KFTrajectoryFitter Class Reference

#include <KFTrajectoryFitter.h>

Inheritance diagram for KFTrajectoryFitter:

Public Member Functions
virtual std::unique_ptr < TrajectoryFitter >	clone () const override
const MeasurementEstimator *	estimator () const
Trajectory	fitOne (const Trajectory &aTraj, fitType) const
Trajectory	fitOne (const TrajectorySeed &aSeed, const RecHitContainer &hits, fitType) const
Trajectory	fitOne (const TrajectorySeed &aSeed, const RecHitContainer &hits, const TSOS &firstPredTsos, fitType) const
	KFTrajectoryFitter (const Propagator &aPropagator, const TrajectoryStateUpdator &aUpdator, const MeasurementEstimator &aEstimator, int minHits=3, const DetLayerGeometry *detLayerGeometry=0, TkCloner const *hc=0)
	KFTrajectoryFitter (const Propagator *aPropagator, const TrajectoryStateUpdator *aUpdator, const MeasurementEstimator *aEstimator, int minHits=3, const DetLayerGeometry *detLayerGeometry=0, TkCloner const *hc=0)
const Propagator *	propagator () const
virtual void	setHitCloner (TkCloner const *hc)
const TrajectoryStateUpdator *	updator () const
	~KFTrajectoryFitter ()
Public Member Functions inherited from TrajectoryFitter
std::vector< Trajectory >	fit (const Trajectory &traj, fitType type=standard) const
std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, fitType type=standard) const
std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, const TrajectoryStateOnSurface &tsos, fitType type=standard) const
virtual	~TrajectoryFitter ()

Private Types
typedef FreeTrajectoryState	FTS
typedef TrajectoryMeasurement	TM
typedef TrajectoryStateOnSurface	TSOS

Private Member Functions
	KFTrajectoryFitter (KFTrajectoryFitter const &)

Private Attributes
int	minHits_
bool	owner
const MeasurementEstimator *	theEstimator
const DetLayerGeometry *	theGeometry
TkCloner const *	theHitCloner = 0
const Propagator *	thePropagator
const TrajectoryStateUpdator *	theUpdator

Static Private Attributes
static const DetLayerGeometry	dummyGeometry

Additional Inherited Members
Public Types inherited from TrajectoryFitter
enum	fitType { standard =0, looper =1 }
typedef Trajectory::RecHitContainer	RecHitContainer
typedef TrajectoryFitterRecord	Record

Detailed Description

A Kalman track fit that splits matched RecHits into individual components before fitting them. Ported from ORCA

Author

todorov, cerati

A Standard Kalman fit. Ported from ORCA

Author

todorov, cerati

Definition at line 22 of file KFTrajectoryFitter.h.

Member Typedef Documentation

typedef FreeTrajectoryState KFTrajectoryFitter::FTS

private

Definition at line 27 of file KFTrajectoryFitter.h.

typedef TrajectoryMeasurement KFTrajectoryFitter::TM

private

Definition at line 28 of file KFTrajectoryFitter.h.

typedef TrajectoryStateOnSurface KFTrajectoryFitter::TSOS

private

Definition at line 26 of file KFTrajectoryFitter.h.

Constructor & Destructor Documentation

KFTrajectoryFitter::KFTrajectoryFitter ( const Propagator &  aPropagator, const TrajectoryStateUpdator &  aUpdator, const MeasurementEstimator &  aEstimator, int  minHits = 3, const DetLayerGeometry *  detLayerGeometry = 0, TkCloner const *  hc = 0  )

inline

Definition at line 34 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

Referenced by clone().

                                                  :
    thePropagator(aPropagator.clone()),
    theUpdator(aUpdator.clone()),
    theEstimator(aEstimator.clone()),
    theHitCloner(hc),
    theGeometry(detLayerGeometry),
    minHits_(minHits),
    owner(true){
    if(!theGeometry) theGeometry = &dummyGeometry;
    // FIXME. Why this first constructor is needed? who is using it? Can it be removed?
    // it is uses in many many places
    }

KFTrajectoryFitter::KFTrajectoryFitter ( const Propagator *  aPropagator, const TrajectoryStateUpdator *  aUpdator, const MeasurementEstimator *  aEstimator, int  minHits = 3, const DetLayerGeometry *  detLayerGeometry = 0, TkCloner const *  hc = 0  )

inline

Definition at line 53 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

                                                  :
    thePropagator(aPropagator),
    theUpdator(aUpdator),
    theEstimator(aEstimator),
    theHitCloner(hc),
    theGeometry(detLayerGeometry),
    minHits_(minHits),
    owner(false){
      if(!theGeometry) theGeometry = &dummyGeometry;
    }

KFTrajectoryFitter::~KFTrajectoryFitter ( )

inline

Definition at line 69 of file KFTrajectoryFitter.h.

