#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

◆ AlgebraicMatrixM3

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.

◆ AlgebraicMatrixN3

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.

◆ AlgebraicMatrixNM

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.

◆ AlgebraicMatrixOO

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.

◆ AlgebraicSymMatrixMM

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.

◆ AlgebraicSymMatrixNN

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.

◆ AlgebraicSymMatrixOO

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.

◆ AlgebraicVectorM

template<unsigned int N>

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

private

Definition at line 59 of file KalmanVertexUpdator.h.

◆ AlgebraicVectorN

template<unsigned int N>

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

private

Definition at line 58 of file KalmanVertexUpdator.h.

◆ RefCountedLinearizedTrackState

template<unsigned int N>

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

Definition at line 16 of file KalmanVertexUpdator.h.

◆ RefCountedVertexTrack

template<unsigned int N>

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

Definition at line 15 of file KalmanVertexUpdator.h.

Member Function Documentation

◆ add()

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.

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

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

◆ chi2Increment()

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.

                                                                                   {
   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);
 }

Referenced by GsfVertexUpdator::createNewComponent().

◆ clone()

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.

36 { return new KalmanVertexUpdator(*this); }

◆ positionUpdate()

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.

                                                                    {
   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;
 }

Referenced by GsfVertexUpdator::createNewComponent(), and GsfVertexSmoother::createNewComponent().

◆ remove()

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.

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

◆ update()

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.

                                                                 {
   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);
   }
 }

Referenced by progressbar.ProgressBar::__next__(), MatrixUtil.Matrix::__setitem__(), MatrixUtil.Steps::__setitem__(), progressbar.ProgressBar::finish(), and MatrixUtil.Steps::overwrite().

Member Data Documentation

◆ helper

template<unsigned int N>

KVFHelper<N> KalmanVertexUpdator< N >::helper

private

Definition at line 68 of file KalmanVertexUpdator.h.

Public Types

Public Member Functions

Private Types

Private Attributes

Detailed Description

template<unsigned int N> class KalmanVertexUpdator< N >

Member Typedef Documentation

◆ AlgebraicMatrixM3

◆ AlgebraicMatrixN3

◆ AlgebraicMatrixNM

◆ AlgebraicMatrixOO

◆ AlgebraicSymMatrixMM

◆ AlgebraicSymMatrixNN

◆ AlgebraicSymMatrixOO

◆ AlgebraicVectorM

◆ AlgebraicVectorN

◆ RefCountedLinearizedTrackState

◆ RefCountedVertexTrack

Member Function Documentation

◆ add()

◆ chi2Increment()

◆ clone()

◆ positionUpdate()

◆ remove()

◆ update()

Member Data Documentation

◆ helper

template<unsigned int N>
class KalmanVertexUpdator< N >