+++ /dev/null
-/**************************************************************************
- * Copyright(c) 1998-1999, ALICE Experiment at CERN, All rights reserved. *
- * *
- * Author: The ALICE Off-line Project. *
- * Contributors are mentioned in the code where appropriate. *
- * *
- * Permission to use, copy, modify and distribute this software and its *
- * documentation strictly for non-commercial purposes is hereby granted *
- * without fee, provided that the above copyright notice appears in all *
- * copies and that both the copyright notice and this permission notice *
- * appear in the supporting documentation. The authors make no claims *
- * about the suitability of this software for any purpose. It is *
- * provided "as is" without express or implied warranty. *
- **************************************************************************/
-
-/* $Id$ */
-
-//-----------------------------------------------------------------
-// Implementation of the alignment object class, holding the alignment
-// constants for a single volume, through the abstract class AliAlignObj.
-// From it two derived concrete representation of alignment object class
-// (AliAlignObjParams, AliAlignObjMatrix) are derived in separate files.
-//-----------------------------------------------------------------
-
-#include <TGeoManager.h>
-#include <TGeoMatrix.h>
-#include <TGeoPhysicalNode.h>
-#include <TGeoOverlap.h>
-#include <TMath.h>
-
-#include "AliAlignObj.h"
-#include "AliTrackPointArray.h"
-#include "AliLog.h"
-
-ClassImp(AliAlignObj)
-
-//_____________________________________________________________________________
-AliAlignObj::AliAlignObj():
- TObject(),
- fVolPath(),
- fVolUID(0)
-{
- // default constructor
- for(Int_t i=0; i<6; i++) fDiag[i]=-999.;
- for(Int_t i=0; i<15; i++) fODia[i]=-999.;
-}
-
-//_____________________________________________________________________________
-AliAlignObj::AliAlignObj(const char* symname, UShort_t voluid) :
- TObject(),
- fVolPath(symname),
- fVolUID(voluid)
-{
- // standard constructor
- //
- for(Int_t i=0; i<6; i++) fDiag[i]=-999.;
- for(Int_t i=0; i<15; i++) fODia[i]=-999.;
-}
-
-//_____________________________________________________________________________
-AliAlignObj::AliAlignObj(const char* symname, UShort_t voluid, Double_t* cmat) :
- TObject(),
- fVolPath(symname),
- fVolUID(voluid)
-{
- // standard constructor
- //
- SetCorrMatrix(cmat);
-}
-
-//_____________________________________________________________________________
-AliAlignObj::AliAlignObj(const AliAlignObj& theAlignObj) :
- TObject(theAlignObj),
- fVolPath(theAlignObj.GetSymName()),
- fVolUID(theAlignObj.GetVolUID())
-{
- //copy constructor
- for(Int_t i=0; i<6; i++) fDiag[i]=theAlignObj.fDiag[i];
- for(Int_t i=0; i<15; i++) fODia[i]=theAlignObj.fODia[i];
-}
-
-//_____________________________________________________________________________
-AliAlignObj &AliAlignObj::operator =(const AliAlignObj& theAlignObj)
-{
- // assignment operator
- if(this==&theAlignObj) return *this;
- fVolPath = theAlignObj.GetSymName();
- fVolUID = theAlignObj.GetVolUID();
- for(Int_t i=0; i<6; i++) fDiag[i]=theAlignObj.fDiag[i];
- for(Int_t i=0; i<15; i++) fODia[i]=theAlignObj.fODia[i];
- return *this;
-}
-
-//_____________________________________________________________________________
-AliAlignObj &AliAlignObj::operator*=(const AliAlignObj& theAlignObj)
-{
- // multiplication operator
- // The operator can be used to 'combine'
- // two alignment objects
- TGeoHMatrix m1;
- GetMatrix(m1);
- TGeoHMatrix m2;
- theAlignObj.GetMatrix(m2);
- m1.MultiplyLeft(&m2);
- SetMatrix(m1);
- // temporary solution: the covariance matrix of the resulting combined object
- // is set equal to the covariance matrix of the right operand
- // (not to be used for combining alignment objects for different levels)
- for(Int_t i=0; i<6; i++) fDiag[i] = theAlignObj.fDiag[i];
- for(Int_t i=0; i<15; i++) fODia[i] = theAlignObj.fODia[i];
- return *this;
-}
-
-//_____________________________________________________________________________
-AliAlignObj::~AliAlignObj()
-{
- // dummy destructor
-}
-
-//_____________________________________________________________________________
-void AliAlignObj::SetVolUID(AliGeomManager::ELayerID detId, Int_t modId)
-{
- // From detector name and module number (according to detector numbering)
- // build fVolUID, unique numerical identity of that volume inside ALICE
- // fVolUID is 16 bits, first 5 reserved for detID (32 possible values),
- // remaining 11 for module ID inside det (2048 possible values).
