ATLAS Offline Software
Loading...
Searching...
No Matches
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 >:

Public Types

using T_BoundState = MeasurementSelectorTraits<derived_t>::BoundState
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 TrackStateProxy = typename Base::TrackStateProxy
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_Value>
static Acts::SourceLink makeSourceLink (T_Value &&value)
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
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 810 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 812 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 733 of file MeasurementSelector.h.

◆ Config

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

Definition at line 320 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<
std::pair < typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurement<DIM>,
typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurementCovariance<DIM> >
(const Acts::GeometryContext&,
const Acts::CalibrationContext&,
const measurement_t &,
const typename MeasurementSelectorTraits<derived_t>::BoundTrackParameters &)>
MeasurementSelectorTraits::BoundTrackParameters
Acts::BoundTrackParameters BoundTrackParameters
Definition MeasurementSelector.h:91

Definition at line 873 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::pair < typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurement<DIM>,
typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurementCovariance<DIM> >
(const Acts::GeometryContext&,
const Acts::CalibrationContext&,
const measurement_t &,
const typename MeasurementSelectorTraits<derived_t>::BoundTrackParameters &)>

Definition at line 862 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 811 of file MeasurementSelector.h.

◆ TrackStateProxy

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

Definition at line 736 of file MeasurementSelector.h.

◆ traits

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

Definition at line 321 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 735 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 820 of file MeasurementSelector.h.

820 {
821 return std::get<1>(boundState);
822 }

◆ 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 815 of file MeasurementSelector.h.

815 {
816 return std::get<0>(boundState);
817 }

◆ 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 357 of file MeasurementSelector.h.

364 {
365 // create track states for all compatible measurement candidates
366 const auto &boundParams = derived_t::boundParams(boundState);
367 const auto &pathLength = derived_t::pathLength(boundState);
368
369 using PM = Acts::TrackStatePropMask;
370
371 track_states.reserve( n_new_states );
372 std::optional<TrackStateProxy> firstTrackState{
373 std::nullopt};
374 for (unsigned int state_i=0; state_i<n_new_states; ++state_i) {
375 PM mask = PM::Predicted | PM::Filtered | PM::Jacobian | PM::Calibrated;
376
377 if (firstTrackState.has_value()) {
378 // subsequent track states don't need storage for these as they will
379 // be shared
380 mask &= ~PM::Predicted & ~PM::Jacobian;
381 }
382
383 if (outlier_states) {
384 // outlier won't have separate filtered parameters
385 mask &= ~PM::Filtered;
386 }
387
388 TrackStateProxy trackState = trajectory.makeTrackState(mask, prevTip);
389 ACTS_VERBOSE("Create SourceLink output track state #"
390 << trackState.index() << " with mask: " << mask);
391
392 if (firstTrackState.has_value()) {
393 trackState.shareFrom(*firstTrackState, PM::Predicted);
394 trackState.shareFrom(*firstTrackState, PM::Jacobian);
395 }
396 else {
397 // only set these for first
398 trackState.predicted() = boundParams.parameters();
399 if (boundParams.covariance()) {
400 trackState.predictedCovariance() = *boundParams.covariance();
401 }
402 trackState.jacobian() = derived_t::boundJacobiMatrix(boundState);
403 firstTrackState = trackState;
404 }
405 trackState.pathLength() = pathLength;
406
407 trackState.setReferenceSurface(boundParams.referenceSurface().getSharedPtr());
408
409 trackState.setProjectorSubspaceIndices(subspaceIndices);
410
411 Acts::TrackStateType typeFlags = trackState.typeFlags();
412 if (trackState.referenceSurface().surfaceMaterial() != nullptr) {
413 typeFlags.set(Acts::TrackStateFlag::MaterialFlag);
414 }
415 typeFlags.set(Acts::TrackStateFlag::ParameterFlag);
416
417 // @TODO these track states still need some additional processing. Should there be a special
418 // flag for this ?
419 track_states.push_back( trackState.index());
420 }
421 }

◆ 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 745 of file MeasurementSelector.h.

