KalmanVertexTrackUpdator< N > Class Template Reference

#include <KalmanVertexTrackUpdator.h>

Inheritance diagram for KalmanVertexTrackUpdator< N >:

Public Types
typedef ROOT::Math::SMatrix < double, 3, N-2, ROOT::Math::MatRepStd< double, 3, N-2 > >	AlgebraicMatrix3M
typedef ROOT::Math::SMatrix < double, N+1, N+1, ROOT::Math::MatRepSym< double, N+1 > >	AlgebraicSymMatrixOO
typedef VertexTrack< N > ::RefCountedLinearizedTrackState	RefCountedLinearizedTrackState
typedef VertexTrack< N > ::RefCountedRefittedTrackState	RefCountedRefittedTrackState
typedef CachingVertex< N > ::RefCountedVertexTrack	RefCountedVertexTrack
typedef std::pair < RefCountedRefittedTrackState, AlgebraicSymMatrixOO >	trackMatrixPair

Public Member Functions
KalmanVertexTrackUpdator< N > *	clone () const
	KalmanVertexTrackUpdator ()
trackMatrixPair	trackRefit (const VertexState &vertex, RefCountedLinearizedTrackState linTrackState, float weight) const
RefCountedVertexTrack	update (const CachingVertex< N > &vertex, RefCountedVertexTrack track) const
virtual	~KalmanVertexTrackUpdator ()
Public Member Functions inherited from VertexTrackUpdator< N >
virtual CachingVertex< N > ::RefCountedVertexTrack	update (const CachingVertex< N > &v, typename CachingVertex< N >::RefCountedVertexTrack t) const =0
virtual	~VertexTrackUpdator ()

Private Attributes
KVFHelper< N >	helper
VertexTrackFactory< N >	theVTFactory
KalmanVertexUpdator< N >	updator

Detailed Description

template<unsigned int N>
class KalmanVertexTrackUpdator< N >

Performs the refit of the tracks with the vertex constraint, using the Kalman filter algorithms.

Definition at line 17 of file KalmanVertexTrackUpdator.h.

Member Typedef Documentation

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,3,N-2,ROOT::Math::MatRepStd<double,3,N-2> > KalmanVertexTrackUpdator< N >::AlgebraicMatrix3M

Definition at line 55 of file KalmanVertexTrackUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N+1,N+1,ROOT::Math::MatRepSym<double,N+1> > KalmanVertexTrackUpdator< N >::AlgebraicSymMatrixOO

Definition at line 56 of file KalmanVertexTrackUpdator.h.

template<unsigned int N>

typedef VertexTrack<N>::RefCountedLinearizedTrackState KalmanVertexTrackUpdator< N >::RefCountedLinearizedTrackState

Definition at line 22 of file KalmanVertexTrackUpdator.h.

template<unsigned int N>

typedef VertexTrack<N>::RefCountedRefittedTrackState KalmanVertexTrackUpdator< N >::RefCountedRefittedTrackState

Definition at line 23 of file KalmanVertexTrackUpdator.h.

template<unsigned int N>

typedef CachingVertex<N>::RefCountedVertexTrack KalmanVertexTrackUpdator< N >::RefCountedVertexTrack

Definition at line 21 of file KalmanVertexTrackUpdator.h.

template<unsigned int N>

typedef std::pair< RefCountedRefittedTrackState, AlgebraicSymMatrixOO > KalmanVertexTrackUpdator< N >::trackMatrixPair

Definition at line 57 of file KalmanVertexTrackUpdator.h.

Constructor & Destructor Documentation

template<unsigned int N>

KalmanVertexTrackUpdator< N >::KalmanVertexTrackUpdator ( )

inline

Default constructor

Definition at line 30 of file KalmanVertexTrackUpdator.h.

Referenced by KalmanVertexTrackUpdator< 5 >::clone().

{}

template<unsigned int N>

virtual KalmanVertexTrackUpdator< N >::~KalmanVertexTrackUpdator ( )

inlinevirtual

Definition at line 32 of file KalmanVertexTrackUpdator.h.

