trkf::SurfXYZPlane Class Reference

#include "SurfXYZPlane.h"

Inheritance diagram for trkf::SurfXYZPlane:

Public Types
enum	TrackDirection { FORWARD, BACKWARD, UNKNOWN }
	Track direction enum. More...

Public Member Functions
	SurfXYZPlane ()
	Default constructor. More...
	SurfXYZPlane (double x0, double y0, double z0, double phi, double theta)
	Initializing constructor (angles). More...
	SurfXYZPlane (double x0, double y0, double z0, double nx, double ny, double nz)
	Initializing constructor (normal vector). More...
virtual	~SurfXYZPlane ()
	Destructor. More...
double	x0 () const
	X origin. More...
double	y0 () const
	Y origin. More...
double	z0 () const
	Z origin. More...
double	phi () const
	Rot. angle about x-axis (wire angle). More...
double	theta () const
	Rot. angle about y'-axis (projected Lorentz angle). More...
virtual Surface *	clone () const
	Clone method. More...
virtual bool	isTrackValid (const TrackVector &vec) const
	Surface-specific tests of validity of track parameters. More...
virtual void	toLocal (const double xyz[3], double uvw[3]) const
	Transform global to local coordinates. More...
virtual void	toGlobal (const double uvw[3], double xyz[3]) const
	Transform local to global coordinates. More...
virtual void	getPosition (const TrackVector &vec, double xyz[3]) const
	Get position of track. More...
virtual void	getMomentum (const TrackVector &vec, double mom[3], TrackDirection dir=UNKNOWN) const
	Get momentum vector of track. More...
virtual bool	isParallel (const Surface &surf) const
	Test whether two surfaces are parallel, within tolerance. More...
virtual double	distanceTo (const Surface &surf) const
	Find perpendicular forward distance to a parallel surface. More...
virtual bool	isEqual (const Surface &surf) const
	Test two surfaces for equality, within tolerance. More...
virtual std::ostream &	Print (std::ostream &out) const
	Printout. More...
double	PointingError (const TrackVector &vec, const TrackError &err) const
	Get pointing error of track. More...
void	getStartingError (TrackError &err) const
	Get starting error matrix for Kalman filter. More...
virtual TrackVector	getDiff (const TrackVector &vec1, const TrackVector &vec2) const
	Calculate difference of two track parameter vectors. More...
virtual TrackDirection	getDirection (const TrackVector &, TrackDirection dir=UNKNOWN) const
	Get direction of track (default UNKNOWN). More...

Private Attributes
double	fX0
	X origin. More...
double	fY0
	Y origin. More...
double	fZ0
	Z origin. More...
double	fPhi
	Rotation angle about x-axis (wire angle). More...
double	fTheta
	Rotation angle about y'-axis (projected Lorentz angle). More...

Static Private Attributes
static double	fPhiTolerance = 1.e-10
	Phi tolerance for parallel. More...
static double	fThetaTolerance = 1.e-10
	Theta tolerance for parallel. More...
static double	fSepTolerance = 1.e-6
	Separation tolerance for equal. More...

Detailed Description

Definition at line 83 of file SurfXYZPlane.h.

Member Enumeration Documentation

enum trkf::Surface::TrackDirection

inherited

Track direction enum.

Enumerator
FORWARD
BACKWARD
UNKNOWN

Definition at line 54 of file Surface.h.

{ FORWARD, BACKWARD, UNKNOWN };

Constructor & Destructor Documentation

trkf::SurfXYZPlane::SurfXYZPlane

(

)

Default constructor.

Definition at line 25 of file SurfXYZPlane.cxx.

Referenced by clone().

: fX0(0.), fY0(0.), fZ0(0.), fPhi(0.), fTheta(0.) {}

trkf::SurfXYZPlane::SurfXYZPlane	(	double	x0,
		double	y0,
		double	z0,
		double	phi,
		double	theta
	)

Initializing constructor (angles).

Initializing constructor.

Arguments:

x0, y0, z0 - Global coordinates of local origin. phi - Rotation angle about x-axis (wire angle). theta - Rotation angle about y'-axis (projected Lorentz angle).

Definition at line 35 of file SurfXYZPlane.cxx.

    : fX0(x0), fY0(y0), fZ0(z0), fPhi(phi), fTheta(theta)
  {}

trkf::SurfXYZPlane::SurfXYZPlane	(	double	x0,
		double	y0,
		double	z0,
		double	nx,
		double	ny,
		double	nz
	)

Initializing constructor (normal vector).

Initializing constructor (normal vector).