- //
- fVolUID = AliGeomManager::LayerToVolUID(detId,modId);
-}
-
-//_____________________________________________________________________________
-void AliAlignObj::GetVolUID(AliGeomManager::ELayerID &layerId, Int_t &modId) const
-{
- // From the fVolUID, unique numerical identity of that volume inside ALICE,
- // (voluid is 16 bits, first 5 reserved for layerID (32 possible values),
- // remaining 11 for module ID inside det (2048 possible values)), sets
- // the argument layerId to the identity of the layer to which that volume
- // belongs and sets the argument modId to the identity of that volume
- // internally to the layer.
- //
- layerId = AliGeomManager::VolUIDToLayer(fVolUID,modId);
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::GetPars(Double_t tr[], Double_t angles[]) const
-{
- GetTranslation(tr);
- return GetAngles(angles);
-}
-
-//_____________________________________________________________________________
-Int_t AliAlignObj::GetLevel() const
-{
- // Return the geometry level of the alignable volume to which
- // the alignment object is associated; this is the number of
- // slashes in the corresponding volume path
- //
- if(!gGeoManager){
- AliWarning("gGeoManager doesn't exist or it is still open: unable to return meaningful level value.");
- return (-1);
- }
- const char* symname = GetSymName();
- const char* path;
- TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
- if(pne){
- path = pne->GetTitle();
- }else{
- path = symname;
- }
-
- TString pathStr = path;
- if(pathStr[0]!='/') pathStr.Prepend('/');
- return pathStr.CountChar('/');
-}
-
-//_____________________________________________________________________________
-Int_t AliAlignObj::Compare(const TObject *obj) const
-{
- // Compare the levels of two
- // alignment objects
- // Used in the sorting during
- // the application of alignment
- // objects to the geometry
- //
- Int_t level = GetLevel();
- Int_t level2 = ((AliAlignObj *)obj)->GetLevel();
- if (level == level2)
- return 0;
- else
- return ((level > level2) ? 1 : -1);
-}
-
-//______________________________________________________________________________
-void AliAlignObj::GetCovMatrix(Double_t *cmat) const
-{
- // Fills the cmat argument with the coefficients of the external cov matrix (21 elements)
- // calculating them from the correlation matrix data member
- //
-
- for(Int_t i=0; i<6; ++i) {
- // Off diagonal elements
- for(Int_t j=0; j<i; ++j) {
- cmat[i*(i+1)/2+j] = (fDiag[j] >= 0. && fDiag[i] >= 0.) ? fODia[(i-1)*i/2+j]*fDiag[j]*fDiag[i]: -999.;
- }
-
- // Diagonal elements
- cmat[i*(i+1)/2+i] = (fDiag[i] >= 0.) ? fDiag[i]*fDiag[i] : -999.;
- }
-
- return;
-}
-
-//______________________________________________________________________________
-void AliAlignObj::GetCovMatrix(TMatrixDSym& mcov) const
-{
- // Fills the matrix m passed as argument as the covariance matrix calculated
- // from the coefficients of the reduced covariance matrix data members
- //
-
- for(Int_t i=0; i<6; ++i) {
- // Off diagonal elements
- for(Int_t j=0; j<i; ++j) {
- mcov(j,i) = mcov(i,j) = (fDiag[j] >= 0. && fDiag[i] >= 0.) ? fODia[(i-1)*i/2+j]*fDiag[j]*fDiag[i]: -999.;
- }
-
- // Diagonal elements
- mcov(i,i) = (fDiag[i] >= 0.) ? fDiag[i]*fDiag[i] : -999.;
- }
-
-}
-
-//______________________________________________________________________________
-Bool_t AliAlignObj::GetLocalCovMatrix(TMatrixDSym& lCov) const
-{
- // Calculates the covariance matrix (6x6) associated to the six parameters
- // defining the current alignment in the global coordinates system (and sets
- // in the internal data members) from the covariance matrix (6x6) for the six
- // parameters defining the alignment transformation in the local coordinates
- // system, passed as an argument.
