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Tools for comparing alignables
Namespace for common calculations in alignment.
Namespace for common type definitions used in alignment.
| typedef std::vector<Alignable*> align::Alignables |
Definition at line 28 of file Utilities.h.
| typedef math::Vector<6>::type align::AlignParams |
Definition at line 38 of file Definitions.h.
| typedef std::map<std::pair<Alignable*, Alignable*>, AlgebraicMatrix> align::Correlations |
Definition at line 31 of file Utilities.h.
| typedef unsigned int(* align::Counter)(align::ID) |
Definition at line 26 of file Counters.h.
| typedef AlgebraicMatrix align::Derivatives |
Definition at line 37 of file Definitions.h.
| typedef math::Error<6>::type align::ErrorMatrix |
Definition at line 39 of file Definitions.h.
| typedef AlgebraicVector align::EulerAngles |
Definition at line 36 of file Definitions.h.
| typedef Point3DBase<Scalar, GlobalTag> align::GlobalPoint |
Definition at line 31 of file Definitions.h.
| typedef std::vector<GlobalPoint> align::GlobalPoints |
Definition at line 23 of file Utilities.h.
| typedef Vector3DBase<Scalar, GlobalTag> align::GlobalVector |
Definition at line 33 of file Definitions.h.
| typedef std::vector<GlobalVector> align::GlobalVectors |
Definition at line 24 of file Utilities.h.
| typedef uint32_t align::ID |
Definition at line 26 of file Definitions.h.
| typedef Point3DBase<Scalar, LocalTag> align::LocalPoint |
Definition at line 32 of file Definitions.h.
| typedef std::vector<LocalPoint> align::LocalPoints |
Definition at line 25 of file Utilities.h.
| typedef Vector3DBase<Scalar, LocalTag> align::LocalVector |
Definition at line 34 of file Definitions.h.
| typedef std::vector< LocalVector > align::LocalVectors |
Definition at line 26 of file Utilities.h.
| typedef std::vector<AlignmentParameters*> align::Parameters |
Definition at line 29 of file Utilities.h.
| typedef Point3DBase<Scalar, GlobalTag> align::PositionType |
Definition at line 30 of file Definitions.h.
| typedef TkRotation<Scalar> align::RotationType |
Definition at line 29 of file Definitions.h.
| typedef double align::Scalar |
Definition at line 27 of file Definitions.h.
| typedef std::vector<Scalar> align::Scalars |
Definition at line 22 of file Utilities.h.
| enum align::StructureType |
Enumerate the types of structure an alignable can be.
Basically list the levels in the detector's hierarchy.
Definition at line 17 of file StructureType.h.
{
invalid = 0,
AlignableDetUnit,
AlignableDet,
// Barrel Pixel
TPBModule,
TPBLadder,
TPBLayer, // = 5
TPBHalfBarrel,
TPBBarrel,
// Forward Pixel
TPEModule,
TPEPanel,
TPEBlade, // = 10
TPEHalfDisk,
TPEHalfCylinder,
TPEEndcap,
// Tracker Inner Barrel
TIBModule,
TIBString, // = 15
TIBSurface,
TIBHalfShell,
TIBLayer,
TIBHalfBarrel,
TIBBarrel, // = 20
// Tracker Inner Disks
TIDModule,
TIDSide,
TIDRing,
TIDDisk,
TIDEndcap, // = 25
// Tracker Outer Barrel
TOBModule,
TOBRod,
TOBLayer,
TOBHalfBarrel,
TOBBarrel, // = 30
// Tracker Endcaps
TECModule,
TECRing,
TECPetal,
TECSide,
TECDisk, // = 35
TECEndcap,
Pixel,
Strip,
Tracker, // = 39
// Muon Detector, not touching these now
AlignableDTBarrel = 100,
AlignableDTWheel,
AlignableDTStation,
AlignableDTChamber,
AlignableDTSuperLayer,
AlignableDTLayer, // = 105
AlignableCSCEndcap,
AlignableCSCStation,
AlignableCSCRing,
AlignableCSCChamber,
AlignableCSCLayer, // = 110
AlignableMuon,
Detector, // = 112 (what for?)
