#include <SingleTrajectoryUpdator.h>

Inheritance diagram for SingleTrajectoryUpdator:

Public Member Functions
virtual SingleTrajectoryUpdator *	clone (void) const

virtual void	process (const ReferenceTrajectoryPtr &trajectory, AlignmentParameterStore store, AlignableNavigator navigator, KalmanAlignmentMetricsUpdator metrics, const MagneticField magField=0)
	Calculate the improved estimate. More...

	SingleTrajectoryUpdator (const edm::ParameterSet &config)

virtual	~SingleTrajectoryUpdator (void)

Public Member Functions inherited from KalmanAlignmentUpdator
	KalmanAlignmentUpdator (const edm::ParameterSet &config)

virtual	~KalmanAlignmentUpdator (void)

Private Member Functions
bool	checkCovariance (const AlgebraicSymMatrix &cov) const

Private Attributes
bool	theCovCheckFlag

double	theExternalPredictionWeight

double	theExtraWeight

unsigned int	theMinNumberOfHits

unsigned int	theNumberOfPreAlignmentEvts

unsigned int	theNumberOfProcessedEvts

Additional Inherited Members
Public Types inherited from KalmanAlignmentUpdator
typedef ReferenceTrajectoryBase::ReferenceTrajectoryPtr	ReferenceTrajectoryPtr

Protected Member Functions inherited from KalmanAlignmentUpdator
virtual const std::vector < Alignable * >	alignablesFromAlignableDets (std::vector< AlignableDetOrUnitPtr > &alignableDets, AlignmentParameterStore *store) const

unsigned int	nDifferentAlignables (const std::vector< Alignable * > &ali) const

void	updateUserVariables (const std::vector< Alignable * > &alignables) const
	Update the AlignmentUserVariables, given that the Alignables hold KalmanAlignmentUserVariables. More...

Detailed Description

Definition at line 15 of file SingleTrajectoryUpdator.h.

Constructor & Destructor Documentation

SingleTrajectoryUpdator::SingleTrajectoryUpdator ( const edm::ParameterSet & config )

Definition at line 19 of file SingleTrajectoryUpdator.cc.

References gather_cfg::cout, edm::ParameterSet::getParameter(), theCovCheckFlag, theExternalPredictionWeight, theExtraWeight, theMinNumberOfHits, theNumberOfPreAlignmentEvts, and theNumberOfProcessedEvts.

Referenced by clone().

                                                                                  :
   KalmanAlignmentUpdator( config )
 {
   theMinNumberOfHits = config.getParameter< unsigned int >( "MinNumberOfHits" );
   theExtraWeight = config.getParameter< double >( "ExtraWeight" );
   theExternalPredictionWeight = config.getParameter< double >( "ExternalPredictionWeight" );
   theCovCheckFlag = config.getParameter< bool >( "CheckCovariance" );
 
   theNumberOfPreAlignmentEvts = config.getParameter< unsigned int >( "NumberOfPreAlignmentEvts" );
   theNumberOfProcessedEvts = 0;
 
   std::cout << "[SingleTrajectoryUpdator] Use " << theNumberOfPreAlignmentEvts << "events for pre-alignment" << std::endl;
 }

SingleTrajectoryUpdator::~SingleTrajectoryUpdator ( void )

virtual

Definition at line 34 of file SingleTrajectoryUpdator.cc.

34 {}

Member Function Documentation

bool SingleTrajectoryUpdator::checkCovariance ( const AlgebraicSymMatrix & cov ) const

private

Definition at line 211 of file SingleTrajectoryUpdator.cc.

References i.

Referenced by process().

 {
   for ( int i = 0; i < cov.num_row(); ++i )
   {
     if ( cov[i][i] < 0. ) return false;
   }
 
   return true;
 }

virtual SingleTrajectoryUpdator* SingleTrajectoryUpdator::clone ( void ) const

inlinevirtual

Implements KalmanAlignmentUpdator.

Definition at line 30 of file SingleTrajectoryUpdator.h.

References SingleTrajectoryUpdator().

30 { return new SingleTrajectoryUpdator( *this ); }

SingleTrajectoryUpdator::SingleTrajectoryUpdator

SingleTrajectoryUpdator(const edm::ParameterSet &config)

Definition: SingleTrajectoryUpdator.cc:19

void SingleTrajectoryUpdator::process	(	const ReferenceTrajectoryPtr &	trajectory,
		AlignmentParameterStore *	store,
		AlignableNavigator *	navigator,
		KalmanAlignmentMetricsUpdator *	metrics,
		const MagneticField *	magField = `0`
	)

virtual

Calculate the improved estimate.

Implements KalmanAlignmentUpdator.

Definition at line 37 of file SingleTrajectoryUpdator.cc.

