#include <TrkFilteringNodes.h>

Inheritance diagram for Trk::TrkPixelNode:

Collaboration diagram for Trk::TrkPixelNode:

Public Member Functions
	TrkPixelNode (TrkPlanarSurface , double, const PrepRawData )
	TrkPixelNode (TrkPlanarSurface *, double, const double[2], const double[4])
virtual	~TrkPixelNode ()
virtual void	validateMeasurement (TrkTrackState *)
virtual void	updateTrackState (TrkTrackState *)
virtual double	getChi2Distance (TrkTrackState *)
virtual void	serialize (char fileName[])
virtual void	report ()
virtual void	updateWithRIO (const RIO_OnTrack *)
virtual int	getKalmanGain (double[5][2])
virtual int	getResiduals (double[2])
virtual int	getInverseResidualVariance (double[2][2])
virtual int	getMeasurementMatrix (double[2][5])
virtual void	runKalmanFilter (TrkTrackState *)
virtual double	calculateChi2 ()
virtual bool	isValidated ()
virtual void	setNodeState (int)
virtual int	getNodeState ()
virtual void	setNodeType (char)
virtual char	getNodeType ()
virtual void	updateInternal ()
TrkTrackState *	getTrackState ()
virtual TrkPlanarSurface *	getSurface ()
virtual const PrepRawData *	getPrepRawData ()
double	getChi2 () const
int	getNdof () const

Protected Attributes
double	m_B [5][2]
double	m_D [2][2]
double	m_H [2][5]
double	m_K [5][2]
double	m_resid [2]
double	m_m [2]
double	m_V [2][2]
int	m_nodeState
double	m_chi2Cut
char	m_nodeType
TrkPlanarSurface *	m_pSurface
const PrepRawData *	m_pPRD
double	m_dChi2
int	m_ndof
TrkTrackState *	m_pTrackState

Detailed Description

Definition at line 98 of file TrkFilteringNodes.h.

Constructor & Destructor Documentation

◆ TrkPixelNode() [1/2]

Trk::TrkPixelNode::TrkPixelNode	(	TrkPlanarSurface *	pS,
		double	chi2Cut,
		const PrepRawData *	pPRD )

Definition at line 300 of file TrkFilteringNodes.cxx.

                                                                                          {
    int i, j;
 
    m_pSurface = pS;
    m_chi2Cut = chi2Cut;
    for (i = 0; i < 2; i++) {
      m_m[i] = pPRD->localPosition()[i];
      for (j = 0; j < 2; j++) m_V[i][j] = pPRD->localCovariance()(i, j);
    }
    m_pPRD = pPRD;
    m_nodeType = 1;
    m_ndof = 2;
  }

◆ TrkPixelNode() [2/2]

Trk::TrkPixelNode::TrkPixelNode	(	TrkPlanarSurface *	pS,
		double	chi2Cut,
		const double	pos[2],
		const double	cov[4] )

Definition at line 314 of file TrkFilteringNodes.cxx.

                                                                                                           {
    m_pSurface = pS;
    m_chi2Cut = chi2Cut;
    m_m[0] = pos[0];
    m_m[1] = pos[1];
    m_V[0][0] = cov[0];
    m_V[0][1] = cov[1];
    m_V[1][0] = cov[2];
    m_V[1][1] = cov[3];
    m_pPRD = nullptr;
    m_nodeType = 1;
    m_ndof = 2;
  }

◆ ~TrkPixelNode()

virtual Trk::TrkPixelNode::~TrkPixelNode ( )

inlinevirtual

Definition at line 103 of file TrkFilteringNodes.h.

103{};

Member Function Documentation

◆ calculateChi2()

double Trk::TrkFilteringNode2D::calculateChi2 ( )

virtualinherited

Definition at line 75 of file TrkFilteringNodes.cxx.

                                           {
    double dchi2;
 
    dchi2 = m_resid[0] * m_resid[0] * m_D[0][0] + 2 * m_resid[0] * m_resid[1] * m_D[0][1] +
            m_resid[1] * m_resid[1] * m_D[1][1];
    return dchi2;
  }

◆ getChi2()

double Trk::TrkBaseNode::getChi2 ( ) const

inherited

Definition at line 69 of file TrkBaseNode.cxx.

