Base_ProjectorB.h

Go to the documentation of this file.

//! \author{Anselmo Cervera, Juan J. Gomez-Cadenas and Jose Angel Hernando}
//! \date{11/01}

#ifndef ProjectorB_h
#define ProjectorB_h 1

#include "Kalman/Interface_IProjector.h"
#include "Kalman/Interface_IModel.h"

//! Basic implementation for projector
/*!
    It contains an IModel to refer to.
    
    It computes the residuals via the H() matrix.
    
    It does not know how to compute H() matrix (leave it to derived classes).
*/
class ProjectorB : public IProjector
{
public:

  //! default constructor
  ProjectorB(){}

  //! Constructor providing the model
  ProjectorB(IModel* pm){m_model=pm;}

  //! virtual destructor
  virtual ~ProjectorB() {};

  //-----------

  //! project the state of the point 
  virtual bool project(IPoint& point); 

  
  //!   Project the dynamic matrix
  virtual EMatrix projectionMatrix(const IState& state, const IMeasurement& meas){  
    EMatrix H = HMatrix(state, meas);
    return H*state.dynamicMatrix()*transpose(H);
  }
  
  //!   Project the dynamic vector
  virtual EVector projectionVector(const IState& state, const IMeasurement& meas)
    {return HMatrix(state,meas)*state.dynamicVector();}

 
  //----------
  
  virtual EMatrix measurementProjector(const IState& state, const IMeasurement& meas)
    { std::cout << "Called ProjectorB::measurementProjector" << std::endl; state.info(2); meas.info(2); return EMatrix(measNdim()-1, measNdim(),1) ;}
  //ME added cout

  virtual EMatrix HMatrix(const IState& state, const IMeasurement& meas)
    { std::cout << "Called ProjectorB::HMatrix" << std::endl; state.info(2); meas.info(2); return EMatrix(measNdim(),dynamicNdim(),0);}
  //ME added cout

  //! Returns the A matrix (dx/dr) for the Kalman vertex fit
  virtual EMatrix AMatrix(const IState& state, const IMeasurement& meas) 
  { std::cout << "Called ProjectorB::AMatrix" << std::endl; state.info(2); meas.info(2); return EMatrix( 1, 1, 0 ); }
  //ME added cout and return

  //! Returns the B matrix (dx/dp) for the Kalman vertex fit
  virtual EMatrix BMatrix(const IState& state, const IMeasurement& meas)
  { std::cout << "Called ProjectorB::BMAtrix" << std::endl; state.info(2); meas.info(2); return EMatrix( 1, 1, 0 ); }
  //ME added cout and return

   //! Returns the c0 vector  for the Kalman vertex fit
  virtual EVector c0(const IState& state, const IMeasurement& meas)
  { std::cout << "Called ProjectorB::c0" << std::endl; state.info(2); meas.info(2); return EVector( 1, 0 ); }
  //ME added cout and return


  //-----------

  //! get dimension of the dynamic vector
  virtual const int dynamicNdim() const {return m_model->dynamicNdim();}

  //! get dimension of the measurement
  virtual const int measNdim() const {return m_model->measNdim();}

  //-------------

  //! set projector verbosity 
  virtual void setVerbosity(int v){m_verbosity=v;}
  //! return projector verbosity 
  virtual int verbosity() {return m_verbosity;}  


 protected:

  //! return a model
  virtual IModel& model() const {return *m_model;};
  //! set a model
  virtual void setModel(IModel* p) {m_model = p;};
  
 protected:

  //! A pointer to the model
  IModel* m_model;  

  //! verbosity level
  int m_verbosity;

};

#endif

---