// in going from order n to order n+1
// we add one term a/(n+1) for each a relatively prime to (n+1)
int farey(int order)
{
int j;
if(order <= lastFarey) {
return fareyCnt[order];
}
for(j = lastFarey; j < order; j++) {
fareyCnt[j+1] = fareyCnt[j] + GetPhi(j+1);
}
lastFarey = order;
return fareyCnt[order];
}
void Test() {
correlations::Result r;
correlations::HarmonicVector h(n);
correlations::QVector q(h);
correlations::recursive::FromQVector c(q);
while (NextEvent()) {
q.reset();
while (NextObservation()) {
correlations::Real phi = GetPhi();
correlations::Real Weight = GetWeight();
q.fill(phi, weight);
}
r += c.calculate(h);
}
std::cout << r.eval() << std::endl;
}
jdouble JNICALL Java_ardrone_ARDrone_getPhi(JNIEnv *env, jclass cls)
{
return GetPhi();
}
/**
* @brief move the robot to the target position
*
* @param tarX is the x value of target position
* @param tarY is the y value of target position
* @param speed the robot should move at this speed
* @param tarP
* @param varDir defines whether the robot should move forwards or backwards
* @param dist The distance to the target - automatically computed if negative (default)
* @return bool
*/
bool NewRoboControl::cruisetoBias(double tarX, double tarY, int speed, double tarP, double varDir, double dist)
{
#ifdef SIMULATION //The cruisetoBias() does not work in simulation
if (IsOnTarget(Position(tarX, tarY)))
return true;
GotoXY(tarX, tarY);
return false;
#else
/* returniert true, wenn Roboter am Ziel angekommen ist. returniert false, wenn Roboter noch unterwegs ist
** Ablauf:
** 1. Anfahren zur Zielposition
** 1.1 Ziel anvisieren/andrehen
** 1.2 Beschleunigen
** 1.3 Während der Fahrt ggf leichte Richtungskorrekturen on-the-fly
** 1.4 Kurz vor Zielposition Abbremsvorgang einleiten
** 2. Zielwinkel andrehen
**
*/
//Position roboterpos = m_robot->GetPos(); //Hier müsst ihr die Roboterposition abrufen
double posX = GetX();
double posY = GetY();
double posP = GetPhi().Rad(); //Hier Roboterwinkel abrufen
const double variationTrans = 0.05; // maximale Abweichung zum Ziel (in Meter)
const double variationAngle = degToRad(5); // maximale Drehabweichung am Ende (in Rad) degToRad wandelt Grad in Rad um
const double variationDirec = degToRad(varDir); // maximale Drehabweichung am Start, bevor Roboter anfängt zu fahren
//Abweichungen berechnen
double diffX = tarX - posX;
double diffY = tarY - posY;
double diffP = atan2(diffY, diffX);
double diffAngle;
double speedAngle;
double speedAngleDrive;
//Berechnen ob Roboter vorwärts oder rückwärts fahren soll
//eDirection ist ein enum hier
eDirection eDir = getDirection(diffP, posP);
if (!((fabs(diffX) < variationTrans) && (fabs(diffY) < variationTrans)))
// Schritt 1: Roboter noch nicht an Zielposition?
{
diffAngle = getDiffAngle(diffP, posP);
speedAngle = getSpeedP(diffP, posP);
speedAngleDrive = getSpeedPt(diffP, posP, speed);
Log("Diff2: " + ToString(speedAngleDrive), DEBUG);
if ((fabs(diffAngle) > variationDirec) && (fabs(diffAngle) < degToRad(90))) // pi/2 = 1,57079633 Schritt 1.1
{
//Roboter rotieren
setSpeed(0, speedAngle, eDir);
}
else if ((fabs(diffAngle)) <= variationDirec) // Schritt 1.1 erfolgreich, es folgt Schritt 1.2
{
if (dist <= 0)
dist = sqrt((diffX * diffX) + (diffY * diffY));
setSpeed(speed * getSpeedT(dist), speedAngleDrive, eDir);
// Schritt 1.2 - 1.4 gleichzeitig!
}
}
else // Schritt 1: fertig. Roboter ist an Zielposition.
