KalmanFilter.h

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// $Id: KalmanFilter.h,v 1.3 2005/05/25 09:29:22 hernando Exp $
#ifndef KALMANFILTER_H 
#define KALMANFILTER_H 1

// Include files
// from Gaudi
#include "GaudiAlg/GaudiTool.h"
#include "Event/Track.h"
#include "Event/FitNode.h"

#include "TrackInterfaces/ITrackExtrapolator.h"            
#include "TrackInterfaces/ITrackProjector.h"
#include "TrackInterfaces/ITrackFitter.h"

class KalmanFilter : public GaudiTool, public ITrackFitter {
public: 
  KalmanFilter( const std::string& type, 
                const std::string& name,
                const IInterface* parent);

  virtual ~KalmanFilter( );

  StatusCode initialize();
  
  StatusCode fit(Track& track){
    info() << " not implemented yet!" << track.nMeasurements() << endreq;
    return StatusCode::SUCCESS;
  }

  StatusCode fit(Track& track, const State& seed);
  
  StatusCode filter(Track& track, const State& seed);
  
  StatusCode filter(State& state, Measurement& meas);
  
protected:

  StatusCode iniKalman(Track& track);
  
  StatusCode predict(FitNode& node, State& state);
  
  StatusCode filter(FitNode& node);
  
  StatusCode smoother(Track& track);
  
  StatusCode smooth(FitNode& node0, FitNode& node1);
  
  void computeChiSq(Track& track);
  
protected:
  
  StatusCode failure(const std::string& comment);
  
  // ! check that the contents of the cov matrix are fine
  StatusCode checkInvertMatrix(HepSymMatrix& mat);

  // ! check that the contents of the cov matrix are fine
  StatusCode checkPositiveMatrix(HepSymMatrix& mat);

  // ! invert this matrix
  StatusCode invertMatrix(HepSymMatrix& mat);
  
  StatusCode cToG3(HepSymMatrix& C);
  
  StatusCode cToG4(HepSymMatrix& invC);

protected:

  State* m_state;

  // internal copy of the nodes of the track (track owns them)
  std::vector<FitNode*> m_nodes;

  // internal copy of the gain matrix in the filter of a state
  HepVector m_K;

protected:

  ITrackExtrapolator* m_extrapolator;

  ITrackProjector* m_projector;

  std::string m_extrapolatorName;

  std::string m_projectorName;

  };
#endif // KALMANFILTER_H

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