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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 | |
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25 | #include <TMath.h> |
26 | #include <TMatrixDSym.h> |
27 | |
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28 | #include "AliTrackPointArray.h" |
29 | |
30 | ClassImp(AliTrackPointArray) |
31 | |
32 | //______________________________________________________________________________ |
33 | AliTrackPointArray::AliTrackPointArray() |
34 | { |
35 | fNPoints = fSize = 0; |
36 | fX = fY = fZ = 0; |
37 | fVolumeID = 0; |
38 | fCov = 0; |
39 | } |
40 | |
41 | //______________________________________________________________________________ |
42 | AliTrackPointArray::AliTrackPointArray(Int_t npoints): |
43 | fNPoints(npoints) |
44 | { |
45 | // Constructor |
46 | // |
47 | fSize = 6*npoints; |
48 | fX = new Float_t[npoints]; |
49 | fY = new Float_t[npoints]; |
50 | fZ = new Float_t[npoints]; |
51 | fVolumeID = new UShort_t[npoints]; |
52 | fCov = new Float_t[fSize]; |
53 | } |
54 | |
55 | //______________________________________________________________________________ |
56 | AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array): |
57 | TObject(array) |
58 | { |
59 | // Copy constructor |
60 | // |
61 | fNPoints = array.fNPoints; |
62 | fSize = array.fSize; |
63 | fX = new Float_t[fNPoints]; |
64 | fY = new Float_t[fNPoints]; |
65 | fZ = new Float_t[fNPoints]; |
66 | fVolumeID = new UShort_t[fNPoints]; |
67 | fCov = new Float_t[fSize]; |
68 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); |
69 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); |
70 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); |
71 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); |
72 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); |
73 | } |
74 | |
75 | //_____________________________________________________________________________ |
76 | AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array) |
77 | { |
78 | // assignment operator |
79 | // |
80 | if(this==&array) return *this; |
81 | ((TObject *)this)->operator=(array); |
82 | |
83 | fNPoints = array.fNPoints; |
84 | fSize = array.fSize; |
85 | fX = new Float_t[fNPoints]; |
86 | fY = new Float_t[fNPoints]; |
87 | fZ = new Float_t[fNPoints]; |
88 | fVolumeID = new UShort_t[fNPoints]; |
89 | fCov = new Float_t[fSize]; |
90 | memcpy(fX,array.fX,fNPoints*sizeof(Float_t)); |
91 | memcpy(fY,array.fY,fNPoints*sizeof(Float_t)); |
92 | memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t)); |
93 | memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t)); |
94 | memcpy(fCov,array.fCov,fSize*sizeof(Float_t)); |
95 | |
96 | return *this; |
97 | } |
98 | |
99 | //______________________________________________________________________________ |
100 | AliTrackPointArray::~AliTrackPointArray() |
101 | { |
102 | // Destructor |
103 | // |
104 | delete [] fX; |
105 | delete [] fY; |
106 | delete [] fZ; |
107 | delete [] fVolumeID; |
108 | delete [] fCov; |
109 | } |
110 | |
111 | |
112 | //______________________________________________________________________________ |
113 | Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p) |
114 | { |
115 | // Add a point to the array at position i |
116 | // |
117 | if (i >= fNPoints) return kFALSE; |
118 | fX[i] = p->GetX(); |
119 | fY[i] = p->GetY(); |
120 | fZ[i] = p->GetZ(); |
121 | fVolumeID[i] = p->GetVolumeID(); |
122 | memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t)); |
123 | return kTRUE; |
124 | } |
125 | |
126 | //______________________________________________________________________________ |
127 | Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const |
128 | { |
129 | // Get the point at position i |
130 | // |
131 | if (i >= fNPoints) return kFALSE; |
132 | p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]); |
133 | p.SetVolumeID(fVolumeID[i]); |
134 | return kTRUE; |
135 | } |
136 | |
137 | //______________________________________________________________________________ |
138 | Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const |
139 | { |
140 | // This method checks if the array |
141 | // has at least one hit in the detector |
142 | // volume defined by volid |
143 | Bool_t check = kFALSE; |
144 | for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++) |
145 | if (fVolumeID[ipoint] == volid) check = kTRUE; |
146 | |
147 | return check; |
148 | } |
149 | |
150 | ClassImp(AliTrackPoint) |
151 | |
152 | //______________________________________________________________________________ |
153 | AliTrackPoint::AliTrackPoint() |
154 | { |
155 | // Default constructor |
156 | // |
157 | fX = fY = fZ = 0; |
158 | fVolumeID = 0; |
159 | memset(fCov,0,6*sizeof(Float_t)); |
160 | } |
161 | |
162 | |
163 | //______________________________________________________________________________ |
164 | AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) |
165 | { |
166 | // Constructor |
167 | // |
168 | SetXYZ(x,y,z,cov); |
169 | SetVolumeID(volid); |
170 | } |
171 | |
172 | //______________________________________________________________________________ |
173 | AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) |
174 | { |
175 | // Constructor |
176 | // |
177 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); |
178 | SetVolumeID(volid); |
179 | } |
180 | |
181 | //______________________________________________________________________________ |
182 | AliTrackPoint::AliTrackPoint(const AliTrackPoint &p): |
183 | TObject(p) |
184 | { |
185 | // Copy constructor |
186 | // |
187 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); |
188 | SetVolumeID(p.fVolumeID); |
189 | } |
190 | |
191 | //_____________________________________________________________________________ |
192 | AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p) |
193 | { |
194 | // assignment operator |
195 | // |
196 | if(this==&p) return *this; |
197 | ((TObject *)this)->operator=(p); |
198 | |
199 | SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0])); |
