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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/Common.hpp"
 #include "Acts/EventData/MultiTrajectory.hpp"
 #include "Acts/EventData/MultiTrajectoryHelpers.hpp"
 #include "Acts/EventData/SourceLink.hpp"
 #include "Acts/EventData/VectorMultiTrajectory.hpp"
 #include "Acts/EventData/detail/CorrectedTransformationFreeToBound.hpp"
 #include "Acts/Geometry/GeometryContext.hpp"
 #include "Acts/MagneticField/MagneticFieldContext.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/LoopProtection.hpp"
 #include "Acts/Propagator/detail/PointwiseMaterialInteraction.hpp"
 #include "Acts/TrackFitting/KalmanFitterError.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 <memory>
 #include <unordered_map>
 #include <vector>
 
 namespace Acts {
 
 /// @addtogroup track_fitting
 /// @{
 
 /// Extension struct which holds delegates to customise the KF behavior
 template <typename traj_t>
 struct KalmanFitterExtensions {
   /// Type alias for track state proxy from trajectory
   using TrackStateProxy = typename traj_t::TrackStateProxy;
   /// Type alias for const track state proxy from trajectory
   using ConstTrackStateProxy = typename traj_t::ConstTrackStateProxy;
   /// Type alias for track parameters from track state proxy
   using Parameters = typename TrackStateProxy::Parameters;
 
   /// Type alias for measurement calibrator delegate
   using Calibrator =
       Delegate<void(const GeometryContext&, const CalibrationContext&,
                     const SourceLink&, TrackStateProxy)>;
 
   /// Type alias for Kalman filter update delegate
   using Updater = Delegate<Result<void>(const GeometryContext&, TrackStateProxy,
                                         const Logger&)>;
 
   /// Type alias for outlier detection delegate
   using OutlierFinder = Delegate<bool(ConstTrackStateProxy)>;
 
   /// Type alias for reverse filtering decision delegate
   using ReverseFilteringLogic = Delegate<bool(ConstTrackStateProxy)>;
 
   /// Type alias for track smoothing delegate
   using Smoother = Delegate<Result<void>(const GeometryContext&, traj_t&,
                                          std::size_t, const Logger&)>;
 
   /// Retrieves the associated surface from a source link
   SourceLinkSurfaceAccessor surfaceAccessor;
 
   /// 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;
 
   /// Decides whether the smoothing stage uses linearized transport or full
   /// reverse propagation
   ReverseFilteringLogic reverseFilteringLogic;
 
   /// The smoother back-propagates measurement information along the track
   Smoother smoother;
 
   /// Default constructor which connects the default void components
   KalmanFitterExtensions() {
     surfaceAccessor.connect<&detail::voidSurfaceAccessor>();
     calibrator.template connect<&detail::voidFitterCalibrator<traj_t>>();
     updater.template connect<&detail::voidFitterUpdater<traj_t>>();
     outlierFinder.template connect<&detail::voidOutlierFinder<traj_t>>();
     reverseFilteringLogic
         .template connect<&detail::voidReverseFilteringLogic<traj_t>>();
     smoother.template connect<&detail::voidFitterSmoother<traj_t>>();
   }
 };
 
 /// Combined options for the Kalman fitter.
 ///
 /// @tparam traj_t The trajectory type
 template <typename traj_t>
 struct KalmanFitterOptions {
   /// 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 tSurface The target surface for the fit
   /// @param mScattering Whether to include multiple scattering
   /// @param eLoss Whether to include energy loss
   /// @param rFiltering Whether to run reversed filtering
   /// @param rfScaling Scaling factor for covariance at input of reversed filtering
   /// @param freeToBoundCorrection_ Correction for non-linearity effect during transform from free to bound
   KalmanFitterOptions(const GeometryContext& gctx,
                       const MagneticFieldContext& mctx,
                       std::reference_wrapper<const CalibrationContext> cctx,
                       KalmanFitterExtensions<traj_t> extensions_,
                       const PropagatorPlainOptions& pOptions,
                       const Surface* tSurface = nullptr,
                       bool mScattering = true, bool eLoss = true,
                       bool rFiltering = false, double rfScaling = 1.0,
                       const FreeToBoundCorrection& freeToBoundCorrection_ =
                           FreeToBoundCorrection(false))
       : geoContext(gctx),
         magFieldContext(mctx),
         calibrationContext(cctx),
         extensions(extensions_),
         propagatorPlainOptions(pOptions),
         referenceSurface(tSurface),
         multipleScattering(mScattering),
         energyLoss(eLoss),
         reverseFiltering(rFiltering),
         reverseFilteringCovarianceScaling(rfScaling),
         freeToBoundCorrection(freeToBoundCorrection_) {}
 
