TrackKalmanFilter Class Reference

#include <TrackKalmanFilter.h>

Inheritance diagram for TrackKalmanFilter:

List of all members.

Public Member Functions
	TrackKalmanFilter (const std::string &type, const std::string &name, const IInterface *parent)
	Standard constructor.
virtual	~TrackKalmanFilter ()
	Destructor.
StatusCode	initialize ()
StatusCode	fit (Track &track)
	fit the track (filter and smoother)
StatusCode	fit (Track &track, const State &seed)
	fit the track (filter and smoother)
StatusCode	filter (Track &track, const State &seed)
	filter the track (only filter)
StatusCode	filter (State &state, Measurement &meas)
	filter/update state with this measurement
Protected Member Functions
StatusCode	iniKalman (Track &track)
	initialize the filter to fit/filter his track
StatusCode	predict (FitNode &node, State &state)
	Predict the state to this node.
StatusCode	filter (FitNode &node)
	filter this node
StatusCode	smoother (Track &track)
	smooth the track
StatusCode	smooth (FitNode &node0, const FitNode &node1)
	smooth 2 nodes
void	computeChiSq (Track &track)
	compute the chi2
StatusCode	checkInvertMatrix (const HepSymMatrix &mat)
StatusCode	checkPositiveMatrix (HepSymMatrix &mat)
StatusCode	invertMatrix (HepSymMatrix &mat)
StatusCode	cToG3 (HepSymMatrix &C)
	change of units to facilitate inversion
StatusCode	cToG4 (HepSymMatrix &invC)
	change of units to facilitate inversion
Protected Attributes
State *	m_state
	internal clone of the state (pointer onwer by Kalman)
std::vector< FitNode * >	m_nodes
HepVector	m_K
ITrackExtrapolator *	m_extrapolator
	extrapolator
ITrackProjector *	m_projector
	projector
Private Member Functions
StatusCode	failure (const std::string &comment)
	print comment of failure
Private Attributes
std::string	m_extrapolatorName
	name of the extrapolator in Gaudi
std::string	m_projectorName
	name of the projector in Gaudi
std::vector< double >	m_zPositions
	z-positions at which to determine the states
bool	m_statesAtMeasZPos
	store states at measurement-positions?
bool	m_stateAtBeamLine
	add state closest to the beam-line?
int	m_numFitIter
	number of fit iterations to perform
double	m_chi2Outliers
	chi2 of outliers to be removed
double	m_storeTransport
	store the transport of the extrapolator
bool	m_debugLevel

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Detailed Description

Author:

Jose Angel Hernando Morata

Date:

2005-04-15 reusing the previous code

Author:

Rutger van der Eijk 07-04-1999

Mattiew Needham

Definition at line 29 of file TrackKalmanFilter.h.

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Constructor & Destructor Documentation

TrackKalmanFilter::TrackKalmanFilter (  const std::string &  type, const std::string &  name, const IInterface *  parent )

Standard constructor. Definition at line 30 of file TrackKalmanFilter.cpp. References m_chi2Outliers, m_extrapolatorName, m_K, m_nodes, m_numFitIter, m_projectorName, m_state, m_stateAtBeamLine, m_statesAtMeasZPos, m_storeTransport, and m_zPositions. : GaudiTool( type, name, parent) { declareInterface<ITrackFitter>( this ); // Define the fixed z-positions m_zPositions.push_back( 990.0*mm ); m_zPositions.push_back( 2165.0*mm ); m_zPositions.push_back( 9450.0*mm ); m_zPositions.push_back( 11900.0*mm ); declareProperty( "Extrapolator" , m_extrapolatorName = "TrackFirstCleverExtrapolator" ); declareProperty( "Projector" , m_projectorName = "TrackMasterProjector" ); declareProperty( "ZPositions" , m_zPositions ); declareProperty( "StatesAtMeasZPos" , m_statesAtMeasZPos = false ); declareProperty( "StateAtBeamLine" , m_stateAtBeamLine = true ); declareProperty( "NumberFitIter" , m_numFitIter = 5 ); declareProperty( "Chi2Outliers" , m_chi2Outliers = 9.0 ); declareProperty( "StoreTransport" , m_storeTransport = true ); m_state = NULL; m_nodes.clear(); m_K = HepVector(5,0); }

TrackKalmanFilter::~TrackKalmanFilter (   )  [virtual]

