KFTrackState.h

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#ifndef KFTRACKSTATE_H
#define KFTRACKSTATE_H

#include "lardata/RecoObjects/TrackState.h"

namespace trkf {

  /// \file  lardata/RecoObjects/KFTrackState.h
  /// \class KFTrackState
  ///
  /// \brief Extension of a TrackState to perform KalmanFilter calculations.
  ///
  /// \author  G. Cerati (FNAL, MicroBooNE)
  /// \date    2017
  /// \version 1.0
  ///
  /// This class extends the concept of TrackState, providing functionalities for Kalman Filter-specific calculations such as 'update' and 'combine'.
  /// It holds a TrackState by value, which is modified in place when updating or combining.
  ///

  class KFTrackState {
  public:
    //
  KFTrackState(const SVector5& trackStatePar, const SMatrixSym55& trackStateCov, const Plane& plane, bool trackAlongPlaneDir, int pid)
    : fTrackState(trackStatePar, trackStateCov, plane, trackAlongPlaneDir, pid) {}
  KFTrackState(TrackState&& trackState)
    : fTrackState(std::move(trackState)) { }

    /// Update the TrackState given a HitState (they need to be on the same plane)
    bool updateWithHitState(const HitState& hitstate);

    /// Combine the TrackState given another TrackState (they need to be on the same plane)
    bool combineWithTrackState(const TrackState& trackstate);

    /// Get the (const reference to the) TrackState
    const TrackState& trackState() const { return fTrackState; }
    /// Set the TrackState
    void setTrackState(TrackState&& s) { fTrackState = std::move(s); }
    //
    //@{
    /// This function calls the homonymous function of the stored TrackState
    const SVector5&     parameters()           const { return fTrackState.parameters(); }
    const SMatrixSym55& covariance()           const { return fTrackState.covariance(); }
    const Plane&        plane()                const { return fTrackState.plane(); }
    const Point_t&      position()             const { return fTrackState.position(); }
    const Vector_t&     momentum()             const { return fTrackState.momentum(); }
    int                 pID()                  const { return fTrackState.pID(); }
    double              mass()                 const { return fTrackState.mass(); }
    const SVector6      parameters6D()         const { return fTrackState.parameters6D(); }
    bool                isTrackAlongPlaneDir() const { return fTrackState.isTrackAlongPlaneDir(); }
    //
    double              residual      (const HitState& hitstate) const { return fTrackState.residual(hitstate); }
    double              combinedError2(const HitState& hitstate) const { return fTrackState.combinedError2(hitstate); }
    double              combinedError (const HitState& hitstate) const { return fTrackState.combinedError(hitstate); }
    double              chi2          (const HitState& hitstate) const { return fTrackState.chi2(hitstate); }
    //
    void                setCovariance (const SMatrixSym55& trackStateCov) { fTrackState.setCovariance(trackStateCov); }
    void                setParameters (const SVector5&     trackStatePar) { fTrackState.setParameters(trackStatePar); }
    //@}
    //
    /// Printout information
    std::ostream& dump(std::ostream& out = std::cout) const {
      out << "KFTrackState with pID=" << pID() << " mass=" << mass()
          << "\npars=" << parameters() << " position=" << position() << " momentum=" << momentum()
          << "\ncov=\n" << covariance()
          << "\non plane with pos=" << plane().position() << " and dir=" << plane().direction() << " along=" << isTrackAlongPlaneDir() << "\n";
      return out;
    }
    //
  private:
    TrackState fTrackState;
  };

}
#endif