TkGluedMeasurementDet.cc

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#include "TkGluedMeasurementDet.h"
#include "TrackingTools/MeasurementDet/interface/MeasurementDetException.h"
#include "RecoTracker/TransientTrackingRecHit/interface/TSiStripMatchedRecHit.h"
#include "Geometry/TrackerGeometryBuilder/interface/GluedGeomDet.h"
#include "RecoLocalTracker/SiStripRecHitConverter/interface/SiStripRecHitMatcher.h"
#include "NonPropagatingDetMeasurements.h"
#include "TrackingTools/PatternTools/interface/TrajectoryMeasurement.h"
#include "TrackingTools/TransientTrackingRecHit/interface/TrackingRecHitProjector.h"
#include "RecoTracker/TransientTrackingRecHit/interface/ProjectedRecHit2D.h"
#include "RecHitPropagator.h"
#include "TrackingTools/TransientTrackingRecHit/interface/InvalidTransientRecHit.h"

#include "FWCore/MessageLogger/interface/MessageLogger.h"
#include <iostream>
#include <memory>

#include <typeinfo>

#include "DataFormats/SiStripDetId/interface/TOBDetId.h"


namespace {
  inline
  std::pair<LocalPoint,LocalError> projectedPos(const TrackingRecHit& hit,
                         const GeomDet& det,
                         const GlobalVector & gdir, const StripClusterParameterEstimator* cpe) {
    const BoundPlane& gluedPlane = det.surface();
    const BoundPlane& hitPlane = hit.det()->surface();

    // check if the planes are parallel
    //const float epsilon = 1.e-7; // corresponds to about 0.3 miliradian but cannot be reduced
                                 // because of float precision

    //if (fabs(gluedPlane.normalVector().dot( hitPlane.normalVector())) < 1-epsilon) {
    //       std::cout << "TkGluedMeasurementDet plane not parallel to DetUnit plane: dot product is "
    //     << gluedPlane.normalVector().dot( hitPlane.normalVector()) << endl;
    // FIXME: throw the appropriate exception here...
    //throw MeasurementDetException("TkGluedMeasurementDet plane not parallel to DetUnit plane");
    //}

    double delta = gluedPlane.localZ( hitPlane.position());
    LocalVector ldir = gluedPlane.toLocal(gdir);
    LocalPoint lhitPos = gluedPlane.toLocal( hit.globalPosition());
    LocalPoint projectedHitPos = lhitPos - ldir * delta/ldir.z();                  

    LocalVector hitXAxis = gluedPlane.toLocal( hitPlane.toGlobal( LocalVector(1,0,0)));
    LocalError hitErr = hit.localPositionError();
    if (gluedPlane.normalVector().dot( hitPlane.normalVector()) < 0) {
      // the two planes are inverted, and the correlation element must change sign
      hitErr = LocalError( hitErr.xx(), -hitErr.xy(), hitErr.yy());
    }
    LocalError rotatedError = hitErr.rotate( hitXAxis.x(), hitXAxis.y());

    return std::make_pair(projectedHitPos, rotatedError);
  }


  inline
  std::pair<LocalPoint,LocalError> projectedPos(const TrackingRecHit& hit,
                           const GeomDet& det,
                           const TrajectoryStateOnSurface& ts, const StripClusterParameterEstimator* cpe) {
      GlobalVector gdir = ts.globalParameters().momentum();
      return projectedPos(hit, det, gdir, cpe);
  }
}

// #include "TrackingTools/KalmanUpdators/interface/Chi2MeasurementEstimator.h"
#include "TrackingTools/PatternTools/interface/TrajMeasLessEstim.h"

using namespace std;

TkGluedMeasurementDet::TkGluedMeasurementDet( const GluedGeomDet* gdet, 
                          const SiStripRecHitMatcher* matcher,
                                              const StripClusterParameterEstimator* cpe) :
  MeasurementDet(gdet), 
  theMatcher(matcher),  theCPE(cpe),
  theMonoDet(nullptr), theStereoDet(nullptr)
{}

void TkGluedMeasurementDet::init(const MeasurementDet* monoDet,
                 const MeasurementDet* stereoDet) {
  theMonoDet = dynamic_cast<const TkStripMeasurementDet *>(monoDet);
  theStereoDet = dynamic_cast<const TkStripMeasurementDet *>(stereoDet);
  
  if ((theMonoDet == 0) || (theStereoDet == 0)) {
    throw MeasurementDetException("TkGluedMeasurementDet ERROR: Trying to glue a det which is not a TkStripMeasurementDet");
  }
}

