SurveyResidual Class Reference

#include <SurveyResidual.h>

Public Member Functions
AlgebraicSymMatrix	inverseCovariance () const
	Get inverse of survey covariance wrt given structure type in constructor. More...
align::LocalVectors	pointsResidual () const
AlgebraicVector	sensorResidual () const
	SurveyResidual (const Alignable &, align::StructureType, bool bias=false)
bool	valid () const

Private Member Functions
void	calculate (const Alignable &)
	Find the nominal and current vectors. More...
void	findSisters (const Alignable *, bool bias)

Private Attributes
align::ErrorMatrix	theCovariance
align::GlobalVectors	theCurrentVs
const Alignable *	theMother
align::GlobalVectors	theNominalVs
const std::vector< bool > &	theSelector
std::vector< const Alignable * >	theSisters
const AlignableSurface &	theSurface

Detailed Description

Class to find the residuals for survey constraint alignment.

For more info, please refer to http://www.pha.jhu.edu/~gritsan/cms/cms-note-survey.pdf

Date

2007/11/09 07:45:04

Revision

1.6

Author

Chung Khim Lae

Definition at line 22 of file SurveyResidual.h.

Constructor & Destructor Documentation

SurveyResidual()

SurveyResidual::SurveyResidual	(	const Alignable &	ali,
		align::StructureType	type,
		bool	bias = false
	)

Constructor from an alignable whose residuals are to be found. The type of residuals (panel, disc etc.) is given by StructureType. Set bias to true for biased residuals. Default is to find unbiased residuals.

Definition at line 11 of file SurveyResidual.cc.

    : theMother(nullptr), theSurface(ali.surface()), theSelector(ali.alignmentParameters()->selector()) {
  // Find mother matching given type
 
  theMother = &ali;  // start finding from this alignable
 
  while (theMother->alignableObjectId() != type) {
    theMother = theMother->mother();  // move up a level
 
    if (!theMother)
      return;
    //     {
    //       throw cms::Exception("ConfigError")
    //  << "Alignable (id = " << ali.geomDetId().rawId()
    //  << ") does not belong to a composite of type " << type;
    //     }
  }
 
  if (!theMother->mother()) {
    throw cms::Exception("ConfigError") << "The type " << type << " does not have a survey residual defined!\n"
                                        << "You have probably set the highest hierarchy. Choose a lower level.";
  }
 
  findSisters(theMother, bias);
 
  if (theSisters.empty()) {
    throw cms::Exception("ConfigError") << "You are finding an unbiased residual of an alignable "
                                        << " (id = " << ali.geomDetId().rawId() << ") which has no sister. Abort!";
  }
 
  calculate(ali);
}

References Alignable::alignableObjectId(), calculate(), Exception, findSisters(), Alignable::geomDetId(), Alignable::mother(), DetId::rawId(), theMother, and theSisters.

Member Function Documentation

calculate()

void SurveyResidual::calculate ( const Alignable &  ali )

private

Find the nominal and current vectors.

Definition at line 152 of file SurveyResidual.cc.

                                                   {
  unsigned int nSister = theSisters.size();
 
  // First get sisters' positions
 
  std::vector<const PositionType*> nominalSisPos;  // nominal sisters' pos
  std::vector<const PositionType*> currentSisPos;  // current sisters' pos
 
  nominalSisPos.reserve(nSister);
  currentSisPos.reserve(nSister);
 
  for (unsigned int i = 0; i < nSister; ++i) {
    const Alignable* sis = theSisters[i];
    const SurveyDet* survey = sis->survey();
 
    if (!survey) {
      throw cms::Exception("ConfigError") << "No survey info is found for Alignable "
                                          << " (id = " << sis->geomDetId().rawId() << "). Abort!";
    }
 
    nominalSisPos.push_back(&survey->position());
    currentSisPos.push_back(&sis->globalPosition());
  }
 
  // Then find mother's position using sisters' positions
 
  PositionType nominalMomPos = motherPosition(nominalSisPos);
  PositionType currentMomPos = motherPosition(currentSisPos);
 
  // Now find rotation from nominal mother to current mother
 
  GlobalVectors nominalSisVs;  // nominal sisters' pos from mother's pos
  GlobalVectors currentSisVs;  // current sisters' pos from mother's pos
 
  for (unsigned int i = 0; i < nSister; ++i) {
    const Alignable* sis = theSisters[i];
 
    const GlobalPoints& nominalSisPoints = sis->survey()->globalPoints();
    const GlobalPoints& currentSisPoints = sis->surface().toGlobal(sis->survey()->localPoints());
 
    for (unsigned int j = 0; j < nominalSisPoints.size(); ++j) {
      nominalSisVs.push_back(nominalSisPoints[j] - *nominalSisPos[i]);
      currentSisVs.push_back(currentSisPoints[j] - *currentSisPos[i]);
      //       nominalSisVs.push_back(nominalSisPoints[j] - nominalMomPos);
      //       currentSisVs.push_back(currentSisPoints[j] - currentMomPos);
    }
  }
 
