#include <TrkFilteringNodes.h>

Inheritance diagram for Trk::TrkTrtNode:

Collaboration diagram for Trk::TrkTrtNode:

Public Member Functions
	TrkTrtNode (TrkPlanarSurface , double, double, double, const PrepRawData )
virtual	~TrkTrtNode ()
virtual void	validateMeasurement (TrkTrackState *)
virtual void	updateTrackState (TrkTrackState *)
virtual double	getChi2Distance (TrkTrackState *)
virtual void	serialize (char fileName[])
virtual void	updateInternal ()
virtual void	report ()
virtual void	updateWithRIO (const RIO_OnTrack *)
virtual int	getKalmanGain (double[5][2])
virtual int	getResiduals (double[2])
virtual int	getInverseResidualVariance (double[2][2])
virtual int	getMeasurementMatrix (double[2][5])
virtual void	runKalmanFilter (TrkTrackState *)
virtual double	calculateChi2 ()
virtual bool	isValidated ()
virtual void	setNodeState (int)
virtual int	getNodeState ()
virtual void	setNodeType (char)
virtual char	getNodeType ()
TrkTrackState *	getTrackState ()
virtual TrkPlanarSurface *	getSurface ()
virtual const PrepRawData *	getPrepRawData ()
double	getChi2 () const
int	getNdof () const

Protected Attributes
double	m_minBound
double	m_maxBound
char	m_lrSign
bool	m_freezeLR
double	m_B [5]
double	m_D
double	m_H [5]
double	m_K [5]
double	m_resid
double	m_m
double	m_V
int	m_nodeState
double	m_chi2Cut
char	m_nodeType
TrkPlanarSurface *	m_pSurface
const PrepRawData *	m_pPRD
double	m_dChi2
int	m_ndof
TrkTrackState *	m_pTrackState

Detailed Description

Definition at line 112 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

Constructor & Destructor Documentation

◆ TrkTrtNode()

Trk::TrkTrtNode::TrkTrtNode	(	TrkPlanarSurface *	pS,
		double	chi2Cut,
		double	lmin,
		double	lmax,
		const PrepRawData *	pPRD )

Definition at line 416 of file TrkFilteringNodes.cxx.

      : m_minBound(lmin), m_maxBound(lmax), m_lrSign(0), m_freezeLR(false) {
    m_pSurface = pS;
    m_chi2Cut = chi2Cut;
    m_m = pPRD->localPosition()[0];
    m_V = pPRD->localCovariance()(0, 0);
 
    m_pPRD = pPRD;
    m_nodeType = 3;
    m_ndof = 1;
  }

◆ ~TrkTrtNode()

virtual Trk::TrkTrtNode::~TrkTrtNode ( )

inlinevirtual

Definition at line 116 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

116{};

Member Function Documentation

◆ calculateChi2()

double TrkFilteringNode1D::calculateChi2 ( )

virtualinherited

Definition at line 33 of file TrkFilteringNodes.cxx.

                                           {
    return(m_resid * m_resid * m_D);
  }

◆ getChi2()

double TrkBaseNode::getChi2 ( ) const

inherited

Definition at line 69 of file TrkBaseNode.cxx.

                                    {
    return m_dChi2;
  }

◆ getChi2Distance()

double Trk::TrkTrtNode::getChi2Distance ( TrkTrackState * pTS )

virtual

Implements Trk::TrkBaseNode.

Definition at line 445 of file TrkFilteringNodes.cxx.

                                                       {
    int i;
    double tx, lV[3], V[3], corr;
 
    //double lP[3],P[3];
 
    if (!m_freezeLR) m_lrSign = (pTS->getTrackState(0) < 0.0) ? -1 : 1;
    V[0] = sin(pTS->getTrackState(3)) * cos(pTS->getTrackState(2));
    V[1] = sin(pTS->getTrackState(3)) * sin(pTS->getTrackState(2));
    V[2] = cos(pTS->getTrackState(3));
    //lP[0]=pTS->getTrackState(0);
    //lP[1]=pTS->getTrackState(1);
    //lP[2]=0.0;
    //pTS->getSurface()->transformPointToGlobal(lP,P);
    pTS->getSurface()->rotateVectorToLocal(V, lV);
    tx = lV[0] / lV[2];
    corr = 1.0 / sqrt(1.0 + tx * tx);
    for (i = 0; i < 5; i++) m_B[i] = corr * pTS->getTrackCovariance(0, i);
    m_H[0] = corr;
    m_H[1] = 0.0;
    m_H[2] = 0.0;
    m_H[3] = 0.0;
    m_H[4] = 0.0;
    m_D = 1.0 / (corr * corr * pTS->getTrackCovariance(0, 0) + m_V);
    m_resid = m_lrSign * m_m - corr * pTS->getTrackState(0);
    return calculateChi2();
  }

◆ getInverseResidualVariance()

int TrkFilteringNode1D::getInverseResidualVariance ( double V[2][2] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 63 of file TrkFilteringNodes.cxx.

