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Merge branch 'main' into remove-vtx-weight
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@kodiakhq
kodiakhq[bot] authored Oct 25, 2023
2 parents 09f4d8e + e0d26d8 commit d4af6a6
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Showing 3 changed files with 130 additions and 105 deletions.
1 change: 0 additions & 1 deletion Core/include/Acts/EventData/TrackStatePropMask.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,6 @@ enum struct TrackStatePropMask : std::uint8_t {
Filtered = 1 << 1,
Smoothed = 1 << 2,
Jacobian = 1 << 3,

Calibrated = 1 << 4,

All = std::numeric_limits<std::uint8_t>::max(), // should be all ones
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53 changes: 31 additions & 22 deletions Core/include/Acts/TrackFitting/KalmanFitter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -734,31 +734,40 @@ class KalmanFitter {
materialInteractor(surface, state, stepper, navigator,
MaterialUpdateStage::PreUpdate);

// Bind the transported state to the current surface
auto res = stepper.boundState(state.stepping, *surface, false);
if (!res.ok()) {
return res.error();
}

auto& [boundParams, jacobian, pathLength] = *res;

// Create a detached track state proxy
auto tempTrackTip =
result.fittedStates->addTrackState(TrackStatePropMask::All);

// Get the detached track state proxy back
auto trackStateProxy = result.fittedStates->getTrackState(tempTrackTip);
auto fittedStates = *result.fittedStates;

// Add a <mask> TrackState entry multi trajectory. This allocates
// storage for all components, which we will set later.
TrackStatePropMask mask = TrackStatePropMask::All;
const size_t currentTrackIndex = fittedStates.addTrackState(
mask, Acts::MultiTrajectoryTraits::kInvalid);

// now get track state proxy back
typename traj_t::TrackStateProxy trackStateProxy =
fittedStates.getTrackState(currentTrackIndex);

// Set the trackStateProxy components with the state from the ongoing
// propagation
{
trackStateProxy.setReferenceSurface(surface->getSharedPtr());
// Bind the transported state to the current surface
auto res = stepper.boundState(state.stepping, *surface, false,
freeToBoundCorrection);
if (!res.ok()) {
return res.error();
}
auto& [boundParams, jacobian, pathLength] = *res;

trackStateProxy.setReferenceSurface(surface->getSharedPtr());
// Fill the track state
trackStateProxy.predicted() = std::move(boundParams.parameters());
if (boundParams.covariance().has_value()) {
trackStateProxy.predictedCovariance() =
std::move(*boundParams.covariance());
}

// Fill the track state
trackStateProxy.predicted() = std::move(boundParams.parameters());
if (boundParams.covariance().has_value()) {
trackStateProxy.predictedCovariance() =
std::move(*boundParams.covariance());
trackStateProxy.jacobian() = std::move(jacobian);
trackStateProxy.pathLength() = std::move(pathLength);
}
trackStateProxy.jacobian() = std::move(jacobian);
trackStateProxy.pathLength() = std::move(pathLength);

// We have predicted parameters, so calibrate the uncalibrated input
// measurement
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181 changes: 99 additions & 82 deletions Core/include/Acts/TrackFitting/detail/KalmanUpdateHelpers.hpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
// This file is part of the Acts project.
//
// Copyright (C) 2021 CERN for the benefit of the Acts project
// Copyright (C) 2021-2023 CERN for the benefit of the Acts project
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
Expand Down Expand Up @@ -42,74 +42,89 @@ auto kalmanHandleMeasurement(
const size_t lastTrackIndex, bool doCovTransport, const Logger &logger,
const FreeToBoundCorrection &freeToBoundCorrection = FreeToBoundCorrection(
false)) -> Result<typename traj_t::TrackStateProxy> {
// Bind the transported state to the current surface
auto res = stepper.boundState(state.stepping, surface, doCovTransport,
freeToBoundCorrection);
if (!res.ok()) {
return res.error();
}
auto &[boundParams, jacobian, pathLength] = *res;

