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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/.
 
 #include "Acts/Utilities/SpacePointUtility.hpp"
 
 #include "Acts/Definitions/Algebra.hpp"
 #include "Acts/Definitions/Common.hpp"
 #include "Acts/EventData/SourceLink.hpp"
 #include "Acts/Geometry/TrackingGeometry.hpp"
 #include "Acts/SpacePointFormation/SpacePointBuilderOptions.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/Helpers.hpp"
 #include "Acts/Utilities/MathHelpers.hpp"
 
 #include <algorithm>
 #include <cmath>
 #include <memory>
 
 namespace Acts {
 
 Result<double> SpacePointUtility::differenceOfMeasurementsChecked(
     const Vector3& pos1, const Vector3& pos2, const Vector3& posVertex,
     const double maxDistance, const double maxAngleTheta2,
     const double maxAnglePhi2) const {
   // Check if measurements are close enough to each other
   if ((pos1 - pos2).norm() > maxDistance) {
     return Result<double>::failure(m_error);
   }
 
   // Calculate the angles of the vectors
   double phi1 = VectorHelpers::phi(pos1 - posVertex);
   double theta1 = VectorHelpers::theta(pos1 - posVertex);
   double phi2 = VectorHelpers::phi(pos2 - posVertex);
   double theta2 = VectorHelpers::theta(pos2 - posVertex);
   // Calculate the squared difference between the theta angles
   double diffTheta2 = (theta1 - theta2) * (theta1 - theta2);
   if (diffTheta2 > maxAngleTheta2) {
     return Result<double>::failure(m_error);
   }
   // Calculate the squared difference between the phi angles
   double diffPhi2 = (phi1 - phi2) * (phi1 - phi2);
   if (diffPhi2 > maxAnglePhi2) {
     return Result<double>::failure(m_error);
   }
   // Return the squared distance between both vector
   return Result<double>::success(diffTheta2 + diffPhi2);
 }
 
 std::tuple<Vector3, std::optional<double>, Vector2, std::optional<double>>
 SpacePointUtility::globalCoords(
     const GeometryContext& gctx, const SourceLink& slink,
     const SourceLinkSurfaceAccessor& surfaceAccessor, const BoundVector& par,
     const BoundSquareMatrix& cov) const {
   const Surface* surface = surfaceAccessor(slink);
   Vector2 localPos(par[eBoundLoc0], par[eBoundLoc1]);
   SquareMatrix2 localCov = cov.block<2, 2>(eBoundLoc0, eBoundLoc0);
   Vector3 globalPos = surface->localToGlobal(gctx, localPos, Vector3());
   RotationMatrix3 rotLocalToGlobal =
       surface->referenceFrame(gctx, globalPos, Vector3());
 
   // the space point requires only the variance of the transverse and
   // longitudinal position. reduce computations by transforming the
   // covariance directly from local to rho/z.
   //
   // compute Jacobian from global coordinates to rho/z
   //
   //         rho = sqrt(x² + y²)
   // drho/d{x,y} = (1 / sqrt(x² + y²)) * 2 * {x,y}
   //             = 2 * {x,y} / r
   //       dz/dz = 1
   //
   auto x = globalPos[ePos0];
   auto y = globalPos[ePos1];
   auto scale = 2 / fastHypot(x, y);
   ActsMatrix<2, 3> jacXyzToRhoZ = ActsMatrix<2, 3>::Zero();
   jacXyzToRhoZ(0, ePos0) = scale * x;
   jacXyzToRhoZ(0, ePos1) = scale * y;
   jacXyzToRhoZ(1, ePos2) = 1;
   // compute Jacobian from local coordinates to rho/z
   SquareMatrix2 jac = jacXyzToRhoZ * rotLocalToGlobal.block<3, 2>(ePos0, ePos0);
   // compute rho/z variance
   Vector2 var = (jac * localCov * jac.transpose()).diagonal();
 
   auto gcov = Vector2(var[0], var[1]);
 
