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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 #pragma once 0010 0011 // Workaround for building on clang+libstdc++ 0012 #include "Acts/Utilities/detail/ReferenceWrapperAnyCompat.hpp" 0013 0014 #include "Acts/Definitions/Algebra.hpp" 0015 #include "Acts/Definitions/TrackParametrization.hpp" 0016 #include "Acts/EventData/TrackParameters.hpp" 0017 #include "Acts/EventData/detail/CorrectedTransformationFreeToBound.hpp" 0018 #include "Acts/Geometry/GeometryContext.hpp" 0019 #include "Acts/Surfaces/Surface.hpp" 0020 #include "Acts/Utilities/Result.hpp" 0021 0022 #include <tuple> 0023 0024 namespace Acts::detail { 0025 0026 /// @brief These functions perform the transport of a covariance matrix using 0027 /// given Jacobians. The required data is provided by the stepper object 0028 /// with some additional data. Since this is a purely algebraic problem the 0029 /// calculations are identical for @c StraightLineStepper and @c EigenStepper. 0030 /// As a consequence the methods can be located in a separate file. 0031 0032 /// Create and return the bound state at the current position 0033 /// 0034 /// @brief It does not check if the transported state is at the surface, this 0035 /// needs to be guaranteed by the propagator 0036 /// 0037 /// @param [in] geoContext The geometry context 0038 /// @param [in, out] boundCovariance The covariance matrix of the state 0039 /// @param [in, out] fullTransportJacobian Full jacobian since the last reset 0040 /// @param [in, out] freeTransportJacobian Global jacobian since the last reset 0041 /// @param [in, out] freeToPathDerivatives Path length derivatives of the free, 0042 /// nominal parameters 0043 /// @param [in, out] boundToFreeJacobian Projection jacobian of the last bound 0044 /// parametrisation to free parameters 0045 /// @param [in, out] freeParameters Free, nominal parametrisation 0046 /// @param [in] particleHypothesis Particle hypothesis 0047 /// @param [in] covTransport Decision whether the covariance transport should be 0048 /// performed 0049 /// @param [in] accumulatedPath Propagated distance 0050 /// @param [in] surface Target surface on which the state is represented 0051 /// @param [in] freeToBoundCorrection Correction for non-linearity effect during 0052 /// transform from free to bound 0053 /// 0054 /// @return A bound state: 0055 /// - the parameters at the surface 0056 /// - the stepwise jacobian towards it (from last bound) 0057 /// - and the path length (from start - for ordering) 0058 Result<std::tuple<BoundTrackParameters, BoundMatrix, double>> boundState( 0059 const GeometryContext& geoContext, const Surface& surface, 0060 BoundSquareMatrix& boundCovariance, BoundMatrix& fullTransportJacobian, 0061 FreeMatrix& freeTransportJacobian, FreeVector& freeToPathDerivatives, 0062 BoundToFreeMatrix& boundToFreeJacobian, FreeVector& freeParameters, 0063 const ParticleHypothesis& particleHypothesis, bool covTransport, 0064 double accumulatedPath, const FreeToBoundCorrection& freeToBoundCorrection); 0065 0066 /// Create and return a curvilinear state at the current position 0067 /// 0068 /// @brief This creates a curvilinear state. 0069 /// 0070 /// @param [in, out] boundCovariance The covariance matrix of the state 0071 /// @param [in, out] fullTransportJacobian Full jacobian since the last reset 0072 /// @param [in, out] freeTransportJacobian Global jacobian since the last reset 0073 /// @param [in, out] freeToPathDerivatives Path length derivatives of the free, 0074 /// nominal parameters 0075 /// @param [in, out] boundToFreeJacobian Projection jacobian of the last bound 0076 /// parametrisation to free parameters 0077 /// @param [in] freeParameters Free, nominal parametrisation 0078 /// @param [in] particleHypothesis Particle hypothesis 0079 /// @param [in] covTransport Decision whether the covariance