Arguments:

x0, y0, z0 - Global coordinates of local origin. nx, ny, nz - Normal vector in global coordinate system.

Definition at line 46 of file SurfXYZPlane.cxx.

References fPhi, and fTheta.

    : fX0(x0), fY0(y0), fZ0(z0), fPhi(0.), fTheta(0.)
  {
    // Calculate angles.

    double nyz = std::hypot(ny, nz);
    fTheta = atan2(nx, nyz);
    fPhi = 0.;
    if (nyz != 0.) fPhi = atan2(-ny, nz);
  }

trkf::SurfXYZPlane::~SurfXYZPlane ( )

virtual

Destructor.

Definition at line 58 of file SurfXYZPlane.cxx.

{}

Member Function Documentation

Surface * trkf::SurfXYZPlane::clone ( ) const

virtual

Clone method.

Implements trkf::Surface.

Definition at line 61 of file SurfXYZPlane.cxx.

References SurfXYZPlane().

Referenced by theta().

  {
    return new SurfXYZPlane(*this);
  }

double trkf::SurfXYZPlane::distanceTo ( const Surface &  surf ) const

virtual

Find perpendicular forward distance to a parallel surface.

Find perpendicular forward distance to a parallel surface.

Throw an exception if the other surface is not parallel.

Assuming the other surface is parallel, the distance is simply the w-coordinate of the other surface, and is signed.

Arguments:

surf - Other surface.

Returned value: Distance.

Implements trkf::Surface.

Definition at line 237 of file SurfXYZPlane.cxx.

References isParallel(), trkf::Surface::toGlobal(), and toLocal().

Referenced by isEqual(), and theta().

  {
    // Check if the other surface is parallel to this one.

    bool parallel = isParallel(surf);
    if (!parallel)
      throw cet::exception("SurfXYZPlane") << "Attempt to find distance to non-parallel surface.\n";

    // Find the origin of the other surface in global coordinates,
    // then convert to our local coordinates.

    double otheruvw[3] = {0., 0., 0.};
    double xyz[3];
    double myuvw[3];
    surf.toGlobal(otheruvw, xyz);
    toLocal(xyz, myuvw);

    // Distance is local w-coordinate of other surface origin.

    return myuvw[2];
  }

TrackVector trkf::Surface::getDiff ( const TrackVector &  vec1, const TrackVector &  vec2  ) const

virtualinherited

Calculate difference of two track parameter vectors.

Calculate difference of two track parameter vectors. This method has a default implementation which is just the numeric difference. Surfaces that require a more sophisticated difference (e.g. phi-wrap difference) should override this method.

Reimplemented in trkf::SurfYZLine.

Definition at line 31 of file Surface.cxx.

  {
    return vec1 - vec2;
  }

virtual TrackDirection trkf::Surface::getDirection ( const TrackVector &  , TrackDirection  dir = UNKNOWN  ) const

inlinevirtualinherited

Get direction of track (default UNKNOWN).

Definition at line 83 of file Surface.h.

References dir, trkf::Surface::distanceTo(), trkf::Surface::getMomentum(), trkf::Surface::getStartingError(), trkf::Surface::isEqual(), trkf::Surface::isParallel(), trkf::operator<<(), trkf::Surface::PointingError(), and trkf::Surface::Print().

Referenced by trkf::SurfYZPlane::getMomentum(), and getMomentum().

    {
      return dir;
    }

void trkf::SurfXYZPlane::getMomentum ( const TrackVector &  vec, double  mom[3], TrackDirection  dir = UNKNOWN  ) const

virtual

Get momentum vector of track.

Get momentum vector of track.

Arguments:

vec - Track state vector. mom - Momentum vector in global coordinate system. dir - Track direction.

Implements trkf::Surface.

Definition at line 152 of file SurfXYZPlane.cxx.

References util::abs(), trkf::Surface::BACKWARD, e, trkf::Surface::FORWARD, fPhi, fTheta, and trkf::Surface::getDirection().

Referenced by theta().

  {

    // Get momentum.

    double invp = std::abs(vec(4));
    double p = 1. / std::max(invp, 1.e-3); // Capped at 1000. GeV/c.

