#include <KFTrajectoryFitter.h>

Inheritance diagram for KFTrajectoryFitter:

Public Member Functions
virtual KFTrajectoryFitter *	clone () const

const MeasurementEstimator *	estimator () const

virtual std::vector< Trajectory >	fit (const Trajectory &aTraj) const

virtual std::vector< Trajectory >	fit (const TrajectorySeed &aSeed, const RecHitContainer &hits) const

virtual std::vector< Trajectory >	fit (const TrajectorySeed &aSeed, const RecHitContainer &hits, const TSOS &firstPredTsos) const

	KFTrajectoryFitter (const Propagator &aPropagator, const TrajectoryStateUpdator &aUpdator, const MeasurementEstimator &aEstimator, int minHits=3, const DetLayerGeometry *detLayerGeometry=0)

	KFTrajectoryFitter (const Propagator aPropagator, const TrajectoryStateUpdator aUpdator, const MeasurementEstimator aEstimator, int minHits=3, const DetLayerGeometry detLayerGeometry=0)

const Propagator *	propagator () const

const TrajectoryStateUpdator *	updator () const

	~KFTrajectoryFitter ()

Public Member Functions inherited from TrajectoryFitter
virtual std::vector< Trajectory >	fit (const Trajectory &traj, fitType type) const

virtual std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, fitType type) const

virtual std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, const TrajectoryStateOnSurface &tsos, fitType type) const

virtual	~TrajectoryFitter ()

Private Types
typedef FreeTrajectoryState	FTS

typedef TrajectoryMeasurement	TM

typedef TrajectoryStateOnSurface	TSOS

Private Member Functions
	KFTrajectoryFitter (KFTrajectoryFitter const &)

Private Attributes
int	minHits_

bool	owner

const MeasurementEstimator *	theEstimator

const DetLayerGeometry *	theGeometry

const Propagator *	thePropagator

const TrajectoryStateUpdator *	theUpdator

Static Private Attributes
static const DetLayerGeometry	dummyGeometry

Additional Inherited Members
Public Types inherited from TrajectoryFitter
enum	fitType { standard =0, looper =1 }

typedef Trajectory::RecHitContainer	RecHitContainer

typedef TrajectoryFitterRecord	Record

Detailed Description

A Kalman track fit that splits matched RecHits into individual components before fitting them. Ported from ORCA

Date:: 2007/05/09 14:17:57

Revision:: 1.6

Author: todorov, cerati

A Standard Kalman fit. Ported from ORCA

Date:: 2011/01/06 17:04:16

Revision:: 1.13

Author: todorov, cerati

Definition at line 22 of file KFTrajectoryFitter.h.

Member Typedef Documentation

typedef FreeTrajectoryState KFTrajectoryFitter::FTS

private

Definition at line 27 of file KFTrajectoryFitter.h.

typedef TrajectoryMeasurement KFTrajectoryFitter::TM

private

Definition at line 28 of file KFTrajectoryFitter.h.

typedef TrajectoryStateOnSurface KFTrajectoryFitter::TSOS

private

Definition at line 26 of file KFTrajectoryFitter.h.

Constructor & Destructor Documentation

KFTrajectoryFitter::KFTrajectoryFitter	(	const Propagator &	aPropagator,
		const TrajectoryStateUpdator &	aUpdator,
		const MeasurementEstimator &	aEstimator,
		int	minHits = `3`,
		const DetLayerGeometry *	detLayerGeometry = `0`
	)

inline

Definition at line 34 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

Referenced by clone().

