| a65a7e70 |
1 | /************************************************************************** |
| 2 | * Copyright(c) 2007-2009, ALICE Experiment at CERN, All rights reserved. * |
| 3 | * * |
| 4 | * Author: The ALICE Off-line Project. * |
| 5 | * Contributors are mentioned in the code where appropriate. * |
| 6 | * * |
| 7 | * Permission to use, copy, modify and distribute this software and its * |
| 8 | * documentation strictly for non-commercial purposes is hereby granted * |
| 9 | * without fee, provided that the above copyright notice appears in all * |
| 10 | * copies and that both the copyright notice and this permission notice * |
| 11 | * appear in the supporting documentation. The authors make no claims * |
| 12 | * about the suitability of this software for any purpose. It is * |
| 13 | * provided "as is" without express or implied warranty. * |
| 14 | **************************************************************************/ |
| 15 | |
| 16 | /* $Id$ */ |
| 17 | //----------------------------------------------------------------------------- |
| 18 | /// \class AliITSAlignMille2Module |
| 19 | /// Alignment class for the ALICE ITS detector |
| 20 | /// |
| 21 | /// This class is used by AliITSAlignMille to build custom supermodules |
| 22 | /// made of ITS sensitive modules. These supermodules are then aligned |
| 23 | /// |
| 24 | /// Custom supermodules must have VolumeID > 14335 |
| 25 | /// |
| 26 | /// \author M. Lunardon |
| 27 | //----------------------------------------------------------------------------- |
| 28 | |
| 29 | #include <TGeoManager.h> |
| 30 | #include <TGeoMatrix.h> |
| 31 | |
| 32 | #include "AliITSAlignMille2Module.h" |
| 33 | #include "AliITSgeomTGeo.h" |
| 34 | #include "AliGeomManager.h" |
| 35 | #include "AliAlignObjParams.h" |
| 36 | #include "AliLog.h" |
| 37 | #include "AliITSAlignMille2.h" |
| 38 | |
| 39 | /// \cond CLASSIMP |
| 40 | ClassImp(AliITSAlignMille2Module) |
| 41 | /// \endcond |
| 42 | |
| 43 | #define CORHW_ |
| 44 | |
| 45 | |
| 46 | const Float_t AliITSAlignMille2Module::fgkDummyConstraint = 1e-2;//1.E3; |
| 47 | |
| 48 | //------------------------------------------------------------- |
| 49 | AliITSAlignMille2Module::AliITSAlignMille2Module() : |
| 50 | TNamed(), |
| 51 | fNSensVol(0), |
| 52 | fIndex(-1), |
| 53 | fDetType(-1), |
| 54 | fVolumeID(0), |
| 55 | fNParTot(0), |
| 56 | fNParFree(0), |
| 57 | fParOffs(0), |
| 58 | fNProcPoints(0), |
| 59 | fParVals(0), |
| 60 | fParErrs(0), |
| 61 | fParCstr(0), |
| 62 | fSensVolIndex(0), |
| 63 | fSensVolVolumeID(0), |
| 64 | fMatrix(NULL), |
| 65 | fSensVolMatrix(NULL), |
| 66 | fSensVolModifMatrix(NULL), |
| 67 | fParent(NULL), |
| 68 | fChildren(0) |
| 69 | { |
| 70 | /// void constructor |
| 71 | fMatrix = new TGeoHMatrix; |
| 72 | fSensVolMatrix = new TGeoHMatrix; |
| 73 | fSensVolModifMatrix = new TGeoHMatrix; |
| 74 | fSensVolIndex.Set(1); |
| 75 | fSensVolVolumeID.Set(1); |
| 76 | fSigmaFactor[0]=fSigmaFactor[1]=fSigmaFactor[2]=1.0; |
| 77 | } |
| 78 | |
| 79 | //------------------------------------------------------------- |
| 80 | AliITSAlignMille2Module::AliITSAlignMille2Module(Int_t index, UShort_t volid, const char* symname, |
| 81 | const TGeoHMatrix *m, Int_t nsv, const UShort_t *volidsv) : |
| 82 | TNamed(), |
| 83 | fNSensVol(0), |
| 84 | fIndex(-1), |
| 85 | fDetType(-1), |
| 86 | fVolumeID(0), |
| 87 | fNParTot(0), |
| 88 | fNParFree(0), |
| 89 | fParOffs(kMaxParGeom), |
| 90 | fNProcPoints(0), |
| 91 | fParVals(0), |
| 92 | fParErrs(0), |
| 93 | fParCstr(0), |
| 94 | fSensVolIndex(0), |
| 95 | fSensVolVolumeID(0), |
| 96 | fMatrix(NULL), |
| 97 | fSensVolMatrix(NULL), |
| 98 | fSensVolModifMatrix(NULL), |
| 99 | fParent(NULL), |
| 100 | fChildren(0) |
| 101 | { |
| 102 | /// void constructor |
| 103 | fMatrix = new TGeoHMatrix; |
| 104 | fSensVolMatrix = new TGeoHMatrix; |
| 105 | fSensVolModifMatrix = new TGeoHMatrix; |
| 106 | fSigmaFactor[0]=fSigmaFactor[1]=fSigmaFactor[2]=1.0; |
| 107 | for (int i=kMaxParGeom;i--;) fParOffs[i] = -1; |
| 108 | if (Set(index,volid,symname,m,nsv,volidsv)) { |
| 109 | AliInfo("Error in AliITSAlignMille2Module::Set() - initializing void supermodule..."); |
| 110 | } |
| 111 | AssignDetType(); |
| 112 | } |
| 113 | |
| 114 | //------------------------------------------------------------- |
| 115 | AliITSAlignMille2Module::AliITSAlignMille2Module(UShort_t volid) : |
| 116 | TNamed(), |
| 117 | fNSensVol(0), |
| 118 | fIndex(-1), |
| 119 | fDetType(-1), |
| 120 | fVolumeID(0), |
| 121 | fNParTot(0), |
| 122 | fNParFree(0), |
| 123 | fParOffs(kMaxParGeom), |
| 124 | fNProcPoints(0), |
| 125 | fParVals(0), |
| 126 | fParErrs(0), |
| 127 | fParCstr(0), |
| 128 | fSensVolIndex(0), |
| 129 | fSensVolVolumeID(0), |
| 130 | fMatrix(NULL), |
| 131 | fSensVolMatrix(NULL), |
| 132 | fSensVolModifMatrix(NULL), |
| 133 | fParent(NULL), |
| 134 | fChildren(0) |
| 135 | { |
| 136 | /// simple constructor building a supermodule from a single sensitive volume |
| 137 | fMatrix = new TGeoHMatrix; |
| 138 | fSensVolMatrix = new TGeoHMatrix; |
| 139 | fSensVolModifMatrix = new TGeoHMatrix; |
| 140 | // temporary align object, just use the rotation... |
| 141 | fSensVolIndex.Set(1); |
| 142 | fSensVolVolumeID.Set(1); |
| 143 | fSigmaFactor[0]=fSigmaFactor[1]=fSigmaFactor[2]=1.0; |
| 144 | for (int i=kMaxParGeom;i--;) fParOffs[i] = -1; |
| 145 | // |
| 146 | fIndex = GetIndexFromVolumeID(volid); |
| 147 | if (fIndex>=0 && gGeoManager) { // good sensitive module and geometry loaded |
| 148 | SetName(AliGeomManager::SymName(volid)); |
| 149 | fVolumeID = volid; |
| 150 | AddSensitiveVolume(volid); |
| 151 | SetSensorsProvided(kTRUE); |
| 152 | if (SensVolMatrix(volid, fMatrix)) |
| 153 | AliInfo("Matrix not defined"); |
| 154 | } |
| 155 | else { |
| 156 | AliInfo("Wrong VolumeID or Geometry not loaded - initializing void supermodule..."); |
| 157 | } |
| 158 | AssignDetType(); |
| 159 | } |
| 160 | |
| 161 | |
| 162 | //_____________________________________________________________________________ |
| 163 | AliITSAlignMille2Module::AliITSAlignMille2Module(const AliITSAlignMille2Module &m) : |
| 164 | TNamed(m), |
| 165 | fNSensVol(m.fNSensVol), |
| 166 | fIndex(m.fIndex), |
| 167 | fDetType(m.fDetType), |
| 168 | fVolumeID(m.fVolumeID), |
| 169 | fNParTot(m.fNParTot), |
| 170 | fNParFree(m.fNParFree), |
| 171 | fParOffs(m.fNParTot), |
| 172 | fNProcPoints(0), |
| 173 | fParVals(0), |
| 174 | fParErrs(0), |
| 175 | fParCstr(0), |
| 176 | fSensVolIndex(m.fSensVolIndex), |