{}

Member Function Documentation

template<unsigned int N>

KalmanVertexTrackUpdator<N>* KalmanVertexTrackUpdator< N >::clone ( void  ) const

inlinevirtual

Clone method

Implements VertexTrackUpdator< N >.

Definition at line 50 of file KalmanVertexTrackUpdator.h.

  {
    return new KalmanVertexTrackUpdator(*this);
  }

template<unsigned int N>

KalmanVertexTrackUpdator< N >::trackMatrixPair KalmanVertexTrackUpdator< N >::trackRefit	(	const VertexState &	vertex,
		RefCountedLinearizedTrackState	linTrackState,
		float	weight
	)		const

Refit of the track with the vertex constraint.

Parameters

vertex	The vertex which has to be used as constraint.
track	The track to refit.

Returns

The refitted state with the track-to-vertex covariance.

Definition at line 34 of file KalmanVertexTrackUpdator.cc.

References a, b, VertexState::error(), invertPosDefMatrix(), GlobalErrorBase< T, ErrorWeightType >::matrix_new(), N, VertexState::position(), alignCSCRings::s, VertexState::weight(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

Referenced by GsfVertexSmoother::createNewComponent().

{
  typedef ROOT::Math::SVector<double,N> AlgebraicVectorN;
  typedef ROOT::Math::SVector<double,N-2> AlgebraicVectorM;
  typedef ROOT::Math::SMatrix<double,N,3,ROOT::Math::MatRepStd<double,N,3> > AlgebraicMatrixN3;
  typedef ROOT::Math::SMatrix<double,3,N,ROOT::Math::MatRepStd<double,3,N> > AlgebraicMatrix3N;
  typedef ROOT::Math::SMatrix<double,3,N-2,ROOT::Math::MatRepStd<double,3,N-2> > AlgebraicMatrix3M;
  typedef ROOT::Math::SMatrix<double,N,N-2,ROOT::Math::MatRepStd<double,N,N-2> > AlgebraicMatrixNM;
  typedef ROOT::Math::SMatrix<double,N-2,3,ROOT::Math::MatRepStd<double,N-2,3> > AlgebraicMatrixM3;
  typedef ROOT::Math::SMatrix<double,N,N,ROOT::Math::MatRepSym<double,N> > AlgebraicSymMatrixNN;
//   typedef ROOT::Math::SMatrix<double,N+1,N+1,ROOT::Math::MatRepSym<double,N+1> > AlgebraicSymMatrixOO;
  typedef ROOT::Math::SMatrix<double,N+1,N+1,ROOT::Math::MatRepStd<double,N+1,N+1> > AlgebraicMatrixOO;
  typedef ROOT::Math::SMatrix<double,N-2,N-2,ROOT::Math::MatRepSym<double,N-2> > AlgebraicSymMatrixMM;

  //Vertex position 
  GlobalPoint vertexPosition = vertex.position();

  AlgebraicVector3 vertexCoord;
  vertexCoord(0) = vertexPosition.x();
  vertexCoord(1) = vertexPosition.y();
  vertexCoord(2) = vertexPosition.z();
  const AlgebraicSymMatrix33 vertexErrorMatrix = vertex.error().matrix_new();

//track information
  const AlgebraicMatrixN3 a = linTrackState->positionJacobian();
  const AlgebraicMatrixNM b = linTrackState->momentumJacobian();

//   AlgebraicVectorN trackParameters = 
//      linTrackState->predictedStateParameters();

  int ifail;
  AlgebraicSymMatrixNN trackParametersWeight = 
    linTrackState->predictedStateWeight(ifail);

  AlgebraicSymMatrixMM s = ROOT::Math::SimilarityT(b,trackParametersWeight);
  
  if (!invertPosDefMatrix(s)) 
      throw VertexException
    ("KalmanVertexTrackUpdator::S matrix inversion failed");
   