{
if (tarP == -10)
{
setSpeed(0, 0, FORWARD);
//StopMovement();
return true;
}
else if ((fabs(getDiffAngle(tarP*M_PI/180, posP))) > variationAngle)
{
setSpeed(0, getSpeedP(tarP, posP), getDirection(tarP, posP));
}
else
{
setSpeed(0, 0, FORWARD);
//StopMovement();
return true;
}
}
return false;
#endif
}
Phi & Phi::operator()(const Rho & myrho){
GetPhi(myrho);
return *this;
}
Phi::Phi(const Rho & myrho){
GetPhi(myrho);
}
G4VSolid const* PlacedParallelepiped::ConvertToGeant4() const {
return new G4Para(GetLabel(), GetX(), GetY(), GetZ(), GetAlpha(), GetTheta(),
GetPhi());
}
void reco( Double_t dcut , Long64_t nwanted, TString fname )
{
// attache dictionaries before file
gSystem->Load("./lib/libLucasDict.so");
TFile fin ( fname );
TTree *Lcal = (TTree*)fin.Get("Lcal");
if (Lcal == 0) return;
pTracks = 0;
pHits = 0;
Lcal->SetBranchAddress("vX", &vX );
Lcal->SetBranchAddress("vY", &vY );
Lcal->SetBranchAddress("vZ", &vZ );
Lcal->SetBranchAddress("numPrim", &numPrim );
Lcal->SetBranchAddress("numHits", &numHits );
Lcal->SetBranchAddress("Etot", Etot );
Lcal->SetBranchAddress("Emax", &Emax );
Lcal->SetBranchAddress("Tracks", &pTracks );
Lcal->SetBranchAddress("Hits", &pHits );
Int_t Nbins = 300;
Double_t Xlo= 2.5;
Double_t Xup= 1502.5;
//
TFile *out = new TFile("reco-plots-rot0-uncor.root","RECREATE");
//
TF1 *res1 = new TF1("res1","sqrt([0]*[0]/x+[1]*[1])",1.,1601.);
res1->SetParNames("a","b");
TF1 *cfun1 = new TF1("cfun1","1.+[0]*exp(-[1]*x*x)+[2]/(x*x+[3])",-45.,45.);
cfun1->SetParNames("A1","W1","A2","W2");
TF1 *cfun2 = new TF1("cfun2","1.+ [0]/(x*x+[1])",-45.,45.);
cfun2->SetParNames("A2","W2");
//
TProfile *hpr1 = new TProfile("hpr1"," ;E_{beam} [GeV]; E_{vis} [GeV]",Nbins,Xlo,Xup,0.,1000.,"S");
TH1D *sigeove = new TH1D("sigeove"," ;E_{beam} [GeV]; #sigma_{E}/E",Nbins,Xlo,Xup);
TH1D *rmseove = new TH1D("rmseove"," ;E_{beam} [GeV]; RMS_{E}/E",Nbins,Xlo,Xup);
TH1D *dErec[NSAMP_MAX];
TH1D *euse = new TH1D ( "euse"," ; E_{used} [GeV] ; Number of events",600, 0., 6. );
TH1D *edep[NSAMP_MAX];
TH1D *dphi[NSAMP_MAX], *Qmax[NSAMP_MAX];
// TProfile *dgap[NSAMP_MAX];
TH2D *dgap[NSAMP_MAX];
TH1D *dtheta[NSAMP_MAX];
double qmax[NSAMP_MAX];
TProfile *phioff = new TProfile("phioff","#phi offset;1/P [GeV^{-1}];<#Delta#Phi> [rad]",500,0.,0.25,-TWO_PI,TWO_PI,"E");
for( int ih=0; ih<NSAMP_MAX; ih++){
TString nam1("dphi");
TString nam2("edep");
TString nam3("dErec");
TString nam4("dgap");
TString nam5("dtheta");
TString nam6("Qmax");
nam1 += ih;
nam2 += ih;
nam3 += ih;
nam4 += ih;
nam5 += ih;
nam6 += ih;
dphi[ih] = new TH1D(nam1,"; #Delta#Phi [rad]; Number of events", 300, -0.3, 0.3 );
dtheta[ih] = new TH1D(nam5,"; #Delta#theta [rad]; Number of events", 200, -0.002, 0.002 );
edep[ih] = new TH1D(nam2," ; E_{VIS} [GeV] ; Number of events",500,Elo[ih],Eup[ih]);
dErec[ih] = new TH1D( nam3 ," ; #DeltaE [GeV]; Number of events",60, -25., 25. );
// dgap[ih] = new TProfile(nam4,"; distance from the gap [mm]; <E_{VIS}>/E_{VIS}",900,-45.,45.,0.,1000.,"E");
dgap[ih] = new TH2D(nam4,"; distance from the gap [mm]; <E_{VIS}>/E_{VIS}",900,-45.,45.,100,0.5,1.5);
Qmax[ih] = new TH1D(nam6,"; Q_{max} pC; number of events ",40,0.,20.);
// dErec[ih]->SetBit(TH1::kCanRebin);
// edep[ih]->SetBit(TH1::kCanRebin);