| 177 | fSensVolVolumeID(m.fSensVolVolumeID), |
| 178 | fMatrix(new TGeoHMatrix(*m.GetMatrix())), |
| 179 | fSensVolMatrix(new TGeoHMatrix), |
| 180 | fSensVolModifMatrix(new TGeoHMatrix), |
| 181 | fParent(m.fParent), |
| 182 | fChildren(0) |
| 183 | { |
| 184 | // Copy constructor |
| 185 | fSensVolIndex = m.fSensVolIndex; |
| 186 | fSensVolVolumeID = m.fSensVolVolumeID; |
| 187 | for (int i=m.fNParTot;i--;) fParOffs[i] = m.fParOffs[i]; |
| 188 | for (int i=3;i--;) fSigmaFactor[i] = m.fSigmaFactor[i]; |
| 189 | if (fNParTot) { |
| 190 | fParVals = new Float_t[fNParTot]; |
| 191 | fParErrs = new Float_t[fNParTot]; |
| 192 | fParCstr = new Float_t[fNParTot]; |
| 193 | for (int i=fNParTot;i--;) { |
| 194 | fParVals[i] = m.fParVals[i]; |
| 195 | fParErrs[i] = m.fParErrs[i]; |
| 196 | fParCstr[i] = m.fParCstr[i]; |
| 197 | } |
| 198 | } |
| 199 | } |
| 200 | |
| 201 | //_____________________________________________________________________________ |
| 202 | AliITSAlignMille2Module& AliITSAlignMille2Module::operator=(const AliITSAlignMille2Module &m) |
| 203 | { |
| 204 | // operator = |
| 205 | // |
| 206 | if(this==&m) return *this; |
| 207 | this->TNamed::operator=(m); |
| 208 | // |
| 209 | fNSensVol=m.fNSensVol; |
| 210 | fIndex=m.fIndex; |
| 211 | fDetType = m.fDetType; |
| 212 | fVolumeID=m.fVolumeID; |
| 213 | fNParTot = m.fNParTot; |
| 214 | fNParFree = m.fNParFree; |
| 215 | fNProcPoints = m.fNProcPoints; |
| 216 | delete[] fParVals; fParVals = 0; |
| 217 | delete[] fParErrs; fParErrs = 0; |
| 218 | delete[] fParCstr; fParCstr = 0; |
| 219 | // |
| 220 | if (fNParTot) { |
| 221 | fParVals = new Float_t[fNParTot]; |
| 222 | fParErrs = new Float_t[fNParTot]; |
| 223 | fParCstr = new Float_t[fNParTot]; |
| 224 | for (int i=m.GetNParTot();i--;) { |
| 225 | fParVals[i] = m.fParVals[i]; |
| 226 | fParErrs[i] = m.fParErrs[i]; |
| 227 | fParCstr[i] = m.fParCstr[i]; |
| 228 | } |
| 229 | } |
| 230 | // |
| 231 | fParOffs.Set(fNParTot); |
| 232 | for (int i=0;i<fNParTot;i++) fParOffs[i] = m.fParOffs[i]; |
| 233 | for (int i=0;i<3;i++) fSigmaFactor[i] = m.fSigmaFactor[i]; |
| 234 | if (fMatrix) delete fMatrix; |
| 235 | fMatrix=new TGeoHMatrix(*m.GetMatrix()); |
| 236 | if(fSensVolMatrix) delete fSensVolMatrix; |
| 237 | fSensVolMatrix = new TGeoHMatrix(*m.fSensVolMatrix); |
| 238 | if(fSensVolModifMatrix) delete fSensVolModifMatrix; |
| 239 | fSensVolModifMatrix = new TGeoHMatrix(*m.fSensVolModifMatrix); |
| 240 | fSensVolIndex = m.fSensVolIndex; |
| 241 | fSensVolVolumeID = m.fSensVolVolumeID; |
| 242 | fParent = m.fParent; |
| 243 | fChildren.Clear(); |
| 244 | for (int i=0;i<m.GetNChildren();i++) fChildren.Add(m.GetChild(i)); |
| 245 | return *this; |
| 246 | } |
| 247 | |
| 248 | |
| 249 | //------------------------------------------------------------- |
| 250 | AliITSAlignMille2Module::~AliITSAlignMille2Module() { |
| 251 | /// Destructor |
| 252 | delete fMatrix; |
| 253 | delete fSensVolMatrix; |
| 254 | delete fSensVolModifMatrix; |
| 255 | delete[] fParVals; |
| 256 | delete[] fParErrs; |
| 257 | delete[] fParCstr; |
| 258 | fChildren.Clear(); |
| 259 | } |
| 260 | |
| 261 | //------------------------------------------------------------- |
| 262 | Int_t AliITSAlignMille2Module::Set(Int_t index, UShort_t volid, const char* symname, |
| 263 | const TGeoHMatrix *m, Int_t nsv, const UShort_t *volidsv) |
| 264 | { |
| 265 | // initialize a custom supermodule |
| 266 | // index, volid, symname and matrix must be given |
| 267 | // if (volidsv) add nsv sensitive volumes to the supermodules |
| 268 | // return 0 if success |
| 269 | |
| 270 | if (index<2198) { |
| 271 | AliInfo("Index must be >= 2198"); |
| 272 | return -1; |
| 273 | } |
| 274 | if (volid<14336) { |
| 275 | AliInfo("VolumeID must be >= 14336"); |
| 276 | return -2; |
| 277 | } |
| 278 | |
| 279 | if (!symname) return -3; |
| 280 | for (Int_t i=0; i<2198; i++) { |
| 281 | if (!strcmp(symname,AliITSgeomTGeo::GetSymName(i))) { |
| 282 | AliInfo("Symname already used by a Sensitive Volume"); |
| 283 | return -3; |
| 284 | } |
| 285 | } |
| 286 | |
| 287 | if (!m) return -4; |
| 288 | |
| 289 | // can initialize needed stuffs |
| 290 | fIndex = index; |
| 291 | fVolumeID = volid; |
| 292 | SetName(symname); |
| 293 | // |
| 294 | (*fMatrix) = (*m); |
| 295 | // |
| 296 | fSensVolIndex.Set(nsv); |
| 297 | fSensVolVolumeID.Set(nsv); |
| 298 | // add sensitive volumes |
| 299 | for (Int_t i=0; i<nsv; i++) AddSensitiveVolume(volidsv[i]); |
| 300 | |
| 301 | return 0; |
| 302 | } |
| 303 | |
| 304 | //------------------------------------------------------------- |
| 305 | void AliITSAlignMille2Module::SetFreeDOF(Int_t dof,Double_t cstr) |
| 306 | { |
| 307 | if (AliITSAlignMille2::IsZero(cstr)) fParCstr[dof] = 0; // fixed parameter |
| 308 | else if (cstr>0) fParCstr[dof] = fgkDummyConstraint+1.; // the parameter is free and unconstrained |
| 309 | else fParCstr[dof] = -cstr; // the parameter is free but constrained |
| 310 | } |
| 311 | |
| 312 | //------------------------------------------------------------- |
| 313 | Bool_t AliITSAlignMille2Module::IsSensor(UShort_t voluid) |
| 314 | { |
| 315 | // Does this volid correspond to sensor ? |
| 316 | AliGeomManager::ELayerID layId = AliGeomManager::VolUIDToLayerSafe(voluid); |
| 317 | if (layId>0 && layId<7) { |
| 318 | Int_t mId = Int_t(voluid & 0x7ff); |
| 319 | if( mId>=0 && mId<AliGeomManager::LayerSize(layId)) return kTRUE; |
| 320 | } |
| 321 | return kFALSE; |
| 322 | } |
| 323 | |
| 324 | //------------------------------------------------------------- |
| 325 | Int_t AliITSAlignMille2Module::GetIndexFromVolumeID(UShort_t voluid) { |
| 326 | /// index from volume ID |
| 327 | AliGeomManager::ELayerID lay = AliGeomManager::VolUIDToLayer(voluid); |
| 328 | if (lay<1|| lay>6) return -1; |
| 329 | Int_t idx=Int_t(voluid)-2048*lay; |
| 330 | if (idx>=AliGeomManager::LayerSize(lay)) return -1; |
| 331 | for (Int_t ilay=1; ilay<lay; ilay++) |
| 332 | idx += AliGeomManager::LayerSize(ilay); |
| 333 | return idx; |
| 334 | } |
| 335 | |
| 336 | //------------------------------------------------------------- |
| 337 | void AliITSAlignMille2Module::AddSensitiveVolume(UShort_t voluid) |
| 338 | { |
| 339 | /// add a sensitive volume to this supermodule |
| 340 | if (GetIndexFromVolumeID(voluid)<0) return; // bad volid |
| 341 | // |
| 342 | // in principle, the correct size of fSensVol... arrays was set outside but check anyway |
| 343 | if (fSensVolVolumeID.GetSize()<fNSensVol+1) { |
