File: | plugins/Analysis/dc_alignment/DEventProcessor_dc_alignment.cc |
Location: | line 835, column 10 |
Description: | Value stored to 'anneal_factor' during its initialization is never read |
1 | // $Id$ |
2 | // |
3 | // File: DEventProcessor_dc_alignment.cc |
4 | // Created: Thu Oct 18 17:15:41 EDT 2012 |
5 | // Creator: staylor (on Linux ifarm1102 2.6.18-274.3.1.el5 x86_64) |
6 | // |
7 | |
8 | #include "DEventProcessor_dc_alignment.h" |
9 | using namespace jana; |
10 | |
11 | #include <TROOT.h> |
12 | #include <TCanvas.h> |
13 | #include <TPolyLine.h> |
14 | |
15 | #define MAX_STEPS1000 1000 |
16 | |
17 | // Routine used to create our DEventProcessor |
18 | #include <JANA/JApplication.h> |
19 | extern "C"{ |
20 | void InitPlugin(JApplication *app){ |
21 | InitJANAPlugin(app); |
22 | app->AddProcessor(new DEventProcessor_dc_alignment()); |
23 | } |
24 | } // "C" |
25 | |
26 | |
27 | bool cdc_hit_cmp(const DCDCTrackHit *a,const DCDCTrackHit *b){ |
28 | |
29 | return(a->wire->origin.Y()>b->wire->origin.Y()); |
30 | } |
31 | |
32 | bool fdc_pseudo_cmp(const DFDCPseudo *a,const DFDCPseudo *b){ |
33 | return (a->wire->origin.z()<b->wire->origin.z()); |
34 | } |
35 | |
36 | |
37 | bool bcal_cmp(const bcal_match_t &a,const bcal_match_t &b){ |
38 | return (a.match->y>b.match->y); |
39 | } |
40 | |
41 | // Locate a position in vector xx given x |
42 | unsigned int DEventProcessor_dc_alignment::locate(vector<double>&xx,double x){ |
43 | int n=xx.size(); |
44 | if (x==xx[0]) return 0; |
45 | else if (x==xx[n-1]) return n-2; |
46 | |
47 | int jl=-1; |
48 | int ju=n; |
49 | int ascnd=(xx[n-1]>=xx[0]); |
50 | while(ju-jl>1){ |
51 | int jm=(ju+jl)>>1; |
52 | if ( (x>=xx[jm])==ascnd) |
53 | jl=jm; |
54 | else |
55 | ju=jm; |
56 | } |
57 | return jl; |
58 | } |
59 | |
60 | |
61 | // Convert time to distance for the cdc |
62 | double DEventProcessor_dc_alignment::cdc_drift_distance(double dphi, |
63 | double delta,double t){ |
64 | double d=0.; |
65 | if (t>0){ |
66 | double f_0=0.; |
67 | double f_delta=0.; |
68 | |
69 | if (dphi*delta>0){ |
70 | double a1=long_drift_func[0][0]; |
71 | double a2=long_drift_func[0][1]; |
72 | double b1=long_drift_func[1][0]; |
73 | double b2=long_drift_func[1][1]; |
74 | double c1=long_drift_func[2][0]; |
75 | double c2=long_drift_func[2][1]; |
76 | double c3=long_drift_func[2][2]; |
77 | |
78 | // use "long side" functional form |
79 | double my_t=0.001*t; |
80 | double sqrt_t=sqrt(my_t); |
81 | double t3=my_t*my_t*my_t; |
82 | double delta_mag=fabs(delta); |
83 | f_delta=(a1+a2*delta_mag)*sqrt_t+(b1+b2*delta_mag)*my_t |
84 | +(c1+c2*delta_mag+c3*delta*delta)*t3; |
85 | f_0=a1*sqrt_t+b1*my_t+c1*t3; |
86 | } |
87 | else{ |
88 | double my_t=0.001*t; |
89 | double sqrt_t=sqrt(my_t); |
90 | double delta_mag=fabs(delta); |
91 | |
92 | // use "short side" functional form |
93 | double a1=short_drift_func[0][0]; |
94 | double a2=short_drift_func[0][1]; |
95 | double a3=short_drift_func[0][2]; |
96 | double b1=short_drift_func[1][0]; |
97 | double b2=short_drift_func[1][1]; |
98 | double b3=short_drift_func[1][2]; |
99 | |
100 | double delta_sq=delta*delta; |
101 | f_delta= (a1+a2*delta_mag+a3*delta_sq)*sqrt_t |
102 | +(b1+b2*delta_mag+b3*delta_sq)*my_t; |
103 | f_0=a1*sqrt_t+b1*my_t; |
104 | } |
105 | |
106 | unsigned int max_index=cdc_drift_table.size()-1; |
107 | if (t>cdc_drift_table[max_index]){ |
108 | //_DBG_ << "t: " << t <<" d " << f_delta <<endl; |
109 | d=f_delta; |
110 | |
111 | return d; |
112 | } |
113 | |
114 | // Drift time is within range of table -- interpolate... |
115 | unsigned int index=0; |
116 | index=locate(cdc_drift_table,t); |
117 | double dt=cdc_drift_table[index+1]-cdc_drift_table[index]; |
118 | double frac=(t-cdc_drift_table[index])/dt; |
119 | double d_0=0.01*(double(index)+frac); |
120 | |
121 | double P=0.; |
122 | double tcut=250.0; // ns |
123 | if (t<tcut) { |
124 | P=(tcut-t)/tcut; |
125 | } |
126 | d=f_delta*(d_0/f_0*P+1.-P); |
127 | } |
128 | return d; |
129 | } |
130 | |
131 | |
132 | // Interpolate on a table to convert time to distance for the fdc |
133 | double DEventProcessor_dc_alignment::fdc_drift_distance(double t){ |
134 | double d=0.; |
135 | if (t>fdc_drift_table[fdc_drift_table.size()-1]) return 0.5; |
136 | if (t>0){ |
137 | unsigned int index=0; |
138 | index=locate(fdc_drift_table,t); |
139 | double dt=fdc_drift_table[index+1]-fdc_drift_table[index]; |
140 | double frac=(t-fdc_drift_table[index])/dt; |
141 | d=0.01*(double(index)+frac); |
142 | } |
143 | return d; |
144 | } |
145 | |
146 | |
147 | |
148 | //------------------ |
149 | // DEventProcessor_dc_alignment (Constructor) |
150 | //------------------ |
151 | DEventProcessor_dc_alignment::DEventProcessor_dc_alignment() |
152 | { |
153 | fdc_ptr = &fdc; |
154 | fdc_c_ptr= &fdc_c; |
155 | cdc_ptr = &cdc; |
156 | |
157 | pthread_mutex_init(&mutex, NULL__null); |
158 | |
159 | } |
160 | |
161 | //------------------ |
162 | // ~DEventProcessor_dc_alignment (Destructor) |
163 | //------------------ |
164 | DEventProcessor_dc_alignment::~DEventProcessor_dc_alignment() |
165 | { |
166 | |
167 | } |
168 | |
169 | //------------------ |
170 | // init |
171 | //------------------ |
172 | jerror_t DEventProcessor_dc_alignment::init(void) |
173 | { |
174 | myevt=0; |
175 | one_over_zrange=1./150.; |
176 | |
177 | printf("Initializing..........\n"); |
178 | |
179 | RUN_BENCHMARK=false; |
180 | gPARMS->SetDefaultParameter("DCALIGN:RUN_BENCHMARK",RUN_BENCHMARK); |
181 | USE_BCAL=false; |
182 | gPARMS->SetDefaultParameter("DCALIGN:USE_BCAL", USE_BCAL); |
183 | USE_FCAL=false; |
184 | gPARMS->SetDefaultParameter("DCALIGN:USE_FCAL", USE_FCAL); |
185 | COSMICS=false; |
186 | gPARMS->SetDefaultParameter("DCALIGN:COSMICS", COSMICS); |
187 | USE_DRIFT_TIMES=false; |
188 | gPARMS->SetDefaultParameter("DCALIGN:USE_DRIFT_TIMES",USE_DRIFT_TIMES); |
189 | READ_CDC_FILE=false; |
190 | gPARMS->SetDefaultParameter("DCALIGN:READ_CDC_FILE",READ_CDC_FILE); |
191 | READ_ANODE_FILE=false; |
192 | gPARMS->SetDefaultParameter("DCALIGN:READ_ANODE_FILE",READ_ANODE_FILE); |
193 | READ_CATHODE_FILE=false; |
194 | gPARMS->SetDefaultParameter("DCALIGN:READ_CATHODE_FILE",READ_CATHODE_FILE); |
195 | ALIGN_WIRE_PLANES=true; |
196 | gPARMS->SetDefaultParameter("DCALIGN:ALIGN_WIRE_PLANES",ALIGN_WIRE_PLANES); |
197 | FILL_TREE=false; |
198 | gPARMS->SetDefaultParameter("DCALIGN:FILL_TREE",FILL_TREE); |
199 | MIN_PSEUDOS=12; |
200 | gPARMS->SetDefaultParameter("DCALIGN:MIN_PSEUDOS",MIN_PSEUDOS); |
201 | MIN_INTERSECTIONS=10; |
202 | gPARMS->SetDefaultParameter("DCALIGN:MIN_INTERSECTIONS",MIN_INTERSECTIONS); |
203 | |
204 | fdc_alignments.resize(24); |
205 | for (unsigned int i=0;i<24;i++){ |
206 | fdc_alignments[i].A=DMatrix2x1(); |
207 | if (RUN_BENCHMARK==false){ |
208 | fdc_alignments[i].E=DMatrix2x2(0.000001,0.,0.,0.0001); |
209 | } |
210 | else{ |
211 | fdc_alignments[i].E=DMatrix2x2(); |
212 | } |
213 | } |
214 | fdc_cathode_alignments.resize(24); |
215 | for (unsigned int i=0;i<24;i++){ |
216 | double var=0.0001; |
217 | double var_phi=0.000001; |
218 | if (RUN_BENCHMARK==false){ |
219 | fdc_cathode_alignments[i].E=DMatrix4x4(var_phi,0.,0.,0., 0.,var,0.,0., |
220 | 0.,0.,var_phi,0., 0.,0.,0.,var); |
221 | } |
222 | else{ |
223 | fdc_cathode_alignments[i].E=DMatrix4x4(); |
224 | } |
225 | fdc_cathode_alignments[i].A=DMatrix4x1(); |
226 | } |
227 | |
228 | if (READ_ANODE_FILE){ |
229 | ifstream fdcfile("fdc_alignment.dat"); |
230 | // Skip first line, used to identify columns in file |
231 | //char sdummy[40]; |
232 | // fdcfile.getline(sdummy,40); |
233 | // loop over remaining entries |
234 | for (unsigned int i=0;i<24;i++){ |
235 | double du,dphi,dz; |
236 | |
237 | fdcfile >> dphi; |
238 | fdcfile >> du; |
239 | fdcfile >> dz; |
240 | |
241 | fdc_alignments[i].A(kU)=du; |
242 | fdc_alignments[i].A(kPhiU)=dphi; |
243 | } |
244 | fdcfile.close(); |
245 | } |
246 | |
247 | if (READ_CATHODE_FILE){ |
248 | ifstream fdcfile("fdc_cathode_alignment.dat"); |
249 | // Skip first line, used to identify columns in file |
250 | //char sdummy[40]; |
251 | // fdcfile.getline(sdummy,40); |
252 | // loop over remaining entries |
253 | for (unsigned int i=0;i<24;i++){ |
254 | double du,dphiu,dv,dphiv; |
255 | |
256 | fdcfile >> dphiu; |
257 | fdcfile >> du; |
258 | fdcfile >> dphiv; |
259 | fdcfile >> dv; |
260 | |
261 | fdc_cathode_alignments[i].A(kU)=du; |
262 | fdc_cathode_alignments[i].A(kPhiU)=dphiu; |
263 | fdc_cathode_alignments[i].A(kV)=dv; |
264 | fdc_cathode_alignments[i].A(kPhiV)=dphiv; |
265 | |
266 | } |
267 | fdcfile.close(); |
268 | } |
269 | |
270 | fdc_drift_parms(0)=0.; |
271 | fdc_drift_parms(1)=0.; |
272 | fdc_drift_parms(2)=0.03; |
273 | |
274 | unsigned int numstraws[28]={42,42,54,54,66,66,80,80,93,93,106,106,123,123, |
275 | 135,135,146,146,158,158,170,170,182,182,197,197, |
276 | 209,209}; |
277 | for (unsigned int i=0;i<28;i++){ |
278 | vector<cdc_align_t>tempvec; |
279 | for (unsigned int j=0;j<numstraws[i];j++){ |
280 | cdc_align_t temp; |
281 | temp.A=DMatrix4x1(0.,0.,0.,0.); |
282 | double var=0.01; |
283 | if (RUN_BENCHMARK==false){ |
284 | temp.E=DMatrix4x4(var,0.,0.,0., 0.,var,0.,0., 0.,0.,var,0., 0.,0.,0.,var); |
285 | } |
286 | else { |
287 | temp.E=DMatrix4x4(); |
288 | } |
289 | tempvec.push_back(temp); |
290 | } |
291 | cdc_alignments.push_back(tempvec); |
292 | } |
293 | |
294 | if (READ_CDC_FILE){ |
295 | ifstream cdcfile("cdc_alignment.dat"); |
296 | for (unsigned int ring=0;ring<cdc_alignments.size();ring++){ |
297 | for (unsigned int straw=0;straw<cdc_alignments[ring].size(); |
298 | straw++){ |
299 | double dxu,dyu,dxd,dyd; |
300 | |
301 | cdcfile >> dxu; |
302 | cdcfile >> dyu; |
303 | cdcfile >> dxd; |
304 | cdcfile >> dyd; |
305 | |
306 | cdc_alignments[ring][straw].A(k_dXu)=dxu; |
307 | cdc_alignments[ring][straw].A(k_dYu)=dyu; |
308 | cdc_alignments[ring][straw].A(k_dXd)=dxd; |
309 | cdc_alignments[ring][straw].A(k_dYd)=dyd; |
310 | |
311 | double var=0.0001; |
312 | cdc_alignments[ring][straw].E=DMatrix4x4(var,0.,0.,0., 0.,var,0.,0., 0.,0.,var,0., 0.,0.,0.,var); |
313 | } |
314 | } |
315 | cdcfile.close(); |
316 | } |
317 | |
318 | |
319 | |
320 | if (FILL_TREE){ |
321 | // Create Tree |
322 | fdctree = new TTree("fdc","FDC alignments"); |
323 | fdcbranch = fdctree->Branch("T","FDC_branch",&fdc_ptr); |
324 | |
325 | // Create Tree |
326 | fdcCtree = new TTree("fdc_c","FDC alignments"); |
327 | fdcCbranch = fdcCtree->Branch("T","FDC_c_branch",&fdc_c_ptr); |
328 | |
329 | // Create Tree |
330 | cdctree = new TTree("cdc","CDC alignments"); |
331 | cdcbranch = cdctree->Branch("T","CDC_branch",&cdc_ptr); |
332 | } |
333 | |
334 | return NOERROR; |
335 | } |
336 | |
337 | //------------------ |
338 | // brun |
339 | //------------------ |
340 | jerror_t DEventProcessor_dc_alignment::brun(JEventLoop *loop, int32_t runnumber) |
341 | { |
342 | DApplication* dapp=dynamic_cast<DApplication*>(loop->GetJApplication()); |
343 | dgeom = dapp->GetDGeometry(runnumber); |
344 | //dgeom->GetFDCWires(fdcwires); |
345 | |
346 | // Get the position of the CDC downstream endplate from DGeometry |
347 | double endplate_dz,endplate_rmin,endplate_rmax; |
348 | dgeom->GetCDCEndplate(endplate_z,endplate_dz,endplate_rmin,endplate_rmax); |
349 | endplate_z+=0.5*endplate_dz; |
350 | |
351 | |
352 | JCalibration *jcalib = dapp->GetJCalibration((loop->GetJEvent()).GetRunNumber()); |
353 | vector< map<string, double> > tvals; |
354 | cdc_drift_table.clear(); |
355 | if (jcalib->Get("CDC/cdc_drift_table::NoBField", tvals)==false){ |
356 | for(unsigned int i=0; i<tvals.size(); i++){ |
357 | map<string, double> &row = tvals[i]; |
358 | cdc_drift_table.push_back(1000.*row["t"]); |
359 | } |
360 | } |
361 | else{ |
362 | jerr << " CDC time-to-distance table not available... bailing..." << endl; |
