//-----------------------------------------------------------
// File and Version Information:
// $Id$
//
// Description:
//      Implementation of class PndRiemannTrack
//      see PndRiemannTrack.hh for details
//
// Environment:
//      Software developed for the PANDA Detector at FAIR.
//
// Author List:
//      Sebastian Neubert    TUM            (original author)
//
//
//-----------------------------------------------------------

// Panda Headers ----------------------

// This Class' Header ------------------
#include "PndRiemannTrack.h"

// C/C++ Headers ----------------------
#include <iostream>
#include <assert.h>
#include <cmath>
#include <ostream>

// Collaborating Class Headers --------
#include "PndRiemannHit.h"
#include "TGraph.h"
#include "TMath.h"
#include "TMatrixTSym.h"
#include "TF1.h"
// Class Member definitions -----------

void MatrixOutput(TMatrixD mat)
{
	for (int row = 0; row < mat.GetNrows(); row++)
			{
				for (int col = 0; col < mat.GetNcols(); col++)
				{
					std::cout << mat[row][col] << " ";
				}
				std::cout << std::endl;
			}
}

ClassImp(PndRiemannTrack);

PndRiemannTrack::PndRiemannTrack() :
	fn(3),fav(3), fc(0), fcovPlane(4,4), fjacRXY(3,4), fcovRXY(3,3),
	fVerbose(1), fFitDone(false), fSZFitDone(false), fweight(0),ftrefit(false),fVertexCut(0.5)
{}

PndRiemannTrack::~PndRiemannTrack()
{
}
/*PndRiemannTrack::PndRiemannTrack(const PndRiemannTrack& rtrack)
{
	fn = rtrack.n();
	fc = rtrack.c();
	fm = rtrack.m();
	ft = rtrack.t();
	fmError = rtrack.mError();
	ftError = rtrack.tError();
	fChi2   = rtrack.szChi2();
	fFitDone = true;
	fSZFitDone = true;
	fHits = rtrack.getHits();
	fav = rtrack.av();
	fweight = rtrack.weight();
	fcovPlane = rtrack.covPlane();
	fjacRXY = rtrack.jacRXY();
	fcovRXY = rtrack.covRXY();
	fVerbose = 0;
}*/

void
PndRiemannTrack::init(double x0_, double y0_, double R_,
			 double mydip, double z0){
/*  double x0=x0_/100;
  double y0=y0_/100;
  double R=R_/100;

  double R2=R*R;
  double lambda=R2-x0*x0-y0*y0;
  double D=lambda/sqrt(4*R2+(1-lambda)*(1-lambda));
  double DC=-D/lambda;
  double C=DC-D;
  double A=-2*x0*DC;
  double B=-2*y0*DC;

  fn[0]=A;
  fn[1]=B;
  fn[2]=C;
  fc=D;
  */

	fn[1] = TMath::Sqrt(4*y0_*y0_/(4*y0_*y0_+4*x0_*x0_+1));
	fn[0] = x0_/y0_*fn[1];
	fn[2] = TMath::Sqrt(1 - fn[0]*fn[0] - fn[1]*fn[1]);
	double fn2 = fn[2] * fn[2];
	fc = fn2*4*R_*R_-1+fn2/(-4*fn[2]);

	fm = tan(acos(mydip));

}


void
PndRiemannTrack::addHit(PndRiemannHit& hit){
  int nbefore=fHits.size();
  fHits.push_back(hit);
  //ADDED by ME//
  if ( ftrefit ) {
  fav *= fweight;
  ftrefit = false;
  }

  if (fVerbose > 1) std::cout << "-I- PndRiemannTrack::addHit " << fHits.size() -1 << ": " << hit.x().X() << " " << hit.x().Y() << std::endl;
  //fav*=(double)nbefore;
  fav[0]+=hit.x().X() /(hit.sigmaXY()*hit.sigmaXY());
  fav[1]+=hit.x().Y() /(hit.sigmaXY()*hit.sigmaXY());;
  fav[2]+=hit.x().Z() /(hit.sigmaXY()*hit.sigmaXY());;
  //fav*=1./(double)(nbefore+1);
  fweight += 1/(hit.sigmaXY()*hit.sigmaXY());
  fFitDone = false;
  fSZFitDone = false;
}

double
PndRiemannTrack::dist(PndRiemannHit* hit){
  double d2=fc;
  d2+=hit->x().X()*fn[0];
  d2+=hit->x().Y()*fn[1];
  d2+=hit->x().Z()*fn[2];
  return d2;
}


void
PndRiemannTrack::refit()
{

  TMatrixT<double> my_av(3,1);
  if (fVerbose > 1) std::cout << "fweight: " << fweight << std::endl;
  //fav *= TMath::Power(fweight,-1); //TS
  /////////////<-------------------------
  	  if (!ftrefit){
  	  fav *= TMath::Power(fweight,-1); //TS
  	  }
  ////////////
  my_av[0][0]=fav[0];// *fweight; //TS *fweight added
  my_av[1][0]=fav[1];// *fweight;
  my_av[2][0]=fav[2];// *fweight;

  if (fVerbose > 1) std::cout << "fav: " << fav[0] << " " << fav[1] << " " << fav[2] << std::endl;