| 344 | fSensVolVolumeID.Set(fNSensVol+1); |
| 345 | fSensVolIndex.Set(fNSensVol+1); |
| 346 | } |
| 347 | // |
| 348 | fSensVolVolumeID[fNSensVol] = Short_t(voluid); |
| 349 | fSensVolIndex[fNSensVol] = GetIndexFromVolumeID(voluid); |
| 350 | fNSensVol++; |
| 351 | } |
| 352 | |
| 353 | //------------------------------------------------------------- |
| 354 | void AliITSAlignMille2Module::DelSensitiveVolume(Int_t at) |
| 355 | { |
| 356 | // Suppress sensor at position "at" |
| 357 | // in fact we are swapping with the last valid one |
| 358 | int lastValid = --fNSensVol; |
| 359 | int tmpv = fSensVolIndex[at]; |
| 360 | fSensVolIndex[at] = fSensVolIndex[lastValid]; |
| 361 | tmpv = fSensVolVolumeID[at]; |
| 362 | fSensVolVolumeID[at] = fSensVolVolumeID[lastValid]; |
| 363 | fSensVolVolumeID[lastValid] = tmpv; |
| 364 | // |
| 365 | } |
| 366 | |
| 367 | //------------------------------------------------------------- |
| 368 | Bool_t AliITSAlignMille2Module::IsIn(UShort_t voluid) const |
| 369 | { |
| 370 | /// check if voluid is defined |
| 371 | if (!voluid) return kFALSE; // only positive voluid are accepted |
| 372 | for (Int_t i=0; i<fNSensVol; i++) if (UShort_t(fSensVolVolumeID[i])==voluid) return kTRUE; |
| 373 | return kFALSE; |
| 374 | } |
| 375 | |
| 376 | //------------------------------------------------------------- |
| 377 | Bool_t AliITSAlignMille2Module::BelongsTo(AliITSAlignMille2Module* parent) const |
| 378 | { |
| 379 | /// check if parent contains the sensors of this volume |
| 380 | if (fNSensVol<1 || fNSensVol>=parent->GetNSensitiveVolumes()) return kFALSE; |
| 381 | return parent->IsIn( fSensVolVolumeID[0] ); |
| 382 | } |
| 383 | |
| 384 | //------------------------------------------------------------- |
| 385 | TGeoHMatrix *AliITSAlignMille2Module::GetSensitiveVolumeModifiedMatrix(UShort_t voluid, const Double_t *delta,Bool_t local) |
| 386 | { |
| 387 | // modify the original TGeoHMatrix of the sensitive module 'voluid' according |
| 388 | // with a delta transform. applied to the supermodule matrix |
| 389 | // return NULL if error |
| 390 | |
| 391 | if (!IsIn(voluid)) return NULL; |
| 392 | if (!gGeoManager) return NULL; |
| 393 | |
| 394 | // prepare the TGeoHMatrix |
| 395 | Double_t tr[3],ang[3]; |
| 396 | tr[0]=delta[0]; // in centimeter |
| 397 | tr[1]=delta[1]; |
| 398 | tr[2]=delta[2]; |
| 399 | ang[0]=delta[3]; // psi (X) in deg |
| 400 | ang[1]=delta[4]; // theta (Y) |
| 401 | ang[2]=delta[5]; // phi (Z) |
| 402 | // |
| 403 | static AliAlignObjParams tempAlignObj; |
| 404 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); |
| 405 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); |
| 406 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); |
| 407 | TGeoHMatrix hm; |
| 408 | tempAlignObj.GetMatrix(hm); |
| 409 | //printf("\n0: delta matrix\n");hm.Print(); |
| 410 | |
| 411 | // 1) start setting fSensVolModif = fSensVol |
| 412 | if (SensVolMatrix(voluid, fSensVolModifMatrix)) return NULL; |
| 413 | // |
| 414 | if (local) { |
| 415 | // 2) set fSensVolModif = SensVolRel |
| 416 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); |
| 417 | // 3) multiply left by delta |
| 418 | fSensVolModifMatrix->MultiplyLeft( &hm ); |
| 419 | // 4) multiply left by fMatrix |
| 420 | fSensVolModifMatrix->MultiplyLeft( fMatrix ); |
| 421 | } |
| 422 | else fSensVolModifMatrix->MultiplyLeft( &hm ); |
| 423 | // |
| 424 | return fSensVolModifMatrix; |
| 425 | } |
| 426 | |
| 427 | //------------------------------------------------------------- |
| 428 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeMisalignment(UShort_t voluid, const Double_t *deltalocal) |
| 429 | { |
| 430 | // calculate misalignment of sens.vol. 'voluid' according with a displacement 'deltalocal' |
| 431 | // of the mother volume. The misalignment is returned as AliAlignObjParams object |
| 432 | |
| 433 | if (!IsIn(voluid)) return NULL; |
| 434 | if (!gGeoManager) return NULL; |
| 435 | |
| 436 | // prepare the TGeoHMatrix |
| 437 | Double_t tr[3],ang[3]; |
| 438 | tr[0]=deltalocal[0]; // in centimeter |
| 439 | tr[1]=deltalocal[1]; |
| 440 | tr[2]=deltalocal[2]; |
| 441 | ang[0]=deltalocal[3]; // psi (X) in deg |
| 442 | ang[1]=deltalocal[4]; // theta (Y) |
| 443 | ang[2]=deltalocal[5]; // phi (Z) |
| 444 | // |
| 445 | static AliAlignObjParams tempAlignObj; |
| 446 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); |
| 447 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); |
| 448 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); |
| 449 | // |
| 450 | return GetSensitiveVolumeMisalignment(voluid,&tempAlignObj); |
| 451 | } |
| 452 | |
| 453 | //------------------------------------------------------------- |
| 454 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeMisalignment(UShort_t voluid, const AliAlignObjParams *a) |
| 455 | { |
| 456 | // return the misalignment of the sens. vol. 'voluid' corresponding with |
| 457 | // a misalignment 'a' in the mother volume |
| 458 | // return NULL if error |
| 459 | |
| 460 | // Gsv = Gg * Gg-1 * Gsv -> Lsv,g = Gg-1 * Gsv |
| 461 | // G'sv = Gg * Dg * Lsv,g === Gsv * Dsv |
| 462 | // Gg * Dg * Gg-1 * Gsv = Gsv * Gsv-1 * Gg * Dg * Gg-1 * Gsv |
| 463 | // |
| 464 | // => Dsv = (Gsv-1 * Gg * Dg * Gg-1 * Gsv) |
| 465 | // |
| 466 | |
| 467 | if (!IsIn(voluid)) return NULL; |
| 468 | if (!gGeoManager) return NULL; |
| 469 | |
| 470 | //a->Print(""); |
| 471 | |
| 472 | // prepare the Delta matrix Dg |
| 473 | TGeoHMatrix dg; |
| 474 | a->GetMatrix(dg); |
| 475 | //dg.Print(); |
| 476 | |
| 477 | // 1) start setting fSensVolModif = Gsv |
| 478 | if (SensVolMatrix(voluid, fSensVolModifMatrix)) return NULL; |
| 479 | //printf("\n1: modif=orig del sensvol\n");fSensVolModifMatrix->Print(); |
| 480 | |
| 481 | // 2) set fSensVolModif = Gg-1 * Gsv |
| 482 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); |
| 483 | //printf("\n2: modif=relative del sensvol\n");fSensVolModifMatrix->Print(); |
| 484 | |
| 485 | // 3) set fSensVolModif = Dg * Gg-1 * Gsv |
| 486 | fSensVolModifMatrix->MultiplyLeft( &dg ); |
| 487 | //printf("\n3: modif= delta*relative\n");fSensVolModifMatrix->Print(); |
| 488 | |
| 489 | // 4) set fSensVolModif = Gg * Dg * Gg-1 * Gsv |
| 490 | fSensVolModifMatrix->MultiplyLeft( fMatrix ); |
| 491 | //printf("\n4: modif=quasi,manca il Gsv-1...\n");fSensVolModifMatrix->Print(); |
| 492 | |
| 493 | // 5) set fSensVolModif = Gsv-1 * Gg * Dg * Gg-1 * Gsv |
| 494 | if (SensVolMatrix(voluid, &dg)) return NULL; |
