+//
+// Class to take survey data and
+// transform that to alignment objects.
+//
+// FMD
+//
#include "AliFMDSurveyToAlignObjs.h"
#include "AliLog.h"
#include "AliSurveyPoint.h"
Double_t* trans,
Double_t* rot) const
{
+ //
+ // Calculate the plane translation and rotation from 3 survey points
+ //
+ // Parameters:
+ // a 1st Survey point
+ // b 2nd Survey point
+ // c 3rd Survey point
+ // trans Translation vector
+ // rot Rotation matrix (direction cosines)
+ //
+ // Return:
+ //
+ //
+
// Vector a->b, b->c, and normal to plane defined by these two
// vectors.
- TVector3 ab(b-a), bc(c-b);
+ TVector3 ab(b-a), bc(c-a);
// Normal vector to the plane of the fiducial marks obtained
// as cross product of the two vectors on the plane d0^d1
// The center of the square with the fiducial marks as the
// corners. The mid-point of one diagonal - md. Used to get the
// center of the surveyd box.
- TVector3 md(a + c);
- md *= 1/2.;
+ // TVector3 md(a + c);
+ // md *= 1/2.;
+ //Info("CalculatePlane", "corner=(%8f,%8f,%8f)", c.X(),c.Y(),c.Z());
+ //Info("CalculatePlane", "corner=(%8f,%8f,%8f)", b.X(),b.Y(),b.Z());
+ TVector3 md(c + b);
+ md *= 1./2;
+ //Info("CalculatePlane", "mid=(%8f,%8f,%8f)", md.X(),md.Y(),md.Z());
+ //Info("CalculatePlane", "normal=(%8f,%8f,%8f)", n.X(),n.Y(),n.Z());
// The center of the box.
TVector3 orig(md - depth * n);
+ // Info("CalculatePlane", "orig=(%8f,%8f,%8f)", orig.X(),orig.Y(),orig.Z());
trans[0] = orig[0];
trans[1] = orig[1];
trans[2] = orig[2];
+ //Info("CalculatePlane", "trans=(%8f,%8f,%8f)", trans[0],trans[1],trans[2]);
// Normalize the spanning vectors
TVector3 uab(ab.Unit());
for (size_t i = 0; i < 3; i++) {
rot[i * 3 + 0] = ubc[i];
rot[i * 3 + 1] = uab[i];
+ // rot[i * 3 + 0] = uab[i];
+ // rot[i * 3 + 1] = ubc[i];
rot[i * 3 + 2] = n[i];
}
return kTRUE;
Double_t* trans,
Double_t* rot) const
{
+ //
+ // Calculate the plane rotation and translation by doing a fit of
+ // the plane equation to the surveyed points. At least 4 points
+ // must be passed in the @a points array with corresponding errors
+ // in the array @a errors. The arrays are assumed to contain
+ // TVector3 objects.
+ //
+ // Parameters:
+ // points Array surveyed positions
+ // errors Array of errors corresponding to @a points
+ // depth Survey targets depth (perpendicular to the plane)
+ // trans On return, translation of the plane
+ // rot On return, rotation (direction cosines) of the plane
+ //
+ // Return:
+ // @c true on success, @c false otherwise
+ //
+
Int_t nPoints = points.GetEntries();
if (nPoints < 4) {
AliError(Form("Cannot fit a plane equation to less than 4 survey points, "
g.SetPoint(i, p->X(), p->Y(), p->Z());
g.SetPointError(i, e->X(), e->Y(), e->Z());
+
}
// Check that we have enough points
//____________________________________________________________________
Bool_t
AliFMDSurveyToAlignObjs::MakeDelta(const char* path,
- Double_t* rot,
- Double_t* trans,
+ const Double_t* rot,
+ const Double_t* trans,
TGeoHMatrix& delta) const
{
- // Make delta transformation
+ //
+ // Create a delta transform from a global rotation matrix and
+ // translation.
+ //
+ // Parameters:
+ // path Path of element to transform.
