| File: | libraries/TRACKING/DTrackFitterKalmanSIMD.cc |
| Location: | line 5701, column 12 |
| Description: | Value stored to 'dz' during its initialization is never read |
| 1 | //************************************************************************ |
| 2 | // DTrackFitterKalmanSIMD.cc |
| 3 | //************************************************************************ |
| 4 | |
| 5 | #include "DTrackFitterKalmanSIMD.h" |
| 6 | #include "CDC/DCDCTrackHit.h" |
| 7 | #include "HDGEOMETRY/DLorentzDeflections.h" |
| 8 | #include "HDGEOMETRY/DMaterialMap.h" |
| 9 | #include "HDGEOMETRY/DRootGeom.h" |
| 10 | #include "DANA/DApplication.h" |
| 11 | #include <JANA/JCalibration.h> |
| 12 | |
| 13 | #include <TH2F.h> |
| 14 | #include <TROOT.h> |
| 15 | #include <TMath.h> |
| 16 | #include <DMatrix.h> |
| 17 | |
| 18 | #include <iomanip> |
| 19 | #include <math.h> |
| 20 | |
| 21 | #define MAX_TB_PASSES20 20 |
| 22 | #define MAX_WB_PASSES20 20 |
| 23 | #define MIN_PROTON_P0.3 0.3 |
| 24 | #define MIN_PION_P0.08 0.08 |
| 25 | #define MAX_P12.0 12.0 |
| 26 | |
| 27 | #define NaNstd::numeric_limits<double>::quiet_NaN() std::numeric_limits<double>::quiet_NaN() |
| 28 | |
| 29 | // Local boolean routines for sorting |
| 30 | //bool static DKalmanSIMDHit_cmp(DKalmanSIMDHit_t *a, DKalmanSIMDHit_t *b){ |
| 31 | // return a->z<b->z; |
| 32 | //} |
| 33 | |
| 34 | inline bool static DKalmanSIMDFDCHit_cmp(DKalmanSIMDFDCHit_t *a, DKalmanSIMDFDCHit_t *b){ |
| 35 | if (fabs(a->z-b->z)<EPS3.0e-8) return(a->t<b->t); |
| 36 | |
| 37 | return a->z<b->z; |
| 38 | } |
| 39 | inline bool static DKalmanSIMDCDCHit_cmp(DKalmanSIMDCDCHit_t *a, DKalmanSIMDCDCHit_t *b){ |
| 40 | if (a==NULL__null || b==NULL__null){ |
| 41 | cout << "Null pointer in CDC hit list??" << endl; |
| 42 | return false; |
| 43 | } |
| 44 | const DCDCWire *wire_a= a->hit->wire; |
| 45 | const DCDCWire *wire_b= b->hit->wire; |
| 46 | if(wire_b->ring == wire_a->ring){ |
| 47 | return wire_b->straw < wire_a->straw; |
| 48 | } |
| 49 | |
| 50 | return (wire_b->ring>wire_a->ring); |
| 51 | } |
| 52 | |
| 53 | |
| 54 | // Locate a position in array xx given x |
| 55 | void DTrackFitterKalmanSIMD::locate(const double *xx,int n,double x,int *j){ |
| 56 | int jl=-1; |
| 57 | int ju=n; |
| 58 | int ascnd=(xx[n-1]>=xx[0]); |
| 59 | while(ju-jl>1){ |
| 60 | int jm=(ju+jl)>>1; |
| 61 | if ( (x>=xx[jm])==ascnd) |
| 62 | jl=jm; |
| 63 | else |
| 64 | ju=jm; |
| 65 | } |
| 66 | if (x==xx[0]) *j=0; |
| 67 | else if (x==xx[n-1]) *j=n-2; |
| 68 | else *j=jl; |
| 69 | } |
| 70 | |
| 71 | |
| 72 | |
| 73 | // Locate a position in vector xx given x |
| 74 | unsigned int DTrackFitterKalmanSIMD::locate(vector<double>&xx,double x){ |
| 75 | int n=xx.size(); |
| 76 | if (x==xx[0]) return 0; |
| 77 | else if (x==xx[n-1]) return n-2; |
| 78 | |
| 79 | int jl=-1; |
| 80 | int ju=n; |
| 81 | int ascnd=(xx[n-1]>=xx[0]); |
| 82 | while(ju-jl>1){ |
| 83 | int jm=(ju+jl)>>1; |
| 84 | if ( (x>=xx[jm])==ascnd) |
| 85 | jl=jm; |
| 86 | else |
| 87 | ju=jm; |
| 88 | } |
| 89 | return jl; |
| 90 | } |
| 91 | |
| 92 | // Crude approximation for the variance in drift distance due to smearing |
| 93 | double fdc_drift_variance(double t){ |
| 94 | //return FDC_ANODE_VARIANCE; |
| 95 | if (t<1) t=1; |
| 96 | double par[4]={6.051e-3,-1.118e-5,-1.658e-6,2.036e-8}; |
| 97 | double sigma=8.993e-3/(t+0.001); |
| 98 | for (int i=0;i<4;i++) sigma+=par[i]*pow(t,i); |
| 99 | sigma*=1.1; |
| 100 | |
| 101 | return sigma*sigma; |
| 102 | } |
| 103 | |
| 104 | // Convert time to distance for the cdc |
| 105 | double DTrackFitterKalmanSIMD::cdc_drift_distance(double t,double B){ |
| 106 | double d=0.; |
| 107 | if (t>0){ |
| 108 | double dtc =(CDC_DRIFT_BSCALE_PAR1 + CDC_DRIFT_BSCALE_PAR2 * B)* t; |
| 109 | double tcorr=t-dtc; |
| 110 | |
| 111 | if (tcorr>cdc_drift_table[cdc_drift_table.size()-1]){ |
| 112 | return 0.78; |
| 113 | } |
| 114 | |
| 115 | unsigned int index=0; |
| 116 | index=locate(cdc_drift_table,tcorr); |
| 117 | double dt=cdc_drift_table[index+1]-cdc_drift_table[index]; |
| 118 | double frac=(tcorr-cdc_drift_table[index])/dt; |
| 119 | d=0.01*(double(index)+frac); |
| 120 | } |
| 121 | return d; |
| 122 | |
| 123 | // The following functional form was derived from the simulated |
| 124 | // time-to-distance relationship derived from GARFIELD. It should really |
| 125 | // be determined empirically... |
| 126 | /* |
| 127 | double two_a=2.*(1129.0+78.66*B); |
| 128 | double b=49.41-4.74*B; |
| 129 | d=b/two_a; |
| 130 | // if (t>0.0) d+=0.0279*sqrt(t); |
| 131 | if (t>0.0) d+=sqrt(b*b+2.*two_a*t)/two_a; |
| 132 | |
| 133 | //_DBG_ << d << endl; |
| 134 | |
| 135 | return d; |
| 136 | */ |
| 137 | } |
| 138 | |
| 139 | // Convert time to distance for the cdc and compute variance |
| 140 | void DTrackFitterKalmanSIMD::ComputeCDCDrift(double dphi,double delta,double t, |
| 141 | double B, |
| 142 | double &d, double &V, double &tcorr){ |
| 143 | //d=0.39; // initialize at half-cell |
| 144 | //V=0.0507; // initialize with (cell size)/12. |
| 145 | double cutoffTime = 40.0; |
| 146 | tcorr = t; // Need this value even when t is negative for calibration |
| 147 | if (t>0){ |
| 148 | //double dtc =(CDC_DRIFT_BSCALE_PAR1 + CDC_DRIFT_BSCALE_PAR2 * B)* t; |
| 149 | //tcorr=t-dtc; |
| 150 | |
| 151 | double sigma=CDC_RES_PAR1/(tcorr+1.)+CDC_RES_PAR2; |
| 152 | // This function is very poorly behaved at low drift times |
| 153 | // For times less than cutoffTime assume a linear behavior of our function. |
| 154 | if( tcorr < cutoffTime ){ |
| 155 | double slope = -1.0 * CDC_RES_PAR1 / (( cutoffTime + 1) * (cutoffTime + 1)); |
| 156 | sigma = (CDC_RES_PAR1/(cutoffTime+1.)+CDC_RES_PAR2) + slope * (tcorr - cutoffTime); |
| 157 | } |
| 158 | |
| 159 | |
| 160 | // Variables to store values for time-to-distance functions for delta=0 |
| 161 | // and delta!=0 |
| 162 | double f_0=0.; |
| 163 | double f_delta=0.; |
| 164 | // Derivative of d with respect to t, needed to add t0 variance |
| 165 | // dependence to sigma |
| 166 | double dd_dt=0; |
| 167 | // Scale factor to account for affect of B-field on maximum drift time |
| 168 | double Bscale=long_drift_Bscale_par1+long_drift_Bscale_par2*B; |
| 169 | |
| 170 | // if (delta>0) |
| 171 | if (delta>-EPS21.e-4){ |
| 172 | double a1=long_drift_func[0][0]; |
| 173 | double a2=long_drift_func[0][1]; |
| 174 | double b1=long_drift_func[1][0]; |
| 175 | double b2=long_drift_func[1][1]; |
| 176 | double c1=long_drift_func[2][0]; |
| 177 | double c2=long_drift_func[2][1]; |
| 178 | double c3=long_drift_func[2][2]; |
| 179 | |
| 180 | // use "long side" functional form |
| 181 | double my_t=0.001*tcorr; |
| 182 | double sqrt_t=sqrt(my_t); |
| 183 | double t3=my_t*my_t*my_t; |
| 184 | double delta_mag=fabs(delta); |
| 185 | double a=a1+a2*delta_mag; |
| 186 | double b=b1+b2*delta_mag; |
| 187 | double c=c1+c2*delta_mag+c3*delta*delta; |
| 188 | f_delta=a*sqrt_t+b*my_t+c*t3; |
| 189 | f_0=a1*sqrt_t+b1*my_t+c1*t3; |
| 190 | |
| 191 | dd_dt=0.001*(0.5*a/sqrt_t+b+3.*c*my_t*my_t); |
| 192 | } |
| 193 | else{ |
| 194 | double my_t=0.001*tcorr; |
| 195 | double sqrt_t=sqrt(my_t); |
| 196 | double delta_mag=fabs(delta); |
| 197 | |
| 198 | // use "short side" functional form |
| 199 | double a1=short_drift_func[0][0]; |
| 200 | double a2=short_drift_func[0][1]; |
| 201 | double a3=short_drift_func[0][2]; |
| 202 | double b1=short_drift_func[1][0]; |
| 203 | double b2=short_drift_func[1][1]; |
| 204 | double b3=short_drift_func[1][2]; |
| 205 | |
| 206 | double delta_sq=delta*delta; |
| 207 | double a=a1+a2*delta_mag+a3*delta_sq; |
| 208 | double b=b1+b2*delta_mag+b3*delta_sq; |
| 209 | f_delta=a*sqrt_t+b*my_t; |
| 210 | f_0=a1*sqrt_t+b1*my_t; |
| 211 | |
| 212 | dd_dt=0.001*(0.5*a/sqrt_t+b); |
| 213 | } |
| 214 | |
| 215 | unsigned int max_index=cdc_drift_table.size()-1; |
| 216 | if (tcorr>cdc_drift_table[max_index]){ |
| 217 | //_DBG_ << "t: " << tcorr <<" d " << f_delta <<endl; |
| 218 | d=f_delta*Bscale; |
| 219 | V=sigma*sigma+mVarT0*dd_dt*dd_dt*Bscale*Bscale; |
| 220 | |
| 221 | return; |
| 222 | } |
| 223 | |
| 224 | // Drift time is within range of table -- interpolate... |
| 225 | unsigned int index=0; |
| 226 | index=locate(cdc_drift_table,tcorr); |
| 227 | double dt=cdc_drift_table[index+1]-cdc_drift_table[index]; |
| 228 | double frac=(tcorr-cdc_drift_table[index])/dt; |
| 229 | double d_0=0.01*(double(index)+frac); |
| 230 | |
| 231 | double P=0.; |
| 232 | double tcut=250.0; // ns |
| 233 | if (tcorr<tcut) { |
| 234 | P=(tcut-tcorr)/tcut; |
| 235 | } |
| 236 | d=f_delta*(d_0/f_0*P+1.-P)*Bscale; |
| 237 | V=sigma*sigma+mVarT0*dd_dt*dd_dt*Bscale*Bscale; |
| 238 | } |
| 239 | else { // Time is negative, or exactly zero, choose position at wire, with error of t=0 hit |
| 240 | d=0.; |
| 241 | double slope = -1.0 * CDC_RES_PAR1 / (( cutoffTime + 1) * (cutoffTime + 1)); |
| 242 | double sigma = (CDC_RES_PAR1/(cutoffTime+1.)+CDC_RES_PAR2) + slope * (0.0 - cutoffTime); |
| 243 | double dt=cdc_drift_table[1]-cdc_drift_table[0]; |
| 244 | V=sigma*sigma+mVarT0*0.0001/(dt*dt); |
| 245 | //V=0.0507; // straw radius^2 / 12 |
| 246 | } |
| 247 | |
| 248 | |
| 249 | } |
| 250 | |
| 251 | #define FDC_T0_OFFSET17.6 17.6 |
| 252 | // Interpolate on a table to convert time to distance for the fdc |
| 253 | double DTrackFitterKalmanSIMD::fdc_drift_distance(double t,double Bz){ |
| 254 | double a=93.31,b=4.614,Bref=2.143; |
| 255 | t*=(a+b*Bref)/(a+b*Bz); |
| 256 | int id=int((t+FDC_T0_OFFSET17.6)/2.); |
| 257 | if (id<0) id=0; |
| 258 | if (id>138) id=138; |
| 259 | double d=fdc_drift_table[id]; |
| 260 | if (id!=138){ |
| 261 | double frac=0.5*(t+FDC_T0_OFFSET17.6-2.*double(id)); |
| 262 | double dd=fdc_drift_table[id+1]-fdc_drift_table[id]; |
| 263 | d+=frac*dd; |
| 264 | } |
| 265 | |
| 266 | return d; |
| 267 | } |
| 268 | |
| 269 | |
| 270 | DTrackFitterKalmanSIMD::DTrackFitterKalmanSIMD(JEventLoop *loop):DTrackFitter(loop){ |
| 271 | FactorForSenseOfRotation=(bfield->GetBz(0.,0.,65.)>0.)?-1.:1.; |
| 272 | |
| 273 | // Get the position of the CDC downstream endplate from DGeometry |
| 274 | double endplate_rmin,endplate_rmax; |
| 275 | geom->GetCDCEndplate(endplate_z,endplate_dz,endplate_rmin,endplate_rmax); |
| 276 | endplate_z-=0.5*endplate_dz; |
| 277 | endplate_r2min=endplate_rmin*endplate_rmin; |
| 278 | endplate_r2max=endplate_rmax*endplate_rmax; |
| 279 | |
| 280 | // Beginning of the cdc |
| 281 | vector<double>cdc_center; |
| 282 | vector<double>cdc_upstream_endplate_pos; |
| 283 | vector<double>cdc_endplate_dim; |
| 284 | geom->Get("//posXYZ[@volume='CentralDC'/@X_Y_Z",cdc_origin); |
| 285 | geom->Get("//posXYZ[@volume='centralDC']/@X_Y_Z",cdc_center); |
| 286 | geom->Get("//posXYZ[@volume='CDPU']/@X_Y_Z",cdc_upstream_endplate_pos); |
| 287 | geom->Get("//tubs[@name='CDPU']/@Rio_Z",cdc_endplate_dim); |
| 288 | cdc_origin[2]+=cdc_center[2]+cdc_upstream_endplate_pos[2] |
| 289 | +0.5*cdc_endplate_dim[2]; |
| 290 | |
| 291 | ADD_VERTEX_POINT=false; |
| 292 | gPARMS->SetDefaultParameter("KALMAN:ADD_VERTEX_POINT", ADD_VERTEX_POINT); |
| 293 | |
| 294 | THETA_CUT=70.0; |
| 295 | gPARMS->SetDefaultParameter("KALMAN:THETA_CUT", THETA_CUT); |
| 296 | |
| 297 | RING_TO_SKIP=0; |
| 298 | gPARMS->SetDefaultParameter("KALMAN:RING_TO_SKIP",RING_TO_SKIP); |
| 299 | |
| 300 | PLANE_TO_SKIP=0; |
| 301 | gPARMS->SetDefaultParameter("KALMAN:PLANE_TO_SKIP",PLANE_TO_SKIP); |
| 302 | |
| 303 | MIN_HITS_FOR_REFIT=8; |
| 304 | gPARMS->SetDefaultParameter("KALMAN:MIN_HITS_FOR_REFIT", MIN_HITS_FOR_REFIT); |
| 305 | |
| 306 | DEBUG_HISTS=false; |
| 307 | gPARMS->SetDefaultParameter("KALMAN:DEBUG_HISTS", DEBUG_HISTS); |
| 308 | |
| 309 | DEBUG_LEVEL=0; |
| 310 | gPARMS->SetDefaultParameter("KALMAN:DEBUG_LEVEL", DEBUG_LEVEL); |
| 311 | |
| 312 | USE_T0_FROM_WIRES=0; |
| 313 | gPARMS->SetDefaultParameter("KALMAN:USE_T0_FROM_WIRES", USE_T0_FROM_WIRES); |
| 314 | |
| 315 | ESTIMATE_T0_TB=false; |
| 316 | gPARMS->SetDefaultParameter("KALMAN:ESTIMATE_T0_TB",ESTIMATE_T0_TB); |
| 317 | |
| 318 | ENABLE_BOUNDARY_CHECK=true; |
| 319 | gPARMS->SetDefaultParameter("GEOM:ENABLE_BOUNDARY_CHECK", |
| 320 | ENABLE_BOUNDARY_CHECK); |
| 321 | |
| 322 | USE_MULS_COVARIANCE=true; |
| 323 | gPARMS->SetDefaultParameter("TRKFIT:USE_MULS_COVARIANCE", |
| 324 | USE_MULS_COVARIANCE); |
| 325 | |
| 326 | USE_PASS1_TIME_MODE=false; |
| 327 | gPARMS->SetDefaultParameter("KALMAN:USE_PASS1_TIME_MODE",USE_PASS1_TIME_MODE); |
| 328 | |
| 329 | RECOVER_BROKEN_TRACKS=true; |
| 330 | gPARMS->SetDefaultParameter("KALMAN:RECOVER_BROKEN_TRACKS",RECOVER_BROKEN_TRACKS); |
| 331 | |
| 332 | MIN_FIT_P = 0.050; // GeV |
| 333 | gPARMS->SetDefaultParameter("TRKFIT:MIN_FIT_P", MIN_FIT_P, "Minimum fit momentum in GeV/c for fit to be considered successful"); |
| 334 | |
| 335 | NUM_CDC_SIGMA_CUT=3.5; |
| 336 | NUM_FDC_SIGMA_CUT=3.5; |
| 337 | gPARMS->SetDefaultParameter("KALMAN:NUM_CDC_SIGMA_CUT",NUM_CDC_SIGMA_CUT, |
| 338 | "maximum distance in number of sigmas away from projection to accept cdc hit"); |
| 339 | gPARMS->SetDefaultParameter("KALMAN:NUM_FDC_SIGMA_CUT",NUM_FDC_SIGMA_CUT, |
| 340 | "maximum distance in number of sigmas away from projection to accept fdc hit"); |
| 341 | |
| 342 | ANNEAL_SCALE=1.5; |
| 343 | ANNEAL_POW_CONST=20.0; |
| 344 | gPARMS->SetDefaultParameter("KALMAN:ANNEAL_SCALE",ANNEAL_SCALE, |
| 345 | "Scale factor for annealing"); |
| 346 | gPARMS->SetDefaultParameter("KALMAN:ANNEAL_POW_CONST",ANNEAL_POW_CONST, |
| 347 | "Annealing parameter"); |
| 348 | FORWARD_ANNEAL_SCALE=1.5; |
| 349 | FORWARD_ANNEAL_POW_CONST=20.0; |
| 350 | gPARMS->SetDefaultParameter("KALMAN:FORWARD_ANNEAL_SCALE", |
| 351 | FORWARD_ANNEAL_SCALE, |
| 352 | "Scale factor for annealing"); |
| 353 | gPARMS->SetDefaultParameter("KALMAN:FORWARD_ANNEAL_POW_CONST", |
| 354 | FORWARD_ANNEAL_POW_CONST, |
| 355 | "Annealing parameter"); |
| 356 | |
| 357 | FORWARD_PARMS_COV=false; |
| 358 | gPARMS->SetDefaultParameter("KALMAN:FORWARD_PARMS_COV",FORWARD_PARMS_COV); |
| 359 | |
| 360 | DApplication* dapp = dynamic_cast<DApplication*>(loop->GetJApplication()); |
| 361 | |
| 362 | if(DEBUG_HISTS){ |
| 363 | dapp->Lock(); |
| 364 | |
| 365 | Hstepsize=(TH2F*)gROOT->FindObject("Hstepsize"); |
| 366 | if (!Hstepsize){ |
| 367 | Hstepsize=new TH2F("Hstepsize","step size numerator", |
| 368 | 900,-100,350,130,0,65); |
| 369 | Hstepsize->SetXTitle("z (cm)"); |
| 370 | Hstepsize->SetYTitle("r (cm)"); |
| 371 | } |
| 372 | HstepsizeDenom=(TH2F*)gROOT->FindObject("HstepsizeDenom"); |
| 373 | if (!HstepsizeDenom){ |
| 374 | HstepsizeDenom=new TH2F("HstepsizeDenom","step size denominator", |
| 375 | 900,-100,350,130,0,65); |
| 376 | HstepsizeDenom->SetXTitle("z (cm)"); |
| 377 | HstepsizeDenom->SetYTitle("r (cm)"); |
| 378 | } |
| 379 | |
| 380 | dapp->Unlock(); |
| 381 | } |
| 382 | |
| 383 | |
| 384 | JCalibration *jcalib = dapp->GetJCalibration((loop->GetJEvent()).GetRunNumber()); |
| 385 | vector< map<string, double> > tvals; |
| 386 | cdc_drift_table.clear(); |
| 387 | if (jcalib->Get("CDC/cdc_drift_table", tvals)==false){ |
| 388 | for(unsigned int i=0; i<tvals.size(); i++){ |
| 389 | map<string, double> &row = tvals[i]; |
| 390 | cdc_drift_table.push_back(1000.*row["t"]); |
| 391 | } |
| 392 | } |
| 393 | else{ |
| 394 | jerr << " CDC time-to-distance table not available... bailing..." << endl; |
| 395 | exit(0); |
| 396 | } |
| 397 | |
| 398 | int straw_number[28]={42,42,54,54,66,66,80,80,93,93,106,106, |
| 399 | 123,123,135,135,146,146,158,158,170,170, |
| 400 | 182,182,197,197,209,209}; |
| 401 | max_sag.clear(); |
| 402 | sag_phi_offset.clear(); |
| 403 | int straw_count=0,ring_count=0; |
| 404 | if (jcalib->Get("CDC/sag_parameters", tvals)==false){ |
| 405 | vector<double>temp,temp2; |
| 406 | for(unsigned int i=0; i<tvals.size(); i++){ |
| 407 | map<string, double> &row = tvals[i]; |
| 408 | |
| 409 | temp.push_back(row["offset"]); |
| 410 | temp2.push_back(row["phi"]); |
| 411 | |
| 412 | straw_count++; |
| 413 | if (straw_count==straw_number[ring_count]){ |
| 414 | max_sag.push_back(temp); |
| 415 | sag_phi_offset.push_back(temp2); |
| 416 | temp.clear(); |
| 417 | temp2.clear(); |
| 418 | straw_count=0; |
| 419 | ring_count++; |
| 420 | } |
| 421 | } |
| 422 | } |
| 423 | |
| 424 | if (jcalib->Get("CDC/drift_parameters", tvals)==false){ |
| 425 | map<string, double> &row = tvals[0]; // long drift side |
| 426 | long_drift_func[0][0]=row["a1"]; |
| 427 | long_drift_func[0][1]=row["a2"]; |
| 428 | long_drift_func[0][2]=row["a3"]; |
| 429 | long_drift_func[1][0]=row["b1"]; |
| 430 | long_drift_func[1][1]=row["b2"]; |
| 431 | long_drift_func[1][2]=row["b3"]; |
| 432 | long_drift_func[2][0]=row["c1"]; |
| 433 | long_drift_func[2][1]=row["c2"]; |
| 434 | long_drift_func[2][2]=row["c3"]; |
| 435 | long_drift_Bscale_par1=row["B1"]; |
| 436 | long_drift_Bscale_par2=row["B2"]; |
| 437 | |
| 438 | row = tvals[1]; // short drift side |
| 439 | short_drift_func[0][0]=row["a1"]; |
| 440 | short_drift_func[0][1]=row["a2"]; |
| 441 | short_drift_func[0][2]=row["a3"]; |
| 442 | short_drift_func[1][0]=row["b1"]; |
| 443 | short_drift_func[1][1]=row["b2"]; |
| 444 | short_drift_func[1][2]=row["b3"]; |
| 445 | short_drift_func[2][0]=row["c1"]; |
| 446 | short_drift_func[2][1]=row["c2"]; |
| 447 | short_drift_func[2][2]=row["c3"]; |
| 448 | short_drift_Bscale_par1=row["B1"]; |
| 449 | short_drift_Bscale_par2=row["B2"]; |
| 450 | } |
| 451 | |
| 452 | map<string, double> cdc_drift_parms; |
| 453 | jcalib->Get("CDC/cdc_drift_parms", cdc_drift_parms); |
| 454 | CDC_DRIFT_BSCALE_PAR1 = cdc_drift_parms["bscale_par1"]; |
| 455 | CDC_DRIFT_BSCALE_PAR2 = cdc_drift_parms["bscale_par2"]; |
| 456 | |
| 457 | map<string, double> cdc_res_parms; |
| 458 | jcalib->Get("CDC/cdc_resolution_parms", cdc_res_parms); |
| 459 | CDC_RES_PAR1 = cdc_res_parms["res_par1"]; |
| 460 | CDC_RES_PAR2 = cdc_res_parms["res_par2"]; |
| 461 | |
| 462 | // Parameters for correcting for deflection due to Lorentz force |
| 463 | map<string,double>lorentz_parms; |
| 464 | jcalib->Get("FDC/lorentz_deflection_parms",lorentz_parms); |
| 465 | LORENTZ_NR_PAR1=lorentz_parms["nr_par1"]; |
| 466 | LORENTZ_NR_PAR2=lorentz_parms["nr_par2"]; |
| 467 | LORENTZ_NZ_PAR1=lorentz_parms["nz_par1"]; |
| 468 | LORENTZ_NZ_PAR2=lorentz_parms["nz_par2"]; |
| 469 | |
| 470 | /* |
| 471 | if (jcalib->Get("FDC/fdc_drift2", tvals)==false){ |
| 472 | for(unsigned int i=0; i<tvals.size(); i++){ |
| 473 | map<string, float> &row = tvals[i]; |
| 474 | iter_float iter = row.begin(); |
| 475 | fdc_drift_table[i] = iter->second; |
| 476 | } |
| 477 | } |
| 478 | else{ |
| 479 | jerr << " FDC time-to-distance table not available... bailing..." << endl; |
| 480 | exit(0); |
| 481 | } |
| 482 | */ |
| 483 | |
| 484 | for (unsigned int i=0;i<5;i++)I5x5(i,i)=1.; |
| 485 | |
| 486 | |
| 487 | // center of the target |
| 488 | map<string, double> targetparms; |
| 489 | if (jcalib->Get("TARGET/target_parms",targetparms)==false){ |
| 490 | TARGET_Z = targetparms["TARGET_Z_POSITION"]; |
| 491 | } |
| 492 | else{ |
| 493 | geom->GetTargetZ(TARGET_Z); |
| 494 | } |
| 495 | |
| 496 | // Inform user of some configuration settings |
| 497 | static bool config_printed = false; |
| 498 | if(!config_printed){ |
| 499 | config_printed = true; |
| 500 | stringstream ss; |
| 501 | ss << "vertex constraint: " ; |
| 502 | if(ADD_VERTEX_POINT){ |
| 503 | ss << "z = " << TARGET_Z << "cm" << endl; |
| 504 | }else{ |
| 505 | ss << "<none>" << endl; |
| 506 | } |
| 507 | jout << ss.str(); |
| 508 | } // config_printed |
| 509 | |
| 510 | |
| 511 | } |
| 512 | |
| 513 | //----------------- |
| 514 | // ResetKalmanSIMD |
| 515 | //----------------- |
| 516 | void DTrackFitterKalmanSIMD::ResetKalmanSIMD(void) |
| 517 | { |
| 518 | last_material_map=0; |
| 519 | |
| 520 | for (unsigned int i=0;i<my_cdchits.size();i++){ |
| 521 | delete my_cdchits[i]; |
| 522 | } |
| 523 | for (unsigned int i=0;i<my_fdchits.size();i++){ |
| 524 | delete my_fdchits[i]; |
| 525 | } |
| 526 | central_traj.clear(); |
| 527 | forward_traj.clear(); |
| 528 | my_fdchits.clear(); |
| 529 | my_cdchits.clear(); |
| 530 | fdc_updates.clear(); |
| 531 | cdc_updates.clear(); |
| 532 | |
| 533 | cov.clear(); |
| 534 | fcov.clear(); |
| 535 | pulls.clear(); |
| 536 | |
| 537 | len = 0.0; |
| 538 | ftime=0.0; |
| 539 | var_ftime=0.0; |
| 540 | x_=0.,y_=0.,tx_=0.,ty_=0.,q_over_p_ = 0.0; |
| 541 | z_=0.,phi_=0.,tanl_=0.,q_over_pt_ =0, D_= 0.0; |
| 542 | chisq_ = 0.0; |
| 543 | ndf_ = 0; |
| 544 | MASS=0.13957; |
| 545 | mass2=MASS*MASS; |
| 546 | Bx=By=0.; |
| 547 | Bz=2.; |
| 548 | dBxdx=0.,dBxdy=0.,dBxdz=0.,dBydx=0.,dBydy=0.,dBydy=0.,dBzdx=0.,dBzdy=0.,dBzdz=0.; |
| 549 | // Step sizes |
| 550 | mStepSizeS=2.0; |
| 551 | mStepSizeZ=2.0; |
| 552 | //mStepSizeZ=0.5; |
| 553 | /* |
| 554 | if (fit_type==kTimeBased){ |
| 555 | mStepSizeS=0.5; |
| 556 | mStepSizeZ=0.5; |
| 557 | } |
| 558 | */ |
| 559 | |
| 560 | mT0=0.,mT0MinimumDriftTime=1e6; |
| 561 | mMinDriftTime=1e6; |
| 562 | mMinDriftID=2000; |
| 563 | mVarT0=0.; |
| 564 | |
| 565 | mCDCInternalStepSize=0.5; |
| 566 | //mCDCInternalStepSize=1.0; |
| 567 | //mCentralStepSize=0.75; |
| 568 | mCentralStepSize=0.75; |
| 569 | |
| 570 | mT0Detector=SYS_CDC; |
| 571 | |
| 572 | } |
| 573 | |
| 574 | //----------------- |
| 575 | // FitTrack |
| 576 | //----------------- |
| 577 | DTrackFitter::fit_status_t DTrackFitterKalmanSIMD::FitTrack(void) |
| 578 | { |
| 579 | // Reset member data and free an memory associated with the last fit, |
| 580 | // but some of which only for wire-based fits |
| 581 | ResetKalmanSIMD(); |
| 582 | |
| 583 | // Check that we have enough FDC and CDC hits to proceed |
| 584 | if (cdchits.size()+fdchits.size()<6) return kFitNotDone; |
| 585 | |
| 586 | // Copy hits from base class into structures specific to DTrackFitterKalmanSIMD |
| 587 | if (cdchits.size()>=MIN_CDC_HITS2) |
| 588 | for(unsigned int i=0; i<cdchits.size(); i++)AddCDCHit(cdchits[i]); |
| 589 | if (fdchits.size()>=MIN_FDC_HITS2) |
| 590 | for(unsigned int i=0; i<fdchits.size(); i++)AddFDCHit(fdchits[i]); |
| 591 | |
| 592 | unsigned int num_good_cdchits=my_cdchits.size(); |
| 593 | unsigned int num_good_fdchits=my_fdchits.size(); |
| 594 | |
| 595 | // Order the cdc hits by ring number |
| 596 | if (num_good_cdchits>0){ |
| 597 | sort(my_cdchits.begin(),my_cdchits.end(),DKalmanSIMDCDCHit_cmp); |
| 598 | |
| 599 | // Find earliest time to use for estimate for T0 |
| 600 | for (unsigned int i=0;i<my_cdchits.size();i++){ |
| 601 | if (my_cdchits[i]->tdrift<mMinDriftTime){ |
| 602 | mMinDriftTime=my_cdchits[i]->tdrift; |
| 603 | mMinDriftID=1000+i; |
| 604 | } |
| 605 | } |
| 606 | |
| 607 | // Look for multiple hits on the same wire |
| 608 | for (unsigned int i=0;i<my_cdchits.size()-1;i++){ |
| 609 | if (my_cdchits[i]->hit->wire->ring==my_cdchits[i+1]->hit->wire->ring && |
| 610 | my_cdchits[i]->hit->wire->straw==my_cdchits[i+1]->hit->wire->straw){ |
| 611 | num_good_cdchits--; |
| 612 | if (my_cdchits[i]->tdrift<my_cdchits[i+1]->tdrift){ |
| 613 | my_cdchits[i+1]->status=late_hit; |
| 614 | } |
| 615 | else{ |
| 616 | my_cdchits[i]->status=late_hit; |
| 617 | } |
| 618 | } |
| 619 | } |
| 620 | |
| 621 | } |
| 622 | // Order the fdc hits by z |
| 623 | if (num_good_fdchits>0){ |
| 624 | sort(my_fdchits.begin(),my_fdchits.end(),DKalmanSIMDFDCHit_cmp); |
| 625 | |
| 626 | // Find earliest time to use for estimate for T0 |
| 627 | for (unsigned int i=0;i<my_fdchits.size();i++){ |
| 628 | if (my_fdchits[i]->t<mMinDriftTime){ |
| 629 | mMinDriftID=i; |
| 630 | mMinDriftTime=my_fdchits[i]->t; |
| 631 | } |
| 632 | } |
| 633 | |
| 634 | // Look for multiple hits on the same wire |
| 635 | for (unsigned int i=0;i<my_fdchits.size()-1;i++){ |
| 636 | if (my_fdchits[i]->hit->wire->layer==my_fdchits[i+1]->hit->wire->layer && |
| 637 | my_fdchits[i]->hit->wire->wire==my_fdchits[i+1]->hit->wire->wire){ |
| 638 | num_good_fdchits--; |
| 639 | if (my_fdchits[i]->t<my_fdchits[i+1]->t){ |
| 640 | my_fdchits[i+1]->status=late_hit; |
| 641 | } |
| 642 | else{ |
| 643 | my_fdchits[i]->status=late_hit; |
| 644 | } |
| 645 | } |
| 646 | } |
| 647 | } |
| 648 | if(num_good_cdchits+num_good_fdchits<6) return kFitNotDone; |
| 649 | |
| 650 | // Create vectors of updates (from hits) to S and C |
| 651 | if (my_cdchits.size()>0) cdc_updates=vector<DKalmanUpdate_t>(my_cdchits.size()); |
| 652 | if (my_fdchits.size()>0) fdc_updates=vector<DKalmanUpdate_t>(my_fdchits.size()); |
| 653 | |
| 654 | |
| 655 | |
| 656 | // start time and variance |
| 657 | mT0=NaNstd::numeric_limits<double>::quiet_NaN(); |
| 658 | if (fit_type==kTimeBased){ |
| 659 | mT0=input_params.t0(); |
| 660 | if (mT0>mMinDriftTime){ |
| 661 | mT0=mMinDriftTime; |
| 662 | mVarT0=7.5; |
| 663 | } |
| 664 | else{ |
| 665 | switch(input_params.t0_detector()){ |
| 666 | case SYS_TOF: |
| 667 | mVarT0=0.01; |
| 668 | break; |
| 669 | case SYS_CDC: |
| 670 | mVarT0=7.5; |
| 671 | break; |
| 672 | case SYS_FDC: |
| 673 | mVarT0=7.5; |
| 674 | break; |
| 675 | case SYS_BCAL: |
| 676 | mVarT0=0.25; |
| 677 | break; |
| 678 | default: |
| 679 | mVarT0=0.09; |
| 680 | break; |
| 681 | } |
| 682 | } |
| 683 | |
| 684 | // _DBG_ << SystemName(input_params.t0_detector()) << " " << mT0 <<endl; |
| 685 | // _DBG_ << mMinDriftTime << endl; |
| 686 | |
| 687 | } |
| 688 | |
| 689 | //Set the mass |
| 690 | MASS=input_params.mass(); |
| 691 | mass2=MASS*MASS; |
| 692 | m_ratio=ELECTRON_MASS0.000511/MASS; |
| 693 | m_ratio_sq=m_ratio*m_ratio; |
| 694 | two_m_e=2.*ELECTRON_MASS0.000511; |
| 695 | |
| 696 | if (DEBUG_LEVEL>0){ |
| 697 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<697<<" " << "------Starting " |
| 698 | <<(fit_type==kTimeBased?"Time-based":"Wire-based") |
| 699 | << " Fit with " << my_fdchits.size() << " FDC hits and " |
| 700 | << my_cdchits.size() << " CDC hits.-------" <<endl; |
| 701 | if (fit_type==kTimeBased){ |
| 702 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<702<<" " << " Using t0=" << mT0 << " from DET=" |
| 703 | << input_params.t0_detector() <<endl; |
| 704 | } |
| 705 | } |
| 706 | // Do the fit |
| 707 | jerror_t error = KalmanLoop(); |
| 708 | if (error!=NOERROR){ |
| 709 | if (DEBUG_LEVEL>0) |
| 710 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<710<<" " << "Fit failed with Error = " << error <<endl; |
| 711 | return kFitFailed; |
| 712 | } |
| 713 | |
| 714 | // Copy fit results into DTrackFitter base-class data members |
| 715 | DVector3 mom,pos; |
| 716 | GetPosition(pos); |
| 717 | GetMomentum(mom); |
| 718 | double charge = GetCharge(); |
| 719 | fit_params.setPosition(pos); |
| 720 | fit_params.setMomentum(mom); |
| 721 | fit_params.setCharge(charge); |
| 722 | fit_params.setMass(MASS); |
| 723 | fit_params.setT0(mT0MinimumDriftTime,4.,mT0Detector); |
| 724 | |
| 725 | if (DEBUG_LEVEL>0){ |
| 726 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<726<<" " << "----- Pass: " |
| 727 | << (fit_type==kTimeBased?"Time-based ---":"Wire-based ---") |
| 728 | << " Mass: " << MASS |
| 729 | << " p=" << mom.Mag() |
| 730 | << " theta=" << 90.0-180./M_PI3.14159265358979323846*atan(tanl_) |
| 731 | << " vertex=(" << x_ << "," << y_ << "," << z_<<")" |
| 732 | << " chi2=" << chisq_ |
| 733 | <<endl; |
| 734 | } |
| 735 | |
| 736 | DMatrixDSym errMatrix(5); |
| 737 | // Fill the tracking error matrix and the one needed for kinematic fitting |
| 738 | if (FORWARD_PARMS_COV && fcov.size()!=0){ |
| 739 | fit_params.setForwardParmFlag(true); |
| 740 | |
| 741 | // We MUST fill the entire matrix (not just upper right) even though |
| 742 | // this is a DMatrixDSym |
| 743 | for (unsigned int i=0;i<5;i++){ |
| 744 | for (unsigned int j=0;j<5;j++){ |
| 745 | errMatrix(i,j)=fcov[i][j]; |
| 746 | } |
| 747 | } |
| 748 | fit_params.setTrackingStateVector(x_,y_,tx_,ty_,q_over_p_); |
| 749 | |
| 750 | // Compute and fill the error matrix needed for kinematic fitting |
| 751 | fit_params.setErrorMatrix(Get7x7ErrorMatrixForward(errMatrix)); |
| 752 | } |
| 753 | else if (cov.size()!=0){ |
| 754 | fit_params.setForwardParmFlag(false); |
| 755 | |
| 756 | // We MUST fill the entire matrix (not just upper right) even though |
| 757 | // this is a DMatrixDSym |
| 758 | for (unsigned int i=0;i<5;i++){ |
| 759 | for (unsigned int j=0;j<5;j++){ |
| 760 | errMatrix(i,j)=cov[i][j]; |
| 761 | } |
| 762 | } |
| 763 | fit_params.setTrackingStateVector(q_over_pt_,phi_,tanl_,D_,z_); |
| 764 | |
| 765 | // Compute and fill the error matrix needed for kinematic fitting |
| 766 | fit_params.setErrorMatrix(Get7x7ErrorMatrix(errMatrix)); |
| 767 | } |
| 768 | fit_params.setTrackingErrorMatrix(errMatrix); |
| 769 | this->chisq = GetChiSq(); |
| 770 | this->Ndof = GetNDF(); |
| 771 | fit_status = kFitSuccess; |
| 772 | |
| 773 | // Check that the momentum is above some minimal amount. If |
| 774 | // not, return that the fit failed. |
| 775 | if(fit_params.momentum().Mag() < MIN_FIT_P)fit_status = kFitFailed; |
| 776 | |
| 777 | |
| 778 | //_DBG_ << "========= done!" << endl; |
| 779 | |
| 780 | return fit_status; |
| 781 | } |
| 782 | |
| 783 | //----------------- |
| 784 | // ChiSq |
| 785 | //----------------- |
| 786 | double DTrackFitterKalmanSIMD::ChiSq(fit_type_t fit_type, DReferenceTrajectory *rt, double *chisq_ptr, int *dof_ptr, vector<pull_t> *pulls_ptr) |
| 787 | { |
| 788 | // This simply returns whatever was left in for the chisq/NDF from the last fit. |
| 789 | // Using a DReferenceTrajectory is not really appropriate here so the base class' |
| 790 | // requirement of it should be reviewed. |
| 791 | double chisq = GetChiSq(); |
| 792 | unsigned int ndf = GetNDF(); |
| 793 | |
| 794 | if(chisq_ptr)*chisq_ptr = chisq; |
| 795 | if(dof_ptr)*dof_ptr = int(ndf); |
| 796 | if(pulls_ptr)*pulls_ptr = pulls; |
| 797 | |
| 798 | return chisq/double(ndf); |
| 799 | } |
| 800 | |
| 801 | // Initialize the state vector |
| 802 | jerror_t DTrackFitterKalmanSIMD::SetSeed(double q,DVector3 pos, DVector3 mom){ |
| 803 | if (!isfinite(pos.Mag()) || !isfinite(mom.Mag())){ |
| 804 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<804<<" " << "Invalid seed data." <<endl; |
| 805 | return UNRECOVERABLE_ERROR; |
| 806 | } |
| 807 | if (mom.Mag()<MIN_FIT_P){ |
| 808 | mom.SetMag(MIN_FIT_P); |
| 809 | } |
| 810 | else if (MASS>0.9 && mom.Mag()<MIN_PROTON_P0.3){ |
| 811 | mom.SetMag(MIN_PROTON_P0.3); |
| 812 | } |
| 813 | else if (MASS<0.9 && mom.Mag()<MIN_FIT_P){ |
| 814 | mom.SetMag(MIN_PION_P0.08); |
| 815 | } |
| 816 | if (mom.Mag()>MAX_P12.0){ |
| 817 | mom.SetMag(MAX_P12.0); |
| 818 | } |
| 819 | |
| 820 | // Forward parameterization |
| 821 | x_=pos.x(); |
| 822 | y_=pos.y(); |
| 823 | z_=pos.z(); |
| 824 | tx_= mom.x()/mom.z(); |
| 825 | ty_= mom.y()/mom.z(); |
| 826 | q_over_p_=q/mom.Mag(); |
| 827 | |
| 828 | // Central parameterization |
| 829 | phi_=mom.Phi(); |
| 830 | tanl_=tan(M_PI_21.57079632679489661923-mom.Theta()); |
| 831 | q_over_pt_=q/mom.Perp(); |
| 832 | |
| 833 | return NOERROR; |
| 834 | } |
| 835 | |
| 836 | // Return the momentum at the distance of closest approach to the origin. |
| 837 | inline void DTrackFitterKalmanSIMD::GetMomentum(DVector3 &mom){ |
| 838 | double pt=1./fabs(q_over_pt_); |
| 839 | mom.SetXYZ(pt*cos(phi_),pt*sin(phi_),pt*tanl_); |
| 840 | } |
| 841 | |
| 842 | // Return the "vertex" position (position at which track crosses beam line) |
| 843 | inline void DTrackFitterKalmanSIMD::GetPosition(DVector3 &pos){ |
| 844 | pos.SetXYZ(x_,y_,z_); |
| 845 | } |
| 846 | |
| 847 | // Add FDC hits |
| 848 | jerror_t DTrackFitterKalmanSIMD::AddFDCHit(const DFDCPseudo *fdchit){ |
| 849 | DKalmanSIMDFDCHit_t *hit= new DKalmanSIMDFDCHit_t; |
| 850 | |
| 851 | hit->package=fdchit->wire->layer/6; |
| 852 | hit->t=fdchit->time; |
| 853 | hit->uwire=fdchit->w; |
| 854 | hit->vstrip=fdchit->s; |
| 855 | hit->vvar=fdchit->ds*fdchit->ds; |
| 856 | hit->z=fdchit->wire->origin.z(); |
| 857 | hit->cosa=fdchit->wire->udir.y(); |
| 858 | hit->sina=fdchit->wire->udir.x(); |
| 859 | hit->nr=0.; |
| 860 | hit->nz=0.; |
| 861 | hit->dE=1e6*fdchit->dE; |
| 862 | hit->xres=hit->yres=1000.; |
| 863 | hit->hit=fdchit; |
| 864 | hit->status=good_hit; |
| 865 | |
| 866 | my_fdchits.push_back(hit); |
| 867 | |
| 868 | return NOERROR; |
| 869 | } |
| 870 | |
| 871 | // Add CDC hits |
| 872 | jerror_t DTrackFitterKalmanSIMD::AddCDCHit (const DCDCTrackHit *cdchit){ |
| 873 | DKalmanSIMDCDCHit_t *hit= new DKalmanSIMDCDCHit_t; |
| 874 | |
| 875 | hit->hit=cdchit; |
| 876 | hit->status=good_hit; |
| 877 | hit->residual=1000.; |
| 878 | hit->origin.Set(cdchit->wire->origin.x(),cdchit->wire->origin.y()); |
| 879 | double one_over_uz=1./cdchit->wire->udir.z(); |
| 880 | hit->dir.Set(one_over_uz*cdchit->wire->udir.x(), |
| 881 | one_over_uz*cdchit->wire->udir.y()); |
| 882 | hit->z0wire=cdchit->wire->origin.z(); |
| 883 | hit->cosstereo=cos(cdchit->wire->stereo); |
| 884 | hit->tdrift=cdchit->tdrift; |
| 885 | my_cdchits.push_back(hit); |
| 886 | |
| 887 | return NOERROR; |
| 888 | } |
| 889 | |
| 890 | // Calculate the derivative of the state vector with respect to z |
| 891 | jerror_t DTrackFitterKalmanSIMD::CalcDeriv(double z, |
| 892 | const DMatrix5x1 &S, |
| 893 | double dEdx, |
| 894 | DMatrix5x1 &D){ |
| 895 | double tx=S(state_tx),ty=S(state_ty); |
| 896 | double q_over_p=S(state_q_over_p); |
| 897 | |
| 898 | // Turn off dEdx if the magnitude of the momentum drops below some cutoff |
| 899 | if (fabs(q_over_p)>Q_OVER_P_MAX100.){ |
| 900 | dEdx=0.; |
| 901 | } |
| 902 | // Try to keep the direction tangents from heading towards 90 degrees |
| 903 | if (fabs(tx)>TAN_MAX10.) tx=TAN_MAX10.*(tx>0.0?1.:-1.); |
| 904 | if (fabs(ty)>TAN_MAX10.) ty=TAN_MAX10.*(ty>0.0?1.:-1.); |
| 905 | |
| 906 | // useful combinations of terms |
| 907 | double kq_over_p=qBr2p0.003*q_over_p; |
| 908 | double tx2=tx*tx; |
| 909 | double ty2=ty*ty; |
| 910 | double txty=tx*ty; |
| 911 | double one_plus_tx2=1.+tx2; |
| 912 | double dsdz=sqrt(one_plus_tx2+ty2); |
| 913 | double dtx_Bfac=ty*Bz+txty*Bx-one_plus_tx2*By; |
| 914 | double dty_Bfac=Bx*(1.+ty2)-txty*By-tx*Bz; |
| 915 | double kq_over_p_dsdz=kq_over_p*dsdz; |
| 916 | |
| 917 | // Derivative of S with respect to z |
| 918 | D(state_x)=tx; |
| 919 | D(state_y)=ty; |
| 920 | D(state_tx)=kq_over_p_dsdz*dtx_Bfac; |
| 921 | D(state_ty)=kq_over_p_dsdz*dty_Bfac; |
| 922 | |
| 923 | D(state_q_over_p)=0.; |
| 924 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 925 | double q_over_p_sq=q_over_p*q_over_p; |
| 926 | double E=sqrt(1./q_over_p_sq+mass2); |
| 927 | D(state_q_over_p)=-q_over_p_sq*q_over_p*E*dEdx*dsdz; |
| 928 | } |
| 929 | return NOERROR; |
| 930 | } |
| 931 | |
| 932 | // Reference trajectory for forward tracks in CDC region |
| 933 | // At each point we store the state vector and the Jacobian needed to get to |
| 934 | //this state along z from the previous state. |
| 935 | jerror_t DTrackFitterKalmanSIMD::SetCDCForwardReferenceTrajectory(DMatrix5x1 &S){ |
| 936 | int i=0,forward_traj_length=forward_traj.size(); |
| 937 | double z=z_; |
| 938 | double r2=0.; |
| 939 | bool stepped_to_boundary=false; |
| 940 | |
| 941 | // Coordinates for outermost cdc hit |
| 942 | unsigned int id=my_cdchits.size()-1; |
| 943 | const DKalmanSIMDCDCHit_t *outerhit=my_cdchits[id]; |
| 944 | double rmax=(outerhit->origin+(endplate_z-outerhit->z0wire)*outerhit->dir).Mod()+DELTA_R1.0; |
| 945 | double r2max=rmax*rmax; |
| 946 | |
| 947 | // Magnetic field and gradient at beginning of trajectory |
| 948 | //bfield->GetField(x_,y_,z_,Bx,By,Bz); |
| 949 | bfield->GetFieldAndGradient(x_,y_,z_,Bx,By,Bz, |
