trkf::KHitMulti Class Reference

#include "KHitMulti.h"

Inheritance diagram for trkf::KHitMulti:

Public Member Functions
	KHitMulti ()
	Default constructor. More...
	KHitMulti (const std::shared_ptr< const Surface > &psurf)
	Initializing Constructor – measurement surface only. More...
virtual	~KHitMulti ()
	Destructor. More...
int	getMeasDim () const
	Measurement space dimension. More...
const std::vector< std::shared_ptr< const KHit< 1 > > > &	getMeasVec () const
	Measurement collection. More...
const ublas::vector< double > &	getMeasVector () const
	Measurement vector. More...
const ublas::symmetric_matrix< double > &	getMeasError () const
	Measurement error matrix. More...
const ublas::vector< double > &	getPredVector () const
	Prediction vector. More...
const ublas::symmetric_matrix< double > &	getPredError () const
	Prediction matrix. More...
const ublas::vector< double > &	getResVector () const
	Residual vector. More...
const ublas::symmetric_matrix< double > &	getResError () const
	Residual error matrix. More...
const ublas::symmetric_matrix< double > &	getResInvError () const
	Residual inv. error matrix. More...
const ublas::matrix< double > &	getH () const
	Kalman H-matrix. More...
double	getChisq () const
	Incremental chisquare. More...
void	addMeas (const std::shared_ptr< const KHitBase > &pmeas)
	Add a measurement of unknown type. More...
void	addMeas (const std::shared_ptr< const KHit< 1 >> &pmeas)
	Add a one-dimensional measurement. More...
bool	predict (const KETrack &tre, const Propagator &prop, const KTrack *ref=0) const
	Prediction method (return false if fail). More...
void	update (KETrack &tre) const
	Update track method. More...
virtual std::ostream &	Print (std::ostream &out, bool doTitle=true) const
	Printout. More...
const std::shared_ptr< const Surface > &	getPredSurface () const
	Predition surface. More...
double	getPredDistance () const
	Prediction distance. More...
const std::shared_ptr< const Surface > &	getMeasSurface () const
	Measurement surface. More...
int	getMeasPlane () const
	Measurement plane index. More...
int	getID () const
	Unique id. More...
void	setMeasSurface (const std::shared_ptr< const Surface > &psurf)
	Measurement surface. More...
void	setMeasPlane (int plane)
	Measurement plane. More...

Protected Attributes
std::shared_ptr< const Surface >	fPredSurf
	Prediction surface. More...
double	fPredDist
	Prediction distance. More...
int	fID
	Unique id. More...

Private Attributes
int	fMeasDim
	Measurement space dimension. More...
std::vector< std::shared_ptr< const KHit< 1 > > >	fMeasVec
	Underlying measurements. More...
ublas::vector< double >	fMvec
	Measurement vector. More...
ublas::symmetric_matrix< double >	fMerr
	Measurement error matrix. More...
ublas::vector< double >	fPvec
	Prediction vector. More...
ublas::symmetric_matrix< double >	fPerr
	Prediction error matrix. More...
ublas::vector< double >	fRvec
	Residual vector. More...
ublas::symmetric_matrix< double >	fRerr
	Residual error matrix. More...
ublas::symmetric_matrix< double >	fRinv
	Residual inverse error matrix. More...
ublas::matrix< double >	fH
	Kalman H-matrix. More...
double	fChisq
	Incremental chisquare. More...

Detailed Description

Definition at line 53 of file KHitMulti.h.

Constructor & Destructor Documentation

trkf::KHitMulti::KHitMulti

(

)

Default constructor.

Default Constructor.

Definition at line 17 of file KHitMulti.cxx.

: fMeasDim(0), fChisq(0.) {}

trkf::KHitMulti::KHitMulti

(

const std::shared_ptr< const Surface > &

psurf

)

Initializing Constructor – measurement surface only.

Initializing Constructor.

Arguments:

psurf - Measurement surface pointer.

Definition at line 25 of file KHitMulti.cxx.

