/data/refman/pasoursint/CMSSW_5_3_0/src/RecoVertex/GhostTrackFitter/src/KalmanGhostTrackUpdater.cc

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#include <vector>
#include <cmath>

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

#include "DataFormats/GeometryVector/interface/GlobalPoint.h"
#include "DataFormats/GeometryVector/interface/GlobalVector.h" 
#include "DataFormats/GeometryCommonDetAlgo/interface/GlobalError.h"

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

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

using namespace reco;

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

        using namespace ROOT::Math;

        typedef SVector<double, 4> Vector4;
        typedef SVector<double, 2> Vector2;

        typedef SMatrix<double, 4, 4, MatRepSym<double, 4> > Matrix4S;
        typedef SMatrix<double, 3, 3, MatRepSym<double, 3> > Matrix3S;
        typedef SMatrix<double, 2, 2, MatRepSym<double, 2> > Matrix2S;
        typedef SMatrix<double, 4, 4> Matrix44;
        typedef SMatrix<double, 4, 2> Matrix42;
        typedef SMatrix<double, 2, 4> Matrix24;
        typedef SMatrix<double, 2, 3> Matrix23;
        typedef SMatrix<double, 2, 2> Matrix22;

        struct KalmanState {
                KalmanState(const GhostTrackPrediction &pred,
                            const GhostTrackState &state);

                Vector2         residual;
                Matrix2S        measErr, measPredErr;
                Matrix24        h;
        };
}

KalmanState::KalmanState(const GhostTrackPrediction &pred,
                         const GhostTrackState &state)
{
        using namespace ROOT::Math;

        GlobalPoint point = state.globalPosition();

        // precomputed values
        double x = std::cos(pred.phi());
        double y = std::sin(pred.phi());
        double dz = pred.cotTheta();
        double lip = x * point.x() + y * point.y();
        double tip = x * point.y() - y * point.x();

        // jacobian of global -> local
        Matrix23 measToLocal;
        measToLocal(0, 0) = - dz * x;
        measToLocal(0, 1) = - dz * y;
        measToLocal(0, 2) = 1.;
        measToLocal(1, 0) = y;
        measToLocal(1, 1) = -x;

        // measurement error on the 2d plane projection
        measErr = Similarity(measToLocal, state.cartesianCovariance());

        // jacobian of representation to measurement transformation
        h(0, 0) = 1.;
        h(0, 2) = lip;
        h(0, 3) = dz * tip;
        h(1, 1) = -1.;
        h(1, 3) = -lip;

        // error on prediction
        measPredErr = Similarity(h, pred.covariance());

        // residual
        residual[0] = point.z() - pred.z() - dz * lip;
        residual[1] = pred.ip() - tip;
}

GhostTrackPrediction KalmanGhostTrackUpdater::update(
                                        const GhostTrackPrediction &pred,
                                        const GhostTrackState &state,
                                        double &ndof, double &chi2) const
{
        using namespace ROOT::Math;

        KalmanState kalmanState(pred, state);

        if (state.weight() < 1.0e-3)
                return pred;

        // inverted combined error
        Matrix2S invErr = kalmanState.measPredErr +
                          (1.0 / state.weight()) * kalmanState.measErr;
        if (!invErr.Invert())
                return pred;

        // gain
        Matrix42 gain = pred.covariance() * Transpose(kalmanState.h) * invErr;

        // new prediction
        Vector4 newPred = pred.prediction() + (gain * kalmanState.residual);
        Matrix44 tmp44 = SMatrixIdentity();
        tmp44 = (tmp44 - gain * kalmanState.h) * pred.covariance();
        Matrix4S newError(tmp44.LowerBlock());

        // filtered residuals
        Matrix22 tmp22 = SMatrixIdentity();
        tmp22 = tmp22 - kalmanState.h * gain;
        Vector2 filtRes = tmp22 * kalmanState.residual;
        tmp22 *= kalmanState.measErr;
        Matrix2S filtResErr(tmp22.LowerBlock());
        if (!filtResErr.Invert())
                return pred;

        ndof += state.weight() * 2.;
        chi2 += state.weight() * Similarity(filtRes, filtResErr);

        return GhostTrackPrediction(newPred, newError);
}

void KalmanGhostTrackUpdater::contribution(
                                const GhostTrackPrediction &pred,
                                const GhostTrackState &state,
                                double &ndof, double &chi2,
                                bool withPredError) const
{
        using namespace ROOT::Math;

        KalmanState kalmanState(pred, state);

        // this is called on the full predicted state,
        // so the residual is already with respect to the filtered state

        // inverted error
        Matrix2S invErr = kalmanState.measErr;
        if (withPredError)
                invErr += kalmanState.measPredErr;
        if (!invErr.Invert()) {
                ndof = 0.;
                chi2 = 0.;
        }

        ndof = 2.;
        chi2 = Similarity(kalmanState.residual, invErr);
}