#include <KalmanVertexTrackUpdator.h>

Inheritance diagram for Trk::KalmanVertexTrackUpdator:

Collaboration diagram for Trk::KalmanVertexTrackUpdator:

Public Member Functions
virtual StatusCode	initialize () override

	KalmanVertexTrackUpdator (const std::string &t, const std::string &n, const IInterface *p)
	Constructor. More...

	~KalmanVertexTrackUpdator ()=default
	Destructor. More...

virtual void	update (VxTrackAtVertex &trk, const xAOD::Vertex &vtx) const override
	Update method More...

ServiceHandle< StoreGateSvc > &	evtStore ()
	The standard `StoreGateSvc` (event store) Returns (kind of) a pointer to the `StoreGateSvc`. More...

const ServiceHandle< StoreGateSvc > &	evtStore () const
	The standard `StoreGateSvc` (event store) Returns (kind of) a pointer to the `StoreGateSvc`. More...

const ServiceHandle< StoreGateSvc > &	detStore () const
	The standard `StoreGateSvc/DetectorStore` Returns (kind of) a pointer to the `StoreGateSvc`. More...

virtual StatusCode	sysInitialize () override
	Perform system initialization for an algorithm. More...

virtual StatusCode	sysStart () override
	Handle START transition. More...

virtual std::vector< Gaudi::DataHandle * >	inputHandles () const override
	Return this algorithm's input handles. More...

virtual std::vector< Gaudi::DataHandle * >	outputHandles () const override
	Return this algorithm's output handles. More...

Gaudi::Details::PropertyBase &	declareProperty (Gaudi::Property< T > &t)

Gaudi::Details::PropertyBase *	declareProperty (const std::string &name, SG::VarHandleKey &hndl, const std::string &doc, const SG::VarHandleKeyType &)
	Declare a new Gaudi property. More...

Gaudi::Details::PropertyBase *	declareProperty (const std::string &name, SG::VarHandleBase &hndl, const std::string &doc, const SG::VarHandleType &)
	Declare a new Gaudi property. More...

Gaudi::Details::PropertyBase *	declareProperty (const std::string &name, SG::VarHandleKeyArray &hndArr, const std::string &doc, const SG::VarHandleKeyArrayType &)

Gaudi::Details::PropertyBase *	declareProperty (const std::string &name, T &property, const std::string &doc, const SG::NotHandleType &)
	Declare a new Gaudi property. More...

Gaudi::Details::PropertyBase *	declareProperty (const std::string &name, T &property, const std::string &doc="none")
	Declare a new Gaudi property. More...

void	updateVHKA (Gaudi::Details::PropertyBase &)

MsgStream &	msg () const

MsgStream &	msg (const MSG::Level lvl) const

bool	msgLvl (const MSG::Level lvl) const

Static Public Member Functions
static const InterfaceID &	interfaceID ()
	AlgTool interface methods. More...

Protected Member Functions
void	renounceArray (SG::VarHandleKeyArray &handlesArray)
	remove all handles from I/O resolution More...

std::enable_if_t< std::is_void_v< std::result_of_t< decltype(&T::renounce)(T)> > &&!std::is_base_of_v< SG::VarHandleKeyArray, T > &&std::is_base_of_v< Gaudi::DataHandle, T >, void >	renounce (T &h)

void	extraDeps_update_handler (Gaudi::Details::PropertyBase &ExtraDeps)
	Add StoreName to extra input/output deps as needed. More...

Private Types
typedef ServiceHandle< StoreGateSvc >	StoreGateSvc_t

Private Member Functions
Gaudi::Details::PropertyBase &	declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleKeyType &)
	specialization for handling Gaudi::Property<SG::VarHandleKey> More...

Gaudi::Details::PropertyBase &	declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleKeyArrayType &)
	specialization for handling Gaudi::Property<SG::VarHandleKeyArray> More...

Gaudi::Details::PropertyBase &	declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleType &)
	specialization for handling Gaudi::Property<SG::VarHandleBase> More...