   // optionally set time
   // TODO the current condition of checking the covariance is not optional but
   // should do for now
   std::optional<double> globalTime = par[eBoundTime];
   std::optional<double> tcov = cov(eBoundTime, eBoundTime);
   if (tcov.value() <= 0) {
     globalTime = std::nullopt;
     tcov = std::nullopt;
   }
 
   return {globalPos, globalTime, gcov, tcov};
 }
 
 Vector2 SpacePointUtility::calcRhoZVars(
     const GeometryContext& gctx, const SourceLink& slinkFront,
     const SourceLink& slinkBack,
     const SourceLinkSurfaceAccessor& surfaceAccessor,
     const ParamCovAccessor& paramCovAccessor, const Vector3& globalPos,
     const double theta) const {
   const auto var1 = paramCovAccessor(slinkFront).second(0, 0);
   const auto var2 = paramCovAccessor(slinkBack).second(0, 0);
 
   // strip1 and strip2 are tilted at +/- theta/2
   double sigma = fastHypot(var1, var2);
   double sigma_x = sigma / (2 * sin(theta * 0.5));
   double sigma_y = sigma / (2 * cos(theta * 0.5));
 
   // projection to the surface with strip1.
   double sig_x1 = sigma_x * cos(0.5 * theta) + sigma_y * sin(0.5 * theta);
   double sig_y1 = sigma_y * cos(0.5 * theta) + sigma_x * sin(0.5 * theta);
   SquareMatrix2 lcov;
   lcov << sig_x1, 0, 0, sig_y1;
 
   const Surface& surface = *surfaceAccessor(slinkFront);
 
   auto gcov = rhoZCovariance(gctx, surface, globalPos, lcov);
   return gcov;
 }
 
 Vector2 SpacePointUtility::rhoZCovariance(const GeometryContext& gctx,
                                           const Surface& surface,
                                           const Vector3& globalPos,
                                           const SquareMatrix2& localCov) const {
   Vector3 globalFakeMom(1, 1, 1);
 
   RotationMatrix3 rotLocalToGlobal =
       surface.referenceFrame(gctx, globalPos, globalFakeMom);
 
   auto x = globalPos[ePos0];
   auto y = globalPos[ePos1];
   auto scale = 2 / globalPos.head<2>().norm();
   ActsMatrix<2, 3> jacXyzToRhoZ = ActsMatrix<2, 3>::Zero();
   jacXyzToRhoZ(0, ePos0) = scale * x;
   jacXyzToRhoZ(0, ePos1) = scale * y;
   jacXyzToRhoZ(1, ePos2) = 1;
   // compute Jacobian from local coordinates to rho/z
   SquareMatrix2 jac = jacXyzToRhoZ * rotLocalToGlobal.block<3, 2>(ePos0, ePos0);
   // compute rho/z variance
   Vector2 var = (jac * localCov * jac.transpose()).diagonal();
 
   auto gcov = Vector2(var[0], var[1]);
 
   return gcov;
 }
 
 Result<void> SpacePointUtility::calculateStripSPPosition(
     const std::pair<Vector3, Vector3>& stripEnds1,
     const std::pair<Vector3, Vector3>& stripEnds2, const Vector3& posVertex,
     SpacePointParameters& spParams, const double stripLengthTolerance) const {
   /// The following algorithm is meant for finding the position on the first
   /// strip if there is a corresponding Measurement on the second strip. The
   /// resulting point is a point x on the first surfaces. This point is
   /// along a line between the points a (top end of the strip)
   /// and b (bottom end of the strip). The location can be parametrized as
   ///   2 * x = (1 + m) a + (1 - m) b
   /// as function of the scalar m. m is a parameter in the interval
   /// -1 < m < 1 since the hit was on the strip. Furthermore, the vector
   /// from the vertex to the Measurement on the second strip y is needed to be a
   /// multiple k of the vector from vertex to the hit on the first strip x.
   /// As a consequence of this demand y = k * x needs to be on the
   /// connecting line between the top (c) and bottom (d) end of
   /// the second strip. If both measurements correspond to each other, the
   /// condition
   ///   y * (c X d) = k * x (c X d) = 0 ("X" represents a cross product)
   /// needs to be fulfilled. Inserting the first equation into this
   /// equation leads to the condition for m as given in the following
   /// algorithm and therefore to the calculation of x.
   /// The same calculation can be repeated for y. Its corresponding
   /// parameter will be named n.
 