Extras = 1000,
BeamSpot
};
| align::GlobalVector align::centerOfMass | ( | const GlobalVectors & | theVs | ) |
Find the CM of a set of points.
Definition at line 185 of file Utilities.cc.
References j.
Referenced by MuonGeometryArrange::compareGeometries(), and diffAlignables().
| void align::createPoints | ( | align::GlobalVectors * | Vs, |
| Alignable * | ali, | ||
| const std::string & | weightBy, | ||
| bool | weightById, | ||
| const std::vector< unsigned int > & | weightByIdVector | ||
| ) |
Creates the points which are used in diffAlignables A set of points corresponding to lowest daughters
Definition at line 92 of file AlignTools.cc.
References AlignableDet, AlignableDetUnit, Alignable::alignableObjectId(), Alignable::components(), filterCSVwithJSON::copy, ExpressReco_HICollisions_FallBack::e, error, i, Alignable::id(), j, SurveyDet::localPoints(), Alignable::mother(), readModuleList(), Alignable::setSurvey(), Alignable::surface(), Alignable::survey(), AlignableSurface::toGlobal(), ExpressReco_HICollisions_FallBack::x, ExpressReco_HICollisions_FallBack::y, and z.
Referenced by MuonGeometryArrange::compareGeometries(), and diffAlignables().
{
std::string copy=weightBy;
std::transform(copy.begin(), copy.end(), copy.begin(), (int(*)(int)) toupper);
if(copy != "SELF"){
const align::Alignables& comp = ali->components();
unsigned int nComp = comp.size();
for (unsigned int i = 0; i < nComp; ++i) align::createPoints(Vs, comp[i], weightBy, weightById, weightByIdVector);
// double the weight for SS modules if weight by Det
if ((ali->alignableObjectId() == align::AlignableDet)&&(weightBy == "Det")){
for (unsigned int i = 0; i < nComp; ++i) align::createPoints(Vs, comp[i], weightBy, weightById, weightByIdVector);
}
//only create points for lowest hiearchical level
if (ali->alignableObjectId() == align::AlignableDetUnit){
//check if the raw id or the mother's raw id is on the list
bool createPointsForDetUnit = true;
if (weightById) createPointsForDetUnit = align::readModuleList( ali->id(), ali->mother()->id(), weightByIdVector);
if (createPointsForDetUnit){
//if no survey information, create local points
if(!(ali->survey())){
align::ErrorMatrix error;
ali->setSurvey( new SurveyDet (ali->surface(), error*1e-6) );
}
const align::GlobalPoints& points = ali->surface().toGlobal(ali->survey()->localPoints());
for (unsigned int j = 0; j < points.size(); ++j){
align::GlobalVector dummy(points[j].x(),points[j].y(),points[j].z());
Vs->push_back(dummy);
}
}
}
}
else{
bool createPointsForDetUnit = true;
if (weightById) createPointsForDetUnit = align::readModuleList( ali->id(), ali->mother()->id(), weightByIdVector);
if (createPointsForDetUnit){
//if no survey information, create local points
if(!(ali->survey())){
align::ErrorMatrix error;
ali->setSurvey( new SurveyDet (ali->surface(), error*1e-6) );
}
const align::GlobalPoints& points = ali->surface().toGlobal(ali->survey()->localPoints());
for (unsigned int j = 0; j < points.size(); ++j){
align::GlobalVector dummy(points[j].x(),points[j].y(),points[j].z());
Vs->push_back(dummy);
}
}
}
}
| const AlignTransform & align::DetectorGlobalPosition | ( | const Alignments & | allGlobals, |
| const DetId & | id | ||
| ) |
Definition at line 10 of file DetectorGlobalPosition.cc.
References Exception, and Alignments::m_align.
