CovarianceEngineTests.cpp

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// This file is part of the Acts project.
//
// Copyright (C) 2020 CERN for the benefit of the Acts project
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at http://mozilla.org/MPL/2.0/.

#include <boost/test/unit_test.hpp>

#include "Acts/Propagator/detail/CovarianceEngine.hpp"
#include "Acts/Surfaces/PlaneSurface.hpp"

namespace tt = boost::test_tools;

namespace Acts {
namespace Test {

using Covariance = BoundSymMatrix;
using Jacobian = BoundMatrix;

BOOST_AUTO_TEST_CASE(covariance_engine_test) {
  // Create a test context
  GeometryContext tgContext = GeometryContext();

  // Build a start vector
  Vector3D position{1., 2., 3.};
  double time = 4.;
  Vector3D direction{sqrt(5. / 22.), 3. * sqrt(2. / 55.), 7. / sqrt(110.)};
  double qop = 0.125;
  FreeVector parameters, startParameters;
  parameters << position[0], position[1], position[2], time, direction[0],
      direction[1], direction[2], qop;
  startParameters = parameters;

  // Build covariance matrix, jacobians and related components
  Covariance covariance = Covariance::Identity();
  Jacobian jacobian = 2. * Jacobian::Identity();
  FreeMatrix transportJacobian = 3. * FreeMatrix::Identity();
  FreeVector derivatives;
  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
  BoundToFreeMatrix jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();

  // Covariance transport to curvilinear coordinates
  detail::covarianceTransport(covariance, jacobian, transportJacobian,
                              derivatives, jacobianLocalToGlobal, direction);

  // Tests to see that the right components are (un-)changed
  BOOST_TEST(covariance != Covariance::Identity());
  BOOST_TEST(jacobian != 2. * Jacobian::Identity());
  BOOST_TEST(transportJacobian == FreeMatrix::Identity());
  BOOST_TEST(derivatives == FreeVector::Zero());
  BOOST_TEST(jacobianLocalToGlobal != 4. * BoundToFreeMatrix::Identity());
  BOOST_TEST(direction ==
             Vector3D(sqrt(5. / 22.), 3. * sqrt(2. / 55.), 7. / sqrt(110.)));

  // Reset
  covariance = Covariance::Identity();
  jacobian = 2. * Jacobian::Identity();
  transportJacobian = 3. * FreeMatrix::Identity();
  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
  jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();

  // Repeat transport to surface
  auto surface = Surface::makeShared<PlaneSurface>(position, direction);
  detail::covarianceTransport(tgContext, covariance, jacobian,
                              transportJacobian, derivatives,
                              jacobianLocalToGlobal, parameters, *surface);

  BOOST_TEST(covariance != Covariance::Identity());
  BOOST_TEST(jacobian != 2. * Jacobian::Identity());
  BOOST_TEST(transportJacobian == FreeMatrix::Identity());
  BOOST_TEST(derivatives == FreeVector::Zero());
  BOOST_TEST(jacobianLocalToGlobal != 4. * BoundToFreeMatrix::Identity());
  BOOST_TEST(parameters == startParameters);

  // Produce a curvilinear state without covariance matrix
  auto curvResult = detail::curvilinearState(
      covariance, jacobian, transportJacobian, derivatives,
      jacobianLocalToGlobal, parameters, false, 1337.);
  BOOST_TEST(!std::get<0>(curvResult).covariance().has_value());
  BOOST_TEST(std::get<2>(curvResult) == 1337.);

  // Reset
  covariance = Covariance::Identity();
  jacobian = 2. * Jacobian::Identity();
  transportJacobian = 3. * FreeMatrix::Identity();
  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
  jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();

  // Produce a curvilinear state with covariance matrix
  curvResult = detail::curvilinearState(covariance, jacobian, transportJacobian,
                                        derivatives, jacobianLocalToGlobal,
                                        parameters, true, 1337.);
  BOOST_TEST(std::get<0>(curvResult).covariance().has_value());
  BOOST_TEST(*(std::get<0>(curvResult).covariance()) != Covariance::Identity());
  BOOST_TEST(std::get<1>(curvResult) != 2. * Jacobian::Identity());
  BOOST_TEST(std::get<2>(curvResult) == 1337.);

  // Produce a bound state without covariance matrix
  auto boundResult = detail::boundState(
      tgContext, covariance, jacobian, transportJacobian, derivatives,
      jacobianLocalToGlobal, parameters, false, 1337., *surface);
  BOOST_TEST(!std::get<0>(boundResult).covariance().has_value());
  BOOST_TEST(std::get<2>(boundResult) == 1337.);

  // Reset
  covariance = Covariance::Identity();
  jacobian = 2. * Jacobian::Identity();
  transportJacobian = 3. * FreeMatrix::Identity();
  derivatives << 9., 10., 11., 12., 13., 14., 15., 16.;
  jacobianLocalToGlobal = 4. * BoundToFreeMatrix::Identity();

  // Produce a bound state with covariance matrix
  boundResult = detail::boundState(
      tgContext, covariance, jacobian, transportJacobian, derivatives,
      jacobianLocalToGlobal, parameters, true, 1337., *surface);
  BOOST_TEST(std::get<0>(boundResult).covariance().has_value());
  BOOST_TEST(*(std::get<0>(boundResult).covariance()) !=
             Covariance::Identity());
  BOOST_TEST(std::get<1>(boundResult) != 2. * Jacobian::Identity());
  BOOST_TEST(std::get<2>(boundResult) == 1337.);
}
}  // namespace Test
}  // namespace Acts