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Trk::KalmanUpdator_xk Class Referencefinal

#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 More...
 
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 More...
 
virtual bool addToState (PatternTrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, PatternTrackParameters &) const override final
 add without chi2 calculation, PRD-level, pattern track parameters More...
 
virtual bool addToState (PatternTrackParameters &, const LocalParameters &, const Amg::MatrixX &, PatternTrackParameters &) const override final
 add without chi2 calculation, ROT-level, pattern track parameters More...
 
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 More...
 
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. More...
 
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. More...
 
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). More...
 
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). More...
 
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). More...
 
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). More...
 
virtual std::pair< AmgVector(5), AmgSymMatrix(5)> * updateParameterDifference (const AmgVector(5) &, const AmgSymMatrix(5) &, const Amg::VectorX &, const Amg::MatrixX &, int, Trk::FitQualityOnSurface *&, bool) const override final
 pure AMG interface for reference-track KF, allowing update of parameter differences More...
 
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). More...
 
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). More...
 
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. More...
 
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. More...
 
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. More...
 
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). More...
 
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). More...
 
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! 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. More...
 
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! 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. More...
 
virtual bool combineStates (PatternTrackParameters &, PatternTrackParameters &, PatternTrackParameters &) const override final
 combine two track states into a resulting state. More...
 
virtual bool combineStates (PatternTrackParameters &, PatternTrackParameters &, PatternTrackParameters &, double &) const override final
 combine two track states into a resulting state and calculate chi2 contribution. More...
 
virtual FitQualityOnSurface predictedStateFitQuality (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a predicted track state, that is a state which does not contain the current hit (expressed as Amg::Vector2D). More...
 
virtual FitQualityOnSurface predictedStateFitQuality (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a predicted track state, that is a state which does not contain the current hit (expressed as LocalParameters). More...
 
virtual FitQualityOnSurface fullStateFitQuality (const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a full track state, that is a state which contains the current hit (expressed as Amg::Vector2D). More...
 
virtual FitQualityOnSurface fullStateFitQuality (const TrackParameters &, const LocalParameters &, const Amg::MatrixX &) const override final
 estimator for FitQuality on Surface from a full track state, that is a state which contains the current hit (expressed as LocalParameters). More...
 
virtual FitQualityOnSurface predictedStateFitQuality (const TrackParameters &, const TrackParameters &) const override final
 estimator for FitQuality on Surface for the situation when a track is fitted to the parameters of another trajectory part extrapolated to the common surface. More...
 
virtual 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). More...
 
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. More...
 
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). More...
 
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. More...
 
virtual bool predictedStateFitQuality (const PatternTrackParameters &, const PatternTrackParameters &, double &) const override final
 calculate fit quality in terms of chi2 between two track states. More...
 
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 More...
 
ServiceHandle< StoreGateSvc > & evtStore ()
 The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc. More...
 
const ServiceHandle< StoreGateSvc > & evtStore () const
 The standard StoreGateSvc (event store) Returns (kind of) a pointer to the StoreGateSvc. More...
 
const ServiceHandle< StoreGateSvc > & detStore () const
 The standard StoreGateSvc/DetectorStore Returns (kind of) a pointer to the StoreGateSvc. More...
 
virtual StatusCode sysInitialize () override
 Perform system initialization for an algorithm. More...
 
virtual StatusCode sysStart () override
 Handle START transition. More...
 
virtual std::vector< Gaudi::DataHandle * > inputHandles () const override
 Return this algorithm's input handles. More...
 
virtual std::vector< Gaudi::DataHandle * > outputHandles () const override
 Return this algorithm's output handles. More...
 
Gaudi::Details::PropertyBase & declareProperty (Gaudi::Property< T > &t)
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, SG::VarHandleKey &hndl, const std::string &doc, const SG::VarHandleKeyType &)
 Declare a new Gaudi property. More...
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, SG::VarHandleBase &hndl, const std::string &doc, const SG::VarHandleType &)
 Declare a new Gaudi property. More...
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, SG::VarHandleKeyArray &hndArr, const std::string &doc, const SG::VarHandleKeyArrayType &)
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, T &property, const std::string &doc, const SG::NotHandleType &)
 Declare a new Gaudi property. More...
 
Gaudi::Details::PropertyBase * declareProperty (const std::string &name, T &property, const std::string &doc="none")
 Declare a new Gaudi property. More...
 
void updateVHKA (Gaudi::Details::PropertyBase &)
 
MsgStream & msg () const
 
MsgStream & msg (const MSG::Level lvl) const
 
bool msgLvl (const MSG::Level lvl) const
 

Static Public Member Functions

static const InterfaceID & interfaceID ()
 Algtool infrastructure. More...
 
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 More...
 
std::enable_if_t< std::is_void_v< std::result_of_t< decltype(&T::renounce)(T)> > &&!std::is_base_of_v< SG::VarHandleKeyArray, T > &&std::is_base_of_v< Gaudi::DataHandle, T >, void > renounce (T &h)
 
void extraDeps_update_handler (Gaudi::Details::PropertyBase &ExtraDeps)
 Add StoreName to extra input/output deps as needed. More...
 

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 > &hndl, const SG::VarHandleKeyType &)
 specialization for handling Gaudi::Property<SG::VarHandleKey> More...
 
Gaudi::Details::PropertyBase & declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleKeyArrayType &)
 specialization for handling Gaudi::Property<SG::VarHandleKeyArray> More...
 
Gaudi::Details::PropertyBase & declareGaudiProperty (Gaudi::Property< T > &hndl, const SG::VarHandleType &)
 specialization for handling Gaudi::Property<SG::VarHandleBase> More...
 
Gaudi::Details::PropertyBase & declareGaudiProperty (Gaudi::Property< T > &t, const SG::NotHandleType &)
 specialization for handling everything that's not a Gaudi::Property<SG::VarHandleKey> or a <SG::VarHandleKeyArray> More...
 

Private Attributes

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

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.

25  : AthAlgTool(t,n,p)
26 {
27  mapKeyProduction();
28  m_covBoundary = 1.;
29 
30  m_cov0.push_back( 10.);
31  m_cov0.push_back( 10.);
32  m_cov0.push_back( .025);
33  m_cov0.push_back( .025);
34  m_cov0.push_back(.0001);
35 
36  declareInterface<IUpdator>( this );
37  declareInterface<IPatternParametersUpdator>( this );
38  declareProperty("InitialCovariances",m_cov0);
39  declareProperty("BoundaryCovariances",m_covBoundary);
40 }

◆ ~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.

88 {
89  Trk::FitQualityOnSurface* Q=nullptr;
90  return update(T,P,E,Q, 1,false);
91 }

◆ 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.

205 {
206  return update(T,P,E,Q, 1,true);
207 }

◆ 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.

152 {
153  Trk::FitQualityOnSurface* Q=nullptr;
154  return update(T,P,E,Q, 1,false);
155 }

◆ 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.

272 {
273  return update(T,P,E,Q, 1,true);
274 }

◆ 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.

100 {
101  int n ;
102  double x2;
103  return update(T,P,E, 1,false,Ta,x2,n);
104 }

◆ 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.

218 {
219  return update(T,P,E, 1,true,Ta,Q,N);
220 }

◆ 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.

164 {
165  int n ;
166  double x2;
167  return update(T,P,E, 1,false,Ta,x2,n);
168 }

◆ 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.

364 {
365  return update(T,P,E, 1,true,Ta,Q,N);
366 }

◆ 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.

113 {
114  double x2;
115  return updateOneDimension(T,P,E, 1,false,Ta,x2);
116 }

◆ 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.

231 {
232  N = 1;
233  return updateOneDimension(T,P,E, 1,true,Ta,Q);
234 }

◆ 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.

400 {
401  double M[5];
402  double MV[15]; if(!trackParametersToUpdator(T1,M,MV)) return nullptr;
403  double P[5];
404  double PV[15]; if(!trackParametersToUpdator(T2,P,PV)) return nullptr;
405 
406  double x2; double* m; double* mv; double* p; double* pv;
407  if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
408  else {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
409 
410  if(updateWithFiveDim(false,m,mv,p,pv,x2)) {
411  testAngles(p,pv); return updatorToTrackParameters(T1,p,pv);
412  }
413  return nullptr;
414 }

◆ 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.

454 {
455  double M[5];
456  double MV[15]; if(!trackParametersToUpdator(T1,M,MV)) return nullptr;
457  double P[5];
458  double PV[15]; if(!trackParametersToUpdator(T2,P,PV)) return nullptr;
459 
460  double x2; double* m; double* mv; double* p; double* pv;
461  if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
462  else {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
463 
464  if(updateWithFiveDim(true,m,mv,p,pv,x2)) {
465  Q = new Trk::FitQualityOnSurface(x2,5);
466  testAngles(p,pv); return updatorToTrackParameters(T1,p,pv);
467  }
468  return nullptr;
469 }

◆ 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.

422 {
423  double M[5];
424  double MV[15]; bool q1 = trackParametersToUpdator(T1,M,MV);
425  double P[5];
426  double PV[15]; bool q2 = trackParametersToUpdator(T2,P,PV);
427 
428  if(q1 && q2) {
429 
430  double x2; double* m; double* mv; double* p; double* pv;
431  if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
432  else {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
433 
434  if(updateWithFiveDim(false,m,mv,p,pv,x2)) {
435  testAngles(p,pv);
436  T3.setParametersWithCovariance(&T1.associatedSurface(),p,pv);
437  return true;
438  }
439  return false;
440  }
441  if(q1) {T3=T1; return true;}
442  if(q2) {T3=T2; return true;}
443  return false;
444 }

◆ 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.

478 {
479 
480  double M[5];
481  double MV[15]; bool q1 = trackParametersToUpdator(T1,M,MV);
482  double P[5];
483  double PV[15]; bool q2 = trackParametersToUpdator(T2,P,PV);
484 
485  if(q1 && q2) {
486 
487  double* m; double* mv; double* p; double* pv;
488  if(MV[14] > PV[14]) {m = &M[0]; mv = &MV[0]; p = &P[0]; pv = &PV[0];}
489  else {m = &P[0]; mv = &PV[0]; p = &M[0]; pv = &MV[0];}
490 
491  if(updateWithFiveDim(true,m,mv,p,pv,Q)) {
492  testAngles(p,pv);
493  T3.setParametersWithCovariance(&T1.associatedSurface(),p,pv);
494  return true;
495  }
496  return false;
497  }
498  if(q1) {T3=T1; Q=0; return true;}
499  if(q2) {T3=T2; Q=0; return true;}
500  return false;
501 }

◆ declareGaudiProperty() [1/4]

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

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

Definition at line 170 of file AthCommonDataStore.h.

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

◆ declareGaudiProperty() [2/4]

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

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

Definition at line 156 of file AthCommonDataStore.h.

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

◆ declareGaudiProperty() [3/4]

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

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

Definition at line 184 of file AthCommonDataStore.h.

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

◆ declareGaudiProperty() [4/4]

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

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

Definition at line 199 of file AthCommonDataStore.h.

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

◆ declareProperty() [1/6]

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

Declare a new Gaudi property.

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

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

Definition at line 245 of file AthCommonDataStore.h.

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

◆ declareProperty() [2/6]

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

Declare a new Gaudi property.

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

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

Definition at line 221 of file AthCommonDataStore.h.

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

◆ declareProperty() [3/6]

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

Definition at line 259 of file AthCommonDataStore.h.

