// Implementation of the alignment object class, holding the alignment
// constants for a single volume, through the abstract class AliAlignObj.
// From it two derived concrete representation of alignment object class
-// (AliAlignObjAngles, AliAlignObjMatrix) are derived in separate files.
+// (AliAlignObjParams, AliAlignObjMatrix) are derived in separate files.
//-----------------------------------------------------------------
-#include <TClass.h>
#include <TGeoManager.h>
+#include <TGeoMatrix.h>
#include <TGeoPhysicalNode.h>
+#include <TGeoOverlap.h>
#include <TMath.h>
-#include "TObjString.h"
#include "AliAlignObj.h"
#include "AliTrackPointArray.h"
#include "AliLog.h"
-#include "AliAlignObjAngles.h"
ClassImp(AliAlignObj)
fVolUID(0)
{
// default constructor
- // InitSymNames();
+ for(Int_t i=0; i<6; i++) fDiag[i]=-999.;
+ for(Int_t i=0; i<15; i++) fODia[i]=-999.;
}
//_____________________________________________________________________________
{
// standard constructor
//
+ for(Int_t i=0; i<6; i++) fDiag[i]=-999.;
+ for(Int_t i=0; i<15; i++) fODia[i]=-999.;
+}
+
+//_____________________________________________________________________________
+AliAlignObj::AliAlignObj(const char* symname, UShort_t voluid, Double_t* cmat) :
+ TObject(),
+ fVolPath(symname),
+ fVolUID(voluid)
+{
+ // standard constructor
+ //
+ SetCorrMatrix(cmat);
}
//_____________________________________________________________________________
fVolUID(theAlignObj.GetVolUID())
{
//copy constructor
+ for(Int_t i=0; i<6; i++) fDiag[i]=theAlignObj.fDiag[i];
+ for(Int_t i=0; i<15; i++) fODia[i]=theAlignObj.fODia[i];
}
//_____________________________________________________________________________
if(this==&theAlignObj) return *this;
fVolPath = theAlignObj.GetSymName();
fVolUID = theAlignObj.GetVolUID();
+ for(Int_t i=0; i<6; i++) fDiag[i]=theAlignObj.fDiag[i];
+ for(Int_t i=0; i<15; i++) fODia[i]=theAlignObj.fODia[i];
return *this;
}
theAlignObj.GetMatrix(m2);
m1.MultiplyLeft(&m2);
SetMatrix(m1);
+ // temporary solution: the covariance matrix of the resulting combined object
+ // is set equal to the covariance matrix of the right operand
+ // (not to be used for combining alignment objects for different levels)
+ for(Int_t i=0; i<6; i++) fDiag[i] = theAlignObj.fDiag[i];
+ for(Int_t i=0; i<15; i++) fODia[i] = theAlignObj.fODia[i];
return *this;
}
// slashes in the corresponding volume path
//
if(!gGeoManager){
- AliWarning("gGeoManager doesn't exist or it is still opened: unable to return meaningful level value.");
+ AliWarning("gGeoManager doesn't exist or it is still open: unable to return meaningful level value.");
return (-1);
}
const char* symname = GetSymName();
path = symname;
}
- TString path_str = path;
- if(path_str[0]!='/') path_str.Prepend('/');
- return path_str.CountChar('/');
+ TString pathStr = path;
+ if(pathStr[0]!='/') pathStr.Prepend('/');
+ return pathStr.CountChar('/');