                                                                   {
    V[0][0] = m_D;
    return 1;
  }

◆ getKalmanGain()

int TrkFilteringNode1D::getKalmanGain ( double K[5][2] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 51 of file TrkFilteringNodes.cxx.

                                                      {
    int i;
 
    for (i = 0; i < 5; i++) K[i][0] = m_K[i];
    return 1;
  }

◆ getMeasurementMatrix()

int TrkFilteringNode1D::getMeasurementMatrix ( double H[2][5] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 68 of file TrkFilteringNodes.cxx.

                                                             {
    int i;
 
    for (i = 0; i < 5; i++) H[0][i] = m_H[i];
    return 1;
  }

◆ getNdof()

int TrkBaseNode::getNdof ( ) const

inherited

Definition at line 65 of file TrkBaseNode.cxx.

                                 {
    return m_ndof;
  }

◆ getNodeState()

int TrkBaseNode::getNodeState ( )

virtualinherited

Definition at line 53 of file TrkBaseNode.cxx.

                                {
    return m_nodeState;
  }

◆ getNodeType()

char TrkBaseNode::getNodeType ( )

virtualinherited

Definition at line 61 of file TrkBaseNode.cxx.

                                {
    return m_nodeType;
  }

◆ getPrepRawData()

const PrepRawData * TrkBaseNode::getPrepRawData ( )

virtualinherited

Definition at line 39 of file TrkBaseNode.cxx.

                                                 {
    return m_pPRD;
  }

◆ getResiduals()

int TrkFilteringNode1D::getResiduals ( double r[2] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 58 of file TrkFilteringNodes.cxx.

                                                  {
    r[0] = m_resid;
    return 1;
  }

◆ getSurface()

TrkPlanarSurface * TrkBaseNode::getSurface ( )

virtualinherited

Definition at line 35 of file TrkBaseNode.cxx.

                                            {
    return m_pSurface;
  }

◆ getTrackState()

TrkTrackState * TrkBaseNode::getTrackState ( )

inherited

Definition at line 43 of file TrkBaseNode.cxx.

                                            {
    return m_pTrackState;
  }

◆ isValidated()

bool TrkBaseNode::isValidated ( )

virtualinherited

Definition at line 31 of file TrkBaseNode.cxx.

                              {
  return (m_nodeState != 0);
  }

◆ report()

virtual void Trk::TrkTrtNode::report ( )

inlinevirtual

Implements Trk::TrkBaseNode.

Definition at line 122 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

122{};

◆ runKalmanFilter()

void TrkFilteringNode1D::runKalmanFilter ( TrkTrackState * pTS )

virtualinherited

Definition at line 37 of file TrkFilteringNodes.cxx.

                                                             {
    int i, j, idx = 0;
    double updState[5], updCov[15];
 
    for (i = 0; i < 5; i++) m_K[i] = m_D * m_B[i];
    for (i = 0; i < 5; i++) updState[i] = m_K[i] * m_resid;
    pTS->updateTrackState(updState);
    for (i = 0; i < 5; i++) for (j = i; j < 5; j++) {
        updCov[idx] = -m_K[i] * m_B[j];
        idx++;
      }
    pTS->updateTrackCovariance(updCov);
  }

◆ serialize()

void Trk::TrkTrtNode::serialize ( char fileName[] )

virtual

Implements Trk::TrkBaseNode.

Definition at line 429 of file TrkFilteringNodes.cxx.

                                            {
    FILE* pFile = fopen(fileName, "a");
    if (!pFile) {
      std::cerr << "Cannot open file " << fileName << " for write.\n";
      std::abort();
    }
    fclose(pFile);
  }

◆ setNodeState()

void TrkBaseNode::setNodeState ( int s )

virtualinherited

Definition at line 49 of file TrkBaseNode.cxx.

                                      {
    m_nodeState = s;
  }

◆ setNodeType()

void TrkBaseNode::setNodeType ( char s )

virtualinherited

Definition at line 57 of file TrkBaseNode.cxx.

                                      {
    m_nodeType = s;
  }

◆ updateInternal()

void Trk::TrkTrtNode::updateInternal ( )

virtual

Reimplemented from Trk::TrkBaseNode.

Definition at line 478 of file TrkFilteringNodes.cxx.

