G4ErrorFreeTrajState.cc

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// $Id: G4ErrorFreeTrajState.cc 71874 2013-06-27 13:39:59Z gunter $
//
// ------------------------------------------------------------
//      GEANT 4 class implementation file 
// ------------------------------------------------------------
//

#include <iomanip>

#include "G4PhysicalConstants.hh"
#include "G4SystemOfUnits.hh"
#include "G4Field.hh"
#include "G4FieldManager.hh"
#include "G4TransportationManager.hh"
#include "G4GeometryTolerance.hh"
#include "G4Material.hh"
#include "G4ErrorPropagatorData.hh"
#include "G4ErrorFreeTrajState.hh"
#include "G4ErrorFreeTrajParam.hh"
#include "G4ErrorSurfaceTrajState.hh"
#include "G4ErrorMatrix.hh"

//------------------------------------------------------------------------
G4ErrorFreeTrajState::G4ErrorFreeTrajState( const G4String& partName, const G4Point3D& pos, const G4Vector3D& mom, const G4ErrorTrajErr& errmat) : G4ErrorTrajState( partName, pos, mom, errmat )
{
  fTrajParam = G4ErrorFreeTrajParam( pos, mom );
  Init();
}


//------------------------------------------------------------------------
G4ErrorFreeTrajState::G4ErrorFreeTrajState( const G4ErrorSurfaceTrajState& tpSD ) : G4ErrorTrajState( tpSD.GetParticleType(), tpSD.GetPosition(), tpSD.GetMomentum() )
{
  // G4ThreeVector planeNormal = tpSD.GetPlaneNormal();
  // G4double fPt = tpSD.GetMomentum()*planeNormal;//mom projected on normal to plane  
  // G4ErrorSurfaceTrajParam tpSDparam = tpSD.GetParameters();
  // G4ThreeVector Psc = fPt * planeNormal + tpSDparam.GetPU()*tpSDparam.GetVectorU() + tpSD.GetPV()*tpSD.GetVectorW();

  fTrajParam = G4ErrorFreeTrajParam( fPosition, fMomentum );
  Init();

  //----- Get the error matrix in SC coordinates
  G4ErrorSurfaceTrajParam tpSDparam = tpSD.GetParameters();
  G4double mom = fMomentum.mag();
  G4double mom2 = fMomentum.mag2();
  G4double TVW1 = std::sqrt( mom2 / ( mom2 + tpSDparam.GetPV()*tpSDparam.GetPV() + tpSDparam.GetPW()*tpSDparam.GetPW()) );
  G4ThreeVector vTVW( TVW1, tpSDparam.GetPV()/mom * TVW1, tpSDparam.GetPW()/mom * TVW1 );
  G4Vector3D vectorU = tpSDparam.GetVectorV().cross(  tpSDparam.GetVectorW() );
  G4Vector3D vTN = vTVW.x()*vectorU + vTVW.y()*tpSDparam.GetVectorV() + vTVW.z()*tpSDparam.GetVectorW();

#ifdef G4EVERBOSE
   if( iverbose >= 5){
     G4double pc2 = std::asin( vTN.z() );
     G4double pc3 = std::atan (vTN.y()/vTN.x());
  
     G4cout << " CHECK: pc2 " << pc2 << " = " << GetParameters().GetLambda() <<  " diff " << pc2-GetParameters().GetLambda() << G4endl;
     G4cout << " CHECK: pc3 " << pc3 << " = " << GetParameters().GetPhi() <<  " diff " << pc3-GetParameters().GetPhi() << G4endl;
   }
#endif

  //--- Get the unit vectors perp to P 
  G4double cosl = std::cos( GetParameters().GetLambda() ); 
  if (cosl < 1.E-30) cosl = 1.E-30;
  G4double cosl1 = 1./cosl;
  G4Vector3D vUN(-vTN.y()*cosl1, vTN.x()*cosl1, 0. );
  G4Vector3D vVN(-vTN.z()*vUN.y(), vTN.z()*vUN.x(), cosl );

  G4Vector3D vUperp = G4Vector3D( -fMomentum.y(), fMomentum.x(), 0.);
  G4Vector3D vVperp = vUperp.cross( fMomentum );
  vUperp *= 1./vUperp.mag();
  vVperp *= 1./vVperp.mag();

#ifdef G4EVERBOSE
   if( iverbose >= 5 ){
     G4cout << " CHECK: vUN " << vUN << " = " << vUperp <<  " diff " << (vUN-vUperp).mag() << G4endl;
     G4cout << " CHECK: vVN " << vVN << " = " << vVperp <<  " diff " << (vVN-vVperp).mag() << G4endl;
   }
#endif

  //get the dot products of vectors perpendicular to direction and vector defining SD plane
  G4double dUU = vUperp * tpSD.GetVectorV();
  G4double dUV = vUperp * tpSD.GetVectorW();
  G4double dVU = vVperp * tpSD.GetVectorV();
  G4double dVV = vVperp * tpSD.GetVectorW();

  //--- Get transformation first
  G4ErrorMatrix transfM(5, 5, 1 );
  //--- Get magnetic field
  const G4Field* field = G4TransportationManager::GetTransportationManager()->GetFieldManager()->GetDetectorField();
  G4ThreeVector dir = fTrajParam.GetDirection();
  G4double invCosTheta = 1./std::cos( dir.theta() );
  G4cout << " dir="<<dir<<" invCosTheta "<<invCosTheta << G4endl;  

  if( fCharge != 0 && field ) {
    G4double pos1[3]; pos1[0] = fPosition.x()*cm; pos1[1] = fPosition.y()*cm; pos1[2] = fPosition.z()*cm;
    G4double h1[3];
    field->GetFieldValue( pos1, h1 );
    G4ThreeVector HPre = G4ThreeVector( h1[0], h1[1], h1[2] ) / tesla *10.;
    G4double magHPre = HPre.mag();
    G4double invP = 1./fMomentum.mag();
    G4double magHPreM = magHPre * invP;
    if( magHPre != 0. ) {
      G4double magHPreM2 = fCharge / magHPre;

