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KalmanUpdator_xk.h
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1/*
2 Copyright (C) 2002-2023 CERN for the benefit of the ATLAS collaboration
3*/
4
6// KalmanUpdator_xk.h
7// Header file for Kalman Fitter Updator
9// (c) ATLAS Detector software
11// Version 1.0 7/6/2005 I.Gavrilenko
13
14#ifndef TRK_KALMANUPDATOR_XK_H
15#define TRK_KALMANUPDATOR_XK_H
16
17#include "TrkToolInterfaces/IUpdator.h"
18#include "TrkToolInterfaces/IPatternParametersUpdator.h"
19#include "AthenaBaseComps/AthAlgTool.h"
20
21namespace Trk {
22
30
31 class LocalParameters ;
32 class PatternTrackParameters;
33
34 class KalmanUpdator_xk final: virtual public IUpdator,
35 virtual public IPatternParametersUpdator,
36 public AthAlgTool
37 {
39 // Public methods:
41
42 public:
43
45 // Standard Athena tool methods
47
48 KalmanUpdator_xk(const std::string&, const std::string&,
49 const IInterface*);
50 virtual ~KalmanUpdator_xk();
51 virtual StatusCode initialize() override final;
52 virtual StatusCode finalize() override final;
53
54 // /////////////////////////////////////////////////////////////////
55 // Main public methods for kalman filter updator tool
56 // /////////////////////////////////////////////////////////////////
57
58 // /////////////////////////////////////////////////////////////////
59 // Add and remove without Xi2 calculation
60 // /////////////////////////////////////////////////////////////////
61
63 virtual std::unique_ptr<TrackParameters> addToState(
64 const TrackParameters&, const Amg::Vector2D&,
65 const Amg::MatrixX&) const override final;
67 virtual std::unique_ptr<TrackParameters> addToState(
68 const TrackParameters&, const LocalParameters&,
69 const Amg::MatrixX&) const override final;
70
72 virtual bool addToState(PatternTrackParameters&, const Amg::Vector2D&,
73 const Amg::MatrixX&,
74 PatternTrackParameters&) const override final;
76 virtual bool addToState(PatternTrackParameters&, const LocalParameters&,
77 const Amg::MatrixX&,
78 PatternTrackParameters&) const override final;
81 virtual bool addToStateOneDimension(
82 PatternTrackParameters&, const Amg::Vector2D&, const Amg::MatrixX&,
83 PatternTrackParameters&) const override final;
84
86 // Remove without Xi2 calculation
88
89 virtual std::unique_ptr<TrackParameters> removeFromState(
90 const TrackParameters&, const Amg::Vector2D&,
91 const Amg::MatrixX&) const override final;
92 virtual std::unique_ptr<TrackParameters> removeFromState(
93 const TrackParameters&, const LocalParameters&,
94 const Amg::MatrixX&) const override final;
95
96 virtual bool removeFromState(PatternTrackParameters&, const Amg::Vector2D&,
97 const Amg::MatrixX&,
98 PatternTrackParameters&) const override final;
99 virtual bool removeFromState(PatternTrackParameters&,
100 const LocalParameters&, const Amg::MatrixX&,
101 PatternTrackParameters&) const override final;
102
104 // Add with Xi2 calculation
106
107 virtual std::unique_ptr<TrackParameters> addToState(
108 const TrackParameters&, const Amg::Vector2D&, const Amg::MatrixX&,
109 FitQualityOnSurface*&) const override final;
110 virtual std::unique_ptr<TrackParameters> addToState(
111 const TrackParameters&, const LocalParameters&, const Amg::MatrixX&,
112 FitQualityOnSurface*&) const override final;
113 virtual std::pair<AmgVector(5), AmgSymMatrix(5)>*
114 updateParameterDifference(const AmgVector(5) &, const AmgSymMatrix(5) &,
115 const Amg::VectorX&, const Amg::MatrixX&, int,
116 Trk::FitQualityOnSurface*&,
117 bool) const override final;
118
119 virtual bool addToState(PatternTrackParameters&, const Amg::Vector2D&,
120 const Amg::MatrixX&, PatternTrackParameters&,
121 double&, int&) const override final;
122 virtual bool addToState(PatternTrackParameters&, const LocalParameters&,
123 const Amg::MatrixX&, PatternTrackParameters&,
124 double&, int&) const override final;
125 virtual bool addToStateOneDimension(PatternTrackParameters&,
126 const Amg::Vector2D&,
127 const Amg::MatrixX&,
128 PatternTrackParameters&, double&,
129 int&) const override final;
130
132 // Remove with Xi2 calculation
134
135 virtual std::unique_ptr<TrackParameters> removeFromState(
