KalmanVertexUpdator< N > Class Template Reference

#include <KalmanVertexUpdator.h>

Inheritance diagram for KalmanVertexUpdator< N >:

Public Types
typedef VertexTrack< N >::RefCountedLinearizedTrackState	RefCountedLinearizedTrackState
typedef CachingVertex< N >::RefCountedVertexTrack	RefCountedVertexTrack
Public Types inherited from VertexUpdator< N >
typedef CachingVertex< N >::RefCountedVertexTrack	RefCountedVertexTrack

Public Member Functions
CachingVertex< N >	add (const CachingVertex< N > &oldVertex, const RefCountedVertexTrack track) const override
std::pair< bool, double >	chi2Increment (const VertexState &oldVertex, const VertexState &newVertexState, const RefCountedLinearizedTrackState linearizedTrack, float weight) const
VertexUpdator< N > *	clone () const override
VertexState	positionUpdate (const VertexState &oldVertex, const RefCountedLinearizedTrackState linearizedTrack, const float weight, int sign) const
CachingVertex< N >	remove (const CachingVertex< N > &oldVertex, const RefCountedVertexTrack track) const override
CachingVertex< N >	update (const CachingVertex< N > &oldVertex, const RefCountedVertexTrack track, float weight, int sign) const
Public Member Functions inherited from VertexUpdator< N >
virtual CachingVertex< N >	add (const CachingVertex< N > &v, const typename CachingVertex< N >::RefCountedVertexTrack t) const =0
virtual CachingVertex< N >	remove (const CachingVertex< N > &v, const typename CachingVertex< N >::RefCountedVertexTrack t) const =0
	VertexUpdator ()
virtual	~VertexUpdator ()

Private Types
typedef ROOT::Math::SMatrix< double, N-2, 3, ROOT::Math::MatRepStd< double, N-2, 3 > >	AlgebraicMatrixM3
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+1, N+1, ROOT::Math::MatRepStd< double, N+1, N+1 > >	AlgebraicMatrixOO
typedef ROOT::Math::SMatrix< double, N-2, N-2, ROOT::Math::MatRepSym< double, N-2 > >	AlgebraicSymMatrixMM
typedef ROOT::Math::SMatrix< double, N, N, ROOT::Math::MatRepSym< double, N > >	AlgebraicSymMatrixNN
typedef ROOT::Math::SMatrix< double, N+1, N+1, ROOT::Math::MatRepSym< double, N+1 > >	AlgebraicSymMatrixOO
typedef ROOT::Math::SVector< double, N-2 >	AlgebraicVectorM
typedef ROOT::Math::SVector< double, N >	AlgebraicVectorN

Private Attributes
KVFHelper< N >	helper

Detailed Description

template<unsigned int N>
class KalmanVertexUpdator< N >

Vertex updator for the Kalman vertex filter. (c.f. R. Fruewirth et.al., Comp.Phys.Comm 96 (1996) 189

Definition at line 13 of file KalmanVertexUpdator.h.

Member Typedef Documentation

template<unsigned int N>

typedef ROOT::Math::SMatrix<double, N - 2, 3, ROOT::Math::MatRepStd<double, N - 2, 3> > KalmanVertexUpdator< N >::AlgebraicMatrixM3

private

Definition at line 62 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double, N, 3, ROOT::Math::MatRepStd<double, N, 3> > KalmanVertexUpdator< N >::AlgebraicMatrixN3

private

Definition at line 60 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double, N, N - 2, ROOT::Math::MatRepStd<double, N, N - 2> > KalmanVertexUpdator< N >::AlgebraicMatrixNM

private

Definition at line 61 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double, N + 1, N + 1, ROOT::Math::MatRepStd<double, N + 1, N + 1> > KalmanVertexUpdator< N >::AlgebraicMatrixOO

private

Definition at line 65 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double, N - 2, N - 2, ROOT::Math::MatRepSym<double, N - 2> > KalmanVertexUpdator< N >::AlgebraicSymMatrixMM

private

Definition at line 66 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double, N, N, ROOT::Math::MatRepSym<double, N> > KalmanVertexUpdator< N >::AlgebraicSymMatrixNN

