JacobianCurvilinearToLocal Class Reference

#include <JacobianCurvilinearToLocal.h>

Public Member Functions
const AlgebraicMatrix55 &	jacobian () const
const AlgebraicMatrix	jacobian_old () const
	JacobianCurvilinearToLocal (const Surface &surface, const LocalTrajectoryParameters &localParameters, const MagneticField &magField)

Private Attributes
AlgebraicMatrix55	theJacobian

Detailed Description

Class which calculates the Jacobian matrix of the transformation from the curvilinear to the local frame. The Jacobian is calculated during construction and thereafter cached, enabling reuse of the same Jacobian without calculating it again.

Definition at line 16 of file JacobianCurvilinearToLocal.h.

Constructor & Destructor Documentation

JacobianCurvilinearToLocal::JacobianCurvilinearToLocal	(	const Surface &	surface,
		const LocalTrajectoryParameters &	localParameters,
		const MagneticField &	magField
	)

Constructor from local trajectory parameters and surface defining the local frame. NB!! No default constructor exists!

Definition at line 7 of file JacobianCurvilinearToLocal.cc.

References Vector3DBase< T, FrameTag >::dot(), h, MagneticField::inTesla(), PV3DBase< T, PVType, FrameType >::mag(), LocalTrajectoryParameters::momentum(), PV3DBase< T, PVType, FrameType >::perp(), LocalTrajectoryParameters::position(), lumiQueryAPI::q, GloballyPositioned< T >::rotation(), LocalTrajectoryParameters::signedInverseMomentum(), theJacobian, Surface::toGlobal(), interactiveExample::ui, Vector3DBase< T, FrameTag >::unit(), x, PV3DBase< T, PVType, FrameType >::x(), TkRotation< T >::x(), PV3DBase< T, PVType, FrameType >::y(), TkRotation< T >::y(), PV3DBase< T, PVType, FrameType >::z(), and TkRotation< T >::z().

                                              : theJacobian() {
 
  // Origin: TRSCSD
  GlobalPoint  x = surface.toGlobal(localParameters.position());
  //  GlobalVector h = MagneticField::inInverseGeV(x);
  GlobalVector h  = magField.inTesla(x) * 2.99792458e-3;
  GlobalVector  hdir =  h.unit();

  LocalVector tnl = localParameters.momentum().unit();
  GlobalVector tn = surface.toGlobal(tnl);

  // GlobalVector dj = surface.toGlobal(LocalVector(1., 0., 0.));
  // GlobalVector dk = surface.toGlobal(LocalVector(0., 1., 0.));
  //  GlobalVector di = surface.toGlobal(LocalVector(0., 0., 1.));
  Surface::RotationType const & rot = surface.rotation();
  GlobalVector dj(rot.x());
  GlobalVector dk(rot.y());
  GlobalVector di(rot.z());

  // rotate coordinates because of wrong coordinate system in orca
  // LocalVector tvw(tnl.z(), tnl.x(), tnl.y());
  double cosl = tn.perp(); if (cosl < 1.e-30) cosl = 1.e-30;
  double cosl1 = 1./cosl;
  GlobalVector un(-tn.y()*cosl1, tn.x()*cosl1, 0.);
  GlobalVector vn(-tn.z()*un.y(), tn.z()*un.x(), cosl);

  double uj = un.dot(dj);
  double uk = un.dot(dk);
  double vj = vn.dot(dj);
  double vk = vn.dot(dk);

  //  double t1r = 1./tvw.x();
  double t1r = 1./tnl.z();
  double t2r = t1r*t1r;
  double t3r = t1r*t2r;

  theJacobian(0,0) = 1.;
  theJacobian(1,1) = -uk*t2r;
  theJacobian(1,2) = vk*(cosl*t2r);
  theJacobian(2,1) = uj*t2r;
  theJacobian(2,2) = -vj*(cosl*t2r);
  theJacobian(3,3) = vk*t1r;
  theJacobian(3,4) = -uk*t1r;
  theJacobian(4,3) = -vj*t1r;
  theJacobian(4,4) = uj*t1r;

  double q = -h.mag() * localParameters.signedInverseMomentum();

  double sinz =-un.dot(hdir);
  double cosz = vn.dot(hdir);
  double ui = un.dot(di)*(q*t3r);
  double vi = vn.dot(di)*(q*t3r);
  theJacobian(1,3) =-ui*(vk*cosz-uk*sinz);
  theJacobian(1,4) =-vi*(vk*cosz-uk*sinz);
  theJacobian(2,3) = ui*(vj*cosz-uj*sinz);
  theJacobian(2,4) = vi*(vj*cosz-uj*sinz);
  // end of TRSCSD
  //dbg::dbg_trace(1,"Cu2L", localParameters.vector(),di,dj,dk,theJacobian);
}

Member Function Documentation

const AlgebraicMatrix55 & JacobianCurvilinearToLocal::jacobian

(

)

const

Access to Jacobian.

Definition at line 68 of file JacobianCurvilinearToLocal.cc.

References theJacobian.

Referenced by BasicSingleTrajectoryState::createLocalErrorFromCurvilinearError(), and TwoBodyDecayTrajectoryState::propagateSingleState().

                                                                    {
  return theJacobian;
}

const AlgebraicMatrix JacobianCurvilinearToLocal::jacobian_old

(

)

const

Definition at line 71 of file JacobianCurvilinearToLocal.cc.

References asHepMatrix(), and theJacobian.

                                                                     {
  return asHepMatrix(theJacobian);
}

Member Data Documentation

AlgebraicMatrix55 JacobianCurvilinearToLocal::theJacobian

private

Definition at line 37 of file JacobianCurvilinearToLocal.h.

Referenced by jacobian(), jacobian_old(), and JacobianCurvilinearToLocal().