RigidBodyAlignmentParameters Class Reference

#include <RigidBodyAlignmentParameters.h>

Inheritance diagram for RigidBodyAlignmentParameters:

Public Types
enum	AlignmentParameterName {   dx = 0, dy, dz, dalpha,   dbeta, dgamma, N_PARAM }
	Give parameters a name. More...
Public Types inherited from AlignmentParameters
typedef AlignmentParametersData::DataContainer	DataContainer

Public Member Functions
void	apply () override
	apply parameters to alignable More...
RigidBodyAlignmentParameters *	clone (const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix) const override
	Clone all parameters (for update of parameters) More...
RigidBodyAlignmentParameters *	cloneFromSelected (const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix) const override
	Clone selected parameters (for update of parameters) More...
AlgebraicMatrix	derivatives (const TrajectoryStateOnSurface &tsos, const AlignableDetOrUnitPtr &) const override
	Get all derivatives. More...
AlgebraicVector	globalParameters (void) const
	calculate and return parameters in global frame More...
void	print (void) const
	print parameters to screen More...
	RigidBodyAlignmentParameters (Alignable *alignable, bool calcMis)
	RigidBodyAlignmentParameters (Alignable *alignable, const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix)
	Constructor for full set of parameters. More...
	RigidBodyAlignmentParameters (Alignable *alignable, const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix, const std::vector< bool > &selection)
	Constructor for selection. More...
AlgebraicVector	rotation (void) const
	Get rotation parameters. More...
AlgebraicMatrix	selectedDerivatives (const TrajectoryStateOnSurface &tsos, const AlignableDetOrUnitPtr &) const override
	Get selected derivatives. More...
AlgebraicVector	translation (void) const
	Get translation parameters. More...
int	type () const override
	tell type (AlignmentParametersFactory::ParametersType - but no circular dependency) More...
	~RigidBodyAlignmentParameters () override
	Destructor. More...
Public Member Functions inherited from AlignmentParameters
Alignable *	alignable (void) const
	Get pointer to corresponding alignable. More...
	AlignmentParameters ()
	Default constructor. More...
	AlignmentParameters (Alignable *object, const AlgebraicVector &par, const AlgebraicSymMatrix &cov)
	Constructor from given input. More...
	AlignmentParameters (Alignable *object, const AlgebraicVector &par, const AlgebraicSymMatrix &cov, const std::vector< bool > &sel)
	Constructor including selection of active parameters. More...
	AlignmentParameters (Alignable *object, const DataContainer &data)
	Constructor. More...
const AlgebraicSymMatrix &	covariance (void) const
	Get parameter covariance matrix. More...
virtual unsigned int	hierarchyLevel () const
bool	isValid (void) const
	Get validity flag. More...
int	numSelected (void) const
	Get number of selected parameters. More...
const AlgebraicVector &	parameters (void) const
	Get alignment parameters. More...
AlgebraicSymMatrix	selectedCovariance (void) const
	Get covariance matrix of selected parameters. More...
AlgebraicVector	selectedParameters (void) const
	Get selected parameters. More...
const std::vector< bool > &	selector (void) const
	Get alignment parameter selector vector. More...
void	setUserVariables (AlignmentUserVariables *auv)
	Set pointer to user variables. More...
void	setValid (bool v)
	Set validity flag. More...
int	size (void) const
	Get number of parameters. More...
AlignmentUserVariables *	userVariables (void) const
	Get pointer to user variables. More...
virtual	~AlignmentParameters ()
	Destructor. More...

Static Public Member Functions
static AlgebraicVector	displacementFromAlignable (const Alignable *ali)

Additional Inherited Members
Protected Member Functions inherited from AlignmentParameters
AlgebraicSymMatrix	collapseSymMatrix (const AlgebraicSymMatrix &m, const std::vector< bool > &sel) const
AlgebraicVector	collapseVector (const AlgebraicVector &m, const std::vector< bool > &sel) const
AlgebraicSymMatrix	expandSymMatrix (const AlgebraicSymMatrix &m, const std::vector< bool > &sel) const
AlgebraicVector	expandVector (const AlgebraicVector &m, const std::vector< bool > &sel) const
Protected Attributes inherited from AlignmentParameters
bool	bValid
	True if parameters are valid. More...
Alignable *	theAlignable
DataContainer	theData
AlignmentUserVariables *	theUserVariables

Detailed Description

Concrete class for alignment parameters and associated quantities [derived from AlignmentParameters]. The number of parameters N_PARAM is fixed to 6 (3 translations + 3 rotations)

Date

2007/10/08 15:56:00

Revision

1.12

(last update by

Author

cklae

)

Concrete class for alignment parameters and associated quantities [derived from AlignmentParameters]. The number of parameters N_PARAM is fixed to 6 (3 translations + 3 rotations)

Date

2008/09/02 15:08:12

Revision

1.13

(last update by

Author

flucke

)

Definition at line 21 of file RigidBodyAlignmentParameters.h.