| 950 | dBxdx,dBxdy,dBxdz,dBydx, |
| 951 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 952 | |
| 953 | // Reset cdc status flags |
| 954 | for (unsigned int i=0;i<my_cdchits.size();i++){ |
| 955 | if (my_cdchits[i]->status!=late_hit) my_cdchits[i]->status=good_hit; |
| 956 | } |
| 957 | |
| 958 | // Continue adding to the trajectory until we have reached the endplate |
| 959 | // or the maximum radius |
| 960 | while(z<endplate_z && z>cdc_origin[2] && |
| 961 | r2<r2max && fabs(S(state_q_over_p))<Q_OVER_P_MAX100. |
| 962 | && fabs(S(state_tx))<TAN_MAX10. |
| 963 | && fabs(S(state_ty))<TAN_MAX10. |
| 964 | ){ |
| 965 | if (PropagateForwardCDC(forward_traj_length,i,z,r2,S,stepped_to_boundary) |
| 966 | !=NOERROR) return UNRECOVERABLE_ERROR; |
| 967 | } |
| 968 | |
| 969 | // Only use hits that would fall within the range of the reference trajectory |
| 970 | for (unsigned int i=0;i<my_cdchits.size();i++){ |
| 971 | DKalmanSIMDCDCHit_t *hit=my_cdchits[i]; |
| 972 | double my_r2=(hit->origin+(z-hit->z0wire)*hit->dir).Mod2(); |
| 973 | if (my_r2>r2) hit->status=bad_hit; |
| 974 | } |
| 975 | |
| 976 | // If the current length of the trajectory deque is less than the previous |
| 977 | // trajectory deque, remove the extra elements and shrink the deque |
| 978 | if (i<(int)forward_traj.size()){ |
| 979 | forward_traj_length=forward_traj.size(); |
| 980 | for (int j=0;j<forward_traj_length-i;j++){ |
| 981 | forward_traj.pop_front(); |
| 982 | } |
| 983 | } |
| 984 | |
| 985 | // return an error if there are still no entries in the trajectory |
| 986 | if (forward_traj.size()==0) return RESOURCE_UNAVAILABLE; |
| 987 | |
| 988 | // Find estimate for t0 using smallest drift time |
| 989 | if (fit_type==kWireBased){ |
| 990 | mT0Detector=SYS_CDC; |
| 991 | int id=my_cdchits.size()-1; |
| 992 | double old_time=0.,doca2=0.,old_doca2=1e6; |
| 993 | int min_id=mMinDriftID-1000; |
| 994 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 995 | if (id>=0){ |
| 996 | DVector2 origin=my_cdchits[id]->origin; |
| 997 | DVector2 dir=my_cdchits[id]->dir; |
| 998 | DVector2 wire_xy=origin+(forward_traj[m].z-my_cdchits[id]->z0wire)*dir; |
| 999 | DVector2 my_xy(forward_traj[m].S(state_x),forward_traj[m].S(state_y)); |
| 1000 | doca2=(wire_xy-my_xy).Mod2(); |
| 1001 | |
| 1002 | if (doca2>old_doca2){ |
| 1003 | if (id==min_id){ |
| 1004 | double tcorr=1.18; // not sure why needed.. |
| 1005 | mT0MinimumDriftTime=my_cdchits[id]->tdrift-old_time+tcorr; |
| 1006 | // _DBG_ << "T0 = " << mT0MinimumDriftTime << endl; |
| 1007 | break; |
| 1008 | } |
| 1009 | doca2=1e6; |
| 1010 | id--; |
| 1011 | } |
| 1012 | } |
| 1013 | old_doca2=doca2; |
| 1014 | old_time=forward_traj[m].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 1015 | } |
| 1016 | } |
| 1017 | |
| 1018 | if (DEBUG_LEVEL>20) |
| 1019 | { |
| 1020 | cout << "--- Forward cdc trajectory ---" <<endl; |
| 1021 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 1022 | // DMatrix5x1 S=*(forward_traj[m].S); |
| 1023 | DMatrix5x1 S=(forward_traj[m].S); |
| 1024 | double tx=S(state_tx),ty=S(state_ty); |
| 1025 | double phi=atan2(ty,tx); |
| 1026 | double cosphi=cos(phi); |
| 1027 | double sinphi=sin(phi); |
| 1028 | double p=fabs(1./S(state_q_over_p)); |
| 1029 | double tanl=1./sqrt(tx*tx+ty*ty); |
| 1030 | double sinl=sin(atan(tanl)); |
| 1031 | double cosl=cos(atan(tanl)); |
| 1032 | cout |
| 1033 | << setiosflags(ios::fixed)<< "pos: " << setprecision(4) |
| 1034 | << forward_traj[m].S(state_x) << ", " |
| 1035 | << forward_traj[m].S(state_y) << ", " |
| 1036 | << forward_traj[m].z << " mom: " |
| 1037 | << p*cosphi*cosl<< ", " << p*sinphi*cosl << ", " |
| 1038 | << p*sinl << " -> " << p |
| 1039 | <<" s: " << setprecision(3) |
| 1040 | << forward_traj[m].s |
| 1041 | <<" t: " << setprecision(3) |
| 1042 | << forward_traj[m].t/SPEED_OF_LIGHT29.9792 |
| 1043 | <<" B: " << forward_traj[m].B |
| 1044 | << endl; |
| 1045 | } |
| 1046 | } |
| 1047 | |
| 1048 | // Current state vector |
| 1049 | S=forward_traj[0].S; |
| 1050 | |
| 1051 | // position at the end of the swim |
| 1052 | x_=forward_traj[0].S(state_x); |
| 1053 | y_=forward_traj[0].S(state_y); |
| 1054 | z_=forward_traj[0].z; |
| 1055 | |
| 1056 | return NOERROR; |
| 1057 | } |
| 1058 | |
| 1059 | // Routine that extracts the state vector propagation part out of the reference |
| 1060 | // trajectory loop |
| 1061 | jerror_t DTrackFitterKalmanSIMD::PropagateForwardCDC(int length,int &index, |
| 1062 | double &z,double &r2, |
| 1063 | DMatrix5x1 &S, |
| 1064 | bool &stepped_to_boundary){ |
| 1065 | DMatrix5x5 J,Q; |
| 1066 | DKalmanForwardTrajectory_t temp; |
| 1067 | int my_i=0; |
| 1068 | temp.h_id=0; |
| 1069 | temp.num_hits=0; |
| 1070 | double dEdx=0.; |
| 1071 | double s_to_boundary=1e6; |
| 1072 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 1073 | |
| 1074 | // current position |
| 1075 | DVector3 pos(S(state_x),S(state_y),z); |
| 1076 | temp.z=z; |
| 1077 | // squared radius |
| 1078 | r2=pos.Perp2(); |
| 1079 | |
| 1080 | temp.s=len; |
| 1081 | temp.t=ftime; |
| 1082 | temp.K_rho_Z_over_A=temp.rho_Z_over_A=temp.LnI=0.; //initialize |
| 1083 | temp.chi2c_factor=temp.chi2a_factor=temp.chi2a_corr=0.; |
| 1084 | temp.S=S; |
| 1085 | |
| 1086 | // Kinematic variables |
| 1087 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 1088 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1089 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1090 | |
| 1091 | // get material properties from the Root Geometry |
| 1092 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 1093 | DVector3 mom(S(state_tx),S(state_ty),1.); |
| 1094 | if(geom->FindMatKalman(pos,mom,temp.K_rho_Z_over_A, |
| 1095 | temp.rho_Z_over_A,temp.LnI, |
| 1096 | temp.chi2c_factor,temp.chi2a_factor, |
| 1097 | temp.chi2a_corr, |
| 1098 | last_material_map, |
| 1099 | &s_to_boundary)!=NOERROR){ |
| 1100 | return UNRECOVERABLE_ERROR; |
| 1101 | } |
| 1102 | } |
| 1103 | else |
| 1104 | { |
| 1105 | if(geom->FindMatKalman(pos,temp.K_rho_Z_over_A, |
| 1106 | temp.rho_Z_over_A,temp.LnI, |
| 1107 | temp.chi2c_factor,temp.chi2a_factor, |
| 1108 | temp.chi2a_corr, |
| 1109 | last_material_map)!=NOERROR){ |
| 1110 | return UNRECOVERABLE_ERROR; |
| 1111 | } |
| 1112 | } |
| 1113 | |
| 1114 | // Get dEdx for the upcoming step |
| 1115 | if (CORRECT_FOR_ELOSS){ |
| 1116 | dEdx=GetdEdx(S(state_q_over_p),temp.K_rho_Z_over_A,temp.rho_Z_over_A, |
| 1117 | temp.LnI); |
| 1118 | } |
| 1119 | |
| 1120 | index++; |
| 1121 | if (index<=length){ |
| 1122 | my_i=length-index; |
| 1123 | forward_traj[my_i].s=temp.s; |
| 1124 | forward_traj[my_i].t=temp.t; |
| 1125 | forward_traj[my_i].h_id=temp.h_id; |
| 1126 | forward_traj[my_i].num_hits=0; |
| 1127 | forward_traj[my_i].z=temp.z; |
| 1128 | forward_traj[my_i].rho_Z_over_A=temp.rho_Z_over_A; |
| 1129 | forward_traj[my_i].K_rho_Z_over_A=temp.K_rho_Z_over_A; |
| 1130 | forward_traj[my_i].LnI=temp.LnI; |
| 1131 | forward_traj[my_i].S=S; |
| 1132 | } |
| 1133 | |
| 1134 | // Determine the step size based on energy loss |
| 1135 | //double step=mStepSizeS*dz_ds; |
| 1136 | double ds=mStepSizeS; |
| 1137 | if (z<endplate_z && r2<endplate_r2max && z>cdc_origin[2]){ |
| 1138 | if (!stepped_to_boundary){ |
| 1139 | stepped_to_boundary=false; |
| 1140 | if (fabs(dEdx)>EPS3.0e-8){ |
| 1141 | ds=DE_PER_STEP0.0005/fabs(dEdx); |
| 1142 | } |
| 1143 | if(ds>mStepSizeS) ds=mStepSizeS; |
| 1144 | if (s_to_boundary<ds){ |
| 1145 | ds=s_to_boundary; |
| 1146 | stepped_to_boundary=true; |
| 1147 | } |
| 1148 | if(ds<MIN_STEP_SIZE0.1)ds=MIN_STEP_SIZE0.1; |
| 1149 | } |
| 1150 | else{ |
| 1151 | ds=MIN_STEP_SIZE0.1; |
| 1152 | stepped_to_boundary=false; |
| 1153 | } |
| 1154 | } |
| 1155 | |
| 1156 | if (DEBUG_HISTS && fit_type==kTimeBased){ |
| 1157 | if (Hstepsize && HstepsizeDenom){ |
| 1158 | Hstepsize->Fill(z,sqrt(S(state_x)*S(state_x)+S(state_y)*S(state_y)) |
| 1159 | ,ds); |
| 1160 | HstepsizeDenom->Fill(z,sqrt(S(state_x)*S(state_x)+S(state_y)*S(state_y))); |
| 1161 | } |
| 1162 | } |
| 1163 | double newz=z+ds*dz_ds; // new z position |
| 1164 | |
| 1165 | // Store magnetic field |
| 1166 | temp.B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 1167 | |
| 1168 | // Step through field |
| 1169 | ds=FasterStep(z,newz,dEdx,S); |
| 1170 | |
| 1171 | // update path length |
| 1172 | len+=fabs(ds); |
| 1173 | |
| 1174 | // Update flight time |
| 1175 | ftime+=ds*sqrt(one_over_beta2);// in units where c=1 |
| 1176 | |
| 1177 | // Get the contribution to the covariance matrix due to multiple |
| 1178 | // scattering |
| 1179 | GetProcessNoise(ds,temp.chi2c_factor,temp.chi2a_factor,temp.chi2a_corr, |
| 1180 | temp.S,Q); |
| 1181 | |
| 1182 | // Energy loss straggling |
| 1183 | if (CORRECT_FOR_ELOSS){ |
| 1184 | double varE=GetEnergyVariance(ds,one_over_beta2,temp.K_rho_Z_over_A); |
| 1185 | Q(state_q_over_p,state_q_over_p)=varE*q_over_p_sq*q_over_p_sq*one_over_beta2; |
| 1186 | } |
| 1187 | |
| 1188 | // Compute the Jacobian matrix and its transpose |
| 1189 | StepJacobian(newz,z,S,dEdx,J); |
| 1190 | |
| 1191 | // update the trajectory |
| 1192 | if (index<=length){ |
| 1193 | forward_traj[my_i].B=temp.B; |
| 1194 | forward_traj[my_i].Q=Q; |
| 1195 | forward_traj[my_i].J=J; |
| 1196 | forward_traj[my_i].JT=J.Transpose(); |
| 1197 | } |
| 1198 | else{ |
| 1199 | temp.Q=Q; |
| 1200 | temp.J=J; |
| 1201 | temp.JT=J.Transpose(); |
| 1202 | temp.Ckk=Zero5x5; |
| 1203 | temp.Skk=Zero5x1; |
| 1204 | forward_traj.push_front(temp); |
| 1205 | } |
| 1206 | |
| 1207 | //update z |
| 1208 | z=newz; |
| 1209 | |
| 1210 | return NOERROR; |
| 1211 | } |
| 1212 | |
| 1213 | // Routine that extracts the state vector propagation part out of the reference |
| 1214 | // trajectory loop |
| 1215 | jerror_t DTrackFitterKalmanSIMD::PropagateCentral(int length, int &index, |
| 1216 | DVector2 &my_xy, |
| 1217 | double &var_t_factor, |
| 1218 | DMatrix5x1 &Sc, |
| 1219 | bool &stepped_to_boundary){ |
| 1220 | DKalmanCentralTrajectory_t temp; |
| 1221 | DMatrix5x5 J; // State vector Jacobian matrix |
| 1222 | DMatrix5x5 Q; // Process noise covariance matrix |
| 1223 | |
| 1224 | //Initialize some variables needed later |
| 1225 | double dEdx=0.; |
| 1226 | double s_to_boundary=1e6; |
| 1227 | int my_i=0; |
| 1228 | // Kinematic variables |
| 1229 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 1230 | double q_over_p_sq=q_over_p*q_over_p; |
| 1231 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1232 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1233 | |
| 1234 | // Reset D to zero |
| 1235 | Sc(state_D)=0.; |
| 1236 | |
| 1237 | temp.xy=my_xy; |
| 1238 | temp.s=len; |
| 1239 | temp.t=ftime; |
| 1240 | temp.h_id=0; |
| 1241 | temp.K_rho_Z_over_A=0.,temp.rho_Z_over_A=0.,temp.LnI=0.; //initialize |
| 1242 | temp.chi2c_factor=0.,temp.chi2a_factor=0.,temp.chi2a_corr=0.; |
| 1243 | temp.S=Sc; |
| 1244 | |
| 1245 | // Store magnitude of magnetic field |
| 1246 | temp.B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 1247 | |
| 1248 | // get material properties from the Root Geometry |
| 1249 | DVector3 pos3d(my_xy.X(),my_xy.Y(),Sc(state_z)); |
| 1250 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 1251 | DVector3 mom(cos(Sc(state_phi)),sin(Sc(state_phi)),Sc(state_tanl)); |
| 1252 | if(geom->FindMatKalman(pos3d,mom,temp.K_rho_Z_over_A, |
| 1253 | temp.rho_Z_over_A,temp.LnI, |
| 1254 | temp.chi2c_factor,temp.chi2a_factor, |
| 1255 | temp.chi2a_corr, |
| 1256 | last_material_map, |
| 1257 | &s_to_boundary) |
| 1258 | !=NOERROR){ |
| 1259 | return UNRECOVERABLE_ERROR; |
| 1260 | } |
| 1261 | } |
| 1262 | else if(geom->FindMatKalman(pos3d,temp.K_rho_Z_over_A, |
| 1263 | temp.rho_Z_over_A,temp.LnI, |
| 1264 | temp.chi2c_factor,temp.chi2a_factor, |
| 1265 | temp.chi2a_corr, |
| 1266 | last_material_map)!=NOERROR){ |
| 1267 | return UNRECOVERABLE_ERROR; |
| 1268 | } |
| 1269 | |
| 1270 | if (CORRECT_FOR_ELOSS){ |
| 1271 | dEdx=GetdEdx(q_over_p,temp.K_rho_Z_over_A,temp.rho_Z_over_A,temp.LnI); |
| 1272 | } |
| 1273 | |
| 1274 | // If the deque already exists, update it |
| 1275 | index++; |
| 1276 | if (index<=length){ |
| 1277 | my_i=length-index; |
| 1278 | central_traj[my_i].B=temp.B; |
| 1279 | central_traj[my_i].s=temp.s; |
| 1280 | central_traj[my_i].t=temp.t; |
| 1281 | central_traj[my_i].h_id=0; |
| 1282 | central_traj[my_i].xy=temp.xy; |
| 1283 | central_traj[my_i].rho_Z_over_A=temp.rho_Z_over_A; |
| 1284 | central_traj[my_i].K_rho_Z_over_A=temp.K_rho_Z_over_A; |
| 1285 | central_traj[my_i].LnI=temp.LnI; |
| 1286 | central_traj[my_i].S=Sc; |
| 1287 | } |
| 1288 | |
| 1289 | // Adjust the step size |
| 1290 | double step_size=mStepSizeS; |
| 1291 | if (stepped_to_boundary){ |
| 1292 | step_size=MIN_STEP_SIZE0.1; |
| 1293 | stepped_to_boundary=false; |
| 1294 | } |
| 1295 | else{ |
| 1296 | if (fabs(dEdx)>EPS3.0e-8){ |
| 1297 | step_size=DE_PER_STEP0.0005/fabs(dEdx); |
| 1298 | } |
| 1299 | if(step_size>mStepSizeS) step_size=mStepSizeS; |
| 1300 | if (s_to_boundary<step_size){ |
| 1301 | step_size=s_to_boundary; |
| 1302 | stepped_to_boundary=true; |
| 1303 | } |
| 1304 | if(step_size<MIN_STEP_SIZE0.1)step_size=MIN_STEP_SIZE0.1; |
| 1305 | } |
| 1306 | double r2=my_xy.Mod2(); |
| 1307 | if (r2>endplate_r2min |
| 1308 | && step_size>mCDCInternalStepSize) step_size=mCDCInternalStepSize; |
| 1309 | |
| 1310 | if (DEBUG_HISTS && fit_type==kTimeBased){ |
| 1311 | if (Hstepsize && HstepsizeDenom){ |
| 1312 | Hstepsize->Fill(Sc(state_z),my_xy.Mod(),step_size); |
| 1313 | HstepsizeDenom->Fill(Sc(state_z),my_xy.Mod()); |
| 1314 | } |
| 1315 | } |
| 1316 | |
| 1317 | // Propagate the state through the field |
| 1318 | FasterStep(my_xy,step_size,Sc,dEdx); |
| 1319 | |
| 1320 | // update path length |
| 1321 | len+=step_size; |
| 1322 | |
| 1323 | // Update flight time |
| 1324 | double dt=step_size*sqrt(one_over_beta2); // in units of c=1 |
| 1325 | double one_minus_beta2=1.-1./one_over_beta2; |
| 1326 | ftime+=dt; |
| 1327 | var_ftime+=dt*dt*one_minus_beta2*one_minus_beta2*0.0004; |
| 1328 | var_t_factor=dt*dt*one_minus_beta2*one_minus_beta2; |
| 1329 | |
| 1330 | //printf("t %f sigt %f\n",TIME_UNIT_CONVERSION*ftime,TIME_UNIT_CONVERSION*sqrt(var_ftime)); |
| 1331 | |
| 1332 | // Multiple scattering |
| 1333 | GetProcessNoiseCentral(step_size,temp.chi2c_factor,temp.chi2a_factor, |
| 1334 | temp.chi2a_corr,temp.S,Q); |
| 1335 | |
| 1336 | // Energy loss straggling in the approximation of thick absorbers |
| 1337 | if (CORRECT_FOR_ELOSS){ |
| 1338 | double varE |
| 1339 | =GetEnergyVariance(step_size,one_over_beta2,temp.K_rho_Z_over_A); |
| 1340 | Q(state_q_over_pt,state_q_over_pt) |
| 1341 | +=varE*temp.S(state_q_over_pt)*temp.S(state_q_over_pt)*one_over_beta2 |
| 1342 | *q_over_p_sq; |
| 1343 | } |
| 1344 | |
| 1345 | // B-field and gradient at current (x,y,z) |
| 1346 | bfield->GetFieldAndGradient(my_xy.X(),my_xy.Y(),Sc(state_z),Bx,By,Bz, |
| 1347 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1348 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1349 | |
| 1350 | // Compute the Jacobian matrix and its transpose |
| 1351 | StepJacobian(my_xy,temp.xy-my_xy,-step_size,Sc,dEdx,J); |
| 1352 | |
| 1353 | // Update the trajectory info |
| 1354 | if (index<=length){ |
| 1355 | central_traj[my_i].Q=Q; |
| 1356 | central_traj[my_i].J=J; |
| 1357 | central_traj[my_i].JT=J.Transpose(); |
| 1358 | } |
| 1359 | else{ |
| 1360 | temp.Q=Q; |
| 1361 | temp.J=J; |
| 1362 | temp.JT=J.Transpose(); |
| 1363 | temp.Ckk=Zero5x5; |
| 1364 | temp.Skk=Zero5x1; |
| 1365 | central_traj.push_front(temp); |
| 1366 | } |
| 1367 | |
| 1368 | return NOERROR; |
| 1369 | } |
| 1370 | |
| 1371 | |
| 1372 | |
| 1373 | // Reference trajectory for central tracks |
| 1374 | // At each point we store the state vector and the Jacobian needed to get to this state |
| 1375 | // along s from the previous state. |
| 1376 | // The tricky part is that we swim out from the target to find Sc and pos along the trajectory |
| 1377 | // but we need the Jacobians for the opposite direction, because the filter proceeds from |
| 1378 | // the outer hits toward the target. |
| 1379 | jerror_t DTrackFitterKalmanSIMD::SetCDCReferenceTrajectory(const DVector2 &xy, |
| 1380 | DMatrix5x1 &Sc){ |
| 1381 | bool stepped_to_boundary=false; |
| 1382 | int i=0,central_traj_length=central_traj.size(); |
| 1383 | // factor for scaling momentum resolution to propagate variance in flight |
| 1384 | // time |
| 1385 | double var_t_factor=0; |
| 1386 | |
| 1387 | // Magnetic field and gradient at beginning of trajectory |
| 1388 | //bfield->GetField(x_,y_,z_,Bx,By,Bz); |
| 1389 | bfield->GetFieldAndGradient(x_,y_,z_,Bx,By,Bz, |
| 1390 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1391 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1392 | |
| 1393 | // Copy of initial position in xy |
| 1394 | DVector2 my_xy=xy; |
| 1395 | |
| 1396 | // Coordinates for outermost cdc hit |
| 1397 | unsigned int id=my_cdchits.size()-1; |
| 1398 | DVector2 origin=my_cdchits[id]->origin; |
| 1399 | DVector2 dir=my_cdchits[id]->dir; |
| 1400 | double rmax=(origin+(endplate_z-my_cdchits[id]->z0wire)*dir).Mod()+DELTA_R1.0; |
| 1401 | double r2max=rmax*rmax; |
| 1402 | double r2=xy.Mod2(),z=z_; |
| 1403 | |
| 1404 | // Reset cdc status flags |
| 1405 | for (unsigned int j=0;j<my_cdchits.size();j++){ |
| 1406 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 1407 | } |
| 1408 | |
| 1409 | // Continue adding to the trajectory until we have reached the endplate |
| 1410 | // or the maximum radius |
| 1411 | while(z<endplate_z && z>=Z_MIN-100. && r2<r2max |
| 1412 | && fabs(Sc(state_q_over_pt))<Q_OVER_PT_MAX100. |
| 1413 | && fabs(Sc(state_tanl))<TAN_MAX10. |
| 1414 | ){ |
| 1415 | if (PropagateCentral(central_traj_length,i,my_xy,var_t_factor,Sc,stepped_to_boundary) |
| 1416 | !=NOERROR) return UNRECOVERABLE_ERROR; |
| 1417 | z=Sc(state_z); |
| 1418 | r2=my_xy.Mod2(); |
| 1419 | } |
| 1420 | |
| 1421 | // If the current length of the trajectory deque is less than the previous |
| 1422 | // trajectory deque, remove the extra elements and shrink the deque |
| 1423 | if (i<(int)central_traj.size()){ |
| 1424 | int central_traj_length=central_traj.size(); |
| 1425 | for (int j=0;j<central_traj_length-i;j++){ |
| 1426 | central_traj.pop_front(); |
| 1427 | } |
| 1428 | } |
| 1429 | |
| 1430 | // Only use hits that would fall within the range of the reference trajectory |
| 1431 | for (unsigned int j=0;j<my_cdchits.size();j++){ |
| 1432 | DKalmanSIMDCDCHit_t *hit=my_cdchits[j]; |
| 1433 | double my_r2=(hit->origin+(z-hit->z0wire)*hit->dir).Mod2(); |
| 1434 | if (my_r2>r2) hit->status=bad_hit; |
| 1435 | } |
| 1436 | |
| 1437 | |
| 1438 | // return an error if there are still no entries in the trajectory |
| 1439 | if (central_traj.size()==0) return RESOURCE_UNAVAILABLE; |
| 1440 | |
| 1441 | // Find estimate for t0 using smallest drift time |
| 1442 | if (fit_type==kWireBased){ |
| 1443 | mT0Detector=SYS_CDC; |
| 1444 | int id=my_cdchits.size()-1; |
| 1445 | double old_time=0.; |
| 1446 | double doca2=0.,old_doca2=1e6; |
| 1447 | int min_id=mMinDriftID-1000; |
| 1448 | for (unsigned int m=0;m<central_traj.size();m++){ |
| 1449 | if (id>=0){ |
| 1450 | origin=my_cdchits[id]->origin; |
| 1451 | dir=my_cdchits[id]->dir; |
| 1452 | DVector2 wire_xy=origin+(central_traj[m].S(state_z)-my_cdchits[id]->z0wire)*dir; |
| 1453 | DVector2 my_xy=central_traj[m].xy; |
| 1454 | doca2=(wire_xy-my_xy).Mod2(); |
| 1455 | |
| 1456 | if (doca2>old_doca2){ |
| 1457 | if (id==min_id){ |
| 1458 | double tcorr=1.18; // not sure why needed.. |
| 1459 | mT0MinimumDriftTime=my_cdchits[id]->tdrift-old_time+tcorr; |
| 1460 | //_DBG_ << "T0 = " << mT0MinimumDriftTime << endl; |
| 1461 | break; |
| 1462 | } |
| 1463 | doca2=1e6; |
| 1464 | id--; |
| 1465 | } |
| 1466 | } |
| 1467 | old_doca2=doca2; |
| 1468 | old_time=central_traj[m].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 1469 | } |
| 1470 | } |
| 1471 | |
| 1472 | |
| 1473 | if (DEBUG_LEVEL>20) |
| 1474 | { |
| 1475 | cout << "---------" << central_traj.size() <<" entries------" <<endl; |
| 1476 | for (unsigned int m=0;m<central_traj.size();m++){ |
| 1477 | DMatrix5x1 S=central_traj[m].S; |
| 1478 | double cosphi=cos(S(state_phi)); |
| 1479 | double sinphi=sin(S(state_phi)); |
| 1480 | double pt=fabs(1./S(state_q_over_pt)); |
| 1481 | double tanl=S(state_tanl); |
| 1482 | |
| 1483 | cout |
| 1484 | << m << "::" |
| 1485 | << setiosflags(ios::fixed)<< "pos: " << setprecision(4) |
| 1486 | << central_traj[m].xy.X() << ", " |
| 1487 | << central_traj[m].xy.Y() << ", " |
| 1488 | << central_traj[m].S(state_z) << " mom: " |
| 1489 | << pt*cosphi << ", " << pt*sinphi << ", " |
| 1490 | << pt*tanl << " -> " << pt/cos(atan(tanl)) |
| 1491 | <<" s: " << setprecision(3) |
| 1492 | << central_traj[m].s |
| 1493 | <<" t: " << setprecision(3) |
| 1494 | << central_traj[m].t/SPEED_OF_LIGHT29.9792 |
| 1495 | <<" B: " << central_traj[m].B |
| 1496 | << endl; |
| 1497 | } |
| 1498 | } |
| 1499 | |
| 1500 | // State at end of swim |
| 1501 | Sc=central_traj[0].S; |
| 1502 | |
| 1503 | return NOERROR; |
| 1504 | } |
| 1505 | |
| 1506 | // Routine that extracts the state vector propagation part out of the reference |
| 1507 | // trajectory loop |
| 1508 | jerror_t DTrackFitterKalmanSIMD::PropagateForward(int length,int &i, |
| 1509 | double &z,double zhit, |
| 1510 | DMatrix5x1 &S, bool &done, |
| 1511 | bool &stepped_to_boundary, |
| 1512 | bool &stepped_to_endplate){ |
| 1513 | DMatrix5x5 J,Q,JT; |
| 1514 | DKalmanForwardTrajectory_t temp; |
| 1515 | |
| 1516 | // Initialize some variables |
| 1517 | temp.h_id=0; |
| 1518 | temp.num_hits=0; |
| 1519 | int my_i=0; |
| 1520 | double s_to_boundary=1e6; |
| 1521 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 1522 | |
| 1523 | // current position |
| 1524 | DVector3 pos(S(state_x),S(state_y),z); |
| 1525 | |
| 1526 | temp.s=len; |
| 1527 | temp.t=ftime; |
| 1528 | temp.z=z; |
| 1529 | temp.K_rho_Z_over_A=temp.rho_Z_over_A=temp.LnI=0.; //initialize |
| 1530 | temp.chi2c_factor=temp.chi2a_factor=temp.chi2a_corr=0.; |
| 1531 | temp.S=S; |
| 1532 | |
| 1533 | // Kinematic variables |
| 1534 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 1535 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1536 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1537 | |
| 1538 | // get material properties from the Root Geometry |
| 1539 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 1540 | DVector3 mom(S(state_tx),S(state_ty),1.); |
| 1541 | if (geom->FindMatKalman(pos,mom,temp.K_rho_Z_over_A, |
| 1542 | temp.rho_Z_over_A,temp.LnI, |
| 1543 | temp.chi2c_factor,temp.chi2a_factor, |
| 1544 | temp.chi2a_corr, |
| 1545 | last_material_map, |
| 1546 | &s_to_boundary) |
| 1547 | !=NOERROR){ |
| 1548 | return UNRECOVERABLE_ERROR; |
| 1549 | } |
| 1550 | } |
| 1551 | else |
| 1552 | { |
| 1553 | if (geom->FindMatKalman(pos,temp.K_rho_Z_over_A, |
| 1554 | temp.rho_Z_over_A,temp.LnI, |
| 1555 | temp.chi2c_factor,temp.chi2a_factor, |
| 1556 | temp.chi2a_corr, |
| 1557 | last_material_map)!=NOERROR){ |
| 1558 | return UNRECOVERABLE_ERROR; |
| 1559 | } |
| 1560 | } |
| 1561 | // Get dEdx for the upcoming step |
| 1562 | double dEdx=0.; |
| 1563 | if (CORRECT_FOR_ELOSS){ |
| 1564 | dEdx=GetdEdx(S(state_q_over_p),temp.K_rho_Z_over_A, |
| 1565 | temp.rho_Z_over_A,temp.LnI); |
| 1566 | } |
| 1567 | i++; |
| 1568 | my_i=length-i; |
| 1569 | if (i<=length){ |
| 1570 | forward_traj[my_i].s=temp.s; |
| 1571 | forward_traj[my_i].t=temp.t; |
| 1572 | forward_traj[my_i].h_id=temp.h_id; |
| 1573 | forward_traj[my_i].num_hits=temp.num_hits; |
| 1574 | forward_traj[my_i].z=temp.z; |
| 1575 | forward_traj[my_i].rho_Z_over_A=temp.rho_Z_over_A; |
| 1576 | forward_traj[my_i].K_rho_Z_over_A=temp.K_rho_Z_over_A; |
| 1577 | forward_traj[my_i].LnI=temp.LnI; |
| 1578 | forward_traj[my_i].S=S; |
| 1579 | } |
| 1580 | else{ |
| 1581 | temp.S=S; |
| 1582 | } |
| 1583 | |
| 1584 | // Determine the step size based on energy loss |
| 1585 | // step=mStepSizeS*dz_ds; |
| 1586 | double ds=mStepSizeS; |
| 1587 | if (z>cdc_origin[2]){ |
| 1588 | if (!stepped_to_boundary){ |
| 1589 | stepped_to_boundary=false; |
| 1590 | if (fabs(dEdx)>EPS3.0e-8){ |
| 1591 | ds=DE_PER_STEP0.0005/fabs(dEdx); |
| 1592 | } |
| 1593 | if(ds>mStepSizeS) ds=mStepSizeS; |
| 1594 | if (s_to_boundary<ds){ |
| 1595 | ds=s_to_boundary; |
| 1596 | stepped_to_boundary=true; |
| 1597 | } |
| 1598 | if(ds<MIN_STEP_SIZE0.1)ds=MIN_STEP_SIZE0.1; |
| 1599 | } |
| 1600 | else{ |
| 1601 | ds=MIN_STEP_SIZE0.1; |
| 1602 | stepped_to_boundary=false; |
| 1603 | } |
| 1604 | } |
| 1605 | |
| 1606 | if (DEBUG_HISTS && fit_type==kTimeBased){ |
| 1607 | if (Hstepsize && HstepsizeDenom){ |
| 1608 | Hstepsize->Fill(z,sqrt(S(state_x)*S(state_x)+S(state_y)*S(state_y)), |
| 1609 | ds); |
| 1610 | HstepsizeDenom->Fill(z,sqrt(S(state_x)*S(state_x)+S(state_y)*S(state_y))); |
| 1611 | } |
| 1612 | } |
| 1613 | double dz=stepped_to_endplate ? endplate_dz : ds*dz_ds; |
| 1614 | double newz=z+dz; // new z position |
| 1615 | // Check if we are stepping through the CDC endplate |
| 1616 | if (newz>endplate_z && z<endplate_z){ |
| 1617 | // _DBG_ << endl; |
| 1618 | newz=endplate_z+EPS31.e-2; |
| 1619 | stepped_to_endplate=true; |
| 1620 | } |
| 1621 | |
| 1622 | // Check if we are about to step to one of the wire planes |
| 1623 | done=false; |
| 1624 | if (newz>zhit){ |
| 1625 | newz=zhit; |
| 1626 | done=true; |
| 1627 | } |
| 1628 | |
| 1629 | // Store magnitude of magnetic field |
| 1630 | temp.B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 1631 | |
| 1632 | // Step through field |
| 1633 | ds=FasterStep(z,newz,dEdx,S); |
| 1634 | |
| 1635 | // update path length |
| 1636 | len+=ds; |
| 1637 | |
| 1638 | // update flight time |
| 1639 | ftime+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 1640 | |
| 1641 | // Get the contribution to the covariance matrix due to multiple |
| 1642 | // scattering |
| 1643 | GetProcessNoise(ds,temp.chi2c_factor,temp.chi2a_factor,temp.chi2a_corr, |
| 1644 | temp.S,Q); |
| 1645 | |
| 1646 | // Energy loss straggling |
| 1647 | if (CORRECT_FOR_ELOSS){ |
| 1648 | double varE=GetEnergyVariance(ds,one_over_beta2,temp.K_rho_Z_over_A); |
| 1649 | Q(state_q_over_p,state_q_over_p)=varE*q_over_p_sq*q_over_p_sq*one_over_beta2; |
| 1650 | } |
| 1651 | |
| 1652 | // Compute the Jacobian matrix and its transpose |
| 1653 | StepJacobian(newz,z,S,dEdx,J); |
| 1654 | |
| 1655 | // update the trajectory data |
| 1656 | if (i<=length){ |
| 1657 | forward_traj[my_i].B=temp.B; |
| 1658 | forward_traj[my_i].Q=Q; |
| 1659 | forward_traj[my_i].J=J; |
| 1660 | forward_traj[my_i].JT=J.Transpose(); |
| 1661 | } |
| 1662 | else{ |
| 1663 | temp.Q=Q; |
| 1664 | temp.J=J; |
| 1665 | temp.JT=J.Transpose(); |
| 1666 | temp.Ckk=Zero5x5; |
| 1667 | temp.Skk=Zero5x1; |
| 1668 | forward_traj.push_front(temp); |
| 1669 | } |
| 1670 | |
| 1671 | // update z |
| 1672 | z=newz; |
| 1673 | |
| 1674 | return NOERROR; |
| 1675 | } |
| 1676 | |
| 1677 | // Reference trajectory for trajectories with hits in the forward direction |
| 1678 | // At each point we store the state vector and the Jacobian needed to get to this state |
| 1679 | // along z from the previous state. |
| 1680 | jerror_t DTrackFitterKalmanSIMD::SetReferenceTrajectory(DMatrix5x1 &S){ |
| 1681 | |
| 1682 | // Magnetic field and gradient at beginning of trajectory |
| 1683 | //bfield->GetField(x_,y_,z_,Bx,By,Bz); |
| 1684 | bfield->GetFieldAndGradient(x_,y_,z_,Bx,By,Bz, |
| 1685 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1686 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1687 | |
| 1688 | // progress in z from hit to hit |
| 1689 | double z=z_; |
| 1690 | int i=0; |
| 1691 | |
| 1692 | int forward_traj_length=forward_traj.size(); |
| 1693 | // loop over the fdc hits |
| 1694 | double zhit=0.,old_zhit=0.; |
| 1695 | bool stepped_to_boundary=false; |
| 1696 | bool stepped_to_endplate=false; |
| 1697 | unsigned int m=0; |
| 1698 | for (m=0;m<my_fdchits.size();m++){ |
| 1699 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100. |
| 1700 | || fabs(S(state_tx))>TAN_MAX10. |
| 1701 | || fabs(S(state_ty))>TAN_MAX10. |
| 1702 | ){ |
| 1703 | break; |
| 1704 | } |
| 1705 | |
| 1706 | zhit=my_fdchits[m]->z; |
| 1707 | if (fabs(old_zhit-zhit)>EPS3.0e-8){ |
| 1708 | bool done=false; |
| 1709 | while (!done){ |
| 1710 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX100. |
| 1711 | || fabs(S(state_tx))>TAN_MAX10. |
| 1712 | || fabs(S(state_ty))>TAN_MAX10. |
| 1713 | ){ |
| 1714 | break; |
| 1715 | } |
| 1716 | |
| 1717 | if (PropagateForward(forward_traj_length,i,z,zhit,S,done, |
| 1718 | stepped_to_boundary,stepped_to_endplate) |
| 1719 | !=NOERROR) |
| 1720 | return UNRECOVERABLE_ERROR; |
| 1721 | } |
| 1722 | } |
| 1723 | old_zhit=zhit; |
| 1724 | } |
| 1725 | |
| 1726 | // If m<2 then no useable FDC hits survived the check on the magnitude on the |
| 1727 | // momentum |
| 1728 | if (m<2) return UNRECOVERABLE_ERROR; |
| 1729 | |
| 1730 | // Make sure the reference trajectory goes one step beyond the most |
| 1731 | // downstream hit plane |
| 1732 | if (m==my_fdchits.size()){ |
| 1733 | bool done=false; |
| 1734 | if (PropagateForward(forward_traj_length,i,z,400.,S,done, |
| 1735 | stepped_to_boundary,stepped_to_endplate) |
| 1736 | !=NOERROR) |
| 1737 | return UNRECOVERABLE_ERROR; |
| 1738 | if (PropagateForward(forward_traj_length,i,z,400.,S,done, |
| 1739 | stepped_to_boundary,stepped_to_endplate) |
| 1740 | !=NOERROR) |
| 1741 | return UNRECOVERABLE_ERROR; |
| 1742 | } |
| 1743 | |
| 1744 | // Shrink the deque if the new trajectory has less points in it than the |
| 1745 | // old trajectory |
| 1746 | if (i<(int)forward_traj.size()){ |
| 1747 | int mylen=forward_traj.size(); |
| 1748 | //_DBG_ << "Shrinking: " << mylen << " to " << i << endl; |
| 1749 | for (int j=0;j<mylen-i;j++){ |
| 1750 | forward_traj.pop_front(); |
| 1751 | } |
| 1752 | // _DBG_ << " Now " << forward_traj.size() << endl; |
| 1753 | } |
| 1754 | |
| 1755 | // If we lopped off some hits on the downstream end, truncate the trajectory to |
| 1756 | // the point in z just beyond the last valid hit |
| 1757 | unsigned int my_id=my_fdchits.size(); |
| 1758 | if (m<my_id){ |
| 1759 | if (zhit<z) my_id=m; |
| 1760 | else my_id=m-1; |
| 1761 | zhit=my_fdchits[my_id-1]->z; |
| 1762 | //_DBG_ << "Shrinking: " << forward_traj.size()<< endl; |
| 1763 | for (;;){ |
| 1764 | z=forward_traj[0].z; |
| 1765 | if (z<zhit+EPS21.e-4) break; |
| 1766 | forward_traj.pop_front(); |
| 1767 | } |
| 1768 | //_DBG_ << " Now " << forward_traj.size() << endl; |
| 1769 | |
| 1770 | // Temporory structure keeping state and trajectory information |
| 1771 | DKalmanForwardTrajectory_t temp; |
| 1772 | temp.h_id=0; |
| 1773 | temp.num_hits=0; |
| 1774 | temp.B=0.; |
| 1775 | temp.K_rho_Z_over_A=temp.rho_Z_over_A=temp.LnI=0.; |
| 1776 | temp.Q=Zero5x5; |
| 1777 | |
| 1778 | // last S vector |
| 1779 | S=forward_traj[0].S; |
| 1780 | |
| 1781 | // Step just beyond the last hit |
| 1782 | double newz=z+0.01; |
| 1783 | double ds=Step(z,newz,0.,S); // ignore energy loss for this small step |
| 1784 | temp.s=forward_traj[0].s+ds; |
| 1785 | temp.z=newz; |
| 1786 | temp.S=S; |
| 1787 | |
| 1788 | // Flight time |
| 1789 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 1790 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1791 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1792 | temp.t=forward_traj[0].t+ds*sqrt(one_over_beta2); // in units where c=1 |
| 1793 | |
| 1794 | // Covariance and state vector needed for smoothing code |
| 1795 | temp.Ckk=Zero5x5; |
| 1796 | temp.Skk=Zero5x1; |
| 1797 | |
| 1798 | // Jacobian matrices |
| 1799 | temp.JT=temp.J=I5x5; |
| 1800 | |
| 1801 | forward_traj.push_front(temp); |
| 1802 | } |
| 1803 | |
| 1804 | // return an error if there are no entries in the trajectory |
| 1805 | if (forward_traj.size()==0) return RESOURCE_UNAVAILABLE; |
| 1806 | |
| 1807 | // Fill in Lorentz deflection parameters |
| 1808 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 1809 | if (my_id>0){ |
| 1810 | unsigned int hit_id=my_id-1; |
| 1811 | double z=forward_traj[m].z; |
| 1812 | if (fabs(z-my_fdchits[hit_id]->z)<EPS21.e-4){ |
| 1813 | forward_traj[m].h_id=my_id; |
| 1814 | |
| 1815 | // Get the magnetic field at this position along the trajectory |
| 1816 | bfield->GetField(forward_traj[m].S(state_x),forward_traj[m].S(state_y), |
| 1817 | z,Bx,By,Bz); |
| 1818 | double Br=sqrt(Bx*Bx+By*By); |
| 1819 | |
| 1820 | // Angle between B and wire |
| 1821 | double my_phi=0.; |
| 1822 | if (Br>0.) my_phi=acos((Bx*my_fdchits[hit_id]->sina |
| 1823 | +By*my_fdchits[hit_id]->cosa)/Br); |
| 1824 | /* |
| 1825 | lorentz_def->GetLorentzCorrectionParameters(forward_traj[m].pos.x(), |
| 1826 | forward_traj[m].pos.y(), |
| 1827 | forward_traj[m].pos.z(), |
| 1828 | tanz,tanr); |
| 1829 | my_fdchits[hit_id]->nr=tanr; |
| 1830 | my_fdchits[hit_id]->nz=tanz; |
| 1831 | */ |
| 1832 | |
| 1833 | my_fdchits[hit_id]->nr=LORENTZ_NR_PAR1*Bz*(1.+LORENTZ_NR_PAR2*Br); |
| 1834 | my_fdchits[hit_id]->nz=(LORENTZ_NZ_PAR1+LORENTZ_NZ_PAR2*Bz)*(Br*cos(my_phi)); |
| 1835 | |
| 1836 | |
| 1837 | my_id--; |
| 1838 | |
| 1839 | unsigned int num=1; |
| 1840 | while (hit_id>0 |
| 1841 | && fabs(my_fdchits[hit_id]->z-my_fdchits[hit_id-1]->z)<EPS3.0e-8){ |
| 1842 | hit_id=my_id-1; |
| 1843 | num++; |
| 1844 | my_id--; |
| 1845 | } |
| 1846 | forward_traj[m].num_hits=num; |
| 1847 | } |
| 1848 | |
| 1849 | } |
| 1850 | } |
| 1851 | |
| 1852 | // Find estimate for t0 using smallest drift time |
| 1853 | if (fit_type==kWireBased){ |
| 1854 | if (mMinDriftID<1000){ |
| 1855 | mT0Detector=SYS_FDC; |
| 1856 | bool found_minimum=false; |
| 1857 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 1858 | if (found_minimum) break; |
| 1859 | unsigned int numhits=forward_traj[m].num_hits; |
| 1860 | if (numhits>0){ |
| 1861 | unsigned int first_hit=forward_traj[m].h_id-1; |
| 1862 | for (unsigned int n=0;n<numhits;n++){ |
| 1863 | unsigned int myid=first_hit-n; |
| 1864 | if (myid==mMinDriftID){ |
| 1865 | double tcorr=-1.66; |
| 1866 | mT0MinimumDriftTime=my_fdchits[myid]->t-forward_traj[m].t*TIME_UNIT_CONVERSION3.33564095198152014e-02+tcorr; |
| 1867 | //_DBG_ << "T0 = " << mT0MinimumDriftTime << endl; |
| 1868 | found_minimum=true; |
| 1869 | break; |
| 1870 | } |
| 1871 | } |
| 1872 | } |
| 1873 | } |
| 1874 | } |
| 1875 | else if (my_cdchits.size()>0 && mMinDriftID>=1000){ |
| 1876 | mT0Detector=SYS_CDC; |
| 1877 | int id=my_cdchits.size()-1; |
| 1878 | double old_time=0.,doca2=0.,old_doca2=1e6; |
| 1879 | int min_id=mMinDriftID-1000; |
| 1880 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 1881 | if (id>=0){ |
| 1882 | DVector2 origin=my_cdchits[id]->origin; |
| 1883 | DVector2 dir=my_cdchits[id]->dir; |
| 1884 | DVector2 wire_xy=origin+(forward_traj[m].z-my_cdchits[id]->z0wire)*dir; |
| 1885 | DVector2 my_xy(forward_traj[m].S(state_x),forward_traj[m].S(state_y)); |
| 1886 | doca2=(wire_xy-my_xy).Mod2(); |
| 1887 | |
| 1888 | if (doca2>old_doca2){ |
| 1889 | if (id==min_id){ |
| 1890 | double tcorr=1.18; // not sure why needed.. |
| 1891 | mT0MinimumDriftTime=my_cdchits[id]->tdrift-old_time+tcorr; |
| 1892 | //_DBG_ << "T0 = " << mT0MinimumDriftTime << endl; |
| 1893 | break; |
| 1894 | } |
| 1895 | doca2=1e6; |
| 1896 | id--; |
| 1897 | } |
| 1898 | } |
| 1899 | old_doca2=doca2; |
| 1900 | old_time=forward_traj[m].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 1901 | } |