Referenced by AlignmentMonitorAsAnalyzer::analyze(), TrackerGeometryIntoNtuples::analyze(), AlignmentProducer::beginOfJob(), TrackerGeometryCompare::createROOTGeometry(), AlignmentProducer::endOfJob(), MuonAlignmentInputDB::newAlignableMuon(), TrackerDigiGeometryESModule::produce(), CSCGeometryESModule::produce(), and DTGeometryESModule::produce().
{
for (std::vector<AlignTransform>::const_iterator iter = allGlobals.m_align.begin();
iter != allGlobals.m_align.end();
++iter) {
if (iter->rawId() == id.rawId()) {
return *iter;
}
}
throw cms::Exception("RecordNotFound")
<< "DetId(" << id.rawId() << ") not found in GlobalPositionRcd" << std::endl;
}
| AlgebraicVector align::diffAlignables | ( | Alignable * | refAli, |
| Alignable * | curAli, | ||
| const std::string & | weightBy, | ||
| bool | weightById, | ||
| const std::vector< unsigned int > & | weightByIdVector | ||
| ) |
Finds the TR between two alignables - first alignable is reference. Returns a vector with 12 components. First six are global, second six are local.
Definition at line 10 of file AlignTools.cc.
References Alignable::alignableObjectId(), centerOfMass(), createPoints(), diffR(), diffRot(), Exception, Alignable::globalPosition(), Alignable::id(), gen::k, TkRotation< T >::multiplyInverse(), Alignable::surface(), theW, toAngles(), AlignableSurface::toLocal(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().
Referenced by TrackerGeometryCompare::compareGeometries(), MuonGeometryArrange::compareGeometries(), and TrackerGeometryCompare::diffCommonTrackerSystem().
{
//check they are the same
if (refAli->alignableObjectId() != curAli->alignableObjectId()){
if (refAli->id() != curAli->id()){
throw cms::Exception("Geometry Error")
<< "[AlignTools] Error, Alignables do not match";
}
}
//create points
align::GlobalVectors refVs;
align::GlobalVectors curVs;
align::createPoints(&refVs, refAli, weightBy, weightById, weightByIdVector);
align::createPoints(&curVs, curAli, weightBy, weightById, weightByIdVector);
//redefine the set of points
//find the translational difference
align::GlobalVector theR = align::diffR(curVs,refVs);
//CM difference (needed below in rotational transformation)
align::GlobalVector pointsCM = align::centerOfMass(curVs);
align::PositionType alignableCM = curAli->globalPosition();
align::GlobalVector cmdiff(alignableCM.x()-pointsCM.x(), alignableCM.y()-pointsCM.y(), alignableCM.z()-pointsCM.z());
//readjust points before finding rotation
align::GlobalVector CMref = align::centerOfMass(refVs);
align::GlobalVector CMcur = align::centerOfMass(curVs);
for (unsigned int k = 0; k < refVs.size(); ++k){
refVs[k] -= CMref;
curVs[k] -= CMcur;
}
//find rotational difference (global)
align::RotationType rot = align::diffRot(curVs, refVs);
align::EulerAngles theW = align::toAngles( rot );
//convert to local rotation
align::RotationType localrot = refAli->surface().toLocal(rot);
align::EulerAngles theLocalW = align::toAngles( localrot );
//adjust translational difference factoring in different rotational CM
//needed because rotateInGlobalFrame is about CM of alignable, not points
align::GlobalVector::BasicVectorType lpvgf = cmdiff.basicVector();
align::GlobalVector moveV( rot.multiplyInverse(lpvgf) - lpvgf);
align::GlobalVector theRprime(theR + moveV);
//convert to local movement
align::LocalVector theLocalRprime = refAli->surface().toLocal(theRprime);
AlgebraicVector deltaRW(12);
// global values
deltaRW(1) = theRprime.x();
deltaRW(2) = theRprime.y();
deltaRW(3) = theRprime.z();
deltaRW(4) = theW(1);
deltaRW(5) = theW(2);
deltaRW(6) = theW(3);
// local values
deltaRW(7) = theLocalRprime.x();
deltaRW(8) = theLocalRprime.y();
deltaRW(9) = theLocalRprime.z();
deltaRW(10) = theLocalW(1);
deltaRW(11) = theLocalW(2);
deltaRW(12) = theLocalW(3);
refVs.clear();
curVs.clear();
return deltaRW;
}
| align::GlobalVector align::diffR | ( | const GlobalVectors & | current, |
| const GlobalVectors & | nominal | ||
| ) |
Definition at line 166 of file Utilities.cc.