363 | exit(0); |
364 | } |
365 | |
366 | unsigned int numstraws[28]={42,42,54,54,66,66,80,80,93,93,106,106,123,123, |
367 | 135,135,146,146,158,158,170,170,182,182,197,197, |
368 | 209,209}; |
369 | |
370 | map<string, double> cdc_res_parms; |
371 | jcalib->Get("CDC/cdc_resolution_parms", cdc_res_parms); |
372 | CDC_RES_PAR1 = cdc_res_parms["res_par1"]; |
373 | CDC_RES_PAR2 = cdc_res_parms["res_par2"]; |
374 | |
375 | fdc_drift_table.clear(); |
376 | if (jcalib->Get("FDC/fdc_drift_table", tvals)==false){ |
377 | for(unsigned int i=0; i<tvals.size(); i++){ |
378 | map<string, double> &row = tvals[i]; |
379 | fdc_drift_table.push_back(1000.*row["t"]); |
380 | } |
381 | } |
382 | else{ |
383 | jerr << " FDC time-to-distance table not available... bailing..." << endl; |
384 | exit(0); |
385 | } |
386 | |
387 | // Get offsets tweaking nominal geometry from calibration database |
388 | vector<map<string,double> >vals; |
389 | vector<cdc_offset_t>tempvec; |
390 | |
391 | if (jcalib->Get("CDC/wire_alignment",vals)==false){ |
392 | unsigned int straw_count=0,ring_count=0; |
393 | for(unsigned int i=0; i<vals.size(); i++){ |
394 | map<string,double> &row = vals[i]; |
395 | |
396 | // put the vector of offsets for the current ring into the offsets vector |
397 | if (straw_count==numstraws[ring_count]){ |
398 | straw_count=0; |
399 | ring_count++; |
400 | |
401 | cdc_offsets.push_back(tempvec); |
402 | |
403 | tempvec.clear(); |
404 | } |
405 | |
406 | // Get the offsets from the calibration database |
407 | cdc_offset_t temp; |
408 | temp.dx_u=row["dxu"]; |
409 | //temp.dx_u=0.; |
410 | |
411 | temp.dy_u=row["dyu"]; |
412 | //temp.dy_u=0.; |
413 | |
414 | temp.dx_d=row["dxd"]; |
415 | //temp.dx_d=0.; |
416 | |
417 | temp.dy_d=row["dyd"]; |
418 | //temp.dy_d=0.; |
419 | |
420 | tempvec.push_back(temp); |
421 | |
422 | straw_count++; |
423 | } |
424 | cdc_offsets.push_back(tempvec); |
425 | } |
426 | else{ |
427 | jerr<< "CDC wire alignment table not available... bailing... " <<endl; |
428 | exit(0); |
429 | } |
430 | |
431 | // Get the straw sag parameters from the database |
432 | max_sag.clear(); |
433 | sag_phi_offset.clear(); |
434 | unsigned int straw_count=0,ring_count=0; |
435 | if (jcalib->Get("CDC/sag_parameters", tvals)==false){ |
436 | vector<double>temp,temp2; |
437 | for(unsigned int i=0; i<tvals.size(); i++){ |
438 | map<string, double> &row = tvals[i]; |
439 | |
440 | temp.push_back(row["offset"]); |
441 | temp2.push_back(row["phi"]); |
442 | |
443 | straw_count++; |
444 | if (straw_count==numstraws[ring_count]){ |
445 | max_sag.push_back(temp); |
446 | sag_phi_offset.push_back(temp2); |
447 | temp.clear(); |
448 | temp2.clear(); |
449 | straw_count=0; |
450 | ring_count++; |
451 | } |
452 | } |
453 | } |
454 | |
455 | if (jcalib->Get("CDC/drift_parameters::NoBField", tvals)==false){ |
456 | map<string, double> &row = tvals[0]; //long drift side |
457 | long_drift_func[0][0]=row["a1"]; |
458 | long_drift_func[0][1]=row["a2"]; |
459 | long_drift_func[0][2]=row["a3"]; |
460 | long_drift_func[1][0]=row["b1"]; |
461 | long_drift_func[1][1]=row["b2"]; |
462 | long_drift_func[1][2]=row["b3"]; |
463 | long_drift_func[2][0]=row["c1"]; |
464 | long_drift_func[2][1]=row["c2"]; |
465 | long_drift_func[2][2]=row["c3"]; |
466 | |
467 | row = tvals[1]; // short drift side |
468 | short_drift_func[0][0]=row["a1"]; |
469 | short_drift_func[0][1]=row["a2"]; |
470 | short_drift_func[0][2]=row["a3"]; |
471 | short_drift_func[1][0]=row["b1"]; |
472 | short_drift_func[1][1]=row["b2"]; |
473 | short_drift_func[1][2]=row["b3"]; |
474 | short_drift_func[2][0]=row["c1"]; |
475 | short_drift_func[2][1]=row["c2"]; |
476 | short_drift_func[2][2]=row["c3"]; |
477 | } |
478 | |
479 | japp->RootWriteLock(); //ACQUIRE ROOT LOCK |
480 | |
481 | for (int i=0;i<28;i++){ |
482 | char title[40]; |
483 | sprintf(title,"cdc_residual_ring%d",i+1); |
484 | Hcdc_ring_res[i]=(TH2F*)gROOT->FindObject(title); |
485 | if (!Hcdc_ring_res[i]){ |
486 | Hcdc_ring_res[i]=new TH2F(title,title,numstraws[i],0.5,numstraws[i]+0.5, |
487 | 100,-1,1); |
488 | } |
489 | } |
490 | for (int i=0;i<28;i++){ |
491 | char title[40]; |
492 | sprintf(title,"cdc_drift_time_ring%d",i+1); |
493 | Hcdc_ring_time[i]=(TH2F*)gROOT->FindObject(title); |
494 | if (!Hcdc_ring_time[i]){ |
495 | Hcdc_ring_time[i]=new TH2F(title,title,numstraws[i],0.5,numstraws[i]+0.5, |
496 | 900,-100,800); |
497 | } |
498 | } |
499 | |
500 | Hprob = (TH1F*)gROOT->FindObject("Hprob"); |
501 | if (!Hprob){ |
502 | Hprob=new TH1F("Hprob","Confidence level for final fit",100,0.0,1.); |
503 | } |
504 | Hpseudo_prob = (TH1F*)gROOT->FindObject("Hpseudo_prob"); |
505 | if (!Hpseudo_prob){ |
506 | Hpseudo_prob=new TH1F("Hpseudo_prob","Confidence level for final fit",100,0.0,1.); |
507 | } |
508 | |
509 | Hcdc_prob = (TH1F*)gROOT->FindObject("Hcdc_prob"); |
510 | if (!Hcdc_prob){ |
511 | Hcdc_prob=new TH1F("Hcdc_prob","Confidence level for time-based fit",100,0.0,1.); |
512 | } |
513 | Hcdc_prelimprob = (TH1F*)gROOT->FindObject("Hcdc_prelimprob"); |
514 | if (!Hcdc_prelimprob){ |
515 | Hcdc_prelimprob=new TH1F("Hcdc_prelimprob","Confidence level for prelimary fit",100,0.0,1.); |
516 | } |
517 | Hintersection_match = (TH1F*)gROOT->FindObject("Hintersection_match"); |
518 | if (!Hintersection_match){ |
519 | Hintersection_match=new TH1F("Hintersection_match","Intersection matching distance",100,0.0,25.); |
520 | } |
521 | Hintersection_link_match = (TH1F*)gROOT->FindObject("Hintersection_link_match"); |
522 | if (!Hintersection_link_match){ |
523 | Hintersection_link_match=new TH1F("Hintersection_link_match","Segment matching distance",100,0.0,25.); |
524 | } |
525 | |
526 | Hcdcmatch = (TH1F*)gROOT->FindObject("Hcdcmatch"); |
527 | if (!Hcdcmatch){ |
528 | Hcdcmatch=new TH1F("Hcdcmatch","CDC hit matching distance",1000,0.0,50.); |
529 | } |
530 | Hcdcmatch_stereo = (TH1F*)gROOT->FindObject("Hcdcmatch_stereo"); |
531 | if (!Hcdcmatch_stereo){ |
532 | Hcdcmatch_stereo=new TH1F("Hcdcmatch_stereo","CDC stereo hit matching distance",1000,0.0,50.); |
533 | } |
534 | |
535 | Hmatch = (TH1F*)gROOT->FindObject("Hmatch"); |
536 | if (!Hmatch){ |
537 | Hmatch=new TH1F("Hmatch","Segment matching distance",100,0.0,25.); |
538 | } |
539 | Hlink_match = (TH1F*)gROOT->FindObject("Hlink_match"); |
540 | if (!Hlink_match){ |
541 | Hlink_match=new TH1F("link_match","Segment matching distance",100,0.0,25.); |
542 | } |
543 | |
544 | |
545 | Hbeta = (TH1F*)gROOT->FindObject("Hbeta"); |
546 | if (!Hbeta){ |
547 | Hbeta=new TH1F("Hbeta","Estimate for #beta",100,0.0,1.5); |
548 | Hbeta->SetXTitle("#beta"); |
549 | } |
550 | |
551 | Hztarg = (TH1F*)gROOT->FindObject("Hztarg"); |
552 | if (!Hztarg){ |
553 | Hztarg=new TH1F("Hztarg","Estimate for target z",1200,-300.0,300.0); |
554 | } |
555 | Hures_vs_layer=(TH2F*)gROOT->FindObject("Hures_vs_layer"); |
556 | if (!Hures_vs_layer){ |
557 | Hures_vs_layer=new TH2F("Hures_vs_layer","Cathode u-view residuals", |
558 | 24,0.5,24.5,200,-0.5,0.5); |
559 | } |
560 | Hres_vs_layer=(TH2F*)gROOT->FindObject("Hres_vs_layer"); |
561 | if (!Hres_vs_layer){ |
562 | Hres_vs_layer=new TH2F("Hres_vs_layer","wire-based residuals", |
563 | 24,0.5,24.5,200,-0.5,0.5); |
564 | } |
565 | Hvres_vs_layer=(TH2F*)gROOT->FindObject("Hvres_vs_layer"); |
566 | if (!Hvres_vs_layer){ |
567 | Hvres_vs_layer=new TH2F("Hvres_vs_layer","Cathode v-view residuals", |
568 | 24,0.5,24.5,200,-0.5,0.5); |
569 | } |
570 | Hcdc_time_vs_d=(TH2F*)gROOT->FindObject("Hcdc_time_vs_d"); |
571 | if (!Hcdc_time_vs_d){ |
572 | Hcdc_time_vs_d=new TH2F("Hcdc_time_vs_d", |
573 | "cdc drift time vs doca",120,0,1.2,600,-20,1180); |
574 | } |
575 | Hcdcdrift_time=(TH2F*)gROOT->FindObject("Hcdcdrift_time"); |
576 | if (!Hcdcdrift_time){ |
577 | Hcdcdrift_time=new TH2F("Hcdcdrift_time", |
578 | "cdc doca vs drift time",1201,-21,1181,100,0,1); |
579 | } |
580 | Hcdcres_vs_drift_time=(TH2F*)gROOT->FindObject("Hcdcres_vs_drift_time"); |
581 | if (!Hcdcres_vs_drift_time){ |
582 | Hcdcres_vs_drift_time=new TH2F("Hcdcres_vs_drift_time","cdc Residual vs drift time",600,-20,1180,500,-1.,1.); |
583 | } |
584 | Hcdcres_vs_d=(TH2F*)gROOT->FindObject("Hcdcres_vs_d"); |
585 | if (!Hcdcres_vs_d){ |
586 | Hcdcres_vs_d=new TH2F("Hcdcres_vs_d","cdc Residual vs distance to wire",600,0,1.2,500,-1.,1.); |
587 | } |
588 | |
589 | Hdrift_time=(TH2F*)gROOT->FindObject("Hdrift_time"); |
590 | if (!Hdrift_time){ |
591 | Hdrift_time=new TH2F("Hdrift_time", |
592 | "doca vs drift time",201,-21,381,100,0,1); |
593 | } |
594 | Hres_vs_drift_time=(TH2F*)gROOT->FindObject("Hres_vs_drift_time"); |
595 | if (!Hres_vs_drift_time){ |
596 | Hres_vs_drift_time=new TH2F("Hres_vs_drift_time","Residual vs drift time",320,-20,300,1000,-1,1); |
597 | } |
598 | Hdv_vs_dE=(TH2F*)gROOT->FindObject("Hdv_vs_dE"); |
599 | if (!Hdv_vs_dE){ |
600 | Hdv_vs_dE=new TH2F("Hdv_vs_dE","dv vs energy dep",100,0,20e-6,200,-1,1); |
601 | } |
602 | |
603 | Hbcalmatch=(TH2F*)gROOT->FindObject("Hbcalmatch"); |
604 | if (!Hbcalmatch){ |
605 | Hbcalmatch=new TH2F("Hbcalmatch","BCAL #deltar vs #deltaz",100,-50.,50., |
606 | 100,0.,10.); |
607 | } |
608 | Hbcalmatchxy=(TH2F*)gROOT->FindObject("Hbcalmatchxy"); |
609 | if (!Hbcalmatchxy){ |
610 | Hbcalmatchxy=new TH2F("Hbcalmatchxy","BCAL #deltay vs #deltax",400,-50.,50., |
611 | 400,-50.,50.); |
612 | } |
613 | Hfcalmatch=(TH1F*)gROOT->FindObject("Hfcalmatch"); |
614 | if (!Hfcalmatch){ |
615 | Hfcalmatch=new TH1F("Hfcalmatch","FCAL #deltar",400,0.,50.); |
616 | } |
617 | |
618 | |
619 | |
620 | japp->RootUnLock(); //RELEASE ROOT LOCK |
621 | |
622 | // Get pointer to TrackFinder object |
623 | vector<const DTrackFinder *> finders; |
624 | loop->Get(finders); |
625 | |
626 | if(finders.size()<1){ |
627 | _DBG_std::cerr<<"plugins/Analysis/dc_alignment/DEventProcessor_dc_alignment.cc" <<":"<<627<<" "<<"Unable to get a DTrackFinder object!"<<endl; |
628 | return RESOURCE_UNAVAILABLE; |
629 | } |
630 | |
631 | // Drop the const qualifier from the DTrackFinder pointer |
632 | finder = const_cast<DTrackFinder*>(finders[0]); |
633 | |
634 | return NOERROR; |
635 | } |
636 | |
637 | //------------------ |
638 | // erun |
639 | //------------------ |
640 | jerror_t DEventProcessor_dc_alignment::erun(void) |
641 | { |
642 | |
643 | |
644 | return NOERROR; |
645 | } |
646 | |
647 | //------------------ |
648 | // fini |
649 | //------------------ |
650 | jerror_t DEventProcessor_dc_alignment::fini(void) |
651 | { |
652 | |
653 | printf("Events processed = %d\n",myevt); |
654 | |
655 | if (RUN_BENCHMARK==false){ |
656 | |
657 | for (unsigned int ring=0;ring<cdc_alignments.size();ring++){ |
658 | for (unsigned int straw=0;straw<cdc_alignments[ring].size(); |
659 | straw++){ |
660 | if (fabs(cdc_alignments[ring][straw].A(k_dXu))>0.19) |
661 | cout << cdc_alignments[ring][straw].A(k_dXu) << " " |
662 | << sqrt(cdc_alignments[ring][straw].E(k_dXu,k_dXu)) << endl; |
663 | } |
664 | } |
665 | |
666 | ofstream cdcfile("cdc_alignment.dat"); |
667 | //cdcfile << "Ring straw dXu dYu dXd dYd" << endl; |
668 | for (unsigned int ring=0;ring<cdc_alignments.size();ring++){ |
669 | for (unsigned int straw=0;straw<cdc_alignments[ring].size(); |
670 | straw++){ |
671 | // cdcfile << ring+1 << " " << straw+1 << " " |
672 | cdcfile << cdc_alignments[ring][straw].A(k_dXu) << " " |
673 | << cdc_alignments[ring][straw].A(k_dYu) << " " |
674 | << cdc_alignments[ring][straw].A(k_dXd) << " " |
675 | << cdc_alignments[ring][straw].A(k_dYd) << endl; |
676 | } |
677 | } |
678 | cdcfile.close(); |
679 | |
680 | ofstream cdcfile2("cdc_alignment_update.dat"); |
681 | //cdcfile << "Ring straw dXu dYu dXd dYd" << endl; |
682 | for (unsigned int ring=0;ring<cdc_alignments.size();ring++){ |
683 | for (unsigned int straw=0;straw<cdc_alignments[ring].size(); |
