1 #ifndef ALIRELALIGNERKALMAN_H
2 #define ALIRELALIGNERKALMAN_H
4 /* Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
5 * See cxx source for full Copyright notice */
7 ///////////////////////////////////////////////////////////////////////////////
9 // Relative alignment of two tracking volumes (default ITS and TPC)
10 // (see AliRelAlignerKalman.cxx for details)
12 // Origin: Mikolaj Krzewicki, Nikhef, Mikolaj.Krzewicki@cern.ch
14 //////////////////////////////////////////////////////////////////////////////
22 class AliExternalTrackParam;
26 class AliRelAlignerKalman : public TObject {
29 AliRelAlignerKalman();
30 virtual ~AliRelAlignerKalman();
31 AliRelAlignerKalman& operator= (const AliRelAlignerKalman& a );
32 AliRelAlignerKalman(const AliRelAlignerKalman& a);
35 Bool_t AddCosmicEvent( const AliESDEvent* pEvent );
36 Bool_t AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 );
38 void Print(Option_t* option="") const;
40 Double_t GetPsi() const {return (*fPX)(0);}
41 Double_t GetTheta() const {return (*fPX)(1);}
42 Double_t GetPhi() const {return (*fPX)(2);}
43 Double_t GetX() const {return (*fPX)(3);}
44 Double_t GetY() const {return (*fPX)(4);}
45 Double_t GetZ() const {return (*fPX)(5);}
46 Double_t GetTPCvdCorr() const {return (*fPX)(6);}
47 Double_t GetTPCt0() const {return (*fPX)(7);}
48 Double_t GetTPCvdY() const {if (fgkNSystemParams>8) return (*fPX)(8); else return 0.0;}
49 Double_t GetPsiErr() const {return TMath::Sqrt((*fPXcov)(0,0));}
50 Double_t GetThetaErr() const {return TMath::Sqrt((*fPXcov)(1,1));}
51 Double_t GetPhiErr() const {return TMath::Sqrt((*fPXcov)(2,2));}
52 Double_t GetXErr() const {return TMath::Sqrt((*fPXcov)(3,3));}
53 Double_t GetYErr() const {return TMath::Sqrt((*fPXcov)(4,4));}
54 Double_t GetZErr() const {return TMath::Sqrt((*fPXcov)(5,5));}
55 Double_t GetTPCvdCorrErr() const {return TMath::Sqrt((*fPXcov)(6,6));}
56 Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(7,7));}
57 Double_t GetTPCvdYErr() const {if (fgkNSystemParams>8) return TMath::Sqrt((*fPXcov)(8,8)); else return 0.0;}
58 void GetMeasurement( TVectorD& mes ) const { mes = *fPMeasurement; }
59 TVectorD* GetMeasurement() { return fPMeasurement; }
60 void GetMeasurementCov( TMatrixDSym& cov ) const { cov = *fPMeasurementCov; }
61 void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
62 void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
63 TMatrixDSym* GetMeasurementCov() const { return fPMeasurementCov; }
64 void GetState( TVectorD& state ) const { state = *fPX; }
65 TVectorD* GetState() const { return fPX; }
66 void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; }
67 void SetState( const TVectorD& param ) {*fPX = param;}
68 void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
69 TMatrixDSym* GetStateCov() const { return fPXcov; }
70 void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; }
71 void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }
72 Bool_t Merge( const AliRelAlignerKalman* al );
75 Bool_t AddESDevent( const AliESDEvent* pEvent );
76 Bool_t AddESDtrack( const AliESDtrack* pTrack );
77 void SetMagField( const Double_t f ) { fMagField=f; }
78 Double_t GetMagField() const { return fMagField; }
79 Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );
81 void PrintCorrelationMatrix();
82 //void PrintCovarianceCorrection();
83 void PrintSystemMatrix();
85 void ResetCovariance( const Double_t number=0. );
86 void ResetTPCparamsCovariance( const Double_t number=0. );
87 Double_t* GetStateArr() const { return fPX->GetMatrixArray(); }
88 Double_t* GetStateCovArr() const { return fPXcov->GetMatrixArray(); }
89 Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); }
90 Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); }
91 TMatrixD* GetH() const { return fPH; }
92 const Double_t* GetDeltaArr() const {return fDelta;}
93 void SetNumericalParanoia( const Bool_t mode=kFALSE ) { fNumericalParanoia=mode; }
94 void SetCorrectionMode( const Bool_t mode=kTRUE ) { fCorrectionMode=mode; }
95 void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
96 void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
97 Bool_t SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 );
98 const AliExternalTrackParam* GetTrackParams1() const {return fPTrackParamArr1;}
99 const AliExternalTrackParam* GetTrackParams2() const {return fPTrackParamArr2;}
