Point on trajectory. More...

#include <GblPoint.h>

Public Member Functions
	GblPoint (const Matrix5d &aJacobian, unsigned int numMeasReserve=0)
	Create a point. More...

	GblPoint (const GblPoint &)=default

GblPoint &	operator= (const GblPoint &)=default

	GblPoint (GblPoint &&)=default

GblPoint &	operator= (GblPoint &&)=default

virtual	~GblPoint ()

template<typename Projection , typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime !=1)>::type * = nullptr>
void	addMeasurement (const Eigen::MatrixBase< Projection > &aProjection, const Eigen::MatrixBase< Residuals > &aResiduals, const Eigen::MatrixBase< Precision > &aPrecision, double minPrecision=0.)
	Add a measurement to a point. More...

template<typename Projection , typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime==1)>::type * = nullptr>
void	addMeasurement (const Eigen::MatrixBase< Projection > &aProjection, const Eigen::MatrixBase< Residuals > &aResiduals, const Eigen::MatrixBase< Precision > &aPrecision, double minPrecision=0.)
	Add a measurement to a point. More...

template<typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime !=1)>::type * = nullptr>
void	addMeasurement (const Eigen::MatrixBase< Residuals > &aResiduals, const Eigen::MatrixBase< Precision > &aPrecision, double minPrecision=0.)
	Add a measurement to a point. More...

template<typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime==1)>::type * = nullptr>
void	addMeasurement (const Eigen::MatrixBase< Residuals > &aResiduals, const Eigen::MatrixBase< Precision > &aPrecision, double minPrecision=0.)
	Add a measurement to a point. More...

void	addScatterer (const Eigen::Vector2d &aResiduals, const Eigen::Matrix2d &aPrecision)
	Add a thin scatterer to a point. More...

void	addScatterer (const Eigen::Vector2d &aResiduals, const Eigen::Vector2d &aPrecision)
	Add a thin scatterer to a point. More...

void	addThickScatterer (const Eigen::Vector4d &aResiduals, const Eigen::Matrix4d &aPrecision)
	Add a thick scatterer to a point. More...

template<typename Derivative >
void	addLocals (const Eigen::MatrixBase< Derivative > &aDerivatives)
	Add local derivatives to a point. More...

template<typename Derivative >
void	addGlobals (const std::vector< int > &aLabels, const Eigen::MatrixBase< Derivative > &aDerivatives)
	Add global derivatives to a point. More...

unsigned int	numMeasurements () const
	Check for measurements at a point. More...

unsigned int	getScatDim () const
	Get scatterer dimension. More...

void	getScatterer (Eigen::Matrix4d &aTransformation, Eigen::Vector4d &aResiduals, Eigen::Vector4d &aPrecision) const
	Retrieve scatterer of a point. More...

void	getReducedScatterer (Eigen::Matrix4d &aTransformation, Eigen::Vector4d &aResiduals, Eigen::Vector4d &aPrecision) const
	Retrieve (reduced) scatterer of a point. More...

void	getScatTransformation (Eigen::MatrixXd &aTransformation) const
	Get scatterer transformation (from diagonalization). More...

unsigned int	getLabel () const
	Retrieve label of point. More...

int	getOffset () const
	Retrieve offset for point. More...

const Matrix5d &	getP2pJacobian () const
	Retrieve point-to-(previous)point jacobian. More...

void	getDerivatives (int aDirection, Eigen::Matrix2d &matW, Eigen::Matrix2d &matWJ, Eigen::Vector2d &vecWd) const
	Retrieve derivatives of local track model. More...

void	printPoint (unsigned int level=0) const
	Print GblPoint. More...

std::vector< GblMeasurement >::iterator	getMeasBegin ()
	Get GblMeasurement iterator for begin. More...

std::vector< GblMeasurement >::iterator	getMeasEnd ()
	Get GblMeasurement iterator for end. More...

void	getGlobalLabelsAndDerivatives (unsigned int aMeas, unsigned int aRow, std::vector< int > &aLabels, std::vector< double > &aDerivatives) const
	Retrieve global derivatives from a measurement at a point for a single row. More...

bool	isFirst () const
	Is first point on (sub)trajectory? More...

bool	isLast () const
	Is last point on (sub)trajectory? More...

