AFPSiDBasicKalmanToolTrack.h

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/*
  Copyright (C) 2002-2021 CERN for the benefit of the ATLAS collaboration
*/
 
 
#ifndef AFP_LOCRECO_AFPSIDBASICKALMANTOOLTRACK_H
#define AFP_LOCRECO_AFPSIDBASICKALMANTOOLTRACK_H 1
 
#include <list>
 
#include "xAODForward/AFPSiHitsCluster.h"
 
 
#include <CLHEP/Matrix/Matrix.h>
#include <CLHEP/Matrix/Vector.h>
 
class AFPSiDBasicKalmanToolTrack
{
public:
 
  AFPSiDBasicKalmanToolTrack (const xAOD::AFPSiHitsCluster* firstCluster, const xAOD::AFPSiHitsCluster* secondCluster, const CLHEP::HepMatrix& observationModel, const CLHEP::HepMatrix& observationNoise, const CLHEP::HepMatrix& covarianceMatrix);
 
  inline CLHEP::HepMatrix transitionModel (const double firstPos, const double secondPos) const;
 
  CLHEP::HepMatrix transitionModel (const double zPosition) const
  {return transitionModel (m_zPositionHistory.back(),  zPosition);}
    
  CLHEP::HepVector predictNextPoint (const double zPosition) const
  {return transitionModel(zPosition)*m_positionAndSlopeHistory.back();}
 
  inline CLHEP::HepMatrix predictNextPointCov (const double zPosition) const
  {CLHEP::HepMatrix transition = transitionModel(zPosition);
    return transition*m_positionAndSlopeCovHistory.back()*transition.T();}
 
 
  const xAOD::AFPSiHitsCluster* findNearestCluster (const std::vector<const xAOD::AFPSiHitsCluster*>& clusters, const float maxAllowedDistance) const;
 
 
  void addCluster (const xAOD::AFPSiHitsCluster* cluster, const float htiMaxChi2);
 
  int holes () const {return m_holes;}
 
  void addHole() {++m_holes;}
 
  const std::list<const xAOD::AFPSiHitsCluster*>& clustersInTrack () const {return m_clustersInTrack;}
 
  void clearSmoothMatrices ();
 
  const std::list< CLHEP::HepVector >& positionAndSlopeSmooth () const {return m_positionAndSlopeSmooth;}
 
  const std::list< CLHEP::HepVector >& positionAndSlopeHistory () const {return m_positionAndSlopeHistory;}
 
  const std::list< double >& chi2Smooth() const {return m_chi2Smooth;}
 
  double trkChi2NDFSmooth() const;
 
  void smooth ();
protected:
  
 
  std::list< float > m_zPositionHistory;
 
  std::list< CLHEP::HepVector > m_positionAndSlopeHistory;
 
  std::list< CLHEP::HepVector > m_positionAndSlopePredictedHistory;
 
  std::list< CLHEP::HepMatrix > m_positionAndSlopeCovHistory;
 
  std::list< CLHEP::HepMatrix > m_positionAndSlopeCovPredictedHistory;
 
  std::list< CLHEP::HepMatrix > m_transitionHistory;
 
  std::list< double> m_chi2History;
 
  std::list< CLHEP::HepVector > m_positionAndSlopeSmooth;
 
  std::list< CLHEP::HepMatrix > m_positionAndSlopeSmoothCov;
 
  std::list< double > m_chi2Smooth;
  
  std::list<const xAOD::AFPSiHitsCluster*> m_clustersInTrack;
 
  const CLHEP::HepMatrix& m_observationModel; 
 
  const CLHEP::HepMatrix& m_observationNoise;
 
 
  int m_holes;
};
 
inline CLHEP::HepMatrix AFPSiDBasicKalmanToolTrack::transitionModel (const double firstPos, const double secondPos) const
{
  CLHEP::HepMatrix transitionModel (4, 4, 1);   // create unit matrix (1 on diagonal, 0 offdiagonal)
  const double zDistance = secondPos - firstPos;
  transitionModel[0][1] = zDistance;// set linear transformation which sets x' = x + dx*dz
  transitionModel[2][3] = zDistance; // set linear transformation which sets y' = y + dy*dz
 
  return transitionModel;
}
 
#endif