AliRelAlignerKalman(const AliRelAlignerKalman& a);
//User methods:
- Bool_t AddESDTrack( const AliESDtrack* pTrack );
Bool_t AddCosmicEvent( const AliESDEvent* pEvent );
+ Bool_t AddTrackParams( const AliExternalTrackParam* p1, const AliExternalTrackParam* p2 );
void Print(Option_t* option="") const;
Double_t GetY() const {return (*fPX)(4);}
Double_t GetZ() const {return (*fPX)(5);}
Double_t GetTPCvdCorr() const {return (*fPX)(6);}
- Double_t GetTPCvdY() const {return (*fPX)(7);}
- Double_t GetTPCt0() const {return (*fPX)(8);}
+ Double_t GetTPCt0() const {return (*fPX)(7);}
+ Double_t GetTPCvdY() const {if (fgkNSystemParams>8) return (*fPX)(8); else return 0.0;}
Double_t GetPsiErr() const {return TMath::Sqrt((*fPXcov)(0,0));}
Double_t GetThetaErr() const {return TMath::Sqrt((*fPXcov)(1,1));}
Double_t GetPhiErr() const {return TMath::Sqrt((*fPXcov)(2,2));}
Double_t GetYErr() const {return TMath::Sqrt((*fPXcov)(4,4));}
Double_t GetZErr() const {return TMath::Sqrt((*fPXcov)(5,5));}
Double_t GetTPCvdCorrErr() const {return TMath::Sqrt((*fPXcov)(6,6));}
- Double_t GetTPCvdYErr() const {return TMath::Sqrt((*fPXcov)(7,7));}
- Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(8,8));}
+ Double_t GetTPCt0Err() const {return TMath::Sqrt((*fPXcov)(7,7));}
+ Double_t GetTPCvdYErr() const {if (fgkNSystemParams>8) return TMath::Sqrt((*fPXcov)(8,8)); else return 0.0;}
void GetMeasurement( TVectorD& mes ) const { mes = *fPMeasurement; }
+ TVectorD* GetMeasurement() { return fPMeasurement; }
void GetMeasurementCov( TMatrixDSym& cov ) const { cov = *fPMeasurementCov; }
- void GetState( TVectorD& state ) const { state = *fPX; }
- void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; }
- void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; }
void SetMeasurement( const TVectorD& mes ) {*fPMeasurement = mes;}
void SetMeasurementCov( const TMatrixDSym& cov ) {*fPMeasurementCov = cov;}
+ TMatrixDSym* GetMeasurementCov() const { return fPMeasurementCov; }
+ void GetState( TVectorD& state ) const { state = *fPX; }
+ TVectorD* GetState() const { return fPX; }
+ void GetStateCov ( TMatrixDSym& cov ) const { cov = *fPXcov; }
void SetState( const TVectorD& param ) {*fPX = param;}
void SetStateCov (const TMatrixDSym& cov ) {*fPXcov = cov;}
+ TMatrixDSym* GetStateCov() const { return fPXcov; }
+ void GetSeed( TVectorD& seed, TMatrixDSym& seedCov ) const { seed = *fPX; seedCov = *fPXcov; }
void SetSeed( const TVectorD& seed, const TMatrixDSym& seedCov ) {*fPX = seed; *fPXcov = seedCov; }
+ Bool_t Merge( const AliRelAlignerKalman* al );
//Expert methods:
+ Bool_t AddESDevent( const AliESDEvent* pEvent );
+ Bool_t AddESDtrack( const AliESDtrack* pTrack );
+ void SetMagField( const Double_t f ) { fMagField=f; }
+ Double_t GetMagField() const { return fMagField; }
Bool_t FindCosmicTrackletNumbersInEvent( TArrayI& outITStracksTArr, TArrayI& outTPCtracksTArr, const AliESDEvent* pEvent );
- Bool_t PrepareUpdate();
Bool_t Update();
void SetRefSurface( const Double_t x, const Double_t alpha );
- void PrintDebugInfo();
void PrintCorrelationMatrix();
- void PrintCovarianceCorrection();
+ //void PrintCovarianceCorrection();
void PrintSystemMatrix();
void Reset();
void ResetCovariance( const Double_t number=0. );
Double_t* GetStateCovArr() const { return fPXcov->GetMatrixArray(); }
Double_t* GetMeasurementArr() const { return fPMeasurement->GetMatrixArray(); }
Double_t* GetMeasurementCovArr() const { return fPMeasurementCov->GetMatrixArray(); }
+ TMatrixD* GetH() const { return fPH; }
const Double_t* GetDeltaArr() const {return fDelta;}
- TH1D* GetMes0Hist() const {return fPMes0Hist;}
- TH1D* GetMes1Hist() const {return fPMes1Hist;}
- TH1D* GetMes2Hist() const {return fPMes2Hist;}
- TH1D* GetMes3Hist() const {return fPMes3Hist;}
- TH1D* GetMesErr0Hist() const {return fPMesErr0Hist;}
- TH1D* GetMesErr1Hist() const {return fPMesErr1Hist;}
