CMSSW Reference Manual

typedef FreeTrajectoryState KFTrajectorySmoother::FTS [private]

Definition at line 26 of file KFTrajectorySmoother.h.

typedef TrajectoryMeasurement KFTrajectorySmoother::TM [private]

Definition at line 27 of file KFTrajectorySmoother.h.

typedef TrajectoryStateOnSurface KFTrajectorySmoother::TSOS [private]

Definition at line 25 of file KFTrajectorySmoother.h.

KFTrajectorySmoother::KFTrajectorySmoother	(	const Propagator &	aPropagator,
		const TrajectoryStateUpdator &	aUpdator,
		const MeasurementEstimator &	aEstimator,
		float	errorRescaling = `100.f`,
		int	minHits = `3`
	)			`[inline]`

Definition at line 31 of file KFTrajectorySmoother.h.

Referenced by clone().

00035                                         :
00036     thePropagator(aPropagator.clone()),
00037     theUpdator(aUpdator.clone()),
00038     theEstimator(aEstimator.clone()),
00039     theErrorRescaling(errorRescaling),
00040     minHits_(minHits){}

KFTrajectorySmoother::KFTrajectorySmoother	(	const Propagator *	aPropagator,
		const TrajectoryStateUpdator *	aUpdator,
		const MeasurementEstimator *	aEstimator,
		float	errorRescaling = `100.f`,
		int	minHits = `3`
	)			`[inline]`

Definition at line 43 of file KFTrajectorySmoother.h.

00047                                         :
00048     thePropagator(aPropagator->clone()),
00049     theUpdator(aUpdator->clone()),
00050     theEstimator(aEstimator->clone()),
00051     theErrorRescaling(errorRescaling),
00052     minHits_(minHits){}

KFTrajectorySmoother::~KFTrajectorySmoother ( ) [virtual]

Definition at line 17 of file KFTrajectorySmoother.cc.

References theEstimator, thePropagator, and theUpdator.

00017                                             {
00018 
00019   delete thePropagator;
00020   delete theUpdator;
00021   delete theEstimator;
00022 
00023 }

virtual KFTrajectorySmoother* KFTrajectorySmoother::clone ( void ) const [inline, virtual]

Implements TrajectorySmoother.

Definition at line 62 of file KFTrajectorySmoother.h.

References KFTrajectorySmoother(), theEstimator, thePropagator, and theUpdator.

00062                                              {
00063     return new KFTrajectorySmoother(thePropagator,theUpdator,theEstimator);
00064   }

const MeasurementEstimator* KFTrajectorySmoother::estimator ( void ) const [inline]

Definition at line 60 of file KFTrajectorySmoother.h.

References theEstimator.

Referenced by KFFittingSmoother::fit(), and trajectories().

00060 {return theEstimator;}

const Propagator* KFTrajectorySmoother::propagator ( void ) const [inline]

Definition at line 58 of file KFTrajectorySmoother.h.

References thePropagator.

Referenced by KalmanAlignmentAlgorithm::initializeAlignmentSetups().

00058 {return thePropagator;}

std::vector< Trajectory > KFTrajectorySmoother::trajectories ( const Trajectory & aTraj ) const [virtual]

Implements TrajectorySmoother.

Definition at line 26 of file KFTrajectorySmoother.cc.

References alongMomentum, MuonSubdetId::CSC, DetId::det(), Trajectory::direction(), MuonSubdetId::DT, Trajectory::empty(), MeasurementEstimator::estimate(), estimator(), Trajectory::foundHits(), TrajectoryStateOnSurface::globalMomentum(), TrajectoryStateOnSurface::globalPosition(), int, TrajectoryStateOnSurface::isValid(), j, LogDebug, LogTrace, Trajectory::measurements(), minHits_, DetId::Muon, oppositeToMomentum, PixelSubdetector::PixelBarrel, PixelSubdetector::PixelEndcap, Propagator::propagate(), Propagator::propagationDirection(), Trajectory::push(), TrajectoryStateOnSurface::rescaleError(), Trajectory::reserve(), MuonSubdetId::RPC, Trajectory::seed(), Propagator::setPropagationDirection(), DetId::subdetId(), StripSubdetector::TEC, theErrorRescaling, thePropagator, StripSubdetector::TIB, StripSubdetector::TID, StripSubdetector::TOB, DetId::Tracker, TrajectoryStateUpdator::update(), and updator().

Referenced by RoadSearchTrackCandidateMakerAlgorithm::PrepareTrackCandidates(), RoadSearchTrackCandidateMakerAlgorithm::run(), and MuonRoadTrajectoryBuilder::smooth().