  TMatrixD sampleCov(3,3);

  int nh=fHits.size();
  for(int i=0;i<nh;++i){
    TMatrixD h(3,1);
    h[0][0]=fHits[i].x().X();
    h[1][0]=fHits[i].x().Y();
    h[2][0]=fHits[i].x().Z();
    TMatrixD d(3,1);
    d=h-my_av;
    TMatrixD dt(TMatrixD::kTransposed,d);
    TMatrixD ddt(d,TMatrixD::kMult,dt);
    ddt *= 1/(fHits[i].sigmaXY()*fHits[i].sigmaXY());  //TS
    sampleCov+=ddt;
  }

  sampleCov*=1./(double)nh;

  if (fVerbose > 1) std::cout << "sampleCov: " << std::endl;
  if (fVerbose > 1) MatrixOutput(sampleCov);

  TVectorD eigenValues(3);
  TMatrixD eigenVec=sampleCov.EigenVectors(eigenValues);

  // find smallest eigenvalue
  double val=eigenValues[0]; int g=0;
  for(int k=1;k<3;++k){
    if(eigenValues[k]<val){
      val=eigenValues[k];
      g=k;
    }
  }

  fn=TMatrixDColumn(eigenVec,g);

  if (fVerbose > 1) std::cout << "eigenVec: " << std::endl;
  if (fVerbose > 1) MatrixOutput(eigenVec);

  if (fVerbose > 1) std::cout << "eigenValues: ";
  for (int i = 0; i < 3; i++){
	  if (fVerbose > 1) std::cout << eigenValues[i] << " ";
  }
  if (fVerbose > 1) std::cout << std::endl;

  double norm=1./TMath::Sqrt(fn.Norm2Sqr());
  fn*=norm;
  fc=-1.*fn*fav;

  if (fVerbose > 1) std::cout << "fn: " << fn[0] << " " << fn[1] << " " << fn[2] << std::endl;
  if (fVerbose > 1) std::cout << "fc: " << fc << std::endl;
  //------------ Calculation of the full covariance matrix -----------

  // 1. Calculation of the covarianz matrix of the normal vector

  TMatrixD  CovNorm(3,3);

  for (int i = 0; i < 3; i++){
	if (i != g){
		TMatrixD res = eigenVec.GetSub(0,2,i,i)*eigenVec.GetSub(0,2,i,i).T();
		CovNorm += res * (val * eigenValues[i]/TMath::Power(val-eigenValues[i],2));
	}
  }
//  if (fHits.size() > 5)
//	  CovNorm *= TMath::Power(fHits.size()-5,-1);  //-5 is very strange. According to the paper this value has to be fixed with simulation???
//  else
	  CovNorm *= TMath::Power(fHits.size(),-1);
  if (fVerbose > 1) std::cout << "CovNorm: " << std::endl;
  if (fVerbose > 1) MatrixOutput(CovNorm);


  // 2. Calculation of the covarianz matrix of fav

  TMatrixD covAv(3,3);
  for (int i = 0; i < fHits.size();i++){
	  covAv[0][0] += fHits[i].covX(0,0)/(TMath::Power(fHits[i].sigmaXY(),4));
	  covAv[1][1] += fHits[i].covX(1,1)/(TMath::Power(fHits[i].sigmaXY(),4));
	  covAv[1][0] += fHits[i].covX(1,0)/(TMath::Power(fHits[i].sigmaXY(),4));
	  covAv[2][0] += 2 * (fHits[i].covX(0,0) * fHits[i].x().X() + fHits[i].covX(1,0) * fHits[i].x().Y())
	  				 /(TMath::Power(fHits[i].sigmaXY(),4));
	  covAv[2][1] += 2 * (fHits[i].covX(1,1) * fHits[i].x().Y() + fHits[i].covX(1,0) * fHits[i].x().X())
		             /(TMath::Power(fHits[i].sigmaXY(),4));
	  covAv[2][2] += 4 * (fHits[i].covX(0,0) * fHits[i].x().X() * fHits[i].x().X() +
			  			  2 * fHits[i].covX(1,0) * fHits[i].x().X() * fHits[i].x().Y() +
			  			  fHits[i].covX(1,1) * fHits[i].x().Y() * fHits[i].x().Y())
			  		 /(TMath::Power(fHits[i].sigmaXY(),4));
  }
  covAv[0][1] = covAv[1][0];
  covAv[0][2] = covAv[2][0];
  covAv[1][2] = covAv[2][1];

  covAv *= TMath::Power(fweight,-2);


  if (fVerbose > 1) std::cout << "covAv: " << std::endl;
  if (fVerbose > 1) MatrixOutput(covAv);


  // 3. Calculation of var(fc)

  double nCrn = (fn * (covAv * fn));
  double rCnr = (fav * (CovNorm * fav));