      G4double Q = -magHPreM * c_light;
      G4double sinz = -HPre*vUperp * magHPreM2;
      G4double cosz =  HPre*vVperp * magHPreM2;

      transfM[1][3] = -Q*dir.y()*sinz;
      transfM[1][4] = -Q*dir.z()*sinz;
      transfM[2][3] = -Q*dir.y()*cosz*invCosTheta;
      transfM[2][4] = -Q*dir.z()*cosz*invCosTheta;
    }
  }

  transfM[0][0] = 1.;
  transfM[1][1] = dir.x()*dVU;
  transfM[1][2] = dir.x()*dVV;
  transfM[2][1] = dir.x()*dUU*invCosTheta;
  transfM[2][2] = dir.x()*dUV*invCosTheta;
  transfM[3][3] = dUU;
  transfM[3][4] = dUV;
  transfM[4][3] = dVU;
  transfM[4][4] = dVV;

  fError = G4ErrorTrajErr( tpSD.GetError().similarity( transfM ) );

#ifdef G4EVERBOSE
  if( iverbose >= 1) G4cout << "error matrix SD2SC " << fError << G4endl;
  if( iverbose >= 4) G4cout << "G4ErrorFreeTrajState from SD " << *this << G4endl;
#endif
}


//------------------------------------------------------------------------
void G4ErrorFreeTrajState::Init()
{
  theTSType = G4eTS_FREE;
  BuildCharge();
  theTransfMat = G4ErrorMatrix(5,5,0);
  theFirstStep = true;
}

//------------------------------------------------------------------------
void G4ErrorFreeTrajState::Dump( std::ostream& out ) const
{
  out << *this;
}

//------------------------------------------------------------------------
G4int G4ErrorFreeTrajState::Update( const G4Track* aTrack )
{
  G4int ierr = 0;
  fTrajParam.Update( aTrack );
  UpdatePosMom( aTrack->GetPosition(), aTrack->GetMomentum() );
  return ierr;
}


//------------------------------------------------------------------------
std::ostream& operator<<(std::ostream& out, const G4ErrorFreeTrajState& ts)
{
  std::ios::fmtflags orig_flags = out.flags();

  out.setf(std::ios::fixed,std::ios::floatfield);
  
  ts.DumpPosMomError( out );
 
  out << " G4ErrorFreeTrajState: Params: " << ts.fTrajParam << G4endl;

  out.flags(orig_flags);

  return out;
}


//------------------------------------------------------------------------
G4int G4ErrorFreeTrajState::PropagateError( const G4Track* aTrack )
{
  G4double stepLengthCm = aTrack->GetStep()->GetStepLength()/cm;
  if( G4ErrorPropagatorData::GetErrorPropagatorData()->GetStage() == G4ErrorStage_Deflation ) stepLengthCm *= -1.;

  G4double kCarTolerance = G4GeometryTolerance::GetInstance()->GetSurfaceTolerance();

  if( std::fabs(stepLengthCm) <= kCarTolerance/cm ) return 0;
  
#ifdef G4EVERBOSE
  if( iverbose >= 2 )G4cout << "  G4ErrorFreeTrajState::PropagateError " << G4endl;
  G4cout << "G4EP: iverbose="<< iverbose << G4endl;
#endif

  // * *** ERROR PROPAGATION ON A HELIX ASSUMING SC VARIABLES
  G4Point3D vposPost = aTrack->GetPosition()/cm;
  G4Vector3D vpPost = aTrack->GetMomentum()/GeV;
  //  G4Point3D vposPre = fPosition/cm;
  //  G4Vector3D vpPre = fMomentum/GeV;
  G4Point3D vposPre = aTrack->GetStep()->GetPreStepPoint()->GetPosition()/cm;
  G4Vector3D vpPre = aTrack->GetStep()->GetPreStepPoint()->GetMomentum()/GeV;
  //correct to avoid propagation along Z 
  if( vpPre.mag() == vpPre.z() ) vpPre.setX( 1.E-6*MeV );
  if( vpPost.mag() == vpPost.z() ) vpPost.setX( 1.E-6*MeV );

  G4double pPre = vpPre.mag();
  G4double pPost = vpPost.mag();
#ifdef G4EVERBOSE
  if( iverbose >= 2 ) {
    G4cout << "G4EP: vposPre " << vposPre << G4endl
              << "G4EP: vposPost " << vposPost << G4endl;
    G4cout << "G4EP: vpPre " << vpPre << G4endl
              << "G4EP: vpPost " << vpPost << G4endl;
    G4cout << " err start step " << fError << G4endl;
    G4cout << "G4EP: stepLengthCm " << stepLengthCm << G4endl;
  }
#endif

  if( pPre == 0. || pPost == 0 ) return 2;
  G4double pInvPre = 1./pPre;
  G4double pInvPost = 1./pPost;
  G4double deltaPInv = pInvPost - pInvPre;
  if( iverbose >= 2 ) G4cout << "G4EP:  pInvPre" << pInvPre<< "  pInvPost:" << pInvPost<<"  deltaPInv:" << deltaPInv<<   G4endl;