// dphi[ih]->SetBit(TH1::kCanRebin);
}
//
//
std::vector < myHit > hits_P; // list of hits z > 0
std::vector < myHit > hits_N; // z < 0
//
cout << " Energy saturation at "<< E_MAX << " [MeV] " << endl;
cout << " Energy treshold at "<< E_MIN << " [MeV] " << endl;
Long64_t nentries = Lcal->GetEntries();
#ifdef si500
Double_t p0 = 6.13e-4; // si 500
Double_t p1 = 1.71e-2;;
#else
#ifdef rot3_hh
Double_t p0 = 1.771e-3; // si=320
Double_t p1 = 1.122e-2;
#else
Double_t p0 = 2.145e-3; // si=320
Double_t p1 = 1.131e-2;
#endif
#endif
Double_t C_fac = 0.01138;
/* Double_t g0 = 1.006e-2;
Double_t g1 = 2.367e-7;
Double_t g2 = -7.476e-10;
*/
// Long64_t nskip = 0;
nentries = ( nwanted > 0 && nwanted < nentries ) ? nwanted : nentries ;
cout << " Nentries "<< nentries << endl;
for (Long64_t jentry=0; jentry< nentries ;jentry++) {
Double_t theta_rec1 = 0., phi_rec1=0. ;
Double_t theta_rec2 = 0., phi_rec2=0. ;
Double_t e_use1 = 0., e_use2=0. ;
Double_t e_vis1 = 0., e_vis2=0. ;
hits_N.clear();
hits_P.clear();
e_vis2 = 0.;
Lcal->GetEntry(jentry);
if ( Etot[1] <= 0.) continue;
//
double E_gen=0., theta_gen=0., phi_gen=0.;
int numtr = pTracks->size();
for ( int it=0; it< numtr; it++){
Track_t track = (*pTracks)[it];
E_gen = sqrt( track.pX*track.pX + track.pY*track.pY + track.pZ*track.pZ )/1000.;
theta_gen = atan ( sqrt( track.pX*track.pX + track.pY*track.pY)/fabs(track.pZ));
phi_gen = atan2 ( track.pY , track.pX);
phi_gen = ( phi_gen > 0. ) ? phi_gen : phi_gen + TWO_PI;
}
//
if ( theta_gen < 0.041 || theta_gen > 0.068 ){ continue;}
//
int sample=0;
switch( (int)E_gen ){
case 5:
sample = 0;
break;
case 15:
sample = 1;
break;
case 25:
sample = 2;
break;
case 50:
sample = 3;
break;
case 100:
sample = 4;
break;
case 150:
sample = 5;
break;
case 200:
sample = 6;
break;
case 250:
sample = 7;
break;
case 500:
sample = 8;
break;
case 1500:
sample = 9;
break;
default:
cout<< "uknown case " << (int)E_gen << endl;
}
//
// Fill the list of hits
//
int nHits = pHits->size();
qmax[sample] = 0.;
for ( Int_t ih=0; ih<nHits ; ih++) {
// Int_t layer = (cellID[ih] >> 16) & 0xff ;
//
Hit_t hit = (*pHits)[ih];
double ehit = ( hit.eHit > E_MAX ) ? E_MAX : hit.eHit ;
if ( ehit < E_MIN ) continue ;
if ( qmax[sample] < ehit ) qmax[sample]=ehit;
//
// Double_t rCell = sqrt( hit.xCell*hit.xCell+hit.yCell*hit.yCell);
Double_t rCell = sqrt( hit.xHit*hit.xHit + hit.yHit*hit.yHit);
Double_t phiCell = atan2( hit.yCell, hit.xCell );
if ( hit.zCell < 0. ) {
hits_N.push_back ( myHit( ehit, rCell, phiCell, hit.zCell) );
}
else {
hits_P.push_back ( myHit( ehit, rCell, phiCell, hit.zCell) );
}
} // end hit loop
//
// sort hits in descending order
//
// cout<< " accepted " << nskip << " " << hits_P.size()<< " " << hits_N.size() << endl;
if ( hits_N.begin() != hits_N.end() ) {
std::sort ( hits_N.begin(), hits_N.end(), SortByEnergy );
theta_rec1 = GetTheta ( hits_N );
phi_rec1 = GetPhi ( hits_N );
e_vis1 = GetEnergy( theta_rec1, hits_N );
}
if ( hits_P.begin() != hits_P.end() ) {
std::sort ( hits_P.begin(), hits_P.end(), SortByEnergy );
theta_rec2 = GetTheta( hits_P );
phi_rec2 = GetPhi ( hits_P );
#ifdef rot3_hh
double dist = GetDistance( theta_rec2, phi_rec2, 3.75);
#else
double dist = GetDistance( theta_rec2, phi_rec2, 0.);
#endif
