}
Double_t *ffP = fP, *ffC = fC, tmpP[8], tmpC[36];
- if( fNDF==-1 ){
+ if( fNDF==-1 ){
GetMeasurement( fVtxGuess, tmpP, tmpC );
ffP = tmpP;
ffC = tmpC;
}
Double_t m[8], mV[36];
+
if( Daughter.fC[35]>0 ){
Daughter.GetMeasurement( fVtxGuess, m, mV );
} else {
for( Int_t i=0; i<8; i++ ) m[i] = Daughter.fP[i];
for( Int_t i=0; i<36; i++ ) mV[i] = Daughter.fC[i];
}
-
+
//*
Double_t mS[6];
Double_t mSi[6] = { ffC[0]+mV[0],
ffC[1]+mV[1], ffC[2]+mV[2],
ffC[3]+mV[3], ffC[4]+mV[4], ffC[5]+mV[5] };
-
+
mS[0] = mSi[2]*mSi[5] - mSi[4]*mSi[4];
mS[1] = mSi[3]*mSi[4] - mSi[1]*mSi[5];
mS[2] = mSi[0]*mSi[5] - mSi[3]*mSi[3];
//* Residual (measured - estimated)
Double_t zeta[3] = { m[0]-ffP[0], m[1]-ffP[1], m[2]-ffP[2] };
+
//* CHt = CH' - D'
ffC[26] += mV[26];
ffC[27] += mV[27];
- //* New estimation of the vertex position r += K*zeta
+
+ //* New estimation of the vertex position r += K*zeta
for(Int_t i=0;i<7;++i)
fP[i] = ffP[i] + k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2];
//* New covariance matrix C -= K*(mCH')'
-
+
for(Int_t i=0, k=0;i<7;++i){
- for(Int_t j=0;j<=i;++j,++k)
+ for(Int_t j=0;j<=i;++j,++k){
fC[k] = ffC[k] - (k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j] );
+ }
}
-
+
//* Calculate Chi^2
fNDF += 2;
fChi2 += (mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
+ (mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
+ (mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2];
+
}
}
mAi[1] = fC[3]*fC[4] - fC[1]*fC[5];
mAi[3] = fC[1]*fC[4] - fC[2]*fC[3];
Double_t det = (fC[0]*mAi[0] + fC[1]*mAi[1] + fC[3]*mAi[3]);
- if( det>1.e-8 ) det = 1./det;
+ if( det>1.e-20 ) det = 1./det;
else det = 0;
mAi[0] *= det;
mAi[1] *= det;
mAi[3] *= det;
- mAi[2] = ( fC[3]*fC[3] - fC[0]*fC[5] )*det;
- mAi[4] = ( fC[0]*fC[4] - fC[1]*fC[3] )*det;
- mAi[5] = ( fC[1]*fC[1] - fC[0]*fC[2] )*det;
+ mAi[2] = ( fC[0]*fC[5] - fC[3]*fC[3] )*det;
+ mAi[4] = ( fC[1]*fC[3] - fC[0]*fC[4] )*det;
+ mAi[5] = ( fC[0]*fC[2] - fC[1]*fC[1] )*det;
Double_t mB[5][3];
det = ( mAV[0]*mAVi[0] + mAV[1]*mAVi[1] + mAV[3]*mAVi[3] );
- if( TMath::Abs(det) > 1.E-8 ){
+ if( TMath::Abs(det) > 1.E-20 ){
Double_t dChi2 = ( +(mAVi[0]*z[0] + mAVi[1]*z[1] + mAVi[3]*z[2])*z[0]
+(mAVi[1]*z[0] + mAVi[2]*z[1] + mAVi[4]*z[2])*z[1]
cB= (1-c)/bq;
sB= s/bq;
}else{
- sB = (1. - bs*bs/6.)*ss[i];
+ const Double_t kOvSqr6 = 1./TMath::Sqrt(6.);
