| File: | /volatile/halld/gluex/nightly/2024-03-08/Linux_CentOS7.7-x86_64-gcc4.8.5/halld_recon/src/libraries/TRACKING/DTrackFitterKalmanSIMD.cc |
| Location: | line 8591, column 11 |
| Description: | Value stored to 'old_doca2' during its initialization is never read |
| 1 | //************************************************************************ |
| 2 | // DTrackFitterKalmanSIMD.cc |
| 3 | //************************************************************************ |
| 4 | |
| 5 | #include "DTrackFitterKalmanSIMD.h" |
| 6 | #include "CDC/DCDCTrackHit.h" |
| 7 | #include "HDGEOMETRY/DLorentzDeflections.h" |
| 8 | #include "HDGEOMETRY/DMaterialMap.h" |
| 9 | #include "HDGEOMETRY/DRootGeom.h" |
| 10 | #include "DANA/DApplication.h" |
| 11 | #include <JANA/JCalibration.h> |
| 12 | #include "PID/DParticleID.h" |
| 13 | |
| 14 | #include <TH2F.h> |
| 15 | #include <TH1I.h> |
| 16 | #include <TROOT.h> |
| 17 | #include <TMath.h> |
| 18 | #include <DMatrix.h> |
| 19 | |
| 20 | #include <iomanip> |
| 21 | #include <math.h> |
| 22 | |
| 23 | #define MAX_TB_PASSES20 20 |
| 24 | #define MAX_WB_PASSES20 20 |
| 25 | |
| 26 | #define ALPHA1./137. 1./137. |
| 27 | #define CHISQ_DELTA0.01 0.01 |
| 28 | #define MIN_ITER3 3 |
| 29 | |
| 30 | // Only print messages for one thread whenever run number change |
| 31 | static pthread_mutex_t print_mutex = PTHREAD_MUTEX_INITIALIZER{ { 0, 0, 0, 0, 0, 0, 0, { 0, 0 } } }; |
| 32 | static set<int> runs_announced; |
| 33 | |
| 34 | // Local boolean routines for sorting |
| 35 | //bool static DKalmanSIMDHit_cmp(DKalmanSIMDHit_t *a, DKalmanSIMDHit_t *b){ |
| 36 | // return a->z<b->z; |
| 37 | //} |
| 38 | |
| 39 | inline bool static DKalmanSIMDFDCHit_cmp(DKalmanSIMDFDCHit_t *a, DKalmanSIMDFDCHit_t *b){ |
| 40 | if (fabs(a->z-b->z)<EPS3.0e-8){ |
| 41 | if (a->hit!=NULL__null && b->hit!=NULL__null && fabs(a->t-b->t)<EPS3.0e-8){ |
| 42 | double tsum_1=a->hit->t_u+a->hit->t_v; |
| 43 | double tsum_2=b->hit->t_u+b->hit->t_v; |
| 44 | if (fabs(tsum_1-tsum_2)<EPS3.0e-8){ |
| 45 | return (a->dE>b->dE); |
| 46 | } |
| 47 | return (tsum_1<tsum_2); |
| 48 | } |
| 49 | return(a->t<b->t); |
| 50 | } |
| 51 | return a->z<b->z; |
| 52 | } |
| 53 | inline bool static DKalmanSIMDCDCHit_cmp(DKalmanSIMDCDCHit_t *a, DKalmanSIMDCDCHit_t *b){ |
| 54 | if (a==NULL__null || b==NULL__null){ |
| 55 | cout << "Null pointer in CDC hit list??" << endl; |
| 56 | return false; |
| 57 | } |
| 58 | const DCDCWire *wire_a= a->hit->wire; |
| 59 | const DCDCWire *wire_b= b->hit->wire; |
| 60 | if(wire_b->ring == wire_a->ring){ |
| 61 | return wire_b->straw < wire_a->straw; |
| 62 | } |
| 63 | |
| 64 | return (wire_b->ring>wire_a->ring); |
| 65 | } |
| 66 | |
| 67 | |
| 68 | // Locate a position in array xx given x |
| 69 | void DTrackFitterKalmanSIMD::locate(const double *xx,int n,double x,int *j){ |
| 70 | int jl=-1; |
| 71 | int ju=n; |
| 72 | int ascnd=(xx[n-1]>=xx[0]); |
| 73 | while(ju-jl>1){ |
| 74 | int jm=(ju+jl)>>1; |
| 75 | if ( (x>=xx[jm])==ascnd) |
| 76 | jl=jm; |
| 77 | else |
| 78 | ju=jm; |
| 79 | } |
| 80 | if (x==xx[0]) *j=0; |
| 81 | else if (x==xx[n-1]) *j=n-2; |
| 82 | else *j=jl; |
| 83 | } |
| 84 | |
| 85 | |
| 86 | |
| 87 | // Locate a position in vector xx given x |
| 88 | unsigned int DTrackFitterKalmanSIMD::locate(vector<double>&xx,double x){ |
| 89 | int n=xx.size(); |
| 90 | if (x==xx[0]) return 0; |
| 91 | else if (x==xx[n-1]) return n-2; |
| 92 | |
| 93 | int jl=-1; |
| 94 | int ju=n; |
| 95 | int ascnd=(xx[n-1]>=xx[0]); |
| 96 | while(ju-jl>1){ |
| 97 | int jm=(ju+jl)>>1; |
| 98 | if ( (x>=xx[jm])==ascnd) |
| 99 | jl=jm; |
| 100 | else |
| 101 | ju=jm; |
| 102 | } |
| 103 | return jl; |
| 104 | } |
| 105 | |
| 106 | // Crude approximation for the variance in drift distance due to smearing |
| 107 | double DTrackFitterKalmanSIMD::fdc_drift_variance(double t) const { |
| 108 | //return FDC_ANODE_VARIANCE; |
| 109 | double dt=0.; |
| 110 | double t_lo=DRIFT_RES_PARMS[3]; |
| 111 | double t_hi=DRIFT_RES_PARMS[4]; |
| 112 | if (t<t_lo) t=t_lo; |
| 113 | if (t>t_hi){ |
| 114 | t=t_hi; |
| 115 | dt=t-t_hi; |
| 116 | } |
| 117 | double sigma=DRIFT_RES_PARMS[0]/(t+1.)+DRIFT_RES_PARMS[1]+DRIFT_RES_PARMS[2]*t*t; |
| 118 | if (dt>0){ |
| 119 | sigma+=DRIFT_RES_PARMS[5]*dt; |
| 120 | } |
| 121 | |
| 122 | return sigma*sigma; |
| 123 | } |
| 124 | |
| 125 | // Convert time to distance for the cdc and compute variance |
| 126 | void DTrackFitterKalmanSIMD::ComputeCDCDrift(double dphi,double delta,double t, |
| 127 | double B, |
| 128 | double &d, double &V, double &tcorr){ |
| 129 | //d=0.39; // initialize at half-cell |
| 130 | //V=0.0507; // initialize with (cell size)/12. |
| 131 | tcorr = t; // Need this value even when t is negative for calibration |
| 132 | if (t>0){ |
| 133 | double dtc =(CDC_DRIFT_BSCALE_PAR1 + CDC_DRIFT_BSCALE_PAR2 * B)* t; |
| 134 | tcorr=t-dtc; |
| 135 | |
| 136 | // CDC_RES_PAR2=0.005; |
| 137 | double sigma=CDC_RES_PAR1/(tcorr+1.) + CDC_RES_PAR2 + CDC_RES_PAR3*tcorr; |
| 138 | |
| 139 | // Variables to store values for time-to-distance functions for delta=0 |
| 140 | // and delta!=0 |
| 141 | double f_0=0.; |
| 142 | double f_delta=0.; |
| 143 | // Derivative of d with respect to t, needed to add t0 variance |
| 144 | // dependence to sigma |
| 145 | double dd_dt=0; |
| 146 | // Scale factor to account for effect of B-field on maximum drift time |
| 147 | //double Bscale=long_drift_Bscale_par1+long_drift_Bscale_par2*B; |
| 148 | // tcorr=t*Bscale; |
| 149 | |
| 150 | // NSJ 26 May 2020 included long side a3, b3 and short side c1, c2, c3 |
| 151 | // Previously these parameters were not used (0 in ccdb) for production runs |
| 152 | // except intensity scan run 72312 by accident 5 May 2020, superseded 8 May. |
| 153 | // They were used in 2015 for runs 0-3050. |
| 154 | |
| 155 | // if (delta>0) |
| 156 | if (delta>-EPS21.e-4){ |
| 157 | double a1=long_drift_func[0][0]; |
| 158 | double a2=long_drift_func[0][1]; |
| 159 | double a3=long_drift_func[0][2]; |
| 160 | double b1=long_drift_func[1][0]; |
| 161 | double b2=long_drift_func[1][1]; |
| 162 | double b3=long_drift_func[1][2]; |
| 163 | double c1=long_drift_func[2][0]; |
| 164 | double c2=long_drift_func[2][1]; |
| 165 | double c3=long_drift_func[2][2]; |
| 166 | |
| 167 | // use "long side" functional form |
| 168 | double my_t=0.001*tcorr; |
| 169 | double sqrt_t=sqrt(my_t); |
| 170 | double t3=my_t*my_t*my_t; |
| 171 | double delta_mag=fabs(delta); |
| 172 | |
| 173 | double delta_sq=delta*delta; |
| 174 | double a=a1+a2*delta_mag+a3*delta_sq; |
| 175 | double b=b1+b2*delta_mag+b3*delta_sq; |
| 176 | double c=c1+c2*delta_mag+c3*delta_sq; |
| 177 | |
| 178 | f_delta=a*sqrt_t+b*my_t+c*t3; |
| 179 | f_0=a1*sqrt_t+b1*my_t+c1*t3; |
| 180 | |
| 181 | dd_dt=0.001*(0.5*a/sqrt_t+b+3.*c*my_t*my_t); |
| 182 | } |
| 183 | else{ |
| 184 | double my_t=0.001*tcorr; |
| 185 | double sqrt_t=sqrt(my_t); |
| 186 | double t3=my_t*my_t*my_t; |
| 187 | double delta_mag=fabs(delta); |
| 188 | |
| 189 | // use "short side" functional form |
| 190 | double a1=short_drift_func[0][0]; |
| 191 | double a2=short_drift_func[0][1]; |
| 192 | double a3=short_drift_func[0][2]; |
| 193 | double b1=short_drift_func[1][0]; |
| 194 | double b2=short_drift_func[1][1]; |
| 195 | double b3=short_drift_func[1][2]; |
| 196 | double c1=short_drift_func[2][0]; |
| 197 | double c2=short_drift_func[2][1]; |
| 198 | double c3=short_drift_func[2][2]; |
| 199 | |
| 200 | double delta_sq=delta*delta; |
| 201 | double a=a1+a2*delta_mag+a3*delta_sq; |
| 202 | double b=b1+b2*delta_mag+b3*delta_sq; |
| 203 | double c=c1+c2*delta_mag+c3*delta_sq; |
| 204 | |
| 205 | f_delta=a*sqrt_t+b*my_t+c*t3; |
| 206 | f_0=a1*sqrt_t+b1*my_t+c1*t3; |
| 207 | |
| 208 | dd_dt=0.001*(0.5*a/sqrt_t+b+3.*c*my_t*my_t); |
| 209 | |
| 210 | } |
| 211 | |
| 212 | unsigned int max_index=cdc_drift_table.size()-1; |
| 213 | if (tcorr>cdc_drift_table[max_index]){ |
| 214 | //_DBG_ << "t: " << tcorr <<" d " << f_delta <<endl; |
| 215 | d=f_delta; |
| 216 | V=sigma*sigma+mVarT0*dd_dt*dd_dt; |
| 217 | |
| 218 | return; |
| 219 | } |
| 220 | |
| 221 | // Drift time is within range of table -- interpolate... |
| 222 | unsigned int index=0; |
| 223 | index=locate(cdc_drift_table,tcorr); |
| 224 | double dt=cdc_drift_table[index+1]-cdc_drift_table[index]; |
| 225 | double frac=(tcorr-cdc_drift_table[index])/dt; |
| 226 | double d_0=0.01*(double(index)+frac); |
| 227 | |
| 228 | if (fabs(delta) < EPS21.e-4){ |
| 229 | d=d_0; |
| 230 | V=sigma*sigma+mVarT0*dd_dt*dd_dt; |
| 231 | } |
| 232 | else{ |
| 233 | double P=0.; |
| 234 | double tcut=250.0; // ns |
| 235 | if (tcorr<tcut) { |
| 236 | P=(tcut-tcorr)/tcut; |
| 237 | } |
| 238 | d=f_delta*(d_0/f_0*P+1.-P); |
| 239 | V=sigma*sigma+mVarT0*dd_dt*dd_dt; |
| 240 | } |
| 241 | } |
| 242 | else { // Time is negative, or exactly zero, choose position at wire, with error of t=0 hit |
| 243 | d=0.; |
| 244 | double sigma = CDC_RES_PAR1+CDC_RES_PAR2; |
| 245 | double dt=cdc_drift_table[1]-cdc_drift_table[0]; |
| 246 | V=sigma*sigma+mVarT0*0.0001/(dt*dt); |
| 247 | //V=0.0507; // straw radius^2 / 12 |
| 248 | } |
| 249 | |
| 250 | } |
| 251 | |
| 252 | #define FDC_T0_OFFSET17.6 17.6 |
| 253 | // Interpolate on a table to convert time to distance for the fdc |
| 254 | /* |
| 255 | double DTrackFitterKalmanSIMD::fdc_drift_distance(double t,double Bz) const { |
| 256 | double a=93.31,b=4.614,Bref=2.143; |
| 257 | t*=(a+b*Bref)/(a+b*Bz); |
| 258 | int id=int((t+FDC_T0_OFFSET)/2.); |
| 259 | if (id<0) id=0; |
| 260 | if (id>138) id=138; |
| 261 | double d=fdc_drift_table[id]; |
| 262 | if (id!=138){ |
| 263 | double frac=0.5*(t+FDC_T0_OFFSET-2.*double(id)); |
| 264 | double dd=fdc_drift_table[id+1]-fdc_drift_table[id]; |
| 265 | d+=frac*dd; |
| 266 | } |
| 267 | |
| 268 | return d; |
| 269 | } |
| 270 | */ |
| 271 | |
| 272 | // parametrization of time-to-distance for FDC |
| 273 | double DTrackFitterKalmanSIMD::fdc_drift_distance(double time,double Bz) const { |
| 274 | if (time<0.) return 0.; |
| 275 | double d=0.; |
| 276 | time/=1.+FDC_DRIFT_BSCALE_PAR1+FDC_DRIFT_BSCALE_PAR2*Bz*Bz; |
| 277 | double tsq=time*time; |
| 278 | double t_high=DRIFT_FUNC_PARMS[4]; |
| 279 | |
| 280 | if (time<t_high){ |
| 281 | d=DRIFT_FUNC_PARMS[0]*sqrt(time)+DRIFT_FUNC_PARMS[1]*time |
| 282 | +DRIFT_FUNC_PARMS[2]*tsq+DRIFT_FUNC_PARMS[3]*tsq*time; |
| 283 | } |
| 284 | else{ |
| 285 | double t_high_sq=t_high*t_high; |
| 286 | d=DRIFT_FUNC_PARMS[0]*sqrt(t_high)+DRIFT_FUNC_PARMS[1]*t_high |
| 287 | +DRIFT_FUNC_PARMS[2]*t_high_sq+DRIFT_FUNC_PARMS[3]*t_high_sq*t_high; |
| 288 | d+=DRIFT_FUNC_PARMS[5]*(time-t_high); |
| 289 | } |
| 290 | |
| 291 | return d; |
| 292 | } |
| 293 | |
| 294 | |
| 295 | DTrackFitterKalmanSIMD::DTrackFitterKalmanSIMD(JEventLoop *loop):DTrackFitter(loop){ |
| 296 | FactorForSenseOfRotation=(bfield->GetBz(0.,0.,65.)>0.)?-1.:1.; |
| 297 | |
| 298 | // keep track of which runs we print out messages for |
| 299 | int32_t runnumber = loop->GetJEvent().GetRunNumber(); |
| 300 | pthread_mutex_lock(&print_mutex); |
| 301 | bool print_messages = false; |
| 302 | if(runs_announced.find(runnumber) == runs_announced.end()){ |
| 303 | print_messages = true; |
| 304 | runs_announced.insert(runnumber); |
| 305 | } |
| 306 | pthread_mutex_unlock(&print_mutex); |
| 307 | |
| 308 | // Some useful values |
| 309 | two_m_e=2.*ELECTRON_MASS0.000511; |
| 310 | m_e_sq=ELECTRON_MASS0.000511*ELECTRON_MASS0.000511; |
| 311 | |
| 312 | // Get the position of the CDC downstream endplate from DGeometry |
| 313 | double endplate_rmin,endplate_rmax; |
| 314 | geom->GetCDCEndplate(endplate_z,endplate_dz,endplate_rmin,endplate_rmax); |
| 315 | endplate_z-=0.5*endplate_dz; |
| 316 | endplate_z_downstream=endplate_z+endplate_dz; |
| 317 | endplate_rmin+=0.1; // put just inside CDC |
| 318 | endplate_r2min=endplate_rmin*endplate_rmin; |
| 319 | endplate_r2max=endplate_rmax*endplate_rmax; |
| 320 | |
| 321 | // Beginning of the cdc |
| 322 | vector<double>cdc_center; |
| 323 | vector<double>cdc_upstream_endplate_pos; |
| 324 | vector<double>cdc_endplate_dim; |
| 325 | geom->Get("//posXYZ[@volume='CentralDC'/@X_Y_Z",cdc_origin); |
| 326 | geom->Get("//posXYZ[@volume='centralDC']/@X_Y_Z",cdc_center); |
| 327 | geom->Get("//posXYZ[@volume='CDPU']/@X_Y_Z",cdc_upstream_endplate_pos); |
| 328 | geom->Get("//tubs[@name='CDPU']/@Rio_Z",cdc_endplate_dim); |
| 329 | cdc_origin[2]+=cdc_center[2]+cdc_upstream_endplate_pos[2] |
| 330 | +0.5*cdc_endplate_dim[2]; |
| 331 | |
| 332 | // Outer detector geometry parameters |
| 333 | geom->GetFCALZ(dFCALz); |
| 334 | dFCALzBack=dFCALz+45.; |
| 335 | if (geom->GetDIRCZ(dDIRCz)==false) dDIRCz=1000.; |
| 336 | geom->GetFMWPCZ_vec(dFMWPCz_vec); |
| 337 | geom->GetFMWPCSize(dFMWPCsize); |
| 338 | geom->GetCTOFZ(dCTOFz); |
| 339 | |
| 340 | vector<double>tof_face; |
| 341 | geom->Get("//section/composition/posXYZ[@volume='ForwardTOF']/@X_Y_Z", |
| 342 | tof_face); |
| 343 | vector<double>tof_plane; |
| 344 | geom->Get("//composition[@name='ForwardTOF']/posXYZ[@volume='forwardTOF']/@X_Y_Z/plane[@value='0']", tof_plane); |
| 345 | dTOFz=tof_face[2]+tof_plane[2]; |
| 346 | geom->Get("//composition[@name='ForwardTOF']/posXYZ[@volume='forwardTOF']/@X_Y_Z/plane[@value='1']", tof_plane); |
| 347 | dTOFz+=tof_face[2]+tof_plane[2]; |
| 348 | dTOFz*=0.5; // mid plane between tof planes |
| 349 | geom->GetTRDZ(dTRDz_vec); // TRD planes |
| 350 | |
| 351 | // Get start counter geometry; |
| 352 | if (geom->GetStartCounterGeom(sc_pos, sc_norm)){ |
| 353 | // Create vector of direction vectors in scintillator planes |
| 354 | for (int i=0;i<30;i++){ |
| 355 | vector<DVector3>temp; |
| 356 | for (unsigned int j=0;j<sc_pos[i].size()-1;j++){ |
| 357 | double dx=sc_pos[i][j+1].x()-sc_pos[i][j].x(); |
| 358 | double dy=sc_pos[i][j+1].y()-sc_pos[i][j].y(); |
| 359 | double dz=sc_pos[i][j+1].z()-sc_pos[i][j].z(); |
| 360 | temp.push_back(DVector3(dx/dz,dy/dz,1.)); |
| 361 | } |
| 362 | sc_dir.push_back(temp); |
| 363 | } |
| 364 | SC_END_NOSE_Z=sc_pos[0][12].z(); |
| 365 | SC_BARREL_R2=sc_pos[0][0].Perp2(); |
| 366 | SC_PHI_SECTOR1=sc_pos[0][0].Phi(); |
| 367 | } |
| 368 | |
| 369 | // Get z positions of fdc wire planes |
| 370 | geom->GetFDCZ(fdc_z_wires); |
| 371 | |
| 372 | ADD_VERTEX_POINT=false; |
| 373 | gPARMS->SetDefaultParameter("KALMAN:ADD_VERTEX_POINT", ADD_VERTEX_POINT); |
| 374 | |
| 375 | THETA_CUT=60.0; |
| 376 | gPARMS->SetDefaultParameter("KALMAN:THETA_CUT", THETA_CUT); |
| 377 | |
| 378 | RING_TO_SKIP=0; |
| 379 | gPARMS->SetDefaultParameter("KALMAN:RING_TO_SKIP",RING_TO_SKIP); |
| 380 | |
| 381 | PLANE_TO_SKIP=0; |
| 382 | gPARMS->SetDefaultParameter("KALMAN:PLANE_TO_SKIP",PLANE_TO_SKIP); |
| 383 | |
| 384 | MINIMUM_HIT_FRACTION=0.7; |
| 385 | gPARMS->SetDefaultParameter("KALMAN:MINIMUM_HIT_FRACTION",MINIMUM_HIT_FRACTION); |
| 386 | MIN_HITS_FOR_REFIT=6; |
| 387 | gPARMS->SetDefaultParameter("KALMAN:MIN_HITS_FOR_REFIT", MIN_HITS_FOR_REFIT); |
| 388 | PHOTON_ENERGY_CUTOFF=0.125; |
| 389 | gPARMS->SetDefaultParameter("KALMAN:PHOTON_ENERGY_CUTOFF", |
| 390 | PHOTON_ENERGY_CUTOFF); |
| 391 | |
| 392 | USE_FDC_HITS=true; |
| 393 | gPARMS->SetDefaultParameter("TRKFIT:USE_FDC_HITS",USE_FDC_HITS); |
| 394 | USE_CDC_HITS=true; |
| 395 | gPARMS->SetDefaultParameter("TRKFIT:USE_CDC_HITS",USE_CDC_HITS); |
| 396 | USE_TRD_HITS=false; |
| 397 | gPARMS->SetDefaultParameter("TRKFIT:USE_TRD_HITS",USE_TRD_HITS); |
| 398 | USE_TRD_DRIFT_TIMES=true; |
| 399 | gPARMS->SetDefaultParameter("TRKFIT:USE_TRD_DRIFT_TIMES",USE_TRD_DRIFT_TIMES); |
| 400 | USE_GEM_HITS=false; |
| 401 | gPARMS->SetDefaultParameter("TRKFIT:USE_GEM_HITS",USE_GEM_HITS); |
| 402 | |
| 403 | |
| 404 | // Flag to enable calculation of alignment derivatives |
| 405 | ALIGNMENT=false; |
| 406 | gPARMS->SetDefaultParameter("TRKFIT:ALIGNMENT",ALIGNMENT); |
| 407 | |
| 408 | ALIGNMENT_FORWARD=false; |
| 409 | gPARMS->SetDefaultParameter("TRKFIT:ALIGNMENT_FORWARD",ALIGNMENT_FORWARD); |
| 410 | |
| 411 | ALIGNMENT_CENTRAL=false; |
| 412 | gPARMS->SetDefaultParameter("TRKFIT:ALIGNMENT_CENTRAL",ALIGNMENT_CENTRAL); |
| 413 | |
| 414 | if(ALIGNMENT){ALIGNMENT_FORWARD=true;ALIGNMENT_CENTRAL=true;} |
| 415 | |
| 416 | DEBUG_HISTS=false; |
| 417 | gPARMS->SetDefaultParameter("KALMAN:DEBUG_HISTS", DEBUG_HISTS); |
| 418 | |
| 419 | DEBUG_LEVEL=0; |
| 420 | gPARMS->SetDefaultParameter("KALMAN:DEBUG_LEVEL", DEBUG_LEVEL); |
| 421 | |
| 422 | USE_T0_FROM_WIRES=0; |
| 423 | gPARMS->SetDefaultParameter("KALMAN:USE_T0_FROM_WIRES", USE_T0_FROM_WIRES); |
| 424 | |
| 425 | ESTIMATE_T0_TB=false; |
| 426 | gPARMS->SetDefaultParameter("KALMAN:ESTIMATE_T0_TB",ESTIMATE_T0_TB); |
| 427 | |
| 428 | ENABLE_BOUNDARY_CHECK=true; |
| 429 | gPARMS->SetDefaultParameter("GEOM:ENABLE_BOUNDARY_CHECK", |
| 430 | ENABLE_BOUNDARY_CHECK); |
| 431 | |
| 432 | USE_MULS_COVARIANCE=true; |
| 433 | gPARMS->SetDefaultParameter("TRKFIT:USE_MULS_COVARIANCE", |
| 434 | USE_MULS_COVARIANCE); |
| 435 | |
| 436 | USE_PASS1_TIME_MODE=false; |
| 437 | gPARMS->SetDefaultParameter("KALMAN:USE_PASS1_TIME_MODE",USE_PASS1_TIME_MODE); |
| 438 | |
| 439 | USE_FDC_DRIFT_TIMES=true; |
| 440 | gPARMS->SetDefaultParameter("TRKFIT:USE_FDC_DRIFT_TIMES", |
| 441 | USE_FDC_DRIFT_TIMES); |
| 442 | |
| 443 | RECOVER_BROKEN_TRACKS=true; |
| 444 | gPARMS->SetDefaultParameter("KALMAN:RECOVER_BROKEN_TRACKS",RECOVER_BROKEN_TRACKS); |
| 445 | |
| 446 | NUM_CDC_SIGMA_CUT=5.0; |
| 447 | NUM_FDC_SIGMA_CUT=5.0; |
| 448 | gPARMS->SetDefaultParameter("KALMAN:NUM_CDC_SIGMA_CUT",NUM_CDC_SIGMA_CUT, |
| 449 | "maximum distance in number of sigmas away from projection to accept cdc hit"); |
| 450 | gPARMS->SetDefaultParameter("KALMAN:NUM_FDC_SIGMA_CUT",NUM_FDC_SIGMA_CUT, |
| 451 | "maximum distance in number of sigmas away from projection to accept fdc hit"); |
| 452 | |
| 453 | ANNEAL_SCALE=9.0; |
| 454 | ANNEAL_POW_CONST=1.5; |
| 455 | gPARMS->SetDefaultParameter("KALMAN:ANNEAL_SCALE",ANNEAL_SCALE, |
| 456 | "Scale factor for annealing"); |
| 457 | gPARMS->SetDefaultParameter("KALMAN:ANNEAL_POW_CONST",ANNEAL_POW_CONST, |
| 458 | "Annealing parameter"); |
| 459 | FORWARD_ANNEAL_SCALE=9.; |
| 460 | FORWARD_ANNEAL_POW_CONST=1.5; |
| 461 | gPARMS->SetDefaultParameter("KALMAN:FORWARD_ANNEAL_SCALE", |
| 462 | FORWARD_ANNEAL_SCALE, |
| 463 | "Scale factor for annealing"); |
| 464 | gPARMS->SetDefaultParameter("KALMAN:FORWARD_ANNEAL_POW_CONST", |
| 465 | FORWARD_ANNEAL_POW_CONST, |
| 466 | "Annealing parameter"); |
| 467 | |
| 468 | FORWARD_PARMS_COV=false; |
| 469 | gPARMS->SetDefaultParameter("KALMAN:FORWARD_PARMS_COV",FORWARD_PARMS_COV); |
| 470 | |
| 471 | CDC_VAR_SCALE_FACTOR=1.; |
| 472 | gPARMS->SetDefaultParameter("KALMAN:CDC_VAR_SCALE_FACTOR",CDC_VAR_SCALE_FACTOR); |
| 473 | CDC_T_DRIFT_MIN=-12.; // One f125 clock = 8 ns |
| 474 | gPARMS->SetDefaultParameter("KALMAN:CDC_T_DRIFT_MIN",CDC_T_DRIFT_MIN); |
| 475 | |
| 476 | MOLIERE_FRACTION=0.9; |
| 477 | gPARMS->SetDefaultParameter("KALMAN:MOLIERE_FRACTION",MOLIERE_FRACTION); |
| 478 | MS_SCALE_FACTOR=2.0; |
| 479 | gPARMS->SetDefaultParameter("KALMAN:MS_SCALE_FACTOR",MS_SCALE_FACTOR); |
| 480 | MOLIERE_RATIO1=0.5/(1.-MOLIERE_FRACTION); |
| 481 | MOLIERE_RATIO2=MS_SCALE_FACTOR*1.e-6/(1.+MOLIERE_FRACTION*MOLIERE_FRACTION); //scale_factor/(1+F*F) |
| 482 | |
| 483 | COVARIANCE_SCALE_FACTOR_CENTRAL=2.0; |
| 484 | gPARMS->SetDefaultParameter("KALMAN:COVARIANCE_SCALE_FACTOR_CENTRAL", |
| 485 | COVARIANCE_SCALE_FACTOR_CENTRAL); |
| 486 | |
| 487 | COVARIANCE_SCALE_FACTOR_FORWARD=2.0; |
| 488 | gPARMS->SetDefaultParameter("KALMAN:COVARIANCE_SCALE_FACTOR_FORWARD", |
| 489 | COVARIANCE_SCALE_FACTOR_FORWARD); |
| 490 | |
| 491 | WRITE_ML_TRAINING_OUTPUT=false; |
| 492 | gPARMS->SetDefaultParameter("KALMAN:WRITE_ML_TRAINING_OUTPUT", |
| 493 | WRITE_ML_TRAINING_OUTPUT); |
| 494 | |
| 495 | if (WRITE_ML_TRAINING_OUTPUT){ |
| 496 | mlfile.open("mltraining.dat"); |
| 497 | } |
| 498 | |
| 499 | |
| 500 | DApplication* dapp = dynamic_cast<DApplication*>(loop->GetJApplication()); |
| 501 | JCalibration *jcalib = dapp->GetJCalibration((loop->GetJEvent()).GetRunNumber()); |
| 502 | vector< map<string, double> > tvals; |
| 503 | cdc_drift_table.clear(); |
| 504 | if (jcalib->Get("CDC/cdc_drift_table", tvals)==false){ |
| 505 | for(unsigned int i=0; i<tvals.size(); i++){ |
| 506 | map<string, double> &row = tvals[i]; |
| 507 | cdc_drift_table.push_back(1000.*row["t"]); |
| 508 | } |
| 509 | } |
| 510 | else{ |
| 511 | jerr << " CDC time-to-distance table not available... bailing..." << endl; |
| 512 | exit(0); |
| 513 | } |
| 514 | |
| 515 | int straw_number[28]={42,42,54,54,66,66,80,80,93,93,106,106, |
| 516 | 123,123,135,135,146,146,158,158,170,170, |
| 517 | 182,182,197,197,209,209}; |
| 518 | max_sag.clear(); |
| 519 | sag_phi_offset.clear(); |
| 520 | int straw_count=0,ring_count=0; |
| 521 | if (jcalib->Get("CDC/sag_parameters", tvals)==false){ |
| 522 | vector<double>temp,temp2; |
| 523 | for(unsigned int i=0; i<tvals.size(); i++){ |
| 524 | map<string, double> &row = tvals[i]; |
| 525 | |
| 526 | temp.push_back(row["offset"]); |
| 527 | temp2.push_back(row["phi"]); |
| 528 | |
| 529 | straw_count++; |
| 530 | if (straw_count==straw_number[ring_count]){ |
| 531 | max_sag.push_back(temp); |
| 532 | sag_phi_offset.push_back(temp2); |
| 533 | temp.clear(); |
| 534 | temp2.clear(); |
| 535 | straw_count=0; |
| 536 | ring_count++; |
| 537 | } |
| 538 | } |
| 539 | } |
| 540 | |
| 541 | if (jcalib->Get("CDC/drift_parameters", tvals)==false){ |
| 542 | map<string, double> &row = tvals[0]; // long drift side |
| 543 | long_drift_func[0][0]=row["a1"]; |
| 544 | long_drift_func[0][1]=row["a2"]; |
| 545 | long_drift_func[0][2]=row["a3"]; |
| 546 | long_drift_func[1][0]=row["b1"]; |
| 547 | long_drift_func[1][1]=row["b2"]; |
| 548 | long_drift_func[1][2]=row["b3"]; |
| 549 | long_drift_func[2][0]=row["c1"]; |
| 550 | long_drift_func[2][1]=row["c2"]; |
| 551 | long_drift_func[2][2]=row["c3"]; |
| 552 | long_drift_Bscale_par1=row["B1"]; |
| 553 | long_drift_Bscale_par2=row["B2"]; |
| 554 | |
| 555 | row = tvals[1]; // short drift side |
| 556 | short_drift_func[0][0]=row["a1"]; |
| 557 | short_drift_func[0][1]=row["a2"]; |
| 558 | short_drift_func[0][2]=row["a3"]; |
| 559 | short_drift_func[1][0]=row["b1"]; |
| 560 | short_drift_func[1][1]=row["b2"]; |
| 561 | short_drift_func[1][2]=row["b3"]; |
| 562 | short_drift_func[2][0]=row["c1"]; |
| 563 | short_drift_func[2][1]=row["c2"]; |
| 564 | short_drift_func[2][2]=row["c3"]; |
| 565 | short_drift_Bscale_par1=row["B1"]; |
| 566 | short_drift_Bscale_par2=row["B2"]; |
| 567 | } |
| 568 | |
| 569 | map<string, double> cdc_drift_parms; |
| 570 | jcalib->Get("CDC/cdc_drift_parms", cdc_drift_parms); |
| 571 | CDC_DRIFT_BSCALE_PAR1 = cdc_drift_parms["bscale_par1"]; |
| 572 | CDC_DRIFT_BSCALE_PAR2 = cdc_drift_parms["bscale_par2"]; |
| 573 | |
| 574 | map<string, double> cdc_res_parms; |
| 575 | jcalib->Get("CDC/cdc_resolution_parms_v2", cdc_res_parms); |
| 576 | CDC_RES_PAR1 = cdc_res_parms["res_par1"]; |
| 577 | CDC_RES_PAR2 = cdc_res_parms["res_par2"]; |
| 578 | CDC_RES_PAR3 = cdc_res_parms["res_par3"]; |
| 579 | |
| 580 | // Parameters for correcting for deflection due to Lorentz force |
| 581 | map<string,double>lorentz_parms; |
| 582 | jcalib->Get("FDC/lorentz_deflection_parms",lorentz_parms); |
| 583 | LORENTZ_NR_PAR1=lorentz_parms["nr_par1"]; |
| 584 | LORENTZ_NR_PAR2=lorentz_parms["nr_par2"]; |
| 585 | LORENTZ_NZ_PAR1=lorentz_parms["nz_par1"]; |
| 586 | LORENTZ_NZ_PAR2=lorentz_parms["nz_par2"]; |
| 587 | |
| 588 | // Parameters for accounting for variation in drift distance from FDC |
| 589 | map<string,double>drift_res_parms; |
| 590 | jcalib->Get("FDC/drift_resolution_parms",drift_res_parms); |
| 591 | DRIFT_RES_PARMS[0]=drift_res_parms["p0"]; |
| 592 | DRIFT_RES_PARMS[1]=drift_res_parms["p1"]; |
| 593 | DRIFT_RES_PARMS[2]=drift_res_parms["p2"]; |
| 594 | map<string,double>drift_res_ext; |
| 595 | jcalib->Get("FDC/drift_resolution_ext",drift_res_ext); |
| 596 | DRIFT_RES_PARMS[3]=drift_res_ext["t_low"]; |
| 597 | DRIFT_RES_PARMS[4]=drift_res_ext["t_high"]; |
| 598 | DRIFT_RES_PARMS[5]=drift_res_ext["res_slope"]; |
| 599 | |
| 600 | // Time-to-distance function parameters for FDC |
| 601 | map<string,double>drift_func_parms; |
| 602 | jcalib->Get("FDC/drift_function_parms",drift_func_parms); |
| 603 | DRIFT_FUNC_PARMS[0]=drift_func_parms["p0"]; |
| 604 | DRIFT_FUNC_PARMS[1]=drift_func_parms["p1"]; |
| 605 | DRIFT_FUNC_PARMS[2]=drift_func_parms["p2"]; |
| 606 | DRIFT_FUNC_PARMS[3]=drift_func_parms["p3"]; |
| 607 | DRIFT_FUNC_PARMS[4]=1000.; |
| 608 | DRIFT_FUNC_PARMS[5]=0.; |
| 609 | map<string,double>drift_func_ext; |
| 610 | if (jcalib->Get("FDC/drift_function_ext",drift_func_ext)==false){ |
| 611 | DRIFT_FUNC_PARMS[4]=drift_func_ext["p4"]; |
| 612 | DRIFT_FUNC_PARMS[5]=drift_func_ext["p5"]; |
| 613 | } |
| 614 | // Factors for taking care of B-dependence of drift time for FDC |
| 615 | map<string, double> fdc_drift_parms; |
| 616 | jcalib->Get("FDC/fdc_drift_parms", fdc_drift_parms); |
| 617 | FDC_DRIFT_BSCALE_PAR1 = fdc_drift_parms["bscale_par1"]; |
| 618 | FDC_DRIFT_BSCALE_PAR2 = fdc_drift_parms["bscale_par2"]; |
| 619 | |
| 620 | |
| 621 | /* |
| 622 | if (jcalib->Get("FDC/fdc_drift2", tvals)==false){ |
| 623 | for(unsigned int i=0; i<tvals.size(); i++){ |
| 624 | map<string, float> &row = tvals[i]; |
| 625 | iter_float iter = row.begin(); |
| 626 | fdc_drift_table[i] = iter->second; |
| 627 | } |
| 628 | } |
| 629 | else{ |
| 630 | jerr << " FDC time-to-distance table not available... bailing..." << endl; |
| 631 | exit(0); |
| 632 | } |
| 633 | */ |
| 634 | |
| 635 | for (unsigned int i=0;i<5;i++)I5x5(i,i)=1.; |
| 636 | |
| 637 | |
| 638 | // center of the target |
| 639 | map<string, double> targetparms; |
| 640 | if (jcalib->Get("TARGET/target_parms",targetparms)==false){ |
| 641 | TARGET_Z = targetparms["TARGET_Z_POSITION"]; |
| 642 | } |
| 643 | else{ |
| 644 | geom->GetTargetZ(TARGET_Z); |
| 645 | } |
| 646 | if (ADD_VERTEX_POINT){ |
| 647 | gPARMS->SetDefaultParameter("KALMAN:VERTEX_POSITION",TARGET_Z); |
| 648 | } |
| 649 | |
| 650 | // Beam position and direction |
| 651 | map<string, double> beam_vals; |
| 652 | jcalib->Get("PHOTON_BEAM/beam_spot",beam_vals); |
| 653 | beam_center.Set(beam_vals["x"],beam_vals["y"]); |
| 654 | beam_dir.Set(beam_vals["dxdz"],beam_vals["dydz"]); |
| 655 | |
| 656 | if(print_messages) |
| 657 | jout << " Beam spot: x=" << beam_center.X() << " y=" << beam_center.Y() |
| 658 | << " z=" << beam_vals["z"] |
| 659 | << " dx/dz=" << beam_dir.X() << " dy/dz=" << beam_dir.Y() << endl; |
| 660 | beam_z0=beam_vals["z"]; |
| 661 | |
| 662 | // Inform user of some configuration settings |
| 663 | static bool config_printed = false; |
| 664 | if(!config_printed){ |
| 665 | config_printed = true; |
| 666 | stringstream ss; |
| 667 | ss << "vertex constraint: " ; |
| 668 | if(ADD_VERTEX_POINT){ |
| 669 | ss << "z = " << TARGET_Z << "cm" << endl; |
| 670 | }else{ |
| 671 | ss << "<none>" << endl; |
| 672 | } |
| 673 | jout << ss.str(); |
| 674 | } // config_printed |
| 675 | |
| 676 | if(DEBUG_HISTS){ |
| 677 | for (auto i=0; i < 46; i++){ |
| 678 | double min = -10., max=10.; |
| 679 | if(i%23<12) {min=-5; max=5;} |
| 680 | if(i<23)alignDerivHists[i]=new TH1I(Form("CentralDeriv%i",i),Form("CentralDeriv%i",i),200, min, max); |
| 681 | else alignDerivHists[i]=new TH1I(Form("ForwardDeriv%i",i%23),Form("ForwardDeriv%i",i%23),200, min, max); |
| 682 | } |
| 683 | brentCheckHists[0]=new TH2I("ForwardBrentCheck","DOCA vs ds", 100, -5., 5., 100, 0.0, 1.5); |
| 684 | brentCheckHists[1]=new TH2I("CentralBrentCheck","DOCA vs ds", 100, -5., 5., 100, 0.0, 1.5); |
| 685 | } |
| 686 | |
| 687 | dResourcePool_TMatrixFSym = std::make_shared<DResourcePool<TMatrixFSym>>(); |
| 688 | dResourcePool_TMatrixFSym->Set_ControlParams(20, 20, 50); |
| 689 | |
| 690 | my_fdchits.reserve(24); |
| 691 | my_cdchits.reserve(28); |
| 692 | fdc_updates.reserve(24); |
| 693 | cdc_updates.reserve(28); |
| 694 | cdc_used_in_fit.reserve(28); |
| 695 | fdc_used_in_fit.reserve(24); |
| 696 | } |
| 697 | |
| 698 | //----------------- |
| 699 | // ResetKalmanSIMD |
| 700 | //----------------- |
| 701 | void DTrackFitterKalmanSIMD::ResetKalmanSIMD(void) |
| 702 | { |
| 703 | last_material_map=0; |
| 704 | |
| 705 | for (unsigned int i=0;i<my_cdchits.size();i++){ |
| 706 | delete my_cdchits[i]; |
| 707 | } |
| 708 | for (unsigned int i=0;i<my_fdchits.size();i++){ |
| 709 | delete my_fdchits[i]; |
| 710 | } |
| 711 | central_traj.clear(); |
| 712 | forward_traj.clear(); |
| 713 | my_fdchits.clear(); |
| 714 | my_cdchits.clear(); |
| 715 | fdc_updates.clear(); |
| 716 | cdc_updates.clear(); |
| 717 | fdc_used_in_fit.clear(); |
| 718 | cdc_used_in_fit.clear(); |
| 719 | got_trd_gem_hits=false; |
| 720 | |
| 721 | cov.clear(); |
| 722 | fcov.clear(); |
| 723 | |
| 724 | len = 0.0; |
| 725 | ftime=0.0; |
| 726 | var_ftime=0.0; |
| 727 | x_=0.,y_=0.,tx_=0.,ty_=0.,q_over_p_ = 0.0; |
| 728 | z_=0.,phi_=0.,tanl_=0.,q_over_pt_ =0, D_= 0.0; |
| 729 | chisq_ = 0.0; |
| 730 | ndf_ = 0; |
| 731 | MASS=0.13957; |
| 732 | mass2=MASS*MASS; |
| 733 | Bx=By=0.; |
| 734 | Bz=2.; |
| 735 | dBxdx=0.,dBxdy=0.,dBxdz=0.,dBydx=0.,dBydy=0.,dBydy=0.,dBzdx=0.,dBzdy=0.,dBzdz=0.; |
| 736 | // Step sizes |
| 737 | mStepSizeS=2.0; |
| 738 | mStepSizeZ=2.0; |
| 739 | //mStepSizeZ=0.5; |
| 740 | |
| 741 | //if (fit_type==kTimeBased){ |
| 742 | // mStepSizeS=0.5; |
| 743 | // mStepSizeZ=0.5; |
| 744 | // } |
| 745 | |
| 746 | |
| 747 | mT0=0.,mT0MinimumDriftTime=1e6; |
| 748 | mVarT0=25.; |
| 749 | |
| 750 | mCDCInternalStepSize=0.5; |
| 751 | //mCDCInternalStepSize=1.0; |
| 752 | //mCentralStepSize=0.75; |
| 753 | mCentralStepSize=0.75; |
| 754 | |
| 755 | mT0Detector=SYS_CDC; |
| 756 | |
| 757 | IsHadron=true; |
| 758 | IsElectron=false; |
| 759 | IsPositron=false; |
| 760 | |
| 761 | PT_MIN=0.01; |
| 762 | Q_OVER_P_MAX=100.; |
| 763 | |
| 764 | // These variables provide the approximate location along the trajectory |
| 765 | // where there is an indication of a kink in the track |
| 766 | break_point_fdc_index=0; |
| 767 | break_point_cdc_index=0; |
| 768 | break_point_step_index=0; |
| 769 | |
| 770 | } |
| 771 | |
| 772 | //----------------- |
| 773 | // FitTrack |
| 774 | //----------------- |
| 775 | DTrackFitter::fit_status_t DTrackFitterKalmanSIMD::FitTrack(void) |
| 776 | { |
| 777 | // Reset member data and free an memory associated with the last fit, |
| 778 | // but some of which only for wire-based fits |
| 779 | ResetKalmanSIMD(); |
| 780 | |
| 781 | // Check that we have enough FDC and CDC hits to proceed |
| 782 | if (cdchits.size()==0 && fdchits.size()<4) return kFitNotDone; |
| 783 | if (cdchits.size()+fdchits.size() < 6) return kFitNotDone; |
| 784 | |
| 785 | // Copy hits from base class into structures specific to DTrackFitterKalmanSIMD |
| 786 | if (USE_CDC_HITS) |
| 787 | for(unsigned int i=0; i<cdchits.size(); i++)AddCDCHit(cdchits[i]); |
| 788 | if (USE_FDC_HITS) |
| 789 | for(unsigned int i=0; i<fdchits.size(); i++)AddFDCHit(fdchits[i]); |
| 790 | if (USE_TRD_HITS){ |
| 791 | for(unsigned int i=0; i<trdhits.size(); i++)AddTRDHit(trdhits[i]); |
| 792 | if (trdhits.size()>0){ |
| 793 | //_DBG_ << "Got TRD" <<endl; |
| 794 | got_trd_gem_hits=true; |
| 795 | } |
| 796 | } |
| 797 | if (USE_GEM_HITS){ |
| 798 | for(unsigned int i=0; i<gemhits.size(); i++)AddGEMHit(gemhits[i]); |
| 799 | if (gemhits.size()>0){ |
| 800 | //_DBG_ << " Got GEM" << endl; |
| 801 | got_trd_gem_hits=true; |
| 802 | } |
| 803 | } |
| 804 | |
| 805 | unsigned int num_good_cdchits=my_cdchits.size(); |
| 806 | unsigned int num_good_fdchits=my_fdchits.size(); |
| 807 | |
| 808 | // keep track of the range of detector elements that could be hit |
| 809 | // for calculating the number of expected hits later on |
| 810 | //int min_cdc_ring=-1, max_cdc_ring=-1; |
| 811 | |
| 812 | // Order the cdc hits by ring number |
| 813 | if (num_good_cdchits>0){ |
| 814 | stable_sort(my_cdchits.begin(),my_cdchits.end(),DKalmanSIMDCDCHit_cmp); |
| 815 | |
| 816 | //min_cdc_ring = my_cdchits[0]->hit->wire->ring; |
| 817 | //max_cdc_ring = my_cdchits[my_cdchits.size()-1]->hit->wire->ring; |
| 818 | |
| 819 | // Look for multiple hits on the same wire |
| 820 | for (unsigned int i=0;i<my_cdchits.size()-1;i++){ |
| 821 | if (my_cdchits[i]->hit->wire->ring==my_cdchits[i+1]->hit->wire->ring && |
| 822 | my_cdchits[i]->hit->wire->straw==my_cdchits[i+1]->hit->wire->straw){ |
| 823 | num_good_cdchits--; |
| 824 | if (my_cdchits[i]->tdrift<my_cdchits[i+1]->tdrift){ |
| 825 | my_cdchits[i+1]->status=late_hit; |
| 826 | } |
| 827 | else{ |
| 828 | my_cdchits[i]->status=late_hit; |
| 829 | } |
| 830 | } |
| 831 | } |
| 832 | |
| 833 | } |
| 834 | // Order the fdc hits by z |
| 835 | if (num_good_fdchits>0){ |
| 836 | stable_sort(my_fdchits.begin(),my_fdchits.end(),DKalmanSIMDFDCHit_cmp); |
| 837 | |
| 838 | // Look for multiple hits on the same wire |
| 839 | for (unsigned int i=0;i<my_fdchits.size()-1;i++){ |
| 840 | if (my_fdchits[i]->hit==NULL__null || my_fdchits[i+1]->hit==NULL__null) continue; |
| 841 | if (my_fdchits[i]->hit->wire->layer==my_fdchits[i+1]->hit->wire->layer && |
| 842 | my_fdchits[i]->hit->wire->wire==my_fdchits[i+1]->hit->wire->wire){ |
| 843 | num_good_fdchits--; |
| 844 | if (fabs(my_fdchits[i]->t-my_fdchits[i+1]->t)<EPS3.0e-8){ |
| 845 | double tsum_1=my_fdchits[i]->hit->t_u+my_fdchits[i]->hit->t_v; |
| 846 | double tsum_2=my_fdchits[i+1]->hit->t_u+my_fdchits[i+1]->hit->t_v; |
| 847 | if (tsum_1<tsum_2){ |
| 848 | my_fdchits[i+1]->status=late_hit; |
| 849 | } |
| 850 | else{ |
| 851 | my_fdchits[i]->status=late_hit; |
| 852 | } |
| 853 | } |
| 854 | else if (my_fdchits[i]->t<my_fdchits[i+1]->t){ |
| 855 | my_fdchits[i+1]->status=late_hit; |
| 856 | } |
| 857 | else{ |
| 858 | my_fdchits[i]->status=late_hit; |
| 859 | } |
| 860 | } |
| 861 | } |
| 862 | } |
| 863 | if (num_good_cdchits==0 && num_good_fdchits<4) return kFitNotDone; |
| 864 | if (num_good_cdchits+num_good_fdchits < 6) return kFitNotDone; |
| 865 | |
| 866 | // Create vectors of updates (from hits) to S and C |
| 867 | if (my_cdchits.size()>0){ |
| 868 | cdc_updates=vector<DKalmanUpdate_t>(my_cdchits.size()); |
| 869 | // Initialize vector to keep track of whether or not a hit is used in |
| 870 | // the fit |
| 871 | cdc_used_in_fit=vector<bool>(my_cdchits.size()); |
| 872 | } |
| 873 | if (my_fdchits.size()>0){ |
| 874 | fdc_updates=vector<DKalmanUpdate_t>(my_fdchits.size()); |
| 875 | // Initialize vector to keep track of whether or not a hit is used in |
| 876 | // the fit |
| 877 | fdc_used_in_fit=vector<bool>(my_fdchits.size()); |
| 878 | } |
| 879 | |
| 880 | // start time and variance |
| 881 | if (fit_type==kTimeBased){ |
| 882 | mT0=input_params.t0(); |
| 883 | switch(input_params.t0_detector()){ |
| 884 | case SYS_TOF: |
| 885 | mVarT0=0.01; |
| 886 | break; |
| 887 | case SYS_CDC: |
| 888 | mVarT0=7.5; |
| 889 | break; |
| 890 | case SYS_FDC: |
| 891 | mVarT0=7.5; |
| 892 | break; |
| 893 | case SYS_BCAL: |
| 894 | mVarT0=0.25; |
| 895 | break; |
| 896 | default: |
| 897 | mVarT0=0.09; |
| 898 | break; |
| 899 | } |
| 900 | } |
| 901 | |
| 902 | //_DBG_ << SystemName(input_params.t0_detector()) << " " << mT0 <<endl; |
| 903 | |
| 904 | //Set the mass |
| 905 | MASS=input_params.mass(); |
| 906 | mass2=MASS*MASS; |
| 907 | m_ratio=ELECTRON_MASS0.000511/MASS; |
| 908 | m_ratio_sq=m_ratio*m_ratio; |
| 909 | |
| 910 | // Is this particle an electron or positron? |
| 911 | if (MASS<0.001){ |
| 912 | IsHadron=false; |
| 913 | if (input_params.charge()<0.) IsElectron=true; |
| 914 | else IsPositron=true; |
| 915 | } |
| 916 | if (DEBUG_LEVEL>0) |
| 917 | { |
| 918 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<918<<" " << "------Starting " |
| 919 | <<(fit_type==kTimeBased?"Time-based":"Wire-based") |
| 920 | << " Fit with " << my_fdchits.size() << " FDC hits and " |
| 921 | << my_cdchits.size() << " CDC hits.-------" <<endl; |
| 922 | if (fit_type==kTimeBased){ |
| 923 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<923<<" " << " Using t0=" << mT0 << " from DET=" |
| 924 | << input_params.t0_detector() <<endl; |
| 925 | } |
| 926 | } |
| 927 | // Do the fit |
| 928 | jerror_t error = KalmanLoop(); |
| 929 | if (error!=NOERROR){ |
| 930 | if (DEBUG_LEVEL>0) |
| 931 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<931<<" " << "Fit failed with Error = " << error <<endl; |
| 932 | return kFitFailed; |
| 933 | } |
| 934 | |
| 935 | // Copy fit results into DTrackFitter base-class data members |
| 936 | DVector3 mom,pos; |
| 937 | GetPosition(pos); |
| 938 | GetMomentum(mom); |
| 939 | double charge = GetCharge(); |
| 940 | fit_params.setPosition(pos); |
| 941 | fit_params.setMomentum(mom); |
| 942 | fit_params.setTime(mT0MinimumDriftTime); |
| 943 | fit_params.setPID(IDTrack(charge, MASS)); |
| 944 | fit_params.setT0(mT0MinimumDriftTime,4.,mT0Detector); |
| 945 | |
| 946 | if (DEBUG_LEVEL>0){ |
| 947 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<947<<" " << "----- Pass: " |
| 948 | << (fit_type==kTimeBased?"Time-based ---":"Wire-based ---") |
| 949 | << " Mass: " << MASS |
| 950 | << " p=" << mom.Mag() |
| 951 | << " theta=" << 90.0-180./M_PI3.14159265358979323846*atan(tanl_) |
| 952 | << " vertex=(" << x_ << "," << y_ << "," << z_<<")" |
| 953 | << " chi2=" << chisq_ |
| 954 | <<endl; |
| 955 | if(DEBUG_LEVEL>3){ |
| 956 | //Dump pulls |
| 957 | for (unsigned int iPull = 0; iPull < pulls.size(); iPull++){ |
| 958 | if (pulls[iPull].cdc_hit != NULL__null){ |
| 959 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<959<<" " << " ring: " << pulls[iPull].cdc_hit->wire->ring |
| 960 | << " straw: " << pulls[iPull].cdc_hit->wire->straw |
| 961 | << " Residual: " << pulls[iPull].resi |
| 962 | << " Err: " << pulls[iPull].err |
| 963 | << " tdrift: " << pulls[iPull].tdrift |
| 964 | << " doca: " << pulls[iPull].d |
| 965 | << " docaphi: " << pulls[iPull].docaphi |
| 966 | << " z: " << pulls[iPull].z |
| 967 | << " cos(theta_rel): " << pulls[iPull].cosThetaRel |
| 968 | << " tcorr: " << pulls[iPull].tcorr |
| 969 | << endl; |
| 970 | } |
| 971 | } |
| 972 | } |
| 973 | } |
| 974 | |
| 975 | DMatrixDSym errMatrix(5); |
| 976 | // Fill the tracking error matrix and the one needed for kinematic fitting |
| 977 | if (fcov.size()!=0){ |
| 978 | // We MUST fill the entire matrix (not just upper right) even though |
| 979 | // this is a DMatrixDSym |
| 980 | for (unsigned int i=0;i<5;i++){ |
| 981 | for (unsigned int j=0;j<5;j++){ |
| 982 | errMatrix(i,j)=fcov[i][j]; |
| 983 | } |
| 984 | } |
| 985 | if (FORWARD_PARMS_COV){ |
| 986 | fit_params.setForwardParmFlag(true); |
| 987 | fit_params.setTrackingStateVector(x_,y_,tx_,ty_,q_over_p_); |
| 988 | |
| 989 | // Compute and fill the error matrix needed for kinematic fitting |
| 990 | fit_params.setErrorMatrix(Get7x7ErrorMatrixForward(errMatrix)); |
| 991 | } |
| 992 | else { |
| 993 | fit_params.setForwardParmFlag(false); |
| 994 | fit_params.setTrackingStateVector(q_over_pt_,phi_,tanl_,D_,z_); |
| 995 | |
| 996 | // Compute and fill the error matrix needed for kinematic fitting |
| 997 | fit_params.setErrorMatrix(Get7x7ErrorMatrix(errMatrix)); |
| 998 | } |
| 999 | } |
| 1000 | else if (cov.size()!=0){ |
| 1001 | fit_params.setForwardParmFlag(false); |
| 1002 | |
| 1003 | // We MUST fill the entire matrix (not just upper right) even though |
| 1004 | // this is a DMatrixDSym |
| 1005 | for (unsigned int i=0;i<5;i++){ |
| 1006 | for (unsigned int j=0;j<5;j++){ |
| 1007 | errMatrix(i,j)=cov[i][j]; |
| 1008 | } |
| 1009 | } |
| 1010 | fit_params.setTrackingStateVector(q_over_pt_,phi_,tanl_,D_,z_); |
| 1011 | |
| 1012 | // Compute and fill the error matrix needed for kinematic fitting |
| 1013 | fit_params.setErrorMatrix(Get7x7ErrorMatrix(errMatrix)); |
| 1014 | } |
| 1015 | auto locTrackingCovarianceMatrix = dResourcePool_TMatrixFSym->Get_SharedResource(); |
| 1016 | locTrackingCovarianceMatrix->ResizeTo(5, 5); |
| 1017 | for(unsigned int loc_i = 0; loc_i < 5; ++loc_i) |
| 1018 | { |
| 1019 | for(unsigned int loc_j = 0; loc_j < 5; ++loc_j) |
| 1020 | (*locTrackingCovarianceMatrix)(loc_i, loc_j) = errMatrix(loc_i, loc_j); |
| 1021 | |
| 1022 | } |
| 1023 | fit_params.setTrackingErrorMatrix(locTrackingCovarianceMatrix); |
| 1024 | this->chisq = GetChiSq(); |
| 1025 | this->Ndof = GetNDF(); |
| 1026 | fit_status = kFitSuccess; |
| 1027 | |
| 1028 | //_DBG_ << "========= done!" << endl; |
| 1029 | |
| 1030 | return fit_status; |
| 1031 | } |
| 1032 | |
| 1033 | //----------------- |
| 1034 | // ChiSq |
| 1035 | //----------------- |
| 1036 | double DTrackFitterKalmanSIMD::ChiSq(fit_type_t fit_type, DReferenceTrajectory *rt, double *chisq_ptr, int *dof_ptr, vector<pull_t> *pulls_ptr) |
| 1037 | { |
| 1038 | // This simply returns whatever was left in for the chisq/NDF from the last fit. |
| 1039 | // Using a DReferenceTrajectory is not really appropriate here so the base class' |
| 1040 | // requirement of it should be reviewed. |
| 1041 | double chisq = GetChiSq(); |
| 1042 | unsigned int ndf = GetNDF(); |
| 1043 | |
| 1044 | if(chisq_ptr)*chisq_ptr = chisq; |
| 1045 | if(dof_ptr)*dof_ptr = int(ndf); |
| 1046 | if(pulls_ptr)*pulls_ptr = pulls; |
| 1047 | |
| 1048 | return chisq/double(ndf); |
| 1049 | } |
| 1050 | |
| 1051 | // Return the momentum at the distance of closest approach to the origin. |
| 1052 | inline void DTrackFitterKalmanSIMD::GetMomentum(DVector3 &mom){ |
| 1053 | double pt=1./fabs(q_over_pt_); |
| 1054 | mom.SetXYZ(pt*cos(phi_),pt*sin(phi_),pt*tanl_); |
| 1055 | } |
| 1056 | |
| 1057 | // Return the "vertex" position (position at which track crosses beam line) |
| 1058 | inline void DTrackFitterKalmanSIMD::GetPosition(DVector3 &pos){ |
| 1059 | DVector2 beam_pos=beam_center+(z_-beam_z0)*beam_dir; |
| 1060 | pos.SetXYZ(x_+beam_pos.X(),y_+beam_pos.Y(),z_); |
| 1061 | } |
| 1062 | |
| 1063 | // Add GEM points |
| 1064 | void DTrackFitterKalmanSIMD::AddGEMHit(const DGEMPoint *gemhit){ |
| 1065 | DKalmanSIMDFDCHit_t *hit= new DKalmanSIMDFDCHit_t; |
| 1066 | |
| 1067 | hit->t=gemhit->time; |
| 1068 | hit->uwire=gemhit->x; |
| 1069 | hit->vstrip=gemhit->y; |
| 1070 | // From Justin (12/12/19): |
| 1071 | // DGEMPoint (GEM2 SRS, plane closest to the DIRC): |
| 1072 | // sigma_X = sigma_Y = 100 um |
| 1073 | hit->vvar=0.01*0.01; |
| 1074 | hit->uvar=hit->vvar; |
| 1075 | hit->z=gemhit->z; |
| 1076 | hit->cosa=1.; |
| 1077 | hit->sina=0.; |
| 1078 | hit->phiX=0.; |
| 1079 | hit->phiY=0.; |
| 1080 | hit->phiZ=0.; |
| 1081 | hit->nr=0.; |
| 1082 | hit->nz=0.; |
| 1083 | hit->status=gem_hit; |
| 1084 | hit->hit=NULL__null; |
| 1085 | |
| 1086 | my_fdchits.push_back(hit); |
| 1087 | } |
| 1088 | |
| 1089 | |
| 1090 | |
| 1091 | // Add TRD points |
| 1092 | void DTrackFitterKalmanSIMD::AddTRDHit(const DTRDPoint *trdhit){ |
| 1093 | DKalmanSIMDFDCHit_t *hit= new DKalmanSIMDFDCHit_t; |
| 1094 | |
| 1095 | hit->t=trdhit->time; |
| 1096 | hit->uwire=trdhit->x; |
| 1097 | hit->vstrip=trdhit->y; |
| 1098 | // From Justin (12/12/19): |
| 1099 | // sigma_X = 1 mm / sqrt(12) |
| 1100 | // sigma_Y = 300 um |
| 1101 | hit->vvar=0.03*0.03; |
| 1102 | hit->uvar=0.1*0.1/12.; |
| 1103 | hit->z=trdhit->z; |
| 1104 | hit->cosa=1.; |
| 1105 | hit->sina=0.; |
| 1106 | hit->phiX=0.; |
| 1107 | hit->phiY=0.; |
| 1108 | hit->phiZ=0.; |
| 1109 | hit->nr=0.; |
| 1110 | hit->nz=0.; |
| 1111 | hit->status=trd_hit; |
| 1112 | hit->hit=NULL__null; |
| 1113 | |
| 1114 | my_fdchits.push_back(hit); |
| 1115 | } |
| 1116 | |
| 1117 | // Add FDC hits |
| 1118 | void DTrackFitterKalmanSIMD::AddFDCHit(const DFDCPseudo *fdchit){ |
| 1119 | DKalmanSIMDFDCHit_t *hit= new DKalmanSIMDFDCHit_t; |
| 1120 | |
| 1121 | hit->t=fdchit->time; |
| 1122 | hit->uwire=fdchit->w; |
| 1123 | hit->vstrip=fdchit->s; |
| 1124 | hit->uvar=0.0833; |
| 1125 | hit->vvar=fdchit->ds*fdchit->ds; |
| 1126 | hit->z=fdchit->wire->origin.z(); |
| 1127 | hit->cosa=cos(fdchit->wire->angle); |
| 1128 | hit->sina=sin(fdchit->wire->angle); |
| 1129 | hit->phiX=fdchit->wire->angles.X(); |
| 1130 | hit->phiY=fdchit->wire->angles.Y(); |
| 1131 | hit->phiZ=fdchit->wire->angles.Z(); |
| 1132 | |
| 1133 | hit->nr=0.; |
| 1134 | hit->nz=0.; |
| 1135 | hit->dE=1e6*fdchit->dE; |
| 1136 | hit->hit=fdchit; |
| 1137 | hit->status=good_hit; |
| 1138 | |
| 1139 | my_fdchits.push_back(hit); |
| 1140 | } |
| 1141 | |
| 1142 | // Add CDC hits |
| 1143 | void DTrackFitterKalmanSIMD::AddCDCHit (const DCDCTrackHit *cdchit){ |
| 1144 | DKalmanSIMDCDCHit_t *hit= new DKalmanSIMDCDCHit_t; |
| 1145 | |
| 1146 | hit->hit=cdchit; |
| 1147 | hit->status=good_hit; |
| 1148 | hit->origin.Set(cdchit->wire->origin.x(),cdchit->wire->origin.y()); |
| 1149 | double one_over_uz=1./cdchit->wire->udir.z(); |
| 1150 | hit->dir.Set(one_over_uz*cdchit->wire->udir.x(), |
| 1151 | one_over_uz*cdchit->wire->udir.y()); |
| 1152 | hit->z0wire=cdchit->wire->origin.z(); |
| 1153 | hit->cosstereo=cos(cdchit->wire->stereo); |
| 1154 | hit->tdrift=cdchit->tdrift; |
| 1155 | my_cdchits.push_back(hit); |
| 1156 | } |
| 1157 | |
| 1158 | // Calculate the derivative of the state vector with respect to z |
| 1159 | jerror_t DTrackFitterKalmanSIMD::CalcDeriv(double z, |
| 1160 | const DMatrix5x1 &S, |
| 1161 | double dEdx, |
| 1162 | DMatrix5x1 &D){ |
| 1163 | double tx=S(state_tx),ty=S(state_ty); |
| 1164 | double q_over_p=S(state_q_over_p); |
| 1165 | |
| 1166 | // Turn off dEdx if the magnitude of the momentum drops below some cutoff |
| 1167 | if (fabs(q_over_p)>Q_OVER_P_MAX){ |
| 1168 | dEdx=0.; |
| 1169 | } |
| 1170 | // Try to keep the direction tangents from heading towards 90 degrees |
| 1171 | if (fabs(tx)>TAN_MAX10.) tx=TAN_MAX10.*(tx>0.0?1.:-1.); |
| 1172 | if (fabs(ty)>TAN_MAX10.) ty=TAN_MAX10.*(ty>0.0?1.:-1.); |
| 1173 | |
| 1174 | // useful combinations of terms |
| 1175 | double kq_over_p=qBr2p0.003*q_over_p; |
| 1176 | double tx2=tx*tx; |
| 1177 | double ty2=ty*ty; |
| 1178 | double txty=tx*ty; |
| 1179 | double one_plus_tx2=1.+tx2; |
| 1180 | double dsdz=sqrt(one_plus_tx2+ty2); |
| 1181 | double dtx_Bfac=ty*Bz+txty*Bx-one_plus_tx2*By; |
| 1182 | double dty_Bfac=Bx*(1.+ty2)-txty*By-tx*Bz; |
| 1183 | double kq_over_p_dsdz=kq_over_p*dsdz; |
| 1184 | |
| 1185 | // Derivative of S with respect to z |
| 1186 | D(state_x)=tx; |
| 1187 | D(state_y)=ty; |
| 1188 | D(state_tx)=kq_over_p_dsdz*dtx_Bfac; |
| 1189 | D(state_ty)=kq_over_p_dsdz*dty_Bfac; |
| 1190 | |
| 1191 | D(state_q_over_p)=0.; |
| 1192 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 1193 | double q_over_p_sq=q_over_p*q_over_p; |
| 1194 | double E=sqrt(1./q_over_p_sq+mass2); |
| 1195 | D(state_q_over_p)=-q_over_p_sq*q_over_p*E*dEdx*dsdz; |
| 1196 | } |
| 1197 | return NOERROR; |
| 1198 | } |
| 1199 | |
| 1200 | // Reference trajectory for forward tracks in CDC region |
| 1201 | // At each point we store the state vector and the Jacobian needed to get to |
| 1202 | //this state along z from the previous state. |
| 1203 | jerror_t DTrackFitterKalmanSIMD::SetCDCForwardReferenceTrajectory(DMatrix5x1 &S){ |
| 1204 | int i=0,forward_traj_length=forward_traj.size(); |
| 1205 | double z=z_; |
| 1206 | double r2=0.; |
| 1207 | bool stepped_to_boundary=false; |
| 1208 | |
| 1209 | // Magnetic field and gradient at beginning of trajectory |
| 1210 | //bfield->GetField(x_,y_,z_,Bx,By,Bz); |
| 1211 | bfield->GetFieldAndGradient(x_,y_,z_,Bx,By,Bz, |
| 1212 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1213 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1214 | |
| 1215 | // Reset cdc status flags |
| 1216 | for (unsigned int i=0;i<my_cdchits.size();i++){ |
| 1217 | if (my_cdchits[i]->status!=late_hit) my_cdchits[i]->status=good_hit; |
| 1218 | } |
| 1219 | |
| 1220 | // Continue adding to the trajectory until we have reached the endplate |
| 1221 | // or the maximum radius |
| 1222 | while(z<endplate_z_downstream && z>cdc_origin[2] && |
| 1223 | r2<endplate_r2max && fabs(S(state_q_over_p))<Q_OVER_P_MAX |
| 1224 | && fabs(S(state_tx))<TAN_MAX10. |
| 1225 | && fabs(S(state_ty))<TAN_MAX10. |
| 1226 | ){ |
| 1227 | if (PropagateForwardCDC(forward_traj_length,i,z,r2,S,stepped_to_boundary) |
| 1228 | !=NOERROR) return UNRECOVERABLE_ERROR; |
| 1229 | } |
| 1230 | |
| 1231 | // Only use hits that would fall within the range of the reference trajectory |
| 1232 | /* |
| 1233 | for (unsigned int i=0;i<my_cdchits.size();i++){ |
| 1234 | DKalmanSIMDCDCHit_t *hit=my_cdchits[i]; |
| 1235 | double my_r2=(hit->origin+(z-hit->z0wire)*hit->dir).Mod2(); |
| 1236 | if (my_r2>r2) hit->status=bad_hit; |
| 1237 | } |
| 1238 | */ |
| 1239 | |
| 1240 | // If the current length of the trajectory deque is less than the previous |
| 1241 | // trajectory deque, remove the extra elements and shrink the deque |
| 1242 | if (i<(int)forward_traj.size()){ |
| 1243 | forward_traj_length=forward_traj.size(); |
| 1244 | for (int j=0;j<forward_traj_length-i;j++){ |
| 1245 | forward_traj.pop_front(); |
| 1246 | } |
| 1247 | } |
| 1248 | |
| 1249 | // return an error if there are not enough entries in the trajectory |
| 1250 | if (forward_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 1251 | |
| 1252 | if (DEBUG_LEVEL>20) |
| 1253 | { |
| 1254 | cout << "--- Forward cdc trajectory ---" <<endl; |
| 1255 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 1256 | // DMatrix5x1 S=*(forward_traj[m].S); |
| 1257 | DMatrix5x1 S=(forward_traj[m].S); |
| 1258 | double tx=S(state_tx),ty=S(state_ty); |
| 1259 | double phi=atan2(ty,tx); |
| 1260 | double cosphi=cos(phi); |
| 1261 | double sinphi=sin(phi); |
| 1262 | double p=fabs(1./S(state_q_over_p)); |
| 1263 | double tanl=1./sqrt(tx*tx+ty*ty); |
| 1264 | double sinl=sin(atan(tanl)); |
| 1265 | double cosl=cos(atan(tanl)); |
| 1266 | cout |
| 1267 | << setiosflags(ios::fixed)<< "pos: " << setprecision(4) |
| 1268 | << forward_traj[m].S(state_x) << ", " |
| 1269 | << forward_traj[m].S(state_y) << ", " |
| 1270 | << forward_traj[m].z << " mom: " |
| 1271 | << p*cosphi*cosl<< ", " << p*sinphi*cosl << ", " |
| 1272 | << p*sinl << " -> " << p |
| 1273 | <<" s: " << setprecision(3) |
| 1274 | << forward_traj[m].s |
| 1275 | <<" t: " << setprecision(3) |
| 1276 | << forward_traj[m].t/SPEED_OF_LIGHT29.9792458 |
| 1277 | <<" B: " << forward_traj[m].B |
| 1278 | << endl; |
| 1279 | } |
| 1280 | } |
| 1281 | |
| 1282 | // Current state vector |
| 1283 | S=forward_traj[0].S; |
| 1284 | |
| 1285 | // position at the end of the swim |
| 1286 | x_=forward_traj[0].S(state_x); |
| 1287 | y_=forward_traj[0].S(state_y); |
| 1288 | z_=forward_traj[0].z; |
| 1289 | |
| 1290 | return NOERROR; |
| 1291 | } |
| 1292 | |
| 1293 | // Routine that extracts the state vector propagation part out of the reference |
| 1294 | // trajectory loop |
| 1295 | jerror_t DTrackFitterKalmanSIMD::PropagateForwardCDC(int length,int &index, |
| 1296 | double &z,double &r2, |
| 1297 | DMatrix5x1 &S, |
| 1298 | bool &stepped_to_boundary){ |
| 1299 | DMatrix5x5 J,Q; |
| 1300 | DKalmanForwardTrajectory_t temp; |
| 1301 | int my_i=0; |
| 1302 | temp.h_id=0; |
| 1303 | temp.num_hits=0; |
| 1304 | double dEdx=0.; |
| 1305 | double s_to_boundary=1e6; |
| 1306 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 1307 | |
| 1308 | // current position |
| 1309 | DVector3 pos(S(state_x),S(state_y),z); |
