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Trk::KalmanUpdatorSMatrix Class Referencefinal

Implementation of Trk::IUpdator based on gain formalism and SMatrix mathlib. More...

#include <KalmanUpdatorSMatrix.h>

Inheritance diagram for Trk::KalmanUpdatorSMatrix:
Collaboration diagram for Trk::KalmanUpdatorSMatrix:

Public Member Functions

 KalmanUpdatorSMatrix (const std::string &, const std::string &, const IInterface *)
 AlgTool standard constuctor. More...
 
virtual ~KalmanUpdatorSMatrix ()
 
virtual StatusCode initialize () override
 AlgTool initialisation. More...
 
virtual StatusCode finalize () override
 AlgTool termination. More...
 
virtual std::unique_ptr< TrackParameters > addToState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
 measurement updator for the KalmanFitter getting the meas't coord' from Amg::Vector2D (use eg with PRD) More...
 
virtual std::unique_ptr< TrackParameters > addToState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
 measurement updator for the KalmanFitter getting the coord' from LocalParameters (use for example with MeasurementBase, ROT) More...
 
virtual std::unique_ptr< TrackParameters > addToState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
 measurement updator interface for the KalmanFitter returning the fit quality of the state at the same time (Amg::Vector2D-version) More...
 
virtual std::unique_ptr< TrackParameters > addToState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
 measurement updator interface for the KalmanFitter returning the fit quality of the state at the same time (LocalParameters-version) More...
 
virtual std::unique_ptr< TrackParameters > removeFromState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
 reverse update eg for track property analysis (unbiased residuals) getting the measurement coordinates from the Amg::Vector2D class. More...
 
virtual std::unique_ptr< TrackParameters > removeFromState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
 reverse update eg for track property analysis (unbiased residuals) getting the measurement coordinates from the LocalParameters class. More...
 
virtual std::unique_ptr< TrackParameters > removeFromState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
 reverse update for Kalman filters and other applications using the interface with Amg::Vector2D and FitQualityOnSurface. More...
 
virtual std::unique_ptr< TrackParameters > removeFromState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
 reverse update for Kalman filters and other applications using the interface with LocalParameters and FitQualityOnSurface. More...
 
virtual std::unique_ptr< TrackParameters > combineStates (const TrackParameters &, const TrackParameters &) const override final
 trajectory state updator which combines two parts of a trajectory on a common surface. More...
 
virtual std::unique_ptr< TrackParameters > combineStates (const TrackParameters &, const TrackParameters &, FitQualityOnSurface *&) const override final
 trajectory state updator which combines two parts of a trajectory on a common surface and provides the FitQuality. More...
 
virtual FitQualityOnSurface fullStateFitQuality (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a full track state, that is a state which contains the current hit (expressed as Amg::Vector2D). More...
 
virtual FitQualityOnSurface fullStateFitQuality (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a full track state, that is a state which contains the current hit (expressed as LocalParameters). More...
 
virtual FitQualityOnSurface predictedStateFitQuality (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a predicted track state, that is a state which contains the current hit (expressed as Amg::Vector2D). More...
 
virtual FitQualityOnSurface predictedStateFitQuality (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a predicted track state, that is a state which contains the current hit (expressed as LocalParameters). More...
 
virtual FitQualityOnSurface predictedStateFitQuality (const TrackParameters &, const TrackParameters &) const override final
 estimator for FitQuality on Surface for the situation when a track is fitted to the parameters of another trajectory part extrapolated to the common surface. More...
 
virtual std::pair< AmgVector(5), AmgSymMatrix(5)> * updateParameterDifference (const AmgVector(5) &, const AmgSymMatrix(5) &, const Amg::VectorX &, const Amg::MatrixX &, int, Trk::FitQualityOnSurface *&, bool) const override final
 interface for reference-track KF, not implemented More...
 
virtual std::vector< double > initialErrors () const override final
 give back how updator is configured for inital covariances More...
 
ServiceHandle< StoreGateSvc > & evtStore ()
 The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc. More...
 
const ServiceHandle< StoreGateSvc > & evtStore () const
 The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc. More...
 
const ServiceHandle< StoreGateSvc > & detStore () const
 The standard StoreGateSvc/DetectorStore Returns (kind of) a pointer to the StoreGateSvc. More...
 
virtual StatusCode sysInitialize () override
 Perform system initialization for an algorithm. More...
 
virtual StatusCode sysStart () override
 Handle START transition. More...
 
virtual std::vector< Gaudi::DataHandle * > inputHandles () const override
 Return this algorithm's input handles. More...
 
virtual std::vector< Gaudi::DataHandle * > outputHandles () const override
 Return this algorithm's output handles. More...
 
Gaudi::Details::PropertyBase & declareProperty (Gaudi::Property< T > &t)
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, SG::VarHandleKey &hndl, const std::string &doc, const SG::VarHandleKeyType &)
 Declare a new Gaudi property. More...
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, SG::VarHandleBase &hndl, const std::string &doc, const SG::VarHandleType &)
 Declare a new Gaudi property. More...
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, SG::VarHandleKeyArray &hndArr, const std::string &doc, const SG::VarHandleKeyArrayType &)
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, T &property, const std::string &doc, const SG::NotHandleType &)
 Declare a new Gaudi property. More...
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, T &property, const std::string &doc="none")
 Declare a new Gaudi property. More...
 
void updateVHKA (Gaudi::Details::PropertyBase &)
 
MsgStream & msg () const
 
MsgStream & msg (const MSG::Level lvl) const
 
bool msgLvl (const MSG::Level lvl) const
 

Static Public Member Functions

static const InterfaceID & interfaceID ()
 Algtool infrastructure. More...
 

Protected Member Functions

void renounceArray (SG::VarHandleKeyArray &handlesArray)
 remove all handles from I/O resolution More...
 
std::enable_if_t< std::is_void_v< std::result_of_t< decltype(&T::renounce)(T)> > &&!std::is_base_of_v< SG::VarHandleKeyArray, T > &&std::is_base_of_v< Gaudi::DataHandle, T >, void > renounce (T &h)
 
void extraDeps_update_handler (Gaudi::Details::PropertyBase &ExtraDeps)
 Add StoreName to extra input/output deps as needed. More...
 

Private Types

typedef ServiceHandle< StoreGateSvc > StoreGateSvc_t
 

Private Member Functions

std::unique_ptr< TrackParameters > prepareFilterStep (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
 common code analysing the measurement's rank and calling the appropriate implementation for this rank. More...
 
std::unique_ptr< TrackParameters > calculateFilterStep_1D (const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, double, int, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
 common maths calculation code for all addToState and removeFromState versions which happen to be called with 1-dim measurements. More...
 
std::unique_ptr< TrackParameters > calculateFilterStep_2D (const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const SParVector2 &, int, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
 common maths calculation code for all addToState and removeFromState versions which happen to be called with 2-dim measurements. More...
 
std::unique_ptr< TrackParameters > calculateFilterStep_3D (const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const LocalParameters &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
 common maths calculation code for all addToState and removeFromState versions which happen to be called with 3-dim measurements. More...
 
std::unique_ptr< TrackParameters > calculateFilterStep_4D (const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const LocalParameters &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
 common maths calculation code for all addToState and removeFromState versions which happen to be called with 4-dim measurements. More...
 
std::unique_ptr< TrackParameters > calculateFilterStep_5D (const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const SParVector5 &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
 common maths calculation code for all addToState and removeFromState versions which happen to be called with 5-dim measurements or two track states. More...
 
bool getStartCov (SCovMatrix5 &, const TrackParameters &, const int) const
 Helper method to transform Eigen cov matrix to SMatrix. More...
 
std::unique_ptr< TrackParameters > convertToClonedTrackPars (const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, int, bool, std::string_view) const
 Helper method to convert internal results from SMatrix to Eigen. *‍/. More...
 
FitQualityOnSurface makeChi2_1D (const SParVector5 &, const AmgSymMatrix(5)&, double, double, int, int) const
 also the chi2 calculation and FitQuality object creation is combined in an extra method. More...
 
FitQualityOnSurface makeChi2_2D (const SParVector5 &, const AmgSymMatrix(5)&, const SParVector2 &, const SCovMatrix2 &, int, int) const
 
FitQualityOnSurface makeChi2_5D (const SParVector5 &, const AmgSymMatrix(5)&, const SParVector5 &, const AmgSymMatrix(5)&, int) const
 
FitQualityOnSurface makeChi2Object (const Amg::VectorX &, const AmgSymMatrix(5)&, const Amg::MatrixX &, const Amg::MatrixX &, int) const
 
void logStart (const std::string &, const TrackParameters &) const
 internal structuring: debugging output for start of method. More...
 
void logInputCov (const SCovMatrix5 &, const Amg::VectorX &, const Amg::MatrixX &) const
 internal structuring: common logfile output of the inputs More...
 
void logGainForm (int, const SParVector5 &, const SCovMatrix5 &, const SGenMatrix5 &) const
 internal structuring: common logfile output during calculation More...
 
void logResult (const std::string &, const AmgVector(5) &, const AmgSymMatrix(5) &) const
 internal structuring: common logfile output after calculation More...
 
bool consistentParamDimensions (const LocalParameters &, int) const
 method testing correct use of LocalParameters More...
 
bool thetaPhiWithinRange_5D (const SParVector5 &V, const RangeCheckDef rcd) const
 Test if angles are inside boundaries. More...
 
bool thetaWithinRange_5D (const SParVector5 &V) const
 Test if theta angle is inside boundaries. No differential-check option. More...
 
bool correctThetaPhiRange_5D (SParVector5 &, SCovMatrix5 &, const RangeCheckDef) const
 method correcting the calculated angles back to their defined ranges phi (-pi, pi) and theta (0, pi). More...
 
Gaudi::Details::PropertyBase & declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleKeyType &)
 specialization for handling Gaudi::Property<SG::VarHandleKey> More...
 
Gaudi::Details::PropertyBase & declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleKeyArrayType &)
 specialization for handling Gaudi::Property<SG::VarHandleKeyArray> More...
 
Gaudi::Details::PropertyBase & declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleType &)
 specialization for handling Gaudi::Property<SG::VarHandleBase> More...
 
Gaudi::Details::PropertyBase & declareGaudiProperty (Gaudi::Property< T > &t, const SG::NotHandleType &)
 specialization for handling everything that's not a Gaudi::Property<SG::VarHandleKey> or a <SG::VarHandleKeyArray> More...
 

Static Private Member Functions

static SCovMatrix2 projection_2D (const SCovMatrix5 &, int)
 Avoid multiplications with sparse H matrices by cutting 2D rows&columns out of the full cov matrix. More...
 
static SCovMatrix2 projection_2D (const Amg::MatrixX &, int)
 Avoid multiplications with sparse H matrices by cutting 2D rows&columns out of the full cov matrix. More...
 
static SCovMatrix3 projection_3D (const SCovMatrix5 &, int)
 Avoid multiplications with sparse H matrices by cutting 3D rows&columns out of the full cov matrix. More...
 
static SCovMatrix4 projection_4D (const SCovMatrix5 &, int)
 Avoid multiplications with sparse H matrices by cutting 4D rows&columns out of the full cov matrix. More...
 

Private Attributes

std::vector< double > m_cov_stdvec
 job options for initial cov values More...
 
SParVector5 m_cov0
 initial cov values in SMatrix object More...
 
bool m_useFruehwirth8a
 job options controlling update formula for covariance matrix More...
 
float m_thetaGainDampingValue
 
SCovMatrix5 m_unitMatrix
 avoid mem allocation at every call More...
 
StoreGateSvc_t m_evtStore
 Pointer to StoreGate (event store by default) More...
 
StoreGateSvc_t m_detStore
 Pointer to StoreGate (detector store by default) More...
 
std::vector< SG::VarHandleKeyArray * > m_vhka
 
bool m_varHandleArraysDeclared
 

Static Private Attributes

static const ParamDefsAccessor s_enumAccessor
 

Detailed Description

Implementation of Trk::IUpdator based on gain formalism and SMatrix mathlib.

Tool providing calculations on track states, i.e. to add or remove a measured hit to the state vector. Contains the core maths for Kalman filters in ATLAS track reconstruction. The track state manipulations in this tool make use of the Kalman gain-matrix formalism .

Author
Wolfgang Liebig http://consult.cern.ch/xwho/people/54608

Definition at line 74 of file KalmanUpdatorSMatrix.h.

Member Typedef Documentation

◆ StoreGateSvc_t

typedef ServiceHandle<StoreGateSvc> AthCommonDataStore< AthCommonMsg< AlgTool > >::StoreGateSvc_t
privateinherited

Definition at line 388 of file AthCommonDataStore.h.

Constructor & Destructor Documentation

◆ KalmanUpdatorSMatrix()

Trk::KalmanUpdatorSMatrix::KalmanUpdatorSMatrix ( const std::string &  t,
const std::string &  n,
const IInterface *  p 
)

AlgTool standard constuctor.

Definition at line 33 of file KalmanUpdatorSMatrix.cxx.

33  :
34  AthAlgTool (t,n,p),
35  m_cov_stdvec{250.,250.,0.25,0.25,0.000001}, // set defaults _before_ reading from job options
36  m_thetaGainDampingValue(0.1),
37  m_unitMatrix()
38 {
39  // AlgTool stuff
40  declareProperty("InitialCovariances",m_cov_stdvec,"default covariance to be used at start of filter");
41  declareProperty("FastTrackStateCovCalculation",m_useFruehwirth8a=false,"toggles which formula to use for updated cov");
42  declareInterface<IUpdator>( this );
43 }

◆ ~KalmanUpdatorSMatrix()

Trk::KalmanUpdatorSMatrix::~KalmanUpdatorSMatrix ( )
virtualdefault

Member Function Documentation

◆ addToState() [1/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::addToState ( const TrackParameters &  inputTrkPar,
const Amg::Vector2D &  measLocPos,
const Amg::MatrixX &  measLocCov 
) const
finaloverridevirtual

measurement updator for the KalmanFitter getting the meas't coord' from Amg::Vector2D (use eg with PRD)

Implements Trk::IUpdator.

Definition at line 76 of file KalmanUpdatorSMatrix.cxx.

78  {
79  if (msgLvl(MSG::VERBOSE)) logStart("addToState(TP,LPOS,ERR)",inputTrkPar);
80  FitQualityOnSurface* fitQoS = nullptr;
81  const int updatingSign = 1;
82 
83  SCovMatrix5 covTrk;
84  if (!getStartCov(covTrk,inputTrkPar,updatingSign)) return nullptr;
85 
86 
87  int nLocCoord = measLocCov.cols();
88  if (nLocCoord == 1) {
89  return calculateFilterStep_1D (inputTrkPar, // transmit the surface
90  SParVector5(&inputTrkPar.parameters()[0],5),covTrk,
91  measLocPos[0],1,measLocCov,
92  updatingSign,fitQoS,false);
93  } if (nLocCoord == 2) {
94  return calculateFilterStep_2D (inputTrkPar,// transmit the surface
95  SParVector5(&inputTrkPar.parameters()[0],5),covTrk,
96  SParVector2(measLocPos[0],measLocPos[1]),3,
97  measLocCov,
98  updatingSign,fitQoS,false);
99  }
100  ATH_MSG_WARNING( " number (" << nLocCoord << ") of local coordinates must be 1 or 2, can not update!" );
101  return nullptr;
102 
103 }

◆ addToState() [2/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::addToState ( const TrackParameters &  inputTP,
const Amg::Vector2D &  measLocPos,
const Amg::MatrixX &  measLocCov,
FitQualityOnSurface *&  fitQoS 
) const
finaloverridevirtual

measurement updator interface for the KalmanFitter returning the fit quality of the state at the same time (Amg::Vector2D-version)

Implements Trk::IUpdator.

