Trk::KalmanUpdator_xk Class Reference

Trk::KalmanUpdator_xk is a set of tools for adding and removing measurements to/from the state vector using xKalman algorithms. More...

#include <KalmanUpdator_xk.h>

Inheritance diagram for Trk::KalmanUpdator_xk:

Collaboration diagram for Trk::KalmanUpdator_xk:

Public Member Functions
	KalmanUpdator_xk (const std::string &, const std::string &, const IInterface *)
virtual	~KalmanUpdator_xk ()
virtual StatusCode	initialize () override final
virtual StatusCode	finalize () override final
virtual std::unique_ptr< TrackParameters >	addToState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
	add without chi2 calculation, PRD-level, EDM track parameters
virtual std::unique_ptr< TrackParameters >	addToState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
	add without chi2 calculation, ROT-level, EDM track parameters
virtual bool	addToState (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &) const override final
	add without chi2 calculation, PRD-level, pattern track parameters
virtual bool	addToState (PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, PatternTrackParameters &) const override final
	add without chi2 calculation, ROT-level, pattern track parameters
virtual bool	addToStateOneDimension (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &) const override final
	add without chi2 calculation, PRD-level, pattern track parameters, specifically 1D
virtual std::unique_ptr< TrackParameters >	removeFromState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
	the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with Amg::Vector2D from (for example) PrepRawData objects.
virtual std::unique_ptr< TrackParameters >	removeFromState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
	the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with LocalParameters from (for example) MeasurementBase or RIO_OnTrack objects.
virtual bool	removeFromState (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &) const override final
	remove a PRD-level local position from a track state given by pattern track pars (no chi2 calculated).
virtual bool	removeFromState (PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, PatternTrackParameters &) const override final
	remove a ROT-level measurement from a track state given by pattern track pars (no chi2 calculated).
virtual std::unique_ptr< TrackParameters >	addToState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
	the updator interface with FitQualityOnSurface allows to save the chi2 in one step with the updating (the chi2 is automatically known during the updating maths).
virtual std::unique_ptr< TrackParameters >	addToState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
	the updator interface with FitQualityOnSurface allows to save the chi2 in one step with the updating (the chi2 is automatically known during the updating maths).
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
	pure AMG interface for reference-track KF, allowing update of parameter differences
virtual bool	addToState (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &, double &, int &) const override final
	add a PRD-level local position to a track state given by pattern track pars (chi2 calculated).
virtual bool	addToState (PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, PatternTrackParameters &, double &, int &) const override final
	add a ROT-level measurement to a track state given by pattern track pars (chi2 calculated).
virtual bool	addToStateOneDimension (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &, double &, int &) const override final
	add an explicitly one-dimensional measurement to pattern pars and calculate chi2 contribution.
virtual std::unique_ptr< TrackParameters >	removeFromState (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
	the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with with Amg::Vector2D and in addition giving back the fit quality of the given state.
virtual std::unique_ptr< TrackParameters >	removeFromState (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &, FitQualityOnSurface *&) const override final
	the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with LocalParameters and in addition giving back the fit quality of the given state.
virtual bool	removeFromState (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &, double &, int &) const override final
	remove a PRD-level local position from a track state given by pattern track pars (chi2 calculated).
virtual bool	removeFromState (PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, PatternTrackParameters &, double &, int &) const override
	remove a ROT-level measurement from a track state given by pattern track pars (chi2 calculated).
virtual std::unique_ptr< TrackParameters >	combineStates (const TrackParameters &, const TrackParameters &) const override final
	adds to a track state the parameters from another state using a statistical combination - use with care!
virtual std::unique_ptr< TrackParameters >	combineStates (const TrackParameters &, const TrackParameters &, FitQualityOnSurface *&) const override final
	adds to a track state the parameters from another state using a statistical combination and determines fit quality - use with care!
virtual bool	combineStates (PatternTrackParameters &, PatternTrackParameters &, PatternTrackParameters &) const override final
	combine two track states into a resulting state.
virtual bool	combineStates (PatternTrackParameters &, PatternTrackParameters &, PatternTrackParameters &, double &) const override final
	combine two track states into a resulting state and calculate chi2 contribution.
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 does not contain the current hit (expressed as Amg::Vector2D).
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 does not contain the current hit (expressed as LocalParameters).
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).
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).
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.
virtual bool	predictedStateFitQuality (const PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, int &, double &) const override final
	calculate fit quality in terms of chi2 assuming a track state which does not include information from the current measurement (given as PRD-level local position).
virtual bool	predictedStateFitQuality (const PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, int &, double &) const override final
	calculate fit quality in terms of chi2 assuming a track state which does not include information from the current measurement.
virtual bool	fullStateFitQuality (const PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, int &, double &) const override final
	calculate fit quality in terms of chi2 assuming a track state which includes information from the current measurement (given as PRD-level local position).
virtual bool	fullStateFitQuality (const PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, int &, double &) const override final
	calculate fit quality in terms of chi2 assuming a track state which includes information from the current measurement.
virtual bool	predictedStateFitQuality (const PatternTrackParameters &, const PatternTrackParameters &, double &) const override final
	calculate fit quality in terms of chi2 between two track states.
virtual std::vector< double >	initialErrors () const override final
	let the client tools know how the assumptions on the initial precision for non-measured track parameters are configured
ServiceHandle< StoreGateSvc > &	evtStore ()
	The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc.
const ServiceHandle< StoreGateSvc > &	detStore () const
	The standard StoreGateSvc/DetectorStore Returns (kind of) a pointer to the StoreGateSvc.
virtual StatusCode	sysInitialize () override
	Perform system initialization for an algorithm.
virtual StatusCode	sysStart () override
	Handle START transition.
virtual std::vector< Gaudi::DataHandle * >	inputHandles () const override
	Return this algorithm's input handles.
virtual std::vector< Gaudi::DataHandle * >	outputHandles () const override
	Return this algorithm's output handles.
Gaudi::Details::PropertyBase &	declareProperty (Gaudi::Property< T, V, H > &t)
void	updateVHKA (Gaudi::Details::PropertyBase &)
MsgStream &	msg () const
bool	msgLvl (const MSG::Level lvl) const

Static Public Member Functions
static const InterfaceID &	interfaceID ()
	Algtool infrastructure.
static const InterfaceID &	interfaceID ()

Protected Member Functions
std::unique_ptr< TrackParameters >	update (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, FitQualityOnSurface *&, int, bool) const
std::unique_ptr< TrackParameters >	update (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &, FitQualityOnSurface *&, int, bool) const
bool	update (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, int, bool, PatternTrackParameters &, double &, int &) const
bool	updateOneDimension (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, int, bool, PatternTrackParameters &, double &) const
bool	update (PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, int, bool, PatternTrackParameters &, double &, int &) const
bool	updateNoMeasuredWithOneDim (const double *, const double *, double *, double *) const
bool	updateNoMeasuredWithTwoDim (const double *, const double *, double *, double *) const
bool	updateNoMeasuredWithAnyDim (const double *, const double *, double *, double *, int) const
bool	updateWithAnyDim (int, bool, double *, const double *, double *, double *, double &, int, int) const
bool	updateWithOneDimWithBoundary (int, bool, double *, double *, double *, double *, double &) const
bool	updateWithTwoDimWithBoundary (int, bool, double *, double *, double *, double *, double &) const
void	mapKeyProduction ()
void	renounceArray (SG::VarHandleKeyArray &handlesArray)
	remove all handles from I/O resolution
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.

Static Protected Member Functions
static bool	predictedStateFitQuality (const double *, const Amg::Vector2D &, const Amg::MatrixX &, int &, double &)
static bool	fullStateFitQuality (const double *, const Amg::Vector2D &, const Amg::MatrixX &, int &, double &)
static bool	trackParametersToUpdator (const TrackParameters &, double *, double *)
static bool	trackParametersToUpdator (const PatternTrackParameters &, double *, double *)
static bool	localParametersToUpdator (const LocalParameters &, const Amg::MatrixX &, int &, int &, double *, double *)
static std::unique_ptr< TrackParameters >	updatorToTrackParameters (const TrackParameters &, double *, double *)
static bool	updateWithOneDim (int, bool, const double *, const double *, double *, double *, double &)
static bool	updateWithTwoDim (int, bool, const double *, const double *, double *, double *, double &)
static bool	updateWithTwoDimParameters (int, bool, const double *, const double *, double *, const double *, double &)
static bool	updateWithFiveDim (bool, double *, double *, double *, double *, double &)
static bool	invert (int, double *, double *)
static bool	invert2 (const double *, double *)
static bool	invert3 (const double *, double *)
static bool	invert4 (const double *, double *)
static bool	invert5 (const double *, double *)
static double	Xi2 (int, double *, double *)
static double	Xi2for1 (const double *, const double *)
static double	Xi2for2 (const double *, const double *)
static double	Xi2for3 (const double *, const double *)
static double	Xi2for4 (const double *, const double *)
static double	Xi2for5 (const double *, const double *)
static int	differenceParLoc (int, const double *, const double *, double *)
static void	differenceLocPar (int, const double *, const double *, double *)
static void	testAngles (double *, double *)

Protected Attributes
std::vector< double >	m_cov0
unsigned int	m_key [33] {}
unsigned int	m_map [160] {}
double	m_covBoundary

Private Types
typedef ServiceHandle< StoreGateSvc >	StoreGateSvc_t

Private Member Functions
Gaudi::Details::PropertyBase &	declareGaudiProperty (Gaudi::Property< T, V, H > &hndl, const SG::VarHandleKeyType &)
	specialization for handling Gaudi::Property<SG::VarHandleKey>

Private Attributes
StoreGateSvc_t	m_evtStore
	Pointer to StoreGate (event store by default)
StoreGateSvc_t	m_detStore
	Pointer to StoreGate (detector store by default)
std::vector< SG::VarHandleKeyArray * >	m_vhka
bool	m_varHandleArraysDeclared

Detailed Description

Trk::KalmanUpdator_xk is a set of tools for adding and removing measurements to/from the state vector using xKalman algorithms.

Author

Igor..nosp@m.Gavr.nosp@m.ilenk.nosp@m.o@ce.nosp@m.rn.ch

Definition at line 34 of file KalmanUpdator_xk.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

KalmanUpdator_xk()

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

Definition at line 23 of file KalmanUpdator_xk.cxx.

  : AthAlgTool(t,n,p)
{
  mapKeyProduction();
  m_covBoundary = 1.;
 
  m_cov0.push_back(  10.);
  m_cov0.push_back(  10.);
  m_cov0.push_back( .025);
  m_cov0.push_back( .025);
  m_cov0.push_back(.0001);
 
  declareInterface<IUpdator>( this );
  declareInterface<IPatternParametersUpdator>( this );
  declareProperty("InitialCovariances",m_cov0);
  declareProperty("BoundaryCovariances",m_covBoundary);
}

~KalmanUpdator_xk()

Trk::KalmanUpdator_xk::~KalmanUpdator_xk ( )

virtualdefault

Member Function Documentation

addToState() [1/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::addToState ( const TrackParameters & T, const Amg::Vector2D & P, const Amg::MatrixX & E ) const

finaloverridevirtual

add without chi2 calculation, PRD-level, EDM track parameters

Implements Trk::IUpdator.

Definition at line 84 of file KalmanUpdator_xk.cxx.

{
  Trk::FitQualityOnSurface* Q=nullptr;
  return update(T,P,E,Q, 1,false);
}

addToState() [2/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::addToState ( const TrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , FitQualityOnSurface *&  ) const

finaloverridevirtual

the updator interface with FitQualityOnSurface allows to save the chi2 in one step with the updating (the chi2 is automatically known during the updating maths).

Version using Amg::Vector2D.

Implements Trk::IUpdator.

Definition at line 200 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E,Q, 1,true);
}

addToState() [3/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::addToState ( const TrackParameters & T, const LocalParameters & P, const Amg::MatrixX & E ) const

finaloverridevirtual

add without chi2 calculation, ROT-level, EDM track parameters

Implements Trk::IUpdator.

Definition at line 148 of file KalmanUpdator_xk.cxx.

{
  Trk::FitQualityOnSurface* Q=nullptr;
  return update(T,P,E,Q, 1,false);
}

addToState() [4/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::addToState ( const TrackParameters & , const LocalParameters & , const Amg::MatrixX & , FitQualityOnSurface *&  ) const

finaloverridevirtual

the updator interface with FitQualityOnSurface allows to save the chi2 in one step with the updating (the chi2 is automatically known during the updating maths).

Version using LocalParameters.

Implements Trk::IUpdator.

Definition at line 267 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E,Q, 1,true);
}

addToState() [5/8]

bool Trk::KalmanUpdator_xk::addToState ( Trk::PatternTrackParameters & T, const Amg::Vector2D & P, const Amg::MatrixX & E, Trk::PatternTrackParameters & Ta ) const

finaloverridevirtual

add without chi2 calculation, PRD-level, pattern track parameters

Implements Trk::IPatternParametersUpdator.

Definition at line 95 of file KalmanUpdator_xk.cxx.

{
  int    n ;
  double x2;
  return update(T,P,E, 1,false,Ta,x2,n);
}

addToState() [6/8]

bool Trk::KalmanUpdator_xk::addToState ( PatternTrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , PatternTrackParameters & , double & , int &  ) const

finaloverridevirtual

add a PRD-level local position to a track state given by pattern track pars (chi2 calculated).

