TrackingPlane.h

Go to the documentation of this file.

#ifndef TRACKINGPLANE_H
#define TRACKINGPLANE_H

#include "lardataobj/RecoBase/TrackingTypes.h"

namespace recob {
  namespace tracking {


    class Plane {

      struct TrigCache {
      public:
        TrigCache(const Vector_t& planeDir)
        {
          const double diryz = std::hypot(planeDir.Y(), planeDir.Z());
          fCosA = diryz;
          fSinA = planeDir.X();
          fCosB = (diryz != 0.0) ?  planeDir.Z()/diryz : 1.0;
          fSinB = (diryz != 0.0) ? -planeDir.Y()/diryz : 0.0;
        }
        double fCosA;
        double fSinA;
        double fCosB;
        double fSinB;
      };

    public:

      Plane(const Point_t& planePos, const Vector_t& planeDir)
        : fPlanePos(planePos), fPlaneDir(planeDir.Unit()), fTrigCache(planeDir.Unit()) { }

      Point_t const& position() const { return fPlanePos; }

      Vector_t const& direction() const { return fPlaneDir; }

      inline SVector5 Global6DToLocal5DParameters(const SVector6& par6d) const { return Global6DToLocal5DParameters(par6d, fPlanePos, fPlaneDir, fTrigCache); }
      SVector5 Global6DToLocal5DParameters(const SVector6& par6d, const Point_t& planePos, const Vector_t& planeDir, const TrigCache& trigCache) const;

      inline SVector6 Local5DToGlobal6DParameters(const SVector5& par5d, bool trackAlongPlaneDir = true) const { return Local5DToGlobal6DParameters(par5d, fPlanePos, fPlaneDir, fTrigCache, trackAlongPlaneDir); }
      SVector6 Local5DToGlobal6DParameters(const SVector5& par5d, const Point_t& planePos, const Vector_t& planeDir, const TrigCache& trigCache, bool trackAlongPlaneDir = true) const;

      inline SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum, const Vector_t& trackMomOrDir) const { return Local5DToGlobal6DJacobian(hasMomentum, trackMomOrDir,fPlaneDir,fTrigCache); }
      SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum, const Vector_t& trackMomOrDir, const Vector_t& planeDir, const TrigCache& trigCache) const;

      inline SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum, const Vector_t& trackMomOrDir) const { return Global6DToLocal5DJacobian(hasMomentum, trackMomOrDir,fPlaneDir,fTrigCache); }
      SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum, const Vector_t& trackMomOrDir, const Vector_t& planeDir, const TrigCache& trigCache) const;

      inline SMatrixSym66 Local5DToGlobal6DCovariance(SMatrixSym55 cov5d, bool hasMomentum, const Vector_t& trackMomOrDir) const {
        return Local5DToGlobal6DCovariance(cov5d, hasMomentum,trackMomOrDir,fPlaneDir);
      }

      inline SMatrixSym55 Global6DToLocal5DCovariance(SMatrixSym66 cov6d, bool hasMomentum, const Vector_t& trackMomOrDir) const {
        return Global6DToLocal5DCovariance(cov6d,hasMomentum,trackMomOrDir,fPlaneDir);
      }

      inline Rotation_t Global3DToLocal3DRotation() const { return Global3DToLocal3DRotation(fPlaneDir,fTrigCache); }
      Rotation_t Global3DToLocal3DRotation(const Vector_t& planeDir, const TrigCache& trigCache) const;

      inline Rotation_t Local3DToGlobal3DRotation() const { return Local3DToGlobal3DRotation(fPlaneDir,fTrigCache); }
      Rotation_t Local3DToGlobal3DRotation(const Vector_t& planeDir, const TrigCache& trigCache) const;

      double cosAlpha() const { return fTrigCache.fCosA; }
      double sinAlpha() const { return fTrigCache.fSinA; }
      double cosBeta()  const { return fTrigCache.fCosB; }
      double sinBeta()  const { return fTrigCache.fSinB; }

      static SVector5 Global6DToLocal5DParameters(const SVector6& par6d, const Point_t& planePos, const Vector_t& planeDir) {
        Plane p(planePos, planeDir); return p.Global6DToLocal5DParameters(par6d);
      }
      static SVector6 Local5DToGlobal6DParameters(const SVector5& par5d, const Point_t& planePos, const Vector_t& planeDir, bool trackAlongPlaneDir = true) {
        Plane p(planePos, planeDir); return p.Local5DToGlobal6DParameters(par5d, trackAlongPlaneDir);
      }
      static SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum, const Vector_t& trackMomOrDir, const Vector_t& planeDir) {
        Plane p(Point_t(), planeDir); return p.Local5DToGlobal6DJacobian(hasMomentum, trackMomOrDir);
      }
      static SMatrix65 Local5DToGlobal6DJacobian(bool hasMomentum, const SVector6& par6d, const Vector_t& planeDir) {
        Plane p(Point_t(), planeDir); return p.Local5DToGlobal6DJacobian(hasMomentum, Vector_t(par6d[3],par6d[4],par6d[5]));
      }
      static SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum, const Vector_t& trackMomOrDir, const Vector_t& planeDir) {
        Plane p(Point_t(), planeDir); return p.Global6DToLocal5DJacobian(hasMomentum, trackMomOrDir);
      }
      static SMatrix56 Global6DToLocal5DJacobian(bool hasMomentum, const SVector6& par6d, const Vector_t& planeDir) {
        Plane p(Point_t(), planeDir); return p.Global6DToLocal5DJacobian(hasMomentum, Vector_t(par6d[3],par6d[4],par6d[5]));
      }
      static SMatrixSym66 Local5DToGlobal6DCovariance(SMatrixSym55 cov5d, bool hasMomentum, const Vector_t& trackMomOrDir, const Vector_t& planeDir) {
        return ROOT::Math::Similarity(Local5DToGlobal6DJacobian(hasMomentum,trackMomOrDir,planeDir),cov5d);
      }
      static SMatrixSym55 Global6DToLocal5DCovariance(SMatrixSym66 cov6d, bool hasMomentum, const Vector_t& trackMomOrDir, const Vector_t& planeDir) {
        return ROOT::Math::Similarity(Global6DToLocal5DJacobian(hasMomentum,trackMomOrDir,planeDir),cov6d);
      }
      static Rotation_t Global3DToLocal3DRotation(const Vector_t& planeDir) {
        Plane p(Point_t(), planeDir); return p.Global3DToLocal3DRotation();
      }
      static Rotation_t Local3DToGlobal3DRotation(const Vector_t& planeDir) {
        Plane p(Point_t(), planeDir); return p.Local3DToGlobal3DRotation();
      }

    private:
      Point_t   fPlanePos;  
      Vector_t  fPlaneDir;  
      TrigCache fTrigCache; 
    };

  }
}

#endif