00026                                                                 {
00027   // let's try to get return value optimization
00028   // the 'standard' case is when we return 1 tractory
00029 
00030   if (  aTraj.direction() == alongMomentum) {
00031     thePropagator->setPropagationDirection(oppositeToMomentum);
00032   } else {
00033     thePropagator->setPropagationDirection(alongMomentum);
00034   }
00035 
00036   std::vector<Trajectory> ret(1, Trajectory(aTraj.seed(), thePropagator->propagationDirection()));
00037   Trajectory & myTraj = ret.front();
00038 
00039 
00040   if(aTraj.empty()) { ret.clear(); return ret; } 
00041 
00042 
00043   const std::vector<TM> & avtm = aTraj.measurements();
00044   LogDebug("TrackFitters") << "KFTrajectorySmoother::trajectories starting with " << avtm.size() << " HITS\n";
00045 
00046   myTraj.reserve(avtm.size());
00047 
00048   for (unsigned int j=0;j<avtm.size();j++) { 
00049     if (avtm[j].recHit()->det()) 
00050       LogTrace("TrackFitters") << "hit #:" << j+1 << " rawId=" << avtm[j].recHit()->det()->geographicalId().rawId() 
00051                                << " validity=" << avtm[j].recHit()->isValid();
00052     else
00053       LogTrace("TrackFitters") << "hit #:" << j+1 << " Hit with no Det information";
00054   }
00055 
00056   TSOS predTsos = avtm.back().forwardPredictedState();
00057   predTsos.rescaleError(theErrorRescaling);
00058   TSOS currTsos;
00059  
00060   TrajectoryStateCombiner combiner;
00061 
00062   unsigned int hitcounter = avtm.size();
00063   for(std::vector<TM>::const_reverse_iterator itm = avtm.rbegin(); itm != (avtm.rend()); ++itm,--hitcounter) {
00064 
00065     TransientTrackingRecHit::ConstRecHitPointer hit = itm->recHit();
00066 
00067     //check surface just for safety: should never be ==0 because they are skipped in the fitter 
00068     if ( hit->surface()==0 ) {
00069       LogDebug("TrackFitters")<< " Error: invalid hit with no GeomDet attached .... skipping";
00070       continue;
00071     }
00072 
00073     if (hitcounter != avtm.size())//no propagation needed for first smoothed (==last fitted) hit 
00074       predTsos = thePropagator->propagate( currTsos, *(hit->surface()) );
00075 
00076     if(!predTsos.isValid()) {
00077       LogDebug("TrackFitters") << "KFTrajectorySmoother: predicted tsos not valid!";
00078       if( myTraj.foundHits() >= minHits_ ) {
00079         LogDebug("TrackFitters") << " breaking trajectory" << "\n";
00080       } else {        
00081         LogDebug("TrackFitters") << " killing trajectory" << "\n";      
00082         ret.clear(); 
00083       }
00084       break;      
00085     }
00086 
00087     if(hit->isValid()) {
00088       LogDebug("TrackFitters")
00089         << "----------------- HIT #" << hitcounter << " (VALID)-----------------------\n"
00090         << "HIT IS AT R   " << hit->globalPosition().perp() << "\n"
00091         << "HIT IS AT Z   " << hit->globalPosition().z() << "\n"
00092         << "HIT IS AT Phi " << hit->globalPosition().phi() << "\n"
00093         << "HIT IS AT Loc " << hit->localPosition() << "\n"
00094         << "WITH LocError " << hit->localPositionError() << "\n"
00095         << "HIT IS AT Glo " << hit->globalPosition() << "\n"
00096         << "SURFACE POSITION: " << hit->surface()->position() << "\n"
00097         << "SURFACE ROTATION: " << hit->surface()->rotation() << "\n"
00098         << "hit geographicalId=" << hit->geographicalId().rawId();
00099    
00100       DetId hitId = hit->geographicalId();
00101 
00102       if(hitId.det() == DetId::Tracker) {
00103         if (hitId.subdetId() == StripSubdetector::TIB )  
00104           LogTrace("TrackFitters") << " I am TIB " << TIBDetId(hitId).layer();
00105         else if (hitId.subdetId() == StripSubdetector::TOB ) 
00106           LogTrace("TrackFitters") << " I am TOB " << TOBDetId(hitId).layer();
00107         else if (hitId.subdetId() == StripSubdetector::TEC ) 
00108           LogTrace("TrackFitters") << " I am TEC " << TECDetId(hitId).wheel();
00109         else if (hitId.subdetId() == StripSubdetector::TID ) 
00110           LogTrace("TrackFitters") << " I am TID " << TIDDetId(hitId).wheel();
00111         else if (hitId.subdetId() == StripSubdetector::TID ) 
00112           LogTrace("TrackFitters") << " I am TID " << TIDDetId(hitId).wheel();
00113         else if (hitId.subdetId() == (int) PixelSubdetector::PixelBarrel ) 
00114           LogTrace("TrackFitters") << " I am PixBar " << PXBDetId(hitId).layer();
00115         else if (hitId.subdetId() == (int) PixelSubdetector::PixelEndcap )
00116           LogTrace("TrackFitters") << " I am PixFwd " << PXFDetId(hitId).disk();
00117         else 
00118           LogTrace("TrackFitters") << " UNKNOWN TRACKER HIT TYPE ";
00119       }
00120       else if(hitId.det() == DetId::Muon) {
00121         if(hitId.subdetId() == MuonSubdetId::DT)
00122           LogTrace("TrackFitters") << " I am DT " << DTWireId(hitId);
00123         else if (hitId.subdetId() == MuonSubdetId::CSC )
00124           LogTrace("TrackFitters") << " I am CSC " << CSCDetId(hitId);
00125         else if (hitId.subdetId() == MuonSubdetId::RPC )
