RigidBodyAlignmentParameters Class Reference

#include <RigidBodyAlignmentParameters.h>

Inheritance diagram for RigidBodyAlignmentParameters:

Public Types
enum	AlignmentParameterName {   dx = 0, dy, dz, dalpha,   dbeta, dgamma, N_PARAM }
	Give parameters a name. More...
Public Types inherited from AlignmentParameters
typedef AlignmentParametersData::DataContainer	DataContainer

Public Member Functions
virtual void	apply ()
	apply parameters to alignable More...
virtual RigidBodyAlignmentParameters *	clone (const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix) const
	Clone all parameters (for update of parameters) More...
virtual RigidBodyAlignmentParameters *	cloneFromSelected (const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix) const
	Clone selected parameters (for update of parameters) More...
virtual AlgebraicMatrix	derivatives (const TrajectoryStateOnSurface &tsos, const AlignableDetOrUnitPtr &) const
	Get all derivatives. More...
AlgebraicVector	globalParameters (void) const
	calculate and return parameters in global frame More...
void	print (void) const
	print parameters to screen More...
	RigidBodyAlignmentParameters (Alignable *alignable, bool calcMis)
	RigidBodyAlignmentParameters (Alignable *alignable, const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix)
	Constructor for full set of parameters. More...
	RigidBodyAlignmentParameters (Alignable *alignable, const AlgebraicVector &parameters, const AlgebraicSymMatrix &covMatrix, const std::vector< bool > &selection)
	Constructor for selection. More...
AlgebraicVector	rotation (void) const
	Get rotation parameters. More...
virtual AlgebraicMatrix	selectedDerivatives (const TrajectoryStateOnSurface &tsos, const AlignableDetOrUnitPtr &) const
	Get selected derivatives. More...
AlgebraicVector	translation (void) const
	Get translation parameters. More...
virtual int	type () const
	tell type (AlignmentParametersFactory::ParametersType - but no circular dependency) More...
virtual	~RigidBodyAlignmentParameters ()
	Destructor. More...
Public Member Functions inherited from AlignmentParameters
Alignable *	alignable (void) const
	Get pointer to corresponding alignable. More...
	AlignmentParameters ()
	Default constructor. More...
	AlignmentParameters (Alignable *object, const AlgebraicVector &par, const AlgebraicSymMatrix &cov)
	Constructor from given input. More...
	AlignmentParameters (Alignable *object, const AlgebraicVector &par, const AlgebraicSymMatrix &cov, const std::vector< bool > &sel)
	Constructor including selection of active parameters. More...
	AlignmentParameters (Alignable *object, const DataContainer &data)
	Constructor. More...
const AlgebraicSymMatrix &	covariance (void) const
	Get parameter covariance matrix. More...
virtual unsigned int	hierarchyLevel () const
bool	isValid (void) const
	Get validity flag. More...
int	numSelected (void) const
	Get number of selected parameters. More...
const AlgebraicVector &	parameters (void) const
	Get alignment parameters. More...
AlgebraicSymMatrix	selectedCovariance (void) const
	Get covariance matrix of selected parameters. More...
AlgebraicVector	selectedParameters (void) const
	Get selected parameters. More...
const std::vector< bool > &	selector (void) const
	Get alignment parameter selector vector. More...
void	setUserVariables (AlignmentUserVariables *auv)
	Set pointer to user variables. More...
void	setValid (bool v)
	Set validity flag. More...
int	size (void) const
	Get number of parameters. More...
AlignmentUserVariables *	userVariables (void) const
	Get pointer to user variables. More...
virtual	~AlignmentParameters ()
	Destructor. More...