TkGluedMeasurementDet::RecHitContainer 
TkGluedMeasurementDet::recHits( const TrajectoryStateOnSurface& ts, const MeasurementTrackerEvent & data) const
{
  
  RecHitContainer result;
  HitCollectorForRecHits collector( &fastGeomDet(), theMatcher, theCPE, result );
  collectRecHits(ts, data, collector);
  return result;
}


// simple hits
bool TkGluedMeasurementDet::recHits(SimpleHitContainer & result,  
                    const TrajectoryStateOnSurface& stateOnThisDet, 
                    const MeasurementEstimator& est, const MeasurementTrackerEvent & data) const {
  if unlikely((!theMonoDet->isActive(data)) && (!theStereoDet->isActive(data))) return false;
  auto oldSize = result.size();
  HitCollectorForSimpleHits collector( &fastGeomDet(), theMatcher, theCPE, stateOnThisDet, est, result);
  collectRecHits(stateOnThisDet, data, collector);
  
  return result.size()>oldSize;
  
}




bool TkGluedMeasurementDet::measurements( const TrajectoryStateOnSurface& stateOnThisDet,
                      const MeasurementEstimator& est,
                                          const MeasurementTrackerEvent & data,
                      TempMeasurements & result) const {
  
  if unlikely((!theMonoDet->isActive(data)) && (!theStereoDet->isActive(data))) {
       //     LogDebug("TkStripMeasurementDet") << " DetID " << geomDet().geographicalId().rawId() << " (glued) fully inactive";
       result.add(theInactiveHit, 0.F);
       return true;
    }
  
   auto oldSize = result.size();

   HitCollectorForFastMeasurements collector( &fastGeomDet(), theMatcher, theCPE, stateOnThisDet, est, result);
   collectRecHits(stateOnThisDet, data, collector);
   
   
   if (result.size()>oldSize) return true;
   
   auto id = geomDet().geographicalId().subdetId()-3;
   auto l = TOBDetId(geomDet().geographicalId()).layer();
   bool killHIP = (1==l) && (2==id); //TOB1
   killHIP &= stateOnThisDet.globalMomentum().perp2()>est.minPt2ForHitRecoveryInGluedDet();
   if (killHIP) {
        result.add(theInactiveHit, 0.F); 
        return true;
   }


   //LogDebug("TkStripMeasurementDet") << "No hit found on TkGlued. Testing strips...  ";
   const BoundPlane &gluedPlane = geomDet().surface();
   bool addMissingHit = false;
   if(est.minPt2ForHitRecoveryInGluedDet() < 1e9f) {// HIP mitigation is active
     // sorry for duplicating the big IF below, but to keep exloiting
     // short-circuiting logic that's the easiest
     addMissingHit = stateOnThisDet.hasError() && ( /* do this only if the state has uncertainties, otherwise it will throw 
                                                       (states without uncertainties are passed to this code from seeding */
                     (theMonoDet->isActive(data) && 
                      (theMonoDet->hasAllGoodChannels() || 
                       testStrips(stateOnThisDet,gluedPlane,*theMonoDet)
                       )
                      ) /*Mono OK*/ &&
                     (theStereoDet->isActive(data) && 
                      (theStereoDet->hasAllGoodChannels() || 
                       testStrips(stateOnThisDet,gluedPlane,*theStereoDet)
                       )
                      ) /*Stereo OK*/ 
                      ); /* State has errors */
   }
   else {
     // sorry for the big IF, but I want to exploit short-circuiting of logic
     addMissingHit = stateOnThisDet.hasError() && ( /* do this only if the state has uncertainties, otherwise it will throw 
                     (states without uncertainties are passed to this code from seeding */
                     (theMonoDet->isActive(data) && 
                      (theMonoDet->hasAllGoodChannels() || 
                       testStrips(stateOnThisDet,gluedPlane,*theMonoDet)
                       )
                      ) /*Mono OK*/ ||
                     (theStereoDet->isActive(data) && 
                      (theStereoDet->hasAllGoodChannels() || 
                       testStrips(stateOnThisDet,gluedPlane,*theStereoDet)
                       )
                      ) /*Stereo OK*/ 
                      ); /* State has errors */
   }
   if(addMissingHit) {
     result.add(theMissingHit, 0.F);
     return false;
   } 
   result.add(theInactiveHit, 0.F);
   return true;
   
