GeneralBrokenLines V03-01-01
using EIGEN
GblTrajectory.cpp
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1/*
2 * GblTrajectory.cpp
3 *
4 * Created on: Aug 18, 2011
5 * Author: kleinwrt
6 */
7
158#include "GblTrajectory.h"
159using namespace Eigen;
160
162namespace gbl {
163
165
173GblTrajectory::GblTrajectory(const std::vector<GblPoint> &aPointList,
174 bool flagCurv, bool flagU1dir, bool flagU2dir) :
175 numAllPoints(aPointList.size()), numPoints(), numOffsetPoints(0), numOffsets(
176 0), numInnerTransformations(0), numInnerTransOffsets(0), numCurvature(
177 flagCurv ? 1 : 0), numParameters(0), numLocals(0), numMeasurements(
178 0), externalPoint(0), skippedMeasLabel(0), maxNumGlobals(0), theDimension(
179 0), thePoints(), theData(), measDataIndex(), scatDataIndex(), externalSeed(), innerTransformations(), externalDerivatives(), externalMeasurements(), externalPrecisions() {
180
181 if (flagU1dir)
182 theDimension.push_back(0);
183 if (flagU2dir)
184 theDimension.push_back(1);
185 // simple (single) trajectory
186 thePoints.emplace_back(std::move(aPointList));
187 numPoints.push_back(numAllPoints);
188 construct(); // construct trajectory
189}
190
192
196GblTrajectory::GblTrajectory(
197 const std::vector<std::pair<std::vector<GblPoint>, Eigen::MatrixXd> > &aPointsAndTransList) :
198 numAllPoints(), numPoints(), numOffsetPoints(0), numOffsets(0), numInnerTransformations(
199 aPointsAndTransList.size()), numParameters(0), numLocals(0), numMeasurements(
200 0), externalPoint(0), skippedMeasLabel(0), maxNumGlobals(0), theDimension(
201 0), thePoints(), theData(), measDataIndex(), scatDataIndex(), externalSeed(), innerTransformations(), externalDerivatives(), externalMeasurements(), externalPrecisions() {
202
203 for (unsigned int iTraj = 0; iTraj < aPointsAndTransList.size(); ++iTraj) {
204 thePoints.push_back(aPointsAndTransList[iTraj].first);
205 numPoints.push_back(thePoints.back().size());
206 numAllPoints += numPoints.back();
207 innerTransformations.push_back(aPointsAndTransList[iTraj].second);
208 }
209 theDimension.push_back(0);
210 theDimension.push_back(1);
211 // kinematic (2) or geometric (1) constraint
212 numInnerTransOffsets = innerTransformations[0].rows() == 5 ? 2 : 1;
213 numCurvature =
214 innerTransformations[0].rows() == 5 ?
215 innerTransformations[0].cols() :
216 innerTransformations[0].cols() + numInnerTransformations;
217 construct(); // construct (composed) trajectory
218}
219
220#ifdef GBL_EIGEN_SUPPORT_ROOT
222
233GblTrajectory::GblTrajectory(const std::vector<GblPoint> &aPointList,
234 unsigned int aLabel, const TMatrixDSym &aSeed, bool flagCurv,
235 bool flagU1dir, bool flagU2dir) :
236numAllPoints(aPointList.size()), numPoints(), numOffsetPoints(0), numOffsets(0),
237numInnerTransformations(0), numInnerTransOffsets(0), numCurvature(flagCurv ? 1 : 0), numParameters(0),
238numLocals(0), numMeasurements(0), externalPoint(aLabel), skippedMeasLabel(0),
239maxNumGlobals(0), theDimension(0), thePoints(), theData(), measDataIndex(),
240scatDataIndex(), externalSeed(), innerTransformations(), externalDerivatives(),
241externalMeasurements(), externalPrecisions() {
242
243 if (flagU1dir)
244 theDimension.push_back(0);
245 if (flagU2dir)
246 theDimension.push_back(1);
247 // convert from ROOT
248 unsigned int nParSeed = aSeed.GetNrows();
249 externalSeed.resize(nParSeed, nParSeed);
250 for (unsigned int i = 0; i < nParSeed; ++i) {
251 for (unsigned int j = 0; j < nParSeed; ++j) {
252 externalSeed(i, j) = aSeed(i, j);
253 }
254 }
255 // simple (single) trajectory
256 thePoints.emplace_back(std::move(aPointList));
257 numPoints.push_back(numAllPoints);
258 construct();// construct trajectory
259}
260
262
266GblTrajectory::GblTrajectory(const std::vector<std::pair<std::vector<GblPoint>, TMatrixD> > &aPointsAndTransList) :
267numAllPoints(), numPoints(), numOffsetPoints(0), numOffsets(0), numInnerTransformations(aPointsAndTransList.size()),
268numParameters(0), numLocals(0), numMeasurements(0), externalPoint(0),
269skippedMeasLabel(0), maxNumGlobals(0), theDimension(0), thePoints(), theData(),
270measDataIndex(), scatDataIndex(), externalSeed(), innerTransformations(),
271externalDerivatives(), externalMeasurements(), externalPrecisions() {
272
273 for (unsigned int iTraj = 0; iTraj < aPointsAndTransList.size(); ++iTraj) {
274 thePoints.emplace_back(std::move(aPointsAndTransList[iTraj].first));
275 numPoints.push_back(thePoints.back().size());
276 numAllPoints += numPoints.back();
277 // convert from ROOT
278 unsigned int nRowTrans = aPointsAndTransList[iTraj].second.GetNrows();
279 unsigned int nColTrans = aPointsAndTransList[iTraj].second.GetNcols();
280 MatrixXd aTrans(nRowTrans, nColTrans);
281 for (unsigned int i = 0; i < nRowTrans; ++i) {
282 for (unsigned int j = 0; j < nColTrans; ++j) {
283 aTrans(i, j) = aPointsAndTransList[iTraj].second(i, j);
284 }
285 }
286 innerTransformations.emplace_back(std::move(aTrans));
287 }
288 theDimension.push_back(0);
289 theDimension.push_back(1);
290 // kinematic (2) or geometric (1) constraint
291 numInnerTransOffsets = innerTransformations[0].rows() == 5 ? 2 : 1;
292 numCurvature =
293 innerTransformations[0].rows() == 5 ?
294 innerTransformations[0].cols() :
295 innerTransformations[0].cols() + numInnerTransformations;
296 construct();// construct (composed) trajectory
297}
298
300
307GblTrajectory::GblTrajectory(const std::vector<std::pair<std::vector<GblPoint>, TMatrixD> > &aPointsAndTransList,
308 const TMatrixD &extDerivatives, const TVectorD &extMeasurements,
309 const TVectorD &extPrecisions) :
310numAllPoints(), numPoints(), numOffsetPoints(0), numOffsets(0), numInnerTransformations(aPointsAndTransList.size()),
311numParameters(0), numLocals(0), numMeasurements(0), externalPoint(0),
312skippedMeasLabel(0), maxNumGlobals(0), theDimension(0), thePoints(), theData(),
313measDataIndex(), scatDataIndex(), externalSeed(), innerTransformations(),
314externalDerivatives(), externalMeasurements(), externalPrecisions() {
315
316 // convert from ROOT
317 unsigned int nExtMeas = extDerivatives.GetNrows();
318 unsigned int nExtPar = extDerivatives.GetNcols();
319 externalDerivatives.resize(nExtMeas, nExtPar);
320 externalMeasurements.resize(nExtMeas);
321 externalPrecisions.resize(nExtMeas);
322 for (unsigned int i = 0; i < nExtMeas; ++i) {
323 externalMeasurements(i) = extMeasurements[i];
324 externalPrecisions(i) = extPrecisions[i];
325 for (unsigned int j = 0; j < nExtPar; ++j) {
326 externalDerivatives(i, j) = extDerivatives(i, j);
327 }
328 }
329 for (unsigned int iTraj = 0; iTraj < aPointsAndTransList.size(); ++iTraj) {
330 thePoints.emplace_back(std::move(aPointsAndTransList[iTraj].first));
331 numPoints.push_back(thePoints.back().size());
332 numAllPoints += numPoints.back();
333 // convert from ROOT
334 unsigned int nRowTrans = aPointsAndTransList[iTraj].second.GetNrows();
335 unsigned int nColTrans = aPointsAndTransList[iTraj].second.GetNcols();
336 MatrixXd aTrans(nRowTrans, nColTrans);
337 for (unsigned int i = 0; i < nRowTrans; ++i) {
338 for (unsigned int j = 0; j < nColTrans; ++j) {
339 aTrans(i, j) = aPointsAndTransList[iTraj].second(i, j);
340 }
341 }
342 innerTransformations.emplace_back(std::move(aTrans));
343 }
344 theDimension.push_back(0);
345 theDimension.push_back(1);
346 // kinematic (2) or geometric (1) constraint
347 numInnerTransOffsets = innerTransformations[0].rows() == 5 ? 2 : 1;
348 numCurvature =
349 innerTransformations[0].rows() == 5 ?
