| 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 | } |