   /// 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
   KalmanFitterExtensions<traj_t> extensions;
 
   /// The trivial propagator options
   PropagatorPlainOptions propagatorPlainOptions;
 
   /// The reference surface
   const Surface* referenceSurface = nullptr;
 
   /// Strategy to propagate to reference surface
   TrackExtrapolationStrategy referenceSurfaceStrategy =
       TrackExtrapolationStrategy::firstOrLast;
 
   /// Whether to consider multiple scattering
   bool multipleScattering = true;
 
   /// Whether to consider energy loss
   bool energyLoss = true;
 
   /// Whether to run filtering in reversed direction overwrite the
   /// ReverseFilteringLogic
   bool reverseFiltering = false;
 
   /// Factor by which the covariance of the input of the reversed filtering is
   /// scaled. This is only used in the backward filtering (if reverseFiltering
   /// is true or if the ReverseFilteringLogic return true for the track of
   /// interest).
   /// Note that the default value is not tuned and might need adjustment for
   /// different use cases.
   double reverseFilteringCovarianceScaling = 100.0;
 
   /// Whether to include non-linear correction during global to local
   /// transformation
   FreeToBoundCorrection freeToBoundCorrection;
 };
 
 /// Result payload returned by the Kalman fitter.
 template <typename traj_t>
 struct KalmanFitterResult {
   /// 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.
   /// TrackTraits::kInvalid is the start of a trajectory.
   std::size_t lastMeasurementIndex = kTrackIndexInvalid;
 
   /// 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.
   /// TrackTraits::kInvalid is the start of a trajectory.
   std::size_t lastTrackIndex = kTrackIndexInvalid;
 
   /// 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;
 
   /// Indicator if track fitting has been done
   bool finished = false;
 
   /// Measurement surfaces without hits
   std::vector<const Surface*> missedActiveSurfaces;
 
   /// Path limit aborter
   PathLimitReached pathLimitReached;
 };
 
 /// Kalman fitter implementation.
 ///
 /// @tparam propagator_t Type of the propagation class, usually an instance of
 ///         @ref Acts::Propagator
 ///
 /// The Kalman filter contains an Actor and a Sequencer sub-class.
 /// The Sequencer has to be part of the Navigator of the Propagator
 /// in order to initialize and provide the measurement surfaces.
 ///
 /// The Actor is part of the Propagation call and does the Kalman update
 /// and eventually the smoothing.  Updater, Smoother and Calibrator are
 /// given to the Actor for further use:
 /// - The Updater is the implemented kalman updater formalism, it
 ///   runs via a visitor pattern through the measurements.
 /// - The Smoother is called at the end of the filtering by the Actor.
 ///
 /// Measurements are not required to be ordered for the KalmanFilter,
 /// measurement ordering needs to be figured out by the navigation of
 /// the propagator.
 ///
 /// The void components are provided mainly for unit testing.
 template <typename propagator_t, typename traj_t>
 class KalmanFitter {
   /// The navigator type
   using KalmanNavigator = typename propagator_t::Navigator;
 
   /// The navigator has DirectNavigator type or not
   static constexpr bool isDirectNavigator =
       std::is_same_v<KalmanNavigator, DirectNavigator>;
 
  public:
   /// Constructor with propagator and logger
   /// @param pPropagator Propagator instance for track propagation
   /// @param _logger Logger for diagnostic output
   explicit KalmanFitter(propagator_t pPropagator,
                         std::unique_ptr<const Logger> _logger =
                             getDefaultLogger("KalmanFitter", Logging::INFO))
       : m_propagator(std::move(pPropagator)),
         m_logger{std::move(_logger)},
         m_actorLogger{m_logger->cloneWithSuffix("Actor")} {}
 
  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;
 
   const Logger& logger() const { return *m_logger; }
 
   /// @brief Propagator Actor plugin for the KalmanFilter
   ///
   /// The KalmanActor does not rely on the measurements to be
   /// sorted along the track.
   class Actor {
    public:
     /// Broadcast the result_type
     using result_type = KalmanFitterResult<traj_t>;
 