200 | SetVolumeID(p.fVolumeID); |
201 | |
202 | return *this; |
203 | } |
204 | |
205 | //______________________________________________________________________________ |
206 | void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov) |
207 | { |
208 | // Set XYZ coordinates and their cov matrix |
209 | // |
210 | fX = x; |
211 | fY = y; |
212 | fZ = z; |
213 | if (cov) |
214 | memcpy(fCov,cov,6*sizeof(Float_t)); |
215 | } |
216 | |
217 | //______________________________________________________________________________ |
218 | void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov) |
219 | { |
220 | // Set XYZ coordinates and their cov matrix |
221 | // |
222 | SetXYZ(xyz[0],xyz[1],xyz[2],cov); |
223 | } |
224 | |
225 | //______________________________________________________________________________ |
226 | void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const |
227 | { |
228 | xyz[0] = fX; |
229 | xyz[1] = fY; |
230 | xyz[2] = fZ; |
231 | if (cov) |
232 | memcpy(cov,fCov,6*sizeof(Float_t)); |
233 | } |
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234 | |
235 | //______________________________________________________________________________ |
236 | Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const |
237 | { |
238 | // This method calculates the track to space-point residuals. The track |
239 | // interpolation is also stored as AliTrackPoint. Using the option |
240 | // 'weighted' one can calculate the residual either with or without |
241 | // taking into account the covariance matrix of the space-point and |
242 | // track interpolation. The second case the residual becomes a pull. |
243 | |
244 | Float_t res = 0; |
245 | |
246 | if (!weighted) { |
247 | Float_t xyz[3],xyzp[3]; |
248 | GetXYZ(xyz); |
249 | p.GetXYZ(xyzp); |
250 | res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+ |
251 | (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+ |
252 | (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]); |
253 | } |
254 | else { |
255 | Float_t xyz[3],xyzp[3]; |
256 | Float_t cov[6],covp[6]; |
257 | GetXYZ(xyz,cov); |
258 | TMatrixDSym mcov(3); |
259 | mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2]; |
260 | mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4]; |
261 | mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5]; |
262 | p.GetXYZ(xyzp,covp); |
263 | TMatrixDSym mcovp(3); |
264 | mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2]; |
265 | mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4]; |
266 | mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5]; |
267 | TMatrixDSym msum = mcov + mcovp; |
268 | msum.Invert(); |
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269 | // mcov.Print(); mcovp.Print(); msum.Print(); |
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270 | if (msum.IsValid()) { |
271 | for (Int_t i = 0; i < 3; i++) |
272 | for (Int_t j = 0; j < 3; j++) |
273 | res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j); |
274 | } |
275 | } |
276 | |
277 | return res; |
278 | } |
279 | |
280 | //______________________________________________________________________________ |
281 | Float_t AliTrackPoint::GetAngle() const |
282 | { |
283 | // The method uses the covariance matrix of |
284 | // the space-point in order to extract the |
285 | // orientation of the detector plane. |
286 | // The rotation in XY plane only is calculated. |
287 | |
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288 | Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3])); |
289 | if (fCov[1] > 0) { |
290 | phi = TMath::Pi() - phi; |
291 | if ((fY-fX) < 0) phi += TMath::Pi(); |
292 | } |
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293 | else { |
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294 | if ((fX+fY) < 0) phi += TMath::Pi(); |
295 | } |
296 | |
297 | return phi; |
298 | |
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299 | } |
300 | |
301 | //_____________________________________________________________________________ |
302 | AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const |
303 | { |
304 | // Transform the space-point coordinates |
305 | // and covariance matrix from global to |
306 | // local (detector plane) coordinate system |
307 | // XY plane rotation only |
308 | |
309 | static AliTrackPoint p; |
310 | p = *this; |
311 | |
312 | Float_t xyz[3],cov[6]; |
313 | GetXYZ(xyz,cov); |
314 | |
315 | Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha); |
316 | |
317 | Float_t newxyz[3],newcov[6]; |
318 | newxyz[0] = cos*xyz[0] + sin*xyz[1]; |
319 | newxyz[1] = cos*xyz[1] - sin*xyz[0]; |
320 | newxyz[2] = xyz[2]; |
321 | |
322 | newcov[0] = cov[0]*cos*cos+ |
323 | 2*cov[1]*sin*cos+ |
324 | cov[3]*sin*sin; |
325 | newcov[1] = cov[1]*(cos*cos-sin*sin)+ |
326 | (cov[3]-cov[0])*sin*cos; |
327 | newcov[2] = cov[2]*cos+ |
328 | cov[4]*sin; |
329 | newcov[3] = cov[0]*sin*sin- |
330 | 2*cov[1]*sin*cos+ |
331 | cov[3]*cos*cos; |
332 | newcov[4] = cov[4]*cos- |
333 | cov[2]*sin; |
334 | newcov[5] = cov[5]; |
335 | |
336 | p.SetXYZ(newxyz,newcov); |
337 | p.SetVolumeID(GetVolumeID()); |
338 | |
339 | return p; |
340 | } |
341 | |
342 | //_____________________________________________________________________________ |
343 | AliTrackPoint& AliTrackPoint::MasterToLocal() const |
344 | { |
345 | // Transform the space-point coordinates |
346 | // and the covariance matrix from the |
347 | // (master) to the local (tracking) |
348 | // coordinate system |
349 | |
350 | Float_t alpha = GetAngle(); |
351 | return Rotate(alpha); |
352 | } |
353 | |
354 | //_____________________________________________________________________________ |
355 | void AliTrackPoint::Print(Option_t *) const |
356 | { |
357 | // Print the space-point coordinates and |
358 | // covariance matrix |
359 | |
360 | printf("VolumeID=%d\n", GetVolumeID()); |
361 | printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]); |
362 | printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]); |
363 | printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]); |
364 | |
365 | } |