| 1310 | temp.z=z; |
| 1311 | // squared radius |
| 1312 | r2=pos.Perp2(); |
| 1313 | |
| 1314 | temp.s=len; |
| 1315 | temp.t=ftime; |
| 1316 | temp.S=S; |
| 1317 | |
| 1318 | // Kinematic variables |
| 1319 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 1320 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1321 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1322 | |
| 1323 | // get material properties from the Root Geometry |
| 1324 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 1325 | DVector3 mom(S(state_tx),S(state_ty),1.); |
| 1326 | if(geom->FindMatKalman(pos,mom,temp.K_rho_Z_over_A, |
| 1327 | temp.rho_Z_over_A,temp.LnI,temp.Z, |
| 1328 | temp.chi2c_factor,temp.chi2a_factor, |
| 1329 | temp.chi2a_corr, |
| 1330 | last_material_map, |
| 1331 | &s_to_boundary)!=NOERROR){ |
| 1332 | return UNRECOVERABLE_ERROR; |
| 1333 | } |
| 1334 | } |
| 1335 | else |
| 1336 | { |
| 1337 | if(geom->FindMatKalman(pos,temp.K_rho_Z_over_A, |
| 1338 | temp.rho_Z_over_A,temp.LnI,temp.Z, |
| 1339 | temp.chi2c_factor,temp.chi2a_factor, |
| 1340 | temp.chi2a_corr, |
| 1341 | last_material_map)!=NOERROR){ |
| 1342 | return UNRECOVERABLE_ERROR; |
| 1343 | } |
| 1344 | } |
| 1345 | |
| 1346 | // Get dEdx for the upcoming step |
| 1347 | if (CORRECT_FOR_ELOSS){ |
| 1348 | dEdx=GetdEdx(S(state_q_over_p),temp.K_rho_Z_over_A,temp.rho_Z_over_A, |
| 1349 | temp.LnI,temp.Z); |
| 1350 | } |
| 1351 | |
| 1352 | index++; |
| 1353 | if (index<=length){ |
| 1354 | my_i=length-index; |
| 1355 | forward_traj[my_i].s=temp.s; |
| 1356 | forward_traj[my_i].t=temp.t; |
| 1357 | forward_traj[my_i].h_id=temp.h_id; |
| 1358 | forward_traj[my_i].num_hits=0; |
| 1359 | forward_traj[my_i].z=temp.z; |
| 1360 | forward_traj[my_i].rho_Z_over_A=temp.rho_Z_over_A; |
| 1361 | forward_traj[my_i].K_rho_Z_over_A=temp.K_rho_Z_over_A; |
| 1362 | forward_traj[my_i].LnI=temp.LnI; |
| 1363 | forward_traj[my_i].Z=temp.Z; |
| 1364 | forward_traj[my_i].S=S; |
| 1365 | } |
| 1366 | |
| 1367 | // Determine the step size based on energy loss |
| 1368 | //double step=mStepSizeS*dz_ds; |
| 1369 | double max_step_size |
| 1370 | =(z<endplate_z&& r2>endplate_r2min)?mCDCInternalStepSize:mStepSizeS; |
| 1371 | double ds=mStepSizeS; |
| 1372 | if (z<endplate_z && r2<endplate_r2max && z>cdc_origin[2]){ |
| 1373 | if (!stepped_to_boundary){ |
| 1374 | stepped_to_boundary=false; |
| 1375 | if (fabs(dEdx)>EPS3.0e-8){ |
| 1376 | ds=DE_PER_STEP0.001/fabs(dEdx); |
| 1377 | } |
| 1378 | if (ds>max_step_size) ds=max_step_size; |
| 1379 | if (s_to_boundary<ds){ |
| 1380 | ds=s_to_boundary+EPS31.e-2; |
| 1381 | stepped_to_boundary=true; |
| 1382 | } |
| 1383 | if(ds<MIN_STEP_SIZE0.1)ds=MIN_STEP_SIZE0.1; |
| 1384 | } |
| 1385 | else{ |
| 1386 | ds=MIN_STEP_SIZE0.1; |
| 1387 | stepped_to_boundary=false; |
| 1388 | } |
| 1389 | } |
| 1390 | double newz=z+ds*dz_ds; // new z position |
| 1391 | |
| 1392 | // Store magnetic field |
| 1393 | temp.B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 1394 | |
| 1395 | // Step through field |
| 1396 | ds=FasterStep(z,newz,dEdx,S); |
| 1397 | |
| 1398 | // update path length |
| 1399 | len+=fabs(ds); |
| 1400 | |
| 1401 | // Update flight time |
| 1402 | ftime+=ds*sqrt(one_over_beta2);// in units where c=1 |
| 1403 | |
| 1404 | // Get the contribution to the covariance matrix due to multiple |
| 1405 | // scattering |
| 1406 | GetProcessNoise(z,ds,temp.chi2c_factor,temp.chi2a_factor,temp.chi2a_corr, |
| 1407 | temp.S,Q); |
| 1408 | |
| 1409 | // Energy loss straggling |
| 1410 | if (CORRECT_FOR_ELOSS){ |
| 1411 | double varE=GetEnergyVariance(ds,one_over_beta2,temp.K_rho_Z_over_A); |
| 1412 | Q(state_q_over_p,state_q_over_p)=varE*q_over_p_sq*q_over_p_sq*one_over_beta2; |
| 1413 | } |
| 1414 | |
| 1415 | // Compute the Jacobian matrix and its transpose |
| 1416 | StepJacobian(newz,z,S,dEdx,J); |
| 1417 | |
| 1418 | // update the trajectory |
| 1419 | if (index<=length){ |
| 1420 | forward_traj[my_i].B=temp.B; |
| 1421 | forward_traj[my_i].Q=Q; |
| 1422 | forward_traj[my_i].J=J; |
| 1423 | } |
| 1424 | else{ |
| 1425 | temp.Q=Q; |
| 1426 | temp.J=J; |
| 1427 | temp.Ckk=Zero5x5; |
| 1428 | temp.Skk=Zero5x1; |
| 1429 | forward_traj.push_front(temp); |
| 1430 | } |
| 1431 | |
| 1432 | //update z |
| 1433 | z=newz; |
| 1434 | |
| 1435 | return NOERROR; |
| 1436 | } |
| 1437 | |
| 1438 | // Routine that extracts the state vector propagation part out of the reference |
| 1439 | // trajectory loop |
| 1440 | jerror_t DTrackFitterKalmanSIMD::PropagateCentral(int length, int &index, |
| 1441 | DVector2 &my_xy, |
| 1442 | double &var_t_factor, |
| 1443 | DMatrix5x1 &Sc, |
| 1444 | bool &stepped_to_boundary){ |
| 1445 | DKalmanCentralTrajectory_t temp; |
| 1446 | DMatrix5x5 J; // State vector Jacobian matrix |
| 1447 | DMatrix5x5 Q; // Process noise covariance matrix |
| 1448 | |
| 1449 | //Initialize some variables needed later |
| 1450 | double dEdx=0.; |
| 1451 | double s_to_boundary=1e6; |
| 1452 | int my_i=0; |
| 1453 | // Kinematic variables |
| 1454 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 1455 | double q_over_p_sq=q_over_p*q_over_p; |
| 1456 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1457 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1458 | |
| 1459 | // Reset D to zero |
| 1460 | Sc(state_D)=0.; |
| 1461 | |
| 1462 | temp.xy=my_xy; |
| 1463 | temp.s=len; |
| 1464 | temp.t=ftime; |
| 1465 | temp.h_id=0; |
| 1466 | temp.S=Sc; |
| 1467 | |
| 1468 | // Store magnitude of magnetic field |
| 1469 | temp.B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 1470 | |
| 1471 | // get material properties from the Root Geometry |
| 1472 | DVector3 pos3d(my_xy.X(),my_xy.Y(),Sc(state_z)); |
| 1473 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 1474 | DVector3 mom(cos(Sc(state_phi)),sin(Sc(state_phi)),Sc(state_tanl)); |
| 1475 | if(geom->FindMatKalman(pos3d,mom,temp.K_rho_Z_over_A, |
| 1476 | temp.rho_Z_over_A,temp.LnI,temp.Z, |
| 1477 | temp.chi2c_factor,temp.chi2a_factor, |
| 1478 | temp.chi2a_corr, |
| 1479 | last_material_map, |
| 1480 | &s_to_boundary) |
| 1481 | !=NOERROR){ |
| 1482 | return UNRECOVERABLE_ERROR; |
| 1483 | } |
| 1484 | } |
| 1485 | else if(geom->FindMatKalman(pos3d,temp.K_rho_Z_over_A, |
| 1486 | temp.rho_Z_over_A,temp.LnI,temp.Z, |
| 1487 | temp.chi2c_factor,temp.chi2a_factor, |
| 1488 | temp.chi2a_corr, |
| 1489 | last_material_map)!=NOERROR){ |
| 1490 | return UNRECOVERABLE_ERROR; |
| 1491 | } |
| 1492 | |
| 1493 | if (CORRECT_FOR_ELOSS){ |
| 1494 | dEdx=GetdEdx(q_over_p,temp.K_rho_Z_over_A,temp.rho_Z_over_A,temp.LnI, |
| 1495 | temp.Z); |
| 1496 | } |
| 1497 | |
| 1498 | // If the deque already exists, update it |
| 1499 | index++; |
| 1500 | if (index<=length){ |
| 1501 | my_i=length-index; |
| 1502 | central_traj[my_i].B=temp.B; |
| 1503 | central_traj[my_i].s=temp.s; |
| 1504 | central_traj[my_i].t=temp.t; |
| 1505 | central_traj[my_i].h_id=0; |
| 1506 | central_traj[my_i].xy=temp.xy; |
| 1507 | central_traj[my_i].rho_Z_over_A=temp.rho_Z_over_A; |
| 1508 | central_traj[my_i].K_rho_Z_over_A=temp.K_rho_Z_over_A; |
| 1509 | central_traj[my_i].LnI=temp.LnI; |
| 1510 | central_traj[my_i].Z=temp.Z; |
| 1511 | central_traj[my_i].S=Sc; |
| 1512 | } |
| 1513 | |
| 1514 | // Adjust the step size |
| 1515 | double step_size=mStepSizeS; |
| 1516 | if (stepped_to_boundary){ |
| 1517 | step_size=MIN_STEP_SIZE0.1; |
| 1518 | stepped_to_boundary=false; |
| 1519 | } |
| 1520 | else{ |
| 1521 | if (fabs(dEdx)>EPS3.0e-8){ |
| 1522 | step_size=DE_PER_STEP0.001/fabs(dEdx); |
| 1523 | } |
| 1524 | if(step_size>mStepSizeS) step_size=mStepSizeS; |
| 1525 | if (s_to_boundary<step_size){ |
| 1526 | step_size=s_to_boundary+EPS31.e-2; |
| 1527 | stepped_to_boundary=true; |
| 1528 | } |
| 1529 | if(step_size<MIN_STEP_SIZE0.1)step_size=MIN_STEP_SIZE0.1; |
| 1530 | } |
| 1531 | double r2=my_xy.Mod2(); |
| 1532 | if (r2>endplate_r2min |
| 1533 | && step_size>mCDCInternalStepSize) step_size=mCDCInternalStepSize; |
| 1534 | // Propagate the state through the field |
| 1535 | FasterStep(my_xy,step_size,Sc,dEdx); |
| 1536 | |
| 1537 | // update path length |
| 1538 | len+=step_size; |
| 1539 | |
| 1540 | // Update flight time |
| 1541 | double dt=step_size*sqrt(one_over_beta2); // in units of c=1 |
| 1542 | double one_minus_beta2=1.-1./one_over_beta2; |
| 1543 | ftime+=dt; |
| 1544 | var_ftime+=dt*dt*one_minus_beta2*one_minus_beta2*0.0004; |
| 1545 | var_t_factor=dt*dt*one_minus_beta2*one_minus_beta2; |
| 1546 | |
| 1547 | //printf("t %f sigt %f\n",TIME_UNIT_CONVERSION*ftime,TIME_UNIT_CONVERSION*sqrt(var_ftime)); |
| 1548 | |
| 1549 | // Multiple scattering |
| 1550 | GetProcessNoiseCentral(step_size,temp.chi2c_factor,temp.chi2a_factor, |
| 1551 | temp.chi2a_corr,temp.S,Q); |
| 1552 | |
| 1553 | // Energy loss straggling in the approximation of thick absorbers |
| 1554 | if (CORRECT_FOR_ELOSS){ |
| 1555 | double varE |
| 1556 | =GetEnergyVariance(step_size,one_over_beta2,temp.K_rho_Z_over_A); |
| 1557 | Q(state_q_over_pt,state_q_over_pt) |
| 1558 | +=varE*temp.S(state_q_over_pt)*temp.S(state_q_over_pt)*one_over_beta2 |
| 1559 | *q_over_p_sq; |
| 1560 | } |
| 1561 | |
| 1562 | // B-field and gradient at current (x,y,z) |
| 1563 | bfield->GetFieldAndGradient(my_xy.X(),my_xy.Y(),Sc(state_z),Bx,By,Bz, |
| 1564 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1565 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1566 | |
| 1567 | // Compute the Jacobian matrix and its transpose |
| 1568 | StepJacobian(my_xy,temp.xy-my_xy,-step_size,Sc,dEdx,J); |
| 1569 | |
| 1570 | // Update the trajectory info |
| 1571 | if (index<=length){ |
| 1572 | central_traj[my_i].Q=Q; |
| 1573 | central_traj[my_i].J=J; |
| 1574 | } |
| 1575 | else{ |
| 1576 | temp.Q=Q; |
| 1577 | temp.J=J; |
| 1578 | temp.Ckk=Zero5x5; |
| 1579 | temp.Skk=Zero5x1; |
| 1580 | central_traj.push_front(temp); |
| 1581 | } |
| 1582 | |
| 1583 | return NOERROR; |
| 1584 | } |
| 1585 | |
| 1586 | |
| 1587 | |
| 1588 | // Reference trajectory for central tracks |
| 1589 | // At each point we store the state vector and the Jacobian needed to get to this state |
| 1590 | // along s from the previous state. |
| 1591 | // The tricky part is that we swim out from the target to find Sc and pos along the trajectory |
| 1592 | // but we need the Jacobians for the opposite direction, because the filter proceeds from |
| 1593 | // the outer hits toward the target. |
| 1594 | jerror_t DTrackFitterKalmanSIMD::SetCDCReferenceTrajectory(const DVector2 &xy, |
| 1595 | DMatrix5x1 &Sc){ |
| 1596 | bool stepped_to_boundary=false; |
| 1597 | int i=0,central_traj_length=central_traj.size(); |
| 1598 | // factor for scaling momentum resolution to propagate variance in flight |
| 1599 | // time |
| 1600 | double var_t_factor=0; |
| 1601 | |
| 1602 | // Magnetic field and gradient at beginning of trajectory |
| 1603 | //bfield->GetField(x_,y_,z_,Bx,By,Bz); |
| 1604 | bfield->GetFieldAndGradient(x_,y_,z_,Bx,By,Bz, |
| 1605 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1606 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1607 | |
| 1608 | // Copy of initial position in xy |
| 1609 | DVector2 my_xy=xy; |
| 1610 | double r2=xy.Mod2(),z=z_; |
| 1611 | |
| 1612 | // Reset cdc status flags |
| 1613 | for (unsigned int j=0;j<my_cdchits.size();j++){ |
| 1614 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 1615 | } |
| 1616 | |
| 1617 | // Continue adding to the trajectory until we have reached the endplate |
| 1618 | // or the maximum radius |
| 1619 | while(z<endplate_z && z>=Z_MIN-100. && r2<endplate_r2max |
| 1620 | && fabs(Sc(state_q_over_pt))<Q_OVER_PT_MAX100. |
| 1621 | ){ |
| 1622 | if (PropagateCentral(central_traj_length,i,my_xy,var_t_factor,Sc,stepped_to_boundary) |
| 1623 | !=NOERROR) return UNRECOVERABLE_ERROR; |
| 1624 | z=Sc(state_z); |
| 1625 | r2=my_xy.Mod2(); |
| 1626 | } |
| 1627 | |
| 1628 | // If the current length of the trajectory deque is less than the previous |
| 1629 | // trajectory deque, remove the extra elements and shrink the deque |
| 1630 | if (i<(int)central_traj.size()){ |
| 1631 | int central_traj_length=central_traj.size(); |
| 1632 | for (int j=0;j<central_traj_length-i;j++){ |
| 1633 | central_traj.pop_front(); |
| 1634 | } |
| 1635 | } |
| 1636 | |
| 1637 | // Only use hits that would fall within the range of the reference trajectory |
| 1638 | /*for (unsigned int j=0;j<my_cdchits.size();j++){ |
| 1639 | DKalmanSIMDCDCHit_t *hit=my_cdchits[j]; |
| 1640 | double my_r2=(hit->origin+(z-hit->z0wire)*hit->dir).Mod2(); |
| 1641 | if (my_r2>r2) hit->status=bad_hit; |
| 1642 | } |
| 1643 | */ |
| 1644 | |
| 1645 | // return an error if there are not enough entries in the trajectory |
| 1646 | if (central_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 1647 | |
| 1648 | if (DEBUG_LEVEL>20) |
| 1649 | { |
| 1650 | cout << "---------" << central_traj.size() <<" entries------" <<endl; |
| 1651 | for (unsigned int m=0;m<central_traj.size();m++){ |
| 1652 | DMatrix5x1 S=central_traj[m].S; |
| 1653 | double cosphi=cos(S(state_phi)); |
| 1654 | double sinphi=sin(S(state_phi)); |
| 1655 | double pt=fabs(1./S(state_q_over_pt)); |
| 1656 | double tanl=S(state_tanl); |
| 1657 | |
| 1658 | cout |
| 1659 | << m << "::" |
| 1660 | << setiosflags(ios::fixed)<< "pos: " << setprecision(4) |
| 1661 | << central_traj[m].xy.X() << ", " |
| 1662 | << central_traj[m].xy.Y() << ", " |
| 1663 | << central_traj[m].S(state_z) << " mom: " |
| 1664 | << pt*cosphi << ", " << pt*sinphi << ", " |
| 1665 | << pt*tanl << " -> " << pt/cos(atan(tanl)) |
| 1666 | <<" s: " << setprecision(3) |
| 1667 | << central_traj[m].s |
| 1668 | <<" t: " << setprecision(3) |
| 1669 | << central_traj[m].t/SPEED_OF_LIGHT29.9792458 |
| 1670 | <<" B: " << central_traj[m].B |
| 1671 | << endl; |
| 1672 | } |
| 1673 | } |
| 1674 | |
| 1675 | // State at end of swim |
| 1676 | Sc=central_traj[0].S; |
| 1677 | |
| 1678 | return NOERROR; |
| 1679 | } |
| 1680 | |
| 1681 | // Routine that extracts the state vector propagation part out of the reference |
| 1682 | // trajectory loop |
| 1683 | jerror_t DTrackFitterKalmanSIMD::PropagateForward(int length,int &i, |
| 1684 | double &z,double zhit, |
| 1685 | DMatrix5x1 &S, bool &done, |
| 1686 | bool &stepped_to_boundary, |
| 1687 | bool &stepped_to_endplate){ |
| 1688 | DMatrix5x5 J,Q; |
| 1689 | DKalmanForwardTrajectory_t temp; |
| 1690 | |
| 1691 | // Initialize some variables |
| 1692 | temp.h_id=0; |
| 1693 | temp.num_hits=0; |
| 1694 | int my_i=0; |
| 1695 | double s_to_boundary=1e6; |
| 1696 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 1697 | |
| 1698 | // current position |
| 1699 | DVector3 pos(S(state_x),S(state_y),z); |
| 1700 | double r2=pos.Perp2(); |
| 1701 | |
| 1702 | temp.s=len; |
| 1703 | temp.t=ftime; |
| 1704 | temp.z=z; |
| 1705 | temp.S=S; |
| 1706 | |
| 1707 | // Kinematic variables |
| 1708 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 1709 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1710 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1711 | |
| 1712 | // get material properties from the Root Geometry |
| 1713 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 1714 | DVector3 mom(S(state_tx),S(state_ty),1.); |
| 1715 | if (geom->FindMatKalman(pos,mom,temp.K_rho_Z_over_A, |
| 1716 | temp.rho_Z_over_A,temp.LnI,temp.Z, |
| 1717 | temp.chi2c_factor,temp.chi2a_factor, |
| 1718 | temp.chi2a_corr, |
| 1719 | last_material_map, |
| 1720 | &s_to_boundary) |
| 1721 | !=NOERROR){ |
| 1722 | return UNRECOVERABLE_ERROR; |
| 1723 | } |
| 1724 | } |
| 1725 | else |
| 1726 | { |
| 1727 | if (geom->FindMatKalman(pos,temp.K_rho_Z_over_A, |
| 1728 | temp.rho_Z_over_A,temp.LnI,temp.Z, |
| 1729 | temp.chi2c_factor,temp.chi2a_factor, |
| 1730 | temp.chi2a_corr, |
| 1731 | last_material_map)!=NOERROR){ |
| 1732 | return UNRECOVERABLE_ERROR; |
| 1733 | } |
| 1734 | } |
| 1735 | |
| 1736 | // Get dEdx for the upcoming step |
| 1737 | double dEdx=0.; |
| 1738 | if (CORRECT_FOR_ELOSS){ |
| 1739 | dEdx=GetdEdx(S(state_q_over_p),temp.K_rho_Z_over_A, |
| 1740 | temp.rho_Z_over_A,temp.LnI,temp.Z); |
| 1741 | } |
| 1742 | i++; |
| 1743 | my_i=length-i; |
| 1744 | if (i<=length){ |
| 1745 | forward_traj[my_i].s=temp.s; |
| 1746 | forward_traj[my_i].t=temp.t; |
| 1747 | forward_traj[my_i].h_id=temp.h_id; |
| 1748 | forward_traj[my_i].num_hits=temp.num_hits; |
| 1749 | forward_traj[my_i].z=temp.z; |
| 1750 | forward_traj[my_i].rho_Z_over_A=temp.rho_Z_over_A; |
| 1751 | forward_traj[my_i].K_rho_Z_over_A=temp.K_rho_Z_over_A; |
| 1752 | forward_traj[my_i].LnI=temp.LnI; |
| 1753 | forward_traj[my_i].Z=temp.Z; |
| 1754 | forward_traj[my_i].S=S; |
| 1755 | } |
| 1756 | else{ |
| 1757 | temp.S=S; |
| 1758 | } |
| 1759 | |
| 1760 | // Determine the step size based on energy loss |
| 1761 | // step=mStepSizeS*dz_ds; |
| 1762 | double max_step_size |
| 1763 | =(z<endplate_z&& r2>endplate_r2min)?mCentralStepSize:mStepSizeS; |
| 1764 | double ds=mStepSizeS; |
| 1765 | if (z>cdc_origin[2]){ |
| 1766 | if (!stepped_to_boundary){ |
| 1767 | stepped_to_boundary=false; |
| 1768 | if (fabs(dEdx)>EPS3.0e-8){ |
| 1769 | ds=DE_PER_STEP0.001/fabs(dEdx); |
| 1770 | } |
| 1771 | if (ds>max_step_size) ds=max_step_size; |
| 1772 | if (s_to_boundary<ds){ |
| 1773 | ds=s_to_boundary+EPS31.e-2; |
| 1774 | stepped_to_boundary=true; |
| 1775 | } |
| 1776 | if(ds<MIN_STEP_SIZE0.1)ds=MIN_STEP_SIZE0.1; |
| 1777 | |
| 1778 | } |
| 1779 | else{ |
| 1780 | ds=MIN_STEP_SIZE0.1; |
| 1781 | stepped_to_boundary=false; |
| 1782 | } |
| 1783 | } |
| 1784 | |
| 1785 | double dz=stepped_to_endplate ? endplate_dz : ds*dz_ds; |
| 1786 | double newz=z+dz; // new z position |
| 1787 | // Check if we are stepping through the CDC endplate |
| 1788 | if (newz>endplate_z && z<endplate_z){ |
| 1789 | // _DBG_ << endl; |
| 1790 | newz=endplate_z+EPS31.e-2; |
| 1791 | stepped_to_endplate=true; |
| 1792 | } |
| 1793 | |
| 1794 | // Check if we are about to step to one of the wire planes |
| 1795 | done=false; |
| 1796 | if (newz>zhit){ |
| 1797 | newz=zhit; |
| 1798 | done=true; |
| 1799 | } |
| 1800 | |
| 1801 | // Store magnitude of magnetic field |
| 1802 | temp.B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 1803 | |
| 1804 | // Step through field |
| 1805 | ds=FasterStep(z,newz,dEdx,S); |
| 1806 | |
| 1807 | // update path length |
| 1808 | len+=ds; |
| 1809 | |
| 1810 | // update flight time |
| 1811 | ftime+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 1812 | |
| 1813 | // Get the contribution to the covariance matrix due to multiple |
| 1814 | // scattering |
| 1815 | GetProcessNoise(z,ds,temp.chi2c_factor,temp.chi2a_factor,temp.chi2a_corr, |
| 1816 | temp.S,Q); |
| 1817 | |
| 1818 | // Energy loss straggling |
| 1819 | if (CORRECT_FOR_ELOSS){ |
| 1820 | double varE=GetEnergyVariance(ds,one_over_beta2,temp.K_rho_Z_over_A); |
| 1821 | Q(state_q_over_p,state_q_over_p)=varE*q_over_p_sq*q_over_p_sq*one_over_beta2; |
| 1822 | } |
| 1823 | |
| 1824 | // Compute the Jacobian matrix and its transpose |
| 1825 | StepJacobian(newz,z,S,dEdx,J); |
| 1826 | |
| 1827 | // update the trajectory data |
| 1828 | if (i<=length){ |
| 1829 | forward_traj[my_i].B=temp.B; |
| 1830 | forward_traj[my_i].Q=Q; |
| 1831 | forward_traj[my_i].J=J; |
| 1832 | } |
| 1833 | else{ |
| 1834 | temp.Q=Q; |
| 1835 | temp.J=J; |
| 1836 | temp.Ckk=Zero5x5; |
| 1837 | temp.Skk=Zero5x1; |
| 1838 | forward_traj.push_front(temp); |
| 1839 | } |
| 1840 | |
| 1841 | // update z |
| 1842 | z=newz; |
| 1843 | |
| 1844 | return NOERROR; |
| 1845 | } |
| 1846 | |
| 1847 | // Reference trajectory for trajectories with hits in the forward direction |
| 1848 | // At each point we store the state vector and the Jacobian needed to get to this state |
| 1849 | // along z from the previous state. |
| 1850 | jerror_t DTrackFitterKalmanSIMD::SetReferenceTrajectory(DMatrix5x1 &S){ |
| 1851 | |
| 1852 | // Magnetic field and gradient at beginning of trajectory |
| 1853 | //bfield->GetField(x_,y_,z_,Bx,By,Bz); |
| 1854 | bfield->GetFieldAndGradient(x_,y_,z_,Bx,By,Bz, |
| 1855 | dBxdx,dBxdy,dBxdz,dBydx, |
| 1856 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 1857 | |
| 1858 | // progress in z from hit to hit |
| 1859 | double z=z_; |
| 1860 | int i=0; |
| 1861 | |
| 1862 | int forward_traj_length=forward_traj.size(); |
| 1863 | // loop over the fdc hits |
| 1864 | double zhit=0.,old_zhit=0.; |
| 1865 | bool stepped_to_boundary=false; |
| 1866 | bool stepped_to_endplate=false; |
| 1867 | unsigned int m=0; |
| 1868 | double z_max=400.; |
| 1869 | double r2max=50.*50.; |
| 1870 | if (got_trd_gem_hits){ |
| 1871 | z_max=600.; |
| 1872 | r2max=100.*100.; |
| 1873 | } |
| 1874 | for (m=0;m<my_fdchits.size();m++){ |
| 1875 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX |
| 1876 | || fabs(S(state_tx))>TAN_MAX10. |
| 1877 | || fabs(S(state_ty))>TAN_MAX10. |
| 1878 | || S(state_x)*S(state_x)+S(state_y)*S(state_y)>r2max |
| 1879 | || z>z_max || z<Z_MIN-100. |
| 1880 | ){ |
| 1881 | break; |
| 1882 | } |
| 1883 | |
| 1884 | zhit=my_fdchits[m]->z; |
| 1885 | if (fabs(old_zhit-zhit)>EPS3.0e-8){ |
| 1886 | bool done=false; |
| 1887 | while (!done){ |
| 1888 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX |
| 1889 | || fabs(S(state_tx))>TAN_MAX10. |
| 1890 | || fabs(S(state_ty))>TAN_MAX10. |
| 1891 | || S(state_x)*S(state_x)+S(state_y)*S(state_y)>r2max |
| 1892 | || z>z_max || z< Z_MIN-100. |
| 1893 | ){ |
| 1894 | break; |
| 1895 | } |
| 1896 | |
| 1897 | if (PropagateForward(forward_traj_length,i,z,zhit,S,done, |
| 1898 | stepped_to_boundary,stepped_to_endplate) |
| 1899 | !=NOERROR) |
| 1900 | return UNRECOVERABLE_ERROR; |
| 1901 | } |
| 1902 | } |
| 1903 | old_zhit=zhit; |
| 1904 | } |
| 1905 | |
| 1906 | // If m<2 then no useable FDC hits survived the check on the magnitude on the |
| 1907 | // momentum |
| 1908 | if (m<2) return UNRECOVERABLE_ERROR; |
| 1909 | |
| 1910 | // Make sure the reference trajectory goes one step beyond the most |
| 1911 | // downstream hit plane |
| 1912 | if (m==my_fdchits.size()){ |
| 1913 | bool done=false; |
| 1914 | if (PropagateForward(forward_traj_length,i,z,z_max,S,done, |
| 1915 | stepped_to_boundary,stepped_to_endplate) |
| 1916 | !=NOERROR) |
| 1917 | return UNRECOVERABLE_ERROR; |
| 1918 | if (PropagateForward(forward_traj_length,i,z,z_max,S,done, |
| 1919 | stepped_to_boundary,stepped_to_endplate) |
| 1920 | !=NOERROR) |
| 1921 | return UNRECOVERABLE_ERROR; |
| 1922 | } |
| 1923 | |
| 1924 | // Shrink the deque if the new trajectory has less points in it than the |
| 1925 | // old trajectory |
| 1926 | if (i<(int)forward_traj.size()){ |
| 1927 | int mylen=forward_traj.size(); |
| 1928 | //_DBG_ << "Shrinking: " << mylen << " to " << i << endl; |
| 1929 | for (int j=0;j<mylen-i;j++){ |
| 1930 | forward_traj.pop_front(); |
| 1931 | } |
| 1932 | // _DBG_ << " Now " << forward_traj.size() << endl; |
| 1933 | } |
| 1934 | |
| 1935 | // If we lopped off some hits on the downstream end, truncate the trajectory to |
| 1936 | // the point in z just beyond the last valid hit |
| 1937 | unsigned int my_id=my_fdchits.size(); |
| 1938 | if (m<my_id){ |
| 1939 | if (zhit<z) my_id=m; |
| 1940 | else my_id=m-1; |
| 1941 | zhit=my_fdchits[my_id-1]->z; |
| 1942 | //_DBG_ << "Shrinking: " << forward_traj.size()<< endl; |
| 1943 | for (;;){ |
| 1944 | z=forward_traj[0].z; |
| 1945 | if (z<zhit+EPS21.e-4) break; |
| 1946 | forward_traj.pop_front(); |
| 1947 | } |
| 1948 | //_DBG_ << " Now " << forward_traj.size() << endl; |
| 1949 | |
| 1950 | // Temporory structure keeping state and trajectory information |
| 1951 | DKalmanForwardTrajectory_t temp; |
| 1952 | temp.h_id=0; |
| 1953 | temp.num_hits=0; |
| 1954 | temp.B=0.; |
| 1955 | temp.K_rho_Z_over_A=temp.rho_Z_over_A=temp.LnI=0.; |
| 1956 | temp.Z=0.; |
| 1957 | temp.Q=Zero5x5; |
| 1958 | |
| 1959 | // last S vector |
| 1960 | S=forward_traj[0].S; |
| 1961 | |
| 1962 | // Step just beyond the last hit |
| 1963 | double newz=z+0.01; |
| 1964 | double ds=Step(z,newz,0.,S); // ignore energy loss for this small step |
| 1965 | temp.s=forward_traj[0].s+ds; |
| 1966 | temp.z=newz; |
| 1967 | temp.S=S; |
| 1968 | |
| 1969 | // Flight time |
| 1970 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 1971 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 1972 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 1973 | temp.t=forward_traj[0].t+ds*sqrt(one_over_beta2); // in units where c=1 |
| 1974 | |
| 1975 | // Covariance and state vector needed for smoothing code |
| 1976 | temp.Ckk=Zero5x5; |
| 1977 | temp.Skk=Zero5x1; |
| 1978 | |
| 1979 | // Jacobian matrices |
| 1980 | temp.J=I5x5; |
| 1981 | |
| 1982 | forward_traj.push_front(temp); |
| 1983 | } |
| 1984 | |
| 1985 | // return an error if there are not enough entries in the trajectory |
| 1986 | if (forward_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 1987 | |
| 1988 | // Fill in Lorentz deflection parameters |
| 1989 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 1990 | if (my_id>0){ |
| 1991 | unsigned int hit_id=my_id-1; |
| 1992 | double z=forward_traj[m].z; |
| 1993 | if (fabs(z-my_fdchits[hit_id]->z)<EPS21.e-4){ |
| 1994 | forward_traj[m].h_id=my_id; |
| 1995 | |
| 1996 | if (my_fdchits[hit_id]->hit!=NULL__null){ |
| 1997 | // Get the magnetic field at this position along the trajectory |
| 1998 | bfield->GetField(forward_traj[m].S(state_x),forward_traj[m].S(state_y), |
| 1999 | z,Bx,By,Bz); |
| 2000 | double Br=sqrt(Bx*Bx+By*By); |
| 2001 | |
| 2002 | // Angle between B and wire |
| 2003 | double my_phi=0.; |
| 2004 | if (Br>0.) my_phi=acos((Bx*my_fdchits[hit_id]->sina |
| 2005 | +By*my_fdchits[hit_id]->cosa)/Br); |
| 2006 | /* |
| 2007 | lorentz_def->GetLorentzCorrectionParameters(forward_traj[m].pos.x(), |
| 2008 | forward_traj[m].pos.y(), |
| 2009 | forward_traj[m].pos.z(), |
| 2010 | tanz,tanr); |
| 2011 | my_fdchits[hit_id]->nr=tanr; |
| 2012 | my_fdchits[hit_id]->nz=tanz; |
| 2013 | */ |
| 2014 | |
| 2015 | my_fdchits[hit_id]->nr=LORENTZ_NR_PAR1*Bz*(1.+LORENTZ_NR_PAR2*Br); |
| 2016 | my_fdchits[hit_id]->nz=(LORENTZ_NZ_PAR1+LORENTZ_NZ_PAR2*Bz)*(Br*cos(my_phi)); |
| 2017 | } |
| 2018 | |
| 2019 | my_id--; |
| 2020 | |
| 2021 | unsigned int num=1; |
| 2022 | while (hit_id>0 |
| 2023 | && fabs(my_fdchits[hit_id]->z-my_fdchits[hit_id-1]->z)<EPS3.0e-8){ |
| 2024 | hit_id=my_id-1; |
| 2025 | num++; |
| 2026 | my_id--; |
| 2027 | } |
| 2028 | forward_traj[m].num_hits=num; |
| 2029 | } |
| 2030 | |
| 2031 | } |
| 2032 | } |
| 2033 | |
| 2034 | if (DEBUG_LEVEL>20) |
| 2035 | { |
| 2036 | cout << "--- Forward fdc trajectory ---" <<endl; |
| 2037 | for (unsigned int m=0;m<forward_traj.size();m++){ |
| 2038 | DMatrix5x1 S=(forward_traj[m].S); |
| 2039 | double tx=S(state_tx),ty=S(state_ty); |
| 2040 | double phi=atan2(ty,tx); |
| 2041 | double cosphi=cos(phi); |
| 2042 | double sinphi=sin(phi); |
| 2043 | double p=fabs(1./S(state_q_over_p)); |
| 2044 | double tanl=1./sqrt(tx*tx+ty*ty); |
| 2045 | double sinl=sin(atan(tanl)); |
| 2046 | double cosl=cos(atan(tanl)); |
| 2047 | cout |
| 2048 | << setiosflags(ios::fixed)<< "pos: " << setprecision(4) |
| 2049 | << forward_traj[m].S(state_x) << ", " |
| 2050 | << forward_traj[m].S(state_y) << ", " |
| 2051 | << forward_traj[m].z << " mom: " |
| 2052 | << p*cosphi*cosl<< ", " << p*sinphi*cosl << ", " |
| 2053 | << p*sinl << " -> " << p |
| 2054 | <<" s: " << setprecision(3) |
| 2055 | << forward_traj[m].s |
| 2056 | <<" t: " << setprecision(3) |
| 2057 | << forward_traj[m].t/SPEED_OF_LIGHT29.9792458 |
| 2058 | <<" id: " << forward_traj[m].h_id |
| 2059 | << endl; |
| 2060 | } |
| 2061 | } |
| 2062 | |
| 2063 | |
| 2064 | // position at the end of the swim |
| 2065 | z_=z; |
| 2066 | x_=S(state_x); |
| 2067 | y_=S(state_y); |
| 2068 | |
| 2069 | return NOERROR; |
| 2070 | } |
| 2071 | |
| 2072 | // Step the state vector through the field from oldz to newz. |
| 2073 | // Uses the 4th-order Runga-Kutte algorithm. |
| 2074 | double DTrackFitterKalmanSIMD::Step(double oldz,double newz, double dEdx, |
| 2075 | DMatrix5x1 &S){ |
| 2076 | double delta_z=newz-oldz; |
| 2077 | if (fabs(delta_z)<EPS3.0e-8) return 0.; // skip if the step is too small |
| 2078 | |
| 2079 | // Direction tangents |
| 2080 | double tx=S(state_tx); |
| 2081 | double ty=S(state_ty); |
| 2082 | double ds=sqrt(1.+tx*tx+ty*ty)*delta_z; |
| 2083 | |
| 2084 | double delta_z_over_2=0.5*delta_z; |
| 2085 | double midz=oldz+delta_z_over_2; |
| 2086 | DMatrix5x1 D1,D2,D3,D4; |
| 2087 | |
| 2088 | //B-field and gradient at at (x,y,z) |
| 2089 | bfield->GetFieldAndGradient(S(state_x),S(state_y),oldz,Bx,By,Bz, |
| 2090 | dBxdx,dBxdy,dBxdz,dBydx, |
| 2091 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2092 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2093 | |
| 2094 | // Calculate the derivative and propagate the state to the next point |
| 2095 | CalcDeriv(oldz,S,dEdx,D1); |
| 2096 | DMatrix5x1 S1=S+delta_z_over_2*D1; |
| 2097 | |
| 2098 | // Calculate the field at the first intermediate point |
| 2099 | double dx=S1(state_x)-S(state_x); |
| 2100 | double dy=S1(state_y)-S(state_y); |
| 2101 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 2102 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 2103 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 2104 | |
| 2105 | // Calculate the derivative and propagate the state to the next point |
| 2106 | CalcDeriv(midz,S1,dEdx,D2); |
| 2107 | S1=S+delta_z_over_2*D2; |
| 2108 | |
| 2109 | // Calculate the field at the second intermediate point |
| 2110 | dx=S1(state_x)-S(state_x); |
| 2111 | dy=S1(state_y)-S(state_y); |
| 2112 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 2113 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 2114 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 2115 | |
| 2116 | // Calculate the derivative and propagate the state to the next point |
| 2117 | CalcDeriv(midz,S1,dEdx,D3); |
| 2118 | S1=S+delta_z*D3; |
| 2119 | |
| 2120 | // Calculate the field at the final point |
| 2121 | dx=S1(state_x)-S(state_x); |
| 2122 | dy=S1(state_y)-S(state_y); |
| 2123 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z; |
| 2124 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z; |
| 2125 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z; |
| 2126 | |
| 2127 | // Final derivative |
| 2128 | CalcDeriv(newz,S1,dEdx,D4); |
| 2129 | |
| 2130 | // S+=delta_z*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2131 | double dz_over_6=delta_z*ONE_SIXTH0.16666666666666667; |
| 2132 | double dz_over_3=delta_z*ONE_THIRD0.33333333333333333; |
| 2133 | S+=dz_over_6*D1; |
| 2134 | S+=dz_over_3*D2; |
| 2135 | S+=dz_over_3*D3; |
| 2136 | S+=dz_over_6*D4; |
| 2137 | |
| 2138 | // Don't let the magnitude of the momentum drop below some cutoff |
| 2139 | //if (fabs(S(state_q_over_p))>Q_OVER_P_MAX) |
| 2140 | // S(state_q_over_p)=Q_OVER_P_MAX*(S(state_q_over_p)>0.0?1.:-1.); |
| 2141 | // Try to keep the direction tangents from heading towards 90 degrees |
| 2142 | //if (fabs(S(state_tx))>TAN_MAX) |
| 2143 | // S(state_tx)=TAN_MAX*(S(state_tx)>0.0?1.:-1.); |
| 2144 | //if (fabs(S(state_ty))>TAN_MAX) |
| 2145 | // S(state_ty)=TAN_MAX*(S(state_ty)>0.0?1.:-1.); |
| 2146 | |
| 2147 | return ds; |
| 2148 | } |
| 2149 | // Step the state vector through the field from oldz to newz. |
| 2150 | // Uses the 4th-order Runga-Kutte algorithm. |
| 2151 | // Uses the gradient to compute the field at the intermediate and last |
| 2152 | // points. |
| 2153 | double DTrackFitterKalmanSIMD::FasterStep(double oldz,double newz, double dEdx, |
| 2154 | DMatrix5x1 &S){ |
| 2155 | double delta_z=newz-oldz; |
| 2156 | if (fabs(delta_z)<EPS3.0e-8) return 0.; // skip if the step is too small |
| 2157 | |
| 2158 | // Direction tangents |
| 2159 | double tx=S(state_tx); |
| 2160 | double ty=S(state_ty); |
| 2161 | double ds=sqrt(1.+tx*tx+ty*ty)*delta_z; |
| 2162 | |
| 2163 | double delta_z_over_2=0.5*delta_z; |
| 2164 | double midz=oldz+delta_z_over_2; |
| 2165 | DMatrix5x1 D1,D2,D3,D4; |
| 2166 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2167 | |
| 2168 | // The magnetic field at the beginning of the step is assumed to be |
| 2169 | // obtained at the end of the previous step through StepJacobian |
| 2170 | |
| 2171 | // Calculate the derivative and propagate the state to the next point |
| 2172 | CalcDeriv(oldz,S,dEdx,D1); |
| 2173 | DMatrix5x1 S1=S+delta_z_over_2*D1; |
| 2174 | |
| 2175 | // Calculate the field at the first intermediate point |
| 2176 | double dx=S1(state_x)-S(state_x); |
| 2177 | double dy=S1(state_y)-S(state_y); |
| 2178 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 2179 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 2180 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 2181 | |
| 2182 | // Calculate the derivative and propagate the state to the next point |
| 2183 | CalcDeriv(midz,S1,dEdx,D2); |
| 2184 | S1=S+delta_z_over_2*D2; |
| 2185 | |
| 2186 | // Calculate the field at the second intermediate point |
| 2187 | dx=S1(state_x)-S(state_x); |
| 2188 | dy=S1(state_y)-S(state_y); |
| 2189 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z_over_2; |
| 2190 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z_over_2; |
| 2191 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z_over_2; |
| 2192 | |
| 2193 | // Calculate the derivative and propagate the state to the next point |
| 2194 | CalcDeriv(midz,S1,dEdx,D3); |
| 2195 | S1=S+delta_z*D3; |
| 2196 | |
| 2197 | // Calculate the field at the final point |
| 2198 | dx=S1(state_x)-S(state_x); |
| 2199 | dy=S1(state_y)-S(state_y); |
| 2200 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*delta_z; |
| 2201 | By=By0+dBydx*dx+dBydy*dy+dBydz*delta_z; |
| 2202 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*delta_z; |
| 2203 | |
| 2204 | // Final derivative |
| 2205 | CalcDeriv(newz,S1,dEdx,D4); |
| 2206 | |
| 2207 | // S+=delta_z*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2208 | double dz_over_6=delta_z*ONE_SIXTH0.16666666666666667; |
| 2209 | double dz_over_3=delta_z*ONE_THIRD0.33333333333333333; |
| 2210 | S+=dz_over_6*D1; |
| 2211 | S+=dz_over_3*D2; |
| 2212 | S+=dz_over_3*D3; |
| 2213 | S+=dz_over_6*D4; |
| 2214 | |
| 2215 | // Don't let the magnitude of the momentum drop below some cutoff |
| 2216 | //if (fabs(S(state_q_over_p))>Q_OVER_P_MAX) |
| 2217 | // S(state_q_over_p)=Q_OVER_P_MAX*(S(state_q_over_p)>0.0?1.:-1.); |
| 2218 | // Try to keep the direction tangents from heading towards 90 degrees |
| 2219 | //if (fabs(S(state_tx))>TAN_MAX) |
| 2220 | // S(state_tx)=TAN_MAX*(S(state_tx)>0.0?1.:-1.); |
| 2221 | //if (fabs(S(state_ty))>TAN_MAX) |
| 2222 | // S(state_ty)=TAN_MAX*(S(state_ty)>0.0?1.:-1.); |
| 2223 | |
| 2224 | return ds; |
| 2225 | } |
| 2226 | |
| 2227 | |
| 2228 | |
| 2229 | // Compute the Jacobian matrix for the forward parametrization. |
| 2230 | jerror_t DTrackFitterKalmanSIMD::StepJacobian(double oldz,double newz, |
| 2231 | const DMatrix5x1 &S, |
| 2232 | double dEdx,DMatrix5x5 &J){ |
| 2233 | // Initialize the Jacobian matrix |
| 2234 | //J.Zero(); |
| 2235 | //for (int i=0;i<5;i++) J(i,i)=1.; |
| 2236 | J=I5x5; |
| 2237 | |
| 2238 | // Step in z |
| 2239 | double delta_z=newz-oldz; |
| 2240 | if (fabs(delta_z)<EPS3.0e-8) return NOERROR; //skip if the step is too small |
| 2241 | |
| 2242 | // Current values of state vector variables |
| 2243 | double x=S(state_x), y=S(state_y),tx=S(state_tx),ty=S(state_ty); |
| 2244 | double q_over_p=S(state_q_over_p); |
| 2245 | |
| 2246 | //B-field and field gradient at (x,y,z) |
| 2247 | //if (get_field) |
| 2248 | bfield->GetFieldAndGradient(x,y,oldz,Bx,By,Bz,dBxdx,dBxdy, |
| 2249 | dBxdz,dBydx,dBydy, |
| 2250 | dBydz,dBzdx,dBzdy,dBzdz); |
| 2251 | |
| 2252 | // Don't let the magnitude of the momentum drop below some cutoff |
| 2253 | if (fabs(q_over_p)>Q_OVER_P_MAX){ |
| 2254 | q_over_p=Q_OVER_P_MAX*(q_over_p>0.0?1.:-1.); |
| 2255 | dEdx=0.; |
| 2256 | } |
| 2257 | // Try to keep the direction tangents from heading towards 90 degrees |
| 2258 | if (fabs(tx)>TAN_MAX10.) tx=TAN_MAX10.*(tx>0.0?1.:-1.); |
| 2259 | if (fabs(ty)>TAN_MAX10.) ty=TAN_MAX10.*(ty>0.0?1.:-1.); |
| 2260 | // useful combinations of terms |
| 2261 | double kq_over_p=qBr2p0.003*q_over_p; |
| 2262 | double tx2=tx*tx; |
| 2263 | double twotx2=2.*tx2; |
| 2264 | double ty2=ty*ty; |
| 2265 | double twoty2=2.*ty2; |
| 2266 | double txty=tx*ty; |
| 2267 | double one_plus_tx2=1.+tx2; |
| 2268 | double one_plus_ty2=1.+ty2; |
| 2269 | double one_plus_twotx2_plus_ty2=one_plus_ty2+twotx2; |
| 2270 | double one_plus_twoty2_plus_tx2=one_plus_tx2+twoty2; |
| 2271 | double dsdz=sqrt(1.+tx2+ty2); |
| 2272 | double ds=dsdz*delta_z; |
| 2273 | double kds=qBr2p0.003*ds; |
| 2274 | double kqdz_over_p_over_dsdz=kq_over_p*delta_z/dsdz; |
| 2275 | double kq_over_p_ds=kq_over_p*ds; |
| 2276 | double dtx_Bdep=ty*Bz+txty*Bx-one_plus_tx2*By; |
| 2277 | double dty_Bdep=Bx*one_plus_ty2-txty*By-tx*Bz; |
| 2278 | double Bxty=Bx*ty; |
| 2279 | double Bytx=By*tx; |
| 2280 | double Bztxty=Bz*txty; |
| 2281 | double Byty=By*ty; |
| 2282 | double Bxtx=Bx*tx; |
| 2283 | |
| 2284 | // Jacobian |
| 2285 | J(state_x,state_tx)=J(state_y,state_ty)=delta_z; |
| 2286 | J(state_tx,state_q_over_p)=kds*dtx_Bdep; |
| 2287 | J(state_ty,state_q_over_p)=kds*dty_Bdep; |
| 2288 | J(state_tx,state_tx)+=kqdz_over_p_over_dsdz*(Bxty*(one_plus_twotx2_plus_ty2) |
| 2289 | -Bytx*(3.*one_plus_tx2+twoty2) |
| 2290 | +Bztxty); |
| 2291 | J(state_tx,state_x)=kq_over_p_ds*(ty*dBzdx+txty*dBxdx-one_plus_tx2*dBydx); |
| 2292 | J(state_ty,state_ty)+=kqdz_over_p_over_dsdz*(Bxty*(3.*one_plus_ty2+twotx2) |
| 2293 | -Bytx*(one_plus_twoty2_plus_tx2) |
| 2294 | -Bztxty); |
| 2295 | J(state_ty,state_y)= kq_over_p_ds*(one_plus_ty2*dBxdy-txty*dBydy-tx*dBzdy); |
| 2296 | J(state_tx,state_ty)=kqdz_over_p_over_dsdz |
| 2297 | *((Bxtx+Bz)*(one_plus_twoty2_plus_tx2)-Byty*one_plus_tx2); |
| 2298 | J(state_tx,state_y)= kq_over_p_ds*(tx*dBzdy+txty*dBxdy-one_plus_tx2*dBydy); |
| 2299 | J(state_ty,state_tx)=-kqdz_over_p_over_dsdz*((Byty+Bz)*(one_plus_twotx2_plus_ty2) |
| 2300 | -Bxtx*one_plus_ty2); |
| 2301 | J(state_ty,state_x)=kq_over_p_ds*(one_plus_ty2*dBxdx-txty*dBydx-tx*dBzdx); |
| 2302 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2303 | double one_over_p_sq=q_over_p*q_over_p; |
| 2304 | double E=sqrt(1./one_over_p_sq+mass2); |
| 2305 | J(state_q_over_p,state_q_over_p)-=dEdx*ds/E*(2.+3.*mass2*one_over_p_sq); |
| 2306 | double temp=-(q_over_p*one_over_p_sq/dsdz)*E*dEdx*delta_z; |
| 2307 | J(state_q_over_p,state_tx)=tx*temp; |
| 2308 | J(state_q_over_p,state_ty)=ty*temp; |
| 2309 | } |
| 2310 | |
| 2311 | return NOERROR; |
| 2312 | } |
| 2313 | |
| 2314 | // Calculate the derivative for the alternate set of parameters {q/pT, phi, |
| 2315 | // tan(lambda),D,z} |
| 2316 | jerror_t DTrackFitterKalmanSIMD::CalcDeriv(DVector2 &dpos,const DMatrix5x1 &S, |
| 2317 | double dEdx,DMatrix5x1 &D1){ |
| 2318 | //Direction at current point |
| 2319 | double tanl=S(state_tanl); |
| 2320 | // Don't let tanl exceed some maximum |
| 2321 | if (fabs(tanl)>TAN_MAX10.) tanl=TAN_MAX10.*(tanl>0.0?1.:-1.); |
| 2322 | |
| 2323 | double phi=S(state_phi); |
| 2324 | double cosphi=cos(phi); |
| 2325 | double sinphi=sin(phi); |
| 2326 | double lambda=atan(tanl); |
| 2327 | double sinl=sin(lambda); |
| 2328 | double cosl=cos(lambda); |
| 2329 | // Other parameters |
| 2330 | double q_over_pt=S(state_q_over_pt); |
| 2331 | double pt=fabs(1./q_over_pt); |
| 2332 | |
| 2333 | // Turn off dEdx if the pt drops below some minimum |
| 2334 | if (pt<PT_MIN) { |
| 2335 | dEdx=0.; |
| 2336 | } |
| 2337 | double kq_over_pt=qBr2p0.003*q_over_pt; |
| 2338 | |
| 2339 | // Derivative of S with respect to s |
| 2340 | double By_cosphi_minus_Bx_sinphi=By*cosphi-Bx*sinphi; |
| 2341 | D1(state_q_over_pt) |
| 2342 | =kq_over_pt*q_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2343 | double one_over_cosl=1./cosl; |
| 2344 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2345 | double p=pt*one_over_cosl; |
| 2346 | double p_sq=p*p; |
| 2347 | double E=sqrt(p_sq+mass2); |
| 2348 | D1(state_q_over_pt)-=q_over_pt*E*dEdx/p_sq; |
| 2349 | } |
| 2350 | // D1(state_phi) |
| 2351 | // =kq_over_pt*(Bx*cosphi*sinl+By*sinphi*sinl-Bz*cosl); |
| 2352 | D1(state_phi)=kq_over_pt*((Bx*cosphi+By*sinphi)*sinl-Bz*cosl); |
| 2353 | D1(state_tanl)=kq_over_pt*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2354 | D1(state_z)=sinl; |
| 2355 | |
| 2356 | // New direction |
| 2357 | dpos.Set(cosl*cosphi,cosl*sinphi); |
| 2358 | |
| 2359 | return NOERROR; |
| 2360 | } |
| 2361 | |
| 2362 | // Calculate the derivative and Jacobian matrices for the alternate set of |
| 2363 | // parameters {q/pT, phi, tan(lambda),D,z} |
| 2364 | jerror_t DTrackFitterKalmanSIMD::CalcDerivAndJacobian(const DVector2 &xy, |
| 2365 | DVector2 &dxy, |
| 2366 | const DMatrix5x1 &S, |
| 2367 | double dEdx, |
| 2368 | DMatrix5x5 &J1, |
| 2369 | DMatrix5x1 &D1){ |
| 2370 | //Direction at current point |
| 2371 | double tanl=S(state_tanl); |
| 2372 | // Don't let tanl exceed some maximum |
| 2373 | if (fabs(tanl)>TAN_MAX10.) tanl=TAN_MAX10.*(tanl>0.0?1.:-1.); |
| 2374 | |
| 2375 | double phi=S(state_phi); |
| 2376 | double cosphi=cos(phi); |
| 2377 | double sinphi=sin(phi); |
| 2378 | double lambda=atan(tanl); |
| 2379 | double sinl=sin(lambda); |
| 2380 | double cosl=cos(lambda); |
| 2381 | double cosl2=cosl*cosl; |
| 2382 | double cosl3=cosl*cosl2; |
| 2383 | double one_over_cosl=1./cosl; |
| 2384 | // Other parameters |
| 2385 | double q_over_pt=S(state_q_over_pt); |
| 2386 | double pt=fabs(1./q_over_pt); |
| 2387 | double q=pt*q_over_pt; |
| 2388 | |
| 2389 | // Turn off dEdx if pt drops below some minimum |
| 2390 | if (pt<PT_MIN) { |
| 2391 | dEdx=0.; |
| 2392 | } |
| 2393 | double kq_over_pt=qBr2p0.003*q_over_pt; |
| 2394 | |
| 2395 | // B-field and gradient at (x,y,z) |
| 2396 | bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2397 | dBxdx,dBxdy,dBxdz,dBydx, |
| 2398 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2399 | |
| 2400 | // Derivative of S with respect to s |
| 2401 | double By_cosphi_minus_Bx_sinphi=By*cosphi-Bx*sinphi; |
| 2402 | double By_sinphi_plus_Bx_cosphi=By*sinphi+Bx*cosphi; |
| 2403 | D1(state_q_over_pt)=kq_over_pt*q_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2404 | D1(state_phi)=kq_over_pt*(By_sinphi_plus_Bx_cosphi*sinl-Bz*cosl); |
| 2405 | D1(state_tanl)=kq_over_pt*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2406 | D1(state_z)=sinl; |
| 2407 | |
| 2408 | // New direction |
| 2409 | dxy.Set(cosl*cosphi,cosl*sinphi); |
| 2410 | |
| 2411 | // Jacobian matrix elements |
| 2412 | J1(state_phi,state_phi)=kq_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2413 | J1(state_phi,state_q_over_pt) |
| 2414 | =qBr2p0.003*(By_sinphi_plus_Bx_cosphi*sinl-Bz*cosl); |
| 2415 | J1(state_phi,state_tanl)=kq_over_pt*(By_sinphi_plus_Bx_cosphi*cosl |
| 2416 | +Bz*sinl)*cosl2; |
| 2417 | J1(state_phi,state_z) |
| 2418 | =kq_over_pt*(dBxdz*cosphi*sinl+dBydz*sinphi*sinl-dBzdz*cosl); |
| 2419 | |
| 2420 | J1(state_tanl,state_phi)=-kq_over_pt*By_sinphi_plus_Bx_cosphi*one_over_cosl; |
| 2421 | J1(state_tanl,state_q_over_pt)=qBr2p0.003*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2422 | J1(state_tanl,state_tanl)=kq_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2423 | J1(state_tanl,state_z)=kq_over_pt*(dBydz*cosphi-dBxdz*sinphi)*one_over_cosl; |
| 2424 | J1(state_q_over_pt,state_phi) |
| 2425 | =-kq_over_pt*q_over_pt*sinl*By_sinphi_plus_Bx_cosphi; |
| 2426 | J1(state_q_over_pt,state_q_over_pt) |
| 2427 | =2.*kq_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2428 | J1(state_q_over_pt,state_tanl) |
| 2429 | =kq_over_pt*q_over_pt*cosl3*By_cosphi_minus_Bx_sinphi; |
| 2430 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2431 | double p=pt*one_over_cosl; |
| 2432 | double p_sq=p*p; |
| 2433 | double m2_over_p2=mass2/p_sq; |
| 2434 | double E=sqrt(p_sq+mass2); |
| 2435 | |
| 2436 | D1(state_q_over_pt)-=q_over_pt*E/p_sq*dEdx; |
| 2437 | J1(state_q_over_pt,state_q_over_pt)-=dEdx*(2.+3.*m2_over_p2)/E; |
| 2438 | J1(state_q_over_pt,state_tanl)+=q*dEdx*sinl*(1.+2.*m2_over_p2)/(p*E); |
| 2439 | } |
| 2440 | J1(state_q_over_pt,state_z) |
| 2441 | =kq_over_pt*q_over_pt*sinl*(dBydz*cosphi-dBxdz*sinphi); |
| 2442 | J1(state_z,state_tanl)=cosl3; |
| 2443 | |
| 2444 | return NOERROR; |
| 2445 | } |
| 2446 | |
| 2447 | // Step the state and the covariance matrix through the field |
| 2448 | jerror_t DTrackFitterKalmanSIMD::StepStateAndCovariance(DVector2 &xy, |
| 2449 | double ds, |
| 2450 | double dEdx, |
| 2451 | DMatrix5x1 &S, |
| 2452 | DMatrix5x5 &J, |
| 2453 | DMatrix5x5 &C){ |
| 2454 | //Initialize the Jacobian matrix |
| 2455 | J=I5x5; |
| 2456 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2457 | |
| 2458 | // B-field and gradient at current (x,y,z) |
| 2459 | bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2460 | dBxdx,dBxdy,dBxdz,dBydx, |
| 2461 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2462 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2463 | |
| 2464 | // Matrices for intermediate steps |
| 2465 | DMatrix5x1 D1,D2,D3,D4; |
| 2466 | DMatrix5x1 S1; |
| 2467 | DMatrix5x5 J1; |
| 2468 | DVector2 dxy1,dxy2,dxy3,dxy4; |
| 2469 | double ds_2=0.5*ds; |
| 2470 | |
| 2471 | // Find the derivative at the first point, propagate the state to the |
| 2472 | // first intermediate point and start filling the Jacobian matrix |
| 2473 | CalcDerivAndJacobian(xy,dxy1,S,dEdx,J1,D1); |
| 2474 | S1=S+ds_2*D1; |
| 2475 | |
| 2476 | // Calculate the field at the first intermediate point |
| 2477 | double dz=S1(state_z)-S(state_z); |
| 2478 | double dx=ds_2*dxy1.X(); |
| 2479 | double dy=ds_2*dxy1.Y(); |
| 2480 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2481 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2482 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2483 | |
| 2484 | // Calculate the derivative and propagate the state to the next point |
| 2485 | CalcDeriv(dxy2,S1,dEdx,D2); |
| 2486 | S1=S+ds_2*D2; |
| 2487 | |
| 2488 | // Calculate the field at the second intermediate point |
| 2489 | dz=S1(state_z)-S(state_z); |
| 2490 | dx=ds_2*dxy2.X(); |
| 2491 | dy=ds_2*dxy2.Y(); |
| 2492 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2493 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2494 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2495 | |
| 2496 | // Calculate the derivative and propagate the state to the next point |
| 2497 | CalcDeriv(dxy3,S1,dEdx,D3); |
| 2498 | S1=S+ds*D3; |
| 2499 | |
| 2500 | // Calculate the field at the final point |
| 2501 | dz=S1(state_z)-S(state_z); |
| 2502 | dx=ds*dxy3.X(); |
| 2503 | dy=ds*dxy3.Y(); |
| 2504 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2505 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2506 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2507 | |
| 2508 | // Final derivative |
| 2509 | CalcDeriv(dxy4,S1,dEdx,D4); |
| 2510 | |
| 2511 | // Position vector increment |
| 2512 | //DVector3 dpos |
| 2513 | // =ds*(ONE_SIXTH*dpos1+ONE_THIRD*dpos2+ONE_THIRD*dpos3+ONE_SIXTH*dpos4); |
| 2514 | double ds_over_6=ds*ONE_SIXTH0.16666666666666667; |
| 2515 | double ds_over_3=ds*ONE_THIRD0.33333333333333333; |
| 2516 | DVector2 dxy=ds_over_6*dxy1; |
| 2517 | dxy+=ds_over_3*dxy2; |
| 2518 | dxy+=ds_over_3*dxy3; |
| 2519 | dxy+=ds_over_6*dxy4; |
| 2520 | |
| 2521 | // New Jacobian matrix |
| 2522 | J+=ds*J1; |
| 2523 | |
| 2524 | // Deal with changes in D |
| 2525 | double B=sqrt(Bx0*Bx0+By0*By0+Bz0*Bz0); |
| 2526 | //double qrc_old=qpt/(qBr2p*Bz_); |
| 2527 | double qpt=1./S(state_q_over_pt); |
| 2528 | double q=(qpt>0.)?1.:-1.; |
| 2529 | double qrc_old=qpt/(qBr2p0.003*B); |
| 2530 | double sinphi=sin(S(state_phi)); |
| 2531 | double cosphi=cos(S(state_phi)); |
| 2532 | double qrc_plus_D=S(state_D)+qrc_old; |
| 2533 | dx=dxy.X(); |
| 2534 | dy=dxy.Y(); |
| 2535 | double dx_sinphi_minus_dy_cosphi=dx*sinphi-dy*cosphi; |
| 2536 | double rc=sqrt(dxy.Mod2() |
| 2537 | +2.*qrc_plus_D*(dx_sinphi_minus_dy_cosphi) |
| 2538 | +qrc_plus_D*qrc_plus_D); |
| 2539 | double q_over_rc=q/rc; |
| 2540 | |
| 2541 | J(state_D,state_D)=q_over_rc*(dx_sinphi_minus_dy_cosphi+qrc_plus_D); |
| 2542 | J(state_D,state_q_over_pt)=qpt*qrc_old*(J(state_D,state_D)-1.); |
| 2543 | J(state_D,state_phi)=q_over_rc*qrc_plus_D*(dx*cosphi+dy*sinphi); |
| 2544 | |
| 2545 | // New xy vector |
| 2546 | xy+=dxy; |
| 2547 | |
| 2548 | // New state vector |
| 2549 | //S+=ds*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2550 | S+=ds_over_6*D1; |
| 2551 | S+=ds_over_3*D2; |
| 2552 | S+=ds_over_3*D3; |
| 2553 | S+=ds_over_6*D4; |
| 2554 | |
| 2555 | // Don't let the pt drop below some minimum |
| 2556 | //if (fabs(1./S(state_q_over_pt))<PT_MIN) { |
| 2557 | // S(state_q_over_pt)=(1./PT_MIN)*(S(state_q_over_pt)>0.0?1.:-1.); |
| 2558 | // } |
| 2559 | // Don't let tanl exceed some maximum |
| 2560 | if (fabs(S(state_tanl))>TAN_MAX10.){ |
| 2561 | S(state_tanl)=TAN_MAX10.*(S(state_tanl)>0.0?1.:-1.); |
| 2562 | } |
| 2563 | |
| 2564 | // New covariance matrix |
| 2565 | // C=J C J^T |
| 2566 | //C=C.SandwichMultiply(J); |
| 2567 | C=J*C*J.Transpose(); |
| 2568 | |
| 2569 | return NOERROR; |
| 2570 | } |
| 2571 | |
| 2572 | // Runga-Kutte for alternate parameter set {q/pT,phi,tanl(lambda),D,z} |
| 2573 | // Uses the gradient to compute the field at the intermediate and last |
| 2574 | // points. |
| 2575 | jerror_t DTrackFitterKalmanSIMD::FasterStep(DVector2 &xy,double ds, |
| 2576 | DMatrix5x1 &S, |
| 2577 | double dEdx){ |
| 2578 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2579 | |
| 2580 | // Matrices for intermediate steps |
| 2581 | DMatrix5x1 D1,D2,D3,D4; |
| 2582 | DMatrix5x1 S1; |
| 2583 | DVector2 dxy1,dxy2,dxy3,dxy4; |
| 2584 | double ds_2=0.5*ds; |
| 2585 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2586 | |
| 2587 | // The magnetic field at the beginning of the step is assumed to be |
| 2588 | // obtained at the end of the previous step through StepJacobian |
| 2589 | |
| 2590 | // Calculate the derivative and propagate the state to the next point |
| 2591 | CalcDeriv(dxy1,S,dEdx,D1); |
| 2592 | S1=S+ds_2*D1; |
| 2593 | |
| 2594 | // Calculate the field at the first intermediate point |
| 2595 | double dz=S1(state_z)-S(state_z); |
| 2596 | double dx=ds_2*dxy1.X(); |
| 2597 | double dy=ds_2*dxy1.Y(); |
| 2598 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2599 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2600 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2601 | |
| 2602 | // Calculate the derivative and propagate the state to the next point |
| 2603 | CalcDeriv(dxy2,S1,dEdx,D2); |
| 2604 | S1=S+ds_2*D2; |
| 2605 | |
| 2606 | // Calculate the field at the second intermediate point |
| 2607 | dz=S1(state_z)-S(state_z); |
| 2608 | dx=ds_2*dxy2.X(); |
| 2609 | dy=ds_2*dxy2.Y(); |
| 2610 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2611 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2612 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2613 | |
| 2614 | // Calculate the derivative and propagate the state to the next point |
| 2615 | CalcDeriv(dxy3,S1,dEdx,D3); |
| 2616 | S1=S+ds*D3; |
| 2617 | |
| 2618 | // Calculate the field at the final point |
| 2619 | dz=S1(state_z)-S(state_z); |
| 2620 | dx=ds*dxy3.X(); |