+ // rot Rotation matrix (direction cosines)
+ // trans Translation
+ // delta On return, the delta transform
+ //
+ // Return:
+ // Newly
+ //
if (!gGeoManager) return kFALSE;
if (!gGeoManager->cd(path)) return kFALSE;
//____________________________________________________________________
Bool_t
-AliFMDSurveyToAlignObjs::MakeDelta(TGeoMatrix* global,
- Double_t* rot,
- Double_t* trans,
+AliFMDSurveyToAlignObjs::MakeDelta(const TGeoMatrix* global,
+ const Double_t* rot,
+ const Double_t* trans,
TGeoHMatrix& delta) const
{
- // Make delta transformation
+ //
+ // Create a delta transform from a global rotation matrix and
+ // translation.
+ //
+ // Parameters:
+ // global Global matrix of element to transform.
+ // rot Rotation matrix (direction cosines)
+ // trans Translation
+ // delta On return, the delta transform
+ //
+ // Return:
+ // Newly
+ //
TGeoHMatrix* geoM = new TGeoHMatrix;
geoM->SetTranslation(trans);
geoM->SetRotation(rot);
+ // Info("MakeDelta", "The HMatrix from survey");
+ // geoM->Print();
+ // Info("MakeDelta", "The global matrix");
+ // global->Print();
delta = global->Inverse();
+ // Info("MakeDelta", "The inverse global matrix");
+ // delta.Print();
delta.MultiplyLeft(geoM);
-
+ // Info("MakeDelta", "The delta matrix");
+ // delta.Print();
return true;
}
+namespace {
+ Double_t getFMD1Offset()
+ {
+ static Double_t off = 0;
+ return off;
+
+#if 0
+ if (off != 0) return off;
+
+ const char* lidN = "FMD1_lid_mat0";
+ TGeoMatrix* lidM = static_cast<TGeoMatrix*>(gGeoManager->GetListOfMatrices()
+ ->FindObject(lidN));
+ if (!lidM) {
+ Error("getFMD1Offset", "Couldn't find FMD1 lid transformation %s", lidN);
+ return 0;
+ }
+
+ const Double_t* lidT = lidM->GetTranslation();
+ Double_t lidZ = lidT[2];
+ off = lidZ-3.3;
+
+ return off;
+#endif
+ }
+}
+
//____________________________________________________________________
Bool_t
AliFMDSurveyToAlignObjs::GetFMD1Plane(Double_t* rot, Double_t* trans) const
{
+ //
+ // Get the FMD1 plane from the survey points
+ //
+ // Parameters:
+ // rot Rotation matrix (direction cosines)
+ // trans Translation
+ //
+ // Return:
+ // @c true on success, @c false otherwise.
+ //
// The possile survey points
- TVector3 icb, ict, ocb, oct, dummy;
+ TVector3 icb, ict, ocb, oct, eicb, eict, eocb, eoct;
Int_t missing = 0;
- if (!GetPoint("V0L_ICB", icb, dummy)) missing++;
- if (!GetPoint("V0L_ICT", ict, dummy)) missing++;
- if (!GetPoint("V0L_OCB", ocb, dummy)) missing++;
- if (!GetPoint("V0L_OCT", oct, dummy)) missing++;
+ if (!GetPoint("V0L_ICB", icb, eicb)) missing++;
+ if (!GetPoint("V0L_ICT", ict, eict)) missing++;
+ if (!GetPoint("V0L_OCB", ocb, eocb)) missing++;
+ if (!GetPoint("V0L_OCT", oct, eoct)) missing++;
// Check that we have enough points
if (missing > 1) {
4-missing));
return kFALSE;
}
-
#if 0
- const char* lidN = "FMD1_lid_mat0";
- TGeoMatrix* lidM = static_cast<TGeoMatrix*>(gGeoManager->GetListOfMatrices()
- ->FindObject(lidN));
- if (!lidM) {
- AliError(Form("Couldn't find FMD1 lid transformation %s", lidN));
- return kFALSE;
+ TObjArray points;
+ TObjArray errors;
+ points.Add(&icb); errors.Add(&eicb);
+ points.Add(&ict); errors.Add(&eict);
