#include "KHitMulti.h"

Inheritance diagram for trkf::KHitMulti:

Public Member Functions
	KHitMulti ()
	Default constructor. More...

	KHitMulti (const std::shared_ptr< const Surface > &psurf)
	Initializing Constructor – measurement surface only. More...

virtual	~KHitMulti ()
	Destructor. More...

int	getMeasDim () const
	Measurement space dimension. More...

const std::vector< std::shared_ptr< const KHit< 1 > > > &	getMeasVec () const
	Measurement collection. More...

const ublas::vector< double > &	getMeasVector () const
	Measurement vector. More...

const ublas::symmetric_matrix< double > &	getMeasError () const
	Measurement error matrix. More...

const ublas::vector< double > &	getPredVector () const
	Prediction vector. More...

const ublas::symmetric_matrix< double > &	getPredError () const
	Prediction matrix. More...

const ublas::vector< double > &	getResVector () const
	Residual vector. More...

const ublas::symmetric_matrix< double > &	getResError () const
	Residual error matrix. More...

const ublas::symmetric_matrix< double > &	getResInvError () const
	Residual inv. error matrix. More...

const ublas::matrix< double > &	getH () const
	Kalman H-matrix. More...

double	getChisq () const
	Incremental chisquare. More...

void	addMeas (const std::shared_ptr< const KHitBase > &pmeas)
	Add a measurement of unknown type. More...

void	addMeas (const std::shared_ptr< const KHit< 1 > > &pmeas)
	Add a one-dimensional measurement. 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 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
int	fMeasDim
	Measurement space dimension. More...

std::vector< std::shared_ptr< const KHit< 1 > > >	fMeasVec
	Underlying measurements. More...

ublas::vector< double >	fMvec
	Measurement vector. More...

ublas::symmetric_matrix< double >	fMerr
	Measurement error matrix. More...

ublas::vector< double >	fPvec
	Prediction vector. More...

ublas::symmetric_matrix< double >	fPerr
	Prediction error matrix. More...

ublas::vector< double >	fRvec
	Residual vector. More...

ublas::symmetric_matrix< double >	fRerr
	Residual error matrix. More...

ublas::symmetric_matrix< double >	fRinv
	Residual inverse error matrix. More...

ublas::matrix< double >	fH
	Kalman H-matrix. More...

double	fChisq
	Incremental chisquare. More...

Detailed Description

Definition at line 53 of file KHitMulti.h.

Constructor & Destructor Documentation

trkf::KHitMulti::KHitMulti ( )

Default constructor.

Default Constructor.

Definition at line 17 of file KHitMulti.cxx.

                        :
     fMeasDim(0),
     fChisq(0.)
   {}

trkf::KHitMulti::KHitMulti ( const std::shared_ptr< const Surface > & psurf )

Initializing Constructor – measurement surface only.

Initializing Constructor.

Arguments:

psurf - Measurement surface pointer.

Definition at line 28 of file KHitMulti.cxx.

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

trkf::KHitMulti::~KHitMulti ( )

virtual

Destructor.

Definition at line 35 of file KHitMulti.cxx.

36 {}

Member Function Documentation

void trkf::KHitMulti::addMeas ( const std::shared_ptr< const KHitBase > & pmeas )

Add a measurement of unknown type.

Add a measurement.

Arguments:

pmeas - Measurement.

This method tries to dynamic cast the measurement to a supported type. If the dynamic cast fails, throw an exception.

Definition at line 47 of file KHitMulti.cxx.

Referenced by getChisq().

   {
     // It is an error to pass in a null pointer.
 
     if(pmeas.get() == 0)
       throw cet::exception("KHitMulti") << "Attempt to add null measurement pointer.\n";
 
     // Do the dynamic cast.
 
     std::shared_ptr<const KHit<1> > pmeas1 =
       std::dynamic_pointer_cast<const KHit<1>, const KHitBase>(pmeas);
 
     // Throw an exception if dynamic cast failed.
 
     if(pmeas1.get() == 0)
       throw cet::exception("KHitMulti") << "Dynamic cast for KHitBase pointer failed.\n";
     addMeas(pmeas1);
   }

void trkf::KHitMulti::addMeas ( const std::shared_ptr< const KHit< 1 > > & pmeas )

Add a one-dimensional measurement.

Add a measurement.

Arguments:

pmeas - Measurement.

Definition at line 72 of file KHitMulti.cxx.

References fMeasDim, and fMeasVec.

   {
     // It is an error to pass in a null pointer.
 
     if(pmeas.get() == 0)
       throw cet::exception("KHitMulti") << "Attempt to add null measurement pointer.\n";
 
     // Add the measurement.
 
     ++fMeasDim;
     fMeasVec.push_back(pmeas);
   }

double trkf::KHitMulti::getChisq ( ) const

inlinevirtual

Incremental chisquare.