Definition at line 115 of file KalmanUpdatorSMatrix.cxx.

118  {
119  const int updatingSign = 1;
120  if (msgLvl(MSG::VERBOSE)) logStart("addToState(TP,LPOS,ERR,FQ)",inputTP);
121  if (fitQoS) {
122  ATH_MSG_WARNING( "expect nil FitQuality pointer, refuse operation to avoid mem leak!");
123  return nullptr;
124  }
125 
126  SCovMatrix5 covTrk;
127  if (!getStartCov(covTrk,inputTP,updatingSign)) return nullptr;
128 
129  int nLocCoord = measLocCov.cols();
130  if (nLocCoord == 1) {
131  return calculateFilterStep_1D (inputTP,
132  SParVector5(&inputTP.parameters()[0],5),covTrk,
133  measLocPos[0],1,measLocCov,
134  updatingSign,fitQoS,true);
135  } if (nLocCoord == 2) {
136  return calculateFilterStep_2D (inputTP,
137  SParVector5(&inputTP.parameters()[0],5),covTrk,
138  SParVector2(measLocPos[0],measLocPos[1]),3,
139  measLocCov,
140  updatingSign,fitQoS,true);
141  }
142  ATH_MSG_WARNING( " number (" << nLocCoord << ") of local coordinates must be 1 or 2, can not update!" );
143  return nullptr;
144 
145 
146 }

◆ addToState() [3/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::addToState ( const TrackParameters &  trkPar,
const LocalParameters &  measmtPar,
const Amg::MatrixX &  measmtCov 
) const
finaloverridevirtual

measurement updator for the KalmanFitter getting the coord' from LocalParameters (use for example with MeasurementBase, ROT)

Implements Trk::IUpdator.

Definition at line 106 of file KalmanUpdatorSMatrix.cxx.

108  {
109  if (msgLvl(MSG::VERBOSE)) logStart("addToState(TP,LPAR,ERR)",trkPar);
110  FitQualityOnSurface* fitQoS = nullptr;
111  return prepareFilterStep (trkPar, measmtPar, measmtCov, 1, fitQoS, false);
112 }

◆ addToState() [4/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::addToState ( const TrackParameters &  trkPar,
const LocalParameters &  measmtPar,
const Amg::MatrixX &  measmtCov,
FitQualityOnSurface *&  fitQoS 
) const
finaloverridevirtual

measurement updator interface for the KalmanFitter returning the fit quality of the state at the same time (LocalParameters-version)

Implements Trk::IUpdator.

Definition at line 149 of file KalmanUpdatorSMatrix.cxx.

152  {
153  if (msgLvl(MSG::VERBOSE)) logStart("addToState(TP,LPAR,ERR,FQ)",trkPar);
154  if (fitQoS) {
155  ATH_MSG_WARNING( "expect nil FitQuality pointer, refuse operation to"
156  << " avoid mem leak!" );
157  return nullptr;
158  }
159  return prepareFilterStep (trkPar, measmtPar, measmtCov, 1, fitQoS, true);
160 
161 }

◆ calculateFilterStep_1D()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::calculateFilterStep_1D ( const TrackParameters &  TP,
const SParVector5 &  trkPar,
const SCovMatrix5 &  trkCov,
double  measPar,
int  paramKey,
const Amg::MatrixX &  measCov,
const int  sign,
Trk::FitQualityOnSurface *&  fitQoS,
bool  createFQoS 
) const
private

common maths calculation code for all addToState and removeFromState versions which happen to be called with 1-dim measurements.

Definition at line 590 of file KalmanUpdatorSMatrix.cxx.

598  {
599  // use measuring coordinate (variable "mk") instead of reduction matrix
600  int mk=0;
601  if (paramKey!=1) for (int i=0; i<5; ++i) if (paramKey & (1<<i)) mk=i;
602 
603  double r = measPar - trkPar(mk);
604  double R = (sign * measCov(0,0)) + trkCov(mk,mk);
605  if (R == 0.0) {
606  ATH_MSG_DEBUG( "inversion of the error-on-the-residual failed.");
607  return nullptr;
608  } R = 1./R;
609 
610  // --- compute Kalman gain matrix
611  ROOT::Math::SMatrix<double,5,1,ROOT::Math::MatRepStd<double, 5, 1> >
612  K = trkCov.Sub<ROOT::Math::SMatrix<double,5,1,ROOT::Math::MatRepStd<double, 5, 1> > >(0,mk)*R;
613  if (msgLvl(MSG::VERBOSE)) {
614  ATH_MSG_VERBOSE("-U- residual: r = " << r );
615  ATH_MSG_VERBOSE( "-U- inv. sigmaR = " << R);
616  ATH_MSG_VERBOSE( "-U- gain mtx K=("
617  <<std::setiosflags(std::ios::fixed | std::ios::showpoint | std::ios::right)
618  << std::setw(7) << std::setprecision(4) << K(0,0)<<", "
619  << std::setw(7) << std::setprecision(4) << K(1,0)<<", "
620  << std::setw(7) << std::setprecision(4) << K(2,0)<<", "
621  << std::setw(7) << std::setprecision(4) << K(3,0)<<", "
622  << std::setw(7) << std::setprecision(4) << K(4,0)<<")"
623  << std::resetiosflags(std::ios::fixed));
624  }
625 
626  // --- compute local filtered state, here = TP+K*r = TP + TCov * H.T * R * r
627  SParVector5 newPar = trkPar + trkCov.Col(mk) * R * r;
628 
629  if (!thetaWithinRange_5D(newPar)) {
630  if ( mk!=Trk::theta &&
631  (std::abs(R*r)>1.0 || trkCov(Trk::theta,Trk::theta) > 0.1*m_cov0(Trk::theta))) {
632  ATH_MSG_DEBUG( "calculateFS_1D(): decided to damp update of theta and re-calculate." );
633  SParVector5 dampedCov = trkCov.Col(mk);
634  dampedCov(Trk::theta) = dampedCov(Trk::theta)*m_thetaGainDampingValue;
635  newPar = trkPar + dampedCov * R * r;
636  K(Trk::theta,0) = K(Trk::theta,0)*m_thetaGainDampingValue;
637  ATH_MSG_DEBUG( "-U- damped gain K=("
638  <<std::setiosflags(std::ios::fixed | std::ios::showpoint | std::ios::right)
639  << std::setw(7) << std::setprecision(4) << K(0,0)<<", "
640  << std::setw(7) << std::setprecision(4) << K(1,0)<<", "
641  << std::setw(7) << std::setprecision(4) << K(2,0)<<", "
642  << std::setw(7) << std::setprecision(4) << K(3,0)<<", "
643  << std::setw(7) << std::setprecision(4) << K(4,0)<<")"
644  << std::resetiosflags(std::ios::fixed) );
645  } else {
646  ATH_MSG_DEBUG( "-U- theta out of range but can not damp this update.");
647  }
648  }
649 
650  // --- compute covariance matrix of local filteres state
651  SGenMatrix5 KtimesH ; KtimesH.Place_at(K,0,mk);
652  SGenMatrix5 M(m_unitMatrix - KtimesH);
653  ATH_MSG_VERBOSE( "-U- matrix M: diag=("
654  << M(0,0)<<"," << M(1,1)<<","
655  << M(2,2)<<"," << M(3,3)<<","
656  << M(4,4) <<")" );
657  SCovMatrix5 newCov;
658  if (!m_useFruehwirth8a) {
659  // either: use formula C = M * trkCov * M.T() +/- K * covRio * K.T()
660  SCovMatrix1 measuredSMatrix1D(measCov(0,0));
661  newCov = ROOT::Math::Similarity(M,trkCov)
662  + sign*(ROOT::Math::Similarity(K,measuredSMatrix1D));
663  } else {
664  // or: original Fruehwirth eq. 8a is simpler, expression checked to be symm.
665  // C = (1 - K*H) * trkCov
666  /* SGenMatrix5 KtimesH ; KtimesH.Place_at(K,0,mk);
667  SCovMatrix5 M;
668  ROOT::Math::AssignSym::Evaluate(M, KtimesH * trkCov);
669  newCov -= M;*/
670  ROOT::Math::AssignSym::Evaluate(newCov, M * trkCov);
671  }
672  if ( (!thetaPhiWithinRange_5D(newPar, Trk::absoluteCheck)) ?
673  !correctThetaPhiRange_5D(newPar, newCov, Trk::absoluteCheck) : false ) {
674  ATH_MSG_WARNING("calculateFS_1D(): bad angles in filtered state!");
675  return nullptr;
676  }
677 
678 
679  if (createFQoS) {
680  double predictedResidual = (sign<0) ?r:measPar - newPar(mk);
681  SCovMatrix5 updatedCov = (sign<0) ?
682  trkCov : // when removing, the input are updated par
683  newCov ; // when adding, chi2 is made from upd. par
684 
685  // for both signs (add/remove) the chi2 is now calculated like for updated states
686  double chiSquared = measCov(0,0) - updatedCov(mk,mk);
687  if (chiSquared == 0.0)
688  ATH_MSG_DEBUG( "division by zero in 1D chi2, set chi2 to 0.0 instead" );
689  else {
690  // get chi2 = r.T() * R^-1 * r
691  chiSquared = predictedResidual*predictedResidual/chiSquared;
692  ATH_MSG_VERBOSE( "-U- fitQuality of "<< (sign>0?" added ":"removed")
693  <<" state, chi2 :" << chiSquared << " / ndof= 1" );
694  }
695  fitQoS = new FitQualityOnSurface(chiSquared, 1);
696  }
697  return convertToClonedTrackPars(TP,newPar,newCov,sign,createFQoS,"1D");
698 }

◆ calculateFilterStep_2D()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::calculateFilterStep_2D ( const TrackParameters &  TP,
const SParVector5 &  trkPar,
const SCovMatrix5 &  trkCov,
const SParVector2 &  SmeasPar,
int  paramKey,
const Amg::MatrixX &  measCov,
const int  sign,
Trk::FitQualityOnSurface *&  fitQoS,
bool  createFQoS 
) const
private

common maths calculation code for all addToState and removeFromState versions which happen to be called with 2-dim measurements.

Definition at line 702 of file KalmanUpdatorSMatrix.cxx.

710  {
711  // make reduction matrix H from LocalParameters
712  ROOT::Math::SMatrix<double,2,5,ROOT::Math::MatRepStd<double, 2, 5> > H;
713  // and transform EDM to new math lib
714  SCovMatrix2 SmeasCov;
715  for (int i=0, irow=0; i<5; ++i) {
716  if (paramKey & (1<<i)) {
717  SParVector5 v; v(i)=1.0;
718  H.Place_in_row(v, irow, 0);
719  SmeasCov(0,irow) = measCov(0,irow);
720  SmeasCov(1,irow) = measCov(1,irow);
721  ++irow;
722  }
723  }
724  SParVector2 r = SmeasPar - H * trkPar;
725  // FIXME catchPiPi;
726  SCovMatrix2 R = sign * SmeasCov + projection_2D(trkCov,paramKey);
727  if (!R.Invert()) {
728  ATH_MSG_DEBUG( "inversion of residual error matrix (2D) failed.");
729  return nullptr;
730  }
731 
732  // --- compute Kalman gain matrix
733  ROOT::Math::SMatrix<double,5,2,ROOT::Math::MatRepStd<double, 5, 2> >
734  K = trkCov * ROOT::Math::Transpose(H) * R;
735  if (msgLvl(MSG::VERBOSE)) {
736  SParVector5 trans_r; SCovMatrix5 trans_R; SGenMatrix5 trans_K;
737  logGainForm (2, trans_r.Place_at(r,0),
738  trans_R.Place_at(R,0,0),
739  trans_K.Place_at(K,0,0));
740  }
741 
742  // --- compute local filtered state
743  SParVector5 newPar = trkPar + K * r;
744  if (!thetaWithinRange_5D(newPar)) {
745  if (H(0,Trk::theta) != 1.0 && H(1,Trk::theta) != 1.0 &&
746  ( std::abs(R(0,0)*r(0))>1.0 || std::abs(R(1,1)*r(1))>1.0 ||
747  trkCov(Trk::theta,Trk::theta) > 0.1*m_cov0(Trk::theta))) {
748  ATH_MSG_DEBUG( "calculateFS_2D(): decided to damp update of theta and re-calculate.");
749  K(Trk::theta,0) = K(Trk::theta,0)*m_thetaGainDampingValue;
750  K(Trk::theta,1) = K(Trk::theta,1)*m_thetaGainDampingValue;
751  newPar = trkPar + K * r;
752  if (msgLvl(MSG::DEBUG)) {
753  msg(MSG::DEBUG) << "-U- damped gain K0=("
754  <<std::setiosflags(std::ios::fixed | std::ios::showpoint | std::ios::right)
755  << std::setw(7) << std::setprecision(4) << K(0,0)<<", "
756  << std::setw(7) << std::setprecision(4) << K(1,0)<<", "
757  << std::setw(7) << std::setprecision(4) << K(2,0)<<", "
758  << std::setw(7) << std::setprecision(4) << K(3,0)<<", "
759  << std::setw(7) << std::setprecision(4) << K(4,0)<<")"
760  << std::resetiosflags(std::ios::fixed) << endmsg;
761  msg(MSG::DEBUG) << "-U- K1=("
762  <<std::setiosflags(std::ios::fixed | std::ios::showpoint | std::ios::right)
763  << std::setw(7) << std::setprecision(4) << K(0,1)<<", "
764  << std::setw(7) << std::setprecision(4) << K(1,1)<<", "
765  << std::setw(7) << std::setprecision(4) << K(2,1)<<", "
766  << std::setw(7) << std::setprecision(4) << K(3,1)<<", "
767  << std::setw(7) << std::setprecision(4) << K(4,1)<<")"
768  << std::resetiosflags(std::ios::fixed) << endmsg;
769  }
770  } else {
771  ATH_MSG_DEBUG( "-U- theta out of range but can not damp this update.");
772  }
773  }
774 
775  // --- compute filtered covariance matrix
776  SGenMatrix5 M = m_unitMatrix - K * H;
777  SCovMatrix5 newCov;
778  if (!m_useFruehwirth8a) {
779  // compute covariance matrix of local filteres state
780  // C = M * covTrk * M.T() +/- K * covRio * K.T()
781  newCov = ROOT::Math::Similarity(M,trkCov)
782  + sign*(ROOT::Math::Similarity(K,SmeasCov));
783  } else {
784  // C = (1 - KH) trkCov = trkCov - K*H*trkCov
785  /* SGenMatrix5 KtimesH = K*H;
786  SCovMatrix5 M;
787  ROOT::Math::AssignSym::Evaluate(M, KtimesH * trkCov);
788  newCov -= M; */
789  ROOT::Math::AssignSym::Evaluate(newCov, M * trkCov);
790  }
791  if ( (!thetaPhiWithinRange_5D(newPar, Trk::absoluteCheck)) ?
792  !correctThetaPhiRange_5D(newPar, newCov, Trk::absoluteCheck) : false ) {
793  ATH_MSG_WARNING( "calculateFS_2D(): bad angles in filtered state!" );
794  return nullptr;
795  }
796 
797  if (createFQoS) { // get chi2 = r.T() * R2^-1 * r
798  double chiSquared = (sign>0) ?
799  // when adding, the r and R are ready to for calculating the predicted chi2
800  ROOT::Math::Similarity(r,R) :
801  // when removing the r and -R are ready for calculating the updated chi2.
802  ROOT::Math::Similarity(r,-R);
803  ATH_MSG_DEBUG( "-U- fitQuality of "<< (sign>0?" added ":"removed")
804  <<" state, chi2 :" << chiSquared << " / ndof= 2" );
805  fitQoS = new FitQualityOnSurface(chiSquared, 2);
806  }
807  return convertToClonedTrackPars(TP,newPar,newCov,sign,createFQoS,"2D");
808 }

◆ calculateFilterStep_3D()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::calculateFilterStep_3D ( const TrackParameters &  TP,
const SParVector5 &  trkPar,
const SCovMatrix5 &  trkCov,
const LocalParameters &  measPar,
const Amg::MatrixX &  measCov,
const int  sign,
Trk::FitQualityOnSurface *&  fitQoS,
bool  createFQoS 
) const
private

common maths calculation code for all addToState and removeFromState versions which happen to be called with 3-dim measurements.