                                                          :
     thePropagator(aPropagator.clone()),
     theUpdator(aUpdator.clone()),
     theEstimator(aEstimator.clone()),
     theGeometry(detLayerGeometry),
     minHits_(minHits),
     owner(true){ 
     if(!theGeometry) theGeometry = &dummyGeometry;
     // FIXME. Why this first constructor is needed? who is using it? Can it be removed?
     // it is uses in many many places
     }

KFTrajectoryFitter::KFTrajectoryFitter	(	const Propagator *	aPropagator,
		const TrajectoryStateUpdator *	aUpdator,
		const MeasurementEstimator *	aEstimator,
		int	minHits = `3`,
		const DetLayerGeometry *	detLayerGeometry = `0`
	)

inline

Definition at line 51 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

                                                          : 
     thePropagator(aPropagator),
     theUpdator(aUpdator),
     theEstimator(aEstimator),
     theGeometry(detLayerGeometry),
     minHits_(minHits),
     owner(false){
       if(!theGeometry) theGeometry = &dummyGeometry;
     }

KFTrajectoryFitter::~KFTrajectoryFitter ( )

inline

Definition at line 65 of file KFTrajectoryFitter.h.

References owner, theEstimator, thePropagator, and theUpdator.

                        {
     if (owner) {
       delete thePropagator;
       delete theUpdator;
       delete theEstimator;
     }
   }

KFTrajectoryFitter::KFTrajectoryFitter ( KFTrajectoryFitter const & )

private

Member Function Documentation

virtual KFTrajectoryFitter* KFTrajectoryFitter::clone ( void ) const

inlinevirtual

Implements TrajectoryFitter.

Reimplemented in KFSplittingFitter.

Definition at line 85 of file KFTrajectoryFitter.h.

References KFTrajectoryFitter(), minHits_, owner, theEstimator, theGeometry, thePropagator, and theUpdator.

   {
     return owner ? 
       new KFTrajectoryFitter(*thePropagator,*theUpdator,*theEstimator,minHits_,theGeometry) :
       new KFTrajectoryFitter(thePropagator,theUpdator,theEstimator,minHits_,theGeometry);
   }

const MeasurementEstimator* KFTrajectoryFitter::estimator ( void ) const

inline

Definition at line 83 of file KFTrajectoryFitter.h.

References theEstimator.

Referenced by KFSplittingFitter::clone(), and fit().

83 {return theEstimator;}

KFTrajectoryFitter::theEstimator

const MeasurementEstimator * theEstimator

Definition: KFTrajectoryFitter.h:99

std::vector< Trajectory > KFTrajectoryFitter::fit ( const Trajectory & aTraj ) const

virtual

Implements TrajectoryFitter.

Reimplemented in KFSplittingFitter.

Definition at line 20 of file KFTrajectoryFitter.cc.

References Trajectory::empty(), Trajectory::firstMeasurement(), Trajectory::recHits(), Trajectory::seed(), and TrajectoryMeasurement::updatedState().

Referenced by CosmicTrajectoryBuilder::AddHit(), KFSplittingFitter::fit(), and CRackTrajectoryBuilder::run().

                                                                            {
 
   if(aTraj.empty()) return std::vector<Trajectory>();
  
   TM firstTM = aTraj.firstMeasurement();
   TSOS firstTsos = TrajectoryStateWithArbitraryError()(firstTM.updatedState());
   
   return fit(aTraj.seed(), aTraj.recHits(), firstTsos);
 }

std::vector< Trajectory > KFTrajectoryFitter::fit	(	const TrajectorySeed &	aSeed,
		const RecHitContainer &	hits
	)		const

virtual

Implements TrajectoryFitter.

Definition at line 30 of file KFTrajectoryFitter.cc.

References edm::hlt::Exception.

                                                           {
 
   throw cms::Exception("TrackFitters", 
                "KFTrajectoryFitter::fit(TrajectorySeed, <TransientTrackingRecHit>) not implemented"); 
 
   return std::vector<Trajectory>();
 }

std::vector< Trajectory > KFTrajectoryFitter::fit	(	const TrajectorySeed &	aSeed,
		const RecHitContainer &	hits,
		const TSOS &	firstPredTsos
	)		const

virtual

Implements TrajectoryFitter.

Reimplemented in KFSplittingFitter.