  RotationType toCurrent = diffRot(currentSisVs, nominalSisVs);
 
  // Finally shift and rotate nominal sensor to current sensor
 
  const SurveyDet* survey = ali.survey();
 
  if (!survey) {
    throw cms::Exception("ConfigError") << "No survey info is found for Alignable "
                                        << " (id = " << ali.geomDetId().rawId() << "). Abort!";
  }
 
  const GlobalPoints& nominalPoints = survey->globalPoints();
  const GlobalPoints& currentPoints = theSurface.toGlobal(survey->localPoints());
 
  for (unsigned int j = 0; j < nominalPoints.size(); ++j) {
    align::GlobalVector nv = nominalPoints[j] - nominalMomPos;
 
    theNominalVs.push_back(align::GlobalVector(toCurrent * nv.basicVector()));
    theCurrentVs.push_back(currentPoints[j] - currentMomPos);
  }
 
  // Find the covariance
 
  const RotationType& currentFrame = ali.globalRotation();
 
  for (const Alignable* a = &ali; a != theMother->mother(); a = a->mother()) {
    RotationType deltaR = currentFrame * a->survey()->rotation().transposed();
 
    math::Matrix<6, 6>::type jac;  // 6 by 6 Jacobian init to 0
 
    jac(0, 0) = deltaR.xx();
    jac(0, 1) = deltaR.xy();
    jac(0, 2) = deltaR.xz();
    jac(1, 0) = deltaR.yx();
    jac(1, 1) = deltaR.yy();
    jac(1, 2) = deltaR.yz();
    jac(2, 0) = deltaR.zx();
    jac(2, 1) = deltaR.zy();
    jac(2, 2) = deltaR.zz();
    jac(3, 3) = deltaR.xx();
    jac(3, 4) = deltaR.xy();
    jac(3, 5) = deltaR.xz();
    jac(4, 3) = deltaR.yx();
    jac(4, 4) = deltaR.yy();
    jac(4, 5) = deltaR.yz();
    jac(5, 3) = deltaR.zx();
    jac(5, 4) = deltaR.zy();
    jac(5, 5) = deltaR.zz();
 
    theCovariance += ROOT::Math::Similarity(jac, a->survey()->errors());
  }
}

References a, PV3DBase< T, PVType, FrameType >::basicVector(), PbPb_ZMuSkimMuonDPG_cff::deltaR, align::diffRot(), Exception, Alignable::geomDetId(), SurveyDet::globalPoints(), Alignable::globalPosition(), Alignable::globalRotation(), mps_fire::i, dqmiolumiharvest::j, SurveyDet::localPoints(), Alignable::mother(), align::motherPosition(), SurveyDet::position(), DetId::rawId(), Alignable::surface(), Alignable::survey(), theCovariance, theCurrentVs, theMother, theNominalVs, theSisters, theSurface, and AlignableSurface::toGlobal().

Referenced by SurveyResidual().

findSisters()

void SurveyResidual::findSisters ( const Alignable *  ali, bool  bias  )

private

Find the terminal sisters of an alignable. bias = true to include itself in the list.

Definition at line 135 of file SurveyResidual.cc.

                                                                {
  theSisters.clear();
  theSisters.reserve(1000);
 
  const auto& comp = ali->mother()->components();
 
  unsigned int nComp = comp.size();
 
  for (unsigned int i = 0; i < nComp; ++i) {
    const Alignable* dau = comp[i];
 
    if (dau != ali || bias)
      theSisters.insert(theSisters.end(), dau->deepComponents().begin(), dau->deepComponents().end());
    //     if (dau != ali || bias) theSisters.push_back(dau);
  }
}

References AlCaHLTBitMon_QueryRunRegistry::comp, Alignable::components(), Alignable::deepComponents(), mps_fire::i, Alignable::mother(), and theSisters.

Referenced by SurveyResidual().

inverseCovariance()

AlgebraicSymMatrix SurveyResidual::inverseCovariance

(

)

const

Get inverse of survey covariance wrt given structure type in constructor.

Definition at line 106 of file SurveyResidual.cc.

                                                           {
  if (theSelector.size() != ErrorMatrix::kRows) {
    throw cms::Exception("LogicError") << "Mismatched number of dof between ErrorMatrix and Selector.";
  }
 
  std::vector<unsigned int> indices;  // selected indices
 
  indices.reserve(ErrorMatrix::kRows);
 
  for (unsigned int i = 0; i < ErrorMatrix::kRows; ++i)
    if (theSelector[i])
      indices.push_back(i);
 
  AlgebraicSymMatrix invCov(indices.size());
 
  for (unsigned int i = 0; i < indices.size(); ++i)
    for (unsigned int j = 0; j <= i; ++j)
      invCov.fast(i + 1, j + 1) = theCovariance(indices[i], indices[j]);
 
  int fail(0);
  invCov.invert(fail);
 
  if (fail) {
    throw cms::Exception("ConfigError") << "Cannot invert survey error " << invCov;
  }
 
  return invCov;
}

References Exception, mps_fire::i, bTagCombinedSVVariables_cff::indices, dqmiolumiharvest::j, theCovariance, and theSelector.

pointsResidual()

LocalVectors SurveyResidual::pointsResidual

(

)

const

Find residuals in local frame for points on the alignable (current - nominal vectors).