// add a full TrackState entry multi trajectory
// (this allocates storage for all components, we will set them later)
const auto newTrackIndex =
fittedStates.addTrackState(TrackStatePropMask::All, lastTrackIndex);
// Add a <mask> TrackState entry multi trajectory. This allocates storage for
// all components, which we will set later.
TrackStatePropMask mask = TrackStatePropMask::All;
const size_t currentTrackIndex =
fittedStates.addTrackState(mask, lastTrackIndex);

// now get track state proxy back
auto trackStateProxy = fittedStates.getTrackState(newTrackIndex);
typename traj_t::TrackStateProxy trackStateProxy =
fittedStates.getTrackState(currentTrackIndex);

// Set the trackStateProxy components with the state from the ongoing
// propagation
{
trackStateProxy.setReferenceSurface(surface.getSharedPtr());
// Bind the transported state to the current surface
auto res = stepper.boundState(state.stepping, surface, doCovTransport,
freeToBoundCorrection);
if (!res.ok()) {
ACTS_ERROR("Propagate to surface " << surface.geometryId()
<< " failed: " << res.error());
return res.error();
}
auto &[boundParams, jacobian, pathLength] = *res;

trackStateProxy.setReferenceSurface(surface.getSharedPtr());
// Fill the track state
trackStateProxy.predicted() = std::move(boundParams.parameters());
if (boundParams.covariance().has_value()) {
trackStateProxy.predictedCovariance() =
std::move(*boundParams.covariance());
}

// Fill the track state
trackStateProxy.predicted() = std::move(boundParams.parameters());
if (boundParams.covariance().has_value()) {
trackStateProxy.predictedCovariance() =
std::move(*boundParams.covariance());
trackStateProxy.jacobian() = std::move(jacobian);
trackStateProxy.pathLength() = std::move(pathLength);
}
trackStateProxy.jacobian() = std::move(jacobian);
trackStateProxy.pathLength() = std::move(pathLength);

// We have predicted parameters, so calibrate the uncalibrated input
// measurement
extensions.calibrator(state.geoContext, calibrationContext, source_link,
trackStateProxy);

// Get and set the type flags
auto typeFlags = trackStateProxy.typeFlags();
typeFlags.set(TrackStateFlag::ParameterFlag);
if (surface.surfaceMaterial() != nullptr) {
typeFlags.set(TrackStateFlag::MaterialFlag);
}
{
auto typeFlags = trackStateProxy.typeFlags();
typeFlags.set(TrackStateFlag::ParameterFlag);
if (surface.surfaceMaterial() != nullptr) {
typeFlags.set(TrackStateFlag::MaterialFlag);
}

// Check if the state is an outlier.
// If not, run Kalman update, tag it as a
// measurement and update the stepping state. Otherwise, just tag it as
// an outlier
if (not extensions.outlierFinder(trackStateProxy)) {
// Run Kalman update
auto updateRes = extensions.updater(state.geoContext, trackStateProxy,
state.options.direction, logger);
if (!updateRes.ok()) {
ACTS_ERROR("Update step failed: " << updateRes.error());
return updateRes.error();
// Check if the state is an outlier.
// If not:
// - run Kalman update
// - tag it as a measurement
// - update the stepping state.
// Else, just tag it as an outlier
if (not extensions.outlierFinder(trackStateProxy)) {
// Run Kalman update
auto updateRes = extensions.updater(state.geoContext, trackStateProxy,
state.options.direction, logger);
if (!updateRes.ok()) {
ACTS_ERROR("Update step failed: " << updateRes.error());
return updateRes.error();
}
// Set the measurement type flag
typeFlags.set(TrackStateFlag::MeasurementFlag);
} else {
ACTS_VERBOSE(
"Filtering step successful. But measurement is determined "
"to be an outlier. Stepping state is not updated.")
// Set the outlier type flag
typeFlags.set(TrackStateFlag::OutlierFlag);
trackStateProxy.shareFrom(trackStateProxy, TrackStatePropMask::Predicted,
TrackStatePropMask::Filtered);
}
// Set the measurement type flag
typeFlags.set(TrackStateFlag::MeasurementFlag);
} else {
ACTS_VERBOSE(
"Filtering step successful. But measurement is determined "
"to be an outlier. Stepping state is not updated.")
// Set the outlier type flag
typeFlags.set(TrackStateFlag::OutlierFlag);
trackStateProxy.shareFrom(trackStateProxy, TrackStatePropMask::Predicted,
TrackStatePropMask::Filtered);
}

