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KFTrajectoryFitter Class Reference

#include <KFTrajectoryFitter.h>

Inheritance diagram for KFTrajectoryFitter:
TrajectoryFitter KFSplittingFitter

List of all members.

Public Member Functions

virtual KFTrajectoryFitter * clone () const
const MeasurementEstimator * estimator () const
virtual std::vector< Trajectory > fit (const TrajectorySeed &aSeed, const RecHitContainer &hits) const
virtual std::vector< Trajectory > fit (const Trajectory &aTraj) const
virtual std::vector< Trajectory > fit (const TrajectorySeed &aSeed, const RecHitContainer &hits, const TSOS &firstPredTsos) const
 KFTrajectoryFitter (const Propagator &aPropagator, const TrajectoryStateUpdator &aUpdator, const MeasurementEstimator &aEstimator, int minHits=3, const DetLayerGeometry *detLayerGeometry=0)
 KFTrajectoryFitter (const Propagator *aPropagator, const TrajectoryStateUpdator *aUpdator, const MeasurementEstimator *aEstimator, int minHits=3, const DetLayerGeometry *detLayerGeometry=0)
const Propagator * propagator () const
const TrajectoryStateUpdator * updator () const
 ~KFTrajectoryFitter ()

Private Types

typedef FreeTrajectoryState FTS
typedef TrajectoryMeasurement TM
typedef TrajectoryStateOnSurface TSOS

Private Member Functions

 KFTrajectoryFitter (KFTrajectoryFitter const &)

Private Attributes

int minHits_
bool owner
const MeasurementEstimator * theEstimator
const DetLayerGeometry * theGeometry
const Propagator * thePropagator
const TrajectoryStateUpdator * theUpdator

Static Private Attributes

static const DetLayerGeometry dummyGeometry

Detailed Description

A Kalman track fit that splits matched RecHits into individual components before fitting them. Ported from ORCA

Date:
2007/05/09 14:17:57
Revision:
1.6
Author:
todorov, cerati

A Standard Kalman fit. Ported from ORCA

Date:
2011/01/06 17:04:16
Revision:
1.13
Author:
todorov, cerati

Definition at line 22 of file KFTrajectoryFitter.h.

Member Typedef Documentation

typedef FreeTrajectoryState KFTrajectoryFitter::FTS [private]

Reimplemented in KFSplittingFitter.

Definition at line 27 of file KFTrajectoryFitter.h.

typedef TrajectoryMeasurement KFTrajectoryFitter::TM [private]

Reimplemented in KFSplittingFitter.

Definition at line 28 of file KFTrajectoryFitter.h.

typedef TrajectoryStateOnSurface KFTrajectoryFitter::TSOS [private]

Reimplemented in KFSplittingFitter.

Definition at line 26 of file KFTrajectoryFitter.h.

Constructor & Destructor Documentation

KFTrajectoryFitter::KFTrajectoryFitter ( const Propagator &  aPropagator,
const TrajectoryStateUpdator &  aUpdator,
const MeasurementEstimator &  aEstimator,
int  minHits = 3,
const DetLayerGeometry *  detLayerGeometry = 0 
) [inline]

Definition at line 34 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

Referenced by clone().

                                                                 :
    thePropagator(aPropagator.clone()),
    theUpdator(aUpdator.clone()),
    theEstimator(aEstimator.clone()),
    theGeometry(detLayerGeometry),
    minHits_(minHits),
    owner(true){ 
    if(!theGeometry) theGeometry = &dummyGeometry;
    // FIXME. Why this first constructor is needed? who is using it? Can it be removed?
    // it is uses in many many places
    }
KFTrajectoryFitter::KFTrajectoryFitter ( const Propagator *  aPropagator,
const TrajectoryStateUpdator *  aUpdator,
const MeasurementEstimator *  aEstimator,
int  minHits = 3,
const DetLayerGeometry *  detLayerGeometry = 0 
) [inline]

Definition at line 51 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

                                                                 : 
    thePropagator(aPropagator),
    theUpdator(aUpdator),
    theEstimator(aEstimator),
    theGeometry(detLayerGeometry),
    minHits_(minHits),
    owner(false){
      if(!theGeometry) theGeometry = &dummyGeometry;
    }
KFTrajectoryFitter::~KFTrajectoryFitter ( ) [inline]

Definition at line 65 of file KFTrajectoryFitter.h.

References owner, theEstimator, thePropagator, and theUpdator.