                                  {
    if (isValidated() && (m_pTrackState != nullptr)) {
      m_freezeLR = true;
      m_lrSign = (m_pTrackState->getTrackState(0) < 0.0) ? -1 : 1;
    }
  }

◆ updateTrackState()

void Trk::TrkTrtNode::updateTrackState ( TrkTrackState * pTS )

virtual

Implements Trk::TrkBaseNode.

Definition at line 473 of file TrkFilteringNodes.cxx.

                                                      {
    if (isValidated()) runKalmanFilter(pTS);
    m_pTrackState = pTS;
  }

◆ updateWithRIO()

void Trk::TrkTrtNode::updateWithRIO ( const RIO_OnTrack * )

virtual

Implements Trk::TrkBaseNode.

Definition at line 485 of file TrkFilteringNodes.cxx.

485 {

486 }

◆ validateMeasurement()

void Trk::TrkTrtNode::validateMeasurement ( TrkTrackState * pTS )

virtual

Implements Trk::TrkBaseNode.

Definition at line 438 of file TrkFilteringNodes.cxx.

                                                         {
    if ((pTS->getTrackState(1) > m_minBound) && (pTS->getTrackState(1) < m_maxBound)) {
      m_dChi2 = getChi2Distance(pTS);
      m_nodeState = (m_dChi2 < m_chi2Cut) ? 1 : 0;
    } else m_nodeState = 0;
  }

Member Data Documentation

◆ m_B

double Trk::TrkFilteringNode1D::m_B[5]

protectedinherited

Definition at line 43 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_chi2Cut

double Trk::TrkBaseNode::m_chi2Cut

protectedinherited

Definition at line 52 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_D

double Trk::TrkFilteringNode1D::m_D

protectedinherited

Definition at line 43 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_dChi2

double Trk::TrkBaseNode::m_dChi2

protectedinherited

Definition at line 56 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_freezeLR

bool Trk::TrkTrtNode::m_freezeLR

protected

Definition at line 127 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_H

double Trk::TrkFilteringNode1D::m_H[5]

protectedinherited

Definition at line 43 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_K

double Trk::TrkFilteringNode1D::m_K[5]

protectedinherited

Definition at line 43 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_lrSign

char Trk::TrkTrtNode::m_lrSign

protected

Definition at line 126 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_m

double Trk::TrkFilteringNode1D::m_m

protectedinherited

Definition at line 45 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_maxBound

double Trk::TrkTrtNode::m_maxBound

protected

Definition at line 125 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_minBound

double Trk::TrkTrtNode::m_minBound

protected

Definition at line 125 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_ndof

int Trk::TrkBaseNode::m_ndof

protectedinherited

Definition at line 57 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_nodeState

int Trk::TrkBaseNode::m_nodeState

protectedinherited

Definition at line 51 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_nodeType

char Trk::TrkBaseNode::m_nodeType

protectedinherited

Definition at line 53 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_pPRD

const PrepRawData* Trk::TrkBaseNode::m_pPRD

protectedinherited

Definition at line 55 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_pSurface

TrkPlanarSurface* Trk::TrkBaseNode::m_pSurface

protectedinherited

Definition at line 54 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_pTrackState

TrkTrackState* Trk::TrkBaseNode::m_pTrackState

protectedinherited

Definition at line 58 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_resid

double Trk::TrkFilteringNode1D::m_resid

protectedinherited

Definition at line 44 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_V

double Trk::TrkFilteringNode1D::m_V

protectedinherited

Definition at line 46 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrkTrtNode()

◆ ~TrkTrtNode()

Member Function Documentation

◆ calculateChi2()

◆ getChi2()

◆ getChi2Distance()

◆ getInverseResidualVariance()

◆ getKalmanGain()

◆ getMeasurementMatrix()

◆ getNdof()

◆ getNodeState()

◆ getNodeType()

◆ getPrepRawData()

◆ getResiduals()

◆ getSurface()

◆ getTrackState()

◆ isValidated()

◆ report()

◆ runKalmanFilter()

◆ serialize()

◆ setNodeState()

◆ setNodeType()

◆ updateInternal()

◆ updateTrackState()

◆ updateWithRIO()

◆ validateMeasurement()

Member Data Documentation

◆ m_B

◆ m_chi2Cut

◆ m_D

◆ m_dChi2

◆ m_freezeLR

◆ m_H

◆ m_K

◆ m_lrSign

◆ m_m

◆ m_maxBound

◆ m_minBound

◆ m_ndof

◆ m_nodeState

◆ m_nodeType

◆ m_pPRD

◆ m_pSurface

◆ m_pTrackState

◆ m_resid

◆ m_V