684 | straw++){ |
685 | // cdcfile << ring+1 << " " << straw+1 << " " |
686 | cdcfile2 << (cdc_alignments[ring][straw].A(k_dXu)+cdc_offsets[ring][straw].dx_u) << " " |
687 | << (cdc_alignments[ring][straw].A(k_dYu)+cdc_offsets[ring][straw].dy_u) << " " |
688 | << (cdc_alignments[ring][straw].A(k_dXd)+cdc_offsets[ring][straw].dx_d) << " " |
689 | << (cdc_alignments[ring][straw].A(k_dYd)+cdc_offsets[ring][straw].dy_d) << endl; |
690 | } |
691 | } |
692 | cdcfile2.close(); |
693 | |
694 | |
695 | |
696 | |
697 | if (ALIGN_WIRE_PLANES){ |
698 | ofstream fdcfile("fdc_alignment.dat"); |
699 | //fdcfile << "dPhi dU sig(dU)" <<endl; |
700 | for (unsigned int layer=0;layer<24;layer++){ |
701 | double du=fdc_alignments[layer].A(kU); |
702 | double dphi=fdc_alignments[layer].A(kPhiU); |
703 | |
704 | fdcfile << dphi <<" " <<" " << du << " " << "0." << endl; |
705 | } |
706 | fdcfile.close(); |
707 | } |
708 | else{ |
709 | ofstream fdcfile("fdc_cathode_alignment.dat"); |
710 | for (unsigned int layer=0;layer<24;layer++){ |
711 | fdcfile << fdc_cathode_alignments[layer].A(kPhiU) |
712 | << " " << fdc_cathode_alignments[layer].A(kU) |
713 | << " " << fdc_cathode_alignments[layer].A(kPhiV) |
714 | << " " << fdc_cathode_alignments[layer].A(kV) << endl; |
715 | } |
716 | fdcfile.close(); |
717 | } |
718 | } |
719 | |
720 | return NOERROR; |
721 | } |
722 | |
723 | //------------------ |
724 | // evnt |
725 | //------------------ |
726 | jerror_t DEventProcessor_dc_alignment::evnt(JEventLoop *loop, uint64_t eventnumber){ |
727 | myevt++; |
728 | |
729 | // Reset the track finder |
730 | finder->Reset(); |
731 | |
732 | // Get BCAL showers, FCAL showers and FDC space points |
733 | vector<const DFCALShower*>fcalshowers; |
734 | if (USE_FCAL) loop->Get(fcalshowers); |
735 | vector<const DBCALShower*>bcalshowers; |
736 | if (USE_BCAL)loop->Get(bcalshowers); |
737 | |
738 | vector<const DFDCPseudo*>pseudos; |
739 | loop->Get(pseudos); |
740 | vector<const DCDCTrackHit*>cdcs; |
741 | //if (COSMICS) |
742 | loop->Get(cdcs); |
743 | |
744 | if (cdcs.size()>20 /* && cdcs.size()<60*/){ |
745 | // Add the hits to the finder helper class, link axial hits into segments |
746 | // then link axial hits and stereo hits together to form track candidates |
747 | for (size_t i=0;i<cdcs.size();i++) finder->AddHit(cdcs[i]); |
748 | finder->FindAxialSegments(); |
749 | finder->LinkCDCSegments(); |
750 | |
751 | // Get the list of linked segments and fit the hits to lines |
752 | const vector<DTrackFinder::cdc_track_t>tracks=finder->GetCDCTracks(); |
753 | for (unsigned int i=0;i<tracks.size();i++){ |
754 | // Add lists of stereo and axial hits associated with this track |
755 | // and sort |
756 | vector<const DCDCTrackHit *>hits=tracks[i].axial_hits; |
757 | hits.insert(hits.end(),tracks[i].stereo_hits.begin(),tracks[i].stereo_hits.end()); |
758 | sort(hits.begin(),hits.end(),cdc_hit_cmp); |
759 | |
760 | // Use earliest cdc time to estimate t0 |
761 | double t0=1e6; |
762 | for (unsigned int j=0;j<hits.size();j++){ |
763 | double L=(hits[0]->wire->origin-hits[j]->wire->origin).Perp(); |
764 | double t_test=hits[j]->tdrift-L/29.98; |
765 | if (t_test<t0) t0=t_test; |
766 | } |
767 | |
768 | // Initial guess for state vector |
769 | DMatrix4x1 S(tracks[i].S); |
770 | |
771 | // Run the Kalman Filter algorithm |
772 | DoFilter(t0,tracks[i].z,S,hits); |
773 | } |
774 | } |
775 | |
776 | //------------------------------------------------------------------------- |
777 | // FDC alignment |
778 | //------------------------------------------------------------------------- |
779 | if (pseudos.size()>MIN_PSEUDOS |
780 | //&&((fcalshowers.size()>0&&fcalshowers.size()<3) |
781 | // || (bcalshowers.size()>0&&bcalshowers.size()<3)) |
782 | ){ |
783 | // Add hits to the track finder helper class, link hits into segments |
784 | // then link segments together to form track candidates |
785 | for (size_t i=0;i<pseudos.size();i++) finder->AddHit(pseudos[i]); |
786 | finder->FindFDCSegments(); |
787 | finder->LinkFDCSegments(); |
788 | |
789 | // Get the list of linked segments |
790 | const vector<DTrackFinder::fdc_segment_t>tracks=finder->GetFDCTracks(); |
791 | |
792 | // Loop over linked segments |
793 | for (unsigned int k=0;k<tracks.size();k++){ |
794 | vector<const DFDCPseudo *>hits=tracks[k].hits; |
795 | |
796 | if (hits.size()>MIN_PSEUDOS){ |
797 | sort(hits.begin(),hits.end(),fdc_pseudo_cmp); |
798 | |
799 | // Initial guess for state vector |
800 | DMatrix4x1 S(tracks[k].S); |
801 | |
802 | // Move x and y to just before the first hit |
803 | double my_z=hits[0]->wire->origin.z()-1.; |
804 | S(state_x)+=my_z*S(state_tx); |
805 | S(state_y)+=my_z*S(state_ty); |
806 | |
807 | // Use earliest fdc time to estimate t0 |
808 | double t0=1e6; |
809 | double dsdz=sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
810 | for (unsigned int m=0;m<hits.size();m++){ |
811 | if (hits[m]->time<t0){ |
812 | double L=(hits[m]->wire->origin.z()-my_z)*dsdz; |
813 | t0=hits[m]->time-L/29.98; // assume moving at speed of light |
814 | } |
815 | } |
816 | |
817 | // Run the Kalman Filter algorithm |
818 | if (ALIGN_WIRE_PLANES) DoFilterAnodePlanes(t0,my_z,S,hits); |
819 | else DoFilterCathodePlanes(t0,my_z,S,hits); |
820 | } |
821 | } //loop over tracks |
822 | } // minimimum number of pseudopoints? |
823 | |
824 | return NOERROR; |
825 | } |
826 | |
827 | // Steering routine for the kalman filter |
828 | jerror_t |
829 | DEventProcessor_dc_alignment::DoFilter(double t0,double OuterZ,DMatrix4x1 &S, |
830 | vector<const DCDCTrackHit *>&hits){ |
831 | unsigned int numhits=hits.size(); |
832 | unsigned int maxindex=numhits-1; |
833 | |
834 | int NEVENTS=100000; |
835 | double anneal_factor=pow(1e4,(double(NEVENTS-myevt))/(NEVENTS-1.)); |
Value stored to 'anneal_factor' during its initialization is never read | |
836 | if (myevt>NEVENTS) anneal_factor=1.; |
837 | anneal_factor=1.; |
838 | if (RUN_BENCHMARK) anneal_factor=1.; |
839 | |
840 | // deques to store reference trajectories |
841 | deque<trajectory_t>trajectory; |
842 | deque<trajectory_t>best_traj; |
843 | |
844 | // State vector to store "best" values |
845 | DMatrix4x1 Sbest; |
846 | |
847 | // Covariance matrix |
848 | DMatrix4x4 C0,C,Cbest; |
849 | C0(state_x,state_x)=C0(state_y,state_y)=1.0; |
850 | C0(state_tx,state_tx)=C0(state_ty,state_ty)=0.01; |
851 | |
852 | vector<cdc_update_t>updates(hits.size()); |
853 | vector<cdc_update_t>best_updates; |
854 | double chi2=1e16,chi2_old=1e16; |
855 | unsigned int ndof=0,ndof_old=0; |
856 | unsigned int iter=0; |
857 | |
858 | //printf("wirebased-----------\n"); |
859 | |
860 | // Perform a wire-based pass |
861 | for(iter=0;iter<20;iter++){ |
862 | chi2_old=chi2; |
863 | ndof_old=ndof; |
864 | |
865 | trajectory.clear(); |
866 | if (SetReferenceTrajectory(t0,OuterZ,S,trajectory, |
867 | hits[maxindex])!=NOERROR) break; |
868 | |
869 | C=C0; |
870 | if (KalmanFilter(anneal_factor,S,C,hits,trajectory,updates,chi2,ndof)!=NOERROR) |
871 | break; |
872 | |
873 | //printf(">>>>>>chi2 %f ndof %d\n",chi2,ndof); |
874 | |
875 | if (fabs(chi2_old-chi2)<0.1 || chi2>chi2_old) break; |
876 | |
877 | // Save the current state and covariance matrixes |
878 | Cbest=C; |
879 | Sbest=S; |
880 | best_updates.assign(updates.begin(),updates.end()); |
881 | best_traj.assign(trajectory.begin(),trajectory.end()); |
882 | |
883 | // run the smoother (opposite direction to filter) |
884 | //Smooth(S,C,trajectory,updates); |
885 | } |
886 | if (iter>0){ |
887 | double prelimprob=TMath::Prob(chi2_old,ndof_old); |
888 | Hcdc_prelimprob->Fill(prelimprob); |
889 | |
890 | if (prelimprob>0.0001){ |
891 | |
892 | // Perform a time-based pass |
893 | S=Sbest; |
894 | chi2=1e16; |
895 | |
896 | //printf("Timebased-----------\n"); |
897 | //if (false) |
898 | for (iter=0;iter<20;iter++){ |
899 | chi2_old=chi2; |
900 | ndof_old=ndof; |
901 | |
902 | trajectory.clear(); |
903 | if (SetReferenceTrajectory(t0,OuterZ,S,trajectory,hits[maxindex]) |
904 | ==NOERROR){ |
905 | C=C0; |
906 | KalmanFilter(anneal_factor,S,C,hits,trajectory,updates,chi2,ndof,true); |
907 | |
908 | //printf(">>>>>>chi2 %f ndof %d\n",chi2,ndof); |
909 | if (fabs(chi2-chi2_old)<0.1 |
910 | || TMath::Prob(chi2,ndof)<TMath::Prob(chi2_old,ndof_old)) break; |
911 | |
912 | Sbest=S; |
913 | Cbest=C; |
914 | best_updates.assign(updates.begin(),updates.end()); |
915 | best_traj.assign(trajectory.begin(),trajectory.end()); |
916 | } |
917 | else break; |
918 | } |
919 | if (iter>0){ |
920 | double prob=TMath::Prob(chi2_old,ndof_old); |
921 | Hcdc_prob->Fill(prob); |
922 | |
923 | PlotLines(trajectory); |
924 | |
925 | if (prob>1e-3) |
926 | { |
927 | // run the smoother (opposite direction to filter) |
928 | vector<cdc_update_t>smoothed_updates(updates.size()); |
929 | for (unsigned int k=0;k<smoothed_updates.size();k++){ |
930 | smoothed_updates[k].used_in_fit=false; |
931 | } |
932 | Smooth(Sbest,Cbest,best_traj,hits,best_updates,smoothed_updates); |
933 | |
934 | for (unsigned int k=0;k<smoothed_updates.size();k++){ |
935 | if (smoothed_updates[k].used_in_fit==true){ |
936 | double tdrift=smoothed_updates[k].drift_time; |
937 | double d=smoothed_updates[k].doca; |
938 | double res=smoothed_updates[k].res; |
939 | int ring_id=smoothed_updates[k].ring_id; |
940 | int straw_id=smoothed_updates[k].straw_id; |
941 | Hcdcres_vs_drift_time->Fill(tdrift,res); |
942 | Hcdcres_vs_d->Fill(d,res); |
943 | Hcdcdrift_time->Fill(tdrift,d); |
944 | Hcdc_time_vs_d->Fill(d,tdrift); |
945 | Hcdc_ring_res[ring_id]->Fill(straw_id+1,res); |
946 | Hcdc_ring_time[ring_id]->Fill(straw_id+1,tdrift); |
947 | } |
948 | } |
949 | |
950 | if (prob>0.001 && RUN_BENCHMARK==false){ |
951 | FindOffsets(hits,smoothed_updates); |
952 | |
953 | if (FILL_TREE){ |
954 | for (unsigned int ring=0;ring<cdc_alignments.size();ring++){ |
955 | for (unsigned int straw=0;straw<cdc_alignments[ring].size(); |
956 | straw++){ |
957 | // Set up to fill tree |
958 | cdc.dXu=cdc_alignments[ring][straw].A(k_dXu); |
959 | cdc.dYu=cdc_alignments[ring][straw].A(k_dYu); |
960 | cdc.dXd=cdc_alignments[ring][straw].A(k_dXd); |
961 | cdc.dYd=cdc_alignments[ring][straw].A(k_dYd); |
962 | cdc.straw=straw+1; |
963 | cdc.ring=ring+1; |
964 | cdc.N=myevt; |
965 | |
966 | |
967 | // Although we are only filling objects local to this plugin, TTree::Fill() periodically writes to file: Global ROOT lock |
968 | japp->RootWriteLock(); //ACQUIRE ROOT LOCK |
969 | |
970 | cdctree->Fill(); |
971 | |
972 | japp->RootUnLock(); //RELEASE ROOT LOCK |
973 | |
974 | } |
975 | } |
976 | } |
977 | } |
978 | |
979 | } // check on final fit CL |
980 | } // at least one time-based fit worked? |
981 | } // check on preliminary fit CL |
982 | } // at least one iteration worked? |
983 | |
984 | return NOERROR; |
985 | } |
986 | |
987 | |
988 | // Steering routine for the kalman filter |
989 | jerror_t |
990 | DEventProcessor_dc_alignment::DoFilterCathodePlanes(double t0,double start_z, |
991 | DMatrix4x1 &S, |
992 | vector<const DFDCPseudo *>&hits){ |
993 | unsigned int num_hits=hits.size(); |
994 | vector<update_t>updates(num_hits); |
995 | vector<update_t>best_updates; |
996 | vector<update_t>smoothed_updates(num_hits); |
997 | |
998 | int NEVENTS=100000; |
999 | double anneal_factor=pow(1e3,(double(NEVENTS-myevt))/(NEVENTS-1.)); |
1000 | if (myevt>NEVENTS) anneal_factor=1.; |
1001 | //anneal_factor=10.; |
1002 | if (RUN_BENCHMARK) anneal_factor=1.; |
1003 | //anneal_factor=1e3; |
1004 | |
1005 | // Best guess for state vector at the beginning of the trajectory |
1006 | DMatrix4x1 Sbest; |
1007 | |
1008 | // Use the result from the initial line fit to form a reference trajectory |
1009 | // for the track. |
1010 | deque<trajectory_t>trajectory; |
1011 | deque<trajectory_t>best_traj; |
1012 | |