                       {
    if (owner) {
      delete thePropagator;
      delete theUpdator;
      delete theEstimator;
    }
  }
KFTrajectoryFitter::KFTrajectoryFitter ( KFTrajectoryFitter const &  ) [private]

Member Function Documentation

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

Implements TrajectoryFitter.

Reimplemented in KFSplittingFitter.

Definition at line 85 of file KFTrajectoryFitter.h.

References KFTrajectoryFitter(), minHits_, owner, theEstimator, theGeometry, thePropagator, and theUpdator.

  {
    return owner ? 
      new KFTrajectoryFitter(*thePropagator,*theUpdator,*theEstimator,minHits_,theGeometry) :
      new KFTrajectoryFitter(thePropagator,theUpdator,theEstimator,minHits_,theGeometry);
  }
const MeasurementEstimator* KFTrajectoryFitter::estimator ( void  ) const [inline]

Definition at line 83 of file KFTrajectoryFitter.h.

References theEstimator.

Referenced by KFSplittingFitter::clone(), and fit().

{return theEstimator;}
std::vector< Trajectory > KFTrajectoryFitter::fit ( const TrajectorySeed &  aSeed,
const RecHitContainer &  hits,
const TSOS &  firstPredTsos 
) const [virtual]

Implements TrajectoryFitter.

Reimplemented in KFSplittingFitter.

Definition at line 39 of file KFTrajectoryFitter.cc.

References anyDirection, TransientTrackingRecHit::clone(), CSC(), CSCDetId, DetId::det(), TrajectorySeed::direction(), PXFDetId::disk(), GeomDetEnumerators::DT, estimator(), Trajectory::foundHits(), TrackingRecHit::geographicalId(), TransientTrackingRecHit::globalPosition(), DetLayerGeometry::idToLayer(), TrackingRecHit::isValid(), TrajectoryStateOnSurface::isValid(), j, TIBDetId::layer(), TOBDetId::layer(), PXBDetId::layer(), TrackingRecHit::localPosition(), TrackingRecHit::localPositionError(), LogDebug, LogTrace, minHits_, DetId::Muon, PV3DBase< T, PVType, FrameType >::perp(), PV3DBase< T, PVType, FrameType >::phi(), PixelSubdetector::PixelBarrel, PixelSubdetector::PixelEndcap, GloballyPositioned< T >::position(), Propagator::propagate(), Propagator::propagationDirection(), Trajectory::push(), DetId::rawId(), Trajectory::reserve(), runTheMatrix::ret, GloballyPositioned< T >::rotation(), dedefs::RPC, RPCDetId, edm::second(), DetId::subdetId(), TransientTrackingRecHit::surface(), sistripsummary::TEC, theGeometry, thePropagator, sistripsummary::TIB, sistripsummary::TID, sistripsummary::TOB, align::Tracker, TrajectoryStateUpdator::update(), updator(), TIDDetId::wheel(), TECDetId::wheel(), and PV3DBase< T, PVType, FrameType >::z().

{
  if(hits.empty()) return std::vector<Trajectory>();


  if (aSeed.direction() == anyDirection) 
    throw cms::Exception("KFTrajectoryFitter","TrajectorySeed::direction() requested but not set");
  
  SetPropagationDirection setDir(*thePropagator,aSeed.direction());

#ifdef EDM_LM_DEBUG
  LogDebug("TrackFitters")
    <<" +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"
    <<" KFTrajectoryFitter::fit starting with " << hits.size() <<" HITS";
  
  for (unsigned int j=0;j<hits.size();j++) { 
    if (hits[j]->det()) 
      LogTrace("TrackFitters") << "hit #:" << j+1 << " rawId=" << hits[j]->det()->geographicalId().rawId() 
                               << " validity=" << hits[j]->isValid();
    else
      LogTrace("TrackFitters") << "hit #:" << j+1 << " Hit with no Det information";
  }
  LogTrace("TrackFitters") << " INITIAL STATE "<< firstPredTsos;
#endif

  std::vector<Trajectory> ret(1, Trajectory(aSeed, thePropagator->propagationDirection()));
  Trajectory & myTraj = ret.front();
  myTraj.reserve(hits.size());

  TSOS predTsos(firstPredTsos);
  TSOS currTsos;

  int hitcounter = 1;
  for(RecHitContainer::const_iterator ihit = hits.begin(); ihit != hits.end(); ++ihit, ++hitcounter) {

    const TransientTrackingRecHit & hit = (**ihit);

    if (hit.isValid() == false && hit.surface() == 0) {
      LogDebug("TrackFitters")<< " Error: invalid hit with no GeomDet attached .... skipping";
      continue;
    }

