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f8832015 | 1 | #include <TString.h> |
32d38de2 | 2 | #include <TMath.h> |
3 | #include "AliITSUSeed.h" | |
716ccba7 | 4 | #include "AliLog.h" |
3e4e3c23 | 5 | #include "AliESDtrack.h" |
32d38de2 | 6 | using namespace TMath; |
7 | ||
8 | ClassImp(AliITSUSeed) | |
9 | ||
10 | //_________________________________________________________________________ | |
11 | AliITSUSeed::AliITSUSeed() | |
f8832015 | 12 | : fHitsPattern(0) |
b8b59e05 | 13 | ,fNChildren(0) |
f8832015 | 14 | ,fClID(0) |
15 | ,fChi2Glo(0) | |
16 | ,fChi2Cl(0) | |
716ccba7 | 17 | ,fChi2Penalty(0) |
9f42ebf7 | 18 | ,fChi2Match(0) |
19 | ,fChi2ITSSA(0) | |
c61e50c3 | 20 | ,fParent(0) |
08419930 | 21 | #ifdef _ITSU_TUNING_MODE_ // this is used only for tuning histo filling |
22 | ,fOrdBranch(0) | |
23 | ,fOrdCand(0) | |
24 | #endif | |
32d38de2 | 25 | { |
26 | // def c-tor | |
44785f3e | 27 | ResetFMatrix(); |
32d38de2 | 28 | } |
29 | ||
30 | //_________________________________________________________________________ | |
31 | AliITSUSeed::~AliITSUSeed() | |
32 | { | |
716ccba7 | 33 | // d-tor |
32d38de2 | 34 | } |
35 | ||
36 | //_________________________________________________________________________ | |
37 | AliITSUSeed::AliITSUSeed(const AliITSUSeed& src) | |
c61e50c3 | 38 | :AliExternalTrackParam(src) |
f8832015 | 39 | ,fHitsPattern(src.fHitsPattern) |
b8b59e05 | 40 | ,fNChildren(src.fNChildren) |
c61e50c3 | 41 | ,fClID(src.fClID) |
f8832015 | 42 | ,fChi2Glo(src.fChi2Glo) |
43 | ,fChi2Cl(src.fChi2Cl) | |
716ccba7 | 44 | ,fChi2Penalty(src.fChi2Penalty) |
9f42ebf7 | 45 | ,fChi2Match(src.fChi2Match) |
46 | ,fChi2ITSSA(src.fChi2ITSSA) | |
c61e50c3 | 47 | ,fParent(src.fParent) |
08419930 | 48 | #ifdef _ITSU_TUNING_MODE_ // this is used only for tuning histo filling |
49 | ,fOrdBranch(src.fOrdBranch) | |
50 | ,fOrdCand(src.fOrdCand) | |
51 | #endif | |
32d38de2 | 52 | { |
53 | // def c-tor | |
44785f3e | 54 | for (int i=kNFElem;i--;) fFMatrix[i] = src.fFMatrix[i]; |
716ccba7 | 55 | for (int i=kNKElem;i--;) fKMatrix[i] = src.fKMatrix[i]; |
56 | for (int i=kNRElem;i--;) fRMatrix[i] = src.fRMatrix[i]; | |
943e1898 | 57 | fResid[0]=src.fResid[0]; |
58 | fResid[1]=src.fResid[1]; | |
59 | fCovIYZ[0]=src.fCovIYZ[0]; | |
60 | fCovIYZ[1]=src.fCovIYZ[1]; | |
61 | fCovIYZ[2]=src.fCovIYZ[2]; | |
62 | // | |
32d38de2 | 63 | } |
64 | ||
65 | //_________________________________________________________________________ | |
66 | AliITSUSeed &AliITSUSeed::operator=(const AliITSUSeed& src) | |
67 | { | |
68 | // def c-tor | |
69 | if (this == &src) return *this; | |
943e1898 | 70 | this->~AliITSUSeed(); |
71 | new(this) AliITSUSeed(src); | |
32d38de2 | 72 | return *this; |
73 | } | |
f8832015 | 74 | |
75 | //_________________________________________________________________________ | |
76 | void AliITSUSeed::Print(Option_t* opt) const | |
77 | { | |
78 | // print seed info | |
79 | int lr,cl = GetLrCluster(lr); | |
08419930 | 80 | printf("%cLr%d Nchild: %3d Cl:%4d Chi2Glo:%7.2f(%7.2f) Chi2Cl:%7.2f Penalty: %7.2f Mtc:%6.3f Bwd:%6.3f",IsKilled() ? '-':' ', |
9f42ebf7 | 81 | lr,GetNChildren(),cl,GetChi2Glo(),GetChi2GloNrm(),GetChi2Cl(), GetChi2Penalty(), GetChi2ITSTPC(), GetChi2ITSSA()); |
f8832015 | 82 | printf(" |"); |
716ccba7 | 83 | int lrc=0; |
84 | const AliITSUSeed *sdc = this; | |
85 | while(1) { | |
86 | if (lrc<lr) printf("."); | |
87 | else { | |
88 | sdc = sdc->GetParent(lrc); | |
89 | if (!sdc) break; | |
90 | printf("%c",sdc->GetClusterID()<0 ? '.': (sdc->IsFake() ? '-':'+')); | |
91 | } | |
92 | lrc++; | |
93 | } | |
94 | printf("|\n"); | |
f8832015 | 95 | TString opts = opt; opts.ToLower(); |
96 | if (opts.Contains("etp")) AliExternalTrackParam::Print(); | |
97 | if (opts.Contains("parent") && GetParent()) GetParent()->Print(opt); | |
98 | } | |
3dd9c283 | 99 | |
3e4e3c23 | 100 | //______________________________________________________________________________ |
9f42ebf7 | 101 | void AliITSUSeed::InitFromSeed(const AliExternalTrackParam* seed) |
3e4e3c23 | 102 | { |
103 | // init seed from ESD track | |
104 | TObject::Clear(); | |
9f42ebf7 | 105 | AliExternalTrackParam::operator=(*seed); |
3e4e3c23 | 106 | ResetFMatrix(); |