100 void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;}
101 void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;}
102 void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;}
103 void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
104 void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;}
105 void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;}
106 void SetTPCvd( const Float_t v ) {fTPCvd=v;}
107 void SetTPCZLengthA( const Double_t l ) {fTPCZLengthA=l;}
108 void SetTPCZLengthC( const Double_t l ) {fTPCZLengthC=l;}
109 Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;
110 Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;
111 static void Angles( TVectorD &angles, const TMatrixD &rotmat );
112 static void RotMat( TMatrixD& R, const TVectorD& angles );
113 static void TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
114 Bool_t IsPositiveDefinite( const TMatrixD& mat ) const;
115 void SetTimeStamp( const UInt_t ts ) { fTimeStamp = ts; }
116 UInt_t GetTimeStamp() const {return fTimeStamp;}
117 void SetRunNumber( const Int_t rn ) { fRunNumber = rn; }
118 Int_t GetRunNumber() const {return fRunNumber;}
119 Int_t Compare(const TObject *obj) const;
120 Bool_t IsSortable() const { return kTRUE; }
121 Int_t GetNTracks() const {return fNTracks;}
122 Int_t GetNUpdates() const {return fNUpdates;}
123 Int_t GetNOutliers() const {return fNOutliers;}
124 void SetPoint2Track( Bool_t o );
127 Bool_t UpdateEstimateKalman();
128 Bool_t PrepareMeasurement();
129 Bool_t PrepareSystemMatrix();
130 Bool_t PreparePrediction();
131 Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
132 Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
135 static const Int_t fgkNTracksPerMeasurement=1; //how many tracks for one update
136 static const Int_t fgkNSystemParams=9; //how many fit parameters
139 Double_t fAlpha; //!rotation angle between the local and global coordinate system like in AliExternalTrackParam
140 Double_t fLocalX; //!local x coordinate of reference plane = r(global)
141 AliExternalTrackParam* fPTrackParamArr1; //!local track parameters
142 AliExternalTrackParam* fPTrackParamArr2; //!local track parameters
143 Double_t fMagField; //!magnetic field
145 //Kalman filter related stuff
146 Int_t fNMeasurementParams; //how many measurables
147 TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
148 TMatrixDSym* fPXcov; //covariance matrix of system parameters
149 TMatrixD* fPH; //!System measurement matrix
150 Double_t fQ; //!measure for system noise
151 TVectorD* fPMeasurement; //!the measurement vec for Kalman filter (theta,phi,x,z)
152 TMatrixDSym* fPMeasurementCov; //!measurement vec cvariance
153 TVectorD* fPMeasurementPrediction; //!prediction of the measurement
154 Double_t fOutRejSigmas; //number of sigmas for outlier rejection
155 Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
158 Bool_t fYZOnly; //whether to consider only yz without directions.
159 Bool_t fNumericalParanoia; //!whether to perform additional checks for numerical stability
160 Bool_t fRejectOutliers; //!whether to do outlier rejection in the Kalman filter
161 Bool_t fRequireMatchInTPC; //!when looking for a cosmic in event, require that TPC has 2 matching segments
162 Bool_t fCuts; //!track cuts?
163 Int_t fMinPointsVol1; //!mininum number of points in volume 1
164 Int_t fMinPointsVol2; //!mininum number of points in volume 2
165 Double_t fMinMom; //!min momentum of track for track cuts
166 Double_t fMaxMom; //!max momentum of track for track cuts
167 Double_t fMaxMatchingAngle; //!cuts
168 Double_t fMaxMatchingDistance; //!cuts
169 Bool_t fCorrectionMode; //calculate corrective transform for TPC (or monitor actual TPC misal params)
172 Int_t fNTracks; //number of processed tracks
173 Int_t fNUpdates; //number of successful Kalman updates
174 Int_t fNOutliers; //number of outliers
175 Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets (good cosmics)
176 Int_t fNMatchedTPCtracklets;//number of cosmic events with 2 matching TPC tracklets
177 Int_t fNProcessedEvents; //number of processed events
178 Int_t fTrackInBuffer; //!number of tracks in buffer
179 UInt_t fTimeStamp; //time stamp
180 Int_t fRunNumber; //run number
183 Double_t fTPCvd; //TPC drift velocity
184 Double_t fTPCZLengthA; //TPC length side A
185 Double_t fTPCZLengthC; //TPC length side C
187 ClassDef(AliRelAlignerKalman,2) //AliRelAlignerKalman class