KalmanVertexUpdator< N > Class Template Reference

#include <KalmanVertexUpdator.h>

Inheritance diagram for KalmanVertexUpdator< N >:

Public Types
typedef VertexTrack< N >::RefCountedLinearizedTrackState	RefCountedLinearizedTrackState
typedef CachingVertex< N >::RefCountedVertexTrack	RefCountedVertexTrack
Public Types inherited from VertexUpdator< N >
typedef CachingVertex< N >::RefCountedVertexTrack	RefCountedVertexTrack

Public Member Functions
CachingVertex< N >	add (const CachingVertex< N > &oldVertex, const RefCountedVertexTrack track) const
std::pair< bool, double >	chi2Increment (const VertexState &oldVertex, const VertexState &newVertexState, const RefCountedLinearizedTrackState linearizedTrack, float weight) const
VertexUpdator< N > *	clone () const
VertexState	positionUpdate (const VertexState &oldVertex, const RefCountedLinearizedTrackState linearizedTrack, const float weight, int sign) const
CachingVertex< N >	remove (const CachingVertex< N > &oldVertex, const RefCountedVertexTrack track) const
CachingVertex< N >	update (const CachingVertex< N > &oldVertex, const RefCountedVertexTrack track, float weight, int sign) const
Public Member Functions inherited from VertexUpdator< N >
virtual CachingVertex< N >	add (const CachingVertex< N > &v, const typename CachingVertex< N >::RefCountedVertexTrack t) const =0
virtual CachingVertex< N >	remove (const CachingVertex< N > &v, const typename CachingVertex< N >::RefCountedVertexTrack t) const =0
	VertexUpdator ()
virtual	~VertexUpdator ()

Private Types
typedef ROOT::Math::SMatrix< double, N-2, 3, ROOT::Math::MatRepStd< double, N-2, 3 > >	AlgebraicMatrixM3
typedef ROOT::Math::SMatrix< double, N, 3, ROOT::Math::MatRepStd< double, N, 3 > >	AlgebraicMatrixN3
typedef ROOT::Math::SMatrix< double, N, N-2, ROOT::Math::MatRepStd< double, N, N-2 > >	AlgebraicMatrixNM
typedef ROOT::Math::SMatrix< double, N+1, N+1, ROOT::Math::MatRepStd< double, N+1, N+1 > >	AlgebraicMatrixOO
typedef ROOT::Math::SMatrix< double, N-2, N-2, ROOT::Math::MatRepSym< double, N-2 > >	AlgebraicSymMatrixMM
typedef ROOT::Math::SMatrix< double, N, N, ROOT::Math::MatRepSym< double, N > >	AlgebraicSymMatrixNN
typedef ROOT::Math::SMatrix< double, N+1, N+1, ROOT::Math::MatRepSym< double, N+1 > >	AlgebraicSymMatrixOO
typedef ROOT::Math::SVector< double, N-2 >	AlgebraicVectorM
typedef ROOT::Math::SVector< double, N >	AlgebraicVectorN

Private Attributes
KVFHelper< N >	helper

Detailed Description

template<unsigned int N>
class KalmanVertexUpdator< N >

Vertex updator for the Kalman vertex filter. (c.f. R. Fruewirth et.al., Comp.Phys.Comm 96 (1996) 189

Definition at line 13 of file KalmanVertexUpdator.h.

Member Typedef Documentation

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N-2,3,ROOT::Math::MatRepStd<double,N-2,3> > KalmanVertexUpdator< N >::AlgebraicMatrixM3

private

Definition at line 68 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N,3,ROOT::Math::MatRepStd<double,N,3> > KalmanVertexUpdator< N >::AlgebraicMatrixN3

private

Definition at line 66 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N,N-2,ROOT::Math::MatRepStd<double,N,N-2> > KalmanVertexUpdator< N >::AlgebraicMatrixNM

private

Definition at line 67 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N+1,N+1,ROOT::Math::MatRepStd<double,N+1,N+1> > KalmanVertexUpdator< N >::AlgebraicMatrixOO

private

Definition at line 71 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N-2,N-2,ROOT::Math::MatRepSym<double,N-2> > KalmanVertexUpdator< N >::AlgebraicSymMatrixMM

private

Definition at line 72 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N,N,ROOT::Math::MatRepSym<double,N> > KalmanVertexUpdator< N >::AlgebraicSymMatrixNN

private

Definition at line 69 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SMatrix<double,N+1,N+1,ROOT::Math::MatRepSym<double,N+1> > KalmanVertexUpdator< N >::AlgebraicSymMatrixOO

private

Definition at line 70 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SVector<double,N-2> KalmanVertexUpdator< N >::AlgebraicVectorM

private

Definition at line 65 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef ROOT::Math::SVector<double,N> KalmanVertexUpdator< N >::AlgebraicVectorN

private

Definition at line 64 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef VertexTrack<N>::RefCountedLinearizedTrackState KalmanVertexUpdator< N >::RefCountedLinearizedTrackState

Definition at line 18 of file KalmanVertexUpdator.h.

template<unsigned int N>

typedef CachingVertex<N>::RefCountedVertexTrack KalmanVertexUpdator< N >::RefCountedVertexTrack

Definition at line 17 of file KalmanVertexUpdator.h.

