[u/mrichter/AliRoot.git] / STEER / AliRelAlignerKalman.h

#ifndef ALIRELALIGNERKALMAN_H
#define ALIRELALIGNERKALMAN_H

/* Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
 * See cxx source for full Copyright notice                               */

///////////////////////////////////////////////////////////////////////////////
//
//     Relative alignment of two tracking volumes (default ITS and TPC)
//     (see AliRelAlignerKalman.cxx for details)
//
//     Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch
//
//////////////////////////////////////////////////////////////////////////////

#include <iostream>
#include <TObject.h>
#include <TMath.h>
#include <TMatrix.h>
#include <TVector.h>
#include <TVector3.h>
#include <TDecompLU.h>
#include <TArrayI.h>
#include <TH1D.h>
#include <TF1.h>

#include "AliESDtrack.h"
#include "AliTrackPointArray.h"
#include "AliGeomManager.h"
#include "AliTrackFitterKalman.h"
#include "AliTrackFitterRieman.h"
#include "AliESDfriendTrack.h"
#include "AliESDEvent.h"
#include "AliESDVertex.h"
#include "AliExternalTrackParam.h"

class AliRelAlignerKalman : public TObject {

public:
    AliRelAlignerKalman();
    virtual ~AliRelAlignerKalman();
    AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a );
    AliRelAlignerKalman(const AliRelAlignerKalman& a);

    //User methods:
    Bool_t AddESDTrack( AliESDtrack* pTrack );
    Bool_t AddCosmicEventSeparateTracking( AliESDEvent* pEvent );
    
    void Print(Option_t* option="") const;

    void GetMeasurement( TVectorD& mes ) { mes = *fPMeasurement; }
    void GetMeasurementCov( TMatrixDSym& cov ) { cov = *fPMeasurementCov; }
    void GetState( TVectorD& state ) { state = *fPX; }
    void GetStateCov ( TMatrixDSym& cov ) { cov = *fPXcov; }
    void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) { seed = *fPX; seedCov = *fPXcov; }
    void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
    void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
    void SetState( const TVectorD& param ) {*fPX = param;}
    void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
    void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }

    //Expert methods:
    Bool_t FindCosmicTrackletNumbersInEvent( Int_t& ITSgood1, Int_t& TPCgood1, Int_t& ITSgood2, Int_t& TPCgood2, const AliESDEvent* pEvent );
    Bool_t PrepareUpdate();
    Bool_t Update();
    void SetRefSurface( const Double_t x, const Double_t alpha );
    void PrintDebugInfo();
    void PrintCorrelationMatrix();
    void PrintCovarianceCorrection();
    void PrintSystemMatrix();
    void ResetCovariance();
    Double_t* GetStateArr() { return fPX->GetMatrixArray(); }
    Double_t* GetStateCovArr() { return fPXcov->GetMatrixArray(); }
    Double_t* GetMeasurementArr() { return fPMeasurement->GetMatrixArray(); }
    Double_t* GetMeasurementCovArr() { return fPMeasurementCov->GetMatrixArray(); }
    Double_t* GetDeltaArr() {return fDelta;}
    TH1D* GetMes0Hist() {return fPMes0Hist;}
    TH1D* GetMes1Hist() {return fPMes1Hist;} 
    TH1D* GetMes2Hist() {return fPMes2Hist;}
    TH1D* GetMes3Hist() {return fPMes3Hist;}
    TH1D* GetMesErr0Hist() {return fPMesErr0Hist;}
    TH1D* GetMesErr1Hist() {return fPMesErr1Hist;}
    TH1D* GetMesErr2Hist() {return fPMesErr2Hist;}
    TH1D* GetMesErr3Hist() {return fPMesErr3Hist;}
    Bool_t SetCalibrationMode( Bool_t cp=kTRUE );
    void SetApplyCovarianceCorrection( const Bool_t s=kTRUE ) {fApplyCovarianceCorrection = s;}
    void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
    void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
    void SetCovarianceCorrection( const TMatrixDSym& c ) {*fPMeasurementCovCorr = c;}
    void GetCovarianceCorrection( TMatrixDSym& c ) {c=*fPMeasurementCovCorr;}
    void SetTrackParams1( const AliExternalTrackParam* exparam );
    void SetTrackParams2( const AliExternalTrackParam* exparam );
    void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
    static Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
    static void Angles( TVectorD &angles, const TMatrixD &rotmat );
    static void RotMat( TMatrixD& R, const TVectorD& angles );
    static void TMatrixDSym_from_TMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
    