The last PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 211 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E, 1,true,Ta,Q,N);
}

addToState() [7/8]

bool Trk::KalmanUpdator_xk::addToState ( Trk::PatternTrackParameters & T, const LocalParameters & P, const Amg::MatrixX & E, Trk::PatternTrackParameters & Ta ) const

finaloverridevirtual

add without chi2 calculation, ROT-level, pattern track parameters

Implements Trk::IPatternParametersUpdator.

Definition at line 159 of file KalmanUpdator_xk.cxx.

{
  int    n ;
  double x2;
  return update(T,P,E, 1,false,Ta,x2,n);
}

addToState() [8/8]

bool Trk::KalmanUpdator_xk::addToState ( PatternTrackParameters & , const LocalParameters & , const Amg::MatrixX & , PatternTrackParameters & , double & , int &  ) const

finaloverridevirtual

add a ROT-level measurement to a track state given by pattern track pars (chi2 calculated).

The last PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 357 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E, 1,true,Ta,Q,N);
}

addToStateOneDimension() [1/2]

bool Trk::KalmanUpdator_xk::addToStateOneDimension ( Trk::PatternTrackParameters & T, const Amg::Vector2D & P, const Amg::MatrixX & E, Trk::PatternTrackParameters & Ta ) const

finaloverridevirtual

add without chi2 calculation, PRD-level, pattern track parameters, specifically 1D

Implements Trk::IPatternParametersUpdator.

Definition at line 108 of file KalmanUpdator_xk.cxx.

{
  double x2;
  return updateOneDimension(T,P,E, 1,false,Ta,x2);
}

addToStateOneDimension() [2/2]

bool Trk::KalmanUpdator_xk::addToStateOneDimension ( PatternTrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , PatternTrackParameters & , double & , int &  ) const

finaloverridevirtual

add an explicitly one-dimensional measurement to pattern pars and calculate chi2 contribution.

The last PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 224 of file KalmanUpdator_xk.cxx.

{
  N = 1;
  return updateOneDimension(T,P,E, 1,true,Ta,Q);
}

combineStates() [1/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::combineStates ( const TrackParameters & , const TrackParameters &  ) const

finaloverridevirtual

adds to a track state the parameters from another state using a statistical combination - use with care!

In particular it is the caller's responsiblility that both states are expressed on the same surface and that the measurement on this surface is contained in not more than one of the two states. Method to be used e.g. for Kalman Smoothing or InDet - Muons track combination.

Implements Trk::IUpdator.

Definition at line 398 of file KalmanUpdator_xk.cxx.

{
  double M[5];
  double MV[15]; if(!trackParametersToUpdator(T1,M,MV)) return nullptr;
  double P[5];
  double PV[15]; if(!trackParametersToUpdator(T2,P,PV)) return nullptr;
 
  double x2; double* m; double* mv; double* p; double* pv;
  if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
  else                {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
 
  if(updateWithFiveDim(false,m,mv,p,pv,x2)) {
    testAngles(p,pv); return updatorToTrackParameters(T1,p,pv);
  }
  return nullptr;
}

combineStates() [2/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::combineStates ( const TrackParameters & , const TrackParameters & , FitQualityOnSurface *&  ) const

finaloverridevirtual

adds to a track state the parameters from another state using a statistical combination and determines fit quality - use with care!

In particular it is the caller's responsiblility that both states are expressed on the same surface and that the measurement on this surface is contained in not more than one of the two states. Method to be used e.g. for Kalman Smoothing or InDet - Muons track combination.

Implements Trk::IUpdator.

Definition at line 451 of file KalmanUpdator_xk.cxx.

{
  double M[5];
  double MV[15]; if(!trackParametersToUpdator(T1,M,MV)) return nullptr;
  double P[5];
  double PV[15]; if(!trackParametersToUpdator(T2,P,PV)) return nullptr;
 
  double x2; double* m; double* mv; double* p; double* pv;
  if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
  else                {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
 
  if(updateWithFiveDim(true,m,mv,p,pv,x2)) {
    Q = new Trk::FitQualityOnSurface(x2,5);
    testAngles(p,pv); return updatorToTrackParameters(T1,p,pv);
  }
  return nullptr;
}

combineStates() [3/4]

bool Trk::KalmanUpdator_xk::combineStates ( PatternTrackParameters & , PatternTrackParameters & , PatternTrackParameters &  ) const

finaloverridevirtual

combine two track states into a resulting state.

The third PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 418 of file KalmanUpdator_xk.cxx.

{
  double M[5];
  double MV[15]; bool q1 = trackParametersToUpdator(T1,M,MV);
  double P[5];
  double PV[15]; bool q2 = trackParametersToUpdator(T2,P,PV);
 
  if(q1 && q2) {
 
    double x2; double* m; double* mv; double* p; double* pv;
    if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
    else                {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
 
    if(updateWithFiveDim(false,m,mv,p,pv,x2)) {
      testAngles(p,pv);
      T3.setParametersWithCovariance(&T1.associatedSurface(),p,pv);
      return true;
    }
    return false;
  }
  if(q1) {T3=T1; return true;}
  if(q2) {T3=T2; return true;}
  return false;
}

combineStates() [4/4]

bool Trk::KalmanUpdator_xk::combineStates ( PatternTrackParameters & , PatternTrackParameters & , PatternTrackParameters & , double &  ) const

finaloverridevirtual

combine two track states into a resulting state and calculate chi2 contribution.

The third PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 473 of file KalmanUpdator_xk.cxx.

{
 
  double M[5];
  double MV[15]; bool q1 = trackParametersToUpdator(T1,M,MV);
  double P[5];
  double PV[15]; bool q2 = trackParametersToUpdator(T2,P,PV);
 
  if(q1 && q2) {
 
    double* m; double* mv; double* p; double* pv;
    if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
    else                {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
 
    if(updateWithFiveDim(true,m,mv,p,pv,Q)) {
      testAngles(p,pv);
      T3.setParametersWithCovariance(&T1.associatedSurface(),p,pv);
      return true;
    }
    return false;
  }
  if(q1) {T3=T1; Q=0; return true;}
  if(q2) {T3=T2; Q=0; return true;}
  return false;
}

declareGaudiProperty()

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

inlineprivateinherited

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

Definition at line 156 of file AthCommonDataStore.h.

  {
    return *AthCommonDataStore<PBASE>::declareProperty(hndl.name(),
                                                       hndl.value(), 
                                                       hndl.documentation());
 
  }

declareProperty()

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

inlineinherited

Definition at line 145 of file AthCommonDataStore.h.

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

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.

{ return m_detStore; }

differenceLocPar()

void Trk::KalmanUpdator_xk::differenceLocPar ( int K, const double * L, const double * T, double * R )

staticprotected

Definition at line 2270 of file KalmanUpdator_xk.cxx.

{
  const double pi2 = 2.*M_PI;
  const double pi = M_PI;
  int i = 0;
  R[0]=0.; if(K &  1) R[0]=L[i++]-T[0];
  R[1]=0.; if(K &  2) R[1]=L[i++]-T[1];
  R[2]=0.; if(K &  4) {
    R[2]=L[i++]-T[2];
    if     (R[2] > pi) R[2] = fmod(R[2]+pi,pi2)-pi;
    else if(R[2] <-pi) R[2] = fmod(R[2]-pi,pi2)+pi;
  }
  R[3]=0.; if(K &  8){
    R[3]=L[i++]-T[3];
    if     (R[3] > pi) R[3] = fmod(R[3]+pi,pi2)-pi;
    else if(R[3] <-pi) R[3] = fmod(R[3]-pi,pi2)+pi;
  }
  R[4]=0.; if(K & 16) R[4]=L[i++]-T[4];
}

differenceParLoc()

int Trk::KalmanUpdator_xk::differenceParLoc ( int K, const double * L, const double * T, double * R )

staticprotected

Definition at line 2240 of file KalmanUpdator_xk.cxx.

{
  const double pi2 = 2.*M_PI;
  const double pi = M_PI;
 
  int i = 0;
  if(K &  1) {R[i]=L[i]-T[0]; ++i;}
  if(K &  2) {R[i]=L[i]-T[1]; ++i;}
  if(K &  4) {
    R[i]=L[i]-T[2];
    if     (R[i] > pi) R[i] = fmod(R[i]+pi,pi2)-pi;
    else if(R[i] <-pi) R[i] = fmod(R[i]-pi,pi2)+pi;
    ++i;
  }
  if(K &  8) {
    R[i]=L[i]-T[3];
    if     (R[i] > pi) R[i] = fmod(R[i]+pi,pi2)-pi;
    else if(R[i] <-pi) R[i] = fmod(R[i]-pi,pi2)+pi;
    ++i;
  }
  if(K & 16) {R[i]=L[i]-T[4]; ++i;}
  return i;
}

evtStore()

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.

{ 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::KalmanUpdator_xk::finalize ( )

finaloverridevirtual

Definition at line 75 of file KalmanUpdator_xk.cxx.

{
   return StatusCode::SUCCESS;
}

fullStateFitQuality() [1/5]

bool Trk::KalmanUpdator_xk::fullStateFitQuality ( const double * T, const Amg::Vector2D & P, const Amg::MatrixX & E, int & N, double & X2 )

staticprotected

Definition at line 1162 of file KalmanUpdator_xk.cxx.

{
  // Measurement information preparation
  //
  double m[2];
  double mv[3]; X2 = 0.;
  N      = E.rows(); if(N<=0) return false;
  m [0]  = P[0]-T[0];
  mv[0]  = E(0,0)-T[2];
  if(N==1) {
 
    if(mv[0]>0.) X2 = m[0]*m[0]/mv[0];
    return true;
  }
  if(N==2) {
    m [1]     = P[1]-T[1];
    mv[1]     = E(1,0)-T[3];
    mv[2]     = E(1,1)-T[4];
    double d  = mv[0]*mv[2]-mv[1]*mv[1];
    if(d>0.) X2 = (m[0]*m[0]*mv[2]+m[1]*m[1]*mv[0]-2.*m[0]*m[1]*mv[1])/d;
    return true;
  }
  return false;
}

fullStateFitQuality() [2/5]

bool Trk::KalmanUpdator_xk::fullStateFitQuality ( const PatternTrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , int & , double &  ) const

finaloverridevirtual

calculate fit quality in terms of chi2 assuming a track state which includes information from the current measurement (given as PRD-level local position).

The last parameters are the output ndof and chi2, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 641 of file KalmanUpdator_xk.cxx.

{
  if(!T.iscovariance()) {N = 0; return false;}
 
  const AmgVector(5) & p = T.parameters();
  const AmgSymMatrix(5) & cov = *T.covariance();
 
  double t[5] = {p[0],p[1],
         cov(0, 0),cov(0, 1),cov(1, 1)};
 
  return fullStateFitQuality(t,P,E,N,X2);
}

fullStateFitQuality() [3/5]

bool Trk::KalmanUpdator_xk::fullStateFitQuality ( const PatternTrackParameters & , const LocalParameters & , const Amg::MatrixX & , int & , double &  ) const

finaloverridevirtual

calculate fit quality in terms of chi2 assuming a track state which includes information from the current measurement.

The last parameters are the output ndof and chi2, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 698 of file KalmanUpdator_xk.cxx.

{
  // Conversion track parameters
  //
  N = 0;
  double p[5];
  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return false;
 
  // Conversion local parameters
  //
  int k;
  double m[5];
  double mv[15]; if(!localParametersToUpdator(P,E,N,k,m,mv)) return false;
 
  // Xi2 calculation
  //
  double r[5];
  double w[15];
  int ib = m_key[k];
  int ie=m_key[k+1];
  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]-pv[m_map[i]];}
 
  bool q=true; if(N!=1) q=invert(N,w,w); else w[0]=1./w[0];
 
  if(q) {differenceParLoc(k,m,p,r); X2 = Xi2(N,r,w); return true ;}
  return false;
}

fullStateFitQuality() [4/5]

Trk::FitQualityOnSurface Trk::KalmanUpdator_xk::fullStateFitQuality ( const TrackParameters & , const Amg::Vector2D & , const Amg::MatrixX &  ) 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).

Keep in mind that this job can be done inside addToState if you have kept the original prediction, thus saving CPU time.

Implements Trk::IUpdator.

Definition at line 624 of file KalmanUpdator_xk.cxx.

{
  const AmgSymMatrix(5)* v = T.covariance();
  if(!v) return {};
  double t[5] = {T.parameters()[0],T.parameters()[1],
         (*v)(0,0),(*v)(1,0),(*v)(1,1)};
 
  int N; double x2;
  if(fullStateFitQuality(t,P,E,N,x2)) return {x2,N};
  return {};
}

fullStateFitQuality() [5/5]

Trk::FitQualityOnSurface Trk::KalmanUpdator_xk::fullStateFitQuality ( const TrackParameters & , const LocalParameters & , const Amg::MatrixX &  ) const

finaloverridevirtual

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

Keep in mind that this job can be done inside addToState if you have kept the original prediction, thus saving CPU time.

Implements Trk::IUpdator.

Definition at line 663 of file KalmanUpdator_xk.cxx.