    // Get track slope parameters.

    double dudw = vec(2);
    double dvdw = vec(3);

    // Calculate dw/ds.

    double dwds = 1. / std::sqrt(1. + dudw * dudw + dvdw * dvdw);
    TrackDirection realdir = getDirection(vec, dir); // Should be same as original direction.
    if (realdir == BACKWARD)
      dwds = -dwds;
    else if (realdir != FORWARD)
      throw cet::exception("SurfXYZPlane") << "Track direction not specified.\n";

    // Calculate momentum vector in local coordinate system.

    double pu = p * dudw * dwds;
    double pv = p * dvdw * dwds;
    double pw = p * dwds;

    // Rotate momentum to global coordinte system.

    double sinth = std::sin(fTheta);
    double costh = std::cos(fTheta);
    double sinphi = std::sin(fPhi);
    double cosphi = std::cos(fPhi);

    mom[0] = pu * costh + pw * sinth;
    mom[1] = pu * sinth * sinphi + pv * cosphi - pw * costh * sinphi;
    mom[2] = -pu * sinth * cosphi + pv * sinphi + pw * costh * cosphi;

    return;
  }

void trkf::SurfXYZPlane::getPosition ( const TrackVector &  vec, double  xyz[3]  ) const

virtual

Get position of track.

Get position of track.

Arguments:

vec - Track state vector. xyz - Position in global coordinate system.

Implements trkf::Surface.

Definition at line 129 of file SurfXYZPlane.cxx.

References toGlobal().

Referenced by theta().

  {
    // Get position in local coordinate system.

    double uvw[3];
    uvw[0] = vec(0);
    uvw[1] = vec(1);
    uvw[2] = 0.;

    // Transform to global coordinate system.

    toGlobal(uvw, xyz);
    return;
  }

void trkf::SurfPlane::getStartingError ( TrackError &  err ) const

virtualinherited

Get starting error matrix for Kalman filter.

Get starting error matrix for Kalman filter.

Arguments:

err - Error matrix.

Implements trkf::Surface.

Definition at line 83 of file SurfPlane.cxx.

  {
    err.resize(5, false);
    err.clear();
    err(0, 0) = 1000.;
    err(1, 1) = 1000.;
    err(2, 2) = 0.25;
    err(3, 3) = 0.25;
    err(4, 4) = 10.;
  }

bool trkf::SurfXYZPlane::isEqual ( const Surface &  surf ) const

virtual

Test two surfaces for equality, within tolerance.

Test two surfaces for equality, within tolerance. Here equal is defined as parallel and having zero separation, within tolerance. Note that this definition of equality allows the two surfaces to have different origins.

Arguments:

surf - Other surface.

Returned values: true if equal.

Implements trkf::Surface.

Definition at line 270 of file SurfXYZPlane.cxx.

References util::abs(), larg4::dist(), distanceTo(), fSepTolerance, and isParallel().

Referenced by theta().

  {
    bool result = false;

    // Test if the other surface is parallel.

    bool parallel = isParallel(surf);
    if (parallel) {
      double dist = distanceTo(surf);
      if (std::abs(dist) <= fSepTolerance) result = true;
    }

    return result;
  }

bool trkf::SurfXYZPlane::isParallel ( const Surface &  surf ) const

virtual

Test whether two surfaces are parallel, within tolerance.

Test whether two surfaces are parallel, within tolerance. This method will only return true if the other surface is a SurfXYZPlane.

Arguments:

surf - Other surface.

Returned value: true if parallel.

Implements trkf::Surface.

Definition at line 204 of file SurfXYZPlane.cxx.

References util::abs(), fPhi, fPhiTolerance, fTheta, fThetaTolerance, phi(), and theta().

Referenced by distanceTo(), isEqual(), and theta().

  {
    bool result = false;

    // Test if the other surface is a SurfXYZPlane.

    const SurfXYZPlane* psurf = dynamic_cast<const SurfXYZPlane*>(&surf);
    if (psurf != 0) {

      // Test whether surface angle parameters are the same
      // with tolerance.

      double delta_phi = TVector2::Phi_mpi_pi(fPhi - psurf->phi());
      double delta_theta = fTheta - psurf->theta();
      if (std::abs(delta_phi) <= fPhiTolerance && std::abs(delta_theta) <= fThetaTolerance)
        result = true;
    }
    return result;
  }

bool trkf::SurfXYZPlane::isTrackValid ( const TrackVector &  vec ) const

virtual

Surface-specific tests of validity of track parameters.

Implements trkf::Surface.

Definition at line 67 of file SurfXYZPlane.cxx.

Referenced by theta().

  {
    return true;
  }

double trkf::SurfXYZPlane::phi ( ) const

inline

Rot. angle about x-axis (wire angle).

Definition at line 101 of file SurfXYZPlane.h.

References fPhi.