Implements trkf::KHitBase.

Definition at line 99 of file KHitMulti.h.

References addMeas(), fChisq, predict(), Print(), and update().

99 {return fChisq;}

trkf::KHitMulti::fChisq

double fChisq

Incremental chisquare.

Definition: KHitMulti.h:135

const ublas::matrix<double>& trkf::KHitMulti::getH ( ) const

inline

Kalman H-matrix.

Definition at line 96 of file KHitMulti.h.

References fH.

96 {return fH;}

trkf::KHitMulti::fH

ublas::matrix< double > fH

Kalman H-matrix.

Definition: KHitMulti.h:134

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().

87 {return fID;}

trkf::KHitBase::fID

int fID

Unique id.

Definition: KHitBase.h:118

int trkf::KHitMulti::getMeasDim ( ) const

inline

Measurement space dimension.

Definition at line 69 of file KHitMulti.h.

References fMeasDim.

69 {return fMeasDim;}

trkf::KHitMulti::fMeasDim

int fMeasDim

Measurement space dimension.

Definition: KHitMulti.h:125

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getMeasError ( ) const

inline

Measurement error matrix.

Definition at line 78 of file KHitMulti.h.

References fMerr.

78 {return fMerr;}

trkf::KHitMulti::fMerr

ublas::symmetric_matrix< double > fMerr

Measurement error matrix.

Definition: KHitMulti.h:128

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().

84 {return fMeasPlane;}

trkf::KHitBase::fMeasPlane

int fMeasPlane

Measurement plane index.

Definition: KHitBase.h:123

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().

81 {return fMeasSurf;}

trkf::KHitBase::fMeasSurf

std::shared_ptr< const Surface > fMeasSurf

Measurement surface.

Definition: KHitBase.h:122

const std::vector<std::shared_ptr<const KHit<1> > >& trkf::KHitMulti::getMeasVec ( ) const

inline

Measurement collection.

Definition at line 72 of file KHitMulti.h.

References fMeasVec.

72 {return fMeasVec;}

trkf::KHitMulti::fMeasVec

std::vector< std::shared_ptr< const KHit< 1 > > > fMeasVec

Underlying measurements.

Definition: KHitMulti.h:126

const ublas::vector<double>& trkf::KHitMulti::getMeasVector ( ) const

inline

Measurement vector.

Definition at line 75 of file KHitMulti.h.

References fMvec.

75 {return fMvec;}

trkf::KHitMulti::fMvec

ublas::vector< double > fMvec

Measurement vector.

Definition: KHitMulti.h:127

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().

78 {return fPredDist;}

trkf::KHitBase::fPredDist

double fPredDist

Prediction distance.

Definition: KHitBase.h:117

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getPredError ( ) const

inline

Prediction matrix.

Definition at line 84 of file KHitMulti.h.

References fPerr.

84 {return fPerr;}

trkf::KHitMulti::fPerr

ublas::symmetric_matrix< double > fPerr

Prediction error matrix.

Definition: KHitMulti.h:130

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

75 {return fPredSurf;}

trkf::KHitBase::fPredSurf

std::shared_ptr< const Surface > fPredSurf

Prediction surface.

Definition: KHitBase.h:116

const ublas::vector<double>& trkf::KHitMulti::getPredVector ( ) const

inline

Prediction vector.

Definition at line 81 of file KHitMulti.h.

References fPvec.

81 {return fPvec;}

trkf::KHitMulti::fPvec

ublas::vector< double > fPvec

Prediction vector.

Definition: KHitMulti.h:129

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getResError ( ) const

inline

Residual error matrix.

Definition at line 90 of file KHitMulti.h.

References fRerr.

90 {return fRerr;}

trkf::KHitMulti::fRerr

ublas::symmetric_matrix< double > fRerr

Residual error matrix.

Definition: KHitMulti.h:132

const ublas::symmetric_matrix<double>& trkf::KHitMulti::getResInvError ( ) const

inline

Residual inv. error matrix.

Definition at line 93 of file KHitMulti.h.

References fRinv.

93 {return fRinv;}

trkf::KHitMulti::fRinv

ublas::symmetric_matrix< double > fRinv

Residual inverse error matrix.

Definition: KHitMulti.h:133

const ublas::vector<double>& trkf::KHitMulti::getResVector ( ) const

inline

Residual vector.

Definition at line 87 of file KHitMulti.h.

References fRvec.

87 {return fRvec;}

trkf::KHitMulti::fRvec

ublas::vector< double > fRvec

Residual vector.

Definition: KHitMulti.h:131

bool trkf::KHitMulti::predict	(	const KETrack &	tre,
		const Propagator *	prop = `0`,
		const KTrack *	ref = `0`
	)		const

virtual

Prediction method (return false if fail).

