KFStripUpdator Class Reference

#include <KFStripUpdator.h>

Inheritance diagram for KFStripUpdator:

Public Member Functions
virtual KFStripUpdator *	clone () const
	KFStripUpdator ()
virtual TSOS	update (const TSOS &aTsos, const TransientTrackingRecHit &aHit) const
	~KFStripUpdator ()
Public Member Functions inherited from TrajectoryStateUpdator
	TrajectoryStateUpdator ()
virtual	~TrajectoryStateUpdator ()

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

inlinevirtual

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 vdt::x.

Referenced by progressbar.ProgressBar::__next__(), relval_steps.Matrix::__setitem__(), relval_steps.Steps::__setitem__(), Vispa.Gui.VispaWidget.VispaWidget::autosize(), Vispa.Views.LineDecayView.LineDecayContainer::createObject(), Vispa.Views.LineDecayView.LineDecayContainer::deselectAllObjects(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::deselectAllWidgets(), Vispa.Gui.VispaWidget.VispaWidget::enableAutosizing(), progressbar.ProgressBar::finish(), Vispa.Gui.MenuWidget.MenuWidget::leaveEvent(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::mouseMoveEvent(), Vispa.Gui.MenuWidget.MenuWidget::mouseMoveEvent(), Vispa.Views.LineDecayView.LineDecayContainer::mouseMoveEvent(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::mouseReleaseEvent(), Vispa.Views.LineDecayView.LineDecayContainer::objectMoved(), relval_steps.Steps::overwrite(), Vispa.Views.LineDecayView.LineDecayContainer::removeObject(), Vispa.Gui.ConnectableWidget.ConnectableWidget::removePorts(), Vispa.Gui.FindDialog.FindDialog::reset(), Vispa.Gui.PortConnection.PointToPointConnection::select(), Vispa.Gui.VispaWidget.VispaWidget::select(), Vispa.Views.LineDecayView.LineDecayContainer::select(), Vispa.Gui.VispaWidget.VispaWidget::setText(), Vispa.Gui.VispaWidget.VispaWidget::setTitle(), Vispa.Gui.ZoomableWidget.ZoomableWidget::setZoom(), Vispa.Views.LineDecayView.LineDecayContainer::setZoom(), KFSwitchingUpdator::update(), and Vispa.Gui.PortConnection.PointToPointConnection::updateConnection().

                                                                                   {

  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()));  
}