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>
29 #include "AliTrackPointArray.h"
31 ClassImp(AliTrackPointArray)
33 //______________________________________________________________________________
34 AliTrackPointArray::AliTrackPointArray() :
47 //______________________________________________________________________________
48 AliTrackPointArray::AliTrackPointArray(Int_t npoints):
52 fX(new Float_t[npoints]),
53 fY(new Float_t[npoints]),
54 fZ(new Float_t[npoints]),
56 fCov(new Float_t[fSize]),
57 fVolumeID(new UShort_t[npoints])
61 for (Int_t ip=0; ip<npoints;ip++){
66 for (Int_t icov=0;icov<6; icov++)
71 //______________________________________________________________________________
72 AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array):
74 fSorted(array.fSorted),
75 fNPoints(array.fNPoints),
76 fX(new Float_t[fNPoints]),
77 fY(new Float_t[fNPoints]),
78 fZ(new Float_t[fNPoints]),
80 fCov(new Float_t[fSize]),
81 fVolumeID(new UShort_t[fNPoints])
85 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
86 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
87 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
88 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
89 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
92 //_____________________________________________________________________________
93 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
95 // assignment operator
97 if(this==&array) return *this;
98 ((TObject *)this)->operator=(array);
100 fSorted = array.fSorted;
101 fNPoints = array.fNPoints;
104 fX = new Float_t[fNPoints];
106 fY = new Float_t[fNPoints];
108 fZ = new Float_t[fNPoints];
110 fVolumeID = new UShort_t[fNPoints];
112 fCov = new Float_t[fSize];
113 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
114 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
115 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
116 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
117 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
122 //______________________________________________________________________________
123 AliTrackPointArray::~AliTrackPointArray()
135 //______________________________________________________________________________
136 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
138 // Add a point to the array at position i
140 if (i >= fNPoints) return kFALSE;
144 fVolumeID[i] = p->GetVolumeID();
145 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
150 //______________________________________________________________________________
151 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
153 // Get the point at position i
155 if (i >= fNPoints) return kFALSE;
156 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
157 p.SetVolumeID(fVolumeID[i]);
161 //______________________________________________________________________________
162 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
164 // This method checks if the array
165 // has at least one hit in the detector
166 // volume defined by volid
167 Bool_t check = kFALSE;
168 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
169 if (fVolumeID[ipoint] == volid) check = kTRUE;
174 //______________________________________________________________________________
175 void AliTrackPointArray::Sort(Bool_t down)
177 // Sort the array by the values of Y-coordinate of the track points.
178 // The order is given by "down".
179 // Optimized more for maintenance rather than for speed.
183 Int_t *index=new Int_t[fNPoints];
184 AliTrackPointArray a(*this);
185 TMath::Sort(fNPoints,a.GetY(),index,down);
188 for (Int_t i = 0; i < fNPoints; i++) {
189 a.GetPoint(p,index[i]);
197 ClassImp(AliTrackPoint)
199 //______________________________________________________________________________
200 AliTrackPoint::AliTrackPoint() :
207 // Default constructor
209 memset(fCov,0,6*sizeof(Float_t));
213 //______________________________________________________________________________
214 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) :
227 //______________________________________________________________________________
228 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) :
237 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
241 //______________________________________________________________________________
242 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
251 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
252 SetVolumeID(p.fVolumeID);
255 //_____________________________________________________________________________
256 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
258 // assignment operator
260 if(this==&p) return *this;
261 ((TObject *)this)->operator=(p);
263 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
264 SetVolumeID(p.fVolumeID);
269 //______________________________________________________________________________
270 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
272 // Set XYZ coordinates and their cov matrix
278 memcpy(fCov,cov,6*sizeof(Float_t));
281 //______________________________________________________________________________
282 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
284 // Set XYZ coordinates and their cov matrix
286 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
289 //______________________________________________________________________________
290 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
296 memcpy(cov,fCov,6*sizeof(Float_t));
299 //______________________________________________________________________________
300 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
302 // This method calculates the track to space-point residuals. The track
303 // interpolation is also stored as AliTrackPoint. Using the option
304 // 'weighted' one can calculate the residual either with or without
305 // taking into account the covariance matrix of the space-point and
306 // track interpolation. The second case the residual becomes a pull.