107 | fHitsPattern = 0; | |
108 | fClID = 0; | |
b8b59e05 | 109 | fNChildren = 0; |
3e4e3c23 | 110 | fChi2Glo = fChi2Cl = fChi2Penalty = 0; |
111 | fParent = 0; //!!! | |
112 | } | |
113 | ||
114 | ||
3dd9c283 | 115 | //______________________________________________________________________________ |
116 | Float_t AliITSUSeed::GetChi2GloNrm() const | |
117 | { | |
118 | int ndf = 2*GetNLayersHit() - 5; | |
716ccba7 | 119 | return (ndf>0 ? fChi2Glo/ndf : fChi2Glo) + fChi2Penalty; |
3dd9c283 | 120 | } |
121 | ||
122 | ||
123 | //______________________________________________________________________________ | |
124 | Int_t AliITSUSeed::Compare(const TObject* obj) const | |
125 | { | |
126 | // compare clusters accodring to specific mode | |
f9c7eb32 | 127 | const AliITSUSeed* sd = (const AliITSUSeed*)obj; |
3dd9c283 | 128 | const Float_t kTol = 1e-5; |
129 | if (!IsKilled() && sd->IsKilled()) return -1; | |
130 | if ( IsKilled() &&!sd->IsKilled()) return 1; | |
131 | // | |
716ccba7 | 132 | float chi2This = GetChi2GloNrm(); |
133 | float chi2Other = sd->GetChi2GloNrm(); | |
134 | ||
135 | if (chi2This+kTol<chi2Other) return -1; | |
136 | else if (chi2This-kTol>chi2Other) return 1; | |
3dd9c283 | 137 | return 0; |
138 | } | |
139 | ||
140 | //______________________________________________________________________________ | |
141 | Bool_t AliITSUSeed::IsEqual(const TObject* obj) const | |
142 | { | |
143 | // compare clusters accodring to specific mode | |
f9c7eb32 | 144 | const AliITSUSeed* sd = (const AliITSUSeed*)obj; |
3dd9c283 | 145 | const Float_t kTol = 1e-5; |
146 | if (IsKilled() != sd->IsKilled()) return kFALSE; | |
716ccba7 | 147 | return Abs(GetChi2GloNrm() - sd->GetChi2GloNrm())<kTol; |
3dd9c283 | 148 | } |
44785f3e | 149 | |
150 | //______________________________________________________________________________ | |
151 | Bool_t AliITSUSeed::PropagateToX(Double_t xk, Double_t b) | |
152 | { | |
153 | // Propagate this track to the plane X=xk (cm) in the field "b" (kG) | |
154 | Double_t dx=xk-fX; | |
155 | if (TMath::Abs(dx)<=kAlmost0) return kTRUE; | |
156 | ||
157 | Double_t crv=GetC(b); | |
158 | if (TMath::Abs(b) < kAlmost0Field) crv=0.; | |
159 | Double_t x2r = crv*dx; | |
160 | Double_t f1=fP[2], f2=f1 + x2r; | |
161 | if (TMath::Abs(f1) >= kAlmost1) return kFALSE; | |
162 | if (TMath::Abs(f2) >= kAlmost1) return kFALSE; | |
163 | if (TMath::Abs(fP[4])< kAlmost0) return kFALSE; | |
164 | ||
165 | Double_t &fP0=fP[0], &fP1=fP[1], &fP2=fP[2], &fP3=fP[3], &fP4=fP[4]; | |
166 | Double_t | |
167 | &fC00=fC[0], | |
168 | &fC10=fC[1], &fC11=fC[2], | |
169 | &fC20=fC[3], &fC21=fC[4], &fC22=fC[5], | |
170 | &fC30=fC[6], &fC31=fC[7], &fC32=fC[8], &fC33=fC[9], | |
171 | &fC40=fC[10], &fC41=fC[11], &fC42=fC[12], &fC43=fC[13], &fC44=fC[14]; | |
172 | ||
173 | Double_t r1=TMath::Sqrt((1.-f1)*(1.+f1)), r2=TMath::Sqrt((1.-f2)*(1.+f2)); | |
174 | if (TMath::Abs(r1)<kAlmost0) return kFALSE; | |
175 | if (TMath::Abs(r2)<kAlmost0) return kFALSE; | |
176 | ||
177 | fX=xk; | |
178 | double dy2dx = (f1+f2)/(r1+r2); | |
179 | fP0 += dx*dy2dx; | |
180 | if (TMath::Abs(x2r)<0.05) { | |
181 | fP1 += dx*(r2 + f2*dy2dx)*fP3; // Many thanks to P.Hristov ! | |
182 | fP2 += x2r; | |
183 | } | |
184 | else { | |
185 | // for small dx/R the linear apporximation of the arc by the segment is OK, | |
186 | // but at large dx/R the error is very large and leads to incorrect Z propagation | |
187 | // angle traversed delta = 2*asin(dist_start_end / R / 2), hence the arc is: R*deltaPhi | |
188 | // The dist_start_end is obtained from sqrt(dx^2+dy^2) = x/(r1+r2)*sqrt(2+f1*f2+r1*r2) | |
189 | // Similarly, the rotation angle in linear in dx only for dx<<R | |
190 | double chord = dx*TMath::Sqrt(1+dy2dx*dy2dx); // distance from old position to new one | |
191 | double rot = 2*TMath::ASin(0.5*chord*crv); // angular difference seen from the circle center | |
192 | fP1 += rot/crv*fP3; | |
193 | fP2 = TMath::Sin(rot + TMath::ASin(fP2)); | |
194 | } | |
195 | ||
196 | //f = F - 1 | |
197 | double r1i = 1./r1; | |
198 | double r2i = 1./r2; | |
199 | double tg1 = f1*r1i; | |
200 | double tg2 = f2*r2i; | |
201 | double v0 = 1. + dy2dx*tg2; | |
