trkf::KHit< N > Class Template Reference

#include "KHit.h"

Inheritance diagram for trkf::KHit< N >:

Public Member Functions
	KHit ()
	Default constructor. More...
	KHit (const std::shared_ptr< const Surface > &psurf)
	Initializing Constructor – surface only. More...
	KHit (const std::shared_ptr< const Surface > &psurf, const typename KVector< N >::type &mvec, const typename KSymMatrix< N >::type &merr)
	Fully Initializing Constructor. More...
virtual	~KHit ()
	Destructor. More...
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=0, 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
KVector< N >::type	fMvec
	Measurement vector. More...
KSymMatrix< N >::type	fMerr
	Measurement error matrix. More...
KVector< N >::type	fPvec
	Prediction vector. More...
KSymMatrix< N >::type	fPerr
	Prediction error matrix. More...
KVector< N >::type	fRvec
	Residual vector. More...
KSymMatrix< N >::type	fRerr
	Residual error matrix. More...
KSymMatrix< N >::type	fRinv
	Residual inverse error matrix. More...
KHMatrix< N >::type	fH
	Kalman H-matrix. More...
double	fChisq
	Incremental chisquare. More...

Detailed Description

template<int N>
class trkf::KHit< N >

Definition at line 73 of file KHit.h.

Constructor & Destructor Documentation

template<int N>

trkf::KHit< N >::KHit

(

)

Default constructor.

Definition at line 167 of file KHit.h.

                :
    fChisq(0.)
  {}

template<int N>

trkf::KHit< N >::KHit

(

const std::shared_ptr< const Surface > &

psurf

)

Initializing Constructor – surface only.

Initializing Constructor – surface only.

Arguments:

psurf - Surface pointer.

Definition at line 178 of file KHit.h.

                                                         :
    KHitBase(psurf),
    fChisq(0.)
  {}

template<int N>

trkf::KHit< N >::KHit	(	const std::shared_ptr< const Surface > &	psurf,
		const typename KVector< N >::type &	mvec,
		const typename KSymMatrix< N >::type &	merr
	)

Fully Initializing Constructor.

Fully Initializing Constructor.

Arguments:

psurf - Surface pointer. mvec - Measurement vector. merr - Measurement error.

Definition at line 192 of file KHit.h.

                                                        :
    KHitBase(psurf),
    fMvec(mvec),
    fMerr(merr),
    fChisq(0.)
  {}

template<int N>

trkf::KHit< N >::~KHit ( )

virtual

Destructor.

Definition at line 203 of file KHit.h.

  {}

Member Function Documentation

template<int N>

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

inlinevirtual

Incremental chisquare.

Implements trkf::KHitBase.

Definition at line 126 of file KHit.h.

{return fChisq;}

template<int N>

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

inline

Kalman H-matrix.

Definition at line 123 of file KHit.h.

Referenced by trkf::KHitMulti::predict().

{return fH;}

int trkf::KHitBase::getID ( ) const

inlineinherited

Unique id.

Definition at line 87 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;}

template<int N>

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

inline

Measurement error matrix.

Definition at line 105 of file KHit.h.

Referenced by trkf::KHitMulti::predict().

{return fMerr;}

int trkf::KHitBase::getMeasPlane ( ) const

inlineinherited

Measurement plane index.

Definition at line 84 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 81 of file KHitBase.h.

References trkf::KHitBase::fMeasSurf.

Referenced by trkf::KHit< N >::predict(), trkf::KHitWireX::subpredict(), and trkf::KHitWireLine::subpredict().

{return fMeasSurf;}

template<int N>

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

inline

Measurement vector.

Definition at line 102 of file KHit.h.

Referenced by trkf::KHitMulti::predict().

{return fMvec;}

double trkf::KHitBase::getPredDistance ( ) const

inlineinherited

Prediction distance.

Definition at line 78 of file KHitBase.h.

References trkf::KHitBase::fPredDist.

