#include <KFbase.h>

Inheritance diagram for tmtt::KFbase:

Public Types
enum	MEAS_IDS { PHI, Z }

enum	PAR_IDS { INV2R, PHI0, T, Z0, D0 }

enum	PAR_IDS_VAR { QOVERPT }

Public Member Functions
L1fittedTrack	fit (const L1track3D &l1track3D) override

	KFbase (const KFbase &kf)=delete

	KFbase (const Settings *settings, const uint nHelixPar, const std::string &fitterName="", const uint nMeas=2)

	KFbase (KFbase &&kf)=delete

KFbase &	operator= (const KFbase &kf)=delete

KFbase &	operator= (KFbase &&kf)=delete

	~KFbase () override

Public Member Functions inherited from tmtt::TrackFitGeneric
	TrackFitGeneric (const Settings *settings, const std::string &fitterName="")

virtual	~TrackFitGeneric ()=default

Protected Member Functions
virtual void	adjustChi2 (const KalmanState *state, const TMatrixD &covRinv, const TVectorD &delta, double &chi2rphi, double &chi2rz) const

void	adjustState (const TMatrixD &K, const TMatrixD &pxcov, const TVectorD &x, const TMatrixD &h, const TVectorD &delta, TVectorD &new_x, TMatrixD &new_xcov) const

float	approxB (float z, float r) const

const KalmanState *	doKF (const L1track3D &l1track3D, const std::vector< Stub * > &stubs, const TP *tpa)

TMatrixD	getKalmanGainMatrix (const TMatrixD &h, const TMatrixD &pxcov, const TMatrixD &covRinv) const

virtual bool	isGoodState (const KalmanState &state) const =0

virtual bool	isHLS ()

virtual bool	kalmanAmbiguousLayer (unsigned int iEtaReg, unsigned int kfLayer)

std::set< unsigned >	kalmanDeadLayers (bool &remove2PSCut) const

virtual unsigned int	kalmanLayer (unsigned int iEtaReg, unsigned int layerIDreduced, bool barrel, float r, float z) const

virtual const KalmanState *	kalmanUpdate (unsigned nSkipped, unsigned layer, Stub stub, const KalmanState state, const TP *tp)

virtual TMatrixD	matrixF (const Stub stub=nullptr, const KalmanState state=nullptr) const =0

virtual TMatrixD	matrixH (const Stub *stub) const =0

TMatrixD	matrixHCHt (const TMatrixD &h, const TMatrixD &c) const

TMatrixD	matrixRinv (const TMatrixD &matH, const TMatrixD &matCref, const TMatrixD &matV) const

virtual TMatrixD	matrixV (const Stub stub, const KalmanState state) const =0

const KalmanState *	mkState (const L1track3D &candidate, unsigned nSkipped, unsigned layer, const KalmanState last_state, const TVectorD &x, const TMatrixD &pxx, const TMatrixD &K, const TMatrixD &dcov, Stub stub, double chi2rphi, double chi2rz)

void	printStub (const Stub *stub) const

void	printStubLayers (const std::vector< Stub * > &stubs, unsigned int iEtaReg) const

void	printStubs (const std::vector< Stub * > &stubs) const

void	printTP (const TP *tp) const

void	resetStates ()

virtual TVectorD	residual (const Stub *stub, const TVectorD &x, double candQoverPt) const

double	sectorPhi () const

virtual TMatrixD	seedC (const L1track3D &l1track3D) const =0

virtual TVectorD	seedX (const L1track3D &l1track3D) const =0

virtual TVectorD	trackParams (const KalmanState *state) const =0

virtual TVectorD	trackParams_BeamConstr (const KalmanState *state, double &chi2rphi_bcon) const =0

virtual TVectorD	vectorM (const Stub *stub) const =0

Protected Attributes
unsigned int	iEtaReg_

unsigned int	iPhiSec_

std::vector< std::unique_ptr< const KalmanState > >	listAllStates_

unsigned	nHelixPar_

unsigned	nMeas_

unsigned	numEtaRegions_

unsigned int	numUpdateCalls_

const TP *	tpa_

Protected Attributes inherited from tmtt::TrackFitGeneric
const std::string	fitterName_

const Settings *	settings_

Detailed Description

Definition at line 31 of file KFbase.h.

Member Enumeration Documentation

◆ MEAS_IDS

enum tmtt::KFbase::MEAS_IDS

Enumerator
PHI
Z

Definition at line 35 of file KFbase.h.

35 { PHI, Z };

◆ PAR_IDS

enum tmtt::KFbase::PAR_IDS

Enumerator
INV2R
PHI0
T
Z0
D0

Definition at line 33 of file KFbase.h.

33 { INV2R, PHI0, T, Z0, D0 };

◆ PAR_IDS_VAR

enum tmtt::KFbase::PAR_IDS_VAR

Enumerator
QOVERPT

Definition at line 34 of file KFbase.h.

34 { QOVERPT };

Constructor & Destructor Documentation

◆ KFbase() [1/3]

tmtt::KFbase::KFbase	(	const Settings *	settings,
		const uint	nHelixPar,
		const std::string &	fitterName = `""`,
		const uint	nMeas = `2`
	)

◆ ~KFbase()

tmtt::KFbase::~KFbase ( )

inlineoverride

Definition at line 41 of file KFbase.h.

41 { this->resetStates(); }

References resetStates().

◆ KFbase() [2/3]

tmtt::KFbase::KFbase ( const KFbase & kf )

delete

◆ KFbase() [3/3]

tmtt::KFbase::KFbase ( KFbase && kf )

delete

Member Function Documentation

◆ adjustChi2()

void tmtt::KFbase::adjustChi2	(	const KalmanState *	state,
		const TMatrixD &	covRinv,
		const TVectorD &	delta,
		double &	chi2rphi,
		double &	chi2rz
	)		const

protectedvirtual

Definition at line 659 of file KFbase.cc.

                                                 {
     // Change in chi2 (with r-phi/r-z correlation term included in r-phi component)
     double delChi2rphi = delta[PHI] * delta[PHI] * matRinv[PHI][PHI] + 2 * delta[PHI] * delta[Z] * matRinv[PHI][Z];
     double delChi2rz = delta[Z] * delta[Z] * matRinv[Z][Z];
  
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "delta(chi2rphi)=" << delChi2rphi << " delta(chi2rz)= " << delChi2rz;
     }
     chi2rphi = state->chi2rphi() + delChi2rphi;
     chi2rz = state->chi2rz() + delChi2rz;
     return;
   }

References tmtt::KalmanState::chi2rphi(), tmtt::KalmanState::chi2rz(), dumpMFGeometry_cfg::delta, tmtt::Settings::kalmanDebugLevel(), PHI, tmtt::TrackFitGeneric::settings_, and Z.

Referenced by kalmanUpdate().

◆ adjustState()

void tmtt::KFbase::adjustState	(	const TMatrixD &	K,
		const TMatrixD &	pxcov,
		const TVectorD &	x,
		const TMatrixD &	h,
		const TVectorD &	delta,
		TVectorD &	new_x,
		TMatrixD &	new_xcov
	)		const

protected

Definition at line 644 of file KFbase.cc.

