MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t > Struct Template Reference

#include <MeasurementSelector.h>

Collaboration diagram for MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >:

Classes
struct	MatchingMeasurement
struct	ProjectorBitSetMaker

Public Types
using	Config = Acts::GeometryHierarchyMap<AtlasMeasurementSelectorCuts>
using	traits = MeasurementSelectorTraits<derived_t>

Public Member Functions
std::tuple< std::size_t, std::pair< float, float > >	getCuts (const Acts::Surface &surface, const T_BoundState &boundState, const Acts::Logger &logger) const

Public Attributes
Config	m_config

Protected Types
using	T_BoundState = typename MeasurementSelectorTraits<derived_t>::BoundState
using	trajectory_t = typename MeasurementSelectorTraits<derived_t>::trajectory_t
using	TrackStateProxy = typename MeasurementSelectorTraits<derived_t>::TrackStateProxy

Protected Member Functions
const derived_t &	derived () const
template<std::size_t DIM, typename T_MeasurementRange>
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)
template<typename parameters_t>
static std::size_t	getEtaBin (const parameters_t &boundParameters, const std::vector< float > &etaBins)

Static Protected Attributes
static constexpr std::size_t	s_maxBranchesPerSurface = MeasurementSelectorTraits<derived_t>::s_maxBranchesPerSurface

Detailed Description

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>
struct MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >

Definition at line 318 of file MeasurementSelector.h.

Member Typedef Documentation

Config

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

using MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::Config = Acts::GeometryHierarchyMap<AtlasMeasurementSelectorCuts>

Definition at line 320 of file MeasurementSelector.h.

T_BoundState

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

using MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::T_BoundState = typename MeasurementSelectorTraits<derived_t>::BoundState

protected

Definition at line 326 of file MeasurementSelector.h.

TrackStateProxy

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

using MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::TrackStateProxy = typename MeasurementSelectorTraits<derived_t>::TrackStateProxy

protected

Definition at line 328 of file MeasurementSelector.h.

traits

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

using MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::traits = MeasurementSelectorTraits<derived_t>

Definition at line 321 of file MeasurementSelector.h.

trajectory_t

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

using MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::trajectory_t = typename MeasurementSelectorTraits<derived_t>::trajectory_t

protected

Definition at line 327 of file MeasurementSelector.h.

Member Function Documentation

createStates()

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

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 )

inlinestaticprotected

Definition at line 357 of file MeasurementSelector.h.

                                                 {
      // create track states for all compatible measurement candidates
      const auto &boundParams = derived_t::boundParams(boundState);
      const auto &pathLength = derived_t::pathLength(boundState);
 
      using PM = Acts::TrackStatePropMask;
 
      track_states.reserve( n_new_states );
      std::optional<TrackStateProxy> firstTrackState{
         std::nullopt};
      for (unsigned int state_i=0; state_i<n_new_states; ++state_i) {
         PM mask = PM::Predicted | PM::Filtered | PM::Jacobian | PM::Calibrated;
 
         if (firstTrackState.has_value()) {
            // subsequent track states don't need storage for these as they will
            // be shared
            mask &= ~PM::Predicted & ~PM::Jacobian;
         }
 
         if (outlier_states) {
            // outlier won't have separate filtered parameters
            mask &= ~PM::Filtered;
         }
 
         TrackStateProxy trackState = trajectory.makeTrackState(mask, prevTip);
         ACTS_VERBOSE("Create SourceLink output track state #"
                      << trackState.index() << " with mask: " << mask);
 
         if (firstTrackState.has_value()) {
            trackState.shareFrom(*firstTrackState, PM::Predicted);
            trackState.shareFrom(*firstTrackState, PM::Jacobian);
         }
         else {
            // only set these for first
            trackState.predicted() = boundParams.parameters();
            if (boundParams.covariance()) {
               trackState.predictedCovariance() = *boundParams.covariance();
            }
            trackState.jacobian() = derived_t::boundJacobiMatrix(boundState);
            firstTrackState = trackState;
         }
         trackState.pathLength() = pathLength;
 
         trackState.setReferenceSurface(boundParams.referenceSurface().getSharedPtr());
 
         trackState.setProjectorSubspaceIndices(subspaceIndices);
 
         Acts::TrackStateType typeFlags = trackState.typeFlags();
         if (trackState.referenceSurface().surfaceMaterial() != nullptr) {
            typeFlags.set(Acts::TrackStateFlag::MaterialFlag);
         }
         typeFlags.set(Acts::TrackStateFlag::ParameterFlag);
 
         // @TODO these track states still need some additional processing. Should there be a special
         //       flag for this ?
         track_states.push_back( trackState.index());
      }
   }

derived()

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

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

inlineprotected

Definition at line 331 of file MeasurementSelector.h.