202 | double v1 = (r1i+r2i)*(dy2dx*(tg1+tg2)+2); | |
203 | double v2 = (r1i+r2i)*v0; | |
204 | // | |
205 | double f24 = dx*crv/fP4; | |
206 | double f02 = dx*v1; | |
207 | double f04 = dx*v2*f24; | |
208 | double f12 = dx*fP3* (f2*v1+dy2dx-tg2); | |
209 | double f13 = dx*r2*v0; | |
210 | double f14 = dx*f24*fP3*(f2*v2+dy2dx-tg2); | |
211 | // | |
212 | //b = C*ft | |
213 | Double_t b00=f02*fC20 + f04*fC40, b01=f12*fC20 + f14*fC40 + f13*fC30; | |
214 | Double_t b02=f24*fC40; | |
215 | Double_t b10=f02*fC21 + f04*fC41, b11=f12*fC21 + f14*fC41 + f13*fC31; | |
216 | Double_t b12=f24*fC41; | |
217 | Double_t b20=f02*fC22 + f04*fC42, b21=f12*fC22 + f14*fC42 + f13*fC32; | |
218 | Double_t b22=f24*fC42; | |
219 | Double_t b40=f02*fC42 + f04*fC44, b41=f12*fC42 + f14*fC44 + f13*fC43; | |
220 | Double_t b42=f24*fC44; | |
221 | Double_t b30=f02*fC32 + f04*fC43, b31=f12*fC32 + f14*fC43 + f13*fC33; | |
222 | Double_t b32=f24*fC43; | |
223 | ||
224 | //a = f*b = f*C*ft | |
225 | Double_t a00=f02*b20+f04*b40,a01=f02*b21+f04*b41,a02=f02*b22+f04*b42; | |
226 | Double_t a11=f12*b21+f14*b41+f13*b31,a12=f12*b22+f14*b42+f13*b32; | |
227 | Double_t a22=f24*b42; | |
228 | ||
229 | //F*C*Ft = C + (b + bt + a) | |
230 | fC00 += b00 + b00 + a00; | |
231 | fC10 += b10 + b01 + a01; | |
232 | fC20 += b20 + b02 + a02; | |
233 | fC30 += b30; | |
234 | fC40 += b40; | |
235 | fC11 += b11 + b11 + a11; | |
236 | fC21 += b21 + b12 + a12; | |
237 | fC31 += b31; | |
238 | fC41 += b41; | |
239 | fC22 += b22 + b22 + a22; | |
240 | fC32 += b32; | |
241 | fC42 += b42; | |
242 | // | |
243 | // update stored transformation matrix F = Fnew*Fold | |
244 | fFMatrix[kF04] += f04 + f24*fFMatrix[kF02]; | |
245 | fFMatrix[kF14] += f14 + f24*fFMatrix[kF12]; | |
246 | fFMatrix[kF02] += f02; | |
247 | fFMatrix[kF12] += f12; | |
248 | fFMatrix[kF13] += f13; | |
249 | fFMatrix[kF24] += f24; | |
250 | // | |
251 | CheckCovariance(); | |
252 | ||
253 | return kTRUE; | |
254 | } | |
943e1898 | 255 | |
e7d83d38 | 256 | //__________________________________________________________________ |
257 | Int_t AliITSUSeed::GetClusterIndex(Int_t ind) const | |
258 | { | |
259 | // get ind-th cluster index | |
260 | int ncl = 0; | |
261 | const AliITSUSeed* seed = this; | |
262 | while(seed) { | |
c425b166 | 263 | if ( seed->HasCluster() && (ncl++==ind) ) return seed->GetLrClusterID();//GetClusterID(); |
e7d83d38 | 264 | seed = (AliITSUSeed*)seed->GetParent(); |
265 | } | |
266 | return -1; | |
267 | // | |
268 | } | |
269 | ||
716ccba7 | 270 | //______________________________________________________________________________ |
271 | Bool_t AliITSUSeed::RotateToAlpha(Double_t alpha) | |
272 | { | |
273 | // Transform this track to the local coord. system rotated | |
274 | // by angle "alpha" (rad) with respect to the global coord. system. | |
275 | // | |
276 | if (TMath::Abs(fP[2]) >= kAlmost1) { | |
277 | AliError(Form("Precondition is not satisfied: |sin(phi)|>1 ! %f",fP[2])); | |
278 | return kFALSE; | |
279 | } | |
280 | // | |
281 | if (alpha < -TMath::Pi()) alpha += 2*TMath::Pi(); | |
282 | else if (alpha >= TMath::Pi()) alpha -= 2*TMath::Pi(); | |
283 | // | |
284 | Double_t &fP0=fP[0]; | |
285 | Double_t &fP2=fP[2]; | |
286 | Double_t &fC00=fC[0]; | |
287 | Double_t &fC10=fC[1]; | |
288 | Double_t &fC20=fC[3]; | |
289 | Double_t &fC21=fC[4]; | |
290 | Double_t &fC22=fC[5]; | |
291 | Double_t &fC30=fC[6]; | |
292 | Double_t &fC32=fC[8]; | |
293 | Double_t &fC40=fC[10]; | |
294 | Double_t &fC42=fC[12]; | |
295 | // | |
296 | Double_t x=fX; | |
297 | Double_t ca=TMath::Cos(alpha-fAlpha), sa=TMath::Sin(alpha-fAlpha); | |
298 | Double_t sf=fP2, cf=TMath::Sqrt((1.- fP2)*(1.+fP2)); // Improve precision | |
299 | // RS: check if rotation does no invalidate track model (cos(local_phi)>=0, i.e. particle | |
300 | // direction in local frame is along the X axis | |
301 | if ((cf*ca+sf*sa)<0) { | |
302 | AliDebug(1,Form("Rotation failed: local cos(phi) would become %.2f",cf*ca+sf*sa)); | |
303 | return kFALSE; | |
304 | } | |
305 | // | |
306 | Double_t tmp=sf*ca - cf*sa; | |
307 | ||
308 | if (TMath::Abs(tmp) >= kAlmost1) { | |
309 | if (TMath::Abs(tmp) > 1.+ Double_t(FLT_EPSILON)) | |
310 | AliWarning(Form("Rotation failed ! %.10e",tmp)); | |
