#include <SurveyResidual.h>

Public Member Functions
AlgebraicSymMatrix	inverseCovariance () const
	Get inverse of survey covariance wrt given structure type in constructor.
align::LocalVectors	pointsResidual () const
AlgebraicVector	sensorResidual () const
	SurveyResidual (const Alignable &, align::StructureType, bool bias=false)
bool	valid () const
Private Member Functions
void	calculate (const Alignable &)
	Find the nominal and current vectors.
void	findSisters (const Alignable *, bool bias)
Private Attributes
align::ErrorMatrix	theCovariance
align::GlobalVectors	theCurrentVs
const Alignable *	theMother
align::GlobalVectors	theNominalVs
const std::vector< bool > &	theSelector
std::vector< const Alignable * >	theSisters
const AlignableSurface &	theSurface

Detailed Description

Class to find the residuals for survey constraint alignment.

For more info, please refer to https://www.pha.jhu.edu/~gritsan/cms/cms-note-survey.pdf

Date:: 2008/11/26 10:21:09

Revision:: 1.7

Author:: Chung Khim Lae

Definition at line 22 of file SurveyResidual.h.

Constructor & Destructor Documentation

SurveyResidual::SurveyResidual	(	const Alignable &	ali,
		align::StructureType	type,
		bool	bias = `false`
	)

Constructor from an alignable whose residuals are to be found. The type of residuals (panel, disc etc.) is given by StructureType. Set bias to true for biased residuals. Default is to find unbiased residuals.

Definition at line 11 of file SurveyResidual.cc.

References Alignable::alignableObjectId(), calculate(), Exception, findSisters(), Alignable::geomDetId(), Alignable::mother(), DetId::rawId(), theMother, and theSisters.

                                         :
  theMother(0),
  theSurface( ali.surface() ),
  theSelector( ali.alignmentParameters()->selector() )
{
// Find mother matching given type

  theMother = &ali; // start finding from this alignable

  while (theMother->alignableObjectId() != type)
  {
    theMother = theMother->mother(); // move up a level

    if (!theMother) return;
//     {
//       throw cms::Exception("ConfigError")
//      << "Alignable (id = " << ali.geomDetId().rawId()
//      << ") does not belong to a composite of type " << type;
//     }
  }

  if ( !theMother->mother() )
  {
    throw cms::Exception("ConfigError")
      << "The type " << type << " does not have a survey residual defined!\n"
      << "You have probably set the highest hierarchy. Choose a lower level.";
  }

  findSisters(theMother, bias);

  if (theSisters.size() == 0)
  {
    throw cms::Exception("ConfigError")
      << "You are finding an unbiased residual of an alignable "
      << " (id = " << ali.geomDetId().rawId()
      << ") which has no sister. Abort!";
  }

  calculate(ali);
}

Member Function Documentation

void SurveyResidual::calculate ( const Alignable & ali ) [private]

Find the nominal and current vectors.

Definition at line 166 of file SurveyResidual.cc.

Referenced by SurveyResidual().

{
  unsigned int nSister = theSisters.size();

// First get sisters' positions

  std::vector<const PositionType*> nominalSisPos; // nominal sisters' pos
  std::vector<const PositionType*> currentSisPos; // current sisters' pos

  nominalSisPos.reserve(nSister);
  currentSisPos.reserve(nSister);

  for (unsigned int i = 0; i < nSister; ++i)
  {
    const Alignable* sis    = theSisters[i];
    const SurveyDet* survey = sis->survey();

    if (!survey)
    {
      throw cms::Exception("ConfigError")
        << "No survey info is found for Alignable "
        << " (id = " << sis->geomDetId().rawId() << "). Abort!";
    }

    nominalSisPos.push_back( &survey->position() );
    currentSisPos.push_back( &sis->globalPosition() );
  }

// Then find mother's position using sisters' positions

  PositionType nominalMomPos = motherPosition(nominalSisPos);
  PositionType currentMomPos = motherPosition(currentSisPos);