     /// The target surface aborter
     SurfaceReached targetReached{std::numeric_limits<double>::lowest()};
 
     /// Allows retrieving measurements for a surface
     std::unordered_map<const Surface*, SourceLink> inputMeasurements;
 
     /// Whether to consider multiple scattering.
     bool multipleScattering = true;
 
     /// Whether to consider energy loss.
     bool energyLoss = true;
 
     /// Whether to include non-linear correction during global to local
     /// transformation
     FreeToBoundCorrection freeToBoundCorrection;
 
     /// Input MultiTrajectory
     std::shared_ptr<traj_t> outputStates;
 
     KalmanFitterExtensions<traj_t> extensions;
 
     /// Calibration context for the fit
     const CalibrationContext* calibrationContext{nullptr};
 
     /// End of world aborter
     EndOfWorldReached endOfWorldReached;
 
     /// Volume constraint aborter
     VolumeConstraintAborter volumeConstraintAborter;
 
     /// The logger instance
     const Logger* actorLogger{nullptr};
 
     /// Logger helper
     const Logger& logger() const { return *actorLogger; }
 
     /// @brief Kalman 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>
     Result<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");
 
       if (result.finished) {
         return Result<void>::success();
       }
 
       ACTS_VERBOSE("KalmanFitter step at pos: "
                    << stepper.position(state.stepping).transpose()
                    << " dir: " << stepper.direction(state.stepping).transpose()
                    << " momentum: "
                    << stepper.absoluteMomentum(state.stepping));
 
       // Initialize path limit reached aborter
       if (result.pathLimitReached.internalLimit ==
           std::numeric_limits<double>::max()) {
         detail::setupLoopProtection(state, stepper, result.pathLimitReached,
                                     true, logger());
       }
 
       // Update:
       // - Waiting for a current surface
       const Surface* surface = navigator.currentSurface(state.navigation);
       if (surface != nullptr) {
         // Check if the surface is in the measurement map
         // -> Get the measurement / calibrate
         // -> Create the predicted state
         // -> Check outlier behavior, if non-outlier:
         // -> Perform the kalman update
         // -> Fill track state information & update stepper information
 
         ACTS_VERBOSE("Perform " << state.options.direction << " filter step");
         auto res = filter(*surface, state, stepper, navigator, result);
         if (!res.ok()) {
           ACTS_DEBUG("Error in " << state.options.direction
                                  << " filter: " << res.error());
           return res.error();
         }
       }
 
       // Finalization:
       // when all track states have been handled or an aborter is triggered
       const bool isTrackComplete =
           result.measurementStates == inputMeasurements.size();
       const bool isEndOfWorldReached =
           endOfWorldReached.checkAbort(state, stepper, navigator, logger());
       const bool isVolumeConstraintReached = volumeConstraintAborter.checkAbort(
           state, stepper, navigator, logger());
       const bool isPathLimitReached = result.pathLimitReached.checkAbort(
           state, stepper, navigator, logger());
       const bool isTargetReached =
           targetReached.checkAbort(state, stepper, navigator, logger());
       if (isTrackComplete || isEndOfWorldReached || isVolumeConstraintReached ||
           isPathLimitReached || isTargetReached) {
         ACTS_VERBOSE(
             "Finalizing Kalman fit: "
             << (isTrackComplete ? "track complete; " : "")
             << (isEndOfWorldReached ? "end of world reached; " : "")
             << (isVolumeConstraintReached ? "volume constraint reached; " : "")
             << (isPathLimitReached ? "path limit reached; " : "")
             << (isTargetReached ? "target surface reached; " : ""));
 
         if (isTargetReached) {
           ACTS_VERBOSE("Setting fitted parameters at target surface");
 
           // Bind the parameter to the target surface
           auto transportRes =
               stepper.transportToBound(state.stepping, *targetReached.surface);
           if (!transportRes.ok()) {
             ACTS_DEBUG("Error while transporting to the target surface: "
                        << transportRes.error() << " "
                        << transportRes.error().message());
             return transportRes.error();
           }
           auto res =
               stepper.boundParameters(state.stepping, *targetReached.surface);
           if (!res.ok()) {
             ACTS_DEBUG("Error while binding to the target surface: "
                        << res.error() << " " << res.error().message());
             return res.error();
           }
           result.fittedParameters = std::move(*res);
         }
 
         result.finished = true;
       }
 
       return Result<void>::success();
     }
 
     template <typename propagator_state_t, typename stepper_t,
               typename navigator_t>
     bool checkAbort(propagator_state_t& /*state*/, const stepper_t& /*stepper*/,
                     const navigator_t& /*navigator*/, const result_type& result,
                     const Logger& /*logger*/) const {
       return result.finished;
     }
 
