[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 <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"

class AliRelAlignerKalman {

public:
    AliRelAlignerKalman();
    virtual ~AliRelAlignerKalman() {}

    //User methods:
    Bool_t AddESDTrack( AliESDtrack* pTrack );
    Bool_t AddTrackPointArray( AliTrackPointArray* pTrackPointArr );
    Bool_t AddCosmicEventSeparateTracking( AliESDEvent* pEvent );
    
    void Print();
    void PrintCorrelationMatrix();

    void GetMeasurementCov( TMatrixDSym& cov ) { cov = *fPMeasurementCov; }
    void GetMeasurement( TVectorD& mes ) { mes = *fPMeasurement; }
    void GetState( TVectorD& state ) { state = *fPX; }
    void GetStateCov ( TMatrixDSym& cov ) { cov = *fPXcov; }
    void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) { seed = *fPX; seedCov = *fPXcov; }
    Double_t* GetStateArr() { return fPX->GetMatrixArray(); }
    Double_t* GetStateCovArr() { return fPXcov->GetMatrixArray(); }
    Double_t* GetMeasurementArr() { return fPMeasurement->GetMatrixArray(); }
    Double_t* GetMeasurementCovArr() { return fPMeasurementCov->GetMatrixArray(); }
    
    Bool_t SetCalibrationPass( Bool_t cp=kTRUE );

    //Experts only:
    void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
    void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
    void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
    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; }
    void SetTrackParams1( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
    void SetTrackParams2( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
    void SetTrackParams2b( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
    void SetRefSurface( const TVector3& point, const TVector3& dir );
    void SetRefSurface( const AliTrackPoint& point, const Bool_t horizontal=kTRUE );
    void SetRefSurface( const Double_t y );
    Bool_t PrepareUpdate();
    Bool_t Update();
    Bool_t IsReady() {return fFitted;}
    void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
    void Set3TracksMode( Bool_t mode=kTRUE );
    void SetCosmicEvent( Bool_t cosmic=kTRUE ) {Set3TracksMode(cosmic);}
    void PrintDebugInfo();
    
protected:
    Bool_t UpdateEstimateKalman();
    Bool_t FillMeasurement();
    Bool_t FillMeasurementMatrix();
    Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
    void GetThetaPhiCov( TMatrixDSym& cov, const TVector3& vec, const TMatrixDSym& vecCov );
    void Angles( TVectorD &angles, const TMatrixD &rotmat );
    void RotMat( TMatrixD& R, const TVectorD& angles );
    Bool_t IntersectionLinePlane( TVector3& intersection, const TVector3& base, const TVector3& dir, const TVector3& p, const TVector3& n );
    void TMatrixDSym_from_TMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
    void SanitizeExtendedCovMatrix( TMatrixDSym& covout, const TMatrixDSym& pointcov, const TVector3& dir );
    Bool_t ProcessTrackPointArrays();

    Bool_t ExtractSubTrackPointArray( AliTrackPointArray* pTrackOut, TArrayI* pVolIDArrayOut, const AliTrackPointArray* pTrackIn, const Int_t firstlayer, const Int_t lastlayer );
    Bool_t FitTrackPointArrayRieman( TVector3* pPoint, TMatrixDSym* pPointCov, TVector3* pDir, TMatrixDSym* pDirCov, AliTrackPointArray* pTrackPointArray, TArrayI* pVolIDs, AliTrackPoint* pRefPoint );
    Bool_t FitTrackPointArrayKalman( TVector3* pPoint, TMatrixDSym* pPointCov, TVector3* pDir, TMatrixDSym* pDirCov, AliTrackPointArray* pTrackPointArray, TArrayI* pVolIDs, AliTrackPoint* pRefPoint );
    Bool_t FindCosmicInEvent( AliESDEvent* pEvent );
    void SortTrackPointArrayWithY( AliTrackPointArray* pout, const AliTrackPointArray* pin, const Bool_t descending=kFALSE );
    void JoinTrackArrays( AliTrackPointArray* pout, const AliTrackPointArray* pin1, const AliTrackPointArray* pin2 );
    Bool_t UpdateCalibration();