Definition at line 812 of file KalmanUpdatorSMatrix.cxx.

819  {
820  // transform EDM to new math lib
821  SParVector3 SmeasPar(measPar[Trk::locX],measPar[Trk::locY],measPar[Trk::phi]);
822  SCovMatrix3 SmeasCov;
823  // make reduction matrix H from LocalParameters
824  ROOT::Math::SMatrix<double,3,5,ROOT::Math::MatRepStd<double, 3, 5> > H;
825  for (int i=0, irow=0; i<5; ++i) {
826  if (measPar.parameterKey() & (1<<i)) {
827  SParVector5 v; v(i)=1.0;
828  H.Place_in_row(v, irow, 0);
829  SmeasCov(0,irow) = measCov(0,irow);
830  SmeasCov(1,irow) = measCov(1,irow);
831  SmeasCov(2,irow) = measCov(2,irow);
832  ++irow;
833  }
834  }
835  SParVector3 r = SmeasPar - H * trkPar;
836  // FIXME catchPiPi;
837  SCovMatrix3 R = sign * SmeasCov + projection_3D(trkCov,measPar.parameterKey());
838  if (!R.Invert()) {
839  ATH_MSG_DEBUG( "inversion of residual error matrix (3D) failed.");
840  return nullptr;
841  }
842 
843  // compute Kalman gain matrix
844  ROOT::Math::SMatrix<double,5,3,ROOT::Math::MatRepStd<double, 5, 3> >
845  K = trkCov * ROOT::Math::Transpose(H) * R;
846  SGenMatrix5 M = m_unitMatrix - K * H;
847  if (msgLvl(MSG::VERBOSE)) {
848  SParVector5 trans_r; SCovMatrix5 trans_R; SGenMatrix5 trans_K;
849  logGainForm (3, trans_r.Place_at(r,0),
850  trans_R.Place_at(R,0,0), trans_K.Place_at(K,0,0));
851  }
852 
853  // compute local filtered state
854  SParVector5 newPar = trkPar + K * r;
855 
856  SCovMatrix5 newCov;
857  if (!m_useFruehwirth8a) {
858  // compute covariance matrix of local filteres state
859  // C = M * covTrk * M.T() +/- K * covRio * K.T()
860  newCov = ROOT::Math::Similarity(M,trkCov)
861  + sign*(ROOT::Math::Similarity(K,SmeasCov));
862  } else {
863  // C = (1 - KH) trkCov = trkCov - K*H*trkCov
864  /* SGenMatrix5 KtimesH = K*H;
865  SCovMatrix5 M;
866  ROOT::Math::AssignSym::Evaluate(M, KtimesH * trkCov);
867  newCov -= M; */
868  ROOT::Math::AssignSym::Evaluate(newCov, M * trkCov);
869  }
870 
871  if ( (!thetaPhiWithinRange_5D(newPar,Trk::absoluteCheck)) ?
872  !correctThetaPhiRange_5D(newPar,newCov,Trk::absoluteCheck) : false ) {
873  ATH_MSG_WARNING( "calculateFS_3D(): bad angles in filtered state!" );
874  return nullptr;
875  }
876 
877  if (createFQoS) {
878  SParVector3 predictedResidual = (sign<0) ?
879  r :
880  SmeasPar - H * newPar ;
881  SCovMatrix5 updatedCov = (sign<0) ?
882  trkCov : // when removing, the input are updated par
883  newCov ; // when adding, chi2 is made from upd. par
884 
885  // for both signs (add/remove) the chi2 is now calculated like for updated states
886  SCovMatrix3 R2 = SmeasCov - projection_3D(updatedCov,measPar.parameterKey());
887  double chiSquared;
888  if ( !R2.Invert() ) {
889  ATH_MSG_DEBUG( "matrix (3D) inversion not possible, set chi2 to zero");
890  chiSquared = 0.f;
891  } else {
892  // get chi2 = r.T() * R2^-1 * r
893  chiSquared = ROOT::Math::Similarity(predictedResidual,R2);
894  ATH_MSG_VERBOSE( "-U- fitQuality of "<< (sign>0?" added ":"removed")
895  <<" state, chi2 :" << chiSquared << " / ndof= 3" );
896  }
897  fitQoS = new FitQualityOnSurface(chiSquared, 3);
898  }
899  return convertToClonedTrackPars(TP,newPar,newCov,sign,createFQoS,"3D");
900 }

◆ calculateFilterStep_4D()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::calculateFilterStep_4D ( const TrackParameters &  TP,
const SParVector5 &  trkPar,
const SCovMatrix5 &  trkCov,
const LocalParameters &  measPar,
const Amg::MatrixX &  measCov,
const int  sign,
Trk::FitQualityOnSurface *&  fitQoS,
bool  createFQoS 
) const
private

common maths calculation code for all addToState and removeFromState versions which happen to be called with 4-dim measurements.

Definition at line 904 of file KalmanUpdatorSMatrix.cxx.

911  {
912  // transform EDM to new math lib
913  SParVector4 SmeasPar(measPar[Trk::d0],measPar[Trk::z0],
914  measPar[Trk::phi0],measPar[Trk::theta]);
915  SCovMatrix4 SmeasCov;
916 
917  // make reduction matrix H from LocalParameters
918  ROOT::Math::SMatrix<double,4,5,ROOT::Math::MatRepStd<double, 4, 5> > H;
919  for (int i=0, irow=0; i<5; ++i) {
920  if (measPar.parameterKey() & (1<<i)) {
921  SParVector5 v; v(i)=1.0;
922  H.Place_in_row(v, irow, 0);
923  SmeasCov(0,irow) = measCov(0,irow);
924  SmeasCov(1,irow) = measCov(1,irow);
925  SmeasCov(2,irow) = measCov(2,irow);
926  SmeasCov(3,irow) = measCov(3,irow);
927  ++irow;
928  }
929  }
930  SParVector4 r = SmeasPar - H * trkPar;
931  // FIXME catchPiPi;
932  SCovMatrix4 R = sign * SmeasCov + projection_4D(trkCov,measPar.parameterKey());
933  if (!R.Invert()) {
934  ATH_MSG_DEBUG( "inversion of residual error matrix (4D) failed." );
935  return nullptr;
936  }
937 
938  // compute Kalman gain matrix
939  ROOT::Math::SMatrix<double,5,4,ROOT::Math::MatRepStd<double, 5, 4> >
940  K = trkCov * ROOT::Math::Transpose(H) * R;
941  SGenMatrix5 M = m_unitMatrix - K * H;
942  if (msgLvl(MSG::VERBOSE)) {
943  SParVector5 trans_r; SCovMatrix5 trans_R; SGenMatrix5 trans_K;
944  logGainForm (4, trans_r.Place_at(r,0),
945  trans_R.Place_at(R,0,0), trans_K.Place_at(K,0,0));
946  }
947 
948  // compute local filtered state
949  SParVector5 newPar = trkPar + K * r;
950 
951  SCovMatrix5 newCov;
952  if (!m_useFruehwirth8a) {
953  // compute covariance matrix of local filteres state
954  // C = M * covTrk * M.T() +/- K * covRio * K.T()
955  newCov = ROOT::Math::Similarity(M,trkCov)
956  + sign*(ROOT::Math::Similarity(K,SmeasCov));
957  } else {
958  // C = (1 - KH) trkCov = trkCov - K*H*trkCov
959  /* SGenMatrix5 KtimesH = K*H;
960  SCovMatrix5 M;
961  ROOT::Math::AssignSym::Evaluate(M, KtimesH * trkCov);
962  newCov -= M; */
963  ROOT::Math::AssignSym::Evaluate(newCov, M * trkCov);
964  }
965 
966  if ( (!thetaPhiWithinRange_5D(newPar,Trk::absoluteCheck)) ?
967  !correctThetaPhiRange_5D(newPar,newCov,Trk::absoluteCheck) : false ) {
968  ATH_MSG_WARNING( "calculateFS_4D(): bad angles in filtered state!" );
969  return nullptr;
970  }
971 
972  if (createFQoS) {
973  SParVector4 predictedResidual = (sign<0) ?r:SmeasPar - H * newPar;
974  SCovMatrix5 updatedCov = (sign<0) ?
975  trkCov : // when removing, the input are updated par
976  newCov ; // when adding, chi2 is made from upd. par
977 
978  // for both signs (add/remove) the chi2 is now calculated like for updated states
979  SCovMatrix4 R2 = SmeasCov - projection_4D(updatedCov,measPar.parameterKey());
980  double chiSquared;
981  if ( !R2.Invert() ) {
982  ATH_MSG_DEBUG( "matrix (4D) inversion not possible, set chi2 to zero");
983  chiSquared = 0.f;
984  } else {
985  // get chi2 = r.T() * R2^-1 * r
986  chiSquared = ROOT::Math::Similarity(predictedResidual,R2);
987  ATH_MSG_VERBOSE( "-U- fitQuality of "<< (sign>0?" added ":"removed")
988  <<" state, chi2 :" << chiSquared << " / ndof= 4" );
989  }
990  fitQoS = new FitQualityOnSurface(chiSquared, 4);
991  }
992  return convertToClonedTrackPars(TP,newPar,newCov,sign,createFQoS,"4D");
993 }

◆ calculateFilterStep_5D()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::calculateFilterStep_5D ( const TrackParameters &  TP,
const SParVector5 &  trkParOne,
const SCovMatrix5 &  trkCovOne,
const SParVector5 &  trkParTwo,
const Amg::MatrixX &  measCov,
const int  sign,
Trk::FitQualityOnSurface *&  fitQoS,
bool  createFQoS 
) const
private

common maths calculation code for all addToState and removeFromState versions which happen to be called with 5-dim measurements or two track states.

For 5-dim track states the ParameterKey is known to be 31 and does not need to be passed through the interface.

Definition at line 997 of file KalmanUpdatorSMatrix.cxx.

1004  {
1005  SCovMatrix5 trkCovTwo; // transform EDM to new math lib
1006  for (int i=0; i<5; ++i)
1007  for (int j=0; j<=i; ++j) {
1008  trkCovTwo(j,i) = measCov(j,i);
1009  }
1010 
1011  // this update is symmetric in state and measurement parameters, H == 1.
1012  SCovMatrix5 R = sign * trkCovTwo + trkCovOne;
1013  if (!R.Invert()) {
1014  ATH_MSG_DEBUG( "inversion of residual error matrix (5D) failed." );
1015  return nullptr;
1016  }
1017 
1018  SParVector5 r = trkParTwo - trkParOne;
1019  if ( (!thetaPhiWithinRange_5D(r,Trk::differentialCheck)) ?
1020  !correctThetaPhiRange_5D(r,R,Trk::differentialCheck) : false ) {
1021  ATH_MSG_WARNING( "calculateFS_5D(): bad angles in intermediate residual!" );
1022  return nullptr;
1023  }
1024  SGenMatrix5 K = trkCovOne * R;
1025  if (msgLvl(MSG::VERBOSE)) logGainForm (5, r, R, K);
1026 
1027  // compute local filtered state
1028  SParVector5 newPar = trkParOne + K * r;
1029  SCovMatrix5 newCov;
1030  /* if (!m_useFruehwirth8a) {
1031  SGenMatrix5 M = m_unitMatrix - K;
1032  // compute covariance matrix of local filtered state
1033  // C = M * covTrk * M.T() +/- K * covRio * K.T()
1034  newCov = ROOT::Math::Similarity(M,trkCovOne)
1035  + sign*(ROOT::Math::Similarity(K,trkCovTwo));
1036  } else { */
1037  // original Fruehwirth eq. 8a is simpler, expression checked to be symm.
1038  ROOT::Math::AssignSym::Evaluate(newCov, K * trkCovTwo);
1039  // }
1040 
1041  if ( (!thetaPhiWithinRange_5D(newPar,Trk::absoluteCheck)) ?
1042  !correctThetaPhiRange_5D(newPar,newCov,Trk::absoluteCheck) : false ) {
1043  ATH_MSG_WARNING( "calculateFS_5D(): bad angles in filtered state!" );
1044  return nullptr;
1045  }
1046 
1047  bool goodMatrix(true);
1048  for (int i=0; i<5; ++i) {
1049  if (newCov(i,i) < 0.0 && goodMatrix ) goodMatrix=false;
1050  }
1051  if (!goodMatrix) {
1052  SGenMatrix5 M = m_unitMatrix - K;
1053  // compute covariance matrix of local filtered state
1054  // C = M * covTrk * M.T() +/- K * covRio * K.T()
1055  newCov = ROOT::Math::Similarity(M,trkCovOne)
1056  + sign*(ROOT::Math::Similarity(K,trkCovTwo));
1057  goodMatrix = true;
1058  for (int i=0; i<5; ++i) {
1059  if (newCov(i,i) < 0.0 && goodMatrix ) goodMatrix=false;
1060  if (!goodMatrix) {
1061  ATH_MSG_DEBUG("calculateFS_5D(): unphysical cov!");
1062  return nullptr;
1063  }
1064  }
1065  }
1066 
1067  if (createFQoS) { // get chi2 = r.T() * R2^-1 * r
1068  double chiSquared = (sign>0) ?
1069  // when adding, the r and R are ready to for calculating the predicted chi2
1070  ROOT::Math::Similarity(r,R) :
1071  // when removing the r and -R are ready for calculating the updated chi2.
1072  ROOT::Math::Similarity(r,-R);
1073  ATH_MSG_VERBOSE( "-U- fitQuality of "<< (sign>0?" added ":"removed")
1074  <<" state, chi2 :" << chiSquared << " / ndof= 5" );
1075  fitQoS = new FitQualityOnSurface(chiSquared, 5);
1076  }
1077  return convertToClonedTrackPars(TP,newPar,newCov,sign,createFQoS,"5D");
1078 }

◆ combineStates() [1/2]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::combineStates ( const TrackParameters &  one,
const TrackParameters &  two 
) const
finaloverridevirtual

trajectory state updator which combines two parts of a trajectory on a common surface.

Make sure that the TPs' surfaces are identical and that the local hit is not duplicated in both trajectories!

Implements Trk::IUpdator.

Definition at line 252 of file KalmanUpdatorSMatrix.cxx.