1013 | // Intial guess for covariance matrix |
1014 | DMatrix4x4 C,C0,Cbest; |
1015 | C0(state_x,state_x)=C0(state_y,state_y)=1.; |
1016 | C0(state_tx,state_tx)=C0(state_ty,state_ty)=0.01; |
1017 | |
1018 | // Chi-squared and degrees of freedom |
1019 | double chi2=1e16,chi2_old=1e16; |
1020 | unsigned int ndof=0,ndof_old=0; |
1021 | unsigned iter=0; |
1022 | for(;;){ |
1023 | iter++; |
1024 | chi2_old=chi2; |
1025 | ndof_old=ndof; |
1026 | |
1027 | trajectory.clear(); |
1028 | if (SetReferenceTrajectory(t0,start_z,S,trajectory,hits)!=NOERROR) break; |
1029 | C=C0; |
1030 | if (KalmanFilter(anneal_factor,S,C,hits,trajectory,updates,chi2,ndof) |
1031 | !=NOERROR) break; |
1032 | |
1033 | //printf("== event %d == iter %d =====chi2 %f ndof %d \n",myevt,iter,chi2,ndof); |
1034 | if (chi2>chi2_old || fabs(chi2_old-chi2)<0.1 || iter==ITER_MAX20) break; |
1035 | |
1036 | // Save the current state and covariance matrixes |
1037 | Cbest=C; |
1038 | Sbest=S; |
1039 | best_updates.assign(updates.begin(),updates.end()); |
1040 | best_traj.assign(trajectory.begin(),trajectory.end()); |
1041 | // run the smoother (opposite direction to filter) |
1042 | //Smooth(S,C,trajectory,hits,updates,smoothed_updates); |
1043 | } |
1044 | |
1045 | if (iter>1){ |
1046 | double prob=TMath::Prob(chi2_old,ndof_old); |
1047 | Hpseudo_prob->Fill(prob); |
1048 | |
1049 | // printf("prob %f\n",prob); |
1050 | |
1051 | PlotLines(trajectory); |
1052 | |
1053 | if (prob>0.00001) |
1054 | { |
1055 | // run the smoother (opposite direction to filter) |
1056 | Smooth(Sbest,Cbest,best_traj,hits,best_updates,smoothed_updates); |
1057 | |
1058 | //Hbeta->Fill(mBeta); |
1059 | for (unsigned int i=0;i<smoothed_updates.size();i++){ |
1060 | unsigned int layer=hits[i]->wire->layer; |
1061 | |
1062 | Hures_vs_layer->Fill(layer,smoothed_updates[i].res(0)); |
1063 | Hvres_vs_layer->Fill(layer,smoothed_updates[i].res(1)); |
1064 | Hdv_vs_dE->Fill(hits[i]->dE,smoothed_updates[i].res(1)); |
1065 | |
1066 | Hdrift_time->Fill(smoothed_updates[i].drift_time, |
1067 | smoothed_updates[i].doca); |
1068 | } |
1069 | |
1070 | if (prob>0.001 && RUN_BENCHMARK==false){ |
1071 | FindOffsets(hits,smoothed_updates); |
1072 | |
1073 | if (FILL_TREE){ |
1074 | for (unsigned int layer=0;layer<24;layer++){ |
1075 | fdc_c.dPhiU=fdc_cathode_alignments[layer].A(kPhiU); |
1076 | fdc_c.dU=fdc_cathode_alignments[layer].A(kU); |
1077 | fdc_c.dPhiV=fdc_cathode_alignments[layer].A(kPhiV); |
1078 | fdc_c.dV=fdc_cathode_alignments[layer].A(kV); |
1079 | |
1080 | fdc_c.layer=layer+1; |
1081 | fdc_c.N=myevt; |
1082 | |
1083 | // Although we are only filling objects local to this plugin, TTree::Fill() periodically writes to file: Global ROOT lock |
1084 | japp->RootWriteLock(); //ACQUIRE ROOT LOCK |
1085 | |
1086 | fdcCtree->Fill(); |
1087 | |
1088 | japp->RootUnLock(); //RELEASE ROOT LOCK |
1089 | } |
1090 | } |
1091 | } |
1092 | return NOERROR; |
1093 | } |
1094 | } |
1095 | |
1096 | |
1097 | return VALUE_OUT_OF_RANGE; |
1098 | } |
1099 | |
1100 | // Steering routine for the kalman filter |
1101 | jerror_t |
1102 | DEventProcessor_dc_alignment::DoFilterAnodePlanes(double t0,double start_z, |
1103 | DMatrix4x1 &S, |
1104 | vector<const DFDCPseudo *>&hits){ |
1105 | unsigned int num_hits=hits.size(); |
1106 | vector<wire_update_t>updates(num_hits); |
1107 | vector<wire_update_t>best_updates; |
1108 | vector<wire_update_t>smoothed_updates(num_hits); |
1109 | |
1110 | int NEVENTS=75000; |
1111 | double anneal_factor=1.; |
1112 | if (USE_DRIFT_TIMES){ |
1113 | anneal_factor=pow(1000.,(double(NEVENTS-myevt))/(NEVENTS-1.)); |
1114 | if (myevt>NEVENTS) anneal_factor=1.; |
1115 | } |
1116 | if (RUN_BENCHMARK) anneal_factor=1.; |
1117 | //anneal_factor=1e3; |
1118 | |
1119 | // Best guess for state vector at "vertex" |
1120 | DMatrix4x1 Sbest; |
1121 | |
1122 | // Use the result from the initial line fit to form a reference trajectory |
1123 | // for the track. |
1124 | deque<trajectory_t>trajectory; |
1125 | deque<trajectory_t>best_traj; |
1126 | |
1127 | // Intial guess for covariance matrix |
1128 | DMatrix4x4 C,C0,Cbest; |
1129 | C0(state_x,state_x)=C0(state_y,state_y)=1.; |
1130 | C0(state_tx,state_tx)=C0(state_ty,state_ty)=0.001; |
1131 | |
1132 | // Chi-squared and degrees of freedom |
1133 | double chi2=1e16,chi2_old=1e16; |
1134 | unsigned int ndof=0,ndof_old=0; |
1135 | unsigned iter=0; |
1136 | for(;;){ |
1137 | iter++; |
1138 | chi2_old=chi2; |
1139 | ndof_old=ndof; |
1140 | |
1141 | trajectory.clear(); |
1142 | if (SetReferenceTrajectory(t0,start_z,S,trajectory,hits)!=NOERROR) break; |
1143 | C=C0; |
1144 | if (KalmanFilter(anneal_factor,S,C,hits,trajectory,updates,chi2,ndof) |
1145 | !=NOERROR) break; |
1146 | |
1147 | //printf("== event %d == iter %d =====chi2 %f ndof %d \n",myevt,iter,chi2,ndof); |
1148 | if (chi2>chi2_old || iter==ITER_MAX20) break; |
1149 | |
1150 | // Save the current state and covariance matrixes |
1151 | Cbest=C; |
1152 | Sbest=S; |
1153 | best_updates.assign(updates.begin(),updates.end()); |
1154 | best_traj.assign(trajectory.begin(),trajectory.end()); |
1155 | // run the smoother (opposite direction to filter) |
1156 | //Smooth(S,C,trajectory,hits,updates,smoothed_updates); |
1157 | } |
1158 | |
1159 | if (iter>1){ |
1160 | double prob=TMath::Prob(chi2_old,ndof_old); |
1161 | Hprob->Fill(prob); |
1162 | |
1163 | PlotLines(trajectory); |
1164 | |
1165 | if (prob>0.001) |
1166 | { |
1167 | // run the smoother (opposite direction to filter) |
1168 | Smooth(Sbest,Cbest,best_traj,hits,best_updates,smoothed_updates); |
1169 | |
1170 | //Hbeta->Fill(mBeta); |
1171 | for (unsigned int i=0;i<smoothed_updates.size();i++){ |
1172 | unsigned int layer=hits[i]->wire->layer; |
1173 | |
1174 | Hres_vs_layer->Fill(layer,smoothed_updates[i].ures); |
1175 | if (prob>0.1/*&&layer==smoothed_updates.size()/2*/){ |
1176 | Hdrift_time->Fill(smoothed_updates[i].drift_time, |
1177 | smoothed_updates[i].doca); |
1178 | Hres_vs_drift_time->Fill(smoothed_updates[i].drift_time, |
1179 | smoothed_updates[i].ures); |
1180 | |
1181 | } |
1182 | |
1183 | } |
1184 | |
1185 | if (RUN_BENCHMARK==false){ |
1186 | FindOffsets(hits,smoothed_updates); |
1187 | |
1188 | if (FILL_TREE){ |
1189 | for (unsigned int layer=0;layer<24;layer++){ |
1190 | fdc.dPhi=fdc_alignments[layer].A(kPhiU); |
1191 | fdc.dX=fdc_alignments[layer].A(kU); |
1192 | |
1193 | fdc.layer=layer+1; |
1194 | fdc.N=myevt; |
1195 | |
1196 | // Although we are only filling objects local to this plugin, TTree::Fill() periodically writes to file: Global ROOT lock |
1197 | japp->RootWriteLock(); //ACQUIRE ROOT LOCK |
1198 | |
1199 | fdctree->Fill(); |
1200 | |
1201 | japp->RootUnLock(); //RELEASE ROOT LOCK |
1202 | } |
1203 | } |
1204 | } |
1205 | return NOERROR; |
1206 | |
1207 | } |
1208 | } |
1209 | |
1210 | |
1211 | return VALUE_OUT_OF_RANGE; |
1212 | } |
1213 | |
1214 | |
1215 | // Kalman smoother |
1216 | jerror_t DEventProcessor_dc_alignment::Smooth(DMatrix4x1 &Ss,DMatrix4x4 &Cs, |
1217 | deque<trajectory_t>&trajectory, |
1218 | vector<const DFDCPseudo *>&hits, |
1219 | vector<update_t>updates, |
1220 | vector<update_t>&smoothed_updates |
1221 | ){ |
1222 | DMatrix4x1 S; |
1223 | DMatrix4x4 C,dC; |
1224 | DMatrix4x4 JT,A; |
1225 | DMatrix2x1 Mdiff; |
1226 | |
1227 | unsigned int max=trajectory.size()-1; |
1228 | S=(trajectory[max].Skk); |
1229 | C=(trajectory[max].Ckk); |
1230 | JT=(trajectory[max].J.Transpose()); |
1231 | //Ss=S; |
1232 | //Cs=C; |
1233 | for (unsigned int m=max-1;m>0;m--){ |
1234 | if (trajectory[m].h_id==0){ |
1235 | A=trajectory[m].Ckk*JT*C.Invert(); |
1236 | Ss=trajectory[m].Skk+A*(Ss-S); |
1237 | Cs=trajectory[m].Ckk+A*(Cs-C)*A.Transpose(); |
1238 | } |
1239 | else if (trajectory[m].h_id>0){ |
1240 | unsigned int first_id=trajectory[m].h_id-1; |
1241 | for (int k=trajectory[m].num_hits-1;k>=0;k--){ |
1242 | unsigned int id=first_id+k; |
1243 | A=updates[id].C*JT*C.Invert(); |
1244 | dC=A*(Cs-C)*A.Transpose(); |
1245 | Ss=updates[id].S+A*(Ss-S); |
1246 | Cs=updates[id].C+dC; |
1247 | |
1248 | // Nominal rotation of wire planes |
1249 | double cosa=hits[id]->wire->udir.y(); |
1250 | double sina=hits[id]->wire->udir.x(); |
1251 | |
1252 | // State vector |
1253 | double x=Ss(state_x); |
1254 | double y=Ss(state_y); |
1255 | double tx=Ss(state_tx); |
1256 | double ty=Ss(state_ty); |
1257 | |
1258 | // Get the aligment parameters for this layer |
1259 | unsigned int layer=hits[id]->wire->layer-1; |
1260 | DMatrix4x1 A=fdc_cathode_alignments[layer].A; |
1261 | DMatrix2x1 Aw=fdc_alignments[layer].A; |
1262 | double delta_u=Aw(kU); |
1263 | double sindphi=sin(Aw(kPhiU)); |
1264 | double cosdphi=cos(Aw(kPhiU)); |
1265 | |
1266 | // Components of rotation matrix for converting global to local coords. |
1267 | double cospsi=cosa*cosdphi+sina*sindphi; |
1268 | double sinpsi=sina*cosdphi-cosa*sindphi; |
1269 | |
1270 | // x,y and tx,ty in local coordinate system |
1271 | // To transform from (x,y) to (u,v), need to do a rotation: |
1272 | // u = x*cosa-y*sina |
1273 | // v = y*cosa+x*sina |
1274 | double upred_wire_plane=x*cospsi-y*sinpsi; |
1275 | double vpred_wire_plane=x*sinpsi+y*cospsi; |
1276 | double tu=tx*cospsi-ty*sinpsi; |
1277 | double tv=tx*sinpsi+ty*cospsi; |
1278 | |
1279 | // Variables for angle of incidence with respect to the z-direction in |
1280 | // the u-z plane |
1281 | double alpha=atan(tu); |
1282 | double cosalpha=cos(alpha); |
1283 | double sinalpha=sin(alpha); |
1284 | |
1285 | // Doca from wire |
1286 | double uwire=hits[id]->wire->u+delta_u; |
1287 | double d=(upred_wire_plane-uwire)*cosalpha; |
1288 | |
1289 | // Predicted avalanche position along the wire |
1290 | double vpred=vpred_wire_plane-tv*sinalpha*d; |
1291 | |
1292 | // predicted positions in two cathode planes' coordinate systems |
1293 | double phi_u=hits[id]->phi_u+A(kPhiU); |
1294 | double phi_v=hits[id]->phi_v+A(kPhiV); |
1295 | double cosphi_u=cos(phi_u); |
1296 | double sinphi_u=sin(phi_u); |
1297 | double cosphi_v=cos(phi_v); |
1298 | double sinphi_v=sin(phi_v); |
1299 | double vv=-vpred*sinphi_v+uwire*cosphi_v+A(kV); |
1300 | double vu=-vpred*sinphi_u+uwire*cosphi_u+A(kU); |
1301 | |
1302 | // Difference between measurements and predictions |
1303 | Mdiff(0)=hits[id]->u-vu; |
1304 | Mdiff(1)=hits[id]->v-vv; |
1305 | |
1306 | smoothed_updates[id].res=Mdiff; |
1307 | smoothed_updates[id].doca=fabs(d); |
1308 | |
1309 | smoothed_updates[id].drift=updates[id].drift; |
1310 | smoothed_updates[id].drift_time=updates[id].drift_time; |
1311 | smoothed_updates[id].S=Ss; |
1312 | smoothed_updates[id].C=Cs; |
1313 | smoothed_updates[id].V=updates[id].V-updates[id].H*dC*updates[id].H_T; |
1314 | } |
1315 | } |
1316 | S=trajectory[m].Skk; |
1317 | C=trajectory[m].Ckk; |
1318 | JT=trajectory[m].J.Transpose(); |
1319 | } |
1320 | |
1321 | A=trajectory[0].Ckk*JT*C.Invert(); |
1322 | Ss=trajectory[0].Skk+A*(Ss-S); |
1323 | Cs=trajectory[0].Ckk+A*(Cs-C)*A.Transpose(); |
1324 | |
1325 | return NOERROR; |
1326 | } |
1327 | |
1328 | |
1329 | // Kalman smoother |
1330 | jerror_t DEventProcessor_dc_alignment::Smooth(DMatrix4x1 &Ss,DMatrix4x4 &Cs, |
1331 | deque<trajectory_t>&trajectory, |
1332 | vector<const DFDCPseudo *>&hits, |
1333 | vector<wire_update_t>updates, |
1334 | vector<wire_update_t>&smoothed_updates |
1335 | ){ |
1336 | DMatrix4x1 S; |
1337 | DMatrix4x4 C,dC; |
1338 | DMatrix4x4 JT,A; |
1339 | |
1340 | unsigned int max=trajectory.size()-1; |
1341 | S=(trajectory[max].Skk); |
1342 | C=(trajectory[max].Ckk); |
1343 | JT=(trajectory[max].J.Transpose()); |
1344 | //Ss=S; |
1345 | //Cs=C; |
1346 | for (unsigned int m=max-1;m>0;m--){ |
1347 | if (trajectory[m].h_id==0){ |
1348 | A=trajectory[m].Ckk*JT*C.Invert(); |
1349 | Ss=trajectory[m].Skk+A*(Ss-S); |
1350 | Cs=trajectory[m].Ckk+A*(Cs-C)*A.Transpose(); |