{
  // Conversion track parameters
  //
  double p[5];
  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return {};
  // Conversion local parameters
  //
  int n;
  int k;
  double m[5];
  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return {};
 
  // Xi2 calculation
  //
  double r[5];
  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
  int ib = m_key[k];
  int ie=m_key[k+1];
  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]-pv[m_map[i]];}
 
  bool q=true; if(n!=1) q=invert(n,w,w); else w[0]=1./w[0];
 
  if(q) {
    differenceParLoc(k,m,p,r);
    return {Xi2(n,r,w),n};
  }
  return {0.,n};
}

initialErrors()

std::vector< double > Trk::KalmanUpdator_xk::initialErrors ( ) const

finaloverridevirtual

let the client tools know how the assumptions on the initial precision for non-measured track parameters are configured

Implements Trk::IUpdator.

Definition at line 825 of file KalmanUpdator_xk.cxx.

{
  std::vector<double> errors(5);
 
  errors[0] = sqrt(m_cov0[0]);
  errors[1] = sqrt(m_cov0[1]);
  errors[2] = sqrt(m_cov0[2]);
  errors[3] = sqrt(m_cov0[3]);
  errors[4] = sqrt(m_cov0[4]);
  return errors;
}

initialize()

StatusCode Trk::KalmanUpdator_xk::initialize ( )

finaloverridevirtual

Definition at line 53 of file KalmanUpdator_xk.cxx.

{
  // init message stream
  //
  msg(MSG::INFO) << "initialize() successful in " << name() << endmsg;
 
  if( m_cov0.size()!=5) {
 
      m_cov0.erase(m_cov0.begin(),m_cov0.end());
      m_cov0.push_back(  10.);
      m_cov0.push_back(  10.);
      m_cov0.push_back( .025);
      m_cov0.push_back( .025);
      m_cov0.push_back(.0001);
  }
  return StatusCode::SUCCESS;
}

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() [1/2]

const InterfaceID & Trk::IPatternParametersUpdator::interfaceID ( )

inlinestaticinherited

Definition at line 168 of file IPatternParametersUpdator.h.

{
        return IID_IPatternParametersUpdator;
}

interfaceID() [2/2]

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

inlinestaticinherited

Algtool infrastructure.

Definition at line 227 of file IUpdator.h.

{
  return IID_IUpdator;
}

invert()

bool Trk::KalmanUpdator_xk::invert ( int n, double * a, double * b )

staticprotected

Definition at line 1944 of file KalmanUpdator_xk.cxx.

{
  if(n==2) return invert2(a,b);
  if(n==3) return invert3(a,b);
  if(n==4) return invert4(a,b);
  if(n==5) return invert5(a,b);
  return false;
}

invert2()

bool Trk::KalmanUpdator_xk::invert2 ( const double * a, double * b )

staticprotected

Definition at line 1963 of file KalmanUpdator_xk.cxx.

{
  double d  = a[0]*a[2]-a[1]*a[1]; if(d<=0.) return false; d=1./d;
  double b0 = a[2]*d;
  b[1]      =-a[1]*d;
  b[2]      = a[0]*d;
  b[0]      =     b0;
  return true;
}

invert3()

bool Trk::KalmanUpdator_xk::invert3 ( const double * a, double * b )

staticprotected

Definition at line 1984 of file KalmanUpdator_xk.cxx.

{
  double b0 = (a[2]*a[5]-a[4]*a[4]);
  double b1 =-(a[1]*a[5]-a[3]*a[4]);
  double b2 = (a[0]*a[5]-a[3]*a[3]);
  double b3 = (a[1]*a[4]-a[2]*a[3]);
  double b4 =-(a[0]*a[4]-a[1]*a[3]);
  double b5 = (a[0]*a[2]-a[1]*a[1]);
  double  d = a[0]*b0+a[1]*b1+a[3]*b3; if(d<=0.) return false;
  b[0]    = b0*(d=1./d);
  b[1]    = b1*d;
  b[2]    = b2*d;
  b[3]    = b3*d;
  b[4]    = b4*d;
  b[5]    = b5*d;
  return true;
}

invert4()

bool Trk::KalmanUpdator_xk::invert4 ( const double * a, double * b )

staticprotected

Definition at line 2014 of file KalmanUpdator_xk.cxx.

{
  double d00 = a[1]*a[4]-a[2]*a[3];
  double d01 = a[1]*a[5]-a[4]*a[3];
  double d02 = a[2]*a[5]-a[4]*a[4];
  double d03 = a[1]*a[7]-a[2]*a[6];
  double d04 = a[1]*a[8]-a[4]*a[6];
  double d05 = a[1]*a[9]-a[7]*a[6];
  double d06 = a[2]*a[8]-a[4]*a[7];
  double d07 = a[2]*a[9]-a[7]*a[7];
  double d08 = a[3]*a[7]-a[4]*a[6];
  double d09 = a[3]*a[8]-a[5]*a[6];
  double d10 = a[3]*a[9]-a[8]*a[6];
  double d11 = a[4]*a[8]-a[5]*a[7];
  double d12 = a[4]*a[9]-a[8]*a[7];
  double d13 = a[5]*a[9]-a[8]*a[8];
 
  // Determinant calculation
  //
  double c0  = a[2]*d13-a[4]*d12+a[7]*d11;
  double c1  = a[1]*d13-a[4]*d10+a[7]*d09;
  double c2  = a[1]*d12-a[2]*d10+a[7]*d08;
  double c3  = a[1]*d11-a[2]*d09+a[4]*d08;
  double det = a[0]*c0-a[1]*c1+a[3]*c2-a[6]*c3;
 
  if (det <= 0.) return false;
  det = 1./det;
 
  b[2] =  (a[0]*d13-a[3]*d10+a[6]*d09)*det;
  b[4] = -(a[0]*d12-a[1]*d10+a[6]*d08)*det;
  b[5] =  (a[0]*d07-a[1]*d05+a[6]*d03)*det;
  b[7] =  (a[0]*d11-a[1]*d09+a[3]*d08)*det;
  b[8] = -(a[0]*d06-a[1]*d04+a[3]*d03)*det;
  b[9] =  (a[0]*d02-a[1]*d01+a[3]*d00)*det;
  b[0] =  c0                          *det;
  b[1] = -c1                          *det;
  b[3] =  c2                          *det;
  b[6] = -c3                          *det;
  return true;
}

invert5()

bool Trk::KalmanUpdator_xk::invert5 ( const double * a, double * b )

staticprotected

Definition at line 2069 of file KalmanUpdator_xk.cxx.

{
  if(a[ 0] <=0.) return false;
  double x1    = 1./a[ 0];
  double x2    =-a[ 1]*x1;
  double x3    =-a[ 3]*x1;
  double x4    =-a[ 6]*x1;
  double x5    =-a[10]*x1;
  double b0    = a[ 2]+a[ 1]*x2; if(b0<=0.) return false;
  double b1    = a[ 4]+a[ 3]*x2;
  double b2    = a[ 5]+a[ 3]*x3;
  double b3    = a[ 7]+a[ 6]*x2;
  double b4    = a[ 8]+a[ 6]*x3;
  double b5    = a[ 9]+a[ 6]*x4;
  double b6    = a[11]+a[10]*x2;
  double b7    = a[12]+a[10]*x3;
  double b8    = a[13]+a[10]*x4;
  double b9    = a[14]+a[10]*x5;
  double y1    = 1./b0;
  double y2    =-b1*y1;
  double y3    =-b3*y1;
  double y4    =-b6*y1;
  double y5    = x2*y1;
 
  if((b0 = b2+b1*y2) <=0.) return false;
  b1           = b4+b3*y2;
  b2           = b5+b3*y3;
  b3           = b7+b6*y2;
  b4           = b8+b6*y3;
  b5           = b9+b6*y4;
  b6           = x3+x2*y2;
  b7           = x4+x2*y3;
  b8           = x5+x2*y4;
  b9           = x1+x2*y5;
  x1           = 1./b0;
  x2           =-b1*x1;
  x3           =-b3*x1;
  x4           = b6*x1;
  x5           = y2*x1;
  if((b0 = b2+b1*x2) <=0.) return  false;
  b1           = b4+b3*x2;
  b2           = b5+b3*x3;
  b3           = b7+b6*x2;
  b4           = b8+b6*x3;
  b5           = b9+b6*x4;
  b6           = y3+y2*x2;
  b7           = y4+y2*x3;
  b8           = y5+y2*x4;
  b9           = y1+y2*x5;
  y1           = 1./b0;
  y2           =-b1*y1;
  y3           = b3*y1;
  y4           = b6*y1;
  y5           = x2*y1;
  if((b0 = b2+b1*y2) <=0.) return false;
  b1           = b4+b3*y2;
  b2           = b5+b3*y3;
  b3           = b7+b6*y2;
  b4           = b8+b6*y3;
  b5           = b9+b6*y4;
  b6           = x3+x2*y2;
  b7           = x4+x2*y3;
  b8           = x5+x2*y4;
  b9           = x1+x2*y5;
  b[14]        = 1./b0;
  b[10]        = b1*b[14];
  b[11]        = b3*b[14];
  b[12]        = b6*b[14];
  b[13]        = y2*b[14];
  b[ 0]        = b2+b1*b[10];
  b[ 1]        = b4+b3*b[10];
  b[ 2]        = b5+b3*b[11];
  b[ 3]        = b7+b6*b[10];
  b[ 4]        = b8+b6*b[11];
  b[ 5]        = b9+b6*b[12];
  b[ 6]        = y3+y2*b[10];
  b[ 7]        = y4+y2*b[11];
  b[ 8]        = y5+y2*b[12];
  b[ 9]        = y1+y2*b[13];
  return true;
}

localParametersToUpdator()

bool Trk::KalmanUpdator_xk::localParametersToUpdator ( const LocalParameters & L, const Amg::MatrixX & C, int & N, int & K, double * P, double * V )

staticprotected

Definition at line 1887 of file KalmanUpdator_xk.cxx.

{
 
  N = C.rows(); if(N==0 || N>5 || L.dimension()!=N) return false;
  K = L.parameterKey();
 
  //const CLHEP::HepVector& H = L;
 
  P[ 0]=L(0);
  V[ 0]=C(0,0);
 
  if(N>1) {
    P[ 1]=L(1);
    V[ 1]=C(1,0); V[ 2]=C(1,1);
  }
  if(N>2) {
    P[ 2]=L(2);
    V[ 3]=C(2,0); V[ 4]=C(2,1); V[ 5]=C(2,2);
  }
  if(N>3) {
    P[ 3]=L(3);
    V[ 6]=C(3,0); V[ 7]=C(3,1); V[ 8]=C(3,2); V[ 9]=C(3,3);
  }
  if(N>4) {
    P[ 4]=L(4);
    V[10]=C(4,0); V[11]=C(4,1); V[12]=C(4,2); V[13]=C(4,3); V[14]=C(4,4);
  }
  return true;
}

mapKeyProduction()

void Trk::KalmanUpdator_xk::mapKeyProduction ( )

protected

Definition at line 2295 of file KalmanUpdator_xk.cxx.

{
  int n=0; m_key[0]=m_key[1]=0;
 
  for(int K=1; K!= 32; ++K) {
 
    unsigned int I[5]={0,0,0,0,0};
    unsigned int m=0;
    for(int i=0; i!=5; ++i) {if((K>>i)&1) I[i]=1;}
 
    for(int i=0; i!=5; ++i) {
      for(int j=0; j<=i; ++j) {if(I[i] && I[j]) {m_map[n++] = m;} ++m;}
    }
    m_key[K+1] = n;
  }
}

msg()

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

inlineinherited

Definition at line 24 of file AthCommonMsg.h.

                                {
    return this->msgStream();
  }

msgLvl()

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

inlineinherited

Definition at line 30 of file AthCommonMsg.h.

                                               {
    return this->msgLevel(lvl);
  }

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() [1/7]

bool Trk::KalmanUpdator_xk::predictedStateFitQuality ( const double * T, const Amg::Vector2D & P, const Amg::MatrixX & E, int & N, double & X2 )

staticprotected

Definition at line 1128 of file KalmanUpdator_xk.cxx.

{
  // Measurement information preparation
  //
  double m[2];
  double mv[3]; X2 = 0.;
  N      = E.rows(); if(N<=0) return false;
  m [0]  = P[0]-T[0];
  mv[0]  = E(0,0)+T[2];
  if(N==1) {
 
    if(mv[0]>0.) X2 = m[0]*m[0]/mv[0];
    return true;
  }
  if(N==2) {
    m [1]     = P[1]-T[1];
    mv[1]     = E(1,0)+T[3];
    mv[2]     = E(1,1)+T[4];
    double d  = mv[0]*mv[2]-mv[1]*mv[1];
    if(d>0.) X2 = (m[0]*m[0]*mv[2]+m[1]*m[1]*mv[0]-2.*m[0]*m[1]*mv[1])/d;
    return true;
  }
  return false;
}

predictedStateFitQuality() [2/7]

bool Trk::KalmanUpdator_xk::predictedStateFitQuality ( const PatternTrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , int & , double &  ) const

finaloverridevirtual

calculate fit quality in terms of chi2 assuming a track state which does not include information from the current measurement (given as PRD-level local position).

The last parameters are the output ndof and chi2, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 526 of file KalmanUpdator_xk.cxx.