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

◆ declareProperty() [4/6]

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

Declare a new Gaudi property.

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

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

Definition at line 333 of file AthCommonDataStore.h.

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

◆ declareProperty() [5/6]

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

Declare a new Gaudi property.

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

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

Definition at line 352 of file AthCommonDataStore.h.

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

◆ declareProperty() [6/6]

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

Definition at line 145 of file AthCommonDataStore.h.

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

◆ detStore()

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

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

Definition at line 95 of file AthCommonDataStore.h.

95 { return m_detStore; }

◆ 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.

2272 {
2273  const double pi2 = 2.*M_PI;
2274  const double pi = M_PI;
2275  int i = 0;
2276  R[0]=0.; if(K & 1) R[0]=L[i++]-T[0];
2277  R[1]=0.; if(K & 2) R[1]=L[i++]-T[1];
2278  R[2]=0.; if(K & 4) {
2279  R[2]=L[i++]-T[2];
2280  if (R[2] > pi) R[2] = fmod(R[2]+pi,pi2)-pi;
2281  else if(R[2] <-pi) R[2] = fmod(R[2]-pi,pi2)+pi;
2282  }
2283  R[3]=0.; if(K & 8){
2284  R[3]=L[i++]-T[3];
2285  if (R[3] > pi) R[3] = fmod(R[3]+pi,pi2)-pi;
2286  else if(R[3] <-pi) R[3] = fmod(R[3]-pi,pi2)+pi;
2287  }
2288  R[4]=0.; if(K & 16) R[4]=L[i++]-T[4];
2289 }

◆ 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.

2242 {
2243  const double pi2 = 2.*M_PI;
2244  const double pi = M_PI;
2245 
2246  int i = 0;
2247  if(K & 1) {R[i]=L[i]-T[0]; ++i;}
2248  if(K & 2) {R[i]=L[i]-T[1]; ++i;}
2249  if(K & 4) {
2250  R[i]=L[i]-T[2];
2251  if (R[i] > pi) R[i] = fmod(R[i]+pi,pi2)-pi;
2252  else if(R[i] <-pi) R[i] = fmod(R[i]-pi,pi2)+pi;
2253  ++i;
2254  }
2255  if(K & 8) {
2256  R[i]=L[i]-T[3];
2257  if (R[i] > pi) R[i] = fmod(R[i]+pi,pi2)-pi;
2258  else if(R[i] <-pi) R[i] = fmod(R[i]-pi,pi2)+pi;
2259  ++i;
2260  }
2261  if(K & 16) {R[i]=L[i]-T[4]; ++i;}
2262  return i;
2263 }

◆ evtStore() [1/2]

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

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

Definition at line 85 of file AthCommonDataStore.h.

85 { return m_evtStore; }

◆ evtStore() [2/2]

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

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

Definition at line 90 of file AthCommonDataStore.h.

90 { return m_evtStore; }

◆ extraDeps_update_handler()

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

Add StoreName to extra input/output deps as needed.

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

◆ finalize()

StatusCode Trk::KalmanUpdator_xk::finalize ( )
finaloverridevirtual

Definition at line 75 of file KalmanUpdator_xk.cxx.

76 {
77  return StatusCode::SUCCESS;
78 }

◆ 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.

1168 {
1169  // Measurement information preparation
1170  //
1171  double m[2];
1172  double mv[3]; X2 = 0.;
1173  N = E.rows(); if(N<=0) return false;
1174  m [0] = P[0]-T[0];
1175  mv[0] = E(0,0)-T[2];
1176  if(N==1) {
1177 
1178  if(mv[0]>0.) X2 = m[0]*m[0]/mv[0];
1179  return true;
1180  }
1181  if(N==2) {
1182  m [1] = P[1]-T[1];
1183  mv[1] = E(1,0)-T[3];
1184  mv[2] = E(1,1)-T[4];
1185  double d = mv[0]*mv[2]-mv[1]*mv[1];
1186  if(d>0.) X2 = (m[0]*m[0]*mv[2]+m[1]*m[1]*mv[0]-2.*m[0]*m[1]*mv[1])/d;
1187  return true;
1188  }
1189  return false;
1190 }

◆ 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.

647 {
648  if(!T.iscovariance()) {N = 0; return false;}
649 
650  const AmgVector(5) & p = T.parameters();
651  const AmgSymMatrix(5) & cov = *T.covariance();
652 
653  double t[5] = {p[0],p[1],
654  cov(0, 0),cov(0, 1),cov(1, 1)};
655 
656  return fullStateFitQuality(t,P,E,N,X2);
657 }

◆ 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.

704 {
705  // Conversion track parameters
706  //
707  N = 0;
708  double p[5];
709  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return false;
710 
711  // Conversion local parameters
712  //
713  int k;
714  double m[5];
715  double mv[15]; if(!localParametersToUpdator(P,E,N,k,m,mv)) return false;
716 
717  // Xi2 calculation
718  //
719  double r[5];
720  double w[15];
721  int ib = m_key[k];
722  int ie=m_key[k+1];
723  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]-pv[m_map[i]];}
724 
725  bool q=true; if(N!=1) q=invert(N,w,w); else w[0]=1./w[0];
726 
727  if(q) {differenceParLoc(k,m,p,r); X2 = Xi2(N,r,w); return true ;}
728  return false;
729 }

◆ 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.

628 {
629  const AmgSymMatrix(5)* v = T.covariance();
630  if(!v) return {};
631  double t[5] = {T.parameters()[0],T.parameters()[1],
632  (*v)(0,0),(*v)(1,0),(*v)(1,1)};
633 
634  int N; double x2;
635  if(fullStateFitQuality(t,P,E,N,x2)) return {x2,N};
636  return {};
637 }

◆ 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.

667 {
668  // Conversion track parameters
669  //
670  double p[5];
671  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return {};
672  // Conversion local parameters
673  //
674  int n;
675  int k;
676  double m[5];
677  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return {};
678 
679  // Xi2 calculation
680  //
681  double r[5];
682  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
683  int ib = m_key[k];
684  int ie=m_key[k+1];
685  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]-pv[m_map[i]];}
686 
687  bool q=true; if(n!=1) q=invert(n,w,w); else w[0]=1./w[0];
688 
689  if(q) {
690  differenceParLoc(k,m,p,r);
691  return {Xi2(n,r,w),n};
692  }
693  return {0.,n};
694 }

◆ 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.

826 {
827  std::vector<double> errors(5);
828 
829  errors[0] = sqrt(m_cov0[0]);
830  errors[1] = sqrt(m_cov0[1]);
831  errors[2] = sqrt(m_cov0[2]);
832  errors[3] = sqrt(m_cov0[3]);
833  errors[4] = sqrt(m_cov0[4]);
834  return errors;
835 }

◆ initialize()

StatusCode Trk::KalmanUpdator_xk::initialize ( )
finaloverridevirtual

Definition at line 53 of file KalmanUpdator_xk.cxx.

54 {
55  // init message stream
56  //
57  msg(MSG::INFO) << "initialize() successful in " << name() << endmsg;
58 
59  if( m_cov0.size()!=5) {
60 
61  m_cov0.erase(m_cov0.begin(),m_cov0.end());
62  m_cov0.push_back( 10.);
63  m_cov0.push_back( 10.);
64  m_cov0.push_back( .025);
65  m_cov0.push_back( .025);
66  m_cov0.push_back(.0001);
67  }
68  return StatusCode::SUCCESS;
69 }

◆ 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.

169 {
170  return IID_IPatternParametersUpdator;
171 }

◆ interfaceID() [2/2]

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

Algtool infrastructure.

Definition at line 227 of file IUpdator.h.

228 {
229  return IID_IUpdator;
230 }

◆ invert()

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

Definition at line 1944 of file KalmanUpdator_xk.cxx.

1945 {
1946  if(n==2) return invert2(a,b);
1947  if(n==3) return invert3(a,b);
1948  if(n==4) return invert4(a,b);
1949  if(n==5) return invert5(a,b);
1950  return false;
1951 }

◆ invert2()

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

Definition at line 1963 of file KalmanUpdator_xk.cxx.

1964 {
1965  double d = a[0]*a[2]-a[1]*a[1]; if(d<=0.) return false; d=1./d;
1966  double b0 = a[2]*d;
1967  b[1] =-a[1]*d;
1968  b[2] = a[0]*d;
1969  b[0] = b0;
1970  return true;
1971 }

◆ invert3()

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

Definition at line 1984 of file KalmanUpdator_xk.cxx.

1985 {
1986  double b0 = (a[2]*a[5]-a[4]*a[4]);
1987  double b1 =-(a[1]*a[5]-a[3]*a[4]);
1988  double b2 = (a[0]*a[5]-a[3]*a[3]);
1989  double b3 = (a[1]*a[4]-a[2]*a[3]);
1990  double b4 =-(a[0]*a[4]-a[1]*a[3]);
1991  double b5 = (a[0]*a[2]-a[1]*a[1]);
1992  double d = a[0]*b0+a[1]*b1+a[3]*b3; if(d<=0.) return false;
1993  b[0] = b0*(d=1./d);
1994  b[1] = b1*d;
1995  b[2] = b2*d;
1996  b[3] = b3*d;
1997  b[4] = b4*d;
1998  b[5] = b5*d;
1999  return true;
2000 }

◆ invert4()

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

Definition at line 2014 of file KalmanUpdator_xk.cxx.

2015 {
2016  double d00 = a[1]*a[4]-a[2]*a[3];
2017  double d01 = a[1]*a[5]-a[4]*a[3];
2018  double d02 = a[2]*a[5]-a[4]*a[4];
2019  double d03 = a[1]*a[7]-a[2]*a[6];
2020  double d04 = a[1]*a[8]-a[4]*a[6];
2021  double d05 = a[1]*a[9]-a[7]*a[6];
2022  double d06 = a[2]*a[8]-a[4]*a[7];
2023  double d07 = a[2]*a[9]-a[7]*a[7];
2024  double d08 = a[3]*a[7]-a[4]*a[6];
2025  double d09 = a[3]*a[8]-a[5]*a[6];
2026  double d10 = a[3]*a[9]-a[8]*a[6];
2027  double d11 = a[4]*a[8]-a[5]*a[7];
2028  double d12 = a[4]*a[9]-a[8]*a[7];
2029  double d13 = a[5]*a[9]-a[8]*a[8];
2030 
2031  // Determinant calculation
2032  //
2033  double c0 = a[2]*d13-a[4]*d12+a[7]*d11;
2034  double c1 = a[1]*d13-a[4]*d10+a[7]*d09;
2035  double c2 = a[1]*d12-a[2]*d10+a[7]*d08;
2036  double c3 = a[1]*d11-a[2]*d09+a[4]*d08;
2037  double det = a[0]*c0-a[1]*c1+a[3]*c2-a[6]*c3;
2038 
2039  if (det <= 0.) return false;
2040  det = 1./det;
2041 
2042  b[2] = (a[0]*d13-a[3]*d10+a[6]*d09)*det;
2043  b[4] = -(a[0]*d12-a[1]*d10+a[6]*d08)*det;
2044  b[5] = (a[0]*d07-a[1]*d05+a[6]*d03)*det;
2045  b[7] = (a[0]*d11-a[1]*d09+a[3]*d08)*det;
2046  b[8] = -(a[0]*d06-a[1]*d04+a[3]*d03)*det;
2047  b[9] = (a[0]*d02-a[1]*d01+a[3]*d00)*det;
2048  b[0] = c0 *det;
2049  b[1] = -c1 *det;
2050  b[3] = c2 *det;
2051  b[6] = -c3 *det;
2052  return true;
2053 }

◆ invert5()

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

Definition at line 2069 of file KalmanUpdator_xk.cxx.