| 1902 | } |
| 1903 | } |
| 1904 | |
| 1905 | if (DEBUG_LEVEL>20) |
| 1906 | { |
| 1907 | cout << "--- Forward fdc trajectory ---" <<endl; |
| 1908 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 1909 | DMatrix5x1 S=(forward_traj[m].S); |
| 1910 | double tx=S(state_tx),ty=S(state_ty); |
| 1911 | double phi=atan2(ty,tx); |
| 1912 | double cosphi=cos(phi); |
| 1913 | double sinphi=sin(phi); |
| 1914 | double p=fabs(1./S(state_q_over_p)); |
| 1915 | double tanl=1./sqrt(tx*tx+ty*ty); |
| 1916 | double sinl=sin(atan(tanl)); |
| 1917 | double cosl=cos(atan(tanl)); |
| 1918 | cout |
| 1919 | << setiosflags(ios::fixed)<< "pos: " << setprecision(4) |
| 1920 | << forward_traj[m].S(state_x) << ", " |
| 1921 | << forward_traj[m].S(state_y) << ", " |
| 1922 | << forward_traj[m].z << " mom: " |
| 1923 | << p*cosphi*cosl<< ", " << p*sinphi*cosl << ", " |
| 1924 | << p*sinl << " -> " << p |
| 1925 | <<" s: " << setprecision(3) |
| 1926 | << forward_traj[m].s |
| 1927 | <<" t: " << setprecision(3) |
| 1928 | << forward_traj[m].t/SPEED_OF_LIGHT29.9792 |
| 1929 | <<" id: " << forward_traj[m].h_id |
| 1930 | << endl; |
| 1931 | } |
| 1932 | } |
| 1933 | |
| 1934 | |
| 1935 | // position at the end of the swim |
| 1936 | z_=z; |
| 1937 | x_=S(state_x); |
| 1938 | y_=S(state_y); |
| 1939 | |
| 1940 | return NOERROR; |
| 1941 | } |
| 1942 | |
| 1943 | // Step the state vector through the field from oldz to newz. |
| 1944 | // Uses the 4th-order Runga-Kutte algorithm. |
| 1945 | double DTrackFitterKalmanSIMD::Step(double oldz,double newz, double dEdx, |
| 1946 | DMatrix5x1 &S){ |
| 1947 | double delta_z=newz-oldz; |
| 1948 | if (fabs(delta_z)<EPS3.0e-8) return 0.; // skip if the step is too small |
| 1949 | |
| 1950 | // Direction tangents |
| 1951 | double tx=S(state_tx); |
| 1952 | double ty=S(state_ty); |
| 1953 | double ds=sqrt(1.+tx*tx+ty*ty)*delta_z; |
| 1954 | |
| 1955 | double delta_z_over_2=0.5*delta_z; |
| 1956 | double midz=oldz+delta_z_over_2; |
| 1957 | DMatrix5x1 D1,D2,D3,D4; |
| 1958 | |
| 1959 | //B-field and gradient at at (x,y,z) |
| 1960 | bfield->GetFieldAndGradient(S(state_x),S(state_y),oldz,Bx,By,Bz, |
| 1961 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1962 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1963 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 1964 | |
| 1965 | // Calculate the derivative and propagate the state to the next point |
| 1966 | CalcDeriv(oldz,S,dEdx,D1); |
| 1967 | DMatrix5x1 S1=S+delta_z_over_2*D1; |
| 1968 | |
| 1969 | // Calculate the field at the first intermediate point |
| 1970 | double dx=S1(state_x)-S(state_x); |
| 1971 | double dy=S1(state_y)-S(state_y); |
| 1972 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 1973 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 1974 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 1975 | |
| 1976 | // Calculate the derivative and propagate the state to the next point |
| 1977 | CalcDeriv(midz,S1,dEdx,D2); |
| 1978 | S1=S+delta_z_over_2*D2; |
| 1979 | |
| 1980 | // Calculate the field at the second intermediate point |
| 1981 | dx=S1(state_x)-S(state_x); |
| 1982 | dy=S1(state_y)-S(state_y); |
| 1983 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 1984 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 1985 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 1986 | |
| 1987 | // Calculate the derivative and propagate the state to the next point |
| 1988 | CalcDeriv(midz,S1,dEdx,D3); |
| 1989 | S1=S+delta_z*D3; |
| 1990 | |
| 1991 | // Calculate the field at the final point |
| 1992 | dx=S1(state_x)-S(state_x); |
| 1993 | dy=S1(state_y)-S(state_y); |
| 1994 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z; |
| 1995 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z; |
| 1996 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z; |
| 1997 | |
| 1998 | // Final derivative |
| 1999 | CalcDeriv(newz,S1,dEdx,D4); |
| 2000 | |
| 2001 | // S+=delta_z*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2002 | double dz_over_6=delta_z*ONE_SIXTH0.16666666666666667; |
| 2003 | double dz_over_3=delta_z*ONE_THIRD0.33333333333333333; |
| 2004 | S+=dz_over_6*D1; |
| 2005 | S+=dz_over_3*D2; |
| 2006 | S+=dz_over_3*D3; |
| 2007 | S+=dz_over_6*D4; |
| 2008 | |
| 2009 | // Don't let the magnitude of the momentum drop below some cutoff |
| 2010 | //if (fabs(S(state_q_over_p))>Q_OVER_P_MAX) |
| 2011 | // S(state_q_over_p)=Q_OVER_P_MAX*(S(state_q_over_p)>0.0?1.:-1.); |
| 2012 | // Try to keep the direction tangents from heading towards 90 degrees |
| 2013 | //if (fabs(S(state_tx))>TAN_MAX) |
| 2014 | // S(state_tx)=TAN_MAX*(S(state_tx)>0.0?1.:-1.); |
| 2015 | //if (fabs(S(state_ty))>TAN_MAX) |
| 2016 | // S(state_ty)=TAN_MAX*(S(state_ty)>0.0?1.:-1.); |
| 2017 | |
| 2018 | return ds; |
| 2019 | } |
| 2020 | // Step the state vector through the field from oldz to newz. |
| 2021 | // Uses the 4th-order Runga-Kutte algorithm. |
| 2022 | // Uses the gradient to compute the field at the intermediate and last |
| 2023 | // points. |
| 2024 | double DTrackFitterKalmanSIMD::FasterStep(double oldz,double newz, double dEdx, |
| 2025 | DMatrix5x1 &S){ |
| 2026 | double delta_z=newz-oldz; |
| 2027 | if (fabs(delta_z)<EPS3.0e-8) return 0.; // skip if the step is too small |
| 2028 | |
| 2029 | // Direction tangents |
| 2030 | double tx=S(state_tx); |
| 2031 | double ty=S(state_ty); |
| 2032 | double ds=sqrt(1.+tx*tx+ty*ty)*delta_z; |
| 2033 | |
| 2034 | double delta_z_over_2=0.5*delta_z; |
| 2035 | double midz=oldz+delta_z_over_2; |
| 2036 | DMatrix5x1 D1,D2,D3,D4; |
| 2037 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2038 | |
| 2039 | // The magnetic field at the beginning of the step is assumed to be |
| 2040 | // obtained at the end of the previous step through StepJacobian |
| 2041 | |
| 2042 | // Calculate the derivative and propagate the state to the next point |
| 2043 | CalcDeriv(oldz,S,dEdx,D1); |
| 2044 | DMatrix5x1 S1=S+delta_z_over_2*D1; |
| 2045 | |
| 2046 | // Calculate the field at the first intermediate point |
| 2047 | double dx=S1(state_x)-S(state_x); |
| 2048 | double dy=S1(state_y)-S(state_y); |
| 2049 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 2050 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 2051 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 2052 | |
| 2053 | // Calculate the derivative and propagate the state to the next point |
| 2054 | CalcDeriv(midz,S1,dEdx,D2); |
| 2055 | S1=S+delta_z_over_2*D2; |
| 2056 | |
| 2057 | // Calculate the field at the second intermediate point |
| 2058 | dx=S1(state_x)-S(state_x); |
| 2059 | dy=S1(state_y)-S(state_y); |
| 2060 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 2061 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 2062 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 2063 | |
| 2064 | // Calculate the derivative and propagate the state to the next point |
| 2065 | CalcDeriv(midz,S1,dEdx,D3); |
| 2066 | S1=S+delta_z*D3; |
| 2067 | |
| 2068 | // Calculate the field at the final point |
| 2069 | dx=S1(state_x)-S(state_x); |
| 2070 | dy=S1(state_y)-S(state_y); |
| 2071 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z; |
| 2072 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z; |
| 2073 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z; |
| 2074 | |
| 2075 | // Final derivative |
| 2076 | CalcDeriv(newz,S1,dEdx,D4); |
| 2077 | |
| 2078 | // S+=delta_z*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2079 | double dz_over_6=delta_z*ONE_SIXTH0.16666666666666667; |
| 2080 | double dz_over_3=delta_z*ONE_THIRD0.33333333333333333; |
| 2081 | S+=dz_over_6*D1; |
| 2082 | S+=dz_over_3*D2; |
| 2083 | S+=dz_over_3*D3; |
| 2084 | S+=dz_over_6*D4; |
| 2085 | |
| 2086 | // Don't let the magnitude of the momentum drop below some cutoff |
| 2087 | //if (fabs(S(state_q_over_p))>Q_OVER_P_MAX) |
| 2088 | // S(state_q_over_p)=Q_OVER_P_MAX*(S(state_q_over_p)>0.0?1.:-1.); |
| 2089 | // Try to keep the direction tangents from heading towards 90 degrees |
| 2090 | //if (fabs(S(state_tx))>TAN_MAX) |
| 2091 | // S(state_tx)=TAN_MAX*(S(state_tx)>0.0?1.:-1.); |
| 2092 | //if (fabs(S(state_ty))>TAN_MAX) |
| 2093 | // S(state_ty)=TAN_MAX*(S(state_ty)>0.0?1.:-1.); |
| 2094 | |
| 2095 | return ds; |
| 2096 | } |
| 2097 | |
| 2098 | |
| 2099 | |
| 2100 | // Compute the Jacobian matrix for the forward parametrization. |
| 2101 | jerror_t DTrackFitterKalmanSIMD::StepJacobian(double oldz,double newz, |
| 2102 | const DMatrix5x1 &S, |
| 2103 | double dEdx,DMatrix5x5 &J){ |
| 2104 | // Initialize the Jacobian matrix |
| 2105 | //J.Zero(); |
| 2106 | //for (int i=0;i<5;i++) J(i,i)=1.; |
| 2107 | J=I5x5; |
| 2108 | |
| 2109 | // Step in z |
| 2110 | double delta_z=newz-oldz; |
| 2111 | if (fabs(delta_z)<EPS3.0e-8) return NOERROR; //skip if the step is too small |
| 2112 | |
| 2113 | // Current values of state vector variables |
| 2114 | double x=S(state_x), y=S(state_y),tx=S(state_tx),ty=S(state_ty); |
| 2115 | double q_over_p=S(state_q_over_p); |
| 2116 | |
| 2117 | //B-field and field gradient at (x,y,z) |
| 2118 | //if (get_field) |
| 2119 | bfield->GetFieldAndGradient(x,y,oldz,Bx,By,Bz,dBxdx,dBxdy, |
| 2120 | dBxdz,dBydx,dBydy, |
| 2121 | dBydz,dBzdx,dBzdy,dBzdz); |
| 2122 | |
| 2123 | // Don't let the magnitude of the momentum drop below some cutoff |
| 2124 | if (fabs(q_over_p)>Q_OVER_P_MAX100.){ |
| 2125 | q_over_p=Q_OVER_P_MAX100.*(q_over_p>0.0?1.:-1.); |
| 2126 | dEdx=0.; |
| 2127 | } |
| 2128 | // Try to keep the direction tangents from heading towards 90 degrees |
| 2129 | if (fabs(tx)>TAN_MAX10.) tx=TAN_MAX10.*(tx>0.0?1.:-1.); |
| 2130 | if (fabs(ty)>TAN_MAX10.) ty=TAN_MAX10.*(ty>0.0?1.:-1.); |
| 2131 | // useful combinations of terms |
| 2132 | double kq_over_p=qBr2p0.003*q_over_p; |
| 2133 | double tx2=tx*tx; |
| 2134 | double twotx2=2.*tx2; |
| 2135 | double ty2=ty*ty; |
| 2136 | double twoty2=2.*ty2; |
| 2137 | double txty=tx*ty; |
| 2138 | double one_plus_tx2=1.+tx2; |
| 2139 | double one_plus_ty2=1.+ty2; |
| 2140 | double one_plus_twotx2_plus_ty2=one_plus_ty2+twotx2; |
| 2141 | double one_plus_twoty2_plus_tx2=one_plus_tx2+twoty2; |
| 2142 | double dsdz=sqrt(1.+tx2+ty2); |
| 2143 | double ds=dsdz*delta_z; |
| 2144 | double kds=qBr2p0.003*ds; |
| 2145 | double kqdz_over_p_over_dsdz=kq_over_p*delta_z/dsdz; |
| 2146 | double kq_over_p_ds=kq_over_p*ds; |
| 2147 | double dtx_Bdep=ty*Bz+txty*Bx-one_plus_tx2*By; |
| 2148 | double dty_Bdep=Bx*one_plus_ty2-txty*By-tx*Bz; |
| 2149 | double Bxty=Bx*ty; |
| 2150 | double Bytx=By*tx; |
| 2151 | double Bztxty=Bz*txty; |
| 2152 | double Byty=By*ty; |
| 2153 | double Bxtx=Bx*tx; |
| 2154 | |
| 2155 | // Jacobian |
| 2156 | J(state_x,state_tx)=J(state_y,state_ty)=delta_z; |
| 2157 | J(state_tx,state_q_over_p)=kds*dtx_Bdep; |
| 2158 | J(state_ty,state_q_over_p)=kds*dty_Bdep; |
| 2159 | J(state_tx,state_tx)+=kqdz_over_p_over_dsdz*(Bxty*(one_plus_twotx2_plus_ty2) |
| 2160 | -Bytx*(3.*one_plus_tx2+twoty2) |
| 2161 | +Bztxty); |
| 2162 | J(state_tx,state_x)=kq_over_p_ds*(ty*dBzdx+txty*dBxdx-one_plus_tx2*dBydx); |
| 2163 | J(state_ty,state_ty)+=kqdz_over_p_over_dsdz*(Bxty*(3.*one_plus_ty2+twotx2) |
| 2164 | -Bytx*(one_plus_twoty2_plus_tx2) |
| 2165 | -Bztxty); |
| 2166 | J(state_ty,state_y)= kq_over_p_ds*(one_plus_ty2*dBxdy-txty*dBydy-tx*dBzdy); |
| 2167 | J(state_tx,state_ty)=kqdz_over_p_over_dsdz |
| 2168 | *((Bxtx+Bz)*(one_plus_twoty2_plus_tx2)-Byty*one_plus_tx2); |
| 2169 | J(state_tx,state_y)= kq_over_p_ds*(tx*dBzdy+txty*dBxdy-one_plus_tx2*dBydy); |
| 2170 | J(state_ty,state_tx)=-kqdz_over_p_over_dsdz*((Byty+Bz)*(one_plus_twotx2_plus_ty2) |
| 2171 | -Bxtx*one_plus_ty2); |
| 2172 | J(state_ty,state_x)=kq_over_p_ds*(one_plus_ty2*dBxdx-txty*dBydx-tx*dBzdx); |
| 2173 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2174 | double one_over_p_sq=q_over_p*q_over_p; |
| 2175 | double E=sqrt(1./one_over_p_sq+mass2); |
| 2176 | J(state_q_over_p,state_q_over_p)-=dEdx*ds/E*(2.+3.*mass2*one_over_p_sq); |
| 2177 | double temp=-(q_over_p*one_over_p_sq/dsdz)*E*dEdx*delta_z; |
| 2178 | J(state_q_over_p,state_tx)=tx*temp; |
| 2179 | J(state_q_over_p,state_ty)=ty*temp; |
| 2180 | } |
| 2181 | |
| 2182 | return NOERROR; |
| 2183 | } |
| 2184 | |
| 2185 | // Calculate the derivative for the alternate set of parameters {q/pT, phi, |
| 2186 | // tan(lambda),D,z} |
| 2187 | jerror_t DTrackFitterKalmanSIMD::CalcDeriv(DVector2 &dpos,const DMatrix5x1 &S, |
| 2188 | double dEdx,DMatrix5x1 &D1){ |
| 2189 | //Direction at current point |
| 2190 | double tanl=S(state_tanl); |
| 2191 | // Don't let tanl exceed some maximum |
| 2192 | if (fabs(tanl)>TAN_MAX10.) tanl=TAN_MAX10.*(tanl>0.0?1.:-1.); |
| 2193 | |
| 2194 | double phi=S(state_phi); |
| 2195 | double cosphi=cos(phi); |
| 2196 | double sinphi=sin(phi); |
| 2197 | double lambda=atan(tanl); |
| 2198 | double sinl=sin(lambda); |
| 2199 | double cosl=cos(lambda); |
| 2200 | // Other parameters |
| 2201 | double q_over_pt=S(state_q_over_pt); |
| 2202 | double pt=fabs(1./q_over_pt); |
| 2203 | |
| 2204 | // Turn off dEdx if the pt drops below some minimum |
| 2205 | if (pt<PT_MIN0.01) { |
| 2206 | dEdx=0.; |
| 2207 | } |
| 2208 | double kq_over_pt=qBr2p0.003*q_over_pt; |
| 2209 | |
| 2210 | // Derivative of S with respect to s |
| 2211 | double By_cosphi_minus_Bx_sinphi=By*cosphi-Bx*sinphi; |
| 2212 | D1(state_q_over_pt) |
| 2213 | =kq_over_pt*q_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2214 | double one_over_cosl=1./cosl; |
| 2215 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2216 | double p=pt*one_over_cosl; |
| 2217 | double p_sq=p*p; |
| 2218 | double E=sqrt(p_sq+mass2); |
| 2219 | D1(state_q_over_pt)-=q_over_pt*E*dEdx/p_sq; |
| 2220 | } |
| 2221 | // D1(state_phi) |
| 2222 | // =kq_over_pt*(Bx*cosphi*sinl+By*sinphi*sinl-Bz*cosl); |
| 2223 | D1(state_phi)=kq_over_pt*((Bx*cosphi+By*sinphi)*sinl-Bz*cosl); |
| 2224 | D1(state_tanl)=kq_over_pt*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2225 | D1(state_z)=sinl; |
| 2226 | |
| 2227 | // New direction |
| 2228 | dpos.Set(cosl*cosphi,cosl*sinphi); |
| 2229 | |
| 2230 | return NOERROR; |
| 2231 | } |
| 2232 | |
| 2233 | // Calculate the derivative and Jacobian matrices for the alternate set of |
| 2234 | // parameters {q/pT, phi, tan(lambda),D,z} |
| 2235 | jerror_t DTrackFitterKalmanSIMD::CalcDerivAndJacobian(const DVector2 &xy, |
| 2236 | DVector2 &dxy, |
| 2237 | const DMatrix5x1 &S, |
| 2238 | double dEdx, |
| 2239 | DMatrix5x5 &J1, |
| 2240 | DMatrix5x1 &D1){ |
| 2241 | //Direction at current point |
| 2242 | double tanl=S(state_tanl); |
| 2243 | // Don't let tanl exceed some maximum |
| 2244 | if (fabs(tanl)>TAN_MAX10.) tanl=TAN_MAX10.*(tanl>0.0?1.:-1.); |
| 2245 | |
| 2246 | double phi=S(state_phi); |
| 2247 | double cosphi=cos(phi); |
| 2248 | double sinphi=sin(phi); |
| 2249 | double lambda=atan(tanl); |
| 2250 | double sinl=sin(lambda); |
| 2251 | double cosl=cos(lambda); |
| 2252 | double cosl2=cosl*cosl; |
| 2253 | double cosl3=cosl*cosl2; |
| 2254 | double one_over_cosl=1./cosl; |
| 2255 | // Other parameters |
| 2256 | double q_over_pt=S(state_q_over_pt); |
| 2257 | double pt=fabs(1./q_over_pt); |
| 2258 | double q=pt*q_over_pt; |
| 2259 | |
| 2260 | // Turn off dEdx if pt drops below some minimum |
| 2261 | if (pt<PT_MIN0.01) { |
| 2262 | dEdx=0.; |
| 2263 | } |
| 2264 | double kq_over_pt=qBr2p0.003*q_over_pt; |
| 2265 | |
| 2266 | // B-field and gradient at (x,y,z) |
| 2267 | bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2268 | dBxdx,dBxdy,dBxdz,dBydx, |
| 2269 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2270 | |
| 2271 | // Derivative of S with respect to s |
| 2272 | double By_cosphi_minus_Bx_sinphi=By*cosphi-Bx*sinphi; |
| 2273 | double By_sinphi_plus_Bx_cosphi=By*sinphi+Bx*cosphi; |
| 2274 | D1(state_q_over_pt)=kq_over_pt*q_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2275 | D1(state_phi)=kq_over_pt*(By_sinphi_plus_Bx_cosphi*sinl-Bz*cosl); |
| 2276 | D1(state_tanl)=kq_over_pt*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2277 | D1(state_z)=sinl; |
| 2278 | |
| 2279 | // New direction |
| 2280 | dxy.Set(cosl*cosphi,cosl*sinphi); |
| 2281 | |
| 2282 | // Jacobian matrix elements |
| 2283 | J1(state_phi,state_phi)=kq_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2284 | J1(state_phi,state_q_over_pt) |
| 2285 | =qBr2p0.003*(By_sinphi_plus_Bx_cosphi*sinl-Bz*cosl); |
| 2286 | J1(state_phi,state_tanl)=kq_over_pt*(By_sinphi_plus_Bx_cosphi*cosl |
| 2287 | +Bz*sinl)*cosl2; |
| 2288 | J1(state_phi,state_z) |
| 2289 | =kq_over_pt*(dBxdz*cosphi*sinl+dBydz*sinphi*sinl-dBzdz*cosl); |
| 2290 | |
| 2291 | J1(state_tanl,state_phi)=-kq_over_pt*By_sinphi_plus_Bx_cosphi*one_over_cosl; |
| 2292 | J1(state_tanl,state_q_over_pt)=qBr2p0.003*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2293 | J1(state_tanl,state_tanl)=kq_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2294 | J1(state_tanl,state_z)=kq_over_pt*(dBydz*cosphi-dBxdz*sinphi)*one_over_cosl; |
| 2295 | J1(state_q_over_pt,state_phi) |
| 2296 | =-kq_over_pt*q_over_pt*sinl*By_sinphi_plus_Bx_cosphi; |
| 2297 | J1(state_q_over_pt,state_q_over_pt) |
| 2298 | =2.*kq_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2299 | J1(state_q_over_pt,state_tanl) |
| 2300 | =kq_over_pt*q_over_pt*cosl3*By_cosphi_minus_Bx_sinphi; |
| 2301 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2302 | double p=pt*one_over_cosl; |
| 2303 | double p_sq=p*p; |
| 2304 | double m2_over_p2=mass2/p_sq; |
| 2305 | double E=sqrt(p_sq+mass2); |
| 2306 | |
| 2307 | D1(state_q_over_pt)-=q_over_pt*E/p_sq*dEdx; |
| 2308 | J1(state_q_over_pt,state_q_over_pt)-=dEdx*(2.+3.*m2_over_p2)/E; |
| 2309 | J1(state_q_over_pt,state_tanl)+=q*dEdx*sinl*(1.+2.*m2_over_p2)/(p*E); |
| 2310 | } |
| 2311 | J1(state_q_over_pt,state_z) |
| 2312 | =kq_over_pt*q_over_pt*sinl*(dBydz*cosphi-dBxdz*sinphi); |
| 2313 | J1(state_z,state_tanl)=cosl3; |
| 2314 | |
| 2315 | return NOERROR; |
| 2316 | } |
| 2317 | |
| 2318 | // Convert between the forward parameter set {x,y,tx,ty,q/p} and the central |
| 2319 | // parameter set {q/pT,phi,tan(lambda),D,z} |
| 2320 | jerror_t DTrackFitterKalmanSIMD::ConvertStateVectorAndCovariance(double z, |
| 2321 | const DMatrix5x1 &S, |
| 2322 | DMatrix5x1 &Sc, |
| 2323 | const DMatrix5x5 &C, |
| 2324 | DMatrix5x5 &Cc){ |
| 2325 | //double x=S(state_x),y=S(state_y); |
| 2326 | //double tx=S(state_tx),ty=S(state_ty),q_over_p=S(state_q_over_p); |
| 2327 | // Copy over to the class variables |
| 2328 | x_=S(state_x), y_=S(state_y); |
| 2329 | tx_=S(state_tx),ty_=S(state_ty); |
| 2330 | double tsquare=tx_*tx_+ty_*ty_; |
| 2331 | double tanl=1./sqrt(tsquare); |
| 2332 | double cosl=cos(atan(tanl)); |
| 2333 | q_over_p_=S(state_q_over_p); |
| 2334 | Sc(state_q_over_pt)=q_over_p_/cosl; |
| 2335 | Sc(state_phi)=atan2(ty_,tx_); |
| 2336 | Sc(state_tanl)=tanl; |
| 2337 | Sc(state_D)=sqrt(x_*x_+y_*y_); |
| 2338 | Sc(state_z)=z; |
| 2339 | |
| 2340 | // D is a signed quantity |
| 2341 | double cosphi=cos(Sc(state_phi)); |
| 2342 | double sinphi=sin(Sc(state_phi)); |
| 2343 | if ((x_>0.0 && sinphi>0.0) || (y_ <0.0 && cosphi>0.0) || (y_>0.0 && cosphi<0.0) |
| 2344 | || (x_<0.0 && sinphi<0.0)) Sc(state_D)*=-1.; |
| 2345 | |
| 2346 | // Rotate the covariance matrix from forward parameter space to central |
| 2347 | // parameter space |
| 2348 | DMatrix5x5 J; |
| 2349 | |
| 2350 | double tanl2=tanl*tanl; |
| 2351 | double tanl3=tanl2*tanl; |
| 2352 | double factor=1./sqrt(1.+tsquare); |
| 2353 | J(state_z,state_x)=-tx_/tsquare; |
| 2354 | J(state_z,state_y)=-ty_/tsquare; |
| 2355 | double diff=tx_*tx_-ty_*ty_; |
| 2356 | double frac=1./(tsquare*tsquare); |
| 2357 | J(state_z,state_tx)=(x_*diff+2.*tx_*ty_*y_)*frac; |
| 2358 | J(state_z,state_ty)=(2.*tx_*ty_*x_-y_*diff)*frac; |
| 2359 | J(state_tanl,state_tx)=-tx_*tanl3; |
| 2360 | J(state_tanl,state_ty)=-ty_*tanl3; |
| 2361 | J(state_q_over_pt,state_q_over_p)=1./cosl; |
| 2362 | J(state_q_over_pt,state_tx)=-q_over_p_*tx_*tanl3*factor; |
| 2363 | J(state_q_over_pt,state_ty)=-q_over_p_*ty_*tanl3*factor; |
| 2364 | J(state_phi,state_tx)=-ty_*tanl2; |
| 2365 | J(state_phi,state_ty)=tx_*tanl2; |
| 2366 | J(state_D,state_x)=x_/Sc(state_D); |
| 2367 | J(state_D,state_y)=y_/Sc(state_D); |
| 2368 | |
| 2369 | Cc=J*C*J.Transpose(); |
| 2370 | |
| 2371 | return NOERROR; |
| 2372 | } |
| 2373 | |
| 2374 | // Step the state and the covariance matrix through the field |
| 2375 | jerror_t DTrackFitterKalmanSIMD::StepStateAndCovariance(DVector2 &xy, |
| 2376 | double ds, |
| 2377 | double dEdx, |
| 2378 | DMatrix5x1 &S, |
| 2379 | DMatrix5x5 &J, |
| 2380 | DMatrix5x5 &C){ |
| 2381 | //Initialize the Jacobian matrix |
| 2382 | J=I5x5; |
| 2383 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2384 | |
| 2385 | // B-field and gradient at current (x,y,z) |
| 2386 | bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2387 | dBxdx,dBxdy,dBxdz,dBydx, |
| 2388 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2389 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2390 | |
| 2391 | // Matrices for intermediate steps |
| 2392 | DMatrix5x1 D1,D2,D3,D4; |
| 2393 | DMatrix5x1 S1; |
| 2394 | DMatrix5x5 J1; |
| 2395 | DVector2 dxy1,dxy2,dxy3,dxy4; |
| 2396 | double ds_2=0.5*ds; |
| 2397 | |
| 2398 | // Find the derivative at the first point, propagate the state to the |
| 2399 | // first intermediate point and start filling the Jacobian matrix |
| 2400 | CalcDerivAndJacobian(xy,dxy1,S,dEdx,J1,D1); |
| 2401 | S1=S+ds_2*D1; |
| 2402 | |
| 2403 | // Calculate the field at the first intermediate point |
| 2404 | double dz=S1(state_z)-S(state_z); |
| 2405 | double dx=ds_2*dxy1.X(); |
| 2406 | double dy=ds_2*dxy1.Y(); |
| 2407 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2408 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2409 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2410 | |
| 2411 | // Calculate the derivative and propagate the state to the next point |
| 2412 | CalcDeriv(dxy2,S1,dEdx,D2); |
| 2413 | S1=S+ds_2*D2; |
| 2414 | |
| 2415 | // Calculate the field at the second intermediate point |
| 2416 | dz=S1(state_z)-S(state_z); |
| 2417 | dx=ds_2*dxy2.X(); |
| 2418 | dy=ds_2*dxy2.Y(); |
| 2419 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2420 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2421 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2422 | |
| 2423 | // Calculate the derivative and propagate the state to the next point |
| 2424 | CalcDeriv(dxy3,S1,dEdx,D3); |
| 2425 | S1=S+ds*D3; |
| 2426 | |
| 2427 | // Calculate the field at the final point |
| 2428 | dz=S1(state_z)-S(state_z); |
| 2429 | dx=ds*dxy3.X(); |
| 2430 | dy=ds*dxy3.Y(); |
| 2431 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2432 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2433 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2434 | |
| 2435 | // Final derivative |
| 2436 | CalcDeriv(dxy4,S1,dEdx,D4); |
| 2437 | |
| 2438 | // Position vector increment |
| 2439 | //DVector3 dpos |
| 2440 | // =ds*(ONE_SIXTH*dpos1+ONE_THIRD*dpos2+ONE_THIRD*dpos3+ONE_SIXTH*dpos4); |
| 2441 | double ds_over_6=ds*ONE_SIXTH0.16666666666666667; |
| 2442 | double ds_over_3=ds*ONE_THIRD0.33333333333333333; |
| 2443 | DVector2 dxy=ds_over_6*dxy1; |
| 2444 | dxy+=ds_over_3*dxy2; |
| 2445 | dxy+=ds_over_3*dxy3; |
| 2446 | dxy+=ds_over_6*dxy4; |
| 2447 | |
| 2448 | // New Jacobian matrix |
| 2449 | J+=ds*J1; |
| 2450 | |
| 2451 | // Deal with changes in D |
| 2452 | double B=sqrt(Bx0*Bx0+By0*By0+Bz0*Bz0); |
| 2453 | //double qrc_old=qpt/(qBr2p*Bz_); |
| 2454 | double qpt=1./S(state_q_over_pt); |
| 2455 | double q=(qpt>0.)?1.:-1.; |
| 2456 | double qrc_old=qpt/(qBr2p0.003*B); |
| 2457 | double sinphi=sin(S(state_phi)); |
| 2458 | double cosphi=cos(S(state_phi)); |
| 2459 | double qrc_plus_D=S(state_D)+qrc_old; |
| 2460 | dx=dxy.X(); |
| 2461 | dy=dxy.Y(); |
| 2462 | double dx_sinphi_minus_dy_cosphi=dx*sinphi-dy*cosphi; |
| 2463 | double rc=sqrt(dxy.Mod2() |
| 2464 | +2.*qrc_plus_D*(dx_sinphi_minus_dy_cosphi) |
| 2465 | +qrc_plus_D*qrc_plus_D); |
| 2466 | double q_over_rc=q/rc; |
| 2467 | |
| 2468 | J(state_D,state_D)=q_over_rc*(dx_sinphi_minus_dy_cosphi+qrc_plus_D); |
| 2469 | J(state_D,state_q_over_pt)=qpt*qrc_old*(J(state_D,state_D)-1.); |
| 2470 | J(state_D,state_phi)=q_over_rc*qrc_plus_D*(dx*cosphi+dy*sinphi); |
| 2471 | |
| 2472 | // New xy vector |
| 2473 | xy+=dxy; |
| 2474 | |
| 2475 | // New state vector |
| 2476 | //S+=ds*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2477 | S+=ds_over_6*D1; |
| 2478 | S+=ds_over_3*D2; |
| 2479 | S+=ds_over_3*D3; |
| 2480 | S+=ds_over_6*D4; |
| 2481 | |
| 2482 | // Don't let the pt drop below some minimum |
| 2483 | //if (fabs(1./S(state_q_over_pt))<PT_MIN) { |
| 2484 | // S(state_q_over_pt)=(1./PT_MIN)*(S(state_q_over_pt)>0.0?1.:-1.); |
| 2485 | // } |
| 2486 | // Don't let tanl exceed some maximum |
| 2487 | if (fabs(S(state_tanl))>TAN_MAX10.){ |
| 2488 | S(state_tanl)=TAN_MAX10.*(S(state_tanl)>0.0?1.:-1.); |
| 2489 | } |
| 2490 | |
| 2491 | // New covariance matrix |
| 2492 | // C=J C J^T |
| 2493 | C=C.SandwichMultiply(J); |
| 2494 | |
| 2495 | return NOERROR; |
| 2496 | } |
| 2497 | |
| 2498 | // Runga-Kutte for alternate parameter set {q/pT,phi,tanl(lambda),D,z} |
| 2499 | // Uses the gradient to compute the field at the intermediate and last |
| 2500 | // points. |
| 2501 | jerror_t DTrackFitterKalmanSIMD::FasterStep(DVector2 &xy,double ds, |
| 2502 | DMatrix5x1 &S, |
| 2503 | double dEdx){ |
| 2504 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2505 | |
| 2506 | // Matrices for intermediate steps |
| 2507 | DMatrix5x1 D1,D2,D3,D4; |
| 2508 | DMatrix5x1 S1; |
| 2509 | DVector2 dxy1,dxy2,dxy3,dxy4; |
| 2510 | double ds_2=0.5*ds; |
| 2511 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2512 | |
| 2513 | // The magnetic field at the beginning of the step is assumed to be |
| 2514 | // obtained at the end of the previous step through StepJacobian |
| 2515 | |
| 2516 | // Calculate the derivative and propagate the state to the next point |
| 2517 | CalcDeriv(dxy1,S,dEdx,D1); |
| 2518 | S1=S+ds_2*D1; |
| 2519 | |
| 2520 | // Calculate the field at the first intermediate point |
| 2521 | double dz=S1(state_z)-S(state_z); |
| 2522 | double dx=ds_2*dxy1.X(); |
| 2523 | double dy=ds_2*dxy1.Y(); |
| 2524 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2525 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2526 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2527 | |
| 2528 | // Calculate the derivative and propagate the state to the next point |
| 2529 | CalcDeriv(dxy2,S1,dEdx,D2); |
| 2530 | S1=S+ds_2*D2; |
| 2531 | |
| 2532 | // Calculate the field at the second intermediate point |
| 2533 | dz=S1(state_z)-S(state_z); |
| 2534 | dx=ds_2*dxy2.X(); |
| 2535 | dy=ds_2*dxy2.Y(); |
| 2536 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2537 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2538 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2539 | |
| 2540 | // Calculate the derivative and propagate the state to the next point |
| 2541 | CalcDeriv(dxy3,S1,dEdx,D3); |
| 2542 | S1=S+ds*D3; |
| 2543 | |
| 2544 | // Calculate the field at the final point |
| 2545 | dz=S1(state_z)-S(state_z); |
| 2546 | dx=ds*dxy3.X(); |
| 2547 | dy=ds*dxy3.Y(); |
| 2548 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2549 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2550 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2551 | |
| 2552 | // Final derivative |
| 2553 | CalcDeriv(dxy4,S1,dEdx,D4); |
| 2554 | |
| 2555 | // New state vector |
| 2556 | // S+=ds*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2557 | double ds_over_6=ds*ONE_SIXTH0.16666666666666667; |
| 2558 | double ds_over_3=ds*ONE_THIRD0.33333333333333333; |
| 2559 | S+=ds_over_6*D1; |
| 2560 | S+=ds_over_3*D2; |
| 2561 | S+=ds_over_3*D3; |
| 2562 | S+=ds_over_6*D4; |
| 2563 | |
| 2564 | // New position |
| 2565 | //pos+=ds*(ONE_SIXTH*dpos1+ONE_THIRD*dpos2+ONE_THIRD*dpos3+ONE_SIXTH*dpos4); |
| 2566 | xy+=ds_over_6*dxy1; |
| 2567 | xy+=ds_over_3*dxy2; |
| 2568 | xy+=ds_over_3*dxy3; |
| 2569 | xy+=ds_over_6*dxy4; |
| 2570 | |
| 2571 | // Don't let the pt drop below some minimum |
| 2572 | //if (fabs(1./S(state_q_over_pt))<PT_MIN) { |
| 2573 | // S(state_q_over_pt)=(1./PT_MIN)*(S(state_q_over_pt)>0.0?1.:-1.); |
| 2574 | //} |
| 2575 | // Don't let tanl exceed some maximum |
| 2576 | if (fabs(S(state_tanl))>TAN_MAX10.){ |
| 2577 | S(state_tanl)=TAN_MAX10.*(S(state_tanl)>0.0?1.:-1.); |
| 2578 | } |
| 2579 | |
| 2580 | return NOERROR; |
| 2581 | } |
| 2582 | |
| 2583 | // Runga-Kutte for alternate parameter set {q/pT,phi,tanl(lambda),D,z} |
| 2584 | jerror_t DTrackFitterKalmanSIMD::Step(DVector2 &xy,double ds, |
| 2585 | DMatrix5x1 &S, |
| 2586 | double dEdx){ |
| 2587 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2588 | |
| 2589 | // B-field and gradient at current (x,y,z) |
| 2590 | bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2591 | dBxdx,dBxdy,dBxdz,dBydx, |
| 2592 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2593 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2594 | |
| 2595 | // Matrices for intermediate steps |
| 2596 | DMatrix5x1 D1,D2,D3,D4; |
| 2597 | DMatrix5x1 S1; |
| 2598 | DVector2 dxy1,dxy2,dxy3,dxy4; |
| 2599 | double ds_2=0.5*ds; |
| 2600 | |
| 2601 | // Find the derivative at the first point, propagate the state to the |
| 2602 | // first intermediate point |
| 2603 | CalcDeriv(dxy1,S,dEdx,D1); |
| 2604 | S1=S+ds_2*D1; |
| 2605 | |
| 2606 | // Calculate the field at the first intermediate point |
| 2607 | double dz=S1(state_z)-S(state_z); |
| 2608 | double dx=ds_2*dxy1.X(); |
| 2609 | double dy=ds_2*dxy1.Y(); |
| 2610 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2611 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2612 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2613 | |
| 2614 | // Calculate the derivative and propagate the state to the next point |
| 2615 | CalcDeriv(dxy2,S1,dEdx,D2); |
| 2616 | S1=S+ds_2*D2; |
| 2617 | |
| 2618 | // Calculate the field at the second intermediate point |
| 2619 | dz=S1(state_z)-S(state_z); |
| 2620 | dx=ds_2*dxy2.X(); |
| 2621 | dy=ds_2*dxy2.Y(); |
| 2622 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2623 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2624 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2625 | |
| 2626 | // Calculate the derivative and propagate the state to the next point |
| 2627 | CalcDeriv(dxy3,S1,dEdx,D3); |
| 2628 | S1=S+ds*D3; |
| 2629 | |
| 2630 | // Calculate the field at the final point |
| 2631 | dz=S1(state_z)-S(state_z); |
| 2632 | dx=ds*dxy3.X(); |
| 2633 | dy=ds*dxy3.Y(); |
| 2634 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2635 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2636 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2637 | |
| 2638 | // Final derivative |
| 2639 | CalcDeriv(dxy4,S1,dEdx,D4); |
| 2640 | |
| 2641 | // New state vector |
| 2642 | // S+=ds*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2643 | double ds_over_6=ds*ONE_SIXTH0.16666666666666667; |
| 2644 | double ds_over_3=ds*ONE_THIRD0.33333333333333333; |
| 2645 | S+=ds_over_6*D1; |
| 2646 | S+=ds_over_3*D2; |
| 2647 | S+=ds_over_3*D3; |
| 2648 | S+=ds_over_6*D4; |
| 2649 | |
| 2650 | // New position |
| 2651 | //pos+=ds*(ONE_SIXTH*dpos1+ONE_THIRD*dpos2+ONE_THIRD*dpos3+ONE_SIXTH*dpos4); |
| 2652 | xy+=ds_over_6*dxy1; |
| 2653 | xy+=ds_over_3*dxy2; |
| 2654 | xy+=ds_over_3*dxy3; |
| 2655 | xy+=ds_over_6*dxy4; |
| 2656 | |
| 2657 | // Don't let the pt drop below some minimum |
| 2658 | //if (fabs(1./S(state_q_over_pt))<PT_MIN) { |
| 2659 | // S(state_q_over_pt)=(1./PT_MIN)*(S(state_q_over_pt)>0.0?1.:-1.); |
| 2660 | //} |
| 2661 | // Don't let tanl exceed some maximum |
| 2662 | if (fabs(S(state_tanl))>TAN_MAX10.){ |
| 2663 | S(state_tanl)=TAN_MAX10.*(S(state_tanl)>0.0?1.:-1.); |
| 2664 | } |
| 2665 | |
| 2666 | return NOERROR; |
| 2667 | } |
| 2668 | |
| 2669 | |
| 2670 | // Calculate the jacobian matrix for the alternate parameter set |
| 2671 | // {q/pT,phi,tanl(lambda),D,z} |
| 2672 | jerror_t DTrackFitterKalmanSIMD::StepJacobian(const DVector2 &xy, |
| 2673 | const DVector2 &dxy, |
| 2674 | double ds,const DMatrix5x1 &S, |
| 2675 | double dEdx,DMatrix5x5 &J){ |
| 2676 | // Initialize the Jacobian matrix |
| 2677 | //J.Zero(); |
| 2678 | //for (int i=0;i<5;i++) J(i,i)=1.; |
| 2679 | J=I5x5; |
| 2680 | |
| 2681 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2682 | // B-field and gradient at current (x,y,z) |
| 2683 | //bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2684 | //dBxdx,dBxdy,dBxdz,dBydx, |
| 2685 | //dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2686 | |
| 2687 | // Charge |
| 2688 | double q=(S(state_q_over_pt)>0.0)?1.:-1.; |
| 2689 | |
| 2690 | //kinematic quantities |
| 2691 | double q_over_pt=S(state_q_over_pt); |
| 2692 | double sinphi=sin(S(state_phi)); |
| 2693 | double cosphi=cos(S(state_phi)); |
| 2694 | double D=S(state_D); |
| 2695 | double lambda=atan(S(state_tanl)); |
| 2696 | double sinl=sin(lambda); |
| 2697 | double cosl=cos(lambda); |
| 2698 | double cosl2=cosl*cosl; |
| 2699 | double cosl3=cosl*cosl2; |
| 2700 | double one_over_cosl=1./cosl; |
| 2701 | double pt=fabs(1./q_over_pt); |
| 2702 | |
| 2703 | // Turn off dEdx if pt drops below some minimum |
| 2704 | if (pt<PT_MIN0.01) { |
| 2705 | dEdx=0.; |
| 2706 | } |
| 2707 | double kds=qBr2p0.003*ds; |
| 2708 | double kq_ds_over_pt=kds*q_over_pt; |
| 2709 | double By_cosphi_minus_Bx_sinphi=By*cosphi-Bx*sinphi; |
| 2710 | double By_sinphi_plus_Bx_cosphi=By*sinphi+Bx*cosphi; |
| 2711 | |
| 2712 | // Jacobian matrix elements |
| 2713 | J(state_phi,state_phi)+=kq_ds_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2714 | J(state_phi,state_q_over_pt)=kds*(By_sinphi_plus_Bx_cosphi*sinl-Bz*cosl); |
| 2715 | J(state_phi,state_tanl)=kq_ds_over_pt*(By_sinphi_plus_Bx_cosphi*cosl |
| 2716 | +Bz*sinl)*cosl2; |
| 2717 | J(state_phi,state_z) |
| 2718 | =kq_ds_over_pt*(dBxdz*cosphi*sinl+dBydz*sinphi*sinl-dBzdz*cosl); |
| 2719 | |
| 2720 | J(state_tanl,state_phi)=-kq_ds_over_pt*By_sinphi_plus_Bx_cosphi*one_over_cosl; |
| 2721 | J(state_tanl,state_q_over_pt)=kds*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2722 | J(state_tanl,state_tanl)+=kq_ds_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2723 | J(state_tanl,state_z)=kq_ds_over_pt*(dBydz*cosphi-dBxdz*sinphi)*one_over_cosl; |
| 2724 | J(state_q_over_pt,state_phi) |
| 2725 | =-kq_ds_over_pt*q_over_pt*sinl*By_sinphi_plus_Bx_cosphi; |
| 2726 | J(state_q_over_pt,state_q_over_pt) |
| 2727 | +=2.*kq_ds_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2728 | J(state_q_over_pt,state_tanl) |
| 2729 | =kq_ds_over_pt*q_over_pt*cosl3*By_cosphi_minus_Bx_sinphi; |
| 2730 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2731 | double p=pt*one_over_cosl; |
| 2732 | double p_sq=p*p; |
| 2733 | double m2_over_p2=mass2/p_sq; |
| 2734 | double E=sqrt(p_sq+mass2); |
| 2735 | double dE_over_E=dEdx*ds/E; |
| 2736 | |
| 2737 | J(state_q_over_pt,state_q_over_pt)-=dE_over_E*(2.+3.*m2_over_p2); |
| 2738 | J(state_q_over_pt,state_tanl)+=q*dE_over_E*sinl*(1.+2.*m2_over_p2)/p; |
| 2739 | } |
| 2740 | J(state_q_over_pt,state_z) |
| 2741 | =kq_ds_over_pt*q_over_pt*sinl*(dBydz*cosphi-dBxdz*sinphi); |
| 2742 | J(state_z,state_tanl)=cosl3*ds; |
| 2743 | |
| 2744 | // Deal with changes in D |
| 2745 | double B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 2746 | //double qrc_old=qpt/(qBr2p*fabs(Bz)); |