1351 | } |
1352 | else if (trajectory[m].h_id>0){ |
1353 | unsigned int first_id=trajectory[m].h_id-1; |
1354 | for (int k=trajectory[m].num_hits-1;k>=0;k--){ |
1355 | unsigned int id=first_id+k; |
1356 | A=updates[id].C*JT*C.Invert(); |
1357 | dC=A*(Cs-C)*A.Transpose(); |
1358 | Ss=updates[id].S+A*(Ss-S); |
1359 | Cs=updates[id].C+dC; |
1360 | |
1361 | // Nominal rotation of wire planes |
1362 | double cosa=hits[id]->wire->udir.y(); |
1363 | double sina=hits[id]->wire->udir.x(); |
1364 | |
1365 | // State vector |
1366 | double x=Ss(state_x); |
1367 | double y=Ss(state_y); |
1368 | double tx=Ss(state_tx); |
1369 | double ty=Ss(state_ty); |
1370 | |
1371 | // Get the aligment vector and error matrix for this layer |
1372 | unsigned int layer=hits[id]->wire->layer-1; |
1373 | DMatrix2x2 E=fdc_alignments[layer].E; |
1374 | DMatrix2x1 A=fdc_alignments[layer].A; |
1375 | double delta_u=A(kU); |
1376 | double sindphi=sin(A(kPhiU)); |
1377 | double cosdphi=cos(A(kPhiU)); |
1378 | |
1379 | // Components of rotation matrix for converting global to local coords. |
1380 | double cospsi=cosa*cosdphi+sina*sindphi; |
1381 | double sinpsi=sina*cosdphi-cosa*sindphi; |
1382 | |
1383 | // x,y and tx,ty in local coordinate system |
1384 | // To transform from (x,y) to (u,v), need to do a rotation: |
1385 | // u = x*cosa-y*sina |
1386 | // v = y*cosa+x*sina |
1387 | // (without alignment offsets) |
1388 | double upred=x*cospsi-y*sinpsi; |
1389 | double tu=tx*cospsi-ty*sinpsi; |
1390 | |
1391 | // Variables for angle of incidence with respect to the z-direction in |
1392 | // the u-z plane |
1393 | double alpha=atan(tu); |
1394 | double cosalpha=cos(alpha); |
1395 | |
1396 | // Smoothed residuals |
1397 | double uwire=hits[id]->wire->u+delta_u; |
1398 | double d=(upred-uwire)*cosalpha; |
1399 | smoothed_updates[id].ures=(d>0?1.:-1.)*updates[id].drift-d; |
1400 | smoothed_updates[id].doca=fabs(d); |
1401 | |
1402 | smoothed_updates[id].drift=updates[id].drift; |
1403 | smoothed_updates[id].drift_time=updates[id].drift_time; |
1404 | smoothed_updates[id].S=Ss; |
1405 | smoothed_updates[id].C=Cs; |
1406 | smoothed_updates[id].R=updates[id].R-updates[id].H*dC*updates[id].H_T; |
1407 | } |
1408 | } |
1409 | S=trajectory[m].Skk; |
1410 | C=trajectory[m].Ckk; |
1411 | JT=trajectory[m].J.Transpose(); |
1412 | } |
1413 | |
1414 | A=trajectory[0].Ckk*JT*C.Invert(); |
1415 | Ss=trajectory[0].Skk+A*(Ss-S); |
1416 | Cs=trajectory[0].Ckk+A*(Cs-C)*A.Transpose(); |
1417 | |
1418 | return NOERROR; |
1419 | } |
1420 | |
1421 | // Kalman smoother |
1422 | jerror_t |
1423 | DEventProcessor_dc_alignment::Smooth(DMatrix4x1 &Ss,DMatrix4x4 &Cs, |
1424 | deque<trajectory_t>&trajectory, |
1425 | vector<const DCDCTrackHit *>&hits, |
1426 | vector<cdc_update_t>&updates, |
1427 | vector<cdc_update_t>&smoothed_updates |
1428 | ){ |
1429 | DMatrix4x1 S; |
1430 | DMatrix4x4 C,dC; |
1431 | DMatrix4x4 JT,A; |
1432 | |
1433 | unsigned int max=trajectory.size()-1; |
1434 | S=(trajectory[max].Skk); |
1435 | C=(trajectory[max].Ckk); |
1436 | JT=(trajectory[max].J.Transpose()); |
1437 | //Ss=S; |
1438 | //Cs=C; |
1439 | //printf("--------\n"); |
1440 | for (unsigned int m=max-1;m>0;m--){ |
1441 | if (trajectory[m].h_id==0){ |
1442 | A=trajectory[m].Ckk*JT*C.Invert(); |
1443 | Ss=trajectory[m].Skk+A*(Ss-S); |
1444 | Cs=trajectory[m].Ckk+A*(Cs-C)*A.Transpose(); |
1445 | } |
1446 | else{ |
1447 | unsigned int id=trajectory[m].h_id-1; |
1448 | smoothed_updates[id].used_in_fit=false; |
1449 | //printf("%d:%d used ? %d\n",m,id,updates[id].used_in_fit); |
1450 | if (updates[id].used_in_fit){ |
1451 | smoothed_updates[id].used_in_fit=true; |
1452 | |
1453 | A=updates[id].C*JT*C.Invert(); |
1454 | dC=A*(Cs-C)*A.Transpose(); |
1455 | Ss=updates[id].S+A*(Ss-S); |
1456 | Cs=updates[id].C+dC; |
1457 | |
1458 | // CDC index and wire position variables |
1459 | const DCDCWire *wire=hits[id]->wire; |
1460 | DVector3 origin=wire->origin; |
1461 | DVector3 wdir=wire->udir; |
1462 | |
1463 | unsigned int ring=hits[id]->wire->ring-1; |
1464 | unsigned int straw=hits[id]->wire->straw-1; |
1465 | UpdateWireOriginAndDir(ring,straw,origin,wdir); |
1466 | |
1467 | // doca using smoothed state vector |
1468 | double d=finder->FindDoca(trajectory[m].z,Ss,wdir,origin); |
1469 | smoothed_updates[id].ring_id=ring; |
1470 | smoothed_updates[id].straw_id=straw; |
1471 | smoothed_updates[id].doca=d; |
1472 | smoothed_updates[id].res=updates[id].drift-d; |
1473 | smoothed_updates[id].drift=updates[id].drift; |
1474 | smoothed_updates[id].drift_time=updates[id].drift_time; |
1475 | smoothed_updates[id].S=Ss; |
1476 | smoothed_updates[id].C=Cs; |
1477 | smoothed_updates[id].V=updates[id].V-updates[id].H*dC*updates[id].H_T; |
1478 | smoothed_updates[id].z=updates[id].z; |
1479 | |
1480 | // Reset h_id for this position along the reference trajectory |
1481 | trajectory[m].h_id=0; |
1482 | } |
1483 | else{ |
1484 | A=trajectory[m].Ckk*JT*C.Invert(); |
1485 | Ss=trajectory[m].Skk+A*(Ss-S); |
1486 | Cs=trajectory[m].Ckk+A*(Cs-C)*A.Transpose(); |
1487 | } |
1488 | } |
1489 | |
1490 | S=trajectory[m].Skk; |
1491 | C=trajectory[m].Ckk; |
1492 | JT=trajectory[m].J.Transpose(); |
1493 | } |
1494 | |
1495 | A=trajectory[0].Ckk*JT*C.Invert(); |
1496 | Ss=trajectory[0].Skk+A*(Ss-S); |
1497 | Cs=trajectory[0].Ckk+A*(Cs-C)*A.Transpose(); |
1498 | |
1499 | return NOERROR; |
1500 | } |
1501 | |
1502 | // Perform the Kalman Filter for the current set of cdc hits |
1503 | jerror_t |
1504 | DEventProcessor_dc_alignment::KalmanFilter(double anneal_factor, |
1505 | DMatrix4x1 &S,DMatrix4x4 &C, |
1506 | vector<const DCDCTrackHit *>&hits, |
1507 | deque<trajectory_t>&trajectory, |
1508 | vector<cdc_update_t>&updates, |
1509 | double &chi2,unsigned int &ndof, |
1510 | bool timebased){ |
1511 | DMatrix1x4 H; // Track projection matrix |
1512 | DMatrix4x1 H_T; // Transpose of track projection matrix |
1513 | DMatrix4x1 K; // Kalman gain matrix |
1514 | DMatrix4x4 I; // identity matrix |
1515 | DMatrix4x4 J; // Jacobian matrix |
1516 | DMatrix4x1 S0; // State vector from reference trajectory |
1517 | double V=1.15*(0.78*0.78/12.); // sigma=cell_size/sqrt(12.)*scale_factor |
1518 | |
1519 | for (unsigned int i=0;i<updates.size();i++){ |
1520 | updates[i].used_in_fit=false; |
1521 | } |
1522 | |
1523 | //Initialize chi2 and ndof |
1524 | chi2=0.; |
1525 | ndof=0; |
1526 | |
1527 | double doca2=0.; |
1528 | const double d_EPS=1e-8; |
1529 | |
1530 | // CDC index and wire position variables |
1531 | unsigned int cdc_index=hits.size()-1; |
1532 | bool more_hits=true; |
1533 | const DCDCWire *wire=hits[cdc_index]->wire; |
1534 | DVector3 origin=wire->origin; |
1535 | double z0=origin.z(); |
1536 | double vz=wire->udir.z(); |
1537 | DVector3 wdir=(1./vz)*wire->udir; |
1538 | |
1539 | // Wire offsets |
1540 | unsigned int ring=wire->ring-1; |
1541 | unsigned int straw=wire->straw-1; |
1542 | UpdateWireOriginAndDir(ring,straw,origin,wdir); |
1543 | |
1544 | DVector3 wirepos=origin+(trajectory[0].z-z0)*wdir; |
1545 | |
1546 | /// compute initial doca^2 to first wire |
1547 | double dx=S(state_x)-wirepos.X(); |
1548 | double dy=S(state_y)-wirepos.Y(); |
1549 | double old_doca2=dx*dx+dy*dy; |
1550 | |
1551 | // Loop over all steps in the trajectory |
1552 | S0=trajectory[0].S; |
1553 | J=trajectory[0].J; |
1554 | trajectory[0].Skk=S; |
1555 | trajectory[0].Ckk=C; |
1556 | for (unsigned int k=1;k<trajectory.size();k++){ |
1557 | if (C(0,0)<=0. || C(1,1)<=0. || C(2,2)<=0. || C(3,3)<=0.) |
1558 | return UNRECOVERABLE_ERROR; |
1559 | |
1560 | // Propagate the state and covariance matrix forward in z |
1561 | S=trajectory[k].S+J*(S-S0); |
1562 | C=J*C*J.Transpose(); |
1563 | |
1564 | // Save the current state and covariance matrix |
1565 | trajectory[k].Skk=S; |
1566 | trajectory[k].Ckk=C; |
1567 | |
1568 | // Save S and J for the next step |
1569 | S0=trajectory[k].S; |
1570 | J=trajectory[k].J; |
1571 | |
1572 | // Position along wire |
1573 | wirepos=origin+(trajectory[k].z-z0)*wdir; |
1574 | |
1575 | // New doca^2 |
1576 | dx=S(state_x)-wirepos.X(); |
1577 | dy=S(state_y)-wirepos.Y(); |
1578 | doca2=dx*dx+dy*dy; |
1579 | |
1580 | if (doca2>old_doca2 && more_hits){ |
1581 | |
1582 | // zero-position and direction of line describing particle trajectory |
1583 | double tx=S(state_tx),ty=S(state_ty); |
1584 | DVector3 pos0(S(state_x),S(state_y),trajectory[k].z); |
1585 | DVector3 tdir(tx,ty,1.); |
1586 | |
1587 | // Find the true doca to the wire |
1588 | DVector3 diff=pos0-origin; |
1589 | double dx0=diff.x(),dy0=diff.y(); |
1590 | double wdir_dot_diff=diff.Dot(wdir); |
1591 | double tdir_dot_diff=diff.Dot(tdir); |
1592 | double tdir_dot_wdir=tdir.Dot(wdir); |
1593 | double tdir2=tdir.Mag2(); |
1594 | double wdir2=wdir.Mag2(); |
1595 | double D=tdir2*wdir2-tdir_dot_wdir*tdir_dot_wdir; |
1596 | double N=tdir_dot_wdir*wdir_dot_diff-wdir2*tdir_dot_diff; |
1597 | double N1=tdir2*wdir_dot_diff-tdir_dot_wdir*tdir_dot_diff; |
1598 | double scale=1./D; |
1599 | double s=scale*N; |
1600 | double t=scale*N1; |
1601 | diff+=s*tdir-t*wdir; |
1602 | double d=diff.Mag()+d_EPS; // prevent division by zero |
1603 | |
1604 | // The next measurement and its variance |
1605 | double tdrift=hits[cdc_index]->tdrift-trajectory[k].t; |
1606 | double dmeas=0.39; |
1607 | if (timebased){ |
1608 | double drift_var=cdc_variance(tdrift); |
1609 | V=anneal_factor*drift_var; |
1610 | |
1611 | double phi_d=diff.Phi(); |
1612 | double dphi=phi_d-origin.Phi(); |
1613 | while (dphi>M_PI3.14159265358979323846) dphi-=2*M_PI3.14159265358979323846; |
1614 | while (dphi<-M_PI3.14159265358979323846) dphi+=2*M_PI3.14159265358979323846; |
1615 | |
1616 | int ring_index=hits[cdc_index]->wire->ring-1; |
1617 | int straw_index=hits[cdc_index]->wire->straw-1; |
1618 | double dz=t*wdir.z(); |
1619 | double delta=max_sag[ring_index][straw_index]*(1.-dz*dz/5625.) |
1620 | *sin(phi_d+sag_phi_offset[ring_index][straw_index]); |
1621 | dmeas=cdc_drift_distance(dphi,delta,tdrift); |
1622 | |
1623 | //printf("t %f d %f %f V %f\n",hits[cdc_index]->tdrift,dmeas,d,V); |
1624 | } |
1625 | |
1626 | // residual |
1627 | double res=dmeas-d; |
1628 | |
1629 | // Track projection |
1630 | double one_over_d=1./d; |
1631 | double diffx=diff.x(),diffy=diff.y(),diffz=diff.z(); |
1632 | double wx=wdir.x(),wy=wdir.y(); |
1633 | |
1634 | double dN1dtx=2.*tx*wdir_dot_diff-wx*tdir_dot_diff-tdir_dot_wdir*dx0; |
1635 | double dDdtx=2.*tx*wdir2-2.*tdir_dot_wdir*wx; |
1636 | double dtdtx=scale*(dN1dtx-t*dDdtx); |
1637 | |
1638 | double dN1dty=2.*ty*wdir_dot_diff-wy*tdir_dot_diff-tdir_dot_wdir*dy0; |
1639 | double dDdty=2.*ty*wdir2-2.*tdir_dot_wdir*wy; |
1640 | double dtdty=scale*(dN1dty-t*dDdty); |
1641 | |
1642 | double dNdtx=wx*wdir_dot_diff-wdir2*dx0; |
1643 | double dsdtx=scale*(dNdtx-s*dDdtx); |
1644 | |
1645 | double dNdty=wy*wdir_dot_diff-wdir2*dy0; |
1646 | double dsdty=scale*(dNdty-s*dDdty); |
1647 | |
1648 | H(state_tx)=H_T(state_tx) |
1649 | =one_over_d*(diffx*(s+tx*dsdtx-wx*dtdtx)+diffy*(ty*dsdtx-wy*dtdtx) |
1650 | +diffz*(dsdtx-dtdtx)); |
1651 | H(state_ty)=H_T(state_ty) |
1652 | =one_over_d*(diffx*(tx*dsdty-wx*dtdty)+diffy*(s+ty*dsdty-wy*dtdty) |
1653 | +diffz*(dsdty-dtdty)); |
1654 | |
1655 | double dsdx=scale*(tdir_dot_wdir*wx-wdir2*tx); |
1656 | double dtdx=scale*(tdir2*wx-tdir_dot_wdir*tx); |
1657 | double dsdy=scale*(tdir_dot_wdir*wy-wdir2*ty); |
1658 | double dtdy=scale*(tdir2*wy-tdir_dot_wdir*ty); |
1659 | |
1660 | H(state_x)=H_T(state_x) |
1661 | =one_over_d*(diffx*(1.+dsdx*tx-dtdx*wx)+diffy*(dsdx*ty-dtdx*wy) |
1662 | +diffz*(dsdx-dtdx)); |
1663 | H(state_y)=H_T(state_y) |
1664 | =one_over_d*(diffx*(dsdy*tx-dtdy*wx)+diffy*(1.+dsdy*ty-dtdy*wy) |
1665 | +diffz*(dsdy-dtdy)); |
1666 | |
1667 | // Matrices to rotate alignment error matrix into measurement space |