#ifdef EDM_LM_DEBUG
    if (hit.isValid()) {
      LogTrace("TrackFitters")
        << " ----------------- HIT #" << hitcounter << " (VALID)-----------------------\n"
        << "  HIT IS AT R   " << hit.globalPosition().perp() << "\n"
        << "  HIT IS AT Z   " << hit.globalPosition().z() << "\n"
        << "  HIT IS AT Phi " << hit.globalPosition().phi() << "\n"
        << "  HIT IS AT Loc " << hit.localPosition() << "\n"
        << "  WITH LocError " << hit.localPositionError() << "\n"
        << "  HIT IS AT Glo " << hit.globalPosition() << "\n"
        << "SURFACE POSITION" << "\n"
        << hit.surface()->position()<<"\n"
        << "SURFACE ROTATION" << "\n"
        << hit.surface()->rotation();
      
      DetId hitId = hit.geographicalId();

      LogTrace("TrackFitters") << " hit det=" << hitId.rawId();
      
      if(hitId.det() == DetId::Tracker) {
        if (hitId.subdetId() == StripSubdetector::TIB )  
          LogTrace("TrackFitters") << " I am TIB " << TIBDetId(hitId).layer();
        else if (hitId.subdetId() == StripSubdetector::TOB ) 
          LogTrace("TrackFitters") << " I am TOB " << TOBDetId(hitId).layer();
        else if (hitId.subdetId() == StripSubdetector::TEC ) 
          LogTrace("TrackFitters") << " I am TEC " << TECDetId(hitId).wheel();
        else if (hitId.subdetId() == StripSubdetector::TID ) 
          LogTrace("TrackFitters") << " I am TID " << TIDDetId(hitId).wheel();
        else if (hitId.subdetId() == StripSubdetector::TID ) 
          LogTrace("TrackFitters") << " I am TID " << TIDDetId(hitId).wheel();
        else if (hitId.subdetId() == (int) PixelSubdetector::PixelBarrel ) 
          LogTrace("TrackFitters") << " I am PixBar " << PXBDetId(hitId).layer();
        else if (hitId.subdetId() == (int) PixelSubdetector::PixelEndcap )
          LogTrace("TrackFitters") << " I am PixFwd " << PXFDetId(hitId).disk();
        else 
          LogTrace("TrackFitters") << " UNKNOWN TRACKER HIT TYPE ";
      }
      else if(hitId.det() == DetId::Muon) {
        if(hitId.subdetId() == MuonSubdetId::DT)
          LogTrace("TrackFitters") << " I am DT " << DTWireId(hitId);
        else if (hitId.subdetId() == MuonSubdetId::CSC )
          LogTrace("TrackFitters") << " I am CSC " << CSCDetId(hitId);
        else if (hitId.subdetId() == MuonSubdetId::RPC )
          LogTrace("TrackFitters") << " I am RPC " << RPCDetId(hitId);
        else 
          LogTrace("TrackFitters") << " UNKNOWN MUON HIT TYPE ";
      }
      else
        LogTrace("TrackFitters") << " UNKNOWN HIT TYPE ";
      
    } else {
      LogTrace("TrackFitters")
        << " ----------------- INVALID HIT #" << hitcounter << " -----------------------";      
    }
#endif    

    if ( hitcounter != 1) //no propagation needed for the first hit
      predTsos = thePropagator->propagate( currTsos, *(hit.surface()) );
    

    if(!predTsos.isValid()) {
      LogDebug("TrackFitters") 
        << "SOMETHING WRONG !" << "\n"
        << "KFTrajectoryFitter: predicted tsos not valid!\n" 
        << "current TSOS: " << currTsos << "\n";

      if(hit.surface()) LogTrace("TrackFitters") << "next Surface: " << hit.surface()->position() << "\n";

      if( myTraj.foundHits() >= minHits_ ) {
        LogDebug("TrackFitters") << " breaking trajectory" << "\n";
        break;      
      } else {        
        LogDebug("TrackFitters") << " killing trajectory" << "\n";       
        return std::vector<Trajectory>();
      }
    }
    
    if(hit.isValid()) {
      //update
      LogTrace("TrackFitters") << "THE HIT IS VALID: updating hit with predTsos";
      TransientTrackingRecHit::RecHitPointer preciseHit = hit.clone(predTsos);

      if (preciseHit->isValid() == false){
        LogTrace("TrackFitters") << "THE Precise HIT IS NOT VALID: using currTsos = predTsos" << "\n";
        currTsos = predTsos;
        myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId()) ));