| 2621 | dy=ds*dxy3.Y(); |
| 2622 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2623 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2624 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2625 | |
| 2626 | // Final derivative |
| 2627 | CalcDeriv(dxy4,S1,dEdx,D4); |
| 2628 | |
| 2629 | // New state vector |
| 2630 | // S+=ds*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2631 | double ds_over_6=ds*ONE_SIXTH0.16666666666666667; |
| 2632 | double ds_over_3=ds*ONE_THIRD0.33333333333333333; |
| 2633 | S+=ds_over_6*D1; |
| 2634 | S+=ds_over_3*D2; |
| 2635 | S+=ds_over_3*D3; |
| 2636 | S+=ds_over_6*D4; |
| 2637 | |
| 2638 | // New position |
| 2639 | //pos+=ds*(ONE_SIXTH*dpos1+ONE_THIRD*dpos2+ONE_THIRD*dpos3+ONE_SIXTH*dpos4); |
| 2640 | xy+=ds_over_6*dxy1; |
| 2641 | xy+=ds_over_3*dxy2; |
| 2642 | xy+=ds_over_3*dxy3; |
| 2643 | xy+=ds_over_6*dxy4; |
| 2644 | |
| 2645 | // Don't let the pt drop below some minimum |
| 2646 | //if (fabs(1./S(state_q_over_pt))<PT_MIN) { |
| 2647 | // S(state_q_over_pt)=(1./PT_MIN)*(S(state_q_over_pt)>0.0?1.:-1.); |
| 2648 | //} |
| 2649 | // Don't let tanl exceed some maximum |
| 2650 | if (fabs(S(state_tanl))>TAN_MAX10.){ |
| 2651 | S(state_tanl)=TAN_MAX10.*(S(state_tanl)>0.0?1.:-1.); |
| 2652 | } |
| 2653 | |
| 2654 | return NOERROR; |
| 2655 | } |
| 2656 | |
| 2657 | // Runga-Kutte for alternate parameter set {q/pT,phi,tanl(lambda),D,z} |
| 2658 | jerror_t DTrackFitterKalmanSIMD::Step(DVector2 &xy,double ds, |
| 2659 | DMatrix5x1 &S, |
| 2660 | double dEdx){ |
| 2661 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2662 | |
| 2663 | // B-field and gradient at current (x,y,z) |
| 2664 | bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2665 | dBxdx,dBxdy,dBxdz,dBydx, |
| 2666 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2667 | double Bx0=Bx,By0=By,Bz0=Bz; |
| 2668 | |
| 2669 | // Matrices for intermediate steps |
| 2670 | DMatrix5x1 D1,D2,D3,D4; |
| 2671 | DMatrix5x1 S1; |
| 2672 | DVector2 dxy1,dxy2,dxy3,dxy4; |
| 2673 | double ds_2=0.5*ds; |
| 2674 | |
| 2675 | // Find the derivative at the first point, propagate the state to the |
| 2676 | // first intermediate point |
| 2677 | CalcDeriv(dxy1,S,dEdx,D1); |
| 2678 | S1=S+ds_2*D1; |
| 2679 | |
| 2680 | // Calculate the field at the first intermediate point |
| 2681 | double dz=S1(state_z)-S(state_z); |
| 2682 | double dx=ds_2*dxy1.X(); |
| 2683 | double dy=ds_2*dxy1.Y(); |
| 2684 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2685 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2686 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2687 | |
| 2688 | // Calculate the derivative and propagate the state to the next point |
| 2689 | CalcDeriv(dxy2,S1,dEdx,D2); |
| 2690 | S1=S+ds_2*D2; |
| 2691 | |
| 2692 | // Calculate the field at the second intermediate point |
| 2693 | dz=S1(state_z)-S(state_z); |
| 2694 | dx=ds_2*dxy2.X(); |
| 2695 | dy=ds_2*dxy2.Y(); |
| 2696 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2697 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2698 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2699 | |
| 2700 | // Calculate the derivative and propagate the state to the next point |
| 2701 | CalcDeriv(dxy3,S1,dEdx,D3); |
| 2702 | S1=S+ds*D3; |
| 2703 | |
| 2704 | // Calculate the field at the final point |
| 2705 | dz=S1(state_z)-S(state_z); |
| 2706 | dx=ds*dxy3.X(); |
| 2707 | dy=ds*dxy3.Y(); |
| 2708 | Bx=Bx0+dBxdx*dx+dBxdy*dy+dBxdz*dz; |
| 2709 | By=By0+dBydx*dx+dBydy*dy+dBydz*dz; |
| 2710 | Bz=Bz0+dBzdx*dx+dBzdy*dy+dBzdz*dz; |
| 2711 | |
| 2712 | // Final derivative |
| 2713 | CalcDeriv(dxy4,S1,dEdx,D4); |
| 2714 | |
| 2715 | // New state vector |
| 2716 | // S+=ds*(ONE_SIXTH*D1+ONE_THIRD*D2+ONE_THIRD*D3+ONE_SIXTH*D4); |
| 2717 | double ds_over_6=ds*ONE_SIXTH0.16666666666666667; |
| 2718 | double ds_over_3=ds*ONE_THIRD0.33333333333333333; |
| 2719 | S+=ds_over_6*D1; |
| 2720 | S+=ds_over_3*D2; |
| 2721 | S+=ds_over_3*D3; |
| 2722 | S+=ds_over_6*D4; |
| 2723 | |
| 2724 | // New position |
| 2725 | //pos+=ds*(ONE_SIXTH*dpos1+ONE_THIRD*dpos2+ONE_THIRD*dpos3+ONE_SIXTH*dpos4); |
| 2726 | xy+=ds_over_6*dxy1; |
| 2727 | xy+=ds_over_3*dxy2; |
| 2728 | xy+=ds_over_3*dxy3; |
| 2729 | xy+=ds_over_6*dxy4; |
| 2730 | |
| 2731 | // Don't let the pt drop below some minimum |
| 2732 | //if (fabs(1./S(state_q_over_pt))<PT_MIN) { |
| 2733 | // S(state_q_over_pt)=(1./PT_MIN)*(S(state_q_over_pt)>0.0?1.:-1.); |
| 2734 | //} |
| 2735 | // Don't let tanl exceed some maximum |
| 2736 | if (fabs(S(state_tanl))>TAN_MAX10.){ |
| 2737 | S(state_tanl)=TAN_MAX10.*(S(state_tanl)>0.0?1.:-1.); |
| 2738 | } |
| 2739 | |
| 2740 | return NOERROR; |
| 2741 | } |
| 2742 | |
| 2743 | // Assuming that the magnetic field is constant over the step, use a helical |
| 2744 | // model to step directly to the next point along the trajectory. |
| 2745 | void DTrackFitterKalmanSIMD::FastStep(double &z,double ds, double dEdx, |
| 2746 | DMatrix5x1 &S){ |
| 2747 | |
| 2748 | // Compute convenience terms involving Bx, By, Bz |
| 2749 | double one_over_p=fabs(S(state_q_over_p)); |
| 2750 | double p=1./one_over_p; |
| 2751 | double tx=S(state_tx),ty=S(state_ty); |
| 2752 | double denom=sqrt(1.+tx*tx+ty*ty); |
| 2753 | double px=p*tx/denom; |
| 2754 | double py=p*ty/denom; |
| 2755 | double pz=p/denom; |
| 2756 | double q=S(state_q_over_p)>0?1.:-1.; |
| 2757 | double k_q=qBr2p0.003*q; |
| 2758 | double ds_over_p=ds*one_over_p; |
| 2759 | double factor=k_q*(0.25*ds_over_p); |
| 2760 | double Ax=factor*Bx,Ay=factor*By,Az=factor*Bz; |
| 2761 | double Ax2=Ax*Ax,Ay2=Ay*Ay,Az2=Az*Az; |
| 2762 | double AxAy=Ax*Ay,AxAz=Ax*Az,AyAz=Ay*Az; |
| 2763 | double one_plus_Ax2=1.+Ax2; |
| 2764 | double scale=ds_over_p/(one_plus_Ax2+Ay2+Az2); |
| 2765 | |
| 2766 | // Compute new position |
| 2767 | double dx=scale*(px*one_plus_Ax2+py*(AxAy+Az)+pz*(AxAz-Ay)); |
| 2768 | double dy=scale*(px*(AxAy-Az)+py*(1.+Ay2)+pz*(AyAz+Ax)); |
| 2769 | double dz=scale*(px*(AxAz+Ay)+py*(AyAz-Ax)+pz*(1.+Az2)); |
| 2770 | S(state_x)+=dx; |
| 2771 | S(state_y)+=dy; |
| 2772 | z+=dz; |
| 2773 | |
| 2774 | // Compute new momentum |
| 2775 | px+=k_q*(Bz*dy-By*dz); |
| 2776 | py+=k_q*(Bx*dz-Bz*dx); |
| 2777 | pz+=k_q*(By*dx-Bx*dy); |
| 2778 | S(state_tx)=px/pz; |
| 2779 | S(state_ty)=py/pz; |
| 2780 | if (fabs(dEdx)>EPS3.0e-8){ |
| 2781 | double one_over_p_sq=one_over_p*one_over_p; |
| 2782 | double E=sqrt(1./one_over_p_sq+mass2); |
| 2783 | S(state_q_over_p)-=S(state_q_over_p)*one_over_p_sq*E*dEdx*ds; |
| 2784 | } |
| 2785 | } |
| 2786 | // Assuming that the magnetic field is constant over the step, use a helical |
| 2787 | // model to step directly to the next point along the trajectory. |
| 2788 | void DTrackFitterKalmanSIMD::FastStep(DVector2 &xy,double ds, double dEdx, |
| 2789 | DMatrix5x1 &S){ |
| 2790 | |
| 2791 | // Compute convenience terms involving Bx, By, Bz |
| 2792 | double pt=fabs(1./S(state_q_over_pt)); |
| 2793 | double one_over_p=cos(atan(S(state_tanl)))/pt; |
| 2794 | double px=pt*cos(S(state_phi)); |
| 2795 | double py=pt*sin(S(state_phi)); |
| 2796 | double pz=pt*S(state_tanl); |
| 2797 | double q=S(state_q_over_pt)>0?1.:-1.; |
| 2798 | double k_q=qBr2p0.003*q; |
| 2799 | double ds_over_p=ds*one_over_p; |
| 2800 | double factor=k_q*(0.25*ds_over_p); |
| 2801 | double Ax=factor*Bx,Ay=factor*By,Az=factor*Bz; |
| 2802 | double Ax2=Ax*Ax,Ay2=Ay*Ay,Az2=Az*Az; |
| 2803 | double AxAy=Ax*Ay,AxAz=Ax*Az,AyAz=Ay*Az; |
| 2804 | double one_plus_Ax2=1.+Ax2; |
| 2805 | double scale=ds_over_p/(one_plus_Ax2+Ay2+Az2); |
| 2806 | |
| 2807 | // Compute new position |
| 2808 | double dx=scale*(px*one_plus_Ax2+py*(AxAy+Az)+pz*(AxAz-Ay)); |
| 2809 | double dy=scale*(px*(AxAy-Az)+py*(1.+Ay2)+pz*(AyAz+Ax)); |
| 2810 | double dz=scale*(px*(AxAz+Ay)+py*(AyAz-Ax)+pz*(1.+Az2)); |
| 2811 | xy.Set(xy.X()+dx,xy.Y()+dy); |
| 2812 | S(state_z)+=dz; |
| 2813 | |
| 2814 | // Compute new momentum |
| 2815 | px+=k_q*(Bz*dy-By*dz); |
| 2816 | py+=k_q*(Bx*dz-Bz*dx); |
| 2817 | pz+=k_q*(By*dx-Bx*dy); |
| 2818 | pt=sqrt(px*px+py*py); |
| 2819 | S(state_q_over_pt)=q/pt; |
| 2820 | S(state_phi)=atan2(py,px); |
| 2821 | S(state_tanl)=pz/pt; |
| 2822 | if (fabs(dEdx)>EPS3.0e-8){ |
| 2823 | double one_over_p_sq=one_over_p*one_over_p; |
| 2824 | double E=sqrt(1./one_over_p_sq+mass2); |
| 2825 | S(state_q_over_p)-=S(state_q_over_pt)*one_over_p_sq*E*dEdx*ds; |
| 2826 | } |
| 2827 | } |
| 2828 | |
| 2829 | // Calculate the jacobian matrix for the alternate parameter set |
| 2830 | // {q/pT,phi,tanl(lambda),D,z} |
| 2831 | jerror_t DTrackFitterKalmanSIMD::StepJacobian(const DVector2 &xy, |
| 2832 | const DVector2 &dxy, |
| 2833 | double ds,const DMatrix5x1 &S, |
| 2834 | double dEdx,DMatrix5x5 &J){ |
| 2835 | // Initialize the Jacobian matrix |
| 2836 | //J.Zero(); |
| 2837 | //for (int i=0;i<5;i++) J(i,i)=1.; |
| 2838 | J=I5x5; |
| 2839 | |
| 2840 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2841 | // B-field and gradient at current (x,y,z) |
| 2842 | //bfield->GetFieldAndGradient(xy.X(),xy.Y(),S(state_z),Bx,By,Bz, |
| 2843 | //dBxdx,dBxdy,dBxdz,dBydx, |
| 2844 | //dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 2845 | |
| 2846 | // Charge |
| 2847 | double q=(S(state_q_over_pt)>0.0)?1.:-1.; |
| 2848 | |
| 2849 | //kinematic quantities |
| 2850 | double q_over_pt=S(state_q_over_pt); |
| 2851 | double sinphi=sin(S(state_phi)); |
| 2852 | double cosphi=cos(S(state_phi)); |
| 2853 | double D=S(state_D); |
| 2854 | double lambda=atan(S(state_tanl)); |
| 2855 | double sinl=sin(lambda); |
| 2856 | double cosl=cos(lambda); |
| 2857 | double cosl2=cosl*cosl; |
| 2858 | double cosl3=cosl*cosl2; |
| 2859 | double one_over_cosl=1./cosl; |
| 2860 | double pt=fabs(1./q_over_pt); |
| 2861 | |
| 2862 | // Turn off dEdx if pt drops below some minimum |
| 2863 | if (pt<PT_MIN) { |
| 2864 | dEdx=0.; |
| 2865 | } |
| 2866 | double kds=qBr2p0.003*ds; |
| 2867 | double kq_ds_over_pt=kds*q_over_pt; |
| 2868 | double By_cosphi_minus_Bx_sinphi=By*cosphi-Bx*sinphi; |
| 2869 | double By_sinphi_plus_Bx_cosphi=By*sinphi+Bx*cosphi; |
| 2870 | |
| 2871 | // Jacobian matrix elements |
| 2872 | J(state_phi,state_phi)+=kq_ds_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2873 | J(state_phi,state_q_over_pt)=kds*(By_sinphi_plus_Bx_cosphi*sinl-Bz*cosl); |
| 2874 | J(state_phi,state_tanl)=kq_ds_over_pt*(By_sinphi_plus_Bx_cosphi*cosl |
| 2875 | +Bz*sinl)*cosl2; |
| 2876 | J(state_phi,state_z) |
| 2877 | =kq_ds_over_pt*(dBxdz*cosphi*sinl+dBydz*sinphi*sinl-dBzdz*cosl); |
| 2878 | |
| 2879 | J(state_tanl,state_phi)=-kq_ds_over_pt*By_sinphi_plus_Bx_cosphi*one_over_cosl; |
| 2880 | J(state_tanl,state_q_over_pt)=kds*By_cosphi_minus_Bx_sinphi*one_over_cosl; |
| 2881 | J(state_tanl,state_tanl)+=kq_ds_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2882 | J(state_tanl,state_z)=kq_ds_over_pt*(dBydz*cosphi-dBxdz*sinphi)*one_over_cosl; |
| 2883 | J(state_q_over_pt,state_phi) |
| 2884 | =-kq_ds_over_pt*q_over_pt*sinl*By_sinphi_plus_Bx_cosphi; |
| 2885 | J(state_q_over_pt,state_q_over_pt) |
| 2886 | +=2.*kq_ds_over_pt*sinl*By_cosphi_minus_Bx_sinphi; |
| 2887 | J(state_q_over_pt,state_tanl) |
| 2888 | =kq_ds_over_pt*q_over_pt*cosl3*By_cosphi_minus_Bx_sinphi; |
| 2889 | if (CORRECT_FOR_ELOSS && fabs(dEdx)>EPS3.0e-8){ |
| 2890 | double p=pt*one_over_cosl; |
| 2891 | double p_sq=p*p; |
| 2892 | double m2_over_p2=mass2/p_sq; |
| 2893 | double E=sqrt(p_sq+mass2); |
| 2894 | double dE_over_E=dEdx*ds/E; |
| 2895 | |
| 2896 | J(state_q_over_pt,state_q_over_pt)-=dE_over_E*(2.+3.*m2_over_p2); |
| 2897 | J(state_q_over_pt,state_tanl)+=q*dE_over_E*sinl*(1.+2.*m2_over_p2)/p; |
| 2898 | } |
| 2899 | J(state_q_over_pt,state_z) |
| 2900 | =kq_ds_over_pt*q_over_pt*sinl*(dBydz*cosphi-dBxdz*sinphi); |
| 2901 | J(state_z,state_tanl)=cosl3*ds; |
| 2902 | |
| 2903 | // Deal with changes in D |
| 2904 | double B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 2905 | //double qrc_old=qpt/(qBr2p*fabs(Bz)); |
| 2906 | double qpt=FactorForSenseOfRotation/q_over_pt; |
| 2907 | double qrc_old=qpt/(qBr2p0.003*B); |
| 2908 | double qrc_plus_D=D+qrc_old; |
| 2909 | double dx=dxy.X(); |
| 2910 | double dy=dxy.Y(); |
| 2911 | double dx_sinphi_minus_dy_cosphi=dx*sinphi-dy*cosphi; |
| 2912 | double rc=sqrt(dxy.Mod2() |
| 2913 | +2.*qrc_plus_D*(dx_sinphi_minus_dy_cosphi) |
| 2914 | +qrc_plus_D*qrc_plus_D); |
| 2915 | double q_over_rc=FactorForSenseOfRotation*q/rc; |
| 2916 | |
| 2917 | J(state_D,state_D)=q_over_rc*(dx_sinphi_minus_dy_cosphi+qrc_plus_D); |
| 2918 | J(state_D,state_q_over_pt)=qpt*qrc_old*(J(state_D,state_D)-1.); |
| 2919 | J(state_D,state_phi)=q_over_rc*qrc_plus_D*(dx*cosphi+dy*sinphi); |
| 2920 | |
| 2921 | return NOERROR; |
| 2922 | } |
| 2923 | |
| 2924 | |
| 2925 | |
| 2926 | |
| 2927 | // Runga-Kutte for alternate parameter set {q/pT,phi,tanl(lambda),D,z} |
| 2928 | jerror_t DTrackFitterKalmanSIMD::StepJacobian(const DVector2 &xy, |
| 2929 | double ds,const DMatrix5x1 &S, |
| 2930 | double dEdx,DMatrix5x5 &J){ |
| 2931 | // Initialize the Jacobian matrix |
| 2932 | //J.Zero(); |
| 2933 | //for (int i=0;i<5;i++) J(i,i)=1.; |
| 2934 | J=I5x5; |
| 2935 | |
| 2936 | if (fabs(ds)<EPS3.0e-8) return NOERROR; // break out if ds is too small |
| 2937 | |
| 2938 | // Matrices for intermediate steps |
| 2939 | DMatrix5x5 J1; |
| 2940 | DMatrix5x1 D1; |
| 2941 | DVector2 dxy1; |
| 2942 | |
| 2943 | // charge |
| 2944 | double q=(S(state_q_over_pt)>0.0)?1.:-1.; |
| 2945 | q*=FactorForSenseOfRotation; |
| 2946 | |
| 2947 | //kinematic quantities |
| 2948 | double qpt=1./S(state_q_over_pt) * FactorForSenseOfRotation; |
| 2949 | double sinphi=sin(S(state_phi)); |
| 2950 | double cosphi=cos(S(state_phi)); |
| 2951 | double D=S(state_D); |
| 2952 | |
| 2953 | CalcDerivAndJacobian(xy,dxy1,S,dEdx,J1,D1); |
| 2954 | // double Bz_=fabs(Bz); // needed for computing D |
| 2955 | |
| 2956 | // New Jacobian matrix |
| 2957 | J+=ds*J1; |
| 2958 | |
| 2959 | // change in position |
| 2960 | DVector2 dxy =ds*dxy1; |
| 2961 | |
| 2962 | // Deal with changes in D |
| 2963 | double B=sqrt(Bx*Bx+By*By+Bz*Bz); |
| 2964 | //double qrc_old=qpt/(qBr2p*Bz_); |
| 2965 | double qrc_old=qpt/(qBr2p0.003*B); |
| 2966 | double qrc_plus_D=D+qrc_old; |
| 2967 | double dx=dxy.X(); |
| 2968 | double dy=dxy.Y(); |
| 2969 | double dx_sinphi_minus_dy_cosphi=dx*sinphi-dy*cosphi; |
| 2970 | double rc=sqrt(dxy.Mod2() |
| 2971 | +2.*qrc_plus_D*(dx_sinphi_minus_dy_cosphi) |
| 2972 | +qrc_plus_D*qrc_plus_D); |
| 2973 | double q_over_rc=q/rc; |
| 2974 | |
| 2975 | J(state_D,state_D)=q_over_rc*(dx_sinphi_minus_dy_cosphi+qrc_plus_D); |
| 2976 | J(state_D,state_q_over_pt)=qpt*qrc_old*(J(state_D,state_D)-1.); |
| 2977 | J(state_D,state_phi)=q_over_rc*qrc_plus_D*(dx*cosphi+dy*sinphi); |
| 2978 | |
| 2979 | return NOERROR; |
| 2980 | } |
| 2981 | |
| 2982 | // Compute contributions to the covariance matrix due to multiple scattering |
| 2983 | // using the Lynch/Dahl empirical formulas |
| 2984 | jerror_t DTrackFitterKalmanSIMD::GetProcessNoiseCentral(double ds, |
| 2985 | double chi2c_factor, |
| 2986 | double chi2a_factor, |
| 2987 | double chi2a_corr, |
| 2988 | const DMatrix5x1 &Sc, |
| 2989 | DMatrix5x5 &Q){ |
| 2990 | Q.Zero(); |
| 2991 | //return NOERROR; |
| 2992 | if (USE_MULS_COVARIANCE && chi2c_factor>0. && fabs(ds)>EPS3.0e-8){ |
| 2993 | double tanl=Sc(state_tanl); |
| 2994 | double tanl2=tanl*tanl; |
| 2995 | double one_plus_tanl2=1.+tanl2; |
| 2996 | double one_over_pt=fabs(Sc(state_q_over_pt)); |
| 2997 | double my_ds=fabs(ds); |
| 2998 | double my_ds_2=0.5*my_ds; |
| 2999 | |
| 3000 | Q(state_phi,state_phi)=one_plus_tanl2; |
| 3001 | Q(state_tanl,state_tanl)=one_plus_tanl2*one_plus_tanl2; |
| 3002 | Q(state_q_over_pt,state_q_over_pt)=one_over_pt*one_over_pt*tanl2; |
| 3003 | Q(state_q_over_pt,state_tanl)=Q(state_tanl,state_q_over_pt) |
| 3004 | =Sc(state_q_over_pt)*tanl*one_plus_tanl2; |
| 3005 | Q(state_D,state_D)=ONE_THIRD0.33333333333333333*ds*ds; |
| 3006 | |
| 3007 | // I am not sure the following is correct... |
| 3008 | double sign_D=(Sc(state_D)>0.0)?1.:-1.; |
| 3009 | Q(state_D,state_phi)=Q(state_phi,state_D)=sign_D*my_ds_2*sqrt(one_plus_tanl2); |
| 3010 | Q(state_D,state_tanl)=Q(state_tanl,state_D)=sign_D*my_ds_2*one_plus_tanl2; |
| 3011 | Q(state_D,state_q_over_pt)=Q(state_q_over_pt,state_D)=sign_D*my_ds_2*tanl*Sc(state_q_over_pt); |
| 3012 | |
| 3013 | double one_over_p_sq=one_over_pt*one_over_pt/one_plus_tanl2; |
| 3014 | double one_over_beta2=1.+mass2*one_over_p_sq; |
| 3015 | double chi2c_p_sq=chi2c_factor*my_ds*one_over_beta2; |
| 3016 | double chi2a_p_sq=chi2a_factor*(1.+chi2a_corr*one_over_beta2); |
| 3017 | // F=Fraction of Moliere distribution to be taken into account |
| 3018 | // nu=0.5*chi2c/(chi2a*(1.-F)); |
| 3019 | double nu=MOLIERE_RATIO1*chi2c_p_sq/chi2a_p_sq; |
| 3020 | double one_plus_nu=1.+nu; |
| 3021 | // sig2_ms=chi2c*1e-6/(1.+F*F)*((one_plus_nu)/nu*log(one_plus_nu)-1.); |
| 3022 | double sig2_ms=chi2c_p_sq*one_over_p_sq*MOLIERE_RATIO2 |
| 3023 | *(one_plus_nu/nu*log(one_plus_nu)-1.); |
| 3024 | |
| 3025 | Q*=sig2_ms; |
| 3026 | } |
| 3027 | |
| 3028 | return NOERROR; |
| 3029 | } |
| 3030 | |
| 3031 | // Compute contributions to the covariance matrix due to multiple scattering |
| 3032 | // using the Lynch/Dahl empirical formulas |
| 3033 | jerror_t DTrackFitterKalmanSIMD::GetProcessNoise(double z, double ds, |
| 3034 | double chi2c_factor, |
| 3035 | double chi2a_factor, |
| 3036 | double chi2a_corr, |
| 3037 | const DMatrix5x1 &S, |
| 3038 | DMatrix5x5 &Q){ |
| 3039 | |
| 3040 | Q.Zero(); |
| 3041 | //return NOERROR; |
| 3042 | if (USE_MULS_COVARIANCE && chi2c_factor>0. && fabs(ds)>EPS3.0e-8){ |
| 3043 | double tx=S(state_tx),ty=S(state_ty); |
| 3044 | double one_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 3045 | double my_ds=fabs(ds); |
| 3046 | double my_ds_2=0.5*my_ds; |
| 3047 | double tx2=tx*tx; |
| 3048 | double ty2=ty*ty; |
| 3049 | double one_plus_tx2=1.+tx2; |
| 3050 | double one_plus_ty2=1.+ty2; |
| 3051 | double tsquare=tx2+ty2; |
| 3052 | double one_plus_tsquare=1.+tsquare; |
| 3053 | |
| 3054 | Q(state_tx,state_tx)=one_plus_tx2*one_plus_tsquare; |
| 3055 | Q(state_ty,state_ty)=one_plus_ty2*one_plus_tsquare; |
| 3056 | Q(state_tx,state_ty)=Q(state_ty,state_tx)=tx*ty*one_plus_tsquare; |
| 3057 | |
| 3058 | Q(state_x,state_x)=ONE_THIRD0.33333333333333333*ds*ds; |
| 3059 | Q(state_y,state_y)=Q(state_x,state_x); |
| 3060 | Q(state_y,state_ty)=Q(state_ty,state_y) |
| 3061 | = my_ds_2*sqrt(one_plus_tsquare*one_plus_ty2); |
| 3062 | Q(state_x,state_tx)=Q(state_tx,state_x) |
| 3063 | = my_ds_2*sqrt(one_plus_tsquare*one_plus_tx2); |
| 3064 | |
| 3065 | double one_over_beta2=1.+one_over_p_sq*mass2; |
| 3066 | double chi2c_p_sq=chi2c_factor*my_ds*one_over_beta2; |
| 3067 | double chi2a_p_sq=chi2a_factor*(1.+chi2a_corr*one_over_beta2); |
| 3068 | // F=MOLIERE_FRACTION =Fraction of Moliere distribution to be taken into account |
| 3069 | // nu=0.5*chi2c/(chi2a*(1.-F)); |
| 3070 | double nu=MOLIERE_RATIO1*chi2c_p_sq/chi2a_p_sq; |
| 3071 | double one_plus_nu=1.+nu; |
| 3072 | double sig2_ms=chi2c_p_sq*one_over_p_sq*MOLIERE_RATIO2 |
| 3073 | *(one_plus_nu/nu*log(one_plus_nu)-1.); |
| 3074 | |
| 3075 | // printf("fac %f %f %f\n",chi2c_factor,chi2a_factor,chi2a_corr); |
| 3076 | //printf("omega %f\n",chi2c/chi2a); |
| 3077 | |
| 3078 | |
| 3079 | Q*=sig2_ms; |
| 3080 | } |
| 3081 | |
| 3082 | return NOERROR; |
| 3083 | } |
| 3084 | |
| 3085 | // Calculate the energy loss per unit length given properties of the material |
| 3086 | // through which a particle of momentum p is passing |
| 3087 | double DTrackFitterKalmanSIMD::GetdEdx(double q_over_p,double K_rho_Z_over_A, |
| 3088 | double rho_Z_over_A,double LnI,double Z){ |
| 3089 | if (rho_Z_over_A<=0.) return 0.; |
| 3090 | //return 0.; |
| 3091 | |
| 3092 | double p=fabs(1./q_over_p); |
| 3093 | double betagamma=p/MASS; |
| 3094 | double betagamma2=betagamma*betagamma; |
| 3095 | double gamma2=1.+betagamma2; |
| 3096 | double beta2=betagamma2/gamma2; |
| 3097 | if (beta2<EPS3.0e-8) beta2=EPS3.0e-8; |
| 3098 | |
| 3099 | // density effect |
| 3100 | double delta=CalcDensityEffect(betagamma,rho_Z_over_A,LnI); |
| 3101 | |
| 3102 | double dEdx=0.; |
| 3103 | // For particles heavier than electrons: |
| 3104 | if (IsHadron){ |
| 3105 | double two_Me_betagamma_sq=two_m_e*betagamma2; |
| 3106 | double Tmax |
| 3107 | =two_Me_betagamma_sq/(1.+2.*sqrt(gamma2)*m_ratio+m_ratio_sq); |
| 3108 | |
| 3109 | dEdx=K_rho_Z_over_A/beta2*(-log(two_Me_betagamma_sq*Tmax) |
| 3110 | +2.*(LnI + beta2)+delta); |
| 3111 | } |
| 3112 | else{ |
| 3113 | // relativistic kinetic energy in units of M_e c^2 |
| 3114 | double tau=sqrt(gamma2)-1.; |
| 3115 | double tau_sq=tau*tau; |
| 3116 | double tau_plus_1=tau+1.; |
| 3117 | double tau_plus_2=tau+2.; |
| 3118 | double tau_plus_2_sq=tau_plus_2*tau_plus_2; |
| 3119 | double f=0.; // function that depends on tau; see Leo (2nd ed.), p. 38. |
| 3120 | if (IsElectron){ |
| 3121 | f=1.-beta2+(0.125*tau_sq-(2.*tau+1.)*log(2.))/(tau_plus_1*tau_plus_1); |
| 3122 | } |
| 3123 | else{ |
| 3124 | f=2.*log(2.)-(beta2/12.)*(23.+14./tau_plus_2+10./tau_plus_2_sq |
| 3125 | +4./(tau_plus_2*tau_plus_2_sq)); |
| 3126 | } |
| 3127 | |
| 3128 | // collision loss (Leo eq. 2.66) |
| 3129 | double dEdx_coll |
| 3130 | =-K_rho_Z_over_A/beta2*(log(0.5*tau_sq*tau_plus_2*m_e_sq)-LnI+f-delta); |
| 3131 | |
| 3132 | // radiation loss (Leo eqs. 2.74, 2.76 with Z^2 -> Z(Z+1) |
| 3133 | double a=Z*ALPHA1./137.; |
| 3134 | double a2=a*a; |
| 3135 | double a4=a2*a2; |
| 3136 | double epsilon=1.-PHOTON_ENERGY_CUTOFF; |
| 3137 | double epsilon2=epsilon*epsilon; |
| 3138 | double f_Z=a2*(1./(1.+a2)+0.20206-0.0369*a2+0.0083*a4-0.002*a2*a4); |
| 3139 | // The expression below is the integral of the photon energy weighted |
| 3140 | // by the bremsstrahlung cross section up to a maximum photon energy |
| 3141 | // expressed as a fraction of the incident electron energy. |
| 3142 | double dEdx_rad=-K_rho_Z_over_A*tau_plus_1*(2.*ALPHA1./137./M_PI3.14159265358979323846)*(Z+1.) |
| 3143 | *((log(183.*pow(Z,-1./3.))-f_Z) |
| 3144 | *(1.-epsilon-(1./3.)*(epsilon2-epsilon*epsilon2)) |
| 3145 | +1./18.*(1.-epsilon2)); |
| 3146 | |
| 3147 | |
| 3148 | // dEdx_rad=0.; |
| 3149 | |
| 3150 | dEdx=dEdx_coll+dEdx_rad; |
| 3151 | } |
| 3152 | |
| 3153 | return dEdx; |
| 3154 | } |
| 3155 | |
| 3156 | // Calculate the variance in the energy loss in a Gaussian approximation. |
| 3157 | // The standard deviation of the energy loss distribution is |
| 3158 | // var=0.1535*density*(Z/A)*x*(1-0.5*beta^2)*Tmax [MeV] |
| 3159 | // where Tmax is the maximum energy transfer. |
| 3160 | // (derived from Leo (2nd ed.), eq. 2.100. Note that I think there is a typo |
| 3161 | // in this formula in the text...) |
| 3162 | double DTrackFitterKalmanSIMD::GetEnergyVariance(double ds, |
| 3163 | double one_over_beta2, |
| 3164 | double K_rho_Z_over_A){ |
| 3165 | if (K_rho_Z_over_A<=0.) return 0.; |
| 3166 | |
| 3167 | double betagamma2=1./(one_over_beta2-1.); |
| 3168 | double gamma2=betagamma2*one_over_beta2; |
| 3169 | double two_Me_betagamma_sq=two_m_e*betagamma2; |
| 3170 | double Tmax=two_Me_betagamma_sq/(1.+2.*sqrt(gamma2)*m_ratio+m_ratio_sq); |
| 3171 | double var=K_rho_Z_over_A*one_over_beta2*fabs(ds)*Tmax*(1.-0.5/one_over_beta2); |
| 3172 | return var; |
| 3173 | } |
| 3174 | |
| 3175 | // Interface routine for Kalman filter |
| 3176 | jerror_t DTrackFitterKalmanSIMD::KalmanLoop(void){ |
| 3177 | if (z_<Z_MIN-100.) return VALUE_OUT_OF_RANGE; |
| 3178 | |
| 3179 | // Vector to store the list of hits used in the fit for the forward parametrization |
| 3180 | vector<const DCDCTrackHit*>forward_cdc_used_in_fit; |
| 3181 | |
| 3182 | // State vector and initial guess for covariance matrix |
| 3183 | DMatrix5x1 S0; |
| 3184 | DMatrix5x5 C0; |
| 3185 | |
| 3186 | chisq_=-1.; |
| 3187 | |
| 3188 | // Angle with respect to beam line |
| 3189 | double theta_deg=(180/M_PI3.14159265358979323846)*input_params.momentum().Theta(); |
| 3190 | //double theta_deg_sq=theta_deg*theta_deg; |
| 3191 | double tanl0=tanl_=tan(M_PI_21.57079632679489661923-input_params.momentum().Theta()); |
| 3192 | |
| 3193 | // Azimuthal angle |
| 3194 | double phi0=phi_=input_params.momentum().Phi(); |
| 3195 | |
| 3196 | // Guess for momentum error |
| 3197 | double dpt_over_pt=0.1; |
| 3198 | /* |
| 3199 | if (theta_deg<15){ |
| 3200 | dpt_over_pt=0.107-0.0178*theta_deg+0.000966*theta_deg_sq; |
| 3201 | } |
| 3202 | else { |
| 3203 | dpt_over_pt=0.0288+0.00579*theta_deg-2.77e-5*theta_deg_sq; |
| 3204 | } |
| 3205 | */ |
| 3206 | /* |
| 3207 | if (theta_deg<28.){ |
| 3208 | theta_deg=28.; |
| 3209 | theta_deg_sq=theta_deg*theta_deg; |
| 3210 | } |
| 3211 | else if (theta_deg>125.){ |
| 3212 | theta_deg=125.; |
| 3213 | theta_deg_sq=theta_deg*theta_deg; |
| 3214 | } |
| 3215 | */ |
| 3216 | double sig_lambda=0.02; |
| 3217 | double dp_over_p_sq |
| 3218 | =dpt_over_pt*dpt_over_pt+tanl_*tanl_*sig_lambda*sig_lambda; |
| 3219 | |
| 3220 | // Input charge |
| 3221 | double q=input_params.charge(); |
| 3222 | |
| 3223 | // Input momentum |
| 3224 | DVector3 pvec=input_params.momentum(); |
| 3225 | double p_mag=pvec.Mag(); |
| 3226 | double px=pvec.x(); |
| 3227 | double py=pvec.y(); |
| 3228 | double pz=pvec.z(); |
| 3229 | double q_over_p0=q_over_p_=q/p_mag; |
| 3230 | double q_over_pt0=q_over_pt_=q/pvec.Perp(); |
| 3231 | |
| 3232 | // Initial position |
| 3233 | double x0=x_=input_params.position().x(); |
| 3234 | double y0=y_=input_params.position().y(); |
| 3235 | double z0=z_=input_params.position().z(); |
| 3236 | |
| 3237 | if (fit_type==kWireBased && theta_deg>10.){ |
| 3238 | double Bz=fabs(bfield->GetBz(x0,y0,z0)); |
| 3239 | double sperp=25.; // empirical guess |
| 3240 | if (my_fdchits.size()>0 && my_fdchits[0]->hit!=NULL__null){ |
| 3241 | double my_z=my_fdchits[0]->z; |
| 3242 | double my_x=my_fdchits[0]->hit->xy.X(); |
| 3243 | double my_y=my_fdchits[0]->hit->xy.Y(); |
| 3244 | Bz+=fabs(bfield->GetBz(my_x,my_y,my_z)); |
| 3245 | Bz*=0.5; // crude average |
| 3246 | sperp=(my_z-z0)/tanl_; |
| 3247 | } |
| 3248 | double twokappa=qBr2p0.003*Bz*q_over_pt0*FactorForSenseOfRotation; |
| 3249 | double one_over_2k=1./twokappa; |
| 3250 | if (my_fdchits.size()==0){ |
| 3251 | for (unsigned int i=my_cdchits.size()-1;i>1;i--){ |
| 3252 | // Use outermost axial straw to estimate a resonable arc length |
| 3253 | if (my_cdchits[i]->hit->is_stereo==false){ |
| 3254 | double tworc=2.*fabs(one_over_2k); |
| 3255 | double ratio=(my_cdchits[i]->hit->wire->origin |
| 3256 | -input_params.position()).Perp()/tworc; |
| 3257 | sperp=(ratio<1.)?tworc*asin(ratio):tworc*M_PI_21.57079632679489661923; |
| 3258 | if (sperp<25.) sperp=25.; |
| 3259 | break; |
| 3260 | } |
| 3261 | } |
| 3262 | } |
| 3263 | double twoks=twokappa*sperp; |
| 3264 | double cosphi=cos(phi0); |
| 3265 | double sinphi=sin(phi0); |
| 3266 | double sin2ks=sin(twoks); |
| 3267 | double cos2ks=cos(twoks); |
| 3268 | double one_minus_cos2ks=1.-cos2ks; |
| 3269 | double myx=x0+one_over_2k*(cosphi*sin2ks-sinphi*one_minus_cos2ks); |
| 3270 | double myy=y0+one_over_2k*(sinphi*sin2ks+cosphi*one_minus_cos2ks); |
| 3271 | double mypx=px*cos2ks-py*sin2ks; |
| 3272 | double mypy=py*cos2ks+px*sin2ks; |
| 3273 | double myphi=atan2(mypy,mypx); |
| 3274 | phi0=phi_=myphi; |
| 3275 | px=mypx; |
| 3276 | py=mypy; |
| 3277 | x0=x_=myx; |
| 3278 | y0=y_=myy; |
| 3279 | z0+=tanl_*sperp; |
| 3280 | z_=z0; |
| 3281 | } |
| 3282 | |
| 3283 | // Check integrity of input parameters |
| 3284 | if (!isfinite(x0) || !isfinite(y0) || !isfinite(q_over_p0)){ |
| 3285 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3285<<" " << "Invalid input parameters!" <<endl; |
| 3286 | return UNRECOVERABLE_ERROR; |
| 3287 | } |
| 3288 | |
| 3289 | // Initial direction tangents |
| 3290 | double tx0=tx_=px/pz; |
| 3291 | double ty0=ty_=py/pz; |
| 3292 | double one_plus_tsquare=1.+tx_*tx_+ty_*ty_; |
| 3293 | |
| 3294 | // deal with hits in FDC |
| 3295 | double fdc_prob=0.,fdc_chisq=-1.; |
| 3296 | unsigned int fdc_ndf=0; |
| 3297 | if (my_fdchits.size()>0 |
| 3298 | && // Make sure that these parameters are valid for forward-going tracks |
| 3299 | (isfinite(tx0) && isfinite(ty0)) |
| 3300 | ){ |
| 3301 | if (DEBUG_LEVEL>0){ |
| 3302 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3302<<" " << "Using forward parameterization." <<endl; |
| 3303 | } |
| 3304 | |
| 3305 | // Initial guess for the state vector |
| 3306 | S0(state_x)=x_; |
| 3307 | S0(state_y)=y_; |
| 3308 | S0(state_tx)=tx_; |
| 3309 | S0(state_ty)=ty_; |
| 3310 | S0(state_q_over_p)=q_over_p_; |
| 3311 | |
| 3312 | // Initial guess for forward representation covariance matrix |
| 3313 | C0(state_x,state_x)=2.0; |
| 3314 | C0(state_y,state_y)=2.0; |
| 3315 | double temp=sig_lambda*one_plus_tsquare; |
| 3316 | C0(state_tx,state_tx)=C0(state_ty,state_ty)=temp*temp; |
| 3317 | C0(state_q_over_p,state_q_over_p)=dp_over_p_sq*q_over_p_*q_over_p_; |
| 3318 | C0*=COVARIANCE_SCALE_FACTOR_FORWARD; |
| 3319 | |
| 3320 | if (my_cdchits.size()>0){ |
| 3321 | mCDCInternalStepSize=0.25; |
| 3322 | } |
| 3323 | |
| 3324 | // The position from the track candidate is reported just outside the |
| 3325 | // start counter for tracks containing cdc hits. Propagate to the distance |
| 3326 | // of closest approach to the beam line |
| 3327 | if (fit_type==kWireBased) ExtrapolateToVertex(S0); |
| 3328 | |
| 3329 | kalman_error_t error=ForwardFit(S0,C0); |
| 3330 | if (error==FIT_SUCCEEDED) return NOERROR; |
| 3331 | if ((error==FIT_FAILED || ndf_==0) && my_cdchits.size()<6){ |
| 3332 | return UNRECOVERABLE_ERROR; |
| 3333 | } |
| 3334 | |
| 3335 | fdc_prob=TMath::Prob(chisq_,ndf_); |
| 3336 | fdc_ndf=ndf_; |
| 3337 | fdc_chisq=chisq_; |
| 3338 | } |
| 3339 | |
| 3340 | // Deal with hits in the CDC |
| 3341 | if (my_cdchits.size()>5){ |
| 3342 | kalman_error_t error=FIT_NOT_DONE; |
| 3343 | kalman_error_t cdc_error=FIT_NOT_DONE; |
| 3344 | |
| 3345 | // Save the current state of the extrapolation vector if it exists |
| 3346 | map<DetectorSystem_t,vector<Extrapolation_t> >saved_extrapolations; |
| 3347 | if (!extrapolations.empty()){ |
| 3348 | saved_extrapolations=extrapolations; |
| 3349 | ClearExtrapolations(); |
| 3350 | } |
| 3351 | bool save_IsSmoothed=IsSmoothed; |
| 3352 | |
| 3353 | // Chi-squared, degrees of freedom, and probability |
| 3354 | double forward_prob=0.; |
| 3355 | double chisq_forward=-1.; |
| 3356 | unsigned int ndof_forward=0; |
| 3357 | |
| 3358 | // Parameters at "vertex" |
| 3359 | double phi=phi_,q_over_pt=q_over_pt_,tanl=tanl_,x=x_,y=y_,z=z_; |
| 3360 | vector< vector <double> > fcov_save; |
| 3361 | vector<pull_t>pulls_save; |
| 3362 | pulls_save.assign(pulls.begin(),pulls.end()); |
| 3363 | if (!fcov.empty()){ |
| 3364 | fcov_save.assign(fcov.begin(),fcov.end()); |
| 3365 | } |
| 3366 | if (my_fdchits.size()>0){ |
| 3367 | if (error==INVALID_FIT) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3367<<" "<< "Invalid fit " << fcov.size() << " " << fdc_ndf <<endl; |
| 3368 | } |
| 3369 | |
| 3370 | // Use forward parameters for CDC-only tracks with theta<THETA_CUT degrees |
| 3371 | if (theta_deg<THETA_CUT){ |
| 3372 | if (DEBUG_LEVEL>0){ |
| 3373 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3373<<" " << "Using forward parameterization." <<endl; |
| 3374 | } |
| 3375 | |
| 3376 | // Step size |
| 3377 | mStepSizeS=mCentralStepSize; |
| 3378 | |
| 3379 | // Initialize the state vector |
| 3380 | S0(state_x)=x_=x0; |
| 3381 | S0(state_y)=y_=y0; |
| 3382 | S0(state_tx)=tx_=tx0; |
| 3383 | S0(state_ty)=ty_=ty0; |
| 3384 | S0(state_q_over_p)=q_over_p_=q_over_p0; |
| 3385 | z_=z0; |
| 3386 | |
| 3387 | // Initial guess for forward representation covariance matrix |
| 3388 | double temp=sig_lambda*one_plus_tsquare; |
| 3389 | C0(state_x,state_x)=2.0; |
| 3390 | C0(state_y,state_y)=2.0; |
| 3391 | C0(state_tx,state_tx)=C0(state_ty,state_ty)=temp*temp; |
| 3392 | C0(state_q_over_p,state_q_over_p)=dp_over_p_sq*q_over_p_*q_over_p_; |
| 3393 | C0*=COVARIANCE_SCALE_FACTOR_FORWARD; |
| 3394 | |
| 3395 | //C0*=1.+1./tsquare; |
| 3396 | |
| 3397 | // The position from the track candidate is reported just outside the |
| 3398 | // start counter for tracks containing cdc hits. Propagate to the |
| 3399 | // distance of closest approach to the beam line |
| 3400 | if (fit_type==kWireBased) ExtrapolateToVertex(S0); |
| 3401 | |
| 3402 | error=ForwardCDCFit(S0,C0); |
| 3403 | if (error==FIT_SUCCEEDED) return NOERROR; |
| 3404 | |
| 3405 | // Find the CL of the fit |
| 3406 | forward_prob=TMath::Prob(chisq_,ndf_); |
| 3407 | if (my_fdchits.size()>0){ |
| 3408 | if (fdc_ndf==0 || forward_prob>fdc_prob){ |
| 3409 | // We did not end up using the fdc hits after all... |
| 3410 | fdchits_used_in_fit.clear(); |
| 3411 | } |
| 3412 | else{ |
| 3413 | chisq_=fdc_chisq; |
| 3414 | ndf_=fdc_ndf; |
| 3415 | x_=x; |
| 3416 | y_=y; |
| 3417 | z_=z; |
| 3418 | phi_=phi; |
| 3419 | tanl_=tanl; |
| 3420 | q_over_pt_=q_over_pt; |
| 3421 | if (!fcov_save.empty()){ |
| 3422 | fcov.assign(fcov_save.begin(),fcov_save.end()); |
| 3423 | } |
| 3424 | if (!saved_extrapolations.empty()){ |
| 3425 | extrapolations=saved_extrapolations; |
| 3426 | } |
| 3427 | IsSmoothed=save_IsSmoothed; |
| 3428 | pulls.assign(pulls_save.begin(),pulls_save.end()); |
| 3429 | |
| 3430 | // _DBG_ << endl; |
| 3431 | return NOERROR; |
| 3432 | } |
| 3433 | |
| 3434 | // Save the best values for the parameters and chi2 for now |
| 3435 | chisq_forward=chisq_; |
| 3436 | ndof_forward=ndf_; |
| 3437 | x=x_; |
| 3438 | y=y_; |
| 3439 | z=z_; |
| 3440 | phi=phi_; |
| 3441 | tanl=tanl_; |
| 3442 | q_over_pt=q_over_pt_; |
| 3443 | fcov_save.assign(fcov.begin(),fcov.end()); |
| 3444 | pulls_save.assign(pulls.begin(),pulls.end()); |
| 3445 | save_IsSmoothed=IsSmoothed; |
| 3446 | if (!extrapolations.empty()){ |
| 3447 | saved_extrapolations=extrapolations; |
| 3448 | ClearExtrapolations(); |
| 3449 | } |
| 3450 | |
| 3451 | // Save the list of hits used in the fit |
| 3452 | forward_cdc_used_in_fit.assign(cdchits_used_in_fit.begin(),cdchits_used_in_fit.end()); |
| 3453 | |
| 3454 | } |
| 3455 | } |
| 3456 | |
| 3457 | // Attempt to fit the track using the central parametrization. |
| 3458 | if (DEBUG_LEVEL>0){ |
| 3459 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3459<<" " << "Using central parameterization." <<endl; |
| 3460 | } |
| 3461 | |
| 3462 | // Step size |
| 3463 | mStepSizeS=mCentralStepSize; |
| 3464 | |
| 3465 | // Initialize the state vector |
| 3466 | S0(state_q_over_pt)=q_over_pt_=q_over_pt0; |
| 3467 | S0(state_phi)=phi_=phi0; |
| 3468 | S0(state_tanl)=tanl_=tanl0; |
| 3469 | S0(state_z)=z_=z0; |
| 3470 | S0(state_D)=0.; |
| 3471 | |
| 3472 | // Initialize the covariance matrix |
| 3473 | double dz=1.0; |
| 3474 | C0(state_z,state_z)=dz*dz; |
| 3475 | C0(state_q_over_pt,state_q_over_pt) |
| 3476 | =q_over_pt_*q_over_pt_*dpt_over_pt*dpt_over_pt; |
| 3477 | double dphi=0.02; |
| 3478 | C0(state_phi,state_phi)=dphi*dphi; |
| 3479 | C0(state_D,state_D)=1.0; |
| 3480 | double tanl2=tanl_*tanl_; |
| 3481 | double one_plus_tanl2=1.+tanl2; |
| 3482 | C0(state_tanl,state_tanl)=(one_plus_tanl2)*(one_plus_tanl2) |
| 3483 | *sig_lambda*sig_lambda; |
| 3484 | C0*=COVARIANCE_SCALE_FACTOR_CENTRAL; |
| 3485 | |
| 3486 | //if (theta_deg>90.) C0*=1.+5.*tanl2; |
| 3487 | //else C0*=1.+5.*tanl2*tanl2; |
| 3488 | |
| 3489 | mCentralStepSize=0.4; |
| 3490 | mCDCInternalStepSize=0.2; |
| 3491 | |
| 3492 | // The position from the track candidate is reported just outside the |
| 3493 | // start counter for tracks containing cdc hits. Propagate to the |
| 3494 | // distance of closest approach to the beam line |
| 3495 | DVector2 xy(x0,y0); |
| 3496 | if (fit_type==kWireBased){ |
| 3497 | ExtrapolateToVertex(xy,S0); |
| 3498 | } |
| 3499 | |
| 3500 | cdc_error=CentralFit(xy,S0,C0); |
| 3501 | if (cdc_error==FIT_SUCCEEDED){ |
| 3502 | // if the result of the fit using the forward parameterization succeeded |
| 3503 | // but the chi2 was too high, it still may provide the best estimate |
| 3504 | // for the track parameters... |
| 3505 | double central_prob=TMath::Prob(chisq_,ndf_); |
| 3506 | |
| 3507 | if (central_prob<forward_prob){ |
| 3508 | phi_=phi; |
| 3509 | q_over_pt_=q_over_pt; |
| 3510 | tanl_=tanl; |
| 3511 | x_=x; |
| 3512 | y_=y; |
| 3513 | z_=z; |
| 3514 | chisq_=chisq_forward; |
| 3515 | ndf_= ndof_forward; |
| 3516 | fcov.assign(fcov_save.begin(),fcov_save.end()); |
| 3517 | pulls.assign(pulls_save.begin(),pulls_save.end()); |
| 3518 | IsSmoothed=save_IsSmoothed; |
| 3519 | if (!saved_extrapolations.empty()){ |
| 3520 | extrapolations=saved_extrapolations; |
| 3521 | } |
| 3522 | |
| 3523 | cdchits_used_in_fit.assign(forward_cdc_used_in_fit.begin(),forward_cdc_used_in_fit.end()); |
| 3524 | |
| 3525 | // We did not end up using any fdc hits... |
| 3526 | fdchits_used_in_fit.clear(); |
| 3527 | |
| 3528 | } |
| 3529 | return NOERROR; |
| 3530 | |
| 3531 | } |
| 3532 | // otherwise if the fit using the forward parametrization worked, return that |
| 3533 | else if (error!=FIT_FAILED){ |
| 3534 | phi_=phi; |
| 3535 | q_over_pt_=q_over_pt; |
| 3536 | tanl_=tanl; |
| 3537 | x_=x; |
| 3538 | y_=y; |
| 3539 | z_=z; |
| 3540 | chisq_=chisq_forward; |
| 3541 | ndf_= ndof_forward; |
| 3542 | |
| 3543 | if (!saved_extrapolations.empty()){ |
| 3544 | extrapolations=saved_extrapolations; |
| 3545 | } |
| 3546 | IsSmoothed=save_IsSmoothed; |
| 3547 | fcov.assign(fcov_save.begin(),fcov_save.end()); |
| 3548 | pulls.assign(pulls_save.begin(),pulls_save.end()); |
| 3549 | cdchits_used_in_fit.assign(forward_cdc_used_in_fit.begin(),forward_cdc_used_in_fit.end()); |
| 3550 | |
| 3551 | // We did not end up using any fdc hits... |
| 3552 | fdchits_used_in_fit.clear(); |
| 3553 | |
| 3554 | return NOERROR; |
| 3555 | } |
| 3556 | else return UNRECOVERABLE_ERROR; |
| 3557 | } |
| 3558 | |
| 3559 | if (ndf_==0) return UNRECOVERABLE_ERROR; |
| 3560 | |
| 3561 | return NOERROR; |
| 3562 | } |
| 3563 | |
| 3564 | #define ITMAX20 20 |
| 3565 | #define CGOLD0.3819660 0.3819660 |
| 3566 | #define ZEPS1.0e-10 1.0e-10 |
| 3567 | #define SHFT(a,b,c,d)(a)=(b);(b)=(c);(c)=(d); (a)=(b);(b)=(c);(c)=(d); |
| 3568 | #define SIGN(a,b)((b)>=0.0?fabs(a):-fabs(a)) ((b)>=0.0?fabs(a):-fabs(a)) |
| 3569 | // Routine for finding the minimum of a function bracketed between two values |
| 3570 | // (see Numerical Recipes in C, pp. 404-405). |
| 3571 | jerror_t DTrackFitterKalmanSIMD::BrentsAlgorithm(double ds1,double ds2, |
| 3572 | double dedx,DVector2 &pos, |
| 3573 | const double z0wire, |
| 3574 | const DVector2 &origin, |
| 3575 | const DVector2 &dir, |
| 3576 | DMatrix5x1 &Sc, |
| 3577 | double &ds_out){ |
| 3578 | double d=0.; |
| 3579 | double e=0.0; // will be distance moved on step before last |
| 3580 | double ax=0.; |
| 3581 | double bx=-ds1; |
| 3582 | double cx=-ds1-ds2; |
| 3583 | |
| 3584 | double a=(ax<cx?ax:cx); |
| 3585 | double b=(ax>cx?ax:cx); |
| 3586 | double x=bx,w=bx,v=bx; |
| 3587 | |
| 3588 | // printf("ds1 %f ds2 %f\n",ds1,ds2); |
| 3589 | // Initialize return step size |
| 3590 | ds_out=0.; |
| 3591 | |
| 3592 | // Save the starting position |
| 3593 | // DVector3 pos0=pos; |
| 3594 | // DMatrix S0(Sc); |
| 3595 | |
| 3596 | // Step to intermediate point |
| 3597 | Step(pos,x,Sc,dedx); |
| 3598 | // Bail if the transverse momentum has dropped below some minimum |
| 3599 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3600 | if (DEBUG_LEVEL>2) |
| 3601 | { |
| 3602 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3602<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3603 | << endl; |
| 3604 | } |
| 3605 | return VALUE_OUT_OF_RANGE; |
| 3606 | } |
| 3607 | |
| 3608 | DVector2 wirepos=origin+(Sc(state_z)-z0wire)*dir; |
| 3609 | double u_old=x; |
| 3610 | double u=0.; |
| 3611 | |
| 3612 | // initialization |
| 3613 | double fw=(pos-wirepos).Mod2(); |
| 3614 | double fv=fw,fx=fw; |
| 3615 | |
| 3616 | // main loop |
| 3617 | for (unsigned int iter=1;iter<=ITMAX20;iter++){ |
| 3618 | double xm=0.5*(a+b); |
| 3619 | double tol1=EPS21.e-4*fabs(x)+ZEPS1.0e-10; |
| 3620 | double tol2=2.0*tol1; |
| 3621 | |
| 3622 | if (fabs(x-xm)<=(tol2-0.5*(b-a))){ |
| 3623 | if (Sc(state_z)<=cdc_origin[2]){ |
| 3624 | unsigned int iter2=0; |
| 3625 | double ds_temp=0.; |
| 3626 | while (fabs(Sc(state_z)-cdc_origin[2])>EPS21.e-4 && iter2<20){ |
| 3627 | u=x-(cdc_origin[2]-Sc(state_z))*sin(atan(Sc(state_tanl))); |
| 3628 | x=u; |
| 3629 | ds_temp+=u_old-u; |
| 3630 | // Bail if the transverse momentum has dropped below some minimum |
| 3631 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3632 | if (DEBUG_LEVEL>2) |
| 3633 | { |
| 3634 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3634<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3635 | << endl; |
| 3636 | } |
| 3637 | return VALUE_OUT_OF_RANGE; |
| 3638 | } |
| 3639 | |
| 3640 | // Function evaluation |
| 3641 | Step(pos,u_old-u,Sc,dedx); |
| 3642 | u_old=u; |
| 3643 | iter2++; |
| 3644 | } |
| 3645 | //printf("new z %f ds %f \n",pos.z(),x); |
| 3646 | ds_out=ds_temp; |
| 3647 | return NOERROR; |
| 3648 | } |
| 3649 | else if (Sc(state_z)>=endplate_z){ |
| 3650 | unsigned int iter2=0; |
| 3651 | double ds_temp=0.; |
| 3652 | while (fabs(Sc(state_z)-endplate_z)>EPS21.e-4 && iter2<20){ |
| 3653 | u=x-(endplate_z-Sc(state_z))*sin(atan(Sc(state_tanl))); |
| 3654 | x=u; |
| 3655 | ds_temp+=u_old-u; |
| 3656 | |
| 3657 | // Bail if the transverse momentum has dropped below some minimum |
| 3658 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3659 | if (DEBUG_LEVEL>2) |
| 3660 | { |
| 3661 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3661<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3662 | << endl; |
| 3663 | } |
| 3664 | return VALUE_OUT_OF_RANGE; |
| 3665 | } |
| 3666 | |
| 3667 | // Function evaluation |
| 3668 | Step(pos,u_old-u,Sc,dedx); |
| 3669 | u_old=u; |
| 3670 | iter2++; |
| 3671 | } |
| 3672 | //printf("new z %f ds %f \n",pos.z(),x); |
| 3673 | ds_out=ds_temp; |
| 3674 | return NOERROR; |
| 3675 | } |
| 3676 | ds_out=cx-x; |
| 3677 | return NOERROR; |
| 3678 | } |
| 3679 | // trial parabolic fit |
| 3680 | if (fabs(e)>tol1){ |
| 3681 | double x_minus_w=x-w; |
| 3682 | double x_minus_v=x-v; |
| 3683 | double r=x_minus_w*(fx-fv); |
| 3684 | double q=x_minus_v*(fx-fw); |
| 3685 | double p=x_minus_v*q-x_minus_w*r; |
| 3686 | q=2.0*(q-r); |
| 3687 | if (q>0.0) p=-p; |
| 3688 | q=fabs(q); |
| 3689 | double etemp=e; |
| 3690 | e=d; |
| 3691 | if (fabs(p)>=fabs(0.5*q*etemp) || p<=q*(a-x) || p>=q*(b-x)) |
| 3692 | // fall back on the Golden Section technique |
| 3693 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3694 | else{ |
| 3695 | // parabolic step |
| 3696 | d=p/q; |
| 3697 | u=x+d; |
| 3698 | if (u-a<tol2 || b-u <tol2) |
| 3699 | d=SIGN(tol1,xm-x)((xm-x)>=0.0?fabs(tol1):-fabs(tol1)); |
| 3700 | } |
| 3701 | } else{ |
| 3702 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3703 | } |
| 3704 | u=(fabs(d)>=tol1 ? x+d: x+SIGN(tol1,d)((d)>=0.0?fabs(tol1):-fabs(tol1))); |
| 3705 | |
| 3706 | // Bail if the transverse momentum has dropped below some minimum |
| 3707 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 3708 | if (DEBUG_LEVEL>2) |
| 3709 | { |
| 3710 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3710<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 3711 | << endl; |
| 3712 | } |
| 3713 | return VALUE_OUT_OF_RANGE; |
| 3714 | } |
| 3715 | |
| 3716 | // Function evaluation |
| 3717 | Step(pos,u_old-u,Sc,dedx); |
| 3718 | u_old=u; |
| 3719 | |
| 3720 | wirepos=origin; |
| 3721 | wirepos+=(Sc(state_z)-z0wire)*dir; |
| 3722 | double fu=(pos-wirepos).Mod2(); |
| 3723 | |
| 3724 | //cout << "Brent: z="<<Sc(state_z) << " d="<<sqrt(fu) << endl; |
| 3725 | |
| 3726 | if (fu<=fx){ |
| 3727 | if (u>=x) a=x; else b=x; |
| 3728 | SHFT(v,w,x,u)(v)=(w);(w)=(x);(x)=(u);; |
| 3729 | SHFT(fv,fw,fx,fu)(fv)=(fw);(fw)=(fx);(fx)=(fu);; |
| 3730 | } |
| 3731 | else { |
| 3732 | if (u<x) a=u; else b=u; |
| 3733 | if (fu<=fw || w==x){ |
| 3734 | v=w; |
| 3735 | w=u; |
| 3736 | fv=fw; |
| 3737 | fw=fu; |
| 3738 | } |
| 3739 | else if (fu<=fv || v==x || v==w){ |
| 3740 | v=u; |
| 3741 | fv=fu; |
| 3742 | } |
| 3743 | } |
| 3744 | } |
| 3745 | ds_out=cx-x; |
| 3746 | |
| 3747 | return NOERROR; |
| 3748 | } |
| 3749 | |
| 3750 | // Routine for finding the minimum of a function bracketed between two values |
| 3751 | // (see Numerical Recipes in C, pp. 404-405). |
| 3752 | jerror_t DTrackFitterKalmanSIMD::BrentsAlgorithm(double z,double dz, |
| 3753 | double dedx, |
| 3754 | const double z0wire, |
| 3755 | const DVector2 &origin, |
| 3756 | const DVector2 &dir, |
| 3757 | DMatrix5x1 &S, |
| 3758 | double &dz_out){ |
| 3759 | double d=0.,u=0.; |
| 3760 | double e=0.0; // will be distance moved on step before last |
| 3761 | double ax=0.; |
| 3762 | double bx=-dz; |
| 3763 | double cx=-2.*dz; |
| 3764 | |
| 3765 | double a=(ax<cx?ax:cx); |
| 3766 | double b=(ax>cx?ax:cx); |
| 3767 | double x=bx,w=bx,v=bx; |
| 3768 | |
| 3769 | // Initialize dz_out |
| 3770 | dz_out=0.; |
| 3771 | |
| 3772 | // Step to intermediate point |
| 3773 | double z_new=z+x; |
| 3774 | Step(z,z_new,dedx,S); |
| 3775 | // Bail if the momentum has dropped below some minimum |
| 3776 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 3777 | if (DEBUG_LEVEL>2) |
| 3778 | { |
| 3779 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3779<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 3780 | << endl; |
| 3781 | } |
| 3782 | return VALUE_OUT_OF_RANGE; |
| 3783 | } |
| 3784 | |
| 3785 | double dz0wire=z-z0wire; |
| 3786 | DVector2 wirepos=origin+(dz0wire+x)*dir; |
| 3787 | DVector2 pos(S(state_x),S(state_y)); |
| 3788 | double z_old=z_new; |
| 3789 | |
| 3790 | // initialization |
| 3791 | double fw=(pos-wirepos).Mod2(); |
| 3792 | double fv=fw; |
| 3793 | double fx=fw; |
| 3794 | |
| 3795 | // main loop |
| 3796 | for (unsigned int iter=1;iter<=ITMAX20;iter++){ |
| 3797 | double xm=0.5*(a+b); |
| 3798 | double tol1=EPS21.e-4*fabs(x)+ZEPS1.0e-10; |
| 3799 | double tol2=2.0*tol1; |
| 3800 | if (fabs(x-xm)<=(tol2-0.5*(b-a))){ |
| 3801 | if (z_new>=endplate_z){ |
| 3802 | x=endplate_z-z_new; |
| 3803 | |
| 3804 | // Bail if the momentum has dropped below some minimum |
| 3805 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 3806 | if (DEBUG_LEVEL>2) |
| 3807 | { |
| 3808 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3808<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 3809 | << endl; |
| 3810 | } |
| 3811 | return VALUE_OUT_OF_RANGE; |
| 3812 | } |
| 3813 | if (!isfinite(S(state_x)) || !isfinite(S(state_y))){ |
| 3814 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3814<<" " <<endl; |
| 3815 | return VALUE_OUT_OF_RANGE; |
| 3816 | } |
| 3817 | Step(z_new,endplate_z,dedx,S); |
| 3818 | } |
| 3819 | dz_out=x; |
| 3820 | return NOERROR; |
| 3821 | } |
| 3822 | // trial parabolic fit |
| 3823 | if (fabs(e)>tol1){ |
| 3824 | double x_minus_w=x-w; |
| 3825 | double x_minus_v=x-v; |
| 3826 | double r=x_minus_w*(fx-fv); |
| 3827 | double q=x_minus_v*(fx-fw); |
| 3828 | double p=x_minus_v*q-x_minus_w*r; |
| 3829 | q=2.0*(q-r); |
| 3830 | if (q>0.0) p=-p; |
| 3831 | q=fabs(q); |
| 3832 | double etemp=e; |
| 3833 | e=d; |
| 3834 | if (fabs(p)>=fabs(0.5*q*etemp) || p<=q*(a-x) || p>=q*(b-x)) |
| 3835 | // fall back on the Golden Section technique |
| 3836 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3837 | else{ |
| 3838 | // parabolic step |
| 3839 | d=p/q; |
| 3840 | u=x+d; |
| 3841 | if (u-a<tol2 || b-u <tol2) |
| 3842 | d=SIGN(tol1,xm-x)((xm-x)>=0.0?fabs(tol1):-fabs(tol1)); |
| 3843 | } |
| 3844 | } else{ |
| 3845 | d=CGOLD0.3819660*(e=(x>=xm?a-x:b-x)); |
| 3846 | } |
| 3847 | u=(fabs(d)>=tol1 ? x+d: x+SIGN(tol1,d)((d)>=0.0?fabs(tol1):-fabs(tol1))); |
| 3848 | |
| 3849 | // Function evaluation |
| 3850 | //S=S0; |
| 3851 | z_new=z+u; |
| 3852 | // Bail if the momentum has dropped below some minimum |
| 3853 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 3854 | if (DEBUG_LEVEL>2) |
| 3855 | { |
| 3856 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<3856<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 3857 | << endl; |
| 3858 | } |
| 3859 | return VALUE_OUT_OF_RANGE; |
| 3860 | } |
| 3861 | |
| 3862 | Step(z_old,z_new,dedx,S); |
| 3863 | z_old=z_new; |
| 3864 | |
| 3865 | wirepos=origin; |
| 3866 | wirepos+=(dz0wire+u)*dir; |
| 3867 | pos.Set(S(state_x),S(state_y)); |
| 3868 | double fu=(pos-wirepos).Mod2(); |
| 3869 | |
| 3870 | // _DBG_ << "Brent: z="<< z+u << " d^2="<<fu << endl; |
| 3871 | |
| 3872 | if (fu<=fx){ |
| 3873 | if (u>=x) a=x; else b=x; |
| 3874 | SHFT(v,w,x,u)(v)=(w);(w)=(x);(x)=(u);; |
| 3875 | SHFT(fv,fw,fx,fu)(fv)=(fw);(fw)=(fx);(fx)=(fu);; |
| 3876 | } |
| 3877 | else { |
| 3878 | if (u<x) a=u; else b=u; |
| 3879 | if (fu<=fw || w==x){ |
| 3880 | v=w; |
| 3881 | w=u; |
| 3882 | fv=fw; |
| 3883 | fw=fu; |
| 3884 | } |
| 3885 | else if (fu<=fv || v==x || v==w){ |
| 3886 | v=u; |
| 3887 | fv=fu; |
| 3888 | } |
| 3889 | } |
| 3890 | } |
| 3891 | dz_out=x; |
| 3892 | return NOERROR; |
| 3893 | } |
| 3894 | |
| 3895 | // Kalman engine for Central tracks; updates the position on the trajectory |
| 3896 | // after the last hit (closest to the target) is added |
| 3897 | kalman_error_t DTrackFitterKalmanSIMD::KalmanCentral(double anneal_factor, |
| 3898 | DMatrix5x1 &Sc, |
| 3899 | DMatrix5x5 &Cc, |
| 3900 | DVector2 &xy,double &chisq, |
| 3901 | unsigned int &my_ndf |
| 3902 | ){ |
| 3903 | DMatrix1x5 H; // Track projection matrix |
| 3904 | DMatrix5x1 H_T; // Transpose of track projection matrix |
| 3905 | DMatrix5x5 J; // State vector Jacobian matrix |
| 3906 | DMatrix5x5 Q; // Process noise covariance matrix |
| 3907 | DMatrix5x1 K; // KalmanSIMD gain matrix |
| 3908 | DMatrix5x5 Ctest; // covariance matrix |
| 3909 | // double V=0.2028; //1.56*1.56/12.; // Measurement variance |
| 3910 | double V=0.0507; |
| 3911 | double InvV; // inverse of variance |
| 3912 | //DMatrix5x1 dS; // perturbation in state vector |
| 3913 | DMatrix5x1 S0,S0_; // state vector |
| 3914 | |
| 3915 | // set the used_in_fit flags to false for cdc hits |
| 3916 | unsigned int num_cdc=cdc_used_in_fit.size(); |
| 3917 | for (unsigned int i=0;i<num_cdc;i++) cdc_used_in_fit[i]=false; |
| 3918 | for (unsigned int i=0;i<central_traj.size();i++){ |
| 3919 | central_traj[i].h_id=0; |
| 3920 | } |
| 3921 | |
| 3922 | // Initialize the chi2 for this part of the track |
| 3923 | chisq=0.; |
| 3924 | my_ndf=0; |
| 3925 | |
| 3926 | double chi2cut=NUM_CDC_SIGMA_CUT*NUM_CDC_SIGMA_CUT; |
| 3927 | |
| 3928 | // path length increment |
| 3929 | double ds2=0.; |
| 3930 | |
| 3931 | //printf(">>>>>>>>>>>>>>>>\n"); |
| 3932 | |
| 3933 | // beginning position |
| 3934 | double phi=Sc(state_phi); |
| 3935 | xy.Set(central_traj[break_point_step_index].xy.X()-Sc(state_D)*sin(phi), |
| 3936 | central_traj[break_point_step_index].xy.Y()+Sc(state_D)*cos(phi)); |
| 3937 | |
| 3938 | // Wire origin and direction |
| 3939 | // unsigned int cdc_index=my_cdchits.size()-1; |
| 3940 | unsigned int cdc_index=break_point_cdc_index; |
| 3941 | if (break_point_cdc_index<num_cdc-1){ |
| 3942 | num_cdc=break_point_cdc_index+1; |
| 3943 | } |
| 3944 | |
| 3945 | if (num_cdc<MIN_HITS_FOR_REFIT) chi2cut=BIG1.0e8; |
