1 /**************************************************************************
2 * Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
4 * Author: The ALICE Off-line Project. *
5 * Contributors are mentioned in the code where appropriate. *
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 **************************************************************************/
16 ///////////////////////////////////////////////////////////////////////////////
18 // Kalman filter based aligner:
19 // Finds alignement constants for two tracking volumes (by default ITS
21 // Determines the inverse transformation of the second volume (TPC)
22 // with respect to the first (ITS) (how to realign TPC to ITS)
23 // by measuring the residual between the 2 tracks.
24 // Additionally calculates some callibration parameters for TPC
25 // Fit parameters are:
27 // - 3 Cardan angles, psi, theta, phi (see definition in alignment docs),
28 // - TPC drift velocity correction,
29 // - TPC time offset correction.
32 // When aligning two volumes, at any given time a single instance of
33 // the class should be active. The fit of the parameters is updated
34 // by adding new data using one of the Add.... methods:
36 // In collision events add an ESD event to update the fit (adds all tracks):
38 // Bool_t AddESDevent( AliESDevent* pTrack );
40 // or add each individual track
42 // AddESDtrack( AliESDtrack* pTrack );
44 // For cosmic data, the assumption is that the tracking is done twice:
45 // once global and once only ITS and the tracklets are saved inside
46 // one AliESDEvent. The method
48 // Bool_t AddCosmicEvent( AliESDEvent* pEvent );
50 // then searches the event for matching tracklets and upon succes it updates.
51 // One cosmic ideally triggers two updates: for the upper and lower half of
52 // the cosmic (upper ITS tracklet+upper TPC tracklet, idem dito for lower)
54 // by default give misalignment parameters for TPC as they appear to be.
55 // TPC calibration parameters are always given as correction to values used in reco.
57 // _________________________________________________________________________
59 // look at AddESDevent() and AddCosmicEvent() to get the idea of how the
60 // aligner works, it's safe to repeat the needed steps outside of the class,
61 // only public methods are used.
63 // Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch
65 //////////////////////////////////////////////////////////////////////////////
73 #include <TDecompLU.h>
78 #include "AliESDtrack.h"
79 #include "AliTrackPointArray.h"
80 #include "AliGeomManager.h"
81 #include "AliTrackFitterKalman.h"
82 #include "AliTrackFitterRieman.h"
83 #include "AliESDfriendTrack.h"
84 #include "AliESDEvent.h"
85 #include "AliESDVertex.h"
86 #include "AliExternalTrackParam.h"
88 #include "AliRelAlignerKalman.h"
90 ClassImp(AliRelAlignerKalman)
92 //______________________________________________________________________________
93 AliRelAlignerKalman::AliRelAlignerKalman():
97 fPTrackParamArr1(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
98 fPTrackParamArr2(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
100 fPX(new TVectorD( fgkNSystemParams )),
101 fPXcov(new TMatrixDSym( fgkNSystemParams )),
102 fPH(new TMatrixD( fgkNMeasurementParams, fgkNSystemParams )),
104 fPMeasurement(new TVectorD( fgkNMeasurementParams )),
105 fPMeasurementCov(new TMatrixDSym( fgkNMeasurementParams )),
107 fDelta(new Double_t[fgkNSystemParams]),
108 fNumericalParanoia(kTRUE),
109 fRejectOutliers(kTRUE),
110 fRequireMatchInTPC(kFALSE),
116 fMaxMatchingAngle(0.1),
117 fMaxMatchingDistance(10.), //in cm
118 fCorrectionMode(kFALSE),
123 fNMatchedTPCtracklets(0),
124 fNProcessedEvents(0),
127 fTPCZLengthA(2.4972500e02),
128 fTPCZLengthC(2.4969799e02)
130 //Default constructor
132 //default seed: zero, reset errors to large default
136 //______________________________________________________________________________
137 AliRelAlignerKalman::AliRelAlignerKalman(const AliRelAlignerKalman& a):
138 TObject(static_cast<TObject>(a)),
141 fPTrackParamArr1(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
142 fPTrackParamArr2(new AliExternalTrackParam[fgkNTracksPerMeasurement]),
143 fMagField(a.fMagField),
144 fPX(new TVectorD( *a.fPX )),
145 fPXcov(new TMatrixDSym( *a.fPXcov )),
146 fPH(new TMatrixD( *a.fPH )),
148 fPMeasurement(new TVectorD( *a.fPMeasurement )),
149 fPMeasurementCov(new TMatrixDSym( *a.fPMeasurementCov )),
150 fOutRejSigmas(a.fOutRejSigmas),
151 fDelta(new Double_t[fgkNSystemParams]),
152 fNumericalParanoia(a.fNumericalParanoia),
153 fRejectOutliers(a.fRejectOutliers),
154 fRequireMatchInTPC(a.fRequireMatchInTPC),
156 fMinPointsVol1(a.fMinPointsVol1),
157 fMinPointsVol2(a.fMinPointsVol2),
160 fMaxMatchingAngle(a.fMaxMatchingAngle),
161 fMaxMatchingDistance(a.fMaxMatchingDistance), //in cm
162 fCorrectionMode(a.fCorrectionMode),
163 fNTracks(a.fNTracks),
164 fNUpdates(a.fNUpdates),
165 fNOutliers(a.fNOutliers),
166 fNMatchedCosmics(a.fNMatchedCosmics),
167 fNMatchedTPCtracklets(a.fNMatchedTPCtracklets),
168 fNProcessedEvents(a.fNProcessedEvents),
169 fTrackInBuffer(a.fTrackInBuffer),
171 fTPCZLengthA(a.fTPCZLengthA),
172 fTPCZLengthC(a.fTPCZLengthC)
173 //fApplyCovarianceCorrection(a.fApplyCovarianceCorrection),
174 //fCalibrationMode(a.fCalibrationMode),
175 //fFillHistograms(a.fFillHistograms),
176 //fNHistogramBins(a.fNHistogramBins),
177 //fPMes0Hist(new TH1D(*a.fPMes0Hist)),
178 //fPMes1Hist(new TH1D(*a.fPMes1Hist)),
179 //fPMes2Hist(new TH1D(*a.fPMes2Hist)),