253  {
254  // try if both Track Parameters are measured ones ?
255  const AmgSymMatrix(5)* covOne = one.covariance();
256  const AmgSymMatrix(5)* covTwo = two.covariance();
257 
258  // remember, either one OR two might have no error, but not both !
259  if (!covOne && ! covTwo) {
260  ATH_MSG_WARNING( "both parameters have no errors, invalid use of Updator::combineStates()" );
261  return nullptr;
262  }
263  // if only one of two has an error, return that one
264  if (!covOne) {
265  if (msgLvl(MSG::VERBOSE)) logResult("combineStates(TP,TP)",two.parameters(),*covTwo);
266  return std::unique_ptr<Trk::TrackParameters>(two.clone());
267  }
268  if (!covTwo) {
269  if (msgLvl(MSG::VERBOSE)) logResult("combineStates(TP,TP)",one.parameters(),*covOne);
270  return std::unique_ptr<Trk::TrackParameters>(one.clone());
271  }
272 
273  // ... FIXME - TRT is so difficult, need to check that both parameters are in the same frame
274  // otherwise go into frame of one !
275 
276  // call 5dim updator to combine using gain matrix formalism
277  SCovMatrix5 covOneSM;
278  for (int i=0; i<5; ++i)
279  for (int j=0; j<=i; ++j) {
280  covOneSM(j,i) = (*covOne)(j,i);
281  }
282 
283  FitQualityOnSurface* fitQoS = nullptr;
284  return calculateFilterStep_5D(one,SParVector5(&one.parameters()[0],5),covOneSM,
285  SParVector5(&two.parameters()[0],5),
286  *covTwo,
287  +1,fitQoS,false);
288 }

◆ combineStates() [2/2]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::combineStates ( const TrackParameters &  one,
const TrackParameters &  two,
FitQualityOnSurface *&  fitQoS 
) const
finaloverridevirtual

trajectory state updator which combines two parts of a trajectory on a common surface and provides the FitQuality.

Make sure that the TPs' surfaces are identical and that the local hit is not duplicated!

Implements Trk::IUpdator.

Definition at line 291 of file KalmanUpdatorSMatrix.cxx.

293  {
294  // try if both Track Parameters are measured ones ?
295  const AmgSymMatrix(5)* covOne = one.covariance();
296  const AmgSymMatrix(5)* covTwo = two.covariance();
297 
298  // remember, either one OR two might have no error, but not both !
299  if (!covOne && ! covTwo) {
300  ATH_MSG_WARNING( "both parameters have no errors, invalid use of Updator::combineStates()" );
301  return nullptr;
302  }
303 
304  if (fitQoS) {
305  ATH_MSG_WARNING( "expect nil FitQuality pointer, refuse operation to avoid mem leak!");
306  return nullptr;
307  }
308 
309  // if only one of two has an error, return that one
310  if (!covOne) {
311  if (msgLvl(MSG::VERBOSE)) logResult("combineStates(TP,TP)",two.parameters(),*covTwo);
312  return std::unique_ptr<Trk::TrackParameters>(two.clone());
313  }
314  if (!covTwo) {
315  if (msgLvl(MSG::VERBOSE)) logResult("combineStates(TP,TP)",one.parameters(),*covOne);
316  return std::unique_ptr<Trk::TrackParameters>(one.clone());
317  }
318 
319  // call 5dim updator to combine using gain matrix formalism
320  SCovMatrix5 covOneSM;
321  for (int i=0; i<5; ++i)
322  for (int j=0; j<=i; ++j) {
323  covOneSM(j,i) = (*covOne)(j,i);
324  }
325 
326  return calculateFilterStep_5D(one,SParVector5(&one.parameters()[0],5),covOneSM,
327  SParVector5(&two.parameters()[0],5),
328  (*covTwo),
329  +1,fitQoS,true);
330 }

◆ consistentParamDimensions()

bool Trk::KalmanUpdatorSMatrix::consistentParamDimensions ( const LocalParameters &  P,
int  dimCov 
) const
private

method testing correct use of LocalParameters

Definition at line 1310 of file KalmanUpdatorSMatrix.cxx.

1311  {
1312  if (P.dimension() != dimCov ) {
1313  ATH_MSG_WARNING ("Inconsistency in dimension of local coord - problem with LocalParameters object?");
1314  ATH_MSG_WARNING ("dim of local parameters: "<<P.dimension()<<" vs. dim of error matrix: "<<dimCov);
1315  return false;
1316  } return true;
1317 }

◆ convertToClonedTrackPars()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::convertToClonedTrackPars ( const TrackParameters &  TP,
const SParVector5 &  par,
const SCovMatrix5 &  covpar,
int  sign,
bool  createFQoS,
std::string_view  ndtext 
) const
private

Helper method to convert internal results from SMatrix to Eigen. *‍/.

Definition at line 1159 of file KalmanUpdatorSMatrix.cxx.

1164  {
1165  AmgSymMatrix(5) C;
1166  C.setZero();
1167  for (int i=0; i<5; ++i) {
1168  for (int j=0; j<=i; ++j) {
1169  C.fillSymmetric(i,j, covpar(i,j));
1170  }
1171  }
1172 
1173  std::unique_ptr<Trk::TrackParameters> resultPar =
1174  TP.associatedSurface().createUniqueTrackParameters(par[0],par[1],par[2],par[3],par[4],C);
1175 
1176  if (msgLvl(MSG::VERBOSE) && resultPar) {
1177  char reportCalledInterface[80];
1178  char ndtext2[5];
1179  memset(ndtext2, '\0', 5 ); ndtext.copy(ndtext2,2); // convert char to string
1180  if (sign>0)
1181  sprintf(reportCalledInterface,"%s-%s,%s)",
1182  (ndtext=="5D"?"combineStates(TP,TP":"addToState(TP,Meas"),
1183  ndtext2,(createFQoS?"Err,FQ":"Err"));
1184  else
1185  sprintf(reportCalledInterface,"%s,Meas-%s,%s)","removeFromState(TP,",
1186  ndtext2,(createFQoS?"Err,FQ":"Err"));
1187  logResult((std::string)reportCalledInterface, resultPar->parameters(),C);
1188  }
1189 
1190  return resultPar;
1191 }

◆ correctThetaPhiRange_5D()

bool Trk::KalmanUpdatorSMatrix::correctThetaPhiRange_5D ( SParVector5 &  V,
SCovMatrix5 &  M,
const RangeCheckDef  rcd 
) const
private

method correcting the calculated angles back to their defined ranges phi (-pi, pi) and theta (0, pi).

Only works if the excess is not far from the defined range, as it happens e.g. when the update moves across the phi= +/-pi boundary.

Definition at line 1319 of file KalmanUpdatorSMatrix.cxx.

1321 {
1322  static const SParVector2 thetaMin(0.0, -M_PI);
1323 
1324  // correct theta coordinate
1325  if ( V(Trk::theta)<thetaMin((int)rcd) || V(Trk::theta)> M_PI ) {
1326  ATH_MSG_DEBUG ("-U- theta angle out of range: theta= "<<V(Trk::theta)<<", phi= "<<V(Trk::phi));
1327  // absolute theta: repair if between -pi and +2pi.
1328  // differential theta: repair if between -pi and +pi
1329  if ( ( V(Trk::theta) < -M_PI ) ||
1330  ( V(Trk::theta) > (rcd==Trk::differentialCheck ? M_PI : 2*M_PI) )
1331  ) {
1332  ATH_MSG_WARNING ("-U- track theta = "<<V(Trk::theta)<<" -> this is too far from defined range, stop update.");
1333  return false;
1334  }
1335  if (V(Trk::theta) > M_PI) {
1336  V(Trk::theta) = 2*M_PI - V(Trk::theta);
1337  V(Trk::phi) += (V(Trk::phi)>0.0) ? -M_PI : M_PI;
1338  } else if (V(Trk::theta) < 0.0) {
1339  V(Trk::theta) = -V(Trk::theta);
1340  V(Trk::phi) += (V(Trk::phi)>0.0) ? -M_PI : M_PI;
1341  }
1342  // correct also cov matrix:
1343  M(0,3) = -M(0,3); // cov(polar,locX)
1344  M(1,3) = -M(1,3); // cov(polar,locY)
1345  M(2,3) = -M(2,3); // cov(polar,azimuthal)
1346  M(3,4) = -M(3,4); // cov(polar,qOverP)
1347  ATH_MSG_DEBUG ("-U- now use corrected value phi= "<<V(Trk::phi)<<" theta = "<<V(Trk::theta));
1348  }
1349 
1350 
1351  // correct phi coordinate if necessary
1352  if ( (V(Trk::phi) > M_PI) ) {
1353  if (msgLvl(MSG::DEBUG)) msg(MSG::DEBUG) << "-U- phi = " << V(Trk::phi);
1354  V(Trk::phi) = std::fmod(V(Trk::phi)+M_PI,2*M_PI)-M_PI;
1355  ATH_MSG_DEBUG( " out of range, now corrected to " << V(Trk::phi) );
1356  } else if( (V(Trk::phi)<-M_PI) ) {
1357  ATH_MSG_DEBUG( "-U- phi = " << V(Trk::phi));
1358  V(Trk::phi) = std::fmod(V(Trk::phi)-M_PI,2*M_PI)+M_PI;
1359  ATH_MSG_DEBUG( " out of range, now corrected to " << V(Trk::phi) );
1360  }
1361 
1362  return true;
1363 }

◆ declareGaudiProperty() [1/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty ( Gaudi::Property< T > &  hndl,
const SG::VarHandleKeyArrayType &   
)
inlineprivateinherited

specialization for handling Gaudi::Property<SG::VarHandleKeyArray>

Definition at line 170 of file AthCommonDataStore.h.

172  {
173  return *AthCommonDataStore<PBASE>::declareProperty(hndl.name(),
174  hndl.value(),
175  hndl.documentation());
176 
177  }

◆ declareGaudiProperty() [2/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty ( Gaudi::Property< T > &  hndl,
const SG::VarHandleKeyType &   
)
inlineprivateinherited

specialization for handling Gaudi::Property<SG::VarHandleKey>

Definition at line 156 of file AthCommonDataStore.h.

158  {
159  return *AthCommonDataStore<PBASE>::declareProperty(hndl.name(),
160  hndl.value(),
161  hndl.documentation());
162 
163  }

◆ declareGaudiProperty() [3/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty ( Gaudi::Property< T > &  hndl,
const SG::VarHandleType &   
)
inlineprivateinherited

specialization for handling Gaudi::Property<SG::VarHandleBase>

Definition at line 184 of file AthCommonDataStore.h.

186  {
187  return *AthCommonDataStore<PBASE>::declareProperty(hndl.name(),
188  hndl.value(),
189  hndl.documentation());
190  }

◆ declareGaudiProperty() [4/4]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareGaudiProperty ( Gaudi::Property< T > &  t,
const SG::NotHandleType &   
)
inlineprivateinherited

specialization for handling everything that's not a Gaudi::Property<SG::VarHandleKey> or a <SG::VarHandleKeyArray>

Definition at line 199 of file AthCommonDataStore.h.

200  {
201  return PBASE::declareProperty(t);
202  }

◆ declareProperty() [1/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty ( const std::string &  name,
SG::VarHandleBase &  hndl,
const std::string &  doc,
const SG::VarHandleType &   
)
inlineinherited

Declare a new Gaudi property.

Parameters
nameName of the property.
hndlObject holding the property value.
docDocumentation string for the property.

This is the version for types that derive from SG::VarHandleBase. The property value object is put on the input and output lists as appropriate; then we forward to the base class.

Definition at line 245 of file AthCommonDataStore.h.

249  {
250  this->declare(hndl.vhKey());
251  hndl.vhKey().setOwner(this);
252 
253  return PBASE::declareProperty(name,hndl,doc);
254  }

◆ declareProperty() [2/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty ( const std::string &  name,
SG::VarHandleKey &  hndl,
const std::string &  doc,
const SG::VarHandleKeyType &   
)
inlineinherited

Declare a new Gaudi property.

Parameters
nameName of the property.
hndlObject holding the property value.
docDocumentation string for the property.

This is the version for types that derive from SG::VarHandleKey. The property value object is put on the input and output lists as appropriate; then we forward to the base class.

Definition at line 221 of file AthCommonDataStore.h.

225  {
226  this->declare(hndl);
227  hndl.setOwner(this);
228 
229  return PBASE::declareProperty(name,hndl,doc);
230  }

◆ declareProperty() [3/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty ( const std::string &  name,
SG::VarHandleKeyArray &  hndArr,
const std::string &  doc,
const SG::VarHandleKeyArrayType &   
)
inlineinherited

Definition at line 259 of file AthCommonDataStore.h.

263  {
264 
265  // std::ostringstream ost;
266  // ost << Algorithm::name() << " VHKA declareProp: " << name
267  // << " size: " << hndArr.keys().size()
268  // << " mode: " << hndArr.mode()
269  // << " vhka size: " << m_vhka.size()
270  // << "\n";
271  // debug() << ost.str() << endmsg;
272 
273  hndArr.setOwner(this);
274  m_vhka.push_back(&hndArr);
275 
276  Gaudi::Details::PropertyBase* p = PBASE::declareProperty(name, hndArr, doc);
277  if (p != 0) {
278  p->declareUpdateHandler(&AthCommonDataStore<PBASE>::updateVHKA, this);
279  } else {
280  ATH_MSG_ERROR("unable to call declareProperty on VarHandleKeyArray "
281  << name);
282  }
283 
284  return p;
285 
286  }

◆ declareProperty() [4/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty ( const std::string &  name,
T &  property,
const std::string &  doc,
const SG::NotHandleType &   
)
inlineinherited

Declare a new Gaudi property.

Parameters
nameName of the property.
propertyObject holding the property value.
docDocumentation string for the property.

This is the generic version, for types that do not derive from SG::VarHandleKey. It just forwards to the base class version of declareProperty.

Definition at line 333 of file AthCommonDataStore.h.

337  {
338  return PBASE::declareProperty(name, property, doc);
339  }

◆ declareProperty() [5/6]

Gaudi::Details::PropertyBase* AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty ( const std::string &  name,
T &  property,
const std::string &  doc = "none" 
)
inlineinherited

Declare a new Gaudi property.

Parameters
nameName of the property.
propertyObject holding the property value.
docDocumentation string for the property.

This dispatches to either the generic declareProperty or the one for VarHandle/Key/KeyArray.

Definition at line 352 of file AthCommonDataStore.h.

355  {
356  typedef typename SG::HandleClassifier<T>::type htype;
357  return declareProperty (name, property, doc, htype());
358  }

◆ declareProperty() [6/6]

Gaudi::Details::PropertyBase& AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty ( Gaudi::Property< T > &  t)
inlineinherited

Definition at line 145 of file AthCommonDataStore.h.

145  {
146  typedef typename SG::HandleClassifier<T>::type htype;
147  return AthCommonDataStore<PBASE>::declareGaudiProperty(t, htype());
148  }

◆ detStore()

const ServiceHandle<StoreGateSvc>& AthCommonDataStore< AthCommonMsg< AlgTool > >::detStore ( ) const
inlineinherited

The standard StoreGateSvc/DetectorStore Returns (kind of) a pointer to the StoreGateSvc.

Definition at line 95 of file AthCommonDataStore.h.

95 { return m_detStore; }

◆ evtStore() [1/2]

ServiceHandle<StoreGateSvc>& AthCommonDataStore< AthCommonMsg< AlgTool > >::evtStore ( )
inlineinherited

The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc.

Definition at line 85 of file AthCommonDataStore.h.

85 { return m_evtStore; }

◆ evtStore() [2/2]

const ServiceHandle<StoreGateSvc>& AthCommonDataStore< AthCommonMsg< AlgTool > >::evtStore ( ) const
inlineinherited

The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc.

Definition at line 90 of file AthCommonDataStore.h.

90 { return m_evtStore; }

◆ extraDeps_update_handler()

void AthCommonDataStore< AthCommonMsg< AlgTool > >::extraDeps_update_handler ( Gaudi::Details::PropertyBase &  ExtraDeps)
protectedinherited

Add StoreName to extra input/output deps as needed.

use the logic of the VarHandleKey to parse the DataObjID keys supplied via the ExtraInputs and ExtraOuputs Properties to add the StoreName if it's not explicitly given

◆ finalize()

StatusCode Trk::KalmanUpdatorSMatrix::finalize ( )
overridevirtual

AlgTool termination.

Definition at line 70 of file KalmanUpdatorSMatrix.cxx.

