JacobianTests.cpp

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// This file is part of the Acts project.
//
// Copyright (C) 2018-2019 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/data/test_case.hpp>
#include <boost/test/tools/output_test_stream.hpp>
#include <boost/test/unit_test.hpp>

#include "Acts/EventData/TrackParameters.hpp"
#include "Acts/Geometry/GeometryContext.hpp"
#include "Acts/MagneticField/ConstantBField.hpp"
#include "Acts/MagneticField/MagneticFieldContext.hpp"
#include "Acts/Propagator/AtlasStepper.hpp"
#include "Acts/Propagator/EigenStepper.hpp"
#include "Acts/Surfaces/CylinderSurface.hpp"
#include "Acts/Surfaces/DiscSurface.hpp"
#include "Acts/Surfaces/PerigeeSurface.hpp"
#include "Acts/Surfaces/PlaneSurface.hpp"
#include "Acts/Surfaces/StrawSurface.hpp"
#include "Acts/Tests/CommonHelpers/FloatComparisons.hpp"

namespace bdata = boost::unit_test::data;
namespace tt = boost::test_tools;
using namespace Acts::UnitLiterals;

namespace Acts {
namespace Test {

using BFieldType = ConstantBField;
using EigenStepperType = EigenStepper<BFieldType>;
using AtlasStepperType = AtlasStepper<BFieldType>;
using Covariance = BoundSymMatrix;

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

Transform3D createCylindricTransform(const Vector3D& nposition, double angleX,
                                     double angleY) {
  Transform3D ctransform;
  ctransform.setIdentity();
  ctransform.pretranslate(nposition);
  ctransform.prerotate(AngleAxis3D(angleX, Vector3D::UnitX()));
  ctransform.prerotate(AngleAxis3D(angleY, Vector3D::UnitY()));
  return ctransform;
}

Transform3D createPlanarTransform(const Vector3D& nposition,
                                  const Vector3D& nnormal, double angleT,
                                  double angleU) {
  // the rotation of the destination surface
  Vector3D T = nnormal.normalized();
  Vector3D U = std::abs(T.dot(Vector3D::UnitZ())) < 0.99
                   ? Vector3D::UnitZ().cross(T).normalized()
                   : Vector3D::UnitX().cross(T).normalized();
  Vector3D V = T.cross(U);
  // that's the plane curvilinear Rotation
  RotationMatrix3D curvilinearRotation;
  curvilinearRotation.col(0) = U;
  curvilinearRotation.col(1) = V;
  curvilinearRotation.col(2) = T;
  // curvilinear surfaces are boundless
  Transform3D ctransform{curvilinearRotation};
  ctransform.pretranslate(nposition);
  ctransform.prerotate(AngleAxis3D(angleT, T));
  ctransform.prerotate(AngleAxis3D(angleU, U));
  //
  return ctransform;
}


BoundToFreeMatrix convertToMatrix(const std::array<double, 60> P) {
  // initialize to zero
  BoundToFreeMatrix jMatrix = BoundToFreeMatrix::Zero();
  for (size_t j = 0; j < eBoundSize; ++j) {
    for (size_t i = 0; i < eFreeSize; ++i) {
      size_t ijc = eFreeSize + j * eFreeSize + i;
      jMatrix(i, j) = P[ijc];
    }
  }
  return jMatrix;
}

template <typename Parameters>
void testJacobianToGlobal(const Parameters& pars) {
  // Jacobian creation for Propagator/Steppers
  // a) ATLAS stepper
  AtlasStepperType::State astepState(tgContext, mfContext, pars);
  // b) Eigen stepper
  EigenStepperType::State estepState(tgContext, mfContext, pars);

  // create the matrices
  auto asMatrix = convertToMatrix(astepState.pVector);

  // cross comparison checks
  CHECK_CLOSE_OR_SMALL(asMatrix, estepState.jacToGlobal, 1e-6, 1e-9);
}

BOOST_AUTO_TEST_CASE(JacobianCurvilinearToGlobalTest) {
  // Create curvilinear parameters
  Covariance cov;
  cov << 10_mm, 0, 0, 0, 0, 0, 0, 10_mm, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0,
      0, 0.1, 0, 0, 0, 0, 0, 0, 1. / (10_GeV), 0, 0, 0, 0, 0, 0, 0;
  CurvilinearTrackParameters curvilinear(
      Vector4D(341., 412., 93., 0.), Vector3D(1.2, 8.3, 0.45), 10.0, 1, cov);

