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Public Member Functions | Protected Attributes | List of all members
Trk::TrkPixelNode Class Reference

#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.

300 {
301 int i, j;
302
303 m_pSurface = pS;
304 m_chi2Cut = chi2Cut;
305 for (i = 0; i < 2; i++) {
306 m_m[i] = pPRD->localPosition()[i];
307 for (j = 0; j < 2; j++) m_V[i][j] = pPRD->localCovariance()(i, j);
308 }
309 m_pPRD = pPRD;
310 m_nodeType = 1;
311 m_ndof = 2;
312 }

◆ 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.

314 {
315 m_pSurface = pS;
316 m_chi2Cut = chi2Cut;
317 m_m[0] = pos[0];
318 m_m[1] = pos[1];
319 m_V[0][0] = cov[0];
320 m_V[0][1] = cov[1];
321 m_V[1][0] = cov[2];
322 m_V[1][1] = cov[3];
323 m_pPRD = nullptr;
324 m_nodeType = 1;
325 m_ndof = 2;
326 }

◆ ~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.

75 {
76 double dchi2;
77
78 dchi2 = m_resid[0] * m_resid[0] * m_D[0][0] + 2 * m_resid[0] * m_resid[1] * m_D[0][1] +
79 m_resid[1] * m_resid[1] * m_D[1][1];
80 return dchi2;
81 }

◆ getChi2()

double TrkBaseNode::getChi2 ( ) const
inherited

Definition at line 69 of file TrkBaseNode.cxx.

69 {
70 return m_dChi2;
71 }

◆ getChi2Distance()

double TrkPixelNode::getChi2Distance ( TrkTrackState * pTS)
virtual

Implements Trk::TrkBaseNode.

Definition at line 349 of file TrkFilteringNodes.cxx.

349 {
350 double det;
351
352 m_H[0][0] = 1.0;
353 m_H[1][1] = 1.0;
354 m_H[0][1] = 0.0;
355 m_H[0][2] = 0.0;
356 m_H[0][3] = 0.0;
357 m_H[0][4] = 0.0;
358 m_H[1][0] = 0.0;
359 m_H[1][2] = 0.0;
360 m_H[1][3] = 0.0;
361 m_H[1][4] = 0.0;
362
363 m_B[0][0] = pTS->getTrackCovariance(0, 0);
364 m_B[0][1] = pTS->getTrackCovariance(0, 1);
365 m_B[1][0] = pTS->getTrackCovariance(0, 1);
366 m_B[1][1] = pTS->getTrackCovariance(1, 1);
367 m_B[2][0] = pTS->getTrackCovariance(0, 2);
368 m_B[2][1] = pTS->getTrackCovariance(1, 2);
369 m_B[3][0] = pTS->getTrackCovariance(0, 3);
370 m_B[3][1] = pTS->getTrackCovariance(1, 3);
371 m_B[4][0] = pTS->getTrackCovariance(0, 4);
372 m_B[4][1] = pTS->getTrackCovariance(1, 4);
373
374 m_resid[0] = m_m[0] - pTS->getTrackState(0);
375 m_resid[1] = m_m[1] - pTS->getTrackState(1);
376
377 double W[2][2];
378
379 W[0][0] = pTS->getTrackCovariance(0, 0) + m_V[0][0];
380 W[1][0] = W[0][1] = pTS->getTrackCovariance(0, 1) + m_V[0][1];
381 W[1][1] = pTS->getTrackCovariance(1, 1) + m_V[1][1];
382 det = W[0][0] * W[1][1] - W[0][1] * W[0][1];
383 if (det == 0.0) return 1e8;
384 det = 1.0 / det;
385 m_D[0][0] = W[1][1] * det;
386 m_D[0][1] = -W[0][1] * det;
387 m_D[1][0] = m_D[0][1];
388 m_D[1][1] = W[0][0] * det;
389
390 return calculateChi2();
391 }
TRTCalib_Extractor.det
det
Definition TRTCalib_Extractor.py:36

◆ getInverseResidualVariance()

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

Implements Trk::TrkBaseNode.

Definition at line 113 of file TrkFilteringNodes.cxx.

113 {
114 int i, j;
115
116 for (i = 0; i < 2; i++) for (j = 0; j < 2; j++) V[i][j] = m_D[i][j];
117 return 2;
118 }

◆ getKalmanGain()

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

Implements Trk::TrkBaseNode.

Definition at line 100 of file TrkFilteringNodes.cxx.

100 {
101 int i, j;
102
103 for (i = 0; i < 5; i++) for (j = 0; j < 2; j++) K[i][j] = m_K[i][j];
104 return 2;
105 }

◆ getMeasurementMatrix()

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

Implements Trk::TrkBaseNode.

Definition at line 120 of file TrkFilteringNodes.cxx.

120 {
121 int i, j;
122
123 for (j = 0; j < 2; j++) for (i = 0; i < 5; i++) H[j][i] = m_H[j][i];
124 return 2;
125 }
H
#define H(x, y, z)
Definition MD5.cxx:114

◆ getNdof()

int TrkBaseNode::getNdof ( ) const
inherited

Definition at line 65 of file TrkBaseNode.cxx.

65 {
66 return m_ndof;
67 }

◆ getNodeState()

int TrkBaseNode::getNodeState ( )
virtualinherited

Definition at line 53 of file TrkBaseNode.cxx.

53 {
54 return m_nodeState;
55 }

◆ getNodeType()

char TrkBaseNode::getNodeType ( )
virtualinherited

Definition at line 61 of file TrkBaseNode.cxx.

