[u/mrichter/AliRoot.git] / MFT / AliMuonForwardTrack.cxx

/**************************************************************************
 * Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
 *                                                                        *
 * Author: The ALICE Off-line Project.                                    *
 * Contributors are mentioned in the code where appropriate.              *
 *                                                                        *
 * Permission to use, copy, modify and distribute this software and its   *
 * documentation strictly for non-commercial purposes is hereby granted   *
 * without fee, provided that the above copyright notice appears in all   *
 * copies and that both the copyright notice and this permission notice   *
 * appear in the supporting documentation. The authors make no claims     *
 * about the suitability of this software for any purpose. It is          *
 * provided "as is" without express or implied warranty.                  *
 **************************************************************************/

//====================================================================================================================================================
//
//      Description of an ALICE muon forward track, combining the information of the Muon Spectrometer and the Muon Forward Tracker
//
//      Contact author: antonio.uras@cern.ch
//
//====================================================================================================================================================

#include "AliLog.h"
#include "AliMUONTrack.h"
#include "AliMFTCluster.h"
#include "AliMUONVCluster.h"
#include "AliMUONTrackParam.h"
#include "AliMUONTrackExtrap.h"
#include "TClonesArray.h"
#include "TMatrixD.h"
#include "TParticle.h"
#include "AliMuonForwardTrack.h"
#include "AliMFTConstants.h"

ClassImp(AliMuonForwardTrack)

//====================================================================================================================================================

AliMuonForwardTrack::AliMuonForwardTrack():
  AliMUONTrack(),
  fMUONTrack(0),
  fMCTrackRef(0),
  fMFTClusters(0),
  fNWrongClustersMC(-1),
  fTrackMCId(-1)
{

  // default constructor
  
  for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = kFALSE;
  for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
    fParentMCLabel[iParent] = -1;
    fParentPDGCode[iParent] =  0;
  }
  fMFTClusters = new TClonesArray("AliMFTCluster");

}

//====================================================================================================================================================

AliMuonForwardTrack::AliMuonForwardTrack(AliMUONTrack *MUONTrack):
  AliMUONTrack(),
  fMUONTrack(0),
  fMCTrackRef(0),
  fMFTClusters(0),
  fNWrongClustersMC(-1),
  fTrackMCId(-1)
{

  SetMUONTrack(MUONTrack);
  for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = kFALSE;
  for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
    fParentMCLabel[iParent] = -1;
    fParentPDGCode[iParent] =  0;
  }
  fMFTClusters = new TClonesArray("AliMFTCluster");
  fMFTClusters->SetOwner(kTRUE);

}

//====================================================================================================================================================

AliMuonForwardTrack::AliMuonForwardTrack(const AliMuonForwardTrack& track): 
  AliMUONTrack(track),
  fMUONTrack(0x0),
  fMCTrackRef(0x0),
  fMFTClusters(0x0),
  fNWrongClustersMC(track.fNWrongClustersMC),
  fTrackMCId(track.fTrackMCId)
{

  // copy constructor
  fMUONTrack        = new AliMUONTrack(*(track.fMUONTrack));
  if (track.fMCTrackRef) fMCTrackRef = new TParticle(*(track.fMCTrackRef));
  fMFTClusters      = new TClonesArray(*(track.fMFTClusters));
  for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = (track.fPlaneExists)[iPlane];
  for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
    fParentMCLabel[iParent] = (track.fParentMCLabel)[iParent];
    fParentPDGCode[iParent] = (track.fParentPDGCode)[iParent];
  }
  
}

//====================================================================================================================================================

AliMuonForwardTrack& AliMuonForwardTrack::operator=(const AliMuonForwardTrack& track) {

  // Asignment operator

  // check assignement to self
  if (this == &track) return *this;

  // base class assignement
  AliMUONTrack::operator=(track);
  
  // clear memory
  Clear();
  
  fMUONTrack        = new AliMUONTrack(*(track.fMUONTrack));
  if (track.fMCTrackRef) fMCTrackRef = new TParticle(*(track.fMCTrackRef));
  fMFTClusters      = new TClonesArray(*(track.fMFTClusters));
  fNWrongClustersMC = track.fNWrongClustersMC;
  fTrackMCId        = track.fTrackMCId;

  for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = (track.fPlaneExists)[iPlane];
  for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
    fParentMCLabel[iParent] = (track.fParentMCLabel)[iParent];
    fParentPDGCode[iParent] = (track.fParentPDGCode)[iParent];
  }
  
  return *this;

