reco::KalmanGhostTrackUpdater Class Reference

#include <KalmanGhostTrackUpdater.h>

Inheritance diagram for reco::KalmanGhostTrackUpdater:

Public Member Functions
virtual KalmanGhostTrackUpdater *	clone () const
void	contribution (const GhostTrackPrediction &pred, const GhostTrackState &state, double &ndof, double &chi2, bool withPredError=false) const
GhostTrackPrediction	update (const GhostTrackPrediction &pred, const GhostTrackState &state, double &ndof, double &chi2) const
virtual	~KalmanGhostTrackUpdater ()
Public Member Functions inherited from reco::GhostTrackFitter::PredictionUpdater
virtual	~PredictionUpdater ()

Detailed Description

Definition at line 11 of file KalmanGhostTrackUpdater.h.

Constructor & Destructor Documentation

virtual reco::KalmanGhostTrackUpdater::~KalmanGhostTrackUpdater ( )

inlinevirtual

Definition at line 13 of file KalmanGhostTrackUpdater.h.

{}

Member Function Documentation

virtual KalmanGhostTrackUpdater* reco::KalmanGhostTrackUpdater::clone ( void  ) const

inlinevirtual

Implements reco::GhostTrackFitter::PredictionUpdater.

Definition at line 15 of file KalmanGhostTrackUpdater.h.

    { return new KalmanGhostTrackUpdater(*this); }

void KalmanGhostTrackUpdater::contribution ( const GhostTrackPrediction &  pred, const GhostTrackState &  state, double &  ndof, double &  chi2, bool  withPredError = false  ) const

virtual

Implements reco::GhostTrackFitter::PredictionUpdater.

Definition at line 129 of file KalmanGhostTrackUpdater.cc.

{
    using namespace ROOT::Math;

    KalmanState kalmanState(pred, state);

    // this is called on the full predicted state,
    // so the residual is already with respect to the filtered state

    // inverted error
    Matrix2S invErr = kalmanState.measErr;
    if (withPredError)
        invErr += kalmanState.measPredErr;
    if (!invErr.Invert()) {
        ndof = 0.;
        chi2 = 0.;
    }

    ndof = 2.;
    chi2 = Similarity(kalmanState.residual, invErr);
}                            

GhostTrackPrediction KalmanGhostTrackUpdater::update ( const GhostTrackPrediction &  pred, const GhostTrackState &  state, double &  ndof, double &  chi2  ) const

virtual

Implements reco::GhostTrackFitter::PredictionUpdater.

Definition at line 87 of file KalmanGhostTrackUpdater.cc.

References reco::GhostTrackPrediction::covariance(), citk::if(), reco::GhostTrackPrediction::prediction(), and reco::GhostTrackState::weight().

Referenced by progressbar.ProgressBar::__next__(), MatrixUtil.Matrix::__setitem__(), MatrixUtil.Steps::__setitem__(), Vispa.Gui.VispaWidget.VispaWidget::autosize(), Vispa.Views.LineDecayView.LineDecayContainer::createObject(), Vispa.Views.LineDecayView.LineDecayContainer::deselectAllObjects(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::deselectAllWidgets(), Vispa.Gui.VispaWidget.VispaWidget::enableAutosizing(), progressbar.ProgressBar::finish(), Vispa.Gui.MenuWidget.MenuWidget::leaveEvent(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::mouseMoveEvent(), Vispa.Gui.MenuWidget.MenuWidget::mouseMoveEvent(), Vispa.Views.LineDecayView.LineDecayContainer::mouseMoveEvent(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::mouseReleaseEvent(), Vispa.Views.LineDecayView.LineDecayContainer::objectMoved(), MatrixUtil.Steps::overwrite(), Vispa.Views.LineDecayView.LineDecayContainer::removeObject(), Vispa.Gui.ConnectableWidget.ConnectableWidget::removePorts(), Vispa.Gui.FindDialog.FindDialog::reset(), Vispa.Gui.PortConnection.PointToPointConnection::select(), Vispa.Gui.VispaWidget.VispaWidget::select(), Vispa.Views.LineDecayView.LineDecayContainer::select(), Vispa.Gui.VispaWidget.VispaWidget::setText(), Vispa.Gui.VispaWidget.VispaWidget::setTitle(), Vispa.Gui.ZoomableWidget.ZoomableWidget::setZoom(), Vispa.Views.LineDecayView.LineDecayContainer::setZoom(), and Vispa.Gui.PortConnection.PointToPointConnection::updateConnection().

{
    using namespace ROOT::Math;

    KalmanState kalmanState(pred, state);

    if (state.weight() < 1.0e-3)
        return pred;

    // inverted combined error
    Matrix2S invErr = kalmanState.measPredErr +
                      (1.0 / state.weight()) * kalmanState.measErr;
    if (!invErr.Invert())
        return pred;

    // gain
    Matrix42 gain = pred.covariance() * Transpose(kalmanState.h) * invErr;

    // new prediction
    Vector4 newPred = pred.prediction() + (gain * kalmanState.residual);
    Matrix44 tmp44 = SMatrixIdentity();
    tmp44 = (tmp44 - gain * kalmanState.h) * pred.covariance();
    Matrix4S newError(tmp44.LowerBlock());

    // filtered residuals
    Matrix22 tmp22 = SMatrixIdentity();
    tmp22 = tmp22 - kalmanState.h * gain;
    Vector2 filtRes = tmp22 * kalmanState.residual;
    tmp22 *= kalmanState.measErr;
    Matrix2S filtResErr(tmp22.LowerBlock());
    if (!filtResErr.Invert())
        return pred;

    ndof += state.weight() * 2.;
    chi2 += state.weight() * Similarity(filtRes, filtResErr);

    return GhostTrackPrediction(newPred, newError);
}