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Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Static Protected Member Functions | List of all members
MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t > Struct Template Reference

#include <MeasurementSelector.h>

Inheritance diagram for MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >:
Collaboration diagram for MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >:

Classes

struct  CalibratedMeasurementTraits

Public Types

using T_BoundState = MeasurementSelectorTraits<derived_t>::BoundState
using TrackStateProxy = MeasurementSelectorTraits<derived_t>::TrackStateProxy
using abstract_measurement_range_t = MeasurementSelectorTraits<derived_t>::abstract_measurement_range_t
template<std::size_t DIM, typename measurement_t>
using PreCalibrator
template<std::size_t DIM, typename measurement_t>
using PostCalibrator
using Base = MeasurementSelectorBase< NMeasMax, MeasurementSelectorTraits<derived_t>::s_dimMax, derived_t>
using trajectory_t = typename Base::trajectory_t
using Config
using traits

Public Member Functions

template<std::size_t DIM>
ParameterMapping::type< DIM > parameterMap (const Acts::GeometryContext &, const Acts::CalibrationContext &, const Acts::Surface &)
template<std::size_t DIM, typename measurement_t>
const PostCalibrator< DIM, measurement_t > & postCalibrator () const
 the calibrator used after the measurement selection which does not have to be "connected"
template<std::size_t DIM, typename measurement_t>
const PreCalibrator< DIM, measurement_t > & preCalibrator () const
std::tuple< const measurement_container_variant_t &, abstract_measurement_range_t > containerAndRange (const Acts::Surface &surface) const
 Get container and index range for measurements on the given surface.
bool expectMeasurements (const Acts::Surface &surface, const measurement_container_variant_t *container_variant_ptr, const abstract_measurement_range_t &abstract_range) const
Acts::Result< boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface > > createTrackStates (const Acts::GeometryContext &geometryContext, const Acts::CalibrationContext &calibrationContext, const Acts::Surface &surface, const T_BoundState &boundState, typename TrackStateProxy::IndexType prevTip, std::vector< TrackStateProxy > &trackStateCandidates, trajectory_t &trajectory, const Acts::Logger &logger) const
std::tuple< std::size_t, std::pair< float, float > > getCuts (const Acts::Surface &surface, const T_BoundState &boundState, const Acts::Logger &logger) const

Static Public Member Functions

static const MeasurementSelectorTraits< derived_t >::BoundTrackParameters & boundParams (const T_BoundState &boundState)
static const MeasurementSelectorTraits< derived_t >::BoundMatrix & boundJacobiMatrix (const T_BoundState &boundState)
static double pathLength (const T_BoundState &boundState)
template<typename T>
static const auto & forwardToCalibrator (const T &a)
template<typename measurement_container_t>
static auto rangeForContainer (const measurement_container_t &concrete_container, const abstract_measurement_range_t &abstract_range)
 Create a range over elements of the given container from an abstract range.
static constexpr std::size_t dimMax ()

Public Attributes

Config m_config

Static Public Attributes

static constexpr std::size_t s_maxBranchesPerSurface = Base::s_maxBranchesPerSurface

Protected Member Functions

const derived_t & derived () const
unsigned int makeOutlierFlag (bool value)
Acts::Result< boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface > > selectMeasurementsCreateTrackStates (const Acts::GeometryContext &geometryContext, const Acts::CalibrationContext &calibrationContext, const Acts::Surface &surface, const T_BoundState &boundState, T_MeasurementRange &&measurement_range, std::size_t prevTip, trajectory_t &trajectory, const Acts::Logger &logger, const std::size_t numMeasurementsCut, const std::pair< float, float > &maxChi2Cut, bool forced) const

Static Protected Member Functions

static void createStates (std::size_t n_new_states, const T_BoundState &boundState, std::size_t prevTip, trajectory_t &trajectory, const Acts::BoundSubspaceIndices &subspaceIndices, boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface > &track_states, const Acts::Logger &logger, bool outlier_states)
static std::size_t getEtaBin (const parameters_t &boundParameters, const std::vector< float > &etaBins)

Detailed Description

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
struct MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >

Definition at line 803 of file MeasurementSelector.h.

Member Typedef Documentation

◆ abstract_measurement_range_t

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
using MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::abstract_measurement_range_t = MeasurementSelectorTraits<derived_t>::abstract_measurement_range_t

Definition at line 806 of file MeasurementSelector.h.

