KalFitTrack.cxx

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//#include "TrackUtil/Helix.h"
#include "KalFitAlg/helix/Helix.h"
#include "KalFitAlg/KalFitWire.h"
#include "KalFitAlg/KalFitTrack.h"
#include "KalFitAlg/KalFitMaterial.h"
#include "KalFitAlg/KalFitElement.h"
#include "KalFitAlg/KalFitCylinder.h"
#include "MdcGeomSvc/MdcGeomSvc.h"
#include "GaudiKernel/Bootstrap.h"
#include "CLHEP/Matrix/Vector.h"
#include "CLHEP/Matrix/Matrix.h"
#include "CLHEP/Matrix/SymMatrix.h"
#include "CLHEP/Vector/ThreeVector.h"
#include "CLHEP/Units/PhysicalConstants.h"
#include "Math/Point3Dfwd.h"
#include "Math/Point3D.h"
#include "Math/Vector3D.h"
#include "CgemGeomSvc/ICgemGeomSvc.h"
#include "CgemGeomSvc/CgemGeomSvc.h"
#include "CgemCalibFunSvc/CgemCalibFunSvc.h"
 
using namespace ROOT::Math;
 
using namespace KalmanFit;
 
using namespace CLHEP;
 
 
// for debug purpose .
int KalFitTrack::drifttime_choice_ = 0;
int KalFitTrack::debug_ = 0;
int KalFitTrack::numf_ = 0;
int KalFitTrack::numfcor_ = 1;
double KalFitTrack::Bznom_ = 10;
int KalFitTrack::steplev_ = 0;
int KalFitTrack::inner_steps_ = 3;
int KalFitTrack::outer_steps_ = 3;
// Mdc factors :
int KalFitTrack::Tof_correc_ = 1;
int KalFitTrack::strag_ = 1;
double KalFitTrack::chi2_hitf_ = 1000;
double KalFitTrack::chi2_hits_ = 1000;
double KalFitTrack::factor_strag_ = 0.4;
//double KalFitTrack::chi2_hitf_ = DBL_MAX;
int KalFitTrack::lead_ = 2;
int KalFitTrack::back_ = 1;
// attention resolflag !!!
int KalFitTrack::resolflag_ = 0;
int KalFitTrack::tofall_ = 1;
// chi2 cut set :
int KalFitTrack::nmdc_hit2_ = 500;
//int KalFitTrack::LR_ = 0;
int KalFitTrack::LR_ = 1;
 
 
double KalFitTrack::dchi2cutf_anal[43] = {0.};
double KalFitTrack::dchi2cuts_anal[43] = {0.};
double KalFitTrack::dchi2cutf_calib[43] = {0.};
double KalFitTrack::dchi2cuts_calib[43] = {0.};
 
 
///
double KalFitTrack::mdcGasRadlen_ = 0.;
 
 
const double KalFitTrack::MASS[NMASS] = { 0.000510999,
    0.105658,
    0.139568,
    0.493677,
    0.938272 };
const double
M_PI2 = 2. * M_PI;
 
const double
M_PI4 = 4. * M_PI;
 
const double
M_PI8 = 8. * M_PI;
 
 
 
// constructor
KalFitTrack::KalFitTrack(const HepPoint3D& pivot,
        const HepVector& a,
        const HepSymMatrix& Ea,
        unsigned int m, double chisq, unsigned int nhits)
: Helix(pivot, a, Ea), type_(0), insist_(0), chiSq_(0),
    nchits_(0), nster_(0), ncath_(0),
    ndf_back_(0), chiSq_back_(0), pathip_(0), 
    path_rd_(0), path_ab_(0), tof_(0), dchi2_max_(0), r_max_(0),
    tof_kaon_(0), tof_proton_(0), pat1_(0), pat2_(0), layer_prec_(0),
    trasan_id_(0), nhit_r_(0), nhit_z_(0),pathSM_(0),tof2_(0)
{
    memset(PathL_, 0, sizeof(PathL_));
    l_mass_ = m;
    if (m < NMASS) mass_ = MASS[m];
    else mass_ = MASS[2];
    r0_ = fabs(center().perp() - fabs(radius()));
    //bFieldZ(Bznom_);
    Bznom_=bFieldZ(); // 2012-09-13 wangll
    update_last();
    
    resetLayerUsed();// myLayerUsed
}
 
// destructor
KalFitTrack::~KalFitTrack(void)
{
    // delete all objects
 
}
 
void KalFitTrack::update_last(void)
{
    pivot_last_ = pivot();
    a_last_ = a();
    Ea_last_ = Ea();
}
 
void KalFitTrack::update_forMdc(void)
{
    pivot_forMdc_ = pivot();
    a_forMdc_ = a();
    Ea_forMdc_ = Ea();
}
 
double KalFitTrack::intersect_cylinder(double r) const
{
    double m_rad = radius();
    double l = center().perp();
 
    double cosPhi = (m_rad * m_rad + l * l  - r * r) / (2 * m_rad * l);
 
    if(cosPhi < -1 || cosPhi > 1) return 0;
 
    double dPhi = center().phi() - acos(cosPhi) - phi0();
 
    if(dPhi < -M_PI) dPhi += 2 * M_PI;
 
    return dPhi;
}
 
double KalFitTrack::intersect_zx_plane(const HepTransform3D& plane,
        double y) const
{
    HepPoint3D xc = plane * center();
    double r = radius();
    double d = r * r - (y - xc.y()) * (y - xc.y());
    if(d < 0) return 0;
 
    double xx = xc.x();
    if(xx > 0) xx -= sqrt(d);
    else xx += sqrt(d);
 
    double l = (plane.inverse() *
            HepPoint3D(xx, y, 0)).perp();
 
    return intersect_cylinder(l);
}
 
double KalFitTrack::intersect_yz_plane(const HepTransform3D& plane,
        double x) const
{
    HepPoint3D xc = plane * center();
    double r = radius();
    double d = r * r - (x - xc.x()) * (x - xc.x());
    if(d < 0) return 0;
 
    double yy = xc.y();
    if(yy > 0) yy -= sqrt(d);
    else yy += sqrt(d);
 
    double l = (plane.inverse() *
            HepPoint3D(x, yy, 0)).perp();
 
    return intersect_cylinder(l);
}
 
double KalFitTrack::intersect_xy_plane(double z) const
{
    if (tanl() != 0 && radius() != 0)
        return (pivot().z() + dz() - z) / (radius() * tanl());
    else return 0;
}
 
void KalFitTrack::ms(double path,
        const KalFitMaterial& material, int index)
{
    HepSymMatrix ea = Ea();
    //cout<<"ms():path  "<<path<<endl;
    //cout<<"ms():ea before: "<<ea<<endl;
    double k = kappa();
    double t = tanl();
    double t2 = t * t;
    double pt2 = 1 + t2;
    double k2 = k * k;
 
    double pmag = 1 / fabs(k) * sqrt(pt2);
    double dth = material.mcs_angle(mass_, path, pmag);
    double dth2 = dth * dth;
    double pt2dth2 = pt2 * dth2;
 
    ea[1][1] += pt2dth2;
    ea[2][2] += k2 * t2 * dth2;
    ea[2][4] += k * t * pt2dth2;
    ea[4][4] += pt2 * pt2dth2;
 
    ea[3][3] += dth2 * path * path /3 / (1 + t2);
    ea[3][4] += dth2 * path/2 * sqrt(1 + t2);
    ea[3][2] += dth2 * t / sqrt(1 + t2) * k * path/2;
    ea[0][0] += dth2 * path * path/3;
    ea[0][1] += dth2 * sqrt(1 + t2) * path/2;
 
    Ea(ea);
    //cout<<"ms():ms angle in this: "<<dth<<endl;  
    //cout<<"ms():ea after: "<<Ea()<<endl;
    if (index < 0) {
        double x0 = material.X0();
        if (x0) path_rd_ += path/x0;
    }
}
 
void KalFitTrack::msgasmdc(double path, int index)
{
    double k = kappa();
    double t = tanl();
    double t2 = t * t;
    double k2 = k * k;
 
    double pmag = ( 1 / fabs(k) ) * sqrt(1 + t2);
    double psq = pmag*pmag;
    /*
       double Zprims = 3/2*0.076 + 0.580/9.79*4.99*(4.99+1) +
       0.041/183.85*74*(74+1) + 0.302/26.98 * 13 * (13+1);
       double chicc = 0.00039612 * sqrt(Zprims * 0.001168);
       double dth = 2.557 * chicc * sqrt(path * (mass_*mass_ + psq)) / psq;
     */
 
    //std::cout<<" mdcGasRadlen: "<<mdcGasRadlen_<<std::endl;
    double pathx = path/mdcGasRadlen_;
    double dth =  0.0136* sqrt(pathx * (mass_*mass_ + psq))/psq 
        *(1 + 0.038 * log(pathx));;
    HepSymMatrix ea = Ea();
#ifdef YDEBUG
    cout<<"msgasmdc():path  "<<path<<"  pathx "<<pathx<<endl;
    cout<<"msgasmdc():dth  "<<dth<<endl;
    cout<<"msgasmdc():ea before: "<<ea<<endl;
#endif
    double dth2 = dth * dth;
 
    ea[1][1] += (1 + t2) * dth2;
    ea[2][2] += k2 * t2 * dth2;
    ea[2][4] += k * t * (1 + t2) * dth2;
    ea[4][4] += (1 + t2) * (1 + t2) * dth2;
 
    // additionnal terms (terms proportional to l and l^2)
 
    ea[3][3] += dth2 * path * path /3 / (1 + t2);
    ea[3][4] += dth2 * path/2 * sqrt(1 + t2);
    ea[3][2] += dth2 * t / sqrt(1 + t2) * k * path/2;
    ea[0][0] += dth2 * path * path/3;
    ea[0][1] += dth2 * sqrt(1 + t2) * path/2;
 
    Ea(ea);
#ifdef YDEBUG
    cout<<"msgasmdc():ea after: "<<Ea()<<endl;
#endif
    if (index < 0) {
        pathip_ += path;
        // RMK : put by hand, take care !!
        double x0 = mdcGasRadlen_; // for the Mdc gas
        path_rd_ += path/x0;
        tof(path);
#ifdef YDEBUG
        cout<<"ms...pathip..."<<pathip_<<endl;
#endif
    }
}
 
void KalFitTrack::eloss(double path,
        const KalFitMaterial& material, int index)
{
#ifdef YDEBUG
    cout<<"eloss():ea before: "<<Ea()<<endl;
#endif
    HepVector v_a = a();
    double v_a_2_2 = v_a[2] * v_a[2];
    double v_a_4_2 = v_a[4] * v_a[4];
    double pmag = 1 / fabs(v_a[2]) * sqrt(1 + v_a_4_2);
    double psq = pmag * pmag;
    double E = sqrt(mass_ * mass_ + psq);
    double dE = material.dE(mass_, path, pmag);
    //std::cout<<" eloss(): dE: "<<dE<<std::endl;//wangll
 
    if (index > 0) 
        psq += dE * (dE + 2 * sqrt(mass_ * mass_ + psq));
    else {
        double dE_max = E - mass_;
        if( dE<dE_max ) psq += dE * (dE - 2 * sqrt(mass_ * mass_ + psq));
        else psq=-1.0;
    }
 
    if (tofall_ && index < 0){
        // Kaon case :
        if (p_kaon_ > 0){
            double psq_kaon = p_kaon_ * p_kaon_;
            double dE_kaon = material.dE(MASS[3], path, p_kaon_);
            psq_kaon += dE_kaon * (dE_kaon - 
                    2 * sqrt(MASS[3] * MASS[3] + psq_kaon));
            if (psq_kaon < 0) psq_kaon = 0;
            p_kaon_ = sqrt(psq_kaon);
        }
        // Proton case :
        if (p_proton_ > 0){
            double psq_proton = p_proton_ * p_proton_;
            double dE_proton = material.dE(MASS[4], path, p_proton_);
            psq_proton += dE_proton * (dE_proton - 
                    2 * sqrt(MASS[4] * MASS[4] + psq_proton));
            if (psq_proton < 0) psq_proton = 0;
            p_proton_ = sqrt(psq_proton);
        }
    }
 
    double dpt;
    //cout<<"eloss(): psq = "<<psq<<endl;//wangll
    if(psq < 0) dpt = 9999;
    else dpt = v_a[2] * pmag / sqrt(psq);
    //cout<<"eloss():k:   "<<v_a[2]<<"  k'  "<<dpt<<endl;//wangll
#ifdef YDEBUG
    cout<<"eloss():k:   "<<v_a[2]<<"  k'  "<<dpt<<endl;
#endif
    // attempt to take account of energy loss for error matrix 
 
    HepSymMatrix ea = Ea();
    double r_E_prim = (E + dE)/E;
 
    // 1/ Straggling in the energy loss :
    if (strag_){
        double del_E(0);
        if(l_mass_==0) {
            del_E = dE*factor_strag_;
        }   else  {
            del_E  = material.del_E(mass_, path, pmag);
        }
 
        ea[2][2] += (v_a[2] * v_a[2]) * E * E * del_E * del_E / (psq*psq);
    }
 
    // Effect of the change of curvature (just variables change):
    double dpt2 = dpt*dpt;
    double A = dpt*dpt2/(v_a_2_2*v_a[2])*r_E_prim;
    double B = v_a[4]/(1+v_a_4_2)*
        dpt*(1-dpt2/v_a_2_2*r_E_prim);
 
    double ea_2_0 = A*ea[2][0] + B*ea[4][0];
    double ea_2_1 = A*ea[2][1] + B*ea[4][1];
    double ea_2_2 = A*A*ea[2][2] + 2*A*B*ea[2][4] + B*B*ea[4][4]; 
    double ea_2_3 = A*ea[2][3] + B*ea[4][3]; 
    double ea_2_4 = A*ea[2][4] + B*ea[4][4];
 
    v_a[2] = dpt;
    a(v_a);
 
    ea[2][0] = ea_2_0;
    //std::cout<<"ea[2][0] is "<<ea[2][0]<<" ea(3,1) is "<<ea(3,1)<<std::endl;
    ea[2][1] = ea_2_1;
    //std::cout<<"ea[2][2] is "<<ea[2][2]<<" ea(3,3) is "<<ea(3,3)<<std::endl;
    ea[2][2] = ea_2_2;
    ea[2][3] = ea_2_3;
    ea[2][4] = ea_2_4;
 
    Ea(ea);
    //cout<<"eloss():dE:   "<<dE<<endl;
    //cout<<"eloss():A:   "<<A<<"   B:    "<<B<<endl;
    //cout<<"eloss():ea after: "<<Ea()<<endl;
    r0_ = fabs(center().perp() - fabs(radius()));
}
 
void KalFitTrack::order_wirhit(int index)
{
    unsigned int nhit = HitsMdc_.size();
    Helix tracktest = *(Helix*)this;
    int ind = 0;
    double* Rad = new double[nhit];
    double* Ypos = new double[nhit];
    for( unsigned i=0 ; i < nhit; i++ ){
 
        HepPoint3D fwd(HitsMdc_[i].wire().fwd());
        HepPoint3D bck(HitsMdc_[i].wire().bck());
        Hep3Vector wire = (CLHEP::Hep3Vector)fwd -(CLHEP::Hep3Vector)bck;
 