- //
- TMatrixD mJ(6,6);// the jacobian of the transformation from local to global parameters
- if(!GetJacobian(mJ)) return kFALSE;
-
- TMatrixDSym gCov(6);
- GetCovMatrix(gCov);
-
- // Compute the local covariance matrix lcov = mJ^T gcov mJ
- TMatrixD gcovJ(gCov,TMatrixD::kMult,mJ);
- TMatrixD lCovM(mJ,TMatrixD::kTransposeMult,gcovJ);
- // To be done: somehow check that lCovM is close enough to be symmetric
- for(Int_t i=0; i<6; i++)
- {
- lCov(i,i) = lCovM(i,i);
- for(Int_t j=i+1; j<6; j++)
- {
- lCov(i,j)=lCovM(i,j);
- lCov(j,i)=lCovM(i,j);
- }
- }
-
- return kTRUE;
-
-}
-
-//______________________________________________________________________________
-Bool_t AliAlignObj::GetLocalCovMatrix(Double_t *lCov) const
-{
- // Calculates the covariance matrix (6x6) associated to the six parameters
- // defining the current alignment in the global coordinates system (and sets
- // in the internal data members) from the covariance matrix (6x6) for the six
- // parameters defining the alignment transformation in the local coordinates
- // system, passed as an argument.
- //
- TMatrixDSym lCovMatrix(6);
- GetLocalCovMatrix(lCovMatrix);
-
- Int_t k=0;
- for(Int_t i=0; i<6; i++)
- for(Int_t j=i; j<6; j++)
- {
- lCov[k++] = lCovMatrix(i,j);
- }
-
- return kTRUE;
-}
-
-//______________________________________________________________________________
-Bool_t AliAlignObj::GetJacobian(TMatrixD& mJ) const
-{
- // Compute the jacobian J of the transformation of the six local to the six global delta parameters
- //
- // R00 R01 R02 | (R01Rk2 - R02Rk1)Tk (R02Rk0 - R00Rk2)Tk (R00Rk1 - R01Rk0)Tk
- // R00 R01 R02 | (R11Rk2 - R12Rk1)Tk (R12Rk0 - R10Rk2)Tk (R10Rk1 - R11Rk0)Tk
- // R00 R01 R02 | (R21Rk2 - R22Rk1)Tk (R22Rk0 - R20Rk2)Tk (R20Rk1 - R21Rk0)Tk
- // - - - - - - - - - - - - - - - - - - - - - - -
- // 0 0 0 | R11R22 - R12R21 R12R20 - R10R22 R10R21 - R11R20
- // 0 0 0 | R21R02 - R22R01 R22R00 - R20R02 R20R01 - R21R00
- // 0 0 0 | R01R12 - R02R11 R02R10 - R00R12 R00R11 - R01R10
- //
- if (!gGeoManager || !gGeoManager->IsClosed()) {
- AliError("Can't compute the global covariance matrix from the local one without an open geometry!");
- return kFALSE;
- }
-
- const char* symname = GetSymName();
- TGeoPhysicalNode* node;
- TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
- if(pne){
- if(!pne->GetPhysicalNode()){
- node = gGeoManager->MakeAlignablePN(pne);
- }else{
- node = pne->GetPhysicalNode();
- }
- }else{
- AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname));
- node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(symname);
- }
-
- if (!node) {
- AliError(Form("Volume name or path %s not valid!",symname));
- return kFALSE;
- }
-
- TGeoHMatrix gm; //global matrix
- gm = *node->GetMatrix();
- Double_t *tr = gm.GetTranslation();
- Double_t *rot = gm.GetRotationMatrix();
-
- TGeoHMatrix m; // global delta transformation matrix
- GetMatrix(m);
- // We should probably check that it's sufficinetly close to identity
- // if it's not return because the "small angles" approximation cannot hold
-
- // 3x3 upper left part (global shifts derived w.r.t. local shifts)
- for(Int_t i=0; i<3; i++)
- {
- for(Int_t j=0; j<3; j++)
- {
- mJ(i,j) = rot[i+3*j];
- }
- }
-
- // 3x3 lower left part (global angles derived w.r.t. local shifts)
- for(Int_t i=0; i<3; i++)
- {
- for(Int_t j=0; j<3; j++)
