//
//////////////////////////////////////////////////////////////////////////////
-#include <iostream>
#include <TMath.h>
+#include <TObject.h>
+#include <TVectorD.h>
#include <TMatrix.h>
-#include <TVector.h>
-#include <TVector3.h>
-#include <TDecompLU.h>
-#include <TArrayI.h>
-#include <TH1D.h>
-#include <TF1.h>
-#include "AliESDtrack.h"
-#include "AliTrackPointArray.h"
-#include "AliGeomManager.h"
-#include "AliTrackFitterKalman.h"
-#include "AliTrackFitterRieman.h"
-#include "AliESDfriendTrack.h"
-#include "AliESDEvent.h"
-#include "AliESDVertex.h"
+class AliExternalTrackParam;
+class AliESDEvent;
+class AliESDtrack;
-class AliRelAlignerKalman {
+class AliRelAlignerKalman : public TObject {
public:
AliRelAlignerKalman();
- virtual ~AliRelAlignerKalman() {}
+ virtual ~AliRelAlignerKalman();
+ AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a );
+ AliRelAlignerKalman(const AliRelAlignerKalman& a);
//User methods:
- Bool_t AddESDTrack( AliESDtrack* pTrack );
- Bool_t AddTrackPointArray( AliTrackPointArray* pTrackPointArr );
- Bool_t AddCosmicEventSeparateTracking( AliESDEvent* pEvent );
+ Bool_t AddCosmicEvent( const AliESDEvent* pEvent );
+ Bool_t AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 );
- void Print();
- void PrintCorrelationMatrix();
-
- void GetMeasurementCov( TMatrixDSym& cov ) { cov = *fPMeasurementCov; }
- void GetMeasurement( TVectorD& mes ) { mes = *fPMeasurement; }
- void GetState( TVectorD& state ) { state = *fPX; }
- void GetStateCov ( TMatrixDSym& cov ) { cov = *fPXcov; }
- void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) { seed = *fPX; seedCov = *fPXcov; }
- Double_t* GetStateArr() { return fPX->GetMatrixArray(); }
- Double_t* GetStateCovArr() { return fPXcov->GetMatrixArray(); }
- Double_t* GetMeasurementArr() { return fPMeasurement->GetMatrixArray(); }
- Double_t* GetMeasurementCovArr() { return fPMeasurementCov->GetMatrixArray(); }
-
- Bool_t SetCalibrationPass( Bool_t cp=kTRUE );
-
- //Experts only:
- void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
- void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
+ void Print(Option_t* option="") const;
+
+ Double_t GetPsi() const {return (*fPX)(0);}
+ Double_t GetTheta() const {return (*fPX)(1);}
+ Double_t GetPhi() const {return (*fPX)(2);}
+ Double_t GetX() const {return (*fPX)(3);}
+ Double_t GetY() const {return (*fPX)(4);}
+ Double_t GetZ() const {return (*fPX)(5);}
+ Double_t GetTPCvdCorr() const {return (*fPX)(6);}
+ Double_t GetTPCt0() const {return (*fPX)(7);}
+ Double_t GetTPCvdY() const {if (fgkNSystemParams>8) return (*fPX)(8); else return 0.0;}
+ Double_t GetPsiErr() const {return TMath::Sqrt((*fPXcov)(0,0));}
+ Double_t GetThetaErr() const {return TMath::Sqrt((*fPXcov)(1,1));}
+ Double_t GetPhiErr() const {return TMath::Sqrt((*fPXcov)(2,2));}
+ Double_t GetXErr() const {return TMath::Sqrt((*fPXcov)(3,3));}
+ Double_t GetYErr() const {return TMath::Sqrt((*fPXcov)(4,4));}
+ Double_t GetZErr() const {return TMath::Sqrt((*fPXcov)(5,5));}
+ Double_t GetTPCvdCorrErr() const {return TMath::Sqrt((*fPXcov)(6,6));}
+ Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(7,7));}
+ Double_t GetTPCvdYErr() const {if (fgkNSystemParams>8) return TMath::Sqrt((*fPXcov)(8,8)); else return 0.0;}
+ void GetMeasurement( TVectorD& mes ) const { mes = *fPMeasurement; }
+ TVectorD* GetMeasurement() { return fPMeasurement; }
+ void GetMeasurementCov( TMatrixDSym& cov ) const { cov = *fPMeasurementCov; }
void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
+ void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
+ TMatrixDSym* GetMeasurementCov() const { return fPMeasurementCov; }
+ void GetState( TVectorD& state ) const { state = *fPX; }
+ TVectorD* GetState() const { return fPX; }
+ void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; }
void SetState( const TVectorD& param ) {*fPX = param;}
void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
+ TMatrixDSym* GetStateCov() const { return fPXcov; }
+ void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; }
