
464 newxyz[1] = cos*xyz[1] - sin*xyz[0];
467 newcov[0] = cov[0]*cos*cos+
470 newcov[1] = cov[1]*(cos*cos-sin*sin)+
471 (cov[3]-cov[0])*sin*cos;
472 newcov[2] = cov[2]*cos+
474 newcov[3] = cov[0]*sin*sin-
477 newcov[4] = cov[4]*cos-
481 p.SetXYZ(newxyz,newcov);
482 p.SetVolumeID(GetVolumeID());
487 //_____________________________________________________________________________
488 AliTrackPoint& AliTrackPoint::MasterToLocal() const
490 // Transform the space-point coordinates
491 // and the covariance matrix from the
492 // (master) to the local (tracking)
495 Float_t alpha = GetAngle();
496 return Rotate(alpha);
499 //_____________________________________________________________________________
500 void AliTrackPoint::Print(Option_t *) const
502 // Print the space-point coordinates and
505 printf("VolumeID=%d\n", GetVolumeID());
506 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
507 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
508 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
509 printf("Charge = %f\n", fCharge);
514 //________________________________
515 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
516 // Add the uncertainty on the cluster position due to alignment
517 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
518 // present Cov. Matrix
526 cov(1,0)=cov(0,1)=fCov[1];
527 cov(2,0)=cov(0,2)=fCov[2];
529 cov(2,1)=cov(1,2)=fCov[4];
532 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
533 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
534 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
535 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
536 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
537 jacob(0,5) = -fY; jacob(1,5) = fX; jacob(2,5) = 0;
539 TMatrixD jacobT=jacob.T();jacob.T();
541 coval=jacob*alignparmtrx*jacobT+cov;
544 newcov[0]=coval(0,0);
545 newcov[1]=coval(1,0);
546 newcov[2]=coval(2,0);
547 newcov[3]=coval(1,1);
548 newcov[4]=coval(2,1);
549 newcov[5]=coval(2,2);
551 SetXYZ(fX,fY,fZ,newcov);