RPAlignmentCorrectionData Class Reference

Alignment correction or result of alignment procedure for a single RP sensor. Within the geometry description, every sensor (more generally every element) is given its translation and rotation. These two quantities shall be understood in local-to-global coordinate transform. That is, if r_l is a point in local coordinate system and x_g in global, then it holds. More...

#include <RPAlignmentCorrectionData.h>

Public Types
typedef ROOT::Math::Rotation3D	RotationMatrix

Public Member Functions
void	add (const RPAlignmentCorrectionData &, bool sumErrors=true, bool addShR=true, bool addShZ=true, bool addRotZ=true)
RotationMatrix	getRotationMatrix () const
const math::XYZVectorD &	getTranslation () const
const math::XYZVectorD &	getTranslationError () const
void	normalizeRotationZ ()
	adds a multiple of 2pi, such that the rotation is then in range (-pi, +pi) More...
void	print () const
	prints the contents on the screen More...
void	readoutTranslationToXY (double dx, double dy)
double	rot_z () const
double	rot_z_e () const
double	rotationZ () const
double	rotationZError () const
	RPAlignmentCorrectionData (double sh_r, double sh_r_e, double sh_x, double sh_x_e, double sh_y, double sh_y_e, double sh_z, double sh_z_e, double rot_x, double rot_x_e, double rot_y, double rot_y_e, double rot_z, double rot_z_e)
	full constructor, shifts in mm, rotations in rad More...
	RPAlignmentCorrectionData (double sh_r, double sh_r_e, double sh_x, double sh_x_e, double sh_y, double sh_y_e, double sh_z, double sh_z_e, double rot_z, double rot_z_e)
	constructor TB alignment, shifts in mm, rotation in rad More...
	RPAlignmentCorrectionData (double sh_x=0., double sh_y=0., double sh_z=0., double rot_z=0.)
	no error constructor, shifts in mm, rotation in rad More...
void	setRotationZ (double rot_z, double rot_z_e=0.)
void	setTranslationR (double sh_r, double sh_r_e=0.)
void	setTranslationZ (double sh_z, double sh_z_e=0.)
double	sh_r () const
double	sh_r_e () const
double	sh_x () const
double	sh_x_e () const
double	sh_y () const
double	sh_y_e () const
double	sh_z () const
double	sh_z_e () const
void	xyTranslationToReadout (double dx, double dy)

Protected Attributes
double	rotation_x
double	rotation_x_error
double	rotation_y
double	rotation_y_error
double	rotation_z
double	rotation_z_error
math::XYZVectorD	translation
math::XYZVectorD	translation_error
	the uncertainty of shift in mm (if known) More...
double	translation_r
double	translation_r_error
	the uncertainty of readout-dir. translation More...

Detailed Description

Alignment correction or result of alignment procedure for a single RP sensor. Within the geometry description, every sensor (more generally every element) is given its translation and rotation. These two quantities shall be understood in local-to-global coordinate transform. That is, if r_l is a point in local coordinate system and x_g in global, then it holds.

   x_g = rotation * x_l + translation

This class presents an alignment correction to the translation and rotation. It follows these formulae:

   translation_final = translation_correction * translation_original
   rotation_final = rotation_correction * rotation_original

(see DetGeomDesc::ApplyAlignment)

Alignment corrections can be added, following this prescription:

   translation_final = translation_added * translation_original
   rotation_final = rotation_added * rotation_original

NB: As follows from the above definitions, all translations are in the global space. This means that the rotations do not act on them.

Besides the values of rotations and translations, this class contains also uncertainties for these paramaters (the _error data memebers).

The RP silicon sensors are strip detectors and as such they measure one coordinate only. Thus the basic outcome of any track-based alignment involves shifts in read-out direction. This class contains these values in the `_r' data members.

