TVF now performs a reference node-free Kalman filter. It does not
and cannot create reference nodes anymore.
As a consequence, now a single scheduler is created and populates
the node computations as they will be performed.
The mathematical formulation has been simplified, as branches
upon the contained node types are no longer needed.
The code has been validated against TMF.
Smoother base pointers are now populated in populateBasePointers.
The containing smoothed state can be copied to the proper reference
vector with a templated option.
Noise matrix and transport vector are now AOSOA types,
part of NodeParameters.
updateMaterialCorrections is not invoked on every
iteration by default. In fact, its execution depends on a
runtime parameter. Therefore, the noise matrix will be
copied in initializeBasePointers in case the material
does not update. This introduces the necessity for copies,
the impact should be evaluated.
Likewise, there was a runtime option to determine if
the transport was updated on every iteration. Since enabling
this option would imply quite a lot of copying, the option has
been removed in TVF (note: updateTransport updates the transport
matrix (5x5), the inverted transport matrix (5x5) and the transport
vector). Instead, if not updating the transport is considered, it
would be more convenient to run all tracks again, not requiring any
copies or the execution of initializeBasePointers.
The seed covariance matrix is now determined to be:
400 0 400 0 0 0.01 0 0 0 0.01 0 0 0 0 0.0001,
a value that was used for all fits.
An option has been added for verbose printing in TVFit.
All the code has been moved to .h or .h_impl files. The reason
is the fit itself needed to become templated.
Scheduler was only used if the number of tracks >= vector width.
Since very few iterations are invoked with few tracks, now the
scheduler is always used. The code and debugging are as a
consequence more readable.
Since the scheduler is always used, the ground is prepared for
vectorizing other functions. Now they can always rely on it.