}


struct take_address { template<typename T> const T * operator()(const T &val) const { return &val; } };

#ifdef DOUBLE_MATCH
template<typename Collector>
void
TkGluedMeasurementDet::collectRecHits( const TrajectoryStateOnSurface& ts, const MeasurementTrackerEvent & data, Collector & collector) const
{
  doubleMatch(ts,data,collector);
}
#else
template<typename Collector>
void
TkGluedMeasurementDet::collectRecHits( const TrajectoryStateOnSurface& ts, const MeasurementTrackerEvent & data, Collector & collector) const
{
  //------ WARNING: here ts is used as it is on the mono/stereo surface.
  //-----           A further propagation is necessary.
  //-----           To limit the problem, the SimpleCPE should be used
  RecHitContainer monoHits = theMonoDet->recHits( ts, data );
  GlobalVector glbDir = (ts.isValid() ? ts.globalParameters().momentum() : position()-GlobalPoint(0,0,0));
  
  //edm::LogWarning("TkGluedMeasurementDet::recHits") << "Query-for-detid-" << theGeomDet->geographicalId().rawId();
  
  //checkProjection(ts, monoHits, stereoHits);
  
  if (monoHits.empty()) {
      // make stereo TTRHs and project them
      projectOnGluedDet( collector, theStereoDet->recHits(ts, data), glbDir);
  } else {
    // collect simple stereo hits
    std::vector<SiStripRecHit2D> simpleSteroHitsByValue;
    theStereoDet->simpleRecHits(ts, data, simpleSteroHitsByValue);
    
    if (simpleSteroHitsByValue.empty()) {
      projectOnGluedDet( collector, monoHits, glbDir);
    } else {
      
      LocalVector tkDir = (ts.isValid() ? ts.localDirection() : surface().toLocal( position()-GlobalPoint(0,0,0)));
      SiStripRecHitMatcher::SimpleHitCollection vsStereoHits;
      vsStereoHits.resize(simpleSteroHitsByValue.size());
      std::transform(simpleSteroHitsByValue.begin(), simpleSteroHitsByValue.end(), vsStereoHits.begin(), take_address()); 
      
      // convert mono hits to type expected by matcher
      for (RecHitContainer::const_iterator monoHit = monoHits.begin();
       monoHit != monoHits.end(); ++monoHit) {
    const TrackingRecHit* tkhit = (**monoHit).hit();
    const SiStripRecHit2D* verySpecificMonoHit = reinterpret_cast<const SiStripRecHit2D*>(tkhit);
    theMatcher->match( verySpecificMonoHit, vsStereoHits.begin(), vsStereoHits.end(), 
               collector.collector(), &specificGeomDet(), tkDir);
    
    if (collector.hasNewMatchedHits()) {
      collector.clearNewMatchedHitsFlag();
    } else {
      collector.addProjected( **monoHit, glbDir );
    }
      } // loop on mono hit
    }
    //GIO// std::cerr << "TkGluedMeasurementDet hits " << monoHits.size() << "/" << stereoHits.size() << " => " << result.size() << std::endl;
  }
}
#endif

#include<cstdint>
#include<cstdio>
namespace {
  struct Stat {
    double totCall=0;
    double totMono=0;
    double totStereo=0;
    double totComb=0;
    double totMatched=0;
    double filtMono=0;
    double filtStereo=0;
    double filtComb=0;
    double matchT=0;
    double matchF=0;
    double singleF=0;
    double zeroM=0;
    double zeroS=0;

    void match(uint64_t t) {
      if(t!=0) ++matchT;
      totMatched+=t;
    }
    void operator()(uint64_t m,uint64_t s, uint64_t fm, uint64_t fs) {
      ++totCall; 
      totMono+=m;
      totStereo+=s;
      totComb += m*s;
      filtMono+=fm;
      filtStereo+=fs;
      filtComb += fm*fs;
      if(fm==0) ++zeroM;
      if(fs==0) ++zeroS;
      if(fm!=0&&fs!=0) ++matchF;
      if(fm!=0||fs!=0) ++singleF;
    }
    ~Stat() {
      if ( totCall>0)
    printf("Matches:%d/%d/%d/%d/%d/%d : %f/%f/%f/%f/%f/%f/%f\n",
           int(totCall),int(matchF),int(singleF-matchF),int(matchT),int(zeroM),int(zeroS),
           totMono/totCall,totStereo/totCall,totComb/totCall,totMatched/matchT,
           filtMono/totCall,filtStereo/totCall,filtComb/matchF);
    }
  };