Gaudi::Details::PropertyBase &	declareGaudiProperty (Gaudi::Property< T > &t, const SG::NotHandleType &)
	specialization for handling everything that's not a Gaudi::Property<SG::VarHandleKey> or a <SG::VarHandleKeyArray> More...

Private Attributes
ToolHandle< IVertexUpdator >	m_Updator

DoubleProperty	m_maxWeight

BooleanProperty	m_skipInvertibleCheck

StoreGateSvc_t	m_evtStore
	Pointer to StoreGate (event store by default) More...

StoreGateSvc_t	m_detStore
	Pointer to StoreGate (detector store by default) More...

std::vector< SG::VarHandleKeyArray * >	m_vhka

bool	m_varHandleArraysDeclared

Detailed Description

A concrete implementation of the VertexTrackUpdator using the Kalman filter algorithm. The algorithm refits a single track with the knowledge of the production vertex.

Based on R. Fruhwirth et al. Comp. Phys. Comm 96(1996) 189

Author: Kirill Prokofiev, November 2005

Changes:

David Shope david.nosp@m..ric.nosp@m.hard..nosp@m.shop.nosp@m.e@cer.nosp@m.n.ch (2016-04-19)

EDM Migration to xAOD - from Trk::VxCandidate to xAOD::Vertex, from Trk::RecVertex to xAOD::Vertex, from Trk::Vertex to Amg::Vector3D

Definition at line 40 of file KalmanVertexTrackUpdator.h.

Member Typedef Documentation

◆ StoreGateSvc_t

typedef ServiceHandle<StoreGateSvc> AthCommonDataStore< AthCommonMsg< AlgTool > >::StoreGateSvc_t

privateinherited

Definition at line 388 of file AthCommonDataStore.h.

Constructor & Destructor Documentation

◆ KalmanVertexTrackUpdator()

Trk::KalmanVertexTrackUpdator::KalmanVertexTrackUpdator	(	const std::string &	t,
		const std::string &	n,
		const IInterface *	p
	)

Constructor.

Definition at line 27 of file KalmanVertexTrackUpdator.cxx.

                                                                                                                :
    AthAlgTool(t,n,p)
  { 
   declareInterface<IVertexTrackUpdator>(this);
  }

◆ ~KalmanVertexTrackUpdator()

Trk::KalmanVertexTrackUpdator::~KalmanVertexTrackUpdator ( )

default

Destructor.

Member Function Documentation

◆ declareGaudiProperty() [1/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty	(	Gaudi::Property< T > &	hndl,
		const SG::VarHandleKeyArrayType &
	)

inlineprivateinherited

specialization for handling Gaudi::Property<SG::VarHandleKeyArray>

Definition at line 170 of file AthCommonDataStore.h.

   {
     return *AthCommonDataStore<PBASE>::declareProperty(hndl.name(),
                                                        hndl.value(), 
                                                        hndl.documentation());
  
   }

◆ declareGaudiProperty() [2/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty	(	Gaudi::Property< T > &	hndl,
		const SG::VarHandleKeyType &
	)

inlineprivateinherited

specialization for handling Gaudi::Property<SG::VarHandleKey>

Definition at line 156 of file AthCommonDataStore.h.

   {
     return *AthCommonDataStore<PBASE>::declareProperty(hndl.name(),
                                                        hndl.value(), 
                                                        hndl.documentation());
  
   }

◆ declareGaudiProperty() [3/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty	(	Gaudi::Property< T > &	hndl,
		const SG::VarHandleType &
	)

inlineprivateinherited

specialization for handling Gaudi::Property<SG::VarHandleBase>

Definition at line 184 of file AthCommonDataStore.h.

   {
     return *AthCommonDataStore<PBASE>::declareProperty(hndl.name(),
                                                        hndl.value(), 
                                                        hndl.documentation());
   }

◆ declareGaudiProperty() [4/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty	(	Gaudi::Property< T > &	t,
		const SG::NotHandleType &
	)

inlineprivateinherited

specialization for handling everything that's not a Gaudi::Property<SG::VarHandleKey> or a <SG::VarHandleKeyArray>

Definition at line 199 of file AthCommonDataStore.h.

