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Methods for Kalman filter linearized wrt reference track #14862

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Methods for Kalman filter linearized wrt reference track #14862

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1 change: 1 addition & 0 deletions DataFormats/Reconstruction/include/ReconstructionDataFormats/TrackParametrization.h
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Expand Up @@ -229,6 +229,7 @@ class TrackParametrization
// parameters manipulation
GPUd() bool correctForELoss(value_t xrho, bool anglecorr = false);
GPUd() bool rotateParam(value_t alpha);
GPUd() bool rotateParamCS(value_t& alpha, value_t& ca, value_t& sa);
GPUd() bool propagateParamTo(value_t xk, value_t b);
GPUd() bool propagateParamTo(value_t xk, const dim3_t& b);
GPUd() void invertParam();
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8 changes: 5 additions & 3 deletions DataFormats/Reconstruction/include/ReconstructionDataFormats/TrackParametrizationWithError.h
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Expand Up @@ -89,9 +89,11 @@ class TrackParametrizationWithError : public TrackParametrization<value_T>
// parameters + covmat manipulation
GPUd() bool testRotate(value_t alpha) const;
GPUd() bool rotate(value_t alpha);
GPUd() bool propagateTo(value_t xk, value_t b);
GPUd() bool rotateWithRef(value_t alpha, TrackParametrization<value_T>& linRef, value_t bz);
GPUd() bool propagateTo(value_t xk, value_t bz);
GPUd() bool propagateToWithRef(value_t xk, TrackParametrization<value_T>& linRef0, value_t bz);
GPUd() bool propagateTo(value_t xk, const dim3_t& b);
GPUd() bool propagateToDCA(const o2::dataformats::VertexBase& vtx, value_t b, o2::dataformats::DCA* dca = nullptr, value_t maxD = 999.f);
GPUd() bool propagateToDCA(const o2::dataformats::VertexBase& vtx, value_t bz, o2::dataformats::DCA* dca = nullptr, value_t maxD = 999.f);
GPUd() void invert();
GPUd() value_t getPredictedChi2(const dim2_t& p, const dim3_t& cov) const;
GPUd() value_t getPredictedChi2Quiet(const dim2_t& p, const dim3_t& cov) const;
Expand All @@ -118,7 +120,7 @@ class TrackParametrizationWithError : public TrackParametrization<value_T>
GPUd() bool update(const BaseCluster<T>& p);

GPUd() bool correctForMaterial(value_t x2x0, value_t xrho, bool anglecorr = false);

GPUd() bool correctForMaterial(TrackParametrization<value_T>& linRef, value_t x2x0, value_t xrho, bool anglecorr = false);
GPUd() void resetCovariance(value_t s2 = 0);
GPUd() void checkCovariance();
GPUd() void checkCorrelations();
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32 changes: 32 additions & 0 deletions DataFormats/Reconstruction/src/TrackParametrization.cxx
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Expand Up @@ -188,6 +188,38 @@ GPUd() bool TrackParametrization<value_T>::rotateParam(value_t alpha)
return true;
}

//______________________________________________________________
template <typename value_T>
GPUd() bool TrackParametrization<value_T>::rotateParamCS(value_t& alpha, value_t& ca, value_t& sa)
{
// rotate to alpha frame
if (gpu::CAMath::Abs(getSnp()) > constants::math::Almost1) {
LOGP(debug, "Precondition is not satisfied: |sin(phi)|>1 ! {:f}", getSnp());
return false;
}
//
math_utils::detail::bringToPMPi<value_t>(alpha);
math_utils::detail::sincos(alpha - getAlpha(), sa, ca);
value_t snp = getSnp(), csp = gpu::CAMath::Sqrt((1.f - snp) * (1.f + snp)); // Improve precision
// RS: check if rotation does no invalidate track model (cos(local_phi)>=0, i.e. particle direction in local frame is along the X axis
if ((csp * ca + snp * sa) < 0) {
// LOGF(warning,"Rotation failed: local cos(phi) would become {:.2f}", csp * ca + snp * sa);
return false;
}
//
value_t tmp = snp * ca - csp * sa;
if (gpu::CAMath::Abs(tmp) > constants::math::Almost1) {
LOGP(debug, "Rotation failed: new snp {:.2f}", tmp);
return false;
}
value_t xold = getX(), yold = getY();
mAlpha = alpha;
mX = xold * ca + yold * sa;
mP[kY] = -xold * sa + yold * ca;
mP[kSnp] = tmp;
return true;
}

//____________________________________________________________
template <typename value_T>
GPUd() bool TrackParametrization<value_T>::propagateParamTo(value_t xk, const dim3_t& b)
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