752 {
753
754 Acts::Result<boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface> >
755 result = Acts::CombinatorialKalmanFilterError::MeasurementSelectionFailed;
756 // get associated measurement container and the relevant measurement range for the given surface.
757 auto [a_measurement_container_variant_ptr, range, forced] = this->derived().containerAndRange(surface);
758 if (!forced && !this->derived().expectMeasurements( surface, a_measurement_container_variant_ptr, range)) {
759 result = result.failure(Acts::CombinatorialKalmanFilterError::NoMeasurementExpected);
760 return result;
761 }
762 if (!range.empty()) {
763 auto [numMeasurementsCut, maxChi2Cut] = this->getCuts(surface,boundState, logger);
764 // numMeasurementsCut is == 0 in case getCuts failed
765 // anyway cannot select anything if numMeasurementsCut==0;
766 if (numMeasurementsCut>0) {
767
768 result = std::visit( [this,
769 &geometryContext,
770 &calibrationContext,
771 &surface,
772 &boundState,
773 &range,
774 prevTip,
775 &trajectory,
776 &logger,
777 numMeasurementsCut,
778 &maxChi2Cut,
779 forced] (const auto &measurement_container_with_dimension) {
780 using ArgType = std::remove_cv_t<std::remove_reference_t< decltype(measurement_container_with_dimension) > >;
781 constexpr std::size_t DIM = ArgType::dimension();
782 auto measurement_range = this->derived().rangeForContainer(measurement_container_with_dimension,range);
783 return
784 this->template
785 selectMeasurementsCreateTrackStates<DIM, decltype(measurement_range)>(geometryContext,
786 calibrationContext,
787 surface,
788 boundState,
789 std::move(measurement_range),
790 prevTip,
791 trajectory,
792 logger,
793 numMeasurementsCut,
794 maxChi2Cut,
795 forced);
796 },
797 *a_measurement_container_variant_ptr);
798 }
799 }
800 else {
801 result = Acts::Result<boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface> >::success({});
802 }
803 return result;
804 }
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:684
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:442

◆ derived()

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

Definition at line 331 of file MeasurementSelector.h.

331{ 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 740 of file MeasurementSelector.h.

740 {
741 return MeasurementSelectorTraits<derived_t>::s_dimMax;
742 }

◆ 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 838 of file MeasurementSelector.h.

838 {
839 if constexpr( std::is_same<T, std::remove_pointer_t<T> >::value ) {
840 return a;
841 }
842 else {
843 return *a;
844 }
845 }

◆ 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 684 of file MeasurementSelector.h.

686 {
687 std::tuple< std::size_t, std::pair<float,float> > result;
688 std::size_t &numMeasurementsCut = std::get<0>(result);
689 std::pair<float,float> &maxChi2Cut = std::get<1>(result);
690 // Get geoID of this surface
691 auto geoID = surface.geometryId();
692 // Find the appropriate cuts
693 auto cuts = m_config.find(geoID);
694 if (cuts == m_config.end()) {
695 // indicates failure
696 numMeasurementsCut = 0;
697 }
698 else {
699 // num measurement Cut
700 // getchi2 cut
701 std::size_t eta_bin = getEtaBin(derived().boundParams(boundState), cuts->etaBins);
702 numMeasurementsCut = (!cuts->numMeasurementsCutOff.empty()
703 ? cuts->numMeasurementsCutOff[ std::min(cuts->numMeasurementsCutOff.size()-1, eta_bin) ]
704 : NMeasMax);
705 maxChi2Cut = ! cuts->chi2CutOff.empty()
706 ? cuts->chi2CutOff[ std::min(cuts->chi2CutOff.size()-1, eta_bin) ]
707 : std::make_pair<float,float>(std::numeric_limits<float>::max(),
708 std::numeric_limits<float>::max());
709 ACTS_VERBOSE("Get cut for eta-bin="
710 << (eta_bin < cuts->etaBins.size() ? cuts->etaBins[eta_bin] : std::numeric_limits<float>::max())
711 << ": chi2 (max,max-outlier) " << maxChi2Cut.first << ", " << maxChi2Cut.second
712 << " max.meas." << numMeasurementsCut);
713 }
714 return result;
715 }

◆ getEtaBin()

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

Definition at line 665 of file MeasurementSelector.h.