   {
     return PBASE::declareProperty(t);
   }

◆ declareProperty() [1/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty	(	const std::string &	name,
		SG::VarHandleBase &	hndl,
		const std::string &	doc,
		const SG::VarHandleType &
	)

inlineinherited

Declare a new Gaudi property.

Parameters

name	Name of the property.
hndl	Object holding the property value.
doc	Documentation string for the property.

This is the version for types that derive from SG::VarHandleBase. The property value object is put on the input and output lists as appropriate; then we forward to the base class.

Definition at line 245 of file AthCommonDataStore.h.

   {
     this->declare(hndl.vhKey());
     hndl.vhKey().setOwner(this);
  
     return PBASE::declareProperty(name,hndl,doc);
   }

◆ declareProperty() [2/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty	(	const std::string &	name,
		SG::VarHandleKey &	hndl,
		const std::string &	doc,
		const SG::VarHandleKeyType &
	)

inlineinherited

Declare a new Gaudi property.

Parameters

name	Name of the property.
hndl	Object holding the property value.
doc	Documentation string for the property.

This is the version for types that derive from SG::VarHandleKey. The property value object is put on the input and output lists as appropriate; then we forward to the base class.

Definition at line 221 of file AthCommonDataStore.h.

   {
     this->declare(hndl);
     hndl.setOwner(this);
  
     return PBASE::declareProperty(name,hndl,doc);
   }

◆ declareProperty() [3/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty	(	const std::string &	name,
		SG::VarHandleKeyArray &	hndArr,
		const std::string &	doc,
		const SG::VarHandleKeyArrayType &
	)

inlineinherited

Definition at line 259 of file AthCommonDataStore.h.

   {
  
     // std::ostringstream ost;
     // ost << Algorithm::name() << " VHKA declareProp: " << name 
     //     << " size: " << hndArr.keys().size() 
     //     << " mode: " << hndArr.mode() 
     //     << "  vhka size: " << m_vhka.size()
     //     << "\n";
     // debug() << ost.str() << endmsg;
  
     hndArr.setOwner(this);
     m_vhka.push_back(&hndArr);
  
     Gaudi::Details::PropertyBase* p =  PBASE::declareProperty(name, hndArr, doc);
     if (p != 0) {
       p->declareUpdateHandler(&AthCommonDataStore<PBASE>::updateVHKA, this);
     } else {
       ATH_MSG_ERROR("unable to call declareProperty on VarHandleKeyArray " 
                     << name);
     }
  
     return p;
  
   }

◆ declareProperty() [4/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty	(	const std::string &	name,
		T &	property,
		const std::string &	doc,
		const SG::NotHandleType &
	)

inlineinherited

Declare a new Gaudi property.

Parameters

name	Name of the property.
property	Object holding the property value.
doc	Documentation string for the property.

This is the generic version, for types that do not derive from SG::VarHandleKey. It just forwards to the base class version of declareProperty.

Definition at line 333 of file AthCommonDataStore.h.

   {
     return PBASE::declareProperty(name, property, doc);
   }

◆ declareProperty() [5/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty	(	const std::string &	name,
		T &	property,
		const std::string &	doc = `"none"`
	)

inlineinherited

Declare a new Gaudi property.

Parameters

name	Name of the property.
property	Object holding the property value.
doc	Documentation string for the property.

This dispatches to either the generic declareProperty or the one for VarHandle/Key/KeyArray.

Definition at line 352 of file AthCommonDataStore.h.

   {
     typedef typename SG::HandleClassifier<T>::type htype;
     return declareProperty (name, property, doc, htype());
   }

◆ declareProperty() [6/6]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty ( Gaudi::Property< T > & t )

inlineinherited

Definition at line 145 of file AthCommonDataStore.h.