+ points.Add(&oct); errors.Add(&eoct);
+ points.Add(&ocb); errors.Add(&eocb);
+
+ Bool_t ret = FitPlane(points, errors, 0, trans, rot);
+ if (!ret) {
+ Warning("GetFMD1Plane", "fit to plane failed");
+ }
+ for (Int_t i = 0; i < 4; i++) {
+ TVector3* v = static_cast<TVector3*>(points.At(i));
+ TVector3* e = static_cast<TVector3*>(errors.At(i));
+ Info("GetFMD1Plane", "p%d=(%8f,%8f,%8f)+/-(%8f,%8f,%8f)",
+ i, v->X(), v->Y(), v->Z(), e->X(), e->Y(), e->Z());
}
-
- const Double_t* lidT = lidM->GetTranslation();
- Double_t lidZ = lidT[2];
- Double_t off = lidZ-3.3;
#else
- Double_t off = 0;
-#endif
+ Double_t off = getFMD1Offset();
+ Info("GetFMD1Plane", "Lid offset is %f", off);
- if (!CalculatePlane(ocb, icb, ict, off, trans, rot)) return kFALSE;
- // PrintRotation("FMD1 rotation:", rot);
- // PrintVector("FMD1 translation:", trans);
+ // if (!CalculatePlane(ocb, icb, ict, off, trans, rot)) return kFALSE;
+ // Bool_t ret = CalculatePlane(ocb, icb, oct, off, trans, rot);
+ Bool_t ret = CalculatePlane(oct, ocb, ict, off, trans, rot);
+#endif
+ PrintRotation("FMD1 rotation:", rot);
+ PrintVector("FMD1 translation:", trans);
- return kTRUE;
+ return ret;
}
//____________________________________________________________________
Bool_t
AliFMDSurveyToAlignObjs::DoFMD1()
{
+ //
+ // Do the FMD1 analysis. We have 4 survey targets on V0-A on the
+ // C-side. These are
+ //
+ // - V0A_ICT In-side, C-side, top.
+ // - V0A_ICB In-side, C-side, bottom.
+ // - V0A_OCT Out-side, C-side, top.
+ // - V0A_OCB Out-side, C-side, bottom.
+ //
+ // These 4 survey targets sit 3.3mm over the V0-A C-side surface, or
+ // 3.3mm over the back surface of FMD1.
+ //
+ // Since these are really sitting on a plane, we can use the method
+ // proposed by the CORE offline.
+ //
+ // Return:
+ // @c true on success, @c false otherwise.
+ //
+
// Do the FMD1 stuff
Double_t rot[9], trans[3];
if (!GetFMD1Plane(rot, trans)) return kFALSE;
// const char* path = "/ALIC_1/F1MT_1/FMD1_lid_0";
-
+
+#if 0
// TGeoHMatrix delta;
- TGeoTranslation global(0,0,324.670);
+ Double_t gRot[9], gTrans[3];
+ TVector3 ocb(-127, -220, 324.67);
+ TVector3 oct(-127, +220, 324.67);
+ TVector3 icb(+127, -220, 324.67);
+ TVector3 ict(+127, +220, 324.67);
+ if (!CalculatePlane(ocb, icb, oct, 0, gTrans, gRot)) {
+ Warning("DoFMD1", "Failed to make reference plane");
+ return kFALSE;
+ }
+ PrintRotation("FMD1 ref rotation:", gRot);
+ PrintVector("FMD1 ref translation:", gTrans);
+ TGeoRotation ggRot; ggRot.SetMatrix(gRot);
+ TGeoCombiTrans global(gTrans[0], gTrans[1], gTrans[2], &ggRot);
+#endif
+ Double_t off = getFMD1Offset();
+ Info("DoFMD1", "Lid offset is %f", off);
+
+ TGeoTranslation global(0,0,324.670-off);
if (!MakeDelta(&global, rot, trans, fFMD1Delta))
return kFALSE;
Bool_t
AliFMDSurveyToAlignObjs::GetFMD2Plane(Double_t* rot, Double_t* trans) const
{
+ //
+ // Get the surveyed plane corresponding to the backside of FMD2.
+ // The plane is done as a best fit of the plane equation to at least
+ // 4 of the available survey points.
+ //
+ // Parameters:
+ // rot Rotation matrix (direction cosines)
+ // trans Translation vector.