{
  if(!T.iscovariance()) {N = 0; return false;}
 
  const AmgVector(5) & p = T.parameters();
  const AmgSymMatrix(5) & cov = *T.covariance();
 
  double t[5] = {p[0],p[1],
         cov(0, 0),cov(0, 1),cov(1, 1)};
 
  return predictedStateFitQuality(t,P,E,N,X2);
}

predictedStateFitQuality() [3/7]

bool Trk::KalmanUpdator_xk::predictedStateFitQuality ( const PatternTrackParameters & , const LocalParameters & , const Amg::MatrixX & , int & , double &  ) const

finaloverridevirtual

calculate fit quality in terms of chi2 assuming a track state which does not include information from the current measurement.

The last parameters are the output ndof and chi2, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 585 of file KalmanUpdator_xk.cxx.

{
  // Conversion track parameters
  //
  double p[5];
  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return false;
 
  // Conversion local parameters
  //
  int n;
  int k;
  double m[5];
  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return false;
 
  // Xi2 calculation
  //
  double r[5];
  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
  int ib = m_key[k];
  int ie=m_key[k+1];
  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]+pv[m_map[i]];}
 
  bool q=true; if(n!=1) q=invert(n,w,w); else w[0]=1./w[0];
  N = n;
  if(q) {differenceParLoc(k,m,p,r); X2 = Xi2(n,r,w); return true ;}
  return false;
}

predictedStateFitQuality() [4/7]

bool Trk::KalmanUpdator_xk::predictedStateFitQuality ( const PatternTrackParameters & , const PatternTrackParameters & , double &  ) const

finaloverridevirtual

calculate fit quality in terms of chi2 between two track states.

The last parameters is the output chi2, ndof is 5.

Implements Trk::IPatternParametersUpdator.

Definition at line 778 of file KalmanUpdator_xk.cxx.

{
  const double pi2 = 2.*M_PI;
  const double pi = M_PI;
  double m[5];
  double mv[15]; if(!trackParametersToUpdator(T1,m,mv)) return 0;
  double p[5];
  double pv[15]; if(!trackParametersToUpdator(T2,p,pv)) return 0;
  double r[5] = {m [ 0]-p [ 0],
         m [ 1]-p [ 1],
         m [ 2]-p [ 2],
         m [ 3]-p [ 3],
         m [ 4]-p [ 4]};
 
  if     (r[2] > pi) r[2] = fmod(r[2]+pi,pi2)-pi;
  else if(r[2] <-pi) r[2] = fmod(r[2]-pi,pi2)+pi;
  if     (r[3] > pi) r[3] = fmod(r[3]+pi,pi2)-pi;
  else if(r[3] <-pi) r[3] = fmod(r[3]-pi,pi2)+pi;
 
  double w[15]= {mv[ 0]+pv[ 0],
         mv[ 1]+pv[ 1],
         mv[ 2]+pv[ 2],
         mv[ 3]+pv[ 3],
         mv[ 4]+pv[ 4],
         mv[ 5]+pv[ 5],
         mv[ 6]+pv[ 6],
         mv[ 7]+pv[ 7],
         mv[ 8]+pv[ 8],
         mv[ 9]+pv[ 9],
         mv[10]+pv[10],
         mv[11]+pv[11],
         mv[12]+pv[12],
         mv[13]+pv[13],
         mv[14]+pv[14]};
 
  if(invert(5,w,w)) {X2 = Xi2(5,r,w); return true;}
  return false;
}

predictedStateFitQuality() [5/7]

Trk::FitQualityOnSurface Trk::KalmanUpdator_xk::predictedStateFitQuality ( const TrackParameters & , const Amg::Vector2D & , const Amg::MatrixX &  ) const

finaloverridevirtual

estimator for FitQuality on Surface from a predicted track state, that is a state which does not contain the current hit (expressed as Amg::Vector2D).

Keep in mind that this job is already done inside addToState if you use the addToState(TP,LP,Err,FQoS) interface, thus saving CPU time.

Implements Trk::IUpdator.

Definition at line 508 of file KalmanUpdator_xk.cxx.

{
  const AmgSymMatrix(5)* v = T.covariance();
  if(!v) return {};
 
  double t[5] = {T.parameters()[0],T.parameters()[1],
         (*v)(0,0),(*v)(1,0),(*v)(1,1)};
 
  int N; double x2;
  if(predictedStateFitQuality(t,P,E,N,x2)) return {x2,N};
  return {};
}

predictedStateFitQuality() [6/7]

Trk::FitQualityOnSurface Trk::KalmanUpdator_xk::predictedStateFitQuality ( const TrackParameters & , const LocalParameters & , const Amg::MatrixX &  ) const

finaloverridevirtual

estimator for FitQuality on Surface from a predicted track state, that is a state which does not contain the current hit (expressed as LocalParameters).

Keep in mind that this job is already done inside addToState if you use the addToState(TP,LP,Err,FQoS) interface, thus saving CPU time.

Implements Trk::IUpdator.

Definition at line 549 of file KalmanUpdator_xk.cxx.

{
  // Conversion track parameters
  //
  double p[5];
  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return {};
 
  // Conversion local parameters
  //
  int n;
  int k;
  double m[5];
  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return {};
 
  // Xi2 calculation
  //
  double r[5];
  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
  int ib = m_key[k];
  int ie=m_key[k+1];
  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]+pv[m_map[i]];}
 
  bool q=true; if(n!=1) q=invert(n,w,w); else w[0]=1./w[0];
 
  if(q) {
    differenceParLoc(k,m,p,r);
    return {Xi2(n,r,w),n};
  }
  return {};
}

predictedStateFitQuality() [7/7]

Trk::FitQualityOnSurface Trk::KalmanUpdator_xk::predictedStateFitQuality ( const TrackParameters & , const TrackParameters &  ) 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 735 of file KalmanUpdator_xk.cxx.

{
  const double pi2 = 2.*M_PI ;
  const double pi = M_PI;
  double m[5];
  double mv[15]; if(!trackParametersToUpdator(T1,m,mv)) return {};
  double p[5];
  double pv[15]; if(!trackParametersToUpdator(T2,p,pv)) return {};
  double r[5] = {m [ 0]-p [ 0],
         m [ 1]-p [ 1],
         m [ 2]-p [ 2],
         m [ 3]-p [ 3],
         m [ 4]-p [ 4]};
 
  if     (r[2] > pi) r[2] = fmod(r[2]+pi,pi2)-pi;
  else if(r[2] <-pi) r[2] = fmod(r[2]-pi,pi2)+pi;
  if     (r[3] > pi) r[3] = fmod(r[3]+pi,pi2)-pi;
  else if(r[3] <-pi) r[3] = fmod(r[3]-pi,pi2)+pi;
 
  double w[15]= {mv[ 0]+pv[ 0],
         mv[ 1]+pv[ 1],
         mv[ 2]+pv[ 2],
         mv[ 3]+pv[ 3],
         mv[ 4]+pv[ 4],
         mv[ 5]+pv[ 5],
         mv[ 6]+pv[ 6],
         mv[ 7]+pv[ 7],
         mv[ 8]+pv[ 8],
         mv[ 9]+pv[ 9],
         mv[10]+pv[10],
         mv[11]+pv[11],
         mv[12]+pv[12],
         mv[13]+pv[13],
         mv[14]+pv[14]};
 
  if(invert(5,w,w)) return {Xi2(5,r,w),5};
  return {};
}

removeFromState() [1/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::removeFromState ( const TrackParameters & , const Amg::Vector2D & , const Amg::MatrixX &  ) const

finaloverridevirtual

the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with Amg::Vector2D from (for example) PrepRawData objects.

Implements Trk::IUpdator.

Definition at line 122 of file KalmanUpdator_xk.cxx.

{
  Trk::FitQualityOnSurface* Q=nullptr;
  return update(T,P,E,Q,-1,false);
}

removeFromState() [2/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::removeFromState ( const TrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , FitQualityOnSurface *&  ) const

finaloverridevirtual

the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with with Amg::Vector2D and in addition giving back the fit quality of the given state.

Implements Trk::IUpdator.

Definition at line 241 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E,Q,-1,true);
}

removeFromState() [3/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::removeFromState ( const TrackParameters & , const LocalParameters & , const Amg::MatrixX &  ) const

finaloverridevirtual

the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with LocalParameters from (for example) MeasurementBase or RIO_OnTrack objects.

Implements Trk::IUpdator.

Definition at line 174 of file KalmanUpdator_xk.cxx.

{
  Trk::FitQualityOnSurface* Q=nullptr;
  return update(T,P,E,Q,-1,false);
}

removeFromState() [4/8]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::removeFromState ( const TrackParameters & , const LocalParameters & , const Amg::MatrixX & , FitQualityOnSurface *&  ) const

finaloverridevirtual

the reverse updating or inverse KalmanFilter removes a measurement from the track state, giving a predicted or unbiased state, here working with LocalParameters and in addition giving back the fit quality of the given state.

Implements Trk::IUpdator.

Definition at line 372 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E,Q,-1,true);
}

removeFromState() [5/8]

bool Trk::KalmanUpdator_xk::removeFromState ( PatternTrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , PatternTrackParameters &  ) const

finaloverridevirtual

remove a PRD-level local position from a track state given by pattern track pars (no chi2 calculated).

The last PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 133 of file KalmanUpdator_xk.cxx.

{
  int    n ;
  double x2;
  return update(T,P,E,-1,false,Ta,x2,n);
}

removeFromState() [6/8]

bool Trk::KalmanUpdator_xk::removeFromState ( PatternTrackParameters & , const Amg::Vector2D & , const Amg::MatrixX & , PatternTrackParameters & , double & , int &  ) const

finaloverridevirtual

remove a PRD-level local position from a track state given by pattern track pars (chi2 calculated).

The last PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 252 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E,-1,true,Ta,Q,N);
}

removeFromState() [7/8]

bool Trk::KalmanUpdator_xk::removeFromState ( PatternTrackParameters & , const LocalParameters & , const Amg::MatrixX & , PatternTrackParameters &  ) const

finaloverridevirtual

remove a ROT-level measurement from a track state given by pattern track pars (no chi2 calculated).

The last PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 185 of file KalmanUpdator_xk.cxx.

{
  int    n ;
  double x2;
  return update(T,P,E,-1,false,Ta,x2,n);
}

removeFromState() [8/8]

bool Trk::KalmanUpdator_xk::removeFromState ( PatternTrackParameters & , const LocalParameters & , const Amg::MatrixX & , PatternTrackParameters & , double & , int &  ) const

overridevirtual

remove a ROT-level measurement from a track state given by pattern track pars (chi2 calculated).

The last PatternTrackPar argument is the output, returns false if the calculation fails.

Implements Trk::IPatternParametersUpdator.

Definition at line 383 of file KalmanUpdator_xk.cxx.

{
  return update(T,P,E,-1,true,Ta,Q,N);
}

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.

  {
    h.renounce();
    PBASE::renounce (h);
  }

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.

                                                          {
    handlesArray.renounce();
  }

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

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.

testAngles()

void Trk::KalmanUpdator_xk::testAngles ( double * p, double * v )

staticprotected

Definition at line 2318 of file KalmanUpdator_xk.cxx.

{
  const double pi2 = 2.*M_PI;
  const double pi = M_PI;
 
  // Polar     angle check
  //
  if     (p[3] > pi) p[3] = fmod(p[3]+pi,pi2)-pi;
  else if(p[3] <-pi) p[3] = fmod(p[3]-pi,pi2)+pi;
 
  if     (p[3] < 0.) {
 
    p[ 3] = -p[ 3];
    p[ 2]+=     pi;
    v[ 6] = -v[ 6];
    v[ 7] = -v[ 7];
    v[ 8] = -v[ 8];
    v[13] = -v[13];
  }
 
  // Azimuthal angle check
  //
  if     (p[2] > pi) p[2] = fmod(p[2]+pi,pi2)-pi;
  else if(p[2] <-pi) p[2] = fmod(p[2]-pi,pi2)+pi;
}

trackParametersToUpdator() [1/2]

bool Trk::KalmanUpdator_xk::trackParametersToUpdator ( const PatternTrackParameters & T, double * P, double * V )

staticprotected

Definition at line 1848 of file KalmanUpdator_xk.cxx.

{
  const AmgVector(5) & par = T.parameters();
 
  P[0] = par[0];
  P[1] = par[1];
  P[2] = par[2];
  P[3] = par[3];
  P[4] = par[4];
 
  if(!T.iscovariance()) return false;
 
  const AmgSymMatrix(5) & cov = *T.covariance();
 
  V[ 0] = cov(0, 0);
  V[ 1] = cov(0, 1);
  V[ 2] = cov(1, 1);
  V[ 3] = cov(0, 2);
  V[ 4] = cov(1, 2);
  V[ 5] = cov(2, 2);
  V[ 6] = cov(0, 3);
  V[ 7] = cov(1, 3);
  V[ 8] = cov(2, 3);
  V[ 9] = cov(3, 3);
  V[10] = cov(0, 4);
  V[11] = cov(1, 4);
  V[12] = cov(2, 4);
  V[13] = cov(3, 4);
  V[14] = cov(4, 4);
  return true;
}

trackParametersToUpdator() [2/2]

bool Trk::KalmanUpdator_xk::trackParametersToUpdator ( const TrackParameters & T, double * P, double * V )

staticprotected

Definition at line 1811 of file KalmanUpdator_xk.cxx.