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

getCuts()

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

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

inline

Definition at line 684 of file MeasurementSelector.h.

                                                                                             {
      std::tuple< std::size_t, std::pair<float,float> > result;
      std::size_t &numMeasurementsCut = std::get<0>(result);
      std::pair<float,float> &maxChi2Cut = std::get<1>(result);
      // Get geoID of this surface
      auto geoID = surface.geometryId();
      // Find the appropriate cuts
      auto cuts = m_config.find(geoID);
      if (cuts == m_config.end()) {
         // indicates failure
         numMeasurementsCut = 0;
      }
      else {
         // num measurement Cut
         // getchi2 cut
         std::size_t eta_bin = getEtaBin(derived().boundParams(boundState), cuts->etaBins);
         numMeasurementsCut = (!cuts->numMeasurementsCutOff.empty()
                               ? cuts->numMeasurementsCutOff[ std::min(cuts->numMeasurementsCutOff.size()-1, eta_bin) ]
                               : NMeasMax);
         maxChi2Cut = ! cuts->chi2CutOff.empty()
            ? cuts->chi2CutOff[ std::min(cuts->chi2CutOff.size()-1, eta_bin) ]
            : std::make_pair<float,float>(std::numeric_limits<float>::max(),
                                          std::numeric_limits<float>::max());
         ACTS_VERBOSE("Get cut for eta-bin="
                      << (eta_bin < cuts->etaBins.size() ? cuts->etaBins[eta_bin] : std::numeric_limits<float>::max())
                      << ": chi2 (max,max-outlier) " << maxChi2Cut.first << ", " << maxChi2Cut.second
                      << " max.meas." << numMeasurementsCut);
      }
      return result;
   }

getEtaBin()

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

template<typename parameters_t>

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

inlinestaticprotected

Definition at line 665 of file MeasurementSelector.h.

                                                                 {
      if (etaBins.empty()) {
         return 0u;  // shortcut if no etaBins
      }
      const float eta = std::abs(std::atanh(std::cos(boundParameters.parameters()[Acts::eBoundTheta])));
      std::size_t bin = 0;
      for (auto etaBin : etaBins) {
         if (etaBin >= eta) {
            break;
         }
         bin++;
      }
      return bin;
   }

selectMeasurementsCreateTrackStates()

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

template<std::size_t DIM, typename T_MeasurementRange>

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

inlineprotected

Definition at line 442 of file MeasurementSelector.h.

                                                          {
      Acts::Result<boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface> >
         result = boost::container::small_vector< typename TrackStateProxy::IndexType, s_maxBranchesPerSurface>{};
 
      using iterator_t = decltype(measurement_range.begin());
      using container_value_t  = typename MeasurementSelectorTraits<derived_t>::template MeasurementContainerTraits<iterator_t>::value_type;
      using BaseElementType = std::remove_cv_t<std::remove_pointer_t< container_value_t > >;
      // get calibrator
      using TheMatchingMeasurement = MatchingMeasurement<DIM, container_value_t >;
      using MeasCovPair = TheMatchingMeasurement::MeasCovPair;
 
      using Predicted = typename MeasurementSelectorTraits<derived_t>::template Predicted<DIM>;
      using PredictedCovariance = typename MeasurementSelectorTraits<derived_t>::template PredictedCovariance<DIM>;
 
 
 
      // get prediction in the measurement domain
      Acts::SubspaceIndices<DIM> parameter_map = derived().template parameterMap<DIM>(geometryContext,
                                                                                       calibrationContext,
                                                                                       surface);
      auto predicted
         = std::make_pair( project<DIM, Predicted>(parameter_map,
                                                   derived().boundParams(boundState).parameters()),
                           project<DIM, PredictedCovariance>(parameter_map,
                                                             derived().boundParams(boundState).covariance().value()));
 