     /// @brief Kalman actor operation: update
     ///
     /// @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 surface The surface where the update happens
     /// @param state The mutable propagator state object
     /// @param stepper The stepper in use
     /// @param navigator The navigator in use
     /// @param result The mutable result state object
     template <typename propagator_state_t, typename stepper_t,
               typename navigator_t>
     Result<void> filter(const Surface& surface, propagator_state_t& state,
                         const stepper_t& stepper, const navigator_t& navigator,
                         result_type& result) const {
       const bool precedingMeasurementExists = result.measurementStates > 0;
       const bool surfaceIsSensitive = surface.isSensitive();
       const bool surfaceHasMaterial = surface.hasMaterial();
 
       // Try to find the surface in the measurement surfaces
       const auto sourceLinkIt = inputMeasurements.find(&surface);
       if (sourceLinkIt != inputMeasurements.end()) {
         // Screen output message
         ACTS_VERBOSE("Measurement surface " << surface.geometryId()
                                             << " detected.");
         // Transport the covariance to the surface
         auto transportRes = stepper.transportToBound(state.stepping, surface,
                                                      freeToBoundCorrection);
         if (!transportRes.ok()) {
           return transportRes.error();
         }
 
         // Update state and stepper with pre material effects
         const Result<detail::PointwiseMaterialEffects>
             materialInteractionPreRes = detail::performMaterialInteraction(
                 state, stepper, surface,
                 detail::determineMaterialUpdateMode(
                     state, navigator, MaterialUpdateMode::PreUpdate),
                 NoiseUpdateMode::addNoise, multipleScattering, energyLoss,
                 logger());
         if (!materialInteractionPreRes.ok()) {
           ACTS_DEBUG("Material interaction failed during filter: "
                      << materialInteractionPreRes.error().message());
           return materialInteractionPreRes.error();
         }
 
         // Create a track state with the desired components. Note that the
         // filtered parameters are deliberately not allocated here: they are
         // only added once the Kalman update is about to write them, so that
         // the calibrator and the outlier finder cannot observe allocated but
         // uninitialized filtered parameters via `parameters()`.
         TrackStatePropMask mask = TrackStatePropMask::Predicted |
                                   TrackStatePropMask::Jacobian |
                                   TrackStatePropMask::Calibrated;
         typename traj_t::TrackStateProxy trackStateProxy =
             result.fittedStates->makeTrackState(mask, result.lastTrackIndex);
 
         typename traj_t::ConstTrackStateProxy trackStateProxyConst{
             trackStateProxy};
 
         // 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.boundParameters(state.stepping, surface);
         if (!res.ok()) {
           ACTS_DEBUG("Propagate to surface " << surface.geometryId()
                                              << " failed: " << res.error());
           return res.error();
         }
 
         // Fill the track state
         trackStateProxy.predicted() = res->parameters();
         trackStateProxy.predictedCovariance() =
             stepper.covariance(state.stepping).value();
 
         trackStateProxy.jacobian() = *transportRes;
         trackStateProxy.pathLength() = stepper.pathLength(state.stepping);
 
         // We have predicted 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.setHasParameters();
         if (surface.hasMaterial()) {
           typeFlags.setHasMaterial();
         }
 
         // Check if the state is an outlier.
         // If not:
         // - run Kalman update
         // - tag it as a measurement
         // - update the stepping state.
         // Else, just tag it as an outlier
         if (!extensions.outlierFinder(trackStateProxyConst)) {
           // Allocate the filtered parameters right before they are written
           trackStateProxy.addComponents(TrackStatePropMask::Filtered);
           // Run Kalman update
           auto updateRes =
               extensions.updater(state.geoContext, trackStateProxy, logger());
           if (!updateRes.ok()) {
             ACTS_DEBUG("Update step failed: " << updateRes.error());
             return updateRes.error();
           }
           // Set the measurement type flag
           typeFlags.setIsMeasurement();
         } else {
           ACTS_VERBOSE(
               "Filtering step successful. But measurement is determined "
               "to be an outlier. Stepping state is not updated.");
           // Set the outlier type flag
           typeFlags.setIsOutlier();
           trackStateProxy.shareFrom(trackStateProxy,
                                     TrackStatePropMask::Predicted,
                                     TrackStatePropMask::Filtered);
         }
 
         result.lastTrackIndex = trackStateProxy.index();
 