{
  P[0] = T.parameters()[0];
  P[1] = T.parameters()[1];
  P[2] = T.parameters()[2];
  P[3] = T.parameters()[3];
  P[4] = T.parameters()[4];
 
 
  const AmgSymMatrix(5)* v = T.covariance();
  if(!v) return false;
 
  const AmgSymMatrix(5)& c = *v;
  V[ 0] = c(0,0);
  V[ 1] = c(1,0);
  V[ 2] = c(1,1);
  V[ 3] = c(2,0);
  V[ 4] = c(2,1);
  V[ 5] = c(2,2);
  V[ 6] = c(3,0);
  V[ 7] = c(3,1);
  V[ 8] = c(3,2);
  V[ 9] = c(3,3);
  V[10] = c(4,0);
  V[11] = c(4,1);
  V[12] = c(4,2);
  V[13] = c(4,3);
  V[14] = c(4,4);
  return true;
}

update() [1/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::update ( const TrackParameters & T, const Amg::Vector2D & P, const Amg::MatrixX & E, Trk::FitQualityOnSurface *& Q, int O, bool X ) const

protected

Definition at line 846 of file KalmanUpdator_xk.cxx.

{
  // Measurement information preparation
  //
  double m[2];
  double mv[3];
  int  n = E.rows(); if(n<=0) return nullptr;
  m [0]  = P[0];
  mv[0]  = E(0,0);
  if(n==2) {
    m [1]  = P[1];
    mv[1]  = E(1,0);
    mv[2]  = E(1,1);
  }
 
  // Conversion track parameters to updator presentation
  //
  double p[5];
  double pv[15];  bool measured = trackParametersToUpdator(T,p,pv);
  bool update = false;
 
  if(measured) {
    double x2;
    if     (n==2) {
      update = updateWithTwoDim(O,X,m,mv,p,pv,x2);
      if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,2);
    }
    else if(n==1) {
      update = updateWithOneDim(O,X,m,mv,p,pv,x2);
      if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,1);
    }
    if(update) {
      testAngles(p,pv); return updatorToTrackParameters(T,p,pv);
    }
    return nullptr;
  }
 
  // For no measured track parameters
  //
  if(O<0) return nullptr;
 
  if     (n==1) {
    update = updateNoMeasuredWithOneDim(m,mv,p,pv);
    if(update && X && !Q)  Q = new Trk::FitQualityOnSurface(0.,1);
  }
  else if(n==2) {
    update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
    if(update && X && !Q)  Q = new Trk::FitQualityOnSurface(0.,2);
  }
 
  if(update) return updatorToTrackParameters(T,p,pv);
  return nullptr;
}

update() [2/4]

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::update ( const TrackParameters & T, const LocalParameters & P, const Amg::MatrixX & E, Trk::FitQualityOnSurface *& Q, int O, bool X ) const

protected

Definition at line 1018 of file KalmanUpdator_xk.cxx.

{
  // Conversion local parameters
  //
  int n;
  int k;
  double m[5];
  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return nullptr;
 
  // Conversion track parameters to updator presentation
  //
  double p[5];
  double pv[15];  bool measured = trackParametersToUpdator(T,p,pv);
  bool update = false;
 
  if(measured) {
 
    double x2;
    if     (n==2 && k==3) {
      update = updateWithTwoDim(O,X,m,mv,p,pv,x2);
      if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,2);
    }
    else if(n==1 && k==1) {
      update = updateWithOneDim(O,X,m,mv,p,pv,x2);
      if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,1);
    }
    else                  {
      update = updateWithAnyDim(O,X,m,mv,p,pv,x2,n,k);
      if(update && X && !Q)  Q = new Trk::FitQualityOnSurface(x2,n);
    }
    if(update) {testAngles(p,pv); return updatorToTrackParameters(T,p,pv);}
    return nullptr;
  }
 
  // For no measured track parameters
  //
  if(O<0) return nullptr;
  if     (n==1 && k==1) {
    update = updateNoMeasuredWithOneDim(m,mv,p,pv);
    if(update && X && !Q)  Q = new Trk::FitQualityOnSurface(0.,1);
  }
  else if(n==2 && k==3) {
    update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
    if(update && X && !Q)  Q = new Trk::FitQualityOnSurface(0.,2);
  }
  else                 {
    update = updateNoMeasuredWithAnyDim(m,mv,p,pv,k);
    if(update && X && !Q)  Q = new Trk::FitQualityOnSurface(0.,n);
  }
  if(update) return updatorToTrackParameters(T,p,pv);
  return nullptr;
}

update() [3/4]

bool Trk::KalmanUpdator_xk::update ( Trk::PatternTrackParameters & T, const Amg::Vector2D & P, const Amg::MatrixX & E, int O, bool X, Trk::PatternTrackParameters & Ta, double & Q, int & N ) const

protected

Definition at line 908 of file KalmanUpdator_xk.cxx.

{
  // Measurement information preparation
  //
  double m[2];
  double mv[3];
  N      = E.rows(); if(N<=0) return false;
  m [0]  = P[0];
  mv[0]  = E(0,0);
  if(N==2) {
    m [1]  = P[1];
    mv[1]  = E(1,0);
    mv[2]  = E(1,1);
  }
 
  // Conversion track parameters to updator presentation
  //
  double p[5];
  double pv[15];  bool measured = trackParametersToUpdator(T,p,pv);
  bool update = false;
 
  if(measured) {
 
    if     (N==2) update = updateWithTwoDim(O,X,m,mv,p,pv,Q);
    else if(N==1) update = updateWithOneDim(O,X,m,mv,p,pv,Q);
    if(update) {
      testAngles(p,pv);
      Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
    }
    return update;
  }
 
  // For no measured track parameters
  //
  if(O<0) return false;
  Q = 0.;
  if     (N==1) update = updateNoMeasuredWithOneDim(m,mv,p,pv);
  else if(N==2) update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
 
 
  if(update) Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
  return update;
}

update() [4/4]

bool Trk::KalmanUpdator_xk::update ( Trk::PatternTrackParameters & T, const LocalParameters & P, const Amg::MatrixX & E, int O, bool X, Trk::PatternTrackParameters & Ta, double & Q, int & N ) const

protected

Definition at line 1079 of file KalmanUpdator_xk.cxx.

{
  // Conversion local parameters
  //
  int k;
  double m[5];
  double mv[15]; if(!localParametersToUpdator(P,E,N,k,m,mv)) return false;
 
  // Conversion track parameters to updator presentation
  //
  double p[5];
  double pv[15];  bool measured = trackParametersToUpdator(T,p,pv);
  bool update = false;
 
  if(measured) {
 
    if     (N==2 && k==3) update = updateWithTwoDim(O,X,m,mv,p,pv,Q);
    else if(N==1 && k==1) update = updateWithOneDim(O,X,m,mv,p,pv,Q);
    else                  update = updateWithAnyDim(O,X,m,mv,p,pv,Q,N,k);
   if(update) {
     testAngles(p,pv);
     Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
   }
   return update;
  }
 
  // For no measured track parameters
  //
  if(O<0) return false;
  Q = 0.;
  if     (N==1 && k==1)  update = updateNoMeasuredWithOneDim(m,mv,p,pv);
  else if(N==2 && k==3)  update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
  else                   update = updateNoMeasuredWithAnyDim(m,mv,p,pv,k);
  if(update) Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
  return update;
}

updateNoMeasuredWithAnyDim()

bool Trk::KalmanUpdator_xk::updateNoMeasuredWithAnyDim ( const double * M, const double * MV, double * P, double * PV, int K ) const

protected

Definition at line 1257 of file KalmanUpdator_xk.cxx.

{
 
  int i=0;
  int j=0;
  while(K) {if(K&1) P[i]=M[j++]; K>>=1; ++i;} if(i==0) return false;
 
  PV[ 0] = m_cov0[0];
  PV[ 1] =        0.;
  PV[ 2] = m_cov0[1];
  PV[ 3] =        0.;
  PV[ 4] =        0.;
  PV[ 5] = m_cov0[2];
  PV[ 6] =        0.;
  PV[ 7] =        0.;
  PV[ 8] =        0.;
  PV[ 9] = m_cov0[3];
  PV[10] =        0.;
  PV[11] =        0.;
  PV[12] =        0.;
  PV[13] =        0.;
  PV[14] = m_cov0[4];
 
  int ne = m_key[K+1]; i=0;
  for(int n = m_key[K]; n!=ne; ++n) {PV[m_map[n]] = MV[i++];}
  return true;
}

updateNoMeasuredWithOneDim()

bool Trk::KalmanUpdator_xk::updateNoMeasuredWithOneDim ( const double * M, const double * MV, double * P, double * PV ) const

protected

Definition at line 1198 of file KalmanUpdator_xk.cxx.

{
  P [ 0] =    M [ 0];
  PV[ 0] =    MV[ 0];
  PV[ 1] =        0.;
  PV[ 2] = m_cov0[1];
  PV[ 3] =        0.;
  PV[ 4] =        0.;
  PV[ 5] = m_cov0[2];
  PV[ 6] =        0.;
  PV[ 7] =        0.;
  PV[ 8] =        0.;
  PV[ 9] = m_cov0[3];
  PV[10] =        0.;
  PV[11] =        0.;
  PV[12] =        0.;
  PV[13] =        0.;
  PV[14] = m_cov0[4];
  return true;
}

updateNoMeasuredWithTwoDim()

bool Trk::KalmanUpdator_xk::updateNoMeasuredWithTwoDim ( const double * M, const double * MV, double * P, double * PV ) const

protected

Definition at line 1226 of file KalmanUpdator_xk.cxx.

{
  P [ 0] =    M [ 0];
  P [ 1] =    M [ 1];
  PV[ 0] =    MV[ 0];
  PV[ 1] =    MV[ 1];
  PV[ 2] =    MV[ 2];
  PV[ 3] =        0.;
  PV[ 4] =        0.;
  PV[ 5] = m_cov0[2];
  PV[ 6] =        0.;
  PV[ 7] =        0.;
  PV[ 8] =        0.;
  PV[ 9] = m_cov0[3];
  PV[10] =        0.;
  PV[11] =        0.;
  PV[12] =        0.;
  PV[13] =        0.;
  PV[14] = m_cov0[4];
  return true;
}

updateOneDimension()

bool Trk::KalmanUpdator_xk::updateOneDimension ( Trk::PatternTrackParameters & T, const Amg::Vector2D & P, const Amg::MatrixX & E, int O, bool X, Trk::PatternTrackParameters & Ta, double & Q ) const

protected

Definition at line 962 of file KalmanUpdator_xk.cxx.

{
  // Measurement information preparation
  //
  double m[2];
  double mv[3];
  int N  = E.rows(); if(N!=2 ) return false;
  m [0]  = P[0];
  m [1]  = P[1];
  mv[0]  = E(0,0);
  mv[1]  = E(1,0);
  mv[2]  = E(1,1);
 
  // Conversion track parameters to updator presentation
  //
  double p[5];
  double pv[15];  bool measured = trackParametersToUpdator(T,p,pv);
  bool update = false;
 
  if(measured) {
 
    if(fabs(mv[1]) < 1.e-30) {
      update = updateWithOneDimWithBoundary(O,X,m,mv,p,pv,Q);
    }
    else                     {
      update = updateWithTwoDimWithBoundary(O,X,m,mv,p,pv,Q);
    }
    if(update) {
      testAngles(p,pv);
      Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
    }
    return update;
  }
 
  // For no measured track parameters
  //
  if(O<0) return false;
  Q = 0.;
  update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
  if(update) Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
  return update;
}

updateParameterDifference()

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

finaloverridevirtual

pure AMG interface for reference-track KF, allowing update of parameter differences

Implements Trk::IUpdator.

Definition at line 280 of file KalmanUpdator_xk.cxx.

{
  Q = nullptr;
 
  // Conversion local parameters
  //
  int n = Ep.cols(); if(n==0 || n>5) return nullptr;
  double m[5];
  double mv[15];
 
  m [ 0]=P (0  );
  mv[ 0]=Ep(0,0);
 
  if(n>1) {
    m [ 1]=P (1  );
    mv[ 1]=Ep(1,0); mv[ 2]=Ep(1,1);
  }
  if(n>2) {
    m [ 2]=P (2  );
    mv[ 3]=Ep(2,0); mv[ 4]=Ep(2,1); mv[ 5]=Ep(2,2);
  }
  if(n>3) {
    m [ 3]=P (3  );
    mv[ 6]=Ep(3,0); mv[ 7]=Ep(3,1); mv[ 8]=Ep(3,2); mv[ 9]=Ep(3,3);
  }
  if(n>4) {
    m [ 4]=P(4  );
    mv[10]=Ep(4,0); mv[11]=Ep(4,1); mv[12]=Ep(4,2); mv[13]=Ep(4,3); mv[14]=Ep(4,4);
  }
 
  // Conversion track parameters to updator presentation
  //
  double p [ 5] = {T(0),T(1),T(2),T(3),T(4)};
  double pv[15] = {Et(0,0),
           Et(1,0),Et(1,1),
           Et(2,0),Et(2,1),Et(2,2),
           Et(3,0),Et(3,1),Et(3,2),Et(3,3),
           Et(4,0),Et(4,1),Et(4,2),Et(4,3),Et(4,4)};
 
  bool update = false;
  double x2;
  if     (n==2 && K==3) {
    update = updateWithTwoDim(1,X,m,mv,p,pv,x2);
    if(update && X) Q = new Trk::FitQualityOnSurface(x2,2);
  }
  else if(n==1 && K==1) {
    update = updateWithOneDim(1,X,m,mv,p,pv,x2);
    if(update && X) Q = new Trk::FitQualityOnSurface(x2,1);
  }
  else                  {
    update = updateWithAnyDim(1,X,m,mv,p,pv,x2,n,K);
    if(update && X) Q = new Trk::FitQualityOnSurface(x2,n);
  }
  if(!update) return nullptr;
 
  testAngles(p,pv);
 
  AmgVector(5)    nT ; nT <<p[0],p[1],p[2],p[3],p[4];
  AmgSymMatrix(5) nEt; nEt<<
             pv[ 0],pv[ 1],pv[ 3],pv[ 6],pv[10],
             pv[ 1],pv[ 2],pv[ 4],pv[ 7],pv[11],
             pv[ 3],pv[ 4],pv[ 5],pv[ 8],pv[12],
             pv[ 6],pv[ 7],pv[ 8],pv[ 9],pv[13],
             pv[10],pv[11],pv[12],pv[13],pv[14];
 
  return new std::pair<AmgVector(5),AmgSymMatrix(5)>(std::make_pair(nT,nEt));
}

updateVHKA()

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

inlineinherited

Definition at line 308 of file AthCommonDataStore.h.

