trkf::KHitWireX Class Reference

#include "KHitWireX.h"

Inheritance diagram for trkf::KHitWireX:

Public Member Functions
	KHitWireX (const detinfo::DetectorPropertiesData &detProp, const art::Ptr< recob::Hit > &hit, const std::shared_ptr< const Surface > &psurf)
	Constructor from Hit. More...
	KHitWireX (const geo::WireID &wireid, double x, double xerr)
	Constructor from wire id (mainly for testing). More...
const art::Ptr< recob::Hit > &	getHit () const
	Get original hit. More...
bool	subpredict (const KETrack &tre, KVector< 1 >::type &pvec, KSymMatrix< 1 >::type &perr, KHMatrix< 1 >::type &hmatrix) const override
void	setMeasVector (const typename KVector< N >::type &mvec)
	Set measurement vector. More...
void	setMeasError (const typename KSymMatrix< N >::type &merr)
	Set measurement error. More...
const KVector< N >::type &	getMeasVector () const
	Measurement vector. More...
const KSymMatrix< N >::type &	getMeasError () const
	Measurement error matrix. More...
const KVector< N >::type &	getPredVector () const
	Prediction vector. More...
const KSymMatrix< N >::type &	getPredError () const
	Prediction matrix. More...
const KVector< N >::type &	getResVector () const
	Residual vector. More...
const KSymMatrix< N >::type &	getResError () const
	Residual error matrix. More...
const KSymMatrix< N >::type &	getResInvError () const
	Residual inv. error matrix. More...
const KHMatrix< N >::type &	getH () const
	Kalman H-matrix. More...
double	getChisq () const
	Incremental chisquare. 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 bool	subpredict (const KETrack &tre, typename KVector< N >::type &pvec, typename KSymMatrix< N >::type &perr, typename KHMatrix< N >::type &hmatrix) const =0
	Calculate prediction function (return via arguments). 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
art::Ptr< recob::Hit >	fHit

Detailed Description

Definition at line 34 of file KHitWireX.h.

Constructor & Destructor Documentation

trkf::KHitWireX::KHitWireX	(	const detinfo::DetectorPropertiesData &	detProp,
		const art::Ptr< recob::Hit > &	hit,
		const std::shared_ptr< const Surface > &	psurf
	)

Constructor from Hit.

Constructor.

Arguments:

hit - Hit. psurf - Measurement surface (can be null).

The measurement surface is only a suggestion. It is allowed to be specified to allow measurements to whare surfaces to save memory.

Definition at line 30 of file KHitWireX.cxx.

References util::abs(), recob::Hit::Channel(), detinfo::DetectorPropertiesData::ConvertTicksToX(), geo::CryostatID::Cryostat, trkf::KHitBase::fID, detinfo::DetectorPropertiesData::GetXTicksCoefficient(), trkf::SurfYZPlane::isEqual(), recob::Hit::PeakTime(), geo::PlaneID::Plane, recob::Hit::RMS(), trkf::KHit< 1 >::setMeasError(), trkf::KHitBase::setMeasPlane(), trkf::KHitBase::setMeasSurface(), trkf::KHit< 1 >::setMeasVector(), geo::TPCID::TPC, recob::Hit::WireID(), and x.

    : KHit(psurf), fHit(hit)
  {
    // Extract wire id.
    geo::WireID wireid = hit->WireID();

    // Check the surface (determined by wire id).  If the
    // surface pointer is null, make a new SurfWireX surface and
    // update the base class appropriately.  Otherwise, just check
    // that the specified surface agrees with the wire id.

    if (psurf.get() == 0) {
      std::shared_ptr<const Surface> new_psurf(new SurfWireX(wireid));
      setMeasSurface(new_psurf);
    }
    else {
      SurfWireX check_surf(wireid);
      if (!check_surf.isEqual(*psurf))
        throw cet::exception("KHitWireX") << "Measurement surface doesn't match wire id.\n";
    }

    setMeasPlane(hit->WireID().Plane);