666 {
667 if (etaBins.empty()) {
668 return 0u; // shortcut if no etaBins
669 }
670 const float eta = std::abs(std::atanh(std::cos(boundParameters.parameters()[Acts::eBoundTheta])));
671 std::size_t bin = 0;
672 for (auto etaBin : etaBins) {
673 if (etaBin >= eta) {
674 break;
675 }
676 bin++;
677 }
678 return bin;
679 }

◆ makeSourceLink()

template<std::size_t NMeasMax, typename derived_t, typename measurement_container_variant_t>
template<typename T_Value>
Acts::SourceLink MeasurementSelectorBaseImpl< NMeasMax, derived_t, measurement_container_variant_t >::makeSourceLink ( T_Value && value)
inlinestatic

Definition at line 830 of file MeasurementSelector.h.

830 {
831 return Acts::SourceLink{value};
832 }

◆ 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 854 of file MeasurementSelector.h.

856 {
857 return ParameterMapping::identity<DIM>();
858 }
ParameterMapping::identity
static constexpr type< N > identity()
Definition MeasurementSelector.h:137

◆ 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 824 of file MeasurementSelector.h.

824 {
825 return std::get<2>(boundState);
826 }

◆ 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 442 of file MeasurementSelector.h.

452 {
453 Acts::Result<boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface> >
454 result = boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface>{};
455
456 using iterator_t = decltype(measurement_range.begin());
457 using container_value_t = typename MeasurementSelectorTraits<derived_t>::template MeasurementContainerTraits<iterator_t>::value_type;
458 using BaseElementType = std::remove_cv_t<std::remove_pointer_t< container_value_t > >;
459 // get calibrator
460 using TheMatchingMeasurement = MatchingMeasurement<DIM, container_value_t >;
461 using MeasCovPair = TheMatchingMeasurement::MeasCovPair;
462
463 using Predicted = typename MeasurementSelectorTraits<derived_t>::template Predicted<DIM>;
464 using PredictedCovariance = typename MeasurementSelectorTraits<derived_t>::template PredictedCovariance<DIM>;
465
466
467
468 // get prediction in the measurement domain
469 Acts::SubspaceIndices<DIM> parameter_map = derived().template parameterMap<DIM>(geometryContext,
470 calibrationContext,
471 surface);
472 auto predicted
473 = std::make_pair( project<DIM, Predicted>(parameter_map,
474 derived().boundParams(boundState).parameters()),
475 project<DIM, PredictedCovariance>(parameter_map,
476 derived().boundParams(boundState).covariance().value()));
477
478 // select n measurents with the smallest chi2.
479 auto preCalibrator = derived().template preCalibrator<DIM, BaseElementType>();
480 auto postCalibrator = derived().template postCalibrator<DIM, BaseElementType>();
481 TopCollection<NMeasMax, TheMatchingMeasurement > selected_measurements(numMeasurementsCut);
482 for ( const auto &measurement : measurement_range ) {
483 TheMatchingMeasurement &matching_measurement=selected_measurements.slot();
484 if (forced && postCalibrator) {
485 // skip preCalibrator and computeChi2, by doing everything else. We start with what's done if no preCalibrator.
486 const auto &m = derived().forwardToCalibrator(measurement);
487 matching_measurement.m_measurement = std::make_pair( m.template localPosition<DIM>(), m.template localCovariance<DIM>() );
488 matching_measurement.m_chi2 = 0.0f;
489 matching_measurement.m_sourceLink=measurement;
490 if (!selected_measurements.acceptNoSort()) break;
491 } else {
492 matching_measurement.m_measurement = preCalibrator(geometryContext,
493 calibrationContext,
494 derived().forwardToCalibrator(measurement),
495 derived().boundParams(boundState));
496 matching_measurement.m_chi2 = computeChi2(matching_measurement.m_measurement.first,
497 matching_measurement.m_measurement.second,
498 predicted.first,
499 predicted.second);
500 // only consider measurements which pass the outlier chi2 cut