                                                      {
     new_vecX = vecXref + matK * delta;
     const TMatrixD unitMatrix(TMatrixD::kUnit, TMatrixD(nHelixPar_, nHelixPar_));
     TMatrixD tmp = unitMatrix - matK * matH;
     new_matC = tmp * matCref;
   }

References dumpMFGeometry_cfg::delta, nHelixPar_, and createJobs::tmp.

Referenced by kalmanUpdate().

◆ approxB()

float tmtt::KFbase::approxB	(	float	z,
		float	r
	)		const

protected

Definition at line 880 of file KFbase.cc.

                                               {
     return settings_->bApprox_gradient() * std::abs(z) / r + settings_->bApprox_intercept();
   }

References funct::abs(), tmtt::Settings::bApprox_gradient(), tmtt::Settings::bApprox_intercept(), alignCSCRings::r, and tmtt::TrackFitGeneric::settings_.

Referenced by tmtt::KFParamsComb::matrixV().

◆ doKF()

const KalmanState * tmtt::KFbase::doKF	(	const L1track3D &	l1track3D,
		const std::vector< Stub * > &	stubs,
		const TP *	tpa
	)

protected

Definition at line 166 of file KFbase.cc.

                                                                                                         {
     const KalmanState *finished_state = nullptr;
  
     map<unsigned int, const KalmanState *, std::greater<unsigned int>>
         best_state_by_nstubs;  // Best state (if any) for each viable no. of stubs on track value.
  
     // seed helix params & their covariance.
     TVectorD x0 = seedX(l1track3D);
     TMatrixD pxx0 = seedC(l1track3D);
     TMatrixD K(nHelixPar_, 2);
     TMatrixD dcov(2, 2);
  
     const KalmanState *state0 = mkState(l1track3D, 0, -1, nullptr, x0, pxx0, K, dcov, nullptr, 0, 0);
  
     // internal containers - i.e. the state FIFO. Contains estimate of helix params in last/next layer, with multiple entries if there were multiple stubs, yielding multiple states.
     vector<const KalmanState *> new_states;
     vector<const KalmanState *> prev_states;
     prev_states.push_back(state0);
  
     // Get dead layers, if any.
     bool remove2PSCut = settings_->kalmanRemove2PScut();
     set<unsigned> kfDeadLayers = kalmanDeadLayers(remove2PSCut);
  
     // arrange stubs into Kalman layers according to eta region
     int etaReg = l1track3D.iEtaReg();
     map<int, vector<Stub *>> layerStubs;
  
     for (auto stub : stubs) {
       // Get Kalman encoded layer ID for this stub.
       int kalmanLay = this->kalmanLayer(etaReg, stub->layerIdReduced(), stub->barrel(), stub->r(), stub->z());
  
       constexpr unsigned int invalidKFlayer = 7;
       if (kalmanLay != invalidKFlayer) {
         if (layerStubs[kalmanLay].size() < settings_->kalmanMaxStubsPerLayer()) {
           layerStubs[kalmanLay].push_back(stub);
         } else {
           // If too many stubs, FW keeps the last stub.
           layerStubs[kalmanLay].back() = stub;
         }
       }
     }
  
     // iterate using state->nextLayer() to determine next Kalman layer(s) to add stubs from
     constexpr unsigned int nTypicalLayers = 6;  // Number of tracker layers a typical track can pass through.
     // If user asked to add up to 7 layers to track, increase number of iterations by 1.
     const unsigned int maxIterations = std::max(nTypicalLayers, settings_->kalmanMaxNumStubs());
     for (unsigned iteration = 0; iteration < maxIterations; iteration++) {
       int combinations_per_iteration = 0;
  
       bool easy = (l1track3D.numStubs() < settings_->kalmanMaxStubsEasy());
       unsigned int kalmanMaxSkipLayers =
           easy ? settings_->kalmanMaxSkipLayersEasy() : settings_->kalmanMaxSkipLayersHard();
  
       // update each state from previous iteration (or seed) using stubs in next Kalman layer
       vector<const KalmanState *>::const_iterator i_state = prev_states.begin();
       for (; i_state != prev_states.end(); i_state++) {
         const KalmanState *the_state = *i_state;
  
         unsigned int layer = the_state->nextLayer();  // Get KF layer where stubs to be searched for next
         unsigned nSkipped = the_state->nSkippedLayers();
  
         // If this layer is known to be dead, skip to the next layer (layer+1)
         // The next_states_skipped will then look at layer+2
         // However, if there are stubs in this layer, then don't skip (e.g. our phi/eta boundaries might not line up exactly with a dead region)
         // Continue to skip until you reach a functioning layer (or a layer with stubs)
         unsigned nSkippedDeadLayers = 0;
         unsigned nSkippedAmbiguousLayers = 0;
         while (kfDeadLayers.find(layer) != kfDeadLayers.end() && layerStubs[layer].empty()) {
           layer += 1;
           ++nSkippedDeadLayers;
         }
         while (this->kalmanAmbiguousLayer(etaReg, layer) && layerStubs[layer].empty()) {
           layer += 1;
           ++nSkippedAmbiguousLayers;
         }
  
         // containers for updated state+stub combinations
         vector<const KalmanState *> next_states;
         vector<const KalmanState *> next_states_skipped;
  
         // find stubs for this layer
         // (If layer > 6, this will return empty vector, so safe).
         vector<Stub *> thislay_stubs = layerStubs[layer];
  
         // find stubs for next layer if we skip a layer, except when we are on the penultimate layer,
         // or we have exceeded the max skipped layers
         vector<Stub *> nextlay_stubs;
  
         // If the next layer (layer+1) is a dead layer, then proceed to the layer after next (layer+2), if possible
         // Also note if we need to increase "skipped" by one more for these states
         unsigned nSkippedDeadLayers_nextStubs = 0;
         unsigned nSkippedAmbiguousLayers_nextStubs = 0;
         if (nSkipped < kalmanMaxSkipLayers) {
           if (kfDeadLayers.find(layer + 1) != kfDeadLayers.end() && layerStubs[layer + 1].empty()) {
             nextlay_stubs = layerStubs[layer + 2];
             nSkippedDeadLayers_nextStubs++;
           } else if (this->kalmanAmbiguousLayer(etaReg, layer) && layerStubs[layer + 1].empty()) {
             nextlay_stubs = layerStubs[layer + 2];
             nSkippedAmbiguousLayers_nextStubs++;
           } else {
             nextlay_stubs = layerStubs[layer + 1];
           }
         }
  
         // If track was not rejected by isGoodState() is previous iteration, failure here usually means the tracker ran out of layers to explore.
         // (Due to "kalmanLay" not having unique ID for each layer within a given eta sector).
         if (settings_->kalmanDebugLevel() >= 2 && best_state_by_nstubs.empty() && thislay_stubs.empty() &&
             nextlay_stubs.empty())
           PrintL1trk() << "State is lost by start of iteration " << iteration
                        << " : #thislay_stubs=" << thislay_stubs.size() << " #nextlay_stubs=" << nextlay_stubs.size()
                        << " layer=" << layer << " eta=" << l1track3D.iEtaReg();
  
         // If we skipped over a dead layer, only increment "nSkipped" after the stubs in next+1 layer have been obtained
         nSkipped += nSkippedDeadLayers;
         nSkipped += nSkippedAmbiguousLayers;
  