136 const TrackParameters&, const Amg::Vector2D&, const Amg::MatrixX&,
137 FitQualityOnSurface*&) const override final;
138 virtual std::unique_ptr<TrackParameters> removeFromState(
139 const TrackParameters&, const LocalParameters&, const Amg::MatrixX&,
140 FitQualityOnSurface*&) const override final;
141
142 virtual bool removeFromState(PatternTrackParameters&, const Amg::Vector2D&,
143 const Amg::MatrixX&, PatternTrackParameters&,
144 double&, int&) const override final;
145 virtual bool removeFromState(PatternTrackParameters&,
146 const LocalParameters&, const Amg::MatrixX&,
147 PatternTrackParameters&, double&,
148 int&) const override;
149
151 // Combine two state with or without Xi2 calculation
153
154 virtual std::unique_ptr<TrackParameters> combineStates(
155 const TrackParameters&, const TrackParameters&) const override final;
156 virtual std::unique_ptr<TrackParameters> combineStates(
157 const TrackParameters&, const TrackParameters&,
158 FitQualityOnSurface*&) const override final;
159
160 virtual bool combineStates(PatternTrackParameters&,
161 PatternTrackParameters&,
162 PatternTrackParameters&) const override final;
163 virtual bool combineStates(PatternTrackParameters&,
164 PatternTrackParameters&,
165 PatternTrackParameters&,
166 double&) const override final;
167
169 // Xi2 calculation
171
172 virtual FitQualityOnSurface predictedStateFitQuality(
173 const TrackParameters&, const Amg::Vector2D&,
174 const Amg::MatrixX&) const override final;
175 virtual FitQualityOnSurface predictedStateFitQuality(
176 const TrackParameters&, const LocalParameters&,
177 const Amg::MatrixX&) const override final;
178 virtual FitQualityOnSurface fullStateFitQuality(
179 const TrackParameters&, const Amg::Vector2D&,
180 const Amg::MatrixX&) const override final;
181 virtual FitQualityOnSurface fullStateFitQuality(
182 const TrackParameters&, const LocalParameters&,
183 const Amg::MatrixX&) const override final;
184 virtual FitQualityOnSurface predictedStateFitQuality(
185 const TrackParameters&, const TrackParameters&) const override final;
186
187 virtual bool predictedStateFitQuality(const PatternTrackParameters&,
188 const Amg::Vector2D&,
189 const Amg::MatrixX&, int&,
190 double&) const override final;
191 virtual bool predictedStateFitQuality(const PatternTrackParameters&,
192 const LocalParameters&,
193 const Amg::MatrixX&, int&,
194 double&) const override final;
195 virtual bool fullStateFitQuality(const PatternTrackParameters&,
196 const Amg::Vector2D&, const Amg::MatrixX&,
197 int&, double&) const override final;
198 virtual bool fullStateFitQuality(const PatternTrackParameters&,
199 const LocalParameters&,
200 const Amg::MatrixX&, int&,
201 double&) const override final;
202 virtual bool predictedStateFitQuality(const PatternTrackParameters&,
203 const PatternTrackParameters&,
204 double&) const override final;
205
207 // let the client tools know how the assumptions on the initial
208 // precision for non-measured track parameters are configured
210
211 virtual std::vector<double> initialErrors() const override final;
212
213 protected:
214
216 // Protected methods
218
220 // Updators
222
223 std::unique_ptr<TrackParameters> update
224 (const TrackParameters&,const Amg::Vector2D&,const Amg::MatrixX&,
225 FitQualityOnSurface*&,int,bool) const;
226
227 std::unique_ptr<TrackParameters> update
228 (const TrackParameters&,const LocalParameters&,const Amg::MatrixX&,
229 FitQualityOnSurface*&,int,bool) const;
230
231 bool update
232 (PatternTrackParameters&,const Amg::Vector2D&,const Amg::MatrixX&,
233 int,bool,PatternTrackParameters&,double&,int&) const;
234
235 bool updateOneDimension
236 (PatternTrackParameters&,const Amg::Vector2D&,const Amg::MatrixX&,
237 int,bool,PatternTrackParameters&,double&) const;
238
239 bool update
240 (PatternTrackParameters&,const LocalParameters&,const Amg::MatrixX&,
241 int,bool,PatternTrackParameters&,double&,int&) const;
242
244 // Xi2 calculation
246
247 static bool predictedStateFitQuality
248 (const double*,const Amg::Vector2D&,const Amg::MatrixX&,int&,double&) ;
249
250 static bool fullStateFitQuality
251 (const double*,const Amg::Vector2D&,const Amg::MatrixX&,int&,double&) ;
