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CovarianceEngineTests.cpp
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1 // This file is part of the Acts project.
2 //
3 // Copyright (C) 2020 CERN for the benefit of the Acts project
4 //
5 // This Source Code Form is subject to the terms of the Mozilla Public
6 // License, v. 2.0. If a copy of the MPL was not distributed with this
7 // file, You can obtain one at http://mozilla.org/MPL/2.0/.
8 
9 #include <boost/test/unit_test.hpp>
10 
11 #include "Acts/Propagator/detail/CovarianceEngine.hpp"
12 #include "Acts/Surfaces/PlaneSurface.hpp"
13 
14 namespace tt = boost::test_tools;
15 
16 namespace Acts {
17 namespace Test {
18 
19 using Covariance = BoundSymMatrix;
20 using Jacobian = BoundMatrix;
21 
25 BOOST_AUTO_TEST_CASE(covariance_engine_test) {
26  // Create a test context
27  GeometryContext tgContext = GeometryContext();
28 
29  // Build a start vector
30  Vector3D position{1., 2., 3.};
31  double time = 4.;
32  Vector3D direction{sqrt(5. / 22.), 3. * sqrt(2. / 55.), 7. / sqrt(110.)};
33  double qop = 0.125;
34  FreeVector parameters, startParameters;
35  parameters << position[0], position[1], position[2], time, direction[0],
36  direction[1], direction[2], qop;
37  startParameters = parameters;
38 
39  // Build covariance matrix, jacobians and related components
40  Covariance covariance = Covariance::Identity();
41  Jacobian jacobian = 2. * Jacobian::Identity();
42  FreeMatrix transportJacobian = 3. * FreeMatrix::Identity();
43  FreeVector derivatives;
44  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
45  BoundToFreeMatrix jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();
46 
47  // Covariance transport to curvilinear coordinates
48  detail::covarianceTransport(covariance, jacobian, transportJacobian,
49  derivatives, jacobianLocalToGlobal, direction);
50 
51  // Tests to see that the right components are (un-)changed
52  BOOST_CHECK_NE(covariance, Covariance::Identity());
53  BOOST_CHECK_NE(jacobian, 2. * Jacobian::Identity());
54  BOOST_CHECK_EQUAL(transportJacobian, FreeMatrix::Identity());
55  BOOST_CHECK_EQUAL(derivatives, FreeVector::Zero());
56  BOOST_CHECK_NE(jacobianLocalToGlobal, 4. * BoundToFreeMatrix::Identity());
57  BOOST_CHECK_EQUAL(direction, Vector3D(sqrt(5. / 22.), 3. * sqrt(2. / 55.),
58  7. / sqrt(110.)));
59 
60  // Reset
61  covariance = Covariance::Identity();
62  jacobian = 2. * Jacobian::Identity();
63  transportJacobian = 3. * FreeMatrix::Identity();
64  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
65  jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();
66 
67  // Repeat transport to surface
68  auto surface = Surface::makeShared<PlaneSurface>(position, direction);
69  detail::covarianceTransport(tgContext, covariance, jacobian,
70  transportJacobian, derivatives,
71  jacobianLocalToGlobal, parameters, *surface);
72 
73  BOOST_CHECK_NE(covariance, Covariance::Identity());
74  BOOST_CHECK_NE(jacobian, 2. * Jacobian::Identity());
75  BOOST_CHECK_EQUAL(transportJacobian, FreeMatrix::Identity());
76  BOOST_CHECK_EQUAL(derivatives, FreeVector::Zero());
77  BOOST_CHECK_NE(jacobianLocalToGlobal, 4. * BoundToFreeMatrix::Identity());
78  BOOST_CHECK_EQUAL(parameters, startParameters);
79 
80  // Produce a curvilinear state without covariance matrix
81  auto curvResult = detail::curvilinearState(
82  covariance, jacobian, transportJacobian, derivatives,
83  jacobianLocalToGlobal, parameters, false, 1337.);
84  BOOST_CHECK(!std::get<0>(curvResult).covariance().has_value());
85  BOOST_CHECK_EQUAL(std::get<2>(curvResult), 1337.);
86 
87  // Reset
88  covariance = Covariance::Identity();
89  jacobian = 2. * Jacobian::Identity();
90  transportJacobian = 3. * FreeMatrix::Identity();
91  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
92  jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();
93 
94  // Produce a curvilinear state with covariance matrix
95  curvResult = detail::curvilinearState(covariance, jacobian, transportJacobian,
96  derivatives, jacobianLocalToGlobal,
97  parameters, true, 1337.);
98  BOOST_CHECK(std::get<0>(curvResult).covariance().has_value());
99  BOOST_CHECK_NE(*(std::get<0>(curvResult).covariance()),
100  Covariance::Identity());
101  BOOST_CHECK_NE(std::get<1>(curvResult), 2. * Jacobian::Identity());
102  BOOST_CHECK_EQUAL(std::get<2>(curvResult), 1337.);
103 
104  // Produce a bound state without covariance matrix
105  auto boundResult = detail::boundState(
106  tgContext, covariance, jacobian, transportJacobian, derivatives,
107  jacobianLocalToGlobal, parameters, false, 1337., *surface);
108  BOOST_CHECK(!std::get<0>(boundResult).covariance().has_value());
109  BOOST_CHECK_EQUAL(std::get<2>(boundResult), 1337.);
110 
111  // Reset
112  covariance = Covariance::Identity();
113  jacobian = 2. * Jacobian::Identity();
114  transportJacobian = 3. * FreeMatrix::Identity();
115  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
116  jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();
117 
118  // Produce a bound state with covariance matrix
119  boundResult = detail::boundState(
120  tgContext, covariance, jacobian, transportJacobian, derivatives,
121  jacobianLocalToGlobal, parameters, true, 1337., *surface);
122  BOOST_CHECK(std::get<0>(boundResult).covariance().has_value());
123  BOOST_CHECK_NE(*(std::get<0>(boundResult).covariance()),
124  Covariance::Identity());
125  BOOST_CHECK_NE(std::get<1>(boundResult), 2. * Jacobian::Identity());
126  BOOST_CHECK_EQUAL(std::get<2>(boundResult), 1337.);
127 }
128 } // namespace Test
129 } // namespace Acts