//////////////////////////////////////////////////////////////////////////////
#include <TMath.h>
-#include <TObject.h>
#include <TVectorD.h>
#include <TMatrix.h>
+class TObject;
class AliExternalTrackParam;
class AliESDEvent;
class AliESDtrack;
+class TArrayI;
+class TObjArray;
class AliRelAlignerKalman : public TObject {
void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; }
void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }
Bool_t Merge( const AliRelAlignerKalman* al );
+ Long64_t Merge( TCollection* list );
//Expert methods:
Bool_t AddESDevent( const AliESDEvent* pEvent );
void SetMagField( const Double_t f ) { fMagField=f; }
Double_t GetMagField() const { return fMagField; }
Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );
+ Int_t FindMatchingTracks(TObjArray& arrITS, TObjArray& arrTPC, AliESDEvent* pESD);
Bool_t Update();
- void SetRefSurface( const Double_t x, const Double_t alpha );
void PrintCorrelationMatrix();
//void PrintCovarianceCorrection();
void PrintSystemMatrix();
Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); }
Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); }
TMatrixD* GetH() const { return fPH; }
+ TVectorD* GetMeasurementPrediction() const {return fPMeasurementPrediction;}
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;}
+ void SetRejectOutliersSigma2Median( const Bool_t b=kTRUE );
+ void SetOutRejSigma2Median( const Double_t s ) {fOutRejSigma2Median = s;}
Bool_t SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 );
const AliExternalTrackParam* GetTrackParams1() const {return fPTrackParamArr1;}
const AliExternalTrackParam* GetTrackParams2() const {return fPTrackParamArr2;}
Bool_t IsPositiveDefinite( const TMatrixD& mat ) const;
void SetTimeStamp( const UInt_t ts ) { fTimeStamp = ts; }
UInt_t GetTimeStamp() const {return fTimeStamp;}
+ void SetRunNumber( const Int_t rn ) { fRunNumber = rn; }
+ Int_t GetRunNumber() const {return fRunNumber;}
+ Int_t Compare(const TObject *obj) const;
+ Bool_t IsSortable() const { return kTRUE; }
+ Int_t GetNTracks() const {return fNTracks;}
+ Int_t GetNUpdates() const {return fNUpdates;}
+ Int_t GetNOutliers() const {return fNOutliers;}
+ Int_t GetNOutliersSigma2Median() const {return fNOutliersSigma2Median;}
+ Int_t GetNMerges() const {return fNMerges;}
+ Int_t GetNMergesFailed() const {return fNMergesFailed;}
+ void SetPoint2Track( Bool_t o );
protected:
Bool_t UpdateEstimateKalman();
Bool_t PreparePrediction();
Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
+ Bool_t IsOutlierSigma2Median( const AliExternalTrackParam* pITS, const AliExternalTrackParam* pTPC );
private:
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
+ static const Int_t fgkNtracksSigma2Median=500; //how many sets for median and rms
//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
+ Double_t fMagField; //magnetic field
//Kalman filter related stuff
+ Int_t fNMeasurementParams; //how many measurables
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
TMatrixDSym* fPMeasurementCov; //!measurement vec cvariance
TVectorD* fPMeasurementPrediction; //!prediction of the measurement
Double_t fOutRejSigmas; //number of sigmas for outlier rejection
- Double_t* fDelta; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
+ Double_t fOutRejSigma2Median; //nsigmas to median of input residual distribution
+ Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
+ Double_t* fResArrSigma2Median[4]; //!holds residuals for median based outlier removal
//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 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 fMaxMatchingAngle; //!cuts
- Double_t fMaxMatchingDistance; //!cuts
+ Bool_t fYZOnly; //whether to consider only yz without directions.
+ 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 fRejectOutliersSigma2Median; //whether to reject input based on distance to median
+ Bool_t fRequireMatchInTPC; //when looking for a cosmic in event, require that TPC has 2 matching segments
+ Bool_t fCuts; //track cuts?
+ Int_t fMinPointsVol1; //mininum number of points in volume 1
+ Int_t fMinPointsVol2; //mininum number of points in volume 2
+ Double_t fMinPt; //min momentum of track for track cuts
+ Double_t fMaxPt; //max momentum of track for track cuts
+ Double_t fMaxMatchingAngle; //cuts
+ Double_t fMaxMatchingDistance; //cuts
Bool_t fCorrectionMode; //calculate corrective transform for TPC (or monitor actual TPC misal params)
//Counters
Int_t fNTracks; //number of processed tracks
Int_t fNUpdates; //number of successful Kalman updates
Int_t fNOutliers; //number of outliers
+ Int_t fNOutliersSigma2Median; //number of rejected inputs
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
- UInt_t fTimeStamp;
+ UInt_t fTimeStamp; //time stamp
+ Int_t fRunNumber; //run number
+ Int_t fNMerges; //how many succesful merges
+ Int_t fNMergesFailed; //how many merges failed
//TPC stuff
Double_t fTPCvd; //TPC drift velocity
Double_t fTPCZLengthA; //TPC length side A
Double_t fTPCZLengthC; //TPC length side C
- ClassDef(AliRelAlignerKalman,1) //AliRelAlignerKalman class
+ ClassDef(AliRelAlignerKalman,4) //AliRelAlignerKalman class
};
#endif
+
git://git.uio.no / u / mrichter / AliRoot.git / blobdiff