- TH1D* GetMesErr2Hist() const {return fPMesErr2Hist;}
- TH1D* GetMesErr3Hist() const {return fPMesErr3Hist;}
- Bool_t SetCalibrationMode( const Bool_t cp=kTRUE );
- void SetCorrectionMode( const Bool_t mode=kTRUE ){ fCorrectionMode=mode; }
- void SetApplyCovarianceCorrection( const Bool_t s=kTRUE ) {fApplyCovarianceCorrection = s;}
+ void SetNumericalParanoia( const Bool_t mode=kFALSE ) { fNumericalParanoia=mode; }
+ void SetCorrectionMode( const Bool_t mode=kTRUE ) { fCorrectionMode=mode; }
void SetOutRejSigma( const Double_t a=2. ) { fOutRejSigmas = a; }
void SetRejectOutliers( const Bool_t r=kTRUE ) {fRejectOutliers = r;}
- void SetCovarianceCorrection( const TMatrixDSym& c ) {*fPMeasurementCovCorr = c;}
- void GetCovarianceCorrection( TMatrixDSym& c ) {c=*fPMeasurementCovCorr;}
- void SetTrackParams1( const AliExternalTrackParam* exparam );
- void SetTrackParams2( const AliExternalTrackParam* exparam );
+ Bool_t SetTrackParams( const AliExternalTrackParam* exparam1, const AliExternalTrackParam* exparam2 );
+ const AliExternalTrackParam* GetTrackParams1() const {return fPTrackParamArr1;}
+ const AliExternalTrackParam* GetTrackParams2() const {return fPTrackParamArr2;}
void SetMinPointsVol1( const Int_t min ) {fMinPointsVol1=min;}
void SetMinPointsVol2( const Int_t min ) {fMinPointsVol2=min;}
void SetRequireMatchInTPC( const Bool_t s=kTRUE ) {fRequireMatchInTPC = s;}
- void SetNHistogramBins( const Int_t n ) {fNHistogramBins = n;}
void SetQ( const Double_t Q = 1e-10 ) { fQ = Q; }
void SetMaxMatchingDistance( const Double_t m ) {fMaxMatchingDistance=m;}
void SetMaxMatchingAngle( const Double_t m ) {fMaxMatchingAngle=m;}
void SetTPCvd( const Float_t v ) {fTPCvd=v;}
void SetTPCZLengthA( const Double_t l ) {fTPCZLengthA=l;}
void SetTPCZLengthC( const Double_t l ) {fTPCZLengthC=l;}
- Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
- Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment );
+ Bool_t CorrectTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;
+ Bool_t MisalignTrack( AliExternalTrackParam* tr, const TVectorD& misalignment ) const;
static void Angles( TVectorD &angles, const TMatrixD &rotmat );
static void RotMat( TMatrixD& R, const TVectorD& angles );
static void TMatrixDSymFromTMatrixD( TMatrixDSym& matsym, const TMatrixD& mat );
+ Bool_t IsPositiveDefinite( const TMatrixD& mat ) const;
+ void SetTimeStamp( const UInt_t ts ) { fTimeStamp = ts; }
+ UInt_t GetTimeStamp() const {return fTimeStamp;}
protected:
- Bool_t UpdateCalibration();
Bool_t UpdateEstimateKalman();
Bool_t PrepareMeasurement();
Bool_t PrepareSystemMatrix();
+ Bool_t PreparePrediction();
Bool_t PredictMeasurement( TVectorD& z, const TVectorD& x );
Bool_t IsOutlier( const TVectorD& update, const TMatrixDSym& covmatrix );
- Bool_t CalculateCovarianceCorrection();
private:
- static const Int_t fgkNMeasurementParams = 4; //how many measurables
- static const Int_t fgkNSystemParams = 9; //how many fit parameters
+ static const Int_t fgkNTracksPerMeasurement=1; //how many tracks for one update
+ static const Int_t fgkNMeasurementParams=4; //how many measurables
+ static const Int_t fgkNSystemParams=9; //how many fit parameters
//Track parameters
- Double_t fAlpha; //rotation angle between the local and global coordinate system like in AliExternalTrackParam
- Double_t fLocalX; //local x coordinate of reference plane = r(global)
- const AliExternalTrackParam* fkPTrackParam1; //local track parameters (theta,phi,y,z)
- const AliExternalTrackParam* fkPTrackParam2; //local track parameters
+ Double_t fAlpha; //!rotation angle between the local and global coordinate system like in AliExternalTrackParam
+ Double_t fLocalX; //!local x coordinate of reference plane = r(global)
+ AliExternalTrackParam* fPTrackParamArr1; //!local track parameters
+ AliExternalTrackParam* fPTrackParamArr2; //!local track parameters