180 //fPMes3Hist(new TH1D(*a.fPMes3Hist)),
181 //fPMesErr0Hist(new TH1D(*a.fPMesErr0Hist)),
182 //fPMesErr1Hist(new TH1D(*a.fPMesErr1Hist)),
183 //fPMesErr2Hist(new TH1D(*a.fPMesErr2Hist)),
184 //fPMesErr3Hist(new TH1D(*a.fPMesErr3Hist)),
185 //fPMeasurementCovCorr(new TMatrixDSym(*a.fPMeasurementCovCorr)),
188 memcpy(fDelta,a.fDelta,fgkNSystemParams*sizeof(Double_t));
191 //______________________________________________________________________________
192 AliRelAlignerKalman& AliRelAlignerKalman::operator=(const AliRelAlignerKalman& a)
194 //assignment operator
197 //memcpy(fPTrackParamArr1,a.fPTrackParamArr1,fgkNTracksPerMeasurement*sizeof(AliExternalTrackParam));
198 //memcpy(fPTrackParamArr2,a.fPTrackParamArr2,fgkNTracksPerMeasurement*sizeof(AliExternalTrackParam));
199 fMagField=a.fMagField,
204 //*fPMeasurement=*a.fPMeasurement;
205 //*fPMeasurementCov=*a.fPMeasurementCov;
206 fOutRejSigmas=a.fOutRejSigmas;
207 memcpy(fDelta,a.fDelta,fgkNSystemParams*sizeof(Double_t));
208 fNumericalParanoia=a.fNumericalParanoia;
209 fRejectOutliers=a.fRejectOutliers;
210 fRequireMatchInTPC=a.fRequireMatchInTPC;
212 fMinPointsVol1=a.fMinPointsVol1;
213 fMinPointsVol2=a.fMinPointsVol2;
216 fMaxMatchingAngle=a.fMaxMatchingAngle;
217 fMaxMatchingDistance=a.fMaxMatchingDistance; //in c;
218 fCorrectionMode=a.fCorrectionMode;
220 fNUpdates=a.fNUpdates;
221 fNOutliers=a.fNOutliers;
222 fNMatchedCosmics=a.fNMatchedCosmics;
223 fNMatchedTPCtracklets=a.fNMatchedTPCtracklets;
224 fNProcessedEvents=a.fNProcessedEvents;
225 fTrackInBuffer=a.fTrackInBuffer;
226 //fApplyCovarianceCorrection=a.fApplyCovarianceCorrection;
227 //fCalibrationMode=a.fCalibrationMode;
228 //fFillHistograms=a.fFillHistograms;
229 //fNHistogramBins=a.fNHistogramBins;
230 //*fPMes0Hist=*(a.fPMes0Hist);
231 //*fPMes1Hist=*(a.fPMes1Hist);
232 //*fPMes2Hist=*(a.fPMes2Hist);
233 //*fPMes3Hist=*(a.fPMes3Hist);
234 //*fPMesErr0Hist=*(a.fPMesErr0Hist);
235 //*fPMesErr1Hist=*(a.fPMesErr1Hist);
236 //*fPMesErr2Hist=*(a.fPMesErr2Hist);
237 //*fPMesErr3Hist=*(a.fPMesErr3Hist);
238 //*fPMeasurementCovCorr=*(a.fPMeasurementCovCorr);
240 fTPCZLengthA=a.fTPCZLengthA;
241 fTPCZLengthC=a.fTPCZLengthC;
245 //______________________________________________________________________________
246 AliRelAlignerKalman::~AliRelAlignerKalman()
249 if (fPTrackParamArr1) delete [] fPTrackParamArr1;
250 if (fPTrackParamArr2) delete [] fPTrackParamArr2;
252 if (fPXcov) delete fPXcov;
254 if (fPMeasurement) delete fPMeasurement;
255 if (fPMeasurementCov) delete fPMeasurementCov;
256 if (fDelta) delete [] fDelta;
257 //if (fPMes0Hist) delete fPMes0Hist;
258 //if (fPMes1Hist) delete fPMes1Hist;
259 //if (fPMes2Hist) delete fPMes2Hist;
260 //if (fPMes3Hist) delete fPMes3Hist;
261 //if (fPMesErr0Hist) delete fPMesErr0Hist;
262 //if (fPMesErr1Hist) delete fPMesErr1Hist;
263 //if (fPMesErr2Hist) delete fPMesErr2Hist;
264 //if (fPMesErr3Hist) delete fPMesErr3Hist;
265 //if (fPMeasurementCovCorr) delete fPMeasurementCovCorr;
268 //______________________________________________________________________________
269 Bool_t AliRelAlignerKalman::AddESDevent( const AliESDEvent* pEvent )
271 //Add all tracks in an ESD event
273 fNProcessedEvents++; //update the counter
275 Bool_t success=kFALSE;
276 SetMagField( pEvent->GetMagneticField() );
279 for (Int_t i=0; i<pEvent->GetNumberOfTracks(); i++)
281 track = pEvent->GetTrack(i);
282 if (!track) continue;
283 if ( ((track->GetStatus()&AliESDtrack::kTPCin)>0)&&
284 ((track->GetStatus()&AliESDtrack::kITSout)>0)&&
285 (track->GetNcls(0)>=fMinPointsVol1)&&
286 (track->GetNcls(1)>=fMinPointsVol2) )
288 success = ( AddESDtrack( track ) || success );
294 //______________________________________________________________________________
295 Bool_t AliRelAlignerKalman::AddESDtrack( const AliESDtrack* pTrack )
297 ////Adds a full track, returns true if results in a new estimate
299 //const AliExternalTrackParam* pconstparamsITS = pTrack->GetOuterParam();
300 //if (!pconstparamsITS) return kFALSE;
301 //const AliExternalTrackParam* pconstparamsTPC = pTrack->GetInnerParam();
302 //if (!pconstparamsTPC) return kFALSE;
305 //AliExternalTrackParam paramsTPC = (*pconstparamsTPC);
306 //paramsTPC.Rotate(pconstparamsITS->GetAlpha());
307 //paramsTPC.PropagateTo(pconstparamsITS->GetX(), pconstparamsITS->GetAlpha());
309 //if (!SetTrackParams( pconstparamsITS, ¶msTPC )) return kFALSE;
311 ////do some accounting and update
314 const AliESDtrack* p;
315 p=pTrack; //shuts up the compiler
320 //______________________________________________________________________________
321 Bool_t AliRelAlignerKalman::AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 )
323 //Update the estimate using new matching tracklets
325 if (!SetTrackParams(p1, p2)) return kFALSE;
329 //______________________________________________________________________________
330 Bool_t AliRelAlignerKalman::AddCosmicEvent( const AliESDEvent* pEvent )
332 //Add an cosmic with separately tracked ITS and TPC parts, do trackmatching
334 fNProcessedEvents++; //update the counter
336 Bool_t success=kFALSE;
337 TArrayI trackTArrITS(1);
338 TArrayI trackTArrTPC(1);
339 if (!FindCosmicTrackletNumbersInEvent( trackTArrITS, trackTArrTPC, pEvent )) return kFALSE;
340 SetMagField( pEvent->GetMagneticField() );
342 const AliExternalTrackParam* pconstparams1;
343 const AliExternalTrackParam* pconstparams2;
344 AliExternalTrackParam params1;
345 AliExternalTrackParam params2;
347 ////////////////////////////////
