Bug fix. Removed delete statement
[u/mrichter/AliRoot.git] / STEER / AliTrackResidualsLinear.cxx
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bf9a6ef9 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
3010c308 16/* $Id$ */
17
bf9a6ef9 18//-----------------------------------------------------------------
19// Implementation of the derived class for track residuals
20// based on linear chi2 minimization
21// The minimization relies on the fact that the alignment parameters
22// (angles and translations) are small.
23// TLinearFitter used for minimization
24// Possibility to fix Paramaters
25// FixParameter()ReleaseParameter();
26// Possibility to define fraction of outliers to be skipped
27//
28// marian.ivanov@cern.ch
29//
30//-----------------------------------------------------------------
31
3010c308 32#include <TMath.h>
bf9a6ef9 33#include <TGeoMatrix.h>
34
35#include "AliLog.h"
36#include "AliAlignObj.h"
37#include "AliTrackPointArray.h"
38#include "AliTrackResidualsLinear.h"
39#include "AliAlignObj.h"
40#include "TLinearFitter.h"
41#include "TDecompSVD.h"
42
43ClassImp(AliTrackResidualsLinear)
44
45//______________________________________________________________________________
75e3794b 46AliTrackResidualsLinear::AliTrackResidualsLinear():
47 AliTrackResiduals(),
48 fFitter(0),
49 fFraction(-1),
50 fChi2Orig(0)
bf9a6ef9 51{
52 // Default constructor
bf9a6ef9 53 for (Int_t ipar=0; ipar<6; ipar++){
bf9a6ef9 54 fParams[ipar] = 0;
55 }
dfce6628 56 for (Int_t icov=0; icov<36; icov++){ fCovar[icov]=0;}
bf9a6ef9 57}
58
59//______________________________________________________________________________
60AliTrackResidualsLinear::AliTrackResidualsLinear(Int_t ntracks):
75e3794b 61 AliTrackResiduals(ntracks),
62 fFitter(new TLinearFitter(6,"hyp6")),
63 fFraction(-1),
64 fChi2Orig(0)
bf9a6ef9 65{
66 // Constructor
bf9a6ef9 67 for (Int_t ipar=0; ipar<6; ipar++){
bf9a6ef9 68 fParams[ipar] = 0;
69 }
dfce6628 70 for (Int_t icov=0; icov<36; icov++){ fCovar[icov]=0;}
bf9a6ef9 71}
72
73//______________________________________________________________________________
74AliTrackResidualsLinear::AliTrackResidualsLinear(const AliTrackResidualsLinear &res):
75e3794b 75 AliTrackResiduals(res),
76 fFitter(new TLinearFitter(*(res.fFitter))),
77 fFraction(res.fFraction),
78 fChi2Orig(res.fChi2Orig)
bf9a6ef9 79{
80 // Copy constructor
81 //..
bf9a6ef9 82 for (Int_t ipar=0; ipar<6; ipar++){
bf9a6ef9 83 fParams[ipar] = res.fParams[ipar];
84 }
dfce6628 85 for (Int_t icov=0; icov<36; icov++){ fCovar[icov]= res.fCovar[icov];}
86 fChi2Orig = res.fChi2Orig;
bf9a6ef9 87}
88
89//______________________________________________________________________________
90AliTrackResidualsLinear &AliTrackResidualsLinear::operator= (const AliTrackResidualsLinear& res)
91{
92 // Assignment operator
93 ((AliTrackResiduals *)this)->operator=(res);
94 return *this;
95}
96//______________________________________________________________________________
97AliTrackResidualsLinear::~AliTrackResidualsLinear()
98{
99 //
100 //
101 //
102 delete fFitter;
103}
104
105
106//______________________________________________________________________________
107Bool_t AliTrackResidualsLinear::Minimize()
108{
109 // Implementation of fast linear Chi2 minimizer
110 // based on TLinear fitter
111 //
112 if (!fFitter) fFitter = new TLinearFitter(6,"hyp6");
113 fFitter->StoreData(kTRUE);
114 fFitter->ClearPoints();
115 fChi2Orig = 0;