  G4Vector3D vpPreNorm = vpPre * pInvPre;
  G4Vector3D vpPostNorm = vpPost * pInvPost;
  if( iverbose >= 2 ) G4cout << "G4EP: vpPreNorm " << vpPreNorm << " vpPostNorm " << vpPostNorm << G4endl;
  //return if propagation along Z??  
  if( 1. - std::fabs(vpPostNorm.z()) < kCarTolerance ) return 4;
  G4double sinpPre = std::sin( vpPreNorm.theta() ); //cosine perpendicular to pPre = sine pPre
  G4double sinpPost = std::sin( vpPostNorm.theta() ); //cosine perpendicular to pPost = sine pPost
  G4double sinpPostInv = 1./std::sin( vpPreNorm.theta() );

#ifdef G4EVERBOSE
  if( iverbose >= 2 ) G4cout << "G4EP: cosl " << sinpPre << " cosl0 " << sinpPost << G4endl;
#endif
  //* *** DEFINE TRANSFORMATION MATRIX BETWEEN X1 AND X2 FOR
  //* *** NEUTRAL PARTICLE OR FIELDFREE REGION
  G4ErrorMatrix transf(5, 5, 0 );

  transf[3][2] = stepLengthCm * sinpPost;
  transf[4][1] = stepLengthCm;
  for( size_t ii=0;ii < 5; ii++ ){
    transf[ii][ii] = 1.;
  }
#ifdef G4EVERBOSE
  if( iverbose >= 2 ) {
    G4cout << "G4EP: transf matrix neutral " << transf;
  }
#endif

  //  charge X propagation direction
  G4double charge = aTrack->GetDynamicParticle()->GetCharge();
  if( G4ErrorPropagatorData::GetErrorPropagatorData()->GetMode() == G4ErrorMode_PropBackwards ) {
    charge *= -1.; 
  }
  //  G4cout << " charge " << charge << G4endl;
  //t check if particle has charge
  //t  if( charge == 0 ) goto 45;
  // check if the magnetic field is = 0.

  //position is from geant4, it is assumed to be in mm (for debugging, eventually it will not be transformed)
  //it is assumed vposPre[] is in cm and pos1[] is in mm.
  G4double pos1[3]; pos1[0] = vposPre.x()*cm; pos1[1] = vposPre.y()*cm; pos1[2] = vposPre.z()*cm;
  G4double pos2[3]; pos2[0] = vposPost.x()*cm; pos2[1] = vposPost.y()*cm; pos2[2] = vposPost.z()*cm;
  G4double h1[3], h2[3];

  const G4Field* field = G4TransportationManager::GetTransportationManager()->GetFieldManager()->GetDetectorField();
  if( !field ) return 0; //goto 45



  // calculate transformation except it NEUTRAL PARTICLE OR FIELDFREE REGION
  if( charge != 0. && field ) {

    field->GetFieldValue( pos1, h1 ); //here pos1[], pos2[] are in mm, not changed
    field->GetFieldValue( pos2, h2 );
    G4ThreeVector HPre = G4ThreeVector( h1[0], h1[1], h1[2] ) / tesla *10.; //10. is to get same dimensions as GEANT3 (kilogauss)
    G4ThreeVector HPost= G4ThreeVector( h2[0], h2[1], h2[2] ) / tesla *10.;
    G4double magHPre = HPre.mag();
    G4double magHPost = HPost.mag();
#ifdef G4EVERBOSE
    if( iverbose >= 2 ) {
      G4cout << "G4EP: h1 = "
             << h1[0] << ", " << h1[1] << ", " << h1[2] << G4endl;
      G4cout << "G4EP: pos1/mm = "
             << pos1[0] << ", " << pos1[1] << ", " << pos1[2] << G4endl;
      G4cout << "G4EP: pos2/mm = "
             << pos2[0] << ", " << pos2[1] << ", " << pos2[2] << G4endl;
      G4cout << "G4EP: B-filed in KGauss HPre " << HPre << G4endl
         << "G4EP: in KGauss HPost " << HPost << G4endl;
    }
#endif
    
  if( magHPre + magHPost != 0. ) {
      
   //* *** CHECK WHETHER H*ALFA/P IS TOO DIFFERENT AT X1 AND X2
    G4double gam;
    if( magHPost != 0. ){ 
      gam = HPost * vpPostNorm / magHPost;
    }else {
      gam = HPre * vpPreNorm / magHPre;
    }
    
    // G4eMagneticLimitsProcess will limit the step, but based on an straight line trajectory
    G4double alphaSqr = 1. - gam * gam;
    G4double diffHSqr = ( HPre * pInvPre - HPost * pInvPost ).mag2();
    G4double delhp6Sqr = 300.*300.; 
#ifdef G4EVERBOSE
    if( iverbose >= 2 ) {
      G4cout << " G4EP: gam " << gam << " alphaSqr " << alphaSqr
             << " diffHSqr " << diffHSqr << G4endl;
      G4cout << " alpha= " << std::sqrt(alphaSqr) << G4endl;
    }
#endif
    if( diffHSqr * alphaSqr > delhp6Sqr ) return 3;


    //* *** DEFINE AVERAGE MAGNETIC FIELD AND GRADIENT
    G4double pInvAver = 1./(pInvPre + pInvPost );
    G4double CFACT8 = 2.997925E-4; 
    //G4double HAver
    G4ThreeVector vHAverNorm( (HPre*pInvPre + HPost*pInvPost ) * pInvAver * charge * CFACT8 );
    G4double HAver = vHAverNorm.mag();
    G4double invHAver = 1./HAver;
    vHAverNorm *= invHAver;
#ifdef G4EVERBOSE
    if( iverbose >= 2 ) G4cout << " G4EP: HaverNorm " << vHAverNorm << " magHAver " << HAver << " charge " << charge<< G4endl;
#endif