         // check to guarantee no fewer than 2PS hits per state at iteration 1
         // (iteration 0 will always include a PS hit, but iteration 1 could use 2S hits
         // unless we include this)
         if (iteration == 1 && !remove2PSCut) {
           vector<Stub *> temp_thislaystubs;
           vector<Stub *> temp_nextlaystubs;
           for (auto stub : thislay_stubs) {
             if (stub->psModule())
               temp_thislaystubs.push_back(stub);
           }
           for (auto stub : nextlay_stubs) {
             if (stub->psModule())
               temp_nextlaystubs.push_back(stub);
           }
           thislay_stubs = temp_thislaystubs;
           nextlay_stubs = temp_nextlaystubs;
         }
  
         combinations_per_iteration += thislay_stubs.size() + nextlay_stubs.size();
  
         // loop over each stub in this layer and check for compatibility with this state
         for (unsigned i = 0; i < thislay_stubs.size(); i++) {
           Stub *stub = thislay_stubs[i];
  
           // Update helix params by adding this stub.
           const KalmanState *new_state = kalmanUpdate(nSkipped, layer, stub, the_state, tpa);
  
           // Cut on track chi2, pt etc.
           if (isGoodState(*new_state))
             next_states.push_back(new_state);
         }
  
         // loop over each stub in next layer if we skip, and check for compatibility with this state
         for (unsigned i = 0; i < nextlay_stubs.size(); i++) {
           Stub *stub = nextlay_stubs[i];
  
           const KalmanState *new_state =
               kalmanUpdate(nSkipped + 1 + nSkippedDeadLayers_nextStubs + nSkippedAmbiguousLayers_nextStubs,
                            layer + 1 + nSkippedDeadLayers_nextStubs + nSkippedAmbiguousLayers_nextStubs,
                            stub,
                            the_state,
                            tpa);
  
           if (isGoodState(*new_state))
             next_states_skipped.push_back(new_state);
         }
  
         // post Kalman filter local sorting per state
         auto orderByChi2 = [](const KalmanState *a, const KalmanState *b) {
           return bool(a->chi2scaled() < b->chi2scaled());
         };
         sort(next_states.begin(), next_states.end(), orderByChi2);
         sort(next_states_skipped.begin(), next_states_skipped.end(), orderByChi2);
  
         new_states.insert(new_states.end(), next_states.begin(), next_states.end());
         new_states.insert(new_states.end(), next_states_skipped.begin(), next_states_skipped.end());
         /*
         i = 0;
         for (auto state : next_states) {
             new_states.push_back(state);
           i++;
         }
  
         i = 0;
         for (auto state : next_states_skipped) {
             new_states.push_back(state);
           i++;
         }
 */
       }  //end of state loop
  
       // copy new_states into prev_states for next iteration or end if we are on
       // last iteration by clearing all states and making final state selection
  
       auto orderByMinSkipChi2 = [](const KalmanState *a, const KalmanState *b) {
         return bool((a->chi2scaled()) * (a->nSkippedLayers() + 1) < (b->chi2scaled()) * (b->nSkippedLayers() + 1));
       };
       sort(new_states.begin(), new_states.end(), orderByMinSkipChi2);  // Sort by chi2*(skippedLayers+1)
  
       unsigned int nStubs = iteration + 1;
       // Success. We have at least one state that passes all cuts. Save best state found with this number of stubs.
       if (nStubs >= settings_->kalmanMinNumStubs() && not new_states.empty())
         best_state_by_nstubs[nStubs] = new_states[0];
  
       if (nStubs == settings_->kalmanMaxNumStubs()) {
         // We're done.
         prev_states.clear();
         new_states.clear();
  
       } else {
         // Continue iterating.
         prev_states = new_states;
         new_states.clear();
       }
     }
  
     if (not best_state_by_nstubs.empty()) {
       // Select state with largest number of stubs.
       finished_state = best_state_by_nstubs.begin()->second;  // First element has largest number of stubs.
       if (settings_->kalmanDebugLevel() >= 1) {
         std::stringstream text;
         text << std::fixed << std::setprecision(4);
         text << "Track found! final state selection: nLay=" << finished_state->nStubLayers()
              << " hitPattern=" << std::hex << finished_state->hitPattern() << std::dec
              << " phiSec=" << l1track3D.iPhiSec() << " etaReg=" << l1track3D.iEtaReg() << " HT(m,c)=("
              << l1track3D.cellLocationHT().first << "," << l1track3D.cellLocationHT().second << ")";
         TVectorD y = trackParams(finished_state);
         text << " q/pt=" << y[QOVERPT] << " tanL=" << y[T] << " z0=" << y[Z0] << " phi0=" << y[PHI0];
         if (nHelixPar_ == 5)
           text << " d0=" << y[D0];
         text << " chosen from states:";
         for (const auto &p : best_state_by_nstubs)
           text << " " << p.second->chi2() << "/" << p.second->nStubLayers();
         PrintL1trk() << text.str();
       }
     } else {
       if (settings_->kalmanDebugLevel() >= 1) {
         PrintL1trk() << "Track lost";
       }
     }
  
     return finished_state;
   }

Referenced by fit().

◆ fit()

L1fittedTrack tmtt::KFbase::fit ( const L1track3D & l1track3D )

overridevirtual

Reimplemented from tmtt::TrackFitGeneric.

Definition at line 38 of file KFbase.cc.

                                                       {
     iPhiSec_ = l1track3D.iPhiSec();
     iEtaReg_ = l1track3D.iEtaReg();
     resetStates();
     numUpdateCalls_ = 0;
  
     vector<Stub *> stubs = l1track3D.stubs();
  
     auto orderByLayer = [](const Stub *a, const Stub *b) { return bool(a->layerId() < b->layerId()); };
     sort(stubs.begin(), stubs.end(), orderByLayer);  // Makes debug printout pretty.
  
     //TP
     const TP *tpa(nullptr);
     if (l1track3D.matchedTP()) {
       tpa = l1track3D.matchedTP();
     }
     tpa_ = tpa;
  
     //track information dump
     if (settings_->kalmanDebugLevel() >= 1) {
       PrintL1trk() << "===============================================================================";
       std::stringstream text;
       text << std::fixed << std::setprecision(4);
       text << "Input track cand: [phiSec,etaReg]=[" << l1track3D.iPhiSec() << "," << l1track3D.iEtaReg() << "]";
       text << " HT(m,c)=(" << l1track3D.cellLocationHT().first << "," << l1track3D.cellLocationHT().second
            << ") q/pt=" << l1track3D.qOverPt() << " tanL=" << l1track3D.tanLambda() << " z0=" << l1track3D.z0()
            << " phi0=" << l1track3D.phi0() << " nStubs=" << l1track3D.numStubs() << " d0=" << l1track3D.d0();
       PrintL1trk() << text.str();
       if (not settings_->hybrid())
         printTP(tpa);
       if (settings_->kalmanDebugLevel() >= 2) {
         printStubLayers(stubs, l1track3D.iEtaReg());
         printStubs(stubs);
       }
     }
  
     //Kalman Filter
     const KalmanState *cand = doKF(l1track3D, stubs, tpa);
  
     //return L1fittedTrk for the selected state (if KF produced one it was happy with).
     if (cand != nullptr) {
       // Get track helix params.
       TVectorD trackPars = trackParams(cand);
       double d0 = (nHelixPar_ == 5) ? trackPars[D0] : 0.;
  
