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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 | ||
ec9e17f9 | 132 | |
98937d93 | 133 | //______________________________________________________________________________ |
134 | Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const | |
135 | { | |
136 | // Get the point at position i | |
137 | // | |
138 | if (i >= fNPoints) return kFALSE; | |
139 | p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]); | |
140 | p.SetVolumeID(fVolumeID[i]); | |
141 | return kTRUE; | |
142 | } | |
143 | ||
144 | //______________________________________________________________________________ | |
145 | Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const | |
146 | { | |
147 | // This method checks if the array | |
148 | // has at least one hit in the detector | |
149 | // volume defined by volid | |
150 | Bool_t check = kFALSE; | |
151 | for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++) | |
152 | if (fVolumeID[ipoint] == volid) check = kTRUE; | |
153 | ||
154 | return check; | |
155 | } | |
156 | ||
157 | ClassImp(AliTrackPoint) | |
158 | ||
159 | //______________________________________________________________________________ | |
fe12e09c | 160 | AliTrackPoint::AliTrackPoint() : |
161 | TObject(), | |
162 | fX(0), | |
163 | fY(0), | |
164 | fZ(0), | |
165 | fVolumeID(0) | |
98937d93 | 166 | { |
167 | // Default constructor | |
168 | // | |
98937d93 | 169 | memset(fCov,0,6*sizeof(Float_t)); |
170 | } | |
171 | ||
172 | ||
173 | //______________________________________________________________________________ | |
fe12e09c | 174 | AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) : |
175 | TObject(), | |
176 | fX(0), | |
177 | fY(0), | |
178 | fZ(0), | |
179 | fVolumeID(0) | |
98937d93 | 180 | { |
181 | // Constructor | |
182 | // | |
183 | SetXYZ(x,y,z,cov); | |
184 | SetVolumeID(volid); | |
185 | } | |
186 | ||
187 | //______________________________________________________________________________ | |
fe12e09c | 188 | AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) : |
189 | TObject(), | |
190 | fX(0), | |
191 | fY(0), | |
192 | fZ(0), | |
193 | fVolumeID(0) | |
98937d93 | 194 | { |
195 | // Constructor | |
196 | // | |
197 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
198 | SetVolumeID(volid); | |
199 | } | |
200 | ||
201 | //______________________________________________________________________________ | |
202 | AliTrackPoint::AliTrackPoint(const AliTrackPoint &p): | |
fe12e09c | 203 | TObject(p), |
204 | fX(0), | |
205 | fY(0), | |
206 | fZ(0), | |
207 | fVolumeID(0) | |
98937d93 | 208 | { |
209 | // Copy constructor | |
210 | // | |
211 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
212 | SetVolumeID(p.fVolumeID); | |
213 | } | |
214 | ||
215 | //_____________________________________________________________________________ | |
216 | AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p) | |
217 | { | |
218 | // assignment operator | |
219 | // | |
220 | if(this==&p) return *this; | |
221 | ((TObject *)this)->operator=(p); | |
222 | ||
223 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); | |
224 | SetVolumeID(p.fVolumeID); | |
225 | ||
226 | return *this; | |
227 | } | |
228 | ||
229 | //______________________________________________________________________________ | |
230 | void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov) | |
231 | { | |
232 | // Set XYZ coordinates and their cov matrix | |
233 | // | |
234 | fX = x; | |
235 | fY = y; | |
236 | fZ = z; | |
237 | if (cov) | |
238 | memcpy(fCov,cov,6*sizeof(Float_t)); | |
239 | } | |
240 | ||
241 | //______________________________________________________________________________ | |
242 | void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov) | |
243 | { | |
244 | // Set XYZ coordinates and their cov matrix | |
245 | // | |
246 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); | |
247 | } | |
248 | ||
249 | //______________________________________________________________________________ | |
250 | void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const | |
251 | { | |
252 | xyz[0] = fX; | |
253 | xyz[1] = fY; | |
254 | xyz[2] = fZ; | |
