KalmanTrackToTrackCovCalculator< N > Class Template Reference

#include <KalmanTrackToTrackCovCalculator.h>

Inheritance diagram for KalmanTrackToTrackCovCalculator< N >:

Public Types
typedef CachingVertex< N >::RefCountedVertexTrack	RefCountedVertexTrack

Public Member Functions
KalmanTrackToTrackCovCalculator *	clone () const override
	KalmanTrackToTrackCovCalculator ()
CachingVertex< N >::TrackToTrackMap	operator() (const CachingVertex< N > &vertex) const override
Public Member Functions inherited from TrackToTrackCovCalculator< N >
	TrackToTrackCovCalculator ()
virtual	~TrackToTrackCovCalculator ()

Detailed Description

template<unsigned int N>
class KalmanTrackToTrackCovCalculator< N >

Calculates all the track-to-track covariance matrices using the Kalman filter algorithms after the vertex has been fit and the tracks refit.

Definition at line 13 of file KalmanTrackToTrackCovCalculator.h.

Member Typedef Documentation

template<unsigned int N>

typedef CachingVertex<N>::RefCountedVertexTrack KalmanTrackToTrackCovCalculator< N >::RefCountedVertexTrack

Definition at line 18 of file KalmanTrackToTrackCovCalculator.h.

Constructor & Destructor Documentation

template<unsigned int N>

KalmanTrackToTrackCovCalculator< N >::KalmanTrackToTrackCovCalculator ( )

inline

Definition at line 20 of file KalmanTrackToTrackCovCalculator.h.

References KalmanTrackToTrackCovCalculator< N >::operator()().

Referenced by KalmanTrackToTrackCovCalculator< N >::clone().

{}

Member Function Documentation

template<unsigned int N>

KalmanTrackToTrackCovCalculator* KalmanTrackToTrackCovCalculator< N >::clone ( void  ) const

inlineoverridevirtual

Implements TrackToTrackCovCalculator< N >.

Definition at line 31 of file KalmanTrackToTrackCovCalculator.h.

References KalmanTrackToTrackCovCalculator< N >::KalmanTrackToTrackCovCalculator().

 {
   return new KalmanTrackToTrackCovCalculator(* this);
 }

template<unsigned int N>

CachingVertex< N >::TrackToTrackMap KalmanTrackToTrackCovCalculator< N >::operator() ( const CachingVertex< N > &  vertex ) const

overridevirtual

Calculates all the track-to-track covariance matrices

Parameters

vertex

The vertex whose track-to-track covariance matrices have to be calculated.

Returns

The map containing the covariance matrices.

Implements TrackToTrackCovCalculator< N >.

Definition at line 7 of file KalmanTrackToTrackCovCalculator.cc.

References mps_fire::i, N, and l1t::tracks.

Referenced by KalmanTrackToTrackCovCalculator< N >::KalmanTrackToTrackCovCalculator().

{
  typedef ROOT::Math::SMatrix<double,N,3,ROOT::Math::MatRepStd<double,N,3> > AlgebraicMatrixN3;
  typedef ROOT::Math::SMatrix<double,N,N-2,ROOT::Math::MatRepStd<double,N,N-2> > AlgebraicMatrixNM;
  typedef ROOT::Math::SMatrix<double,N-2,3,ROOT::Math::MatRepStd<double,N-2,3> > AlgebraicMatrixM3;
  typedef ROOT::Math::SMatrix<double,3,N-2,ROOT::Math::MatRepStd<double,3,N-2> > AlgebraicMatrix3M;
  typedef ROOT::Math::SMatrix<double,N,N,ROOT::Math::MatRepSym<double,N> > AlgebraicSymMatrixNN;
  typedef ROOT::Math::SMatrix<double,N-2,N-2,ROOT::Math::MatRepSym<double,N-2> > AlgebraicSymMatrixMM;
  typedef ROOT::Math::SMatrix<double,N-2,N-2,ROOT::Math::MatRepStd<double,N-2,N-2> > AlgebraicMatrixMM;

  typename CachingVertex<N>::TrackToTrackMap returnMap;
  int ifail = 0;
  std::vector<RefCountedVertexTrack> tracks = vertex.tracks();

//vertex initial data needed
  AlgebraicSymMatrix33 vertexC = vertex.error().matrix();

  for(typename std::vector<RefCountedVertexTrack>::iterator i = tracks.begin(); 
    i != tracks.end(); i++)
  {        
    const AlgebraicMatrixN3 & leftA = (*i)->linearizedTrack()->positionJacobian();
    const AlgebraicMatrixNM & leftB = (*i)->linearizedTrack()->momentumJacobian();
    AlgebraicSymMatrixNN leftG = (*i)->linearizedTrack()->predictedStateWeight(ifail);
    AlgebraicSymMatrixMM leftW = ROOT::Math::SimilarityT(leftB,leftG);

    ifail = ! leftW.Invert();
    if(ifail != 0) throw VertexException
        ("KalmanTrackToTrackCovarianceCalculator::leftW matrix inversion failed");
    AlgebraicMatrixM3 leftPart = leftW * (ROOT::Math::Transpose(leftB)) * leftG * leftA;
    typename CachingVertex<N>::TrackMap internalMap;
    for(typename std::vector<RefCountedVertexTrack>::iterator j = tracks.begin(); j != tracks.end(); j++)
    {

      if(*i < *j)
      {

    const AlgebraicMatrixN3 & rightA = (*j)->linearizedTrack()->positionJacobian();
        const AlgebraicMatrixNM & rightB = (*j)->linearizedTrack()->momentumJacobian();
        AlgebraicSymMatrixNN rightG = (*j)->linearizedTrack()->predictedStateWeight(ifail);
        AlgebraicSymMatrixMM rightW = ROOT::Math::SimilarityT(rightB,rightG);

        ifail = ! rightW.Invert();

        if(ifail != 0) throw VertexException
      ("KalmanTrackToTrackCovarianceCalculator::rightW matrix inversion failed");
        AlgebraicMatrix3M rightPart = (ROOT::Math::Transpose(rightA)) * rightG * rightB * rightW;
    internalMap[(*j)] = leftPart * vertexC * rightPart;
      }       
    }        
    returnMap[*i] = internalMap;
  }
  return returnMap;
}