       L1fittedTrack fitTrk(settings_,
                            &l1track3D,
                            cand->stubs(),
                            cand->hitPattern(),
                            trackPars[QOVERPT],
                            d0,
                            trackPars[PHI0],
                            trackPars[Z0],
                            trackPars[T],
                            cand->chi2rphi(),
                            cand->chi2rz(),
                            nHelixPar_);
  
       // Store supplementary info, specific to KF fitter.
       fitTrk.setInfoKF(cand->nSkippedLayers(), numUpdateCalls_);
  
       // If doing 5 parameter fit, optionally also calculate helix params & chi2 with beam-spot constraint applied,
       // and store inside L1fittedTrack object.
       if (settings_->kalmanAddBeamConstr()) {
         if (nHelixPar_ == 5) {
           double chi2rphi_bcon = 0.;
           TVectorD trackPars_bcon = trackParams_BeamConstr(cand, chi2rphi_bcon);
           fitTrk.setBeamConstr(trackPars_bcon[QOVERPT], trackPars_bcon[PHI0], chi2rphi_bcon);
         }
       }
  
       // Fitted track params must lie in same sector as HT originally found track in.
       if (!settings_->hybrid()) {  // consistentSector() function not yet working for Hybrid.
  
         // Bodge to take into account digitisation in sector consistency check.
         if (settings_->enableDigitize())
           fitTrk.digitizeTrack("KF4ParamsComb");
  
         if (!fitTrk.consistentSector()) {
           if (settings_->kalmanDebugLevel() >= 1)
             PrintL1trk() << "Track rejected by sector consistency test";
           L1fittedTrack rejectedTrk;
           return rejectedTrk;
         }
       }
  
       return fitTrk;
  
     } else {  // Track rejected by fitter
  
       if (settings_->kalmanDebugLevel() >= 1) {
         bool goodTrack = (tpa && tpa->useForAlgEff());  // Matches truth particle.
         if (goodTrack) {
           int tpin = tpa->index();
           PrintL1trk() << "TRACK LOST: eta=" << l1track3D.iEtaReg() << " pt=" << l1track3D.pt() << " tp=" << tpin;
  
           for (auto stub : stubs) {
             int kalmanLay =
                 this->kalmanLayer(l1track3D.iEtaReg(), stub->layerIdReduced(), stub->barrel(), stub->r(), stub->z());
             std::stringstream text;
             text << std::fixed << std::setprecision(4);
             text << "    Stub: lay_red=" << stub->layerIdReduced() << " KFlay=" << kalmanLay << " r=" << stub->r()
                  << " z=" << stub->z() << "   assoc TPs =";
             for (const TP *tp_i : stub->assocTPs())
               text << " " << tp_i->index();
             PrintL1trk() << text.str();
             if (stub->assocTPs().empty())
               PrintL1trk() << " none";
           }
           PrintL1trk() << "=====================";
         }
       }
  
       //dump on the missed TP for efficiency calculation.
       if (settings_->kalmanDebugLevel() >= 3) {
         if (tpa && tpa->useForAlgEff()) {
           PrintL1trk() << "TP for eff. missed addr. index : " << tpa << " " << tpa->index();
           printStubs(stubs);
         }
       }
  
       L1fittedTrack rejectedTrk;
       return rejectedTrk;
     }
   }

References a, b, electrons_cff::bool, tmtt::L1track3D::cellLocationHT(), D0, d0, tmtt::L1track3D::d0(), doKF(), tmtt::Settings::enableDigitize(), alignBH_cfg::fixed, spr::goodTrack(), tmtt::Settings::hybrid(), tmtt::L1track3D::iEtaReg(), iEtaReg_, tmtt::L1track3D::iPhiSec(), iPhiSec_, tmtt::Settings::kalmanAddBeamConstr(), tmtt::Settings::kalmanDebugLevel(), kalmanLayer(), tmtt::L1track3D::matchedTP(), nHelixPar_, tmtt::L1track3D::numStubs(), numUpdateCalls_, PHI0, tmtt::L1track3D::phi0(), printStubLayers(), printStubs(), printTP(), tmtt::L1track3D::pt(), QOVERPT, tmtt::L1track3D::qOverPt(), resetStates(), tmtt::L1fittedTrack::setInfoKF(), tmtt::TrackFitGeneric::settings_, tmtt::L1track3D::stubs(), T, tmtt::L1track3D::tanLambda(), runonSM::text, tpa_, trackParams(), trackParams_BeamConstr(), Z0, and tmtt::L1track3D::z0().

Referenced by trackingPlots.Iteration::modules().

◆ getKalmanGainMatrix()

TMatrixD tmtt::KFbase::getKalmanGainMatrix	(	const TMatrixD &	h,
		const TMatrixD &	pxcov,
		const TMatrixD &	covRinv
	)		const

protected

Definition at line 579 of file KFbase.cc.

                                                                                                                    {
     TMatrixD matHtrans(TMatrixD::kTransposed, matH);
     TMatrixD matCrefht = matCref * matHtrans;
     TMatrixD matK = matCrefht * matRinv;
     return matK;
   }

Referenced by kalmanUpdate().

◆ isGoodState()

virtual bool tmtt::KFbase::isGoodState ( const KalmanState & state ) const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by doKF().

◆ isHLS()

virtual bool tmtt::KFbase::isHLS ( )

inlineprotectedvirtual

Definition at line 141 of file KFbase.h.

141 { return false; };

◆ kalmanAmbiguousLayer()

bool tmtt::KFbase::kalmanAmbiguousLayer	(	unsigned int	iEtaReg,
		unsigned int	kfLayer
	)

protectedvirtual

Definition at line 790 of file KFbase.cc.

                                                                               {
     // Only helps in extreme forward sector, and there not significantly.
     // UNDERSTAND IF CAN BE USED ELSEWHERE.
  
     /*
   const unsigned int nEta = 16;
   const unsigned int nKFlayer = 7;
   constexpr bool ambiguityMap[nEta/2][nKFlayer] =
     {
       {false, false, false, false, false, false, false},
       {false, false, false, false, false, false, false},
       {false, false, false, false, false, false, false},
       {false, false, false, false, false, false, false},
       {false, false, false, false, false, false, false},
       {false, false, false, false, false, false, false},
       {false, false, false, false, false, false, false},
       {true , false, false, false, false, false, false},
     }; 
  
   unsigned int kfEtaReg;  // KF VHDL eta sector def: small in barrel & large in endcap.
   if (iEtaReg < numEtaRegions_/2) {
     kfEtaReg = numEtaRegions_/2 - 1 - iEtaReg;
   } else {
     kfEtaReg = iEtaReg - numEtaRegions_/2;
   }
  
   bool ambiguous = ambiguityMap[kfEtaReg][kfLayer];
   */
  
     bool ambiguous = false;
     return ambiguous;
   }

Referenced by doKF().

◆ kalmanDeadLayers()

set< unsigned > tmtt::KFbase::kalmanDeadLayers ( bool & remove2PSCut ) const

protected

Definition at line 825 of file KFbase.cc.

                                                                  {
     // Kill scenarios described StubKiller.cc
  
     // By which Stress Test scenario (if any) are dead modules being emulated?
     const StubKiller::KillOptions killScenario = static_cast<StubKiller::KillOptions>(settings_->killScenario());
     // Should TMTT tracking be modified to reduce efficiency loss due to dead modules?
     const bool killRecover = settings_->killRecover();
  
     set<pair<unsigned, bool>> deadGPlayers;  // GP layer ID & boolean indicating if in barrel.
  