Destructor. Definition at line 60 of file TrackKalmanFilter.cpp. { }

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Member Function Documentation

StatusCode TrackKalmanFilter::checkInvertMatrix (  const HepSymMatrix &  mat  )  [protected]

Definition at line 472 of file TrackKalmanFilter.cpp. Referenced by smooth(). { int nParam = (int) mat.num_row(); for (int i=0; i<nParam; ++i){ for (int j=0; j<nParam; ++j){ if (mat[i][j] > 1e20) return Warning( "Covariance errors too big to invert!"); } // j } // i return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::checkPositiveMatrix (  HepSymMatrix &  mat  )  [protected]

Definition at line 487 of file TrackKalmanFilter.cpp. Referenced by smooth(). { int nParam = (int) mat.num_row(); for (int i=0; i<nParam; ++i){ if (mat[i][i] <= 0.) return Warning( "Covariance matrix has non-positive elements!" ); } return StatusCode::SUCCESS; }

void TrackKalmanFilter::computeChiSq (  Track &  track  )  [protected]

compute the chi2 Definition at line 444 of file TrackKalmanFilter.cpp. References Node::chi2(), m_debugLevel, m_nodes, m_state, and State::nParameters(). Referenced by filter(), and smoother(). { double chi2 = 0.; for (std::vector<FitNode*>::iterator it = m_nodes.begin(); it != m_nodes.end(); it++) chi2 += (*it)->chi2(); int ndof = -(m_state->nParameters()); ndof += m_nodes.size(); debug() << "NDoF = " << m_nodes.size() << "-" << m_state->nParameters() << " = " << ndof << endreq; double chi2Norma = 0.; if (ndof != 0) chi2Norma = chi2 /((double) (ndof)); track.setChi2PerDoF(chi2Norma); track.setNDoF(ndof); if ( m_debugLevel ) { debug() << " track ndof \t" << track.nDoF() << endreq << " track chi2, chi2/ndof \t " << track.chi2() << ", " << track.chi2PerDoF() << endreq; } }

StatusCode TrackKalmanFilter::cToG3 (  HepSymMatrix &  C  )  [protected]

change of units to facilitate inversion Definition at line 534 of file TrackKalmanFilter.cpp. Referenced by invertMatrix(). { // cov matrix C[0][0] /= cm2; C[0][1] /= cm2; C[0][2] /= cm; C[0][3] /= cm; C[0][4] = C[0][4]*GeV/cm; C[1][1] /= cm2; C[1][2] /= cm; C[1][3] /= cm; C[1][4] = C[1][4]*GeV/cm; C[2][4] = C[2][4]*GeV; C[3][4] = C[3][4]*GeV; C[4][4] = C[4][4]*GeV*GeV; return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::cToG4 (  HepSymMatrix &  invC  )  [protected]

change of units to facilitate inversion Definition at line 561 of file TrackKalmanFilter.cpp. Referenced by invertMatrix(). { // cov matrix invC[0][0] /= cm2; invC[0][1] /= cm2; invC[0][2] /= cm; invC[0][3] /= cm; invC[0][4] = invC[0][4]*GeV/cm; invC[1][1] /= cm2; invC[1][2] /= cm; invC[1][3] /= cm; invC[1][4] = invC[1][4]*GeV/cm; invC[2][4] = invC[2][4]*GeV; invC[3][4] = invC[3][4]*GeV; invC[4][4] = invC[4][4]*GeV*GeV; return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::failure (  const std::string &  comment  )  [private]

print comment of failure Definition at line 80 of file TrackKalmanFilter.cpp. Referenced by filter(), fit(), predict(), smooth(), and smoother(). { info() << "TrackKalmanFilter failure: " << comment << endreq; return StatusCode::FAILURE; }

StatusCode TrackKalmanFilter::filter (  FitNode &  node  )  [protected]