References KalmanAlignmentMetricsUpdator::additionalAlignables(), KalmanAlignmentUpdator::alignablesFromAlignableDets(), AlignableNavigator::alignablesFromHits(), checkCovariance(), CompositeAlignmentParameters::clone(), CompositeAlignmentParameters::components(), CompositeAlignmentDerivativesExtractor::correctionTerm(), gather_cfg::cout, CompositeAlignmentParameters::covarianceSubset(), Exception, KalmanAlignmentDataCollector::fillGraph(), i, KalmanAlignmentUpdator::nDifferentAlignables(), AlignmentParameterStore::numCorrelations(), CompositeAlignmentParameters::parameters(), AlignmentParameterStore::selectParameters(), theExternalPredictionWeight, theExtraWeight, theMinNumberOfHits, theNumberOfPreAlignmentEvts, theNumberOfProcessedEvts, KalmanAlignmentMetricsUpdator::update(), AlignmentParameterStore::updateParameters(), and KalmanAlignmentUpdator::updateUserVariables().

 {
   if ( !( *trajectory ).isValid() ) return;
 
 //   std::cout << "[SingleTrajectoryUpdator::process] START" << std::endl;
 
   vector< AlignableDetOrUnitPtr > currentAlignableDets = navigator->alignablesFromHits( ( *trajectory ).recHits() );
   vector< Alignable* > currentAlignables = alignablesFromAlignableDets( currentAlignableDets, store );
 
   if ( nDifferentAlignables( currentAlignables ) < 2 ) return;
   if ( currentAlignables.size() < theMinNumberOfHits ) return;
 
   ++theNumberOfProcessedEvts;
   bool includeCorrelations = ( theNumberOfPreAlignmentEvts < theNumberOfProcessedEvts );
   
   metrics->update( currentAlignables );
 
   vector< Alignable* > additionalAlignables;
   if ( includeCorrelations ) additionalAlignables = metrics->additionalAlignables( currentAlignables );
 
   vector< Alignable* > allAlignables;
   allAlignables.reserve( currentAlignables.size() + additionalAlignables.size() );
   allAlignables.insert( allAlignables.end(), currentAlignables.begin(), currentAlignables.end() );
   allAlignables.insert( allAlignables.end(), additionalAlignables.begin(), additionalAlignables.end() );
 
   CompositeAlignmentParameters alignmentParameters = store->selectParameters( allAlignables );
 
   const AlgebraicVector& allAlignmentParameters = alignmentParameters.parameters();
   AlgebraicSymMatrix currentAlignmentCov = alignmentParameters.covarianceSubset( currentAlignables );
   AlgebraicSymMatrix additionalAlignmentCov = alignmentParameters.covarianceSubset( additionalAlignables );
   AlgebraicMatrix mixedAlignmentCov = alignmentParameters.covarianceSubset( additionalAlignables, currentAlignables );
   AlgebraicMatrix alignmentCovSubset = alignmentParameters.covarianceSubset( alignmentParameters.components(), currentAlignables );
 
   CompositeAlignmentDerivativesExtractor extractor( currentAlignables, currentAlignableDets, trajectory->trajectoryStates() );
   AlgebraicVector correctionTerm = extractor.correctionTerm();
   AlgebraicMatrix alignmentDeriv = extractor.derivatives();
   AlgebraicSymMatrix alignmentCov = currentAlignmentCov.similarity( alignmentDeriv );
 
   AlgebraicVector allMeasurements = trajectory->measurements();
   AlgebraicSymMatrix measurementCov = trajectory->measurementErrors();
   AlgebraicVector referenceTrajectory = trajectory->trajectoryPositions();
   AlgebraicMatrix derivatives = trajectory->derivatives();
 
   measurementCov += theExtraWeight*AlgebraicSymMatrix( measurementCov.num_row(), 1 );
 
   AlgebraicSymMatrix misalignedCov = measurementCov + alignmentCov;
 
   int checkInversion = 0;
 
   AlgebraicSymMatrix weightMatrix;
   AlgebraicVector residuals;
 
   if ( trajectory->parameterErrorsAvailable() ) // Make an update using an external prediction for the track parameters.
   {
     const AlgebraicSymMatrix& externalParamCov = trajectory->parameterErrors();
     AlgebraicSymMatrix externalTrackCov = theExternalPredictionWeight*externalParamCov.similarity( derivatives );
     AlgebraicSymMatrix fullCov = misalignedCov + externalTrackCov;
     measurementCov += externalTrackCov;
 
     weightMatrix = fullCov.inverse( checkInversion );
     if ( checkInversion != 0 )
     {
       cout << "[KalmanAlignment] WARNING: 'AlgebraicSymMatrix fullCov' not invertible." << endl;
       return;
     }
 
