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 // This file is part of the ACTS project.
 //
 // Copyright (C) 2016 CERN for the benefit of the ACTS project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 #pragma once
 
 #include "Acts/Definitions/Algebra.hpp"
 #include "Acts/EventData/MeasurementHelpers.hpp"
 #include "Acts/EventData/MultiTrajectory.hpp"
 #include "Acts/EventData/SourceLink.hpp"
 #include "Acts/EventData/TrackParameters.hpp"
 #include "Acts/EventData/TrackProxyConcept.hpp"
 #include "Acts/EventData/VectorMultiTrajectory.hpp"
 #include "Acts/EventData/VectorTrackContainer.hpp"
 #include "Acts/EventData/detail/CorrectedTransformationFreeToBound.hpp"
 #include "Acts/Geometry/GeometryContext.hpp"
 #include "Acts/Geometry/TrackingVolume.hpp"
 #include "Acts/MagneticField/MagneticFieldContext.hpp"
 #include "Acts/Material/Interactions.hpp"
 #include "Acts/Propagator/ActorList.hpp"
 #include "Acts/Propagator/DirectNavigator.hpp"
 #include "Acts/Propagator/PropagatorOptions.hpp"
 #include "Acts/Propagator/StandardAborters.hpp"
 #include "Acts/Propagator/detail/PointwiseMaterialInteraction.hpp"
 #include "Acts/TrackFitting/GlobalChiSquareFitterError.hpp"
 #include "Acts/TrackFitting/detail/VoidFitterComponents.hpp"
 #include "Acts/Utilities/CalibrationContext.hpp"
 #include "Acts/Utilities/Delegate.hpp"
 #include "Acts/Utilities/Logger.hpp"
 #include "Acts/Utilities/Result.hpp"
 #include "Acts/Utilities/TrackHelpers.hpp"
 
 #include <functional>
 #include <limits>
 #include <map>
 #include <memory>
 #include <type_traits>
 #include <unordered_map>
 
 namespace Acts::Experimental {
 
 namespace Gx2fConstants {
 constexpr std::string_view gx2fnUpdateColumn = "Gx2fnUpdateColumn";
 
 // Mask for the track states. We don't need Predicted and Filtered
 constexpr TrackStatePropMask trackStateMask = TrackStatePropMask::Smoothed |
                                               TrackStatePropMask::Jacobian |
                                               TrackStatePropMask::Calibrated;
 
 // A projector used for scattering. By using Jacobian * phiThetaProjector one
 // gets only the derivatives for the variables phi and theta.
 const Eigen::Matrix<double, eBoundSize, 2> phiThetaProjector = [] {
   Eigen::Matrix<double, eBoundSize, 2> m =
       Eigen::Matrix<double, eBoundSize, 2>::Zero();
   m(eBoundPhi, 0) = 1.0;
   m(eBoundTheta, 1) = 1.0;
   return m;
 }();
 }  // namespace Gx2fConstants
 
 /// Extension struct which holds delegates to customise the GX2F behaviour
 template <typename traj_t>
 struct Gx2FitterExtensions {
   /// Type alias for mutable track state proxy from multi-trajectory
   using TrackStateProxy = typename MultiTrajectory<traj_t>::TrackStateProxy;
   /// Type alias for const track state proxy from multi-trajectory
   using ConstTrackStateProxy =
       typename MultiTrajectory<traj_t>::ConstTrackStateProxy;
   /// Type alias for track parameters from track state proxy
   using Parameters = typename TrackStateProxy::Parameters;
 
   /// Type alias for calibrator delegate to process measurements
   using Calibrator =
       Delegate<void(const GeometryContext&, const CalibrationContext&,
                     const SourceLink&, TrackStateProxy)>;
 
   /// Type alias for updater delegate to incorporate measurements into track
   /// parameters
   using Updater = Delegate<Result<void>(const GeometryContext&, TrackStateProxy,
                                         const Logger&)>;
 
   /// Type alias for outlier finder delegate to identify measurement outliers
   using OutlierFinder = Delegate<bool(ConstTrackStateProxy)>;
 
   /// The Calibrator is a dedicated calibration algorithm that allows
   /// to calibrate measurements using track information, this could be
   /// e.g. sagging for wires, module deformations, etc.
   Calibrator calibrator;
 
   /// The updater incorporates measurement information into the track parameters
   Updater updater;
 
   /// Determines whether a measurement is supposed to be considered as an
   /// outlier
   OutlierFinder outlierFinder;
 
   /// Retrieves the associated surface from a source link
   SourceLinkSurfaceAccessor surfaceAccessor;
 
   /// Default constructor which connects the default void components
   Gx2FitterExtensions() {
     calibrator.template connect<&Acts::detail::voidFitterCalibrator<traj_t>>();
     updater.template connect<&Acts::detail::voidFitterUpdater<traj_t>>();
     outlierFinder.template connect<&Acts::detail::voidOutlierFinder<traj_t>>();
     surfaceAccessor.connect<&Acts::detail::voidSurfaceAccessor>();
   }
 };
 
 /// Combined options for the Global-Chi-Square fitter.
 ///
 /// @tparam traj_t The trajectory type
 template <typename traj_t>
 struct Gx2FitterOptions {
   /// PropagatorOptions with context.
   ///
   /// @param gctx The geometry context for this fit
   /// @param mctx The magnetic context for this fit
   /// @param cctx The calibration context for this fit
   /// @param extensions_ The KF extensions
   /// @param pOptions The plain propagator options
   /// @param rSurface The reference surface for the fit to be expressed at
   /// @param mScattering Whether to include multiple scattering
   /// @param eLoss Whether to include energy loss
   /// @param freeToBoundCorrection_ Correction for non-linearity effect during transform from free to bound
   /// @param nUpdateMax_ Max number of iterations for updating the parameters
   /// @param relChi2changeCutOff_ Check for convergence (abort condition). Set to 0 to skip.
   Gx2FitterOptions(const GeometryContext& gctx,
                    const MagneticFieldContext& mctx,
                    std::reference_wrapper<const CalibrationContext> cctx,
                    Gx2FitterExtensions<traj_t> extensions_,
                    const PropagatorPlainOptions& pOptions,
                    const Surface* rSurface = nullptr, bool mScattering = false,
                    bool eLoss = false,
                    const FreeToBoundCorrection& freeToBoundCorrection_ =
                        FreeToBoundCorrection(false),
                    const std::size_t nUpdateMax_ = 5,
                    double relChi2changeCutOff_ = 1e-5)
       : geoContext(gctx),
         magFieldContext(mctx),
         calibrationContext(cctx),
         extensions(extensions_),
         propagatorPlainOptions(pOptions),
         referenceSurface(rSurface),
         multipleScattering(mScattering),
         energyLoss(eLoss),
         freeToBoundCorrection(freeToBoundCorrection_),
         nUpdateMax(nUpdateMax_),
         relChi2changeCutOff(relChi2changeCutOff_) {}
 
   /// Contexts are required and the options must not be default-constructible.
   Gx2FitterOptions() = delete;
 
   /// Context object for the geometry
   std::reference_wrapper<const GeometryContext> geoContext;
   /// Context object for the magnetic field
   std::reference_wrapper<const MagneticFieldContext> magFieldContext;
   /// context object for the calibration
   std::reference_wrapper<const CalibrationContext> calibrationContext;
 
   /// Extensions for calibration and outlier finding
   Gx2FitterExtensions<traj_t> extensions;
 
   /// The trivial propagator options
   PropagatorPlainOptions propagatorPlainOptions;
 
   /// The reference Surface
   const Surface* referenceSurface = nullptr;
 
   /// Whether to consider multiple scattering
   bool multipleScattering = false;
 
   /// Whether to consider energy loss
   bool energyLoss = false;
 
   /// Whether to include non-linear correction during global to local
   /// transformation
   FreeToBoundCorrection freeToBoundCorrection;
 
   /// Max number of iterations during the fit (abort condition)
   std::size_t nUpdateMax = 5;
 
   /// Check for convergence (abort condition). Set to 0 to skip.
   double relChi2changeCutOff = 1e-7;
 };
 
 template <typename traj_t>
 struct Gx2FitterResult {
   // Fitted states that the actor has handled.
   traj_t* fittedStates{nullptr};
 
   // This is the index of the 'tip' of the track stored in multitrajectory.
   // This corresponds to the last measurement state in the multitrajectory.
   // Since this KF only stores one trajectory, it is unambiguous.
   // Acts::MultiTrajectoryTraits::kInvalid is the start of a trajectory.
   std::size_t lastMeasurementIndex = Acts::MultiTrajectoryTraits::kInvalid;
 