- {
- mJ(i+3,j) = 0.;
- }
- }
-
- // 3x3 upper right part (global shifts derived w.r.t. local angles)
- for(Int_t i=0; i<3; i++)
- {
- for(Int_t j=0; j<3; j++)
- {
- Double_t mEl = 0.;
- Int_t b = (j+1)%3;
- Int_t d = (j+2)%3;
- for(Int_t k=0; k<3; k++)
- {
- mEl += (rot[3*i+b]*rot[3*k+d])*tr[k]-(rot[3*i+d]*rot[3*k+b])*tr[k];
- }
- mJ(i,j+3) = mEl;
- }
- }
-
- // 3x3 lower right part (global angles derived w.r.t. local angles)
- for(Int_t i=0; i<3; i++)
- for(Int_t j=0; j<3; j++)
- {
- Int_t a = (i+1)%3;
- Int_t b = (j+1)%3;
- Int_t c = (i+2)%3;
- Int_t d = (j+2)%3;
- mJ(i+3,j+3) = rot[3*a+b]*rot[3*c+d]-rot[3*a+d]*rot[3*c+b];
- }
-
- return kTRUE;
-
-}
-
-//______________________________________________________________________________
-Bool_t AliAlignObj::SetFromLocalCov(TMatrixDSym& lCov)
-{
- // Calculates the covariance matrix (6x6) associated to the six parameters
- // defining the current alignment in the global coordinates system (and sets
- // in the internal data members) from the covariance matrix (6x6) for the six
- // parameters defining the alignment transformation in the local coordinates
- // system, passed as an argument.
- //
- TMatrixD mJ(6,6);// the jacobian of the transformation from local to global parameters
- if(!GetJacobian(mJ)) return kFALSE;
-
- // Compute the global covariance matrix gcov = mJ lcov mJ'
- TMatrixD trJ(TMatrixD::kTransposed, mJ);
- TMatrixD lcovTrJ(lCov,TMatrixD::kMult,trJ);
- TMatrixD gCovM(mJ,TMatrixD::kMult,lcovTrJ);
- // To be done: somehow check that gCovM is close enough to be symmetric
- TMatrixDSym gCov(6);
- for(Int_t i=0; i<6; i++)
- {
- gCov(i,i) = gCovM(i,i);
- for(Int_t j=i+1; j<6; j++)
- {
- gCov(i,j)=gCovM(i,j);
- gCov(j,i)=gCovM(i,j);
- }
- }
- SetCorrMatrix(gCov);
-
- return kTRUE;
-
-}
-
-//______________________________________________________________________________
-Bool_t AliAlignObj::SetFromLocalCov(Double_t *lCov)
-{
- // Calculates the covariance matrix (6x6) associated to the six parameters
- // defining the current alignment in the global coordinates system, and sets
- // in the internal data members, from the 21 coefficients, passed as argument,
- // of the covariance matrix (6x6) for the six parameters defining the
- // alignment transformation in the local coordinates system.
- //
- TMatrixDSym lCovMatrix(6);
-
- Int_t k=0;
- for(Int_t i=0; i<6; i++)
- for(Int_t j=i; j<6; j++)
- {
- lCovMatrix(i,j) = lCov[k++];
- if(j!=i) lCovMatrix(j,i) = lCovMatrix(i,j);
- }
-
- return SetFromLocalCov(lCovMatrix);
-
-}
-
-
-//______________________________________________________________________________
-void AliAlignObj::SetCorrMatrix(Double_t *cmat)
-{
- // Sets the correlation matrix data member from the coefficients of the external covariance
- // matrix (21 elements passed as argument).
- //
- if(cmat) {
-
- // Diagonal elements first
- for(Int_t i=0; i<6; ++i) {
- fDiag[i] = (cmat[i*(i+1)/2+i] >= 0.) ? TMath::Sqrt(cmat[i*(i+1)/2+i]) : -999.;
- }
-
- // ... then the ones off diagonal
- for(Int_t i=0; i<6; ++i)
- // Off diagonal elements
- for(Int_t j=0; j<i; ++j) {
- fODia[(i-1)*i/2+j] = (fDiag[i] > 0. && fDiag[j] > 0.) ? cmat[i*(i+1)/2+j]/(fDiag[j]*fDiag[i]) : 0.; // check for division by zero (due to diagonal element of 0) and for fDiag != -999. (due to negative input diagonal element).