350 innerTransformations[0].cols() :
351 innerTransformations[0].cols() + numInnerTransformations;
352 construct();// construct (composed) trajectory
353}
354
356
363GblTrajectory::GblTrajectory(const std::vector<std::pair<std::vector<GblPoint>, TMatrixD> > &aPointsAndTransList,
364 const TMatrixD &extDerivatives, const TVectorD &extMeasurements,
365 const TMatrixDSym &extPrecisions) :
366numAllPoints(), numPoints(), numOffsetPoints(0), numOffsets(0), numInnerTransformations(aPointsAndTransList.size()),
367numParameters(0), numLocals(0), numMeasurements(0), externalPoint(0),
368skippedMeasLabel(0), maxNumGlobals(0), theDimension(0), thePoints(), theData(),
369measDataIndex(), scatDataIndex(), externalSeed(), innerTransformations() {
370
371 // diagonalize external measurement
372 TMatrixDSymEigen extEigen(extPrecisions);
373 TMatrixD extTransformation = extEigen.GetEigenVectors();
374 extTransformation.T();
375 TMatrixD aDerivatives = extTransformation * extDerivatives;
376 TVectorD aMeasurements = extTransformation * extMeasurements;
377 TVectorD aPrecisions = extEigen.GetEigenValues();
378 // convert from ROOT
379 unsigned int nExtMeas = aDerivatives.GetNrows();
380 unsigned int nExtPar = aDerivatives.GetNcols();
381 externalDerivatives.resize(nExtMeas, nExtPar);
382 externalMeasurements.resize(nExtMeas);
383 externalPrecisions.resize(nExtMeas);
384 for (unsigned int i = 0; i < nExtMeas; ++i) {
385 externalMeasurements(i) = aMeasurements[i];
386 externalPrecisions(i) = aPrecisions[i];
387 for (unsigned int j = 0; j < nExtPar; ++j) {
388 externalDerivatives(i, j) = aDerivatives(i, j);
389 }
390 }
391 for (unsigned int iTraj = 0; iTraj < aPointsAndTransList.size(); ++iTraj) {
392 thePoints.emplace_back(std::move(aPointsAndTransList[iTraj].first));
393 numPoints.push_back(thePoints.back().size());
394 numAllPoints += numPoints.back();
395 // convert from ROOT
396 unsigned int nRowTrans = aPointsAndTransList[iTraj].second.GetNrows();
397 unsigned int nColTrans = aPointsAndTransList[iTraj].second.GetNcols();
398 MatrixXd aTrans(nRowTrans, nColTrans);
399 for (unsigned int i = 0; i < nRowTrans; ++i) {
400 for (unsigned int j = 0; j < nColTrans; ++j) {
401 aTrans(i, j) = aPointsAndTransList[iTraj].second(i, j);
402 }
403 }
404 innerTransformations.emplace_back(std::move(aTrans));
405 }
406 theDimension.push_back(0);
407 theDimension.push_back(1);
408 // kinematic (2) or geometric (1) constraint
409 numInnerTransOffsets = innerTransformations[0].rows() == 5 ? 2 : 1;
410 numCurvature =
411 innerTransformations[0].rows() == 5 ?
412 innerTransformations[0].cols() :
413 innerTransformations[0].cols() + numInnerTransformations;
414 construct();// construct (composed) trajectory
415}
416#endif
417
418GblTrajectory::~GblTrajectory() {
419}
420
422bool GblTrajectory::isValid() const {
423 return constructOK;
424}
425
427unsigned int GblTrajectory::getNumPoints() const {
428 return numAllPoints;
429}
430
432
435void GblTrajectory::construct() {
436
437 constructOK = false;
438 fitOK = false;
439 unsigned int aLabel = 0;
440 if (numAllPoints < 2) {
441 std::cout << " GblTrajectory construction failed: too few GblPoints "
442 << std::endl;
443 return;
444 }
445 // loop over trajectories
446 numTrajectories = thePoints.size();
447 std::vector<GblMeasurement>::const_iterator itMeas;
448
449 //std::cout << " numTrajectories: " << numTrajectories << ", " << innerTransformations.size() << std::endl;
450 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
451 std::vector<GblPoint>::iterator itPoint;
452 for (itPoint = thePoints[iTraj].begin();
453 itPoint < thePoints[iTraj].end(); ++itPoint) {
454 for (itMeas = itPoint->getMeasBegin();
455 itMeas < itPoint->getMeasEnd(); ++itMeas) {
456 if (itMeas->isEnabled()) {
457 numLocals = std::max(numLocals, itMeas->getNumLocals());
458 numMeasurements += itMeas->getMeasDim();
459 }
460 }
461 itPoint->setLabel(++aLabel);
462 }
463 }
464 defineOffsets();
465 calcJacobians();
466 try {
467 prepare();
468 } catch (std::overflow_error &e) {
469 std::cout << " GblTrajectory construction failed: " << e.what()
470 << std::endl;
471 return;
472 } catch (int i) {
473 std::cout << " GblTrajectory construction failed with exception " << i
474 << std::endl;
475 return;
476 }
477
478 constructOK = true;
479 // number of fit parameters
480 numParameters =
481 (numOffsets - numInnerTransOffsets * numInnerTransformations)
482 * theDimension.size() + numCurvature + numLocals;
483}
484
486
490void GblTrajectory::defineOffsets() {
491
492 // loop over trajectories
493 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
494 // first point is offset
495 thePoints[iTraj].front().setType(-1);
496 thePoints[iTraj].front().setOffset(numOffsets++);
497 numOffsetPoints++;
498 // intermediate scatterers are offsets
499 std::vector<GblPoint>::iterator itPoint;
500 for (itPoint = thePoints[iTraj].begin() + 1;
501 itPoint < thePoints[iTraj].end() - 1; ++itPoint) {
502 unsigned int scatDim = itPoint->getScatDim();
503 if (scatDim) {
504 itPoint->setOffset(numOffsets++);
505 numOffsetPoints++;
506 // thick scatterer?
507 if (scatDim == 4)
508 numOffsets++;
509 } else {
510 itPoint->setOffset(-numOffsets);
511 }
512 }
513 // last point is offset
514 thePoints[iTraj].back().setType(1);
515 thePoints[iTraj].back().setOffset(numOffsets++);
516 numOffsetPoints++;
517 // thick scatterer at last point?
518 if (thePoints[iTraj].back().getScatDim() == 4)
519 numOffsets++;
520 }
521}
522
524void GblTrajectory::calcJacobians() {
525
526 Matrix5d scatJacobian;
527 // loop over trajectories
528 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
529 // forward propagation (all)
530 GblPoint *previousPoint = &thePoints[iTraj].front();
531 unsigned int numStep = 0;
532 std::vector<GblPoint>::iterator itPoint;
533 for (itPoint = thePoints[iTraj].begin() + 1;
534 itPoint < thePoints[iTraj].end(); ++itPoint) {
535 if (numStep == 0) {
536 scatJacobian = itPoint->getP2pJacobian();
537 } else {
538 scatJacobian = itPoint->getP2pJacobian() * scatJacobian;
539 }
540 numStep++;
541 itPoint->addPrevJacobian(scatJacobian); // iPoint -> previous scatterer
542 if (itPoint->getOffset() >= 0) {
543 previousPoint->addNextJacobian(scatJacobian); // lastPoint -> next scatterer
544 numStep = 0;
545 previousPoint = &(*itPoint);
546 }
547 }
548 // backward propagation (without scatterers)
549 for (itPoint = thePoints[iTraj].end() - 1;
550 itPoint > thePoints[iTraj].begin(); --itPoint) {
551 if (itPoint->getOffset() >= 0) {
552 scatJacobian = itPoint->getP2pJacobian();
553 continue; // skip offsets
554 }
555 itPoint->addNextJacobian(scatJacobian); // iPoint -> next scatterer
556 scatJacobian = scatJacobian * itPoint->getP2pJacobian();
557 }
558 }
559}
560
562
570std::pair<std::vector<unsigned int>, MatrixXd> GblTrajectory::getJacobian(
571 int aSignedLabel) const {
572
573 unsigned int nDim = theDimension.size();
574 unsigned int nCurv = numCurvature;
575 unsigned int nLocals = numLocals;
576 // find trajectory, position in trajectory
577 unsigned int aLabel = abs(aSignedLabel);
578 unsigned int firstLabel = 1;
579 unsigned int lastLabel = 0;
580 unsigned int aTrajectory = 0;
581 // loop over trajectories
582 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
583 aTrajectory = iTraj;
584 lastLabel += numPoints[iTraj];
585 if (aLabel <= lastLabel)
586 break;
587 if (iTraj < numTrajectories - 1)
588 firstLabel += numPoints[iTraj];
589 }
590 int nJacobian; // 0: prev, 1: next
591 // check consistency of (index, direction)
592 if (aSignedLabel > 0) {
593 nJacobian = 1;
594 if (aLabel >= lastLabel) {
595 aLabel = lastLabel;
596 nJacobian = 0;
597 }
598 } else {
599 nJacobian = 0;
600 if (aLabel <= firstLabel) {
601 aLabel = firstLabel;
602 nJacobian = 1;
603 }
604 }
605
606 const GblPoint aPoint = thePoints[aTrajectory][aLabel - firstLabel];
607 std::array<unsigned int, 5> labDer;
608 Matrix5d matDer;
609 getFitToLocalJacobian(labDer, matDer, aPoint, 5, nJacobian);
610
611 unsigned int nBand = 0; // number of parameters from band part
612 if (numInnerTransformations > 0) {
613 unsigned int lastExt = innerTransLab[aTrajectory][2
614 * numInnerTransOffsets]; // last label for external parameters
615 for (unsigned int i = 0; i < 5; ++i)
616 if (labDer[i] > lastExt)
617 nBand++;
618 } else {
619 nBand = 2 * nDim;
620 }
621
622 unsigned int nBorder = nCurv + nLocals;
623 unsigned int nParBRL = nBorder + nBand;
624 unsigned int nParLoc = nLocals + 5;
625 std::vector<unsigned int> anIndex;
626 anIndex.reserve(nParBRL);
627 MatrixXd aJacobian(nParLoc, nParBRL);
628 aJacobian.setZero();
629
630 // from local parameters
631 for (unsigned int i = 0; i < nLocals; ++i) {
632 aJacobian(i + 5, i) = 1.0;
633 anIndex.push_back(i + 1);
634 }
635 // from trajectory parameters
636 unsigned int iCol = nLocals;
637 // composed trajectory ?