348 for (Int_t i=0;i<trackTArrITS.GetSize();i++)
351 ptrack = pEvent->GetTrack(trackTArrITS[i]);
352 pconstparams1 = ptrack->GetOuterParam();
353 if (!pconstparams1) continue;
354 params1 = *pconstparams1; //make copy to be safe
357 ptrack = pEvent->GetTrack(trackTArrTPC[i]);
358 pconstparams2 = ptrack->GetInnerParam();
359 if (!pconstparams2) continue;
360 params2 = *pconstparams2; //make copy
361 params2.Rotate(params1.GetAlpha());
362 params2.PropagateTo( params1.GetX(), params1.GetAlpha() );
364 if (!SetTrackParams( ¶ms1, ¶ms2 )) continue;
366 //do some accounting and update
375 //______________________________________________________________________________
376 void AliRelAlignerKalman::Print(Option_t*) const
378 //Print some useful info
379 Double_t rad2deg = 180./TMath::Pi();
380 printf("\nAliRelAlignerKalman\n");
381 if (fCorrectionMode) printf("(Correction mode)\n");
382 printf(" %i pairs, %i updates, %i outliers,\n", fNTracks, fNUpdates, fNOutliers );
383 printf(" %i TPC matches, %i ITS-TPC matches in %i events\n", fNMatchedTPCtracklets, fNMatchedCosmics, fNProcessedEvents );
384 printf(" psi(x): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(0), 1e3*TMath::Sqrt((*fPXcov)(0,0)),(*fPX)(0)*rad2deg,TMath::Sqrt((*fPXcov)(0,0))*rad2deg);
385 printf(" theta(y): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(1), 1e3*TMath::Sqrt((*fPXcov)(1,1)),(*fPX)(1)*rad2deg,TMath::Sqrt((*fPXcov)(1,1))*rad2deg);
386 printf(" phi(z): % .3f ± (%.2f) mrad | % .3f ± (%.2f) deg\n",1e3*(*fPX)(2), 1e3*TMath::Sqrt((*fPXcov)(2,2)),(*fPX)(2)*rad2deg,TMath::Sqrt((*fPXcov)(2,2))*rad2deg);
387 printf(" x: % .3f ± (%.2f) micron\n", 1e4*(*fPX)(3), 1e4*TMath::Sqrt((*fPXcov)(3,3)));
388 printf(" y: % .3f ± (%.2f) micron\n", 1e4*(*fPX)(4), 1e4*TMath::Sqrt((*fPXcov)(4,4)));
389 printf(" z: % .3f ± (%.2f) micron\n", 1e4*(*fPX)(5), 1e4*TMath::Sqrt((*fPXcov)(5,5)));
390 if (fgkNSystemParams>6) printf(" vd corr % .5g ± (%.2g) [ vd should be %.4g (was %.4g in reco) ]\n", (*fPX)(6), TMath::Sqrt((*fPXcov)(6,6)), (*fPX)(6)*fTPCvd, fTPCvd);
391 if (fgkNSystemParams>7) printf(" t0 % .5g ± (%.2g) us | %.4g ± (%.2g) cm [ t0_real = t0_rec+t0 ]\n",(*fPX)(7), TMath::Sqrt((*fPXcov)(7,7)), fTPCvd*(*fPX)(7), fTPCvd*TMath::Sqrt((*fPXcov)(7,7)));
392 if (fgkNSystemParams>8) printf(" vd/dy % .5f ± (%.2f) (cm/us)/m\n", (*fPX)(8), TMath::Sqrt((*fPXcov)(8,8)));
397 //______________________________________________________________________________
398 void AliRelAlignerKalman::PrintSystemMatrix()
400 //Print the system matrix for this measurement
401 printf("Kalman system matrix:\n");
402 for ( Int_t i=0; i<fgkNMeasurementParams; i++ )
404 for ( Int_t j=0; j<fgkNSystemParams; j++ )
406 printf("% -2.2f ", (*fPH)(i,j) );
414 //______________________________________________________________________________
415 Bool_t AliRelAlignerKalman::SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 )
417 //Set the parameters, exparam1 will normally be ITS and exparam 2 tht TPC
419 fPTrackParamArr1[fTrackInBuffer] = *exparam1;
420 fPTrackParamArr2[fTrackInBuffer] = *exparam2;
424 if (fTrackInBuffer == fgkNTracksPerMeasurement)
432 //______________________________________________________________________________
433 void AliRelAlignerKalman::SetRefSurface( const Double_t radius, const Double_t alpha )
435 //sets the reference surface by setting the radius (localx)
436 //and rotation angle wrt the global frame of reference
437 //locally the reference surface becomes a plane with x=r;
442 //______________________________________________________________________________
443 Bool_t AliRelAlignerKalman::Update()
447 //if (fCalibrationMode) return UpdateCalibration();
448 //if (fFillHistograms)
450 // if (!UpdateEstimateKalman()) return kFALSE;
451 // return UpdateCalibration(); //Update histograms only when update ok.
453 //else return UpdateEstimateKalman();
454 if (!PrepareMeasurement()) return kFALSE;
455 if (!PrepareSystemMatrix()) return kFALSE;
456 return UpdateEstimateKalman();
459 //______________________________________________________________________________
460 void AliRelAlignerKalman::RotMat( TMatrixD &R, const TVectorD& angles )
462 //Get Rotation matrix R given the Cardan angles psi, theta, phi (around x, y, z).
463 Double_t sinpsi = TMath::Sin(angles(0));
464 Double_t sintheta = TMath::Sin(angles(1));
465 Double_t sinphi = TMath::Sin(angles(2));
466 Double_t cospsi = TMath::Cos(angles(0));
467 Double_t costheta = TMath::Cos(angles(1));
468 Double_t cosphi = TMath::Cos(angles(2));
470 R(0,0) = costheta*cosphi;
471 R(0,1) = -costheta*sinphi;
473 R(1,0) = sinpsi*sintheta*cosphi + cospsi*sinphi;
474 R(1,1) = -sinpsi*sintheta*sinphi + cospsi*cosphi;
475 R(1,2) = -costheta*sinpsi;
476 R(2,0) = -cospsi*sintheta*cosphi + sinpsi*sinphi;
477 R(2,1) = cospsi*sintheta*sinphi + sinpsi*cosphi;
478 R(2,2) = costheta*cospsi;
481 //______________________________________________________________________________
482 Bool_t AliRelAlignerKalman::PrepareMeasurement()
484 //Calculate the residuals and their covariance matrix
486 for (Int_t i=0;i<fgkNTracksPerMeasurement;i++)
488 const Double_t* pararr1 = fPTrackParamArr1[i].GetParameter();
489 const Double_t* pararr2 = fPTrackParamArr2[i].GetParameter();
491 //Take the track parameters and calculate the input to the Kalman filter
493 (*fPMeasurement)(x+0) = pararr2[0]-pararr1[0];
494 (*fPMeasurement)(x+1) = pararr2[1]-pararr1[1];
495 (*fPMeasurement)(x+2) = pararr2[2]-pararr1[2];
496 (*fPMeasurement)(x+3) = pararr2[3]-pararr1[3];