2070 {
2071  if(a[ 0] <=0.) return false;
2072  double x1 = 1./a[ 0];
2073  double x2 =-a[ 1]*x1;
2074  double x3 =-a[ 3]*x1;
2075  double x4 =-a[ 6]*x1;
2076  double x5 =-a[10]*x1;
2077  double b0 = a[ 2]+a[ 1]*x2; if(b0<=0.) return false;
2078  double b1 = a[ 4]+a[ 3]*x2;
2079  double b2 = a[ 5]+a[ 3]*x3;
2080  double b3 = a[ 7]+a[ 6]*x2;
2081  double b4 = a[ 8]+a[ 6]*x3;
2082  double b5 = a[ 9]+a[ 6]*x4;
2083  double b6 = a[11]+a[10]*x2;
2084  double b7 = a[12]+a[10]*x3;
2085  double b8 = a[13]+a[10]*x4;
2086  double b9 = a[14]+a[10]*x5;
2087  double y1 = 1./b0;
2088  double y2 =-b1*y1;
2089  double y3 =-b3*y1;
2090  double y4 =-b6*y1;
2091  double y5 = x2*y1;
2092 
2093  if((b0 = b2+b1*y2) <=0.) return false;
2094  b1 = b4+b3*y2;
2095  b2 = b5+b3*y3;
2096  b3 = b7+b6*y2;
2097  b4 = b8+b6*y3;
2098  b5 = b9+b6*y4;
2099  b6 = x3+x2*y2;
2100  b7 = x4+x2*y3;
2101  b8 = x5+x2*y4;
2102  b9 = x1+x2*y5;
2103  x1 = 1./b0;
2104  x2 =-b1*x1;
2105  x3 =-b3*x1;
2106  x4 = b6*x1;
2107  x5 = y2*x1;
2108  if((b0 = b2+b1*x2) <=0.) return false;
2109  b1 = b4+b3*x2;
2110  b2 = b5+b3*x3;
2111  b3 = b7+b6*x2;
2112  b4 = b8+b6*x3;
2113  b5 = b9+b6*x4;
2114  b6 = y3+y2*x2;
2115  b7 = y4+y2*x3;
2116  b8 = y5+y2*x4;
2117  b9 = y1+y2*x5;
2118  y1 = 1./b0;
2119  y2 =-b1*y1;
2120  y3 = b3*y1;
2121  y4 = b6*y1;
2122  y5 = x2*y1;
2123  if((b0 = b2+b1*y2) <=0.) return false;
2124  b1 = b4+b3*y2;
2125  b2 = b5+b3*y3;
2126  b3 = b7+b6*y2;
2127  b4 = b8+b6*y3;
2128  b5 = b9+b6*y4;
2129  b6 = x3+x2*y2;
2130  b7 = x4+x2*y3;
2131  b8 = x5+x2*y4;
2132  b9 = x1+x2*y5;
2133  b[14] = 1./b0;
2134  b[10] = b1*b[14];
2135  b[11] = b3*b[14];
2136  b[12] = b6*b[14];
2137  b[13] = y2*b[14];
2138  b[ 0] = b2+b1*b[10];
2139  b[ 1] = b4+b3*b[10];
2140  b[ 2] = b5+b3*b[11];
2141  b[ 3] = b7+b6*b[10];
2142  b[ 4] = b8+b6*b[11];
2143  b[ 5] = b9+b6*b[12];
2144  b[ 6] = y3+y2*b[10];
2145  b[ 7] = y4+y2*b[11];
2146  b[ 8] = y5+y2*b[12];
2147  b[ 9] = y1+y2*b[13];
2148  return true;
2149 }

◆ 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.

1890 {
1891 
1892  N = C.rows(); if(N==0 || N>5 || L.dimension()!=N) return false;
1893  K = L.parameterKey();
1894 
1895  //const CLHEP::HepVector& H = L;
1896 
1897  P[ 0]=L(0);
1898  V[ 0]=C(0,0);
1899 
1900  if(N>1) {
1901  P[ 1]=L(1);
1902  V[ 1]=C(1,0); V[ 2]=C(1,1);
1903  }
1904  if(N>2) {
1905  P[ 2]=L(2);
1906  V[ 3]=C(2,0); V[ 4]=C(2,1); V[ 5]=C(2,2);
1907  }
1908  if(N>3) {
1909  P[ 3]=L(3);
1910  V[ 6]=C(3,0); V[ 7]=C(3,1); V[ 8]=C(3,2); V[ 9]=C(3,3);
1911  }
1912  if(N>4) {
1913  P[ 4]=L(4);
1914  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);
1915  }
1916  return true;
1917 }

◆ mapKeyProduction()

void Trk::KalmanUpdator_xk::mapKeyProduction ( )
protected

Definition at line 2295 of file KalmanUpdator_xk.cxx.

2296 {
2297  int n=0; m_key[0]=m_key[1]=0;
2298 
2299  for(int K=1; K!= 32; ++K) {
2300 
2301  unsigned int I[5]={0,0,0,0,0};
2302  unsigned int m=0;
2303  for(int i=0; i!=5; ++i) {if((K>>i)&1) I[i]=1;}
2304 
2305  for(int i=0; i!=5; ++i) {
2306  for(int j=0; j<=i; ++j) {if(I[i] && I[j]) {m_map[n++] = m;} ++m;}
2307  }
2308  m_key[K+1] = n;
2309  }
2310 }

◆ msg() [1/2]

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

Definition at line 24 of file AthCommonMsg.h.

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

◆ msg() [2/2]

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

Definition at line 27 of file AthCommonMsg.h.

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

◆ msgLvl()

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

Definition at line 30 of file AthCommonMsg.h.

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

◆ outputHandles()

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

Return this algorithm's output handles.

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

◆ predictedStateFitQuality() [1/7]

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.

1134 {
1135  // Measurement information preparation
1136  //
1137  double m[2];
1138  double mv[3]; X2 = 0.;
1139  N = E.rows(); if(N<=0) return false;
1140  m [0] = P[0]-T[0];
1141  mv[0] = E(0,0)+T[2];
1142  if(N==1) {
1143 
1144  if(mv[0]>0.) X2 = m[0]*m[0]/mv[0];
1145  return true;
1146  }
1147  if(N==2) {
1148  m [1] = P[1]-T[1];
1149  mv[1] = E(1,0)+T[3];
1150  mv[2] = E(1,1)+T[4];
1151  double d = mv[0]*mv[2]-mv[1]*mv[1];
1152  if(d>0.) X2 = (m[0]*m[0]*mv[2]+m[1]*m[1]*mv[0]-2.*m[0]*m[1]*mv[1])/d;
1153  return true;
1154  }
1155  return false;
1156 }

◆ 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.

532 {
533  if(!T.iscovariance()) {N = 0; return false;}
534 
535  const AmgVector(5) & p = T.parameters();
536  const AmgSymMatrix(5) & cov = *T.covariance();
537 
538  double t[5] = {p[0],p[1],
539  cov(0, 0),cov(0, 1),cov(1, 1)};
540 
541  return predictedStateFitQuality(t,P,E,N,X2);
542 }

◆ 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.

591 {
592  // Conversion track parameters
593  //
594  double p[5];
595  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return false;
596 
597  // Conversion local parameters
598  //
599  int n;
600  int k;
601  double m[5];
602  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return false;
603 
604  // Xi2 calculation
605  //
606  double r[5];
607  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
608  int ib = m_key[k];
609  int ie=m_key[k+1];
610  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]+pv[m_map[i]];}
611 
612  bool q=true; if(n!=1) q=invert(n,w,w); else w[0]=1./w[0];
613  N = n;
614  if(q) {differenceParLoc(k,m,p,r); X2 = Xi2(n,r,w); return true ;}
615  return false;
616 }

◆ 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.

782 {
783  const double pi2 = 2.*M_PI;
784  const double pi = M_PI;
785  double m[5];
786  double mv[15]; if(!trackParametersToUpdator(T1,m,mv)) return 0;
787  double p[5];
788  double pv[15]; if(!trackParametersToUpdator(T2,p,pv)) return 0;
789  double r[5] = {m [ 0]-p [ 0],
790  m [ 1]-p [ 1],
791  m [ 2]-p [ 2],
792  m [ 3]-p [ 3],
793  m [ 4]-p [ 4]};
794 
795  if (r[2] > pi) r[2] = fmod(r[2]+pi,pi2)-pi;
796  else if(r[2] <-pi) r[2] = fmod(r[2]-pi,pi2)+pi;
797  if (r[3] > pi) r[3] = fmod(r[3]+pi,pi2)-pi;
798  else if(r[3] <-pi) r[3] = fmod(r[3]-pi,pi2)+pi;
799 
800  double w[15]= {mv[ 0]+pv[ 0],
801  mv[ 1]+pv[ 1],
802  mv[ 2]+pv[ 2],
803  mv[ 3]+pv[ 3],
804  mv[ 4]+pv[ 4],
805  mv[ 5]+pv[ 5],
806  mv[ 6]+pv[ 6],
807  mv[ 7]+pv[ 7],
808  mv[ 8]+pv[ 8],
809  mv[ 9]+pv[ 9],
810  mv[10]+pv[10],
811  mv[11]+pv[11],
812  mv[12]+pv[12],
813  mv[13]+pv[13],
814  mv[14]+pv[14]};
815 
816  if(invert(5,w,w)) {X2 = Xi2(5,r,w); return true;}
817  return false;
818 }

◆ 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.

512 {
513  const AmgSymMatrix(5)* v = T.covariance();
514  if(!v) return {};
515 
516  double t[5] = {T.parameters()[0],T.parameters()[1],
517  (*v)(0,0),(*v)(1,0),(*v)(1,1)};
518 
519  int N; double x2;
520  if(predictedStateFitQuality(t,P,E,N,x2)) return {x2,N};
521  return {};
522 }

◆ 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.

553 {
554  // Conversion track parameters
555  //
556  double p[5];
557  double pv[15]; if(!trackParametersToUpdator(T,p,pv)) return {};
558 
559  // Conversion local parameters
560  //
561  int n;
562  int k;
563  double m[5];
564  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return {};
565 
566  // Xi2 calculation
567  //
568  double r[5];
569  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
570  int ib = m_key[k];
571  int ie=m_key[k+1];
572  for(int i=ib; i!=ie; ++i) {w[i-ib] = mv[i-ib]+pv[m_map[i]];}
573 
574  bool q=true; if(n!=1) q=invert(n,w,w); else w[0]=1./w[0];
575 
576  if(q) {
577  differenceParLoc(k,m,p,r);
578  return {Xi2(n,r,w),n};
579  }
580  return {};
581 }

◆ 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.