255 | if (cov) | |
256 | memcpy(cov,fCov,6*sizeof(Float_t)); | |
257 | } | |
46ae650f | 258 | |
259 | //______________________________________________________________________________ | |
260 | Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const | |
261 | { | |
262 | // This method calculates the track to space-point residuals. The track | |
263 | // interpolation is also stored as AliTrackPoint. Using the option | |
264 | // 'weighted' one can calculate the residual either with or without | |
265 | // taking into account the covariance matrix of the space-point and | |
266 | // track interpolation. The second case the residual becomes a pull. | |
267 | ||
268 | Float_t res = 0; | |
269 | ||
270 | if (!weighted) { | |
271 | Float_t xyz[3],xyzp[3]; | |
272 | GetXYZ(xyz); | |
273 | p.GetXYZ(xyzp); | |
274 | res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+ | |
275 | (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+ | |
276 | (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]); | |
277 | } | |
278 | else { | |
279 | Float_t xyz[3],xyzp[3]; | |
280 | Float_t cov[6],covp[6]; | |
281 | GetXYZ(xyz,cov); | |
282 | TMatrixDSym mcov(3); | |
283 | mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2]; | |
284 | mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4]; | |
285 | mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5]; | |
286 | p.GetXYZ(xyzp,covp); | |
287 | TMatrixDSym mcovp(3); | |
288 | mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2]; | |
289 | mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4]; | |
290 | mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5]; | |
291 | TMatrixDSym msum = mcov + mcovp; | |
292 | msum.Invert(); | |
cc345ce3 | 293 | // mcov.Print(); mcovp.Print(); msum.Print(); |
46ae650f | 294 | if (msum.IsValid()) { |
295 | for (Int_t i = 0; i < 3; i++) | |
296 | for (Int_t j = 0; j < 3; j++) | |
297 | res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j); | |
298 | } | |
299 | } | |
300 | ||
301 | return res; | |
302 | } | |
303 | ||
4dcdc747 | 304 | //_____________________________________________________________________________ |
305 | Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const | |
306 | { | |
307 | // | |
308 | // Get the intersection point between this point and | |
309 | // the point "p" belongs to. | |
310 | // The result is stored as a point 'out' | |
311 | // return kFALSE in case of failure. | |
312 | out.SetXYZ(0,0,0); | |
313 | ||
314 | TMatrixD t(3,1); | |
315 | t(0,0)=GetX(); | |
316 | t(1,0)=GetY(); | |
317 | t(2,0)=GetZ(); | |
318 | ||
319 | TMatrixDSym tC(3); | |
320 | { | |
321 | const Float_t *cv=GetCov(); | |
322 | tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2]; | |
323 | tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4]; | |
324 | tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5]; | |
325 | } | |
326 | ||
327 | TMatrixD m(3,1); | |
328 | m(0,0)=p.GetX(); | |
329 | m(1,0)=p.GetY(); | |
330 | m(2,0)=p.GetZ(); | |
331 | ||
332 | TMatrixDSym mC(3); | |
333 | { | |
334 | const Float_t *cv=p.GetCov(); | |
335 | mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2]; | |
336 | mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4]; | |
337 | mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5]; | |
338 | } | |
339 | ||
340 | TMatrixDSym tmW(tC); | |
341 | tmW+=mC; | |
342 | tmW.Invert(); | |
343 | if (!tmW.IsValid()) return kFALSE; | |
344 | ||
345 | TMatrixD mW(tC,TMatrixD::kMult,tmW); | |
346 | TMatrixD tW(mC,TMatrixD::kMult,tmW); | |
347 | ||
348 | TMatrixD mi(mW,TMatrixD::kMult,m); | |
349 | TMatrixD ti(tW,TMatrixD::kMult,t); | |
350 | ti+=mi; | |
351 | ||
352 | TMatrixD iC(tC,TMatrixD::kMult,tmW); | |
353 | iC*=mC; | |
354 | ||
355 | out.SetXYZ(ti(0,0),ti(1,0),ti(2,0)); | |
356 | UShort_t id=p.GetVolumeID(); | |
357 | out.SetVolumeID(id); | |
358 | ||
359 | return kTRUE; | |
360 | } | |
361 | ||
46ae650f | 362 | //______________________________________________________________________________ |
363 | Float_t AliTrackPoint::GetAngle() const | |
364 | { | |
365 | // The method uses the covariance matrix of | |
366 | // the space-point in order to extract the | |
