GblPoint.cc

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/*
 * GblPoint.cpp
 *
 *  Created on: Aug 18, 2011
 *      Author: kleinwrt
 */

#include "Alignment/ReferenceTrajectories/interface/GblPoint.h"

namespace gbl {


GblPoint::GblPoint(const TMatrixD &aJacobian) :
        theLabel(0), theOffset(0), measDim(0), transFlag(false), measTransformation(), scatFlag(
                false), localDerivatives(), globalLabels(), globalDerivatives() {

    for (unsigned int i = 0; i < 5; ++i) {
        for (unsigned int j = 0; j < 5; ++j) {
            p2pJacobian(i, j) = aJacobian(i, j);
        }
    }
}

GblPoint::GblPoint(const SMatrix55 &aJacobian) :
        theLabel(0), theOffset(0), p2pJacobian(aJacobian), measDim(0), transFlag(
                false), measTransformation(), scatFlag(false), localDerivatives(), globalLabels(), globalDerivatives() {

}

GblPoint::~GblPoint() {
}


void GblPoint::addMeasurement(const TMatrixD &aProjection,
        const TVectorD &aResiduals, const TVectorD &aPrecision,
        double minPrecision) {
    measDim = aResiduals.GetNrows();
    unsigned int iOff = 5 - measDim;
    for (unsigned int i = 0; i < measDim; ++i) {
        measResiduals(iOff + i) = aResiduals[i];
        measPrecision(iOff + i) = (
                aPrecision[i] >= minPrecision ? aPrecision[i] : 0.);
        for (unsigned int j = 0; j < measDim; ++j) {
            measProjection(iOff + i, iOff + j) = aProjection(i, j);
        }
    }
}


void GblPoint::addMeasurement(const TMatrixD &aProjection,
        const TVectorD &aResiduals, const TMatrixDSym &aPrecision,
        double minPrecision) {
    measDim = aResiduals.GetNrows();
    TMatrixDSymEigen measEigen(aPrecision);
    measTransformation.ResizeTo(measDim, measDim);
    measTransformation = measEigen.GetEigenVectors();
    measTransformation.T();
    transFlag = true;
    TVectorD transResiduals = measTransformation * aResiduals;
    TVectorD transPrecision = measEigen.GetEigenValues();
    TMatrixD transProjection = measTransformation * aProjection;
    unsigned int iOff = 5 - measDim;
    for (unsigned int i = 0; i < measDim; ++i) {
        measResiduals(iOff + i) = transResiduals[i];
        measPrecision(iOff + i) = (
                transPrecision[i] >= minPrecision ? transPrecision[i] : 0.);
        for (unsigned int j = 0; j < measDim; ++j) {
            measProjection(iOff + i, iOff + j) = transProjection(i, j);
        }
    }
}


void GblPoint::addMeasurement(const TVectorD &aResiduals,
        const TVectorD &aPrecision, double minPrecision) {
    measDim = aResiduals.GetNrows();
    unsigned int iOff = 5 - measDim;
    for (unsigned int i = 0; i < measDim; ++i) {
        measResiduals(iOff + i) = aResiduals[i];
        measPrecision(iOff + i) = (
                aPrecision[i] >= minPrecision ? aPrecision[i] : 0.);
    }
    measProjection = ROOT::Math::SMatrixIdentity();
}


void GblPoint::addMeasurement(const TVectorD &aResiduals,
        const TMatrixDSym &aPrecision, double minPrecision) {
    measDim = aResiduals.GetNrows();
    TMatrixDSymEigen measEigen(aPrecision);
    measTransformation.ResizeTo(measDim, measDim);
    measTransformation = measEigen.GetEigenVectors();
    measTransformation.T();
    transFlag = true;
    TVectorD transResiduals = measTransformation * aResiduals;
    TVectorD transPrecision = measEigen.GetEigenValues();
    unsigned int iOff = 5 - measDim;
    for (unsigned int i = 0; i < measDim; ++i) {
        measResiduals(iOff + i) = transResiduals[i];
        measPrecision(iOff + i) = (
                transPrecision[i] >= minPrecision ? transPrecision[i] : 0.);
        for (unsigned int j = 0; j < measDim; ++j) {
            measProjection(iOff + i, iOff + j) = measTransformation(i, j);
        }
    }
}