738 {
739  const double pi2 = 2.*M_PI ;
740  const double pi = M_PI;
741  double m[5];
742  double mv[15]; if(!trackParametersToUpdator(T1,m,mv)) return {};
743  double p[5];
744  double pv[15]; if(!trackParametersToUpdator(T2,p,pv)) return {};
745  double r[5] = {m [ 0]-p [ 0],
746  m [ 1]-p [ 1],
747  m [ 2]-p [ 2],
748  m [ 3]-p [ 3],
749  m [ 4]-p [ 4]};
750 
751  if (r[2] > pi) r[2] = fmod(r[2]+pi,pi2)-pi;
752  else if(r[2] <-pi) r[2] = fmod(r[2]-pi,pi2)+pi;
753  if (r[3] > pi) r[3] = fmod(r[3]+pi,pi2)-pi;
754  else if(r[3] <-pi) r[3] = fmod(r[3]-pi,pi2)+pi;
755 
756  double w[15]= {mv[ 0]+pv[ 0],
757  mv[ 1]+pv[ 1],
758  mv[ 2]+pv[ 2],
759  mv[ 3]+pv[ 3],
760  mv[ 4]+pv[ 4],
761  mv[ 5]+pv[ 5],
762  mv[ 6]+pv[ 6],
763  mv[ 7]+pv[ 7],
764  mv[ 8]+pv[ 8],
765  mv[ 9]+pv[ 9],
766  mv[10]+pv[10],
767  mv[11]+pv[11],
768  mv[12]+pv[12],
769  mv[13]+pv[13],
770  mv[14]+pv[14]};
771 
772  if(invert(5,w,w)) return {Xi2(5,r,w),5};
773  return {};
774 }

◆ 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.

126 {
127  Trk::FitQualityOnSurface* Q=nullptr;
128  return update(T,P,E,Q,-1,false);
129 }

◆ 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.

246 {
247  return update(T,P,E,Q,-1,true);
248 }

◆ 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.

178 {
179  Trk::FitQualityOnSurface* Q=nullptr;
180  return update(T,P,E,Q,-1,false);
181 }

◆ 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.

377 {
378  return update(T,P,E,Q,-1,true);
379 }

◆ 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.

138 {
139  int n ;
140  double x2;
141  return update(T,P,E,-1,false,Ta,x2,n);
142 }

◆ 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.

259 {
260  return update(T,P,E,-1,true,Ta,Q,N);
261 }

◆ 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.

190 {
191  int n ;
192  double x2;
193  return update(T,P,E,-1,false,Ta,x2,n);
194 }

◆ 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.

390 {
391  return update(T,P,E,-1,true,Ta,Q,N);
392 }

◆ renounce()

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

Definition at line 380 of file AthCommonDataStore.h.

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

◆ renounceArray()

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

remove all handles from I/O resolution

Definition at line 364 of file AthCommonDataStore.h.

364  {
365  handlesArray.renounce();
366  }

◆ sysInitialize()

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

Perform system initialization for an algorithm.

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

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

◆ sysStart()

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

Handle START transition.

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

◆ testAngles()

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

Definition at line 2318 of file KalmanUpdator_xk.cxx.

2319 {
2320  const double pi2 = 2.*M_PI;
2321  const double pi = M_PI;
2322 
2323  // Polar angle check
2324  //
2325  if (p[3] > pi) p[3] = fmod(p[3]+pi,pi2)-pi;
2326  else if(p[3] <-pi) p[3] = fmod(p[3]-pi,pi2)+pi;
2327 
2328  if (p[3] < 0.) {
2329 
2330  p[ 3] = -p[ 3];
2331  p[ 2]+= pi;
2332  v[ 6] = -v[ 6];
2333  v[ 7] = -v[ 7];
2334  v[ 8] = -v[ 8];
2335  v[13] = -v[13];
2336  }
2337 
2338  // Azimuthal angle check
2339  //
2340  if (p[2] > pi) p[2] = fmod(p[2]+pi,pi2)-pi;
2341  else if(p[2] <-pi) p[2] = fmod(p[2]-pi,pi2)+pi;
2342 }

◆ 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.

1850 {
1851  const AmgVector(5) & par = T.parameters();
1852 
1853  P[0] = par[0];
1854  P[1] = par[1];
1855  P[2] = par[2];
1856  P[3] = par[3];
1857  P[4] = par[4];
1858 
1859  if(!T.iscovariance()) return false;
1860 
1861  const AmgSymMatrix(5) & cov = *T.covariance();
1862 
1863  V[ 0] = cov(0, 0);
1864  V[ 1] = cov(0, 1);
1865  V[ 2] = cov(1, 1);
1866  V[ 3] = cov(0, 2);
1867  V[ 4] = cov(1, 2);
1868  V[ 5] = cov(2, 2);
1869  V[ 6] = cov(0, 3);
1870  V[ 7] = cov(1, 3);
1871  V[ 8] = cov(2, 3);
1872  V[ 9] = cov(3, 3);
1873  V[10] = cov(0, 4);
1874  V[11] = cov(1, 4);
1875  V[12] = cov(2, 4);
1876  V[13] = cov(3, 4);
1877  V[14] = cov(4, 4);
1878  return true;
1879 }

◆ 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.

1813 {
1814  P[0] = T.parameters()[0];
1815  P[1] = T.parameters()[1];
1816  P[2] = T.parameters()[2];
1817  P[3] = T.parameters()[3];
1818  P[4] = T.parameters()[4];
1819 
1820 
1821  const AmgSymMatrix(5)* v = T.covariance();
1822  if(!v) return false;
1823 
1824  const AmgSymMatrix(5)& c = *v;
1825  V[ 0] = c(0,0);
1826  V[ 1] = c(1,0);
1827  V[ 2] = c(1,1);
1828  V[ 3] = c(2,0);
1829  V[ 4] = c(2,1);
1830  V[ 5] = c(2,2);
1831  V[ 6] = c(3,0);
1832  V[ 7] = c(3,1);
1833  V[ 8] = c(3,2);
1834  V[ 9] = c(3,3);
1835  V[10] = c(4,0);
1836  V[11] = c(4,1);
1837  V[12] = c(4,2);
1838  V[13] = c(4,3);
1839  V[14] = c(4,4);
1840  return true;
1841 }

◆ 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.

853 {
854  // Measurement information preparation
855  //
856  double m[2];
857  double mv[3];
858  int n = E.rows(); if(n<=0) return nullptr;
859  m [0] = P[0];
860  mv[0] = E(0,0);
861  if(n==2) {
862  m [1] = P[1];
863  mv[1] = E(1,0);
864  mv[2] = E(1,1);
865  }
866 
867  // Conversion track parameters to updator presentation
868  //
869  double p[5];
870  double pv[15]; bool measured = trackParametersToUpdator(T,p,pv);
871  bool update = false;
872 
873  if(measured) {
874  double x2;
875  if (n==2) {
876  update = updateWithTwoDim(O,X,m,mv,p,pv,x2);
877  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,2);
878  }
879  else if(n==1) {
880  update = updateWithOneDim(O,X,m,mv,p,pv,x2);
881  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,1);
882  }
883  if(update) {
884  testAngles(p,pv); return updatorToTrackParameters(T,p,pv);
885  }
886  return nullptr;
887  }
888 
889  // For no measured track parameters
890  //
891  if(O<0) return nullptr;
892 
893  if (n==1) {
894  update = updateNoMeasuredWithOneDim(m,mv,p,pv);
895  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(0.,1);
896  }
897  else if(n==2) {
898  update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
899  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(0.,2);
900  }
901 
902  if(update) return updatorToTrackParameters(T,p,pv);
903  return nullptr;
904 }

◆ 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.

1025 {
1026  // Conversion local parameters
1027  //
1028  int n;
1029  int k;
1030  double m[5];
1031  double mv[15]; if(!localParametersToUpdator(P,E,n,k,m,mv)) return nullptr;
1032 
1033  // Conversion track parameters to updator presentation
1034  //
1035  double p[5];
1036  double pv[15]; bool measured = trackParametersToUpdator(T,p,pv);
1037  bool update = false;
1038 
1039  if(measured) {
1040 
1041  double x2;
1042  if (n==2 && k==3) {
1043  update = updateWithTwoDim(O,X,m,mv,p,pv,x2);
1044  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,2);
1045  }
1046  else if(n==1 && k==1) {
1047  update = updateWithOneDim(O,X,m,mv,p,pv,x2);
1048  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,1);
1049  }
1050  else {
1051  update = updateWithAnyDim(O,X,m,mv,p,pv,x2,n,k);
1052  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(x2,n);
1053  }
1054  if(update) {testAngles(p,pv); return updatorToTrackParameters(T,p,pv);}
1055  return nullptr;
1056  }
1057 
1058  // For no measured track parameters
1059  //
1060  if(O<0) return nullptr;
1061  if (n==1 && k==1) {
1062  update = updateNoMeasuredWithOneDim(m,mv,p,pv);
1063  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(0.,1);
1064  }
1065  else if(n==2 && k==3) {
1066  update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
1067  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(0.,2);
1068  }
1069  else {
1070  update = updateNoMeasuredWithAnyDim(m,mv,p,pv,k);
1071  if(update && X && !Q) Q = new Trk::FitQualityOnSurface(0.,n);
1072  }
1073  if(update) return updatorToTrackParameters(T,p,pv);
1074  return nullptr;
1075 }

◆ 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.

917 {
918  // Measurement information preparation
919  //
920  double m[2];
921  double mv[3];
922  N = E.rows(); if(N<=0) return false;
923  m [0] = P[0];
924  mv[0] = E(0,0);
925  if(N==2) {
926  m [1] = P[1];
927  mv[1] = E(1,0);
928  mv[2] = E(1,1);
929  }
930 
931  // Conversion track parameters to updator presentation
932  //
933  double p[5];
934  double pv[15]; bool measured = trackParametersToUpdator(T,p,pv);
935  bool update = false;
936 
937  if(measured) {
938 
939  if (N==2) update = updateWithTwoDim(O,X,m,mv,p,pv,Q);
940  else if(N==1) update = updateWithOneDim(O,X,m,mv,p,pv,Q);
941  if(update) {
942  testAngles(p,pv);
943  Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
944  }
945  return update;
946  }
947 
948  // For no measured track parameters
949  //
950  if(O<0) return false;
951  Q = 0.;
952  if (N==1) update = updateNoMeasuredWithOneDim(m,mv,p,pv);
953  else if(N==2) update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
954 
955 
956  if(update) Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
957  return update;
958 }

◆ 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.

1088 {
1089  // Conversion local parameters
1090  //
1091  int k;
1092  double m[5];
1093  double mv[15]; if(!localParametersToUpdator(P,E,N,k,m,mv)) return false;
1094 
1095  // Conversion track parameters to updator presentation
1096  //
1097  double p[5];
1098  double pv[15]; bool measured = trackParametersToUpdator(T,p,pv);
1099  bool update = false;
1100 
1101  if(measured) {
1102 
1103  if (N==2 && k==3) update = updateWithTwoDim(O,X,m,mv,p,pv,Q);
1104  else if(N==1 && k==1) update = updateWithOneDim(O,X,m,mv,p,pv,Q);
1105  else update = updateWithAnyDim(O,X,m,mv,p,pv,Q,N,k);
1106  if(update) {
1107  testAngles(p,pv);
1108  Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
1109  }
1110  return update;
1111  }
1112 
1113  // For no measured track parameters
1114  //
1115  if(O<0) return false;
1116  Q = 0.;
1117  if (N==1 && k==1) update = updateNoMeasuredWithOneDim(m,mv,p,pv);
1118  else if(N==2 && k==3) update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
1119  else update = updateNoMeasuredWithAnyDim(m,mv,p,pv,k);
1120  if(update) Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
1121  return update;
1122 }

◆ 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.

