#include <KFTrajectoryFitter.h>

Inheritance diagram for KFTrajectoryFitter:

Public Member Functions
std::unique_ptr< TrajectoryFitter >	clone () const override

const MeasurementEstimator *	estimator () const

Trajectory	fitOne (const Trajectory &aTraj, fitType) const override

Trajectory	fitOne (const TrajectorySeed &aSeed, const RecHitContainer &hits, fitType) const override

Trajectory	fitOne (const TrajectorySeed &aSeed, const RecHitContainer &hits, const TSOS &firstPredTsos, fitType) const override

	KFTrajectoryFitter (const Propagator &aPropagator, const TrajectoryStateUpdator &aUpdator, const MeasurementEstimator &aEstimator, int minHits=3, const DetLayerGeometry detLayerGeometry=0, TkCloner const hc=0)

	KFTrajectoryFitter (const Propagator aPropagator, const TrajectoryStateUpdator aUpdator, const MeasurementEstimator aEstimator, int minHits=3, const DetLayerGeometry detLayerGeometry=0, TkCloner const *hc=0)

const Propagator *	propagator () const

void	setHitCloner (TkCloner const *hc) override

const TrajectoryStateUpdator *	updator () const

	~KFTrajectoryFitter () override

Public Member Functions inherited from TrajectoryFitter
std::vector< Trajectory >	fit (const Trajectory &traj, fitType type=standard) const

std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, fitType type=standard) const

std::vector< Trajectory >	fit (const TrajectorySeed &seed, const RecHitContainer &hits, const TrajectoryStateOnSurface &tsos, fitType type=standard) const

virtual	~TrajectoryFitter ()

Private Types
typedef FreeTrajectoryState	FTS

typedef TrajectoryMeasurement	TM

typedef TrajectoryStateOnSurface	TSOS

Private Member Functions
	KFTrajectoryFitter (KFTrajectoryFitter const &)=delete

Private Attributes
int	minHits_

bool	owner

const MeasurementEstimator *	theEstimator

const DetLayerGeometry *	theGeometry

TkCloner const *	theHitCloner = 0

const Propagator *	thePropagator

const TrajectoryStateUpdator *	theUpdator

Static Private Attributes
static const DetLayerGeometry	dummyGeometry

Additional Inherited Members
Public Types inherited from TrajectoryFitter
enum	fitType { standard =0, looper =1 }

typedef Trajectory::RecHitContainer	RecHitContainer

typedef TrajectoryFitterRecord	Record

Detailed Description

A Kalman track fit that splits matched RecHits into individual components before fitting them. Ported from ORCA

Author: todorov, cerati

A Standard Kalman fit. Ported from ORCA

Author: todorov, cerati

Definition at line 22 of file KFTrajectoryFitter.h.

Member Typedef Documentation

typedef FreeTrajectoryState KFTrajectoryFitter::FTS

private

Definition at line 27 of file KFTrajectoryFitter.h.

typedef TrajectoryMeasurement KFTrajectoryFitter::TM

private

Definition at line 28 of file KFTrajectoryFitter.h.

typedef TrajectoryStateOnSurface KFTrajectoryFitter::TSOS

private

Definition at line 26 of file KFTrajectoryFitter.h.

Constructor & Destructor Documentation

KFTrajectoryFitter::KFTrajectoryFitter	(	const Propagator &	aPropagator,
		const TrajectoryStateUpdator &	aUpdator,
		const MeasurementEstimator &	aEstimator,
		int	minHits = `3`,
		const DetLayerGeometry *	detLayerGeometry = `0`,
		TkCloner const *	hc = `0`
	)

inline

Definition at line 34 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

Referenced by clone(), and setHitCloner().

                                                   :
     thePropagator(aPropagator.clone()),
     theUpdator(aUpdator.clone()),
     theEstimator(aEstimator.clone()),
     theHitCloner(hc),
     theGeometry(detLayerGeometry),
     minHits_(minHits),
     owner(true){
     if(!theGeometry) theGeometry = &dummyGeometry;
     // FIXME. Why this first constructor is needed? who is using it? Can it be removed?
     // it is uses in many many places
     }

KFTrajectoryFitter::KFTrajectoryFitter	(	const Propagator *	aPropagator,
		const TrajectoryStateUpdator *	aUpdator,
		const MeasurementEstimator *	aEstimator,
		int	minHits = `3`,
		const DetLayerGeometry *	detLayerGeometry = `0`,
		TkCloner const *	hc = `0`
	)

inline

Definition at line 53 of file KFTrajectoryFitter.h.