// Now find rotation from nominal mother to current mother

  GlobalVectors nominalSisVs; // nominal sisters' pos from mother's pos
  GlobalVectors currentSisVs; // current sisters' pos from mother's pos

  for (unsigned int i = 0; i < nSister; ++i)
  {
    const Alignable* sis = theSisters[i];

    const GlobalPoints& nominalSisPoints = sis->survey()->globalPoints();
    const GlobalPoints& currentSisPoints = sis->surface().toGlobal( sis->survey()->localPoints() );

    for (unsigned int j = 0; j < nominalSisPoints.size(); ++j)
    {
      nominalSisVs.push_back(nominalSisPoints[j] - *nominalSisPos[i]);
      currentSisVs.push_back(currentSisPoints[j] - *currentSisPos[i]);
//       nominalSisVs.push_back(nominalSisPoints[j] - nominalMomPos);
//       currentSisVs.push_back(currentSisPoints[j] - currentMomPos);
    }
  }

  RotationType toCurrent = diffRot(currentSisVs, nominalSisVs);

// Finally shift and rotate nominal sensor to current sensor

  const SurveyDet* survey = ali.survey();

  if (!survey)
  {
    throw cms::Exception("ConfigError")
      << "No survey info is found for Alignable "
      << " (id = " << ali.geomDetId().rawId() << "). Abort!";
  }

  const GlobalPoints& nominalPoints = survey->globalPoints();
  const GlobalPoints& currentPoints = theSurface.toGlobal( survey->localPoints() );

  for (unsigned int j = 0; j < nominalPoints.size(); ++j)
  {
    align::GlobalVector nv = nominalPoints[j] - nominalMomPos;

    theNominalVs.push_back( align::GlobalVector( toCurrent * nv.basicVector() ) );
    theCurrentVs.push_back(currentPoints[j] - currentMomPos);
  }

// Find the covariance

  const RotationType& currentFrame = ali.globalRotation();

  for ( const Alignable* a = &ali; a != theMother->mother(); a = a->mother() )
  {
    RotationType deltaR = currentFrame * a->survey()->rotation().transposed();

    math::Matrix<6, 6>::type jac; // 6 by 6 Jacobian init to 0

    jac(0, 0) = deltaR.xx(); jac(0, 1) = deltaR.xy(); jac(0, 2) = deltaR.xz();
    jac(1, 0) = deltaR.yx(); jac(1, 1) = deltaR.yy(); jac(1, 2) = deltaR.yz();
    jac(2, 0) = deltaR.zx(); jac(2, 1) = deltaR.zy(); jac(2, 2) = deltaR.zz();
    jac(3, 3) = deltaR.xx(); jac(3, 4) = deltaR.xy(); jac(3, 5) = deltaR.xz();
    jac(4, 3) = deltaR.yx(); jac(4, 4) = deltaR.yy(); jac(4, 5) = deltaR.yz();
    jac(5, 3) = deltaR.zx(); jac(5, 4) = deltaR.zy(); jac(5, 5) = deltaR.zz();

    theCovariance += ROOT::Math::Similarity( jac, a->survey()->errors() );
  }
}

void SurveyResidual::findSisters	(	const Alignable *	ali,
		bool	bias
	)		`[private]`

Find the terminal sisters of an alignable. bias = true to include itself in the list.

Definition at line 146 of file SurveyResidual.cc.

References Alignable::components(), Alignable::deepComponents(), i, Alignable::mother(), and theSisters.

Referenced by SurveyResidual().

{
  theSisters.clear();
  theSisters.reserve(1000);

  const std::vector<Alignable*>& comp = ali->mother()->components();

  unsigned int nComp = comp.size();

  for (unsigned int i = 0; i < nComp; ++i)
  {
    const Alignable* dau = comp[i];

    if (dau != ali || bias)
      theSisters.insert( theSisters.end(), dau->deepComponents().begin(), dau->deepComponents().end() );
//     if (dau != ali || bias) theSisters.push_back(dau);
  }
}

AlgebraicSymMatrix SurveyResidual::inverseCovariance ( ) const

Get inverse of survey covariance wrt given structure type in constructor.

Definition at line 114 of file SurveyResidual.cc.

References Exception, cmsPerfPublish::fail(), i, j, theCovariance, and theSelector.

Referenced by SurveyAlignmentSensor::findAlignPars(), and HIPAlignmentAlgorithm::terminate().

