Collects information needed and produced by a AbsKalmanFitter implementations and is specific to one AbsTrackRep of the Track. More...

#include <KalmanFitterInfo.h>

Inheritance diagram for genfit::KalmanFitterInfo:

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Collaboration diagram for genfit::KalmanFitterInfo:

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Public Member Functions
	KalmanFitterInfo ()

	KalmanFitterInfo (const TrackPoint trackPoint, const AbsTrackRep rep)

virtual	~KalmanFitterInfo ()

virtual KalmanFitterInfo *	clone () const
	Deep copy ctor for polymorphic class.

ReferenceStateOnPlane *	getReferenceState () const

MeasuredStateOnPlane *	getForwardPrediction () const

MeasuredStateOnPlane *	getBackwardPrediction () const

MeasuredStateOnPlane *	getPrediction (int direction) const

KalmanFittedStateOnPlane *	getForwardUpdate () const

KalmanFittedStateOnPlane *	getBackwardUpdate () const

KalmanFittedStateOnPlane *	getUpdate (int direction) const

const std::vector< genfit::MeasurementOnPlane * > &	getMeasurementsOnPlane () const

MeasurementOnPlane *	getMeasurementOnPlane (int i=0) const

MeasurementOnPlane	getAvgWeightedMeasurementOnPlane (bool ignoreWeights=false) const

MeasurementOnPlane *	getClosestMeasurementOnPlane (const StateOnPlane *) const
	Get measurements which is closest to state.

unsigned int	getNumMeasurements () const

std::vector< double >	getWeights () const
	Get weights of measurements.

bool	areWeightsFixed () const
	Are the weights fixed?

const MeasuredStateOnPlane &	getFittedState (bool biased=true) const
	Get unbiased or biased (default) smoothed state.

MeasurementOnPlane	getResidual (unsigned int iMeasurement=0, bool biased=false, bool onlyMeasurementErrors=true) const
	Get unbiased (default) or biased residual from ith measurement.

bool	hasMeasurements () const

bool	hasReferenceState () const

bool	hasForwardPrediction () const

bool	hasBackwardPrediction () const

bool	hasForwardUpdate () const

bool	hasBackwardUpdate () const

bool	hasUpdate (int direction) const

bool	hasPredictionsAndUpdates () const

void	setReferenceState (ReferenceStateOnPlane *referenceState)

void	setForwardPrediction (MeasuredStateOnPlane *forwardPrediction)

void	setBackwardPrediction (MeasuredStateOnPlane *backwardPrediction)

void	setPrediction (MeasuredStateOnPlane *prediction, int direction)

void	setForwardUpdate (KalmanFittedStateOnPlane *forwardUpdate)

void	setBackwardUpdate (KalmanFittedStateOnPlane *backwardUpdate)

void	setUpdate (KalmanFittedStateOnPlane *update, int direction)

void	setMeasurementsOnPlane (const std::vector< genfit::MeasurementOnPlane * > &measurementsOnPlane)

void	addMeasurementOnPlane (MeasurementOnPlane *measurementOnPlane)

void	addMeasurementsOnPlane (const std::vector< genfit::MeasurementOnPlane * > &measurementsOnPlane)

void	setWeights (const std::vector< double > &)
	Set weights of measurements.

void	fixWeights (bool arg=true)

void	setRep (const AbsTrackRep *rep)

void	deleteForwardInfo ()

void	deleteBackwardInfo ()

void	deletePredictions ()

void	deleteReferenceInfo ()

void	deleteMeasurementInfo ()

virtual void	Print (const Option_t *="") const

virtual bool	checkConsistency () const

Public Member Functions inherited from genfit::AbsFitterInfo
	AbsFitterInfo ()

	AbsFitterInfo (const TrackPoint trackPoint, const AbsTrackRep rep)

virtual	~AbsFitterInfo ()

const TrackPoint *	getTrackPoint () const

const AbsTrackRep *	getRep () const

void	setTrackPoint (const TrackPoint *tp)

virtual bool	hasPrediction (int direction) const

const SharedPlanePtr &	getPlane () const

void	setPlane (const SharedPlanePtr &plane)

Private Attributes
boost::scoped_ptr< ReferenceStateOnPlane >	referenceState_
	Reference state. Used by KalmanFitterRefTrack.

boost::scoped_ptr< MeasuredStateOnPlane >	forwardPrediction_

boost::scoped_ptr< KalmanFittedStateOnPlane >	forwardUpdate_

boost::scoped_ptr< MeasuredStateOnPlane >	backwardPrediction_

boost::scoped_ptr< KalmanFittedStateOnPlane >	backwardUpdate_

boost::scoped_ptr< MeasuredStateOnPlane >	fittedStateUnbiased_

boost::scoped_ptr< MeasuredStateOnPlane >	fittedStateBiased_
	cache

std::vector< MeasurementOnPlane * >	measurementsOnPlane_
	cache

bool	fixWeights_

Additional Inherited Members
Protected Attributes inherited from genfit::AbsFitterInfo
const TrackPoint *	trackPoint_

const AbsTrackRep *	rep_
	No ownership.

SharedPlanePtr	sharedPlane_
	No ownership.

Detailed Description

Collects information needed and produced by a AbsKalmanFitter implementations and is specific to one AbsTrackRep of the Track.

Definition at line 46 of file KalmanFitterInfo.h.

Constructor & Destructor Documentation

◆ KalmanFitterInfo() [1/2]

genfit::KalmanFitterInfo::KalmanFitterInfo ( )

Definition at line 36 of file KalmanFitterInfo.cc.