}
//_____________________________________________________________________________
return ((level > level2) ? 1 : -1);
}
+//______________________________________________________________________________
+void AliAlignObj::GetCovMatrix(Double_t *cmat) const
+{
+ // Fills the cmat argument with the coefficients of the external cov matrix (21 elements)
+ // calculating them from the correlation matrix data member
+ //
+
+ for(Int_t i=0; i<6; ++i) {
+ // Off diagonal elements
+ for(Int_t j=0; j<i; ++j) {
+ cmat[i*(i+1)/2+j] = (fDiag[j] >= 0. && fDiag[i] >= 0.) ? fODia[(i-1)*i/2+j]*fDiag[j]*fDiag[i]: -999.;
+ }
+
+ // Diagonal elements
+ cmat[i*(i+1)/2+i] = (fDiag[i] >= 0.) ? fDiag[i]*fDiag[i] : -999.;
+ }
+
+ return;
+}
+
+//______________________________________________________________________________
+void AliAlignObj::GetCovMatrix(TMatrixDSym& mcov) const
+{
+ // Fills the matrix m passed as argument as the covariance matrix calculated
+ // from the coefficients of the reduced covariance matrix data members
+ //
+
+ for(Int_t i=0; i<6; ++i) {
+ // Off diagonal elements
+ for(Int_t j=0; j<i; ++j) {
+ mcov(j,i) = mcov(i,j) = (fDiag[j] >= 0. && fDiag[i] >= 0.) ? fODia[(i-1)*i/2+j]*fDiag[j]*fDiag[i]: -999.;
+ }
+
+ // Diagonal elements
+ mcov(i,i) = (fDiag[i] >= 0.) ? fDiag[i]*fDiag[i] : -999.;
+ }
+
+}
+
+//______________________________________________________________________________
+Bool_t AliAlignObj::GetLocalCovMatrix(TMatrixDSym& lCov) const
+{
+ // Calculates the covariance matrix (6x6) associated to the six parameters
+ // defining the current alignment in the global coordinates system (and sets
+ // in the internal data members) from the covariance matrix (6x6) for the six
+ // parameters defining the alignment transformation in the local coordinates
+ // system, passed as an argument.
+ //
+ TMatrixD mJ(6,6);// the jacobian of the transformation from local to global parameters
+ if(!GetJacobian(mJ)) return kFALSE;
+
+ TMatrixDSym gCov(6);
+ GetCovMatrix(gCov);
+
+ // Compute the local covariance matrix lcov = mJ^T gcov mJ
+ TMatrixD gcovJ(gCov,TMatrixD::kMult,mJ);
+ TMatrixD lCovM(mJ,TMatrixD::kTransposeMult,gcovJ);
+ // To be done: somehow check that lCovM is close enough to be symmetric
+ for(Int_t i=0; i<6; i++)
+ {
+ lCov(i,i) = lCovM(i,i);
+ for(Int_t j=i+1; j<6; j++)
+ {
+ lCov(i,j)=lCovM(i,j);
+ lCov(j,i)=lCovM(i,j);
+ }
+ }
+
+ return kTRUE;
+
+}
+
+//______________________________________________________________________________
+Bool_t AliAlignObj::GetLocalCovMatrix(Double_t *lCov) const
+{
+ // Calculates the covariance matrix (6x6) associated to the six parameters
+ // defining the current alignment in the global coordinates system (and sets
+ // in the internal data members) from the covariance matrix (6x6) for the six
+ // parameters defining the alignment transformation in the local coordinates
+ // system, passed as an argument.