◆ Base

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
using MeasurementSelectorWithDispatch< NMeasMax, derived_t, measurement_container_variant_t >::Base = MeasurementSelectorBase< NMeasMax, MeasurementSelectorTraits<derived_t>::s_dimMax, derived_t>
inherited

Definition at line 726 of file MeasurementSelector.h.

◆ Config

using MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::Config
inherited

Definition at line 323 of file MeasurementSelector.h.

◆ PostCalibrator

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<std::size_t DIM, typename measurement_t>
using MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::PostCalibrator
Initial value:
Acts::Delegate<
void
(const Acts::GeometryContext&,
const Acts::CalibrationContext&,
const measurement_t &,
TrackStateProxy &)>
MeasurementSelectorBaseImpl::TrackStateProxy
MeasurementSelectorTraits< derived_t >::TrackStateProxy TrackStateProxy
Definition MeasurementSelector.h:805

Definition at line 871 of file MeasurementSelector.h.

◆ PreCalibrator

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<std::size_t DIM, typename measurement_t>
using MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::PreCalibrator
Initial value:
Acts::Delegate<
std::tuple < typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurement<DIM>,
typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurementCovariance<DIM>,
unsigned int>
(const Acts::GeometryContext&,
const Acts::CalibrationContext&,
const Acts::Surface&,
const measurement_t &,
const typename MeasurementSelectorTraits<derived_t>::BoundTrackParameters &)>
MeasurementSelectorTraits::BoundTrackParameters
Acts::BoundTrackParameters BoundTrackParameters
Definition MeasurementSelector.h:94

Definition at line 858 of file MeasurementSelector.h.

◆ T_BoundState

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
using MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::T_BoundState = MeasurementSelectorTraits<derived_t>::BoundState

Definition at line 804 of file MeasurementSelector.h.

◆ TrackStateProxy

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
using MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::TrackStateProxy = MeasurementSelectorTraits<derived_t>::TrackStateProxy

Definition at line 805 of file MeasurementSelector.h.

◆ traits

using MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::traits
inherited

Definition at line 324 of file MeasurementSelector.h.

◆ trajectory_t

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
using MeasurementSelectorWithDispatch< NMeasMax, derived_t, measurement_container_variant_t >::trajectory_t = typename Base::trajectory_t
inherited

Definition at line 728 of file MeasurementSelector.h.

Member Function Documentation

◆ boundJacobiMatrix()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
const MeasurementSelectorTraits< derived_t >::BoundMatrix & MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::boundJacobiMatrix ( const T_BoundState & boundState)
inlinestatic

Definition at line 814 of file MeasurementSelector.h.

814 {
815 return std::get<1>(boundState);
816 }

◆ boundParams()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
const MeasurementSelectorTraits< derived_t >::BoundTrackParameters & MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::boundParams ( const T_BoundState & boundState)
inlinestatic

Definition at line 809 of file MeasurementSelector.h.

809 {
810 return std::get<0>(boundState);
811 }

◆ containerAndRange()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
std::tuple< const measurement_container_variant_t &, abstract_measurement_range_t > MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::containerAndRange ( const Acts::Surface & surface) const

Get container and index range for measurements on the given surface.

Returns
tuple of container, begin index and end index
Note
return a tuple containing a measurement container variant for the given surface and the index range for measurements on that surface. The index range may be empty.

◆ createStates()

void MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::createStates ( std::size_t n_new_states,
const T_BoundState & boundState,
std::size_t prevTip,
trajectory_t & trajectory,
const Acts::BoundSubspaceIndices & subspaceIndices,
boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface > & track_states,
const Acts::Logger & logger,
bool outlier_states )
inlinestaticprotectedinherited

Definition at line 360 of file MeasurementSelector.h.