  TMatrixD CnCr(CovNorm,TMatrixD::kMult,covAv);
  double trCnCr = 0;
  for (int i = 0; i < CnCr.GetNcols(); i++){
	  trCnCr += CnCr[i][i];
  }
  if (fVerbose > 1) std::cout << "nCrn: " << nCrn << " rCnr: " << rCnr << " trCnCr: " << trCnCr << std::endl;
  double varc = nCrn + rCnr + trCnCr;

  TVectorD corr_cn = CovNorm * fav;
  corr_cn *= -1;

  // 4. Calculation of the covarianz matrix of c,n

  fcovPlane[0][0] = varc;
  fcovPlane[1][1] = CovNorm[0][0];
  fcovPlane[2][1] = CovNorm[1][0];
  fcovPlane[2][2] = CovNorm[1][1];
  fcovPlane[3][1] = CovNorm[2][0];
  fcovPlane[3][2] = CovNorm[2][1];
  fcovPlane[3][3] = CovNorm[2][2];
  fcovPlane[1][0] = corr_cn[0];
  fcovPlane[2][0] = corr_cn[1];
  fcovPlane[3][0] = corr_cn[2];
  /////////////////ADDED by me

     fcovPlane[1][2] = CovNorm[1][0];

     fcovPlane[1][3] = CovNorm[2][0];
     fcovPlane[2][3] = CovNorm[2][1];

     fcovPlane[0][1] = corr_cn[0];
     fcovPlane[0][2] = corr_cn[1];
     fcovPlane[0][3] = corr_cn[2];
   ///////////////////////////////

  //5. Convert plane covariance in start parameter(r,x0,y0) covariances
  calcJacRXY();

  if (fVerbose > 1) std::cout << "jacRXY: " << std::endl;
  if (fVerbose > 1) MatrixOutput(fjacRXY);

  //fcovRXY = fjacRXY * fcovPlane * fjacRXY.T();

  TMatrixD temp(fjacRXY,TMatrixD::kMult, fcovPlane);
  if (fVerbose > 1) std::cout << "temp: " << temp.GetNrows() << "x" << temp.GetNcols() << std::endl;

  if (fVerbose > 1) std::cout << "temp: " << std::endl;
  if (fVerbose > 1) MatrixOutput(temp);

  fcovRXY = temp * fjacRXY.T();  // J * fcovPlane * J.T()

  if (fVerbose > 1) std::cout << "covPlane: " << std::endl;
  if (fVerbose > 1) MatrixOutput(fcovPlane);

  if (fVerbose > 1) std::cout << "covRXY: " << std::endl;
  if (fVerbose > 1) MatrixOutput(fcovRXY);

  fFitDone = true;
  fSZFitDone = false;
  ftrefit = true;
}


TVectorD
PndRiemannTrack::orig() const {
  TVectorD o(2);
  double den=TMath::Power((2 * fn[2]),-1);  // modified for paraboloid
  o[0]=-fn[0]*den;
  o[1]=-fn[1]*den;
  return o;
}


double
PndRiemannTrack::r() const {
  if(fc==0)return 0;
  //if(fabs(fc)>100)return 0;???????????????????????????
  double a=2.*fn[2];  // modified for paraboloid
  //if(a==0){
  //  if (fVerbose > 0) std::cout<<"PndRiemannTrack:: a==0 cannot calc r! set r=1E4"<<std::endl;
  //  return 1.E-4;
  //}
  //if (fVerbose > 0) std::cout<<fn[0]<<"   "<<fn[1]<<"   "<<fc<<"   "<<a<<std::endl;
  double nom = 1-fn[2]*fn[2]-4*fc*fn[2];  // modified for paraboloid
  if(nom<0.0){
    nom=1.E-4;
    if (fVerbose > 1) std::cout<<"PndRiemannTrack::nom<0! set r=1E-4!"<<std::endl;
  }
  return sqrt(nom)/TMath::Abs(a);
}

double PndRiemannTrack::dR()
{
	return TMath::Sqrt(fcovRXY[0][0]);
}

void
PndRiemannTrack::szFit(){
	if (fFitDone == false)
		refit();
  unsigned int n=getNumHits();
  if (fVerbose > 1) std::cout << "szFit() for " << n << " Points!" << std::endl;

  TGraph g(n);
  // get s'es and zs
  for(unsigned int i=0;i<n;++i){
	if (fVerbose > 1) std::cout << "Point: " << i << ": ";
    fHits[i].calcPosOnTrk(this);
    if (fVerbose > 1) std::cout << fHits[i].s() << " " << fHits[i].z() << std::endl;
    g.SetPoint(i,fHits[i].s(),fHits[i].z());
  }

  g.Fit("pol1","Q0"); // << std::endl;
  TF1* f = g.GetFunction("pol1");
  //std::cout << "f: " << f << std::endl;
  ft = f->GetParameter(0);
  fm = f->GetParameter(1);
  ftError = f->GetParError(0);
  fmError = f->GetParError(1);
  fChi2   = f->GetChisquare();
  fSZFitDone = true;