         // Update the stepper if it is not an outlier
         if (trackStateProxy.typeFlags().isMeasurement()) {
           // Update the stepping state with filtered parameters
           ACTS_VERBOSE("Filtering step successful, updated parameters are:\n"
                        << trackStateProxy.filtered().transpose());
           // update stepping state using filtered parameters after kalman
           stepper.update(state.stepping,
                          MultiTrajectoryHelpers::freeFiltered(
                              state.options.geoContext, trackStateProxy),
                          trackStateProxy.filtered(),
                          trackStateProxy.filteredCovariance(), surface);
           // We count the state with measurement
           ++result.measurementStates;
         }
 
         // Update state and stepper with post material effects
         const Result<detail::PointwiseMaterialEffects>
             materialInteractionPostRes = detail::performMaterialInteraction(
                 state, stepper, surface,
                 detail::determineMaterialUpdateMode(
                     state, navigator, MaterialUpdateMode::PostUpdate),
                 NoiseUpdateMode::addNoise, multipleScattering, energyLoss,
                 logger());
         if (!materialInteractionPostRes.ok()) {
           ACTS_DEBUG("Material interaction failed during filter: "
                      << materialInteractionPostRes.error().message());
           return materialInteractionPostRes.error();
         }
         // We count the processed state
         ++result.processedStates;
         // Update the number of holes count only when encountering a
         // measurement
         result.measurementHoles = result.missedActiveSurfaces.size();
         // Since we encountered a measurement update the lastMeasurementIndex to
         // the lastTrackIndex.
         result.lastMeasurementIndex = result.lastTrackIndex;
 
       } else if ((precedingMeasurementExists && surfaceIsSensitive) ||
                  surfaceHasMaterial) {
         // We only create track states here if there is already measurement
         // detected or if the surface has material (no holes before the first
         // measurement)
 
         // Create a track state with the desired components
         TrackStatePropMask mask =
             TrackStatePropMask::Predicted | TrackStatePropMask::Jacobian;
         typename traj_t::TrackStateProxy trackStateProxy =
             result.fittedStates->makeTrackState(mask, result.lastTrackIndex);
 
         // Set the trackStateProxy components with the state from the ongoing
         // propagation
         trackStateProxy.setReferenceSurface(surface.getSharedPtr());
         // Transport the covariance to the surface and bind the state to it
         auto transportRes = stepper.transportToBound(state.stepping, surface,
                                                      freeToBoundCorrection);
         if (!transportRes.ok()) {
           return transportRes.error();
         }
         auto res = stepper.boundParameters(state.stepping, surface);
         if (!res.ok()) {
           return res.error();
         }
 
         // Fill the track state
         trackStateProxy.predicted() = res->parameters();
         trackStateProxy.predictedCovariance() =
             stepper.covariance(state.stepping).value();
 
         trackStateProxy.jacobian() = *transportRes;
         trackStateProxy.pathLength() = stepper.pathLength(state.stepping);
 
         // Set the filtered parameter index to be the same with predicted
         // parameter
         trackStateProxy.shareFrom(trackStateProxy,
                                   TrackStatePropMask::Predicted,
                                   TrackStatePropMask::Filtered);
 
         // Set the track state flags
         auto typeFlags = trackStateProxy.typeFlags();
         typeFlags.setHasParameters();
 
         if (surfaceHasMaterial) {
           typeFlags.setHasMaterial();
         }
 
         if (surfaceIsSensitive && precedingMeasurementExists) {
           ACTS_VERBOSE("Detected hole on " << surface.geometryId());
           // If the surface is sensitive, set the hole type flag
           typeFlags.setIsHole();
         } else if (surfaceIsSensitive) {
           ACTS_VERBOSE("Skip hole (no preceding measurements) on surface "
                        << surface.geometryId());
         } else if (surfaceHasMaterial) {
           ACTS_VERBOSE("Detected in-sensitive surface "
                        << surface.geometryId());
         }
 
         result.lastTrackIndex = trackStateProxy.index();
 
         if (trackStateProxy.typeFlags().isHole()) {
           // Count the missed surface
           result.missedActiveSurfaces.push_back(&surface);
         }
 