  Stat stat;
}




TkGluedMeasurementDet::RecHitContainer 
TkGluedMeasurementDet::projectOnGluedDet( const RecHitContainer& hits,
                      const TrajectoryStateOnSurface& ts) const
{
  RecHitContainer result;
  for ( auto const & hit : hits) {
    auto && vl = projectedPos(*hit, fastGeomDet(), ts.globalParameters().momentum(),  theCPE);
    auto && phit = std::make_shared<ProjectedSiStripRecHit2D> (vl.first,vl.second, fastGeomDet(), static_cast<SiStripRecHit2D const &>(*hit));
    result.push_back(std::move(phit));
  }
  return result;
}

template<typename Collector>
void 
TkGluedMeasurementDet::projectOnGluedDet( Collector& collector,
                                          const RecHitContainer& hits,
                                          const GlobalVector & gdir ) const 
{
  for ( RecHitContainer::const_iterator ihit = hits.begin(); ihit!=hits.end(); ihit++) {
    collector.addProjected( **ihit, gdir );
  }
}

TkGluedMeasurementDet::RecHitContainer 
TkGluedMeasurementDet::projectOnGluedDet( std::vector<SiStripRecHit2D> const & hits,
                      const TrajectoryStateOnSurface& ts) const
{
  RecHitContainer result;
  for ( auto const & hit : hits) {
    auto && vl = projectedPos(hit, fastGeomDet(), ts.globalParameters().momentum(),  theCPE);
    auto && phit = std::make_shared<ProjectedSiStripRecHit2D> (vl.first,vl.second,fastGeomDet(), static_cast<SiStripRecHit2D const &>(hit));
    result.push_back(std::move(phit));
  }
  return result;
}

template<typename Collector>
void 
TkGluedMeasurementDet::projectOnGluedDet( Collector& collector,
                                          std::vector<SiStripRecHit2D> const & hits,
                                          const GlobalVector & gdir ) const 
{
  for ( auto const & hit : hits)
    collector.addProjected(hit, gdir );
}





void TkGluedMeasurementDet::checkProjection(const TrajectoryStateOnSurface& ts, 
                        const RecHitContainer& monoHits, 
                        const RecHitContainer& stereoHits) const
{
  for (RecHitContainer::const_iterator i=monoHits.begin(); i != monoHits.end(); ++i) {
    checkHitProjection( **i, ts, fastGeomDet());
  }
  for (RecHitContainer::const_iterator i=stereoHits.begin(); i != stereoHits.end(); ++i) {
    checkHitProjection( **i, ts, fastGeomDet());
  }
}

void TkGluedMeasurementDet::checkHitProjection(const TrackingRecHit& hit,
                           const TrajectoryStateOnSurface& ts, 
                           const GeomDet& det) const
{
  auto && vl = projectedPos(hit, det, ts.globalParameters().momentum(),  theCPE);
  ProjectedSiStripRecHit2D projectedHit(vl.first,vl.second, det, static_cast<SiStripRecHit2D const &>(hit));
  
  RecHitPropagator prop;
  TrajectoryStateOnSurface propState = prop.propagate( hit, det.surface(), ts);
  
  if ((projectedHit.localPosition()-propState.localPosition()).mag() > 0.0001f) {
    std::cout << "PROBLEM: projected and propagated hit positions differ by " 
          << (projectedHit.localPosition()-propState.localPosition()).mag() << std::endl;
  }
  
  LocalError le1 = projectedHit.localPositionError();
  LocalError le2 = propState.localError().positionError();
  double eps = 1.e-5;
  double cutoff = 1.e-4; // if element below cutoff, use absolute instead of relative accuracy
  double maxdiff = std::max( std::max( fabs(le1.xx() - le2.xx())/(cutoff+le1.xx()),
                       fabs(le1.xy() - le2.xy())/(cutoff+fabs(le1.xy()))),
                 fabs(le1.yy() - le2.yy())/(cutoff+le1.xx()));  
  if (maxdiff > eps) { 
    std::cout << "PROBLEM: projected and propagated hit errors differ by " 
          << maxdiff << std::endl;
  }
  
