#include <KalmanFitterTool.h>

Inheritance diagram for ActsTrk::KalmanFitterTool:

Public Member Functions
virtual	~KalmanFitterTool ()=default
virtual StatusCode	initialize () override
virtual std::unique_ptr< Trk::Track >	fit (const EventContext &ctx, const Trk::Track &, const Trk::RunOutlierRemoval runOutlier=false, const Trk::ParticleHypothesis matEffects=Trk::nonInteracting) const override
	refit a track
virtual std::unique_ptr< Trk::Track >	fit (const EventContext &ctx, const Trk::PrepRawDataSet &, const Trk::TrackParameters &, const Trk::RunOutlierRemoval runOutlier=false, const Trk::ParticleHypothesis matEffects=Trk::nonInteracting) const override
	fit a set of PrepRawData objects
virtual std::unique_ptr< Trk::Track >	fit (const EventContext &ctx, const Trk::MeasurementSet &, const Trk::TrackParameters &, const Trk::RunOutlierRemoval runOutlier=false, const Trk::ParticleHypothesis matEffects=Trk::nonInteracting) const override
	fit a set of MeasurementBase objects
virtual std::unique_ptr< Trk::Track >	fit (const EventContext &ctx, const Trk::Track &, const Trk::PrepRawDataSet &, const Trk::RunOutlierRemoval runOutlier=false, const Trk::ParticleHypothesis matEffects=Trk::nonInteracting) const override
	extend a track fit including a new set of PrepRawData objects
virtual std::unique_ptr< ActsTrk::MutableTrackContainer >	fit (const std::vector< ActsTrk::ATLASUncalibSourceLink > &clusterList, const Acts::BoundTrackParameters &initialParams, const Acts::GeometryContext &tgContext, const Acts::MagneticFieldContext &mfContext, const Acts::CalibrationContext &calContext, const Acts::Surface *targetSurface=nullptr) const override
	fit a set of xAOD uncalibrated Measurements
virtual std::unique_ptr< Trk::Track >	fit (const EventContext &ctx, const Trk::Track &, const Trk::MeasurementSet &, const Trk::RunOutlierRemoval runOutlier=false, const Trk::ParticleHypothesis matEffects=Trk::nonInteracting) const override
	extend a track fit including a new set of MeasurementBase objects
virtual std::unique_ptr< Trk::Track >	fit (const EventContext &ctx, const Trk::Track &intrk1, const Trk::Track &intrk2, const Trk::RunOutlierRemoval runOutlier=false, const Trk::ParticleHypothesis matEffects=Trk::nonInteracting) const override
	combined track fit
virtual std::unique_ptr< ActsTrk::MutableTrackContainer >	fit (const ActsTrk::Seed &seed, const Acts::BoundTrackParameters &initialParams, const Acts::GeometryContext &tgContext, const Acts::MagneticFieldContext &mfContext, const Acts::CalibrationContext &calContext, const Acts::Surface &targetSurface) const override
	Acts seed fit.
virtual StatusCode	fit (const EventContext &ctx, const ActsTrk::TrackContainer::ConstTrackProxy &track, ActsTrk::MutableTrackContainer &trackContainer, const Acts::PerigeeSurface &pSurface) const override

Private Types
using	FitterExtension_t = Acts::KalmanFitterExtensions<MutableTrackStateBackend>
	Abbrivation of the fitter extensions.
using	FitterOptions_t = Acts::KalmanFitterOptions<MutableTrackStateBackend>
	Abbrivation of the configuration to launch the fit.
using	xAODUnCalibrator_t = detail::OnTrackCalibrator<ActsTrk::MutableTrackStateBackend>
	Calibrator of the uncalibrated measurements.
using	Fitter = Acts::KalmanFitter<Acts::Propagator<Acts::SympyStepper, Acts::Navigator>, ActsTrk::MutableTrackStateBackend>
	Type erased track fitter function.
using	DirectFitter = Acts::KalmanFitter<Acts::Propagator<Acts::SympyStepper, Acts::DirectNavigator>, ActsTrk::MutableTrackStateBackend>

Private Member Functions
FitterOptions_t	configureFit (const Acts::GeometryContext &tgContext, const Acts::MagneticFieldContext &mfContext, const Acts::CalibrationContext &calContext, const Acts::Surface *surface, detail::SourceLinkType slType) const
	Helper method to pack the last information (Calibration, Alignment, B-Field, etc.) for the fit.
const Acts::Logger &	logger () const
	Private access to the logger.

Private Attributes
ToolHandle< ActsTrk::IExtrapolationTool >	m_extrapolationTool {this, "ExtrapolationTool", ""}
PublicToolHandle< ActsTrk::ITrackingGeometryTool >	m_trackingGeometryTool {this, "TrackingGeometryTool", ""}
ToolHandle< ActsTrk::IActsToTrkConverterTool >	m_ATLASConverterTool {this, "ATLASConverterTool", ""}
Gaudi::Property< double >	m_option_outlierChi2Cut
Gaudi::Property< double >	m_option_ReverseFilteringPt
Gaudi::Property< int >	m_option_maxPropagationStep
Gaudi::Property< double >	m_option_seedCovarianceScale
detail::TrkMeasurementCalibrator	m_trkCalibrator {}
	Calibrator for the Trk::MeasurementBase track states (legacy EDM)
detail::TrkMeasSurfaceAccessor	m_trkSurfAcc {}
	Accessor to fetch surfaces from the Trk::MeasurementBase track states (legacy EDM)
detail::TrkPrepRawDataCalibrator	m_prdCalibrator {}
	Calibrator for the Trk::PrepRawData track states (legacy EDM)
detail::TrkPrepRawDataSurfaceAcc	m_prdSurfAcc {}
	Surface accessor for the Trk::PrepRawData track states (legacy EDM)
detail::xAODUncalibMeasSurfAcc	m_unalibMeasSurfAcc {}
	Accessor to fetch surfaces from the xAOD::UncalibratedMeasurements (Phase-II EDM)
xAODUnCalibrator_t	m_uncalibMeasCalibrator {}
std::unique_ptr< Fitter >	m_fitter {nullptr}
std::unique_ptr< DirectFitter >	m_directFitter {nullptr}
std::array< FitterExtension_t, s_nExtensions >	m_kfExtensions {}
ActsTrk::detail::FitterHelperFunctions::ATLASOutlierFinder	m_outlierFinder {0}
ActsTrk::detail::FitterHelperFunctions::ReverseFilteringLogic	m_reverseFilteringLogic {0}
std::unique_ptr< const Acts::Logger >	m_logger
	logging instance
ToolHandle< Trk::IRIO_OnTrackCreator >	m_ROTcreator {this, "RotCreatorTool", ""}
Gaudi::Property< bool >	m_doReFitFromPRD {this, "DoReFitFromPRD", false, "Do Refit From PRD instead of ROT"}

