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 //////////////////////////////////////////////////////////////////////////////
17 // Class AliTrackPointArray //
18 // This class contains the ESD track space-points which are used during //
19 // the alignment procedures. Each space-point consist of 3 coordinates //
20 // (and their errors) and the index of the sub-detector which contains //
21 // the space-point. //
22 // cvetan.cheshkov@cern.ch 3/11/2005 //
23 //////////////////////////////////////////////////////////////////////////////
27 #include <TMatrixDSym.h>
28 #include <TGeoMatrix.h>
29 #include <TMatrixDSymEigen.h>
31 #include "AliTrackPointArray.h"
33 ClassImp(AliTrackPointArray)
35 //______________________________________________________________________________
36 AliTrackPointArray::AliTrackPointArray() :
53 //______________________________________________________________________________
54 AliTrackPointArray::AliTrackPointArray(Int_t npoints):
58 fX(new Float_t[npoints]),
59 fY(new Float_t[npoints]),
60 fZ(new Float_t[npoints]),
61 fCharge(new Float_t[npoints]),
62 fDriftTime(new Float_t[npoints]),
63 fChargeRatio(new Float_t[npoints]),
64 fIsExtra(new Bool_t[npoints]),
66 fCov(new Float_t[fSize]),
67 fVolumeID(new UShort_t[npoints])
71 for (Int_t ip=0; ip<npoints;ip++){
80 for (Int_t icov=0;icov<6; icov++)
85 //______________________________________________________________________________
86 AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array):
88 fSorted(array.fSorted),
89 fNPoints(array.fNPoints),
90 fX(new Float_t[fNPoints]),
91 fY(new Float_t[fNPoints]),
92 fZ(new Float_t[fNPoints]),
93 fCharge(new Float_t[fNPoints]),
94 fDriftTime(new Float_t[fNPoints]),
95 fChargeRatio(new Float_t[fNPoints]),
96 fIsExtra(new Bool_t[fNPoints]),
98 fCov(new Float_t[fSize]),
99 fVolumeID(new UShort_t[fNPoints])
103 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
104 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
105 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
107 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
109 memset(fCharge, 0, fNPoints*sizeof(Float_t));
111 if (array.fDriftTime) {
112 memcpy(fDriftTime,array.fDriftTime,fNPoints*sizeof(Float_t));
114 memset(fDriftTime, 0, fNPoints*sizeof(Float_t));
116 if (array.fChargeRatio) {
117 memcpy(fChargeRatio,array.fChargeRatio,fNPoints*sizeof(Float_t));
119 memset(fChargeRatio, 0, fNPoints*sizeof(Float_t));
121 if (array.fIsExtra) {
122 memcpy(fIsExtra,array.fIsExtra,fNPoints*sizeof(Bool_t));
124 memset(fIsExtra, 0, fNPoints*sizeof(Bool_t));
126 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
127 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
130 //_____________________________________________________________________________
131 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
133 // assignment operator
135 if(this==&array) return *this;
136 ((TObject *)this)->operator=(array);
138 fSorted = array.fSorted;
139 fNPoints = array.fNPoints;
142 fX = new Float_t[fNPoints];
144 fY = new Float_t[fNPoints];
146 fZ = new Float_t[fNPoints];
148 fCharge = new Float_t[fNPoints];
149 delete [] fDriftTime;
150 fDriftTime = new Float_t[fNPoints];
151 delete [] fChargeRatio;
152 fChargeRatio = new Float_t[fNPoints];
154 fIsExtra = new Bool_t[fNPoints];
156 fVolumeID = new UShort_t[fNPoints];
158 fCov = new Float_t[fSize];
159 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
160 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
161 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
162 memcpy(fCharge,array.fCharge,fNPoints*sizeof(Float_t));
163 memcpy(fDriftTime,array.fDriftTime,fNPoints*sizeof(Float_t));
164 memcpy(fChargeRatio,array.fChargeRatio,fNPoints*sizeof(Float_t));
165 memcpy(fIsExtra,array.fIsExtra,fNPoints*sizeof(Bool_t));
166 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
167 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
172 //______________________________________________________________________________
173 AliTrackPointArray::~AliTrackPointArray()
181 delete [] fDriftTime;
182 delete [] fChargeRatio;
189 //______________________________________________________________________________
190 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
192 // Add a point to the array at position i
194 if (i >= fNPoints) return kFALSE;
198 fCharge[i] = p->GetCharge();
199 fDriftTime[i] = p->GetDriftTime();
200 fChargeRatio[i]=p->GetChargeRatio();
201 fIsExtra[i] = p->IsExtra();
202 fVolumeID[i] = p->GetVolumeID();
203 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
208 //______________________________________________________________________________
209 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
211 // Get the point at position i
213 if (i >= fNPoints) return kFALSE;
214 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
215 p.SetVolumeID(fVolumeID[i]);
216 p.SetCharge(fCharge ? fCharge[i] : 0);
217 p.SetDriftTime(fDriftTime ? fDriftTime[i] : 0);
218 p.SetChargeRatio(fChargeRatio ? fChargeRatio[i] : 0);
219 p.SetExtra(fIsExtra ? fIsExtra[i] : kFALSE);
223 //______________________________________________________________________________
224 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
226 // This method checks if the array
227 // has at least one hit in the detector
228 // volume defined by volid
229 Bool_t check = kFALSE;
230 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
231 if (fVolumeID[ipoint] == volid) check = kTRUE;
236 //______________________________________________________________________________
237 void AliTrackPointArray::Sort(Bool_t down)
239 // Sort the array by the values of Y-coordinate of the track points.
