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() :
46 //______________________________________________________________________________
47 AliTrackPointArray::AliTrackPointArray(Int_t npoints):
50 fX(new Float_t[npoints]),
51 fY(new Float_t[npoints]),
52 fZ(new Float_t[npoints]),
54 fCov(new Float_t[fSize]),
55 fVolumeID(new UShort_t[npoints])
61 //______________________________________________________________________________
62 AliTrackPointArray::AliTrackPointArray(const AliTrackPointArray &array):
64 fNPoints(array.fNPoints),
65 fX(new Float_t[fNPoints]),
66 fY(new Float_t[fNPoints]),
67 fZ(new Float_t[fNPoints]),
69 fCov(new Float_t[fSize]),
70 fVolumeID(new UShort_t[fNPoints])
74 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
75 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
76 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
77 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
78 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
81 //_____________________________________________________________________________
82 AliTrackPointArray &AliTrackPointArray::operator =(const AliTrackPointArray& array)
84 // assignment operator
86 if(this==&array) return *this;
87 ((TObject *)this)->operator=(array);
89 fNPoints = array.fNPoints;
92 fX = new Float_t[fNPoints];
94 fY = new Float_t[fNPoints];
96 fZ = new Float_t[fNPoints];
98 fVolumeID = new UShort_t[fNPoints];
100 fCov = new Float_t[fSize];
101 memcpy(fX,array.fX,fNPoints*sizeof(Float_t));
102 memcpy(fY,array.fY,fNPoints*sizeof(Float_t));
103 memcpy(fZ,array.fZ,fNPoints*sizeof(Float_t));
104 memcpy(fVolumeID,array.fVolumeID,fNPoints*sizeof(UShort_t));
105 memcpy(fCov,array.fCov,fSize*sizeof(Float_t));
110 //______________________________________________________________________________
111 AliTrackPointArray::~AliTrackPointArray()
123 //______________________________________________________________________________
124 Bool_t AliTrackPointArray::AddPoint(Int_t i, const AliTrackPoint *p)
126 // Add a point to the array at position i
128 if (i >= fNPoints) return kFALSE;
132 fVolumeID[i] = p->GetVolumeID();
133 memcpy(&fCov[6*i],p->GetCov(),6*sizeof(Float_t));
138 //______________________________________________________________________________
139 Bool_t AliTrackPointArray::GetPoint(AliTrackPoint &p, Int_t i) const
141 // Get the point at position i
143 if (i >= fNPoints) return kFALSE;
144 p.SetXYZ(fX[i],fY[i],fZ[i],&fCov[6*i]);
145 p.SetVolumeID(fVolumeID[i]);
149 //______________________________________________________________________________
150 Bool_t AliTrackPointArray::HasVolumeID(UShort_t volid) const
152 // This method checks if the array
153 // has at least one hit in the detector
154 // volume defined by volid
155 Bool_t check = kFALSE;
156 for (Int_t ipoint = 0; ipoint < fNPoints; ipoint++)
157 if (fVolumeID[ipoint] == volid) check = kTRUE;
162 ClassImp(AliTrackPoint)
164 //______________________________________________________________________________
165 AliTrackPoint::AliTrackPoint() :
172 // Default constructor
174 memset(fCov,0,6*sizeof(Float_t));
178 //______________________________________________________________________________
179 AliTrackPoint::AliTrackPoint(Float_t x, Float_t y, Float_t z, const Float_t *cov, UShort_t volid) :
192 //______________________________________________________________________________
193 AliTrackPoint::AliTrackPoint(const Float_t *xyz, const Float_t *cov, UShort_t volid) :
202 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
206 //______________________________________________________________________________
207 AliTrackPoint::AliTrackPoint(const AliTrackPoint &p):
216 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
217 SetVolumeID(p.fVolumeID);
220 //_____________________________________________________________________________
221 AliTrackPoint &AliTrackPoint::operator =(const AliTrackPoint& p)
223 // assignment operator
225 if(this==&p) return *this;
226 ((TObject *)this)->operator=(p);
228 SetXYZ(p.fX,p.fY,p.fZ,&(p.fCov[0]));
229 SetVolumeID(p.fVolumeID);
234 //______________________________________________________________________________
235 void AliTrackPoint::SetXYZ(Float_t x, Float_t y, Float_t z, const Float_t *cov)
237 // Set XYZ coordinates and their cov matrix
243 memcpy(fCov,cov,6*sizeof(Float_t));
246 //______________________________________________________________________________
247 void AliTrackPoint::SetXYZ(const Float_t *xyz, const Float_t *cov)
249 // Set XYZ coordinates and their cov matrix
251 SetXYZ(xyz[0],xyz[1],xyz[2],cov);
254 //______________________________________________________________________________
255 void AliTrackPoint::GetXYZ(Float_t *xyz, Float_t *cov) const
261 memcpy(cov,fCov,6*sizeof(Float_t));
264 //______________________________________________________________________________
265 Float_t AliTrackPoint::GetResidual(const AliTrackPoint &p, Bool_t weighted) const
267 // This method calculates the track to space-point residuals. The track
268 // interpolation is also stored as AliTrackPoint. Using the option
269 // 'weighted' one can calculate the residual either with or without
270 // taking into account the covariance matrix of the space-point and
271 // track interpolation. The second case the residual becomes a pull.