void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }
- void SetTrackParams1( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
- void SetTrackParams2( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
- void SetTrackParams2b( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
- void SetRefSurface( const TVector3& point, const TVector3& dir );
- void SetRefSurface( const AliTrackPoint& point, const Bool_t horizontal=kTRUE );
- void SetRefSurface( const Double_t y );
- Bool_t PrepareUpdate();
+
+ //Expert methods:
+ Bool_t AddESDevent( const AliESDEvent* pEvent );
+ Bool_t AddESDtrack( const AliESDtrack* pTrack );
+ void SetMagField( const Double_t f ) { fMagField=f; }
+ Double_t GetMagField() const { return fMagField; }
+ Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );
Bool_t Update();
- Bool_t IsReady() {return fFitted;}
+ void SetRefSurface( const Double_t x, const Double_t alpha );
+ void PrintCorrelationMatrix();
+ //void PrintCovarianceCorrection();
+ void PrintSystemMatrix();
+ void Reset();
+ void ResetCovariance( const Double_t number=0. );
+ void ResetTPCparamsCovariance( const Double_t number=0. );
+ Double_t* GetStateArr() const { return fPX->GetMatrixArray(); }
+ Double_t* GetStateCovArr() const { return fPXcov->GetMatrixArray(); }
+ Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); }
+ Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); }
+ TMatrixD* GetH() const { return fPH; }
+ const Double_t* GetDeltaArr() const {return fDelta;}
+ void SetNumericalParanoia( const Bool_t mode=kFALSE ) { fNumericalParanoia=mode; }
+ void SetCorrectionMode( const Bool_t mode=kTRUE ) { fCorrectionMode=mode; }
+ void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
+ void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
+ Bool_t SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 );
+ const AliExternalTrackParam* GetTrackParams1() const {return fPTrackParamArr1;}
+ const AliExternalTrackParam* GetTrackParams2() const {return fPTrackParamArr2;}
+ void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;}
+ void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;}
+ void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;}
void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
- void Set3TracksMode( Bool_t mode=kTRUE );
- void SetCosmicEvent( Bool_t cosmic=kTRUE ) {Set3TracksMode(cosmic);}
- void PrintDebugInfo();
+ void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;}
+ void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;}
+ void SetTPCvd( const Float_t v ) {fTPCvd=v;}
+ void SetTPCZLengthA( const Double_t l ) {fTPCZLengthA=l;}
+ void SetTPCZLengthC( const Double_t l ) {fTPCZLengthC=l;}
+ Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;
+ Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;
+ static void Angles( TVectorD &angles, const TMatrixD &rotmat );
+ static void RotMat( TMatrixD& R, const TVectorD& angles );
+ static void TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
+ Bool_t IsPositiveDefinite( const TMatrixD& mat ) const;
protected:
Bool_t UpdateEstimateKalman();
- Bool_t FillMeasurement();
- Bool_t FillMeasurementMatrix();
+ Bool_t PrepareMeasurement();
+ Bool_t PrepareSystemMatrix();
Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
- void GetThetaPhiCov( TMatrixDSym& cov, const TVector3& vec, const TMatrixDSym& vecCov );
- void Angles( TVectorD &angles, const TMatrixD &rotmat );
- void RotMat( TMatrixD& R, const TVectorD& angles );
- Bool_t IntersectionLinePlane( TVector3& intersection, const TVector3& base, const TVector3& dir, const TVector3& p, const TVector3& n );
- void TMatrixDSym_from_TMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
- void SanitizeExtendedCovMatrix( TMatrixDSym& covout, const TMatrixDSym& pointcov, const TVector3& dir );
- Bool_t ProcessTrackPointArrays();
-
- Bool_t ExtractSubTrackPointArray( AliTrackPointArray* pTrackOut, TArrayI* pVolIDArrayOut, const AliTrackPointArray* pTrackIn, const Int_t firstlayer, const Int_t lastlayer );