  if (fVerbose > 1) std::cout << "t, m: " << ft << " +/- " << ftError << " / " << fm << " +/- " << fmError << " Chi2: " << fChi2 << std::endl;

  return;
}

double
PndRiemannTrack::calcSZChi2(PndRiemannHit* hit){
  // get s'es and zs
  unsigned int n=getNumHits();
  if (fVerbose > 1) std::cout << "szFit(hit) for " << n+1 << " Points!" << std::endl;
  TGraph g(n+1);
  for(unsigned int i=0;i<n;++i){
	if (fVerbose > 1) std::cout << "Point: " << i<< ": ";
    fHits[i].calcPosOnTrk(this);
    if (fVerbose > 1) std::cout << fHits[i].s() << " " << fHits[i].z() << std::endl;
    g.SetPoint(i,fHits[i].s(),fHits[i].z());
  }
  if (fVerbose > 1) std::cout << "Additional hit: ";
  hit->calcPosOnTrk(this);
  if (fVerbose > 1) std::cout << hit->s() << " " << hit->z() << std::endl;
  g.SetPoint(n, hit->s(), hit->z());
  g.Fit("pol1","Q0");
  TF1* f = g.GetFunction("pol1");

//  fChi2 = chis;
  if (fVerbose > 1) std::cout << "t, m: " << f->GetParameter(0) << " +/- " << f->GetParError(0)
  							  << " / "    << f->GetParameter(1) << " +/- " << f->GetParError(1)
  							  << "Chi2: " << f->GetChisquare()  << std::endl;
//  delete(f);
  return f->GetChisquare();
}

double PndRiemannTrack::calcZPosByS(double s)
{
//	TVectorD o=orig();
//	const PndRiemannHit* firstHit=getHit(0);
//	assert(firstHit!=NULL);
//	TVector2 k(firstHit->x().X()-o[0],firstHit->x().Y()-o[1]);
//	TVector2 l = k.Rotate(s/r());
	Double_t zCoord = s*m()+t();
//	TVector3 result(l.X()+o[0], l.Y()+o[1], zCoord);

//	if (fVerbose > 0) std::cout<< "PosByS: s:" << s << " Vector: " << result.x() << " " << result.y() << " " << result.z() << std::endl;
//	return result;
	return zCoord;
}

int PndRiemannTrack::calcIntersection(PndRiemannTrack& track, TVector3& p1, TVector3& p2)
{
	const double SMALL = 1E-12;
	const double VERTEX_CUT = fVertexCut;
	if (track.getNumHits() < 3){
		if (fVerbose > 1) std::cout << "-I- PndRiemannTrack::clacIntersection: less than 3 hits in track!" << std::endl;
		return 0;
	}

	TVector3 n1(fn[0],fn[1],fn[2]);				//normal vector of THIS plane
	TVectorD tempn = track.n();
	TVector3 n2(tempn[0], tempn[1], tempn[2]); 	//normal vector of track plane
	Double_t c1 = c();							//offset of THIS plane
	Double_t c2 = track.c();					//offset of track plane

	if(fVerbose > 1) std::cout << "n1: " << n1.X() << " " << n1.Y() << " " << n1.Z() << " c1: " << c1 << std::endl;
	if(fVerbose > 1) std::cout << "n2: " << n2.X() << " " << n2.Y() << " " << n2.Z() << " c2: " << c2 << std::endl;

	TVector3 lineNorm = n1.Cross(n2);

	TVector3 dLineNorm = calcErrorLineNorm(track);

	if (lineNorm.Mag() < SMALL)
		return 0;
	//lineNorm.SetMag(1.);				//normalized normal vector of intersection line between the two planes
	if(fVerbose > 1) std::cout << "n1 x n2: " << lineNorm.X() << "+/-" << dLineNorm.X() << " "
											  << lineNorm.Y() << "+/-" << dLineNorm.Y() << " "
											  << lineNorm.Z() << "+/-" << dLineNorm.Z() << std::endl;

	double denom = n1[0]*n2[1]-n1[1]*n2[0];
	double x0 = (n1[1]*c2-c1*n2[1])/denom;
	double y0 = (c1*n2[0] - n1[0]*c2)/denom;
	TVector3 lineOffset(x0, y0, 0);				//point on the intersection line
	TVector3 dLineOffset = calcErrorLineOffset(track);
	if(fVerbose > 1) std::cout << "lineOffset: " << lineOffset.X() << "+/-" << dLineOffset.X() << " "
												 << lineOffset.Y() << "+/-" << dLineOffset.Y() << std::endl;

	//---------- Calculation of intersection of line with parabola ------------
	double denom2 = lineNorm[0]*lineNorm[0]+lineNorm[1]*lineNorm[1];
	double p = (2*(lineNorm[0]*lineOffset[0]+lineNorm[1]*lineOffset[1]) - lineNorm[2])/denom2;
	double q = (lineOffset[0]*lineOffset[0]+lineOffset[1]*lineOffset[1] - lineOffset[2])/denom2;

	double rad = (p/2)*(p/2) - q;
	if (rad < 0){
		if (fVerbose > 1)
			std::cout << "PndRiemannTrack::calcIntersection: No match with parabola" << std::endl;
		return 0;
	}
	double l1 = -(p/2)+TMath::Sqrt(rad);
	double l2 = -(p/2)-TMath::Sqrt(rad);

