SurveyAlignmentPoints Class Reference

#include <SurveyAlignmentPoints.h>

Inheritance diagram for SurveyAlignmentPoints:

Public Member Functions
	SurveyAlignmentPoints (const align::Alignables &sensors, const std::vector< align::StructureType > &levels)
	Constructor to set the sensors and residual levels in base class. More...
Public Member Functions inherited from SurveyAlignment
void	iterate (unsigned int nIteration, const std::string &fileName, bool bias=false)
	Run the iteration: find residuals, write to output, shift sensors. More...
	SurveyAlignment (const align::Alignables &sensors, const std::vector< align::StructureType > &levels)
	Constructor to set the sensors and residual levels. More...
virtual	~SurveyAlignment ()

Protected Member Functions
virtual void	findAlignPars (bool bias=false)
	Find the alignment parameters for all sensors. More...
Protected Member Functions inherited from SurveyAlignment
virtual void	shiftSensors ()
	Apply the alignment parameters to all sensors. More...

Additional Inherited Members
Protected Attributes inherited from SurveyAlignment
const std::vector < align::StructureType > &	theLevels
const align::Alignables &	theSensors

Detailed Description

Survey alignment using point residuals.

The local residuals for survey points are found for each sensor. The alignment parameters are found using the HIP algorithm.

Date:

2007/05/03 20:58:58

Revision:

1.3

Author

Chung Khim Lae

Definition at line 18 of file SurveyAlignmentPoints.h.

Constructor & Destructor Documentation

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

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

Definition at line 8 of file SurveyAlignmentPoints.cc.

                                                                     :
  SurveyAlignment(sensors, levels)
{
}

Member Function Documentation

void SurveyAlignmentPoints::findAlignPars ( bool  bias = false )

protectedvirtual

Find the alignment parameters for all sensors.

Implements SurveyAlignment.

Definition at line 14 of file SurveyAlignmentPoints.cc.

References SurveyDet::derivatives(), alignCSCRings::e, i, j, ConfigFiles::l, SurveyResidual::pointsResidual(), Alignable::setAlignmentParameters(), Alignable::survey(), SurveyAlignment::theLevels, SurveyAlignment::theSensors, SurveyResidual::valid(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

{
  unsigned int nSensor = theSensors.size();

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

    AlgebraicSymMatrix sumJVJT(6, 0); // 6 by 6 symmetric matrix init to 0
    AlgebraicVector    sumJVe(6, 0);  // init to 0

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

      if ( !res.valid() ) continue;

      align::LocalVectors residuals = res.pointsResidual();

      unsigned int nPoints = residuals.size();

      for (unsigned int j = 0; j < nPoints; ++j)
      {
    AlgebraicMatrix J = ali->survey()->derivatives(j);
    AlgebraicSymMatrix V(3, 1); // identity for now
    AlgebraicVector e(3); // local residual

    const align::LocalVector& lr = residuals[j];

    e(1) = lr.x(); e(2) = lr.y(); e(3) = lr.z();
    V /= 1e-4 * 1e-4;
    sumJVe  += J * (V * e);
    sumJVJT += V.similarity(J);
      }
    }

    int dummy;
    sumJVJT.invert(dummy); // sumJVJT = sumJVJT^-1
    sumJVe = -sumJVJT * sumJVe;

    ali->setAlignmentParameters( new SurveyParameters(ali, sumJVe, sumJVJT) );
  }
}