The rotation is parameterized by 3 rotation parameters, the matrix is obtained by calling ROOT::Math::RotationZYX(r_z, r_y, r_x), which corresponds to:

     | 1     0        0    |   | cos r_y  0  +sin r_y |   | cos r_z  -sin r_z  0 |
 R = | 0 cos r_x  -sin r_x | * |    0     1     0     | * | sin r_z  cos r_z   0 |
     | 0 sin r_x  cos r_x  |   |-sin r_y  0  cos r_y  |   |    0        0      1 |

Definition at line 59 of file RPAlignmentCorrectionData.h.

Member Typedef Documentation

typedef ROOT::Math::Rotation3D RPAlignmentCorrectionData::RotationMatrix

Definition at line 63 of file RPAlignmentCorrectionData.h.

Constructor & Destructor Documentation

RPAlignmentCorrectionData::RPAlignmentCorrectionData	(	double	sh_r,
		double	sh_r_e,
		double	sh_x,
		double	sh_x_e,
		double	sh_y,
		double	sh_y_e,
		double	sh_z,
		double	sh_z_e,
		double	rot_x,
		double	rot_x_e,
		double	rot_y,
		double	rot_y_e,
		double	rot_z,
		double	rot_z_e
	)

full constructor, shifts in mm, rotations in rad

Definition at line 18 of file RPAlignmentCorrectionData.cc.

                                                :
  translation(sh_x, sh_y, sh_z), translation_error(sh_x_e, sh_y_e, sh_z_e),
  translation_r(sh_r), translation_r_error(sh_r_e),
  rotation_x(rot_x), rotation_y(rot_y), rotation_z(rot_z), 
  rotation_x_error(rot_x_e), rotation_y_error(rot_y_e), rotation_z_error(rot_z_e)
{
}

RPAlignmentCorrectionData::RPAlignmentCorrectionData	(	double	sh_r,
		double	sh_r_e,
		double	sh_x,
		double	sh_x_e,
		double	sh_y,
		double	sh_y_e,
		double	sh_z,
		double	sh_z_e,
		double	rot_z,
		double	rot_z_e
	)

constructor TB alignment, shifts in mm, rotation in rad

Definition at line 30 of file RPAlignmentCorrectionData.cc.

                                                                                          :
  translation(sh_x, sh_y, sh_z), translation_error(sh_x_e, sh_y_e, sh_z_e),
  translation_r(sh_r), translation_r_error(sh_r_e),
  rotation_x(0.), rotation_y(0.), rotation_z(rot_z), 
  rotation_x_error(0.), rotation_y_error(0.), rotation_z_error(rot_z_e)
{
}

RPAlignmentCorrectionData::RPAlignmentCorrectionData	(	double	sh_x = 0.,
		double	sh_y = 0.,
		double	sh_z = 0.,
		double	rot_z = 0.
	)

no error constructor, shifts in mm, rotation in rad

Definition at line 41 of file RPAlignmentCorrectionData.cc.

                                                                                                        : 
  translation(sh_x, sh_y, sh_z), translation_error(0., 0., 0.),
  translation_r(0.), translation_r_error(0.),
  rotation_x(0.), rotation_y(0.), rotation_z(rot_z), 
  rotation_x_error(0.), rotation_y_error(0.), rotation_z_error(0.)
{
}

Member Function Documentation

void RPAlignmentCorrectionData::add	(	const RPAlignmentCorrectionData &	a,
		bool	sumErrors = true,
		bool	addShR = true,
		bool	addShZ = true,
		bool	addRotZ = true
	)

merges (cumulates) alignements match between x, y and read-out shifts is not checked

Parameters

sumErrors

if it is true, old and new alignment uncertainties are summed (in quadrature) if it is false, the uncertainties of the parameter (i.e. not the object) will be used With the add... switches one can control which corrections are added.

TODO: proper adding of all three angles

Definition at line 51 of file RPAlignmentCorrectionData.cc.

References rotation_z, rotation_z_error, mathSSE::sqrt(), translation, translation_error, translation_r, and translation_r_error.

Referenced by RPAlignmentCorrectionsData::getFullSensorCorrection(), counter.Counter::register(), SequenceTypes.Task::remove(), SequenceTypes.Task::replace(), and rot_z_e().