| 3946 | |
| 3947 | // Wire origin and direction |
| 3948 | DVector2 origin=my_cdchits[cdc_index]->origin; |
| 3949 | double z0w=my_cdchits[cdc_index]->z0wire; |
| 3950 | DVector2 dir=my_cdchits[cdc_index]->dir; |
| 3951 | DVector2 wirexy=origin+(Sc(state_z)-z0w)*dir; |
| 3952 | |
| 3953 | // Save the starting values for C and S in the deque |
| 3954 | central_traj[break_point_step_index].Skk=Sc; |
| 3955 | central_traj[break_point_step_index].Ckk=Cc; |
| 3956 | |
| 3957 | // doca variables |
| 3958 | double doca2,old_doca2=(xy-wirexy).Mod2(); |
| 3959 | |
| 3960 | // energy loss |
| 3961 | double dedx=0.; |
| 3962 | |
| 3963 | // Boolean for flagging when we are done with measurements |
| 3964 | bool more_measurements=true; |
| 3965 | |
| 3966 | // Initialize S0_ and perform the loop over the trajectory |
| 3967 | S0_=central_traj[break_point_step_index].S; |
| 3968 | |
| 3969 | for (unsigned int k=break_point_step_index+1;k<central_traj.size();k++){ |
| 3970 | unsigned int k_minus_1=k-1; |
| 3971 | |
| 3972 | // Get the state vector, jacobian matrix, and multiple scattering matrix |
| 3973 | // from reference trajectory |
| 3974 | S0=central_traj[k].S; |
| 3975 | J=central_traj[k].J; |
| 3976 | Q=central_traj[k].Q; |
| 3977 | |
| 3978 | //Q.Print(); |
| 3979 | //J.Print(); |
| 3980 | |
| 3981 | // State S is perturbation about a seed S0 |
| 3982 | //dS=Sc-S0_; |
| 3983 | //dS.Zero(); |
| 3984 | |
| 3985 | // Update the actual state vector and covariance matrix |
| 3986 | Sc=S0+J*(Sc-S0_); |
| 3987 | // Cc=J*(Cc*JT)+Q; |
| 3988 | // Cc=Q.AddSym(Cc.SandwichMultiply(J)); |
| 3989 | Cc=Q.AddSym(J*Cc*J.Transpose()); |
| 3990 | |
| 3991 | // Save the current state and covariance matrix in the deque |
| 3992 | if (fit_type==kTimeBased){ |
| 3993 | central_traj[k].Skk=Sc; |
| 3994 | central_traj[k].Ckk=Cc; |
| 3995 | } |
| 3996 | |
| 3997 | // update position based on new doca to reference trajectory |
| 3998 | xy.Set(central_traj[k].xy.X()-Sc(state_D)*sin(Sc(state_phi)), |
| 3999 | central_traj[k].xy.Y()+Sc(state_D)*cos(Sc(state_phi))); |
| 4000 | |
| 4001 | // Bail if the position is grossly outside of the tracking volume |
| 4002 | if (xy.Mod2()>R2_MAX4225.0 || Sc(state_z)<Z_MIN-100. || Sc(state_z)>Z_MAX370.0){ |
| 4003 | if (DEBUG_LEVEL>2) |
| 4004 | { |
| 4005 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4005<<" "<< "Went outside of tracking volume at z="<<Sc(state_z) |
| 4006 | << " r="<<xy.Mod()<<endl; |
| 4007 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4007<<" " << " Break indexes: " << break_point_cdc_index <<"," |
| 4008 | << break_point_step_index << endl; |
| 4009 | } |
| 4010 | return POSITION_OUT_OF_RANGE; |
| 4011 | } |
| 4012 | // Bail if the transverse momentum has dropped below some minimum |
| 4013 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 4014 | if (DEBUG_LEVEL>2) |
| 4015 | { |
| 4016 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4016<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 4017 | << " at step " << k |
| 4018 | << endl; |
| 4019 | } |
| 4020 | return MOMENTUM_OUT_OF_RANGE; |
| 4021 | } |
| 4022 | |
| 4023 | |
| 4024 | // Save the current state of the reference trajectory |
| 4025 | S0_=S0; |
| 4026 | |
| 4027 | // new wire position |
| 4028 | wirexy=origin; |
| 4029 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 4030 | |
| 4031 | // new doca |
| 4032 | doca2=(xy-wirexy).Mod2(); |
| 4033 | |
| 4034 | // Check if the doca is no longer decreasing |
| 4035 | if (more_measurements && (doca2>old_doca2 && Sc(state_z)>cdc_origin[2])){ |
| 4036 | if (my_cdchits[cdc_index]->status==good_hit){ |
| 4037 | if (DEBUG_LEVEL>9) { |
| 4038 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4038<<" " << " Good Hit Ring " << my_cdchits[cdc_index]->hit->wire->ring << " Straw " << my_cdchits[cdc_index]->hit->wire->straw << endl; |
| 4039 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4039<<" " << " doca " << sqrt(doca2) << endl; |
| 4040 | } |
| 4041 | |
| 4042 | // Save values at end of current step |
| 4043 | DVector2 xy0=central_traj[k].xy; |
| 4044 | |
| 4045 | // Variables for the computation of D at the doca to the wire |
| 4046 | double D=Sc(state_D); |
| 4047 | double q=(Sc(state_q_over_pt)>0.0)?1.:-1.; |
| 4048 | |
| 4049 | q*=FactorForSenseOfRotation; |
| 4050 | |
| 4051 | double qpt=1./Sc(state_q_over_pt) * FactorForSenseOfRotation; |
| 4052 | double sinphi=sin(Sc(state_phi)); |
| 4053 | double cosphi=cos(Sc(state_phi)); |
| 4054 | //double qrc_old=qpt/fabs(qBr2p*bfield->GetBz(pos.x(),pos.y(),pos.z())); |
| 4055 | double qrc_old=qpt/fabs(qBr2p0.003*central_traj[k].B); |
| 4056 | double qrc_plus_D=D+qrc_old; |
| 4057 | |
| 4058 | // wire direction variable |
| 4059 | double ux=dir.X(); |
| 4060 | double uy=dir.Y(); |
| 4061 | double cosstereo=my_cdchits[cdc_index]->cosstereo; |
| 4062 | // Variables relating wire direction and track direction |
| 4063 | //double my_ux=ux*sinl-cosl*cosphi; |
| 4064 | //double my_uy=uy*sinl-cosl*sinphi; |
| 4065 | //double denom=my_ux*my_ux+my_uy*my_uy; |
| 4066 | // distance variables |
| 4067 | DVector2 diff,dxy1; |
| 4068 | |
| 4069 | // use Brent's algorithm to find the poca to the wire |
| 4070 | // See Numerical Recipes in C, pp 404-405 |
| 4071 | |
| 4072 | // dEdx for current position along trajectory |
| 4073 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 4074 | if (CORRECT_FOR_ELOSS){ |
| 4075 | dedx=GetdEdx(q_over_p, central_traj[k].K_rho_Z_over_A, |
| 4076 | central_traj[k].rho_Z_over_A, |
| 4077 | central_traj[k].LnI,central_traj[k].Z); |
| 4078 | } |
| 4079 | |
| 4080 | if (BrentCentral(dedx,xy,z0w,origin,dir,Sc,ds2)!=NOERROR) return MOMENTUM_OUT_OF_RANGE; |
| 4081 | |
| 4082 | //Step along the reference trajectory and compute the new covariance matrix |
| 4083 | StepStateAndCovariance(xy0,ds2,dedx,S0,J,Cc); |
| 4084 | |
| 4085 | // Compute the value of D (signed distance to the reference trajectory) |
| 4086 | // at the doca to the wire |
| 4087 | dxy1=xy0-central_traj[k].xy; |
| 4088 | double rc=sqrt(dxy1.Mod2() |
| 4089 | +2.*qrc_plus_D*(dxy1.X()*sinphi-dxy1.Y()*cosphi) |
| 4090 | +qrc_plus_D*qrc_plus_D); |
| 4091 | Sc(state_D)=q*rc-qrc_old; |
| 4092 | |
| 4093 | // wire position |
| 4094 | wirexy=origin; |
| 4095 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 4096 | diff=xy-wirexy; |
| 4097 | |
| 4098 | // prediction for measurement |
| 4099 | double doca=diff.Mod()+EPS3.0e-8; |
| 4100 | double prediction=doca*cosstereo; |
| 4101 | |
| 4102 | // Measurement |
| 4103 | double measurement=0.39,tdrift=0.,tcorr=0.,dDdt0=0.; |
| 4104 | if (fit_type==kTimeBased || USE_PASS1_TIME_MODE){ |
| 4105 | // Find offset of wire with respect to the center of the |
| 4106 | // straw at this z position |
| 4107 | const DCDCWire *mywire=my_cdchits[cdc_index]->hit->wire; |
| 4108 | int ring_index=mywire->ring-1; |
| 4109 | int straw_index=mywire->straw-1; |
| 4110 | double dz=Sc(state_z)-z0w; |
| 4111 | double phi_d=diff.Phi(); |
| 4112 | double delta |
| 4113 | =max_sag[ring_index][straw_index]*(1.-dz*dz/5625.) |
| 4114 | *cos(phi_d + sag_phi_offset[ring_index][straw_index]); |
| 4115 | double dphi=phi_d-mywire->origin.Phi(); |
| 4116 | while (dphi>M_PI3.14159265358979323846) dphi-=2*M_PI3.14159265358979323846; |
| 4117 | while (dphi<-M_PI3.14159265358979323846) dphi+=2*M_PI3.14159265358979323846; |
| 4118 | if (mywire->origin.Y()<0) dphi*=-1.; |
| 4119 | |
| 4120 | tdrift=my_cdchits[cdc_index]->tdrift-mT0 |
| 4121 | -central_traj[k_minus_1].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 4122 | double B=central_traj[k_minus_1].B; |
| 4123 | ComputeCDCDrift(dphi,delta,tdrift,B,measurement,V,tcorr); |
| 4124 | V*=anneal_factor; |
| 4125 | if (ALIGNMENT_CENTRAL){ |
| 4126 | double myV=0.; |
| 4127 | double mytcorr=0.; |
| 4128 | double d_shifted; |
| 4129 | double dt=2.0; |
| 4130 | ComputeCDCDrift(dphi,delta,tdrift+dt,B,d_shifted,myV,mytcorr); |
| 4131 | dDdt0=(d_shifted-measurement)/dt; |
| 4132 | } |
| 4133 | |
| 4134 | //_DBG_ << tcorr << " " << dphi << " " << dm << endl; |
| 4135 | |
| 4136 | } |
| 4137 | |
| 4138 | // Projection matrix |
| 4139 | sinphi=sin(Sc(state_phi)); |
| 4140 | cosphi=cos(Sc(state_phi)); |
| 4141 | double dx=diff.X(); |
| 4142 | double dy=diff.Y(); |
| 4143 | double cosstereo_over_doca=cosstereo/doca; |
| 4144 | H_T(state_D)=(dy*cosphi-dx*sinphi)*cosstereo_over_doca; |
| 4145 | H_T(state_phi) |
| 4146 | =-Sc(state_D)*cosstereo_over_doca*(dx*cosphi+dy*sinphi); |
| 4147 | H_T(state_z)=-cosstereo_over_doca*(dx*ux+dy*uy); |
| 4148 | H(state_tanl)=0.; |
| 4149 | H_T(state_tanl)=0.; |
| 4150 | H(state_D)=H_T(state_D); |
| 4151 | H(state_z)=H_T(state_z); |
| 4152 | H(state_phi)=H_T(state_phi); |
| 4153 | |
| 4154 | // Difference and inverse of variance |
| 4155 | //InvV=1./(V+H*(Cc*H_T)); |
| 4156 | //double Vproj=Cc.SandwichMultiply(H_T); |
| 4157 | double Vproj=H*Cc*H_T; |
| 4158 | InvV=1./(V+Vproj); |
| 4159 | double dm=measurement-prediction; |
| 4160 | |
| 4161 | if (InvV<0.){ |
| 4162 | if (DEBUG_LEVEL>1) |
| 4163 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4163<<" " << k <<" "<< central_traj.size()-1<<" Negative variance??? " << V << " " << H*(Cc*H_T) <<endl; |
| 4164 | |
| 4165 | break_point_cdc_index=(3*num_cdc)/4; |
| 4166 | return NEGATIVE_VARIANCE; |
| 4167 | } |
| 4168 | /* |
| 4169 | if (fabs(cosstereo)<1.){ |
| 4170 | printf("t %f delta %f sigma %f V %f chi2 %f\n",my_cdchits[cdc_index]->hit->tdrift-mT0,dm,sqrt(V),1./InvV,dm*dm*InvV); |
| 4171 | } |
| 4172 | */ |
| 4173 | |
| 4174 | // Check how far this hit is from the expected position |
| 4175 | double chi2check=dm*dm*InvV; |
| 4176 | if (DEBUG_LEVEL>9) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4176<<" " << " Prediction " << prediction << " Measurement " << measurement << " Chi2 " << chi2check << endl; |
| 4177 | if (chi2check<chi2cut) |
| 4178 | { |
| 4179 | if (DEBUG_LEVEL>9) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4179<<" " << " Passed Chi^2 check Ring " << my_cdchits[cdc_index]->hit->wire->ring << " Straw " << my_cdchits[cdc_index]->hit->wire->straw << endl; |
| 4180 | |
| 4181 | // Compute Kalman gain matrix |
| 4182 | K=InvV*(Cc*H_T); |
| 4183 | |
| 4184 | // Update state vector covariance matrix |
| 4185 | //Cc=Cc-(K*(H*Cc)); |
| 4186 | Ctest=Cc.SubSym(K*(H*Cc)); |
| 4187 | // Joseph form |
| 4188 | // C = (I-KH)C(I-KH)^T + KVK^T |
| 4189 | //Ctest=Cc.SandwichMultiply(I5x5-K*H)+V*MultiplyTranspose(K); |
| 4190 | // Check that Ctest is positive definite |
| 4191 | if (!Ctest.IsPosDef()){ |
| 4192 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4192<<" " << "Broken covariance matrix!" <<endl; |
| 4193 | return BROKEN_COVARIANCE_MATRIX; |
| 4194 | } |
| 4195 | bool skip_ring |
| 4196 | =(my_cdchits[cdc_index]->hit->wire->ring==RING_TO_SKIP); |
| 4197 | //Update covariance matrix and state vector |
| 4198 | if (skip_ring==false && tdrift >= CDC_T_DRIFT_MIN){ |
| 4199 | Cc=Ctest; |
| 4200 | Sc+=dm*K; |
| 4201 | } |
| 4202 | |
| 4203 | // Mark point on ref trajectory with a hit id for the straw |
| 4204 | central_traj[k].h_id=cdc_index+1; |
| 4205 | if (DEBUG_LEVEL>9) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4205<<" " << " Marked Trajectory central_traj[k].h_id=cdc_index+1 (k cdc_index)" << k << " " << cdc_index << endl; |
| 4206 | |
| 4207 | // Save some updated information for this hit |
| 4208 | double scale=(skip_ring)?1.:(1.-H*K); |
| 4209 | cdc_updates[cdc_index].tcorr=tcorr; |
| 4210 | cdc_updates[cdc_index].tdrift=tdrift; |
| 4211 | cdc_updates[cdc_index].doca=measurement; |
| 4212 | cdc_updates[cdc_index].variance=V; |
| 4213 | cdc_updates[cdc_index].dDdt0=dDdt0; |
| 4214 | cdc_used_in_fit[cdc_index]=true; |
| 4215 | if (tdrift < CDC_T_DRIFT_MIN) cdc_used_in_fit[cdc_index]=false; |
| 4216 | |
| 4217 | // Update chi2 for this hit |
| 4218 | if (skip_ring==false && tdrift >= CDC_T_DRIFT_MIN){ |
| 4219 | chisq+=scale*dm*dm/V; |
| 4220 | my_ndf++; |
| 4221 | } |
| 4222 | if (DEBUG_LEVEL>10) |
| 4223 | cout |
| 4224 | << "ring " << my_cdchits[cdc_index]->hit->wire->ring |
| 4225 | << " t " << my_cdchits[cdc_index]->hit->tdrift |
| 4226 | << " Dm-Dpred " << dm |
| 4227 | << " chi2 " << (1.-H*K)*dm*dm/V |
| 4228 | << endl; |
| 4229 | |
| 4230 | break_point_cdc_index=cdc_index; |
| 4231 | break_point_step_index=k_minus_1; |
| 4232 | |
| 4233 | //else printf("Negative variance!!!\n"); |
| 4234 | |
| 4235 | |
| 4236 | } |
| 4237 | |
| 4238 | // Move back to the right step along the reference trajectory. |
| 4239 | StepStateAndCovariance(xy,-ds2,dedx,Sc,J,Cc); |
| 4240 | |
| 4241 | // Save state and covariance matrix to update vector |
| 4242 | cdc_updates[cdc_index].S=Sc; |
| 4243 | cdc_updates[cdc_index].C=Cc; |
| 4244 | |
| 4245 | //Sc.Print(); |
| 4246 | //Cc.Print(); |
| 4247 | |
| 4248 | // update position on current trajectory based on corrected doca to |
| 4249 | // reference trajectory |
| 4250 | xy.Set(central_traj[k].xy.X()-Sc(state_D)*sin(Sc(state_phi)), |
| 4251 | central_traj[k].xy.Y()+Sc(state_D)*cos(Sc(state_phi))); |
| 4252 | |
| 4253 | } |
| 4254 | |
| 4255 | // new wire origin and direction |
| 4256 | if (cdc_index>0){ |
| 4257 | cdc_index--; |
| 4258 | origin=my_cdchits[cdc_index]->origin; |
| 4259 | z0w=my_cdchits[cdc_index]->z0wire; |
| 4260 | dir=my_cdchits[cdc_index]->dir; |
| 4261 | } |
| 4262 | else{ |
| 4263 | more_measurements=false; |
| 4264 | } |
| 4265 | |
| 4266 | // Update the wire position |
| 4267 | wirexy=origin+(Sc(state_z)-z0w)*dir; |
| 4268 | |
| 4269 | //s+=ds2; |
| 4270 | // new doca |
| 4271 | doca2=(xy-wirexy).Mod2(); |
| 4272 | } |
| 4273 | |
| 4274 | old_doca2=doca2; |
| 4275 | |
| 4276 | } |
| 4277 | |
| 4278 | // If there are not enough degrees of freedom, something went wrong... |
| 4279 | if (my_ndf<6){ |
| 4280 | chisq=-1.; |
| 4281 | my_ndf=0; |
| 4282 | return PRUNED_TOO_MANY_HITS; |
| 4283 | } |
| 4284 | else my_ndf-=5; |
| 4285 | |
| 4286 | // Check if we have a kink in the track or threw away too many cdc hits |
| 4287 | if (num_cdc>=MIN_HITS_FOR_REFIT){ |
| 4288 | if (break_point_cdc_index>1){ |
| 4289 | if (break_point_cdc_index<num_cdc/2){ |
| 4290 | break_point_cdc_index=(3*num_cdc)/4; |
| 4291 | } |
| 4292 | return BREAK_POINT_FOUND; |
| 4293 | } |
| 4294 | |
| 4295 | unsigned int num_good=0; |
| 4296 | for (unsigned int j=0;j<num_cdc;j++){ |
| 4297 | if (cdc_used_in_fit[j]) num_good++; |
| 4298 | } |
| 4299 | if (double(num_good)/double(num_cdc)<MINIMUM_HIT_FRACTION){ |
| 4300 | return PRUNED_TOO_MANY_HITS; |
| 4301 | } |
| 4302 | } |
| 4303 | |
| 4304 | return FIT_SUCCEEDED; |
| 4305 | } |
| 4306 | |
| 4307 | // Kalman engine for forward tracks |
| 4308 | kalman_error_t DTrackFitterKalmanSIMD::KalmanForward(double fdc_anneal_factor, |
| 4309 | double cdc_anneal_factor, |
| 4310 | DMatrix5x1 &S, |
| 4311 | DMatrix5x5 &C, |
| 4312 | double &chisq, |
| 4313 | unsigned int &numdof){ |
| 4314 | DMatrix2x1 Mdiff; // difference between measurement and prediction |
| 4315 | DMatrix2x5 H; // Track projection matrix |
| 4316 | DMatrix5x2 H_T; // Transpose of track projection matrix |
| 4317 | DMatrix1x5 Hc; // Track projection matrix for cdc hits |
| 4318 | DMatrix5x1 Hc_T; // Transpose of track projection matrix for cdc hits |
| 4319 | DMatrix5x5 J; // State vector Jacobian matrix |
| 4320 | //DMatrix5x5 J_T; // transpose of this matrix |
| 4321 | DMatrix5x5 Q; // Process noise covariance matrix |
| 4322 | DMatrix5x2 K; // Kalman gain matrix |
| 4323 | DMatrix5x1 Kc; // Kalman gain matrix for cdc hits |
| 4324 | DMatrix2x2 V(0.0833,0.,0.,FDC_CATHODE_VARIANCE0.000225); // Measurement covariance matrix |
| 4325 | DMatrix2x1 R; // Filtered residual |
| 4326 | DMatrix2x2 RC; // Covariance of filtered residual |
| 4327 | DMatrix5x1 S0,S0_; //State vector |
| 4328 | DMatrix5x5 Ctest; // Covariance matrix |
| 4329 | DMatrix2x2 InvV; // Inverse of error matrix |
| 4330 | |
| 4331 | double Vc=0.0507; |
| 4332 | |
| 4333 | // Vectors for cdc wires |
| 4334 | DVector2 origin,dir,wirepos; |
| 4335 | double z0w=0.; // origin in z for wire |
| 4336 | |
| 4337 | // Set used_in_fit flags to false for fdc and cdc hits |
| 4338 | unsigned int num_cdc=cdc_used_in_fit.size(); |
| 4339 | unsigned int num_fdc=fdc_used_in_fit.size(); |
| 4340 | for (unsigned int i=0;i<num_cdc;i++) cdc_used_in_fit[i]=false; |
| 4341 | for (unsigned int i=0;i<num_fdc;i++) fdc_used_in_fit[i]=false; |
| 4342 | for (unsigned int i=0;i<forward_traj.size();i++){ |
| 4343 | if (forward_traj[i].h_id>999) |
| 4344 | forward_traj[i].h_id=0; |
| 4345 | } |
| 4346 | |
| 4347 | // Save the starting values for C and S in the deque |
| 4348 | forward_traj[break_point_step_index].Skk=S; |
| 4349 | forward_traj[break_point_step_index].Ckk=C; |
| 4350 | |
| 4351 | // Initialize chi squared |
| 4352 | chisq=0; |
| 4353 | |
| 4354 | // Initialize number of degrees of freedom |
| 4355 | numdof=0; |
| 4356 | |
| 4357 | double fdc_chi2cut=NUM_FDC_SIGMA_CUT*NUM_FDC_SIGMA_CUT; |
| 4358 | double cdc_chi2cut=NUM_CDC_SIGMA_CUT*NUM_CDC_SIGMA_CUT; |
| 4359 | |
| 4360 | unsigned int num_fdc_hits=break_point_fdc_index+1; |
| 4361 | unsigned int max_num_fdc_used_in_fit=num_fdc_hits; |
| 4362 | unsigned int num_cdc_hits=my_cdchits.size(); |
| 4363 | unsigned int cdc_index=0; |
| 4364 | if (num_cdc_hits>0) cdc_index=num_cdc_hits-1; |
| 4365 | bool more_cdc_measurements=(num_cdc_hits>0); |
| 4366 | double old_doca2=1e6; |
| 4367 | |
| 4368 | if (num_fdc_hits+num_cdc_hits<MIN_HITS_FOR_REFIT){ |
| 4369 | cdc_chi2cut=BIG1.0e8; |
| 4370 | fdc_chi2cut=BIG1.0e8; |
| 4371 | } |
| 4372 | |
| 4373 | if (more_cdc_measurements){ |
| 4374 | origin=my_cdchits[cdc_index]->origin; |
| 4375 | dir=my_cdchits[cdc_index]->dir; |
| 4376 | z0w=my_cdchits[cdc_index]->z0wire; |
| 4377 | wirepos=origin+(forward_traj[break_point_step_index].z-z0w)*dir; |
| 4378 | } |
| 4379 | |
| 4380 | S0_=(forward_traj[break_point_step_index].S); |
| 4381 | |
| 4382 | if (DEBUG_LEVEL > 25){ |
| 4383 | jout << "Entering DTrackFitterKalmanSIMD::KalmanForward ================================" << endl; |
| 4384 | jout << " We have the following starting parameters for our fit. S = State vector, C = Covariance matrix" << endl; |
| 4385 | S.Print(); |
| 4386 | C.Print(); |
| 4387 | jout << setprecision(6); |
| 4388 | jout << " There are " << num_cdc << " CDC Updates and " << num_fdc << " FDC Updates on this track" << endl; |
| 4389 | jout << " There are " << num_cdc_hits << " CDC Hits and " << num_fdc_hits << " FDC Hits on this track" << endl; |
| 4390 | jout << " With NUM_FDC_SIGMA_CUT = " << NUM_FDC_SIGMA_CUT << " and NUM_CDC_SIGMA_CUT = " << NUM_CDC_SIGMA_CUT << endl; |
| 4391 | jout << " fdc_anneal_factor = " << fdc_anneal_factor << " cdc_anneal_factor = " << cdc_anneal_factor << endl; |
| 4392 | jout << " yields fdc_chi2cut = " << fdc_chi2cut << " cdc_chi2cut = " << cdc_chi2cut << endl; |
| 4393 | jout << " Starting from break_point_step_index " << break_point_step_index << endl; |
| 4394 | jout << " S0_ which is the state vector of the reference trajectory at the break point step:" << endl; |
| 4395 | S0_.Print(); |
| 4396 | jout << " ===== Beginning pass over reference trajectory ======== " << endl; |
| 4397 | } |
| 4398 | |
| 4399 | for (unsigned int k=break_point_step_index+1;k<forward_traj.size();k++){ |
| 4400 | unsigned int k_minus_1=k-1; |
| 4401 | |
| 4402 | // Get the state vector, jacobian matrix, and multiple scattering matrix |
| 4403 | // from reference trajectory |
| 4404 | S0=(forward_traj[k].S); |
| 4405 | J=(forward_traj[k].J); |
| 4406 | Q=(forward_traj[k].Q); |
| 4407 | |
| 4408 | // State S is perturbation about a seed S0 |
| 4409 | //dS=S-S0_; |
| 4410 | |
| 4411 | // Update the actual state vector and covariance matrix |
| 4412 | S=S0+J*(S-S0_); |
| 4413 | |
| 4414 | // Bail if the momentum has dropped below some minimum |
| 4415 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX){ |
| 4416 | if (DEBUG_LEVEL>2) |
| 4417 | { |
| 4418 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4418<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) << endl; |
| 4419 | } |
| 4420 | break_point_fdc_index=(3*num_fdc)/4; |
| 4421 | return MOMENTUM_OUT_OF_RANGE; |
| 4422 | } |
| 4423 | |
| 4424 | |
| 4425 | //C=J*(C*J_T)+Q; |
| 4426 | //C=Q.AddSym(C.SandwichMultiply(J)); |
| 4427 | C=Q.AddSym(J*C*J.Transpose()); |
| 4428 | |
| 4429 | // Save the current state and covariance matrix in the deque |
| 4430 | forward_traj[k].Skk=S; |
| 4431 | forward_traj[k].Ckk=C; |
| 4432 | |
| 4433 | // Save the current state of the reference trajectory |
| 4434 | S0_=S0; |
| 4435 | |
| 4436 | // Z position along the trajectory |
| 4437 | double z=forward_traj[k].z; |
| 4438 | |
| 4439 | if (DEBUG_LEVEL > 25){ |
| 4440 | jout << " At reference trajectory index " << k << " at z=" << z << endl; |
| 4441 | jout << " The State vector from the reference trajectory" << endl; |
| 4442 | S0.Print(); |
| 4443 | jout << " The Jacobian matrix " << endl; |
| 4444 | J.Print(); |
| 4445 | jout << " The Q matrix "<< endl; |
| 4446 | Q.Print(); |
| 4447 | jout << " The updated State vector S=S0+J*(S-S0_)" << endl; |
| 4448 | S.Print(); |
| 4449 | jout << " The updated Covariance matrix C=J*(C*J_T)+Q;" << endl; |
| 4450 | C.Print(); |
| 4451 | } |
| 4452 | |
| 4453 | // Add the hit |
| 4454 | if (num_fdc_hits>0){ |
| 4455 | if (forward_traj[k].h_id>0 && forward_traj[k].h_id<1000){ |
| 4456 | unsigned int id=forward_traj[k].h_id-1; |
| 4457 | // Check if this is a plane we want to skip in the fit (we still want |
| 4458 | // to store track and hit info at this plane, however). |
| 4459 | bool skip_plane=(my_fdchits[id]->hit!=NULL__null |
| 4460 | &&my_fdchits[id]->hit->wire->layer==PLANE_TO_SKIP); |
| 4461 | double upred=0,vpred=0.,doca=0.,cosalpha=0.,lorentz_factor=0.; |
| 4462 | FindDocaAndProjectionMatrix(my_fdchits[id],S,upred,vpred,doca,cosalpha, |
| 4463 | lorentz_factor,H_T); |
| 4464 | // Matrix transpose H_T -> H |
| 4465 | H=Transpose(H_T); |
| 4466 | |
| 4467 | // Variance in coordinate transverse to wire |
| 4468 | V(0,0)=my_fdchits[id]->uvar; |
| 4469 | if (my_fdchits[id]->hit==NULL__null&&my_fdchits[id]->status!=trd_hit){ |
| 4470 | V(0,0)*=fdc_anneal_factor; |
| 4471 | } |
| 4472 | |
| 4473 | // Variance in coordinate along wire |
| 4474 | V(1,1)=my_fdchits[id]->vvar*fdc_anneal_factor; |
| 4475 | |
| 4476 | // Residual for coordinate along wire |
| 4477 | Mdiff(1)=my_fdchits[id]->vstrip-vpred-doca*lorentz_factor; |
| 4478 | |
| 4479 | // Residual for coordinate transverse to wire |
| 4480 | Mdiff(0)=-doca; |
| 4481 | double drift_time=my_fdchits[id]->t-mT0-forward_traj[k].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 4482 | if (fit_type==kTimeBased && USE_FDC_DRIFT_TIMES){ |
| 4483 | if (my_fdchits[id]->hit!=NULL__null){ |
| 4484 | double drift=(doca>0.0?1.:-1.) |
| 4485 | *fdc_drift_distance(drift_time,forward_traj[k].B); |
| 4486 | Mdiff(0)+=drift; |
| 4487 | |
| 4488 | // Variance in drift distance |
| 4489 | V(0,0)=fdc_drift_variance(drift_time)*fdc_anneal_factor; |
| 4490 | } |
| 4491 | else if (USE_TRD_DRIFT_TIMES&&my_fdchits[id]->status==trd_hit){ |
| 4492 | double drift =(doca>0.0?1.:-1.)*0.1*pow(drift_time/8./0.91,1./1.556); |
| 4493 | Mdiff(0)+=drift; |
| 4494 | |
| 4495 | // Variance in drift distance |
| 4496 | V(0,0)=0.05*0.05*fdc_anneal_factor; |
| 4497 | } |
| 4498 | } |
| 4499 | // Check to see if we have multiple hits in the same plane |
| 4500 | if (!ALIGNMENT_FORWARD && forward_traj[k].num_hits>1){ |
| 4501 | UpdateSandCMultiHit(forward_traj[k],upred,vpred,doca,cosalpha, |
| 4502 | lorentz_factor,V,Mdiff,H,H_T,S,C, |
| 4503 | fdc_chi2cut,skip_plane,chisq,numdof, |
| 4504 | fdc_anneal_factor); |
| 4505 | } |
| 4506 | else{ |
| 4507 | if (DEBUG_LEVEL > 25) jout << " == There is a single FDC hit on this plane" << endl; |
| 4508 | |
| 4509 | // Variance for this hit |
| 4510 | DMatrix2x2 Vtemp=V+H*C*H_T; |
| 4511 | InvV=Vtemp.Invert(); |
| 4512 | |
| 4513 | // Check if this hit is an outlier |
| 4514 | double chi2_hit=Vtemp.Chi2(Mdiff); |
| 4515 | if (chi2_hit<fdc_chi2cut){ |
| 4516 | // Compute Kalman gain matrix |
| 4517 | K=C*H_T*InvV; |
| 4518 | |
| 4519 | if (skip_plane==false){ |
| 4520 | // Update the state vector |
| 4521 | S+=K*Mdiff; |
| 4522 | |
| 4523 | // Update state vector covariance matrix |
| 4524 | //C=C-K*(H*C); |
| 4525 | C=C.SubSym(K*(H*C)); |
| 4526 | |
| 4527 | if (DEBUG_LEVEL > 25) { |
| 4528 | jout << "S Update: " << endl; S.Print(); |
| 4529 | jout << "C Uodate: " << endl; C.Print(); |
| 4530 | } |
| 4531 | } |
| 4532 | |
| 4533 | // Store the "improved" values for the state vector and covariance |
| 4534 | fdc_updates[id].S=S; |
| 4535 | fdc_updates[id].C=C; |
| 4536 | fdc_updates[id].tdrift=drift_time; |
| 4537 | fdc_updates[id].tcorr=fdc_updates[id].tdrift; // temporary! |
| 4538 | fdc_updates[id].doca=doca; |
| 4539 | fdc_used_in_fit[id]=true; |
| 4540 | |
| 4541 | if (skip_plane==false){ |
| 4542 | // Filtered residual and covariance of filtered residual |
| 4543 | R=Mdiff-H*K*Mdiff; |
| 4544 | RC=V-H*(C*H_T); |
| 4545 | |
| 4546 | fdc_updates[id].V=RC; |
| 4547 | |
| 4548 | // Update chi2 for this segment |
| 4549 | chisq+=RC.Chi2(R); |
| 4550 | |
| 4551 | // update number of degrees of freedom |
| 4552 | numdof+=2; |
| 4553 | |
| 4554 | if (DEBUG_LEVEL>20) |
| 4555 | { |
| 4556 | printf("hit %d p %5.2f t %f dm %5.2f sig %f chi2 %5.2f z %5.2f\n", |
| 4557 | id,1./S(state_q_over_p),fdc_updates[id].tdrift,Mdiff(1), |
| 4558 | sqrt(V(1,1)),RC.Chi2(R), |
| 4559 | forward_traj[k].z); |
| 4560 | |
| 4561 | } |
| 4562 | } |
| 4563 | else{ |
| 4564 | fdc_updates[id].V=V; |
| 4565 | } |
| 4566 | |
| 4567 | break_point_fdc_index=id; |
| 4568 | break_point_step_index=k; |
| 4569 | } |
| 4570 | } |
| 4571 | if (num_fdc_hits>=forward_traj[k].num_hits) |
| 4572 | num_fdc_hits-=forward_traj[k].num_hits; |
| 4573 | } |
| 4574 | } |
| 4575 | else if (more_cdc_measurements /* && z<endplate_z*/){ |
| 4576 | // new wire position |
| 4577 | wirepos=origin; |
| 4578 | wirepos+=(z-z0w)*dir; |
| 4579 | |
| 4580 | // doca variables |
| 4581 | double dx=S(state_x)-wirepos.X(); |
| 4582 | double dy=S(state_y)-wirepos.Y(); |
| 4583 | double doca2=dx*dx+dy*dy; |
| 4584 | |
| 4585 | // Check if the doca is no longer decreasing |
| 4586 | if (doca2>old_doca2){ |
| 4587 | if(my_cdchits[cdc_index]->status==good_hit){ |
| 4588 | find_doca_error_t swimmed_to_doca=DOCA_NO_BRENT; |
| 4589 | double newz=endplate_z; |
| 4590 | double dz=newz-z; |
| 4591 | // Sometimes the true doca would correspond to the case where the |
| 4592 | // wire would need to extend beyond the physical volume of the straw. |
| 4593 | // In this case, find the doca at the cdc endplate. |
| 4594 | if (z>endplate_z){ |
| 4595 | swimmed_to_doca=DOCA_ENDPLATE; |
| 4596 | SwimToEndplate(z,forward_traj[k],S); |
| 4597 | |
| 4598 | // wire position at the endplate |
| 4599 | wirepos=origin; |
| 4600 | wirepos+=(endplate_z-z0w)*dir; |
| 4601 | |
| 4602 | dx=S(state_x)-wirepos.X(); |
| 4603 | dy=S(state_y)-wirepos.Y(); |
| 4604 | } |
| 4605 | else{ |
| 4606 | // Find the true doca to the wire. If we had to use Brent's |
| 4607 | // algorithm, the routine returns true. |
| 4608 | double step1=mStepSizeZ; |
| 4609 | double step2=mStepSizeZ; |
| 4610 | if (k>=2){ |
| 4611 | step1=-forward_traj[k].z+forward_traj[k_minus_1].z; |
| 4612 | step2=-forward_traj[k_minus_1].z+forward_traj[k-2].z; |
| 4613 | } |
| 4614 | swimmed_to_doca=FindDoca(my_cdchits[cdc_index],forward_traj[k], |
| 4615 | step1,step2,S0,S,C,dx,dy,dz); |
| 4616 | if (swimmed_to_doca==BRENT_FAILED){ |
| 4617 | //break_point_fdc_index=(3*num_fdc)/4; |
| 4618 | return MOMENTUM_OUT_OF_RANGE; |
| 4619 | } |
| 4620 | |
| 4621 | newz=forward_traj[k].z+dz; |
| 4622 | } |
| 4623 | double cosstereo=my_cdchits[cdc_index]->cosstereo; |
| 4624 | double d=sqrt(dx*dx+dy*dy)*cosstereo+EPS3.0e-8; |
| 4625 | |
| 4626 | // Track projection |
| 4627 | double cosstereo2_over_d=cosstereo*cosstereo/d; |
| 4628 | Hc_T(state_x)=dx*cosstereo2_over_d; |
| 4629 | Hc(state_x)=Hc_T(state_x); |
| 4630 | Hc_T(state_y)=dy*cosstereo2_over_d; |
| 4631 | Hc(state_y)=Hc_T(state_y); |
| 4632 | if (swimmed_to_doca==DOCA_NO_BRENT){ |
| 4633 | Hc_T(state_ty)=Hc_T(state_y)*dz; |
| 4634 | Hc(state_ty)=Hc_T(state_ty); |
| 4635 | Hc_T(state_tx)=Hc_T(state_x)*dz; |
| 4636 | Hc(state_tx)=Hc_T(state_tx); |
| 4637 | } |
| 4638 | else{ |
| 4639 | Hc_T(state_ty)=0.; |
| 4640 | Hc(state_ty)=0.; |
| 4641 | Hc_T(state_tx)=0.; |
| 4642 | Hc(state_tx)=0.; |
| 4643 | } |
| 4644 | |
| 4645 | //H.Print(); |
| 4646 | |
| 4647 | // The next measurement |
| 4648 | double dm=0.39,tdrift=0.,tcorr=0.,dDdt0=0.; |
| 4649 | if (fit_type==kTimeBased){ |
| 4650 | // Find offset of wire with respect to the center of the |
| 4651 | // straw at this z position |
| 4652 | double delta=0,dphi=0.; |
| 4653 | FindSag(dx,dy,newz-z0w,my_cdchits[cdc_index]->hit->wire,delta,dphi); |
| 4654 | |
| 4655 | // Find drift time and distance |
| 4656 | tdrift=my_cdchits[cdc_index]->tdrift-mT0 |
| 4657 | -forward_traj[k_minus_1].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 4658 | double B=forward_traj[k_minus_1].B; |
| 4659 | ComputeCDCDrift(dphi,delta,tdrift,B,dm,Vc,tcorr); |
| 4660 | Vc*=cdc_anneal_factor; |
| 4661 | if (ALIGNMENT_FORWARD){ |
| 4662 | double myV=0.; |
| 4663 | double mytcorr=0.; |
| 4664 | double d_shifted; |
| 4665 | double dt=5.0; |
| 4666 | // Dont compute this for negative drift times |
| 4667 | if (tdrift < 0.) d_shifted = dm; |
| 4668 | else ComputeCDCDrift(dphi,delta,tdrift+dt,B,d_shifted,myV,mytcorr); |
| 4669 | dDdt0=(d_shifted-dm)/dt; |
| 4670 | } |
| 4671 | |
| 4672 | if (max_num_fdc_used_in_fit>4) |
| 4673 | { |
| 4674 | Vc*=CDC_VAR_SCALE_FACTOR; //de-weight CDC hits |
| 4675 | } |
| 4676 | //_DBG_ << "t " << tdrift << " d " << d << " delta " << delta << " dphi " << atan2(dy,dx)-mywire->origin.Phi() << endl; |
| 4677 | |
| 4678 | //_DBG_ << tcorr << " " << dphi << " " << dm << endl; |
| 4679 | } |
| 4680 | |
| 4681 | // Residual |
| 4682 | double res=dm-d; |
| 4683 | |
| 4684 | // inverse variance including prediction |
| 4685 | //double InvV1=1./(Vc+H*(C*H_T)); |
| 4686 | //double Vproj=C.SandwichMultiply(Hc_T); |
| 4687 | double Vproj=Hc*C*Hc_T; |
| 4688 | double InvV1=1./(Vc+Vproj); |
| 4689 | if (InvV1<0.){ |
| 4690 | if (DEBUG_LEVEL>0) |
| 4691 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4691<<" " << "Negative variance???" << endl; |
| 4692 | return NEGATIVE_VARIANCE; |
| 4693 | } |
| 4694 | |
| 4695 | // Check if this hit is an outlier |
| 4696 | double chi2_hit=res*res*InvV1; |
| 4697 | if (chi2_hit<cdc_chi2cut){ |
| 4698 | // Compute KalmanSIMD gain matrix |
| 4699 | Kc=InvV1*(C*Hc_T); |
| 4700 | |
| 4701 | // Update state vector covariance matrix |
| 4702 | //C=C-K*(H*C); |
| 4703 | Ctest=C.SubSym(Kc*(Hc*C)); |
| 4704 | //Ctest=C.SandwichMultiply(I5x5-K*H)+Vc*MultiplyTranspose(K); |
| 4705 | // Check that Ctest is positive definite |
| 4706 | if (!Ctest.IsPosDef()){ |
| 4707 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4707<<" " << "Broken covariance matrix!" <<endl; |
| 4708 | return BROKEN_COVARIANCE_MATRIX; |
| 4709 | } |
| 4710 | bool skip_ring |
| 4711 | =(my_cdchits[cdc_index]->hit->wire->ring==RING_TO_SKIP); |
| 4712 | // update covariance matrix and state vector |
| 4713 | if (my_cdchits[cdc_index]->hit->wire->ring!=RING_TO_SKIP && tdrift >= CDC_T_DRIFT_MIN){ |
| 4714 | C=Ctest; |
| 4715 | S+=res*Kc; |
| 4716 | |
| 4717 | if (DEBUG_LEVEL > 25) { |
| 4718 | jout << " == Adding CDC Hit in Ring " << my_cdchits[cdc_index]->hit->wire->ring << endl; |
| 4719 | jout << " New S: " << endl; S.Print(); |
| 4720 | jout << " New C: " << endl; C.Print(); |
| 4721 | } |
| 4722 | } |
| 4723 | |
| 4724 | // Flag the place along the reference trajectory with hit id |
| 4725 | forward_traj[k].h_id=1000+cdc_index; |
| 4726 | |
| 4727 | // Store updated info related to this hit |
| 4728 | double scale=(skip_ring)?1.:(1.-Hc*Kc); |
| 4729 | cdc_updates[cdc_index].tdrift=tdrift; |
| 4730 | cdc_updates[cdc_index].tcorr=tcorr; |
| 4731 | cdc_updates[cdc_index].variance=Vc; |
| 4732 | cdc_updates[cdc_index].doca=dm; |
| 4733 | cdc_updates[cdc_index].dDdt0=dDdt0; |
| 4734 | cdc_used_in_fit[cdc_index]=true; |
| 4735 | if(tdrift < CDC_T_DRIFT_MIN){ |
| 4736 | //_DBG_ << tdrift << endl; |
| 4737 | cdc_used_in_fit[cdc_index]=false; |
| 4738 | } |
| 4739 | |
| 4740 | // Update chi2 and number of degrees of freedom for this hit |
| 4741 | if (skip_ring==false && tdrift >= CDC_T_DRIFT_MIN){ |
| 4742 | chisq+=scale*res*res/Vc; |
| 4743 | numdof++; |
| 4744 | } |
| 4745 | |
| 4746 | if (DEBUG_LEVEL>10) |
| 4747 | jout << "Ring " << my_cdchits[cdc_index]->hit->wire->ring |
| 4748 | << " Straw " << my_cdchits[cdc_index]->hit->wire->straw |
| 4749 | << " Pred " << d << " Meas " << dm |
| 4750 | << " Sigma meas " << sqrt(Vc) |
| 4751 | << " t " << tcorr |
| 4752 | << " Chi2 " << (1.-Hc*Kc)*res*res/Vc << endl; |
| 4753 | |
| 4754 | break_point_cdc_index=cdc_index; |
| 4755 | break_point_step_index=k_minus_1; |
| 4756 | |
| 4757 | } |
| 4758 | |
| 4759 | // If we had to use Brent's algorithm to find the true doca or the |
| 4760 | // doca to the line corresponding to the wire is downstream of the |
| 4761 | // cdc endplate, we need to swim the state vector and covariance |
| 4762 | // matrix back to the appropriate position along the reference |
| 4763 | // trajectory. |
| 4764 | if (swimmed_to_doca!=DOCA_NO_BRENT){ |
| 4765 | double dedx=0.; |
| 4766 | if (CORRECT_FOR_ELOSS){ |
| 4767 | dedx=GetdEdx(S(state_q_over_p), |
| 4768 | forward_traj[k].K_rho_Z_over_A, |
| 4769 | forward_traj[k].rho_Z_over_A, |
| 4770 | forward_traj[k].LnI,forward_traj[k].Z); |
| 4771 | } |
| 4772 | StepBack(dedx,newz,forward_traj[k].z,S0,S,C); |
| 4773 | } |
| 4774 | |
| 4775 | cdc_updates[cdc_index].S=S; |
| 4776 | cdc_updates[cdc_index].C=C; |
| 4777 | } |
| 4778 | |
| 4779 | // new wire origin and direction |
| 4780 | if (cdc_index>0){ |
| 4781 | cdc_index--; |
| 4782 | origin=my_cdchits[cdc_index]->origin; |
| 4783 | z0w=my_cdchits[cdc_index]->z0wire; |
| 4784 | dir=my_cdchits[cdc_index]->dir; |
| 4785 | } |
| 4786 | else more_cdc_measurements=false; |
| 4787 | |
| 4788 | // Update the wire position |
| 4789 | wirepos=origin+(z-z0w)*dir; |
| 4790 | |
| 4791 | // new doca |
| 4792 | dx=S(state_x)-wirepos.X(); |
| 4793 | dy=S(state_y)-wirepos.Y(); |
| 4794 | doca2=dx*dx+dy*dy; |
| 4795 | } |
| 4796 | old_doca2=doca2; |
| 4797 | } |
| 4798 | } |
| 4799 | // Save final z position |
| 4800 | z_=forward_traj[forward_traj.size()-1].z; |
| 4801 | |
| 4802 | // The following code segment addes a fake point at a well-defined z position |
| 4803 | // that would correspond to a thin foil target. It should not be turned on |
| 4804 | // for an extended target. |
| 4805 | if (ADD_VERTEX_POINT){ |
| 4806 | double dz_to_target=TARGET_Z-z_; |
| 4807 | double my_dz=mStepSizeZ*(dz_to_target>0?1.:-1.); |
| 4808 | int num_steps=int(fabs(dz_to_target/my_dz)); |
| 4809 | |
| 4810 | for (int k=0;k<num_steps;k++){ |
| 4811 | double newz=z_+my_dz; |
| 4812 | // Step C along z |
| 4813 | StepJacobian(z_,newz,S,0.,J); |
| 4814 | C=J*C*J.Transpose(); |
| 4815 | //C=C.SandwichMultiply(J); |
| 4816 | |
| 4817 | // Step S along z |
| 4818 | Step(z_,newz,0.,S); |
| 4819 | |
| 4820 | z_=newz; |
| 4821 | } |
| 4822 | |
| 4823 | // Step C along z |
| 4824 | StepJacobian(z_,TARGET_Z,S,0.,J); |
| 4825 | C=J*C*J.Transpose(); |
| 4826 | //C=C.SandwichMultiply(J); |
| 4827 | |
| 4828 | // Step S along z |
| 4829 | Step(z_,TARGET_Z,0.,S); |
| 4830 | |
| 4831 | z_=TARGET_Z; |
| 4832 | |
| 4833 | // predicted doca taking into account the orientation of the wire |
| 4834 | double dy=S(state_y); |
| 4835 | double dx=S(state_x); |
| 4836 | double d=sqrt(dx*dx+dy*dy); |
| 4837 | |
| 4838 | // Track projection |
| 4839 | double one_over_d=1./d; |
| 4840 | Hc_T(state_x)=dx*one_over_d; |
| 4841 | Hc(state_x)=Hc_T(state_x); |
| 4842 | Hc_T(state_y)=dy*one_over_d; |
| 4843 | Hc(state_y)=Hc_T(state_y); |
| 4844 | |
| 4845 | // Variance of target point |
| 4846 | // Variance is for average beam spot size assuming triangular distribution |
| 4847 | // out to 2.2 mm from the beam line. |
| 4848 | // sigma_r = 2.2 mm/ sqrt(18) |
| 4849 | Vc=0.002689; |
| 4850 | |
| 4851 | // inverse variance including prediction |
| 4852 | double InvV1=1./(Vc+Hc*(C*Hc_T)); |
| 4853 | //double InvV1=1./(Vc+C.SandwichMultiply(H_T)); |
| 4854 | if (InvV1<0.){ |
| 4855 | if (DEBUG_LEVEL>0) |
| 4856 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<4856<<" " << "Negative variance???" << endl; |
| 4857 | return NEGATIVE_VARIANCE; |
| 4858 | } |
| 4859 | // Compute KalmanSIMD gain matrix |
| 4860 | Kc=InvV1*(C*Hc_T); |
| 4861 | |
| 4862 | // Update the state vector with the target point |
| 4863 | // "Measurement" is average of expected beam spot size |
| 4864 | double res=0.1466666667-d; |
| 4865 | S+=res*Kc; |
| 4866 | // Update state vector covariance matrix |
| 4867 | //C=C-K*(H*C); |
| 4868 | C=C.SubSym(Kc*(Hc*C)); |
| 4869 | |
| 4870 | // Update chi2 for this segment |
| 4871 | chisq+=(1.-Hc*Kc)*res*res/Vc; |
| 4872 | numdof++; |
| 4873 | } |
| 4874 | |
| 4875 | // Check that there were enough hits to make this a valid fit |
| 4876 | if (numdof<6){ |
| 4877 | chisq=-1.; |
| 4878 | numdof=0; |
| 4879 | |
| 4880 | if (num_cdc==0){ |
| 4881 | unsigned int new_index=(3*num_fdc)/4; |
| 4882 | break_point_fdc_index=(new_index>=MIN_HITS_FOR_REFIT)?new_index:(MIN_HITS_FOR_REFIT-1); |
| 4883 | } |
| 4884 | else{ |
| 4885 | unsigned int new_index=(3*num_fdc)/4; |
| 4886 | if (new_index+num_cdc>=MIN_HITS_FOR_REFIT){ |
| 4887 | break_point_fdc_index=new_index; |
| 4888 | } |
| 4889 | else{ |
| 4890 | break_point_fdc_index=MIN_HITS_FOR_REFIT-num_cdc; |
| 4891 | } |
| 4892 | } |
| 4893 | return PRUNED_TOO_MANY_HITS; |
| 4894 | } |
| 4895 | |
| 4896 | // chisq*=anneal_factor; |
| 4897 | numdof-=5; |
| 4898 | |
| 4899 | // Final positions in x and y for this leg |
| 4900 | x_=S(state_x); |
| 4901 | y_=S(state_y); |
| 4902 | |
| 4903 | if (DEBUG_LEVEL>1){ |
| 4904 | cout << "Position after forward filter: " << x_ << ", " << y_ << ", " << z_ <<endl; |
| 4905 | cout << "Momentum " << 1./S(state_q_over_p) <<endl; |
| 4906 | } |
| 4907 | |
| 4908 | if (!S.IsFinite()) return FIT_FAILED; |
| 4909 | |
| 4910 | // Check if we have a kink in the track or threw away too many hits |
| 4911 | if (num_cdc>0 && break_point_fdc_index>0 && break_point_cdc_index>2){ |
| 4912 | if (break_point_fdc_index+num_cdc<MIN_HITS_FOR_REFIT){ |
| 4913 | //_DBG_ << endl; |
| 4914 | unsigned int new_index=(3*num_fdc)/4; |
| 4915 | if (new_index+num_cdc>=MIN_HITS_FOR_REFIT){ |
| 4916 | break_point_fdc_index=new_index; |
| 4917 | } |
| 4918 | else{ |
| 4919 | break_point_fdc_index=MIN_HITS_FOR_REFIT-num_cdc; |
| 4920 | } |
| 4921 | } |
| 4922 | return BREAK_POINT_FOUND; |
| 4923 | } |
| 4924 | if (num_cdc==0 && break_point_fdc_index>2){ |
| 4925 | //_DBG_ << endl; |
| 4926 | if (break_point_fdc_index<num_fdc/2){ |
| 4927 | break_point_fdc_index=(3*num_fdc)/4; |
| 4928 | } |
| 4929 | if (break_point_fdc_index<MIN_HITS_FOR_REFIT-1){ |
| 4930 | break_point_fdc_index=MIN_HITS_FOR_REFIT-1; |
| 4931 | } |
| 4932 | return BREAK_POINT_FOUND; |
| 4933 | } |
| 4934 | if (num_cdc>5 && break_point_cdc_index>2){ |
| 4935 | //_DBG_ << endl; |
| 4936 | unsigned int new_index=3*(num_fdc)/4; |
| 4937 | if (new_index+num_cdc>=MIN_HITS_FOR_REFIT){ |
| 4938 | break_point_fdc_index=new_index; |
| 4939 | } |
| 4940 | else{ |
| 4941 | break_point_fdc_index=MIN_HITS_FOR_REFIT-num_cdc; |
| 4942 | } |
| 4943 | return BREAK_POINT_FOUND; |
| 4944 | } |
| 4945 | unsigned int num_good=0; |
| 4946 | unsigned int num_hits=num_cdc+max_num_fdc_used_in_fit; |
| 4947 | for (unsigned int j=0;j<num_cdc;j++){ |
| 4948 | if (cdc_used_in_fit[j]) num_good++; |
| 4949 | } |
| 4950 | for (unsigned int j=0;j<num_fdc;j++){ |
| 4951 | if (fdc_used_in_fit[j]) num_good++; |
| 4952 | } |
| 4953 | if (double(num_good)/double(num_hits)<MINIMUM_HIT_FRACTION){ |
| 4954 | //_DBG_ <<endl; |
| 4955 | if (num_cdc==0){ |
| 4956 | unsigned int new_index=(3*num_fdc)/4; |
| 4957 | break_point_fdc_index=(new_index>=MIN_HITS_FOR_REFIT)?new_index:(MIN_HITS_FOR_REFIT-1); |
| 4958 | } |
| 4959 | else{ |
| 4960 | unsigned int new_index=(3*num_fdc)/4; |
| 4961 | if (new_index+num_cdc>=MIN_HITS_FOR_REFIT){ |
| 4962 | break_point_fdc_index=new_index; |
| 4963 | } |
| 4964 | else{ |
| 4965 | break_point_fdc_index=MIN_HITS_FOR_REFIT-num_cdc; |
| 4966 | } |
| 4967 | } |
| 4968 | return PRUNED_TOO_MANY_HITS; |
| 4969 | } |
| 4970 | |
| 4971 | return FIT_SUCCEEDED; |
| 4972 | } |
| 4973 | |
| 4974 | |
| 4975 | |
| 4976 | // Kalman engine for forward tracks -- this routine adds CDC hits |
| 4977 | kalman_error_t DTrackFitterKalmanSIMD::KalmanForwardCDC(double anneal, |
| 4978 | DMatrix5x1 &S, |
| 4979 | DMatrix5x5 &C, |
| 4980 | double &chisq, |
| 4981 | unsigned int &numdof){ |
| 4982 | DMatrix1x5 H; // Track projection matrix |
| 4983 | DMatrix5x1 H_T; // Transpose of track projection matrix |
| 4984 | DMatrix5x5 J; // State vector Jacobian matrix |
| 4985 | //DMatrix5x5 J_T; // transpose of this matrix |
| 4986 | DMatrix5x5 Q; // Process noise covariance matrix |
| 4987 | DMatrix5x1 K; // KalmanSIMD gain matrix |
| 4988 | DMatrix5x1 S0,S0_,Stest; //State vector |
| 4989 | DMatrix5x5 Ctest; // covariance matrix |
| 4990 | //DMatrix5x1 dS; // perturbation in state vector |
| 4991 | double V=0.0507; |
| 4992 | |
| 4993 | // set used_in_fit flags to false for cdc hits |
| 4994 | unsigned int num_cdc=cdc_used_in_fit.size(); |
| 4995 | for (unsigned int i=0;i<num_cdc;i++) cdc_used_in_fit[i]=false; |
| 4996 | for (unsigned int i=0;i<forward_traj.size();i++){ |
| 4997 | forward_traj[i].h_id=0; |
| 4998 | } |
| 4999 | |
| 5000 | // initialize chi2 info |
| 5001 | chisq=0.; |
| 5002 | numdof=0; |
| 5003 | |
| 5004 | double chi2cut=NUM_CDC_SIGMA_CUT*NUM_CDC_SIGMA_CUT; |
| 5005 | |
| 5006 | // Save the starting values for C and S in the deque |
| 5007 | forward_traj[break_point_step_index].Skk=S; |
| 5008 | forward_traj[break_point_step_index].Ckk=C; |
| 5009 | |
| 5010 | // z-position |
| 5011 | double z=forward_traj[break_point_step_index].z; |
| 5012 | |
| 5013 | // wire information |
| 5014 | unsigned int cdc_index=break_point_cdc_index; |
| 5015 | if (cdc_index<num_cdc-1){ |
| 5016 | num_cdc=cdc_index+1; |
| 5017 | } |
| 5018 | |
| 5019 | if (num_cdc<MIN_HITS_FOR_REFIT) chi2cut=BIG1.0e8; |
| 5020 | |
| 5021 | DVector2 origin=my_cdchits[cdc_index]->origin; |
| 5022 | double z0w=my_cdchits[cdc_index]->z0wire; |
| 5023 | DVector2 dir=my_cdchits[cdc_index]->dir; |
| 5024 | DVector2 wirepos=origin+(z-z0w)*dir; |
| 5025 | bool more_measurements=true; |
| 5026 | |
| 5027 | // doca variables |
| 5028 | double dx=S(state_x)-wirepos.X(); |
| 5029 | double dy=S(state_y)-wirepos.Y(); |
| 5030 | double doca2=0.,old_doca2=dx*dx+dy*dy; |
| 5031 | |
| 5032 | // loop over entries in the trajectory |
| 5033 | S0_=(forward_traj[break_point_step_index].S); |
| 5034 | for (unsigned int k=break_point_step_index+1;k<forward_traj.size()/*-1*/;k++){ |
| 5035 | unsigned int k_minus_1=k-1; |
| 5036 | |
| 5037 | z=forward_traj[k].z; |
| 5038 | |
| 5039 | // Get the state vector, jacobian matrix, and multiple scattering matrix |
| 5040 | // from reference trajectory |
| 5041 | S0=(forward_traj[k].S); |
| 5042 | J=(forward_traj[k].J); |
| 5043 | Q=(forward_traj[k].Q); |
| 5044 | |
| 5045 | // Update the actual state vector and covariance matrix |
| 5046 | S=S0+J*(S-S0_); |
| 5047 | |
| 5048 | // Bail if the position is grossly outside of the tracking volume |
| 5049 | if (S(state_x)*S(state_x)+S(state_y)*S(state_y)>R2_MAX4225.0){ |
| 5050 | if (DEBUG_LEVEL>2) |
| 5051 | { |
| 5052 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5052<<" "<< "Went outside of tracking volume at x=" << S(state_x) |
| 5053 | << " y=" << S(state_y) <<" z="<<z<<endl; |
| 5054 | } |
| 5055 | return POSITION_OUT_OF_RANGE; |
| 5056 | } |
| 5057 | // Bail if the momentum has dropped below some minimum |
| 5058 | if (fabs(S(state_q_over_p))>=Q_OVER_P_MAX){ |
| 5059 | if (DEBUG_LEVEL>2) |
| 5060 | { |
| 5061 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5061<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) << endl; |
| 5062 | } |
| 5063 | return MOMENTUM_OUT_OF_RANGE; |
| 5064 | } |
| 5065 | |
| 5066 | //C=J*(C*J_T)+Q; |
| 5067 | C=Q.AddSym(J*C*J.Transpose()); |
| 5068 | //C=Q.AddSym(C.SandwichMultiply(J)); |
| 5069 | |
| 5070 | // Save the current state of the reference trajectory |
| 5071 | S0_=S0; |
| 5072 | |
| 5073 | // new wire position |
| 5074 | wirepos=origin; |
| 5075 | wirepos+=(z-z0w)*dir; |
| 5076 | |
| 5077 | // new doca |
| 5078 | dx=S(state_x)-wirepos.X(); |
| 5079 | dy=S(state_y)-wirepos.Y(); |
| 5080 | doca2=dx*dx+dy*dy; |
| 5081 | |
| 5082 | // Save the current state and covariance matrix in the deque |
| 5083 | if (fit_type==kTimeBased){ |
| 5084 | forward_traj[k].Skk=S; |
| 5085 | forward_traj[k].Ckk=C; |
| 5086 | } |
| 5087 | |
| 5088 | // Check if the doca is no longer decreasing |
| 5089 | if (more_measurements && doca2>old_doca2/* && z<endplate_z_downstream*/){ |
| 5090 | if (my_cdchits[cdc_index]->status==good_hit){ |
| 5091 | find_doca_error_t swimmed_to_doca=DOCA_NO_BRENT; |
| 5092 | double newz=endplate_z; |
| 5093 | double dz=newz-z; |
| 5094 | // Sometimes the true doca would correspond to the case where the |
| 5095 | // wire would need to extend beyond the physical volume of the straw. |
| 5096 | // In this case, find the doca at the cdc endplate. |
| 5097 | if (z>endplate_z){ |
| 5098 | swimmed_to_doca=DOCA_ENDPLATE; |
| 5099 | SwimToEndplate(z,forward_traj[k],S); |
| 5100 | |
| 5101 | // wire position at the endplate |
| 5102 | wirepos=origin; |
| 5103 | wirepos+=(endplate_z-z0w)*dir; |
| 5104 | |
| 5105 | dx=S(state_x)-wirepos.X(); |
| 5106 | dy=S(state_y)-wirepos.Y(); |
| 5107 | } |
| 5108 | else{ |
| 5109 | // Find the true doca to the wire. If we had to use Brent's |
| 5110 | // algorithm, the routine returns USED_BRENT |
| 5111 | double step1=mStepSizeZ; |
| 5112 | double step2=mStepSizeZ; |
| 5113 | if (k>=2){ |
| 5114 | step1=-forward_traj[k].z+forward_traj[k_minus_1].z; |
| 5115 | step2=-forward_traj[k_minus_1].z+forward_traj[k-2].z; |
| 5116 | } |
| 5117 | swimmed_to_doca=FindDoca(my_cdchits[cdc_index],forward_traj[k], |
| 5118 | step1,step2,S0,S,C,dx,dy,dz); |
| 5119 | if (swimmed_to_doca==BRENT_FAILED){ |
| 5120 | break_point_cdc_index=(3*num_cdc)/4; |
| 5121 | return MOMENTUM_OUT_OF_RANGE; |
| 5122 | } |
| 5123 | newz=forward_traj[k].z+dz; |
| 5124 | } |
| 5125 | double cosstereo=my_cdchits[cdc_index]->cosstereo; |
| 5126 | double d=sqrt(dx*dx+dy*dy)*cosstereo+EPS3.0e-8; |
| 5127 | |
| 5128 | // Track projection |
| 5129 | double cosstereo2_over_d=cosstereo*cosstereo/d; |
| 5130 | H_T(state_x)=dx*cosstereo2_over_d; |
| 5131 | H(state_x)=H_T(state_x); |
| 5132 | H_T(state_y)=dy*cosstereo2_over_d; |
| 5133 | H(state_y)=H_T(state_y); |
| 5134 | if (swimmed_to_doca==DOCA_NO_BRENT){ |
| 5135 | H_T(state_ty)=H_T(state_y)*dz; |
| 5136 | H(state_ty)=H_T(state_ty); |
| 5137 | H_T(state_tx)=H_T(state_x)*dz; |
| 5138 | H(state_tx)=H_T(state_tx); |
| 5139 | } |
| 5140 | else{ |
| 5141 | H_T(state_ty)=0.; |
| 5142 | H(state_ty)=0.; |
| 5143 | H_T(state_tx)=0.; |
| 5144 | H(state_tx)=0.; |
| 5145 | } |
| 5146 | |
| 5147 | // The next measurement |
| 5148 | double dm=0.39,tdrift=0.,tcorr=0.,dDdt0=0.; |
| 5149 | if (fit_type==kTimeBased || USE_PASS1_TIME_MODE){ |
| 5150 | // Find offset of wire with respect to the center of the |
| 5151 | // straw at this z position |
| 5152 | double delta=0,dphi=0.; |
| 5153 | FindSag(dx,dy,newz-z0w,my_cdchits[cdc_index]->hit->wire,delta,dphi); |
| 5154 | // Find drift time and distance |
| 5155 | tdrift=my_cdchits[cdc_index]->tdrift-mT0 |
| 5156 | -forward_traj[k_minus_1].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 5157 | double B=forward_traj[k_minus_1].B; |
| 5158 | ComputeCDCDrift(dphi,delta,tdrift,B,dm,V,tcorr); |
| 5159 | V*=anneal; |
| 5160 | if (ALIGNMENT_FORWARD){ |
| 5161 | double myV=0.; |
| 5162 | double mytcorr=0.; |
| 5163 | double d_shifted; |
| 5164 | double dt=2.0; |
| 5165 | if (tdrift < 0.) d_shifted = dm; |
| 5166 | else ComputeCDCDrift(dphi,delta,tdrift+dt,B,d_shifted,myV,mytcorr); |
| 5167 | dDdt0=(d_shifted-dm)/dt; |
| 5168 | } |
| 5169 | //_DBG_ << tcorr << " " << dphi << " " << dm << endl; |
| 5170 | |
| 5171 | } |
| 5172 | // residual |
| 5173 | double res=dm-d; |
| 5174 | |
| 5175 | // inverse of variance including prediction |
| 5176 | double Vproj=H*C*H_T; |
| 5177 | double InvV=1./(V+Vproj); |
| 5178 | if (InvV<0.){ |
| 5179 | if (DEBUG_LEVEL>0) |
| 5180 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5180<<" " << "Negative variance???" << endl; |
| 5181 | break_point_cdc_index=(3*num_cdc)/4; |
| 5182 | return NEGATIVE_VARIANCE; |
| 5183 | } |
| 5184 | |
| 5185 | // Check how far this hit is from the expected position |
| 5186 | double chi2check=res*res*InvV; |
| 5187 | if (chi2check<chi2cut){ |
| 5188 | // Compute KalmanSIMD gain matrix |
| 5189 | K=InvV*(C*H_T); |
| 5190 | |
| 5191 | // Update state vector covariance matrix |
| 5192 | Ctest=C.SubSym(K*(H*C)); |
| 5193 | // Joseph form |
| 5194 | // C = (I-KH)C(I-KH)^T + KVK^T |
| 5195 | //Ctest=C.SandwichMultiply(I5x5-K*H)+V*MultiplyTranspose(K); |
| 5196 | // Check that Ctest is positive definite |
| 5197 | if (!Ctest.IsPosDef()){ |
| 5198 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5198<<" " << "Broken covariance matrix!" <<endl; |
| 5199 | return BROKEN_COVARIANCE_MATRIX; |
| 5200 | } |
| 5201 | |
| 5202 | bool skip_ring |
| 5203 | =(my_cdchits[cdc_index]->hit->wire->ring==RING_TO_SKIP); |
| 5204 | // update covariance matrix and state vector |
| 5205 | if (skip_ring==false && tdrift >= CDC_T_DRIFT_MIN){ |
| 5206 | C=Ctest; |
| 5207 | S+=res*K; |
| 5208 | } |
| 5209 | // Mark point on ref trajectory with a hit id for the straw |
| 5210 | forward_traj[k].h_id=cdc_index+1000; |
| 5211 | |
| 5212 | // Store some updated values related to the hit |
| 5213 | double scale=(skip_ring)?1.:(1.-H*K); |
| 5214 | cdc_updates[cdc_index].tcorr=tcorr; |
| 5215 | cdc_updates[cdc_index].tdrift=tdrift; |
| 5216 | cdc_updates[cdc_index].doca=dm; |
| 5217 | cdc_updates[cdc_index].variance=V; |
| 5218 | cdc_updates[cdc_index].dDdt0=dDdt0; |
| 5219 | cdc_used_in_fit[cdc_index]=true; |
| 5220 | if(tdrift < CDC_T_DRIFT_MIN) cdc_used_in_fit[cdc_index]=false; |
| 5221 | |
| 5222 | // Update chi2 for this segment |
| 5223 | if (skip_ring==false && tdrift >= CDC_T_DRIFT_MIN){ |
| 5224 | chisq+=scale*res*res/V; |
| 5225 | numdof++; |
| 5226 | } |
| 5227 | break_point_cdc_index=cdc_index; |
| 5228 | break_point_step_index=k_minus_1; |
| 5229 | |
| 5230 | if (DEBUG_LEVEL>9) |
| 5231 | printf("Ring %d straw %d pred %f meas %f chi2 %f useBrent %i \n", |
| 5232 | my_cdchits[cdc_index]->hit->wire->ring, |
| 5233 | my_cdchits[cdc_index]->hit->wire->straw, |
| 5234 | d,dm,(1.-H*K)*res*res/V,swimmed_to_doca); |
| 5235 | |
| 5236 | } |
| 5237 | |
| 5238 | // If we had to use Brent's algorithm to find the true doca or the |
| 5239 | // doca to the line corresponding to the wire is downstream of the |
| 5240 | // cdc endplate, we need to swim the state vector and covariance |