References dummyGeometry, and theGeometry.

                                                   :
     thePropagator(aPropagator),
     theUpdator(aUpdator),
     theEstimator(aEstimator),
     theHitCloner(hc),
     theGeometry(detLayerGeometry),
     minHits_(minHits),
     owner(false){
       if(!theGeometry) theGeometry = &dummyGeometry;
     }

KFTrajectoryFitter::~KFTrajectoryFitter ( )

inlineoverride

Definition at line 69 of file KFTrajectoryFitter.h.

References fitOne(), hfClusterShapes_cfi::hits, owner, theEstimator, thePropagator, and theUpdator.

                                 {
     if (owner) {
       delete thePropagator;
       delete theUpdator;
       delete theEstimator;
     }
   }

KFTrajectoryFitter::KFTrajectoryFitter ( KFTrajectoryFitter const & )

privatedelete

Member Function Documentation

std::unique_ptr<TrajectoryFitter> KFTrajectoryFitter::clone ( void ) const

inlineoverridevirtual

Implements TrajectoryFitter.

Definition at line 89 of file KFTrajectoryFitter.h.

References KFTrajectoryFitter(), minHits_, owner, theEstimator, theGeometry, theHitCloner, thePropagator, and theUpdator.

   {
     return owner ?
         std::unique_ptr<TrajectoryFitter>(new KFTrajectoryFitter(*thePropagator,
                                                                  *theUpdator,
                                                                  *theEstimator,
                                                                  minHits_,theGeometry,theHitCloner)) :
         std::unique_ptr<TrajectoryFitter>(new KFTrajectoryFitter(thePropagator,
                                                                  theUpdator,
                                                                  theEstimator,
                                                                  minHits_,
                                                                  theGeometry,theHitCloner));
   }

const MeasurementEstimator* KFTrajectoryFitter::estimator ( void ) const

inline

Definition at line 87 of file KFTrajectoryFitter.h.

References theEstimator.

Referenced by KFSplittingFitter::clone(), and fitOne().

87 {return theEstimator;}

KFTrajectoryFitter::theEstimator

const MeasurementEstimator * theEstimator

Definition: KFTrajectoryFitter.h:114

Trajectory KFTrajectoryFitter::fitOne	(	const Trajectory &	aTraj,
		fitType	type
	)		const

overridevirtual

Implements TrajectoryFitter.

Definition at line 13 of file KFTrajectoryFitter.cc.

References Trajectory::empty(), Trajectory::firstMeasurement(), Trajectory::recHits(), Trajectory::seed(), and TrajectoryMeasurement::updatedState().

Referenced by KFSplittingFitter::fitOne(), and ~KFTrajectoryFitter().

                                                                                  {
 
   if(aTraj.empty()) return Trajectory();
 
   const TM& firstTM = aTraj.firstMeasurement();
   TSOS firstTsos = TrajectoryStateWithArbitraryError()(firstTM.updatedState());
 
   return fitOne(aTraj.seed(), aTraj.recHits(), firstTsos,type);
 }

Trajectory KFTrajectoryFitter::fitOne	(	const TrajectorySeed &	aSeed,
		const RecHitContainer &	hits,
		fitType
	)		const

overridevirtual

Implements TrajectoryFitter.

Definition at line 23 of file KFTrajectoryFitter.cc.

References Exception.

                                                             {
 
   throw cms::Exception("TrackFitters",
                "KFTrajectoryFitter::fit(TrajectorySeed, <TransientTrackingRecHit>) not implemented");
 
   return Trajectory();
 }

Trajectory KFTrajectoryFitter::fitOne	(	const TrajectorySeed &	aSeed,
		const RecHitContainer &	hits,
		const TSOS &	firstPredTsos,
		fitType
	)		const

overridevirtual

Implements TrajectoryFitter.

Definition at line 32 of file KFTrajectoryFitter.cc.

