#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 Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

Constructor & Destructor Documentation

◆ TrkPixelNode() [1/2]

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]

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 Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

103 {};

Member Function Documentation

◆ calculateChi2()

double 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 TrkBaseNode::getChi2 ( ) const

inherited

Definition at line 69 of file TrkBaseNode.cxx.

                                     {
     return m_dChi2;
   }

◆ getChi2Distance()

double 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 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 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 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 TrkBaseNode::getNdof ( ) const

inherited

Definition at line 65 of file TrkBaseNode.cxx.

                                  {
     return m_ndof;
   }

◆ getNodeState()

int TrkBaseNode::getNodeState ( )

virtualinherited

Definition at line 53 of file TrkBaseNode.cxx.

                                 {
     return m_nodeState;
   }

◆ getNodeType()

char TrkBaseNode::getNodeType ( )

virtualinherited

Definition at line 61 of file TrkBaseNode.cxx.

                                 {
     return m_nodeType;
   }

◆ getPrepRawData()

const PrepRawData * TrkBaseNode::getPrepRawData ( )

virtualinherited

Definition at line 39 of file TrkBaseNode.cxx.

                                                  {
     return m_pPRD;
   }

◆ getResiduals()

int 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 * TrkBaseNode::getSurface ( )

virtualinherited

Definition at line 35 of file TrkBaseNode.cxx.

                                             {
     return m_pSurface;
   }

◆ getTrackState()

TrkTrackState * TrkBaseNode::getTrackState ( )

inherited

Definition at line 43 of file TrkBaseNode.cxx.

                                             {
     return m_pTrackState;
   }

◆ isValidated()

bool TrkBaseNode::isValidated ( )

virtualinherited

Definition at line 31 of file TrkBaseNode.cxx.

                               {
   return (m_nodeState != 0);
   }

◆ report()

void 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 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 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 TrkBaseNode::setNodeState ( int s )

virtualinherited

Definition at line 49 of file TrkBaseNode.cxx.

                                       {
     m_nodeState = s;
   }

◆ setNodeType()

void TrkBaseNode::setNodeType ( char s )

virtualinherited

Definition at line 57 of file TrkBaseNode.cxx.

                                       {
     m_nodeType = s;
   }

◆ updateInternal()

void TrkBaseNode::updateInternal ( )

virtualinherited

Reimplemented in Trk::TrkTrtNode.

Definition at line 73 of file TrkBaseNode.cxx.

73 {

74 }

◆ updateTrackState()

void 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 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 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 Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_chi2Cut

double Trk::TrkBaseNode::m_chi2Cut

protectedinherited

Definition at line 52 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_D

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

protectedinherited

Definition at line 61 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_dChi2

double Trk::TrkBaseNode::m_dChi2

protectedinherited

Definition at line 56 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_H

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

protectedinherited

Definition at line 61 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_K

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

protectedinherited

Definition at line 61 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_m

double Trk::TrkFilteringNode2D::m_m[2]

protectedinherited

Definition at line 63 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_ndof

int Trk::TrkBaseNode::m_ndof

protectedinherited

Definition at line 57 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_nodeState

int Trk::TrkBaseNode::m_nodeState

protectedinherited

Definition at line 51 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_nodeType

char Trk::TrkBaseNode::m_nodeType

protectedinherited

Definition at line 53 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_pPRD

const PrepRawData* Trk::TrkBaseNode::m_pPRD

protectedinherited

Definition at line 55 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_pSurface

TrkPlanarSurface* Trk::TrkBaseNode::m_pSurface

protectedinherited

Definition at line 54 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_pTrackState

TrkTrackState* Trk::TrkBaseNode::m_pTrackState

protectedinherited

Definition at line 58 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkBaseNode.h.

◆ m_resid

double Trk::TrkFilteringNode2D::m_resid[2]

protectedinherited

Definition at line 62 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/TrkFilteringNodes.h.

◆ m_V

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

protectedinherited

Definition at line 64 of file Tracking/TrkFitter/TrkDistributedKalmanFilter/TrkDistributedKalmanFilter/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