trkf::KFTrackState Class Reference

Extension of a TrackState to perform KalmanFilter calculations. More...

#include "KFTrackState.h"

Public Member Functions
	KFTrackState (const SVector5 &trackStatePar, const SMatrixSym55 &trackStateCov, const Plane &plane, bool trackAlongPlaneDir, int pid)
	KFTrackState (TrackState &&trackState)
bool	updateWithHitState (const HitState &hitstate)
	Update the TrackState given a HitState (they need to be on the same plane) More...
bool	combineWithTrackState (const TrackState &trackstate)
	Combine the TrackState given another TrackState (they need to be on the same plane) More...
const TrackState &	trackState () const
	Get the (const reference to the) TrackState. More...
void	setTrackState (TrackState &&s)
	Set the TrackState. More...
std::ostream &	dump (std::ostream &out=std::cout) const
	Printout information. More...
const SVector5 &	parameters () const
	This function calls the homonymous function of the stored TrackState. More...
const SMatrixSym55 &	covariance () const
	This function calls the homonymous function of the stored TrackState. More...
const Plane &	plane () const
	This function calls the homonymous function of the stored TrackState. More...
const Point_t &	position () const
	This function calls the homonymous function of the stored TrackState. More...
const Vector_t &	momentum () const
	This function calls the homonymous function of the stored TrackState. More...
int	pID () const
	This function calls the homonymous function of the stored TrackState. More...
double	mass () const
	This function calls the homonymous function of the stored TrackState. More...
const SVector6	parameters6D () const
	This function calls the homonymous function of the stored TrackState. More...
bool	isTrackAlongPlaneDir () const
	This function calls the homonymous function of the stored TrackState. More...
double	residual (const HitState &hitstate) const
	This function calls the homonymous function of the stored TrackState. More...
double	combinedError2 (const HitState &hitstate) const
	This function calls the homonymous function of the stored TrackState. More...
double	combinedError (const HitState &hitstate) const
	This function calls the homonymous function of the stored TrackState. More...
double	chi2 (const HitState &hitstate) const
	This function calls the homonymous function of the stored TrackState. More...
void	setCovariance (const SMatrixSym55 &trackStateCov)
	This function calls the homonymous function of the stored TrackState. More...
void	setParameters (const SVector5 &trackStatePar)
	This function calls the homonymous function of the stored TrackState. More...

Private Attributes
TrackState	fTrackState

Detailed Description

Extension of a TrackState to perform KalmanFilter calculations.

Author

G. Cerati (FNAL, MicroBooNE)

Date

2017

Version

1.0

This class extends the concept of TrackState, providing functionalities for Kalman Filter-specific calculations such as 'update' and 'combine'. It holds a TrackState by value, which is modified in place when updating or combining.

Definition at line 21 of file KFTrackState.h.

Constructor & Destructor Documentation

trkf::KFTrackState::KFTrackState ( const SVector5 &  trackStatePar, const SMatrixSym55 &  trackStateCov, const Plane &  plane, bool  trackAlongPlaneDir, int  pid  )

inline

Definition at line 24 of file KFTrackState.h.

      : fTrackState(trackStatePar, trackStateCov, plane, trackAlongPlaneDir, pid)
    {}

trkf::KFTrackState::KFTrackState ( TrackState &&  trackState )

inline

Definition at line 31 of file KFTrackState.h.

References combineWithTrackState(), and updateWithHitState().

: fTrackState(std::move(trackState)) {}

Member Function Documentation

double trkf::KFTrackState::chi2 ( const HitState &  hitstate ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 65 of file KFTrackState.h.

References trkf::TrackState::chi2(), and fTrackState.

Referenced by trkf::TrackKalmanFitter::doFitWork().

{ return fTrackState.chi2(hitstate); }

double trkf::KFTrackState::combinedError ( const HitState &  hitstate ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 61 of file KFTrackState.h.