00126           LogTrace("TrackFitters") << " I am RPC " << RPCDetId(hitId);
00127         else 
00128           LogTrace("TrackFitters") << " UNKNOWN MUON HIT TYPE ";
00129       }
00130       else
00131         LogTrace("TrackFitters") << " UNKNOWN HIT TYPE ";
00132     
00133       TSOS combTsos,smooTsos;
00134 
00135       //3 different possibilities to calculate smoothed state:
00136       //1: update combined predictions with hit
00137       //2: combine fwd-prediction with bwd-filter
00138       //3: combine bwd-prediction with fwd-filter
00139 
00140       //combTsos is the predicted state with N-1 hits information. this means: 
00141       //forward predicted state for first smoothed (last fitted) hit
00142       //backward predicted state for last smoothed (first fitted) hit
00143       //combination of forward and backward predictions for other hits
00144       if (hitcounter == avtm.size()) combTsos = itm->forwardPredictedState();
00145       else if (hitcounter == 1) combTsos = predTsos;
00146       else combTsos = combiner(predTsos, itm->forwardPredictedState());
00147       if(!combTsos.isValid()) {
00148         LogDebug("TrackFitters") << 
00149           "KFTrajectorySmoother: combined tsos not valid!\n" <<
00150           "pred Tsos pos: " << predTsos.globalPosition() << "\n" <<
00151           "pred Tsos mom: " << predTsos.globalMomentum() << "\n" <<
00152           "TrackingRecHit: " << hit->surface()->toGlobal(hit->localPosition()) << "\n" ;
00153         if( myTraj.foundHits() >= minHits_ ) {
00154           LogDebug("TrackFitters") << " breaking trajectory" << "\n";
00155         } else {        
00156           LogDebug("TrackFitters") << " killing trajectory" << "\n";       
00157           ret.clear(); 
00158         }
00159         break;      
00160       }
00161 
00162       TransientTrackingRecHit::RecHitPointer preciseHit = hit->clone(combTsos);
00163 
00164       if (preciseHit->isValid() == false){
00165         LogTrace("TrackFitters") << "THE Precise HIT IS NOT VALID: using currTsos = predTsos" << "\n";
00166         currTsos = predTsos;
00167         myTraj.push(TM(predTsos, hit ));//why no estimate? if the hit is valid it should contribute to chi2...
00168       }else{
00169         LogTrace("TrackFitters") << "THE Precise HIT IS VALID: updating currTsos" << "\n";
00170         
00171         //update backward predicted tsos with the hit
00172         currTsos = updator()->update(predTsos, *preciseHit);
00173 
00174         //smooTsos updates the N-1 hits prediction with the hit
00175         if (hitcounter == avtm.size()) smooTsos = itm->updatedState();
00176         else if (hitcounter == 1) smooTsos = currTsos;
00177         else smooTsos = combiner(itm->forwardPredictedState(), currTsos); 
00178         
00179         if(!smooTsos.isValid()) {
00180           LogDebug("TrackFitters") << "KFTrajectorySmoother: smoothed tsos not valid!";
00181           if( myTraj.foundHits() >= minHits_ ) {
00182             LogDebug("TrackFitters") << " breaking trajectory" << "\n";
00183           } else {        
00184             LogDebug("TrackFitters") << " killing trajectory" << "\n";       
00185             ret.clear(); 
00186           }
00187           break;
00188         }
00189         
00190         double estimate;
00191         if (hitcounter != avtm.size()) estimate = estimator()->estimate(combTsos, *preciseHit ).second;//correct?
00192         else estimate = itm->estimate();
00193         
00194         LogTrace("TrackFitters")
00195           << "predTsos !" << "\n"
00196           << predTsos << "\n"
00197           << "currTsos !" << "\n"
00198           << currTsos << "\n"
00199           << "smooTsos !" << "\n"
00200           << smooTsos << "\n"
00201           << "smoothing estimate (with combTSOS)=" << estimate << "\n"
00202           << "filtering estimate=" << itm->estimate() << "\n";
00203         
00204         myTraj.push(TM(itm->forwardPredictedState(),
00205                        predTsos,
00206                        smooTsos,
00207                        preciseHit,
00208                        estimate),
00209                     estimator()->estimate(predTsos,*preciseHit).second);
00210                     //itm->estimate());
00211       }
00212     } else {
00213       LogDebug("TrackFitters") 
00214         << "----------------- HIT #" << hitcounter << " (INVALID)-----------------------";      
00215 
00216       //no update
00217       currTsos = predTsos;
00218       TSOS combTsos;
00219       if (hitcounter == avtm.size()) combTsos = itm->forwardPredictedState();
00220       else if (hitcounter == 1) combTsos = predTsos;
00221       else combTsos = combiner(predTsos, itm->forwardPredictedState());
00222       
00223       if(!combTsos.isValid()) {
00224         LogDebug("TrackFitters") << 
00225           "KFTrajectorySmoother: combined tsos not valid!";
00226         ret.clear(); break;
00227       }
00228       
00229       myTraj.push(TM(itm->forwardPredictedState(),
00230                      predTsos,
00231                      combTsos,
00232                      hit));
00233     }
00234   } // for loop
00235 
00236   return ret; 
00237   
00238 }