filter this node Definition at line 226 of file TrackKalmanFilter.cpp. References Measurement::errMeasure(), ITrackProjector::errResidual(), failure(), filter(), m_debugLevel, m_K, m_projector, ITrackProjector::projectionMatrix(), ITrackProjector::residual(), Measurement::z(), and State::z(). { Measurement& meas = node.measurement(); State& state = node.state(); debug() << "z-position of State = " << state.z() << endreq; debug() << "z-position of Meas = " << meas.z() << endreq; debug() << "-> calling filter(state,meas) ..." << endreq; StatusCode sc = filter(state, meas); if (sc.isFailure()) return failure("Unable to filter the node!"); debug() << "z-position of State = " << state.z() << endreq; debug() << "z-position of Meas = " << meas.z() << endreq; double tMeasureError = meas.errMeasure(); debug() << "getting info from projection ..." << endreq; double res = m_projector->residual(); // projection just made in filter(,) const HepVector& H = m_projector->projectionMatrix(); // save it for later use node.setProjectionMatrix( H ); double HK = dot ( H, m_K); res *= (1 - HK); double errorRes = (1 - HK) * (tMeasureError*tMeasureError); debug() << "res/errRes = " << res << " / " << errorRes << endreq; debug() << "setting info in node ..." << endreq; node.setResidual(res); node.setErrResidual(sqrt(errorRes)); // save predicted state debug() << "setting filteredState" << endreq; node.setFilteredState(state); debug() << "just set filteredState" << endreq; if ( m_debugLevel ) { debug() << " bef print" << endreq; debug() << " filtered residual and error \t" << node.residual() << ", " <<node.errResidual() << endreq;; debug() << " aft print" << endreq; } return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::filter (  State &  state, Measurement &  meas )  [virtual]

filter/update state with this measurement Implements ITrackFitter. Definition at line 279 of file TrackKalmanFilter.cpp. References ITrackProjector::errResidual(), failure(), m_debugLevel, m_K, m_projector, ITrackProjector::project(), ITrackProjector::projectionMatrix(), and ITrackProjector::residual(). { debug() << "In filter(state,meas)" << endreq; debug() << "z-position of State = " << state.z() << endreq; debug() << "z-position of Meas = " << meas.z() << endreq; // check z position if ( fabs(meas.z() - state.z()) > 1e-6) { warning() << "z-position of State (=" << state.z() << ") and Measurement (= " << meas.z() << ") are not equal." << endreq; } // get reference to the state vector and cov HepVector& tX = state.stateVector(); HepSymMatrix& tC = state.covariance(); debug() << "filter(state,meas): projecting ..." << endreq; // project the state into the measurement StatusCode sc = m_projector->project(state,meas); if (sc.isFailure()) return failure(" Not able to project a state into a measurement"); debug() << "filter(state,meas): projection done" << endreq; // calculate predicted residuals double errorMeas = meas.errMeasure(); double res = m_projector->residual(); double errorRes = m_projector->errResidual(); double errorRes2 = (errorRes*errorRes); const HepVector& H = m_projector->projectionMatrix(); // calculate gain matrix K m_K = (tC * H)/errorRes2; // update state vector tX += m_K * res; HepMatrix B = HepDiagMatrix(tC.num_row(), 1) - ( m_K * H.T()); tC.assign( B * tC * B.T() + ( m_K * pow(errorMeas, 2.0) * m_K.T())); if ( m_debugLevel ) { debug() << " measure and error \t" << meas.measure() << ", " << errorMeas << endreq << " residual and error \t" << res << ", " << errorRes << endreq << " projection matrix \t" << H << endreq << " gain matrix \t" << m_K << endreq << " filter state vector \t" << tX << endreq << " filter state covariance \t"<< tC << endreq; } return sc; }

StatusCode TrackKalmanFilter::filter (  Track &  track, const State &  seed )  [virtual]

filter the track (only filter) Implements ITrackFitter. Definition at line 142 of file TrackKalmanFilter.cpp. References State::clone(), computeChiSq(), State::covariance(), failure(), iniKalman(), m_debugLevel, m_extrapolator, m_nodes, m_state, predict(), ITrackExtrapolator::propagate(), State::stateVector(), and State::z(). Referenced by filter(), and fit(). { StatusCode sc = StatusCode::SUCCESS; sc = iniKalman(track); if (sc.isFailure()) return failure(" not able to create Nodes"); m_state = state.clone(); if ( m_debugLevel ) { debug() << " seed state at z \t " << m_state->z() << endreq << " seed state vector \t" << m_state->stateVector() << endreq << " seed state cov \t" << m_state->covariance() << endreq << " track nodes size \t" << m_nodes.size() << endreq; } std::vector<FitNode*>::iterator iNode = m_nodes.begin(); double z = (*iNode)->measurement().z(); debug() << "Z-positions of seed state/meas.begin = " << state.z() << " / " << z << endreq; debug() << "- propagating the state ..." << endreq; // sc = m_extrapolator->propagate(*m_state,z,m_particleID); sc = m_extrapolator->propagate(*m_state,z); if (sc.isFailure()) return failure(" unable to extrapolate to 1st measurement"); // TODO: handle different iterations unsigned int nNodes = 0; debug() << "- looping over nodes ..." << endreq; for (iNode = m_nodes.begin(); iNode != m_nodes.end(); ++iNode) { FitNode& node = *(*iNode); debug() << "-> predict(...) for node # " << nNodes << endreq; sc = predict(node,*m_state); if (sc.isFailure()) return failure(" unable to predict at node"); debug() << "-> filter(...) for node # " << nNodes++ << endreq; sc = filter(node); if (sc.isFailure()) return failure(" unable to filter node "); } computeChiSq(track); return sc; }