References j.
Referenced by diffAlignables(), and CreateSurveyRcds::setGeometry().
{
GlobalVector nCM(0,0,0);
GlobalVector cCM(0,0,0);
unsigned int nPoints = nominal.size();
for (unsigned int j = 0; j < nPoints; ++j)
{
nCM += nominal[j];
cCM += current[j];
}
nCM -= cCM;
return nCM /= static_cast<Scalar>(nPoints);
}
| align::RotationType align::diffRot | ( | const GlobalVectors & | current, |
| const GlobalVectors & | nominal | ||
| ) |
Find matrix to rotate from nominal to current vectors. Assume both sets of vectors have the same size and order.
Definition at line 71 of file Utilities.cc.
References trackerHits::c, prof2calltree::count, gather_cfg::cout, cond::rpcobimon::current, ExpressReco_HICollisions_FallBack::e, Exhume::I, j, TkRotation< T >::multiplyInverse(), csvReporter::r, toMatrix(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().
Referenced by SurveyResidual::calculate(), MuonGeometryArrange::compareGeometries(), diffAlignables(), and SurveyResidual::sensorResidual().
{
// Find the matrix needed to rotate the nominal surface to the current one
// using small angle approximation through the equation:
//
// I * dOmega = dr * r (sum over points)
//
// where dOmega is a vector of small rotation angles about (x, y, z)-axes,
// and I is the inertia tensor defined as
//
// I_ij = delta_ij * r^2 - r_i * r_j (sum over points)
//
// delta_ij is the identity matrix. i, j are indices for (x, y, z).
//
// On the rhs of the first eq, r * dr is the cross product of r and dr.
// In this case, r is the nominal vector and dr is the displacement of the
// current point from its nominal point (current vector - nominal vector).
//
// Since the solution of dOmega (by inverting I) gives angles that are small,
// we rotate the current surface by -dOmega and repeat the process until the
// dOmega^2 is less than a certain tolerance value.
// (In other words, we move the current surface by small angular steps till
// it matches the nominal surface.)
// The full rotation is found by adding up the rotations (given by dOmega)
// in each step. (More precisely, the product of all the matrices.)
//
// Note that, in some cases, if the angular displacement between current and
// nominal is pi, the algorithm can return an identity (no rotation).
// This is because dr = -r and r * dr is all zero.
// This is not a problem since we are dealing with small angles in alignment.
static const double tolerance = 1e-12;
RotationType rot; // rotation from nominal to current; init to identity
// Initial values for dr and I; I is always the same in each step
AlgebraicSymMatrix I(3); // inertia tensor
GlobalVectors rotated = current; // rotated current vectors in each step
unsigned int nPoints = nominal.size();
for (unsigned int j = 0; j < nPoints; ++j)
{
const GlobalVector& r = nominal[j];
// Inertial tensor: I_ij = delta_ij * r^2 - r_i * r_j (sum over points)
I.fast(1, 1) += r.y() * r.y() + r.z() * r.z();
I.fast(2, 2) += r.x() * r.x() + r.z() * r.z();
I.fast(3, 3) += r.y() * r.y() + r.x() * r.x();
I.fast(2, 1) -= r.x() * r.y(); // row index must be >= col index
I.fast(3, 1) -= r.x() * r.z();
I.fast(3, 2) -= r.y() * r.z();
}
int count=0;
while (true)
{
AlgebraicVector rhs(3); // sum of dr * r
for (unsigned int j = 0; j < nPoints; ++j)
{
const GlobalVector& r = nominal[j];
const GlobalVector& c = rotated[j];
// Cross product of dr * r = c * r (sum over points)
rhs(1) += c.y() * r.z() - c.z() * r.y();
rhs(2) += c.z() * r.x() - c.x() * r.z();
rhs(3) += c.x() * r.y() - c.y() * r.x();
}
EulerAngles dOmega = CLHEP::solve(I, rhs);
rot *= toMatrix(dOmega); // add to rotation
if (dOmega.normsq() < tolerance) break; // converges, so exit loop
count++;
if(count>100000){
std::cout<<"diffRot infinite loop: dOmega is "<<dOmega.normsq()<<"\n";
break;
}
// Not yet converge; move current vectors to new positions and find dr
for (unsigned int j = 0; j < nPoints; ++j)
{
rotated[j] = GlobalVector( rot.multiplyInverse( current[j].basicVector() ) );
}
}
return rot;
}
| align::PositionType align::motherPosition | ( | const std::vector< const PositionType * > & | dauPos | ) |
Find mother's position from the average of its daughters' positions.