+ Double_t fMagField; //!magnetic field
//Kalman filter related stuff
TVectorD* fPX; //System (fit) parameters (phi, theta, psi, x, y, z, driftcorr, driftoffset )
TMatrixDSym* fPXcov; //covariance matrix of system parameters
- TMatrixD* fPH; //System measurement matrix
- Double_t fQ; //measure for system noise
- TVectorD* fPMeasurement; //the measurement vec for Kalman filter (theta,phi,x,z)
- TMatrixDSym* fPMeasurementCov; //measurement vec cvariance
+ TMatrixD* fPH; //!System measurement matrix
+ Double_t fQ; //!measure for system noise
+ TVectorD* fPMeasurement; //!the measurement vec for Kalman filter (theta,phi,x,z)
+ TMatrixDSym* fPMeasurementCov; //!measurement vec cvariance
+ TVectorD* fPMeasurementPrediction; //!prediction of the measurement
Double_t fOutRejSigmas; //number of sigmas for outlier rejection
- Double_t fDelta[fgkNSystemParams]; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
+ Double_t* fDelta; //array with differentials for calculating derivatives for every parameter(see PrepareSystemMatrix())
//Control
- Bool_t fRejectOutliers; //whether to do outlier rejection in the Kalman filter
- Bool_t fCalibrationMode; //are we running in calibration mode?
- Bool_t fFillHistograms; //whether to fill the histograms with residuals
- Bool_t fRequireMatchInTPC; //when looking for a cosmic in event, require that TPC has 2 matching segments
- Bool_t fApplyCovarianceCorrection; //add the correction to the covariance of measurement
- Bool_t fCuts; //track cuts?
- Int_t fMinPointsVol1; //mininum number of points in volume 1
- Int_t fMinPointsVol2; //mininum number of points in volume 2
- Double_t fMinMom; //min momentum of track for track cuts
- Double_t fMaxMom; //max momentum of track for track cuts
- Double_t fMaxMatchingAngle; //cuts
- Double_t fMaxMatchingDistance; //cuts
+ Bool_t fNumericalParanoia; //!whether to perform additional checks for numerical stability
+ Bool_t fRejectOutliers; //!whether to do outlier rejection in the Kalman filter
+ Bool_t fRequireMatchInTPC; //!when looking for a cosmic in event, require that TPC has 2 matching segments
+ Bool_t fCuts; //!track cuts?
+ Int_t fMinPointsVol1; //!mininum number of points in volume 1
+ Int_t fMinPointsVol2; //!mininum number of points in volume 2
+ Double_t fMinMom; //!min momentum of track for track cuts
+ Double_t fMaxMom; //!max momentum of track for track cuts
+ Double_t fMaxMatchingAngle; //!cuts
+ Double_t fMaxMatchingDistance; //!cuts
Bool_t fCorrectionMode; //calculate corrective transform for TPC (or monitor actual TPC misal params)
//Counters
Int_t fNMatchedCosmics; //number of cosmic events with matching tracklets (good cosmics)
Int_t fNMatchedTPCtracklets;//number of cosmic events with 2 matching TPC tracklets
Int_t fNProcessedEvents; //number of processed events
-
- //Calibration histograms
- Int_t fNHistogramBins; //how many bins in control histograms
- TH1D* fPMes0Hist; //histo of x measurement
- TH1D* fPMes1Hist; //histo of y measurement
- TH1D* fPMes2Hist; //histo of phi measurement
- TH1D* fPMes3Hist; //histo of theta measurement
- TH1D* fPMesErr0Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesErr1Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesErr2Hist; //histogram of the covariance of a fit parameter, used in calibration
- TH1D* fPMesErr3Hist; //histogram of the covariance of a fit parameter, used in calibration
- TMatrixDSym* fPMeasurementCovCorr; //correction to be added to the measurement covariance
+ Int_t fTrackInBuffer; //!number of tracks in buffer
+ UInt_t fTimeStamp;
//TPC stuff
Double_t fTPCvd; //TPC drift velocity
Double_t fTPCZLengthA; //TPC length side A
Double_t fTPCZLengthC; //TPC length side C
- ClassDef(AliRelAlignerKalman,2) //AliRelAlignerKalman class
+ ClassDef(AliRelAlignerKalman,1) //AliRelAlignerKalman class
};
#endif
git://git.uio.no / u / mrichter / AliRoot.git / blobdiff