Private Member Functions
void	setLabel (unsigned int aLabel)
	Define label of point (by GBLTrajectory constructor) More...

void	setOffset (int anOffset)
	Define offset for point (by GBLTrajectory constructor) More...

void	setType (int aType)
	Define type for point (by GBLTrajectory constructor) More...

void	addPrevJacobian (const Matrix5d &aJac)
	Define jacobian to previous scatterer (by GBLTrajectory constructor) More...

void	addNextJacobian (const Matrix5d &aJac)
	Define jacobian to next scatterer (by GBLTrajectory constructor) More...

Private Attributes
unsigned int	theLabel
	Label identifying point. More...

int	theOffset
	Offset number at point if not negative (else interpolation needed) More...

int	theType
	Type (-1: first, 0: inner, 1: last) More...

Matrix5d	p2pJacobian = Matrix5d::Zero(5,5)
	Point-to-point jacobian from previous point. More...

Matrix5d	prevJacobian = Matrix5d::Zero(5,5)
	Jacobian to previous scatterer (or first measurement) More...

Matrix5d	nextJacobian = Matrix5d::Zero(5,5)
	Jacobian to next scatterer (or last measurement) More...

unsigned int	scatDim
	Dimension of scatterer (0: none, 2: thin, 4:thick) More...

Eigen::Matrix4d	scatTransformation
	Transformation of diagonalization (of scat. precision matrix) More...

Eigen::Vector4d	scatResiduals
	Scattering residuals (initial kinks if iterating) More...

Eigen::Vector4d	scatPrecision
	Scattering precision (diagonal of inverse covariance matrix) More...

std::vector< GblMeasurement >	theMeasurements
	List of measurements at point. More...

Friends
class	GblTrajectory

Detailed Description

Point on trajectory.

User supplied point on (initial) trajectory.

Must have jacobian for propagation from previous point. May have:

Measurement(s) (1D - 5D)
Scatterer (thin, 2D kinks)

Definition at line 62 of file GblPoint.h.

Constructor & Destructor Documentation

◆ GblPoint() [1/3]

gbl::GblPoint::GblPoint	(	const Matrix5d &	aJacobian,
		unsigned int	numMeasReserve = `0`
	)

Create a point.

Create point on (initial) trajectory. Needs transformation jacobian from previous point.

Parameters

[in]	aJacobian	Transformation jacobian from previous point
[in]	numMeasReserve	number of measurements to reserve (space for)

Definition at line 42 of file GblPoint.cpp.

References theMeasurements.

◆ GblPoint() [2/3]

gbl::GblPoint::GblPoint ( const GblPoint & )

default

◆ GblPoint() [3/3]

gbl::GblPoint::GblPoint ( GblPoint && )

default

◆ ~GblPoint()

gbl::GblPoint::~GblPoint ( )

virtual

Definition at line 65 of file GblPoint.cpp.

Member Function Documentation

◆ addGlobals()

template<typename Derivative >

void gbl::GblPoint::addGlobals	(	const std::vector< int > &	aLabels,
		const Eigen::MatrixBase< Derivative > &	aDerivatives
	)

Add global derivatives to a point.

Point needs to have a measurement.

Template Parameters

Derivative Derivatives matrix

Parameters

[in]	aLabels	Global derivatives labels
[in]	aDerivatives	Global derivatives (matrix)

Definition at line 293 of file GblPoint.h.

References theMeasurements.

Referenced by exampleComposedGeo(), exampleComposedKin(), exampleDc(), exampleSit(), and GblPoint_addGlobals().

◆ addLocals()

template<typename Derivative >

void gbl::GblPoint::addLocals ( const Eigen::MatrixBase< Derivative > & aDerivatives )

Add local derivatives to a point.

Point needs to have a measurement.

Template Parameters

Derivative Derivatives matrix

Parameters

[in] aDerivatives Local derivatives (matrix)

Definition at line 287 of file GblPoint.h.

References theMeasurements.

Referenced by example3().