private

Definition at line 63 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double, N + 1, N + 1, ROOT::Math::MatRepSym<double, N + 1> > KalmanVertexUpdator< N >::AlgebraicSymMatrixOO

private

Definition at line 64 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SVector<double, N - 2> KalmanVertexUpdator< N >::AlgebraicVectorM

private

Definition at line 59 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SVector<double, N> KalmanVertexUpdator< N >::AlgebraicVectorN

private

Definition at line 58 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef VertexTrack<N>::RefCountedLinearizedTrackState KalmanVertexUpdator< N >::RefCountedLinearizedTrackState

Definition at line 16 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef CachingVertex<N>::RefCountedVertexTrack KalmanVertexUpdator< N >::RefCountedVertexTrack

Definition at line 15 of file KalmanVertexUpdator.h.

Member Function Documentation

template<unsigned int N>

CachingVertex< N > KalmanVertexUpdator< N >::add ( const CachingVertex< N > &  oldVertex, const RefCountedVertexTrack  track  ) const

override

Method to add a track to an existing CachingVertex An invalid vertex is returned in case of problems during the update.

Definition at line 56 of file KalmanVertexUpdator.cc.

References update.

Referenced by GsfVertexUpdator::add(), and counter.Counter::register().

                                                                                      {
  float weight = track->weight();
  return update(oldVertex, track, weight, +1);
}

template<unsigned int N>

std::pair< bool, double > KalmanVertexUpdator< N >::chi2Increment	(	const VertexState &	oldVertex,
		const VertexState &	newVertexState,
		const RefCountedLinearizedTrackState	linearizedTrack,
		float	weight
	)		const

Definition at line 129 of file KalmanVertexUpdator.cc.

References a, b, hltPixelTracks_cff::chi2, relativeConstraints::error, invertPosDefMatrix(), VertexState::position(), alignCSCRings::s, PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

Referenced by KalmanVertexUpdator< 5 >::clone(), and GsfVertexUpdator::createNewComponent().

                                                                                  {
  int error;
  GlobalPoint newVertexPosition = newVertexState.position();

  if (!linearizedTrack->isValid())
    return std::pair<bool, double>(false, -1.);

  AlgebraicVector3 newVertexPositionV;
  newVertexPositionV(0) = newVertexPosition.x();
  newVertexPositionV(1) = newVertexPosition.y();
  newVertexPositionV(2) = newVertexPosition.z();

  const AlgebraicMatrixN3& a = linearizedTrack->positionJacobian();
  const AlgebraicMatrixNM& b = linearizedTrack->momentumJacobian();

  AlgebraicVectorN trackParameters = linearizedTrack->predictedStateParameters();

  AlgebraicSymMatrixNN trackParametersWeight = linearizedTrack->predictedStateWeight(error);
  if (error != 0) {
    edm::LogWarning("KalmanVertexUpdator")
        << "predictedState error matrix inversion failed. An invalid vertex will be returned.";
    return std::pair<bool, double>(false, -1.);
  }

  AlgebraicSymMatrixMM s = ROOT::Math::SimilarityT(b, trackParametersWeight);
  if (!invertPosDefMatrix(s)) {
    edm::LogWarning("KalmanVertexUpdator") << "S matrix inversion failed. An invalid vertex will be returned.";
    return std::pair<bool, double>(false, -1.);
  }

  const AlgebraicVectorN& theResidual = linearizedTrack->constantTerm();
  AlgebraicVectorN vv = trackParameters - theResidual - a * newVertexPositionV;
  AlgebraicVectorM newTrackMomentumP = s * ROOT::Math::Transpose(b) * trackParametersWeight * vv;

  //   AlgebraicVectorN rtp = ( theResidual +  a * newVertexPositionV + b * newTrackMomentumP);

  AlgebraicVectorN parameterResiduals = vv - b * newTrackMomentumP;
  linearizedTrack->checkParameters(parameterResiduals);

  double chi2 = weight * ROOT::Math::Similarity(parameterResiduals, trackParametersWeight);

  //   chi2 += vertexPositionChi2(oldVertex, newVertexPosition);
  chi2 += helper.vertexChi2(oldVertex, newVertexState);

  return std::pair<bool, double>(true, chi2);
}

template<unsigned int N>

VertexUpdator<N>* KalmanVertexUpdator< N >::clone ( void  ) const

inlineoverridevirtual

Clone method

Implements VertexUpdator< N >.