   // This is the index of the 'tip' of the states stored in multitrajectory.
   // This corresponds to the last state in the multitrajectory.
   // Since this KF only stores one trajectory, it is unambiguous.
   // Acts::MultiTrajectoryTraits::kInvalid is the start of a trajectory.
   std::size_t lastTrackIndex = Acts::MultiTrajectoryTraits::kInvalid;
 
   // The optional Parameters at the provided surface
   std::optional<BoundTrackParameters> fittedParameters;
 
   // Counter for states with non-outlier measurements
   std::size_t measurementStates = 0;
 
   // Counter for measurements holes
   // A hole correspond to a surface with an associated detector element with no
   // associated measurement. Holes are only taken into account if they are
   // between the first and last measurements.
   std::size_t measurementHoles = 0;
 
   // Counter for handled states
   std::size_t processedStates = 0;
 
   // Counter for handled measurements
   std::size_t processedMeasurements = 0;
 
   // Indicator if track fitting has been done
   bool finished = false;
 
   // Measurement surfaces without hits
   std::vector<const Surface*> missedActiveSurfaces;
 
   // Measurement surfaces handled in both forward and
   // backward filtering
   std::vector<const Surface*> passedAgainSurfaces;
 
   Result<void> result{Result<void>::success()};
 
   // Count how many surfaces have been hit
   std::size_t surfaceCount = 0;
 };
 
 /// @brief A container to store scattering properties for each material surface
 ///
 /// This struct holds the scattering angles, the inverse covariance of the
 /// material, and a validity flag indicating whether the material is valid for
 /// the scattering process.
 struct ScatteringProperties {
  public:
   /// @brief Constructor to initialize scattering properties.
   ///
   /// @param scatteringAngles_ The vector of scattering angles.
   /// @param invCovarianceMaterial_ The inverse covariance of the material.
   /// @param materialIsValid_ A boolean flag indicating whether the material is valid.
   ScatteringProperties(const BoundVector& scatteringAngles_,
                        const double invCovarianceMaterial_,
                        const bool materialIsValid_)
       : m_scatteringAngles(scatteringAngles_),
         m_invCovarianceMaterial(invCovarianceMaterial_),
         m_materialIsValid(materialIsValid_) {}
 
   /// @brief Accessor for the scattering angles (const version)
   /// @return Const reference to the vector of scattering angles
   const BoundVector& scatteringAngles() const { return m_scatteringAngles; }
 
   /// @brief Accessor for the scattering angles (mutable version)
   /// @return Mutable reference to the vector of scattering angles for modification
   BoundVector& scatteringAngles() { return m_scatteringAngles; }
 
   /// @brief Accessor for the inverse covariance of the material
   /// @return Inverse covariance value computed from material properties (e.g., Highland formula)
   double invCovarianceMaterial() const { return m_invCovarianceMaterial; }
 
   /// @brief Accessor for the material validity flag
   /// @return True if material is valid for scattering calculations, false for vacuum or zero thickness
   bool materialIsValid() const { return m_materialIsValid; }
 
  private:
   /// Vector of scattering angles. The vector is usually all zeros except for
   /// eBoundPhi and eBoundTheta.
   BoundVector m_scatteringAngles;
 
   /// Inverse covariance of the material. Compute with e.g. the Highland
   /// formula.
   double m_invCovarianceMaterial;
 
   /// Flag indicating whether the material is valid. Commonly vacuum and zero
   /// thickness material will be ignored.
   bool m_materialIsValid;
 };
 
 /// @brief A container to manage all properties of a gx2f system
 ///
 /// This struct manages the mathematical infrastructure for the gx2f. It
 /// initializes and maintains the extended aMatrix and extended bVector.
 struct Gx2fSystem {
  public:
   /// @brief Constructor to initialize matrices and vectors to zero based on specified dimensions.
   ///
   /// @param nDims Number of dimensions for the extended matrix and vector.
   explicit Gx2fSystem(std::size_t nDims)
       : m_nDims{nDims},
         m_aMatrix{Eigen::MatrixXd::Zero(nDims, nDims)},
         m_bVector{Eigen::VectorXd::Zero(nDims)} {}
 
   /// @brief Accessor for the number of dimensions of the extended system
   /// @return Number of dimensions for the aMatrix and bVector (bound parameters + scattering angles)
   std::size_t nDims() const { return m_nDims; }
 
   /// @brief Accessor for the accumulated chi-squared value (const version)
   /// @return Current sum of chi-squared contributions from measurements and material
   double chi2() const { return m_chi2; }
 
   /// @brief Accessor for the accumulated chi-squared value (mutable version)
   /// @return Mutable reference to chi-squared sum for modification during fitting
   double& chi2() { return m_chi2; }
 
   /// @brief Accessor for the extended system matrix (const version)
   /// @return Const reference to the aMatrix containing measurement and material contributions
   const Eigen::MatrixXd& aMatrix() const { return m_aMatrix; }
 
   /// @brief Accessor for the extended system matrix (mutable version)
   /// @return Mutable reference to the aMatrix for adding measurement and material contributions
   Eigen::MatrixXd& aMatrix() { return m_aMatrix; }
 
   /// @brief Accessor for the extended system vector (const version)
   /// @return Const reference to the bVector containing measurement and material contributions
   const Eigen::VectorXd& bVector() const { return m_bVector; }
 
   /// @brief Accessor for the extended system vector (mutable version)
   /// @return Mutable reference to the bVector for adding measurement and material contributions
   Eigen::VectorXd& bVector() { return m_bVector; }
 
   /// @brief Accessor for the number of degrees of freedom (const version)
   /// @return Current number of degrees of freedom from processed measurements
   std::size_t ndf() const { return m_ndf; }
 
   /// @brief Accessor for the number of degrees of freedom (mutable version)
   /// @return Mutable reference to NDF counter for incrementing during measurement processing
   std::size_t& ndf() { return m_ndf; }
 
   /// @brief Determines the minimum number of degrees of freedom required for the fit
   ///
   /// Automatically deduces the required NDF based on the system configuration.
   /// We have only 3 cases, because we always have l0, l1, phi, theta:
   /// - 4: no magnetic field -> q/p is empty
   /// - 5: no time measurement -> time is not fittable
   /// - 6: full fit with all parameters
   ///
   /// @return Required NDF based on which parameters can be fitted
   std::size_t findRequiredNdf() {
     std::size_t ndfSystem = 0;
     if (m_aMatrix(4, 4) == 0) {
       ndfSystem = 4;
     } else if (m_aMatrix(5, 5) == 0) {
       ndfSystem = 5;
     } else {
       ndfSystem = 6;
     }
 
     return ndfSystem;
   }
 
   /// @brief Checks if the system has sufficient degrees of freedom for fitting
   /// @return True if NDF exceeds the minimum required for the parameter configuration
   bool isWellDefined() { return m_ndf > findRequiredNdf(); }
 
  private:
   /// Number of dimensions of the (extended) system
   std::size_t m_nDims;
 
   /// Sum of chi-squared values.
   double m_chi2 = 0.;
 
   /// Extended matrix for accumulation.
   Eigen::MatrixXd m_aMatrix;
 
   /// Extended vector for accumulation.
   Eigen::VectorXd m_bVector;
 
   /// Number of degrees of freedom of the system
   std::size_t m_ndf = 0u;
 };
 
 /// @brief Adds a measurement to the GX2F equation system in a modular backend function.
 ///
 /// This function processes measurement data and integrates it into the GX2F
 /// system.
 ///
 /// @param extendedSystem All parameters of the current equation system to update.
 /// @param jacobianFromStart The Jacobian matrix from the start to the current state.
 /// @param covarianceMeasurement The covariance matrix of the measurement.
 /// @param predicted The predicted state vector based on the track state.
 /// @param measurement The measurement vector.
 /// @param projector The projection matrix.
 /// @param logger A logger instance.
 ///
 /// @note The dynamic Eigen matrices are suboptimal. We could think of
 /// templating again in the future on kMeasDims. We currently use dynamic
 /// matrices to reduce the memory during compile time.
 void addMeasurementToGx2fSumsBackend(
     Gx2fSystem& extendedSystem,
     const std::vector<BoundMatrix>& jacobianFromStart,
     const Eigen::MatrixXd& covarianceMeasurement, const BoundVector& predicted,
     const Eigen::VectorXd& measurement, const Eigen::MatrixXd& projector,
     const Logger& logger);
 