367 {
368 // create track states for all compatible measurement candidates
369 const auto &boundParams = derived_t::boundParams(boundState);
370 const auto &pathLength = derived_t::pathLength(boundState);
371
372 using PM = Acts::TrackStatePropMask;
373
374 track_states.reserve( n_new_states );
375 std::optional<TrackStateProxy> firstTrackState{
376 std::nullopt};
377 for (unsigned int state_i=0; state_i<n_new_states; ++state_i) {
378 PM mask = PM::Predicted | PM::Filtered | PM::Jacobian | PM::Calibrated;
379
380 if (firstTrackState.has_value()) {
381 // subsequent track states don't need storage for these as they will
382 // be shared
383 mask &= ~PM::Predicted & ~PM::Jacobian;
384 }
385
386 if (outlier_states) {
387 // outlier won't have separate filtered parameters
388 mask &= ~PM::Filtered;
389 }
390
391 TrackStateProxy trackState = trajectory.makeTrackState(mask, prevTip);
392 ACTS_VERBOSE("Create SourceLink output track state #"
393 << trackState.index() << " with mask: " << mask);
394
395 if (firstTrackState.has_value()) {
396 trackState.shareFrom(*firstTrackState, PM::Predicted);
397 trackState.shareFrom(*firstTrackState, PM::Jacobian);
398 }
399 else {
400 // only set these for first
401 trackState.predicted() = boundParams.parameters();
402 if (boundParams.covariance()) {
403 trackState.predictedCovariance() = *boundParams.covariance();
404 }
405 trackState.jacobian() = derived_t::boundJacobiMatrix(boundState);
406 firstTrackState = trackState;
407 }
408 trackState.pathLength() = pathLength;
409
410 trackState.setReferenceSurface(boundParams.referenceSurface().getSharedPtr());
411
412 trackState.setProjectorSubspaceIndices(subspaceIndices);
413
414 auto typeFlags = trackState.typeFlags();
415 if (trackState.referenceSurface().surfaceMaterial() != nullptr) {
416 typeFlags.setHasMaterial();
417 }
418 typeFlags.setHasParameters();
419
420 // @TODO these track states still need some additional processing. Should there be a special
421 // flag for this ?
422 track_states.push_back( trackState.index());
423 }
424 }

◆ createTrackStates()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
Acts::Result< boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface > > MeasurementSelectorWithDispatch< NMeasMax, derived_t, measurement_container_variant_t >::createTrackStates ( const Acts::GeometryContext & geometryContext,
const Acts::CalibrationContext & calibrationContext,
const Acts::Surface & surface,
const T_BoundState & boundState,
typename TrackStateProxy::IndexType prevTip,
std::vector< TrackStateProxy > & trackStateCandidates,
trajectory_t & trajectory,
const Acts::Logger & logger ) const
inlineinherited

Definition at line 738 of file MeasurementSelector.h.

745 {
746
747 Acts::Result<boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface> >
748 result = Acts::CombinatorialKalmanFilterError::MeasurementSelectionFailed;
749 // get associated measurement container and the relevant measurement range for the given surface.
750 auto [a_measurement_container_variant_ptr, range, forced] = this->derived().containerAndRange(surface);
751 if (!forced && !this->derived().expectMeasurements( surface, a_measurement_container_variant_ptr, range)) {
752 result = result.failure(Acts::CombinatorialKalmanFilterError::NoMeasurementExpected);
753 return result;
754 }
755 if (!range.empty()) {
756 auto [numMeasurementsCut, maxChi2Cut] = this->getCuts(surface,boundState, logger);
757 // numMeasurementsCut is == 0 in case getCuts failed
758 // anyway cannot select anything if numMeasurementsCut==0;
759 if (numMeasurementsCut>0) {
760
761 result = std::visit( [this,
762 &geometryContext,
763 &calibrationContext,
764 &surface,
765 &boundState,
766 &range,
767 prevTip,
768 &trajectory,
769 &logger,
770 numMeasurementsCut,
771 &maxChi2Cut,
772 forced] (const auto &measurement_container_with_dimension) {
773 using ArgType = std::remove_cv_t<std::remove_reference_t< decltype(measurement_container_with_dimension) > >;
774 constexpr std::size_t DIM = ArgType::dimension();
775 auto measurement_range = this->derived().rangeForContainer(measurement_container_with_dimension,range);
776 return
777 this->template
778 selectMeasurementsCreateTrackStates<DIM, decltype(measurement_range)>(geometryContext,
779 calibrationContext,
780 surface,
781 boundState,
782 std::move(measurement_range),
783 prevTip,
784 trajectory,
785 logger,
786 numMeasurementsCut,
787 maxChi2Cut,
788 forced);
789 },
790 *a_measurement_container_variant_ptr);
791 }
792 }
793 else {
794 result = Acts::Result<boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface> >::success({});
795 }
796 return result;
797 }
MeasurementSelectorBase< NMeasMax, MeasurementSelectorTraits< derived_t >::s_dimMax, derived_t >::getCuts
std::tuple< std::size_t, std::pair< float, float > > getCuts(const Acts::Surface &surface, const T_BoundState &boundState, const Acts::Logger &logger) const
Definition MeasurementSelector.h:677
MeasurementSelectorBase< NMeasMax, MeasurementSelectorTraits< derived_t >::s_dimMax, derived_t >::selectMeasurementsCreateTrackStates
Acts::Result< boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface > > selectMeasurementsCreateTrackStates(const Acts::GeometryContext &geometryContext, const Acts::CalibrationContext &calibrationContext, const Acts::Surface &surface, const T_BoundState &boundState, T_MeasurementRange &&measurement_range, std::size_t prevTip, trajectory_t &trajectory, const Acts::Logger &logger, const std::size_t numMeasurementsCut, const std::pair< float, float > &maxChi2Cut, bool forced) const
Definition MeasurementSelector.h:464