- if (fODia[(i-1)*i/2+j]>1.) fODia[(i-1)*i/2+j] = 1.; // check upper boundary
- if (fODia[(i-1)*i/2+j]<-1.) fODia[(i-1)*i/2+j] = -1.; // check lower boundary
- }
- } else {
- for(Int_t i=0; i< 6; ++i) fDiag[i]=-999.;
- for(Int_t i=0; i< 6*(6-1)/2; ++i) fODia[i]=0.;
- }
-
- return;
-}
-
-//______________________________________________________________________________
-void AliAlignObj::SetCorrMatrix(TMatrixDSym& mcov)
-{
- // Sets the correlation matrix data member from the covariance matrix mcov passed
- // passed as argument.
- //
- if(mcov.IsValid()) {
-
- // Diagonal elements first
- for(Int_t i=0; i<6; ++i) {
- fDiag[i] = (mcov(i,i) >= 0.) ? TMath::Sqrt(mcov(i,i)) : -999.;
- }
-
- // ... then the ones off diagonal
- for(Int_t i=0; i<6; ++i)
- // Off diagonal elements
- for(Int_t j=0; j<i; ++j) {
- fODia[(i-1)*i/2+j] = (fDiag[i] > 0. && fDiag[j] > 0.) ? mcov(i,j)/(fDiag[j]*fDiag[i]) : 0.; // check for division by zero (due to diagonal element of 0) and for fDiag != -999. (due to negative input diagonal element).
- if (fODia[(i-1)*i/2+j]>1.) fODia[(i-1)*i/2+j] = 1.; // check upper boundary
- if (fODia[(i-1)*i/2+j]<-1.) fODia[(i-1)*i/2+j] = -1.; // check lower boundary
- }
- } else {
- for(Int_t i=0; i< 6; ++i) fDiag[i]=-999.;
- for(Int_t i=0; i< 6*(6-1)/2; ++i) fODia[i]=0.;
- }
-
- return;
-}
-
-//_____________________________________________________________________________
-void AliAlignObj::AnglesToMatrix(const Double_t *angles, Double_t *rot) const
-{
- // Calculates the rotation matrix using the
- // Euler angles in "x y z" notation
- //
- Double_t degrad = TMath::DegToRad();
- Double_t sinpsi = TMath::Sin(degrad*angles[0]);
- Double_t cospsi = TMath::Cos(degrad*angles[0]);
- Double_t sinthe = TMath::Sin(degrad*angles[1]);
- Double_t costhe = TMath::Cos(degrad*angles[1]);
- Double_t sinphi = TMath::Sin(degrad*angles[2]);
- Double_t cosphi = TMath::Cos(degrad*angles[2]);
-
- rot[0] = costhe*cosphi;
- rot[1] = -costhe*sinphi;
- rot[2] = sinthe;
- rot[3] = sinpsi*sinthe*cosphi + cospsi*sinphi;
- rot[4] = -sinpsi*sinthe*sinphi + cospsi*cosphi;
- rot[5] = -costhe*sinpsi;
- rot[6] = -cospsi*sinthe*cosphi + sinpsi*sinphi;
- rot[7] = cospsi*sinthe*sinphi + sinpsi*cosphi;
- rot[8] = costhe*cospsi;
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::MatrixToAngles(const Double_t *rot, Double_t *angles) const
-{
- // Calculates the Euler angles in "x y z" notation
- // using the rotation matrix
- // Returns false in case the rotation angles can not be
- // extracted from the matrix
- //
- if(TMath::Abs(rot[0])<1e-7 || TMath::Abs(rot[8])<1e-7) {
- AliError("Failed to extract roll-pitch-yall angles!");
- return kFALSE;
- }
- Double_t raddeg = TMath::RadToDeg();
- angles[0]=raddeg*TMath::ATan2(-rot[5],rot[8]);
- angles[1]=raddeg*TMath::ASin(rot[2]);
- angles[2]=raddeg*TMath::ATan2(-rot[1],rot[0]);
- return kTRUE;
-}
-
-//______________________________________________________________________________
-void AliAlignObj::Transform(AliTrackPoint &p, Bool_t copycov) const
-{
- // The method transforms the space-point coordinates using the
- // transformation matrix provided by the AliAlignObj
- // In case the copycov flag is set to kTRUE, the covariance matrix