                                   :
  AbsFitterInfo(), fixWeights_(false)
{
  ;
}

◆ KalmanFitterInfo() [2/2]

genfit::KalmanFitterInfo::KalmanFitterInfo	(	const TrackPoint *	trackPoint,
		const AbsTrackRep *	rep
	)

Definition at line 42 of file KalmanFitterInfo.cc.

                                                                                        :
  AbsFitterInfo(trackPoint, rep), fixWeights_(false)
{
  ;
}

◆ ~KalmanFitterInfo()

genfit::KalmanFitterInfo::~KalmanFitterInfo ( )

virtual

Definition at line 48 of file KalmanFitterInfo.cc.

                                    {
  deleteMeasurementInfo();
}

Member Function Documentation

◆ addMeasurementOnPlane()

void genfit::KalmanFitterInfo::addMeasurementOnPlane ( MeasurementOnPlane * measurementOnPlane )

Definition at line 366 of file KalmanFitterInfo.cc.

                                                                                   {
  if (measurementsOnPlane_.size() == 0)
    setPlane(measurementOnPlane->getPlane());
 
  measurementsOnPlane_.push_back(measurementOnPlane);
}

◆ addMeasurementsOnPlane()

void genfit::KalmanFitterInfo::addMeasurementsOnPlane ( const std::vector< genfit::MeasurementOnPlane * > & measurementsOnPlane )

Definition at line 373 of file KalmanFitterInfo.cc.

                                                                                                               {
  for (std::vector<MeasurementOnPlane*>::const_iterator m = measurementsOnPlane.begin(), mend = measurementsOnPlane.end(); m < mend; ++m) {
    addMeasurementOnPlane(*m);
  }
}

◆ areWeightsFixed()

bool genfit::KalmanFitterInfo::areWeightsFixed ( ) const

inline

Are the weights fixed?

Definition at line 74 of file KalmanFitterInfo.h.

74{return fixWeights_;}

◆ checkConsistency()

bool genfit::KalmanFitterInfo::checkConsistency ( ) const

virtual

Implements genfit::AbsFitterInfo.

Definition at line 480 of file KalmanFitterInfo.cc.

                                              {
 
  bool retVal(true);
 
  // check if in a TrackPoint
  if (!trackPoint_) {
    std::cerr << "KalmanFitterInfo::checkConsistency(): trackPoint_ is NULL" << std::endl;
    retVal = false;
  }
 
  // check if there is a reference state
  /*if (!referenceState_) {
    std::cerr << "KalmanFitterInfo::checkConsistency(): referenceState_ is NULL" << std::endl;
    retVal = false;
  }*/
 
  SharedPlanePtr plane = getPlane();
 
  if (plane.get() == NULL) {
    if (!(referenceState_ || forwardPrediction_ || forwardUpdate_ || backwardPrediction_ || backwardUpdate_ || measurementsOnPlane_.size() > 0))
      return true;
    std::cerr << "KalmanFitterInfo::checkConsistency(): plane is NULL" << std::endl;
    retVal = false;
  }
 
  TVector3 oTest = plane->getO(); // see if the plane object is there
  oTest *= 47.11;
 
  // if more than one measurement, check if they have the same dimensionality
  if (measurementsOnPlane_.size() > 1) {
    int dim = measurementsOnPlane_[0]->getState().GetNrows();
    for (unsigned int i = 1; i<measurementsOnPlane_.size(); ++i) {
      if(measurementsOnPlane_[i]->getState().GetNrows() != dim) {
        std::cerr << "KalmanFitterInfo::checkConsistency(): measurementsOnPlane_ do not all have the same dimensionality" << std::endl;
        retVal = false;
      }
    }
    if (dim == 0) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): measurementsOnPlane_ have dimension 0" << std::endl;
      retVal = false;
    }
  }
 
  // see if everything else is defined wrt this plane and rep_
  int dim = rep_->getDim(); // check dim
  if (referenceState_) {
    if(referenceState_->getPlane() != plane) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): referenceState_ is not defined with the correct plane " << referenceState_->getPlane().get() << " vs. " << plane.get() << std::endl;
      retVal = false;
    }
    if (referenceState_->getRep() != rep_) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): referenceState_ is not defined with the correct TrackRep" << std::endl;
      retVal = false;
    }
    if (referenceState_->getState().GetNrows() != dim) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): referenceState_ does not have the right dimension!" << std::endl;
      retVal = false;
    }
  }
 
  if (forwardPrediction_) {
    if(forwardPrediction_->getPlane() != plane) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): forwardPrediction_ is not defined with the correct plane" << std::endl;
      retVal = false;
    }
    if(forwardPrediction_->getRep() != rep_) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): forwardPrediction_ is not defined with the correct TrackRep" << std::endl;
      retVal = false;
    }
    if (forwardPrediction_->getState().GetNrows() != dim || forwardPrediction_->getCov().GetNrows() != dim) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): forwardPrediction_ does not have the right dimension!" << std::endl;
      retVal = false;
    }
  }
  if (forwardUpdate_) {
    if(forwardUpdate_->getPlane() != plane) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): forwardUpdate_ is not defined with the correct plane" << std::endl;
      retVal = false;
    }
    if(forwardUpdate_->getRep() != rep_) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): forwardUpdate_ is not defined with the correct TrackRep" << std::endl;
      retVal = false;
    }
    if (forwardUpdate_->getState().GetNrows() != dim || forwardUpdate_->getCov().GetNrows() != dim) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): forwardUpdate_ does not have the right dimension!" << std::endl;
      retVal = false;
    }
  }
 
