/data/refman/pasoursint/CMSSW_4_2_9_HLT1_bphpatch4/src/RecoVertex/GhostTrackFitter/src/TrackGhostTrackState.cc

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#include <cmath>

#include <Math/SMatrix.h>
#include <Math/MatrixFunctions.h>

#include "DataFormats/GeometryVector/interface/GlobalPoint.h"
#include "DataFormats/GeometryVector/interface/GlobalVector.h" 
#include "DataFormats/GeometrySurface/interface/Line.h"

#include "TrackingTools/TransientTrack/interface/TransientTrack.h"
#include "TrackingTools/GeomPropagators/interface/AnalyticalImpactPointExtrapolator.h"
#include "TrackingTools/GeomPropagators/interface/AnalyticalTrajectoryExtrapolatorToLine.h"
#include "TrackingTools/TrajectoryState/interface/TrajectoryStateOnSurface.h"
#include "TrackingTools/TrajectoryParametrization/interface/CartesianTrajectoryError.h"

#include "RecoVertex/GhostTrackFitter/interface/GhostTrackPrediction.h"

#include "RecoVertex/GhostTrackFitter/interface/TrackGhostTrackState.h"

using namespace reco;

namespace {
        static inline double sqr(double arg) { return arg * arg; }

        using namespace ROOT::Math;

        typedef SVector<double, 3> Vector3;

        typedef SMatrix<double, 3, 3, MatRepSym<double, 3> > Matrix3S;
        typedef SMatrix<double, 6, 6, MatRepSym<double, 6> > Matrix6S;
        typedef SMatrix<double, 3, 3> Matrix33;
        typedef SMatrix<double, 3, 6> Matrix36;

        static inline Vector3 conv(const GlobalVector &vec)
        {
                Vector3 result;
                result[0] = vec.x();
                result[1] = vec.y();
                result[2] = vec.z();
                return result;
        }
}

bool TrackGhostTrackState::linearize(const GhostTrackPrediction &pred,
                                     bool initial, double lambda)
{
        AnalyticalTrajectoryExtrapolatorToLine extrap(track_.field());

        GlobalPoint origin = pred.origin();
        GlobalVector direction = pred.direction();

        if (isValid() && !initial) {
                GlobalPoint pca = origin + lambda_ * direction;
                Line line(pca, direction);
                tsos_ = extrap.extrapolate(tsos_, line);
        } else {
                GlobalPoint pca = origin + lambda * direction;
                Line line(pca, direction);
                tsos_ = extrap.extrapolate(track_.impactPointState(), line);
        }

        if (!isValid())
                return false;

        lambda_ = (tsos_.globalPosition() - origin) * direction / pred.rho2();

        return true;
}

bool TrackGhostTrackState::linearize(const GhostTrackPrediction &pred,
                                     double lambda)
{
        AnalyticalImpactPointExtrapolator extrap(track_.field());

        GlobalPoint point = pred.position(lambda);

        tsos_ = extrap.extrapolate(track_.impactPointState(), point);
        if (!isValid())
                return false;

        lambda_ = lambda;

        return true;
}

BasicGhostTrackState::Vertex TrackGhostTrackState::vertexStateOnGhostTrack(
        const GhostTrackPrediction &pred, bool withMeasurementError) const
{
        using namespace ROOT::Math;

        if (!isValid())
                return Vertex();

        GlobalPoint origin = pred.origin();
        GlobalVector direction = pred.direction();

        double rho2 = pred.rho2();
        double rho = std::sqrt(rho2);
        double lambda = (tsos_.globalPosition() - origin) * direction / rho2;
        GlobalPoint pos = origin + lambda * direction;

        GlobalVector momentum = tsos_.globalMomentum();
        double mom = momentum.mag();

        Vector3 b = conv(direction) / rho;
        Vector3 d = conv(momentum) / mom;
        double l = Dot(b, d);
        double g = 1. / (1. - sqr(l));

        Vector3 ca = conv(pos - tsos_.globalPosition());
        Vector3 bd = b - l * d;
        b *= g;

        Matrix33 pA = TensorProd(b, bd);
        Matrix33 pB = TensorProd(b, ca);

        Matrix36 jacobian;
        jacobian.Place_at(-pA + Matrix33(SMatrixIdentity()), 0, 0);
        jacobian.Place_at(pB / rho, 0, 3);
        Matrix3S error = Similarity(jacobian, pred.cartesianError(lambda));

        if (withMeasurementError) {
                jacobian.Place_at(pA, 0, 0);
                jacobian.Place_at(-pB / mom, 0, 3);
                error += Similarity(jacobian, tsos_.cartesianError().matrix());
        }

        return Vertex(pos, error);
}

BasicGhostTrackState::Vertex TrackGhostTrackState::vertexStateOnMeasurement(
        const GhostTrackPrediction &pred, bool withGhostTrackError) const
{
        using namespace ROOT::Math;

        if (!isValid())
                return Vertex();

        GlobalPoint origin = pred.origin();
        GlobalVector direction = pred.direction();

        double rho2 = pred.rho2();
        double rho = std::sqrt(rho2);
        double lambda = (tsos_.globalPosition() - origin) * direction / rho2;
        GlobalPoint pos = origin + lambda * direction;

        GlobalVector momentum = tsos_.globalMomentum();
        double mom = momentum.mag();

        Vector3 b = conv(direction) / rho;
        Vector3 d = conv(momentum) / mom;
        double l = Dot(b, d);
        double g = 1. / (1. - sqr(l));

        Vector3 ca = conv(tsos_.globalPosition() - pos);
        Vector3 bd = l * b - d;
        d *= g;

        Matrix33 pC = TensorProd(d, bd);
        Matrix33 pD = TensorProd(d, ca);

        Matrix36 jacobian;
        jacobian.Place_at(pC + Matrix33(SMatrixIdentity()), 0, 0);
        jacobian.Place_at(pD / mom, 0, 3);
        Matrix3S error = Similarity(jacobian, tsos_.cartesianError().matrix());

        if (withGhostTrackError) {
                jacobian.Place_at(-pC, 0, 0);
                jacobian.Place_at(-pD / rho, 0, 3);
                error += Similarity(jacobian, pred.cartesianError(lambda));
        }

        return Vertex(tsos_.globalPosition(), error);
}