    G4double pAver = (pPre+pPost)*0.5;
    G4double QAver = -HAver/pAver;
    G4double thetaAver = QAver * stepLengthCm;
    G4double sinThetaAver = std::sin(thetaAver);
    G4double cosThetaAver = std::cos(thetaAver);
    G4double gamma = vHAverNorm * vpPostNorm;
    G4ThreeVector AN2 = vHAverNorm.cross( vpPostNorm );
    
#ifdef G4EVERBOSE
    if( iverbose >= 2 ) G4cout << " G4EP: AN2 " << AN2 << "  gamma:"<<gamma<< "  theta="<< thetaAver<<G4endl;
#endif
    G4double AU = 1./vpPreNorm.perp();
    //t  G4ThreeVector vU( vpPreNorm.cross( G4ThreeVector(0.,0.,1.) ) * AU );
    G4ThreeVector vUPre( -AU*vpPreNorm.y(), 
                      AU*vpPreNorm.x(), 
                      0. );
    G4ThreeVector vVPre( -vpPreNorm.z()*vUPre.y(), 
                      vpPreNorm.z()*vUPre.x(), 
                      vpPreNorm.x()*vUPre.y() - vpPreNorm.y()*vUPre.x() );
    
    //
    AU = 1./vpPostNorm.perp();
    //t  G4ThreeVector vU( vpPostNorm.cross( G4ThreeVector(0.,0.,1.) ) * AU );
    G4ThreeVector vUPost( -AU*vpPostNorm.y(), 
                       AU*vpPostNorm.x(), 
                       0. );
    G4ThreeVector vVPost( -vpPostNorm.z()*vUPost.y(), 
                       vpPostNorm.z()*vUPost.x(), 
                       vpPostNorm.x()*vUPost.y() - vpPostNorm.y()*vUPost.x() );
#ifdef G4EVERBOSE
    G4cout << " vpPostNorm " << vpPostNorm << G4endl;
    if( iverbose >= 2 ) G4cout << " G4EP: AU " << AU << " vUPre " << vUPre << " vVPre " << vVPre << " vUPost " << vUPost << " vVPost " << vVPost << G4endl;
#endif
    G4Point3D deltaPos( vposPre - vposPost );

    // * *** COMPLETE TRANSFORMATION MATRIX BETWEEN ERRORS AT X1 AND X2
    // * *** FIELD GRADIENT PERPENDICULAR TO TRACK IS PRESENTLY NOT
    // * *** TAKEN INTO ACCOUNT
    
    G4double QP = QAver * pAver; // = -HAver
#ifdef G4EVERBOSE
    if( iverbose >= 2) G4cout << " G4EP: QP " << QP << " QAver " << QAver << " pAver " << pAver << G4endl;
#endif
    G4double ANV = -( vHAverNorm.x()*vUPost.x() + vHAverNorm.y()*vUPost.y() );
    G4double ANU = ( vHAverNorm.x()*vVPost.x() + vHAverNorm.y()*vVPost.y() + vHAverNorm.z()*vVPost.z() );
    G4double OMcosThetaAver = 1. - cosThetaAver;
#ifdef G4EVERBOSE
    if( iverbose >= 2) G4cout << "G4EP: OMcosThetaAver " << OMcosThetaAver << " cosThetaAver " << cosThetaAver << " thetaAver " << thetaAver << " QAver " << QAver << " stepLengthCm " << stepLengthCm << G4endl;
#endif
    G4double TMSINT = thetaAver - sinThetaAver;
#ifdef G4EVERBOSE
    if( iverbose >= 2 ) G4cout << " G4EP: ANV " << ANV << " ANU " << ANU << G4endl;
#endif
    
    G4ThreeVector vHUPre( -vHAverNorm.z() * vUPre.y(),
                          vHAverNorm.z() * vUPre.x(),
                          vHAverNorm.x() * vUPre.y() - vHAverNorm.y() * vUPre.x() );
#ifdef G4EVERBOSE
    //    if( iverbose >= 2 ) G4cout << "G4EP: HUPre(1) " << vHUPre.x() << " " << vHAverNorm.z() << " " << vUPre.y() << G4endl;
#endif
    G4ThreeVector vHVPre( vHAverNorm.y() * vVPre.z() - vHAverNorm.z() * vVPre.y(),
                          vHAverNorm.z() * vVPre.x() - vHAverNorm.x() * vVPre.z(),
                          vHAverNorm.x() * vVPre.y() - vHAverNorm.y() * vVPre.x() );
#ifdef G4EVERBOSE
    if( iverbose >= 2 ) G4cout << " G4EP: HUPre " << vHUPre << " HVPre " << vHVPre << G4endl;
#endif
    