+ //
+ TMatrixDSym lCovMatrix(6);
+ GetLocalCovMatrix(lCovMatrix);
+
+ Int_t k=0;
+ for(Int_t i=0; i<6; i++)
+ for(Int_t j=i; j<6; j++)
+ {
+ lCov[k++] = lCovMatrix(i,j);
+ }
+
+ return kTRUE;
+}
+
+//______________________________________________________________________________
+Bool_t AliAlignObj::GetJacobian(TMatrixD& mJ) const
+{
+ // Compute the jacobian J of the transformation of the six local to the six global delta parameters
+ //
+ // R00 R01 R02 | (R01Rk2 - R02Rk1)Tk (R02Rk0 - R00Rk2)Tk (R00Rk1 - R01Rk0)Tk
+ // R00 R01 R02 | (R11Rk2 - R12Rk1)Tk (R12Rk0 - R10Rk2)Tk (R10Rk1 - R11Rk0)Tk
+ // R00 R01 R02 | (R21Rk2 - R22Rk1)Tk (R22Rk0 - R20Rk2)Tk (R20Rk1 - R21Rk0)Tk
+ // - - - - - - - - - - - - - - - - - - - - - - -
+ // 0 0 0 | R11R22 - R12R21 R12R20 - R10R22 R10R21 - R11R20
+ // 0 0 0 | R21R02 - R22R01 R22R00 - R20R02 R20R01 - R21R00
+ // 0 0 0 | R01R12 - R02R11 R02R10 - R00R12 R00R11 - R01R10
+ //
+ if (!gGeoManager || !gGeoManager->IsClosed()) {
+ AliError("Can't compute the global covariance matrix from the local one without an open geometry!");
+ return kFALSE;
+ }
+
+ const char* symname = GetSymName();
+ TGeoPhysicalNode* node;
+ TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
+ if(pne){
+ if(!pne->GetPhysicalNode()){
+ node = gGeoManager->MakeAlignablePN(pne);
+ }else{
+ node = pne->GetPhysicalNode();
+ }
+ }else{
+ AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname));
+ node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(symname);
+ }
+
+ if (!node) {
+ AliError(Form("Volume name or path %s not valid!",symname));
+ return kFALSE;
+ }
+
+ TGeoHMatrix gm; //global matrix
+ gm = *node->GetMatrix();
+ Double_t *tr = gm.GetTranslation();
+ Double_t *rot = gm.GetRotationMatrix();
+
+ TGeoHMatrix m; // global delta transformation matrix
+ GetMatrix(m);
+ // We should probably check that it's sufficinetly close to identity
+ // if it's not return because the "small angles" approximation cannot hold
+
+ // 3x3 upper left part (global shifts derived w.r.t. local shifts)
+ for(Int_t i=0; i<3; i++)
+ {
+ for(Int_t j=0; j<3; j++)
+ {
+ mJ(i,j) = rot[i+3*j];
+ }
+ }
+
+ // 3x3 lower left part (global angles derived w.r.t. local shifts)
+ for(Int_t i=0; i<3; i++)
+ {
+ for(Int_t j=0; j<3; j++)
+ {
+ mJ(i+3,j) = 0.;
+ }
+ }
+
+ // 3x3 upper right part (global shifts derived w.r.t. local angles)
+ for(Int_t i=0; i<3; i++)
+ {
+ for(Int_t j=0; j<3; j++)
+ {
+ Double_t mEl = 0.;
+ Int_t b = (j+1)%3;
+ Int_t d = (j+2)%3;
+ for(Int_t k=0; k<3; k++)
+ {
+ mEl += (rot[3*i+b]*rot[3*k+d])*tr[k]-(rot[3*i+d]*rot[3*k+b])*tr[k];
+ }
+ mJ(i,j+3) = mEl;
+ }
+ }
+
+ // 3x3 lower right part (global angles derived w.r.t. local angles)
+ for(Int_t i=0; i<3; i++)
+ for(Int_t j=0; j<3; j++)
+ {
+ Int_t a = (i+1)%3;
+ Int_t b = (j+1)%3;
+ Int_t c = (i+2)%3;
+ Int_t d = (j+2)%3;
+ mJ(i+3,j+3) = rot[3*a+b]*rot[3*c+d]-rot[3*a+d]*rot[3*c+b];
+ }
+
+ return kTRUE;
+
+}
+
+//______________________________________________________________________________
+Bool_t AliAlignObj::SetFromLocalCov(TMatrixDSym& lCov)
+{
+ // Calculates the covariance matrix (6x6) associated to the six parameters
+ // defining the current alignment in the global coordinates system (and sets
+ // in the internal data members) from the covariance matrix (6x6) for the six
+ // parameters defining the alignment transformation in the local coordinates
+ // system, passed as an argument.