- Bool_t FitTrackPointArrayRieman( TVector3* pPoint, TMatrixDSym* pPointCov, TVector3* pDir, TMatrixDSym* pDirCov, AliTrackPointArray* pTrackPointArray, TArrayI* pVolIDs, AliTrackPoint* pRefPoint );
- Bool_t FitTrackPointArrayKalman( TVector3* pPoint, TMatrixDSym* pPointCov, TVector3* pDir, TMatrixDSym* pDirCov, AliTrackPointArray* pTrackPointArray, TArrayI* pVolIDs, AliTrackPoint* pRefPoint );
- Bool_t FindCosmicInEvent( AliESDEvent* pEvent );
- void SortTrackPointArrayWithY( AliTrackPointArray* pout, const AliTrackPointArray* pin, const Bool_t descending=kFALSE );
- void JoinTrackArrays( AliTrackPointArray* pout, const AliTrackPointArray* pin1, const AliTrackPointArray* pin2 );
- Bool_t UpdateCalibration();
+ Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
private:
- AliTrackPointArray* fPTrackPointArray1; //track point array in first volume (ITS)
- AliTrackPointArray* fPTrackPointArray2; //track point array in second volume (TPC)
- AliTrackPointArray* fPTrackPointArray2b; //optionally second trackpoint array in second volume (TPC)
- TArrayI* fPVolIDArray1; //array with VolID's of the points in the trackpointarray
- TArrayI* fPVolIDArray2; //array with VolID's of the points in the trackpointarray
- TArrayI* fPVolIDArray2b; //array with VolID's of the points in the trackpointarray
- TVector3* fPDir1; //track 1 direction
- TVector3* fPDir2; //track 2 direction
- TVector3* fPDir2b; //track 2b direction (for cosmics)
- TMatrixDSym* fPDir1Cov; //Covariance matrix of dir vec track 1
- TMatrixDSym* fPDir2Cov; //Covariance matrix of dir vec track 2
- TMatrixDSym* fPDir2bCov; //Covariance matrix of dir vec track 2b
- TMatrixDSym* fPDir1ThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
- TMatrixDSym* fPDir2ThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
- TMatrixDSym* fPDir2bThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
- TVector3* fPPoint1; //track 1 extrapolated point at reference surface
- TVector3* fPPoint2; //track 2 extrapolated point at reference surface
- TVector3* fPPoint2b; //track 2b extrapol. (for cosmics)
- TMatrixDSym* fPPoint1Cov; //covariance matrix of point 1
- TMatrixDSym* fPPoint2Cov; //covariance matrix of point 2
- TMatrixDSym* fPPoint2bCov; //covariance matrix of point 2b
- TVector3* fPRefPoint; //a point on the reference surface
- TVector3* fPRefPointDir; //reference surfaces' direction vec
- AliTrackPoint* fPRefAliTrackPoint; //reference point as an AliTrackPoint (orientation stored in cov matrix)
- TMatrixD* fPRotMat; // system rotation matrix for estimated alignment angles
+ static const Int_t fgkNTracksPerMeasurement=1; //how many tracks for one update
+ static const Int_t fgkNMeasurementParams=4; //how many measurables
+ static const Int_t fgkNSystemParams=9; //how many fit parameters
- //
+ //Track parameters
+ Double_t fAlpha; //!rotation angle between the local and global coordinate system like in AliExternalTrackParam
+ Double_t fLocalX; //!local x coordinate of reference plane = r(global)
+ AliExternalTrackParam* fPTrackParamArr1; //!local track parameters
+ AliExternalTrackParam* fPTrackParamArr2; //!local track parameters
+ Double_t fMagField; //magnetic field
+
//Kalman filter related stuff
- //
TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
TMatrixDSym* fPXcov; //covariance matrix of system parameters
-
- TMatrixD* fPH; //System measurement matrix
- Double_t fQ; //measure for system noise
-
- TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
- TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
-
- Int_t fNMeasurementParams; //how many numbers do we measure?
- Int_t fNSystemParams; //how many parameters do we fit?
-
+ TMatrixD* fPH; //!System measurement matrix
+ Double_t fQ; //!measure for system noise
+ TVectorD* fPMeasurement; //!the measurement vec for Kalman filter (theta,phi,x,z)
+ TMatrixDSym* fPMeasurementCov; //!measurement vec cvariance
Double_t fOutRejSigmas; //number of sigmas for outlier rejection
- //
- //
- //
+ Double_t* fDelta; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
- Bool_t f3TracksMode; //are we using 3 tracklets?