499 const Double_t* parcovarr1 = fPTrackParamArr1[i].GetCovariance();
500 const Double_t* parcovarr2 = fPTrackParamArr2[i].GetCovariance();
501 (*fPMeasurementCov)(x+0,x+0)=parcovarr1[0];
502 (*fPMeasurementCov)(x+0,x+1)=parcovarr1[1];
503 (*fPMeasurementCov)(x+0,x+2)=parcovarr1[3];
504 (*fPMeasurementCov)(x+0,x+3)=parcovarr1[6];
505 (*fPMeasurementCov)(x+1,x+0)=parcovarr1[1];
506 (*fPMeasurementCov)(x+1,x+1)=parcovarr1[2];
507 (*fPMeasurementCov)(x+1,x+2)=parcovarr1[4];
508 (*fPMeasurementCov)(x+1,x+3)=parcovarr1[7];
509 (*fPMeasurementCov)(x+2,x+0)=parcovarr1[3];
510 (*fPMeasurementCov)(x+2,x+1)=parcovarr1[4];
511 (*fPMeasurementCov)(x+2,x+2)=parcovarr1[5];
512 (*fPMeasurementCov)(x+2,x+3)=parcovarr1[8];
513 (*fPMeasurementCov)(x+3,x+0)=parcovarr1[6];
514 (*fPMeasurementCov)(x+3,x+1)=parcovarr1[7];
515 (*fPMeasurementCov)(x+3,x+2)=parcovarr1[8];
516 (*fPMeasurementCov)(x+3,x+3)=parcovarr1[9];
517 (*fPMeasurementCov)(x+0,x+0)+=parcovarr2[0];
518 (*fPMeasurementCov)(x+0,x+1)+=parcovarr2[1];
519 (*fPMeasurementCov)(x+0,x+2)+=parcovarr2[3];
520 (*fPMeasurementCov)(x+0,x+3)+=parcovarr2[6];
521 (*fPMeasurementCov)(x+1,x+0)+=parcovarr2[1];
522 (*fPMeasurementCov)(x+1,x+1)+=parcovarr2[2];
523 (*fPMeasurementCov)(x+1,x+2)+=parcovarr2[4];
524 (*fPMeasurementCov)(x+1,x+3)+=parcovarr2[7];
525 (*fPMeasurementCov)(x+2,x+0)+=parcovarr2[3];
526 (*fPMeasurementCov)(x+2,x+1)+=parcovarr2[4];
527 (*fPMeasurementCov)(x+2,x+2)+=parcovarr2[5];
528 (*fPMeasurementCov)(x+2,x+3)+=parcovarr2[8];
529 (*fPMeasurementCov)(x+3,x+0)+=parcovarr2[6];
530 (*fPMeasurementCov)(x+3,x+1)+=parcovarr2[7];
531 (*fPMeasurementCov)(x+3,x+2)+=parcovarr2[8];
532 (*fPMeasurementCov)(x+3,x+3)+=parcovarr2[9];
534 fNTracks++; //count added track sets
536 //if (fApplyCovarianceCorrection)
537 // *fPMeasurementCov += *fPMeasurementCovCorr;
541 //______________________________________________________________________________
542 Bool_t AliRelAlignerKalman::PrepareSystemMatrix()
544 //Calculate the system matrix for the Kalman filter
545 //approximate the system using as reference the track in the first volume
547 TVectorD z1( fgkNMeasurementParams );
548 TVectorD z2( fgkNMeasurementParams );
549 TVectorD x1( fgkNSystemParams );
550 TVectorD x2( fgkNSystemParams );
551 //get the derivatives
552 for ( Int_t i=0; i<fgkNSystemParams; i++ )
556 x1(i) = x1(i) - fDelta[i]/(2.0);
557 x2(i) = x2(i) + fDelta[i]/(2.0);
558 if (!PredictMeasurement( z1, x1 )) return kFALSE;
559 if (!PredictMeasurement( z2, x2 )) return kFALSE;
560 for (Int_t j=0; j<fgkNMeasurementParams; j++ )
562 (*fPH)(j,i) = ( z2(j)-z1(j) ) / fDelta[i];
568 //______________________________________________________________________________
569 Bool_t AliRelAlignerKalman::PredictMeasurement( TVectorD& pred, const TVectorD& state )
571 // Implements a system model for the Kalman fit
572 // pred is [dy,dz,dsinphi,dtgl]
573 // state is [psi,theta,phi,x,y,z,driftTPC,offsetTPC]
574 // note: the measurement is in a local frame, so the prediction also has to be
575 // note: state is the misalignment in global reference system
579 for (Int_t i=0;i<fgkNTracksPerMeasurement;i++)
581 AliExternalTrackParam track(fPTrackParamArr2[i]); //make a copy track
582 if (!CorrectTrack( &track, state )) return kFALSE; //predict what the ideal track would be by applying correction
584 const Double_t* oldparam = fPTrackParamArr2[i].GetParameter();
585 const Double_t* newparam = track.GetParameter();
588 //calculate the predicted residual
589 pred(x+0) = oldparam[0] - newparam[0];
590 pred(x+1) = oldparam[1] - newparam[1];
591 pred(x+2) = oldparam[2] - newparam[2];
592 pred(x+3) = oldparam[3] - newparam[3];
598 for (Int_t i=0;i<fgkNTracksPerMeasurement;i++)
600 AliExternalTrackParam track(fPTrackParamArr1[i]); //make a copy track
601 if (!MisalignTrack( &track, state )) return kFALSE; //predict what the measured track would be by applying misalignment
603 const Double_t* oldparam = fPTrackParamArr1[i].GetParameter();
604 const Double_t* newparam = track.GetParameter();
607 //calculate the predicted residual
608 pred(x+0) = newparam[0] - oldparam[0];
609 pred(x+1) = newparam[1] - oldparam[1];
610 pred(x+2) = newparam[2] - oldparam[2];
611 pred(x+3) = newparam[3] - oldparam[3];
618 //______________________________________________________________________________
619 Bool_t AliRelAlignerKalman::UpdateEstimateKalman()
621 //Kalman estimation of noisy constants: in the model A=1
622 //The arguments are (following the usual convention):
623 // fPX - the state vector (parameters)
624 // fPXcov - the state covariance matrix (parameter errors)
625 // fPMeasurement - measurement vector
626 // fPMeasurementCov - measurement covariance matrix
627 // fPH - measurement model matrix ( fPMeasurement = Hx + v ) v being measurement noise (error fR)
629 TMatrixDSym identity(TMatrixDSym::kUnit, (*fPXcov)); //unit matrix
632 //(*fPXcov) = (*fPXcov) + fQ*identity; //add some process noise (diagonal)
634 // update prediction with measurement
635 // calculate Kalman gain
636 // K = PH/(HPH+fPMeasurementCov)
637 TMatrixD pht( (*fPXcov), TMatrixD::kMultTranspose, (*fPH) ); //common factor (used twice)
638 TMatrixD hpht( (*fPH), TMatrixD::kMult, pht );
639 hpht += (*fPMeasurementCov);
641 //shit happens so protect yourself!
642 // if (fNumericalParanoia)
644 // TDecompLU lu(hpht);
645 // if (lu.Condition() > 1e12) return kFALSE;
651 hpht.InvertFast(&det); //since the matrix is small...
652 if (det < 2e-55) return kFALSE; //we need some sort of protection even in this case....