         ++result.processedStates;
 
         // Update state and stepper with (possible) material effects
         const Result<detail::PointwiseMaterialEffects> materialInteractionRes =
             detail::performMaterialInteraction(
                 state, stepper, surface,
                 detail::determineMaterialUpdateMode(
                     state, navigator, MaterialUpdateMode::FullUpdate),
                 NoiseUpdateMode::addNoise, multipleScattering, energyLoss,
                 logger());
         if (!materialInteractionRes.ok()) {
           ACTS_DEBUG("Material interaction failed during filter: "
                      << materialInteractionRes.error().message());
           return materialInteractionRes.error();
         }
       }
 
       return Result<void>::success();
     }
   };
 
  public:
   /// Fit implementation of the forward filter, calls the
   /// the filter and smoother/reversed filter
   ///
   /// @tparam source_link_iterator_t Iterator type used to pass source links
   /// @tparam track_container_t Type of the track container
   ///
   /// @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 kfOptions KalmanOptions 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,
             TrackContainerFrontend track_container_t>
   Result<typename track_container_t::TrackProxy> fit(
       source_link_iterator_t it, source_link_iterator_t end,
       const BoundTrackParameters& sParameters,
       const KalmanFitterOptions<traj_t>& kfOptions,
       track_container_t& trackContainer) const {
     return fit_impl(it, end, sParameters, kfOptions, nullptr, trackContainer);
   }
 
   /// Fit implementation of the forward filter, calls the
   /// the filter and smoother/reversed filter
   ///
   /// @tparam source_link_iterator_t Iterator type used to pass source links
   /// @tparam track_container_t Type of the track container
   ///
   /// @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 kfOptions KalmanOptions steering the fit
   /// @param sSequence surface sequence used to initialize a DirectNavigator
   /// @param trackContainer Input track container storage to append into
   /// @note The input measurements are given in the form of @c SourceLinks.
   /// It's
   /// @c calibrator_t's job to turn them into calibrated measurements used in
   /// the fit.
   ///
   /// @return the output as an output track
   template <typename source_link_iterator_t,
             TrackContainerFrontend track_container_t>
   Result<typename track_container_t::TrackProxy> fit(
       source_link_iterator_t it, source_link_iterator_t end,
       const BoundTrackParameters& sParameters,
       const KalmanFitterOptions<traj_t>& kfOptions,
       const std::vector<const Surface*>& sSequence,
       track_container_t& trackContainer) const
     requires(isDirectNavigator)
   {
     return fit_impl(it, end, sParameters, kfOptions, &sSequence,
                     trackContainer);
   }
 
  private:
   template <typename source_link_iterator_t>
   auto make_propagator_options(source_link_iterator_t it,
                                source_link_iterator_t end,
                                const KalmanFitterOptions<traj_t>& kfOptions,
                                const std::vector<const Surface*>* sSequence,
                                const Surface* targetSurface,
                                bool reverseDirection) const {
     using KalmanActor = Actor;
     using Actors = ActorList<KalmanActor>;
     using PropagatorOptions = typename propagator_t::template Options<Actors>;
 
     const std::size_t nMeasurements = std::distance(it, end);
 
     // 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 " << nMeasurements << " input measurements");
     std::unordered_map<const Surface*, SourceLink> inputMeasurements;
     for (; it != end; ++it) {
       SourceLink sl = *it;
       const Surface* surface = kfOptions.extensions.surfaceAccessor(sl);
       inputMeasurements.try_emplace(surface, std::move(sl));
     }
 
     // Create relevant options for the propagation options
     PropagatorOptions propagatorOptions(kfOptions.geoContext,
                                         kfOptions.magFieldContext);
 
     // Set the trivial propagator options
     propagatorOptions.setPlainOptions(kfOptions.propagatorPlainOptions);
 
     if (reverseDirection) {
       propagatorOptions.direction = propagatorOptions.direction.invert();
     }
 
     if constexpr (!isDirectNavigator) {
       // Relax the bounds check, so the navigator targets a measurement
       // surface even where the track misses it
       for (const auto& [surface, _] : inputMeasurements) {
         propagatorOptions.navigation.registerMeasurementSurface(*surface);
       }
     } else {
       assert(sSequence != nullptr &&
              "DirectNavigator requires a surface sequence for KalmanFitter");
       // Set the surface sequence
       propagatorOptions.navigation.surfaceSequence = *sSequence;
     }
 