 /// @brief Process measurements and fill the aMatrix and bVector
 ///
 /// The function processes each measurement for the GX2F Actor fitting process.
 /// It extracts the information from the track state and adds it to aMatrix,
 /// bVector, and chi2sum.
 ///
 /// @tparam kMeasDim Number of dimensions of the measurement
 /// @tparam track_state_t The type of the track state
 ///
 /// @param extendedSystem All parameters of the current equation system to update
 /// @param jacobianFromStart The Jacobian matrix from start to the current state
 /// @param trackState The track state to analyse
 /// @param logger A logger instance
 template <std::size_t kMeasDim, typename track_state_t>
 void addMeasurementToGx2fSums(Gx2fSystem& extendedSystem,
                               const std::vector<BoundMatrix>& jacobianFromStart,
                               const track_state_t& trackState,
                               const Logger& logger) {
   const ActsSquareMatrix<kMeasDim> covarianceMeasurement =
       trackState.template calibratedCovariance<kMeasDim>();
 
   const BoundVector predicted = trackState.smoothed();
 
   const ActsVector<kMeasDim> measurement =
       trackState.template calibrated<kMeasDim>();
 
   const ActsMatrix<kMeasDim, eBoundSize> projector =
       trackState.template projectorSubspaceHelper<kMeasDim>().projector();
 
   addMeasurementToGx2fSumsBackend(extendedSystem, jacobianFromStart,
                                   covarianceMeasurement, predicted, measurement,
                                   projector, logger);
 }
 
 /// @brief Process material and fill the aMatrix and bVector
 ///
 /// The function processes each material for the GX2F Actor fitting process.
 /// It extracts the information from the track state and adds it to aMatrix,
 /// bVector, and chi2sum.
 ///
 /// @tparam track_state_t The type of the track state
 ///
 /// @param extendedSystem All parameters of the current equation system
 /// @param nMaterialsHandled How many materials we already handled. Used for the offset.
 /// @param scatteringMap The scattering map, containing all scattering angles and covariances
 /// @param trackState The track state to analyse
 /// @param logger A logger instance
 template <typename track_state_t>
 void addMaterialToGx2fSums(
     Gx2fSystem& extendedSystem, const std::size_t nMaterialsHandled,
     const std::unordered_map<GeometryIdentifier, ScatteringProperties>&
         scatteringMap,
     const track_state_t& trackState, const Logger& logger) {
   // Get and store geoId for the current material surface
   const GeometryIdentifier geoId = trackState.referenceSurface().geometryId();
   const auto scatteringMapId = scatteringMap.find(geoId);
   if (scatteringMapId == scatteringMap.end()) {
     ACTS_ERROR("No scattering angles found for material surface " << geoId);
     throw std::runtime_error(
         "No scattering angles found for material surface.");
   }
 
   const double sinThetaLoc = std::sin(trackState.smoothed()[eBoundTheta]);
 
   // The position, where we need to insert the values in aMatrix and bVector
   const std::size_t deltaPosition = eBoundSize + 2 * nMaterialsHandled;
 
   const BoundVector& scatteringAngles =
       scatteringMapId->second.scatteringAngles();
 
   const double invCov = scatteringMapId->second.invCovarianceMaterial();
 
   // Phi contribution
   extendedSystem.aMatrix()(deltaPosition, deltaPosition) +=
       invCov * sinThetaLoc * sinThetaLoc;
   extendedSystem.bVector()(deltaPosition, 0) -=
       invCov * scatteringAngles[eBoundPhi] * sinThetaLoc;
   extendedSystem.chi2() += invCov * scatteringAngles[eBoundPhi] * sinThetaLoc *
                            scatteringAngles[eBoundPhi] * sinThetaLoc;
 
   // Theta Contribution
   extendedSystem.aMatrix()(deltaPosition + 1, deltaPosition + 1) += invCov;
   extendedSystem.bVector()(deltaPosition + 1, 0) -=
       invCov * scatteringAngles[eBoundTheta];
   extendedSystem.chi2() +=
       invCov * scatteringAngles[eBoundTheta] * scatteringAngles[eBoundTheta];
 
   ACTS_VERBOSE(
       "Contributions in addMaterialToGx2fSums:\n"
       << "    invCov:        " << invCov << "\n"
       << "    sinThetaLoc:   " << sinThetaLoc << "\n"
       << "    deltaPosition: " << deltaPosition << "\n"
       << "    Phi:\n"
       << "        scattering angle:     " << scatteringAngles[eBoundPhi] << "\n"
       << "        aMatrix contribution: " << invCov * sinThetaLoc * sinThetaLoc
       << "\n"
       << "        bVector contribution: "
       << invCov * scatteringAngles[eBoundPhi] * sinThetaLoc << "\n"
       << "        chi2sum contribution: "
       << invCov * scatteringAngles[eBoundPhi] * sinThetaLoc *
              scatteringAngles[eBoundPhi] * sinThetaLoc
       << "\n"
       << "    Theta:\n"
       << "        scattering angle:     " << scatteringAngles[eBoundTheta]
       << "\n"
       << "        aMatrix contribution: " << invCov << "\n"
       << "        bVector contribution: "
       << invCov * scatteringAngles[eBoundTheta] << "\n"
       << "        chi2sum contribution: "
       << invCov * scatteringAngles[eBoundTheta] * scatteringAngles[eBoundTheta]
       << "\n");
 
   return;
 }
 
 /// @brief Fill the GX2F system with data from a track
 ///
 /// This function processes a track proxy and updates the aMatrix, bVector, and
 /// chi2 values for the GX2F fitting system. It considers material only if
 /// multiple scattering is enabled.
 ///
 /// @tparam track_proxy_t The type of the track proxy
 ///
 /// @param track A constant track proxy to inspect
 /// @param extendedSystem All parameters of the current equation system
 /// @param multipleScattering Flag to consider multiple scattering in the calculation
 /// @param scatteringMap Map of geometry identifiers to scattering properties,
 ///        containing scattering angles and validation status
 /// @param geoIdVector A vector to store geometry identifiers for tracking processed elements
 /// @param logger A logger instance
 template <TrackProxyConcept track_proxy_t>
 void fillGx2fSystem(
     const track_proxy_t track, Gx2fSystem& extendedSystem,
     const bool multipleScattering,
     const std::unordered_map<GeometryIdentifier, ScatteringProperties>&
         scatteringMap,
     std::vector<GeometryIdentifier>& geoIdVector, const Logger& logger) {
   std::vector<BoundMatrix> jacobianFromStart;
   jacobianFromStart.emplace_back(BoundMatrix::Identity());
 
   for (const auto& trackState : track.trackStates()) {
     // Get and store geoId for the current surface
     const GeometryIdentifier geoId = trackState.referenceSurface().geometryId();
     ACTS_DEBUG("Start to investigate trackState on surface " << geoId);
     const auto typeFlags = trackState.typeFlags();
     const bool stateHasMeasurement =
         typeFlags.test(TrackStateFlag::MeasurementFlag);
     const bool stateHasMaterial = typeFlags.test(TrackStateFlag::MaterialFlag);
 
     // First we figure out, if we would need to look into material
     // surfaces at all. Later, we also check, if the material slab is
     // valid, otherwise we modify this flag to ignore the material
     // completely.
     bool doMaterial = multipleScattering && stateHasMaterial;
     if (doMaterial) {
       const auto scatteringMapId = scatteringMap.find(geoId);
       assert(scatteringMapId != scatteringMap.end() &&
              "No scattering angles found for material surface.");
       doMaterial = doMaterial && scatteringMapId->second.materialIsValid();
     }
 
     // We only consider states with a measurement (and/or material)
     if (!stateHasMeasurement && !doMaterial) {
       ACTS_DEBUG("    Skip state.");
       continue;
     }
 
     // update all Jacobians from start
     for (auto& jac : jacobianFromStart) {
       jac = trackState.jacobian() * jac;
     }
 
     // Handle measurement
     if (stateHasMeasurement) {
       ACTS_DEBUG("    Handle measurement.");
 
       const auto measDim = trackState.calibratedSize();
 
       if (measDim < 1 || 6 < measDim) {
         ACTS_ERROR("Can not process state with measurement with "
                    << measDim << " dimensions.");
         throw std::domain_error(
             "Found measurement with less than 1 or more than 6 dimension(s).");
       }
 
       extendedSystem.ndf() += measDim;
 
       visit_measurement(measDim, [&](auto N) {
         addMeasurementToGx2fSums<N>(extendedSystem, jacobianFromStart,
                                     trackState, logger);
       });
     }
 
     // Handle material
     if (doMaterial) {
       ACTS_DEBUG("    Handle material");
       // Add for this material a new Jacobian, starting from this surface.
       jacobianFromStart.emplace_back(BoundMatrix::Identity());
 