                                    {
    return m_dChi2;
  }

◆ getChi2Distance()

double Trk::TrkPixelNode::getChi2Distance ( TrkTrackState * pTS )

virtual

Implements Trk::TrkBaseNode.

Definition at line 349 of file TrkFilteringNodes.cxx.

                                                         {
    double det;
 
    m_H[0][0] = 1.0;
    m_H[1][1] = 1.0;
    m_H[0][1] = 0.0;
    m_H[0][2] = 0.0;
    m_H[0][3] = 0.0;
    m_H[0][4] = 0.0;
    m_H[1][0] = 0.0;
    m_H[1][2] = 0.0;
    m_H[1][3] = 0.0;
    m_H[1][4] = 0.0;
 
    m_B[0][0] = pTS->getTrackCovariance(0, 0);
    m_B[0][1] = pTS->getTrackCovariance(0, 1);
    m_B[1][0] = pTS->getTrackCovariance(0, 1);
    m_B[1][1] = pTS->getTrackCovariance(1, 1);
    m_B[2][0] = pTS->getTrackCovariance(0, 2);
    m_B[2][1] = pTS->getTrackCovariance(1, 2);
    m_B[3][0] = pTS->getTrackCovariance(0, 3);
    m_B[3][1] = pTS->getTrackCovariance(1, 3);
    m_B[4][0] = pTS->getTrackCovariance(0, 4);
    m_B[4][1] = pTS->getTrackCovariance(1, 4);
 
    m_resid[0] = m_m[0] - pTS->getTrackState(0);
    m_resid[1] = m_m[1] - pTS->getTrackState(1);
 
    double W[2][2];
 
    W[0][0] = pTS->getTrackCovariance(0, 0) + m_V[0][0];
    W[1][0] = W[0][1] = pTS->getTrackCovariance(0, 1) + m_V[0][1];
    W[1][1] = pTS->getTrackCovariance(1, 1) + m_V[1][1];
    det = W[0][0] * W[1][1] - W[0][1] * W[0][1];
    if (det  ==  0.0) return 1e8;
    det = 1.0 / det;
    m_D[0][0] = W[1][1] * det;
    m_D[0][1] = -W[0][1] * det;
    m_D[1][0] = m_D[0][1];
    m_D[1][1] = W[0][0] * det;
 
    return calculateChi2();
  }

◆ getInverseResidualVariance()

int Trk::TrkFilteringNode2D::getInverseResidualVariance ( double V[2][2] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 113 of file TrkFilteringNodes.cxx.

                                                                   {
    int i, j;
 
    for (i = 0; i < 2; i++) for (j = 0; j < 2; j++) V[i][j] = m_D[i][j];
    return 2;
  }

◆ getKalmanGain()

int Trk::TrkFilteringNode2D::getKalmanGain ( double K[5][2] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 100 of file TrkFilteringNodes.cxx.

                                                      {
    int i, j;
 
    for (i = 0; i < 5; i++) for (j = 0; j < 2; j++) K[i][j] = m_K[i][j];
    return 2;
  }

◆ getMeasurementMatrix()

int Trk::TrkFilteringNode2D::getMeasurementMatrix ( double H[2][5] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 120 of file TrkFilteringNodes.cxx.

                                                             {
    int i, j;
 
    for (j = 0; j < 2; j++) for (i = 0; i < 5; i++) H[j][i] = m_H[j][i];
    return 2;
  }

◆ getNdof()

int Trk::TrkBaseNode::getNdof ( ) const

inherited

Definition at line 65 of file TrkBaseNode.cxx.

                                 {
    return m_ndof;
  }

◆ getNodeState()

int Trk::TrkBaseNode::getNodeState ( )

virtualinherited

Definition at line 53 of file TrkBaseNode.cxx.

                                {
    return m_nodeState;
  }

◆ getNodeType()

char Trk::TrkBaseNode::getNodeType ( )

virtualinherited

Definition at line 61 of file TrkBaseNode.cxx.

                                {
    return m_nodeType;
  }

◆ getPrepRawData()

const PrepRawData * Trk::TrkBaseNode::getPrepRawData ( )

virtualinherited

Definition at line 39 of file TrkBaseNode.cxx.

                                                 {
    return m_pPRD;
  }

◆ getResiduals()

int Trk::TrkFilteringNode2D::getResiduals ( double r[2] )

virtualinherited

Implements Trk::TrkBaseNode.