+ sB = (1.-bs*kOvSqr6)*(1.+bs*kOvSqr6)*ss[i];
cB = .5*sB*bs;
}
g[i][0] = fP[0] + sB*px + cB*py;
cB= (1-c)/bq;
sB= sss/bq;
}else{
- sB = (1. - bs*bs/6.)*ss[i];
+ const Double_t kOvSqr6 = 1./TMath::Sqrt(6.);
+ sB = (1.-bs*kOvSqr6)*(1.+bs*kOvSqr6)*ss[i];
cB = .5*sB*bs;
}
g[i][0] = fP[0] + sB*px + cB*py;
cB= (1-c)/bq1;
sB= sss/bq1;
}else{
- sB = (1. - bs*bs/6.)*ss1[i];
+ const Double_t kOvSqr6 = 1./TMath::Sqrt(6.);
+ sB = (1.-bs*kOvSqr6)*(1.+bs*kOvSqr6)*ss1[i];
cB = .5*sB*bs;
}
}
-void AliKFParticleBase::TransportBz( Double_t b, Double_t ss,
- Double_t p[], Double_t cc[] ) const
+void AliKFParticleBase::TransportBz( Double_t b, Double_t t,
+ Double_t p[], Double_t e[] ) const
{
//* Transport the particle on dS, output to P[],C[], for Bz field
const Double_t kCLight = 0.000299792458;
b = b*fQ*kCLight;
- Double_t bs= b*ss;
+ Double_t bs= b*t;
Double_t s = TMath::Sin(bs), c = TMath::Cos(bs);
Double_t sB, cB;
if( TMath::Abs(bs)>1.e-10){
sB= s/b;
cB= (1-c)/b;
}else{
- sB = (1. - bs*bs/6.)*ss;
+ const Double_t kOvSqr6 = 1./TMath::Sqrt(6.);
+ sB = (1.-bs*kOvSqr6)*(1.+bs*kOvSqr6)*t;
cB = .5*sB*bs;
}
p[0] = fP[0] + sB*px + cB*py;
p[1] = fP[1] - cB*px + sB*py;
- p[2] = fP[2] + ss*pz;
+ p[2] = fP[2] + t*pz;
p[3] = c*px + s*py;
p[4] = -s*px + c*py;
p[5] = fP[5];
p[6] = fP[6];
p[7] = fP[7];
-
+
+ /*
Double_t mJ[8][8] = { {1,0,0, sB, cB, 0, 0, 0 },
{0,1,0, -cB, sB, 0, 0, 0 },
- {0,0,1, 0, 0, ss, 0, 0 },
+ {0,0,1, 0, 0, t, 0, 0 },
{0,0,0, c, s, 0, 0, 0 },
{0,0,0, -s, c, 0, 0, 0 },
{0,0,0, 0, 0, 1, 0, 0 },
for( Int_t k=0,i=0; i<8; i++)
for( Int_t j=0; j<=i; j++, k++ ){
- cc[k] = 0;
- for( Int_t l=0; l<8; l++ ) cc[k]+=mJC[i][l]*mJ[j][l];
+ e[k] = 0;
+ for( Int_t l=0; l<8; l++ ) e[k]+=mJC[i][l]*mJ[j][l];
}
return;
- /*
- Double_t cBC13 = cB*fC[13];
- Double_t C17 = fC[17];
- Double_t C18 = fC[18];
- fC[ 0]+= 2*(sB*fC[ 6] + cB*fC[10]) + (sB*fC[ 9] + 2*cBC13)*sB + cB*cB*fC[14];
-
- Double_t mJC13= fC[ 7] - cB*fC[ 9] + sB*fC[13];
- Double_t mJC14= fC[11] - cBC13 + sB*fC[14];
-
- fC[ 1]+= -cB*fC[ 6] + sB*fC[10] +mJC13*sB +mJC14*cB;
- fC[ 2]+= -cB*fC[ 7] + sB*fC[11] -mJC13*cB +mJC14*sB;
-
- Double_t mJC23= fC[ 8] + S*fC[18];
- Double_t mJC24= fC[12] + S*fC[19];
- fC[ 3]+= S*fC[15] +mJC23*sB +mJC24*cB;
- fC[ 4]+= S*fC[16] -mJC23*cB +mJC24*sB;
-
- fC[15]+= C18*sB + fC[19]*cB;
- fC[16]+= -C18*cB + fC[19]*sB;
- fC[17]+= fC[20]*S;
- fC[18] = C18*c + fC[19]*s;