  if (backwardPrediction_) {
    if(backwardPrediction_->getPlane() != plane) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): backwardPrediction_ is not defined with the correct plane" << std::endl;
      retVal = false;
    }
    if(backwardPrediction_->getRep() != rep_) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): backwardPrediction_ is not defined with the correct TrackRep" << std::endl;
      retVal = false;
    }
    if (backwardPrediction_->getState().GetNrows() != dim || backwardPrediction_->getCov().GetNrows() != dim) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): backwardPrediction_ does not have the right dimension!" << std::endl;
      retVal = false;
    }
  }
  if (backwardUpdate_) {
    if(backwardUpdate_->getPlane() != plane) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): backwardUpdate_ is not defined with the correct plane" << std::endl;
      retVal = false;
    }
    if(backwardUpdate_->getRep() != rep_) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): backwardUpdate_ is not defined with the correct TrackRep" << std::endl;
      retVal = false;
    }
    if (backwardUpdate_->getState().GetNrows() != dim || backwardUpdate_->getCov().GetNrows() != dim) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): backwardUpdate_ does not have the right dimension!" << std::endl;
      retVal = false;
    }
  }
 
  for (std::vector<MeasurementOnPlane*>::const_iterator it = measurementsOnPlane_.begin(); it != measurementsOnPlane_.end(); ++it) {
    if((*it)->getPlane() != plane) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): measurement is not defined with the correct plane" << std::endl;
      retVal = false;
    }
    if((*it)->getRep() != rep_) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): measurement is not defined with the correct TrackRep" << std::endl;
      retVal = false;
    }
    if ((*it)->getState().GetNrows() == 0) {
      std::cerr << "KalmanFitterInfo::checkConsistency(): measurement has dimension 0!" << std::endl;
      retVal = false;
    }
  }
 
  // see if there is an update w/o prediction or measurement
  if (forwardUpdate_ && !forwardPrediction_) {
    std::cerr << "KalmanFitterInfo::checkConsistency(): forwardUpdate_ w/o forwardPrediction_" << std::endl;
    retVal = false;
  }
 
  if (forwardUpdate_ && measurementsOnPlane_.size() == 0) {
    std::cerr << "KalmanFitterInfo::checkConsistency(): forwardUpdate_ w/o measurement" << std::endl;
    retVal = false;
  }
 
 
  if (backwardUpdate_ && !backwardPrediction_) {
    std::cerr << "KalmanFitterInfo::checkConsistency(): backwardUpdate_ w/o backwardPrediction_" << std::endl;
    retVal = false;
  }
 
  if (backwardUpdate_ && measurementsOnPlane_.size() == 0) {
    std::cerr << "KalmanFitterInfo::checkConsistency(): backwardUpdate_ w/o measurement" << std::endl;
    retVal = false;
  }
 
 
  return retVal;
}

◆ clone()

KalmanFitterInfo * genfit::KalmanFitterInfo::clone ( ) const

virtual

Deep copy ctor for polymorphic class.

Implements genfit::AbsFitterInfo.

Definition at line 53 of file KalmanFitterInfo.cc.

                                                {
  KalmanFitterInfo* retVal = new KalmanFitterInfo(this->getTrackPoint(), this->getRep());
  if (hasReferenceState())
    retVal->setReferenceState(new ReferenceStateOnPlane(*getReferenceState()));
  if (hasForwardPrediction())
    retVal->setForwardPrediction(new MeasuredStateOnPlane(*getForwardPrediction()));
  if (hasForwardUpdate())
    retVal->setForwardUpdate(new KalmanFittedStateOnPlane(*getForwardUpdate()));
  if (hasBackwardPrediction())
    retVal->setBackwardPrediction(new MeasuredStateOnPlane(*getBackwardPrediction()));
  if (hasBackwardUpdate())
    retVal->setBackwardUpdate(new KalmanFittedStateOnPlane(*getBackwardUpdate()));
 
  retVal->measurementsOnPlane_.reserve(getNumMeasurements());
  for (std::vector<MeasurementOnPlane*>::const_iterator it = this->measurementsOnPlane_.begin(); it != this->measurementsOnPlane_.end(); ++it) {
    retVal->addMeasurementOnPlane(new MeasurementOnPlane(**it));
  }
 
  retVal->fixWeights_ = this->fixWeights_;
 
  return retVal;
}

◆ deleteBackwardInfo()

void genfit::KalmanFitterInfo::deleteBackwardInfo ( )

virtual

Implements genfit::AbsFitterInfo.

Definition at line 428 of file KalmanFitterInfo.cc.

                                          {
  setBackwardPrediction(NULL);
  setBackwardUpdate(NULL);
  fittedStateUnbiased_.reset();
  fittedStateBiased_.reset();
}

◆ deleteForwardInfo()

void genfit::KalmanFitterInfo::deleteForwardInfo ( )

virtual

Implements genfit::AbsFitterInfo.

Definition at line 421 of file KalmanFitterInfo.cc.

                                         {
  setForwardPrediction(NULL);
  setForwardUpdate(NULL);
  fittedStateUnbiased_.reset();
  fittedStateBiased_.reset();
}

◆ deleteMeasurementInfo()

void genfit::KalmanFitterInfo::deleteMeasurementInfo ( )

virtual

Implements genfit::AbsFitterInfo.

Definition at line 442 of file KalmanFitterInfo.cc.