unsigned int GblPoint::hasMeasurement() const {
    return measDim;
}


void GblPoint::getMeasurement(SMatrix55 &aProjection, SVector5 &aResiduals,
        SVector5 &aPrecision) const {
    aProjection = measProjection;
    aResiduals = measResiduals;
    aPrecision = measPrecision;
}


void GblPoint::getMeasTransformation(TMatrixD &aTransformation) const {
    aTransformation.ResizeTo(measDim, measDim);
    if (transFlag) {
        aTransformation = measTransformation;
    } else {
        aTransformation.UnitMatrix();
    }
}


void GblPoint::addScatterer(const TVectorD &aResiduals,
        const TVectorD &aPrecision) {
    scatFlag = true;
    scatResiduals(0) = aResiduals[0];
    scatResiduals(1) = aResiduals[1];
    scatPrecision(0) = aPrecision[0];
    scatPrecision(1) = aPrecision[1];
    scatTransformation = ROOT::Math::SMatrixIdentity();
}


void GblPoint::addScatterer(const TVectorD &aResiduals,
        const TMatrixDSym &aPrecision) {
    scatFlag = true;
    TMatrixDSymEigen scatEigen(aPrecision);
    TMatrixD aTransformation = scatEigen.GetEigenVectors();
    aTransformation.T();
    TVectorD transResiduals = aTransformation * aResiduals;
    TVectorD transPrecision = scatEigen.GetEigenValues();
    for (unsigned int i = 0; i < 2; ++i) {
        scatResiduals(i) = transResiduals[i];
        scatPrecision(i) = transPrecision[i];
        for (unsigned int j = 0; j < 2; ++j) {
            scatTransformation(i, j) = aTransformation(i, j);
        }
    }
}

bool GblPoint::hasScatterer() const {
    return scatFlag;
}


void GblPoint::getScatterer(SMatrix22 &aTransformation, SVector2 &aResiduals,
        SVector2 &aPrecision) const {
    aTransformation = scatTransformation;
    aResiduals = scatResiduals;
    aPrecision = scatPrecision;
}


void GblPoint::getScatTransformation(TMatrixD &aTransformation) const {
    aTransformation.ResizeTo(2, 2);
    if (scatFlag) {
        for (unsigned int i = 0; i < 2; ++i) {
            for (unsigned int j = 0; j < 2; ++j) {
                aTransformation(i, j) = scatTransformation(i, j);
            }
        }
    } else {
        aTransformation.UnitMatrix();
    }
}


void GblPoint::addLocals(const TMatrixD &aDerivatives) {
    if (measDim) {
        localDerivatives.ResizeTo(aDerivatives);
        if (transFlag) {
            localDerivatives = measTransformation * aDerivatives;
        } else {
            localDerivatives = aDerivatives;
        }
    }
}

unsigned int GblPoint::getNumLocals() const {
    return localDerivatives.GetNcols();
}

const TMatrixD& GblPoint::getLocalDerivatives() const {
    return localDerivatives;
}


void GblPoint::addGlobals(const std::vector<int> &aLabels,
        const TMatrixD &aDerivatives) {
    if (measDim) {
        globalLabels = aLabels;
        globalDerivatives.ResizeTo(aDerivatives);
        if (transFlag) {
            globalDerivatives = measTransformation * aDerivatives;
        } else {
            globalDerivatives = aDerivatives;
        }

    }
}

unsigned int GblPoint::getNumGlobals() const {
    return globalDerivatives.GetNcols();
}

std::vector<int> GblPoint::getGlobalLabels() const {
    return globalLabels;
}

const TMatrixD& GblPoint::getGlobalDerivatives() const {
    return globalDerivatives;
}