private:
    AliTrackPointArray* fPTrackPointArray1;  //track point array in first volume (ITS)
    AliTrackPointArray* fPTrackPointArray2;  //track point array in second volume (TPC)
    AliTrackPointArray* fPTrackPointArray2b; //optionally second trackpoint array in second volume (TPC)
    TArrayI* fPVolIDArray1;                 //array with VolID's of the points in the trackpointarray 
    TArrayI* fPVolIDArray2;                 //array with VolID's of the points in the trackpointarray
    TArrayI* fPVolIDArray2b;                //array with VolID's of the points in the trackpointarray
    TVector3* fPDir1;  //track 1 direction
    TVector3* fPDir2;  //track 2 direction
    TVector3* fPDir2b; //track 2b direction (for cosmics)
    TMatrixDSym* fPDir1Cov;     //Covariance matrix of dir vec track 1
    TMatrixDSym* fPDir2Cov;     //Covariance matrix of dir vec track 2
    TMatrixDSym* fPDir2bCov;    //Covariance matrix of dir vec track 2b
    TMatrixDSym* fPDir1ThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
    TMatrixDSym* fPDir2ThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
    TMatrixDSym* fPDir2bThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
    TVector3* fPPoint1;  //track 1 extrapolated point at reference surface
    TVector3* fPPoint2;  //track 2 extrapolated point at reference surface
    TVector3* fPPoint2b; //track 2b extrapol. (for cosmics)
    TMatrixDSym* fPPoint1Cov; //covariance matrix of point 1
    TMatrixDSym* fPPoint2Cov; //covariance matrix of point 2
    TMatrixDSym* fPPoint2bCov; //covariance matrix of point 2b
    TVector3* fPRefPoint;    //a point on the reference surface
    TVector3* fPRefPointDir; //reference surfaces' direction vec
    AliTrackPoint* fPRefAliTrackPoint; //reference point as an AliTrackPoint (orientation stored in cov matrix)
    TMatrixD* fPRotMat; // system rotation matrix for estimated alignment angles
    
    //
    //Kalman filter related stuff
    //
    TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
    TMatrixDSym* fPXcov; //covariance matrix of system parameters

    TMatrixD* fPH;      //System measurement matrix
    Double_t fQ;        //measure for system noise
    
    TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
    TMatrixDSym* fPMeasurementCov; //measurement vec cvariance

    Int_t fNMeasurementParams; //how many numbers do we measure?
    Int_t fNSystemParams;      //how many parameters do we fit?

    Double_t fOutRejSigmas; //number of sigmas for outlier rejection
    //
    //
    //

    Bool_t f3TracksMode; //are we using 3 tracklets?
    Bool_t fSortTrackPointsWithY; //whether to sort the points after processing
    Bool_t fFixedMeasurementCovariance; //don't fiddle with measurement cov - supply it externally
    Bool_t fCalibrationPass;
    Bool_t fCalibrationUpdated;
    
    Bool_t fFitted; //did fitting finish without error?
    Bool_t fCuts;    //track cuts?

    Int_t fNTracks; //number of processed tracks
    Int_t fNUpdates; //number of successful Kalman update
    Int_t fNOutliers; //number of outliers
    Int_t fNUnfitted; //number of trackpointarrays that were not fitted for some reason
    Int_t fNMatchedCosmics; //number of matched tracklets for cosmics

    Int_t fMinPointsVol1;   //mininum number of points in volume 1
    Int_t fMinPointsVol2;   //mininum number of points in volume 2
    Double_t fMinMom;       //min momentum of track for track cuts
    Double_t fMaxMom;       //max momentum of track for track cuts
    Double_t fMinAbsSinPhi; //more cuts
    Double_t fMaxAbsSinPhi; //more cuts
    Double_t fMinSinTheta;  //cuts
    Double_t fMaxSinTheta;  //cuts
    Double_t fMaxMatchingAngle; //cuts
    Double_t fMaxMatchingDistance; //cuts
    Int_t fFirstLayerVol1; //first layer of volume 1
    Int_t fLastLayerVol1;  //last layer of volume 1
    Int_t fFirstLayerVol2; //first layer of volume 2
    Int_t fLastLayerVol2;  //last layer of volume 2