    //------------------- COMPUTE MATRIX
    //---------- 1/P
    
    transf[0][0] = 1.-deltaPInv*pAver*(1.+(vpPostNorm.x()*deltaPos.x()+vpPostNorm.y()*deltaPos.y()+vpPostNorm.z()*deltaPos.z())/stepLengthCm)
      +2.*deltaPInv*pAver;
    
    transf[0][1] =  -deltaPInv/thetaAver*
      ( TMSINT*gamma*(vHAverNorm.x()*vVPre.x()+vHAverNorm.y()*vVPre.y()+vHAverNorm.z()*vVPre.z()) +
        sinThetaAver*(vVPre.x()*vpPostNorm.x()+vVPre.y()*vpPostNorm.y()+vVPre.z()*vpPostNorm.z()) +
        OMcosThetaAver*(vHVPre.x()*vpPostNorm.x()+vHVPre.y()*vpPostNorm.y()+vHVPre.z()*vpPostNorm.z()) );
    
    transf[0][2] =  -sinpPre*deltaPInv/thetaAver*
      ( TMSINT*gamma*(vHAverNorm.x()*vUPre.x()+vHAverNorm.y()*vUPre.y()            ) +
        sinThetaAver*(vUPre.x()*vpPostNorm.x()+vUPre.y()*vpPostNorm.y()            ) +
        OMcosThetaAver*(vHUPre.x()*vpPostNorm.x()+vHUPre.y()*vpPostNorm.y()+vHUPre.z()*vpPostNorm.z()) );
    
    transf[0][3] =  -deltaPInv/stepLengthCm*(vUPre.x()*vpPostNorm.x()+vUPre.y()*vpPostNorm.y()            );
    
    transf[0][4] =  -deltaPInv/stepLengthCm*(vVPre.x()*vpPostNorm.x()+vVPre.y()*vpPostNorm.y()+vVPre.z()*vpPostNorm.z());
    
    // ***   Lambda
    transf[1][0] = -QP*ANV*(vpPostNorm.x()*deltaPos.x()+vpPostNorm.y()*deltaPos.y()+vpPostNorm.z()*deltaPos.z())
      *(1.+deltaPInv*pAver);
#ifdef G4EVERBOSE
     if(iverbose >= 3) G4cout << "ctransf10= " << transf[1][0]  << " " <<  -QP<< " " << ANV<< " " << vpPostNorm.x()<< " " << deltaPos.x()<< " " << vpPostNorm.y()<< " " << deltaPos.y()<< " " << vpPostNorm.z()<< " " << deltaPos.z()
      << " " << deltaPInv<< " " << pAver << G4endl;
#endif
    
    transf[1][1] = cosThetaAver*(vVPre.x()*vVPost.x()+vVPre.y()*vVPost.y()+vVPre.z()*vVPost.z()) +
      sinThetaAver*(vHVPre.x()*vVPost.x()+vHVPre.y()*vVPost.y()+vHVPre.z()*vVPost.z()) +
      OMcosThetaAver*(vHAverNorm.x()*vVPre.x()+vHAverNorm.y()*vVPre.y()+vHAverNorm.z()*vVPre.z())*
      (vHAverNorm.x()*vVPost.x()+vHAverNorm.y()*vVPost.y()+vHAverNorm.z()*vVPost.z()) +
      ANV*( -sinThetaAver*(vVPre.x()*vpPostNorm.x()+vVPre.y()*vpPostNorm.y()+vVPre.z()*vpPostNorm.z()) +
            OMcosThetaAver*(vVPre.x()*AN2.x()+vVPre.y()*AN2.y()+vVPre.z()*AN2.z()) -
            TMSINT*gamma*(vHAverNorm.x()*vVPre.x()+vHAverNorm.y()*vVPre.y()+vHAverNorm.z()*vVPre.z()) );
    
    transf[1][2] = cosThetaAver*(vUPre.x()*vVPost.x()+vUPre.y()*vVPost.y()            ) +
      sinThetaAver*(vHUPre.x()*vVPost.x()+vHUPre.y()*vVPost.y()+vHUPre.z()*vVPost.z()) +
      OMcosThetaAver*(vHAverNorm.x()*vUPre.x()+vHAverNorm.y()*vUPre.y()            )*
      (vHAverNorm.x()*vVPost.x()+vHAverNorm.y()*vVPost.y()+vHAverNorm.z()*vVPost.z()) +
      ANV*( -sinThetaAver*(vUPre.x()*vpPostNorm.x()+vUPre.y()*vpPostNorm.y()            ) +
            OMcosThetaAver*(vUPre.x()*AN2.x()+vUPre.y()*AN2.y()             ) -
            TMSINT*gamma*(vHAverNorm.x()*vUPre.x()+vHAverNorm.y()*vUPre.y()            ) );
    transf[1][2] = sinpPre*transf[1][2];
    
    transf[1][3] = -QAver*ANV*(vUPre.x()*vpPostNorm.x()+vUPre.y()*vpPostNorm.y()            );
    
    transf[1][4] = -QAver*ANV*(vVPre.x()*vpPostNorm.x()+vVPre.y()*vpPostNorm.y()+vVPre.z()*vpPostNorm.z());
    
    // ***   Phi
    
    transf[2][0] = -QP*ANU*(vpPostNorm.x()*deltaPos.x()+vpPostNorm.y()*deltaPos.y()+vpPostNorm.z()*deltaPos.z())*sinpPostInv
      *(1.+deltaPInv*pAver);
#ifdef G4EVERBOSE
   if(iverbose >= 3)G4cout <<"ctransf20= " << transf[2][0] <<" "<< -QP<<" "<<ANU<<" "<<vpPostNorm.x()<<" "<<deltaPos.x()<<" "<<vpPostNorm.y()<<" "<<deltaPos.y()<<" "<<vpPostNorm.z()<<" "<<deltaPos.z()<<" "<<sinpPostInv
         <<" "<<deltaPInv<<" "<<pAver<< G4endl;
#endif
    transf[2][1] = cosThetaAver*(vVPre.x()*vUPost.x()+vVPre.y()*vUPost.y()            ) +
      sinThetaAver*(vHVPre.x()*vUPost.x()+vHVPre.y()*vUPost.y()             ) +
      OMcosThetaAver*(vHAverNorm.x()*vVPre.x()+vHAverNorm.y()*vVPre.y()+vHAverNorm.z()*vVPre.z())*
      (vHAverNorm.x()*vUPost.x()+vHAverNorm.y()*vUPost.y()            ) +
      ANU*( -sinThetaAver*(vVPre.x()*vpPostNorm.x()+vVPre.y()*vpPostNorm.y()+vVPre.z()*vpPostNorm.z()) +
            OMcosThetaAver*(vVPre.x()*AN2.x()+vVPre.y()*AN2.y()+vVPre.z()*AN2.z()) -
            TMSINT*gamma*(vHAverNorm.x()*vVPre.x()+vHAverNorm.y()*vVPre.y()+vHAverNorm.z()*vVPre.z()) );
    transf[2][1] = sinpPostInv*transf[2][1];
    