        // Modification for stereo wires :
        Helix work = tracktest;
        work.ignoreErrorMatrix();
        work.pivot((fwd + bck) * .5);
        HepPoint3D x0 = (work.x(0).z() - bck.z())
            / wire.z() * wire + bck;
 
        tracktest.pivot(x0);
        Rad[ind] = tracktest.x(0).perp();
        Ypos[ind] = x0.y();
        ind++;
        //cout<<"Ypos: "<<Ypos[ind-1]<<endl;
    }
 
    // Reorder...
    if (index < 0)
        for(int j, k = nhit - 1; k >= 0; k = j){
            j = -1;
            for(int i = 1; i <= k; i++)
                if(Rad[i - 1] > Rad[i]){
                    j = i - 1;
                    std::swap(Rad[i], Rad[j]);
                    std::swap(HitsMdc_[i], HitsMdc_[j]);
                }
        }
    if (index > 0)
        for(int j, k = nhit - 1; k >= 0; k = j){
            j = -1;
            for(int i = 1; i <= k; i++)
                if(Rad[i - 1] < Rad[i]){
                    j = i - 1;
                    std::swap(Rad[i], Rad[j]);
                    std::swap(HitsMdc_[i], HitsMdc_[j]);
                }
        }
    if (index == 0)
        for(int j, k = nhit - 1; k >= 0; k = j){
            j = -1;
            for(int i = 1; i <= k; i++)
                if(Ypos[i - 1] > Ypos[i]){
                    j = i - 1;
                    std::swap(Ypos[i], Ypos[j]);
                    std::swap(HitsMdc_[i], HitsMdc_[j]);
                }
        }
    delete [] Rad;
    delete [] Ypos;
}
 
void KalFitTrack::order_hits(void){
    for(int it=0; it<HitsMdc().size()-1; it++){
        if(HitsMdc_[it].wire().layer().layerId() == HitsMdc_[it+1].wire().layer().layerId())    
        {
            if((kappa()<0)&&(HitsMdc_[it].wire().localId() > HitsMdc_[it+1].wire().localId())){
                std::swap(HitsMdc_[it], HitsMdc_[it+1]);
            }
            if((kappa()>0)&&(HitsMdc_[it].wire().localId() < HitsMdc_[it+1].wire().localId())){
                std::swap(HitsMdc_[it], HitsMdc_[it+1]);
            }
        }
    }
}
 
 
void KalFitTrack::number_wirhit(void)
{
    unsigned int nhit = HitsMdc_.size();
    int Num[50] = {0};
    for( unsigned i=0 ; i < nhit; i++ )
        Num[HitsMdc_[i].wire().layer().layerId()]++;
    for( unsigned i=0 ; i < nhit; i++ )
        if (Num[HitsMdc_[i].wire().layer().layerId()]>2)
            HitsMdc_[i].chi2(-2);
}
 
 
double KalFitTrack::smoother_Mdc(KalFitHitMdc& HitMdc, Hep3Vector& meas, KalFitHelixSeg& seg, double& dchi2, int csmflag)
{
    // 
    double lr = HitMdc.LR();
    // For taking the propagation delay into account :
    int wire_ID = HitMdc.wire().geoID(); // from 0 to 6796
    int layerid = HitMdc.wire().layer().layerId();
    double entrangle = HitMdc.rechitptr()->getEntra();
    if (wire_ID<0 || wire_ID>6796){ //bes
        std::cout << "KalFitTrack : wire_ID problem : " << wire_ID << std::endl;
        return 0;
    } 
 
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
 
    double tofest(0);
    double dd(0.);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
 
    if (Tof_correc_) {
        Hep3Vector ip(0, 0, 0);
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        work.pivot(ip);
        double phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        double t = tanl();
        double l = fabs(radius() * (phi - phi_ip) * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        if(csmflag==1 && HitMdc.wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = Ea();
    const HepVector& v_a = a();
 
    HepPoint3D pivot_work = pivot();
 
    double dchi2R(99999999), dchi2L(99999999);
 
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    HepVector ea_v_H = ea * v_H;  
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
 
    HepSymMatrix eaNew(5);
    HepVector aNew(5);
 
    //double time = HitMdc.tdc();
    // if (Tof_correc_)
    //  time -= tofest;
 
    double drifttime = getDriftTime(HitMdc , tofest); 
    //cout<<"drifttime = "<<drifttime<<endl;
    seg.dt(drifttime);
    double ddl = getDriftDist(HitMdc, drifttime, 0);
    double ddr = getDriftDist(HitMdc, drifttime, 1);
    /*cout<<endl<<" $$$  smoother_Mdc():: "<<endl;//wangll
    cout<<"pivot = "<<pivot()<<endl;//wangll
    cout<<"helix = "<<a()<<endl;//wangll
    cout<<"drifttime = "<<drifttime<<endl;//wangll
    cout<<"ddl, ddr = "<<ddl<<", "<<ddr<<endl;//wangll
    */
    double erddl = getSigma( HitMdc, a()[4], 0, ddl);
    double erddr = getSigma( HitMdc, a()[4], 1, ddr); 
 
    //  double dd = 1.0e-4 * 40.0 * time;
    double dmeas2[2] = { 0.1*ddl, 0.1*ddr }; //millimeter to centimeter 
    double er_dmeas2[2] = {0. , 0.};
    if(resolflag_== 1) { 
        er_dmeas2[0] = 0.1*erddl;
        er_dmeas2[1] = 0.1*erddr;
    } 
    else if(resolflag_ == 0) {
        //int layid = HitMdc.wire().layer().layerId();
        //double sigma = getSigma(layid, dd);
        //er_dmeas2[0] = er_dmeas2[1] = sigma;
    }
 
    // Left hypothesis :
    if (lr == -1) {
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*dmeas2[0];  // the dmeas&erdmeas  calculated by myself 
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs(HitMdc.dist()[0]); // the dmeas&erdmeas  calculated by track-finding algorithm
            er_dmeasL = HitMdc.erdist()[0];
        }
 
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNew.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
        aNew = v_a + diffL;
        double sigL = (dmeasL - (v_HT * aNew)[0]);
        dchi2L =  (sigL*sigL) /  (RkL * er_dmeasL*er_dmeasL);
    } else if (lr == 1) {
        // Right hypothesis :
 
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs(HitMdc.dist()[1]);
            er_dmeasR = HitMdc.erdist()[1];
        }
 
 
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNew.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
        if(0. == RkR) RkR = 1.e-4;
 
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
        aNew = v_a + diffR;
        double sigR = (dmeasR- (v_HT * aNew)[0]);
        dchi2R =  (sigR*sigR) /  (RkR * er_dmeasR*er_dmeasR);
    }
 
    // Update Kalman result :
#ifdef YDEBUG
    cout<<"in smoother_Mdc: lr= "<<lr<<" a: "<<v_a<<" a_NEW: "<<aNew<<endl;
#endif
    double dchi2_loc(0);
    if ((dchi2R < dchi2cuts_anal[layerid] && lr == 1) || 
            (dchi2L < dchi2cuts_anal[layerid] && lr == -1)) {
        ndf_back_++;
        int chge(1);
        if ( !( aNew[2] && fabs(aNew[2]-a()[2]) < 1.0 ) ) chge=0;
        if (lr == 1) {
            chiSq_back_ += dchi2R;
            dchi2_loc = dchi2R;
            dd = 0.1*ddr;
        } else if (lr == -1) {
            chiSq_back_ += dchi2L;
            dchi2_loc = dchi2L;
            dd = -0.1*ddl;
        } 
        if (chge){
            a(aNew);
            Ea(eaNew);
        }
    }
    dchi2=dchi2_loc;
 
    seg.doca_include(fabs((v_HT*a())[0]));
    seg.doca_exclude(fabs(estim));
    /// move the pivot of the helixseg to IP(0,0,0)
    Hep3Vector ip(0, 0, 0);
    KalFitTrack helixNew1(pivot_work, a(), Ea(), 0, 0, 0);
    helixNew1.pivot(ip);
    HepVector    a_temp1  = helixNew1.a();
    HepSymMatrix ea_temp1 = helixNew1.Ea();
    seg.Ea(ea_temp1);
    seg.a(a_temp1);
    seg.Ea_include(ea_temp1);
    seg.a_include(a_temp1);
 
    KalFitTrack helixNew2(pivot_work, v_a, ea, 0, 0, 0);
    helixNew2.pivot(ip);
    HepVector    a_temp2  = helixNew2.a();
    HepSymMatrix ea_temp2 = helixNew2.Ea();
    seg.Ea_exclude(ea_temp2);
    seg.a_exclude(a_temp2);
 
    seg.tof(tofest);
    seg.dd(dd);
 
    return chiSq_back_;
}
 
// Smoothing procedure in Mdc cosmic align
// RMK attention for the case chi2R = chi2L during forward filter !
double KalFitTrack::smoother_Mdc_csmalign(KalFitHelixSeg& seg, Hep3Vector& meas,int& flg, int csmflag )
{
 
 
    HepPoint3D ip(0., 0., 0.);
    // attention! we should not to decide the left&right in the smoother process,
    // because we choose the left&right of hits from the filter process. 
 
    KalFitHitMdc* HitMdc = seg.HitMdc();
    double lr = HitMdc->LR();
 
    // For taking the propagation delay into account :
    int layerid  = (*HitMdc).wire().layer().layerId();
    int wire_ID = HitMdc->wire().geoID();
    double entrangle = HitMdc->rechitptr()->getEntra();
 
    if (wire_ID<0 || wire_ID>6796){ //bes
        std::cout << "KalFitTrack : wire_ID problem : " << wire_ID << std::endl;
        return 0;
    } 
 
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
    double dd(0.);
    double tofest(0);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
 
    if (Tof_correc_) {
        Hep3Vector ip(0, 0, 0);
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        work.pivot(ip);
        double phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        double t = tanl();
        double l = fabs(radius() * (phi - phi_ip) * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        if(csmflag==1 && (*HitMdc).wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = Ea();
    const HepVector& v_a = a();
 
 
    HepPoint3D pivot_work = pivot();
 
    /*
       HepVector a_work = a();
       HepSymMatrix ea_work = Ea();
 
       KalFitTrack helix_work(pivot_work, a_work, ea_work, 0, 0, 0);
       helix_work.pivot(ip);
 
       HepVector a_temp = helix_work.a();
       HepSymMatrix ea_temp = helix_work.Ea();
 
       seg.Ea_pre_bwd(ea_temp); 
       seg.a_pre_bwd(a_temp);
 
     */
 
    seg.a_pre_bwd(a()); 
    seg.Ea_pre_bwd(Ea()); 
 
    double dchi2R(99999999), dchi2L(99999999);
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    HepVector ea_v_H = ea * v_H;  
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
    HepSymMatrix eaNew(5);
    HepVector aNew(5);
    double time = (*HitMdc).tdc();
 
    //seg.dt(time);
    // if (Tof_correc_)
    // { 
    //  time -= tofest;
    //  seg.dt(time);
    // }
    // double dd = 1.0e-4 * 40.0 * time;
    // seg.dd(dd);
 
    double drifttime = getDriftTime(*HitMdc , tofest);
    seg.dt(drifttime);
    double ddl = getDriftDist(*HitMdc, drifttime, 0 );
    double ddr = getDriftDist(*HitMdc, drifttime, 1 );
    double erddl = getSigma( *HitMdc, a()[4], 0, ddl);
    double erddr = getSigma( *HitMdc, a()[4], 1, ddr);
 
    double dmeas2[2] = { 0.1*ddl, 0.1*ddr }; // millimeter to centimeter
    double er_dmeas2[2] = {0., 0.};
    if(resolflag_ == 1) { 
        er_dmeas2[0] = 0.1*erddl;
        er_dmeas2[1] = 0.1*erddr;
    }else if(resolflag_ == 0)  
    {
    }
 
    // Left hypothesis :
    if (lr == -1) {
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*dmeas2[0];
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs((*HitMdc).dist()[0]);
            er_dmeasL = (*HitMdc).erdist()[0];
        }
 
 
        //if(layerid < 4)  er_dmeasL*=2.0;
 
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNew.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
        aNew = v_a + diffL;
        double sigL = (dmeasL - (v_HT * aNew)[0]);
        dchi2L =  (sigL*sigL) /  (RkL * er_dmeasL*er_dmeasL);
    } else if (lr == 1) {
        // Right hypothesis :
 
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs((*HitMdc).dist()[1]);
            er_dmeasR = (*HitMdc).erdist()[1];
        }
 
 
        //if(layerid < 4)  er_dmeasR*=2.0;
 
 
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNew.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
        if(0. == RkR) RkR = 1.e-4;
 
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
        aNew = v_a + diffR;
        double sigR = (dmeasR- (v_HT * aNew)[0]);
        dchi2R =  (sigR*sigR) /  (RkR * er_dmeasR*er_dmeasR);
    }
 
    // Update Kalman result :
#ifdef YDEBUG
    cout<<"in smoother_Mdc: lr= "<<lr<<" a: "<<v_a<<" a_NEW: "<<aNew<<endl;
#endif
    double dchi2_loc(0);
    if ((dchi2R < dchi2cuts_calib[layerid] && lr == 1) || 
            (dchi2L < dchi2cuts_calib[layerid] && lr == -1)) {
 
        ndf_back_++;
        flg = 1;
        int chge(1);
        if (!(aNew[2] && fabs(aNew[2]-a()[2]) < 1.0))  chge = 0;
        if (lr == 1) {
            chiSq_back_ += dchi2R;
            dchi2_loc = dchi2R;
            dd = 0.1*ddr;
            // if(debug_ ==4) std::cout<<"in  smoother "<<std::endl;
 
        } else if (lr == -1) {
            chiSq_back_ += dchi2L;
            dchi2_loc = dchi2L;
            dd = -0.1*ddl;
 
        } 
        if (chge){
            a(aNew);
            Ea(eaNew);
        }
 
        seg.a_filt_bwd(aNew);
        seg.Ea_filt_bwd(eaNew);
 
        HepVector a_pre_fwd_temp=seg.a_pre_fwd();
        if( (a_pre_fwd_temp[1]-seg.a_pre_bwd()[1]) > 3. * M_PI /2.)  a_pre_fwd_temp[1]-= M_PI2;
        if( (a_pre_fwd_temp[1]-seg.a_pre_bwd()[1]) < -3. * M_PI /2. )  a_pre_fwd_temp[1]+= M_PI2;
 
        seg.a_pre_fwd(a_pre_fwd_temp);
 
        HepVector a_pre_filt_temp=seg.a_filt_fwd();
        if( (a_pre_filt_temp[1]-seg.a_pre_bwd()[1]) > 3. * M_PI /2. )  a_pre_filt_temp[1] -= M_PI2;
        if( (a_pre_filt_temp[1]-seg.a_pre_bwd()[1]) < -3. * M_PI /2.)  a_pre_filt_temp[1] += M_PI2;
        seg.a_filt_fwd(a_pre_filt_temp);
 
        /*   
             KalFitTrack helixNew(pivot_work, aNew, eaNew, 0, 0, 0);
             helixNew.pivot(ip);
             a_temp = helixNew.a();
             ea_temp = helixNew.Ea();
             seg.Ea_filt_bwd(ea_temp);
             seg.a_filt_bwd(a_temp);
         */
 
        int inv;
 
        if(debug_ == 4){
            std::cout<<"seg.Ea_pre_bwd().inverse(inv) ..."<<seg.Ea_pre_bwd().inverse(inv)<<std::endl;
            std::cout<<"seg.Ea_pre_fwd().inverse(inv) ..."<<seg.Ea_pre_fwd().inverse(inv)<<std::endl;
        }
 