}

//====================================================================================================================================================

AliMuonForwardTrack::~AliMuonForwardTrack() {

  delete fMUONTrack;
  delete fMCTrackRef;
  fMFTClusters -> Delete();
  delete fMFTClusters;
  
}

//====================================================================================================================================================

void AliMuonForwardTrack::SetMUONTrack(AliMUONTrack *MUONTrack) {

  if (fMUONTrack) {
    AliInfo("fMUONTrack already exists, nothing will be done");
    return;
  }

  fMUONTrack = MUONTrack;
  SetGlobalChi2(fMUONTrack->GetGlobalChi2());
  
}

//====================================================================================================================================================

void AliMuonForwardTrack::SetMCTrackRef(TParticle *MCTrackRef) {

  if (fMCTrackRef) {
    AliInfo("fMCTrackRef already exists, nothing will be done");
    return;
  }

  fMCTrackRef = MCTrackRef;
  
}

//====================================================================================================================================================

void AliMuonForwardTrack::AddTrackParamAtMFTCluster(AliMUONTrackParam &trackParam, AliMFTCluster &mftCluster) {

  AliDebug(1, Form("Before adding: this->fMFTClusters=%p has %d entries", this->fMFTClusters, this->fMFTClusters->GetEntries()));
  Int_t iMFTCluster = this->fMFTClusters->GetEntries();
  AliDebug(1, Form("mftCluster->GetX() = %f  mftCluster->GetY() = %f  mftCluster->GetErrX() = %f  cmftCluster->GetErrY() = %f", 
	   mftCluster.GetX(), mftCluster.GetY(), mftCluster.GetErrX(), mftCluster.GetErrY()));
  AliMUONVCluster *muonCluster = (AliMUONVCluster*) mftCluster.CreateMUONCluster();
  AliDebug(1, Form("Created MUON cluster %p", muonCluster));
  trackParam.SetUniqueID(iMFTCluster);    // we profit of this slot to store the reference to the corresponding MFTCluster
  AliDebug(1, Form("Now adding muonCluster %p and trackParam %p",muonCluster, &trackParam));
  AddTrackParamAtCluster(trackParam, *muonCluster, kTRUE);
  // we pass the parameters this->GetTrackParamAtCluster()->First() to the Kalman Filter algorithm: they will be updated!!
  Double_t chi2Kalman = RunKalmanFilter(*(AliMUONTrackParam*)(GetTrackParamAtCluster()->First()));
  AliDebug(1, Form("Adding Kalman chi2 = %f to global chi2 = %f", chi2Kalman, GetGlobalChi2()));
  Double_t newGlobalChi2 = GetGlobalChi2() + chi2Kalman;
  mftCluster.SetLocalChi2(chi2Kalman);
  mftCluster.SetTrackChi2(newGlobalChi2);
  new ((*(this->fMFTClusters))[iMFTCluster]) AliMFTCluster(mftCluster);
  AliDebug(1, Form("GetTrackParamAtCluster() = %p  has %d entries while this->fMFTClusters=%p has %d entries",
		   GetTrackParamAtCluster(), GetTrackParamAtCluster()->GetEntries(), this->fMFTClusters, this->fMFTClusters->GetEntries()));
  AliDebug(1, Form("muonCluster->GetZ() = %f, trackParam->GetZ() = %f",muonCluster->GetZ(), trackParam.GetZ()));
  SetGlobalChi2(newGlobalChi2);
  AliDebug(1, Form("New global chi2 = %f", GetGlobalChi2()));
  ((AliMUONTrackParam*) GetTrackParamAtCluster()->First())->SetTrackChi2(newGlobalChi2);
  for (Int_t iPar=0; iPar<GetTrackParamAtCluster()->GetEntries(); iPar++) {
    AliDebug(1, Form("GetTrackParamAtCluster()->At(%d)->GetClusterPtr() = %p",
		     iPar, ((AliMUONTrackParam*)(GetTrackParamAtCluster()->At(iPar)))->GetClusterPtr()));
  }

}

//====================================================================================================================================================

AliMUONTrackParam* AliMuonForwardTrack::GetTrackParamAtMUONCluster(Int_t iMUONCluster) {

  if (iMUONCluster<0 || iMUONCluster>=GetNMUONClusters()) {
    AliError("Invalid MUON cluster index. NULL pointer will be returned");
    return NULL;
  }