       // Add the material contribution to the system
       addMaterialToGx2fSums(extendedSystem, geoIdVector.size(), scatteringMap,
                             trackState, logger);
 
       geoIdVector.emplace_back(geoId);
     }
   }
 }
 
 /// @brief Count the valid material states in a track for scattering calculations.
 ///
 /// This function counts the valid material surfaces encountered in a track
 /// by examining each track state. The count is based on the presence of
 /// material flags and the availability of scattering information for each
 /// surface.
 ///
 /// @tparam track_proxy_t The type of the track proxy
 ///
 /// @param track A constant track proxy to inspect
 /// @param scatteringMap Map of geometry identifiers to scattering properties,
 ///        containing scattering angles and validation status
 /// @param logger A logger instance
 template <TrackProxyConcept track_proxy_t>
 std::size_t countMaterialStates(
     const track_proxy_t track,
     const std::unordered_map<GeometryIdentifier, ScatteringProperties>&
         scatteringMap,
     const Logger& logger) {
   std::size_t nMaterialSurfaces = 0;
   ACTS_DEBUG("Count the valid material surfaces.");
   for (const auto& trackState : track.trackStates()) {
     const auto typeFlags = trackState.typeFlags();
     const bool stateHasMaterial = typeFlags.test(TrackStateFlag::MaterialFlag);
 
     if (!stateHasMaterial) {
       continue;
     }
 
     // Get and store geoId for the current material surface
     const GeometryIdentifier geoId = trackState.referenceSurface().geometryId();
 
     const auto scatteringMapId = scatteringMap.find(geoId);
     assert(scatteringMapId != scatteringMap.end() &&
            "No scattering angles found for material surface.");
     if (!scatteringMapId->second.materialIsValid()) {
       continue;
     }
 
     nMaterialSurfaces++;
   }
 
   return nMaterialSurfaces;
 }
 
 /// @brief Solve the gx2f system to get the delta parameters for the update
 ///
 /// This function computes the delta parameters for the GX2F Actor fitting
 /// process by solving the linear equation system [a] * delta = b. It uses the
 /// column-pivoting Householder QR decomposition for numerical stability.
 ///
 /// @param extendedSystem All parameters of the current equation system
 Eigen::VectorXd computeGx2fDeltaParams(const Gx2fSystem& extendedSystem);
 
 /// @brief Update parameters (and scattering angles if applicable)
 ///
 /// @param params Parameters to be updated
 /// @param deltaParamsExtended Delta parameters for bound parameter and scattering angles
 /// @param nMaterialSurfaces Number of material surfaces in the track
 /// @param scatteringMap Map of geometry identifiers to scattering properties,
 ///        containing all scattering angles and covariances
 /// @param geoIdVector Vector of geometry identifiers corresponding to material surfaces
 void updateGx2fParams(
     BoundTrackParameters& params, const Eigen::VectorXd& deltaParamsExtended,
     const std::size_t nMaterialSurfaces,
     std::unordered_map<GeometryIdentifier, ScatteringProperties>& scatteringMap,
     const std::vector<GeometryIdentifier>& geoIdVector);
 
 /// @brief Calculate and update the covariance of the fitted parameters
 ///
 /// This function calculates the covariance of the fitted parameters using
 /// cov = inv([a])
 /// It then updates the first square block of size ndfSystem. This ensures,
 /// that we only update the covariance for fitted parameters. (In case of
 /// no qop/time fit)
 ///
 /// @param fullCovariancePredicted The covariance matrix to update
 /// @param extendedSystem All parameters of the current equation system
 void updateGx2fCovarianceParams(BoundMatrix& fullCovariancePredicted,
                                 Gx2fSystem& extendedSystem);
 
 /// Global Chi Square fitter (GX2F) implementation.
 ///
 /// @tparam propagator_t Type of the propagation class
 ///
 /// TODO Write description
 template <typename propagator_t, typename traj_t>
 class Gx2Fitter {
   /// The navigator type
   using Gx2fNavigator = typename propagator_t::Navigator;
 
   /// The navigator has DirectNavigator type or not
   static constexpr bool isDirectNavigator =
       std::is_same_v<Gx2fNavigator, DirectNavigator>;
 
  public:
   /// @brief Constructor for the Global Chi-Square Fitter
   ///
   /// Initializes the fitter with a propagator and optional logger.
   /// The fitter uses iterative fitting with a linear equation system
   /// to minimize chi-squared including multiple scattering effects.
   ///
   /// @param pPropagator The propagator instance for track propagation
   /// @param _logger Logger instance for debugging output (optional)
   explicit Gx2Fitter(propagator_t pPropagator,
                      std::unique_ptr<const Logger> _logger =
                          getDefaultLogger("Gx2Fitter", Logging::INFO))
       : m_propagator(std::move(pPropagator)),
         m_logger{std::move(_logger)},
         m_actorLogger{m_logger->cloneWithSuffix("Actor")},
         m_addToSumLogger{m_logger->cloneWithSuffix("AddToSum")} {}
 
  private:
   /// The propagator for the transport and material update
   propagator_t m_propagator;
 
   /// The logger instance
   std::unique_ptr<const Logger> m_logger;
   std::unique_ptr<const Logger> m_actorLogger;
   std::unique_ptr<const Logger> m_addToSumLogger;
 
   const Logger& logger() const { return *m_logger; }
 
   /// @brief Propagator Actor plugin for the GX2F
   ///
   /// @tparam parameters_t The type of parameters used for "local" parameters.
   /// @tparam calibrator_t The type of calibrator
   /// @tparam outlier_finder_t Type of the outlier finder class
   ///
   /// The GX2F Actor does not rely on the measurements to be sorted along the
   /// track.
   template <typename parameters_t>
   class Actor {
    public:
     /// Broadcast the result_type
     using result_type = Gx2FitterResult<traj_t>;
 
     /// The target surface
     const Surface* targetSurface = nullptr;
 
     /// Allows retrieving measurements for a surface
     const std::map<GeometryIdentifier, SourceLink>* inputMeasurements = nullptr;
 
     /// Whether to consider multiple scattering.
     bool multipleScattering = false;
 
     /// Whether to consider energy loss.
     bool energyLoss = false;  /// TODO implement later
 
     /// Whether to include non-linear correction during global to local
     /// transformation
     FreeToBoundCorrection freeToBoundCorrection;
 
     /// Input MultiTrajectory
     std::shared_ptr<MultiTrajectory<traj_t>> outputStates;
 
     /// The logger instance
     const Logger* actorLogger{nullptr};
 
     /// Logger helper
     const Logger& logger() const { return *actorLogger; }
 
     Gx2FitterExtensions<traj_t> extensions;
 
     /// The Surface being
     SurfaceReached targetReached;
 
     /// Calibration context for the fit
     const CalibrationContext* calibrationContext{nullptr};
 
     /// The particle hypothesis is needed for estimating scattering angles
     const parameters_t* parametersWithHypothesis = nullptr;
 
     /// The scatteringMap stores for each visited surface their scattering
     /// properties
     std::unordered_map<GeometryIdentifier, ScatteringProperties>*
         scatteringMap = nullptr;
 
     /// @brief Gx2f actor operation
     ///
     /// @tparam propagator_state_t is the type of Propagator state
     /// @tparam stepper_t Type of the stepper
     /// @tparam navigator_t Type of the navigator
     ///
     /// @param state is the mutable propagator state object
     /// @param stepper The stepper in use
     /// @param navigator The navigator in use
     /// @param result is the mutable result state object
     template <typename propagator_state_t, typename stepper_t,
               typename navigator_t>
     void act(propagator_state_t& state, const stepper_t& stepper,
              const navigator_t& navigator, result_type& result,
              const Logger& /*logger*/) const {
       assert(result.fittedStates && "No MultiTrajectory set");
 
       // Check if we can stop to propagate
       if (result.measurementStates == inputMeasurements->size()) {
         ACTS_DEBUG("Actor: finish: All measurements have been found.");
         result.finished = true;
       } else if (state.navigation.navigationBreak) {
         ACTS_DEBUG("Actor: finish: navigationBreak.");
         result.finished = true;
       }
 
       // End the propagation and return to the fitter
       if (result.finished || !result.result.ok()) {
         // Remove the missing surfaces that occur after the last measurement
         if (result.measurementStates > 0) {
           result.missedActiveSurfaces.resize(result.measurementHoles);
         }
 
         return;
       }
 
       // We are only interested in surfaces. If we are not on a surface, we
       // continue the navigation
       auto surface = navigator.currentSurface(state.navigation);
       if (surface == nullptr) {
         return;
       }
 
