Bug Fix on track definition. New Direction vectors with different

transform properties.

Author: MarcoRiggirello

Project.toml

@@ -4,4 +4,7 @@ authors = ["mriggire <[email protected]>"]
 version = "0.1.0"
 
 [deps]
+CSV = "336ed68f-0bac-5ca0-87d4-7b16caf5d00b"
+DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
+ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

src/ToyTracker.jl

@@ -10,4 +10,11 @@ include("utils.jl")
 include("geometry.jl")
 include("intersection.jl")
 
+export GlobalVector, Pose
+export ParticleTrack
+export SiliconSensor, PlacedSensor, Tracker
+export Cluster, Hit
+
+export interaction
+
 end # module ToyTracker

src/geometry.jl

@@ -17,3 +17,25 @@ function Base.inv(p::Pose)
 end
 
 Base.:\(p::Pose, c::GlobalVector) = LocalVector(inv(p) * c) 
+
+
+function Base.:*(p::Pose, d::LocalDirection)
+    rot = SA[
+        p.rotxx p.rotxy p.rotxz 0
+        p.rotyx p.rotyy p.rotyz 0
+        p.rotzx p.rotzy p.rotzz 0
+        0       0       0       1
+    ]
+    return GlobalDirection(rot * d)
+end
+
+
+function Base.:\(p::Pose, d::GlobalDirection)
+    invrot = SA[
+        p.rotxx p.rotyx p.rotzx 0
+        p.rotxy p.rotyy p.rotzy 0
+        p.rotxz p.rotyz p.rotzz 0
+        0       0       0       1
+    ]
+    return LocalDirection(invrot * d)
+end

src/geometry_types.jl

@@ -54,6 +54,60 @@ LocalVector(a::StaticArray{S, T, 1} where {S<:Tuple, T}) = LocalVector(a...)
 
 
 
+"""
+Direction vector in a global reference frame.
+"""
+struct GlobalDirection{T} <: FieldVector{4,T}
+    x::T
+    y::T
+    z::T
+    unity::T
+    function GlobalDirection{T}(a, b, c, d) where {T}
+        if !(d ≈ 1)
+            @warn "The 4th element of the input vector is not close to 1 as expected for a GlobalDirection. That element will be discarded."
+        end
+        return new{T}(a, b, c, one(T))
+    end
+end
+
+GlobalDirection(a::T, b::T, c::T, d::T) where {T} = GlobalDirection{T}(a, b, c, d)
+GlobalDirection(a, b, c, d) = GlobalDirection(promote(a, b, c, d)...)
+
+GlobalDirection{T}(a, b, c) where {T} = GlobalDirection{T}(a, b, c, one(T))
+GlobalDirection(a::T, b::T, c::T) where {T} = GlobalDirection{T}(a, b, c, one(T))
+
+GlobalDirection(a, b, c) = GlobalDirection(promote(a, b, c)...)
+GlobalDirection(a::StaticArray{S, T, 1} where {S<:Tuple, T}) = GlobalDirection(a...)
+
+
+
+"""
+Direction vector in a local reference frame.
+"""
+struct LocalDirection{T} <: FieldVector{4,T}
+    u::T
+    v::T
+    w::T
+    unity::T
+    function LocalDirection{T}(a, b, c, d) where {T}
+        if !(d ≈ 1)
+            @warn "The 4th element of the input vector is not close to 1 as expected for a LocalDirection. That element will be discarded."
+        end
+        return new{T}(a, b, c, one(T))
+    end
+end
+
+LocalDirection(a::T, b::T, c::T, d::T) where {T} = LocalDirection{T}(a, b, c, d)
+LocalDirection(a, b, c, d) = LocalDirection(promote(a, b, c, d)...)
+
+LocalDirection{T}(a, b, c) where {T} = LocalDirection{T}(a, b, c, one(T))
+LocalDirection(a::T, b::T, c::T) where {T} = LocalDirection{T}(a, b, c, one(T))
+
+LocalDirection(a, b, c) = LocalDirection(promote(a, b, c)...)
+LocalDirection(a::StaticArray{S, T, 1} where {S<:Tuple, T}) = LocalDirection(a...)
+
+
+
 """
 A pose as defined in "A tutorial on SE(3) transformation parameterizations and on-manifold optimization", J. Blanco, 2010.
 """

src/intersection.jl

@@ -45,7 +45,7 @@ end
 
 
 function interaction(t::ParticleTrack, d::Tracker)
-    hits = Dict{String, Hit}()
+    hits = Dict{String, Union{Hit, Missing}}()
     for s in sensors(d) 
         id = s.first
         ss = s.second

src/tracker_types.jl

@@ -6,29 +6,29 @@ Simple struct to model basic properties of a silicon tracker sensor.
 
 Each size should be in mm (TODO ensure that indeed this is the case). 
 """
-struct SiliconSensor
-    xwidth::Real
-    ywidth::Real
-    xpitch::Real
-    ypitch::Real
-    thickness::Real
+struct SiliconSensor{T}
+    xwidth::T
+    ywidth::T
+    xpitch::T
+    ypitch::T
+    thickness::T
 end
 
 
 """
 A Silicon Sensor plus the (active) transformation that describe its position in the global reference frame.
 """
-struct PlacedSensor
-    sensor::SiliconSensor
-    position::Pose
+struct PlacedSensor{T}
+    sensor::SiliconSensor{T}
+    position::Pose{T}
 end
 
 
 """
 Collection of SiliconSensors and their position in the global reference frame.
 """
-struct Tracker
-    sensors::Dict{String,PlacedSensor}
+struct Tracker{T}
+    sensors::Dict{String,PlacedSensor{T}}
 end
 
 
@@ -38,16 +38,22 @@ A straight track.
 Each vector element should be in mm (TODO ensure that indeed this is the case). 
 """
 struct ParticleTrack{T}
-    direction::GlobalVector{T}
+    direction::GlobalDirection{T}
     position0::GlobalVector{T}
 end
 
 
+ParticleTrack{T}(mx, my, x0, y0) where {T} = ParticleTrack{T}(GlobalDirection{T}(mx, my, 1.), GlobalVector{T}(x0, y0, 0.))
+
+ParticleTrack(mx::T, my::T, x0::T, y0::T) where {T} = ParticleTrack{T}(mx, my, x0, y0)
+
+ParticleTrack(mx, my, x0, y0) = ParticleTrack(promote(mx, my, x0, y0)...)
+
 """
 A straight track in the reference frame of a PlacedSensor.
 """
 struct ProjectedTrack{T}
-    direction::LocalVector{T}
+    direction::LocalDirection{T}
     position0::LocalVector{T}
 end