  AliMUONTrackParam *trackParam = (AliMUONTrackParam*) fMUONTrack->GetTrackParamAtCluster()->At(iMUONCluster); 

  return trackParam;

}

//====================================================================================================================================================

AliMUONTrackParam* AliMuonForwardTrack::GetTrackParamAtMFTCluster(Int_t iMFTCluster) {

  if (iMFTCluster<0 || iMFTCluster>=GetNMFTClusters()) {
    AliError("Invalid MFT cluster index. NULL pointer will be returned");
    return NULL;
  }

  AliMUONTrackParam *trackParam = (AliMUONTrackParam*) GetTrackParamAtCluster()->At(iMFTCluster); 

  return trackParam;

}

//====================================================================================================================================================

AliMUONVCluster* AliMuonForwardTrack::GetMUONCluster(Int_t iMUONCluster) {

  if (iMUONCluster<0 || iMUONCluster>=GetNMUONClusters()) {
    AliError("Invalid MUON cluster index. NULL pointer will be returned");
    return NULL;
  }

  AliMUONTrackParam *trackParam = GetTrackParamAtMUONCluster(iMUONCluster);
  AliMUONVCluster *muonCluster = trackParam->GetClusterPtr();

  return muonCluster;

}

//====================================================================================================================================================

AliMFTCluster* AliMuonForwardTrack::GetMFTCluster(Int_t iMFTCluster) {

  if (iMFTCluster<0 || iMFTCluster>=GetNMFTClusters()) {
    AliError(Form("Invalid MFT cluster index (%d). GetNMFTClusters()=%d. NULL pointer will be returned", iMFTCluster, GetNMFTClusters()));
    return NULL;
  }

  AliMUONTrackParam *trackParam = GetTrackParamAtMFTCluster(iMFTCluster);
  AliMFTCluster *mftCluster = (AliMFTCluster*) this->fMFTClusters->At(trackParam->GetUniqueID());

  return mftCluster;

}

//====================================================================================================================================================

Double_t AliMuonForwardTrack::RunKalmanFilter(AliMUONTrackParam &trackParamAtCluster) {

  AliDebug(1, Form("Running Kalman filter for parameters %p (z = %f) and cluster %p (z = %f)", 
		   &trackParamAtCluster, trackParamAtCluster.GetZ(), trackParamAtCluster.GetClusterPtr(), trackParamAtCluster.GetClusterPtr()->GetZ()));
  
  // Compute new track parameters and their covariances including new cluster using kalman filter
  // return the *additional* track chi2
  
  // Get actual track parameters (p)
  TMatrixD param(trackParamAtCluster.GetParameters());
  
  // Get new cluster parameters (m)
  AliMUONVCluster *cluster = trackParamAtCluster.GetClusterPtr();
  AliDebug(1, Form("cluster->GetX() = %f  cluster->GetY() = %f  cluster->GetErrX() = %f  cluster->GetErrY() = %f", 
		   cluster->GetX(), cluster->GetY(), cluster->GetErrX(), cluster->GetErrY()));
  TMatrixD clusterParam(5,1);
  clusterParam.Zero();
  clusterParam(0,0) = cluster->GetX();
  clusterParam(2,0) = cluster->GetY();

  // Compute the current parameter weight (W)
  TMatrixD paramWeight(trackParamAtCluster.GetCovariances());
  if (paramWeight.Determinant() != 0) {
    paramWeight.Invert();
  } else {
    Warning("RunKalmanFilter"," Determinant = 0");
    return 1.e10;
  }
  
  // Compute the new cluster weight (U)
  TMatrixD clusterWeight(5,5);
  clusterWeight.Zero();
  clusterWeight(0,0) = 1. / cluster->GetErrX2();
  clusterWeight(2,2) = 1. / cluster->GetErrY2();

  // Compute the new parameters covariance matrix ( (W+U)^-1 )
  TMatrixD newParamCov(paramWeight,TMatrixD::kPlus,clusterWeight);
  if (newParamCov.Determinant() != 0) {
    newParamCov.Invert();
  } 
  else {
    Warning("RunKalmanFilter"," Determinant = 0");
    return 1.e10;
  }
  
  // Save the new parameters covariance matrix
  trackParamAtCluster.SetCovariances(newParamCov);
  