    : KHitBase(psurf), fMeasDim(0), fChisq(0.)
  {}

trkf::KHitMulti::~KHitMulti ( )

virtual

Destructor.

Definition at line 30 of file KHitMulti.cxx.

{}

Member Function Documentation

void trkf::KHitMulti::addMeas

(

const std::shared_ptr< const KHitBase > &

pmeas

)

Add a measurement of unknown type.

Add a measurement.

Arguments:

pmeas - Measurement.

This method tries to dynamic cast the measurement to a supported type. If the dynamic cast fails, throw an exception.

Definition at line 41 of file KHitMulti.cxx.

Referenced by getChisq().

  {
    // It is an error to pass in a null pointer.

    if (pmeas.get() == 0)
      throw cet::exception("KHitMulti") << "Attempt to add null measurement pointer.\n";

    // Do the dynamic cast.

    std::shared_ptr<const KHit<1>> pmeas1 =
      std::dynamic_pointer_cast<const KHit<1>, const KHitBase>(pmeas);

    // Throw an exception if dynamic cast failed.

    if (pmeas1.get() == 0)
      throw cet::exception("KHitMulti") << "Dynamic cast for KHitBase pointer failed.\n";
    addMeas(pmeas1);
  }

void trkf::KHitMulti::addMeas

(

const std::shared_ptr< const KHit< 1 >> &

pmeas

)

Add a one-dimensional measurement.

Add a measurement.

Arguments:

pmeas - Measurement.

Definition at line 66 of file KHitMulti.cxx.

References fMeasDim, and fMeasVec.

  {
    // It is an error to pass in a null pointer.

    if (pmeas.get() == 0)
      throw cet::exception("KHitMulti") << "Attempt to add null measurement pointer.\n";

    // Add the measurement.

    ++fMeasDim;
    fMeasVec.push_back(pmeas);
  }

double trkf::KHitMulti::getChisq ( ) const

inlinevirtual

Incremental chisquare.

Implements trkf::KHitBase.

Definition at line 97 of file KHitMulti.h.

References addMeas(), fChisq, predict(), Print(), and update().

{ return fChisq; }

const ublas::matrix<double>& trkf::KHitMulti::getH ( ) const

inline

Kalman H-matrix.

Definition at line 94 of file KHitMulti.h.

References fH.

{ return fH; }

int trkf::KHitBase::getID ( ) const

inlineinherited

Unique id.

Definition at line 88 of file KHitBase.h.

References trkf::KHitBase::fID.

Referenced by trkf::KalmanFilterAlg::buildTrack(), trkf::KalmanFilterAlg::cleanTrack(), trkf::KalmanFilterAlg::extendTrack(), and trkf::KalmanFilterAlg::smoothTrack().

{ return fID; }

int trkf::KHitMulti::getMeasDim ( ) const

inline

Measurement space dimension.

Definition at line 67 of file KHitMulti.h.

References fMeasDim.

{ return fMeasDim; }

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getMeasError ( ) const

inline

Measurement error matrix.

Definition at line 76 of file KHitMulti.h.

References fMerr.

{ return fMerr; }

int trkf::KHitBase::getMeasPlane ( ) const

inlineinherited

Measurement plane index.

Definition at line 85 of file KHitBase.h.

References trkf::KHitBase::fMeasPlane.

Referenced by trkf::KalmanFilterAlg::buildTrack(), trkf::KalmanFilterAlg::cleanTrack(), trkf::KalmanFilterAlg::extendTrack(), and trkf::KGTrack::Print().

{ return fMeasPlane; }

const std::shared_ptr<const Surface>& trkf::KHitBase::getMeasSurface ( ) const

inlineinherited

Measurement surface.

Definition at line 82 of file KHitBase.h.

References trkf::KHitBase::fMeasSurf.

Referenced by trkf::KHit< N >::predict(), trkf::KHitWireLine::subpredict(), and trkf::KHitWireX::subpredict().

{ return fMeasSurf; }

const std::vector<std::shared_ptr<const KHit<1> > >& trkf::KHitMulti::getMeasVec ( ) const

inline

Measurement collection.