71 {
72  return StatusCode::SUCCESS;
73 }

◆ fullStateFitQuality() [1/2]

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::fullStateFitQuality ( const TrackParameters &  trkPar,
const Amg::Vector2D &  locPos,
const Amg::MatrixX &  covRio 
) const
finaloverridevirtual

estimator for FitQuality on Surface from a full track state, that is a state which contains the current hit (expressed as Amg::Vector2D).

Implements Trk::IUpdator.

Definition at line 335 of file KalmanUpdatorSMatrix.cxx.

337  {
338  ATH_MSG_DEBUG( "--> entered KalmanUpdatorSMatrix::fullStateFitQuality(TP,LPOS,ERR)" );
339  // try if Track Parameters are measured ones ?
340  if (!trkPar.covariance()) {
341  ATH_MSG_ERROR( "updated track state has no error matrix" );
342  return {};
343  }
344  // For the LocalPos. version, need to get # meas. coord. from covariance matrix.
345  int nLocCoord = covRio.cols();
346  if (nLocCoord == 1) {
347  return makeChi2_1D(SParVector5(&trkPar.parameters()[0],5),
348  (*trkPar.covariance()),
349  locPos[Trk::locX],covRio(0,0),
350  1,-1); // key=1, signForUpdatedChi2 = -1
351  } if (nLocCoord == 2) {
352  SCovMatrix2 SmeasCov;
353  SmeasCov(0,0) = covRio(0,0);
354  SmeasCov(1,0) = covRio(0,1);
355  SmeasCov(1,1) = covRio(1,1);
356  return makeChi2_2D(SParVector5(&trkPar.parameters()[0],5),
357  (*trkPar.covariance()),
358  SParVector2(locPos[Trk::locX],locPos[Trk::locY]),
359  SmeasCov, 2,-1);
360  }
361  ATH_MSG_WARNING( "Error in local position - must be 1D or 2D!" );
362  return {};
363 
364 }

◆ fullStateFitQuality() [2/2]

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::fullStateFitQuality ( const TrackParameters &  trkPar,
const LocalParameters &  parRio,
const Amg::MatrixX &  covRio 
) const
finaloverridevirtual

estimator for FitQuality on Surface from a full track state, that is a state which contains the current hit (expressed as LocalParameters).

Implements Trk::IUpdator.

Definition at line 369 of file KalmanUpdatorSMatrix.cxx.

371  {
372  ATH_MSG_VERBOSE( "--> entered KalmanUpdatorSMatrix::fullStateFitQuality(TP,LPAR,ERR)" );
373 
374  // try if Track Parameters are measured ones ?
375  if (!trkPar.covariance()) {
376  ATH_MSG_ERROR( "updated track state has no error matrix" );
377  return {};
378  }
379  int nLocCoord = parRio.dimension();
380  if ( ! consistentParamDimensions(parRio,covRio.cols()) ) return {};
381  // local params can NOT be accessed like vector[i], therefore need some acrobatics:
382  ROOT::Math::SVector<int,5> intAccessor;
383  for (int i=0,k=0; i<5; ++i) { if (parRio.parameterKey() & (1<<i)) intAccessor(k++)=i; }
384  if (nLocCoord == 1) {
385  return makeChi2_1D(SParVector5(&trkPar.parameters()[0],5),
386  (*trkPar.covariance()),
387  parRio[s_enumAccessor.pardef[intAccessor(0)]],covRio(0,0),
388  parRio.parameterKey(),-1);
389  } if (nLocCoord == 2) {
390  SCovMatrix2 SmeasCov;
391  for (int i=0, irow=0; i<5; ++i) {
392  if (parRio.parameterKey() & (1<<i)) {
393  SmeasCov(0,irow) = covRio(0,irow);
394  SmeasCov(1,irow) = covRio(1,irow);
395  ++irow;
396  }
397  }
398  return makeChi2_2D(SParVector5(&trkPar.parameters()[0],5),
399  (*trkPar.covariance()),
400  SParVector2(parRio[s_enumAccessor.pardef[intAccessor(0)]],
401  parRio[s_enumAccessor.pardef[intAccessor(1)]]),
402  SmeasCov, parRio.parameterKey(),-1);
403  } if (nLocCoord == 5) {
404  return makeChi2_5D(SParVector5(&trkPar.parameters()[0],5),
405  (*trkPar.covariance()),
406  SParVector5(parRio[Trk::locX],parRio[Trk::locY],
407  parRio[Trk::phi0],parRio[Trk::theta],
408  parRio[Trk::qOverP]),
409  covRio,-1);
410  } // stay with Eigen for other cases
411 
412  // State to measurement dimensional reduction Matrix ( n x m )
413  const Amg::MatrixX& H = parRio.expansionMatrix();
414 
415  // residuals
416  Amg::VectorX r;
417  if (parRio.parameterKey()==31) r = (parRio - trkPar.parameters());
418  else r = (parRio - H*trkPar.parameters());
419 
420  // all the rest is outsourced to a common chi2 routine
421  return makeChi2Object(r,(*trkPar.covariance()),covRio,H,-1);
422 
423 }

◆ getStartCov()

bool Trk::KalmanUpdatorSMatrix::getStartCov ( SCovMatrix5 &  M,
const TrackParameters &  inputParameters,
const int  isign 
) const
private

Helper method to transform Eigen cov matrix to SMatrix.

Definition at line 1259 of file KalmanUpdatorSMatrix.cxx.

1262 {
1263 
1264  const AmgSymMatrix(5)* covariance = inputParameters.covariance();
1265  if (!covariance) {
1266  if (isign<0) {
1267  ATH_MSG_WARNING ("MeasuredTrackParameters == Null, can not calculate updated parameter state.");
1268  return false;
1269  }
1270  // no error given - use a huge error matrix for the time
1271  ATH_MSG_VERBOSE ("-U- no covTrk at input - assign large error matrix for the time being.");
1272  M.SetDiagonal(m_cov0);
1273 
1274  } else {
1275  // int k = measTrkPar->localAmg::MatrixX().covariance().cols(); is always 5
1276  for (int i=0; i<5; ++i) {
1277  for (int j=0; j<=i; ++j) {
1278  M(i,j) = (*covariance)(i,j); // can improve speed by apply() access
1279  }
1280  }
1281  }
1282  return true;
1283 }

◆ initialErrors()

std::vector< double > Trk::KalmanUpdatorSMatrix::initialErrors ( ) const
finaloverridevirtual

give back how updator is configured for inital covariances

Implements Trk::IUpdator.

Definition at line 541 of file KalmanUpdatorSMatrix.cxx.

541  {
542  std::vector<double> E(5);
543  for (int i=0; i<5; ++i) E[i] = std::sqrt(m_cov0(i));
544  return E;
545 }

◆ initialize()

StatusCode Trk::KalmanUpdatorSMatrix::initialize ( )
overridevirtual

AlgTool initialisation.

Definition at line 50 of file KalmanUpdatorSMatrix.cxx.

51 {
52  if (m_cov_stdvec.size() < 5) {
53  ATH_MSG_WARNING( "Wrong-sized initial covariance given, so set to default: ");
54  m_cov_stdvec = {250.,250.,0.25, 0.25, 0.000001};
55  }
56  m_cov0 = SParVector5(&m_cov_stdvec[0],5);
57  if (m_useFruehwirth8a) {
58  ATH_MSG_DEBUG( "Fast computation will be used for track state cov matrices (Fruehwirth-1987 eq. 8a)." );
59  } else{
60  ATH_MSG_DEBUG( "Track state cov matrix will be calculated according to Gelb-1975 p305." );
61  }
62 
63  const SParVector5 IV(1.0, 1.0, 1.0, 1.0, 1.0);
64  m_unitMatrix.SetDiagonal(IV);
65 
66  return StatusCode::SUCCESS;
67 }

◆ inputHandles()

virtual std::vector<Gaudi::DataHandle*> AthCommonDataStore< AthCommonMsg< AlgTool > >::inputHandles ( ) const
overridevirtualinherited

Return this algorithm's input handles.

We override this to include handle instances from key arrays if they have not yet been declared. See comments on updateVHKA.

◆ interfaceID()

const InterfaceID & Trk::IUpdator::interfaceID ( )
inlinestaticinherited

Algtool infrastructure.

Definition at line 227 of file IUpdator.h.

228 {
229  return IID_IUpdator;
230 }

◆ logGainForm()

void Trk::KalmanUpdatorSMatrix::logGainForm ( int  nc,
const SParVector5 &  r,
const SCovMatrix5 &  R,
const SGenMatrix5 &  K 
) const
private

internal structuring: common logfile output during calculation

Definition at line 1401 of file KalmanUpdatorSMatrix.cxx.

1404 {
1405  // again some verbose debug output showing internals of updating
1406  msg(MSG::VERBOSE) << "-U- residual: r=("<<r(0);
1407  for (int i=1; i<nc; i++) msg(MSG::VERBOSE) <<","<<r(i);
1408  msg(MSG::VERBOSE) << ")\n";
1409  msg(MSG::VERBOSE) << "-U- inv. sigmaR=("<< R(0,0);
1410  for (int i=1; i<nc; i++) msg(MSG::VERBOSE) << "," << R(i,i);
1411  msg(MSG::VERBOSE) << ")\n";
1412  for (int i=0; i<nc; i++)
1413  msg(MSG::VERBOSE) // K is a row x col = 5 x nc matrix.
1414  << ( i==0 ? "-U- gain mtx K=(" : " (" )
1415  << std::setiosflags(std::ios::fixed | std::ios::showpoint | std::ios::right )
1416  << std::setw(7) << std::setprecision(4) << K(0,i)<<", "
1417  << std::setw(7) << std::setprecision(4) << K(1,i)<<", "
1418  << std::setw(7) << std::setprecision(4) << K(2,i)<<", "
1419  << std::setw(7) << std::setprecision(4) << K(3,i)<<", "
1420  << std::setw(7) << std::setprecision(4) << K(4,i)<<")"
1421  << std::resetiosflags(std::ios::fixed) << "\n";
1422 }

◆ logInputCov()

void Trk::KalmanUpdatorSMatrix::logInputCov ( const SCovMatrix5 &  covTrk,
const Amg::VectorX &  parRio,
const Amg::MatrixX &  covRio 
) const
private

internal structuring: common logfile output of the inputs

Definition at line 1375 of file KalmanUpdatorSMatrix.cxx.

1377 {
1378  ATH_MSG_VERBOSE( "-U- cov "<<std::setiosflags(std::ios::right)<<std::setprecision(3)
1379  << std::setw(9)<<covTrk(0,0)<<" "<< std::setw(9)<<covTrk(0,1)<<" "
1380  << std::setw(9)<<covTrk(0,2)<<" "<< std::setw(9)<<covTrk(0,3)<<" "
1381  << std::setw(9)<<covTrk(0,4));
1382  ATH_MSG_VERBOSE( " " << " " << " "
1383  << std::setw(9)<<covTrk(1,1)<<" "<< std::setw(9)<<covTrk(1,2)<<" "
1384  << std::setw(9)<<covTrk(1,3)<<" "<< std::setw(9)<<covTrk(1,4));
1385  ATH_MSG_VERBOSE( " covariance matrix " << " " << " "
1386  << std::setw(9)<<covTrk(2,2)<<" "<< std::setw(9)<<covTrk(2,3)<<" "
1387  << std::setw(9)<<covTrk(2,4));
1388  ATH_MSG_VERBOSE( " of the PREDICTED track pars " << " " << " "
1389  << std::setw(9)<<covTrk(3,3)<<" "<< std::setw(9)<<covTrk(3,4));
1390  ATH_MSG_VERBOSE(" " << " " << " "
1391  << std::setw(9)<<covTrk(4,4)<<std::setprecision(6));
1392 
1393  int nLocCoord = covRio.cols();
1394  ATH_MSG_VERBOSE( "-U- measurement locPar: ");
1395  for (int i=0; i<nLocCoord; i++) ATH_MSG_VERBOSE(parRio[i]);
1396  msg(MSG::VERBOSE) << "-U- measurement (err)^2: " <<std::setprecision(4)<<covRio(0,0);
1397  for (int i=1; i<nLocCoord; i++) msg(MSG::VERBOSE) << ", "<<covRio(i,i);
1398  msg(MSG::VERBOSE) << std::setprecision(6)<<"\n";
1399 }

◆ logResult()

void Trk::KalmanUpdatorSMatrix::logResult ( const std::string &  ,
const AmgVector(5) &  ,
const AmgSymMatrix(5) &   
) const
private

internal structuring: common logfile output after calculation

Definition at line 1424 of file KalmanUpdatorSMatrix.cxx.

1427 {
1428  // again some verbose debug output
1429  msg(MSG::VERBOSE) << "-U- ==> result for KalmanUpdatorSMatrix::"<<methodName<<endmsg;
1430  msg(MSG::VERBOSE) << "-U- new par"<<std::setiosflags(std::ios::right)<<std::setprecision(4)
1431  << std::setw( 9)<<par[0]<< std::setw(10)<<par[1]<<std::setprecision(5)
1432  << std::setw(10)<<par[2]<< std::setw(10)<<par[3]<<std::setprecision(4)
1433  << std::setw(10)<<par[4] <<"\n";
1434  msg(MSG::VERBOSE) << "-U- new cov" <<std::setiosflags(std::ios::right)<<std::setprecision(3)
1435  << std::setw(9)<<(covPar)(0,0)<<" "<< std::setw(9)<<(covPar)(0,1)<<" "
1436  << std::setw(9)<<(covPar)(0,2)<<" "<< std::setw(9)<<(covPar)(0,3)
1437  << " " << std::setw(9)<<(covPar)(0,4)<< "\n";
1438  msg(MSG::VERBOSE) << " " << " " << " "
1439  << std::setw(9)<<(covPar)(1,1)<<" "<< std::setw(9)<<(covPar)(1,2)<<" "
1440  << std::setw(9)<<(covPar)(1,3)<<" "<< std::setw(9)<<(covPar)(1,4)<< "\n";
1441  msg(MSG::VERBOSE) << " covariance matrix " << " " << " "
1442  << std::setw(9)<<(covPar)(2,2) <<" "<< std::setw(9)<<(covPar)(2,3) <<" "
1443  << std::setw(9)<<(covPar)(2,4) << "\n";
1444  msg(MSG::VERBOSE) << " of the UPDATED track pars " << " "
1445  << " " <<std::setw(9)<<(covPar)(3,3) << " "
1446  << std::setw(9)<<(covPar)(3,4) << "\n";
1447  msg(MSG::VERBOSE) << " " << " "
1448  << " "
1449  << std::setw(9)<<(covPar)(4,4) <<std::setprecision(6)<< "\n";
1450 }

◆ logStart()

void Trk::KalmanUpdatorSMatrix::logStart ( const std::string &  IDstring,
const TrackParameters &  tp 
) const
private

internal structuring: debugging output for start of method.

Definition at line 1365 of file KalmanUpdatorSMatrix.cxx.

1367 {
1368  ATH_MSG_DEBUG( "--> entered KalmanUpdatorSMatrix::" << IDstring );
1369  ATH_MSG_VERBOSE( "-U- TrkPar:" << std::setiosflags(std::ios::right)<<std::setprecision(4)
1370  << std::setw( 9)<<tp.parameters()[0]<< std::setw(10)<<tp.parameters()[1]<<std::setprecision(5)
1371  << std::setw(10)<<tp.parameters()[2]<< std::setw(10)<<tp.parameters()[3]<<std::setprecision(4)
1372  << std::setw(10)<<tp.parameters()[4]);
1373 }

◆ makeChi2_1D()

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::makeChi2_1D ( const SParVector5 &  parTrk,
const AmgSymMatrix(5)&  covTrk,
double  valRio,
double  covRio,
int  key,
int  sign 
) const
private

also the chi2 calculation and FitQuality object creation is combined in an extra method.

