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File indexing completed on 2024-04-06 12:31:32
0001 #ifndef _TRACKER_KFUPDATOR_H_ 0002 #define _TRACKER_KFUPDATOR_H_ 0003 0004 /** \class KFUpdator 0005 * Update trajectory state by combining predicted state and measurement 0006 * as prescribed in the Kalman Filter algorithm 0007 * (see R. Fruhwirth, NIM A262 (1987) 444). <BR> 0008 * 0009 * x_filtered = x_predicted + K * (measurement - H * x_predicted) <BR> 0010 * 0011 * x_filtered, x_predicted filtered and predicted state vectors <BR> 0012 * measurement measurement vector <BR> 0013 * H "measurement matrix" projects state vector onto measurement space <BR> 0014 * K Kalman gain matrix <BR> 0015 * (formulae for K and error matrix of filtered state not shown) <BR> 0016 * 0017 * This implementation works for measurements of all dimensions. 0018 * It relies on CLHEP double precision vectors and matrices for 0019 * matrix calculations. <BR> 0020 * 0021 * Arguments: TrajectoryState & predicted state <BR> 0022 * RecHit & reconstructed hit <BR> 0023 * 0024 * Initial author: P.Vanlaer 25.02.1999 0025 * Ported from ORCA. 0026 * 0027 * \author vanlaer, cerati 0028 */ 0029 0030 #include "TrackingTools/PatternTools/interface/TrajectoryStateUpdator.h" 0031 0032 class KFUpdator final : public TrajectoryStateUpdator { 0033 public: 0034 // methods of Updator 0035 0036 KFUpdator() {} 0037 0038 TrajectoryStateOnSurface update(const TrajectoryStateOnSurface&, const TrackingRecHit&) const override; 0039 0040 KFUpdator* clone() const override { return new KFUpdator(*this); } 0041 }; 0042 0043 #endif
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