Static Public Member Functions
static AlgebraicVector	displacementFromAlignable (const Alignable *ali)

Additional Inherited Members
Protected Member Functions inherited from AlignmentParameters
AlgebraicSymMatrix	collapseSymMatrix (const AlgebraicSymMatrix &m, const std::vector< bool > &sel) const
AlgebraicVector	collapseVector (const AlgebraicVector &m, const std::vector< bool > &sel) const
AlgebraicSymMatrix	expandSymMatrix (const AlgebraicSymMatrix &m, const std::vector< bool > &sel) const
AlgebraicVector	expandVector (const AlgebraicVector &m, const std::vector< bool > &sel) const
Protected Attributes inherited from AlignmentParameters
bool	bValid
	True if parameters are valid. More...
Alignable *	theAlignable
DataContainer	theData
AlignmentUserVariables *	theUserVariables

Detailed Description

Concrete class for alignment parameters and associated quantities [derived from AlignmentParameters]. The number of parameters N_PARAM is fixed to 6 (3 translations + 3 rotations)

Date:

2007/10/08 15:56:00

Revision:

1.12

(last update by

Author:

cklae

)

Concrete class for alignment parameters and associated quantities [derived from AlignmentParameters]. The number of parameters N_PARAM is fixed to 6 (3 translations + 3 rotations)

Date:

2008/09/02 15:08:12

Revision:

1.13

(last update by

Author:

flucke

)

Definition at line 21 of file RigidBodyAlignmentParameters.h.

Member Enumeration Documentation

enum RigidBodyAlignmentParameters::AlignmentParameterName

Give parameters a name.

Enumerator
dx
dy
dz
dalpha
dbeta
dgamma
N_PARAM

Definition at line 27 of file RigidBodyAlignmentParameters.h.

    {
      dx = 0, dy, dz,
      dalpha, dbeta, dgamma,
      N_PARAM
    };

Constructor & Destructor Documentation

RigidBodyAlignmentParameters::RigidBodyAlignmentParameters	(	Alignable *	alignable,
		bool	calcMis
	)

Constructor with empty parameters/covariance (if calcMis = false) or with parameters (no covariance) created from current (mis-)placement of alignable (if calcMis = true).

Definition at line 21 of file RigidBodyAlignmentParameters.cc.

Referenced by clone(), and cloneFromSelected().

                                                                                       :
  AlignmentParameters(ali, displacementFromAlignable(calcMis ? ali : 0),
              AlgebraicSymMatrix(N_PARAM, 0))
{
}

RigidBodyAlignmentParameters::RigidBodyAlignmentParameters	(	Alignable *	alignable,
		const AlgebraicVector &	parameters,
		const AlgebraicSymMatrix &	covMatrix
	)

Constructor for full set of parameters.

Definition at line 28 of file RigidBodyAlignmentParameters.cc.

References edm::hlt::Exception, and N_PARAM.

                                                                    :
  AlignmentParameters( alignable, parameters, covMatrix )
{
 
  if (parameters.num_row() != N_PARAM) {
    throw cms::Exception("BadParameters") << "in RigidBodyAlignmentParameters(): "
                                          << parameters.num_row() << " instead of " << N_PARAM 
                                          << " parameters.";
  }
}

RigidBodyAlignmentParameters::RigidBodyAlignmentParameters	(	Alignable *	alignable,
		const AlgebraicVector &	parameters,
		const AlgebraicSymMatrix &	covMatrix,
		const std::vector< bool > &	selection
	)

Constructor for selection.

Definition at line 42 of file RigidBodyAlignmentParameters.cc.

References edm::hlt::Exception, and N_PARAM.

                                                                                              :
  AlignmentParameters( alignable, parameters, covMatrix, selection )
{  
  if (parameters.num_row() != N_PARAM) {
    throw cms::Exception("BadParameters") << "in RigidBodyAlignmentParameters(): "
                                          << parameters.num_row() << " instead of " << N_PARAM 
                                          << " parameters.";
  }
}

virtual RigidBodyAlignmentParameters::~RigidBodyAlignmentParameters ( )

inlinevirtual

Destructor.

Definition at line 49 of file RigidBodyAlignmentParameters.h.