      // select n measurents with the smallest chi2.
      auto preCalibrator = derived().template preCalibrator<DIM, BaseElementType>();
      auto postCalibrator = derived().template postCalibrator<DIM, BaseElementType>();
      TopCollection<NMeasMax, TheMatchingMeasurement > selected_measurements(numMeasurementsCut);
      for ( const auto &measurement : measurement_range ) {
         TheMatchingMeasurement &matching_measurement=selected_measurements.slot();
         if (forced && postCalibrator) {
            // skip preCalibrator and computeChi2, by doing everything else. We start with what's done if no preCalibrator.
            const auto &m = derived().forwardToCalibrator(measurement);
            matching_measurement.m_measurement = std::make_pair( m.template localPosition<DIM>(), m.template localCovariance<DIM>() );
            matching_measurement.m_chi2 = 0.0f;
            matching_measurement.m_sourceLink=measurement;
            if (!selected_measurements.acceptNoSort()) break;
         } else {
            matching_measurement.m_measurement = preCalibrator(geometryContext,
                                                               calibrationContext,
                                                               derived().forwardToCalibrator(measurement),
                                                               derived().boundParams(boundState));
            matching_measurement.m_chi2 = computeChi2(matching_measurement.m_measurement.first,
                                                      matching_measurement.m_measurement.second,
                                                      predicted.first,
                                                      predicted.second);
            // only consider measurements which pass the outlier chi2 cut
            if (matching_measurement.m_chi2<maxChi2Cut.second) {
                matching_measurement.m_sourceLink=measurement;
                selected_measurements.acceptAndSort([](const TheMatchingMeasurement &a,
                                                       const TheMatchingMeasurement &b) {
                   return a.m_chi2 < b.m_chi2;
                });
            }
         }
      }
 
      // apply final calibration to n-best measurements
      using post_calib_meas_cov_pair_t
         = std::pair<typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurement<DIM>,
                     typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurementCovariance<DIM> >;
 
      // need extra temporary buffer if the types to store "measurements" during measurement selection
      // and calibrated measurements after the measurement selection are not identical
      static constexpr bool pre_and_post_calib_types_agree
         = std::is_same< typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurement<DIM>,
                         typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurement<DIM> >::value
          && std::is_same< typename MeasurementSelectorTraits<derived_t>::template CalibratedMeasurementCovariance<DIM>,
                           typename MeasurementSelectorTraits<derived_t>::template PreSelectionMeasurementCovariance<DIM> >::value;
 
      using Empty = struct {};
      typename std::conditional< !pre_and_post_calib_types_agree,
                                 std::array< post_calib_meas_cov_pair_t, NMeasMax>, // @TODO could use boost static_vector instead
                                 Empty>::type calibrated;
      if (postCalibrator) {
         typename std::conditional<!pre_and_post_calib_types_agree, unsigned int, Empty>::type calibrated_meas_cov_i{};
 
         // apply final calibration, recompute chi2
         for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
                 idx: selected_measurements) {
            TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
 
            // helper to select the destination storage which is the extra temporary buffer
            // if the measurement storage types during and after selection are different.
            post_calib_meas_cov_pair_t &calibrated_measurement
               = [&calibrated, &a_selected_measurement, calibrated_meas_cov_i]() -> post_calib_meas_cov_pair_t & {
                  if constexpr(pre_and_post_calib_types_agree) {
                     (void) calibrated;
                     (void) calibrated_meas_cov_i;
                     return a_selected_measurement.m_measurement;
                  }
                  else {
                     (void) a_selected_measurement;
                     assert(calibrated_meas_cov_i < calibrated.size());
                     return calibrated[calibrated_meas_cov_i];
                  }
               }();
 
            // apply the calibration
            calibrated_measurement = postCalibrator(geometryContext,
                                                    calibrationContext,
                                                    derived().forwardToCalibrator(a_selected_measurement.m_sourceLink.value()),
                                                    derived().boundParams(boundState));
            // update chi2 using calibrated measurement
            a_selected_measurement.m_chi2 = computeChi2(calibrated_measurement.first,
                                                         calibrated_measurement.second,
                                                         predicted.first,
                                                         predicted.second);
            // ... and set outlier flag
            a_selected_measurement.m_isOutLier =  (!forced && a_selected_measurement.m_chi2 >= maxChi2Cut.first);
            if constexpr(!pre_and_post_calib_types_agree) {
               ++calibrated_meas_cov_i;
            }
         }
      }
      else {
         // if no final calibration is performed only the outlier flag still needs to be set
         for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
                 idx: selected_measurements) {
            TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
            a_selected_measurement.m_isOutLier =  (!forced && a_selected_measurement.m_chi2 >= maxChi2Cut.first);
         }
      }
 
      // First Create states without setting information about the calibrated measurement for the selected measurements
      // @TODO first create state then copy measurements, or crete state by state and set measurements ?
      //       the lastter has the "advantage" that the outlier flag can be set individually
      //       the former has the advantage that part of the state creation code is independent of the
      //       the measurement.
      