        HepSymMatrix  Ea_pre_comb = (seg.Ea_pre_bwd().inverse(inv)+seg.Ea_pre_fwd().inverse(inv)).inverse(inv);
        seg.Ea_exclude(Ea_pre_comb);
 
 
        if(debug_ == 4) {
            std::cout<<"Ea_pre_comb_ ... "<<Ea_pre_comb<<std::endl;
            std::cout<<"seg.a_pre_bwd()..."<<seg.a_pre_bwd()<<std::endl;
            std::cout<<"seg.a_pre_fwd()..."<<seg.a_pre_fwd()<<std::endl;
        }
        HepVector  a_pre_comb = Ea_pre_comb*((seg.Ea_pre_bwd().inverse(inv))*seg.a_pre_bwd()+(seg.Ea_pre_fwd().inverse(inv))*seg.a_pre_fwd());
        seg.a_exclude(a_pre_comb);
 
        if(debug_ == 4) {
            std::cout<<"seg.Ea_filt_fwd()..."<<seg.Ea_filt_fwd()<<std::endl;
            std::cout<<"seg.Ea_filt_fwd().inverse(inv)..."<<seg.Ea_filt_fwd().inverse(inv)<<std::endl;
        }
        seg.Ea((seg.Ea_filt_fwd().inverse(inv)+seg.Ea_pre_bwd().inverse(inv)).inverse(inv));
        seg.Ea_include((seg.Ea_filt_fwd().inverse(inv)+seg.Ea_pre_bwd().inverse(inv)).inverse(inv));
 
        if(debug_ == 4) {
            std::cout<<"seg.Ea() is ..."<<seg.Ea()<<std::endl;
            std::cout<<"seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd() ..."<<seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd()<<std::endl;
            std::cout<<"seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd() ... "<<seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd()<<std::endl;
        }
 
        seg.a(seg.Ea()*(seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd()+seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd()));
        seg.a_include(seg.Ea()*(seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd()+seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd()));
 
        if(inv != 0) {
            //std::cout<<"ERROR OCCUR WHEN INVERSE MATRIX !"<<std::endl;
        }
 
        seg.residual_exclude(dd - (v_HT*a_pre_comb)[0]);
        seg.residual_include(dd - (v_HT*seg.a())[0]);
        seg.doca_exclude(fabs((v_HT*a_pre_comb)[0]));
        seg.doca_include(fabs((v_HT*seg.a())[0]));
 
        if(debug_ == 4){
            std::cout<<"the dd in smoother_Mdc is "<<dd
                <<" the (v_HT*a_pre_comb)[0] is "<<(v_HT*a_pre_comb)[0]<<std::endl;
        }
 
        //compare the two method to calculate the include doca value : 
        if(debug_ == 4){
            std::cout<<"method 1 ..."<<sqrt(seg.a()[0]*seg.a()[0]+seg.a()[3]*seg.a()[3])<<std::endl;
            std::cout<<"method 2 ..."<<fabs((v_HT*seg.a())[0])<<std::endl;
        }
 
 
        /// move the pivot of the helixseg to IP(0,0,0)
        KalFitTrack helixNew1(pivot_work, seg.a(), seg.Ea(), 0, 0, 0);
        helixNew1.pivot(ip);
        HepVector    a_temp1  = helixNew1.a();
        HepSymMatrix ea_temp1 = helixNew1.Ea();
        seg.Ea(ea_temp1);
        seg.a(a_temp1);
        seg.Ea_include(ea_temp1);
        seg.a_include(a_temp1);
 
        KalFitTrack helixNew2(pivot_work, seg.a_exclude(), seg.Ea_exclude(), 0, 0, 0);
        helixNew2.pivot(ip);
        HepVector    a_temp2  = helixNew2.a();
        HepSymMatrix ea_temp2 = helixNew2.Ea();    
        seg.Ea_exclude(ea_temp2);            
        seg.a_exclude(a_temp2);         
 
        seg.tof(tofest);
        seg.dd(dd);
 
    }
    return chiSq_back_;
}
 
// Smoothing procedure in Mdc calib
// RMK attention for the case chi2R = chi2L during forward filter !
double KalFitTrack::smoother_Mdc(KalFitHelixSeg& seg, Hep3Vector& meas,int& flg, int csmflag )
{
 
 
    HepPoint3D ip(0., 0., 0.);
    // attention! we should not to decide the left&right in the smoother process,
    // because we choose the left&right of hits from the filter process. 
 
    KalFitHitMdc* HitMdc = seg.HitMdc();
    double lr = HitMdc->LR();
 
    // For taking the propagation delay into account :
    int layerid  = (*HitMdc).wire().layer().layerId();
    int wire_ID = HitMdc->wire().geoID();
    double entrangle = HitMdc->rechitptr()->getEntra();
 
    if (wire_ID<0 || wire_ID>6796){ //bes
        std::cout << "KalFitTrack : wire_ID problem : " << wire_ID << std::endl;
        return 0;
    } 
 
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
    double dd(0.);
    double tofest(0);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
 
    if (Tof_correc_) {
        Hep3Vector ip(0, 0, 0);
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        work.pivot(ip);
        double phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        double t = tanl();
        double l = fabs(radius() * (phi - phi_ip) * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        if(csmflag==1 && (*HitMdc).wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = Ea();
    const HepVector& v_a = a();
 
 
 
    HepPoint3D pivot_work = pivot();
 
    /*
       HepVector a_work = a();
       HepSymMatrix ea_work = Ea();
 
       KalFitTrack helix_work(pivot_work, a_work, ea_work, 0, 0, 0);
       helix_work.pivot(ip);
 
       HepVector a_temp = helix_work.a();
       HepSymMatrix ea_temp = helix_work.Ea();
 
       seg.Ea_pre_bwd(ea_temp); 
       seg.a_pre_bwd(a_temp);
 
     */
 
    seg.a_pre_bwd(a()); 
    seg.Ea_pre_bwd(Ea()); 
 
    double dchi2R(99999999), dchi2L(99999999);
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    HepVector ea_v_H = ea * v_H;  
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
    HepSymMatrix eaNew(5);
    HepVector aNew(5);
    double time = (*HitMdc).tdc();
 
    //seg.dt(time);
    // if (Tof_correc_)
    // { 
    //  time -= tofest;
    //  seg.dt(time);
    // }
    // double dd = 1.0e-4 * 40.0 * time;
    // seg.dd(dd);
 
    double drifttime = getDriftTime(*HitMdc , tofest);
    seg.dt(drifttime);
    double ddl = getDriftDist(*HitMdc, drifttime, 0 );
    double ddr = getDriftDist(*HitMdc, drifttime, 1 );
    double erddl = getSigma( *HitMdc, a()[4], 0, ddl);
    double erddr = getSigma( *HitMdc, a()[4], 1, ddr);
 
    double dmeas2[2] = { 0.1*ddl, 0.1*ddr }; // millimeter to centimeter
    double er_dmeas2[2] = {0., 0.};
    if(resolflag_ == 1) { 
        er_dmeas2[0] = 0.1*erddl;
        er_dmeas2[1] = 0.1*erddr;
    }else if(resolflag_ == 0)  
    {
    }
 
    // Left hypothesis :
    if (lr == -1) {
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*dmeas2[0];
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs((*HitMdc).dist()[0]);
            er_dmeasL = (*HitMdc).erdist()[0];
        }
 
 
        //if(layerid < 4)  er_dmeasL*=2.0;
 
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNew.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
        aNew = v_a + diffL;
        double sigL = (dmeasL - (v_HT * aNew)[0]);
        dchi2L =  (sigL*sigL) /  (RkL * er_dmeasL*er_dmeasL);
    } else if (lr == 1) {
        // Right hypothesis :
 
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs((*HitMdc).dist()[1]);
            er_dmeasR = (*HitMdc).erdist()[1];
        }
 
 
        //if(layerid < 4)  er_dmeasR*=2.0;
 
 
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNew.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
        if(0. == RkR) RkR = 1.e-4;
 
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
        aNew = v_a + diffR;
        double sigR = (dmeasR- (v_HT * aNew)[0]);
        dchi2R =  (sigR*sigR) /  (RkR * er_dmeasR*er_dmeasR);
    }
 
    // Update Kalman result :
#ifdef YDEBUG
    cout<<"in smoother_Mdc: lr= "<<lr<<" a: "<<v_a<<" a_NEW: "<<aNew<<endl;
#endif
    double dchi2_loc(0);
    if ((dchi2R < dchi2cuts_calib[layerid] && lr == 1) || 
            (dchi2L < dchi2cuts_calib[layerid] && lr == -1)) {
 
        ndf_back_++;
        flg = 1;
        int chge(1);
        if (!(aNew[2] && fabs(aNew[2]-a()[2]) < 1.0))  chge = 0;
        if (lr == 1) {
            chiSq_back_ += dchi2R;
            dchi2_loc = dchi2R;
            dd = 0.1*ddr;
            // if(debug_ ==4) std::cout<<"in  smoother "<<std::endl;
 
        } else if (lr == -1) {
            chiSq_back_ += dchi2L;
            dchi2_loc = dchi2L;
            dd = -0.1*ddl;
 
        } 
        if (chge){
            a(aNew);
            Ea(eaNew);
        }
 
        seg.a_filt_bwd(aNew);
        seg.Ea_filt_bwd(eaNew);
 
        HepVector a_pre_fwd_temp=seg.a_pre_fwd();
        if( (a_pre_fwd_temp[1]-seg.a_pre_bwd()[1]) > 3. * M_PI /2.)  a_pre_fwd_temp[1]-= M_PI2;
        if( (a_pre_fwd_temp[1]-seg.a_pre_bwd()[1]) < -3. * M_PI /2. )  a_pre_fwd_temp[1]+= M_PI2;
 
        seg.a_pre_fwd(a_pre_fwd_temp);
 
        HepVector a_pre_filt_temp=seg.a_filt_fwd();
        if( (a_pre_filt_temp[1]-seg.a_pre_bwd()[1]) > 3. * M_PI /2. )  a_pre_filt_temp[1] -= M_PI2;
        if( (a_pre_filt_temp[1]-seg.a_pre_bwd()[1]) < -3. * M_PI /2.)  a_pre_filt_temp[1] += M_PI2;
        seg.a_filt_fwd(a_pre_filt_temp);
 
        /*   
             KalFitTrack helixNew(pivot_work, aNew, eaNew, 0, 0, 0);
             helixNew.pivot(ip);
             a_temp = helixNew.a();
             ea_temp = helixNew.Ea();
             seg.Ea_filt_bwd(ea_temp);
             seg.a_filt_bwd(a_temp);
         */
 
        int inv;
 
        if(debug_ == 4){
            std::cout<<"seg.Ea_pre_bwd().inverse(inv) ..."<<seg.Ea_pre_bwd().inverse(inv)<<std::endl;
            std::cout<<"seg.Ea_pre_fwd().inverse(inv) ..."<<seg.Ea_pre_fwd().inverse(inv)<<std::endl;
        }
 
        HepSymMatrix  Ea_pre_comb = (seg.Ea_pre_bwd().inverse(inv)+seg.Ea_pre_fwd().inverse(inv)).inverse(inv);
        seg.Ea_exclude(Ea_pre_comb);
 
 
        if(debug_ == 4) {
            std::cout<<"Ea_pre_comb_ ... "<<Ea_pre_comb<<std::endl;
            std::cout<<"seg.a_pre_bwd()..."<<seg.a_pre_bwd()<<std::endl;
            std::cout<<"seg.a_pre_fwd()..."<<seg.a_pre_fwd()<<std::endl;
        }
        HepVector  a_pre_comb = Ea_pre_comb*((seg.Ea_pre_bwd().inverse(inv))*seg.a_pre_bwd()+(seg.Ea_pre_fwd().inverse(inv))*seg.a_pre_fwd());
        seg.a_exclude(a_pre_comb);
 
 
        if(debug_ == 4) {
            std::cout<<"seg.Ea_filt_fwd()..."<<seg.Ea_filt_fwd()<<std::endl;
            std::cout<<"seg.Ea_filt_fwd().inverse(inv)..."<<seg.Ea_filt_fwd().inverse(inv)<<std::endl;
        }
        seg.Ea((seg.Ea_filt_fwd().inverse(inv)+seg.Ea_pre_bwd().inverse(inv)).inverse(inv));
        seg.Ea_include((seg.Ea_filt_fwd().inverse(inv)+seg.Ea_pre_bwd().inverse(inv)).inverse(inv));
 
        if(debug_ == 4) {
            std::cout<<"seg.Ea() is ..."<<seg.Ea()<<std::endl;
            std::cout<<"seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd() ..."<<seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd()<<std::endl;
            std::cout<<"seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd() ... "<<seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd()<<std::endl;
        }
 
        seg.a(seg.Ea()*(seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd()+seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd()));
        seg.a_include(seg.Ea()*(seg.Ea_filt_fwd().inverse(inv)*seg.a_filt_fwd()+seg.Ea_pre_bwd().inverse(inv)*seg.a_pre_bwd()));
 
        if(inv != 0) {
            //std::cout<<"ERROR OCCUR WHEN INVERSE MATRIX !"<<std::endl;
        }
 
        seg.residual_exclude(dd - (v_HT*a_pre_comb)[0]);
        seg.residual_include(dd - (v_HT*seg.a())[0]);
        seg.doca_exclude(fabs((v_HT*a_pre_comb)[0]));
        seg.doca_include(fabs((v_HT*seg.a())[0]));
 
        if(debug_ == 4){
            std::cout<<"the dd in smoother_Mdc is "<<dd
                <<" the (v_HT*a_pre_comb)[0] is "<<(v_HT*a_pre_comb)[0]<<std::endl;
        }
 
        //compare the two method to calculate the include doca value : 
        if(debug_ == 4){
            std::cout<<"method 1 ..."<<sqrt(seg.a()[0]*seg.a()[0]+seg.a()[3]*seg.a()[3])<<std::endl;
            std::cout<<"method 2 ..."<<fabs((v_HT*seg.a())[0])<<std::endl;
        }
 
 
        /// move the pivot of the helixseg to IP(0,0,0)
        KalFitTrack helixNew1(pivot_work, seg.a(), seg.Ea(), 0, 0, 0);
        helixNew1.pivot(ip);
        HepVector    a_temp1  = helixNew1.a();
        HepSymMatrix ea_temp1 = helixNew1.Ea();
        seg.Ea(ea_temp1);
        seg.a(a_temp1);
        seg.Ea_include(ea_temp1);
        seg.a_include(a_temp1);
 
        KalFitTrack helixNew2(pivot_work, seg.a_exclude(), seg.Ea_exclude(), 0, 0, 0);
        helixNew2.pivot(ip);
        HepVector    a_temp2  = helixNew2.a();
        HepSymMatrix ea_temp2 = helixNew2.Ea();    
        seg.Ea_exclude(ea_temp2);            
        seg.a_exclude(a_temp2);         
 
        seg.tof(tofest);
        seg.dd(dd);
 
    }
    return chiSq_back_;
}
 
 
 