    transf[2][2] = cosThetaAver*(vUPre.x()*vUPost.x()+vUPre.y()*vUPost.y()            ) +
      sinThetaAver*(vHUPre.x()*vUPost.x()+vHUPre.y()*vUPost.y()             ) +
      OMcosThetaAver*(vHAverNorm.x()*vUPre.x()+vHAverNorm.y()*vUPre.y()            )*
      (vHAverNorm.x()*vUPost.x()+vHAverNorm.y()*vUPost.y()            ) +
      ANU*( -sinThetaAver*(vUPre.x()*vpPostNorm.x()+vUPre.y()*vpPostNorm.y()            ) +
            OMcosThetaAver*(vUPre.x()*AN2.x()+vUPre.y()*AN2.y()             ) -
            TMSINT*gamma*(vHAverNorm.x()*vUPre.x()+vHAverNorm.y()*vUPre.y()            ) );
    transf[2][2] = sinpPostInv*sinpPre*transf[2][2];
    
    transf[2][3] = -QAver*ANU*(vUPre.x()*vpPostNorm.x()+vUPre.y()*vpPostNorm.y()            )*sinpPostInv;
#ifdef G4EVERBOSE
    if(iverbose >= 3)G4cout <<"ctransf23= " << transf[2][3] <<" "<< -QAver<<" "<<ANU<<" "<<vUPre.x()<<" "<<vpPostNorm.x()<<" "<< vUPre.y()<<" "<<vpPostNorm.y()<<" "<<sinpPostInv<<G4endl;
#endif
    
    transf[2][4] = -QAver*ANU*(vVPre.x()*vpPostNorm.x()+vVPre.y()*vpPostNorm.y()+vVPre.z()*vpPostNorm.z())*sinpPostInv;
    
    // ***   Yt
    
    transf[3][0] = pAver*(vUPost.x()*deltaPos.x()+vUPost.y()*deltaPos.y() )
      *(1.+deltaPInv*pAver);
#ifdef G4EVERBOSE
   if(iverbose >= 3) G4cout <<"ctransf30= " << transf[3][0] <<" "<< pAver<<" "<<vUPost.x()<<" "<<deltaPos.x()<<" "<<vUPost.y()<<" "<<deltaPos.y()  
      <<" "<<deltaPInv<<" "<<pAver<<G4endl;
#endif

    transf[3][1] = (   sinThetaAver*(vVPre.x()*vUPost.x()+vVPre.y()*vUPost.y()            ) +
                       OMcosThetaAver*(vHVPre.x()*vUPost.x()+vHVPre.y()*vUPost.y()             ) +
                       TMSINT*(vHAverNorm.x()*vUPost.x()+vHAverNorm.y()*vUPost.y()            )*
                       (vHAverNorm.x()*vVPre.x()+vHAverNorm.y()*vVPre.y()+vHAverNorm.z()*vVPre.z()) )/QAver;
    
    transf[3][2] = (   sinThetaAver*(vUPre.x()*vUPost.x()+vUPre.y()*vUPost.y()            ) +
                       OMcosThetaAver*(vHUPre.x()*vUPost.x()+vHUPre.y()*vUPost.y()             ) +
                       TMSINT*(vHAverNorm.x()*vUPost.x()+vHAverNorm.y()*vUPost.y()            )*
                       (vHAverNorm.x()*vUPre.x()+vHAverNorm.y()*vUPre.y()            ) )*sinpPre/QAver;
#ifdef G4EVERBOSE 
   if(iverbose >= 3) G4cout <<"ctransf32= " << transf[3][2] <<" "<< sinThetaAver<<" "<<vUPre.x()<<" "<<vUPost.x()<<" "<<vUPre.y()<<" "<<vUPost.y() <<" "<<
                       OMcosThetaAver<<" "<<vHUPre.x()<<" "<<vUPost.x()<<" "<<vHUPre.y()<<" "<<vUPost.y() <<" "<<
                       TMSINT<<" "<<vHAverNorm.x()<<" "<<vUPost.x()<<" "<<vHAverNorm.y()<<" "<<vUPost.y() <<" "<<
      vHAverNorm.x()<<" "<<vUPre.x()<<" "<<vHAverNorm.y()<<" "<<vUPre.y() <<" "<<sinpPre<<" "<<QAver<<G4endl;
#endif
   
    transf[3][3] = (vUPre.x()*vUPost.x()+vUPre.y()*vUPost.y()            );
    
    transf[3][4] = (vVPre.x()*vUPost.x()+vVPre.y()*vUPost.y()            );

