trkf::KGTrack Class Reference

#include "KGTrack.h"

Public Member Functions
	KGTrack (int prefplane)
	Constructor. More...
	~KGTrack ()
	Destructor. More...
int	getPrefPlane () const
const std::multimap< double, KHitTrack > &	getTrackMap () const
	KHitTrack collection, indexed by path distance. More...
size_t	numHits () const
	Number of measurements in track. More...
const KHitTrack &	startTrack () const
	Track at start point. More...
const KHitTrack &	endTrack () const
	Track at end point. More...
bool	isValid () const
	Validity flag. More...
std::multimap< double, KHitTrack > &	getTrackMap ()
	Modifiable KHitTrack collection, indexed by path distance. More...
KHitTrack &	startTrack ()
	Modifiable track at start point. More...
KHitTrack &	endTrack ()
	Modifiable track at end point. More...
void	addTrack (const KHitTrack &trh)
	Add track. More...
void	recalibrate ()
	Recalibrate track map. More...
void	clear ()
	Clear track collection. More...
void	fillTrack (recob::Track &track, int id) const
	Fill a recob::Track. More...
void	fillHits (art::PtrVector< recob::Hit > &hits, std::vector< unsigned int > &hittpindex) const
	Fill a PtrVector of Hits. More...
const std::multimap< double, KHitTrack >	TrackMap () const
std::ostream &	Print (std::ostream &out) const
	Printout. More...

Private Attributes
int	fPrefPlane
	Preferred plane. More...
std::multimap< double, KHitTrack >	fTrackMap
	KHitTrack collection, indexed by path distance. More...

Detailed Description

Definition at line 39 of file KGTrack.h.

Constructor & Destructor Documentation

trkf::KGTrack::KGTrack

(

int

prefplane

)

Constructor.

Default constructor.

Definition at line 24 of file KGTrack.cxx.

                                :
    fPrefPlane(prefplane)
  {}

trkf::KGTrack::~KGTrack

(

)

Destructor.

Definition at line 29 of file KGTrack.cxx.

  {}

Member Function Documentation

void trkf::KGTrack::addTrack

(

const KHitTrack &

trh

)

Add track.

Definition at line 85 of file KGTrack.cxx.

References fTrackMap, trkf::KHitTrack::getHit(), trkf::KFitTrack::getPath(), and trkf::KTrack::isValid().

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

                                             {
    if(!trh.isValid())
      throw cet::exception("KGTrack") << "Adding invalid track to KGTrack.\n";
    fTrackMap.insert(std::make_pair(trh.getPath() + trh.getHit()->getPredDistance(), trh));
  }

void trkf::KGTrack::clear ( )

inline

Clear track collection.

Definition at line 86 of file KGTrack.h.

References fillHits(), fillTrack(), fTrackMap, hits(), and track.

{fTrackMap.clear();}

const KHitTrack & trkf::KGTrack::endTrack

(

)

const

Track at end point.

Throw exception if track is not valid.

Definition at line 46 of file KGTrack.cxx.

References fTrackMap, and isValid().

Referenced by trkf::KalmanFilterAlg::buildTrack(), trkf::KalmanFilterAlg::extendTrack(), trkf::KalmanFilterAlg::fitMomentumRange(), getTrackMap(), numHits(), trkf::Track3DKalmanHitAlg::qualityCutsOnSeedTrack(), trkf::Track3DKalmanHitAlg::smoothandextendTrack(), and trkf::KalmanFilterAlg::smoothTrack().

  {

    if(!isValid())
      throw cet::exception("KGTrack") << "Ending track is not valid.\n";

    // Return track.

    return (*fTrackMap.rbegin()).second;
  }

KHitTrack & trkf::KGTrack::endTrack

(

)

Modifiable track at end point.

Throw exception if track is not valid.

Definition at line 72 of file KGTrack.cxx.

References fTrackMap, and isValid().

  {

    if(!isValid())
      throw cet::exception("KGTrack") << "Ending track is not valid.\n";

    // Return track.

    return (*fTrackMap.rbegin()).second;
  }

void trkf::KGTrack::fillHits	(	art::PtrVector< recob::Hit > &	hits,
		std::vector< unsigned int > &	hittpindex
	)		const

Fill a PtrVector of Hits.

Fill a PtrVector of Hits.

Arguments:

hits - Hit vector to fill.