- // of the alignment object is copied into the space-point
- //
- if (fVolUID != p.GetVolumeID())
- AliWarning(Form("Alignment object ID is not equal to the space-point ID (%d != %d)",fVolUID,p.GetVolumeID()));
-
- TGeoHMatrix m;
- GetMatrix(m);
- Double_t *rot = m.GetRotationMatrix();
- Double_t *tr = m.GetTranslation();
-
- Float_t xyzin[3],xyzout[3];
- p.GetXYZ(xyzin);
- for (Int_t i = 0; i < 3; i++)
- xyzout[i] = tr[i]+
- xyzin[0]*rot[3*i]+
- xyzin[1]*rot[3*i+1]+
- xyzin[2]*rot[3*i+2];
- p.SetXYZ(xyzout);
-
- if(copycov){
- TMatrixDSym covmat(6);
- GetCovMatrix(covmat);
- p.SetAlignCovMatrix(covmat);
- }
-
-}
-
-//_____________________________________________________________________________
-void AliAlignObj::Transform(AliTrackPointArray &array) const
-{
- // This method is used to transform all the track points
- // from the input AliTrackPointArray
- //
- AliTrackPoint p;
- for (Int_t i = 0; i < array.GetNPoints(); i++) {
- array.GetPoint(p,i);
- Transform(p);
- array.AddPoint(i,&p);
- }
-}
-
-//_____________________________________________________________________________
-void AliAlignObj::Print(Option_t *) const
-{
- // Print the contents of the
- // alignment object in angles and
- // matrix representations
- //
- Double_t tr[3];
- GetTranslation(tr);
- Double_t angles[3];
- GetAngles(angles);
- TGeoHMatrix m;
- GetMatrix(m);
- const Double_t *rot = m.GetRotationMatrix();
-
- printf("Volume=%s\n",GetSymName());
- if (GetVolUID() != 0) {
- AliGeomManager::ELayerID layerId;
- Int_t modId;
- GetVolUID(layerId,modId);
- printf("VolumeID=%d LayerID=%d ( %s ) ModuleID=%d\n", GetVolUID(),layerId,AliGeomManager::LayerName(layerId),modId);
- }
- printf("%12.8f%12.8f%12.8f Tx = %12.8f Psi = %12.8f\n", rot[0], rot[1], rot[2], tr[0], angles[0]);
- printf("%12.8f%12.8f%12.8f Ty = %12.8f Theta = %12.8f\n", rot[3], rot[4], rot[5], tr[1], angles[1]);
- printf("%12.8f%12.8f%12.8f Tz = %12.8f Phi = %12.8f\n", rot[6], rot[7], rot[8], tr[2], angles[2]);
-
-}
-
-//_____________________________________________________________________________
-void AliAlignObj::SetPars(Double_t x, Double_t y, Double_t z,
- Double_t psi, Double_t theta, Double_t phi)
-{
- // Set the global delta transformation by passing 3 angles (expressed in
- // degrees) and 3 shifts (in centimeters)
- //
- SetTranslation(x,y,z);
- SetRotation(psi,theta,phi);
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::SetLocalPars(Double_t x, Double_t y, Double_t z,
- Double_t psi, Double_t theta, Double_t phi)
-{
- // Set the global delta transformation by passing the parameters
- // for the local delta transformation (3 shifts and 3 angles).
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- TGeoHMatrix m;
- Double_t tr[3] = {x, y, z};
- m.SetTranslation(tr);
- Double_t angles[3] = {psi, theta, phi};
- Double_t rot[9];
- AnglesToMatrix(angles,rot);
- m.SetRotation(rot);
-
- return SetLocalMatrix(m);
-
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::SetLocalTranslation(Double_t x, Double_t y, Double_t z)
-{
- // Set the global delta transformation by passing the three shifts giving
- // the translation in the local reference system of the alignable
- // volume (known by TGeo geometry).
