trkf::TrackState Class Reference

Class for track parameters (and errors) defined on a recob::tracking::Plane. More...

#include "TrackState.h"

Public Member Functions
	TrackState (const SVector5 &trackStatePar, const SMatrixSym55 &trackStateCov, const Plane &plane, bool trackAlongPlaneDir, int pid)
const SVector5 &	parameters () const
	track parameters defined on the plane More...
const SMatrixSym55 &	covariance () const
	track parameter covariance matrix on the plane More...
const Plane &	plane () const
	plane where the parameters are defined More...
const Point_t &	position () const
	position of the track More...
const Vector_t &	momentum () const
	momentum of the track More...
int	pID () const
	particle id hypthesis of the track More...
double	mass () const
	mass hypthesis of the track More...
SVector6	parameters6D () const
	track parameters in global cartesian coordinates More...
SMatrixSym66	covariance6D () const
	track parameter covariance matrix in global cartesian coordinates More...
bool	isTrackAlongPlaneDir () const
	is the track momentum along the plane direction? More...
std::ostream &	dump (std::ostream &out=std::cout) const
	Printout information. More...
double	residual (const HitState &hitstate) const
	Residual of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this. More...
double	combinedError2 (const HitState &hitstate) const
	Combined squared error of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this. More...
double	combinedError (const HitState &hitstate) const
	Combined error of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this. More...
double	chi2 (const HitState &hitstate) const
	Chi2 of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this. More...
void	setCovariance (const SMatrixSym55 &trackStateCov)
	Set the covariance matrix of the TrackState. More...
void	setParameters (const SVector5 &trackStatePar)
	Set the parameters of the TrackState; also update the global position and momentum accordingly. More...

Private Attributes
SVector5	fTrackStatePar
	track parameters defined on the plane More...
SMatrixSym55	fTrackStateCov
	track parameter covariance matrix on the plane More...
Plane	fPlane
	plane where the parameters are defined More...
int	fPid
	particle id hypthesis of the track More...
Point_t	fPos
	position of the track (cached) More...
Vector_t	fMom
	momentum of the track (cached) More...

Detailed Description

Class for track parameters (and errors) defined on a recob::tracking::Plane.

Author

G. Cerati (FNAL, MicroBooNE)

Date

2017

Version

1.0

This class collects the track parameters (and errors) defined on a recob::tracking::Plane. It stores the 5d parameters and covariance, plus the global position and momentum. Given a HitState on the same plane, it provides easy access to functionalities like chi2 and residual.

Definition at line 93 of file TrackState.h.

Constructor & Destructor Documentation

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

inline

Definition at line 95 of file TrackState.h.

References trkf::HitState::fPlane, and recob::tracking::Plane::Local5DToGlobal6DParameters().

      : fTrackStatePar(trackStatePar), fTrackStateCov(trackStateCov), fPlane(plane), fPid(pid)
    {
      SVector6 par6d = fPlane.Local5DToGlobal6DParameters(fTrackStatePar, trackAlongPlaneDir);
      fPos = Point_t(par6d[0], par6d[1], par6d[2]);
      fMom = Point_t(par6d[3], par6d[4], par6d[5]);
    }

Member Function Documentation

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

inline

Chi2 of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this.

Definition at line 172 of file TrackState.h.

Referenced by trkf::KFTrackState::chi2().

    {
      return residual(hitstate) * residual(hitstate) / combinedError2(hitstate);
    }

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

inline

Combined error of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this.

Definition at line 166 of file TrackState.h.

Referenced by trkf::KFTrackState::combinedError().

    {
      return sqrt(combinedError2(hitstate));
    }

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

inline

Combined squared error of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this.

Definition at line 160 of file TrackState.h.

References trkf::HitState::hitMeasErr2().

Referenced by trkf::KFTrackState::combinedError2().

    {
      return hitstate.hitMeasErr2() + fTrackStateCov(0, 0);
    }

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

inline

track parameter covariance matrix on the plane

Definition at line 110 of file TrackState.h.

Referenced by trkf::KFTrackState::combineWithTrackState(), trkf::KFTrackState::covariance(), trkf::TrackStatePropagator::propagateToPlane(), trkf::TrackStatePropagator::rotateToPlane(), and trkf::KFTrackState::updateWithHitState().

{ return fTrackStateCov; }

SMatrixSym66 trkf::TrackState::covariance6D ( ) const

inline

track parameter covariance matrix in global cartesian coordinates

Definition at line 135 of file TrackState.h.

References trkf::HitState::fPlane, and recob::tracking::Plane::Local5DToGlobal6DCovariance().

    {
      return fPlane.Local5DToGlobal6DCovariance(fTrackStateCov, true, fMom);
    }

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

inline

Printout information.

Definition at line 144 of file TrackState.h.

References recob::tracking::Plane::direction(), trkf::HitState::plane(), and recob::tracking::Plane::position().

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

    {
      out << "TrackState 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::TrackState::isTrackAlongPlaneDir ( ) const

inline

is the track momentum along the plane direction?

Definition at line 141 of file TrackState.h.

References recob::tracking::Plane::direction(), and trkf::HitState::fPlane.

Referenced by trkf::KFTrackState::isTrackAlongPlaneDir(), and trkf::TrackStatePropagator::propagateToPlane().