References trkf::TrackState::combinedError(), and fTrackState.

    {
      return fTrackState.combinedError(hitstate);
    }

double trkf::KFTrackState::combinedError2 ( const HitState &  hitstate ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 57 of file KFTrackState.h.

References trkf::TrackState::combinedError2(), and fTrackState.

    {
      return fTrackState.combinedError2(hitstate);
    }

bool KFTrackState::combineWithTrackState

(

const TrackState &

trackstate

)

Combine the TrackState given another TrackState (they need to be on the same plane)

Definition at line 21 of file KFTrackState.cxx.

References trkf::TrackState::covariance(), recob::tracking::Plane::direction(), e, fTrackState, trkf::TrackState::parameters(), trkf::TrackState::plane(), recob::tracking::Plane::position(), trkf::TrackState::setCovariance(), and trkf::TrackState::setParameters().

Referenced by KFTrackState().

{
  // if tracks not on same plane do not update and return false
  if ((trackstate.plane().position() - fTrackState.plane().position()).Mag2() > 10e-6) return false;
  if ((trackstate.plane().direction() - fTrackState.plane().direction()).Mag2() > 10e-6)
    return false;
  // compute the weighted average of the two states
  const SVector5& par1 = fTrackState.parameters();
  const SVector5& par2 = trackstate.parameters();
  const SMatrixSym55& cov1 = fTrackState.covariance();
  const SMatrixSym55& cov2 = trackstate.covariance();
  SMatrixSym55&& cov = cov1 + cov2;
  bool success = cov.Invert();
  if (!success) return false;
  SMatrix55 K = cov1 * cov;
  fTrackState.setParameters(par1 + K * (par2 - par1));
  K = K * cov2;
  fTrackState.setCovariance(K.LowerBlock());
  return true;
}

const SMatrixSym55& trkf::KFTrackState::covariance ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 47 of file KFTrackState.h.

References trkf::TrackState::covariance(), and fTrackState.

Referenced by trkf::TrackKalmanFitter::doFitWork(), dump(), and trkf::TrackKalmanFitter::fillResult().

{ return fTrackState.covariance(); }

std::ostream& trkf::KFTrackState::dump ( std::ostream &  out = std::cout ) const

inline

Printout information.

Definition at line 75 of file KFTrackState.h.

References covariance(), recob::tracking::Plane::direction(), isTrackAlongPlaneDir(), mass(), momentum(), parameters(), pID(), plane(), position(), and recob::tracking::Plane::position().

Referenced by trkf::TrackKalmanFitter::doFitWork().

    {
      out << "KFTrackState with pID=" << pID() << " mass=" << mass() << "\npars=" << parameters()
          << " position=" << position() << " momentum=" << momentum() << "\ncov=\n"
          << covariance() << "\non plane with pos=" << plane().position()
          << " and dir=" << plane().direction() << " along=" << isTrackAlongPlaneDir() << "\n";
      return out;
    }

bool trkf::KFTrackState::isTrackAlongPlaneDir ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 54 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::isTrackAlongPlaneDir().

Referenced by dump().

{ return fTrackState.isTrackAlongPlaneDir(); }

double trkf::KFTrackState::mass ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 52 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::mass().

Referenced by dump().

{ return fTrackState.mass(); }

const Vector_t& trkf::KFTrackState::momentum ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 50 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::momentum().

Referenced by trkf::TrackKalmanFitter::doFitWork(), and dump().

{ return fTrackState.momentum(); }

const SVector5& trkf::KFTrackState::parameters ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 46 of file KFTrackState.h.

Referenced by dump(), and setTrackState().

{ return fTrackState.parameters(); }

const SVector6 trkf::KFTrackState::parameters6D ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 53 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::parameters6D().

{ return fTrackState.parameters6D(); }

int trkf::KFTrackState::pID ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 51 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::pID().

Referenced by dump().