311 | return kFALSE; | |
312 | } | |
313 | fAlpha = alpha; | |
314 | fX = x*ca + fP0*sa; | |
315 | fP0= -x*sa + fP0*ca; | |
316 | fP2= tmp; | |
317 | ||
318 | if (TMath::Abs(cf)<kAlmost0) { | |
319 | AliError(Form("Too small cosine value %f",cf)); | |
320 | cf = kAlmost0; | |
321 | } | |
322 | ||
323 | Double_t rr=(ca+sf/cf*sa); | |
324 | ||
325 | fC00 *= (ca*ca); | |
326 | fC10 *= ca; | |
327 | fC20 *= ca*rr; | |
328 | fC21 *= rr; | |
329 | fC22 *= rr*rr; | |
330 | fC30 *= ca; | |
331 | fC32 *= rr; | |
332 | fC40 *= ca; | |
333 | fC42 *= rr; | |
334 | // | |
335 | fRMatrix[kR00] = ca; | |
336 | fRMatrix[kR22] = rr; | |
337 | // | |
338 | CheckCovariance(); | |
339 | ||
340 | return kTRUE; | |
341 | } | |
342 | ||
943e1898 | 343 | //______________________________________________________________________________ |
344 | Bool_t AliITSUSeed::GetTrackingXAtXAlpha(double xOther, double alpOther, double bz, double &xdst) | |
345 | { | |
346 | // calculate X and Y in the tracking frame of the track, corresponding to other X,Alpha tracking | |
347 | double ca=TMath::Cos(alpOther-fAlpha), sa=TMath::Sin(alpOther-fAlpha); | |
348 | double &y=fP[0], &sf=fP[2], cf=Sqrt((1.-sf)*(1.+sf)); | |
349 | double eta = xOther - fX*ca - y*sa; | |
350 | double xi = sf*ca - cf*sa; | |
716ccba7 | 351 | if (Abs(xi)>= kAlmost1) return kFALSE; |
943e1898 | 352 | double nu = xi + GetC(bz)*eta; |
716ccba7 | 353 | if (Abs(nu)>= kAlmost1) return kFALSE; |
943e1898 | 354 | xdst = xOther*ca - sa*( y*ca-fX*sa + eta*(xi+nu)/(Sqrt((1.-xi)*(1.+xi)) + Sqrt((1.-nu)*(1.+nu))) ); |
355 | return kTRUE; | |
356 | } | |
357 | ||
358 | //____________________________________________________________________ | |
359 | Double_t AliITSUSeed::GetPredictedChi2(Double_t p[2],Double_t cov[3]) | |
360 | { | |
361 | // Estimate the chi2 of the space point "p" with the cov. matrix "cov" | |
362 | // Store info needed for update and smoothing | |
363 | Double_t sdd = fC[0] + cov[0]; | |
364 | Double_t sdz = fC[1] + cov[1]; | |
365 | Double_t szz = fC[2] + cov[2]; | |
366 | Double_t det = sdd*szz - sdz*sdz; | |
367 | if (TMath::Abs(det) < kAlmost0) return kVeryBig; | |
368 | det = 1./det; | |
369 | fCovIYZ[0] = szz*det; | |
370 | fCovIYZ[1] = -sdz*det; | |
371 | fCovIYZ[2] = sdd*det; | |
372 | double &dy = fResid[0] = p[0] - fP[0]; | |
373 | double &dz = fResid[1] = p[1] - fP[1]; | |
374 | // | |
375 | return dy*(dy*fCovIYZ[0]+dz*fCovIYZ[1]) + dz*(dy*fCovIYZ[1]+dz*(fCovIYZ[2])); | |
376 | // | |
377 | } | |
378 | ||
379 | //____________________________________________________________________ | |
380 | Bool_t AliITSUSeed::Update() | |
381 | { | |
382 | // Update the track parameters with the measurement stored during GetPredictedChi2 | |
383 | // | |
716ccba7 | 384 | Double_t &fP0=fP[0], &fP1=fP[1], &fP2=fP[2], &fP3=fP[3], &fP4=fP[4], |
385 | &fC00=fC[kS00], | |
386 | &fC10=fC[kS10], &fC11=fC[kS11], | |
387 | &fC20=fC[kS20], &fC21=fC[kS21], &fC22=fC[kS22], | |
388 | &fC30=fC[kS30], &fC31=fC[kS31], &fC32=fC[kS32], &fC33=fC[kS33], | |
389 | &fC40=fC[kS40], &fC41=fC[kS41], &fC42=fC[kS42], &fC43=fC[kS43], &fC44=fC[kS44]; | |
943e1898 | 390 | // |
391 | double &r00=fCovIYZ[0],&r01=fCovIYZ[1],&r11=fCovIYZ[2]; | |
392 | double &dy=fResid[0], &dz=fResid[1]; | |
393 | // | |
716ccba7 | 394 | // store info needed for smoothing in the fKMatrix |
395 | double &k00 = fKMatrix[kK00] = fC00*r00+fC10*r01; | |
396 | double &k01 = fKMatrix[kK01] = fC00*r01+fC10*r11; | |
397 | double &k10 = fKMatrix[kK10] = fC10*r00+fC11*r01; | |
398 | double &k11 = fKMatrix[kK11] = fC10*r01+fC11*r11; | |
399 | double &k20 = fKMatrix[kK20] = fC20*r00+fC21*r01; | |
400 | double &k21 = fKMatrix[kK21] = fC20*r01+fC21*r11; | |
401 | double &k30 = fKMatrix[kK30] = fC30*r00+fC31*r01; | |
402 | double &k31 = fKMatrix[kK31] = fC30*r01+fC31*r11; | |
403 | double &k40 = fKMatrix[kK40] = fC40*r00+fC41*r01; | |
404 | double &k41 = fKMatrix[kK41] = fC40*r01+fC41*r11; | |
943e1898 | 405 | // |
406 | Double_t sf=fP2 + k20*dy + k21*dz; | |
407 | if (TMath::Abs(sf) > kAlmost1) return kFALSE; | |
408 | ||
409 | fP0 += k00*dy + k01*dz; | |
410 | fP1 += k10*dy + k11*dz; | |
411 | fP2 = sf; | |
412 | fP3 += k30*dy + k31*dz; | |