Arguments:

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

Returns: True if success.

This class calls the predict method of each underlying measurement and updates the combined prediction attributes.

Implements trkf::KHitBase.

Definition at line 98 of file KHitMulti.cxx.

References fChisq, fH, fMeasDim, fMeasVec, fMerr, fMvec, fPerr, trkf::KHitBase::fPredDist, trkf::KHitBase::fPredSurf, fPvec, fRerr, fRinv, fRvec, trkf::KETrack::getError(), trkf::KHit< N >::getH(), trkf::KHit< N >::getMeasError(), trkf::KHit< N >::getMeasVector(), trkf::KHit< N >::getPredVector(), trkf::KTrack::getSurface(), trkf::KTrack::getVector(), trkf::KHit< N >::predict(), and trkf::syminvert().

Referenced by getChisq().

   {
     // Resize and clear all linear algebra objects.
 
     fMvec.resize(fMeasDim, false);
     fMvec.clear();
 
     fMerr.resize(fMeasDim, false);
     fMerr.clear();
 
     fPvec.resize(fMeasDim, false);
     fPvec.clear();
 
     fPerr.resize(fMeasDim, false);
     fPerr.clear();
 
     fRvec.resize(fMeasDim, false);
     fRvec.clear();
 
     fRerr.resize(fMeasDim, false);
     fRerr.clear();
 
     fRinv.resize(fMeasDim, false);
     fRinv.clear();
 
     fH.resize(fMeasDim, tre.getVector().size());
     fH.clear();
 
     // Update the prediction surface to be the track surface.
 
     fPredSurf = tre.getSurface();
     fPredDist = 0.;
 
     // Result.
 
     bool ok = true;
 
     // Loop over one-dimensional measurements.
 
     for(unsigned int im = 0; ok && im < fMeasVec.size(); ++im) {
       const KHit<1>& meas = *(fMeasVec[im]);
 
       // Update prediction for this measurement.
 
       ok = meas.predict(tre, prop, ref);
       if(!ok)
         break;
 
       // 
 
       // Update objects that are concatenations of underlying measurements.
 
       fMvec(im) = meas.getMeasVector()(0);         // Measurement vector.
       fMerr(im, im) = meas.getMeasError()(0, 0);   // Measurement error matrix.
       fPvec(im) = meas.getPredVector()(0);         // Prediction vector.
 
       // H-matrix.
 
       for(unsigned int j = 0; j < meas.getH().size2(); ++j)
         fH(im, j) = meas.getH()(0, j);
     }
     if(ok) {
 
       // Calculate prediction error matrix.
       // T = H C H^T.
 
       ublas::matrix<double> temp(fH.size2(), fMeasDim);
       ublas::matrix<double> temp2(fMeasDim, fMeasDim);
       temp = prod(tre.getError(), trans(fH));
       temp2 = prod(fH, temp);
       fPerr = ublas::symmetric_adaptor<ublas::matrix<double> >(temp2);
 
       // Update residual
 
       fRvec = fMvec - fPvec;
       fRerr = fMerr + fPerr;
       fRinv = fRerr;
       ok = syminvert(fRinv);
       if(ok) {
 
         // Calculate incremental chisquare.
 
         ublas::vector<double> rtemp = prod(fRinv, fRvec);
         fChisq = inner_prod(fRvec, rtemp);
       }
     }
 
     // If a problem occured at any step, clear the prediction surface pointer.
 
     if(!ok) {
       fPredSurf.reset();
       fPredDist = 0.;
     }
 
     // Done.
 
     return ok;
   }

std::ostream & trkf::KHitMulti::Print	(	std::ostream &	out,
		bool	doTitle = `true`
	)		const

virtual

Printout.

Reimplemented from trkf::KHitBase.

Definition at line 247 of file KHitMulti.cxx.

Referenced by getChisq().

   {
     if(doTitle)
       out << "KHitMulti:\n";
     return out;
   }

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().

95 {fMeasPlane = plane;}

trkf::KHitBase::fMeasPlane

int fMeasPlane

Measurement plane index.

Definition: KHitBase.h:123

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().

92 {fMeasSurf = psurf;}

trkf::KHitBase::fMeasSurf

std::shared_ptr< const Surface > fMeasSurf

Measurement surface.

Definition: KHitBase.h:122

void trkf::KHitMulti::update ( KETrack & tre ) const

virtual

Update track method.

Arguments:

tre - Track to be updated.

This method is almost an exact copy of the update method in KHit<N>.

Implements trkf::KHitBase.

Definition at line 205 of file KHitMulti.cxx.

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

Referenced by 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("KHitMulti") << "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.
 
     ublas::matrix<double> temp(size, fMeasDim);
     ublas::matrix<double> gain(size, fMeasDim);
     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);
     ublas::matrix<double> 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);
   }