1668 | DMatrix1x4 G; |
1669 | DMatrix4x1 G_T; |
1670 | ComputeGMatrices(s,t,scale,tx,ty,tdir2,one_over_d,wx,wy,wdir2,tdir_dot_wdir, |
1671 | tdir_dot_diff,wdir_dot_diff,dx0,dy0,diffx,diffy,diffz, |
1672 | G,G_T); |
1673 | |
1674 | // inverse of variance including prediction |
1675 | DMatrix4x4 E=cdc_alignments[ring][straw].E; |
1676 | double Vtemp=V+G*E*G_T; |
1677 | double InvV=1./(Vtemp+H*C*H_T); |
1678 | |
1679 | // Compute Kalman gain matrix |
1680 | K=InvV*(C*H_T); |
1681 | |
1682 | // Update state vector covariance matrix |
1683 | DMatrix4x4 Ctest=C-K*(H*C); |
1684 | |
1685 | //C.Print(); |
1686 | //K.Print(); |
1687 | //Ctest.Print(); |
1688 | |
1689 | // Check that Ctest is positive definite |
1690 | if (Ctest(0,0)>0.0 && Ctest(1,1)>0.0 && Ctest(2,2)>0.0 && Ctest(3,3)>0.0) |
1691 | { |
1692 | C=Ctest; |
1693 | |
1694 | // Update the state vector |
1695 | //S=S+res*K; |
1696 | S+=res*K; |
1697 | |
1698 | // Compute new residual |
1699 | d=finder->FindDoca(trajectory[k].z,S,wdir,origin); |
1700 | res=dmeas-d; |
1701 | |
1702 | // Update chi2 for this segment |
1703 | Vtemp-=H*C*H_T; |
1704 | chi2+=res*res/Vtemp; |
1705 | ndof++; |
1706 | } |
1707 | else{ |
1708 | // _DBG_ << "Bad C!" << endl; |
1709 | return VALUE_OUT_OF_RANGE; |
1710 | } |
1711 | |
1712 | updates[cdc_index].S=S; |
1713 | updates[cdc_index].C=C; |
1714 | updates[cdc_index].drift=dmeas; |
1715 | updates[cdc_index].drift_time=tdrift; |
1716 | updates[cdc_index].doca=d; |
1717 | updates[cdc_index].res=res; |
1718 | updates[cdc_index].V=Vtemp; |
1719 | updates[cdc_index].H_T=H_T; |
1720 | updates[cdc_index].H=H; |
1721 | updates[cdc_index].z=trajectory[k].z; |
1722 | updates[cdc_index].used_in_fit=true; |
1723 | |
1724 | trajectory[k].h_id=cdc_index+1; |
1725 | |
1726 | // move to next cdc hit |
1727 | if (cdc_index>0){ |
1728 | cdc_index--; |
1729 | |
1730 | //New wire position |
1731 | wire=hits[cdc_index]->wire; |
1732 | origin=wire->origin; |
1733 | vz=wire->udir.z(); |
1734 | wdir=(1./vz)*wire->udir; |
1735 | |
1736 | ring=hits[cdc_index]->wire->ring-1; |
1737 | straw=hits[cdc_index]->wire->straw-1; |
1738 | UpdateWireOriginAndDir(ring,straw,origin,wdir); |
1739 | |
1740 | wirepos=origin+((trajectory[k].z-z0))*wdir; |
1741 | |
1742 | // New doca^2 |
1743 | dx=S(state_x)-wirepos.x(); |
1744 | dy=S(state_y)-wirepos.y(); |
1745 | doca2=dx*dx+dy*dy; |
1746 | |
1747 | } |
1748 | else more_hits=false; |
1749 | } |
1750 | |
1751 | old_doca2=doca2; |
1752 | } |
1753 | |
1754 | ndof-=4; |
1755 | |
1756 | return NOERROR; |
1757 | } |
1758 | |
1759 | // Perform Kalman Filter for the current trajectory |
1760 | jerror_t |
1761 | DEventProcessor_dc_alignment::KalmanFilter(double anneal_factor, |
1762 | DMatrix4x1 &S,DMatrix4x4 &C, |
1763 | vector<const DFDCPseudo *>&hits, |
1764 | deque<trajectory_t>&trajectory, |
1765 | vector<update_t>&updates, |
1766 | double &chi2,unsigned int &ndof){ |
1767 | DMatrix2x4 H; // Track projection matrix |
1768 | DMatrix4x2 H_T; // Transpose of track projection matrix |
1769 | DMatrix4x2 K; // Kalman gain matrix |
1770 | DMatrix2x2 V(0.0008*anneal_factor,0.,0.,0.0008*anneal_factor); // Measurement variance |
1771 | DMatrix2x2 Vtemp,InvV; |
1772 | DMatrix2x1 Mdiff; |
1773 | DMatrix4x4 I; // identity matrix |
1774 | DMatrix4x4 J; // Jacobian matrix |
1775 | DMatrix4x1 S0; // State vector from reference trajectory |
1776 | |
1777 | //Initialize chi2 and ndof |
1778 | chi2=0.; |
1779 | ndof=0; |
1780 | |
1781 | // Loop over all steps in the trajectory |
1782 | S0=trajectory[0].S; |
1783 | J=trajectory[0].J; |
1784 | trajectory[0].Skk=S; |
1785 | trajectory[0].Ckk=C; |
1786 | for (unsigned int k=1;k<trajectory.size();k++){ |
1787 | if (C(0,0)<=0. || C(1,1)<=0. || C(2,2)<=0. || C(3,3)<=0.) |
1788 | return UNRECOVERABLE_ERROR; |
1789 | |
1790 | // Propagate the state and covariance matrix forward in z |
1791 | S=trajectory[k].S+J*(S-S0); |
1792 | C=J*C*J.Transpose(); |
1793 | |
1794 | // Save the current state and covariance matrix |
1795 | trajectory[k].Skk=S; |
1796 | trajectory[k].Ckk=C; |
1797 | |
1798 | // Save S and J for the next step |
1799 | S0=trajectory[k].S; |
1800 | J=trajectory[k].J; |
1801 | |
1802 | // Correct S and C for the hit |
1803 | if (trajectory[k].h_id>0){ |
1804 | unsigned int id=trajectory[k].h_id-1; |
1805 | |
1806 | double cosa=hits[id]->wire->udir.y(); |
1807 | double sina=hits[id]->wire->udir.x(); |
1808 | |
1809 | // State vector |
1810 | double x=S(state_x); |
1811 | double y=S(state_y); |
1812 | double tx=S(state_tx); |
1813 | double ty=S(state_ty); |
1814 | if (std::isnan(x) || std::isnan(y)) return UNRECOVERABLE_ERROR; |
1815 | |
1816 | // Get the alignment vector and error matrix for this layer |
1817 | unsigned int layer=hits[id]->wire->layer-1; |
1818 | DMatrix2x1 Aw=fdc_alignments[layer].A; |
1819 | double delta_u=Aw(kU); |
1820 | double sindphi=sin(Aw(kPhiU)); |
1821 | double cosdphi=cos(Aw(kPhiU)); |
1822 | |
1823 | // Components of rotation matrix for converting global to local coords. |
1824 | double cospsi=cosa*cosdphi+sina*sindphi; |
1825 | double sinpsi=sina*cosdphi-cosa*sindphi; |
1826 | |
1827 | // x,y and tx,ty in local coordinate system |
1828 | // To transform from (x,y) to (u,v), need to do a rotation: |
1829 | // u = x*cosa-y*sina |
1830 | // v = y*cosa+x*sina |
1831 | // (without alignment offsets) |
1832 | double vpred_wire_plane=y*cospsi+x*sinpsi; |
1833 | double upred_wire_plane=x*cospsi-y*sinpsi; |
1834 | double tu=tx*cospsi-ty*sinpsi; |
1835 | double tv=tx*sinpsi+ty*cospsi; |
1836 | |
1837 | // Variables for angle of incidence with respect to the z-direction in |
1838 | // the u-z plane |
1839 | double alpha=atan(tu); |
1840 | double cosalpha=cos(alpha); |
1841 | double cos2_alpha=cosalpha*cosalpha; |
1842 | double sinalpha=sin(alpha); |
1843 | double sin2_alpha=sinalpha*sinalpha; |
1844 | |
1845 | // Alignment parameters for cathode planes |
1846 | DMatrix4x4 E=fdc_cathode_alignments[layer].E; |
1847 | DMatrix4x1 A=fdc_cathode_alignments[layer].A; |
1848 | |
1849 | // Difference between measurement and projection |
1850 | for (int m=trajectory[k].num_hits-1;m>=0;m--){ |
1851 | unsigned int my_id=id+m; |
1852 | double uwire=hits[my_id]->wire->u+delta_u; |
1853 | // (signed) distance of closest approach to wire |
1854 | double doca=(upred_wire_plane-uwire)*cosalpha; |
1855 | |
1856 | // Predicted avalanche position along the wire |
1857 | double vpred=vpred_wire_plane-tv*sinalpha*doca; |
1858 | |
1859 | // predicted positions in two cathode planes' coordinate systems |
1860 | double phi_u=hits[my_id]->phi_u+A(kPhiU); |
1861 | double phi_v=hits[my_id]->phi_v+A(kPhiV); |
1862 | double cosphi_u=cos(phi_u); |
1863 | double sinphi_u=sin(phi_u); |
1864 | double cosphi_v=cos(phi_v); |
1865 | double sinphi_v=sin(phi_v); |
1866 | double vv=-vpred*sinphi_v-uwire*cosphi_v+A(kV); |
1867 | double vu=-vpred*sinphi_u-uwire*cosphi_u+A(kU); |
1868 | |
1869 | // Difference between measurements and predictions |
1870 | Mdiff(0)=hits[my_id]->u-vu; |
1871 | Mdiff(1)=hits[my_id]->v-vv; |
1872 | |
1873 | // Start filling the update vector |
1874 | updates[my_id].drift_time=hits[my_id]->time-trajectory[k].t; |
1875 | |
1876 | // Matrix for transforming from state-vector space to measurement space |
1877 | double temp2=tv*sinalpha*cosalpha; |
1878 | double dvdy=cospsi+sinpsi*temp2; |
1879 | double dvdx=sinpsi-cospsi*temp2; |
1880 | |
1881 | H_T(state_x,0)=-dvdx*sinphi_u; |
1882 | H_T(state_y,0)=-dvdy*sinphi_u; |
1883 | H_T(state_x,1)=-dvdx*sinphi_v; |
1884 | H_T(state_y,1)=-dvdy*sinphi_v; |
1885 | |
1886 | double cos2_minus_sin2=cos2_alpha-sin2_alpha; |
1887 | double doca_cosalpha=doca*cosalpha; |
1888 | double dvdtx=-doca_cosalpha*(tu*sina+tv*cosa*cos2_minus_sin2); |
1889 | double dvdty=-doca_cosalpha*(tu*cosa-tv*sina*cos2_minus_sin2); |
1890 | |
1891 | H_T(state_tx,0)=-dvdtx*sinphi_u; |
1892 | H_T(state_ty,0)=-dvdty*sinphi_u; |
1893 | H_T(state_tx,1)=-dvdtx*sinphi_v; |
1894 | H_T(state_ty,1)=-dvdty*sinphi_v; |
1895 | |
1896 | // Matrix transpose H_T -> H |
1897 | H(0,state_x)=H_T(state_x,0); |
1898 | H(0,state_y)=H_T(state_y,0); |
1899 | H(0,state_tx)=H_T(state_tx,0); |
1900 | H(0,state_ty)=H_T(state_ty,0); |
1901 | H(1,state_x)=H_T(state_x,1); |
1902 | H(1,state_y)=H_T(state_y,1); |
1903 | H(1,state_tx)=H_T(state_tx,1); |
1904 | H(1,state_ty)=H_T(state_ty,1); |
1905 | |
1906 | updates[my_id].H=H; |
1907 | updates[my_id].H_T=H_T; |
1908 | |
1909 | // Matrices to rotate alignment error matrix into measurement space |
1910 | DMatrix2x4 G; |
1911 | DMatrix4x2 G_T; |
1912 | |
1913 | G_T(kU,0)=1.; |
1914 | G_T(kPhiU,0)=-vpred*cosphi_u-uwire*sinphi_u; |
1915 | G_T(kV,1)=1.; |
1916 | G_T(kPhiV,1)=-vpred*cosphi_v-uwire*sinphi_v; |
1917 | |
1918 | // G-matrix transpose |
1919 | G(0,kU)=G_T(kU,0); |
1920 | G(0,kPhiU)=G_T(kPhiU,0); |
1921 | G(1,kV)=G_T(kV,1); |
1922 | G(1,kPhiV)=G_T(kPhiV,1); |
1923 | |
1924 | Vtemp=V+G*E*G_T; |
1925 | |
1926 | // Variance for this hit |
1927 | InvV=(Vtemp+H*C*H_T).Invert(); |
1928 | |
1929 | // Compute Kalman gain matrix |
1930 | K=(C*H_T)*InvV; |
1931 | |
1932 | // Update the state vector |
1933 | S+=K*Mdiff; |
1934 | |
1935 | // Update state vector covariance matrix |
1936 | C=C-K*(H*C); |
1937 | |
1938 | // Update the filtered measurement covariane matrix and put results in |
1939 | // update vector |
1940 | DMatrix2x2 RC=Vtemp-H*C*H_T; |
1941 | updates[my_id].res=Mdiff-H*K*Mdiff; |
1942 | updates[my_id].V=RC; |
1943 | updates[my_id].S=S; |
1944 | updates[my_id].C=C; |
1945 | |
1946 | chi2+=RC.Chi2(updates[my_id].res); |
1947 | ndof+=2; |
1948 | } |
1949 | |
1950 | } |
1951 | |
1952 | } |
1953 | // chi2*=anneal_factor; |
1954 | ndof-=4; |
1955 | |
1956 | return NOERROR; |
1957 | } |
1958 | |
1959 | |
1960 | |
1961 | // Perform Kalman Filter for the current trajectory |
1962 | jerror_t |
1963 | DEventProcessor_dc_alignment::KalmanFilter(double anneal_factor, |
1964 | DMatrix4x1 &S,DMatrix4x4 &C, |
1965 | vector<const DFDCPseudo *>&hits, |
1966 | deque<trajectory_t>&trajectory, |
1967 | vector<wire_update_t>&updates, |
1968 | double &chi2,unsigned int &ndof){ |
1969 | DMatrix1x4 H; // Track projection matrix |
1970 | DMatrix4x1 H_T; // Transpose of track projection matrix |
1971 | DMatrix4x1 K; // Kalman gain matrix |
1972 | double V=0.020833; // Measurement variance |
1973 | double Vtemp,Mdiff,InvV; |
1974 | DMatrix4x4 I; // identity matrix |
1975 | DMatrix4x4 J; // Jacobian matrix |
1976 | DMatrix4x1 S0; // State vector from reference trajectory |
1977 | |
1978 | //Initialize chi2 and ndof |
1979 | chi2=0.; |
1980 | ndof=0; |
1981 | |
1982 | // Loop over all steps in the trajectory |
1983 | S0=trajectory[0].S; |
1984 | J=trajectory[0].J; |
1985 | trajectory[0].Skk=S; |
1986 | trajectory[0].Ckk=C; |
1987 | for (unsigned int k=1;k<trajectory.size();k++){ |
1988 | if (C(0,0)<=0. || C(1,1)<=0. || C(2,2)<=0. || C(3,3)<=0.) |
1989 | return UNRECOVERABLE_ERROR; |
1990 | |
1991 | // Propagate the state and covariance matrix forward in z |
1992 | S=trajectory[k].S+J*(S-S0); |
1993 | C=J*C*J.Transpose(); |
1994 | |
1995 | // Save the current state and covariance matrix |
1996 | trajectory[k].Skk=S; |
1997 | trajectory[k].Ckk=C; |
1998 | |
1999 | // Save S and J for the next step |
2000 | S0=trajectory[k].S; |
2001 | J=trajectory[k].J; |
2002 | |
2003 | // Correct S and C for the hit |
2004 | if (trajectory[k].h_id>0){ |
2005 | unsigned int id=trajectory[k].h_id-1; |
2006 | |
2007 | double cosa=hits[id]->wire->udir.y(); |
2008 | double sina=hits[id]->wire->udir.x(); |
2009 | |
2010 | // State vector |
2011 | double x=S(state_x); |
2012 | double y=S(state_y); |
2013 | double tx=S(state_tx); |
2014 | double ty=S(state_ty); |
2015 | if (std::isnan(x) || std::isnan(y)) return UNRECOVERABLE_ERROR; |
2016 | |