240 // The order is given by "down".
241 // Optimized more for maintenance rather than for speed.
245 Int_t *index=new Int_t[fNPoints];
246 AliTrackPointArray a(*this);
247 TMath::Sort(fNPoints,a.GetY(),index,down);
250 for (Int_t i = 0; i < fNPoints; i++) {
251 a.GetPoint(p,index[i]);
259 ClassImp(AliTrackPoint)
261 //______________________________________________________________________________
262 AliTrackPoint::AliTrackPoint() :
273 // Default constructor
275 memset(fCov,0,6*sizeof(Float_t));
279 //______________________________________________________________________________
280 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid, Float_t charge, Float_t drifttime,Float_t chargeratio) :
295 SetDriftTime(drifttime);
296 SetChargeRatio(chargeratio);
300 //______________________________________________________________________________
301 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid, Float_t charge, Float_t drifttime,Float_t chargeratio) :
314 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
316 SetDriftTime(drifttime);
317 SetChargeRatio(chargeratio);
321 //______________________________________________________________________________
322 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
335 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
336 SetCharge(p.fCharge);
337 SetDriftTime(p.fDriftTime);
338 SetChargeRatio(p.fChargeRatio);
339 SetExtra(p.fIsExtra);
340 SetVolumeID(p.fVolumeID);
343 //_____________________________________________________________________________
344 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
346 // assignment operator
348 if(this==&p) return *this;
349 ((TObject *)this)->operator=(p);
351 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
352 SetCharge(p.fCharge);
353 SetDriftTime(p.fDriftTime);
354 SetChargeRatio(p.fChargeRatio);
355 SetExtra(p.fIsExtra);
356 SetVolumeID(p.fVolumeID);
361 //______________________________________________________________________________
362 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
364 // Set XYZ coordinates and their cov matrix
370 memcpy(fCov,cov,6*sizeof(Float_t));
373 //______________________________________________________________________________
374 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
376 // Set XYZ coordinates and their cov matrix
378 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
381 //______________________________________________________________________________
382 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
388 memcpy(cov,fCov,6*sizeof(Float_t));
391 //______________________________________________________________________________
392 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
394 // This method calculates the track to space-point residuals. The track
395 // interpolation is also stored as AliTrackPoint. Using the option
396 // 'weighted' one can calculate the residual either with or without
397 // taking into account the covariance matrix of the space-point and
398 // track interpolation. The second case the residual becomes a pull.
403 Float_t xyz[3],xyzp[3];
406 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
407 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
408 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
411 Float_t xyz[3],xyzp[3];
412 Float_t cov[6],covp[6];
415 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
416 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
417 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
419 TMatrixDSym mcovp(3);
420 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
421 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
422 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
423 TMatrixDSym msum = mcov + mcovp;
425 // mcov.Print(); mcovp.Print(); msum.Print();
426 if (msum.IsValid()) {
427 for (Int_t i = 0; i < 3; i++)
428 for (Int_t j = 0; j < 3; j++)
429 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
436 //_____________________________________________________________________________
437 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
440 // Get the intersection point between this point and
441 // the point "p" belongs to.
442 // The result is stored as a point 'out'
443 // return kFALSE in case of failure.
