#include </dev/shm/kenichi/update-github-e1039-doc/e1039-core/packages/reco/kfitter/KalmanFilter.h>
Public Member Functions | |
| void | close () |
| KalmanFilter (bool limitedStep=true) | |
| Real constructor. More... | |
| bool | initExtrapolator (const PHField *field, const TGeoManager *geom) |
| bool | predict (Node &_node) |
| Kalman filter steps. More... | |
| bool | filter (Node &_node) |
| bool | smooth (Node &_node, Node &_node_prev) |
| void | setCurrTrkpar (Node &_node) |
| set the current track parameter using the current node More... | |
| void | setCurrTrkpar (TrkPar &_trkpar) |
| bool | fit_node (Node &_node) |
| Fit one node. More... | |
| void | enableDumpCorrection () |
| Enable the dump mode: stop calc prop matrix, start calc travel length. More... | |
Static Public Member Functions | |
| static KalmanFilter * | instance () |
| singlton instance More... | |
Detailed Description
Definition at line 28 of file KalmanFilter.h.
Constructor & Destructor Documentation
◆ KalmanFilter()
| KalmanFilter::KalmanFilter | ( | bool | limitedStep = true | ) |
Real constructor.
Definition at line 39 of file KalmanFilter.cxx.
Referenced by instance().
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◆ close()
| void KalmanFilter::close | ( | void | ) |
Definition at line 31 of file KalmanFilter.cxx.
◆ enableDumpCorrection()
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inline |
Enable the dump mode: stop calc prop matrix, start calc travel length.
Definition at line 52 of file KalmanFilter.h.
References GenFitExtrapolator::setLengthCalc(), and GenFitExtrapolator::setPropCalc().
Referenced by VertexFit::InitRun(), and SRecTrack::setZVertex().
Here is the call graph for this function: Here is the caller graph for this function:◆ filter()
| bool KalmanFilter::filter | ( | Node & | _node | ) |
Get all the predicted state vector and covariance
Calculate the filtered covariance matrix cov_filter = ( c_pred^{-1} + proj^t*G*proj)^{-1}
Calculate the filtered state vector p_filter = c_filter.(c_pred^{-1}.p_pred + h^t.g.measure) Three equations below are mathematically equal, but EQ.2 appears to be faster
Calculate the filtered residule and associated covariance r_filter = m - h.p_filter r_cov_filter = m_cov - h.c_filter.h^t
Calculate the filtered parameter's contribution to chi square chi2 += chi2m + chi2p chi2m = r_filter^t.g.r_filter (contribution from measurement) chi2p = (p_filter-p_pred)^t.c_pred^{-1}.(p_filter - p_pred) (contribution from extrapolator)
Store the filtered state vector
Definition at line 113 of file KalmanFilter.cxx.
References TrkPar::_covar_kf, TrkPar::_state_kf, TrkPar::_z, SMatrix::getABCt(), SMatrix::getABtC(), SMatrix::getAtBC(), Node::getFiltered(), Node::getMeasurement(), Node::getMeasurementCov(), Node::getPredicted(), Node::getProjector(), SMatrix::invertMatrix(), Node::isFilterDone(), Node::isPredictionDone(), LogInfo, Node::setChisq(), and Node::setFilterDone().
Referenced by KalmanTrack::addHit(), and fit_node().
Here is the call graph for this function: Here is the caller graph for this function:◆ fit_node()
| bool KalmanFilter::fit_node | ( | Node & | _node | ) |
Fit one node.
Definition at line 50 of file KalmanFilter.cxx.
References filter(), and predict().
Referenced by VertexFit::findVertex(), KalmanTrack::getMomentumVertex(), KalmanFitter::processOneTrack(), and SRecTrack::setZVertex().
Here is the call graph for this function: Here is the caller graph for this function:◆ initExtrapolator()
| bool KalmanFilter::initExtrapolator | ( | const PHField * | field, |
| const TGeoManager * | geom | ||
| ) |
Definition at line 45 of file KalmanFilter.cxx.
References GenFitExtrapolator::init().
Referenced by KalmanFitter::KalmanFitter().
Here is the call graph for this function: Here is the caller graph for this function:◆ instance()
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static |
singlton instance
Definition at line 21 of file KalmanFilter.cxx.
References KalmanFilter().
Referenced by KalmanTrack::addHit(), KalmanTrack::getMomentumVertex(), VertexFit::InitRun(), KalmanFitter::KalmanFitter(), KalmanTrack::propagateTo(), and SRecTrack::setZVertex().
Here is the call graph for this function: Here is the caller graph for this function:◆ predict()
| bool KalmanFilter::predict | ( | Node & | _node | ) |
Kalman filter steps.
probably we don't need this (?); Abi
Empty prediction, for debugging purpose
Definition at line 62 of file KalmanFilter.cxx.
References TrkPar::_covar_kf, TrkPar::_state_kf, TrkPar::_z, GenFitExtrapolator::extrapolateTo(), GenFitExtrapolator::getFinalStateWithCov(), Node::getPredicted(), Node::getPropagator(), GenFitExtrapolator::getPropagator(), Node::getZ(), Node::isPredictionDone(), LogInfo, GenFitExtrapolator::setInitialStateWithCov(), and Node::setPredictionDone().
Referenced by fit_node(), and KalmanTrack::propagateTo().
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inline |
set the current track parameter using the current node
Definition at line 45 of file KalmanFilter.h.
References Node::getFiltered().
Referenced by VertexFit::findVertex(), KalmanTrack::getMomentumVertex(), KalmanFitter::processOneTrack(), KalmanTrack::propagateTo(), KalmanFitter::setStartingParameter(), and SRecTrack::setZVertex().
Here is the call graph for this function: Here is the caller graph for this function:◆ setCurrTrkpar() [2/2]
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inline |
Definition at line 46 of file KalmanFilter.h.
◆ smooth()
Retrieve related info
Calculate smoothed state vector p_smooth = p_filter + a.(p_prev_smooth - p_prev_pred) a = c_filter.prop_prev^t.c_prev_pred^{-1}
Calculate the covariance of the smoothed state vector c_smooth = c_filter + a.(c_smooth_prev - c_pred_prev).a^t
Fill the smoothed track parameter
Definition at line 187 of file KalmanFilter.cxx.
References TrkPar::_covar_kf, TrkPar::_state_kf, TrkPar::_z, SMatrix::getABCt(), SMatrix::getABtCinv(), Node::getFiltered(), Node::getPredicted(), Node::getPropagator(), Node::getSmoothed(), Node::isFilterDone(), Node::isSmoothDone(), LogInfo, and Node::setSmoothDone().
Referenced by KalmanFitter::processOneTrack().
Here is the call graph for this function: Here is the caller graph for this function:The documentation for this class was generated from the following files:
- /dev/shm/kenichi/update-github-e1039-doc/e1039-core/packages/reco/kfitter/KalmanFilter.h
- /dev/shm/kenichi/update-github-e1039-doc/e1039-core/packages/reco/kfitter/KalmanFilter.cxx