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- TGeoHMatrix m;
- Double_t tr[3] = {x, y, z};
- m.SetTranslation(tr);
-
- return SetLocalMatrix(m);
-
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::SetLocalTranslation(const TGeoMatrix& m)
-{
- // Set the global delta transformation by passing the matrix of
- // the local delta transformation and taking its translational part
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- const Double_t* tr = m.GetTranslation();
- TGeoHMatrix mtr;
- mtr.SetTranslation(tr);
-
- return SetLocalMatrix(mtr);
-
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::SetLocalRotation(Double_t psi, Double_t theta, Double_t phi)
-{
- // Set the global delta transformation by passing the three angles giving
- // the rotation in the local reference system of the alignable
- // volume (known by TGeo geometry).
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- TGeoHMatrix m;
- Double_t angles[3] = {psi, theta, phi};
- Double_t rot[9];
- AnglesToMatrix(angles,rot);
- m.SetRotation(rot);
-
- return SetLocalMatrix(m);
-
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::SetLocalRotation(const TGeoMatrix& m)
-{
- // Set the global delta transformation by passing the matrix of
- // the local delta transformation and taking its rotational part
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- TGeoHMatrix rotm;
- const Double_t* rot = m.GetRotationMatrix();
- rotm.SetRotation(rot);
-
- return SetLocalMatrix(rotm);
-
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::SetLocalMatrix(const TGeoMatrix& m)
-{
- // Set the global delta transformation by passing the TGeo matrix
- // for the local delta transformation.
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- if (!gGeoManager || !gGeoManager->IsClosed()) {
- AliError("Can't set the local alignment object parameters! gGeoManager doesn't exist or it is still open!");
- return kFALSE;
- }
-
- const char* symname = GetSymName();
- TGeoHMatrix gprime,gprimeinv;
- TGeoPhysicalNode* pn = 0;
- TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
- if(pne)
- {
- pn = pne->GetPhysicalNode();
- if(pn){
- if (pn->IsAligned())
- AliWarning(Form("Volume %s has been misaligned already!",symname));
- gprime = *pn->GetMatrix();
- }else{
- gprime = pne->GetGlobalOrig();
- }
- }else{
- AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname));
- if(!gGeoManager->cd(symname)) {
- AliError(Form("Volume name or path %s not valid!",symname));
- return kFALSE;
- }
- gprime = *gGeoManager->GetCurrentMatrix();
- }
-
- TGeoHMatrix m1; // the TGeoHMatrix copy of the local delta "m"
- const Double_t *tr = m.GetTranslation();
- m1.SetTranslation(tr);
- const Double_t* rot = m.GetRotationMatrix();
- m1.SetRotation(rot);
-
- gprimeinv = gprime.Inverse();
- m1.Multiply(&gprimeinv);
- m1.MultiplyLeft(&gprime);
-
- return SetMatrix(m1);
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::SetMatrix(const TGeoMatrix& m)
-{
- // Set the global delta transformation by passing the TGeoMatrix
- // for it
- //
- SetTranslation(m);
- return SetRotation(m);
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::GetLocalPars(Double_t transl[], Double_t angles[]) const
-{
- // Get the translations and angles (in degrees) expressing the
- // local delta transformation.
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- if(!GetLocalTranslation(transl)) return kFALSE;
- return GetLocalAngles(angles);
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::GetLocalTranslation(Double_t* tr) const
-{
- // Get the 3 shifts giving the translational part of the local
- // delta transformation.
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- TGeoHMatrix ml;
- if(!GetLocalMatrix(ml)) return kFALSE;
- const Double_t* transl;
- transl = ml.GetTranslation();
- tr[0]=transl[0];
- tr[1]=transl[1];
- tr[2]=transl[2];
- return kTRUE;
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::GetLocalAngles(Double_t* angles) const
-{
- // Get the 3 angles giving the rotational part of the local
- // delta transformation.
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- TGeoHMatrix ml;
- if(!GetLocalMatrix(ml)) return kFALSE;
- const Double_t *rot = ml.GetRotationMatrix();
- return MatrixToAngles(rot,angles);
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::GetLocalMatrix(TGeoHMatrix& m) const
-{
- // Get the matrix for the local delta transformation.
- // In case that the TGeo was not initialized or not closed,
- // returns false and the object parameters are not set.