Definition at line 107 of file TrkFilteringNodes.cxx.

                                                  {
    r[0] = m_resid[0];
    r[1] = m_resid[1];
    return 2;
  }

◆ getSurface()

TrkPlanarSurface * Trk::TrkBaseNode::getSurface ( )

virtualinherited

Definition at line 35 of file TrkBaseNode.cxx.

                                            {
    return m_pSurface;
  }

◆ getTrackState()

TrkTrackState * Trk::TrkBaseNode::getTrackState ( )

inherited

Definition at line 43 of file TrkBaseNode.cxx.

                                            {
    return m_pTrackState;
  }

◆ isValidated()

bool Trk::TrkBaseNode::isValidated ( )

virtualinherited

Definition at line 31 of file TrkBaseNode.cxx.

                              {
  return (m_nodeState != 0);
  }

◆ report()

void Trk::TrkPixelNode::report ( )

virtual

Implements Trk::TrkBaseNode.

Definition at line 337 of file TrkFilteringNodes.cxx.

                            {
    /*
       printf("PIXEL NODE x=%f y=%f\n",m_m[0],m_m[1]);
     */
    m_pSurface->report();
  }

◆ runKalmanFilter()

void Trk::TrkFilteringNode2D::runKalmanFilter ( TrkTrackState * pTS )

virtualinherited

Definition at line 83 of file TrkFilteringNodes.cxx.

                                                             {
    int i, j, idx = 0;
    double updState[5], updCov[15];
 
    for (i = 0; i < 5; i++)
      for (j = 0; j < 2; j++)
        m_K[i][j] = m_B[i][0] * m_D[0][j] + m_B[i][1] * m_D[1][j];
    for (i = 0; i < 5; i++)
      updState[i] = m_K[i][0] * m_resid[0] + m_K[i][1] * m_resid[1];
    pTS->updateTrackState(updState);
    for (i = 0; i < 5; i++) for (j = i; j < 5; j++) {
        updCov[idx] = -m_K[i][0] * m_B[j][0] - m_K[i][1] * m_B[j][1];
        idx++;
      }
    pTS->updateTrackCovariance(updCov);
  }

◆ serialize()

void Trk::TrkPixelNode::serialize ( char fileName[] )

virtual

Implements Trk::TrkBaseNode.

Definition at line 328 of file TrkFilteringNodes.cxx.

                                              {
    FILE* pFile = fopen(fileName, "a");
    if (!pFile) {
      std::cerr << "Cannot open file " << fileName << " for write.\n";
      std::abort();
    }
    fclose(pFile);
  }

◆ setNodeState()

void Trk::TrkBaseNode::setNodeState ( int s )

virtualinherited

Definition at line 49 of file TrkBaseNode.cxx.

                                      {
    m_nodeState = s;
  }

◆ setNodeType()

void Trk::TrkBaseNode::setNodeType ( char s )

virtualinherited

Definition at line 57 of file TrkBaseNode.cxx.

                                      {
    m_nodeType = s;
  }

◆ updateInternal()

void Trk::TrkBaseNode::updateInternal ( )

virtualinherited

Reimplemented in Trk::TrkTrtNode.

Definition at line 73 of file TrkBaseNode.cxx.

73 {

74 }

◆ updateTrackState()

void Trk::TrkPixelNode::updateTrackState ( TrkTrackState * pTS )

virtual

Implements Trk::TrkBaseNode.

Definition at line 393 of file TrkFilteringNodes.cxx.

                                                        {
    if (isValidated()) runKalmanFilter(pTS);
    m_pTrackState = pTS;
  }

◆ updateWithRIO()

void Trk::TrkPixelNode::updateWithRIO ( const RIO_OnTrack * pRIO )

virtual

Implements Trk::TrkBaseNode.

Definition at line 398 of file TrkFilteringNodes.cxx.