252
254 // Converters
256
257 static bool trackParametersToUpdator
258 (const TrackParameters&,double*,double*) ;
259
260 static bool trackParametersToUpdator
261 (const PatternTrackParameters&,double*,double*) ;
262
263 static bool localParametersToUpdator
264 (const LocalParameters&,const Amg::MatrixX&,int&,int&,double*,double*) ;
265
266 static std::unique_ptr<TrackParameters> updatorToTrackParameters
267 (const TrackParameters&,double*,double*) ;
268
270 // Update no measured track parameters
272
273 bool updateNoMeasuredWithOneDim
274 (const double*,const double*,double*,double*) const;
275
276 bool updateNoMeasuredWithTwoDim
277 (const double*,const double*,double*,double*) const;
278
279 bool updateNoMeasuredWithAnyDim
280 (const double*,const double*,double*,double*,int) const;
281
283 // Update measured track parameters
285
286 static bool updateWithOneDim
287 (int,bool,const double*,const double*,double*,double*,double&) ;
288
289 static bool updateWithTwoDim
290 (int,bool,const double*,const double*,double*,double*,double&) ;
291
292 static bool updateWithTwoDimParameters
293 (int,bool,const double*,const double*,double*,const double*,double&) ;
294
295 static bool updateWithFiveDim
296 ( bool,double*,double*,double*,double*,double&) ;
297
298 bool updateWithAnyDim
299 (int,bool,double*,const double*,double*,double*,double&,
300 int,int) const;
301
302 bool updateWithOneDimWithBoundary
303 (int,bool,double*,double*,double*,double*,double&) const;
304
305 bool updateWithTwoDimWithBoundary
306 (int,bool,double*,double*,double*,double*,double&) const;
307
308 static bool invert (int,double*,double*) ;
309 static bool invert2( const double*,double*) ;
310 static bool invert3( const double*,double*) ;
311 static bool invert4( const double*,double*) ;
312 static bool invert5( const double*,double*) ;
313
314 static double Xi2 (int,double*,double*) ;
315 static double Xi2for1( const double*,const double*) ;
316 static double Xi2for2( const double*,const double*) ;
317 static double Xi2for3( const double*,const double*) ;
318 static double Xi2for4( const double*,const double*) ;
319 static double Xi2for5( const double*,const double*) ;
320
321 static int differenceParLoc(int,const double*,const double*,double*) ;
322 static void differenceLocPar(int,const double*,const double*,double*) ;
323 static void testAngles(double*,double*) ;
324
325 void mapKeyProduction();
326
328 // Protected data members
330
331 std::vector<double> m_cov0;
332 unsigned int m_key[ 33]{};
333 unsigned int m_map[160]{};
334 double m_covBoundary;
335 };
336
338 // Inline methods
340
341} // end of namespace
342
343#endif // TRK_KALMANUPDATOR_XK_H
AmgVector
#define AmgVector(rows)
Definition EventPrimitives.h:55
protected
#define protected
Definition GenEventCnv_p1.h:26
AthAlgTool::AthAlgTool
AthAlgTool(const std::string &type, const std::string &name, const IInterface *parent)
Constructor with parameters:
Definition AthAlgTool.cxx:16
Trk::IPatternParametersUpdator
Interface for updating Trk::PatternTrackParameters, the fast internal representation of track paramet...
Definition IPatternParametersUpdator.h:40
Trk::IUpdator
Set of interfaces for methods operating on track states, mainly for Kalman filtering.
Definition IUpdator.h:64
Trk::KalmanUpdator_xk::trackParametersToUpdator
static bool trackParametersToUpdator(const TrackParameters &, double *, double *)
Definition KalmanUpdator_xk.cxx:1812
Trk::KalmanUpdator_xk::invert5
static bool invert5(const double *, double *)
Definition KalmanUpdator_xk.cxx:2069
Trk::KalmanUpdator_xk::initialize
virtual StatusCode initialize() override final
Definition KalmanUpdator_xk.cxx:53
Trk::KalmanUpdator_xk::m_cov0
std::vector< double > m_cov0
Definition KalmanUpdator_xk.h:331
Trk::KalmanUpdator_xk::updateNoMeasuredWithOneDim
bool updateNoMeasuredWithOneDim(const double *, const double *, double *, double *) const
Definition KalmanUpdator_xk.cxx:1199
Trk::KalmanUpdator_xk::removeFromState
virtual std::unique_ptr< TrackParameters > removeFromState(const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
the reverse updating or inverse KalmanFilter removes a measurement from the track state,...