 
 
double KalFitTrack::filter(double v_m, const HepVector& m_H,
        double v_d, double m_V)
{
    HepMatrix m_HT = m_H.T();
    HepPoint3D x0 = x(0);
    HepVector v_x(3);
    v_x[0] = x0.x();
    v_x[1] = x0.y();
    v_x[2] = x0.z();
    HepMatrix m_X = delXDelA(0);
    HepMatrix m_XT = m_X.T();
    HepMatrix m_C = m_X * Ea() * m_XT;
    //int err;
    HepVector m_K = 1 / (m_V + (m_HT * m_C * m_H)[0]) * m_H;
    HepVector v_a = a();
    HepSymMatrix ea = Ea();
    HepMatrix mXTmK = m_XT * m_K;
    double v_r = v_m - v_d - (m_HT * v_x)[0];
    v_a += ea * mXTmK * v_r;
    a(v_a);
    ea.assign(ea - ea * mXTmK * m_HT * m_X * ea);
    Ea(ea);
    // Record last hit included parameters :
    update_last();
    HepMatrix mCmK = m_C * m_K;
    v_x += mCmK * v_r;
    m_C -= mCmK * m_HT * m_C;
    v_r = v_m - v_d - (m_HT * v_x)[0];
    double m_R = m_V - (m_HT * m_C * m_H)[0];
    double chiSq = v_r * v_r / m_R;
    chiSq_ += chiSq;
    return chiSq;
}
 
 
void KalFitTrack::path_add(double path)
{
    pathip_ += path;
    tof(path);
}
 
 
void KalFitTrack::addPathSM(double path){
    pathSM_ += path;
}
 
 
void KalFitTrack::addTofSM(double time){
    tof2_ += time;
} 
 
 
void KalFitTrack::fiTerm(double fi){
    fiTerm_ = fi;
}
 
 
void KalFitTrack::tof(double path)
{
    double light_speed( 29.9792458 );     // light speed in cm/nsec
    double t = tanl();
    double pmag( sqrt( 1.0 + t*t ) / kappa());
    if (pmag !=0) {
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tof_ += path / ( light_speed * beta );
    }
 
    if (tofall_) {
        if (p_kaon_ > 0){
            double massk_over_p( MASS[3] / p_kaon_ );
            double beta_kaon( 1.0 / sqrt( 1.0 + massk_over_p * massk_over_p ) );
            tof_kaon_ += path / (light_speed * beta_kaon);
        }
        if (p_proton_ > 0){
            double massp_over_p( MASS[4] / p_proton_ );
            double beta_proton( 1.0 / sqrt( 1.0 + massp_over_p * massp_over_p ) );
            tof_proton_ += path / (light_speed * beta_proton);
        }
    }
}
 
double KalFitTrack::radius_numf(void) const {
 
    double Bz(Bznom_);
    //std::cout<<"Bz: "<<Bz<<std::endl;
    if (numf_ > 10){
        double dr    = a()[0];
        double phi0  = a()[1];
        double dz    = a()[3];
        double phi = fmod(phi0 + M_PI4, M_PI2);
        double csf0 = cos(phi);
        double snf0 = (1. - csf0) * (1. + csf0);
        snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
        if(phi > M_PI) snf0 = - snf0;
        //XYZPoint
        HepPoint3D x0((pivot().x() + dr*csf0),
                (pivot().y() + dr*snf0),
                (pivot().z() + dz));
 
        //XYZVector b;
        HepVector3D b;
 
        //std::cout<<"b: "<<b<<std::endl;
 
        MFSvc_->fieldVector(10.*x0, b);
 
        //std::cout<<"b: "<<b<<std::endl;
 
 
        b = 10000.*b;
        Bz = b.z();
    }
    if (Bz == 0)
        Bz = Bznom_;
    double ALPHA_loc = 10000./2.99792458/Bz;
    return ALPHA_loc / a()[2];
}
 
const HepPoint3D &
KalFitTrack::pivot_numf(const HepPoint3D & newPivot) {
 
    int nstep(1);
    HepPoint3D  delta_x((newPivot-pivot()).x()/double(inner_steps_),
            (newPivot-pivot()).y()/double(inner_steps_),
            (newPivot-pivot()).z()/double(inner_steps_));
    int i = 1;
 
    while (i <= inner_steps_) {
        HepPoint3D nextPivot(pivot()+delta_x);
        double xnp(nextPivot.x()), ynp(nextPivot.y()), znp(nextPivot.z());  
        HepSymMatrix Ea_now = Ea();
        HepPoint3D piv(pivot());
        double xp(piv.x()), yp(piv.y()), zp(piv.z());  
        double dr    = a()[0];
        double phi0  = a()[1];
        double kappa = a()[2];
        double dz    = a()[3];
        double tanl  = a()[4];
        double m_rad(0);
        if (numfcor_ == 1)
            m_rad = radius_numf();
        else
            m_rad = radius();
        double rdr = dr + m_rad;
        double phi = fmod(phi0 + M_PI4, M_PI2);
        double csf0 = cos(phi);
        double snf0 = (1. - csf0) * (1. + csf0);
        snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
        if(phi > M_PI) snf0 = - snf0;
 
        double xc = xp + rdr * csf0;
        double yc = yp + rdr * snf0;
        double csf = (xc - xnp) / m_rad;
        double snf = (yc - ynp) / m_rad;
        double anrm = sqrt(csf * csf + snf * snf);
        csf /= anrm;
        snf /= anrm;
        phi = atan2(snf, csf);
        double phid = fmod(phi - phi0 + M_PI8, M_PI2);
        if(phid > M_PI) phid = phid - M_PI2;
        double drp = (xp + dr * csf0 + m_rad * (csf0 - csf) - xnp)
            * csf
            + (yp + dr * snf0 + m_rad * (snf0 - snf) - ynp) * snf;
        double dzp = zp + dz - m_rad * tanl * phid - znp;
 
        HepVector ap(5);
        ap[0] = drp;
        ap[1] = fmod(phi + M_PI4, M_PI2);
        ap[2] = kappa;
        ap[3] = dzp;
        ap[4] = tanl;
 
        // Modification due to non uniform magnetic field :
        if (numf_ > 10) {
 
            Hep3Vector x1(xp + dr*csf0, yp + dr*snf0, zp + dz);
            double csf0p = cos(ap[1]);
            double snf0p = (1. - csf0p) * (1. + csf0p);
            snf0p = sqrt((snf0p > 0.) ? snf0p : 0.);
            if(ap[1] > M_PI) snf0p = - snf0p;
 
            Hep3Vector x2(xnp + drp*csf0p,
                    ynp + drp*snf0p,
                    znp + dzp);
            Hep3Vector dist((x1 - x2).x()/100.0,
                    (x1 - x2).y()/100.0,
                    (x1 - x2).z()/100.0);
            HepPoint3D middlebis((x1.x() + x2.x())/2,
                    (x1.y() + x2.y())/2,
                    (x1.z() + x2.z())/2);
            HepVector3D field;
            MFSvc_->fieldVector(10.*middlebis,field); 
            field = 1000.*field;
            Hep3Vector dB(field.x(),
                    field.y(),
                    (field.z()-0.1*Bznom_));
            if (field.z()) {
                double akappa(fabs(kappa));
                double sign = kappa/akappa;
                HepVector dp(3);
                dp = 0.299792458 * sign * dB.cross(dist);
                HepVector dhp(3);
                dhp[0] = -akappa*(dp[0]*csf0p+dp[1]*snf0p);
                dhp[1] = kappa*akappa*(dp[0]*snf0p-dp[1]*csf0p);
                dhp[2] = dp[2]*akappa+dhp[1]*tanl/kappa;
                if (numfcor_ == 0){
                    ap[1] += dhp[0];
                }
                ap[2] += dhp[1];
                ap[4] += dhp[2];
            }
        }
        HepMatrix m_del = delApDelA(ap);
        Ea_now.assign(m_del * Ea_now * m_del.T());
        pivot(nextPivot);
        a(ap);
        Ea(Ea_now);
        i++;
    }
    return newPivot;
}
 
const HepPoint3D &
KalFitTrack::pivot_numf(const HepPoint3D & newPivot, double & pathl) {
 
    Helix tracktest = *(Helix*)this;
    tracktest.ignoreErrorMatrix();
    double tl  = a()[4];
    double th = 90.0 - 180.0*M_1_PI*atan( tl );
    /*
       int nstep(1);
       if (steplev_ == 1)
       nstep = 3;
       else if (steplev_ == 2 && (th > 140 || th <45))
       if ((pivot()-newPivot).mag()<3.)
       nstep = 3;
       else
       nstep = 6;
     */
    Hep3Vector delta_x((newPivot-pivot()).x()/double(outer_steps_),
            (newPivot-pivot()).y()/double(outer_steps_),
            (newPivot-pivot()).z()/double(outer_steps_));
    int i = 1;
 
    while (i <= outer_steps_) {
        HepPoint3D nextPivot(pivot()+delta_x);
        double xnp(nextPivot.x()), ynp(nextPivot.y()), znp(nextPivot.z());  
 
        HepSymMatrix Ea_now = Ea();
        HepPoint3D piv(pivot());
        double xp(piv.x()), yp(piv.y()), zp(piv.z());  
 
        double dr    = a()[0];
        double phi0  = a()[1];
        double kappa = a()[2];
        double dz    = a()[3];
        double tanl  = a()[4];
 
        double m_rad(0);
        m_rad = radius();
 
        double rdr = dr + m_rad;
        double phi = fmod(phi0 + M_PI4, M_PI2);
        double csf0 = cos(phi);
        double snf0 = (1. - csf0) * (1. + csf0);
        snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
        if(phi > M_PI) snf0 = - snf0;
 
        double xc = xp + rdr * csf0;
        double yc = yp + rdr * snf0;
        double csf = (xc - xnp) / m_rad;
        double snf = (yc - ynp) / m_rad;
        double anrm = sqrt(csf * csf + snf * snf);
        csf /= anrm;
        snf /= anrm;
        phi = atan2(snf, csf);
        double phid = fmod(phi - phi0 + M_PI8, M_PI2);
        if(phid > M_PI) phid = phid - M_PI2;
        double drp = (xp + dr * csf0 + m_rad * (csf0 - csf) - xnp)
            * csf
            + (yp + dr * snf0 + m_rad * (snf0 - snf) - ynp) * snf;
        double dzp = zp + dz - m_rad * tanl * phid - znp;
 
        HepVector ap(5);
        ap[0] = drp;
        ap[1] = fmod(phi + M_PI4, M_PI2);
        ap[2] = kappa;
        ap[3] = dzp;
        ap[4] = tanl;
 
        //std::cout<<" numf_: "<<numf_<<std::endl;
 
        // Modification due to non uniform magnetic field :
        if (numf_ > 10) {
 
            Hep3Vector x1(xp + dr*csf0, yp + dr*snf0, zp + dz);
 
            double csf0p = cos(ap[1]);
            double snf0p = (1. - csf0p) * (1. + csf0p);
            snf0p = sqrt((snf0p > 0.) ? snf0p : 0.);
            if(ap[1] > M_PI) snf0p = - snf0p;
 
            Hep3Vector x2(xnp + drp*csf0p,
                    ynp + drp*snf0p,
                    znp + dzp);
 
            Hep3Vector dist((x1 - x2).x()/100.0,
                    (x1 - x2).y()/100.0,
                    (x1 - x2).z()/100.0);
 
            HepPoint3D middlebis((x1.x() + x2.x())/2,
                    (x1.y() + x2.y())/2,
                    (x1.z() + x2.z())/2);
 
            HepVector3D field;
            MFSvc_->fieldVector(10.*middlebis,field);
            field = 1000.*field;
 
            //std::cout<<"B field: "<<field<<std::endl;
            Hep3Vector dB(field.x(),
                    field.y(),
                    (field.z()-0.1*Bznom_));
 
 
            //std::cout<<" dB: "<<dB<<std::endl;
 
 
            if (field.z()) {
                double akappa(fabs(kappa));
                double sign = kappa/akappa;
                HepVector dp(3);
                dp = 0.299792458 * sign * dB.cross(dist);
 
                //std::cout<<"dp: "<<dp<<std::endl;
 
                HepVector dhp(3);
                dhp[0] = -akappa*(dp[0]*csf0p+dp[1]*snf0p);
                dhp[1] = kappa*akappa*(dp[0]*snf0p-dp[1]*csf0p);
                dhp[2] = dp[2]*akappa+dhp[1]*tanl/kappa;
 
 
                //std::cout<<"dhp: "<<dhp<<std::endl;
 
 
                ap[1] += dhp[0];
                ap[2] += dhp[1];
                ap[4] += dhp[2];
            }
        }
        HepMatrix m_del = delApDelA(ap);
        Ea_now.assign(m_del * Ea_now * m_del.T());
        pivot(nextPivot);
        a(ap);
        Ea(Ea_now);
        i++;
 
        //std::cout<<" a: "<<a()<<std::endl;
    }
 
    // Estimation of the path length :
    double tanl_0(tracktest.a()[4]);
    double phi0_0(tracktest.a()[1]);
    double radius_0(tracktest.radius());
    tracktest.pivot(newPivot);
 
    double phi0_1 = tracktest.a()[1];
    if (fabs(phi0_1 - phi0_0) > M_PI) {
        if (phi0_1 > phi0_0) phi0_1 -= 2 * M_PI;
        else phi0_0 -= 2 * M_PI;
    }  
    if(phi0_1 == phi0_0) phi0_1 = phi0_0 + 1.e-10;
    pathl = fabs(radius_0 * (phi0_1 - phi0_0)
            * sqrt(1 + tanl_0 * tanl_0));
    return newPivot;
}
 
// function to calculate the path length in the layer
/*
   double KalFitTrack::PathL(int layer){
   HepPoint3D piv(pivot());
   double phi0  = a()[1];
   double kappa = a()[2];
   double tanl  = a()[4];
 
#ifdef YDEBUG
cout<<"helix "<<a()<<endl;
#endif
// Choose the local field !!
double Bz(Bznom_);
if (numf_ > 10){
HepVector3D b;
MFSvc_->fieldVector(10.*piv, b);   
b = 10000.*b;
Bz=b.z();
}
double ALPHA_loc = 10000./2.99792458/Bz;
int charge = ( kappa >= 0 )? 1 : -1;
double rho = ALPHA_loc/kappa;
double pt = fabs( 1.0/kappa );
double lambda = 180.0*M_1_PI*atan( tanl );
double theta = 90.0 - lambda;
theta = 2.0*M_PI*theta/360.;
double phi = fmod(phi0 + M_PI4, M_PI2);
double csf0 = cos(phi);
double snf0 = (1. - csf0) * (1. + csf0);
snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
if(phi > M_PI) snf0 = - snf0;
 
double x_c = piv.x() + ( dr() + rho )*csf0;
double y_c = piv.y() + ( dr() + rho )*snf0;
double z_c = piv.z() + dz();
HepPoint3D ccenter(x_c, y_c, 0);
double m_c_perp(ccenter.perp());
Hep3Vector m_c_unit(((CLHEP::Hep3Vector)ccenter).unit());
#ifdef YDEBUG
cout<<"rho=..."<<rho<<endl;
cout<<"ccenter "<<ccenter<<" m_c_unit "<<m_c_unit<<endl;
#endif
//phi resion estimation
double phi_io[2];
HepPoint3D IO = charge*m_c_unit;
double dphi0 = fmod( IO.phi()+4*M_PI,2*M_PI ) - phi;
if( dphi0 > M_PI ) dphi0 -= 2*M_PI;
else if( dphi0 < -M_PI ) dphi0 += 2*M_PI;
phi_io[0] = -(1+charge)*M_PI_2 - charge*dphi0;
phi_io[1] = phi_io[0]+1.5*M_PI;
double phi_in(0); /// for debug
 
double m_crio[2];
double m_zb, m_zf;
int m_div;
 
