JacobianCurvilinearToLocal Class Reference

#include <JacobianCurvilinearToLocal.h>

List of all members.

Public Member Functions
const AlgebraicMatrix55 &	jacobian () const
	JacobianCurvilinearToLocal (const Surface &surface, const LocalTrajectoryParameters &localParameters, const MagneticField &magField)
	JacobianCurvilinearToLocal (const Surface &surface, const LocalTrajectoryParameters &localParameters, const GlobalTrajectoryParameters &globalParameters, const MagneticField &magField)
Private Member Functions
void	compute (Surface::RotationType const &rot, GlobalVector const &tn, GlobalVector const &qh, double lz) dso_internal
Private Attributes
AlgebraicMatrix55	theJacobian

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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 19 of file JacobianCurvilinearToLocal.h.

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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 9 of file JacobianCurvilinearToLocal.cc.

References compute(), LocalTrajectoryParameters::direction(), h, MagneticField::inInverseGeV(), LocalTrajectoryParameters::position(), makeMuonMisalignmentScenario::rot, GloballyPositioned< T >::rotation(), LocalTrajectoryParameters::signedInverseMomentum(), Surface::toGlobal(), x, and PV3DBase< T, PVType, FrameType >::z().

                                                          : theJacobian() {
 
  GlobalPoint  x = surface.toGlobal(localParameters.position());
  GlobalVector h  = magField.inInverseGeV(x);
  GlobalVector qh = h*localParameters.signedInverseMomentum();  // changed sign


  //  GlobalVector  hdir =  h.unit();
  //double q = -h.mag() * localParameters.signedInverseMomentum();
  
  LocalVector tnl = localParameters.direction();
  GlobalVector tn = surface.toGlobal(tnl);
  double t1r = 1./tnl.z();

  // 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();

  compute(rot, tn, qh, t1r);
}

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

Definition at line 34 of file JacobianCurvilinearToLocal.cc.

References compute(), LocalTrajectoryParameters::direction(), h, MagneticField::inInverseGeV(), GlobalTrajectoryParameters::position(), makeMuonMisalignmentScenario::rot, GloballyPositioned< T >::rotation(), GlobalTrajectoryParameters::signedInverseMomentum(), Surface::toGlobal(), x, and PV3DBase< T, PVType, FrameType >::z().

                                                          : theJacobian() {
 
  GlobalPoint  x =  globalParameters.position();
  GlobalVector h  = magField.inInverseGeV(x);
  GlobalVector qh = h*globalParameters.signedInverseMomentum();  // changed sign

  //GlobalVector  hdir =  h.unit();
  //double q = -h.mag() * localParameters.signedInverseMomentum();

 
  //  GlobalVector tn = globalParameters.momentum().unit();
  //  LocalVector tnl = localParameters.momentum().unit();

  LocalVector tnl = localParameters.direction();
  GlobalVector tn = surface.toGlobal(tnl);
  double t1r = 1./tnl.z();
 
 
  Surface::RotationType const & rot = surface.rotation();

  compute(rot, tn, qh, t1r);
}

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Member Function Documentation

void JacobianCurvilinearToLocal::compute	(	Surface::RotationType const &	rot,
		GlobalVector const &	tn,
		GlobalVector const &	qh,
		double	lz
	)		[private]

Definition at line 61 of file JacobianCurvilinearToLocal.cc.

References Vector3DBase< T, FrameTag >::dot(), alignCSCRings::e, PV3DBase< T, PVType, FrameType >::perp(), theJacobian, interactiveExample::ui, 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().

Referenced by JacobianCurvilinearToLocal().

                                                                                                                                       {
  // Origin: TRSCSD

  GlobalVector dj(rot.x());
  GlobalVector dk(rot.y());
  GlobalVector di(rot.z());

  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 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 sinz = un.dot(qh);
  double cosz =-vn.dot(qh);
  double ui = un.dot(di)*(t3r);
  double vi = vn.dot(di)*(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);
}

const AlgebraicMatrix55& JacobianCurvilinearToLocal::jacobian

(

)

const [inline]

Access to Jacobian.

Definition at line 39 of file JacobianCurvilinearToLocal.h.

References theJacobian.

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

{ return  theJacobian; }

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Member Data Documentation

AlgebraicMatrix55 JacobianCurvilinearToLocal::theJacobian [private]

Definition at line 46 of file JacobianCurvilinearToLocal.h.

Referenced by compute(), and jacobian().