| 2747 | double qpt=FactorForSenseOfRotation/q_over_pt; |
| 2748 | double qrc_old=qpt/(qBr2p0.003*B); |
| 2749 | double qrc_plus_D=D+qrc_old; |
| 2750 | double dx=dxy.X(); |
| 2751 | double dy=dxy.Y(); |
| 2752 | double dx_sinphi_minus_dy_cosphi=dx*sinphi-dy*cosphi; |
| 2753 | double rc=sqrt(dxy.Mod2() |
| 2754 | +2.*qrc_plus_D*(dx_sinphi_minus_dy_cosphi) |
| 2755 | +qrc_plus_D*qrc_plus_D); |
| 2756 | double q_over_rc=FactorForSenseOfRotation*q/rc; |
| 2757 | |
| 2758 | J(state_D,state_D)=q_over_rc*(dx_sinphi_minus_dy_cosphi+qrc_plus_D); |
| 2759 | J(state_D,state_q_over_pt)=qpt*qrc_old*(J(state_D,state_D)-1.); |
| 2760 | J(state_D,state_phi)=q_over_rc*qrc_plus_D*(dx*cosphi+dy*sinphi); |
| 2761 | |
| 2762 | return NOERROR; |
| 2763 | } |
| 2764 | |
| 2765 | |
| 2766 | |
| 2767 | |
| 2768 | // Runga-Kutte for alternate parameter set {q/pT,phi,tanl(lambda),D,z} |
| 2769 | jerror_t DTrackFitterKalmanSIMD::StepJacobian(const DVector2 &xy, |
| 2770 | double ds,const DMatrix5x1 &S, |
| 2771 | double dEdx,DMatrix5x5 &J){ |
| 2772 | // Initialize the Jacobian matrix |
| 2773 | //J.Zero(); |
| 2774 | //for (int i=0;i<5;i++) J(i,i)=1.; |
| 2775 | J=I5x5; |
| 2776 | |
| 2777 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2778 | |
| 2779 | // Matrices for intermediate steps |
| 2780 | DMatrix5x5 J1; |
| 2781 | DMatrix5x1 D1; |
| 2782 | DVector2 dxy1; |
| 2783 | |
| 2784 | // charge |
| 2785 | double q=(S(state_q_over_pt)>0.0)?1.:-1.; |
| 2786 | q*=FactorForSenseOfRotation; |
| 2787 | |
| 2788 | //kinematic quantities |
| 2789 | double qpt=1./S(state_q_over_pt) * FactorForSenseOfRotation; |
| 2790 | double sinphi=sin(S(state_phi)); |
| 2791 | double cosphi=cos(S(state_phi)); |
| 2792 | double D=S(state_D); |
| 2793 | |
| 2794 | CalcDerivAndJacobian(xy,dxy1,S,dEdx,J1,D1); |
| 2795 | // double Bz_=fabs(Bz); // needed for computing D |
| 2796 | |
| 2797 | // New Jacobian matrix |
| 2798 | J+=ds*J1; |
| 2799 | |
| 2800 | // change in position |
| 2801 | DVector2 dxy =ds*dxy1; |
| 2802 | |
| 2803 | // Deal with changes in D |
| 2804 | double B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 2805 | //double qrc_old=qpt/(qBr2p*Bz_); |
| 2806 | double qrc_old=qpt/(qBr2p0.003*B); |
| 2807 | double qrc_plus_D=D+qrc_old; |
| 2808 | double dx=dxy.X(); |
| 2809 | double dy=dxy.Y(); |
| 2810 | double dx_sinphi_minus_dy_cosphi=dx*sinphi-dy*cosphi; |
| 2811 | double rc=sqrt(dxy.Mod2() |
| 2812 | +2.*qrc_plus_D*(dx_sinphi_minus_dy_cosphi) |
| 2813 | +qrc_plus_D*qrc_plus_D); |
| 2814 | double q_over_rc=q/rc; |
| 2815 | |
| 2816 | J(state_D,state_D)=q_over_rc*(dx_sinphi_minus_dy_cosphi+qrc_plus_D); |
| 2817 | J(state_D,state_q_over_pt)=qpt*qrc_old*(J(state_D,state_D)-1.); |
| 2818 | J(state_D,state_phi)=q_over_rc*qrc_plus_D*(dx*cosphi+dy*sinphi); |
| 2819 | |
| 2820 | return NOERROR; |
| 2821 | } |
| 2822 | |
| 2823 | // Compute contributions to the covariance matrix due to multiple scattering |
| 2824 | // using the Lynch/Dahl empirical formulas |
| 2825 | jerror_t DTrackFitterKalmanSIMD::GetProcessNoiseCentral(double ds, |
| 2826 | double chi2c_factor, |
| 2827 | double chi2a_factor, |
| 2828 | double chi2a_corr, |
| 2829 | const DMatrix5x1 &Sc, |
| 2830 | DMatrix5x5 &Q){ |
| 2831 | Q.Zero(); |
| 2832 | //return NOERROR; |
| 2833 | if (USE_MULS_COVARIANCE && chi2c_factor>0. && fabs(ds)>EPS3.0e-8){ |
| 2834 | double tanl=Sc(state_tanl); |
| 2835 | double tanl2=tanl*tanl; |
| 2836 | double one_plus_tanl2=1.+tanl2; |
| 2837 | double one_over_pt=fabs(Sc(state_q_over_pt)); |
| 2838 | double my_ds=fabs(ds); |
| 2839 | double my_ds_2=0.5*my_ds; |
| 2840 | |
| 2841 | Q(state_phi,state_phi)=one_plus_tanl2; |
| 2842 | Q(state_tanl,state_tanl)=one_plus_tanl2*one_plus_tanl2; |
| 2843 | Q(state_q_over_pt,state_q_over_pt)=one_over_pt*one_over_pt*tanl2; |
| 2844 | Q(state_q_over_pt,state_tanl)=Q(state_tanl,state_q_over_pt) |
| 2845 | =Sc(state_q_over_pt)*tanl*one_plus_tanl2; |
| 2846 | Q(state_D,state_D)=ONE_THIRD0.33333333333333333*ds*ds; |
| 2847 | |
| 2848 | // I am not sure the following is correct... |
| 2849 | double sign_D=(Sc(state_D)>0.0)?1.:-1.; |
| 2850 | Q(state_D,state_phi)=Q(state_phi,state_D)=sign_D*my_ds_2*sqrt(one_plus_tanl2); |
| 2851 | Q(state_D,state_tanl)=Q(state_tanl,state_D)=sign_D*my_ds_2*one_plus_tanl2; |
| 2852 | Q(state_D,state_q_over_pt)=Q(state_q_over_pt,state_D)=sign_D*my_ds_2*tanl*Sc(state_q_over_pt); |
| 2853 | |
| 2854 | double one_over_p_sq=one_over_pt*one_over_pt/one_plus_tanl2; |
| 2855 | double one_over_beta2=1.+mass2*one_over_p_sq; |
| 2856 | double chi2c_p_sq=chi2c_factor*my_ds*one_over_beta2; |
| 2857 | double chi2a_p_sq=chi2a_factor*(1.+chi2a_corr*one_over_beta2); |
| 2858 | // F=Fraction of Moliere distribution to be taken into account |
| 2859 | // nu=0.5*chi2c/(chi2a*(1.-F)); |
| 2860 | double nu=MOLIERE_RATIO15.0*chi2c_p_sq/chi2a_p_sq; |
| 2861 | double one_plus_nu=1.+nu; |
| 2862 | // sig2_ms=chi2c*1e-6/(1.+F*F)*((one_plus_nu)/nu*log(one_plus_nu)-1.); |
| 2863 | double sig2_ms=chi2c_p_sq*one_over_p_sq*MOLIERE_RATIO311.0e-7 |
| 2864 | *(one_plus_nu/nu*log(one_plus_nu)-1.); |
| 2865 | |
| 2866 | Q*=sig2_ms; |
| 2867 | } |
| 2868 | |
| 2869 | return NOERROR; |
| 2870 | } |
| 2871 | |
| 2872 | // Compute contributions to the covariance matrix due to multiple scattering |
| 2873 | // using the Lynch/Dahl empirical formulas |
| 2874 | jerror_t DTrackFitterKalmanSIMD::GetProcessNoise(double ds, |
| 2875 | double chi2c_factor, |
| 2876 | double chi2a_factor, |
| 2877 | double chi2a_corr, |
| 2878 | const DMatrix5x1 &S, |
| 2879 | DMatrix5x5 &Q){ |
| 2880 | |
| 2881 | Q.Zero(); |
| 2882 | //return NOERROR; |
| 2883 | if (USE_MULS_COVARIANCE && chi2c_factor>0. && fabs(ds)>EPS3.0e-8){ |
| 2884 | double tx=S(state_tx),ty=S(state_ty); |
| 2885 | double one_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 2886 | double my_ds=fabs(ds); |
| 2887 | double my_ds_2=0.5*my_ds; |
| 2888 | double tx2=tx*tx; |
| 2889 | double ty2=ty*ty; |
| 2890 | double one_plus_tx2=1.+tx2; |
| 2891 | double one_plus_ty2=1.+ty2; |
| 2892 | double tsquare=tx2+ty2; |
| 2893 | double one_plus_tsquare=1.+tsquare; |
| 2894 | |
| 2895 | Q(state_tx,state_tx)=one_plus_tx2*one_plus_tsquare; |
| 2896 | Q(state_ty,state_ty)=one_plus_ty2*one_plus_tsquare; |
| 2897 | Q(state_tx,state_ty)=Q(state_ty,state_tx)=tx*ty*one_plus_tsquare; |
| 2898 | |
| 2899 | Q(state_x,state_x)=ONE_THIRD0.33333333333333333*ds*ds; |
| 2900 | Q(state_y,state_y)=Q(state_x,state_x); |
| 2901 | Q(state_y,state_ty)=Q(state_ty,state_y) |
| 2902 | = my_ds_2*sqrt(one_plus_tsquare*one_plus_ty2); |
| 2903 | Q(state_x,state_tx)=Q(state_tx,state_x) |
| 2904 | = my_ds_2*sqrt(one_plus_tsquare*one_plus_tx2); |
| 2905 | |
| 2906 | double one_over_beta2=1.+one_over_p_sq*mass2; |
| 2907 | double chi2c_p_sq=chi2c_factor*my_ds*one_over_beta2; |
| 2908 | double chi2a_p_sq=chi2a_factor*(1.+chi2a_corr*one_over_beta2); |
| 2909 | // F=MOLIERE_FRACTION =Fraction of Moliere distribution to be taken into account |
| 2910 | // nu=0.5*chi2c/(chi2a*(1.-F)); |
| 2911 | double nu=MOLIERE_RATIO15.0*chi2c_p_sq/chi2a_p_sq; |
| 2912 | double one_plus_nu=1.+nu; |
| 2913 | double sig2_ms=chi2c_p_sq*one_over_p_sq*MOLIERE_RATIO211.0e-7 |
| 2914 | *(one_plus_nu/nu*log(one_plus_nu)-1.); |
| 2915 | |
| 2916 | |
| 2917 | // printf("fac %f %f %f\n",chi2c_factor,chi2a_factor,chi2a_corr); |
| 2918 | //printf("omega %f\n",chi2c/chi2a); |
| 2919 | |
| 2920 | |
| 2921 | Q*=sig2_ms; |
| 2922 | } |
| 2923 | |
| 2924 | return NOERROR; |
| 2925 | } |
| 2926 | |
| 2927 | // Calculate the energy loss per unit length given properties of the material |
| 2928 | // through which a particle of momentum p is passing |
| 2929 | double DTrackFitterKalmanSIMD::GetdEdx(double q_over_p,double K_rho_Z_over_A, |
| 2930 | double rho_Z_over_A,double LnI){ |
| 2931 | if (rho_Z_over_A<=0.) return 0.; |
| 2932 | //return 0.; |
| 2933 | |
| 2934 | double p=fabs(1./q_over_p); |
| 2935 | double betagamma=p/MASS; |
| 2936 | double betagamma2=betagamma*betagamma; |
| 2937 | double gamma2=1.+betagamma2; |
| 2938 | double beta2=betagamma2/gamma2; |
| 2939 | if (beta2<EPS3.0e-8) beta2=EPS3.0e-8; |
| 2940 | |
| 2941 | double two_Me_betagamma_sq=two_m_e*betagamma2; |
| 2942 | double Tmax |
| 2943 | =two_Me_betagamma_sq/(1.+2.*sqrt(gamma2)*m_ratio+m_ratio_sq); |
| 2944 | |
| 2945 | // density effect |
| 2946 | double delta=CalcDensityEffect(betagamma,rho_Z_over_A,LnI); |
| 2947 | |
| 2948 | return K_rho_Z_over_A/beta2*(-log(two_Me_betagamma_sq*Tmax) |
| 2949 | +2.*(LnI + beta2)+delta); |
| 2950 | } |
| 2951 | |
| 2952 | // Calculate the variance in the energy loss in a Gaussian approximation. |
| 2953 | // The standard deviation of the energy loss distribution is |
| 2954 | // approximated by sigma=(scale factor) x Xi, where |
| 2955 | // Xi=0.1535*density*(Z/A)*x/beta^2 [MeV] |
| 2956 | inline double DTrackFitterKalmanSIMD::GetEnergyVariance(double ds, |
| 2957 | double one_over_beta2, |
| 2958 | double K_rho_Z_over_A){ |
| 2959 | if (K_rho_Z_over_A<=0.) return 0.; |
| 2960 | //return 0; |
| 2961 | |
| 2962 | double sigma=10.0*K_rho_Z_over_A*one_over_beta2*ds; |
| 2963 | |
| 2964 | return sigma*sigma; |
| 2965 | } |
| 2966 | |
| 2967 | // Interface routine for Kalman filter |
| 2968 | jerror_t DTrackFitterKalmanSIMD::KalmanLoop(void){ |
| 2969 | if (z_<Z_MIN-100.) return VALUE_OUT_OF_RANGE; |
| 2970 | |
| 2971 | // Vector to store the list of hits used in the fit for the forward parametrization |
| 2972 | vector<const DCDCTrackHit*>forward_cdc_used_in_fit; |
| 2973 | |
| 2974 | // State vector and initial guess for covariance matrix |
| 2975 | DMatrix5x1 S0; |
| 2976 | DMatrix5x5 C0; |
| 2977 | |
| 2978 | chisq_=MAX_CHI21e16; |
| 2979 | |
| 2980 | // Angle with respect to beam line |
| 2981 | double theta_deg=(180/M_PI3.14159265358979323846)*input_params.momentum().Theta(); |
| 2982 | //double theta_deg_sq=theta_deg*theta_deg; |
| 2983 | double tanl0=tanl_=tan(M_PI_21.57079632679489661923-input_params.momentum().Theta()); |
| 2984 | |
| 2985 | // Azimuthal angle |
| 2986 | double phi0=phi_=input_params.momentum().Phi(); |
| 2987 | |
| 2988 | // Guess for momentum error |
| 2989 | double dpt_over_pt=0.1; |
| 2990 | /* |
| 2991 | if (theta_deg<15){ |
| 2992 | dpt_over_pt=0.107-0.0178*theta_deg+0.000966*theta_deg_sq; |
| 2993 | } |
| 2994 | else { |
| 2995 | dpt_over_pt=0.0288+0.00579*theta_deg-2.77e-5*theta_deg_sq; |
| 2996 | } |
| 2997 | */ |
| 2998 | /* |
| 2999 | if (theta_deg<28.){ |
| 3000 | theta_deg=28.; |
| 3001 | theta_deg_sq=theta_deg*theta_deg; |
| 3002 | } |
| 3003 | else if (theta_deg>125.){ |
| 3004 | theta_deg=125.; |
| 3005 | theta_deg_sq=theta_deg*theta_deg; |
| 3006 | } |
| 3007 | */ |
| 3008 | double sig_lambda=0.01; |
| 3009 | double dp_over_p_sq |
| 3010 | =dpt_over_pt*dpt_over_pt+tanl_*tanl_*sig_lambda*sig_lambda; |
| 3011 | |
| 3012 | // Input charge |
| 3013 | double q=input_params.charge(); |
| 3014 | |
| 3015 | // Input momentum |
| 3016 | DVector3 pvec=input_params.momentum(); |
| 3017 | double p_mag=pvec.Mag(); |
| 3018 | if (MASS>0.9 && p_mag<MIN_PROTON_P0.3){ |
| 3019 | pvec.SetMag(MIN_PROTON_P0.3); |
| 3020 | p_mag=MIN_PROTON_P0.3; |
| 3021 | } |
| 3022 | else if (MASS<0.9 && p_mag<MIN_PION_P0.08){ |
| 3023 | pvec.SetMag(MIN_PION_P0.08); |
| 3024 | p_mag=MIN_PION_P0.08; |
| 3025 | } |
| 3026 | if (p_mag>MAX_P12.0){ |
| 3027 | pvec.SetMag(MAX_P12.0); |
| 3028 | p_mag=MAX_P12.0; |
| 3029 | } |
| 3030 | double pz=pvec.z(); |
| 3031 | double q_over_p0=q_over_p_=q/p_mag; |
| 3032 | double q_over_pt0=q_over_pt_=q/pvec.Perp(); |
| 3033 | |
| 3034 | // Initial position |
| 3035 | double x0=x_=input_params.position().x(); |
| 3036 | double y0=y_=input_params.position().y(); |
| 3037 | double z0=z_=input_params.position().z(); |
| 3038 | |
| 3039 | // Check integrity of input parameters |
| 3040 | if (!isfinite(x0) || !isfinite(y0) || !isfinite(q_over_p0)){ |
| 3041 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3041<<" " << "Invalid input parameters!" <<endl; |
| 3042 | return UNRECOVERABLE_ERROR; |
| 3043 | } |
| 3044 | |
| 3045 | // Initial direction tangents |
| 3046 | double tx0=tx_=pvec.x()/pz; |
| 3047 | double ty0=ty_=pvec.y()/pz; |
| 3048 | double one_plus_tsquare=1.+tx_*tx_+ty_*ty_; |
| 3049 | |
| 3050 | // deal with hits in FDC |
| 3051 | double fdc_prob=0.,fdc_chisq=1e16; |
| 3052 | unsigned int fdc_ndf=0; |
| 3053 | if (my_fdchits.size()>0 |
| 3054 | && // Make sure that these parameters are valid for forward-going tracks |
| 3055 | (isfinite(tx0) && isfinite(ty0)) |
| 3056 | ){ |
| 3057 | if (DEBUG_LEVEL>0){ |
| 3058 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3058<<" " << "Using forward parameterization." <<endl; |
| 3059 | } |
| 3060 | |
| 3061 | // Initial guess for the state vector |
| 3062 | S0(state_x)=x_; |
| 3063 | S0(state_y)=y_; |
| 3064 | S0(state_tx)=tx_; |
| 3065 | S0(state_ty)=ty_; |
| 3066 | S0(state_q_over_p)=q_over_p_; |
| 3067 | |
| 3068 | // Initial guess for forward representation covariance matrix |
| 3069 | C0(state_x,state_x)=2.0; |
| 3070 | C0(state_y,state_y)=2.0; |
| 3071 | C0(state_tx,state_tx)=0.001; |
| 3072 | C0(state_ty,state_ty)=0.001; |
| 3073 | if (theta_deg>12.35) |
| 3074 | { |
| 3075 | double temp=sig_lambda*one_plus_tsquare; |
| 3076 | C0(state_tx,state_tx)=C0(state_ty,state_ty)=temp*temp; |
| 3077 | } |
| 3078 | C0(state_q_over_p,state_q_over_p)=dp_over_p_sq*q_over_p_*q_over_p_; |
| 3079 | |
| 3080 | // The position from the track candidate is reported just outside the |
| 3081 | // start counter for tracks containing cdc hits. Propagate to the distance |
| 3082 | // of closest approach to the beam line |
| 3083 | if (fit_type==kWireBased) ExtrapolateToVertex(S0); |
| 3084 | |
| 3085 | kalman_error_t error=ForwardFit(S0,C0); |
| 3086 | if (error!=FIT_FAILED){ |
| 3087 | if (my_cdchits.size()<6){ |
| 3088 | if (ndf_==0) return UNRECOVERABLE_ERROR; |
| 3089 | return NOERROR; |
| 3090 | } |
| 3091 | fdc_prob=TMath::Prob(chisq_,ndf_); |
| 3092 | if (fdc_prob>0.001 && error==FIT_SUCCEEDED) return NOERROR; |
| 3093 | fdc_ndf=ndf_; |
| 3094 | fdc_chisq=chisq_; |
| 3095 | } |
| 3096 | if (my_cdchits.size()<6) return UNRECOVERABLE_ERROR; |
| 3097 | } |
| 3098 | |
| 3099 | // Deal with hits in the CDC |
| 3100 | if (my_cdchits.size()>5){ |
| 3101 | kalman_error_t error=FIT_NOT_DONE; |
| 3102 | kalman_error_t cdc_error=FIT_NOT_DONE; |
| 3103 | |
| 3104 | // Chi-squared, degrees of freedom, and probability |
| 3105 | double forward_prob=0.; |
| 3106 | double chisq_forward=MAX_CHI21e16; |
| 3107 | unsigned int ndof_forward=0; |
| 3108 | |
| 3109 | // Parameters at "vertex" |
| 3110 | double D=D_,phi=phi_,q_over_pt=q_over_pt_,tanl=tanl_,x=x_,y=y_,z=z_; |
| 3111 | |
| 3112 | // Use forward parameters for CDC-only tracks with theta<THETA_CUT degrees |
| 3113 | if (theta_deg<THETA_CUT){ |
| 3114 | if (DEBUG_LEVEL>0){ |
| 3115 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3115<<" " << "Using forward parameterization." <<endl; |
| 3116 | } |
| 3117 | |
| 3118 | // Step size |
| 3119 | mStepSizeS=mCentralStepSize; |
| 3120 | |
| 3121 | // Initialize the state vector |
| 3122 | S0(state_x)=x_=x0; |
| 3123 | S0(state_y)=y_=y0; |
| 3124 | S0(state_tx)=tx_=tx0; |
| 3125 | S0(state_ty)=ty_=ty0; |
| 3126 | S0(state_q_over_p)=q_over_p_=q_over_p0; |
| 3127 | z_=z0; |
| 3128 | |
| 3129 | // Initial guess for forward representation covariance matrix |
| 3130 | double temp=sig_lambda*one_plus_tsquare; |
| 3131 | C0(state_x,state_x)=4.0; |
| 3132 | C0(state_y,state_y)=4.0; |
| 3133 | C0(state_tx,state_tx)=C0(state_ty,state_ty)=temp*temp; |
| 3134 | C0(state_q_over_p,state_q_over_p)=dp_over_p_sq*q_over_p_*q_over_p_; |
| 3135 | |
| 3136 | //C0*=1.+1./tsquare; |
| 3137 | |
| 3138 | // The position from the track candidate is reported just outside the |
| 3139 | // start counter for tracks containing cdc hits. Propagate to the |
| 3140 | // distance of closest approach to the beam line |
| 3141 | if (fit_type==kWireBased) ExtrapolateToVertex(S0); |
| 3142 | |
| 3143 | error=ForwardCDCFit(S0,C0); |
| 3144 | |
| 3145 | if (error!=FIT_FAILED){ |
| 3146 | // Find the CL of the fit |
| 3147 | forward_prob=TMath::Prob(chisq_,ndf_); |
| 3148 | if (my_fdchits.size()>0){ |
| 3149 | if (forward_prob>fdc_prob){ |
| 3150 | // We did not end up using the fdc hits after all... |
| 3151 | fdchits_used_in_fit.clear(); |
| 3152 | } |
| 3153 | else{ |
| 3154 | chisq_=fdc_chisq; |
| 3155 | ndf_=fdc_ndf; |
| 3156 | D_=D; |
| 3157 | x_=x; |
| 3158 | y_=y; |
| 3159 | z_=z; |
| 3160 | phi_=phi; |
| 3161 | tanl_=tanl; |
| 3162 | q_over_pt_=q_over_pt; |
| 3163 | |
| 3164 | // _DBG_ << endl; |
| 3165 | return NOERROR; |
| 3166 | } |
| 3167 | } |
| 3168 | if (forward_prob>0.001 |
| 3169 | && error==FIT_SUCCEEDED) return NOERROR; |
| 3170 | |
| 3171 | // Save the best values for the parameters and chi2 for now |
| 3172 | chisq_forward=chisq_; |
| 3173 | ndof_forward=ndf_; |
| 3174 | D=D_; |
| 3175 | x=x_; |
| 3176 | y=y_; |
| 3177 | z=z_; |
| 3178 | phi=phi_; |
| 3179 | tanl=tanl_; |
| 3180 | q_over_pt=q_over_pt_; |
| 3181 | |
| 3182 | // Save the list of hits used in the fit |
| 3183 | forward_cdc_used_in_fit.assign(cdchits_used_in_fit.begin(),cdchits_used_in_fit.end()); |
| 3184 | |
| 3185 | } |
| 3186 | } |
| 3187 | |
| 3188 | // Attempt to fit the track using the central parametrization. |
| 3189 | if (DEBUG_LEVEL>0){ |
| 3190 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3190<<" " << "Using central parameterization." <<endl; |
| 3191 | } |
| 3192 | |
| 3193 | // Step size |
| 3194 | mStepSizeS=mCentralStepSize; |
| 3195 | |
| 3196 | // Initialize the state vector |
| 3197 | S0(state_q_over_pt)=q_over_pt_=q_over_pt0; |
| 3198 | S0(state_phi)=phi_=phi0; |
| 3199 | S0(state_tanl)=tanl_=tanl0; |
| 3200 | S0(state_z)=z_=z0; |
| 3201 | S0(state_D)=D_=0.; |
| 3202 | |
| 3203 | // Initialize the covariance matrix |
| 3204 | double dz=1.0; |
| 3205 | C0(state_z,state_z)=dz*dz; |
| 3206 | C0(state_q_over_pt,state_q_over_pt) |
| 3207 | =q_over_pt_*q_over_pt_*dpt_over_pt*dpt_over_pt; |
| 3208 | double dphi=0.02; |
| 3209 | C0(state_phi,state_phi)=dphi*dphi; |
| 3210 | C0(state_D,state_D)=1.0; |
| 3211 | double tanl2=tanl_*tanl_; |
| 3212 | double one_plus_tanl2=1.+tanl2; |
| 3213 | C0(state_tanl,state_tanl)=(one_plus_tanl2)*(one_plus_tanl2) |
| 3214 | *sig_lambda*sig_lambda; |
| 3215 | |
| 3216 | //if (theta_deg>90.) C0*=1.+5.*tanl2; |
| 3217 | //else C0*=1.+5.*tanl2*tanl2; |
| 3218 | |
| 3219 | // The position from the track candidate is reported just outside the |
| 3220 | // start counter for tracks containing cdc hits. Propagate to the |
| 3221 | // distance of closest approach to the beam line |
| 3222 | DVector2 xy(x0,y0); |
| 3223 | if (fit_type==kWireBased){ |
| 3224 | ExtrapolateToVertex(xy,S0); |
| 3225 | } |
| 3226 | |
| 3227 | cdc_error=CentralFit(xy,S0,C0); |
| 3228 | if (cdc_error==FIT_SUCCEEDED){ |
| 3229 | // if the result of the fit using the forward parameterization succeeded |
| 3230 | // but the chi2 was too high, it still may provide the best estimate for |
| 3231 | // the track parameters... |
| 3232 | double central_prob=TMath::Prob(chisq_,ndf_); |
| 3233 | |
| 3234 | if (central_prob<forward_prob){ |
| 3235 | phi_=phi; |
| 3236 | q_over_pt_=q_over_pt; |
| 3237 | tanl_=tanl; |
| 3238 | D_=D; |
| 3239 | x_=x; |
| 3240 | y_=y; |
| 3241 | z_=z; |
| 3242 | chisq_=chisq_forward; |
| 3243 | ndf_= ndof_forward; |
| 3244 | |
| 3245 | cdchits_used_in_fit.assign(forward_cdc_used_in_fit.begin(),forward_cdc_used_in_fit.end()); |
| 3246 | |
| 3247 | // We did not end up using any fdc hits... |
| 3248 | fdchits_used_in_fit.clear(); |
| 3249 | |
| 3250 | } |
| 3251 | return NOERROR; |
| 3252 | |
| 3253 | } |
| 3254 | // otherwise if the fit using the forward parametrization worked, return that |
| 3255 | else if (error==FIT_SUCCEEDED || error==LOW_CL_FIT){ |
| 3256 | phi_=phi; |
| 3257 | q_over_pt_=q_over_pt; |
| 3258 | tanl_=tanl; |
| 3259 | D_=D; |
| 3260 | x_=x; |
| 3261 | y_=y; |
| 3262 | z_=z; |
| 3263 | chisq_=chisq_forward; |
| 3264 | ndf_= ndof_forward; |
| 3265 | |
| 3266 | cdchits_used_in_fit.assign(forward_cdc_used_in_fit.begin(),forward_cdc_used_in_fit.end()); |
| 3267 | |
| 3268 | // We did not end up using any fdc hits... |
| 3269 | fdchits_used_in_fit.clear(); |
| 3270 | |
| 3271 | return NOERROR; |
| 3272 | } |
| 3273 | else return UNRECOVERABLE_ERROR; |
| 3274 | } |
| 3275 | |
| 3276 | if (ndf_==0) return UNRECOVERABLE_ERROR; |
| 3277 | |
| 3278 | return NOERROR; |
| 3279 | } |
| 3280 | |
| 3281 | #define ITMAX20 20 |
| 3282 | #define CGOLD0.3819660 0.3819660 |
| 3283 | #define ZEPS1.0e-10 1.0e-10 |
| 3284 | #define SHFT(a,b,c,d)(a)=(b);(b)=(c);(c)=(d); (a)=(b);(b)=(c);(c)=(d); |
| 3285 | #define SIGN(a,b)((b)>=0.0?fabs(a):-fabs(a)) ((b)>=0.0?fabs(a):-fabs(a)) |
| 3286 | // Routine for finding the minimum of a function bracketed between two values |
| 3287 | // (see Numerical Recipes in C, pp. 404-405). |
| 3288 | jerror_t DTrackFitterKalmanSIMD::BrentsAlgorithm(double ds1,double ds2, |
| 3289 | double dedx,DVector2 &pos, |
| 3290 | const double z0wire, |
| 3291 | const DVector2 &origin, |
| 3292 | const DVector2 &dir, |
| 3293 | DMatrix5x1 &Sc, |
| 3294 | double &ds_out){ |
| 3295 | double d=0.; |
| 3296 | double e=0.0; // will be distance moved on step before last |
| 3297 | double ax=0.; |
| 3298 | double bx=-ds1; |
| 3299 | double cx=-ds1-ds2; |
| 3300 | |
| 3301 | double a=(ax<cx?ax:cx); |
| 3302 | double b=(ax>cx?ax:cx); |
| 3303 | double x=bx,w=bx,v=bx; |
| 3304 | |
| 3305 | // printf("ds1 %f ds2 %f\n",ds1,ds2); |
| 3306 | // Initialize return step size |
| 3307 | ds_out=0.; |
| 3308 | |
| 3309 | // Save the starting position |
| 3310 | // DVector3 pos0=pos; |
| 3311 | // DMatrix S0(Sc); |
| 3312 | |
| 3313 | // Step to intermediate point |
| 3314 | Step(pos,x,Sc,dedx); |
| 3315 | // Bail if the transverse momentum has dropped below some minimum |
| 3316 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3317 | if (DEBUG_LEVEL>2) |
| 3318 | { |
| 3319 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3319<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3320 | << endl; |
| 3321 | } |
| 3322 | return VALUE_OUT_OF_RANGE; |
| 3323 | } |
| 3324 | |
| 3325 | DVector2 wirepos=origin+(Sc(state_z)-z0wire)*dir; |
| 3326 | double u_old=x; |
| 3327 | double u=0.; |
| 3328 | |
| 3329 | // initialization |
| 3330 | double fw=(pos-wirepos).Mod2(); |
| 3331 | double fv=fw,fx=fw; |
| 3332 | |
| 3333 | // main loop |
| 3334 | for (unsigned int iter=1;iter<=ITMAX20;iter++){ |
| 3335 | double xm=0.5*(a+b); |
| 3336 | double tol1=EPS21.e-4*fabs(x)+ZEPS1.0e-10; |
| 3337 | double tol2=2.0*tol1; |
| 3338 | |
| 3339 | if (fabs(x-xm)<=(tol2-0.5*(b-a))){ |
| 3340 | if (Sc(state_z)<=cdc_origin[2]){ |
| 3341 | unsigned int iter2=0; |
| 3342 | double ds_temp=0.; |
| 3343 | while (fabs(Sc(state_z)-cdc_origin[2])>EPS21.e-4 && iter2<20){ |
| 3344 | u=x-(cdc_origin[2]-Sc(state_z))*sin(atan(Sc(state_tanl))); |
| 3345 | x=u; |
| 3346 | ds_temp+=u_old-u; |
| 3347 | // Bail if the transverse momentum has dropped below some minimum |
| 3348 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3349 | if (DEBUG_LEVEL>2) |
| 3350 | { |
| 3351 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3351<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3352 | << endl; |
| 3353 | } |
| 3354 | return VALUE_OUT_OF_RANGE; |
| 3355 | } |
| 3356 | |
| 3357 | // Function evaluation |
| 3358 | Step(pos,u_old-u,Sc,dedx); |
| 3359 | u_old=u; |
| 3360 | iter2++; |
| 3361 | } |
| 3362 | //printf("new z %f ds %f \n",pos.z(),x); |
| 3363 | ds_out=ds_temp; |
| 3364 | return NOERROR; |
| 3365 | } |
| 3366 | else if (Sc(state_z)>=endplate_z){ |
| 3367 | unsigned int iter2=0; |
| 3368 | double ds_temp=0.; |
| 3369 | while (fabs(Sc(state_z)-endplate_z)>EPS21.e-4 && iter2<20){ |
| 3370 | u=x-(endplate_z-Sc(state_z))*sin(atan(Sc(state_tanl))); |
| 3371 | x=u; |
| 3372 | ds_temp+=u_old-u; |
| 3373 | |
| 3374 | // Bail if the transverse momentum has dropped below some minimum |
| 3375 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3376 | if (DEBUG_LEVEL>2) |
| 3377 | { |
| 3378 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3378<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3379 | << endl; |
| 3380 | } |
| 3381 | return VALUE_OUT_OF_RANGE; |
| 3382 | } |
| 3383 | |
| 3384 | // Function evaluation |
| 3385 | Step(pos,u_old-u,Sc,dedx); |
| 3386 | u_old=u; |
| 3387 | iter2++; |
| 3388 | } |
| 3389 | //printf("new z %f ds %f \n",pos.z(),x); |
| 3390 | ds_out=ds_temp; |
| 3391 | return NOERROR; |
| 3392 | } |
| 3393 | ds_out=cx-x; |
| 3394 | return NOERROR; |
| 3395 | } |
| 3396 | // trial parabolic fit |
| 3397 | if (fabs(e)>tol1){ |
| 3398 | double x_minus_w=x-w; |
| 3399 | double x_minus_v=x-v; |
| 3400 | double r=x_minus_w*(fx-fv); |
| 3401 | double q=x_minus_v*(fx-fw); |
| 3402 | double p=x_minus_v*q-x_minus_w*r; |
| 3403 | q=2.0*(q-r); |
| 3404 | if (q>0.0) p=-p; |
| 3405 | q=fabs(q); |
| 3406 | double etemp=e; |
| 3407 | e=d; |
| 3408 | if (fabs(p)>=fabs(0.5*q*etemp) || p<=q*(a-x) || p>=q*(b-x)) |
| 3409 | // fall back on the Golden Section technique |
| 3410 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3411 | else{ |
| 3412 | // parabolic step |
| 3413 | d=p/q; |
| 3414 | u=x+d; |
| 3415 | if (u-a<tol2 || b-u <tol2) |
| 3416 | d=SIGN(tol1,xm-x)((xm-x)>=0.0?fabs(tol1):-fabs(tol1)); |
| 3417 | } |
| 3418 | } else{ |
| 3419 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3420 | } |
| 3421 | u=(fabs(d)>=tol1 ? x+d: x+SIGN(tol1,d)((d)>=0.0?fabs(tol1):-fabs(tol1))); |
| 3422 | |
| 3423 | // Bail if the transverse momentum has dropped below some minimum |
| 3424 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3425 | if (DEBUG_LEVEL>2) |
| 3426 | { |
| 3427 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3427<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3428 | << endl; |
| 3429 | } |
| 3430 | return VALUE_OUT_OF_RANGE; |
| 3431 | } |
| 3432 | |
| 3433 | // Function evaluation |
| 3434 | Step(pos,u_old-u,Sc,dedx); |
| 3435 | u_old=u; |
| 3436 | |
| 3437 | wirepos=origin; |
| 3438 | wirepos+=(Sc(state_z)-z0wire)*dir; |
| 3439 | double fu=(pos-wirepos).Mod2(); |
| 3440 | |
| 3441 | //cout << "Brent: z="<<Sc(state_z) << " d="<<sqrt(fu) << endl; |
| 3442 | |
| 3443 | if (fu<=fx){ |
| 3444 | if (u>=x) a=x; else b=x; |
| 3445 | SHFT(v,w,x,u)(v)=(w);(w)=(x);(x)=(u);; |
| 3446 | SHFT(fv,fw,fx,fu)(fv)=(fw);(fw)=(fx);(fx)=(fu);; |
| 3447 | } |
| 3448 | else { |
| 3449 | if (u<x) a=u; else b=u; |
| 3450 | if (fu<=fw || w==x){ |
| 3451 | v=w; |
| 3452 | w=u; |
| 3453 | fv=fw; |
| 3454 | fw=fu; |
| 3455 | } |
| 3456 | else if (fu<=fv || v==x || v==w){ |
| 3457 | v=u; |
| 3458 | fv=fu; |
| 3459 | } |
| 3460 | } |
| 3461 | } |
| 3462 | ds_out=cx-x; |
| 3463 | |
| 3464 | return NOERROR; |
| 3465 | } |
| 3466 | |
| 3467 | // Routine for finding the minimum of a function bracketed between two values |
| 3468 | // (see Numerical Recipes in C, pp. 404-405). |
| 3469 | jerror_t DTrackFitterKalmanSIMD::BrentsAlgorithm(double z,double dz, |
| 3470 | double dedx, |
| 3471 | const double z0wire, |
| 3472 | const DVector2 &origin, |
| 3473 | const DVector2 &dir, |
| 3474 | DMatrix5x1 &S, |
| 3475 | double &dz_out){ |
| 3476 | double d=0.,u=0.; |
| 3477 | double e=0.0; // will be distance moved on step before last |
| 3478 | double ax=0.; |
| 3479 | double bx=-dz; |
| 3480 | double cx=-2.*dz; |
| 3481 | |
| 3482 | double a=(ax<cx?ax:cx); |
| 3483 | double b=(ax>cx?ax:cx); |
| 3484 | double x=bx,w=bx,v=bx; |
| 3485 | |
| 3486 | // Initialize dz_out |
| 3487 | dz_out=0.; |
| 3488 | |
| 3489 | // Step to intermediate point |
| 3490 | double z_new=z+x; |
| 3491 | Step(z,z_new,dedx,S); |
| 3492 | // Bail if the momentum has dropped below some minimum |
| 3493 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 3494 | if (DEBUG_LEVEL>2) |
| 3495 | { |
| 3496 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3496<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 3497 | << endl; |
| 3498 | } |
| 3499 | return VALUE_OUT_OF_RANGE; |
| 3500 | } |
| 3501 | |
| 3502 | double dz0wire=z-z0wire; |
| 3503 | DVector2 wirepos=origin+(dz0wire+x)*dir; |
| 3504 | DVector2 pos(S(state_x),S(state_y)); |
| 3505 | double z_old=z_new; |
| 3506 | |
| 3507 | // initialization |
| 3508 | double fw=(pos-wirepos).Mod2(); |
| 3509 | double fv=fw; |
| 3510 | double fx=fw; |
| 3511 | |
| 3512 | // main loop |
| 3513 | for (unsigned int iter=1;iter<=ITMAX20;iter++){ |
| 3514 | double xm=0.5*(a+b); |
| 3515 | double tol1=EPS21.e-4*fabs(x)+ZEPS1.0e-10; |
| 3516 | double tol2=2.0*tol1; |
| 3517 | if (fabs(x-xm)<=(tol2-0.5*(b-a))){ |
| 3518 | if (z_new>=endplate_z){ |
| 3519 | x=endplate_z-z_new; |
| 3520 | |
| 3521 | // Bail if the momentum has dropped below some minimum |
| 3522 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 3523 | if (DEBUG_LEVEL>2) |
| 3524 | { |
| 3525 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3525<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 3526 | << endl; |
| 3527 | } |
| 3528 | return VALUE_OUT_OF_RANGE; |
| 3529 | } |
| 3530 | if (!isfinite(S(state_x)) || !isfinite(S(state_y))){ |
| 3531 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3531<<" " <<endl; |
| 3532 | return VALUE_OUT_OF_RANGE; |
| 3533 | } |
| 3534 | Step(z_new,endplate_z,dedx,S); |
| 3535 | } |
| 3536 | dz_out=x; |
| 3537 | return NOERROR; |
| 3538 | } |
| 3539 | // trial parabolic fit |
| 3540 | if (fabs(e)>tol1){ |
| 3541 | double x_minus_w=x-w; |
| 3542 | double x_minus_v=x-v; |
| 3543 | double r=x_minus_w*(fx-fv); |
| 3544 | double q=x_minus_v*(fx-fw); |
| 3545 | double p=x_minus_v*q-x_minus_w*r; |
| 3546 | q=2.0*(q-r); |
| 3547 | if (q>0.0) p=-p; |
| 3548 | q=fabs(q); |
| 3549 | double etemp=e; |
| 3550 | e=d; |
| 3551 | if (fabs(p)>=fabs(0.5*q*etemp) || p<=q*(a-x) || p>=q*(b-x)) |
| 3552 | // fall back on the Golden Section technique |
| 3553 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3554 | else{ |
| 3555 | // parabolic step |
| 3556 | d=p/q; |
| 3557 | u=x+d; |
| 3558 | if (u-a<tol2 || b-u <tol2) |
| 3559 | d=SIGN(tol1,xm-x)((xm-x)>=0.0?fabs(tol1):-fabs(tol1)); |
| 3560 | } |
| 3561 | } else{ |
| 3562 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3563 | } |
| 3564 | u=(fabs(d)>=tol1 ? x+d: x+SIGN(tol1,d)((d)>=0.0?fabs(tol1):-fabs(tol1))); |
| 3565 | |
| 3566 | // Function evaluation |
| 3567 | //S=S0; |
| 3568 | z_new=z+u; |
| 3569 | // Bail if the momentum has dropped below some minimum |
| 3570 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 3571 | if (DEBUG_LEVEL>2) |
| 3572 | { |
| 3573 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3573<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 3574 | << endl; |
| 3575 | } |
| 3576 | return VALUE_OUT_OF_RANGE; |
| 3577 | } |
| 3578 | |
| 3579 | Step(z_old,z_new,dedx,S); |
| 3580 | z_old=z_new; |
| 3581 | |
| 3582 | wirepos=origin; |
| 3583 | wirepos+=(dz0wire+u)*dir; |
| 3584 | pos.Set(S(state_x),S(state_y)); |
| 3585 | double fu=(pos-wirepos).Mod2(); |
| 3586 | |
| 3587 | // _DBG_ << "Brent: z="<< z+u << " d^2="<<fu << endl; |
| 3588 | |
| 3589 | if (fu<=fx){ |
| 3590 | if (u>=x) a=x; else b=x; |
| 3591 | SHFT(v,w,x,u)(v)=(w);(w)=(x);(x)=(u);; |
| 3592 | SHFT(fv,fw,fx,fu)(fv)=(fw);(fw)=(fx);(fx)=(fu);; |
| 3593 | } |
| 3594 | else { |
| 3595 | if (u<x) a=u; else b=u; |
| 3596 | if (fu<=fw || w==x){ |
| 3597 | v=w; |
| 3598 | w=u; |
| 3599 | fv=fw; |
| 3600 | fw=fu; |
| 3601 | } |
| 3602 | else if (fu<=fv || v==x || v==w){ |
| 3603 | v=u; |
| 3604 | fv=fu; |
| 3605 | } |
| 3606 | } |
| 3607 | } |
| 3608 | dz_out=x; |
| 3609 | return NOERROR; |
| 3610 | } |
| 3611 | |
| 3612 | // Kalman engine for Central tracks; updates the position on the trajectory |
| 3613 | // after the last hit (closest to the target) is added |
| 3614 | kalman_error_t DTrackFitterKalmanSIMD::KalmanCentral(double anneal_factor, |
| 3615 | DMatrix5x1 &Sc,DMatrix5x5 &Cc, |
| 3616 | DVector2 &xy,double &chisq, |
| 3617 | unsigned int &my_ndf){ |
| 3618 | DMatrix1x5 H; // Track projection matrix |
| 3619 | DMatrix5x1 H_T; // Transpose of track projection matrix |
| 3620 | DMatrix5x5 J; // State vector Jacobian matrix |
| 3621 | //DMatrix5x5 JT; // transpose of this matrix |
| 3622 | DMatrix5x5 Q; // Process noise covariance matrix |
| 3623 | DMatrix5x1 K; // KalmanSIMD gain matrix |
| 3624 | DMatrix5x5 Ctest; // covariance matrix |
| 3625 | //double V=0.2028; //1.56*1.56/12.; // Measurement variance |
| 3626 | double V=0.0507*1.15; |
| 3627 | double InvV; // inverse of variance |
| 3628 | //DMatrix5x1 dS; // perturbation in state vector |
| 3629 | DMatrix5x1 S0,S0_; // state vector |
| 3630 | |
| 3631 | // set the used_in_fit flags to false for cdc hits |
| 3632 | unsigned int num_cdc=cdc_updates.size(); |
| 3633 | for (unsigned int i=0;i<num_cdc;i++) cdc_updates[i].used_in_fit=false; |
| 3634 | for (unsigned int i=0;i<central_traj.size();i++){ |
| 3635 | central_traj[i].h_id=0; |
| 3636 | } |
| 3637 | |
| 3638 | // Initialize the chi2 for this part of the track |
| 3639 | chisq=0.; |
| 3640 | my_ndf=0; |
| 3641 | double var_cut=NUM_CDC_SIGMA_CUT*NUM_CDC_SIGMA_CUT; |
| 3642 | double my_anneal=anneal_factor*anneal_factor; |
| 3643 | double chi2cut=my_anneal*var_cut; |
| 3644 | |
| 3645 | // path length increment |
| 3646 | double ds2=0.; |
| 3647 | |
| 3648 | //printf(">>>>>>>>>>>>>>>>\n"); |
| 3649 | |
| 3650 | // beginning position |
| 3651 | double phi=Sc(state_phi); |
| 3652 | xy.Set(central_traj[break_point_step_index].xy.X()-Sc(state_D)*sin(phi), |
| 3653 | central_traj[break_point_step_index].xy.Y()+Sc(state_D)*cos(phi)); |
| 3654 | |
| 3655 | // Wire origin and direction |
| 3656 | // unsigned int cdc_index=my_cdchits.size()-1; |
| 3657 | unsigned int cdc_index=break_point_cdc_index; |
| 3658 | |
| 3659 | if (cdc_index<MIN_HITS_FOR_REFIT) chi2cut=1000.0; |
| 3660 | |
| 3661 | // Wire origin and direction |
| 3662 | DVector2 origin=my_cdchits[cdc_index]->origin; |
| 3663 | double z0w=my_cdchits[cdc_index]->z0wire; |
| 3664 | DVector2 dir=my_cdchits[cdc_index]->dir; |
| 3665 | DVector2 wirexy=origin+(Sc(state_z)-z0w)*dir; |
| 3666 | |
| 3667 | // Save the starting values for C and S in the deque |
| 3668 | central_traj[break_point_step_index].Skk=Sc; |
| 3669 | central_traj[break_point_step_index].Ckk=Cc; |
| 3670 | |
| 3671 | // doca variables |
| 3672 | double doca2,old_doca2=(xy-wirexy).Mod2(); |
| 3673 | |
| 3674 | // energy loss |
| 3675 | double dedx=0.; |
| 3676 | |
| 3677 | // Boolean for flagging when we are done with measurements |
| 3678 | bool more_measurements=true; |
| 3679 | |
| 3680 | // Initialize S0_ and perform the loop over the trajectory |
| 3681 | S0_=central_traj[break_point_step_index].S; |
| 3682 | |
| 3683 | for (unsigned int k=break_point_step_index+1;k<central_traj.size();k++){ |
| 3684 | unsigned int k_minus_1=k-1; |
| 3685 | |
| 3686 | // Check that C matrix is positive definite |
| 3687 | if (Cc(0,0)<0.0 || Cc(1,1)<0.0 || Cc(2,2)<0.0 || Cc(3,3)<0.0 || Cc(4,4)<0.0){ |
| 3688 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3688<<" " << "Broken covariance matrix!" <<endl; |
| 3689 | return BROKEN_COVARIANCE_MATRIX; |
| 3690 | } |
| 3691 | |
| 3692 | // Get the state vector, jacobian matrix, and multiple scattering matrix |
| 3693 | // from reference trajectory |
| 3694 | S0=central_traj[k].S; |
| 3695 | J=central_traj[k].J; |
| 3696 | // JT=central_traj[k].JT; |
| 3697 | Q=central_traj[k].Q; |
| 3698 | |
| 3699 | //Q.Print(); |
| 3700 | //J.Print(); |
| 3701 | |
| 3702 | // State S is perturbation about a seed S0 |
