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#include <KFTrajectorySmoother.h>
A Standard Kalman smoother. The forward fit is not redone, only the backward smoothing. Ported from ORCA
Definition at line 22 of file KFTrajectorySmoother.h.
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.
| 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;
}
| virtual KFTrajectorySmoother* KFTrajectorySmoother::clone | ( | void | ) | const [inline, virtual] |
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, CSC(), CSCDetId, DetId::det(), Trajectory::direction(), PXFDetId::disk(), GeomDetEnumerators::DT, Trajectory::empty(), MeasurementEstimator::estimate(), estimator(), Trajectory::foundHits(), TrajectoryStateOnSurface::globalMomentum(), TrajectoryStateOnSurface::globalPosition(), DetLayerGeometry::idToLayer(), TrajectoryStateOnSurface::isValid(), j, TIBDetId::layer(), TOBDetId::layer(), PXBDetId::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, dedefs::RPC, RPCDetId, Trajectory::seed(), Propagator::setPropagationDirection(), DetId::subdetId(), sistripsummary::TEC, theErrorRescaling, theGeometry, thePropagator, sistripsummary::TIB, sistripsummary::TID, sistripsummary::TOB, align::Tracker, TrajectoryStateUpdator::update(), updator(), TIDDetId::wheel(), and TECDetId::wheel().
Referenced by RoadSearchTrackCandidateMakerAlgorithm::PrepareTrackCandidates(), RoadSearchTrackCandidateMakerAlgorithm::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;}
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().
1.7.3