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This is an archived project. Repository and other project resources are read-only.
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acts
acts-core
Commits
8ec9dd94
Commit
8ec9dd94
authored
5 years ago
by
Paul Gessinger
Committed by
Paul Gessinger
5 years ago
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s/trackState/trackStateProxy/g
parent
b7d72af2
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!643
KF on multitrajectory
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Core/include/Acts/Fitter/KalmanFitter.hpp
+15
-13
15 additions, 13 deletions
Core/include/Acts/Fitter/KalmanFitter.hpp
with
15 additions
and
13 deletions
Core/include/Acts/Fitter/KalmanFitter.hpp
+
15
−
13
View file @
8ec9dd94
...
...
@@ -307,45 +307,47 @@ class KalmanFitter {
TrackStatePropMask
::
All
,
result
.
trackTip
);
// now get track state proxy back
auto
trackState
=
result
.
fittedStates
.
getTrackState
(
result
.
trackTip
);
auto
trackStateProxy
=
result
.
fittedStates
.
getTrackState
(
result
.
trackTip
);
// assign the source link to the track state
trackState
.
uncalibrated
()
=
sourcelink_it
->
second
;
trackState
Proxy
.
uncalibrated
()
=
sourcelink_it
->
second
;
// Transport & bind the state to the current surface
auto
[
boundParams
,
jacobian
,
pathLength
]
=
stepper
.
boundState
(
state
.
stepping
,
*
surface
,
true
);
// Fill the track state
trackState
.
predicted
()
=
boundParams
.
parameters
();
trackState
.
predictedCovariance
()
=
*
boundParams
.
covariance
();
trackState
.
jacobian
()
=
jacobian
;
trackState
.
pathLength
()
=
pathLength
;
trackState
Proxy
.
predicted
()
=
boundParams
.
parameters
();
trackState
Proxy
.
predictedCovariance
()
=
*
boundParams
.
covariance
();
trackState
Proxy
.
jacobian
()
=
jacobian
;
trackState
Proxy
.
pathLength
()
=
pathLength
;
// We have predicted parameters, so calibrate the uncalibrated input
// measuerement
std
::
visit
(
[
&
](
const
auto
&
calibrated
)
{
trackState
.
setCalibrated
(
calibrated
);
trackState
Proxy
.
setCalibrated
(
calibrated
);
},
m_calibrator
(
trackState
.
uncalibrated
(),
trackState
.
predicted
()));
m_calibrator
(
trackStateProxy
.
uncalibrated
(),
trackStateProxy
.
predicted
()));
// If the update is successful, set covariance and
auto
updateRes
=
m_updater
(
state
.
geoContext
,
trackState
);
auto
updateRes
=
m_updater
(
state
.
geoContext
,
trackState
Proxy
);
if
(
!
updateRes
.
ok
())
{
ACTS_ERROR
(
"Update step failed: "
<<
updateRes
.
error
());
return
updateRes
.
error
();
}
else
{
// Update the stepping state
ACTS_VERBOSE
(
"Filtering step successful, updated parameters are :
\n
"
<<
trackState
.
filtered
().
transpose
());
<<
trackState
Proxy
.
filtered
().
transpose
());
// update stepping state using filtered parameters after kalman update
// We need to (re-)construct a BoundParameters instance here, which is
// a bit awkward.
// @TODO: Make this unnecessary
BoundParameters
bPars
(
state
.
options
.
geoContext
,
trackState
.
filteredCovariance
(),
trackState
.
filtered
(),
surface
->
getSharedPtr
());
BoundParameters
bPars
(
state
.
options
.
geoContext
,
trackState
Proxy
.
filteredCovariance
(),
trackState
Proxy
.
filtered
(),
surface
->
getSharedPtr
());
stepper
.
update
(
state
.
stepping
,
bPars
);
}
// We count the processed state
...
...
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