654 //printf("KalmanUpdate: det(hpht): %.4g\n",det);
656 TMatrixD k(pht, TMatrixD::kMult, hpht ); //compute K (hpht is already inverted)
658 // update the state and its covariance matrix
659 TVectorD xupdate(fgkNSystemParams);
660 TVectorD hx(fgkNMeasurementParams);
661 PredictMeasurement( hx, (*fPX) );
662 xupdate = k*((*fPMeasurement)-hx);
664 //SIMPLE OUTLIER REJECTION
665 if ( IsOutlier( xupdate, (*fPXcov) ) && fRejectOutliers )
671 TMatrixD kh( k, TMatrixD::kMult, (*fPH) );
672 TMatrixD ikh(fgkNSystemParams,fgkNSystemParams); //this is because for some reason TMatrixD::kAdd didn't work
674 TMatrixD ikhp( ikh, TMatrixD::kMult, (*fPXcov) ); // (identity-KH)fPXcov
675 if (!IsPositiveDefinite(ikhp)) return kFALSE;
678 TMatrixDSymFromTMatrixD( (*fPXcov), ikhp ); //make the matrix completely symetrical
685 //______________________________________________________________________________
686 Bool_t AliRelAlignerKalman::IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix )
688 //check whether an update is an outlier given the covariance matrix of the fit
691 for (Int_t i=0;i<fgkNSystemParams;i++)
693 if (covmatrix(i,i)<0.) return kTRUE; //if cov matrix has neg diagonals something went wrong
694 is = (is) || (TMath::Abs(update(i)) > fOutRejSigmas*TMath::Sqrt((covmatrix)(i,i)));
699 //______________________________________________________________________________
700 Bool_t AliRelAlignerKalman::IsPositiveDefinite( const TMatrixD& mat ) const
702 //check for positive definiteness
704 for (Int_t i=0; i<mat.GetNcols(); i++)
706 if (mat(i,i)<=0.) return kFALSE;
709 if (!fNumericalParanoia) return kTRUE;
712 return (lu.Decompose());
715 //______________________________________________________________________________
716 void AliRelAlignerKalman::TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat )
718 //Produce a valid symmetric matrix out of an almost symmetric TMatrixD
720 for (Int_t i=0; i<mat.GetNcols(); i++)
722 matsym(i,i) = mat(i,i); //copy diagonal
723 for (Int_t j=i+1; j<mat.GetNcols(); j++)
726 Double_t average = (mat(i,j)+mat(j,i))/2.;
735 //______________________________________________________________________________
736 void AliRelAlignerKalman::Angles( TVectorD &angles, const TMatrixD &rotmat )
738 //Calculate the Cardan angles (psi,theta,phi) from rotation matrix
740 angles(0) = TMath::ATan2( -rotmat(1,2), rotmat(2,2) );
741 angles(1) = TMath::ASin( rotmat(0,2) );
742 angles(2) = TMath::ATan2( -rotmat(0,1), rotmat(0,0) );
746 //______________________________________________________________________________
747 void AliRelAlignerKalman::PrintCorrelationMatrix()
749 //Print the correlation matrix for the fitted parameters
750 printf("Correlation matrix for system parameters:\n");
751 for ( Int_t i=0; i<fgkNSystemParams; i++ )
753 for ( Int_t j=0; j<i+1; j++ )
755 if ((*fPXcov)(i,i)==0. || (*fPXcov)(j,j)==0.) printf(" NaN ");
757 printf("% -1.3f ", (*fPXcov)(i,j)/TMath::Sqrt( (*fPXcov)(i,i) * (*fPXcov)(j,j) ) );
765 //______________________________________________________________________________
766 Bool_t AliRelAlignerKalman::FindCosmicTrackletNumbersInEvent( TArrayI& outITSindexTArr, TArrayI& outTPCindexTArr, const AliESDEvent* pEvent )
768 //Find matching track segments in an event with tracks in TPC and ITS(standalone)
770 //Sanity cuts on tracks + check which tracks are ITS which are TPC
771 Int_t ntracks = pEvent->GetNumberOfTracks(); ////printf("number of tracks in event: %i\n", ntracks);
772 fMagField = pEvent->GetMagneticField();
775 //printf("TrackFinder: less than 2 tracks!\n");
778 Float_t* phiArr = new Float_t[ntracks];
779 Float_t* thetaArr = new Float_t[ntracks];
780 Int_t* goodtracksArr = new Int_t[ntracks];
781 Int_t* candidateTPCtracksArr = new Int_t[ntracks];
782 Int_t* matchedITStracksArr = new Int_t[ntracks];
783 Int_t* matchedTPCtracksArr = new Int_t[ntracks];
784 Int_t* tracksArrITS = new Int_t[ntracks];
785 Int_t* tracksArrTPC = new Int_t[ntracks];
786 Int_t* nPointsArr = new Int_t[ntracks];
787 Int_t nITStracks = 0;
788 Int_t nTPCtracks = 0;
789 Int_t nGoodTracks = 0;
790 Int_t nCandidateTPCtracks = 0;
791 Int_t nMatchedITStracks = 0;
792 AliESDtrack* pTrack = NULL;
793 Bool_t foundMatchTPC = kFALSE;
795 //select and clasify tracks
796 for (Int_t itrack=0; itrack < ntracks; itrack++)
798 pTrack = pEvent->GetTrack(itrack);
801 //std::cout<<"no track!"<<std::endl;
806 if (pTrack->GetP()<fMinMom || pTrack->GetP()>fMaxMom) continue;
808 goodtracksArr[nGoodTracks]=itrack;
809 Float_t phi = pTrack->GetAlpha()+TMath::ASin(pTrack->GetSnp());
810 Float_t theta = 0.5*TMath::Pi()-TMath::ATan(pTrack->GetTgl());
811 phiArr[nGoodTracks]=phi;
812 thetaArr[nGoodTracks]=theta;
814 //check if track is ITS
815 Int_t nClsITS = pTrack->GetNcls(0);
816 Int_t nClsTPC = pTrack->GetNcls(1);
817 if ( ((pTrack->GetStatus()&AliESDtrack::kITSout)>0)&&
818 !((pTrack->GetStatus()&AliESDtrack::kTPCin)>0)&&
819 !(nClsITS<fMinPointsVol1) ) //enough points
821 tracksArrITS[nITStracks] = nGoodTracks;
827 //check if track is TPC
828 if ( ((pTrack->GetStatus()&AliESDtrack::kTPCin)>0)&&
829 !(nClsTPC<fMinPointsVol2) ) //enough points
831 tracksArrTPC[nTPCtracks] = nGoodTracks;
834 //printf("tracksArrTPC[%d]=%d, goodtracksArr[%d]=%d\n",nTPCtracks-1,tracksArrTPC[nTPCtracks-1],nGoodTracks-1,goodtracksArr[nGoodTracks-1]);
837 }//for itrack - selection fo tracks
839 //printf("TrackFinder: %d ITS | %d TPC out of %d tracks in event\n", nITStracks,nTPCtracks,ntracks);
841 if ( nITStracks < 1 || nTPCtracks < 1 )
845 delete [] goodtracksArr;
846 delete [] matchedITStracksArr;
847 delete [] candidateTPCtracksArr;
848 delete [] matchedTPCtracksArr;
849 delete [] tracksArrITS;
850 delete [] tracksArrTPC;
851 delete [] nPointsArr;
855 //find matching in TPC
856 if (nTPCtracks>1) //if there is something to be matched, try and match it
858 Float_t min = 10000000.;
859 for (Int_t itr1=0; itr1<nTPCtracks; itr1++)
861 for (Int_t itr2=itr1+1; itr2<nTPCtracks; itr2++)
863 Float_t deltatheta = TMath::Abs(TMath::Pi()-thetaArr[tracksArrTPC[itr1]]-thetaArr[tracksArrTPC[itr2]]);
864 if (deltatheta > fMaxMatchingAngle) continue;
865 Float_t deltaphi = TMath::Abs(TMath::Abs(phiArr[tracksArrTPC[itr1]]-phiArr[tracksArrTPC[itr2]])-TMath::Pi());
866 if (deltaphi > fMaxMatchingAngle) continue;
867 if (deltatheta+deltaphi<min) //only the best matching pair
869 min=deltatheta+deltaphi;
870 candidateTPCtracksArr[0] = tracksArrTPC[itr1]; //store the index of track in goodtracksArr[]
871 candidateTPCtracksArr[1] = tracksArrTPC[itr2];
872 nCandidateTPCtracks = 2;
873 foundMatchTPC = kTRUE;
874 //printf("TrackFinder: Matching TPC tracks candidates:\n");