                                               {
    // debug() << "updateVHKA for property " << p.name() << " " << p.toString() 
    //         << "  size: " << m_vhka.size() << endmsg;
    for (auto &a : m_vhka) {
      std::vector<SG::VarHandleKey*> keys = a->keys();
      for (auto k : keys) {
        k->setOwner(this);
      }
    }
  }

updateWithAnyDim()

bool Trk::KalmanUpdator_xk::updateWithAnyDim ( int O, bool X, double * M, const double * MV, double * P, double * PV, double & xi2, int N, int K ) const

protected

Definition at line 1723 of file KalmanUpdator_xk.cxx.

{
  double s;
  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
  int ib = m_key[K];
  int ie=m_key[K+1];
 
  if(O>0) {s= 1.; for(int i=ib; i!=ie; ++i) {w[i-ib] = MV[i-ib]+PV[m_map[i]];}}
  else    {s=-1.; for(int i=ib; i!=ie; ++i) {w[i-ib] = MV[i-ib]-PV[m_map[i]];}}
 
  if(N==1) w[0] = 1./w[0]; else if(!invert(N,w,w)) return false;
  double v[15]={0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.};
  for(int i=ib; i!=ie; ++i) {v[m_map[i]] =w[i-ib];}
 
  double k00 =((PV[ 0]*v[ 0]+PV[ 1]*v[ 1]+PV[ 3]*v[ 3])+(PV[ 6]*v[ 6]+PV[10]*v[10]))*s;
  double k01 =((PV[ 0]*v[ 1]+PV[ 1]*v[ 2]+PV[ 3]*v[ 4])+(PV[ 6]*v[ 7]+PV[10]*v[11]))*s;
  double k02 =((PV[ 0]*v[ 3]+PV[ 1]*v[ 4]+PV[ 3]*v[ 5])+(PV[ 6]*v[ 8]+PV[10]*v[12]))*s;
  double k03 =((PV[ 0]*v[ 6]+PV[ 1]*v[ 7]+PV[ 3]*v[ 8])+(PV[ 6]*v[ 9]+PV[10]*v[13]))*s;
  double k04 =((PV[ 0]*v[10]+PV[ 1]*v[11]+PV[ 3]*v[12])+(PV[ 6]*v[13]+PV[10]*v[14]))*s;
  double k10 =((PV[ 1]*v[ 0]+PV[ 2]*v[ 1]+PV[ 4]*v[ 3])+(PV[ 7]*v[ 6]+PV[11]*v[10]))*s;
  double k11 =((PV[ 1]*v[ 1]+PV[ 2]*v[ 2]+PV[ 4]*v[ 4])+(PV[ 7]*v[ 7]+PV[11]*v[11]))*s;
  double k12 =((PV[ 1]*v[ 3]+PV[ 2]*v[ 4]+PV[ 4]*v[ 5])+(PV[ 7]*v[ 8]+PV[11]*v[12]))*s;
  double k13 =((PV[ 1]*v[ 6]+PV[ 2]*v[ 7]+PV[ 4]*v[ 8])+(PV[ 7]*v[ 9]+PV[11]*v[13]))*s;
  double k14 =((PV[ 1]*v[10]+PV[ 2]*v[11]+PV[ 4]*v[12])+(PV[ 7]*v[13]+PV[11]*v[14]))*s;
  double k20 =((PV[ 3]*v[ 0]+PV[ 4]*v[ 1]+PV[ 5]*v[ 3])+(PV[ 8]*v[ 6]+PV[12]*v[10]))*s;
  double k21 =((PV[ 3]*v[ 1]+PV[ 4]*v[ 2]+PV[ 5]*v[ 4])+(PV[ 8]*v[ 7]+PV[12]*v[11]))*s;
  double k22 =((PV[ 3]*v[ 3]+PV[ 4]*v[ 4]+PV[ 5]*v[ 5])+(PV[ 8]*v[ 8]+PV[12]*v[12]))*s;
  double k23 =((PV[ 3]*v[ 6]+PV[ 4]*v[ 7]+PV[ 5]*v[ 8])+(PV[ 8]*v[ 9]+PV[12]*v[13]))*s;
  double k24 =((PV[ 3]*v[10]+PV[ 4]*v[11]+PV[ 5]*v[12])+(PV[ 8]*v[13]+PV[12]*v[14]))*s;
  double k30 =((PV[ 6]*v[ 0]+PV[ 7]*v[ 1]+PV[ 8]*v[ 3])+(PV[ 9]*v[ 6]+PV[13]*v[10]))*s;
  double k31 =((PV[ 6]*v[ 1]+PV[ 7]*v[ 2]+PV[ 8]*v[ 4])+(PV[ 9]*v[ 7]+PV[13]*v[11]))*s;
  double k32 =((PV[ 6]*v[ 3]+PV[ 7]*v[ 4]+PV[ 8]*v[ 5])+(PV[ 9]*v[ 8]+PV[13]*v[12]))*s;
  double k33 =((PV[ 6]*v[ 6]+PV[ 7]*v[ 7]+PV[ 8]*v[ 8])+(PV[ 9]*v[ 9]+PV[13]*v[13]))*s;
  double k34 =((PV[ 6]*v[10]+PV[ 7]*v[11]+PV[ 8]*v[12])+(PV[ 9]*v[13]+PV[13]*v[14]))*s;
  double k40 =((PV[10]*v[ 0]+PV[11]*v[ 1]+PV[12]*v[ 3])+(PV[13]*v[ 6]+PV[14]*v[10]))*s;
  double k41 =((PV[10]*v[ 1]+PV[11]*v[ 2]+PV[12]*v[ 4])+(PV[13]*v[ 7]+PV[14]*v[11]))*s;
  double k42 =((PV[10]*v[ 3]+PV[11]*v[ 4]+PV[12]*v[ 5])+(PV[13]*v[ 8]+PV[14]*v[12]))*s;
  double k43 =((PV[10]*v[ 6]+PV[11]*v[ 7]+PV[12]*v[ 8])+(PV[13]*v[ 9]+PV[14]*v[13]))*s;
  double k44 =((PV[10]*v[10]+PV[11]*v[11]+PV[12]*v[12])+(PV[13]*v[13]+PV[14]*v[14]))*s;
 
  // Residial production
  //
  double r[5]; differenceLocPar(K,M,P,r);
 
  // New parameters
  //
  double p0 =(k00*r[0]+k01*r[1]+k02*r[2])+(k03*r[3]+k04*r[4]); P[0]+=p0;
  double p1 =(k10*r[0]+k11*r[1]+k12*r[2])+(k13*r[3]+k14*r[4]); P[1]+=p1;
  double p2 =(k20*r[0]+k21*r[1]+k22*r[2])+(k23*r[3]+k24*r[4]); P[2]+=p2;
  double p3 =(k30*r[0]+k31*r[1]+k32*r[2])+(k33*r[3]+k34*r[4]); P[3]+=p3;
  double p4 =(k40*r[0]+k41*r[1]+k42*r[2])+(k43*r[3]+k44*r[4]); P[4]+=p4;
 
  // New covariance matrix
  //
  double v0  =(k00*PV[ 0]+k01*PV[ 1]+k02*PV[ 3])+(k03*PV[ 6]+k04*PV[10]);
  double v1  =(k10*PV[ 0]+k11*PV[ 1]+k12*PV[ 3])+(k13*PV[ 6]+k14*PV[10]);
  double v2  =(k10*PV[ 1]+k11*PV[ 2]+k12*PV[ 4])+(k13*PV[ 7]+k14*PV[11]);
  double v3  =(k20*PV[ 0]+k21*PV[ 1]+k22*PV[ 3])+(k23*PV[ 6]+k24*PV[10]);
  double v4  =(k20*PV[ 1]+k21*PV[ 2]+k22*PV[ 4])+(k23*PV[ 7]+k24*PV[11]);
  double v5  =(k20*PV[ 3]+k21*PV[ 4]+k22*PV[ 5])+(k23*PV[ 8]+k24*PV[12]);
  double v6  =(k30*PV[ 0]+k31*PV[ 1]+k32*PV[ 3])+(k33*PV[ 6]+k34*PV[10]);
  double v7  =(k30*PV[ 1]+k31*PV[ 2]+k32*PV[ 4])+(k33*PV[ 7]+k34*PV[11]);
  double v8  =(k30*PV[ 3]+k31*PV[ 4]+k32*PV[ 5])+(k33*PV[ 8]+k34*PV[12]);
  double v9  =(k30*PV[ 6]+k31*PV[ 7]+k32*PV[ 8])+(k33*PV[ 9]+k34*PV[13]);
  double v10 =(k40*PV[ 0]+k41*PV[ 1]+k42*PV[ 3])+(k43*PV[ 6]+k44*PV[10]);
  double v11 =(k40*PV[ 1]+k41*PV[ 2]+k42*PV[ 4])+(k43*PV[ 7]+k44*PV[11]);
  double v12 =(k40*PV[ 3]+k41*PV[ 4]+k42*PV[ 5])+(k43*PV[ 8]+k44*PV[12]);
  double v13 =(k40*PV[ 6]+k41*PV[ 7]+k42*PV[ 8])+(k43*PV[ 9]+k44*PV[13]);
  double v14 =(k40*PV[10]+k41*PV[11]+k42*PV[12])+(k43*PV[13]+k44*PV[14]);
  PV[ 0]-=v0 ;
  PV[ 1]-=v1 ; PV[ 2]-=v2 ;
  PV[ 3]-=v3 ; PV[ 4]-=v4 ; PV[ 5]-=v5 ;
  PV[ 6]-=v6 ; PV[ 7]-=v7 ; PV[ 8]-=v8 ; PV[ 9]-=v9 ;
  PV[10]-=v10; PV[11]-=v11; PV[12]-=v12; PV[13]-=v13; PV[14]-=v14;
 
  if(PV[0]<=0.||PV[2]<=0.||PV[5]<=0.||PV[9]<=0.||PV[14]<=0.) return false;
 
  if(X) xi2 = Xi2(5,r,v);
  return true;
}

updateWithFiveDim()

bool Trk::KalmanUpdator_xk::updateWithFiveDim ( bool X, double * M, double * MV, double * P, double * PV, double & xi2 )

staticprotected

Definition at line 1620 of file KalmanUpdator_xk.cxx.