Static Private Attributes
static constexpr unsigned	s_nExtensions = static_cast<unsigned>(detail::SourceLinkType::nTypes)
	Array of all configured fitter extensions depending on which source link type is in use.

Detailed Description

Definition at line 60 of file KalmanFitterTool.h.

Member Typedef Documentation

◆ DirectFitter

using ActsTrk::KalmanFitterTool::DirectFitter = Acts::KalmanFitter<Acts::Propagator<Acts::SympyStepper, Acts::DirectNavigator>, ActsTrk::MutableTrackStateBackend>

private

Definition at line 201 of file KalmanFitterTool.h.

◆ Fitter

using ActsTrk::KalmanFitterTool::Fitter = Acts::KalmanFitter<Acts::Propagator<Acts::SympyStepper, Acts::Navigator>, ActsTrk::MutableTrackStateBackend>

private

Type erased track fitter function.

Definition at line 198 of file KalmanFitterTool.h.

◆ FitterExtension_t

using ActsTrk::KalmanFitterTool::FitterExtension_t = Acts::KalmanFitterExtensions<MutableTrackStateBackend>

private

Abbrivation of the fitter extensions.

Definition at line 151 of file KalmanFitterTool.h.

◆ FitterOptions_t

using ActsTrk::KalmanFitterTool::FitterOptions_t = Acts::KalmanFitterOptions<MutableTrackStateBackend>

private

Abbrivation of the configuration to launch the fit.

Definition at line 153 of file KalmanFitterTool.h.

◆ xAODUnCalibrator_t

using ActsTrk::KalmanFitterTool::xAODUnCalibrator_t = detail::OnTrackCalibrator<ActsTrk::MutableTrackStateBackend>

private

Calibrator of the uncalibrated measurements.

Definition at line 193 of file KalmanFitterTool.h.

Constructor & Destructor Documentation

◆ ~KalmanFitterTool()

virtual ActsTrk::KalmanFitterTool::~KalmanFitterTool ( )

virtualdefault

Member Function Documentation

◆ configureFit()

KalmanFitterTool::FitterOptions_t ActsTrk::KalmanFitterTool::configureFit	(	const Acts::GeometryContext &	tgContext,
		const Acts::MagneticFieldContext &	mfContext,
		const Acts::CalibrationContext &	calContext,
		const Acts::Surface *	surface,
		detail::SourceLinkType	slType ) const

private

Helper method to pack the last information (Calibration, Alignment, B-Field, etc.) for the fit.

The parsed context objects need to prevail the call of the fit

Parameters

tgContext	Reference to the geometry context
mfContext	Reference to the passed magnetic field context
calContext	Reference to the calibration context
surface	Target surface on which the fit result is expressed.
slType	Switch of which source link type shall be used to access the surfaces from the measurements & for calibration

Definition at line 136 of file KalmanFitterTool.cxx.

                                                                      {
  
  
  const auto& kfExtensions = m_kfExtensions[static_cast<int>(slType)];
 
  Acts::PropagatorPlainOptions propagationOption(tgContext, mfContext);
  propagationOption.maxSteps = m_option_maxPropagationStep;
  // Set the KalmanFitter options
  return FitterOptions_t{tgContext, mfContext, calContext,
                         kfExtensions, propagationOption,
                         surface};
}

◆ fit() [1/9]

std::unique_ptr< MutableTrackContainer > ActsTrk::KalmanFitterTool::fit	(	const ActsTrk::Seed &	seed,
		const Acts::BoundTrackParameters &	initialParams,
		const Acts::GeometryContext &	tgContext,
		const Acts::MagneticFieldContext &	mfContext,
		const Acts::CalibrationContext &	calContext,
		const Acts::Surface &	targetSurface ) const

overridevirtual

Acts seed fit.

Definition at line 528 of file KalmanFitterTool.cxx.

                                                      {
  
  std::vector<ATLASUncalibSourceLink> sourceLinks;
  sourceLinks.reserve(6);
 
  const auto& sps = seed.sp();
  for (const xAOD::SpacePoint* sp : sps) {
    const auto& measurements = sp->measurements();
    for (const xAOD::UncalibratedMeasurement *umeas : measurements) {     
      sourceLinks.emplace_back(umeas);
    }
  }
  return fit(sourceLinks, initialParams, tgContext, mfContext, calContext, &targetSurface);
}

◆ fit() [2/9]

virtual StatusCode ActsTrk::KalmanFitterTool::fit	(	const EventContext &	ctx,
		const ActsTrk::TrackContainer::ConstTrackProxy &	track,
		ActsTrk::MutableTrackContainer &	trackContainer,
		const Acts::PerigeeSurface &	pSurface ) const

overridevirtual

◆ fit() [3/9]

std::unique_ptr< Trk::Track > ActsTrk::KalmanFitterTool::fit	(	const EventContext &	ctx,
		const Trk::MeasurementSet &	inputMeasSet,
		const Trk::TrackParameters &	estimatedStartParameters,
		const Trk::RunOutlierRemoval	runOutlier = false,
		const Trk::ParticleHypothesis	matEffects = Trk::nonInteracting ) const

overridevirtual

fit a set of MeasurementBase objects

Definition at line 223 of file KalmanFitterTool.cxx.

