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File indexing completed on 2025-10-20 07:58:15
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 #include "Acts/EventData/TrackParameters.hpp" 0012 #include "Acts/EventData/detail/CorrectedTransformationFreeToBound.hpp" 0013 0014 #include <tuple> 0015 0016 namespace Acts { 0017 class Surface; 0018 } 0019 0020 namespace Acts::detail::sympy { 0021 0022 /// @brief These functions perform the transport of a covariance matrix using 0023 /// given Jacobians. The required data is provided by the stepper object 0024 /// with some additional data. Since this is a purely algebraic problem the 0025 /// calculations are identical for @c StraightLineStepper and @c EigenStepper. 0026 /// As a consequence the methods can be located in a separate file. 0027 0028 /// Create and return the bound state at the current position 0029 /// 0030 /// @brief It does not check if the transported state is at the surface, this 0031 /// needs to be guaranteed by the propagator 0032 /// 0033 /// @param [in] geoContext The geometry context 0034 /// @param [in, out] boundCovariance The covariance matrix of the state 0035 /// @param [in, out] fullTransportJacobian Full jacobian since the last reset 0036 /// @param [in, out] freeTransportJacobian Global jacobian since the last reset 0037 /// @param [in, out] freeToPathDerivatives Path length derivatives of the free, 0038 /// nominal parameters 0039 /// @param [in, out] boundToFreeJacobian Projection jacobian of the last bound 0040 /// parametrisation to free parameters 0041 /// @param [in, out] freeParameters Free, nominal parametrisation 0042 /// @param [in] particleHypothesis Particle hypothesis 0043 /// @param [in] covTransport Decision whether the covariance transport should be 0044 /// performed 0045 /// @param [in] accumulatedPath Propagated distance 0046 /// @param [in] surface Target surface on which the state is represented 0047 /// @param [in] freeToBoundCorrection Correction for non-linearity effect during 0048 /// transform from free to bound 0049 /// 0050 /// @return A bound state: 0051 /// - the parameters at the surface 0052 /// - the stepwise jacobian towards it (from last bound) 0053 /// - and the path length (from start - for ordering) 0054 Result<std::tuple<BoundTrackParameters, BoundMatrix, double>> boundState( 0055 const GeometryContext& geoContext, const Surface& surface, 0056 BoundSquareMatrix& boundCovariance, BoundMatrix& fullTransportJacobian, 0057 FreeMatrix& freeTransportJacobian, FreeVector& freeToPathDerivatives, 0058 BoundToFreeMatrix& boundToFreeJacobian, 0059 const std::optional<FreeMatrix>& additionalFreeCovariance, 0060 FreeVector& freeParameters, const ParticleHypothesis& particleHypothesis, 0061 bool covTransport, double accumulatedPath, 0062 const FreeToBoundCorrection& freeToBoundCorrection); 0063 0064 /// Create and return a curvilinear state at the current position 0065 /// 0066 /// @brief This creates a curvilinear state. 0067 /// 0068 /// @param [in, out] boundCovariance The covariance matrix of the state 0069 /// @param [in, out] fullTransportJacobian Full jacobian since the last reset 0070 /// @param [in, out] freeTransportJacobian Global jacobian since the last reset 0071 /// @param [in, out] freeToPathDerivatives Path length derivatives of the free, 0072 /// nominal parameters 0073 /// @param [in, out] boundToFreeJacobian Projection jacobian of the last bound 0074 /// parametrisation to free parameters 0075 /// @param [in] freeParameters Free, nominal parametrisation 0076 /// @param [in] particleHypothesis Particle hypothesis 0077 /// @param [in] covTransport Decision whether the covariance transport should be 0078 /// performed 0079 /// @param [in] accumulatedPath Propagated distance 0080 /// 0081 /// @return A curvilinear state: 0082 /// - the curvilinear parameters at given position 0083 /// - the stepweise jacobian towards it (from last bound) 0084 /// - and the path length (from start - for ordering) 0085 std::tuple<BoundTrackParameters, BoundMatrix, double> curvilinearState( 0086 BoundSquareMatrix& boundCovariance, BoundMatrix& fullTransportJacobian, 0087 FreeMatrix& transportJacobian, FreeVector& freeToPathDerivatives, 0088 BoundToFreeMatrix& boundToFreeJacobian, 0089 const std::optional<FreeMatrix>& additionalFreeCovariance, 0090 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, 0116 const std::optional<FreeMatrix>& additionalFreeCovariance, 0117 FreeVector& freeParameters, 0118 const FreeToBoundCorrection& freeToBoundCorrection); 0119 0120 /// @brief Method for on-demand covariance transport of a bound/curvilinear 0121 /// to a new curvilinear representation. 0122 /// 0123 /// @param [in, out] boundCovariance The covariance matrix of the state 0124 /// @param [in, out] fullTransportJacobian Full jacobian since the last reset 0125 /// @param [in, out] freeTransportJacobian Global jacobian since the last reset 0126 /// @param [in, out] freeToPathDerivatives Path length derivatives 0127 /// @param [in, out] boundToFreeJacobian Projection jacobian of the last bound 0128 /// parametrisation to free parameters 0129 /// @param [in] direction Normalised direction vector 0130 /// 0131 void transportCovarianceToCurvilinear( 0132 BoundSquareMatrix& boundCovariance, BoundMatrix& fullTransportJacobian, 0133 FreeMatrix& freeTransportJacobian, FreeVector& freeToPathDerivatives, 0134 BoundToFreeMatrix& boundToFreeJacobian, 0135 const std::optional<FreeMatrix>& additionalFreeCovariance, 0136 const Vector3& direction); 0137 0138 } // namespace Acts::detail::sympy
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