                                                                  {
     typedef typename SG::HandleClassifier<T>::type htype;
     return AthCommonDataStore<PBASE>::declareGaudiProperty(t, htype());
   }

◆ detStore()

const ServiceHandle<StoreGateSvc>& AthCommonDataStore< AthCommonMsg< AlgTool > >::detStore ( ) const

inlineinherited

The standard StoreGateSvc/DetectorStore Returns (kind of) a pointer to the StoreGateSvc.

Definition at line 95 of file AthCommonDataStore.h.

95 { return m_detStore; }

◆ evtStore() [1/2]

ServiceHandle<StoreGateSvc>& AthCommonDataStore< AthCommonMsg< AlgTool > >::evtStore ( )

inlineinherited

The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc.

Definition at line 85 of file AthCommonDataStore.h.

85 { return m_evtStore; }

◆ evtStore() [2/2]

const ServiceHandle<StoreGateSvc>& AthCommonDataStore< AthCommonMsg< AlgTool > >::evtStore ( ) const

inlineinherited

The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc.

Definition at line 90 of file AthCommonDataStore.h.

90 { return m_evtStore; }

◆ extraDeps_update_handler()

void AthCommonDataStore< AthCommonMsg< AlgTool > >::extraDeps_update_handler ( Gaudi::Details::PropertyBase & ExtraDeps )

protectedinherited

Add StoreName to extra input/output deps as needed.

use the logic of the VarHandleKey to parse the DataObjID keys supplied via the ExtraInputs and ExtraOuputs Properties to add the StoreName if it's not explicitly given

◆ initialize()

StatusCode Trk::KalmanVertexTrackUpdator::initialize ( )

overridevirtual

Definition at line 12 of file KalmanVertexTrackUpdator.cxx.

  {
    //uploading the corresponding tools
    //updator 
   if ( m_Updator.retrieve().isFailure() ) 
   {
     ATH_MSG_FATAL("Failed to retrieve tool " << m_Updator);
     return StatusCode::FAILURE;
   } 
     ATH_MSG_INFO("Retrieved tool " << m_Updator);
   
   
   return StatusCode::SUCCESS;
  }

◆ inputHandles()

virtual std::vector<Gaudi::DataHandle*> AthCommonDataStore< AthCommonMsg< AlgTool > >::inputHandles ( ) const

overridevirtualinherited

Return this algorithm's input handles.

We override this to include handle instances from key arrays if they have not yet been declared. See comments on updateVHKA.

◆ interfaceID()

static const InterfaceID& Trk::IVertexTrackUpdator::interfaceID ( )

inlinestaticinherited

AlgTool interface methods.

Definition at line 53 of file IVertexTrackUpdator.h.

53 { return IID_IVertexTrackUpdator; };

◆ msg() [1/2]

MsgStream& AthCommonMsg< AlgTool >::msg ( ) const

inlineinherited

Definition at line 24 of file AthCommonMsg.h.

                                 {
     return this->msgStream();
   }

◆ msg() [2/2]

MsgStream& AthCommonMsg< AlgTool >::msg ( const MSG::Level lvl ) const

inlineinherited

Definition at line 27 of file AthCommonMsg.h.

                                                   {
     return this->msgStream(lvl);
   }

◆ msgLvl()

bool AthCommonMsg< AlgTool >::msgLvl ( const MSG::Level lvl ) const

inlineinherited

Definition at line 30 of file AthCommonMsg.h.

                                                {
     return this->msgLevel(lvl);
   }

◆ outputHandles()

virtual std::vector<Gaudi::DataHandle*> AthCommonDataStore< AthCommonMsg< AlgTool > >::outputHandles ( ) const

overridevirtualinherited

Return this algorithm's output handles.

We override this to include handle instances from key arrays if they have not yet been declared. See comments on updateVHKA.