References owner, theEstimator, thePropagator, and theUpdator.

                       {
    if (owner) {
      delete thePropagator;
      delete theUpdator;
      delete theEstimator;
    }
  }

KFTrajectoryFitter::KFTrajectoryFitter ( KFTrajectoryFitter const &  )

private

Member Function Documentation

virtual std::unique_ptr<TrajectoryFitter> KFTrajectoryFitter::clone ( void  ) const

inlineoverridevirtual

Implements TrajectoryFitter.

Definition at line 89 of file KFTrajectoryFitter.h.

References KFTrajectoryFitter(), minHits_, owner, theEstimator, theGeometry, theHitCloner, thePropagator, and theUpdator.

  {
    return owner ?
        std::unique_ptr<TrajectoryFitter>(new KFTrajectoryFitter(*thePropagator,
                                                                 *theUpdator,
                                                                 *theEstimator,
                                                                 minHits_,theGeometry,theHitCloner)) :
        std::unique_ptr<TrajectoryFitter>(new KFTrajectoryFitter(thePropagator,
                                                                 theUpdator,
                                                                 theEstimator,
                                                                 minHits_,
                                                                 theGeometry,theHitCloner));
  }

const MeasurementEstimator* KFTrajectoryFitter::estimator ( void  ) const

inline

Definition at line 87 of file KFTrajectoryFitter.h.

References theEstimator.

Referenced by KFSplittingFitter::clone(), and fitOne().

{return theEstimator;}

Trajectory KFTrajectoryFitter::fitOne ( const Trajectory &  aTraj, fitType  type  ) const

virtual

Implements TrajectoryFitter.

Definition at line 27 of file KFTrajectoryFitter.cc.

References Trajectory::empty(), Trajectory::firstMeasurement(), Trajectory::seed(), and TrajectoryMeasurement::updatedState().

Referenced by KFSplittingFitter::fitOne().

                                                                                 {

  if(aTraj.empty()) return Trajectory();

  TM firstTM = aTraj.firstMeasurement();
  TSOS firstTsos = TrajectoryStateWithArbitraryError()(firstTM.updatedState());

  return fitOne(aTraj.seed(), aTraj.recHits(), firstTsos,type);
}

Trajectory KFTrajectoryFitter::fitOne ( const TrajectorySeed &  aSeed, const RecHitContainer &  hits, fitType    ) const

virtual

Implements TrajectoryFitter.

Definition at line 37 of file KFTrajectoryFitter.cc.

References Exception.

                                                            {

  throw cms::Exception("TrackFitters",
               "KFTrajectoryFitter::fit(TrajectorySeed, <TransientTrackingRecHit>) not implemented");

  return Trajectory();
}

Trajectory KFTrajectoryFitter::fitOne ( const TrajectorySeed &  aSeed, const RecHitContainer &  hits, const TSOS &  firstPredTsos, fitType    ) const

virtual

Implements TrajectoryFitter.

Definition at line 46 of file KFTrajectoryFitter.cc.

References funct::abs(), anyDirection, assert(), TrackingRecHit::canImproveWithTrack(), MuonSubdetId::CSC, CSCDetId, DetId::det(), TrajectorySeed::direction(), PXFDetId::disk(), MuonSubdetId::DT, estimator(), TrackingRecHit::geographicalId(), TrackingRecHit::globalPosition(), DetLayerGeometry::idToLayer(), edm::isNotFinite(), TrajectoryStateOnSurface::isValid(), TrackingRecHit::isValid(), j, PXBDetId::layer(), TOBDetId::layer(), TIBDetId::layer(), likely, TrajectoryStateOnSurface::localParameters(), TrackingRecHit::localPosition(), TrackingRecHit::localPositionError(), LogDebug, LogTrace, TkCloner::makeShared(), minHits_, DetId::Muon, PV3DBase< T, PVType, FrameType >::perp(), PV3DBase< T, PVType, FrameType >::phi(), PixelSubdetector::PixelBarrel, PixelSubdetector::PixelEndcap, GloballyPositioned< T >::position(), LocalTrajectoryParameters::position(), LocalTrajectoryParameters::qbp(), DetId::rawId(), run_regression::ret, GloballyPositioned< T >::rotation(), MuonSubdetId::RPC, RPCDetId, edm::second(), SetPropagationDirection(), DetId::subdetId(), TrackingRecHit::surface(), StripSubdetector::TEC, theGeometry, theHitCloner, thePropagator, StripSubdetector::TIB, StripSubdetector::TID, StripSubdetector::TOB, DetId::Tracker, unlikely, TrajectoryStateUpdator::update(), updator(), TIDDetId::wheel(), TECDetId::wheel(), PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