                                             {
  // FIXME: need smart pointers / smart containers here
  for (size_t i = 0; i < measurementsOnPlane_.size(); ++i)
    delete measurementsOnPlane_[i];
 
  measurementsOnPlane_.clear();
}

◆ deletePredictions()

void genfit::KalmanFitterInfo::deletePredictions ( )

Definition at line 435 of file KalmanFitterInfo.cc.

                                         {
  setForwardPrediction(NULL);
  setBackwardPrediction(NULL);
  fittedStateUnbiased_.reset();
  fittedStateBiased_.reset();
}

◆ deleteReferenceInfo()

void genfit::KalmanFitterInfo::deleteReferenceInfo ( )

inlinevirtual

Implements genfit::AbsFitterInfo.

Definition at line 107 of file KalmanFitterInfo.h.

107{setReferenceState(NULL);}

genfit::KalmanFitterInfo::setReferenceState

void setReferenceState(ReferenceStateOnPlane *referenceState)

Definition KalmanFitterInfo.cc:300

◆ fixWeights()

void genfit::KalmanFitterInfo::fixWeights ( bool arg = true )

inline

Definition at line 101 of file KalmanFitterInfo.h.

101{fixWeights_ = arg;}

◆ getAvgWeightedMeasurementOnPlane()

MeasurementOnPlane genfit::KalmanFitterInfo::getAvgWeightedMeasurementOnPlane ( bool ignoreWeights = false ) const

Get weighted mean of all measurements.

Parameters

ignoreWeights If set, the weights of the individual measurements will be ignored (they will be treated as if they all had weight 1)

Definition at line 77 of file KalmanFitterInfo.cc.

                                                                                              {
 
  MeasurementOnPlane retVal(*(measurementsOnPlane_[0]));
 
  if(measurementsOnPlane_.size() == 1) {
    if (ignoreWeights) {
      retVal.setWeight(1.);
    }
    else {
      double weight = (measurementsOnPlane_[0])->getWeight();
      if (weight != 1.) {
        retVal.getCov() *= 1. / weight;
      }
      retVal.setWeight(weight);
    }
    return retVal;
  }
 
  // more than one hit
 
  double sumOfWeights(0), weight(0);
 
  retVal.getState().Zero();
  retVal.getCov().Zero();
 
  TMatrixDSym covInv;
 
  for(unsigned int i=0; i<measurementsOnPlane_.size(); ++i) {
 
    if (i>0) {
      // make sure we have compatible measurement types
      // TODO: replace with Exceptions!
      assert(measurementsOnPlane_[i]->getPlane() == measurementsOnPlane_[0]->getPlane());
      assert(*(measurementsOnPlane_[i]->getHMatrix()) == *(measurementsOnPlane_[0]->getHMatrix()));
    }
 
    tools::invertMatrix(measurementsOnPlane_[i]->getCov(), covInv); // invert cov
    if (ignoreWeights) {
      sumOfWeights += 1.;
    }
    else {
      weight = measurementsOnPlane_[i]->getWeight();
      sumOfWeights += weight;
      covInv *= weight; // weigh cov
    }
    retVal.getCov() += covInv; // covInv is already inverted and weighted
 
    retVal.getState() += covInv * measurementsOnPlane_[i]->getState();
  }
 
  // invert Cov
  tools::invertMatrix(retVal.getCov());
 
  retVal.getState() *= retVal.getCov();
 
  retVal.setWeight(sumOfWeights);
 
  return retVal;
}

◆ getBackwardPrediction()

MeasuredStateOnPlane * genfit::KalmanFitterInfo::getBackwardPrediction ( ) const

inline

Definition at line 58 of file KalmanFitterInfo.h.

58{return backwardPrediction_.get();}

◆ getBackwardUpdate()

KalmanFittedStateOnPlane * genfit::KalmanFitterInfo::getBackwardUpdate ( ) const

inline

Definition at line 61 of file KalmanFitterInfo.h.

61{return backwardUpdate_.get();}

◆ getClosestMeasurementOnPlane()

MeasurementOnPlane * genfit::KalmanFitterInfo::getClosestMeasurementOnPlane ( const StateOnPlane * sop ) const

Get measurements which is closest to state.

Definition at line 138 of file KalmanFitterInfo.cc.

                                                                                                {
  if(measurementsOnPlane_.size() == 0)
    return NULL;
 
  if(measurementsOnPlane_.size() == 1)
    return getMeasurementOnPlane(0);
 
  double normMin(9.99E99);
  unsigned int iMin(0);
  const AbsHMatrix* H = measurementsOnPlane_[0]->getHMatrix();
  for (unsigned int i=0; i<getNumMeasurements(); ++i) {
    if (*(measurementsOnPlane_[i]->getHMatrix()) != *H){
      Exception e("KalmanFitterInfo::getClosestMeasurementOnPlane: Cannot compare measurements with different H-Matrices. Maybe you have to select a different multipleMeasurementHandling.", __LINE__,__FILE__);
      e.setFatal();
      throw e;
    }
 
    TVectorD res = measurementsOnPlane_[i]->getState() - H->Hv(sop->getState());
    double norm = sqrt(res.Norm2Sqr());
    if (norm < normMin) {
      normMin = norm;
      iMin = i;
    }
  }
 
  return getMeasurementOnPlane(iMin);
}

◆ getFittedState()

const MeasuredStateOnPlane & genfit::KalmanFitterInfo::getFittedState ( bool biased = true ) const

virtual

Get unbiased or biased (default) smoothed state.

Implements genfit::AbsFitterInfo.

Definition at line 178 of file KalmanFitterInfo.cc.

