KFTrajectoryFitter.cc

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#include "TrackingTools/TrackFitters/interface/KFTrajectoryFitter.h"
#include "TrackingTools/TrackFitters/interface/TrajectoryStateWithArbitraryError.h"
#include "TrackingTools/TransientTrackingRecHit/interface/TransientTrackingRecHit.h"
#include "FWCore/Utilities/interface/Exception.h"
#include "FWCore/MessageLogger/interface/MessageLogger.h"
#include "DataFormats/TrackerCommon/interface/TrackerTopology.h"
#include "Geometry/Records/interface/IdealGeometryRecord.h"
#include "DataFormats/MuonDetId/interface/CSCDetId.h"
#include "DataFormats/MuonDetId/interface/DTWireId.h"
#include "DataFormats/MuonDetId/interface/RPCDetId.h"
#include "DataFormats/MuonDetId/interface/MuonSubdetId.h"
#include "FWCore/Utilities/interface/isFinite.h"


const DetLayerGeometry KFTrajectoryFitter::dummyGeometry;

Trajectory KFTrajectoryFitter::fitOne(const Trajectory& aTraj, fitType type) const {

  if(aTraj.empty()) return Trajectory();
 
  TM firstTM = aTraj.firstMeasurement();
  TSOS firstTsos = TrajectoryStateWithArbitraryError()(firstTM.updatedState());
  
  return fitOne(aTraj.seed(), aTraj.recHits(), firstTsos,type);
}

Trajectory KFTrajectoryFitter::fitOne(const TrajectorySeed&,
                      const RecHitContainer&, fitType) const{

  throw cms::Exception("TrackFitters", 
               "KFTrajectoryFitter::fit(TrajectorySeed, <TransientTrackingRecHit>) not implemented"); 

  return Trajectory();
}

Trajectory KFTrajectoryFitter::fitOne(const TrajectorySeed& aSeed,
                      const RecHitContainer& hits,
                      const TSOS& firstPredTsos,fitType) const 
{
  if(hits.empty()) return Trajectory();


  if unlikely(aSeed.direction() == anyDirection) 
    throw cms::Exception("KFTrajectoryFitter","TrajectorySeed::direction() requested but not set");
  
  SetPropagationDirection setDir(*thePropagator,aSeed.direction());

#ifdef EDM_ML_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

  Trajectory ret(aSeed, thePropagator->propagationDirection());
  Trajectory & myTraj = ret;
  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 unlikely( (!hit.isValid()) && hit.surface() == nullptr) {
      LogDebug("TrackFitters")<< " Error: invalid hit with no GeomDet attached .... skipping";
      continue;
    }

#ifdef EDM_ML_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 " << tTopo->tibLayer(hitId);
    else if (hitId.subdetId() == StripSubdetector::TOB ) 
      LogTrace("TrackFitters") << " I am TOB " << tTopo->tobLayer(hitId);
    else if (hitId.subdetId() == StripSubdetector::TEC ) 
      LogTrace("TrackFitters") << " I am TEC " << tTopo->tecWheel(hitId);
    else if (hitId.subdetId() == StripSubdetector::TID ) 
      LogTrace("TrackFitters") << " I am TID " << tTopo->tidWheel(hitId);
    else if (hitId.subdetId() == StripSubdetector::TID ) 
      LogTrace("TrackFitters") << " I am TID " << tTopo->tidWheel(hitId);
    else if (hitId.subdetId() == (int) PixelSubdetector::PixelBarrel ) 
      LogTrace("TrackFitters") << " I am PixBar " << tTopo->pxbLayer(hitId);
    else if (hitId.subdetId() == (int) PixelSubdetector::PixelEndcap )
      LogTrace("TrackFitters") << " I am PixFwd " << tTopo->pxfDisk(hitId);
    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 unlikely(!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 Trajectory();
      }
    }
    
    if likely(hit.isValid()) {
    //update
    LogTrace("TrackFitters") << "THE HIT IS VALID: updating hit with predTsos";
    TransientTrackingRecHit::RecHitPointer preciseHit = hit.clone(predTsos);
    
    if unlikely(!preciseHit->isValid()){
        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
               ) ) || edm::isNotFinite(currTsos.localParameters().qbp());
      if unlikely(badState){
        if (!currTsos.isValid()) edm::LogError("FailedUpdate")
         <<"updating with the hit failed. Not updating the trajectory with the hit";
        else if (edm::isNotFinite(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 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;
}