{
  if(hits.empty()) return Trajectory();


  if unlikely(aSeed.direction() == anyDirection)
    throw cms::Exception("KFTrajectoryFitter","TrajectorySeed::direction() requested but not set");

  std::unique_ptr<Propagator> p_cloned = SetPropagationDirection(*thePropagator,
                                                                 aSeed.direction());

#ifdef EDM_ML_DEBUG
  LogDebug("TrackFitters")
    <<" +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"
    <<" KFTrajectoryFitter::fit starting with " << hits.size() <<" HITS";

  for (unsigned int j=0;j<hits.size();j++) {
    if (hits[j]->det())
      LogTrace("TrackFitters") << "hit #:" << j+1 << " rawId=" << hits[j]->det()->geographicalId().rawId()
                   << " validity=" << hits[j]->isValid();
    else
      LogTrace("TrackFitters") << "hit #:" << j+1 << " Hit with no Det information";
  }
  LogTrace("TrackFitters") << " INITIAL STATE "<< firstPredTsos;
#endif

  Trajectory ret(aSeed, p_cloned->propagationDirection());
  Trajectory & myTraj = ret;
  myTraj.reserve(hits.size());

  TSOS predTsos(firstPredTsos);
  TSOS currTsos;

  int hitcounter = 1;
  for(RecHitContainer::const_iterator ihit = hits.begin(); ihit != hits.end(); ++ihit, ++hitcounter) {

    const TransientTrackingRecHit & hit = (**ihit);

    // if unlikely(hit.det() == nullptr) continue;

    if unlikely( (!hit.isValid()) && hit.surface() == nullptr) {
       LogDebug("TrackFitters")<< " Error: invalid hit with no GeomDet attached .... skipping";
      continue;
    }
   //if (hit.det() && hit.geographicalId()<1000U) LogDebug("TrackFitters")<< "Problem 0 det id for " << typeid(hit).name() << ' ' <<  hit.det()->geographicalId() ;
   //if (hit.isValid() && hit.geographicalId()<1000U) LogDebug("TrackFitters")<< "Problem 0 det id for " << typeid(hit).name() << ' ' <<  hit.det()->geographicalId();

#ifdef EDM_ML_DEBUG
    if (hit.isValid()) {
      LogTrace("TrackFitters")<< " ----------------- HIT #" << hitcounter << " (VALID)-----------------------\n"
    << "  HIT IS AT R   " << hit.globalPosition().perp() << "\n"
    << "  HIT IS AT Z   " << hit.globalPosition().z() << "\n"
    << "  HIT IS AT Phi " << hit.globalPosition().phi() << "\n"
    << "  HIT IS AT Loc " << hit.localPosition() << "\n"
    << "  WITH LocError " << hit.localPositionError() << "\n"
    << "  HIT IS AT Glo " << hit.globalPosition() << "\n"
    << "SURFACE POSITION" << "\n"
    << hit.surface()->position()<<"\n"
    << "SURFACE ROTATION" << "\n"
    << hit.surface()->rotation();

      DetId hitId = hit.geographicalId();

      LogTrace("TrackFitters") << " hit det=" << hitId.rawId();

