KFTrajectorySmoother Class Reference

#include <KFTrajectorySmoother.h>

Inheritance diagram for KFTrajectorySmoother:

Public Member Functions
virtual KFTrajectorySmoother *	clone () const
const MeasurementEstimator *	estimator () const
	KFTrajectorySmoother (const Propagator &aPropagator, const TrajectoryStateUpdator &aUpdator, const MeasurementEstimator &aEstimator, float errorRescaling=100.f, int minHits=3)
	KFTrajectorySmoother (const Propagator *aPropagator, const TrajectoryStateUpdator *aUpdator, const MeasurementEstimator *aEstimator, float errorRescaling=100.f, int minHits=3, const DetLayerGeometry *detLayerGeometry=0)
const Propagator *	propagator () const
virtual std::vector< Trajectory >	trajectories (const Trajectory &aTraj) const
const TrajectoryStateUpdator *	updator () const
virtual	~KFTrajectorySmoother ()
Public Member Functions inherited from TrajectorySmoother
virtual	~TrajectorySmoother ()

Private Types
typedef FreeTrajectoryState	FTS
typedef TrajectoryMeasurement	TM
typedef TrajectoryStateOnSurface	TSOS

Private Attributes
const DetLayerGeometry	dummyGeometry
int	minHits_
float	theErrorRescaling
const MeasurementEstimator *	theEstimator
const DetLayerGeometry *	theGeometry
Propagator *	thePropagator
const TrajectoryStateUpdator *	theUpdator

Additional Inherited Members
Public Types inherited from TrajectorySmoother
typedef std::vector< Trajectory >	TrajectoryContainer
typedef TrajectoryContainer::iterator	TrajectoryIterator

Detailed Description

A Standard Kalman smoother. The forward fit is not redone, only the backward smoothing. Ported from ORCA

Date:

2009/07/03 01:11:06

Revision:

1.8

Author

todorov, cerati

Definition at line 22 of file KFTrajectorySmoother.h.

Member Typedef Documentation

typedef FreeTrajectoryState KFTrajectorySmoother::FTS

private

Definition at line 27 of file KFTrajectorySmoother.h.

typedef TrajectoryMeasurement KFTrajectorySmoother::TM

private

Definition at line 28 of file KFTrajectorySmoother.h.

typedef TrajectoryStateOnSurface KFTrajectorySmoother::TSOS

private

Definition at line 26 of file KFTrajectorySmoother.h.

Constructor & Destructor Documentation

KFTrajectorySmoother::KFTrajectorySmoother ( const Propagator &  aPropagator, const TrajectoryStateUpdator &  aUpdator, const MeasurementEstimator &  aEstimator, float  errorRescaling = 100.f, int  minHits = 3  )

inline

Definition at line 32 of file KFTrajectorySmoother.h.

References dummyGeometry, and theGeometry.

Referenced by clone().

                                :
    thePropagator(aPropagator.clone()),
    theUpdator(aUpdator.clone()),
    theEstimator(aEstimator.clone()),
    theErrorRescaling(errorRescaling),
    minHits_(minHits),
    theGeometry(0){ // to be fixed. Why this first constructor is needed? who is using it? Can it be removed?
      if(!theGeometry) theGeometry = &dummyGeometry;
    }

KFTrajectorySmoother::KFTrajectorySmoother ( const Propagator *  aPropagator, const TrajectoryStateUpdator *  aUpdator, const MeasurementEstimator *  aEstimator, float  errorRescaling = 100.f, int  minHits = 3, const DetLayerGeometry *  detLayerGeometry = 0  )

inline

Definition at line 47 of file KFTrajectorySmoother.h.

References dummyGeometry, and theGeometry.

                                                           :
    thePropagator(aPropagator->clone()),
    theUpdator(aUpdator->clone()),
    theEstimator(aEstimator->clone()),
    theErrorRescaling(errorRescaling),
    minHits_(minHits),
    theGeometry(detLayerGeometry){
      if(!theGeometry) theGeometry = &dummyGeometry;
    }

KFTrajectorySmoother::~KFTrajectorySmoother ( )

virtual

Definition at line 17 of file KFTrajectorySmoother.cc.