}

bool
TkGluedMeasurementDet::testStrips(const TrajectoryStateOnSurface& tsos,
                                  const BoundPlane &gluedPlane,
                                  const TkStripMeasurementDet &mdet) const {
  // from TrackingRecHitProjector
  const GeomDet &det = mdet.fastGeomDet();
  const BoundPlane &stripPlane = det.surface();

   //LocalPoint glp = tsos.localPosition();
  LocalError  err = tsos.localError().positionError();
  /*LogDebug("TkStripMeasurementDet") << 
    "Testing local pos glued: " << glp << 
    " local err glued: " << tsos.localError().positionError() << 
      " in? " << gluedPlane.bounds().inside(glp) <<
      " in(3s)? " << gluedPlane.bounds().inside(glp, err, 3.0f);*/
  
  GlobalVector gdir = tsos.globalParameters().momentum();
  
  LocalPoint  slp = stripPlane.toLocal(tsos.globalPosition()); 
  LocalVector sld = stripPlane.toLocal(gdir);
  
  double delta = stripPlane.localZ( tsos.globalPosition());
  LocalPoint pos = slp - sld * delta/sld.z();
  
  
   // now the error
   LocalVector hitXAxis = stripPlane.toLocal( gluedPlane.toGlobal( LocalVector(1,0,0)));
   if (stripPlane.normalVector().dot( gluedPlane.normalVector()) < 0) {
     // the two planes are inverted, and the correlation element must change sign
     err = LocalError( err.xx(), -err.xy(), err.yy());
   }
   LocalError rotatedError = err.rotate( hitXAxis.x(), hitXAxis.y());
   
   /* // This is probably meaningless 
      LogDebug("TkStripMeasurementDet") << 
      "Testing local pos on strip (SLP): " << slp << 
      " in? :" << stripPlane.bounds().inside(slp) <<
      " in(3s)? :" << stripPlane.bounds().inside(slp, rotatedError, 3.0f);
      // but it helps to test bugs in the formula for POS */
   /*LogDebug("TkStripMeasurementDet") << 
     "Testing local pos strip: " << pos << 
     " in? " << stripPlane.bounds().inside(pos) <<
     " in(3s)? " << stripPlane.bounds().inside(pos, rotatedError, 3.0f);*/
   
   // now we need to convert to MeasurementFrame
   const StripTopology &topo = mdet.specificGeomDet().specificTopology();
   float utraj = topo.measurementPosition(pos).x();
   float uerr  = std::sqrt(topo.measurementError(pos,rotatedError).uu());
   return mdet.testStrips(utraj, uerr);
} 

#include<boost/bind.hpp>
TkGluedMeasurementDet::HitCollectorForRecHits::HitCollectorForRecHits(const GeomDet * geomDet, 
                                      const SiStripRecHitMatcher * matcher, const StripClusterParameterEstimator* cpe,
                                      RecHitContainer & target) :
  geomDet_(geomDet), matcher_(matcher), cpe_(cpe),target_(target),
  collector_(boost::bind(&HitCollectorForRecHits::add,boost::ref(*this),_1)),
  hasNewHits_(false)
{
}

TkGluedMeasurementDet::HitCollectorForSimpleHits::HitCollectorForSimpleHits(
                                        const GeomDet * geomDet, 
                                        const SiStripRecHitMatcher * matcher, 
                                        const StripClusterParameterEstimator* cpe,
                                        const TrajectoryStateOnSurface& stateOnThisDet,
                                        const MeasurementEstimator& est,
                                        SimpleHitContainer & target) :
  geomDet_(geomDet), matcher_(matcher), cpe_(cpe),stateOnThisDet_(stateOnThisDet), est_(est), target_(target),
  collector_(boost::bind(&HitCollectorForSimpleHits::add,boost::ref(*this),_1)),
  hasNewHits_(false)
{
}


void
TkGluedMeasurementDet::HitCollectorForRecHits::addProjected(const TrackingRecHit& hit,
                                                            const GlobalVector & gdir)
{
  auto && vl = projectedPos(hit,*geomDet_, gdir,  cpe_);
  auto && phit = std::make_shared<ProjectedSiStripRecHit2D> (vl.first,vl.second,*geomDet_, static_cast<SiStripRecHit2D const &>(hit));
  target_.push_back(std::move(phit));
}