Definition at line 70 of file KHitMulti.h.

References fMeasVec.

{ return fMeasVec; }

const ublas::vector<double>& trkf::KHitMulti::getMeasVector ( ) const

inline

Measurement vector.

Definition at line 73 of file KHitMulti.h.

References fMvec.

{ return fMvec; }

double trkf::KHitBase::getPredDistance ( ) const

inlineinherited

Prediction distance.

Definition at line 79 of file KHitBase.h.

References trkf::KHitBase::fPredDist.

Referenced by trkf::KalmanFilterAlg::buildTrack(), and trkf::KalmanFilterAlg::extendTrack().

{ return fPredDist; }

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getPredError ( ) const

inline

Prediction matrix.

Definition at line 82 of file KHitMulti.h.

References fPerr.

{ return fPerr; }

const std::shared_ptr<const Surface>& trkf::KHitBase::getPredSurface ( ) const

inlineinherited

Predition surface.

Definition at line 76 of file KHitBase.h.

References trkf::KHitBase::fPredSurf.

Referenced by update(), and trkf::KHit< N >::update().

{ return fPredSurf; }

const ublas::vector<double>& trkf::KHitMulti::getPredVector ( ) const

inline

Prediction vector.

Definition at line 79 of file KHitMulti.h.

References fPvec.

{ return fPvec; }

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getResError ( ) const

inline

Residual error matrix.

Definition at line 88 of file KHitMulti.h.

References fRerr.

{ return fRerr; }

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getResInvError ( ) const

inline

Residual inv. error matrix.

Definition at line 91 of file KHitMulti.h.

References fRinv.

{ return fRinv; }

const ublas::vector<double>& trkf::KHitMulti::getResVector ( ) const

inline

Residual vector.

Definition at line 85 of file KHitMulti.h.

References fRvec.

{ return fRvec; }

bool trkf::KHitMulti::predict ( const KETrack &  tre, const Propagator &  prop, const KTrack *  ref = 0  ) const

virtual

Prediction method (return false if fail).

Prediction method (return false if fail).

Arguments:

tre - Track hypothesis. prop - Propagator. ref - Reference track.

Returns: True if success.

This class calls the predict method of each underlying measurement and updates the combined prediction attributes.

Implements trkf::KHitBase.

Definition at line 92 of file KHitMulti.cxx.

References fChisq, fH, fMeasDim, fMeasVec, fMerr, fMvec, fPerr, trkf::KHitBase::fPredDist, trkf::KHitBase::fPredSurf, fPvec, fRerr, fRinv, fRvec, trkf::KETrack::getError(), trkf::KHit< N >::getH(), trkf::KHit< N >::getMeasError(), trkf::KHit< N >::getMeasVector(), trkf::KHit< N >::getPredVector(), trkf::KTrack::getSurface(), trkf::KTrack::getVector(), trkf::KHit< N >::predict(), and trkf::syminvert().

Referenced by getChisq().

  {
    // Resize and clear all linear algebra objects.

    fMvec.resize(fMeasDim, false);
    fMvec.clear();

    fMerr.resize(fMeasDim, false);
    fMerr.clear();

    fPvec.resize(fMeasDim, false);
    fPvec.clear();

    fPerr.resize(fMeasDim, false);
    fPerr.clear();

    fRvec.resize(fMeasDim, false);
    fRvec.clear();

    fRerr.resize(fMeasDim, false);
    fRerr.clear();

    fRinv.resize(fMeasDim, false);
    fRinv.clear();

    fH.resize(fMeasDim, tre.getVector().size());
    fH.clear();

    // Update the prediction surface to be the track surface.

    fPredSurf = tre.getSurface();
    fPredDist = 0.;

    // Result.

    bool ok = true;

    // Loop over one-dimensional measurements.

    for (unsigned int im = 0; ok && im < fMeasVec.size(); ++im) {
      const KHit<1>& meas = *(fMeasVec[im]);

      // Update prediction for this measurement.

      ok = meas.predict(tre, prop, ref);
      if (!ok) break;

      //

      // Update objects that are concatenations of underlying measurements.

      fMvec(im) = meas.getMeasVector()(0);       // Measurement vector.
      fMerr(im, im) = meas.getMeasError()(0, 0); // Measurement error matrix.
      fPvec(im) = meas.getPredVector()(0);       // Prediction vector.