| 3703 | //dS=Sc-S0_; |
| 3704 | //dS.Zero(); |
| 3705 | |
| 3706 | // Update the actual state vector and covariance matrix |
| 3707 | Sc=S0+J*(Sc-S0_); |
| 3708 | // Cc=J*(Cc*JT)+Q; |
| 3709 | //Cc=Q.AddSym(J*Cc*JT); |
| 3710 | Cc=Q.AddSym(Cc.SandwichMultiply(J)); |
| 3711 | |
| 3712 | //Sc=central_traj[k].S+central_traj[k].J*(Sc-S0_); |
| 3713 | //Cc=central_traj[k].Q.AddSym(central_traj[k].J*Cc*central_traj[k].JT); |
| 3714 | |
| 3715 | // update position based on new doca to reference trajectory |
| 3716 | xy.Set(central_traj[k].xy.X()-Sc(state_D)*sin(Sc(state_phi)), |
| 3717 | central_traj[k].xy.Y()+Sc(state_D)*cos(Sc(state_phi))); |
| 3718 | |
| 3719 | // Bail if the position is grossly outside of the tracking volume |
| 3720 | if (xy.Mod2()>R2_MAX4225.0 || Sc(state_z)<Z_MIN-100. || Sc(state_z)>Z_MAX370.0){ |
| 3721 | if (DEBUG_LEVEL>2) |
| 3722 | { |
| 3723 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3723<<" "<< "Went outside of tracking volume at z="<<Sc(state_z) |
| 3724 | << " r="<<xy.Mod()<<endl; |
| 3725 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3725<<" " << " Break indexes: " << break_point_cdc_index <<"," |
| 3726 | << break_point_step_index << endl; |
| 3727 | } |
| 3728 | return POSITION_OUT_OF_RANGE; |
| 3729 | } |
| 3730 | // Bail if the transverse momentum has dropped below some minimum |
| 3731 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3732 | if (DEBUG_LEVEL>2) |
| 3733 | { |
| 3734 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3734<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3735 | << " at step " << k |
| 3736 | << endl; |
| 3737 | } |
| 3738 | return MOMENTUM_OUT_OF_RANGE; |
| 3739 | } |
| 3740 | |
| 3741 | |
| 3742 | // Save the current state of the reference trajectory |
| 3743 | S0_=S0; |
| 3744 | |
| 3745 | // Save the current state and covariance matrix in the deque |
| 3746 | central_traj[k].Skk=Sc; |
| 3747 | central_traj[k].Ckk=Cc; |
| 3748 | |
| 3749 | // new wire position |
| 3750 | wirexy=origin; |
| 3751 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 3752 | |
| 3753 | // new doca |
| 3754 | doca2=(xy-wirexy).Mod2(); |
| 3755 | |
| 3756 | // Check if the doca is no longer decreasing |
| 3757 | if (more_measurements && (doca2>old_doca2 && Sc(state_z)>cdc_origin[2])){ |
| 3758 | if (my_cdchits[cdc_index]->status==good_hit){ |
| 3759 | // Save values at end of current step |
| 3760 | DVector2 xy0=central_traj[k].xy; |
| 3761 | |
| 3762 | // dEdx for current position along trajectory |
| 3763 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 3764 | if (CORRECT_FOR_ELOSS){ |
| 3765 | dedx=GetdEdx(q_over_p, central_traj[k].K_rho_Z_over_A, |
| 3766 | central_traj[k].rho_Z_over_A,central_traj[k].LnI); |
| 3767 | } |
| 3768 | // Variables for the computation of D at the doca to the wire |
| 3769 | double D=Sc(state_D); |
| 3770 | double q=(Sc(state_q_over_pt)>0.0)?1.:-1.; |
| 3771 | |
| 3772 | q*=FactorForSenseOfRotation; |
| 3773 | |
| 3774 | double qpt=1./Sc(state_q_over_pt) * FactorForSenseOfRotation; |
| 3775 | double sinphi=sin(Sc(state_phi)); |
| 3776 | double cosphi=cos(Sc(state_phi)); |
| 3777 | //double qrc_old=qpt/fabs(qBr2p*bfield->GetBz(pos.x(),pos.y(),pos.z())); |
| 3778 | double qrc_old=qpt/fabs(qBr2p0.003*central_traj[k].B); |
| 3779 | double qrc_plus_D=D+qrc_old; |
| 3780 | double lambda=atan(Sc(state_tanl)); |
| 3781 | double cosl=cos(lambda); |
| 3782 | double sinl=sin(lambda); |
| 3783 | |
| 3784 | // wire direction variables |
| 3785 | double ux=dir.X(); |
| 3786 | double uy=dir.Y(); |
| 3787 | // Variables relating wire direction and track direction |
| 3788 | double my_ux=ux*sinl-cosl*cosphi; |
| 3789 | double my_uy=uy*sinl-cosl*sinphi; |
| 3790 | double denom=my_ux*my_ux+my_uy*my_uy; |
| 3791 | |
| 3792 | // if the step size is small relative to the radius of curvature, |
| 3793 | // use a linear approximation to find ds2 |
| 3794 | bool do_brent=false; |
| 3795 | double step1=mStepSizeS; |
| 3796 | double step2=mStepSizeS; |
| 3797 | if (k>=2){ |
| 3798 | step1=-central_traj[k].s+central_traj[k_minus_1].s; |
| 3799 | step2=-central_traj[k_minus_1].s+central_traj[k-2].s; |
| 3800 | } |
| 3801 | //printf("step1 %f step 2 %f \n",step1,step2); |
| 3802 | double two_step=step1+step2; |
| 3803 | if (two_step*cosl/fabs(qrc_old)<0.01 && denom>EPS3.0e-8){ |
| 3804 | double z=Sc(state_z); |
| 3805 | double dzw=z-z0w; |
| 3806 | ds2=((xy.X()-origin.X()-ux*dzw)*my_ux |
| 3807 | +(xy.Y()-origin.Y()-uy*dzw)*my_uy)/denom; |
| 3808 | |
| 3809 | if (ds2<0.0){ |
| 3810 | do_brent=true; |
| 3811 | } |
| 3812 | else{ |
| 3813 | if (fabs(ds2)<two_step){ |
| 3814 | double my_z=Sc(state_z)+ds2*sinl; |
| 3815 | if(my_z<cdc_origin[2]){ |
| 3816 | ds2=(cdc_origin[2]-z)/sinl; |
| 3817 | } |
| 3818 | else if (my_z>endplate_z){ |
| 3819 | ds2=(endplate_z-z)/sinl; |
| 3820 | } |
| 3821 | // Bail if the transverse momentum has dropped below some minimum |
| 3822 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3823 | if (DEBUG_LEVEL>2) |
| 3824 | { |
| 3825 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3825<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3826 | << " at step " << k |
| 3827 | << endl; |
| 3828 | } |
| 3829 | return MOMENTUM_OUT_OF_RANGE; |
| 3830 | } |
| 3831 | Step(xy,ds2,Sc,dedx); |
| 3832 | } |
| 3833 | else{ |
| 3834 | do_brent=true; |
| 3835 | } |
| 3836 | } |
| 3837 | } |
| 3838 | else do_brent=true; |
| 3839 | if (do_brent){ |
| 3840 | // ... otherwise, use Brent's algorithm. |
| 3841 | // See Numerical Recipes in C, pp 404-405 |
| 3842 | if (BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dedx,xy,z0w, |
| 3843 | origin,dir,Sc,ds2)!=NOERROR){ |
| 3844 | return MOMENTUM_OUT_OF_RANGE; |
| 3845 | } |
| 3846 | if (fabs(ds2)<EPS31.e-2){ |
| 3847 | // whoops, looks like we didn't actually bracket the minimum |
| 3848 | // after all. Swim to make sure we pass the minimum doca. |
| 3849 | double my_ds=ds2; |
| 3850 | |
| 3851 | // doca |
| 3852 | old_doca2=doca2; |
| 3853 | |
| 3854 | // Bail if the transverse momentum has dropped below some minimum |
| 3855 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3856 | if (DEBUG_LEVEL>2) |
| 3857 | { |
| 3858 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3858<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3859 | << " at step " << k |
| 3860 | << endl; |
| 3861 | } |
| 3862 | return MOMENTUM_OUT_OF_RANGE; |
| 3863 | } |
| 3864 | |
| 3865 | // Step through the field |
| 3866 | Step(xy,mStepSizeS,Sc,dedx); |
| 3867 | |
| 3868 | wirexy=origin; |
| 3869 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 3870 | doca2=(xy-wirexy).Mod2(); |
| 3871 | |
| 3872 | ds2=my_ds+mStepSizeS; |
| 3873 | if (doca2>old_doca2){ |
| 3874 | // Swim to the "true" doca |
| 3875 | double ds3=0.; |
| 3876 | if (BrentsAlgorithm(mStepSizeS,mStepSizeS,dedx,xy,z0w, |
| 3877 | origin,dir,Sc,ds3)!=NOERROR){ |
| 3878 | return MOMENTUM_OUT_OF_RANGE; |
| 3879 | } |
| 3880 | ds2+=ds3; |
| 3881 | } |
| 3882 | |
| 3883 | } |
| 3884 | else if (fabs(ds2)>2.*mStepSizeS-EPS31.e-2){ |
| 3885 | // whoops, looks like we didn't actually bracket the minimum |
| 3886 | // after all. Swim to make sure we pass the minimum doca. |
| 3887 | double my_ds=ds2; |
| 3888 | |
| 3889 | // new wire position |
| 3890 | wirexy=origin; |
| 3891 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 3892 | |
| 3893 | // doca |
| 3894 | old_doca2=doca2; |
| 3895 | doca2=(xy-wirexy).Mod2(); |
| 3896 | |
| 3897 | while(doca2<old_doca2){ |
| 3898 | old_doca2=doca2; |
| 3899 | |
| 3900 | // Bail if the transverse momentum has dropped below some minimum |
| 3901 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3902 | if (DEBUG_LEVEL>2) |
| 3903 | { |
| 3904 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3904<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3905 | << " at step " << k |
| 3906 | << endl; |
| 3907 | } |
| 3908 | return MOMENTUM_OUT_OF_RANGE; |
| 3909 | } |
| 3910 | |
| 3911 | // Step through the field |
| 3912 | Step(xy,mStepSizeS,Sc,dedx); |
| 3913 | |
| 3914 | // Find the new distance to the wire |
| 3915 | wirexy=origin; |
| 3916 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 3917 | doca2=(xy-wirexy).Mod2(); |
| 3918 | |
| 3919 | my_ds+=mStepSizeS; |
| 3920 | } |
| 3921 | // Swim to the "true" doca |
| 3922 | double ds3=0.; |
| 3923 | if (BrentsAlgorithm(mStepSizeS,mStepSizeS,dedx,xy,z0w, |
| 3924 | origin,dir,Sc,ds3)!=NOERROR){ |
| 3925 | return MOMENTUM_OUT_OF_RANGE; |
| 3926 | } |
| 3927 | ds2=my_ds+ds3; |
| 3928 | } |
| 3929 | } |
| 3930 | |
| 3931 | //Step along the reference trajectory and compute the new covariance matrix |
| 3932 | StepStateAndCovariance(xy0,ds2,dedx,S0,J,Cc); |
| 3933 | |
| 3934 | // Compute the value of D (signed distance to the reference trajectory) |
| 3935 | // at the doca to the wire |
| 3936 | DVector2 dxy1=xy0-central_traj[k].xy; |
| 3937 | double rc=sqrt(dxy1.Mod2() |
| 3938 | +2.*qrc_plus_D*(dxy1.X()*sinphi-dxy1.Y()*cosphi) |
| 3939 | +qrc_plus_D*qrc_plus_D); |
| 3940 | Sc(state_D)=q*rc-qrc_old; |
| 3941 | |
| 3942 | // wire position |
| 3943 | wirexy=origin; |
| 3944 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 3945 | |
| 3946 | // prediction for measurement |
| 3947 | DVector2 diff=xy-wirexy; |
| 3948 | double doca=diff.Mod()+EPS3.0e-8; |
| 3949 | double cosstereo=my_cdchits[cdc_index]->cosstereo; |
| 3950 | double prediction=doca*cosstereo; |
| 3951 | |
| 3952 | // Measurement |
| 3953 | double measurement=0.39,tdrift=0.,tcorr=0.; |
| 3954 | if (fit_type==kTimeBased || USE_PASS1_TIME_MODE){ |
| 3955 | // Find offset of wire with respect to the center of the |
| 3956 | // straw at this z position |
| 3957 | const DCDCWire *mywire=my_cdchits[cdc_index]->hit->wire; |
| 3958 | int ring_index=mywire->ring-1; |
| 3959 | int straw_index=mywire->straw-1; |
| 3960 | double dz=Sc(state_z)-z0w; |
| 3961 | double phi_d=diff.Phi(); |
| 3962 | double delta |
| 3963 | =max_sag[ring_index][straw_index]*(1.-dz*dz/5625.) |
| 3964 | *cos(phi_d + sag_phi_offset[ring_index][straw_index]); |
| 3965 | double dphi=phi_d-mywire->origin.Phi(); |
| 3966 | while (dphi>M_PI3.14159265358979323846) dphi-=2*M_PI3.14159265358979323846; |
| 3967 | while (dphi<-M_PI3.14159265358979323846) dphi+=2*M_PI3.14159265358979323846; |
| 3968 | if (mywire->origin.Y()<0) dphi*=-1.; |
| 3969 | |
| 3970 | tdrift=my_cdchits[cdc_index]->tdrift-mT0 |
| 3971 | -central_traj[k_minus_1].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 3972 | double B=central_traj[k_minus_1].B; |
| 3973 | ComputeCDCDrift(dphi,delta,tdrift,B,measurement,V,tcorr); |
| 3974 | |
| 3975 | //_DBG_ << tcorr << " " << dphi << " " << dm << endl; |
| 3976 | |
| 3977 | } |
| 3978 | |
| 3979 | // Projection matrix |
| 3980 | sinphi=sin(Sc(state_phi)); |
| 3981 | cosphi=cos(Sc(state_phi)); |
| 3982 | double dx=diff.X(); |
| 3983 | double dy=diff.Y(); |
| 3984 | double cosstereo_over_doca=cosstereo/doca; |
| 3985 | H(state_D)=H_T(state_D)=(dy*cosphi-dx*sinphi)*cosstereo_over_doca; |
| 3986 | H(state_phi)=H_T(state_phi) |
| 3987 | =-Sc(state_D)*cosstereo_over_doca*(dx*cosphi+dy*sinphi); |
| 3988 | H(state_z)=H_T(state_z)=-cosstereo_over_doca*(dx*ux+dy*uy); |
| 3989 | |
| 3990 | // Difference and inverse of variance |
| 3991 | //InvV=1./(V+H*(Cc*H_T)); |
| 3992 | double Vproj=Cc.SandwichMultiply(H_T); |
| 3993 | InvV=1./(V+Vproj); |
| 3994 | double dm=measurement-prediction; |
| 3995 | |
| 3996 | if (InvV<0.){ |
| 3997 | if (DEBUG_LEVEL>1) |
| 3998 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3998<<" " << k <<" "<< central_traj.size()-1<<" Negative variance??? " << V << " " << H*(Cc*H_T) <<endl; |
| 3999 | |
| 4000 | break_point_cdc_index=(3*num_cdc)/4; |
| 4001 | return NEGATIVE_VARIANCE; |
| 4002 | } |
| 4003 | /* |
| 4004 | if (fabs(cosstereo)<1.){ |
| 4005 | printf("t %f delta %f sigma %f V %f chi2 %f\n",my_cdchits[cdc_index]->hit->tdrift-mT0,dm,sqrt(V),1./InvV,dm*dm*InvV); |
| 4006 | } |
| 4007 | */ |
| 4008 | |
| 4009 | // Check how far this hit is from the expected position |
| 4010 | double chi2check=dm*dm*InvV; |
| 4011 | if (chi2check<chi2cut) |
| 4012 | { |
| 4013 | /* |
| 4014 | if (chi2check>var_cut){ |
| 4015 | // Give hits that satisfy the wide cut but are still pretty far |
| 4016 | // from the projected position less weight |
| 4017 | |
| 4018 | // ad hoc correction |
| 4019 | double diff = chi2check-var_cut; |
| 4020 | V*=1.+my_anneal*diff; |
| 4021 | InvV=1./(V+Vproj); |
| 4022 | } |
| 4023 | */ |
| 4024 | // Compute Kalman gain matrix |
| 4025 | K=InvV*(Cc*H_T); |
| 4026 | |
| 4027 | // Update state vector covariance matrix |
| 4028 | //Cc=Cc-(K*(H*Cc)); |
| 4029 | Ctest=Cc.SubSym(K*(H*Cc)); |
| 4030 | // Joseph form |
| 4031 | // C = (I-KH)C(I-KH)^T + KVK^T |
| 4032 | //Ctest=Cc.SandwichMultiply(I5x5-K*H)+V*MultiplyTranspose(K); |
| 4033 | // Check that Ctest is positive definite |
| 4034 | if (Ctest(0,0)>0.0 && Ctest(1,1)>0.0 && Ctest(2,2)>0.0 && Ctest(3,3)>0.0 |
| 4035 | && Ctest(4,4)>0.0){ |
| 4036 | bool skip_ring |
| 4037 | =(my_cdchits[cdc_index]->hit->wire->ring==RING_TO_SKIP); |
| 4038 | //Update covariance matrix and state vector |
| 4039 | if (skip_ring==false){ |
| 4040 | Cc=Ctest; |
| 4041 | Sc+=dm*K; |
| 4042 | } |
| 4043 | |
| 4044 | // Mark point on ref trajectory with a hit id for the straw |
| 4045 | central_traj[k].h_id=cdc_index+1; |
| 4046 | |
| 4047 | // Save some updated information for this hit |
| 4048 | double scale=(skip_ring)?1.:(1.-H*K); |
| 4049 | cdc_updates[cdc_index].tcorr=tcorr; |
| 4050 | cdc_updates[cdc_index].tdrift=tdrift; |
| 4051 | cdc_updates[cdc_index].doca=measurement; |
| 4052 | cdc_updates[cdc_index].residual=dm*scale; |
| 4053 | cdc_updates[cdc_index].variance=V; |
| 4054 | cdc_updates[cdc_index].used_in_fit=true; |
| 4055 | |
| 4056 | // Update chi2 for this hit |
| 4057 | if (skip_ring==false){ |
| 4058 | chisq+=scale*dm*dm/V; |
| 4059 | my_ndf++; |
| 4060 | } |
| 4061 | if (DEBUG_LEVEL>10) |
| 4062 | cout |
| 4063 | << "ring " << my_cdchits[cdc_index]->hit->wire->ring |
| 4064 | << " t " << my_cdchits[cdc_index]->hit->tdrift |
| 4065 | << " Dm-Dpred " << dm |
| 4066 | << " chi2 " << (1.-H*K)*dm*dm/V |
| 4067 | << endl; |
| 4068 | |
| 4069 | break_point_cdc_index=cdc_index; |
| 4070 | break_point_step_index=k_minus_1; |
| 4071 | } |
| 4072 | //else printf("Negative variance!!!\n"); |
| 4073 | |
| 4074 | |
| 4075 | } |
| 4076 | |
| 4077 | // Get the field and gradient at the point (x0,y0,z0) on the reference |
| 4078 | // trajectory |
| 4079 | bfield->GetFieldAndGradient(xy0.X(),xy0.Y(),S0(state_z),Bx,By,Bz, |
| 4080 | dBxdx,dBxdy,dBxdz,dBydx, |
| 4081 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 4082 | // Compute the Jacobian matrix |
| 4083 | StepJacobian(xy0,(-1.)*dxy1,-ds2,S0,dedx,J); |
| 4084 | |
| 4085 | // Update covariance matrix |
| 4086 | //Cc=J*Cc*J.Transpose(); |
| 4087 | Cc=Cc.SandwichMultiply(J); |
| 4088 | |
| 4089 | // Step to the next point on the trajectory |
| 4090 | Sc=S0_+J*(Sc-S0); |
| 4091 | // Save state and covariance matrix to update vector |
| 4092 | cdc_updates[cdc_index].S=Sc; |
| 4093 | cdc_updates[cdc_index].C=Cc; |
| 4094 | |
| 4095 | // update position on current trajectory based on corrected doca to |
| 4096 | // reference trajectory |
| 4097 | xy.Set(central_traj[k].xy.X()-Sc(state_D)*sin(Sc(state_phi)), |
| 4098 | central_traj[k].xy.Y()+Sc(state_D)*cos(Sc(state_phi))); |
| 4099 | |
| 4100 | } |
| 4101 | |
| 4102 | // new wire origin and direction |
| 4103 | if (cdc_index>0){ |
| 4104 | cdc_index--; |
| 4105 | origin=my_cdchits[cdc_index]->origin; |
| 4106 | z0w=my_cdchits[cdc_index]->z0wire; |
| 4107 | dir=my_cdchits[cdc_index]->dir; |
| 4108 | } |
| 4109 | else{ |
| 4110 | more_measurements=false; |
| 4111 | } |
| 4112 | |
| 4113 | // Update the wire position |
| 4114 | wirexy=origin+(Sc(state_z)-z0w)*dir; |
| 4115 | |
| 4116 | //s+=ds2; |
| 4117 | // new doca |
| 4118 | doca2=(xy-wirexy).Mod2(); |
| 4119 | } |
| 4120 | |
| 4121 | old_doca2=doca2; |
| 4122 | } |
| 4123 | |
| 4124 | // If there are not enough degrees of freedom, something went wrong... |
| 4125 | if (my_ndf<6){ |
| 4126 | chisq=MAX_CHI21e16; |
| 4127 | my_ndf=0; |
| 4128 | |
| 4129 | return INVALID_FIT; |
| 4130 | } |
| 4131 | else my_ndf-=5; |
| 4132 | |
| 4133 | // Check if the momentum is unphysically large |
| 4134 | double p=cos(atan(Sc(state_tanl)))/fabs(Sc(state_q_over_pt)); |
| 4135 | if (p>12.0){ |
| 4136 | if (DEBUG_LEVEL>2) |
| 4137 | { |
| 4138 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4138<<" " << "Unphysical momentum: P = " << p <<endl; |
| 4139 | } |
| 4140 | return MOMENTUM_OUT_OF_RANGE; |
| 4141 | } |
| 4142 | |
| 4143 | // Check if we have a kink in the track or threw away too many cdc hits |
| 4144 | if (num_cdc>=MIN_HITS_FOR_REFIT){ |
| 4145 | if (break_point_cdc_index>1){ |
| 4146 | if (break_point_cdc_index<num_cdc/2){ |
| 4147 | break_point_cdc_index=(3*num_cdc)/4; |
| 4148 | } |
| 4149 | return BREAK_POINT_FOUND; |
| 4150 | } |
| 4151 | |
| 4152 | unsigned int num_good=0; |
| 4153 | for (unsigned int j=0;j<num_cdc;j++){ |
| 4154 | if (cdc_updates[j].used_in_fit) num_good++; |
| 4155 | } |
| 4156 | if (double(num_good)/double(num_cdc)<MINIMUM_HIT_FRACTION0.5){ |
| 4157 | return PRUNED_TOO_MANY_HITS; |
| 4158 | } |
| 4159 | } |
| 4160 | |
| 4161 | return FIT_SUCCEEDED; |
| 4162 | } |
| 4163 | |
| 4164 | // Kalman engine for forward tracks |
| 4165 | kalman_error_t DTrackFitterKalmanSIMD::KalmanForward(double anneal_factor, |
| 4166 | double cdc_anneal, |
| 4167 | DMatrix5x1 &S, |
| 4168 | DMatrix5x5 &C, |
| 4169 | double &chisq, |
| 4170 | unsigned int &numdof){ |
| 4171 | DMatrix2x1 Mdiff; // difference between measurement and prediction |
| 4172 | DMatrix2x5 H; // Track projection matrix |
| 4173 | DMatrix5x2 H_T; // Transpose of track projection matrix |
| 4174 | DMatrix1x5 Hc; // Track projection matrix for cdc hits |
| 4175 | DMatrix5x1 Hc_T; // Transpose of track projection matrix for cdc hits |
| 4176 | DMatrix5x5 J; // State vector Jacobian matrix |
| 4177 | //DMatrix5x5 J_T; // transpose of this matrix |
| 4178 | DMatrix5x5 Q; // Process noise covariance matrix |
| 4179 | DMatrix5x2 K; // Kalman gain matrix |
| 4180 | DMatrix5x1 Kc; // Kalman gain matrix for cdc hits |
| 4181 | DMatrix2x2 V(0.0833,0.,0.,FDC_CATHODE_VARIANCE0.000225); // Measurement covariance matrix |
| 4182 | DMatrix2x1 R; // Filtered residual |
| 4183 | DMatrix2x2 RC; // Covariance of filtered residual |
| 4184 | DMatrix5x1 S0,S0_; //State vector |
| 4185 | //DMatrix5x1 dS; // perturbation in state vector |
| 4186 | DMatrix2x2 InvV; // Inverse of error matrix |
| 4187 | |
| 4188 | // Save the starting values for C and S in the deque |
| 4189 | forward_traj[0].Skk=S; |
| 4190 | forward_traj[0].Ckk=C; |
| 4191 | |
| 4192 | // Initialize chi squared |
| 4193 | chisq=0; |
| 4194 | |
| 4195 | // Initialize number of degrees of freedom |
| 4196 | numdof=0; |
| 4197 | // Variables for estimating t0 from tracking |
| 4198 | //mInvVarT0=mT0MinimumDriftTime=0.; |
| 4199 | |
| 4200 | unsigned int num_fdc_hits=my_fdchits.size(); |
| 4201 | unsigned int num_cdc_hits=my_cdchits.size(); |
| 4202 | unsigned int cdc_index=0; |
| 4203 | if (num_cdc_hits>0) cdc_index=num_cdc_hits-1; |
| 4204 | double old_doca2=1e6; |
| 4205 | |
| 4206 | S0_=(forward_traj[0].S); |
| 4207 | for (unsigned int k=1;k<forward_traj.size();k++){ |
| 4208 | unsigned int k_minus_1=k-1; |
| 4209 | |
| 4210 | // Check that C matrix is positive definite |
| 4211 | if (C(0,0)<0.0 || C(1,1)<0.0 || C(2,2)<0.0 || C(3,3)<0.0 || C(4,4)<0.0){ |
| 4212 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4212<<" " << "Broken covariance matrix!" <<endl; |
| 4213 | return BROKEN_COVARIANCE_MATRIX; |
| 4214 | } |
| 4215 | |
| 4216 | // Get the state vector, jacobian matrix, and multiple scattering matrix |
| 4217 | // from reference trajectory |
| 4218 | S0=(forward_traj[k].S); |
| 4219 | J=(forward_traj[k].J); |
| 4220 | //J_T=(forward_traj[k].JT); |
| 4221 | Q=(forward_traj[k].Q); |
| 4222 | |
| 4223 | // State S is perturbation about a seed S0 |
| 4224 | //dS=S-S0_; |
| 4225 | |
| 4226 | // Update the actual state vector and covariance matrix |
| 4227 | S=S0+J*(S-S0_); |
| 4228 | |
| 4229 | // Bail if the position is grossly outside of the tracking volume |
| 4230 | /* |
| 4231 | if (sqrt(S(state_x)*S(state_x)+S(state_y)*S(state_y))>R_MAX_FORWARD){ |
| 4232 | if (DEBUG_LEVEL>2) |
| 4233 | { |
| 4234 | _DBG_<< "Went outside of tracking volume at z="<<forward_traj[k].pos.z()<<endl; |
| 4235 | } |
| 4236 | return POSITION_OUT_OF_RANGE; |
| 4237 | } |
| 4238 | */ |
| 4239 | // Bail if the momentum has dropped below some minimum |
| 4240 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX100.){ |
| 4241 | if (DEBUG_LEVEL>2) |
| 4242 | { |
| 4243 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4243<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) << endl; |
| 4244 | } |
| 4245 | return MOMENTUM_OUT_OF_RANGE; |
| 4246 | } |
| 4247 | |
| 4248 | |
| 4249 | |
| 4250 | //C=J*(C*J_T)+Q; |
| 4251 | //C=Q.AddSym(J*C*J_T); |
| 4252 | C=Q.AddSym(C.SandwichMultiply(J)); |
| 4253 | |
| 4254 | // Save the current state and covariance matrix in the deque |
| 4255 | forward_traj[k].Skk=S; |
| 4256 | forward_traj[k].Ckk=C; |
| 4257 | |
| 4258 | // Save the current state of the reference trajectory |
| 4259 | S0_=S0; |
| 4260 | |
| 4261 | // Add the hit |
| 4262 | if (num_fdc_hits>0){ |
| 4263 | if (forward_traj[k].h_id>0 && forward_traj[k].h_id<1000){ |
| 4264 | unsigned int id=forward_traj[k].h_id-1; |
| 4265 | |
| 4266 | double cosa=my_fdchits[id]->cosa; |
| 4267 | double sina=my_fdchits[id]->sina; |
| 4268 | double u=my_fdchits[id]->uwire; |
| 4269 | double v=my_fdchits[id]->vstrip; |
| 4270 | double x=S(state_x); |
| 4271 | double y=S(state_y); |
| 4272 | double tx=S(state_tx); |
| 4273 | double ty=S(state_ty); |
| 4274 | double du=x*cosa-y*sina-u; |
| 4275 | double tu=tx*cosa-ty*sina; |
| 4276 | double one_plus_tu2=1.+tu*tu; |
| 4277 | double alpha=atan(tu); |
| 4278 | double cosalpha=cos(alpha); |
| 4279 | double sinalpha=sin(alpha); |
| 4280 | // (signed) distance of closest approach to wire |
| 4281 | double doca=du*cosalpha; |
| 4282 | // Correction for lorentz effect |
| 4283 | double nz=my_fdchits[id]->nz; |
| 4284 | double nr=my_fdchits[id]->nr; |
| 4285 | double nz_sinalpha_plus_nr_cosalpha=nz*sinalpha+nr*cosalpha; |
| 4286 | |
| 4287 | // Variance in coordinate along wire |
| 4288 | V(1,1)=anneal_factor*fdc_y_variance(my_fdchits[id]->dE); |
| 4289 | |
| 4290 | // Difference between measurement and projection |
| 4291 | Mdiff(1)=v-(y*cosa+x*sina+doca*nz_sinalpha_plus_nr_cosalpha); |
| 4292 | if (fit_type==kWireBased){ |
| 4293 | Mdiff(0)=-doca; |
| 4294 | } |
| 4295 | else{ |
| 4296 | // Compute drift distance |
| 4297 | double drift_time=my_fdchits[id]->t-mT0 |
| 4298 | -forward_traj[k].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 4299 | double drift=(du>0.0?1.:-1.)*fdc_drift_distance(drift_time,forward_traj[k].B); |
| 4300 | |
| 4301 | Mdiff(0)=drift-doca; |
| 4302 | |
| 4303 | // Variance in drift distance |
| 4304 | V(0,0)=anneal_factor*fdc_drift_variance(drift_time); |
| 4305 | } |
| 4306 | |
| 4307 | // To transform from (x,y) to (u,v), need to do a rotation: |
| 4308 | // u = x*cosa-y*sina |
| 4309 | // v = y*cosa+x*sina |
| 4310 | H(0,state_x)=cosa*cosalpha; |
| 4311 | H_T(state_x,0)=H(0,state_x); |
| 4312 | H(1,state_x)=sina; |
| 4313 | H_T(state_x,1)=H(1,state_x); |
| 4314 | H(0,state_y)=-sina*cosalpha; |
| 4315 | H_T(state_y,0)=H(0,state_y); |
| 4316 | H(1,state_y)=cosa; |
| 4317 | H_T(state_y,1)=H(1,state_y); |
| 4318 | double factor=du*tu/sqrt(one_plus_tu2)/one_plus_tu2; |
| 4319 | H(0,state_ty)=sina*factor; |
| 4320 | H_T(state_ty,0)=H(0,state_y); |
| 4321 | H(0,state_tx)=-cosa*factor; |
| 4322 | H_T(state_tx,0)=H(0,state_tx); |
| 4323 | |
| 4324 | // Terms that depend on the correction for the Lorentz effect |
| 4325 | H(1,state_x)=sina+cosa*cosalpha*nz_sinalpha_plus_nr_cosalpha; |
| 4326 | H_T(state_x,1)=H(1,state_x); |
| 4327 | H(1,state_y)=cosa-sina*cosalpha*nz_sinalpha_plus_nr_cosalpha; |
| 4328 | H_T(state_y,1)=H(1,state_y); |
| 4329 | double temp=(du/one_plus_tu2)*(nz*(cosalpha*cosalpha-sinalpha*sinalpha) |
| 4330 | -2.*nr*cosalpha*sinalpha); |
| 4331 | H(1,state_tx)=cosa*temp; |
| 4332 | H_T(state_tx,1)=H(1,state_tx); |
| 4333 | H(1,state_ty)=-sina*temp; |
| 4334 | H_T(state_y,1)=H(1,state_ty); |
| 4335 | |
| 4336 | // Check to see if we have multiple hits in the same plane |
| 4337 | if (forward_traj[k].num_hits>1){ |
| 4338 | // If we do have multiple hits, then all of the hits within some |
| 4339 | // validation region are included with weights determined by how |
| 4340 | // close the hits are to the track projection of the state to the |
| 4341 | // "hit space". |
| 4342 | vector<DMatrix5x2> Klist; |
| 4343 | vector<DMatrix2x1> Mlist; |
| 4344 | vector<DMatrix2x5> Hlist; |
| 4345 | vector<DMatrix2x2> Vlist; |
| 4346 | vector<double>probs; |
| 4347 | DMatrix2x2 Vtemp; |
| 4348 | |
| 4349 | // Deal with the first hit: |
| 4350 | Vtemp=V+H*C*H_T; |
| 4351 | InvV=Vtemp.Invert(); |
| 4352 | |
| 4353 | //probability |
| 4354 | double chi2_hit=Vtemp.Chi2(Mdiff); |
| 4355 | double prob_hit=exp(-0.5*chi2_hit) |
| 4356 | /(M_TWO_PI6.28318530717958647692*sqrt(Vtemp.Determinant())); |
| 4357 | |
| 4358 | // Cut out outliers |
| 4359 | if (sqrt(chi2_hit)<NUM_FDC_SIGMA_CUT){ |
| 4360 | probs.push_back(prob_hit); |
| 4361 | Vlist.push_back(V); |
| 4362 | Hlist.push_back(H); |
| 4363 | Mlist.push_back(Mdiff); |
| 4364 | Klist.push_back(C*H_T*InvV); // Kalman gain |
| 4365 | } |
| 4366 | |
| 4367 | // loop over the remaining hits |
| 4368 | for (unsigned int m=1;m<forward_traj[k].num_hits;m++){ |
| 4369 | unsigned int my_id=id-m; |
| 4370 | u=my_fdchits[my_id]->uwire; |
| 4371 | v=my_fdchits[my_id]->vstrip; |
| 4372 | double du=x*cosa-y*sina-u; |
| 4373 | doca=du*cosalpha; |
| 4374 | |
| 4375 | // variance for coordinate along the wire |
| 4376 | V(1,1)=anneal_factor*fdc_y_variance(my_fdchits[my_id]->dE); |
| 4377 | |
| 4378 | // Difference between measurement and projection |
| 4379 | Mdiff(1)=v-(y*cosa+x*sina+doca*nz_sinalpha_plus_nr_cosalpha); |
| 4380 | if (fit_type==kWireBased){ |
| 4381 | Mdiff(0)=-doca; |
| 4382 | } |
| 4383 | else{ |
| 4384 | // Compute drift distance |
| 4385 | double drift_time=my_fdchits[id]->t-mT0 |
| 4386 | -forward_traj[k].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 4387 | //double drift=DRIFT_SPEED*drift_time*(du>0?1.:-1.); |
| 4388 | double drift=(du>0.0?1.:-1.)*fdc_drift_distance(drift_time,forward_traj[k].B); |
| 4389 | |
| 4390 | Mdiff(0)=drift-doca; |
| 4391 | |
| 4392 | // Variance in drift distance |
| 4393 | V(0,0)=anneal_factor*fdc_drift_variance(drift_time); |
| 4394 | } |
| 4395 | |
| 4396 | // Update the terms in H/H_T that depend on the particular hit |
| 4397 | factor=du*tu/sqrt(one_plus_tu2)/one_plus_tu2; |
| 4398 | H_T(state_ty,0)=sina*factor; |
| 4399 | H(0,state_ty)=H_T(state_ty,0); |
| 4400 | H_T(state_tx,0)=-cosa*factor; |
| 4401 | H(0,state_tx)=H_T(state_tx,0); |
| 4402 | temp=(du/one_plus_tu2)*(nz*(cosalpha*cosalpha-sinalpha*sinalpha) |
| 4403 | -2.*nr*cosalpha*sinalpha); |
| 4404 | H_T(state_tx,1)=cosa*temp; |
| 4405 | H(1,state_tx)=H_T(state_tx,1); |
| 4406 | H_T(state_ty,1)=-sina*temp; |
| 4407 | H(1,state_ty)=H_T(state_ty,1); |
| 4408 | |
| 4409 | // Calculate the kalman gain for this hit |
| 4410 | Vtemp=V+H*C*H_T; |
| 4411 | InvV=Vtemp.Invert(); |
| 4412 | |
| 4413 | // probability |
| 4414 | chi2_hit=Vtemp.Chi2(Mdiff); |
| 4415 | prob_hit=exp(-0.5*chi2_hit)/(M_TWO_PI6.28318530717958647692*sqrt(Vtemp.Determinant())); |
| 4416 | |
| 4417 | // Cut out outliers |
| 4418 | if(sqrt(chi2_hit)<NUM_FDC_SIGMA_CUT){ |
| 4419 | probs.push_back(prob_hit); |
| 4420 | Mlist.push_back(Mdiff); |
| 4421 | Vlist.push_back(V); |
| 4422 | Hlist.push_back(H); |
| 4423 | Klist.push_back(C*H_T*InvV); |
| 4424 | } |
| 4425 | } |
| 4426 | double prob_tot=1e-100; |
| 4427 | for (unsigned int m=0;m<probs.size();m++){ |
| 4428 | prob_tot+=probs[m]; |
| 4429 | } |
| 4430 | |
| 4431 | // Adjust the state vector and the covariance using the hit |
| 4432 | //information |
| 4433 | DMatrix5x5 sum=I5x5; |
| 4434 | DMatrix5x5 sum2; |
| 4435 | for (unsigned int m=0;m<Klist.size();m++){ |
| 4436 | double my_prob=probs[m]/prob_tot; |
| 4437 | S+=my_prob*(Klist[m]*Mlist[m]); |
| 4438 | sum+=my_prob*(Klist[m]*Hlist[m]); |
| 4439 | sum2+=(my_prob*my_prob)*(Klist[m]*Vlist[m]*Transpose(Klist[m])); |
| 4440 | } |
| 4441 | C=C.SandwichMultiply(sum)+sum2; |
| 4442 | |
| 4443 | if (fit_type==kTimeBased){ |
| 4444 | for (unsigned int m=0;m<forward_traj[k].num_hits;m++){ |
| 4445 | unsigned int my_id=id-m; |
| 4446 | if (fdc_updates[my_id].used_in_fit){ |
| 4447 | fdc_updates[my_id].S=S; |
| 4448 | fdc_updates[my_id].C=C; |
| 4449 | } |
| 4450 | } |
| 4451 | } |
| 4452 | |
| 4453 | // update number of degrees of freedom |
| 4454 | numdof+=2; |
| 4455 | |
| 4456 | } |
| 4457 | else{ |
| 4458 | // Variance for this hit |
| 4459 | DMatrix2x2 Vtemp=V+H*C*H_T; |
| 4460 | InvV=Vtemp.Invert(); |
| 4461 | |
| 4462 | // Check if this hit is an outlier |
| 4463 | double chi2_hit=Vtemp.Chi2(Mdiff); |
| 4464 | /* |
| 4465 | if(fit_type==kTimeBased && sqrt(chi2_hit)>NUM_FDC_SIGMA_CUT){ |
| 4466 | printf("outlier %d du %f dv %f sigu %f sigv %f sqrt(chi2) %f z %f \n", |
| 4467 | id, Mdiff(0),Mdiff(1),sqrt(Vtemp(0,0)),sqrt(V(1,1)), |
| 4468 | sqrt(chi2_hit),forward_traj[k].pos.z()); |
| 4469 | } |
| 4470 | */ |
| 4471 | if (sqrt(chi2_hit)<NUM_FDC_SIGMA_CUT) |
| 4472 | { |
| 4473 | // Compute Kalman gain matrix |
| 4474 | K=C*H_T*InvV; |
| 4475 | |
| 4476 | // Update the state vector |
| 4477 | S+=K*Mdiff; |
| 4478 | |
| 4479 | // Update state vector covariance matrix |
| 4480 | C=C.SubSym(K*(H*C)); |
| 4481 | // Joseph form |
| 4482 | // C = (I-KH)C(I-KH)^T + KVK^T |
| 4483 | //DMatrix2x5 KT=Transpose(K); |
| 4484 | //C=C.SandwichMultiply(I5x5-K*H)+K*V*KT; |
| 4485 | |
| 4486 | //C=C.SubSym(K*(H*C)); |
| 4487 | |
| 4488 | //C.Print(); |
| 4489 | |
| 4490 | if (fit_type==kTimeBased){ |
| 4491 | fdc_updates[id].S=S; |
| 4492 | fdc_updates[id].C=C; |
| 4493 | } |
| 4494 | fdc_updates[id].used_in_fit=true; |
| 4495 | |
| 4496 | // Filtered residual and covariance of filtered residual |
| 4497 | R=Mdiff-H*K*Mdiff; |
| 4498 | RC=V-H*(C*H_T); |
| 4499 | |
| 4500 | // Update chi2 for this segment |
| 4501 | chisq+=RC.Chi2(R); |
| 4502 | |
| 4503 | // update number of degrees of freedom |
| 4504 | numdof+=2; |
| 4505 | } |
| 4506 | } |
| 4507 | if (num_fdc_hits>=forward_traj[k].num_hits) |
| 4508 | num_fdc_hits-=forward_traj[k].num_hits; |
| 4509 | } |
| 4510 | } |
| 4511 | else if (num_cdc_hits>0){ |
| 4512 | DVector2 origin=my_cdchits[cdc_index]->origin; |
| 4513 | double z0w=my_cdchits[cdc_index]->z0wire; |
| 4514 | DVector2 dir=my_cdchits[cdc_index]->dir; |
| 4515 | double z=forward_traj[k].z; |
| 4516 | DVector2 wirepos=origin+(z-z0w)*dir; |
| 4517 | |
| 4518 | // doca variables |
| 4519 | double dx=S(state_x)-wirepos.X(); |
| 4520 | double dy=S(state_y)-wirepos.Y(); |
| 4521 | double doca2=dx*dx+dy*dy; |
| 4522 | |
| 4523 | // Check if the doca is no longer decreasing |
| 4524 | if (doca2>old_doca2){ |
| 4525 | if(true /*my_cdchits[cdc_index]->status==0*/){ |
| 4526 | // Get energy loss |
| 4527 | double dedx=0.; |
| 4528 | if (CORRECT_FOR_ELOSS){ |
| 4529 | dedx=GetdEdx(S(state_q_over_p), |
| 4530 | forward_traj[k].K_rho_Z_over_A, |
| 4531 | forward_traj[k].rho_Z_over_A, |
| 4532 | forward_traj[k].LnI); |
| 4533 | } |
| 4534 | double tx=S(state_tx); |
| 4535 | double ty=S(state_ty); |
| 4536 | double tanl=1./sqrt(tx*tx+ty*ty); |
| 4537 | double sinl=sin(atan(tanl)); |
| 4538 | |
| 4539 | // Wire direction variables |
| 4540 | double ux=dir.X(); |
| 4541 | double uy=dir.Y(); |
| 4542 | // Variables relating wire direction and track direction |
| 4543 | double my_ux=tx-ux; |
| 4544 | double my_uy=ty-uy; |
| 4545 | double denom=my_ux*my_ux+my_uy*my_uy; |
| 4546 | double dz=0.; |
| 4547 | |
| 4548 | // if the path length increment is small relative to the radius |
| 4549 | // of curvature, use a linear approximation to find dz |
| 4550 | bool do_brent=false; |
| 4551 | double step1=mStepSizeZ; |
| 4552 | double step2=mStepSizeZ; |
| 4553 | if (k>=2){ |
| 4554 | step1=-forward_traj[k].z+forward_traj[k_minus_1].z; |
| 4555 | step2=-forward_traj[k_minus_1].z+forward_traj[k-2].z; |
| 4556 | } |
| 4557 | //printf("step1 %f step 2 %f \n",step1,step2); |
| 4558 | double two_step=step1+step2; |
| 4559 | if (fabs(qBr2p0.003*S(state_q_over_p) |
| 4560 | //*bfield->GetBz(S(state_x),S(state_y),z) |
| 4561 | *forward_traj[k].B |
| 4562 | *two_step/sinl)<0.01 |
| 4563 | && denom>EPS3.0e-8){ |
| 4564 | double dzw=(z-z0w); |
| 4565 | dz=-((S(state_x)-origin.X()-ux*dzw)*my_ux |
| 4566 | +(S(state_y)-origin.Y()-uy*dzw)*my_uy) |
| 4567 | /(my_ux*my_ux+my_uy*my_uy); |
| 4568 | |
| 4569 | if (fabs(dz)>two_step){ |
| 4570 | do_brent=true; |
| 4571 | } |
| 4572 | } |
| 4573 | else do_brent=true; |
| 4574 | if (do_brent){ |
| 4575 | // We have bracketed the minimum doca: use Brent's agorithm |
| 4576 | /* |
| 4577 | double step_size |
| 4578 | =forward_traj[k].pos.z()-forward_traj[k_minus_1].pos.z(); |
| 4579 | dz=BrentsAlgorithm(z,step_size,dedx,origin,dir,S); |
| 4580 | */ |
| 4581 | BrentsAlgorithm(z,-0.5*two_step,dedx,z0w,origin,dir,S,dz); |
| 4582 | } |
| 4583 | double newz=z+dz; |
| 4584 | // Check for exiting the straw |
| 4585 | if (newz>endplate_z){ |
| 4586 | newz=endplate_z; |
| 4587 | dz=endplate_z-z; |
| 4588 | } |
| 4589 | |
| 4590 | // Step the state and covariance through the field |
| 4591 | int num_steps=0; |
| 4592 | double dz3=0.; |
| 4593 | double my_dz=0.; |
| 4594 | double t=forward_traj[k_minus_1].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 4595 | if (fabs(dz)>mStepSizeZ){ |
| 4596 | my_dz=(dz>0.0?1.0:-1.)*mStepSizeZ; |
| 4597 | num_steps=int(fabs(dz/my_dz)); |
| 4598 | dz3=dz-num_steps*my_dz; |
| 4599 | |
| 4600 | double my_z=z; |
| 4601 | for (int m=0;m<num_steps;m++){ |
| 4602 | newz=my_z+my_dz; |
| 4603 | |
| 4604 | // Step current state by my_dz |
| 4605 | double ds=Step(z,newz,dedx,S); |
| 4606 | |
| 4607 | //Adjust time-of-flight |
| 4608 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 4609 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 4610 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 4611 | t+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 4612 | |
| 4613 | // propagate error matrix to z-position of hit |
| 4614 | StepJacobian(z,newz,S0,dedx,J); |
| 4615 | //C=J*C*J.Transpose(); |
| 4616 | C=C.SandwichMultiply(J); |
| 4617 | |
| 4618 | // Step reference trajectory by my_dz |
| 4619 | Step(z,newz,dedx,S0); |
| 4620 | |
| 4621 | my_z=newz; |
| 4622 | } |
| 4623 | |
| 4624 | newz=my_z+dz3; |
| 4625 | |
| 4626 | // Step current state by dz3 |
| 4627 | Step(my_z,newz,dedx,S); |
| 4628 | |
| 4629 | // propagate error matrix to z-position of hit |
| 4630 | StepJacobian(my_z,newz,S0,dedx,J); |
| 4631 | //C=J*C*J.Transpose(); |
| 4632 | C=C.SandwichMultiply(J); |
| 4633 | |
| 4634 | // Step reference trajectory by dz3 |
| 4635 | Step(my_z,newz,dedx,S0); |
| 4636 | } |
| 4637 | else{ |
| 4638 | // Step current state by dz |
| 4639 | Step(z,newz,dedx,S); |
| 4640 | |
| 4641 | // propagate error matrix to z-position of hit |
| 4642 | StepJacobian(z,newz,S0,dedx,J); |
| 4643 | //C=J*C*J.Transpose(); |
| 4644 | C=C.SandwichMultiply(J); |
| 4645 | |