{
  
  //printf(">> RPAlignmentCorrectionData::Add, sumErrors = %i\n", sumErrors);

  bool addShXY = addShR;
  
  if (addShR) {
    translation_r = a.translation_r + translation_r;
    if (sumErrors)
      translation_r_error = sqrt(a.translation_r_error*a.translation_r_error + translation_r_error*translation_r_error);
    else
      translation_r_error = a.translation_r_error;
  }

  if (addShXY) {
    translation.SetX(a.translation.X() + translation.X());
    translation.SetY(a.translation.Y() + translation.Y());
    if (sumErrors) {
      translation_error.SetX(sqrt(a.translation_error.X()*a.translation_error.X() + translation_error.X()*translation_error.X()));
      translation_error.SetY(sqrt(a.translation_error.Y()*a.translation_error.Y() + translation_error.Y()*translation_error.Y()));
    } else {
      translation_error.SetX(a.translation_error.X());
      translation_error.SetY(a.translation_error.Y());
    }
  }
  
  if (addShZ) {
    translation.SetZ(a.translation.Z() + translation.Z());
    if (sumErrors)
      translation_error.SetZ(sqrt(a.translation_error.Z()*a.translation_error.Z() + translation_error.Z()*translation_error.Z()));
    else
      translation_error.SetZ(a.translation_error.Z());
  }

  if (addRotZ) {
    rotation_z = a.rotation_z + rotation_z;
    if (sumErrors)
      rotation_z_error = sqrt(a.rotation_z_error*a.rotation_z_error + rotation_z_error*rotation_z_error);
    else
      rotation_z_error = a.rotation_z_error;
  }
}

RotationMatrix RPAlignmentCorrectionData::getRotationMatrix ( ) const

inline

Definition at line 113 of file RPAlignmentCorrectionData.h.

Referenced by DetGeomDesc::ApplyAlignment().

  { return RotationMatrix(ROOT::Math::RotationZYX(rotation_z, rotation_y, rotation_x));}

const math::XYZVectorD& RPAlignmentCorrectionData::getTranslation ( ) const

inline

Definition at line 101 of file RPAlignmentCorrectionData.h.

References translation.

Referenced by DetGeomDesc::ApplyAlignment(), and print().

    { return translation; }

const math::XYZVectorD& RPAlignmentCorrectionData::getTranslationError ( ) const

inline

Definition at line 104 of file RPAlignmentCorrectionData.h.

References translation_error.

    { return translation_error; }

void RPAlignmentCorrectionData::normalizeRotationZ

(

)

adds a multiple of 2pi, such that the rotation is then in range (-pi, +pi)

Definition at line 149 of file RPAlignmentCorrectionData.cc.

References M_PI, and rotation_z.

Referenced by rot_z_e().

{
  rotation_z -= floor( (rotation_z + M_PI) / 2. / M_PI ) * 2. * M_PI;
}

void RPAlignmentCorrectionData::print

(

void

)

const

prints the contents on the screen

Definition at line 157 of file RPAlignmentCorrectionData.cc.

References getTranslation(), rot_z(), sh_r(), x, y, and z.

Referenced by rot_z_e().

{
  printf("shift: r=%.1f, x=%.1f, y=%.1f, z=%.1f, rotation: z=%.1f\n", sh_r()*1E3, 
    getTranslation().x()*1E3, getTranslation().y()*1E3, getTranslation().z()*1E3, rot_z()*1E3);
}

void RPAlignmentCorrectionData::readoutTranslationToXY	(	double	dx,
		double	dy
	)

given (unit-length) readout direction vector (dx, dy), it converts 'translation_r' to x and y components of 'translation'

Definition at line 99 of file RPAlignmentCorrectionData.cc.

References translation, translation_error, translation_r, and translation_r_error.

Referenced by rot_z_e().

{
  double tr_z = translation.z();
  translation.SetXYZ(translation_r*dx, translation_r*dy, tr_z);

  tr_z = translation_error.z();
  translation_error.SetXYZ(translation_r_error*dx, translation_r_error*dy, tr_z);
}

double RPAlignmentCorrectionData::rot_z ( ) const

inline

Definition at line 140 of file RPAlignmentCorrectionData.h.

