TrackingPlane.h

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#ifndef TRACKINGPLANE_H
#define TRACKINGPLANE_H

#include "lardataobj/RecoBase/TrackingTypes.h"

namespace recob {
  namespace tracking {


    class Plane {

      struct TrigCache {
      public:
        TrigCache(const Vector_t& planeDir)
        {
          const double diryz = std::hypot(planeDir.Y(), planeDir.Z());
          fCosA = diryz;
          fSinA = planeDir.X();
          fCosB = (diryz != 0.0) ? planeDir.Z() / diryz : 1.0;
          fSinB = (diryz != 0.0) ? -planeDir.Y() / diryz : 0.0;
        }
        double fCosA;
        double fSinA;
        double fCosB;
        double fSinB;
      };

    public:
      Plane(const Point_t& planePos, const Vector_t& planeDir)
        : fPlanePos(planePos), fPlaneDir(planeDir.Unit()), fTrigCache(planeDir.Unit())
      {}

      Point_t const& position() const { return fPlanePos; }

      Vector_t const& direction() const { return fPlaneDir; }

      inline SVector5 Global6DToLocal5DParameters(const SVector6& par6d) const
      {
        return Global6DToLocal5DParameters(par6d, fPlanePos, fPlaneDir, fTrigCache);
      }
      SVector5 Global6DToLocal5DParameters(const SVector6& par6d,
                                           const Point_t& planePos,
                                           const Vector_t& planeDir,
                                           const TrigCache& trigCache) const;

      inline SVector6 Local5DToGlobal6DParameters(const SVector5& par5d,
                                                  bool trackAlongPlaneDir = true) const
      {
        return Local5DToGlobal6DParameters(
          par5d, fPlanePos, fPlaneDir, fTrigCache, trackAlongPlaneDir);
      }
      SVector6 Local5DToGlobal6DParameters(const SVector5& par5d,
                                           const Point_t& planePos,
                                           const Vector_t& planeDir,
                                           const TrigCache& trigCache,
                                           bool trackAlongPlaneDir = true) const;

      inline SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum,
                                                 const Vector_t& trackMomOrDir) const
      {
        return Local5DToGlobal6DJacobian(hasMomentum, trackMomOrDir, fPlaneDir, fTrigCache);
      }
      SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum,
                                          const Vector_t& trackMomOrDir,
                                          const Vector_t& planeDir,
                                          const TrigCache& trigCache) const;

      inline SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum,
                                                 const Vector_t& trackMomOrDir) const
      {
        return Global6DToLocal5DJacobian(hasMomentum, trackMomOrDir, fPlaneDir, fTrigCache);
      }
      SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum,
                                          const Vector_t& trackMomOrDir,
                                          const Vector_t& planeDir,
                                          const TrigCache& trigCache) const;

      inline SMatrixSym66 Local5DToGlobal6DCovariance(SMatrixSym55 cov5d,
                                                      bool hasMomentum,
                                                      const Vector_t& trackMomOrDir) const
      {
        return Local5DToGlobal6DCovariance(cov5d, hasMomentum, trackMomOrDir, fPlaneDir);
      }

      inline SMatrixSym55 Global6DToLocal5DCovariance(SMatrixSym66 cov6d,
                                                      bool hasMomentum,
                                                      const Vector_t& trackMomOrDir) const
      {
        return Global6DToLocal5DCovariance(cov6d, hasMomentum, trackMomOrDir, fPlaneDir);
      }

      inline Rotation_t Global3DToLocal3DRotation() const
      {
        return Global3DToLocal3DRotation(fPlaneDir, fTrigCache);
      }
      Rotation_t Global3DToLocal3DRotation(const Vector_t& planeDir,
                                           const TrigCache& trigCache) const;

      inline Rotation_t Local3DToGlobal3DRotation() const
      {
        return Local3DToGlobal3DRotation(fPlaneDir, fTrigCache);
      }
      Rotation_t Local3DToGlobal3DRotation(const Vector_t& planeDir,
                                           const TrigCache& trigCache) const;

      double cosAlpha() const { return fTrigCache.fCosA; }
      double sinAlpha() const { return fTrigCache.fSinA; }
      double cosBeta() const { return fTrigCache.fCosB; }
      double sinBeta() const { return fTrigCache.fSinB; }

      static SVector5 Global6DToLocal5DParameters(const SVector6& par6d,
                                                  const Point_t& planePos,
                                                  const Vector_t& planeDir)
      {
        Plane p(planePos, planeDir);
        return p.Global6DToLocal5DParameters(par6d);
      }
      static SVector6 Local5DToGlobal6DParameters(const SVector5& par5d,
                                                  const Point_t& planePos,
                                                  const Vector_t& planeDir,
                                                  bool trackAlongPlaneDir = true)
      {
        Plane p(planePos, planeDir);
        return p.Local5DToGlobal6DParameters(par5d, trackAlongPlaneDir);
      }
      static SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum,
                                                 const Vector_t& trackMomOrDir,
                                                 const Vector_t& planeDir)
      {
        Plane p(Point_t(), planeDir);
        return p.Local5DToGlobal6DJacobian(hasMomentum, trackMomOrDir);
      }
      static SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum,
                                                 const SVector6& par6d,
                                                 const Vector_t& planeDir)
      {
        Plane p(Point_t(), planeDir);
        return p.Local5DToGlobal6DJacobian(hasMomentum, Vector_t(par6d[3], par6d[4], par6d[5]));
      }
      static SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum,
                                                 const Vector_t& trackMomOrDir,
                                                 const Vector_t& planeDir)
      {
        Plane p(Point_t(), planeDir);
        return p.Global6DToLocal5DJacobian(hasMomentum, trackMomOrDir);
      }
      static SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum,
                                                 const SVector6& par6d,
                                                 const Vector_t& planeDir)
      {
        Plane p(Point_t(), planeDir);
        return p.Global6DToLocal5DJacobian(hasMomentum, Vector_t(par6d[3], par6d[4], par6d[5]));
      }
      static SMatrixSym66 Local5DToGlobal6DCovariance(SMatrixSym55 cov5d,
                                                      bool hasMomentum,
                                                      const Vector_t& trackMomOrDir,
                                                      const Vector_t& planeDir)
      {
        return ROOT::Math::Similarity(
          Local5DToGlobal6DJacobian(hasMomentum, trackMomOrDir, planeDir), cov5d);
      }
      static SMatrixSym55 Global6DToLocal5DCovariance(SMatrixSym66 cov6d,
                                                      bool hasMomentum,
                                                      const Vector_t& trackMomOrDir,
                                                      const Vector_t& planeDir)
      {
        return ROOT::Math::Similarity(
          Global6DToLocal5DJacobian(hasMomentum, trackMomOrDir, planeDir), cov6d);
      }
      static Rotation_t Global3DToLocal3DRotation(const Vector_t& planeDir)
      {
        Plane p(Point_t(), planeDir);
        return p.Global3DToLocal3DRotation();
      }
      static Rotation_t Local3DToGlobal3DRotation(const Vector_t& planeDir)
      {
        Plane p(Point_t(), planeDir);
        return p.Local3DToGlobal3DRotation();
      }

    private:
      Point_t fPlanePos;    
      Vector_t fPlaneDir;   
      TrigCache fTrigCache; 
    };

  }
}

#endif