                                                           {
 
  // protection against not having measurements on the input track
  if (inputMeasSet.size() < 2) {
    ATH_MSG_DEBUG("called to refit empty measurement set or a measurement set with too little information, reject fit");
    return nullptr;
  }
 
  // Construct a perigee surface as the target surface
  auto pSurface = Acts::Surface::makeShared<Acts::PerigeeSurface>(Acts::Vector3::Zero());
  
  const Acts::GeometryContext tgContext = m_trackingGeometryTool->getGeometryContext(ctx).context();
  const Acts::MagneticFieldContext mfContext = m_extrapolationTool->getMagneticFieldContext(ctx);
  const Acts::CalibrationContext calContext{getCalibrationContext(ctx)};
 
  Acts::KalmanFitterOptions kfOptions = configureFit(tgContext, mfContext, calContext, pSurface.get(),
                                                     detail::SourceLinkType::TrkMeasurement);
 
  std::vector<Acts::SourceLink> trackSourceLinks;
  m_ATLASConverterTool->toSourceLinks(inputMeasSet, trackSourceLinks);
  // protection against error in the conversion from Atlas masurement to Acts source link
  if (trackSourceLinks.empty()) {
    ATH_MSG_DEBUG("input contain measurement but no source link created, probable issue with the converter, reject fit ");
    return nullptr;
  }
 
  const auto initialParams = m_ATLASConverterTool->trkTrackParametersToActsParameters(estimatedStartParameters, tgContext); 
 
  ActsTrk::MutableTrackBackend trackContainerBackEnd;
  ActsTrk::MutableTrackStateBackend multiTrajBackEnd;
  ActsTrk::MutableTrackContainer tracks( std::move(trackContainerBackEnd),
                                         std::move(multiTrajBackEnd));
 
  // Perform the fit
  auto result = m_fitter->fit(trackSourceLinks.begin(), trackSourceLinks.end(),
                              initialParams, kfOptions, tracks);
  return m_ATLASConverterTool->convertFitResult(ctx, tracks, result,
                                                Trk::TrackInfo::TrackFitter::KalmanFitter,
                                                detail::SourceLinkType::TrkMeasurement);
}

◆ fit() [4/9]

std::unique_ptr< Trk::Track > ActsTrk::KalmanFitterTool::fit	(	const EventContext &	ctx,
		const Trk::PrepRawDataSet &	inputPRDColl,
		const Trk::TrackParameters &	estimatedStartParameters,
		const Trk::RunOutlierRemoval	runOutlier = false,
		const Trk::ParticleHypothesis	matEffects = Trk::nonInteracting ) const

overridevirtual

fit a set of PrepRawData objects

Definition at line 271 of file KalmanFitterTool.cxx.

                                               {
    ATH_MSG_DEBUG("--> entering KalmanFitter::fit(PRDS,TP,)");
    
    // Construct a perigee surface as the target surface
    auto pSurface = Acts::Surface::makeShared<Acts::PerigeeSurface>(Acts::Vector3::Zero()); 
    
    const Acts::GeometryContext tgContext = m_trackingGeometryTool->getGeometryContext(ctx).context();
    const Acts::MagneticFieldContext mfContext = m_extrapolationTool->getMagneticFieldContext(ctx);
    const Acts::CalibrationContext calContext{getCalibrationContext(ctx)};
 
    Acts::KalmanFitterOptions kfOptions = configureFit(tgContext, mfContext, calContext, pSurface.get(),
                                                       detail::SourceLinkType::TrkPrepRawData);
 
    std::vector<Acts::SourceLink> trackSourceLinks;
    m_ATLASConverterTool->toSourceLinks(inputPRDColl, trackSourceLinks);
    // protection against error in the conversion from Atlas masurement to Acts source link
    if (trackSourceLinks.empty()) {
      ATH_MSG_WARNING("input contain measurement but no source link created, probable issue with the converter, reject fit ");
      return nullptr;
    }
    //
 
    const auto initialParams = m_ATLASConverterTool->trkTrackParametersToActsParameters(estimatedStartParameters, tgContext); 
 
    ActsTrk::MutableTrackBackend trackContainerBackEnd;
    ActsTrk::MutableTrackStateBackend multiTrajBackEnd;
    ActsTrk::MutableTrackContainer tracks( std::move(trackContainerBackEnd),
                                           std::move(multiTrajBackEnd));
  
    // Perform the fit
    auto result = m_fitter->fit(trackSourceLinks.begin(), trackSourceLinks.end(),
                                initialParams, kfOptions, tracks);
    return m_ATLASConverterTool->convertFitResult(ctx, tracks, result,
                                                  Trk::TrackInfo::TrackFitter::KalmanFitter,
                                                  detail::SourceLinkType::TrkPrepRawData);
}

◆ fit() [5/9]

std::unique_ptr< Trk::Track > ActsTrk::KalmanFitterTool::fit	(	const EventContext &	ctx,
		const Trk::Track &	inputTrack,
		const Trk::MeasurementSet &	addMeasColl,
		const Trk::RunOutlierRemoval	runOutlier = false,
		const Trk::ParticleHypothesis	matEffects = Trk::nonInteracting ) const

overridevirtual

extend a track fit including a new set of MeasurementBase objects

Definition at line 372 of file KalmanFitterTool.cxx.