{};

Member Function Documentation

void RigidBodyAlignmentParameters::apply ( )

virtual

apply parameters to alignable

Implements AlignmentParameters.

Definition at line 146 of file RigidBodyAlignmentParameters.cc.

References AlignmentParameters::alignable(), edm::hlt::Exception, Alignable::move(), align::rectify(), makeMuonMisalignmentScenario::rot, Alignable::rotateInGlobalFrame(), rotation(), edm::shift, Alignable::surface(), AlignableSurface::toGlobal(), align::toMatrix(), and translation().

Referenced by heavyIonTools.ConfigureHeavyIons::__call__(), editorTools.UserCodeTool::__call__(), HiCoreTools.RestrictInputToAOD::__call__(), coreTools.RunOnData::__call__(), trackTools.MakeAODTrackCandidates::__call__(), runJetUncertainties.RunJetUncertainties::__call__(), metTools.AddMETCollection::__call__(), heavyIonTools.ProductionDefaults::__call__(), editorTools.ChangeSource::__call__(), HiCoreTools.RemoveMCMatching::__call__(), cmsswVersionTools.PickRelValInputFiles::__call__(), coreTools.RemoveMCMatching::__call__(), trackTools.MakePATTrackCandidates::__call__(), trigTools.SwitchOnTrigger::__call__(), runMETCorrectionsAndUncertainties.RunMETCorrectionsAndUncertainties::__call__(), jetTools.AddJetCollection::__call__(), heavyIonTools.SelectionDefaults::__call__(), HiCoreTools.RemoveAllPATObjectsBut::__call__(), heavyIonTools.DisbaleMonteCarloDeps::__call__(), HiCoreTools.RemoveSpecificPATObjects::__call__(), trigTools.SwitchOnTriggerStandAlone::__call__(), trackTools.MakeTrackCandidates::__call__(), tauTools.AddTauCollection::__call__(), trigTools.SwitchOnTriggerMatching::__call__(), HiCoreTools.RemoveCleaning::__call__(), HiCoreTools.AddCleaning::__call__(), trigTools.SwitchOnTriggerMatchingStandAlone::__call__(), trigTools.SwitchOnTriggerMatchEmbedding::__call__(), jetTools.SwitchJetCollection::__call__(), jetTools.AddJetID::__call__(), and jetTools.SetTagInfos::__call__().

{
  Alignable *alignable = this->alignable();
  if (!alignable) {
    throw cms::Exception("BadParameters") 
      << "RigidBodyAlignmentParameters::apply: parameters without alignable";
  }
  
  // Translation in local frame
  AlgebraicVector shift = this->translation(); // fixme: should be LocalVector

  // Translation local->global
  align::LocalVector lv(shift[0], shift[1], shift[2]);
  alignable->move( alignable->surface().toGlobal(lv) );

  // Rotation in local frame
  align::EulerAngles angles = this->rotation();
  // original code:
  //  alignable->rotateInLocalFrame( align::toMatrix(angles) );
  // correct for rounding errors:
  align::RotationType rot = alignable->surface().toGlobal( align::toMatrix(angles) );
  align::rectify(rot);
  alignable->rotateInGlobalFrame(rot);
}

RigidBodyAlignmentParameters * RigidBodyAlignmentParameters::clone ( const AlgebraicVector &  parameters, const AlgebraicSymMatrix &  covMatrix  ) const

virtual

Clone all parameters (for update of parameters)

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 57 of file RigidBodyAlignmentParameters.cc.

References AlignmentParameters::alignable(), AlignmentParameters::isValid(), RigidBodyAlignmentParameters(), AlignmentParameters::selector(), AlignmentParameters::setUserVariables(), AlignmentParameters::setValid(), and AlignmentParameters::userVariables().

Referenced by AlignmentParameterStore::acquireRelativeParameters(), and cloneFromSelected().