638 if (numInnerTransformations > 0) {
639 // transformation external to (simple) broken line (fit) parameters
640 unsigned int nSimple = nCurv + nBand;
641 MatrixXd aTrans(5, nSimple);
642 aTrans.setZero();
643 // external part, curvature
644 aTrans.block(0, 0, 1, nCurv) = innerTransDer[aTrajectory].block(0, 0, 1,
645 nCurv);
646 for (unsigned int i = 0; i < nCurv; ++i)
647 anIndex.push_back(++iCol);
648 if (nBand < 4) {
649 // external part, offsets (nBand=0: 2, nBand=2: 1)
650 unsigned int iRow = 1 + 2 * numInnerTransOffsets + nBand - 4; // start row (1: 1st, 3: 2nd offset)
651 aTrans.block(1, 0, 4 - nBand, nCurv) =
652 innerTransDer[aTrajectory].block(iRow, 0, 4 - nBand, nCurv);
653 }
654 // (remaining) band part
655 for (unsigned int i = 5 - nBand; i < 5; ++i) {
656 aTrans(i, iCol++) = 1.;
657 anIndex.push_back(
658 labDer[i]
659 - numInnerTransOffsets * nDim * (aTrajectory + 1)); // adjust label
660 }
661 aJacobian.block(0, nLocals, 5, nSimple) = matDer * aTrans;
662 } else {
663 // simple trajectory
664 for (unsigned int i = 0; i < 5; ++i) {
665 if (labDer[i] > 0) {
666 anIndex.push_back(labDer[i]);
667 for (unsigned int j = 0; j < 5; ++j) {
668 aJacobian(j, iCol) = matDer(j, i);
669 }
670 ++iCol;
671 }
672 }
673 }
674 return std::make_pair(anIndex, aJacobian);
675}
676
678
687void GblTrajectory::getFitToLocalJacobian(std::array<unsigned int, 5> &anIndex,
688 Matrix5d &aJacobian, const GblPoint &aPoint, unsigned int measDim,
689 unsigned int nJacobian) const {
690
691 unsigned int nDim = theDimension.size();
692 unsigned int nCurv = numCurvature;
693 unsigned int nLocals = numLocals;
694
695 int nOffset = aPoint.getOffset();
696 unsigned int scatDim = aPoint.getScatDim();
697
698 anIndex = { }; // reset to 0
699 aJacobian.setZero();
700 if (nOffset < 0) // need interpolation
701 {
702 Matrix2d prevW, prevWJ, nextW, nextWJ, matN;
703 Vector2d prevWd, nextWd;
704 aPoint.getDerivatives(0, prevW, prevWJ, prevWd); // W-, W- * J-, W- * d-
705 aPoint.getDerivatives(1, nextW, nextWJ, nextWd); // W+, W+ * J+, W+ * d+
706 const Matrix2d sumWJ(prevWJ + nextWJ);
707 matN = sumWJ.inverse(); // N = (W- * J- + W+ * J+)^-1
708 // derivatives for u_int
709 const Matrix2d prevNW(matN * prevW); // N * W-
710 const Matrix2d nextNW(matN * nextW); // N * W+
711 const Vector2d prevNd(matN * prevWd); // N * W- * d-
712 const Vector2d nextNd(matN * nextWd); // N * W+ * d+
713
714 unsigned int iOff = nDim * (-nOffset - 1) + nLocals + nCurv + 1; // first offset ('i' in u_i)
715
716 // local offset
717 if (nCurv > 0) {
718 aJacobian.block<2, 1>(3, 0) = -prevNd - nextNd; // from curvature
719 anIndex[0] = nLocals + 1;
720 }
721 aJacobian.block<2, 2>(3, 1) = prevNW; // from 1st Offset
722 aJacobian.block<2, 2>(3, 3) = nextNW; // from 2nd Offset
723 for (unsigned int i = 0; i < nDim; ++i) {
724 anIndex[1 + theDimension[i]] = iOff + i;
725 anIndex[3 + theDimension[i]] = iOff + nDim + i;
726 }
727
728 // local slope and curvature
729 if (measDim > 2) {
730 // derivatives for u'_int
731 const Matrix2d prevWPN(nextWJ * prevNW); // W+ * J+ * N * W-
732 const Matrix2d nextWPN(prevWJ * nextNW); // W- * J- * N * W+
733 const Vector2d prevWNd(nextWJ * prevNd); // W+ * J+ * N * W- * d-
734 const Vector2d nextWNd(prevWJ * nextNd); // W- * J- * N * W+ * d+
735 if (nCurv > 0) {
736 aJacobian(0, 0) = 1.0;
737 aJacobian.block<2, 1>(1, 0) = prevWNd - nextWNd; // from curvature
738 }
739 aJacobian.block<2, 2>(1, 1) = -prevWPN; // from 1st Offset
740 aJacobian.block<2, 2>(1, 3) = nextWPN; // from 2nd Offset
741 }
742 } else { // at point
743 // anIndex must be sorted
744 // forward : iOff2 = iOff1 + nDim, index1 = 1, index2 = 3
745 // backward: iOff2 = iOff1 - nDim, index1 = 3, index2 = 1
746 // adjust for thick scatterer (before/after)
747 if (scatDim == 4)
748 nOffset += nJacobian;
749 unsigned int iOff1 = nDim * nOffset + nCurv + nLocals + 1; // first offset ('i' in u_i)
750 unsigned int index1 = 3 - 2 * nJacobian; // index of first offset
751 unsigned int iOff2 = iOff1 + nDim * (nJacobian * 2 - 1); // second offset ('i' in u_i)
752 unsigned int index2 = 1 + 2 * nJacobian; // index of second offset
753 // local offset
754 aJacobian(3, index1) = 1.0; // from 1st Offset
755 aJacobian(4, index1 + 1) = 1.0;
756 for (unsigned int i = 0; i < nDim; ++i) {
757 anIndex[index1 + theDimension[i]] = iOff1 + i;
758 }
759
760 // local slope and curvature
761 if (measDim > 2) {
762 Matrix2d matW, matWJ;
763 Vector2d vecWd;
764 aPoint.getDerivatives(nJacobian, matW, matWJ, vecWd); // W, W * J, W * d
765 double sign = (nJacobian > 0) ? 1. : -1.;
766 if (nCurv > 0) {
767 aJacobian(0, 0) = 1.0;
768 aJacobian.block<2, 1>(1, 0) = -sign * vecWd; // from curvature
769 anIndex[0] = nLocals + 1;
770 }
771 aJacobian.block<2, 2>(1, index1) = -sign * matWJ; // from 1st Offset
772 aJacobian.block<2, 2>(1, index2) = sign * matW; // from 2nd Offset
773 for (unsigned int i = 0; i < nDim; ++i) {
774 anIndex[index2 + theDimension[i]] = iOff2 + i;
775 }
776 }
777 }
778}
779
781
788unsigned int GblTrajectory::getFitToKinkJacobian(
789 std::array<unsigned int, 9> &anIndex, Matrix49d &aJacobian,
790 const GblPoint &aPoint) const {
791
792 unsigned int nDim = theDimension.size();
793 unsigned int nCurv = numCurvature;
794 unsigned int nLocals = numLocals;
795
796 int nOffset = aPoint.getOffset();
797
798 anIndex = { }; // reset to 0
799 aJacobian.topRows<2>().setZero();
800
801 Matrix2d prevW, prevWJ, nextW, nextWJ;
802 Vector2d prevWd, nextWd;
803 aPoint.getDerivatives(0, prevW, prevWJ, prevWd); // W-, W- * J-, W- * d-
804 aPoint.getDerivatives(1, nextW, nextWJ, nextWd); // W-, W- * J-, W- * d-
805 const Matrix2d sumWJ(prevWJ + nextWJ); // W- * J- + W+ * J+
806 const Vector2d sumWd(prevWd + nextWd); // W+ * d+ + W- * d-
807
808 unsigned int iOff = (nOffset - 1) * nDim + nCurv + nLocals + 1; // first offset ('i' in u_i)
809
810 // local offset
811 if (nCurv > 0) {
812 aJacobian.block<2, 1>(0, 0) = -sumWd; // from curvature
813 anIndex[0] = nLocals + 1;
814 }
815 aJacobian.block<2, 2>(0, 1) = prevW; // from 1st Offset
816 aJacobian.block<2, 2>(0, 3) = -sumWJ; // from 2nd Offset
817 aJacobian.block<2, 2>(0, 5) = nextW; // from 3rd Offset
818 for (unsigned int i = 0; i < nDim; ++i) {
819 anIndex[1 + theDimension[i]] = iOff + i;
820 anIndex[3 + theDimension[i]] = iOff + nDim + i;
821 anIndex[5 + theDimension[i]] = iOff + nDim * 2 + i;
822 }
823 return 7;
824}
825
827
834unsigned int GblTrajectory::getFitToStepJacobian(
835 std::array<unsigned int, 9> &anIndex, Matrix49d &aJacobian,
836 const GblPoint &aPoint) const {
837
838 unsigned int nDim = theDimension.size();
839 unsigned int nCurv = numCurvature;
840 unsigned int nLocals = numLocals;
841
842 int nOffset = aPoint.getOffset();
843
844 anIndex = { }; // reset to 0
845 aJacobian.leftCols<4>().setZero();
846
847 unsigned int iOff = (nOffset - 1) * nDim + nCurv + nLocals + 1; // first offset ('i' in u_i)
848
849 // step
850 aJacobian(2, 0) = -1.; // from 2nd Offset
851 aJacobian(3, 1) = -1.; // from 2nd Offset
852 aJacobian(2, 2) = +1.; // from 3rd Offset
853 aJacobian(3, 3) = +1.; // from 3rd Offset
854
855 for (unsigned int i = 0; i < nDim; ++i) {
856 anIndex[0 + theDimension[i]] = iOff + nDim + i;
857 anIndex[2 + theDimension[i]] = iOff + nDim * 2 + i;
858 }
859 return 4;
860}
861
863
870unsigned int GblTrajectory::getFitToKinkAndStepJacobian(
871 std::array<unsigned int, 9> &anIndex, Matrix49d &aJacobian,
872 const GblPoint &aPoint) const {
873
874 unsigned int nDim = theDimension.size();
875 unsigned int nCurv = numCurvature;
876 unsigned int nLocals = numLocals;
877
878 int nOffset = aPoint.getOffset();
879
880 anIndex = { }; // reset to 0
881 aJacobian.setZero();
882
883 Matrix2d prevW, prevWJ, nextW, nextWJ;
884 Vector2d prevWd, nextWd;
885 aPoint.getDerivatives(0, prevW, prevWJ, prevWd); // W-, W- * J-, W- * d-
886 aPoint.getDerivatives(1, nextW, nextWJ, nextWd); // W-, W- * J-, W- * d-
887
888 unsigned int iOff = (nOffset - 1) * nDim + nCurv + nLocals + 1; // first offset ('i' in u_i)
889
890 // kink
891 if (nCurv > 0) {
892 aJacobian.block<2, 1>(0, 0) = -(prevWd + nextWd); // from curvature
893 anIndex[0] = nLocals + 1;
894 }
895 aJacobian.block<2, 2>(0, 1) = prevW; // from 1st Offset
896 aJacobian.block<2, 2>(0, 3) = -prevWJ; // from 2nd Offset
897 aJacobian.block<2, 2>(0, 5) = -nextWJ; // from 3rd Offset
898 aJacobian.block<2, 2>(0, 7) = nextW; // from 4th Offset
899 // step
900 aJacobian(2, 3) = -1.; // from 2nd Offset
901 aJacobian(3, 4) = -1.; // from 2nd Offset
902 aJacobian(2, 5) = +1.; // from 3rd Offset
903 aJacobian(3, 6) = +1.; // from 3rd Offset
904
905 for (unsigned int i = 0; i < nDim; ++i) {
906 anIndex[1 + theDimension[i]] = iOff + i;
907 anIndex[3 + theDimension[i]] = iOff + nDim + i;
908 anIndex[5 + theDimension[i]] = iOff + nDim * 2 + i;
909 anIndex[7 + theDimension[i]] = iOff + nDim * 3 + i;
910 }
911 return 9;
912}
913
915
922unsigned int GblTrajectory::getExtResults(Eigen::VectorXd &extPar,