◆ addMeasurement() [1/4]

template<typename Projection , typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime==1)>::type * >

void gbl::GblPoint::addMeasurement	(	const Eigen::MatrixBase< Projection > &	aProjection,
		const Eigen::MatrixBase< Residuals > &	aResiduals,
		const Eigen::MatrixBase< Precision > &	aPrecision,
		double	minPrecision = `0.`
	)

Add a measurement to a point.

Add measurement (in measurement system) with arbitrary precision (inverse covariance) matrix. Will be diagonalized. ((up to) 2D: position, 4D: slope+position, 5D: curvature+slope+position)

Template Parameters

Projection	Projection matrix
Residuals	Residuals vector
Precision	Precision matrix or vector (with diagonal)

Parameters

[in]	aProjection	Projection from local to measurement system (derivative of measurement vs local parameters)
[in]	aResiduals	Measurement residuals
[in]	aPrecision	Measurement precision (matrix)
[in]	minPrecision	Minimal precision to accept measurement

Definition at line 238 of file GblPoint.h.

Referenced by example1(), example2(), example3(), example4(), exampleComposedGeo(), exampleComposedKin(), exampleDc(), exampleSit(), and GblPoint_addMeasurement2D().

◆ addMeasurement() [2/4]

template<typename Projection , typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime==1)>::type * = nullptr>

void gbl::GblPoint::addMeasurement	(	const Eigen::MatrixBase< Projection > &	aProjection,
		const Eigen::MatrixBase< Residuals > &	aResiduals,
		const Eigen::MatrixBase< Precision > &	aPrecision,
		double	minPrecision = `0.`
	)

Add a measurement to a point.

Add measurement (in measurement system) with diagonal precision (inverse covariance) matrix. ((up to) 2D: position, 4D: slope+position, 5D: curvature+slope+position)

Template Parameters

Projection	Projection matrix
Residuals	Residuals vector
Precision	Precision matrix or vector (with diagonal)

Parameters

[in]	aProjection	Projection from local to measurement system (derivative of measurement vs local parameters)
[in]	aResiduals	Measurement residuals
[in]	aPrecision	Measurement precision (vector with diagonal)
[in]	minPrecision	Minimal precision to accept measurement

◆ addMeasurement() [3/4]

template<typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime==1)>::type * >

void gbl::GblPoint::addMeasurement	(	const Eigen::MatrixBase< Residuals > &	aResiduals,
		const Eigen::MatrixBase< Precision > &	aPrecision,
		double	minPrecision = `0.`
	)

Add a measurement to a point.

Add measurement in local system with arbitrary precision (inverse covariance) matrix. Will be diagonalized. ((up to) 2D: position, 4D: slope+position, 5D: curvature+slope+position)

Template Parameters

Residuals	Residuals vector
Precision	Precision matrix or vector (with diagonal)

Parameters

[in]	aResiduals	Measurement residuals
[in]	aPrecision	Measurement precision (matrix)
[in]	minPrecision	Minimal precision to accept measurement

Definition at line 268 of file GblPoint.h.

◆ addMeasurement() [4/4]

template<typename Residuals , typename Precision , typename std::enable_if<(Precision::ColsAtCompileTime==1)>::type * = nullptr>

void gbl::GblPoint::addMeasurement	(	const Eigen::MatrixBase< Residuals > &	aResiduals,
		const Eigen::MatrixBase< Precision > &	aPrecision,
		double	minPrecision = `0.`
	)

Add a measurement to a point.

Add measurement in local system with diagonal precision (inverse covariance) matrix. ((up to) 2D: position, 4D: slope+position, 5D: curvature+slope+position)

Template Parameters

Residuals	Residuals vector
Precision	Precision matrix or vector (with diagonal)

Parameters

[in]	aResiduals	Measurement residuals
[in]	aPrecision	Measurement precision (vector with diagonal)
[in]	minPrecision	Minimal precision to accept measurement

◆ addNextJacobian()

void gbl::GblPoint::addNextJacobian ( const Matrix5d & aJac )

private

Define jacobian to next scatterer (by GBLTrajectory constructor)

Parameters

[in] aJac Jacobian

Definition at line 508 of file GblPoint.cpp.

References nextJacobian.