2017 | // Get the alignment vector and error matrix for this layer |
2018 | unsigned int layer=hits[id]->wire->layer-1; |
2019 | DMatrix2x2 E=fdc_alignments[layer].E; |
2020 | DMatrix2x1 A=fdc_alignments[layer].A; |
2021 | double delta_u=A(kU); |
2022 | double sindphi=sin(A(kPhiU)); |
2023 | double cosdphi=cos(A(kPhiU)); |
2024 | |
2025 | // Components of rotation matrix for converting global to local coords. |
2026 | double cospsi=cosa*cosdphi+sina*sindphi; |
2027 | double sinpsi=sina*cosdphi-cosa*sindphi; |
2028 | |
2029 | // x,y and tx,ty in local coordinate system |
2030 | // To transform from (x,y) to (u,v), need to do a rotation: |
2031 | // u = x*cosa-y*sina |
2032 | // v = y*cosa+x*sina |
2033 | // (without alignment offsets) |
2034 | double upred=x*cospsi-y*sinpsi; |
2035 | double tu=tx*cospsi-ty*sinpsi; |
2036 | double tv=tx*sinpsi+ty*cospsi; |
2037 | |
2038 | // Variables for angle of incidence with respect to the z-direction in |
2039 | // the u-z plane |
2040 | double alpha=atan(tu); |
2041 | double cosalpha=cos(alpha); |
2042 | double sinalpha=sin(alpha); |
2043 | |
2044 | // Difference between measurement and projection |
2045 | for (int m=trajectory[k].num_hits-1;m>=0;m--){ |
2046 | unsigned int my_id=id+m; |
2047 | double uwire=hits[my_id]->wire->u+delta_u; |
2048 | |
2049 | // Find drift distance |
2050 | double drift_time=hits[my_id]->time-trajectory[k].t; |
2051 | updates[my_id].drift_time=drift_time; |
2052 | updates[my_id].t=trajectory[k].t; |
2053 | |
2054 | double du=upred-uwire; |
2055 | double d=du*cosalpha; |
2056 | double sign=(du>0)?1.:-1.; |
2057 | |
2058 | // Difference between measured and predicted vectors |
2059 | // assume the track passes through the center of the cell |
2060 | double drift=0.25; |
2061 | if (USE_DRIFT_TIMES){ |
2062 | drift=0.; |
2063 | if (drift_time>0){ |
2064 | drift=fdc_drift_distance(drift_time); |
2065 | |
2066 | //V=0.0004+0.020433*(anneal_factor/1000.); |
2067 | double sigma=0.0135-3.98e-4*drift_time+5.62e-6*drift_time*drift_time; |
2068 | V=anneal_factor*sigma*sigma; |
2069 | } |
2070 | } |
2071 | Mdiff=sign*drift-d; |
2072 | updates[my_id].drift=drift; |
2073 | |
2074 | // Matrix for transforming from state-vector space to measurement space |
2075 | double sinalpha_cosalpha=sinalpha*cosalpha; |
2076 | H_T(state_x)=cospsi*cosalpha; |
2077 | H_T(state_y)=-sinpsi*cosalpha; |
2078 | |
2079 | double temp=d*sinalpha_cosalpha; |
2080 | H_T(state_tx)=-temp*cospsi; |
2081 | H_T(state_ty)=+temp*sinpsi; |
2082 | |
2083 | // H-matrix transpose |
2084 | H(state_x)=H_T(state_x); |
2085 | H(state_y)=H_T(state_y); |
2086 | |
2087 | H(state_tx)=H_T(state_tx); |
2088 | H(state_ty)=H_T(state_ty); |
2089 | |
2090 | updates[my_id].H=H; |
2091 | updates[my_id].H_T=H_T; |
2092 | |
2093 | // Matrices to rotate alignment error matrix into measurement space |
2094 | DMatrix1x2 G; |
2095 | DMatrix2x1 G_T; |
2096 | |
2097 | G_T(kU)=-cosalpha; |
2098 | G_T(kPhiU)=cosalpha*(x*sinpsi+y*cospsi-tv*d); |
2099 | |
2100 | // G-matrix transpose |
2101 | G(kU)=G_T(kU); |
2102 | G(kPhiU)=G_T(kPhiU); |
2103 | |
2104 | Vtemp=V+G*E*G_T; |
2105 | |
2106 | // Variance for this hit |
2107 | InvV=1./(Vtemp+H*C*H_T); |
2108 | |
2109 | // Compute Kalman gain matrix |
2110 | K=InvV*(C*H_T); |
2111 | |
2112 | // Update the state vector |
2113 | S+=Mdiff*K; |
2114 | updates[my_id].S=S; |
2115 | |
2116 | // Update state vector covariance matrix |
2117 | C=C-K*(H*C); |
2118 | updates[my_id].C=C; |
2119 | |
2120 | // Update chi2 for this trajectory |
2121 | x=S(state_x); |
2122 | y=S(state_y); |
2123 | tx=S(state_tx); |
2124 | ty=S(state_ty); |
2125 | upred=x*cospsi-y*sinpsi; |
2126 | tu=tx*cospsi-ty*sinpsi; |
2127 | |
2128 | // Variables for angle of incidence with respect to the z-direction in |
2129 | // the u-z plane |
2130 | alpha=atan(tu); |
2131 | cosalpha=cos(alpha); |
2132 | du=upred-uwire; |
2133 | d=du*cosalpha; |
2134 | sinalpha=sin(alpha); |
2135 | |
2136 | sign=(du>0)?1.:-1.; |
2137 | Mdiff=sign*drift-d; |
2138 | |
2139 | double RC=Vtemp-H*C*H_T; |
2140 | updates[my_id].ures=Mdiff; |
2141 | updates[my_id].R=RC; |
2142 | |
2143 | chi2+=Mdiff*Mdiff/RC; |
2144 | ndof++; |
2145 | } |
2146 | |
2147 | } |
2148 | |
2149 | } |
2150 | // chi2*=anneal_factor; |
2151 | ndof-=4; |
2152 | |
2153 | return NOERROR; |
2154 | } |
2155 | |
2156 | //Reference trajectory for the track for cdc tracks |
2157 | jerror_t DEventProcessor_dc_alignment |
2158 | ::SetReferenceTrajectory(double t0,double z,DMatrix4x1 &S, |
2159 | deque<trajectory_t>&trajectory, |
2160 | const DCDCTrackHit *last_cdc){ |
2161 | DMatrix4x4 J(1.,0.,1.,0., 0.,1.,0.,1., 0.,0.,1.,0., 0.,0.,0.,1.); |
2162 | |
2163 | double ds=1.0; |
2164 | double dz=(S(state_ty)>0.?-1.:1.)*ds/sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
2165 | double t=t0; |
2166 | |
2167 | //y-position after which we cut off the loop |
2168 | double min_y=last_cdc->wire->origin.y()-5.; |
2169 | unsigned int numsteps=0; |
2170 | do{ |
2171 | z+=dz; |
2172 | J(state_x,state_tx)=-dz; |
2173 | J(state_y,state_ty)=-dz; |
2174 | // Flight time: assume particle is moving at the speed of light |
2175 | t+=ds/29.98; |
2176 | //propagate the state to the next z position |
2177 | S(state_x)+=S(state_tx)*dz; |
2178 | S(state_y)+=S(state_ty)*dz; |
2179 | trajectory.push_front(trajectory_t(z,t0,S,J,Zero4x1,Zero4x4)); |
2180 | |
2181 | numsteps++; |
2182 | }while (S(state_y)>min_y && numsteps<MAX_STEPS1000); |
2183 | |
2184 | if (trajectory.size()<2) return UNRECOVERABLE_ERROR; |
2185 | if (false) |
2186 | { |
2187 | printf("Trajectory:\n"); |
2188 | for (unsigned int i=0;i<trajectory.size();i++){ |
2189 | printf(" x %f y %f z %f\n",trajectory[i].S(state_x), |
2190 | trajectory[i].S(state_y),trajectory[i].z); |
2191 | } |
2192 | } |
2193 | |
2194 | |
2195 | |
2196 | |
2197 | return NOERROR; |
2198 | } |
2199 | |
2200 | |
2201 | // Reference trajectory for the track |
2202 | jerror_t DEventProcessor_dc_alignment |
2203 | ::SetReferenceTrajectory(double t0,double z,DMatrix4x1 &S, |
2204 | deque<trajectory_t>&trajectory, |
2205 | vector<const DFDCPseudo *>&pseudos){ |
2206 | // Jacobian matrix |
2207 | DMatrix4x4 J(1.,0.,1.,0., 0.,1.,0.,1., 0.,0.,1.,0., 0.,0.,0.,1.); |
2208 | |
2209 | double dz=1.1; |
2210 | double t=t0; |
2211 | trajectory.push_front(trajectory_t(z,t0,S,J,Zero4x1,Zero4x4)); |
2212 | |
2213 | double zhit=z; |
2214 | double old_zhit=z; |
2215 | for (unsigned int i=0;i<pseudos.size();i++){ |
2216 | zhit=pseudos[i]->wire->origin.z(); |
2217 | dz=1.1; |
2218 | |
2219 | if (fabs(zhit-old_zhit)<EPS1e-3){ |
2220 | trajectory[0].num_hits++; |
2221 | continue; |
2222 | } |
2223 | bool done=false; |
2224 | while (!done){ |
2225 | double new_z=z+dz; |
2226 | |
2227 | if (new_z>zhit){ |
2228 | dz=zhit-z; |
2229 | new_z=zhit; |
2230 | done=true; |
2231 | } |
2232 | J(state_x,state_tx)=-dz; |
2233 | J(state_y,state_ty)=-dz; |
2234 | // Flight time: assume particle is moving at the speed of light |
2235 | t+=dz*sqrt(1+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty))/29.98; |
2236 | //propagate the state to the next z position |
2237 | S(state_x)+=S(state_tx)*dz; |
2238 | S(state_y)+=S(state_ty)*dz; |
2239 | |
2240 | trajectory.push_front(trajectory_t(new_z,t,S,J,Zero4x1,Zero4x4)); |
2241 | if (done){ |
2242 | trajectory[0].h_id=i+1; |
2243 | trajectory[0].num_hits=1; |
2244 | } |
2245 | |
2246 | z=new_z; |
2247 | } |
2248 | old_zhit=zhit; |
2249 | } |
2250 | // One last step |
2251 | dz=1.1; |
2252 | J(state_x,state_tx)=-dz; |
2253 | J(state_y,state_ty)=-dz; |
2254 | |
2255 | // Flight time: assume particle is moving at the speed of light |
2256 | t+=dz*sqrt(1+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty))/29.98; |
2257 | |
2258 | //propagate the state to the next z position |
2259 | S(state_x)+=S(state_tx)*dz; |
2260 | S(state_y)+=S(state_ty)*dz; |
2261 | trajectory.push_front(trajectory_t(z+dz,t,S,J,Zero4x1,Zero4x4)); |
2262 | |
2263 | if (false) |
2264 | { |
2265 | printf("Trajectory:\n"); |
2266 | for (unsigned int i=0;i<trajectory.size();i++){ |
2267 | printf(" x %f y %f z %f first hit %d num in layer %d\n",trajectory[i].S(state_x), |
2268 | trajectory[i].S(state_y),trajectory[i].z,trajectory[i].h_id, |
2269 | trajectory[i].num_hits); |
2270 | } |
2271 | } |
2272 | |
2273 | return NOERROR; |
2274 | } |
2275 | |
2276 | // Crude approximation for the variance in drift distance due to smearing |
2277 | double DEventProcessor_dc_alignment::GetDriftVariance(double t){ |
2278 | if (t<0) t=0; |
2279 | else if (t>110.) t=110.; |
2280 | double sigma=0.01639/sqrt(t+1.)+5.405e-3+4.936e-4*exp(0.09654*(t-66.86)); |
2281 | return sigma*sigma; |
2282 | } |
2283 | |
2284 | // convert time to distance for the fdc |
2285 | double DEventProcessor_dc_alignment::GetDriftDistance(double t){ |
2286 | if (t<0.) return 0.; |
2287 | double d=0.0268*sqrt(t)/*-3.051e-4*/+7.438e-4*t; |
2288 | if (d>0.5) d=0.5; |
2289 | return d; |
2290 | } |
2291 | |
2292 | void DEventProcessor_dc_alignment::UpdateWireOriginAndDir(unsigned int ring, |
2293 | unsigned int straw, |
2294 | DVector3 &origin, |
2295 | DVector3 &wdir){ |
2296 | double zscale=75.0/wdir.z(); |
2297 | DVector3 upstream=origin-zscale*wdir; |
2298 | DVector3 downstream=origin+zscale*wdir; |
2299 | DVector3 du(cdc_alignments[ring][straw].A(k_dXu), |
2300 | cdc_alignments[ring][straw].A(k_dYu),0.); |
2301 | DVector3 dd(cdc_alignments[ring][straw].A(k_dXd), |
2302 | cdc_alignments[ring][straw].A(k_dYd),0.); |
2303 | upstream+=du; |
2304 | downstream+=dd; |
2305 | |
2306 | origin=0.5*(upstream+downstream); |
2307 | wdir=downstream-upstream; |
2308 | wdir.SetMag(1.); |
2309 | } |
2310 | |
2311 | |
2312 | |
2313 | jerror_t |
2314 | DEventProcessor_dc_alignment::FindOffsets(vector<const DCDCTrackHit*>&hits, |
2315 | vector<cdc_update_t>&updates){ |
2316 | for (unsigned int i=0;i<updates.size();i++){ |
2317 | if (updates[i].used_in_fit==true){ |
2318 | // wire data |
2319 | const DCDCWire *wire=hits[i]->wire; |
2320 | DVector3 origin=wire->origin; |
2321 | DVector3 wdir=wire->udir; |
2322 | |
2323 | unsigned int ring=wire->ring-1; |
2324 | unsigned int straw=wire->straw-1; |
2325 | UpdateWireOriginAndDir(ring,straw,origin,wdir); |
2326 | |
2327 | // zero-position and direction of line describing particle trajectory |
2328 | double tx=updates[i].S(state_tx),ty=updates[i].S(state_ty); |
2329 | DVector3 pos0(updates[i].S(state_x),updates[i].S(state_y),updates[i].z); |
2330 | DVector3 diff=pos0-origin; |
2331 | double dx0=diff.x(),dy0=diff.y(); |
2332 | DVector3 tdir(tx,ty,1.); |
2333 | double wdir_dot_diff=diff.Dot(wdir); |
2334 | double tdir_dot_diff=diff.Dot(tdir); |
2335 | double tdir_dot_wdir=tdir.Dot(wdir); |
2336 | double tdir2=tdir.Mag2(); |
2337 | double wdir2=wdir.Mag2(); |
2338 | double wx=wdir.x(),wy=wdir.y(); |
2339 | double D=tdir2*wdir2-tdir_dot_wdir*tdir_dot_wdir; |
2340 | double N=tdir_dot_wdir*wdir_dot_diff-wdir2*tdir_dot_diff; |
2341 | double N1=tdir2*wdir_dot_diff-tdir_dot_wdir*tdir_dot_diff; |
2342 | double scale=1./D; |
2343 | double s=scale*N; |
2344 | double t=scale*N1; |
2345 | diff+=s*tdir-t*wdir; |
2346 | double diffx=diff.x(),diffy=diff.y(),diffz=diff.z(); |
2347 | double one_over_d=1./diff.Mag(); |
2348 | |
2349 | // Matrices to rotate alignment error matrix into measurement space |
2350 | DMatrix1x4 G; |
2351 | DMatrix4x1 G_T; |
2352 | ComputeGMatrices(s,t,scale,tx,ty,tdir2,one_over_d,wx,wy,wdir2,tdir_dot_wdir, |
2353 | tdir_dot_diff,wdir_dot_diff,dx0,dy0,diffx,diffy,diffz, |
2354 | G,G_T); |
2355 | |
2356 | // Offset error matrix |
2357 | DMatrix4x4 E=cdc_alignments[ring][straw].E; |
2358 | |
2359 | // Inverse error |
2360 | double InvV=1./updates[i].V; |
2361 | |
2362 | // update the alignment vector and covariance |
2363 | DMatrix4x1 Ka=InvV*(E*G_T); |
2364 | DMatrix4x1 dA=updates[i].res*Ka; |