276 Float_t xyz[3],xyzp[3];
279 res = (xyz[0]-xyzp[0])*(xyz[0]-xyzp[0])+
280 (xyz[1]-xyzp[1])*(xyz[1]-xyzp[1])+
281 (xyz[2]-xyzp[2])*(xyz[2]-xyzp[2]);
284 Float_t xyz[3],xyzp[3];
285 Float_t cov[6],covp[6];
288 mcov(0,0) = cov[0]; mcov(0,1) = cov[1]; mcov(0,2) = cov[2];
289 mcov(1,0) = cov[1]; mcov(1,1) = cov[3]; mcov(1,2) = cov[4];
290 mcov(2,0) = cov[2]; mcov(2,1) = cov[4]; mcov(2,2) = cov[5];
292 TMatrixDSym mcovp(3);
293 mcovp(0,0) = covp[0]; mcovp(0,1) = covp[1]; mcovp(0,2) = covp[2];
294 mcovp(1,0) = covp[1]; mcovp(1,1) = covp[3]; mcovp(1,2) = covp[4];
295 mcovp(2,0) = covp[2]; mcovp(2,1) = covp[4]; mcovp(2,2) = covp[5];
296 TMatrixDSym msum = mcov + mcovp;
298 // mcov.Print(); mcovp.Print(); msum.Print();
299 if (msum.IsValid()) {
300 for (Int_t i = 0; i < 3; i++)
301 for (Int_t j = 0; j < 3; j++)
302 res += (xyz[i]-xyzp[i])*(xyz[j]-xyzp[j])*msum(i,j);
309 //_____________________________________________________________________________
310 Bool_t AliTrackPoint::GetPCA(const AliTrackPoint &p, AliTrackPoint &out) const
313 // Get the intersection point between this point and
314 // the point "p" belongs to.
315 // The result is stored as a point 'out'
316 // return kFALSE in case of failure.
326 const Float_t *cv=GetCov();
327 tC(0,0)=cv[0]; tC(0,1)=cv[1]; tC(0,2)=cv[2];
328 tC(1,0)=cv[1]; tC(1,1)=cv[3]; tC(1,2)=cv[4];
329 tC(2,0)=cv[2]; tC(2,1)=cv[4]; tC(2,2)=cv[5];
339 const Float_t *cv=p.GetCov();
340 mC(0,0)=cv[0]; mC(0,1)=cv[1]; mC(0,2)=cv[2];
341 mC(1,0)=cv[1]; mC(1,1)=cv[3]; mC(1,2)=cv[4];
342 mC(2,0)=cv[2]; mC(2,1)=cv[4]; mC(2,2)=cv[5];
348 if (!tmW.IsValid()) return kFALSE;
350 TMatrixD mW(tC,TMatrixD::kMult,tmW);
351 TMatrixD tW(mC,TMatrixD::kMult,tmW);
353 TMatrixD mi(mW,TMatrixD::kMult,m);
354 TMatrixD ti(tW,TMatrixD::kMult,t);
357 TMatrixD iC(tC,TMatrixD::kMult,tmW);
360 out.SetXYZ(ti(0,0),ti(1,0),ti(2,0));
361 UShort_t id=p.GetVolumeID();
367 //______________________________________________________________________________
368 Float_t AliTrackPoint::GetAngle() const
370 // The method uses the covariance matrix of
371 // the space-point in order to extract the
372 // orientation of the detector plane.