      // H-matrix.

      for (unsigned int j = 0; j < meas.getH().size2(); ++j)
        fH(im, j) = meas.getH()(0, j);
    }
    if (ok) {

      // Calculate prediction error matrix.
      // T = H C H^T.

      ublas::matrix<double> temp(fH.size2(), fMeasDim);
      ublas::matrix<double> temp2(fMeasDim, fMeasDim);
      temp = prod(tre.getError(), trans(fH));
      temp2 = prod(fH, temp);
      fPerr = ublas::symmetric_adaptor<ublas::matrix<double>>(temp2);

      // Update residual

      fRvec = fMvec - fPvec;
      fRerr = fMerr + fPerr;
      fRinv = fRerr;
      ok = syminvert(fRinv);
      if (ok) {

        // Calculate incremental chisquare.

        ublas::vector<double> rtemp = prod(fRinv, fRvec);
        fChisq = inner_prod(fRvec, rtemp);
      }
    }

    // If a problem occured at any step, clear the prediction surface pointer.

    if (!ok) {
      fPredSurf.reset();
      fPredDist = 0.;
    }

    // Done.

    return ok;
  }

std::ostream & trkf::KHitMulti::Print ( std::ostream &  out, bool  doTitle = true  ) const

virtual

Printout.

Reimplemented from trkf::KHitBase.

Definition at line 240 of file KHitMulti.cxx.

Referenced by getChisq().

  {
    if (doTitle) out << "KHitMulti:\n";
    return out;
  }

void trkf::KHitBase::setMeasPlane ( int  plane )

inlineinherited

Measurement plane.

Definition at line 96 of file KHitBase.h.

References trkf::KHitBase::fMeasPlane, trkf::KHitBase::getChisq(), trkf::KHitBase::predict(), trkf::KHitBase::Print(), and trkf::KHitBase::update().

Referenced by trkf::KHitWireLine::KHitWireLine(), and trkf::KHitWireX::KHitWireX().

{ fMeasPlane = plane; }

void trkf::KHitBase::setMeasSurface ( const std::shared_ptr< const Surface > &  psurf )

inlineinherited

Measurement surface.

Definition at line 93 of file KHitBase.h.

References trkf::KHitBase::fMeasSurf.

Referenced by trkf::KHitWireLine::KHitWireLine(), and trkf::KHitWireX::KHitWireX().

{ fMeasSurf = psurf; }

void trkf::KHitMulti::update ( KETrack &  tre ) const

virtual

Update track method.

Update track method.

Arguments:

tre - Track to be updated.

This method is almost an exact copy of the update method in KHit<N>.

Implements trkf::KHitBase.

Definition at line 198 of file KHitMulti.cxx.

References fH, fMeasDim, fMerr, fRinv, fRvec, trkf::KETrack::getError(), trkf::KHitBase::getPredSurface(), trkf::KTrack::getSurface(), trkf::KTrack::getVector(), trkf::KETrack::setError(), trkf::KTrack::setVector(), and util::size().

Referenced by getChisq().

  {
    // Make sure that the track surface and the prediction surface are the same.
    // Throw an exception if they are not.

    if (!getPredSurface()->isEqual(*tre.getSurface()))
      throw cet::exception("KHitMulti") << "Track surface not the same as prediction surface.\n";

    const TrackVector& tvec = tre.getVector();
    const TrackError& terr = tre.getError();
    TrackVector::size_type size = tvec.size();

    // Calculate gain matrix.

    ublas::matrix<double> temp(size, fMeasDim);
    ublas::matrix<double> gain(size, fMeasDim);
    temp = prod(trans(fH), fRinv);
    gain = prod(terr, temp);

    // Calculate updated track state.