      if(hitId.det() == DetId::Tracker) {
    if (hitId.subdetId() == StripSubdetector::TIB )
      LogTrace("TrackFitters") << " I am TIB " << TIBDetId(hitId).layer();
    else if (hitId.subdetId() == StripSubdetector::TOB )
      LogTrace("TrackFitters") << " I am TOB " << TOBDetId(hitId).layer();
    else if (hitId.subdetId() == StripSubdetector::TEC )
      LogTrace("TrackFitters") << " I am TEC " << TECDetId(hitId).wheel();
    else if (hitId.subdetId() == StripSubdetector::TID )
      LogTrace("TrackFitters") << " I am TID " << TIDDetId(hitId).wheel();
    else if (hitId.subdetId() == (int) PixelSubdetector::PixelBarrel )
      LogTrace("TrackFitters") << " I am PixBar " << PXBDetId(hitId).layer();
    else if (hitId.subdetId() == (int) PixelSubdetector::PixelEndcap )
      LogTrace("TrackFitters") << " I am PixFwd " << PXFDetId(hitId).disk();
    else
      LogTrace("TrackFitters") << " UNKNOWN TRACKER HIT TYPE ";
      }
      else if(hitId.det() == DetId::Muon) {
    if(hitId.subdetId() == MuonSubdetId::DT)
      LogTrace("TrackFitters") << " I am DT " << DTWireId(hitId);
    else if (hitId.subdetId() == MuonSubdetId::CSC )
      LogTrace("TrackFitters") << " I am CSC " << CSCDetId(hitId);
    else if (hitId.subdetId() == MuonSubdetId::RPC )
      LogTrace("TrackFitters") << " I am RPC " << RPCDetId(hitId);
    else
      LogTrace("TrackFitters") << " UNKNOWN MUON HIT TYPE ";
      }
      else
    LogTrace("TrackFitters") << " UNKNOWN HIT TYPE ";

    } else {
      LogTrace("TrackFitters")
    << " ----------------- INVALID HIT #" << hitcounter << " -----------------------";
    }
#endif

    if ( hitcounter != 1) //no propagation needed for the first hit
      predTsos = p_cloned->propagate( currTsos, *(hit.surface()) );


    if unlikely(!predTsos.isValid()) {
      LogDebug("TrackFitters")
    << "SOMETHING WRONG !" << "\n"
    << "KFTrajectoryFitter: predicted tsos not valid!\n"
    << "current TSOS: " << currTsos << "\n";

      if(hit.surface()) LogTrace("TrackFitters") << "next Surface: " << hit.surface()->position() << "\n";

      if( myTraj.foundHits() >= minHits_ ) {
    LogDebug("TrackFitters") << " breaking trajectory" << "\n";
    break;
      } else {
    LogDebug("TrackFitters") << " killing trajectory" << "\n";
    return Trajectory();
      }
    }


    if likely(hit.isValid()) {
        assert( (hit.geographicalId()!=0U) | !hit.canImproveWithTrack() ) ;
        assert(hit.surface()!=nullptr);
    //update
    LogTrace("TrackFitters") << "THE HIT IS VALID: updating hit with predTsos";
        assert( (!(*ihit)->canImproveWithTrack()) | (nullptr!=theHitCloner));
        assert( (!(*ihit)->canImproveWithTrack()) | (nullptr!=dynamic_cast<BaseTrackerRecHit const*>((*ihit).get())));
    auto preciseHit = theHitCloner->makeShared(*ihit,predTsos);
        assert(preciseHit->isValid());
        assert( (preciseHit->geographicalId()!=0U)  | (!preciseHit->canImproveWithTrack()) );
        assert(preciseHit->surface()!=nullptr);

    if unlikely(!preciseHit->isValid()){
        LogTrace("TrackFitters") << "THE Precise HIT IS NOT VALID: using currTsos = predTsos" << "\n";
        currTsos = predTsos;
        myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId()) ));

      }else{
      LogTrace("TrackFitters") << "THE Precise HIT IS VALID: updating currTsos" << "\n";
      currTsos = updator()->update(predTsos, *preciseHit);
      //check for valid hits with no det (refitter with constraints)
      bool badState = (!currTsos.isValid())
          || (hit.geographicalId().det() == DetId::Tracker
              &&
              (std::abs(currTsos.localParameters().qbp())>100
               || std::abs(currTsos.localParameters().position().y()) > 1000
               || std::abs(currTsos.localParameters().position().x()) > 1000
               ) ) || edm::isNotFinite(currTsos.localParameters().qbp());
      if unlikely(badState){
        if (!currTsos.isValid()) {
          edm::LogError("FailedUpdate") <<"updating with the hit failed. Not updating the trajectory with the hit";

            } 
        else if (edm::isNotFinite(currTsos.localParameters().qbp())) {
              edm::LogError("TrajectoryNaN")<<"Trajectory has NaN";