| 4646 | // Step reference trajectory by dz |
| 4647 | Step(z,newz,dedx,S0); |
| 4648 | } |
| 4649 | |
| 4650 | // Wire position at current z |
| 4651 | wirepos=origin+(newz-z0w)*dir; |
| 4652 | double xw=wirepos.X(); |
| 4653 | double yw=wirepos.Y(); |
| 4654 | |
| 4655 | // predicted doca taking into account the orientation of the wire |
| 4656 | dy=S(state_y)-yw; |
| 4657 | dx=S(state_x)-xw; |
| 4658 | double cosstereo=my_cdchits[cdc_index]->cosstereo; |
| 4659 | double d=sqrt(dx*dx+dy*dy)*cosstereo; |
| 4660 | |
| 4661 | // Track projection |
| 4662 | double cosstereo2_over_d=cosstereo*cosstereo/d; |
| 4663 | Hc_T(state_x)=dx*cosstereo2_over_d; |
| 4664 | Hc(state_x)=Hc_T(state_x); |
| 4665 | Hc_T(state_y)=dy*cosstereo2_over_d; |
| 4666 | Hc(state_y)=Hc_T(state_y); |
| 4667 | |
| 4668 | //H.Print(); |
| 4669 | |
| 4670 | // The next measurement |
| 4671 | double dm=0.; |
| 4672 | double Vc=0.2133; //1.6*1.6/12.; |
| 4673 | //double V=0.05332; // 0.8*0.8/12.; |
| 4674 | |
| 4675 | //V=4.*0.8*0.8; // Testing ideas... |
| 4676 | |
| 4677 | if (fit_type==kTimeBased){ |
| 4678 | double tdrift=my_cdchits[cdc_index]->tdrift-mT0-t; |
| 4679 | double B=forward_traj[k].B; |
| 4680 | dm=cdc_drift_distance(tdrift,B); |
| 4681 | |
| 4682 | // variance |
| 4683 | Vc=cdc_variance(B,tdrift); |
| 4684 | |
| 4685 | } |
| 4686 | |
| 4687 | // Residual |
| 4688 | double res=dm-d; |
| 4689 | |
| 4690 | // inverse variance including prediction |
| 4691 | double InvV1=1./(Vc+Hc*(C*Hc_T)); |
| 4692 | if (InvV1<0.){ |
| 4693 | if (DEBUG_LEVEL>0) |
| 4694 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4694<<" " << "Negative variance???" << endl; |
| 4695 | return NEGATIVE_VARIANCE; |
| 4696 | } |
| 4697 | |
| 4698 | if (DEBUG_LEVEL>10) |
| 4699 | printf("Ring %d straw %d pred %f meas %f V %f %f sig %f t %f %f t0 %f\n", |
| 4700 | my_cdchits[cdc_index]->hit->wire->ring, |
| 4701 | my_cdchits[cdc_index]->hit->wire->straw, |
| 4702 | d,dm,Vc,1./InvV1,1./sqrt(InvV1), |
| 4703 | my_cdchits[cdc_index]->hit->tdrift, |
| 4704 | forward_traj[k_minus_1].t, |
| 4705 | mT0 |
| 4706 | ); |
| 4707 | // Check if this hit is an outlier |
| 4708 | double chi2_hit=res*res*InvV1; |
| 4709 | if (sqrt(chi2_hit)<NUM_CDC_SIGMA_CUT){ |
| 4710 | // Flag place along the reference trajectory with hit id |
| 4711 | forward_traj[k_minus_1].h_id=1000+cdc_index; |
| 4712 | |
| 4713 | // Compute KalmanSIMD gain matrix |
| 4714 | Kc=InvV1*(C*Hc_T); |
| 4715 | |
| 4716 | // Update the state vector |
| 4717 | S+=res*Kc; |
| 4718 | |
| 4719 | // Update state vector covariance matrix |
| 4720 | C=C.SubSym(K*(H*C)); |
| 4721 | // Joseph form |
| 4722 | // C = (I-KH)C(I-KH)^T + KVK^T |
| 4723 | //C=C.SandwichMultiply(I5x5-Kc*Hc)+Vc*MultiplyTranspose(Kc); |
| 4724 | |
| 4725 | // Store the "improved" values of the state and covariance matrix |
| 4726 | if (fit_type==kTimeBased){ |
| 4727 | cdc_updates[cdc_index].S=S; |
| 4728 | cdc_updates[cdc_index].C=C; |
| 4729 | } |
| 4730 | cdc_updates[cdc_index].used_in_fit=true; |
| 4731 | |
| 4732 | // Residual |
| 4733 | res*=1.-Hc*Kc; |
| 4734 | |
| 4735 | // Update chi2 for this segment |
| 4736 | double err2 = Vc-Hc*(C*Hc_T)+1e-100; |
| 4737 | chisq+=anneal_factor*res*res/err2; |
| 4738 | |
| 4739 | // update number of degrees of freedom |
| 4740 | numdof++; |
| 4741 | |
| 4742 | } |
| 4743 | |
| 4744 | if (num_steps==0){ |
| 4745 | // Step C back to the z-position on the reference trajectory |
| 4746 | StepJacobian(newz,z,S0,dedx,J); |
| 4747 | //C=J*C*J.Transpose(); |
| 4748 | C=C.SandwichMultiply(J); |
| 4749 | |
| 4750 | // Step S to current position on the reference trajectory |
| 4751 | Step(newz,z,dedx,S); |
| 4752 | } |
| 4753 | else{ |
| 4754 | double my_z=newz; |
| 4755 | for (int m=0;m<num_steps;m++){ |
| 4756 | newz=my_z-my_dz; |
| 4757 | |
| 4758 | // Step C along z |
| 4759 | StepJacobian(my_z,newz,S0,dedx,J); |
| 4760 | //C=J*C*J.Transpose(); |
| 4761 | C=C.SandwichMultiply(J); |
| 4762 | |
| 4763 | // Step S along z |
| 4764 | Step(my_z,newz,dedx,S); |
| 4765 | |
| 4766 | // Step S0 along z |
| 4767 | Step(my_z,newz,dedx,S0); |
| 4768 | |
| 4769 | my_z=newz; |
| 4770 | } |
| 4771 | |
| 4772 | // Step C back to the z-position on the reference trajectory |
| 4773 | StepJacobian(my_z,z,S0,dedx,J); |
| 4774 | //C=J*C*J.Transpose(); |
| 4775 | C=C.SandwichMultiply(J); |
| 4776 | |
| 4777 | // Step S to current position on the reference trajectory |
| 4778 | Step(my_z,z,dedx,S); |
| 4779 | } |
| 4780 | } |
| 4781 | |
| 4782 | // new wire origin and direction |
| 4783 | if (cdc_index>0){ |
| 4784 | cdc_index--; |
| 4785 | origin=my_cdchits[cdc_index]->origin; |
| 4786 | z0w=my_cdchits[cdc_index]->z0wire; |
| 4787 | dir=my_cdchits[cdc_index]->dir; |
| 4788 | } |
| 4789 | |
| 4790 | // Update the wire position |
| 4791 | wirepos=origin+(z-z0w)*dir; |
| 4792 | |
| 4793 | // new doca |
| 4794 | dx=S(state_x)-wirepos.X(); |
| 4795 | dy=S(state_y)-wirepos.Y(); |
| 4796 | doca2=dx*dx+dy*dy; |
| 4797 | |
| 4798 | if (num_cdc_hits>0) num_cdc_hits--; |
| 4799 | if (cdc_index==0 && num_cdc_hits>1) num_cdc_hits=0; |
| 4800 | } |
| 4801 | old_doca2=doca2; |
| 4802 | } |
| 4803 | |
| 4804 | } |
| 4805 | |
| 4806 | // If chisq is still zero after the fit, something went wrong... |
| 4807 | if (numdof<6){ |
| 4808 | numdof=0; |
| 4809 | return INVALID_FIT; |
| 4810 | } |
| 4811 | |
| 4812 | chisq*=anneal_factor; |
| 4813 | numdof-=5; |
| 4814 | |
| 4815 | // Final position for this leg |
| 4816 | x_=S(state_x); |
| 4817 | y_=S(state_y); |
| 4818 | z_=forward_traj[forward_traj.size()-1].z; |
| 4819 | |
| 4820 | return FIT_SUCCEEDED; |
| 4821 | } |
| 4822 | |
| 4823 | |
| 4824 | |
| 4825 | // Kalman engine for forward tracks -- this routine adds CDC hits |
| 4826 | kalman_error_t DTrackFitterKalmanSIMD::KalmanForwardCDC(double anneal,DMatrix5x1 &S, |
| 4827 | DMatrix5x5 &C,double &chisq, |
| 4828 | unsigned int &numdof){ |
| 4829 | DMatrix1x5 H; // Track projection matrix |
| 4830 | DMatrix5x1 H_T; // Transpose of track projection matrix |
| 4831 | DMatrix5x5 J; // State vector Jacobian matrix |
| 4832 | //DMatrix5x5 J_T; // transpose of this matrix |
| 4833 | DMatrix5x5 Q; // Process noise covariance matrix |
| 4834 | DMatrix5x1 K; // KalmanSIMD gain matrix |
| 4835 | DMatrix5x1 S0,S0_,Stest; //State vector |
| 4836 | DMatrix5x5 Ctest; // covariance matrix |
| 4837 | //DMatrix5x1 dS; // perturbation in state vector |
| 4838 | double V=0.0507*1.15; |
| 4839 | |
| 4840 | // set used_in_fit flags to false for cdc hits |
| 4841 | unsigned int num_cdc=cdc_updates.size(); |
| 4842 | for (unsigned int i=0;i<num_cdc;i++) cdc_updates[i].used_in_fit=false; |
| 4843 | for (unsigned int i=0;i<forward_traj.size();i++){ |
| 4844 | forward_traj[i].h_id=0; |
| 4845 | } |
| 4846 | |
| 4847 | // initialize chi2 info |
| 4848 | chisq=0.; |
| 4849 | numdof=0; |
| 4850 | double var_cut=NUM_CDC_SIGMA_CUT*NUM_CDC_SIGMA_CUT; |
| 4851 | double my_anneal=anneal*anneal; |
| 4852 | double chi2cut=my_anneal*var_cut; |
| 4853 | |
| 4854 | // Save the starting values for C and S in the deque |
| 4855 | forward_traj[break_point_step_index].Skk=S; |
| 4856 | forward_traj[break_point_step_index].Ckk=C; |
| 4857 | |
| 4858 | // z-position |
| 4859 | double z=forward_traj[break_point_step_index].z; |
| 4860 | |
| 4861 | // Step size variables |
| 4862 | double step1=mStepSizeZ; |
| 4863 | double step2=mStepSizeZ; |
| 4864 | |
| 4865 | // wire information |
| 4866 | unsigned int cdc_index=break_point_cdc_index; |
| 4867 | |
| 4868 | if (cdc_index<MIN_HITS_FOR_REFIT) chi2cut=100.0; |
| 4869 | |
| 4870 | DVector2 origin=my_cdchits[cdc_index]->origin; |
| 4871 | double z0w=my_cdchits[cdc_index]->z0wire; |
| 4872 | DVector2 dir=my_cdchits[cdc_index]->dir; |
| 4873 | DVector2 wirepos=origin+(z-z0w)*dir; |
| 4874 | bool more_measurements=true; |
| 4875 | |
| 4876 | // doca variables |
| 4877 | double dx=S(state_x)-wirepos.X(); |
| 4878 | double dy=S(state_y)-wirepos.Y(); |
| 4879 | double doca2=0.,old_doca2=dx*dx+dy*dy; |
| 4880 | |
| 4881 | // loop over entries in the trajectory |
| 4882 | S0_=(forward_traj[break_point_step_index].S); |
| 4883 | for (unsigned int k=break_point_step_index+1;k<forward_traj.size()/*-1*/;k++){ |
| 4884 | unsigned int k_minus_1=k-1; |
| 4885 | |
| 4886 | // Check that C matrix is positive definite |
| 4887 | if (C(0,0)<0.0 || C(1,1)<0.0 || C(2,2)<0.0 || C(3,3)<0.0 || C(4,4)<0.0){ |
| 4888 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4888<<" " << "Broken covariance matrix!" <<endl; |
| 4889 | return BROKEN_COVARIANCE_MATRIX; |
| 4890 | } |
| 4891 | |
| 4892 | z=forward_traj[k].z; |
| 4893 | |
| 4894 | // Get the state vector, jacobian matrix, and multiple scattering matrix |
| 4895 | // from reference trajectory |
| 4896 | S0=(forward_traj[k].S); |
| 4897 | J=(forward_traj[k].J); |
| 4898 | //J_T=(forward_traj[k].JT); |
| 4899 | Q=(forward_traj[k].Q); |
| 4900 | |
| 4901 | // State S is perturbation about a seed S0 |
| 4902 | //dS=S-S0_; |
| 4903 | /* |
| 4904 | dS.Print(); |
| 4905 | J.Print(); |
| 4906 | */ |
| 4907 | |
| 4908 | // Update the actual state vector and covariance matrix |
| 4909 | S=S0+J*(S-S0_); |
| 4910 | |
| 4911 | // Bail if the position is grossly outside of the tracking volume |
| 4912 | if (S(state_x)*S(state_x)+S(state_y)*S(state_y)>R2_MAX4225.0){ |
| 4913 | if (DEBUG_LEVEL>2) |
| 4914 | { |
| 4915 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4915<<" "<< "Went outside of tracking volume at x=" << S(state_x) |
| 4916 | << " y=" << S(state_y) <<" z="<<z<<endl; |
| 4917 | } |
| 4918 | return POSITION_OUT_OF_RANGE; |
| 4919 | } |
| 4920 | // Bail if the momentum has dropped below some minimum |
| 4921 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX100.){ |
| 4922 | if (DEBUG_LEVEL>2) |
| 4923 | { |
| 4924 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4924<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) << endl; |
| 4925 | } |
| 4926 | return MOMENTUM_OUT_OF_RANGE; |
| 4927 | } |
| 4928 | |
| 4929 | |
| 4930 | |
| 4931 | //C=J*(C*J_T)+Q; |
| 4932 | //C=Q.AddSym(J*C*J_T); |
| 4933 | C=Q.AddSym(C.SandwichMultiply(J)); |
| 4934 | |
| 4935 | // Save the current state of the reference trajectory |
| 4936 | S0_=S0; |
| 4937 | |
| 4938 | // new wire position |
| 4939 | wirepos=origin; |
| 4940 | wirepos+=(z-z0w)*dir; |
| 4941 | |
| 4942 | // new doca |
| 4943 | dx=S(state_x)-wirepos.X(); |
| 4944 | dy=S(state_y)-wirepos.Y(); |
| 4945 | doca2=dx*dx+dy*dy; |
| 4946 | |
| 4947 | // Check if the doca is no longer decreasing |
| 4948 | if (more_measurements && doca2>old_doca2 && z<endplate_z){ |
| 4949 | if (my_cdchits[cdc_index]->status==good_hit){ |
| 4950 | double dz=0.,newz=z; |
| 4951 | |
| 4952 | // Get energy loss |
| 4953 | double dedx=0.; |
| 4954 | if (CORRECT_FOR_ELOSS){ |
| 4955 | dedx=GetdEdx(S(state_q_over_p), |
| 4956 | forward_traj[k].K_rho_Z_over_A, |
| 4957 | forward_traj[k].rho_Z_over_A, |
| 4958 | forward_traj[k].LnI); |
| 4959 | } |
| 4960 | |
| 4961 | // Last 2 step sizes |
| 4962 | if (k>=2){ |
| 4963 | double z1=forward_traj[k_minus_1].z; |
| 4964 | step1=-forward_traj[k].z+z1; |
| 4965 | step2=-z1+forward_traj[k-2].z; |
| 4966 | } |
| 4967 | |
| 4968 | // Track direction variables |
| 4969 | double tx=S(state_tx); |
| 4970 | double ty=S(state_ty); |
| 4971 | double tanl=1./sqrt(tx*tx+ty*ty); |
| 4972 | double sinl=sin(atan(tanl)); |
| 4973 | |
| 4974 | // Wire direction variables |
| 4975 | double ux=dir.X(); |
| 4976 | double uy=dir.Y(); |
| 4977 | // Variables relating wire direction and track direction |
| 4978 | double my_ux=tx-ux; |
| 4979 | double my_uy=ty-uy; |
| 4980 | double denom=my_ux*my_ux+my_uy*my_uy; |
| 4981 | |
| 4982 | // if the path length increment is small relative to the radius |
| 4983 | // of curvature, use a linear approximation to find dz |
| 4984 | bool do_brent=false; |
| 4985 | //printf("step1 %f step 2 %f \n",step1,step2); |
| 4986 | double two_step=step1+step2; |
| 4987 | if (fabs(qBr2p0.003*S(state_q_over_p) |
| 4988 | //*bfield->GetBz(S(state_x),S(state_y),z) |
| 4989 | *forward_traj[k].B |
| 4990 | *two_step/sinl)<0.01 |
| 4991 | && denom>EPS3.0e-8){ |
| 4992 | double dzw=z-z0w; |
| 4993 | dz=-((S(state_x)-origin.X()-ux*dzw)*my_ux |
| 4994 | +(S(state_y)-origin.Y()-uy*dzw)*my_uy)/denom; |
| 4995 | |
| 4996 | if (fabs(dz)>two_step || dz<0.0){ |
| 4997 | do_brent=true; |
| 4998 | } |
| 4999 | else{ |
| 5000 | newz=z+dz; |
| 5001 | // Check for exiting the straw |
| 5002 | if (newz>endplate_z){ |
| 5003 | newz=endplate_z; |
| 5004 | dz=endplate_z-z; |
| 5005 | } |
| 5006 | // Step the state and covariance through the field |
| 5007 | if (dz>mStepSizeZ){ |
| 5008 | double my_z=z; |
| 5009 | int my_steps=int(dz/mStepSizeZ); |
| 5010 | double dz2=dz-my_steps*mStepSizeZ; |
| 5011 | for (int m=0;m<my_steps;m++){ |
| 5012 | newz=my_z+mStepSizeZ; |
| 5013 | |
| 5014 | // Bail if the momentum has dropped below some minimum |
| 5015 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX100.){ |
| 5016 | if (DEBUG_LEVEL>2) |
| 5017 | { |
| 5018 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5018<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) << endl; |
| 5019 | } |
| 5020 | return MOMENTUM_OUT_OF_RANGE; |
| 5021 | } |
| 5022 | |
| 5023 | // Step current state by step size |
| 5024 | Step(my_z,newz,dedx,S); |
| 5025 | |
| 5026 | my_z=newz; |
| 5027 | } |
| 5028 | newz=my_z+dz2; |
| 5029 | // Bail if the momentum has dropped below some minimum |
| 5030 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX100.){ |
| 5031 | if (DEBUG_LEVEL>2) |
| 5032 | { |
| 5033 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5033<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) << endl; |
| 5034 | } |
| 5035 | return MOMENTUM_OUT_OF_RANGE; |
| 5036 | } |
| 5037 | |
| 5038 | Step(my_z,newz,dedx,S); |
| 5039 | } |
| 5040 | else{ |
| 5041 | // Bail if the momentum has dropped below some minimum |
| 5042 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX100.){ |
| 5043 | if (DEBUG_LEVEL>2) |
| 5044 | { |
| 5045 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5045<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) << endl; |
| 5046 | } |
| 5047 | return MOMENTUM_OUT_OF_RANGE; |
| 5048 | } |
| 5049 | Step(z,newz,dedx,S); |
| 5050 | } |
| 5051 | } |
| 5052 | } |
| 5053 | else do_brent=true; |
| 5054 | if (do_brent){ |
| 5055 | // We have bracketed the minimum doca: use Brent's agorithm |
| 5056 | if (BrentsAlgorithm(z,-mStepSizeZ,dedx,z0w,origin,dir,S,dz) |
| 5057 | !=NOERROR){ |
| 5058 | return MOMENTUM_OUT_OF_RANGE; |
| 5059 | } |
| 5060 | newz=z+dz; |
| 5061 | |
| 5062 | if (fabs(dz)>2.*mStepSizeZ-EPS31.e-2){ |
| 5063 | // whoops, looks like we didn't actually bracket the minimum after |
| 5064 | // all. Swim to make sure we pass the minimum doca. |
| 5065 | double ztemp=newz; |
| 5066 | |
| 5067 | // doca |
| 5068 | old_doca2=doca2; |
| 5069 | |
| 5070 | // new wire position |
| 5071 | wirepos=origin; |
| 5072 | wirepos+=(newz-z0w)*dir; |
| 5073 | |
| 5074 | // new distance to the wire |
| 5075 | dx=S(state_x)-wirepos.X(); |
| 5076 | dy=S(state_y)-wirepos.Y(); |
| 5077 | doca2=dx*dx+dy*dy; |
| 5078 | |
| 5079 | while(doca2<old_doca2){ |
| 5080 | newz=ztemp+mStepSizeZ; |
| 5081 | old_doca2=doca2; |
| 5082 | |
| 5083 | // step to the next z position |
| 5084 | Step(ztemp,newz,dedx,S); |
| 5085 | |
| 5086 | // new wire position |
| 5087 | wirepos=origin; |
| 5088 | wirepos+=(newz-z0w)*dir; |
| 5089 | |
| 5090 | //New distance to the wire |
| 5091 | |
| 5092 | dx=S(state_x)-wirepos.X(); |
| 5093 | dy=S(state_y)-wirepos.Y(); |
| 5094 | doca2=dx*dx+dy*dy; |
| 5095 | |
| 5096 | ztemp=newz; |
| 5097 | } |
| 5098 | // Find the true doca |
| 5099 | double dz2=0.; |
| 5100 | if (BrentsAlgorithm(newz,mStepSizeZ,dedx,z0w,origin,dir,S,dz2)!=NOERROR){ |
| 5101 | return MOMENTUM_OUT_OF_RANGE; |
| 5102 | } |
| 5103 | newz=ztemp+dz2; |
| 5104 | |
| 5105 | // Change in z relative to where we started for this wire |
| 5106 | dz=newz-z; |
| 5107 | } |
| 5108 | } |
| 5109 | |
| 5110 | // Step the state and covariance through the field |
| 5111 | int num_steps=0; |
| 5112 | double dz3=0.; |
| 5113 | double my_dz=0.; |
| 5114 | if (fabs(dz)>mStepSizeZ){ |
| 5115 | my_dz=(dz>0.0?1.0:-1.)*mStepSizeZ; |
| 5116 | num_steps=int(fabs(dz/my_dz)); |
| 5117 | dz3=dz-num_steps*my_dz; |
| 5118 | |
| 5119 | double my_z=z; |
| 5120 | for (int m=0;m<num_steps;m++){ |
| 5121 | newz=my_z+my_dz; |
| 5122 | |
| 5123 | // Step current state by my_dz |
| 5124 | //Step(z,newz,dedx,S); |
| 5125 | |
| 5126 | // propagate error matrix to z-position of hit |
| 5127 | StepJacobian(z,newz,S0,dedx,J); |
| 5128 | //C=J*C*J.Transpose(); |
| 5129 | C=C.SandwichMultiply(J); |
| 5130 | |
| 5131 | // Step reference trajectory by my_dz |
| 5132 | Step(z,newz,dedx,S0); |
| 5133 | |
| 5134 | my_z=newz; |
| 5135 | } |
| 5136 | |
| 5137 | newz=my_z+dz3; |
| 5138 | |
| 5139 | // Step current state by dz3 |
| 5140 | // Step(my_z,newz,dedx,S); |
| 5141 | |
| 5142 | // propagate error matrix to z-position of hit |
| 5143 | StepJacobian(my_z,newz,S0,dedx,J); |
| 5144 | //C=J*C*J.Transpose(); |
| 5145 | C=C.SandwichMultiply(J); |
| 5146 | |
| 5147 | // Step reference trajectory by dz3 |
| 5148 | Step(my_z,newz,dedx,S0); |
| 5149 | } |
| 5150 | else{ |
| 5151 | // Step current state by dz |
| 5152 | //Step(z,newz,dedx,S); |
| 5153 | |
| 5154 | // propagate error matrix to z-position of hit |
| 5155 | StepJacobian(z,newz,S0,dedx,J); |
| 5156 | //C=J*C*J.Transpose(); |
| 5157 | C=C.SandwichMultiply(J); |
| 5158 | |
| 5159 | // Step reference trajectory by dz |
| 5160 | Step(z,newz,dedx,S0); |
| 5161 | } |
| 5162 | |
| 5163 | // Wire position at current z |
| 5164 | wirepos=origin; |
| 5165 | wirepos+=(newz-z0w)*dir; |
| 5166 | |
| 5167 | double xw=wirepos.X(); |
| 5168 | double yw=wirepos.Y(); |
| 5169 | |
| 5170 | // predicted doca taking into account the orientation of the wire |
| 5171 | dy=S(state_y)-yw; |
| 5172 | dx=S(state_x)-xw; |
| 5173 | double cosstereo=my_cdchits[cdc_index]->cosstereo; |
| 5174 | double d=sqrt(dx*dx+dy*dy)*cosstereo+EPS3.0e-8; |
| 5175 | |
| 5176 | //printf("z %f d %f z-1 %f\n",newz,d,forward_traj[k_minus_1].z); |
| 5177 | |
| 5178 | // Track projection |
| 5179 | double cosstereo2_over_d=cosstereo*cosstereo/d; |
| 5180 | H(state_x)=H_T(state_x)=dx*cosstereo2_over_d; |
| 5181 | H(state_y)=H_T(state_y)=dy*cosstereo2_over_d; |
| 5182 | |
| 5183 | //H.Print(); |
| 5184 | |
| 5185 | // The next measurement |
| 5186 | double dm=0.39,tdrift=0.,tcorr=0.; |
| 5187 | if (fit_type==kTimeBased || USE_PASS1_TIME_MODE){ |
| 5188 | // Find offset of wire with respect to the center of the |
| 5189 | // straw at this z position |
| 5190 | const DCDCWire *mywire=my_cdchits[cdc_index]->hit->wire; |
| 5191 | int ring_index=mywire->ring-1; |
| 5192 | int straw_index=mywire->straw-1; |
| 5193 | double dz=newz-z0w; |
| 5194 | double phi_d=atan2(dy,dx); |
| 5195 | double delta |
| 5196 | =max_sag[ring_index][straw_index]*(1.-dz*dz/5625.) |
| 5197 | *cos(phi_d + sag_phi_offset[ring_index][straw_index]); |
| 5198 | double dphi=phi_d-mywire->origin.Phi(); |
| 5199 | while (dphi>M_PI3.14159265358979323846) dphi-=2*M_PI3.14159265358979323846; |
| 5200 | while (dphi<-M_PI3.14159265358979323846) dphi+=2*M_PI3.14159265358979323846; |
| 5201 | if (mywire->origin.Y()<0) dphi*=-1.; |
| 5202 | |
| 5203 | tdrift=my_cdchits[cdc_index]->tdrift-mT0 |
| 5204 | -forward_traj[k_minus_1].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 5205 | double B=forward_traj[k_minus_1].B; |
| 5206 | ComputeCDCDrift(dphi,delta,tdrift,B,dm,V,tcorr); |
| 5207 | |
| 5208 | //_DBG_ << tcorr << " " << dphi << " " << dm << endl; |
| 5209 | } |
| 5210 | // residual |
| 5211 | double res=dm-d; |
| 5212 | |
| 5213 | // inverse of variance including prediction |
| 5214 | //InvV=1./(V+H*(C*H_T)); |
| 5215 | double Vproj=C.SandwichMultiply(H_T); |
| 5216 | double InvV=1./(V+Vproj); |
| 5217 | if (InvV<0.){ |
| 5218 | if (DEBUG_LEVEL>0) |
| 5219 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5219<<" " << "Negative variance???" << endl; |
| 5220 | break_point_cdc_index=(3*num_cdc)/4; |
| 5221 | return NEGATIVE_VARIANCE; |
| 5222 | } |
| 5223 | |
| 5224 | // Check how far this hit is from the expected position |
| 5225 | double chi2check=res*res*InvV; |
| 5226 | //if (sqrt(chi2check)>NUM_CDC_SIGMA_CUT) InvV*=0.8; |
| 5227 | if (chi2check<chi2cut) |
| 5228 | { |
| 5229 | /* |
| 5230 | if (chi2check>var_cut){ |
| 5231 | // Give hits that satisfy the wide cut but are still pretty far |
| 5232 | // from the projected position less weight |
| 5233 | //_DBG_ << my_anneal << endl; |
| 5234 | |
| 5235 | // ad hoc correction |
| 5236 | double diff = chi2check-var_cut; |
| 5237 | V*=1.+my_anneal*diff*diff; |
| 5238 | InvV=1./(V+Vproj); |
| 5239 | } |
| 5240 | */ |
| 5241 | |
| 5242 | // Compute KalmanSIMD gain matrix |
| 5243 | K=InvV*(C*H_T); |
| 5244 | |
| 5245 | // Update state vector covariance matrix |
| 5246 | Ctest=C.SubSym(K*(H*C)); |
| 5247 | // Joseph form |
| 5248 | // C = (I-KH)C(I-KH)^T + KVK^T |
| 5249 | //Ctest=C.SandwichMultiply(I5x5-K*H)+V*MultiplyTranspose(K); |
| 5250 | // Check that Ctest is positive definite |
| 5251 | if (Ctest(0,0)>0.0 && Ctest(1,1)>0.0 && Ctest(2,2)>0.0 && Ctest(3,3)>0.0 |
| 5252 | && Ctest(4,4)>0.0){ |
| 5253 | bool skip_ring |
| 5254 | =(my_cdchits[cdc_index]->hit->wire->ring==RING_TO_SKIP); |
| 5255 | // update covariance matrix and state vector |
| 5256 | if (skip_ring==false){ |
| 5257 | C=Ctest; |
| 5258 | S+=res*K; |
| 5259 | } |
| 5260 | // Mark point on ref trajectory with a hit id for the straw |
| 5261 | forward_traj[k].h_id=cdc_index+1; |
| 5262 | |
| 5263 | // Store some updated values related to the hit |
| 5264 | double scale=(skip_ring)?1.:(1.-H*K); |
| 5265 | cdc_updates[cdc_index].tcorr=tcorr; |
| 5266 | cdc_updates[cdc_index].tdrift=tdrift; |
| 5267 | cdc_updates[cdc_index].doca=dm; |
| 5268 | cdc_updates[cdc_index].residual=res*scale; |
| 5269 | cdc_updates[cdc_index].variance=V; |
| 5270 | cdc_updates[cdc_index].used_in_fit=true; |
| 5271 | |
| 5272 | // Update chi2 for this segment |
| 5273 | if (skip_ring==false){ |
| 5274 | chisq+=scale*res*res/V; |
| 5275 | numdof++; |
| 5276 | } |
| 5277 | break_point_cdc_index=cdc_index; |
| 5278 | break_point_step_index=k_minus_1; |
| 5279 | |
| 5280 | if (DEBUG_LEVEL>9) |
| 5281 | printf("Ring %d straw %d pred %f meas %f chi2 %f\n", |
| 5282 | my_cdchits[cdc_index]->hit->wire->ring, |
| 5283 | my_cdchits[cdc_index]->hit->wire->straw, |
| 5284 | d,dm,(1.-H*K)*res*res/V); |
| 5285 | |
| 5286 | } |
| 5287 | } |
| 5288 | |
| 5289 | if (num_steps==0){ |
| 5290 | // Step C back to the z-position on the reference trajectory |
| 5291 | StepJacobian(newz,z,S0,dedx,J); |
| 5292 | //C=J*C*J.Transpose(); |
| 5293 | C=C.SandwichMultiply(J); |
| 5294 | |
| 5295 | // Step S to current position on the reference trajectory |
| 5296 | Step(newz,z,dedx,S); |
| 5297 | } |
| 5298 | else{ |
| 5299 | double my_z=newz; |
| 5300 | for (int m=0;m<num_steps;m++){ |
| 5301 | z=my_z-my_dz; |
| 5302 | |
| 5303 | // Step C along z |
| 5304 | StepJacobian(my_z,z,S0,dedx,J); |
| 5305 | //C=J*C*J.Transpose(); |
| 5306 | C=C.SandwichMultiply(J); |
| 5307 | |
| 5308 | // Step S along z |
| 5309 | Step(my_z,z,dedx,S); |
| 5310 | |
| 5311 | // Step S0 along z |
| 5312 | Step(my_z,z,dedx,S0); |
| 5313 | |
| 5314 | my_z=z; |
| 5315 | } |
| 5316 | z=my_z-dz3; |
| 5317 | |
| 5318 | // Step C back to the z-position on the reference trajectory |
| 5319 | StepJacobian(my_z,z,S0,dedx,J); |
| 5320 | //C=J*C*J.Transpose(); |
| 5321 | C=C.SandwichMultiply(J); |
| 5322 | |
| 5323 | // Step S to current position on the reference trajectory |
| 5324 | Step(my_z,z,dedx,S); |
| 5325 | |
| 5326 | } |
| 5327 | |
| 5328 | cdc_updates[cdc_index].S=S; |
| 5329 | cdc_updates[cdc_index].C=C; |
| 5330 | } |
| 5331 | else { |
| 5332 | if (cdc_index>0) cdc_index--; |
| 5333 | else cdc_index=0; |
| 5334 | |
| 5335 | } |
| 5336 | |
| 5337 | // new wire origin and direction |
| 5338 | if (cdc_index>0){ |
| 5339 | cdc_index--; |
| 5340 | origin=my_cdchits[cdc_index]->origin; |
| 5341 | z0w=my_cdchits[cdc_index]->z0wire; |
| 5342 | dir=my_cdchits[cdc_index]->dir; |
| 5343 | } |
| 5344 | else{ |
| 5345 | more_measurements=false; |
| 5346 | } |
| 5347 | |
| 5348 | // Update the wire position |
| 5349 | wirepos=origin; |
| 5350 | wirepos+=(z-z0w)*dir; |
| 5351 | |
| 5352 | // new doca |
| 5353 | dx=S(state_x)-wirepos.X(); |
| 5354 | dy=S(state_y)-wirepos.Y(); |
| 5355 | doca2=dx*dx+dy*dy; |
| 5356 | } |
| 5357 | old_doca2=doca2; |
| 5358 | |
| 5359 | // Save the current state and covariance matrix in the deque |
| 5360 | forward_traj[k].Skk=S; |
| 5361 | forward_traj[k].Ckk=C; |
| 5362 | |
| 5363 | } |
| 5364 | |
| 5365 | // Check that there were enough hits to make this a valid fit |
| 5366 | if (numdof<6){ |
| 5367 | chisq=MAX_CHI21e16; |
| 5368 | numdof=0; |
| 5369 | |
| 5370 | return INVALID_FIT; |
| 5371 | } |
| 5372 | numdof-=5; |
| 5373 | |
| 5374 | // Final position for this leg |
| 5375 | x_=S(state_x); |
| 5376 | y_=S(state_y); |
| 5377 | z_=forward_traj[forward_traj.size()-1].z; |
| 5378 | |
| 5379 | // Check if the momentum is unphysically large |
| 5380 | if (1./fabs(S(state_q_over_p))>12.0){ |
| 5381 | if (DEBUG_LEVEL>2) |
| 5382 | { |
| 5383 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5383<<" " << "Unphysical momentum: P = " << 1./fabs(S(state_q_over_p)) |
| 5384 | <<endl; |
| 5385 | } |
| 5386 | return MOMENTUM_OUT_OF_RANGE; |
| 5387 | } |
| 5388 | |
| 5389 | // Check if we have a kink in the track or threw away too many cdc hits |
| 5390 | if (num_cdc>=MIN_HITS_FOR_REFIT){ |
| 5391 | if (break_point_cdc_index>1){ |
| 5392 | if (break_point_cdc_index<num_cdc/2){ |
| 5393 | break_point_cdc_index=(3*num_cdc)/4; |
| 5394 | } |
| 5395 | return BREAK_POINT_FOUND; |
| 5396 | } |
| 5397 | |
| 5398 | unsigned int num_good=0; |
| 5399 | for (unsigned int j=0;j<num_cdc;j++){ |
| 5400 | if (cdc_updates[j].used_in_fit) num_good++; |
| 5401 | } |
| 5402 | if (double(num_good)/double(num_cdc)<MINIMUM_HIT_FRACTION0.5){ |
| 5403 | return PRUNED_TOO_MANY_HITS; |
| 5404 | } |
| 5405 | } |
| 5406 | |
| 5407 | return FIT_SUCCEEDED; |
| 5408 | } |
| 5409 | |
| 5410 | // Extrapolate to the point along z of closest approach to the beam line using |
| 5411 | // the forward track state vector parameterization. Converts to the central |
| 5412 | // track representation at the end. |
| 5413 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DMatrix5x1 &S, |
| 5414 | DMatrix5x5 &C){ |
| 5415 | DMatrix5x5 J; // Jacobian matrix |
| 5416 | DMatrix5x5 Q; // multiple scattering matrix |
| 5417 | DMatrix5x1 S1(S); // copy of S |
| 5418 | |
| 5419 | // Direction and origin of beam line |
| 5420 | DVector2 dir; |
| 5421 | DVector2 origin; |
| 5422 | |
| 5423 | // position variables |
| 5424 | double z=z_,newz=z_; |
| 5425 | double r2_old=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 5426 | double dz_old=0.; |
| 5427 | double dEdx=0.; |
| 5428 | double sign=1.; |
| 5429 | |
| 5430 | // material properties |
| 5431 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.; |
| 5432 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5433 | |
| 5434 | // if (fit_type==kTimeBased)printf("------Extrapolating\n"); |
| 5435 | |
| 5436 | // printf("-----------\n"); |
| 5437 | // Current position |
| 5438 | DVector3 pos(S(state_x),S(state_y),z); |
| 5439 | |
| 5440 | // get material properties from the Root Geometry |
| 5441 | if (geom->FindMatKalman(pos,K_rho_Z_over_A,rho_Z_over_A,LnI, |
| 5442 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5443 | last_material_map) |
| 5444 | !=NOERROR){ |
| 5445 | if (DEBUG_LEVEL>1) |
| 5446 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5446<<" " << "Material error in ExtrapolateToVertex at (x,y,z)=(" |
| 5447 | << pos.X() <<"," << pos.y()<<","<< pos.z()<<")"<< endl; |
| 5448 | return UNRECOVERABLE_ERROR; |
| 5449 | } |
| 5450 | |
| 5451 | // Adjust the step size |
| 5452 | double ds_dz=sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 5453 | double dz=-mStepSizeS/ds_dz; |
| 5454 | if (fabs(dEdx)>EPS3.0e-8){ |
| 5455 | dz=(-1.)*DE_PER_STEP0.0005/fabs(dEdx)/ds_dz; |
| 5456 | } |
| 5457 | if(fabs(dz)>mStepSizeZ) dz=-mStepSizeZ; |
| 5458 | if(fabs(dz)<MIN_STEP_SIZE0.1)dz=-MIN_STEP_SIZE0.1; |
| 5459 | |
| 5460 | // Get dEdx for the upcoming step |
| 5461 | if (CORRECT_FOR_ELOSS){ |
| 5462 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI); |
| 5463 | } |
| 5464 | |
| 5465 | |
| 5466 | double ztest=endplate_z; |
| 5467 | if (my_fdchits.size()>0){ |
| 5468 | ztest =my_fdchits[0]->z-1.; |
| 5469 | } |
| 5470 | if (z<ztest) |
| 5471 | { |
| 5472 | // Check direction of propagation |
| 5473 | DMatrix5x1 S2(S); // second copy of S |
| 5474 | |
| 5475 | // Step test states through the field and compute squared radii |
| 5476 | Step(z,z-dz,dEdx,S1); |
| 5477 | // Bail if the momentum has dropped below some minimum |
| 5478 | if (fabs(S1(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 5479 | if (DEBUG_LEVEL>2) |
| 5480 | { |
| 5481 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5481<<" " << "Bailing: P = " << 1./fabs(S1(state_q_over_p)) |
| 5482 | << endl; |
| 5483 | } |
| 5484 | return UNRECOVERABLE_ERROR; |
| 5485 | } |
| 5486 | double r2minus=S1(state_x)*S1(state_x)+S1(state_y)*S1(state_y); |
| 5487 | Step(z,z+dz,dEdx,S2); |
| 5488 | // Bail if the momentum has dropped below some minimum |
| 5489 | if (fabs(S2(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 5490 | if (DEBUG_LEVEL>2) |
| 5491 | { |
| 5492 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5492<<" " << "Bailing: P = " << 1./fabs(S2(state_q_over_p)) |
| 5493 | << endl; |
| 5494 | } |
| 5495 | return UNRECOVERABLE_ERROR; |
| 5496 | } |
| 5497 | double r2plus=S2(state_x)*S2(state_x)+S2(state_y)*S2(state_y); |
| 5498 | // Check to see if we have already bracketed the minimum |
| 5499 | if (r2plus>r2_old && r2minus>r2_old){ |
| 5500 | newz=z+dz; |
| 5501 | DVector2 dir; |
| 5502 | DVector2 origin; |
| 5503 | double dz2=0.; |
| 5504 | if (BrentsAlgorithm(newz,dz,dEdx,0.,origin,dir,S2,dz2)!=NOERROR){ |
| 5505 | if (DEBUG_LEVEL>2) |
| 5506 | { |
| 5507 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5507<<" " << "Bailing: P = " << 1./fabs(S2(state_q_over_p)) |
| 5508 | << endl; |
| 5509 | } |
| 5510 | return UNRECOVERABLE_ERROR; |
| 5511 | } |
| 5512 | z_=newz+dz2; |
| 5513 | |
| 5514 | // Compute the Jacobian matrix |
| 5515 | StepJacobian(z,z_,S,dEdx,J); |
| 5516 | |
| 5517 | // Propagate the covariance matrix |
| 5518 | //C=Q.AddSym(J*C*J.Transpose()); |
| 5519 | C=C.SandwichMultiply(J); |
| 5520 | |
| 5521 | // Step to the position of the doca |
| 5522 | Step(z,z_,dEdx,S); |
| 5523 | |
| 5524 | // update internal variables |
| 5525 | x_=S(state_x); |
| 5526 | y_=S(state_y); |
| 5527 | |
| 5528 | return NOERROR; |
| 5529 | } |
| 5530 | |
| 5531 | // Find direction to propagate toward minimum doca |
| 5532 | if (r2minus<r2_old && r2_old<r2plus){ |
| 5533 | newz=z-dz; |
| 5534 | |
| 5535 | // Compute the Jacobian matrix |
| 5536 | StepJacobian(z,newz,S,dEdx,J); |
| 5537 | |
| 5538 | // Propagate the covariance matrix |
| 5539 | //C=Q.AddSym(J*C*J.Transpose()); |
| 5540 | C=C.SandwichMultiply(J); |
| 5541 | |
| 5542 | S2=S; |
| 5543 | S=S1; |
| 5544 | S1=S2; |
| 5545 | dz*=-1.; |
| 5546 | sign=-1.; |
| 5547 | dz_old=dz; |
| 5548 | r2_old=r2minus; |
| 5549 | z=z+dz; |
| 5550 | } |
| 5551 | if (r2minus>r2_old && r2_old>r2plus){ |
| 5552 | newz=z+dz; |
| 5553 | |
| 5554 | // Compute the Jacobian matrix |
| 5555 | StepJacobian(z,newz,S,dEdx,J); |
| 5556 | |
| 5557 | // Propagate the covariance matrix |
| 5558 | //C=Q.AddSym(J*C*J.Transpose()); |
| 5559 | C=C.SandwichMultiply(J); |
| 5560 | |
| 5561 | S1=S; |
| 5562 | S=S2; |
| 5563 | dz_old=dz; |
| 5564 | r2_old=r2plus; |
| 5565 | z=z+dz; |
| 5566 | } |
| 5567 | } |
| 5568 | |
| 5569 | double r2=r2_old; |
| 5570 | while (z>Z_MIN-100. && r2<R2_MAX4225.0 && z<ztest && r2>EPS3.0e-8){ |
| 5571 | // Bail if the momentum has dropped below some minimum |
| 5572 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 5573 | if (DEBUG_LEVEL>2) |
| 5574 | { |
| 5575 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5575<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 5576 | << endl; |
| 5577 | } |
| 5578 | return UNRECOVERABLE_ERROR; |
| 5579 | } |
| 5580 | |
| 5581 | // Relationship between arc length and z |
| 5582 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 5583 | |
| 5584 | // get material properties from the Root Geometry |
| 5585 | pos.SetXYZ(S(state_x),S(state_y),z); |
| 5586 | double s_to_boundary=1.e6; |
| 5587 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 5588 | DVector3 mom(S(state_tx),S(state_ty),1.); |
| 5589 | if (geom->FindMatKalman(pos,mom,K_rho_Z_over_A,rho_Z_over_A,LnI, |
| 5590 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5591 | last_material_map,&s_to_boundary) |
| 5592 | !=NOERROR){ |
| 5593 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5593<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5594 | return UNRECOVERABLE_ERROR; |
| 5595 | } |
| 5596 | } |
| 5597 | else{ |
| 5598 | if (geom->FindMatKalman(pos,K_rho_Z_over_A,rho_Z_over_A,LnI, |
| 5599 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5600 | last_material_map) |
| 5601 | !=NOERROR){ |
| 5602 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5602<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5603 | break; |
| 5604 | } |
| 5605 | } |
| 5606 | |
| 5607 | // Get dEdx for the upcoming step |
| 5608 | if (CORRECT_FOR_ELOSS){ |
| 5609 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI); |
| 5610 | } |
| 5611 | |
| 5612 | // Adjust the step size |
| 5613 | //dz=-sign*mStepSizeS*dz_ds; |
| 5614 | double ds=mStepSizeS; |
| 5615 | if (fabs(dEdx)>EPS3.0e-8){ |
| 5616 | ds=DE_PER_STEP0.0005/fabs(dEdx); |
| 5617 | } |
| 5618 | /* |
| 5619 | if(fabs(dz)>mStepSizeZ) dz=-sign*mStepSizeZ; |
| 5620 | if (fabs(dz)<z_to_boundary) dz=-sign*z_to_boundary; |
| 5621 | if(fabs(dz)<MIN_STEP_SIZE)dz=-sign*MIN_STEP_SIZE; |
| 5622 | */ |
| 5623 | if (ds>mStepSizeS) ds=mStepSizeS; |
| 5624 | if (ds>s_to_boundary) ds=s_to_boundary; |
| 5625 | if (ds<MIN_STEP_SIZE0.1) ds=MIN_STEP_SIZE0.1; |
| 5626 | dz=-sign*ds*dz_ds; |
| 5627 | |
| 5628 | // Get the contribution to the covariance matrix due to multiple |
| 5629 | // scattering |
| 5630 | GetProcessNoise(ds,chi2c_factor,chi2a_factor,chi2a_corr,S,Q); |
| 5631 | |
| 5632 | if (CORRECT_FOR_ELOSS){ |
| 5633 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 5634 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 5635 | double varE=GetEnergyVariance(ds,one_over_beta2,K_rho_Z_over_A); |
| 5636 | Q(state_q_over_p,state_q_over_p)=varE*q_over_p_sq*q_over_p_sq*one_over_beta2; |
| 5637 | } |
| 5638 | |
| 5639 | |
| 5640 | newz=z+dz; |
| 5641 | // Compute the Jacobian matrix |
| 5642 | StepJacobian(z,newz,S,dEdx,J); |
| 5643 | |
| 5644 | // Propagate the covariance matrix |
| 5645 | //C=Q.AddSym(J*C*J.Transpose()); |
| 5646 | C=Q.AddSym(C.SandwichMultiply(J)); |
| 5647 | |
| 5648 | // Step through field |
| 5649 | Step(z,newz,dEdx,S); |
| 5650 | |
| 5651 | // Check if we passed the minimum doca to the beam line |
| 5652 | r2=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 5653 | if (r2>r2_old){ |
| 5654 | double two_step=dz+dz_old; |
| 5655 | |
| 5656 | // Find the increment/decrement in z to get to the minimum doca to the |
| 5657 | // beam line |