- //
- if (!gGeoManager || !gGeoManager->IsClosed()) {
- AliError("Can't get the local alignment object parameters! gGeoManager doesn't exist or it is still open!");
- return kFALSE;
- }
-
- const char* symname = GetSymName();
- TGeoPhysicalNode* node;
- TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
- if(pne){
- if(!pne->GetPhysicalNode()){
- node = gGeoManager->MakeAlignablePN(pne);
- }else{
- node = pne->GetPhysicalNode();
- }
- }else{
- AliWarning(Form("The symbolic volume name %s does not correspond to a physical entry. Using it as volume path!",symname));
- node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(symname);
- }
-
- if (!node) {
- AliError(Form("Volume name or path %s not valid!",symname));
- return kFALSE;
- }
-// if (node->IsAligned())
-// AliWarning(Form("Volume %s has been misaligned already!",symname));
-
- GetMatrix(m);
- TGeoHMatrix gprime,gprimeinv;
- gprime = *node->GetMatrix();
- gprimeinv = gprime.Inverse();
- m.Multiply(&gprime);
- m.MultiplyLeft(&gprimeinv);
-
- return kTRUE;
-}
-
-//_____________________________________________________________________________
-Bool_t AliAlignObj::ApplyToGeometry(Bool_t ovlpcheck)
-{
- // Apply the current alignment object to the TGeo geometry
- // This method returns FALSE if the symname of the object was not
- // valid neither to get a TGeoPEntry nor as a volume path
- //
- if (!gGeoManager || !gGeoManager->IsClosed()) {
- AliError("Can't apply the alignment object! gGeoManager doesn't exist or it is still open!");
- return kFALSE;
- }
-
- if (gGeoManager->IsLocked()){
- AliError("Can't apply the alignment object! Geometry is locked!");
- return kFALSE;
- }
-
- const char* symname = GetSymName();
- const char* path;
- TGeoPhysicalNode* node;
- TGeoPNEntry* pne = gGeoManager->GetAlignableEntry(symname);
- if(pne){
- path = pne->GetTitle();
- node = gGeoManager->MakeAlignablePN(pne);
- }else{
- AliDebug(1,Form("The symbolic volume name %s does not correspond to a physical entry. Using it as a volume path!",symname));
- path=symname;
- if (!gGeoManager->CheckPath(path)) {
- AliDebug(1,Form("Volume path %s not valid!",path));
- return kFALSE;
- }
- if (gGeoManager->GetListOfPhysicalNodes()->FindObject(path)) {
- AliError(Form("Volume %s has been misaligned already!",path));
- return kFALSE;
- }
- node = (TGeoPhysicalNode*) gGeoManager->MakePhysicalNode(path);
- }
-
- if (!node) {
- AliError(Form("Volume path %s not valid!",path));
- return kFALSE;
- }
-
- // Double_t threshold = 0.001;
-
- TGeoHMatrix align,gprime;
- gprime = *node->GetMatrix();
- GetMatrix(align);
- gprime.MultiplyLeft(&align);
- TGeoHMatrix *ginv = new TGeoHMatrix;
- TGeoHMatrix *g = node->GetMatrix(node->GetLevel()-1);
- *ginv = g->Inverse();
- *ginv *= gprime;
- AliGeomManager::ELayerID layerId; // unique identity for layer in the alobj
- Int_t modId; // unique identity for volume inside layer in the alobj
- GetVolUID(layerId, modId);
- AliDebug(2,Form("Aligning volume %s of detector layer %d with local ID %d",symname,layerId,modId));
- if(ovlpcheck){
- node->Align(ginv,0,kTRUE); //(trunk of root takes threshold as additional argument)
- }else{
- node->Align(ginv,0,kFALSE);
- }
- if(ovlpcheck)
- {
- TObjArray* ovlpArray = gGeoManager->GetListOfOverlaps();
- Int_t nOvlp = ovlpArray->GetEntriesFast();
- if(nOvlp)
- {
- AliInfo(Form("Misalignment of node %s generated the following overlaps/extrusions:",node->GetName()));
- for(Int_t i=0; i<nOvlp; i++)
- ((TGeoOverlap*)ovlpArray->UncheckedAt(i))->PrintInfo();
- }
- }
-
- return kTRUE;
-}
-
-