| 495 | fSensVolModifMatrix->MultiplyLeft( &dg.Inverse() ); |
| 496 | //printf("\n5: modif=finale\n");fSensVolModifMatrix->Print(); |
| 497 | // |
| 498 | // >> RS |
| 499 | // 6) mo' fSensVolModif dovrebbe essere la Dsv(loc) t.c. G'sv = Gsv*Dsv(loc) |
| 500 | // per trasformarla in Dsv(loc rispetto al Gsv0, non modificato) dovrebbe essere: |
| 501 | // Dsv(loc) -> Dpre * Dsv(loc) * Dpre-1 |
| 502 | //TGeoHMatrix dpre; // dpre = Gsv0-1*Gsv |
| 503 | //if (SensVolOrigGlobalMatrix(voluid, &dg)) return NULL; |
| 504 | //if (SensVolMatrix(voluid, &dpre)) return NULL; |
| 505 | //dpre.MultiplyLeft( &dg.Inverse() ); |
| 506 | //fSensVolModifMatrix->Multiply( &dpre.Inverse() ); |
| 507 | //fSensVolModifMatrix->MultiplyLeft( &dpre ); |
| 508 | // direi che NON FUNZIONA!!!! |
| 509 | |
| 510 | // << RS |
| 511 | |
| 512 | // reset align object (may not be needed...) |
| 513 | static AliAlignObjParams tempAlignObj; |
| 514 | tempAlignObj.SetVolUID(0); |
| 515 | tempAlignObj.SetSymName(""); |
| 516 | tempAlignObj.SetTranslation(0,0,0); |
| 517 | tempAlignObj.SetRotation(0,0,0); |
| 518 | // |
| 519 | // >> RS |
| 520 | #ifdef CORHW_ |
| 521 | // correction for SPD y-shift |
| 522 | if (voluid>=2048 && voluid<4256) { |
| 523 | TGeoHMatrix deltay; |
| 524 | double dy[3]={0.,0.0081,0.}; |
| 525 | deltay.SetTranslation(dy); |
| 526 | fSensVolModifMatrix->MultiplyLeft( &deltay ); |
| 527 | fSensVolModifMatrix->Multiply( &deltay.Inverse() ); |
| 528 | } |
| 529 | #endif |
| 530 | // << RS |
| 531 | if (!tempAlignObj.SetMatrix(*fSensVolModifMatrix)) return NULL; |
| 532 | tempAlignObj.SetVolUID(voluid); |
| 533 | tempAlignObj.SetSymName(AliGeomManager::SymName(voluid)); |
| 534 | // |
| 535 | return &tempAlignObj; |
| 536 | } |
| 537 | |
| 538 | // >> RS |
| 539 | //------------------------------------------------------------- |
| 540 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeTotalMisalignment(UShort_t voluid, const Double_t *deltalocal) |
| 541 | { |
| 542 | // calculate misalignment of sens.vol. 'voluid' according with a displacement 'deltalocal' |
| 543 | // of the mother volume. The misalignment is returned as AliAlignObjParams object including |
| 544 | // the (evenctual) prealignment => no merging needed |
| 545 | |
| 546 | if (!IsIn(voluid)) return NULL; |
| 547 | if (!gGeoManager) return NULL; |
| 548 | |
| 549 | // prepare the TGeoHMatrix |
| 550 | Double_t tr[3],ang[3]; |
| 551 | tr[0]=deltalocal[0]; // in centimeter |
| 552 | tr[1]=deltalocal[1]; |
| 553 | tr[2]=deltalocal[2]; |
| 554 | ang[0]=deltalocal[3]; // psi (X) in deg |
| 555 | ang[1]=deltalocal[4]; // theta (Y) |
| 556 | ang[2]=deltalocal[5]; // phi (Z) |
| 557 | |
| 558 | // reset align object (may not be needed...) |
| 559 | static AliAlignObjParams tempAlignObj; |
| 560 | tempAlignObj.SetVolUID(0); |
| 561 | tempAlignObj.SetSymName(""); |
| 562 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); |
| 563 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); |
| 564 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); |
| 565 | |
| 566 | // Gsv = Gg * Gg-1 * Gsv -> Lsv,g = Gg-1 * Gsv |
| 567 | // G'sv = Gg * Dg * Lsv,g === DGsv * Gsv |
| 568 | // |
| 569 | // => Dsv = (G0sv-1 * Gg * Dg * Gg-1 * GMsv) // |
| 570 | // |
| 571 | |
| 572 | // prepare the Delta matrix Dg |
| 573 | TGeoHMatrix dg; |
| 574 | tempAlignObj.GetMatrix(dg); |
| 575 | //dg.Print(); |
| 576 | |
| 577 | // 1) start setting fSensVolModif = Gsv |
| 578 | if (SensVolMatrix(voluid, fSensVolModifMatrix)) return NULL; |
| 579 | //printf("\n1: modif=orig del sensvol\n");fSensVolModifMatrix->Print(); |
| 580 | |
| 581 | // 2) set fSensVolModif = Gg-1 * Gsv |
| 582 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); |
| 583 | //printf("\n2: modif=relative del sensvol\n");fSensVolModifMatrix->Print(); |
| 584 | |
| 585 | // 3) set fSensVolModif = Dg * Gg-1 * Gsv |
| 586 | fSensVolModifMatrix->MultiplyLeft( &dg ); |
| 587 | //printf("\n3: modif= delta*relative\n");fSensVolModifMatrix->Print(); |
| 588 | |
| 589 | // 4) set fSensVolModif = Gg * Dg * Gg-1 * Gsv |
| 590 | fSensVolModifMatrix->MultiplyLeft( fMatrix ); |
| 591 | //printf("\n4: modif=quasi,manca il Gsv-1...\n");fSensVolModifMatrix->Print(); |
| 592 | |
| 593 | // 5) set fSensVolModif = G0sv-1 * Gg * Dg * Gg-1 * Gsv |
| 594 | // qui usa l'orig anziche' la prealigned... |
| 595 | if (SensVolOrigGlobalMatrix(voluid, &dg)) return NULL; |
| 596 | fSensVolModifMatrix->MultiplyLeft( &dg.Inverse() ); |
| 597 | //printf("\n5: modif=finale\n");fSensVolModifMatrix->Print(); |
| 598 | |
| 599 | // reset align object (may not be needed...) |
| 600 | tempAlignObj.SetVolUID(0); |
| 601 | tempAlignObj.SetSymName(""); |
| 602 | tempAlignObj.SetTranslation(0,0,0); |
| 603 | tempAlignObj.SetRotation(0,0,0); |
| 604 | |
| 605 | #ifdef CORHW_ |
| 606 | // correction for SPD y-shift |
| 607 | if (voluid>=2048 && voluid<4256) { |
| 608 | TGeoHMatrix deltay; |
| 609 | double dy[3]={0.,0.0081,0.}; |
| 610 | deltay.SetTranslation(dy); |
| 611 | fSensVolModifMatrix->MultiplyLeft( &deltay ); |
| 612 | fSensVolModifMatrix->Multiply( &deltay.Inverse() ); |
| 613 | } |
| 614 | #endif |
| 615 | if (!tempAlignObj.SetMatrix(*fSensVolModifMatrix)) return NULL; |
| 616 | tempAlignObj.SetVolUID(voluid); |
| 617 | tempAlignObj.SetSymName(AliGeomManager::SymName(voluid)); |
| 618 | |
| 619 | |
| 620 | //tempAlignObj.Print(""); |
| 621 | |
| 622 | return &tempAlignObj; |
| 623 | } |
| 624 | //------------------------------------------------------------- |
| 625 | |
| 626 | //------------------------------------------------------------- |
| 627 | AliAlignObjParams *AliITSAlignMille2Module::GetSensitiveVolumeGlobalMisalignment(UShort_t voluid, const Double_t *deltalocal) |
| 628 | { |
| 629 | // calculate misalignment of sens.vol. 'voluid' according with a displacement 'deltalocal' |
| 630 | // of the mother volume. The misalignment is returned as AliAlignObjParams object |
| 631 | |
| 632 | if (!IsIn(voluid)) return NULL; |
| 633 | if (!gGeoManager) return NULL; |
| 634 | |
| 635 | // prepare the TGeoHMatrix |
| 636 | Double_t tr[3],ang[3]; |
| 637 | tr[0]=deltalocal[0]; // in centimeter |
| 638 | tr[1]=deltalocal[1]; |
| 639 | tr[2]=deltalocal[2]; |
| 640 | ang[0]=deltalocal[3]; // psi (X) in deg |
| 641 | ang[1]=deltalocal[4]; // theta (Y) |
| 642 | ang[2]=deltalocal[5]; // phi (Z) |
| 643 | |
| 644 | // reset align object (may not be needed...) |
| 645 | static AliAlignObjParams tempAlignObj; |
| 646 | tempAlignObj.SetTranslation(0,0,0); |
