SurveyAlignmentSensor Class Reference

#include <SurveyAlignmentSensor.h>

Inheritance diagram for SurveyAlignmentSensor:

List of all members.

Public Member Functions
	SurveyAlignmentSensor (const align::Alignables &sensors, const std::vector< align::StructureType > &levels)
	Constructor to set the sensors and residual levels in base class.
Protected Member Functions
virtual void	findAlignPars (bool bias=false)
	Find the alignment parameters for all sensors.

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Detailed Description

Survey alignment using sensor residual.

The residual (dRx, dRy, dRz, dWx, dWy, dWz) is found for each sensor. The sensor shifted by this amount during each iteration.

Date:

2007/10/08 16:38:03

Revision:

1.4

Author:

Chung Khim Lae

Definition at line 18 of file SurveyAlignmentSensor.h.

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Constructor & Destructor Documentation

SurveyAlignmentSensor::SurveyAlignmentSensor	(	const align::Alignables &	sensors,
		const std::vector< align::StructureType > &	levels
	)

Constructor to set the sensors and residual levels in base class.

Definition at line 7 of file SurveyAlignmentSensor.cc.

                                                                                         :
  SurveyAlignment(sensors, levels)
{
}

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Member Function Documentation

void SurveyAlignmentSensor::findAlignPars

(

bool

bias = false

)

[protected, virtual]

Find the alignment parameters for all sensors.

Implements SurveyAlignment.

Definition at line 13 of file SurveyAlignmentSensor.cc.

References i, SurveyResidual::inverseCovariance(), prof2calltree::l, SurveyResidual::sensorResidual(), Alignable::setAlignmentParameters(), SurveyAlignment::theLevels, SurveyAlignment::theSensors, and SurveyResidual::valid().

{
  unsigned int nSensor = theSensors.size();

  for (unsigned int i = 0; i < nSensor; ++i)
  {
    Alignable* ali = theSensors[i];

    AlgebraicVector par(6, 0);
    AlgebraicSymMatrix cov(6, 0);

    for (unsigned int l = 0; l < theLevels.size(); ++l)
    {
      SurveyResidual res(*ali, theLevels[l], bias);

      if ( !res.valid() ) continue;

      AlgebraicSymMatrix invCov = res.inverseCovariance();

      par += invCov * res.sensorResidual();
      cov += invCov;
    }

    int dummy;
    cov.invert(dummy); // cov = cov^-1
    par = -cov * par;

    ali->setAlignmentParameters( new SurveyParameters(ali, par, cov) );
  }
}