	TVectorD dXY12 = calcErrorXY1XY2(lineNorm, dLineNorm, lineOffset, dLineOffset);

	if (fVerbose > 1)
		std::cout << "l1: " << l1 << "+/-" << dXY12[4] << " l2: " << l2 << "+/-" << dXY12[5] << std::endl;

	TVector3 inter1 = lineNorm * l1 + lineOffset;								//intersection point1 of line with parabola
	TVector3 inter2 = lineNorm * l2 + lineOffset;								//intersection point2 of line with parabola
	if (fVerbose > 1){
			std::cout << "intersection parabola 1: " << inter1.X() << "+/-" << dXY12[0] << " " << inter1.Y()  << "+/-" << dXY12[1] << " " << inter1.Z()<< std::endl;
			std::cout << "intersection parabola  2: " << inter2.X()  << "+/-" << dXY12[2] << " " << inter2.Y()  << "+/-" << dXY12[3] << " " << inter2.Z()<< std::endl;
	}
	PndRiemannHit hit1, hit2;
	hit1.setXYZ(inter1.X(), inter1.Y(), inter1.Z());
	hit2.setXYZ(inter2.X(), inter2.Y(), inter2.Z());

	hit1.calcPosOnTrk(this);
	double s1 = hit1.s();		//arc length of hit1 for THIS track
	TVector2 dummy1(inter1.X(), inter2.Y());
	TVector2 dummy2(dXY12[0], dXY12[1]);
	double dS1 = calcErrorS(dummy1, dummy2, this);
	if (fVerbose > 1) std::cout << "S1 for track1: " << s1 << "+/-" << dS1 << std::endl;

	hit1.calcPosOnTrk(&track);
	double s2 = hit1.s();		//arc length of hit1 for track
	double dS2 = calcErrorS(dummy1, dummy2, &track);
	if (fVerbose > 1) std::cout << "S1 for track2: " << s2 << "+/-" << dS2 << std::endl;


	TVector3 vertex1;// = calcPosByS(s1);			//backcalculated vertex position from s1 with z-Value
	TVector3 vertex2;// = track.calcPosByS(s2);	//backcalculated vertex position from s2 with z-Value
	TVector3 dVertex1 = calcErrorPosByS(s1, dS1);
	TVector3 dVertex2 = track.calcErrorPosByS(s2, dS2);

	vertex1.SetXYZ(inter1.X(),inter1.Y(),calcZPosByS(s1)); // skip calculation error (from (Xv,Yv) to S and then back from S to (Xv,Yv))
	vertex2.SetXYZ(inter1.X(),inter1.Y(),track.calcZPosByS(s2));

	if (fVerbose > -1){
			std::cout << "vertex candidate1 for hit1: " << vertex1.X() << " " << vertex1.Y() << " " << vertex1.Z()<< std::endl;
			std::cout << "vertex candidate2 for hit1: " << vertex2.X() << " " << vertex2.Y() << " " << vertex2.Z()<< std::endl;
	}

	if ((vertex1-vertex2).Mag() < VERTEX_CUT){
		if (fVerbose > -1) std::cout << "Vertex Found!" << std::endl;
		p1 = vertex1;
		p2 = vertex2;
		return 1;
	}

	hit2.calcPosOnTrk(this);
	double s1b = hit2.s();
	dummy1.Set(inter2.X(),inter2.Y());
	dummy2.Set(dXY12[2],dXY12[3]);
	double dS1b = calcErrorS(dummy1, dummy2, this);
	if (fVerbose > 1) std::cout << "S1b for track1: " << s1b << "+/-" << dS1b << std::endl;

	hit2.calcPosOnTrk(&track);
	double s2b = hit2.s();
	double dS2b = calcErrorS(dummy1, dummy2, &track);
	if (fVerbose > 1) std::cout << "S1b for track2: " << s2b << "+/-" << dS2b << std::endl;

//	vertex1 = calcPosByS(s1b);
//	vertex2 = track.calcPosByS(s2b);

	vertex1.SetXYZ(inter2.X(),inter2.Y(),calcZPosByS(s1b)); // skip calculation error (from (Xv,Yv) to S and then back from S to (Xv,Yv))
	vertex2.SetXYZ(inter2.X(),inter2.Y(),track.calcZPosByS(s2b));

	dVertex1 = calcErrorPosByS(s1b, dS1b);
	dVertex2 = track.calcErrorPosByS(s2b, dS2b);

	if (fVerbose > -1){
			std::cout << "vertex candidate1 for hit2: " << vertex1.X() << " " << vertex1.Y() << " " << vertex1.Z()<< std::endl;
			std::cout << "vertex candidate2 for hit2: " << vertex2.X() << " " << vertex2.Y() << " " << vertex2.Z()<< std::endl;
	}
	if ((vertex1-vertex2).Mag() < VERTEX_CUT){
		if (fVerbose > -1) std::cout << "Vertex Found!" << std::endl;
		p1 = vertex1;
		p2 = vertex2;
		return 1;
	}
	return 0;
}