const TrajectoryStateUpdator* KFTrajectorySmoother::updator ( ) const [inline]

Definition at line 59 of file KFTrajectorySmoother.h.

References theUpdator.

Referenced by KalmanAlignmentAlgorithm::initializeAlignmentSetups(), and trajectories().

00059 {return theUpdator;}

int KFTrajectorySmoother::minHits_ [private]

Definition at line 72 of file KFTrajectorySmoother.h.

Referenced by trajectories().

float KFTrajectorySmoother::theErrorRescaling [private]

Definition at line 71 of file KFTrajectorySmoother.h.

Referenced by trajectories().

const MeasurementEstimator* KFTrajectorySmoother::theEstimator [private]

Definition at line 70 of file KFTrajectorySmoother.h.

Referenced by clone(), estimator(), and ~KFTrajectorySmoother().

Propagator* KFTrajectorySmoother::thePropagator [private]

Definition at line 68 of file KFTrajectorySmoother.h.

Referenced by clone(), propagator(), trajectories(), and ~KFTrajectorySmoother().

const TrajectoryStateUpdator* KFTrajectorySmoother::theUpdator [private]

Definition at line 69 of file KFTrajectorySmoother.h.

Referenced by clone(), updator(), and ~KFTrajectorySmoother().

KFTrajectorySmoother Class Reference

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation


Public Member Functions
virtual KFTrajectorySmoother *	clone () const
const MeasurementEstimator *	estimator () const
	KFTrajectorySmoother (const Propagator aPropagator, const TrajectoryStateUpdator aUpdator, const MeasurementEstimator *aEstimator, float errorRescaling=100.f, int minHits=3)
	KFTrajectorySmoother (const Propagator &aPropagator, const TrajectoryStateUpdator &aUpdator, const MeasurementEstimator &aEstimator, float errorRescaling=100.f, int minHits=3)
const Propagator *	propagator () const
virtual std::vector< Trajectory >	trajectories (const Trajectory &aTraj) const
const TrajectoryStateUpdator *	updator () const
virtual	~KFTrajectorySmoother ()
Private Types
typedef FreeTrajectoryState	FTS
typedef TrajectoryMeasurement	TM
typedef TrajectoryStateOnSurface	TSOS
Private Attributes
int	minHits_
float	theErrorRescaling
const MeasurementEstimator *	theEstimator
Propagator *	thePropagator
const TrajectoryStateUpdator *	theUpdator