| 5658 | S1=S; |
| 5659 | if (BrentsAlgorithm(newz,0.5*two_step,dEdx,0.,origin,dir,S,dz)!=NOERROR){ |
| 5660 | //_DBG_<<endl; |
| 5661 | return UNRECOVERABLE_ERROR; |
| 5662 | } |
| 5663 | |
| 5664 | // Compute the Jacobian matrix |
| 5665 | z_=newz+dz; |
| 5666 | StepJacobian(newz,z_,S1,dEdx,J); |
| 5667 | |
| 5668 | // Propagate the covariance matrix |
| 5669 | //C=J*C*J.Transpose()+(dz/(newz-z))*Q; |
| 5670 | //C=((dz/newz-z)*Q).AddSym(C.SandwichMultiply(J)); |
| 5671 | C=C.SandwichMultiply(J); |
| 5672 | |
| 5673 | // update internal variables |
| 5674 | x_=S(state_x); |
| 5675 | y_=S(state_y); |
| 5676 | |
| 5677 | return NOERROR; |
| 5678 | } |
| 5679 | r2_old=r2; |
| 5680 | dz_old=dz; |
| 5681 | S1=S; |
| 5682 | z=newz; |
| 5683 | } |
| 5684 | // update internal variables |
| 5685 | x_=S(state_x); |
| 5686 | y_=S(state_y); |
| 5687 | z_=newz; |
| 5688 | |
| 5689 | return NOERROR; |
| 5690 | } |
| 5691 | |
| 5692 | |
| 5693 | // Extrapolate to the point along z of closest approach to the beam line using |
| 5694 | // the forward track state vector parameterization. |
| 5695 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DMatrix5x1 &S){ |
| 5696 | DMatrix5x5 J; // Jacobian matrix |
| 5697 | DMatrix5x1 S1(S); // copy of S |
| 5698 | |
| 5699 | // position variables |
| 5700 | double z=z_,newz=z_; |
| 5701 | double dz=-mStepSizeZ; |
Value stored to 'dz' during its initialization is never read | |
| 5702 | double r2_old=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 5703 | double dz_old=0.; |
| 5704 | double dEdx=0.; |
| 5705 | |
| 5706 | // Direction and origin for beam line |
| 5707 | DVector2 dir; |
| 5708 | DVector2 origin; |
| 5709 | |
| 5710 | // material properties |
| 5711 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.; |
| 5712 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5713 | DVector3 pos; // current position along trajectory |
| 5714 | |
| 5715 | double r2=r2_old; |
| 5716 | while (z>Z_MIN-100. && r2<R2_MAX4225.0 && z<Z_MAX370.0 && r2>EPS3.0e-8){ |
| 5717 | // Bail if the momentum has dropped below some minimum |
| 5718 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 5719 | if (DEBUG_LEVEL>2) |
| 5720 | { |
| 5721 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5721<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 5722 | << endl; |
| 5723 | } |
| 5724 | return UNRECOVERABLE_ERROR; |
| 5725 | } |
| 5726 | |
| 5727 | // Relationship between arc length and z |
| 5728 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 5729 | |
| 5730 | // get material properties from the Root Geometry |
| 5731 | pos.SetXYZ(S(state_x),S(state_y),z); |
| 5732 | if (geom->FindMatKalman(pos,K_rho_Z_over_A,rho_Z_over_A,LnI, |
| 5733 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5734 | last_material_map) |
| 5735 | !=NOERROR){ |
| 5736 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5736<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5737 | break; |
| 5738 | } |
| 5739 | |
| 5740 | // Get dEdx for the upcoming step |
| 5741 | if (CORRECT_FOR_ELOSS){ |
| 5742 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI); |
| 5743 | } |
| 5744 | |
| 5745 | // Adjust the step size |
| 5746 | double ds=mStepSizeS; |
| 5747 | if (fabs(dEdx)>EPS3.0e-8){ |
| 5748 | ds=DE_PER_STEP0.0005/fabs(dEdx); |
| 5749 | } |
| 5750 | if (ds>mStepSizeS) ds=mStepSizeS; |
| 5751 | if (ds<MIN_STEP_SIZE0.1) ds=MIN_STEP_SIZE0.1; |
| 5752 | dz=-ds*dz_ds; |
| 5753 | |
| 5754 | newz=z+dz; |
| 5755 | |
| 5756 | |
| 5757 | // Step through field |
| 5758 | Step(z,newz,dEdx,S); |
| 5759 | |
| 5760 | // Check if we passed the minimum doca to the beam line |
| 5761 | r2=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 5762 | |
| 5763 | if (r2>r2_old){ |
| 5764 | double two_step=dz+dz_old; |
| 5765 | |
| 5766 | // Find the increment/decrement in z to get to the minimum doca to the |
| 5767 | // beam line |
| 5768 | if (BrentsAlgorithm(newz,0.5*two_step,dEdx,0.,origin,dir,S,dz)!=NOERROR){ |
| 5769 | return UNRECOVERABLE_ERROR; |
| 5770 | } |
| 5771 | // update internal variables |
| 5772 | x_=S(state_x); |
| 5773 | y_=S(state_y); |
| 5774 | z_=newz+dz; |
| 5775 | |
| 5776 | return NOERROR; |
| 5777 | } |
| 5778 | r2_old=r2; |
| 5779 | dz_old=dz; |
| 5780 | S1=S; |
| 5781 | z=newz; |
| 5782 | } |
| 5783 | // update internal variables |
| 5784 | x_=S(state_x); |
| 5785 | y_=S(state_y); |
| 5786 | z_=newz; |
| 5787 | |
| 5788 | |
| 5789 | return NOERROR; |
| 5790 | } |
| 5791 | |
| 5792 | |
| 5793 | |
| 5794 | |
| 5795 | // Propagate track to point of distance of closest approach to origin |
| 5796 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DVector2 &xy, |
| 5797 | DMatrix5x1 &Sc,DMatrix5x5 &Cc){ |
| 5798 | DMatrix5x5 Jc=I5x5; //Jacobian matrix |
| 5799 | DMatrix5x5 Q; // multiple scattering matrix |
| 5800 | |
| 5801 | // Initialize the beam position = center of target, and the direction |
| 5802 | DVector2 origin; |
| 5803 | DVector2 dir; |
| 5804 | |
| 5805 | // Position and step variables |
| 5806 | double r2=xy.Mod2(); |
| 5807 | double ds=-mStepSizeS; // step along path in cm |
| 5808 | double r2_old=r2; |
| 5809 | |
| 5810 | // Energy loss |
| 5811 | double dedx=0.; |
| 5812 | |
| 5813 | // Check direction of propagation |
| 5814 | DMatrix5x1 S0; |
| 5815 | S0=Sc; |
| 5816 | DVector2 xy0=xy; |
| 5817 | DVector2 xy1=xy; |
| 5818 | Step(xy0,ds,S0,dedx); |
| 5819 | // Bail if the transverse momentum has dropped below some minimum |
| 5820 | if (fabs(S0(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 5821 | if (DEBUG_LEVEL>2) |
| 5822 | { |
| 5823 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5823<<" " << "Bailing: PT = " << 1./fabs(S0(state_q_over_pt)) |
| 5824 | << endl; |
| 5825 | } |
| 5826 | return UNRECOVERABLE_ERROR; |
| 5827 | } |
| 5828 | r2=xy0.Mod2(); |
| 5829 | if (r2>r2_old) ds*=-1.; |
| 5830 | double ds_old=ds; |
| 5831 | |
| 5832 | // if (fit_type==kTimeBased)printf("------Extrapolating\n"); |
| 5833 | |
| 5834 | if (central_traj.size()==0){ |
| 5835 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5835<<" " << "Central trajectory size==0!" << endl; |
| 5836 | return UNRECOVERABLE_ERROR; |
| 5837 | } |
| 5838 | |
| 5839 | // D is now on the actual trajectory itself |
| 5840 | Sc(state_D)=0.; |
| 5841 | |
| 5842 | // Track propagation loop |
| 5843 | while (Sc(state_z)>Z_MIN-100. && Sc(state_z)<Z_MAX370.0 |
| 5844 | && r2<R2_MAX4225.0){ |
| 5845 | // Bail if the transverse momentum has dropped below some minimum |
| 5846 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 5847 | if (DEBUG_LEVEL>2) |
| 5848 | { |
| 5849 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5849<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 5850 | << endl; |
| 5851 | } |
| 5852 | return UNRECOVERABLE_ERROR; |
| 5853 | } |
| 5854 | |
| 5855 | // get material properties from the Root Geometry |
| 5856 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.; |
| 5857 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5858 | DVector3 pos3d(xy.X(),xy.Y(),Sc(state_z)); |
| 5859 | if (geom->FindMatKalman(pos3d,K_rho_Z_over_A,rho_Z_over_A,LnI, |
| 5860 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5861 | last_material_map) |
| 5862 | !=NOERROR){ |
| 5863 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5863<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5864 | break; |
| 5865 | } |
| 5866 | |
| 5867 | // Get dEdx for the upcoming step |
| 5868 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 5869 | if (CORRECT_FOR_ELOSS){ |
| 5870 | dedx=-GetdEdx(q_over_p,K_rho_Z_over_A,rho_Z_over_A,LnI); |
| 5871 | } |
| 5872 | // Adjust the step size |
| 5873 | double sign=(ds>0.0)?1.:-1.; |
| 5874 | if (fabs(dedx)>EPS3.0e-8){ |
| 5875 | ds=sign*DE_PER_STEP0.0005/fabs(dedx); |
| 5876 | } |
| 5877 | if(fabs(ds)>mStepSizeS) ds=sign*mStepSizeS; |
| 5878 | if(fabs(ds)<MIN_STEP_SIZE0.1)ds=sign*MIN_STEP_SIZE0.1; |
| 5879 | |
| 5880 | // Multiple scattering |
| 5881 | GetProcessNoiseCentral(ds,chi2c_factor,chi2a_factor,chi2a_corr,Sc,Q); |
| 5882 | |
| 5883 | if (CORRECT_FOR_ELOSS){ |
| 5884 | double q_over_p_sq=q_over_p*q_over_p; |
| 5885 | double one_over_beta2=1.+mass2*q_over_p*q_over_p; |
| 5886 | double varE=GetEnergyVariance(ds,one_over_beta2,K_rho_Z_over_A); |
| 5887 | Q(state_q_over_p,state_q_over_p)=varE*q_over_p_sq*q_over_p_sq*one_over_beta2; |
| 5888 | } |
| 5889 | |
| 5890 | // Propagate the state and covariance through the field |
| 5891 | S0=Sc; |
| 5892 | DVector2 old_xy=xy; |
| 5893 | StepStateAndCovariance(xy,ds,dedx,Sc,Jc,Cc); |
| 5894 | |
| 5895 | // Add contribution due to multiple scattering |
| 5896 | Cc=Q.AddSym(Cc); |
| 5897 | |
| 5898 | r2=xy.Mod2(); |
| 5899 | //printf("r %f r_old %f \n",sqrt(r2),sqrt(r2_old)); |
| 5900 | if (r2>r2_old) { |
| 5901 | // We've passed the true minimum; backtrack to find the "vertex" |
| 5902 | // position |
| 5903 | double cosl=cos(atan(Sc(state_tanl))); |
| 5904 | double my_ds=0.; |
| 5905 | if (fabs((ds+ds_old)*cosl*Sc(state_q_over_pt)*Bz*qBr2p0.003)<0.01){ |
| 5906 | my_ds=-(xy.X()*cos(Sc(state_phi))+xy.Y()*sin(Sc(state_phi))) |
| 5907 | /cosl; |
| 5908 | Step(xy,my_ds,Sc,dedx); |
| 5909 | // Bail if the transverse momentum has dropped below some minimum |
| 5910 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 5911 | if (DEBUG_LEVEL>2) |
| 5912 | { |
| 5913 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5913<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 5914 | << endl; |
| 5915 | } |
| 5916 | return UNRECOVERABLE_ERROR; |
| 5917 | } |
| 5918 | //printf ("min r %f\n",xy.Mod()); |
| 5919 | } |
| 5920 | else{ |
| 5921 | if (BrentsAlgorithm(ds,ds_old,dedx,xy,0.,origin,dir,Sc,my_ds)!=NOERROR){ |
| 5922 | //_DBG_ <<endl; |
| 5923 | return UNRECOVERABLE_ERROR; |
| 5924 | } |
| 5925 | //printf ("Brent min r %f\n",xy.Mod()); |
| 5926 | } |
| 5927 | // Find the field and gradient at (old_x,old_y,old_z) |
| 5928 | bfield->GetFieldAndGradient(old_xy.X(),old_xy.Y(),S0(state_z),Bx,By,Bz, |
| 5929 | dBxdx,dBxdy,dBxdz,dBydx, |
| 5930 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 5931 | |
| 5932 | // Compute the Jacobian matrix |
| 5933 | my_ds-=ds_old; |
| 5934 | StepJacobian(old_xy,xy-old_xy,my_ds,S0,dedx,Jc); |
| 5935 | |
| 5936 | // Propagate the covariance matrix |
| 5937 | //Cc=Jc*Cc*Jc.Transpose()+(my_ds/ds_old)*Q; |
| 5938 | Cc=((my_ds/ds_old)*Q).AddSym(Cc.SandwichMultiply(Jc)); |
| 5939 | |
| 5940 | break; |
| 5941 | } |
| 5942 | r2_old=r2; |
| 5943 | ds_old=ds; |
| 5944 | } |
| 5945 | |
| 5946 | return NOERROR; |
| 5947 | } |
| 5948 | |
| 5949 | // Propagate track to point of distance of closest approach to origin |
| 5950 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DVector2 &xy, |
| 5951 | DMatrix5x1 &Sc){ |
| 5952 | |
| 5953 | // Initialize the beam position = center of target, and the direction |
| 5954 | DVector2 origin; |
| 5955 | DVector2 dir; |
| 5956 | |
| 5957 | // Position and step variables |
| 5958 | double r2=xy.Mod2(); |
| 5959 | double ds=-mStepSizeS; // step along path in cm |
| 5960 | double r2_old=r2; |
| 5961 | |
| 5962 | // Energy loss |
| 5963 | double dedx=0.; |
| 5964 | |
| 5965 | // Check direction of propagation |
| 5966 | DMatrix5x1 S0; |
| 5967 | S0=Sc; |
| 5968 | DVector2 xy0=xy; |
| 5969 | DVector2 xy1=xy; |
| 5970 | Step(xy0,ds,S0,dedx); |
| 5971 | r2=xy0.Mod2(); |
| 5972 | if (r2>r2_old) ds*=-1.; |
| 5973 | double ds_old=ds; |
| 5974 | |
| 5975 | // Track propagation loop |
| 5976 | while (Sc(state_z)>Z_MIN-100. && Sc(state_z)<Z_MAX370.0 |
| 5977 | && r2<R2_MAX4225.0){ |
| 5978 | // get material properties from the Root Geometry |
| 5979 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.; |
| 5980 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5981 | DVector3 pos3d(xy.X(),xy.Y(),Sc(state_z)); |
| 5982 | if (geom->FindMatKalman(pos3d,K_rho_Z_over_A,rho_Z_over_A,LnI, |
| 5983 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5984 | last_material_map) |
| 5985 | !=NOERROR){ |
| 5986 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5986<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5987 | break; |
| 5988 | } |
| 5989 | |
| 5990 | // Get dEdx for the upcoming step |
| 5991 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 5992 | if (CORRECT_FOR_ELOSS){ |
| 5993 | dedx=GetdEdx(q_over_p,K_rho_Z_over_A,rho_Z_over_A,LnI); |
| 5994 | } |
| 5995 | // Adjust the step size |
| 5996 | double sign=(ds>0.0)?1.:-1.; |
| 5997 | if (fabs(dedx)>EPS3.0e-8){ |
| 5998 | ds=sign*DE_PER_STEP0.0005/fabs(dedx); |
| 5999 | } |
| 6000 | if(fabs(ds)>mStepSizeS) ds=sign*mStepSizeS; |
| 6001 | if(fabs(ds)<MIN_STEP_SIZE0.1)ds=sign*MIN_STEP_SIZE0.1; |
| 6002 | |
| 6003 | // Propagate the state through the field |
| 6004 | Step(xy,ds,Sc,dedx); |
| 6005 | |
| 6006 | r2=xy.Mod2(); |
| 6007 | //printf("r %f r_old %f \n",r,r_old); |
| 6008 | if (r2>r2_old) { |
| 6009 | // We've passed the true minimum; backtrack to find the "vertex" |
| 6010 | // position |
| 6011 | double cosl=cos(atan(Sc(state_tanl))); |
| 6012 | double my_ds=0.; |
| 6013 | if (fabs((ds+ds_old)*cosl*Sc(state_q_over_pt)*Bz*qBr2p0.003)<0.01){ |
| 6014 | my_ds=-(xy.X()*cos(Sc(state_phi))+xy.Y()*sin(Sc(state_phi))) |
| 6015 | /cosl; |
| 6016 | Step(xy,my_ds,Sc,dedx); |
| 6017 | //printf ("min r %f\n",pos.Perp()); |
| 6018 | } |
| 6019 | else{ |
| 6020 | BrentsAlgorithm(ds,ds_old,dedx,xy,0.,origin,dir,Sc,my_ds); |
| 6021 | //printf ("Brent min r %f\n",pos.Perp()); |
| 6022 | } |
| 6023 | break; |
| 6024 | } |
| 6025 | r2_old=r2; |
| 6026 | ds_old=ds; |
| 6027 | } |
| 6028 | |
| 6029 | return NOERROR; |
| 6030 | } |
| 6031 | |
| 6032 | |
| 6033 | |
| 6034 | |
| 6035 | // Transform the 5x5 tracking error matrix into a 7x7 error matrix in cartesian |
| 6036 | // coordinates |
| 6037 | DMatrixDSym DTrackFitterKalmanSIMD::Get7x7ErrorMatrixForward(DMatrixDSym C){ |
| 6038 | DMatrixDSym C7x7(7); |
| 6039 | DMatrix J(7,5); |
| 6040 | |
| 6041 | double p=1./fabs(q_over_p_); |
| 6042 | double tanl=1./sqrt(tx_*tx_+ty_*ty_); |
| 6043 | double tanl2=tanl*tanl; |
| 6044 | double lambda=atan(tanl); |
| 6045 | double sinl=sin(lambda); |
| 6046 | double sinl3=sinl*sinl*sinl; |
| 6047 | |
| 6048 | J(state_X,state_x)=J(state_Y,state_y)=1.; |
| 6049 | J(state_Pz,state_ty)=-p*ty_*sinl3; |
| 6050 | J(state_Pz,state_tx)=-p*tx_*sinl3; |
| 6051 | J(state_Px,state_ty)=J(state_Py,state_tx)=-p*tx_*ty_*sinl3; |
| 6052 | J(state_Px,state_tx)=p*(1.+ty_*ty_)*sinl3; |
| 6053 | J(state_Py,state_ty)=p*(1.+tx_*tx_)*sinl3; |
| 6054 | J(state_Pz,state_q_over_p)=-p*sinl/q_over_p_; |
| 6055 | J(state_Px,state_q_over_p)=tx_*J(state_Pz,state_q_over_p); |
| 6056 | J(state_Py,state_q_over_p)=ty_*J(state_Pz,state_q_over_p); |
| 6057 | J(state_Z,state_x)=-tx_*tanl2; |
| 6058 | J(state_Z,state_y)=-ty_*tanl2; |
| 6059 | double diff=tx_*tx_-ty_*ty_; |
| 6060 | double frac=tanl2*tanl2; |
| 6061 | J(state_Z,state_tx)=(x_*diff+2.*tx_*ty_*y_)*frac; |
| 6062 | J(state_Z,state_ty)=(2.*tx_*ty_*x_-y_*diff)*frac; |
| 6063 | |
| 6064 | // C'= JCJ^T |
| 6065 | C7x7=C.Similarity(J); |
| 6066 | |
| 6067 | return C7x7; |
| 6068 | |
| 6069 | } |
| 6070 | |
| 6071 | |
| 6072 | |
| 6073 | // Transform the 5x5 tracking error matrix into a 7x7 error matrix in cartesian |
| 6074 | // coordinates |
| 6075 | DMatrixDSym DTrackFitterKalmanSIMD::Get7x7ErrorMatrix(DMatrixDSym C){ |
| 6076 | DMatrixDSym C7x7(7); |
| 6077 | DMatrix J(7,5); |
| 6078 | //double cosl=cos(atan(tanl_)); |
| 6079 | double pt=1./fabs(q_over_pt_); |
| 6080 | //double p=pt/cosl; |
| 6081 | // double p_sq=p*p; |
| 6082 | // double E=sqrt(mass2+p_sq); |
| 6083 | double pt_sq=1./(q_over_pt_*q_over_pt_); |
| 6084 | double cosphi=cos(phi_); |
| 6085 | double sinphi=sin(phi_); |
| 6086 | double q=(q_over_pt_>0.0)?1.:-1.; |
| 6087 | |
| 6088 | J(state_Px,state_q_over_pt)=-q*pt_sq*cosphi; |
| 6089 | J(state_Px,state_phi)=-pt*sinphi; |
| 6090 | |
| 6091 | J(state_Py,state_q_over_pt)=-q*pt_sq*sinphi; |
| 6092 | J(state_Py,state_phi)=pt*cosphi; |
| 6093 | |
| 6094 | J(state_Pz,state_q_over_pt)=-q*pt_sq*tanl_; |
| 6095 | J(state_Pz,state_tanl)=pt; |
| 6096 | |
| 6097 | J(state_X,state_phi)=-D_*cosphi; |
| 6098 | J(state_X,state_D)=-sinphi; |
| 6099 | |
| 6100 | J(state_Y,state_phi)=-D_*sinphi; |
| 6101 | J(state_Y,state_D)=cosphi; |
| 6102 | |
| 6103 | J(state_Z,state_z)=1.; |
| 6104 | |
| 6105 | // C'= JCJ^T |
| 6106 | C7x7=C.Similarity(J); |
| 6107 | |
| 6108 | return C7x7; |
| 6109 | } |
| 6110 | |
| 6111 | // Track recovery for Central tracks |
| 6112 | //----------------------------------- |
| 6113 | // This code attempts to recover tracks that are "broken". Sometimes the fit fails because too many hits were pruned |
| 6114 | // such that the number of surviving hits is less than the minimum number of degrees of freedom for a five-parameter fit. |
| 6115 | // This condition is flagged as an INVALID_FIT. It may also be the case that even if we used enough hits for the fit to |
| 6116 | // be valid (i.e., make sense in terms of the number of degrees of freedom for the number of parameters (5) we are trying |
| 6117 | // to determine), we throw away a number of hits near the target because the projected trajectory deviates too far away from |
| 6118 | // the actual hits. This may be an indication of a kink in the trajectory. This condition is flagged as BREAK_POINT_FOUND. |
| 6119 | // Sometimes the fit may succeed and no break point is found, but the pruning threw out a large number of hits. This |
| 6120 | // condition is flagged as PRUNED_TOO_MANY_HITS. The recovery code proceeds by truncating the reference trajectory to |
| 6121 | // to a point just after the hit where a break point was found and all hits are ignored beyond this point subject to a |
| 6122 | // minimum number of hits set by MIN_HITS_FOR_REFIT. The recovery code always attempts to use the hits closest to the |
| 6123 | // target. The code is allowed to iterate; with each iteration the trajectory and list of useable hits is further truncated. |
| 6124 | kalman_error_t DTrackFitterKalmanSIMD::RecoverBrokenTracks(double anneal_factor, |
| 6125 | DMatrix5x1 &S, |
| 6126 | DMatrix5x5 &C, |
| 6127 | const DMatrix5x5 &C0, |
| 6128 | DVector2 &xy, |
| 6129 | double &chisq, |
| 6130 | unsigned int &numdof){ |
| 6131 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6131<<" " << "Attempting to recover broken track ... " <<endl; |
| 6132 | |
| 6133 | // Initialize degrees of freedom and chi^2 |
| 6134 | double refit_chisq=MAX_CHI21e16; |
| 6135 | unsigned int refit_ndf=0; |
| 6136 | // State vector and covariance matrix |
| 6137 | DMatrix5x5 C1; |
| 6138 | DMatrix5x1 S1; |
| 6139 | // Position vector |
| 6140 | DVector2 refit_xy; |
| 6141 | |
| 6142 | // save the status of the hits used in the fit |
| 6143 | unsigned int num_hits=cdc_updates.size(); |
| 6144 | vector<int>old_cdc_used_status(num_hits); |
| 6145 | for (unsigned int j=0;j<num_hits;j++){ |
| 6146 | old_cdc_used_status[j]=cdc_updates[j].used_in_fit; |
| 6147 | } |
| 6148 | |
| 6149 | // Truncate the reference trajectory to just beyond the break point (or the minimum number of hits) |
| 6150 | unsigned int min_cdc_index_for_refit=MIN_HITS_FOR_REFIT-1; |
| 6151 | //if (break_point_cdc_index<num_hits/2) |
| 6152 | // break_point_cdc_index=num_hits/2; |
| 6153 | if (break_point_cdc_index<min_cdc_index_for_refit){ |
| 6154 | break_point_cdc_index=min_cdc_index_for_refit; |
| 6155 | } |
| 6156 | // Next determine where we need to truncate the trajectory |
| 6157 | DVector2 origin=my_cdchits[break_point_cdc_index]->origin; |
| 6158 | DVector2 dir=my_cdchits[break_point_cdc_index]->dir; |
| 6159 | double z0=my_cdchits[break_point_cdc_index]->z0wire; |
| 6160 | unsigned int k=0; |
| 6161 | for (k=central_traj.size()-1;k>1;k--){ |
| 6162 | double r2=central_traj[k].xy.Mod2(); |
| 6163 | double r2next=central_traj[k-1].xy.Mod2(); |
| 6164 | double r2_cdc=(origin+(central_traj[k].S(state_z)-z0)*dir).Mod2(); |
| 6165 | if (r2next>r2 && r2>r2_cdc) break; |
| 6166 | } |
| 6167 | break_point_step_index=k; |
| 6168 | |
| 6169 | if (break_point_step_index==central_traj.size()-1){ |
| 6170 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6170<<" " << "Invalid reference trajectory in track recovery..." << endl; |
| 6171 | return FIT_FAILED; |
| 6172 | } |
| 6173 | |
| 6174 | kalman_error_t refit_error=FIT_NOT_DONE; |
| 6175 | unsigned int old_cdc_index=break_point_cdc_index; |
| 6176 | unsigned int old_step_index=break_point_step_index; |
| 6177 | unsigned int refit_iter=0; |
| 6178 | unsigned int num_cdchits=my_cdchits.size(); |
| 6179 | while (break_point_cdc_index>4 && break_point_step_index>0 |
| 6180 | && break_point_step_index<central_traj.size()){ |
| 6181 | refit_iter++; |
| 6182 | |
| 6183 | // Flag the cdc hits within the radius of the break point cdc index |
| 6184 | // as good, the rest as bad. |
| 6185 | for (unsigned int j=0;j<=break_point_cdc_index;j++){ |
| 6186 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6187 | } |
| 6188 | for (unsigned int j=break_point_cdc_index+1;j<num_cdchits;j++){ |
| 6189 | my_cdchits[j]->status=bad_hit; |
| 6190 | } |
| 6191 | |
| 6192 | // Now refit with the truncated trajectory and list of hits |
| 6193 | //C1=4.0*C0; |
| 6194 | C1=10.0*C0; |
| 6195 | S1=central_traj[break_point_step_index].S; |
| 6196 | refit_chisq=MAX_CHI21e16; |
| 6197 | refit_ndf=0; |
| 6198 | refit_error=KalmanCentral(anneal_factor,S1,C1,refit_xy, |
| 6199 | refit_chisq,refit_ndf); |
| 6200 | |
| 6201 | if (refit_error==FIT_SUCCEEDED |
| 6202 | || (refit_error==BREAK_POINT_FOUND |
| 6203 | && break_point_cdc_index==1 |
| 6204 | ) |
| 6205 | //|| refit_error==PRUNED_TOO_MANY_HITS |
| 6206 | ){ |
| 6207 | C=C1; |
| 6208 | S=S1; |
| 6209 | xy=refit_xy; |
| 6210 | chisq=refit_chisq; |
| 6211 | numdof=refit_ndf; |
| 6212 | |
| 6213 | return FIT_SUCCEEDED; |
| 6214 | } |
| 6215 | |
| 6216 | break_point_cdc_index=old_cdc_index-refit_iter; |
| 6217 | break_point_step_index=old_step_index-refit_iter; |
| 6218 | } |
| 6219 | |
| 6220 | // If the refit did not work, restore the old list hits used in the fit |
| 6221 | // before the track recovery was attempted. |
| 6222 | for (unsigned int k=0;k<num_hits;k++){ |
| 6223 | cdc_updates[k].used_in_fit=old_cdc_used_status[k]; |
| 6224 | } |
| 6225 | |
| 6226 | return FIT_FAILED; |
| 6227 | } |
| 6228 | |
| 6229 | // Track recovery for forward tracks |
| 6230 | //----------------------------------- |
| 6231 | // This code attempts to recover tracks that are "broken". Sometimes the fit fails because too many hits were pruned |
| 6232 | // such that the number of surviving hits is less than the minimum number of degrees of freedom for a five-parameter fit. |
| 6233 | // This condition is flagged as an INVALID_FIT. It may also be the case that even if we used enough hits for the fit to |
| 6234 | // be valid (i.e., make sense in terms of the number of degrees of freedom for the number of parameters (5) we are trying |
| 6235 | // to determine), we throw away a number of hits near the target because the projected trajectory deviates too far away from |
| 6236 | // the actual hits. This may be an indication of a kink in the trajectory. This condition is flagged as BREAK_POINT_FOUND. |
| 6237 | // Sometimes the fit may succeed and no break point is found, but the pruning threw out a large number of hits. This |
| 6238 | // condition is flagged as PRUNED_TOO_MANY_HITS. The recovery code proceeds by truncating the reference trajectory to |
| 6239 | // to a point just after the hit where a break point was found and all hits are ignored beyond this point subject to a |
| 6240 | // minimum number of hits. The recovery code always attempts to use the hits closest to the target. The code is allowed to |
| 6241 | // iterate; with each iteration the trajectory and list of useable hits is further truncated. |
| 6242 | kalman_error_t DTrackFitterKalmanSIMD::RecoverBrokenTracks(double anneal_factor, |
| 6243 | DMatrix5x1 &S, |
| 6244 | DMatrix5x5 &C, |
| 6245 | const DMatrix5x5 &C0, |
| 6246 | double &chisq, |
| 6247 | unsigned int &numdof){ |
| 6248 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6248<<" " << "Attempting to recover broken track ... " <<endl; |
| 6249 | |
| 6250 | unsigned int num_cdchits=my_cdchits.size(); |
| 6251 | |
| 6252 | // Initialize degrees of freedom and chi^2 |
| 6253 | double refit_chisq=MAX_CHI21e16; |
| 6254 | unsigned int refit_ndf=0; |
| 6255 | // State vector and covariance matrix |
| 6256 | DMatrix5x5 C1; |
| 6257 | DMatrix5x1 S1; |
| 6258 | |
| 6259 | // save the status of the hits used in the fit |
| 6260 | vector<int>old_cdc_used_status(num_cdchits); |
| 6261 | vector<int>old_fdc_used_status(fdc_updates.size()); |
| 6262 | for (unsigned int j=0;j<fdc_updates.size();j++){ |
| 6263 | old_fdc_used_status[j]=fdc_updates[j].used_in_fit; |
| 6264 | } |
| 6265 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6266 | old_cdc_used_status[j]=cdc_updates[j].used_in_fit; |
| 6267 | } |
| 6268 | |
| 6269 | unsigned int min_cdc_index=MIN_HITS_FOR_REFIT-1; |
| 6270 | if (my_fdchits.size()>0){ |
| 6271 | if (break_point_cdc_index<5){ |
| 6272 | break_point_cdc_index=0; |
| 6273 | min_cdc_index=5; |
| 6274 | } |
| 6275 | } |
| 6276 | /*else{ |
| 6277 | unsigned int half_num_cdchits=num_cdchits/2; |
| 6278 | if (break_point_cdc_index<half_num_cdchits |
| 6279 | && half_num_cdchits>min_cdc_index) |
| 6280 | break_point_cdc_index=half_num_cdchits; |
| 6281 | } |
| 6282 | */ |
| 6283 | if (break_point_cdc_index<min_cdc_index){ |
| 6284 | break_point_cdc_index=min_cdc_index; |
| 6285 | } |
| 6286 | |
| 6287 | // Find the index at which to truncate the reference trajectory |
| 6288 | DVector2 origin=my_cdchits[break_point_cdc_index]->origin; |
| 6289 | DVector2 dir=my_cdchits[break_point_cdc_index]->dir; |
| 6290 | double z0=my_cdchits[break_point_cdc_index]->z0wire; |
| 6291 | unsigned int k=forward_traj.size()-1; |
| 6292 | for (;k>1;k--){ |
| 6293 | DMatrix5x1 S1=forward_traj[k].S; |
| 6294 | double x1=S1(state_x); |
| 6295 | double y1=S1(state_y); |
| 6296 | double r2=x1*x1+y1*y1; |
| 6297 | DMatrix5x1 S2=forward_traj[k-1].S; |
| 6298 | double x2=S2(state_x); |
| 6299 | double y2=S2(state_y); |
| 6300 | double r2next=x2*x2+y2*y2; |
| 6301 | double r2cdc=(origin+(forward_traj[k].z-z0)*dir).Mod2(); |
| 6302 | |
| 6303 | if (r2next>r2 && r2>r2cdc) break; |
| 6304 | } |
| 6305 | break_point_step_index=k; |
| 6306 | |
| 6307 | if (break_point_step_index==forward_traj.size()-1){ |
| 6308 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6308<<" " << "Invalid reference trajectory in track recovery..." << endl; |
| 6309 | return FIT_FAILED; |
| 6310 | } |
| 6311 | |
| 6312 | // Attemp to refit the track using the abreviated list of hits and the truncated |
| 6313 | // reference trajectory. Iterates if the fit fails. |
| 6314 | kalman_error_t refit_error=FIT_NOT_DONE; |
| 6315 | unsigned int old_cdc_index=break_point_cdc_index; |
| 6316 | unsigned int old_step_index=break_point_step_index; |
| 6317 | unsigned int refit_iter=0; |
| 6318 | while (break_point_cdc_index>4 && break_point_step_index>0 |
| 6319 | && break_point_step_index<forward_traj.size()){ |
| 6320 | refit_iter++; |
| 6321 | |
| 6322 | // Flag the cdc hits within the radius of the break point cdc index |
| 6323 | // as good, the rest as bad. |
| 6324 | for (unsigned int j=0;j<=break_point_cdc_index;j++){ |
| 6325 | if (my_cdchits[j]->status!=late_hit) my_cdchits[j]->status=good_hit; |
| 6326 | } |
| 6327 | for (unsigned int j=break_point_cdc_index+1;j<num_cdchits;j++){ |
| 6328 | my_cdchits[j]->status=bad_hit; |
| 6329 | } |
| 6330 | |
| 6331 | // Re-initialize the state vector, covariance, chisq and number of degrees of freedom |
| 6332 | //C1=4.0*C0; |
| 6333 | C1=10.0*C0; |
| 6334 | S1=forward_traj[break_point_step_index].S; |
| 6335 | refit_chisq=MAX_CHI21e16; |
| 6336 | refit_ndf=0; |
| 6337 | // Now refit with the truncated trajectory and list of hits |
| 6338 | refit_error=KalmanForwardCDC(anneal_factor,S1,C1, |
| 6339 | refit_chisq,refit_ndf); |
| 6340 | if (refit_error==FIT_SUCCEEDED |
| 6341 | || (refit_error==BREAK_POINT_FOUND |
| 6342 | && break_point_cdc_index==1 |
| 6343 | ) |
| 6344 | //|| refit_error==PRUNED_TOO_MANY_HITS |
| 6345 | ){ |
| 6346 | C=C1; |
| 6347 | S=S1; |
| 6348 | chisq=refit_chisq; |
| 6349 | numdof=refit_ndf; |
| 6350 | return FIT_SUCCEEDED; |
| 6351 | } |
| 6352 | break_point_cdc_index=old_cdc_index-refit_iter; |
| 6353 | break_point_step_index=old_step_index-refit_iter; |
| 6354 | } |
| 6355 | // If the refit did not work, restore the old list hits used in the fit |
| 6356 | // before the track recovery was attempted. |
| 6357 | for (unsigned int k=0;k<num_cdchits;k++){ |
| 6358 | cdc_updates[k].used_in_fit=old_cdc_used_status[k]; |
| 6359 | } |
| 6360 | for (unsigned int k=0;k<fdc_updates.size();k++){ |
| 6361 | fdc_updates[k].used_in_fit=old_fdc_used_status[k]; |
| 6362 | } |
| 6363 | |
| 6364 | return FIT_FAILED; |
| 6365 | } |
| 6366 | |
| 6367 | |
| 6368 | // Track recovery for forward-going tracks with hits in the FDC |
| 6369 | kalman_error_t |
| 6370 | DTrackFitterKalmanSIMD::RecoverBrokenForwardTracks(double fdc_anneal, |
| 6371 | double cdc_anneal, |
| 6372 | DMatrix5x1 &S, |
| 6373 | DMatrix5x5 &C, |
| 6374 | const DMatrix5x5 &C0, |
| 6375 | double &chisq, |
| 6376 | unsigned int &numdof){ |
| 6377 | if (DEBUG_LEVEL>1) |
| 6378 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6378<<" " << "Attempting to recover broken track ... " <<endl; |
| 6379 | unsigned int num_cdchits=my_cdchits.size(); |
| 6380 | unsigned int num_fdchits=fdc_updates.size(); |
| 6381 | |
| 6382 | // Initialize degrees of freedom and chi^2 |
| 6383 | double refit_chisq=MAX_CHI21e16; |
| 6384 | unsigned int refit_ndf=0; |
| 6385 | // State vector and covariance matrix |
| 6386 | DMatrix5x5 C1; |
| 6387 | DMatrix5x1 S1; |
| 6388 | |
| 6389 | // save the status of the hits used in the fit |
| 6390 | vector<int>old_cdc_used_status(num_cdchits); |
| 6391 | vector<int>old_fdc_used_status(num_fdchits); |
| 6392 | for (unsigned int j=0;j<num_fdchits;j++){ |
| 6393 | old_fdc_used_status[j]=fdc_updates[j].used_in_fit; |
| 6394 | } |
| 6395 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6396 | old_cdc_used_status[j]=cdc_updates[j].used_in_fit; |
| 6397 | } |
| 6398 | |
| 6399 | // Truncate the trajectory |
| 6400 | double zhit=my_fdchits[break_point_fdc_index]->z; |
| 6401 | unsigned int k=0; |
| 6402 | for (;k<forward_traj.size();k++){ |
| 6403 | double z=forward_traj[k].z; |
| 6404 | if (z<zhit) break; |
| 6405 | } |
| 6406 | if (k==forward_traj.size()) return FIT_NOT_DONE; |
| 6407 | |
| 6408 | break_point_step_index=k; |
| 6409 | |
| 6410 | // Attemp to refit the track using the abreviated list of hits and the truncated |
| 6411 | // reference trajectory. |
| 6412 | kalman_error_t refit_error=FIT_NOT_DONE; |
| 6413 | int refit_iter=0; |
| 6414 | unsigned int break_id=break_point_fdc_index; |
| 6415 | while (break_id+num_cdchits>=MIN_HITS_FOR_REFIT && break_id>0 |
| 6416 | && break_point_step_index<forward_traj.size() |
| 6417 | && break_point_step_index>1 |
| 6418 | && refit_iter<10){ |
| 6419 | refit_iter++; |
| 6420 | |
| 6421 | // Reset status work for cdc hits |
| 6422 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6423 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6424 | } |
| 6425 | // Re-initialize the state vector, covariance, chisq and number of degrees of freedom |
| 6426 | //C1=4.0*C0; |
| 6427 | C1=10.0*C0; |
| 6428 | S1=forward_traj[break_point_step_index].S; |
| 6429 | refit_chisq=MAX_CHI21e16; |
| 6430 | refit_ndf=0; |
| 6431 | |
| 6432 | // Now refit with the truncated trajectory and list of hits |
| 6433 | refit_error=KalmanForward(fdc_anneal,cdc_anneal,S1,C1,refit_chisq,refit_ndf); |
| 6434 | if (refit_error==FIT_SUCCEEDED |
| 6435 | //|| (refit_error==PRUNED_TOO_MANY_HITS) |
| 6436 | ){ |
| 6437 | C=C1; |
| 6438 | S=S1; |
| 6439 | chisq=refit_chisq; |
| 6440 | numdof=refit_ndf; |
| 6441 | |
| 6442 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6442<<" " << "Refit succeeded" << endl; |
| 6443 | return FIT_SUCCEEDED; |
| 6444 | } |
| 6445 | // Truncate the trajectory |
| 6446 | if (break_id>0) break_id--; |
| 6447 | else break; |
| 6448 | zhit=my_fdchits[break_id]->z; |
| 6449 | k=0; |
| 6450 | for (;k<forward_traj.size();k++){ |
| 6451 | double z=forward_traj[k].z; |
| 6452 | if (z<zhit) break; |
| 6453 | } |
| 6454 | break_point_step_index=k; |
| 6455 | |
| 6456 | } |
| 6457 | |
| 6458 | // If the refit did not work, restore the old list hits used in the fit |
| 6459 | // before the track recovery was attempted. |
| 6460 | for (unsigned int k=0;k<num_cdchits;k++){ |
| 6461 | cdc_updates[k].used_in_fit=old_cdc_used_status[k]; |
| 6462 | } |
| 6463 | for (unsigned int k=0;k<num_fdchits;k++){ |
| 6464 | fdc_updates[k].used_in_fit=old_fdc_used_status[k]; |
| 6465 | } |
| 6466 | |
| 6467 | return FIT_FAILED; |
| 6468 | } |
| 6469 | |
| 6470 | |
| 6471 | |
| 6472 | // Routine to fit hits in the FDC and the CDC using the forward parametrization |
| 6473 | kalman_error_t DTrackFitterKalmanSIMD::ForwardFit(const DMatrix5x1 &S0,const DMatrix5x5 &C0){ |
| 6474 | unsigned int num_cdchits=my_cdchits.size(); |
| 6475 | unsigned int num_fdchits=my_fdchits.size(); |
| 6476 | unsigned int max_fdc_index=num_fdchits-1; |
| 6477 | |
| 6478 | // Vectors to keep track of updated state vectors and covariance matrices (after |
| 6479 | // adding the hit information) |
| 6480 | vector<DKalmanUpdate_t>last_cdc_updates; |
| 6481 | vector<DKalmanUpdate_t>last_fdc_updates; |
| 6482 | |
| 6483 | // Charge |
| 6484 | // double q=input_params.charge(); |
| 6485 | |
| 6486 | // Covariance matrix and state vector |
| 6487 | DMatrix5x5 C; |
| 6488 | DMatrix5x1 S=S0; |
| 6489 | |
| 6490 | // Create matrices to store results from previous iteration |
| 6491 | DMatrix5x1 Slast(S); |
| 6492 | DMatrix5x5 Clast(C0); |
| 6493 | // last z position |
| 6494 | double last_z=z_; |
| 6495 | |
| 6496 | double fdc_anneal=FORWARD_ANNEAL_SCALE+1.; // variable for scaling cut for hit pruning |
| 6497 | double my_fdc_anneal_const=FORWARD_ANNEAL_POW_CONST; |
| 6498 | // if (fit_type==kTimeBased && fabs(1./S(state_q_over_p))<1.0 |
| 6499 | // && my_anneal_const>=2.0) my_anneal_const*=0.5; |
| 6500 | double cdc_anneal=(fit_type==kTimeBased?ANNEAL_SCALE+1.:2.); // variable for scaling cut for hit pruning |
| 6501 | double my_cdc_anneal_const=ANNEAL_POW_CONST; |
| 6502 | |
| 6503 | |
| 6504 | // Chi-squared and degrees of freedom |
| 6505 | double chisq=MAX_CHI21e16,chisq_forward=MAX_CHI21e16; |
| 6506 | unsigned int my_ndf=0; |
| 6507 | unsigned int last_ndf=1; |
| 6508 | |
| 6509 | // Iterate over reference trajectories |
| 6510 | for (int iter=0; |
| 6511 | iter<(fit_type==kTimeBased?MAX_TB_PASSES20:MAX_WB_PASSES20); |
| 6512 | iter++) { |
| 6513 | // These variables provide the approximate location along the trajectory |
| 6514 | // where there is an indication of a kink in the track |
| 6515 | break_point_fdc_index=max_fdc_index; |
| 6516 | break_point_cdc_index=0; |
| 6517 | break_point_step_index=0; |
| 6518 | |
| 6519 | // Reset material map index |
| 6520 | last_material_map=0; |
| 6521 | |
| 6522 | // Abort if momentum is too low |
| 6523 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100.) break; |
| 6524 | |
| 6525 | // Initialize path length variable and flight time |
| 6526 | len=0; |
| 6527 | ftime=0.; |
| 6528 | var_ftime=0.; |
| 6529 | |
| 6530 | // Scale cut for pruning hits according to the iteration number |