◆ renounce()

std::enable_if_t<std::is_void_v<std::result_of_t<decltype(&T::renounce)(T)> > && !std::is_base_of_v<SG::VarHandleKeyArray, T> && std::is_base_of_v<Gaudi::DataHandle, T>, void> AthCommonDataStore< AthCommonMsg< AlgTool > >::renounce ( T & h )

inlineprotectedinherited

Definition at line 380 of file AthCommonDataStore.h.

   {
     h.renounce();
     PBASE::renounce (h);
   }

◆ renounceArray()

void AthCommonDataStore< AthCommonMsg< AlgTool > >::renounceArray ( SG::VarHandleKeyArray & handlesArray )

inlineprotectedinherited

remove all handles from I/O resolution

Definition at line 364 of file AthCommonDataStore.h.

                                                           {
     handlesArray.renounce();
   }

◆ sysInitialize()

virtual StatusCode AthCommonDataStore< AthCommonMsg< AlgTool > >::sysInitialize ( )

overridevirtualinherited

Perform system initialization for an algorithm.

We override this to declare all the elements of handle key arrays at the end of initialization. See comments on updateVHKA.

Reimplemented in DerivationFramework::CfAthAlgTool, AthCheckedComponent< AthAlgTool >, AthCheckedComponent<::AthAlgTool >, and asg::AsgMetadataTool.

◆ sysStart()

virtual StatusCode AthCommonDataStore< AthCommonMsg< AlgTool > >::sysStart ( )

overridevirtualinherited

Handle START transition.

We override this in order to make sure that conditions handle keys can cache a pointer to the conditions container.

◆ update()

void Trk::KalmanVertexTrackUpdator::update	(	VxTrackAtVertex &	trk,
		const xAOD::Vertex &	vtx
	)		const

overridevirtual

Update method

Implements Trk::IVertexTrackUpdator.

Definition at line 33 of file KalmanVertexTrackUpdator.cxx.

  {
    const Amg::Vector3D & fit_vrt_pos  = vtx.position();
    Trk::LinearizedTrack * linTrack = trk.linState();
  
    //protection check
    if(linTrack == nullptr)
    {
      if(trk.weight() > m_maxWeight)
      {
        //actual error case
        msg(MSG::INFO)  << "The VxTrackAtVertex passed does not have a Linearized Track" << endmsg;
        msg(MSG::INFO)  << "Please produce one with corresponding LinearizedTrackFactory"<< endmsg;
        msg(MSG::INFO)  << "The VxTrackAtVertex returned not refitted"<< endmsg;
        //    std::cout<<"Weight of the track: "<<trk.weight()<<std::endl;
      }else{
        if (msgLvl(MSG::DEBUG))
        {
          msg(MSG::DEBUG) << "The VxTrackAtVertex passed does not have a Linearized Track" << endmsg;
          msg(MSG::DEBUG) << "However the weight of this track is less than " << m_maxWeight << endmsg;
          msg(MSG::DEBUG)  << "The VxTrackAtVertex returned not refitted"<< endmsg;
        }
      }//end of absent linTrack case
  
      return;
    }//end of no lintrack check
  
    //getting Jacobians and track information
    const AmgMatrix(5,3) & A = linTrack->positionJacobian();
    const AmgMatrix(5,3) & B = linTrack->momentumJacobian();
    const AmgVector(5) & trkParameters = linTrack->expectedParametersAtPCA();
    //  std::cout << "Perigee before refit " << trkParameters << std::endl;
    //  std::cout << "Track covariance before refit " << linTrack->expectedPerigeeCovarianceAtPCA() << std::endl;
  
    const AmgSymMatrix(5) & trkParametersWeight = linTrack->expectedWeightAtPCA();
    
    //calculation of S matrix
    AmgSymMatrix(3) Sm = B.transpose()*(trkParametersWeight*B);
  
    if (Sm.determinant() == 0.0) {
      ATH_MSG_WARNING("Matrix can not be inverted, new type of check as part of Eigen, please monitor."
                      << endmsg << "Matrix Sm = " << Sm);
      return;
    }
    Sm = Sm.inverse().eval();
    const AmgVector(5) & theResidual = linTrack->constantTerm();
  
