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98937d93 | 1 | /************************************************************************** |
2 | * Copyright(c) 1998-1999, 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 | ////////////////////////////////////////////////////////////////////////////// | |
17 | // Class AliTrackPointArray // | |
18 | // This class contains the ESD track space-points which are used during // | |
19 | // the alignment procedures. Each space-point consist of 3 coordinates // | |
20 | // (and their errors) and the index of the sub-detector which contains // | |
21 | // the space-point. // | |
22 | // cvetan.cheshkov@cern.ch 3/11/2005 // | |
23 | ////////////////////////////////////////////////////////////////////////////// | |
24 | ||
46ae650f | 25 | #include <TMath.h> |
4dcdc747 | 26 | #include <TMatrixD.h> |
46ae650f | 27 | #include <TMatrixDSym.h> |
28 | ||
98937d93 | 29 | #include "AliTrackPointArray.h" |
30 | ||
31 | ClassImp(AliTrackPointArray) | |
32 | ||
33 | //______________________________________________________________________________ | |
fe12e09c | 34 | AliTrackPointArray::AliTrackPointArray() : |
35 | TObject(), | |
36 | fNPoints(0), | |
37 | fX(0), | |
38 | fY(0), | |
39 | fZ(0), | |
40 | fSize(0), | |
41 | fCov(0), | |
42 | fVolumeID(0) | |
98937d93 | 43 | { |
98937d93 | 44 | } |
45 | ||
46 | //______________________________________________________________________________ | |
47 | AliTrackPointArray::AliTrackPointArray(Int_t npoints): | |
fe12e09c | 48 | TObject(), |
49 | fNPoints(npoints), | |
50 | fX(new Float_t[npoints]), | |
51 | fY(new Float_t[npoints]), | |
52 | fZ(new Float_t[npoints]), | |
53 | fSize(6*npoints), | |
54 | fCov(new Float_t[fSize]), | |
55 | fVolumeID(new UShort_t[npoints]) | |
98937d93 | 56 | { |
57 | // Constructor | |
58 | // | |
98937d93 | 59 | } |
60 | ||
61 | //______________________________________________________________________________ | |
62 | AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array): | |
fe12e09c | 63 | TObject(array), |
64 | fNPoints(array.fNPoints), | |
65 | fX(new Float_t[fNPoints]), | |
66 | fY(new Float_t[fNPoints]), | |
67 | fZ(new Float_t[fNPoints]), | |
68 | fSize(array.fSize), | |
69 | fCov(new Float_t[fSize]), | |
70 | fVolumeID(new UShort_t[fNPoints]) | |
98937d93 | 71 | { |
72 | // Copy constructor | |
73 | // | |
98937d93 | 74 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); |
75 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
76 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
77 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
78 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
79 | } | |
80 | ||
81 | //_____________________________________________________________________________ | |
82 | AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array) | |
83 | { | |
84 | // assignment operator | |
85 | // | |
86 | if(this==&array) return *this; | |
87 | ((TObject *)this)->operator=(array); | |
88 | ||
89 | fNPoints = array.fNPoints; | |
90 | fSize = array.fSize; | |
91 | fX = new Float_t[fNPoints]; | |
92 | fY = new Float_t[fNPoints]; | |
93 | fZ = new Float_t[fNPoints]; | |
94 | fVolumeID = new UShort_t[fNPoints]; | |
95 | fCov = new Float_t[fSize]; | |
96 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); | |
97 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); | |
98 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); | |
99 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); | |
100 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); | |
101 | ||
102 | return *this; | |
103 | } | |
104 | ||
105 | //______________________________________________________________________________ | |
106 | AliTrackPointArray::~AliTrackPointArray() | |
107 | { | |
108 | // Destructor | |
109 | // | |
110 | delete [] fX; | |
111 | delete [] fY; | |