1259 {
1260 
1261  int i=0;
1262  int j=0;
1263  while(K) {if(K&1) P[i]=M[j++]; K>>=1; ++i;} if(i==0) return false;
1264 
1265  PV[ 0] = m_cov0[0];
1266  PV[ 1] = 0.;
1267  PV[ 2] = m_cov0[1];
1268  PV[ 3] = 0.;
1269  PV[ 4] = 0.;
1270  PV[ 5] = m_cov0[2];
1271  PV[ 6] = 0.;
1272  PV[ 7] = 0.;
1273  PV[ 8] = 0.;
1274  PV[ 9] = m_cov0[3];
1275  PV[10] = 0.;
1276  PV[11] = 0.;
1277  PV[12] = 0.;
1278  PV[13] = 0.;
1279  PV[14] = m_cov0[4];
1280 
1281  int ne = m_key[K+1]; i=0;
1282  for(int n = m_key[K]; n!=ne; ++n) {PV[m_map[n]] = MV[i++];}
1283  return true;
1284 }

◆ 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.

1200 {
1201  P [ 0] = M [ 0];
1202  PV[ 0] = MV[ 0];
1203  PV[ 1] = 0.;
1204  PV[ 2] = m_cov0[1];
1205  PV[ 3] = 0.;
1206  PV[ 4] = 0.;
1207  PV[ 5] = m_cov0[2];
1208  PV[ 6] = 0.;
1209  PV[ 7] = 0.;
1210  PV[ 8] = 0.;
1211  PV[ 9] = m_cov0[3];
1212  PV[10] = 0.;
1213  PV[11] = 0.;
1214  PV[12] = 0.;
1215  PV[13] = 0.;
1216  PV[14] = m_cov0[4];
1217  return true;
1218 }

◆ 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.

1228 {
1229  P [ 0] = M [ 0];
1230  P [ 1] = M [ 1];
1231  PV[ 0] = MV[ 0];
1232  PV[ 1] = MV[ 1];
1233  PV[ 2] = MV[ 2];
1234  PV[ 3] = 0.;
1235  PV[ 4] = 0.;
1236  PV[ 5] = m_cov0[2];
1237  PV[ 6] = 0.;
1238  PV[ 7] = 0.;
1239  PV[ 8] = 0.;
1240  PV[ 9] = m_cov0[3];
1241  PV[10] = 0.;
1242  PV[11] = 0.;
1243  PV[12] = 0.;
1244  PV[13] = 0.;
1245  PV[14] = m_cov0[4];
1246  return true;
1247 }

◆ 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.

970 {
971  // Measurement information preparation
972  //
973  double m[2];
974  double mv[3];
975  int N = E.rows(); if(N!=2 ) return false;
976  m [0] = P[0];
977  m [1] = P[1];
978  mv[0] = E(0,0);
979  mv[1] = E(1,0);
980  mv[2] = E(1,1);
981 
982  // Conversion track parameters to updator presentation
983  //
984  double p[5];
985  double pv[15]; bool measured = trackParametersToUpdator(T,p,pv);
986  bool update = false;
987 
988  if(measured) {
989 
990  if(fabs(mv[1]) < 1.e-30) {
991  update = updateWithOneDimWithBoundary(O,X,m,mv,p,pv,Q);
992  }
993  else {
994  update = updateWithTwoDimWithBoundary(O,X,m,mv,p,pv,Q);
995  }
996  if(update) {
997  testAngles(p,pv);
998  Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
999  }
1000  return update;
1001  }
1002 
1003  // For no measured track parameters
1004  //
1005  if(O<0) return false;
1006  Q = 0.;
1007  update = updateNoMeasuredWithTwoDim(m,mv,p,pv);
1008  if(update) Ta.setParametersWithCovariance(&T.associatedSurface(),p,pv);
1009  return update;
1010 }

◆ 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.

288 {
289  Q = nullptr;
290 
291  // Conversion local parameters
292  //
293  int n = Ep.cols(); if(n==0 || n>5) return nullptr;
294  double m[5];
295  double mv[15];
296 
297  m [ 0]=P (0 );
298  mv[ 0]=Ep(0,0);
299 
300  if(n>1) {
301  m [ 1]=P (1 );
302  mv[ 1]=Ep(1,0); mv[ 2]=Ep(1,1);
303  }
304  if(n>2) {
305  m [ 2]=P (2 );
306  mv[ 3]=Ep(2,0); mv[ 4]=Ep(2,1); mv[ 5]=Ep(2,2);
307  }
308  if(n>3) {
309  m [ 3]=P (3 );
310  mv[ 6]=Ep(3,0); mv[ 7]=Ep(3,1); mv[ 8]=Ep(3,2); mv[ 9]=Ep(3,3);
311  }
312  if(n>4) {
313  m [ 4]=P(4 );
314  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);
315  }
316 
317  // Conversion track parameters to updator presentation
318  //
319  double p [ 5] = {T(0),T(1),T(2),T(3),T(4)};
320  double pv[15] = {Et(0,0),
321  Et(1,0),Et(1,1),
322  Et(2,0),Et(2,1),Et(2,2),
323  Et(3,0),Et(3,1),Et(3,2),Et(3,3),
324  Et(4,0),Et(4,1),Et(4,2),Et(4,3),Et(4,4)};
325 
326  bool update = false;
327  double x2;
328  if (n==2 && K==3) {
329  update = updateWithTwoDim(1,X,m,mv,p,pv,x2);
330  if(update && X) Q = new Trk::FitQualityOnSurface(x2,2);
331  }
332  else if(n==1 && K==1) {
333  update = updateWithOneDim(1,X,m,mv,p,pv,x2);
334  if(update && X) Q = new Trk::FitQualityOnSurface(x2,1);
335  }
336  else {
337  update = updateWithAnyDim(1,X,m,mv,p,pv,x2,n,K);
338  if(update && X) Q = new Trk::FitQualityOnSurface(x2,n);
339  }
340  if(!update) return nullptr;
341 
342  testAngles(p,pv);
343 
344  AmgVector(5) nT ; nT <<p[0],p[1],p[2],p[3],p[4];
345  AmgSymMatrix(5) nEt; nEt<<
346  pv[ 0],pv[ 1],pv[ 3],pv[ 6],pv[10],
347  pv[ 1],pv[ 2],pv[ 4],pv[ 7],pv[11],
348  pv[ 3],pv[ 4],pv[ 5],pv[ 8],pv[12],
349  pv[ 6],pv[ 7],pv[ 8],pv[ 9],pv[13],
350  pv[10],pv[11],pv[12],pv[13],pv[14];
351 
352  return new std::pair<AmgVector(5),AmgSymMatrix(5)>(std::make_pair(nT,nEt));
353 }

◆ updateVHKA()

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

Definition at line 308 of file AthCommonDataStore.h.

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

◆ 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.