+ //
+ // Return:
+ // @c true on success, @c false otherwise
+ //
// The possible survey points
const char* names[] = { "FMD2_ITOP", "FMD2_OTOP",
TObjArray errors;
// Loop and fill graph
+ int i = 0;
while (*name) {
TVector3 p, e;
- if (!GetPoint(*name++, p, e)) continue;
+ if (!GetPoint(*name, p, e)) {
+ name++;
+ i++;
+ continue;
+ }
+ if (i == 5) {
+ Warning("GetFMD2plane", "Setting error on %d, %s to 0.4", i, *name);
+ e.SetXYZ(0.4, 0.4, 0.4); // OBOT
+ }
points.Add(new TVector3(p));
errors.Add(new TVector3(e));
+ name++;
+ i++;
}
if (points.GetEntries() < 4) {
AliWarning(Form("Only got %d survey points - no good for FMD2 plane",
Bool_t
AliFMDSurveyToAlignObjs::DoFMD2()
{
+ //
+ // Do the FMD2 calculations. We have 6 survey points of which only
+ // 5 are normally surveyed. These are all sittings
+ //
+ // - FMD2_ITOP - In-side, top
+ // - FMD2_IBOTM - In-side, middle bottom
+ // - FMD2_IBOT - In-side, bottom
+ // - FMD2_OTOP - Out-side, top
+ // - FMD2_OBOTM - Out-side, middle bottom
+ // - FMD2_OBOT - Out-side, bottom
+ //
+ // The nominal coordinates of these retro-fitted survey stickers
+ // isn't known. Also, these stickers are put on a thin (0.3mm
+ // thick) carbon cover which flexes quite easily. This means, that
+ // to rotations and xy-translation obtained from the survey data
+ // cannot be used, and left is only the z-translation.
+ //
+ // Further more, since FMD2 to is attached to the ITS SPD thermal
+ // screen, it is questionable if the FMD2 survey will ever be used.
+ //
+ // Return:
+ // @c true on success, @c false otherwise.
+ //
+
// Do the FMD2 stuff
Double_t rot[9], trans[3];
if (!GetFMD2Plane(rot, trans)) return kFALSE;
- // PrintRotation("FMD2 rotation:", rot);
- // PrintVector("FMD2 translation:", trans);
+ PrintRotation("FMD2 rotation:", rot);
+ PrintVector("FMD2 translation:", trans);
+#if 0
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
rot[i*3+j] = (i == j ? 1 : 0);
}
}
+#endif
trans[0] = trans[1] = 0;
trans[2] += 0.015;
// PrintRotation("FMD2 rotation:", rot);
void
AliFMDSurveyToAlignObjs::Run()
{
+ //
+ // Run the task.
+ //
+ //
+
AliFMDGeometry* geom = AliFMDGeometry::Instance();
geom->Init();
geom->InitTransformations();
DoFMD2();
}
+//____________________________________________________________________
+void
+AliFMDSurveyToAlignObjs::Run(const char** files)
+{
+ //
+ // Run the task.
+ //
+ //
+
+ AliFMDGeometry* geom = AliFMDGeometry::Instance();
+ geom->Init();
+ geom->InitTransformations();
+
+ const char** file = files;
+ while (*file) {
+ if ((*file)[0] == '\0') {
+ Warning("Run", "no file specified");
+ file++;
+ continue;
+ }
+ if (!LoadSurveyFromLocalFile(*file)) {
+ Warning("Run", "Failed to load %s", *file);
+ file++;
+ continue;
+ }
+ TString sDet(fSurveyObj->GetDetector());
+ Int_t d = Int_t(sDet[sDet.Length()-1] - '0');
+ Info("Run", "Making alignment for %s (%d)", sDet.Data(), d);
+ Bool_t ret = true;
+ switch (d) {
+ case 1: ret = DoFMD1(); break;
+ case 2: ret = DoFMD2(); break;
+ default:
+ Warning("Run", "Do not know how to deal with %s", sDet.Data());
+ break;
+ }
+ if (!ret) {
+ Warning("Run", "Calculation for %s failed", sDet.Data());
+ }
+ file++;
+ }
+ CreateAlignObjs();
+ GetAlignObjArray()->Print();
+ FillDefaultAlignObjs();
+}
+
+//____________________________________________________________________
+AliAlignObjParams*
+AliFMDSurveyToAlignObjs::CreateDefaultAlignObj(const TString& path,
+ Int_t id)
+{
+ Int_t nAlign = fAlignObjArray->GetEntries();
+ AliAlignObjParams* obj =