{
  RigidBodyAlignmentParameters* rbap = 
    new RigidBodyAlignmentParameters( alignable(), parameters, covMatrix, selector());

  if (userVariables()) rbap->setUserVariables(userVariables()->clone());
  rbap->setValid(isValid());

  return rbap;
}

RigidBodyAlignmentParameters * RigidBodyAlignmentParameters::cloneFromSelected ( const AlgebraicVector &  parameters, const AlgebraicSymMatrix &  covMatrix  ) const

virtual

Clone selected parameters (for update of parameters)

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 71 of file RigidBodyAlignmentParameters.cc.

References AlignmentParameters::alignable(), clone(), AlignmentParameters::expandSymMatrix(), AlignmentParameters::expandVector(), AlignmentParameters::isValid(), RigidBodyAlignmentParameters(), AlignmentParameters::selector(), AlignmentParameters::setUserVariables(), AlignmentParameters::setValid(), and AlignmentParameters::userVariables().

{
  RigidBodyAlignmentParameters* rbap = 
    new RigidBodyAlignmentParameters(alignable(), expandVector( parameters, selector()),
                                     expandSymMatrix(covMatrix, selector()), selector());

  if ( userVariables() ) rbap->setUserVariables(userVariables()->clone());
  rbap->setValid(isValid());

  return rbap;
}

AlgebraicMatrix RigidBodyAlignmentParameters::derivatives ( const TrajectoryStateOnSurface &  tsos, const AlignableDetOrUnitPtr &  alidet  ) const

virtual

Get all derivatives.

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 86 of file RigidBodyAlignmentParameters.cc.

References AlignmentParameters::alignable(), and FrameToFrameDerivative::frameToFrameDerivative().

Referenced by selectedDerivatives().

{
  const Alignable *ali = this->alignable(); // Alignable of these parameters

  if (ali == alidet) { // same alignable => same frame
    return KarimakiAlignmentDerivatives()(tsos);
  } else { // different alignable => transform into correct frame
    const AlgebraicMatrix deriv = KarimakiAlignmentDerivatives()(tsos);
    FrameToFrameDerivative ftfd;
    return ftfd.frameToFrameDerivative(alidet, ali).T() * deriv;
  }
}

AlgebraicVector RigidBodyAlignmentParameters::displacementFromAlignable ( const Alignable *  ali )

static

Calculate parameter vector of misplacements (shift+rotation) from alignable. (If ali=0, return empty AlgebraicVector of proper length.)

Definition at line 212 of file RigidBodyAlignmentParameters.cc.

References PV3DBase< T, PVType, FrameType >::basicVector(), Alignable::displacement(), PFRecoTauDiscriminationAgainstElectronDeadECAL_cfi::dR, Alignable::globalRotation(), N_PARAM, Alignable::rotation(), Alignable::surface(), align::toAngles(), AlignableSurface::toLocal(), TkRotation< T >::transposed(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

{
  AlgebraicVector displacement(N_PARAM);

  if (ali) {
    const align::RotationType& dR = ali->rotation();
    
    const align::LocalVector shifts( ali->globalRotation() * 
                     ( dR.transposed() * ali->displacement().basicVector() ) );

    const align::EulerAngles angles = align::toAngles( ali->surface().toLocal(dR) );

    displacement[0] = shifts.x();
    displacement[1] = shifts.y();
    displacement[2] = shifts.z();
    displacement[3] = angles(1);
    displacement[4] = angles(2);
    displacement[5] = angles(3);
  }

  return displacement;
}

AlgebraicVector RigidBodyAlignmentParameters::globalParameters

(

void

)

const

calculate and return parameters in global frame

Definition at line 178 of file RigidBodyAlignmentParameters.cc.

