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refactor: Add nonlinear correction in KF (#1233)
This PR refactors a few methods of the stepper related with transforming from free to bound parameters. It adds the option for correction of non-linear effects during the transformation using a few sigma points (https://doi.org/10.1117/12.280797).
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Core/include/Acts/EventData/detail/CorrectedTransformationFreeToBound.hpp
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| // This file is part of the Acts project. | ||
| // | ||
| // Copyright (C) 2021-2022 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 | ||
| // file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
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| #pragma once | ||
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| #include "Acts/Definitions/Common.hpp" | ||
| #include "Acts/EventData/detail/TransformationFreeToBound.hpp" | ||
| #include "Acts/Utilities/Logger.hpp" | ||
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| namespace Acts { | ||
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| /// @brief Free to bound transformation Correction configuration class | ||
| /// | ||
| struct FreeToBoundCorrection { | ||
| /// Apply correction or not | ||
| bool apply = false; | ||
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| /// UKF tuning parameters | ||
| ActsScalar alpha = 0.1; | ||
| ActsScalar beta = 2; | ||
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| /// The cutoff of incident angles cosine for correction | ||
| ActsScalar cosIncidentAngleMinCutoff = 1e-5; | ||
| ActsScalar cosIncidentAngleMaxCutoff = 0.99500417; | ||
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| /// Default constructor | ||
| FreeToBoundCorrection() = default; | ||
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| /// Construct from boolean and UKF parameters (alpha, beta) | ||
| /// | ||
| /// @param apply_ Wheter to apply correction | ||
| /// @param alpha_ The UKF tuning parameter alpha | ||
| /// @param beta_ The UKF tuning parameter beta | ||
| FreeToBoundCorrection(bool apply_, ActsScalar alpha_, ActsScalar beta_); | ||
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| /// Construct from boolean only | ||
| /// | ||
| /// @param apply_ Wheter to apply correction | ||
| explicit FreeToBoundCorrection(bool apply_); | ||
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| /// Return boolean for applying correction or not | ||
| operator bool() const; | ||
| }; | ||
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| namespace detail { | ||
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| /// @brief Corrected free to bound transform class based on covariance matrix sqrt root in UKF: https://doi.org/10.1117/12.280797 | ||
| /// | ||
| struct CorrectedFreeToBoundTransformer { | ||
| /// Construct from boolean, UKF tuning parameters (alpha, beta) and incident | ||
| /// angle cutoff for correction | ||
| /// | ||
| /// @param alpha The UKF tuning parameter alpha | ||
| /// @param beta The UKF tuning parameter beta | ||
| /// @param cosIncidentAngleMinCutoff The cosine of max incident angle | ||
| /// @param cosIncidentAngleMaxCutoff The cosine of min incident angle | ||
| CorrectedFreeToBoundTransformer(ActsScalar alpha, ActsScalar beta, | ||
| ActsScalar cosIncidentAngleMinCutoff, | ||
| ActsScalar cosIncidentAngleMaxCutoff); | ||
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| /// Construct from a FreeToBoundCorrection | ||
| /// | ||
| /// @param freeToBoundCorrection The freeToBoundCorrection object | ||
| CorrectedFreeToBoundTransformer( | ||
| const FreeToBoundCorrection& freeToBoundCorrection); | ||
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| /// Default constructors | ||
| CorrectedFreeToBoundTransformer() = default; | ||
| CorrectedFreeToBoundTransformer(const CorrectedFreeToBoundTransformer&) = | ||
| default; | ||
| CorrectedFreeToBoundTransformer(CorrectedFreeToBoundTransformer&&) = default; | ||
| CorrectedFreeToBoundTransformer& operator=( | ||
| const CorrectedFreeToBoundTransformer&) = default; | ||
| CorrectedFreeToBoundTransformer& operator=( | ||
| CorrectedFreeToBoundTransformer&&) = default; | ||
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| /// Get the non-linearity corrected bound parameters and its covariance | ||
| /// | ||
| /// @param freeParams The free parameters vector | ||
| /// @param freeCovariance The free parameters covariance | ||
| /// @param Surface The surface of the bound parameters being represented | ||
| /// @param geoContext The geometry context | ||
| /// @param navDir The navigation direction | ||
| /// @param logger The logger | ||
| std::optional<std::tuple<BoundVector, BoundSymMatrix>> operator()( | ||
| const FreeVector& freeParams, const FreeSymMatrix& freeCovariance, | ||
| const Surface& surface, const GeometryContext& geoContext, | ||
| NavigationDirection navDir = NavigationDirection::Forward, | ||
| LoggerWrapper logger = getDummyLogger()) const; | ||
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| private: | ||
| /// The parameters to tune the weight in UKF (0 < alpha <=1) | ||
| ActsScalar m_alpha = 0.1; | ||
| ActsScalar m_beta = 2; | ||
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| /// The maximum incident angle (i.e. minimum cos incident angle) cutoff for | ||
| /// correction | ||
| ActsScalar m_cosIncidentAngleMinCutoff = 1e-5; | ||
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| /// The minimum incident angle (i.e. maximum cos incident angle) cutoff for | ||
| /// correction, note cos(0.1) = 0.99500417 | ||
| ActsScalar m_cosIncidentAngleMaxCutoff = 0.99500417; | ||
| }; | ||
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| } // namespace detail | ||
| } // namespace Acts |
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