◆ derived()

const derived_t & MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::derived ( ) const
inlineprotectedinherited

Definition at line 334 of file MeasurementSelector.h.

334{ return *static_cast<const derived_t *>(this); }

◆ dimMax()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
constexpr std::size_t MeasurementSelectorWithDispatch< NMeasMax, derived_t, measurement_container_variant_t >::dimMax ( )
inlinestaticconstexprinherited

Definition at line 733 of file MeasurementSelector.h.

733 {
734 return MeasurementSelectorTraits<derived_t>::s_dimMax;
735 }

◆ expectMeasurements()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
bool MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::expectMeasurements ( const Acts::Surface & surface,
const measurement_container_variant_t * container_variant_ptr,
const abstract_measurement_range_t & abstract_range ) const
Parameters
surfacea surface
container_variant_ptrabstract measurement container as returned by containerAndRange
abstract_rangethe range as returned by containerAndRange for the given surface
Returns
true if measurements are expected, false if the surface is not supposed to have valid measurements.

◆ forwardToCalibrator()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<typename T>
const auto & MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::forwardToCalibrator ( const T & a)
inlinestatic

Definition at line 826 of file MeasurementSelector.h.

826 {
827 if constexpr( std::is_same<T, std::remove_pointer_t<T> >::value ) {
828 return a;
829 }
830 else {
831 return *a;
832 }
833 }

◆ getCuts()

std::tuple< std::size_t, std::pair< float, float > > MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::getCuts ( const Acts::Surface & surface,
const T_BoundState & boundState,
const Acts::Logger & logger ) const
inlineinherited

Definition at line 677 of file MeasurementSelector.h.

679 {
680 std::tuple< std::size_t, std::pair<float,float> > result;
681 std::size_t &numMeasurementsCut = std::get<0>(result);
682 std::pair<float,float> &maxChi2Cut = std::get<1>(result);
683 // Get geoID of this surface
684 auto geoID = surface.geometryId();
685 // Find the appropriate cuts
686 auto cuts = m_config.find(geoID);
687 if (cuts == m_config.end()) {
688 // indicates failure
689 numMeasurementsCut = 0;
690 }
691 else {
692 // num measurement Cut
693 // getchi2 cut
694 std::size_t eta_bin = getEtaBin(derived().boundParams(boundState), cuts->etaBins);
695 numMeasurementsCut = (!cuts->numMeasurementsCutOff.empty()
696 ? cuts->numMeasurementsCutOff[ std::min(cuts->numMeasurementsCutOff.size()-1, eta_bin) ]
697 : NMeasMax);
698 maxChi2Cut = ! cuts->chi2CutOff.empty()
699 ? cuts->chi2CutOff[ std::min(cuts->chi2CutOff.size()-1, eta_bin) ]
700 : std::make_pair<float,float>(std::numeric_limits<float>::max(),
701 std::numeric_limits<float>::max());
702 ACTS_VERBOSE("Get cut for eta-bin="
703 << (eta_bin < cuts->etaBins.size() ? cuts->etaBins[eta_bin] : std::numeric_limits<float>::max())
704 << ": chi2 (max,max-outlier) " << maxChi2Cut.first << ", " << maxChi2Cut.second
705 << " max.meas." << numMeasurementsCut);
706 }
707 return result;
708 }

◆ getEtaBin()

std::size_t MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::getEtaBin ( const parameters_t & boundParameters,
const std::vector< float > & etaBins )
inlinestaticprotectedinherited

Definition at line 658 of file MeasurementSelector.h.