373 // The rotation in XY plane only is calculated.
375 Float_t phi= TMath::ATan2(TMath::Sqrt(fCov[0]),TMath::Sqrt(fCov[3]));
377 phi = TMath::Pi() - phi;
378 if ((fY-fX) < 0) phi += TMath::Pi();
381 if ((fX+fY) < 0) phi += TMath::Pi();
388 //_____________________________________________________________________________
389 AliTrackPoint& AliTrackPoint::Rotate(Float_t alpha) const
391 // Transform the space-point coordinates
392 // and covariance matrix from global to
393 // local (detector plane) coordinate system
394 // XY plane rotation only
396 static AliTrackPoint p;
399 Float_t xyz[3],cov[6];
402 Float_t sin = TMath::Sin(alpha), cos = TMath::Cos(alpha);
404 Float_t newxyz[3],newcov[6];
405 newxyz[0] = cos*xyz[0] + sin*xyz[1];
406 newxyz[1] = cos*xyz[1] - sin*xyz[0];
409 newcov[0] = cov[0]*cos*cos+
412 newcov[1] = cov[1]*(cos*cos-sin*sin)+
413 (cov[3]-cov[0])*sin*cos;
414 newcov[2] = cov[2]*cos+
416 newcov[3] = cov[0]*sin*sin-
419 newcov[4] = cov[4]*cos-
423 p.SetXYZ(newxyz,newcov);
424 p.SetVolumeID(GetVolumeID());
429 //_____________________________________________________________________________
430 AliTrackPoint& AliTrackPoint::MasterToLocal() const
432 // Transform the space-point coordinates
433 // and the covariance matrix from the
434 // (master) to the local (tracking)
437 Float_t alpha = GetAngle();
438 return Rotate(alpha);
441 //_____________________________________________________________________________
442 void AliTrackPoint::Print(Option_t *) const
444 // Print the space-point coordinates and
447 printf("VolumeID=%d\n", GetVolumeID());
448 printf("X = %12.6f Tx = %12.6f%12.6f%12.6f\n", fX, fCov[0], fCov[1], fCov[2]);
449 printf("Y = %12.6f Ty = %12.6f%12.6f%12.6f\n", fY, fCov[1], fCov[3], fCov[4]);
450 printf("Z = %12.6f Tz = %12.6f%12.6f%12.6f\n", fZ, fCov[2], fCov[4], fCov[5]);
455 //________________________________
456 void AliTrackPoint::SetAlignCovMatrix(const TMatrixDSym alignparmtrx){
457 // Add the uncertainty on the cluster position due to alignment
458 // (using the 6x6 AliAlignObj Cov. Matrix alignparmtrx) to the already
459 // present Cov. Matrix
467 cov(1,0)=cov(0,1)=fCov[1];
468 cov(2,0)=cov(0,2)=fCov[2];
470 cov(2,1)=cov(1,2)=fCov[4];
473 jacob(0,0) = 1; jacob(1,0) = 0; jacob(2,0) = 0;
474 jacob(0,1) = 0; jacob(1,1) = 1; jacob(2,1) = 0;
475 jacob(0,2) = 0; jacob(1,2) = 0; jacob(2,2) = 1;
476 jacob(0,3) = 0; jacob(1,3) =-fZ; jacob(2,3) = fY;
477 jacob(0,4) = fZ; jacob(1,4) = 0; jacob(2,4) =-fX;
478 jacob(0,5) = fY; jacob(1,5) = fX; jacob(2,5) = 0;
480 TMatrixD jacobT=jacob.T();jacob.T();
482 coval=jacob*alignparmtrx*jacobT+cov;
485 newcov[0]=coval(0,0);
486 newcov[1]=coval(1,0);
487 newcov[2]=coval(2,0);
488 newcov[3]=coval(1,1);
489 newcov[4]=coval(2,1);
490 newcov[5]=coval(2,2);
492 SetXYZ(fX,fY,fZ,newcov);