      }else{
        LogTrace("TrackFitters") << "THE Precise HIT IS VALID: updating currTsos" << "\n";
        currTsos = updator()->update(predTsos, *preciseHit);
        //check for valid hits with no det (refitter with constraints)
        if (!currTsos.isValid()){
          edm::LogError("FailedUpdate")<<"updating with the hit failed. Not updating the trajectory with the hit";
          myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId())  ));
        }
        else{
          if (preciseHit->det()) myTraj.push(TM(predTsos, currTsos, preciseHit,
                                                estimator()->estimate(predTsos, *preciseHit).second,
                                                theGeometry->idToLayer(preciseHit->geographicalId())  ));
          else myTraj.push(TM(predTsos, currTsos, preciseHit,
                              estimator()->estimate(predTsos, *preciseHit).second));
        }
      }
    } else {
      //no update
      LogDebug("TrackFitters") << "THE HIT IS NOT VALID: using currTsos" << "\n";
      currTsos = predTsos;
      myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId())  ));
    }

    LogTrace("TrackFitters")
      << "predTsos !" << "\n"
      << predTsos << "\n"
      <<"currTsos !" << "\n"
      << currTsos;
  }  

  LogDebug("TrackFitters") << "Found 1 trajectory with " << myTraj.foundHits() << " valid hits\n";
  
  return ret;
}
std::vector< Trajectory > KFTrajectoryFitter::fit ( const TrajectorySeed &  aSeed,
const RecHitContainer &  hits 
) const [virtual]

Implements TrajectoryFitter.

Definition at line 30 of file KFTrajectoryFitter.cc.

References Exception.

                                                                                  {

  throw cms::Exception("TrackFitters", 
                       "KFTrajectoryFitter::fit(TrajectorySeed, <TransientTrackingRecHit>) not implemented"); 

  return std::vector<Trajectory>();
}
std::vector< Trajectory > KFTrajectoryFitter::fit ( const Trajectory &  aTraj) const [virtual]

Implements TrajectoryFitter.

Reimplemented in KFSplittingFitter.

Definition at line 20 of file KFTrajectoryFitter.cc.

References Trajectory::empty(), Trajectory::firstMeasurement(), Trajectory::recHits(), Trajectory::seed(), and TrajectoryMeasurement::updatedState().

Referenced by CRackTrajectoryBuilder::AddHit().

                                                                           {

  if(aTraj.empty()) return std::vector<Trajectory>();
 
  TM firstTM = aTraj.firstMeasurement();
  TSOS firstTsos = TrajectoryStateWithArbitraryError()(firstTM.updatedState());
  
  return fit(aTraj.seed(), aTraj.recHits(), firstTsos);
}
const Propagator* KFTrajectoryFitter::propagator ( void  ) const [inline]

Definition at line 81 of file KFTrajectoryFitter.h.

References thePropagator.

Referenced by KFSplittingFitter::clone(), and KalmanAlignmentAlgorithm::initializeAlignmentSetups().

{return thePropagator;}
const TrajectoryStateUpdator* KFTrajectoryFitter::updator ( ) const [inline]

Definition at line 82 of file KFTrajectoryFitter.h.

References theUpdator.

Referenced by KFSplittingFitter::clone(), fit(), and KalmanAlignmentAlgorithm::initializeAlignmentSetups().

{return theUpdator;}

Member Data Documentation

const DetLayerGeometry KFTrajectoryFitter::dummyGeometry [static, private]

Definition at line 96 of file KFTrajectoryFitter.h.

Referenced by KFTrajectoryFitter().

int KFTrajectoryFitter::minHits_ [private]

Definition at line 101 of file KFTrajectoryFitter.h.

Referenced by clone(), and fit().

bool KFTrajectoryFitter::owner [private]

Definition at line 102 of file KFTrajectoryFitter.h.

Referenced by clone(), and ~KFTrajectoryFitter().

const MeasurementEstimator* KFTrajectoryFitter::theEstimator [private]

Definition at line 99 of file KFTrajectoryFitter.h.

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

const DetLayerGeometry* KFTrajectoryFitter::theGeometry [private]

Definition at line 100 of file KFTrajectoryFitter.h.

Referenced by clone(), fit(), and KFTrajectoryFitter().

const Propagator* KFTrajectoryFitter::thePropagator [private]

Definition at line 97 of file KFTrajectoryFitter.h.

Referenced by clone(), fit(), propagator(), and ~KFTrajectoryFitter().

const TrajectoryStateUpdator* KFTrajectoryFitter::theUpdator [private]

Definition at line 98 of file KFTrajectoryFitter.h.

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

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