#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 410 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 437 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 423 of file TrkFilteringNodes.cxx.

                                             {
     FILE* pFile;
  
     pFile = fopen(fileName, "a");
     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 470 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 465 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 477 of file TrkFilteringNodes.cxx.

477 {

478 }

◆ validateMeasurement()

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

virtual

Implements Trk::TrkBaseNode.

Definition at line 430 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;
   }