116 AliTrackPoint p1,p2;
117 for (Int_t itrack = 0; itrack < fLast; itrack++) {
118 if (!fVolArray[itrack] || !fTrackArray[itrack]) continue;
119 for (Int_t ipoint = 0; ipoint < fVolArray[itrack]->GetNPoints(); ipoint++) {
120 fVolArray[itrack]->GetPoint(p1,ipoint);
121 fTrackArray[itrack]->GetPoint(p2,ipoint);
122 AddPoints(p1,p2);
123 }
124 }
125 Bool_t isOK = Update();
126 if (!isOK) return isOK;
127 //
128 TGeoHMatrix matrix;
129 fAlignObj->GetMatrix(matrix);
130 return isOK;
131}
132
133
134
135//______________________________________________________________________________
136void AliTrackResidualsLinear::AddPoints(AliTrackPoint &p, AliTrackPoint &pprime)
137{
138 //
139 // add points to linear fitter - option with correlation betwee measurement in different dimensions
140 // p1 - local point
141 // pprime - track extrapolation point
142 //
143 Float_t xyz[3],xyzp[3];
144 Float_t cov[6],covp[6];
145 p.GetXYZ(xyz,cov); pprime.GetXYZ(xyzp,covp);
146 //
147 //
148 TMatrixD mcov(3,3); // local point covariance
149 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
150 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
151 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
152 TMatrixD mcovp(3,3); // extrapolation point covariance
153 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
154 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
155 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
156 mcov+=mcovp;
dfce6628 157 //mcov.Invert();
bf9a6ef9 158 if (!mcov.IsValid()) return;
159 TMatrixD mcovBack = mcov; // for debug purposes
160 //
161 // decompose matrix
162 //
163 TDecompSVD svd(mcov); // mcov = svd.fU * covDiagonal * svd.fV.Invert
164 if (!svd.Decompose()) return; // decomposition failed
165 TMatrixD matrixV = svd.GetV(); // transformation matrix to diagonalize covariance matrix
166 Double_t covDiagonal[3] = {svd.GetSig()[0],svd.GetSig()[1],svd.GetSig()[2]}; // diagonalized covariance matrix
167 //
168 // residual vector
169 TMatrixD deltaR(3,1);
170 deltaR(0,0) = (xyzp[0]-xyz[0]);
171 deltaR(1,0) = (xyzp[1]-xyz[1]);
172 deltaR(2,0) = (xyzp[2]-xyz[2]);
173 //
174 // parametrization matrix
175 //
176 TMatrixD mparam(3,6);
177 mparam(0,0) = 1; mparam(1,0) = 0; mparam(2,0) = 0; // xshift
178 mparam(0,1) = 0; mparam(1,1) = 1; mparam(2,1) = 0; // yshift
179 mparam(0,2) = 0; mparam(1,2) = 0; mparam(2,2) = 1; // zshift
180 mparam(0,3) = 0; mparam(1,3) =-xyz[2]; mparam(2,3) = xyz[1]; // x rotation
181 mparam(0,4) = xyz[2]; mparam(1,4) = 0; mparam(2,4) =-xyz[0]; // y rotation
182 mparam(0,5) =-xyz[1]; mparam(1,5) = xyz[0]; mparam(2,5) = 0; // z rotation
183 //
184
185 TMatrixD deltaT(matrixV, TMatrixD::kTransposeMult, deltaR); // tranformed delta
186 TMatrixD mparamT(matrixV,TMatrixD::kTransposeMult, mparam); // tranformed linear transformation
dfce6628 187 if (AliLog::GetDebugLevel("","AliTrackResidualsLinear")>2){
bf9a6ef9 188 //
189 // debug part
190 //
191 // covDiag = U^-1 * mcov * V -- diagonalization of covariance matrix
192
193 TMatrixD matrixU = svd.GetU(); // transformation matrix to diagonalize covariance matrix
194 TMatrixD matrixUI= svd.GetU();
195 matrixUI.Invert();
196 //
197 TMatrixD test0 = matrixUI*matrixV; // test matrix - should be unit matrix
198 TMatrixD test1 = matrixUI*mcovBack*matrixV; // test matrix - diagonal - should be diagonal with covDiagonal on diag
199 TMatrixD test2 = matrixU.T()*matrixV; // test ortogonality - shoul be unit