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

{return fPredDist;}

template<int N>

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

inline

Prediction matrix.

Definition at line 111 of file KHit.h.

{return fPerr;}

const std::shared_ptr<const Surface>& trkf::KHitBase::getPredSurface ( ) const

inlineinherited

Predition surface.

Definition at line 75 of file KHitBase.h.

References trkf::KHitBase::fPredSurf.

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

{return fPredSurf;}

template<int N>

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

inline

Prediction vector.

Definition at line 108 of file KHit.h.

Referenced by trkf::KHitMulti::predict().

{return fPvec;}

template<int N>

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

inline

Residual error matrix.

Definition at line 117 of file KHit.h.

Referenced by trkf::Track3DKalmanHit::fillHistograms(), and trkf::TrackKalmanCheater::produce().

{return fRerr;}

template<int N>

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

inline

Residual inv. error matrix.

Definition at line 120 of file KHit.h.

{return fRinv;}

template<int N>

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

inline

Residual vector.

Definition at line 114 of file KHit.h.

Referenced by trkf::Track3DKalmanHit::fillHistograms(), and trkf::TrackKalmanCheater::produce().

{return fRvec;}

template<int N>

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

virtual

Prediction method (return false if fail).

Prediction method.

Arguments;

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

Implements trkf::KHitBase.

Definition at line 215 of file KHit.h.

References trkf::Propagator::err_prop(), trkf::KHit< N >::fChisq, trkf::KHit< N >::fH, trkf::KHit< N >::fMerr, trkf::KHit< N >::fMvec, trkf::KHit< N >::fPerr, trkf::KHitBase::fPredDist, trkf::KHitBase::fPredSurf, trkf::KHit< N >::fPvec, trkf::KHit< N >::fRerr, trkf::KHit< N >::fRinv, trkf::KHit< N >::fRvec, trkf::KHitBase::getMeasSurface(), trkf::KTrack::getSurface(), trkf::KHit< N >::subpredict(), trkf::syminvert(), and trkf::Propagator::UNKNOWN.

Referenced by trkf::KHit< 1 >::getChisq(), and trkf::KHitMulti::predict().

  {
    // Update the prediction surface to be the track surface.

    fPredSurf = tre.getSurface();
    fPredDist = 0.;

    // Default result.

    bool ok = false;

    // Update prediction vector, error matrox, and H-matrix.

    // First test whether the prediction surface matches the
    // measurement surface.

    if(getMeasSurface()->isEqual(*fPredSurf)) {

      // Prediction and measurement surfaces agree.
      //Just call subpredict method (don't do propagation).

      ok = subpredict(tre, fPvec, fPerr, fH);
    }
    else {

      // Track surface does not match the prediction surface, so an
      // internal propagation will be required.  Throw an exception if
      // no propagator was provided.

      if(prop == 0)
        throw cet::exception("KHit") << "Track surface does not match measurement surface and no propagator.\n";

      // First make a copy of the original KETrack.

      KETrack treprop(tre);

      // Also make a copy of the reference track (if specified).

      KTrack refprop;
      KTrack* prefprop = 0;
      if(ref != 0) {
        refprop = *ref;
        prefprop = &refprop;
      }
      

      // Make a no-noise, no-dE/dx propagation to the measurement
      // surface.  But do calculate the propagation matrix, which we
      // will use to update the H-matrix calculated in the derived
      // class.

      TrackMatrix prop_matrix;
      boost::optional<double> dist = prop->err_prop(treprop, getMeasSurface(),
                                                    Propagator::UNKNOWN, false, 
                                                    prefprop, &prop_matrix);
      ok = !!dist;
      if(ok) {

        // Update prediction distance.

        fPredDist = *dist;

        // Now we are ready to calculate the prediction on the
        // measurement surface.

        typename KHMatrix<N>::type hmatrix;
        ok = subpredict(treprop, fPvec, fPerr, hmatrix);
        if(ok) {

          // Use the propagation matrix to transform the H-matrix back
          // to the prediction surface.

          fH = prod(hmatrix, prop_matrix);
        }
      }
    }
    if(ok) {

      // Update residual

      fRvec = fMvec - fPvec;
      fRerr = fMerr + fPerr;
      fRinv = fRerr;
      ok = syminvert(fRinv);
      if(ok) {

        // Calculate incremental chisquare.

