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refactor!: Replace Surface FreeVector input with position and dir…
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…ection (acts-project#2933)

We do not depend on free parameters for `Surface` so this should not be part of the interface. I consistently replace this by position and direction vectors here.

blocked by
- acts-project#2932
- acts-project#2811
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@andiwand @EleniXoch
andiwand authored and EleniXoch committed May 6, 2024
1 parent ca41b2b commit 5ccabfd
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Showing 25 changed files with 160 additions and 195 deletions.
6 changes: 4 additions & 2 deletions Alignment/include/ActsAlignment/Kernel/detail/AlignmentEngine.hpp
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Expand Up @@ -225,6 +225,8 @@ TrackAlignmentState trackAlignmentState(
// The free parameters transformed from the smoothed parameters
const FreeVector freeParams =
Acts::MultiTrajectoryHelpers::freeSmoothed(gctx, state);
// The position
const Vector3 position = freeParams.segment<3>(eFreePos0);
// The direction
const Vector3 direction = freeParams.segment<3>(eFreeDir0);
// The derivative of free parameters w.r.t. path length. @note Here, we
Expand All @@ -234,8 +236,8 @@ TrackAlignmentState trackAlignmentState(
FreeVector pathDerivative = FreeVector::Zero();
pathDerivative.head<3>() = direction;
// Get the derivative of bound parameters w.r.t. alignment parameters
AlignmentToBoundMatrix alignToBound =
surface->alignmentToBoundDerivative(gctx, freeParams, pathDerivative);
AlignmentToBoundMatrix alignToBound = surface->alignmentToBoundDerivative(
gctx, position, direction, pathDerivative);
// Set the degree of freedom per surface.
// @Todo: don't allocate memory for fixed degree of freedom and consider surface/layer/volume wise align mask (instead of using global mask as now)
resetAlignmentDerivative(alignToBound, alignMask);
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8 changes: 5 additions & 3 deletions Core/include/Acts/Propagator/EigenStepper.hpp
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Expand Up @@ -80,8 +80,10 @@ class EigenStepper {
stepSize(ssize),
fieldCache(std::move(fieldCacheIn)),
geoContext(gctx) {
pars.template segment<3>(eFreePos0) = par.position(gctx);
pars.template segment<3>(eFreeDir0) = par.direction();
Vector3 position = par.position(gctx);
Vector3 direction = par.direction();
pars.template segment<3>(eFreePos0) = position;
pars.template segment<3>(eFreeDir0) = direction;
pars[eFreeTime] = par.time();
pars[eFreeQOverP] = par.parameters()[eBoundQOverP];

Expand All @@ -92,7 +94,7 @@ class EigenStepper {
// set the covariance transport flag to true and copy
covTransport = true;
cov = BoundSquareMatrix(*par.covariance());
jacToGlobal = surface.boundToFreeJacobian(gctx, pars);
jacToGlobal = surface.boundToFreeJacobian(gctx, position, direction);
}
}

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8 changes: 6 additions & 2 deletions Core/include/Acts/Propagator/EigenStepper.ipp
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Expand Up @@ -39,7 +39,9 @@ void Acts::EigenStepper<E, A>::resetState(State& state,
state.pathAccumulated = 0.;

// Reinitialize the stepping jacobian
state.jacToGlobal = surface.boundToFreeJacobian(state.geoContext, freeParams);
state.jacToGlobal = surface.boundToFreeJacobian(
state.geoContext, freeParams.template segment<3>(eFreePos0),
freeParams.template segment<3>(eFreeDir0));
state.jacobian = BoundMatrix::Identity();
state.jacTransport = FreeMatrix::Identity();
state.derivative = FreeVector::Zero();
Expand Down Expand Up @@ -112,7 +114,9 @@ void Acts::EigenStepper<E, A>::update(State& state,
const Surface& surface) const {
state.pars = freeParams;
state.cov = covariance;
state.jacToGlobal = surface.boundToFreeJacobian(state.geoContext, freeParams);
state.jacToGlobal = surface.boundToFreeJacobian(
state.geoContext, freeParams.template segment<3>(eFreePos0),
freeParams.template segment<3>(eFreeDir0));
}