112 | delete [] fZ; | |
113 | delete [] fVolumeID; | |
114 | delete [] fCov; | |
115 | } | |
116 | ||
117 | ||
118 | //______________________________________________________________________________ | |
119 | Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p) | |
120 | { | |
121 | // Add a point to the array at position i | |
122 | // | |
123 | if (i >= fNPoints) return kFALSE; | |
124 | fX[i] = p->GetX(); | |
125 | fY[i] = p->GetY(); | |
126 | fZ[i] = p->GetZ(); | |
127 | fVolumeID[i] = p->GetVolumeID(); | |
128 | memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t)); | |
129 | return kTRUE; | |
130 | } | |
131 | ||
132 | //______________________________________________________________________________ | |
133 | Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const | |
134 | { | |
135 | // Get the point at position i | |
136 | // | |
137 | if (i >= fNPoints) return kFALSE; | |
138 | p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]); | |
139 | p.SetVolumeID(fVolumeID[i]); | |
140 | return kTRUE; | |
141 | } | |
142 | ||
143 | //______________________________________________________________________________ | |
144 | Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const | |
145 | { | |
146 | // This method checks if the array | |
147 | // has at least one hit in the detector | |
148 | // volume defined by volid | |
149 | Bool_t check = kFALSE; | |
150 | for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++) | |
151 | if (fVolumeID[ipoint] == volid) check = kTRUE; | |
152 | ||
153 | return check; | |
154 | } | |
155 | ||
156 | ClassImp(AliTrackPoint) | |
157 | ||
158 | //______________________________________________________________________________ | |
fe12e09c | 159 | AliTrackPoint::AliTrackPoint() : |
160 | TObject(), | |
161 | fX(0), | |
162 | fY(0), | |
163 | fZ(0), | |
164 | fVolumeID(0) | |
98937d93 | 165 | { |
166 | // Default constructor | |
167 | // | |
98937d93 | 168 | memset(fCov,0,6*sizeof(Float_t)); |
169 | } | |
170 | ||
171 | ||
172 | //______________________________________________________________________________ | |
fe12e09c | 173 | AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) : |
174 | TObject(), | |
175 | fX(0), | |
176 | fY(0), | |
177 | fZ(0), | |
178 | fVolumeID(0) | |
98937d93 | 179 | { |
180 | // Constructor | |
181 | // | |
182 | SetXYZ(x,y,z,cov); | |
183 | SetVolumeID(volid); | |
184 | } | |
185 | ||
186 | //______________________________________________________________________________ | |
fe12e09c | 187 | AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) : |
188 | TObject(), | |
189 | fX(0), | |
190 | fY(0), | |
191 | fZ(0), | |
192 | fVolumeID(0) | |
98937d93 | 193 | { |
194 | // Constructor | |
195 | // | |
196 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
197 | SetVolumeID(volid); | |
198 | } | |
199 | ||
200 | //______________________________________________________________________________ | |
201 | AliTrackPoint::AliTrackPoint(const AliTrackPoint &p): | |
fe12e09c | 202 | TObject(p), |
203 | fX(0), | |
204 | fY(0), | |
205 | fZ(0), | |
206 | fVolumeID(0) | |
98937d93 | 207 | { |
208 | // Copy constructor | |
209 | // | |
210 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
211 | SetVolumeID(p.fVolumeID); | |
212 | } | |
213 | ||
214 | //_____________________________________________________________________________ | |
215 | AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p) | |
216 | { | |
217 | // assignment operator | |
218 | // | |
219 | if(this==&p) return *this; | |
220 | ((TObject *)this)->operator=(p); | |
221 | ||
222 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
223 | SetVolumeID(p.fVolumeID); | |
224 | ||
225 | return *this; | |
226 | } | |
227 | ||
228 | //______________________________________________________________________________ | |
229 | void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov) | |