413 | fP4 += k40*dy + k41*dz; | |
414 | // | |
415 | Double_t c01=fC10, c02=fC20, c03=fC30, c04=fC40; | |
416 | Double_t c12=fC21, c13=fC31, c14=fC41; | |
417 | ||
418 | fC00-=k00*fC00+k01*fC10; fC10-=k00*c01+k01*fC11; | |
419 | fC20-=k00*c02+k01*c12; fC30-=k00*c03+k01*c13; | |
420 | fC40-=k00*c04+k01*c14; | |
421 | ||
422 | fC11-=k10*c01+k11*fC11; | |
423 | fC21-=k10*c02+k11*c12; fC31-=k10*c03+k11*c13; | |
424 | fC41-=k10*c04+k11*c14; | |
425 | ||
426 | fC22-=k20*c02+k21*c12; fC32-=k20*c03+k21*c13; | |
427 | fC42-=k20*c04+k21*c14; | |
428 | ||
429 | fC33-=k30*c03+k31*c13; | |
430 | fC43-=k30*c04+k31*c14; | |
431 | ||
432 | fC44-=k40*c04+k41*c14; | |
433 | // | |
943e1898 | 434 | CheckCovariance(); |
716ccba7 | 435 | // |
436 | return kTRUE; | |
437 | } | |
438 | ||
439 | ||
440 | //____________________________________________________________________ | |
441 | Bool_t AliITSUSeed::Smooth(Double_t vecL[5],Double_t matL[15]) | |
442 | { | |
443 | // Prepare MBF smoothing auxiliary params for smoothing at prev. point: | |
444 | // \hat{l_N} = 0 | |
445 | // \hat{L_N} = 0 | |
446 | // \tilde{l_j} = -H_j^T N_{j}^{-1} z_j + B_{j}^T \hat{l_j} | |
447 | // \tilde{L_j} = H_j^T N_{j}^{-1} H_j + B_j^T \hat{L_j} B_j | |
448 | // \hat{l_j} = F_j^T \tilde{l_{j+1}} | |
449 | // \hat{L_j} = F_j^T \tilde{L_{j+1}} F_j | |
450 | // | |
451 | // P_{j/N} = P_{j/j} - P_{j/j} \hat{L_j} P_{j/j} | |
452 | // \hat{x_{j/N}} = \hat{x_{j/j}} - P_{j/j} \hat{l_j} | |
453 | // | |
454 | // N^-1 = fCovIYZ | |
455 | // z = fResid | |
456 | // B = I - K H | |
457 | // H = {{1,0,0,0,0},{0,1,0,0,0}} | |
458 | // | |
459 | // calc. \tilde{l_j} | |
460 | // | |
461 | if (GetClusterID()<0) return kTRUE; | |
462 | // | |
463 | ||
464 | double | |
465 | &k00=fKMatrix[kK00],&k01=fKMatrix[kK01], | |
466 | &k10=fKMatrix[kK10],&k11=fKMatrix[kK11], | |
467 | &k20=fKMatrix[kK20],&k21=fKMatrix[kK21], | |
468 | &k30=fKMatrix[kK30],&k31=fKMatrix[kK31], | |
469 | &k40=fKMatrix[kK40],&k41=fKMatrix[kK41]; | |
470 | double | |
471 | &l00=matL[kS00], | |
472 | &l10=matL[kS10], &l11=matL[kS11], | |
473 | &l20=matL[kS20], &l21=matL[kS21], &l22=matL[kS22], | |
474 | &l30=matL[kS30], &l31=matL[kS31], &l32=matL[kS32], &l33=matL[kS33], | |
475 | &l40=matL[kS40], &l41=matL[kS41], &l42=matL[kS42], &l43=matL[kS43], &l44=matL[kS44]; | |
476 | // | |
477 | // calculate correction | |
478 | double corrVec[5]={0},corrMat[15]={0}; | |
479 | corrVec[0] = fC[kS00]*vecL[0] + fC[kS10]*vecL[1] + fC[kS20]*vecL[2] + fC[kS30]*vecL[3] + fC[kS40]*vecL[4]; | |
480 | corrVec[1] = fC[kS10]*vecL[0] + fC[kS11]*vecL[1] + fC[kS21]*vecL[2] + fC[kS31]*vecL[3] + fC[kS41]*vecL[4]; | |
481 | corrVec[2] = fC[kS20]*vecL[0] + fC[kS21]*vecL[1] + fC[kS22]*vecL[2] + fC[kS32]*vecL[3] + fC[kS42]*vecL[4]; | |
482 | corrVec[3] = fC[kS30]*vecL[0] + fC[kS31]*vecL[1] + fC[kS32]*vecL[2] + fC[kS33]*vecL[3] + fC[kS43]*vecL[4]; | |
483 | corrVec[4] = fC[kS40]*vecL[0] + fC[kS41]*vecL[1] + fC[kS42]*vecL[2] + fC[kS43]*vecL[3] + fC[kS44]*vecL[4]; | |
484 | // | |
485 | double *crm = ProdABA(fC,matL); | |
486 | for (int i=0;i<15;i++) corrMat[i] = crm[i]; | |
487 | ||
488 | double vcL0 = vecL[0], vcL1 = vecL[1]; | |
489 | vecL[0] -= k00*vcL0+k10*vcL1+k20*vecL[2]+k30*vecL[3]+k40*vecL[4] + fCovIYZ[0]*fResid[0] + fCovIYZ[1]*fResid[1]; | |
490 | vecL[1] -= k01*vcL0+k11*vcL1+k21*vecL[2]+k31*vecL[3]+k41*vecL[4] + fCovIYZ[1]*fResid[0] + fCovIYZ[2]*fResid[1]; | |
491 | ||
492 | /* | |
493 | double vcL0 = vecL[0], vcL1 = vecL[1]; | |
494 | vecL[0] -= k00*vcL0+k10*vcL1+fKMatrix[kK20]*vecL[2]+k30*vecL[3]+k40*vecL[4] + fCovIYZ[0]*fResid[0] + fCovIYZ[1]*fResid[1]; | |
495 | vecL[1] -= k01*vcL0+fKMatrix[kK11]*vcL1+k21*vecL[2]+k31*vecL[3]+k41*vecL[4] + fCovIYZ[1]*fResid[0] + fCovIYZ[2]*fResid[1]; | |
496 | vecL[3] += fFMatrix[kF13]*vecL[1]; | |
497 | vecL[4] = fFMatrix[kF04]*vecL[0] + fFMatrix[kF14]*vecL[1] + fFMatrix[kF24]*vecL[2] + fFMatrix[kF44]*vecL[4]; | |
498 | vecL[2] += fFMatrix[kF02]*vecL[0] + fFMatrix[kF12]*vecL[1]; | |
499 | // | |
500 | */ | |
501 | // and \hat{l_j} in one go | |
502 | ||
503 | // L = H^T * sg * H + (I-KH)^T * L * (I - KH) | |
504 | double v00 = k00*l00+k10*l10+k20*l20+k30*l30+k40*l40; | |
505 | double v10 = k00*l10+k10*l11+k20*l21+k30*l31+k40*l41; | |