| 5241 | // matrix back to the appropriate position along the reference |
| 5242 | // trajectory. |
| 5243 | if (swimmed_to_doca!=DOCA_NO_BRENT){ |
| 5244 | double dedx=0.; |
| 5245 | if (CORRECT_FOR_ELOSS){ |
| 5246 | dedx=GetdEdx(S(state_q_over_p), |
| 5247 | forward_traj[k].K_rho_Z_over_A, |
| 5248 | forward_traj[k].rho_Z_over_A, |
| 5249 | forward_traj[k].LnI,forward_traj[k].Z); |
| 5250 | } |
| 5251 | StepBack(dedx,newz,forward_traj[k].z,S0,S,C); |
| 5252 | } |
| 5253 | |
| 5254 | cdc_updates[cdc_index].S=S; |
| 5255 | cdc_updates[cdc_index].C=C; |
| 5256 | } |
| 5257 | |
| 5258 | // new wire origin and direction |
| 5259 | if (cdc_index>0){ |
| 5260 | cdc_index--; |
| 5261 | origin=my_cdchits[cdc_index]->origin; |
| 5262 | z0w=my_cdchits[cdc_index]->z0wire; |
| 5263 | dir=my_cdchits[cdc_index]->dir; |
| 5264 | } |
| 5265 | else{ |
| 5266 | more_measurements=false; |
| 5267 | } |
| 5268 | |
| 5269 | // Update the wire position |
| 5270 | wirepos=origin; |
| 5271 | wirepos+=(z-z0w)*dir; |
| 5272 | |
| 5273 | // new doca |
| 5274 | dx=S(state_x)-wirepos.X(); |
| 5275 | dy=S(state_y)-wirepos.Y(); |
| 5276 | doca2=dx*dx+dy*dy; |
| 5277 | } |
| 5278 | old_doca2=doca2; |
| 5279 | } |
| 5280 | |
| 5281 | // Check that there were enough hits to make this a valid fit |
| 5282 | if (numdof<6){ |
| 5283 | chisq=-1.; |
| 5284 | numdof=0; |
| 5285 | return PRUNED_TOO_MANY_HITS; |
| 5286 | } |
| 5287 | numdof-=5; |
| 5288 | |
| 5289 | // Final position for this leg |
| 5290 | x_=S(state_x); |
| 5291 | y_=S(state_y); |
| 5292 | z_=forward_traj[forward_traj.size()-1].z; |
| 5293 | |
| 5294 | if (!S.IsFinite()) return FIT_FAILED; |
| 5295 | |
| 5296 | // Check if we have a kink in the track or threw away too many cdc hits |
| 5297 | if (num_cdc>=MIN_HITS_FOR_REFIT){ |
| 5298 | if (break_point_cdc_index>1){ |
| 5299 | if (break_point_cdc_index<num_cdc/2){ |
| 5300 | break_point_cdc_index=(3*num_cdc)/4; |
| 5301 | } |
| 5302 | return BREAK_POINT_FOUND; |
| 5303 | } |
| 5304 | |
| 5305 | unsigned int num_good=0; |
| 5306 | for (unsigned int j=0;j<num_cdc;j++){ |
| 5307 | if (cdc_used_in_fit[j]) num_good++; |
| 5308 | } |
| 5309 | if (double(num_good)/double(num_cdc)<MINIMUM_HIT_FRACTION){ |
| 5310 | return PRUNED_TOO_MANY_HITS; |
| 5311 | } |
| 5312 | } |
| 5313 | |
| 5314 | return FIT_SUCCEEDED; |
| 5315 | } |
| 5316 | |
| 5317 | // Extrapolate to the point along z of closest approach to the beam line using |
| 5318 | // the forward track state vector parameterization. Converts to the central |
| 5319 | // track representation at the end. |
| 5320 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DMatrix5x1 &S, |
| 5321 | DMatrix5x5 &C){ |
| 5322 | DMatrix5x5 J; // Jacobian matrix |
| 5323 | DMatrix5x5 Q; // multiple scattering matrix |
| 5324 | DMatrix5x1 S1(S); // copy of S |
| 5325 | |
| 5326 | // position variables |
| 5327 | double z=z_,newz=z_; |
| 5328 | |
| 5329 | DVector2 beam_pos=beam_center+(z-beam_z0)*beam_dir; |
| 5330 | double r2_old=(DVector2(S(state_x),S(state_y))-beam_pos).Mod2(); |
| 5331 | double dz_old=0.; |
| 5332 | double dEdx=0.; |
| 5333 | double sign=1.; |
| 5334 | |
| 5335 | // material properties |
| 5336 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.,Z=0.; |
| 5337 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5338 | |
| 5339 | // if (fit_type==kTimeBased)printf("------Extrapolating\n"); |
| 5340 | |
| 5341 | // printf("-----------\n"); |
| 5342 | // Current position |
| 5343 | DVector3 pos(S(state_x),S(state_y),z); |
| 5344 | |
| 5345 | // get material properties from the Root Geometry |
| 5346 | if (geom->FindMatKalman(pos,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 5347 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5348 | last_material_map) |
| 5349 | !=NOERROR){ |
| 5350 | if (DEBUG_LEVEL>1) |
| 5351 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5351<<" " << "Material error in ExtrapolateToVertex at (x,y,z)=(" |
| 5352 | << pos.X() <<"," << pos.y()<<","<< pos.z()<<")"<< endl; |
| 5353 | return UNRECOVERABLE_ERROR; |
| 5354 | } |
| 5355 | |
| 5356 | // Adjust the step size |
| 5357 | double ds_dz=sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 5358 | double dz=-mStepSizeS/ds_dz; |
| 5359 | if (fabs(dEdx)>EPS3.0e-8){ |
| 5360 | dz=(-1.)*DE_PER_STEP0.001/fabs(dEdx)/ds_dz; |
| 5361 | } |
| 5362 | if(fabs(dz)>mStepSizeZ) dz=-mStepSizeZ; |
| 5363 | if(fabs(dz)<MIN_STEP_SIZE0.1)dz=-MIN_STEP_SIZE0.1; |
| 5364 | |
| 5365 | // Get dEdx for the upcoming step |
| 5366 | if (CORRECT_FOR_ELOSS){ |
| 5367 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 5368 | } |
| 5369 | |
| 5370 | |
| 5371 | double ztest=endplate_z; |
| 5372 | if (my_fdchits.size()>0){ |
| 5373 | ztest =my_fdchits[0]->z-1.; |
| 5374 | } |
| 5375 | if (z<ztest) |
| 5376 | { |
| 5377 | // Check direction of propagation |
| 5378 | DMatrix5x1 S2(S); // second copy of S |
| 5379 | |
| 5380 | // Step test states through the field and compute squared radii |
| 5381 | Step(z,z-dz,dEdx,S1); |
| 5382 | // Bail if the momentum has dropped below some minimum |
| 5383 | if (fabs(S1(state_q_over_p))>Q_OVER_P_MAX){ |
| 5384 | if (DEBUG_LEVEL>2) |
| 5385 | { |
| 5386 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5386<<" " << "Bailing: P = " << 1./fabs(S1(state_q_over_p)) |
| 5387 | << endl; |
| 5388 | } |
| 5389 | return UNRECOVERABLE_ERROR; |
| 5390 | } |
| 5391 | beam_pos=beam_center+(z-dz-beam_z0)*beam_dir; |
| 5392 | double r2minus=(DVector2(S1(state_x),S1(state_y))-beam_pos).Mod2(); |
| 5393 | |
| 5394 | Step(z,z+dz,dEdx,S2); |
| 5395 | // Bail if the momentum has dropped below some minimum |
| 5396 | if (fabs(S2(state_q_over_p))>Q_OVER_P_MAX){ |
| 5397 | if (DEBUG_LEVEL>2) |
| 5398 | { |
| 5399 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5399<<" " << "Bailing: P = " << 1./fabs(S2(state_q_over_p)) |
| 5400 | << endl; |
| 5401 | } |
| 5402 | return UNRECOVERABLE_ERROR; |
| 5403 | } |
| 5404 | beam_pos=beam_center+(z+dz-beam_z0)*beam_dir; |
| 5405 | double r2plus=(DVector2(S2(state_x),S2(state_y))-beam_pos).Mod2(); |
| 5406 | // Check to see if we have already bracketed the minimum |
| 5407 | if (r2plus>r2_old && r2minus>r2_old){ |
| 5408 | newz=z+dz; |
| 5409 | double dz2=0.; |
| 5410 | if (BrentsAlgorithm(newz,dz,dEdx,0.,beam_center,beam_dir,S2,dz2)!=NOERROR){ |
| 5411 | if (DEBUG_LEVEL>2) |
| 5412 | { |
| 5413 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5413<<" " << "Bailing: P = " << 1./fabs(S2(state_q_over_p)) |
| 5414 | << endl; |
| 5415 | } |
| 5416 | return UNRECOVERABLE_ERROR; |
| 5417 | } |
| 5418 | z_=newz+dz2; |
| 5419 | |
| 5420 | // Compute the Jacobian matrix |
| 5421 | StepJacobian(z,z_,S,dEdx,J); |
| 5422 | |
| 5423 | // Propagate the covariance matrix |
| 5424 | C=J*C*J.Transpose(); |
| 5425 | //C=C.SandwichMultiply(J); |
| 5426 | |
| 5427 | // Step to the position of the doca |
| 5428 | Step(z,z_,dEdx,S); |
| 5429 | |
| 5430 | // update internal variables |
| 5431 | x_=S(state_x); |
| 5432 | y_=S(state_y); |
| 5433 | |
| 5434 | return NOERROR; |
| 5435 | } |
| 5436 | |
| 5437 | // Find direction to propagate toward minimum doca |
| 5438 | if (r2minus<r2_old && r2_old<r2plus){ |
| 5439 | newz=z-dz; |
| 5440 | |
| 5441 | // Compute the Jacobian matrix |
| 5442 | StepJacobian(z,newz,S,dEdx,J); |
| 5443 | |
| 5444 | // Propagate the covariance matrix |
| 5445 | C=J*C*J.Transpose(); |
| 5446 | //C=C.SandwichMultiply(J); |
| 5447 | |
| 5448 | S2=S; |
| 5449 | S=S1; |
| 5450 | S1=S2; |
| 5451 | dz*=-1.; |
| 5452 | sign=-1.; |
| 5453 | dz_old=dz; |
| 5454 | r2_old=r2minus; |
| 5455 | z=z+dz; |
| 5456 | } |
| 5457 | if (r2minus>r2_old && r2_old>r2plus){ |
| 5458 | newz=z+dz; |
| 5459 | |
| 5460 | // Compute the Jacobian matrix |
| 5461 | StepJacobian(z,newz,S,dEdx,J); |
| 5462 | |
| 5463 | // Propagate the covariance matrix |
| 5464 | C=J*C*J.Transpose(); |
| 5465 | //C=C.SandwichMultiply(J); |
| 5466 | |
| 5467 | S1=S; |
| 5468 | S=S2; |
| 5469 | dz_old=dz; |
| 5470 | r2_old=r2plus; |
| 5471 | z=z+dz; |
| 5472 | } |
| 5473 | } |
| 5474 | |
| 5475 | double r2=r2_old; |
| 5476 | while (z>Z_MIN-100. && r2<R2_MAX4225.0 && z<ztest && r2>EPS3.0e-8){ |
| 5477 | // Bail if the momentum has dropped below some minimum |
| 5478 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 5479 | if (DEBUG_LEVEL>2) |
| 5480 | { |
| 5481 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5481<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 5482 | << endl; |
| 5483 | } |
| 5484 | return UNRECOVERABLE_ERROR; |
| 5485 | } |
| 5486 | |
| 5487 | // Relationship between arc length and z |
| 5488 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 5489 | |
| 5490 | // get material properties from the Root Geometry |
| 5491 | pos.SetXYZ(S(state_x),S(state_y),z); |
| 5492 | double s_to_boundary=1.e6; |
| 5493 | if (ENABLE_BOUNDARY_CHECK && fit_type==kTimeBased){ |
| 5494 | DVector3 mom(S(state_tx),S(state_ty),1.); |
| 5495 | if (geom->FindMatKalman(pos,mom,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 5496 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5497 | last_material_map,&s_to_boundary) |
| 5498 | !=NOERROR){ |
| 5499 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5499<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5500 | return UNRECOVERABLE_ERROR; |
| 5501 | } |
| 5502 | } |
| 5503 | else{ |
| 5504 | if (geom->FindMatKalman(pos,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 5505 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5506 | last_material_map) |
| 5507 | !=NOERROR){ |
| 5508 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5508<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5509 | break; |
| 5510 | } |
| 5511 | } |
| 5512 | |
| 5513 | // Get dEdx for the upcoming step |
| 5514 | if (CORRECT_FOR_ELOSS){ |
| 5515 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 5516 | } |
| 5517 | |
| 5518 | // Adjust the step size |
| 5519 | //dz=-sign*mStepSizeS*dz_ds; |
| 5520 | double ds=mStepSizeS; |
| 5521 | if (fabs(dEdx)>EPS3.0e-8){ |
| 5522 | ds=DE_PER_STEP0.001/fabs(dEdx); |
| 5523 | } |
| 5524 | /* |
| 5525 | if(fabs(dz)>mStepSizeZ) dz=-sign*mStepSizeZ; |
| 5526 | if (fabs(dz)<z_to_boundary) dz=-sign*z_to_boundary; |
| 5527 | if(fabs(dz)<MIN_STEP_SIZE)dz=-sign*MIN_STEP_SIZE; |
| 5528 | */ |
| 5529 | if (ds>mStepSizeS) ds=mStepSizeS; |
| 5530 | if (ds>s_to_boundary) ds=s_to_boundary; |
| 5531 | if (ds<MIN_STEP_SIZE0.1) ds=MIN_STEP_SIZE0.1; |
| 5532 | dz=-sign*ds*dz_ds; |
| 5533 | |
| 5534 | // Get the contribution to the covariance matrix due to multiple |
| 5535 | // scattering |
| 5536 | GetProcessNoise(z,ds,chi2c_factor,chi2a_factor,chi2a_corr,S,Q); |
| 5537 | |
| 5538 | if (CORRECT_FOR_ELOSS){ |
| 5539 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 5540 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 5541 | double varE=GetEnergyVariance(ds,one_over_beta2,K_rho_Z_over_A); |
| 5542 | Q(state_q_over_p,state_q_over_p)=varE*q_over_p_sq*q_over_p_sq*one_over_beta2; |
| 5543 | } |
| 5544 | |
| 5545 | |
| 5546 | newz=z+dz; |
| 5547 | // Compute the Jacobian matrix |
| 5548 | StepJacobian(z,newz,S,dEdx,J); |
| 5549 | |
| 5550 | // Propagate the covariance matrix |
| 5551 | C=Q.AddSym(J*C*J.Transpose()); |
| 5552 | //C=Q.AddSym(C.SandwichMultiply(J)); |
| 5553 | |
| 5554 | // Step through field |
| 5555 | Step(z,newz,dEdx,S); |
| 5556 | |
| 5557 | // Check if we passed the minimum doca to the beam line |
| 5558 | beam_pos=beam_center+(newz-beam_z0)*beam_dir; |
| 5559 | r2=(DVector2(S(state_x),S(state_y))-beam_pos).Mod2(); |
| 5560 | //r2=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 5561 | if (r2>r2_old){ |
| 5562 | double two_step=dz+dz_old; |
| 5563 | |
| 5564 | // Find the increment/decrement in z to get to the minimum doca to the |
| 5565 | // beam line |
| 5566 | S1=S; |
| 5567 | if (BrentsAlgorithm(newz,0.5*two_step,dEdx,0.,beam_center,beam_dir,S,dz)!=NOERROR){ |
| 5568 | //_DBG_<<endl; |
| 5569 | return UNRECOVERABLE_ERROR; |
| 5570 | } |
| 5571 | |
| 5572 | // Compute the Jacobian matrix |
| 5573 | z_=newz+dz; |
| 5574 | StepJacobian(newz,z_,S1,dEdx,J); |
| 5575 | |
| 5576 | // Propagate the covariance matrix |
| 5577 | //C=J*C*J.Transpose()+(dz/(newz-z))*Q; |
| 5578 | //C=((dz/newz-z)*Q).AddSym(C.SandwichMultiply(J)); |
| 5579 | //C=C.SandwichMultiply(J); |
| 5580 | C=J*C*J.Transpose(); |
| 5581 | |
| 5582 | // update internal variables |
| 5583 | x_=S(state_x); |
| 5584 | y_=S(state_y); |
| 5585 | |
| 5586 | return NOERROR; |
| 5587 | } |
| 5588 | r2_old=r2; |
| 5589 | dz_old=dz; |
| 5590 | S1=S; |
| 5591 | z=newz; |
| 5592 | } |
| 5593 | // update internal variables |
| 5594 | x_=S(state_x); |
| 5595 | y_=S(state_y); |
| 5596 | z_=newz; |
| 5597 | |
| 5598 | return NOERROR; |
| 5599 | } |
| 5600 | |
| 5601 | |
| 5602 | // Extrapolate to the point along z of closest approach to the beam line using |
| 5603 | // the forward track state vector parameterization. |
| 5604 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DMatrix5x1 &S){ |
| 5605 | DMatrix5x5 J; // Jacobian matrix |
| 5606 | DMatrix5x1 S1(S); // copy of S |
| 5607 | |
| 5608 | // position variables |
| 5609 | double z=z_,newz=z_; |
| 5610 | DVector2 beam_pos=beam_center+(z-beam_z0)*beam_dir; |
| 5611 | double r2_old=(DVector2(S(state_x),S(state_y))-beam_pos).Mod2(); |
| 5612 | double dz_old=0.; |
| 5613 | double dEdx=0.; |
| 5614 | |
| 5615 | // Direction and origin for beam line |
| 5616 | DVector2 dir; |
| 5617 | DVector2 origin; |
| 5618 | |
| 5619 | // material properties |
| 5620 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.,Z=0.; |
| 5621 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5622 | DVector3 pos; // current position along trajectory |
| 5623 | |
| 5624 | double r2=r2_old; |
| 5625 | while (z>Z_MIN-100. && r2<R2_MAX4225.0 && z<Z_MAX370.0 && r2>EPS3.0e-8){ |
| 5626 | // Bail if the momentum has dropped below some minimum |
| 5627 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 5628 | if (DEBUG_LEVEL>2) |
| 5629 | { |
| 5630 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5630<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 5631 | << endl; |
| 5632 | } |
| 5633 | return UNRECOVERABLE_ERROR; |
| 5634 | } |
| 5635 | |
| 5636 | // Relationship between arc length and z |
| 5637 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 5638 | |
| 5639 | // get material properties from the Root Geometry |
| 5640 | pos.SetXYZ(S(state_x),S(state_y),z); |
| 5641 | if (geom->FindMatKalman(pos,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 5642 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5643 | last_material_map) |
| 5644 | !=NOERROR){ |
| 5645 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5645<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5646 | break; |
| 5647 | } |
| 5648 | |
| 5649 | // Get dEdx for the upcoming step |
| 5650 | if (CORRECT_FOR_ELOSS){ |
| 5651 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 5652 | } |
| 5653 | |
| 5654 | // Adjust the step size |
| 5655 | double ds=mStepSizeS; |
| 5656 | if (fabs(dEdx)>EPS3.0e-8){ |
| 5657 | ds=DE_PER_STEP0.001/fabs(dEdx); |
| 5658 | } |
| 5659 | if (ds>mStepSizeS) ds=mStepSizeS; |
| 5660 | if (ds<MIN_STEP_SIZE0.1) ds=MIN_STEP_SIZE0.1; |
| 5661 | double dz=-ds*dz_ds; |
| 5662 | |
| 5663 | newz=z+dz; |
| 5664 | |
| 5665 | |
| 5666 | // Step through field |
| 5667 | Step(z,newz,dEdx,S); |
| 5668 | |
| 5669 | // Check if we passed the minimum doca to the beam line |
| 5670 | beam_pos=beam_center+(newz-beam_z0)*beam_dir; |
| 5671 | r2=(DVector2(S(state_x),S(state_y))-beam_pos).Mod2(); |
| 5672 | |
| 5673 | if (r2>r2_old && newz<endplate_z){ |
| 5674 | double two_step=dz+dz_old; |
| 5675 | |
| 5676 | // Find the increment/decrement in z to get to the minimum doca to the |
| 5677 | // beam line |
| 5678 | if (BrentsAlgorithm(newz,0.5*two_step,dEdx,0.,beam_center,beam_dir,S,dz)!=NOERROR){ |
| 5679 | return UNRECOVERABLE_ERROR; |
| 5680 | } |
| 5681 | // update internal variables |
| 5682 | x_=S(state_x); |
| 5683 | y_=S(state_y); |
| 5684 | z_=newz+dz; |
| 5685 | |
| 5686 | return NOERROR; |
| 5687 | } |
| 5688 | r2_old=r2; |
| 5689 | dz_old=dz; |
| 5690 | z=newz; |
| 5691 | } |
| 5692 | |
| 5693 | // If we extrapolate beyond the fiducial volume of the detector before |
| 5694 | // finding the doca, abandon the extrapolation... |
| 5695 | if (newz<Z_MIN-100.){ |
| 5696 | //_DBG_ << "Extrapolated z = " << newz << endl; |
| 5697 | // Restore old state vector |
| 5698 | S=S1; |
| 5699 | return VALUE_OUT_OF_RANGE; |
| 5700 | } |
| 5701 | |
| 5702 | // update internal variables |
| 5703 | x_=S(state_x); |
| 5704 | y_=S(state_y); |
| 5705 | z_=newz; |
| 5706 | |
| 5707 | |
| 5708 | return NOERROR; |
| 5709 | } |
| 5710 | |
| 5711 | |
| 5712 | |
| 5713 | |
| 5714 | // Propagate track to point of distance of closest approach to origin |
| 5715 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DVector2 &xy, |
| 5716 | DMatrix5x1 &Sc,DMatrix5x5 &Cc){ |
| 5717 | DMatrix5x5 Jc=I5x5; //Jacobian matrix |
| 5718 | DMatrix5x5 Q; // multiple scattering matrix |
| 5719 | |
| 5720 | // Position and step variables |
| 5721 | DVector2 beam_pos=beam_center+(Sc(state_z)-beam_z0)*beam_dir; |
| 5722 | double r2=(xy-beam_pos).Mod2(); |
| 5723 | double ds=-mStepSizeS; // step along path in cm |
| 5724 | double r2_old=r2; |
| 5725 | |
| 5726 | // Energy loss |
| 5727 | double dedx=0.; |
| 5728 | |
| 5729 | // Check direction of propagation |
| 5730 | DMatrix5x1 S0; |
| 5731 | S0=Sc; |
| 5732 | DVector2 xy0=xy; |
| 5733 | DVector2 xy1=xy; |
| 5734 | Step(xy0,ds,S0,dedx); |
| 5735 | // Bail if the transverse momentum has dropped below some minimum |
| 5736 | if (fabs(S0(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 5737 | if (DEBUG_LEVEL>2) |
| 5738 | { |
| 5739 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5739<<" " << "Bailing: PT = " << 1./fabs(S0(state_q_over_pt)) |
| 5740 | << endl; |
| 5741 | } |
| 5742 | return UNRECOVERABLE_ERROR; |
| 5743 | } |
| 5744 | beam_pos=beam_center+(S0(state_z)-beam_z0)*beam_dir; |
| 5745 | r2=(xy0-beam_pos).Mod2(); |
| 5746 | if (r2>r2_old) ds*=-1.; |
| 5747 | double ds_old=ds; |
| 5748 | |
| 5749 | // if (fit_type==kTimeBased)printf("------Extrapolating\n"); |
| 5750 | |
| 5751 | if (central_traj.size()==0){ |
| 5752 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5752<<" " << "Central trajectory size==0!" << endl; |
| 5753 | return UNRECOVERABLE_ERROR; |
| 5754 | } |
| 5755 | |
| 5756 | // D is now on the actual trajectory itself |
| 5757 | Sc(state_D)=0.; |
| 5758 | |
| 5759 | // Track propagation loop |
| 5760 | while (Sc(state_z)>Z_MIN-100. && Sc(state_z)<Z_MAX370.0 |
| 5761 | && r2<R2_MAX4225.0){ |
| 5762 | // Bail if the transverse momentum has dropped below some minimum |
| 5763 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 5764 | if (DEBUG_LEVEL>2) |
| 5765 | { |
| 5766 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5766<<" " << "Bailing: PT = " << 1./fabs(Sc(state_q_over_pt)) |
| 5767 | << endl; |
| 5768 | } |
| 5769 | return UNRECOVERABLE_ERROR; |
| 5770 | } |
| 5771 | |
| 5772 | // get material properties from the Root Geometry |
| 5773 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.,Z=0.; |
| 5774 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5775 | DVector3 pos3d(xy.X(),xy.Y(),Sc(state_z)); |
| 5776 | if (geom->FindMatKalman(pos3d,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 5777 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5778 | last_material_map) |
| 5779 | !=NOERROR){ |
| 5780 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5780<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5781 | break; |
| 5782 | } |
| 5783 | |
| 5784 | // Get dEdx for the upcoming step |
| 5785 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 5786 | if (CORRECT_FOR_ELOSS){ |
| 5787 | dedx=-GetdEdx(q_over_p,K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 5788 | } |
| 5789 | // Adjust the step size |
| 5790 | double sign=(ds>0.0)?1.:-1.; |
| 5791 | if (fabs(dedx)>EPS3.0e-8){ |
| 5792 | ds=sign*DE_PER_STEP0.001/fabs(dedx); |
| 5793 | } |
| 5794 | if(fabs(ds)>mStepSizeS) ds=sign*mStepSizeS; |
| 5795 | if(fabs(ds)<MIN_STEP_SIZE0.1)ds=sign*MIN_STEP_SIZE0.1; |
| 5796 | |
| 5797 | // Multiple scattering |
| 5798 | GetProcessNoiseCentral(ds,chi2c_factor,chi2a_factor,chi2a_corr,Sc,Q); |
| 5799 | |
| 5800 | if (CORRECT_FOR_ELOSS){ |
| 5801 | double q_over_p_sq=q_over_p*q_over_p; |
| 5802 | double one_over_beta2=1.+mass2*q_over_p*q_over_p; |
| 5803 | double varE=GetEnergyVariance(ds,one_over_beta2,K_rho_Z_over_A); |
| 5804 | Q(state_q_over_pt,state_q_over_pt) |
| 5805 | +=varE*Sc(state_q_over_pt)*Sc(state_q_over_pt)*one_over_beta2 |
| 5806 | *q_over_p_sq; |
| 5807 | } |
| 5808 | |
| 5809 | // Propagate the state and covariance through the field |
| 5810 | S0=Sc; |
| 5811 | DVector2 old_xy=xy; |
| 5812 | StepStateAndCovariance(xy,ds,dedx,Sc,Jc,Cc); |
| 5813 | |
| 5814 | // Add contribution due to multiple scattering |
| 5815 | Cc=(sign*Q).AddSym(Cc); |
| 5816 | |
| 5817 | beam_pos=beam_center+(Sc(state_z)-beam_z0)*beam_dir; |
| 5818 | r2=(xy-beam_pos).Mod2(); |
| 5819 | //printf("r %f r_old %f \n",sqrt(r2),sqrt(r2_old)); |
| 5820 | if (r2>r2_old) { |
| 5821 | // We've passed the true minimum; backtrack to find the "vertex" |
| 5822 | // position |
| 5823 | double my_ds=0.; |
| 5824 | if (BrentsAlgorithm(ds,ds_old,dedx,xy,0.,beam_center,beam_dir,Sc,my_ds)!=NOERROR){ |
| 5825 | //_DBG_ <<endl; |
| 5826 | return UNRECOVERABLE_ERROR; |
| 5827 | } |
| 5828 | //printf ("Brent min r %f\n",xy.Mod()); |
| 5829 | |
| 5830 | // Find the field and gradient at (old_x,old_y,old_z) |
| 5831 | bfield->GetFieldAndGradient(old_xy.X(),old_xy.Y(),S0(state_z),Bx,By,Bz, |
| 5832 | dBxdx,dBxdy,dBxdz,dBydx, |
| 5833 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 5834 | |
| 5835 | // Compute the Jacobian matrix |
| 5836 | my_ds-=ds_old; |
| 5837 | StepJacobian(old_xy,xy-old_xy,my_ds,S0,dedx,Jc); |
| 5838 | |
| 5839 | // Propagate the covariance matrix |
| 5840 | //Cc=Jc*Cc*Jc.Transpose()+(my_ds/ds_old)*Q; |
| 5841 | //Cc=((my_ds/ds_old)*Q).AddSym(Cc.SandwichMultiply(Jc)); |
| 5842 | Cc=((my_ds/ds_old)*Q).AddSym(Jc*Cc*Jc.Transpose()); |
| 5843 | |
| 5844 | break; |
| 5845 | } |
| 5846 | r2_old=r2; |
| 5847 | ds_old=ds; |
| 5848 | } |
| 5849 | |
| 5850 | return NOERROR; |
| 5851 | } |
| 5852 | |
| 5853 | // Propagate track to point of distance of closest approach to origin |
| 5854 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToVertex(DVector2 &xy, |
| 5855 | DMatrix5x1 &Sc){ |
| 5856 | // Save un-extroplated quantities |
| 5857 | DMatrix5x1 S0(Sc); |
| 5858 | DVector2 xy0(xy); |
| 5859 | |
| 5860 | // Initialize the beam position = center of target, and the direction |
| 5861 | DVector2 origin; |
| 5862 | DVector2 dir; |
| 5863 | |
| 5864 | // Position and step variables |
| 5865 | DVector2 beam_pos=beam_center+(Sc(state_z)-beam_z0)*beam_dir; |
| 5866 | double r2=(xy-beam_pos).Mod2(); |
| 5867 | double ds=-mStepSizeS; // step along path in cm |
| 5868 | double r2_old=r2; |
| 5869 | |
| 5870 | // Energy loss |
| 5871 | double dedx=0.; |
| 5872 | |
| 5873 | // Check direction of propagation |
| 5874 | DMatrix5x1 S1=Sc; |
| 5875 | DVector2 xy1=xy; |
| 5876 | Step(xy1,ds,S1,dedx); |
| 5877 | beam_pos=beam_center+(S1(state_z)-beam_z0)*beam_dir; |
| 5878 | r2=(xy1-beam_pos).Mod2(); |
| 5879 | if (r2>r2_old) ds*=-1.; |
| 5880 | double ds_old=ds; |
| 5881 | |
| 5882 | // Track propagation loop |
| 5883 | while (Sc(state_z)>Z_MIN-100. && Sc(state_z)<Z_MAX370.0 |
| 5884 | && r2<R2_MAX4225.0){ |
| 5885 | // get material properties from the Root Geometry |
| 5886 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.,Z=0; |
| 5887 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 5888 | DVector3 pos3d(xy.X(),xy.Y(),Sc(state_z)); |
| 5889 | if (geom->FindMatKalman(pos3d,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 5890 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 5891 | last_material_map) |
| 5892 | !=NOERROR){ |
| 5893 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<5893<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 5894 | break; |
| 5895 | } |
| 5896 | |
| 5897 | // Get dEdx for the upcoming step |
| 5898 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 5899 | if (CORRECT_FOR_ELOSS){ |
| 5900 | dedx=GetdEdx(q_over_p,K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 5901 | } |
| 5902 | // Adjust the step size |
| 5903 | double sign=(ds>0.0)?1.:-1.; |
| 5904 | if (fabs(dedx)>EPS3.0e-8){ |
| 5905 | ds=sign*DE_PER_STEP0.001/fabs(dedx); |
| 5906 | } |
| 5907 | if(fabs(ds)>mStepSizeS) ds=sign*mStepSizeS; |
| 5908 | if(fabs(ds)<MIN_STEP_SIZE0.1)ds=sign*MIN_STEP_SIZE0.1; |
| 5909 | |
| 5910 | // Propagate the state through the field |
| 5911 | Step(xy,ds,Sc,dedx); |
| 5912 | |
| 5913 | beam_pos=beam_center+(Sc(state_z)-beam_z0)*beam_dir; |
| 5914 | r2=(xy-beam_pos).Mod2(); |
| 5915 | //printf("r %f r_old %f \n",r,r_old); |
| 5916 | if (r2>r2_old) { |
| 5917 | // We've passed the true minimum; backtrack to find the "vertex" |
| 5918 | // position |
| 5919 | double my_ds=0.; |
| 5920 | BrentsAlgorithm(ds,ds_old,dedx,xy,0.,beam_center,beam_dir,Sc,my_ds); |
| 5921 | //printf ("Brent min r %f\n",pos.Perp()); |
| 5922 | break; |
| 5923 | } |
| 5924 | r2_old=r2; |
| 5925 | ds_old=ds; |
| 5926 | } |
| 5927 | |
| 5928 | // If we extrapolate beyond the fiducial volume of the detector before |
| 5929 | // finding the doca, abandon the extrapolation... |
| 5930 | if (Sc(state_z)<Z_MIN-100.){ |
| 5931 | //_DBG_ << "Extrapolated z = " << Sc(state_z) << endl; |
| 5932 | // Restore un-extrapolated values |
| 5933 | Sc=S0; |
| 5934 | xy=xy0; |
| 5935 | return VALUE_OUT_OF_RANGE; |
| 5936 | } |
| 5937 | |
| 5938 | return NOERROR; |
| 5939 | } |
| 5940 | |
| 5941 | |
| 5942 | |
| 5943 | |
| 5944 | // Transform the 5x5 tracking error matrix into a 7x7 error matrix in cartesian |
| 5945 | // coordinates |
| 5946 | shared_ptr<TMatrixFSym> DTrackFitterKalmanSIMD::Get7x7ErrorMatrixForward(DMatrixDSym C){ |
| 5947 | auto C7x7 = dResourcePool_TMatrixFSym->Get_SharedResource(); |
| 5948 | C7x7->ResizeTo(7, 7); |
| 5949 | DMatrix J(7,5); |
| 5950 | |
| 5951 | double p=1./fabs(q_over_p_); |
| 5952 | double tanl=1./sqrt(tx_*tx_+ty_*ty_); |
| 5953 | double tanl2=tanl*tanl; |
| 5954 | double lambda=atan(tanl); |
| 5955 | double sinl=sin(lambda); |
| 5956 | double sinl3=sinl*sinl*sinl; |
| 5957 | |
| 5958 | J(state_X,state_x)=J(state_Y,state_y)=1.; |
| 5959 | J(state_Pz,state_ty)=-p*ty_*sinl3; |
| 5960 | J(state_Pz,state_tx)=-p*tx_*sinl3; |
| 5961 | J(state_Px,state_ty)=J(state_Py,state_tx)=-p*tx_*ty_*sinl3; |
| 5962 | J(state_Px,state_tx)=p*(1.+ty_*ty_)*sinl3; |
| 5963 | J(state_Py,state_ty)=p*(1.+tx_*tx_)*sinl3; |
| 5964 | J(state_Pz,state_q_over_p)=-p*sinl/q_over_p_; |
| 5965 | J(state_Px,state_q_over_p)=tx_*J(state_Pz,state_q_over_p); |
| 5966 | J(state_Py,state_q_over_p)=ty_*J(state_Pz,state_q_over_p); |
| 5967 | J(state_Z,state_x)=-tx_*tanl2; |
| 5968 | J(state_Z,state_y)=-ty_*tanl2; |
| 5969 | double diff=tx_*tx_-ty_*ty_; |
| 5970 | double frac=tanl2*tanl2; |
| 5971 | J(state_Z,state_tx)=(x_*diff+2.*tx_*ty_*y_)*frac; |
| 5972 | J(state_Z,state_ty)=(2.*tx_*ty_*x_-y_*diff)*frac; |
| 5973 | |
| 5974 | // C'= JCJ^T |
| 5975 | *C7x7=C.Similarity(J); |
| 5976 | |
| 5977 | return C7x7; |
| 5978 | } |
| 5979 | |
| 5980 | |
| 5981 | |
| 5982 | // Transform the 5x5 tracking error matrix into a 7x7 error matrix in cartesian |
| 5983 | // coordinates |
| 5984 | shared_ptr<TMatrixFSym> DTrackFitterKalmanSIMD::Get7x7ErrorMatrix(DMatrixDSym C){ |
| 5985 | auto C7x7 = dResourcePool_TMatrixFSym->Get_SharedResource(); |
| 5986 | C7x7->ResizeTo(7, 7); |
| 5987 | DMatrix J(7,5); |
| 5988 | //double cosl=cos(atan(tanl_)); |
| 5989 | double pt=1./fabs(q_over_pt_); |
| 5990 | //double p=pt/cosl; |
| 5991 | // double p_sq=p*p; |
| 5992 | // double E=sqrt(mass2+p_sq); |
| 5993 | double pt_sq=1./(q_over_pt_*q_over_pt_); |
| 5994 | double cosphi=cos(phi_); |
| 5995 | double sinphi=sin(phi_); |
| 5996 | double q=(q_over_pt_>0.0)?1.:-1.; |
| 5997 | |
| 5998 | J(state_Px,state_q_over_pt)=-q*pt_sq*cosphi; |
| 5999 | J(state_Px,state_phi)=-pt*sinphi; |
| 6000 | |
| 6001 | J(state_Py,state_q_over_pt)=-q*pt_sq*sinphi; |
| 6002 | J(state_Py,state_phi)=pt*cosphi; |
| 6003 | |
| 6004 | J(state_Pz,state_q_over_pt)=-q*pt_sq*tanl_; |
| 6005 | J(state_Pz,state_tanl)=pt; |
| 6006 | |
| 6007 | J(state_X,state_phi)=-D_*cosphi; |
| 6008 | J(state_X,state_D)=-sinphi; |
| 6009 | |
| 6010 | J(state_Y,state_phi)=-D_*sinphi; |
| 6011 | J(state_Y,state_D)=cosphi; |
| 6012 | |
| 6013 | J(state_Z,state_z)=1.; |
| 6014 | |
| 6015 | // C'= JCJ^T |
| 6016 | *C7x7=C.Similarity(J); |
| 6017 | // C7x7->Print(); |
| 6018 | // _DBG_ << " " << C7x7->operator()(3,3) << " " << C7x7->operator()(4,4) << endl; |
| 6019 | |
| 6020 | return C7x7; |
| 6021 | } |
| 6022 | |
| 6023 | // Track recovery for Central tracks |
| 6024 | //----------------------------------- |
| 6025 | // This code attempts to recover tracks that are "broken". Sometimes the fit fails because too many hits were pruned |
| 6026 | // such that the number of surviving hits is less than the minimum number of degrees of freedom for a five-parameter fit. |
| 6027 | // This condition is flagged as PRUNED_TOO_MANY_HITS. It may also be the case that even if we used enough hits for the fit to |
| 6028 | // be valid (i.e., make sense in terms of the number of degrees of freedom for the number of parameters (5) we are trying |
| 6029 | // to determine), we throw away a number of hits near the target because the projected trajectory deviates too far away from |
| 6030 | // the actual hits. This may be an indication of a kink in the trajectory. This condition is flagged as BREAK_POINT_FOUND. |
| 6031 | // Sometimes the fit may succeed and no break point is found, but the pruning threw out a large number of hits. This |
| 6032 | // condition is flagged as PRUNED_TOO_MANY_HITS. The recovery code proceeds by truncating the reference trajectory to |
| 6033 | // to a point just after the hit where a break point was found and all hits are ignored beyond this point subject to a |
| 6034 | // minimum number of hits set by MIN_HITS_FOR_REFIT. The recovery code always attempts to use the hits closest to the |
| 6035 | // target. The code is allowed to iterate; with each iteration the trajectory and list of useable hits is further truncated. |
| 6036 | kalman_error_t DTrackFitterKalmanSIMD::RecoverBrokenTracks(double anneal_factor, |
| 6037 | DMatrix5x1 &S, |
| 6038 | DMatrix5x5 &C, |
| 6039 | const DMatrix5x5 &C0, |
| 6040 | DVector2 &xy, |
| 6041 | double &chisq, |
| 6042 | unsigned int &numdof){ |
| 6043 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6043<<" " << "Attempting to recover broken track ... " <<endl; |
| 6044 | |
| 6045 | // Initialize degrees of freedom and chi^2 |
| 6046 | double refit_chisq=-1.; |
| 6047 | unsigned int refit_ndf=0; |
| 6048 | // State vector and covariance matrix |
| 6049 | DMatrix5x5 C1; |
| 6050 | DMatrix5x1 S1; |
| 6051 | // Position vector |
| 6052 | DVector2 refit_xy; |
| 6053 | |
| 6054 | // save the status of the hits used in the fit |
| 6055 | unsigned int num_hits=cdc_used_in_fit.size(); |
| 6056 | vector<bool>old_cdc_used_status(num_hits); |
| 6057 | for (unsigned int j=0;j<num_hits;j++){ |
| 6058 | old_cdc_used_status[j]=cdc_used_in_fit[j]; |
| 6059 | } |
| 6060 | |
| 6061 | // Truncate the reference trajectory to just beyond the break point (or the minimum number of hits) |
| 6062 | unsigned int min_cdc_index_for_refit=MIN_HITS_FOR_REFIT-1; |
| 6063 | //if (break_point_cdc_index<num_hits/2) |
| 6064 | // break_point_cdc_index=num_hits/2; |
| 6065 | if (break_point_cdc_index<min_cdc_index_for_refit){ |
| 6066 | break_point_cdc_index=min_cdc_index_for_refit; |
| 6067 | } |
| 6068 | // Next determine where we need to truncate the trajectory |
| 6069 | DVector2 origin=my_cdchits[break_point_cdc_index]->origin; |
| 6070 | DVector2 dir=my_cdchits[break_point_cdc_index]->dir; |
| 6071 | double z0=my_cdchits[break_point_cdc_index]->z0wire; |
| 6072 | unsigned int k=0; |
| 6073 | for (k=central_traj.size()-1;k>1;k--){ |
| 6074 | double r2=central_traj[k].xy.Mod2(); |
| 6075 | double r2next=central_traj[k-1].xy.Mod2(); |
| 6076 | double r2_cdc=(origin+(central_traj[k].S(state_z)-z0)*dir).Mod2(); |
| 6077 | if (r2next>r2 && r2>r2_cdc) break; |
| 6078 | } |
| 6079 | break_point_step_index=k; |
| 6080 | |
| 6081 | if (break_point_step_index==central_traj.size()-1){ |
| 6082 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6082<<" " << "Invalid reference trajectory in track recovery..." << endl; |
| 6083 | return FIT_FAILED; |
| 6084 | } |
| 6085 | |
| 6086 | kalman_error_t refit_error=FIT_NOT_DONE; |
| 6087 | unsigned int old_cdc_index=break_point_cdc_index; |
| 6088 | unsigned int old_step_index=break_point_step_index; |
| 6089 | unsigned int refit_iter=0; |
| 6090 | unsigned int num_cdchits=my_cdchits.size(); |
| 6091 | while (break_point_cdc_index>4 && break_point_step_index>0 |
| 6092 | && break_point_step_index<central_traj.size()){ |
| 6093 | refit_iter++; |
| 6094 | |
| 6095 | // Flag the cdc hits within the radius of the break point cdc index |
| 6096 | // as good, the rest as bad. |
| 6097 | for (unsigned int j=0;j<=break_point_cdc_index;j++){ |
| 6098 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6099 | } |
| 6100 | for (unsigned int j=break_point_cdc_index+1;j<num_cdchits;j++){ |
| 6101 | my_cdchits[j]->status=bad_hit; |
| 6102 | } |
| 6103 | |
| 6104 | // Now refit with the truncated trajectory and list of hits |
| 6105 | //C1=C0; |
| 6106 | //C1=4.0*C0; |
| 6107 | C1=1.0*C0; |
| 6108 | S1=central_traj[break_point_step_index].S; |
| 6109 | refit_chisq=-1.; |
| 6110 | refit_ndf=0; |
| 6111 | refit_error=KalmanCentral(anneal_factor,S1,C1,refit_xy, |
| 6112 | refit_chisq,refit_ndf); |
| 6113 | if (refit_error==FIT_SUCCEEDED |
| 6114 | || (refit_error==BREAK_POINT_FOUND |
| 6115 | && break_point_cdc_index==1 |
| 6116 | ) |
| 6117 | //|| refit_error==PRUNED_TOO_MANY_HITS |
| 6118 | ){ |
| 6119 | C=C1; |
| 6120 | S=S1; |
| 6121 | xy=refit_xy; |
| 6122 | chisq=refit_chisq; |
| 6123 | numdof=refit_ndf; |
| 6124 | |
| 6125 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6125<<" " << "Fit recovery succeeded..." << endl; |
| 6126 | return FIT_SUCCEEDED; |
| 6127 | } |
| 6128 | |
| 6129 | break_point_cdc_index=old_cdc_index-refit_iter; |
| 6130 | break_point_step_index=old_step_index-refit_iter; |
| 6131 | } |
| 6132 | |
| 6133 | // If the refit did not work, restore the old list hits used in the fit |
| 6134 | // before the track recovery was attempted. |
| 6135 | for (unsigned int k=0;k<num_hits;k++){ |
| 6136 | cdc_used_in_fit[k]=old_cdc_used_status[k]; |
| 6137 | } |
| 6138 | |
| 6139 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6139<<" " << "Fit recovery failed..." << endl; |
| 6140 | return FIT_FAILED; |
| 6141 | } |
| 6142 | |
| 6143 | // Track recovery for forward tracks |
| 6144 | //----------------------------------- |
| 6145 | // This code attempts to recover tracks that are "broken". Sometimes the fit fails because too many hits were pruned |
| 6146 | // such that the number of surviving hits is less than the minimum number of degrees of freedom for a five-parameter fit. |
| 6147 | // This condition is flagged as PRUNED_TOO_MANY_HITS. It may also be the case that even if we used enough hits for the fit to |
| 6148 | // be valid (i.e., make sense in terms of the number of degrees of freedom for the number of parameters (5) we are trying |
| 6149 | // to determine), we throw away a number of hits near the target because the projected trajectory deviates too far away from |
| 6150 | // the actual hits. This may be an indication of a kink in the trajectory. This condition is flagged as BREAK_POINT_FOUND. |
| 6151 | // Sometimes the fit may succeed and no break point is found, but the pruning threw out a large number of hits. This |
| 6152 | // condition is flagged as PRUNED_TOO_MANY_HITS. The recovery code proceeds by truncating the reference trajectory to |
| 6153 | // to a point just after the hit where a break point was found and all hits are ignored beyond this point subject to a |
| 6154 | // minimum number of hits. The recovery code always attempts to use the hits closest to the target. The code is allowed to |
| 6155 | // iterate; with each iteration the trajectory and list of useable hits is further truncated. |
| 6156 | kalman_error_t DTrackFitterKalmanSIMD::RecoverBrokenTracks(double anneal_factor, |
| 6157 | DMatrix5x1 &S, |
| 6158 | DMatrix5x5 &C, |
| 6159 | const DMatrix5x5 &C0, |
| 6160 | double &chisq, |
| 6161 | unsigned int &numdof |
| 6162 | ){ |
| 6163 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6163<<" " << "Attempting to recover broken track ... " <<endl; |
| 6164 | |
| 6165 | unsigned int num_cdchits=my_cdchits.size(); |
| 6166 | unsigned int num_fdchits=my_fdchits.size(); |
| 6167 | |
| 6168 | // Initialize degrees of freedom and chi^2 |
| 6169 | double refit_chisq=-1.; |
| 6170 | unsigned int refit_ndf=0; |
| 6171 | // State vector and covariance matrix |
| 6172 | DMatrix5x5 C1; |
| 6173 | DMatrix5x1 S1; |
| 6174 | |
| 6175 | // save the status of the hits used in the fit |
| 6176 | vector<bool>old_cdc_used_status(num_cdchits); |
| 6177 | vector<bool>old_fdc_used_status(num_fdchits); |
| 6178 | for (unsigned int j=0;j<num_fdchits;j++){ |
| 6179 | old_fdc_used_status[j]=fdc_used_in_fit[j]; |
| 6180 | } |
| 6181 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6182 | old_cdc_used_status[j]=cdc_used_in_fit[j]; |
| 6183 | } |
| 6184 | |
| 6185 | unsigned int min_cdc_index=MIN_HITS_FOR_REFIT-1; |
| 6186 | if (my_fdchits.size()>0){ |
| 6187 | if (break_point_cdc_index<5){ |
| 6188 | break_point_cdc_index=0; |
| 6189 | min_cdc_index=5; |
| 6190 | } |
| 6191 | } |
| 6192 | /*else{ |
| 6193 | unsigned int half_num_cdchits=num_cdchits/2; |
| 6194 | if (break_point_cdc_index<half_num_cdchits |
| 6195 | && half_num_cdchits>min_cdc_index) |
| 6196 | break_point_cdc_index=half_num_cdchits; |
| 6197 | } |
| 6198 | */ |
| 6199 | if (break_point_cdc_index<min_cdc_index){ |
| 6200 | break_point_cdc_index=min_cdc_index; |
| 6201 | } |
| 6202 | |
| 6203 | // Find the index at which to truncate the reference trajectory |
| 6204 | DVector2 origin=my_cdchits[break_point_cdc_index]->origin; |
| 6205 | DVector2 dir=my_cdchits[break_point_cdc_index]->dir; |
| 6206 | double z0=my_cdchits[break_point_cdc_index]->z0wire; |
| 6207 | unsigned int k=forward_traj.size()-1; |
| 6208 | for (;k>1;k--){ |
| 6209 | DMatrix5x1 S1=forward_traj[k].S; |
| 6210 | double x1=S1(state_x); |
| 6211 | double y1=S1(state_y); |
| 6212 | double r2=x1*x1+y1*y1; |
| 6213 | DMatrix5x1 S2=forward_traj[k-1].S; |
| 6214 | double x2=S2(state_x); |
| 6215 | double y2=S2(state_y); |
| 6216 | double r2next=x2*x2+y2*y2; |
| 6217 | double r2cdc=(origin+(forward_traj[k].z-z0)*dir).Mod2(); |
| 6218 | |
| 6219 | if (r2next>r2 && r2>r2cdc) break; |
| 6220 | } |
| 6221 | break_point_step_index=k; |
| 6222 | |
| 6223 | if (break_point_step_index==forward_traj.size()-1){ |
| 6224 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6224<<" " << "Invalid reference trajectory in track recovery..." << endl; |
| 6225 | return FIT_FAILED; |
| 6226 | } |
| 6227 | |
| 6228 | // Attemp to refit the track using the abreviated list of hits and the truncated |
| 6229 | // reference trajectory. Iterates if the fit fails. |
| 6230 | kalman_error_t refit_error=FIT_NOT_DONE; |
| 6231 | unsigned int old_cdc_index=break_point_cdc_index; |
| 6232 | unsigned int old_step_index=break_point_step_index; |
| 6233 | unsigned int refit_iter=0; |
| 6234 | while (break_point_cdc_index>4 && break_point_step_index>0 |
| 6235 | && break_point_step_index<forward_traj.size()){ |
| 6236 | refit_iter++; |
| 6237 | |
| 6238 | // Flag the cdc hits within the radius of the break point cdc index |
| 6239 | // as good, the rest as bad. |
| 6240 | for (unsigned int j=0;j<=break_point_cdc_index;j++){ |
| 6241 | if (my_cdchits[j]->status!=late_hit) my_cdchits[j]->status=good_hit; |
| 6242 | } |
| 6243 | for (unsigned int j=break_point_cdc_index+1;j<num_cdchits;j++){ |
| 6244 | my_cdchits[j]->status=bad_hit; |
| 6245 | } |
| 6246 | |
| 6247 | // Re-initialize the state vector, covariance, chisq and number of degrees of freedom |
| 6248 | //C1=4.0*C0; |
| 6249 | C1=1.0*C0; |
| 6250 | S1=forward_traj[break_point_step_index].S; |
| 6251 | refit_chisq=-1.; |
| 6252 | refit_ndf=0; |
| 6253 | // Now refit with the truncated trajectory and list of hits |
| 6254 | refit_error=KalmanForwardCDC(anneal_factor,S1,C1,refit_chisq,refit_ndf); |
| 6255 | if (refit_error==FIT_SUCCEEDED |
| 6256 | || (refit_error==BREAK_POINT_FOUND |
| 6257 | && break_point_cdc_index==1 |
| 6258 | ) |
| 6259 | //|| refit_error==PRUNED_TOO_MANY_HITS |
| 6260 | ){ |
| 6261 | C=C1; |
| 6262 | S=S1; |
| 6263 | chisq=refit_chisq; |
| 6264 | numdof=refit_ndf; |
| 6265 | return FIT_SUCCEEDED; |
| 6266 | } |
| 6267 | break_point_cdc_index=old_cdc_index-refit_iter; |
| 6268 | break_point_step_index=old_step_index-refit_iter; |
| 6269 | } |
| 6270 | // If the refit did not work, restore the old list hits used in the fit |
| 6271 | // before the track recovery was attempted. |
| 6272 | for (unsigned int k=0;k<num_cdchits;k++){ |
| 6273 | cdc_used_in_fit[k]=old_cdc_used_status[k]; |
| 6274 | } |
| 6275 | for (unsigned int k=0;k<num_fdchits;k++){ |
| 6276 | fdc_used_in_fit[k]=old_fdc_used_status[k]; |
| 6277 | } |
| 6278 | |
| 6279 | return FIT_FAILED; |
| 6280 | } |
| 6281 | |
| 6282 | |
| 6283 | // Track recovery for forward-going tracks with hits in the FDC |
| 6284 | kalman_error_t |
| 6285 | DTrackFitterKalmanSIMD::RecoverBrokenForwardTracks(double fdc_anneal, |
| 6286 | double cdc_anneal, |
| 6287 | DMatrix5x1 &S, |
| 6288 | DMatrix5x5 &C, |
| 6289 | const DMatrix5x5 &C0, |
| 6290 | double &chisq, |
| 6291 | unsigned int &numdof){ |
| 6292 | if (DEBUG_LEVEL>1) |
| 6293 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6293<<" " << "Attempting to recover broken track ... " <<endl; |
| 6294 | unsigned int num_cdchits=my_cdchits.size(); |
| 6295 | unsigned int num_fdchits=fdc_updates.size(); |
| 6296 | |
| 6297 | // Initialize degrees of freedom and chi^2 |
| 6298 | double refit_chisq=-1.; |
| 6299 | unsigned int refit_ndf=0; |
| 6300 | // State vector and covariance matrix |
| 6301 | DMatrix5x5 C1; |
| 6302 | DMatrix5x1 S1; |
| 6303 | |
| 6304 | // save the status of the hits used in the fit |
| 6305 | vector<int>old_cdc_used_status(num_cdchits); |
| 6306 | vector<int>old_fdc_used_status(num_fdchits); |
| 6307 | for (unsigned int j=0;j<num_fdchits;j++){ |
| 6308 | old_fdc_used_status[j]=fdc_used_in_fit[j]; |
| 6309 | } |
| 6310 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6311 | old_cdc_used_status[j]=cdc_used_in_fit[j]; |
| 6312 | } |
| 6313 | |
| 6314 | // Truncate the trajectory |
| 6315 | double zhit=my_fdchits[break_point_fdc_index]->z; |
| 6316 | unsigned int k=0; |
| 6317 | for (;k<forward_traj.size();k++){ |
| 6318 | double z=forward_traj[k].z; |
| 6319 | if (z<zhit) break; |
| 6320 | } |
| 6321 | for (unsigned int j=0;j<=break_point_fdc_index;j++){ |
| 6322 | my_fdchits[j]->status=good_hit; |
| 6323 | } |
| 6324 | for (unsigned int j=break_point_fdc_index+1;j<num_fdchits;j++){ |
| 6325 | my_fdchits[j]->status=bad_hit; |
| 6326 | } |
| 6327 | |
| 6328 | if (k==forward_traj.size()) return FIT_NOT_DONE; |
| 6329 | |
| 6330 | break_point_step_index=k; |
| 6331 | |
| 6332 | // Attemp to refit the track using the abreviated list of hits and the truncated |
| 6333 | // reference trajectory. |
| 6334 | kalman_error_t refit_error=FIT_NOT_DONE; |
| 6335 | int refit_iter=0; |
| 6336 | unsigned int break_id=break_point_fdc_index; |
| 6337 | while (break_id+num_cdchits>=MIN_HITS_FOR_REFIT && break_id>0 |
| 6338 | && break_point_step_index<forward_traj.size() |
| 6339 | && break_point_step_index>1 |
| 6340 | && refit_iter<10){ |
| 6341 | refit_iter++; |
| 6342 | |
| 6343 | // Mark the hits as bad if they are not included |
| 6344 | if (break_id >= 0){ |
| 6345 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6346 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6347 | } |
| 6348 | for (unsigned int j=0;j<=break_id;j++){ |
| 6349 | my_fdchits[j]->status=good_hit; |
| 6350 | } |
| 6351 | for (unsigned int j=break_id+1;j<num_fdchits;j++){ |
| 6352 | my_fdchits[j]->status=bad_hit; |
| 6353 | } |
| 6354 | } |
| 6355 | else{ |
| 6356 | // BreakID should always be 0 or positive, so this should never happen, but could be investigated in the future. |
| 6357 | for (unsigned int j=0;j<num_cdchits+break_id;j++){ |
| 6358 | if (my_cdchits[j]->status!=late_hit) my_cdchits[j]->status=good_hit; |
| 6359 | } |
| 6360 | for (unsigned int j=num_cdchits+break_id;j<num_cdchits;j++){ |
| 6361 | my_cdchits[j]->status=bad_hit; |
| 6362 | } |
| 6363 | for (unsigned int j=0;j<num_fdchits;j++){ |
| 6364 | my_fdchits[j]->status=bad_hit; |
| 6365 | } |
| 6366 | } |
| 6367 | |
| 6368 | // Re-initialize the state vector, covariance, chisq and number of degrees of freedom |
| 6369 | //C1=4.0*C0; |
| 6370 | C1=1.0*C0; |
| 6371 | S1=forward_traj[break_point_step_index].S; |
| 6372 | refit_chisq=-1.; |
| 6373 | refit_ndf=0; |
| 6374 | |
| 6375 | // Now refit with the truncated trajectory and list of hits |
| 6376 | refit_error=KalmanForward(fdc_anneal,cdc_anneal,S1,C1,refit_chisq,refit_ndf); |
| 6377 | if (refit_error==FIT_SUCCEEDED |
| 6378 | //|| (refit_error==PRUNED_TOO_MANY_HITS) |
| 6379 | ){ |
| 6380 | C=C1; |
| 6381 | S=S1; |
| 6382 | chisq=refit_chisq; |
| 6383 | numdof=refit_ndf; |
| 6384 | |
| 6385 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6385<<" " << "Refit succeeded" << endl; |
| 6386 | return FIT_SUCCEEDED; |
| 6387 | } |
| 6388 | // Truncate the trajectory |
| 6389 | if (break_id>0) break_id--; |
| 6390 | else break; |
| 6391 | zhit=my_fdchits[break_id]->z; |
| 6392 | k=0; |
| 6393 | for (;k<forward_traj.size();k++){ |
| 6394 | double z=forward_traj[k].z; |
| 6395 | if (z<zhit) break; |
| 6396 | } |
| 6397 | break_point_step_index=k; |
| 6398 | |
| 6399 | } |
| 6400 | |
| 6401 | // If the refit did not work, restore the old list hits used in the fit |
| 6402 | // before the track recovery was attempted. |
| 6403 | for (unsigned int k=0;k<num_cdchits;k++){ |
| 6404 | cdc_used_in_fit[k]=old_cdc_used_status[k]; |
| 6405 | } |
| 6406 | for (unsigned int k=0;k<num_fdchits;k++){ |
| 6407 | fdc_used_in_fit[k]=old_fdc_used_status[k]; |
| 6408 | } |
| 6409 | |
| 6410 | return FIT_FAILED; |
| 6411 | } |
| 6412 | |
| 6413 | |
| 6414 | |
| 6415 | // Routine to fit hits in the FDC and the CDC using the forward parametrization |
| 6416 | kalman_error_t DTrackFitterKalmanSIMD::ForwardFit(const DMatrix5x1 &S0,const DMatrix5x5 &C0){ |
| 6417 | unsigned int num_cdchits=my_cdchits.size(); |
| 6418 | unsigned int num_fdchits=my_fdchits.size(); |
| 6419 | unsigned int max_fdc_index=num_fdchits-1; |
| 6420 | |
| 6421 | // Vectors to keep track of updated state vectors and covariance matrices (after |
| 6422 | // adding the hit information) |
| 6423 | vector<bool>last_fdc_used_in_fit(num_fdchits); |
| 6424 | vector<bool>last_cdc_used_in_fit(num_cdchits); |
| 6425 | vector<pull_t>forward_pulls; |
| 6426 | vector<pull_t>last_forward_pulls; |
| 6427 | |
| 6428 | // Charge |
| 6429 | // double q=input_params.charge(); |
| 6430 | |
| 6431 | // Covariance matrix and state vector |
| 6432 | DMatrix5x5 C; |
| 6433 | DMatrix5x1 S=S0; |
| 6434 | |
| 6435 | // Create matrices to store results from previous iteration |
| 6436 | DMatrix5x1 Slast(S); |
| 6437 | DMatrix5x5 Clast(C0); |
| 6438 | // last z position |
| 6439 | double last_z=z_; |
| 6440 | |
| 6441 | double fdc_anneal=FORWARD_ANNEAL_SCALE+1.; // variable for scaling cut for hit pruning |
| 6442 | double cdc_anneal=ANNEAL_SCALE+1.; // variable for scaling cut for hit pruning |
| 6443 | |
| 6444 | // Chi-squared and degrees of freedom |
| 6445 | double chisq=-1.,chisq_forward=-1.; |
| 6446 | unsigned int my_ndf=0; |
| 6447 | unsigned int last_ndf=1; |
| 6448 | kalman_error_t error=FIT_NOT_DONE,last_error=FIT_NOT_DONE; |
| 6449 | |
| 6450 | // Iterate over reference trajectories |
| 6451 | for (int iter=0; |
| 6452 | iter<(fit_type==kTimeBased?MAX_TB_PASSES20:MAX_WB_PASSES20); |
| 6453 | iter++) { |
| 6454 | // These variables provide the approximate location along the trajectory |
| 6455 | // where there is an indication of a kink in the track |
| 6456 | break_point_fdc_index=max_fdc_index; |
| 6457 | break_point_cdc_index=0; |
| 6458 | break_point_step_index=0; |
| 6459 | |
| 6460 | // Reset material map index |
| 6461 | last_material_map=0; |
| 6462 | |
| 6463 | // Abort if momentum is too low |
| 6464 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX) break; |
| 6465 | |
| 6466 | // Initialize path length variable and flight time |
| 6467 | len=0; |
| 6468 | ftime=0.; |
| 6469 | var_ftime=0.; |
| 6470 | |
| 6471 | // Scale cut for pruning hits according to the iteration number |
| 6472 | fdc_anneal=(iter<MIN_ITER3)?(FORWARD_ANNEAL_SCALE/pow(FORWARD_ANNEAL_POW_CONST,iter)+1.):1.; |
| 6473 | cdc_anneal=(iter<MIN_ITER3)?(ANNEAL_SCALE/pow(ANNEAL_POW_CONST,iter)+1.):1.; |
| 6474 | |
| 6475 | // Swim through the field out to the most upstream FDC hit |
| 6476 | jerror_t ref_track_error=SetReferenceTrajectory(S); |
| 6477 | if (ref_track_error!=NOERROR){ |
| 6478 | if (iter==0) return FIT_FAILED; |
| 6479 | break; |
| 6480 | } |
| 6481 | |
| 6482 | // Reset the status of the cdc hits |
| 6483 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6484 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6485 | } |
| 6486 | |
| 6487 | // perform the kalman filter |
| 6488 | C=C0; |
| 6489 | bool did_second_refit=false; |
| 6490 | error=KalmanForward(fdc_anneal,cdc_anneal,S,C,chisq,my_ndf); |
| 6491 | if (DEBUG_LEVEL>1){ |
| 6492 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6492<<" " << "Iter: " << iter+1 << " Chi2=" << chisq << " Ndf=" << my_ndf << " Error code: " << error << endl; |
| 6493 | } |
| 6494 | // Try to recover tracks that failed the first attempt at fitting by |
| 6495 | // cutting outer hits |
| 6496 | if (error!=FIT_SUCCEEDED && RECOVER_BROKEN_TRACKS |
| 6497 | && num_fdchits>2 // some minimum to make this worthwhile... |
| 6498 | && break_point_fdc_index<num_fdchits |
| 6499 | && break_point_fdc_index+num_cdchits>=MIN_HITS_FOR_REFIT |
| 6500 | && forward_traj.size()>2*MIN_HITS_FOR_REFIT // avoid small track stubs |
| 6501 | ){ |
| 6502 | DMatrix5x5 Ctemp=C; |
| 6503 | DMatrix5x1 Stemp=S; |
| 6504 | unsigned int temp_ndf=my_ndf; |
| 6505 | double temp_chi2=chisq; |
| 6506 | double x=x_,y=y_,z=z_; |
| 6507 | |
| 6508 | kalman_error_t refit_error=RecoverBrokenForwardTracks(fdc_anneal, |
| 6509 | cdc_anneal, |
| 6510 | S,C,C0,chisq, |
| 6511 | my_ndf); |
| 6512 | if (fit_type==kTimeBased && refit_error!=FIT_SUCCEEDED){ |
| 6513 | fdc_anneal=1000.; |
| 6514 | cdc_anneal=1000.; |
| 6515 | refit_error=RecoverBrokenForwardTracks(fdc_anneal, |
| 6516 | cdc_anneal, |
| 6517 | S,C,C0,chisq, |
| 6518 | my_ndf); |
| 6519 | //chisq=1e6; |
| 6520 | did_second_refit=true; |
| 6521 | } |
| 6522 | if (refit_error!=FIT_SUCCEEDED){ |