Member Function Documentation

template<unsigned int N>

CachingVertex< N > KalmanVertexUpdator< N >::add	(	const CachingVertex< N > &	oldVertex,
		const RefCountedVertexTrack	track
	)		const

Method to add a track to an existing CachingVertex An invalid vertex is returned in case of problems during the update.

Definition at line 57 of file KalmanVertexUpdator.cc.

References update.

Referenced by GsfVertexUpdator::add(), and counter.Counter::register().

{
  float weight = track->weight();
  return update(oldVertex,track,weight,+1);
}

template<unsigned int N>

std::pair< bool, double > KalmanVertexUpdator< N >::chi2Increment	(	const VertexState &	oldVertex,
		const VertexState &	newVertexState,
		const RefCountedLinearizedTrackState	linearizedTrack,
		float	weight
	)		const

Definition at line 137 of file KalmanVertexUpdator.cc.

References a, b, HiEvtPlane_cfi::chi2, relativeConstraints::error, invertPosDefMatrix(), VertexState::position(), alignCSCRings::s, PV3DBase< T, PVType, FrameType >::x(), PV3DBase< T, PVType, FrameType >::y(), and PV3DBase< T, PVType, FrameType >::z().

Referenced by KalmanVertexUpdator< 5 >::clone(), and GsfVertexUpdator::createNewComponent().

{
  int error;
  GlobalPoint newVertexPosition = newVertexState.position();

  if (!linearizedTrack->isValid())
    return std::pair <bool, double> ( false, -1. );

  AlgebraicVector3 newVertexPositionV;
  newVertexPositionV(0) = newVertexPosition.x();
  newVertexPositionV(1) = newVertexPosition.y();
  newVertexPositionV(2) = newVertexPosition.z();

  const AlgebraicMatrixN3 & a = linearizedTrack->positionJacobian();
  const AlgebraicMatrixNM & b = linearizedTrack->momentumJacobian();

  AlgebraicVectorN trackParameters = 
    linearizedTrack->predictedStateParameters();

  AlgebraicSymMatrixNN trackParametersWeight = 
    linearizedTrack->predictedStateWeight(error);
  if(error!=0) {
    edm::LogWarning("KalmanVertexUpdator") << "predictedState error matrix inversion failed. An invalid vertex will be returned.";
    return std::pair <bool, double> (false, -1.);
  }

  AlgebraicSymMatrixMM s = ROOT::Math::SimilarityT(b,trackParametersWeight);
  if (!invertPosDefMatrix(s)) {
    edm::LogWarning("KalmanVertexUpdator") << "S matrix inversion failed. An invalid vertex will be returned.";
    return std::pair <bool, double> (false, -1.);
  }

  const AlgebraicVectorN & theResidual = linearizedTrack->constantTerm();
  AlgebraicVectorN vv = trackParameters - theResidual - a*newVertexPositionV;
  AlgebraicVectorM newTrackMomentumP =  s * ROOT::Math::Transpose(b) * trackParametersWeight * vv;


//   AlgebraicVectorN rtp = ( theResidual +  a * newVertexPositionV + b * newTrackMomentumP);

  AlgebraicVectorN parameterResiduals = vv  - b * newTrackMomentumP;
  linearizedTrack->checkParameters(parameterResiduals);

  double chi2 = weight * ROOT::Math::Similarity(parameterResiduals, trackParametersWeight);

//   chi2 += vertexPositionChi2(oldVertex, newVertexPosition);
  chi2 += helper.vertexChi2(oldVertex, newVertexState);

  return std::pair <bool, double> (true, chi2);
}

template<unsigned int N>

VertexUpdator<N>* KalmanVertexUpdator< N >::clone ( void  ) const

inlinevirtual

Clone method

Implements VertexUpdator< N >.

Definition at line 40 of file KalmanVertexUpdator.h.

   {
    return new KalmanVertexUpdator(* this);
   }

template<unsigned int N>

VertexState KalmanVertexUpdator< N >::positionUpdate	(	const VertexState &	oldVertex,
		const RefCountedLinearizedTrackState	linearizedTrack,
		const float	weight,
		int	sign
	)		const

Definition at line 75 of file KalmanVertexUpdator.cc.

References a, b, relativeConstraints::error, invertPosDefMatrix(), GlobalErrorBase< T, ErrorWeightType >::matrix(), alignCSCRings::s, Validation_hcalonly_cfi::sign, VertexState::weight(), and VertexState::weightTimesPosition().

Referenced by KalmanVertexUpdator< 5 >::clone(), GsfVertexUpdator::createNewComponent(), and GsfVertexSmoother::createNewComponent().