References theEstimator, thePropagator, and theUpdator.

                                            {

  delete thePropagator;
  delete theUpdator;
  delete theEstimator;

}

Member Function Documentation

virtual KFTrajectorySmoother* KFTrajectorySmoother::clone ( void  ) const

inlinevirtual

Implements TrajectorySmoother.

Definition at line 70 of file KFTrajectorySmoother.h.

References KFTrajectorySmoother(), minHits_, theErrorRescaling, theEstimator, theGeometry, thePropagator, and theUpdator.

                                             {
    return new KFTrajectorySmoother(thePropagator,theUpdator,theEstimator,theErrorRescaling,minHits_,theGeometry);
  }

const MeasurementEstimator* KFTrajectorySmoother::estimator ( void  ) const

inline

Definition at line 68 of file KFTrajectorySmoother.h.

References theEstimator.

Referenced by trajectories().

{return theEstimator;}

const Propagator* KFTrajectorySmoother::propagator ( void  ) const

inline

Definition at line 66 of file KFTrajectorySmoother.h.

References thePropagator.

Referenced by KalmanAlignmentAlgorithm::initializeAlignmentSetups().

{return thePropagator;}

std::vector< Trajectory > KFTrajectorySmoother::trajectories ( const Trajectory &  aTraj ) const

virtual

Implements TrajectorySmoother.

Definition at line 26 of file KFTrajectorySmoother.cc.

References alongMomentum, heavyFlavorValidationHarvestingSequence_cff::combiner, MuonSubdetId::CSC, CSCDetId, DetId::det(), Trajectory::direction(), PXFDetId::disk(), MuonSubdetId::DT, Trajectory::empty(), MeasurementEstimator::estimate(), estimator(), Trajectory::foundHits(), TrajectoryStateOnSurface::globalMomentum(), TrajectoryStateOnSurface::globalPosition(), DetLayerGeometry::idToLayer(), TrajectoryStateOnSurface::isValid(), j, PXBDetId::layer(), TOBDetId::layer(), TIBDetId::layer(), LogDebug, LogTrace, Trajectory::measurements(), minHits_, DetId::Muon, oppositeToMomentum, PixelSubdetector::PixelBarrel, PixelSubdetector::PixelEndcap, Propagator::propagate(), Propagator::propagationDirection(), Trajectory::push(), TrajectoryStateOnSurface::rescaleError(), Trajectory::reserve(), run_regression::ret, MuonSubdetId::RPC, RPCDetId, Trajectory::seed(), Propagator::setPropagationDirection(), DetId::subdetId(), StripSubdetector::TEC, theErrorRescaling, theGeometry, thePropagator, StripSubdetector::TIB, StripSubdetector::TID, StripSubdetector::TOB, DetId::Tracker, TrajectoryStateUpdator::update(), updator(), TIDDetId::wheel(), and TECDetId::wheel().

Referenced by RoadSearchTrackCandidateMakerAlgorithm::PrepareTrackCandidates(), RoadSearchTrackCandidateMakerAlgorithm::run(), CosmicTrajectoryBuilder::run(), CRackTrajectoryBuilder::run(), and MuonRoadTrajectoryBuilder::smooth().

                                                                {
  // let's try to get return value optimization
  // the 'standard' case is when we return 1 tractory

  if (  aTraj.direction() == alongMomentum) {
    thePropagator->setPropagationDirection(oppositeToMomentum);
  } else {
    thePropagator->setPropagationDirection(alongMomentum);
  }

  std::vector<Trajectory> ret(1, Trajectory(aTraj.seed(), thePropagator->propagationDirection()));
  Trajectory & myTraj = ret.front();


  if(aTraj.empty()) { ret.clear(); return ret; } 


  const std::vector<TM> & avtm = aTraj.measurements();
  LogDebug("TrackFitters") << "KFTrajectorySmoother::trajectories starting with " << avtm.size() << " HITS\n";

  myTraj.reserve(avtm.size());

  for (unsigned int j=0;j<avtm.size();j++) { 
    if (avtm[j].recHit()->det()) 
      LogTrace("TrackFitters") << "hit #:" << j+1 << " rawId=" << avtm[j].recHit()->det()->geographicalId().rawId() 
                   << " validity=" << avtm[j].recHit()->isValid();
    else
      LogTrace("TrackFitters") << "hit #:" << j+1 << " Hit with no Det information";
  }