875 //printf("TrackFinder: candidateTPCtracksArr[0]=%d\n",tracksArrTPC[itr1]);
876 //printf("TrackFinder: candidateTPCtracksArr[1]=%d\n",tracksArrTPC[itr2]);
881 else //if nTPCtracks==1 - if nothing to match, take the only one we've got
883 candidateTPCtracksArr[0] = tracksArrTPC[0];
884 nCandidateTPCtracks = 1;
885 foundMatchTPC = kFALSE;
887 if (foundMatchTPC) fNMatchedTPCtracklets++;
888 //if no match but the requirement is set return kFALSE
889 if (fRequireMatchInTPC && !foundMatchTPC)
893 delete [] goodtracksArr;
894 delete [] candidateTPCtracksArr;
895 delete [] matchedITStracksArr;
896 delete [] matchedTPCtracksArr;
897 delete [] tracksArrITS;
898 delete [] tracksArrTPC;
899 delete [] nPointsArr;
900 //printf("TrackFinder: no match in TPC && required\n");
904 //if no match and more than one track take all TPC tracks
905 if (!fRequireMatchInTPC && !foundMatchTPC)
907 for (Int_t i=0;i<nTPCtracks;i++)
909 candidateTPCtracksArr[i] = tracksArrTPC[i];
911 nCandidateTPCtracks = nTPCtracks;
913 //printf("TrackFinder: nCandidateTPCtracks: %i\n", nCandidateTPCtracks);
915 Double_t* minDifferenceArr = new Double_t[nCandidateTPCtracks];
917 //find ITS matches for good TPC tracks
918 Bool_t matchedITStracks=kFALSE;
919 for (Int_t itpc=0;itpc<nCandidateTPCtracks;itpc++)
921 minDifferenceArr[nMatchedITStracks] = 10000000.;
922 matchedITStracks=kFALSE;
923 for (Int_t iits=0; iits<nITStracks; iits++)
925 AliESDtrack* itstrack = pEvent->GetTrack(goodtracksArr[tracksArrITS[iits]]);
926 const AliExternalTrackParam* parits = itstrack->GetOuterParam();
927 AliESDtrack* tpctrack = pEvent->GetTrack(goodtracksArr[candidateTPCtracksArr[itpc]]);
928 const AliExternalTrackParam* tmp = tpctrack->GetInnerParam();
929 AliExternalTrackParam partpc(*tmp); //make a copy to avoid tampering with original params
930 partpc.Rotate(parits->GetAlpha());
931 partpc.PropagateTo(parits->GetX(),fMagField);
932 Float_t dtgl = TMath::Abs(partpc.GetTgl()-parits->GetTgl());
933 if (dtgl > fMaxMatchingAngle) continue;
934 Float_t dsnp = TMath::Abs(partpc.GetSnp()-parits->GetSnp());
935 if (dsnp > fMaxMatchingAngle) continue;
936 Float_t dy = TMath::Abs(partpc.GetY()-parits->GetY());
937 Float_t dz = TMath::Abs(partpc.GetZ()-parits->GetZ());
938 if (TMath::Sqrt(dy*dy+dz*dz) > fMaxMatchingDistance) continue;
939 if (dtgl+dsnp<minDifferenceArr[nMatchedITStracks]) //only the best matching pair
941 minDifferenceArr[nMatchedITStracks]=dtgl+dsnp;
942 matchedITStracksArr[nMatchedITStracks] = tracksArrITS[iits];
943 matchedTPCtracksArr[nMatchedITStracks] = candidateTPCtracksArr[itpc]; //this tells us minDifferenceArrwhich TPC track this ITS track belongs to
944 //printf("TrackFinder: Matching ITS to TPC:\n");
945 //printf("TrackFinder: minDifferenceArr[%i]=%.2f\n",nMatchedITStracks,minDifferenceArr[nMatchedITStracks]);
946 //printf("TrackFinder: matchedITStracksArr[%i]=%i\n",nMatchedITStracks,matchedITStracksArr[nMatchedITStracks]);
947 //printf("TrackFinder: matchedTPCtracksArr[%i]=%i\n",nMatchedITStracks,matchedTPCtracksArr[nMatchedITStracks]);
948 matchedITStracks=kTRUE;;
951 if (matchedITStracks) nMatchedITStracks++;
954 if (nMatchedITStracks==0) //no match in ITS
958 delete [] minDifferenceArr;
959 delete [] goodtracksArr;
960 delete [] matchedITStracksArr;
961 delete [] candidateTPCtracksArr;
962 delete [] matchedTPCtracksArr;
963 delete [] tracksArrITS;
964 delete [] tracksArrTPC;
965 delete [] nPointsArr;
966 //printf("TrackFinder: No match in ITS\n");
970 //printf("TrackFinder: nMatchedITStracks: %i\n",nMatchedITStracks);
974 //Now we may have ended up with more matches than we want in the case there was
975 //no TPC match and there were many TPC tracks
976 //a cosmic in a scenario like this will only have produced 1 pair, the rest is garbage
977 //so take only the best pair.
978 //same applies when there are more matches than ITS tracks - means that one ITS track
979 //matches more TPC tracks.
980 if ((nMatchedITStracks>2 && !foundMatchTPC) || nMatchedITStracks>nITStracks)
982 Int_t imin = TMath::LocMin(nMatchedITStracks,minDifferenceArr);
983 matchedITStracksArr[0] = matchedITStracksArr[imin];
984 matchedTPCtracksArr[0] = matchedTPCtracksArr[imin];
985 nMatchedITStracks = 1;
986 //printf("TrackFinder: too many matches - take only the best one\n");
987 //printf("TrackFinder: LocMin in matched its tracks: %d\n",imin);
988 //printf("TrackFinder: matchedITStracksArr[0]=%d\n",matchedITStracksArr[0]);
989 //printf("TrackFinder: matchedTPCtracksArr[0]=%d\n",matchedTPCtracksArr[0]);
992 ///////////////////////////////////////////////////////////////////////////
993 outITSindexTArr.Set(nMatchedITStracks);
994 outTPCindexTArr.Set(nMatchedITStracks);
995 for (Int_t i=0;i<nMatchedITStracks;i++)
997 outITSindexTArr.AddAt( goodtracksArr[matchedITStracksArr[i]], i );
998 outTPCindexTArr.AddAt( goodtracksArr[matchedTPCtracksArr[i]], i );
999 //printf("TrackFinder: Fill the output\n");
1000 //printf("TrackFinder: matchedITStracksArr[%d]=%d\n",i,matchedITStracksArr[i]);
1001 //printf("TrackFinder: matchedTPCtracksArr[%d]=%d\n",i,matchedTPCtracksArr[i]);
1003 //printf("TrackFinder: Size of outputarrays: %d, %d\n", outITSindexTArr.GetSize(), outTPCindexTArr.GetSize());
1004 ///////////////////////////////////////////////////////////////////////////
1008 delete [] minDifferenceArr;
1009 delete [] goodtracksArr;
1010 delete [] candidateTPCtracksArr;
1011 delete [] matchedITStracksArr;
1012 delete [] matchedTPCtracksArr;
1013 delete [] tracksArrITS;
1014 delete [] tracksArrTPC;
1015 delete [] nPointsArr;
1019 //______________________________________________________________________________
1020 Bool_t AliRelAlignerKalman::CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misal ) const
1022 //implements the system model -
1023 //applies correction for misalignment and calibration to track
1024 //track needs to be already propagated to the global reference plane
1026 Double_t x = tr->GetX();
1027 Double_t alpha = tr->GetAlpha();
1028 Double_t point[3],dir[3];
1030 tr->GetDirection(dir);
1031 TVector3 Point(point);
1034 //Apply corrections to track
1037 Point(0) -= misal(3); //add shift in x
1038 Point(1) -= misal(4); //add shift in y
1039 Point(2) -= misal(5); //add shift in z
1041 TMatrixD rotmat(3,3);
1042 RotMat( rotmat, misal );
1043 Point = rotmat.T() * Point;
1046 //TPC vdrift and T0 corrections
1047 TVector3 Point2; //second point of the track
1048 Point2 = Point + Dir;
1049 Double_t vdCorr = 1./misal(6);
1050 Double_t t0 = misal(7);
1052 if (fgkNSystemParams>8) vdY = misal(8)/100.; //change over 100cm.