{
  ATH_MSG_VERBOSE ("--> enter KalmanFitter::fit(Track,Meas'BaseSet,,)");
  ATH_MSG_VERBOSE ("    with Track from author = " << inputTrack.info().dumpInfo());
 
  // protection, if empty MeasurementSet
  if (addMeasColl.empty()) {
    ATH_MSG_DEBUG( "client tries to add an empty MeasurementSet to the track fit." );
    return fit(ctx,inputTrack);
  }
 
  // protection against not having measurements on the input track
  if (!inputTrack.measurementsOnTrack() || (inputTrack.measurementsOnTrack()->size() < 2 && addMeasColl.empty())) {
    ATH_MSG_DEBUG("called to refit empty track or track with too little information, reject fit");
    return nullptr;
  }
 
  // protection against not having track parameters on the input track
  if (!inputTrack.trackParameters() || inputTrack.trackParameters()->empty()) {
    ATH_MSG_DEBUG("input fails to provide track parameters for seeding the KF, reject fit");
    return nullptr;
  }
 
 
  // Construct a perigee surface as the target surface
  auto pSurface = Acts::Surface::makeShared<Acts::PerigeeSurface>(Acts::Vector3::Zero());
  
  const Acts::GeometryContext tgContext = m_trackingGeometryTool->getGeometryContext(ctx).context();
  const Acts::MagneticFieldContext mfContext = m_extrapolationTool->getMagneticFieldContext(ctx);
  const Acts::CalibrationContext calContext{getCalibrationContext(ctx)};
 
  // Set the KalmanFitter options
  Acts::KalmanFitterOptions kfOptions = configureFit(tgContext, mfContext, calContext, pSurface.get(),
                                                     detail::SourceLinkType::TrkMeasurement);
     
  std::vector<Acts::SourceLink> trackSourceLinks = m_ATLASConverterTool->trkTrackToSourceLinks(inputTrack);
  m_ATLASConverterTool->toSourceLinks(addMeasColl, trackSourceLinks);
 
  // protection against error in the conversion from Atlas masurement to Acts source link
  if (trackSourceLinks.empty()) {
    ATH_MSG_DEBUG("input contain measurement but no source link created, probable issue with the converter, reject fit ");
    return nullptr;
  }
  const auto initialParams = m_ATLASConverterTool->trkTrackParametersToActsParameters(*(inputTrack.perigeeParameters()), tgContext);
 
  ActsTrk::MutableTrackBackend trackContainerBackEnd;
  ActsTrk::MutableTrackStateBackend multiTrajBackEnd;
  ActsTrk::MutableTrackContainer tracks( std::move(trackContainerBackEnd),
                                         std::move(multiTrajBackEnd));
  
  // Perform the fit
  auto result = m_fitter->fit(trackSourceLinks.begin(), trackSourceLinks.end(),
                              initialParams, kfOptions, tracks);
  return m_ATLASConverterTool->convertFitResult(ctx, tracks, result,
                                                Trk::TrackInfo::TrackFitter::KalmanFitter,
                                                detail::SourceLinkType::TrkMeasurement);
}

◆ fit() [6/9]

std::unique_ptr< Trk::Track > ActsTrk::KalmanFitterTool::fit	(	const EventContext &	ctx,
		const Trk::Track &	,
		const Trk::PrepRawDataSet &	,
		const Trk::RunOutlierRemoval	runOutlier = false,
		const Trk::ParticleHypothesis	matEffects = Trk::nonInteracting ) const

overridevirtual

extend a track fit including a new set of PrepRawData objects

Definition at line 437 of file KalmanFitterTool.cxx.

{
  ATH_MSG_DEBUG("Fit of Track with additional PrepRawDataSet not yet implemented");
  return nullptr;
}

◆ fit() [7/9]

std::unique_ptr< Trk::Track > ActsTrk::KalmanFitterTool::fit	(	const EventContext &	ctx,
		const Trk::Track &	inputTrack,
		const Trk::RunOutlierRemoval	runOutlier = false,
		const Trk::ParticleHypothesis	matEffects = Trk::nonInteracting ) const

overridevirtual

refit a track

Definition at line 155 of file KalmanFitterTool.cxx.

                                                        {
 
  ATH_MSG_VERBOSE ("--> enter KalmanFitter::fit(Track,,)    with Track from author = "
       << inputTrack.info().dumpInfo()<<", "<<hypothesis);
 
  // protection against not having measurements on the input track
  if (!inputTrack.measurementsOnTrack() || inputTrack.measurementsOnTrack()->size() < 2) {
    ATH_MSG_DEBUG("called to refit empty track or track with too little information, reject fit");
    return nullptr;
  }
 
  // protection against not having track parameters on the input track
  if (!inputTrack.trackParameters() || inputTrack.trackParameters()->empty()) {
    ATH_MSG_DEBUG("input fails to provide track parameters for seeding the KF, reject fit");
    return nullptr;
  }
 
  // Construct a perigee surface as the target surface
  auto pSurface = Acts::Surface::makeShared<Acts::PerigeeSurface>(Acts::Vector3::Zero());
  
  const Acts::GeometryContext tgContext = m_trackingGeometryTool->getGeometryContext(ctx).context();
  const Acts::MagneticFieldContext mfContext = m_extrapolationTool->getMagneticFieldContext(ctx);
  const Acts::CalibrationContext calContext{getCalibrationContext(ctx)};
  // Set the KalmanFitter options
  Acts::KalmanFitterOptions kfOptions = configureFit(tgContext, mfContext, calContext, pSurface.get(),
                                                     detail::SourceLinkType::TrkMeasurement);
 
  std::vector<Acts::SourceLink> trackSourceLinks = m_ATLASConverterTool->trkTrackToSourceLinks(inputTrack);
  // protection against error in the conversion from Atlas masurement to Acts source link
  if (trackSourceLinks.empty()) {
    ATH_MSG_DEBUG("input contain measurement but no source link created, probable issue with the converter, reject fit ");
    return nullptr;
  }
 
  const auto initialParams = m_ATLASConverterTool->trkTrackParametersToActsParameters((*inputTrack.perigeeParameters()), tgContext);
 