| 6523 | if (error==PRUNED_TOO_MANY_HITS || error==BREAK_POINT_FOUND){ |
| 6524 | C=Ctemp; |
| 6525 | S=Stemp; |
| 6526 | my_ndf=temp_ndf; |
| 6527 | chisq=temp_chi2; |
| 6528 | x_=x,y_=y,z_=z; |
| 6529 | |
| 6530 | if (num_cdchits<6) error=FIT_SUCCEEDED; |
| 6531 | } |
| 6532 | else error=FIT_FAILED; |
| 6533 | } |
| 6534 | else error=FIT_SUCCEEDED; |
| 6535 | } |
| 6536 | if ((error==POSITION_OUT_OF_RANGE || error==MOMENTUM_OUT_OF_RANGE) |
| 6537 | && iter==0){ |
| 6538 | return FIT_FAILED; |
| 6539 | } |
| 6540 | if (error==FIT_FAILED || error==INVALID_FIT || my_ndf==0){ |
| 6541 | if (iter==0) return FIT_FAILED; // first iteration failed |
| 6542 | break; |
| 6543 | } |
| 6544 | |
| 6545 | if (iter>MIN_ITER3 && did_second_refit==false){ |
| 6546 | double new_reduced_chisq=chisq/my_ndf; |
| 6547 | double old_reduced_chisq=chisq_forward/last_ndf; |
| 6548 | double new_prob=TMath::Prob(chisq,my_ndf); |
| 6549 | double old_prob=TMath::Prob(chisq_forward,last_ndf); |
| 6550 | if (new_prob<old_prob |
| 6551 | || fabs(new_reduced_chisq-old_reduced_chisq)<CHISQ_DELTA0.01){ |
| 6552 | break; |
| 6553 | } |
| 6554 | } |
| 6555 | |
| 6556 | chisq_forward=chisq; |
| 6557 | last_ndf=my_ndf; |
| 6558 | last_error=error; |
| 6559 | Slast=S; |
| 6560 | Clast=C; |
| 6561 | last_z=z_; |
| 6562 | |
| 6563 | last_fdc_used_in_fit=fdc_used_in_fit; |
| 6564 | last_cdc_used_in_fit=cdc_used_in_fit; |
| 6565 | } //iteration |
| 6566 | |
| 6567 | IsSmoothed=false; |
| 6568 | if(fit_type==kTimeBased){ |
| 6569 | forward_pulls.clear(); |
| 6570 | if (SmoothForward(forward_pulls) == NOERROR){ |
| 6571 | IsSmoothed = true; |
| 6572 | pulls.assign(forward_pulls.begin(),forward_pulls.end()); |
| 6573 | } |
| 6574 | } |
| 6575 | |
| 6576 | // total chisq and ndf |
| 6577 | chisq_=chisq_forward; |
| 6578 | ndf_=last_ndf; |
| 6579 | |
| 6580 | // output lists of hits used in the fit and fill pull vector |
| 6581 | cdchits_used_in_fit.clear(); |
| 6582 | for (unsigned int m=0;m<last_cdc_used_in_fit.size();m++){ |
| 6583 | if (last_cdc_used_in_fit[m]){ |
| 6584 | cdchits_used_in_fit.push_back(my_cdchits[m]->hit); |
| 6585 | } |
| 6586 | } |
| 6587 | fdchits_used_in_fit.clear(); |
| 6588 | for (unsigned int m=0;m<last_fdc_used_in_fit.size();m++){ |
| 6589 | if (last_fdc_used_in_fit[m] && my_fdchits[m]->hit!=NULL__null){ |
| 6590 | fdchits_used_in_fit.push_back(my_fdchits[m]->hit); |
| 6591 | } |
| 6592 | } |
| 6593 | // fill pull vector |
| 6594 | //pulls.assign(last_forward_pulls.begin(),last_forward_pulls.end()); |
| 6595 | |
| 6596 | // fill vector of extrapolations |
| 6597 | ClearExtrapolations(); |
| 6598 | if (forward_traj.size()>1){ |
| 6599 | ExtrapolateToInnerDetectors(); |
| 6600 | if (fit_type==kTimeBased){ |
| 6601 | double reverse_chisq=1e16,reverse_chisq_old=1e16; |
| 6602 | unsigned int reverse_ndf=0,reverse_ndf_old=0; |
| 6603 | |
| 6604 | // Run the Kalman filter in the reverse direction, to get the best guess |
| 6605 | // for the state vector at the last FDC point on the track |
| 6606 | DMatrix5x5 CReverse=C; |
| 6607 | DMatrix5x1 SReverse=S,SDownstream,SBest; |
| 6608 | kalman_error_t reverse_error=FIT_NOT_DONE; |
| 6609 | for (int iter=0;iter<20;iter++){ |
| 6610 | reverse_chisq_old=reverse_chisq; |
| 6611 | reverse_ndf_old=reverse_ndf; |
| 6612 | SBest=SDownstream; |
| 6613 | reverse_error=KalmanReverse(fdc_anneal,cdc_anneal,SReverse,CReverse, |
| 6614 | SDownstream,reverse_chisq,reverse_ndf); |
| 6615 | if (reverse_error!=FIT_SUCCEEDED) break; |
| 6616 | |
| 6617 | SReverse=SDownstream; |
| 6618 | for (unsigned int k=0;k<forward_traj.size()-1;k++){ |
| 6619 | // Get dEdx for the upcoming step |
| 6620 | double dEdx=0.; |
| 6621 | if (CORRECT_FOR_ELOSS){ |
| 6622 | dEdx=GetdEdx(SReverse(state_q_over_p), |
| 6623 | forward_traj[k].K_rho_Z_over_A, |
| 6624 | forward_traj[k].rho_Z_over_A, |
| 6625 | forward_traj[k].LnI,forward_traj[k].Z); |
| 6626 | } |
| 6627 | // Step through field |
| 6628 | DMatrix5x5 J; |
| 6629 | double z=forward_traj[k].z; |
| 6630 | double newz=forward_traj[k+1].z; |
| 6631 | StepJacobian(z,newz,SReverse,dEdx,J); |
| 6632 | Step(z,newz,dEdx,SReverse); |
| 6633 | |
| 6634 | CReverse=forward_traj[k].Q.AddSym(J*CReverse*J.Transpose()); |
| 6635 | } |
| 6636 | |
| 6637 | double reduced_chisq=reverse_chisq/double(reverse_ndf); |
| 6638 | double reduced_chisq_old=reverse_chisq_old/double(reverse_ndf_old); |
| 6639 | if (reduced_chisq>reduced_chisq_old |
| 6640 | || fabs(reduced_chisq-reduced_chisq_old)<0.01) break; |
| 6641 | } |
| 6642 | |
| 6643 | if (reverse_error!=FIT_SUCCEEDED){ |
| 6644 | ExtrapolateToOuterDetectors(forward_traj[0].S); |
| 6645 | } |
| 6646 | else{ |
| 6647 | ExtrapolateToOuterDetectors(SBest); |
| 6648 | } |
| 6649 | } |
| 6650 | else{ |
| 6651 | ExtrapolateToOuterDetectors(forward_traj[0].S); |
| 6652 | } |
| 6653 | if (extrapolations.at(SYS_BCAL).size()==1){ |
| 6654 | // There needs to be some steps inside the the volume of the BCAL for |
| 6655 | // the extrapolation to be useful. If this is not the case, clear |
| 6656 | // the extrolation vector. |
| 6657 | extrapolations[SYS_BCAL].clear(); |
| 6658 | } |
| 6659 | } |
| 6660 | // Extrapolate to the point of closest approach to the beam line |
| 6661 | z_=last_z; |
| 6662 | DVector2 beam_pos=beam_center+(z_-beam_z0)*beam_dir; |
| 6663 | double dx=Slast(state_x)-beam_pos.X(); |
| 6664 | double dy=Slast(state_y)-beam_pos.Y(); |
| 6665 | bool extrapolated=false; |
| 6666 | if (sqrt(dx*dx+dy*dy)>EPS21.e-4){ |
| 6667 | DMatrix5x5 Ctemp=Clast; |
| 6668 | DMatrix5x1 Stemp=Slast; |
| 6669 | double ztemp=z_; |
| 6670 | if (ExtrapolateToVertex(Stemp,Ctemp)==NOERROR){ |
| 6671 | Clast=Ctemp; |
| 6672 | Slast=Stemp; |
| 6673 | extrapolated=true; |
| 6674 | } |
| 6675 | else{ |
| 6676 | //_DBG_ << endl; |
| 6677 | z_=ztemp; |
| 6678 | } |
| 6679 | } |
| 6680 | |
| 6681 | // Final momentum, positions and tangents |
| 6682 | x_=Slast(state_x), y_=Slast(state_y); |
| 6683 | tx_=Slast(state_tx),ty_=Slast(state_ty); |
| 6684 | q_over_p_=Slast(state_q_over_p); |
| 6685 | |
| 6686 | // Convert from forward rep. to central rep. |
| 6687 | double tsquare=tx_*tx_+ty_*ty_; |
| 6688 | tanl_=1./sqrt(tsquare); |
| 6689 | double cosl=cos(atan(tanl_)); |
| 6690 | q_over_pt_=q_over_p_/cosl; |
| 6691 | phi_=atan2(ty_,tx_); |
| 6692 | if (FORWARD_PARMS_COV==false){ |
| 6693 | if (extrapolated){ |
| 6694 | beam_pos=beam_center+(z_-beam_z0)*beam_dir; |
| 6695 | dx=x_-beam_pos.X(); |
| 6696 | dy=y_-beam_pos.Y(); |
| 6697 | } |
| 6698 | D_=sqrt(dx*dx+dy*dy)+EPS3.0e-8; |
| 6699 | x_ = dx; y_ = dy; |
| 6700 | double cosphi=cos(phi_); |
| 6701 | double sinphi=sin(phi_); |
| 6702 | if ((dx>0.0 && sinphi>0.0) || (dy<0.0 && cosphi>0.0) |
| 6703 | || (dy>0.0 && cosphi<0.0) || (dx<0.0 && sinphi<0.0)) D_*=-1.; |
| 6704 | TransformCovariance(Clast); |
| 6705 | } |
| 6706 | // Covariance matrix |
| 6707 | vector<double>dummy; |
| 6708 | for (unsigned int i=0;i<5;i++){ |
| 6709 | dummy.clear(); |
| 6710 | for(unsigned int j=0;j<5;j++){ |
| 6711 | dummy.push_back(Clast(i,j)); |
| 6712 | } |
| 6713 | fcov.push_back(dummy); |
| 6714 | } |
| 6715 | |
| 6716 | return last_error; |
| 6717 | } |
| 6718 | |
| 6719 | // Routine to fit hits in the CDC using the forward parametrization |
| 6720 | kalman_error_t DTrackFitterKalmanSIMD::ForwardCDCFit(const DMatrix5x1 &S0,const DMatrix5x5 &C0){ |
| 6721 | unsigned int num_cdchits=my_cdchits.size(); |
| 6722 | unsigned int max_cdc_index=num_cdchits-1; |
| 6723 | unsigned int min_cdc_index_for_refit=MIN_HITS_FOR_REFIT-1; |
| 6724 | |
| 6725 | // Charge |
| 6726 | // double q=input_params.charge(); |
| 6727 | |
| 6728 | // Covariance matrix and state vector |
| 6729 | DMatrix5x5 C; |
| 6730 | DMatrix5x1 S=S0; |
| 6731 | |
| 6732 | // Create matrices to store results from previous iteration |
| 6733 | DMatrix5x1 Slast(S); |
| 6734 | DMatrix5x5 Clast(C0); |
| 6735 | |
| 6736 | // Vectors to keep track of updated state vectors and covariance matrices (after |
| 6737 | // adding the hit information) |
| 6738 | vector<pull_t>cdc_pulls; |
| 6739 | vector<pull_t>last_cdc_pulls; |
| 6740 | vector<bool>last_cdc_used_in_fit; |
| 6741 | |
| 6742 | double anneal_factor=ANNEAL_SCALE+1.; |
| 6743 | kalman_error_t error=FIT_NOT_DONE,last_error=FIT_NOT_DONE; |
| 6744 | |
| 6745 | // Chi-squared and degrees of freedom |
| 6746 | double chisq=-1.,chisq_forward=-1.; |
| 6747 | unsigned int my_ndf=0; |
| 6748 | unsigned int last_ndf=1; |
| 6749 | // last z position |
| 6750 | double zlast=0.; |
| 6751 | // unsigned int last_break_point_index=0,last_break_point_step_index=0; |
| 6752 | |
| 6753 | // Iterate over reference trajectories |
| 6754 | for (int iter2=0; |
| 6755 | iter2<(fit_type==kTimeBased?MAX_TB_PASSES20:MAX_WB_PASSES20); |
| 6756 | iter2++){ |
| 6757 | if (DEBUG_LEVEL>1){ |
| 6758 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6758<<" " <<"-------- iteration " << iter2+1 << " -----------" <<endl; |
| 6759 | } |
| 6760 | |
| 6761 | // These variables provide the approximate location along the trajectory |
| 6762 | // where there is an indication of a kink in the track |
| 6763 | break_point_cdc_index=max_cdc_index; |
| 6764 | break_point_step_index=0; |
| 6765 | |
| 6766 | // Reset material map index |
| 6767 | last_material_map=0; |
| 6768 | |
| 6769 | // Abort if momentum is too low |
| 6770 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 6771 | //printf("Too low momentum? %f\n",1/S(state_q_over_p)); |
| 6772 | break; |
| 6773 | } |
| 6774 | |
| 6775 | // Scale cut for pruning hits according to the iteration number |
| 6776 | anneal_factor=(iter2<MIN_ITER3)?(ANNEAL_SCALE/pow(ANNEAL_POW_CONST,iter2)+1.):1.; |
| 6777 | |
| 6778 | // Initialize path length variable and flight time |
| 6779 | len=0; |
| 6780 | ftime=0.; |
| 6781 | var_ftime=0.; |
| 6782 | |
| 6783 | // Swim to create the reference trajectory |
| 6784 | jerror_t ref_track_error=SetCDCForwardReferenceTrajectory(S); |
| 6785 | if (ref_track_error!=NOERROR){ |
| 6786 | if (iter2==0) return FIT_FAILED; |
| 6787 | break; |
| 6788 | } |
| 6789 | |
| 6790 | // Reset the status of the cdc hits |
| 6791 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 6792 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 6793 | } |
| 6794 | |
| 6795 | // perform the filter |
| 6796 | C=C0; |
| 6797 | bool did_second_refit=false; |
| 6798 | error=KalmanForwardCDC(anneal_factor,S,C,chisq,my_ndf); |
| 6799 | |
| 6800 | // Try to recover tracks that failed the first attempt at fitting by |
| 6801 | // cutting outer hits |
| 6802 | if (error!=FIT_SUCCEEDED && RECOVER_BROKEN_TRACKS |
| 6803 | && num_cdchits>=MIN_HITS_FOR_REFIT){ |
| 6804 | DMatrix5x5 Ctemp=C; |
| 6805 | DMatrix5x1 Stemp=S; |
| 6806 | unsigned int temp_ndf=my_ndf; |
| 6807 | double temp_chi2=chisq; |
| 6808 | double x=x_,y=y_,z=z_; |
| 6809 | |
| 6810 | if (error==MOMENTUM_OUT_OF_RANGE){ |
| 6811 | //_DBG_ << "Momentum out of range" <<endl; |
| 6812 | unsigned int new_index=(3*max_cdc_index)/4; |
| 6813 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 6814 | } |
| 6815 | |
| 6816 | if (error==BROKEN_COVARIANCE_MATRIX){ |
| 6817 | break_point_cdc_index=min_cdc_index_for_refit; |
| 6818 | //_DBG_ << "Bad Cov" <<endl; |
| 6819 | } |
| 6820 | if (error==POSITION_OUT_OF_RANGE){ |
| 6821 | //_DBG_ << "Bad position" << endl; |
| 6822 | unsigned int new_index=(max_cdc_index)/2; |
| 6823 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 6824 | } |
| 6825 | if (error==PRUNED_TOO_MANY_HITS){ |
| 6826 | // _DBG_ << "Prune" << endl; |
| 6827 | unsigned int new_index=(3*max_cdc_index)/4; |
| 6828 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 6829 | // anneal_factor*=10.; |
| 6830 | } |
| 6831 | |
| 6832 | kalman_error_t refit_error=RecoverBrokenTracks(anneal_factor,S,C,C0,chisq,my_ndf); |
| 6833 | if (fit_type==kTimeBased && refit_error!=FIT_SUCCEEDED){ |
| 6834 | anneal_factor=1000.; |
| 6835 | refit_error=RecoverBrokenTracks(anneal_factor,S,C,C0,chisq,my_ndf); |
| 6836 | //chisq=1e6; |
| 6837 | did_second_refit=true; |
| 6838 | } |
| 6839 | |
| 6840 | if (refit_error!=FIT_SUCCEEDED){ |
| 6841 | if (error==PRUNED_TOO_MANY_HITS || error==BREAK_POINT_FOUND){ |
| 6842 | C=Ctemp; |
| 6843 | S=Stemp; |
| 6844 | my_ndf=temp_ndf; |
| 6845 | chisq=temp_chi2; |
| 6846 | x_=x,y_=y,z_=z; |
| 6847 | |
| 6848 | // error=FIT_SUCCEEDED; |
| 6849 | } |
| 6850 | else error=FIT_FAILED; |
| 6851 | } |
| 6852 | else error=FIT_SUCCEEDED; |
| 6853 | } |
| 6854 | if ((error==POSITION_OUT_OF_RANGE || error==MOMENTUM_OUT_OF_RANGE) |
| 6855 | && iter2==0){ |
| 6856 | return FIT_FAILED; |
| 6857 | } |
| 6858 | if (error==FIT_FAILED || error==INVALID_FIT || my_ndf==0){ |
| 6859 | if (iter2==0) return error; |
| 6860 | break; |
| 6861 | } |
| 6862 | |
| 6863 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<6863<<" " << "--> Chisq " << chisq << " NDF " |
| 6864 | << my_ndf |
| 6865 | << " Prob: " << TMath::Prob(chisq,my_ndf) |
| 6866 | << endl; |
| 6867 | |
| 6868 | if (iter2>MIN_ITER3 && did_second_refit==false){ |
| 6869 | double new_reduced_chisq=chisq/my_ndf; |
| 6870 | double old_reduced_chisq=chisq_forward/last_ndf; |
| 6871 | double new_prob=TMath::Prob(chisq,my_ndf); |
| 6872 | double old_prob=TMath::Prob(chisq_forward,last_ndf); |
| 6873 | if (new_prob<old_prob |
| 6874 | || fabs(new_reduced_chisq-old_reduced_chisq)<CHISQ_DELTA0.01) break; |
| 6875 | } |
| 6876 | |
| 6877 | chisq_forward=chisq; |
| 6878 | Slast=S; |
| 6879 | Clast=C; |
| 6880 | last_error=error; |
| 6881 | last_ndf=my_ndf; |
| 6882 | zlast=z_; |
| 6883 | |
| 6884 | last_cdc_used_in_fit=cdc_used_in_fit; |
| 6885 | } //iteration |
| 6886 | |
| 6887 | // Run the smoother |
| 6888 | IsSmoothed=false; |
| 6889 | if(fit_type==kTimeBased){ |
| 6890 | cdc_pulls.clear(); |
| 6891 | if (SmoothForwardCDC(cdc_pulls) == NOERROR){ |
| 6892 | IsSmoothed = true; |
| 6893 | pulls.assign(cdc_pulls.begin(),cdc_pulls.end()); |
| 6894 | } |
| 6895 | } |
| 6896 | |
| 6897 | // total chisq and ndf |
| 6898 | chisq_=chisq_forward; |
| 6899 | ndf_=last_ndf; |
| 6900 | |
| 6901 | // output lists of hits used in the fit and fill the pull vector |
| 6902 | cdchits_used_in_fit.clear(); |
| 6903 | for (unsigned int m=0;m<last_cdc_used_in_fit.size();m++){ |
| 6904 | if (last_cdc_used_in_fit[m]){ |
| 6905 | cdchits_used_in_fit.push_back(my_cdchits[m]->hit); |
| 6906 | } |
| 6907 | } |
| 6908 | // output pulls vector |
| 6909 | //pulls.assign(last_cdc_pulls.begin(),last_cdc_pulls.end()); |
| 6910 | |
| 6911 | // Fill extrapolation vector |
| 6912 | ClearExtrapolations(); |
| 6913 | if (forward_traj.size()>1){ |
| 6914 | if (fit_type==kWireBased){ |
| 6915 | ExtrapolateForwardToOtherDetectors(); |
| 6916 | } |
| 6917 | else{ |
| 6918 | ExtrapolateToInnerDetectors(); |
| 6919 | |
| 6920 | double reverse_chisq=1e16,reverse_chisq_old=1e16; |
| 6921 | unsigned int reverse_ndf=0,reverse_ndf_old=0; |
| 6922 | |
| 6923 | // Run the Kalman filter in the reverse direction, to get the best guess |
| 6924 | // for the state vector at the last FDC point on the track |
| 6925 | DMatrix5x5 CReverse=C; |
| 6926 | DMatrix5x1 SReverse=S,SDownstream,SBest; |
| 6927 | kalman_error_t reverse_error=FIT_NOT_DONE; |
| 6928 | for (int iter=0;iter<20;iter++){ |
| 6929 | reverse_chisq_old=reverse_chisq; |
| 6930 | reverse_ndf_old=reverse_ndf; |
| 6931 | SBest=SDownstream; |
| 6932 | reverse_error=KalmanReverse(0.,anneal_factor,SReverse,CReverse, |
| 6933 | SDownstream,reverse_chisq,reverse_ndf); |
| 6934 | if (reverse_error!=FIT_SUCCEEDED) break; |
| 6935 | |
| 6936 | SReverse=SDownstream; |
| 6937 | for (unsigned int k=0;k<forward_traj.size()-1;k++){ |
| 6938 | // Get dEdx for the upcoming step |
| 6939 | double dEdx=0.; |
| 6940 | if (CORRECT_FOR_ELOSS){ |
| 6941 | dEdx=GetdEdx(SReverse(state_q_over_p), |
| 6942 | forward_traj[k].K_rho_Z_over_A, |
| 6943 | forward_traj[k].rho_Z_over_A, |
| 6944 | forward_traj[k].LnI,forward_traj[k].Z); |
| 6945 | } |
| 6946 | // Step through field |
| 6947 | DMatrix5x5 J; |
| 6948 | double z=forward_traj[k].z; |
| 6949 | double newz=forward_traj[k+1].z; |
| 6950 | StepJacobian(z,newz,SReverse,dEdx,J); |
| 6951 | Step(z,newz,dEdx,SReverse); |
| 6952 | |
| 6953 | CReverse=forward_traj[k].Q.AddSym(J*CReverse*J.Transpose()); |
| 6954 | } |
| 6955 | |
| 6956 | double reduced_chisq=reverse_chisq/double(reverse_ndf); |
| 6957 | double reduced_chisq_old=reverse_chisq_old/double(reverse_ndf_old); |
| 6958 | if (reduced_chisq>reduced_chisq_old |
| 6959 | || fabs(reduced_chisq-reduced_chisq_old)<0.01) break; |
| 6960 | } |
| 6961 | if (reverse_error!=FIT_SUCCEEDED){ |
| 6962 | ExtrapolateToOuterDetectors(forward_traj[0].S); |
| 6963 | } |
| 6964 | else{ |
| 6965 | ExtrapolateToOuterDetectors(SBest); |
| 6966 | } |
| 6967 | } |
| 6968 | } |
| 6969 | if (extrapolations.at(SYS_BCAL).size()==1){ |
| 6970 | // There needs to be some steps inside the the volume of the BCAL for |
| 6971 | // the extrapolation to be useful. If this is not the case, clear |
| 6972 | // the extrolation vector. |
| 6973 | extrapolations[SYS_BCAL].clear(); |
| 6974 | } |
| 6975 | |
| 6976 | // Extrapolate to the point of closest approach to the beam line |
| 6977 | z_=zlast; |
| 6978 | DVector2 beam_pos=beam_center+(z_-beam_z0)*beam_dir; |
| 6979 | double dx=Slast(state_x)-beam_pos.X(); |
| 6980 | double dy=Slast(state_y)-beam_pos.Y(); |
| 6981 | bool extrapolated=false; |
| 6982 | if (sqrt(dx*dx+dy*dy)>EPS21.e-4){ |
| 6983 | if (ExtrapolateToVertex(Slast,Clast)!=NOERROR) return EXTRAPOLATION_FAILED; |
| 6984 | extrapolated=true; |
| 6985 | } |
| 6986 | |
| 6987 | // Final momentum, positions and tangents |
| 6988 | x_=Slast(state_x), y_=Slast(state_y); |
| 6989 | tx_=Slast(state_tx),ty_=Slast(state_ty); |
| 6990 | q_over_p_=Slast(state_q_over_p); |
| 6991 | |
| 6992 | // Convert from forward rep. to central rep. |
| 6993 | double tsquare=tx_*tx_+ty_*ty_; |
| 6994 | tanl_=1./sqrt(tsquare); |
| 6995 | double cosl=cos(atan(tanl_)); |
| 6996 | q_over_pt_=q_over_p_/cosl; |
| 6997 | phi_=atan2(ty_,tx_); |
| 6998 | if (FORWARD_PARMS_COV==false){ |
| 6999 | if (extrapolated){ |
| 7000 | beam_pos=beam_center+(z_-beam_z0)*beam_dir; |
| 7001 | dx=x_-beam_pos.X(); |
| 7002 | dy=y_-beam_pos.Y(); |
| 7003 | } |
| 7004 | D_=sqrt(dx*dx+dy*dy)+EPS3.0e-8; |
| 7005 | x_ = dx; y_ = dy; |
| 7006 | double cosphi=cos(phi_); |
| 7007 | double sinphi=sin(phi_); |
| 7008 | if ((dx>0.0 && sinphi>0.0) || (dy<0.0 && cosphi>0.0) |
| 7009 | || (dy>0.0 && cosphi<0.0) || (dx<0.0 && sinphi<0.0)) D_*=-1.; |
| 7010 | TransformCovariance(Clast); |
| 7011 | } |
| 7012 | // Covariance matrix |
| 7013 | vector<double>dummy; |
| 7014 | // ... forward parameterization |
| 7015 | fcov.clear(); |
| 7016 | for (unsigned int i=0;i<5;i++){ |
| 7017 | dummy.clear(); |
| 7018 | for(unsigned int j=0;j<5;j++){ |
| 7019 | dummy.push_back(Clast(i,j)); |
| 7020 | } |
| 7021 | fcov.push_back(dummy); |
| 7022 | } |
| 7023 | |
| 7024 | return last_error; |
| 7025 | } |
| 7026 | |
| 7027 | // Routine to fit hits in the CDC using the central parametrization |
| 7028 | kalman_error_t DTrackFitterKalmanSIMD::CentralFit(const DVector2 &startpos, |
| 7029 | const DMatrix5x1 &S0, |
| 7030 | const DMatrix5x5 &C0){ |
| 7031 | // Initial position in x and y |
| 7032 | DVector2 pos(startpos); |
| 7033 | |
| 7034 | // Charge |
| 7035 | // double q=input_params.charge(); |
| 7036 | |
| 7037 | // Covariance matrix and state vector |
| 7038 | DMatrix5x5 Cc; |
| 7039 | DMatrix5x1 Sc=S0; |
| 7040 | |
| 7041 | // Variables to store values from previous iterations |
| 7042 | DMatrix5x1 Sclast(Sc); |
| 7043 | DMatrix5x5 Cclast(C0); |
| 7044 | DVector2 last_pos=pos; |
| 7045 | |
| 7046 | unsigned int num_cdchits=my_cdchits.size(); |
| 7047 | unsigned int max_cdc_index=num_cdchits-1; |
| 7048 | unsigned int min_cdc_index_for_refit=MIN_HITS_FOR_REFIT-1; |
| 7049 | |
| 7050 | // Vectors to keep track of updated state vectors and covariance matrices (after |
| 7051 | // adding the hit information) |
| 7052 | vector<pull_t>last_cdc_pulls; |
| 7053 | vector<pull_t>cdc_pulls; |
| 7054 | vector<bool>last_cdc_used_in_fit(num_cdchits); |
| 7055 | |
| 7056 | double anneal_factor=ANNEAL_SCALE+1.; // variable for scaling cut for hit pruning |
| 7057 | |
| 7058 | //Initialization of chisq, ndf, and error status |
| 7059 | double chisq_iter=-1.,chisq=-1.; |
| 7060 | unsigned int my_ndf=0; |
| 7061 | ndf_=0.; |
| 7062 | unsigned int last_ndf=1; |
| 7063 | kalman_error_t error=FIT_NOT_DONE,last_error=FIT_NOT_DONE; |
| 7064 | |
| 7065 | // Iterate over reference trajectories |
| 7066 | int iter2=0; |
| 7067 | for (;iter2<(fit_type==kTimeBased?MAX_TB_PASSES20:MAX_WB_PASSES20); |
| 7068 | iter2++){ |
| 7069 | if (DEBUG_LEVEL>1){ |
| 7070 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7070<<" " <<"-------- iteration " << iter2+1 << " -----------" <<endl; |
| 7071 | } |
| 7072 | |
| 7073 | // These variables provide the approximate location along the trajectory |
| 7074 | // where there is an indication of a kink in the track |
| 7075 | break_point_cdc_index=max_cdc_index; |
| 7076 | break_point_step_index=0; |
| 7077 | |
| 7078 | // Reset material map index |
| 7079 | last_material_map=0; |
| 7080 | |
| 7081 | // Break out of loop if p is too small |
| 7082 | double q_over_p=Sc(state_q_over_pt)*cos(atan(Sc(state_tanl))); |
| 7083 | if (fabs(q_over_p)>Q_OVER_P_MAX) break; |
| 7084 | |
| 7085 | // Initialize path length variable and flight time |
| 7086 | len=0.; |
| 7087 | ftime=0.; |
| 7088 | var_ftime=0.; |
| 7089 | |
| 7090 | // Scale cut for pruning hits according to the iteration number |
| 7091 | anneal_factor=(iter2<MIN_ITER3)?(ANNEAL_SCALE/pow(ANNEAL_POW_CONST,iter2)+1.):1.; |
| 7092 | |
| 7093 | // Initialize trajectory deque |
| 7094 | jerror_t ref_track_error=SetCDCReferenceTrajectory(last_pos,Sc); |
| 7095 | if (ref_track_error!=NOERROR){ |
| 7096 | if (iter2==0) return FIT_FAILED; |
| 7097 | break; |
| 7098 | } |
| 7099 | |
| 7100 | // Reset the status of the cdc hits |
| 7101 | for (unsigned int j=0;j<num_cdchits;j++){ |
| 7102 | if (my_cdchits[j]->status!=late_hit)my_cdchits[j]->status=good_hit; |
| 7103 | } |
| 7104 | |
| 7105 | // perform the fit |
| 7106 | Cc=C0; |
| 7107 | bool did_second_refit=false; |
| 7108 | error=KalmanCentral(anneal_factor,Sc,Cc,pos,chisq,my_ndf); |
| 7109 | |
| 7110 | // Try to recover tracks that failed the first attempt at fitting by |
| 7111 | // throwing away outer hits. |
| 7112 | if (error!=FIT_SUCCEEDED && RECOVER_BROKEN_TRACKS |
| 7113 | && num_cdchits>=MIN_HITS_FOR_REFIT){ |
| 7114 | DVector2 temp_pos=pos; |
| 7115 | DMatrix5x1 Stemp=Sc; |
| 7116 | DMatrix5x5 Ctemp=Cc; |
| 7117 | unsigned int temp_ndf=my_ndf; |
| 7118 | double temp_chi2=chisq; |
| 7119 | |
| 7120 | if (error==MOMENTUM_OUT_OF_RANGE){ |
| 7121 | //_DBG_ << "Momentum out of range" <<endl; |
| 7122 | unsigned int new_index=(3*max_cdc_index)/4; |
| 7123 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 7124 | } |
| 7125 | |
| 7126 | if (error==BROKEN_COVARIANCE_MATRIX){ |
| 7127 | break_point_cdc_index=min_cdc_index_for_refit; |
| 7128 | //_DBG_ << "Bad Cov" <<endl; |
| 7129 | } |
| 7130 | if (error==POSITION_OUT_OF_RANGE){ |
| 7131 | //_DBG_ << "Bad position" << endl; |
| 7132 | unsigned int new_index=(max_cdc_index)/2; |
| 7133 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 7134 | } |
| 7135 | if (error==PRUNED_TOO_MANY_HITS){ |
| 7136 | unsigned int new_index=(3*max_cdc_index)/4; |
| 7137 | break_point_cdc_index=(new_index>min_cdc_index_for_refit)?new_index:min_cdc_index_for_refit; |
| 7138 | //anneal_factor*=10.; |
| 7139 | //_DBG_ << "Prune" << endl; |
| 7140 | } |
| 7141 | |
| 7142 | kalman_error_t refit_error=RecoverBrokenTracks(anneal_factor,Sc,Cc,C0,pos,chisq,my_ndf); |
| 7143 | if (fit_type==kTimeBased && refit_error!=FIT_SUCCEEDED){ |
| 7144 | anneal_factor=1000.; |
| 7145 | refit_error=RecoverBrokenTracks(anneal_factor,Sc,Cc,C0,pos,chisq,my_ndf); |
| 7146 | //chisq=1e6; |
| 7147 | did_second_refit=true; |
| 7148 | } |
| 7149 | |
| 7150 | if (refit_error!=FIT_SUCCEEDED){ |
| 7151 | //_DBG_ << error << endl; |
| 7152 | if (error==PRUNED_TOO_MANY_HITS || error==BREAK_POINT_FOUND){ |
| 7153 | Cc=Ctemp; |
| 7154 | Sc=Stemp; |
| 7155 | my_ndf=temp_ndf; |
| 7156 | chisq=temp_chi2; |
| 7157 | pos=temp_pos; |
| 7158 | if (DEBUG_LEVEL > 1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7158<<" " << " Refit did not succeed, but restoring old values" << endl; |
| 7159 | |
| 7160 | //error=FIT_SUCCEEDED; |
| 7161 | } |
| 7162 | } |
| 7163 | else error=FIT_SUCCEEDED; |
| 7164 | } |
| 7165 | if ((error==POSITION_OUT_OF_RANGE || error==MOMENTUM_OUT_OF_RANGE) |
| 7166 | && iter2==0){ |
| 7167 | return FIT_FAILED; |
| 7168 | } |
| 7169 | if (error==FIT_FAILED || error==INVALID_FIT || my_ndf==0){ |
| 7170 | if (iter2==0) return error; |
| 7171 | break; |
| 7172 | } |
| 7173 | |
| 7174 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7174<<" " << "--> Chisq " << chisq << " Ndof " << my_ndf |
| 7175 | << " Prob: " << TMath::Prob(chisq,my_ndf) |
| 7176 | << endl; |
| 7177 | |
| 7178 | if (iter2>MIN_ITER3 && did_second_refit==false){ |
| 7179 | double new_reduced_chisq=chisq/my_ndf; |
| 7180 | double old_reduced_chisq=chisq_iter/last_ndf; |
| 7181 | double new_prob=TMath::Prob(chisq,my_ndf); |
| 7182 | double old_prob=TMath::Prob(chisq_iter,last_ndf); |
| 7183 | if (new_prob<old_prob |
| 7184 | || fabs(new_reduced_chisq-old_reduced_chisq)<CHISQ_DELTA0.01) break; |
| 7185 | } |
| 7186 | |
| 7187 | // Save the current state vector and covariance matrix |
| 7188 | Cclast=Cc; |
| 7189 | Sclast=Sc; |
| 7190 | last_pos=pos; |
| 7191 | chisq_iter=chisq; |
| 7192 | last_ndf=my_ndf; |
| 7193 | last_error=error; |
| 7194 | |
| 7195 | last_cdc_used_in_fit=cdc_used_in_fit; |
| 7196 | } |
| 7197 | |
| 7198 | // Run smoother and fill pulls vector |
| 7199 | IsSmoothed=false; |
| 7200 | if(fit_type==kTimeBased){ |
| 7201 | cdc_pulls.clear(); |
| 7202 | if (SmoothCentral(cdc_pulls) == NOERROR){ |
| 7203 | IsSmoothed = true; |
| 7204 | pulls.assign(cdc_pulls.begin(),cdc_pulls.end()); |
| 7205 | } |
| 7206 | } |
| 7207 | |
| 7208 | // Fill extrapolations vector |
| 7209 | ClearExtrapolations(); |
| 7210 | ExtrapolateCentralToOtherDetectors(); |
| 7211 | if (extrapolations.at(SYS_BCAL).size()==1){ |
| 7212 | // There needs to be some steps inside the the volume of the BCAL for |
| 7213 | // the extrapolation to be useful. If this is not the case, clear |
| 7214 | // the extrolation vector. |
| 7215 | extrapolations[SYS_BCAL].clear(); |
| 7216 | } |
| 7217 | |
| 7218 | // Extrapolate to the point of closest approach to the beam line |
| 7219 | DVector2 beam_pos=beam_center+(Sclast(state_z)-beam_z0)*beam_dir; |
| 7220 | bool extrapolated=false; |
| 7221 | if ((last_pos-beam_pos).Mod()>EPS21.e-4){ // in cm |
| 7222 | if (ExtrapolateToVertex(last_pos,Sclast,Cclast)!=NOERROR) return EXTRAPOLATION_FAILED; |
| 7223 | extrapolated=true; |
| 7224 | } |
| 7225 | |
| 7226 | // output lists of hits used in the fit |
| 7227 | cdchits_used_in_fit.clear(); |
| 7228 | for (unsigned int m=0;m<last_cdc_used_in_fit.size();m++){ |
| 7229 | if (last_cdc_used_in_fit[m]){ |
| 7230 | cdchits_used_in_fit.push_back(my_cdchits[m]->hit); |
| 7231 | } |
| 7232 | } |
| 7233 | // output the pull information |
| 7234 | //pulls.assign(last_cdc_pulls.begin(),last_cdc_pulls.end()); |
| 7235 | |
| 7236 | // Track Parameters at "vertex" |
| 7237 | phi_=Sclast(state_phi); |
| 7238 | q_over_pt_=Sclast(state_q_over_pt); |
| 7239 | tanl_=Sclast(state_tanl); |
| 7240 | x_=last_pos.X(); |
| 7241 | y_=last_pos.Y(); |
| 7242 | z_=Sclast(state_z); |
| 7243 | // Find the (signed) distance of closest approach to the beam line |
| 7244 | if (extrapolated){ |
| 7245 | beam_pos=beam_center+(z_-beam_z0)*beam_dir; |
| 7246 | } |
| 7247 | double dx=x_-beam_pos.X(); |
| 7248 | double dy=y_-beam_pos.Y(); |
| 7249 | D_=sqrt(dx*dx+dy*dy)+EPS3.0e-8; |
| 7250 | x_ = dx; y_ = dy; |
| 7251 | double cosphi=cos(phi_); |
| 7252 | double sinphi=sin(phi_); |
| 7253 | if ((dx>0.0 && sinphi>0.0) || (dy <0.0 && cosphi>0.0) |
| 7254 | || (dy>0.0 && cosphi<0.0) || (dx<0.0 && sinphi<0.0)) D_*=-1.; |
| 7255 | // Rotate covariance matrix to coordinate system centered on x=0,y=0 in the |
| 7256 | // lab |
| 7257 | DMatrix5x5 Jc=I5x5; |
| 7258 | Jc(state_D,state_D)=(dy*cosphi-dx*sinphi)/D_; |
| 7259 | //Cclast=Cclast.SandwichMultiply(Jc); |
| 7260 | Cclast=Jc*Cclast*Jc.Transpose(); |
| 7261 | |
| 7262 | if (!isfinite(x_) || !isfinite(y_) || !isfinite(z_) || !isfinite(phi_) |
| 7263 | || !isfinite(q_over_pt_) || !isfinite(tanl_)){ |
| 7264 | if (DEBUG_LEVEL>0){ |
| 7265 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7265<<" " << "At least one parameter is NaN or +-inf!!" <<endl; |
| 7266 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7266<<" " << "x " << x_ << " y " << y_ << " z " << z_ << " phi " << phi_ |
| 7267 | << " q/pt " << q_over_pt_ << " tanl " << tanl_ << endl; |
| 7268 | } |
| 7269 | return INVALID_FIT; |
| 7270 | } |
| 7271 | |
| 7272 | // Covariance matrix at vertex |
| 7273 | fcov.clear(); |
| 7274 | vector<double>dummy; |
| 7275 | for (unsigned int i=0;i<5;i++){ |
| 7276 | dummy.clear(); |
| 7277 | for(unsigned int j=0;j<5;j++){ |
| 7278 | dummy.push_back(Cclast(i,j)); |
| 7279 | } |
| 7280 | cov.push_back(dummy); |
| 7281 | } |
| 7282 | |
| 7283 | // total chisq and ndf |
| 7284 | chisq_=chisq_iter; |
| 7285 | ndf_=last_ndf; |
| 7286 | //printf("NDof %d\n",ndf); |
| 7287 | |
| 7288 | return last_error; |
| 7289 | } |
| 7290 | |
| 7291 | // Smoothing algorithm for the forward trajectory. Updates the state vector |
| 7292 | // at each step (going in the reverse direction to the filter) based on the |
| 7293 | // information from all the steps and outputs the state vector at the |
| 7294 | // outermost step. |
| 7295 | jerror_t DTrackFitterKalmanSIMD::SmoothForward(vector<pull_t>&forward_pulls){ |
| 7296 | if (forward_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 7297 | |
| 7298 | unsigned int max=forward_traj.size()-1; |
| 7299 | DMatrix5x1 S=(forward_traj[max].Skk); |
| 7300 | DMatrix5x5 C=(forward_traj[max].Ckk); |
| 7301 | DMatrix5x5 JT=forward_traj[max].J.Transpose(); |
| 7302 | DMatrix5x1 Ss=S; |
| 7303 | DMatrix5x5 Cs=C; |
| 7304 | DMatrix5x5 A,dC; |
| 7305 | |
| 7306 | if (DEBUG_LEVEL>19){ |
| 7307 | jout << "---- Smoothed residuals ----" <<endl; |
| 7308 | jout << setprecision(4); |
| 7309 | } |
| 7310 | |
| 7311 | for (unsigned int m=max-1;m>0;m--){ |
| 7312 | |
| 7313 | if (WRITE_ML_TRAINING_OUTPUT){ |
| 7314 | mlfile << forward_traj[m].z; |
| 7315 | for (unsigned int k=0;k<5;k++){ |
| 7316 | mlfile << " " << Ss(k); |
| 7317 | } |
| 7318 | for (unsigned int k=0;k<5;k++){ |
| 7319 | mlfile << " " << Cs(k,k); |
| 7320 | for (unsigned int j=k+1;j<5;j++){ |
| 7321 | mlfile <<" " << Cs(k,j); |
| 7322 | } |
| 7323 | } |
| 7324 | mlfile << endl; |
| 7325 | } |
| 7326 | |
| 7327 | if (forward_traj[m].h_id>0){ |
| 7328 | if (forward_traj[m].h_id<1000){ |
| 7329 | unsigned int id=forward_traj[m].h_id-1; |
| 7330 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7330<<" " << " Smoothing FDC ID " << id << endl; |
| 7331 | if (fdc_used_in_fit[id] && my_fdchits[id]->status==good_hit){ |
| 7332 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7332<<" " << " Used in fit " << endl; |
| 7333 | A=fdc_updates[id].C*JT*C.InvertSym(); |
| 7334 | Ss=fdc_updates[id].S+A*(Ss-S); |
| 7335 | |
| 7336 | if (!Ss.IsFinite()){ |
| 7337 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7337<<" " << "Invalid values for smoothed parameters..." << endl; |
| 7338 | return VALUE_OUT_OF_RANGE; |
| 7339 | } |
| 7340 | dC=A*(Cs-C)*A.Transpose(); |
| 7341 | Cs=fdc_updates[id].C+dC; |
| 7342 | if (!Cs.IsPosDef()){ |
| 7343 | if (DEBUG_LEVEL>1) |
| 7344 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7344<<" " << "Covariance Matrix not PosDef..." << endl; |
| 7345 | return VALUE_OUT_OF_RANGE; |
| 7346 | } |
| 7347 | |
| 7348 | // Position and direction from state vector with small angle |
| 7349 | // alignment correction |
| 7350 | double x=Ss(state_x) + my_fdchits[id]->phiZ*Ss(state_y); |
| 7351 | double y=Ss(state_y) - my_fdchits[id]->phiZ*Ss(state_x); |
| 7352 | double tx=Ss(state_tx)+ my_fdchits[id]->phiZ*Ss(state_ty) |
| 7353 | - my_fdchits[id]->phiY; |
| 7354 | double ty=Ss(state_ty) - my_fdchits[id]->phiZ*Ss(state_tx) |
| 7355 | + my_fdchits[id]->phiX; |
| 7356 | |
| 7357 | double cosa=my_fdchits[id]->cosa; |
| 7358 | double sina=my_fdchits[id]->sina; |
| 7359 | double u=my_fdchits[id]->uwire; |
| 7360 | double v=my_fdchits[id]->vstrip; |
| 7361 | |
| 7362 | // Projected position along the wire without doca-dependent corrections |
| 7363 | double vpred_uncorrected=x*sina+y*cosa; |
| 7364 | |
| 7365 | // Projected position in the plane of the wires transverse to the wires |
| 7366 | double upred=x*cosa-y*sina; |
| 7367 | |
| 7368 | // Direction tangent in the u-z plane |
| 7369 | double tu=tx*cosa-ty*sina; |
| 7370 | double one_plus_tu2=1.+tu*tu; |
| 7371 | double alpha=atan(tu); |
| 7372 | double cosalpha=cos(alpha); |
| 7373 | //double cosalpha2=cosalpha*cosalpha; |
| 7374 | double sinalpha=sin(alpha); |
| 7375 | |
| 7376 | // (signed) distance of closest approach to wire |
| 7377 | double du=upred-u; |
| 7378 | double doca=du*cosalpha; |
| 7379 | |
| 7380 | // Correction for lorentz effect |
| 7381 | double nz=my_fdchits[id]->nz; |
| 7382 | double nr=my_fdchits[id]->nr; |
| 7383 | double nz_sinalpha_plus_nr_cosalpha=nz*sinalpha+nr*cosalpha; |
| 7384 | |
| 7385 | // Difference between measurement and projection |
| 7386 | double tv=tx*sina+ty*cosa; |
| 7387 | double resi=v-(vpred_uncorrected+doca*(nz_sinalpha_plus_nr_cosalpha |
| 7388 | -tv*sinalpha)); |
| 7389 | double drift_time=my_fdchits[id]->t-mT0 |
| 7390 | -forward_traj[m].t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 7391 | double drift = 0.0; |
| 7392 | int left_right = -999; |
| 7393 | if (USE_FDC_DRIFT_TIMES) { |
| 7394 | drift = (du > 0.0 ? 1.0 : -1.0) * fdc_drift_distance(drift_time, forward_traj[m].B); |
| 7395 | left_right = (du > 0.0 ? +1 : -1); |
| 7396 | } |
| 7397 | |
| 7398 | double resi_a = drift - doca; |
| 7399 | |
| 7400 | // Variance from filter step |
| 7401 | // This V is really "R" in Fruhwirths notation, in the case that the track is used in the fit. |
| 7402 | DMatrix2x2 V=fdc_updates[id].V; |
| 7403 | // Compute projection matrix and find the variance for the residual |
| 7404 | DMatrix5x2 H_T; |
| 7405 | double temp2=nz_sinalpha_plus_nr_cosalpha-tv*sinalpha; |
| 7406 | H_T(state_x,1)=sina+cosa*cosalpha*temp2; |
| 7407 | H_T(state_y,1)=cosa-sina*cosalpha*temp2; |
| 7408 | |
| 7409 | double cos2_minus_sin2=cosalpha*cosalpha-sinalpha*sinalpha; |
| 7410 | double fac=nz*cos2_minus_sin2-2.*nr*cosalpha*sinalpha; |
| 7411 | double doca_cosalpha=doca*cosalpha; |
| 7412 | double temp=doca_cosalpha*fac; |
| 7413 | H_T(state_tx,1)=cosa*temp |
| 7414 | -doca_cosalpha*(tu*sina+tv*cosa*cos2_minus_sin2) |
| 7415 | ; |
| 7416 | H_T(state_ty,1)=-sina*temp |
| 7417 | -doca_cosalpha*(tu*cosa-tv*sina*cos2_minus_sin2) |
| 7418 | ; |
| 7419 | |
| 7420 | H_T(state_x,0)=cosa*cosalpha; |
| 7421 | H_T(state_y,0)=-sina*cosalpha; |
| 7422 | double factor=du*tu/sqrt(one_plus_tu2)/one_plus_tu2; |
| 7423 | H_T(state_ty,0)=sina*factor; |
| 7424 | H_T(state_tx,0)=-cosa*factor; |
| 7425 | |
| 7426 | // Matrix transpose H_T -> H |
| 7427 | DMatrix2x5 H=Transpose(H_T); |
| 7428 | |
| 7429 | if (my_fdchits[id]->hit!=NULL__null |
| 7430 | && my_fdchits[id]->hit->wire->layer==PLANE_TO_SKIP){ |
| 7431 | //V+=Cs.SandwichMultiply(H_T); |
| 7432 | V=V+H*Cs*H_T; |
| 7433 | } |
| 7434 | else{ |
| 7435 | //V-=dC.SandwichMultiply(H_T); |
| 7436 | V=V-H*dC*H_T; |
| 7437 | } |
| 7438 | |
| 7439 | |
| 7440 | vector<double> alignmentDerivatives; |
| 7441 | if (ALIGNMENT_FORWARD && my_fdchits[id]->hit!=NULL__null){ |
| 7442 | alignmentDerivatives.resize(FDCTrackD::size); |
| 7443 | // Let's get the alignment derivatives |
| 7444 | |
| 7445 | // Things are assumed to be linear near the wire, derivatives can be determined analytically. |
| 7446 | // First for the wires |
| 7447 | |
| 7448 | //dDOCAW/ddeltax |
| 7449 | alignmentDerivatives[FDCTrackD::dDOCAW_dDeltaX] = -(1/sqrt(1 + pow(tx*cosa - ty*sina,2))); |
| 7450 | |
| 7451 | //dDOCAW/ddeltaz |
| 7452 | alignmentDerivatives[FDCTrackD::dDOCAW_dDeltaZ] = (tx*cosa - ty*sina)/sqrt(1 + pow(tx*cosa - ty*sina,2)); |
| 7453 | |
| 7454 | //dDOCAW/ddeltaPhiX |
| 7455 | double cos2a = cos(2.*my_fdchits[id]->hit->wire->angle); |
| 7456 | double sin2a = sin(2.*my_fdchits[id]->hit->wire->angle); |
| 7457 | double cos3a = cos(3.*my_fdchits[id]->hit->wire->angle); |
| 7458 | double sin3a = sin(3.*my_fdchits[id]->hit->wire->angle); |
| 7459 | //double tx2 = tx*tx; |
| 7460 | //double ty2 = ty*ty; |
| 7461 | alignmentDerivatives[FDCTrackD::dDOCAW_dDeltaPhiX] = (sina*(-(tx*cosa) + ty*sina)*(u - x*cosa + y*sina))/ |
| 7462 | pow(1 + pow(tx*cosa - ty*sina,2),1.5); |
| 7463 | alignmentDerivatives[FDCTrackD::dDOCAW_dDeltaPhiY] = -((cosa*(tx*cosa - ty*sina)*(u - x*cosa + y*sina))/ |
| 7464 | pow(1 + pow(tx*cosa - ty*sina,2),1.5)); |
| 7465 | alignmentDerivatives[FDCTrackD::dDOCAW_dDeltaPhiZ] = (tx*ty*u*cos2a + (x + pow(ty,2)*x - tx*ty*y)*sina + |
| 7466 | cosa*(-(tx*ty*x) + y + pow(tx,2)*y + (tx - ty)*(tx + ty)*u*sina))/ |
| 7467 | pow(1 + pow(tx*cosa - ty*sina,2),1.5); |
| 7468 | |
| 7469 | // dDOCAW/dt0 |
| 7470 | double t0shift=4.;//ns |
| 7471 | double drift_shift = 0.0; |
| 7472 | if(USE_FDC_DRIFT_TIMES){ |
| 7473 | if (drift_time < 0.) drift_shift = drift; |
| 7474 | else drift_shift = (du>0.0?1.:-1.)*fdc_drift_distance(drift_time+t0shift,forward_traj[m].B); |
| 7475 | } |
| 7476 | alignmentDerivatives[FDCTrackD::dW_dt0]= (drift_shift-drift)/t0shift; |
| 7477 | |
| 7478 | // dDOCAW/dx |
| 7479 | alignmentDerivatives[FDCTrackD::dDOCAW_dx] = cosa/sqrt(1 + pow(tx*cosa - ty*sina,2)); |
| 7480 | |
| 7481 | // dDOCAW/dy |
| 7482 | alignmentDerivatives[FDCTrackD::dDOCAW_dy] = -(sina/sqrt(1 + pow(tx*cosa - ty*sina,2))); |
| 7483 | |
| 7484 | // dDOCAW/dtx |
| 7485 | alignmentDerivatives[FDCTrackD::dDOCAW_dtx] = (cosa*(tx*cosa - ty*sina)*(u - x*cosa + y*sina))/pow(1 + pow(tx*cosa - ty*sina,2),1.5); |
| 7486 | |
| 7487 | // dDOCAW/dty |
| 7488 | alignmentDerivatives[FDCTrackD::dDOCAW_dty] = (sina*(-(tx*cosa) + ty*sina)*(u - x*cosa + y*sina))/ |
| 7489 | pow(1 + pow(tx*cosa - ty*sina,2),1.5); |
| 7490 | |
| 7491 | // Then for the cathodes. The magnetic field correction now correlates the alignment constants for the wires and cathodes. |
| 7492 | |
| 7493 | //dDOCAC/ddeltax |
| 7494 | alignmentDerivatives[FDCTrackD::dDOCAC_dDeltaX] = |
| 7495 | (-nr + (-nz + ty*cosa + tx*sina)*(tx*cosa - ty*sina))/(1 + pow(tx*cosa - ty*sina,2)); |
| 7496 | |
| 7497 | //dDOCAC/ddeltaz |
| 7498 | alignmentDerivatives[FDCTrackD::dDOCAC_dDeltaZ] = |
| 7499 | nz + (-nz + (nr*tx + ty)*cosa + (tx - nr*ty)*sina)/(1 + pow(tx*cosa - ty*sina,2)); |
| 7500 | |
| 7501 | //dDOCAC/ddeltaPhiX |
| 7502 | alignmentDerivatives[FDCTrackD::dDOCAC_dDeltaPhiX] = |
| 7503 | (-2*y*cosa*sina*(tx*cosa - ty*sina) - 2*x*pow(sina,2)*(tx*cosa - ty*sina) - |
| 7504 | (u - x*cosa + y*sina)*(-(nz*sina) + sina*(ty*cosa + tx*sina) - |
| 7505 | cosa*(tx*cosa - ty*sina)))/(1 + pow(tx*cosa - ty*sina,2)) + |
| 7506 | (2*sina*(tx*cosa - ty*sina)*(-((u - x*cosa + y*sina)* |
| 7507 | (nr + nz*(tx*cosa - ty*sina) - (ty*cosa + tx*sina)*(tx*cosa - ty*sina))) + |
| 7508 | y*cosa*(1 + pow(tx*cosa - ty*sina,2)) + x*sina*(1 + pow(tx*cosa - ty*sina,2))))/ |
| 7509 | pow(1 + pow(tx*cosa - ty*sina,2),2); |
| 7510 | |
| 7511 | |
| 7512 | //dDOCAC/ddeltaPhiY |
| 7513 | alignmentDerivatives[FDCTrackD::dDOCAC_dDeltaPhiY] = (-2*y*pow(cosa,2)*(tx*cosa - ty*sina) - 2*x*cosa*sina*(tx*cosa - ty*sina) - |
| 7514 | (u - x*cosa + y*sina)*(-(nz*cosa) + cosa*(ty*cosa + tx*sina) + |
| 7515 | sina*(tx*cosa - ty*sina)))/(1 + pow(tx*cosa - ty*sina,2)) + |
| 7516 | (2*cosa*(tx*cosa - ty*sina)*(-((u - x*cosa + y*sina)* |
| 7517 | (nr + nz*(tx*cosa - ty*sina) - (ty*cosa + tx*sina)*(tx*cosa - ty*sina))) + |
| 7518 | y*cosa*(1 + pow(tx*cosa - ty*sina,2)) + x*sina*(1 + pow(tx*cosa - ty*sina,2))))/ |
| 7519 | pow(1 + pow(tx*cosa - ty*sina,2),2); |
| 7520 | |
| 7521 | //dDOCAC/ddeltaPhiZ |
| 7522 | alignmentDerivatives[FDCTrackD::dDOCAC_dDeltaPhiZ] = (-2*(ty*cosa + tx*sina)*(tx*cosa - ty*sina)* |
| 7523 | (-((u - x*cosa + y*sina)*(nr + nz*(tx*cosa - ty*sina) - |
| 7524 | (ty*cosa + tx*sina)*(tx*cosa - ty*sina))) + |
| 7525 | y*cosa*(1 + pow(tx*cosa - ty*sina,2)) + x*sina*(1 + pow(tx*cosa - ty*sina,2))))/ |
| 7526 | pow(1 + pow(tx*cosa - ty*sina,2),2) + |
| 7527 | (2*y*cosa*(ty*cosa + tx*sina)*(tx*cosa - ty*sina) + |
| 7528 | 2*x*sina*(ty*cosa + tx*sina)*(tx*cosa - ty*sina) - |
| 7529 | (-(y*cosa) - x*sina)*(nr + nz*(tx*cosa - ty*sina) - |
| 7530 | (ty*cosa + tx*sina)*(tx*cosa - ty*sina)) - |
| 7531 | x*cosa*(1 + pow(tx*cosa - ty*sina,2)) + y*sina*(1 + pow(tx*cosa - ty*sina,2)) - |
| 7532 | (u - x*cosa + y*sina)*(nz*(ty*cosa + tx*sina) - pow(ty*cosa + tx*sina,2) - |
| 7533 | (tx*cosa - ty*sina)*(-(tx*cosa) + ty*sina)))/(1 + pow(tx*cosa - ty*sina,2)); |
| 7534 | |
| 7535 | //dDOCAC/dx |
| 7536 | alignmentDerivatives[FDCTrackD::dDOCAC_dx] = (cosa*(nr - tx*ty + nz*tx*cosa) + sina + ty*(ty - nz*cosa)*sina)/ |
| 7537 | (1 + pow(tx*cosa - ty*sina,2)); |
| 7538 | |
| 7539 | //dDOCAC/dy |
| 7540 | alignmentDerivatives[FDCTrackD::dDOCAC_dy] = ((1 + pow(tx,2))*cosa - (nr + tx*ty + nz*tx*cosa)*sina + nz*ty*pow(sina,2))/ |
| 7541 | (1 + pow(tx*cosa - ty*sina,2)); |
| 7542 | |
| 7543 | //dDOCAC/dtx |
| 7544 | alignmentDerivatives[FDCTrackD::dDOCAC_dtx] = ((u - x*cosa + y*sina)*(4*nr*tx - 2*ty*(pow(tx,2) + pow(ty,2)) + nz*(-4 + 3*pow(tx,2) + pow(ty,2))*cosa + |
| 7545 | 2*(2*nr*tx + ty*(2 - pow(tx,2) + pow(ty,2)))*cos2a + nz*(tx - ty)*(tx + ty)*cos3a - 2*nz*tx*ty*sina + |
| 7546 | 4*(tx - nr*ty + tx*pow(ty,2))*sin2a - 2*nz*tx*ty*sin3a))/ |
| 7547 | pow(2 + pow(tx,2) + pow(ty,2) + (tx - ty)*(tx + ty)*cos2a - 2*tx*ty*sin2a,2); |
| 7548 | |
| 7549 | //dDOCAC/dty |
| 7550 | alignmentDerivatives[FDCTrackD::dDOCAC_dty] = -(((u - x*cosa + y*sina)*(-2*(pow(tx,3) + 2*nr*ty + tx*pow(ty,2)) - 2*nz*tx*ty*cosa - |
| 7551 | 2*(2*tx + pow(tx,3) - 2*nr*ty - tx*pow(ty,2))*cos2a + 2*nz*tx*ty*cos3a + |
| 7552 | nz*(-4 + pow(tx,2) + 3*pow(ty,2))*sina + 4*(ty + tx*(nr + tx*ty))*sin2a + nz*(tx - ty)*(tx + ty)*sin3a)) |
| 7553 | /pow(2 + pow(tx,2) + pow(ty,2) + (tx - ty)*(tx + ty)*cos2a - 2*tx*ty*sin2a,2)); |
| 7554 | |
| 7555 | } |
| 7556 | |
| 7557 | if (DEBUG_LEVEL>19 && my_fdchits[id]->hit!=NULL__null){ |
| 7558 | jout << "Layer " << my_fdchits[id]->hit->wire->layer |
| 7559 | <<": t " << drift_time << " x "<< x << " y " << y |
| 7560 | << " coordinate along wire " << v << " resi_c " <<resi |
| 7561 | << " coordinate transverse to wire " << drift |
| 7562 | <<" resi_a " << resi_a |
| 7563 | <<endl; |
| 7564 | } |
| 7565 | |
| 7566 | double scale=1./sqrt(1.+tx*tx+ty*ty); |
| 7567 | double cosThetaRel=0.; |
| 7568 | if (my_fdchits[id]->hit!=NULL__null){ |
| 7569 | my_fdchits[id]->hit->wire->udir.Dot(DVector3(scale*tx,scale*ty,scale)); |
| 7570 | } |
| 7571 | DTrackFitter::pull_t thisPull = pull_t(resi_a,sqrt(V(0,0)), |
| 7572 | forward_traj[m].s, |
| 7573 | fdc_updates[id].tdrift, |
| 7574 | fdc_updates[id].doca, |
| 7575 | NULL__null,my_fdchits[id]->hit, |
| 7576 | 0., |
| 7577 | forward_traj[m].z, |
| 7578 | cosThetaRel,0., |
| 7579 | resi,sqrt(V(1,1))); |
| 7580 | thisPull.left_right = left_right; |
| 7581 | thisPull.AddTrackDerivatives(alignmentDerivatives); |
| 7582 | forward_pulls.push_back(thisPull); |
| 7583 | } |
| 7584 | else{ |
| 7585 | A=forward_traj[m].Ckk*JT*C.InvertSym(); |
| 7586 | Ss=forward_traj[m].Skk+A*(Ss-S); |
| 7587 | Cs=forward_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 7588 | } |
| 7589 | |
| 7590 | } |
| 7591 | else{ |
| 7592 | unsigned int id=forward_traj[m].h_id-1000; |
| 7593 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7593<<" " << " Smoothing CDC ID " << id << endl; |
| 7594 | if (cdc_used_in_fit[id]&&my_cdchits[id]->status==good_hit){ |
| 7595 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7595<<" " << " Used in fit " << endl; |
| 7596 | A=cdc_updates[id].C*JT*C.InvertSym(); |
| 7597 | Ss=cdc_updates[id].S+A*(Ss-S); |
| 7598 | Cs=cdc_updates[id].C+A*(Cs-C)*A.Transpose(); |
| 7599 | if (!Cs.IsPosDef()){ |
| 7600 | if (DEBUG_LEVEL>1) |
| 7601 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7601<<" " << "Covariance Matrix not PosDef..." << endl; |
| 7602 | return VALUE_OUT_OF_RANGE; |
| 7603 | } |
| 7604 | if (!Ss.IsFinite()){ |
| 7605 | if (DEBUG_LEVEL>5) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7605<<" " << "Invalid values for smoothed parameters..." << endl; |
| 7606 | return VALUE_OUT_OF_RANGE; |
| 7607 | } |
| 7608 | |
| 7609 | // Fill in pulls information for cdc hits |
| 7610 | if(FillPullsVectorEntry(Ss,Cs,forward_traj[m],my_cdchits[id], |
| 7611 | cdc_updates[id],forward_pulls) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7612 | } |
| 7613 | else{ |
| 7614 | A=forward_traj[m].Ckk*JT*C.InvertSym(); |
| 7615 | Ss=forward_traj[m].Skk+A*(Ss-S); |
| 7616 | Cs=forward_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 7617 | } |
| 7618 | } |
| 7619 | } |
| 7620 | else{ |
| 7621 | A=forward_traj[m].Ckk*JT*C.InvertSym(); |
| 7622 | Ss=forward_traj[m].Skk+A*(Ss-S); |
| 7623 | Cs=forward_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 7624 | } |
| 7625 | |
| 7626 | S=forward_traj[m].Skk; |
| 7627 | C=forward_traj[m].Ckk; |
| 7628 | JT=forward_traj[m].J.Transpose(); |
| 7629 | } |
| 7630 | |
| 7631 | return NOERROR; |
| 7632 | } |
| 7633 | |
| 7634 | // at each step (going in the reverse direction to the filter) based on the |
| 7635 | // information from all the steps. |
| 7636 | jerror_t DTrackFitterKalmanSIMD::SmoothCentral(vector<pull_t>&cdc_pulls){ |
| 7637 | if (central_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 7638 | |
| 7639 | unsigned int max = central_traj.size()-1; |
| 7640 | DMatrix5x1 S=(central_traj[max].Skk); |
| 7641 | DMatrix5x5 C=(central_traj[max].Ckk); |
| 7642 | DMatrix5x5 JT=central_traj[max].J.Transpose(); |
| 7643 | DMatrix5x1 Ss=S; |
| 7644 | DMatrix5x5 Cs=C; |
| 7645 | DMatrix5x5 A,dC; |
| 7646 | |
| 7647 | if (DEBUG_LEVEL>1) { |
| 7648 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7648<<" " << " S C JT at start of smoothing " << endl; |
| 7649 | S.Print(); C.Print(); JT.Print(); |
| 7650 | } |
| 7651 | |
| 7652 | for (unsigned int m=max-1;m>0;m--){ |
| 7653 | if (central_traj[m].h_id>0){ |
| 7654 | unsigned int id=central_traj[m].h_id-1; |
| 7655 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7655<<" " << " Encountered Hit ID " << id << " At trajectory position " << m << "/" << max << endl; |
| 7656 | if (cdc_used_in_fit[id] && my_cdchits[id]->status == good_hit){ |
| 7657 | if (DEBUG_LEVEL>1) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7657<<" " << " SmoothCentral CDC Hit ID " << id << " used in fit " << endl; |
| 7658 | |
| 7659 | A=cdc_updates[id].C*JT*C.InvertSym(); |
| 7660 | dC=Cs-C; |
| 7661 | Ss=cdc_updates[id].S+A*(Ss-S); |
| 7662 | Cs=cdc_updates[id].C+A*dC*A.Transpose(); |
| 7663 | |
| 7664 | if (!Ss.IsFinite()){ |
| 7665 | if (DEBUG_LEVEL>5) |
| 7666 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7666<<" " << "Invalid values for smoothed parameters..." << endl; |
| 7667 | return VALUE_OUT_OF_RANGE; |
| 7668 | } |
| 7669 | if (!Cs.IsPosDef()){ |
| 7670 | if (DEBUG_LEVEL>5){ |
| 7671 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<7671<<" " << "Covariance Matrix not PosDef... Ckk dC A" << endl; |
| 7672 | cdc_updates[id].C.Print(); dC.Print(); A.Print(); |
| 7673 | } |
| 7674 | return VALUE_OUT_OF_RANGE; |
| 7675 | } |
| 7676 | |
| 7677 | // Get estimate for energy loss |
| 7678 | double q_over_p=Ss(state_q_over_pt)*cos(atan(Ss(state_tanl))); |
| 7679 | double dEdx=GetdEdx(q_over_p,central_traj[m].K_rho_Z_over_A, |
| 7680 | central_traj[m].rho_Z_over_A, |
| 7681 | central_traj[m].LnI,central_traj[m].Z); |
| 7682 | |
| 7683 | // Use Brent's algorithm to find doca to the wire |
| 7684 | DVector2 xy(central_traj[m].xy.X()-Ss(state_D)*sin(Ss(state_phi)), |
| 7685 | central_traj[m].xy.Y()+Ss(state_D)*cos(Ss(state_phi))); |
| 7686 | DVector2 old_xy=xy; |
| 7687 | DMatrix5x1 myS=Ss; |
| 7688 | double myds; |
| 7689 | DVector2 origin=my_cdchits[id]->origin; |
| 7690 | DVector2 dir=my_cdchits[id]->dir; |
| 7691 | double z0wire=my_cdchits[id]->z0wire; |
| 7692 | //BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy,z0wire,origin,dir,myS,myds); |
| 7693 | if(BrentCentral(dEdx,xy,z0wire,origin,dir,myS,myds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7694 | if(DEBUG_HISTS) alignDerivHists[0]->Fill(myds); |
| 7695 | DVector2 wirepos=origin+(myS(state_z)-z0wire)*dir; |
| 7696 | double cosstereo=my_cdchits[id]->cosstereo; |
| 7697 | DVector2 diff=xy-wirepos; |
| 7698 | // here we add a small number to avoid division by zero errors |
| 7699 | double d=cosstereo*diff.Mod()+EPS3.0e-8; |
| 7700 | |
| 7701 | // If we are doing the alignment, we need to numerically calculate the derivatives |
| 7702 | // wrt the wire origin, direction, and the track parameters. |
| 7703 | vector<double> alignmentDerivatives; |
| 7704 | if (ALIGNMENT_CENTRAL){ |
| 7705 | double dscut_min=0., dscut_max=1.; |
| 7706 | DVector3 wireDir = my_cdchits[id]->hit->wire->udir; |
| 7707 | double cosstereo_shifted; |
| 7708 | DMatrix5x1 alignS=Ss; // We will mess with this one |
| 7709 | double alignds; |
| 7710 | alignmentDerivatives.resize(12); |
| 7711 | alignmentDerivatives[CDCTrackD::dDdt0]=cdc_updates[id].dDdt0; |
| 7712 | // Wire position shift |
| 7713 | double wposShift=0.025; |
| 7714 | double wdirShift=0.00005; |
| 7715 | |
| 7716 | // Shift each track parameter value |
| 7717 | double shiftFraction=0.01; |
| 7718 | double shift_q_over_pt=shiftFraction*Ss(state_q_over_pt); |
| 7719 | double shift_phi=0.0001; |
| 7720 | double shift_tanl=shiftFraction*Ss(state_tanl); |
| 7721 | double shift_D=0.01; |
| 7722 | double shift_z=0.01; |
| 7723 | |
| 7724 | // Some data containers we don't need multiples of |
| 7725 | double z0_shifted; |
| 7726 | DVector2 shift, origin_shifted, dir_shifted, wirepos_shifted, diff_shifted, xy_shifted; |
| 7727 | |
| 7728 | // The DOCA for the shifted states == f(x+h) |
| 7729 | double d_dOriginX=0., d_dOriginY=0., d_dOriginZ=0.; |
| 7730 | double d_dDirX=0., d_dDirY=0., d_dDirZ=0.; |
| 7731 | double d_dS0=0., d_dS1=0., d_dS2=0., d_dS3=0., d_dS4=0.; |
| 7732 | // Let's do the wire shifts first |
| 7733 | |
| 7734 | //dOriginX |
| 7735 | alignS=Ss; |
| 7736 | alignds=0.; |
| 7737 | shift.Set(wposShift, 0.); |
| 7738 | origin_shifted=origin+shift; |
| 7739 | dir_shifted=dir; |
| 7740 | z0_shifted=z0wire; |
| 7741 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7742 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7743 | if (BrentCentral(dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7744 | dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7745 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7746 | //if (BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7747 | // dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7748 | wirepos_shifted=origin_shifted+(alignS(state_z)-z0_shifted)*dir_shifted; |