Definition at line 219 of file KGTrack.cxx.

References fTrackMap, trkf::KHitTrack::getHit(), art::Ptr< T >::isNull(), art::PtrVector< T >::push_back(), art::PtrVector< T >::reserve(), art::PtrVector< T >::size(), and track.

Referenced by clear(), trkf::Track3DKalmanHitAlg::extendandsmoothLoop(), trkf::Track3DKalmanHitAlg::filterHitsOnKalmanTrack(), and trkf::TrackKalmanCheater::produce().

  {
    hits.reserve(hits.size() + fTrackMap.size());

    // Loop over KHitTracks and fill hits belonging to this track.

    unsigned int counter = 0; //Index of corresponding trajectory point
    for(std::multimap<double, KHitTrack>::const_iterator it = fTrackMap.begin();
        it != fTrackMap.end(); ++it) {
      const KHitTrack& track = (*it).second;
      ++counter;
      // Extrack Hit from track.
      const std::shared_ptr<const KHitBase>& hit = track.getHit();
      if(const KHitWireX* phit = dynamic_cast<const KHitWireX*>(&*hit)) {
        const art::Ptr<recob::Hit> prhit = phit->getHit();
        if(!prhit.isNull()){
          hits.push_back(prhit);
          hittpindex.push_back(counter-1);
        }
      }
      else if(const KHitWireLine* phit = dynamic_cast<const KHitWireLine*>(&*hit)) {
        const art::Ptr<recob::Hit> prhit = phit->getHit();
        if(!prhit.isNull()){
          hits.push_back(prhit);
          hittpindex.push_back(counter-1);
        }
      }
    }
  }

void trkf::KGTrack::fillTrack	(	recob::Track &	track,
		int	id
	)		const

Fill a recob::Track.

Fill a recob::Track.

Arguments:

track - Track to fill.

Definition at line 128 of file KGTrack.cxx.

References trkf::Propagator::err_prop(), fTrackMap, trkf::KFitTrack::getChisq(), trkf::KETrack::getError(), trkf::KTrack::getMomentum(), trkf::KTrack::getPosition(), recob::TrajectoryPointFlags::makeMask(), n, startTrack(), and trkf::Propagator::UNKNOWN.

Referenced by clear(), and trkf::TrackKalmanCheater::produce().

  {

    // Make propagator for propating to standard track surface.

    PropXYZPlane prop(0., false);

    // Fill collections of trajectory points and direction vectors.

    std::vector<recob::tracking::Point_t> xyz;
    std::vector<recob::tracking::Vector_t> pxpypz;
    std::vector<recob::tracking::SMatrixSym55> cov;
    std::vector<recob::TrajectoryPointFlags> outFlags;

    xyz.reserve(fTrackMap.size());
    pxpypz.reserve(fTrackMap.size());
    outFlags.reserve(fTrackMap.size());

    // Loop over KHitTracks.

    int ndof = 0;
    float totChi2 = 0.;
    unsigned int n = 0;
    for(std::multimap<double, KHitTrack>::const_iterator itr = fTrackMap.begin();
        itr != fTrackMap.end(); ++itr, ++n) {
      const KHitTrack& trh = (*itr).second;

      // Get position.

      double pos[3];
      trh.getPosition(pos);
      xyz.push_back({pos[0], pos[1], pos[2]});

      // Get momentum vector.
      // Fill direction unit vector and momentum.

      double mom[3];
      trh.getMomentum(mom);
      double p = std::sqrt(mom[0]*mom[0] + mom[1]*mom[1] + mom[2]*mom[2]);
      if (p == 0.)
        throw cet::exception("KGTrack") << __func__ << ": null momentum\n";
      pxpypz.push_back({mom[0], mom[1], mom[2]});

      ndof += 1;
      totChi2 += trh.getChisq();
      outFlags.emplace_back(n, recob::TrajectoryPointFlags::makeMask());

      // Fill error matrix.

      recob::tracking::SMatrixSym55 covar;

      // Construct surface perpendicular to track momentun, and
      // propagate track to that surface (zero distance).