    TVector3 * fPVec010; //vector pointing up

    //Control and calibration histograms
    TH1D* fPXMesHist;  //histo of x measurement
    TH1D* fPZMesHist;  //histo of y measurement
    TH1D* fPPhiMesHist; //histo of phi measurement
    TH1D* fPThetaMesHist; //histo of theta measurement
    TH1D* fPXMesHist2;  //histo of x measurement (3tracks mode)
    TH1D* fPZMesHist2;  //histo of y measurement (3tracks mode)
    TH1D* fPPhiMesHist2; //histo of phi measurement (3tracks mode)
    TH1D* fPThetaMesHist2; //histo of theta measurement (3tracks mode)
    TH1D* fPMesCov11Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesCov22Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesCov33Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesCov44Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesCov55Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesCov66Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesCov77Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TH1D* fPMesCov88Hist;  //histogram of the covariance of a fit parameter, used in calibration
    TMatrixDSym* fPMeasurementCovCorr; //correction to be applied to the measurement covariance
    
    static const Int_t fgkNMeasurementParams2TrackMode = 4; //how many measurables in 2 track mode
    static const Int_t fgkNMeasurementParams3TrackMode = 8; //how many measurables in 3 track mode
    static const Int_t fgkNSystemParams = 8;                //how many fit parameters
    
    AliRelAlignerKalman& operator= (const AliRelAlignerKalman& aligner );
    AliRelAlignerKalman(const AliRelAlignerKalman&);

