cpu/utils/curvilinear_frame.cpp

0001 // This file is part of the ACTS project.
0002 //
0003 // Copyright (C) 2016 CERN for the benefit of the ACTS project
0004 //
0005 // This Source Code Form is subject to the terms of the Mozilla Public
0006 // License, v. 2.0. If a copy of the MPL was not distributed with this
0007 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
0008
0009 // Project include(s)
0010 #include "detray/utils/curvilinear_frame.hpp"
0011
0012 // Detray test include(s)
0013 #include "detray/test/framework/types.hpp"
0014
0015 // Google Test include(s)
0016 #include <gtest/gtest.h>
0017
0018 using namespace detray;
0019
0020 using test_algebra = test::algebra;
0021 using transform3 = test::transform3;
0022 using vector3 = typename transform3::vector3;
0023 using point3 = test::point3;
0024 using scalar = test::scalar;
0025
0026 GTEST_TEST(detray_utils, curvilinear_frame) {
0027   constexpr const scalar tolerance = 1e-5f;
0028
0029   point3 pos = {4.f, 10.f, 2.f};
0030   scalar time = 0.1f;
0031   vector3 mom = {10.f, 20.f, 30.f};
0032   constexpr scalar charge = -1.f;
0033
0034   free_track_parameters<test_algebra> free_params(pos, time, mom, charge);
0035
0036   curvilinear_frame<test_algebra> cf(free_params);
0037
0038   const auto bound_vec = cf.m_bound_vec;
0039
0040   const scalar phi = vector::phi(mom);
0041   const scalar theta = vector::theta(mom);
0042
0043   EXPECT_NEAR(getter::element(bound_vec.bound_local(), e_bound_loc0), 0.f,
0044               tolerance);
0045   EXPECT_NEAR(getter::element(bound_vec.bound_local(), e_bound_loc1), 0.f,
0046               tolerance);
0047   EXPECT_NEAR(bound_vec.phi(), phi, tolerance);
0048   EXPECT_NEAR(bound_vec.theta(), theta, tolerance);
0049   EXPECT_NEAR(bound_vec.qop(), charge / vector::norm(mom), tolerance);
0050
0051   const vector3 unit_p = vector::normalize(mom);
0052   const vector3 trf_x = cf.m_trf.x();
0053   const vector3 trf_y = cf.m_trf.y();
0054   const vector3 trf_z = cf.m_trf.z();
0055   const vector3 trf_t = cf.m_trf.translation();
0056
0057   // local x axis transform does not have global z components
0058   EXPECT_NEAR(trf_x[2], 0.f, tolerance);
0059
0060   // local z axis of transform = track direction
0061   EXPECT_NEAR(unit_p[0], trf_z[0], tolerance);
0062   EXPECT_NEAR(unit_p[1], trf_z[1], tolerance);
0063   EXPECT_NEAR(unit_p[2], trf_z[2], tolerance);
0064
0065   // translation of transform = track position
0066   EXPECT_NEAR(pos[0], trf_t[0], tolerance);
0067   EXPECT_NEAR(pos[1], trf_t[1], tolerance);
0068   EXPECT_NEAR(pos[2], trf_t[2], tolerance);
0069
0070   // Top-left components of the jacobian
0071   const auto jac = cf.bound_to_free_jacobian();
0072   EXPECT_NEAR(getter::element(jac, 0u, 0u), trf_x[0u], tolerance);
0073   EXPECT_NEAR(getter::element(jac, 1u, 0u), trf_x[1u], tolerance);
0074   EXPECT_NEAR(getter::element(jac, 2u, 0u), trf_x[2u], tolerance);
0075   EXPECT_NEAR(getter::element(jac, 0u, 1u), trf_y[0u], tolerance);
0076   EXPECT_NEAR(getter::element(jac, 1u, 1u), trf_y[1u], tolerance);
0077   EXPECT_NEAR(getter::element(jac, 2u, 1u), trf_y[2u], tolerance);
0078
0079   EXPECT_NEAR(getter::element(jac, e_free_dir0, e_bound_phi),
0080               -math::sin(phi) * math::sin(theta), tolerance);
0081   EXPECT_NEAR(getter::element(jac, e_free_dir0, e_bound_theta),
0082               math::cos(phi) * math::cos(theta), tolerance);
0083   EXPECT_NEAR(getter::element(jac, e_free_dir1, e_bound_phi),
0084               math::cos(phi) * math::sin(theta), tolerance);
0085   EXPECT_NEAR(getter::element(jac, e_free_dir1, e_bound_theta),
0086               math::sin(phi) * math::cos(theta), tolerance);
0087   EXPECT_NEAR(getter::element(jac, e_free_dir2, e_bound_phi), 0, tolerance);
0088   EXPECT_NEAR(getter::element(jac, e_free_dir2, e_bound_theta),
0089               -math::sin(theta), tolerance);
0090 }