      const std::shared_ptr<const Surface> psurf(new SurfXYZPlane(pos[0], pos[1], pos[2],
                                                                  mom[0], mom[1], mom[2]));
      KETrack tre(trh);
      boost::optional<double> dist = prop.err_prop(tre, psurf, Propagator::UNKNOWN, false);
      if (!dist.is_initialized())
        throw cet::exception("KGTrack") << __func__ << ": error propagation failed\n";
      for(int i=0; i<5; ++i) {
        for(int j=0; j<5; ++j)
          covar(i,j) = tre.getError()(i,j);
      }

      // Only save first and last error matrix.

      if(cov.size() < 2)
        cov.push_back(covar);
      else
        cov.back() = covar;

    }

    // Fill track.

    ndof = ndof - 4; //fit measures 4 parameters: position and direction on plane
    if(xyz.size() >= 2) {
      track = recob::Track(std::move(xyz), std::move(pxpypz), std::move(outFlags),
                           true, this->startTrack().PdgCode(), totChi2, ndof,
                           std::move(cov.front()), std::move(cov.back()), id);
    }
  }

int trkf::KGTrack::getPrefPlane ( ) const

inline

Definition at line 51 of file KGTrack.h.

References fPrefPlane.

Referenced by trkf::KalmanFilterAlg::smoothTrackIter().

{return fPrefPlane;}

const std::multimap<double, KHitTrack>& trkf::KGTrack::getTrackMap ( ) const

inline

KHitTrack collection, indexed by path distance.

Definition at line 54 of file KGTrack.h.

References fTrackMap.

Referenced by trkf::KalmanFilterAlg::cleanTrack(), trkf::Track3DKalmanHit::fillHistograms(), trkf::KalmanFilterAlg::fitMomentumMS(), trkf::TrackKalmanCheater::produce(), trkf::KalmanFilterAlg::smoothTrack(), and trkf::KalmanFilterAlg::updateMomentum().

{return fTrackMap;}

std::multimap<double, KHitTrack>& trkf::KGTrack::getTrackMap ( )

inline

Modifiable KHitTrack collection, indexed by path distance.

Definition at line 71 of file KGTrack.h.

References addTrack(), endTrack(), fTrackMap, recalibrate(), and startTrack().

{return fTrackMap;}

bool trkf::KGTrack::isValid ( ) const

inline

Validity flag.

Definition at line 66 of file KGTrack.h.

References fTrackMap.

Referenced by trkf::KalmanFilterAlg::buildTrack(), endTrack(), trkf::KalmanFilterAlg::extendTrack(), trkf::KalmanFilterAlg::fitMomentumRange(), trkf::KalmanFilterAlg::smoothTrack(), and startTrack().

{return fTrackMap.size() > 0;}

size_t trkf::KGTrack::numHits ( ) const

inline

Number of measurements in track.

Definition at line 57 of file KGTrack.h.

References endTrack(), fTrackMap, and startTrack().

Referenced by trkf::KalmanFilterAlg::buildTrack(), trkf::KalmanFilterAlg::extendTrack(), trkf::Track3DKalmanHitAlg::smoothandextendTrack(), and trkf::KalmanFilterAlg::smoothTrack().

{return fTrackMap.size();}

std::ostream & trkf::KGTrack::Print

(

std::ostream &

out

)

const

Printout.

Printout

Definition at line 253 of file KGTrack.cxx.

References f, fTrackMap, trkf::KHitTrack::getHit(), trkf::KHitBase::getMeasPlane(), trkf::KTrack::getMomentum(), trkf::KTrack::getPosition(), n, and s.

Referenced by trkf::operator<<(), and TrackMap().

                                                  {

    int n = 0;

    double oldxyz[3] = {0., 0., 0.};
    double len = 0.;
    bool first = true;
    for(auto const& ele : fTrackMap) {
      double s = ele.first;
      const KHitTrack& trh = ele.second;
      double xyz[3];
      double mom[3];
      trh.getPosition(xyz);
      trh.getMomentum(mom);
      double tmom = std::sqrt(mom[0]*mom[0] + mom[1]*mom[1] + mom[2]*mom[2]);
      if(tmom != 0.) {
        mom[0] /= tmom;
        mom[1] /= tmom;
        mom[2] /= tmom;
      }
      if(!first) {
        double dx = xyz[0] - oldxyz[0];
        double dy = xyz[1] - oldxyz[1];
        double dz = xyz[2] - oldxyz[2];
        len += std::sqrt(dx*dx + dy*dy + dz*dz);
      }
      const KHitBase& hit = *(trh.getHit());
      int plane = hit.getMeasPlane();
      std::ios_base::fmtflags f = out.flags();
      out << "State " << std::setw(4) << n 
          << ", path=" << std::setw(8) << std::fixed << std::setprecision(2) << s 
          << ", length=" << std::setw(8) << len 
          << ", x=" << std::setw(8) << xyz[0] 
          << ", y=" << std::setw(8) << xyz[1] 
          << ", z=" << std::setw(8) << xyz[2]
          << ", dx=" << std::setw(8) << mom[0] 
          << ", dy=" << std::setw(8) << mom[1] 
          << ", dz=" << std::setw(8) << mom[2] 
          << ", plane=" << std::setw(1) << plane
          << "\n";
      out.flags(f);