  TSOS predTsos = avtm.back().forwardPredictedState();
  predTsos.rescaleError(theErrorRescaling);
  TSOS currTsos;
 
  TrajectoryStateCombiner combiner;

  unsigned int hitcounter = avtm.size();
  for(std::vector<TM>::const_reverse_iterator itm = avtm.rbegin(); itm != (avtm.rend()); ++itm,--hitcounter) {

    TransientTrackingRecHit::ConstRecHitPointer hit = itm->recHit();

    //check surface just for safety: should never be ==0 because they are skipped in the fitter 
    if ( hit->surface()==0 ) {
      LogDebug("TrackFitters")<< " Error: invalid hit with no GeomDet attached .... skipping";
      continue;
    }

    if (hitcounter != avtm.size())//no propagation needed for first smoothed (==last fitted) hit 
      predTsos = thePropagator->propagate( currTsos, *(hit->surface()) );

    if(!predTsos.isValid()) {
      LogDebug("TrackFitters") << "KFTrajectorySmoother: predicted tsos not valid!";
      if( myTraj.foundHits() >= minHits_ ) {
    LogDebug("TrackFitters") << " breaking trajectory" << "\n";
      } else {        
    LogDebug("TrackFitters") << " killing trajectory" << "\n";      
        ret.clear(); 
      }
      break;      
    }

    if(hit->isValid()) {
      LogDebug("TrackFitters")
    << "----------------- HIT #" << hitcounter << " (VALID)-----------------------\n"
    << "HIT IS AT R   " << hit->globalPosition().perp() << "\n"
    << "HIT IS AT Z   " << hit->globalPosition().z() << "\n"
    << "HIT IS AT Phi " << hit->globalPosition().phi() << "\n"
    << "HIT IS AT Loc " << hit->localPosition() << "\n"
    << "WITH LocError " << hit->localPositionError() << "\n"
    << "HIT IS AT Glo " << hit->globalPosition() << "\n"
    << "SURFACE POSITION: " << hit->surface()->position() << "\n"
    << "SURFACE ROTATION: " << hit->surface()->rotation() << "\n"
    << "hit geographicalId=" << hit->geographicalId().rawId();
   
      DetId hitId = hit->geographicalId();

      if(hitId.det() == DetId::Tracker) {
    if (hitId.subdetId() == StripSubdetector::TIB )  
      LogTrace("TrackFitters") << " I am TIB " << TIBDetId(hitId).layer();
    else if (hitId.subdetId() == StripSubdetector::TOB ) 
      LogTrace("TrackFitters") << " I am TOB " << TOBDetId(hitId).layer();
    else if (hitId.subdetId() == StripSubdetector::TEC ) 
      LogTrace("TrackFitters") << " I am TEC " << TECDetId(hitId).wheel();
    else if (hitId.subdetId() == StripSubdetector::TID ) 
      LogTrace("TrackFitters") << " I am TID " << TIDDetId(hitId).wheel();
    else if (hitId.subdetId() == StripSubdetector::TID ) 
      LogTrace("TrackFitters") << " I am TID " << TIDDetId(hitId).wheel();
    else if (hitId.subdetId() == (int) PixelSubdetector::PixelBarrel ) 
      LogTrace("TrackFitters") << " I am PixBar " << PXBDetId(hitId).layer();
    else if (hitId.subdetId() == (int) PixelSubdetector::PixelEndcap )
      LogTrace("TrackFitters") << " I am PixFwd " << PXFDetId(hitId).disk();
    else 
      LogTrace("TrackFitters") << " UNKNOWN TRACKER HIT TYPE ";
      }
      else if(hitId.det() == DetId::Muon) {
    if(hitId.subdetId() == MuonSubdetId::DT)
      LogTrace("TrackFitters") << " I am DT " << DTWireId(hitId);
    else if (hitId.subdetId() == MuonSubdetId::CSC )
      LogTrace("TrackFitters") << " I am CSC " << CSCDetId(hitId);
    else if (hitId.subdetId() == MuonSubdetId::RPC )
      LogTrace("TrackFitters") << " I am RPC " << RPCDetId(hitId);
    else 
      LogTrace("TrackFitters") << " UNKNOWN MUON HIT TYPE ";
      }
      else
    LogTrace("TrackFitters") << " UNKNOWN HIT TYPE ";
    