     // Catch the actor and set the measurements
     auto& kalmanActor = propagatorOptions.actorList.template get<KalmanActor>();
     kalmanActor.inputMeasurements = std::move(inputMeasurements);
     kalmanActor.targetReached.surface = targetSurface;
     kalmanActor.multipleScattering = kfOptions.multipleScattering;
     kalmanActor.energyLoss = kfOptions.energyLoss;
     kalmanActor.freeToBoundCorrection = kfOptions.freeToBoundCorrection;
     kalmanActor.calibrationContext = &kfOptions.calibrationContext.get();
     kalmanActor.extensions = kfOptions.extensions;
     kalmanActor.actorLogger = m_actorLogger.get();
 
     return propagatorOptions;
   }
 
   template <typename propagator_options_t,
             TrackContainerFrontend track_container_t>
   auto filter_impl(const BoundTrackParameters& sParameters,
                    const propagator_options_t& propagatorOptions,
                    track_container_t& trackContainer) const
       -> Result<typename track_container_t::TrackProxy> {
     auto propagatorState = m_propagator.makeState(propagatorOptions);
 
     auto propagatorInitResult =
         m_propagator.initialize(propagatorState, sParameters, nullptr);
     if (!propagatorInitResult.ok()) {
       ACTS_DEBUG("Propagation initialization failed: "
                  << propagatorInitResult.error());
       return propagatorInitResult.error();
     }
 
     auto& kalmanResult =
         propagatorState.template get<KalmanFitterResult<traj_t>>();
     kalmanResult.fittedStates = &trackContainer.trackStateContainer();
 
     // Run the fitter
     auto result = m_propagator.propagate(propagatorState);
 
     if (!result.ok()) {
       ACTS_DEBUG("Propagation failed: " << result.error());
       return result.error();
     }
 
     /// It could happen that the fit ends in zero measurement states.
     /// The result gets meaningless so such case is regarded as fit failure.
     if (!kalmanResult.measurementStates) {
       ACTS_DEBUG("KalmanFilter failed: No measurement states found");
       return KalmanFitterError::NoMeasurementFound;
     }
 
     auto track = trackContainer.makeTrack();
     track.tipIndex() = kalmanResult.lastMeasurementIndex;
     track.setParticleHypothesis(sParameters.particleHypothesis());
     if (kalmanResult.fittedParameters) {
       const auto& params = kalmanResult.fittedParameters.value();
       track.parameters() = params.parameters();
       track.covariance() = params.covariance().value();
       track.setReferenceSurface(params.referenceSurface().getSharedPtr());
     }
 
     calculateTrackQuantities(track);
 
     track.linkForward();
 
     return track;
   }
 
   /// Common fit implementation
   ///
   /// @tparam source_link_iterator_t Iterator type used to pass source links
   /// @tparam track_container_t Type of the track container
   ///
   /// @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 kfOptions KalmanOptions steering the fit
   /// @param sSequence surface sequence used to initialize a DirectNavigator
   /// @param trackContainer Input track container storage to append into
   ///
   /// @return the output as an output track
   template <typename source_link_iterator_t,
             TrackContainerFrontend track_container_t>
   auto fit_impl(source_link_iterator_t it, source_link_iterator_t end,
                 const BoundTrackParameters& sParameters,
                 const KalmanFitterOptions<traj_t>& kfOptions,
                 const std::vector<const Surface*>* sSequence,
                 track_container_t& trackContainer) const
       -> Result<typename track_container_t::TrackProxy> {
     using TrackProxy = typename track_container_t::TrackProxy;
     using TrackStateProxy = typename track_container_t::TrackStateProxy;
 
     auto forwardPropagatorOptions =
         make_propagator_options(it, end, kfOptions, sSequence, nullptr, false);
 
     auto forwardFilterResult =
         filter_impl(sParameters, forwardPropagatorOptions, trackContainer);
 
     if (!forwardFilterResult.ok()) {
       ACTS_DEBUG("KalmanFilter failed: "
                  << forwardFilterResult.error() << ", "
                  << forwardFilterResult.error().message());
       return forwardFilterResult.error();
     }
 