   spParams.firstBtmToTop = stripEnds1.first - stripEnds1.second;
   spParams.secondBtmToTop = stripEnds2.first - stripEnds2.second;
   spParams.vtxToFirstMid2 =
       stripEnds1.first + stripEnds1.second - 2 * posVertex;
   spParams.vtxToSecondMid2 =
       stripEnds2.first + stripEnds2.second - 2 * posVertex;
   spParams.firstBtmToTopXvtxToFirstMid2 =
       spParams.firstBtmToTop.cross(spParams.vtxToFirstMid2);
   spParams.secondBtmToTopXvtxToSecondMid2 =
       spParams.secondBtmToTop.cross(spParams.vtxToSecondMid2);
   spParams.m =
       -spParams.vtxToFirstMid2.dot(spParams.secondBtmToTopXvtxToSecondMid2) /
       spParams.firstBtmToTop.dot(spParams.secondBtmToTopXvtxToSecondMid2);
   spParams.n =
       -spParams.vtxToSecondMid2.dot(spParams.firstBtmToTopXvtxToFirstMid2) /
       spParams.secondBtmToTop.dot(spParams.firstBtmToTopXvtxToFirstMid2);
 
   // Set the limit for the parameter
   if (spParams.limit == 1. && stripLengthTolerance != 0.) {
     spParams.limit = 1. + stripLengthTolerance;
   }
 
   // Check if m and n can be resolved in the interval (-1, 1)
   if (std::abs(spParams.m) <= spParams.limit &&
       std::abs(spParams.n) <= spParams.limit) {
     return Result<void>::success();
   }
   return Result<void>::failure(m_error);
 }
 
 Result<void> SpacePointUtility::recoverSpacePoint(
     SpacePointParameters& spParams, double stripLengthGapTolerance) const {
   // Consider some cases that would allow an easy exit
   // Check if the limits are allowed to be increased
   if (stripLengthGapTolerance <= 0.) {
     return Result<void>::failure(m_error);
   }
 
   spParams.mag_firstBtmToTop = spParams.firstBtmToTop.norm();
   // Increase the limits. This allows a check if the point is just slightly
   // outside the SDE
   spParams.limitExtended =
       spParams.limit + stripLengthGapTolerance / spParams.mag_firstBtmToTop;
 
   // Check if m is just slightly outside
   if (std::abs(spParams.m) > spParams.limitExtended) {
     return Result<void>::failure(m_error);
   }
   // Calculate n if not performed previously
   if (spParams.n == 0.) {
     spParams.n =
         -spParams.vtxToSecondMid2.dot(spParams.firstBtmToTopXvtxToFirstMid2) /
         spParams.secondBtmToTop.dot(spParams.firstBtmToTopXvtxToFirstMid2);
   }
   // Check if n is just slightly outside
   if (std::abs(spParams.n) > spParams.limitExtended) {
     return Result<void>::failure(m_error);
   }
   /// The following code considers an overshoot of m and n in the same direction
   /// of their SDE. The term "overshoot" represents the amount of m or n outside
   /// its regular interval (-1, 1).
   /// It calculates which overshoot is worse. In order to compare both, the
   /// overshoot in n is projected onto the first surface by considering the
   /// normalized projection of r onto q.
   /// This allows a rescaling of the overshoot. The worse overshoot will be set
   /// to +/-1, the parameter with less overshoot will be moved towards 0 by the
   /// worse overshoot.
   /// In order to treat both SDEs equally, the rescaling eventually needs to be
   /// performed several times. If these shifts allows m and n to be in the
   /// limits, the space point can be stored.
   /// @note This shift can be understood as a shift of the particle's
   /// trajectory. This is leads to a shift of the vertex. Since these two points
   /// are treated independently from other measurement, it is also possible to
   /// consider this as a change in the slope of the particle's trajectory.
   ///  The would also move the vertex position.
 