Definition at line 51 of file Utilities.cc.
References i, python::tagInventory::inv, point, PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().
Referenced by SurveyResidual::calculate().
{
unsigned int nDau = dauPos.size();
Scalar posX(0.), posY(0.), posZ(0.); // position of mother
for (unsigned int i = 0; i < nDau; ++i)
{
const PositionType* point = dauPos[i];
posX += point->x();
posY += point->y();
posZ += point->z();
}
Scalar inv = 1. / static_cast<Scalar>(nDau);
return PositionType(posX *= inv, posY *= inv, posZ *= inv);
}
| void align::moveAlignable | ( | Alignable * | ali, |
| AlgebraicVector | diff | ||
| ) |
Moves the alignable by the AlgebraicVector.
Finds the TR between 2 sets of alignables For example, if TIB/TID were to move as one unit
Definition at line 81 of file AlignTools.cc.
References Alignable::move(), Alignable::rotateInGlobalFrame(), and toMatrix().
Referenced by TrackerGeometryCompare::compareGeometries(), MuonGeometryArrange::compareGeometries(), and TrackerGeometryCompare::setCommonTrackerSystem().
{
GlobalVector dR(diff[0],diff[1],diff[2]);
align::EulerAngles dOmega(3); dOmega[0] = diff[3]; dOmega[1] = diff[4]; dOmega[2] = diff[5];
align::RotationType dRot = align::toMatrix(dOmega);
ali->move(dR);
ali->rotateInGlobalFrame(dRot);
}
| bool align::readModuleList | ( | unsigned int | aliId, |
| unsigned int | motherId, | ||
| const std::vector< unsigned int > & | weightByIdVector | ||
| ) |
Definition at line 142 of file AlignTools.cc.
References i.
Referenced by MuonGeometryArrange::compareGeometries(), and createPoints().
| void align::rectify | ( | RotationType & | rot | ) |
Correct a rotation matrix for rounding errors.
Definition at line 196 of file Utilities.cc.
References toAngles(), and toMatrix().
Referenced by BeamSpotAlignmentParameters::apply(), RigidBodyAlignmentParameters::apply(), TwoBowedSurfacesAlignmentParameters::apply(), BowedSurfaceAlignmentParameters::apply(), AlignmentParameterStore::applyAlignableAbsolutePositions(), MuonAlignmentInputXML::set_one_position(), and SurveyAlignment::shiftSensors().
{
// Use ROOT for better numerical precision but slower.
// ROOT::Math::Rotation3D temp( rot.xx(), rot.xy(), rot.xz(),
// rot.yx(), rot.yy(), rot.yz(),
// rot.zx(), rot.zy(), rot.zz() );
//
// temp.Rectify();
//
// Scalar elems[9];
//
// temp.GetComponents(elems);
// rot = RotationType(elems);
rot = toMatrix( toAngles(rot) ); // fast rectification but less precise
}
| align::EulerAngles align::toAngles | ( | const RotationType & | rot | ) |
Convert rotation matrix to angles about x-, y-, z-axes (frame rotation).
