GainMatrixUpdaterTests.cpp

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// This file is part of the Acts project.
//
// Copyright (C) 2016-2019 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/.

#include <boost/test/unit_test.hpp>

#include "Acts/EventData/Measurement.hpp"
#include "Acts/EventData/MeasurementHelpers.hpp"
#include "Acts/EventData/TrackParameters.hpp"
#include "Acts/Surfaces/CylinderSurface.hpp"
#include "Acts/Tests/CommonHelpers/FloatComparisons.hpp"
#include "Acts/TrackFitting/GainMatrixUpdater.hpp"
#include "Acts/Utilities/ParameterDefinitions.hpp"

#include <memory>

#include <boost/optional/optional_io.hpp>

namespace Acts {
namespace Test {

using Jacobian = BoundMatrix;
using Covariance = BoundSymMatrix;
using SourceLink = MinimalSourceLink;
template <BoundIndices... params>
using MeasurementType = Measurement<SourceLink, BoundIndices, params...>;

// Create a test context
GeometryContext tgContext = GeometryContext();

BOOST_AUTO_TEST_CASE(gain_matrix_updater) {
  // Make dummy measurement
  auto cylinder =
      Surface::makeShared<CylinderSurface>(Transform3D::Identity(), 3, 10);

  SymMatrix2D cov;
  cov << 0.04, 0, 0, 0.1;
  FittableMeasurement<SourceLink> meas(
      MeasurementType<BoundIndices::eBoundLoc0, BoundIndices::eBoundLoc1>(
          cylinder, {}, std::move(cov), -0.1, 0.45));

  // Make dummy track parameter
  Covariance covTrk;
  covTrk.setZero();
  covTrk.diagonal() << 0.08, 0.3, 1, 1, 1, 0;
  BoundVector parValues;
  parValues << 0.3, 0.5, 0.5 * M_PI, 0.3 * M_PI, 0.01, 0.;

  MultiTrajectory<SourceLink> traj;
  traj.addTrackState(TrackStatePropMask::All);
  auto ts = traj.getTrackState(0);

  ts.uncalibrated() = SourceLink{&meas};
  // "calibrate"
  std::visit([&](const auto& m) { ts.setCalibrated(m); }, meas);

  ts.predicted() = parValues;
  ts.predictedCovariance() = covTrk;
  ts.pathLength() = 0.;

  // Gain matrix update and filtered state
  GainMatrixUpdater gmu;

  BOOST_CHECK(ts.hasFiltered());
  BOOST_CHECK(ts.hasCalibrated());
  BOOST_CHECK(gmu(tgContext, ts).ok());
  // ref surface is same on measurements and parameters
  BOOST_CHECK_EQUAL(&ts.referenceSurface(), cylinder.get());

  // Check for regression. This does NOT test if the math is correct, just that
  // the result is the same as when the test was written.

  Covariance expCov;
  expCov.setZero();
  expCov.diagonal() << 0.0266667, 0.0750000, 1.0000000, 1.0000000, 1.0000000,
      0.0000000;

  BoundVector expPar;
  expPar << 0.0333333, 0.4625000, 1.5707963, 0.9424778, 0.0100000, 0.0000000;

  Vector3D expPosition;
  expPosition << 2.9998148, 0.0333326, 0.4625000;

  Vector3D expMomentum;
  expMomentum << 0.0000000, 80.9016994, 58.7785252;

  BoundTrackParameters filtered(cylinder, ts.filtered(),
                                ts.filteredCovariance());

  double expChi2 = 1.33958;

  double tol = 1e-6;

  CHECK_CLOSE_ABS(expCov, *filtered.covariance(), tol);
  CHECK_CLOSE_ABS(expPar, filtered.parameters(), tol);
  CHECK_CLOSE_ABS(expPosition, filtered.position(tgContext), tol);
  CHECK_CLOSE_ABS(expMomentum, filtered.momentum(), tol);
  CHECK_CLOSE_ABS(expChi2, ts.chi2(), 1e-4);
}

}  // namespace Test
}  // namespace Acts