KFStrip1DUpdator Class Reference

#include <KFStrip1DUpdator.h>

Inheritance diagram for KFStrip1DUpdator:

Public Member Functions
KFStrip1DUpdator *	clone () const override
	KFStrip1DUpdator ()
TSOS	update (const TSOS &aTsos, const TrackingRecHit &aHit) const override
	~KFStrip1DUpdator () override
Public Member Functions inherited from TrajectoryStateUpdator
	TrajectoryStateUpdator ()
virtual	~TrajectoryStateUpdator ()

Private Types
typedef LocalTrajectoryError	LTE
typedef LocalTrajectoryParameters	LTP
typedef TrajectoryStateOnSurface	TSOS

Detailed Description

A Kalman Updator that works in the measurement frame and uses only the X coordinate (the one perpendicular to the strip). Ported from ORCA.

Author

todorov, cerati

Definition at line 13 of file KFStrip1DUpdator.h.

Member Typedef Documentation

typedef LocalTrajectoryError KFStrip1DUpdator::LTE

private

Definition at line 17 of file KFStrip1DUpdator.h.

typedef LocalTrajectoryParameters KFStrip1DUpdator::LTP

private

Definition at line 16 of file KFStrip1DUpdator.h.

typedef TrajectoryStateOnSurface KFStrip1DUpdator::TSOS

private

Definition at line 15 of file KFStrip1DUpdator.h.

Constructor & Destructor Documentation

KFStrip1DUpdator::KFStrip1DUpdator ( )

inline

Definition at line 20 of file KFStrip1DUpdator.h.

Referenced by clone().

{}

KFStrip1DUpdator::~KFStrip1DUpdator ( )

inlineoverride

Definition at line 22 of file KFStrip1DUpdator.h.

{}

Member Function Documentation

KFStrip1DUpdator* KFStrip1DUpdator::clone ( void  ) const

inlineoverridevirtual

Implements TrajectoryStateUpdator.

Definition at line 26 of file KFStrip1DUpdator.h.

References KFStrip1DUpdator().

{ return new KFStrip1DUpdator(*this); }

TrajectoryStateOnSurface KFStrip1DUpdator::update ( const TSOS &  aTsos, const TrackingRecHit &  aHit  ) const

overridevirtual

Implements TrajectoryStateUpdator.

Definition at line 4 of file KFStrip1DUpdator.cc.

References gen::C, TrajectoryStateOnSurface::globalParameters(), data-class-funcs::H, Strip1DMeasurementTransformator::hitError(), Strip1DMeasurementTransformator::hitParameters(), Exhume::I, TrajectoryStateOnSurface::localParameters(), visualization-live-secondInstance_cfg::m, GlobalTrajectoryParameters::magneticField(), Strip1DMeasurementTransformator::projectedTrajectoryError(), Strip1DMeasurementTransformator::projectedTrajectoryParameters(), Strip1DMeasurementTransformator::projectionMatrix(), LocalTrajectoryParameters::pzSign(), dttmaxenums::R, TrajectoryStateOnSurface::surface(), TrajectoryStateOnSurface::surfaceSide(), Strip1DMeasurementTransformator::trajectoryError(), Strip1DMeasurementTransformator::trajectoryParameters(), cms::cuda::V, and x.

Referenced by progressbar.ProgressBar::__next__(), MatrixUtil.Matrix::__setitem__(), MatrixUtil.Steps::__setitem__(), progressbar.ProgressBar::finish(), MatrixUtil.Steps::overwrite(), and KFSwitching1DUpdator::update().

                                                                                                     {
  double pzSign = aTsos.localParameters().pzSign();

  Strip1DMeasurementTransformator myTrafo(aTsos, aHit);

  double m = myTrafo.hitParameters();
  AlgebraicVector5 x(myTrafo.trajectoryParameters());
  double px = myTrafo.projectedTrajectoryParameters();

  AlgebraicMatrix15 H(myTrafo.projectionMatrix());
  double V = myTrafo.hitError();
  const AlgebraicSymMatrix55& C(myTrafo.trajectoryError());
  double pC = myTrafo.projectedTrajectoryError();

  double R = 1. / (V + pC);

  // Compute Kalman gain matrix
  AlgebraicMatrix51 K(R * (C * ROOT::Math::Transpose(H)));

  // Compute local filtered state vector
  AlgebraicVector5 fsv = x + K.Col(0) * (m - px);

  // Compute covariance matrix of local filtered state vector
  AlgebraicSymMatrix55 I = AlgebraicMatrixID();
  AlgebraicMatrix55 M = I - K * H;
  AlgebraicSymMatrix55 fse = ROOT::Math::Similarity(M, C) + ROOT::Math::Similarity(K, AlgebraicSymMatrix11(V));
  //   AlgebraicMatrix M((I - K * H)*C);            // already commented when CLHEP was in use
  //   AlgebraicSymMatrix fse(5,0); fse.assign(M);  // already commented when CLHEP was in use

  return TSOS(
      LTP(fsv, pzSign), LTE(fse), aTsos.surface(), &(aTsos.globalParameters().magneticField()), aTsos.surfaceSide());
}