References rotation_z.

Referenced by print(), rot_z_e(), setRotationZ(), and RPAlignmentCorrectionsMethods::writeXML().

    { return rotation_z; }

double RPAlignmentCorrectionData::rot_z_e ( ) const

inline

Definition at line 143 of file RPAlignmentCorrectionData.h.

References add(), PVValHelper::dx, PVValHelper::dy, normalizeRotationZ(), print(), readoutTranslationToXY(), rot_z(), rotation_z_error, setRotationZ(), setTranslationR(), setTranslationZ(), sh_r(), sh_r_e(), sh_z(), sh_z_e(), and xyTranslationToReadout().

Referenced by setRotationZ(), and RPAlignmentCorrectionsMethods::writeXML().

    { return rotation_z_error; }

double RPAlignmentCorrectionData::rotationZ ( ) const

inline

Definition at line 107 of file RPAlignmentCorrectionData.h.

References rotation_z.

    { return rotation_z; } 

double RPAlignmentCorrectionData::rotationZError ( ) const

inline

Definition at line 110 of file RPAlignmentCorrectionData.h.

References rotation_z_error.

    { return rotation_z_error; } 

void RPAlignmentCorrectionData::setRotationZ	(	double	rot_z,
		double	rot_z_e = 0.
	)

Definition at line 141 of file RPAlignmentCorrectionData.cc.

References rot_z(), rot_z_e(), rotation_z, and rotation_z_error.

Referenced by rot_z_e().

{
  rotation_z = rot_z;
  rotation_z_error = rot_z_e;
}

void RPAlignmentCorrectionData::setTranslationR	(	double	sh_r,
		double	sh_r_e = 0.
	)

Definition at line 125 of file RPAlignmentCorrectionData.cc.

References sh_r(), sh_r_e(), translation_r, and translation_r_error.

Referenced by rot_z_e().

{
  translation_r = sh_r;
  translation_r_error = sh_r_e;
}

void RPAlignmentCorrectionData::setTranslationZ	(	double	sh_z,
		double	sh_z_e = 0.
	)

Definition at line 133 of file RPAlignmentCorrectionData.cc.

References translation, and translation_error.

Referenced by rot_z_e().

{
  translation.SetZ(sh_z);
  translation_error.SetZ(sh_z_e);
}

double RPAlignmentCorrectionData::sh_r ( ) const

inline

Definition at line 116 of file RPAlignmentCorrectionData.h.

References translation_r.

Referenced by print(), rot_z_e(), setTranslationR(), and RPAlignmentCorrectionsMethods::writeXML().

    { return translation_r; }

double RPAlignmentCorrectionData::sh_r_e ( ) const

inline

Definition at line 119 of file RPAlignmentCorrectionData.h.

References translation_r_error.

Referenced by rot_z_e(), setTranslationR(), and RPAlignmentCorrectionsMethods::writeXML().

    { return translation_r_error; }

double RPAlignmentCorrectionData::sh_x ( ) const

inline

Definition at line 122 of file RPAlignmentCorrectionData.h.

Referenced by RPAlignmentCorrectionsMethods::writeXML().

    { return translation.x(); }

double RPAlignmentCorrectionData::sh_x_e ( ) const

inline

Definition at line 125 of file RPAlignmentCorrectionData.h.

Referenced by RPAlignmentCorrectionsMethods::writeXML().

    { return translation_error.x(); }

double RPAlignmentCorrectionData::sh_y ( ) const

inline

Definition at line 128 of file RPAlignmentCorrectionData.h.

Referenced by RPAlignmentCorrectionsMethods::writeXML().

    { return translation.y(); }

double RPAlignmentCorrectionData::sh_y_e ( ) const

inline

Definition at line 131 of file RPAlignmentCorrectionData.h.

Referenced by RPAlignmentCorrectionsMethods::writeXML().