+ new ((*fAlignObjArray)[nAlign]) AliAlignObjParams(path.Data(),
+ id,0,0,0,0,0,0,kTRUE);
+ if (!obj) {
+ AliError(Form("Failed to create alignment object for %s", path.Data()));
+ return 0;
+ }
+ if (!obj->SetLocalPars(0, 0, 0, 0, 0, 0)) {
+ AliError(Form("Failed to set local transforms on %s", path.Data()));
+ return obj;
+ }
+ return obj;
+}
+
+//____________________________________________________________________
+AliAlignObjParams*
+AliFMDSurveyToAlignObjs::FindAlignObj(const TString& path) const
+{
+ AliAlignObjParams* p = 0;
+ for (int i = 0; i < fAlignObjArray->GetEntries(); i++) {
+ p = static_cast<AliAlignObjParams*>(fAlignObjArray->At(i));
+ if (path.EqualTo(p->GetSymName())) return p;
+ }
+ return 0;
+}
+
+//____________________________________________________________________
+Bool_t
+AliFMDSurveyToAlignObjs::FillDefaultAlignObjs()
+{
+ for (int d = 1; d <= 3; d++) {
+ const char sides[] = { 'T', 'B', 0 };
+ const char* side = sides;
+ while (*side) {
+ TString path = TString::Format("FMD/FMD%d_%c", d, *side);
+ if (!FindAlignObj(path)) CreateDefaultAlignObj(path, 0);
+
+ const char halves[] = { 'I', d == 1 ? '\0' : 'O', 0 };
+ const char* half = halves;
+ while (*half) {
+ int nsec = *half == 'I' ? 10 : 20;
+ int start = *side == 'T' ? 0 : nsec/2;
+ int end = *side == 'T' ? nsec/2 : nsec;
+ for (int s=start; s < end; s++) {
+ path = TString::Format("FMD/FMD%d_%c/FMD%c_%02d",
+ d, *side, *half, s);
+ CreateDefaultAlignObj(path, 0);
+ }
+ half++;
+ }
+ side++;
+ }
+
+ }
+ return true;
+}
+
//____________________________________________________________________
Bool_t
AliFMDSurveyToAlignObjs::CreateAlignObjs()
{
+ //
+ //
+ // Method to create the alignment objects
+ //
+ // Return:
+ // @c true on success, @c false otherwise
+ //
TClonesArray& array = *fAlignObjArray;
Int_t n = array.GetEntriesFast();
if (!fFMD1Delta.IsIdentity()) {
- new (array[n++]) AliAlignObjParams("FMD1/FMD1_T", 0, fFMD1Delta, kTRUE);
- new (array[n++]) AliAlignObjParams("FMD1/FMD1_B", 0, fFMD1Delta, kTRUE);
+ new (array[n++]) AliAlignObjParams("FMD/FMD1_T", 0, fFMD1Delta, kTRUE);
+ new (array[n++]) AliAlignObjParams("FMD/FMD1_B", 0, fFMD1Delta, kTRUE);
}
if (!fFMD2Delta.IsIdentity()) {
- new (array[n++]) AliAlignObjParams("FMD2/FMD2_T", 0, fFMD2Delta, kTRUE);
- new (array[n++]) AliAlignObjParams("FMD2/FMD2_B", 0, fFMD2Delta, kTRUE);
+ new (array[n++]) AliAlignObjParams("FMD/FMD2_T", 0, fFMD2Delta, kTRUE);
+ new (array[n++]) AliAlignObjParams("FMD/FMD2_B", 0, fFMD2Delta, kTRUE);
}
// array.Print();
void
AliFMDSurveyToAlignObjs::PrintVector(const char* text, const TVector3& v)
{
- // Print a vector
+ //
+ // Service member function to print a vector
+ //
+ // Parameters:
+ // text Prefix text
+ // v Vector
+ //
Double_t va[] = { v.X(), v.Y(), v.Z() };
PrintVector(text, va);
}
void
AliFMDSurveyToAlignObjs::PrintVector(const char* text, const Double_t* v)
{
- // Print a vector
+ //
+ // Service member function to print a vector
+ //
+ // Parameters:
+ // text Prefix text
+ // v Vector (array of 3 doubles)
+ //
std::cout << text
<< std::setw(15) << v[0]
<< std::setw(15) << v[1]
void
AliFMDSurveyToAlignObjs::PrintRotation(const char* text, const Double_t* rot)
{
- // Print a rotation matrix
+ //
+ // Service member function to print a rotation matrix
+ //
+ // Parameters:
+ // text Prefix text
+ // v Matrix (array of 9 doubles)
+ //
+
std::cout << text << std::endl;
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++)
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