{
  if (theSelector.size() != ErrorMatrix::kRows)
  {
    throw cms::Exception("LogicError")
      << "Mismatched number of dof between ErrorMatrix and Selector.";
  }

  std::vector<unsigned int> indices; // selected indices

  indices.reserve(ErrorMatrix::kRows);

  for (unsigned int i = 0; i < ErrorMatrix::kRows; ++i)
    if (theSelector[i]) indices.push_back(i);

  AlgebraicSymMatrix invCov( indices.size() );

  for (unsigned int i = 0; i < indices.size(); ++i)
    for (unsigned int j = 0; j <= i; ++j)
      invCov.fast(i + 1, j + 1) = theCovariance(indices[i], indices[j]);

  int fail(0); invCov.invert(fail);

  if (fail)
  {
    throw cms::Exception("ConfigError")
      << "Cannot invert survey error " << invCov;
  }

  return invCov;
}

LocalVectors SurveyResidual::pointsResidual ( ) const

Find residuals in local frame for points on the alignable (current - nominal vectors).

Definition at line 98 of file SurveyResidual.cc.

References j, theCurrentVs, theNominalVs, theSurface, and AlignableSurface::toLocal().

Referenced by SurveyAlignmentPoints::findAlignPars().

{
  LocalVectors residuals;

  unsigned int nPoint = theNominalVs.size();

  residuals.reserve(nPoint);

  for (unsigned int j = 0; j < nPoint; ++j)
  {
    residuals.push_back( theSurface.toLocal(theCurrentVs[j] - theNominalVs[j]) );
  }

  return residuals;
}

AlgebraicVector SurveyResidual::sensorResidual ( ) const

Find residual for the alignable in local frame. Returns a vector based on the alignable's dof.

Definition at line 54 of file SurveyResidual.cc.

References deltaR(), align::diffRot(), j, theCurrentVs, theNominalVs, theSelector, theSurface, align::toAngles(), AlignableSurface::toLocal(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

Referenced by AlignmentMonitorSurvey::book(), SurveyAlignmentSensor::findAlignPars(), and HIPAlignmentAlgorithm::terminate().

{
  std::vector<Scalar> pars; // selected parameters

  pars.reserve(AlignParams::kSize);

// Find linear displacements.

  align::LocalVector deltaR = theSurface.toLocal(theCurrentVs[0] - theNominalVs[0]);

  if (theSelector[0]) pars.push_back( deltaR.x() );
  if (theSelector[1]) pars.push_back( deltaR.y() );
  if (theSelector[2]) pars.push_back( deltaR.z() );

// Match the centers of current and nominal surfaces to find the angular
// displacements about the center. Only do this if angular dof are selected.

  if (theSelector[3] || theSelector[4] || theSelector[5])
  {
    GlobalVectors nominalVs = theNominalVs;
    GlobalVectors currentVs = theCurrentVs;

    for (unsigned int j = 0; j < nominalVs.size(); ++j)
    {
      nominalVs[j] -= theNominalVs[0]; // move to nominal pos
      currentVs[j] -= theCurrentVs[0]; // move to current pos
    }

    RotationType rot = diffRot(nominalVs, currentVs); // frame rotation

    EulerAngles deltaW = toAngles( theSurface.toLocal(rot) );

    if (theSelector[3]) pars.push_back( deltaW(1) );
    if (theSelector[4]) pars.push_back( deltaW(2) );
    if (theSelector[5]) pars.push_back( deltaW(3) );
  }
  
  AlgebraicVector deltaRW( pars.size() ); // (deltaR, deltaW)

  for (unsigned int j = 0; j < pars.size(); ++j) deltaRW(j + 1) = pars[j];

  return deltaRW;
}

bool SurveyResidual::valid ( ) const [inline]

Check if survey residual is valid (theMother != 0). This check must be done before calling the other methods so that calculations can be performed correctly.

Definition at line 84 of file SurveyResidual.h.

References theMother.

Referenced by SurveyAlignmentPoints::findAlignPars(), SurveyAlignmentSensor::findAlignPars(), and HIPAlignmentAlgorithm::terminate().