659 {
660 if (etaBins.empty()) {
661 return 0u; // shortcut if no etaBins
662 }
663 const float eta = std::abs(std::atanh(std::cos(boundParameters.parameters()[Acts::eBoundTheta])));
664 std::size_t bin = 0;
665 for (auto etaBin : etaBins) {
666 if (etaBin >= eta) {
667 break;
668 }
669 bin++;
670 }
671 return bin;
672 }

◆ makeOutlierFlag()

unsigned int MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::makeOutlierFlag ( bool value)
inlineprotectedinherited

Definition at line 446 of file MeasurementSelector.h.

446{ return static_cast<unsigned int>(value)<<2u; }

◆ parameterMap()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<std::size_t DIM>
ParameterMapping::type< DIM > MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::parameterMap ( const Acts::GeometryContext & ,
const Acts::CalibrationContext & ,
const Acts::Surface &  )
inline

Definition at line 842 of file MeasurementSelector.h.

844 {
845 return ParameterMapping::identity<DIM>();
846 }
ParameterMapping::identity
static constexpr type< N > identity()
Definition MeasurementSelector.h:140

◆ pathLength()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
double MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::pathLength ( const T_BoundState & boundState)
inlinestatic

Definition at line 818 of file MeasurementSelector.h.

818 {
819 return std::get<2>(boundState);
820 }

◆ postCalibrator()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<std::size_t DIM, typename measurement_t>
const PostCalibrator< DIM, measurement_t > & MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::postCalibrator ( ) const

the calibrator used after the measurement selection which does not have to be "connected"

Note
The return value does not have to be a delegate, it can be an arbitrary functor/lambda, which however must be castable to bool to test whether there is a postCalibrator

◆ preCalibrator()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<std::size_t DIM, typename measurement_t>
const PreCalibrator< DIM, measurement_t > & MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::preCalibrator ( ) const
Note
The return value does not have to be a delegate, it can be an arbitrary functor/lambda,

◆ rangeForContainer()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<typename measurement_container_t>
auto MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::rangeForContainer ( const measurement_container_t & concrete_container,
const abstract_measurement_range_t & abstract_range )
static

Create a range over elements of the given container from an abstract range.

Template Parameters
measurement_container_ta concrete container type which is one of one of the possible types of measurement_container_variant_t
Parameters
abstract_rangethe range as returned by containerAndRange
Returns
an itrerable range over elements of the given specified by the abstract range.

◆ selectMeasurementsCreateTrackStates()

Acts::Result< boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface > > MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::selectMeasurementsCreateTrackStates ( const Acts::GeometryContext & geometryContext,
const Acts::CalibrationContext & calibrationContext,
const Acts::Surface & surface,
const T_BoundState & boundState,
T_MeasurementRange && measurement_range,
std::size_t prevTip,
trajectory_t & trajectory,
const Acts::Logger & logger,
const std::size_t numMeasurementsCut,
const std::pair< float, float > & maxChi2Cut,
bool forced ) const
inlineprotectedinherited

Definition at line 464 of file MeasurementSelector.h.