       ++result.surfaceCount;
       const GeometryIdentifier geoId = surface->geometryId();
       ACTS_DEBUG("Surface " << geoId << " detected.");
 
       const bool surfaceIsSensitive =
           (surface->associatedDetectorElement() != nullptr);
       const bool surfaceHasMaterial = (surface->surfaceMaterial() != nullptr);
       // First we figure out, if we would need to look into material surfaces at
       // all. Later, we also check, if the material slab is valid, otherwise we
       // modify this flag to ignore the material completely.
       bool doMaterial = multipleScattering && surfaceHasMaterial;
 
       // Found material - add a scatteringAngles entry if not done yet.
       // Handling will happen later
       if (doMaterial) {
         ACTS_DEBUG("    The surface contains material, ...");
 
         auto scatteringMapId = scatteringMap->find(geoId);
         if (scatteringMapId == scatteringMap->end()) {
           ACTS_DEBUG("    ... create entry in scattering map.");
 
           Acts::detail::PointwiseMaterialInteraction interaction(surface, state,
                                                                  stepper);
           // We need to evaluate the material to create the correct slab
           const bool slabIsValid = interaction.evaluateMaterialSlab(
               state, navigator, MaterialUpdateStage::FullUpdate);
           double invSigma2 = 0.;
           if (slabIsValid) {
             const auto& particle =
                 parametersWithHypothesis->particleHypothesis();
 
             const double sigma =
                 static_cast<double>(Acts::computeMultipleScatteringTheta0(
                     interaction.slab, particle.absolutePdg(), particle.mass(),
                     static_cast<float>(
                         parametersWithHypothesis->parameters()[eBoundQOverP]),
                     particle.absoluteCharge()));
             ACTS_VERBOSE(
                 "        The Highland formula gives sigma = " << sigma);
             invSigma2 = 1. / std::pow(sigma, 2);
           } else {
             ACTS_VERBOSE("        Material slab is not valid.");
           }
 
           scatteringMap->emplace(
               geoId, ScatteringProperties{BoundVector::Zero(), invSigma2,
                                           slabIsValid});
           scatteringMapId = scatteringMap->find(geoId);
         } else {
           ACTS_DEBUG("    ... found entry in scattering map.");
         }
 
         doMaterial = doMaterial && scatteringMapId->second.materialIsValid();
       }
 
       // Here we handle all measurements
       if (auto sourceLinkIt = inputMeasurements->find(geoId);
           sourceLinkIt != inputMeasurements->end()) {
         ACTS_DEBUG("    The surface contains a measurement.");
 
         // Transport the covariance to the surface
         stepper.transportCovarianceToBound(state.stepping, *surface,
                                            freeToBoundCorrection);
 
         // TODO generalize the update of the currentTrackIndex
         auto& fittedStates = *result.fittedStates;
 
         // Add a <trackStateMask> TrackState entry multi trajectory. This
         // allocates storage for all components, which we will set later.
         typename traj_t::TrackStateProxy trackStateProxy =
             fittedStates.makeTrackState(Gx2fConstants::trackStateMask,
                                         result.lastTrackIndex);
         const std::size_t currentTrackIndex = trackStateProxy.index();
 
         // Set the trackStateProxy components with the state from the ongoing
         // propagation
         {
           trackStateProxy.setReferenceSurface(surface->getSharedPtr());
           // Bind the transported state to the current surface
           auto res = stepper.boundState(state.stepping, *surface, false,
                                         freeToBoundCorrection);
           if (!res.ok()) {
             result.result = res.error();
             return;
           }
           // Not const since, we might need to update with scattering angles
           auto& [boundParams, jacobian, pathLength] = *res;
 
           // For material surfaces, we also update the angles with the
           // available scattering information
           if (doMaterial) {
             ACTS_DEBUG("    Update parameters with scattering angles.");
             const auto scatteringMapId = scatteringMap->find(geoId);
             ACTS_VERBOSE(
                 "        scatteringAngles: "
                 << scatteringMapId->second.scatteringAngles().transpose());
             ACTS_VERBOSE("        boundParams before the update: "
                          << boundParams.parameters().transpose());
             boundParams.parameters() +=
                 scatteringMapId->second.scatteringAngles();
             ACTS_VERBOSE("        boundParams after the update: "
                          << boundParams.parameters().transpose());
           }
 
           // Fill the track state
           trackStateProxy.smoothed() = boundParams.parameters();
           trackStateProxy.smoothedCovariance() = state.stepping.cov;
 
           trackStateProxy.jacobian() = jacobian;
           trackStateProxy.pathLength() = pathLength;
 
           if (doMaterial) {
             stepper.update(state.stepping,
                            transformBoundToFreeParameters(
                                trackStateProxy.referenceSurface(),
                                state.geoContext, trackStateProxy.smoothed()),
                            trackStateProxy.smoothed(),
                            trackStateProxy.smoothedCovariance(), *surface);
           }
         }
 
         // We have smoothed parameters, so calibrate the uncalibrated input
         // measurement
         extensions.calibrator(state.geoContext, *calibrationContext,
                               sourceLinkIt->second, trackStateProxy);
 
         // Get and set the type flags
         auto typeFlags = trackStateProxy.typeFlags();
         typeFlags.set(TrackStateFlag::ParameterFlag);
         if (surfaceHasMaterial) {
           typeFlags.set(TrackStateFlag::MaterialFlag);
         }
 
         // Set the measurement type flag
         typeFlags.set(TrackStateFlag::MeasurementFlag);
         // We count the processed measurement
         ++result.processedMeasurements;
 
         result.lastMeasurementIndex = currentTrackIndex;
         result.lastTrackIndex = currentTrackIndex;
 
         // TODO check for outlier first
         // We count the state with measurement
         ++result.measurementStates;
 
         // We count the processed state
         ++result.processedStates;
 
         // Update the number of holes count only when encountering a
         // measurement
         result.measurementHoles = result.missedActiveSurfaces.size();
 
         return;
       }
 
       if (doMaterial) {
         // Here we handle material for multipleScattering. If holes exist, we
         // also handle them already. We create a full trackstate (unlike for
         // simple holes), since we need to evaluate the material later
         ACTS_DEBUG(
             "    The surface contains no measurement, but material and maybe "
             "a hole.");
 
         // Transport the covariance to the surface
         stepper.transportCovarianceToBound(state.stepping, *surface,
                                            freeToBoundCorrection);
 
         // TODO generalize the update of the currentTrackIndex
         auto& fittedStates = *result.fittedStates;
 
         // Add a <trackStateMask> TrackState entry multi trajectory. This
         // allocates storage for all components, which we will set later.
         typename traj_t::TrackStateProxy trackStateProxy =
             fittedStates.makeTrackState(Gx2fConstants::trackStateMask,
                                         result.lastTrackIndex);
         const std::size_t currentTrackIndex = trackStateProxy.index();
 
         // Set the trackStateProxy components with the state from the ongoing
         // propagation
         {
           trackStateProxy.setReferenceSurface(surface->getSharedPtr());
           // Bind the transported state to the current surface
           auto res = stepper.boundState(state.stepping, *surface, false,
                                         freeToBoundCorrection);
           if (!res.ok()) {
             result.result = res.error();
             return;
           }
           // Not const since, we might need to update with scattering angles
           auto& [boundParams, jacobian, pathLength] = *res;
 
           // For material surfaces, we also update the angles with the
           // available scattering information
           // We can skip the if here, since we already know, that we do
           // multipleScattering and have material
           ACTS_DEBUG("    Update parameters with scattering angles.");
           const auto scatteringMapId = scatteringMap->find(geoId);
           ACTS_VERBOSE(
               "        scatteringAngles: "
               << scatteringMapId->second.scatteringAngles().transpose());
           ACTS_VERBOSE("        boundParams before the update: "
                        << boundParams.parameters().transpose());
           boundParams.parameters() +=
               scatteringMapId->second.scatteringAngles();
           ACTS_VERBOSE("        boundParams after the update: "
                        << boundParams.parameters().transpose());
 
           // Fill the track state
           trackStateProxy.smoothed() = boundParams.parameters();
           trackStateProxy.smoothedCovariance() = state.stepping.cov;
 
           trackStateProxy.jacobian() = jacobian;
           trackStateProxy.pathLength() = pathLength;
 
           stepper.update(state.stepping,
                          transformBoundToFreeParameters(
                              trackStateProxy.referenceSurface(),
                              state.geoContext, trackStateProxy.smoothed()),
                          trackStateProxy.smoothed(),
                          trackStateProxy.smoothedCovariance(), *surface);
         }
 
         // Get and set the type flags
         auto typeFlags = trackStateProxy.typeFlags();
         typeFlags.set(TrackStateFlag::ParameterFlag);
         typeFlags.set(TrackStateFlag::MaterialFlag);
 