506 | double v20 = k00*l20+k10*l21+k20*l22+k30*l32+k40*l42; | |
507 | double v30 = k00*l30+k10*l31+k20*l32+k30*l33+k40*l43; | |
508 | double v40 = k00*l40+k10*l41+k20*l42+k30*l43+k40*l44; | |
509 | // | |
510 | double v01 = k01*l00+k11*l10+k21*l20+k31*l30+k41*l40; | |
511 | double v11 = k01*l10+k11*l11+k21*l21+k31*l31+k41*l41; | |
512 | double v21 = k01*l20+k11*l21+k21*l22+k31*l32+k41*l42; | |
513 | double v31 = k01*l30+k11*l31+k21*l32+k31*l33+k41*l43; | |
514 | double v41 = k01*l40+k11*l41+k21*l42+k31*l43+k41*l44; | |
515 | // | |
516 | // (H^T * K^T * L * K * H) - (L * K * H) - (H^T * K^T * L) + (H^T*N^-1*H) | |
517 | l00 += k00*v00 + k10*v10 + k20*v20 + k30*v30 + k40*v40 - v00 - v00 + fCovIYZ[0]; | |
518 | l10 += k01*v00 + k11*v10 + k21*v20 + k31*v30 + k41*v40 - v01 - v10 + fCovIYZ[1]; | |
519 | l11 += k01*v01 + k11*v11 + k21*v21 + k31*v31 + k41*v41 - v11 - v11 + fCovIYZ[2]; | |
520 | // | |
521 | l20 -= v20; | |
522 | l21 -= v21; | |
523 | l30 -= v30; | |
524 | l31 -= v31; | |
525 | l40 -= v40; | |
526 | l41 -= v41; | |
527 | // | |
528 | printf("CorrMt:\n"); | |
529 | printf("%+e\n%+e %+e\n%+e %+e %+e\n%+e %+e %+e %+e\n%+e %+e %+e %+e %+e\n", | |
530 | corrMat[kS00],corrMat[kS10],corrMat[kS11],corrMat[kS20],corrMat[kS21],corrMat[kS22], | |
531 | corrMat[kS30],corrMat[kS31],corrMat[kS32],corrMat[kS33], | |
532 | corrMat[kS40],corrMat[kS41],corrMat[kS42],corrMat[kS43],corrMat[kS44]); | |
533 | ||
534 | printf("SMcorr: %+e %+e %+e %+e %+e\n",corrVec[0],corrVec[1],corrVec[2],corrVec[3],corrVec[4]); | |
535 | ||
536 | printf("State : "); this->AliExternalTrackParam::Print(""); | |
537 | // | |
538 | printf("\nBefore transport back (RotElems: %+e %+e)\n",fRMatrix[kR00],fRMatrix[kR22]); | |
539 | printf("Res: %+e %+e | Err: %+e %+e %+e\n",fResid[0],fResid[1],fCovIYZ[0],fCovIYZ[1],fCovIYZ[2]); | |
540 | printf("Lr%d VecL: ",GetLayerID()); for (int i=0;i<5;i++) printf("%+e ",vecL[i]); printf("\n"); | |
541 | // | |
542 | printf("%+e\n%+e %+e\n%+e %+e %+e\n%+e %+e %+e %+e\n%+e %+e %+e %+e %+e\n", | |
543 | matL[kS00],matL[kS10],matL[kS11],matL[kS20],matL[kS21],matL[kS22], | |
544 | matL[kS30],matL[kS31],matL[kS32],matL[kS33],matL[kS40],matL[kS41],matL[kS42],matL[kS43],matL[kS44]); | |
545 | // | |
546 | printf("F: "); for (int i=0;i<kNFElem;i++) printf("%+e ",fFMatrix[i]); printf("\n"); | |
547 | printf("K: "); for (int i=0;i<kNKElem;i++) printf("%+e ",fKMatrix[i]); printf("\n"); | |
548 | // | |
549 | // apply rotation matrix (diagonal) | |
550 | vecL[0] *= fRMatrix[kR00]; | |
551 | vecL[2] *= fRMatrix[kR22]; | |
552 | // | |
553 | l00 *= fRMatrix[kR00]*fRMatrix[kR00]; | |
554 | l10 *= fRMatrix[kR00]; | |
555 | l20 *= fRMatrix[kR22]*fRMatrix[kR00]; | |
556 | l21 *= fRMatrix[kR22]; | |
557 | l22 *= fRMatrix[kR22]*fRMatrix[kR22]; | |
558 | l30 *= fRMatrix[kR00]; | |
559 | l32 *= fRMatrix[kR22]; | |
560 | l40 *= fRMatrix[kR00]; | |
561 | l42 *= fRMatrix[kR22]; | |
562 | // | |
563 | // Apply translation matrix F^T. Note, that fFMatrix keeps non-trivial elems of F-1 = f, except the e-loss coeff f44 | |
564 | // We need F^T*L* F = L + (L*f) + (L*f)^T + f^T * (L*f) | |
565 | // | |
566 | double | |
567 | &f02=fFMatrix[kF02],&f04=fFMatrix[kF04], | |
568 | &f12=fFMatrix[kF12],&f13=fFMatrix[kF13],&f14=fFMatrix[kF14], | |
569 | &f24=fFMatrix[kF24], | |
570 | f44 =fFMatrix[kF44]; | |
571 | // | |
572 | vecL[4] = f04*vecL[0]+f14*vecL[1]+f24*vecL[2]+f44*vecL[4]; | |
573 | vecL[3] += f13*vecL[1]; | |
574 | vecL[2] += f02*vecL[0]+f12*vecL[1]; | |
575 | // | |
576 | f44 -= 1.0; // !!!!! | |
577 | // | |
578 | //b = L*f | |
579 | Double_t b02=l00*f02+l10*f12, b03=l10*f13, b04=l00*f04+l10*f14+l20*f24+l40*f44; | |
580 | Double_t b12=l10*f02+l11*f12, b13=l11*f13, b14=l10*f04+l11*f14+l21*f24+l41*f44; | |
581 | Double_t b22=l20*f02+l21*f12, b23=l21*f13, b24=l20*f04+l21*f14+l22*f24+l42*f44; | |
582 | Double_t b32=l30*f02+l31*f12, b33=l31*f13, b34=l30*f04+l31*f14+l32*f24+l43*f44; | |
583 | Double_t b42=l40*f02+l41*f12, b43=l41*f13, b44=l40*f04+l41*f14+l42*f24+l44*f44; | |
584 | // | |
585 | //a = f^T * b = f^T * L * f, profit from symmetry | |
586 | Double_t a22=f02*b02+f12*b12, a33=f13*b13, a44=f04*b04+f14*b14+f24*b24+f44*b44, | |