   // Calculate the scaling factor to project lengths of the second SDE on the
   // first SDE
   double secOnFirstScale =
       spParams.firstBtmToTop.dot(spParams.secondBtmToTop) /
       (spParams.mag_firstBtmToTop * spParams.mag_firstBtmToTop);
   // Check if both overshoots are in the same direction
   if (spParams.m > 1. && spParams.n > 1.) {
     // Calculate the overshoots
     double mOvershoot = spParams.m - 1.;
     double nOvershoot =
         (spParams.n - 1.) * secOnFirstScale;  // Perform projection
     // Resolve worse overshoot
     double biggerOvershoot = std::max(mOvershoot, nOvershoot);
     // Move m and n towards 0
     spParams.m -= biggerOvershoot;
     spParams.n -= (biggerOvershoot / secOnFirstScale);
     // Check if this recovered the space point
 
     if (std::abs(spParams.m) < spParams.limit &&
         std::abs(spParams.n) < spParams.limit) {
       return Result<void>::success();
     } else {
       return Result<void>::failure(m_error);
     }
   }
   // Check if both overshoots are in the same direction
   if (spParams.m < -1. && spParams.n < -1.) {
     // Calculate the overshoots
     double mOvershoot = -(spParams.m + 1.);
     double nOvershoot =
         -(spParams.n + 1.) * secOnFirstScale;  // Perform projection
     // Resolve worse overshoot
     double biggerOvershoot = std::max(mOvershoot, nOvershoot);
     // Move m and n towards 0
     spParams.m += biggerOvershoot;
     spParams.n += (biggerOvershoot / secOnFirstScale);
     // Check if this recovered the space point
     if (std::abs(spParams.m) < spParams.limit &&
         std::abs(spParams.n) < spParams.limit) {
       return Result<void>::success();
     }
   }
   // No solution could be found
   return Result<void>::failure(m_error);
 }
 
 Result<double> SpacePointUtility::calcPerpendicularProjection(
     const std::pair<Vector3, Vector3>& stripEnds1,
     const std::pair<Vector3, Vector3>& stripEnds2,
     SpacePointParameters& spParams) const {
   /// This approach assumes that no vertex is available. This option aims to
   /// approximate the space points from cosmic data.
   /// The underlying assumption is that the best point is given by the  closest
   /// distance between both lines describing the SDEs.
   /// The point x on the first SDE is parametrized as a + lambda0 * q with  the
   /// top end a of the strip and the vector q = a - b(ottom end of the  strip).
   /// An analogous parametrization is performed of the second SDE with y = c  +
   /// lambda1 * r.
   /// x get resolved by resolving lambda0 from the condition that |x-y| is  the
   /// shortest distance between two skew lines.
 
   spParams.firstBtmToTop = stripEnds1.first - stripEnds1.second;
   spParams.secondBtmToTop = stripEnds2.first - stripEnds2.second;
 
   Vector3 ac = stripEnds2.first - stripEnds1.first;
   double qr = (spParams.firstBtmToTop).dot(spParams.secondBtmToTop);
   double denom = spParams.firstBtmToTop.dot(spParams.firstBtmToTop) - qr * qr;
   // Check for numerical stability
   if (std::abs(denom) > 1e-6) {
     // Return lambda0
     return Result<double>::success(
         (ac.dot(spParams.secondBtmToTop) * qr -
          ac.dot(spParams.firstBtmToTop) *
              (spParams.secondBtmToTop).dot(spParams.secondBtmToTop)) /
         denom);
   }
   return Result<double>::failure(m_error);
 }
 
 }  // namespace Acts

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