                                                          {
    int i, j;
 
    /*
       printf("RIO update, Pixel: old m %f %f new m %f %f\n",
       m_m[0],m_m[1],pRIO->localParameters()[Trk::locX],pRIO->localParameters()[Trk::locY]);
     */
    m_m[0] = pRIO->localParameters()[Trk::locX];
    m_m[1] = pRIO->localParameters()[Trk::locY];
 
    // printf("old errors: %f %f %f\n",sqrt(m_V[0][0]),m_V[0][1],sqrt(m_V[1][1]));
 
    for (i = 0; i < 2; i++) {
      for (j = 0; j < 2; j++) m_V[i][j] = pRIO->localCovariance()(i, j);
    }
    // printf("new errors: %f %f %f\n",sqrt(m_V[0][0]),m_V[0][1],sqrt(m_V[1][1]));
  }

◆ validateMeasurement()

void Trk::TrkPixelNode::validateMeasurement ( TrkTrackState * pTS )

virtual

Implements Trk::TrkBaseNode.

Definition at line 344 of file TrkFilteringNodes.cxx.

                                                           {
    m_dChi2 = getChi2Distance(pTS);
    m_nodeState = (m_dChi2 < m_chi2Cut) ? 1 : 0;
  }

Member Data Documentation

◆ m_B

double Trk::TrkFilteringNode2D::m_B[5][2]

protectedinherited

Definition at line 61 of file TrkFilteringNodes.h.

◆ m_chi2Cut

double Trk::TrkBaseNode::m_chi2Cut

protectedinherited

Definition at line 52 of file TrkBaseNode.h.

◆ m_D

double Trk::TrkFilteringNode2D::m_D[2][2]

protectedinherited

Definition at line 61 of file TrkFilteringNodes.h.

◆ m_dChi2

double Trk::TrkBaseNode::m_dChi2

protectedinherited

Definition at line 56 of file TrkBaseNode.h.

◆ m_H

double Trk::TrkFilteringNode2D::m_H[2][5]

protectedinherited

Definition at line 61 of file TrkFilteringNodes.h.

◆ m_K

double Trk::TrkFilteringNode2D::m_K[5][2]

protectedinherited

Definition at line 61 of file TrkFilteringNodes.h.

◆ m_m

double Trk::TrkFilteringNode2D::m_m[2]

protectedinherited

Definition at line 63 of file TrkFilteringNodes.h.

◆ m_ndof

int Trk::TrkBaseNode::m_ndof

protectedinherited

Definition at line 57 of file TrkBaseNode.h.

◆ m_nodeState

int Trk::TrkBaseNode::m_nodeState

protectedinherited

Definition at line 51 of file TrkBaseNode.h.

◆ m_nodeType

char Trk::TrkBaseNode::m_nodeType

protectedinherited

Definition at line 53 of file TrkBaseNode.h.

◆ m_pPRD

const PrepRawData* Trk::TrkBaseNode::m_pPRD

protectedinherited

Definition at line 55 of file TrkBaseNode.h.

◆ m_pSurface

TrkPlanarSurface* Trk::TrkBaseNode::m_pSurface

protectedinherited

Definition at line 54 of file TrkBaseNode.h.

◆ m_pTrackState

TrkTrackState* Trk::TrkBaseNode::m_pTrackState

protectedinherited

Definition at line 58 of file TrkBaseNode.h.

◆ m_resid

double Trk::TrkFilteringNode2D::m_resid[2]

protectedinherited

Definition at line 62 of file TrkFilteringNodes.h.

◆ m_V

double Trk::TrkFilteringNode2D::m_V[2][2]

protectedinherited

Definition at line 64 of file TrkFilteringNodes.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrkPixelNode() [1/2]

◆ TrkPixelNode() [2/2]

◆ ~TrkPixelNode()

Member Function Documentation

◆ calculateChi2()

◆ getChi2()

◆ getChi2Distance()

◆ getInverseResidualVariance()

◆ getKalmanGain()

◆ getMeasurementMatrix()

◆ getNdof()

◆ getNodeState()

◆ getNodeType()

◆ getPrepRawData()

◆ getResiduals()

◆ getSurface()

◆ getTrackState()

◆ isValidated()

◆ report()

◆ runKalmanFilter()

◆ serialize()

◆ setNodeState()

◆ setNodeType()

◆ updateInternal()

◆ updateTrackState()

◆ updateWithRIO()

◆ validateMeasurement()

Member Data Documentation

◆ m_B

◆ m_chi2Cut

◆ m_D

◆ m_dChi2

◆ m_H

◆ m_K

◆ m_m

◆ m_ndof

◆ m_nodeState

◆ m_nodeType

◆ m_pPRD

◆ m_pSurface

◆ m_pTrackState

◆ m_resid

◆ m_V