367 | // orientation of the detector plane. | |
368 | // The rotation in XY plane only is calculated. | |
369 | ||
8e52c1a8 | 370 | Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3])); |
371 | if (fCov[1] > 0) { | |
372 | phi = TMath::Pi() - phi; | |
373 | if ((fY-fX) < 0) phi += TMath::Pi(); | |
374 | } | |
46ae650f | 375 | else { |
8e52c1a8 | 376 | if ((fX+fY) < 0) phi += TMath::Pi(); |
377 | } | |
378 | ||
379 | return phi; | |
380 | ||
46ae650f | 381 | } |
382 | ||
383 | //_____________________________________________________________________________ | |
384 | AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const | |
385 | { | |
386 | // Transform the space-point coordinates | |
387 | // and covariance matrix from global to | |
388 | // local (detector plane) coordinate system | |
389 | // XY plane rotation only | |
390 | ||
391 | static AliTrackPoint p; | |
392 | p = *this; | |
393 | ||
394 | Float_t xyz[3],cov[6]; | |
395 | GetXYZ(xyz,cov); | |
396 | ||
397 | Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha); | |
398 | ||
399 | Float_t newxyz[3],newcov[6]; | |
400 | newxyz[0] = cos*xyz[0] + sin*xyz[1]; | |
401 | newxyz[1] = cos*xyz[1] - sin*xyz[0]; | |
402 | newxyz[2] = xyz[2]; | |
403 | ||
404 | newcov[0] = cov[0]*cos*cos+ | |
405 | 2*cov[1]*sin*cos+ | |
406 | cov[3]*sin*sin; | |
407 | newcov[1] = cov[1]*(cos*cos-sin*sin)+ | |
408 | (cov[3]-cov[0])*sin*cos; | |
409 | newcov[2] = cov[2]*cos+ | |
410 | cov[4]*sin; | |
411 | newcov[3] = cov[0]*sin*sin- | |
412 | 2*cov[1]*sin*cos+ | |
413 | cov[3]*cos*cos; | |
414 | newcov[4] = cov[4]*cos- | |
415 | cov[2]*sin; | |
416 | newcov[5] = cov[5]; | |
417 | ||
418 | p.SetXYZ(newxyz,newcov); | |
419 | p.SetVolumeID(GetVolumeID()); | |
420 | ||
421 | return p; | |
422 | } | |
423 | ||
424 | //_____________________________________________________________________________ | |
425 | AliTrackPoint& AliTrackPoint::MasterToLocal() const | |
426 | { | |
427 | // Transform the space-point coordinates | |
428 | // and the covariance matrix from the | |
429 | // (master) to the local (tracking) | |
430 | // coordinate system | |
431 | ||
432 | Float_t alpha = GetAngle(); | |
433 | return Rotate(alpha); | |
434 | } | |
435 | ||
436 | //_____________________________________________________________________________ | |
437 | void AliTrackPoint::Print(Option_t *) const | |
438 | { | |
439 | // Print the space-point coordinates and | |
440 | // covariance matrix | |
441 | ||
442 | printf("VolumeID=%d\n", GetVolumeID()); | |
443 | printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]); | |
444 | printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]); | |
445 | printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]); | |
446 | ||
447 | } | |
ec9e17f9 | 448 | |
449 | ||
450 | //________________________________ | |
451 | void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){ | |
452 | // Add the uncertainty on the cluster position due to alignment | |
453 | // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already | |
454 | // present Cov. Matrix | |
455 | ||
456 | TMatrixDSym cov(3); | |
457 | TMatrixD coval(3,3); | |
458 | TMatrixD jacob(3,6); | |
459 | Float_t newcov[6]; | |
460 | ||
461 | cov(0,0)=fCov[0]; | |
462 | cov(1,0)=cov(0,1)=fCov[1]; | |
463 | cov(2,0)=cov(0,2)=fCov[2]; | |
464 | cov(1,1)=fCov[3]; | |
465 | cov(2,1)=cov(1,2)=fCov[4]; | |
466 | cov(2,2)=fCov[5]; | |
467 | ||
468 | jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0; | |
469 | jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0; | |
470 | jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1; | |
471 | jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY; | |
472 | jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX; | |
473 | jacob(0,5) = fY; jacob(1,5) = fX; jacob(2,5) = 0; | |
474 | ||
475 | TMatrixD jacobT=jacob.T();jacob.T(); | |
476 | ||
477 | coval=jacob*alignparmtrx*jacobT+cov; | |
478 | ||
479 | ||
480 | newcov[0]=coval(0,0); | |
481 | newcov[1]=coval(1,0); | |
482 | newcov[2]=coval(2,0); | |
483 | newcov[3]=coval(1,1); | |
484 | newcov[4]=coval(2,1); | |
485 | newcov[5]=coval(2,2); | |
486 | ||
487 | SetXYZ(fX,fY,fZ,newcov); | |
488 | ||
489 | } |