Member Enumeration Documentation

AlignmentParameterName

enum RigidBodyAlignmentParameters::AlignmentParameterName

Give parameters a name.

Enumerator
dx
dy
dz
dalpha
dbeta
dgamma
N_PARAM

Definition at line 24 of file RigidBodyAlignmentParameters.h.

{ dx = 0, dy, dz, dalpha, dbeta, dgamma, N_PARAM };

Constructor & Destructor Documentation

RigidBodyAlignmentParameters() [1/3]

RigidBodyAlignmentParameters::RigidBodyAlignmentParameters	(	Alignable *	alignable,
		bool	calcMis
	)

Constructor with empty parameters/covariance (if calcMis = false) or with parameters (no covariance) created from current (mis-)placement of alignable (if calcMis = true).

Definition at line 21 of file RigidBodyAlignmentParameters.cc.

    : AlignmentParameters(ali, displacementFromAlignable(calcMis ? ali : nullptr), AlgebraicSymMatrix(N_PARAM, 0)) {}

Referenced by clone(), and cloneFromSelected().

RigidBodyAlignmentParameters() [2/3]

RigidBodyAlignmentParameters::RigidBodyAlignmentParameters	(	Alignable *	alignable,
		const AlgebraicVector &	parameters,
		const AlgebraicSymMatrix &	covMatrix
	)

Constructor for full set of parameters.

Definition at line 25 of file RigidBodyAlignmentParameters.cc.

    : AlignmentParameters(alignable, parameters, covMatrix) {
  if (parameters.num_row() != N_PARAM) {
    throw cms::Exception("BadParameters")
        << "in RigidBodyAlignmentParameters(): " << parameters.num_row() << " instead of " << N_PARAM << " parameters.";
  }
}

References Exception, and N_PARAM.

RigidBodyAlignmentParameters() [3/3]

RigidBodyAlignmentParameters::RigidBodyAlignmentParameters	(	Alignable *	alignable,
		const AlgebraicVector &	parameters,
		const AlgebraicSymMatrix &	covMatrix,
		const std::vector< bool > &	selection
	)

Constructor for selection.

Definition at line 36 of file RigidBodyAlignmentParameters.cc.

    : AlignmentParameters(alignable, parameters, covMatrix, selection) {
  if (parameters.num_row() != N_PARAM) {
    throw cms::Exception("BadParameters")
        << "in RigidBodyAlignmentParameters(): " << parameters.num_row() << " instead of " << N_PARAM << " parameters.";
  }
}

References Exception, and N_PARAM.

~RigidBodyAlignmentParameters()

RigidBodyAlignmentParameters::~RigidBodyAlignmentParameters ( )

inlineoverride

Destructor.

Definition at line 43 of file RigidBodyAlignmentParameters.h.

{};

Member Function Documentation

apply()

void RigidBodyAlignmentParameters::apply ( )

overridevirtual

apply parameters to alignable

Implements AlignmentParameters.

Definition at line 128 of file RigidBodyAlignmentParameters.cc.

                                         {
  Alignable *alignable = this->alignable();
  if (!alignable) {
    throw cms::Exception("BadParameters") << "RigidBodyAlignmentParameters::apply: parameters without alignable";
  }
 
  // Translation in local frame
  AlgebraicVector shift = this->translation();  // fixme: should be LocalVector
 
  // Translation local->global
  align::LocalVector lv(shift[0], shift[1], shift[2]);
  alignable->move(alignable->surface().toGlobal(lv));
 
  // Rotation in local frame
  align::EulerAngles angles = this->rotation();
  // original code:
  //  alignable->rotateInLocalFrame( align::toMatrix(angles) );
  // correct for rounding errors:
  align::RotationType rot = alignable->surface().toGlobal(align::toMatrix(angles));
  align::rectify(rot);
  alignable->rotateInGlobalFrame(rot);
}

References AlignmentParameters::alignable(), particleFlowDisplacedVertex_cfi::angles, Exception, Alignable::move(), align::rectify(), makeMuonMisalignmentScenario::rot, Alignable::rotateInGlobalFrame(), rotation(), edm::shift, Alignable::surface(), AlignableSurface::toGlobal(), align::toMatrix(), and translation().