Definition at line 92 of file SurveyResidual.cc.

                                                  {
  LocalVectors residuals;
 
  unsigned int nPoint = theNominalVs.size();
 
  residuals.reserve(nPoint);
 
  for (unsigned int j = 0; j < nPoint; ++j) {
    residuals.push_back(theSurface.toLocal(theCurrentVs[j] - theNominalVs[j]));
  }
 
  return residuals;
}

References dqmiolumiharvest::j, theCurrentVs, theNominalVs, theSurface, and AlignableSurface::toLocal().

sensorResidual()

AlgebraicVector SurveyResidual::sensorResidual

(

)

const

Find residual for the alignable in local frame. Returns a vector based on the alignable's dof.

Definition at line 44 of file SurveyResidual.cc.

                                                     {
  std::vector<Scalar> pars;  // selected parameters
 
  pars.reserve(AlignParams::kSize);
 
  // Find linear displacements.
 
  align::LocalVector deltaR = theSurface.toLocal(theCurrentVs[0] - theNominalVs[0]);
 
  if (theSelector[0])
    pars.push_back(deltaR.x());
  if (theSelector[1])
    pars.push_back(deltaR.y());
  if (theSelector[2])
    pars.push_back(deltaR.z());
 
  // Match the centers of current and nominal surfaces to find the angular
  // displacements about the center. Only do this if angular dof are selected.
 
  if (theSelector[3] || theSelector[4] || theSelector[5]) {
    GlobalVectors nominalVs = theNominalVs;
    GlobalVectors currentVs = theCurrentVs;
 
    for (unsigned int j = 0; j < nominalVs.size(); ++j) {
      nominalVs[j] -= theNominalVs[0];  // move to nominal pos
      currentVs[j] -= theCurrentVs[0];  // move to current pos
    }
 
    RotationType rot = diffRot(nominalVs, currentVs);  // frame rotation
 
    EulerAngles deltaW = toAngles(theSurface.toLocal(rot));
 
    if (theSelector[3])
      pars.push_back(deltaW(1));
    if (theSelector[4])
      pars.push_back(deltaW(2));
    if (theSelector[5])
      pars.push_back(deltaW(3));
  }
 
  AlgebraicVector deltaRW(pars.size());  // (deltaR, deltaW)
 
  for (unsigned int j = 0; j < pars.size(); ++j)
    deltaRW(j + 1) = pars[j];
 
  return deltaRW;
}

References PbPb_ZMuSkimMuonDPG_cff::deltaR, align::diffRot(), dqmiolumiharvest::j, makeMuonMisalignmentScenario::rot, theCurrentVs, theNominalVs, theSelector, theSurface, align::toAngles(), and AlignableSurface::toLocal().

Referenced by AlignmentMonitorSurvey::book().

valid()

bool SurveyResidual::valid ( ) const

inline

Check if survey residual is valid (theMother != 0). This check must be done before calling the other methods so that calculations can be performed correctly.

Definition at line 75 of file SurveyResidual.h.

{ return theMother != nullptr; }

References theMother.

Member Data Documentation

theCovariance

align::ErrorMatrix SurveyResidual::theCovariance

private

Definition at line 72 of file SurveyResidual.h.

Referenced by calculate(), and inverseCovariance().

theCurrentVs

align::GlobalVectors SurveyResidual::theCurrentVs

private

Definition at line 70 of file SurveyResidual.h.

Referenced by calculate(), pointsResidual(), and sensorResidual().

theMother

const Alignable* SurveyResidual::theMother

private

Definition at line 59 of file SurveyResidual.h.

Referenced by calculate(), SurveyResidual(), and valid().

theNominalVs

align::GlobalVectors SurveyResidual::theNominalVs

private

Definition at line 69 of file SurveyResidual.h.

Referenced by calculate(), pointsResidual(), and sensorResidual().

theSelector

const std::vector<bool>& SurveyResidual::theSelector

private

Definition at line 64 of file SurveyResidual.h.

Referenced by inverseCovariance(), and sensorResidual().

theSisters

std::vector<const Alignable*> SurveyResidual::theSisters

private

Definition at line 66 of file SurveyResidual.h.

Referenced by calculate(), findSisters(), and SurveyResidual().

theSurface

const AlignableSurface& SurveyResidual::theSurface

private

Definition at line 62 of file SurveyResidual.h.

Referenced by calculate(), pointsResidual(), and sensorResidual().