    // ***   Zt
    transf[4][0] = pAver*(vVPost.x()*deltaPos.x()+vVPost.y()*deltaPos.y()+vVPost.z()*deltaPos.z())
      *(1.+deltaPInv*pAver);
   
    transf[4][1] = (   sinThetaAver*(vVPre.x()*vVPost.x()+vVPre.y()*vVPost.y()+vVPre.z()*vVPost.z()) +
                       OMcosThetaAver*(vHVPre.x()*vVPost.x()+vHVPre.y()*vVPost.y()+vHVPre.z()*vVPost.z()) +
                       TMSINT*(vHAverNorm.x()*vVPost.x()+vHAverNorm.y()*vVPost.y()+vHAverNorm.z()*vVPost.z())*
                       (vHAverNorm.x()*vVPre.x()+vHAverNorm.y()*vVPre.y()+vHAverNorm.z()*vVPre.z()) )/QAver;
#ifdef G4EVERBOSE
    if(iverbose >= 3)G4cout <<"ctransf41= " << transf[4][1] <<" "<< sinThetaAver<<" "<< OMcosThetaAver <<" "<<TMSINT<<" "<< vVPre <<" "<<vVPost <<" "<<vHVPre<<" "<<vHAverNorm <<" "<< QAver<<G4endl;
#endif
    
    transf[4][2] = (   sinThetaAver*(vUPre.x()*vVPost.x()+vUPre.y()*vVPost.y()            ) +
                       OMcosThetaAver*(vHUPre.x()*vVPost.x()+vHUPre.y()*vVPost.y()+vHUPre.z()*vVPost.z()) +
                       TMSINT*(vHAverNorm.x()*vVPost.x()+vHAverNorm.y()*vVPost.y()+vHAverNorm.z()*vVPost.z())*
                       (vHAverNorm.x()*vUPre.x()+vHAverNorm.y()*vUPre.y()            ) )*sinpPre/QAver;

    transf[4][3] = (vUPre.x()*vVPost.x()+vUPre.y()*vVPost.y()  );

    transf[4][4] = (vVPre.x()*vVPost.x()+vVPre.y()*vVPost.y()+vVPre.z()*vVPost.z()); 
    //   if(iverbose >= 3) G4cout <<"ctransf44= " << transf[4][4] <<" "<< vVPre.x()  <<" "<<vVPost.x() <<" "<< vVPre.y() <<" "<< vVPost.y() <<" "<< vVPre.z() <<" "<< vVPost.z() << G4endl;

  
#ifdef G4EVERBOSE
    if( iverbose >= 1 ) G4cout << "G4EP: transf matrix computed " << transf << G4endl;
#endif
    /*    for( G4int ii=0;ii<5;ii++){
      for( G4int jj=0;jj<5;jj++){
        G4cout << transf[ii][jj] << " ";
      }
      G4cout << G4endl;
      } */
   }
  }
  // end of calculate transformation except it NEUTRAL PARTICLE OR FIELDFREE REGION
  /*  if( iverbose >= 1 ) G4cout << "G4EP: transf not updated but initialized " << theFirstStep << G4endl;
  if( theFirstStep ) {
    theTransfMat = transf;
    theFirstStep = false;
  }else{
    theTransfMat = theTransfMat * transf;
    if( iverbose >= 1 ) G4cout << "G4EP: transf matrix accumulated" << theTransfMat << G4endl;
  } 
  */
    theTransfMat = transf;
#ifdef G4EVERBOSE
    if( iverbose >= 1 ) G4cout << "G4EP: error matrix before transformation " << fError << G4endl;
    if( iverbose >= 2 ) G4cout << " tf * err " << theTransfMat * fError << G4endl
                                  << " transf matrix " << theTransfMat.T() << G4endl;
#endif
    
    fError = fError.similarity(theTransfMat).T();
    //-    fError = transf * fError * transf.T();
#ifdef G4EVERBOSE
    if( iverbose >= 1 ) G4cout << "G4EP: error matrix propagated " << fError << G4endl;
#endif

    //? S = B*S*BT S.similarity(B)
    //? R = S
    // not needed * *** TRANSFORM ERROR MATRIX FROM INTERNAL TO EXTERNAL VARIABLES;
    
    PropagateErrorMSC( aTrack );
    
    PropagateErrorIoni( aTrack );
    
    return 0;
}


//------------------------------------------------------------------------
G4int G4ErrorFreeTrajState::PropagateErrorMSC( const G4Track* aTrack )
{ 
  G4ThreeVector vpPre = aTrack->GetMomentum()/GeV;
  G4double pPre = vpPre.mag();
  G4double pBeta = pPre*pPre / (aTrack->GetTotalEnergy()/GeV);
  G4double  stepLengthCm = aTrack->GetStep()->GetStepLength()/cm;

  G4Material* mate = aTrack->GetVolume()->GetLogicalVolume()->GetMaterial();
  G4double effZ, effA;
  CalculateEffectiveZandA( mate, effZ, effA );

#ifdef G4EVERBOSE
  if( iverbose >= 4 ) G4cout << "material " << mate->GetName() 
                     //<< " " << mate->GetZ() << " "  << mate->GetA() 
                        << " effZ:" << effZ << " effA:" << effA
                        << " dens(g/mole):"  << mate->GetDensity()/g*mole << " Radlen/cm:" << mate->GetRadlen()/cm << " nuclLen/cm" << mate->GetNuclearInterLength()/cm << G4endl;
#endif

  G4double RI = stepLengthCm / (mate->GetRadlen()/cm);
#ifdef G4EVERBOSE
  if( iverbose >= 4 ) G4cout << std::setprecision(6) << std::setw(6) << "G4EP:MSC: RI=X/X0 " << RI << " stepLengthCm " << stepLengthCm << " radlen/cm " << (mate->GetRadlen()/cm) << " RI*1.e10:" << RI*1.e10 << G4endl;
#endif
  G4double charge = aTrack->GetDynamicParticle()->GetCharge();
  G4double DD = 1.8496E-4*RI*(charge/pBeta * charge/pBeta );
#ifdef G4EVERBOSE
  if( iverbose >= 3 ) G4cout << "G4EP:MSC: D*1E6= " << DD*1.E6 <<" pBeta " << pBeta << G4endl;
#endif
  G4double S1 = DD*stepLengthCm*stepLengthCm/3.;
  G4double S2 = DD;
  G4double S3 = DD*stepLengthCm/2.;

