KalmanFilter.h

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/*
KalmanFilter.h

Definition of the light-weighted version of class KalmanFilter, provide only the core function
of the kalman filter, includes:
1. prediction
2. filter
3. smooth

Author: Kun Liu, liuk@fnal.gov
Created: 10-14-2011
*/

#ifndef _KALMANFILTER_H
#define _KALMANFILTER_H

#include <GlobalConsts.h>

#include <phfield/PHField.h>

#include <list>
#include <vector>

#include <geom_svc/GeomSvc.h>
#include "KalmanUtil.h"
#include "GenFitExtrapolator.h"

class KalmanFilter
{
public:
    static KalmanFilter* instance();
    void close();

    KalmanFilter(bool limitedStep = true);
    bool initExtrapolator(const PHField* field, const TGeoManager *geom);

    bool predict(Node& _node);
    bool filter(Node& _node);
    bool smooth(Node& _node, Node& _node_prev);

    void setCurrTrkpar(Node& _node) { _trkpar_curr = _node.getFiltered(); }
    void setCurrTrkpar(TrkPar& _trkpar) { _trkpar_curr = _trkpar; }

    bool fit_node(Node& _node);

    void enableDumpCorrection() { _extrapolator.setPropCalc(true); _extrapolator.setLengthCalc(true); }

private:
    static KalmanFilter *p_kmfit;

    TrkPar _trkpar_curr;

    GenFitExtrapolator _extrapolator;
};

#endif