| 7749 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7750 | d_dOriginX=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7751 | alignmentDerivatives[CDCTrackD::dDOCAdOriginX] = (d_dOriginX - d)/wposShift; |
| 7752 | if(DEBUG_HISTS){ |
| 7753 | alignDerivHists[12]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdOriginX]); |
| 7754 | alignDerivHists[1]->Fill(alignds); |
| 7755 | brentCheckHists[1]->Fill(alignds,d_dOriginX); |
| 7756 | } |
| 7757 | |
| 7758 | //dOriginY |
| 7759 | alignS=Ss; |
| 7760 | alignds=0.; |
| 7761 | shift.Set(0.,wposShift); |
| 7762 | origin_shifted=origin+shift; |
| 7763 | dir_shifted=dir; |
| 7764 | z0_shifted=z0wire; |
| 7765 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7766 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7767 | if (BrentCentral(dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7768 | dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7769 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7770 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7771 | // dir_shifted,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7772 | wirepos_shifted=origin_shifted+(alignS(state_z)-z0_shifted)*dir_shifted; |
| 7773 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7774 | d_dOriginY=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7775 | alignmentDerivatives[CDCTrackD::dDOCAdOriginY] = (d_dOriginY - d)/wposShift; |
| 7776 | if(DEBUG_HISTS){ |
| 7777 | alignDerivHists[13]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdOriginY]); |
| 7778 | alignDerivHists[2]->Fill(alignds); |
| 7779 | brentCheckHists[1]->Fill(alignds,d_dOriginY); |
| 7780 | } |
| 7781 | |
| 7782 | //dOriginZ |
| 7783 | alignS=Ss; |
| 7784 | alignds=0.; |
| 7785 | origin_shifted=origin; |
| 7786 | dir_shifted=dir; |
| 7787 | z0_shifted=z0wire+wposShift; |
| 7788 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7789 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7790 | if (BrentCentral(dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7791 | dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7792 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7793 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7794 | // dir_shifted,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7795 | wirepos_shifted=origin_shifted+(alignS(state_z)-z0_shifted)*dir_shifted; |
| 7796 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7797 | d_dOriginZ=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7798 | alignmentDerivatives[CDCTrackD::dDOCAdOriginZ] = (d_dOriginZ - d)/wposShift; |
| 7799 | if(DEBUG_HISTS){ |
| 7800 | alignDerivHists[14]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdOriginZ]); |
| 7801 | alignDerivHists[3]->Fill(alignds); |
| 7802 | brentCheckHists[1]->Fill(alignds,d_dOriginZ); |
| 7803 | } |
| 7804 | |
| 7805 | //dDirX |
| 7806 | alignS=Ss; |
| 7807 | alignds=0.; |
| 7808 | shift.Set(wdirShift,0.); |
| 7809 | origin_shifted=origin; |
| 7810 | z0_shifted=z0wire; |
| 7811 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7812 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7813 | dir_shifted=dir+shift; |
| 7814 | cosstereo_shifted = cos((wireDir+DVector3(wdirShift,0.,0.)).Angle(DVector3(0.,0.,1.))); |
| 7815 | if (BrentCentral(dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7816 | dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7817 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7818 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7819 | // dir_shifted,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7820 | wirepos_shifted=origin_shifted+(alignS(state_z)-z0_shifted)*dir_shifted; |
| 7821 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7822 | d_dDirX=cosstereo_shifted*diff_shifted.Mod()+EPS3.0e-8; |
| 7823 | alignmentDerivatives[CDCTrackD::dDOCAdDirX] = (d_dDirX - d)/wdirShift; |
| 7824 | if(DEBUG_HISTS){ |
| 7825 | alignDerivHists[15]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdDirX]); |
| 7826 | alignDerivHists[4]->Fill(alignds); |
| 7827 | } |
| 7828 | |
| 7829 | //dDirY |
| 7830 | alignS=Ss; |
| 7831 | alignds=0.; |
| 7832 | shift.Set(0.,wdirShift); |
| 7833 | origin_shifted=origin; |
| 7834 | z0_shifted=z0wire; |
| 7835 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7836 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7837 | dir_shifted=dir+shift; |
| 7838 | cosstereo_shifted = cos((wireDir+DVector3(0.,wdirShift,0.)).Angle(DVector3(0.,0.,1.))); |
| 7839 | if (BrentCentral(dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7840 | dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7841 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7842 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7843 | // dir_shifted,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7844 | wirepos_shifted=origin_shifted+(alignS(state_z)-z0_shifted)*dir_shifted; |
| 7845 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7846 | d_dDirY=cosstereo_shifted*diff_shifted.Mod()+EPS3.0e-8; |
| 7847 | alignmentDerivatives[CDCTrackD::dDOCAdDirY] = (d_dDirY - d)/wdirShift; |
| 7848 | if(DEBUG_HISTS){ |
| 7849 | alignDerivHists[16]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdDirY]); |
| 7850 | alignDerivHists[5]->Fill(alignds); |
| 7851 | } |
| 7852 | |
| 7853 | //dDirZ |
| 7854 | alignS=Ss; |
| 7855 | alignds=0.; |
| 7856 | origin_shifted=origin; |
| 7857 | dir_shifted.Set(wireDir.X()/(wireDir.Z()+wdirShift), wireDir.Y()/(wireDir.Z()+wdirShift)); |
| 7858 | z0_shifted=z0wire; |
| 7859 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7860 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7861 | cosstereo_shifted = cos((wireDir+DVector3(0.,0.,wdirShift)).Angle(DVector3(0.,0.,1.))); |
| 7862 | if (BrentCentral(dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7863 | dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7864 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7865 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0_shifted,origin_shifted, |
| 7866 | // dir_shifted,alignS,alignds)!=NOERROR) return VALUE_OUT_OF_RANGE; |
| 7867 | wirepos_shifted=origin_shifted+(alignS(state_z)-z0_shifted)*dir_shifted; |
| 7868 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7869 | d_dDirZ=cosstereo_shifted*diff_shifted.Mod()+EPS3.0e-8; |
| 7870 | alignmentDerivatives[CDCTrackD::dDOCAdDirZ] = (d_dDirZ - d)/wdirShift; |
| 7871 | if(DEBUG_HISTS){ |
| 7872 | alignDerivHists[17]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdDirZ]); |
| 7873 | alignDerivHists[6]->Fill(alignds); |
| 7874 | } |
| 7875 | |
| 7876 | // And now the derivatives wrt the track parameters |
| 7877 | //DMatrix5x1 trackShift(shift_q_over_pt, shift_phi, shift_tanl, shift_D, shift_z); |
| 7878 | |
| 7879 | DMatrix5x1 trackShiftS0(shift_q_over_pt, 0., 0., 0., 0.); |
| 7880 | DMatrix5x1 trackShiftS1(0., shift_phi, 0., 0., 0.); |
| 7881 | DMatrix5x1 trackShiftS2(0., 0., shift_tanl, 0., 0.); |
| 7882 | DMatrix5x1 trackShiftS3(0., 0., 0., shift_D, 0.); |
| 7883 | DMatrix5x1 trackShiftS4(0., 0., 0., 0., shift_z); |
| 7884 | |
| 7885 | // dS0 |
| 7886 | alignS=Ss+trackShiftS0; |
| 7887 | alignds=0.; |
| 7888 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7889 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7890 | if(BrentCentral(dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7891 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7892 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7893 | wirepos_shifted=origin+(alignS(state_z)-z0wire)*dir; |
| 7894 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7895 | d_dS0=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7896 | alignmentDerivatives[CDCTrackD::dDOCAdS0] = (d_dS0 - d)/shift_q_over_pt; |
| 7897 | if(DEBUG_HISTS){ |
| 7898 | alignDerivHists[18]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS0]); |
| 7899 | alignDerivHists[7]->Fill(alignds); |
| 7900 | } |
| 7901 | |
| 7902 | // dS1 |
| 7903 | alignS=Ss+trackShiftS1; |
| 7904 | alignds=0.; |
| 7905 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7906 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7907 | if(BrentCentral(dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7908 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7909 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7910 | wirepos_shifted=origin+(alignS(state_z)-z0wire)*dir; |
| 7911 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7912 | d_dS1=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7913 | alignmentDerivatives[CDCTrackD::dDOCAdS1] = (d_dS1 - d)/shift_phi; |
| 7914 | if(DEBUG_HISTS){ |
| 7915 | alignDerivHists[19]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS1]); |
| 7916 | alignDerivHists[8]->Fill(alignds); |
| 7917 | } |
| 7918 | |
| 7919 | // dS2 |
| 7920 | alignS=Ss+trackShiftS2; |
| 7921 | alignds=0.; |
| 7922 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7923 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7924 | if(BrentCentral(dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7925 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7926 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7927 | wirepos_shifted=origin+(alignS(state_z)-z0wire)*dir; |
| 7928 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7929 | d_dS2=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7930 | alignmentDerivatives[CDCTrackD::dDOCAdS2] = (d_dS2 - d)/shift_tanl; |
| 7931 | if(DEBUG_HISTS){ |
| 7932 | alignDerivHists[20]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS2]); |
| 7933 | alignDerivHists[9]->Fill(alignds); |
| 7934 | } |
| 7935 | |
| 7936 | // dS3 |
| 7937 | alignS=Ss+trackShiftS3; |
| 7938 | alignds=0.; |
| 7939 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7940 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7941 | if(BrentCentral(dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7942 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7943 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7944 | wirepos_shifted=origin+(alignS(state_z)-z0wire)*dir; |
| 7945 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7946 | d_dS3=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7947 | alignmentDerivatives[CDCTrackD::dDOCAdS3] = (d_dS3 - d)/shift_D; |
| 7948 | if(DEBUG_HISTS){ |
| 7949 | alignDerivHists[21]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS3]); |
| 7950 | alignDerivHists[10]->Fill(alignds); |
| 7951 | } |
| 7952 | |
| 7953 | // dS4 |
| 7954 | alignS=Ss+trackShiftS4; |
| 7955 | alignds=0.; |
| 7956 | xy_shifted.Set(central_traj[m].xy.X()-alignS(state_D)*sin(alignS(state_phi)), |
| 7957 | central_traj[m].xy.Y()+alignS(state_D)*cos(alignS(state_phi))); |
| 7958 | if(BrentCentral(dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7959 | if (alignds < dscut_min || alignds > dscut_max) return VALUE_OUT_OF_RANGE; |
| 7960 | //if(BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dEdx,xy_shifted,z0wire,origin,dir,alignS,alignds) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 7961 | wirepos_shifted=origin+(alignS(state_z)-z0wire)*dir; |
| 7962 | diff_shifted=xy_shifted-wirepos_shifted; |
| 7963 | d_dS4=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 7964 | alignmentDerivatives[CDCTrackD::dDOCAdS4] = (d_dS4 - d)/shift_z; |
| 7965 | if(DEBUG_HISTS){ |
| 7966 | alignDerivHists[22]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS4]); |
| 7967 | alignDerivHists[11]->Fill(alignds); |
| 7968 | } |
| 7969 | } |
| 7970 | |
| 7971 | // Compute the Jacobian matrix |
| 7972 | // Find the field and gradient at (old_x,old_y,old_z) |
| 7973 | bfield->GetFieldAndGradient(old_xy.X(),old_xy.Y(),Ss(state_z), |
| 7974 | Bx,By,Bz, |
| 7975 | dBxdx,dBxdy,dBxdz,dBydx, |
| 7976 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 7977 | DMatrix5x5 Jc; |
| 7978 | StepJacobian(old_xy,xy-old_xy,myds,Ss,dEdx,Jc); |
| 7979 | |
| 7980 | // Projection matrix |
| 7981 | DMatrix5x1 H_T; |
| 7982 | double sinphi=sin(myS(state_phi)); |
| 7983 | double cosphi=cos(myS(state_phi)); |
| 7984 | double dx=diff.X(); |
| 7985 | double dy=diff.Y(); |
| 7986 | double cosstereo2_over_doca=cosstereo*cosstereo/d; |
| 7987 | H_T(state_D)=(dy*cosphi-dx*sinphi)*cosstereo2_over_doca; |
| 7988 | H_T(state_phi) |
| 7989 | =-myS(state_D)*cosstereo2_over_doca*(dx*cosphi+dy*sinphi); |
| 7990 | H_T(state_z)=-cosstereo2_over_doca*(dx*dir.X()+dy*dir.Y()); |
| 7991 | DMatrix1x5 H; |
| 7992 | H(state_D)=H_T(state_D); |
| 7993 | H(state_phi)=H_T(state_phi); |
| 7994 | H(state_z)=H_T(state_z); |
| 7995 | |
| 7996 | double Vhit=cdc_updates[id].variance; |
| 7997 | Cs=Jc*Cs*Jc.Transpose(); |
| 7998 | //double Vtrack = Cs.SandwichMultiply(Jc*H_T); |
| 7999 | double Vtrack=H*Cs*H_T; |
| 8000 | double VRes; |
| 8001 | |
| 8002 | bool skip_ring=(my_cdchits[id]->hit->wire->ring==RING_TO_SKIP); |
| 8003 | if (skip_ring) VRes = Vhit + Vtrack; |
| 8004 | else VRes = Vhit - Vtrack; |
| 8005 | |
| 8006 | if (DEBUG_LEVEL>1 && (!isfinite(VRes) || VRes < 0.0) ) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8006<<" " << " SmoothCentral Problem: VRes is " << VRes << " = " << Vhit << " - " << Vtrack << endl; |
| 8007 | |
| 8008 | double lambda=atan(Ss(state_tanl)); |
| 8009 | double sinl=sin(lambda); |
| 8010 | double cosl=cos(lambda); |
| 8011 | double cosThetaRel=my_cdchits[id]->hit->wire->udir.Dot(DVector3(cosphi*cosl, |
| 8012 | sinphi*cosl, |
| 8013 | sinl)); |
| 8014 | pull_t thisPull(cdc_updates[id].doca-d,sqrt(VRes), |
| 8015 | central_traj[m].s,cdc_updates[id].tdrift, |
| 8016 | d,my_cdchits[id]->hit,NULL__null, |
| 8017 | diff.Phi(),myS(state_z),cosThetaRel, |
| 8018 | cdc_updates[id].tcorr); |
| 8019 | |
| 8020 | thisPull.AddTrackDerivatives(alignmentDerivatives); |
| 8021 | cdc_pulls.push_back(thisPull); |
| 8022 | } |
| 8023 | else{ |
| 8024 | A=central_traj[m].Ckk*JT*C.InvertSym(); |
| 8025 | Ss=central_traj[m].Skk+A*(Ss-S); |
| 8026 | Cs=central_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 8027 | } |
| 8028 | } |
| 8029 | else{ |
| 8030 | A=central_traj[m].Ckk*JT*C.InvertSym(); |
| 8031 | Ss=central_traj[m].Skk+A*(Ss-S); |
| 8032 | Cs=central_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 8033 | } |
| 8034 | S=central_traj[m].Skk; |
| 8035 | C=central_traj[m].Ckk; |
| 8036 | JT=central_traj[m].J.Transpose(); |
| 8037 | } |
| 8038 | |
| 8039 | // ... last entries? |
| 8040 | // Don't really need since we should have already encountered all of the hits |
| 8041 | |
| 8042 | return NOERROR; |
| 8043 | |
| 8044 | } |
| 8045 | |
| 8046 | // Smoothing algorithm for the forward_traj_cdc trajectory. |
| 8047 | // Updates the state vector |
| 8048 | // at each step (going in the reverse direction to the filter) based on the |
| 8049 | // information from all the steps and outputs the state vector at the |
| 8050 | // outermost step. |
| 8051 | jerror_t DTrackFitterKalmanSIMD::SmoothForwardCDC(vector<pull_t>&cdc_pulls){ |
| 8052 | if (forward_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 8053 | |
| 8054 | unsigned int max=forward_traj.size()-1; |
| 8055 | DMatrix5x1 S=(forward_traj[max].Skk); |
| 8056 | DMatrix5x5 C=(forward_traj[max].Ckk); |
| 8057 | DMatrix5x5 JT=forward_traj[max].J.Transpose(); |
| 8058 | DMatrix5x1 Ss=S; |
| 8059 | DMatrix5x5 Cs=C; |
| 8060 | DMatrix5x5 A; |
| 8061 | for (unsigned int m=max-1;m>0;m--){ |
| 8062 | if (forward_traj[m].h_id>999){ |
| 8063 | unsigned int cdc_index=forward_traj[m].h_id-1000; |
| 8064 | if(cdc_used_in_fit[cdc_index] && my_cdchits[cdc_index]->status == good_hit){ |
| 8065 | if (DEBUG_LEVEL > 5) { |
| 8066 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8066<<" " << " Smoothing CDC index " << cdc_index << " ring " << my_cdchits[cdc_index]->hit->wire->ring |
| 8067 | << " straw " << my_cdchits[cdc_index]->hit->wire->straw << endl; |
| 8068 | } |
| 8069 | |
| 8070 | A=cdc_updates[cdc_index].C*JT*C.InvertSym(); |
| 8071 | Ss=cdc_updates[cdc_index].S+A*(Ss-S); |
| 8072 | if (!Ss.IsFinite()){ |
| 8073 | if (DEBUG_LEVEL>5) |
| 8074 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8074<<" " << "Invalid values for smoothed parameters..." << endl; |
| 8075 | return VALUE_OUT_OF_RANGE; |
| 8076 | } |
| 8077 | |
| 8078 | Cs=cdc_updates[cdc_index].C+A*(Cs-C)*A.Transpose(); |
| 8079 | |
| 8080 | if (!Cs.IsPosDef()){ |
| 8081 | if (DEBUG_LEVEL>5){ |
| 8082 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8082<<" " << "Covariance Matrix not Pos Def..." << endl; |
| 8083 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8083<<" " << " cdc_updates[cdc_index].C A C_ Cs " << endl; |
| 8084 | cdc_updates[cdc_index].C.Print(); |
| 8085 | A.Print(); |
| 8086 | C.Print(); |
| 8087 | Cs.Print(); |
| 8088 | } |
| 8089 | return VALUE_OUT_OF_RANGE; |
| 8090 | } |
| 8091 | if(FillPullsVectorEntry(Ss,Cs,forward_traj[m],my_cdchits[cdc_index], |
| 8092 | cdc_updates[cdc_index],cdc_pulls) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8093 | |
| 8094 | } |
| 8095 | else{ |
| 8096 | A=forward_traj[m].Ckk*JT*C.InvertSym(); |
| 8097 | Ss=forward_traj[m].Skk+A*(Ss-S); |
| 8098 | Cs=forward_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 8099 | } |
| 8100 | } |
| 8101 | else{ |
| 8102 | A=forward_traj[m].Ckk*JT*C.InvertSym(); |
| 8103 | Ss=forward_traj[m].Skk+A*(Ss-S); |
| 8104 | Cs=forward_traj[m].Ckk+A*(Cs-C)*A.Transpose(); |
| 8105 | } |
| 8106 | |
| 8107 | S=forward_traj[m].Skk; |
| 8108 | C=forward_traj[m].Ckk; |
| 8109 | JT=forward_traj[m].J.Transpose(); |
| 8110 | } |
| 8111 | |
| 8112 | return NOERROR; |
| 8113 | } |
| 8114 | |
| 8115 | // Fill the pulls vector with the best residual information using the smoothed |
| 8116 | // filter results. Uses Brent's algorithm to find the distance of closest |
| 8117 | // approach to the wire hit. |
| 8118 | jerror_t DTrackFitterKalmanSIMD::FillPullsVectorEntry(const DMatrix5x1 &Ss, |
| 8119 | const DMatrix5x5 &Cs, |
| 8120 | const DKalmanForwardTrajectory_t &traj,const DKalmanSIMDCDCHit_t *hit,const DKalmanUpdate_t &update, |
| 8121 | vector<pull_t>&my_pulls){ |
| 8122 | |
| 8123 | // Get estimate for energy loss |
| 8124 | double dEdx=GetdEdx(Ss(state_q_over_p),traj.K_rho_Z_over_A,traj.rho_Z_over_A, |
| 8125 | traj.LnI,traj.Z); |
| 8126 | |
| 8127 | // Use Brent's algorithm to find the doca to the wire |
| 8128 | DMatrix5x1 myS=Ss; |
| 8129 | DMatrix5x1 myS_temp=Ss; |
| 8130 | DMatrix5x5 myC=Cs; |
| 8131 | double mydz; |
| 8132 | double z=traj.z; |
| 8133 | DVector2 origin=hit->origin; |
| 8134 | DVector2 dir=hit->dir; |
| 8135 | double z0wire=hit->z0wire; |
| 8136 | if(BrentForward(z,dEdx,z0wire,origin,dir,myS,mydz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8137 | if(DEBUG_HISTS)alignDerivHists[23]->Fill(mydz); |
| 8138 | double new_z=z+mydz; |
| 8139 | DVector2 wirepos=origin+(new_z-z0wire)*dir; |
| 8140 | double cosstereo=hit->cosstereo; |
| 8141 | DVector2 xy(myS(state_x),myS(state_y)); |
| 8142 | |
| 8143 | DVector2 diff=xy-wirepos; |
| 8144 | double d=cosstereo*diff.Mod(); |
| 8145 | |
| 8146 | // If we are doing the alignment, we need to numerically calculate the derivatives |
| 8147 | // wrt the wire origin, direction, and the track parameters. |
| 8148 | vector<double> alignmentDerivatives; |
| 8149 | if (ALIGNMENT_FORWARD && hit->hit!=NULL__null){ |
| 8150 | double dzcut_min=0., dzcut_max=1.; |
| 8151 | DMatrix5x1 alignS=Ss; // We will mess with this one |
| 8152 | DVector3 wireDir = hit->hit->wire->udir; |
| 8153 | double cosstereo_shifted; |
| 8154 | double aligndz; |
| 8155 | alignmentDerivatives.resize(12); |
| 8156 | |
| 8157 | // Set t0 derivative |
| 8158 | alignmentDerivatives[CDCTrackD::dDdt0]=update.dDdt0; |
| 8159 | |
| 8160 | // Wire position shift |
| 8161 | double wposShift=0.025; |
| 8162 | double wdirShift=0.00005; |
| 8163 | |
| 8164 | // Shift each track parameter |
| 8165 | double shiftFraction=0.01; |
| 8166 | double shift_x=0.01; |
| 8167 | double shift_y=0.01; |
| 8168 | double shift_tx=shiftFraction*Ss(state_tx); |
| 8169 | double shift_ty=shiftFraction*Ss(state_ty);; |
| 8170 | double shift_q_over_p=shiftFraction*Ss(state_q_over_p); |
| 8171 | |
| 8172 | // Some data containers we don't need multiples of |
| 8173 | double z0_shifted, new_z_shifted; |
| 8174 | DVector2 shift, origin_shifted, dir_shifted, wirepos_shifted, diff_shifted, xy_shifted; |
| 8175 | |
| 8176 | // The DOCA for the shifted states == f(x+h) |
| 8177 | double d_dOriginX=0., d_dOriginY=0., d_dOriginZ=0.; |
| 8178 | double d_dDirX=0., d_dDirY=0., d_dDirZ=0.; |
| 8179 | double d_dS0=0., d_dS1=0., d_dS2=0., d_dS3=0., d_dS4=0.; |
| 8180 | // Let's do the wire shifts first |
| 8181 | |
| 8182 | //dOriginX |
| 8183 | alignS=Ss; |
| 8184 | aligndz=0.; |
| 8185 | shift.Set(wposShift, 0.); |
| 8186 | origin_shifted=origin+shift; |
| 8187 | dir_shifted=dir; |
| 8188 | z0_shifted=z0wire; |
| 8189 | if(BrentForward(z,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8190 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8191 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8192 | new_z_shifted=z+aligndz; |
| 8193 | wirepos_shifted=origin_shifted+(new_z_shifted-z0_shifted)*dir_shifted; |
| 8194 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8195 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8196 | d_dOriginX=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8197 | alignmentDerivatives[CDCTrackD::dDOCAdOriginX] = (d_dOriginX - d)/wposShift; |
| 8198 | if(DEBUG_HISTS){ |
| 8199 | alignDerivHists[24]->Fill(aligndz); |
| 8200 | alignDerivHists[35]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdOriginX]); |
| 8201 | brentCheckHists[0]->Fill(aligndz,d_dOriginX); |
| 8202 | } |
| 8203 | |
| 8204 | //dOriginY |
| 8205 | alignS=Ss; |
| 8206 | aligndz=0.; |
| 8207 | shift.Set(0.,wposShift); |
| 8208 | origin_shifted=origin+shift; |
| 8209 | dir_shifted=dir; |
| 8210 | z0_shifted=z0wire; |
| 8211 | if(BrentForward(z,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8212 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8213 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8214 | new_z_shifted=z+aligndz; |
| 8215 | wirepos_shifted=origin_shifted+(new_z_shifted-z0_shifted)*dir_shifted; |
| 8216 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8217 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8218 | d_dOriginY=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8219 | alignmentDerivatives[CDCTrackD::dDOCAdOriginY] = (d_dOriginY - d)/wposShift; |
| 8220 | if(DEBUG_HISTS){ |
| 8221 | alignDerivHists[25]->Fill(aligndz); |
| 8222 | alignDerivHists[36]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdOriginY]); |
| 8223 | brentCheckHists[0]->Fill(aligndz,d_dOriginY); |
| 8224 | } |
| 8225 | |
| 8226 | //dOriginZ |
| 8227 | alignS=Ss; |
| 8228 | aligndz=0.; |
| 8229 | origin_shifted=origin; |
| 8230 | dir_shifted=dir; |
| 8231 | z0_shifted=z0wire+wposShift; |
| 8232 | if(BrentForward(z,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8233 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8234 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8235 | new_z_shifted=z+aligndz; |
| 8236 | wirepos_shifted=origin_shifted+(new_z_shifted-z0_shifted)*dir_shifted; |
| 8237 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8238 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8239 | d_dOriginZ=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8240 | alignmentDerivatives[CDCTrackD::dDOCAdOriginZ] = (d_dOriginZ - d)/wposShift; |
| 8241 | if(DEBUG_HISTS){ |
| 8242 | alignDerivHists[26]->Fill(aligndz); |
| 8243 | alignDerivHists[37]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdOriginZ]); |
| 8244 | brentCheckHists[0]->Fill(aligndz,d_dOriginZ); |
| 8245 | } |
| 8246 | |
| 8247 | //dDirX |
| 8248 | alignS=Ss; |
| 8249 | aligndz=0.; |
| 8250 | shift.Set(wdirShift,0.); |
| 8251 | origin_shifted=origin; |
| 8252 | z0_shifted=z0wire; |
| 8253 | dir_shifted=dir+shift; |
| 8254 | cosstereo_shifted = cos((wireDir+DVector3(wdirShift,0.,0.)).Angle(DVector3(0.,0.,1.))); |
| 8255 | if(BrentForward(z,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8256 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8257 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8258 | new_z_shifted=z+aligndz; |
| 8259 | wirepos_shifted=origin_shifted+(new_z_shifted-z0_shifted)*dir_shifted; |
| 8260 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8261 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8262 | d_dDirX=cosstereo_shifted*diff_shifted.Mod()+EPS3.0e-8; |
| 8263 | alignmentDerivatives[CDCTrackD::dDOCAdDirX] = (d_dDirX - d)/wdirShift; |
| 8264 | if(DEBUG_HISTS){ |
| 8265 | alignDerivHists[27]->Fill(aligndz); |
| 8266 | alignDerivHists[38]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdDirX]); |
| 8267 | } |
| 8268 | |
| 8269 | //dDirY |
| 8270 | alignS=Ss; |
| 8271 | aligndz=0.; |
| 8272 | shift.Set(0.,wdirShift); |
| 8273 | origin_shifted=origin; |
| 8274 | z0_shifted=z0wire; |
| 8275 | dir_shifted=dir+shift; |
| 8276 | cosstereo_shifted = cos((wireDir+DVector3(0.,wdirShift,0.)).Angle(DVector3(0.,0.,1.))); |
| 8277 | if(BrentForward(z,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8278 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8279 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8280 | new_z_shifted=z+aligndz; |
| 8281 | wirepos_shifted=origin_shifted+(new_z_shifted-z0_shifted)*dir_shifted; |
| 8282 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8283 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8284 | d_dDirY=cosstereo_shifted*diff_shifted.Mod()+EPS3.0e-8; |
| 8285 | alignmentDerivatives[CDCTrackD::dDOCAdDirY] = (d_dDirY - d)/wdirShift; |
| 8286 | if(DEBUG_HISTS){ |
| 8287 | alignDerivHists[28]->Fill(aligndz); |
| 8288 | alignDerivHists[39]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdDirY]); |
| 8289 | } |
| 8290 | |
| 8291 | //dDirZ - This is divided out in this code |
| 8292 | alignS=Ss; |
| 8293 | aligndz=0.; |
| 8294 | origin_shifted=origin; |
| 8295 | dir_shifted.Set(wireDir.X()/(wireDir.Z()+wdirShift), wireDir.Y()/(wireDir.Z()+wdirShift)); |
| 8296 | z0_shifted=z0wire; |
| 8297 | cosstereo_shifted = cos((wireDir+DVector3(0.,0.,wdirShift)).Angle(DVector3(0.,0.,1.))); |
| 8298 | if(BrentForward(z,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8299 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8300 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0_shifted,origin_shifted,dir_shifted,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8301 | new_z_shifted=z+aligndz; |
| 8302 | wirepos_shifted=origin_shifted+(new_z_shifted-z0_shifted)*dir_shifted; |
| 8303 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8304 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8305 | d_dDirZ=cosstereo_shifted*diff_shifted.Mod()+EPS3.0e-8; |
| 8306 | alignmentDerivatives[CDCTrackD::dDOCAdDirZ] = (d_dDirZ - d)/wdirShift; |
| 8307 | if(DEBUG_HISTS){ |
| 8308 | alignDerivHists[29]->Fill(aligndz); |
| 8309 | alignDerivHists[40]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdDirZ]); |
| 8310 | } |
| 8311 | |
| 8312 | // And now the derivatives wrt the track parameters |
| 8313 | |
| 8314 | DMatrix5x1 trackShiftS0(shift_x, 0., 0., 0., 0.); |
| 8315 | DMatrix5x1 trackShiftS1(0., shift_y, 0., 0., 0.); |
| 8316 | DMatrix5x1 trackShiftS2(0., 0., shift_tx, 0., 0.); |
| 8317 | DMatrix5x1 trackShiftS3(0., 0., 0., shift_ty, 0.); |
| 8318 | DMatrix5x1 trackShiftS4(0., 0., 0., 0., shift_q_over_p); |
| 8319 | |
| 8320 | // dS0 |
| 8321 | alignS=Ss+trackShiftS0; |
| 8322 | aligndz=0.; |
| 8323 | if(BrentForward(z,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8324 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8325 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8326 | new_z_shifted=z+aligndz; |
| 8327 | wirepos_shifted=origin+(new_z_shifted-z0wire)*dir; |
| 8328 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8329 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8330 | d_dS0=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8331 | alignmentDerivatives[CDCTrackD::dDOCAdS0] = (d_dS0 - d)/shift_x; |
| 8332 | if(DEBUG_HISTS){ |
| 8333 | alignDerivHists[30]->Fill(aligndz); |
| 8334 | alignDerivHists[41]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS0]); |
| 8335 | } |
| 8336 | |
| 8337 | // dS1 |
| 8338 | alignS=Ss+trackShiftS1; |
| 8339 | aligndz=0.; |
| 8340 | if(BrentForward(z,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8341 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8342 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8343 | new_z_shifted=z+aligndz; |
| 8344 | wirepos_shifted=origin+(new_z_shifted-z0wire)*dir; |
| 8345 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8346 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8347 | d_dS1=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8348 | alignmentDerivatives[CDCTrackD::dDOCAdS1] = (d_dS1 - d)/shift_y; |
| 8349 | if(DEBUG_HISTS){ |
| 8350 | alignDerivHists[31]->Fill(aligndz); |
| 8351 | alignDerivHists[42]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS1]); |
| 8352 | } |
| 8353 | |
| 8354 | // dS2 |
| 8355 | alignS=Ss+trackShiftS2; |
| 8356 | aligndz=0.; |
| 8357 | if(BrentForward(z,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8358 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8359 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8360 | new_z_shifted=z+aligndz; |
| 8361 | wirepos_shifted=origin+(new_z_shifted-z0wire)*dir; |
| 8362 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8363 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8364 | d_dS2=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8365 | alignmentDerivatives[CDCTrackD::dDOCAdS2] = (d_dS2 - d)/shift_tx; |
| 8366 | if(DEBUG_HISTS){ |
| 8367 | alignDerivHists[32]->Fill(aligndz); |
| 8368 | alignDerivHists[43]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS2]); |
| 8369 | } |
| 8370 | |
| 8371 | // dS3 |
| 8372 | alignS=Ss+trackShiftS3; |
| 8373 | aligndz=0.; |
| 8374 | if(BrentForward(z,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8375 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8376 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8377 | new_z_shifted=z+aligndz; |
| 8378 | wirepos_shifted=origin+(new_z_shifted-z0wire)*dir; |
| 8379 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8380 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8381 | d_dS3=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8382 | alignmentDerivatives[CDCTrackD::dDOCAdS3] = (d_dS3 - d)/shift_ty; |
| 8383 | if(DEBUG_HISTS){ |
| 8384 | alignDerivHists[33]->Fill(aligndz); |
| 8385 | alignDerivHists[44]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS3]); |
| 8386 | } |
| 8387 | |
| 8388 | // dS4 |
| 8389 | alignS=Ss+trackShiftS4; |
| 8390 | aligndz=0.; |
| 8391 | if(BrentForward(z,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8392 | if(aligndz < dzcut_min || aligndz > dzcut_max) return VALUE_OUT_OF_RANGE; |
| 8393 | //if(BrentsAlgorithm(z,-mStepSizeZ,dEdx,z0wire,origin,dir,alignS,aligndz) != NOERROR) return VALUE_OUT_OF_RANGE; |
| 8394 | new_z_shifted=z+aligndz; |
| 8395 | wirepos_shifted=origin+(new_z_shifted-z0wire)*dir; |
| 8396 | xy_shifted.Set(alignS(state_x),alignS(state_y)); |
| 8397 | diff_shifted=xy_shifted-wirepos_shifted; |
| 8398 | d_dS4=cosstereo*diff_shifted.Mod()+EPS3.0e-8; |
| 8399 | alignmentDerivatives[CDCTrackD::dDOCAdS4] = (d_dS4 - d)/shift_q_over_p; |
| 8400 | if(DEBUG_HISTS){ |
| 8401 | alignDerivHists[34]->Fill(aligndz); |
| 8402 | alignDerivHists[45]->Fill(alignmentDerivatives[CDCTrackD::dDOCAdS4]); |
| 8403 | } |
| 8404 | } |
| 8405 | |
| 8406 | // Find the field and gradient at (old_x,old_y,old_z) and compute the |
| 8407 | // Jacobian matrix for transforming from S to myS |
| 8408 | bfield->GetFieldAndGradient(Ss(state_x),Ss(state_y),z, |
| 8409 | Bx,By,Bz,dBxdx,dBxdy,dBxdz,dBydx, |
| 8410 | dBydy,dBydz,dBzdx,dBzdy,dBzdz); |
| 8411 | DMatrix5x5 Jc; |
| 8412 | StepJacobian(z,new_z,Ss,dEdx,Jc); |
| 8413 | |
| 8414 | // Find the projection matrix |
| 8415 | DMatrix5x1 H_T; |
| 8416 | double cosstereo2_over_d=cosstereo*cosstereo/d; |
| 8417 | H_T(state_x)=diff.X()*cosstereo2_over_d; |
| 8418 | H_T(state_y)=diff.Y()*cosstereo2_over_d; |
| 8419 | DMatrix1x5 H; |
| 8420 | H(state_x)=H_T(state_x); |
| 8421 | H(state_y)=H_T(state_y); |
| 8422 | |
| 8423 | // Find the variance for this hit |
| 8424 | |
| 8425 | bool skip_ring=(hit->hit->wire->ring==RING_TO_SKIP); |
| 8426 | |
| 8427 | double V=update.variance; |
| 8428 | myC=Jc*myC*Jc.Transpose(); |
| 8429 | if (skip_ring) V+=H*myC*H_T; |
| 8430 | else V-=H*myC*H_T; |
| 8431 | |
| 8432 | if (DEBUG_LEVEL>1 && (!isfinite(V) || V < 0.0) ) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8432<<" " << " Problem: V is " << V << endl; |
| 8433 | |
| 8434 | double tx=Ss(state_tx); |
| 8435 | double ty=Ss(state_ty); |
| 8436 | double scale=1./sqrt(1.+tx*tx+ty*ty); |
| 8437 | double cosThetaRel=hit->hit->wire->udir.Dot(DVector3(scale*tx,scale*ty,scale)); |
| 8438 | |
| 8439 | pull_t thisPull(update.doca-d,sqrt(V),traj.s,update.tdrift,d,hit->hit, |
| 8440 | NULL__null,diff.Phi(),new_z,cosThetaRel,update.tcorr); |
| 8441 | thisPull.AddTrackDerivatives(alignmentDerivatives); |
| 8442 | my_pulls.push_back(thisPull); |
| 8443 | return NOERROR; |
| 8444 | } |
| 8445 | |
| 8446 | // Transform the 5x5 covariance matrix from the forward parametrization to the |
| 8447 | // central parametrization. |
| 8448 | void DTrackFitterKalmanSIMD::TransformCovariance(DMatrix5x5 &C){ |
| 8449 | DMatrix5x5 J; |
| 8450 | double tsquare=tx_*tx_+ty_*ty_; |
| 8451 | double cosl=cos(atan(tanl_)); |
| 8452 | double tanl2=tanl_*tanl_; |
| 8453 | double tanl3=tanl2*tanl_; |
| 8454 | double factor=1./sqrt(1.+tsquare); |
| 8455 | J(state_z,state_x)=tx_/tsquare; |
| 8456 | J(state_z,state_y)=ty_/tsquare; |
| 8457 | double diff=tx_*tx_-ty_*ty_; |
| 8458 | double frac=1./(tsquare*tsquare); |
| 8459 | J(state_z,state_tx)=-(x_*diff+2.*tx_*ty_*y_)*frac; |
| 8460 | J(state_z,state_ty)=-(2.*tx_*ty_*x_-y_*diff)*frac; |
| 8461 | J(state_tanl,state_tx)=-tx_*tanl3; |
| 8462 | J(state_tanl,state_ty)=-ty_*tanl3; |
| 8463 | J(state_q_over_pt,state_q_over_p)=1./cosl; |
| 8464 | J(state_q_over_pt,state_tx)=-q_over_p_*tx_*tanl3*factor; |
| 8465 | J(state_q_over_pt,state_ty)=-q_over_p_*ty_*tanl3*factor; |
| 8466 | J(state_phi,state_tx)=-ty_*tanl2; |
| 8467 | J(state_phi,state_ty)=tx_*tanl2; |
| 8468 | J(state_D,state_x)=x_/D_; |
| 8469 | J(state_D,state_y)=y_/D_; |
| 8470 | |
| 8471 | C=J*C*J.Transpose(); |
| 8472 | |
| 8473 | } |
| 8474 | |
| 8475 | jerror_t DTrackFitterKalmanSIMD::BrentForward(double z, double dedx, const double z0w, |
| 8476 | const DVector2 &origin, const DVector2 &dir, DMatrix5x1 &S, double &dz){ |
| 8477 | |
| 8478 | DVector2 wirepos=origin; |
| 8479 | wirepos+=(z-z0w)*dir; |
| 8480 | double dx=S(state_x)-wirepos.X(); |
| 8481 | double dy=S(state_y)-wirepos.Y(); |
| 8482 | double doca2 = dx*dx+dy*dy; |
| 8483 | |
| 8484 | if (BrentsAlgorithm(z,-mStepSizeZ,dedx,z0w,origin,dir,S,dz)!=NOERROR){ |
| 8485 | return VALUE_OUT_OF_RANGE; |
| 8486 | } |
| 8487 | |
| 8488 | double newz = z+dz; |
| 8489 | unsigned int maxSteps=5; |
| 8490 | unsigned int stepCounter=0; |
| 8491 | if (fabs(dz)<EPS31.e-2){ |
| 8492 | // doca |
| 8493 | double old_doca2=doca2; |
| 8494 | |
| 8495 | double ztemp=newz; |
| 8496 | newz=ztemp-mStepSizeZ; |
| 8497 | Step(ztemp,newz,dedx,S); |
| 8498 | // new wire position |
| 8499 | wirepos=origin; |
| 8500 | wirepos+=(newz-z0w)*dir; |
| 8501 | |
| 8502 | dx=S(state_x)-wirepos.X(); |
| 8503 | dy=S(state_y)-wirepos.Y(); |
| 8504 | doca2=dx*dx+dy*dy; |
| 8505 | ztemp=newz; |
| 8506 | |
| 8507 | while(doca2<old_doca2 && stepCounter<maxSteps){ |
| 8508 | newz=ztemp-mStepSizeZ; |
| 8509 | old_doca2=doca2; |
| 8510 | |
| 8511 | // Step to the new z position |
| 8512 | Step(ztemp,newz,dedx,S); |
| 8513 | stepCounter++; |
| 8514 | |
| 8515 | // find the new distance to the wire |
| 8516 | wirepos=origin; |
| 8517 | wirepos+=(newz-z0w)*dir; |
| 8518 | |
| 8519 | dx=S(state_x)-wirepos.X(); |
| 8520 | dy=S(state_y)-wirepos.Y(); |
| 8521 | doca2=dx*dx+dy*dy; |
| 8522 | |
| 8523 | ztemp=newz; |
| 8524 | } |
| 8525 | |
| 8526 | // Find the true doca |
| 8527 | double dz2=0.; |
| 8528 | if (BrentsAlgorithm(newz,-mStepSizeZ,dedx,z0w,origin,dir,S,dz2)!=NOERROR){ |
| 8529 | return VALUE_OUT_OF_RANGE; |
| 8530 | } |
| 8531 | newz=ztemp+dz2; |
| 8532 | |
| 8533 | // Change in z relative to where we started for this wire |
| 8534 | dz=newz-z; |
| 8535 | } |
| 8536 | else if (fabs(dz)>2.*mStepSizeZ-EPS31.e-2){ |
| 8537 | // whoops, looks like we didn't actually bracket the minimum |
| 8538 | // after all. Swim to make sure we pass the minimum doca. |
| 8539 | |
| 8540 | double ztemp=newz; |
| 8541 | // new wire position |
| 8542 | wirepos=origin; |
| 8543 | wirepos+=(ztemp-z0w)*dir; |
| 8544 | |
| 8545 | // doca |
| 8546 | double old_doca2=doca2; |
| 8547 | |
| 8548 | dx=S(state_x)-wirepos.X(); |
| 8549 | dy=S(state_y)-wirepos.Y(); |
| 8550 | doca2=dx*dx+dy*dy; |
| 8551 | |
| 8552 | while(doca2<old_doca2 && stepCounter<10*maxSteps){ |
| 8553 | newz=ztemp+mStepSizeZ; |
| 8554 | old_doca2=doca2; |
| 8555 | |
| 8556 | // Step to the new z position |
| 8557 | Step(ztemp,newz,dedx,S); |
| 8558 | stepCounter++; |
| 8559 | |
| 8560 | // find the new distance to the wire |
| 8561 | wirepos=origin; |
| 8562 | wirepos+=(newz-z0w)*dir; |
| 8563 | |
| 8564 | dx=S(state_x)-wirepos.X(); |
| 8565 | dy=S(state_y)-wirepos.Y(); |
| 8566 | doca2=dx*dx+dy*dy; |
| 8567 | |
| 8568 | ztemp=newz; |
| 8569 | } |
| 8570 | |
| 8571 | // Find the true doca |
| 8572 | double dz2=0.; |
| 8573 | if (BrentsAlgorithm(newz,mStepSizeZ,dedx,z0w,origin,dir,S,dz2)!=NOERROR){ |
| 8574 | return VALUE_OUT_OF_RANGE; |
| 8575 | } |
| 8576 | newz=ztemp+dz2; |
| 8577 | |
| 8578 | // Change in z relative to where we started for this wire |
| 8579 | dz=newz-z; |
| 8580 | } |
| 8581 | return NOERROR; |
| 8582 | } |
| 8583 | |
| 8584 | jerror_t DTrackFitterKalmanSIMD::BrentCentral(double dedx, DVector2 &xy, const double z0w, const DVector2 &origin, const DVector2 &dir, DMatrix5x1 &Sc, double &ds){ |
| 8585 | |
| 8586 | DVector2 wirexy=origin; |
| 8587 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 8588 | |
| 8589 | // new doca |
| 8590 | double doca2=(xy-wirexy).Mod2(); |
| 8591 | double old_doca2=doca2; |
Value stored to 'old_doca2' during its initialization is never read | |
| 8592 | |
| 8593 | if (BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dedx,xy,z0w, |
| 8594 | origin,dir,Sc,ds)!=NOERROR){ |
| 8595 | return VALUE_OUT_OF_RANGE; |
| 8596 | } |
| 8597 | |
| 8598 | unsigned int maxSteps=3; |
| 8599 | unsigned int stepCounter=0; |
| 8600 | |
| 8601 | if (fabs(ds)<EPS31.e-2){ |
| 8602 | double my_ds=ds; |
| 8603 | old_doca2=doca2; |
| 8604 | Step(xy,-mStepSizeS,Sc,dedx); |
| 8605 | my_ds-=mStepSizeS; |
| 8606 | wirexy=origin; |
| 8607 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 8608 | doca2=(xy-wirexy).Mod2(); |
| 8609 | while(doca2<old_doca2 && stepCounter<maxSteps){ |
| 8610 | old_doca2=doca2; |
| 8611 | // Bail if the transverse momentum has dropped below some minimum |
| 8612 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 8613 | return VALUE_OUT_OF_RANGE; |
| 8614 | } |
| 8615 | |
| 8616 | // Step through the field |
| 8617 | Step(xy,-mStepSizeS,Sc,dedx); |
| 8618 | stepCounter++; |
| 8619 | |
| 8620 | wirexy=origin; |
| 8621 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 8622 | doca2=(xy-wirexy).Mod2(); |
| 8623 | |
| 8624 | my_ds-=mStepSizeS; |
| 8625 | } |
| 8626 | // Swim to the "true" doca |
| 8627 | double ds2=0.; |
| 8628 | if (BrentsAlgorithm(-mStepSizeS,-mStepSizeS,dedx,xy,z0w, |
| 8629 | origin,dir,Sc,ds2)!=NOERROR){ |
| 8630 | return VALUE_OUT_OF_RANGE; |
| 8631 | } |
| 8632 | ds=my_ds+ds2; |
| 8633 | } |
| 8634 | else if (fabs(ds)>2*mStepSizeS-EPS31.e-2){ |
| 8635 | double my_ds=ds; |
| 8636 | |
| 8637 | // new wire position |
| 8638 | wirexy=origin; |
| 8639 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 8640 | |
| 8641 | // doca |
| 8642 | old_doca2=doca2; |
| 8643 | doca2=(xy-wirexy).Mod2(); |
| 8644 | |
| 8645 | while(doca2<old_doca2 && stepCounter<maxSteps){ |
| 8646 | old_doca2=doca2; |
| 8647 | |
| 8648 | // Bail if the transverse momentum has dropped below some minimum |
| 8649 | if (fabs(Sc(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 8650 | return VALUE_OUT_OF_RANGE; |
| 8651 | } |
| 8652 | |
| 8653 | // Step through the field |
| 8654 | Step(xy,mStepSizeS,Sc,dedx); |
| 8655 | stepCounter++; |
| 8656 | |
| 8657 | // Find the new distance to the wire |
| 8658 | wirexy=origin; |
| 8659 | wirexy+=(Sc(state_z)-z0w)*dir; |
| 8660 | doca2=(xy-wirexy).Mod2(); |
| 8661 | |
| 8662 | my_ds+=mStepSizeS; |
| 8663 | } |
| 8664 | // Swim to the "true" doca |
| 8665 | double ds2=0.; |
| 8666 | if (BrentsAlgorithm(mStepSizeS,mStepSizeS,dedx,xy,z0w, |
| 8667 | origin,dir,Sc,ds2)!=NOERROR){ |
| 8668 | return VALUE_OUT_OF_RANGE; |
| 8669 | } |
| 8670 | ds=my_ds+ds2; |
| 8671 | } |
| 8672 | return NOERROR; |
| 8673 | } |
| 8674 | |
| 8675 | // Find extrapolations to detectors outside of the tracking volume |
| 8676 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToOuterDetectors(const DMatrix5x1 &S0){ |
| 8677 | DMatrix5x1 S=S0; |
| 8678 | // Energy loss |
| 8679 | double dEdx=0.; |
| 8680 | |
| 8681 | // material properties |
| 8682 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.,Z=0.; |
| 8683 | |
| 8684 | // Position variables |
| 8685 | double z=forward_traj[0].z; |
| 8686 | double newz=z,dz=0.; |
| 8687 | |
| 8688 | // Current time and path length |
| 8689 | double t=forward_traj[0].t; |
| 8690 | double s=forward_traj[0].s; |
| 8691 | |
| 8692 | // Store the position and momentum at the exit to the tracking volume |
| 8693 | AddExtrapolation(SYS_NULL,z,S,t,s); |
| 8694 | |
| 8695 | // Loop to propagate track to outer detectors |
| 8696 | const double z_outer_max=1000.; |
| 8697 | const double x_max=130.; |
| 8698 | const double y_max=130.; |
| 8699 | const double fcal_radius_sq=120.47*120.47; |
| 8700 | bool hit_tof=false; |
| 8701 | bool hit_dirc=false; |
| 8702 | bool hit_fcal=false; |
| 8703 | bool got_fmwpc=(dFMWPCz_vec.size()>0)?true:false; |
| 8704 | unsigned int fmwpc_index=0; |
| 8705 | unsigned int trd_index=0; |
| 8706 | while (z>Z_MIN-100. && z<z_outer_max && fabs(S(state_x))<x_max |
| 8707 | && fabs(S(state_y))<y_max){ |
| 8708 | // Bail if the momentum has dropped below some minimum |
| 8709 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 8710 | if (DEBUG_LEVEL>2) |
| 8711 | { |
| 8712 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8712<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 8713 | << endl; |
| 8714 | } |
| 8715 | return VALUE_OUT_OF_RANGE; |
| 8716 | } |
| 8717 | |
| 8718 | // Check if we have passed into the BCAL |
| 8719 | double r2=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 8720 | if (r2>89.*89. && z<400.) return VALUE_OUT_OF_RANGE; |
| 8721 | if (r2>64.9*64.9 && r2<89.*89.){ |
| 8722 | if (extrapolations.at(SYS_BCAL).size()>299){ |
| 8723 | return VALUE_OUT_OF_RANGE; |
| 8724 | } |
| 8725 | if (z<406.){ |
| 8726 | AddExtrapolation(SYS_BCAL,z,S,t,s); |
| 8727 | } |
| 8728 | else if (extrapolations.at(SYS_BCAL).size()<5){ |
| 8729 | // There needs to be some steps inside the the volume of the BCAL for |
| 8730 | // the extrapolation to be useful. If this is not the case, clear |
| 8731 | // the extrapolation vector. |
| 8732 | extrapolations[SYS_BCAL].clear(); |
| 8733 | } |
| 8734 | } |
| 8735 | |
| 8736 | // Relationship between arc length and z |
| 8737 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx) |
| 8738 | +S(state_ty)*S(state_ty)); |
| 8739 | |
| 8740 | // get material properties from the Root Geometry |
| 8741 | DVector3 pos(S(state_x),S(state_y),z); |
| 8742 | DVector3 dir(S(state_tx),S(state_ty),1.); |
| 8743 | double s_to_boundary=0.; |
| 8744 | if (geom->FindMatKalman(pos,dir,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 8745 | last_material_map,&s_to_boundary) |
| 8746 | !=NOERROR){ |
| 8747 | if (DEBUG_LEVEL>0) |
| 8748 | { |
| 8749 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8749<<" " << "Material error in ExtrapolateForwardToOuterDetectors!"<< endl; |
| 8750 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<8750<<" " << " Position (x,y,z)=("<<pos.x()<<","<<pos.y()<<","<<pos.z()<<")" |
| 8751 | <<endl; |
| 8752 | } |
| 8753 | return VALUE_OUT_OF_RANGE; |
| 8754 | } |
| 8755 | |
| 8756 | // Get dEdx for the upcoming step |
| 8757 | if (CORRECT_FOR_ELOSS){ |
| 8758 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 8759 | } |
| 8760 | |
| 8761 | // Adjust the step size |
| 8762 | double ds=mStepSizeS; |
| 8763 | if (fabs(dEdx)>EPS3.0e-8){ |
| 8764 | ds=DE_PER_STEP0.001/fabs(dEdx); |
| 8765 | } |
| 8766 | if (ds>mStepSizeS) ds=mStepSizeS; |
| 8767 | if (s_to_boundary<ds) ds=s_to_boundary; |
| 8768 | if (ds<MIN_STEP_SIZE0.1) ds=MIN_STEP_SIZE0.1; |
| 8769 | if (ds<0.5 && z<406. && r2>65.*65.) ds=0.5; |
| 8770 | dz=ds*dz_ds; |
| 8771 | newz=z+dz; |
| 8772 | if (trd_index<dTRDz_vec.size() && newz>dTRDz_vec[trd_index]){ |
| 8773 | newz=dTRDz_vec[trd_index]+EPS3.0e-8; |
| 8774 | ds=(newz-z)/dz_ds; |
| 8775 | } |
| 8776 | if (hit_tof==false && newz>dTOFz){ |
| 8777 | newz=dTOFz+EPS3.0e-8; |
| 8778 | ds=(newz-z)/dz_ds; |
| 8779 | } |
| 8780 | if (hit_dirc==false && newz>dDIRCz){ |
| 8781 | newz=dDIRCz+EPS3.0e-8; |
| 8782 | ds=(newz-z)/dz_ds; |
| 8783 | } |
| 8784 | if (hit_fcal==false && newz>dFCALz){ |
| 8785 | newz=dFCALz+EPS3.0e-8; |
| 8786 | ds=(newz-z)/dz_ds; |
| 8787 | } |
| 8788 | if (fmwpc_index<dFMWPCz_vec.size()&&newz>dFMWPCz_vec[fmwpc_index]){ |
| 8789 | newz=dFMWPCz_vec[fmwpc_index]+EPS3.0e-8; |
| 8790 | ds=(newz-z)/dz_ds; |
| 8791 | } |
| 8792 | if (got_fmwpc&&newz>dCTOFz){ |
| 8793 | newz=dCTOFz+EPS3.0e-8; |
| 8794 | ds=(newz-z)/dz_ds; |
| 8795 | } |
| 8796 | s+=ds; |
| 8797 | |
| 8798 | // Flight time |
| 8799 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 8800 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 8801 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 8802 | t+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 8803 | |
| 8804 | // Step through field |
| 8805 | Step(z,newz,dEdx,S); |
| 8806 | z=newz; |
| 8807 | |
| 8808 | if (trd_index<dTRDz_vec.size() && newz>dTRDz_vec[trd_index]){ |
| 8809 | AddExtrapolation(SYS_TRD,z,S,t,s); |
| 8810 | trd_index++; |
| 8811 | } |
| 8812 | if (hit_dirc==false && newz>dDIRCz){ |
| 8813 | hit_dirc=true; |
| 8814 | AddExtrapolation(SYS_DIRC,z,S,t,s); |
| 8815 | } |
| 8816 | if (hit_tof==false && newz>dTOFz){ |
| 8817 | hit_tof=true; |
| 8818 | AddExtrapolation(SYS_TOF,z,S,t,s); |
| 8819 | } |
| 8820 | if (hit_fcal==false && newz>dFCALz){ |
| 8821 | double r2=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 8822 | if (r2>fcal_radius_sq) return NOERROR; |
| 8823 | |
| 8824 | hit_fcal=true; |
| 8825 | AddExtrapolation(SYS_FCAL,z,S,t,s); |
| 8826 | |
| 8827 | // Propagate the track to the back of the FCAL block |
| 8828 | int num=int(45./dz); |
| 8829 | int m=0; |
| 8830 | for (;m<num;m++){ |
| 8831 | // propagate t and s to back of FCAL block |
| 8832 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 8833 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 8834 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 8835 | ds=dz*sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 8836 | t+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 8837 | s+=ds; |
| 8838 | |
| 8839 | newz=z+dz; |
| 8840 | // Step through field |
| 8841 | Step(z,newz,dEdx,S); |
| 8842 | z=newz; |
| 8843 | |
| 8844 | r2=S(state_x)*S(state_x)+S(state_y)*S(state_y); |
| 8845 | if (r2>fcal_radius_sq){ |
| 8846 | // Break out of the loop if the track exits out of the FCAL before |
| 8847 | // reaching the back end of the block |
| 8848 | break; |
| 8849 | } |
| 8850 | } |
| 8851 | if (m==num){ |
| 8852 | newz=dFCALzBack; |
| 8853 | |
| 8854 | // Propagate t and s to back of FCAL block |
| 8855 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 8856 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 8857 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 8858 | dz=newz-z; |
| 8859 | ds=dz*sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 8860 | t+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 8861 | s+=ds; |
| 8862 | |
| 8863 | // Step through field |
| 8864 | Step(z,newz,dEdx,S); |
| 8865 | z=newz; |
| 8866 | } |
| 8867 | // add another extrapolation point at downstream end of FCAL |
| 8868 | AddExtrapolation(SYS_FCAL,z,S,t,s); |
| 8869 | // .. and exit if the muon detector is not installed |
| 8870 | if (got_fmwpc==false) return NOERROR; |
| 8871 | } |
| 8872 | // Deal with muon detector |
| 8873 | if (hit_fcal==true |
| 8874 | && (fabs(S(state_x))>dFMWPCsize || (fabs(S(state_y))>dFMWPCsize))){ |
| 8875 | return NOERROR; |
| 8876 | } |
| 8877 | if (fmwpc_index<dFMWPCz_vec.size() && newz>dFMWPCz_vec[fmwpc_index]){ |
| 8878 | AddExtrapolation(SYS_FMWPC,z,S,t,s); |
| 8879 | fmwpc_index++; |
| 8880 | } |
| 8881 | if (got_fmwpc && newz>dCTOFz){ |
| 8882 | AddExtrapolation(SYS_CTOF,z,S,t,s); |
| 8883 | return NOERROR; |
| 8884 | } |
| 8885 | } |
| 8886 | |
| 8887 | return NOERROR; |
| 8888 | } |
| 8889 | |
| 8890 | // Find extrapolations to detector layers within the tracking volume and |
| 8891 | // inward (toward the target). |
| 8892 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateToInnerDetectors(){ |
| 8893 | // First deal with start counter. Only do this if the track has a chance |
| 8894 | // to intersect with the start counter volume. |
| 8895 | unsigned int inner_index=forward_traj.size()-1; |
| 8896 | unsigned int index_beyond_start_counter=inner_index; |
| 8897 | DMatrix5x1 S=forward_traj[inner_index].S; |
| 8898 | bool intersected_start_counter=false; |
| 8899 | if (sc_norm.empty()==false |
| 8900 | && S(state_x)*S(state_x)+S(state_y)*S(state_y)<SC_BARREL_R2 |
| 8901 | && forward_traj[inner_index].z<SC_END_NOSE_Z){ |
| 8902 | double d_old=1000.,d=1000.,z=0.; |
| 8903 | unsigned int index=0; |
| 8904 | for (unsigned int m=0;m<12;m++){ |
| 8905 | unsigned int k=inner_index; |
| 8906 | for (;k>1;k--){ |
| 8907 | S=forward_traj[k].S; |
| 8908 | z=forward_traj[k].z; |
| 8909 | |
| 8910 | double dphi=atan2(S(state_y),S(state_x))-SC_PHI_SECTOR1; |
| 8911 | if (dphi<0) dphi+=2.*M_PI3.14159265358979323846; |
| 8912 | index=int(floor(dphi/(2.*M_PI3.14159265358979323846/30.))); |
| 8913 | if (index>29) index=0; |
| 8914 | d=sc_norm[index][m].Dot(DVector3(S(state_x),S(state_y),z) |
| 8915 | -sc_pos[index][m]); |
| 8916 | if (d*d_old<0){ // break if we cross the current plane |
| 8917 | if (m==0) index_beyond_start_counter=k; |
| 8918 | break; |
| 8919 | } |
| 8920 | d_old=d; |
| 8921 | } |
| 8922 | // if the z position would be beyond the current segment along z of |
| 8923 | // the start counter, move to the next plane |
| 8924 | if (z>sc_pos[index][m+1].z()&&m<11){ |
| 8925 | continue; |
| 8926 | } |
| 8927 | // allow for a little slop at the end of the nose |
| 8928 | else if (z<sc_pos[index][sc_pos[0].size()-1].z()+0.1){ |
| 8929 | // Hone in on intersection with the appropriate segment of the start |
| 8930 | // counter |
| 8931 | int count=0; |
| 8932 | DMatrix5x1 bestS=S; |
| 8933 | double dmin=d; |