      oldxyz[0] = xyz[0];
      oldxyz[1] = xyz[1];
      oldxyz[2] = xyz[2];
      
      ++n;
      first = false;
    }
    return out;
  }

void trkf::KGTrack::recalibrate

(

)

Recalibrate track map.

Recalibrate track map.

Loop over contents of track map. Copy each KHitTrack into a new multimap track map. Offset the distance stored in the KHitTracks such that the minimum distance is zero. Also update multimap keys to agree with distance stored in track.

Definition at line 97 of file KGTrack.cxx.

References fTrackMap, trkf::KFitTrack::getPath(), s, and trkf::KFitTrack::setPath().

Referenced by getTrackMap(), and trkf::KalmanFilterAlg::smoothTrack().

  {
    std::multimap<double, KHitTrack> newmap;

    // Loop over old track map.

    bool first = true;
    double s0 = 0.;
    for(std::multimap<double, KHitTrack>::iterator i = fTrackMap.begin();
        i != fTrackMap.end(); ++i) {
      KHitTrack& trh = (*i).second;
      if(first) {
        first = false;
        s0 = trh.getPath();
      }
      double s = trh.getPath()  - s0;
      trh.setPath(s);
      newmap.insert(std::make_pair(s, trh));
    }

    // Update data member track map.

    fTrackMap.swap(newmap);
  }

const KHitTrack & trkf::KGTrack::startTrack

(

)

const

Track at start point.

Throw exception if track is not valid.

Definition at line 33 of file KGTrack.cxx.

References fTrackMap, and isValid().

Referenced by trkf::KalmanFilterAlg::buildTrack(), trkf::KalmanFilterAlg::extendTrack(), fillTrack(), trkf::KalmanFilterAlg::fitMomentum(), getTrackMap(), numHits(), trkf::Track3DKalmanHitAlg::qualityCutsOnSeedTrack(), trkf::Track3DKalmanHitAlg::smoothandextendTrack(), and trkf::KalmanFilterAlg::smoothTrack().

  {

    if(!isValid())
      throw cet::exception("KGTrack") << "Starting track is not valid.\n";

    // Return track.

    return (*fTrackMap.begin()).second;
  }

KHitTrack & trkf::KGTrack::startTrack

(

)

Modifiable track at start point.

Throw exception if track is not valid.

Definition at line 59 of file KGTrack.cxx.

References fTrackMap, and isValid().

  {

    if(!isValid())
      throw cet::exception("KGTrack") << "Starting track is not valid.\n";

    // Return track.

    return (*fTrackMap.begin()).second;
  }

const std::multimap<double, KHitTrack> trkf::KGTrack::TrackMap ( ) const

inline

Definition at line 98 of file KGTrack.h.

References fTrackMap, and Print().

Referenced by trkf::TrackKalmanCheater::produce().

{ return fTrackMap; }

Member Data Documentation

int trkf::KGTrack::fPrefPlane

private

Preferred plane.

Definition at line 108 of file KGTrack.h.

Referenced by getPrefPlane().

std::multimap<double, KHitTrack> trkf::KGTrack::fTrackMap

private

KHitTrack collection, indexed by path distance.

Definition at line 111 of file KGTrack.h.

Referenced by addTrack(), clear(), endTrack(), fillHits(), fillTrack(), getTrackMap(), isValid(), numHits(), Print(), recalibrate(), startTrack(), and TrackMap().

---

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

• lardata/v06_47_03/source/lardata/RecoObjects/KGTrack.h
• lardata/v06_47_03/source/lardata/RecoObjects/KGTrack.cxx