Definition at line 36 of file KalmanVertexUpdator.h.

{ return new KalmanVertexUpdator(*this); }

template<unsigned int N>

VertexState KalmanVertexUpdator< N >::positionUpdate	(	const VertexState &	oldVertex,
		const RefCountedLinearizedTrackState	linearizedTrack,
		const float	weight,
		int	sign
	)		const

Definition at line 70 of file KalmanVertexUpdator.cc.

References a, b, relativeConstraints::error, invertPosDefMatrix(), GlobalErrorBase< T, ErrorWeightType >::matrix(), alignCSCRings::s, Validation_hcalonly_cfi::sign, VertexState::weight(), and VertexState::weightTimesPosition().

Referenced by KalmanVertexUpdator< 5 >::clone(), GsfVertexUpdator::createNewComponent(), and GsfVertexSmoother::createNewComponent().

                                                                   {
  int error;

  if (!linearizedTrack->isValid())
    return VertexState();

  const AlgebraicMatrixN3& a = linearizedTrack->positionJacobian();
  const AlgebraicMatrixNM& b = linearizedTrack->momentumJacobian();

  //   AlgebraicVectorN trackParameters =
  //    linearizedTrack->predictedStateParameters();

  AlgebraicSymMatrixNN trackParametersWeight = linearizedTrack->predictedStateWeight(error);
  if (error != 0) {
    edm::LogWarning("KalmanVertexUpdator")
        << "predictedState error matrix inversion failed. An invalid vertex will be returned.";
    return VertexState();
  }

  // Jacobians
  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator")
  //    << "Now updating position" << "\n";

  //vertex information
  //   AlgebraicSymMatrix33 oldVertexWeight = oldVertex.weight().matrix();
  AlgebraicSymMatrixMM s = ROOT::Math::SimilarityT(b, trackParametersWeight);
  if (!invertPosDefMatrix(s)) {
    edm::LogWarning("KalmanVertexUpdator") << "S matrix inversion failed. An invalid vertex will be returned.";
    return VertexState();
  }

  AlgebraicSymMatrixNN gB =
      trackParametersWeight - ROOT::Math::Similarity(trackParametersWeight, ROOT::Math::Similarity(b, s));

  // Getting the new covariance matrix of the vertex.

  AlgebraicSymMatrix33 newVertexWeight = oldVertex.weight().matrix() + (weight * sign) * ROOT::Math::SimilarityT(a, gB);
  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator")
  //    << "weight matrix" << newVertexWeight << "\n";

  AlgebraicVector3 newSwr =
      oldVertex.weightTimesPosition() +
      (weight * sign) * ((ROOT::Math::Transpose(a) * gB) *
                         (linearizedTrack->predictedStateParameters() - linearizedTrack->constantTerm()));
  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator")
  //    << "weighttimespos" << newSwr << "\n";

  VertexState newpos(newSwr, GlobalWeight(newVertexWeight), 1.0);

  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator")
  //    << "pos" << newpos.position() << "\n";

  return newpos;
}

template<unsigned int N>

CachingVertex< N > KalmanVertexUpdator< N >::remove ( const CachingVertex< N > &  oldVertex, const RefCountedVertexTrack  track  ) const

override

Method removing already used VertexTrack from existing CachingVertex An invalid vertex is returned in case of problems during the update.

Definition at line 63 of file KalmanVertexUpdator.cc.

References update.

                                                                                         {
  float weight = track->weight();
  return update(oldVertex, track, weight, -1);
}

template<unsigned int N>

CachingVertex< N > KalmanVertexUpdator< N >::update	(	const CachingVertex< N > &	oldVertex,
		const RefCountedVertexTrack	track,
		float	weight,
		int	sign
	)		const

The methode which actually does the vertex update. An invalid vertex is returned in case of problems during the update.