         // Set hole only, if we are on a sensitive surface and had
         // measurements before (no holes before the first measurement)
         const bool precedingMeasurementExists = (result.measurementStates > 0);
         if (surfaceIsSensitive && precedingMeasurementExists) {
           ACTS_DEBUG("    Surface is also sensitive. Marked as hole.");
           typeFlags.set(TrackStateFlag::HoleFlag);
 
           // Count the missed surface
           result.missedActiveSurfaces.push_back(surface);
         }
 
         result.lastTrackIndex = currentTrackIndex;
 
         ++result.processedStates;
 
         return;
       }
 
       if (surfaceIsSensitive || surfaceHasMaterial) {
         // Here we handle holes. If material hasn't been handled before
         // (because multipleScattering is turned off), we will also handle it
         // here
         if (multipleScattering) {
           ACTS_DEBUG(
               "    The surface contains no measurement, but maybe a hole.");
         } else {
           ACTS_DEBUG(
               "    The surface contains no measurement, but maybe a hole "
               "and/or material.");
         }
 
         // We only create track states here if there is already a measurement
         // detected (no holes before the first measurement) or if we encounter
         // material
         const bool precedingMeasurementExists = (result.measurementStates > 0);
         if (!precedingMeasurementExists && !surfaceHasMaterial) {
           ACTS_DEBUG(
               "    Ignoring hole, because there are no preceding "
               "measurements.");
           return;
         }
 
         auto& fittedStates = *result.fittedStates;
 
         // Add a <trackStateMask> TrackState entry multi trajectory. This
         // allocates storage for all components, which we will set later.
         typename traj_t::TrackStateProxy trackStateProxy =
             fittedStates.makeTrackState(Gx2fConstants::trackStateMask,
                                         result.lastTrackIndex);
         const std::size_t currentTrackIndex = trackStateProxy.index();
 
         // Set the trackStateProxy components with the state from the
         // ongoing propagation
         {
           trackStateProxy.setReferenceSurface(surface->getSharedPtr());
           // Bind the transported state to the current surface
           auto res = stepper.boundState(state.stepping, *surface, false,
                                         freeToBoundCorrection);
           if (!res.ok()) {
             result.result = res.error();
             return;
           }
           const auto& [boundParams, jacobian, pathLength] = *res;
 
           // Fill the track state
           trackStateProxy.smoothed() = boundParams.parameters();
           trackStateProxy.smoothedCovariance() = state.stepping.cov;
 
           trackStateProxy.jacobian() = jacobian;
           trackStateProxy.pathLength() = pathLength;
         }
 
         // Get and set the type flags
         auto typeFlags = trackStateProxy.typeFlags();
         typeFlags.set(TrackStateFlag::ParameterFlag);
         if (surfaceHasMaterial) {
           ACTS_DEBUG("    It is material.");
           typeFlags.set(TrackStateFlag::MaterialFlag);
         }
 
         // Set hole only, if we are on a sensitive surface
         if (surfaceIsSensitive && precedingMeasurementExists) {
           ACTS_DEBUG("    It is a hole.");
           typeFlags.set(TrackStateFlag::HoleFlag);
           // Count the missed surface
           result.missedActiveSurfaces.push_back(surface);
         }
 
         result.lastTrackIndex = currentTrackIndex;
 
         ++result.processedStates;
 
         return;
       }
 
       ACTS_DEBUG("    The surface contains no measurement/material/hole.");
       return;
     }
 
     template <typename propagator_state_t, typename stepper_t,
               typename navigator_t, typename result_t>
     bool checkAbort(propagator_state_t& /*state*/, const stepper_t& /*stepper*/,
                     const navigator_t& /*navigator*/, const result_t& result,
                     const Logger& /*logger*/) const {
       if (!result.result.ok() || result.finished) {
         return true;
       }
       return false;
     }
   };
 
  public:
   /// Fit implementation
   ///
   /// @tparam source_link_iterator_t Iterator type used to pass source links
   /// @tparam start_parameters_t Type of the initial parameters
   /// @tparam parameters_t Type of parameters used for local parameters
   /// @tparam track_container_t Type of the track container backend
   /// @tparam holder_t Type defining track container backend ownership
   ///
   /// @param it Begin iterator for the fittable uncalibrated measurements
   /// @param end End iterator for the fittable uncalibrated measurements
   /// @param sParameters The initial track parameters
   /// @param gx2fOptions Gx2FitterOptions steering the fit
   /// @param trackContainer Input track container storage to append into
   /// @note The input measurements are given in the form of @c SourceLink s.
   /// It's the calibrators job to turn them into calibrated measurements used in
   /// the fit.
   ///
   /// @return the output as an output track
   template <typename source_link_iterator_t, typename start_parameters_t,
             typename parameters_t = BoundTrackParameters,
             TrackContainerFrontend track_container_t>
   Result<typename track_container_t::TrackProxy> fit(
       source_link_iterator_t it, source_link_iterator_t end,
       const start_parameters_t& sParameters,
       const Gx2FitterOptions<traj_t>& gx2fOptions,
       track_container_t& trackContainer) const
     requires(!isDirectNavigator)
   {
     // Preprocess Measurements (SourceLinks -> map)
     // To be able to find measurements later, we put them into a map.
     // We need to copy input SourceLinks anyway, so the map can own them.
     ACTS_VERBOSE("Preparing " << std::distance(it, end)
                               << " input measurements");
     std::map<GeometryIdentifier, SourceLink> inputMeasurements;
 
     for (; it != end; ++it) {
       SourceLink sl = *it;
       auto geoId = gx2fOptions.extensions.surfaceAccessor(sl)->geometryId();
       inputMeasurements.emplace(geoId, std::move(sl));
     }
 
     // Store, if we want to do multiple scattering. We still need to pass this
     // option to the Actor.
     const bool multipleScattering = gx2fOptions.multipleScattering;
 
     // Create the ActorList
     using GX2FActor = Actor<parameters_t>;
 
     using GX2FResult = typename GX2FActor::result_type;
     using Actors = Acts::ActorList<GX2FActor>;
 
     using PropagatorOptions = typename propagator_t::template Options<Actors>;
 
     start_parameters_t params = sParameters;
     double chi2sum = 0;
     double oldChi2sum = std::numeric_limits<double>::max();
 
     // We need to create a temporary track container. We create several times a
     // new track and delete it after updating the parameters. However, if we
     // would work on the externally provided track container, it would be
     // difficult to remove the correct track, if it contains more than one.
     typename track_container_t::TrackContainerBackend trackContainerTempBackend;
     traj_t trajectoryTempBackend;
     TrackContainer trackContainerTemp{trackContainerTempBackend,
                                       trajectoryTempBackend};
 
     // Create an index of the 'tip' of the track stored in multitrajectory. It
     // is needed outside the update loop. It will be updated with each iteration
     // and used for the final track
     std::size_t tipIndex = Acts::MultiTrajectoryTraits::kInvalid;
 
     // The scatteringMap stores for each visited surface their scattering
     // properties
     std::unordered_map<GeometryIdentifier, ScatteringProperties> scatteringMap;
 
     // This will be filled during the updates with the final covariance of the
     // track parameters.
     BoundMatrix fullCovariancePredicted = BoundMatrix::Identity();
 
     ACTS_VERBOSE("Initial parameters: " << params.parameters().transpose());
 
     /// Actual Fitting /////////////////////////////////////////////////////////
     ACTS_DEBUG("Start to iterate");
 
     // Iterate the fit and improve result. Abort after n steps or after
     // convergence.
     // nUpdate is initialized outside to save its state for the track.
     std::size_t nUpdate = 0;
     for (nUpdate = 0; nUpdate < gx2fOptions.nUpdateMax; nUpdate++) {
       ACTS_DEBUG("nUpdate = " << nUpdate + 1 << "/" << gx2fOptions.nUpdateMax);
 
       // set up propagator and co
       PropagatorOptions propagatorOptions{gx2fOptions.propagatorPlainOptions};
 
       // Add the measurement surface as external surface to the navigator.
       // We will try to hit those surface by ignoring boundary checks.
       for (const auto& [surfaceId, _] : inputMeasurements) {
         propagatorOptions.navigation.insertExternalSurface(surfaceId);
       }
 
       auto& gx2fActor = propagatorOptions.actorList.template get<GX2FActor>();
       gx2fActor.inputMeasurements = &inputMeasurements;
       gx2fActor.multipleScattering = false;
       gx2fActor.extensions = gx2fOptions.extensions;
       gx2fActor.calibrationContext = &gx2fOptions.calibrationContext.get();
       gx2fActor.actorLogger = m_actorLogger.get();
       gx2fActor.scatteringMap = &scatteringMap;
       gx2fActor.parametersWithHypothesis = &params;
 
       auto propagatorState = m_propagator.makeState(propagatorOptions);
 
       auto propagatorInitResult =
           m_propagator.initialize(propagatorState, params);
       if (!propagatorInitResult.ok()) {
         ACTS_ERROR("Propagation initialization failed: "
                    << propagatorInitResult.error());
         return propagatorInitResult.error();
       }
 
       auto& r = propagatorState.template get<Gx2FitterResult<traj_t>>();
       r.fittedStates = &trajectoryTempBackend;
 