Referenced by gbl::GblTrajectory::calcJacobians().

◆ addPrevJacobian()

void gbl::GblPoint::addPrevJacobian ( const Matrix5d & aJac )

private

Define jacobian to previous scatterer (by GBLTrajectory constructor)

Parameters

[in] aJac Jacobian

Definition at line 493 of file GblPoint.cpp.

References prevJacobian.

◆ addScatterer() [1/2]

void gbl::GblPoint::addScatterer	(	const Eigen::Vector2d &	aResiduals,
		const Eigen::Matrix2d &	aPrecision
	)

Add a thin scatterer to a point.

Add scatterer with arbitrary precision (inverse covariance) matrix. Will be diagonalized. Changes local track direction.

The precision matrix for the local slopes is defined by the angular scattering error theta_0 and the scalar products c_1, c_2 of the offset directions in the local frame with the track direction:

       (1 - c_1*c_1 - c_2*c_2)   |  1 - c_1*c_1     - c_1*c_2  |
  P =  ----------------------- * |                             |
           theta_0*theta_0       |    - c_1*c_2   1 - c_2*c_2  |

One offset is defined at the point. The comparison with the previous and next offsets allows to define a kink.

Template Parameters

Precision Precision matrix or vector (with diagonal)

Parameters

[in]	aResiduals	Scatterer residuals
[in]	aPrecision	Scatterer precision (full matrix)

Definition at line 159 of file GblPoint.cpp.

References scatDim, scatPrecision, scatResiduals, and scatTransformation.

Referenced by example1(), example2(), example3(), example4(), exampleComposedGeo(), exampleComposedKin(), exampleDc(), exampleSit(), and GblPoint_addScatterer().

◆ addScatterer() [2/2]

void gbl::GblPoint::addScatterer	(	const Eigen::Vector2d &	aResiduals,
		const Eigen::Vector2d &	aPrecision
	)

Add a thin scatterer to a point.

Add scatterer with diagonal precision (inverse covariance) matrix. Changes local track direction.

The precision matrix for the local slopes is defined by the angular scattering error theta_0 and the scalar products c_1, c_2 of the offset directions in the local frame with the track direction:

       (1 - c_1*c_1 - c_2*c_2)   |  1 - c_1*c_1     - c_1*c_2  |
  P =  ----------------------- * |                             |
           theta_0*theta_0       |    - c_1*c_2   1 - c_2*c_2  |

For a diagonal precision matrix at least one of the scalar products c_1, c_2 must be zero.

One offset is defined at the point. The comparison with the previous and next offsets allows to define a kink.

Template Parameters

Precision Precision matrix or vector (with diagonal)

Parameters

[in]	aResiduals	Scatterer residuals
[in]	aPrecision	Scatterer precision (vector with diagonal)

Definition at line 194 of file GblPoint.cpp.

References scatDim, scatPrecision, scatResiduals, and scatTransformation.

◆ addThickScatterer()

void gbl::GblPoint::addThickScatterer	(	const Eigen::Vector4d &	aResiduals,
		const Eigen::Matrix4d &	aPrecision
	)

Add a thick scatterer to a point.

Add scatterer with arbitrary precision (inverse 4x4 covariance) matrix. Will be diagonalized. Local track direction and position change (correlated).

Combination of several scatterers extrapolated to point (yielding dense covariance matrix). E.g. sum of thin scatterers (covariance V_i, jacobian J_i for slopes and offsets):

  P = [sum(J_i*V_i*J_i^t)]^-1

For each thin scatterer the covarinace matrix V_i is defined by the angular scattering error theta_0,i and the scalar products c_1,i, c_2,i of the offset directions in the local frame with the track direction:

                                    | 1 - c_2,i^2  c_1,i*c_2,i     0     0 |
                                    |                                      |
                theta_0,i^2         | c_1,i*c_2,i  1 - c_1,i^2     0     0 |
  V_i = ------------------------- * |                                      |
        (1 - c_1,i^2 - c_2,i^2)^2   |      0            0          0     0 |
                                    |                                      |
                                    |      0            0          0     0 |

Two offsets are defined at the point to describe a step (in the trajectory). The comparison with the previous and next offsets allows to define a kink.