TVector3 PndRiemannTrack::calcErrorLineNorm(PndRiemannTrack& track)
{
	TVectorD n1=n();
	TVectorD n2=track.n();

	TMatrixD covN1 = covPlane();
	TMatrixD covN2 = track.covPlane();

	TVector3 dN1(TMath::Sqrt(covN1[1][1]), TMath::Sqrt(covN1[2][2]), TMath::Sqrt(covN1[3][3]));
	TVector3 dN2(TMath::Sqrt(covN2[1][1]), TMath::Sqrt(covN2[2][2]), TMath::Sqrt(covN2[3][3]));

	Double_t dLineNorm1 = TMath::Sqrt(TMath::Power(dN1[1]*n2[2],2) + TMath::Power(n1[1]*dN2[2],2) +
									  TMath::Power(dN1[2]*n2[1],2) + TMath::Power(n1[2]*dN2[1],2));

	Double_t dLineNorm2 = TMath::Sqrt(TMath::Power(dN1[2]*n2[0],2) + TMath::Power(n1[2]*dN2[0],2) +
									  TMath::Power(dN1[0]*n2[2],2) + TMath::Power(n1[0]*dN2[2],2));

	Double_t dLineNorm3 = TMath::Sqrt(TMath::Power(dN1[0]*n2[1],2) + TMath::Power(n1[0]*dN2[1],2) +
									  TMath::Power(dN1[1]*n2[0],2) + TMath::Power(n1[1]*dN2[0],2));

	return TVector3(dLineNorm1, dLineNorm2, dLineNorm3);

}

TVector3 PndRiemannTrack::calcErrorLineOffset(PndRiemannTrack& track)
{
	TVectorD n1=n();
	Double_t c1=c();
	TVectorD n2=track.n();
	Double_t c2=track.c();

	TMatrixD covN1 = covPlane();
	TMatrixD covN2 = track.covPlane();

	TVector3 dN1(TMath::Sqrt(covN1[1][1]), TMath::Sqrt(covN1[2][2]), TMath::Sqrt(covN1[3][3]));
	TVector3 dN2(TMath::Sqrt(covN2[1][1]), TMath::Sqrt(covN2[2][2]), TMath::Sqrt(covN2[3][3]));
	Double_t dC1(TMath::Sqrt(covN1[0][0]));
	Double_t dC2(TMath::Sqrt(covN2[0][0]));

	Double_t denom = n1[0]*n2[1] - n1[1]*n2[0];
//	Double_t dDenom2 = (TMath::Power(dN1[0]*n2[1],2) + TMath::Power(n1[0]*dN2[1],2) +
//						TMath::Power(dN1[1]*n2[0],2) + TMath::Power(n1[1]*dN2[0],2));

	Double_t qX = (n1[1]*c2-n2[1]*c1)/(TMath::Power(denom,2));
	Double_t qY = (n2[0]*c1-n1[0]*c2)/(TMath::Power(denom,2));

	Double_t dX = TMath::Sqrt(TMath::Power(n2[1]*dC1/denom,2) + TMath::Power(n1[1]*dC2/denom,2) +
			                  TMath::Power(qX*n2[1]*dN1[0],2) + TMath::Power(qX*n1[1]*dN2[0],2) +
			                  TMath::Power((c1/denom + qX*n2[0])*dN1[1],2) +
			                  TMath::Power((c1/denom + qX*n1[0])*dN2[1],2));

	Double_t dY = TMath::Sqrt(TMath::Power(n2[0]*dC1/denom,2) + TMath::Power(n1[0]*dC2/denom,2) +
			                  TMath::Power(qX*n2[0]*dN1[1],2) + TMath::Power(qX*n1[0]*dN2[1],2) +
			                  TMath::Power((c1/denom + qY*n2[1])*dN1[0],2) +
			                  TMath::Power((c1/denom + qY*n1[1])*dN2[0],2));

	return TVector3(dX, dY, 0);

}

TVectorD PndRiemannTrack::calcErrorXY1XY2(TVector3& line, TVector3& dLine, TVector3& offset, TVector3& dOffset)
{
	const double SMALL = 1E-12;
	Double_t denom = (TMath::Power(line[0],2) + TMath::Power(line[1],2));
	Double_t p = (2*(offset[0]*line[0] + offset[1]*line[1]) - line[2]) / denom;
	Double_t q = (TMath::Power(offset[0],2)+TMath::Power(offset[1],2) - offset[2]) / denom;
	Double_t S1 = -(p/2) + TMath::Sqrt(TMath::Power(p/2,2) - q);
	Double_t S2 = -(p/2) - TMath::Sqrt(TMath::Power(p/2,2) - q);