- fC[19] = -C18*s + fC[19]*c;
-
- fC[ 5]+= (C17 + C17 + fC[17])*S;
-
- Double_t mJC33= c*fC[ 9] + s*fC[13]; Double_t mJC34= c*fC[13] + s*fC[14];
- Double_t mJC43=-s*fC[ 9] + c*fC[13]; Double_t mJC44=-s*fC[13] + c*fC[14];
- Double_t C6= fC[6], C7= fC[7], C8= fC[8];
-
- fC[ 6]= c*C6 + s*fC[10] +mJC33*sB +mJC34*cB;
- fC[ 7]= c*C7 + s*fC[11] -mJC33*cB +mJC34*sB;
- fC[ 8]= c*C8 + s*fC[12] +fC[18]*S;
- fC[ 9]= mJC33*c +mJC34*s;
-
- fC[10]= -s*C6 + c*fC[10] +mJC43*sB +mJC44*cB;
- fC[11]= -s*C7 + c*fC[11] -mJC43*cB +mJC44*sB;
- fC[12]= -s*C8 + c*fC[12] +fC[19]*S;
- fC[13]= mJC43*c +mJC44*s;
- fC[14]=-mJC43*s +mJC44*c;
*/
+
+ Double_t
+ c6=fC[6], c7=fC[7], c8=fC[8], c17=fC[17], c18=fC[18],
+ c24 = fC[24], c31 = fC[31];
+
+ Double_t
+ cBC13 = cB*fC[13],
+ mJC13 = c7 - cB*fC[9] + sB*fC[13],
+ mJC14 = fC[11] - cBC13 + sB*fC[14],
+ mJC23 = c8 + t*c18,
+ mJC24 = fC[12] + t*fC[19],
+ mJC33 = c*fC[9] + s*fC[13],
+ mJC34 = c*fC[13] + s*fC[14],
+ mJC43 = -s*fC[9] + c*fC[13],
+ mJC44 = -s*fC[13] + c*fC[14];
+
+
+ e[0]= fC[0] + 2*(sB*c6 + cB*fC[10]) + (sB*fC[9] + 2*cBC13)*sB + cB*cB*fC[14];
+ e[1]= fC[1] - cB*c6 + sB*fC[10] + mJC13*sB + mJC14*cB;
+ e[2]= fC[2] - cB*c7 + sB*fC[11] - mJC13*cB + mJC14*sB;
+ e[3]= fC[3] + t*fC[15] + mJC23*sB + mJC24*cB;
+ e[4]= fC[4] + t*fC[16] - mJC23*cB + mJC24*sB;
+
+ e[15]= fC[15] + c18*sB + fC[19]*cB;
+ e[16]= fC[16] - c18*cB + fC[19]*sB;
+ e[17]= c17 + fC[20]*t;
+ e[18]= c18*c + fC[19]*s;
+ e[19]= -c18*s + fC[19]*c;
+
+ e[5]= fC[5] + (c17 + e[17] )*t;
+
+ e[6]= c*c6 + s*fC[10] + mJC33*sB + mJC34*cB;
+ e[7]= c*c7 + s*fC[11] - mJC33*cB + mJC34*sB;
+ e[8]= c*c8 + s*fC[12] + e[18]*t;
+ e[9]= mJC33*c + mJC34*s;
+ e[10]= -s*c6 + c*fC[10] + mJC43*sB + mJC44*cB;
+
+
+ e[11]= -s*c7 + c*fC[11] - mJC43*cB + mJC44*sB;
+ e[12]= -s*c8 + c*fC[12] + e[19]*t;
+ e[13]= mJC43*c + mJC44*s;
+ e[14]= -mJC43*s + mJC44*c;
+ e[20]= fC[20];
+ e[21]= fC[21] + fC[25]*cB + c24*sB;
+ e[22]= fC[22] - c24*cB + fC[25]*sB;
+ e[23]= fC[23] + fC[26]*t;
+ e[24]= c*c24 + s*fC[25];
+ e[25]= c*fC[25] - c24*s;
+ e[26]= fC[26];
+ e[27]= fC[27];
+ e[28]= fC[28] + fC[32]*cB + c31*sB;
+ e[29]= fC[29] - c31*cB + fC[32]*sB;
+ e[30]= fC[30] + fC[33]*t;
+ e[31]= c*c31 + s*fC[32];
+ e[32]= c*fC[32] - s*c31;
+ e[33]= fC[33];
+ e[34]= fC[34];
+ e[35]= fC[35];
}
-void AliKFParticleBase::SubtractFromVertex( Double_t v[], Double_t Cv[],
- Double_t &vChi2, Int_t vNDF ) const