     // Range of sectors chosen to cover dead regions from StubKiller.
     if (killRecover) {
       if (killScenario == StubKiller::KillOptions::layer5) {  // barrel layer 5
         if (iEtaReg_ >= 3 && iEtaReg_ <= 7 && iPhiSec_ >= 1 && iPhiSec_ <= 5) {
           deadGPlayers.insert(pair<unsigned, bool>(4, true));
         }
       } else if (killScenario == StubKiller::KillOptions::layer1) {  // barrel layer 1
         if (iEtaReg_ <= 7 && iPhiSec_ >= 1 && iPhiSec_ <= 5) {
           deadGPlayers.insert(pair<unsigned, bool>(1, true));
         }
         remove2PSCut = true;
       } else if (killScenario == StubKiller::KillOptions::layer1layer2) {  // barrel layers 1 & 2
         if (iEtaReg_ <= 7 && iPhiSec_ >= 1 && iPhiSec_ <= 5) {
           deadGPlayers.insert(pair<unsigned, bool>(1, true));
         }
         if (iEtaReg_ >= 1 && iEtaReg_ <= 7 && iPhiSec_ >= 1 && iPhiSec_ <= 5) {
           deadGPlayers.insert(pair<unsigned, bool>(2, true));
         }
         remove2PSCut = true;
       } else if (killScenario == StubKiller::KillOptions::layer1disk1) {  // barrel layer 1 & disk 1
         if (iEtaReg_ <= 7 && iPhiSec_ >= 1 && iPhiSec_ <= 5) {
           deadGPlayers.insert(pair<unsigned, bool>(1, true));
         }
         if (iEtaReg_ <= 3 && iPhiSec_ >= 1 && iPhiSec_ <= 5) {
           deadGPlayers.insert(pair<unsigned, bool>(3, false));
         }
         remove2PSCut = true;
       }
     }
  
     set<unsigned> kfDeadLayers;
     for (const auto &p : deadGPlayers) {
       unsigned int layer = p.first;
       bool barrel = p.second;
       float r = 0.;  // This fails for r-dependent parts of kalmanLayer(). FIX
       float z = 999.;
       unsigned int kalmanLay = this->kalmanLayer(iEtaReg_, layer, barrel, r, z);
       kfDeadLayers.insert(kalmanLay);
     }
  
     return kfDeadLayers;
   }

References Reference_intrackfit_cff::barrel, iEtaReg_, iPhiSec_, kalmanLayer(), tmtt::Settings::killRecover(), tmtt::Settings::killScenario(), tmtt::StubKiller::layer1, tmtt::StubKiller::layer1disk1, tmtt::StubKiller::layer1layer2, tmtt::StubKiller::layer5, AlCaHLTBitMon_ParallelJobs::p, alignCSCRings::r, and tmtt::TrackFitGeneric::settings_.

Referenced by doKF().

◆ kalmanLayer()

unsigned int tmtt::KFbase::kalmanLayer	(	unsigned int	iEtaReg,
		unsigned int	layerIDreduced,
		bool	barrel,
		float	r,
		float	z
	)		const

protectedvirtual

Definition at line 682 of file KFbase.cc.

                                                                                               {
     // index across is GP encoded layer ID (where barrel layers=1,2,7,5,4,3 & endcap wheels=3,4,5,6,7 & 0 never occurs)
     // index down is eta reg
     // element is kalman layer, where 7 is invalid
  
     // If stub with given GP encoded layer ID can have different KF layer ID depending on whether it
     // is barrel or endcap, then in layerMap, the the barrel case is assumed.
     // The endcap case is fixed by hand later in this function.
  
     const unsigned int nEta = 16;
     const unsigned int nGPlayID = 7;
  
     if (nEta != numEtaRegions_)
       throw cms::Exception("LogicError")
           << "ERROR KFbase::getKalmanLayer hardwired value of nEta differs from NumEtaRegions cfg param";
  
     // In cases where identical GP encoded layer ID present in this sector from both barrel & endcap, this array filled considering barrel. The endcap is fixed by subsequent code.
  
     constexpr unsigned layerMap[nEta / 2][nGPlayID + 1] = {
         {7, 0, 1, 5, 4, 3, 7, 2},  // B1 B2 B3 B4 B5 B6
         {7, 0, 1, 5, 4, 3, 7, 2},  // B1 B2 B3 B4 B5 B6
         {7, 0, 1, 5, 4, 3, 7, 2},  // B1 B2 B3 B4 B5 B6
         {7, 0, 1, 5, 4, 3, 7, 2},  // B1 B2 B3 B4 B5 B6
         {7, 0, 1, 5, 4, 3, 7, 2},  // B1 B2 B3 B4(/D3) B5(/D2) B6(/D1)
  
         {7, 0, 1, 3, 4, 2, 6, 2},  // B1 B2 B3(/D5)+B4(/D3) D1 D2 X D4  -- current FW
         //{ 7,  0,  1,  3,  4,  3,  6,  2 },  // B1 B2 B3(/D5) D1+B4(/D3) D2 X D4   -- for use with "Fix cases" below.
  
         {7, 0, 1, 1, 2, 3, 4, 5},  // B1 B2+D1 D2 D3 D5 D6
  
         //{ 7,  0,  7,  1,  2,  3,  4,  5 },  // B1 D1 D2 D3 D4 D5  = current FW (or when Ambiguous function used)
         {7, 0, 7, 0, 1, 2, 3, 4},  // Avoid effi loss for eta > 2.3 when Ambiguous function not used.
     };
  
     unsigned int kfEtaReg;  // KF VHDL eta sector def: small in barrel & large in endcap.
     if (iEtaReg < numEtaRegions_ / 2) {
       kfEtaReg = numEtaRegions_ / 2 - 1 - iEtaReg;
     } else {
       kfEtaReg = iEtaReg - numEtaRegions_ / 2;
     }
  
     unsigned int kalmanLay = layerMap[kfEtaReg][layerIDreduced];
  
     // Fixes to endcap stubs, for cases where identical GP encoded layer ID present in this sector from both barrel & endcap.
  
     if (not barrel) {
       switch (kfEtaReg) {
         case 4:  // B1 B2 B3 B4 B5/D1 B6/D2 D3
           if (layerIDreduced == 3) {
             kalmanLay = 4;
           } else if (layerIDreduced == 4) {
             kalmanLay = 5;
           } else if (layerIDreduced == 5) {
             kalmanLay = 6;
           }
           break;
           //case 5:  // B1 B2 B3+B4 D1 D2 D3 D4/D5
         case 5:  // B1 B2 B3 D1+B4 D2 D3 D4/D5
           if (layerIDreduced == 5) {
             kalmanLay = 5;
           } else if (layerIDreduced == 7) {
             kalmanLay = 6;
           }
           break;
         default:
           break;
       }
     }
  
     /*
   // Fix cases where a barrel layer only partially crosses the eta sector.
   // (Logically should work, but actually reduces efficiency -- INVESTIGATE).
  
   const float barrelHalfLength = 120.;
   const float barrel4Radius = 68.8;
   const float barrel5Radius = 86.1;
   
   if ( not barrel) {
     switch ( kfEtaReg ) {
     case 4:
       if (layerIDreduced==3) {  // D1
         float disk1_rCut = barrel5Radius*(std::abs(z)/barrelHalfLength); 
         if (r > disk1_rCut) kalmanLay++;
       }
       break;
     case 5:
       if (layerIDreduced==3) { // D1
         float disk1_rCut = barrel4Radius*(std::abs(z)/barrelHalfLength); 
         if (r > disk1_rCut) kalmanLay++;
       }
       if (layerIDreduced==4) { // D2
         float disk2_rCut = barrel4Radius*(std::abs(z)/barrelHalfLength); 
         if (r > disk2_rCut) kalmanLay++;
       }
       break;
     default:
       break;
     }           
   }
   */
  
     return kalmanLay;
   }

References Reference_intrackfit_cff::barrel, Exception, HLT_2018_cff::nEta, and numEtaRegions_.