StatusCode TrackKalmanFilter::fit (  Track &  track, const State &  seed )  [virtual]

fit the track (filter and smoother) Implements ITrackFitter. Definition at line 126 of file TrackKalmanFilter.cpp. References failure(), filter(), and smoother(). { debug() << "-> calling filter(track,state) ..." << endreq; StatusCode sc = filter(track,state); if (sc.isFailure()) return failure(" unable to filter the track"); debug() << "-> calling smoother(track) ..." << endreq; sc = smoother(track); if (sc.isFailure()) return failure(" unable to smooth the track"); return sc; }

StatusCode TrackKalmanFilter::fit (  Track &  track  )  [inline, virtual]

fit the track (filter and smoother) Implements ITrackFitter. Definition at line 42 of file TrackKalmanFilter.h. { //track.setHistoryFit( TrackKeys::Kalman ); info() << " not implemented yet!" << track.nMeasurements() << endreq; return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::iniKalman (  Track &  track  )  [protected]

initialize the filter to fit/filter his track Definition at line 88 of file TrackKalmanFilter.cpp. References m_debugLevel, m_nodes, and m_state. Referenced by filter(). { // destroy the previous state if not null if (m_state != NULL) { delete m_state; m_state = 0; } // Kalman has private copy of the nodes to acelerate the computations // remember that the track owns the Nodes, so it is responsability of the // Track destructor to delete them! m_nodes.clear(); debug() << "- iniKalman: getting track measurements ..." << endreq; std::vector<Measurement*>& measures = track.measurements(); debug() << "- iniKalman: getting track nodes ..." << endreq; std::vector<Node*>& nodes = track.nodes(); if (nodes.size() > 0) for (std::vector<Node*>::iterator it = nodes.begin(); it != nodes.end(); it++) delete *it; nodes.clear(); debug() << "- iniKalman: private nodes vector cleared ..." << endreq; // reserve some space in node vector m_nodes.reserve(measures.size()); for (std::vector<Measurement*>::iterator it = measures.begin(); it != measures.end(); it++) { Measurement& meas = *(*it); FitNode* node = new FitNode(meas); m_nodes.push_back(node); track.addToNodes(node); } debug() << "- iniKalman: private nodes vector rebuilt ..." << endreq; if ( m_debugLevel ) debug() << " track nodes size \t" << m_nodes.size() << endreq; return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::initialize (   )

Definition at line 66 of file TrackKalmanFilter.cpp. References m_debugLevel, m_extrapolator, m_extrapolatorName, m_projector, and m_projectorName. { m_extrapolator = tool<ITrackExtrapolator>(m_extrapolatorName); m_projector = tool<ITrackProjector>(m_projectorName); m_debugLevel = msgLevel( MSG::DEBUG ); return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::invertMatrix (  HepSymMatrix &  mat  )  [protected]

Definition at line 508 of file TrackKalmanFilter.cpp. References cToG3(), and cToG4(). Referenced by smooth(). { StatusCode sc = StatusCode::SUCCESS; // G3 units cToG3(invPrevNodeC); HepSymMatrix tempMatrix = invPrevNodeC; int ifail; invPrevNodeC.invert(ifail); //G4 units cToG4(invPrevNodeC); if (ifail !=0){ warning() <<"failed to invert covariance matrix, failure code " <<ifail<<endreq; sc = StatusCode::FAILURE; } return sc; }

StatusCode TrackKalmanFilter::predict (  FitNode &  node, State &  state )  [protected]