    //refitted track momentum
    Amg::Vector3D newTrackMomentum = Sm*B.transpose() * trkParametersWeight
     * (trkParameters - theResidual - A*fit_vrt_pos);
  
    //refitted track parameters
    AmgVector(5) refTrkPar; refTrkPar.setZero();
    refTrkPar(Trk::phi)   = newTrackMomentum(0);//phi
    refTrkPar(Trk::theta) = newTrackMomentum(1);//theta
    refTrkPar(Trk::qOverP)= newTrackMomentum(2);//qoverP
  
    //bring parameter phi again in the limits, if 
    //phi is slightly outside (as can be expected 
    //due to refitting)
    //  if (refTrkPar[2]<-M_PI) {
    //    refTrkPar[2] = refTrkPar[2]+M_PI;
    //  } else if (refTrkPar[2]>M_PI) {
    //    refTrkPar[2] = refTrkPar[2]-M_PI;
    //  }
  
    if (refTrkPar[Trk::phi0] > M_PI)
    {
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< "-U- phi = " << refTrkPar[Trk::phi0];
     refTrkPar[Trk::phi0] = fmod(refTrkPar[Trk::phi0]+M_PI,2*M_PI)-M_PI;
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< " out of range, now "
         << "corrected to " << refTrkPar[Trk::phi0] << endmsg;
    } else if(refTrkPar[Trk::phi0]<-M_PI) {
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< "-U- phi = " << refTrkPar[Trk::phi0];
     refTrkPar[Trk::phi0] = fmod(refTrkPar[Trk::phi0]-M_PI,2*M_PI)+M_PI;
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< " out of range, now "
         << "corrected to " << refTrkPar[Trk::phi0] << endmsg;
    }
  
    if (refTrkPar[Trk::theta] > M_PI)
    {
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< " Theta out of range: correcting theta: " << refTrkPar[Trk::theta];
      refTrkPar[Trk::theta]=fmod(refTrkPar[Trk::theta]+M_PI,2*M_PI)-M_PI;
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< " to: " << refTrkPar[Trk::theta] << endmsg;
    }
    else if (refTrkPar[Trk::theta]<0)
    {
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< " Theta out of range: correcting theta: " << refTrkPar[Trk::theta];
      refTrkPar[Trk::theta]=fmod(refTrkPar[Trk::theta]-M_PI,2*M_PI)+M_PI;
     if(msgLvl(MSG::DEBUG)) msg(MSG::DEBUG)<< " to: " << refTrkPar[Trk::theta] << endmsg;
    }
  
    if (refTrkPar[Trk::theta] < 0)
    {
      refTrkPar[Trk::theta] =
        - refTrkPar[Trk::theta];
      refTrkPar[Trk::phi0] +=
        (refTrkPar[Trk::phi0] > 0 ? -M_PI : M_PI);
    } else if (refTrkPar[Trk::theta] > M_PI) {//this in principle should not be needed anymore
      refTrkPar[Trk::theta] =
        2*M_PI - refTrkPar[Trk::theta];
      refTrkPar[Trk::phi0] +=
        (refTrkPar[Trk::phi0] > 0 ? -M_PI : M_PI);
    }
  
    //temporary hack to check the consistence of the frame
    //  std::cout<<"New track parameters "<<refTrkPar<<std::endl;
  
    //vertex covariance and weight
    const AmgSymMatrix(3)& vrt_cov = vtx.covariancePosition();
    if (vrt_cov.determinant() == 0.0) {
      ATH_MSG_WARNING("Matrix can not be inverted, new type of check as part of Eigen, please monitor."
                      << endmsg << "Matrix vrt_cov = " << vrt_cov);
      return;
    }
    AmgSymMatrix(3)   vrt_weight;
    bool invertible;
    if(m_skipInvertibleCheck) {
      vrt_weight = vtx.covariancePosition().inverse();
      invertible = true;
    } else
      vtx.covariancePosition().computeInverseWithCheck(vrt_weight,invertible);
  
    if(!invertible) {
      ATH_MSG_VERBOSE ("The vertex's cov is not invertible, quit updating the track.");
      return;
    }
  