References funct::abs(), anyDirection, TrackingRecHit::canImproveWithTrack(), DetId::det(), TrajectorySeed::direction(), FrontierConditions_GlobalTag_cff::dump, estimator(), TrackingRecHit::geographicalId(), DetLayerGeometry::idToLayer(), edm::isNotFinite(), TrajectoryStateOnSurface::isValid(), TrackingRecHit::isValid(), likely, TrajectoryStateOnSurface::localError(), TrajectoryStateOnSurface::localParameters(), TrajectoryStateOnSurface::localPosition(), LogDebug, LogTrace, TkCloner::makeShared(), minHits_, LocalTrajectoryError::posDef(), GloballyPositioned< T >::position(), LocalTrajectoryParameters::position(), LocalTrajectoryParameters::qbp(), Trajectory::reserve(), edm::second(), SetPropagationDirection(), TrackingRecHit::surface(), theGeometry, theHitCloner, thePropagator, DetId::Tracker, mitigatedMETSequence_cff::U, unlikely, TrajectoryStateUpdator::update(), updator(), PV3DBase< T, PVType, FrameType >::x(), and PV3DBase< T, PVType, FrameType >::y().

 {
   if(hits.empty()) return Trajectory();
 
 
   if unlikely(aSeed.direction() == anyDirection)
     throw cms::Exception("KFTrajectoryFitter","TrajectorySeed::direction() requested but not set");
 
   std::unique_ptr<Propagator> p_cloned = SetPropagationDirection(*thePropagator,
                                                                  aSeed.direction());
 
 #ifdef EDM_ML_DEBUG
   LogDebug("TrackFitters")
     <<" +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n"
     <<" KFTrajectoryFitter::fit starting with " << hits.size() <<" HITS";
 
   for (unsigned int j=0;j<hits.size();j++) {
     if (hits[j]->det())
       LogTrace("TrackFitters") << "hit #:" << j+1 << " rawId=" << hits[j]->det()->geographicalId().rawId()
                    << " validity=" << hits[j]->isValid();
     else
       LogTrace("TrackFitters") << "hit #:" << j+1 << " Hit with no Det information";
   }
   LogTrace("TrackFitters") << " INITIAL STATE "<< firstPredTsos;
 #endif
 
   Trajectory ret(aSeed, p_cloned->propagationDirection());
   Trajectory & myTraj = ret;
   myTraj.reserve(hits.size());
 
   TSOS predTsos(firstPredTsos);
   TSOS currTsos;
 
   int hitcounter = 0;
   for(auto ihit : hits) {
     ++hitcounter;
 
     const TransientTrackingRecHit & hit = (*ihit);
 
     // if unlikely(hit.det() == nullptr) continue;
 
     if unlikely( (!hit.isValid()) && hit.surface() == nullptr) {
        LogDebug("TrackFitters")<< " Error: invalid hit with no GeomDet attached .... skipping";
       continue;
     }
    // if (hit.det() && hit.geographicalId()<1000U) LogDebug("TrackFitters")<< "Problem 0 det id for " << typeid(hit).name() << ' ' <<  hit.det()->geographicalId() ;
    // if (hit.isValid() && hit.geographicalId()<1000U) LogDebug("TrackFitters")<< "Problem 0 det id for " << typeid(hit).name() << ' ' <<  hit.det()->geographicalId();
 
     if ( hitcounter != 1) //no propagation needed for the first hit
       predTsos = p_cloned->propagate( currTsos, *(hit.surface()) );
 
 
     if unlikely(!predTsos.isValid()) {
       LogDebug("TrackFitters")
     << "SOMETHING WRONG !" << "\n"
     << "KFTrajectoryFitter: predicted tsos not valid!\n"
     << "current TSOS: " << currTsos << "\n";
 
       if(hit.surface()) LogTrace("TrackFitters") << "next Surface: " << hit.surface()->position() << "\n";
 
       if( myTraj.foundHits() >= minHits_ ) {
     LogDebug("TrackFitters") << " breaking trajectory" << "\n";
     break;
       } else {
     LogDebug("TrackFitters") << " killing trajectory" << "\n";
     return Trajectory();
       }
     }
 