| 6531 | if (fit_type==kTimeBased) |
| 6532 | { |
| 6533 | fdc_anneal=FORWARD_ANNEAL_SCALE/pow(my_fdc_anneal_const,iter)+1.; |
| 6534 | cdc_anneal=ANNEAL_SCALE/pow(my_cdc_anneal_const,iter)+1.; |
| 6535 | } |
| 6536 | |
| 6537 | // Swim once through the field out to the most upstream FDC hit |
| 6538 | jerror_t ref_track_error=SetReferenceTrajectory(S); |
| 6539 | if (ref_track_error==NOERROR && forward_traj.size()> 1){ |
| 6540 | // Reset the status of the cdc hits |
| 6541 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6542 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6543 | } |
| 6544 | |
| 6545 | // perform the kalman filter |
| 6546 | C=C0; |
| 6547 | kalman_error_t error=KalmanForward(fdc_anneal,cdc_anneal,S,C,chisq,my_ndf); |
| 6548 | |
| 6549 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6549<<" " << "Iter: " << iter+1 << " Chi2=" << chisq << " Ndf=" << my_ndf << " Error code: " << error << endl; |
| 6550 | |
| 6551 | // Try to recover tracks that failed the first attempt at fitting |
| 6552 | if (error!=FIT_SUCCEEDED && RECOVER_BROKEN_TRACKS |
| 6553 | && num_fdchits>2 // some minimum to make this worthwhile... |
| 6554 | && break_point_fdc_index+num_cdchits>=MIN_HITS_FOR_REFIT |
| 6555 | && forward_traj.size()>2*MIN_HITS_FOR_REFIT // avoid small track stubs |
| 6556 | ){ |
| 6557 | DMatrix5x5 Ctemp=C; |
| 6558 | DMatrix5x1 Stemp=S; |
| 6559 | unsigned int temp_ndf=my_ndf; |
| 6560 | double temp_chi2=chisq; |
| 6561 | double x=x_,y=y_,z=z_; |
| 6562 | |
| 6563 | kalman_error_t refit_error=RecoverBrokenForwardTracks(fdc_anneal, |
| 6564 | cdc_anneal, |
| 6565 | S,C,C0,chisq, |
| 6566 | my_ndf); |
| 6567 | if (refit_error!=FIT_SUCCEEDED){ |
| 6568 | if (error==PRUNED_TOO_MANY_HITS || error==BREAK_POINT_FOUND){ |
| 6569 | C=Ctemp; |
| 6570 | S=Stemp; |
| 6571 | my_ndf=temp_ndf; |
| 6572 | chisq=temp_chi2; |
| 6573 | x_=x,y_=y,z_=z; |
| 6574 | |
| 6575 | if (num_cdchits<6) error=FIT_SUCCEEDED; |
| 6576 | } |
| 6577 | else error=FIT_FAILED; |
| 6578 | } |
| 6579 | else error=FIT_SUCCEEDED; |
| 6580 | } |
| 6581 | if (error==FIT_FAILED || error==INVALID_FIT){ |
| 6582 | if (iter==0) return FIT_FAILED; // first iteration failed |
| 6583 | break; |
| 6584 | } |
| 6585 | if (my_ndf==0) break; |
| 6586 | |
| 6587 | // Check the charge relative to the hypothesis for protons |
| 6588 | /* |
| 6589 | if (MASS>0.9){ |
| 6590 | double my_q=S(state_q_over_p)>0?1.:-1.; |
| 6591 | if (q!=my_q){ |
| 6592 | if (DEBUG_LEVEL>0) |
| 6593 | _DBG_ << "Sign change in fit for protons" <<endl; |
| 6594 | S(state_q_over_p)=fabs(S(state_q_over_p)); |
| 6595 | } |
| 6596 | } |
| 6597 | */ |
| 6598 | // Break out of loop if the chisq is increasing or not changing much |
| 6599 | if (my_ndf==last_ndf |
| 6600 | && (chisq>chisq_forward ||fabs(chisq-chisq_forward)<0.1) ) break; |
| 6601 | //if (TMath::Prob(chisq,my_ndf)<TMath::Prob(chisq_forward,last_ndf)) break; |
| 6602 | |
| 6603 | chisq_forward=chisq; |
| 6604 | last_ndf=my_ndf; |
| 6605 | Slast=S; |
| 6606 | Clast=C; |
| 6607 | last_z=z_; |
| 6608 | |
| 6609 | if (fdc_updates.size()>0){ |
| 6610 | last_fdc_updates.assign(fdc_updates.begin(),fdc_updates.end()); |
| 6611 | } |
| 6612 | if (cdc_updates.size()>0){ |
| 6613 | last_cdc_updates.assign(cdc_updates.begin(),cdc_updates.end()); |
| 6614 | } |
| 6615 | } //iteration |
| 6616 | else{ |
| 6617 | if (iter==0) return FIT_FAILED; |
| 6618 | } |
| 6619 | } |
| 6620 | |
| 6621 | // total chisq and ndf |
| 6622 | chisq_=chisq_forward; |
| 6623 | ndf_=last_ndf; |
| 6624 | |
| 6625 | // Source for t0 guess |
| 6626 | mT0Detector=SYS_CDC; |
| 6627 | |
| 6628 | // Fill pull vector using smoothed filter results |
| 6629 | pulls.clear(); |
| 6630 | if (fit_type==kTimeBased){ |
| 6631 | SmoothForward(); |
| 6632 | } |
| 6633 | // output lists of hits used in the fit and fill pull vector |
| 6634 | cdchits_used_in_fit.clear(); |
| 6635 | for (unsigned int m=0;m<last_cdc_updates.size();m++){ |
| 6636 | if (last_cdc_updates[m].used_in_fit){ |
| 6637 | cdchits_used_in_fit.push_back(my_cdchits[m]->hit); |
| 6638 | } |
| 6639 | } |
| 6640 | fdchits_used_in_fit.clear(); |
| 6641 | for (unsigned int m=0;m<last_fdc_updates.size();m++){ |
| 6642 | if (last_fdc_updates[m].used_in_fit){ |
| 6643 | fdchits_used_in_fit.push_back(my_fdchits[m]->hit); |
| 6644 | } |
| 6645 | } |
| 6646 | |
| 6647 | // Extrapolate to the point of closest approach to the beam line |
| 6648 | z_=last_z; |
| 6649 | if (sqrt(Slast(state_x)*Slast(state_x)+Slast(state_y)*Slast(state_y)) |
| 6650 | >EPS21.e-4){ |
| 6651 | DMatrix5x5 Ctemp=Clast; |
| 6652 | DMatrix5x1 Stemp=Slast; |
| 6653 | double ztemp=z_; |
| 6654 | if (ExtrapolateToVertex(Stemp,Ctemp)==NOERROR){ |
| 6655 | Clast=Ctemp; |
| 6656 | Slast=Stemp; |
| 6657 | } |
| 6658 | else{ |
| 6659 | //_DBG_ << endl; |
| 6660 | z_=ztemp; |
| 6661 | } |
| 6662 | } |
| 6663 | |
| 6664 | // Convert from forward rep. to central rep. |
| 6665 | DMatrix5x1 Sc; |
| 6666 | DMatrix5x5 Cc; |
| 6667 | ConvertStateVectorAndCovariance(z_,Slast,Sc,Clast,Cc); |
| 6668 | |
| 6669 | // Track Parameters at "vertex" |
| 6670 | phi_=Sc(state_phi); |
| 6671 | q_over_pt_=Sc(state_q_over_pt); |
| 6672 | tanl_=Sc(state_tanl); |
| 6673 | D_=Sc(state_D); |
| 6674 | |
| 6675 | // Covariance matrix |
| 6676 | vector<double>dummy; |
| 6677 | if (FORWARD_PARMS_COV==true){ |
| 6678 | for (unsigned int i=0;i<5;i++){ |
| 6679 | dummy.clear(); |
| 6680 | for(unsigned int j=0;j<5;j++){ |
| 6681 | dummy.push_back(Clast(i,j)); |
| 6682 | } |
| 6683 | fcov.push_back(dummy); |
| 6684 | } |
| 6685 | } |
| 6686 | // Central parametrization |
| 6687 | for (unsigned int i=0;i<5;i++){ |
| 6688 | dummy.clear(); |
| 6689 | for(unsigned int j=0;j<5;j++){ |
| 6690 | dummy.push_back(Cc(i,j)); |
| 6691 | } |
| 6692 | cov.push_back(dummy); |
| 6693 | } |
| 6694 | |
| 6695 | |
| 6696 | return FIT_SUCCEEDED; |
| 6697 | } |
| 6698 | |
| 6699 | // Routine to fit hits in the CDC using the forward parametrization |
| 6700 | kalman_error_t DTrackFitterKalmanSIMD::ForwardCDCFit(const DMatrix5x1 &S0,const DMatrix5x5 &C0){ |
| 6701 | unsigned int num_cdchits=my_cdchits.size(); |
| 6702 | unsigned int max_cdc_index=num_cdchits-1; |
| 6703 | unsigned int min_cdc_index_for_refit=MIN_HITS_FOR_REFIT-1; |
| 6704 | |
| 6705 | // Charge |
| 6706 | // double q=input_params.charge(); |
| 6707 | |
| 6708 | // Covariance matrix and state vector |
| 6709 | DMatrix5x5 C; |
| 6710 | DMatrix5x1 S=S0; |
| 6711 | |
| 6712 | // Create matrices to store results from previous iteration |
| 6713 | DMatrix5x1 Slast(S); |
| 6714 | DMatrix5x5 Clast(C0); |
| 6715 | |
| 6716 | // Vectors to keep track of updated state vectors and covariance matrices (after |
| 6717 | // adding the hit information) |
| 6718 | vector<DKalmanUpdate_t>last_cdc_updates; |
| 6719 | vector<DKalmanUpdate_t>last_fdc_updates; |
| 6720 | |
| 6721 | double anneal_scale=ANNEAL_SCALE; // variable for scaling cut for hit pruning |
| 6722 | double my_anneal_const=ANNEAL_POW_CONST; |
| 6723 | /* |
| 6724 | double tsquare=S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty); |
| 6725 | double tanl=1./sqrt(tsquare); |
| 6726 | if (tanl>2.5){ |
| 6727 | anneal_scale=FORWARD_ANNEAL_SCALE; |
| 6728 | my_anneal_const=FORWARD_ANNEAL_POW_CONST; |
| 6729 | } |
| 6730 | */ |
| 6731 | double anneal_factor=anneal_scale+1.; |
| 6732 | /* |
| 6733 | if (fit_type==kTimeBased && fabs(1./S(state_q_over_p))<1.0 |
| 6734 | && my_anneal_const>=2.0){ |
| 6735 | my_anneal_const*=0.5; |
| 6736 | } |
| 6737 | */ |
| 6738 | // Chi-squared and degrees of freedom |
| 6739 | double chisq=MAX_CHI21e16,chisq_forward=MAX_CHI21e16; |
| 6740 | unsigned int my_ndf=0; |
| 6741 | unsigned int last_ndf=1; |
| 6742 | // last z position |
| 6743 | double zlast=0.; |
| 6744 | // unsigned int last_break_point_index=0,last_break_point_step_index=0; |
| 6745 | |
| 6746 | // Iterate over reference trajectories |
| 6747 | for (int iter2=0; |
| 6748 | iter2<(fit_type==kTimeBased?MAX_TB_PASSES20:MAX_WB_PASSES20); |
| 6749 | iter2++){ |
| 6750 | if (DEBUG_LEVEL>1){ |
| 6751 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6751<<" " <<"-------- iteration " << iter2+1 << " -----------" <<endl; |
| 6752 | } |
| 6753 | |
| 6754 | // These variables provide the approximate location along the trajectory |
| 6755 | // where there is an indication of a kink in the track |
| 6756 | break_point_cdc_index=max_cdc_index; |
| 6757 | break_point_step_index=0; |
| 6758 | |
| 6759 | // Reset material map index |
| 6760 | last_material_map=0; |
| 6761 | |
| 6762 | // Abort if momentum is too low |
| 6763 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX100.){ |
| 6764 | //printf("Too low momentum? %f\n",1/S(state_q_over_p)); |
| 6765 | break; |
| 6766 | } |
| 6767 | |
| 6768 | // Scale cut for pruning hits according to the iteration number |
| 6769 | if (fit_type==kTimeBased) |
| 6770 | { |
| 6771 | anneal_factor=anneal_scale/pow(my_anneal_const,iter2)+1.; |
| 6772 | } |
| 6773 | |
| 6774 | // Initialize path length variable and flight time |
| 6775 | len=0; |
| 6776 | ftime=0.; |
| 6777 | var_ftime=0.; |
| 6778 | |
| 6779 | // Swim to create the reference trajectory |
| 6780 | jerror_t ref_track_error=SetCDCForwardReferenceTrajectory(S); |
| 6781 | if (ref_track_error==NOERROR && forward_traj.size()> 1){ |
| 6782 | // Reset the status of the cdc hits |
| 6783 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6784 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6785 | } |
| 6786 | |
| 6787 | // perform the filter |
| 6788 | C=C0; |
| 6789 | kalman_error_t error=KalmanForwardCDC(anneal_factor,S,C,chisq,my_ndf); |
| 6790 | |
| 6791 | // Try to recover tracks that failed the first attempt at fitting |
| 6792 | if (error!=FIT_SUCCEEDED && RECOVER_BROKEN_TRACKS |
| 6793 | && num_cdchits>=MIN_HITS_FOR_REFIT){ |
| 6794 | DMatrix5x5 Ctemp=C; |
| 6795 | DMatrix5x1 Stemp=S; |
| 6796 | unsigned int temp_ndf=my_ndf; |
| 6797 | double temp_chi2=chisq; |
| 6798 | double x=x_,y=y_,z=z_; |
| 6799 | |
| 6800 | if (error==MOMENTUM_OUT_OF_RANGE){ |
| 6801 | // _DBG_ << "Momentum out of range" <<endl; |
| 6802 | unsigned int new_index=(3*max_cdc_index)/4; |
| 6803 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 6804 | } |
| 6805 | |
| 6806 | if (error==BROKEN_COVARIANCE_MATRIX){ |
| 6807 | break_point_cdc_index=min_cdc_index_for_refit; |
| 6808 | //_DBG_ << "Bad Cov" <<endl; |
| 6809 | } |
| 6810 | if (error==POSITION_OUT_OF_RANGE){ |
| 6811 | //_DBG_ << "Bad position" << endl; |
| 6812 | unsigned int new_index=(max_cdc_index)/2; |
| 6813 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 6814 | } |
| 6815 | if (error==PRUNED_TOO_MANY_HITS){ |
| 6816 | //_DBG_ << "Prune" << endl; |
| 6817 | unsigned int new_index=(3*max_cdc_index)/4; |
| 6818 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 6819 | // anneal_factor*=10.; |
| 6820 | } |
| 6821 | |
| 6822 | kalman_error_t refit_error=RecoverBrokenTracks(anneal_factor,S,C,C0,chisq,my_ndf); |
| 6823 | |
| 6824 | if (refit_error!=FIT_SUCCEEDED){ |
| 6825 | if (error==PRUNED_TOO_MANY_HITS || error==BREAK_POINT_FOUND){ |
| 6826 | C=Ctemp; |
| 6827 | S=Stemp; |
| 6828 | my_ndf=temp_ndf; |
| 6829 | chisq=temp_chi2; |
| 6830 | x_=x,y_=y,z_=z; |
| 6831 | |
| 6832 | error=FIT_SUCCEEDED; |
| 6833 | } |
| 6834 | else error=FIT_FAILED; |
| 6835 | } |
| 6836 | else error=FIT_SUCCEEDED; |
| 6837 | } |
| 6838 | if (error==FIT_FAILED || error==INVALID_FIT){ |
| 6839 | if (iter2==0) return error; |
| 6840 | break; |
| 6841 | } |
| 6842 | if (my_ndf==0) break; |
| 6843 | |
| 6844 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6844<<" " << "--> Chisq " << chisq << " NDF " |
| 6845 | << my_ndf |
| 6846 | << " Prob: " << TMath::Prob(chisq,my_ndf) |
| 6847 | << endl; |
| 6848 | // Check the charge relative to the hypothesis for protons |
| 6849 | /* |
| 6850 | if (MASS>0.9){ |
| 6851 | double my_q=S(state_q_over_p)>0?1.:-1.; |
| 6852 | if (q!=my_q){ |
| 6853 | if (DEBUG_LEVEL>0) |
| 6854 | _DBG_ << "Sign change in fit for protons" <<endl; |
| 6855 | S(state_q_over_p)=fabs(S(state_q_over_p)); |
| 6856 | } |
| 6857 | } |
| 6858 | */ |
| 6859 | if (my_ndf==last_ndf |
| 6860 | && (chisq>chisq_forward || fabs(chisq-chisq_forward)<0.1) ) break; |
| 6861 | //if (TMath::Prob(chisq,my_ndf)<TMath::Prob(chisq_forward,last_ndf)) break; |
| 6862 | |
| 6863 | chisq_forward=chisq; |
| 6864 | Slast=S; |
| 6865 | Clast=C; |
| 6866 | last_ndf=my_ndf; |
| 6867 | zlast=z_; |
| 6868 | |
| 6869 | last_cdc_updates.assign(cdc_updates.begin(),cdc_updates.end()); |
| 6870 | |
| 6871 | } //iteration |
| 6872 | else{ |
| 6873 | if (iter2==0) return FIT_FAILED; |
| 6874 | break; |
| 6875 | } |
| 6876 | } |
| 6877 | |
| 6878 | // total chisq and ndf |
| 6879 | chisq_=chisq_forward; |
| 6880 | ndf_=last_ndf; |
| 6881 | |
| 6882 | // source for t0 guess |
| 6883 | mT0Detector=SYS_CDC; |
| 6884 | |
| 6885 | // Run smoother and fill pulls vector |
| 6886 | pulls.clear(); |
| 6887 | if (fit_type==kTimeBased){ |
| 6888 | SmoothForwardCDC(); |
| 6889 | } |
| 6890 | |
| 6891 | // output lists of hits used in the fit and fill the pull vector |
| 6892 | cdchits_used_in_fit.clear(); |
| 6893 | for (unsigned int m=0;m<last_cdc_updates.size();m++){ |
| 6894 | if (last_cdc_updates[m].used_in_fit){ |
| 6895 | cdchits_used_in_fit.push_back(my_cdchits[m]->hit); |
| 6896 | } |
| 6897 | } |
| 6898 | |
| 6899 | // Extrapolate to the point of closest approach to the beam line |
| 6900 | z_=zlast; |
| 6901 | if (sqrt(Slast(state_x)*Slast(state_x)+Slast(state_y)*Slast(state_y)) |
| 6902 | >EPS21.e-4) |
| 6903 | if (ExtrapolateToVertex(Slast,Clast)!=NOERROR) return EXTRAPOLATION_FAILED; |
| 6904 | |
| 6905 | // Convert from forward rep. to central rep. |
| 6906 | DMatrix5x1 Sc; |
| 6907 | DMatrix5x5 Cc; |
| 6908 | ConvertStateVectorAndCovariance(z_,Slast,Sc,Clast,Cc); |
| 6909 | |
| 6910 | // Track Parameters at "vertex" |
| 6911 | phi_=Sc(state_phi); |
| 6912 | q_over_pt_=Sc(state_q_over_pt); |
| 6913 | tanl_=Sc(state_tanl); |
| 6914 | D_=Sc(state_D); |
| 6915 | |
| 6916 | // Covariance matrix |
| 6917 | vector<double>dummy; |
| 6918 | // ... forward parameterization |
| 6919 | if (FORWARD_PARMS_COV==true){ |
| 6920 | for (unsigned int i=0;i<5;i++){ |
| 6921 | dummy.clear(); |
| 6922 | for(unsigned int j=0;j<5;j++){ |
| 6923 | dummy.push_back(Clast(i,j)); |
| 6924 | } |
| 6925 | fcov.push_back(dummy); |
| 6926 | } |
| 6927 | } |
| 6928 | // Central parametrization |
| 6929 | for (unsigned int i=0;i<5;i++){ |
| 6930 | dummy.clear(); |
| 6931 | for(unsigned int j=0;j<5;j++){ |
| 6932 | dummy.push_back(Cc(i,j)); |
| 6933 | } |
| 6934 | cov.push_back(dummy); |
| 6935 | } |
| 6936 | |
| 6937 | |
| 6938 | return FIT_SUCCEEDED; |
| 6939 | } |
| 6940 | |
| 6941 | // Routine to fit hits in the CDC using the central parametrization |
| 6942 | kalman_error_t DTrackFitterKalmanSIMD::CentralFit(const DVector2 &startpos, |
| 6943 | const DMatrix5x1 &S0, |
| 6944 | const DMatrix5x5 &C0){ |
| 6945 | // Initial position in x and y |
| 6946 | DVector2 pos(startpos); |
| 6947 | |
| 6948 | // Charge |
| 6949 | // double q=input_params.charge(); |
| 6950 | |
| 6951 | // Covariance matrix and state vector |
| 6952 | DMatrix5x5 Cc; |
| 6953 | DMatrix5x1 Sc=S0; |
| 6954 | |
| 6955 | // Variables to store values from previous iterations |
| 6956 | DMatrix5x1 Sclast(Sc); |
| 6957 | DMatrix5x5 Cclast(C0); |
| 6958 | DVector2 last_pos=pos; |
| 6959 | |
| 6960 | unsigned int num_cdchits=my_cdchits.size(); |
| 6961 | unsigned int max_cdc_index=num_cdchits-1; |
| 6962 | unsigned int min_cdc_index_for_refit=MIN_HITS_FOR_REFIT-1; |
| 6963 | |
| 6964 | // Vectors to keep track of updated state vectors and covariance matrices (after |
| 6965 | // adding the hit information) |
| 6966 | vector<DKalmanUpdate_t>last_cdc_updates; |
| 6967 | |
| 6968 | double anneal_factor=ANNEAL_SCALE+1.; // variable for scaling cut for hit pruning |
| 6969 | double my_anneal_const=ANNEAL_POW_CONST; |
| 6970 | //if (fit_type==kTimeBased && fabs(1./Sc(state_q_over_p))<1.0) my_anneal_const*=0.5; |
| 6971 | |
| 6972 | //Initialization of chisq, ndf, and error status |
| 6973 | double chisq_iter=MAX_CHI21e16,chisq=MAX_CHI21e16; |
| 6974 | unsigned int my_ndf=0; |
| 6975 | ndf_=0.; |
| 6976 | unsigned int last_ndf=1; |
| 6977 | kalman_error_t error=FIT_NOT_DONE; |
| 6978 | |
| 6979 | // Iterate over reference trajectories |
| 6980 | int iter2=0; |
| 6981 | for (;iter2<(fit_type==kTimeBased?MAX_TB_PASSES20:MAX_WB_PASSES20); |
| 6982 | iter2++){ |
| 6983 | if (DEBUG_LEVEL>1){ |
| 6984 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6984<<" " <<"-------- iteration " << iter2+1 << " -----------" <<endl; |
| 6985 | } |
| 6986 | |
| 6987 | // These variables provide the approximate location along the trajectory |
| 6988 | // where there is an indication of a kink in the track |
| 6989 | break_point_cdc_index=max_cdc_index; |
| 6990 | break_point_step_index=0; |
| 6991 | |
| 6992 | // Reset material map index |
| 6993 | last_material_map=0; |
| 6994 | |
| 6995 | // Break out of loop if p is too small |
| 6996 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 6997 | if (fabs(q_over_p)>Q_OVER_P_MAX100.) break; |
| 6998 | |
| 6999 | // Initialize path length variable and flight time |
| 7000 | len=0.; |
| 7001 | ftime=0.; |
| 7002 | var_ftime=0.; |
| 7003 | |
| 7004 | // Scale cut for pruning hits according to the iteration number |
| 7005 | if (fit_type==kTimeBased) |
| 7006 | { |
| 7007 | anneal_factor=ANNEAL_SCALE/pow(my_anneal_const,iter2)+1.; |
| 7008 | } |
| 7009 | |
| 7010 | // Initialize trajectory deque |
| 7011 | jerror_t ref_track_error=SetCDCReferenceTrajectory(last_pos,Sc); |
| 7012 | if (ref_track_error==NOERROR && central_traj.size()>1){ |
| 7013 | // Reset the status of the cdc hits |
| 7014 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 7015 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 7016 | } |
| 7017 | |
| 7018 | // perform the fit |
| 7019 | Cc=C0; |
| 7020 | error=KalmanCentral(anneal_factor,Sc,Cc,pos,chisq,my_ndf); |
| 7021 | // Try to recover tracks that failed the first attempt at fitting |
| 7022 | if (error!=FIT_SUCCEEDED && RECOVER_BROKEN_TRACKS |
| 7023 | && num_cdchits>=MIN_HITS_FOR_REFIT){ |
| 7024 | DVector2 temp_pos=pos; |
| 7025 | DMatrix5x1 Stemp=Sc; |
| 7026 | DMatrix5x5 Ctemp=Cc; |
| 7027 | unsigned int temp_ndf=my_ndf; |
| 7028 | double temp_chi2=chisq; |
| 7029 | |
| 7030 | if (error==MOMENTUM_OUT_OF_RANGE){ |
| 7031 | //_DBG_ << "Momentum out of range" <<endl; |
| 7032 | unsigned int new_index=(3*max_cdc_index)/4; |
| 7033 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 7034 | } |
| 7035 | |
| 7036 | if (error==BROKEN_COVARIANCE_MATRIX){ |
| 7037 | break_point_cdc_index=min_cdc_index_for_refit; |
| 7038 | //_DBG_ << "Bad Cov" <<endl; |
| 7039 | } |
| 7040 | if (error==POSITION_OUT_OF_RANGE){ |
| 7041 | //_DBG_ << "Bad position" << endl; |
| 7042 | unsigned int new_index=(max_cdc_index)/2; |
| 7043 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 7044 | } |
| 7045 | if (error==PRUNED_TOO_MANY_HITS){ |
| 7046 | unsigned int new_index=(3*max_cdc_index)/4; |
| 7047 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 7048 | //anneal_factor*=10.; |
| 7049 | //_DBG_ << "Prune" << endl; |
| 7050 | } |
| 7051 | |
| 7052 | |
| 7053 | kalman_error_t refit_error=RecoverBrokenTracks(anneal_factor,Sc,Cc,C0,pos,chisq,my_ndf); |
| 7054 | if (refit_error!=FIT_SUCCEEDED){ |
| 7055 | if (error==PRUNED_TOO_MANY_HITS || error==BREAK_POINT_FOUND){ |
| 7056 | Cc=Ctemp; |
| 7057 | Sc=Stemp; |
| 7058 | my_ndf=temp_ndf; |
| 7059 | chisq=temp_chi2; |
| 7060 | pos=temp_pos; |
| 7061 | |
| 7062 | error=FIT_SUCCEEDED; |
| 7063 | } |
| 7064 | else error=FIT_FAILED; |
| 7065 | } |
| 7066 | else error=FIT_SUCCEEDED; |
| 7067 | } |
| 7068 | if (error==FIT_FAILED || error==INVALID_FIT){ |
| 7069 | if (iter2==0) return error; |
| 7070 | break; |
| 7071 | } |
| 7072 | if (my_ndf==0) break; |
| 7073 | |
| 7074 | |
| 7075 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7075<<" " << "--> Chisq " << chisq << " Ndof " << my_ndf |
| 7076 | << " Prob: " << TMath::Prob(chisq,my_ndf) |
| 7077 | << endl; |
| 7078 | // Check the charge relative to the hypothesis for protons |
| 7079 | /* |
| 7080 | if (MASS>0.9){ |
| 7081 | double my_q=Sc(state_q_over_pt)>0?1.:-1.; |
| 7082 | if (q!=my_q){ |
| 7083 | if (DEBUG_LEVEL>0) |
| 7084 | _DBG_ << "Sign change in fit for protons" <<endl; |
| 7085 | Sc(state_q_over_pt)=fabs(Sc(state_q_over_pt)); |
| 7086 | } |
| 7087 | } |
| 7088 | */ |
| 7089 | if (my_ndf==last_ndf |
| 7090 | && (chisq>chisq_iter || fabs(chisq_iter-chisq)<0.1)) break; |
| 7091 | //if (TMath::Prob(chisq,my_ndf)<TMath::Prob(chisq_iter,last_ndf)) break; |
| 7092 | |
| 7093 | // Save the current state vector and covariance matrix |
| 7094 | Cclast=Cc; |
| 7095 | Sclast=Sc; |
| 7096 | last_pos=pos; |
| 7097 | chisq_iter=chisq; |
| 7098 | last_ndf=my_ndf; |
| 7099 | |
| 7100 | last_cdc_updates.assign(cdc_updates.begin(),cdc_updates.end()); |
| 7101 | } |
| 7102 | else{ |
| 7103 | if (iter2==0) return FIT_FAILED; |
| 7104 | break; |
| 7105 | } |
| 7106 | } |
| 7107 | |
| 7108 | if (last_pos.Mod()>EPS21.e-4){ |
| 7109 | if (ExtrapolateToVertex(last_pos,Sclast,Cclast)!=NOERROR) return EXTRAPOLATION_FAILED; |
| 7110 | } |
| 7111 | |
| 7112 | // source for t0 guess |
| 7113 | mT0Detector=SYS_CDC; |
| 7114 | |
| 7115 | // Run smoother and fill pulls vector |
| 7116 | pulls.clear(); |
| 7117 | if (fit_type==kTimeBased){ |
| 7118 | SmoothCentral(); |
| 7119 | } |
| 7120 | |
| 7121 | // output lists of hits used in the fit |
| 7122 | cdchits_used_in_fit.clear(); |
| 7123 | for (unsigned int m=0;m<last_cdc_updates.size();m++){ |
| 7124 | if (last_cdc_updates[m].used_in_fit){ |
| 7125 | cdchits_used_in_fit.push_back(my_cdchits[m]->hit); |
| 7126 | } |
| 7127 | } |
| 7128 | |
| 7129 | // Rotate covariance matrix from a coordinate system whose origin is on the track to the global coordinate system |
| 7130 | double B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 7131 | double qrc_old=1./(qBr2p0.003*B*Sclast(state_q_over_pt)); |
| 7132 | double qrc_plus_D=Sclast(state_D)+qrc_old; |
| 7133 | double q=(qrc_old>0.0)?1.:-1.; |
| 7134 | double dx=-last_pos.X(); |
| 7135 | double dy=-last_pos.Y(); |
| 7136 | double d2=dx*dx+dy*dy; |
| 7137 | double sinphi=sin(Sclast(state_phi)); |
| 7138 | double cosphi=cos(Sclast(state_phi)); |
| 7139 | double dx_sinphi_minus_dy_cosphi=dx*sinphi-dy*cosphi; |
| 7140 | double rc=sqrt(d2 |
| 7141 | +2.*qrc_plus_D*(dx_sinphi_minus_dy_cosphi) |
| 7142 | +qrc_plus_D*qrc_plus_D); |
| 7143 | |
| 7144 | DMatrix5x5 Jc=I5x5; |
| 7145 | Jc(state_D,state_D)=q*(dx_sinphi_minus_dy_cosphi+qrc_plus_D)/rc; |
| 7146 | Jc(state_D,state_q_over_pt)=qrc_old*(Jc(state_D,state_D)-1.)/Sclast(state_q_over_pt); |
| 7147 | Jc(state_D,state_phi)=q*qrc_plus_D*(dx*cosphi+dy*sinphi)/rc; |
| 7148 | |
| 7149 | Cclast=Cclast.SandwichMultiply(Jc); |
| 7150 | |
| 7151 | // Track Parameters at "vertex" |
| 7152 | phi_=Sclast(state_phi); |
| 7153 | q_over_pt_=Sclast(state_q_over_pt); |
| 7154 | tanl_=Sclast(state_tanl); |
| 7155 | x_=last_pos.X(); |
| 7156 | y_=last_pos.Y(); |
| 7157 | z_=Sclast(state_z); |
| 7158 | D_=sqrt(d2); |
| 7159 | if ((x_>0.0 && sinphi>0.0) || (y_ <0.0 && cosphi>0.0) || (y_>0.0 && cosphi<0.0) |
| 7160 | || (x_<0.0 && sinphi<0.0)) D_*=-1.; |
| 7161 | |
| 7162 | if (!isfinite(x_) || !isfinite(y_) || !isfinite(z_) || !isfinite(phi_) |
| 7163 | || !isfinite(q_over_pt_) || !isfinite(tanl_)){ |
| 7164 | if (DEBUG_LEVEL>0){ |
| 7165 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7165<<" " << "At least one parameter is NaN or +-inf!!" <<endl; |
| 7166 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7166<<" " << "x " << x_ << " y " << y_ << " z " << z_ << " phi " << phi_ |
| 7167 | << " q/pt " << q_over_pt_ << " tanl " << tanl_ << endl; |
| 7168 | } |
| 7169 | return INVALID_FIT; |
| 7170 | } |
| 7171 | |
| 7172 | // Covariance matrix at vertex |
| 7173 | fcov.clear(); |
| 7174 | vector<double>dummy; |
| 7175 | for (unsigned int i=0;i<5;i++){ |
| 7176 | dummy.clear(); |
| 7177 | for(unsigned int j=0;j<5;j++){ |
| 7178 | dummy.push_back(Cclast(i,j)); |
| 7179 | } |
| 7180 | cov.push_back(dummy); |
| 7181 | } |
| 7182 | |
| 7183 | // total chisq and ndf |
| 7184 | chisq_=chisq_iter; |
| 7185 | ndf_=last_ndf; |
| 7186 | //printf("NDof %d\n",ndf); |
| 7187 | |
| 7188 | return FIT_SUCCEEDED; |
| 7189 | } |
| 7190 | |
| 7191 | // Smoothing algorithm for the forward trajectory. Updates the state vector |
| 7192 | // at each step (going in the reverse direction to the filter) based on the |
| 7193 | // information from all the steps and outputs the state vector at the |
| 7194 | // outermost step. |
| 7195 | jerror_t DTrackFitterKalmanSIMD::SmoothForward(void){ |
| 7196 | if (forward_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 7197 | |
| 7198 | unsigned int max=forward_traj.size()-1; |
| 7199 | DMatrix5x1 S=(forward_traj[max].Skk); |
| 7200 | DMatrix5x5 C=(forward_traj[max].Ckk); |
| 7201 | DMatrix5x5 JT=(forward_traj[max].JT); |
| 7202 | DMatrix5x1 Ss=S; |
| 7203 | DMatrix5x5 Cs=C; |
| 7204 | DMatrix5x5 A; |
| 7205 | |
| 7206 | for (unsigned int m=max-1;m>0;m--){ |
| 7207 | if (forward_traj[m].h_id>0){ |
| 7208 | if (forward_traj[m].h_id<1000){ |
| 7209 | unsigned int id=forward_traj[m].h_id-1; |
| 7210 | A=fdc_updates[id].C*JT*C.InvertSym(); |
| 7211 | Ss=fdc_updates[id].S+A*(Ss-S); |
| 7212 | Cs=fdc_updates[id].C+A*(Cs-C)*A.Transpose(); |
| 7213 | |
| 7214 | } |
| 7215 | else{ |
| 7216 | unsigned int id=forward_traj[m].h_id-1000; |
| 7217 | A=cdc_updates[id].C*JT*C.InvertSym(); |
| 7218 | Ss=cdc_updates[id].S+A*(Ss-S); |
| 7219 | if ((!isfinite(Ss(0)))|| (!isfinite(Ss(1))) |
| 7220 | || (!isfinite(Ss(2))) || (!isfinite(Ss(3))) |
| 7221 | || (!isfinite(Ss(4))) |
| 7222 | ){ |
| 7223 | if (DEBUG_LEVEL>5) |
| 7224 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7224<<" " << "Invalid values for smoothed parameters..." << endl; |
| 7225 | return VALUE_OUT_OF_RANGE; |
| 7226 | } |
| 7227 | Cs=cdc_updates[id].C+A*(Cs-C)*A.Transpose(); |
| 7228 | |
| 7229 | |
| 7230 | // Fill in pulls information for cdc hits |
| 7231 | FillPullsVectorEntry(Ss,Cs,forward_traj[m],my_cdchits[id], |
| 7232 | cdc_updates[id]); |
| 7233 | } |
| 7234 | } |
| 7235 | else{ |
| 7236 | A=forward_traj[m].Ckk*JT*C.InvertSym(); |
| 7237 | Ss=forward_traj[m].Skk+A*(Ss-S); |
| 7238 | Cs=forward_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 7239 | } |
| 7240 | |
| 7241 | S=forward_traj[m].Skk; |
| 7242 | C=forward_traj[m].Ckk; |
| 7243 | JT=forward_traj[m].JT; |
| 7244 | } |
| 7245 | A=forward_traj[0].Ckk*JT*C.InvertSym(); |
| 7246 | Ss=forward_traj[0].Skk+A*(Ss-S); |
| 7247 | Cs=forward_traj[0].Ckk+A*(Cs-C)*A.Transpose(); |
| 7248 | |
| 7249 | return NOERROR; |
| 7250 | } |
| 7251 | |
| 7252 | // Smoothing algorithm for the central trajectory. Updates the state vector |
| 7253 | // at each step (going in the reverse direction to the filter) based on the |
| 7254 | // information from all the steps. |
| 7255 | jerror_t DTrackFitterKalmanSIMD::SmoothCentral(void){ |
| 7256 | if (central_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 7257 | |
| 7258 | unsigned int max=central_traj.size()-1; |
| 7259 | DMatrix5x1 S=(central_traj[max].Skk); |
| 7260 | DMatrix5x5 C=(central_traj[max].Ckk); |
| 7261 | DMatrix5x5 JT=(central_traj[max].JT); |
| 7262 | DMatrix5x1 Ss=S; |
| 7263 | DMatrix5x5 Cs=C; |
| 7264 | DMatrix5x5 A,AT,dC; |
| 7265 | |
| 7266 | for (unsigned int m=max-1;m>0;m--){ |
| 7267 | if (central_traj[m].h_id>0){ |
| 7268 | unsigned int id=central_traj[m].h_id-1; |
| 7269 | A=cdc_updates[id].C*JT*C.InvertSym(); |
| 7270 | AT=A.Transpose(); |
| 7271 | Ss=cdc_updates[id].S+A*(Ss-S); |
| 7272 | if ((!isfinite(Ss(0)))|| (!isfinite(Ss(1))) |
| 7273 | || (!isfinite(Ss(2))) || (!isfinite(Ss(3))) |
| 7274 | || (!isfinite(Ss(4))) |
| 7275 | ){ |
| 7276 | if (DEBUG_LEVEL>5) |
| 7277 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7277<<" " << "Invalid values for smoothed parameters..." << endl; |
| 7278 | return VALUE_OUT_OF_RANGE; |
| 7279 | } |
| 7280 | |
| 7281 | dC=Cs-C; |
| 7282 | Cs=cdc_updates[id].C+dC.SandwichMultiply(AT); |
| 7283 | |
| 7284 | // Get estimate for energy loss |
| 7285 | double q_over_p=Ss(state_q_over_pt)*cos(atan(Ss(state_tanl))); |
| 7286 | double dEdx=GetdEdx(q_over_p,central_traj[m].K_rho_Z_over_A, |
| 7287 | central_traj[m].rho_Z_over_A, |
| 7288 | central_traj[m].LnI); |
| 7289 | |
| 7290 | // Use Brent's algorithm to find doca to the wire |
| 7291 | DVector2 xy(central_traj[m].xy.X()-Ss(state_D)*sin(Ss(state_phi)), |
| 7292 | central_traj[m].xy.Y()+Ss(state_D)*cos(Ss(state_phi))); |
| 7293 | DVector2 old_xy=xy; |
| 7294 | DMatrix5x1 myS=Ss; |
| 7295 | double myds; |
| 7296 | DVector2 origin=my_cdchits[id]->origin; |
| 7297 | DVector2 dir=my_cdchits[id]->dir; |
| 7298 | double z0wire=my_cdchits[id]->z0wire; |
| 7299 | BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy,z0wire,origin,dir,myS,myds); |
| 7300 | DVector2 wirepos=origin+(myS(state_z)-z0wire)*dir; |
| 7301 | double cosstereo=my_cdchits[id]->cosstereo; |
| 7302 | DVector2 diff=xy-wirepos; |
| 7303 | double d=cosstereo*diff.Mod()+EPS3.0e-8; |
| 7304 | // here we add a small number to avoid division by zero errors |
| 7305 | |
| 7306 | // Find the field and gradient at (old_x,old_y,old_z) |
| 7307 | bfield->GetFieldAndGradient(old_xy.X(),old_xy.Y(),Ss(state_z), |
| 7308 | Bx,By,Bz, |
| 7309 | dBxdx,dBxdy,dBxdz,dBydx, |
| 7310 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 7311 | DMatrix5x5 Jc; |
| 7312 | StepJacobian(old_xy,xy-old_xy,myds,Ss,dEdx,Jc); |
| 7313 | |
| 7314 | dC=dC.SandwichMultiply(Jc*AT); |
| 7315 | // Compute the Jacobian matrix |
| 7316 | // Projection matrix |
| 7317 | DMatrix5x1 H_T; |
| 7318 | double sinphi=sin(myS(state_phi)); |
| 7319 | double cosphi=cos(myS(state_phi)); |
| 7320 | double dx=diff.X(); |
| 7321 | double dy=diff.Y(); |
| 7322 | double cosstereo_over_doca=cosstereo*cosstereo/d; |
| 7323 | H_T(state_D)=(dy*cosphi-dx*sinphi)*cosstereo_over_doca; |
| 7324 | H_T(state_phi) |
| 7325 | =-myS(state_D)*cosstereo_over_doca*(dx*cosphi+dy*sinphi); |
| 7326 | H_T(state_z)=-cosstereo_over_doca*(dx*dir.X()+dy*dir.Y()); |
| 7327 | double V=cdc_updates[id].variance; |
| 7328 | V+=Cs.SandwichMultiply(Jc*H_T); |
| 7329 | |
| 7330 | pulls.push_back(pull_t(cdc_updates[id].doca-d,sqrt(V), |
| 7331 | central_traj[m].s,cdc_updates[id].tdrift, |
| 7332 | d,my_cdchits[id]->hit,NULL__null, |
| 7333 | diff.Phi(),myS(state_z), |
| 7334 | cdc_updates[id].tcorr)); |
| 7335 | |
| 7336 | } |
| 7337 | else{ |
| 7338 | A=central_traj[m].Ckk*JT*C.InvertSym(); |
| 7339 | Ss=central_traj[m].Skk+A*(Ss-S); |
| 7340 | Cs=central_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 7341 | } |
| 7342 | S=central_traj[m].Skk; |
| 7343 | C=central_traj[m].Ckk; |
| 7344 | JT=(central_traj[m].JT); |
| 7345 | } |
| 7346 | |
| 7347 | // ... last entries? |
| 7348 | |
| 7349 | return NOERROR; |
| 7350 | |
| 7351 | } |
| 7352 | |
| 7353 | // Smoothing algorithm for the forward_traj_cdc trajectory. |
| 7354 | // Updates the state vector |
| 7355 | // at each step (going in the reverse direction to the filter) based on the |
| 7356 | // information from all the steps and outputs the state vector at the |
| 7357 | // outermost step. |
| 7358 | jerror_t DTrackFitterKalmanSIMD::SmoothForwardCDC(void){ |
| 7359 | if (forward_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 7360 | |
| 7361 | unsigned int max=forward_traj.size()-1; |
| 7362 | DMatrix5x1 S=(forward_traj[max].Skk); |
| 7363 | DMatrix5x5 C=(forward_traj[max].Ckk); |
| 7364 | DMatrix5x5 JT=(forward_traj[max].JT); |
| 7365 | DMatrix5x1 Ss=S; |
| 7366 | DMatrix5x5 Cs=C; |
| 7367 | DMatrix5x5 A; |
| 7368 | |
| 7369 | for (unsigned int m=max-1;m>0;m--){ |
| 7370 | if (forward_traj[m].h_id>0){ |
| 7371 | unsigned int cdc_index=forward_traj[m].h_id-1; |
| 7372 | |
| 7373 | A=cdc_updates[cdc_index].C*JT*C.InvertSym(); |
| 7374 | Ss=cdc_updates[cdc_index].S+A*(Ss-S); |
| 7375 | if ((!isfinite(Ss(0)))|| (!isfinite(Ss(1))) |
| 7376 | || (!isfinite(Ss(2))) || (!isfinite(Ss(3))) |
| 7377 | || (!isfinite(Ss(4))) |
| 7378 | ){ |
| 7379 | if (DEBUG_LEVEL>5) |
| 7380 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7380<<" " << "Invalid values for smoothed parameters..." << endl; |
| 7381 | return VALUE_OUT_OF_RANGE; |
| 7382 | } |
| 7383 | |
| 7384 | Cs=cdc_updates[cdc_index].C+A*(Cs-C)*A.Transpose(); |
| 7385 | |
| 7386 | FillPullsVectorEntry(Ss,Cs,forward_traj[m],my_cdchits[cdc_index], |
| 7387 | cdc_updates[cdc_index]); |
| 7388 | |
| 7389 | } |
| 7390 | else{ |
| 7391 | A=forward_traj[m].Ckk*JT*C.InvertSym(); |
| 7392 | Ss=forward_traj[m].Skk+A*(Ss-S); |
| 7393 | Cs=forward_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 7394 | } |
| 7395 | |
| 7396 | S=forward_traj[m].Skk; |
| 7397 | C=forward_traj[m].Ckk; |
| 7398 | JT=forward_traj[m].JT; |
| 7399 | } |
| 7400 | A=forward_traj[0].Ckk*JT*C.InvertSym(); |
| 7401 | Ss=forward_traj[0].Skk+A*(Ss-S); |
| 7402 | Cs=forward_traj[0].Ckk+A*(Cs-C)*A.Transpose(); |
| 7403 | |
| 7404 | return NOERROR; |
| 7405 | } |
| 7406 | |
| 7407 | // Fill the pulls vector with the best residual information using the smoothed |
| 7408 | // filter results. Uses Brent's algorithm to find the distance of closest |
| 7409 | // approach to the wire hit. |
| 7410 | void DTrackFitterKalmanSIMD::FillPullsVectorEntry(const DMatrix5x1 &Ss, |
| 7411 | const DMatrix5x5 &Cs, |
| 7412 | const DKalmanForwardTrajectory_t &traj,const DKalmanSIMDCDCHit_t *hit,const DKalmanUpdate_t &update){ |
| 7413 | |
| 7414 | // Get estimate for energy loss |
| 7415 | double dEdx=GetdEdx(Ss(state_q_over_p),traj.K_rho_Z_over_A,traj.rho_Z_over_A, |
| 7416 | traj.LnI); |
| 7417 | |
| 7418 | // Use Brent's algorithm to find the doca to the wire |
| 7419 | DMatrix5x1 myS=Ss; |
| 7420 | DMatrix5x5 myC=Cs; |
| 7421 | double mydz; |
| 7422 | double z=traj.z; |
| 7423 | DVector2 origin=hit->origin; |
| 7424 | DVector2 dir=hit->dir; |
| 7425 | double z0wire=hit->z0wire; |
| 7426 | BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0wire,origin,dir,myS,mydz); |
| 7427 | double new_z=z+mydz; |
| 7428 | DVector2 wirepos=origin+(new_z-z0wire)*dir; |
| 7429 | double cosstereo=hit->cosstereo; |
| 7430 | DVector2 xy(myS(state_x),myS(state_y)); |
| 7431 | |
| 7432 | DVector2 diff=xy-wirepos; |
| 7433 | double d=cosstereo*diff.Mod(); |
| 7434 | |
| 7435 | // Find the field and gradient at (old_x,old_y,old_z) and compute the |
| 7436 | // Jacobian matrix for transforming from S to myS |
| 7437 | bfield->GetFieldAndGradient(Ss(state_x),Ss(state_y),z, |
| 7438 | Bx,By,Bz,dBxdx,dBxdy,dBxdz,dBydx, |
| 7439 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 7440 | DMatrix5x5 Jc; |
| 7441 | StepJacobian(z,new_z,Ss,dEdx,Jc); |
| 7442 | |
| 7443 | // Find the projection matrix |
| 7444 | DMatrix5x1 H_T; |
| 7445 | double cosstereo2_over_d=cosstereo*cosstereo/d; |
| 7446 | H_T(state_x)=diff.X()*cosstereo2_over_d; |
| 7447 | H_T(state_y)=diff.Y()*cosstereo2_over_d; |
| 7448 | |
| 7449 | // Find the variance for this hit |
| 7450 | double V=update.variance; |
| 7451 | V+=myC.SandwichMultiply(Jc*H_T); |
| 7452 | |
| 7453 | pulls.push_back(pull_t(update.doca-d,sqrt(V),traj.s,update.tdrift,d,hit->hit, |
| 7454 | NULL__null,diff.Phi(),new_z,update.tcorr)); |
| 7455 | } |
| 7456 | |
| 7457 | /*---------------------------------------------------------------------------*/ |