It is called by all the XXX-FitQuality() methods - SMatrix version for 1D, 2D, 5D and Eigen for 3D, 4D. The calculateFilterStep() have the code duplicated to avoid re-computing the residual-error matrix. The sign controls the calculation in case a predicted input track state (sign=+1) or smoothed/updated input track state (sign=-1).

Definition at line 1081 of file KalmanUpdatorSMatrix.cxx.

1088 { // sign: -1 = updated, +1 = predicted parameters.
1089  int mk=0;
1090  if (key!=1) for (int i=0; i<5; ++i) if (key & (1<<i)) mk=i;
1091  double r = valRio - parTrk(mk);
1092  // if (mk==3) catchPiPi;
1093  double chiSquared = covRio + sign * covTrk(mk,mk);
1094  if (chiSquared == 0.0) {
1095  ATH_MSG_DEBUG( "inversion of the error-on-the-residual failed." );
1096  return {};
1097  }
1098  chiSquared = r*r/chiSquared;
1099 
1100  return {chiSquared, 1};
1101 }

◆ makeChi2_2D()

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::makeChi2_2D ( const SParVector5 &  parTrk,
const AmgSymMatrix(5)&  covTrk,
const SParVector2 &  parRio,
const SCovMatrix2 &  covRio,
int  key,
int  sign 
) const
private

Definition at line 1103 of file KalmanUpdatorSMatrix.cxx.

1110 { // sign: -1 = updated, +1 = predicted parameters.
1111 
1112  ROOT::Math::SVector<int,2> index(0,1); // locX and Y if key==3
1113  if (key != 3) { // other localPar expansion vector if not key==3.
1114  for (int i=0, irow=0; i<5; ++i)
1115  if (key & (1<<i)) index(irow++) = i;
1116  }
1117  SParVector2 r(-parTrk(index(0)),-parTrk(index(1))); r += parRio;
1118  SCovMatrix2 R = sign*projection_2D(covTrk,key); R += covRio;
1119  double chiSquared = 0.0;
1120  if (!R.Invert()) {
1121  ATH_MSG_DEBUG( "matrix inversion not possible, set chi2 to zero" );
1122  } else {
1123  chiSquared = ROOT::Math::Similarity(r,R);
1124  ATH_MSG_VERBOSE( "-U- fitQuality of "<< (sign>0?"predicted":"updated")
1125  <<" state, chi2 :" << chiSquared << " / ndof= 2" );
1126  }
1127  return {chiSquared, 2};
1128 }

◆ makeChi2_5D()

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::makeChi2_5D ( const SParVector5 &  parOne,
const AmgSymMatrix(5)&  covOne,
const SParVector5 &  parTwo,
const AmgSymMatrix(5)&  covTwo,
int  sign 
) const
private

Definition at line 1130 of file KalmanUpdatorSMatrix.cxx.

1136 { // sign: -1 = updated, +1 = predicted parameters.
1137 
1138  SCovMatrix5 ScovOne;
1139  SCovMatrix5 ScovTwo; // trafo EDM to new math lib
1140  for (int i=0; i<5; ++i)
1141  for (int j=0; j<=i; ++j) {
1142  ScovOne(i,j) = covOne(i,j);
1143  ScovTwo(i,j) = covTwo(i,j);
1144  }
1145  SParVector5 r = parTwo - parOne;
1146  SCovMatrix5 R = sign*ScovOne + ScovTwo;
1147  double chiSquared = 0.0;
1148  if (!R.Invert()) {
1149  ATH_MSG_DEBUG( "matrix inversion not possible, set chi2 to zero" );
1150  } else {
1151  chiSquared = ROOT::Math::Similarity(r,R);
1152  ATH_MSG_VERBOSE( "-U- fitQuality of "<< (sign>0?"predicted":"updated")
1153  <<" state, chi2 :" << chiSquared << " / ndof= 2" );
1154  }
1155  return {chiSquared, 5};
1156 }

◆ makeChi2Object()

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::makeChi2Object ( const Amg::VectorX &  residual,
const AmgSymMatrix(5)&  covTrk,
const Amg::MatrixX &  covRio,
const Amg::MatrixX &  H,
int  sign 
) const
private

< TODO check on inverse failure ?

Definition at line 1286 of file KalmanUpdatorSMatrix.cxx.

1291 { // sign: -1 = updated, +1 = predicted parameters.
1292  Amg::MatrixX R = covRio + sign * covTrk.similarity(H);
1293  double chiSquared = 0.;
1294  if (false) {
1295  ATH_MSG_DEBUG( "matrix inversion not possible, set chi2 to zero" );
1296  chiSquared = 0.f;
1297  } else {
1298  // get chi2 = r.T() * R^-1 * r
1299  chiSquared = Amg::chi2(R.inverse(), residual);
1300  ATH_MSG_VERBOSE( "-U- fitQuality of "<< (sign>0?"predicted":"updated")
1301  <<" state, chi2 :" << chiSquared << " / ndof= " << covRio.cols() );
1302  }
1303 
1304  // number of degree of freedom added
1305  int numberDoF = covRio.cols();
1306 
1307  return {chiSquared, numberDoF};
1308 }

◆ msg() [1/2]

MsgStream& AthCommonMsg< AlgTool >::msg ( ) const
inlineinherited

Definition at line 24 of file AthCommonMsg.h.

24  {
25  return this->msgStream();
26  }

◆ msg() [2/2]

MsgStream& AthCommonMsg< AlgTool >::msg ( const MSG::Level  lvl) const
inlineinherited

Definition at line 27 of file AthCommonMsg.h.

27  {
28  return this->msgStream(lvl);
29  }

◆ msgLvl()

bool AthCommonMsg< AlgTool >::msgLvl ( const MSG::Level  lvl) const
inlineinherited

Definition at line 30 of file AthCommonMsg.h.

30  {
31  return this->msgLevel(lvl);
32  }

◆ outputHandles()

virtual std::vector<Gaudi::DataHandle*> AthCommonDataStore< AthCommonMsg< AlgTool > >::outputHandles ( ) const
overridevirtualinherited

Return this algorithm's output handles.

We override this to include handle instances from key arrays if they have not yet been declared. See comments on updateVHKA.

◆ predictedStateFitQuality() [1/3]

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::predictedStateFitQuality ( const TrackParameters &  predPar,
const Amg::Vector2D &  rioLocPos,
const Amg::MatrixX &  covRio 
) const
finaloverridevirtual

estimator for FitQuality on Surface from a predicted track state, that is a state which contains the current hit (expressed as Amg::Vector2D).

Implements Trk::IUpdator.

Definition at line 427 of file KalmanUpdatorSMatrix.cxx.

429  {
430  ATH_MSG_VERBOSE( "--> entered KalmanUpdatorSMatrix::predictedStateFitQuality(TP,LPOS,ERR)" );
431  // try if Track Parameters are measured ones ?
432  if (!predPar.covariance()) {
433  ATH_MSG_WARNING( "input state has no error matrix in predictedStateFitQuality()" );
434  return {};
435  }
436  // For the LocalPos. version, need to get # meas. coord. from covariance matrix.
437  int nLocCoord = covRio.cols();
438  if (nLocCoord == 1) {
439  return makeChi2_1D(SParVector5(&predPar.parameters()[0],5),
440  (*predPar.covariance()),
441  rioLocPos[Trk::locX],covRio(0,0),
442  1,+1); // key=1, signForUpdatedChi2 = +1
443  } if (nLocCoord == 2) {
444  SCovMatrix2 SmeasCov;
445  SmeasCov(0,0) = covRio(0,0);
446  SmeasCov(1,0) = covRio(1,0);
447  SmeasCov(1,1) = covRio(1,1);
448  return makeChi2_2D(SParVector5(&predPar.parameters()[0],5),
449  (*predPar.covariance()),
450  SParVector2(rioLocPos[Trk::locX],rioLocPos[Trk::locY]),
451  SmeasCov, 2,+1);
452  }
453  ATH_MSG_WARNING( "Error in local position - must be 1D or 2D!" );
454  return {};
455 
456 }

◆ predictedStateFitQuality() [2/3]

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::predictedStateFitQuality ( const TrackParameters &  predPar,
const LocalParameters &  parRio,
const Amg::MatrixX &  covRio 
) const
finaloverridevirtual

estimator for FitQuality on Surface from a predicted track state, that is a state which contains the current hit (expressed as LocalParameters).

Implements Trk::IUpdator.

Definition at line 460 of file KalmanUpdatorSMatrix.cxx.

462  {
463  ATH_MSG_VERBOSE( "--> entered KalmanUpdatorSMatrix::predictedStateFitQuality(TP,LPAR,ERR)" );
464 
465  // try if Track Parameters are measured ones ?
466  if (!predPar.covariance()) {
467  ATH_MSG_WARNING( "input state has no error matrix in predictedStateFitQuality()" );
468  return {};
469  }
470  int nLocCoord = parRio.dimension();
471  if ( ! consistentParamDimensions(parRio,covRio.cols()) ) return {};
472 
473  ROOT::Math::SVector<int,5> intAccessor;
474  for (int i=0,k=0; i<5; ++i) { if (parRio.parameterKey() & (1<<i)) intAccessor(k++)=i; }
475  if (nLocCoord == 1) {
476  return makeChi2_1D(SParVector5(&predPar.parameters()[0],5),
477  (*predPar.covariance()),
478  parRio[s_enumAccessor.pardef[intAccessor(0)]],covRio(0,0),
479  parRio.parameterKey(),+1);
480  } if (nLocCoord == 2) {
481  SCovMatrix2 SmeasCov;
482  for (int i=0, irow=0; i<5; ++i) {
483  if (parRio.parameterKey() & (1<<i)) {
484  SmeasCov(0,irow) = covRio(0,irow);
485  SmeasCov(1,irow) = covRio(1,irow);
486  ++irow;
487  }
488  }
489  return makeChi2_2D(SParVector5(&predPar.parameters()[0],5),
490  (*predPar.covariance()),
491  SParVector2(parRio[s_enumAccessor.pardef[intAccessor(0)]],
492  parRio[s_enumAccessor.pardef[intAccessor(1)]]),
493  SmeasCov, parRio.parameterKey(),+1);
494  } if (nLocCoord == 5 ) {
495  return makeChi2_5D(SParVector5(&predPar.parameters()[0],5),
496  (*predPar.covariance()),
497  SParVector5(parRio[Trk::locX],parRio[Trk::locY],
498  parRio[Trk::phi0],parRio[Trk::theta],
499  parRio[Trk::qOverP]),
500  covRio,+1);
501  } // stay with CLHEP for other cases
502 
503  // State to measurement dimensional reduction Matrix ( n x m )
504  const Amg::MatrixX& H = parRio.expansionMatrix();
505 
506  // residuals
507  Amg::VectorX r;
508  if (parRio.parameterKey()==31) r = parRio - predPar.parameters();
509  else r = parRio - H * predPar.parameters();
510 
511  // all the rest is outsourced to a common chi2 routine
512  return makeChi2Object(r,(*predPar.covariance()),
513  covRio,H,+1);
514 
515 }

◆ predictedStateFitQuality() [3/3]

Trk::FitQualityOnSurface Trk::KalmanUpdatorSMatrix::predictedStateFitQuality ( const TrackParameters &  trkParOne,
const TrackParameters &  trkParTwo 
) const
finaloverridevirtual

estimator for FitQuality on Surface for the situation when a track is fitted to the parameters of another trajectory part extrapolated to the common surface.

Implements Trk::IUpdator.

Definition at line 519 of file KalmanUpdatorSMatrix.cxx.

520  {
521  ATH_MSG_VERBOSE("--> entered KalmanUpdatorSMatrix::predictedStateFitQuality(TP,TP)");
522  // try if both Track Parameters are measured ones ?
523  const AmgSymMatrix(5)* covOne = trkParOne.covariance();
524  const AmgSymMatrix(5)* covTwo = trkParTwo.covariance();
525  // remember, either one OR two might have no error, but not both !
526  if (!covOne && ! covTwo) {
527  ATH_MSG_WARNING( "both parameters have no errors, invalid use of Updator::fitQuality()" );
528  return {};
529  }
530  // if only one of two has an error, place a message.
531  if (!covOne || ! covTwo) {
532  ATH_MSG_DEBUG( "One parameter does not have uncertainties, assume initial state and return chi2=0.0");
533  return {0.f, 5};
534  }
535  return makeChi2_5D(SParVector5(&trkParOne.parameters()[0],5),
536  *covOne,
537  SParVector5(&trkParTwo.parameters()[0],5),
538  *covTwo, +1);
539 }

◆ prepareFilterStep()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::prepareFilterStep ( const TrackParameters &  inputTrkPar,
const LocalParameters &  parRio,
const Amg::MatrixX &  covRio,
const int  sign,
Trk::FitQualityOnSurface *&  fitQoS,
bool  createFQoS 
) const
private

common code analysing the measurement's rank and calling the appropriate implementation for this rank.

Definition at line 548 of file KalmanUpdatorSMatrix.cxx.

553  {
554 
555  // try if Track Parameters are measured ones ?
556  SCovMatrix5 covTrk;
557  if (!getStartCov(covTrk,inputTrkPar,sign)) return nullptr;
558 
559  int nLocCoord = covRio.cols();
560  if ( ! consistentParamDimensions(parRio,nLocCoord) ) return nullptr;
561  if (msgLvl(MSG::VERBOSE)) logInputCov(covTrk,parRio,covRio);
562 
563  // local params can NOT be accessed like vector[i], therefore need some acrobatics:
564  ROOT::Math::SVector<int,5> intAccessor;
565  for (int i=0,k=0; i<5; ++i) { if (parRio.parameterKey() & (1<<i)) intAccessor(k++)=i; }
566 
567  if (nLocCoord==1) return calculateFilterStep_1D (inputTrkPar,SParVector5(&inputTrkPar.parameters()[0],5),covTrk,
568  parRio[s_enumAccessor.pardef[intAccessor(0)]],
569  parRio.parameterKey(),covRio,
570  sign,fitQoS,createFQoS);
571  if (nLocCoord==2) return calculateFilterStep_2D (inputTrkPar,SParVector5(&inputTrkPar.parameters()[0],5),covTrk,
572  SParVector2(parRio[s_enumAccessor.pardef[intAccessor(0)]],parRio[s_enumAccessor.pardef[intAccessor(1)]]),
573  parRio.parameterKey(),covRio,
574  sign,fitQoS,createFQoS);
575 
576  if (nLocCoord==3) return calculateFilterStep_3D (inputTrkPar,SParVector5(&inputTrkPar.parameters()[0],5),covTrk,
577  parRio,covRio,
578  sign,fitQoS,createFQoS);
579  if (nLocCoord==4) return calculateFilterStep_4D (inputTrkPar,SParVector5(&inputTrkPar.parameters()[0],5),covTrk,
580  parRio,covRio,
581  sign,fitQoS,createFQoS);
582  if (nLocCoord==5) return calculateFilterStep_5D (inputTrkPar,SParVector5(&inputTrkPar.parameters()[0],5),covTrk,
583  SParVector5(&(parRio[Trk::loc1]),5),covRio,
584  sign,fitQoS,createFQoS);
585  return nullptr;
586 }

◆ projection_2D() [1/2]

SCovMatrix2 Trk::KalmanUpdatorSMatrix::projection_2D ( const Amg::MatrixX &  M,
int  key 
)
staticprivate

Avoid multiplications with sparse H matrices by cutting 2D rows&columns out of the full cov matrix.