501 if (matching_measurement.m_chi2<maxChi2Cut.second) {
502 matching_measurement.m_sourceLink=measurement;
503 selected_measurements.acceptAndSort([](const TheMatchingMeasurement &a,
504 const TheMatchingMeasurement &b) {
505 return a.m_chi2 < b.m_chi2;
506 });
507 }
508 }
509 }
510
511 // apply final calibration to n-best measurements
512 using post_calib_meas_cov_pair_t
513 = std::pair<typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurement<DIM>,
514 typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurementCovariance<DIM> >;
515
516 // need extra temporary buffer if the types to store "measurements" during measurement selection
517 // and calibrated measurements after the measurement selection are not identical
518 static constexpr bool pre_and_post_calib_types_agree
519 = std::is_same< typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurement<DIM>,
520 typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurement<DIM> >::value
521 && std::is_same< typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurementCovariance<DIM>,
522 typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurementCovariance<DIM> >::value;
523
524 using Empty = struct {};
525 typename std::conditional< !pre_and_post_calib_types_agree,
526 std::array< post_calib_meas_cov_pair_t, NMeasMax>, // @TODO could use boost static_vector instead
527 Empty>::type calibrated;
528 if (postCalibrator) {
529 typename std::conditional<!pre_and_post_calib_types_agree, unsigned int, Empty>::type calibrated_meas_cov_i{};
530
531 // apply final calibration, recompute chi2
532 for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
533 idx: selected_measurements) {
534 TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
535
536 // helper to select the destination storage which is the extra temporary buffer
537 // if the measurement storage types during and after selection are different.
538 post_calib_meas_cov_pair_t &calibrated_measurement
539 = [&calibrated, &a_selected_measurement, calibrated_meas_cov_i]() -> post_calib_meas_cov_pair_t & {
540 if constexpr(pre_and_post_calib_types_agree) {
541 (void) calibrated;
542 (void) calibrated_meas_cov_i;
543 return a_selected_measurement.m_measurement;
544 }
545 else {
546 (void) a_selected_measurement;
547 assert(calibrated_meas_cov_i < calibrated.size());
548 return calibrated[calibrated_meas_cov_i];
549 }
550 }();
551
552 // apply the calibration
553 calibrated_measurement = postCalibrator(geometryContext,
554 calibrationContext,
555 derived().forwardToCalibrator(a_selected_measurement.m_sourceLink.value()),
556 derived().boundParams(boundState));
557 // update chi2 using calibrated measurement
558 a_selected_measurement.m_chi2 = computeChi2(calibrated_measurement.first,
559 calibrated_measurement.second,
560 predicted.first,
561 predicted.second);
562 // ... and set outlier flag
563 a_selected_measurement.m_isOutLier = (!forced && a_selected_measurement.m_chi2 >= maxChi2Cut.first);
564 if constexpr(!pre_and_post_calib_types_agree) {
565 ++calibrated_meas_cov_i;
566 }
567 }
568 }
569 else {
570 // if no final calibration is performed only the outlier flag still needs to be set
571 for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
572 idx: selected_measurements) {
573 TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
574 a_selected_measurement.m_isOutLier = (!forced && a_selected_measurement.m_chi2 >= maxChi2Cut.first);
575 }
576 }
577
578 // First Create states without setting information about the calibrated measurement for the selected measurements
579 // @TODO first create state then copy measurements, or crete state by state and set measurements ?
580 // the lastter has the "advantage" that the outlier flag can be set individually
581 // the former has the advantage that part of the state creation code is independent of the
582 // the measurement.