| 647 | tempAlignObj.SetRotation(0,0,0); |
| 648 | |
| 649 | tempAlignObj.SetRotation(ang[0],ang[1],ang[2]); |
| 650 | tempAlignObj.SetTranslation(tr[0],tr[1],tr[2]); |
| 651 | AliDebug(3,Form("Delta angles: psi=%f theta=%f phi=%f",ang[0],ang[1],ang[2])); |
| 652 | |
| 653 | // Gsv = Gg * Gg-1 * Gsv -> Lsv,g = Gg-1 * Gsv |
| 654 | // G'sv = Gg * Dg * Lsv,g === DGsv * Gsv |
| 655 | // |
| 656 | // => DGsv = (Gg * Dg * Gg-1) |
| 657 | // |
| 658 | |
| 659 | // prepare the Delta matrix Dg |
| 660 | TGeoHMatrix dg; |
| 661 | tempAlignObj.GetMatrix(dg); |
| 662 | //dg.Print(); |
| 663 | |
| 664 | dg.MultiplyLeft( fMatrix ); |
| 665 | dg.Multiply( &fMatrix->Inverse() ); |
| 666 | |
| 667 | // reset align object (may not be needed...) |
| 668 | tempAlignObj.SetTranslation(0,0,0); |
| 669 | tempAlignObj.SetRotation(0,0,0); |
| 670 | |
| 671 | tempAlignObj.SetVolUID(voluid); |
| 672 | tempAlignObj.SetSymName(AliGeomManager::SymName(voluid)); |
| 673 | |
| 674 | if (!tempAlignObj.SetMatrix(dg)) return NULL; |
| 675 | |
| 676 | //tempAlignObj.Print(""); |
| 677 | |
| 678 | return &tempAlignObj; |
| 679 | } |
| 680 | // << RS |
| 681 | |
| 682 | //------------------------------------------------------------- |
| 683 | TGeoHMatrix *AliITSAlignMille2Module::GetSensitiveVolumeMatrix(UShort_t voluid) |
| 684 | { |
| 685 | // return TGeoHMatrix of the sens.vol. 'voluid' in the current geometry |
| 686 | if (SensVolMatrix(voluid,fSensVolMatrix)) return NULL; |
| 687 | return fSensVolMatrix; |
| 688 | } |
| 689 | |
| 690 | //------------------------------------------------------------- |
| 691 | TGeoHMatrix *AliITSAlignMille2Module::GetSensitiveVolumeOrigGlobalMatrix(UShort_t voluid) |
| 692 | { |
| 693 | // return original ideal position (from AliGeomManager::GetOrigGlobalMatrix()) |
| 694 | if (SensVolOrigGlobalMatrix(voluid,fSensVolMatrix)) return NULL; |
| 695 | return fSensVolMatrix; |
| 696 | } |
| 697 | //------------------------------------------------------------- |
| 698 | Int_t AliITSAlignMille2Module::SensVolMatrix(UShort_t volid, TGeoHMatrix *m) |
| 699 | { |
| 700 | // set matrix for sensitive modules (SPD corrected) |
| 701 | // return 0 if success |
| 702 | Double_t rot[9]; |
| 703 | Int_t idx=GetIndexFromVolumeID(volid); |
| 704 | if (idx<0) return -1; |
| 705 | if (!AliITSgeomTGeo::GetRotation(idx,rot)) return -2; |
| 706 | m->SetRotation(rot); |
| 707 | Double_t oLoc[3]={0,0,0}; |
| 708 | Double_t oGlo[3]={0,0,0}; |
| 709 | if (!AliITSgeomTGeo::LocalToGlobal(idx,oLoc,oGlo)) return -3; |
| 710 | m->SetTranslation(oGlo); |
| 711 | return 0; |
| 712 | } |
| 713 | |
| 714 | //------------------------------------------------------------- |
| 715 | Int_t AliITSAlignMille2Module::SensVolOrigGlobalMatrix(UShort_t volid, TGeoHMatrix *m) |
| 716 | { |
| 717 | // set original global matrix for sensitive modules (SPD corrected) |
| 718 | // return 0 if success |
| 719 | Int_t idx=GetIndexFromVolumeID(volid); |
| 720 | if (idx<0) return -1; |
| 721 | TGeoHMatrix mo; |
| 722 | if (!AliGeomManager::GetOrigGlobalMatrix(AliGeomManager::SymName(volid),mo)) return -1; |
| 723 | (*m)=mo; |
| 724 | // |
| 725 | #ifdef CORHW_ |
| 726 | // SPD y-shift by 81 mu |
| 727 | if (volid<5000) { |
| 728 | Double_t oLoc[3]={0.0,0.0081,0.0}; |
| 729 | Double_t oGlo[3]={0,0,0}; |
| 730 | m->LocalToMaster(oLoc,oGlo); |
| 731 | m->SetTranslation(oGlo); |
| 732 | } |
| 733 | #endif |
| 734 | return 0; |
| 735 | } |
| 736 | |
| 737 | //------------------------------------------------------------- |
| 738 | UShort_t AliITSAlignMille2Module::GetVolumeIDFromSymname(const Char_t *symname) { |
| 739 | /// volume ID from symname |
| 740 | if (!symname) return 0; |
| 741 | |
| 742 | for (UShort_t voluid=2000; voluid<13300; voluid++) { |
| 743 | Int_t modId; |
| 744 | AliGeomManager::ELayerID layerId = AliGeomManager::VolUIDToLayer(voluid,modId); |
| 745 | if (layerId>0 && layerId<7 && modId>=0 && modId<AliGeomManager::LayerSize(layerId)) { |
| 746 | if (!strcmp(symname,AliGeomManager::SymName(layerId,modId))) return voluid; |
| 747 | } |
| 748 | } |
| 749 | |
| 750 | return 0; |
| 751 | } |
| 752 | |
| 753 | //------------------------------------------------------------- |
| 754 | UShort_t AliITSAlignMille2Module::GetVolumeIDFromIndex(Int_t index) { |
| 755 | /// volume ID from index |
| 756 | if (index<0 || index>2197) return 0; |
| 757 | return GetVolumeIDFromSymname(AliITSgeomTGeo::GetSymName(index)); |
| 758 | } |
| 759 | |
| 760 | //------------------------------------------------------------- |
| 761 | void AliITSAlignMille2Module::Print(Option_t*) const |
| 762 | { |
| 763 | // print data |
| 764 | // |
| 765 | const char* typeName[] = {"SPD","SDD","SSD"}; |
| 766 | printf("*** ITS SuperModule for AliITSAlignMille ***\n"); |
| 767 | printf("symname : %s (type: %s)\n",GetName(),fDetType<0 ? "N/A":typeName[fDetType]); |
| 768 | printf("parent : %s | %d children\n",fParent ? fParent->GetName() : "N/A",GetNChildren()); |
| 769 | printf("volumeID : %4d | index : %4d | Geom.Params are %s\n",fVolumeID,fIndex, |
| 770 | GeomParamsGlobal() ? "Global":"Local"); |
| 771 | printf("Factors : X=%.2f Y=%.2f Z=%.2f\n" |
| 772 | "DOF: %cTx:%5d| %cTy:%5d| %cTz:%5d| %cPsi:%5d| %cTheta:%5d| %cPhi:%5d|", |
| 773 | fSigmaFactor[0],fSigmaFactor[1],fSigmaFactor[2], |
| 774 | IsFreeDOF(kDOFTX) ? '+':'-',GetParOffset(kDOFTX),IsFreeDOF(kDOFTY) ? '+':'-',GetParOffset(kDOFTY), |
| 775 | IsFreeDOF(kDOFTZ) ? '+':'-',GetParOffset(kDOFTZ),IsFreeDOF(kDOFPS) ? '+':'-',GetParOffset(kDOFPS), |
| 776 | IsFreeDOF(kDOFTH) ? '+':'-',GetParOffset(kDOFTH),IsFreeDOF(kDOFPH) ? '+':'-',GetParOffset(kDOFPH)); |
| 777 | if (IsSDD()) { |
| 778 | printf("%cT0:%5d| %cDVl:%5d| %cDVr:%5d|",IsFreeDOF(kDOFT0)?'+':'-',GetParOffset(kDOFT0), |
| 779 | IsFreeDOF(kDOFDVL)?'+':'-',GetParOffset(kDOFDVL),IsFreeDOF(kDOFDVR)?'+':'-',GetParOffset(kDOFDVR)); |
| 780 | if (IsVDriftLRSame()) printf("(dVL=dVR)"); |
| 781 | } |
| 782 | printf("\n"); |
| 783 | fMatrix->Print(); |
| 784 | printf("%4d Sensitive volumes | %6d Processed Points\n",fNSensVol,fNProcPoints); |
| 785 | for (Int_t i=0; i<fNSensVol; i++) printf(" voluid[%d] = %d\n",i,UShort_t(fSensVolVolumeID[i])); |
| 786 | } |
| 787 | |
| 788 | //------------------------------------------------------------- |
| 789 | Bool_t AliITSAlignMille2Module::IsAlignable() const |
| 790 | { |
| 791 | // it it alignable? |
| 792 | TGeoManager* geoManager = AliGeomManager::GetGeometry(); |
| 793 | if (!geoManager) { |
| 794 | AliInfo("Couldn't initialize geometry"); |