Referenced by heavyIonTools.ConfigureHeavyIons::__call__(), coreTools.RunOnData::__call__(), trackTools.MakeAODTrackCandidates::__call__(), runJetUncertainties.RunJetUncertainties::__call__(), metTools.AddMETCollection::__call__(), heavyIonTools.ProductionDefaults::__call__(), cmsswVersionTools.PickRelValInputFiles::__call__(), coreTools.RemoveMCMatching::__call__(), trackTools.MakePATTrackCandidates::__call__(), trigTools.SwitchOnTrigger::__call__(), runMETCorrectionsAndUncertainties.RunMETCorrectionsAndUncertainties::__call__(), heavyIonTools.SelectionDefaults::__call__(), heavyIonTools.DisbaleMonteCarloDeps::__call__(), trigTools.SwitchOnTriggerStandAlone::__call__(), tauTools.AddTauCollection::__call__(), trackTools.MakeTrackCandidates::__call__(), trigTools.SwitchOnTriggerMatching::__call__(), trigTools.SwitchOnTriggerMatchingStandAlone::__call__(), trigTools.SwitchOnTriggerMatchEmbedding::__call__(), jetTools.AddJetCollection::__call__(), jetTools.SwitchJetCollection::__call__(), jetTools.UpdateJetCollection::__call__(), jetTools.AddJetID::__call__(), and jetTools.SetTagInfos::__call__().

clone()

RigidBodyAlignmentParameters * RigidBodyAlignmentParameters::clone ( const AlgebraicVector &  parameters, const AlgebraicSymMatrix &  covMatrix  ) const

overridevirtual

Clone all parameters (for update of parameters)

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 48 of file RigidBodyAlignmentParameters.cc.

                                                                                                             {
  RigidBodyAlignmentParameters *rbap = new RigidBodyAlignmentParameters(alignable(), parameters, covMatrix, selector());
 
  if (userVariables())
    rbap->setUserVariables(userVariables()->clone());
  rbap->setValid(isValid());
 
  return rbap;
}

References AlignmentParameters::alignable(), AlignmentParameters::isValid(), RigidBodyAlignmentParameters(), AlignmentParameters::selector(), AlignmentParameters::setUserVariables(), AlignmentParameters::setValid(), and AlignmentParameters::userVariables().

Referenced by AlignmentParameterStore::acquireRelativeParameters(), and cloneFromSelected().

cloneFromSelected()

RigidBodyAlignmentParameters * RigidBodyAlignmentParameters::cloneFromSelected ( const AlgebraicVector &  parameters, const AlgebraicSymMatrix &  covMatrix  ) const

overridevirtual

Clone selected parameters (for update of parameters)

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 60 of file RigidBodyAlignmentParameters.cc.

                                                                                  {
  RigidBodyAlignmentParameters *rbap = new RigidBodyAlignmentParameters(
      alignable(), expandVector(parameters, selector()), expandSymMatrix(covMatrix, selector()), selector());
 
  if (userVariables())
    rbap->setUserVariables(userVariables()->clone());
  rbap->setValid(isValid());
 
  return rbap;
}

References AlignmentParameters::alignable(), clone(), AlignmentParameters::expandSymMatrix(), AlignmentParameters::expandVector(), AlignmentParameters::isValid(), RigidBodyAlignmentParameters(), AlignmentParameters::selector(), AlignmentParameters::setUserVariables(), AlignmentParameters::setValid(), and AlignmentParameters::userVariables().

derivatives()

AlgebraicMatrix RigidBodyAlignmentParameters::derivatives ( const TrajectoryStateOnSurface &  tsos, const AlignableDetOrUnitPtr &  alidet  ) const

overridevirtual

Get all derivatives.

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 73 of file RigidBodyAlignmentParameters.cc.

                                                                                                     {
  const Alignable *ali = this->alignable();  // Alignable of these parameters
 
  if (ali == alidet) {  // same alignable => same frame
    return KarimakiAlignmentDerivatives()(tsos);
  } else {  // different alignable => transform into correct frame
    const AlgebraicMatrix deriv = KarimakiAlignmentDerivatives()(tsos);
    FrameToFrameDerivative ftfd;
    return ftfd.frameToFrameDerivative(alidet, ali).T() * deriv;
  }
}

References AlignmentParameters::alignable(), and FrameToFrameDerivative::frameToFrameDerivative().

Referenced by selectedDerivatives().

displacementFromAlignable()

AlgebraicVector RigidBodyAlignmentParameters::displacementFromAlignable ( const Alignable *  ali )

static

Calculate parameter vector of misplacements (shift+rotation) from alignable. (If ali=0, return empty AlgebraicVector of proper length.)

Definition at line 183 of file RigidBodyAlignmentParameters.cc.

