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