587 | a32=f13*b12, //= a23=f02*b03+f12*b13, | |
588 | a42=f02*b04+f12*b14, //f04*b02+f14*b12+f24*b22+f44*b42 = a24 | |
589 | a43=f13*b14; //f04*b03+f14*b13+f24*b23+f44*b43 = a34 | |
590 | // | |
591 | // F^T*L* F = L + (b + b^T + a) | |
592 | l44 += b44 + b44 + a44; | |
593 | l43 += b43 + b34 + a43; | |
594 | l42 += b42 + b24 + a42; | |
595 | l41 += b14; | |
596 | l40 += b04; | |
597 | l33 += b33 + b33 + a33; | |
598 | l32 += b32 + b23 + a32; | |
599 | l31 += b13; | |
600 | l30 += b03; | |
601 | l22 += b22 + b23 + a22; | |
602 | l21 += b12; | |
603 | l20 += b02; | |
604 | // | |
605 | printf("After transport back\n"); | |
606 | printf("Lr%d VecL: ",GetLayerID()); for (int i=0;i<5;i++) printf("%+e ",vecL[i]); printf("\n"); | |
607 | // | |
608 | printf("%+e\n%+e %+e\n%+e %+e %+e\n%+e %+e %+e %+e\n%+e %+e %+e %+e %+e\n", | |
609 | matL[kS00],matL[kS10],matL[kS11],matL[kS20],matL[kS21],matL[kS22], | |
610 | matL[kS30],matL[kS31],matL[kS32],matL[kS33],matL[kS40],matL[kS41],matL[kS42],matL[kS43],matL[kS44]); | |
611 | ||
612 | return kTRUE; | |
613 | } | |
614 | ||
615 | //____________________________________________________________________ | |
616 | Double_t* AliITSUSeed::ProdABA(const double a[15],const double b[15]) const | |
617 | { | |
618 | // product of symmetric matrices A*B*A | |
619 | // | |
620 | const Short_t knd[5][5] = { | |
621 | {kS00,kS10,kS20,kS30,kS40}, | |
622 | {kS10,kS11,kS21,kS31,kS41}, | |
623 | {kS20,kS21,kS22,kS32,kS42}, | |
624 | {kS30,kS31,kS32,kS33,kS43}, | |
625 | {kS40,kS41,kS42,kS43,kS44} | |
626 | }; | |
627 | // | |
628 | static double aba[15]; | |
629 | // 1) ba = B*A | |
630 | double ba[5][5]; | |
631 | for (int i=5;i--;) for (int j=5;j--;) { | |
632 | ba[i][j] = 0; | |
633 | for (int k=5;k--;) ba[i][j] += b[knd[i][k]]*a[knd[k][j]]; | |
634 | } | |
635 | // | |
636 | // 2) A * ba, lower triangle only | |
637 | for (int i=5;i--;) for (int j=i+1;j--;) { | |
638 | aba[knd[i][j]] = 0; | |
639 | for (int k=5;k--;) aba[knd[i][j]] += a[knd[i][k]]*ba[k][j]; | |
640 | } | |
641 | // | |
642 | return &aba[0]; | |
643 | } | |
943e1898 | 644 | |
38997c3c | 645 | //____________________________________________________________________ |
646 | Bool_t AliITSUSeed::ContainsFake() const | |
647 | { | |
648 | // check if the full branch containes a fake cluster | |
649 | const AliITSUSeed* seed = this; | |
650 | while(seed) { | |
651 | if ( seed->IsFake() ) return kTRUE; | |
652 | seed = (AliITSUSeed*)seed->GetParent(); | |
653 | } | |
654 | return kFALSE; | |
655 | } | |
656 | ||
9f42ebf7 | 657 | //__________________________________________________________________ |
658 | Int_t AliITSUSeed::FetchClusterInfo(Int_t *clIDarr) const | |
659 | { | |
660 | // fill cl.id's in the array. The clusters of layer L will be set at slots | |
661 | // clID[2L] (and clID[2L+1] if there is an extra cluster). | |
662 | Int_t lr,ncl=0; | |
663 | const AliITSUSeed* seed = this; | |
664 | do { | |
665 | int clID = seed->GetLrCluster(lr); | |
666 | if (clID>=0) { | |
667 | lr<<=1; | |
668 | clIDarr[ clIDarr[lr]<0 ? lr : lr+1 ] = clID; | |
669 | ncl++; | |
670 | } | |
671 | } while ((seed=(AliITSUSeed*)seed->GetParent())); | |
672 | return ncl; | |
673 | } | |
674 | ||
716ccba7 | 675 | /* |
676 | //____________________________________________________________________ | |
677 | Bool_t AliITSUSeed::Smooth(Double_t vecL[5],Double_t matL[15]) | |
678 | { | |
679 | // Prepare MBF smoothing auxiliary params for smoothing at prev. point: | |
680 | // \hat{l_N} = 0 | |
681 | // \hat{L_N} = 0 | |
682 | // \tilde{l_j} = -H_j^T N_{j}^{-1} z_j + B_{j}^T \hat{l_j} | |
683 | // \tilde{L_j} = H_j^T N_{j}^{-1} H_j + B_j^T \hat{L_j} B_j | |
684 | // \hat{l_j} = F_j^T \tilde{l_{j+1}} | |
685 | // \hat{L_j} = F_j^T \tilde{L_{j+1}} F_j | |
686 | // | |
687 | // P_{j/N} = P_{j/j} - P_{j/j} \hat{L_j} P_{j/j} | |
688 | // \hat{x_{j/N}} = \hat{x_{j/j}} - P_{j/j} \hat{l_j} | |
689 | // | |
690 | // N^-1 = fCovIYZ | |
691 | // z = fResid | |
692 | // B = I - K H | |
693 | // H = {{1,0,0,0,0},{0,1,0,0,0}} | |
694 | // | |
695 | // calc. \tilde{l_j} and \hat{l_j} in one go | |
696 | // | |
697 | if (GetClusterID()<0) return kTRUE; | |
698 | // | |