                                                                                            {
  AlgebraicVector displacement(N_PARAM);
 
  if (ali) {
    const align::RotationType &dR = ali->rotation();
 
    const align::LocalVector shifts(ali->globalRotation() * (dR.transposed() * ali->displacement().basicVector()));
 
    const align::EulerAngles angles = align::toAngles(ali->surface().toLocal(dR));
 
    displacement[0] = shifts.x();
    displacement[1] = shifts.y();
    displacement[2] = shifts.z();
    displacement[3] = angles(1);
    displacement[4] = angles(2);
    displacement[5] = angles(3);
  }
 
  return displacement;
}

References particleFlowDisplacedVertex_cfi::angles, PV3DBase< T, PVType, FrameType >::basicVector(), Alignable::displacement(), HGC3DClusterGenMatchSelector_cfi::dR, Alignable::globalRotation(), N_PARAM, Alignable::rotation(), Alignable::surface(), align::toAngles(), AlignableSurface::toLocal(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

globalParameters()

AlgebraicVector RigidBodyAlignmentParameters::globalParameters

(

void

)

const

calculate and return parameters in global frame

Definition at line 155 of file RigidBodyAlignmentParameters.cc.

                                                                         {
  AlgebraicVector m_GlobalParameters(N_PARAM, 0);
 
  const AlgebraicVector shift = translation();  // fixme: should return LocalVector
 
  const align::LocalVector lv(shift[0], shift[1], shift[2]);
  const align::GlobalVector dg = theAlignable->surface().toGlobal(lv);
 
  m_GlobalParameters[0] = dg.x();
  m_GlobalParameters[1] = dg.y();
  m_GlobalParameters[2] = dg.z();
 
  const align::EulerAngles eulerglob = theAlignable->surface().toGlobal(rotation());
 
  m_GlobalParameters[3] = eulerglob(1);
  m_GlobalParameters[4] = eulerglob(2);
  m_GlobalParameters[5] = eulerglob(3);
 
  return m_GlobalParameters;
}

References N_PARAM, rotation(), edm::shift, Alignable::surface(), AlignmentParameters::theAlignable, AlignableSurface::toGlobal(), translation(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

print()

void RigidBodyAlignmentParameters::print

(

void

)

const

print parameters to screen

Definition at line 177 of file RigidBodyAlignmentParameters.cc.

                                                   {
  std::cout << "Contents of RigidBodyAlignmentParameters:"
            << "\nParameters: " << theData->parameters() << "\nCovariance: " << theData->covariance() << std::endl;
}

References gather_cfg::cout, and AlignmentParameters::theData.

rotation()

AlgebraicVector RigidBodyAlignmentParameters::rotation

(

void

)

const

Get rotation parameters.

Definition at line 119 of file RigidBodyAlignmentParameters.cc.

                                                                 {
  AlgebraicVector rot(3);
  for (int i = 0; i < 3; ++i)
    rot[i] = theData->parameters()[i + 3];
 
  return rot;
}

References mps_fire::i, makeMuonMisalignmentScenario::rot, and AlignmentParameters::theData.

Referenced by apply(), and globalParameters().

selectedDerivatives()

AlgebraicMatrix RigidBodyAlignmentParameters::selectedDerivatives ( const TrajectoryStateOnSurface &  tsos, const AlignableDetOrUnitPtr &  alignableDet  ) const

overridevirtual

Get selected derivatives.

Reimplemented from AlignmentParameters.

Definition at line 87 of file RigidBodyAlignmentParameters.cc.

                                                                                                                   {
  const AlgebraicMatrix dev = this->derivatives(tsos, alignableDet);
 
  int ncols = dev.num_col();
  int nrows = dev.num_row();
  int nsel = numSelected();
 
  AlgebraicMatrix seldev(nsel, ncols);
 
  int ir2 = 0;
  for (int irow = 0; irow < nrows; ++irow) {
    if (selector()[irow]) {
      for (int icol = 0; icol < ncols; ++icol)
        seldev[ir2][icol] = dev[irow][icol];
      ++ir2;
    }
  }
 
  return seldev;
}

References derivatives(), hgcalPlots::ncols, AlignmentParameters::numSelected(), and AlignmentParameters::selector().

translation()

AlgebraicVector RigidBodyAlignmentParameters::translation

(

void

)

const

Get translation parameters.

Definition at line 110 of file RigidBodyAlignmentParameters.cc.

                                                                    {
  AlgebraicVector shift(3);
  for (int i = 0; i < 3; ++i)
    shift[i] = theData->parameters()[i];
 
  return shift;
}

References mps_fire::i, edm::shift, and AlignmentParameters::theData.

Referenced by apply(), and globalParameters().

type()

int RigidBodyAlignmentParameters::type ( ) const

overridevirtual

tell type (AlignmentParametersFactory::ParametersType - but no circular dependency)

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 152 of file RigidBodyAlignmentParameters.cc.

{ return AlignmentParametersFactory::kRigidBody; }

References AlignmentParametersFactory::kRigidBody.