References N_PARAM, rotation(), edm::shift, Alignable::surface(), AlignmentParameters::theAlignable, AlignableSurface::toGlobal(), translation(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

{
  AlgebraicVector m_GlobalParameters(N_PARAM, 0);

  const AlgebraicVector shift = translation(); // fixme: should return LocalVector

  const align::LocalVector lv(shift[0], shift[1], shift[2]);
  const align::GlobalVector dg = theAlignable->surface().toGlobal(lv);

  m_GlobalParameters[0] = dg.x();
  m_GlobalParameters[1] = dg.y();
  m_GlobalParameters[2] = dg.z();

  const align::EulerAngles eulerglob = theAlignable->surface().toGlobal( rotation() );

  m_GlobalParameters[3]=eulerglob(1);
  m_GlobalParameters[4]=eulerglob(2);
  m_GlobalParameters[5]=eulerglob(3);

  return m_GlobalParameters;
}

void RigidBodyAlignmentParameters::print

(

void

)

const

print parameters to screen

Definition at line 202 of file RigidBodyAlignmentParameters.cc.

References gather_cfg::cout, and AlignmentParameters::theData.

{

  std::cout << "Contents of RigidBodyAlignmentParameters:"
            << "\nParameters: " << theData->parameters()
            << "\nCovariance: " << theData->covariance() << std::endl;
}

AlgebraicVector RigidBodyAlignmentParameters::rotation

(

void

)

const

Get rotation parameters.

Definition at line 137 of file RigidBodyAlignmentParameters.cc.

References i, makeMuonMisalignmentScenario::rot, and AlignmentParameters::theData.

Referenced by apply(), KalmanAlignmentAlgorithm::applyAlignmentParameters(), and globalParameters().

{
  AlgebraicVector rot(3);
  for (int i=0;i<3;++i) rot[i] = theData->parameters()[i+3];

  return rot;
}

AlgebraicMatrix RigidBodyAlignmentParameters::selectedDerivatives ( const TrajectoryStateOnSurface &  tsos, const AlignableDetOrUnitPtr &  alignableDet  ) const

virtual

Get selected derivatives.

Reimplemented from AlignmentParameters.

Definition at line 103 of file RigidBodyAlignmentParameters.cc.

References derivatives(), AlignmentParameters::numSelected(), and AlignmentParameters::selector().

{
  const AlgebraicMatrix dev = this->derivatives( tsos, alignableDet );

  int ncols  = dev.num_col();
  int nrows  = dev.num_row();
  int nsel   = numSelected();

  AlgebraicMatrix seldev( nsel, ncols );

  int ir2=0;
  for ( int irow=0; irow<nrows; ++irow ) {
    if (selector()[irow]) {
      for ( int icol=0; icol<ncols; ++icol ) seldev[ir2][icol] = dev[irow][icol];
      ++ir2;
    }
  }

  return seldev;
}

AlgebraicVector RigidBodyAlignmentParameters::translation

(

void

)

const

Get translation parameters.

Definition at line 127 of file RigidBodyAlignmentParameters.cc.

References i, edm::shift, and AlignmentParameters::theData.

Referenced by apply(), KalmanAlignmentAlgorithm::applyAlignmentParameters(), and globalParameters().

{ 
  AlgebraicVector shift(3);
  for ( int i=0;i<3;++i ) shift[i]=theData->parameters()[i];

  return shift;
}

int RigidBodyAlignmentParameters::type ( ) const

virtual

tell type (AlignmentParametersFactory::ParametersType - but no circular dependency)

Implements AlignmentParameters.

Reimplemented in RigidBodyAlignmentParameters4D.

Definition at line 172 of file RigidBodyAlignmentParameters.cc.

References AlignmentParametersFactory::kRigidBody.

Referenced by cuy.ValElement::__init__(), Vispa.Plugins.ConfigEditor.ConfigDataAccessor.ConfigDataAccessor::inputCommands(), Vispa.Plugins.ConfigEditor.ConfigDataAccessor.ConfigDataAccessor::outputCommands(), Vispa.Plugins.ConfigEditor.ConfigDataAccessor.ConfigDataAccessor::outputEventContent(), and Vispa.Plugins.ConfigEditor.ConfigDataAccessor.ConfigDataAccessor::properties().

{
  return AlignmentParametersFactory::kRigidBody;
}