// retrieve Mdc  geometry information
// IMdcGeomSvc* geosvc;
StatusCode sc= Gaudi::svcLocator()->service("MdcGeomSvc", geosvc);
if(sc==StatusCode::FAILURE) cout << "GeoSvc failing!!!!!!!SC=" << sc << endl; 
 
MdcGeomSvc* geomsvc = dynamic_cast<MdcGeomSvc*>(iGeomSvc_);
if(!geomsvc){
std::cout<<"ERROR OCCUR when dynamic_cast in KalFitTrack.cxx !!"<<std::endl;
}
double rcsiz1 = geomsvc->Layer(layer)->RCSiz1();
double rcsiz2 = geomsvc->Layer(layer)->RCSiz2();
double rlay = geomsvc->Layer(layer)->Radius();
m_zb = 0.5*(geomsvc->Layer(layer)->Length());
m_zf = -0.5*(geomsvc->Layer(layer)->Length());
 
m_crio[0] = rlay - rcsiz1;
m_crio[1] = rlay + rcsiz2;
//conversion of the units(mm=>cm)
m_crio[0] = 0.1*m_crio[0];
m_crio[1] = 0.1*m_crio[1];
m_zb = 0.1*m_zb;
m_zf = 0.1*m_zf;
 
int sign = 1;  ///assumed the first half circle
int epflag[2];
Hep3Vector iocand;
Hep3Vector cell_IO[2];
double dphi;
for( int i = 0; i < 2; i++ ){
    double cos_alpha = m_c_perp*m_c_perp + m_crio[i]*m_crio[i] - rho*rho;
    cos_alpha = 0.5*cos_alpha/( m_c_perp*m_crio[i] );
    double Calpha =  acos( cos_alpha );
    epflag[i] = 0;
    iocand = m_c_unit;
    iocand.rotateZ( charge*sign*Calpha );
    iocand *= m_crio[i];
    double xx = iocand.x() - x_c;
    double yy = iocand.y() - y_c;
    dphi = atan2(yy, xx) - phi0 - M_PI_2*(1+charge);
    dphi = fmod( dphi + 8.0*M_PI, 2*M_PI );
 
    if( dphi < phi_io[0] ){
        dphi += 2*M_PI;
    }
    else if( phi_io[1] < dphi ){
        dphi -= 2*M_PI;
    }
 
    ///in the Local Helix case, phi must be small
 
    Hep3Vector zvector( 0., 0., z_c-rho*dphi*tanl);
 
    double xcio, ycio, phip;
    ///// z region check active volume is between zb+2. and zf-2. [cm]
    double delrin = 2.0;
    if( m_zf-delrin > zvector.z() ){
        phip = z_c - m_zb + delrin;
        phip = phip/( rho*tanl );
        phip = phip + phi0;
        xcio = x_c - rho*cos( phip );
        ycio = y_c - rho*sin( phip );
        cell_IO[i].setX( xcio );
        cell_IO[i].setY( ycio );
        cell_IO[i].setZ( m_zb+delrin );
        epflag[i] = 1;
    }
    else if( m_zb+delrin < zvector.z() ){
        phip = z_c - m_zf-delrin;
        phip = phip/( rho*tanl );
        phip = phip + phi0;
        xcio = x_c - rho*cos( phip );
        ycio = y_c - rho*sin( phip );
        cell_IO[i].setX( xcio );
        cell_IO[i].setY( ycio );
        cell_IO[i].setZ( m_zf-delrin );
        epflag[i] = 1;
    }
    else{
        cell_IO[i] = iocand;
        cell_IO[i] += zvector;
    }
    /// for debug
    if( i == 0 ) phi_in = dphi;
}
// path length estimation
// phi calculation
Hep3Vector cl = cell_IO[1] - cell_IO[0];
#ifdef YDEBUG
cout<<"cell_IO[0] "<<cell_IO[0]<<" cell_IO[1] "<<cell_IO[1]<<" cl "<<cl<<endl; 
#endif
 
double ch_theta;
double ch_dphi;
double ch_ltrk = 0;
double ch_ltrk_rp = 0;
ch_dphi = cl.perp()*0.5/(ALPHA_loc*pt);
ch_dphi = 2.0 * asin( ch_dphi );
ch_ltrk_rp = ch_dphi*ALPHA_loc*pt;
#ifdef YDEBUG
cout<<"ch_dphi "<<ch_dphi<<" ch_ltrk_rp "<<ch_ltrk_rp<<" cl.z "<<cl.z()<<endl; 
#endif
ch_ltrk = sqrt( ch_ltrk_rp*ch_ltrk_rp + cl.z()*cl.z() );
ch_theta = cl.theta();
 
if( ch_theta < theta*0.85 || 1.15*theta < ch_theta)
    ch_ltrk *= -1; /// miss calculation
 
if( epflag[0] == 1 || epflag [1] == 1 )
    ch_ltrk *= -1;  /// invalid resion for dE/dx or outside of Mdc
 
    mom_[layer] = momentum( phi_in );
    PathL_[layer] = ch_ltrk;
#ifdef YDEBUG
    cout<<"ch_ltrk "<<ch_ltrk<<endl; 
#endif
    return ch_ltrk;
    }
*/
 
 
void KalFitTrack::update_bit(int i){
    int j(0);
    if (i < 31){
        j = (int) pow(2.,i);
        if (!(pat1_ & j))
            pat1_ = pat1_ | j;
    } else if (i < 50) {
        j = (int) pow(2.,(i-31));
        if (!(pat2_ & j))
            pat2_ = pat2_ | j;
    }
}
 
int KalFitTrack::nmass(void){  return NMASS;}
double KalFitTrack::mass(int i){  return MASS[i];}
void KalFitTrack::chgmass(int i){
    mass_=MASS[i];
    l_mass_=i;
}
 
void KalFitTrack::lead(int i){ lead_ = i;}
int KalFitTrack::lead(void){ return lead_;}
void KalFitTrack::back(int i){ back_ = i;}
int KalFitTrack::back(void){ return back_;}
void KalFitTrack::resol(int i){ resolflag_ = i;}
int KalFitTrack::resol(void){ return resolflag_;}
void KalFitTrack::numf(int i){ numf_ = i;}
int KalFitTrack::numf(void){ return numf_;}
void KalFitTrack::LR(int x){ LR_ = x;}
void KalFitTrack::HitsMdc(vector<KalFitHitMdc>& lh){ HitsMdc_ = lh;}
void KalFitTrack::appendHitsMdc(KalFitHitMdc h){ HitsMdc_.push_back(h);}
 
/* 
   This member function is in charge of the forward filter,
   for the tof correction of the drift distance in the case of cosmic rays
   if way=1, it's a down track means same as track in collision data,
   if way=-1, it's a up track !
 */
 
double KalFitTrack::update_hits(KalFitHitMdc & HitMdc, int inext, Hep3Vector& meas, int way, double& dchi2out, double& dtrack,double& dtracknew, double& dtdc, int csmflag) {
 
    double lr = HitMdc.LR();
    //std::cout<<" in update_hits: lr= " << lr <<std::endl;
    // For taking the propagation delay into account :
    const KalFitWire& Wire = HitMdc.wire();
    int wire_ID = Wire.geoID();
    int layerid = HitMdc.wire().layer().layerId();
    //std::cout<<" when in layer: "<<layerid<<std::endl;
    double entrangle = HitMdc.rechitptr()->getEntra();
 
    if (wire_ID<0 || wire_ID>6796){  //bes
        std::cout << " KalFitTrack: wire_ID problem : " << wire_ID 
            << std::endl;
        return 0;
    } 
    int flag_ster = Wire.stereo();
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
    double tofest(0);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
    if (Tof_correc_){
        double t = tanl();
        double dphi(0);
 
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        double phi_ip(0);
        Hep3Vector ip(0, 0, 0);
        work.pivot(ip);
        phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        dphi = phi - phi_ip;
        double l = fabs(radius() * dphi * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        if(csmflag==1 && HitMdc.wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = Ea();
    const HepVector& v_a = a();
    double dchi2R(99999999), dchi2L(99999999);
 
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    dtrack = estim;
    // std::cout<<" in update_hits estim is  "<<estim<<std::endl;
    HepVector ea_v_H = ea * v_H;
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
 
    HepSymMatrix eaNewL(5), eaNewR(5);
    HepVector aNewL(5), aNewR(5);
 
    double drifttime = getDriftTime(HitMdc , tofest);
    double ddl = getDriftDist(HitMdc, drifttime, 0 );
    double ddr = getDriftDist(HitMdc, drifttime, 1 );
    double erddl = getSigma( HitMdc, a()[4], 0, ddl);
    double erddr = getSigma( HitMdc, a()[4], 1, ddr);
 
    if(debug_ == 4) {
        std::cout<<"drifttime in update_hits() for ananlysis is  "<<drifttime<<std::endl;
        std::cout<<"ddl in update_hits() for ananlysis is  "<<ddl<<std::endl;
        std::cout<<"ddr in update_hits() for ananlysis is  "<<ddr<<std::endl;
        std::cout<<"erddl in update_hits() for ananlysis is  "<<erddl<<std::endl;
        std::cout<<"erddr in update_hits() for ananlysis is  "<<erddr<<std::endl;
    }
 
    //the following 3 line : tempory
    double dmeas2[2] = { 0.1*ddl, 0.1*ddr };  // millimeter to centimeter
    double er_dmeas2[2] = {0.,0.};
    if(resolflag_ == 1) { 
        er_dmeas2[0] = 0.1*erddl;
        er_dmeas2[1] = 0.1*erddr;
    } 
    else if(resolflag_ == 0) {
        //   int layid = HitMdc.wire().layer().layerId();
        //   double sigma = getSigma(layid, dd);
        //   er_dmeas2[0] = er_dmeas2[1] = sigma;
    }
 
    // Left hypothesis :
    if ((LR_==0 && lr != 1.0) || 
            (LR_==1 && lr == -1.0)) {
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*fabs(dmeas2[0]);
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs(HitMdc.dist()[0]);
            er_dmeasL = HitMdc.erdist()[0];
        }
        dtdc = dmeasL;
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNewL.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(debug_ == 4){
            std::cout<<" ea_v_H * AL * ea_v_HT is: "<<ea_v_H * AL * ea_v_HT<<std::endl;
            std::cout<<" v_H is: "<<v_H<<" Ea is: "<<ea<<" v_H_T_ea_v_H is: "<<v_H_T_ea_v_H<<std::endl;
            std::cout<<" AL is: "<<AL<<" (v_H_T_ea_v_H)[0] * AL is: "<<(v_H_T_ea_v_H)[0]*AL<<std::endl;
        }
 
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
        aNewL = v_a + diffL;
        double sigL = dmeasL -(v_HT * aNewL)[0];
        dtracknew = (v_HT * aNewL)[0];
        dchi2L = (sigL * sigL)/(RkL * er_dmeasL*er_dmeasL);
 
        if(debug_ == 4){
            std::cout<<" fwd_filter : in left hypothesis dchi2L is "<<dchi2L<<std::endl;
        }
    }
 
    if ((LR_==0 && lr != -1.0) ||
            (LR_==1 && lr == 1.0)) {
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs(HitMdc.dist()[1]);
            er_dmeasR = HitMdc.erdist()[1];
        }
        dtdc = dmeasR;
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNewR.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
 
        if(debug_ == 4){
            std::cout<<" ea_v_H * AR * ea_v_HT is: "<<ea_v_H * AR * ea_v_HT<<std::endl;
            std::cout<<" v_H is: "<<v_H<<" Ea is: "<<ea<<" v_H_T_ea_v_H is: "<<v_H_T_ea_v_H<<std::endl;
            std::cout<<" AR is: "<<AR<<" (v_H_T_ea_v_H)[0] * AR is: "<<(v_H_T_ea_v_H)[0]*AR<<std::endl;
        }
 
        if(0. == RkR) RkR = 1.e-4;
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
        aNewR = v_a + diffR;
        double sigR = dmeasR -(v_HT * aNewR)[0];
        dtracknew = (v_HT * aNewR)[0];
        dchi2R = (sigR*sigR)/(RkR * er_dmeasR*er_dmeasR);
        if(debug_ == 4){
            std::cout<<" fwd_filter : in right hypothesis dchi2R is "<<dchi2R<<std::endl;
        }
    }
    // Update Kalman result :
    double dchi2_loc(0);
    if (fabs(dchi2R-dchi2L)<10. && inext>0) {
        KalFitHitMdc & HitMdc_next = HitsMdc_[inext];
        Helix H_fromR(pivot(), aNewR, eaNewR);
        double chi2_fromR(chi2_next(H_fromR, HitMdc_next, csmflag));
        Helix H_fromL(pivot(), aNewL, eaNewL);
        double chi2_fromL(chi2_next(H_fromL, HitMdc_next, csmflag));
#ifdef YDEBUG
        std::cout << "   chi2_fromL = " << chi2_fromL 
            << ", chi2_fromR = " << chi2_fromR << std::endl;
#endif
        if (fabs(chi2_fromR-chi2_fromL)<10.){
            int inext2(-1);
            if (inext+1<HitsMdc_.size())
                for( int k=inext+1 ; k < HitsMdc_.size(); k++ )
                    if (!(HitsMdc_[k].chi2()<0)) {
                        inext2 = k;
                        break;
                    }
 
            if (inext2 != -1){
                KalFitHitMdc & HitMdc_next2 = HitsMdc_[inext2];
                double chi2_fromR2(chi2_next(H_fromR, HitMdc_next2, csmflag));
                double chi2_fromL2(chi2_next(H_fromL, HitMdc_next2, csmflag));
#ifdef YDEBUG
                std::cout << "   chi2_fromL2 = " << chi2_fromL2 
                    << ", chi2_fromR2 = " << chi2_fromR2 << std::endl;
#endif
                if (fabs(dchi2R+chi2_fromR+chi2_fromR2-(dchi2L+chi2_fromL+chi2_fromL2))<2) {
                    if (chi2_fromR2<chi2_fromL2)
                        dchi2L = DBL_MAX;
                    else 
                        dchi2R = DBL_MAX;
                }
            } 
        }
 
        if (!(dchi2L == DBL_MAX && dchi2R == DBL_MAX)) {
            if (dchi2R+chi2_fromR < dchi2L+chi2_fromL){
                dchi2L = DBL_MAX;
#ifdef YDEBUG
                std::cout << " choose right..." << std::endl;
#endif
            } else {
                dchi2R = DBL_MAX;
#ifdef YDEBUG
                std::cout << " choose left..." << std::endl;
#endif
            }
        }
    }
    if ((0 < dchi2R && dchi2R < dchi2cutf_anal[layerid]) ||
            (0 < dchi2L && dchi2L < dchi2cutf_anal[layerid])) {
 
        if (((LR_==0 && dchi2R < dchi2L && lr != -1) || 
                    (LR_==1 && lr == 1)) && 
                fabs(aNewR[2]-a()[2]) < 1000. && aNewR[2]) {
            if (nchits_ < (unsigned) nmdc_hit2_ || dchi2R < dchi2cutf_anal[layerid]){
                nchits_++;
                if (flag_ster) nster_++;
                useLayer(layerid);// myLayerUsed
                Ea(eaNewR);
                a(aNewR);
                chiSq_ += dchi2R;
                dchi2_loc = dchi2R;
                if (l_mass_ == lead_){
                    HitMdc.LR(1);
                }        
                update_bit(HitMdc.wire().layer().layerId());
            }
        } else if (((LR_==0 && dchi2L <= dchi2R && lr != 1) || 
                    (LR_==1 && lr == -1)) && 
                fabs(aNewL[2]-a()[2]) < 1000. && aNewL[2]){
            if (nchits_ < (unsigned) nmdc_hit2_ || dchi2L < dchi2cutf_anal[layerid]){
                nchits_++;
                if (flag_ster) nster_++;
                useLayer(layerid);// myLayerUsed
                Ea(eaNewL);
                a(aNewL);
                chiSq_ += dchi2L;
                dchi2_loc = dchi2L;
                if (l_mass_ == lead_){
                    HitMdc.LR(-1);
                }
                update_bit(HitMdc.wire().layer().layerId());
            }
        }
    }
    //cout<<"__FUNCTION__: layerid = "<<layerid<<endl;
    if (dchi2_loc > dchi2_max_) {
        dchi2_max_ = dchi2_loc ;
        r_max_ = pivot().perp();
    }
    dchi2out = dchi2_loc;
    //if(dchi2out == 0) {
    //   dchi2out = ( (dchi2L < dchi2R ) ? dchi2L : dchi2R ) ;
    // }
    return chiSq_;
}
 
 
double KalFitTrack::update_hits_csmalign(KalFitHelixSeg& HelixSeg, int inext, Hep3Vector& meas,int way, double& dchi2out, int csmflag ) {
 