2365 | DMatrix4x4 Etemp=E-Ka*G*E; |
2366 | //dA.Print(); |
2367 | //Etemp.Print(); |
2368 | if (Etemp(0,0)>0 && Etemp(1,1)>0 && Etemp(2,2)>0&&Etemp(3,3)>0.){ |
2369 | //cdc_alignments[ring][straw].A.Print(); |
2370 | //dA.Print(); |
2371 | //Etemp.Print(); |
2372 | DMatrix4x1 A=cdc_alignments[ring][straw].A+dA; |
2373 | // Restrict offsets to less than 2 mm |
2374 | if (fabs(A(k_dXu))<0.2 && fabs(A(k_dXd))<0.2 && fabs(A(k_dYu))<0.2 |
2375 | && fabs(A(k_dYd))<0.2){ |
2376 | cdc_alignments[ring][straw].E=Etemp; |
2377 | cdc_alignments[ring][straw].A=A; |
2378 | } |
2379 | } |
2380 | } |
2381 | } |
2382 | |
2383 | return NOERROR; |
2384 | } |
2385 | |
2386 | |
2387 | jerror_t |
2388 | DEventProcessor_dc_alignment::FindOffsets(vector<const DFDCPseudo *>&hits, |
2389 | vector<update_t>&smoothed_updates){ |
2390 | DMatrix2x4 G;//matrix relating alignment vector to measurement coords |
2391 | DMatrix4x2 G_T; // .. and its transpose |
2392 | |
2393 | unsigned int num_hits=hits.size(); |
2394 | |
2395 | for (unsigned int i=0;i<num_hits;i++){ |
2396 | // Get the cathode planes aligment vector and error matrix for this layer |
2397 | unsigned int layer=hits[i]->wire->layer-1; |
2398 | DMatrix4x1 A=fdc_cathode_alignments[layer].A; |
2399 | DMatrix4x4 E=fdc_cathode_alignments[layer].E; |
2400 | |
2401 | // Rotation of wire planes |
2402 | double cosa=hits[i]->wire->udir.y(); |
2403 | double sina=hits[i]->wire->udir.x(); |
2404 | |
2405 | // State vector |
2406 | DMatrix4x1 S=smoothed_updates[i].S; |
2407 | double x=S(state_x); |
2408 | double y=S(state_y); |
2409 | double tx=S(state_tx); |
2410 | double ty=S(state_ty); |
2411 | if (std::isnan(x) || std::isnan(y)) return UNRECOVERABLE_ERROR; |
2412 | |
2413 | // Get the wire plane alignment vector and error matrix for this layer |
2414 | DMatrix2x1 Aw=fdc_alignments[layer].A; |
2415 | double delta_u=Aw(kU); |
2416 | double sindphi=sin(Aw(kPhiU)); |
2417 | double cosdphi=cos(Aw(kPhiU)); |
2418 | |
2419 | // Components of rotation matrix for converting global to local coords. |
2420 | double cospsi=cosa*cosdphi+sina*sindphi; |
2421 | double sinpsi=sina*cosdphi-cosa*sindphi; |
2422 | |
2423 | // x,y and tx,ty in local coordinate system |
2424 | // To transform from (x,y) to (u,v), need to do a rotation: |
2425 | // u = x*cosa-y*sina |
2426 | // v = y*cosa+x*sina |
2427 | // (without alignment offsets) |
2428 | double vpred_wire_plane=y*cospsi+x*sinpsi; |
2429 | double upred_wire_plane=x*cospsi-y*sinpsi; |
2430 | double tu=tx*cospsi-ty*sinpsi; |
2431 | double tv=tx*sinpsi+ty*cospsi; |
2432 | double alpha=atan(tu); |
2433 | double cosalpha=cos(alpha); |
2434 | double sinalpha=sin(alpha); |
2435 | |
2436 | // Wire position in wire-plane local coordinate system |
2437 | double uwire=hits[i]->wire->u+delta_u; |
2438 | // (signed) distance of closest approach to wire |
2439 | double doca=(upred_wire_plane-uwire)*cosalpha; |
2440 | |
2441 | // Predicted avalanche position along the wire |
2442 | double vpred=vpred_wire_plane-tv*sinalpha*doca; |
2443 | |
2444 | // Matrices to rotate alignment error matrix into measurement space |
2445 | DMatrix2x4 G; |
2446 | DMatrix4x2 G_T; |
2447 | |
2448 | double phi_u=hits[i]->phi_u+A(kPhiU); |
2449 | double phi_v=hits[i]->phi_v+A(kPhiV); |
2450 | |
2451 | G_T(kU,0)=1.; |
2452 | G_T(kPhiU,0)=-vpred*cos(phi_u)-uwire*sin(phi_u); |
2453 | G_T(kV,1)=1.; |
2454 | G_T(kPhiV,1)=-vpred*cos(phi_v)-uwire*sin(phi_v); |
2455 | |
2456 | // update the alignment vector and covariance |
2457 | DMatrix4x2 Ka=(E*G_T)*smoothed_updates[i].V.Invert(); |
2458 | DMatrix4x1 dA=Ka*smoothed_updates[i].res; |
2459 | DMatrix4x4 Etemp=E-Ka*G*E; |
2460 | if (Etemp(0,0)>0 && Etemp(1,1)>0 && Etemp(2,2)>0 && Etemp(3,3)>0){ |
2461 | fdc_cathode_alignments[layer].E=Etemp; |
2462 | fdc_cathode_alignments[layer].A=A+dA; |
2463 | } |
2464 | else { |
2465 | /* |
2466 | printf("-------t= %f\n",smoothed_updates[i].drift_time); |
2467 | E.Print(); |
2468 | Etemp.Print(); |
2469 | */ |
2470 | } |
2471 | } |
2472 | |
2473 | return NOERROR; |
2474 | } |
2475 | |
2476 | jerror_t |
2477 | DEventProcessor_dc_alignment::FindOffsets(vector<const DFDCPseudo *>&hits, |
2478 | vector<wire_update_t>&smoothed_updates){ |
2479 | DMatrix1x2 G;//matrix relating alignment vector to measurement coords |
2480 | DMatrix2x1 G_T; // .. and its transpose |
2481 | |
2482 | unsigned int num_hits=hits.size(); |
2483 | |
2484 | |
2485 | for (unsigned int i=0;i<num_hits;i++){ |
2486 | double x=smoothed_updates[i].S(state_x); |
2487 | double y=smoothed_updates[i].S(state_y); |
2488 | double tx=smoothed_updates[i].S(state_tx); |
2489 | double ty=smoothed_updates[i].S(state_ty); |
2490 | |
2491 | double cosa=hits[i]->wire->udir.y(); |
2492 | double sina=hits[i]->wire->udir.x(); |
2493 | |
2494 | // Get the aligment vector and error matrix for this layer |
2495 | unsigned int layer=hits[i]->wire->layer-1; |
2496 | DMatrix2x1 A=fdc_alignments[layer].A; |
2497 | DMatrix2x2 E=fdc_alignments[layer].E; |
2498 | double delta_u=A(kU); |
2499 | double sindphi=sin(A(kPhiU)); |
2500 | double cosdphi=cos(A(kPhiU)); |
2501 | |
2502 | // Components of rotation matrix for converting global to local coords. |
2503 | double cospsi=cosa*cosdphi+sina*sindphi; |
2504 | double sinpsi=sina*cosdphi-cosa*sindphi; |
2505 | |
2506 | // x,y and tx,ty in local coordinate system |
2507 | // To transform from (x,y) to (u,v), need to do a rotation: |
2508 | // u = x*cosa-y*sina |
2509 | // v = y*cosa+x*sina |
2510 | // (without alignment offsets) |
2511 | double uwire=hits[i]->wire->u+delta_u; |
2512 | double upred=x*cospsi-y*sinpsi; |
2513 | double tu=tx*cospsi-ty*sinpsi; |
2514 | double tv=tx*sinpsi+ty*cospsi; |
2515 | double du=upred-uwire; |
2516 | |
2517 | // Variables for angle of incidence with respect to the z-direction in |
2518 | // the u-z plane |
2519 | double alpha=atan(tu); |
2520 | double cosalpha=cos(alpha); |
2521 | |
2522 | // Transform from alignment vector coords to measurement coords |
2523 | G_T(kU)=-cosalpha; |
2524 | |
2525 | double d=du*cosalpha; |
2526 | G_T(kPhiU)=cosalpha*(x*sinpsi+y*cospsi-tv*d); |
2527 | |
2528 | // G-matrix transpose |
2529 | G(kU)=G_T(kU); |
2530 | G(kPhiU)=G_T(kPhiU); |
2531 | |
2532 | // Inverse of error "matrix" |
2533 | double InvV=1./smoothed_updates[i].R; |
2534 | |
2535 | // update the alignment vector and covariance |
2536 | DMatrix2x1 Ka=InvV*(E*G_T); |
2537 | DMatrix2x1 dA=smoothed_updates[i].ures*Ka; |
2538 | DMatrix2x2 Etemp=E-Ka*G*E; |
2539 | if (Etemp(0,0)>0 && Etemp(1,1)>0){ |
2540 | fdc_alignments[layer].E=Etemp; |
2541 | fdc_alignments[layer].A=A+dA; |
2542 | } |
2543 | else { |
2544 | /* |
2545 | printf("-------t= %f\n",smoothed_updates[i].drift_time); |
2546 | E.Print(); |
2547 | Etemp.Print(); |
2548 | */ |
2549 | } |
2550 | } |
2551 | |
2552 | return NOERROR; |
2553 | } |
2554 | |
2555 | // Compute matrices for rotating the aligment error matrix into the measurement |
2556 | // space |
2557 | void |
2558 | DEventProcessor_dc_alignment::ComputeGMatrices(double s,double t,double scale, |
2559 | double tx,double ty,double tdir2, |
2560 | double one_over_d, |
2561 | double wx,double wy,double wdir2, |
2562 | double tdir_dot_wdir, |
2563 | double tdir_dot_diff, |
2564 | double wdir_dot_diff, |
2565 | double dx0,double dy0, |
2566 | double diffx,double diffy, |
2567 | double diffz, |
2568 | DMatrix1x4 &G,DMatrix4x1 &G_T){ |
2569 | double dsdDx=scale*(tdir_dot_wdir*wx-wdir2*tx); |
2570 | double dsdDy=scale*(tdir_dot_wdir*wy-wdir2*ty); |
2571 | |
2572 | double dNdvx=tx*wdir_dot_diff+tdir_dot_wdir*dx0-2.*wx*tdir_dot_diff; |
2573 | double dDdvx=2.*wx*tdir2-2.*tdir_dot_wdir*tx; |
2574 | double dsdvx=scale*(dNdvx-s*dDdvx); |
2575 | |
2576 | double dNdvy=ty*wdir_dot_diff+tdir_dot_wdir*dy0-2.*wy*tdir_dot_diff; |
2577 | double dDdvy=2.*wy*tdir2-2.*tdir_dot_wdir*ty;; |
2578 | double dsdvy=scale*(dNdvy-s*dDdvy); |
2579 | |
2580 | double dsddxu=-0.5*dsdDx-one_over_zrange*dsdvx; |
2581 | double dsddxd=-0.5*dsdDx+one_over_zrange*dsdvx; |
2582 | double dsddyu=-0.5*dsdDy-one_over_zrange*dsdvy; |
2583 | double dsddyd=-0.5*dsdDy+one_over_zrange*dsdvy; |
2584 | |
2585 | double dtdDx=scale*(tdir2*wx-tdir_dot_wdir*tx); |
2586 | double dtdDy=scale*(tdir2*wy-tdir_dot_wdir*ty); |
2587 | |
2588 | double dN1dvx=tdir2*dx0-tdir_dot_diff*tx; |
2589 | double dtdvx=scale*(dN1dvx-t*dDdvx); |
2590 | |
2591 | double dN1dvy=tdir2*dy0-tdir_dot_diff*ty; |
2592 | double dtdvy=scale*(dN1dvy-t*dDdvy); |
2593 | |
2594 | double dtddxu=-0.5*dtdDx-one_over_zrange*dtdvx; |
2595 | double dtddxd=-0.5*dtdDx+one_over_zrange*dtdvx; |
2596 | double dtddyu=-0.5*dtdDy-one_over_zrange*dtdvy; |
2597 | double dtddyd=-0.5*dtdDy+one_over_zrange*dtdvy; |
2598 | |
2599 | double t_over_zrange=one_over_zrange*t; |
2600 | G(k_dXu)=one_over_d*(diffx*(-0.5+tx*dsddxu+t_over_zrange-wx*dtddxu) |
2601 | +diffy*(ty*dsddxu-wy*dtddxu)+diffz*(dsddxu-dtddxu)); |
2602 | G(k_dXd)=one_over_d*(diffx*(-0.5+tx*dsddxd-t_over_zrange-wx*dtddxd) |
2603 | +diffy*(ty*dsddxd-wy*dtddxd)+diffz*(dsddxd-dtddxd)); |
2604 | G(k_dYu)=one_over_d*(diffx*(tx*dsddyu-wx*dtddyu)+diffz*(dsddyu-dtddyu) |
2605 | +diffy*(-0.5+ty*dsddyu+t_over_zrange-wy*dtddyu)); |
2606 | G(k_dYd)=one_over_d*(diffx*(tx*dsddyd-wx*dtddyd)+diffz*(dsddyd-dtddyd) |
2607 | +diffy*(-0.5+ty*dsddyd-t_over_zrange-wy*dtddyd)); |
2608 | G_T(k_dXu)=G(k_dXu); |
2609 | G_T(k_dXd)=G(k_dXd); |
2610 | G_T(k_dYu)=G(k_dYu); |
2611 | G_T(k_dYd)=G(k_dYd); |
2612 | } |
2613 | |
2614 | // If the event viewer is available, grab parts of the hdview2 display and |
2615 | // overlay the results of the line fit on the tracking views. |
2616 | void DEventProcessor_dc_alignment::PlotLines(deque<trajectory_t>&traj){ |
2617 | unsigned int last_index=traj.size()-1; |
2618 | |
2619 | TCanvas *c1=dynamic_cast<TCanvas *>(gROOT->FindObject("endviewA Canvas")); |
2620 | if (c1!=NULL__null){ |
2621 | c1->cd(); |
2622 | TPolyLine *line=new TPolyLine(); |
2623 | |
2624 | line->SetLineColor(1); |
2625 | line->SetLineWidth(1); |
2626 | |
2627 | line->SetNextPoint(traj[last_index].S(state_x),traj[last_index].S(state_y)); |
2628 | line->SetNextPoint(traj[0].S(state_x),traj[0].S(state_y)); |
2629 | line->Draw(); |
2630 | |
2631 | c1->Update(); |
2632 | |
2633 | delete line; |
2634 | } |
2635 | |
2636 | c1=dynamic_cast<TCanvas *>(gROOT->FindObject("endviewA Large Canvas")); |
2637 | if (c1!=NULL__null){ |
2638 | c1->cd(); |
2639 | TPolyLine *line=new TPolyLine(); |
2640 | |
2641 | line->SetLineColor(1); |
2642 | line->SetLineWidth(1); |
2643 | |
2644 | line->SetNextPoint(traj[last_index].S(state_x),traj[last_index].S(state_y)); |
2645 | line->SetNextPoint(traj[0].S(state_x),traj[0].S(state_y)); |
2646 | line->Draw(); |
2647 | |
2648 | c1->Update(); |
2649 | |
2650 | delete line; |
2651 | } |
2652 | |
2653 | c1=dynamic_cast<TCanvas *>(gROOT->FindObject("sideviewA Canvas")); |
2654 | if (c1!=NULL__null){ |
2655 | c1->cd(); |
2656 | TPolyLine *line=new TPolyLine(); |
2657 | |
2658 | line->SetLineColor(1); |
2659 | line->SetLineWidth(1); |
2660 | |
2661 | line->SetNextPoint(traj[last_index].z,traj[last_index].S(state_x)); |
2662 | line->SetNextPoint(traj[0].z,traj[0].S(state_x)); |
2663 | line->Draw(); |
2664 | |
2665 | c1->Update(); |
2666 | |
2667 | delete line; |
2668 | } |
2669 | |
2670 | c1=dynamic_cast<TCanvas *>(gROOT->FindObject("sideviewB Canvas")); |
2671 | if (c1!=NULL__null){ |
2672 | c1->cd(); |
2673 | TPolyLine *line=new TPolyLine(); |
2674 | |
2675 | line->SetLineColor(1); |
2676 | line->SetLineWidth(1); |
2677 | |
2678 | line->SetNextPoint(traj[last_index].z,traj[last_index].S(state_y)); |
2679 | line->SetNextPoint(traj[0].z,traj[0].S(state_y)); |
2680 | line->Draw(); |
2681 | |
2682 | c1->Update(); |
2683 | delete line; |
2684 | } |
2685 | // end of drawing code |
2686 | |
2687 | } |