Referenced by isParallel(), trkf::PropXYZPlane::origin_vec_prop(), and trkf::PropXYZPlane::short_vec_prop().

double trkf::SurfPlane::PointingError ( const TrackVector &  vec, const TrackError &  err  ) const

virtualinherited

Get pointing error of track.

Get pointing error of track.

Arguments:

vec - Track parameters. err - Track error matrix.

Returns: Pointing error.

This method calculates the track pointing error based on the slope track paramers and errors (parameters 2 and 3).

Implements trkf::Surface.

Definition at line 34 of file SurfPlane.cxx.

References den.

  {
    // Get slope parameters and error matrix.

    double xp = vec(2);
    double yp = vec(3);
    double exx = err(2, 2);
    double eyy = err(3, 3);
    double exy = err(3, 2);

    // Calculate error matrix of pointing unit vector in some coordinate system.

    double den = 1. + xp * xp + yp * yp;
    double den3 = den * den * den;

    double vxx = ((1. + yp * yp) * (1. + yp * yp) * exx + xp * xp * yp * yp * eyy -
                  2. * xp * yp * (1. + yp * yp) * exy) /
                 den3;
    double vyy = (xp * xp * yp * yp * exx + (1. + xp * xp) * (1. + xp * xp) * eyy -
                  2. * xp * yp * (1. + xp * xp) * exy) /
                 den3;
    double vzz = (xp * xp * exx + yp * yp * eyy + 2. * xp * yp * exy) / den3;

    double vxy = (-xp * yp * (1. + yp * yp) * exx - xp * yp * (1. + xp * xp) * eyy +
                  (1. + xp * xp + yp * yp + 2. * xp * xp * yp * yp) * exy) /
                 den3;
    double vyz =
      (xp * xp * yp * exx - yp * (1. + xp * xp) * eyy - xp * (1. + xp * xp - yp * yp) * exy) / den3;
    double vxz =
      (-xp * (1. + yp * yp) * exx + xp * yp * yp * eyy - yp * (1. - xp * xp + yp * yp) * exy) /
      den3;

    // Calculate square root of the largest eigenvalue of error matrix.

    double ddd2 = vxx * vxx + vyy * vyy + vzz * vzz - 2. * vxx * vyy - 2. * vxx * vzz -
                  2. * vyy * vzz + 4. * vxy * vxy + 4. * vyz * vyz + 4. * vxz * vxz;
    double ddd = sqrt(ddd2 > 0. ? ddd2 : 0.);
    double lambda2 = 0.5 * (vxx + vyy + vzz + ddd);
    double lambda = sqrt(lambda2 > 0. ? lambda2 : 0.);

    return lambda;
  }

std::ostream & trkf::SurfXYZPlane::Print ( std::ostream &  out ) const

virtual

Printout.

Implements trkf::Surface.

Definition at line 286 of file SurfXYZPlane.cxx.

References fPhi, fTheta, fX0, fY0, and fZ0.

Referenced by theta().

  {
    out << "SurfXYZPlane{ x0=" << fX0 << ", y0=" << fY0 << ", z0=" << fZ0 << ", phi=" << fPhi
        << ", theta=" << fTheta << "}";
    return out;
  }

double trkf::SurfXYZPlane::theta ( ) const

inline

Rot. angle about y'-axis (projected Lorentz angle).

Definition at line 102 of file SurfXYZPlane.h.

References clone(), dir, distanceTo(), fTheta, getMomentum(), getPosition(), isEqual(), isParallel(), isTrackValid(), Print(), toGlobal(), toLocal(), and trkf::Surface::UNKNOWN.

Referenced by isParallel(), trkf::PropXYZPlane::origin_vec_prop(), and trkf::PropXYZPlane::short_vec_prop().

void trkf::SurfXYZPlane::toGlobal ( const double  uvw[3], double  xyz[3]  ) const

virtual

Transform local to global coordinates.

Transform local to global coordinates.

Arguments:

uvw - Cartesian coordinates in local coordinate system. xyz - Cartesian coordinates in global coordinate system.

Implements trkf::Surface.

Definition at line 105 of file SurfXYZPlane.cxx.

References fPhi, fTheta, fX0, fY0, and fZ0.

Referenced by getPosition(), and theta().