     //const AlgebraicVector& trackParameters = trajectory->parameters();
     //const AlgebraicVector& externalTrackParameters = trajectory->externalPrediction();
     //AlgebraicVector trackCorrectionTerm = derivatives*( externalTrackParameters - trackParameters );
     residuals = allMeasurements - referenceTrajectory - correctionTerm;// - trackCorrectionTerm;
   }
   else // No external prediction for the track parameters available --> give the track parameters weight 0.
   {
     AlgebraicSymMatrix invMisalignedCov = misalignedCov.inverse( checkInversion );
     if ( checkInversion != 0 )
     {
       cout << "[KalmanAlignment] WARNING: 'AlgebraicSymMatrix misalignedCov' not invertible." << endl;
       return;
     }
     AlgebraicSymMatrix weightMatrix1 = ( invMisalignedCov.similarityT( derivatives ) ).inverse( checkInversion );
     if ( checkInversion != 0 )
     {
       cout << "[KalmanAlignment] WARNING: 'AlgebraicSymMatrix weightMatrix1' not computed." << endl;
       return;
     }
     AlgebraicSymMatrix weightMatrix2 = weightMatrix1.similarity( invMisalignedCov*derivatives );
 
     weightMatrix = invMisalignedCov - weightMatrix2;
     residuals = allMeasurements - referenceTrajectory - correctionTerm;
   }
 
 //   AlgebraicVector deltaR = allMeasurements - referenceTrajectory;
 //   for ( int i = 0; i < deltaR.num_row()/2; ++i )
 //     KalmanAlignmentDataCollector::fillHistogram( "DeltaR_", i, deltaR[2*i] );
 //   return;
 
   AlgebraicMatrix fullCovTimesDeriv = alignmentCovSubset*alignmentDeriv.T();
   AlgebraicMatrix fullGainMatrix = fullCovTimesDeriv*weightMatrix;
   AlgebraicMatrix covTimesDeriv = currentAlignmentCov*alignmentDeriv.T();
   AlgebraicMatrix gainMatrix = covTimesDeriv*weightMatrix;
 
   // make updates for the kalman-filter
   // update of parameters
   AlgebraicVector updatedAlignmentParameters = allAlignmentParameters + fullGainMatrix*residuals;
 
   // update of covariance
   int nCRow = currentAlignmentCov.num_row();
   int nARow = additionalAlignmentCov.num_row();
 
   AlgebraicSymMatrix updatedAlignmentCov( nCRow + nARow );
 
   AlgebraicMatrix gTimesDeriv = weightMatrix*alignmentDeriv;
   AlgebraicMatrix simMat = AlgebraicMatrix( nCRow, nCRow, 1 ) - covTimesDeriv*gTimesDeriv;
   AlgebraicSymMatrix updatedCurrentAlignmentCov = currentAlignmentCov.similarity( simMat ) + measurementCov.similarity( gainMatrix );
 
   AlgebraicMatrix mixedUpdateMat = simMat.T()*simMat.T() + measurementCov.similarity( gTimesDeriv.T() )*currentAlignmentCov;
   AlgebraicMatrix updatedMixedAlignmentCov = mixedAlignmentCov*mixedUpdateMat;
 
   AlgebraicSymMatrix additionalUpdateMat = misalignedCov.similarity( gTimesDeriv.T() ) - 2.*weightMatrix.similarity( alignmentDeriv.T() );
   AlgebraicSymMatrix updatedAdditionalAlignmentCov = additionalAlignmentCov + additionalUpdateMat.similarity( mixedAlignmentCov );
 
   for ( int nRow=0; nRow<nCRow; nRow++ )
   {
     for ( int nCol=0; nCol<=nRow; nCol++ ) updatedAlignmentCov[nRow][nCol] = updatedCurrentAlignmentCov[nRow][nCol];
   }
 
   for ( int nRow=0; nRow<nARow; nRow++ )
   {
      for ( int nCol=0; nCol<=nRow; nCol++ ) updatedAlignmentCov[nRow+nCRow][nCol+nCRow] = updatedAdditionalAlignmentCov[nRow][nCol];
   }
 
   for ( int nRow=0; nRow<nARow; nRow++ )
   {
     for ( int nCol=0; nCol<nCRow; nCol++ ) updatedAlignmentCov[nRow+nCRow][nCol] = updatedMixedAlignmentCov[nRow][nCol];
   }
 
 
   // update in alignment-interface
   CompositeAlignmentParameters* updatedParameters;
   updatedParameters = alignmentParameters.clone( updatedAlignmentParameters, updatedAlignmentCov );
 
   if ( !checkCovariance( updatedAlignmentCov ) )
   {
     if ( includeCorrelations ) throw cms::Exception( "BadCovariance" );
 
     delete updatedParameters;
     return;
   }
 
   store->updateParameters( *updatedParameters, includeCorrelations );
   delete updatedParameters;
 
 
   // update user variables for debugging
   //updateUserVariables( alignmentParameters.components() );
 
   //std::cout << "update user variables now" << std::endl;
   updateUserVariables( currentAlignables );
   //std::cout << "done." << std::endl;
 
   static int i = 0;
   if ( i%100 == 0 ) KalmanAlignmentDataCollector::fillGraph( "correlation_entries", i, store->numCorrelations() );
   ++i;
 
   //std::cout << "[SingleTrajectoryUpdator::process] DONE" << std::endl;
 
   return;
 }