583
584 Acts::BoundSubspaceIndices boundSubspaceIndices;
585 std::copy(parameter_map.begin(), parameter_map.end(), boundSubspaceIndices.begin());
586 createStates( selected_measurements.size(),
587 boundState,
588 prevTip,
589 trajectory,
590 boundSubspaceIndices,
591 *result,
592 logger,
593 (!selected_measurements.empty()
594 ? selected_measurements.getSlot( *(selected_measurements.begin())).m_isOutLier
595 : false) );
596 assert( result->size() == selected_measurements.size() );
597
598 // helper to determine whether calibrated storeage is to be used
599 auto use_calibrated_storage = [&postCalibrator]() -> bool {
600 if constexpr(pre_and_post_calib_types_agree) {
601 (void) postCalibrator;
602 return false;
603 }
604 else {
605 // this is only known during runtime
606 // but it should not be tested if the types agree.
607 return postCalibrator;
608 }
609 };
610
611 if (selected_measurements.empty()) {
612 auto config_for_surface = m_config.find(surface.geometryId());
613 if (config_for_surface != m_config.end()) {
614 if (config_for_surface->edgeTolerance.has_value()) {
615 // if the prediction failes the bound test, where the edgeTolerance is expected to be negative
616 // then the "hole" is considered to be an edge hole which is not treated as a hole.
617 auto local_coords = derived().boundParams(boundState).parameters().template block<2,1>(0,0);
618 if (!surface.insideBounds(local_coords,config_for_surface->edgeTolerance.value())) {
619 result = result.failure(Acts::CombinatorialKalmanFilterError::NoMeasurementExpected);
620 }
621 }
622 }
623 }
624 else {
625 // copy selected measurements to pre-created states
626 unsigned int state_i=0;
627 for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
628 idx: selected_measurements) {
629 assert( state_i < result->size());
630 TrackStateProxy trackState( trajectory.getTrackState( (*result)[state_i] ) );
631 TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
632 trackState.setUncalibratedSourceLink(derived().makeSourceLink(std::move(a_selected_measurement.m_sourceLink.value())));
633 // flag outliers accordingly, so that they are handled correctly by the post processing
634 trackState.typeFlags().set( a_selected_measurement.m_isOutLier
635 ? Acts::TrackStateFlag::OutlierFlag
636 : Acts::TrackStateFlag::MeasurementFlag );
637 trackState.allocateCalibrated(DIM);
638 if (use_calibrated_storage()) {
639 // if the final clibration is performed after the selection then
640 // copy these measurements and covariances to the track states
641 assert( use_calibrated_storage() == !pre_and_post_calib_types_agree);
642 if constexpr(!pre_and_post_calib_types_agree) {
643 assert( state_i < calibrated.size());
644 trackState.template calibrated<DIM>()
645 = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(calibrated[state_i].first);
646 trackState.template calibratedCovariance<DIM>()
647 = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(calibrated[state_i].second);
648 trackState.chi2() = a_selected_measurement.m_chi2;
649 }
650 }
651 else {
652 trackState.template calibrated<DIM>()
653 = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(a_selected_measurement.m_measurement.first);
654 trackState.template calibratedCovariance<DIM>()
655 = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(a_selected_measurement.m_measurement.second);
656 trackState.chi2() = a_selected_measurement.m_chi2;
657 }
658 ++state_i;
659 }
660 }
661 return result;
662 }
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:188

Member Data Documentation

◆ m_config

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

Definition at line 323 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 737 of file MeasurementSelector.h.

The documentation for this struct was generated from the following file:
Generated on for ATLAS Offline Software by doxygen 1.14.0