KFStripUpdator Class Reference

#include <KFStripUpdator.h>

Inheritance diagram for KFStripUpdator:

List of all members.

Public Member Functions
virtual KFStripUpdator *	clone () const
	KFStripUpdator ()
virtual TSOS	update (const TSOS &aTsos, const TransientTrackingRecHit &aHit) const
	~KFStripUpdator ()
Private Types
typedef LocalTrajectoryError	LTE
typedef LocalTrajectoryParameters	LTP
typedef TrajectoryStateOnSurface	TSOS

---

Detailed Description

A Kalman Updator that works in the measurement frame and uses both hit coordinates. Ported from ORCA.

Date:

2007/05/09 13:50:25

Revision:

1.3

Author:

todorov, cerati

Definition at line 15 of file KFStripUpdator.h.

---

Member Typedef Documentation

typedef LocalTrajectoryError KFStripUpdator::LTE [private]

Definition at line 21 of file KFStripUpdator.h.

typedef LocalTrajectoryParameters KFStripUpdator::LTP [private]

Definition at line 20 of file KFStripUpdator.h.

typedef TrajectoryStateOnSurface KFStripUpdator::TSOS [private]

Definition at line 19 of file KFStripUpdator.h.

---

Constructor & Destructor Documentation

KFStripUpdator::KFStripUpdator

(

)

[inline]

Definition at line 25 of file KFStripUpdator.h.

Referenced by clone().

{}

KFStripUpdator::~KFStripUpdator

(

)

[inline]

Definition at line 27 of file KFStripUpdator.h.

{}

---

Member Function Documentation

virtual KFStripUpdator* KFStripUpdator::clone

(

void

)

const [inline, virtual]

Implements TrajectoryStateUpdator.

Definition at line 31 of file KFStripUpdator.h.

References KFStripUpdator().

  {
    return new KFStripUpdator(*this);
  }

TrajectoryStateOnSurface KFStripUpdator::update	(	const TSOS &	aTsos,
		const TransientTrackingRecHit &	aHit
	)		const [virtual]

Implements TrajectoryStateUpdator.

Definition at line 7 of file KFStripUpdator.cc.

References funct::C, TrajectoryStateOnSurface::globalParameters(), StripMeasurementTransformator::hitError(), StripMeasurementTransformator::hitParameters(), Exhume::I, invertPosDefMatrix(), TrajectoryStateOnSurface::localParameters(), m, GlobalTrajectoryParameters::magneticField(), StripMeasurementTransformator::projectedTrajectoryError(), StripMeasurementTransformator::projectedTrajectoryParameters(), StripMeasurementTransformator::projectionMatrix(), LocalTrajectoryParameters::pzSign(), dttmaxenums::R, TrajectoryStateOnSurface::surface(), StripMeasurementTransformator::trajectoryError(), StripMeasurementTransformator::trajectoryParameters(), and x.

Referenced by KFSwitchingUpdator::update().

                                                                                   {

  double pzSign = aTsos.localParameters().pzSign();

  StripMeasurementTransformator myTrafo(aTsos, aHit);

  AlgebraicMatrix25 H(myTrafo.projectionMatrix());
  AlgebraicVector2 m(myTrafo.hitParameters());
  AlgebraicVector5 x(myTrafo.trajectoryParameters());
  AlgebraicVector2 px(myTrafo.projectedTrajectoryParameters());
  //  AlgebraicVector px = H*x;
  
  AlgebraicSymMatrix22 V(myTrafo.hitError());
  const AlgebraicSymMatrix55 &C = myTrafo.trajectoryError();
  AlgebraicSymMatrix22 pC(myTrafo.projectedTrajectoryError());
  //  AlgebraicSymMatrix pC = C.similarity(H);

  AlgebraicSymMatrix22 R(V + pC);
  //int ierr; R.invert(ierr); // if (ierr != 0) throw exception;
  invertPosDefMatrix(R);
  
  // Compute Kalman gain matrix
  //  AlgebraicMatrix Hm2l(myTrafo.measurement2LocalProj());
  AlgebraicMatrix52 K(C * ROOT::Math::Transpose(H) * R);

  // Compute local filtered state vector
  AlgebraicVector5 fsv(x + K * (m - px));

  // Compute covariance matrix of local filtered state vector
  AlgebraicMatrix55 I = AlgebraicMatrixID();
  AlgebraicMatrix55 M = (I - K * H);
  AlgebraicSymMatrix55 fse = ROOT::Math::Similarity(M,C) + ROOT::Math::Similarity(K,V);

  return TSOS( LTP(fsv, pzSign), LTE(fse), aTsos.surface(),&(aTsos.globalParameters().magneticField()));  
}