+ //
+ TMatrixD mJ(6,6);// the jacobian of the transformation from local to global parameters
+ if(!GetJacobian(mJ)) return kFALSE;
+
+ // Compute the global covariance matrix gcov = mJ lcov mJ'
+ TMatrixD trJ(TMatrixD::kTransposed, mJ);
+ TMatrixD lcovTrJ(lCov,TMatrixD::kMult,trJ);
+ TMatrixD gCovM(mJ,TMatrixD::kMult,lcovTrJ);
+ // To be done: somehow check that gCovM is close enough to be symmetric
+ TMatrixDSym gCov(6);
+ for(Int_t i=0; i<6; i++)
+ {
+ gCov(i,i) = gCovM(i,i);
+ for(Int_t j=i+1; j<6; j++)
+ {
+ gCov(i,j)=gCovM(i,j);
+ gCov(j,i)=gCovM(i,j);
+ }
+ }
+ SetCorrMatrix(gCov);
+
+ return kTRUE;
+
+}
+
+//______________________________________________________________________________
+Bool_t AliAlignObj::SetFromLocalCov(Double_t *lCov)
+{
+ // Calculates the covariance matrix (6x6) associated to the six parameters
+ // defining the current alignment in the global coordinates system, and sets
+ // in the internal data members, from the 21 coefficients, passed as argument,
+ // of the covariance matrix (6x6) for the six parameters defining the
+ // alignment transformation in the local coordinates system.
+ //
+ TMatrixDSym lCovMatrix(6);
+
+ Int_t k=0;
+ for(Int_t i=0; i<6; i++)
+ for(Int_t j=i; j<6; j++)
+ {
+ lCovMatrix(i,j) = lCov[k++];
+ if(j!=i) lCovMatrix(j,i) = lCovMatrix(i,j);
+ }
+
+ return SetFromLocalCov(lCovMatrix);
+
+}
+
+
+//______________________________________________________________________________
+void AliAlignObj::SetCorrMatrix(Double_t *cmat)
+{
+ // Sets the correlation matrix data member from the coefficients of the external covariance
+ // matrix (21 elements passed as argument).
+ //
+ if(cmat) {
+
+ // Diagonal elements first
+ for(Int_t i=0; i<6; ++i) {
+ fDiag[i] = (cmat[i*(i+1)/2+i] >= 0.) ? TMath::Sqrt(cmat[i*(i+1)/2+i]) : -999.;
+ }
+
+ // ... then the ones off diagonal
+ for(Int_t i=0; i<6; ++i)
+ // Off diagonal elements
+ for(Int_t j=0; j<i; ++j) {
+ fODia[(i-1)*i/2+j] = (fDiag[i] > 0. && fDiag[j] > 0.) ? cmat[i*(i+1)/2+j]/(fDiag[j]*fDiag[i]) : 0.; // check for division by zero (due to diagonal element of 0) and for fDiag != -999. (due to negative input diagonal element).
+ if (fODia[(i-1)*i/2+j]>1.) fODia[(i-1)*i/2+j] = 1.; // check upper boundary
+ if (fODia[(i-1)*i/2+j]<-1.) fODia[(i-1)*i/2+j] = -1.; // check lower boundary
+ }
+ } else {
+ for(Int_t i=0; i< 6; ++i) fDiag[i]=-999.;
+ for(Int_t i=0; i< 6*(6-1)/2; ++i) fODia[i]=0.;
+ }
+
+ return;
+}
+
+//______________________________________________________________________________
+void AliAlignObj::SetCorrMatrix(TMatrixDSym& mcov)
+{
+ // Sets the correlation matrix data member from the covariance matrix mcov passed
+ // passed as argument.
