Trk::TwoStateCombiner Namespace Reference

Functions
Trk::MultiComponentState	combine (const Trk::MultiComponentState &forwardsMultiState, const Trk::MultiComponentState &smootherMultiState, unsigned int maximumNumberOfComponents)
	Helper to combine forward with smoother MultiComponentStates.

Function Documentation

combine()

ATH_FLATTEN Trk::MultiComponentState Trk::TwoStateCombiner::combine	(	const Trk::MultiComponentState &	forwardsMultiState,
		const Trk::MultiComponentState &	smootherMultiState,
		unsigned int	maximumNumberOfComponents )

Helper to combine forward with smoother MultiComponentStates.

Definition at line 149 of file TwoStateCombiner.cxx.

{
  auto combinedMultiState = std::make_unique<Trk::MultiComponentState>();
 
  // Loop over all components in forwards multi-state
  for (const auto& forwardsComponent : forwardsMultiState) {
    const AmgSymMatrix(5)* forwardCov = forwardsComponent.params->covariance();
    // Loop over all components in the smoother multi-state
    for (const auto& smootherComponent : smootherMultiState) {
      const AmgSymMatrix(5)* smootherCov = smootherComponent.params->covariance();
 
      // If not covariances return here.
      if (!smootherCov && !forwardCov) {
        return {};
      }
      //No forward only smoothed.
      if (!forwardCov) {
        Trk::ComponentParameters smootherComponentOnly = {
            smootherComponent.params->uniqueClone(), smootherComponent.weight};
        combinedMultiState->push_back(std::move(smootherComponentOnly));
        continue;
      }
      //No smoothed only forward.
      if (!smootherCov) {
        Trk::ComponentParameters forwardComponentOnly = {
            forwardsComponent.params->uniqueClone(), forwardsComponent.weight};
        combinedMultiState->push_back(std::move(forwardComponentOnly));
        continue;
      }
      /* A comment on te Algebra.
       * For the covariances P and states X
       * the most pedagogical presentation found
       * in textbooks is :
       *
       * P_k^s = \left( \left( P_{k|k}^f \right)^{-1}
       * + \left( P_{k|k-1}^b \right)^{-1}
       *
       * X_k^s = P_k^s \left( \left( P_{k|k}^f \right)^{-1} X_{k|k}^f
       * + \left( P_{k|k-1}^b \right)^{-1} X_{k|k-1}^b \right)
       *
       * The  f, b, s notation refers to forward, backward, and smoothed
       * values. The k|k-1 subscript for the backward estimates refers to the
       * update sequence.
       *
       * These can be written (via inversion lemmas) as
       * P_k^s \left( P_{k|k}^f \right)^{-1} =
       * I - P_k^s \left( P_{k|k-1}^b \right)^{-1}
       *
       * X_k^s = X_{k|k}^f + P_k^s \left( P_{k|k-1}^b \right)^{-1}
       * \left( X_{k|k-1}^b - X_{k|k}^f \right)
       *
       * We use K = P_k^s \left( P_{k|k-1}^b \right)^{-1} below
       */
      const AmgVector(5) smootherParams = smootherComponent.params->parameters();
      const AmgVector(5) forwardParams = forwardsComponent.params->parameters();
      const AmgSymMatrix(5) summedCovariance = *forwardCov + *smootherCov;
      const AmgSymMatrix(5) invertedSummedCovariance = summedCovariance.inverse();
      const AmgSymMatrix(5) K = *forwardCov * invertedSummedCovariance;
      const AmgVector(5) newParameters = forwardParams + K * (smootherParams - forwardParams);
      AmgSymMatrix(5) covarianceOfNewParameters = K * (*smootherCov);
 
      std::unique_ptr<Trk::TrackParameters> combinedTrackParameters =
          (forwardsComponent.params)
              ->associatedSurface()
              .createUniqueTrackParameters(
                  newParameters[Trk::loc1],
                  newParameters[Trk::loc2],
                  newParameters[Trk::phi],
                  newParameters[Trk::theta],
                  newParameters[Trk::qOverP],
                  std::move(covarianceOfNewParameters));
 
      // Determine the scaling factor for the new weighting.
      // We need to include the prob for suh  difference
      // via the many-dimensional gaussian pdf.
      const AmgVector(5) parametersDiff = forwardParams - smootherParams;
      double const exponent = parametersDiff.transpose() *
                              invertedSummedCovariance * parametersDiff;
      double const weightScalingFactor = exp(-0.5 * exponent);
      double const combinedWeight = smootherComponent.weight *
                                    forwardsComponent.weight *
                                    weightScalingFactor;
      Trk::ComponentParameters combinedComponent = {
          std::move(combinedTrackParameters), combinedWeight};
      combinedMultiState->push_back(std::move(combinedComponent));
    }
  } //end of double loop
 
  // Component reduction on the combined state
  Trk::MultiComponentState mergedState =
      merge(std::move(*combinedMultiState), maximumNumberOfComponents);
  // Before return the weights of the states need to be renormalised to one.
  Trk::MultiComponentStateHelpers::renormaliseState(mergedState);
 
  return mergedState;
}