{ return fMom.Dot(fPlane.direction()) > 0; }

double trkf::TrackState::mass ( ) const

inline

mass hypthesis of the track

Definition at line 120 of file TrackState.h.

References util::abs(), and util::kBogusD.

Referenced by trkf::KFTrackState::mass(), and trkf::TrackStatePropagator::propagateToPlane().

    {
      if (abs(fPid) == 11) { return elmass; }
      if (abs(fPid) == 13) { return mumass; }
      if (abs(fPid) == 211) { return pimass; }
      if (abs(fPid) == 321) { return kmass; }
      if (abs(fPid) == 2212) { return pmass; }
      return util::kBogusD;
    }

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

inline

momentum of the track

Definition at line 116 of file TrackState.h.

Referenced by trkf::TrackStatePropagator::distancePairToPlane(), trkf::TrackStatePropagator::distanceToPlane(), trkf::KFTrackState::momentum(), trkf::TrackStatePropagator::propagateToPlane(), and trkf::TrackStatePropagator::rotateToPlane().

{ return fMom; }

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

inline

track parameters defined on the plane

Definition at line 108 of file TrackState.h.

Referenced by trkf::KFTrackState::combineWithTrackState(), trkf::TrackStatePropagator::propagateToPlane(), trkf::TrackStatePropagator::rotateToPlane(), trkf::KFTrackState::setTrackState(), and trkf::KFTrackState::updateWithHitState().

{ return fTrackStatePar; }

SVector6 trkf::TrackState::parameters6D ( ) const

inline

track parameters in global cartesian coordinates

Definition at line 130 of file TrackState.h.

Referenced by trkf::KFTrackState::parameters6D().

    {
      return SVector6(fPos.X(), fPos.Y(), fPos.Z(), fMom.X(), fMom.Y(), fMom.Z());
    }

int trkf::TrackState::pID ( ) const

inline

particle id hypthesis of the track

Definition at line 118 of file TrackState.h.

Referenced by trkf::KFTrackState::pID(), trkf::TrackStatePropagator::propagateToPlane(), and trkf::TrackStatePropagator::rotateToPlane().

{ return fPid; }

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

inline

plane where the parameters are defined

Definition at line 112 of file TrackState.h.

References trkf::HitState::fPlane.

Referenced by trkf::KFTrackState::combineWithTrackState(), trkf::TrackKalmanFitter::doFitWork(), trkf::KFTrackState::plane(), trkf::TrackStatePropagator::propagateToPlane(), trkf::TrackStatePropagator::rotateToPlane(), and trkf::KFTrackState::updateWithHitState().

{ return fPlane; }

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

inline

position of the track

Definition at line 114 of file TrackState.h.

Referenced by trkf::TrackStatePropagator::distancePairToPlane(), trkf::TrackStatePropagator::distanceToPlane(), trkf::TrackStatePropagator::perpDistanceToPlane(), trkf::KFTrackState::position(), trkf::TrackStatePropagator::propagateToPlane(), and trkf::TrackStatePropagator::rotateToPlane().

{ return fPos; }

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

inline

Residual of the TrackState with respect to a HitState. The two states must be on the same plane; it is responsibility of the user to enforce this.

Definition at line 154 of file TrackState.h.

References trkf::HitState::hitMeas().

Referenced by trkf::KFTrackState::residual().

    {
      return hitstate.hitMeas() - fTrackStatePar(0);
    }

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

inline

Set the covariance matrix of the TrackState.

Definition at line 178 of file TrackState.h.

Referenced by trkf::KFTrackState::combineWithTrackState(), trkf::KFTrackState::setCovariance(), and trkf::KFTrackState::updateWithHitState().

{ fTrackStateCov = trackStateCov; }

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

inline

Set the parameters of the TrackState; also update the global position and momentum accordingly.

Definition at line 181 of file TrackState.h.

References trkf::HitState::fPlane, and recob::tracking::Plane::Local5DToGlobal6DParameters().

Referenced by trkf::KFTrackState::combineWithTrackState(), trkf::KFTrackState::setParameters(), and trkf::KFTrackState::updateWithHitState().

    {
      fTrackStatePar = trackStatePar;
      SVector6 par6d = fPlane.Local5DToGlobal6DParameters(trackStatePar, isTrackAlongPlaneDir());
      fPos = Point_t(par6d[0], par6d[1], par6d[2]);
      fMom = Vector_t(par6d[3], par6d[4], par6d[5]);
    }

Member Data Documentation

Vector_t trkf::TrackState::fMom

private

momentum of the track (cached)

Definition at line 195 of file TrackState.h.

int trkf::TrackState::fPid

private

particle id hypthesis of the track

Definition at line 193 of file TrackState.h.

Plane trkf::TrackState::fPlane

private

plane where the parameters are defined

Definition at line 192 of file TrackState.h.

Point_t trkf::TrackState::fPos

private

position of the track (cached)

Definition at line 194 of file TrackState.h.

SMatrixSym55 trkf::TrackState::fTrackStateCov

private

track parameter covariance matrix on the plane

Definition at line 191 of file TrackState.h.

SVector5 trkf::TrackState::fTrackStatePar

private

track parameters defined on the plane

Definition at line 190 of file TrackState.h.

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

• lardata/v09_16_03/source/lardata/RecoObjects/TrackState.h