        // (workaround: if we use the copy constructor, gcc emits a spurious warning)
//      typename KVector<N>::type rtemp = prod(fRinv, fRvec);
        fChisq = inner_prod(fRvec, prod(fRinv, fRvec));
      }
    }

    // If a problem occured at any step, clear the prediction surface pointer.

    if(!ok) {
      fPredSurf.reset();
      fPredDist = 0.;
    }

    // Done.

    return ok;
  }

template<int N>

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

virtual

Printout.

Reimplemented from trkf::KHitBase.

Definition at line 371 of file KHit.h.

References trkf::KHit< N >::fChisq, trkf::KHit< N >::fMerr, trkf::KHit< N >::fMvec, trkf::KHit< N >::fPerr, trkf::KHit< N >::fPvec, trkf::KHit< N >::fRerr, trkf::KHit< N >::fRvec, and trkf::KHitBase::Print().

Referenced by trkf::KHit< 1 >::getChisq().

  {
    if(doTitle)
      out << "KHit<" << N << ">:\n";

    // Print base class.

    KHitBase::Print(out, false);

    // Print measurement vector.

    out << "  Measurement vector:\n"
        << "  [";
    for(unsigned int i = 0; i < fMvec.size(); ++i) {
      if(i != 0)
        out << ", ";
      out << fMvec(i);
    }
    out << "]\n";

    // Print diagonal measurement  errors.

    out << "  Diagonal measurement errors:\n"
        << "  [";
    for(unsigned int i = 0; i < fMerr.size1(); ++i) {
      if(i != 0)
        out << ", ";
      double err = fMerr(i,i);
      err = (err >= 0. ? std::sqrt(err) : -std::sqrt(-err));
      out << err;
    }
    out << "]\n";

    // Print measurement correlations.

    if(fMerr.size1() > 1) {
      out << "  Measurement correlation matrix:";
      for(unsigned int i = 0; i < fMerr.size1(); ++i) {
        if(i == 0)
          out << "\n  [";
        else
          out << "\n   ";
        for(unsigned int j = 0; j <= i; ++j) {
          if(j != 0)
            out << ", ";
          if(i == j)
            out << 1.;
          else {
            double eiijj = fMerr(i,i) * fMerr(j,j);
            double eij = fMerr(i,j);
            if(eiijj != 0.)
              eij /= std::sqrt(std::abs(eiijj));
            else
              eij = 0.;
            out << eij;
          }
        }
      }
      out << "]\n";
    }

    // Print prediction vector.

    out << "  Prediction vector:\n"
        << "  [";
    for(unsigned int i = 0; i < fPvec.size(); ++i) {
      if(i != 0)
        out << ", ";
      out << fPvec(i);
    }
    out << "]\n";

    // Print diagonal prediction  errors.

    out << "  Diagonal prediction errors:\n"
        << "  [";
    for(unsigned int i = 0; i < fPerr.size1(); ++i) {
      if(i != 0)
        out << ", ";
      double err = fPerr(i,i);
      err = (err >= 0. ? std::sqrt(err) : -std::sqrt(-err));
      out << err;
    }
    out << "]\n";

    // Print prediction correlations.

    if(fPerr.size1() > 1) {
      out << "  Prediction correlation matrix:";
      for(unsigned int i = 0; i < fPerr.size1(); ++i) {
        if(i == 0)
          out << "\n  [";
        else
          out << "\n   ";
        for(unsigned int j = 0; j <= i; ++j) {
          if(j != 0)
            out << ", ";
          if(i == j)
            out << 1.;
          else {
            double eiijj = fPerr(i,i) * fPerr(j,j);
            double eij = fPerr(i,j);
            if(eiijj != 0.)
              eij /= std::sqrt(std::abs(eiijj));
            else
              eij = 0.;
            out << eij;
          }
        }
      }
      out << "]\n";
    }