923 Eigen::MatrixXd &extCov) const {
924 if (not fitOK)
925 return 1;
926 // get external parameters (single block after locals)
927 unsigned int nExt = innerTransformations[0].cols();
928 VectorXd aVec(nExt); // compressed vector
929 std::vector<unsigned int> index;
930 for (unsigned int i = 0; i < nExt; ++i) {
931 aVec[i] = theVector(numLocals + i);
932 index.push_back(numLocals + i + 1);
933 }
934 extPar = aVec;
935 extCov = theMatrix.getBlockMatrix(index); // compressed matrix
936 return 0;
937}
938
940
954unsigned int GblTrajectory::getResults(int aSignedLabel,
955 Eigen::VectorXd &localPar, Eigen::MatrixXd &localCov) const {
956 if (not fitOK)
957 return 1;
958 std::pair<std::vector<unsigned int>, MatrixXd> indexAndJacobian =
959 getJacobian(aSignedLabel);
960 unsigned int nParBrl = indexAndJacobian.first.size();
961 VectorXd aVec(nParBrl); // compressed vector
962 for (unsigned int i = 0; i < nParBrl; ++i) {
963 aVec[i] = theVector(indexAndJacobian.first[i] - 1);
964 }
965 MatrixXd aMat = theMatrix.getBlockMatrix(indexAndJacobian.first); // compressed matrix
966 localPar = indexAndJacobian.second * aVec;
967 localCov = indexAndJacobian.second * aMat
968 * indexAndJacobian.second.transpose();
969 return 0;
970}
971
973
985unsigned int GblTrajectory::getMeasResults(unsigned int aLabel,
986 unsigned int &numData, Eigen::VectorXd &aResiduals,
987 Eigen::VectorXd &aMeasErrors, Eigen::VectorXd &aResErrors,
988 Eigen::VectorXd &aDownWeights) {
989 numData = 0;
990 if (not fitOK)
991 return 1;
992
993 unsigned int firstData = measDataIndex[aLabel - 1]; // first data block with measurement
994 numData = measDataIndex[aLabel] - firstData; // number of data blocks
995 for (unsigned int i = 0; i < numData; ++i) {
996 getResAndErr(firstData + i, (aLabel != skippedMeasLabel), aResiduals(i),
997 aMeasErrors(i), aResErrors(i), aDownWeights(i));
998 }
999 return 0;
1000}
1001
1003
1013unsigned int GblTrajectory::getMeasResults(unsigned int aLabel,
1014 unsigned int &numData, Eigen::VectorXd &aResiduals,
1015 Eigen::VectorXd &aMeasErrors) {
1016 numData = 0;
1017 if (not fitOK)
1018 return 1;
1019
1020 unsigned int firstData = measDataIndex[aLabel - 1]; // first data block with measurement
1021 numData = measDataIndex[aLabel] - firstData; // number of data blocks
1022 for (unsigned int i = 0; i < numData; ++i) {
1023 getResAndErr(firstData + i, aResiduals(i), aMeasErrors(i));
1024 }
1025 return 0;
1026}
1027
1029
1041unsigned int GblTrajectory::getScatResults(unsigned int aLabel,
1042 unsigned int &numData, Eigen::VectorXd &aResiduals,
1043 Eigen::VectorXd &aMeasErrors, Eigen::VectorXd &aResErrors,
1044 Eigen::VectorXd &aDownWeights) {
1045 numData = 0;
1046 if (not fitOK)
1047 return 1;
1048
1049 unsigned int firstData = scatDataIndex[aLabel - 1]; // first data block with scatterer
1050 numData = scatDataIndex[aLabel] - firstData; // number of data blocks
1051 for (unsigned int i = 0; i < numData; ++i) {
1052 getResAndErr(firstData + i, true, aResiduals(i), aMeasErrors(i),
1053 aResErrors(i), aDownWeights(i));
1054 }
1055 return 0;
1056}
1057
1058#ifdef GBL_EIGEN_SUPPORT_ROOT
1060
1067unsigned int GblTrajectory::getExtResults(TVectorD &extPar,
1068 TMatrixDSym &extCov) const {
1069 if (not fitOK)
1070 return 1;
1071 // get external parameters (single block after locals)
1072 unsigned int nExt = innerTransformations[0].cols();
1073 VectorXd aVec(nExt); // compressed vector
1074 std::vector<unsigned int> index;
1075 for (unsigned int i = 0; i < nExt; ++i) {
1076 aVec[i] = theVector(numLocals + i);
1077 index.push_back(numLocals + i + 1);
1078 }
1079 MatrixXd aMat = theMatrix.getBlockMatrix(index); // compressed matrix
1080 // convert to ROOT
1081 unsigned int nParOut = extPar.GetNrows();
1082 for (unsigned int i = 0; i < nParOut; ++i) {
1083 extPar[i] = aVec(i);
1084 for (unsigned int j = 0; j < nParOut; ++j) {
1085 extCov(i, j) = aMat(i, j);
1086 }
1087 }
1088 return 0;
1089}
1090
1092
1106unsigned int GblTrajectory::getResults(int aSignedLabel, TVectorD &localPar,
1107 TMatrixDSym &localCov) const {
1108 if (not fitOK)
1109 return 1;
1110 std::pair<std::vector<unsigned int>, MatrixXd> indexAndJacobian =
1111 getJacobian(aSignedLabel);
1112 unsigned int nParBrl = indexAndJacobian.first.size();
1113 VectorXd aVec(nParBrl); // compressed vector
1114 for (unsigned int i = 0; i < nParBrl; ++i) {
1115 aVec[i] = theVector(indexAndJacobian.first[i] - 1);
1116 }
1117 MatrixXd aMat = theMatrix.getBlockMatrix(indexAndJacobian.first); // compressed matrix
1118 VectorXd aLocalPar = indexAndJacobian.second * aVec;
1119 MatrixXd aLocalCov = indexAndJacobian.second * aMat
1120 * indexAndJacobian.second.transpose();
1121 // convert to ROOT
1122 unsigned int nParOut = localPar.GetNrows();
1123 for (unsigned int i = 0; i < nParOut; ++i) {
1124 localPar[i] = aLocalPar(i);
1125 for (unsigned int j = 0; j < nParOut; ++j) {
1126 localCov(i, j) = aLocalCov(i, j);
1127 }
1128 }
1129 return 0;
1130}
1131
1133
1145unsigned int GblTrajectory::getMeasResults(unsigned int aLabel,
1146 unsigned int &numData, TVectorD &aResiduals, TVectorD &aMeasErrors,
1147 TVectorD &aResErrors, TVectorD &aDownWeights) {
1148 numData = 0;
1149 if (not fitOK)
1150 return 1;
1151
1152 unsigned int firstData = measDataIndex[aLabel - 1]; // first data block with measurement
1153 numData = measDataIndex[aLabel] - firstData;// number of data blocks
1154 for (unsigned int i = 0; i < numData; ++i) {
1155 getResAndErr(firstData + i, (aLabel != skippedMeasLabel), aResiduals[i],
1156 aMeasErrors[i], aResErrors[i], aDownWeights[i]);
1157 }
1158 return 0;
1159}
1160
1162
1174unsigned int GblTrajectory::getScatResults(unsigned int aLabel,
1175 unsigned int &numData, TVectorD &aResiduals, TVectorD &aMeasErrors,
1176 TVectorD &aResErrors, TVectorD &aDownWeights) {
1177 numData = 0;
1178 if (not fitOK)
1179 return 1;
1180
1181 unsigned int firstData = scatDataIndex[aLabel - 1]; // first data block with scatterer
1182 numData = scatDataIndex[aLabel] - firstData;// number of data blocks
1183 for (unsigned int i = 0; i < numData; ++i) {
1184 getResAndErr(firstData + i, true, aResiduals[i], aMeasErrors[i],
1185 aResErrors[i], aDownWeights[i]);
1186 }
1187 return 0;
1188}
1189
1190#endif
1191
1193
1197unsigned int GblTrajectory::getLabels(
1198 std::vector<unsigned int> &aLabelList) const {
1199 if (not constructOK)
1200 return 1;
1201
1202 unsigned int aLabel = 0;
1203 unsigned int nPoint = thePoints[0].size();
1204 aLabelList.resize(nPoint);
1205 for (unsigned i = 0; i < nPoint; ++i) {
1206 aLabelList[i] = ++aLabel;
1207 }
1208 return 0;
1209}
1210
1212
1216unsigned int GblTrajectory::getLabels(
1217 std::vector<std::vector<unsigned int> > &aLabelList) const {
1218 if (not constructOK)
1219 return 1;
1220
1221 unsigned int aLabel = 0;
1222 aLabelList.resize(numTrajectories);
1223 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
1224 unsigned int nPoint = thePoints[iTraj].size();
1225 aLabelList[iTraj].resize(nPoint);
1226 for (unsigned i = 0; i < nPoint; ++i) {
1227 aLabelList[iTraj][i] = ++aLabel;
1228 }
1229 }
1230 return 0;
1231}
1232
1234
1244void GblTrajectory::getResAndErr(unsigned int aData, bool used,
1245 double &aResidual, double &aMeasError, double &aResError,
1246 double &aDownWeight) {
1247
1248 double aMeasVar;
1249 unsigned int numLocal;
1250 unsigned int *indLocal;
1251 double *derLocal;
1252 theData[aData].getResidual(aResidual, aMeasVar, aDownWeight, numLocal,
1253 indLocal, derLocal);
1254 VectorXd aVec(numLocal); // compressed vector of derivatives
1255 for (unsigned int j = 0; j < numLocal; ++j) {
1256 aVec[j] = derLocal[j];
1257 }
1258 MatrixXd aMat = theMatrix.getBlockMatrix(numLocal, indLocal); // compressed (covariance) matrix
1259 double aFitVar = aVec.transpose() * aMat * aVec; // variance from track fit
1260 aFitVar *= aDownWeight; // account for down-weighting (of measurement in fit)
1261 aMeasError = sqrt(aMeasVar); // error of measurement
1262 if (used)
1263 aResError = (aFitVar < aMeasVar ? sqrt(aMeasVar - aFitVar) : 0.); // error of (biased) residual
1264 else
1265 aResError = sqrt(aMeasVar + aFitVar); // error of (unbiased) residual
1266}
1267
1269
1276void GblTrajectory::getResAndErr(unsigned int aData, double &aResidual,
1277 double &aMeasError) {
1278
1279 double aMeasVar;
1280 theData[aData].getResidual(aResidual, aMeasVar);
1281 aMeasError = sqrt(aMeasVar); // error of measurement
1282}
1283
1285void GblTrajectory::buildLinearEquationSystem() {
1286 unsigned int nBorder = numCurvature + numLocals;
1287 theVector.resize(numParameters);
1288 theVector.setZero();
1289 theMatrix.resize(numParameters, nBorder);
1290 theMatrix.setZero();
1291 double aValue, aWeight;
1292 unsigned int *indLocal;
1293 double *derLocal;
1294 unsigned int numLocal;
1295
1296 std::vector<GblData>::iterator itData;
1297 for (itData = theData.begin(); itData < theData.end(); ++itData) {
1298 // skipped (internal) measurement ?