Definition at line 39 of file KFTrajectoryFitter.cc.

References abs, anyDirection, TransientTrackingRecHit::clone(), MuonSubdetId::CSC, CSCDetId, DetId::det(), TrajectorySeed::direction(), PXFDetId::disk(), MuonSubdetId::DT, estimator(), Trajectory::foundHits(), TrackingRecHit::geographicalId(), TransientTrackingRecHit::globalPosition(), DetLayerGeometry::idToLayer(), edm::detail::isnan(), TrackingRecHit::isValid(), TrajectoryStateOnSurface::isValid(), j, PXBDetId::layer(), TOBDetId::layer(), TIBDetId::layer(), TrajectoryStateOnSurface::localParameters(), TrackingRecHit::localPosition(), TrackingRecHit::localPositionError(), LogDebug, LogTrace, minHits_, DetId::Muon, PV3DBase< T, PVType, FrameType >::perp(), PV3DBase< T, PVType, FrameType >::phi(), PixelSubdetector::PixelBarrel, PixelSubdetector::PixelEndcap, GloballyPositioned< T >::position(), LocalTrajectoryParameters::position(), Propagator::propagate(), Propagator::propagationDirection(), Trajectory::push(), LocalTrajectoryParameters::qbp(), DetId::rawId(), Trajectory::reserve(), run_regression::ret, GloballyPositioned< T >::rotation(), MuonSubdetId::RPC, RPCDetId, edm::second(), DetId::subdetId(), TransientTrackingRecHit::surface(), StripSubdetector::TEC, theGeometry, thePropagator, StripSubdetector::TIB, StripSubdetector::TID, StripSubdetector::TOB, DetId::Tracker, TrajectoryStateUpdator::update(), updator(), TIDDetId::wheel(), TECDetId::wheel(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

 {
   if(hits.empty()) return std::vector<Trajectory>();
 
 
   if (aSeed.direction() == anyDirection) 
     throw cms::Exception("KFTrajectoryFitter","TrajectorySeed::direction() requested but not set");
   
   SetPropagationDirection setDir(*thePropagator,aSeed.direction());
 
 #ifdef EDM_LM_DEBUG
   LogDebug("TrackFitters")
     <<" +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"
     <<" KFTrajectoryFitter::fit starting with " << hits.size() <<" HITS";
   
   for (unsigned int j=0;j<hits.size();j++) { 
     if (hits[j]->det()) 
       LogTrace("TrackFitters") << "hit #:" << j+1 << " rawId=" << hits[j]->det()->geographicalId().rawId() 
                    << " validity=" << hits[j]->isValid();
     else
       LogTrace("TrackFitters") << "hit #:" << j+1 << " Hit with no Det information";
   }
   LogTrace("TrackFitters") << " INITIAL STATE "<< firstPredTsos;
 #endif
 
   std::vector<Trajectory> ret(1, Trajectory(aSeed, thePropagator->propagationDirection()));
   Trajectory & myTraj = ret.front();
   myTraj.reserve(hits.size());
 
   TSOS predTsos(firstPredTsos);
   TSOS currTsos;
 
   int hitcounter = 1;
   for(RecHitContainer::const_iterator ihit = hits.begin(); ihit != hits.end(); ++ihit, ++hitcounter) {
 
     const TransientTrackingRecHit & hit = (**ihit);
 
     if (hit.isValid() == false && hit.surface() == 0) {
       LogDebug("TrackFitters")<< " Error: invalid hit with no GeomDet attached .... skipping";
       continue;
     }
 
 #ifdef EDM_LM_DEBUG
     if (hit.isValid()) {
       LogTrace("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" << "\n"
     << hit.surface()->position()<<"\n"
     << "SURFACE ROTATION" << "\n"
     << hit.surface()->rotation();
       
       DetId hitId = hit.geographicalId();
 
       LogTrace("TrackFitters") << " hit det=" << hitId.rawId();
       
       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 ";
       