  // Compute the new parameters (p' = ((W+U)^-1)U(m-p) + p)
  TMatrixD tmp(clusterParam,TMatrixD::kMinus,param);
  TMatrixD tmp2(clusterWeight,TMatrixD::kMult,tmp);    // U(m-p)
  TMatrixD newParam(newParamCov,TMatrixD::kMult,tmp2); // ((W+U)^-1)U(m-p)
  newParam += param;                                   // ((W+U)^-1)U(m-p) + p

  // Save the new parameters
  trackParamAtCluster.SetParameters(newParam);
  
  // Compute the additional chi2 (= ((p'-p)^-1)W(p'-p) + ((p'-m)^-1)U(p'-m))
  tmp = newParam; // p'
  tmp -= param;   // (p'-p)
  TMatrixD tmp3(paramWeight,TMatrixD::kMult,tmp);           // W(p'-p)
  TMatrixD addChi2Track(tmp,TMatrixD::kTransposeMult,tmp3); // ((p'-p)^-1)W(p'-p)
  tmp = newParam;      // p'
  tmp -= clusterParam; // (p'-m)
  TMatrixD tmp4(clusterWeight,TMatrixD::kMult,tmp);            // U(p'-m)
  addChi2Track += TMatrixD(tmp,TMatrixD::kTransposeMult,tmp4); // ((p'-p)^-1)W(p'-p) + ((p'-m)^-1)U(p'-m)
  
  AliDebug(1,Form("Adding Kalman chi2 = %f",addChi2Track(0,0)));

  return addChi2Track(0,0);
  
}

//====================================================================================================================================================

Double_t AliMuonForwardTrack::GetWeightedOffset(Double_t x, Double_t y, Double_t z) {

  AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
  AliMUONTrackExtrap::ExtrapToZCov(param, z);

  TMatrixD cov(5,5);
  cov = param->GetCovariances();

  TMatrixD covCoordinates(2,2);
  covCoordinates(0,0) = cov(0,0);
  covCoordinates(0,1) = cov(0,2);
  covCoordinates(1,0) = cov(2,0);
  covCoordinates(1,1) = cov(2,2);
  
  TMatrixD covCoordinatesInverse = covCoordinates.Invert();

  Double_t dX = param->GetNonBendingCoor() - x;
  Double_t dY = param->GetBendingCoor()    - y;
  
  Double_t weightedOffset = TMath::Sqrt(0.5*(dX*dX*covCoordinatesInverse(0,0) + 
					     dY*dY*covCoordinatesInverse(1,1) + 
					     2.*dX*dY*covCoordinatesInverse(0,1)));

  return weightedOffset;

}

//====================================================================================================================================================

Double_t AliMuonForwardTrack::GetOffsetX(Double_t x, Double_t z) {

  AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
  AliMUONTrackExtrap::ExtrapToZCov(param, z);
  Double_t dX = param->GetNonBendingCoor() - x;
  return dX;

}

//====================================================================================================================================================

Double_t AliMuonForwardTrack::GetOffsetY(Double_t y, Double_t z) {

  AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
  AliMUONTrackExtrap::ExtrapToZCov(param, z);
  Double_t dY = param->GetBendingCoor() - y;
  return dY;

}

//====================================================================================================================================================

Double_t AliMuonForwardTrack::GetOffset(Double_t x, Double_t y, Double_t z) {

  AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
  AliMUONTrackExtrap::ExtrapToZCov(param, z);
  Double_t dX = param->GetNonBendingCoor() - x;
  Double_t dY = param->GetBendingCoor()    - y;
  return TMath::Sqrt(dX*dX + dY*dY);