Template Parameters

Precision Precision matrix

Parameters

[in]	aResiduals	Scatterer residuals
[in]	aPrecision	Scatterer precision (full 4x4 matrix)

Definition at line 232 of file GblPoint.cpp.

References scatDim, scatPrecision, scatResiduals, and scatTransformation.

Referenced by example4().

◆ getDerivatives()

void gbl::GblPoint::getDerivatives	(	int	aDirection,
		Eigen::Matrix2d &	matW,
		Eigen::Matrix2d &	matWJ,
		Eigen::Vector2d &	vecWd
	)		const

Retrieve derivatives of local track model.

Linearized track model: F_u(q/p,u',u) = J*u + S*u' + d*q/p, W is inverse of S, negated for backward propagation.

Parameters

[in]	aDirection	Propagation direction (>0 forward, else backward)
[out]	matW	W
[out]	matWJ	W*J
[out]	vecWd	W*d

Exceptions

std::overflow_error : matrix S is singular.

Definition at line 522 of file GblPoint.cpp.

References nextJacobian, and prevJacobian.

Referenced by gbl::GblTrajectory::getFitToKinkAndStepJacobian(), gbl::GblTrajectory::getFitToKinkJacobian(), and gbl::GblTrajectory::getFitToLocalJacobian().

◆ getGlobalLabelsAndDerivatives()

void gbl::GblPoint::getGlobalLabelsAndDerivatives	(	unsigned int	aMeas,
		unsigned int	aRow,
		std::vector< int > &	aLabels,
		std::vector< double > &	aDerivatives
	)		const

Retrieve global derivatives from a measurement at a point for a single row.

Parameters

[in]	aMeas	Measurement number
[in]	aRow	Row number
[out]	aLabels	Global labels
[out]	aDerivatives	Global derivatives

Definition at line 625 of file GblPoint.cpp.

References theMeasurements.

Referenced by GblPoint_getGlobalLabelsAndDerivatives().

◆ getLabel()

unsigned int gbl::GblPoint::getLabel ( ) const

Retrieve label of point.

Definition at line 459 of file GblPoint.cpp.

References theLabel.

◆ getMeasBegin()

std::vector< GblMeasurement >::iterator gbl::GblPoint::getMeasBegin ( )

Get GblMeasurement iterator for begin.

Definition at line 609 of file GblPoint.cpp.

References theMeasurements.

Referenced by GblPoint_getGlobalLabelsAndDerivatives(), and GblPoint_getNumMeasurements().

◆ getMeasEnd()

std::vector< GblMeasurement >::iterator gbl::GblPoint::getMeasEnd ( )

Get GblMeasurement iterator for end.

Definition at line 614 of file GblPoint.cpp.

References theMeasurements.

Referenced by GblPoint_getGlobalLabelsAndDerivatives(), and GblPoint_getNumMeasurements().

◆ getOffset()

int gbl::GblPoint::getOffset ( ) const

Retrieve offset for point.

Definition at line 472 of file GblPoint.cpp.

References theOffset.

Referenced by gbl::GblTrajectory::getFitToKinkAndStepJacobian(), gbl::GblTrajectory::getFitToKinkJacobian(), gbl::GblTrajectory::getFitToLocalJacobian(), and gbl::GblTrajectory::getFitToStepJacobian().

◆ getP2pJacobian()

const Matrix5d & gbl::GblPoint::getP2pJacobian ( ) const

Retrieve point-to-(previous)point jacobian.

Definition at line 485 of file GblPoint.cpp.

References p2pJacobian.

Referenced by gbl::GblTrajectory::calcJacobians().

◆ getReducedScatterer()

void gbl::GblPoint::getReducedScatterer	(	Eigen::Matrix4d &	aTransformation,
		Eigen::Vector4d &	aResiduals,
		Eigen::Vector4d &	aPrecision
	)		const

Retrieve (reduced) scatterer of a point.

Reduce to positional scatterer.

Parameters

[out]	aTransformation	Scatterer transformation from diagonalization
[out]	aResiduals	Scatterer residuals
[out]	aPrecision	Scatterer precision (diagonal)

Definition at line 391 of file GblPoint.cpp.