Definition KalmanUpdator_xk.cxx:123
Trk::KalmanUpdator_xk::localParametersToUpdator
static bool localParametersToUpdator(const LocalParameters &, const Amg::MatrixX &, int &, int &, double *, double *)
Definition KalmanUpdator_xk.cxx:1888
Trk::KalmanUpdator_xk::updateWithTwoDim
static bool updateWithTwoDim(int, bool, const double *, const double *, double *, double *, double &)
Definition KalmanUpdator_xk.cxx:1418
Trk::KalmanUpdator_xk::~KalmanUpdator_xk
virtual ~KalmanUpdator_xk()
Trk::KalmanUpdator_xk::updatorToTrackParameters
static std::unique_ptr< TrackParameters > updatorToTrackParameters(const TrackParameters &, double *, double *)
Definition KalmanUpdator_xk.cxx:1924
Trk::KalmanUpdator_xk::updateNoMeasuredWithTwoDim
bool updateNoMeasuredWithTwoDim(const double *, const double *, double *, double *) const
Definition KalmanUpdator_xk.cxx:1227
Trk::KalmanUpdator_xk::invert3
static bool invert3(const double *, double *)
Definition KalmanUpdator_xk.cxx:1984
Trk::KalmanUpdator_xk::updateWithOneDim
static bool updateWithOneDim(int, bool, const double *, const double *, double *, double *, double &)
Definition KalmanUpdator_xk.cxx:1293
Trk::KalmanUpdator_xk::differenceParLoc
static int differenceParLoc(int, const double *, const double *, double *)
Definition KalmanUpdator_xk.cxx:2241
Trk::KalmanUpdator_xk::updateNoMeasuredWithAnyDim
bool updateNoMeasuredWithAnyDim(const double *, const double *, double *, double *, int) const
Definition KalmanUpdator_xk.cxx:1258
Trk::KalmanUpdator_xk::Xi2
static double Xi2(int, double *, double *)
Definition KalmanUpdator_xk.cxx:2156
Trk::KalmanUpdator_xk::Xi2for4
static double Xi2for4(const double *, const double *)
Definition KalmanUpdator_xk.cxx:2209
Trk::KalmanUpdator_xk::mapKeyProduction
void mapKeyProduction()
Definition KalmanUpdator_xk.cxx:2295
Trk::KalmanUpdator_xk::KalmanUpdator_xk
KalmanUpdator_xk(const std::string &, const std::string &, const IInterface *)
Definition KalmanUpdator_xk.cxx:24
Trk::KalmanUpdator_xk::Xi2for2
static double Xi2for2(const double *, const double *)
Definition KalmanUpdator_xk.cxx:2182
Trk::KalmanUpdator_xk::m_covBoundary
double m_covBoundary
Definition KalmanUpdator_xk.h:334
Trk::KalmanUpdator_xk::combineStates
virtual std::unique_ptr< TrackParameters > combineStates(const TrackParameters &, const TrackParameters &) const override final
adds to a track state the parameters from another state using a statistical combination - use with ca...
Definition KalmanUpdator_xk.cxx:399
Trk::KalmanUpdator_xk::addToStateOneDimension
virtual bool addToStateOneDimension(PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &) const override final
add without chi2 calculation, PRD-level, pattern track parameters, specifically 1D
Definition KalmanUpdator_xk.cxx:109
Trk::KalmanUpdator_xk::updateParameterDifference
virtual std::pair< AmgVector(5), AmgSymMatrix(5)> * updateParameterDifference(const AmgVector(5) &, const AmgSymMatrix(5) &, const Amg::VectorX &, const Amg::MatrixX &, int, Trk::FitQualityOnSurface *&, bool) const override final
pure AMG interface for reference-track KF, allowing update of parameter differences
Definition KalmanUpdator_xk.cxx:281
Trk::KalmanUpdator_xk::initialErrors
virtual std::vector< double > initialErrors() const override final
let the client tools know how the assumptions on the initial precision for non-measured track paramet...