Definition at line 1211 of file KalmanUpdatorSMatrix.cxx.

1213 {
1214  ROOT::Math::SVector<int,2> iv;
1215  for (int i=0,k=0; i<5; ++i) { if (key & (1<<i)) iv(k++)=i; }
1216  SCovMatrix2 covSubMatrix;
1217  for (int i=0; i<2; ++i) {
1218  for (int j=0; j<2; ++j) {
1219  covSubMatrix(i,j) = M(iv(i),iv(j));
1220  }
1221  }
1222  return covSubMatrix;
1223 }

◆ projection_2D() [2/2]

SCovMatrix2 Trk::KalmanUpdatorSMatrix::projection_2D ( const SCovMatrix5 &  M,
int  key 
)
staticprivate

Avoid multiplications with sparse H matrices by cutting 2D rows&columns out of the full cov matrix.

Definition at line 1193 of file KalmanUpdatorSMatrix.cxx.

1194 {
1195  if (key == 3) { // shortcut the most-used case
1196  SCovMatrix2 S = M.Sub<SCovMatrix2> (0,0);
1197  return S;
1198  }
1199  ROOT::Math::SVector<int,2> iv;
1200  for (int i=0,k=0; i<5; ++i) { if (key & (1<<i)) iv(k++)=i; }
1201  SCovMatrix2 covSubMatrix;
1202  for (int i=0; i<2; ++i) {
1203  for (int j=0; j<2; ++j) {
1204  covSubMatrix(i,j) = M(iv(i),iv(j));
1205  }
1206  }
1207  return covSubMatrix;
1208 
1209 }

◆ projection_3D()

SCovMatrix3 Trk::KalmanUpdatorSMatrix::projection_3D ( const SCovMatrix5 &  M,
int  key 
)
staticprivate

Avoid multiplications with sparse H matrices by cutting 3D rows&columns out of the full cov matrix.

Definition at line 1225 of file KalmanUpdatorSMatrix.cxx.

1226 {
1227  if (key == 7) { // shortcut the most-used case
1228  return M.Sub<SCovMatrix3> (0,0);
1229  }
1230  ROOT::Math::SVector<int,3> iv;
1231  for (int i=0,k=0; i<5; ++i) { if (key & (1<<i)) iv(k++)=i; }
1232  SCovMatrix3 covSubMatrix;
1233  for (int i=0; i<3; ++i) {
1234  for (int j=0; j<3; ++j) {
1235  covSubMatrix(i,j) = M(iv(i),iv(j));
1236  }
1237  }
1238  return covSubMatrix;
1239 
1240 }

◆ projection_4D()

SCovMatrix4 Trk::KalmanUpdatorSMatrix::projection_4D ( const SCovMatrix5 &  M,
int  key 
)
staticprivate

Avoid multiplications with sparse H matrices by cutting 4D rows&columns out of the full cov matrix.

Definition at line 1242 of file KalmanUpdatorSMatrix.cxx.

1243 {
1244  if (key == 15) { // shortcut the most-used case
1245  return M.Sub<SCovMatrix4> (0,0);
1246  }
1247  ROOT::Math::SVector<int,4> iv;
1248  for (int i=0,k=0; i<5; ++i) { if (key & (1<<i)) iv(k++)=i; }
1249  SCovMatrix4 covSubMatrix;
1250  for (int i=0; i<4; ++i) {
1251  for (int j=0; j<4; ++j) {
1252  covSubMatrix(i,j) = M(iv(i),iv(j));
1253  }
1254  }
1255  return covSubMatrix;
1256 
1257 }

◆ removeFromState() [1/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::removeFromState ( const TrackParameters &  inputTP,
const Amg::Vector2D &  measLocPos,
const Amg::MatrixX &  measLocCov 
) const
finaloverridevirtual

reverse update eg for track property analysis (unbiased residuals) getting the measurement coordinates from the Amg::Vector2D class.

Implements Trk::IUpdator.

Definition at line 164 of file KalmanUpdatorSMatrix.cxx.

166  {
167  if (msgLvl(MSG::VERBOSE)) logStart("removeFromState(TP,LPOS,ERR)",inputTP);
168  FitQualityOnSurface* fitQoS = nullptr;
169  const int updatingSign = -1;
170  SCovMatrix5 covTrk;
171  if (!getStartCov(covTrk,inputTP,updatingSign)) return nullptr;
172 
173  int nLocCoord = measLocCov.cols();
174  if (nLocCoord == 1) {
175  return calculateFilterStep_1D (inputTP,
176  SParVector5(&inputTP.parameters()[0],5),covTrk,
177  measLocPos[0],1,measLocCov,
178  updatingSign,fitQoS,false);
179  } if (nLocCoord == 2) {
180  return calculateFilterStep_2D (inputTP,
181  SParVector5(&inputTP.parameters()[0],5),covTrk,
182  SParVector2(measLocPos[0],measLocPos[1]),3,
183  measLocCov,
184  updatingSign,fitQoS,false);
185  }
186  ATH_MSG_WARNING( " number (" << nLocCoord << ") of local coordinates "
187  << "must be 1 or 2, can not un-update!" );
188  return nullptr;
189 
190 }

◆ removeFromState() [2/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::removeFromState ( const TrackParameters &  inputTP,
const Amg::Vector2D &  measLocPos,
const Amg::MatrixX &  measLocCov,
FitQualityOnSurface *&  fitQoS 
) const
finaloverridevirtual

reverse update for Kalman filters and other applications using the interface with Amg::Vector2D and FitQualityOnSurface.

Implements Trk::IUpdator.

Definition at line 202 of file KalmanUpdatorSMatrix.cxx.

205  {
206  const int updatingSign = -1;
207  if (msgLvl(MSG::VERBOSE)) logStart("removeFromState(TP,LPOS,ERR,FQ)",inputTP);
208  if (fitQoS) {
209  msg(MSG::WARNING) << "expect nil FitQuality pointer, refuse operation to"
210  << " avoid mem leak!" << endmsg;
211  return nullptr;
212  }
213  SCovMatrix5 covTrk;
214 
215  if (!getStartCov(covTrk,inputTP,updatingSign)) return nullptr;
216 
217  int nLocCoord = measLocCov.cols();
218  if (nLocCoord == 1) {
219  return calculateFilterStep_1D (inputTP,
220  SParVector5(&inputTP.parameters()[0],5),covTrk,
221  measLocPos[0],1,measLocCov,
222  updatingSign,fitQoS,true);
223  } if (nLocCoord == 2) {
224  return calculateFilterStep_2D (inputTP,
225  SParVector5(&inputTP.parameters()[0],5),covTrk,
226  SParVector2(measLocPos[0],measLocPos[1]),3,
227  measLocCov,
228  updatingSign,fitQoS,true);
229  }
230  ATH_MSG_WARNING( " number (" << nLocCoord << ") of local coordinates"
231  << " must be 1 or 2, can not un-update!" );
232  return nullptr;
233 
234 
235 }

◆ removeFromState() [3/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::removeFromState ( const TrackParameters &  trkPar,
const LocalParameters &  measmtPar,
const Amg::MatrixX &  measmtCov 
) const
finaloverridevirtual

reverse update eg for track property analysis (unbiased residuals) getting the measurement coordinates from the LocalParameters class.

Implements Trk::IUpdator.

Definition at line 193 of file KalmanUpdatorSMatrix.cxx.

195  {
196  if (msgLvl(MSG::DEBUG)) logStart("removeFromState(TP,LPAR,ERR)",trkPar);
197  FitQualityOnSurface* fitQoS = nullptr;
198  return prepareFilterStep (trkPar, measmtPar, measmtCov,-1,fitQoS, false);
199 }

◆ removeFromState() [4/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdatorSMatrix::removeFromState ( const TrackParameters &  trkPar,
const LocalParameters &  measmtPar,
const Amg::MatrixX &  measmtCov,
FitQualityOnSurface *&  fitQoS 
) const
finaloverridevirtual

reverse update for Kalman filters and other applications using the interface with LocalParameters and FitQualityOnSurface.

Implements Trk::IUpdator.

Definition at line 238 of file KalmanUpdatorSMatrix.cxx.

241  {
242  if (msgLvl(MSG::VERBOSE)) logStart("removeFromState(TP,LPAR,ERR,FQ)",trkPar);
243  if (fitQoS) {
244  ATH_MSG_WARNING( "expect nil FitQuality pointer, refuse operation to avoid mem leak!" );
245  return nullptr;
246  }
247  return prepareFilterStep (trkPar, measmtPar, measmtCov, -1, fitQoS, true);
248 
249 }

◆ renounce()

std::enable_if_t<std::is_void_v<std::result_of_t<decltype(&T::renounce)(T)> > && !std::is_base_of_v<SG::VarHandleKeyArray, T> && std::is_base_of_v<Gaudi::DataHandle, T>, void> AthCommonDataStore< AthCommonMsg< AlgTool > >::renounce ( T &  h)
inlineprotectedinherited

Definition at line 380 of file AthCommonDataStore.h.

381  {
382  h.renounce();
383  PBASE::renounce (h);
384  }

◆ renounceArray()

void AthCommonDataStore< AthCommonMsg< AlgTool > >::renounceArray ( SG::VarHandleKeyArray &  handlesArray)
inlineprotectedinherited

remove all handles from I/O resolution

Definition at line 364 of file AthCommonDataStore.h.

364  {
365  handlesArray.renounce();
366  }

◆ sysInitialize()

virtual StatusCode AthCommonDataStore< AthCommonMsg< AlgTool > >::sysInitialize ( )
overridevirtualinherited

Perform system initialization for an algorithm.

We override this to declare all the elements of handle key arrays at the end of initialization. See comments on updateVHKA.

Reimplemented in DerivationFramework::CfAthAlgTool, AthCheckedComponent< AthAlgTool >, AthCheckedComponent<::AthAlgTool >, and asg::AsgMetadataTool.

◆ sysStart()

virtual StatusCode AthCommonDataStore< AthCommonMsg< AlgTool > >::sysStart ( )
overridevirtualinherited

Handle START transition.

We override this in order to make sure that conditions handle keys can cache a pointer to the conditions container.

◆ thetaPhiWithinRange_5D()

bool Trk::KalmanUpdatorSMatrix::thetaPhiWithinRange_5D ( const SParVector5 &  V,
const RangeCheckDef  rcd 
) const
inlineprivate

Test if angles are inside boundaries.

Absolute phi values should be in [-pi, pi] (how about endpoints?) absolute theta values should be in [0, +pi] phi differences should also be in [-pi, pi] - else go other way round, theta differences should be smaller than pi but can be negative => other constraint than absolute theta.

Definition at line 389 of file KalmanUpdatorSMatrix.h.

391 {
392  static const SParVector2 thetaMin(0.0, -M_PI);
393  return ((std::abs(V(Trk::phi)) <= M_PI) &&
394  (V(Trk::theta) >= thetaMin((int)rcd)) && (V(Trk::theta) <= M_PI));
395 }

◆ thetaWithinRange_5D()

bool Trk::KalmanUpdatorSMatrix::thetaWithinRange_5D ( const SParVector5 &  V) const
inlineprivate

Test if theta angle is inside boundaries. No differential-check option.

Definition at line 398 of file KalmanUpdatorSMatrix.h.

399 {
400  return (V(Trk::theta) >= 0.0 && (V(Trk::theta) <= M_PI));
401 }

◆ updateParameterDifference()

virtual std::pair<AmgVector(5), AmgSymMatrix(5)>* Trk::KalmanUpdatorSMatrix::updateParameterDifference ( const AmgVector(5) &  ,
const AmgSymMatrix(5) &  ,
const Amg::VectorX &  ,
const Amg::MatrixX &  ,
int  ,
Trk::FitQualityOnSurface *&  ,
bool   
) const
inlinefinaloverridevirtual

interface for reference-track KF, not implemented

Implements Trk::IUpdator.

Definition at line 198 of file KalmanUpdatorSMatrix.h.

206  {
207  return nullptr;
208  }

◆ updateVHKA()

void AthCommonDataStore< AthCommonMsg< AlgTool > >::updateVHKA ( Gaudi::Details::PropertyBase &  )
inlineinherited

Definition at line 308 of file AthCommonDataStore.h.

308  {
309  // debug() << "updateVHKA for property " << p.name() << " " << p.toString()
310  // << " size: " << m_vhka.size() << endmsg;
311  for (auto &a : m_vhka) {
312  std::vector<SG::VarHandleKey*> keys = a->keys();
313  for (auto k : keys) {
314  k->setOwner(this);
315  }
316  }
317  }

Member Data Documentation

◆ m_cov0

SParVector5 Trk::KalmanUpdatorSMatrix::m_cov0
private

initial cov values in SMatrix object

Definition at line 380 of file KalmanUpdatorSMatrix.h.

◆ m_cov_stdvec

std::vector<double> Trk::KalmanUpdatorSMatrix::m_cov_stdvec
private

job options for initial cov values

Definition at line 379 of file KalmanUpdatorSMatrix.h.

◆ m_detStore

StoreGateSvc_t AthCommonDataStore< AthCommonMsg< AlgTool > >::m_detStore
privateinherited

Pointer to StoreGate (detector store by default)

Definition at line 393 of file AthCommonDataStore.h.

◆ m_evtStore

StoreGateSvc_t AthCommonDataStore< AthCommonMsg< AlgTool > >::m_evtStore
privateinherited

Pointer to StoreGate (event store by default)

Definition at line 390 of file AthCommonDataStore.h.

◆ m_thetaGainDampingValue

float Trk::KalmanUpdatorSMatrix::m_thetaGainDampingValue
private

Definition at line 383 of file KalmanUpdatorSMatrix.h.

◆ m_unitMatrix

SCovMatrix5 Trk::KalmanUpdatorSMatrix::m_unitMatrix
private

avoid mem allocation at every call

Definition at line 385 of file KalmanUpdatorSMatrix.h.

◆ m_useFruehwirth8a

bool Trk::KalmanUpdatorSMatrix::m_useFruehwirth8a
private

job options controlling update formula for covariance matrix

Definition at line 381 of file KalmanUpdatorSMatrix.h.

◆ m_varHandleArraysDeclared

bool AthCommonDataStore< AthCommonMsg< AlgTool > >::m_varHandleArraysDeclared
privateinherited

Definition at line 399 of file AthCommonDataStore.h.

◆ m_vhka

std::vector<SG::VarHandleKeyArray*> AthCommonDataStore< AthCommonMsg< AlgTool > >::m_vhka
privateinherited

Definition at line 398 of file AthCommonDataStore.h.

◆ s_enumAccessor

const Trk::ParamDefsAccessor Trk::KalmanUpdatorSMatrix::s_enumAccessor
staticprivate

Definition at line 386 of file KalmanUpdatorSMatrix.h.