void GblPoint::setLabel(unsigned int aLabel) {
    theLabel = aLabel;
}

unsigned int GblPoint::getLabel() const {
    return theLabel;
}


void GblPoint::setOffset(int anOffset) {
    theOffset = anOffset;
}

int GblPoint::getOffset() const {
    return theOffset;
}

const SMatrix55& GblPoint::getP2pJacobian() const {
    return p2pJacobian;
}


void GblPoint::addPrevJacobian(const SMatrix55 &aJac) {
    int ifail = 0;
// to optimize: need only two last rows of inverse
//  prevJacobian = aJac.InverseFast(ifail);
//  block matrix algebra
    SMatrix23 CA = aJac.Sub<SMatrix23>(3, 0)
            * aJac.Sub<SMatrix33>(0, 0).InverseFast(ifail); // C*A^-1
    SMatrix22 DCAB = aJac.Sub<SMatrix22>(3, 3) - CA * aJac.Sub<SMatrix32>(0, 3); // D - C*A^-1 *B
    DCAB.InvertFast();
    prevJacobian.Place_at(DCAB, 3, 3);
    prevJacobian.Place_at(-DCAB * CA, 3, 0);
}


void GblPoint::addNextJacobian(const SMatrix55 &aJac) {
    nextJacobian = aJac;
}


void GblPoint::getDerivatives(int aDirection, SMatrix22 &matW, SMatrix22 &matWJ,
        SVector2 &vecWd) const {

    SMatrix22 matJ;
    SVector2 vecd;
    if (aDirection < 1) {
        matJ = prevJacobian.Sub<SMatrix22>(3, 3);
        matW = -prevJacobian.Sub<SMatrix22>(3, 1);
        vecd = prevJacobian.SubCol<SVector2>(0, 3);
    } else {
        matJ = nextJacobian.Sub<SMatrix22>(3, 3);
        matW = nextJacobian.Sub<SMatrix22>(3, 1);
        vecd = nextJacobian.SubCol<SVector2>(0, 3);
    }

    if (!matW.InvertFast()) {
        std::cout << " GblPoint::getDerivatives failed to invert matrix: "
                << matW << std::endl;
        std::cout
                << " Possible reason for singular matrix: multiple GblPoints at same arc-length"
                << std::endl;
        throw std::overflow_error("Singular matrix inversion exception");
    }
    matWJ = matW * matJ;
    vecWd = matW * vecd;

}


void GblPoint::printPoint(unsigned int level) const {
    std::cout << " GblPoint";
    if (theLabel) {
        std::cout << ", label " << theLabel;
        if (theOffset >= 0) {
            std::cout << ", offset " << theOffset;
        }
    }
    if (measDim) {
        std::cout << ", " << measDim << " measurements";
    }
    if (scatFlag) {
        std::cout << ", scatterer";
    }
    if (transFlag) {
        std::cout << ", diagonalized";
    }
    if (localDerivatives.GetNcols()) {
        std::cout << ", " << localDerivatives.GetNcols()
                << " local derivatives";
    }
    if (globalDerivatives.GetNcols()) {
        std::cout << ", " << globalDerivatives.GetNcols()
                << " global derivatives";
    }
    std::cout << std::endl;
    if (level > 0) {
        if (measDim) {
            std::cout << "  Measurement" << std::endl;
            std::cout << "   Projection: " << std::endl << measProjection
                    << std::endl;
            std::cout << "   Residuals: " << measResiduals << std::endl;
            std::cout << "   Precision: " << measPrecision << std::endl;
        }
        if (scatFlag) {
            std::cout << "  Scatterer" << std::endl;
            std::cout << "   Residuals: " << scatResiduals << std::endl;
            std::cout << "   Precision: " << scatPrecision << std::endl;
        }
        if (localDerivatives.GetNcols()) {
            std::cout << "  Local Derivatives:" << std::endl;
            localDerivatives.Print();
        }
        if (globalDerivatives.GetNcols()) {
            std::cout << "  Global Labels:";
            for (unsigned int i = 0; i < globalLabels.size(); ++i) {
                std::cout << " " << globalLabels[i];
            }
            std::cout << std::endl;
            std::cout << "  Global Derivatives:" << std::endl;
            globalDerivatives.Print();
        }
        std::cout << "  Jacobian " << std::endl;
        std::cout << "   Point-to-point " << std::endl << p2pJacobian
                << std::endl;
        if (theLabel) {
            std::cout << "   To previous offset " << std::endl << prevJacobian
                    << std::endl;
            std::cout << "   To next offset " << std::endl << nextJacobian
                    << std::endl;
        }
    }
}

}