Referenced by doKF(), fit(), kalmanDeadLayers(), and printStubLayers().

◆ kalmanUpdate()

const KalmanState * tmtt::KFbase::kalmanUpdate	(	unsigned	nSkipped,
		unsigned	layer,
		Stub *	stub,
		const KalmanState *	state,
		const TP *	tp
	)

protectedvirtual

Definition at line 408 of file KFbase.cc.

                                                                                                   {
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "---------------";
       PrintL1trk() << "kalmanUpdate";
       PrintL1trk() << "---------------";
       printStub(stub);
     }
  
     numUpdateCalls_++;  // For monitoring, count calls to updator per track.
  
     // Helix params & their covariance.
     TVectorD vecX = state->vectorX();
     TMatrixD matC = state->matrixC();
     if (state->barrel() && !stub->barrel()) {
       if (settings_->kalmanDebugLevel() >= 4) {
         PrintL1trk() << "STATE BARREL TO ENDCAP BEFORE ";
         PrintL1trk() << "state : " << vecX[0] << " " << vecX[1] << " " << vecX[2] << " " << vecX[3];
         PrintL1trk() << "cov(x): ";
         matC.Print();
       }
       if (settings_->kalmanDebugLevel() >= 4) {
         PrintL1trk() << "STATE BARREL TO ENDCAP AFTER ";
         PrintL1trk() << "state : " << vecX[0] << " " << vecX[1] << " " << vecX[2] << " " << vecX[3];
         PrintL1trk() << "cov(x): ";
         matC.Print();
       }
     }
     // Matrix to propagate helix reference point from one layer to next.
     TMatrixD matF = matrixF(stub, state);
     TMatrixD matFtrans(TMatrixD::kTransposed, matF);
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "matF";
       matF.Print();
     }
  
     // Multiply matrices to get helix params relative to reference point at next layer.
     TVectorD vecXref = matF * vecX;
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "vecFref = [";
       for (unsigned i = 0; i < nHelixPar_; i++)
         PrintL1trk() << vecXref[i] << ", ";
       PrintL1trk() << "]";
     }
  
     // Get stub residuals.
     TVectorD delta = residual(stub, vecXref, state->candidate().qOverPt());
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "delta = " << delta[0] << ", " << delta[1];
     }
  
     // Derivative of predicted (phi,z) intercept with layer w.r.t. helix params.
     TMatrixD matH = matrixH(stub);
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "matH";
       matH.Print();
     }
  
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "previous state covariance";
       matC.Print();
     }
     // Get scattering contribution to helix parameter covariance (currently zero).
     TMatrixD matScat(nHelixPar_, nHelixPar_);
  
     // Get covariance on helix parameters at new reference point including scattering..
     TMatrixD matCref = matF * matC * matFtrans + matScat;
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "matCref";
       matCref.Print();
     }
     // Get hit position covariance matrix.
     TMatrixD matV = matrixV(stub, state);
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "matV";
       matV.Print();
     }
  
     TMatrixD matRinv = matrixRinv(matH, matCref, matV);
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "matRinv";
       matRinv.Print();
     }
  
     // Calculate Kalman Gain matrix.
     TMatrixD matK = getKalmanGainMatrix(matH, matCref, matRinv);
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "matK";
       matK.Print();
     }
  
     // Update helix state & its covariance matrix with new stub.
     TVectorD new_vecX(nHelixPar_);
     TMatrixD new_matC(nHelixPar_, nHelixPar_);
     adjustState(matK, matCref, vecXref, matH, delta, new_vecX, new_matC);
  
     // Update track fit chi2 with new stub.
     double new_chi2rphi = 0, new_chi2rz = 0;
     this->adjustChi2(state, matRinv, delta, new_chi2rphi, new_chi2rz);
  
     if (settings_->kalmanDebugLevel() >= 4) {
       if (nHelixPar_ == 4)
         PrintL1trk() << "adjusted x = " << new_vecX[0] << ", " << new_vecX[1] << ", " << new_vecX[2] << ", "
                      << new_vecX[3];
       else if (nHelixPar_ == 5)
         PrintL1trk() << "adjusted x = " << new_vecX[0] << ", " << new_vecX[1] << ", " << new_vecX[2] << ", "
                      << new_vecX[3] << ", " << new_vecX[4];
       PrintL1trk() << "adjusted C ";
       new_matC.Print();
       PrintL1trk() << "adjust chi2rphi=" << new_chi2rphi << " chi2rz=" << new_chi2rz;
     }
  
     const KalmanState *new_state = mkState(
         state->candidate(), nSkipped, layer, state, new_vecX, new_matC, matK, matV, stub, new_chi2rphi, new_chi2rz);
  
     return new_state;
   }

References adjustChi2(), adjustState(), tmtt::KalmanState::barrel(), tmtt::Stub::barrel(), tmtt::KalmanState::candidate(), dumpMFGeometry_cfg::delta, getKalmanGainMatrix(), mps_fire::i, tmtt::Settings::kalmanDebugLevel(), tmtt::KalmanState::matrixC(), matrixF(), matrixH(), matrixRinv(), matrixV(), mkState(), nHelixPar_, numUpdateCalls_, printStub(), tmtt::L1track3D::qOverPt(), residual(), tmtt::TrackFitGeneric::settings_, and tmtt::KalmanState::vectorX().

Referenced by doKF().

◆ matrixF()

virtual TMatrixD tmtt::KFbase::matrixF	(	const Stub *	stub = `nullptr`,
		const KalmanState *	state = `nullptr`
	)		const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by kalmanUpdate().

◆ matrixH()

virtual TMatrixD tmtt::KFbase::matrixH ( const Stub * stub ) const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by kalmanUpdate(), and residual().

◆ matrixHCHt()

TMatrixD tmtt::KFbase::matrixHCHt	(	const TMatrixD &	h,
		const TMatrixD &	c
	)		const

protected

Definition at line 549 of file KFbase.cc.

                                                                               {
     TMatrixD matHtrans(TMatrixD::kTransposed, matH);
     return matH * matC * matHtrans;
   }

Referenced by matrixRinv().

◆ matrixRinv()

TMatrixD tmtt::KFbase::matrixRinv	(	const TMatrixD &	matH,
		const TMatrixD &	matCref,
		const TMatrixD &	matV
	)		const

protected

Definition at line 556 of file KFbase.cc.

