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/* This file is part of MAUS: http://micewww.pp.rl.ac.uk:8080/projects/maus
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* MAUS is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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* MAUS is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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* You should have received a copy of the GNU General Public License
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* along with MAUS. If not, see <http://www.gnu.org/licenses/>.
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#ifndef KALMANSMOOTHER_HH
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#define KALMANSMOOTHER_HH
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#include "Utils/Exception.hh"
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#include "src/common_cpp/Recon/Kalman/KalmanState.hh"
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#include "src/common_cpp/DataStructure/SciFiTrack.hh"
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#include "src/common_cpp/DataStructure/ThreeVector.hh"
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/** @brief Default constructor.
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/** @brief Constructor accepting dimension of member matrices.
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explicit KalmanFilter(int dim);
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/** @brief Destructor.
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/** @brief Runs the filter stage by calling the other member functions.
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void Process(KalmanState *a_site);
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/** @brief Computes the filtered state.
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void CalculateFilteredState(KalmanState *a_site);
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/** @brief Computes the filtered covariance matrix.
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void UpdateCovariance(KalmanState *a_site);
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TMatrixD SolveMeasurementEquation(const TMatrixD &a, const TMatrixD &s);
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/** @brief Computes the difference between the estimation and measurement for different stages.
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void ComputeResidual(KalmanState *a_site, KalmanState::State kalman_state);
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void ComputeChi2(KalmanState *a_site);
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void UpdateV(const KalmanState *a_site);
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void UpdateH(const KalmanState *a_site);
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void UpdateW(const KalmanState *a_site);
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void UpdateK(const KalmanState *a_site);
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void ComputePull(KalmanState *a_site);
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TMatrixD H() const { return _H; }
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MaterialParams FibreParameters;