Class Acts::KalmanFitter¶
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template<typename propagator_t, typename updater_t = VoidKalmanUpdater, typename smoother_t = VoidKalmanSmoother>
class Acts::KalmanFitter¶ Kalman fitter implementation.
The Kalman filter contains an Actor and a Sequencer sub-class. The Sequencer has to be part of the Navigator of the Propagator in order to initialize and provide the measurement surfaces.
- tparam propagator_t
Type of the propagation class
- tparam updater_t
Type of the kalman updater class
- tparam smoother_t
Type of the kalman smoother class
The Actor is part of the Propagation call and does the Kalman update and eventually the smoothing. Updater, Smoother and Calibrator are given to the Actor for further use:
The Updater is the implemented kalman updater formalism, it runs via a visitor pattern through the measurements.
The Smoother is called at the end of the filtering by the Actor.
Measurements are not required to be ordered for the KalmanFilter, measurement ordering needs to be figured out by the navigation of the propagator.
The void components are provided mainly for unit testing.
Public Functions
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inline KalmanFitter(propagator_t pPropagator)¶
Fit implementation of the foward filter, calls the the filter and smoother/reversed filter.
Note
The input measurements are given in the form of
SourceLinks
. It’scalibrator_t's
job to turn them into calibrated measurements used in the fit.- Template Parameters
source_link_t – Type of the source link
start_parameters_t – Type of the initial parameters
calibrator_t – Type of the source link calibrator
outlier_finder_t – Type of the outlier finder
parameters_t – Type of parameters used for local parameters
- Parameters
sourcelinks – The fittable uncalibrated measurements
sParameters – The initial track parameters
kfOptions – KalmanOptions steering the fit
- Returns
the output as an output track
Fit implementation of the foward filter, calls the the filter and smoother/reversed filter.
Note
The input measurements are given in the form of
SourceLinks
. It’scalibrator_t's
job to turn them into calibrated measurements used in the fit.- Template Parameters
source_link_t – Type of the source link
start_parameters_t – Type of the initial parameters
calibrator_t – Type of the source link calibrator
outlier_finder_t – Type of the outlier finder
parameters_t – Type of parameters used for local parameters
- Parameters
sourcelinks – The fittable uncalibrated measurements
sParameters – The initial track parameters
kfOptions – KalmanOptions steering the fit
sSequence – surface sequence used to initialize a DirectNavigator
- Returns
the output as an output track