1726 {
1727  double s;
1728  double w[15]={1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.,1.};
1729  int ib = m_key[K];
1730  int ie=m_key[K+1];
1731 
1732  if(O>0) {s= 1.; for(int i=ib; i!=ie; ++i) {w[i-ib] = MV[i-ib]+PV[m_map[i]];}}
1733  else {s=-1.; for(int i=ib; i!=ie; ++i) {w[i-ib] = MV[i-ib]-PV[m_map[i]];}}
1734 
1735  if(N==1) w[0] = 1./w[0]; else if(!invert(N,w,w)) return false;
1736  double v[15]={0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.,0.};
1737  for(int i=ib; i!=ie; ++i) {v[m_map[i]] =w[i-ib];}
1738 
1739  double k00 =((PV[ 0]*v[ 0]+PV[ 1]*v[ 1]+PV[ 3]*v[ 3])+(PV[ 6]*v[ 6]+PV[10]*v[10]))*s;
1740  double k01 =((PV[ 0]*v[ 1]+PV[ 1]*v[ 2]+PV[ 3]*v[ 4])+(PV[ 6]*v[ 7]+PV[10]*v[11]))*s;
1741  double k02 =((PV[ 0]*v[ 3]+PV[ 1]*v[ 4]+PV[ 3]*v[ 5])+(PV[ 6]*v[ 8]+PV[10]*v[12]))*s;
1742  double k03 =((PV[ 0]*v[ 6]+PV[ 1]*v[ 7]+PV[ 3]*v[ 8])+(PV[ 6]*v[ 9]+PV[10]*v[13]))*s;
1743  double k04 =((PV[ 0]*v[10]+PV[ 1]*v[11]+PV[ 3]*v[12])+(PV[ 6]*v[13]+PV[10]*v[14]))*s;
1744  double k10 =((PV[ 1]*v[ 0]+PV[ 2]*v[ 1]+PV[ 4]*v[ 3])+(PV[ 7]*v[ 6]+PV[11]*v[10]))*s;
1745  double k11 =((PV[ 1]*v[ 1]+PV[ 2]*v[ 2]+PV[ 4]*v[ 4])+(PV[ 7]*v[ 7]+PV[11]*v[11]))*s;
1746  double k12 =((PV[ 1]*v[ 3]+PV[ 2]*v[ 4]+PV[ 4]*v[ 5])+(PV[ 7]*v[ 8]+PV[11]*v[12]))*s;
1747  double k13 =((PV[ 1]*v[ 6]+PV[ 2]*v[ 7]+PV[ 4]*v[ 8])+(PV[ 7]*v[ 9]+PV[11]*v[13]))*s;
1748  double k14 =((PV[ 1]*v[10]+PV[ 2]*v[11]+PV[ 4]*v[12])+(PV[ 7]*v[13]+PV[11]*v[14]))*s;
1749  double k20 =((PV[ 3]*v[ 0]+PV[ 4]*v[ 1]+PV[ 5]*v[ 3])+(PV[ 8]*v[ 6]+PV[12]*v[10]))*s;
1750  double k21 =((PV[ 3]*v[ 1]+PV[ 4]*v[ 2]+PV[ 5]*v[ 4])+(PV[ 8]*v[ 7]+PV[12]*v[11]))*s;
1751  double k22 =((PV[ 3]*v[ 3]+PV[ 4]*v[ 4]+PV[ 5]*v[ 5])+(PV[ 8]*v[ 8]+PV[12]*v[12]))*s;
1752  double k23 =((PV[ 3]*v[ 6]+PV[ 4]*v[ 7]+PV[ 5]*v[ 8])+(PV[ 8]*v[ 9]+PV[12]*v[13]))*s;
1753  double k24 =((PV[ 3]*v[10]+PV[ 4]*v[11]+PV[ 5]*v[12])+(PV[ 8]*v[13]+PV[12]*v[14]))*s;
1754  double k30 =((PV[ 6]*v[ 0]+PV[ 7]*v[ 1]+PV[ 8]*v[ 3])+(PV[ 9]*v[ 6]+PV[13]*v[10]))*s;
1755  double k31 =((PV[ 6]*v[ 1]+PV[ 7]*v[ 2]+PV[ 8]*v[ 4])+(PV[ 9]*v[ 7]+PV[13]*v[11]))*s;
1756  double k32 =((PV[ 6]*v[ 3]+PV[ 7]*v[ 4]+PV[ 8]*v[ 5])+(PV[ 9]*v[ 8]+PV[13]*v[12]))*s;
1757  double k33 =((PV[ 6]*v[ 6]+PV[ 7]*v[ 7]+PV[ 8]*v[ 8])+(PV[ 9]*v[ 9]+PV[13]*v[13]))*s;
1758  double k34 =((PV[ 6]*v[10]+PV[ 7]*v[11]+PV[ 8]*v[12])+(PV[ 9]*v[13]+PV[13]*v[14]))*s;
1759  double k40 =((PV[10]*v[ 0]+PV[11]*v[ 1]+PV[12]*v[ 3])+(PV[13]*v[ 6]+PV[14]*v[10]))*s;
1760  double k41 =((PV[10]*v[ 1]+PV[11]*v[ 2]+PV[12]*v[ 4])+(PV[13]*v[ 7]+PV[14]*v[11]))*s;
1761  double k42 =((PV[10]*v[ 3]+PV[11]*v[ 4]+PV[12]*v[ 5])+(PV[13]*v[ 8]+PV[14]*v[12]))*s;
1762  double k43 =((PV[10]*v[ 6]+PV[11]*v[ 7]+PV[12]*v[ 8])+(PV[13]*v[ 9]+PV[14]*v[13]))*s;
1763  double k44 =((PV[10]*v[10]+PV[11]*v[11]+PV[12]*v[12])+(PV[13]*v[13]+PV[14]*v[14]))*s;
1764 
1765  // Residial production
1766  //
1767  double r[5]; differenceLocPar(K,M,P,r);
1768 
1769  // New parameters
1770  //
1771  double p0 =(k00*r[0]+k01*r[1]+k02*r[2])+(k03*r[3]+k04*r[4]); P[0]+=p0;
1772  double p1 =(k10*r[0]+k11*r[1]+k12*r[2])+(k13*r[3]+k14*r[4]); P[1]+=p1;
1773  double p2 =(k20*r[0]+k21*r[1]+k22*r[2])+(k23*r[3]+k24*r[4]); P[2]+=p2;
1774  double p3 =(k30*r[0]+k31*r[1]+k32*r[2])+(k33*r[3]+k34*r[4]); P[3]+=p3;
1775  double p4 =(k40*r[0]+k41*r[1]+k42*r[2])+(k43*r[3]+k44*r[4]); P[4]+=p4;
1776 
1777  // New covariance matrix
1778  //
1779  double v0 =(k00*PV[ 0]+k01*PV[ 1]+k02*PV[ 3])+(k03*PV[ 6]+k04*PV[10]);
1780  double v1 =(k10*PV[ 0]+k11*PV[ 1]+k12*PV[ 3])+(k13*PV[ 6]+k14*PV[10]);
1781  double v2 =(k10*PV[ 1]+k11*PV[ 2]+k12*PV[ 4])+(k13*PV[ 7]+k14*PV[11]);
1782  double v3 =(k20*PV[ 0]+k21*PV[ 1]+k22*PV[ 3])+(k23*PV[ 6]+k24*PV[10]);
1783  double v4 =(k20*PV[ 1]+k21*PV[ 2]+k22*PV[ 4])+(k23*PV[ 7]+k24*PV[11]);
1784  double v5 =(k20*PV[ 3]+k21*PV[ 4]+k22*PV[ 5])+(k23*PV[ 8]+k24*PV[12]);
1785  double v6 =(k30*PV[ 0]+k31*PV[ 1]+k32*PV[ 3])+(k33*PV[ 6]+k34*PV[10]);
1786  double v7 =(k30*PV[ 1]+k31*PV[ 2]+k32*PV[ 4])+(k33*PV[ 7]+k34*PV[11]);
1787  double v8 =(k30*PV[ 3]+k31*PV[ 4]+k32*PV[ 5])+(k33*PV[ 8]+k34*PV[12]);
1788  double v9 =(k30*PV[ 6]+k31*PV[ 7]+k32*PV[ 8])+(k33*PV[ 9]+k34*PV[13]);
1789  double v10 =(k40*PV[ 0]+k41*PV[ 1]+k42*PV[ 3])+(k43*PV[ 6]+k44*PV[10]);
1790  double v11 =(k40*PV[ 1]+k41*PV[ 2]+k42*PV[ 4])+(k43*PV[ 7]+k44*PV[11]);
1791  double v12 =(k40*PV[ 3]+k41*PV[ 4]+k42*PV[ 5])+(k43*PV[ 8]+k44*PV[12]);
1792  double v13 =(k40*PV[ 6]+k41*PV[ 7]+k42*PV[ 8])+(k43*PV[ 9]+k44*PV[13]);
1793  double v14 =(k40*PV[10]+k41*PV[11]+k42*PV[12])+(k43*PV[13]+k44*PV[14]);
1794  PV[ 0]-=v0 ;
1795  PV[ 1]-=v1 ; PV[ 2]-=v2 ;
1796  PV[ 3]-=v3 ; PV[ 4]-=v4 ; PV[ 5]-=v5 ;
1797  PV[ 6]-=v6 ; PV[ 7]-=v7 ; PV[ 8]-=v8 ; PV[ 9]-=v9 ;
1798  PV[10]-=v10; PV[11]-=v11; PV[12]-=v12; PV[13]-=v13; PV[14]-=v14;
1799 
1800  if(PV[0]<=0.||PV[2]<=0.||PV[5]<=0.||PV[9]<=0.||PV[14]<=0.) return false;
1801 
1802  if(X) xi2 = Xi2(5,r,v);
1803  return true;
1804 }

◆ 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.

1622 {
1623  const double pi2 = 2.*M_PI;
1624  const double pi = M_PI;
1625 
1626  double w[15]={MV[ 0]+PV[ 0],MV[ 1]+PV[ 1],MV[ 2]+PV[ 2],
1627  MV[ 3]+PV[ 3],MV[ 4]+PV[ 4],MV[ 5]+PV[ 5],
1628  MV[ 6]+PV[ 6],MV[ 7]+PV[ 7],MV[ 8]+PV[ 8],
1629  MV[ 9]+PV[ 9],MV[10]+PV[10],MV[11]+PV[11],
1630  MV[12]+PV[12],MV[13]+PV[13],MV[14]+PV[14]};
1631 
1632  if(!invert5(w,w)) return false;
1633 
1634  double k00 =(PV[ 0]*w[ 0]+PV[ 1]*w[ 1]+PV[ 3]*w[ 3])+(PV[ 6]*w[ 6]+PV[10]*w[10]);
1635  double k01 =(PV[ 0]*w[ 1]+PV[ 1]*w[ 2]+PV[ 3]*w[ 4])+(PV[ 6]*w[ 7]+PV[10]*w[11]);
1636  double k02 =(PV[ 0]*w[ 3]+PV[ 1]*w[ 4]+PV[ 3]*w[ 5])+(PV[ 6]*w[ 8]+PV[10]*w[12]);
1637  double k03 =(PV[ 0]*w[ 6]+PV[ 1]*w[ 7]+PV[ 3]*w[ 8])+(PV[ 6]*w[ 9]+PV[10]*w[13]);
1638  double k04 =(PV[ 0]*w[10]+PV[ 1]*w[11]+PV[ 3]*w[12])+(PV[ 6]*w[13]+PV[10]*w[14]);
1639  double k10 =(PV[ 1]*w[ 0]+PV[ 2]*w[ 1]+PV[ 4]*w[ 3])+(PV[ 7]*w[ 6]+PV[11]*w[10]);
1640  double k11 =(PV[ 1]*w[ 1]+PV[ 2]*w[ 2]+PV[ 4]*w[ 4])+(PV[ 7]*w[ 7]+PV[11]*w[11]);
1641  double k12 =(PV[ 1]*w[ 3]+PV[ 2]*w[ 4]+PV[ 4]*w[ 5])+(PV[ 7]*w[ 8]+PV[11]*w[12]);
1642  double k13 =(PV[ 1]*w[ 6]+PV[ 2]*w[ 7]+PV[ 4]*w[ 8])+(PV[ 7]*w[ 9]+PV[11]*w[13]);
1643  double k14 =(PV[ 1]*w[10]+PV[ 2]*w[11]+PV[ 4]*w[12])+(PV[ 7]*w[13]+PV[11]*w[14]);
1644  double k20 =(PV[ 3]*w[ 0]+PV[ 4]*w[ 1]+PV[ 5]*w[ 3])+(PV[ 8]*w[ 6]+PV[12]*w[10]);
1645  double k21 =(PV[ 3]*w[ 1]+PV[ 4]*w[ 2]+PV[ 5]*w[ 4])+(PV[ 8]*w[ 7]+PV[12]*w[11]);
1646  double k22 =(PV[ 3]*w[ 3]+PV[ 4]*w[ 4]+PV[ 5]*w[ 5])+(PV[ 8]*w[ 8]+PV[12]*w[12]);
1647  double k23 =(PV[ 3]*w[ 6]+PV[ 4]*w[ 7]+PV[ 5]*w[ 8])+(PV[ 8]*w[ 9]+PV[12]*w[13]);
1648  double k24 =(PV[ 3]*w[10]+PV[ 4]*w[11]+PV[ 5]*w[12])+(PV[ 8]*w[13]+PV[12]*w[14]);
1649  double k30 =(PV[ 6]*w[ 0]+PV[ 7]*w[ 1]+PV[ 8]*w[ 3])+(PV[ 9]*w[ 6]+PV[13]*w[10]);
1650  double k31 =(PV[ 6]*w[ 1]+PV[ 7]*w[ 2]+PV[ 8]*w[ 4])+(PV[ 9]*w[ 7]+PV[13]*w[11]);
1651  double k32 =(PV[ 6]*w[ 3]+PV[ 7]*w[ 4]+PV[ 8]*w[ 5])+(PV[ 9]*w[ 8]+PV[13]*w[12]);
1652  double k33 =(PV[ 6]*w[ 6]+PV[ 7]*w[ 7]+PV[ 8]*w[ 8])+(PV[ 9]*w[ 9]+PV[13]*w[13]);
1653  double k34 =(PV[ 6]*w[10]+PV[ 7]*w[11]+PV[ 8]*w[12])+(PV[ 9]*w[13]+PV[13]*w[14]);
1654  double k40 =(PV[10]*w[ 0]+PV[11]*w[ 1]+PV[12]*w[ 3])+(PV[13]*w[ 6]+PV[14]*w[10]);
1655  double k41 =(PV[10]*w[ 1]+PV[11]*w[ 2]+PV[12]*w[ 4])+(PV[13]*w[ 7]+PV[14]*w[11]);
1656  double k42 =(PV[10]*w[ 3]+PV[11]*w[ 4]+PV[12]*w[ 5])+(PV[13]*w[ 8]+PV[14]*w[12]);
1657  double k43 =(PV[10]*w[ 6]+PV[11]*w[ 7]+PV[12]*w[ 8])+(PV[13]*w[ 9]+PV[14]*w[13]);
1658  double k44 =(PV[10]*w[10]+PV[11]*w[11]+PV[12]*w[12])+(PV[13]*w[13]+PV[14]*w[14]);
1659 
1660  // Residial production
1661  //
1662  double r[5]={M[0]-P[0],M[1]-P[1],M[2]-P[2],M[3]-P[3],M[4]-P[4]};
1663 
1664  // Test for angles differences
1665  //
1666  if (r[2] > pi) r[2] = fmod(r[2]+pi,pi2)-pi;
1667  else if(r[2] <-pi) r[2] = fmod(r[2]-pi,pi2)+pi;
1668  if (r[3] > pi) r[3] = fmod(r[3]+pi,pi2)-pi;
1669  else if(r[3] <-pi) r[3] = fmod(r[3]-pi,pi2)+pi;
1670 
1671  // New parameters
1672  //
1673  double p0 =(k00*r[0]+k01*r[1]+k02*r[2])+(k03*r[3]+k04*r[4]); P[0]+=p0;
1674  double p1 =(k10*r[0]+k11*r[1]+k12*r[2])+(k13*r[3]+k14*r[4]); P[1]+=p1;
1675  double p2 =(k20*r[0]+k21*r[1]+k22*r[2])+(k23*r[3]+k24*r[4]); P[2]+=p2;
1676  double p3 =(k30*r[0]+k31*r[1]+k32*r[2])+(k33*r[3]+k34*r[4]); P[3]+=p3;
1677  double p4 =(k40*r[0]+k41*r[1]+k42*r[2])+(k43*r[3]+k44*r[4]); P[4]+=p4;
1678 
1679  // New covariance matrix
1680  //
1681  double v0 =(k00*PV[ 0]+k01*PV[ 1]+k02*PV[ 3])+(k03*PV[ 6]+k04*PV[10]);
1682  double v1 =(k10*PV[ 0]+k11*PV[ 1]+k12*PV[ 3])+(k13*PV[ 6]+k14*PV[10]);
1683  double v2 =(k10*PV[ 1]+k11*PV[ 2]+k12*PV[ 4])+(k13*PV[ 7]+k14*PV[11]);
1684  double v3 =(k20*PV[ 0]+k21*PV[ 1]+k22*PV[ 3])+(k23*PV[ 6]+k24*PV[10]);
1685  double v4 =(k20*PV[ 1]+k21*PV[ 2]+k22*PV[ 4])+(k23*PV[ 7]+k24*PV[11]);
1686  double v5 =(k20*PV[ 3]+k21*PV[ 4]+k22*PV[ 5])+(k23*PV[ 8]+k24*PV[12]);
1687  double v6 =(k30*PV[ 0]+k31*PV[ 1]+k32*PV[ 3])+(k33*PV[ 6]+k34*PV[10]);
1688  double v7 =(k30*PV[ 1]+k31*PV[ 2]+k32*PV[ 4])+(k33*PV[ 7]+k34*PV[11]);
1689  double v8 =(k30*PV[ 3]+k31*PV[ 4]+k32*PV[ 5])+(k33*PV[ 8]+k34*PV[12]);
1690  double v9 =(k30*PV[ 6]+k31*PV[ 7]+k32*PV[ 8])+(k33*PV[ 9]+k34*PV[13]);
1691  double v10 =(k40*PV[ 0]+k41*PV[ 1]+k42*PV[ 3])+(k43*PV[ 6]+k44*PV[10]);
1692  double v11 =(k40*PV[ 1]+k41*PV[ 2]+k42*PV[ 4])+(k43*PV[ 7]+k44*PV[11]);
1693  double v12 =(k40*PV[ 3]+k41*PV[ 4]+k42*PV[ 5])+(k43*PV[ 8]+k44*PV[12]);
1694  double v13 =(k40*PV[ 6]+k41*PV[ 7]+k42*PV[ 8])+(k43*PV[ 9]+k44*PV[13]);
1695  double v14 =(k40*PV[10]+k41*PV[11]+k42*PV[12])+(k43*PV[13]+k44*PV[14]);
1696 
1697  if((PV[ 0]-=v0 )<=0.) return false;
1698  PV[ 1]-=v1 ;
1699  if((PV[ 2]-=v2 )<=0.) return false;
1700  PV[ 3]-=v3 ;
1701  PV[ 4]-=v4 ;
1702  if((PV[ 5]-=v5 )<=0.) return false;
1703  PV[ 6]-=v6 ;
1704  PV[ 7]-=v7 ;
1705  PV[ 8]-=v8 ;
1706  if((PV[ 9]-=v9 )<=0.) return false;
1707  PV[10]-=v10;
1708  PV[11]-=v11;
1709  PV[12]-=v12;
1710  PV[13]-=v13;
1711  if((PV[14]-=v14)<=0.) return false;
1712 
1713  if(X) xi2 = Xi2(5,r,w);
1714  return true;
1715 }