  G4double CLA = std::sqrt( vpPre.x() * vpPre.x() + vpPre.y() * vpPre.y() )/pPre;
#ifdef G4EVERBOSE
  if( iverbose >= 2 ) G4cout << std::setw(6) << "G4EP:MSC: RI " << RI << " S1 " << S1 << " S2 "  << S2 << " S3 "  << S3 << " CLA " << CLA << G4endl;
#endif
  fError[1][1] += S2;
  fError[1][4] -= S3;
  fError[2][2] += S2/CLA/CLA;
  fError[2][3] += S3/CLA;
  fError[3][3] += S1;
  fError[4][4] += S1;

#ifdef G4EVERBOSE
  if( iverbose >= 2 ) G4cout << "G4EP:MSC: error matrix propagated msc " << fError << G4endl;
#endif

  return 0;
}


//------------------------------------------------------------------------
void G4ErrorFreeTrajState::CalculateEffectiveZandA( const G4Material* mate, G4double& effZ, G4double& effA )
{ 
  effZ = 0.;
  effA = 0.;
  G4int ii, nelem = mate->GetNumberOfElements();
  const G4double* fracVec = mate->GetFractionVector();
  for(ii=0; ii < nelem; ii++ ) {
    effZ += mate->GetElement( ii )->GetZ() * fracVec[ii];
    effA += mate->GetElement( ii )->GetA() * fracVec[ii] /g*mole;
  }

}


//------------------------------------------------------------------------
G4int G4ErrorFreeTrajState::PropagateErrorIoni( const G4Track* aTrack )
{ 
  G4double stepLengthCm = aTrack->GetStep()->GetStepLength()/cm;
#ifdef G4EVERBOSE
  G4double DEDX2;
  if( stepLengthCm < 1.E-7 ) {
    DEDX2=0.;
  }
#endif
  //  *     Calculate xi factor (KeV).
  G4Material* mate = aTrack->GetVolume()->GetLogicalVolume()->GetMaterial();
  G4double effZ, effA;
  CalculateEffectiveZandA( mate, effZ, effA );

  G4double Etot = aTrack->GetTotalEnergy()/GeV;
  G4double beta = aTrack->GetMomentum().mag()/GeV / Etot;
  G4double mass = aTrack->GetDynamicParticle()->GetMass() / GeV;
  G4double gamma = Etot / mass;
  
  // *     Calculate xi factor (keV).
  G4double XI = 153.5*effZ*stepLengthCm*(mate->GetDensity()/mg*mole) / 
    (effA*beta*beta);

#ifdef G4EVERBOSE
  if( iverbose >= 2 ){
    G4cout << "G4EP:IONI: XI/keV " << XI << " beta " << beta << " gamma " << gamma << G4endl;
    G4cout << " density " << (mate->GetDensity()/mg*mole) << " effA " << effA << " step " << stepLengthCm << G4endl;
  }
#endif
  // *     Maximum energy transfer to atomic electron (KeV).
  G4double eta = beta*gamma;
  G4double etasq = eta*eta;
  G4double eMass = 0.51099906/GeV;
  G4double massRatio = eMass / mass;
  G4double F1 = 2*eMass*etasq;
  G4double F2 = 1. + 2. * massRatio * gamma + massRatio * massRatio;
  G4double Emax = 1.E+6*F1/F2; // now in keV

  //  * *** and now sigma**2  in GeV
  G4double dedxSq = XI*Emax*(1.-(beta*beta/2.))*1.E-12; // now in GeV^2
  /*The above  formula for var(1/p) good for dens scatterers. However, for MIPS passing
    through a gas it leads to overestimation. Further more for incident electrons
    the Emax is almost equal to incident energy.
    This leads  to  k=Xi/Emax  as small as e-6  and gradually the cov matrix  explodes.

    http://www2.pv.infn.it/~rotondi/kalman_1.pdf
    
    Since I do not have enough info at the moment to implement Landau & sub-Landau models for k=Xi/Emax <0.01 I'll saturate k at this value for now
  */

  if (XI/Emax<0.01)  dedxSq *=XI/Emax*100  ;// Quench for low Elos, see above: newVar=odVar *k/0.01
  
#ifdef G4EVERBOSE
  if( iverbose >= 2 )  G4cout << "G4EP:IONI: DEDX^2(GeV^2) " << dedxSq << " emass/GeV: " << eMass << " Emax/keV: " << Emax 
                  <<"  k=Xi/Emax="<< XI/Emax<<     G4endl;
  
#endif

  G4double pPre6 = (aTrack->GetStep()->GetPreStepPoint()->GetMomentum()/GeV).mag();
  pPre6 = std::pow(pPre6, 6 );
  //Apply it to error 
  fError[0][0] += Etot*Etot*dedxSq / pPre6;
#ifdef G4EVERBOSE
  if( iverbose >= 2 ) G4cout << "G4:IONI Etot/GeV: " << Etot << " err_dedx^2/GeV^2: " << dedxSq << " p^6: " << pPre6 << G4endl;
  if( iverbose >= 2 ) G4cout << "G4EP:IONI: error2_from_ionisation " << (Etot*Etot*dedxSq) / pPre6 << G4endl;
#endif

  return 0;
}