#include <JacobianCurvilinearToLocal.h>

Public Member Functions
const AlgebraicMatrix55 &	jacobian () const

	JacobianCurvilinearToLocal (const Surface &surface, const LocalTrajectoryParameters &localParameters, const MagneticField &magField)

	JacobianCurvilinearToLocal (const Surface &surface, const LocalTrajectoryParameters &localParameters, const GlobalTrajectoryParameters &globalParameters, const MagneticField &magField)

Private Member Functions
void	compute (Surface::RotationType const &rot, GlobalVector const &tn, GlobalVector const &qh, double lz)

Private Attributes
AlgebraicMatrix55	theJacobian

Detailed Description

Class which calculates the Jacobian matrix of the transformation from the curvilinear to the local frame. The Jacobian is calculated during construction and thereafter cached, enabling reuse of the same Jacobian without calculating it again.

Definition at line 19 of file JacobianCurvilinearToLocal.h.

Constructor & Destructor Documentation

JacobianCurvilinearToLocal::JacobianCurvilinearToLocal	(	const Surface &	surface,
		const LocalTrajectoryParameters &	localParameters,
		const MagneticField &	magField
	)

Constructor from local trajectory parameters and surface defining the local frame. NB!! No default constructor exists!

Definition at line 9 of file JacobianCurvilinearToLocal.cc.

References compute(), LocalTrajectoryParameters::direction(), h, MagneticField::inInverseGeV(), LocalTrajectoryParameters::position(), makeMuonMisalignmentScenario::rot, GloballyPositioned< T >::rotation(), LocalTrajectoryParameters::signedInverseMomentum(), Surface::toGlobal(), x, and PV3DBase< T, PVType, FrameType >::z().

                                               : theJacobian(ROOT::Math::SMatrixNoInit()) {
  
   GlobalPoint  x = surface.toGlobal(localParameters.position());
   GlobalVector h  = magField.inInverseGeV(x);
   GlobalVector qh = h*localParameters.signedInverseMomentum();  // changed sign
 
 
   //  GlobalVector  hdir =  h.unit();
   //double q = -h.mag() * localParameters.signedInverseMomentum();
   
   LocalVector tnl = localParameters.direction();
   GlobalVector tn = surface.toGlobal(tnl);
   double t1r = 1./tnl.z();
 
   // GlobalVector dj = surface.toGlobal(LocalVector(1., 0., 0.));
   // GlobalVector dk = surface.toGlobal(LocalVector(0., 1., 0.));
   //  GlobalVector di = surface.toGlobal(LocalVector(0., 0., 1.));
   Surface::RotationType const & rot = surface.rotation();
 
   compute(rot, tn, qh, t1r);
 }

JacobianCurvilinearToLocal::JacobianCurvilinearToLocal	(	const Surface &	surface,
		const LocalTrajectoryParameters &	localParameters,
		const GlobalTrajectoryParameters &	globalParameters,
		const MagneticField &	magField
	)

Definition at line 34 of file JacobianCurvilinearToLocal.cc.

References funct::abs(), compute(), LocalTrajectoryParameters::direction(), h, GlobalTrajectoryParameters::magneticFieldInInverseGeV(), GlobalTrajectoryParameters::momentum(), makeMuonMisalignmentScenario::rot, GloballyPositioned< T >::rotation(), LocalTrajectoryParameters::signedInverseMomentum(), and PV3DBase< T, PVType, FrameType >::z().

                                               : theJacobian(ROOT::Math::SMatrixNoInit()) {
  
   // GlobalPoint  x =  globalParameters.position();
   // GlobalVector h  = magField.inInverseGeV(x);
   GlobalVector h  = globalParameters.magneticFieldInInverseGeV();
   GlobalVector qh = h*localParameters.signedInverseMomentum();  // changed sign
 
   //GlobalVector  hdir =  h.unit();
   //double q = -h.mag() * localParameters.signedInverseMomentum();
 
  
   //  GlobalVector tn = globalParameters.momentum().unit();
   //  LocalVector tnl = localParameters.momentum().unit();
 
   LocalVector tnl = localParameters.direction();
   // GlobalVector tn = surface.toGlobal(tnl); // faster?
   GlobalVector tn =  globalParameters.momentum()*std::abs(localParameters.signedInverseMomentum());
   double t1r = 1./tnl.z();
  
  
   Surface::RotationType const & rot = surface.rotation();
 
   compute(rot, tn, qh, t1r);
 }

Member Function Documentation

void JacobianCurvilinearToLocal::compute	(	Surface::RotationType const &	rot,
		GlobalVector const &	tn,
		GlobalVector const &	qh,
		double	lz
	)

private

Definition at line 63 of file JacobianCurvilinearToLocal.cc.

References PV3DBase< T, PVType, FrameType >::basicVector(), Vector3DBase< T, FrameTag >::dot(), alignCSCRings::e, i, j, roll_playback::k, PV3DBase< T, PVType, FrameType >::perp(), TkRotation< T >::rotate(), theJacobian, interactiveExample::ui, findQualityFiles::v, PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

Referenced by JacobianCurvilinearToLocal().

                                                                                                                                        {
   // Origin: TRSCSD
 
   double cosl = tn.perp(); if (cosl < 1.e-30) cosl = 1.e-30;
   double cosl1 = 1./cosl;
   GlobalVector un(-tn.y()*cosl1, tn.x()*cosl1, 0.);
   GlobalVector vn(-tn.z()*un.y(), tn.z()*un.x(), cosl);
 
   auto u = rot.rotate(un.basicVector());
   auto v = rot.rotate(vn.basicVector());
 
   int j=0, k=1, i=2;
 
   //  double t1r = 1./tvw.x();
   double t2r = t1r*t1r;
   double t3r = t1r*t2r;
 
   theJacobian(0,0) = 1.;
   for (auto i=1;i<5; ++i) theJacobian(0,i)=0.; 
   theJacobian(1,0) = 0.;
   theJacobian(2,0) = 0.;
  
   theJacobian(1,1) = -u[k]*t2r;
   theJacobian(1,2) = v[k]*(cosl*t2r);
   theJacobian(2,1) = u[j]*t2r;
   theJacobian(2,2) = -v[j]*(cosl*t2r);
 
   for (auto i=0;i<3; ++i) { theJacobian(3,i)=0.; theJacobian(4,i)=0.; }
 
   theJacobian(3,3) = v[k]*t1r;
   theJacobian(3,4) = -u[k]*t1r;
   theJacobian(4,3) = -v[j]*t1r;
   theJacobian(4,4) = u[j]*t1r;
 
 
   double sinz = un.dot(qh);
   double cosz =-vn.dot(qh);
   double ui = u[i]*(t3r);
   double vi = v[i]*(t3r);
   theJacobian(1,3) =-ui*(v[k]*cosz-u[k]*sinz);
   theJacobian(1,4) =-vi*(v[k]*cosz-u[k]*sinz);
   theJacobian(2,3) = ui*(v[j]*cosz-u[j]*sinz);
   theJacobian(2,4) = vi*(v[j]*cosz-u[j]*sinz);
   // end of TRSCSD
   //dbg::dbg_trace(1,"Cu2L", localParameters.vector(),di,dj,dk,theJacobian);
 }