    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>
782e5230	17	#include <TMath.h>
	18	#include <TMatrix.h>
	19	#include <TVector.h>
	20	#include <TVector3.h>
	21	#include <TDecompLU.h>
	22	#include <TArrayI.h>
	23	#include <TH1D.h>
	24	#include <TF1.h>
043badeb	25
	26	#include "AliESDtrack.h"
	27	#include "AliTrackPointArray.h"
	28	#include "AliGeomManager.h"
	29	#include "AliTrackFitterKalman.h"
	30	#include "AliTrackFitterRieman.h"
	31	#include "AliESDfriendTrack.h"
	32	#include "AliESDEvent.h"
	33	#include "AliESDVertex.h"
043badeb	34
	35	class AliRelAlignerKalman {
	36
	37	public:
	38	AliRelAlignerKalman();
782e5230	39	virtual ~AliRelAlignerKalman() {}
043badeb	40
	41	//User methods:
	42	Bool_t AddESDTrack( AliESDtrack* pTrack );
	43	Bool_t AddTrackPointArray( AliTrackPointArray* pTrackPointArr );
	44	Bool_t AddCosmicEventSeparateTracking( AliESDEvent* pEvent );
	45
	46	void Print();
	47	void PrintCorrelationMatrix();
	48
	49	void GetMeasurementCov( TMatrixDSym& cov ) { cov = *fPMeasurementCov; }
	50	void GetMeasurement( TVectorD& mes ) { mes = *fPMeasurement; }
	51	void GetState( TVectorD& state ) { state = *fPX; }
	52	void GetStateCov ( TMatrixDSym& cov ) { cov = *fPXcov; }
	53	void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) { seed = fPX; seedCov = fPXcov; }
	54	Double_t* GetStateArr() { return fPX->GetMatrixArray(); }
	55	Double_t* GetStateCovArr() { return fPXcov->GetMatrixArray(); }
	56	Double_t* GetMeasurementArr() { return fPMeasurement->GetMatrixArray(); }
	57	Double_t* GetMeasurementCovArr() { return fPMeasurementCov->GetMatrixArray(); }
	58
	59	Bool_t SetCalibrationPass( Bool_t cp=kTRUE );
	60
	61	//Experts only:
	62	void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
	63	void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
	64	void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
	65	void SetState( const TVectorD& param ) {*fPX = param;}
	66	void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
	67	void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {fPX = seed; fPXcov = seedCov; }
	68	void SetTrackParams1( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
	69	void SetTrackParams2( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
	70	void SetTrackParams2b( const TVector3& point, const TMatrixDSym& pointcov, const TVector3& dir, const TMatrixDSym& dircov );
	71	void SetRefSurface( const TVector3& point, const TVector3& dir );
	72	void SetRefSurface( const AliTrackPoint& point, const Bool_t horizontal=kTRUE );
	73	void SetRefSurface( const Double_t y );
	74	Bool_t PrepareUpdate();
	75	Bool_t Update();
	76	Bool_t IsReady() {return fFitted;}
	77	void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
	78	void Set3TracksMode( Bool_t mode=kTRUE );
	79	void SetCosmicEvent( Bool_t cosmic=kTRUE ) {Set3TracksMode(cosmic);}
	80	void PrintDebugInfo();
	81
	82	protected:
043badeb	83	Bool_t UpdateEstimateKalman();
	84	Bool_t FillMeasurement();
	85	Bool_t FillMeasurementMatrix();
	86	Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
	87	void GetThetaPhiCov( TMatrixDSym& cov, const TVector3& vec, const TMatrixDSym& vecCov );
	88	void Angles( TVectorD &angles, const TMatrixD &rotmat );
	89	void RotMat( TMatrixD& R, const TVectorD& angles );
	90	Bool_t IntersectionLinePlane( TVector3& intersection, const TVector3& base, const TVector3& dir, const TVector3& p, const TVector3& n );
	91	void TMatrixDSym_from_TMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
	92	void SanitizeExtendedCovMatrix( TMatrixDSym& covout, const TMatrixDSym& pointcov, const TVector3& dir );
	93	Bool_t ProcessTrackPointArrays();
	94
	95	Bool_t ExtractSubTrackPointArray( AliTrackPointArray* pTrackOut, TArrayI* pVolIDArrayOut, const AliTrackPointArray* pTrackIn, const Int_t firstlayer, const Int_t lastlayer );
	96	Bool_t FitTrackPointArrayRieman( TVector3* pPoint, TMatrixDSym* pPointCov, TVector3* pDir, TMatrixDSym* pDirCov, AliTrackPointArray* pTrackPointArray, TArrayI* pVolIDs, AliTrackPoint* pRefPoint );
	97	Bool_t FitTrackPointArrayKalman( TVector3* pPoint, TMatrixDSym* pPointCov, TVector3* pDir, TMatrixDSym* pDirCov, AliTrackPointArray* pTrackPointArray, TArrayI* pVolIDs, AliTrackPoint* pRefPoint );
	98	Bool_t FindCosmicInEvent( AliESDEvent* pEvent );
	99	void SortTrackPointArrayWithY( AliTrackPointArray* pout, const AliTrackPointArray* pin, const Bool_t descending=kFALSE );
	100	void JoinTrackArrays( AliTrackPointArray* pout, const AliTrackPointArray* pin1, const AliTrackPointArray* pin2 );
	101	Bool_t UpdateCalibration();
	102
	103	private:
	104	AliTrackPointArray* fPTrackPointArray1; //track point array in first volume (ITS)
	105	AliTrackPointArray* fPTrackPointArray2; //track point array in second volume (TPC)
	106	AliTrackPointArray* fPTrackPointArray2b; //optionally second trackpoint array in second volume (TPC)
	107	TArrayI* fPVolIDArray1; //array with VolID's of the points in the trackpointarray
	108	TArrayI* fPVolIDArray2; //array with VolID's of the points in the trackpointarray
	109	TArrayI* fPVolIDArray2b; //array with VolID's of the points in the trackpointarray
	110	TVector3* fPDir1; //track 1 direction
	111	TVector3* fPDir2; //track 2 direction
	112	TVector3* fPDir2b; //track 2b direction (for cosmics)
