Core/TrackFitting/GainMatrixSmootherTests.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 #include <boost/test/unit_test.hpp>
0010
0011 #include "Acts/Definitions/Algebra.hpp"
0012 #include "Acts/Definitions/TrackParametrization.hpp"
0013 #include "Acts/EventData/MultiTrajectory.hpp"
0014 #include "Acts/EventData/TrackStatePropMask.hpp"
0015 #include "Acts/EventData/VectorMultiTrajectory.hpp"
0016 #include "Acts/Geometry/GeometryContext.hpp"
0017 #include "Acts/TrackFitting/GainMatrixSmoother.hpp"
0018 #include "Acts/Utilities/Result.hpp"
0019 #include "ActsTests/CommonHelpers/FloatComparisons.hpp"
0020
0021 #include <cmath>
0022 #include <cstddef>
0023 #include <numbers>
0024
0025 namespace {
0026
0027 using namespace Acts;
0028
0029 using ParametersVector = Acts::BoundVector;
0030 using CovarianceMatrix = Acts::BoundSquareMatrix;
0031 using Jacobian = Acts::BoundMatrix;
0032
0033 const Acts::GeometryContext tgContext;
0034
0035 }  // namespace
0036
0037 namespace ActsTests {
0038
0039 BOOST_AUTO_TEST_SUITE(TrackFittingSuite)
0040
0041 BOOST_AUTO_TEST_CASE(Smooth) {
0042   VectorMultiTrajectory traj;
0043   std::size_t ts_idx = traj.addTrackState(TrackStatePropMask::All);
0044   auto ts = traj.getTrackState(ts_idx);
0045
0046   // Make dummy track parameter
0047   CovarianceMatrix covTrk;
0048   covTrk.setIdentity();
0049   covTrk.diagonal() << 0.08, 0.3, 1, 1, 1, 1;
0050   BoundVector parValues;
0051   parValues << 0.3, 0.5, std::numbers::pi / 2., 0., 1 / 100., 0.;
0052
0053   ts.predicted() = parValues;
0054   ts.predictedCovariance() = covTrk;
0055
0056   parValues << 0.301, 0.503, std::numbers::pi / 2., 0., 1 / 100., 0.;
0057
0058   ts.filtered() = parValues;
0059   ts.filteredCovariance() = covTrk;
0060   ts.pathLength() = 1.;
0061   ts.jacobian().setIdentity();
0062
0063   ts_idx = traj.addTrackState(TrackStatePropMask::All, ts_idx);
0064   ts = traj.getTrackState(ts_idx);
0065
0066   parValues << 0.2, 0.5, std::numbers::pi / 2., 0., 1 / 100., 0.;
0067   ts.predicted() = parValues;
0068   ts.predictedCovariance() = covTrk;
0069
0070   parValues << 0.27, 0.53, std::numbers::pi / 2., 0., 1 / 100., 0.;
0071   ts.filtered() = parValues;
0072   ts.filteredCovariance() = covTrk;
0073   ts.pathLength() = 2.;
0074   ts.jacobian().setIdentity();
0075
0076   ts_idx = traj.addTrackState(TrackStatePropMask::All, ts_idx);
0077   ts = traj.getTrackState(ts_idx);
0078
0079   parValues << 0.35, 0.49, std::numbers::pi / 2., 0., 1 / 100., 0.;
0080   ts.predicted() = parValues;
0081   ts.predictedCovariance() = covTrk;
0082
0083   parValues << 0.33, 0.43, std::numbers::pi / 2., 0., 1 / 100., 0.;
0084   ts.filtered() = parValues;
0085   ts.filteredCovariance() = covTrk;
0086   ts.pathLength() = 3.;
0087   ts.jacobian().setIdentity();
0088
0089   // "smooth" these three track states
0090   BOOST_CHECK(GainMatrixSmoother()(tgContext, traj, ts_idx).ok());
0091
0092   // Regression tests, only tests very basic correctness of the math, but tests
0093   // for regressions in the result.
0094
0095   auto ts1 = traj.getTrackState(0);
0096   BOOST_CHECK(ts1.hasSmoothed());
0097   BOOST_CHECK_NE(ts1.filtered(), ts1.smoothed());
0098
0099   double tol = 1e-6;
0100
0101   ParametersVector expPars;
0102   expPars << 0.3510000, 0.4730000, 1.5707963, 0.0000000, 0.0100000, 0.0000000;
0103   CovarianceMatrix expCov;
0104   expCov.setIdentity();
0105   expCov.diagonal() << 0.0800000, 0.3000000, 1.0000000, 1.0000000, 1.0000000,
0106       1.0000000;
0107   CHECK_CLOSE_ABS(ts1.smoothed(), expPars, tol);
0108   CHECK_CLOSE_ABS(ts1.smoothedCovariance(), expCov, tol);
0109
0110   auto ts2 = traj.getTrackState(1);
0111   BOOST_CHECK(ts2.hasSmoothed());
0112   BOOST_CHECK_NE(ts2.filtered(), ts2.smoothed());
0113
0114   expPars << 0.2500000, 0.4700000, 1.5707963, 0.0000000, 0.0100000, 0.0000000;
0115   CHECK_CLOSE_ABS(ts2.smoothed(), expPars, tol);
0116   CHECK_CLOSE_ABS(ts2.smoothedCovariance(), expCov, tol);
0117
0118   auto ts3 = traj.getTrackState(2);
0119   BOOST_CHECK(ts3.hasSmoothed());
0120   // last one, smoothed == filtered
0121   BOOST_CHECK_EQUAL(ts3.filtered(), ts3.smoothed());
0122
0123   expPars << 0.3300000, 0.4300000, 1.5707963, 0.0000000, 0.0100000, 0.0000000;
0124   CHECK_CLOSE_ABS(ts3.smoothed(), expPars, tol);
0125   CHECK_CLOSE_ABS(ts3.smoothedCovariance(), expCov, tol);
0126 }
0127
0128 BOOST_AUTO_TEST_SUITE_END()
0129
0130 }  // namespace ActsTests