References scatPrecision, scatResiduals, and scatTransformation.

◆ getScatDim()

unsigned int gbl::GblPoint::getScatDim ( ) const

Get scatterer dimension.

Get dimension of scatterer (0 = none, 2 = thin, 4 = thick).

Returns: scatterer dimension

Definition at line 365 of file GblPoint.cpp.

References scatDim.

Referenced by gbl::GblTrajectory::getFitToLocalJacobian().

◆ getScatterer()

void gbl::GblPoint::getScatterer	(	Eigen::Matrix4d &	aTransformation,
		Eigen::Vector4d &	aResiduals,
		Eigen::Vector4d &	aPrecision
	)		const

Retrieve scatterer of a point.

Parameters

[out]	aTransformation	Scatterer transformation from diagonalization
[out]	aResiduals	Scatterer residuals
[out]	aPrecision	Scatterer precision (diagonal)

Definition at line 375 of file GblPoint.cpp.

References scatDim, scatPrecision, scatResiduals, and scatTransformation.

◆ getScatTransformation()

void gbl::GblPoint::getScatTransformation ( Eigen::MatrixXd & aTransformation ) const

Get scatterer transformation (from diagonalization).

Parameters

[out] aTransformation Transformation matrix

Definition at line 417 of file GblPoint.cpp.

References scatDim, and scatTransformation.

◆ isFirst()

bool gbl::GblPoint::isFirst ( ) const

Is first point on (sub)trajectory?

Definition at line 633 of file GblPoint.cpp.

References theType.

Referenced by printPoint().

◆ isLast()

bool gbl::GblPoint::isLast ( ) const

Is last point on (sub)trajectory?

Definition at line 638 of file GblPoint.cpp.

References theType.

Referenced by printPoint().

◆ numMeasurements()

unsigned int gbl::GblPoint::numMeasurements ( ) const

Check for measurements at a point.

Get number of measurement (0 = none).

Returns: measurements size

Definition at line 135 of file GblPoint.cpp.

References theMeasurements.

◆ operator=() [1/2]

GblPoint & gbl::GblPoint::operator= ( const GblPoint & )

default

◆ operator=() [2/2]

GblPoint & gbl::GblPoint::operator= ( GblPoint && )

default

◆ printPoint()

void gbl::GblPoint::printPoint ( unsigned int level = 0 ) const

Print GblPoint.

Parameters

[in] level print level (0: minimum, >0: more)

Definition at line 554 of file GblPoint.cpp.

References isFirst(), isLast(), nextJacobian, p2pJacobian, prevJacobian, scatDim, scatPrecision, scatResiduals, theLabel, theMeasurements, and theOffset.

Referenced by GblPoint_printPoint().

◆ setLabel()

void gbl::GblPoint::setLabel ( unsigned int aLabel )

private

Define label of point (by GBLTrajectory constructor)

Parameters

[in] aLabel Label identifying point

Definition at line 454 of file GblPoint.cpp.

References theLabel.

◆ setOffset()

void gbl::GblPoint::setOffset ( int anOffset )

private

Define offset for point (by GBLTrajectory constructor)

Parameters

[in] anOffset Offset number

Definition at line 467 of file GblPoint.cpp.

References theOffset.

◆ setType()

void gbl::GblPoint::setType ( int aType )

private

Define type for point (by GBLTrajectory constructor)

Parameters

[in] aType Type (-1: first, 0: inner, 1: last)

Definition at line 480 of file GblPoint.cpp.

References theType.

Friends And Related Function Documentation

◆ GblTrajectory

friend class GblTrajectory

friend

Definition at line 214 of file GblPoint.h.

Member Data Documentation

◆ nextJacobian

Matrix5d gbl::GblPoint::nextJacobian = Matrix5d::Zero(5,5)

private

Jacobian to next scatterer (or last measurement)

Definition at line 226 of file GblPoint.h.

Referenced by addNextJacobian(), getDerivatives(), and printPoint().

◆ p2pJacobian

Matrix5d gbl::GblPoint::p2pJacobian = Matrix5d::Zero(5,5)

private

Point-to-point jacobian from previous point.