    // Print residual vector.

    out << "  Residual vector:\n"
        << "  [";
    for(unsigned int i = 0; i < fRvec.size(); ++i) {
      if(i != 0)
        out << ", ";
      out << fRvec(i);
    }
    out << "]\n";

    // Print diagonal residual  errors.

    out << "  Diagonal residual errors:\n"
        << "  [";
    for(unsigned int i = 0; i < fRerr.size1(); ++i) {
      if(i != 0)
        out << ", ";
      double err = fRerr(i,i);
      err = (err >= 0. ? std::sqrt(err) : -std::sqrt(-err));
      out << err;
    }
    out << "]\n";

    // Print residual correlations.

    if(fRerr.size1() > 1) {
      out << "  Residual correlation matrix:";
      for(unsigned int i = 0; i < fRerr.size1(); ++i) {
        if(i == 0)
          out << "\n  [";
        else
          out << "\n   ";
        for(unsigned int j = 0; j <= i; ++j) {
          if(j != 0)
            out << ", ";
          if(i == j)
            out << 1.;
          else {
            double eiijj = fRerr(i,i) * fRerr(j,j);
            double eij = fRerr(i,j);
            if(eiijj != 0.)
              eij /= std::sqrt(std::abs(eiijj));
            else
              eij = 0.;
            out << eij;
          }
        }
      }
      out << "]\n";
    }

    // Print incremental chisquare.

    out << "  Incremental chisquare = " << fChisq << "\n";

    // Done.

    return out;
  }

template<int N>

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

inline

Set measurement error.

Definition at line 97 of file KHit.h.

{fMerr = merr;}

void trkf::KHitBase::setMeasPlane ( int  plane )

inlineinherited

Measurement plane.

Definition at line 95 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 trkf::KHitWireX::KHitWireX().

{fMeasPlane = plane;}

void trkf::KHitBase::setMeasSurface ( const std::shared_ptr< const Surface > &  psurf )

inlineinherited

Measurement surface.

Definition at line 92 of file KHitBase.h.

References trkf::KHitBase::fMeasSurf.

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

{fMeasSurf = psurf;}

template<int N>

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

inline

Set measurement vector.

Definition at line 94 of file KHit.h.

{fMvec = mvec;}

template<int N>

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 virtual

Calculate prediction function (return via arguments).

Referenced by trkf::KHit< 1 >::getChisq(), and trkf::KHit< N >::predict().

template<int N>

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

virtual

Update track method.

Update track method.

Arguments:

tre - Track to be updated.

Implements trkf::KHitBase.

Definition at line 328 of file KHit.h.

References trkf::KHit< N >::fH, trkf::KHit< N >::fMerr, trkf::KHit< N >::fRinv, trkf::KHit< N >::fRvec, trkf::KETrack::getError(), trkf::KHitBase::getPredSurface(), trkf::KTrack::getSurface(), trkf::KTrack::getVector(), trkf::KETrack::setError(), and trkf::KTrack::setVector().

Referenced by trkf::KHit< 1 >::getChisq().

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

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

    const TrackVector& tvec = tre.getVector();
    const TrackError& terr = tre.getError();
    TrackVector::size_type size = tvec.size();

    // Calculate gain matrix.

    typename KGMatrix<N>::type temp(size, N);
    typename KGMatrix<N>::type gain(size, N);
    temp = prod(trans(fH), fRinv);
    gain = prod(terr, temp);

    // Calculate updated track state.

    TrackVector newvec = tre.getVector() + prod(gain, fRvec);

    // Calculate updated error matrix.