  {
    double sinth = std::sin(fTheta);
    double costh = std::cos(fTheta);
    double sinphi = std::sin(fPhi);
    double cosphi = std::cos(fPhi);

    // x = x0 + u*cos(theta)                       + w*sin(theta)
    xyz[0] = fX0 + uvw[0] * costh + uvw[2] * sinth;

    // y = y0 + u*sin(theta)*sin(phi) + v*cos(phi) - w*cos(theta)*sin(phi)
    xyz[1] = fY0 + uvw[0] * sinth * sinphi + uvw[1] * cosphi - uvw[2] * costh * sinphi;

    // z = z0 - u*sin(theta)*cos(phi) + v*sin(phi) + w*cos(theta)*cos(phi)
    xyz[2] = fZ0 - uvw[0] * sinth * cosphi + uvw[1] * sinphi + uvw[2] * costh * cosphi;
  }

void trkf::SurfXYZPlane::toLocal ( const double  xyz[3], double  uvw[3]  ) const

virtual

Transform global to local coordinates.

Transform global to local coordinates.

Arguments:

xyz - Cartesian coordinates in global coordinate system. uvw - Cartesian coordinates in local coordinate system.

Implements trkf::Surface.

Definition at line 79 of file SurfXYZPlane.cxx.

References fPhi, fTheta, fX0, fY0, and fZ0.

Referenced by distanceTo(), and theta().

  {
    double sinth = std::sin(fTheta);
    double costh = std::cos(fTheta);
    double sinphi = std::sin(fPhi);
    double cosphi = std::cos(fPhi);

    // u = (x-x0)*cos(theta) + (y-y0)*sin(theta)*sin(phi) - (z-z0)*sin(theta)*cos(phi)
    uvw[0] =
      (xyz[0] - fX0) * costh + (xyz[1] - fY0) * sinth * sinphi - (xyz[2] - fZ0) * sinth * cosphi;

    // v =                     (y-y0)*cos(phi)            + (z-z0)*sin(phi)
    uvw[1] = (xyz[1] - fY0) * cosphi + (xyz[2] - fZ0) * sinphi;

    // w = (x-x0)*sin(theta) - (y-y0)*cos(theta)*sin(phi) + (z-z0)*cos(theta)*cos(phi)
    uvw[2] =
      (xyz[0] - fX0) * sinth - (xyz[1] - fY0) * costh * sinphi + (xyz[2] - fZ0) * costh * cosphi;
  }

double trkf::SurfXYZPlane::x0 ( ) const

inline

X origin.

Definition at line 98 of file SurfXYZPlane.h.

References fX0.

Referenced by trkf::PropXYZPlane::short_vec_prop().

double trkf::SurfXYZPlane::y0 ( ) const

inline

Y origin.

Definition at line 99 of file SurfXYZPlane.h.

References fY0.

Referenced by trkf::PropXYZPlane::short_vec_prop().

double trkf::SurfXYZPlane::z0 ( ) const

inline

Z origin.

Definition at line 100 of file SurfXYZPlane.h.

References fZ0.

Referenced by trkf::PropXYZPlane::short_vec_prop().

Member Data Documentation

double trkf::SurfXYZPlane::fPhi

private

Rotation angle about x-axis (wire angle).

Definition at line 148 of file SurfXYZPlane.h.

Referenced by getMomentum(), isParallel(), phi(), Print(), SurfXYZPlane(), toGlobal(), and toLocal().

double trkf::SurfXYZPlane::fPhiTolerance = 1.e-10

staticprivate

Phi tolerance for parallel.

Definition at line 139 of file SurfXYZPlane.h.

Referenced by isParallel().

double trkf::SurfXYZPlane::fSepTolerance = 1.e-6

staticprivate

Separation tolerance for equal.

Definition at line 141 of file SurfXYZPlane.h.

Referenced by isEqual().

double trkf::SurfXYZPlane::fTheta

private

Rotation angle about y'-axis (projected Lorentz angle).

Definition at line 149 of file SurfXYZPlane.h.

Referenced by getMomentum(), isParallel(), Print(), SurfXYZPlane(), theta(), toGlobal(), and toLocal().

double trkf::SurfXYZPlane::fThetaTolerance = 1.e-10

staticprivate

Theta tolerance for parallel.

Definition at line 140 of file SurfXYZPlane.h.

Referenced by isParallel().

double trkf::SurfXYZPlane::fX0

private

X origin.

Definition at line 145 of file SurfXYZPlane.h.

Referenced by Print(), toGlobal(), toLocal(), and x0().

double trkf::SurfXYZPlane::fY0

private

Y origin.

Definition at line 146 of file SurfXYZPlane.h.

Referenced by Print(), toGlobal(), toLocal(), and y0().

double trkf::SurfXYZPlane::fZ0

private

Z origin.

Definition at line 147 of file SurfXYZPlane.h.

Referenced by Print(), toGlobal(), toLocal(), and z0().

---

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

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