 
     if likely(hit.isValid()) {
         assert( (hit.geographicalId()!=0U) | !hit.canImproveWithTrack() ) ;
         assert(hit.surface()!=nullptr);
     //update
     LogTrace("TrackFitters") << "THE HIT IS VALID: updating hit with predTsos";
         assert( (!hit.canImproveWithTrack()) | (nullptr!=theHitCloner));
         assert( (!hit.canImproveWithTrack()) | (nullptr!=dynamic_cast<BaseTrackerRecHit const*>((ihit).get())));
     auto preciseHit = theHitCloner->makeShared(ihit,predTsos);
         dump(*preciseHit,hitcounter,"TrackFitters");
         assert(preciseHit->isValid());
         assert( (preciseHit->geographicalId()!=0U)  | (!preciseHit->canImproveWithTrack()) );
         assert(preciseHit->surface()!=nullptr);
 
     if unlikely(!preciseHit->isValid()){
         LogTrace("TrackFitters") << "THE Precise HIT IS NOT VALID: using currTsos = predTsos" << "\n";
         currTsos = predTsos;
         myTraj.push(TM(predTsos, ihit,0,theGeometry->idToLayer((ihit)->geographicalId()) ));
 
       }else{
       LogTrace("TrackFitters") << "THE Precise HIT IS VALID: updating currTsos" << "\n";
       currTsos = updator()->update(predTsos, *preciseHit);
       //check for valid hits with no det (refitter with constraints)
       bool badState = (!currTsos.isValid())
           || (hit.geographicalId().det() == DetId::Tracker
               &&
               (std::abs(currTsos.localParameters().qbp())>100
                || std::abs(currTsos.localParameters().position().y()) > 1000
                || std::abs(currTsos.localParameters().position().x()) > 1000
                ) ) 
             || edm::isNotFinite(currTsos.localParameters().qbp()) 
             || !currTsos.localError().posDef();
       if unlikely(badState){
         if (!currTsos.isValid()) {
           edm::LogError("FailedUpdate") <<"updating with the hit failed. Not updating the trajectory with the hit";
 
             } 
         else if (edm::isNotFinite(currTsos.localParameters().qbp())) {
               edm::LogError("TrajectoryNaN")<<"Trajectory has NaN";
 
             }
         else if (!currTsos.localError().posDef()) {
               edm::LogError("TrajectoryNotPosDef")<<"Trajectory covariance is not positive-definite";
 
             }
         else{ 
               LogTrace("FailedUpdate")<<"updated state is valid but pretty bad, skipping. currTsos " <<currTsos<<"\n predTsos "<<predTsos;
             }
         myTraj.push(TM(predTsos, ihit,0,theGeometry->idToLayer((ihit)->geographicalId())  ));
         //There is a no-fail policy here. So, it's time to give up
         //Keep the traj with invalid TSOS so that it's clear what happened
         if( myTraj.foundHits() >= minHits_ ) {
           LogDebug("TrackFitters") << " breaking trajectory" << "\n";
           break;
         } else {
           LogDebug("TrackFitters") << " killing trajectory" << "\n";
           return Trajectory();
         }
       } else{
         if (preciseHit->det()){
           myTraj.push(TM(predTsos, currTsos, preciseHit,
                           estimator()->estimate(predTsos, *preciseHit).second,
                           theGeometry->idToLayer(preciseHit->geographicalId())  ));
             }
         else{
                myTraj.push(TM(predTsos, currTsos, preciseHit,
                 estimator()->estimate(predTsos, *preciseHit).second));
             }
       }
     }
       } else {  // invalid hit
         dump(hit,hitcounter,"TrackFitters");
         //no update
         LogDebug("TrackFitters") << "THE HIT IS NOT VALID: using currTsos" << "\n";
         currTsos = predTsos;
         assert( ((ihit)->det()==nullptr) || (ihit)->geographicalId()!=0U);
         if ((ihit)->det()) myTraj.push(TM(predTsos, ihit,0,theGeometry->idToLayer((ihit)->geographicalId())  ));
         else   myTraj.push(TM(predTsos, ihit,0));
     }
     LogTrace("TrackFitters")
       << "predTsos !" << "\n"
       << predTsos 
       <<" with local position " << predTsos.localPosition()
       <<"currTsos !" << "\n"
       << currTsos
       <<" with local position " << currTsos.localPosition();
   }
 
   LogDebug("TrackFitters") << "Found 1 trajectory with " << myTraj.foundHits() << " valid hits\n";
 
   return ret;
 }