Predict the state to this node. Definition at line 190 of file TrackKalmanFilter.cpp. References failure(), m_debugLevel, m_extrapolator, ITrackExtrapolator::propagate(), ITrackExtrapolator::transportMatrix(), and Measurement::z(). Referenced by filter(). { Measurement& thisMeasure = aNode.measurement(); // only use extrapolator in first iteration; else use stored parameters HepVector prevStateVec = aState.stateVector(); HepSymMatrix prevStateCov = aState.covariance(); double z = thisMeasure.z(); // StatusCode sc = m_extrapolator->propagate(state,z,m_particleID); StatusCode sc = m_extrapolator->propagate(aState,z); if (sc.isFailure()) return failure(" Unable to predit state at next measurement"); const HepMatrix& F = m_extrapolator->transportMatrix(); aNode.setTransportMatrix( F ); aNode.setTransportVector( aState.stateVector() - F * prevStateVec ); aNode.setNoiseMatrix( aState.covariance() - prevStateCov.similarity(F) ); // save predicted state aNode.setPredictedState(aState); if ( m_debugLevel ) { debug() << " predicted state at z \t" << z << endreq; debug() << " predicted state vector \t" << aState.stateVector() << endreq; debug() << " predicted state cov \t" << aState.covariance() << endreq; debug() << " transport matrix \t" << aNode.transportMatrix() << endreq; debug() << " transport vector \t" << aNode.transportVector() << endreq; debug() << " noise matrix \t" << aNode.noiseMatrix() << endreq; } return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::smooth (  FitNode &  node0, const FitNode &  node1 )  [protected]

smooth 2 nodes Definition at line 338 of file TrackKalmanFilter.cpp. References checkInvertMatrix(), checkPositiveMatrix(), ITrackProjector::chi2(), ITrackProjector::errResidual(), failure(), invertMatrix(), m_debugLevel, m_projector, ITrackProjector::project(), ITrackProjector::projectionMatrix(), and ITrackProjector::residual(). Referenced by smoother(). { debug() << "just entered smooth(node0,node1)" << endreq; // preliminaries, first we need to invert the _predicted_ covariance // matrix at k+1 const HepVector& prevNodeX = prevNode.predictedState().stateVector(); const HepSymMatrix& prevNodeC = prevNode.predictedState().covariance(); debug() << "calling checkInvertMatrix ..." << endreq; // check that the elements are not too large else dsinv will crash StatusCode sc = checkInvertMatrix(prevNodeC); if ( sc.isFailure() ) return failure(" not valid matrix in smoother"); debug() << "inverting matrix ..." << endreq; //invert the covariance matrix HepSymMatrix invPrevNodeC = prevNodeC; sc = invertMatrix(invPrevNodeC); if ( sc.isFailure() ) return failure(" inverting matrix in smoother"); debug() << "matrix inverted ..." << endreq; //references to _predicted_ state + cov of this node from the first step HepVector& thisNodeX = thisNode.state().stateVector(); HepSymMatrix& thisNodeC = thisNode.state().covariance(); //transport const HepMatrix& F = prevNode.transportMatrix(); debug() << "calculation of gain matrix A ..." << endreq; //calculate gain matrix A HepMatrix A = thisNodeC * F.T() * invPrevNodeC; // best = smoothed state at prev Node const HepVector& prevNodeSmoothedX = prevNode.state().stateVector(); const HepSymMatrix& prevNodeSmoothedC = prevNode.state().covariance(); //smooth state thisNodeX += A * (prevNodeSmoothedX - prevNodeX); // smooth covariance matrix HepSymMatrix covDiff = prevNodeSmoothedC- prevNodeC; HepSymMatrix covUpDate = covDiff.similarity(A); thisNodeC += covUpDate; debug() << "calling checkPositiveMatrix ..." << endreq; // check that the cov matrix is positive sc = checkPositiveMatrix(thisNodeC); if (sc.isFailure()) return Warning("non-positive Matrix in smoother"); debug() << "checkPositiveMatrix done" << endreq; // update = smooth the residuals debug() << "dims of H is" << thisNode.projectionMatrix().num_row() << "x" << thisNode.projectionMatrix().num_col() << endreq; const HepVector& H = thisNode.projectionMatrix(); debug() << "projecting ..." << endreq; sc = m_projector->project(thisNode.state(),thisNode.measurement()); if (sc.isFailure()) Warning(" unable to project the smooth node"); double res = m_projector->residual(); thisNode.setResidual(res); double errRes = thisNode.errResidual(); double errRes2 = errRes*errRes - covUpDate.similarity(H); debug() << "errRes2 = " << errRes2 << endreq; if (errRes2 >0.) errRes = sqrt(errRes2); else return Warning( "Negative residual error in smoother!" ); thisNode.setErrResidual(sqrt(errRes)); if ( m_debugLevel ) { debug() << " A matrix \t" << A << endreq << " smooth state vector \t" << thisNodeX << endreq << " smooth state covariance \t"<< thisNodeC << endreq << " smooth residual, error and chi2 \t" << res << ", " << errRes << ", " << thisNode.chi2() << endreq; } return StatusCode::SUCCESS; }