Definition KalmanUpdator_xk.cxx:825
Trk::KalmanUpdator_xk::updateWithFiveDim
static bool updateWithFiveDim(bool, double *, double *, double *, double *, double &)
Definition KalmanUpdator_xk.cxx:1621
Trk::KalmanUpdator_xk::invert4
static bool invert4(const double *, double *)
Definition KalmanUpdator_xk.cxx:2014
Trk::KalmanUpdator_xk::updateOneDimension
bool updateOneDimension(PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, int, bool, PatternTrackParameters &, double &) const
Definition KalmanUpdator_xk.cxx:963
Trk::KalmanUpdator_xk::updateWithOneDimWithBoundary
bool updateWithOneDimWithBoundary(int, bool, double *, double *, double *, double *, double &) const
Definition KalmanUpdator_xk.cxx:1351
Trk::KalmanUpdator_xk::differenceLocPar
static void differenceLocPar(int, const double *, const double *, double *)
Definition KalmanUpdator_xk.cxx:2271
Trk::KalmanUpdator_xk::updateWithTwoDimWithBoundary
bool updateWithTwoDimWithBoundary(int, bool, double *, double *, double *, double *, double &) const
Definition KalmanUpdator_xk.cxx:1542
Trk::KalmanUpdator_xk::updateWithAnyDim
bool updateWithAnyDim(int, bool, double *, const double *, double *, double *, double &, int, int) const
Definition KalmanUpdator_xk.cxx:1724
Trk::KalmanUpdator_xk::Xi2for3
static double Xi2for3(const double *, const double *)
Definition KalmanUpdator_xk.cxx:2195
Trk::KalmanUpdator_xk::Xi2for1
static double Xi2for1(const double *, const double *)
Definition KalmanUpdator_xk.cxx:2171
Trk::KalmanUpdator_xk::addToState
virtual std::unique_ptr< TrackParameters > addToState(const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
add without chi2 calculation, PRD-level, EDM track parameters
Definition KalmanUpdator_xk.cxx:85
Trk::KalmanUpdator_xk::updateWithTwoDimParameters
static bool updateWithTwoDimParameters(int, bool, const double *, const double *, double *, const double *, double &)
Definition KalmanUpdator_xk.cxx:1490
Trk::KalmanUpdator_xk::invert
static bool invert(int, double *, double *)
Definition KalmanUpdator_xk.cxx:1944
Trk::KalmanUpdator_xk::m_key
unsigned int m_key[33]
Definition KalmanUpdator_xk.h:332
Trk::KalmanUpdator_xk::invert2
static bool invert2(const double *, double *)
Definition KalmanUpdator_xk.cxx:1963
Trk::KalmanUpdator_xk::fullStateFitQuality
virtual FitQualityOnSurface fullStateFitQuality(const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
estimator for FitQuality on Surface from a full track state, that is a state which contains the curre...
Definition KalmanUpdator_xk.cxx:625
Trk::KalmanUpdator_xk::update
std::unique_ptr< TrackParameters > update(const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, FitQualityOnSurface *&, int, bool) const
Definition KalmanUpdator_xk.cxx:847
Trk::KalmanUpdator_xk::Xi2for5
static double Xi2for5(const double *, const double *)
Definition KalmanUpdator_xk.cxx:2224
Trk::KalmanUpdator_xk::finalize
virtual StatusCode finalize() override final
Definition KalmanUpdator_xk.cxx:75
Trk::KalmanUpdator_xk::m_map
unsigned int m_map[160]
Definition KalmanUpdator_xk.h:333
Trk::KalmanUpdator_xk::testAngles
static void testAngles(double *, double *)
Definition KalmanUpdator_xk.cxx:2318
Trk::KalmanUpdator_xk::predictedStateFitQuality
virtual FitQualityOnSurface predictedStateFitQuality(const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
estimator for FitQuality on Surface from a predicted track state, that is a state which does not cont...
Definition KalmanUpdator_xk.cxx:509
pair
STL class.
unique_ptr
STL class.
const
Amg
Definition of ATLAS Math & Geometry primitives (Amg)
Definition AmgStringHelpers.h:19
Trk
Ensure that the ATLAS eigen extensions are properly loaded.
Definition FakeTrackBuilder.h:9
Trk::TrackParameters
ParametersBase< TrackParametersDim, Charged > TrackParameters
Definition Tracking/TrkEvent/TrkParameters/TrkParameters/TrackParameters.h:27
Trk::AmgSymMatrix
AmgSymMatrix(5) &GXFTrackState
Definition GXFTrackState.h:156
std
STL namespace.
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