       // Clear the track container. It could be more performant to update the
       // existing states, but this needs some more thinking.
       trackContainerTemp.clear();
 
       auto propagationResult = m_propagator.propagate(propagatorState);
 
       // Run the fitter
       auto result =
           m_propagator.makeResult(std::move(propagatorState), propagationResult,
                                   propagatorOptions, false);
 
       if (!result.ok()) {
         ACTS_ERROR("Propagation failed: " << result.error());
         return result.error();
       }
 
       // TODO Improve Propagator + Actor [allocate before loop], rewrite
       // makeMeasurements
       auto& propRes = *result;
       GX2FResult gx2fResult = std::move(propRes.template get<GX2FResult>());
 
       if (!gx2fResult.result.ok()) {
         ACTS_INFO("GlobalChiSquareFitter failed in actor: "
                   << gx2fResult.result.error() << ", "
                   << gx2fResult.result.error().message());
         return gx2fResult.result.error();
       }
 
       auto track = trackContainerTemp.makeTrack();
       tipIndex = gx2fResult.lastMeasurementIndex;
 
       // It could happen, that no measurements were found. Then the track would
       // be empty and the following operations would be invalid. Usually, this
       // only happens during the first iteration, due to bad initial parameters.
       if (tipIndex == Acts::MultiTrajectoryTraits::kInvalid) {
         ACTS_INFO("Did not find any measurements in nUpdate "
                   << nUpdate + 1 << "/" << gx2fOptions.nUpdateMax);
         return Experimental::GlobalChiSquareFitterError::NotEnoughMeasurements;
       }
 
       track.tipIndex() = tipIndex;
       track.linkForward();
 
       // Count the material surfaces, to set up the system. In the multiple
       // scattering case, we need to extend our system.
       const std::size_t nMaterialSurfaces = 0u;
 
       // We need 6 dimensions for the bound parameters and 2 * nMaterialSurfaces
       // dimensions for the scattering angles.
       const std::size_t dimsExtendedParams = eBoundSize + 2 * nMaterialSurfaces;
 
       // System that we fill with the information gathered by the actor and
       // evaluate later
       Gx2fSystem extendedSystem{dimsExtendedParams};
 
       // This vector stores the IDs for each visited material in order. We use
       // it later for updating the scattering angles. We cannot use
       // scatteringMap directly, since we cannot guarantee, that we will visit
       // all stored material in each propagation.
       std::vector<GeometryIdentifier> geoIdVector;
 
       fillGx2fSystem(track, extendedSystem, false, scatteringMap, geoIdVector,
                      *m_addToSumLogger);
 
       chi2sum = extendedSystem.chi2();
 
       // This check takes into account the evaluated dimensions of the
       // measurements. To fit, we need at least NDF+1 measurements. However, we
       // count n-dimensional measurements for n measurements, reducing the
       // effective number of needed measurements. We might encounter the case,
       // where we cannot use some (parts of a) measurements, maybe if we do not
       // support that kind of measurement. This is also taken into account here.
       // We skip the check during the first iteration, since we cannot guarantee
       // to hit all/enough measurement surfaces with the initial parameter
       // guess.
       // We skip the check during the first iteration, since we cannot guarantee
       // to hit all/enough measurement surfaces with the initial parameter
       // guess.
       if ((nUpdate > 0) && !extendedSystem.isWellDefined()) {
         ACTS_INFO("Not enough measurements. Require "
                   << extendedSystem.findRequiredNdf() + 1 << ", but only "
                   << extendedSystem.ndf() << " could be used.");
         return Experimental::GlobalChiSquareFitterError::NotEnoughMeasurements;
       }
 
       Eigen::VectorXd deltaParamsExtended =
           computeGx2fDeltaParams(extendedSystem);
 
       ACTS_VERBOSE("aMatrix:\n"
                    << extendedSystem.aMatrix() << "\n"
                    << "bVector:\n"
                    << extendedSystem.bVector() << "\n"
                    << "deltaParamsExtended:\n"
                    << deltaParamsExtended << "\n"
                    << "oldChi2sum = " << oldChi2sum << "\n"
                    << "chi2sum = " << extendedSystem.chi2());
 
       if ((gx2fOptions.relChi2changeCutOff != 0) && (nUpdate > 0) &&
           (std::abs(extendedSystem.chi2() / oldChi2sum - 1) <
            gx2fOptions.relChi2changeCutOff)) {
         ACTS_DEBUG("Abort with relChi2changeCutOff after "
                    << nUpdate + 1 << "/" << gx2fOptions.nUpdateMax
                    << " iterations.");
         updateGx2fCovarianceParams(fullCovariancePredicted, extendedSystem);
         break;
       }
 
       if (extendedSystem.chi2() > oldChi2sum + 1e-5) {
         ACTS_DEBUG("chi2 not converging monotonically in update " << nUpdate);
       }
 
       // If this is the final iteration, update the covariance and break.
       // Otherwise, we would update the scattering angles too much.
       if (nUpdate == gx2fOptions.nUpdateMax - 1) {
         // Since currently most of our tracks converge in 4-5 updates, we want
         // to set nUpdateMax higher than that to guarantee convergence for most
         // tracks. In cases, where we set a smaller nUpdateMax, it's because we
         // want to investigate the behaviour of the fitter before it converges,
         // like in some unit-tests.
         if (gx2fOptions.nUpdateMax > 5) {
           ACTS_INFO("Did not converge in " << gx2fOptions.nUpdateMax
                                            << " updates.");
           return Experimental::GlobalChiSquareFitterError::DidNotConverge;
         }
 
         updateGx2fCovarianceParams(fullCovariancePredicted, extendedSystem);
         break;
       }
 
       updateGx2fParams(params, deltaParamsExtended, nMaterialSurfaces,
                        scatteringMap, geoIdVector);
       ACTS_VERBOSE("Updated parameters: " << params.parameters().transpose());
 
       oldChi2sum = extendedSystem.chi2();
     }
     ACTS_DEBUG("Finished to iterate");
     ACTS_VERBOSE("Final parameters: " << params.parameters().transpose());
     /// Finish Fitting /////////////////////////////////////////////////////////
 
     /// Actual MATERIAL Fitting ////////////////////////////////////////////////
     ACTS_DEBUG("Start to evaluate material");
     if (multipleScattering) {
       // Setup the propagator
       PropagatorOptions propagatorOptions{gx2fOptions.propagatorPlainOptions};
 
       // Add the measurement surface as external surface to the navigator.
       // We will try to hit those surface by ignoring boundary checks.
       for (const auto& [surfaceId, _] : inputMeasurements) {
         propagatorOptions.navigation.insertExternalSurface(surfaceId);
       }
 
       auto& gx2fActor = propagatorOptions.actorList.template get<GX2FActor>();
       gx2fActor.inputMeasurements = &inputMeasurements;
       gx2fActor.multipleScattering = true;
       gx2fActor.extensions = gx2fOptions.extensions;
       gx2fActor.calibrationContext = &gx2fOptions.calibrationContext.get();
       gx2fActor.actorLogger = m_actorLogger.get();
       gx2fActor.scatteringMap = &scatteringMap;
       gx2fActor.parametersWithHypothesis = &params;
 
       auto propagatorState = m_propagator.makeState(propagatorOptions);
 
       auto propagatorInitResult =
           m_propagator.initialize(propagatorState, params);
       if (!propagatorInitResult.ok()) {
         ACTS_ERROR("Propagation initialization failed: "
                    << propagatorInitResult.error());
         return propagatorInitResult.error();
       }
 
       auto& r = propagatorState.template get<Gx2FitterResult<traj_t>>();
       r.fittedStates = &trajectoryTempBackend;
 
       // Clear the track container. It could be more performant to update the
       // existing states, but this needs some more thinking.
       trackContainerTemp.clear();
 
       auto propagationResult = m_propagator.propagate(propagatorState);
 
       // Run the fitter
       auto result =
           m_propagator.makeResult(std::move(propagatorState), propagationResult,
                                   propagatorOptions, false);
 
       if (!result.ok()) {
         ACTS_ERROR("Propagation failed: " << result.error());
         return result.error();
       }
 