}

//====================================================================================================================================================
Commit	Line	Data
	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	//
	18	// Description of an ALICE muon forward track, combining the information of the Muon Spectrometer and the Muon Forward Tracker
	19	//
	20	// Contact author: antonio.uras@cern.ch
	21	//
	22	//====================================================================================================================================================
	23
	24	#include "AliLog.h"
	25	#include "AliMUONTrack.h"
	26	#include "AliMFTCluster.h"
	27	#include "AliMUONVCluster.h"
	28	#include "AliMUONTrackParam.h"
	29	#include "AliMUONTrackExtrap.h"
	30	#include "TClonesArray.h"
	31	#include "TMatrixD.h"
	32	#include "TParticle.h"
	33	#include "AliMuonForwardTrack.h"
	34	#include "AliMFTConstants.h"
	35
	36	ClassImp(AliMuonForwardTrack)
	37
	38	//====================================================================================================================================================
	39
	40	AliMuonForwardTrack::AliMuonForwardTrack():
	41	AliMUONTrack(),
	42	fMUONTrack(0),
	43	fMCTrackRef(0),
	44	fMFTClusters(0),
	45	fNWrongClustersMC(-1),
	46	fTrackMCId(-1)
	47	{
	48
	49	// default constructor
	50
	51	for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = kFALSE;
	52	for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
	53	fParentMCLabel[iParent] = -1;
	54	fParentPDGCode[iParent] = 0;
	55	}
	56	fMFTClusters = new TClonesArray("AliMFTCluster");
	57
	58	}
	59
	60	//====================================================================================================================================================
	61
	62	AliMuonForwardTrack::AliMuonForwardTrack(AliMUONTrack *MUONTrack):
	63	AliMUONTrack(),
	64	fMUONTrack(0),
	65	fMCTrackRef(0),
	66	fMFTClusters(0),
	67	fNWrongClustersMC(-1),
	68	fTrackMCId(-1)
	69	{
	70
	71	SetMUONTrack(MUONTrack);
	72	for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = kFALSE;
	73	for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
	74	fParentMCLabel[iParent] = -1;
	75	fParentPDGCode[iParent] = 0;
	76	}
	77	fMFTClusters = new TClonesArray("AliMFTCluster");
	78	fMFTClusters->SetOwner(kTRUE);
	79
	80	}
	81
	82	//====================================================================================================================================================
	83
	84	AliMuonForwardTrack::AliMuonForwardTrack(const AliMuonForwardTrack& track):
	85	AliMUONTrack(track),
	86	fMUONTrack(0x0),
	87	fMCTrackRef(0x0),
	88	fMFTClusters(0x0),
	89	fNWrongClustersMC(track.fNWrongClustersMC),
	90	fTrackMCId(track.fTrackMCId)
	91	{
	92
	93	// copy constructor
	94	fMUONTrack = new AliMUONTrack(*(track.fMUONTrack));
	95	if (track.fMCTrackRef) fMCTrackRef = new TParticle(*(track.fMCTrackRef));
	96	fMFTClusters = new TClonesArray(*(track.fMFTClusters));
	97	for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = (track.fPlaneExists)[iPlane];
	98	for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
	99	fParentMCLabel[iParent] = (track.fParentMCLabel)[iParent];
	100	fParentPDGCode[iParent] = (track.fParentPDGCode)[iParent];
	101	}
	102
	103	}
	104
	105	//====================================================================================================================================================
	106
	107	AliMuonForwardTrack& AliMuonForwardTrack::operator=(const AliMuonForwardTrack& track) {
	108
	109	// Asignment operator
	110
	111	// check assignement to self
	112	if (this == &track) return *this;
	113
	114	// base class assignement
	115	AliMUONTrack::operator=(track);
	116
	117	// clear memory
	118	Clear();
	119
	120	fMUONTrack = new AliMUONTrack(*(track.fMUONTrack));
	121	if (track.fMCTrackRef) fMCTrackRef = new TParticle(*(track.fMCTrackRef));
	122	fMFTClusters = new TClonesArray(*(track.fMFTClusters));
	123	fNWrongClustersMC = track.fNWrongClustersMC;
	124	fTrackMCId = track.fTrackMCId;
	125