◆ 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.

1294 {
1295  double v0;
1296  if(O>0) {v0 = MV[0]+PV[0];}
1297  else {v0 = MV[0]-PV[0];}
1298 
1299  if(v0<=0.) return false;
1300  double w0 = 1./v0;
1301  double r0 = M[0]-P[0];
1302 
1303  // K matrix with (5x1) size
1304  //
1305  double k0 = PV[ 0]*w0;
1306  double k1 = PV[ 1]*w0;
1307  double k2 = PV[ 3]*w0;
1308  double k3 = PV[ 6]*w0;
1309  double k4 = PV[10]*w0;
1310 
1311  if(O<0) {k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;}
1312 
1313  // New parameters
1314  //
1315  P[0]+=(k0*r0);
1316  P[1]+=(k1*r0);
1317  P[2]+=(k2*r0);
1318  P[3]+=(k3*r0);
1319  P[4]+=(k4*r0);
1320 
1321  // New covariance matrix
1322  //
1323  if((PV[14]-= (k4*PV[10]))<=0.) return false;
1324  PV[13]-= (k4*PV[ 6]);
1325  PV[12]-= (k4*PV[ 3]);
1326  PV[11]-= (k4*PV[ 1]);
1327  PV[10]-= (k4*PV[ 0]);
1328  if((PV[ 9]-= (k3*PV[ 6]))<=0.) return false;
1329  PV[ 8]-= (k3*PV[ 3]);
1330  PV[ 7]-= (k3*PV[ 1]);
1331  PV[ 6]-= (k3*PV[ 0]);
1332  if((PV[ 5]-= (k2*PV[ 3]))<=0.) return false;
1333  PV[ 4]-= (k2*PV[ 1]);
1334  PV[ 3]-= (k2*PV[ 0]);
1335  if((PV[ 2]-= (k1*PV[ 1]))<=0.) return false;
1336  PV[ 1]-= (k1*PV[ 0]);
1337  if((PV[ 0]-= (k0*PV[ 0]))<=0.) return false;
1338 
1339  if(X) xi2 = r0*r0*w0;
1340  return true;
1341 }

◆ 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.

1352 {
1353  double v0;
1354  if(O>0) {v0 = MV[0]+PV[0];}
1355  else {v0 = MV[0]-PV[0];}
1356 
1357  if(v0<=0.) return false;
1358  double w0 = 1./v0;
1359  double r0 = M[0]-P[0];
1360 
1361  // K matrix with (5x1) size
1362  //
1363  double k0 = PV[ 0]*w0;
1364  double k1 = PV[ 1]*w0;
1365  double k2 = PV[ 3]*w0;
1366  double k3 = PV[ 6]*w0;
1367  double k4 = PV[10]*w0;
1368 
1369  if(O<0) {k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;}
1370 
1371  // Boundary check
1372  //
1373  double P1 = P[1]+k1*r0 ;
1374  double dP = P1-M[1] ;
1375  double W = sqrt(MV[2])*1.732051;
1376 
1377  if(fabs(dP) <= W) {
1378 
1379  P[0]+=(k0*r0);
1380  P[1] = P1 ;
1381  P[2]+=(k2*r0);
1382  P[3]+=(k3*r0);
1383  P[4]+=(k4*r0);
1384  if(X) xi2 = r0*r0*w0;
1385  }
1386  else {
1387 
1388  dP > W ? M[1]+=W : M[1]-=W; MV[2] = m_covBoundary;
1389  if(!updateWithTwoDimParameters(O,true,M,MV,P,PV,xi2)) return false;
1390  }
1391 
1392  // New covariance matrix
1393  //
1394  if((PV[14]-= (k4*PV[10]))<=0.) return false;
1395  PV[13]-= (k4*PV[ 6]);
1396  PV[12]-= (k4*PV[ 3]);
1397  PV[11]-= (k4*PV[ 1]);
1398  PV[10]-= (k4*PV[ 0]);
1399  if((PV[ 9]-= (k3*PV[ 6]))<=0.) return false;
1400  PV[ 8]-= (k3*PV[ 3]);
1401  PV[ 7]-= (k3*PV[ 1]);
1402  PV[ 6]-= (k3*PV[ 0]);
1403  if((PV[ 5]-= (k2*PV[ 3]))<=0.) return false;
1404  PV[ 4]-= (k2*PV[ 1]);
1405  PV[ 3]-= (k2*PV[ 0]);
1406  if((PV[ 2]-= (k1*PV[ 1]))<=0.) return false;
1407  PV[ 1]-= (k1*PV[ 0]);
1408  return (PV[ 0]-= (k0*PV[ 0])) > 0.;
1409 }

◆ 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.

1419 {
1420  double v0;
1421  double v1;
1422  double v2;
1423  if(O>0) {v0 = MV[0]+PV[0]; v1 = MV[1]+PV[1]; v2 = MV[2]+PV[2];}
1424  else {v0 = MV[0]-PV[0]; v1 = MV[1]-PV[1]; v2 = MV[2]-PV[2];}
1425 
1426  double d = v0*v2-v1*v1; if(d<=0.) return false; d=1./d;
1427  double w0 = v2*d;
1428  double w1 =-v1*d;
1429  double w2 = v0*d;
1430  double r0 = M[0]-P[0];
1431  double r1 = M[1]-P[1];
1432 
1433  // K matrix with (5x2) size
1434  //
1435  double k0 = PV[ 0]*w0+PV[ 1]*w1;
1436  double k1 = PV[ 0]*w1+PV[ 1]*w2;
1437  double k2 = PV[ 1]*w0+PV[ 2]*w1;
1438  double k3 = PV[ 1]*w1+PV[ 2]*w2;
1439  double k4 = PV[ 3]*w0+PV[ 4]*w1;
1440  double k5 = PV[ 3]*w1+PV[ 4]*w2;
1441  double k6 = PV[ 6]*w0+PV[ 7]*w1;
1442  double k7 = PV[ 6]*w1+PV[ 7]*w2;
1443  double k8 = PV[10]*w0+PV[11]*w1;
1444  double k9 = PV[10]*w1+PV[11]*w2;
1445 
1446  if(O<0) {
1447  k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;
1448  k5=-k5; k6=-k6; k7=-k7; k8=-k8; k9=-k9;
1449  }
1450 
1451  // New parameters
1452  //
1453  P[0]+=(k0*r0+k1*r1);
1454  P[1]+=(k2*r0+k3*r1);
1455  P[2]+=(k4*r0+k5*r1);
1456  P[3]+=(k6*r0+k7*r1);
1457  P[4]+=(k8*r0+k9*r1);
1458 
1459  // New covariance matrix
1460  //
1461  if((PV[14]-= (k8*PV[10]+k9*PV[11]))<=0.) return false;
1462  PV[13]-= (k8*PV[ 6]+k9*PV[ 7]);
1463  PV[12]-= (k8*PV[ 3]+k9*PV[ 4]);
1464  PV[11]-= (k8*PV[ 1]+k9*PV[ 2]);
1465  PV[10]-= (k8*PV[ 0]+k9*PV[ 1]);
1466  if((PV[ 9]-= (k6*PV[ 6]+k7*PV[ 7]))<=0.) return false;
1467  PV[ 8]-= (k6*PV[ 3]+k7*PV[ 4]);
1468  PV[ 7]-= (k6*PV[ 1]+k7*PV[ 2]);
1469  PV[ 6]-= (k6*PV[ 0]+k7*PV[ 1]);
1470  if((PV[ 5]-= (k4*PV[ 3]+k5*PV[ 4]))<=0.) return false;
1471  PV[ 4]-= (k4*PV[ 1]+k5*PV[ 2]);
1472  PV[ 3]-= (k4*PV[ 0]+k5*PV[ 1]);
1473  if((PV[ 2]-= (k3*PV[ 2]+k2*PV[ 1]))<=0.) return false;
1474  double c1 = (1.-k3)*PV[ 1]-k2*PV[ 0];
1475  if((PV[ 0]-= (k0*PV[ 0]+k1*PV[ 1]))<=0.) return false;
1476  PV[ 1] = c1;
1477 
1478  if(X) xi2 = (r0*r0*w0+r1*r1*w2+2.*r0*r1*w1);
1479  return true;
1480 }

◆ 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.