1058 Point(2) = Point(2) - (fTPCZLengthA-Point(2)) * (vdCorr-1.+vdY*Point(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point(1))*t0;
1059 Point2(2) = Point2(2) - (fTPCZLengthA-Point2(2)) * (vdCorr-1.+vdY*Point2(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point2(1))*t0;
1064 Point(2) = Point(2) - (fTPCZLengthC+Point(2)) * (1.-vdCorr-vdY*Point(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point(1))*t0;
1065 Point2(2) = Point2(2) - (fTPCZLengthC+Point2(2)) * (1.-vdCorr-vdY*Point2(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point2(1))*t0;
1072 // Point(2) = Point(2) - (fTPCZLengthA-Point(2)) * (1.-vdCorr+vdY*Point(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point(1))*t0;
1073 // Point2(2) = Point2(2) - (fTPCZLengthA-Point2(2)) * (1.-vdCorr+vdY*Point2(1)/fTPCvd) - (fTPCvd*vdCorr+vdY*Point2(1))*t0;
1078 // Point(2) = Point(2) + (fTPCZLengthC+Point(2)) * (1.-vdCorr+vdY*Point(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point(1))*t0;
1079 // Point2(2) = Point2(2) + (fTPCZLengthC+Point2(2)) * (1.-vdCorr+vdY*Point2(1)/fTPCvd) + (fTPCvd*vdCorr+vdY*Point2(1))*t0;
1083 Dir=Dir.Unit(); //keep unit length
1085 //Turn back to local system
1087 Point.GetXYZ(point);
1088 tr->Global2LocalPosition(point,alpha);
1089 tr->Global2LocalPosition(dir,alpha);
1091 //Calculate new intersection point with ref plane
1092 Double_t p[5],pcov[15];
1093 if (dir[0]==0.0) return kFALSE;
1094 Double_t s=(x-point[0])/dir[0];
1095 p[0] = point[1]+s*dir[1];
1096 p[1] = point[2]+s*dir[2];
1097 Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]);
1098 if (pt==0.0) return kFALSE;
1101 //insert everything back into track
1102 const Double_t* pcovtmp = tr->GetCovariance();
1103 p[4] = tr->GetSigned1Pt(); //copy the momentum
1104 memcpy(pcov,pcovtmp,15*sizeof(Double_t));
1105 tr->Set(x,alpha,p,pcov);
1108 ////put params back into track and propagate to ref
1109 //Double_t p[5],pcov[15];
1112 //Double_t xnew = point[0];
1113 //Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]);
1114 //if (pt==0.0) return kFALSE;
1117 //p[4] = tr->GetSigned1Pt(); //copy the momentum
1118 //const Double_t* pcovtmp = tr->GetCovariance();
1119 //memcpy(pcov,pcovtmp,15*sizeof(Double_t));
1120 //tr->Set(xnew,alpha,p,pcov);
1121 //return tr->PropagateTo(x,fMagField);
1124 //______________________________________________________________________________
1125 Bool_t AliRelAlignerKalman::MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misal ) const
1127 //implements the system model -
1128 //applies misalignment and miscalibration to reference track
1129 //trackparams have to be at the global reference plane
1131 Double_t x = tr->GetX();
1132 Double_t alpha = tr->GetAlpha();
1133 Double_t point[3],dir[3];
1135 tr->GetDirection(dir);
1136 TVector3 Point(point);
1139 //Apply misalignment to track
1141 //TPC vdrift and T0 corrections
1142 TVector3 Point2; //second point of the track
1143 Point2 = Point + Dir;
1144 Double_t vdCorr = 1./misal(6);
1145 Double_t t0 = misal(7);
1147 if (fgkNSystemParams>8) vdY = misal(8)/100.; //change over 100cm.
1152 Point(2) = Point(2) + ((fTPCZLengthA-Point(2))/(vdCorr*fTPCvd+vdY*Point(1)))
1153 * (fTPCvd*(vdCorr-1.)+vdY*Point(1)) + fTPCvd*t0;
1154 Point2(2) = Point2(2) + ((fTPCZLengthA-Point2(2))/(vdCorr*fTPCvd+vdY*Point2(1)))
1155 * (fTPCvd*(vdCorr-1.)+vdY*Point2(1)) + fTPCvd*t0;
1160 Point(2) = Point(2) + (fTPCZLengthC+Point(2))/(vdCorr*fTPCvd+vdY*Point(1))
1161 * (fTPCvd*(1.-vdCorr)-vdY*Point(1)) - fTPCvd*t0;
1162 Point2(2) = Point2(2) + (fTPCZLengthC+Point2(2))/(vdCorr*fTPCvd+vdY*Point2(1))
1163 * (fTPCvd*(1.-vdCorr)-vdY*Point2(1)) - fTPCvd*t0;
1166 Dir=Dir.Unit(); //keep unit length
1169 TMatrixD rotmat(3,3);
1170 RotMat( rotmat, misal );
1171 Point = rotmat * Point;
1174 Point(0) += misal(3); //add shift in x
1175 Point(1) += misal(4); //add shift in y
1176 Point(2) += misal(5); //add shift in z
1178 //Turn back to local system
1180 Point.GetXYZ(point);
1181 tr->Global2LocalPosition(point,alpha);
1182 tr->Global2LocalPosition(dir,alpha);
1184 //Calculate new intersection point with ref plane
1185 Double_t p[5],pcov[15];
1186 if (dir[0]==0.0) return kFALSE;
1187 Double_t s=(x-point[0])/dir[0];
1188 p[0] = point[1]+s*dir[1];
1189 p[1] = point[2]+s*dir[2];
1190 Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]);
1191 if (pt==0.0) return kFALSE;
1194 //insert everything back into track
1195 const Double_t* pcovtmp = tr->GetCovariance();
1196 p[4] = tr->GetSigned1Pt(); //copy the momentum
1197 memcpy(pcov,pcovtmp,15*sizeof(Double_t));
1198 tr->Set(x,alpha,p,pcov);
1201 ////put params back into track and propagate to ref
1203 //Double_t pcov[15];
1206 //Double_t xnew = point[0];
1207 //Double_t pt = TMath::Sqrt(dir[0]*dir[0]+dir[1]*dir[1]);
1208 //if (pt==0.0) return kFALSE;
1211 //p[4] = tr->GetSigned1Pt(); //copy the momentum
1212 //const Double_t* pcovtmp = tr->GetCovariance();
1213 //memcpy(pcov,pcovtmp,15*sizeof(Double_t));
1214 //printf("x before: %.5f, after: %.5f\n",x, xnew);
1215 //printf("before: %.4f %.4f %.4f %.4f %.4f \n",tr->GetParameter()[0],tr->GetParameter()[1],tr->GetParameter()[2],tr->GetParameter()[3],tr->GetParameter()[4]);
1216 //printf("after: %.4f %.4f %.4f %.4f %.4f \n",p[0],p[1],p[2],p[3],p[4]);
1217 //tr->Set(xnew,alpha,p,pcov);
1218 //return tr->PropagateTo(x,fMagField);
1221 //______________________________________________________________________________
1222 void AliRelAlignerKalman::Reset()
1224 //full reset to defaults
1229 //initialize the differentials per parameter
1230 for (Int_t i=0;i<fgkNSystemParams;i++) fDelta[i] = 1.e-6;
1233 fNMatchedTPCtracklets=0;
1237 fNProcessedEvents=0;
1240 //______________________________________________________________________________
1241 void AliRelAlignerKalman::ResetCovariance( const Double_t number )
1243 //Resets the covariance to the default if arg=0 or resets the off diagonals
1244 //to zero and releases the diagonals by factor arg.