return trackStateProxy;
}

/// This function encapsulates what actions should be performed on a
/// MultiTrajectory when we have no measurement
/// MultiTrajectory when we have no measurement.
/// If there are no source links on surface, add either a hole or passive
/// material TrackState entry multi trajectory. No storage allocation for
/// uncalibrated/calibrated measurement and filtered parameter
/// @tparam propagator_state_t The propagator state type
/// @tparam stepper_t The stepper type
/// @param state The propagator state
Expand All @@ -127,18 +142,44 @@ auto kalmanHandleNoMeasurement(
const Logger &logger,
const FreeToBoundCorrection &freeToBoundCorrection = FreeToBoundCorrection(
false)) -> Result<typename traj_t::TrackStateProxy> {
// No source links on surface, add either hole or passive material
// TrackState entry multi trajectory. No storage allocation for
// uncalibrated/calibrated measurement and filtered parameter
const auto newTrackIndex = fittedStates.addTrackState(
~(TrackStatePropMask::Calibrated | TrackStatePropMask::Filtered),
lastTrackIndex);
// Add a <mask> TrackState entry multi trajectory. This allocates storage for
// all components, which we will set later.
TrackStatePropMask mask =
~(TrackStatePropMask::Calibrated | TrackStatePropMask::Filtered);
const size_t currentTrackIndex =
fittedStates.addTrackState(mask, lastTrackIndex);

// now get track state proxy back
auto trackStateProxy = fittedStates.getTrackState(newTrackIndex);
typename traj_t::TrackStateProxy trackStateProxy =
fittedStates.getTrackState(currentTrackIndex);

// Set the trackStateProxy components with the state from the ongoing
// propagation
{
trackStateProxy.setReferenceSurface(surface.getSharedPtr());
// Bind the transported state to the current surface
auto res = stepper.boundState(state.stepping, surface, doCovTransport,
freeToBoundCorrection);
if (!res.ok()) {
return res.error();
}
auto &[boundParams, jacobian, pathLength] = *res;

// Fill the track state
trackStateProxy.predicted() = std::move(boundParams.parameters());
if (boundParams.covariance().has_value()) {
trackStateProxy.predictedCovariance() =
std::move(*boundParams.covariance());
}

// Set the surface
trackStateProxy.setReferenceSurface(surface.getSharedPtr());
trackStateProxy.jacobian() = std::move(jacobian);
trackStateProxy.pathLength() = std::move(pathLength);

// Set the filtered parameter index to be the same with predicted
// parameter
trackStateProxy.shareFrom(trackStateProxy, TrackStatePropMask::Predicted,
TrackStatePropMask::Filtered);
}

// Set the track state flags
auto typeFlags = trackStateProxy.typeFlags();
Expand All @@ -154,30 +195,6 @@ auto kalmanHandleNoMeasurement(
ACTS_VERBOSE("Detected in-sensitive surface " << surface.geometryId());
}

// Transport & bind the state to the current surface
auto res = stepper.boundState(state.stepping, surface, doCovTransport,
freeToBoundCorrection);
if (!res.ok()) {
ACTS_ERROR("Propagate to surface " << surface.geometryId()
<< " failed: " << res.error());
return res.error();
}
auto &[boundParams, jacobian, pathLength] = *res;

// Fill the track state
trackStateProxy.predicted() = std::move(boundParams.parameters());
if (boundParams.covariance().has_value()) {
trackStateProxy.predictedCovariance() =
std::move(*boundParams.covariance());
}
trackStateProxy.jacobian() = std::move(jacobian);
trackStateProxy.pathLength() = std::move(pathLength);

// Set the filtered parameter index to be the same with predicted
// parameter
trackStateProxy.shareFrom(trackStateProxy, TrackStatePropMask::Predicted,
TrackStatePropMask::Filtered);

return trackStateProxy;
}

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