      TSOS combTsos,smooTsos;

      //3 different possibilities to calculate smoothed state:
      //1: update combined predictions with hit
      //2: combine fwd-prediction with bwd-filter
      //3: combine bwd-prediction with fwd-filter

      //combTsos is the predicted state with N-1 hits information. this means: 
      //forward predicted state for first smoothed (last fitted) hit
      //backward predicted state for last smoothed (first fitted) hit
      //combination of forward and backward predictions for other hits
      if (hitcounter == avtm.size()) combTsos = itm->forwardPredictedState();
      else if (hitcounter == 1) combTsos = predTsos;
      else combTsos = combiner(predTsos, itm->forwardPredictedState());
      if(!combTsos.isValid()) {
    LogDebug("TrackFitters") << 
      "KFTrajectorySmoother: combined tsos not valid!\n" <<
      "pred Tsos pos: " << predTsos.globalPosition() << "\n" <<
      "pred Tsos mom: " << predTsos.globalMomentum() << "\n" <<
      "TrackingRecHit: " << hit->surface()->toGlobal(hit->localPosition()) << "\n" ;
    if( myTraj.foundHits() >= minHits_ ) {
      LogDebug("TrackFitters") << " breaking trajectory" << "\n";
    } else {        
      LogDebug("TrackFitters") << " killing trajectory" << "\n";       
          ret.clear(); 
        }
        break;      
      }

      TransientTrackingRecHit::RecHitPointer preciseHit = hit->clone(combTsos);

      if (preciseHit->isValid() == false){
    LogTrace("TrackFitters") << "THE Precise HIT IS NOT VALID: using currTsos = predTsos" << "\n";
    currTsos = predTsos;
    myTraj.push(TM(predTsos, hit, 0, theGeometry->idToLayer(hit->geographicalId()) ));
      }else{
    LogTrace("TrackFitters") << "THE Precise HIT IS VALID: updating currTsos" << "\n";
    
    //update backward predicted tsos with the hit
    currTsos = updator()->update(predTsos, *preciseHit);
        if (!currTsos.isValid()) {
            currTsos = predTsos;
            edm::LogWarning("KFSmoother_UpdateFailed") << 
                "Failed updating state with hit. Rolling back to non-updated state.\n" <<
                "State: "   << predTsos << 
                "Hit local pos:  " << hit->localPosition() << "\n" <<
                "Hit local err:  " << hit->localPositionError() << "\n" <<
                "Hit global pos: " << hit->globalPosition() << "\n" <<
                "Hit global err: " << hit->globalPositionError().matrix() << 
                "\n";
        }

    //smooTsos updates the N-1 hits prediction with the hit
    if (hitcounter == avtm.size()) smooTsos = itm->updatedState();
    else if (hitcounter == 1) smooTsos = currTsos;
    else smooTsos = combiner(itm->forwardPredictedState(), currTsos); 
    
    if(!smooTsos.isValid()) {
      LogDebug("TrackFitters") << "KFTrajectorySmoother: smoothed tsos not valid!";
      if( myTraj.foundHits() >= minHits_ ) {
        LogDebug("TrackFitters") << " breaking trajectory" << "\n";
      } else {        
        LogDebug("TrackFitters") << " killing trajectory" << "\n";       
            ret.clear(); 
      }
          break;
    }
    
    double estimate;
    if (hitcounter != avtm.size()) estimate = estimator()->estimate(combTsos, *preciseHit ).second;//correct?
    else estimate = itm->estimate();
    
