KFUpdator Class Reference

#include <KFUpdator.h>

Inheritance diagram for KFUpdator:

Public Member Functions
virtual KFUpdator *	clone () const
	KFUpdator ()
TrajectoryStateOnSurface	update (const TrajectoryStateOnSurface &, const TrackingRecHit &) const
Public Member Functions inherited from TrajectoryStateUpdator
	TrajectoryStateUpdator ()
virtual	~TrajectoryStateUpdator ()

Detailed Description

Update trajectory state by combining predicted state and measurement as prescribed in the Kalman Filter algorithm (see R. Fruhwirth, NIM A262 (1987) 444).

x_filtered = x_predicted + K * (measurement - H * x_predicted)

x_filtered, x_predicted filtered and predicted state vectors
measurement measurement vector
H "measurement matrix" projects state vector onto measurement space
K Kalman gain matrix
(formulae for K and error matrix of filtered state not shown)

This implementation works for measurements of all dimensions. It relies on CLHEP double precision vectors and matrices for matrix calculations.

Arguments: TrajectoryState & predicted state
RecHit & reconstructed hit

Initial author: P.Vanlaer 25.02.1999 Ported from ORCA.

Author

vanlaer, cerati

Definition at line 32 of file KFUpdator.h.

Constructor & Destructor Documentation

KFUpdator::KFUpdator ( )

inline

Definition at line 38 of file KFUpdator.h.

References update().

Referenced by clone().

{}

Member Function Documentation

virtual KFUpdator* KFUpdator::clone ( void  ) const

inlinevirtual

Implements TrajectoryStateUpdator.

Definition at line 44 of file KFUpdator.h.

References KFUpdator().

                                    {
    return new KFUpdator(*this);
  }

TrajectoryStateOnSurface KFUpdator::update ( const TrajectoryStateOnSurface &  tsos, const TrackingRecHit &  aRecHit  ) const

virtual

Implements TrajectoryStateUpdator.

Definition at line 75 of file KFUpdator.cc.

References TrackingRecHit::dimension(), Exception, and dataset::name.

Referenced by progressbar.ProgressBar::__next__(), MatrixUtil.Matrix::__setitem__(), MatrixUtil.Steps::__setitem__(), SiStripElectronSeedGenerator::altCheckHitsAndTSOS(), Vispa.Gui.VispaWidget.VispaWidget::autosize(), SeedForPhotonConversion1Leg::buildSeed(), SeedFromConsecutiveHitsCreator::buildSeed(), SeedForPhotonConversionFromQuadruplets::buildSeed(), SeedForPhotonConversionFromQuadruplets::buildSeedBool(), SiStripElectronSeedGenerator::checkHitsAndTSOS(), SeedFromNuclearInteraction::construct(), Vispa.Views.LineDecayView.LineDecayContainer::createObject(), OutInConversionSeedFinder::createSeed(), InOutConversionSeedFinder::createSeed(), Vispa.Views.LineDecayView.LineDecayContainer::deselectAllObjects(), Vispa.Gui.VispaWidgetOwner.VispaWidgetOwner::deselectAllWidgets(), Vispa.Gui.VispaWidget.VispaWidget::enableAutosizing(), progressbar.ProgressBar::finish(), CosmicMuonSmoother::fit(), KFUpdator(), 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(), ElectronSeedGenerator::prepareElTrackSeed(), ConvBremSeedProducer::produce(), Vispa.Views.LineDecayView.LineDecayContainer::removeObject(), Vispa.Gui.ConnectableWidget.ConnectableWidget::removePorts(), Vispa.Gui.FindDialog.FindDialog::reset(), KFBasedPixelFitter::run(), SeedGeneratorForCRack::seeds(), SeedGeneratorForCosmics::seeds(), SimpleCosmicBONSeeder::seeds(), 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(), CosmicMuonSmoother::smooth(), GsfMultiStateUpdator::update(), KFSwitching1DUpdator::update(), and Vispa.Gui.PortConnection.PointToPointConnection::updateConnection().

                                                                                {
    switch (aRecHit.dimension()) {
        case 1: return lupdate<1>(tsos,aRecHit);
        case 2: return lupdate<2>(tsos,aRecHit);
        case 3: return lupdate<3>(tsos,aRecHit);
        case 4: return lupdate<4>(tsos,aRecHit);
        case 5: return lupdate<5>(tsos,aRecHit);
    }
    throw cms::Exception("Rec hit of invalid dimension (not 1,2,3,4,5)") <<
         "The value was " << aRecHit.dimension() <<
        ", type is " << typeid(aRecHit).name() << "\n";
}