1247 for (Int_t z=0;z<6;z++)
1249 for (Int_t zz=0;zz<6;zz++)
1251 if (zz==z) continue; //don't touch diagonals
1252 (*fPXcov)(zz,z) = 0.;
1253 (*fPXcov)(z,zz) = 0.;
1255 (*fPXcov)(z,z) = (*fPXcov)(z,z) * number;
1260 //Resets the covariance of the fit to a default value
1262 (*fPXcov)(0,0) = .08*.08; //psi (rad)
1263 (*fPXcov)(1,1) = .08*.08; //theta (rad
1264 (*fPXcov)(2,2) = .08*.08; //phi (rad)
1265 (*fPXcov)(3,3) = .3*.3; //x (cm)
1266 (*fPXcov)(4,4) = .3*.3; //y (cm)
1267 (*fPXcov)(5,5) = .3*.3; //z (cm)
1269 ResetTPCparamsCovariance(number);
1272 //______________________________________________________________________________
1273 void AliRelAlignerKalman::ResetTPCparamsCovariance( const Double_t number )
1275 //Resets the covariance to the default if arg=0 or resets the off diagonals
1276 //to zero and releases the diagonals by factor arg.
1281 if (fgkNSystemParams>6) (*fPXcov)(6,6) = .1*.1;
1282 if (fgkNSystemParams>7) (*fPXcov)(7,7) = 1.*1.;
1283 if (fgkNSystemParams>8) (*fPXcov)(8,8) = 1.*1.;
1287 if (fgkNSystemParams>6) (*fPXcov)(6,6) = number * (*fPXcov)(6,6);
1288 if (fgkNSystemParams>7) (*fPXcov)(7,7) = number * (*fPXcov)(7,7);
1289 if (fgkNSystemParams>8) (*fPXcov)(8,8) = number * (*fPXcov)(8,8);
1292 //set crossterms to zero
1293 for (Int_t i=0;i<fgkNSystemParams;i++)
1295 for (Int_t j=6;j<fgkNSystemParams;j++) //TPC params
1297 if (i==j) continue; //don't touch diagonals
1298 (*fPXcov)(i,j) = 0.;
1299 (*fPXcov)(j,i) = 0.;
1304 //______________________________________________________________________________
1305 //void AliRelAlignerKalman::PrintCovarianceCorrection()
1307 // //Print the measurement covariance correction matrix
1308 // printf("Covariance correction matrix:\n");
1309 // for ( Int_t i=0; i<fgkNMeasurementParams; i++ )
1311 // for ( Int_t j=0; j<i+1; j++ )
1313 // printf("% -2.2f ", (*fPMeasurementCovCorr)(i,j) );
1321 //_______________________________________________________________________________
1322 //Bool_t AliRelAlignerKalman::UpdateCalibration()
1324 // //Update the calibration with new data (in calibration mode)
1326 // fPMes0Hist->Fill( (*fPMeasurement)(0) );
1327 // fPMes1Hist->Fill( (*fPMeasurement)(1) );
1328 // fPMes2Hist->Fill( (*fPMeasurement)(2) );
1329 // fPMes3Hist->Fill( (*fPMeasurement)(3) );
1330 // fPMesErr0Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(0,0)) );
1331 // fPMesErr1Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(1,1)) );
1332 // fPMesErr2Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(2,2)) );
1333 // fPMesErr3Hist->Fill( TMath::Sqrt((*fPMeasurementCov)(3,3)) );
1337 //______________________________________________________________________________
1338 //Bool_t AliRelAlignerKalman::SetCalibrationMode( const Bool_t cp )
1340 // //sets the calibration mode
1343 // fCalibrationMode=kTRUE;
1348 // if (fCalibrationMode) // do it only after the calibration pass
1350 // CalculateCovarianceCorrection();
1351 // SetApplyCovarianceCorrection();
1352 // fCalibrationMode=kFALSE;
1354 // }//if (fCalibrationMode)
1359 //______________________________________________________________________________
1360 //Bool_t AliRelAlignerKalman::CalculateCovarianceCorrection()
1362 // //Calculates the correction to the measurement covariance
1363 // //using the calibration histograms
1365 // fPMeasurementCovCorr->Zero(); //reset the correction
1367 // Double_t s,m,c; //sigma,meansigma,correction
1369 // //TF1* fitformula;
1370 // //fPMes0Hist->Fit("gaus");
1371 // //fitformula = fPMes0Hist->GetFunction("gaus");
1372 // //s = fitformula->GetParameter(2); //spread of the measurement
1373 // //fPMesErr0Hist->Fit("gaus");
1374 // //fitformula = fPMesErr0Hist->GetFunction("gaus"); //average error from cov matrices
1375 // //m = fitformula->GetParameter(1);
1376 // s = fPMes0Hist->GetRMS();
1377 // m = fPMesErr0Hist->GetMean();
1378 // c = s-m; //the difference between the average error and real spread of the data
1379 // if (c>0) //only correct is spread bigger than average error
1380 // (*fPMeasurementCovCorr)(0,0) = c*c;
1382 // //fPMes1Hist->Fit("gaus");
1383 // //fitformula = fPMes1Hist->GetFunction("gaus");
1384 // //s = fitformula->GetParameter(2);
1385 // //fPMesErr1Hist->Fit("gaus");
1386 // //fitformula = fPMesErr1Hist->GetFunction("gaus");
1387 // //m = fitformula->GetParameter(1);
1388 // s = fPMes1Hist->GetRMS();
1389 // m = fPMesErr1Hist->GetMean();
1391 // if (c>0) //only correct is spread bigger than average error
1392 // (*fPMeasurementCovCorr)(1,1) = c*c;
1394 // //fPMes2Hist->Fit("gaus");
1395 // //fitformula = fPMes2Hist->GetFunction("gaus");
1396 // //s = fitformula->GetParameter(2);
1397 // //fPMesErr2Hist->Fit("gaus");
1398 // //fitformula = fPMesErr2Hist->GetFunction("gaus");
1399 // //m = fitformula->GetParameter(1);
1400 // s = fPMes2Hist->GetRMS();
1401 // m = fPMesErr2Hist->GetMean();
1403 // if (c>0) //only correct is spread bigger than average error
1404 // (*fPMeasurementCovCorr)(2,2) = c*c;
1406 // //fPMes3Hist->Fit("gaus");
1407 // //fitformula = fPMes3Hist->GetFunction("gaus");
1408 // //s = fitformula->GetParameter(2);
1409 // //fPMesErr3Hist->Fit("gaus");
1410 // //fitformula = fPMesErr3Hist->GetFunction("gaus");
1411 // //m = fitformula->GetParameter(1);
1412 // s = fPMes3Hist->GetRMS();
1413 // m = fPMesErr3Hist->GetMean();
1415 // if (c>0) //only correct is spread bigger than average error
1416 // (*fPMeasurementCovCorr)(3,3) = c*c;