311 Float_t xyz[3],xyzp[3];
314 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
315 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
316 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
319 Float_t xyz[3],xyzp[3];
320 Float_t cov[6],covp[6];
323 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
324 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
325 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
327 TMatrixDSym mcovp(3);
328 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
329 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
330 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
331 TMatrixDSym msum = mcov + mcovp;
333 // mcov.Print(); mcovp.Print(); msum.Print();
334 if (msum.IsValid()) {
335 for (Int_t i = 0; i < 3; i++)
336 for (Int_t j = 0; j < 3; j++)
337 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
344 //_____________________________________________________________________________
345 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
348 // Get the intersection point between this point and
349 // the point "p" belongs to.
350 // The result is stored as a point 'out'
351 // return kFALSE in case of failure.
361 const Float_t *cv=GetCov();
362 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
363 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
364 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
374 const Float_t *cv=p.GetCov();
375 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
376 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
377 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
383 if (!tmW.IsValid()) return kFALSE;
385 TMatrixD mW(tC,TMatrixD::kMult,tmW);
386 TMatrixD tW(mC,TMatrixD::kMult,tmW);
388 TMatrixD mi(mW,TMatrixD::kMult,m);
389 TMatrixD ti(tW,TMatrixD::kMult,t);
392 TMatrixD iC(tC,TMatrixD::kMult,tmW);
395 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
396 UShort_t id=p.GetVolumeID();
402 //______________________________________________________________________________
403 Float_t AliTrackPoint::GetAngle() const
405 // The method uses the covariance matrix of
406 // the space-point in order to extract the
407 // orientation of the detector plane.
408 // The rotation in XY plane only is calculated.
410 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
412 phi = TMath::Pi() - phi;
413 if ((fY-fX) < 0) phi += TMath::Pi();
416 if ((fX+fY) < 0) phi += TMath::Pi();
423 //_____________________________________________________________________________
424 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
426 // Transform the space-point coordinates
427 // and covariance matrix from global to
428 // local (detector plane) coordinate system
429 // XY plane rotation only
431 static AliTrackPoint p;
434 Float_t xyz[3],cov[6];
437 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
439 Float_t newxyz[3],newcov[6];
440 newxyz[0] = cos*xyz[0] + sin*xyz[1];
441 newxyz[1] = cos*xyz[1] - sin*xyz[0];
444 newcov[0] = cov[0]*cos*cos+
447 newcov[1] = cov[1]*(cos*cos-sin*sin)+
448 (cov[3]-cov[0])*sin*cos;
449 newcov[2] = cov[2]*cos+
451 newcov[3] = cov[0]*sin*sin-
454 newcov[4] = cov[4]*cos-
458 p.SetXYZ(newxyz,newcov);
459 p.SetVolumeID(GetVolumeID());
464 //_____________________________________________________________________________
465 AliTrackPoint& AliTrackPoint::MasterToLocal() const
467 // Transform the space-point coordinates
468 // and the covariance matrix from the
469 // (master) to the local (tracking)
472 Float_t alpha = GetAngle();
473 return Rotate(alpha);
476 //_____________________________________________________________________________
477 void AliTrackPoint::Print(Option_t *) const
479 // Print the space-point coordinates and
482 printf("VolumeID=%d\n", GetVolumeID());
483 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
484 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
485 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
490 //________________________________
491 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
492 // Add the uncertainty on the cluster position due to alignment
493 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
494 // present Cov. Matrix
502 cov(1,0)=cov(0,1)=fCov[1];
503 cov(2,0)=cov(0,2)=fCov[2];
505 cov(2,1)=cov(1,2)=fCov[4];
508 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
509 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
510 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
511 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
512 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
513 jacob(0,5) = -fY; jacob(1,5) = fX; jacob(2,5) = 0;
515 TMatrixD jacobT=jacob.T();jacob.T();
517 coval=jacob*alignparmtrx*jacobT+cov;
520 newcov[0]=coval(0,0);
521 newcov[1]=coval(1,0);
522 newcov[2]=coval(2,0);
523 newcov[3]=coval(1,1);
524 newcov[4]=coval(2,1);
525 newcov[5]=coval(2,2);
527 SetXYZ(fX,fY,fZ,newcov);