 
    HepPoint3D ip(0.,0.,0.);
 
    KalFitHitMdc* HitMdc = HelixSeg.HitMdc();
    double lr = HitMdc->LR();
    int layerid = (*HitMdc).wire().layer().layerId();
    // cout<<"layerid: "<<layerid<<endl;
    double entrangle = HitMdc->rechitptr()->getEntra();
 
    if(debug_ == 4) {
        std::cout<<"in update_hits(kalFitHelixSeg,...) : the layerid ="<<layerid<<std::endl; 
        std::cout<<" update_hits: lr= " << lr <<std::endl;
    }
    // For taking the propagation delay into account :
    const KalFitWire& Wire = HitMdc->wire();
    int wire_ID = Wire.geoID();
 
    if (wire_ID<0 || wire_ID>6796){  //bes
        std::cout << " KalFitTrack: wire_ID problem : " << wire_ID 
            << std::endl;
        return 0;
    } 
    int flag_ster = Wire.stereo();
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
    double tofest(0);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
    if (Tof_correc_){
        double t = tanl();
        double dphi(0);
 
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        double phi_ip(0);
        Hep3Vector ip(0, 0, 0);
        work.pivot(ip);
        phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        dphi = phi - phi_ip;
 
        double l = fabs(radius() * dphi * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        if(csmflag==1 && (*HitMdc).wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = Ea();
    HelixSeg.Ea_pre_fwd(ea);
    HelixSeg.Ea_filt_fwd(ea);
 
 
    const HepVector& v_a = a();
    HelixSeg.a_pre_fwd(v_a);
    HelixSeg.a_filt_fwd(v_a);
 
    /*
 
       HepPoint3D pivot_work = pivot();
       HepVector a_work = a();
       HepSymMatrix ea_work = Ea();
       KalFitTrack helix_work(pivot_work, a_work, ea_work, 0, 0, 0);
       helix_work.pivot(ip);
 
       HepVector a_temp = helix_work.a();
       HepSymMatrix ea_temp = helix_work.Ea();
 
       HelixSeg.Ea_pre_fwd(ea_temp);    
       HelixSeg.a_pre_fwd(a_temp);
 
    // My God, for the protection purpose 
    HelixSeg.Ea_filt_fwd(ea_temp);
    HelixSeg.a_filt_fwd(a_temp);
 
     */
 
    double dchi2R(99999999), dchi2L(99999999);
 
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    HepVector ea_v_H = ea * v_H;
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
 
    HepSymMatrix eaNewL(5), eaNewR(5);
    HepVector aNewL(5), aNewR(5);
#ifdef YDEBUG
    cout<<"phi  "<<phi<<"  snf0 "<<snf0<<"  csf0  "<<csf0<<endl
        <<"  meas:  "<<meas <<endl;   
    cout<<"the related matrix:"<<endl;
    cout<<"v_H  "<<v_H<<endl;
    cout<<"v_a  "<<v_a<<endl;
    cout<<"ea  "<<ea<<endl;
    cout<<"v_H_T_ea_v_H  "<<v_H_T_ea_v_H<<endl;
    cout<<"LR_= "<< LR_ << "lr= " << lr <<endl;
#endif
 
    double time = (*HitMdc).tdc();
    //  if (Tof_correc_)
    //  time = time - way*tofest;
 
    //  double dd = 1.0e-4 * 40.0 * time;
    //the following 3 line : tempory
 
    double drifttime = getDriftTime(*HitMdc , tofest);
    double ddl = getDriftDist(*HitMdc, drifttime, 0 );
    double ddr = getDriftDist(*HitMdc, drifttime, 1 );
    double erddl = getSigma( *HitMdc, a()[4], 0, ddl);
    double erddr = getSigma( *HitMdc, a()[4], 1, ddr);
 
    if(debug_ == 4){
        std::cout<<"the pure drift time is "<<drifttime<<std::endl;
        std::cout<<"the drift dist left hypothesis is "<<ddl<<std::endl;
        std::cout<<"the drift dist right hypothesis is "<<ddr<<std::endl;
        std::cout<<"the error sigma left hypothesis is "<<erddl<<std::endl;
        std::cout<<"the error sigma right hypothesis is "<<erddr<<std::endl;
    }
    double dmeas2[2] = { 0.1*ddl , 0.1*ddr }; //millimeter to centimeter
    double er_dmeas2[2] = {0. , 0.} ;
 
    if(resolflag_ == 1) { 
        er_dmeas2[0] = 0.1*erddl;
        er_dmeas2[1] = 0.1*erddr;
    } 
    else if(resolflag_ == 0) {
        //   int layid = (*HitMdc).wire().layer().layerId();
        //   double sigma = getSigma(layid, dd);
        //   er_dmeas2[0] = er_dmeas2[1] = sigma;
    }
 
    // Left hypothesis :
    if ((LR_==0 && lr != 1.0) || 
            (LR_==1 && lr == -1.0)) {
 
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*fabs(dmeas2[0]);
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs((*HitMdc).dist()[0]);
            er_dmeasL = (*HitMdc).erdist()[0];
        }
 
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNewL.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
 
        aNewL = v_a + diffL;
        double sigL = dmeasL -(v_HT * aNewL)[0];
        dchi2L = (sigL * sigL) /  (RkL * er_dmeasL*er_dmeasL);
    }
 
    if ((LR_==0 && lr != -1.0) ||
            (LR_==1 && lr == 1.0)) {
 
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs((*HitMdc).dist()[1]);
            er_dmeasR = (*HitMdc).erdist()[1];
        }
 
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNewR.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
        if(0. == RkR) RkR = 1.e-4;
 
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
 
        aNewR = v_a + diffR;
        double sigR = dmeasR -(v_HT * aNewR)[0];
        dchi2R = (sigR*sigR) /  (RkR * er_dmeasR*er_dmeasR);
    }
 
    // Update Kalman result :
    double dchi2_loc(0);
 
#ifdef YDEBUG
    cout<<" track::update_hits......"<<endl;
    std::cout << "   dchi2R = " << dchi2R << ", dchi2L = " << dchi2L 
        << "   estimate =  "<<estim<< std::endl;
    std::cout << "   dmeasR = " << dmeas2[1] 
        << ", dmeasL = " << (-1.0)*fabs(dmeas2[0]) << ", check HitMdc.ddl = " 
        << (*HitMdc).dist()[0] << std::endl;
    std::cout<<"dchi2L : "<<dchi2L<<" ,dchi2R:  "<<dchi2R<<std::endl; 
#endif
 
 
    if (fabs(dchi2R-dchi2L)<10. && inext>0) {
 
        KalFitHitMdc & HitMdc_next = HitsMdc_[inext];
 
        Helix H_fromR(pivot(), aNewR, eaNewR);
        double chi2_fromR(chi2_next(H_fromR, HitMdc_next,csmflag));
        //double chi2_fromR(chi2_next(H_fromR, HitMdc_next));
 
        Helix H_fromL(pivot(), aNewL, eaNewL);
        double chi2_fromL(chi2_next(H_fromL, HitMdc_next,csmflag));
        //double chi2_fromL(chi2_next(H_fromL, HitMdc_next));
#ifdef YDEBUG
        std::cout << "   chi2_fromL = " << chi2_fromL 
            << ", chi2_fromR = " << chi2_fromR << std::endl;
#endif
        if (fabs(chi2_fromR-chi2_fromL)<10.){
            int inext2(-1);
            if (inext+1<HitsMdc_.size())
                for( int k=inext+1 ; k < HitsMdc_.size(); k++ )
                    if (!(HitsMdc_[k].chi2()<0)) {
                        inext2 = k;
                        break;
                    }
 
            if (inext2 != -1){
                KalFitHitMdc & HitMdc_next2 = HitsMdc_[inext2];
                //  double chi2_fromR2(chi2_next(H_fromR, HitMdc_next2));
                //  double chi2_fromL2(chi2_next(H_fromL, HitMdc_next2));
                double chi2_fromR2(chi2_next(H_fromR, HitMdc_next2, csmflag));
                double chi2_fromL2(chi2_next(H_fromL, HitMdc_next2, csmflag));
#ifdef YDEBUG
                std::cout << "   chi2_fromL2 = " << chi2_fromL2 
                    << ", chi2_fromR2 = " << chi2_fromR2 << std::endl;
#endif
                if (fabs(dchi2R+chi2_fromR+chi2_fromR2-(dchi2L+chi2_fromL+chi2_fromL2))<2) {
                    if (chi2_fromR2<chi2_fromL2)
                        dchi2L = DBL_MAX;
                    else 
                        dchi2R = DBL_MAX;
                }
            } 
        }
 
        if (!(dchi2L == DBL_MAX && dchi2R == DBL_MAX)) {
            if (dchi2R+chi2_fromR < dchi2L+chi2_fromL){
                dchi2L = DBL_MAX;
#ifdef YDEBUG
                std::cout << " choose right..." << std::endl;
#endif
            } else {
                dchi2R = DBL_MAX;
#ifdef YDEBUG
                std::cout << " choose left..." << std::endl;
#endif
            }
        }
    }
 
    if ((0 < dchi2R && dchi2R < dchi2cutf_calib[layerid]) ||
            (0 < dchi2L && dchi2L < dchi2cutf_calib[layerid])) {
 
        if (((LR_==0 && dchi2R < dchi2L && lr != -1) || 
                    (LR_==1 && lr == 1)) && 
                fabs(aNewR[2]-a()[2]) < 1000. && aNewR[2]) {
            if (nchits_ < (unsigned) nmdc_hit2_ || dchi2R < dchi2cutf_calib[layerid]){
                nchits_++;
                if (flag_ster) nster_++;
                if(layerid>19){  
                    Ea(eaNewR);
                    HelixSeg.Ea_filt_fwd(eaNewR);
                    a(aNewR);
                    HelixSeg.a_filt_fwd(aNewR);
                }         
                /*
                   Ea(eaNewR);
                   a(aNewR);
 
                   KalFitTrack helixR(pivot_work, aNewR, eaNewR, 0, 0, 0);
                   helixR.pivot(ip);
 
                   a_temp = helixR.a();
                   ea_temp = helixR.Ea();
 
                   HelixSeg.Ea_filt_fwd(ea_temp);
                   HelixSeg.a_filt_fwd(a_temp);
                //HelixSeg.filt_include(1);
 
                 */
 
                chiSq_ += dchi2R;
                dchi2_loc = dchi2R;
                if (l_mass_ == lead_){
                    (*HitMdc).LR(1);
                    HelixSeg.LR(1);
                }        
                update_bit((*HitMdc).wire().layer().layerId());
            }
        } else if (((LR_==0 && dchi2L <= dchi2R && lr != 1) || 
                    (LR_==1 && lr == -1)) && 
                fabs(aNewL[2]-a()[2]) < 1000. && aNewL[2]){
            if (nchits_ < (unsigned) nmdc_hit2_ || dchi2L < dchi2cutf_calib[layerid]){
                nchits_++;
                if (flag_ster) nster_++;
                if(layerid>19){
                    Ea(eaNewL);
                    HelixSeg.Ea_filt_fwd(eaNewL);
                    a(aNewL);
                    HelixSeg.a_filt_fwd(aNewL);
                }
 
                /* 
                   Ea(eaNewL);
                   a(aNewL);
 
                   KalFitTrack helixL(pivot_work, aNewL, eaNewL, 0, 0, 0);
                   helixL.pivot(ip);
                   a_temp = helixL.a();
                   ea_temp = helixL.Ea();
                   HelixSeg.Ea_filt_fwd(ea_temp);
                   HelixSeg.a_filt_fwd(a_temp);
                //HelixSeg.filt_include(1);
 
                 */
 
                chiSq_ += dchi2L;
                dchi2_loc = dchi2L;
                if (l_mass_ == lead_){
                    (*HitMdc).LR(-1);
                    HelixSeg.LR(-1);
                }
                update_bit((*HitMdc).wire().layer().layerId());
            }
        }
    }
 
    if (dchi2_loc > dchi2_max_) {
        dchi2_max_ = dchi2_loc ;
        r_max_ = pivot().perp();
    }
    dchi2out = dchi2_loc;
    //  if(dchi2out == 0) {
    //     dchi2out = ( (dchi2L < dchi2R ) ? dchi2L : dchi2R ) ;
    //  }
    return chiSq_;
}
 
 
double KalFitTrack::update_hits(KalFitHelixSeg& HelixSeg, int inext, Hep3Vector& meas,int way, double& dchi2out, int csmflag) {
 
 
    HepPoint3D ip(0.,0.,0.);
 
    KalFitHitMdc* HitMdc = HelixSeg.HitMdc();
    double lr = HitMdc->LR();
    int layerid = (*HitMdc).wire().layer().layerId();
    double entrangle = HitMdc->rechitptr()->getEntra();
 
    if(debug_ == 4) {
        std::cout<<"in update_hits(kalFitHelixSeg,...) : the layerid ="<<layerid<<std::endl; 
        std::cout<<" update_hits: lr= " << lr <<std::endl;
    }
    // For taking the propagation delay into account :
    const KalFitWire& Wire = HitMdc->wire();
    int wire_ID = Wire.geoID();
 
    if (wire_ID<0 || wire_ID>6796){  //bes
        std::cout << " KalFitTrack: wire_ID problem : " << wire_ID 
            << std::endl;
        return 0;
    } 
    int flag_ster = Wire.stereo();
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
    double tofest(0);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
    if (Tof_correc_){
        double t = tanl();
        double dphi(0);
 
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        double phi_ip(0);
        Hep3Vector ip(0, 0, 0);
        work.pivot(ip);
        phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        dphi = phi - phi_ip;
 
        double l = fabs(radius() * dphi * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        if(csmflag==1 && (*HitMdc).wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = Ea();
    HelixSeg.Ea_pre_fwd(ea);
    HelixSeg.Ea_filt_fwd(ea);
 
 
    const HepVector& v_a = a();
    HelixSeg.a_pre_fwd(v_a);
    HelixSeg.a_filt_fwd(v_a);
 