  // The covariance from already fitted track are too small and would result an incorect smoothing.
  // We scale up the input covaraiance to avoid this.
  Acts::BoundSquareMatrix scaledCov = Acts::BoundSquareMatrix::Identity();
  for (int i=0; i<6; ++i) {
    double scale = m_option_seedCovarianceScale;
    (scaledCov)(i,i) = scale * initialParams.covariance().value()(i,i);
  }
 
  const Acts::BoundTrackParameters scaledInitialParams(initialParams.referenceSurface().getSharedPtr(),
                                                       initialParams.parameters(),
                                                       scaledCov,
                                                       Acts::ParticleHypothesis::pion());
 
  ActsTrk::MutableTrackBackend trackContainerBackEnd;
  ActsTrk::MutableTrackStateBackend multiTrajBackEnd;
  ActsTrk::MutableTrackContainer tracks( std::move(trackContainerBackEnd),
                                         std::move(multiTrajBackEnd));
  
  // Perform the fit
  auto result = m_fitter->fit(trackSourceLinks.begin(), trackSourceLinks.end(),
                              scaledInitialParams, kfOptions, tracks);
  return m_ATLASConverterTool->convertFitResult(ctx, tracks, result,
                                      Trk::TrackInfo::TrackFitter::KalmanFitter,
                                      detail::SourceLinkType::TrkMeasurement);
}

◆ fit() [8/9]

std::unique_ptr< Trk::Track > ActsTrk::KalmanFitterTool::fit	(	const EventContext &	ctx,
		const Trk::Track &	intrk1,
		const Trk::Track &	intrk2,
		const Trk::RunOutlierRemoval	runOutlier = false,
		const Trk::ParticleHypothesis	matEffects = Trk::nonInteracting ) const

overridevirtual

combined track fit

Definition at line 450 of file KalmanFitterTool.cxx.

{
  ATH_MSG_VERBOSE ("--> enter KalmanFitter::fit(Track,Track,)");
  ATH_MSG_VERBOSE ("    with Tracks from #1 = " << intrk1.info().dumpInfo()
                   << " and #2 = " << intrk2.info().dumpInfo()<<", "<<hypothesis);
 
  // protection, if empty track2
  if (!intrk2.measurementsOnTrack()) {
    ATH_MSG_DEBUG( "input #2 is empty try to fit track 1 alone" );
    return fit(ctx,intrk1);
  }
 
  // protection, if empty track1
  if (!intrk1.measurementsOnTrack()) {
    ATH_MSG_DEBUG( "input #1 is empty try to fit track 2 alone" );
    return fit(ctx,intrk2);
  }
 
  // protection against not having track parameters on the input track
  if (!intrk1.trackParameters() || intrk1.trackParameters()->empty()) {
    ATH_MSG_DEBUG("input #1 fails to provide track parameters for seeding the KF, reject fit");
    return nullptr;
  }
 
  // Construct a perigee surface as the target surface
  auto pSurface = Acts::Surface::makeShared<Acts::PerigeeSurface>(Acts::Vector3::Zero());
  
  const Acts::GeometryContext tgContext = m_trackingGeometryTool->getGeometryContext(ctx).context();
  const Acts::MagneticFieldContext mfContext = m_extrapolationTool->getMagneticFieldContext(ctx);
  const Acts::CalibrationContext calContext{getCalibrationContext(ctx)};
 
  // Set the KalmanFitter options
  Acts::KalmanFitterOptions kfOptions = configureFit(tgContext, mfContext, calContext, pSurface.get(),
                                                     detail::SourceLinkType::TrkMeasurement);
 
  std::vector<Acts::SourceLink> trackSourceLinks = m_ATLASConverterTool->trkTrackToSourceLinks(intrk1);
  std::vector<Acts::SourceLink> trackSourceLinks2 = m_ATLASConverterTool->trkTrackToSourceLinks(intrk2);
  trackSourceLinks.insert(trackSourceLinks.end(), std::make_move_iterator(trackSourceLinks2.begin()), 
                          std::make_move_iterator(trackSourceLinks2.end()));
  // protection against error in the conversion from Atlas masurement to Acts source link
  if (trackSourceLinks.empty()) {
    ATH_MSG_DEBUG("input contain measurement but no source link created, probable issue with the converter, reject fit ");
    return nullptr;
  }
 
  const auto &initialParams = m_ATLASConverterTool->trkTrackParametersToActsParameters(*(intrk1.perigeeParameters()), tgContext);
 
  // The covariance from already fitted track are too small and would result an incorect smoothing.
  // We scale up the input covaraiance to avoid this.
  Acts::BoundSquareMatrix scaledCov = Acts::BoundSquareMatrix::Identity();
  for (int i=0; i<6; ++i) {
    double scale = m_option_seedCovarianceScale;
    (scaledCov)(i,i) = scale * initialParams.covariance().value()(i,i);
  }
 
  const Acts::BoundTrackParameters scaledInitialParams(initialParams.referenceSurface().getSharedPtr(),
                                                       initialParams.parameters(),
                                                       scaledCov, Acts::ParticleHypothesis::pion());
 