+void AliKFParticleBase::SubtractFromVertex( AliKFParticleBase &Vtx ) const
{
//* Subtract the particle from the vertex
-
+
Double_t fld[3];
{
- GetFieldValue( v, fld );
+ GetFieldValue( Vtx.fP, fld );
const Double_t kCLight = 0.000299792458;
fld[0]*=kCLight; fld[1]*=kCLight; fld[2]*=kCLight;
}
Double_t m[8];
Double_t mCm[36];
-
- Transport( GetDStoPoint(v), m, mCm );
- Double_t d[3] = { v[0]-m[0], v[1]-m[1], v[2]-m[2] };
- Double_t sigmaS = .1+10.*TMath::Sqrt( (d[0]*d[0]+d[1]*d[1]+d[2]*d[2])/
- (m[3]*m[3]+m[4]*m[4]+m[5]*m[5]) );
-
- Double_t h[6];
-
- h[0] = m[3]*sigmaS;
- h[1] = m[4]*sigmaS;
- h[2] = m[5]*sigmaS;
- h[3] = ( h[1]*fld[2]-h[2]*fld[1] )*GetQ();
- h[4] = ( h[2]*fld[0]-h[0]*fld[2] )*GetQ();
- h[5] = ( h[0]*fld[1]-h[1]*fld[0] )*GetQ();
-
- //* Fit of daughter momentum (Px,Py,Pz) to fVtxGuess vertex
- {
- Double_t zeta[3] = { v[0]-m[0], v[1]-m[1], v[2]-m[2] };
-
- Double_t mVv[6] =
- { mCm[ 0] + h[0]*h[0],
- mCm[ 1] + h[1]*h[0], mCm[ 2] + h[1]*h[1],
- mCm[ 3] + h[2]*h[0], mCm[ 4] + h[2]*h[1], mCm[ 5] + h[2]*h[2] };
-
- Double_t mVvp[9]=
- { mCm[ 6] + h[0]*h[3], mCm[ 7] + h[1]*h[3], mCm[ 8] + h[2]*h[3],
- mCm[10] + h[0]*h[4], mCm[11] + h[1]*h[4], mCm[12] + h[2]*h[4],
- mCm[15] + h[0]*h[5], mCm[16] + h[1]*h[5], mCm[17] + h[2]*h[5] };
-
- Double_t mS[6] =
- { mVv[2]*mVv[5] - mVv[4]*mVv[4],
- mVv[3]*mVv[4] - mVv[1]*mVv[5], mVv[0]*mVv[5] - mVv[3]*mVv[3],
- mVv[1]*mVv[4] - mVv[2]*mVv[3], mVv[1]*mVv[3] - mVv[0]*mVv[4],
- mVv[0]*mVv[2] - mVv[1]*mVv[1] };
-
- Double_t s = ( mVv[0]*mS[0] + mVv[1]*mS[1] + mVv[3]*mS[3] );
- s = ( s > 1.E-20 ) ?1./s :0;
-
- mS[0]*=s; mS[1]*=s; mS[2]*=s; mS[3]*=s; mS[4]*=s; mS[5]*=s;
-
- Double_t mSz[3] = { (mS[0]*zeta[0]+mS[1]*zeta[1]+mS[3]*zeta[2]),
- (mS[1]*zeta[0]+mS[2]*zeta[1]+mS[4]*zeta[2]),
- (mS[3]*zeta[0]+mS[4]*zeta[1]+mS[5]*zeta[2]) };
-
- Double_t px = m[3] + mVvp[0]*mSz[0] + mVvp[1]*mSz[1] + mVvp[2]*mSz[2];
- Double_t py = m[4] + mVvp[3]*mSz[0] + mVvp[4]*mSz[1] + mVvp[5]*mSz[2];
- Double_t pz = m[5] + mVvp[6]*mSz[0] + mVvp[7]*mSz[1] + mVvp[8]*mSz[2];
-
- h[0] = px*sigmaS;
- h[1] = py*sigmaS;
- h[2] = pz*sigmaS;
- h[3] = ( h[1]*fld[2]-h[2]*fld[1] )*GetQ();
- h[4] = ( h[2]*fld[0]-h[0]*fld[2] )*GetQ();
- h[5] = ( h[0]*fld[1]-h[1]*fld[0] )*GetQ();
+ if( Vtx.fIsLinearized ){
+ GetMeasurement( Vtx.fVtxGuess, m, mCm );
+ } else {
+ GetMeasurement( Vtx.fP, m, mCm );