     TrackProxy forwardTrack = forwardFilterResult.value();
 
     TrackStateProxy firstMeasurementState =
         trackContainer.trackStateContainer().getTrackState(
             findFirstMeasurementState(forwardTrack).value().index());
     TrackStateProxy lastMeasurementState =
         trackContainer.trackStateContainer().getTrackState(
             findLastMeasurementState(forwardTrack).value().index());
     lastMeasurementState.shareFrom(lastMeasurementState,
                                    TrackStatePropMask::Filtered,
                                    TrackStatePropMask::Smoothed);
 
     TrackProxy track = forwardTrack;
 
     const bool doReverseFilter =
         kfOptions.reverseFiltering ||
         kfOptions.extensions.reverseFilteringLogic(
             typename traj_t::ConstTrackStateProxy(lastMeasurementState));
     if (doReverseFilter) {
       ACTS_VERBOSE("Smooth track by reversed filtering");
 
       auto reverseStartParameters = forwardTrack.createParametersFromState(
           typename traj_t::ConstTrackStateProxy(lastMeasurementState));
       reverseStartParameters.covariance().value() *=
           kfOptions.reverseFilteringCovarianceScaling;
       auto reversePropagatorOptions = make_propagator_options(
           it, end, kfOptions, sSequence, kfOptions.referenceSurface, true);
       auto reverseFilterResult = filter_impl(
           reverseStartParameters, reversePropagatorOptions, trackContainer);
 
       if (!reverseFilterResult.ok()) {
         ACTS_DEBUG("Reversed KalmanFilter failed: "
                    << reverseFilterResult.error() << ", "
                    << reverseFilterResult.error().message());
         return reverseFilterResult.error();
       }
 
       TrackProxy reverseTrack = reverseFilterResult.value();
 
       TrackStateProxy reverseLastMeasurementState =
           trackContainer.trackStateContainer().getTrackState(
               findLastMeasurementState(reverseTrack).value().index());
 
       if (&firstMeasurementState.referenceSurface() !=
           &reverseLastMeasurementState.referenceSurface()) {
         ACTS_DEBUG(
             "Inconsistent reference surfaces between forward and "
             "reversed filtered tracks");
         return Result<TrackProxy>::failure(
             KalmanFitterError::InconsistentTrackStates);
       }
       firstMeasurementState.shareFrom(reverseLastMeasurementState,
                                       TrackStatePropMask::Filtered,
                                       TrackStatePropMask::Smoothed);
 
       if (reverseTrack.hasReferenceSurface()) {
         track.parameters() = reverseTrack.parameters();
         track.covariance() = reverseTrack.covariance();
         track.setReferenceSurface(
             reverseTrack.referenceSurface().getSharedPtr());
       }
 
       trackContainer.removeTrack(reverseTrack.index());
     } else {
       ACTS_VERBOSE("Smooth track directly without reversed filtering");
 
       auto smoothRes = kfOptions.extensions.smoother(
           kfOptions.geoContext, trackContainer.trackStateContainer(),
           forwardTrack.tipIndex(), logger());
       if (!smoothRes.ok()) {
         ACTS_DEBUG("Smoothing step failed: " << smoothRes.error() << ", "
                                              << smoothRes.error().message());
         return smoothRes.error();
       }
     }
 
     if (!track.hasReferenceSurface() && kfOptions.referenceSurface != nullptr) {
       typename propagator_t::template Options<> extrapolationOptions(
           kfOptions.geoContext, kfOptions.magFieldContext);
       auto extrapolationResult = extrapolateTrackToReferenceSurface(
           track, *kfOptions.referenceSurface, m_propagator,
           extrapolationOptions, kfOptions.referenceSurfaceStrategy, logger());
 
       if (!extrapolationResult.ok()) {
         ACTS_DEBUG("Extrapolation to reference surface failed: "
                    << extrapolationResult.error() << ", "
                    << extrapolationResult.error().message());
         return extrapolationResult.error();
       }
     }
 
     if (trackContainer.hasColumn(hashString("smoothed"))) {
       track.template component<bool, hashString("smoothed")>() =
           !doReverseFilter;
     }
     if (trackContainer.hasColumn(hashString("reversed"))) {
       track.template component<bool, hashString("reversed")>() =
           doReverseFilter;
     }
 
     return track;
   }
 };
 
 /// @}
 
 }  // namespace Acts

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