    /*
 
       HepPoint3D pivot_work = pivot();
       HepVector a_work = a();
       HepSymMatrix ea_work = Ea();
       KalFitTrack helix_work(pivot_work, a_work, ea_work, 0, 0, 0);
       helix_work.pivot(ip);
 
       HepVector a_temp = helix_work.a();
       HepSymMatrix ea_temp = helix_work.Ea();
 
       HelixSeg.Ea_pre_fwd(ea_temp);    
       HelixSeg.a_pre_fwd(a_temp);
 
    // My God, for the protection purpose 
    HelixSeg.Ea_filt_fwd(ea_temp);
    HelixSeg.a_filt_fwd(a_temp);
 
     */
 
 
    double dchi2R(99999999), dchi2L(99999999);
 
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    HepVector ea_v_H = ea * v_H;
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
 
    HepSymMatrix eaNewL(5), eaNewR(5);
    HepVector aNewL(5), aNewR(5);
#ifdef YDEBUG
    cout<<"phi  "<<phi<<"  snf0 "<<snf0<<"  csf0  "<<csf0<<endl
        <<"  meas:  "<<meas <<endl;   
    cout<<"the related matrix:"<<endl;
    cout<<"v_H  "<<v_H<<endl;
    cout<<"v_a  "<<v_a<<endl;
    cout<<"ea  "<<ea<<endl;
    cout<<"v_H_T_ea_v_H  "<<v_H_T_ea_v_H<<endl;
    cout<<"LR_= "<< LR_ << "lr= " << lr <<endl;
#endif
 
    double time = (*HitMdc).tdc();
    //  if (Tof_correc_)
    //  time = time - way*tofest;
 
    //  double dd = 1.0e-4 * 40.0 * time;
    //the following 3 line : tempory
 
    double drifttime = getDriftTime(*HitMdc , tofest);
    double ddl = getDriftDist(*HitMdc, drifttime, 0 );
    double ddr = getDriftDist(*HitMdc, drifttime, 1 );
    double erddl = getSigma( *HitMdc, a()[4], 0, ddl);
    double erddr = getSigma( *HitMdc, a()[4], 1, ddr);
 
    if(debug_ == 4){
        std::cout<<"the pure drift time is "<<drifttime<<std::endl;
        std::cout<<"the drift dist left hypothesis is "<<ddl<<std::endl;
        std::cout<<"the drift dist right hypothesis is "<<ddr<<std::endl;
        std::cout<<"the error sigma left hypothesis is "<<erddl<<std::endl;
        std::cout<<"the error sigma right hypothesis is "<<erddr<<std::endl;
    }
    double dmeas2[2] = { 0.1*ddl , 0.1*ddr }; //millimeter to centimeter
    double er_dmeas2[2] = {0. , 0.} ;
 
    if(resolflag_ == 1) { 
        er_dmeas2[0] = 0.1*erddl;
        er_dmeas2[1] = 0.1*erddr;
    } 
    else if(resolflag_ == 0) {
        //   int layid = (*HitMdc).wire().layer().layerId();
        //   double sigma = getSigma(layid, dd);
        //   er_dmeas2[0] = er_dmeas2[1] = sigma;
    }
 
    // Left hypothesis :
    if ((LR_==0 && lr != 1.0) || 
            (LR_==1 && lr == -1.0)) {
 
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*fabs(dmeas2[0]);
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs((*HitMdc).dist()[0]);
            er_dmeasL = (*HitMdc).erdist()[0];
        }
 
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNewL.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
 
        aNewL = v_a + diffL;
        double sigL = dmeasL -(v_HT * aNewL)[0];
        dchi2L = (sigL * sigL) /  (RkL * er_dmeasL*er_dmeasL);
    }
 
    if ((LR_==0 && lr != -1.0) ||
            (LR_==1 && lr == 1.0)) {
 
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs((*HitMdc).dist()[1]);
            er_dmeasR = (*HitMdc).erdist()[1];
        }
 
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNewR.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
        if(0. == RkR) RkR = 1.e-4;
 
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
 
        aNewR = v_a + diffR;
        double sigR = dmeasR -(v_HT * aNewR)[0];
        dchi2R = (sigR*sigR) /  (RkR * er_dmeasR*er_dmeasR);
    }
 
    // Update Kalman result :
    double dchi2_loc(0);
 
#ifdef YDEBUG
    cout<<" track::update_hits......"<<endl;
    std::cout << "   dchi2R = " << dchi2R << ", dchi2L = " << dchi2L 
        << "   estimate =  "<<estim<< std::endl;
    std::cout << "   dmeasR = " << dmeas2[1] 
        << ", dmeasL = " << (-1.0)*fabs(dmeas2[0]) << ", check HitMdc.ddl = " 
        << (*HitMdc).dist()[0] << std::endl;
#endif
 
    if (fabs(dchi2R-dchi2L)<10. && inext>0) {
 
        KalFitHitMdc & HitMdc_next = HitsMdc_[inext];
 
        Helix H_fromR(pivot(), aNewR, eaNewR);
        double chi2_fromR(chi2_next(H_fromR, HitMdc_next,csmflag));
 
        Helix H_fromL(pivot(), aNewL, eaNewL);
        double chi2_fromL(chi2_next(H_fromL, HitMdc_next,csmflag));
#ifdef YDEBUG
        std::cout << "   chi2_fromL = " << chi2_fromL 
            << ", chi2_fromR = " << chi2_fromR << std::endl;
#endif
        if (fabs(chi2_fromR-chi2_fromL)<10.){
            int inext2(-1);
            if (inext+1<HitsMdc_.size())
                for( int k=inext+1 ; k < HitsMdc_.size(); k++ )
                    if (!(HitsMdc_[k].chi2()<0)) {
                        inext2 = k;
                        break;
                    }
 
            if (inext2 != -1){
                KalFitHitMdc & HitMdc_next2 = HitsMdc_[inext2];
                double chi2_fromR2(chi2_next(H_fromR, HitMdc_next2, csmflag));
                double chi2_fromL2(chi2_next(H_fromL, HitMdc_next2, csmflag));
#ifdef YDEBUG
                std::cout << "   chi2_fromL2 = " << chi2_fromL2 
                    << ", chi2_fromR2 = " << chi2_fromR2 << std::endl;
#endif
                if (fabs(dchi2R+chi2_fromR+chi2_fromR2-(dchi2L+chi2_fromL+chi2_fromL2))<2) {
                    if (chi2_fromR2<chi2_fromL2)
                        dchi2L = DBL_MAX;
                    else 
                        dchi2R = DBL_MAX;
                }
            } 
        }
 
        if (!(dchi2L == DBL_MAX && dchi2R == DBL_MAX)) {
            if (dchi2R+chi2_fromR < dchi2L+chi2_fromL){
                dchi2L = DBL_MAX;
#ifdef YDEBUG
                std::cout << " choose right..." << std::endl;
#endif
            } else {
                dchi2R = DBL_MAX;
#ifdef YDEBUG
                std::cout << " choose left..." << std::endl;
#endif
            }
        }
    }
 
    if ((0 < dchi2R && dchi2R < dchi2cutf_calib[layerid]) ||
            (0 < dchi2L && dchi2L < dchi2cutf_calib[layerid])) {
 
        if (((LR_==0 && dchi2R < dchi2L && lr != -1) || 
                    (LR_==1 && lr == 1)) && 
                fabs(aNewR[2]-a()[2]) < 1000. && aNewR[2]) {
            if (nchits_ < (unsigned) nmdc_hit2_ || dchi2R < dchi2cutf_calib[layerid]){
                nchits_++;
                if (flag_ster) nster_++;
 
                Ea(eaNewR);
                HelixSeg.Ea_filt_fwd(eaNewR);
                a(aNewR);
                HelixSeg.a_filt_fwd(aNewR);
 
                /*
                   Ea(eaNewR);
                   a(aNewR);
 
                   KalFitTrack helixR(pivot_work, aNewR, eaNewR, 0, 0, 0);
                   helixR.pivot(ip);
 
                   a_temp = helixR.a();
                   ea_temp = helixR.Ea();
 
                   HelixSeg.Ea_filt_fwd(ea_temp);
                   HelixSeg.a_filt_fwd(a_temp);
                //HelixSeg.filt_include(1);
 
                 */
 
                chiSq_ += dchi2R;
                dchi2_loc = dchi2R;
                if (l_mass_ == lead_){
                    (*HitMdc).LR(1);
                    HelixSeg.LR(1);
                }        
                update_bit((*HitMdc).wire().layer().layerId());
            }
        } else if (((LR_==0 && dchi2L <= dchi2R && lr != 1) || 
                    (LR_==1 && lr == -1)) && 
                fabs(aNewL[2]-a()[2]) < 1000. && aNewL[2]){
            if (nchits_ < (unsigned) nmdc_hit2_ || dchi2L < dchi2cutf_calib[layerid]){
                nchits_++;
                if (flag_ster) nster_++;
                Ea(eaNewL);
                HelixSeg.Ea_filt_fwd(eaNewL);
                a(aNewL);
                HelixSeg.a_filt_fwd(aNewL);
 
 
                /* 
                   Ea(eaNewL);
                   a(aNewL);
 
                   KalFitTrack helixL(pivot_work, aNewL, eaNewL, 0, 0, 0);
                   helixL.pivot(ip);
                   a_temp = helixL.a();
                   ea_temp = helixL.Ea();
                   HelixSeg.Ea_filt_fwd(ea_temp);
                   HelixSeg.a_filt_fwd(a_temp);
                //HelixSeg.filt_include(1);
 
                 */
 
                chiSq_ += dchi2L;
                dchi2_loc = dchi2L;
                if (l_mass_ == lead_){
                    (*HitMdc).LR(-1);
                    HelixSeg.LR(-1);
                }
                update_bit((*HitMdc).wire().layer().layerId());
            }
        }
    }
 
    if (dchi2_loc > dchi2_max_) {
        dchi2_max_ = dchi2_loc ;
        r_max_ = pivot().perp();
    }
    dchi2out = dchi2_loc;
    //  if(dchi2out == 0) {
    //     dchi2out = ( (dchi2L < dchi2R ) ? dchi2L : dchi2R ) ;
    //  }
    return chiSq_;
}
 
 
double KalFitTrack::update_hits(RecCgemCluster* Cluster, double recR, int way, int csmflag) //add by Huang Zhen
{
    //const double a_stero[3] = {(45.94*3.1415926/180),(31.10*3.1415926/180),(32.99*3.1415926/180)};
    //const double r_layer[3] = {87.5026,132.7686,175.2686};
    //const double x_reso[3]={0.1372,0.1476,0.1412};
    //const double v_reso[3]={0.1273,0.1326,0.1378};
 
    // --- measurement
    double recZ   = Cluster->getRecZ()/10;
    double recPhi = Cluster->getrecphi();
    while(recPhi > M_PI) recPhi-=2*M_PI;
    while(recPhi <-M_PI) recPhi+=2*M_PI;
    HepVector v_measu(2,0);
    v_measu(1) = recPhi;
    v_measu(2) = recZ;
 
    // --- estimation
    //double Phi = intersect_cylinder(recR);
    HepPoint3D x0kal = x(intersect_cylinder(recR));
    pivot_numf(x0kal);
    HepVector v_estim(2,0);
    v_estim(1) = x0kal.phi();
    v_estim(2) = x0kal.z();
 
    const HepSymMatrix& ea = Ea();
    HepVector v_a = a();
 
    // --- derivative matrix
    double dPhi=intersect_cylinder(recR);
    double dr = v_a(1);
    double phi0 = v_a(2);
    double kappa = v_a(3);
    double tanl = v_a(5);
    double x0 = x0kal.x();
    double y0 = x0kal.y();
    double Alpha = alpha();
    HepMatrix H(2, 5, 0);
    H(1,1) = -y0*cos(phi0)/(y0*y0+x0*x0)+x0*sin(phi0)/(x0*x0+y0*y0);
    H(1,2) = -y0/(y0*y0+x0*x0)*((-1)*dr*sin(phi0)+Alpha/kappa*(sin(phi0+dPhi)-sin(phi0)))+x0/(x0*x0+y0*y0)*(dr*cos(phi0)+Alpha/kappa*(cos(phi0)-cos(phi0+dPhi)));
    H(1,3) = -y0/(y0*y0+x0*x0)*(-1)*Alpha/(kappa*kappa)*(cos(phi0)-cos(phi0+dPhi))+x0/(x0*x0+y0*y0)*(-1)*Alpha/(kappa*kappa)*(sin(phi0)-sin(phi0+dPhi));
    H(2,3) = Alpha/(kappa*kappa)*tanl*dPhi;
    H(2,4) = 1.0;
    H(2,5) = -1*(Alpha/kappa)*dPhi;
 
    // --- error matrix of Cgem
    int layer  = Cluster->getlayerid();
    ISvcLocator* svcLocator = Gaudi::svcLocator();
    ICgemGeomSvc* ISvc;
    StatusCode Cgem_sc=svcLocator->service("CgemGeomSvc", ISvc);
    CgemGeomSvc* CgemGeomSvc_=dynamic_cast<CgemGeomSvc *>(ISvc);
    CgemGeoLayer* CgemLayer = CgemGeomSvc_->getCgemLayer(layer);
    double R_x = (CgemLayer->getInnerROfAnodeCu2() + CgemLayer->getOuterROfAnodeCu2())/2;
    //R_v = (CgemLayer->getInnerROfAnodeCu1() + CgemLayer->getOuterROfAnodeCu1())/2;
    double a_stero = (CgemLayer->getAngleOfStereo())*M_PI/180;
 
    ICgemCalibFunSvc* CgemCalibSvc;
    StatusCode sc = svcLocator->service ("CgemCalibFunSvc", CgemCalibSvc);
    int iView(0), mode(2);
    double Q(100), T(100);
    double Phi_momentum = momentum(dPhi).phi();
    double Phi_position = x0kal.phi();
    double delta_phi=Phi_momentum - Phi_position;
    while(delta_phi>M_PI)  delta_phi-=CLHEP::twopi;
    while(delta_phi<-M_PI) delta_phi+=CLHEP::twopi;
    double sigma_X = CgemCalibSvc->getSigma(layer,iView,mode,delta_phi,Q,T);// in mm
    double sigma_V = CgemCalibSvc->getSigma(layer,iView,mode,delta_phi,Q,T);// in mm
 
    HepSymMatrix V(2,0);
    //V(1,1) = pow(x_reso[layer]/r_layer[layer],2);
    //V(2,2) = pow(sqrt(0.01*v_reso[layer]*v_reso[layer]/(sin(a_stero[layer])*sin(a_stero[layer]))+0.01*x_reso[layer]*x_reso[layer]/(tan(a_stero[layer])*tan(a_stero[layer]))),2);
    V(1,1) = pow(sigma_X/R_x,2);
    V(2,2) = pow(sqrt(0.01*sigma_V*sigma_V/(sin(a_stero)*sin(a_stero))+0.01*sigma_X*sigma_X/(tan(a_stero)*tan(a_stero))),2);
    // --- gain matrix
    int ierr=-1;
    HepMatrix K = ea*H.T()*(V+H*ea*H.T()).inverse(ierr);
    if(ierr != 0)cout<<"errer in inverse operation of matrix!"<<endl;
 