StatusCode TrackKalmanFilter::smoother (  Track &  track  )  [protected]

smooth the track Definition at line 419 of file TrackKalmanFilter.cpp. References computeChiSq(), failure(), m_nodes, and smooth(). Referenced by fit(). { StatusCode sc = StatusCode::SUCCESS; // smoother loop - runs in opposite direction to filter std::vector<FitNode*>::reverse_iterator riNode = m_nodes.rbegin(); FitNode* oldNode = *riNode; ++riNode; debug() << "starting loop over nodes..." << endreq; while (riNode != m_nodes.rend()) { debug() << " call to smooth(node0,node1)..." << endreq; sc = smooth( *(*riNode), *oldNode ); if ( sc.isFailure() ) return failure("Unable to smooth node!"); oldNode = *riNode; ++riNode; } computeChiSq(track); return StatusCode::SUCCESS; }

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Member Data Documentation

double TrackKalmanFilter::m_chi2Outliers [private]

chi2 of outliers to be removed Definition at line 122 of file TrackKalmanFilter.h. Referenced by TrackKalmanFilter().

bool TrackKalmanFilter::m_debugLevel [private]

Definition at line 128 of file TrackKalmanFilter.h. Referenced by computeChiSq(), filter(), iniKalman(), initialize(), predict(), and smooth().

ITrackExtrapolator* TrackKalmanFilter::m_extrapolator [protected]

extrapolator Definition at line 108 of file TrackKalmanFilter.h. Referenced by filter(), initialize(), and predict().

std::string TrackKalmanFilter::m_extrapolatorName [private]

name of the extrapolator in Gaudi Definition at line 116 of file TrackKalmanFilter.h. Referenced by initialize(), and TrackKalmanFilter().

HepVector TrackKalmanFilter::m_K [protected]

Definition at line 103 of file TrackKalmanFilter.h. Referenced by filter(), and TrackKalmanFilter().

std::vector<FitNode*> TrackKalmanFilter::m_nodes [protected]

Definition at line 100 of file TrackKalmanFilter.h. Referenced by computeChiSq(), filter(), iniKalman(), smoother(), and TrackKalmanFilter().

int TrackKalmanFilter::m_numFitIter [private]

number of fit iterations to perform Definition at line 121 of file TrackKalmanFilter.h. Referenced by TrackKalmanFilter().

ITrackProjector* TrackKalmanFilter::m_projector [protected]

projector Definition at line 111 of file TrackKalmanFilter.h. Referenced by filter(), initialize(), and smooth().

std::string TrackKalmanFilter::m_projectorName [private]

name of the projector in Gaudi Definition at line 117 of file TrackKalmanFilter.h. Referenced by initialize(), and TrackKalmanFilter().

State* TrackKalmanFilter::m_state [protected]

internal clone of the state (pointer onwer by Kalman) Definition at line 97 of file TrackKalmanFilter.h. Referenced by computeChiSq(), filter(), iniKalman(), and TrackKalmanFilter().

bool TrackKalmanFilter::m_stateAtBeamLine [private]

add state closest to the beam-line? Definition at line 120 of file TrackKalmanFilter.h. Referenced by TrackKalmanFilter().

bool TrackKalmanFilter::m_statesAtMeasZPos [private]

store states at measurement-positions? Definition at line 119 of file TrackKalmanFilter.h. Referenced by TrackKalmanFilter().

double TrackKalmanFilter::m_storeTransport [private]

store the transport of the extrapolator Definition at line 123 of file TrackKalmanFilter.h. Referenced by TrackKalmanFilter().

std::vector<double> TrackKalmanFilter::m_zPositions [private]

z-positions at which to determine the states Definition at line 118 of file TrackKalmanFilter.h. Referenced by TrackKalmanFilter().

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The documentation for this class was generated from the following files:

• TrackKalmanFilter.h
• TrackKalmanFilter.cpp

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