  // run the test
  testJacobianToGlobal(curvilinear);
}

BOOST_AUTO_TEST_CASE(JacobianCylinderToGlobalTest) {
  // the cylinder transform and surface
  auto cTransform = createCylindricTransform({10., -5., 0.}, 0.004, 0.03);
  auto cSurface = Surface::makeShared<CylinderSurface>(cTransform, 200., 1000.);

  Covariance cov;
  cov << 10_mm, 0, 0, 0, 0, 0, 0, 10_mm, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0,
      0, 0.1, 0, 0, 0, 0, 0, 0, 1. / (10_GeV), 0, 0, 0, 0, 0, 0, 0;

  BoundVector pars;
  pars << 182.34, -82., 0.134, 0.85, 1. / (100_GeV), 0;

  BoundTrackParameters atCylinder(cSurface, std::move(pars), std::move(cov));

  // run the test
  testJacobianToGlobal(atCylinder);
}

BOOST_AUTO_TEST_CASE(JacobianDiscToGlobalTest) {
  // the disc transform and surface
  auto dTransform = createPlanarTransform(
      {10., -5., 0.}, Vector3D(0.23, 0.07, 1.).normalized(), 0.004, 0.03);
  auto dSurface = Surface::makeShared<DiscSurface>(dTransform, 200., 1000.);

  Covariance cov;
  cov << 10_mm, 0, 0, 0, 0, 0, 0, 10_mm, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0,
      0, 0.1, 0, 0, 0, 0, 0, 0, 1. / (10_GeV), 0, 0, 0, 0, 0, 0, 0;

  BoundVector pars;
  pars << 192.34, 1.823, 0.734, 0.235, 1. / (100_GeV), 0;

  BoundTrackParameters atDisc(dSurface, std::move(pars), std::move(cov));

  // run the test
  testJacobianToGlobal(atDisc);
}

BOOST_AUTO_TEST_CASE(JacobianPlaneToGlobalTest) {
  // Let's create a surface somewhere in space
  Vector3D sPosition(3421., 112., 893.);
  Vector3D sNormal = Vector3D(1.2, -0.3, 0.05).normalized();

  // Create a surface & parameters with covariance on the surface
  auto pSurface = Surface::makeShared<PlaneSurface>(sPosition, sNormal);

  Covariance cov;
  cov << 10_mm, 0, 0, 0, 0, 0, 0, 10_mm, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0,
      0, 0.1, 0, 0, 0, 0, 0, 0, 1. / (10_GeV), 0, 0, 0, 0, 0, 0, 0;

  BoundVector pars;
  pars << 12.34, -8722., 2.134, 0.85, 1. / (100_GeV), 0;

  BoundTrackParameters atPlane(pSurface, std::move(pars), std::move(cov));

  // run the test
  testJacobianToGlobal(atPlane);
}

BOOST_AUTO_TEST_CASE(JacobianPerigeeToGlobalTest) {
  // Create a surface & parameters with covariance on the surface
  auto pSurface = Surface::makeShared<PerigeeSurface>(Vector3D({0., 0., 0.}));

  Covariance cov;
  cov << 10_mm, 0, 0, 0, 0, 0, 0, 10_mm, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0,
      0, 0.1, 0, 0, 0, 0, 0, 0, 1. / (10_GeV), 0, 0, 0, 0, 0, 0, 0;
  BoundVector pars;
  pars << -3.34, -822., -0.734, 0.85, 1. / (100_GeV), 0;

  BoundTrackParameters perigee(pSurface, std::move(pars), std::move(cov));

  // run the test
  testJacobianToGlobal(perigee);
}

BOOST_AUTO_TEST_CASE(JacobianStrawToGlobalTest) {
  // Create a surface & parameters with covariance on the surface
  auto sTransform = createCylindricTransform({1019., -52., 382.}, 0.4, -0.3);
  auto sSurface = Surface::makeShared<StrawSurface>(sTransform, 10., 1000.);

  Covariance cov;
  cov << 10_mm, 0, 0, 0, 0, 0, 0, 10_mm, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0,
      0, 0.1, 0, 0, 0, 0, 0, 0, 1. / (10_GeV), 0, 0, 0, 0, 0, 0, 0;

  BoundVector pars;
  pars << -8.34, 812., 0.734, 0.25, 1. / (100_GeV), 0;

  BoundTrackParameters atStraw(sSurface, std::move(pars), std::move(cov));

  // run the test
  testJacobianToGlobal(atStraw);
}

}  // namespace Test
}  // namespace Acts