    //making a new track covariance matrix
    AmgSymMatrix(3) posMomentumCovariance =  -vrt_cov * A.transpose() * trkParametersWeight * B *Sm;
  
    //--------------------------------------------------------------------------------------------------------
    //correction to what was forgotten before: making the smoothed chi2 of track
    //this operation invokes removing of the track from the vertex
    const IVertexUpdator::positionUpdateOutcome & reducedVrt = m_Updator->positionUpdate( vtx, linTrack, trk.weight(), IVertexUpdator::removeTrack );
  
    AmgSymMatrix(3)   reduced_vrt_weight;
    if(m_skipInvertibleCheck) {
      reduced_vrt_weight = reducedVrt.covariancePosition.inverse();
    } else
      reducedVrt.covariancePosition.computeInverseWithCheck(reduced_vrt_weight,invertible);
    if(!invertible) {
      ATH_MSG_VERBOSE ("The vertex's cov is not invertible, quit updating the track.");
      return;
    }
    //  const CLHEP::HepSymMatrix & reduced_vrt_cov = reducedVrt.covariancePosition();
  
    Amg::Vector3D posDifference = vtx.position() - reducedVrt.position;
  
    //now making the  second part of the chi2 calculation: smoothed parameters
    AmgVector(5) smRes = trkParameters - (theResidual + A*vtx.position() + B*newTrackMomentum);
  
    double chi2 = posDifference.dot(reduced_vrt_weight*posDifference) + smRes.dot(trkParametersWeight*smRes);
  
    //  std::cout<<"Smoothed chi2 in the fit "<<chi2<<std::endl;
    //-------------------------------------------------------------------------------------
    //new momentum covariance
    AmgSymMatrix(3) momentumCovariance = Sm + posMomentumCovariance.transpose()*(vrt_weight*posMomentumCovariance);
  
    //full (x,y,z,phi, theta, q/p) covariance matrix
    AmgSymMatrix (6) fullTrkCov;
    fullTrkCov.setZero();
  
    fullTrkCov.block<3,3>(0,0) = vrt_cov;
    fullTrkCov.block<3,3>(0,3) = posMomentumCovariance;
    fullTrkCov.block<3,3>(3,0) = posMomentumCovariance.transpose();
    fullTrkCov.block<3,3>(3,3) = momentumCovariance;
  
    //debug hacking   
    AmgMatrix(5,6) trJac;
    trJac.setZero();
    trJac(4,5) = 1.;
    trJac(3,4) = 1.;
    trJac(2,3) = 1.;
  
    //first row
    trJac(0,0) = - sin(refTrkPar[2]);
    trJac(0,1) =   cos(refTrkPar[2]);
  
    //second row
    trJac(1,0) = -cos(refTrkPar[2])/tan(refTrkPar[3]);
    trJac(1,1) = -sin(refTrkPar[2])/tan(refTrkPar[3]);
    trJac(1,2) = 1.;
  
    AmgSymMatrix(5) perFullTrkCov = AmgSymMatrix(5)(trJac*(fullTrkCov*trJac.transpose()));
  
    //temporary hack: returning the state with incorrect covariance matrix, to see
    //how general infrastructure works.
  
  
    Trk::Perigee  * refittedPerigee = new Trk::Perigee(refTrkPar[0],
                                                       refTrkPar[1],
                                                       refTrkPar[2],
                                                       refTrkPar[3],
                                                       refTrkPar[4],
                                                       fit_vrt_pos,
                                                       std::move(perFullTrkCov));
  
    trk.setPerigeeAtVertex(refittedPerigee);
    const FitQuality trkQuality(chi2,2*trk.weight());
    //  std::cout<<"Tracks at vertex are assigned with chi2 "<<trkQuality.chiSquared()<<std::endl;
    //  std::cout<<"Tracks at vertex are assigned with  ndf "<<trkQuality.numberDoF()<<std::endl;
    trk.setTrackQuality(trkQuality);
  
  }//end of update method

◆ updateVHKA()

void AthCommonDataStore< AthCommonMsg< AlgTool > >::updateVHKA ( Gaudi::Details::PropertyBase & )

inlineinherited

Definition at line 308 of file AthCommonDataStore.h.