template <typename E, typename A>
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8 changes: 5 additions & 3 deletions Core/include/Acts/Propagator/StraightLineStepper.hpp
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Expand Up @@ -76,8 +76,10 @@ class StraightLineStepper {
tolerance(stolerance),
geoContext(gctx) {
(void)mctx;
pars.template segment<3>(eFreePos0) = par.position(gctx);
pars.template segment<3>(eFreeDir0) = par.direction();
Vector3 position = par.position(gctx);
Vector3 direction = par.direction();
pars.template segment<3>(eFreePos0) = position;
pars.template segment<3>(eFreeDir0) = direction;
pars[eFreeTime] = par.time();
pars[eFreeQOverP] = par.parameters()[eBoundQOverP];
if (par.covariance()) {
Expand All @@ -86,7 +88,7 @@ class StraightLineStepper {
// set the covariance transport flag to true and copy
covTransport = true;
cov = BoundSquareMatrix(*par.covariance());
jacToGlobal = surface.boundToFreeJacobian(gctx, pars);
jacToGlobal = surface.boundToFreeJacobian(gctx, position, direction);
}
}

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6 changes: 4 additions & 2 deletions Core/include/Acts/Surfaces/ConeSurface.hpp
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Expand Up @@ -219,11 +219,13 @@ class ConeSurface : public RegularSurface {
/// represented with extrinsic Euler angles)
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Derivative of path length w.r.t. the alignment parameters
AlignmentToPathMatrix alignmentToPathDerivative(
const GeometryContext& gctx, const FreeVector& parameters) const final;
const GeometryContext& gctx, const Vector3& position,
const Vector3& direction) const final;

/// Calculate the derivative of bound track parameters local position w.r.t.
/// position in local 3D Cartesian coordinates
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6 changes: 4 additions & 2 deletions Core/include/Acts/Surfaces/CylinderSurface.hpp
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Expand Up @@ -228,11 +228,13 @@ class CylinderSurface : public RegularSurface {
/// represented with extrinsic Euler angles)
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Derivative of path length w.r.t. the alignment parameters
AlignmentToPathMatrix alignmentToPathDerivative(
const GeometryContext& gctx, const FreeVector& parameters) const final;
const GeometryContext& gctx, const Vector3& position,
const Vector3& direction) const final;

/// Calculate the derivative of bound track parameters local position w.r.t.
/// position in local 3D Cartesian coordinates
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16 changes: 10 additions & 6 deletions Core/include/Acts/Surfaces/DiscSurface.hpp
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Expand Up @@ -234,21 +234,25 @@ class DiscSurface : public RegularSurface {
/// hence the calculation is done here.
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters vector
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Jacobian from local to global
BoundToFreeMatrix boundToFreeJacobian(
const GeometryContext& gctx, const FreeVector& parameters) const final;
BoundToFreeMatrix boundToFreeJacobian(const GeometryContext& gctx,
const Vector3& position,
const Vector3& direction) const final;

/// Calculate the jacobian from global to local which the surface knows best,
/// hence the calculation is done here.
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters vector
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Jacobian from global to local
FreeToBoundMatrix freeToBoundJacobian(
const GeometryContext& gctx, const FreeVector& parameters) const final;
FreeToBoundMatrix freeToBoundJacobian(const GeometryContext& gctx,
const Vector3& position,
const Vector3& direction) const final;

/// Path correction due to incident of the track
///
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22 changes: 14 additions & 8 deletions Core/include/Acts/Surfaces/LineSurface.hpp
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Expand Up @@ -121,21 +121,25 @@ class LineSurface : public Surface {
/// hence the calculation is done here.
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters vector
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Jacobian from local to global
BoundToFreeMatrix boundToFreeJacobian(
const GeometryContext& gctx, const FreeVector& parameters) const final;
BoundToFreeMatrix boundToFreeJacobian(const GeometryContext& gctx,
const Vector3& position,
const Vector3& direction) const final;

/// Calculate the derivative of path length at the geometry constraint or
/// point-of-closest-approach w.r.t. free parameters
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters vector
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Derivative of path length w.r.t. free parameters
FreeToPathMatrix freeToPathDerivative(
const GeometryContext& gctx, const FreeVector& parameters) const final;
FreeToPathMatrix freeToPathDerivative(const GeometryContext& gctx,
const Vector3& position,
const Vector3& direction) const final;