     } else {
       LogTrace("TrackFitters")
     << " ----------------- INVALID HIT #" << hitcounter << " -----------------------";      
     }
 #endif    
 
     if ( hitcounter != 1) //no propagation needed for the first hit
       predTsos = thePropagator->propagate( currTsos, *(hit.surface()) );
     
 
     if(!predTsos.isValid()) {
       LogDebug("TrackFitters") 
     << "SOMETHING WRONG !" << "\n"
     << "KFTrajectoryFitter: predicted tsos not valid!\n" 
     << "current TSOS: " << currTsos << "\n";
 
       if(hit.surface()) LogTrace("TrackFitters") << "next Surface: " << hit.surface()->position() << "\n";
 
       if( myTraj.foundHits() >= minHits_ ) {
     LogDebug("TrackFitters") << " breaking trajectory" << "\n";
     break;      
       } else {        
     LogDebug("TrackFitters") << " killing trajectory" << "\n";       
     return std::vector<Trajectory>();
       }
     }
     
     if(hit.isValid()) {
       //update
       LogTrace("TrackFitters") << "THE HIT IS VALID: updating hit with predTsos";
       TransientTrackingRecHit::RecHitPointer preciseHit = hit.clone(predTsos);
 
       if (preciseHit->isValid() == false){
     LogTrace("TrackFitters") << "THE Precise HIT IS NOT VALID: using currTsos = predTsos" << "\n";
     currTsos = predTsos;
     myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId()) ));
 
       }else{
     LogTrace("TrackFitters") << "THE Precise HIT IS VALID: updating currTsos" << "\n";
     currTsos = updator()->update(predTsos, *preciseHit);
     //check for valid hits with no det (refitter with constraints)
         bool badState = (!currTsos.isValid())
           || (hit.geographicalId().det() == DetId::Tracker
               &&
               (std::abs(currTsos.localParameters().qbp())>100
                || std::abs(currTsos.localParameters().position().y()) > 1000
                || std::abs(currTsos.localParameters().position().x()) > 1000
                ) ) || std::isnan(currTsos.localParameters().qbp());
         if (badState){
       if (!currTsos.isValid()) edm::LogError("FailedUpdate")<<"updating with the hit failed. Not updating the trajectory with the hit";
       else if (std::isnan(currTsos.localParameters().qbp())) edm::LogError("TrajectoryNaN")<<"Trajectory has NaN";
       else LogTrace("FailedUpdate")<<"updated state is valid but pretty bad, skipping. currTsos "<<currTsos<<"\n predTsos "<<predTsos;
       myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId())  ));
       //There is a no-fail policy here. So, it's time to give up
       //Keep the traj with invalid TSOS so that it's clear what happened
       if( myTraj.foundHits() >= minHits_ ) {
         LogDebug("TrackFitters") << " breaking trajectory" << "\n";
         break;      
       } else {        
         LogDebug("TrackFitters") << " killing trajectory" << "\n";       
         return std::vector<Trajectory>();
       }
     }
     else{
       if (preciseHit->det()) myTraj.push(TM(predTsos, currTsos, preciseHit,
                         estimator()->estimate(predTsos, *preciseHit).second,
                         theGeometry->idToLayer(preciseHit->geographicalId())  ));
       else myTraj.push(TM(predTsos, currTsos, preciseHit,
                   estimator()->estimate(predTsos, *preciseHit).second));
     }
       }
     } else {
       //no update
       LogDebug("TrackFitters") << "THE HIT IS NOT VALID: using currTsos" << "\n";
       currTsos = predTsos;
       myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId())  ));
     }
 
     LogTrace("TrackFitters")
       << "predTsos !" << "\n"
       << predTsos << "\n"
       <<"currTsos !" << "\n"
       << currTsos;
   }  
 
   LogDebug("TrackFitters") << "Found 1 trajectory with " << myTraj.foundHits() << " valid hits\n";
   
   return ret;
 }