| 8934 | double bestz=z; |
| 8935 | double t=forward_traj[k].t; |
| 8936 | double s=forward_traj[k].s; |
| 8937 | double bestt=t,bests=s; |
| 8938 | |
| 8939 | // Magnetic field |
| 8940 | bfield->GetField(S(state_x),S(state_y),z,Bx,By,Bz); |
| 8941 | |
| 8942 | while (fabs(d)>0.001 && count<20){ |
| 8943 | // track direction |
| 8944 | DVector3 phat(S(state_tx),S(state_ty),1); |
| 8945 | phat.SetMag(1.); |
| 8946 | |
| 8947 | // Step to the start counter plane |
| 8948 | double ds=d/sc_norm[index][m].Dot(phat); |
| 8949 | FastStep(z,-ds,0.,S); |
| 8950 | |
| 8951 | // Flight time |
| 8952 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 8953 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 8954 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 8955 | t-=ds*sqrt(one_over_beta2); // in units where c=1 |
| 8956 | s-=ds; |
| 8957 | |
| 8958 | // Find the index for the nearest start counter paddle |
| 8959 | double dphi=atan2(S(state_y),S(state_x))-SC_PHI_SECTOR1; |
| 8960 | if (dphi<0) dphi+=2.*M_PI3.14159265358979323846; |
| 8961 | index=int(floor(dphi/(2.*M_PI3.14159265358979323846/30.))); |
| 8962 | |
| 8963 | // Find the new distance to the start counter (which could now be to |
| 8964 | // a plane in the one adjacent to the one before the step...) |
| 8965 | d=sc_norm[index][m].Dot(DVector3(S(state_x),S(state_y),z) |
| 8966 | -sc_pos[index][m]); |
| 8967 | if (fabs(d)<fabs(dmin)){ |
| 8968 | bestS=S; |
| 8969 | dmin=d; |
| 8970 | bestz=z; |
| 8971 | bests=s; |
| 8972 | bestt=t; |
| 8973 | } |
| 8974 | count++; |
| 8975 | } |
| 8976 | AddExtrapolation(SYS_START,bestz,bestS,bestt,bests); |
| 8977 | intersected_start_counter=true; |
| 8978 | break; |
| 8979 | } |
| 8980 | } |
| 8981 | } |
| 8982 | // Accumulate multiple-scattering terms for use in matching routines |
| 8983 | double s_theta_ms_sum=0.; |
| 8984 | double theta2ms_sum=0.; |
| 8985 | if (intersected_start_counter){ |
| 8986 | for (unsigned int k=inner_index;k>index_beyond_start_counter;k--){ |
| 8987 | double ds_theta_ms_sq=3.*fabs(forward_traj[k].Q(state_x,state_x)); |
| 8988 | s_theta_ms_sum+=sqrt(ds_theta_ms_sq); |
| 8989 | double ds=forward_traj[k].s-forward_traj[k-1].s; |
| 8990 | theta2ms_sum+=ds_theta_ms_sq/(ds*ds); |
| 8991 | } |
| 8992 | } |
| 8993 | |
| 8994 | // Deal with points within fiducial volume of chambers |
| 8995 | unsigned int fdc_plane=0; |
| 8996 | mT0Detector=SYS_NULL; |
| 8997 | mT0MinimumDriftTime=1e6; |
| 8998 | for (int k=intersected_start_counter?index_beyond_start_counter:inner_index;k>=0;k--){ |
| 8999 | double z=forward_traj[k].z; |
| 9000 | double t=forward_traj[k].t; |
| 9001 | double s=forward_traj[k].s; |
| 9002 | DMatrix5x1 S=forward_traj[k].S; |
| 9003 | |
| 9004 | // Find estimate for t0 using earliest drift time |
| 9005 | if (forward_traj[k].h_id>999){ |
| 9006 | unsigned int index=forward_traj[k].h_id-1000; |
| 9007 | double dt=my_cdchits[index]->tdrift-t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 9008 | if (dt<mT0MinimumDriftTime){ |
| 9009 | mT0MinimumDriftTime=dt; |
| 9010 | mT0Detector=SYS_CDC; |
| 9011 | } |
| 9012 | } |
| 9013 | else if (forward_traj[k].h_id>0){ |
| 9014 | unsigned int index=forward_traj[k].h_id-1; |
| 9015 | double dt=my_fdchits[index]->t-t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 9016 | if (dt<mT0MinimumDriftTime){ |
| 9017 | mT0MinimumDriftTime=dt; |
| 9018 | mT0Detector=SYS_FDC; |
| 9019 | } |
| 9020 | } |
| 9021 | |
| 9022 | //multiple scattering terms |
| 9023 | if (k>0){ |
| 9024 | double ds_theta_ms_sq=3.*fabs(forward_traj[k].Q(state_x,state_x)); |
| 9025 | s_theta_ms_sum+=sqrt(ds_theta_ms_sq); |
| 9026 | double ds=forward_traj[k].s-forward_traj[k-1].s; |
| 9027 | theta2ms_sum+=ds_theta_ms_sq/(ds*ds); |
| 9028 | } |
| 9029 | // Extrapolations in CDC region |
| 9030 | if (z<endplate_z_downstream){ |
| 9031 | AddExtrapolation(SYS_CDC,z,S,t,s,s_theta_ms_sum,theta2ms_sum); |
| 9032 | } |
| 9033 | else{ // extrapolations in FDC region |
| 9034 | // output step near wire plane |
| 9035 | if (z>fdc_z_wires[fdc_plane]-0.25){ |
| 9036 | double dz=z-fdc_z_wires[fdc_plane]; |
| 9037 | //printf("extrp dz %f\n",dz); |
| 9038 | if (fabs(dz)>EPS21.e-4){ |
| 9039 | Step(z,fdc_z_wires[fdc_plane],0.,S); |
| 9040 | } |
| 9041 | AddExtrapolation(SYS_FDC,fdc_z_wires[fdc_plane],S,t,s,s_theta_ms_sum, |
| 9042 | theta2ms_sum); |
| 9043 | |
| 9044 | if (fdc_plane==23){ |
| 9045 | return NOERROR; |
| 9046 | } |
| 9047 | |
| 9048 | fdc_plane++; |
| 9049 | } |
| 9050 | } |
| 9051 | } |
| 9052 | |
| 9053 | |
| 9054 | //-------------------------------------------------------------------------- |
| 9055 | // The following code continues the extrapolations to wire planes that were |
| 9056 | // not included in the forward trajectory |
| 9057 | //-------------------------------------------------------------------------- |
| 9058 | |
| 9059 | // Material properties |
| 9060 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.,Z=0.; |
| 9061 | double chi2c_factor=0.,chi2a_factor=0.,chi2a_corr=0.; |
| 9062 | |
| 9063 | // Energy loss |
| 9064 | double dEdx=0.; |
| 9065 | |
| 9066 | // multiple scattering matrix |
| 9067 | DMatrix5x5 Q; |
| 9068 | |
| 9069 | // Position variables |
| 9070 | S=forward_traj[0].S; |
| 9071 | double z=forward_traj[0].z,newz=z,dz=0.; |
| 9072 | |
| 9073 | // Current time and path length |
| 9074 | double t=forward_traj[0].t; |
| 9075 | double s=forward_traj[0].s; |
| 9076 | |
| 9077 | // Find intersection points to FDC planes beyond the exent of the forward |
| 9078 | // trajectory. |
| 9079 | while (z>Z_MIN-100. && z<fdc_z_wires[23]+1. && fdc_plane<24){ |
| 9080 | // Bail if the momentum has dropped below some minimum |
| 9081 | if (fabs(S(state_q_over_p))>Q_OVER_P_MAX){ |
| 9082 | if (DEBUG_LEVEL>2) |
| 9083 | { |
| 9084 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<9084<<" " << "Bailing: P = " << 1./fabs(S(state_q_over_p)) |
| 9085 | << endl; |
| 9086 | } |
| 9087 | return VALUE_OUT_OF_RANGE; |
| 9088 | } |
| 9089 | |
| 9090 | // Current position |
| 9091 | DVector3 pos(S(state_x),S(state_y),z); |
| 9092 | if (pos.Perp()>50.) break; |
| 9093 | |
| 9094 | // get material properties from the Root Geometry |
| 9095 | DVector3 dir(S(state_tx),S(state_ty),1.); |
| 9096 | double s_to_boundary=0.; |
| 9097 | if (geom->FindMatKalman(pos,dir,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 9098 | chi2c_factor,chi2a_factor,chi2a_corr, |
| 9099 | last_material_map,&s_to_boundary) |
| 9100 | !=NOERROR){ |
| 9101 | if (DEBUG_LEVEL>0) |
| 9102 | { |
| 9103 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<9103<<" " << "Material error in ExtrapolateForwardToOuterDetectors!"<< endl; |
| 9104 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<9104<<" " << " Position (x,y,z)=("<<pos.x()<<","<<pos.y()<<","<<pos.z()<<")" |
| 9105 | <<endl; |
| 9106 | } |
| 9107 | return VALUE_OUT_OF_RANGE; |
| 9108 | } |
| 9109 | |
| 9110 | // Get dEdx for the upcoming step |
| 9111 | if (CORRECT_FOR_ELOSS){ |
| 9112 | dEdx=GetdEdx(S(state_q_over_p),K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 9113 | } |
| 9114 | |
| 9115 | // Relationship between arc length and z |
| 9116 | double dz_ds=1./sqrt(1.+S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty)); |
| 9117 | |
| 9118 | // Adjust the step size |
| 9119 | double ds=mStepSizeS; |
| 9120 | if (fabs(dEdx)>EPS3.0e-8){ |
| 9121 | ds=DE_PER_STEP0.001/fabs(dEdx); |
| 9122 | } |
| 9123 | if (ds>mStepSizeS) ds=mStepSizeS; |
| 9124 | if (s_to_boundary<ds) ds=s_to_boundary; |
| 9125 | if (ds<MIN_STEP_SIZE0.1) ds=MIN_STEP_SIZE0.1; |
| 9126 | dz=ds*dz_ds; |
| 9127 | newz=z+dz; |
| 9128 | |
| 9129 | bool got_fdc_hit=false; |
| 9130 | if (fdc_plane<24 && newz>fdc_z_wires[fdc_plane]){ |
| 9131 | newz=fdc_z_wires[fdc_plane]; |
| 9132 | ds=(newz-z)/dz_ds; |
| 9133 | got_fdc_hit=true; |
| 9134 | } |
| 9135 | s+=ds; |
| 9136 | |
| 9137 | // Flight time |
| 9138 | double q_over_p_sq=S(state_q_over_p)*S(state_q_over_p); |
| 9139 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 9140 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 9141 | t+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 9142 | |
| 9143 | // Get the contribution to the covariance matrix due to multiple |
| 9144 | // scattering |
| 9145 | GetProcessNoise(z,ds,chi2c_factor,chi2a_factor,chi2a_corr,S,Q); |
| 9146 | double ds_theta_ms_sq=3.*fabs(Q(state_x,state_x)); |
| 9147 | s_theta_ms_sum+=sqrt(ds_theta_ms_sq); |
| 9148 | theta2ms_sum+=ds_theta_ms_sq/(ds*ds); |
| 9149 | |
| 9150 | // Step through field |
| 9151 | Step(z,newz,dEdx,S); |
| 9152 | z=newz; |
| 9153 | |
| 9154 | if (got_fdc_hit){ |
| 9155 | AddExtrapolation(SYS_FDC,z,S,s,t,s_theta_ms_sum,theta2ms_sum); |
| 9156 | fdc_plane++; |
| 9157 | } |
| 9158 | } |
| 9159 | |
| 9160 | return NOERROR; |
| 9161 | } |
| 9162 | |
| 9163 | // Routine to find intersections with surfaces useful at a later stage for track |
| 9164 | // matching |
| 9165 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateForwardToOtherDetectors(){ |
| 9166 | if (forward_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 9167 | //-------------------------------- |
| 9168 | // First swim to Start counter and CDC/FDC layers |
| 9169 | //-------------------------------- |
| 9170 | jerror_t error=ExtrapolateToInnerDetectors(); |
| 9171 | |
| 9172 | //-------------------------------- |
| 9173 | // Next swim to outer detectors... |
| 9174 | //-------------------------------- |
| 9175 | if (error==NOERROR){ |
| 9176 | return ExtrapolateToOuterDetectors(forward_traj[0].S); |
| 9177 | } |
| 9178 | |
| 9179 | return error; |
| 9180 | } |
| 9181 | |
| 9182 | // Routine to find intersections with surfaces useful at a later stage for track |
| 9183 | // matching |
| 9184 | jerror_t DTrackFitterKalmanSIMD::ExtrapolateCentralToOtherDetectors(){ |
| 9185 | if (central_traj.size()<2) return RESOURCE_UNAVAILABLE; |
| 9186 | |
| 9187 | // First deal with start counter. Only do this if the track has a chance |
| 9188 | // to intersect with the start counter volume. |
| 9189 | unsigned int inner_index=central_traj.size()-1; |
| 9190 | unsigned int index_beyond_start_counter=inner_index; |
| 9191 | DVector2 xy=central_traj[inner_index].xy; |
| 9192 | DMatrix5x1 S=central_traj[inner_index].S; |
| 9193 | if (sc_norm.empty()==false |
| 9194 | &&xy.Mod2()<SC_BARREL_R2&& S(state_z)<SC_END_NOSE_Z){ |
| 9195 | double d_old=1000.,d=1000.,z=0.; |
| 9196 | unsigned int index=0; |
| 9197 | for (unsigned int m=0;m<12;m++){ |
| 9198 | unsigned int k=inner_index; |
| 9199 | for (;k>1;k--){ |
| 9200 | S=central_traj[k].S; |
| 9201 | z=S(state_z); |
| 9202 | xy=central_traj[k].xy; |
| 9203 | |
| 9204 | double dphi=xy.Phi()-SC_PHI_SECTOR1; |
| 9205 | if (dphi<0) dphi+=2.*M_PI3.14159265358979323846; |
| 9206 | index=int(floor(dphi/(2.*M_PI3.14159265358979323846/30.))); |
| 9207 | if (index>29) index=0; |
| 9208 | //cout << "dphi " << dphi << " " << index << endl; |
| 9209 | |
| 9210 | d=sc_norm[index][m].Dot(DVector3(xy.X(),xy.Y(),z) |
| 9211 | -sc_pos[index][m]); |
| 9212 | |
| 9213 | if (d*d_old<0){ // break if we cross the current plane |
| 9214 | if (m==0) index_beyond_start_counter=k; |
| 9215 | break; |
| 9216 | } |
| 9217 | d_old=d; |
| 9218 | } |
| 9219 | // if the z position would be beyond the current segment along z of |
| 9220 | // the start counter, move to the next plane |
| 9221 | if (z>sc_pos[index][m+1].z()&&m<11){ |
| 9222 | continue; |
| 9223 | } |
| 9224 | // allow for a little slop at the end of the nose |
| 9225 | else if (z<sc_pos[index][sc_pos[0].size()-1].z()+0.1){ |
| 9226 | // Propagate the state and covariance through the field |
| 9227 | // using a straight-line approximation for each step to zero in on the |
| 9228 | // start counter paddle |
| 9229 | int count=0; |
| 9230 | DMatrix5x1 bestS=S; |
| 9231 | double dmin=d; |
| 9232 | DVector2 bestXY=central_traj[k].xy; |
| 9233 | double t=central_traj[k].t; |
| 9234 | double s=central_traj[k].s; |
| 9235 | double bests=s,bestt=t; |
| 9236 | // Magnetic field |
| 9237 | bfield->GetField(xy.X(),xy.Y(),S(state_z),Bx,By,Bz); |
| 9238 | |
| 9239 | while (fabs(d)>0.05 && count<20){ |
| 9240 | // track direction |
| 9241 | DVector3 phat(cos(S(state_phi)),sin(S(state_phi)),S(state_tanl)); |
| 9242 | phat.SetMag(1.); |
| 9243 | |
| 9244 | // path length increment |
| 9245 | double ds=d/sc_norm[index][m].Dot(phat); |
| 9246 | s-=ds; |
| 9247 | |
| 9248 | // Flight time |
| 9249 | double q_over_p=S(state_q_over_pt)*cos(atan(S(state_tanl))); |
| 9250 | double q_over_p_sq=q_over_p*q_over_p; |
| 9251 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 9252 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 9253 | t-=ds*sqrt(one_over_beta2); // in units where c=1 |
| 9254 | |
| 9255 | // Step along the trajectory using d to estimate path length |
| 9256 | FastStep(xy,-ds,0.,S); |
| 9257 | // Find the index for the nearest start counter paddle |
| 9258 | double dphi=xy.Phi()-SC_PHI_SECTOR1; |
| 9259 | if (dphi<0) dphi+=2.*M_PI3.14159265358979323846; |
| 9260 | index=int(floor(dphi/(2.*M_PI3.14159265358979323846/30.))); |
| 9261 | if (index>29) index=0; |
| 9262 | |
| 9263 | // Find the new distance to the start counter (which could now be to |
| 9264 | // a plane in the one adjacent to the one before the step...) |
| 9265 | d=sc_norm[index][m].Dot(DVector3(xy.X(),xy.Y(),S(state_z)) |
| 9266 | -sc_pos[index][m]); |
| 9267 | if (fabs(d)<fabs(dmin)){ |
| 9268 | bestS=S; |
| 9269 | dmin=d; |
| 9270 | bestXY=xy; |
| 9271 | bests=s; |
| 9272 | bestt=t; |
| 9273 | } |
| 9274 | count++; |
| 9275 | } |
| 9276 | |
| 9277 | if (bestS(state_z)>sc_pos[0][0].z()-0.1){ |
| 9278 | AddExtrapolation(SYS_START,bestS,bestXY,bestt,bests); |
| 9279 | } |
| 9280 | break; |
| 9281 | } |
| 9282 | } |
| 9283 | } |
| 9284 | |
| 9285 | // Accumulate multiple-scattering terms for use in matching routines |
| 9286 | double s_theta_ms_sum=0.,theta2ms_sum=0.; |
| 9287 | for (unsigned int k=inner_index;k>index_beyond_start_counter;k--){ |
| 9288 | double ds_theta_ms_sq=3.*fabs(central_traj[k].Q(state_D,state_D)); |
| 9289 | s_theta_ms_sum+=sqrt(ds_theta_ms_sq); |
| 9290 | double ds=central_traj[k].s-central_traj[k-1].s; |
| 9291 | theta2ms_sum+=ds_theta_ms_sq/(ds*ds); |
| 9292 | } |
| 9293 | |
| 9294 | // Deal with points within fiducial volume of chambers |
| 9295 | mT0Detector=SYS_NULL; |
| 9296 | mT0MinimumDriftTime=1e6; |
| 9297 | for (int k=index_beyond_start_counter;k>=0;k--){ |
| 9298 | S=central_traj[k].S; |
| 9299 | xy=central_traj[k].xy; |
| 9300 | double t=central_traj[k].t; |
| 9301 | double s=central_traj[k].s; |
| 9302 | |
| 9303 | // Find estimate for t0 using earliest drift time |
| 9304 | if (central_traj[k].h_id>0){ |
| 9305 | unsigned int index=central_traj[k].h_id-1; |
| 9306 | double dt=my_cdchits[index]->tdrift-t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 9307 | if (dt<mT0MinimumDriftTime){ |
| 9308 | mT0MinimumDriftTime=dt; |
| 9309 | mT0Detector=SYS_CDC; |
| 9310 | } |
| 9311 | } |
| 9312 | |
| 9313 | //multiple scattering terms |
| 9314 | if (k>0){ |
| 9315 | double ds_theta_ms_sq=3.*fabs(central_traj[k].Q(state_D,state_D)); |
| 9316 | s_theta_ms_sum+=sqrt(ds_theta_ms_sq); |
| 9317 | double ds=central_traj[k].s-central_traj[k-1].s; |
| 9318 | theta2ms_sum+=ds_theta_ms_sq/(ds*ds); |
| 9319 | } |
| 9320 | if (S(state_z)<endplate_z){ |
| 9321 | AddExtrapolation(SYS_CDC,S,xy,t,s,s_theta_ms_sum,theta2ms_sum); |
| 9322 | } |
| 9323 | } |
| 9324 | // Save the extrapolation at the exit of the tracking volume |
| 9325 | S=central_traj[0].S; |
| 9326 | xy=central_traj[0].xy; |
| 9327 | double t=central_traj[0].t; |
| 9328 | double s=central_traj[0].s; |
| 9329 | AddExtrapolation(SYS_NULL,S,xy,t,s); |
| 9330 | |
| 9331 | //------------------------------ |
| 9332 | // Next swim to outer detectors |
| 9333 | //------------------------------ |
| 9334 | // Position and step variables |
| 9335 | double r2=xy.Mod2(); |
| 9336 | double ds=mStepSizeS; // step along path in cm |
| 9337 | |
| 9338 | // Energy loss |
| 9339 | double dedx=0.; |
| 9340 | |
| 9341 | // Track propagation loop |
| 9342 | //if (false) |
| 9343 | while (S(state_z)>0. && S(state_z)<Z_MAX370.0 |
| 9344 | && r2<89.*89.){ |
| 9345 | // Bail if the transverse momentum has dropped below some minimum |
| 9346 | if (fabs(S(state_q_over_pt))>Q_OVER_PT_MAX100.){ |
| 9347 | if (DEBUG_LEVEL>2) |
| 9348 | { |
| 9349 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<9349<<" " << "Bailing: PT = " << 1./fabs(S(state_q_over_pt)) |
| 9350 | << endl; |
| 9351 | } |
| 9352 | return VALUE_OUT_OF_RANGE; |
| 9353 | } |
| 9354 | |
| 9355 | // get material properties from the Root Geometry |
| 9356 | double rho_Z_over_A=0.,LnI=0.,K_rho_Z_over_A=0.,Z=0.; |
| 9357 | DVector3 pos3d(xy.X(),xy.Y(),S(state_z)); |
| 9358 | double s_to_boundary=0.; |
| 9359 | DVector3 dir(cos(S(state_phi)),sin(S(state_phi)),S(state_tanl)); |
| 9360 | if (geom->FindMatKalman(pos3d,dir,K_rho_Z_over_A,rho_Z_over_A,LnI,Z, |
| 9361 | last_material_map,&s_to_boundary) |
| 9362 | !=NOERROR){ |
| 9363 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<9363<<" " << "Material error in ExtrapolateToVertex! " << endl; |
| 9364 | _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<9364<<" " << " Position (x,y,z)=("<<pos3d.x()<<","<<pos3d.y()<<"," |
| 9365 | << pos3d.z()<<")" |
| 9366 | <<endl; |
| 9367 | break; |
| 9368 | } |
| 9369 | |
| 9370 | // Get dEdx for the upcoming step |
| 9371 | double q_over_p=S(state_q_over_pt)*cos(atan(S(state_tanl))); |
| 9372 | if (CORRECT_FOR_ELOSS){ |
| 9373 | dedx=GetdEdx(q_over_p,K_rho_Z_over_A,rho_Z_over_A,LnI,Z); |
| 9374 | } |
| 9375 | // Adjust the step size |
| 9376 | if (fabs(dedx)>EPS3.0e-8){ |
| 9377 | ds=DE_PER_STEP0.001/fabs(dedx); |
| 9378 | } |
| 9379 | |
| 9380 | if (ds>mStepSizeS) ds=mStepSizeS; |
| 9381 | if (s_to_boundary<ds) ds=s_to_boundary; |
| 9382 | if (ds<MIN_STEP_SIZE0.1)ds=MIN_STEP_SIZE0.1; |
| 9383 | if (ds<0.5 && S(state_z)<400. && pos3d.Perp()>65.) ds=0.5; |
| 9384 | s+=ds; |
| 9385 | |
| 9386 | // Flight time |
| 9387 | double q_over_p_sq=q_over_p*q_over_p; |
| 9388 | double one_over_beta2=1.+mass2*q_over_p_sq; |
| 9389 | if (one_over_beta2>BIG1.0e8) one_over_beta2=BIG1.0e8; |
| 9390 | t+=ds*sqrt(one_over_beta2); // in units where c=1 |
| 9391 | |
| 9392 | // Propagate the state through the field |
| 9393 | Step(xy,ds,S,dedx); |
| 9394 | |
| 9395 | r2=xy.Mod2(); |
| 9396 | // Check if we have passed into the BCAL |
| 9397 | if (r2>64.9*64.9){ |
| 9398 | if (extrapolations.at(SYS_BCAL).size()>299){ |
| 9399 | return VALUE_OUT_OF_RANGE; |
| 9400 | } |
| 9401 | if (S(state_z)<406.&&S(state_z)>17.0){ |
| 9402 | AddExtrapolation(SYS_BCAL,S,xy,t,s); |
| 9403 | } |
| 9404 | else if (extrapolations.at(SYS_BCAL).size()<5){ |
| 9405 | // There needs to be some steps inside the the volume of the BCAL for |
| 9406 | // the extrapolation to be useful. If this is not the case, clear |
| 9407 | // the extrolation vector. |
| 9408 | extrapolations[SYS_BCAL].clear(); |
| 9409 | } |
| 9410 | } |
| 9411 | } |
| 9412 | |
| 9413 | return NOERROR; |
| 9414 | } |
| 9415 | |
| 9416 | /*---------------------------------------------------------------------------*/ |
| 9417 | |
| 9418 | // Kalman engine for forward tracks, propagating from near the beam line to |
| 9419 | // the outermost hits (opposite to regular direction). |
| 9420 | kalman_error_t DTrackFitterKalmanSIMD::KalmanReverse(double fdc_anneal_factor, |
| 9421 | double cdc_anneal_factor, |
| 9422 | const DMatrix5x1 &Sstart, |
| 9423 | DMatrix5x5 &C, |
| 9424 | DMatrix5x1 &S, |
| 9425 | double &chisq, |
| 9426 | unsigned int &numdof){ |
| 9427 | DMatrix2x1 Mdiff; // difference between measurement and prediction |
| 9428 | DMatrix2x5 H; // Track projection matrix |
| 9429 | DMatrix5x2 H_T; // Transpose of track projection matrix |
| 9430 | DMatrix1x5 Hc; // Track projection matrix for cdc hits |
| 9431 | DMatrix5x1 Hc_T; // Transpose of track projection matrix for cdc hits |
| 9432 | DMatrix5x5 J; // State vector Jacobian matrix |
| 9433 | //DMatrix5x5 J_T; // transpose of this matrix |
| 9434 | DMatrix5x5 Q; // Process noise covariance matrix |
| 9435 | DMatrix5x2 K; // Kalman gain matrix |
| 9436 | DMatrix5x1 Kc; // Kalman gain matrix for cdc hits |
| 9437 | DMatrix2x2 V(0.0833,0.,0.,FDC_CATHODE_VARIANCE0.000225); // Measurement covariance matrix |
| 9438 | DMatrix5x1 S0,S0_; //State vector |
| 9439 | DMatrix5x5 Ctest; // Covariance matrix |
| 9440 | |
| 9441 | double Vc=0.0507; |
| 9442 | |
| 9443 | unsigned int cdc_index=0; |
| 9444 | unsigned int num_cdc_hits=my_cdchits.size(); |
| 9445 | bool more_cdc_measurements=(num_cdc_hits>0); |
| 9446 | double old_doca2=1e6; |
| 9447 | |
| 9448 | // Initialize chi squared |
| 9449 | chisq=0; |
| 9450 | |
| 9451 | // Initialize number of degrees of freedom |
| 9452 | numdof=0; |
| 9453 | |
| 9454 | // Cuts for pruning hits |
| 9455 | double fdc_chi2cut=NUM_FDC_SIGMA_CUT*NUM_FDC_SIGMA_CUT; |
| 9456 | double cdc_chi2cut=NUM_CDC_SIGMA_CUT*NUM_CDC_SIGMA_CUT; |
| 9457 | |
| 9458 | // Vectors for cdc wires |
| 9459 | DVector2 origin,dir,wirepos; |
| 9460 | double z0w=0.; // origin in z for wire |
| 9461 | |
| 9462 | deque<DKalmanForwardTrajectory_t>::reverse_iterator rit = forward_traj.rbegin(); |
| 9463 | S0_=(*rit).S; |
| 9464 | S=Sstart; |
| 9465 | |
| 9466 | if (more_cdc_measurements){ |
| 9467 | origin=my_cdchits[0]->origin; |
| 9468 | dir=my_cdchits[0]->dir; |
| 9469 | z0w=my_cdchits[0]->z0wire; |
| 9470 | wirepos=origin+((*rit).z-z0w)*dir; |
| 9471 | } |
| 9472 | |
| 9473 | for (rit=forward_traj.rbegin()+1;rit!=forward_traj.rend();++rit){ |
| 9474 | // Get the state vector, jacobian matrix, and multiple scattering matrix |
| 9475 | // from reference trajectory |
| 9476 | S0=(*rit).S; |
| 9477 | J=2.*I5x5-(*rit).J; // We only want to change the signs of the parts that depend on dz ... |
| 9478 | Q=(*rit).Q; |
| 9479 | |
| 9480 | // Check that the position is within the tracking volume! |
| 9481 | if (S(state_x)*S(state_x)+S(state_y)*S(state_y)>65.*65.){ |
| 9482 | return POSITION_OUT_OF_RANGE; |
| 9483 | } |
| 9484 | // Update the actual state vector and covariance matrix |
| 9485 | S=S0+J*(S-S0_); |
| 9486 | C=Q.AddSym(J*C*J.Transpose()); |
| 9487 | //C.Print(); |
| 9488 | |
| 9489 | // Save the current state of the reference trajectory |
| 9490 | S0_=S0; |
| 9491 | |
| 9492 | // Z position along the trajectory |
| 9493 | double z=(*rit).z; |
| 9494 | |
| 9495 | if (more_cdc_measurements){ |
| 9496 | // new wire position |
| 9497 | wirepos=origin; |
| 9498 | wirepos+=(z-z0w)*dir; |
| 9499 | |
| 9500 | // doca variables |
| 9501 | double dx=S(state_x)-wirepos.X(); |
| 9502 | double dy=S(state_y)-wirepos.Y(); |
| 9503 | double doca2=dx*dx+dy*dy; |
| 9504 | |
| 9505 | if (doca2>old_doca2){ |
| 9506 | if(my_cdchits[cdc_index]->status==good_hit){ |
| 9507 | find_doca_error_t swimmed_to_doca=DOCA_NO_BRENT; |
| 9508 | double newz=endplate_z; |
| 9509 | double dz=newz-z; |
| 9510 | // Sometimes the true doca would correspond to the case where the |
| 9511 | // wire would need to extend beyond the physical volume of the straw. |
| 9512 | // In this case, find the doca at the cdc endplate. |
| 9513 | if (z>endplate_z){ |
| 9514 | swimmed_to_doca=DOCA_ENDPLATE; |
| 9515 | SwimToEndplate(z,*rit,S); |
| 9516 | |
| 9517 | // wire position at the endplate |
| 9518 | wirepos=origin; |
| 9519 | wirepos+=(endplate_z-z0w)*dir; |
| 9520 | |
| 9521 | dx=S(state_x)-wirepos.X(); |
| 9522 | dy=S(state_y)-wirepos.Y(); |
| 9523 | } |
| 9524 | else{ |
| 9525 | // Find the true doca to the wire. If we had to use Brent's |
| 9526 | // algorithm, the routine returns USED_BRENT |
| 9527 | swimmed_to_doca=FindDoca(my_cdchits[cdc_index],*rit,mStepSizeZ, |
| 9528 | mStepSizeZ,S0,S,C,dx,dy,dz,true); |
| 9529 | if (swimmed_to_doca==BRENT_FAILED){ |
| 9530 | //_DBG_ << "Brent's algorithm failed" <<endl; |
| 9531 | return MOMENTUM_OUT_OF_RANGE; |
| 9532 | } |
| 9533 | |
| 9534 | newz=z+dz; |
| 9535 | } |
| 9536 | double cosstereo=my_cdchits[cdc_index]->cosstereo; |
| 9537 | double d=sqrt(dx*dx+dy*dy)*cosstereo+EPS3.0e-8; |
| 9538 | |
| 9539 | // Track projection |
| 9540 | double cosstereo2_over_d=cosstereo*cosstereo/d; |
| 9541 | Hc_T(state_x)=dx*cosstereo2_over_d; |
| 9542 | Hc(state_x)=Hc_T(state_x); |
| 9543 | Hc_T(state_y)=dy*cosstereo2_over_d; |
| 9544 | Hc(state_y)=Hc_T(state_y); |
| 9545 | if (swimmed_to_doca==DOCA_NO_BRENT){ |
| 9546 | Hc_T(state_ty)=Hc_T(state_y)*dz; |
| 9547 | Hc(state_ty)=Hc_T(state_ty); |
| 9548 | Hc_T(state_tx)=Hc_T(state_x)*dz; |
| 9549 | Hc(state_tx)=Hc_T(state_tx); |
| 9550 | } |
| 9551 | else{ |
| 9552 | Hc_T(state_ty)=0.; |
| 9553 | Hc(state_ty)=0.; |
| 9554 | Hc_T(state_tx)=0.; |
| 9555 | Hc(state_tx)=0.; |
| 9556 | } |
| 9557 | // Find offset of wire with respect to the center of the |
| 9558 | // straw at this z position |
| 9559 | double delta=0.,dphi=0.; |
| 9560 | FindSag(dx,dy,newz-z0w,my_cdchits[cdc_index]->hit->wire,delta,dphi); |
| 9561 | |
| 9562 | // Find drift time and distance |
| 9563 | double tdrift=my_cdchits[cdc_index]->tdrift-mT0 |
| 9564 | -(*rit).t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 9565 | double tcorr=0.,dmeas=0.; |
| 9566 | double B=(*rit).B; |
| 9567 | ComputeCDCDrift(dphi,delta,tdrift,B,dmeas,Vc,tcorr); |
| 9568 | |
| 9569 | // Residual |
| 9570 | double res=dmeas-d; |
| 9571 | |
| 9572 | // inverse variance including prediction |
| 9573 | double Vproj=Hc*C*Hc_T; |
| 9574 | double InvV1=1./(Vc+Vproj); |
| 9575 | |
| 9576 | // Check if this hit is an outlier |
| 9577 | double chi2_hit=res*res*InvV1; |
| 9578 | if (chi2_hit<cdc_chi2cut){ |
| 9579 | // Compute KalmanSIMD gain matrix |
| 9580 | Kc=InvV1*(C*Hc_T); |
| 9581 | |
| 9582 | // Update state vector covariance matrix |
| 9583 | //C=C-K*(H*C); |
| 9584 | Ctest=C.SubSym(Kc*(Hc*C)); |
| 9585 | |
| 9586 | if (!Ctest.IsPosDef()){ |
| 9587 | if (DEBUG_LEVEL>0) _DBG_std::cerr<<"libraries/TRACKING/DTrackFitterKalmanSIMD.cc" <<":"<<9587<<" " << "Broken covariance matrix!" <<endl; |
| 9588 | return BROKEN_COVARIANCE_MATRIX; |
| 9589 | } |
| 9590 | |
| 9591 | if (tdrift >= CDC_T_DRIFT_MIN){ |
| 9592 | C=Ctest; |
| 9593 | S+=res*Kc; |
| 9594 | |
| 9595 | chisq+=(1.-Hc*Kc)*res*res/Vc; |
| 9596 | numdof++; |
| 9597 | } |
| 9598 | } |
| 9599 | |
| 9600 | // If we had to use Brent's algorithm to find the true doca or the |
| 9601 | // doca to the line corresponding to the wire is downstream of the |
| 9602 | // cdc endplate, we need to swim the state vector and covariance |
| 9603 | // matrix back to the appropriate position along the reference |
| 9604 | // trajectory. |
| 9605 | if (swimmed_to_doca!=DOCA_NO_BRENT){ |
| 9606 | double dedx=0.; |
| 9607 | if (CORRECT_FOR_ELOSS){ |
| 9608 | dedx=GetdEdx(S(state_q_over_p),(*rit).K_rho_Z_over_A, |
| 9609 | (*rit).rho_Z_over_A,(*rit).LnI,(*rit).Z); |
| 9610 | } |
| 9611 | StepBack(dedx,newz,z,S0,S,C); |
| 9612 | } |
| 9613 | } |
| 9614 | |
| 9615 | // new wire origin and direction |
| 9616 | if (cdc_index<num_cdc_hits-1){ |
| 9617 | cdc_index++; |
| 9618 | origin=my_cdchits[cdc_index]->origin; |
| 9619 | z0w=my_cdchits[cdc_index]->z0wire; |
| 9620 | dir=my_cdchits[cdc_index]->dir; |
| 9621 | } |
| 9622 | else more_cdc_measurements=false; |
| 9623 | |
| 9624 | // Update the wire position |
| 9625 | wirepos=origin+(z-z0w)*dir; |
| 9626 | |
| 9627 | // new doca |
| 9628 | dx=S(state_x)-wirepos.X(); |
| 9629 | dy=S(state_y)-wirepos.Y(); |
| 9630 | doca2=dx*dx+dy*dy; |
| 9631 | } |
| 9632 | old_doca2=doca2; |
| 9633 | } |
| 9634 | if ((*rit).h_id>0&&(*rit).h_id<1000){ |
| 9635 | unsigned int id=(*rit).h_id-1; |
| 9636 | |
| 9637 | // Variance in coordinate transverse to wire |
| 9638 | V(0,0)=my_fdchits[id]->uvar; |
| 9639 | |
| 9640 | // Variance in coordinate along wire |
| 9641 | V(1,1)=my_fdchits[id]->vvar; |
| 9642 | |
| 9643 | double upred=0,vpred=0.,doca=0.,cosalpha=0.,lorentz_factor=0.; |
| 9644 | FindDocaAndProjectionMatrix(my_fdchits[id],S,upred,vpred,doca,cosalpha, |
| 9645 | lorentz_factor,H_T); |
| 9646 | // Matrix transpose H_T -> H |
| 9647 | H=Transpose(H_T); |
| 9648 | |
| 9649 | |
| 9650 | DMatrix2x2 Vtemp=V+H*C*H_T; |
| 9651 | |
| 9652 | // Residual for coordinate along wire |
| 9653 | Mdiff(1)=my_fdchits[id]->vstrip-vpred-doca*lorentz_factor; |
| 9654 | |
| 9655 | // Residual for coordinate transverse to wire |
| 9656 | double drift_time=my_fdchits[id]->t-mT0-(*rit).t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 9657 | if (my_fdchits[id]->hit!=NULL__null){ |
| 9658 | double drift=(doca>0.0?1.:-1.)*fdc_drift_distance(drift_time,(*rit).B); |
| 9659 | Mdiff(0)=drift-doca; |
| 9660 | |
| 9661 | // Variance in drift distance |
| 9662 | V(0,0)=fdc_drift_variance(drift_time); |
| 9663 | } |
| 9664 | else if (USE_TRD_DRIFT_TIMES&&my_fdchits[id]->status==trd_hit){ |
| 9665 | double drift =(doca>0.0?1.:-1.)*0.1*pow(drift_time/8./0.91,1./1.556); |
| 9666 | Mdiff(0)=drift-doca; |
| 9667 | |
| 9668 | // Variance in drift distance |
| 9669 | V(0,0)=0.05*0.05; |
| 9670 | } |
| 9671 | if ((*rit).num_hits==1){ |
| 9672 | // Add contribution of track covariance from state vector propagation |
| 9673 | // to measurement errors |
| 9674 | DMatrix2x2 Vtemp=V+H*C*H_T; |
| 9675 | double chi2_hit=Vtemp.Chi2(Mdiff); |
| 9676 | if (chi2_hit<fdc_chi2cut){ |
| 9677 | // Compute Kalman gain matrix |
| 9678 | DMatrix2x2 InvV=Vtemp.Invert(); |
| 9679 | DMatrix5x2 K=C*H_T*InvV; |
| 9680 | |
| 9681 | // Update the state vector |
| 9682 | S+=K*Mdiff; |
| 9683 | |
| 9684 | // Update state vector covariance matrix |
| 9685 | //C=C-K*(H*C); |
| 9686 | C=C.SubSym(K*(H*C)); |
| 9687 | |
| 9688 | if (DEBUG_LEVEL > 35) { |
| 9689 | jout << "S Update: " << endl; S.Print(); |
| 9690 | jout << "C Update: " << endl; C.Print(); |
| 9691 | } |
| 9692 | |
| 9693 | // Filtered residual and covariance of filtered residual |
| 9694 | DMatrix2x1 R=Mdiff-H*K*Mdiff; |
| 9695 | DMatrix2x2 RC=V-H*(C*H_T); |
| 9696 | |
| 9697 | // Update chi2 for this segment |
| 9698 | chisq+=RC.Chi2(R); |
| 9699 | |
| 9700 | if (DEBUG_LEVEL>30) |
| 9701 | { |
| 9702 | printf("hit %d p %5.2f dm %5.4f %5.4f sig %5.4f %5.4f chi2 %5.2f\n", |
| 9703 | id,1./S(state_q_over_p),Mdiff(0),Mdiff(1), |
| 9704 | sqrt(V(0,0)),sqrt(V(1,1)),RC.Chi2(R)); |
| 9705 | } |
| 9706 | |
| 9707 | numdof+=2; |
| 9708 | } |
| 9709 | } |
| 9710 | // Handle the case where there are multiple adjacent hits in the plane |
| 9711 | else { |
| 9712 | UpdateSandCMultiHit(*rit,upred,vpred,doca,cosalpha,lorentz_factor,V, |
| 9713 | Mdiff,H,H_T,S,C,fdc_chi2cut,false,chisq,numdof); |
| 9714 | } |
| 9715 | } |
| 9716 | |
| 9717 | //printf("chisq %f ndof %d prob %f\n",chisq,numdof,TMath::Prob(chisq,numdof)); |
| 9718 | } |
| 9719 | |
| 9720 | return FIT_SUCCEEDED; |
| 9721 | } |
| 9722 | |
| 9723 | // Finds the distance of closest approach between a CDC wire and the trajectory |
| 9724 | // of the track and updates the state vector and covariance matrix at this point. |
| 9725 | find_doca_error_t |
| 9726 | DTrackFitterKalmanSIMD::FindDoca(const DKalmanSIMDCDCHit_t *hit, |
| 9727 | const DKalmanForwardTrajectory_t &traj, |
| 9728 | double step1,double step2, |
| 9729 | DMatrix5x1 &S0,DMatrix5x1 &S, |
| 9730 | DMatrix5x5 &C, |
| 9731 | double &dx,double &dy,double &dz, |
| 9732 | bool do_reverse){ |
| 9733 | double z=traj.z,newz=z; |
| 9734 | DMatrix5x5 J; |
| 9735 | |
| 9736 | // wire position and direction |
| 9737 | DVector2 origin=hit->origin; |
| 9738 | double z0w=hit->z0wire; |
| 9739 | DVector2 dir=hit->dir; |
| 9740 | |
| 9741 | // energy loss |
| 9742 | double dedx=0.; |
| 9743 | |
| 9744 | // track direction variables |
| 9745 | double tx=S(state_tx); |
| 9746 | double ty=S(state_ty); |
| 9747 | double tanl=1./sqrt(tx*tx+ty*ty); |
| 9748 | double sinl=sin(atan(tanl)); |
| 9749 | |
| 9750 | // Wire direction variables |
| 9751 | double ux=dir.X(); |
| 9752 | double uy=dir.Y(); |
| 9753 | // Variables relating wire direction and track direction |
| 9754 | double my_ux=tx-ux; |
| 9755 | double my_uy=ty-uy; |
| 9756 | double denom=my_ux*my_ux+my_uy*my_uy; |
| 9757 | |
| 9758 | // variables for dealing with propagation of S and C if we |
| 9759 | // need to use Brent's algorithm to find the doca to the wire |
| 9760 | int num_steps=0; |
| 9761 | double my_dz=0.; |
| 9762 | |
| 9763 | // if the path length increment is small relative to the radius |
| 9764 | // of curvature, use a linear approximation to find dz |
| 9765 | bool do_brent=false; |
| 9766 | double sign=do_reverse?-1.:1.; |
| 9767 | double two_step=sign*(step1+step2); |
| 9768 | if (fabs(qBr2p0.003*S(state_q_over_p) |
| 9769 | *bfield->GetBz(S(state_x),S(state_y),z) |
| 9770 | *two_step/sinl)<0.05 |
| 9771 | && denom>EPS3.0e-8){ |
| 9772 | double dzw=z-z0w; |
| 9773 | dz=-((S(state_x)-origin.X()-ux*dzw)*my_ux |
| 9774 | +(S(state_y)-origin.Y()-uy*dzw)*my_uy)/denom; |
| 9775 | if (fabs(dz)>fabs(two_step) || sign*dz<0){ |
| 9776 | do_brent=true; |
| 9777 | } |
| 9778 | else{ |
| 9779 | newz=z+dz; |
| 9780 | // Check for exiting the straw |
| 9781 | if (newz>endplate_z){ |
| 9782 | dz=endplate_z-z; |
| 9783 | } |
| 9784 | } |
| 9785 | } |
| 9786 | else do_brent=true; |
| 9787 | if (do_brent){ |
| 9788 | if (CORRECT_FOR_ELOSS){ |
| 9789 | dedx=GetdEdx(S(state_q_over_p),traj.K_rho_Z_over_A,traj.rho_Z_over_A, |
| 9790 | traj.LnI,traj.Z); |
| 9791 | } |
| 9792 | |
| 9793 | // We have bracketed the minimum doca: use Brent's agorithm |
| 9794 | if (BrentForward(z,dedx,z0w,origin,dir,S,dz)!=NOERROR){ |
| 9795 | return BRENT_FAILED; |
| 9796 | } |
| 9797 | // Step the state and covariance through the field |
| 9798 | if (fabs(dz)>mStepSizeZ){ |
| 9799 | my_dz=(dz>0?1.0:-1.)*mStepSizeZ; |
| 9800 | num_steps=int(fabs(dz/my_dz)); |
| 9801 | double dz3=dz-num_steps*my_dz; |
| 9802 | |
| 9803 | double my_z=z; |
| 9804 | for (int m=0;m<num_steps;m++){ |
| 9805 | newz=my_z+my_dz; |
| 9806 | |
| 9807 | // propagate error matrix to z-position of hit |
| 9808 | StepJacobian(my_z,newz,S0,dedx,J); |
| 9809 | C=J*C*J.Transpose(); |
| 9810 | //C=C.SandwichMultiply(J); |
| 9811 | |
| 9812 | // Step reference trajectory by my_dz |
| 9813 | Step(my_z,newz,dedx,S0); |
| 9814 | |
| 9815 | my_z=newz; |
| 9816 | } |
| 9817 | |
| 9818 | newz=my_z+dz3; |
| 9819 | // propagate error matrix to z-position of hit |
| 9820 | StepJacobian(my_z,newz,S0,dedx,J); |
| 9821 | C=J*C*J.Transpose(); |
| 9822 | //C=C.SandwichMultiply(J); |
| 9823 | |
| 9824 | // Step reference trajectory by dz3 |
| 9825 | Step(my_z,newz,dedx,S0); |
| 9826 | } |
| 9827 | else{ |
| 9828 | newz = z + dz; |
| 9829 | |
| 9830 | // propagate error matrix to z-position of hit |
| 9831 | StepJacobian(z,newz,S0,dedx,J); |
| 9832 | C=J*C*J.Transpose(); |
| 9833 | //C=C.SandwichMultiply(J); |
| 9834 | |
| 9835 | // Step reference trajectory by dz |
| 9836 | Step(z,newz,dedx,S0); |
| 9837 | } |
| 9838 | } |
| 9839 | |
| 9840 | // Wire position at current z |
| 9841 | DVector2 wirepos=origin; |
| 9842 | wirepos+=(newz-z0w)*dir; |
| 9843 | |
| 9844 | double xw=wirepos.X(); |
| 9845 | double yw=wirepos.Y(); |
| 9846 | |
| 9847 | // predicted doca taking into account the orientation of the wire |
| 9848 | if (do_brent==false){ |
| 9849 | // In this case we did not have to swim to find the doca and |
| 9850 | // the transformation from the state vector space to the |
| 9851 | // measurement space is straight-forward. |
| 9852 | dy=S(state_y)+S(state_ty)*dz-yw; |
| 9853 | dx=S(state_x)+S(state_tx)*dz-xw; |
| 9854 | } |
| 9855 | else{ |
| 9856 | // In this case we swam the state vector to the position of the doca |
| 9857 | dy=S(state_y)-yw; |
| 9858 | dx=S(state_x)-xw; |
| 9859 | } |
| 9860 | |
| 9861 | if (do_brent) return USED_BRENT; |
| 9862 | return DOCA_NO_BRENT; |
| 9863 | } |
| 9864 | |
| 9865 | // Swim along a trajectory to the z-position z. |
| 9866 | void DTrackFitterKalmanSIMD::StepBack(double dedx,double newz,double z, |
| 9867 | DMatrix5x1 &S0,DMatrix5x1 &S, |
| 9868 | DMatrix5x5 &C){ |
| 9869 | double dz=newz-z; |
| 9870 | DMatrix5x5 J; |
| 9871 | int num_steps=int(fabs(dz/mStepSizeZ)); |
| 9872 | if (num_steps==0){ |
| 9873 | // Step C back to the z-position on the reference trajectory |
| 9874 | StepJacobian(newz,z,S0,dedx,J); |
| 9875 | C=J*C*J.Transpose(); |
| 9876 | //C=C.SandwichMultiply(J); |
| 9877 | |
| 9878 | // Step S to current position on the reference trajectory |
| 9879 | Step(newz,z,dedx,S); |
| 9880 | |
| 9881 | // Step S0 to current position on the reference trajectory |
| 9882 | Step(newz,z,dedx,S0); |
| 9883 | } |
| 9884 | else{ |
| 9885 | double my_z=newz; |
| 9886 | double my_dz=(dz>0.0?1.0:-1.)*mStepSizeZ; |
| 9887 | double dz3=dz-num_steps*my_dz; |
| 9888 | for (int m=0;m<num_steps;m++){ |
| 9889 | z=my_z-my_dz; |
| 9890 | |
| 9891 | // Step C along z |
| 9892 | StepJacobian(my_z,z,S0,dedx,J); |
| 9893 | C=J*C*J.Transpose(); |
| 9894 | //C=C.SandwichMultiply(J); |
| 9895 | |
| 9896 | // Step S along z |
| 9897 | Step(my_z,z,dedx,S); |
| 9898 | |
| 9899 | // Step S0 along z |
| 9900 | Step(my_z,z,dedx,S0); |
| 9901 | |
| 9902 | my_z=z; |
| 9903 | } |
| 9904 | z=my_z-dz3; |
| 9905 | |
| 9906 | // Step C back to the z-position on the reference trajectory |
| 9907 | StepJacobian(my_z,z,S0,dedx,J); |
| 9908 | C=J*C*J.Transpose(); |
| 9909 | //C=C.SandwichMultiply(J); |
| 9910 | |
| 9911 | // Step S to current position on the reference trajectory |
| 9912 | Step(my_z,z,dedx,S); |
| 9913 | |
| 9914 | // Step S0 to current position on the reference trajectory |
| 9915 | Step(my_z,z,dedx,S0); |
| 9916 | } |
| 9917 | } |
| 9918 | |
| 9919 | // Swim a track to the CDC endplate given starting z position |
| 9920 | void DTrackFitterKalmanSIMD::SwimToEndplate(double z, |
| 9921 | const DKalmanForwardTrajectory_t &traj, |
| 9922 | DMatrix5x1 &S){ |
| 9923 | double dedx=0.; |
| 9924 | if (CORRECT_FOR_ELOSS){ |
| 9925 | dedx=GetdEdx(S(state_q_over_p),traj.K_rho_Z_over_A,traj.rho_Z_over_A, |
| 9926 | traj.LnI,traj.Z); |
| 9927 | } |
| 9928 | double my_z=z; |
| 9929 | int num_steps=int(fabs((endplate_z-z)/mStepSizeZ)); |
| 9930 | for (int m=0;m<num_steps;m++){ |
| 9931 | my_z=z-mStepSizeZ; |
| 9932 | Step(z,my_z,dedx,S); |
| 9933 | z=my_z; |
| 9934 | } |
| 9935 | Step(z,endplate_z,dedx,S); |
| 9936 | } |
| 9937 | |
| 9938 | // Find the sag parameters (delta,dphi) for the given straw at the local z |
| 9939 | // position |
| 9940 | void DTrackFitterKalmanSIMD::FindSag(double dx,double dy, double zlocal, |
| 9941 | const DCDCWire *mywire,double &delta, |
| 9942 | double &dphi) const{ |
| 9943 | int ring_index=mywire->ring-1; |
| 9944 | int straw_index=mywire->straw-1; |
| 9945 | double phi_d=atan2(dy,dx); |
| 9946 | delta=max_sag[ring_index][straw_index]*(1.-zlocal*zlocal/5625.) |
| 9947 | *cos(phi_d + sag_phi_offset[ring_index][straw_index]); |
| 9948 | |
| 9949 | dphi=phi_d-mywire->origin.Phi(); |
| 9950 | while (dphi>M_PI3.14159265358979323846) dphi-=2*M_PI3.14159265358979323846; |
| 9951 | while (dphi<-M_PI3.14159265358979323846) dphi+=2*M_PI3.14159265358979323846; |
| 9952 | if (mywire->origin.Y()<0) dphi*=-1.; |
| 9953 | } |
| 9954 | |
| 9955 | void DTrackFitterKalmanSIMD::FindDocaAndProjectionMatrix(const DKalmanSIMDFDCHit_t *hit, |
| 9956 | const DMatrix5x1 &S, |
| 9957 | double &upred, |
| 9958 | double &vpred, |
| 9959 | double &doca, |
| 9960 | double &cosalpha, |
| 9961 | double &lorentz_factor, |
| 9962 | DMatrix5x2 &H_T){ |
| 9963 | // Make the small alignment rotations |
| 9964 | // Use small-angle form. |
| 9965 | |
| 9966 | // Position and direction from state vector |
| 9967 | double x=S(state_x) + hit->phiZ*S(state_y); |
| 9968 | double y=S(state_y) - hit->phiZ*S(state_x); |
| 9969 | double tx =S(state_tx) + hit->phiZ*S(state_ty) - hit->phiY; |
| 9970 | double ty =S(state_ty) - hit->phiZ*S(state_tx) + hit->phiX; |
| 9971 | |
| 9972 | // Plane orientation and measurements |
| 9973 | double cosa=hit->cosa; |
| 9974 | double sina=hit->sina; |
| 9975 | double u=hit->uwire; |
| 9976 | |
| 9977 | // Projected coordinate along wire |
| 9978 | vpred=x*sina+y*cosa; |
| 9979 | |
| 9980 | // Direction tangent in the u-z plane |
| 9981 | double tu=tx*cosa-ty*sina; |
| 9982 | double tv=tx*sina+ty*cosa; |
| 9983 | double alpha=atan(tu); |
| 9984 | cosalpha=cos(alpha); |
| 9985 | double cosalpha2=cosalpha*cosalpha; |
| 9986 | double sinalpha=sin(alpha); |
| 9987 | |
| 9988 | // (signed) distance of closest approach to wire |
| 9989 | upred=x*cosa-y*sina; |
| 9990 | if (hit->status==gem_hit){ |
| 9991 | doca=upred-u; |
| 9992 | } |
| 9993 | else{ |
| 9994 | doca=(upred-u)*cosalpha; |
| 9995 | } |
| 9996 | |
| 9997 | // Correction for lorentz effect |
| 9998 | double nz=hit->nz; |
| 9999 | double nr=hit->nr; |
| 10000 | double nz_sinalpha_plus_nr_cosalpha=nz*sinalpha+nr*cosalpha; |
| 10001 | lorentz_factor=nz_sinalpha_plus_nr_cosalpha-tv*sinalpha; |
| 10002 | |
| 10003 | // To transform from (x,y) to (u,v), need to do a rotation: |
| 10004 | // u = x*cosa-y*sina |
| 10005 | // v = y*cosa+x*sina |
| 10006 | if (hit->status!=gem_hit){ |
| 10007 | H_T(state_x,1)=sina+cosa*cosalpha*lorentz_factor; |
| 10008 | H_T(state_y,1)=cosa-sina*cosalpha*lorentz_factor; |
| 10009 | |
| 10010 | double cos2_minus_sin2=cosalpha2-sinalpha*sinalpha; |
| 10011 | double fac=nz*cos2_minus_sin2-2.*nr*cosalpha*sinalpha; |
| 10012 | double doca_cosalpha=doca*cosalpha; |
| 10013 | double temp=doca_cosalpha*fac; |
| 10014 | H_T(state_tx,1)=cosa*temp-doca_cosalpha*(tu*sina+tv*cosa*cos2_minus_sin2); |
| 10015 | H_T(state_ty,1)=-sina*temp-doca_cosalpha*(tu*cosa-tv*sina*cos2_minus_sin2); |
| 10016 | |
| 10017 | H_T(state_x,0)=cosa*cosalpha; |
| 10018 | H_T(state_y,0)=-sina*cosalpha; |
| 10019 | |
| 10020 | double factor=doca*tu*cosalpha2; |
| 10021 | H_T(state_ty,0)=sina*factor; |
| 10022 | H_T(state_tx,0)=-cosa*factor; |
| 10023 | } |
| 10024 | else{ |
| 10025 | H_T(state_x,1)=sina; |
| 10026 | H_T(state_y,1)=cosa; |
| 10027 | H_T(state_x,0)=cosa; |
| 10028 | H_T(state_y,0)=-sina; |
| 10029 | } |
| 10030 | } |
| 10031 | |
| 10032 | // Update S and C using all the good adjacent hits in a particular FDC plane |
| 10033 | void DTrackFitterKalmanSIMD::UpdateSandCMultiHit(const DKalmanForwardTrajectory_t &traj, |
| 10034 | double upred,double vpred, |
| 10035 | double doca,double cosalpha, |
| 10036 | double lorentz_factor, |
| 10037 | DMatrix2x2 &V, |
| 10038 | DMatrix2x1 &Mdiff, |
| 10039 | DMatrix2x5 &H, |
| 10040 | const DMatrix5x2 &H_T, |
| 10041 | DMatrix5x1 &S,DMatrix5x5 &C, |
| 10042 | double fdc_chi2cut, |
| 10043 | bool skip_plane,double &chisq, |
| 10044 | unsigned int &numdof, |
| 10045 | double fdc_anneal_factor){ |
| 10046 | // If we do have multiple hits, then all of the hits within some |
| 10047 | // validation region are included with weights determined by how |
| 10048 | // close the hits are to the track projection of the state to the |
| 10049 | // "hit space". |
| 10050 | vector<DMatrix5x2> Klist; |
| 10051 | vector<DMatrix2x1> Mlist; |
| 10052 | vector<DMatrix2x5> Hlist; |
| 10053 | vector<DMatrix5x2> HTlist; |
| 10054 | vector<DMatrix2x2> Vlist; |
| 10055 | vector<double>probs; |
| 10056 | vector<unsigned int>used_ids; |
| 10057 | |
| 10058 | // use a Gaussian model for the probability for the hit |
| 10059 | DMatrix2x2 Vtemp=V+H*C*H_T; |
| 10060 | double chi2_hit=Vtemp.Chi2(Mdiff); |
| 10061 | double prob_hit=0.; |
| 10062 | |
| 10063 | // Add the first hit to the list, cutting out outliers |
| 10064 | unsigned int id=traj.h_id-1; |
| 10065 | if (chi2_hit<fdc_chi2cut && my_fdchits[id]->status==good_hit){ |
| 10066 | DMatrix2x2 InvV=Vtemp.Invert(); |
| 10067 | |
| 10068 | prob_hit=exp(-0.5*chi2_hit)/(M_TWO_PI6.28318530717958647692*sqrt(Vtemp.Determinant())); |
| 10069 | probs.push_back(prob_hit); |
| 10070 | Vlist.push_back(V); |
| 10071 | Hlist.push_back(H); |
| 10072 | HTlist.push_back(H_T); |
| 10073 | Mlist.push_back(Mdiff); |
| 10074 | Klist.push_back(C*H_T*InvV); // Kalman gain |
| 10075 | |
| 10076 | used_ids.push_back(id); |
| 10077 | fdc_used_in_fit[id]=true; |
| 10078 | } |
| 10079 | // loop over the remaining hits |
| 10080 | for (unsigned int m=1;m<traj.num_hits;m++){ |
| 10081 | unsigned int my_id=id-m; |
| 10082 | if (my_fdchits[my_id]->status==good_hit){ |
| 10083 | double u=my_fdchits[my_id]->uwire; |
| 10084 | double v=my_fdchits[my_id]->vstrip; |
| 10085 | |
| 10086 | // Doca to this wire |
| 10087 | double mydoca=(upred-u)*cosalpha; |
| 10088 | |
| 10089 | // variance for coordinate along the wire |
| 10090 | V(1,1)=my_fdchits[my_id]->vvar*fdc_anneal_factor; |
| 10091 | |
| 10092 | // Difference between measurement and projection |
| 10093 | Mdiff(1)=v-(vpred+mydoca*lorentz_factor); |
| 10094 | Mdiff(0)=-mydoca; |
| 10095 | if (fit_type==kTimeBased && USE_FDC_DRIFT_TIMES){ |
| 10096 | double drift_time=my_fdchits[my_id]->t-mT0-traj.t*TIME_UNIT_CONVERSION3.33564095198152014e-02; |
| 10097 | double sign=(doca>0.0)?1.:-1.; |
| 10098 | if (my_fdchits[my_id]->hit!=NULL__null){ |
| 10099 | double drift=sign*fdc_drift_distance(drift_time,traj.B); |
| 10100 | Mdiff(0)+=drift; |
| 10101 | |
| 10102 | // Variance in drift distance |
| 10103 | V(0,0)=fdc_drift_variance(drift_time)*fdc_anneal_factor; |
| 10104 | } |
| 10105 | else if (USE_TRD_DRIFT_TIMES&&my_fdchits[my_id]->status==trd_hit){ |
| 10106 | double drift = sign*0.1*pow(drift_time/8./0.91,1./1.556); |
| 10107 | Mdiff(0)+=drift; |
| 10108 | V(0,0)=0.05*0.05; |
| 10109 | } |
| 10110 | |
| 10111 | // H_T contains terms that are proportional to doca, so we only need |
| 10112 | // to scale the appropriate elements for the current hit. |
| 10113 | if (fabs(doca)<EPS3.0e-8){ |
| 10114 | doca=(doca>0)?EPS3.0e-8:-EPS3.0e-8; |
| 10115 | } |
| 10116 | double doca_ratio=mydoca/doca; |
| 10117 | DMatrix5x2 H_T_temp=H_T; |
| 10118 | H_T_temp(state_tx,1)*=doca_ratio; |
| 10119 | H_T_temp(state_ty,1)*=doca_ratio; |
| 10120 | H_T_temp(state_tx,0)*=doca_ratio; |
| 10121 | H_T_temp(state_ty,0)*=doca_ratio; |
| 10122 | H=Transpose(H_T_temp); |
| 10123 | |
| 10124 | // Update error matrix with state vector propagation covariance contrib. |
| 10125 | Vtemp=V+H*C*H_T_temp; |
| 10126 | // Cut out outliers and compute probability |
| 10127 | chi2_hit=Vtemp.Chi2(Mdiff); |
| 10128 | if (chi2_hit<fdc_chi2cut){ |
| 10129 | DMatrix2x2 InvV=Vtemp.Invert(); |
| 10130 | |
| 10131 | prob_hit=exp(-0.5*chi2_hit)/(M_TWO_PI6.28318530717958647692*sqrt(Vtemp.Determinant())); |
| 10132 | probs.push_back(prob_hit); |
| 10133 | Mlist.push_back(Mdiff); |
| 10134 | Vlist.push_back(V); |
| 10135 | Hlist.push_back(H); |
| 10136 | HTlist.push_back(H_T_temp); |
| 10137 | Klist.push_back(C*H_T_temp*InvV); |
| 10138 | |
| 10139 | used_ids.push_back(my_id); |
| 10140 | fdc_used_in_fit[my_id]=true; |
| 10141 | |
| 10142 | // Add some hit info to the update vector for this plane |
| 10143 | fdc_updates[my_id].tdrift=drift_time; |
| 10144 | fdc_updates[my_id].tcorr=fdc_updates[my_id].tdrift; |
| 10145 | fdc_updates[my_id].doca=mydoca; |
| 10146 | } |
| 10147 | } |
| 10148 | } // check that the hit is "good" |
| 10149 | } // loop over remaining hits |
| 10150 | if (probs.size()==0) return; |
| 10151 | |
| 10152 | double prob_tot=probs[0]; |
| 10153 | for (unsigned int m=1;m<probs.size();m++){ |
| 10154 | prob_tot+=probs[m]; |
| 10155 | } |
| 10156 | |
| 10157 | if (skip_plane==false){ |
| 10158 | DMatrix5x5 sum=I5x5; |
| 10159 | DMatrix5x5 sum2; |
| 10160 | for (unsigned int m=0;m<Klist.size();m++){ |
| 10161 | double my_prob=probs[m]/prob_tot; |
| 10162 | S+=my_prob*(Klist[m]*Mlist[m]); |
| 10163 | sum-=my_prob*(Klist[m]*Hlist[m]); |
| 10164 | sum2+=(my_prob*my_prob)*(Klist[m]*Vlist[m]*Transpose(Klist[m])); |
| 10165 | |
| 10166 | // Update chi2 |
| 10167 | DMatrix2x2 HK=Hlist[m]*Klist[m]; |
| 10168 | DMatrix2x1 R=Mlist[m]-HK*Mlist[m]; |
| 10169 | DMatrix2x2 RC=Vlist[m]-HK*Vlist[m]; |
| 10170 | chisq+=my_prob*RC.Chi2(R); |
| 10171 | |
| 10172 | unsigned int my_id=used_ids[m]; |
| 10173 | fdc_updates[my_id].V=RC; |
| 10174 | |
| 10175 | if (DEBUG_LEVEL > 25) |
| 10176 | { |
| 10177 | jout << " Adjusting state vector for FDC hit " << m << " with prob " << my_prob << " S:" << endl; |
| 10178 | S.Print(); |
| 10179 | } |
| 10180 | } |
| 10181 | // Update the covariance matrix C |
| 10182 | C=sum2.AddSym(sum*C*sum.Transpose()); |
| 10183 | |
| 10184 | if (DEBUG_LEVEL > 25) |
| 10185 | { jout << " C: " << endl; C.Print();} |
| 10186 | } |
| 10187 | |
| 10188 | // Save some information about the track at this plane in the update vector |
| 10189 | for (unsigned int m=0;m<Hlist.size();m++){ |
| 10190 | unsigned int my_id=used_ids[m]; |
| 10191 | fdc_updates[my_id].S=S; |
| 10192 | fdc_updates[my_id].C=C; |
| 10193 | if (skip_plane){ |
| 10194 | fdc_updates[my_id].V=Vlist[m]; |
| 10195 | } |
| 10196 | } |
| 10197 | // update number of degrees of freedom |
| 10198 | if (skip_plane==false){ |
| 10199 | numdof+=2; |
| 10200 | } |
| 10201 | } |
| 10202 | |
| 10203 | // Add extrapolation information for the given detector |
| 10204 | void DTrackFitterKalmanSIMD::AddExtrapolation(DetectorSystem_t detector, |
| 10205 | double z,const DMatrix5x1 &S, |
| 10206 | double t,double s, |
| 10207 | double s_theta_ms_sum, |
| 10208 | double theta2ms_sum){ |
| 10209 | double tsquare=S(state_tx)*S(state_tx)+S(state_ty)*S(state_ty); |
| 10210 | double tanl=1./sqrt(tsquare); |
| 10211 | double cosl=cos(atan(tanl)); |
| 10212 | double pt=cosl/fabs(S(state_q_over_p)); |
| 10213 | double phi=atan2(S(state_ty),S(state_tx)); |
| 10214 | DVector3 position(S(state_x),S(state_y),z); |
| 10215 | DVector3 momentum(pt*cos(phi),pt*sin(phi),pt*tanl); |
| 10216 | extrapolations[detector].push_back(Extrapolation_t(position,momentum, |
| 10217 | t*TIME_UNIT_CONVERSION3.33564095198152014e-02,s, |
| 10218 | s_theta_ms_sum, |
| 10219 | theta2ms_sum)); |
| 10220 | if (DEBUG_LEVEL>0){ |
| 10221 | cout << SystemName(detector) << ": s=" << s |
| 10222 | << " t=" << t*TIME_UNIT_CONVERSION3.33564095198152014e-02 << " (x,y,z)=(" |
| 10223 | << position.x() <<","<<position.y()<<","<<position.z()<<") (px,py,pz)=" |
| 10224 | << momentum.x() <<","<<momentum.y()<<","<<momentum.z()<<")" |
| 10225 | << endl; |
| 10226 | } |
| 10227 | } |
| 10228 | |
| 10229 | // Add extrapolation information for the given detector |
| 10230 | void DTrackFitterKalmanSIMD::AddExtrapolation(DetectorSystem_t detector, |
| 10231 | const DMatrix5x1 &S, |
| 10232 | const DVector2 &xy, |
| 10233 | double t,double s, |
| 10234 | double s_theta_ms_sum, |
| 10235 | double theta2ms_sum){ |
| 10236 | double tanl=S(state_tanl); |
| 10237 | double pt=1/fabs(S(state_q_over_pt)); |
| 10238 | double phi=S(state_phi); |
| 10239 | DVector3 position(xy.X(),xy.Y(),S(state_z)); |
| 10240 | DVector3 momentum(pt*cos(phi),pt*sin(phi),pt*tanl); |
| 10241 | extrapolations[detector].push_back(Extrapolation_t(position,momentum, |
| 10242 | t*TIME_UNIT_CONVERSION3.33564095198152014e-02,s, |
| 10243 | s_theta_ms_sum, |
| 10244 | theta2ms_sum)); |
| 10245 | if (DEBUG_LEVEL>0){ |
| 10246 | cout << SystemName(detector) << ": s=" << s |
| 10247 | << " t=" << t*TIME_UNIT_CONVERSION3.33564095198152014e-02 << " (x,y,z)=("<< position.x() |
| 10248 | <<","<<position.y()<<","<<position.z()<<") (px,py,pz)=" |
| 10249 | << momentum.x() <<","<<momentum.y()<<","<<momentum.z()<<")" |
| 10250 | << endl; |
| 10251 | } |
| 10252 | } |