    LogTrace("TrackFitters")
      << "predTsos !" << "\n"
      << predTsos << "\n"
      << "currTsos !" << "\n"
      << currTsos << "\n"
      << "smooTsos !" << "\n"
      << smooTsos << "\n"
      << "smoothing estimate (with combTSOS)=" << estimate << "\n"
      << "filtering estimate=" << itm->estimate() << "\n";
    
    //check for valid hits with no det (refitter with constraints)
    if (preciseHit->det()) myTraj.push(TM(itm->forwardPredictedState(),
                          predTsos,
                          smooTsos,
                          preciseHit,
                          estimate,
                          theGeometry->idToLayer(preciseHit->geographicalId()) ),
                       estimator()->estimate(predTsos,*preciseHit).second);
    else myTraj.push(TM(itm->forwardPredictedState(),
                predTsos,
                smooTsos,
                preciseHit,
                estimate),
             estimator()->estimate(predTsos,*preciseHit).second);
    //itm->estimate());
      }
    } else {
      LogDebug("TrackFitters") 
    << "----------------- HIT #" << hitcounter << " (INVALID)-----------------------";      

      //no update
      currTsos = predTsos;
      TSOS combTsos;
      if (hitcounter == avtm.size()) combTsos = itm->forwardPredictedState();
      else if (hitcounter == 1) combTsos = predTsos;
      else combTsos = combiner(predTsos, itm->forwardPredictedState());
      
      if(!combTsos.isValid()) {
        LogDebug("TrackFitters") << 
          "KFTrajectorySmoother: combined tsos not valid!";
        ret.clear(); break;
      }
      
      myTraj.push(TM(itm->forwardPredictedState(),
             predTsos,
                 combTsos,
                 hit,
             0,
             theGeometry->idToLayer(hit->geographicalId()) ));
    }
  } // for loop

  return ret; 
  
}

const TrajectoryStateUpdator* KFTrajectorySmoother::updator ( ) const

inline

Definition at line 67 of file KFTrajectorySmoother.h.

References theUpdator.

Referenced by KalmanAlignmentAlgorithm::initializeAlignmentSetups(), and trajectories().

{return theUpdator;}

Member Data Documentation

const DetLayerGeometry KFTrajectorySmoother::dummyGeometry

private

Definition at line 75 of file KFTrajectorySmoother.h.

Referenced by KFTrajectorySmoother().

int KFTrajectorySmoother::minHits_

private

Definition at line 80 of file KFTrajectorySmoother.h.

Referenced by clone(), and trajectories().

float KFTrajectorySmoother::theErrorRescaling

private

Definition at line 79 of file KFTrajectorySmoother.h.

Referenced by clone(), and trajectories().

const MeasurementEstimator* KFTrajectorySmoother::theEstimator

private

Definition at line 78 of file KFTrajectorySmoother.h.

Referenced by clone(), estimator(), and ~KFTrajectorySmoother().

const DetLayerGeometry* KFTrajectorySmoother::theGeometry

private

Definition at line 81 of file KFTrajectorySmoother.h.

Referenced by clone(), KFTrajectorySmoother(), and trajectories().

Propagator* KFTrajectorySmoother::thePropagator

private

Definition at line 76 of file KFTrajectorySmoother.h.

Referenced by clone(), propagator(), trajectories(), and ~KFTrajectorySmoother().

const TrajectoryStateUpdator* KFTrajectorySmoother::theUpdator

private

Definition at line 77 of file KFTrajectorySmoother.h.

Referenced by clone(), updator(), and ~KFTrajectorySmoother().