#include <TGeoManager.h>
#include <TGeoMatrix.h>
#include <TGeoPhysicalNode.h>
+#include <TGeoOverlap.h>
#include <TMath.h>
-#include <TMatrixDSym.h>
#include "AliAlignObj.h"
#include "AliTrackPointArray.h"
}
+//______________________________________________________________________________
+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)
{
}
const char* symname = GetSymName();
- TGeoPhysicalNode* node;
+ TGeoHMatrix gprime,gprimeinv;
+ TGeoPhysicalNode* pn = 0;
TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
- if(pne){
- if(!pne->GetPhysicalNode()){
- node = gGeoManager->MakeAlignablePN(pne);
+ if(pne)
+ {
+ pn = pne->GetPhysicalNode();
+ if(pn){
+ if (pn->IsAligned())
+ AliWarning(Form("Volume %s has been already misaligned!",symname));
+ gprime = *pn->GetMatrix();
}else{
- node = pne->GetPhysicalNode();
+ 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);
return kFALSE;
}
- Int_t nOvlpBefore = 0, nOvlpAfter = 0;
- Double_t threshold = 0.01;
+ // Double_t threshold = 0.001;
- if(ovlpcheck)
- {
- gGeoManager->cd(path);
- gGeoManager->CdUp();
- TGeoNode* start = gGeoManager->GetCurrentNode();
- nOvlpBefore = AliGeomManager::CheckOverlapsExtrusions(start, threshold);
- }
-
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,0);
-
-
if(ovlpcheck){
- TGeoNode* start = node->GetNode();
- nOvlpAfter = AliGeomManager::CheckOverlapsExtrusions(start, threshold);
- if(nOvlpBefore < nOvlpAfter){
- TString error(Form("The alignment of volume %s introduced %d new overlap",GetSymName(), nOvlpAfter-nOvlpBefore));
- if(nOvlpAfter-nOvlpBefore > 1) error+="s";
- AliError(error.Data());
- //return kFALSE;
+ 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