| 795 | return kFALSE; |
| 796 | } |
| 797 | return geoManager->GetAlignableEntry(GetName())!=0; |
| 798 | } |
| 799 | |
| 800 | //------------------------------------------------------------- |
| 801 | void AliITSAlignMille2Module::GetLocalMatrix(TGeoHMatrix &mat) const |
| 802 | { |
| 803 | // return the local matrix for transformation to its parent |
| 804 | mat = *fMatrix; |
| 805 | if (fParent) mat.MultiplyLeft( &fParent->GetMatrix()->Inverse() ); |
| 806 | } |
| 807 | |
| 808 | //------------------------------------------------------------- |
| 809 | void AliITSAlignMille2Module::AssignDetType() |
| 810 | { |
| 811 | // assign the detector type |
| 812 | TString tp = GetName(); |
| 813 | if (tp.Contains("SPD",TString::kIgnoreCase)) fDetType = kSPD; |
| 814 | else if (tp.Contains("SDD",TString::kIgnoreCase)) fDetType = kSDD; |
| 815 | else if (tp.Contains("SSD",TString::kIgnoreCase)) fDetType = kSSD; |
| 816 | else fDetType = -1; |
| 817 | fNParTot = IsSDD() ? kMaxParTot:kMaxParGeom; |
| 818 | fNParFree = 0; |
| 819 | fParVals = new Float_t[fNParTot]; |
| 820 | fParErrs = new Float_t[fNParTot]; |
| 821 | fParCstr = new Float_t[fNParTot]; |
| 822 | if (fParOffs.GetSize()<fNParTot) fParOffs.Set(fNParTot); |
| 823 | for (int i=fNParTot;i--;) { |
| 824 | fParVals[i] = fParErrs[i] = 0.; |
| 825 | fParCstr[i] = 0.; |
| 826 | fParOffs[i] = -1; |
| 827 | } |
| 828 | } |
| 829 | |
| 830 | //------------------------------------------------------------- |
| 831 | void AliITSAlignMille2Module::EvaluateDOF() |
| 832 | { |
| 833 | // count d.o.f. |
| 834 | fNParFree = 0; |
| 835 | for (int i=fNParTot;i--;) if (IsFreeDOF(i)) fNParFree++; |
| 836 | } |
| 837 | |
| 838 | //------------------------------------------------------------- |
| 839 | void AliITSAlignMille2Module::GetSensVolGlobalParams(UShort_t volid,Double_t *t, Double_t *r) |
| 840 | { |
| 841 | // return global parameters of the sensor volid |
| 842 | for (int i=3;i--;) t[i] = r[i] = 0.; |
| 843 | if (SensVolMatrix(volid,fSensVolMatrix)) return; |
| 844 | AliAlignObjParams tempAlignObj; |
| 845 | tempAlignObj.SetMatrix(*fSensVolMatrix); |
| 846 | tempAlignObj.GetPars(t,r); |
| 847 | } |
| 848 | |
| 849 | //------------------------------------------------------------- |
| 850 | void AliITSAlignMille2Module::GetSensVolLocalParams(UShort_t volid,Double_t *t, Double_t *r) |
| 851 | { |
| 852 | // return parameters of the sensor volid in the current module |
| 853 | for (int i=3;i--;) t[i] = r[i] = 0.; |
| 854 | if (SensVolMatrix(volid,fSensVolMatrix)) return; |
| 855 | fSensVolMatrix->MultiplyLeft( &fMatrix->Inverse() ); |
| 856 | AliAlignObjParams tempAlignObj; |
| 857 | tempAlignObj.SetMatrix(*fSensVolMatrix); |
| 858 | tempAlignObj.GetPars(t,r); |
| 859 | } |
| 860 | |
| 861 | //------------------------------------------------------------- |
| 862 | void AliITSAlignMille2Module::GetSensVolGlobalParams(UShort_t volid,const Double_t* loct, const Double_t* locr,Double_t *t, Double_t *r) |
| 863 | { |
| 864 | // return global parameters of the sensor volid modified by the localDelta params |
| 865 | for (int i=3;i--;) t[i] = r[i] = 0.; |
| 866 | if (SensVolMatrix(volid,fSensVolMatrix)) return; |
| 867 | AliAlignObjParams tempAlignObj; |
| 868 | tempAlignObj.SetTranslation(loct[0],loct[1],loct[2]); |
| 869 | tempAlignObj.SetRotation(locr[0],locr[1],locr[2]); |
| 870 | // |
| 871 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // obtain local delta |
| 872 | fSensVolModifMatrix->MultiplyLeft( fSensVolMatrix ); // obtain global delta |
| 873 | tempAlignObj.SetMatrix(*fSensVolModifMatrix); |
| 874 | tempAlignObj.GetPars(t,r); // obtain global params |
| 875 | } |
| 876 | |
| 877 | //------------------------------------------------------------- |
| 878 | void AliITSAlignMille2Module::GetSensVolLocalParams(UShort_t volid,const Double_t* loct,const Double_t* locr,Double_t *t, Double_t *r) |
| 879 | { |
| 880 | // return parameters of the sensor volid (modified by the localDelta params) in the current volume |
| 881 | for (int i=3;i--;) t[i] = r[i] = 0.; |
| 882 | if (SensVolMatrix(volid,fSensVolMatrix)) return; |
| 883 | AliAlignObjParams tempAlignObj; |
| 884 | tempAlignObj.SetTranslation(loct[0],loct[1],loct[2]); |
| 885 | tempAlignObj.SetRotation(locr[0],locr[1],locr[2]); |
| 886 | // |
| 887 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // obtain local delta |
| 888 | fSensVolModifMatrix->MultiplyLeft( fSensVolMatrix ); // obtain global delta |
| 889 | fSensVolModifMatrix->MultiplyLeft( &fMatrix->Inverse() ); // obtain delta in current volume |
| 890 | tempAlignObj.SetMatrix(*fSensVolModifMatrix); |
| 891 | tempAlignObj.GetPars(t,r); // obtain params |
| 892 | } |
| 893 | |
| 894 | //------------------------------------------------------------- |
| 895 | void AliITSAlignMille2Module::SetParVals(Double_t *vl,Int_t npar) |
| 896 | { |
| 897 | // set parameters |
| 898 | for (int i=TMath::Min(npar,(Int_t)fNParTot);i--;) fParVals[i] = vl[i]; |
| 899 | } |
| 900 | |
| 901 | //------------------------------------------------------------- |
| 902 | void AliITSAlignMille2Module::GetGeomParamsGlo(Double_t *pars) |
| 903 | { |
| 904 | // recompute parameters from local to global frame |
| 905 | // |
| 906 | // is there anything to do? |
| 907 | if (GeomParamsGlobal()) {for (int i=kMaxParGeom;i--;) pars[i] = fParVals[i]; return;} |
| 908 | // |
| 909 | // IMPORTANT: It is assumed that the parents params are defined in a same way (local or global) |
| 910 | // as for the current module. Since in the mp2 the modules are stored from parents to children, |
| 911 | // it is safe to call this method in loop staring from the lowest level child, i.e. from the end |
| 912 | // of the modules array. |
| 913 | // |
| 914 | // DeltaGlobal = (ModifParents)*DeltaLocal*(ModifParents)^-1 |
| 915 | // |
| 916 | *fSensVolMatrix = *fMatrix; // current global matrix |
| 917 | AliAlignObjParams tempAlignObj; |
| 918 | AliITSAlignMille2Module* parent = GetParent(); |
| 919 | while (parent) { |
| 920 | if (parent->GeomParamsGlobal()) { |
| 921 | AliError("Cannot convert params to Global when the parents are already Global\n"); |
| 922 | for (int i=kMaxParGeom;i--;) pars[i] = 0; |
| 923 | return; |
| 924 | } |
| 925 | fSensVolMatrix->MultiplyLeft( &parent->GetMatrix()->Inverse() ); // Local Matrix |
| 926 | Float_t *parpar = parent->GetParVals(); |
| 927 | tempAlignObj.SetTranslation(parpar[0],parpar[1],parpar[2]); |
| 928 | tempAlignObj.SetRotation(parpar[3],parpar[4],parpar[5]); |