protected:
    Bool_t UpdateCalibration();
    Bool_t UpdateEstimateKalman();
    Bool_t PrepareMeasurement();
    Bool_t PrepareSystemMatrix();
    Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
    Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
    Bool_t CalculateCovarianceCorrection();

private:
    static const Int_t fgkNMeasurementParams = 4;           //how many measurables
    static const Int_t fgkNSystemParams = 8;                //how many fit parameters
    
    //Track parameters
    Double_t fAlpha;       //rotation angle between the local and global coordinate system like in AliExternalTrackParam
    Double_t fLocalX;      //local x coordinate of reference plane = r(global)
    const AliExternalTrackParam* fPTrackParam1;   //local track parameters (theta,phi,y,z)
    const AliExternalTrackParam* fPTrackParam2;   //local track parameters

    //Kalman filter related stuff
    TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
    TMatrixDSym* fPXcov; //covariance matrix of system parameters
    TMatrixD* fPH;      //System measurement matrix
    Double_t fQ;        //measure for system noise
    TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
    TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
    Double_t fOutRejSigmas; //number of sigmas for outlier rejection
    Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())

    //Control
    Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter
    Bool_t fCalibrationMode;            //are we running in calibration mode?
    Bool_t fFillHistograms;     //whether to fill the histograms with residuals
    Bool_t fRequireDoubleTPCtrack;
    Bool_t fApplyCovarianceCorrection;         //add the correction to the covariance of measurement
    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 fMinAbsSinPhi; //more cuts
    Double_t fMaxAbsSinPhi; //more cuts
    Double_t fMinSinTheta;  //cuts
    Double_t fMaxSinTheta;  //cuts
    Double_t fMaxMatchingAngle; //cuts
    Double_t fMaxMatchingDistance; //cuts
    
    //Counters
    Int_t fNTracks; //number of processed tracks
    Int_t fNUpdates; //number of successful Kalman updates
    Int_t fNOutliers; //number of outliers
    Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets
    Int_t fNProcessedEvents; //number of processed events

    //Calibration histograms
    TH1D* fPMes0Hist;  //histo of x measurement
    TH1D* fPMes1Hist;  //histo of y measurement
    TH1D* fPMes2Hist; //histo of phi measurement
    TH1D* fPMes3Hist; //histo of theta measurement
    TH1D* fPMesErr0Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesErr1Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesErr2Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesErr3Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TMatrixDSym* fPMeasurementCovCorr; //correction to be added to the measurement covariance
    
    ClassDef(AliRelAlignerKalman,1)     //AliRelAlignerKalman class
};