       // TODO Improve Propagator + Actor [allocate before loop], rewrite
       // makeMeasurements
       auto& propRes = *result;
       GX2FResult gx2fResult = std::move(propRes.template get<GX2FResult>());
 
       if (!gx2fResult.result.ok()) {
         ACTS_INFO("GlobalChiSquareFitter failed in actor: "
                   << gx2fResult.result.error() << ", "
                   << gx2fResult.result.error().message());
         return gx2fResult.result.error();
       }
 
       auto track = trackContainerTemp.makeTrack();
       tipIndex = gx2fResult.lastMeasurementIndex;
 
       // It could happen, that no measurements were found. Then the track would
       // be empty and the following operations would be invalid. Usually, this
       // only happens during the first iteration, due to bad initial parameters.
       if (tipIndex == Acts::MultiTrajectoryTraits::kInvalid) {
         ACTS_INFO("Did not find any measurements in material fit.");
         return Experimental::GlobalChiSquareFitterError::NotEnoughMeasurements;
       }
 
       track.tipIndex() = tipIndex;
       track.linkForward();
 
       // Count the material surfaces, to set up the system. In the multiple
       // scattering case, we need to extend our system.
       const std::size_t nMaterialSurfaces =
           countMaterialStates(track, scatteringMap, *m_addToSumLogger);
 
       // We need 6 dimensions for the bound parameters and 2 * nMaterialSurfaces
       // dimensions for the scattering angles.
       const std::size_t dimsExtendedParams = eBoundSize + 2 * nMaterialSurfaces;
 
       // System that we fill with the information gathered by the actor and
       // evaluate later
       Gx2fSystem extendedSystem{dimsExtendedParams};
 
       // This vector stores the IDs for each visited material in order. We use
       // it later for updating the scattering angles. We cannot use
       // scatteringMap directly, since we cannot guarantee, that we will visit
       // all stored material in each propagation.
       std::vector<GeometryIdentifier> geoIdVector;
 
       fillGx2fSystem(track, extendedSystem, true, scatteringMap, geoIdVector,
                      *m_addToSumLogger);
 
       chi2sum = extendedSystem.chi2();
 
       // This check takes into account the evaluated dimensions of the
       // measurements. To fit, we need at least NDF+1 measurements. However, we
       // count n-dimensional measurements for n measurements, reducing the
       // effective number of needed measurements. We might encounter the case,
       // where we cannot use some (parts of a) measurements, maybe if we do not
       // support that kind of measurement. This is also taken into account here.
       // We skip the check during the first iteration, since we cannot guarantee
       // to hit all/enough measurement surfaces with the initial parameter
       // guess.
       if ((nUpdate > 0) && !extendedSystem.isWellDefined()) {
         ACTS_INFO("Not enough measurements. Require "
                   << extendedSystem.findRequiredNdf() + 1 << ", but only "
                   << extendedSystem.ndf() << " could be used.");
         return Experimental::GlobalChiSquareFitterError::NotEnoughMeasurements;
       }
 
       Eigen::VectorXd deltaParamsExtended =
           computeGx2fDeltaParams(extendedSystem);
 
       ACTS_VERBOSE("aMatrix:\n"
                    << extendedSystem.aMatrix() << "\n"
                    << "bVector:\n"
                    << extendedSystem.bVector() << "\n"
                    << "deltaParamsExtended:\n"
                    << deltaParamsExtended << "\n"
                    << "oldChi2sum = " << oldChi2sum << "\n"
                    << "chi2sum = " << extendedSystem.chi2());
 
       chi2sum = extendedSystem.chi2();
 
       updateGx2fParams(params, deltaParamsExtended, nMaterialSurfaces,
                        scatteringMap, geoIdVector);
       ACTS_VERBOSE("Updated parameters: " << params.parameters().transpose());
 
       updateGx2fCovarianceParams(fullCovariancePredicted, extendedSystem);
     }
     ACTS_DEBUG("Finished to evaluate material");
     ACTS_VERBOSE(
         "Final parameters after material: " << params.parameters().transpose());
     /// Finish MATERIAL Fitting ////////////////////////////////////////////////
 
     ACTS_VERBOSE("Final scattering angles:");
     for (const auto& [key, value] : scatteringMap) {
       if (!value.materialIsValid()) {
         continue;
       }
       const auto& angles = value.scatteringAngles();
       ACTS_VERBOSE("    ( " << angles[eBoundTheta] << " | " << angles[eBoundPhi]
                             << " )");
     }
 
     ACTS_VERBOSE("Final covariance:\n" << fullCovariancePredicted);
 
     // Propagate again with the final covariance matrix. This is necessary to
     // obtain the propagated covariance for each state.
     // We also need to recheck the result and find the tipIndex, because at this
     // step, we will not ignore the boundary checks for measurement surfaces. We
     // want to create trackstates only on surfaces, that we actually hit.
     if (gx2fOptions.nUpdateMax > 0) {
       ACTS_VERBOSE("Propagate with the final covariance.");
       // update covariance
       params.covariance() = fullCovariancePredicted;
 
       // set up the propagator
       PropagatorOptions propagatorOptions{gx2fOptions.propagatorPlainOptions};
       auto& gx2fActor = propagatorOptions.actorList.template get<GX2FActor>();
       gx2fActor.inputMeasurements = &inputMeasurements;
       gx2fActor.multipleScattering = multipleScattering;
       gx2fActor.extensions = gx2fOptions.extensions;
       gx2fActor.calibrationContext = &gx2fOptions.calibrationContext.get();
       gx2fActor.actorLogger = m_actorLogger.get();
       gx2fActor.scatteringMap = &scatteringMap;
       gx2fActor.parametersWithHypothesis = &params;
 
       auto propagatorState = m_propagator.makeState(propagatorOptions);
 
       auto propagatorInitResult =
           m_propagator.initialize(propagatorState, params);
       if (!propagatorInitResult.ok()) {
         ACTS_ERROR("Propagation initialization failed: "
                    << propagatorInitResult.error());
         return propagatorInitResult.error();
       }
 
       auto& r = propagatorState.template get<Gx2FitterResult<traj_t>>();
       r.fittedStates = &trackContainer.trackStateContainer();
 
       auto propagationResult = m_propagator.propagate(propagatorState);
 
       // Run the fitter
       auto result =
           m_propagator.makeResult(std::move(propagatorState), propagationResult,
                                   propagatorOptions, false);
 
       if (!result.ok()) {
         ACTS_ERROR("Propagation failed: " << result.error());
         return result.error();
       }
 
       auto& propRes = *result;
       GX2FResult gx2fResult = std::move(propRes.template get<GX2FResult>());
 
       if (!gx2fResult.result.ok()) {
         ACTS_INFO("GlobalChiSquareFitter failed in actor: "
                   << gx2fResult.result.error() << ", "
                   << gx2fResult.result.error().message());
         return gx2fResult.result.error();
       }
 
       if (tipIndex != gx2fResult.lastMeasurementIndex) {
         ACTS_INFO("Final fit used unreachable measurements.");
         tipIndex = gx2fResult.lastMeasurementIndex;
 
         // It could happen, that no measurements were found. Then the track
         // would be empty and the following operations would be invalid.
         if (tipIndex == Acts::MultiTrajectoryTraits::kInvalid) {
           ACTS_INFO("Did not find any measurements in final propagation.");
           return Experimental::GlobalChiSquareFitterError::
               NotEnoughMeasurements;
         }
       }
     }
 
     if (!trackContainer.hasColumn(
             Acts::hashString(Gx2fConstants::gx2fnUpdateColumn))) {
       trackContainer.template addColumn<std::uint32_t>("Gx2fnUpdateColumn");
     }
 
     // Prepare track for return
     auto track = trackContainer.makeTrack();
     track.tipIndex() = tipIndex;
     track.parameters() = params.parameters();
     track.covariance() = fullCovariancePredicted;
     track.setReferenceSurface(params.referenceSurface().getSharedPtr());
 
     if (trackContainer.hasColumn(
             Acts::hashString(Gx2fConstants::gx2fnUpdateColumn))) {
       ACTS_DEBUG("Add nUpdate to track");
       track.template component<std::uint32_t>("Gx2fnUpdateColumn") =
           static_cast<std::uint32_t>(nUpdate);
     }
 
     // TODO write test for calculateTrackQuantities
     calculateTrackQuantities(track);
 
     // Set the chi2sum for the track summary manually, since we don't calculate
     // it for each state
     track.chi2() = chi2sum;
 
     // Return the converted Track
     return track;
   }
 };
 
 }  // namespace Acts::Experimental

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