| 929 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); |
| 930 | fSensVolMatrix->MultiplyLeft(fSensVolModifMatrix); |
| 931 | fSensVolMatrix->MultiplyLeft(parent->GetMatrix()); // global matrix after parents modifications |
| 932 | parent = parent->GetParent(); |
| 933 | } |
| 934 | // |
| 935 | tempAlignObj.SetTranslation(fParVals[0],fParVals[1],fParVals[2]); |
| 936 | tempAlignObj.SetRotation(fParVals[3],fParVals[4],fParVals[5]); |
| 937 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // local delta matrix |
| 938 | fSensVolModifMatrix->Multiply( &fSensVolMatrix->Inverse() ); |
| 939 | fSensVolModifMatrix->MultiplyLeft( fSensVolMatrix ); |
| 940 | tempAlignObj.SetMatrix( *fSensVolModifMatrix ); // global delta matrix |
| 941 | tempAlignObj.GetPars(pars,pars+3); |
| 942 | // |
| 943 | } |
| 944 | |
| 945 | //------------------------------------------------------------- |
| 946 | void AliITSAlignMille2Module::GetGeomParamsLoc(Double_t *pars) |
| 947 | { |
| 948 | // recompute parameters from global to local frame |
| 949 | // |
| 950 | // is there anything to do? |
| 951 | if (!GeomParamsGlobal()) {for (int i=kMaxParGeom;i--;) pars[i] = fParVals[i]; return;} |
| 952 | // |
| 953 | // IMPORTANT: It is assumed that the parents params are defined in a same way (local or global) |
| 954 | // as for the current module. Since in the mp2 the modules are stored from parents to children, |
| 955 | // it is safe to call this method in loop staring from the lowest level child, i.e. from the end |
| 956 | // of the modules array. |
| 957 | // |
| 958 | // DeltaLocal = (DeltaParents*GlobalMat)^-1*DeltaGlobal*(DeltaParents*GlobalMat) |
| 959 | // |
| 960 | AliITSAlignMille2Module* parent = GetParent(); |
| 961 | AliAlignObjParams tempAlignObj; |
| 962 | tempAlignObj.SetTranslation(0.,0.,0.); |
| 963 | tempAlignObj.SetRotation(0.,0.,0.); |
| 964 | tempAlignObj.GetMatrix(*fSensVolMatrix); // get no-shift matrix |
| 965 | // |
| 966 | while (parent) { // accumulate the product of parents global modifications |
| 967 | if (!parent->GeomParamsGlobal()) { |
| 968 | AliError("Cannot convert params to Local when the parents are already Local\n"); |
| 969 | for (int i=kMaxParGeom;i--;) pars[i] = 0; |
| 970 | return; |
| 971 | } |
| 972 | Float_t *parpar = parent->GetParVals(); |
| 973 | tempAlignObj.SetTranslation(parpar[0],parpar[1],parpar[2]); |
| 974 | tempAlignObj.SetRotation(parpar[3],parpar[4],parpar[5]); |
| 975 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); |
| 976 | fSensVolMatrix->Multiply(fSensVolModifMatrix); |
| 977 | parent = parent->GetParent(); |
| 978 | } |
| 979 | // global matrix after parents modifications |
| 980 | fSensVolMatrix->Multiply(fMatrix); |
| 981 | // |
| 982 | tempAlignObj.SetTranslation(fParVals[0],fParVals[1],fParVals[2]); |
| 983 | tempAlignObj.SetRotation(fParVals[3],fParVals[4],fParVals[5]); |
| 984 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); // global delta matrix |
| 985 | fSensVolModifMatrix->MultiplyLeft( &fSensVolMatrix->Inverse() ); |
| 986 | fSensVolModifMatrix->Multiply( fSensVolMatrix ); |
| 987 | tempAlignObj.SetMatrix( *fSensVolModifMatrix ); // local delta matrix |
| 988 | tempAlignObj.GetPars(pars,pars+3); |
| 989 | // |
| 990 | } |
| 991 | |
| 992 | |
| 993 | //------------------------------------------------------------- |
| 994 | void AliITSAlignMille2Module::CalcDerivDPosDPar(Int_t sensVol,const Double_t* pl, Double_t *deriv) |
| 995 | { |
| 996 | // calculate jacobian of the global position vs Parameters (dPos/dParam) |
| 997 | // for the point in the sensor sensVol |
| 998 | const double kDel = 0.01; |
| 999 | double pos0[3],pos1[3],pos2[3],pos3[3]; |
| 1000 | double delta[kMaxParGeom]; |
| 1001 | // |
| 1002 | for (int ip=kMaxParGeom;ip--;) delta[ip] = 0; |
| 1003 | // |
| 1004 | for (int ip=kMaxParGeom;ip--;) { |
| 1005 | // |
| 1006 | delta[ip] -= kDel; |
| 1007 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos0); |
| 1008 | delta[ip] += kDel/2; |
| 1009 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos1); |
| 1010 | delta[ip] += kDel; |
| 1011 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos2); |
| 1012 | delta[ip] += kDel/2; |
| 1013 | GetSensitiveVolumeModifiedMatrix(sensVol,delta,!GeomParamsGlobal())->LocalToMaster(pl,pos3); |
| 1014 | // |
| 1015 | delta[ip] = 0; |
| 1016 | double *curd = deriv + ip*3; |
| 1017 | for (int i=3;i--;) curd[i] = (8.*(pos2[i]-pos1[i]) - (pos3[i]-pos0[i]))/6./kDel; |
| 1018 | } |
| 1019 | // |
| 1020 | } |
| 1021 | |
| 1022 | //------------------------------------------------------------- |
| 1023 | void AliITSAlignMille2Module::CalcDerivGloLoc(Int_t idx,Double_t *deriv) |
| 1024 | { |
| 1025 | // calculate derivative of global params vs local param idx: deriv[j] = dParGlo[j]/dParLoc[idx] |
| 1026 | Double_t lpar[kMaxParGeom]; |
| 1027 | for (int i=kMaxParGeom;i--;) lpar[i] = 0.; |
| 1028 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... |
| 1029 | Double_t par1[kMaxParGeom]; // f(x-h) |
| 1030 | Double_t par2[kMaxParGeom]; // f(x-h/2) |
| 1031 | Double_t par3[kMaxParGeom]; // f(x+h/2) |
| 1032 | Double_t par4[kMaxParGeom]; // f(x+h) |
| 1033 | // |
| 1034 | const Double_t dpar = 1e-3; |
| 1035 | // |
| 1036 | // first values |
| 1037 | lpar[idx] -= dpar; |
| 1038 | GetGlobalParams(lpar,lpar+3, par1,par1+3); |
| 1039 | // |
| 1040 | // second values |
| 1041 | lpar[idx] += dpar/2; |
| 1042 | GetGlobalParams(lpar,lpar+3, par2,par2+3); |
| 1043 | // |
| 1044 | // third values |
| 1045 | lpar[idx] += dpar; |
| 1046 | GetGlobalParams(lpar,lpar+3, par3,par3+3); |
| 1047 | // |
| 1048 | // fourth values |
| 1049 | lpar[idx] += dpar/2; |
| 1050 | GetGlobalParams(lpar,lpar+3, par4,par4+3); |
| 1051 | // |
| 1052 | Double_t h2 = 1./(2.*dpar); |
| 1053 | for (int i=kMaxParGeom;i--;) { |
| 1054 | Double_t d0 = par4[i]-par1[i]; |
| 1055 | Double_t d2 = 2.*(par3[i]-par2[i]); |
| 1056 | deriv[i] = h2*(4*d2 - d0)/3.; |
| 1057 | if (TMath::Abs(deriv[i]) < 1.0e-9) deriv[i] = 0.0; |
| 1058 | } |
| 1059 | // |
| 1060 | } |
| 1061 | |
| 1062 | //------------------------------------------------------------- |
| 1063 | void AliITSAlignMille2Module::CalcDerivLocGlo(Double_t *deriv) |
| 1064 | { |
| 1065 | // calculate derivative of local params vs global params: deriv[i][j] = dParLoc[i]/dParGlo[j] |
| 1066 | Double_t gpar[kMaxParGeom]; |
| 1067 | for (int i=kMaxParGeom;i--;) gpar[i] = 0.; |
| 1068 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... |
| 1069 | Double_t par1[kMaxParGeom]; // f(x-h) |