#endif
Commit	Line	Data
043badeb	1	#ifndef ALIRELALIGNERKALMAN_H
	2	#define ALIRELALIGNERKALMAN_H
	3
	4	/* Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
	5	* See cxx source for full Copyright notice */
	6
	7	///////////////////////////////////////////////////////////////////////////////
	8	//
	9	// Relative alignment of two tracking volumes (default ITS and TPC)
	10	// (see AliRelAlignerKalman.cxx for details)
	11	//
	12	// Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch
	13	//
	14	//////////////////////////////////////////////////////////////////////////////
	15
	16	#include <iostream>
044eb03e	17	#include <TObject.h>
782e5230	18	#include <TMath.h>
	19	#include <TMatrix.h>
	20	#include <TVector.h>
	21	#include <TVector3.h>
	22	#include <TDecompLU.h>
	23	#include <TArrayI.h>
	24	#include <TH1D.h>
	25	#include <TF1.h>
043badeb	26
	27	#include "AliESDtrack.h"
	28	#include "AliTrackPointArray.h"
	29	#include "AliGeomManager.h"
	30	#include "AliTrackFitterKalman.h"
	31	#include "AliTrackFitterRieman.h"
	32	#include "AliESDfriendTrack.h"
	33	#include "AliESDEvent.h"
	34	#include "AliESDVertex.h"
044eb03e	35	#include "AliExternalTrackParam.h"
043badeb	36
044eb03e	37	class AliRelAlignerKalman : public TObject {
043badeb	38
	39	public:
	40	AliRelAlignerKalman();
044eb03e	41	virtual ~AliRelAlignerKalman();
	42	AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a );
	43	AliRelAlignerKalman(const AliRelAlignerKalman& a);
043badeb	44
	45	//User methods:
	46	Bool_t AddESDTrack( AliESDtrack* pTrack );
043badeb	47	Bool_t AddCosmicEventSeparateTracking( AliESDEvent* pEvent );
043badeb	48
044eb03e	49	void Print(Option_t* option="") const;
043badeb	50
043badeb	51	void GetMeasurement( TVectorD& mes ) { mes = *fPMeasurement; }
044eb03e	52	void GetMeasurementCov( TMatrixDSym& cov ) { cov = *fPMeasurementCov; }
043badeb	53	void GetState( TVectorD& state ) { state = *fPX; }
	54	void GetStateCov ( TMatrixDSym& cov ) { cov = *fPXcov; }
	55	void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) { seed = fPX; seedCov = fPXcov; }
043badeb	56	void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
044eb03e	57	void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
043badeb	58	void SetState( const TVectorD& param ) {*fPX = param;}
	59	void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
	60	void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {fPX = seed; fPXcov = seedCov; }
044eb03e	61
	62	//Expert methods:
	63	Bool_t FindCosmicTrackletNumbersInEvent( Int_t& ITSgood1, Int_t& TPCgood1, Int_t& ITSgood2, Int_t& TPCgood2, const AliESDEvent* pEvent );
043badeb	64	Bool_t PrepareUpdate();
043badeb	65	Bool_t Update();
044eb03e	66	void SetRefSurface( const Double_t x, const Double_t alpha );
043badeb	67	void PrintDebugInfo();
044eb03e	68	void PrintCorrelationMatrix();
	69	void PrintCovarianceCorrection();
	70	void PrintSystemMatrix();
	71	void ResetCovariance();
	72	Double_t* GetStateArr() { return fPX->GetMatrixArray(); }
	73	Double_t* GetStateCovArr() { return fPXcov->GetMatrixArray(); }
	74	Double_t* GetMeasurementArr() { return fPMeasurement->GetMatrixArray(); }
	75	Double_t* GetMeasurementCovArr() { return fPMeasurementCov->GetMatrixArray(); }
	76	Double_t* GetDeltaArr() {return fDelta;}
	77	TH1D* GetMes0Hist() {return fPMes0Hist;}
	78	TH1D* GetMes1Hist() {return fPMes1Hist;}
	79	TH1D* GetMes2Hist() {return fPMes2Hist;}
	80	TH1D* GetMes3Hist() {return fPMes3Hist;}
	81	TH1D* GetMesErr0Hist() {return fPMesErr0Hist;}
	82	TH1D* GetMesErr1Hist() {return fPMesErr1Hist;}
	83	TH1D* GetMesErr2Hist() {return fPMesErr2Hist;}
	84	TH1D* GetMesErr3Hist() {return fPMesErr3Hist;}
	85	Bool_t SetCalibrationMode( Bool_t cp=kTRUE );
	86	void SetApplyCovarianceCorrection( const Bool_t s=kTRUE ) {fApplyCovarianceCorrection = s;}
	87	void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
	88	void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
	89	void SetCovarianceCorrection( const TMatrixDSym& c ) {*fPMeasurementCovCorr = c;}
	90	void GetCovarianceCorrection( TMatrixDSym& c ) {c=*fPMeasurementCovCorr;}