transport should be 0080 /// performed 0081 /// @param [in] accumulatedPath Propagated distance 0082 /// 0083 /// @return A curvilinear state: 0084 /// - the curvilinear parameters at given position 0085 /// - the stepweise jacobian towards it (from last bound) 0086 /// - and the path length (from start - for ordering) 0087 std::tuple<CurvilinearTrackParameters, BoundMatrix, double> curvilinearState( 0088 BoundSquareMatrix& boundCovariance, BoundMatrix& fullTransportJacobian, 0089 FreeMatrix& transportJacobian, FreeVector& freeToPathDerivatives, 0090 BoundToFreeMatrix& boundToFreeJacobian, const FreeVector& freeParameters, 0091 const ParticleHypothesis& particleHypothesis, bool covTransport, 0092 double accumulatedPath); 0093 0094 /// @brief Method for on-demand covariance transport of a bound/curvilinear to 0095 /// another bound representation. 0096 /// 0097 /// @param [in] geoContext The geometry context 0098 /// @param [in] surface is the surface to which the covariance is forwarded to 0099 /// @param [in, out] boundCovariance The covariance matrix of the state 0100 /// @param [in, out] fullTransportJacobian Full jacobian since the last reset 0101 /// @param [in, out] freeTransportJacobian Global jacobian since the last reset 0102 /// @param [in, out] freeToPathDerivatives Path length derivatives 0103 /// @param [in, out] boundToFreeJacobian Projection jacobian of the last bound 0104 /// parametrisation to free parameters 0105 /// @param [in, out] freeParameters Free, nominal parametrisation 0106 /// @param [in] freeToBoundCorrection Correction for non-linearity effect during 0107 /// transform from free to bound 0108 /// 0109 /// @note No check is done if the position is actually on the surface 0110 /// 0111 void transportCovarianceToBound( 0112 const GeometryContext& geoContext, const Surface& surface, 0113 BoundSquareMatrix& boundCovariance, BoundMatrix& fullTransportJacobian, 0114 FreeMatrix& freeTransportJacobian, FreeVector& freeToPathDerivatives, 0115 BoundToFreeMatrix& boundToFreeJacobian, FreeVector& freeParameters, 0116 const FreeToBoundCorrection& freeToBoundCorrection); 0117 0118 /// @brief Method for on-demand covariance transport of a bound/curvilinear 0119 /// to a new curvilinear representation. 0120 /// 0121 /// @param [in, out] boundCovariance The covariance matrix of the state 0122 /// @param [in, out] fullTransportJacobian Full jacobian since the last reset 0123 /// @param [in, out] freeTransportJacobian Global jacobian since the last reset 0124 /// @param [in, out] freeToPathDerivatives Path length derivatives 0125 /// @param [in, out] boundToFreeJacobian Projection jacobian of the last bound 0126 /// parametrisation to free parameters 0127 /// @param [in] direction Normalised direction vector 0128 /// 0129 void transportCovarianceToCurvilinear(BoundSquareMatrix& boundCovariance, 0130 BoundMatrix& fullTransportJacobian, 0131 FreeMatrix& freeTransportJacobian, 0132 FreeVector& freeToPathDerivatives, 0133 BoundToFreeMatrix& boundToFreeJacobian, 0134 const Vector3& direction); 0135 0136 /// Convert bound track parameters to another bound surface. 0137 /// @pre The @p targetSurface must intersect with the surface attached to 0138 /// @p boundParameters, and the parameters must be on-surface on the 0139 /// target surface. 0140 /// @param gctx The geometry context. 0141 /// @param boundParameters The bound track parameters to convert. 0142 /// @param targetSurface The target surface. 0143 /// @param bField The magnetic field at the target surface. 0144 /// @return The converted bound track parameters. 0145 Result<BoundTrackParameters> boundToBoundConversion( 0146 const GeometryContext& gctx, const BoundTrackParameters& boundParameters, 0147 const Surface& targetSurface, const Vector3& bField = Vector3::Zero()); 0148 0149 } // namespace Acts::detail
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