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Harmonize theta pole check in Kálmán updater #1253

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Harmonize theta pole check in Kálmán updater #1253

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25 changes: 13 additions & 12 deletions core/include/traccc/fitting/kalman_filter/gain_matrix_updater.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@
#include "traccc/fitting/status_codes.hpp"
#include "traccc/utils/logging.hpp"
#include "traccc/utils/subspace.hpp"
#include "traccc/utils/trigonometric_helpers.hpp"

namespace traccc {

Expand Down Expand Up @@ -196,23 +197,23 @@ struct gain_matrix_updater {
trk_state.filtered_params().set_covariance(filtered_cov);
trk_state.filtered_chi2() = chi2_val;

if (math::fmod(trk_state.filtered_params().theta(),
2.f * constant<traccc::scalar>::pi) == 0.f) {
// Wrap the phi and theta angles in their valid ranges
scalar wrapped_phi;
scalar wrapped_theta;

std::tie(wrapped_phi, wrapped_theta) =
detail::wrap_phi_theta(trk_state.filtered_params().phi(),
trk_state.filtered_params().theta());

if (wrapped_theta == 0.f) {
TRACCC_ERROR_HOST_DEVICE(
"Hit theta pole after filtering : %f (unrecoverable error "
"pre-normalization)",
"Hit theta pole after filtering : %f (unrecoverable error)",
trk_state.filtered_params().theta());
return kalman_fitter_status::ERROR_THETA_POLE;
}

// Wrap the phi and theta angles in their valid ranges
normalize_angles(trk_state.filtered_params());

const scalar theta = trk_state.filtered_params().theta();
if (theta <= 0.f || theta >= 2.f * constant<traccc::scalar>::pi) {
TRACCC_ERROR_HOST_DEVICE("Hit theta pole in filtering : %f", theta);
return kalman_fitter_status::ERROR_THETA_POLE;
}
trk_state.filtered_params().set_phi(wrapped_phi);
trk_state.filtered_params().set_theta(wrapped_theta);

assert(!trk_state.filtered_params().is_invalid());

Expand Down
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