    TrackMatrix fact = ublas::identity_matrix<TrackVector::value_type>(size);
    fact -= prod(gain, fH);
    TrackMatrix errtemp1 = prod(terr, trans(fact));
    TrackMatrix errtemp2 = prod(fact, errtemp1);
    TrackError errtemp2s = ublas::symmetric_adaptor<TrackMatrix>(errtemp2);
    typename KHMatrix<N>::type errtemp3 = prod(fMerr, trans(gain));
    TrackMatrix errtemp4 = prod(gain, errtemp3);
    TrackError errtemp4s = ublas::symmetric_adaptor<TrackMatrix>(errtemp4);
    TrackError newerr = errtemp2s + errtemp4s;

    // Update track.

    tre.setVector(newvec);
    tre.setError(newerr);
  }

Member Data Documentation

template<int N>

double trkf::KHit< N >::fChisq

mutableprivate

Incremental chisquare.

Definition at line 160 of file KHit.h.

Referenced by trkf::KHit< 1 >::getChisq(), trkf::KHit< N >::predict(), and trkf::KHit< N >::Print().

template<int N>

KHMatrix<N>::type trkf::KHit< N >::fH

mutableprivate

Kalman H-matrix.

Definition at line 159 of file KHit.h.

Referenced by trkf::KHit< 1 >::getH(), trkf::KHit< N >::predict(), and trkf::KHit< N >::update().

int trkf::KHitBase::fID

protectedinherited

Unique id.

Definition at line 118 of file KHitBase.h.

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

template<int N>

KSymMatrix<N>::type trkf::KHit< N >::fMerr

private

Measurement error matrix.

Definition at line 153 of file KHit.h.

Referenced by trkf::KHit< 1 >::getMeasError(), trkf::KHit< N >::predict(), trkf::KHit< N >::Print(), trkf::KHit< 1 >::setMeasError(), and trkf::KHit< N >::update().

template<int N>

KVector<N>::type trkf::KHit< N >::fMvec

private

Measurement vector.

Definition at line 152 of file KHit.h.

Referenced by trkf::KHit< 1 >::getMeasVector(), trkf::KHit< N >::predict(), trkf::KHit< N >::Print(), and trkf::KHit< 1 >::setMeasVector().

template<int N>

KSymMatrix<N>::type trkf::KHit< N >::fPerr

mutableprivate

Prediction error matrix.

Definition at line 155 of file KHit.h.

Referenced by trkf::KHit< 1 >::getPredError(), trkf::KHit< N >::predict(), and trkf::KHit< N >::Print().

double trkf::KHitBase::fPredDist

mutableprotectedinherited

Prediction distance.

Definition at line 117 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 116 of file KHitBase.h.

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

template<int N>

KVector<N>::type trkf::KHit< N >::fPvec

mutableprivate

Prediction vector.

Definition at line 154 of file KHit.h.

Referenced by trkf::KHit< 1 >::getPredVector(), trkf::KHit< N >::predict(), and trkf::KHit< N >::Print().

template<int N>

KSymMatrix<N>::type trkf::KHit< N >::fRerr

mutableprivate

Residual error matrix.

Definition at line 157 of file KHit.h.

Referenced by trkf::KHit< 1 >::getResError(), trkf::KHit< N >::predict(), and trkf::KHit< N >::Print().

template<int N>

KSymMatrix<N>::type trkf::KHit< N >::fRinv

mutableprivate

Residual inverse error matrix.

Definition at line 158 of file KHit.h.

Referenced by trkf::KHit< 1 >::getResInvError(), trkf::KHit< N >::predict(), and trkf::KHit< N >::update().

template<int N>

KVector<N>::type trkf::KHit< N >::fRvec

mutableprivate

Residual vector.

Definition at line 156 of file KHit.h.

Referenced by trkf::KHit< 1 >::getResVector(), trkf::KHit< N >::predict(), trkf::KHit< N >::Print(), and trkf::KHit< N >::update().

---

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

• lardata/v06_47_03/source/lardata/RecoObjects/KHit.h