	126	for (Int_t iPlane=0; iPlane<AliMFTConstants::fNMaxPlanes; iPlane++) fPlaneExists[iPlane] = (track.fPlaneExists)[iPlane];
	127	for (Int_t iParent=0; iParent<fgkNParentsMax; iParent++) {
	128	fParentMCLabel[iParent] = (track.fParentMCLabel)[iParent];
	129	fParentPDGCode[iParent] = (track.fParentPDGCode)[iParent];
	130	}
	131
	132	return *this;
	133
	134	}
	135
	136	//====================================================================================================================================================
	137
	138	AliMuonForwardTrack::~AliMuonForwardTrack() {
	139
	140	delete fMUONTrack;
	141	delete fMCTrackRef;
	142	fMFTClusters -> Delete();
	143	delete fMFTClusters;
	144
	145	}
	146
	147	//====================================================================================================================================================
	148
	149	void AliMuonForwardTrack::SetMUONTrack(AliMUONTrack *MUONTrack) {
	150
	151	if (fMUONTrack) {
	152	AliInfo("fMUONTrack already exists, nothing will be done");
	153	return;
	154	}
	155
	156	fMUONTrack = MUONTrack;
	157	SetGlobalChi2(fMUONTrack->GetGlobalChi2());
	158
	159	}
	160
	161	//====================================================================================================================================================
	162
	163	void AliMuonForwardTrack::SetMCTrackRef(TParticle *MCTrackRef) {
	164
	165	if (fMCTrackRef) {
	166	AliInfo("fMCTrackRef already exists, nothing will be done");
	167	return;
	168	}
	169
	170	fMCTrackRef = MCTrackRef;
	171
	172	}
	173
	174	//====================================================================================================================================================
	175
	176	void AliMuonForwardTrack::AddTrackParamAtMFTCluster(AliMUONTrackParam &trackParam, AliMFTCluster &mftCluster) {
	177
	178	AliDebug(1, Form("Before adding: this->fMFTClusters=%p has %d entries", this->fMFTClusters, this->fMFTClusters->GetEntries()));
	179	Int_t iMFTCluster = this->fMFTClusters->GetEntries();
	180	AliDebug(1, Form("mftCluster->GetX() = %f mftCluster->GetY() = %f mftCluster->GetErrX() = %f cmftCluster->GetErrY() = %f",
	181	mftCluster.GetX(), mftCluster.GetY(), mftCluster.GetErrX(), mftCluster.GetErrY()));
	182	AliMUONVCluster muonCluster = (AliMUONVCluster) mftCluster.CreateMUONCluster();
	183	AliDebug(1, Form("Created MUON cluster %p", muonCluster));
	184	trackParam.SetUniqueID(iMFTCluster); // we profit of this slot to store the reference to the corresponding MFTCluster
	185	AliDebug(1, Form("Now adding muonCluster %p and trackParam %p",muonCluster, &trackParam));
	186	AddTrackParamAtCluster(trackParam, *muonCluster, kTRUE);
	187	// we pass the parameters this->GetTrackParamAtCluster()->First() to the Kalman Filter algorithm: they will be updated!!
	188	Double_t chi2Kalman = RunKalmanFilter((AliMUONTrackParam)(GetTrackParamAtCluster()->First()));
	189	AliDebug(1, Form("Adding Kalman chi2 = %f to global chi2 = %f", chi2Kalman, GetGlobalChi2()));
	190	Double_t newGlobalChi2 = GetGlobalChi2() + chi2Kalman;
	191	mftCluster.SetLocalChi2(chi2Kalman);
	192	mftCluster.SetTrackChi2(newGlobalChi2);
	193	new ((*(this->fMFTClusters))[iMFTCluster]) AliMFTCluster(mftCluster);
	194	AliDebug(1, Form("GetTrackParamAtCluster() = %p has %d entries while this->fMFTClusters=%p has %d entries",
	195	GetTrackParamAtCluster(), GetTrackParamAtCluster()->GetEntries(), this->fMFTClusters, this->fMFTClusters->GetEntries()));
	196	AliDebug(1, Form("muonCluster->GetZ() = %f, trackParam->GetZ() = %f",muonCluster->GetZ(), trackParam.GetZ()));
	197	SetGlobalChi2(newGlobalChi2);
	198	AliDebug(1, Form("New global chi2 = %f", GetGlobalChi2()));
	199	((AliMUONTrackParam*) GetTrackParamAtCluster()->First())->SetTrackChi2(newGlobalChi2);
	200	for (Int_t iPar=0; iPar<GetTrackParamAtCluster()->GetEntries(); iPar++) {
	201	AliDebug(1, Form("GetTrackParamAtCluster()->At(%d)->GetClusterPtr() = %p",
	202	iPar, ((AliMUONTrackParam*)(GetTrackParamAtCluster()->At(iPar)))->GetClusterPtr()));
	203	}
	204
	205	}
	206