{
  int error;

  if (!linearizedTrack->isValid())
    return VertexState();

  const AlgebraicMatrixN3 & a = linearizedTrack->positionJacobian();
  const AlgebraicMatrixNM & b = linearizedTrack->momentumJacobian();

//   AlgebraicVectorN trackParameters = 
//      linearizedTrack->predictedStateParameters();

  AlgebraicSymMatrixNN trackParametersWeight = 
    linearizedTrack->predictedStateWeight(error);
  if(error != 0) {
    edm::LogWarning("KalmanVertexUpdator") << "predictedState error matrix inversion failed. An invalid vertex will be returned.";
    return VertexState();
  }


  // Jacobians
  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator") 
  //    << "Now updating position" << "\n";

  //vertex information
//   AlgebraicSymMatrix33 oldVertexWeight = oldVertex.weight().matrix();
  AlgebraicSymMatrixMM s = ROOT::Math::SimilarityT(b,trackParametersWeight);
  if (!invertPosDefMatrix(s))   {
    edm::LogWarning("KalmanVertexUpdator") << "S matrix inversion failed. An invalid vertex will be returned.";
    return VertexState();
  }

  AlgebraicSymMatrixNN gB = trackParametersWeight -
       ROOT::Math::Similarity(trackParametersWeight, ROOT::Math::Similarity(b,s));

// Getting the new covariance matrix of the vertex.

  AlgebraicSymMatrix33 newVertexWeight =  oldVertex.weight().matrix()
    + (weight * sign) * ROOT::Math::SimilarityT(a,gB);
  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator") 
  //    << "weight matrix" << newVertexWeight << "\n";


  AlgebraicVector3 newSwr = oldVertex.weightTimesPosition() 
    + (weight * sign) * ( (ROOT::Math::Transpose(a) * gB) *
              ( linearizedTrack->predictedStateParameters() - linearizedTrack->constantTerm()) );
  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator") 
  //    << "weighttimespos" << newSwr << "\n";

  VertexState newpos (newSwr, GlobalWeight(newVertexWeight), 1.0);

  //  edm::LogInfo("RecoVertex/KalmanVertexUpdator") 
  //    << "pos" << newpos.position() << "\n";

  return newpos;
}

template<unsigned int N>

CachingVertex< N > KalmanVertexUpdator< N >::remove	(	const CachingVertex< N > &	oldVertex,
		const RefCountedVertexTrack	track
	)		const

Method removing already used VertexTrack from existing CachingVertex An invalid vertex is returned in case of problems during the update.

Definition at line 65 of file KalmanVertexUpdator.cc.

References update.

{
  float weight = track->weight();
  return update(oldVertex,track,weight,-1);
}

template<unsigned int N>

CachingVertex< N > KalmanVertexUpdator< N >::update	(	const CachingVertex< N > &	oldVertex,
		const RefCountedVertexTrack	track,
		float	weight,
		int	sign
	)		const

The methode which actually does the vertex update. An invalid vertex is returned in case of problems during the update.

Definition at line 13 of file KalmanVertexUpdator.cc.

References funct::abs(), gather_cfg::cout, spr::find(), CachingVertex< N >::hasPrior(), VertexState::isValid(), CachingVertex< N >::priorVertexState(), Validation_hcalonly_cfi::sign, CachingVertex< N >::totalChiSquared(), HiIsolationCommonParameters_cff::track, CachingVertex< N >::tracks(), CachingVertex< N >::vertexState(), and mps_merge::weight.

Referenced by progressbar.ProgressBar::__next__(), MatrixUtil.Matrix::__setitem__(), MatrixUtil.Steps::__setitem__(), Vispa.Gui.VispaWidget.VispaWidget::autosize(), KalmanVertexUpdator< 5 >::clone(), 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().

{
  if(abs(sign) != 1) throw VertexException
                          ("KalmanVertexUpdator::abs(sign) not equal to 1");

  VertexState newVertexState = positionUpdate(oldVertex.vertexState(), 
                track->linearizedTrack(), weight, sign);
  if (!newVertexState.isValid()) return CachingVertex<N>();

  float chi1 = oldVertex.totalChiSquared();
  std::pair <bool, double> chi2P = chi2Increment(oldVertex.vertexState(), newVertexState, 
                             track->linearizedTrack() , weight );
  if (!chi2P.first) return CachingVertex<N>(); // return invalid vertex

  chi1 +=sign * chi2P.second;

//adding or removing track from the CachingVertex::VertexTracks
  std::vector<RefCountedVertexTrack> newVertexTracks = oldVertex.tracks();

  if (sign > 0) {
    newVertexTracks.push_back(track);
  }else{

    typename std::vector<RefCountedVertexTrack>::iterator pos 
      = find(newVertexTracks.begin(), newVertexTracks.end(), track);
    if (pos != newVertexTracks.end()) {
      newVertexTracks.erase(pos);
    } else {
      std::cout<<"KalmanVertexUpdator::Unable to find requested track in the current vertex"<<std::endl;
      throw VertexException("KalmanVertexUpdator::Unable to find requested track in the current vertex");
    }
  }

  if  (oldVertex.hasPrior()) {
    return CachingVertex<N>( oldVertex.priorVertexState(),
                          newVertexState, newVertexTracks, chi1);
  } else {
    return CachingVertex<N>(newVertexState, newVertexTracks, chi1);
  }
}

Member Data Documentation

template<unsigned int N>

KVFHelper<N> KalmanVertexUpdator< N >::helper

private

Definition at line 74 of file KalmanVertexUpdator.h.