{
  const double pi2 = 2.*M_PI;
  const double pi = M_PI;
 
  double w[15]={MV[ 0]+PV[ 0],MV[ 1]+PV[ 1],MV[ 2]+PV[ 2],
        MV[ 3]+PV[ 3],MV[ 4]+PV[ 4],MV[ 5]+PV[ 5],
        MV[ 6]+PV[ 6],MV[ 7]+PV[ 7],MV[ 8]+PV[ 8],
        MV[ 9]+PV[ 9],MV[10]+PV[10],MV[11]+PV[11],
        MV[12]+PV[12],MV[13]+PV[13],MV[14]+PV[14]};
 
  if(!invert5(w,w)) return false;
 
  double k00 =(PV[ 0]*w[ 0]+PV[ 1]*w[ 1]+PV[ 3]*w[ 3])+(PV[ 6]*w[ 6]+PV[10]*w[10]);
  double k01 =(PV[ 0]*w[ 1]+PV[ 1]*w[ 2]+PV[ 3]*w[ 4])+(PV[ 6]*w[ 7]+PV[10]*w[11]);
  double k02 =(PV[ 0]*w[ 3]+PV[ 1]*w[ 4]+PV[ 3]*w[ 5])+(PV[ 6]*w[ 8]+PV[10]*w[12]);
  double k03 =(PV[ 0]*w[ 6]+PV[ 1]*w[ 7]+PV[ 3]*w[ 8])+(PV[ 6]*w[ 9]+PV[10]*w[13]);
  double k04 =(PV[ 0]*w[10]+PV[ 1]*w[11]+PV[ 3]*w[12])+(PV[ 6]*w[13]+PV[10]*w[14]);
  double k10 =(PV[ 1]*w[ 0]+PV[ 2]*w[ 1]+PV[ 4]*w[ 3])+(PV[ 7]*w[ 6]+PV[11]*w[10]);
  double k11 =(PV[ 1]*w[ 1]+PV[ 2]*w[ 2]+PV[ 4]*w[ 4])+(PV[ 7]*w[ 7]+PV[11]*w[11]);
  double k12 =(PV[ 1]*w[ 3]+PV[ 2]*w[ 4]+PV[ 4]*w[ 5])+(PV[ 7]*w[ 8]+PV[11]*w[12]);
  double k13 =(PV[ 1]*w[ 6]+PV[ 2]*w[ 7]+PV[ 4]*w[ 8])+(PV[ 7]*w[ 9]+PV[11]*w[13]);
  double k14 =(PV[ 1]*w[10]+PV[ 2]*w[11]+PV[ 4]*w[12])+(PV[ 7]*w[13]+PV[11]*w[14]);
  double k20 =(PV[ 3]*w[ 0]+PV[ 4]*w[ 1]+PV[ 5]*w[ 3])+(PV[ 8]*w[ 6]+PV[12]*w[10]);
  double k21 =(PV[ 3]*w[ 1]+PV[ 4]*w[ 2]+PV[ 5]*w[ 4])+(PV[ 8]*w[ 7]+PV[12]*w[11]);
  double k22 =(PV[ 3]*w[ 3]+PV[ 4]*w[ 4]+PV[ 5]*w[ 5])+(PV[ 8]*w[ 8]+PV[12]*w[12]);
  double k23 =(PV[ 3]*w[ 6]+PV[ 4]*w[ 7]+PV[ 5]*w[ 8])+(PV[ 8]*w[ 9]+PV[12]*w[13]);
  double k24 =(PV[ 3]*w[10]+PV[ 4]*w[11]+PV[ 5]*w[12])+(PV[ 8]*w[13]+PV[12]*w[14]);
  double k30 =(PV[ 6]*w[ 0]+PV[ 7]*w[ 1]+PV[ 8]*w[ 3])+(PV[ 9]*w[ 6]+PV[13]*w[10]);
  double k31 =(PV[ 6]*w[ 1]+PV[ 7]*w[ 2]+PV[ 8]*w[ 4])+(PV[ 9]*w[ 7]+PV[13]*w[11]);
  double k32 =(PV[ 6]*w[ 3]+PV[ 7]*w[ 4]+PV[ 8]*w[ 5])+(PV[ 9]*w[ 8]+PV[13]*w[12]);
  double k33 =(PV[ 6]*w[ 6]+PV[ 7]*w[ 7]+PV[ 8]*w[ 8])+(PV[ 9]*w[ 9]+PV[13]*w[13]);
  double k34 =(PV[ 6]*w[10]+PV[ 7]*w[11]+PV[ 8]*w[12])+(PV[ 9]*w[13]+PV[13]*w[14]);
  double k40 =(PV[10]*w[ 0]+PV[11]*w[ 1]+PV[12]*w[ 3])+(PV[13]*w[ 6]+PV[14]*w[10]);
  double k41 =(PV[10]*w[ 1]+PV[11]*w[ 2]+PV[12]*w[ 4])+(PV[13]*w[ 7]+PV[14]*w[11]);
  double k42 =(PV[10]*w[ 3]+PV[11]*w[ 4]+PV[12]*w[ 5])+(PV[13]*w[ 8]+PV[14]*w[12]);
  double k43 =(PV[10]*w[ 6]+PV[11]*w[ 7]+PV[12]*w[ 8])+(PV[13]*w[ 9]+PV[14]*w[13]);
  double k44 =(PV[10]*w[10]+PV[11]*w[11]+PV[12]*w[12])+(PV[13]*w[13]+PV[14]*w[14]);
 
  // Residial production
  //
  double r[5]={M[0]-P[0],M[1]-P[1],M[2]-P[2],M[3]-P[3],M[4]-P[4]};
 
  // Test for angles differences
  //
  if     (r[2] > pi) r[2] = fmod(r[2]+pi,pi2)-pi;
  else if(r[2] <-pi) r[2] = fmod(r[2]-pi,pi2)+pi;
  if     (r[3] > pi) r[3] = fmod(r[3]+pi,pi2)-pi;
  else if(r[3] <-pi) r[3] = fmod(r[3]-pi,pi2)+pi;
 
  // New parameters
  //
  double p0 =(k00*r[0]+k01*r[1]+k02*r[2])+(k03*r[3]+k04*r[4]); P[0]+=p0;
  double p1 =(k10*r[0]+k11*r[1]+k12*r[2])+(k13*r[3]+k14*r[4]); P[1]+=p1;
  double p2 =(k20*r[0]+k21*r[1]+k22*r[2])+(k23*r[3]+k24*r[4]); P[2]+=p2;
  double p3 =(k30*r[0]+k31*r[1]+k32*r[2])+(k33*r[3]+k34*r[4]); P[3]+=p3;
  double p4 =(k40*r[0]+k41*r[1]+k42*r[2])+(k43*r[3]+k44*r[4]); P[4]+=p4;
 
  // New covariance matrix
  //
  double v0  =(k00*PV[ 0]+k01*PV[ 1]+k02*PV[ 3])+(k03*PV[ 6]+k04*PV[10]);
  double v1  =(k10*PV[ 0]+k11*PV[ 1]+k12*PV[ 3])+(k13*PV[ 6]+k14*PV[10]);
  double v2  =(k10*PV[ 1]+k11*PV[ 2]+k12*PV[ 4])+(k13*PV[ 7]+k14*PV[11]);
  double v3  =(k20*PV[ 0]+k21*PV[ 1]+k22*PV[ 3])+(k23*PV[ 6]+k24*PV[10]);
  double v4  =(k20*PV[ 1]+k21*PV[ 2]+k22*PV[ 4])+(k23*PV[ 7]+k24*PV[11]);
  double v5  =(k20*PV[ 3]+k21*PV[ 4]+k22*PV[ 5])+(k23*PV[ 8]+k24*PV[12]);
  double v6  =(k30*PV[ 0]+k31*PV[ 1]+k32*PV[ 3])+(k33*PV[ 6]+k34*PV[10]);
  double v7  =(k30*PV[ 1]+k31*PV[ 2]+k32*PV[ 4])+(k33*PV[ 7]+k34*PV[11]);
  double v8  =(k30*PV[ 3]+k31*PV[ 4]+k32*PV[ 5])+(k33*PV[ 8]+k34*PV[12]);
  double v9  =(k30*PV[ 6]+k31*PV[ 7]+k32*PV[ 8])+(k33*PV[ 9]+k34*PV[13]);
  double v10 =(k40*PV[ 0]+k41*PV[ 1]+k42*PV[ 3])+(k43*PV[ 6]+k44*PV[10]);
  double v11 =(k40*PV[ 1]+k41*PV[ 2]+k42*PV[ 4])+(k43*PV[ 7]+k44*PV[11]);
  double v12 =(k40*PV[ 3]+k41*PV[ 4]+k42*PV[ 5])+(k43*PV[ 8]+k44*PV[12]);
  double v13 =(k40*PV[ 6]+k41*PV[ 7]+k42*PV[ 8])+(k43*PV[ 9]+k44*PV[13]);
  double v14 =(k40*PV[10]+k41*PV[11]+k42*PV[12])+(k43*PV[13]+k44*PV[14]);
 
  if((PV[ 0]-=v0 )<=0.) return false;
      PV[ 1]-=v1 ;
  if((PV[ 2]-=v2 )<=0.) return false;
      PV[ 3]-=v3 ;
      PV[ 4]-=v4 ;
  if((PV[ 5]-=v5 )<=0.) return false;
      PV[ 6]-=v6 ;
      PV[ 7]-=v7 ;
      PV[ 8]-=v8 ;
  if((PV[ 9]-=v9 )<=0.) return false;
      PV[10]-=v10;
      PV[11]-=v11;
      PV[12]-=v12;
      PV[13]-=v13;
  if((PV[14]-=v14)<=0.) return false;
 
  if(X) xi2 = Xi2(5,r,w);
  return true;
}

updateWithOneDim()

bool Trk::KalmanUpdator_xk::updateWithOneDim ( int O, bool X, const double * M, const double * MV, double * P, double * PV, double & xi2 )

staticprotected

Definition at line 1292 of file KalmanUpdator_xk.cxx.

{
  double v0;
  if(O>0) {v0 = MV[0]+PV[0];}
  else    {v0 = MV[0]-PV[0];}
 
  if(v0<=0.) return false;
  double w0 = 1./v0;
  double r0 = M[0]-P[0];
 
  // K matrix with (5x1) size
  //
  double k0 = PV[ 0]*w0;
  double k1 = PV[ 1]*w0;
  double k2 = PV[ 3]*w0;
  double k3 = PV[ 6]*w0;
  double k4 = PV[10]*w0;
 
  if(O<0) {k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;}
 
  // New parameters
  //
  P[0]+=(k0*r0);
  P[1]+=(k1*r0);
  P[2]+=(k2*r0);
  P[3]+=(k3*r0);
  P[4]+=(k4*r0);
 
  // New covariance matrix
  //
  if((PV[14]-= (k4*PV[10]))<=0.) return false;
      PV[13]-= (k4*PV[ 6]);
      PV[12]-= (k4*PV[ 3]);
      PV[11]-= (k4*PV[ 1]);
      PV[10]-= (k4*PV[ 0]);
  if((PV[ 9]-= (k3*PV[ 6]))<=0.) return false;
      PV[ 8]-= (k3*PV[ 3]);
      PV[ 7]-= (k3*PV[ 1]);
      PV[ 6]-= (k3*PV[ 0]);
  if((PV[ 5]-= (k2*PV[ 3]))<=0.) return false;
      PV[ 4]-= (k2*PV[ 1]);
      PV[ 3]-= (k2*PV[ 0]);
  if((PV[ 2]-= (k1*PV[ 1]))<=0.) return false;
      PV[ 1]-= (k1*PV[ 0]);
  if((PV[ 0]-= (k0*PV[ 0]))<=0.) return false;
 
  if(X) xi2 = r0*r0*w0;
  return true;
}

updateWithOneDimWithBoundary()

bool Trk::KalmanUpdator_xk::updateWithOneDimWithBoundary ( int O, bool X, double * M, double * MV, double * P, double * PV, double & xi2 ) const

protected

Definition at line 1350 of file KalmanUpdator_xk.cxx.

{
  double v0;
  if(O>0) {v0 = MV[0]+PV[0];}
  else    {v0 = MV[0]-PV[0];}
 
  if(v0<=0.) return false;
  double w0 = 1./v0;
  double r0 = M[0]-P[0];
 
  // K matrix with (5x1) size
  //
  double k0 = PV[ 0]*w0;
  double k1 = PV[ 1]*w0;
  double k2 = PV[ 3]*w0;
  double k3 = PV[ 6]*w0;
  double k4 = PV[10]*w0;
 
  if(O<0) {k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;}
 
  // Boundary check
  //
  double P1 = P[1]+k1*r0          ;
  double dP = P1-M[1]             ;
  double W  = sqrt(MV[2])*1.732051;
 
  if(fabs(dP) <= W) {
 
    P[0]+=(k0*r0);
    P[1] = P1    ;
    P[2]+=(k2*r0);
    P[3]+=(k3*r0);
    P[4]+=(k4*r0);
    if(X) xi2 = r0*r0*w0;
  }
  else              {
 
    dP > W ? M[1]+=W : M[1]-=W; MV[2] = m_covBoundary;
    if(!updateWithTwoDimParameters(O,true,M,MV,P,PV,xi2)) return false;
  }
 
  // New covariance matrix
  //
  if((PV[14]-= (k4*PV[10]))<=0.) return false;
      PV[13]-= (k4*PV[ 6]);
      PV[12]-= (k4*PV[ 3]);
      PV[11]-= (k4*PV[ 1]);
      PV[10]-= (k4*PV[ 0]);
  if((PV[ 9]-= (k3*PV[ 6]))<=0.) return false;
      PV[ 8]-= (k3*PV[ 3]);
      PV[ 7]-= (k3*PV[ 1]);
      PV[ 6]-= (k3*PV[ 0]);
  if((PV[ 5]-= (k2*PV[ 3]))<=0.) return false;
      PV[ 4]-= (k2*PV[ 1]);
      PV[ 3]-= (k2*PV[ 0]);
  if((PV[ 2]-= (k1*PV[ 1]))<=0.) return false;
      PV[ 1]-= (k1*PV[ 0]);
  return (PV[ 0]-= (k0*PV[ 0])) > 0.;
}

updateWithTwoDim()

bool Trk::KalmanUpdator_xk::updateWithTwoDim ( int O, bool X, const double * M, const double * MV, double * P, double * PV, double & xi2 )

staticprotected

Definition at line 1417 of file KalmanUpdator_xk.cxx.