 
  ActsTrk::MutableTrackBackend trackContainerBackEnd;
  ActsTrk::MutableTrackStateBackend multiTrajBackEnd;
  ActsTrk::MutableTrackContainer tracks( std::move(trackContainerBackEnd),
                                         std::move(multiTrajBackEnd));
  
  // Perform the fit
  auto result = m_fitter->fit(trackSourceLinks.begin(), trackSourceLinks.end(),
                              scaledInitialParams, kfOptions, tracks);
  return m_ATLASConverterTool->convertFitResult(ctx, tracks, result,
                                                Trk::TrackInfo::TrackFitter::KalmanFitter,
                                                detail::SourceLinkType::TrkMeasurement);
}

◆ fit() [9/9]

std::unique_ptr< MutableTrackContainer > ActsTrk::KalmanFitterTool::fit	(	const std::vector< ActsTrk::ATLASUncalibSourceLink > &	clusterList,
		const Acts::BoundTrackParameters &	initialParams,
		const Acts::GeometryContext &	tgContext,
		const Acts::MagneticFieldContext &	mfContext,
		const Acts::CalibrationContext &	calContext,
		const Acts::Surface *	targetSurface = nullptr ) const

overridevirtual

fit a set of xAOD uncalibrated Measurements

Definition at line 315 of file KalmanFitterTool.cxx.

                                                             {
  ATH_MSG_DEBUG("--> entering KalmanFitter::fit(xAODMeasure...things,TP,)");
       
  std::vector<Acts::SourceLink> sourceLinks;
  sourceLinks.reserve(clusterList.size()); 
 
  std::vector<const Acts::Surface*> surfaces;
  surfaces.reserve(clusterList.size());
 
 
  for (const ATLASUncalibSourceLink& el : clusterList) {
    sourceLinks.emplace_back( el );
    surfaces.push_back(m_unalibMeasSurfAcc.get(el));
  }
 
  // Construct a perigee surface as the target surface if none is provided
  std::shared_ptr<Acts::Surface> pSurface{nullptr};
  if (!targetSurface){
    pSurface = Acts::Surface::makeShared<Acts::PerigeeSurface>(Acts::Vector3::Zero());
    targetSurface = pSurface.get();
  }
 
  // Set the KalmanFitter options
  
  Acts::KalmanFitterOptions kfOptions = configureFit(tgContext, mfContext, calContext, targetSurface,
                                                     detail::SourceLinkType::xAODUnCalibMeas);
 
  ActsTrk::MutableTrackBackend trackContainerBackEnd;
  ActsTrk::MutableTrackStateBackend multiTrajBackEnd;
  std::unique_ptr< MutableTrackContainer > tracks = std::make_unique< MutableTrackContainer >( std::move(trackContainerBackEnd),
                                                                                               std::move(multiTrajBackEnd) );
 
  
  auto result = m_directFitter->fit(sourceLinks.begin(),
            sourceLinks.end(),
            initialParams,
            kfOptions,
            surfaces,
            *tracks.get());
   
  if (not result.ok()) {
    ATH_MSG_VERBOSE("Kalman Fitter on Seed has failed");
    return nullptr;
  } 
  return tracks; 
}

◆ initialize()

StatusCode ActsTrk::KalmanFitterTool::initialize ( )

overridevirtual

Configure the fit extensions for Trk::MeasuremenBase pass through fits.

Configure the fit extensions for the Trk::PrepRawData fits

Configure the fit extensions for the uncalibrated measurement fits

Definition at line 58 of file KalmanFitterTool.cxx.

                                        {
 
  ATH_MSG_DEBUG(name() << "::" << __FUNCTION__);
  ATH_CHECK(m_trackingGeometryTool.retrieve());
  ATH_CHECK(m_extrapolationTool.retrieve());
  ATH_CHECK(m_ATLASConverterTool.retrieve());
  ATH_CHECK(m_ROTcreator.retrieve(EnableTool{m_doReFitFromPRD}));
  m_logger = makeActsAthenaLogger(this, "KalmanRefit");
 
  auto field = std::make_shared<ATLASMagneticFieldWrapper>();
 
  // Fitter
  Acts::SympyStepper stepper(field);
  Acts::Navigator navigator( Acts::Navigator::Config{ m_trackingGeometryTool->trackingGeometry() },
           logger().cloneWithSuffix("Navigator"));
  Acts::Propagator<Acts::SympyStepper, Acts::Navigator> propagator(stepper, 
                     std::move(navigator),
                     logger().cloneWithSuffix("Prop"));
 
  m_fitter = std::make_unique<Fitter>(std::move(propagator),
              logger().cloneWithSuffix("KalmanFitter"));
 
  // Direct Fitter
  Acts::DirectNavigator directNavigator( logger().cloneWithSuffix("DirectNavigator") );
  Acts::Propagator<Acts::SympyStepper, Acts::DirectNavigator> directPropagator(std::move(stepper),
                     std::move(directNavigator),
                     logger().cloneWithSuffix("DirectPropagator"));
 
  m_directFitter = std::make_unique<DirectFitter>(std::move(directPropagator),
              logger().cloneWithSuffix("DirectKalmanFitter"));
  
  m_outlierFinder.StateChiSquaredPerNumberDoFCut = m_option_outlierChi2Cut;
  m_reverseFilteringLogic.momentumMax = m_option_ReverseFilteringPt;
 