200 printf("Test matrix 2 - should be unit\n");
201 test2.Print();
202 printf("Test matrix 0 - should be unit\n");
203 test0.Print();
204 printf("Test matrix 1 - should be diagonal\n");
205 test1.Print();
206 printf("Diagonal matrix\n");
207 svd.GetSig().Print();
208 printf("Original param matrix\n");
209 mparam.Print();
210 printf("Rotated param matrix\n");
211 mparamT.Print();
212 //
dfce6628 213 //
214 printf("Trans Matrix:\n");
215 matrixV.Print();
216 printf("Delta Orig\n");
217 deltaR.Print();
218 printf("Delta Rotated");
219 deltaT.Print();
220 //
221 //
bf9a6ef9 222 }
223 //
dfce6628 224 Double_t sumChi2=0;
225 for (Int_t idim = 1; idim<3; idim++){
bf9a6ef9 226 Double_t yf; // input points to fit in TLinear fitter
227 Double_t xf[6]; // input points to fit
228 yf = deltaT(idim,0);
229 for (Int_t ipar =0; ipar<6; ipar++) xf[ipar] = mparamT(idim,ipar);
230 if (covDiagonal[idim]>0.){
dfce6628 231 fFitter->AddPoint(xf,yf, TMath::Sqrt(covDiagonal[idim]));
232 // accumulate chi2
233 Double_t chi2 = (yf*yf)/covDiagonal[idim];
234 fChi2Orig += (yf*yf)/covDiagonal[idim];
235 if (chi2>100 && AliLog::GetDebugLevel("","AliTrackResidualsLinear")>1){
236 printf("Too big chi2- %f\n",chi2);
237 printf("Delta Orig\n");
238 deltaR.Print();
239 printf("Delta Rotated");
240 deltaT.Print();
241 matrixV.Print();
242 printf("Too big chi2 - End\n");
243 }
244 sumChi2+=chi2;
245 }
246 else{
247 printf("Bug\n");
bf9a6ef9 248 }
bf9a6ef9 249 }
dfce6628 250 if (AliLog::GetDebugLevel("","AliTrackResidualsLinear")>1){
251 TMatrixD matChi0=(mcov.Invert()*deltaR);
252 TMatrixD matChi2=deltaR.T()*matChi0;
253 printf("Chi2:\t%f\t%f", matChi2(0,0), sumChi2);
254 }
255
256 fNdf +=2;
bf9a6ef9 257}
258
259//______________________________________________________________________________
260Bool_t AliTrackResidualsLinear::Update()
261{
262 // Find the alignment parameters
263 // using TLinear fitter + fill data containers
264 //
265 //
266 fFitter->Eval();
267 //
268 // TLinear fitter put as first parameter offset - fixing parameter shifted by one
269 //
270 fFitter->FixParameter(0);
271 for (Int_t ipar =0; ipar<6; ipar++){
272 if (fBFixed[ipar]) fFitter->FixParameter(ipar+1,fFixed[ipar]);
273 }
274 if (fFraction>0.5) {
275 fFitter->EvalRobust(fFraction);
276 }else{
277 fFitter->Eval();
278 }
279 //
280 fFitter->ReleaseParameter(0);
dfce6628 281 for (Int_t ipar=0; ipar<6; ipar++) {
bf9a6ef9 282 if (fBFixed[ipar]) fFitter->ReleaseParameter(ipar+1);
283 }
284
285
4c84f475 286
bf9a6ef9 287 fChi2 = fFitter->GetChisquare();
288 fNdf -= 6;
289 TVectorD vector(7);
290 fFitter->GetParameters(vector);
291 fParams[0] = vector[1];
292 fParams[1] = vector[2];
293 fParams[2] = vector[3];
294 fParams[3] = vector[4];
295 fParams[4] = vector[5];
296 fParams[5] = vector[6];
dfce6628 297 TMatrixD covar(7,7);
298 fFitter->GetCovarianceMatrix(covar);
4c84f475 299
300 for (Int_t i0=0; i0 <6; i0++){
dfce6628 301 for (Int_t j0=0; j0 <6; j0++){
302 fCovar[i0*6+j0] = covar(i0+1,j0+1);
303 }
4c84f475 304 }
305 Double_t covmatrarray[21];
306 for(Int_t j=0;j<6;j++){
307 for(Int_t i=j;i<6;i++){
308 covmatrarray[i*(i+1)/2+j]=fCovar[i+6*j];
309 }
310 }
311
312
bf9a6ef9 313 fAlignObj->SetPars(fParams[0], fParams[1], fParams[2],
314 TMath::RadToDeg()*fParams[3],
315 TMath::RadToDeg()*fParams[4],
316 TMath::RadToDeg()*fParams[5]);
4c84f475 317 fAlignObj->SetCorrMatrix(covmatrarray);
318
bf9a6ef9 319 return kTRUE;
320}
4c84f475 321
322