    // Extract time information from hit.

    double t = hit->PeakTime();
    double terr = hit->RMS(); // hit->SigmaPeakTime();

    // Don't let the time error be less than 1./sqrt(12.) ticks.
    // This should be removed when hit errors are fixed.

    if (terr < 1. / std::sqrt(12.)) terr = 1. / std::sqrt(12.);

    // Calculate position and error.

    double x =
      detProp.ConvertTicksToX(t, hit->WireID().Plane, hit->WireID().TPC, hit->WireID().Cryostat);
    double xerr = terr * detProp.GetXTicksCoefficient();

    // Update measurement vector and error matrix.

    trkf::KVector<1>::type mvec(1, x);
    setMeasVector(mvec);

    trkf::KSymMatrix<1>::type merr(1);
    merr(0, 0) = xerr * xerr;
    setMeasError(merr);

    // Set the unique id from a combination of the channel number and the time.

    fID = (hit->Channel() % 200000) * 10000 + (int(std::abs(t)) % 10000);
  }

trkf::KHitWireX::KHitWireX	(	const geo::WireID &	wireid,
		double	x,
		double	xerr
	)

Constructor from wire id (mainly for testing).

Constructor.

Arguments:

wireid - Wire id. x - X coordinate. xerr - X error.

Definition at line 93 of file KHitWireX.cxx.

References geo::PlaneID::Plane, trkf::KHit< 1 >::setMeasError(), trkf::KHitBase::setMeasPlane(), and trkf::KHit< 1 >::setMeasVector().

    : KHit(std::shared_ptr<const Surface>(new SurfWireX(wireid)))
  {
    // Get services.

    art::ServiceHandle<geo::Geometry const> geom;

    // Get plane number.

    setMeasPlane(wireid.Plane);

    // Update measurement vector and error matrix.

    trkf::KVector<1>::type mvec(1, x);
    setMeasVector(mvec);

    trkf::KSymMatrix<1>::type merr(1);
    merr(0, 0) = xerr * xerr;
    setMeasError(merr);
  }

Member Function Documentation

double trkf::KHit< N >::getChisq ( ) const

inlinevirtualinherited

Incremental chisquare.

Implements trkf::KHitBase.

Definition at line 125 of file KHit.h.

References trkf::KHit< N >::fChisq, trkf::KHit< N >::predict(), trkf::KHit< N >::Print(), trkf::KHit< N >::subpredict(), and trkf::KHit< N >::update().

{ return fChisq; }

const KHMatrix<N>::type& trkf::KHit< N >::getH ( ) const

inlineinherited

Kalman H-matrix.

Definition at line 122 of file KHit.h.

References trkf::KHit< N >::fH.

{ return fH; }

const art::Ptr<recob::Hit>& trkf::KHitWireX::getHit ( ) const

inline

Get original hit.

Definition at line 47 of file KHitWireX.h.

Referenced by trkf::SpacePointAlg::fillSpacePoints().

{ return fHit; }

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; }

const KSymMatrix<N>::type& trkf::KHit< N >::getMeasError ( ) const

inlineinherited

Measurement error matrix.

Definition at line 104 of file KHit.h.

References trkf::KHit< N >::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 subpredict().

{ return fMeasSurf; }

const KVector<N>::type& trkf::KHit< N >::getMeasVector ( ) const

inlineinherited

Measurement vector.

Definition at line 101 of file KHit.h.

References trkf::KHit< N >::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 KSymMatrix<N>::type& trkf::KHit< N >::getPredError ( ) const

inlineinherited

Prediction matrix.

Definition at line 110 of file KHit.h.

References trkf::KHit< N >::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 trkf::KHitMulti::update(), and trkf::KHit< N >::update().

{ return fPredSurf; }

const KVector<N>::type& trkf::KHit< N >::getPredVector ( ) const

inlineinherited

Prediction vector.

Definition at line 107 of file KHit.h.

References trkf::KHit< N >::fPvec.