1299 if (itData->getLabel() == skippedMeasLabel
1300 && itData->getType() == InternalMeasurement)
1301 continue;
1302
1303 itData->getLocalData(aValue, aWeight, numLocal, indLocal, derLocal);
1304 for (unsigned int j = 0; j < numLocal; ++j) {
1305 theVector(indLocal[j] - 1) += derLocal[j] * aWeight * aValue;
1306 }
1307 theMatrix.addBlockMatrix(aWeight, numLocal, indLocal, derLocal);
1308 }
1309}
1310
1312
1320void GblTrajectory::prepare() {
1321 unsigned int nDim = theDimension.size();
1322 // upper limit
1323 unsigned int maxData = numMeasurements + nDim * (numOffsets - 2)
1324 + externalSeed.rows();
1325 theData.reserve(maxData);
1326 measDataIndex.resize(numAllPoints + 3); // include external seed and measurements
1327 scatDataIndex.resize(numAllPoints + 1);
1328 unsigned int nData = 0;
1329 // composed trajectory ?
1330 if (numInnerTransformations > 0) {
1331 unsigned int nInnerTransRows = innerTransformations[0].rows();
1332 unsigned int nInnerTransCols = innerTransformations[0].cols();
1333 // std::cout << "composed trajectory, inner transformation (" << nInnerTransRows << "," << nInnerTransCols << ")" << std::endl;
1334 // check size
1335 if (nInnerTransRows != 5 and nInnerTransRows != 2) {
1336 std::cout
1337 << " GblTrajectory::prepare composed trajectory with bad inner transformation matrix("
1338 << nInnerTransRows << "," << nInnerTransCols
1339 << "): invalid number of rows" << std::endl;
1340 throw 10;
1341 }
1342 if (nInnerTransRows > nInnerTransCols) {
1343 std::cout
1344 << " GblTrajectory::prepare composed trajectory with bad inner transformation matrix("
1345 << nInnerTransRows << "," << nInnerTransCols
1346 << "): too few columns" << std::endl;
1347 throw 11;
1348 }
1349 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
1350 // check size
1351 if (nInnerTransRows != innerTransformations[iTraj].rows()
1352 or nInnerTransCols != innerTransformations[iTraj].cols()) {
1353 std::cout
1354 << " GblTrajectory::prepare composed trajectory with bad inner transformation matrix["
1355 << iTraj << "]: different size as [0]" << std::endl;
1356 throw 12;
1357 }
1358 // innermost point
1359 GblPoint *innerPoint = &thePoints[iTraj].front();
1360 // transformation fit to local track parameters
1361 std::array<unsigned int, 5> firstLabels;
1362 Matrix5d matFitToLocal;
1363 getFitToLocalJacobian(firstLabels, matFitToLocal, *innerPoint, 5);
1364 if (nInnerTransRows == 5) {
1365 // (full) kinematic constraint
1366 // transformation local track to fit parameters
1367 Matrix5d matLocalToFit = matFitToLocal.inverse();
1368 // transformation external to fit parameters at inner (first) point
1369 innerTransDer.emplace_back(
1370 matLocalToFit * innerTransformations[iTraj]);
1371 } else {
1372 // geometric constraint (including individual curvature correction per trajectory)
1373 MatrixXd matInnerToFit(5, numCurvature);
1374 matInnerToFit.setZero();
1375 matInnerToFit(0, nInnerTransCols + iTraj) = 1.; // curvature correction for 'iTraj'
1376 matInnerToFit.block(1, 0, 2, nInnerTransCols) =
1377 innerTransformations[iTraj]; // geometric derivatives
1378 innerTransDer.emplace_back(matInnerToFit);
1379 }
1380 innerTransLab.push_back(firstLabels);
1381 }
1382 }
1383
1384 Matrix5d matP; // measurements
1385 std::vector<GblPoint>::iterator itPoint;
1386 std::vector<GblMeasurement>::const_iterator itMeas;
1387 // limit the scope of proDer:
1388 {
1389 // transform for external parameters
1390 Eigen::Matrix<double, Eigen::Dynamic, 5, Eigen::ColMajor /* default */,
1391 5, 5> proDer;
1392 // loop over trajectories
1393 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
1394 for (itPoint = thePoints[iTraj].begin();
1395 itPoint < thePoints[iTraj].end(); ++itPoint) {
1396 Vector5d aMeas, aPrec;
1397 unsigned int nLabel = itPoint->getLabel();
1398 if (itPoint->numMeasurements()) {
1399 for (itMeas = itPoint->getMeasBegin();
1400 itMeas < itPoint->getMeasEnd(); ++itMeas) {
1401 // skip disabled measurements
1402 if (!itMeas->isEnabled())
1403 continue;
1404 unsigned int measDim = itMeas->getMeasDim();
1405 const MatrixXd localDer = itMeas->getLocalDerivatives();
1406 maxNumGlobals = std::max(maxNumGlobals,
1407 itMeas->getNumGlobals());
1408 MatrixXd transDer;
1409 itMeas->getMeasurement(matP, aMeas, aPrec);
1410 double minPrecision = itMeas->getMeasPrecMin();
1411 unsigned int iOff = 5 - measDim; // first active component
1412 std::array<unsigned int, 5> labDer;
1413 Matrix5d matDer, matPDer;
1414 matPDer.topRows(iOff).setZero(); // clear unused part
1415 if (measDim > 2) {
1416 unsigned int nJacobian =
1417 (itPoint->isLast()) ? 0 : 1; // last point needs backward propagation (for slopes)
1418 getFitToLocalJacobian(labDer, matDer, *itPoint,
1419 measDim, nJacobian);
1420 matPDer = matP * matDer;
1421 matPDer.bottomRows(measDim) =
1422 matP.bottomRightCorner(measDim, measDim)
1423 * matDer.bottomRows(measDim);
1424 } else { // 'shortcut' for position measurements
1425 getFitToLocalJacobian(labDer, matDer, *itPoint,
1426 measDim, 1); // forward propagation (-> after THICK scatterer)
1427 matPDer.bottomRows<2>() = matP.bottomRightCorner<2,
1428 2>() * matDer.bottomRows<2>();
1429 }
1430
1431 if (numInnerTransformations > 0) {
1432 // transform for external parameters
1433 proDer.resize(measDim, Eigen::NoChange);
1434 proDer.setZero();
1435 // match parameters
1436 unsigned int ifirst = 0;
1437 unsigned int ilast = 2 * numInnerTransOffsets;
1438 unsigned int ilabel = 0;
1439 unsigned int numRelated = 0;
1440 while (ilabel < 5) {
1441 if (labDer[ilabel] > 0) {
1442 while (ifirst <= ilast
1443 and innerTransLab[iTraj][ifirst]
1444 != labDer[ilabel]) {
1445 ++ifirst;
1446 }
1447 if (ifirst > ilast) {
1448 labDer[ilabel] -= numInnerTransOffsets
1449 * nDim * (iTraj + 1); // adjust label
1450 } else {
1451 // match
1452 labDer[ilabel] = 0; // mark as related to external parameters
1453 numRelated++;
1454 for (unsigned int k = iOff; k < 5;
1455 ++k) {
1456 proDer(k - iOff, ifirst) = matPDer(
1457 k, ilabel);
1458 }
1459 }
1460 }
1461 ++ilabel;
1462 }
1463 if (numRelated > 0) {
1464 transDer.resize(measDim, numCurvature);
1465 transDer = proDer * innerTransDer[iTraj];
1466 }
1467 }
1468 for (unsigned int i = iOff; i < 5; ++i) {
1469 if (aPrec(i) > minPrecision) {
1470 GblData aData(nLabel, InternalMeasurement,
1471 aMeas(i), aPrec(i), iTraj,
1472 itPoint - thePoints[iTraj].begin(),
1473 itMeas - itPoint->getMeasBegin());
1474 aData.addDerivatives(i, labDer, matPDer, iOff,
1475 localDer, numLocals, transDer);
1476 theData.emplace_back(std::move(aData));
1477 nData++;
1478 }
1479 }
1480
1481 }
1482 }
1483 measDataIndex[nLabel] = nData;
1484 }
1485 }
1486 } // end of scope for proDer
1487
1488 Matrix4d matT; // kinks
1489 // limit the scope of proDer:
1490 {
1491 // transform for external parameters
1492 Eigen::Matrix<double, Eigen::Dynamic, 5, Eigen::ColMajor /* default */,
1493 5, 5> proDer;
1494 scatDataIndex[0] = nData;
1495 scatDataIndex[1] = nData;
1496 // loop over trajectories
1497 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
1498 for (itPoint = thePoints[iTraj].begin() + 1;
1499 itPoint < thePoints[iTraj].end(); ++itPoint) {
1500 Vector4d aMeas, aPrec;
1501 unsigned int nLabel = itPoint->getLabel();
1502 unsigned int scatDim = itPoint->getScatDim();
1503 if (scatDim) {
1504 MatrixXd transDer;
1505 std::array<unsigned int, 9> labDer;
1506 Matrix49d matDer, matTDer;
1507 unsigned int numDer;
1508 if (scatDim == 4) {
1509 // thick scatterer, last point?