Definition at line 13 of file KalmanVertexUpdator.cc.

References funct::abs(), gather_cfg::cout, spr::find(), CachingVertex< N >::hasPrior(), VertexState::isValid(), CachingVertex< N >::priorVertexState(), Validation_hcalonly_cfi::sign, CachingVertex< N >::totalChiSquared(), HLT_2018_cff::track, CachingVertex< N >::tracks(), CachingVertex< N >::vertexState(), and mps_merge::weight.

Referenced by progressbar.ProgressBar::__next__(), MatrixUtil.Matrix::__setitem__(), MatrixUtil.Steps::__setitem__(), Vispa.Gui.VispaWidget.VispaWidget::autosize(), KalmanVertexUpdator< 5 >::clone(), Vispa.Views.LineDecayView.LineDecayContainer::createObject(), Vispa.Views.LineDecayView.LineDecayContainer::deselectAllObjects(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::deselectAllWidgets(), Vispa.Gui.VispaWidget.VispaWidget::enableAutosizing(), progressbar.ProgressBar::finish(), Vispa.Gui.MenuWidget.MenuWidget::leaveEvent(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::mouseMoveEvent(), Vispa.Gui.MenuWidget.MenuWidget::mouseMoveEvent(), Vispa.Views.LineDecayView.LineDecayContainer::mouseMoveEvent(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::mouseReleaseEvent(), Vispa.Views.LineDecayView.LineDecayContainer::objectMoved(), MatrixUtil.Steps::overwrite(), Vispa.Views.LineDecayView.LineDecayContainer::removeObject(), Vispa.Gui.ConnectableWidget.ConnectableWidget::removePorts(), Vispa.Gui.FindDialog.FindDialog::reset(), Vispa.Gui.PortConnection.PointToPointConnection::select(), Vispa.Gui.VispaWidget.VispaWidget::select(), Vispa.Views.LineDecayView.LineDecayContainer::select(), Vispa.Gui.VispaWidget.VispaWidget::setText(), Vispa.Gui.VispaWidget.VispaWidget::setTitle(), Vispa.Gui.ZoomableWidget.ZoomableWidget::setZoom(), Vispa.Views.LineDecayView.LineDecayContainer::setZoom(), and Vispa.Gui.PortConnection.PointToPointConnection::updateConnection().

                                                                {
  if (abs(sign) != 1)
    throw VertexException("KalmanVertexUpdator::abs(sign) not equal to 1");

  VertexState newVertexState = positionUpdate(oldVertex.vertexState(), track->linearizedTrack(), weight, sign);
  if (!newVertexState.isValid())
    return CachingVertex<N>();

  float chi1 = oldVertex.totalChiSquared();
  std::pair<bool, double> chi2P =
      chi2Increment(oldVertex.vertexState(), newVertexState, track->linearizedTrack(), weight);
  if (!chi2P.first)
    return CachingVertex<N>();  // return invalid vertex

  chi1 += sign * chi2P.second;

  //adding or removing track from the CachingVertex::VertexTracks
  std::vector<RefCountedVertexTrack> newVertexTracks = oldVertex.tracks();

  if (sign > 0) {
    newVertexTracks.push_back(track);
  } else {
    typename std::vector<RefCountedVertexTrack>::iterator pos =
        find(newVertexTracks.begin(), newVertexTracks.end(), track);
    if (pos != newVertexTracks.end()) {
      newVertexTracks.erase(pos);
    } else {
      std::cout << "KalmanVertexUpdator::Unable to find requested track in the current vertex" << std::endl;
      throw VertexException("KalmanVertexUpdator::Unable to find requested track in the current vertex");
    }
  }

  if (oldVertex.hasPrior()) {
    return CachingVertex<N>(oldVertex.priorVertexState(), newVertexState, newVertexTracks, chi1);
  } else {
    return CachingVertex<N>(newVertexState, newVertexTracks, chi1);
  }
}

Member Data Documentation

template<unsigned int N>

KVFHelper<N> KalmanVertexUpdator< N >::helper

private

Definition at line 68 of file KalmanVertexUpdator.h.