+ //
+ if(mcov.IsValid()) {
+
+ // Diagonal elements first
+ for(Int_t i=0; i<6; ++i) {
+ fDiag[i] = (mcov(i,i) >= 0.) ? TMath::Sqrt(mcov(i,i)) : -999.;
+ }
+
+ // ... then the ones off diagonal
+ for(Int_t i=0; i<6; ++i)
+ // Off diagonal elements
+ for(Int_t j=0; j<i; ++j) {
+ fODia[(i-1)*i/2+j] = (fDiag[i] > 0. && fDiag[j] > 0.) ? mcov(i,j)/(fDiag[j]*fDiag[i]) : 0.; // check for division by zero (due to diagonal element of 0) and for fDiag != -999. (due to negative input diagonal element).
+ if (fODia[(i-1)*i/2+j]>1.) fODia[(i-1)*i/2+j] = 1.; // check upper boundary
+ if (fODia[(i-1)*i/2+j]<-1.) fODia[(i-1)*i/2+j] = -1.; // check lower boundary
+ }
+ } else {
+ for(Int_t i=0; i< 6; ++i) fDiag[i]=-999.;
+ for(Int_t i=0; i< 6*(6-1)/2; ++i) fODia[i]=0.;
+ }
+
+ return;
+}
+
//_____________________________________________________________________________
void AliAlignObj::AnglesToMatrix(const Double_t *angles, Double_t *rot) const
{
}
//______________________________________________________________________________
-void AliAlignObj::Transform(AliTrackPoint &p) const
+void AliAlignObj::Transform(AliTrackPoint &p, Bool_t copycov) const
{
// The method transforms the space-point coordinates using the
// transformation matrix provided by the AliAlignObj
- // The covariance matrix is not affected since we assume
- // that the transformations are sufficiently small
+ // In case the copycov flag is set to kTRUE, the covariance matrix
+ // of the alignment object is copied into the space-point
//
if (fVolUID != p.GetVolumeID())
AliWarning(Form("Alignment object ID is not equal to the space-point ID (%d != %d)",fVolUID,p.GetVolumeID()));
xyzin[1]*rot[3*i+1]+
xyzin[2]*rot[3*i+2];
p.SetXYZ(xyzout);
+
+ if(copycov){
+ TMatrixDSym covmat(6);
+ GetCovMatrix(covmat);
+ p.SetAlignCovMatrix(covmat);
+ }
}
// returns false and the object parameters are not set.
//
if (!gGeoManager || !gGeoManager->IsClosed()) {
- AliError("Can't set the alignment object parameters! gGeoManager doesn't exist or it is still opened!");
+ AliError("Can't set the local alignment object parameters! gGeoManager doesn't exist or it is still open!");
return kFALSE;
}
const char* symname = GetSymName();
- TGeoPhysicalNode* node;
+ TGeoHMatrix gprime,gprimeinv;
+ TGeoPhysicalNode* pn = 0;
TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
- if(pne){
- node = gGeoManager->MakeAlignablePN(pne);
+ if(pne)
+ {
+ pn = pne->GetPhysicalNode();
+ if(pn){
+ if (pn->IsAligned())
+ AliWarning(Form("Volume %s has been misaligned already!",symname));
+ gprime = *pn->GetMatrix();
+ }else{
+ gprime = pne->GetGlobalOrig();
+ }
}else{
AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname));
- node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(symname);
- }
-
- if (!node) {
- AliError(Form("Volume name or path %s not valid!",symname));
- return kFALSE;
+ if(!gGeoManager->cd(symname)) {
+ AliError(Form("Volume name or path %s not valid!",symname));
+ return kFALSE;
+ }
+ gprime = *gGeoManager->GetCurrentMatrix();
}
- if (node->IsAligned())
- AliWarning(Form("Volume %s has been already misaligned!",symname));
- TGeoHMatrix m1;
+ TGeoHMatrix m1; // the TGeoHMatrix copy of the local delta "m"
const Double_t *tr = m.GetTranslation();
m1.SetTranslation(tr);
const Double_t* rot = m.GetRotationMatrix();
m1.SetRotation(rot);
- TGeoHMatrix align,gprime,gprimeinv;
- gprime = *node->GetMatrix();
gprimeinv = gprime.Inverse();
m1.Multiply(&gprimeinv);
m1.MultiplyLeft(&gprime);
// returns false and the object parameters are not set.