{ return fPvec; }

const KSymMatrix<N>::type& trkf::KHit< N >::getResError ( ) const

inlineinherited

Residual error matrix.

Definition at line 116 of file KHit.h.

References trkf::KHit< N >::fRerr.

{ return fRerr; }

const KSymMatrix<N>::type& trkf::KHit< N >::getResInvError ( ) const

inlineinherited

Residual inv. error matrix.

Definition at line 119 of file KHit.h.

References trkf::KHit< N >::fRinv.

{ return fRinv; }

const KVector<N>::type& trkf::KHit< N >::getResVector ( ) const

inlineinherited

Residual vector.

Definition at line 113 of file KHit.h.

References trkf::KHit< N >::fRvec.

{ return fRvec; }

bool trkf::KHit< N >::predict ( const KETrack &  tre, const Propagator &  prop, const KTrack *  ref = 0  ) const

virtualinherited

Prediction method (return false if fail).

Prediction method.

Arguments;

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

Implements trkf::KHitBase.

virtual std::ostream& trkf::KHit< N >::Print ( std::ostream &  out, bool  doTitle = true  ) const

virtualinherited

Printout.

Reimplemented from trkf::KHitBase.

void trkf::KHit< N >::setMeasError ( const typename KSymMatrix< N >::type &  merr )

inlineinherited

Set measurement error.

Definition at line 96 of file KHit.h.

References trkf::KHit< N >::fMerr.

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

{ fMerr = merr; }

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 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 KHitWireX().

{ fMeasSurf = psurf; }

void trkf::KHit< N >::setMeasVector ( const typename KVector< N >::type &  mvec )

inlineinherited

Set measurement vector.

Definition at line 93 of file KHit.h.

References trkf::KHit< N >::fMvec.

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

{ fMvec = mvec; }

bool trkf::KHitWireX::subpredict ( const KETrack &  tre, KVector< 1 >::type &  pvec, KSymMatrix< 1 >::type &  perr, KHMatrix< 1 >::type &  hmatrix  ) const

override

Definition at line 114 of file KHitWireX.cxx.

References trkf::KETrack::getError(), trkf::KHitBase::getMeasSurface(), trkf::KTrack::getSurface(), trkf::KTrack::getVector(), util::size(), and geo::GeometryCore::WirePitch().

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

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

    // Prediction is just u track perameter and error.

    int size = tre.getVector().size();
    pvec.resize(1, /* preserve */ false);
    pvec.clear();
    pvec(0) = tre.getVector()(0);

    perr.resize(1, /* preserve */ false);
    perr.clear();
    perr(0, 0) = tre.getError()(0, 0);

    // Update prediction error to include contribution from track slope.

    art::ServiceHandle<geo::Geometry const> geom;
    double pitch = geom->WirePitch();
    double slope = tre.getVector()(2);
    double slopevar = pitch * pitch * slope * slope / 12.;
    perr(0, 0) += slopevar;

    // Hmatrix - du/du = 1., all others are zero.

    hmatrix.resize(1, size, /* preserve */ false);
    hmatrix.clear();
    hmatrix(0, 0) = 1.;

    return true;
  }

virtual bool trkf::KHit< N >::subpredict ( const KETrack &  tre, typename KVector< N >::type &  pvec, typename KSymMatrix< N >::type &  perr, typename KHMatrix< N >::type &  hmatrix  ) const

pure virtualinherited

Calculate prediction function (return via arguments).

void trkf::KHit< N >::update ( KETrack &  tre ) const

virtualinherited

Update track method.

Update track method.

Arguments:

tre - Track to be updated.

Implements trkf::KHitBase.

Member Data Documentation

art::Ptr<recob::Hit> trkf::KHitWireX::fHit

private

Definition at line 58 of file KHitWireX.h.

int trkf::KHitBase::fID

protectedinherited

Unique id.

Definition at line 119 of file KHitBase.h.

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

double trkf::KHitBase::fPredDist

mutableprotectedinherited

Prediction distance.

Definition at line 118 of file KHitBase.h.

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

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

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