            }
        else{ 
              LogTrace("FailedUpdate")<<"updated state is valid but pretty bad, skipping. currTsos " <<currTsos<<"\n predTsos "<<predTsos;
            }
        myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId())  ));
        //There is a no-fail policy here. So, it's time to give up
        //Keep the traj with invalid TSOS so that it's clear what happened
        if( myTraj.foundHits() >= minHits_ ) {
          LogDebug("TrackFitters") << " breaking trajectory" << "\n";
          break;
        } else {
          LogDebug("TrackFitters") << " killing trajectory" << "\n";
          return Trajectory();
        }
      } else{
        if (preciseHit->det()){
          myTraj.push(TM(predTsos, currTsos, preciseHit,
                          estimator()->estimate(predTsos, *preciseHit).second,
                          theGeometry->idToLayer(preciseHit->geographicalId())  ));
            }
        else{
               myTraj.push(TM(predTsos, currTsos, preciseHit,
                estimator()->estimate(predTsos, *preciseHit).second));
            }
      }
    }
      } else {
      //no update
      LogDebug("TrackFitters") << "THE HIT IS NOT VALID: using currTsos" << "\n";
      currTsos = predTsos;
      assert( ((*ihit)->det()==nullptr) || (*ihit)->geographicalId()!=0U);
      if ((*ihit)->det()) myTraj.push(TM(predTsos, *ihit,0,theGeometry->idToLayer((*ihit)->geographicalId())  ));
      else   myTraj.push(TM(predTsos, *ihit,0));
    }
    LogTrace("TrackFitters")
      << "predTsos !" << "\n"
      << predTsos << "\n"
      <<"currTsos !" << "\n"
      << currTsos;
  }

  LogDebug("TrackFitters") << "Found 1 trajectory with " << myTraj.foundHits() << " valid hits\n";

  return ret;
}

const Propagator* KFTrajectoryFitter::propagator ( void  ) const

inline

Definition at line 85 of file KFTrajectoryFitter.h.

References thePropagator.

Referenced by KFSplittingFitter::clone(), and KalmanAlignmentAlgorithm::initializeAlignmentSetups().

{return thePropagator;}

virtual void KFTrajectoryFitter::setHitCloner ( TkCloner const *  hc )

inlinevirtual

Implements TrajectoryFitter.

Definition at line 104 of file KFTrajectoryFitter.h.

References AnalysisDataFormats_SUSYBSMObjects::hc, and theHitCloner.

Referenced by CosmicTrajectoryBuilder::init(), and KFSplittingFitter::setHitCloner().

{  theHitCloner = hc;}

const TrajectoryStateUpdator* KFTrajectoryFitter::updator ( ) const

inline

Definition at line 86 of file KFTrajectoryFitter.h.

References theUpdator.

Referenced by KFSplittingFitter::clone(), fitOne(), and KalmanAlignmentAlgorithm::initializeAlignmentSetups().

{return theUpdator;}

Member Data Documentation

const DetLayerGeometry KFTrajectoryFitter::dummyGeometry

staticprivate

Definition at line 111 of file KFTrajectoryFitter.h.

Referenced by KFTrajectoryFitter().

int KFTrajectoryFitter::minHits_

private

Definition at line 117 of file KFTrajectoryFitter.h.

Referenced by clone(), and fitOne().

bool KFTrajectoryFitter::owner

private

Definition at line 118 of file KFTrajectoryFitter.h.

Referenced by clone(), and ~KFTrajectoryFitter().

const MeasurementEstimator* KFTrajectoryFitter::theEstimator

private

Definition at line 114 of file KFTrajectoryFitter.h.

Referenced by clone(), estimator(), and ~KFTrajectoryFitter().

const DetLayerGeometry* KFTrajectoryFitter::theGeometry

private

Definition at line 116 of file KFTrajectoryFitter.h.

Referenced by clone(), fitOne(), and KFTrajectoryFitter().

TkCloner const* KFTrajectoryFitter::theHitCloner = 0

private

Definition at line 115 of file KFTrajectoryFitter.h.

Referenced by clone(), fitOne(), and setHitCloner().

const Propagator* KFTrajectoryFitter::thePropagator

private

Definition at line 112 of file KFTrajectoryFitter.h.

Referenced by clone(), fitOne(), propagator(), and ~KFTrajectoryFitter().

const TrajectoryStateUpdator* KFTrajectoryFitter::theUpdator

private

Definition at line 113 of file KFTrajectoryFitter.h.

Referenced by clone(), updator(), and ~KFTrajectoryFitter().