	207	//====================================================================================================================================================
	208
	209	AliMUONTrackParam* AliMuonForwardTrack::GetTrackParamAtMUONCluster(Int_t iMUONCluster) {
	210
	211	if (iMUONCluster<0 \|\| iMUONCluster>=GetNMUONClusters()) {
	212	AliError("Invalid MUON cluster index. NULL pointer will be returned");
	213	return NULL;
	214	}
	215
	216	AliMUONTrackParam trackParam = (AliMUONTrackParam) fMUONTrack->GetTrackParamAtCluster()->At(iMUONCluster);
	217
	218	return trackParam;
	219
	220	}
	221
	222	//====================================================================================================================================================
	223
	224	AliMUONTrackParam* AliMuonForwardTrack::GetTrackParamAtMFTCluster(Int_t iMFTCluster) {
	225
	226	if (iMFTCluster<0 \|\| iMFTCluster>=GetNMFTClusters()) {
	227	AliError("Invalid MFT cluster index. NULL pointer will be returned");
	228	return NULL;
	229	}
	230
	231	AliMUONTrackParam trackParam = (AliMUONTrackParam) GetTrackParamAtCluster()->At(iMFTCluster);
	232
	233	return trackParam;
	234
	235	}
	236
	237	//====================================================================================================================================================
	238
	239	AliMUONVCluster* AliMuonForwardTrack::GetMUONCluster(Int_t iMUONCluster) {
	240
	241	if (iMUONCluster<0 \|\| iMUONCluster>=GetNMUONClusters()) {
	242	AliError("Invalid MUON cluster index. NULL pointer will be returned");
	243	return NULL;
	244	}
	245
	246	AliMUONTrackParam *trackParam = GetTrackParamAtMUONCluster(iMUONCluster);
	247	AliMUONVCluster *muonCluster = trackParam->GetClusterPtr();
	248
	249	return muonCluster;
	250
	251	}
	252
	253	//====================================================================================================================================================
	254
	255	AliMFTCluster* AliMuonForwardTrack::GetMFTCluster(Int_t iMFTCluster) {
	256
	257	if (iMFTCluster<0 \|\| iMFTCluster>=GetNMFTClusters()) {
	258	AliError(Form("Invalid MFT cluster index (%d). GetNMFTClusters()=%d. NULL pointer will be returned", iMFTCluster, GetNMFTClusters()));
	259	return NULL;
	260	}
	261
	262	AliMUONTrackParam *trackParam = GetTrackParamAtMFTCluster(iMFTCluster);
	263	AliMFTCluster mftCluster = (AliMFTCluster) this->fMFTClusters->At(trackParam->GetUniqueID());
	264
	265	return mftCluster;
	266
	267	}
	268
	269	//====================================================================================================================================================
	270
	271	Double_t AliMuonForwardTrack::RunKalmanFilter(AliMUONTrackParam &trackParamAtCluster) {
	272
	273	AliDebug(1, Form("Running Kalman filter for parameters %p (z = %f) and cluster %p (z = %f)",
	274	&trackParamAtCluster, trackParamAtCluster.GetZ(), trackParamAtCluster.GetClusterPtr(), trackParamAtCluster.GetClusterPtr()->GetZ()));
	275
	276	// Compute new track parameters and their covariances including new cluster using kalman filter
	277	// return the additional track chi2
	278
	279	// Get actual track parameters (p)
	280	TMatrixD param(trackParamAtCluster.GetParameters());
	281
	282	// Get new cluster parameters (m)
	283	AliMUONVCluster *cluster = trackParamAtCluster.GetClusterPtr();
	284	AliDebug(1, Form("cluster->GetX() = %f cluster->GetY() = %f cluster->GetErrX() = %f cluster->GetErrY() = %f",
	285	cluster->GetX(), cluster->GetY(), cluster->GetErrX(), cluster->GetErrY()));
	286	TMatrixD clusterParam(5,1);
	287	clusterParam.Zero();
	288	clusterParam(0,0) = cluster->GetX();
	289	clusterParam(2,0) = cluster->GetY();
	290
	291	// Compute the current parameter weight (W)
	292	TMatrixD paramWeight(trackParamAtCluster.GetCovariances());
	293	if (paramWeight.Determinant() != 0) {
	294	paramWeight.Invert();
	295	} else {
	296	Warning("RunKalmanFilter"," Determinant = 0");
	297	return 1.e10;
	298	}
	299
	300	// Compute the new cluster weight (U)
	301	TMatrixD clusterWeight(5,5);
	302	clusterWeight.Zero();
	303	clusterWeight(0,0) = 1. / cluster->GetErrX2();
