diff --git a/Core/include/Acts/Fitter/KalmanFitter.hpp b/Core/include/Acts/Fitter/KalmanFitter.hpp
index 98aa3b8b61cbab5886fa47dfa47088979cd9e66e..e106e8559926f2d44f5591d9d39c389baa54a425 100644
--- a/Core/include/Acts/Fitter/KalmanFitter.hpp
+++ b/Core/include/Acts/Fitter/KalmanFitter.hpp
@@ -245,7 +245,7 @@ class KalmanFitter {
// - Waiting for a current surface that has material
// -> a trackState will be created on surface with material
auto surface = state.navigation.currentSurface;
- if (surface and surface->surfaceMaterial() and not result.smoothed) {
+ if (surface and not result.smoothed) {
// Check if the surface is in the measurement map
// -> Get the measurement / calibrate
// -> Create the predicted state
@@ -358,9 +358,9 @@ class KalmanFitter {
// Get and set the type flags
auto& typeFlags = trackStateProxy.typeFlags();
+ typeFlags.set(TrackStateFlag::MaterialFlag);
typeFlags.set(TrackStateFlag::MeasurementFlag);
typeFlags.set(TrackStateFlag::ParameterFlag);
- typeFlags.set(TrackStateFlag::MaterialFlag);
// If the update is successful, set covariance and
auto updateRes = m_updater(state.geoContext, trackStateProxy);
@@ -382,17 +382,43 @@ class KalmanFitter {
}
// We count the processed state
++result.processedStates;
- } else {
+ } else if (surface->surfaceMaterial()) {
+ ACTS_VERBOSE("Material surface " << surface->geoID()
+ << " without measurement detected.");
+
// Transport & bind the state to the current surface
auto [boundParams, jacobian, pathLength] =
stepper.boundState(state.stepping, *surface, true);
- // Create a track state from predicted parameter
- TrackStateType trackState(boundParams);
+ // add a full TrackState entry multi trajectory
+ // (this allocates storage for all components, we will set them later)
+ result.trackTip = result.fittedStates.addTrackState(
+ TrackStatePropMask::All, result.trackTip);
+
+ // now get track state proxy back
+ auto trackStateProxy =
+ result.fittedStates.getTrackState(result.trackTip);
// Fill the track state
- trackState.parameter.jacobian = jacobian;
- trackState.parameter.pathLength = pathLength;
+ trackStateProxy.predicted() = boundParams.parameters();
+ trackStateProxy.predictedCovariance() = *boundParams.covariance();
+ trackStateProxy.jacobian() = jacobian;
+ trackStateProxy.pathLength() = pathLength;
+
+ // Set the track state flags
+ auto& typeFlags = trackStateProxy.typeFlags();
+ typeFlags.set(TrackStateFlag::MaterialFlag);
+ typeFlags.set(TrackStateFlag::ParameterFlag);
+ if (surface->associatedDetectorElement() != nullptr) {
+ // If the surface is sensitive, set the hole type flag
+ typeFlags.set(TrackStateFlag::HoleFlag);
+
+ // Count the missed surface
+ ACTS_VERBOSE("Detected hole on " << surface->geoID());
+ result.missedActiveSurfaces.push_back(surface);
+ } else {
+ ACTS_VERBOSE("Detected in-sensitive surface " << surface->geoID());
+ }
// Update state and stepper with material effects
auto interaction =
@@ -401,7 +427,7 @@ class KalmanFitter {
// Set the filtered parameter by updating the predicted parameter with
// material effects
auto updateRes =
- materialUpdater(state.geoContext, trackState, interaction);
+ materialUpdater(state.geoContext, trackStateProxy, interaction);
if (!updateRes.ok()) {
ACTS_ERROR(
"Update with material effects failed: " << updateRes.error());
@@ -410,25 +436,8 @@ class KalmanFitter {
ACTS_VERBOSE(
"Update with material effects successful, updated parameters are "
": \n"
- << *trackState.parameter.filtered.parameters());
+ << trackStateProxy.filtered().transpose());
}
-
- // Set the track state flags
- trackState.setType(TrackStateFlag::MaterialFlag);
- if (surface->associatedDetectorElement() != nullptr) {
- // If the surface is sensitive, set the hole type flag
- trackState.setType(TrackStateFlag::HoleFlag);
-
- // Count the missed surface
- ACTS_VERBOSE("Detected hole on " << surface->geoID());
- result.missedActiveSurfaces.push_back(surface);
- } else {
- ACTS_VERBOSE("Detected in-sensitive surface " << surface->geoID());
- }
-
- // Add the track state to the fittedStates
- result.trackTip =
- result.fittedStates.addTrackState(trackState, result.trackTip);
}
return Result<void>::success();
}
@@ -480,12 +489,36 @@ class KalmanFitter {
/// @return Bool indicating whether this update was 'successful'
template <typename track_state_t>
Result<void> materialUpdater(
- const GeometryContext& geoContext, track_state_t& trackState,
+ const GeometryContext& /*gctx*/, track_state_t trackState,
const detail::PointwiseMaterialInteraction& interaction) const {
- // Predicted parameter and covariance
- parameters_t predicted = *trackState.parameter.predicted;
- auto predicted_parameter = predicted.parameters();
- auto predicted_covariance = *predicted.covariance();
+ // let's make sure the types are consistent
+ using SourceLink = typename track_state_t::SourceLink;
+ using TrackStateProxy =
+ typename MultiTrajectory<SourceLink>::TrackStateProxy;
+ static_assert(std::is_same_v<track_state_t, TrackStateProxy>,
+ "Given track state type is not a track state proxy");
+
+ // we should have predicted state set
+ assert(trackState.hasPredicted());
+ // filtering should not have happened yet, but is allocated, therefore set
+ assert(trackState.hasFiltered());
+
+ // read-only handles. Types are eigen maps to backing storage
+ const auto predicted = trackState.predicted();
+ const auto predicted_covariance = trackState.predictedCovariance();
+
+ ACTS_VERBOSE("Predicted parameters: " << predicted.transpose());
+ ACTS_VERBOSE("Predicted covariance:\n" << predicted_covariance);
+
+ // read-write handles. Types are eigen maps into backing storage.
+ // This writes directly into the trajectory storage
+ auto filtered = trackState.filtered();
+ auto filtered_covariance = trackState.filteredCovariance();
+
+ // check for interaction
+ if (!interaction.nextP) {
+ return KalmanFitterError::UpdateFailed;
+ }
// Get the update for parameter
BoundParameters::ParVector_t deltaParamVec;
@@ -499,17 +532,12 @@ class KalmanFitter {
deltaParamCov.diagonal() << 0, 0, interaction.variances.x(),
interaction.variances.y(), interaction.variances.z(), 0;
- // The updated parameter and covariance
- auto filtered_parameters = predicted_parameter + deltaParamVec;
- auto filtered_covariance = predicted_covariance + deltaParamCov;
-
- // The filtered parameter
- parameters_t filtered(geoContext, std::move(filtered_covariance),
- std::move(filtered_parameters),
- predicted.referenceSurface().getSharedPtr());
+ // Fill the updated parameter and covariance
+ filtered = predicted + deltaParamVec;
+ filtered_covariance = predicted_covariance + deltaParamCov;
- // Set the filtered parameter for the track state
- trackState.parameter.filtered = std::move(filtered);
+ ACTS_VERBOSE("Filtered parameters: " << filtered.transpose());
+ ACTS_VERBOSE("Filtered covariance:\n" << filtered_covariance);
return Result<void>::success();
}