KFUpdator Class Reference

#include <KFUpdator.h>

Inheritance diagram for KFUpdator:

Public Member Functions
KFUpdator *	clone () const override
	KFUpdator ()
TrajectoryStateOnSurface	update (const TrajectoryStateOnSurface &, const TrackingRecHit &) const override
Public Member Functions inherited from TrajectoryStateUpdator
	TrajectoryStateUpdator ()
virtual	~TrajectoryStateUpdator ()

Detailed Description

Update trajectory state by combining predicted state and measurement as prescribed in the Kalman Filter algorithm (see R. Fruhwirth, NIM A262 (1987) 444).

x_filtered = x_predicted + K * (measurement - H * x_predicted)

x_filtered, x_predicted filtered and predicted state vectors
measurement measurement vector
H "measurement matrix" projects state vector onto measurement space
K Kalman gain matrix
(formulae for K and error matrix of filtered state not shown)

This implementation works for measurements of all dimensions. It relies on CLHEP double precision vectors and matrices for matrix calculations.

Arguments: TrajectoryState & predicted state
RecHit & reconstructed hit

Initial author: P.Vanlaer 25.02.1999 Ported from ORCA.

Author

vanlaer, cerati

Definition at line 32 of file KFUpdator.h.

Constructor & Destructor Documentation

KFUpdator()

KFUpdator::KFUpdator ( )

inline

Definition at line 36 of file KFUpdator.h.

Referenced by clone().

{}

Member Function Documentation

clone()

KFUpdator* KFUpdator::clone ( void  ) const

inlineoverridevirtual

Implements TrajectoryStateUpdator.

Definition at line 40 of file KFUpdator.h.

References KFUpdator().

{ return new KFUpdator(*this); }

update()

TrajectoryStateOnSurface KFUpdator::update ( const TrajectoryStateOnSurface &  tsos, const TrackingRecHit &  aRecHit  ) const

overridevirtual

Implements TrajectoryStateUpdator.

Definition at line 177 of file KFUpdator.cc.

References TrackingRecHit::dimension(), Exception, and Skims_PA_cff::name.

Referenced by progressbar.ProgressBar::__next__(), MatrixUtil.Matrix::__setitem__(), MatrixUtil.Steps::__setitem__(), CosmicTrajectoryBuilder::AddHit(), CRackTrajectoryBuilder::AddHit(), SeedFromNuclearInteraction::construct(), OutInConversionSeedFinder::createSeed(), InOutConversionSeedFinder::createSeed(), progressbar.ProgressBar::finish(), CosmicMuonSmoother::fit(), MatrixUtil.Steps::overwrite(), TkMSParameterizationBuilder::produce(), ConvBremSeedProducer::produce(), SeedGeneratorForCRack::seeds(), SeedGeneratorForCosmics::seeds(), SimpleCosmicBONSeeder::seeds(), CosmicMuonSmoother::smooth(), GsfMultiStateUpdator::update(), and KFSwitching1DUpdator::update().

                                                                                                                    {
  switch (aRecHit.dimension()) {
    case 1:
      return lupdate<1>(tsos, aRecHit);
    case 2:
      return lupdate<2>(tsos, aRecHit);
    case 3:
      return lupdate<3>(tsos, aRecHit);
    case 4:
      return lupdate<4>(tsos, aRecHit);
    case 5:
      return lupdate<5>(tsos, aRecHit);
  }
  throw cms::Exception("Rec hit of invalid dimension (not 1,2,3,4,5)")
      << "The value was " << aRecHit.dimension() << ", type is " << typeid(aRecHit).name() << "\n";
}