//	std::cout << "S1: " << S1 << " S2: " << S2 << std::endl;
	Double_t prod = (2*(offset[0]*line[0] +  offset[1]*line[1]) - line[2]) / TMath::Power(denom,2);
//	std::cout << "denom: " << denom << " prod1: " << prod * line[0] * dLine[0] << " prod2: " << prod * line[1] * dLine[1]<< std::endl;

	if ((TMath::Power(p/2,2)-q) < SMALL)
		return TVectorD(6);

	Double_t sqrterm = TMath::Sqrt(TMath::Power(p/2,2)-q);

	Double_t dP = TMath::Sqrt(TMath::Power(2*line[0]*dOffset[0]/denom,2) + TMath::Power(2*line[1]*dOffset[1]/denom,2) +
							  TMath::Power(dLine[2]/denom,2) +
			                  TMath::Power((2*offset[0]/denom - 2*prod*line[0])*dLine(0),2) +
			                  TMath::Power((2*offset[1]/denom - 2*prod*line[1])*dLine(1),2));
//	std::cout << "dP1: " << TMath::Power(2*line[0]*dOffset[0]/denom,2) << " dP2: " << TMath::Power(2*line[1]*dOffset[1]/denom,2) << std::endl;
//	std::cout << "dP3: " << TMath::Power(dLine[2]/denom,2) << std::endl;
//	std::cout << "dP4: " << TMath::Power((2*offset[0]/denom - 2*prod*line[0])*dLine(0),2) << " dP5: " << TMath::Power((2*offset[1]/denom - 2*prod*line[1])*dLine(1),2) << std::endl;

//	std::cout << "P: " << p << "+/-" << dP << std::endl;
	Double_t dQ = TMath::Sqrt(TMath::Power(2*offset[0]/denom*dOffset[0],2) +
							  TMath::Power(2*offset[1]/denom*dOffset[1],2) +
							  TMath::Power(dOffset[2]/denom,2));
//	std::cout << "Q: " << q << "+/-" << dQ << std::endl;
	Double_t dS1 = TMath::Sqrt(TMath::Power((-1/2 + p/(4*sqrterm)) * dP,2) + TMath::Power(1/(2*sqrterm)*dQ, 2));
	Double_t dS2 = TMath::Sqrt(TMath::Power((-1/2 - p/(4*sqrterm)) * dP,2) + TMath::Power(1/(2*sqrterm)*dQ, 2));

	Double_t dX1 = TMath::Sqrt(TMath::Power(dOffset[0],2) + TMath::Power(line[0]*dS1,2) + TMath::Power(dLine[0]*S1,2));
	Double_t dY1 = TMath::Sqrt(TMath::Power(dOffset[1],2) + TMath::Power(line[1]*dS1,2) + TMath::Power(dLine[1]*S1,2));

//	std::cout << "dX1: " << dX1 << " dY1: " << dY1 << std::endl;

	Double_t dX2 = TMath::Sqrt(TMath::Power(dOffset[0],2) + TMath::Power(line[0]*dS2,2) + TMath::Power(dLine[0]*S2,2));
	Double_t dY2 = TMath::Sqrt(TMath::Power(dOffset[1],2) + TMath::Power(line[1]*dS2,2) + TMath::Power(dLine[1]*S2,2));

//	std::cout << "dX2: " << dX2 << " dY2: " << dY2 << std::endl;
	TVectorD result(6);
	result[0] = dX1;
	result[1] = dY1;
	result[2] = dX2;
	result[3] = dY2;
	result[4] = dS1;
	result[5] = dS2;
	return result;

}

double PndRiemannTrack::calcErrorS(TVector2& XY, TVector2& dXY, PndRiemannTrack* track)
{
	assert(track!=NULL);
	TVectorD o=track->orig();
	double r=track->r();
	double dR = track->dR();

	const PndRiemannHit* firstHit=track->getHit(0);
	assert(firstHit!=NULL);
	TVector2 k(firstHit->x().X()-o[0],firstHit->x().Y()-o[1]);
	TVector2 l(XY.X()-o[0],XY.Y()-o[1]);

	double alpha=l.DeltaPhi(k);
	double dAlpha = TMath::Sqrt(TMath::Power(XY.X()*dXY.Y(),2) + TMath::Power(XY.Y()*dXY.X(),2))/(TMath::Power(XY.X(),2) + TMath::Power(XY.Y(),2));

	double dS = TMath::Sqrt(TMath::Power(dAlpha*r,2) + TMath::Power(alpha*dR,2));

	return dS;

}

TVector3 PndRiemannTrack::calcErrorPosByS(Double_t s, Double_t dS)
{
	TVectorD o=orig();
	const PndRiemannHit* firstHit=getHit(0);
	assert(firstHit!=NULL);
	TVector2 k(firstHit->x().X()-o[0],firstHit->x().Y()-o[1]);
	Double_t dPhi = TMath::Sqrt(TMath::Power(dS/r(),2) + TMath::Power(s/(r()*r())*dR(),2));
	Double_t phi = s/r();
	Double_t dL1 = TMath::Sqrt(TMath::Power((-k.X()*TMath::Sin(phi)-k.Y()*TMath::Cos(phi))*dPhi,2));
	Double_t dL2 = TMath::Sqrt(TMath::Power((k.X()*TMath::Cos(phi)-k.Y()*TMath::Sin(phi))*dPhi,2));
	Double_t dZCoord = TMath::Sqrt(TMath::Power(m()*dS,2) + TMath::Power(s*mError(),2) + TMath::Power(tError(),2));