1510 if (itPoint->isLast()) {
1511 // steps (only)
1512 itPoint->getReducedScatterer(matT, aMeas, aPrec);
1513 numDer = getFitToStepJacobian(labDer, matDer,
1514 *itPoint);
1515 matTDer.leftCols<4>() = matT * matDer.leftCols<4>(); // numDer == 4 !
1516 } else {
1517 // kinks+steps
1518 itPoint->getScatterer(matT, aMeas, aPrec);
1519 numDer = getFitToKinkAndStepJacobian(labDer, matDer,
1520 *itPoint);
1521 matTDer = matT * matDer; // numDer == 9 !
1522 }
1523 } else {
1524 // thin scatterer, last point?
1525 if (itPoint->isLast())
1526 break;
1527 // kinks
1528 itPoint->getScatterer(matT, aMeas, aPrec);
1529 numDer = getFitToKinkJacobian(labDer, matDer, *itPoint);
1530 matTDer.topLeftCorner<2, 7>() =
1531 matT.topLeftCorner<2, 2>()
1532 * matDer.topLeftCorner<2, 7>(); // numDer == 7 !
1533 }
1534 if (numInnerTransformations > 0) {
1535 // transform for external parameters
1536 proDer.resize(scatDim, Eigen::NoChange);
1537 proDer.setZero();
1538 // match parameters
1539 unsigned int ifirst = 0;
1540 unsigned int ilast = 2 * numInnerTransOffsets;
1541 unsigned int ilabel = 0;
1542 unsigned int numRelated = 0;
1543 while (ilabel < numDer) {
1544 if (labDer[ilabel] > 0) {
1545 while (innerTransLab[iTraj][ifirst]
1546 != labDer[ilabel] and ifirst <= ilast) {
1547 ++ifirst;
1548 }
1549 if (ifirst > ilast) {
1550 labDer[ilabel] -= numInnerTransOffsets
1551 * nDim * (iTraj + 1); // adjust label
1552 } else {
1553 // match
1554 labDer[ilabel] = 0; // mark as related to external parameters
1555 numRelated++;
1556 for (unsigned int k = 0; k < scatDim; ++k) {
1557 proDer(k, ifirst) = matTDer(k, ilabel);
1558 }
1559 }
1560 }
1561 ++ilabel;
1562 }
1563 if (numRelated > 0) {
1564 transDer.resize(scatDim, numCurvature);
1565 transDer = proDer * innerTransDer[iTraj];
1566 }
1567 }
1568 // loop over kinks and steps (if any)
1569 for (unsigned int i = 0; i < scatDim; ++i) {
1570 if (aPrec(i) > 0.) {
1571 GblData aData(nLabel, InternalKink, aMeas(i),
1572 aPrec(i), iTraj,
1573 itPoint - thePoints[iTraj].begin());
1574 aData.addDerivatives(i, numDer, labDer, matTDer,
1575 numLocals, transDer);
1576 theData.emplace_back(std::move(aData));
1577 nData++;
1578 }
1579 }
1580 }
1581 scatDataIndex[nLabel] = nData;
1582 }
1583 scatDataIndex[thePoints[iTraj].back().getLabel()] = nData;
1584 }
1585 }
1586
1587 // external seed
1588 if (externalPoint) {
1589 std::pair<std::vector<unsigned int>, MatrixXd> indexAndJacobian =
1590 getJacobian(externalPoint);
1591 std::vector<unsigned int> externalSeedIndex = indexAndJacobian.first;
1592 std::vector<double> externalSeedDerivatives(externalSeedIndex.size());
1593 SelfAdjointEigenSolver<MatrixXd> externalSeedEigen(externalSeed);
1594 VectorXd valEigen = externalSeedEigen.eigenvalues();
1595 MatrixXd vecEigen = externalSeedEigen.eigenvectors();
1596 vecEigen = vecEigen.transpose() * indexAndJacobian.second;
1597 for (int i = 0; i < externalSeed.rows(); ++i) {
1598 if (valEigen(i) > 0.) {
1599 for (int j = 0; j < externalSeed.cols(); ++j) {
1600 externalSeedDerivatives[j] = vecEigen(i, j);
1601 }
1602 GblData aData(externalPoint, ExternalSeed, 0., valEigen(i));
1603 aData.addDerivatives(externalSeedIndex,
1604 externalSeedDerivatives);
1605 theData.emplace_back(std::move(aData));
1606 nData++;
1607 }
1608 }
1609 }
1610 measDataIndex[numAllPoints + 1] = nData;
1611 // external measurements
1612 unsigned int nExt = externalMeasurements.rows();
1613 if (nExt > 0) {
1614 unsigned int nInnerTransCols = innerTransformations[0].cols();
1615 unsigned int nExtDer = externalDerivatives.cols();
1616 if (nExtDer > nInnerTransCols) {
1617 std::cout
1618 << " GblTrajectory::prepare external measurement with too many derivatives: "
1619 << nExtDer << ", defined: " << nInnerTransCols << std::endl;
1620 throw 13;
1621 }
1622 std::vector<unsigned int> index(nExtDer);
1623 std::vector<double> derivatives(nExtDer);
1624 for (unsigned int iExt = 0; iExt < nExt; ++iExt) {
1625 for (unsigned int iCol = 0; iCol < nExtDer; ++iCol) {
1626 index[iCol] = numLocals + iCol + 1;
1627 derivatives[iCol] = externalDerivatives(iExt, iCol);
1628 }
1629 GblData aData(1U, ExternalMeasurement, externalMeasurements(iExt),
1630 externalPrecisions(iExt));
1631 aData.addDerivatives(index, derivatives);
1632 theData.emplace_back(std::move(aData));
1633 nData++;
1634 }
1635 }
1636 measDataIndex[numAllPoints + 2] = nData;
1637}
1638
1640void GblTrajectory::predict() {
1641 std::vector<GblData>::iterator itData;
1642 for (itData = theData.begin(); itData < theData.end(); ++itData) {
1643 itData->setPrediction(theVector);
1644 }
1645}
1646
1648
1651double GblTrajectory::downWeight(unsigned int aMethod) {
1652 double aLoss = 0.;
1653 std::vector<GblData>::iterator itData;
1654 for (itData = theData.begin(); itData < theData.end(); ++itData) {
1655 aLoss += (1. - itData->setDownWeighting(aMethod));
1656 }
1657 return aLoss;
1658}
1659
1661
1673unsigned int GblTrajectory::fit(double &Chi2, int &Ndf, double &lostWeight,
1674 const std::string &optionList, unsigned int aLabel) {
1675 const double normChi2[4] = { 1.0, 0.8737, 0.9326, 0.8228 };
1676 const std::string methodList = "TtHhCc";
1677
1678 Chi2 = 0.;
1679 Ndf = -1;
1680 lostWeight = 0.;
1681 if (not constructOK)
1682 return 10;
1683
1684 unsigned int aMethod = 0;
1685 skippedMeasLabel = aLabel;
1686
1687 buildLinearEquationSystem();
1688 lostWeight = 0.;
1689 unsigned int ierr = 0;
1690 try {
1691
1692 theMatrix.solveAndInvertBorderedBand(theVector, theVector);
1693 predict();
1694
1695 for (unsigned int i = 0; i < optionList.size(); ++i) // down weighting iterations
1696 {
1697 size_t aPosition = methodList.find(optionList[i]);
1698 if (aPosition != std::string::npos) {
1699 aMethod = aPosition / 2 + 1;
1700 lostWeight = downWeight(aMethod);
1701 buildLinearEquationSystem();
1702 theMatrix.solveAndInvertBorderedBand(theVector, theVector);
1703 predict();
1704 }
1705 }
1706 Ndf = -numParameters;
1707 Chi2 = 0.;
1708 for (unsigned int i = 0; i < theData.size(); ++i) {
1709 // skipped (internal) measurement ?