void
TkGluedMeasurementDet::HitCollectorForSimpleHits::add(SiStripMatchedRecHit2D const & hit2d) 
{
  hasNewHits_ = true; //FIXME: see also what happens moving this within testAndPush   // consistent with previous code
  if ( !est_.preFilter(stateOnThisDet_, ClusterFilterPayload(hit2d.geographicalId(), &hit2d.monoCluster(), &hit2d.stereoCluster()) ) ) return; 
  hasNewHits_ = true; //FIXME: see also what happens moving this within testAndPush

  std::pair<bool,double> diffEst = est_.estimate( stateOnThisDet_, hit2d);
  if (diffEst.first)
    target_.emplace_back(new SiStripMatchedRecHit2D(hit2d));  // fix to use move (really needed???)
}



void
TkGluedMeasurementDet::HitCollectorForSimpleHits::addProjected(const TrackingRecHit& hit,
                                   const GlobalVector & gdir)
{
 auto const & thit = reinterpret_cast<TrackerSingleRecHit const&>(hit);
 if ( !est_.preFilter(stateOnThisDet_, ClusterFilterPayload(hit.geographicalId(), &thit.stripCluster()) ) ) return;

  // here we're ok with some extra casual new's and delete's
  auto && vl = projectedPos(hit,*geomDet_, gdir,  cpe_);
  std::unique_ptr<ProjectedSiStripRecHit2D> phit(new ProjectedSiStripRecHit2D(vl.first,vl.second,*geomDet_, static_cast<SiStripRecHit2D const &>(hit)));
  std::pair<bool,double> diffEst = est_.estimate( stateOnThisDet_, *phit);
  if ( diffEst.first) {
    target_.emplace_back(phit.release());
  }
}




TkGluedMeasurementDet::HitCollectorForFastMeasurements::HitCollectorForFastMeasurements
(const GeomDet * geomDet, 
 const SiStripRecHitMatcher * matcher, const StripClusterParameterEstimator* cpe,
 const TrajectoryStateOnSurface& stateOnThisDet,
 const MeasurementEstimator& est,
 TempMeasurements & target) :
  geomDet_(geomDet), matcher_(matcher), cpe_(cpe),stateOnThisDet_(stateOnThisDet), est_(est), target_(target),
  collector_(boost::bind(&HitCollectorForFastMeasurements::add,boost::ref(*this),_1)),
  hasNewHits_(false)
{
}


void
TkGluedMeasurementDet::HitCollectorForFastMeasurements::add(SiStripMatchedRecHit2D const& hit2d) 
{
  hasNewHits_ = true; //FIXME: see also what happens moving this within testAndPush  // consistent with previous code...
  if ( !est_.preFilter(stateOnThisDet_, ClusterFilterPayload(hit2d.geographicalId(), &hit2d.monoCluster(), &hit2d.stereoCluster()) ) ) return;
  hasNewHits_ = true; //FIXME: see also what happens moving this within testAndPush

  std::pair<bool,double> diffEst = est_.estimate( stateOnThisDet_, hit2d);
  if (diffEst.first)
    target_.add(std::move(hit2d.cloneSH()),diffEst.second);
}


void
TkGluedMeasurementDet::HitCollectorForFastMeasurements::addProjected(const TrackingRecHit& hit,
                                     const GlobalVector & gdir)
{
  auto const & thit = reinterpret_cast<TrackerSingleRecHit const&>(hit);
  if ( !est_.preFilter(stateOnThisDet_, ClusterFilterPayload(hit.geographicalId(), &thit.stripCluster()) ) ) return;


  // here we're ok with some extra casual new's and delete's
  auto && vl = projectedPos(hit,*geomDet_, gdir,  cpe_);
  auto && phit = std::make_shared<ProjectedSiStripRecHit2D> (vl.first,vl.second,*geomDet_, static_cast<SiStripRecHit2D const &>(hit));

  std::pair<bool,double> diffEst = est_.estimate( stateOnThisDet_, *phit);
  if ( diffEst.first) {
    target_.add(phit, diffEst.second);
  }
}



#ifdef DOUBLE_MATCH
#include "doubleMatch.icc"
#endif