61 {
62 return m_nodeType;
63 }

◆ getPrepRawData()

const PrepRawData * TrkBaseNode::getPrepRawData ( )
virtualinherited

Definition at line 39 of file TrkBaseNode.cxx.

39 {
40 return m_pPRD;
41 }

◆ getResiduals()

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

Implements Trk::TrkBaseNode.

Definition at line 107 of file TrkFilteringNodes.cxx.

107 {
108 r[0] = m_resid[0];
109 r[1] = m_resid[1];
110 return 2;
111 }
r
int r
Definition globals.cxx:22

◆ getSurface()

TrkPlanarSurface * TrkBaseNode::getSurface ( )
virtualinherited

Definition at line 35 of file TrkBaseNode.cxx.

35 {
36 return m_pSurface;
37 }

◆ getTrackState()

TrkTrackState * TrkBaseNode::getTrackState ( )
inherited

Definition at line 43 of file TrkBaseNode.cxx.

43 {
44 return m_pTrackState;
45 }

◆ isValidated()

bool TrkBaseNode::isValidated ( )
virtualinherited

Definition at line 31 of file TrkBaseNode.cxx.

31 {
32 return (m_nodeState != 0);
33 }

◆ report()

void TrkPixelNode::report ( )
virtual

Implements Trk::TrkBaseNode.

Definition at line 337 of file TrkFilteringNodes.cxx.

337 {
338 /*
339 printf("PIXEL NODE x=%f y=%f\n",m_m[0],m_m[1]);
340 */
341 m_pSurface->report();
342 }

◆ runKalmanFilter()

void TrkFilteringNode2D::runKalmanFilter ( TrkTrackState * pTS)
virtualinherited

Definition at line 83 of file TrkFilteringNodes.cxx.

83 {
84 int i, j, idx = 0;
85 double updState[5], updCov[15];
86
87 for (i = 0; i < 5; i++)
88 for (j = 0; j < 2; j++)
89 m_K[i][j] = m_B[i][0] * m_D[0][j] + m_B[i][1] * m_D[1][j];
90 for (i = 0; i < 5; i++)
91 updState[i] = m_K[i][0] * m_resid[0] + m_K[i][1] * m_resid[1];
92 pTS->updateTrackState(updState);
93 for (i = 0; i < 5; i++) for (j = i; j < 5; j++) {
94 updCov[idx] = -m_K[i][0] * m_B[j][0] - m_K[i][1] * m_B[j][1];
95 idx++;
96 }
97 pTS->updateTrackCovariance(updCov);
98 }
TrkTrackState::updateTrackState
void updateTrackState(double *)
TrkTrackState::updateTrackCovariance
void updateTrackCovariance(double *)
LArNewCalib_DelayDump_OFC_Cali.idx
idx
Definition LArNewCalib_DelayDump_OFC_Cali.py:69

◆ serialize()

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

Implements Trk::TrkBaseNode.

Definition at line 328 of file TrkFilteringNodes.cxx.

328 {
329 FILE* pFile = fopen(fileName, "a");
330 if (!pFile) {
331 std::cerr << "Cannot open file " << fileName << " for write.\n";
332 std::abort();
333 }
334 fclose(pFile);
335 }

◆ setNodeState()

void TrkBaseNode::setNodeState ( int s)
virtualinherited

Definition at line 49 of file TrkBaseNode.cxx.

49 {
50 m_nodeState = s;
51 }

◆ setNodeType()

void TrkBaseNode::setNodeType ( char s)
virtualinherited

Definition at line 57 of file TrkBaseNode.cxx.

57 {
58 m_nodeType = s;
59 }

◆ 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.

393 {
394 if (isValidated()) runKalmanFilter(pTS);
395 m_pTrackState = pTS;
396 }
Trk::TrkBaseNode::isValidated
virtual bool isValidated()
Definition TrkBaseNode.cxx:31
Trk::TrkFilteringNode2D::runKalmanFilter
virtual void runKalmanFilter(TrkTrackState *)
Definition TrkFilteringNodes.cxx:83

◆ updateWithRIO()

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

Implements Trk::TrkBaseNode.

Definition at line 398 of file TrkFilteringNodes.cxx.

398 {
399 int i, j;
400
401 /*
402 printf("RIO update, Pixel: old m %f %f new m %f %f\n",
403 m_m[0],m_m[1],pRIO->localParameters()[Trk::locX],pRIO->localParameters()[Trk::locY]);
404 */
405 m_m[0] = pRIO->localParameters()[Trk::locX];
406 m_m[1] = pRIO->localParameters()[Trk::locY];
407
408 // printf("old errors: %f %f %f\n",sqrt(m_V[0][0]),m_V[0][1],sqrt(m_V[1][1]));
409
410 for (i = 0; i < 2; i++) {
411 for (j = 0; j < 2; j++) m_V[i][j] = pRIO->localCovariance()(i, j);
412 }
413 // printf("new errors: %f %f %f\n",sqrt(m_V[0][0]),m_V[0][1],sqrt(m_V[1][1]));
414 }
Trk::locY
@ locY
local cartesian
Definition ParamDefs.h:38
Trk::locX
@ locX
Definition ParamDefs.h:37

◆ validateMeasurement()

void TrkPixelNode::validateMeasurement ( TrkTrackState * pTS)
virtual

Implements Trk::TrkBaseNode.

Definition at line 344 of file TrkFilteringNodes.cxx.

344 {
345 m_dChi2 = getChi2Distance(pTS);
346 m_nodeState = (m_dChi2 < m_chi2Cut) ? 1 : 0;
347 }
Trk::TrkPixelNode::getChi2Distance
virtual double getChi2Distance(TrkTrackState *)
Definition TrkFilteringNodes.cxx:349

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.

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