474 {
475 Acts::Result<boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface> >
476 result = boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface>{};
477
478 using iterator_t = decltype(measurement_range.begin());
479 using container_value_t = typename MeasurementSelectorTraits<derived_t>::template MeasurementContainerTraits<iterator_t>::value_type;
480 using BaseElementType = std::remove_cv_t<std::remove_pointer_t< container_value_t > >;
481 // get calibrator
482 using TheMatchingMeasurement = MatchingMeasurement<DIM, container_value_t >;
483 using MeasCovPair = TheMatchingMeasurement::MeasCovPair;
484
485 using Predicted = typename MeasurementSelectorTraits<derived_t>::template Predicted<DIM>;
486 using PredictedCovariance = typename MeasurementSelectorTraits<derived_t>::template PredictedCovariance<DIM>;
487
488
489
490 // get prediction in the measurement domain
491 Acts::SubspaceIndices<DIM> parameter_map = derived().template parameterMap<DIM>(geometryContext,
492 calibrationContext,
493 surface);
494 auto predicted
495 = std::make_pair( project<DIM, Predicted>(parameter_map,
496 derived().boundParams(boundState).parameters()),
497 project<DIM, PredictedCovariance>(parameter_map,
498 derived().boundParams(boundState).covariance().value()));
499
500 // select n measurents with the smallest chi2.
501 auto preCalibrator = derived().template preCalibrator<DIM, BaseElementType>();
502 auto postCalibrator = derived().template postCalibrator<DIM, BaseElementType>();
503 TopCollection<NMeasMax, TheMatchingMeasurement > selected_measurements(numMeasurementsCut);
504 for ( const auto &measurement : measurement_range ) {
505 TheMatchingMeasurement &matching_measurement=selected_measurements.slot();
506 if (forced && postCalibrator) {
507 // skip preCalibrator and computeChi2, by doing everything else. We start with what's done if no preCalibrator.
508 const auto &m = derived().forwardToCalibrator(measurement);
509 matching_measurement.m_measurement = std::make_tuple( m.template localPosition<DIM>(), m.template localCovariance<DIM>(), 0u );
510 matching_measurement.m_chi2 = 0.0f;
511 matching_measurement.m_sourceLink=measurement;
512 if (!selected_measurements.acceptNoSort()) break;
513 } else {
514 matching_measurement.m_measurement = preCalibrator(geometryContext,
515 calibrationContext,
516 surface,
517 derived().forwardToCalibrator(measurement),
518 derived().boundParams(boundState));
519 matching_measurement.m_chi2 = computeChi2(matching_measurement.m_measurement.position(),
520 matching_measurement.m_measurement.covariance(),
521 predicted.first,
522 predicted.second);
523 // only consider measurements which pass the outlier chi2 cut
524 if (matching_measurement.m_chi2<maxChi2Cut.second) {
525 matching_measurement.m_sourceLink=measurement;
526 selected_measurements.acceptAndSort([](const TheMatchingMeasurement &a,
527 const TheMatchingMeasurement &b) {
528 return a.m_chi2 < b.m_chi2;
529 });
530 }
531 }
532 }
533
534 if (selected_measurements.empty()) {
535 auto config_for_surface = m_config.find(surface.geometryId());
536 if (config_for_surface != m_config.end()) {
537 if (config_for_surface->edgeTolerance.has_value()) {
538 // if the prediction failes the bound test, where the edgeTolerance is expected to be negative
539 // then the "hole" is considered to be an edge hole which is not treated as a hole.
540 auto local_coords = derived().boundParams(boundState).parameters().template block<2,1>(0,0);
541 if (!surface.insideBounds(local_coords,config_for_surface->edgeTolerance.value())) {
542 result = result.failure(Acts::CombinatorialKalmanFilterError::NoMeasurementExpected);
543 }
544 }
545 }
546 }
547 else {
548
549 // apply final calibration to n-best measurements
550 using post_calib_meas_cov_pair_t
551 = PairWithFlags<typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurement<DIM>,
552 typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurementCovariance<DIM> >;
553
554 // First Create states without setting information about the calibrated measurement for the selected measurements
555 // @TODO first create state then copy measurements, or crete state by state and set measurements ?
556 // the lastter has the "advantage" that the outlier flag can be set individually
557 // the former has the advantage that part of the state creation code is independent of the
558 // the measurement.
559
560 Acts::BoundSubspaceIndices boundSubspaceIndices;
561 std::copy(parameter_map.begin(), parameter_map.end(), boundSubspaceIndices.begin());
562 createStates( selected_measurements.size(),
563 boundState,
564 prevTip,
565 trajectory,
566 boundSubspaceIndices,