}
-
+
Double_t mV[6];
- mV[ 0] = mCm[ 0] + h[0]*h[0];
- mV[ 1] = mCm[ 1] + h[1]*h[0];
- mV[ 2] = mCm[ 2] + h[1]*h[1];
- mV[ 3] = mCm[ 3] + h[2]*h[0];
- mV[ 4] = mCm[ 4] + h[2]*h[1];
- mV[ 5] = mCm[ 5] + h[2]*h[2];
+ mV[ 0] = mCm[ 0];
+ mV[ 1] = mCm[ 1];
+ mV[ 2] = mCm[ 2];
+ mV[ 3] = mCm[ 3];
+ mV[ 4] = mCm[ 4];
+ mV[ 5] = mCm[ 5];
//*
Double_t mS[6];
{
- Double_t mSi[6] = { mV[0]-Cv[0],
- mV[1]-Cv[1], mV[2]-Cv[2],
- mV[3]-Cv[3], mV[4]-Cv[4], mV[5]-Cv[5] };
+ Double_t mSi[6] = { mV[0]-Vtx.fC[0],
+ mV[1]-Vtx.fC[1], mV[2]-Vtx.fC[2],
+ mV[3]-Vtx.fC[3], mV[4]-Vtx.fC[4], mV[5]-Vtx.fC[5] };
mS[0] = mSi[2]*mSi[5] - mSi[4]*mSi[4];
mS[1] = mSi[3]*mSi[4] - mSi[1]*mSi[5];
//* Residual (measured - estimated)
- Double_t zeta[3] = { m[0]-v[0], m[1]-v[1], m[2]-v[2] };
+ Double_t zeta[3] = { m[0]-Vtx.fP[0], m[1]-Vtx.fP[1], m[2]-Vtx.fP[2] };
//* mCHt = mCH' - D'
Double_t mCHt0[3], mCHt1[3], mCHt2[3];
- mCHt0[0]=Cv[ 0] ; mCHt1[0]=Cv[ 1] ; mCHt2[0]=Cv[ 3] ;
- mCHt0[1]=Cv[ 1] ; mCHt1[1]=Cv[ 2] ; mCHt2[1]=Cv[ 4] ;
- mCHt0[2]=Cv[ 3] ; mCHt1[2]=Cv[ 4] ; mCHt2[2]=Cv[ 5] ;
+ mCHt0[0]=Vtx.fC[ 0] ; mCHt1[0]=Vtx.fC[ 1] ; mCHt2[0]=Vtx.fC[ 3] ;
+ mCHt0[1]=Vtx.fC[ 1] ; mCHt1[1]=Vtx.fC[ 2] ; mCHt2[1]=Vtx.fC[ 4] ;
+ mCHt0[2]=Vtx.fC[ 3] ; mCHt1[2]=Vtx.fC[ 4] ; mCHt2[2]=Vtx.fC[ 5] ;
//* Kalman gain K = mCH'*S
//* New estimation of the vertex position r += K*zeta
+ Double_t dChi2 = -(mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
+ + (mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
+ + (mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2];
+
+ if( Vtx.fChi2 - dChi2 < 0 ) return;
+
for(Int_t i=0;i<3;++i)
- v[i] -= k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2];
+ Vtx.fP[i] -= k0[i]*zeta[0] + k1[i]*zeta[1] + k2[i]*zeta[2];
//* New covariance matrix C -= K*(mCH')'
for(Int_t i=0, k=0;i<3;++i){
for(Int_t j=0;j<=i;++j,++k)
- Cv[k] += k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j];
+ Vtx.fC[k] += k0[i]*mCHt0[j] + k1[i]*mCHt1[j] + k2[i]*mCHt2[j];
}
//* Calculate Chi^2
-
- vNDF -= 2;
- vChi2 -= (mS[0]*zeta[0] + mS[1]*zeta[1] + mS[3]*zeta[2])*zeta[0]
- + (mS[1]*zeta[0] + mS[2]*zeta[1] + mS[4]*zeta[2])*zeta[1]
- + (mS[3]*zeta[0] + mS[4]*zeta[1] + mS[5]*zeta[2])*zeta[2];
+
+ Vtx.fNDF -= 2;
+ Vtx.fChi2 -= dChi2;
}
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+
git://git.uio.no / u / mrichter / AliRoot.git / blobdiff