1710 if (theData[i].getLabel() == skippedMeasLabel
1711 && theData[i].getType() == InternalMeasurement)
1712 continue;
1713 Chi2 += theData[i].getChi2();
1714 Ndf++;
1715 }
1716 Chi2 /= normChi2[aMethod];
1717 fitOK = true;
1718
1719 } catch (int e) {
1720 std::cout << " GblTrajectory::fit exception " << e << std::endl;
1721 ierr = e;
1722 }
1723 return ierr;
1724}
1725
1727
1730void GblTrajectory::milleOut(MilleBinary &aMille) {
1731 double aValue;
1732 double aErr;
1733 unsigned int aTraj;
1734 unsigned int aPoint;
1735 unsigned int aMeas;
1736 unsigned int aRow;
1737 unsigned int numLocal;
1738 unsigned int *labLocal;
1739 double *derLocal;
1740 std::vector<int> labGlobal;
1741 std::vector<double> derGlobal;
1742
1743 if (not constructOK)
1744 return;
1745
1746 // data: measurements, kinks and external seed
1747 labGlobal.reserve(maxNumGlobals);
1748 derGlobal.reserve(maxNumGlobals);
1749 std::vector<GblData>::iterator itData;
1750 for (itData = theData.begin(); itData != theData.end(); ++itData) {
1751 itData->getAllData(aValue, aErr, numLocal, labLocal, derLocal, aTraj,
1752 aPoint, aMeas, aRow);
1753 if (itData->getType() == InternalMeasurement)
1754 thePoints[aTraj][aPoint].getGlobalLabelsAndDerivatives(aMeas, aRow,
1755 labGlobal, derGlobal);
1756 else
1757 labGlobal.resize(0);
1758 aMille.addData(aValue, aErr, numLocal, labLocal, derLocal, labGlobal,
1759 derGlobal);
1760 }
1761 aMille.writeRecord();
1762}
1763
1765
1768void GblTrajectory::printTrajectory(unsigned int level) const {
1769 if (numInnerTransformations) {
1770 std::cout << "Composed GblTrajectory, " << numInnerTransformations
1771 << " subtrajectories, type " << numInnerTransOffsets
1772 << std::endl;
1773 } else {
1774 std::cout << "Simple GblTrajectory" << std::endl;
1775 }
1776 if (theDimension.size() < 2) {
1777 std::cout << " 2D-trajectory" << std::endl;
1778 }
1779 std::cout << " Number of GblPoints : " << numAllPoints
1780 << std::endl;
1781 std::cout << " Number of points with offsets: " << numOffsetPoints
1782 << std::endl;
1783 std::cout << " Number of (1D or 2D) offsets : " << numOffsets << std::endl;
1784 std::cout << " Number of fit parameters : " << numParameters
1785 << std::endl;
1786 std::cout << " Number of measurements : " << numMeasurements
1787 << std::endl;
1788 if (externalMeasurements.rows()) {
1789 std::cout << " Number of ext. measurements : "
1790 << externalMeasurements.rows() << std::endl;
1791 }
1792 if (externalPoint) {
1793 std::cout << " Label of point with ext. seed: " << externalPoint
1794 << std::endl;
1795 }
1796 if (constructOK) {
1797 std::cout << " Constructed OK " << std::endl;
1798 }
1799 if (fitOK) {
1800 std::cout << " Fitted OK " << std::endl;
1801 }
1802 if (level > 0) {
1803 IOFormat CleanFmt(4, 0, ", ", "\n", "[", "]");
1804 if (numInnerTransformations) {
1805 std::cout << " Inner transformations" << std::endl;
1806 for (unsigned int i = 0; i < numInnerTransformations; ++i) {
1807 std::cout << innerTransformations[i].format(CleanFmt)
1808 << std::endl;
1809 }
1810 }
1811 if (externalMeasurements.rows()) {
1812 std::cout << " External measurements" << std::endl;
1813 std::cout << " Measurements:" << std::endl;
1814 std::cout << externalMeasurements.format(CleanFmt) << std::endl;
1815 std::cout << " Precisions:" << std::endl;
1816 std::cout << externalPrecisions.format(CleanFmt) << std::endl;
1817 std::cout << " Derivatives:" << std::endl;
1818 std::cout << externalDerivatives.format(CleanFmt) << std::endl;
1819 }
1820 if (externalPoint) {
1821 std::cout << " External seed:" << std::endl;
1822 std::cout << externalSeed.format(CleanFmt) << std::endl;
1823 }
1824 if (fitOK) {
1825 std::cout << " Fit results" << std::endl;
1826 std::cout << " Parameters:" << std::endl;
1827 theVector.print();
1828 std::cout << " Covariance matrix (bordered band part):"
1829 << std::endl;
1830 theMatrix.printMatrix();
1831 }
1832 }
1833}
1834
1836
1839void GblTrajectory::printPoints(unsigned int level) const {
1840 std::cout << "GblPoints " << std::endl;
1841 for (unsigned int iTraj = 0; iTraj < numTrajectories; ++iTraj) {
1842 std::vector<GblPoint>::const_iterator itPoint;
1843 for (itPoint = thePoints[iTraj].begin();
1844 itPoint < thePoints[iTraj].end(); ++itPoint) {
1845 itPoint->printPoint(level);
1846 }
1847 }
1848}
1849
1851void GblTrajectory::printData() const {
1852 std::cout << "GblData blocks " << std::endl;
1853 std::vector<GblData>::const_iterator itData;
1854 for (itData = theData.begin(); itData < theData.end(); ++itData) {
1855 itData->printData();
1856 }
1857}
1858
1859}
GblTrajectory.h
GblTrajectory definition.
gbl::BorderedBandMatrix::printMatrix
void printMatrix() const
Print bordered band matrix.
Definition: BorderedBandMatrix.cpp:250
gbl::BorderedBandMatrix::getBlockMatrix
Eigen::MatrixXd getBlockMatrix(const std::vector< unsigned int > anIndex) const
Retrieve symmetric block matrix.
Definition: BorderedBandMatrix.cpp:138
gbl::BorderedBandMatrix::setZero
void setZero()
Set content to 0.
Definition: BorderedBandMatrix.cpp:62
gbl::BorderedBandMatrix::solveAndInvertBorderedBand
void solveAndInvertBorderedBand(const VVector &aRightHandSide, VVector &aSolution)
Solve linear equation system, partially calculate inverse.
Definition: BorderedBandMatrix.cpp:217
gbl::BorderedBandMatrix::resize
void resize(unsigned int nSize, unsigned int nBorder=1, unsigned int nBand=7)
Resize bordered band matrix.
Definition: BorderedBandMatrix.cpp:50
gbl::BorderedBandMatrix::addBlockMatrix
void addBlockMatrix(double aWeight, const std::vector< unsigned int > *anIndex, const std::vector< double > *aVector)
Add symmetric block matrix.
Definition: BorderedBandMatrix.cpp:77
gbl::GblData
Data (block) for independent scalar measurement.
Definition: GblData.h:58
gbl::GblData::addDerivatives
void addDerivatives(unsigned int iRow, const std::array< unsigned int, 5 > &labDer, const Matrix5d &matDer, unsigned int iOff, const Eigen::MatrixBase< LocalDerivative > &derLocal, unsigned int extOff, const Eigen::MatrixBase< ExtDerivative > &extDer)
Add derivatives from measurement.
Definition: GblData.h:147
gbl::GblPoint
Point on trajectory.
Definition: GblPoint.h:62
gbl::GblPoint::getDerivatives
void getDerivatives(int aDirection, Eigen::Matrix2d &matW, Eigen::Matrix2d &matWJ, Eigen::Vector2d &vecWd) const
Retrieve derivatives of local track model.
Definition: GblPoint.cpp:522
gbl::GblPoint::addNextJacobian
void addNextJacobian(const Matrix5d &aJac)
Define jacobian to next scatterer (by GBLTrajectory constructor)
Definition: GblPoint.cpp:508
gbl::GblPoint::getScatDim
unsigned int getScatDim() const
Get scatterer dimension.
Definition: GblPoint.cpp:365
gbl::GblPoint::getP2pJacobian
const Matrix5d & getP2pJacobian() const
Retrieve point-to-(previous)point jacobian.
Definition: GblPoint.cpp:485
gbl::GblPoint::getOffset
int getOffset() const
Retrieve offset for point.
Definition: GblPoint.cpp:472
gbl::GblTrajectory::numPoints
std::vector< unsigned int > numPoints
Number of points on (sub)trajectory.
Definition: GblTrajectory.h:174
gbl::GblTrajectory::scatDataIndex
std::vector< unsigned int > scatDataIndex
mapping points to data blocks from scatterers
Definition: GblTrajectory.h:193
gbl::GblTrajectory::theMatrix
BorderedBandMatrix theMatrix
(Bordered band) matrix of linear equation system
Definition: GblTrajectory.h:204
gbl::GblTrajectory::thePoints
std::vector< std::vector< GblPoint > > thePoints
(list of) List of points on trajectory
Definition: GblTrajectory.h:190
gbl::GblTrajectory::printPoints
void printPoints(unsigned int level=0) const
Print GblPoints on trajectory.
Definition: GblTrajectory.cpp:1839
gbl::GblTrajectory::skippedMeasLabel
unsigned int skippedMeasLabel
Label of point with measurements skipped in fit (for unbiased residuals) (or 0)
Definition: GblTrajectory.h:185
gbl::GblTrajectory::numTrajectories
unsigned int numTrajectories
Number of trajectories (in composed trajectory)
Definition: GblTrajectory.h:175
gbl::GblTrajectory::getFitToStepJacobian
unsigned int getFitToStepJacobian(std::array< unsigned int, 9 > &anIndex, Matrix49d &aJacobian, const GblPoint &aPoint) const
Get jacobian for transformation from (trajectory) fit to step parameters at point.
Definition: GblTrajectory.cpp:834
gbl::GblTrajectory::construct
void construct()
Construct trajectory from list of points.
Definition: GblTrajectory.cpp:435
gbl::GblTrajectory::externalPoint
unsigned int externalPoint
Label of external point (or 0)
Definition: GblTrajectory.h:184
gbl::GblTrajectory::externalSeed
Eigen::MatrixXd externalSeed
Precision (inverse covariance matrix) of external seed.
Definition: GblTrajectory.h:194
gbl::GblTrajectory::getMeasResults
unsigned int getMeasResults(unsigned int aLabel, unsigned int &numData, Eigen::VectorXd &aResiduals, Eigen::VectorXd &aMeasErrors, Eigen::VectorXd &aResErrors, Eigen::VectorXd &aDownWeights)
Get residuals from fit at point for measurement "long list".
Definition: GblTrajectory.cpp:985
gbl::GblTrajectory::numAllPoints
unsigned int numAllPoints
Number of all points on trajectory.