    TrackVector newvec = tre.getVector() + prod(gain, fRvec);

    // Calculate updated error matrix.

    TrackMatrix fact = ublas::identity_matrix<TrackVector::value_type>(size);
    fact -= prod(gain, fH);
    TrackMatrix errtemp1 = prod(terr, trans(fact));
    TrackMatrix errtemp2 = prod(fact, errtemp1);
    TrackError errtemp2s = ublas::symmetric_adaptor<TrackMatrix>(errtemp2);
    ublas::matrix<double> errtemp3 = prod(fMerr, trans(gain));
    TrackMatrix errtemp4 = prod(gain, errtemp3);
    TrackError errtemp4s = ublas::symmetric_adaptor<TrackMatrix>(errtemp4);
    TrackError newerr = errtemp2s + errtemp4s;

    // Update track.

    tre.setVector(newvec);
    tre.setError(newerr);
  }

Member Data Documentation

double trkf::KHitMulti::fChisq

mutableprivate

Incremental chisquare.

Definition at line 131 of file KHitMulti.h.

Referenced by getChisq(), and predict().

ublas::matrix<double> trkf::KHitMulti::fH

mutableprivate

Kalman H-matrix.

Definition at line 130 of file KHitMulti.h.

Referenced by getH(), predict(), and update().

int trkf::KHitBase::fID

protectedinherited

Unique id.

Definition at line 119 of file KHitBase.h.

Referenced by trkf::KHitBase::getID(), trkf::KHitWireLine::KHitWireLine(), and trkf::KHitWireX::KHitWireX().

int trkf::KHitMulti::fMeasDim

private

Measurement space dimension.

Definition at line 121 of file KHitMulti.h.

Referenced by addMeas(), getMeasDim(), predict(), and update().

std::vector<std::shared_ptr<const KHit<1> > > trkf::KHitMulti::fMeasVec

private

Underlying measurements.

Definition at line 122 of file KHitMulti.h.

Referenced by addMeas(), getMeasVec(), and predict().

ublas::symmetric_matrix<double> trkf::KHitMulti::fMerr

mutableprivate

Measurement error matrix.

Definition at line 124 of file KHitMulti.h.

Referenced by getMeasError(), predict(), and update().

ublas::vector<double> trkf::KHitMulti::fMvec

mutableprivate

Measurement vector.

Definition at line 123 of file KHitMulti.h.

Referenced by getMeasVector(), and predict().

ublas::symmetric_matrix<double> trkf::KHitMulti::fPerr

mutableprivate

Prediction error matrix.

Definition at line 126 of file KHitMulti.h.

Referenced by getPredError(), and predict().

double trkf::KHitBase::fPredDist

mutableprotectedinherited

Prediction distance.

Definition at line 118 of file KHitBase.h.

Referenced by trkf::KHitBase::getPredDistance(), predict(), trkf::KHit< N >::predict(), and trkf::KHitBase::Print().

std::shared_ptr<const Surface> trkf::KHitBase::fPredSurf

mutableprotectedinherited

Prediction surface.

Definition at line 117 of file KHitBase.h.

Referenced by trkf::KHitBase::getPredSurface(), predict(), trkf::KHit< N >::predict(), and trkf::KHitBase::Print().

ublas::vector<double> trkf::KHitMulti::fPvec

mutableprivate

Prediction vector.

Definition at line 125 of file KHitMulti.h.

Referenced by getPredVector(), and predict().

ublas::symmetric_matrix<double> trkf::KHitMulti::fRerr

mutableprivate

Residual error matrix.

Definition at line 128 of file KHitMulti.h.

Referenced by getResError(), and predict().

ublas::symmetric_matrix<double> trkf::KHitMulti::fRinv

mutableprivate

Residual inverse error matrix.

Definition at line 129 of file KHitMulti.h.

Referenced by getResInvError(), predict(), and update().

ublas::vector<double> trkf::KHitMulti::fRvec

mutableprivate

Residual vector.

Definition at line 127 of file KHitMulti.h.

Referenced by getResVector(), predict(), and update().

---

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

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