699 | double | |
700 | &k00=fKMatrix[kK00],&k01=fKMatrix[kK01], | |
701 | &k10=fKMatrix[kK10],&k11=fKMatrix[kK11], | |
702 | &k20=fKMatrix[kK20],&k21=fKMatrix[kK21], | |
703 | &k30=fKMatrix[kK30],&k31=fKMatrix[kK31], | |
704 | &k40=fKMatrix[kK40],&k41=fKMatrix[kK41]; | |
705 | double | |
706 | &matL00=matL[kS00], | |
707 | &matL10=matL[kS01], &matL11=matL[kS11], | |
708 | &matL20=matL[kS20], &matL21=matL[kS21], &matL22=matL[kS22], | |
709 | &matL30=matL[kS30], &matL31=matL[kS31], &matL32=matL[kS32], &matL33=matL[kS33], | |
710 | &matL40=matL[kS40], &matL41=matL[kS41], &matL42=matL[kS42], &matL43=matL[kS43], &matL44=matL[kS44]; | |
711 | // | |
712 | double vcL0 = vecL[0], vcL1 = vecL[1]; | |
713 | vecL[0] -= k00*vcL0+k10*vcL1+fKMatrix[kK20]*vecL[2]+k30*vecL[3]+k40*vecL[4] + fCovIYZ[0]*fResid[0] + fCovIYZ[1]*fResid[1]; | |
714 | vecL[1] -= k01*vcL0+fKMatrix[kK11]*vcL1+k21*vecL[2]+k31*vecL[3]+k41*vecL[4] + fCovIYZ[1]*fResid[0] + fCovIYZ[2]*fResid[1]; | |
715 | vecL[3] += fFMatrix[kF13]*vecL[1]; | |
716 | vecL[4] = fFMatrix[kF04]*vecL[0] + fFMatrix[kF14]*vecL[1] + fFMatrix[kF24]*vecL[2] + fFMatrix[kF44]*vecL[4]; | |
717 | vecL[2] += fFMatrix[kF02]*vecL[0] + fFMatrix[kF12]*vecL[1]; | |
718 | // | |
719 | ||
720 | // L = H^T * sg * H + (I-KH)^T * L * (I - KH) | |
721 | double v00 = k00*matL00+k10*matL10+k20*matL20+k30*matL30+k40*matL40; | |
722 | double v10 = k00*matL10+k10*matL11+k20*matL21+k30*matL31+k40*matL41; | |
723 | double v20 = k00*matL20+k10*matL12+k20*matL22+k30*matL32+k40*matL42; | |
724 | double v30 = k00*matL30+k10*matL13+k20*matL23+k30*matL33+k40*matL43; | |
725 | double v40 = k00*matL40+k10*matL14+k20*matL24+k30*matL34+k40*matL44; | |
726 | // | |
727 | double v01 = k01*matL00+k11*matL10+k21*matL20+k31*matL30+k41*matL40; | |
728 | double v11 = k01*matL01+k11*matL11+k21*matL21+k31*matL31+k41*matL41; | |
729 | double v21 = k01*matL02+k11*matL12+k21*matL22+k31*matL32+k41*matL42; | |
730 | double v31 = k01*matL03+k11*matL13+k21*matL23+k31*matL33+k41*matL43; | |
731 | double v41 = k01*matL04+k11*matL14+k21*matL24+k31*matL34+k41*matL44; | |
732 | // | |
733 | double t00 = k00*matL00+k10*matL01+k20*matL02+k30*matL03+k40*matL04; | |
734 | double t10 = k00*matL10+k10*matL11+k20*matL12+k30*matL13+k40*matL14; | |
735 | double t20 = k00*matL20+k10*matL21+k20*matL22+k30*matL23+k40*matL24; | |
736 | double t30 = k00*matL30+k10*matL31+k20*matL32+k30*matL33+k40*matL34; | |
737 | double t40 = k00*matL40+k10*matL41+k20*matL42+k30*matL43+k40*matL44; | |
738 | // | |
739 | double t01 = k01*matL00+k11*matL01+k21*matL02+k31*matL03+k41*matL04; | |
740 | double t11 = k01*matL10+k11*matL11+k21*matL12+k31*matL13+k41*matL14; | |
741 | double t21 = k01*matL20+k11*matL21+k21*matL22+k31*matL23+k41*matL24; | |
742 | double t31 = k01*matL30+k11*matL31+k21*matL32+k31*matL33+k41*matL34; | |
743 | double t41 = k01*matL40+k11*matL41+k21*matL42+k31*matL43+k41*matL44; | |
744 | // | |
745 | // (H^T * K^T * L * K * H) - (L * K * H) - (H^T * K^T * L) + (H^T*N^-1*H) | |
746 | matL00 += k00*v00+k10*v10+k20*v20*k30*v30+k40*v40 - t00 - v00 + fCovIYZ[0]; | |
747 | matL01 += k01*v00+k11*v10+k21*v20*k31*v30+k41*v40 - t01 - v10 + fCovIYZ[1]; | |
748 | matL10 += k00*v01+k10*v11+k20*v21*k30*v31+k40*v41 - t10 - v01 + fCovIYZ[1]; | |
749 | matL11 += k01*v01+k11*v11+k21*v21*k31*v31+k41*v41 - t11 - v11 + fCovIYZ[2]; | |
750 | // | |
751 | matL20 -= t20; | |
752 | matL21 -= t21; | |
753 | matL30 -= t30; | |
754 | matL31 -= t31; | |
755 | matL40 -= t40; | |
756 | matL41 -= t41; | |
757 | // | |
758 | matL02 -= v20; | |
759 | matL03 -= v30; | |
760 | matL04 -= v40; | |
761 | matL12 -= v21; | |
762 | matL13 -= v31; | |
763 | matL14 -= v41; | |
764 | // | |
765 | printf("Lr%d VecL: ",GetLayerID()); for (int i=0;i<5;i++) printf("%+e ",vecL[i]); printf("\n"); | |
766 | printf("F: "); for (int i=0;i<kNFElem;i++) printf("%+e ",fFMatrix[i]); printf("\n"); | |
767 | printf("K: "); for (int i=0;i<kNKElem;i++) printf("%+e ",fKMatrix[i]); printf("\n"); | |
768 | // | |
769 | for (int j=0;j<5;j++) { | |
770 | for (int i=0;i<5;i++) printf("%+e ",matL[j][i]); printf("\n"); | |
771 | } | |
772 | // | |
943e1898 | 773 | return kTRUE; |
774 | } | |
716ccba7 | 775 | |
776 | */ | |
e7d83d38 | 777 |