  FitterExtension_t extensionTemplate{};
  extensionTemplate.outlierFinder.connect<&detail::FitterHelperFunctions::ATLASOutlierFinder::operator()<MutableTrackStateBackend>>(&m_outlierFinder);
  extensionTemplate.reverseFilteringLogic.connect<&detail::FitterHelperFunctions::ReverseFilteringLogic::operator()<MutableTrackStateBackend>>(&m_reverseFilteringLogic);
  extensionTemplate.updater.connect<&detail::FitterHelperFunctions::gainMatrixUpdate<MutableTrackStateBackend>>();
  extensionTemplate.smoother.connect<&detail::FitterHelperFunctions::mbfSmoother<MutableTrackStateBackend>>();
   
  extensionTemplate.outlierFinder.connect<&detail::FitterHelperFunctions::ATLASOutlierFinder::operator()
                                            <MutableTrackStateBackend>>(&m_outlierFinder);
  extensionTemplate.updater.connect<&detail::FitterHelperFunctions::gainMatrixUpdate<MutableTrackStateBackend>>();
  {
    m_trkSurfAcc = detail::TrkMeasSurfaceAccessor{m_ATLASConverterTool.get()};
 
    FitterExtension_t& configureMe = m_kfExtensions[static_cast<int>(detail::SourceLinkType::TrkMeasurement)];
    configureMe = extensionTemplate;
    configureMe.calibrator.connect<&detail::TrkMeasurementCalibrator::calibrate<MutableTrackStateBackend>>(&m_trkCalibrator);
    configureMe.surfaceAccessor.connect<&detail::TrkMeasSurfaceAccessor::operator()>(&m_trkSurfAcc);
  }
  {
     m_prdCalibrator = detail::TrkPrepRawDataCalibrator{m_ATLASConverterTool.get(), m_ROTcreator.get()};
     m_prdSurfAcc = detail::TrkPrepRawDataSurfaceAcc{m_ATLASConverterTool.get()};
     FitterExtension_t& configureMe = m_kfExtensions[static_cast<int>(detail::SourceLinkType::TrkPrepRawData)];
     configureMe = extensionTemplate;
     configureMe.calibrator.connect<&detail::TrkPrepRawDataCalibrator::calibrate<MutableTrackStateBackend>>(&m_prdCalibrator);
     configureMe.surfaceAccessor.connect<&detail::TrkPrepRawDataSurfaceAcc::operator()>(&m_prdSurfAcc);
  }
  {
    m_unalibMeasSurfAcc = detail::xAODUncalibMeasSurfAcc{m_trackingGeometryTool.get()}; 
    m_uncalibMeasCalibrator = xAODUnCalibrator_t::NoCalibration(m_trackingGeometryTool.get());
    FitterExtension_t& configureMe = m_kfExtensions[static_cast<int>(detail::SourceLinkType::xAODUnCalibMeas)];
    configureMe = extensionTemplate;
    configureMe.surfaceAccessor.connect<&detail::xAODUncalibMeasSurfAcc::operator()>(&m_unalibMeasSurfAcc);
    configureMe.calibrator.connect<&xAODUnCalibrator_t::calibrate>(&m_uncalibMeasCalibrator);
  }
  return StatusCode::SUCCESS;
}

◆ logger()

const Acts::Logger & ActsTrk::KalmanFitterTool::logger ( ) const

inlineprivate

Private access to the logger.

Definition at line 212 of file KalmanFitterTool.h.

                                   {
    return *m_logger;
  }

Member Data Documentation

◆ m_ATLASConverterTool

ToolHandle<ActsTrk::IActsToTrkConverterTool> ActsTrk::KalmanFitterTool::m_ATLASConverterTool {this, "ATLASConverterTool", ""}

private

Definition at line 171 of file KalmanFitterTool.h.

171{this, "ATLASConverterTool", ""};

◆ m_directFitter

std::unique_ptr<DirectFitter> ActsTrk::KalmanFitterTool::m_directFitter {nullptr}

private

Definition at line 202 of file KalmanFitterTool.h.

202{nullptr};

◆ m_doReFitFromPRD

Gaudi::Property<bool> ActsTrk::KalmanFitterTool::m_doReFitFromPRD {this, "DoReFitFromPRD", false, "Do Refit From PRD instead of ROT"}

private

Definition at line 221 of file KalmanFitterTool.h.

221{this, "DoReFitFromPRD", false, "Do Refit From PRD instead of ROT"};

◆ m_extrapolationTool

ToolHandle<ActsTrk::IExtrapolationTool> ActsTrk::KalmanFitterTool::m_extrapolationTool {this, "ExtrapolationTool", ""}

private

Definition at line 169 of file KalmanFitterTool.h.

169{this, "ExtrapolationTool", ""};

◆ m_fitter

std::unique_ptr<Fitter> ActsTrk::KalmanFitterTool::m_fitter {nullptr}

private

Definition at line 199 of file KalmanFitterTool.h.

199{nullptr};

◆ m_kfExtensions

std::array<FitterExtension_t, s_nExtensions> ActsTrk::KalmanFitterTool::m_kfExtensions {}

private

Definition at line 206 of file KalmanFitterTool.h.

206{};

◆ m_logger

std::unique_ptr<const Acts::Logger> ActsTrk::KalmanFitterTool::m_logger

private

logging instance

Definition at line 217 of file KalmanFitterTool.h.

◆ m_option_maxPropagationStep

Gaudi::Property< int > ActsTrk::KalmanFitterTool::m_option_maxPropagationStep

private

Initial value:

{this, "MaxPropagationStep", 5000,

"Maximum number of steps for one propagate call"}

Definition at line 177 of file KalmanFitterTool.h.

177 {this, "MaxPropagationStep", 5000,

178 "Maximum number of steps for one propagate call"};

◆ m_option_outlierChi2Cut

Gaudi::Property< double > ActsTrk::KalmanFitterTool::m_option_outlierChi2Cut

private

Initial value:

{this, "OutlierChi2Cut", 12.5,

"Chi2 cut used by the outlier finder" }

Definition at line 173 of file KalmanFitterTool.h.