/// Local to global transformation
///
Expand Down Expand Up @@ -265,11 +269,13 @@ class LineSurface : public Surface {
/// represented with extrinsic Euler angles)
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Derivative of path length w.r.t. the alignment parameters
AlignmentToPathMatrix alignmentToPathDerivative(
const GeometryContext& gctx, const FreeVector& parameters) const final;
const GeometryContext& gctx, const Vector3& position,
const Vector3& direction) const final;

/// Calculate the derivative of bound track parameters local position w.r.t.
/// position in local 3D Cartesian coordinates
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43 changes: 27 additions & 16 deletions Core/include/Acts/Surfaces/Surface.hpp
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Expand Up @@ -326,11 +326,13 @@ class Surface : public virtual GeometryObject,
/// "Acts/EventData/detail/coordinate_transformations.hpp"
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters vector
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Jacobian from local to global
virtual BoundToFreeMatrix boundToFreeJacobian(
const GeometryContext& gctx, const FreeVector& parameters) const;
virtual BoundToFreeMatrix boundToFreeJacobian(const GeometryContext& gctx,
const Vector3& position,
const Vector3& direction) const;

/// Calculate the jacobian from global to local which the surface knows best,
/// hence the calculation is done here.
Expand All @@ -343,11 +345,13 @@ class Surface : public virtual GeometryObject,
/// "Acts/EventData/detail/coordinate_transformations.hpp"
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters vector
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Jacobian from global to local
virtual FreeToBoundMatrix freeToBoundJacobian(
const GeometryContext& gctx, const FreeVector& parameters) const;
virtual FreeToBoundMatrix freeToBoundJacobian(const GeometryContext& gctx,
const Vector3& position,
const Vector3& direction) const;

/// Calculate the derivative of path length at the geometry constraint or
/// point-of-closest-approach w.r.t. free parameters. The calculation is
Expand All @@ -359,11 +363,13 @@ class Surface : public virtual GeometryObject,
/// "Acts/EventData/detail/coordinate_transformations.hpp"
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Derivative of path length w.r.t. free parameters
virtual FreeToPathMatrix freeToPathDerivative(
const GeometryContext& gctx, const FreeVector& parameters) const;
virtual FreeToPathMatrix freeToPathDerivative(const GeometryContext& gctx,
const Vector3& position,
const Vector3& direction) const;

/// Calucation of the path correction for incident
///
Expand Down Expand Up @@ -430,15 +436,16 @@ class Surface : public virtual GeometryObject,
///
/// @param gctx The current geometry context object, e.g. alignment
/// change of alignment parameters
/// @param parameters is the free parameters
/// @param position global 3D position
/// @param direction global 3D momentum direction
/// @param pathDerivative is the derivative of free parameters w.r.t. path
/// length
///
/// @return Derivative of bound track parameters w.r.t. local frame
/// alignment parameters
AlignmentToBoundMatrix alignmentToBoundDerivative(
const GeometryContext& gctx, const FreeVector& parameters,
const FreeVector& pathDerivative) const;
const GeometryContext& gctx, const Vector3& position,
const Vector3& direction, const FreeVector& pathDerivative) const;

/// Calculate the derivative of path length at the geometry constraint or
/// point-of-closest-approach w.r.t. alignment parameters of the surface (i.e.
Expand All @@ -450,11 +457,13 @@ class Surface : public virtual GeometryObject,
/// ConeSurface
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Derivative of path length w.r.t. the alignment parameters
virtual AlignmentToPathMatrix alignmentToPathDerivative(
const GeometryContext& gctx, const FreeVector& parameters) const;
const GeometryContext& gctx, const Vector3& position,
const Vector3& direction) const;

/// Calculate the derivative of bound track parameters local position w.r.t.
/// position in local 3D Cartesian coordinates
Expand Down Expand Up @@ -496,12 +505,14 @@ class Surface : public virtual GeometryObject,
/// derivative to get the full alignment to bound derivatives
///
/// @param gctx The current geometry context object, e.g. alignment
/// @param parameters is the free parameters
/// @param position global 3D position
/// @param direction global 3D momentum direction
///
/// @return Derivative of bound track parameters w.r.t. local frame alignment
/// parameters without path correction
AlignmentToBoundMatrix alignmentToBoundDerivativeWithoutCorrection(
const GeometryContext& gctx, const FreeVector& parameters) const;
const GeometryContext& gctx, const Vector3& position,
const Vector3& direction) const;
};