453 const Float_t *cv=GetCov();
454 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
455 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
456 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
466 const Float_t *cv=p.GetCov();
467 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
468 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
469 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
475 if (!tmW.IsValid()) return kFALSE;
477 TMatrixD mW(tC,TMatrixD::kMult,tmW);
478 TMatrixD tW(mC,TMatrixD::kMult,tmW);
480 TMatrixD mi(mW,TMatrixD::kMult,m);
481 TMatrixD ti(tW,TMatrixD::kMult,t);
484 TMatrixD iC(tC,TMatrixD::kMult,tmW);
487 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
488 UShort_t id=p.GetVolumeID();
494 //______________________________________________________________________________
495 Float_t AliTrackPoint::GetAngle() const
497 // The method uses the covariance matrix of
498 // the space-point in order to extract the
499 // orientation of the detector plane.
500 // The rotation in XY plane only is calculated.
502 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
504 phi = TMath::Pi() - phi;
505 if ((fY-fX) < 0) phi += TMath::Pi();
508 if ((fX+fY) < 0) phi += TMath::Pi();
515 //______________________________________________________________________________
516 Bool_t AliTrackPoint::GetRotMatrix(TGeoRotation& rot) const
518 // Returns the orientation of the
519 // sensitive layer (using cluster
520 // covariance matrix).
521 // Assumes that cluster has errors only in the layer's plane.
522 // Return value is kTRUE in case of success.
526 const Float_t *cov=GetCov();
527 mcov(0,0)=cov[0]; mcov(0,1)=cov[1]; mcov(0,2)=cov[2];
528 mcov(1,0)=cov[1]; mcov(1,1)=cov[3]; mcov(1,2)=cov[4];
529 mcov(2,0)=cov[2]; mcov(2,1)=cov[4]; mcov(2,2)=cov[5];
532 TMatrixDSymEigen eigen(mcov);
533 TMatrixD eigenMatrix = eigen.GetEigenVectors();
535 rot.SetMatrix(eigenMatrix.GetMatrixArray());
541 //_____________________________________________________________________________
542 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
544 // Transform the space-point coordinates
545 // and covariance matrix from global to
546 // local (detector plane) coordinate system
547 // XY plane rotation only
549 static AliTrackPoint p;
552 Float_t xyz[3],cov[6];
555 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
557 Float_t newxyz[3],newcov[6];
558 newxyz[0] = cos*xyz[0] + sin*xyz[1];
559 newxyz[1] = cos*xyz[1] - sin*xyz[0];
562 newcov[0] = cov[0]*cos*cos+
565 newcov[1] = cov[1]*(cos*cos-sin*sin)+
566 (cov[3]-cov[0])*sin*cos;
567 newcov[2] = cov[2]*cos+
569 newcov[3] = cov[0]*sin*sin-
572 newcov[4] = cov[4]*cos-
576 p.SetXYZ(newxyz,newcov);
577 p.SetVolumeID(GetVolumeID());
582 //_____________________________________________________________________________
583 AliTrackPoint& AliTrackPoint::MasterToLocal() const
585 // Transform the space-point coordinates
586 // and the covariance matrix from the
587 // (master) to the local (tracking)
590 Float_t alpha = GetAngle();
591 return Rotate(alpha);
594 //_____________________________________________________________________________
595 void AliTrackPoint::Print(Option_t *) const
597 // Print the space-point coordinates and
600 printf("VolumeID=%d\n", GetVolumeID());
601 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
602 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
603 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
604 printf("Charge = %f\n", fCharge);
605 printf("Drift Time = %f\n", fDriftTime);
606 printf("Charge Ratio = %f\n", fChargeRatio);
607 if(fIsExtra) printf("This is an extra point\n");
612 //________________________________
613 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
614 // Add the uncertainty on the cluster position due to alignment
615 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
616 // present Cov. Matrix
624 cov(1,0)=cov(0,1)=fCov[1];
625 cov(2,0)=cov(0,2)=fCov[2];
627 cov(2,1)=cov(1,2)=fCov[4];
630 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
631 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
632 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
633 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
634 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
635 jacob(0,5) = -fY; jacob(1,5) = fX; jacob(2,5) = 0;
637 TMatrixD jacobT=jacob.T();jacob.T();
639 coval=jacob*alignparmtrx*jacobT+cov;
642 newcov[0]=coval(0,0);
643 newcov[1]=coval(1,0);
644 newcov[2]=coval(2,0);
645 newcov[3]=coval(1,1);
646 newcov[4]=coval(2,1);
647 newcov[5]=coval(2,2);
649 SetXYZ(fX,fY,fZ,newcov);