1491 {
1492  double v0;
1493  double v1;
1494  double v2;
1495  if(O>0) {v0 = MV[0]+PV[0]; v1 = MV[1]+PV[1]; v2 = MV[2]+PV[2];}
1496  else {v0 = MV[0]-PV[0]; v1 = MV[1]-PV[1]; v2 = MV[2]-PV[2];}
1497 
1498  double d = v0*v2-v1*v1; if(d<=0.) return false; d=1./d;
1499  double w0 = v2*d;
1500  double w1 =-v1*d;
1501  double w2 = v0*d;
1502  double r0 = M[0]-P[0];
1503  double r1 = M[1]-P[1];
1504 
1505  // K matrix with (5x2) size
1506  //
1507  double k0 = PV[ 0]*w0+PV[ 1]*w1;
1508  double k1 = PV[ 0]*w1+PV[ 1]*w2;
1509  double k2 = PV[ 1]*w0+PV[ 2]*w1;
1510  double k3 = PV[ 1]*w1+PV[ 2]*w2;
1511  double k4 = PV[ 3]*w0+PV[ 4]*w1;
1512  double k5 = PV[ 3]*w1+PV[ 4]*w2;
1513  double k6 = PV[ 6]*w0+PV[ 7]*w1;
1514  double k7 = PV[ 6]*w1+PV[ 7]*w2;
1515  double k8 = PV[10]*w0+PV[11]*w1;
1516  double k9 = PV[10]*w1+PV[11]*w2;
1517 
1518  if(O<0) {
1519  k0=-k0; k1=-k1; k2=-k2; k3=-k3; k4=-k4;
1520  k5=-k5; k6=-k6; k7=-k7; k8=-k8; k9=-k9;
1521  }
1522 
1523  // New parameters
1524  //
1525  P[0]+=(k0*r0+k1*r1);
1526  P[1]+=(k2*r0+k3*r1);
1527  P[2]+=(k4*r0+k5*r1);
1528  P[3]+=(k6*r0+k7*r1);
1529  P[4]+=(k8*r0+k9*r1);
1530  if(X) xi2 = (r0*r0*w0+r1*r1*w2+2.*r0*r1*w1);
1531  return true;
1532 }

◆ 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.

1543 {
1544  // Increase second covariance
1545  //
1546  double sa = MV[0]+MV[2] ;
1547  double d = MV[0]*MV[2]-MV[1]*MV[1];
1548  double ds = d/sa ;
1549  double V0 = ds*(1.+ds/sa) ;
1550  double V1 = sa-V0 ;
1551  double dV = 1./(V0-V1) ;
1552  double sc = MV[1]*dV ;
1553  double al = (MV[0]-MV[2])*dV ;
1554  double s2 = .5*(1.-al) ;
1555  double c2 = s2+al ;
1556  double c = sqrt(c2) ;
1557  double s = sc/c ;
1558 
1559  // New measurement
1560  //
1561  double M0 = c*M[0]+s*M[1];
1562  M [ 1] = c*M[1]-s*M[0];
1563  M [ 0] = M0 ;
1564  MV[ 0] = V0 ;
1565  MV[ 1] = 0. ;
1566  MV[ 2] = V1 ;
1567 
1568  // Rotate track parameters and covariance matrix
1569  //
1570  double P0 = P[0] ;
1571  P [ 0] = c*P0 +s*P[1] ;
1572  P [ 1] = c*P[1]-s*P0 ;
1573  double B = 2.*sc*PV[ 1] ;
1574  double PV0 = PV[ 0] ;
1575  double PV3 = PV[ 3] ;
1576  double PV6 = PV[ 6] ;
1577  double PV10= PV[10] ;
1578  PV[ 0] = c2*PV0+s2*PV[ 2]+B ;
1579  PV[ 1] = sc*(PV[ 2]-PV0)+PV[ 1]*al;
1580  PV[ 2] = s2*PV0+c2*PV[ 2]-B ;
1581  PV[ 3] = c*PV3 +s*PV[ 4] ;
1582  PV[ 4] = c*PV[ 4]-s*PV3 ;
1583  PV[ 6] = c*PV6 +s*PV[ 7] ;
1584  PV[ 7] = c*PV[ 7]-s*PV6 ;
1585  PV[10] = c*PV10 +s*PV[11] ;
1586  PV[11] = c*PV[11]-s*PV10 ;
1587 
1588  if(!updateWithOneDimWithBoundary(O,X,M,MV,P,PV,xi2)) return false;
1589 
1590  // Back rotation new track parameters and covariance matrix
1591  //
1592  s = -s; sc = -sc;
1593 
1594  P0 = P[0] ;
1595  P [ 0] = c*P0 +s*P[1] ;
1596  P [ 1] = c*P[1]-s*P0 ;
1597  B = 2.*sc*PV[ 1] ;
1598  PV0 = PV[ 0] ;
1599  PV3 = PV[ 3] ;
1600  PV6 = PV[ 6] ;
1601  PV10 = PV[10] ;
1602  PV[ 0] = c2*PV0+s2*PV[ 2]+B ;
1603  PV[ 1] = sc*(PV[ 2]-PV0)+PV[ 1]*al;
1604  PV[ 2] = s2*PV0+c2*PV[ 2]-B ;
1605  PV[ 3] = c*PV3 +s*PV[ 4] ;
1606  PV[ 4] = c*PV[ 4]-s*PV3 ;
1607  PV[ 6] = c*PV6 +s*PV[ 7] ;
1608  PV[ 7] = c*PV[ 7]-s*PV6 ;
1609  PV[10] = c*PV10 +s*PV[11] ;
1610  PV[11] = c*PV[11]-s*PV10 ;
1611  return true;
1612 }

◆ 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.

1925 {
1926  AmgSymMatrix(5) e;
1927  e<< V[ 0],V[ 1],V[ 3],V[ 6],V[10],
1928  V[ 1],V[ 2],V[ 4],V[ 7],V[11],
1929  V[ 3],V[ 4],V[ 5],V[ 8],V[12],
1930  V[ 6],V[ 7],V[ 8],V[ 9],V[13],
1931  V[10],V[11],V[12],V[13],V[14];
1932  return T.associatedSurface().createUniqueTrackParameters(P[0],P[1],P[2],P[3],P[4],std::move(e));
1933 }

◆ Xi2()

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

Definition at line 2156 of file KalmanUpdator_xk.cxx.

2157 {
2158  if(N==1) return Xi2for1(R,W);
2159  if(N==2) return Xi2for2(R,W);
2160  if(N==3) return Xi2for3(R,W);
2161  if(N==4) return Xi2for4(R,W);
2162  if(N==5) return Xi2for5(R,W);
2163  return 0.;
2164 }

◆ Xi2for1()

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

Definition at line 2171 of file KalmanUpdator_xk.cxx.

2172 {
2173  double Xi2 = R[0]*W[0]*R[0];
2174  return Xi2;
2175 }

◆ Xi2for2()

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

Definition at line 2182 of file KalmanUpdator_xk.cxx.

2183 {
2184  double Xi2 =
2185  (R[0]*W[ 0]+R[1]*W[ 1])*R[0]+
2186  (R[0]*W[ 1]+R[1]*W[ 2])*R[1];
2187  return Xi2;
2188 }

◆ Xi2for3()

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

Definition at line 2195 of file KalmanUpdator_xk.cxx.

2196 {
2197  double Xi2 =
2198  (R[0]*W[ 0]+R[1]*W[ 1]+R[2]*W[ 3])*R[0]+
2199  (R[0]*W[ 1]+R[1]*W[ 2]+R[2]*W[ 4])*R[1]+
2200  (R[0]*W[ 3]+R[1]*W[ 4]+R[2]*W[ 5])*R[2];
2201  return Xi2;
2202 }

◆ Xi2for4()

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

Definition at line 2209 of file KalmanUpdator_xk.cxx.

2210 {
2211  double Xi2 =
2212  ((R[0]*W[ 0]+R[1]*W[ 1])+(R[2]*W[ 3]+R[3]*W[ 6]))*R[0]+
2213  ((R[0]*W[ 1]+R[1]*W[ 2])+(R[2]*W[ 4]+R[3]*W[ 7]))*R[1]+
2214  ((R[0]*W[ 3]+R[1]*W[ 4])+(R[2]*W[ 5]+R[3]*W[ 8]))*R[2]+
2215  ((R[0]*W[ 6]+R[1]*W[ 7])+(R[2]*W[ 8]+R[3]*W[ 9]))*R[3];
2216  return Xi2;
2217 }

◆ Xi2for5()

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

Definition at line 2224 of file KalmanUpdator_xk.cxx.

2225 {
2226  double Xi2 =
2227  ((R[0]*W[ 0]+R[1]*W[ 1]+R[2]*W[ 3])+(R[3]*W[ 6]+R[4]*W[10]))*R[0]+
2228  ((R[0]*W[ 1]+R[1]*W[ 2]+R[2]*W[ 4])+(R[3]*W[ 7]+R[4]*W[11]))*R[1]+
2229  ((R[0]*W[ 3]+R[1]*W[ 4]+R[2]*W[ 5])+(R[3]*W[ 8]+R[4]*W[12]))*R[2]+
2230  ((R[0]*W[ 6]+R[1]*W[ 7]+R[2]*W[ 8])+(R[3]*W[ 9]+R[4]*W[13]))*R[3]+
2231  ((R[0]*W[10]+R[1]*W[11]+R[2]*W[12])+(R[3]*W[13]+R[4]*W[14]))*R[4];
2232  return Xi2;
2233 }

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:
AllowedVariables::e
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Definition: KalmanUpdator_xk.cxx:1542
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virtual FitQualityOnSurface fullStateFitQuality(const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &) const override final
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unsigned int m_key[33]
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static void testAngles(double *, double *)
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std::vector< double > m_cov0
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AthCommonDataStore< AthCommonMsg< AlgTool > >::m_evtStore
StoreGateSvc_t m_evtStore
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bool updateWithOneDimWithBoundary(int, bool, double *, double *, double *, double *, double &) const
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std::unique_ptr< TrackParameters > update(const TrackParameters &, const Amg::Vector2D &, const Amg::MatrixX &, FitQualityOnSurface *&, int, bool) const
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Trk::KalmanUpdator_xk::Xi2for1
static double Xi2for1(const double *, const double *)
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Trk::KalmanUpdator_xk::m_map
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Definition: KalmanUpdator_xk.cxx:1621
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AthCommonDataStore< AthCommonMsg< AlgTool > >::m_detStore
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