                                                                              {
  if (biased) {
    if (fittedStateBiased_.get() != NULL)
      return *fittedStateBiased_;
 
    if (this->getTrackPoint()->getTrack()->getPointWithMeasurementAndFitterInfo(-1, this->getRep())
         == this->getTrackPoint()) {// last measurement
      if(forwardUpdate_.get() == NULL) {
        Exception e("KalmanFitterInfo::getFittedState: Needed updates/redictions not available in this FitterInfo.", __LINE__,__FILE__);
        e.setFatal();
        throw e;
      }
      #ifdef DEBUG
      std::cout << "KalmanFitterInfo::getFittedState - biased at last measurement = forwardUpdate_ \n";
      #endif
      return *forwardUpdate_;
    }
    else if (this->getTrackPoint()->getTrack()->getPointWithMeasurementAndFitterInfo(0, this->getRep())
        == this->getTrackPoint()) { // first measurement
      if(backwardUpdate_.get() == NULL) {
        Exception e("KalmanFitterInfo::getFittedState: Needed updates/redictions not available in this FitterInfo.", __LINE__,__FILE__);
        e.setFatal();
        throw e;
      }
      #ifdef DEBUG
      std::cout << "KalmanFitterInfo::getFittedState - biased at first measurement = backwardUpdate_ \n";
      backwardUpdate_->Print();
      #endif
      return *backwardUpdate_;
    }
 
    if(forwardUpdate_.get() == NULL || backwardPrediction_.get() == NULL) {
      Exception e("KalmanFitterInfo::getFittedState: Needed updates/redictions not available in this FitterInfo.", __LINE__,__FILE__);
      e.setFatal();
      throw e;
    }
    #ifdef DEBUG
    std::cout << "KalmanFitterInfo::getFittedState - biased = mean(forwardUpdate_, backwardPrediction_) \n";
    #endif
    fittedStateBiased_.reset(new MeasuredStateOnPlane(calcAverageState(*forwardUpdate_, *backwardPrediction_)));
    return *fittedStateBiased_;
  }
  else { // unbiased
    if (fittedStateUnbiased_.get() != NULL)
      return *fittedStateUnbiased_;
 
    if (this->getTrackPoint()->getTrack()->getPointWithMeasurementAndFitterInfo(-1, this->getRep())
        == this->getTrackPoint()) { // last measurement
      if(forwardPrediction_.get() == NULL) {
        Exception e("KalmanFitterInfo::getFittedState: Needed updates/redictions not available in this FitterInfo.", __LINE__,__FILE__);
        e.setFatal();
        throw e;
      }
      #ifdef DEBUG
      std::cout << "KalmanFitterInfo::getFittedState - unbiased at last measurement = forwardPrediction_ \n";
      #endif
      return *forwardPrediction_;
    }
    else if (this->getTrackPoint()->getTrack()->getPointWithMeasurementAndFitterInfo(0, this->getRep())
        == this->getTrackPoint()) { // first measurement
      if(backwardPrediction_.get() == NULL) {
        Exception e("KalmanFitterInfo::getFittedState: Needed updates/redictions not available in this FitterInfo.", __LINE__,__FILE__);
        e.setFatal();
        throw e;
      }
      #ifdef DEBUG
      std::cout << "KalmanFitterInfo::getFittedState - unbiased at first measurement = backwardPrediction_ \n";
      #endif
      return *backwardPrediction_;
    }
 
    if(forwardPrediction_.get() == NULL || backwardPrediction_.get() == NULL) {
      Exception e("KalmanFitterInfo::getFittedState: Needed updates/redictions not available in this FitterInfo.", __LINE__,__FILE__);
      e.setFatal();
      throw e;
    }
    #ifdef DEBUG
    std::cout << "KalmanFitterInfo::getFittedState - unbiased = mean(forwardPrediction_, backwardPrediction_) \n";
    #endif
    fittedStateUnbiased_.reset(new MeasuredStateOnPlane(calcAverageState(*forwardPrediction_, *backwardPrediction_)));
    return *fittedStateUnbiased_;
  }
 
}

◆ getForwardPrediction()

MeasuredStateOnPlane * genfit::KalmanFitterInfo::getForwardPrediction ( ) const

inline

Definition at line 57 of file KalmanFitterInfo.h.

57{return forwardPrediction_.get();}

◆ getForwardUpdate()

KalmanFittedStateOnPlane * genfit::KalmanFitterInfo::getForwardUpdate ( ) const

inline

Definition at line 60 of file KalmanFitterInfo.h.

60{return forwardUpdate_.get();}

◆ getMeasurementOnPlane()

MeasurementOnPlane * genfit::KalmanFitterInfo::getMeasurementOnPlane ( int i = 0 ) const

inline

Definition at line 64 of file KalmanFitterInfo.h.

64{if (i<0) i += measurementsOnPlane_.size(); return measurementsOnPlane_.at(i);}

◆ getMeasurementsOnPlane()

const std::vector< genfit::MeasurementOnPlane * > & genfit::KalmanFitterInfo::getMeasurementsOnPlane ( ) const

inline

Definition at line 63 of file KalmanFitterInfo.h.

63{return measurementsOnPlane_;}

◆ getNumMeasurements()

unsigned int genfit::KalmanFitterInfo::getNumMeasurements ( ) const

inline

Definition at line 70 of file KalmanFitterInfo.h.

70{return measurementsOnPlane_.size();}

◆ getPrediction()

MeasuredStateOnPlane * genfit::KalmanFitterInfo::getPrediction ( int direction ) const

inline

Definition at line 59 of file KalmanFitterInfo.h.