| 1070 | Double_t par2[kMaxParGeom]; // f(x-h/2) |
| 1071 | Double_t par3[kMaxParGeom]; // f(x+h/2) |
| 1072 | Double_t par4[kMaxParGeom]; // f(x+h) |
| 1073 | // |
| 1074 | const Double_t dpar = 1e-3; |
| 1075 | // |
| 1076 | for (int ig=kMaxParGeom;ig--;) { |
| 1077 | // first values |
| 1078 | gpar[ig] -= dpar; |
| 1079 | GetLocalParams(gpar,gpar+3, par1,par1+3); |
| 1080 | // |
| 1081 | // second values |
| 1082 | gpar[ig] += dpar/2; |
| 1083 | GetLocalParams(gpar,gpar+3, par2,par2+3); |
| 1084 | // |
| 1085 | // third values |
| 1086 | gpar[ig] += dpar; |
| 1087 | GetLocalParams(gpar,gpar+3, par3,par3+3); |
| 1088 | // |
| 1089 | // fourth values |
| 1090 | gpar[ig] += dpar/2; |
| 1091 | GetLocalParams(gpar,gpar+3, par4,par4+3); |
| 1092 | // |
| 1093 | Double_t h2 = 1./(2.*dpar); |
| 1094 | for (int i=kMaxParGeom;i--;) { |
| 1095 | Double_t d0 = par4[i]-par1[i]; |
| 1096 | Double_t d2 = 2.*(par3[i]-par2[i]); |
| 1097 | int idig = i*kMaxParGeom + ig; |
| 1098 | deriv[idig] = h2*(4*d2 - d0)/3.; |
| 1099 | if (TMath::Abs(deriv[idig]) < 1.0e-9) deriv[idig] = 0.0; |
| 1100 | } |
| 1101 | } |
| 1102 | // |
| 1103 | } |
| 1104 | |
| 1105 | //________________________________________________________________________________________________________ |
| 1106 | void AliITSAlignMille2Module::CalcDerivGloLoc(Int_t sensVol,Int_t paridx,Double_t* derivative) |
| 1107 | { |
| 1108 | /// calculate numerically the derivatives of global params vs local param paridx for sensor sensVol: dPglob/dPloc_paridx |
| 1109 | // |
| 1110 | Double_t lpar[kMaxParGeom]; |
| 1111 | for (int i=kMaxParGeom;i--;) lpar[i] = 0.; |
| 1112 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... |
| 1113 | Double_t par1[kMaxParGeom]; // f(x-h) |
| 1114 | Double_t par2[kMaxParGeom]; // f(x-h/2) |
| 1115 | Double_t par3[kMaxParGeom]; // f(x+h/2) |
| 1116 | Double_t par4[kMaxParGeom]; // f(x+h) |
| 1117 | // |
| 1118 | const Double_t dpar = 1e-3; |
| 1119 | // |
| 1120 | // first values |
| 1121 | lpar[paridx] -= dpar; |
| 1122 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par1,par1+3); |
| 1123 | // |
| 1124 | // second values |
| 1125 | lpar[paridx] += dpar/2; |
| 1126 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par2,par2+3); |
| 1127 | // |
| 1128 | // third values |
| 1129 | lpar[paridx] += dpar; |
| 1130 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par3,par3+3); |
| 1131 | // |
| 1132 | // fourth values |
| 1133 | lpar[paridx] += dpar/2; |
| 1134 | GetSensVolGlobalParams(sensVol,lpar,lpar+3, par4,par4+3); |
| 1135 | // |
| 1136 | Double_t h2 = 1./(2.*dpar); |
| 1137 | for (int i=kMaxParGeom;i--;) { |
| 1138 | Double_t d0 = par4[i]-par1[i]; |
| 1139 | Double_t d2 = 2.*(par3[i]-par2[i]); |
| 1140 | derivative[i] = h2*(4*d2 - d0)/3.; |
| 1141 | if (TMath::Abs(derivative[i]) < 1.0e-9) derivative[i] = 0.0; |
| 1142 | } |
| 1143 | // |
| 1144 | } |
| 1145 | |
| 1146 | //________________________________________________________________________________________________________ |
| 1147 | void AliITSAlignMille2Module::CalcDerivCurLoc(Int_t sensVol,Int_t paridx,Double_t* derivative) |
| 1148 | { |
| 1149 | /// calculate numerically the derivatives of sensor params in the current volume vs sensor local param paridx |
| 1150 | // |
| 1151 | Double_t lpar[kMaxParGeom]; |
| 1152 | for (int i=kMaxParGeom;i--;) lpar[i] = 0.; |
| 1153 | // using f(x+h),f(x-h),f(x+h/2),f(x-h2)... |
| 1154 | Double_t par1[kMaxParGeom]; // f(x-h) |
| 1155 | Double_t par2[kMaxParGeom]; // f(x-h/2) |
| 1156 | Double_t par3[kMaxParGeom]; // f(x+h/2) |
| 1157 | Double_t par4[kMaxParGeom]; // f(x+h) |
| 1158 | // |
| 1159 | const Double_t dpar = 1e-3; |
| 1160 | // |
| 1161 | // first values |
| 1162 | lpar[paridx] -= dpar; |
| 1163 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par1,par1+3); |
| 1164 | // |
| 1165 | // second values |
| 1166 | lpar[paridx] += dpar/2; |
| 1167 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par2,par2+3); |
| 1168 | // |
| 1169 | // third values |
| 1170 | lpar[paridx] += dpar; |
| 1171 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par3,par3+3); |
| 1172 | // |
| 1173 | // fourth values |
| 1174 | lpar[paridx] += dpar/2; |
| 1175 | GetSensVolLocalParams(sensVol,lpar,lpar+3, par4,par4+3); |
| 1176 | // |
| 1177 | Double_t h2 = 1./(2.*dpar); |
| 1178 | for (int i=kMaxParGeom;i--;) { |
| 1179 | Double_t d0 = par4[i]-par1[i]; |
| 1180 | Double_t d2 = 2.*(par3[i]-par2[i]); |
| 1181 | derivative[i] = h2*(4*d2 - d0)/3.; |
| 1182 | if (TMath::Abs(derivative[i]) < 1.0e-9) derivative[i] = 0.0; |
| 1183 | } |
| 1184 | // |
| 1185 | } |
| 1186 | |
| 1187 | |
| 1188 | //------------------------------------------------------------- |
| 1189 | void AliITSAlignMille2Module::GetGlobalParams(Double_t *t, Double_t *r) const |
| 1190 | { |
| 1191 | // global parameters of the module |
| 1192 | AliAlignObjParams tempAlignObj; |
| 1193 | tempAlignObj.SetMatrix( *fMatrix ); |
| 1194 | tempAlignObj.GetPars(t,r); |
| 1195 | } |
| 1196 | |
| 1197 | //------------------------------------------------------------- |
| 1198 | void AliITSAlignMille2Module::GetGlobalParams(const Double_t* loct, const Double_t* locr, Double_t *t, Double_t *r) |
| 1199 | { |
| 1200 | // global parameters of the module after the modification by local loct,locr |
| 1201 | AliAlignObjParams tempAlignObj; |
| 1202 | tempAlignObj.SetTranslation(loct[0],loct[1],loct[2]); |
| 1203 | tempAlignObj.SetRotation(locr[0],locr[1],locr[2]); |
| 1204 | tempAlignObj.GetMatrix(*fSensVolModifMatrix); |
| 1205 | *fSensVolMatrix = *fMatrix; |
| 1206 | fSensVolMatrix->Multiply(fSensVolModifMatrix); |
| 1207 | tempAlignObj.SetMatrix(*fSensVolMatrix); |
| 1208 | tempAlignObj.GetPars(t,r); |
| 1209 | } |
| 1210 | |
| 1211 | //------------------------------------------------------------- |
| 1212 | void AliITSAlignMille2Module::GetLocalParams(const Double_t* glot, const Double_t* glor, Double_t *t, Double_t *r) |
| 1213 | { |
| 1214 | // obtain local delta parameters from global delta params |
| 1215 | AliAlignObjParams tempAlignObj; |
| 1216 | tempAlignObj.SetTranslation(glot[0],glot[1],glot[2]); |
| 1217 | tempAlignObj.SetRotation(glor[0],glor[1],glor[2]); |
| 1218 | tempAlignObj.GetMatrix(*fSensVolMatrix); |
| 1219 | fSensVolMatrix->Multiply( fMatrix ); |
| 1220 | fSensVolMatrix->MultiplyLeft( &fMatrix->Inverse() ); |
| 1221 | tempAlignObj.SetMatrix(*fSensVolMatrix); |
| 1222 | tempAlignObj.GetPars(t,r); |
| 1223 | } |
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