230 | { | |
231 | // Set XYZ coordinates and their cov matrix | |
232 | // | |
233 | fX = x; | |
234 | fY = y; | |
235 | fZ = z; | |
236 | if (cov) | |
237 | memcpy(fCov,cov,6*sizeof(Float_t)); | |
238 | } | |
239 | ||
240 | //______________________________________________________________________________ | |
241 | void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov) | |
242 | { | |
243 | // Set XYZ coordinates and their cov matrix | |
244 | // | |
245 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
246 | } | |
247 | ||
248 | //______________________________________________________________________________ | |
249 | void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const | |
250 | { | |
251 | xyz[0] = fX; | |
252 | xyz[1] = fY; | |
253 | xyz[2] = fZ; | |
254 | if (cov) | |
255 | memcpy(cov,fCov,6*sizeof(Float_t)); | |
256 | } | |
46ae650f | 257 | |
258 | //______________________________________________________________________________ | |
259 | Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const | |
260 | { | |
261 | // This method calculates the track to space-point residuals. The track | |
262 | // interpolation is also stored as AliTrackPoint. Using the option | |
263 | // 'weighted' one can calculate the residual either with or without | |
264 | // taking into account the covariance matrix of the space-point and | |
265 | // track interpolation. The second case the residual becomes a pull. | |
266 | ||
267 | Float_t res = 0; | |
268 | ||
269 | if (!weighted) { | |
270 | Float_t xyz[3],xyzp[3]; | |
271 | GetXYZ(xyz); | |
272 | p.GetXYZ(xyzp); | |
273 | res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+ | |
274 | (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+ | |
275 | (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]); | |
276 | } | |
277 | else { | |
278 | Float_t xyz[3],xyzp[3]; | |
279 | Float_t cov[6],covp[6]; | |
280 | GetXYZ(xyz,cov); | |
281 | TMatrixDSym mcov(3); | |
282 | mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2]; | |
283 | mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4]; | |
284 | mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5]; | |
285 | p.GetXYZ(xyzp,covp); | |
286 | TMatrixDSym mcovp(3); | |
287 | mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2]; | |
288 | mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4]; | |
289 | mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5]; | |
290 | TMatrixDSym msum = mcov + mcovp; | |
291 | msum.Invert(); | |
cc345ce3 | 292 | // mcov.Print(); mcovp.Print(); msum.Print(); |
46ae650f | 293 | if (msum.IsValid()) { |
294 | for (Int_t i = 0; i < 3; i++) | |
295 | for (Int_t j = 0; j < 3; j++) | |
296 | res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j); | |
297 | } | |
298 | } | |
299 | ||
300 | return res; | |
301 | } | |
302 | ||
4dcdc747 | 303 | //_____________________________________________________________________________ |
304 | Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const | |
305 | { | |
306 | // | |
307 | // Get the intersection point between this point and | |
308 | // the point "p" belongs to. | |
309 | // The result is stored as a point 'out' | |
310 | // return kFALSE in case of failure. | |
311 | out.SetXYZ(0,0,0); | |
312 | ||
313 | TMatrixD t(3,1); | |
314 | t(0,0)=GetX(); | |
315 | t(1,0)=GetY(); | |
316 | t(2,0)=GetZ(); | |
317 | ||
318 | TMatrixDSym tC(3); | |
319 | { | |
320 | const Float_t *cv=GetCov(); | |
321 | tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2]; | |
322 | tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4]; | |
323 | tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5]; | |
324 | } | |
325 | ||
326 | TMatrixD m(3,1); | |
327 | m(0,0)=p.GetX(); | |
328 | m(1,0)=p.GetY(); | |
329 | m(2,0)=p.GetZ(); | |
330 | ||
331 | TMatrixDSym mC(3); | |
332 | { | |