      Acts::BoundSubspaceIndices boundSubspaceIndices;
      std::copy(parameter_map.begin(), parameter_map.end(), boundSubspaceIndices.begin());
      createStates( selected_measurements.size(),
                    boundState,
                    prevTip,
                    trajectory,
                    boundSubspaceIndices,
                    *result,
                    logger,
                    (!selected_measurements.empty()
                     ? selected_measurements.getSlot( *(selected_measurements.begin())).m_isOutLier
                     : false) );
      assert( result->size() == selected_measurements.size() );
 
      // helper to determine whether calibrated storeage is to be used
      auto use_calibrated_storage = [&postCalibrator]() -> bool {
         if constexpr(pre_and_post_calib_types_agree) {
            (void) postCalibrator;
            return false;
         }
         else {
            // this is only known during runtime
            // but it should not be tested if the types agree.
            return postCalibrator;
         }
      };
 
      if (selected_measurements.empty()) {
         auto config_for_surface = m_config.find(surface.geometryId());
         if (config_for_surface != m_config.end()) {
            if (config_for_surface->edgeTolerance.has_value()) {
               // if the  prediction failes the bound test, where the edgeTolerance is expected to be negative
               // then the "hole" is considered to be an edge hole which is not treated as a hole.
               auto local_coords  = derived().boundParams(boundState).parameters().template block<2,1>(0,0);
               if (!surface.insideBounds(local_coords,config_for_surface->edgeTolerance.value())) {
                  result = result.failure(Acts::CombinatorialKalmanFilterError::NoMeasurementExpected);
               }
            }
         }
      }
      else {
      // copy selected measurements to pre-created states
      unsigned int state_i=0;
      for (typename TopCollection<NMeasMax, MeasCovPair >::IndexType
              idx: selected_measurements) {
         assert( state_i < result->size());
         TrackStateProxy trackState( trajectory.getTrackState( (*result)[state_i] ) );
         TheMatchingMeasurement &a_selected_measurement = selected_measurements.getSlot(idx);
         trackState.setUncalibratedSourceLink(derived().makeSourceLink(std::move(a_selected_measurement.m_sourceLink.value())));
         // flag outliers accordingly, so that they are handled correctly by the post processing
         trackState.typeFlags().set( a_selected_measurement.m_isOutLier
                                     ? Acts::TrackStateFlag::OutlierFlag
                                     : Acts::TrackStateFlag::MeasurementFlag );
         trackState.allocateCalibrated(DIM);
         if (use_calibrated_storage()) {
            // if the final clibration is performed after the selection then
            // copy these measurements and covariances to the track states
            assert( use_calibrated_storage() == !pre_and_post_calib_types_agree);
            if constexpr(!pre_and_post_calib_types_agree) {
               assert( state_i < calibrated.size());
               trackState.template calibrated<DIM>()
                  = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(calibrated[state_i].first);
               trackState.template calibratedCovariance<DIM>()
                  = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(calibrated[state_i].second);
               trackState.chi2() = a_selected_measurement.m_chi2;
            }
         }
         else {
            trackState.template calibrated<DIM>()
               = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(a_selected_measurement.m_measurement.first);
            trackState.template calibratedCovariance<DIM>()
               = MeasurementSelectorMatrixTraits::matrixTypeCast<typename MeasurementSelectorTraits<derived_t>::MatrixFloatType>(a_selected_measurement.m_measurement.second);
            trackState.chi2() = a_selected_measurement.m_chi2;
         }
         ++state_i;
      }
      }
      return result;
   }

Member Data Documentation

m_config

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

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

Definition at line 323 of file MeasurementSelector.h.

s_maxBranchesPerSurface

template<std::size_t NMeasMax, std::size_t DIMMAX, typename derived_t>

std::size_t MeasurementSelectorBase< NMeasMax, DIMMAX, derived_t >::s_maxBranchesPerSurface = MeasurementSelectorTraits<derived_t>::s_maxBranchesPerSurface

staticconstexprprotected

Definition at line 329 of file MeasurementSelector.h.

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

• MeasurementSelector.h