{
  double v0;
  double v1;
  double v2;
  if(O>0) {v0 = MV[0]+PV[0]; v1 = MV[1]+PV[1]; v2 = MV[2]+PV[2];}
  else    {v0 = MV[0]-PV[0]; v1 = MV[1]-PV[1]; v2 = MV[2]-PV[2];}
 
  double d  = v0*v2-v1*v1; if(d<=0.) return false; d=1./d;
  double w0 = v2*d;
  double w1 =-v1*d;
  double w2 = v0*d;
  double r0 = M[0]-P[0];
  double r1 = M[1]-P[1];
 
  // K matrix with (5x2) size
  //
  double k0 = PV[ 0]*w0+PV[ 1]*w1;
  double k1 = PV[ 0]*w1+PV[ 1]*w2;
  double k2 = PV[ 1]*w0+PV[ 2]*w1;
  double k3 = PV[ 1]*w1+PV[ 2]*w2;
  double k4 = PV[ 3]*w0+PV[ 4]*w1;
  double k5 = PV[ 3]*w1+PV[ 4]*w2;
  double k6 = PV[ 6]*w0+PV[ 7]*w1;
  double k7 = PV[ 6]*w1+PV[ 7]*w2;
  double k8 = PV[10]*w0+PV[11]*w1;
  double k9 = PV[10]*w1+PV[11]*w2;
 
  if(O<0) {
    k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;
    k5=-k5; k6=-k6; k7=-k7; k8=-k8; k9=-k9;
  }
 
  // New parameters
  //
  P[0]+=(k0*r0+k1*r1);
  P[1]+=(k2*r0+k3*r1);
  P[2]+=(k4*r0+k5*r1);
  P[3]+=(k6*r0+k7*r1);
  P[4]+=(k8*r0+k9*r1);
 
  // New covariance matrix
  //
  if((PV[14]-= (k8*PV[10]+k9*PV[11]))<=0.) return false;
      PV[13]-= (k8*PV[ 6]+k9*PV[ 7]);
      PV[12]-= (k8*PV[ 3]+k9*PV[ 4]);
      PV[11]-= (k8*PV[ 1]+k9*PV[ 2]);
      PV[10]-= (k8*PV[ 0]+k9*PV[ 1]);
  if((PV[ 9]-= (k6*PV[ 6]+k7*PV[ 7]))<=0.) return false;
      PV[ 8]-= (k6*PV[ 3]+k7*PV[ 4]);
      PV[ 7]-= (k6*PV[ 1]+k7*PV[ 2]);
      PV[ 6]-= (k6*PV[ 0]+k7*PV[ 1]);
  if((PV[ 5]-= (k4*PV[ 3]+k5*PV[ 4]))<=0.) return false;
      PV[ 4]-= (k4*PV[ 1]+k5*PV[ 2]);
      PV[ 3]-= (k4*PV[ 0]+k5*PV[ 1]);
  if((PV[ 2]-= (k3*PV[ 2]+k2*PV[ 1]))<=0.) return false;
  double c1 = (1.-k3)*PV[ 1]-k2*PV[ 0];
  if((PV[ 0]-= (k0*PV[ 0]+k1*PV[ 1]))<=0.) return false;
      PV[ 1] = c1;
 
  if(X) xi2 = (r0*r0*w0+r1*r1*w2+2.*r0*r1*w1);
  return true;
}

updateWithTwoDimParameters()

bool Trk::KalmanUpdator_xk::updateWithTwoDimParameters ( int O, bool X, const double * M, const double * MV, double * P, const double * PV, double & xi2 )

staticprotected

Definition at line 1489 of file KalmanUpdator_xk.cxx.

{
  double v0;
  double v1;
  double v2;
  if(O>0) {v0 = MV[0]+PV[0]; v1 = MV[1]+PV[1]; v2 = MV[2]+PV[2];}
  else    {v0 = MV[0]-PV[0]; v1 = MV[1]-PV[1]; v2 = MV[2]-PV[2];}
 
  double d  = v0*v2-v1*v1; if(d<=0.) return false; d=1./d;
  double w0 = v2*d;
  double w1 =-v1*d;
  double w2 = v0*d;
  double r0 = M[0]-P[0];
  double r1 = M[1]-P[1];
 
  // K matrix with (5x2) size
  //
  double k0 = PV[ 0]*w0+PV[ 1]*w1;
  double k1 = PV[ 0]*w1+PV[ 1]*w2;
  double k2 = PV[ 1]*w0+PV[ 2]*w1;
  double k3 = PV[ 1]*w1+PV[ 2]*w2;
  double k4 = PV[ 3]*w0+PV[ 4]*w1;
  double k5 = PV[ 3]*w1+PV[ 4]*w2;
  double k6 = PV[ 6]*w0+PV[ 7]*w1;
  double k7 = PV[ 6]*w1+PV[ 7]*w2;
  double k8 = PV[10]*w0+PV[11]*w1;
  double k9 = PV[10]*w1+PV[11]*w2;
 
  if(O<0) {
    k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;
    k5=-k5; k6=-k6; k7=-k7; k8=-k8; k9=-k9;
  }
 
  // New parameters
  //
  P[0]+=(k0*r0+k1*r1);
  P[1]+=(k2*r0+k3*r1);
  P[2]+=(k4*r0+k5*r1);
  P[3]+=(k6*r0+k7*r1);
  P[4]+=(k8*r0+k9*r1);
  if(X) xi2 = (r0*r0*w0+r1*r1*w2+2.*r0*r1*w1);
  return true;
}

updateWithTwoDimWithBoundary()

bool Trk::KalmanUpdator_xk::updateWithTwoDimWithBoundary ( int O, bool X, double * M, double * MV, double * P, double * PV, double & xi2 ) const

protected

Definition at line 1541 of file KalmanUpdator_xk.cxx.

{
  // Increase second covariance
  //
  double sa  = MV[0]+MV[2]            ;
  double d   = MV[0]*MV[2]-MV[1]*MV[1];
  double ds  = d/sa                   ;
  double V0  = ds*(1.+ds/sa)          ;
  double V1  = sa-V0                  ;
  double dV  = 1./(V0-V1)             ;
  double sc  = MV[1]*dV               ;
  double al  = (MV[0]-MV[2])*dV       ;
  double s2  = .5*(1.-al)             ;
  double c2  = s2+al                  ;
  double c   = sqrt(c2)               ;
  double s   = sc/c                   ;
 
  // New measurement
  //
  double M0 = c*M[0]+s*M[1];
  M [ 1]    = c*M[1]-s*M[0];
  M [ 0]    = M0           ;
  MV[ 0]    = V0           ;
  MV[ 1]    = 0.           ;
  MV[ 2]    = V1           ;
 
  // Rotate track parameters and covariance matrix
  //
  double P0  = P[0]                     ;
  P [ 0]     = c*P0  +s*P[1]            ;
  P [ 1]     = c*P[1]-s*P0              ;
  double B   = 2.*sc*PV[ 1]             ;
  double PV0 = PV[ 0]                   ;
  double PV3 = PV[ 3]                   ;
  double PV6 = PV[ 6]                   ;
  double PV10= PV[10]                   ;
  PV[ 0]     = c2*PV0+s2*PV[ 2]+B       ;
  PV[ 1]     = sc*(PV[ 2]-PV0)+PV[ 1]*al;
  PV[ 2]     = s2*PV0+c2*PV[ 2]-B       ;
  PV[ 3]     = c*PV3   +s*PV[ 4]        ;
  PV[ 4]     = c*PV[ 4]-s*PV3           ;
  PV[ 6]     = c*PV6   +s*PV[ 7]        ;
  PV[ 7]     = c*PV[ 7]-s*PV6           ;
  PV[10]     = c*PV10  +s*PV[11]        ;
  PV[11]     = c*PV[11]-s*PV10          ;
 
  if(!updateWithOneDimWithBoundary(O,X,M,MV,P,PV,xi2)) return false;
 
  // Back rotation new track parameters and covariance matrix
  //
  s = -s; sc = -sc;
 
  P0         = P[0]                     ;
  P [ 0]     = c*P0  +s*P[1]            ;
  P [ 1]     = c*P[1]-s*P0              ;
  B          = 2.*sc*PV[ 1]             ;
  PV0        = PV[ 0]                   ;
  PV3        = PV[ 3]                   ;
  PV6        = PV[ 6]                   ;
  PV10       = PV[10]                   ;
  PV[ 0]     = c2*PV0+s2*PV[ 2]+B       ;
  PV[ 1]     = sc*(PV[ 2]-PV0)+PV[ 1]*al;
  PV[ 2]     = s2*PV0+c2*PV[ 2]-B       ;
  PV[ 3]     = c*PV3   +s*PV[ 4]        ;
  PV[ 4]     = c*PV[ 4]-s*PV3           ;
  PV[ 6]     = c*PV6   +s*PV[ 7]        ;
  PV[ 7]     = c*PV[ 7]-s*PV6           ;
  PV[10]     = c*PV10  +s*PV[11]        ;
  PV[11]     = c*PV[11]-s*PV10          ;
  return true;
}

updatorToTrackParameters()

std::unique_ptr< Trk::TrackParameters > Trk::KalmanUpdator_xk::updatorToTrackParameters ( const TrackParameters & T, double * P, double * V )

staticprotected

Definition at line 1923 of file KalmanUpdator_xk.cxx.

{
  AmgSymMatrix(5) e;
  e<<  V[ 0],V[ 1],V[ 3],V[ 6],V[10],
       V[ 1],V[ 2],V[ 4],V[ 7],V[11],
       V[ 3],V[ 4],V[ 5],V[ 8],V[12],
       V[ 6],V[ 7],V[ 8],V[ 9],V[13],
       V[10],V[11],V[12],V[13],V[14];
  return T.associatedSurface().createUniqueTrackParameters(P[0],P[1],P[2],P[3],P[4],std::move(e));
}

Xi2()

double Trk::KalmanUpdator_xk::Xi2 ( int N, double * R, double * W )

staticprotected

Definition at line 2156 of file KalmanUpdator_xk.cxx.

{
  if(N==1) return Xi2for1(R,W);
  if(N==2) return Xi2for2(R,W);
  if(N==3) return Xi2for3(R,W);
  if(N==4) return Xi2for4(R,W);
  if(N==5) return Xi2for5(R,W);
  return 0.;
}

Xi2for1()

double Trk::KalmanUpdator_xk::Xi2for1 ( const double * R, const double * W )

staticprotected

Definition at line 2171 of file KalmanUpdator_xk.cxx.

{
  double Xi2 = R[0]*W[0]*R[0];
  return Xi2;
}

Xi2for2()

double Trk::KalmanUpdator_xk::Xi2for2 ( const double * R, const double * W )

staticprotected

Definition at line 2182 of file KalmanUpdator_xk.cxx.

{
  double Xi2 =
    (R[0]*W[ 0]+R[1]*W[ 1])*R[0]+
    (R[0]*W[ 1]+R[1]*W[ 2])*R[1];
  return Xi2;
}

Xi2for3()

double Trk::KalmanUpdator_xk::Xi2for3 ( const double * R, const double * W )

staticprotected

Definition at line 2195 of file KalmanUpdator_xk.cxx.

{
  double Xi2 =
    (R[0]*W[ 0]+R[1]*W[ 1]+R[2]*W[ 3])*R[0]+
    (R[0]*W[ 1]+R[1]*W[ 2]+R[2]*W[ 4])*R[1]+
    (R[0]*W[ 3]+R[1]*W[ 4]+R[2]*W[ 5])*R[2];
  return Xi2;
}

Xi2for4()

double Trk::KalmanUpdator_xk::Xi2for4 ( const double * R, const double * W )

staticprotected

Definition at line 2209 of file KalmanUpdator_xk.cxx.

{
  double Xi2 =
    ((R[0]*W[ 0]+R[1]*W[ 1])+(R[2]*W[ 3]+R[3]*W[ 6]))*R[0]+
    ((R[0]*W[ 1]+R[1]*W[ 2])+(R[2]*W[ 4]+R[3]*W[ 7]))*R[1]+
    ((R[0]*W[ 3]+R[1]*W[ 4])+(R[2]*W[ 5]+R[3]*W[ 8]))*R[2]+
    ((R[0]*W[ 6]+R[1]*W[ 7])+(R[2]*W[ 8]+R[3]*W[ 9]))*R[3];
  return Xi2;
}

Xi2for5()

double Trk::KalmanUpdator_xk::Xi2for5 ( const double * R, const double * W )

staticprotected

Definition at line 2224 of file KalmanUpdator_xk.cxx.

{
  double Xi2 =
    ((R[0]*W[ 0]+R[1]*W[ 1]+R[2]*W[ 3])+(R[3]*W[ 6]+R[4]*W[10]))*R[0]+
    ((R[0]*W[ 1]+R[1]*W[ 2]+R[2]*W[ 4])+(R[3]*W[ 7]+R[4]*W[11]))*R[1]+
    ((R[0]*W[ 3]+R[1]*W[ 4]+R[2]*W[ 5])+(R[3]*W[ 8]+R[4]*W[12]))*R[2]+
    ((R[0]*W[ 6]+R[1]*W[ 7]+R[2]*W[ 8])+(R[3]*W[ 9]+R[4]*W[13]))*R[3]+
    ((R[0]*W[10]+R[1]*W[11]+R[2]*W[12])+(R[3]*W[13]+R[4]*W[14]))*R[4];
  return Xi2;
}

Member Data Documentation

m_cov0

std::vector<double> Trk::KalmanUpdator_xk::m_cov0

protected

Definition at line 331 of file KalmanUpdator_xk.h.

m_covBoundary

double Trk::KalmanUpdator_xk::m_covBoundary

protected

Definition at line 334 of file KalmanUpdator_xk.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_key

unsigned int Trk::KalmanUpdator_xk::m_key[33] {}

protected

Definition at line 332 of file KalmanUpdator_xk.h.

{};

m_map

unsigned int Trk::KalmanUpdator_xk::m_map[160] {}

protected

Definition at line 333 of file KalmanUpdator_xk.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.

---

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

• KalmanUpdator_xk.h
• KalmanUpdator_xk.cxx