173 {this, "OutlierChi2Cut", 12.5,

174 "Chi2 cut used by the outlier finder" };

◆ m_option_ReverseFilteringPt

Gaudi::Property< double > ActsTrk::KalmanFitterTool::m_option_ReverseFilteringPt

private

Initial value:

{this, "ReverseFilteringPt", 1.0 * Acts::UnitConstants::GeV,

"Pt cut used for the ReverseFiltering logic"}

Definition at line 175 of file KalmanFitterTool.h.

175 {this, "ReverseFilteringPt", 1.0 * Acts::UnitConstants::GeV,

176 "Pt cut used for the ReverseFiltering logic"};

◆ m_option_seedCovarianceScale

Gaudi::Property< double > ActsTrk::KalmanFitterTool::m_option_seedCovarianceScale

private

Initial value:

{this, "SeedCovarianceScale", 100.,

"Scale factor for the input seed covariance when doing refitting"}

Definition at line 179 of file KalmanFitterTool.h.

179 {this, "SeedCovarianceScale", 100.,

180 "Scale factor for the input seed covariance when doing refitting"};

◆ m_outlierFinder

ActsTrk::detail::FitterHelperFunctions::ATLASOutlierFinder ActsTrk::KalmanFitterTool::m_outlierFinder {0}

private

Definition at line 208 of file KalmanFitterTool.h.

208{0};

◆ m_prdCalibrator

detail::TrkPrepRawDataCalibrator ActsTrk::KalmanFitterTool::m_prdCalibrator {}

private

Calibrator for the Trk::PrepRawData track states (legacy EDM)

Definition at line 187 of file KalmanFitterTool.h.

187{};

◆ m_prdSurfAcc

detail::TrkPrepRawDataSurfaceAcc ActsTrk::KalmanFitterTool::m_prdSurfAcc {}

private

Surface accessor for the Trk::PrepRawData track states (legacy EDM)

Definition at line 189 of file KalmanFitterTool.h.

189{};

◆ m_reverseFilteringLogic

ActsTrk::detail::FitterHelperFunctions::ReverseFilteringLogic ActsTrk::KalmanFitterTool::m_reverseFilteringLogic {0}

private

Definition at line 209 of file KalmanFitterTool.h.

209{0};

◆ m_ROTcreator

ToolHandle<Trk::IRIO_OnTrackCreator> ActsTrk::KalmanFitterTool::m_ROTcreator {this, "RotCreatorTool", ""}

private

Definition at line 219 of file KalmanFitterTool.h.

219{this, "RotCreatorTool", ""};

◆ m_trackingGeometryTool

PublicToolHandle<ActsTrk::ITrackingGeometryTool> ActsTrk::KalmanFitterTool::m_trackingGeometryTool {this, "TrackingGeometryTool", ""}

private

Definition at line 170 of file KalmanFitterTool.h.

170{this, "TrackingGeometryTool", ""};

◆ m_trkCalibrator

detail::TrkMeasurementCalibrator ActsTrk::KalmanFitterTool::m_trkCalibrator {}

private

Calibrator for the Trk::MeasurementBase track states (legacy EDM)

Definition at line 183 of file KalmanFitterTool.h.

183{};

◆ m_trkSurfAcc

detail::TrkMeasSurfaceAccessor ActsTrk::KalmanFitterTool::m_trkSurfAcc {}

private

Accessor to fetch surfaces from the Trk::MeasurementBase track states (legacy EDM)

Definition at line 185 of file KalmanFitterTool.h.

185{};

◆ m_unalibMeasSurfAcc

detail::xAODUncalibMeasSurfAcc ActsTrk::KalmanFitterTool::m_unalibMeasSurfAcc {}

private

Accessor to fetch surfaces from the xAOD::UncalibratedMeasurements (Phase-II EDM)

Definition at line 191 of file KalmanFitterTool.h.

191{};

◆ m_uncalibMeasCalibrator

xAODUnCalibrator_t ActsTrk::KalmanFitterTool::m_uncalibMeasCalibrator {}

private

Definition at line 194 of file KalmanFitterTool.h.

194{};

◆ s_nExtensions

unsigned ActsTrk::KalmanFitterTool::s_nExtensions = static_cast<unsigned>(detail::SourceLinkType::nTypes)

staticconstexprprivate

Array of all configured fitter extensions depending on which source link type is in use.

Definition at line 205 of file KalmanFitterTool.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ DirectFitter

◆ Fitter

◆ FitterExtension_t

◆ FitterOptions_t

◆ xAODUnCalibrator_t

Constructor & Destructor Documentation

◆ ~KalmanFitterTool()

Member Function Documentation

◆ configureFit()

◆ fit() [1/9]

◆ fit() [2/9]

◆ fit() [3/9]

◆ fit() [4/9]

◆ fit() [5/9]

◆ fit() [6/9]

◆ fit() [7/9]

◆ fit() [8/9]

◆ fit() [9/9]

◆ initialize()

◆ logger()

Member Data Documentation

◆ m_ATLASConverterTool

◆ m_directFitter

◆ m_doReFitFromPRD

◆ m_extrapolationTool

◆ m_fitter

◆ m_kfExtensions

◆ m_logger

◆ m_option_maxPropagationStep

◆ m_option_outlierChi2Cut

◆ m_option_ReverseFilteringPt

◆ m_option_seedCovarianceScale

◆ m_outlierFinder

◆ m_prdCalibrator

◆ m_prdSurfAcc

◆ m_reverseFilteringLogic

◆ m_ROTcreator

◆ m_trackingGeometryTool

◆ m_trkCalibrator

◆ m_trkSurfAcc

◆ m_unalibMeasSurfAcc

◆ m_uncalibMeasCalibrator

◆ s_nExtensions