59{if (direction >=0) return forwardPrediction_.get(); return backwardPrediction_.get();}

◆ getReferenceState()

ReferenceStateOnPlane * genfit::KalmanFitterInfo::getReferenceState ( ) const

inline

Definition at line 56 of file KalmanFitterInfo.h.

56{return referenceState_.get();}

◆ getResidual()

MeasurementOnPlane genfit::KalmanFitterInfo::getResidual	(	unsigned int	iMeasurement = `0`,
		bool	biased = `false`,
		bool	onlyMeasurementErrors = `true`
	)		const

virtual

Get unbiased (default) or biased residual from ith measurement.

Implements genfit::AbsFitterInfo.

Definition at line 264 of file KalmanFitterInfo.cc.

                                                                                                                         {
 
  const MeasuredStateOnPlane& smoothedState = getFittedState(biased);
  const MeasurementOnPlane* measurement = measurementsOnPlane_.at(iMeasurement);
  const SharedPlanePtr& plane = measurement->getPlane();
 
  // check equality of planes and reps
  if(*(smoothedState.getPlane()) != *plane) {
    Exception e("KalmanFitterInfo::getResidual: smoothedState and measurement are not defined in the same plane.", __LINE__,__FILE__);
    throw e;
  }
  if(smoothedState.getRep() != measurement->getRep()) {
    Exception e("KalmanFitterInfo::getResidual: smoothedState and measurement are not defined wrt the same TrackRep.", __LINE__,__FILE__);
    throw e;
  }
 
  const AbsHMatrix* H = measurement->getHMatrix();
 
  //TODO: shouldn't the definition be (smoothed - measured) ?
  // res = -(H*smoothedState - measuredState)
  TVectorD res(H->Hv(smoothedState.getState()));
  res -= measurement->getState();
  res *= -1;
 
  if (onlyMeasurementErrors) {
    return MeasurementOnPlane(res, measurement->getCov(), plane, smoothedState.getRep(), H->clone(), measurement->getWeight());
  }
 
  TMatrixDSym cov(smoothedState.getCov());
  H->HMHt(cov);
  cov += measurement->getCov();
 
  return MeasurementOnPlane(res, cov, plane, smoothedState.getRep(), H->clone(), measurement->getWeight());
}

◆ getUpdate()

KalmanFittedStateOnPlane * genfit::KalmanFitterInfo::getUpdate ( int direction ) const

inline

Definition at line 62 of file KalmanFitterInfo.h.

62{if (direction >=0) return forwardUpdate_.get(); return backwardUpdate_.get();}

◆ getWeights()

std::vector< double > genfit::KalmanFitterInfo::getWeights ( ) const

Get weights of measurements.

Definition at line 167 of file KalmanFitterInfo.cc.

                                                     {
  std::vector<double> retVal(getNumMeasurements());
 
  for (unsigned int i=0; i<getNumMeasurements(); ++i) {
    retVal[i] = getMeasurementOnPlane(i)->getWeight();
  }
 
  return retVal;
}

◆ hasBackwardPrediction()

bool genfit::KalmanFitterInfo::hasBackwardPrediction ( ) const

inlinevirtual

Implements genfit::AbsFitterInfo.

Definition at line 83 of file KalmanFitterInfo.h.

83{return (backwardPrediction_.get() != NULL);}

◆ hasBackwardUpdate()

bool genfit::KalmanFitterInfo::hasBackwardUpdate ( ) const

inlinevirtual

Implements genfit::AbsFitterInfo.

Definition at line 85 of file KalmanFitterInfo.h.

85{return (backwardUpdate_.get() != NULL);}

◆ hasForwardPrediction()

bool genfit::KalmanFitterInfo::hasForwardPrediction ( ) const

inlinevirtual

Implements genfit::AbsFitterInfo.

Definition at line 82 of file KalmanFitterInfo.h.

82{return (forwardPrediction_.get() != NULL);}

◆ hasForwardUpdate()

bool genfit::KalmanFitterInfo::hasForwardUpdate ( ) const

inlinevirtual

Implements genfit::AbsFitterInfo.

Definition at line 84 of file KalmanFitterInfo.h.

84{return (forwardUpdate_.get() != NULL);}

◆ hasMeasurements()

bool genfit::KalmanFitterInfo::hasMeasurements ( ) const

inlinevirtual

Implements genfit::AbsFitterInfo.

Definition at line 80 of file KalmanFitterInfo.h.

80{return getNumMeasurements() > 0;}

◆ hasPredictionsAndUpdates()

bool genfit::KalmanFitterInfo::hasPredictionsAndUpdates ( ) const

inline

Definition at line 87 of file KalmanFitterInfo.h.

87{return (hasForwardPrediction() && hasBackwardPrediction() && hasForwardUpdate() && hasBackwardUpdate());}

◆ hasReferenceState()

bool genfit::KalmanFitterInfo::hasReferenceState ( ) const

inlinevirtual

Implements genfit::AbsFitterInfo.

Definition at line 81 of file KalmanFitterInfo.h.

81{return (referenceState_.get() != NULL);}

◆ hasUpdate()

bool genfit::KalmanFitterInfo::hasUpdate ( int direction ) const

inlinevirtual

Reimplemented from genfit::AbsFitterInfo.

Definition at line 86 of file KalmanFitterInfo.h.