Definition at line 7 of file Utilities.cc.
References abs, TkRotation< T >::xx(), TkRotation< T >::xy(), TkRotation< T >::xz(), TkRotation< T >::yx(), TkRotation< T >::yy(), TkRotation< T >::yz(), TkRotation< T >::zx(), TkRotation< T >::zy(), and TkRotation< T >::zz().
Referenced by AlignmentParameterStore::acquireRelativeParameters(), MuonGeometryArrange::compareGeometries(), diffAlignables(), RigidBodyAlignmentParameters::displacementFromAlignable(), MuonAlignmentInputXML::do_setposition(), KalmanAlignmentUserVariables::extractTrueParameters(), MuonGeometryArrange::fillTree(), TrackerGeometryCompare::fillTree(), KalmanAlignmentUserVariables::histogramParameters(), rectify(), BeamSpotAlignmentParameters::rotation(), SurveyResidual::sensorResidual(), AlignableSurface::toGlobal(), AlignableSurface::toLocal(), KalmanAlignmentUserVariables::update(), SurveyOutput::write(), and MuonAlignmentOutputXML::writeComponents().
{
const Scalar one = 1; // to ensure same precison is used in comparison
EulerAngles angles(3);
if (std::abs( rot.zx() ) > one)
{
edm::LogWarning("Alignment") << "Rounding errors in\n" << rot;
}
if (std::abs( rot.zx() ) < one)
{
angles(1) = -std::atan2( rot.zy(), rot.zz() );
angles(2) = std::asin( rot.zx() );
angles(3) = -std::atan2( rot.yx(), rot.xx() );
}
else if (rot.zx() >= one)
{
angles(1) = std::atan2(rot.xy() + rot.yz(), rot.yy() - rot.xz() );
angles(2) = std::asin(one);
angles(3) = 0;
}
else if (rot.zx() <= -one)
{
angles(1) = std::atan2(rot.xy() - rot.yz(), rot.yy() + rot.xz() );
angles(2) = std::asin(-one);
angles(3) = 0;
}
return angles;
}
| align::RotationType align::toMatrix | ( | const EulerAngles & | angles | ) |
Convert rotation angles about x-, y-, z-axes to matrix.
Definition at line 40 of file Utilities.cc.
References alignmentValidation::c1, funct::cos(), indexGen::s2, and funct::sin().
Referenced by BeamSpotAlignmentParameters::apply(), RigidBodyAlignmentParameters::apply(), TwoBowedSurfacesAlignmentParameters::apply(), BowedSurfaceAlignmentParameters::apply(), KalmanAlignmentAlgorithm::applyAlignmentParameters(), PedeSteerer::correctToReferenceSystem(), diffRot(), MuonAlignmentInputXML::do_setposition(), MuonGeometryArrange::fillTree(), KalmanAlignmentUserVariables::histogramParameters(), KalmanAlignmentAlgorithm::initializeAlignmentParameters(), moveAlignable(), rectify(), AlignmentParameterStore::setAlignmentPositionError(), TrackerGeometryCompare::setCommonTrackerSystem(), SurveyAlignment::shiftSensors(), AlignmentProducer::simpleMisalignment_(), AlignableSurface::toGlobal(), AlignableSurface::toLocal(), and KalmanAlignmentUserVariables::update().
{
Scalar s1 = std::sin(angles[0]), c1 = std::cos(angles[0]);
Scalar s2 = std::sin(angles[1]), c2 = std::cos(angles[1]);
Scalar s3 = std::sin(angles[2]), c3 = std::cos(angles[2]);
return RotationType( c2 * c3, c1 * s3 + s1 * s2 * c3, s1 * s3 - c1 * s2 * c3,
-c2 * s3, c1 * c3 - s1 * s2 * s3, s1 * c3 + c1 * s2 * s3,
s2, -s1 * c2, c1 * c2);
}
1.7.3