Definition at line 224 of file GblPoint.h.

Referenced by getP2pJacobian(), and printPoint().

◆ prevJacobian

Matrix5d gbl::GblPoint::prevJacobian = Matrix5d::Zero(5,5)

private

Jacobian to previous scatterer (or first measurement)

Definition at line 225 of file GblPoint.h.

Referenced by addPrevJacobian(), getDerivatives(), and printPoint().

◆ scatDim

unsigned int gbl::GblPoint::scatDim

private

Dimension of scatterer (0: none, 2: thin, 4:thick)

Definition at line 227 of file GblPoint.h.

Referenced by addScatterer(), addThickScatterer(), getScatDim(), getScatterer(), getScatTransformation(), and printPoint().

◆ scatPrecision

Eigen::Vector4d gbl::GblPoint::scatPrecision

private

Scattering precision (diagonal of inverse covariance matrix)

Definition at line 232 of file GblPoint.h.

Referenced by addScatterer(), addThickScatterer(), getReducedScatterer(), getScatterer(), and printPoint().

◆ scatResiduals

Eigen::Vector4d gbl::GblPoint::scatResiduals

private

Scattering residuals (initial kinks if iterating)

Definition at line 231 of file GblPoint.h.

Referenced by addScatterer(), addThickScatterer(), getReducedScatterer(), getScatterer(), and printPoint().

◆ scatTransformation

Eigen::Matrix4d gbl::GblPoint::scatTransformation

private

Transformation of diagonalization (of scat. precision matrix)

Definition at line 230 of file GblPoint.h.

Referenced by addScatterer(), addThickScatterer(), getReducedScatterer(), getScatterer(), and getScatTransformation().

◆ theLabel

unsigned int gbl::GblPoint::theLabel

private

Label identifying point.

Definition at line 221 of file GblPoint.h.

Referenced by getLabel(), printPoint(), and setLabel().

◆ theMeasurements

std::vector<GblMeasurement> gbl::GblPoint::theMeasurements

private

List of measurements at point.

Definition at line 233 of file GblPoint.h.

Referenced by addGlobals(), addLocals(), GblPoint(), getGlobalLabelsAndDerivatives(), getMeasBegin(), getMeasEnd(), numMeasurements(), and printPoint().

◆ theOffset

int gbl::GblPoint::theOffset

private

Offset number at point if not negative (else interpolation needed)

Definition at line 222 of file GblPoint.h.

Referenced by getOffset(), printPoint(), and setOffset().

◆ theType

int gbl::GblPoint::theType

private

Type (-1: first, 0: inner, 1: last)

Definition at line 223 of file GblPoint.h.

Referenced by isFirst(), isLast(), and setType().

The documentation for this class was generated from the following files:

src/GblPoint.h
src/GblPoint.cpp

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ GblPoint() [1/3]

◆ GblPoint() [2/3]

◆ GblPoint() [3/3]

◆ ~GblPoint()

Member Function Documentation

◆ addGlobals()

◆ addLocals()

◆ addMeasurement() [1/4]

◆ addMeasurement() [2/4]

◆ addMeasurement() [3/4]

◆ addMeasurement() [4/4]

◆ addNextJacobian()

◆ addPrevJacobian()

◆ addScatterer() [1/2]

◆ addScatterer() [2/2]

◆ addThickScatterer()

◆ getDerivatives()

◆ getGlobalLabelsAndDerivatives()

◆ getLabel()

◆ getMeasBegin()

◆ getMeasEnd()

◆ getOffset()

◆ getP2pJacobian()

◆ getReducedScatterer()

◆ getScatDim()

◆ getScatterer()

◆ getScatTransformation()

◆ isFirst()

◆ isLast()

◆ numMeasurements()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ printPoint()

◆ setLabel()

◆ setOffset()

◆ setType()

Friends And Related Function Documentation

◆ GblTrajectory

Member Data Documentation

◆ nextJacobian

◆ p2pJacobian

◆ prevJacobian

◆ scatDim

◆ scatPrecision

◆ scatResiduals

◆ scatTransformation

◆ theLabel

◆ theMeasurements

◆ theOffset

◆ theType