86{if (direction < 0) return hasBackwardUpdate(); return hasForwardUpdate();}

◆ Print()

void genfit::KalmanFitterInfo::Print ( const Option_t * = "" ) const

virtual

Reimplemented from genfit::AbsFitterInfo.

Definition at line 451 of file KalmanFitterInfo.cc.

                                                  {
  std::cout << "genfit::KalmanFitterInfo. Belongs to TrackPoint " << trackPoint_ << "; TrackRep " <<  rep_  << "\n";
 
  if (fixWeights_)
    std::cout << "Weights are fixed.\n";
 
  for (unsigned int i=0; i<measurementsOnPlane_.size(); ++i) {
    std::cout << "MeasurementOnPlane Nr " << i <<": "; measurementsOnPlane_[i]->Print();
  }
 
  if (referenceState_) {
    std::cout << "Reference state: "; referenceState_->Print();
  }
  if (forwardPrediction_) {
    std::cout << "Forward prediction_: "; forwardPrediction_->Print();
  }
  if (forwardUpdate_) {
    std::cout << "Forward update: "; forwardUpdate_->Print();
  }
  if (backwardPrediction_) {
    std::cout << "Backward prediction_: "; backwardPrediction_->Print();
  }
  if (backwardUpdate_) {
    std::cout << "Backward update: "; backwardUpdate_->Print();
  }
 
}

◆ setBackwardPrediction()

void genfit::KalmanFitterInfo::setBackwardPrediction ( MeasuredStateOnPlane * backwardPrediction )

Definition at line 332 of file KalmanFitterInfo.cc.

                                                                                     {
  backwardPrediction_.reset(backwardPrediction);
  fittedStateUnbiased_.reset();
  fittedStateBiased_.reset();
  if (backwardPrediction_)
    setPlane(backwardPrediction_->getPlane());
}

◆ setBackwardUpdate()

void genfit::KalmanFitterInfo::setBackwardUpdate ( KalmanFittedStateOnPlane * backwardUpdate )

Definition at line 348 of file KalmanFitterInfo.cc.

                                                                                 {
  backwardUpdate_.reset(backwardUpdate);
  fittedStateUnbiased_.reset();
  fittedStateBiased_.reset();
  if (backwardUpdate_)
    setPlane(backwardUpdate_->getPlane());
}

◆ setForwardPrediction()

void genfit::KalmanFitterInfo::setForwardPrediction ( MeasuredStateOnPlane * forwardPrediction )

Definition at line 324 of file KalmanFitterInfo.cc.

                                                                                   {
  forwardPrediction_.reset(forwardPrediction);
  fittedStateUnbiased_.reset();
  fittedStateBiased_.reset();
  if (forwardPrediction_)
    setPlane(forwardPrediction_->getPlane());
}

◆ setForwardUpdate()

void genfit::KalmanFitterInfo::setForwardUpdate ( KalmanFittedStateOnPlane * forwardUpdate )

Definition at line 340 of file KalmanFitterInfo.cc.

                                                                               {
  forwardUpdate_.reset(forwardUpdate);
  fittedStateUnbiased_.reset();
  fittedStateBiased_.reset();
  if (forwardUpdate_)
    setPlane(forwardUpdate_->getPlane());
}

◆ setMeasurementsOnPlane()

void genfit::KalmanFitterInfo::setMeasurementsOnPlane ( const std::vector< genfit::MeasurementOnPlane * > & measurementsOnPlane )

Definition at line 357 of file KalmanFitterInfo.cc.

                                                                                                               {
  deleteMeasurementInfo();
 
  for (std::vector<MeasurementOnPlane*>::const_iterator m = measurementsOnPlane.begin(), mend = measurementsOnPlane.end(); m < mend; ++m) {
    addMeasurementOnPlane(*m);
  }
}

◆ setPrediction()

void genfit::KalmanFitterInfo::setPrediction	(	MeasuredStateOnPlane *	prediction,
		int	direction
	)

inline

Definition at line 92 of file KalmanFitterInfo.h.

92{if (direction >=0) setForwardPrediction(prediction); else setBackwardPrediction(prediction);}

◆ setReferenceState()

void genfit::KalmanFitterInfo::setReferenceState ( ReferenceStateOnPlane * referenceState )

Definition at line 300 of file KalmanFitterInfo.cc.

                                                                              {
  referenceState_.reset(referenceState);
  if (referenceState_)
    setPlane(referenceState_->getPlane());
 
  // if plane has changed, delete outdated info
  /*if (forwardPrediction_ && forwardPrediction_->getPlane() != getPlane())
    setForwardPrediction(0);
 
  if (forwardUpdate_ && forwardUpdate_->getPlane() != getPlane())
    setForwardUpdate(0);
 
  if (backwardPrediction_ && backwardPrediction_->getPlane() != getPlane())
    setBackwardPrediction(0);
 
  if (backwardUpdate_ && backwardUpdate_->getPlane() != getPlane())
    setBackwardUpdate(0);
 
  if (measurementsOnPlane_.size() > 0 && measurementsOnPlane_[0]->getPlane() != getPlane())
    deleteMeasurementInfo();
  */
}

◆ setRep()

void genfit::KalmanFitterInfo::setRep ( const AbsTrackRep * rep )

virtual

Reimplemented from genfit::AbsFitterInfo.

Definition at line 380 of file KalmanFitterInfo.cc.