{ return fTrackState.pID(); }

const Plane& trkf::KFTrackState::plane ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 48 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::plane().

Referenced by dump().

{ return fTrackState.plane(); }

const Point_t& trkf::KFTrackState::position ( ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 49 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::position().

Referenced by trkf::TrackKalmanFitter::doFitWork(), and dump().

{ return fTrackState.position(); }

double trkf::KFTrackState::residual ( const HitState &  hitstate ) const

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 56 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::residual().

Referenced by trkf::TrackKalmanFitter::doFitWork().

{ return fTrackState.residual(hitstate); }

void trkf::KFTrackState::setCovariance ( const SMatrixSym55 &  trackStateCov )

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 67 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::setCovariance().

Referenced by trkf::TrackKalmanFitter::doFitWork().

    {
      fTrackState.setCovariance(trackStateCov);
    }

void trkf::KFTrackState::setParameters ( const SVector5 &  trackStatePar )

inline

This function calls the homonymous function of the stored TrackState.

Definition at line 71 of file KFTrackState.h.

References fTrackState, and trkf::TrackState::setParameters().

{ fTrackState.setParameters(trackStatePar); }

void trkf::KFTrackState::setTrackState ( TrackState &&  s )

inline

Set the TrackState.

Definition at line 42 of file KFTrackState.h.

References fTrackState, parameters(), and trkf::TrackState::parameters().

{ fTrackState = std::move(s); }

const TrackState& trkf::KFTrackState::trackState ( ) const

inline

Get the (const reference to the) TrackState.

Definition at line 40 of file KFTrackState.h.

References fTrackState.

Referenced by trkf::TrackKalmanFitter::doFitWork().

{ return fTrackState; }

bool KFTrackState::updateWithHitState

(

const HitState &

hitstate

)

Update the TrackState given a HitState (they need to be on the same plane)

Definition at line 5 of file KFTrackState.cxx.

References trkf::TrackState::covariance(), recob::tracking::Plane::direction(), e, fTrackState, trkf::HitState::hitMeas(), trkf::HitState::hitMeasErr2(), trkf::TrackState::parameters(), trkf::HitState::plane(), trkf::TrackState::plane(), recob::tracking::Plane::position(), trkf::TrackState::setCovariance(), trkf::TrackState::setParameters(), and tmp.

Referenced by trkf::TrackKalmanFitter::doFitWork(), and KFTrackState().

{
  // if track and hit not on same plane do not update and return false
  if ((hitstate.plane().position() - fTrackState.plane().position()).Mag2() > 10e-6) return false;
  if ((hitstate.plane().direction() - fTrackState.plane().direction()).Mag2() > 10e-6) return false;
  // Kalman Filter update (simplified case: 1D measurement along the same coordinate as element 0 of the track parameters)
  SMatrixSym55 tmp;
  tmp(0, 0) = 1. / (hitstate.hitMeasErr2() + fTrackState.covariance()(0, 0));
  fTrackState.setParameters(fTrackState.parameters() +
                            fTrackState.covariance() * tmp.Col(0) *
                              (hitstate.hitMeas() - fTrackState.parameters()(0)));
  fTrackState.setCovariance(
    (fTrackState.covariance() - ROOT::Math::Similarity(fTrackState.covariance(), tmp)));
  return true;
}

Member Data Documentation

TrackState trkf::KFTrackState::fTrackState

private

Definition at line 85 of file KFTrackState.h.

Referenced by chi2(), combinedError(), combinedError2(), combineWithTrackState(), covariance(), isTrackAlongPlaneDir(), mass(), momentum(), parameters6D(), pID(), plane(), position(), residual(), setCovariance(), setParameters(), setTrackState(), trackState(), and updateWithHitState().

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The documentation for this class was generated from the following files:

• lardata/v09_16_03/source/lardata/RecoObjects/KFTrackState.h
• lardata/v09_16_03/source/lardata/RecoObjects/KFTrackState.cxx