//
if (!gGeoManager || !gGeoManager->IsClosed()) {
- AliError("Can't set the alignment object parameters! gGeoManager doesn't exist or it is still opened!");
+ AliError("Can't get the local alignment object parameters! gGeoManager doesn't exist or it is still open!");
return kFALSE;
}
TGeoPhysicalNode* node;
TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
if(pne){
- node = gGeoManager->MakeAlignablePN(pne);
+ if(!pne->GetPhysicalNode()){
+ node = gGeoManager->MakeAlignablePN(pne);
+ }else{
+ node = pne->GetPhysicalNode();
+ }
}else{
AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname));
node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(symname);
AliError(Form("Volume name or path %s not valid!",symname));
return kFALSE;
}
- if (node->IsAligned())
- AliWarning(Form("Volume %s has been already misaligned!",symname));
+// if (node->IsAligned())
+// AliWarning(Form("Volume %s has been misaligned already!",symname));
GetMatrix(m);
TGeoHMatrix gprime,gprimeinv;
}
//_____________________________________________________________________________
-Bool_t AliAlignObj::ApplyToGeometry()
+Bool_t AliAlignObj::ApplyToGeometry(Bool_t ovlpcheck)
{
// Apply the current alignment object to the TGeo geometry
// This method returns FALSE if the symname of the object was not
// valid neither to get a TGeoPEntry nor as a volume path
//
if (!gGeoManager || !gGeoManager->IsClosed()) {
- AliError("Can't apply the alignment object! gGeoManager doesn't exist or it is still opened!");
+ AliError("Can't apply the alignment object! gGeoManager doesn't exist or it is still open!");
return kFALSE;
}
-
+
+ if (gGeoManager->IsLocked()){
+ AliError("Can't apply the alignment object! Geometry is locked!");
+ return kFALSE;
+ }
+
const char* symname = GetSymName();
const char* path;
TGeoPhysicalNode* node;
return kFALSE;
}
if (gGeoManager->GetListOfPhysicalNodes()->FindObject(path)) {
- AliError(Form("Volume %s has already been misaligned!",path));
+ AliError(Form("Volume %s has been misaligned already!",path));
return kFALSE;
}
node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(path);
return kFALSE;
}
+ // Double_t threshold = 0.001;
+
TGeoHMatrix align,gprime;
gprime = *node->GetMatrix();
GetMatrix(align);
Int_t modId; // unique identity for volume inside layer in the alobj
GetVolUID(layerId, modId);
AliDebug(2,Form("Aligning volume %s of detector layer %d with local ID %d",symname,layerId,modId));
- node->Align(ginv);
-
+ if(ovlpcheck){
+ node->Align(ginv,0,kTRUE); //(trunk of root takes threshold as additional argument)
+ }else{
+ node->Align(ginv,0,kFALSE);
+ }
+ if(ovlpcheck)
+ {
+ TObjArray* ovlpArray = gGeoManager->GetListOfOverlaps();
+ Int_t nOvlp = ovlpArray->GetEntriesFast();
+ if(nOvlp)
+ {
+ AliInfo(Form("Misalignment of node %s generated the following overlaps/extrusions:",node->GetName()));
+ for(Int_t i=0; i<nOvlp; i++)
+ ((TGeoOverlap*)ovlpArray->UncheckedAt(i))->PrintInfo();
+ }
+ }
+
return kTRUE;
}
+
git://git.uio.no / u / mrichter / AliRoot.git / blobdiff