  //                                    NN           NM  MM
  AlgebraicMatrixNM twbs =  trackParametersWeight *  b * s;


  AlgebraicVectorN vv = 
    linTrackState->predictedStateParameters() - linTrackState->constantTerm() - a*vertexCoord;
  //                                   MM                MN                    NN
  //  AlgebraicVectorM newTrackMomentumP =  s * (ROOT::Math::Transpose(b)) * trackParametersWeight * vv;
  AlgebraicVectorM newTrackMomentumP = ROOT::Math::Transpose(twbs) * vv;

   //AlgebraicMatrix3M refittedPositionMomentumConvariance = 
  //        33                        3N                    NN                  NM  MM
  //  -vertexErrorMatrix * (ROOT::Math::Transpose(a)) * trackParametersWeight * b * s;

  AlgebraicMatrix3N tmpM1 = -vertexErrorMatrix * (ROOT::Math::Transpose(a));
  AlgebraicMatrix3M  refittedPositionMomentumConvariance  = tmpM1 * twbs;

  AlgebraicSymMatrixMM refittedMomentumConvariance = s/weight +  
     ROOT::Math::SimilarityT(refittedPositionMomentumConvariance, vertex.weight().matrix_new());

  
 // int matrixSize = 3+3; //refittedMomentumConvariance.num_col();
  AlgebraicMatrixOO  covMatrix; //(matrixSize, matrixSize);
  covMatrix.Place_at(refittedPositionMomentumConvariance, 0, 3);
  covMatrix.Place_at(ROOT::Math::Transpose(refittedPositionMomentumConvariance), 3, 0);
  covMatrix.Place_at(vertexErrorMatrix, 0, 0);
  covMatrix.Place_at(refittedMomentumConvariance, 3 ,3);

  AlgebraicSymMatrixOO covSymMatrix(covMatrix.LowerBlock());

  RefCountedRefittedTrackState refittedTrackState = linTrackState->
    createRefittedTrackState(vertexPosition, newTrackMomentumP, covSymMatrix);

  return trackMatrixPair(refittedTrackState, covSymMatrix);
//          (refittedTrackState, refittedPositionMomentumConvariance);
} 

template<unsigned int N>

CachingVertex< N >::RefCountedVertexTrack KalmanVertexTrackUpdator< N >::update	(	const CachingVertex< N > &	vertex,
		RefCountedVertexTrack	track
	)		const

Refit of the track with the vertex constraint.

Parameters

vertex	The vertex which has to be used as constraint.
track	The track to refit.

Returns

The VertexTrack containing the refitted track and the track-to-vertex covariance.

Definition at line 15 of file KalmanVertexTrackUpdator.cc.

References query::result, and CachingVertex< N >::vertexState().

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(), and Vispa.Gui.PortConnection.PointToPointConnection::updateConnection().

{
  trackMatrixPair thePair = 
    trackRefit(vertex.vertexState(), track->linearizedTrack(), track->weight() );

  VertexState rVert = updator.positionUpdate (vertex.vertexState(), track->linearizedTrack(),
            track->weight(), -1);

  std::pair<bool, double> result = helper.trackParameterChi2(track->linearizedTrack(), thePair.first);
  float smoothedChi2 = helper.vertexChi2(rVert, vertex.vertexState()) + result.second;

  return theVTFactory.vertexTrack(track->linearizedTrack(),
    vertex.vertexState(), thePair.first, smoothedChi2, thePair.second,
    track->weight());
}

Member Data Documentation

template<unsigned int N>

KVFHelper<N> KalmanVertexTrackUpdator< N >::helper

private

Definition at line 73 of file KalmanVertexTrackUpdator.h.

template<unsigned int N>

VertexTrackFactory<N> KalmanVertexTrackUpdator< N >::theVTFactory

private

Definition at line 72 of file KalmanVertexTrackUpdator.h.

template<unsigned int N>

KalmanVertexUpdator<N> KalmanVertexTrackUpdator< N >::updator

private

Definition at line 74 of file KalmanVertexTrackUpdator.h.