    { return translation_error.y(); }

double RPAlignmentCorrectionData::sh_z ( ) const

inline

Definition at line 134 of file RPAlignmentCorrectionData.h.

Referenced by rot_z_e(), and RPAlignmentCorrectionsMethods::writeXML().

    { return translation.z(); }

double RPAlignmentCorrectionData::sh_z_e ( ) const

inline

Definition at line 137 of file RPAlignmentCorrectionData.h.

Referenced by rot_z_e(), and RPAlignmentCorrectionsMethods::writeXML().

    { return translation_error.z(); }

void RPAlignmentCorrectionData::xyTranslationToReadout	(	double	dx,
		double	dy
	)

given (unit-length) readout direction vector (dx, dy), it removes the translation component perpendicular to the r-o direction, the parallel component is saved in 'translation_r'

Definition at line 110 of file RPAlignmentCorrectionData.cc.

References dot(), mathSSE::sqrt(), translation, translation_error, translation_r, and translation_r_error.

Referenced by rot_z_e().

{
  double dot = dx*translation.x() + dy*translation.y();
  translation_r = dot;
  translation.SetXYZ(dot*dx, dot*dy, translation.z());

  // there is a very high correlation between x and y components of translation_error
  //double dot_error = sqrt(dx*dx * translation_error.x()*translation_error.x() + dy*dy * translation_error.y()*translation_error.y());
  double dot_error = sqrt(translation_error.x()*translation_error.x() + translation_error.y()*translation_error.y());
  translation_r_error = dot_error;
  translation_error.SetXYZ(dot_error*dx, dot_error*dy, translation_error.z());
}

Member Data Documentation

double RPAlignmentCorrectionData::rotation_x

protected

the three rotation angles in rad

Definition at line 82 of file RPAlignmentCorrectionData.h.

double RPAlignmentCorrectionData::rotation_x_error

protected

the uncertainties of the three rotation angles in rad

Definition at line 86 of file RPAlignmentCorrectionData.h.

double RPAlignmentCorrectionData::rotation_y

protected

Definition at line 82 of file RPAlignmentCorrectionData.h.

double RPAlignmentCorrectionData::rotation_y_error

protected

Definition at line 86 of file RPAlignmentCorrectionData.h.

double RPAlignmentCorrectionData::rotation_z

protected

Definition at line 82 of file RPAlignmentCorrectionData.h.

Referenced by add(), normalizeRotationZ(), rot_z(), rotationZ(), and setRotationZ().

double RPAlignmentCorrectionData::rotation_z_error

protected

Definition at line 86 of file RPAlignmentCorrectionData.h.

Referenced by add(), rot_z_e(), rotationZError(), and setRotationZ().

math::XYZVectorD RPAlignmentCorrectionData::translation

protected

shift in mm; in global XYZ frame, which is not affected by (alignment) rotations! currently implemented as ROOT::Math::DisplacementVector3D

Definition at line 68 of file RPAlignmentCorrectionData.h.

Referenced by add(), getTranslation(), readoutTranslationToXY(), setTranslationZ(), and xyTranslationToReadout().

math::XYZVectorD RPAlignmentCorrectionData::translation_error

protected

the uncertainty of shift in mm (if known)

Definition at line 71 of file RPAlignmentCorrectionData.h.

Referenced by add(), getTranslationError(), readoutTranslationToXY(), setTranslationZ(), and xyTranslationToReadout().

double RPAlignmentCorrectionData::translation_r

protected

translation in the readout direction, in mm; needed for track-based alignment results NOTE: no guarantee that its value would correspond to the 'translation' vector!

Definition at line 75 of file RPAlignmentCorrectionData.h.

Referenced by add(), readoutTranslationToXY(), setTranslationR(), sh_r(), and xyTranslationToReadout().

double RPAlignmentCorrectionData::translation_r_error

protected

the uncertainty of readout-dir. translation

Definition at line 78 of file RPAlignmentCorrectionData.h.

Referenced by add(), readoutTranslationToXY(), setTranslationR(), sh_r_e(), and xyTranslationToReadout().