The documentation for this class was generated from the following files:
Trk::KalmanUpdatorSMatrix::projection_2D
static SCovMatrix2 projection_2D(const SCovMatrix5 &, int)
Avoid multiplications with sparse H matrices by cutting 2D rows&columns out of the full cov matrix.
Definition: KalmanUpdatorSMatrix.cxx:1193
beamspotman.r
def r
Definition: beamspotman.py:676
SParVector3
ROOT::Math::SVector< double, 3 > SParVector3
Definition: KalmanUpdatorSMatrix.h:49
Amg::VectorX
Eigen::Matrix< double, Eigen::Dynamic, 1 > VectorX
Dynamic Vector - dynamic allocation.
Definition: EventPrimitives.h:30
Amg::MatrixX
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > MatrixX
Dynamic Matrix - dynamic allocation.
Definition: EventPrimitives.h:27
Trk::KalmanUpdatorSMatrix::makeChi2_2D
FitQualityOnSurface makeChi2_2D(const SParVector5 &, const AmgSymMatrix(5)&, const SParVector2 &, const SCovMatrix2 &, int, int) const
Definition: KalmanUpdatorSMatrix.cxx:1103
Trk::differentialCheck
@ differentialCheck
Definition: KalmanUpdatorSMatrix.h:58
Trk::locX
@ locX
Definition: ParamDefs.h:37
Trk::locY
@ locY
local cartesian
Definition: ParamDefs.h:38
Trk::KalmanUpdatorSMatrix::thetaWithinRange_5D
bool thetaWithinRange_5D(const SParVector5 &V) const
Test if theta angle is inside boundaries. No differential-check option.
Definition: KalmanUpdatorSMatrix.h:398
Trk::KalmanUpdatorSMatrix::projection_4D
static SCovMatrix4 projection_4D(const SCovMatrix5 &, int)
Avoid multiplications with sparse H matrices by cutting 4D rows&columns out of the full cov matrix.
Definition: KalmanUpdatorSMatrix.cxx:1242
ClusterSeg::residual
@ residual
Definition: ClusterNtuple.h:20
AthCommonDataStore< AthCommonMsg< AlgTool > >::declareProperty
Gaudi::Details::PropertyBase & declareProperty(Gaudi::Property< T > &t)
Definition: AthCommonDataStore.h:145
DMTest::P
P_v1 P
Definition: P.h:23
Trk::KalmanUpdatorSMatrix::projection_3D
static SCovMatrix3 projection_3D(const SCovMatrix5 &, int)
Avoid multiplications with sparse H matrices by cutting 3D rows&columns out of the full cov matrix.
Definition: KalmanUpdatorSMatrix.cxx:1225
DMTest::C
C_v1 C
Definition: C.h:26
Trk::KalmanUpdatorSMatrix::s_enumAccessor
static const ParamDefsAccessor s_enumAccessor
Definition: KalmanUpdatorSMatrix.h:386
Trk::KalmanUpdatorSMatrix::convertToClonedTrackPars
std::unique_ptr< TrackParameters > convertToClonedTrackPars(const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, int, bool, std::string_view) const
Helper method to convert internal results from SMatrix to Eigen. *‍/.
Definition: KalmanUpdatorSMatrix.cxx:1159
M_PI
#define M_PI
Definition: ActiveFraction.h:11
SCovMatrix3
ROOT::Math::SMatrix< double, 3, 3, ROOT::Math::MatRepSym< double, 3 > > SCovMatrix3
Definition: KalmanUpdatorSMatrix.h:35
AthCommonDataStore< AthCommonMsg< AlgTool > >::m_evtStore
StoreGateSvc_t m_evtStore
Pointer to StoreGate (event store by default)
Definition: AthCommonDataStore.h:390
Trk::one
@ one
Definition: TrkDetDescr/TrkSurfaces/TrkSurfaces/RealQuadraticEquation.h:22
AthCommonDataStore< AthCommonMsg< AlgTool > >::m_vhka
std::vector< SG::VarHandleKeyArray * > m_vhka
Definition: AthCommonDataStore.h:398
ParticleTest.tp
tp
Definition: ParticleTest.py:25
Trk::z0
@ z0
Definition: ParamDefs.h:64
AthCommonMsg< AlgTool >::msgLvl
bool msgLvl(const MSG::Level lvl) const
Definition: AthCommonMsg.h:30
SParVector2
ROOT::Math::SVector< double, 2 > SParVector2
Definition: KalmanUpdatorSMatrix.h:48
Trk::KalmanUpdatorSMatrix::logInputCov
void logInputCov(const SCovMatrix5 &, const Amg::VectorX &, const Amg::MatrixX &) const
internal structuring: common logfile output of the inputs
Definition: KalmanUpdatorSMatrix.cxx:1375
Trk::KalmanUpdatorSMatrix::m_unitMatrix
SCovMatrix5 m_unitMatrix
avoid mem allocation at every call
Definition: KalmanUpdatorSMatrix.h:385
read_hist_ntuple.t
t
Definition: read_hist_ntuple.py:5
ATH_MSG_VERBOSE
#define ATH_MSG_VERBOSE(x)
Definition: AthMsgStreamMacros.h:28
Trk::KalmanUpdatorSMatrix::logStart
void logStart(const std::string &, const TrackParameters &) const
internal structuring: debugging output for start of method.
Definition: KalmanUpdatorSMatrix.cxx:1365
JetTiledMap::S
@ S
Definition: TiledEtaPhiMap.h:44
SG::VarHandleKeyArray::setOwner
virtual void setOwner(IDataHandleHolder *o)=0
Trk::KalmanUpdatorSMatrix::consistentParamDimensions
bool consistentParamDimensions(const LocalParameters &, int) const
method testing correct use of LocalParameters
Definition: KalmanUpdatorSMatrix.cxx:1310
IDTPMcnv.htype
htype
Definition: IDTPMcnv.py:27
Trk::AmgSymMatrix
AmgSymMatrix(5) &GXFTrackState
Definition: GXFTrackState.h:156
Trk::KalmanUpdatorSMatrix::calculateFilterStep_3D
std::unique_ptr< TrackParameters > calculateFilterStep_3D(const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const LocalParameters &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
common maths calculation code for all addToState and removeFromState versions which happen to be call...
Definition: KalmanUpdatorSMatrix.cxx:812
SCovMatrix2
ROOT::Math::SMatrix< double, 2, 2, ROOT::Math::MatRepSym< double, 2 > > SCovMatrix2
Definition: KalmanUpdatorSMatrix.h:33
H
#define H(x, y, z)
Definition: MD5.cxx:114
python.utils.AtlRunQueryDQUtils.p
p
Definition: AtlRunQueryDQUtils.py:210
Trk::KalmanUpdatorSMatrix::m_cov_stdvec
std::vector< double > m_cov_stdvec
job options for initial cov values
Definition: KalmanUpdatorSMatrix.h:379
AthCommonDataStore
Definition: AthCommonDataStore.h:52
Trk::KalmanUpdatorSMatrix::getStartCov
bool getStartCov(SCovMatrix5 &, const TrackParameters &, const int) const
Helper method to transform Eigen cov matrix to SMatrix.
Definition: KalmanUpdatorSMatrix.cxx:1259
ATH_MSG_ERROR
#define ATH_MSG_ERROR(x)
Definition: AthMsgStreamMacros.h:33
Trk::two
@ two
Definition: TrkDetDescr/TrkSurfaces/TrkSurfaces/RealQuadraticEquation.h:23
lumiFormat.i
int i
Definition: lumiFormat.py:85
Trk::KalmanUpdatorSMatrix::m_cov0
SParVector5 m_cov0
initial cov values in SMatrix object
Definition: KalmanUpdatorSMatrix.h:380
beamspotman.n
n
Definition: beamspotman.py:731
Trk::theta
@ theta
Definition: ParamDefs.h:66
endmsg
#define endmsg
Definition: AnalysisConfig_Ntuple.cxx:63
Trk::KalmanUpdatorSMatrix::correctThetaPhiRange_5D
bool correctThetaPhiRange_5D(SParVector5 &, SCovMatrix5 &, const RangeCheckDef) const
method correcting the calculated angles back to their defined ranges phi (-pi, pi) and theta (0,...
Definition: KalmanUpdatorSMatrix.cxx:1319
ATH_MSG_DEBUG
#define ATH_MSG_DEBUG(x)
Definition: AthMsgStreamMacros.h:29
Trk::KalmanUpdatorSMatrix::calculateFilterStep_4D
std::unique_ptr< TrackParameters > calculateFilterStep_4D(const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const LocalParameters &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
common maths calculation code for all addToState and removeFromState versions which happen to be call...
Definition: KalmanUpdatorSMatrix.cxx:904
sign
int sign(int a)
Definition: TRT_StrawNeighbourSvc.h:107
SCovMatrix4
ROOT::Math::SMatrix< double, 4, 4, ROOT::Math::MatRepSym< double, 4 > > SCovMatrix4
Definition: KalmanUpdatorSMatrix.h:37
AnalysisUtils::Delta::R
double R(const INavigable4Momentum *p1, const double v_eta, const double v_phi)
Definition: AnalysisMisc.h:49
AthCommonDataStore< AthCommonMsg< AlgTool > >::m_detStore
StoreGateSvc_t m_detStore
Pointer to StoreGate (detector store by default)
Definition: AthCommonDataStore.h:393
Trk::KalmanUpdatorSMatrix::logGainForm
void logGainForm(int, const SParVector5 &, const SCovMatrix5 &, const SGenMatrix5 &) const
internal structuring: common logfile output during calculation
Definition: KalmanUpdatorSMatrix.cxx:1401
SCovMatrix1
ROOT::Math::SMatrix< double, 1, 1, ROOT::Math::MatRepSym< double, 1 > > SCovMatrix1
Definition: KalmanUpdatorSMatrix.h:31
AthAlgTool::AthAlgTool
AthAlgTool()
Default constructor:
SG::VarHandleKeyArray::renounce
virtual void renounce()=0
SG::HandleClassifier::type
std::conditional< std::is_base_of< SG::VarHandleKeyArray, T >::value, VarHandleKeyArrayType, type2 >::type type
Definition: HandleClassifier.h:54
Trk::KalmanUpdatorSMatrix::calculateFilterStep_5D
std::unique_ptr< TrackParameters > calculateFilterStep_5D(const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const SParVector5 &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
common maths calculation code for all addToState and removeFromState versions which happen to be call...
Definition: KalmanUpdatorSMatrix.cxx:997
Trk::KalmanUpdatorSMatrix::thetaPhiWithinRange_5D
bool thetaPhiWithinRange_5D(const SParVector5 &V, const RangeCheckDef rcd) const
Test if angles are inside boundaries.
Definition: KalmanUpdatorSMatrix.h:389
SCovMatrix5
ROOT::Math::SMatrix< double, 5, 5, ROOT::Math::MatRepSym< double, 5 > > SCovMatrix5
Definition: KalmanUpdatorSMatrix.h:39
merge_scale_histograms.doc
string doc
Definition: merge_scale_histograms.py:9
name
std::string name
Definition: Control/AthContainers/Root/debug.cxx:221
Trk::d0
@ d0
Definition: ParamDefs.h:63
createCoolChannelIdFile.par
par
Definition: createCoolChannelIdFile.py:29
VP1PartSpect::E
@ E
Definition: VP1PartSpectFlags.h:21
Trk::absoluteCheck
@ absoluteCheck
Definition: KalmanUpdatorSMatrix.h:57
Trk::KalmanUpdatorSMatrix::logResult
void logResult(const std::string &, const AmgVector(5) &, const AmgSymMatrix(5) &) const
internal structuring: common logfile output after calculation
Definition: KalmanUpdatorSMatrix.cxx:1424
Trk::KalmanUpdatorSMatrix::makeChi2_5D
FitQualityOnSurface makeChi2_5D(const SParVector5 &, const AmgSymMatrix(5)&, const SParVector5 &, const AmgSymMatrix(5)&, int) const
Definition: KalmanUpdatorSMatrix.cxx:1130
IDTPM::chiSquared
float chiSquared(const U &p)
Definition: TrackParametersHelper.h:126
Trk::KalmanUpdatorSMatrix::m_thetaGainDampingValue
float m_thetaGainDampingValue
Definition: KalmanUpdatorSMatrix.h:383
Trk::KalmanUpdatorSMatrix::calculateFilterStep_1D
std::unique_ptr< TrackParameters > calculateFilterStep_1D(const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, double, int, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
common maths calculation code for all addToState and removeFromState versions which happen to be call...
Definition: KalmanUpdatorSMatrix.cxx:590
DeMoScan.index
string index
Definition: DeMoScan.py:364
a
TList * a
Definition: liststreamerinfos.cxx:10
h
ATH_MSG_WARNING
#define ATH_MSG_WARNING(x)
Definition: AthMsgStreamMacros.h:32
Trk::KalmanUpdatorSMatrix::makeChi2_1D
FitQualityOnSurface makeChi2_1D(const SParVector5 &, const AmgSymMatrix(5)&, double, double, int, int) const
also the chi2 calculation and FitQuality object creation is combined in an extra method.
Definition: KalmanUpdatorSMatrix.cxx:1081
DEBUG
#define DEBUG
Definition: page_access.h:11
AthCommonMsg< AlgTool >::msg
MsgStream & msg() const
Definition: AthCommonMsg.h:24
Trk::qOverP
@ qOverP
perigee
Definition: ParamDefs.h:67
Trk::KalmanUpdatorSMatrix::prepareFilterStep
std::unique_ptr< TrackParameters > prepareFilterStep(const TrackParameters &, const LocalParameters &, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
common code analysing the measurement's rank and calling the appropriate implementation for this rank...
Definition: KalmanUpdatorSMatrix.cxx:548
SG::VarHandleBase::vhKey
SG::VarHandleKey & vhKey()
Return a non-const reference to the HandleKey.
Definition: StoreGate/src/VarHandleBase.cxx:623
Trk::phi
@ phi
Definition: ParamDefs.h:75
python.Bindings.keys
keys
Definition: Control/AthenaPython/python/Bindings.py:798
Trk::KalmanUpdatorSMatrix::makeChi2Object
FitQualityOnSurface makeChi2Object(const Amg::VectorX &, const AmgSymMatrix(5)&, const Amg::MatrixX &, const Amg::MatrixX &, int) const
Definition: KalmanUpdatorSMatrix.cxx:1286
python.Constants.VERBOSE
int VERBOSE
Definition: Control/AthenaCommon/python/Constants.py:14
Trk::ParamDefsAccessor::pardef
static constexpr std::array< ParamDefs, 6 > pardef
Constructor.
Definition: ParamDefs.h:94
SParVector4
ROOT::Math::SVector< double, 4 > SParVector4
Definition: KalmanUpdatorSMatrix.h:50
Trk::loc1
@ loc1
Definition: ParamDefs.h:34
AthCommonDataStore::declareGaudiProperty
Gaudi::Details::PropertyBase & declareGaudiProperty(Gaudi::Property< T > &hndl, const SG::VarHandleKeyType &)
specialization for handling Gaudi::Property<SG::VarHandleKey>
Definition: AthCommonDataStore.h:156
SGenMatrix5
ROOT::Math::SMatrix< double, 5, 5, ROOT::Math::MatRepStd< double, 5, 5 > > SGenMatrix5
Definition: KalmanUpdatorSMatrix.h:47
plotBeamSpotMon.nc
int nc
Definition: plotBeamSpotMon.py:83
Trk::phi0
@ phi0
Definition: ParamDefs.h:65
Trk::KalmanUpdatorSMatrix::calculateFilterStep_2D
std::unique_ptr< TrackParameters > calculateFilterStep_2D(const TrackParameters &, const SParVector5 &, const SCovMatrix5 &, const SParVector2 &, int, const Amg::MatrixX &, const int, FitQualityOnSurface *&, bool) const
common maths calculation code for all addToState and removeFromState versions which happen to be call...
Definition: KalmanUpdatorSMatrix.cxx:702
SParVector5
ROOT::Math::SVector< double, 5 > SParVector5
Definition: KalmanUpdatorSMatrix.h:51
Trk::v
@ v
Definition: ParamDefs.h:78
fitman.k
k
Definition: fitman.py:528
Amg::chi2
double chi2(const T &precision, const U &residual, const int sign=1)
Definition: EventPrimitivesCovarianceHelpers.h:221
mapkey::key
key
Definition: TElectronEfficiencyCorrectionTool.cxx:37
Trk::KalmanUpdatorSMatrix::m_useFruehwirth8a
bool m_useFruehwirth8a
job options controlling update formula for covariance matrix
Definition: KalmanUpdatorSMatrix.h:381
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