SurveyAlignmentSensor Class Reference

#include <SurveyAlignmentSensor.h>

Inheritance diagram for SurveyAlignmentSensor:

Public Member Functions
	SurveyAlignmentSensor (const align::Alignables &sensors, const std::vector< align::StructureType > &levels)
	Constructor to set the sensors and residual levels in base class. More...
Public Member Functions inherited from SurveyAlignment
void	iterate (unsigned int nIteration, const std::string &fileName, bool bias=false)
	Run the iteration: find residuals, write to output, shift sensors. More...
	SurveyAlignment (const align::Alignables &sensors, const std::vector< align::StructureType > &levels)
	Constructor to set the sensors and residual levels. More...
virtual	~SurveyAlignment ()

Protected Member Functions
void	findAlignPars (bool bias=false) override
	Find the alignment parameters for all sensors. More...
Protected Member Functions inherited from SurveyAlignment
virtual void	shiftSensors ()
	Apply the alignment parameters to all sensors. More...

Additional Inherited Members
Protected Attributes inherited from SurveyAlignment
const std::vector< align::StructureType > &	theLevels
const align::Alignables &	theSensors

Detailed Description

Survey alignment using sensor residual.

The residual (dRx, dRy, dRz, dWx, dWy, dWz) is found for each sensor. The sensor shifted by this amount during each iteration.

Date

2007/05/03 20:58:58

Revision

1.3

Author

Chung Khim Lae

Definition at line 18 of file SurveyAlignmentSensor.h.

Constructor & Destructor Documentation

SurveyAlignmentSensor::SurveyAlignmentSensor	(	const align::Alignables &	sensors,
		const std::vector< align::StructureType > &	levels
	)

Constructor to set the sensors and residual levels in base class.

Definition at line 7 of file SurveyAlignmentSensor.cc.

                                                                     :
  SurveyAlignment(sensors, levels)
{
}

Member Function Documentation

void SurveyAlignmentSensor::findAlignPars ( bool  bias = false )

overrideprotectedvirtual

Find the alignment parameters for all sensors.

Implements SurveyAlignment.

Definition at line 13 of file SurveyAlignmentSensor.cc.

References mps_fire::i, SurveyResidual::inverseCovariance(), checklumidiff::l, SurveyResidual::sensorResidual(), Alignable::setAlignmentParameters(), SurveyAlignment::theLevels, SurveyAlignment::theSensors, and SurveyResidual::valid().

{
  unsigned int nSensor = theSensors.size();

  for (unsigned int i = 0; i < nSensor; ++i)
  {
    Alignable* ali = theSensors[i];

    AlgebraicVector par(6, 0);
    AlgebraicSymMatrix cov(6, 0);

    for (unsigned int l = 0; l < theLevels.size(); ++l)
    {
      SurveyResidual res(*ali, theLevels[l], bias);

      if ( !res.valid() ) continue;

      AlgebraicSymMatrix invCov = res.inverseCovariance();

      par += invCov * res.sensorResidual();
      cov += invCov;
    }

    int dummy;
    cov.invert(dummy); // cov = cov^-1
    par = -cov * par;

    ali->setAlignmentParameters( new SurveyParameters(ali, par, cov) );
  }
}