567 *result,
568 logger,
569 (!selected_measurements.empty()
570 ? selected_measurements.getSlot( *(selected_measurements.begin())).m_measurement.flags().isOutlier() || postCalibrator
571 : false) );
572 assert( result->size() == selected_measurements.size() );
573
574 if (postCalibrator) {
575 // either run post selection calibrator which will set the calibrated position and covariance
576 // directly to the state.
577 auto predicted_pos_dbl = predicted.first.template cast<double>();
578 auto predicted_cov_dbl = predicted.second.template cast<double>();
579 unsigned int state_i=0u;
580 for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
581 idx: selected_measurements) {
582 assert( state_i < result->size());
583 TrackStateProxy trackState( trajectory.getTrackState( (*result)[state_i] ) );
584 TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
585 trackState.setUncalibratedSourceLink(ActsTrk::detail::MeasurementCalibratorBase::pack(std::move(a_selected_measurement.m_sourceLink.value())));
586
587 // apply the calibration
588 postCalibrator(geometryContext,
589 calibrationContext,
590 derived().forwardToCalibrator(a_selected_measurement.m_sourceLink.value()),
591 trackState
592 );
593 // update chi2 using calibrated measurement
594 trackState.chi2() = computeChi2(trackState.template calibrated<DIM>(),
595 trackState.template calibratedCovariance<DIM>(),
596 predicted_pos_dbl,
597 predicted_cov_dbl);
598 // ... and set outlier flag
599 // and share or create storage for filtered.
600 bool is_outlier = !forced && trackState.chi2() >= maxChi2Cut.first;
601 if (is_outlier) {
602 trackState.typeFlags().setIsOutlier();
603 trackState.shareFrom(trackState, Acts::TrackStatePropMask::Predicted,
604 Acts::TrackStatePropMask::Filtered);
605 } else {
606 trackState.typeFlags().setIsMeasurement();
607 trackState.addComponents(Acts::TrackStatePropMask::Filtered);
608 }
609 ++state_i;
610 }
611 }
612 else {
613 // or copy the pre-selection calibrated position and covariance to the
614 // track states and adjust the flags.
615 unsigned int state_i=0u;
616 for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
617 idx: selected_measurements) {
618 assert( state_i < result->size());
619 TrackStateProxy trackState( trajectory.getTrackState( (*result)[state_i] ) );
620 TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
621
622 bool is_outlier = !forced && a_selected_measurement.m_chi2 >= maxChi2Cut.first;
623 auto type_flags = trackState.typeFlags();
624 if (is_outlier) {
625 // the filtered parameters will not be computed for outliers, so has to be shared from the prediction.
626 type_flags.setIsOutlier();
627 trackState.shareFrom(trackState, Acts::TrackStatePropMask::Predicted,
628 Acts::TrackStatePropMask::Filtered);
629 } else {
630 // for measurements the filtered parameters will be computed, so space needs to be allocated.
631 type_flags.setIsMeasurement();
632 trackState.addComponents(Acts::TrackStatePropMask::Filtered);
633 }
634 if (a_selected_measurement.m_measurement.flags().isSplitHit()) {
635 type_flags.setIsSplitHit();
636 }
637
638 trackState.setUncalibratedSourceLink(ActsTrk::detail::MeasurementCalibratorBase
639 ::pack(std::move(a_selected_measurement.m_sourceLink.value())));
640
641 trackState.allocateCalibrated(DIM);
642 trackState.template calibrated<DIM>()
643 = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>
644 ::MatrixFloatType>(a_selected_measurement.m_measurement.position());
645 trackState.template calibratedCovariance<DIM>()
646 = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>
647 ::MatrixFloatType>(a_selected_measurement.m_measurement.covariance());
648 trackState.chi2() = a_selected_measurement.m_chi2;
649 ++state_i;
650 }
651 }
652 }
653
654 return result;
655 }
computeChi2
double computeChi2(const measurement_vector_t &a, const measurement_cov_matrix_t &a_cov, const predicted_vector_t &b, const predicted_cov_matrix_t &b_cov)
Definition MeasurementSelector.h:191
size
size_t size() const
Number of registered mappings.

Member Data Documentation

◆ m_config

Config MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::m_config
inherited

Definition at line 326 of file MeasurementSelector.h.

◆ s_maxBranchesPerSurface

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
std::size_t MeasurementSelectorWithDispatch< NMeasMax, derived_t, measurement_container_variant_t >::s_maxBranchesPerSurface = Base::s_maxBranchesPerSurface
staticconstexprinherited

Definition at line 730 of file MeasurementSelector.h.

The documentation for this struct was generated from the following file:
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