	Double_t resX = TMath::Sqrt(TMath::Power(dL1,2) + TMath::Power(dX(),2));
	Double_t resY = TMath::Sqrt(TMath::Power(dL2,2) + TMath::Power(dY(),2));

	TVector3 result(resX, resY, dZCoord);

	if (fVerbose > 1) std::cout<< "PosBySError: s:" << dS << " Vector: " << result.x() << " " << result.y() << " " << result.z() << std::endl;
	return result;
}

double
PndRiemannTrack::szDist(PndRiemannHit* hit){

  if (fSZFitDone == false)
		szFit();
  hit->calcPosOnTrk(this);
  double hits=hit->s();
  double predz=hits*fm+ft;
  return predz-hit->z();
}

double PndRiemannTrack::szError(PndRiemannHit* hit){
	if (fSZFitDone == false)
		szFit();
	hit->calcPosOnTrk(this);
	double hits=hit->s();
	double result = TMath::Sqrt(TMath::Power((hits*fmError),2)+TMath::Power(ftError,2));
	//if (fVerbose > 0) std::cout << "Error on szDist is: " << result;
	return result;
}

// only after szFit!
double
PndRiemannTrack::dip() {
	if (fSZFitDone == false)
		szFit();
	return cos(atan(fm));
}

// only after szFit!
double
PndRiemannTrack::dipangle() {
	if (fSZFitDone == false)
		szFit();
	return (atan(fm));
}

double PndRiemannTrack::dDip()
{
	if (fSZFitDone == false)
		szFit();
	//return (fabs(sin(1/(1+fm*fm))) * fmError);
	//WRONG derivative!!!!!!!
      return (fabs(sin(atan(fm))/(1+fm*fm)) * fmError);
}

double PndRiemannTrack::Pt(double B)
{
	double result = 0.3 * B * r() * 0.01;
	if (fVerbose > 0) std::cout << "Pt: " << result << std::endl;

	return result;
}

double PndRiemannTrack::P(double B)
{
	double result = Pt(B)/sin(dipangle());
	if (fVerbose > 0) std::cout << "fm: " << fm <<  " dipanlge: " << dipangle() << " Pt: " << Pt(B)  << " P: " << result << std::endl;
	return result;
}

TVector3 PndRiemannTrack::getPforHit(int i, double B)
{
	PndRiemannHit xVecRiemann (r(), .0, .0, .0, .0, .0);
	xVecRiemann.calcPosOnTrk(this);
	double alpha = xVecRiemann.alpha();
	if (fVerbose > 0) std::cout << "Angle to first point: " << alpha << std::endl;
	TVector3 result(Pt(B)*cos(alpha), Pt(B)*sin(alpha), dip()*P(B));
	if (fVerbose > 0) std::cout << "P-Vector for first point: " << result.X() << " " << result.Y() << " " << result.Z() << std::endl;
	return result;
}

// Todo: check for backward going tracks!!!
double
PndRiemannTrack::sign() const {
  double s=fHits[3].s();
  return s<0 ? -1. : 1;
}

void PndRiemannTrack::calcJacRXY()
{
	double val = (TMath::Sqrt(1-fn[2]*fn[2]-4*fc*fn[2]));
	fjacRXY.Clear();
	fjacRXY.ResizeTo(3,4);
/*	fjacRXY[0][0] = -1/val;
	fjacRXY[0][3] = -1/(2*fn[2]) * (fn[2]+2*fc)/val - val/(2*fn[2]*fn[2]);
	fjacRXY[1][1] = -fn[0]/(2*fn[2]);
	fjacRXY[1][3] = fn[0]/(2*fn[2]*fn[2]);
	fjacRXY[2][2] = -fn[1]/(2*fn[2]);
	fjacRXY[2][3] = fn[1]/(2*fn[2]*fn[2]);*/

	fjacRXY[0][0] = -1/val;
	fjacRXY[0][3] = -1/(2*fn[2]) * (fn[2]+2*fc)/val - val/(2*fn[2]*fn[2]);
	fjacRXY[1][1] = -1/(2*fn[2]);//<---------
	fjacRXY[1][3] = fn[0]/(2*fn[2]*fn[2]);
	fjacRXY[2][2] = -1/(2*fn[2]);//<---------
	fjacRXY[2][3] = fn[1]/(2*fn[2]*fn[2]);
}

void PndRiemannTrack::PrintHits()
{
	std::cout << "-I- PndRiemannTrack::PrintHits:" << std::endl;
	for (int i = 0; i < fHits.size(); i++){
		std::cout << i << ": " << fHits[i].x().X() << " " << fHits[i].x().Y() << std::endl;
	}
}