	91	void SetTrackParams1( const AliExternalTrackParam* exparam );
	92	void SetTrackParams2( const AliExternalTrackParam* exparam );
	93	void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
	94	static Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
	95	static void Angles( TVectorD &angles, const TMatrixD &rotmat );
	96	static void RotMat( TMatrixD& R, const TVectorD& angles );
	97	static void TMatrixDSym_from_TMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
043badeb	98
043badeb	99	protected:
044eb03e	100	Bool_t UpdateCalibration();
043badeb	101	Bool_t UpdateEstimateKalman();
044eb03e	102	Bool_t PrepareMeasurement();
044eb03e	103	Bool_t PrepareSystemMatrix();
043badeb	104	Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
044eb03e	105	Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
044eb03e	106	Bool_t CalculateCovarianceCorrection();
043badeb	107
043badeb	108	private:
044eb03e	109	static const Int_t fgkNMeasurementParams = 4; //how many measurables
044eb03e	110	static const Int_t fgkNSystemParams = 8; //how many fit parameters
043badeb	111
044eb03e	112	//Track parameters
	113	Double_t fAlpha; //rotation angle between the local and global coordinate system like in AliExternalTrackParam
	114	Double_t fLocalX; //local x coordinate of reference plane = r(global)
	115	const AliExternalTrackParam* fPTrackParam1; //local track parameters (theta,phi,y,z)
	116	const AliExternalTrackParam* fPTrackParam2; //local track parameters
	117
043badeb	118	//Kalman filter related stuff
043badeb	119	TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
043badeb	120	TMatrixDSym* fPXcov; //covariance matrix of system parameters
043badeb	121	TMatrixD* fPH; //System measurement matrix
043badeb	122	Double_t fQ; //measure for system noise
043badeb	123	TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
043badeb	124	TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
043badeb	125	Double_t fOutRejSigmas; //number of sigmas for outlier rejection
044eb03e	126	Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
	127
	128	//Control
	129	Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter
	130	Bool_t fCalibrationMode; //are we running in calibration mode?
	131	Bool_t fFillHistograms; //whether to fill the histograms with residuals
	132	Bool_t fRequireDoubleTPCtrack;
	133	Bool_t fApplyCovarianceCorrection; //add the correction to the covariance of measurement
043badeb	134	Bool_t fCuts; //track cuts?
043badeb	135	Int_t fMinPointsVol1; //mininum number of points in volume 1
	136	Int_t fMinPointsVol2; //mininum number of points in volume 2
	137	Double_t fMinMom; //min momentum of track for track cuts
	138	Double_t fMaxMom; //max momentum of track for track cuts
	139	Double_t fMinAbsSinPhi; //more cuts
	140	Double_t fMaxAbsSinPhi; //more cuts
	141	Double_t fMinSinTheta; //cuts
	142	Double_t fMaxSinTheta; //cuts
	143	Double_t fMaxMatchingAngle; //cuts
	144	Double_t fMaxMatchingDistance; //cuts
782e5230	145
044eb03e	146	//Counters
	147	Int_t fNTracks; //number of processed tracks
	148	Int_t fNUpdates; //number of successful Kalman updates
	149	Int_t fNOutliers; //number of outliers
	150	Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets
	151	Int_t fNProcessedEvents; //number of processed events
	152
	153	//Calibration histograms
	154	TH1D* fPMes0Hist; //histo of x measurement
	155	TH1D* fPMes1Hist; //histo of y measurement
	156	TH1D* fPMes2Hist; //histo of phi measurement
	157	TH1D* fPMes3Hist; //histo of theta measurement
	158	TH1D* fPMesErr0Hist; //histogram of the covariance of a fit parameter, used in calibration
	159	TH1D* fPMesErr1Hist; //histogram of the covariance of a fit parameter, used in calibration
	160	TH1D* fPMesErr2Hist; //histogram of the covariance of a fit parameter, used in calibration
	161	TH1D* fPMesErr3Hist; //histogram of the covariance of a fit parameter, used in calibration
	162	TMatrixDSym* fPMeasurementCovCorr; //correction to be added to the measurement covariance
043badeb	163
	164	ClassDef(AliRelAlignerKalman,1) //AliRelAlignerKalman class
	165	};
	166
	167	#endif
044eb03e	168