/// Print surface information to the provided stream. Internally invokes the
Expand Down
10 changes: 5 additions & 5 deletions Core/include/Acts/Surfaces/SurfaceConcept.hpp
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Expand Up @@ -68,15 +68,15 @@ concept SurfaceConcept = requires(S s, const S cs, S s2, const S cs2,
} -> std::same_as<RotationMatrix3>;

{
cs.boundToFreeJacobian(gctx, FreeVector{})
cs.boundToFreeJacobian(gctx, Vector3{}, Vector3{})
} -> std::same_as<BoundToFreeMatrix>;

{
cs.freeToBoundJacobian(gctx, FreeVector{})
cs.freeToBoundJacobian(gctx, Vector3{}, Vector3{})
} -> std::same_as<FreeToBoundMatrix>;

{
cs.freeToPathDerivative(gctx, FreeVector{})
cs.freeToPathDerivative(gctx, Vector3{}, Vector3{})
} -> std::same_as<FreeToPathMatrix>;

{ cs.pathCorrection(gctx, Vector3{}, Vector3{}) } -> std::same_as<double>;
Expand All @@ -99,11 +99,11 @@ concept SurfaceConcept = requires(S s, const S cs, S s2, const S cs2,
} -> std::same_as<Polyhedron>;

{
cs.alignmentToBoundDerivative(gctx, FreeVector{}, FreeVector{})
cs.alignmentToBoundDerivative(gctx, Vector3{}, Vector3{}, FreeVector{})
} -> std::same_as<AlignmentToBoundMatrix>;

{
cs.alignmentToPathDerivative(gctx, FreeVector{})
cs.alignmentToPathDerivative(gctx, Vector3{}, Vector3{})
} -> std::same_as<AlignmentToPathMatrix>;

{
Expand Down
6 changes: 4 additions & 2 deletions Core/include/Acts/TrackFitting/detail/GsfActor.hpp
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Expand Up @@ -529,8 +529,10 @@ struct GsfActor {
}

auto& cmp = *res;
cmp.jacToGlobal() =
surface.boundToFreeJacobian(state.geoContext, cmp.pars());
auto freeParams = cmp.pars();
cmp.jacToGlobal() = surface.boundToFreeJacobian(
state.geoContext, freeParams.template segment<3>(eFreePos0),
freeParams.template segment<3>(eFreeDir0));
cmp.pathAccumulated() = state.stepping.pathAccumulated;
cmp.jacobian() = Acts::BoundMatrix::Identity();
cmp.derivative() = Acts::FreeVector::Zero();
Expand Down
8 changes: 6 additions & 2 deletions Core/src/Propagator/StraightLineStepper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,9 @@ void StraightLineStepper::update(State& state, const FreeVector& freeParams,
const Surface& surface) const {
state.pars = freeParams;
state.cov = covariance;
state.jacToGlobal = surface.boundToFreeJacobian(state.geoContext, freeParams);
state.jacToGlobal = surface.boundToFreeJacobian(
state.geoContext, freeParams.template segment<3>(eFreePos0),
freeParams.template segment<3>(eFreeDir0));
}

void StraightLineStepper::update(State& state, const Vector3& uposition,
Expand Down Expand Up @@ -79,7 +81,9 @@ void StraightLineStepper::resetState(State& state,
state.pathAccumulated = 0.;

// Reinitialize the stepping jacobian
state.jacToGlobal = surface.boundToFreeJacobian(state.geoContext, freeParams);
state.jacToGlobal = surface.boundToFreeJacobian(
state.geoContext, freeParams.template segment<3>(eFreePos0),
freeParams.template segment<3>(eFreeDir0));
state.jacobian = BoundMatrix::Identity();
state.jacTransport = FreeMatrix::Identity();
state.derivative = FreeVector::Zero();
Expand Down
3 changes: 2 additions & 1 deletion Core/src/Propagator/detail/CovarianceEngine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,7 +209,8 @@ Acts::Result<Acts::BoundTrackParameters> detail::boundToBoundConversion(

if (boundParameters.covariance().has_value()) {
Acts::BoundToFreeMatrix boundToFreeJacobian =
sourceSurface.boundToFreeJacobian(gctx, freePars);
sourceSurface.boundToFreeJacobian(gctx, freePars.segment<3>(eFreePos0),
freePars.segment<3>(eFreeDir0));

Acts::FreeMatrix freeTransportJacobian = FreeMatrix::Identity();

Expand Down
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