// if ( CheckSector( phi_rec2 ) )continue;
if ( fabs(dist) < dcut ) continue;
double avrEvis = p0 + p1*E_gen;
e_vis2 = GetEnergy( hits_P )/1000.;
// e_vis2 *= GetCorrection( sample, dist);
dgap[sample]->Fill( dist, avrEvis/e_vis2, 1. );
}
//
// fill histograms
//
C_fac = (e_vis2 - p0)/p1;
Double_t delta_phi = phi_gen - (phi_rec2 + PHI_OFFSET[sample]);
Double_t pT = 1./(E_gen*sin(theta_rec2));
Double_t E_rec = C_fac ;
// double delta = p1*p1 - 4.*p2*(p0-e_vis2);
// if( delta >= 0. ) E_rec = (-p1+sqrt(delta))/(2.*p2);
Qmax[sample]->Fill( qmax[sample]*E2Q );
dtheta[sample] -> Fill ( theta_rec2 - theta_gen );
dphi[sample]-> Fill ( delta_phi);
phioff->Fill( pT , delta_phi );
if ( e_vis2 > 0. ) {
edep [sample]-> Fill ( e_vis2 );
hpr1->Fill(E_gen,e_vis2,1.);
dErec[sample] -> Fill ( ( E_rec - E_gen));
euse -> Fill ( e_use2 );
}
if ( e_use1 > 0.) euse -> Fill ( e_use1 );
//
//
// end of event
//
}
// final operations with histograms
//
int binum[NSAMP_MAX] = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
int ii = 1;
for ( int ib=1; ib < hpr1->GetNbinsX()+1; ib++ ){
double binc = hpr1->GetBinContent(ib);
if( binc > 0.){
binum[ii] = ib;
cout << "bin: " << ii << "\t value: " << binc << endl;
ii++;
}
}
//
//
for ( int ih=0;ih<NSAMP_MAX;ih++){
if( edep[ih]->Integral() > 0. ) {
cout<< " fitting ih: " << ih << "\t"<<ebeam[ih] << endl;
edep[ih]->Fit("gaus","QS0");
TF1 *f = edep[ih]->GetFunction("gaus");
double mean = f->GetParameter(1);
double rmse = f->GetParameter(2);
double ratio = rmse/mean;
double e1 = f->GetParError(1);
double e2 = f->GetParError(2);
double err = sqrt(e1*e1/(mean*mean)+e2*e2/(rmse*rmse))*ratio;
cout << "<E> " << mean << " sigma "<< rmse << endl;
sigeove->SetBinContent( binum[ih], ratio );
sigeove->SetBinError( binum[ih], err );
//
mean = edep[ih]->GetMean();
rmse = edep[ih]->GetRMS();
e1 = edep[ih]->GetMeanError();
e2 = edep[ih]->GetRMSError();
ratio = rmse/mean;
err = sqrt(e1*e1/(mean*mean)+e2*e2/(rmse*rmse))*ratio;
rmseove->SetBinContent( binum[ih], ratio);
rmseove->SetBinError( binum[ih],2.*err);
dErec[ih]->Fit("gaus","QW");
}
}
sigeove->Fit("res1");
rmseove->Fit("res1");
//
//
Double_t P0[NSAMP_MAX],P1[NSAMP_MAX],P2[NSAMP_MAX],P3[NSAMP_MAX];
for ( int ih=0; ih<NSAMP_MAX; ih++){
P0[ih] = 0.;
P1[ih] = 0.;
P2[ih] = 0.;
P3[ih] = 0.;
}
for( int ih=0; ih<NSAMP_MAX; ih++){
if( dphi[ih]->Integral() > 0. ) {
cout<< " Fitting gap: "<< ih <<"\t E= "<<ebeam[ih]<<endl;
dphi[ih]->Fit("gaus","QS0");
dtheta[ih]->Fit("gaus","QS0");
dgap[ih]->Fit("cfun2","QW");
TF1 *f=dgap[ih]->GetFunction("cfun2");
// P0[ih]=f->GetParameter(0);
// P1[ih]=f->GetParameter(1);
P2[ih]=f->GetParameter(0);
P3[ih]=f->GetParameter(1);
dgap[ih]->GetYaxis()->SetRangeUser(0.9, 2.5);
}
}
//
cout << "const double a1[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P0[ih],", ");
cout<<endl;
cout << "const double w1[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P1[ih],", ");
cout<<endl;
cout << "const double a2[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P2[ih],", ");
cout<<endl;
cout << "const double w2[NSAMP_MAX] = {" ;
for (int ih=0;ih<9;ih++) printf("%5.3e%1s",P3[ih],", ");
cout<<endl;
/*
hpr1->Write();
phioff->Write();
sigeove->Write();
rmseove->Write();
*/
out->Write();
// out->Close();
}