                                                    {
  rep_ = rep;
 
  if (referenceState_)
    referenceState_->setRep(rep);
 
  if (forwardPrediction_)
    forwardPrediction_->setRep(rep);
 
  if (forwardUpdate_)
    forwardUpdate_->setRep(rep);
 
  if (backwardPrediction_)
    backwardPrediction_->setRep(rep);
 
  if (backwardUpdate_)
    backwardUpdate_->setRep(rep);
 
  for (std::vector<MeasurementOnPlane*>::iterator it = measurementsOnPlane_.begin(); it != measurementsOnPlane_.end(); ++it) {
    (*it)->setRep(rep);
  }
}

◆ setUpdate()

void genfit::KalmanFitterInfo::setUpdate	(	KalmanFittedStateOnPlane *	update,
		int	direction
	)

inline

Definition at line 95 of file KalmanFitterInfo.h.

95{if (direction >=0) setForwardUpdate(update); else setBackwardUpdate(update);}

◆ setWeights()

void genfit::KalmanFitterInfo::setWeights ( const std::vector< double > & weights )

Set weights of measurements.

Definition at line 404 of file KalmanFitterInfo.cc.

                                                                  {
 
  if (weights.size() != getNumMeasurements()) {
    Exception e("KalmanFitterInfo::setWeights: weights do not have the same size as measurementsOnPlane", __LINE__,__FILE__);
    throw e;
  }
 
  if (fixWeights_) {
    std::cerr << "KalmanFitterInfo::setWeights - WARNING: setting weights even though weights are fixed!" << std::endl;
  }
 
  for (unsigned int i=0; i<getNumMeasurements(); ++i) {
    getMeasurementOnPlane(i)->setWeight(weights[i]);
  }
}

Member Data Documentation

◆ backwardPrediction_

boost::scoped_ptr<MeasuredStateOnPlane> genfit::KalmanFitterInfo::backwardPrediction_

private

Definition at line 122 of file KalmanFitterInfo.h.

◆ backwardUpdate_

boost::scoped_ptr<KalmanFittedStateOnPlane> genfit::KalmanFitterInfo::backwardUpdate_

private

Definition at line 123 of file KalmanFitterInfo.h.

◆ fittedStateBiased_

boost::scoped_ptr<MeasuredStateOnPlane> genfit::KalmanFitterInfo::fittedStateBiased_

mutableprivate

cache

Definition at line 125 of file KalmanFitterInfo.h.

◆ fittedStateUnbiased_

boost::scoped_ptr<MeasuredStateOnPlane> genfit::KalmanFitterInfo::fittedStateUnbiased_

mutableprivate

Definition at line 124 of file KalmanFitterInfo.h.

◆ fixWeights_

bool genfit::KalmanFitterInfo::fixWeights_

private

Definition at line 151 of file KalmanFitterInfo.h.

◆ forwardPrediction_

boost::scoped_ptr<MeasuredStateOnPlane> genfit::KalmanFitterInfo::forwardPrediction_

private

Definition at line 120 of file KalmanFitterInfo.h.

◆ forwardUpdate_

boost::scoped_ptr<KalmanFittedStateOnPlane> genfit::KalmanFitterInfo::forwardUpdate_

private

Definition at line 121 of file KalmanFitterInfo.h.

◆ measurementsOnPlane_

std::vector<MeasurementOnPlane*> genfit::KalmanFitterInfo::measurementsOnPlane_

private

cache

Definition at line 150 of file KalmanFitterInfo.h.

◆ referenceState_

boost::scoped_ptr<ReferenceStateOnPlane> genfit::KalmanFitterInfo::referenceState_

private

Reference state. Used by KalmanFitterRefTrack.

Definition at line 119 of file KalmanFitterInfo.h.

The documentation for this class was generated from the following files:

genfit/fitters/include/KalmanFitterInfo.h
genfit/fitters/src/KalmanFitterInfo.cc

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ KalmanFitterInfo() [1/2]

◆ KalmanFitterInfo() [2/2]

◆ ~KalmanFitterInfo()

Member Function Documentation

◆ addMeasurementOnPlane()

◆ addMeasurementsOnPlane()

◆ areWeightsFixed()

◆ checkConsistency()

◆ clone()

◆ deleteBackwardInfo()

◆ deleteForwardInfo()

◆ deleteMeasurementInfo()

◆ deletePredictions()

◆ deleteReferenceInfo()

◆ fixWeights()

◆ getAvgWeightedMeasurementOnPlane()

◆ getBackwardPrediction()

◆ getBackwardUpdate()

◆ getClosestMeasurementOnPlane()

◆ getFittedState()

◆ getForwardPrediction()

◆ getForwardUpdate()

◆ getMeasurementOnPlane()

◆ getMeasurementsOnPlane()

◆ getNumMeasurements()

◆ getPrediction()

◆ getReferenceState()

◆ getResidual()

◆ getUpdate()

◆ getWeights()

◆ hasBackwardPrediction()

◆ hasBackwardUpdate()

◆ hasForwardPrediction()

◆ hasForwardUpdate()

◆ hasMeasurements()

◆ hasPredictionsAndUpdates()

◆ hasReferenceState()

◆ hasUpdate()

◆ Print()

◆ setBackwardPrediction()

◆ setBackwardUpdate()

◆ setForwardPrediction()

◆ setForwardUpdate()

◆ setMeasurementsOnPlane()

◆ setPrediction()

◆ setReferenceState()

◆ setRep()

◆ setUpdate()

◆ setWeights()

Member Data Documentation

◆ backwardPrediction_

◆ backwardUpdate_

◆ fittedStateBiased_

◆ fittedStateUnbiased_

◆ fixWeights_

◆ forwardPrediction_

◆ forwardUpdate_

◆ measurementsOnPlane_

◆ referenceState_