333 | const Float_t *cv=p.GetCov(); | |
334 | mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2]; | |
335 | mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4]; | |
336 | mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5]; | |
337 | } | |
338 | ||
339 | TMatrixDSym tmW(tC); | |
340 | tmW+=mC; | |
341 | tmW.Invert(); | |
342 | if (!tmW.IsValid()) return kFALSE; | |
343 | ||
344 | TMatrixD mW(tC,TMatrixD::kMult,tmW); | |
345 | TMatrixD tW(mC,TMatrixD::kMult,tmW); | |
346 | ||
347 | TMatrixD mi(mW,TMatrixD::kMult,m); | |
348 | TMatrixD ti(tW,TMatrixD::kMult,t); | |
349 | ti+=mi; | |
350 | ||
351 | TMatrixD iC(tC,TMatrixD::kMult,tmW); | |
352 | iC*=mC; | |
353 | ||
354 | out.SetXYZ(ti(0,0),ti(1,0),ti(2,0)); | |
355 | UShort_t id=p.GetVolumeID(); | |
356 | out.SetVolumeID(id); | |
357 | ||
358 | return kTRUE; | |
359 | } | |
360 | ||
46ae650f | 361 | //______________________________________________________________________________ |
362 | Float_t AliTrackPoint::GetAngle() const | |
363 | { | |
364 | // The method uses the covariance matrix of | |
365 | // the space-point in order to extract the | |
366 | // orientation of the detector plane. | |
367 | // The rotation in XY plane only is calculated. | |
368 | ||
8e52c1a8 | 369 | Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3])); |
370 | if (fCov[1] > 0) { | |
371 | phi = TMath::Pi() - phi; | |
372 | if ((fY-fX) < 0) phi += TMath::Pi(); | |
373 | } | |
46ae650f | 374 | else { |
8e52c1a8 | 375 | if ((fX+fY) < 0) phi += TMath::Pi(); |
376 | } | |
377 | ||
378 | return phi; | |
379 | ||
46ae650f | 380 | } |
381 | ||
382 | //_____________________________________________________________________________ | |
383 | AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const | |
384 | { | |
385 | // Transform the space-point coordinates | |
386 | // and covariance matrix from global to | |
387 | // local (detector plane) coordinate system | |
388 | // XY plane rotation only | |
389 | ||
390 | static AliTrackPoint p; | |
391 | p = *this; | |
392 | ||
393 | Float_t xyz[3],cov[6]; | |
394 | GetXYZ(xyz,cov); | |
395 | ||
396 | Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha); | |
397 | ||
398 | Float_t newxyz[3],newcov[6]; | |
399 | newxyz[0] = cos*xyz[0] + sin*xyz[1]; | |
400 | newxyz[1] = cos*xyz[1] - sin*xyz[0]; | |
401 | newxyz[2] = xyz[2]; | |
402 | ||
403 | newcov[0] = cov[0]*cos*cos+ | |
404 | 2*cov[1]*sin*cos+ | |
405 | cov[3]*sin*sin; | |
406 | newcov[1] = cov[1]*(cos*cos-sin*sin)+ | |
407 | (cov[3]-cov[0])*sin*cos; | |
408 | newcov[2] = cov[2]*cos+ | |
409 | cov[4]*sin; | |
410 | newcov[3] = cov[0]*sin*sin- | |
411 | 2*cov[1]*sin*cos+ | |
412 | cov[3]*cos*cos; | |
413 | newcov[4] = cov[4]*cos- | |
414 | cov[2]*sin; | |
415 | newcov[5] = cov[5]; | |
416 | ||
417 | p.SetXYZ(newxyz,newcov); | |
418 | p.SetVolumeID(GetVolumeID()); | |
419 | ||
420 | return p; | |
421 | } | |
422 | ||
423 | //_____________________________________________________________________________ | |
424 | AliTrackPoint& AliTrackPoint::MasterToLocal() const | |
425 | { | |
426 | // Transform the space-point coordinates | |
427 | // and the covariance matrix from the | |
428 | // (master) to the local (tracking) | |
429 | // coordinate system | |
430 | ||
431 | Float_t alpha = GetAngle(); | |
432 | return Rotate(alpha); | |
433 | } | |
434 | ||
435 | //_____________________________________________________________________________ | |
436 | void AliTrackPoint::Print(Option_t *) const | |
437 | { | |
438 | // Print the space-point coordinates and | |
439 | // covariance matrix | |
440 | ||
441 | printf("VolumeID=%d\n", GetVolumeID()); | |
442 | printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]); | |
443 | printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]); | |
444 | printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]); | |
445 | ||
446 | } |