	113	TMatrixDSym* fPDir1Cov; //Covariance matrix of dir vec track 1
	114	TMatrixDSym* fPDir2Cov; //Covariance matrix of dir vec track 2
	115	TMatrixDSym* fPDir2bCov; //Covariance matrix of dir vec track 2b
	116	TMatrixDSym* fPDir1ThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
	117	TMatrixDSym* fPDir2ThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
	118	TMatrixDSym* fPDir2bThetaPhiCov; //Covariance matrix of the dir vector in spherical coord (angles only)
	119	TVector3* fPPoint1; //track 1 extrapolated point at reference surface
	120	TVector3* fPPoint2; //track 2 extrapolated point at reference surface
	121	TVector3* fPPoint2b; //track 2b extrapol. (for cosmics)
	122	TMatrixDSym* fPPoint1Cov; //covariance matrix of point 1
	123	TMatrixDSym* fPPoint2Cov; //covariance matrix of point 2
	124	TMatrixDSym* fPPoint2bCov; //covariance matrix of point 2b
	125	TVector3* fPRefPoint; //a point on the reference surface
	126	TVector3* fPRefPointDir; //reference surfaces' direction vec
	127	AliTrackPoint* fPRefAliTrackPoint; //reference point as an AliTrackPoint (orientation stored in cov matrix)
	128	TMatrixD* fPRotMat; // system rotation matrix for estimated alignment angles
	129
	130	//
	131	//Kalman filter related stuff
	132	//
	133	TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
	134	TMatrixDSym* fPXcov; //covariance matrix of system parameters
	135
	136	TMatrixD* fPH; //System measurement matrix
	137	Double_t fQ; //measure for system noise
	138
	139	TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
	140	TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
	141
	142	Int_t fNMeasurementParams; //how many numbers do we measure?
	143	Int_t fNSystemParams; //how many parameters do we fit?
	144
	145	Double_t fOutRejSigmas; //number of sigmas for outlier rejection
	146	//
147	//
148	//
149
043badeb	150	Bool_t f3TracksMode; //are we using 3 tracklets?
	151	Bool_t fSortTrackPointsWithY; //whether to sort the points after processing
	152	Bool_t fFixedMeasurementCovariance; //don't fiddle with measurement cov - supply it externally
	153	Bool_t fCalibrationPass;
	154	Bool_t fCalibrationUpdated;
	155
	156	Bool_t fFitted; //did fitting finish without error?
	157	Bool_t fCuts; //track cuts?
	158
	159	Int_t fNTracks; //number of processed tracks
	160	Int_t fNUpdates; //number of successful Kalman update
	161	Int_t fNOutliers; //number of outliers
	162	Int_t fNUnfitted; //number of trackpointarrays that were not fitted for some reason
	163	Int_t fNMatchedCosmics; //number of matched tracklets for cosmics
	164
	165	Int_t fMinPointsVol1; //mininum number of points in volume 1
	166	Int_t fMinPointsVol2; //mininum number of points in volume 2
	167	Double_t fMinMom; //min momentum of track for track cuts
	168	Double_t fMaxMom; //max momentum of track for track cuts
	169	Double_t fMinAbsSinPhi; //more cuts
	170	Double_t fMaxAbsSinPhi; //more cuts
	171	Double_t fMinSinTheta; //cuts
	172	Double_t fMaxSinTheta; //cuts
	173	Double_t fMaxMatchingAngle; //cuts
	174	Double_t fMaxMatchingDistance; //cuts
	175	Int_t fFirstLayerVol1; //first layer of volume 1
	176	Int_t fLastLayerVol1; //last layer of volume 1
	177	Int_t fFirstLayerVol2; //first layer of volume 2
	178	Int_t fLastLayerVol2; //last layer of volume 2
	179
	180	TVector3 * fPVec010; //vector pointing up
	181
782e5230	182	//Control and calibration histograms
	183	TH1D* fPXMesHist; //histo of x measurement
	184	TH1D* fPZMesHist; //histo of y measurement
	185	TH1D* fPPhiMesHist; //histo of phi measurement
	186	TH1D* fPThetaMesHist; //histo of theta measurement
	187	TH1D* fPXMesHist2; //histo of x measurement (3tracks mode)
	188	TH1D* fPZMesHist2; //histo of y measurement (3tracks mode)
	189	TH1D* fPPhiMesHist2; //histo of phi measurement (3tracks mode)
	190	TH1D* fPThetaMesHist2; //histo of theta measurement (3tracks mode)
	191	TH1D* fPMesCov11Hist; //histogram of the covariance of a fit parameter, used in calibration
	192	TH1D* fPMesCov22Hist; //histogram of the covariance of a fit parameter, used in calibration
	193	TH1D* fPMesCov33Hist; //histogram of the covariance of a fit parameter, used in calibration
	194	TH1D* fPMesCov44Hist; //histogram of the covariance of a fit parameter, used in calibration
	195	TH1D* fPMesCov55Hist; //histogram of the covariance of a fit parameter, used in calibration
	196	TH1D* fPMesCov66Hist; //histogram of the covariance of a fit parameter, used in calibration
	197	TH1D* fPMesCov77Hist; //histogram of the covariance of a fit parameter, used in calibration
	198	TH1D* fPMesCov88Hist; //histogram of the covariance of a fit parameter, used in calibration
	199	TMatrixDSym* fPMeasurementCovCorr; //correction to be applied to the measurement covariance
	200
043badeb	201	static const Int_t fgkNMeasurementParams2TrackMode = 4; //how many measurables in 2 track mode
	202	static const Int_t fgkNMeasurementParams3TrackMode = 8; //how many measurables in 3 track mode
	203	static const Int_t fgkNSystemParams = 8; //how many fit parameters
	204
782e5230	205	AliRelAlignerKalman& operator= (const AliRelAlignerKalman& aligner );
	206	AliRelAlignerKalman(const AliRelAlignerKalman&);
	207
043badeb	208	ClassDef(AliRelAlignerKalman,1) //AliRelAlignerKalman class
	209	};
	210
	211	#endif