                                                                                                        {
     TMatrixD matHCHt = matrixHCHt(matH, matCref);
     TMatrixD matR = matV + matHCHt;
     TMatrixD matRinv(2, 2);
     if (matR.Determinant() > 0) {
       matRinv = TMatrixD(TMatrixD::kInverted, matR);
     } else {
       // Protection against rare maths instability.
       const TMatrixD unitMatrix(TMatrixD::kUnit, TMatrixD(nHelixPar_, nHelixPar_));
       const double big = 9.9e9;
       matRinv = big * unitMatrix;
     }
     if (settings_->kalmanDebugLevel() >= 4) {
       PrintL1trk() << "matHCHt";
       matHCHt.Print();
       PrintL1trk() << "matR";
       matR.Print();
     }
     return matRinv;
   }

References tmtt::Settings::kalmanDebugLevel(), matrixHCHt(), nHelixPar_, and tmtt::TrackFitGeneric::settings_.

Referenced by kalmanUpdate().

◆ matrixV()

virtual TMatrixD tmtt::KFbase::matrixV	(	const Stub *	stub,
		const KalmanState *	state
	)		const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by kalmanUpdate().

◆ mkState()

const KalmanState * tmtt::KFbase::mkState	(	const L1track3D &	candidate,
		unsigned	nSkipped,
		unsigned	layer,
		const KalmanState *	last_state,
		const TVectorD &	x,
		const TMatrixD &	pxx,
		const TMatrixD &	K,
		const TMatrixD &	dcov,
		Stub *	stub,
		double	chi2rphi,
		double	chi2rz
	)

protected

Definition at line 528 of file KFbase.cc.

                                                     {
     auto new_state = std::make_unique<const KalmanState>(
         settings_, candidate, nSkipped, layer, last_state, vecX, matC, matK, matV, stub, chi2rphi, chi2rz);
  
     const KalmanState *p_new_state = new_state.get();
     listAllStates_.push_back(std::move(new_state));  // Vector keeps ownership of all states.
     return p_new_state;
   }

References listAllStates_, eostools::move(), and tmtt::TrackFitGeneric::settings_.

Referenced by doKF(), and kalmanUpdate().

◆ operator=() [1/2]

KFbase& tmtt::KFbase::operator= ( const KFbase & kf )

delete

◆ operator=() [2/2]

KFbase& tmtt::KFbase::operator= ( KFbase && kf )

delete

◆ printStub()

void tmtt::KFbase::printStub ( const Stub * stub ) const

protected

Definition at line 942 of file KFbase.cc.

                                                {
     std::stringstream text;
     text << std::fixed << std::setprecision(4);
     text << "stub ";
     text << "index=" << stub->index() << " ";
     text << "layerId=" << stub->layerId() << " ";
     text << "r=" << stub->r() << " ";
     text << "phi=" << stub->phi() << " ";
     text << "z=" << stub->z() << " ";
     text << "sigmaX=" << stub->sigmaPerp() << " ";
     text << "sigmaZ=" << stub->sigmaPar() << " ";
     text << "TPids=";
     std::set<const TP *> tps = stub->assocTPs();
     for (auto tp : tps)
       text << tp->index() << ",";
     PrintL1trk() << text.str();
   }

References tmtt::Stub::assocTPs(), alignBH_cfg::fixed, tmtt::Stub::index(), tmtt::Stub::layerId(), tmtt::Stub::phi(), tmtt::Stub::r(), tmtt::Stub::sigmaPar(), tmtt::Stub::sigmaPerp(), runonSM::text, cmsswSequenceInfo::tp, and tmtt::Stub::z().

Referenced by kalmanUpdate(), and printStubs().

◆ printStubLayers()

void tmtt::KFbase::printStubLayers	(	const std::vector< Stub * > &	stubs,
		unsigned int	iEtaReg
	)		const

protected

Definition at line 914 of file KFbase.cc.

                                                                                       {
     std::stringstream text;
     text << std::fixed << std::setprecision(4);
     if (stubs.empty())
       text << "stub layers = []\n";
     else {
       text << "stub layers = [ ";
       for (unsigned i = 0; i < stubs.size(); i++) {
         text << stubs[i]->layerId();
         if (i != stubs.size() - 1)
           text << ", ";
       }
       text << " ]   ";
       text << "KF stub layers = [ ";
       for (unsigned j = 0; j < stubs.size(); j++) {
         unsigned int kalmanLay =
             this->kalmanLayer(iEtaReg, stubs[j]->layerIdReduced(), stubs[j]->barrel(), stubs[j]->r(), stubs[j]->z());
         text << kalmanLay;
         if (j != stubs.size() - 1)
           text << ", ";
       }
       text << " ]\n";
     }
     PrintL1trk() << text.str();
   }

References Reference_intrackfit_cff::barrel, alignBH_cfg::fixed, mps_fire::i, dqmiolumiharvest::j, kalmanLayer(), alignCSCRings::r, and runonSM::text.

Referenced by fit().

◆ printStubs()

void tmtt::KFbase::printStubs ( const std::vector< Stub * > & stubs ) const

protected

Definition at line 962 of file KFbase.cc.

                                                            {
     for (auto &stub : stubs) {
       printStub(stub);
     }
   }

References printStub().

Referenced by fit().

◆ printTP()

void tmtt::KFbase::printTP ( const TP * tp ) const

protected

Definition at line 886 of file KFbase.cc.

                                          {
     TVectorD tpParams(5);
     bool useForAlgEff(false);
     if (tp) {
       useForAlgEff = tp->useForAlgEff();
       tpParams[QOVERPT] = tp->qOverPt();
       tpParams[PHI0] = tp->phi0();
       tpParams[Z0] = tp->z0();
       tpParams[T] = tp->tanLambda();
       tpParams[D0] = tp->d0();
     }
     std::stringstream text;
     text << std::fixed << std::setprecision(4);
     if (tp) {
       text << "  TP index = " << tp->index() << " useForAlgEff = " << useForAlgEff << " ";
       const string helixNames[5] = {"qOverPt", "phi0", "z0", "tanL", "d0"};
       for (int i = 0; i < tpParams.GetNrows(); i++) {
         text << helixNames[i] << ":" << tpParams[i] << ", ";
       }
       text << "  inv2R = " << tp->qOverPt() * settings_->invPtToInvR() * 0.5;
     } else {
       text << "  Fake";
     }
     PrintL1trk() << text.str();
   }

References D0, alignBH_cfg::fixed, mps_fire::i, tmtt::Settings::invPtToInvR(), PHI0, QOVERPT, tmtt::TrackFitGeneric::settings_, T, runonSM::text, cmsswSequenceInfo::tp, and Z0.

Referenced by fit().

◆ resetStates()

void tmtt::KFbase::resetStates ( )

protected

Definition at line 678 of file KFbase.cc.

678 { listAllStates_.clear(); }

References listAllStates_.

Referenced by fit(), and ~KFbase().

◆ residual()

TVectorD tmtt::KFbase::residual	(	const Stub *	stub,
		const TVectorD &	x,
		double	candQoverPt
	)		const

protectedvirtual

Definition at line 588 of file KFbase.cc.