    // --- new error matrix
    HepSymMatrix EaNew(5,0);
    EaNew.assign(ea-K*H*ea);
    Ea(EaNew);
 
    // --- diff
    HepVector v_diff = v_measu - v_estim;
    while(v_diff(1) > M_PI) v_diff(1)-=2*M_PI;
    while(v_diff(1) <- M_PI) v_diff(1)+=2*M_PI;
 
    // --- new parameters
    //HepVector aNew = v_a + K*v_diff;
    a(v_a + K*v_diff);
 
    // --- new v_estim
    HepPoint3D x0kal_new = x(intersect_cylinder(recR));
    HepVector v_estim_new(2,0);
    v_estim_new(1) = x0kal_new.phi();
    v_estim_new(2) = x0kal_new.z();
 
    // --- difference between measurement and updated estimation
    v_diff = v_measu - v_estim_new;
    while(v_diff(1) > M_PI) v_diff(1)-=2*M_PI;
    while(v_diff(1) <- M_PI) v_diff(1)+=2*M_PI;
 
    // --- new derivative matrix 
    //track_new.pivot_numf(x0kal_new,pathl);
    //HepVector a_new = track_new.a();
    //HepVector Ea_new = track_new.ea();
 
    // --- R matrix and Chisuqre 
    HepSymMatrix R(2,0);
    R.assign(V-H*EaNew*H.T());
    HepVector dChi2 = v_diff.T()*R.inverse(ierr)*v_diff;
    if(ierr != 0)cout<<"errer in inverse operation of matrix!"<<endl;
 
    // --- update Chisqure of track
    if(way>0) chiSq(chiSq()+dChi2(1));
    if(way<0) chiSq_back(chiSq_back()+dChi2(1));
    return dChi2(1);
}
double KalFitTrack::chi2_next(Helix& H, KalFitHitMdc & HitMdc ){
 
    double lr = HitMdc.LR();
    const KalFitWire& Wire = HitMdc.wire();
    int wire_ID = Wire.geoID();
    int layerid = HitMdc.wire().layer().layerId();
    double entrangle = HitMdc.rechitptr()->getEntra();  
 
    HepPoint3D fwd(Wire.fwd());
    HepPoint3D bck(Wire.bck());
    Hep3Vector wire = (Hep3Vector)fwd -(Hep3Vector)bck;
    Helix work = H;
    work.ignoreErrorMatrix();
    work.pivot((fwd + bck) * .5);
    HepPoint3D x0kal = (work.x(0).z() - bck.z())/ wire.z() * wire + bck;
    H.pivot(x0kal);
 
    Hep3Vector meas = H.momentum(0).cross(wire).unit();
 
    if (wire_ID<0 || wire_ID>6796){  //bes
        std::cout << "KalFitTrack : wire_ID problem : " << wire_ID 
            << std::endl;
        return DBL_MAX;
    } 
 
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
    double tofest(0);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
 
    if (Tof_correc_) {
        Hep3Vector ip(0, 0, 0);
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        work.pivot(ip);
        double phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        double t = tanl();
        double l = fabs(radius() * (phi - phi_ip) * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        //  if(csmflag==1 && HitMdc.wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = H.Ea();
    const HepVector& v_a = H.a();
    double dchi2R(DBL_MAX), dchi2L(DBL_MAX);
 
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    HepVector ea_v_H = ea * v_H;
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
 
    HepSymMatrix eaNewL(5), eaNewR(5);
    HepVector aNewL(5), aNewR(5);
 
    //double time = HitMdc.tdc();
    //if (Tof_correc_)
    // time = time - tofest;
    double drifttime = getDriftTime(HitMdc , tofest);
    double ddl = getDriftDist(HitMdc, drifttime , 0 );
    double ddr = getDriftDist(HitMdc, drifttime , 1 );
    double erddl = getSigma( HitMdc, H.a()[4], 0, ddl);
    double erddr = getSigma( HitMdc, H.a()[4], 1, ddr);
 
    double dmeas2[2] = { 0.1*ddl, 0.1*ddr };
    double er_dmeas2[2] = {0. , 0.};
    if(resolflag_ == 1) { 
        er_dmeas2[0] = 0.1*erddl; 
        er_dmeas2[1] = 0.1*erddr;
    } 
    else if(resolflag_ == 0) {
        //  int layid = HitMdc.wire().layer().layerId();
        //  double sigma = getSigma(layid, dd);
        //  er_dmeas2[0] = er_dmeas2[1] = sigma;
    }
 
    if ((LR_==0 && lr != 1.0) || 
            (LR_==1 && lr == -1.0)) {
 
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*fabs(dmeas2[0]);
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs(HitMdc.dist()[0]);
            er_dmeasL = HitMdc.erdist()[0];
        }
 
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNewL.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
        aNewL = v_a + diffL;
        double sigL = dmeasL -(v_HT * aNewL)[0];
        dchi2L = (sigL * sigL) /  (RkL * er_dmeasL*er_dmeasL);
    }
 
    if ((LR_==0 && lr != -1.0) ||
            (LR_==1 && lr == 1.0)) {
 
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs(HitMdc.dist()[1]);
            er_dmeasR = HitMdc.erdist()[1];
        }
 
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNewR.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
        if(0. == RkR) RkR = 1.e-4;
 
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
        aNewR = v_a + diffR;
        double sigR = dmeasR -(v_HT * aNewR)[0];
        dchi2R = (sigR*sigR) /  (RkR * er_dmeasR*er_dmeasR);
    } 
 
    if (dchi2R < dchi2L){
        H.a(aNewR); H.Ea(eaNewR);
    } else {
        H.a(aNewL); H.Ea(eaNewL);
    }
    return ((dchi2R < dchi2L) ? dchi2R : dchi2L);
}
 
double KalFitTrack::chi2_next(Helix& H, KalFitHitMdc & HitMdc, int csmflag){
 
    double lr = HitMdc.LR();
    const KalFitWire& Wire = HitMdc.wire();
    int wire_ID = Wire.geoID();
    int layerid = HitMdc.wire().layer().layerId();
    double entrangle = HitMdc.rechitptr()->getEntra();  
 
    HepPoint3D fwd(Wire.fwd());
    HepPoint3D bck(Wire.bck());
    Hep3Vector wire = (Hep3Vector)fwd -(Hep3Vector)bck;
    Helix work = H;
    work.ignoreErrorMatrix();
    work.pivot((fwd + bck) * .5);
    HepPoint3D x0kal = (work.x(0).z() - bck.z())/ wire.z() * wire + bck;
    H.pivot(x0kal);
 
    Hep3Vector meas = H.momentum(0).cross(wire).unit();
 
    if (wire_ID<0 || wire_ID>6796){  //bes
        std::cout << "KalFitTrack : wire_ID problem : " << wire_ID 
            << std::endl;
        return DBL_MAX;
    } 
 
    double x[3] ={pivot().x(), pivot().y(), pivot().z()};
    double pmom[3] ={momentum().x(), momentum().y(), momentum().z()};
    double tofest(0);
    double phi = fmod(phi0() + M_PI4, M_PI2);
    double csf0 = cos(phi);
    double snf0 = (1. - csf0) * (1. + csf0);
    snf0 = sqrt((snf0 > 0.) ? snf0 : 0.);
    if(phi > M_PI) snf0 = - snf0;
 
    if (Tof_correc_) {
        Hep3Vector ip(0, 0, 0);
        Helix work = *(Helix*)this;
        work.ignoreErrorMatrix();
        work.pivot(ip);
        double phi_ip = work.phi0();
        if (fabs(phi - phi_ip) > M_PI) {
            if (phi > phi_ip) phi -= 2 * M_PI;
            else phi_ip -= 2 * M_PI;
        }
        double t = tanl();
        double l = fabs(radius() * (phi - phi_ip) * sqrt(1 + t * t));
        double pmag( sqrt( 1.0 + t*t ) / kappa());
        double mass_over_p( mass_ / pmag );
        double beta( 1.0 / sqrt( 1.0 + mass_over_p * mass_over_p ) );
        tofest = l / ( 29.9792458 * beta );
        if(csmflag==1 && HitMdc.wire().y()>0.)  tofest= -1. * tofest;
    }
 
    const HepSymMatrix& ea = H.Ea();
    const HepVector& v_a = H.a();
    double dchi2R(DBL_MAX), dchi2L(DBL_MAX);
 
    HepVector v_H(5, 0);
    v_H[0] =  -csf0 * meas.x() - snf0 * meas.y();
    v_H[3] =  -meas.z();
    HepMatrix v_HT = v_H.T();
 
    double estim = (v_HT * v_a)[0];
    HepVector ea_v_H = ea * v_H;
    HepMatrix ea_v_HT = (ea_v_H).T();
    HepVector v_H_T_ea_v_H = v_HT * ea_v_H;
 
    HepSymMatrix eaNewL(5), eaNewR(5);
    HepVector aNewL(5), aNewR(5);
 
    //double time = HitMdc.tdc();
    //if (Tof_correc_)
    // time = time - tofest;
    double drifttime = getDriftTime(HitMdc , tofest);
    double ddl = getDriftDist(HitMdc, drifttime , 0 );
    double ddr = getDriftDist(HitMdc, drifttime , 1 );
    double erddl = getSigma( HitMdc, H.a()[4], 0, ddl);
    double erddr = getSigma( HitMdc, H.a()[4], 1, ddr);
 
    double dmeas2[2] = { 0.1*ddl, 0.1*ddr };
    double er_dmeas2[2] = {0. , 0.};
    if(resolflag_ == 1) { 
        er_dmeas2[0] = 0.1*erddl; 
        er_dmeas2[1] = 0.1*erddr;
    } 
    else if(resolflag_ == 0) {
        //  int layid = HitMdc.wire().layer().layerId();
        //  double sigma = getSigma(layid, dd);
        //  er_dmeas2[0] = er_dmeas2[1] = sigma;
    }
 
    if ((LR_==0 && lr != 1.0) || 
            (LR_==1 && lr == -1.0)) {
 
        double er_dmeasL, dmeasL;
        if(Tof_correc_) {
            dmeasL = (-1.0)*fabs(dmeas2[0]);
            er_dmeasL = er_dmeas2[0];
        } else {
            dmeasL = (-1.0)*fabs(HitMdc.dist()[0]);
            er_dmeasL = HitMdc.erdist()[0];
        }
 
        double AL = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasL*er_dmeasL);
        eaNewL.assign(ea - ea_v_H * AL * ea_v_HT);
        double RkL = 1 - (v_H_T_ea_v_H)[0] * AL;
        if(0. == RkL) RkL = 1.e-4;
 
        HepVector diffL = ea_v_H * AL * (dmeasL - estim);
        aNewL = v_a + diffL;
        double sigL = dmeasL -(v_HT * aNewL)[0];
        dchi2L = (sigL * sigL) /  (RkL * er_dmeasL*er_dmeasL);
    }
 
    if ((LR_==0 && lr != -1.0) ||
            (LR_==1 && lr == 1.0)) {
 
        double er_dmeasR, dmeasR;
        if(Tof_correc_) {
            dmeasR = dmeas2[1];
            er_dmeasR = er_dmeas2[1];
        } else {
            dmeasR = fabs(HitMdc.dist()[1]);
            er_dmeasR = HitMdc.erdist()[1];
        }
 
        double AR = 1 / ((v_H_T_ea_v_H)[0] + er_dmeasR*er_dmeasR);
        eaNewR.assign(ea - ea_v_H * AR * ea_v_HT);
        double RkR = 1 - (v_H_T_ea_v_H)[0] * AR;
        if(0. == RkR) RkR = 1.e-4;
 
        HepVector diffR = ea_v_H * AR * (dmeasR - estim);
        aNewR = v_a + diffR;
        double sigR = dmeasR -(v_HT * aNewR)[0];
        dchi2R = (sigR*sigR) /  (RkR * er_dmeasR*er_dmeasR);
    } 
 
    if (dchi2R < dchi2L){
        H.a(aNewR); H.Ea(eaNewR);
    } else {
        H.a(aNewL); H.Ea(eaNewL);
    }
    return ((dchi2R < dchi2L) ? dchi2R : dchi2L);
}
 
 
double KalFitTrack::getSigma(int layerId, double driftDist ) const {
    double sigma1,sigma2,f;
    driftDist *= 10;//mm
    if(layerId<8){
        if(driftDist<0.5){
            sigma1=0.112784;      sigma2=0.229274;      f=0.666;
        }else if(driftDist<1.){
            sigma1=0.103123;      sigma2=0.269797;      f=0.934;
        }else if(driftDist<1.5){
            sigma1=0.08276;        sigma2=0.17493;      f=0.89;
        }else if(driftDist<2.){
            sigma1=0.070109;      sigma2=0.149859;      f=0.89;
        }else if(driftDist<2.5){
            sigma1=0.064453;      sigma2=0.130149;      f=0.886;
        }else if(driftDist<3.){
            sigma1=0.062383;      sigma2=0.138806;      f=0.942;
        }else if(driftDist<3.5){
            sigma1=0.061873;      sigma2=0.145696;      f=0.946;
        }else if(driftDist<4.){
            sigma1=0.061236;      sigma2=0.119584;      f=0.891;
        }else if(driftDist<4.5){
            sigma1=0.066292;      sigma2=0.148426;      f=0.917;
        }else if(driftDist<5.){
            sigma1=0.078074;      sigma2=0.188148;      f=0.911;
        }else if(driftDist<5.5){
            sigma1=0.088657;      sigma2=0.27548;      f=0.838;
        }else{
            sigma1=0.093089;      sigma2=0.115556;      f=0.367;
        }
    }else{
        if(driftDist<0.5){
            sigma1=0.112433;      sigma2=0.327548;      f=0.645;
        }else if(driftDist<1.){
            sigma1=0.096703;      sigma2=0.305206;      f=0.897;
        }else if(driftDist<1.5){
            sigma1=0.082518;      sigma2=0.248913;      f= 0.934;
        }else if(driftDist<2.){
            sigma1=0.072501;      sigma2=0.153868;      f= 0.899;
        }else if(driftDist<2.5){
            sigma1= 0.065535;     sigma2=0.14246;       f=0.914;
        }else if(driftDist<3.){
            sigma1=0.060497;      sigma2=0.126489;      f=0.918;
        }else if(driftDist<3.5){
            sigma1=0.057643;      sigma2= 0.112927;     f=0.892;
        }else if(driftDist<4.){
            sigma1=0.055266;      sigma2=0.094833;      f=0.887;
        }else if(driftDist<4.5){
            sigma1=0.056263;      sigma2=0.124419;      f= 0.932;
        }else if(driftDist<5.){
            sigma1=0.056599;      sigma2=0.124248;      f=0.923;
        }else if(driftDist<5.5){
            sigma1= 0.061377;     sigma2=0.146147;      f=0.964;
        }else if(driftDist<6.){
            sigma1=0.063978;      sigma2=0.150591;      f=0.942;
        }else if(driftDist<6.5){
            sigma1=0.072951;      sigma2=0.15685;       f=0.913;
        }else if(driftDist<7.){
            sigma1=0.085438;      sigma2=0.255109;      f=0.931;
        }else if(driftDist<7.5){
            sigma1=0.101635;      sigma2=0.315529;      f=0.878;
        }else{
            sigma1=0.149529;      sigma2=0.374697;      f=0.89;
        }
    }
    double sigmax = sqrt(f*sigma1*sigma1+(1 - f)*sigma2*sigma2)*0.1;
    return sigmax;//cm
}