Definition: GblTrajectory.h:173
gbl::GblTrajectory::downWeight
double downWeight(unsigned int aMethod)
Down-weight all points.
Definition: GblTrajectory.cpp:1651
gbl::GblTrajectory::theVector
VVector theVector
Vector of linear equation system.
Definition: GblTrajectory.h:203
gbl::GblTrajectory::calcJacobians
void calcJacobians()
Calculate Jacobians to previous/next scatterer from point to point ones.
Definition: GblTrajectory.cpp:524
gbl::GblTrajectory::numCurvature
unsigned int numCurvature
Number of curvature parameters (0 or 1) or external parameters.
Definition: GblTrajectory.h:180
gbl::GblTrajectory::externalPrecisions
Eigen::VectorXd externalPrecisions
Precisions for external measurements of composed trajectory.
Definition: GblTrajectory.h:201
gbl::GblTrajectory::innerTransLab
std::vector< std::array< unsigned int, 5 > > innerTransLab
Labels at innermost points of composed trajectory.
Definition: GblTrajectory.h:198
gbl::GblTrajectory::externalMeasurements
Eigen::VectorXd externalMeasurements
Residuals for external measurements of composed trajectory.
Definition: GblTrajectory.h:200
gbl::GblTrajectory::printTrajectory
void printTrajectory(unsigned int level=0) const
Print GblTrajectory.
Definition: GblTrajectory.cpp:1768
gbl::GblTrajectory::predict
void predict()
Calculate predictions for all points.
Definition: GblTrajectory.cpp:1640
gbl::GblTrajectory::getFitToKinkAndStepJacobian
unsigned int getFitToKinkAndStepJacobian(std::array< unsigned int, 9 > &anIndex, Matrix49d &aJacobian, const GblPoint &aPoint) const
Get jacobian for transformation from (trajectory) fit to kink and step parameters at point.
Definition: GblTrajectory.cpp:870
gbl::GblTrajectory::defineOffsets
void defineOffsets()
Define offsets from list of points.
Definition: GblTrajectory.cpp:490
gbl::GblTrajectory::innerTransformations
std::vector< Eigen::MatrixXd > innerTransformations
Transformations at innermost points of composed trajectory (from common external parameters)
Definition: GblTrajectory.h:196
gbl::GblTrajectory::numLocals
unsigned int numLocals
Total number of (additional) local parameters.
Definition: GblTrajectory.h:182
gbl::GblTrajectory::numOffsetPoints
unsigned int numOffsetPoints
Number of points with offsets on trajectory.
Definition: GblTrajectory.h:176
gbl::GblTrajectory::milleOut
void milleOut(MilleBinary &aMille)
Write valid trajectory to Millepede-II binary file.
Definition: GblTrajectory.cpp:1730
gbl::GblTrajectory::getExtResults
unsigned int getExtResults(Eigen::VectorXd &extPar, Eigen::MatrixXd &extCov) const
Get fit results for external parameters.
Definition: GblTrajectory.cpp:922
gbl::GblTrajectory::getFitToLocalJacobian
void getFitToLocalJacobian(std::array< unsigned int, 5 > &anIndex, Matrix5d &aJacobian, const GblPoint &aPoint, unsigned int measDim, unsigned int nJacobian=1) const
Get (part of) jacobian for transformation from (trajectory) fit to track parameters at point.
Definition: GblTrajectory.cpp:687
gbl::GblTrajectory::numInnerTransformations
unsigned int numInnerTransformations
Number of inner transformations to external parameters.
Definition: GblTrajectory.h:178
gbl::GblTrajectory::maxNumGlobals
unsigned int maxNumGlobals
Max. number of global labels/derivatives per point.
Definition: GblTrajectory.h:186
gbl::GblTrajectory::isValid
bool isValid() const
Retrieve validity of trajectory.
Definition: GblTrajectory.cpp:422
gbl::GblTrajectory::GblTrajectory
GblTrajectory(const std::vector< GblPoint > &aPointList, bool flagCurv=true, bool flagU1dir=true, bool flagU2dir=true)
Create new (simple) trajectory from list of points.
Definition: GblTrajectory.cpp:173
gbl::GblTrajectory::prepare
void prepare()
Prepare fit for simple or composed trajectory.
Definition: GblTrajectory.cpp:1320
gbl::GblTrajectory::getResults
unsigned int getResults(int aSignedLabel, Eigen::VectorXd &localPar, Eigen::MatrixXd &localCov) const
Get fit results at point.
Definition: GblTrajectory.cpp:954
gbl::GblTrajectory::externalDerivatives
Eigen::MatrixXd externalDerivatives
Derivatives for external measurements of composed trajectory.
Definition: GblTrajectory.h:199
gbl::GblTrajectory::fit
unsigned int fit(double &Chi2, int &Ndf, double &lostWeight, const std::string &optionList="", unsigned int aLabel=0)
Perform fit of (valid) trajectory.
Definition: GblTrajectory.cpp:1673
gbl::GblTrajectory::getScatResults
unsigned int getScatResults(unsigned int aLabel, unsigned int &numData, Eigen::VectorXd &aResiduals, Eigen::VectorXd &aMeasErrors, Eigen::VectorXd &aResErrors, Eigen::VectorXd &aDownWeights)
Get (kink) residuals from fit at point for scatterer.
Definition: GblTrajectory.cpp:1041
gbl::GblTrajectory::theData
std::vector< GblData > theData
List of data blocks.
Definition: GblTrajectory.h:191
gbl::GblTrajectory::constructOK
bool constructOK
Trajectory has been successfully constructed (ready for fit/output)
Definition: GblTrajectory.h:187
gbl::GblTrajectory::numInnerTransOffsets
unsigned int numInnerTransOffsets
Number of (points with) offsets affected by inner transformations to external parameters.
Definition: GblTrajectory.h:179
gbl::GblTrajectory::measDataIndex
std::vector< unsigned int > measDataIndex
mapping points to data blocks from measurements
Definition: GblTrajectory.h:192
gbl::GblTrajectory::buildLinearEquationSystem
void buildLinearEquationSystem()
Build linear equation system from data (blocks).
Definition: GblTrajectory.cpp:1285
gbl::GblTrajectory::printData
void printData() const
Print GblData blocks for trajectory.
Definition: GblTrajectory.cpp:1851
gbl::GblTrajectory::getLabels
unsigned int getLabels(std::vector< unsigned int > &aLabelList) const
Get (list of) labels of points on (simple) valid trajectory.
Definition: GblTrajectory.cpp:1197
gbl::GblTrajectory::numParameters
unsigned int numParameters
Number of fit parameters.
Definition: GblTrajectory.h:181
gbl::GblTrajectory::numMeasurements
unsigned int numMeasurements
Total number of measurements.
Definition: GblTrajectory.h:183
gbl::GblTrajectory::innerTransDer
std::vector< Eigen::MatrixXd > innerTransDer
Derivatives at innermost points of composed trajectory.
Definition: GblTrajectory.h:197
gbl::GblTrajectory::getFitToKinkJacobian
unsigned int getFitToKinkJacobian(std::array< unsigned int, 9 > &anIndex, Matrix49d &aJacobian, const GblPoint &aPoint) const
Get jacobian for transformation from (trajectory) fit to kink parameters at point.
Definition: GblTrajectory.cpp:788
gbl::GblTrajectory::getJacobian
std::pair< std::vector< unsigned int >, Eigen::MatrixXd > getJacobian(int aSignedLabel) const
Get jacobian for transformation from fit to track parameters at point.
Definition: GblTrajectory.cpp:570
gbl::GblTrajectory::getResAndErr
void getResAndErr(unsigned int aData, bool used, double &aResidual, double &aMeasError, double &aResError, double &aDownWeight)
Get residual and errors from data block "long list".
Definition: GblTrajectory.cpp:1244
gbl::GblTrajectory::fitOK
bool fitOK
Trajectory has been successfully fitted (results are valid)
Definition: GblTrajectory.h:188
gbl::GblTrajectory::numOffsets
unsigned int numOffsets
Number of (1D or 2D) offsets on trajectory.
Definition: GblTrajectory.h:177
gbl::GblTrajectory::theDimension
std::vector< unsigned int > theDimension
List of active dimensions (0=u1, 1=u2) in fit.
Definition: GblTrajectory.h:189
gbl::GblTrajectory::getNumPoints
unsigned int getNumPoints() const
Retrieve number of point from trajectory.
Definition: GblTrajectory.cpp:427
gbl::MilleBinary
Millepede-II (binary) record.
Definition: MilleBinary.h:81
gbl::MilleBinary::writeRecord
void writeRecord()
Write record to file.
Definition: MilleBinary.cpp:114
gbl::MilleBinary::addData
void addData(double aMeas, double aErr, unsigned int numLocal, unsigned int *indLocal, double *derLocal, const std::vector< int > &labGlobal, const std::vector< double > &derGlobal)
Add data block to (end of) record.
Definition: MilleBinary.cpp:73
gbl::VVector::setZero
void setZero()
Set content to 0.
Definition: VMatrix.cpp:278
gbl::VVector::resize
void resize(const unsigned int nRows)
Resize vector.
Definition: VMatrix.cpp:272
gbl::VVector::print
void print() const
Print vector.
Definition: VMatrix.cpp:313
gbl
Namespace for the general broken lines package.
Definition: BorderedBandMatrix.cpp:34
gbl::InternalMeasurement
@ InternalMeasurement
Definition: GblData.h:50
gbl::ExternalMeasurement
@ ExternalMeasurement
Definition: GblData.h:50
gbl::ExternalSeed
@ ExternalSeed
Definition: GblData.h:50
gbl::InternalKink
@ InternalKink
Definition: GblData.h:50
gbl::Vector5d
Eigen::Matrix< double, 5, 1 > Vector5d
Definition: GblMeasurement.h:51
gbl::Matrix49d
Eigen::Matrix< double, 4, 9 > Matrix49d
Definition: GblData.h:47
gbl::Matrix5d
Eigen::Matrix< double, 5, 5 > Matrix5d
Definition: GblData.h:46
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