                                                                                             {
     TVectorD vd = vectorM(stub);  // Get (phi relative to sector, z) of hit.
     TMatrixD h = matrixH(stub);
     TVectorD hx = h * vecX;  // Get intercept of helix with layer (linear approx).
     TVectorD delta = vd - hx;
  
     // Calculate higher order corrections to residuals.
  
     if (not settings_->kalmanHOfw()) {
       TVectorD correction(2);
  
       float inv2R = (settings_->invPtToInvR()) * 0.5 * candQoverPt;
       float tanL = vecX[T];
       float z0 = vecX[Z0];
  
       float deltaS = 0.;
       if (settings_->kalmanHOhelixExp()) {
         // Higher order correction correction to circle expansion for improved accuracy at low Pt.
         double corr = stub->r() * inv2R;
  
         // N.B. In endcap 2S, this correction to correction[0] is exactly cancelled by the deltaS-dependent correction to it below.
         correction[0] += (1. / 6.) * pow(corr, 3);
  
         deltaS = (1. / 6.) * (stub->r()) * pow(corr, 2);
         correction[1] -= deltaS * tanL;
       }
  
       if ((not stub->barrel()) && not(stub->psModule())) {
         // These corrections rely on inside --> outside tracking, so r-z track params in 2S modules known.
         float rShift = (stub->z() - z0) / tanL - stub->r();
  
         if (settings_->kalmanHOhelixExp())
           rShift -= deltaS;
  
         if (settings_->kalmanHOprojZcorr() == 1) {
           // Add correlation term related to conversion of stub residuals from (r,phi) to (z,phi).
           correction[0] += inv2R * rShift;
         }
  
         if (settings_->kalmanHOalpha() == 1) {
           // Add alpha correction for non-radial 2S endcap strips..
           correction[0] += stub->alpha() * rShift;
         }
       }
  
       // Apply correction to residuals.
       delta += correction;
     }
  
     delta[0] = reco::deltaPhi(delta[0], 0.);
  
     return delta;
   }

References tmtt::Stub::alpha(), tmtt::Stub::barrel(), alignCSCRings::corr, pfMETCorrectionType0_cfi::correction, dumpMFGeometry_cfg::delta, reco::deltaPhi(), tmtt::Settings::invPtToInvR(), tmtt::Settings::kalmanHOalpha(), tmtt::Settings::kalmanHOfw(), tmtt::Settings::kalmanHOhelixExp(), tmtt::Settings::kalmanHOprojZcorr(), matrixH(), funct::pow(), tmtt::Stub::psModule(), tmtt::Stub::r(), tmtt::TrackFitGeneric::settings_, T, vectorM(), tmtt::Stub::z(), Z0, and HLTMuonOfflineAnalyzer_cfi::z0.

Referenced by kalmanUpdate().

◆ sectorPhi()

double tmtt::KFbase::sectorPhi ( ) const

inlineprotected

Definition at line 124 of file KFbase.h.

                              {
       float phiCentreSec0 = -M_PI / float(settings_->numPhiNonants()) + M_PI / float(settings_->numPhiSectors());
       return 2. * M_PI * float(iPhiSec_) / float(settings_->numPhiSectors()) + phiCentreSec0;
     }

References dqmMemoryStats::float, iPhiSec_, M_PI, tmtt::Settings::numPhiNonants(), tmtt::Settings::numPhiSectors(), and tmtt::TrackFitGeneric::settings_.

Referenced by tmtt::KFParamsComb::seedX(), tmtt::KFParamsComb::trackParams(), tmtt::KFParamsComb::trackParams_BeamConstr(), and tmtt::KFParamsComb::vectorM().

◆ seedC()

virtual TMatrixD tmtt::KFbase::seedC ( const L1track3D & l1track3D ) const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by doKF().

◆ seedX()

virtual TVectorD tmtt::KFbase::seedX ( const L1track3D & l1track3D ) const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by doKF().

◆ trackParams()

virtual TVectorD tmtt::KFbase::trackParams ( const KalmanState * state ) const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by doKF(), and fit().

◆ trackParams_BeamConstr()

virtual TVectorD tmtt::KFbase::trackParams_BeamConstr	(	const KalmanState *	state,
		double &	chi2rphi_bcon
	)		const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by fit().

◆ vectorM()

virtual TVectorD tmtt::KFbase::vectorM ( const Stub * stub ) const

protectedpure virtual

Implemented in tmtt::KFParamsComb.

Referenced by residual().

Member Data Documentation

◆ iEtaReg_

unsigned int tmtt::KFbase::iEtaReg_

protected

Definition at line 158 of file KFbase.h.

Referenced by fit(), and kalmanDeadLayers().

◆ iPhiSec_

unsigned int tmtt::KFbase::iPhiSec_

protected

Definition at line 157 of file KFbase.h.

Referenced by fit(), kalmanDeadLayers(), and sectorPhi().

◆ listAllStates_

std::vector<std::unique_ptr<const KalmanState> > tmtt::KFbase::listAllStates_

protected

Definition at line 163 of file KFbase.h.

Referenced by mkState(), and resetStates().

◆ nHelixPar_

unsigned tmtt::KFbase::nHelixPar_

protected

Definition at line 153 of file KFbase.h.

Referenced by adjustState(), doKF(), fit(), tmtt::KFParamsComb::isGoodState(), kalmanUpdate(), tmtt::KFParamsComb::matrixF(), tmtt::KFParamsComb::matrixH(), matrixRinv(), tmtt::KFParamsComb::seedC(), tmtt::KFParamsComb::seedX(), tmtt::KFParamsComb::trackParams(), and tmtt::KFParamsComb::trackParams_BeamConstr().

◆ nMeas_

unsigned tmtt::KFbase::nMeas_

protected

Definition at line 154 of file KFbase.h.

◆ numEtaRegions_

unsigned tmtt::KFbase::numEtaRegions_

protected

Definition at line 155 of file KFbase.h.

Referenced by kalmanLayer().

◆ numUpdateCalls_

unsigned int tmtt::KFbase::numUpdateCalls_

protected

Definition at line 160 of file KFbase.h.

Referenced by fit(), and kalmanUpdate().

◆ tpa_

const TP* tmtt::KFbase::tpa_

protected

Definition at line 165 of file KFbase.h.

Referenced by fit(), and tmtt::KFParamsComb::isGoodState().

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ MEAS_IDS

◆ PAR_IDS

◆ PAR_IDS_VAR

Constructor & Destructor Documentation

◆ KFbase() [1/3]

◆ ~KFbase()

◆ KFbase() [2/3]

◆ KFbase() [3/3]

Member Function Documentation

◆ adjustChi2()

◆ adjustState()

◆ approxB()

◆ doKF()

◆ fit()

◆ getKalmanGainMatrix()

◆ isGoodState()

◆ isHLS()

◆ kalmanAmbiguousLayer()

◆ kalmanDeadLayers()

◆ kalmanLayer()

◆ kalmanUpdate()

◆ matrixF()

◆ matrixH()

◆ matrixHCHt()

◆ matrixRinv()

◆ matrixV()

◆ mkState()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ printStub()

◆ printStubLayers()

◆ printStubs()

◆ printTP()

◆ resetStates()

◆ residual()

◆ sectorPhi()

◆ seedC()

◆ seedX()

◆ trackParams()

◆ trackParams_BeamConstr()

◆ vectorM()

Member Data Documentation

◆ iEtaReg_

◆ iPhiSec_

◆ listAllStates_

◆ nHelixPar_

◆ nMeas_

◆ numEtaRegions_

◆ numUpdateCalls_

◆ tpa_