	304	clusterWeight(2,2) = 1. / cluster->GetErrY2();
	305
	306	// Compute the new parameters covariance matrix ( (W+U)^-1 )
	307	TMatrixD newParamCov(paramWeight,TMatrixD::kPlus,clusterWeight);
	308	if (newParamCov.Determinant() != 0) {
	309	newParamCov.Invert();
	310	}
	311	else {
	312	Warning("RunKalmanFilter"," Determinant = 0");
	313	return 1.e10;
	314	}
	315
	316	// Save the new parameters covariance matrix
	317	trackParamAtCluster.SetCovariances(newParamCov);
	318
	319	// Compute the new parameters (p' = ((W+U)^-1)U(m-p) + p)
	320	TMatrixD tmp(clusterParam,TMatrixD::kMinus,param);
	321	TMatrixD tmp2(clusterWeight,TMatrixD::kMult,tmp); // U(m-p)
	322	TMatrixD newParam(newParamCov,TMatrixD::kMult,tmp2); // ((W+U)^-1)U(m-p)
	323	newParam += param; // ((W+U)^-1)U(m-p) + p
	324
	325	// Save the new parameters
	326	trackParamAtCluster.SetParameters(newParam);
	327
	328	// Compute the additional chi2 (= ((p'-p)^-1)W(p'-p) + ((p'-m)^-1)U(p'-m))
	329	tmp = newParam; // p'
	330	tmp -= param; // (p'-p)
	331	TMatrixD tmp3(paramWeight,TMatrixD::kMult,tmp); // W(p'-p)
	332	TMatrixD addChi2Track(tmp,TMatrixD::kTransposeMult,tmp3); // ((p'-p)^-1)W(p'-p)
	333	tmp = newParam; // p'
	334	tmp -= clusterParam; // (p'-m)
	335	TMatrixD tmp4(clusterWeight,TMatrixD::kMult,tmp); // U(p'-m)
	336	addChi2Track += TMatrixD(tmp,TMatrixD::kTransposeMult,tmp4); // ((p'-p)^-1)W(p'-p) + ((p'-m)^-1)U(p'-m)
	337
	338	AliDebug(1,Form("Adding Kalman chi2 = %f",addChi2Track(0,0)));
	339
	340	return addChi2Track(0,0);
	341
	342	}
	343
	344	//====================================================================================================================================================
	345
	346	Double_t AliMuonForwardTrack::GetWeightedOffset(Double_t x, Double_t y, Double_t z) {
	347
	348	AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
	349	AliMUONTrackExtrap::ExtrapToZCov(param, z);
	350
	351	TMatrixD cov(5,5);
	352	cov = param->GetCovariances();
	353
	354	TMatrixD covCoordinates(2,2);
	355	covCoordinates(0,0) = cov(0,0);
	356	covCoordinates(0,1) = cov(0,2);
	357	covCoordinates(1,0) = cov(2,0);
	358	covCoordinates(1,1) = cov(2,2);
	359
	360	TMatrixD covCoordinatesInverse = covCoordinates.Invert();
	361
	362	Double_t dX = param->GetNonBendingCoor() - x;
	363	Double_t dY = param->GetBendingCoor() - y;
	364
	365	Double_t weightedOffset = TMath::Sqrt(0.5(dXdX*covCoordinatesInverse(0,0) +
	366	dYdYcovCoordinatesInverse(1,1) +
	367	2.dXdY*covCoordinatesInverse(0,1)));
	368
	369	return weightedOffset;
	370
	371	}
	372
	373	//====================================================================================================================================================
	374
	375	Double_t AliMuonForwardTrack::GetOffsetX(Double_t x, Double_t z) {
	376
	377	AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
	378	AliMUONTrackExtrap::ExtrapToZCov(param, z);
	379	Double_t dX = param->GetNonBendingCoor() - x;
	380	return dX;
	381
	382	}
	383
	384	//====================================================================================================================================================
	385
	386	Double_t AliMuonForwardTrack::GetOffsetY(Double_t y, Double_t z) {
	387
	388	AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
	389	AliMUONTrackExtrap::ExtrapToZCov(param, z);
	390	Double_t dY = param->GetBendingCoor() - y;
	391	return dY;
	392
	393	}
	394
	395	//====================================================================================================================================================
	396
	397	Double_t AliMuonForwardTrack::GetOffset(Double_t x, Double_t y, Double_t z) {
	398
	399	AliMUONTrackParam *param = GetTrackParamAtMFTCluster(0);
	400	AliMUONTrackExtrap::ExtrapToZCov(param, z);
	401	Double_t dX = param->GetNonBendingCoor() - x;
	402	Double_t dY = param->GetBendingCoor() - y;
	403	return TMath::Sqrt(dXdX + dYdY);
	404
	405	}
	406
	407	//====================================================================================================================================================
	408