- Bool_t fSortTrackPointsWithY; //whether to sort the points after processing
- Bool_t fFixedMeasurementCovariance; //don't fiddle with measurement cov - supply it externally
- Bool_t fCalibrationPass;
- Bool_t fCalibrationUpdated;
-
- Bool_t fFitted; //did fitting finish without error?
+ //Control
+ Bool_t fNumericalParanoia; //whether to perform additional checks for numerical stability
+ Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter
+ Bool_t fRequireMatchInTPC; //when looking for a cosmic in event, require that TPC has 2 matching segments
Bool_t fCuts; //track cuts?
-
- Int_t fNTracks; //number of processed tracks
- Int_t fNUpdates; //number of successful Kalman update
- Int_t fNOutliers; //number of outliers
- Int_t fNUnfitted; //number of trackpointarrays that were not fitted for some reason
- Int_t fNMatchedCosmics; //number of matched tracklets for cosmics
-
Int_t fMinPointsVol1; //mininum number of points in volume 1
Int_t fMinPointsVol2; //mininum number of points in volume 2
Double_t fMinMom; //min momentum of track for track cuts
Double_t fMaxMom; //max momentum of track for track cuts
- Double_t fMinAbsSinPhi; //more cuts
- Double_t fMaxAbsSinPhi; //more cuts
- Double_t fMinSinTheta; //cuts
- Double_t fMaxSinTheta; //cuts
Double_t fMaxMatchingAngle; //cuts
Double_t fMaxMatchingDistance; //cuts
- Int_t fFirstLayerVol1; //first layer of volume 1
- Int_t fLastLayerVol1; //last layer of volume 1
- Int_t fFirstLayerVol2; //first layer of volume 2
- Int_t fLastLayerVol2; //last layer of volume 2
-
- TVector3 * fPVec010; //vector pointing up
-
- //Control and calibration histograms
- TH1D* fPXMesHist; //histo of x measurement
- TH1D* fPZMesHist; //histo of y measurement
- TH1D* fPPhiMesHist; //histo of phi measurement
- TH1D* fPThetaMesHist; //histo of theta measurement
- TH1D* fPXMesHist2; //histo of x measurement (3tracks mode)
- TH1D* fPZMesHist2; //histo of y measurement (3tracks mode)
- TH1D* fPPhiMesHist2; //histo of phi measurement (3tracks mode)
- TH1D* fPThetaMesHist2; //histo of theta measurement (3tracks mode)
- TH1D* fPMesCov11Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesCov22Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesCov33Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesCov44Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesCov55Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesCov66Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesCov77Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesCov88Hist; //histogram of the covariance of a fit parameter, used in calibration
- TMatrixDSym* fPMeasurementCovCorr; //correction to be applied to the measurement covariance
+ Bool_t fCorrectionMode; //calculate corrective transform for TPC (or monitor actual TPC misal params)
- static const Int_t fgkNMeasurementParams2TrackMode = 4; //how many measurables in 2 track mode
- static const Int_t fgkNMeasurementParams3TrackMode = 8; //how many measurables in 3 track mode
- static const Int_t fgkNSystemParams = 8; //how many fit parameters
+ //Counters
+ Int_t fNTracks; //number of processed tracks
+ Int_t fNUpdates; //number of successful Kalman updates
+ Int_t fNOutliers; //number of outliers
+ Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets (good cosmics)
+ Int_t fNMatchedTPCtracklets;//number of cosmic events with 2 matching TPC tracklets
+ Int_t fNProcessedEvents; //number of processed events
+ Int_t fTrackInBuffer; //number of tracks in buffer
+
+ //TPC stuff
+ Double_t fTPCvd; //TPC drift velocity
+ Double_t fTPCZLengthA; //TPC length side A
+ Double_t fTPCZLengthC; //TPC length side C
- AliRelAlignerKalman& operator= (const AliRelAlignerKalman& aligner );
- AliRelAlignerKalman(const AliRelAlignerKalman&);
-
ClassDef(AliRelAlignerKalman,1) //AliRelAlignerKalman class
};
#endif
+
git://git.uio.no / u / mrichter / AliRoot.git / blobdiff