                                                {
     // debug() << "updateVHKA for property " << p.name() << " " << p.toString() 
     //         << "  size: " << m_vhka.size() << endmsg;
     for (auto &a : m_vhka) {
       std::vector<SG::VarHandleKey*> keys = a->keys();
       for (auto k : keys) {
         k->setOwner(this);
       }
     }
   }

Member Data Documentation

◆ m_detStore

StoreGateSvc_t AthCommonDataStore< AthCommonMsg< AlgTool > >::m_detStore

privateinherited

Pointer to StoreGate (detector store by default)

Definition at line 393 of file AthCommonDataStore.h.

◆ m_evtStore

StoreGateSvc_t AthCommonDataStore< AthCommonMsg< AlgTool > >::m_evtStore

privateinherited

Pointer to StoreGate (event store by default)

Definition at line 390 of file AthCommonDataStore.h.

◆ m_maxWeight

DoubleProperty Trk::KalmanVertexTrackUpdator::m_maxWeight

private

Initial value:

{

this, "MaximalWeight", 0.001, "Max weight of a given track in the vertex reconstruction"}

Definition at line 66 of file KalmanVertexTrackUpdator.h.

◆ m_skipInvertibleCheck

BooleanProperty Trk::KalmanVertexTrackUpdator::m_skipInvertibleCheck

private

Initial value:

{

this, "SkipInvertibleCheck", false, "skip the invertible check for the track CovMat and the vertex CovMat"}

Definition at line 68 of file KalmanVertexTrackUpdator.h.

◆ m_Updator

ToolHandle< IVertexUpdator > Trk::KalmanVertexTrackUpdator::m_Updator

private

Initial value:

{

this, "VertexUpdator", "Trk::KalmanVertexUpdator"}

Definition at line 63 of file KalmanVertexTrackUpdator.h.

◆ m_varHandleArraysDeclared

bool AthCommonDataStore< AthCommonMsg< AlgTool > >::m_varHandleArraysDeclared

privateinherited

Definition at line 399 of file AthCommonDataStore.h.

◆ m_vhka

std::vector<SG::VarHandleKeyArray*> AthCommonDataStore< AthCommonMsg< AlgTool > >::m_vhka

privateinherited

Definition at line 398 of file AthCommonDataStore.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ StoreGateSvc_t

Constructor & Destructor Documentation

◆ KalmanVertexTrackUpdator()

◆ ~KalmanVertexTrackUpdator()

Member Function Documentation

◆ declareGaudiProperty() [1/4]

◆ declareGaudiProperty() [2/4]

◆ declareGaudiProperty() [3/4]

◆ declareGaudiProperty() [4/4]

◆ declareProperty() [1/6]

◆ declareProperty() [2/6]

◆ declareProperty() [3/6]

◆ declareProperty() [4/6]

◆ declareProperty() [5/6]

◆ declareProperty() [6/6]

◆ detStore()

◆ evtStore() [1/2]

◆ evtStore() [2/2]

◆ extraDeps_update_handler()

◆ initialize()

◆ inputHandles()

◆ interfaceID()

◆ msg() [1/2]

◆ msg() [2/2]

◆ msgLvl()

◆ outputHandles()

◆ renounce()

◆ renounceArray()

◆ sysInitialize()

◆ sysStart()

◆ update()

◆ updateVHKA()

Member Data Documentation

◆ m_detStore

◆ m_evtStore

◆ m_maxWeight

◆ m_skipInvertibleCheck

◆ m_Updator

◆ m_varHandleArraysDeclared

◆ m_vhka