refactor!: Clean track EDM projector (#3605)

Clean deprecated projector functions from `TrackStateProxy` and rename the new methods to something recognizable. Also deals with the ACTS internal downstream changes.

<!-- This is an auto-generated comment: release notes by coderabbit.ai -->
## Summary by CodeRabbit

- **New Features**
	- Enhanced handling of projector subspace indices across various components for improved accuracy in alignment and calibration processes.

- **Bug Fixes**
	- Updated method calls to ensure consistent use of `setProjectorSubspaceIndices`, enhancing the clarity and functionality of the track state management.

- **Documentation**
	- Minor adjustments to comments for better clarity on the changes related to projector handling.

- **Tests**
	- Updated test cases to reflect changes in method names and ensure proper validation of projector subspace indices.
<!-- end of auto-generated comment: release notes by coderabbit.ai -->

Alignment/include/ActsAlignment/Kernel/detail/AlignmentEngine.hpp

@@ -208,7 +208,9 @@ TrackAlignmentState trackAlignmentState(
                                            measdim) = measCovariance;
 
     // (b) Get and fill the bound parameters to measurement projection matrix
-    const ActsDynamicMatrix H = state.effectiveProjector();
+    const ActsDynamicMatrix H =
+        state.projectorSubspaceHelper().fullProjector().topLeftCorner(
+            measdim, eBoundSize);
     alignState.projectionMatrix.block(iMeasurement, iParams, measdim,
                                       eBoundSize) = H;
     // (c) Get and fill the residual

Core/include/Acts/EventData/SubspaceHelpers.hpp

@@ -14,8 +14,7 @@
 #include "Acts/Utilities/AlgebraHelpers.hpp"
 #include "Acts/Utilities/Enumerate.hpp"
 
-#include <bitset>
-#include <span>
+#include <ranges>
 
 #include <boost/container/static_vector.hpp>
 
@@ -25,30 +24,30 @@ namespace Acts {
 ///
 /// Indices must be unique and within the full size of the subspace
 ///
-/// @tparam Container type of the container
+/// @tparam index_range_t the type of the container of indices
 ///
-/// @param container the container of indices
+/// @param indexRange the range of indices
 /// @param fullSize the full size of the subspace
 /// @param subspaceSize the size of the subspace
 ///
 /// @return true if the indices are consistent
-template <typename Container>
-inline static bool checkSubspaceIndices(const Container& container,
+template <std::ranges::sized_range index_range_t>
+inline static bool checkSubspaceIndices(const index_range_t& indexRange,
                                         std::size_t fullSize,
                                         std::size_t subspaceSize) {
   if (subspaceSize > fullSize) {
     return false;
   }
-  if (static_cast<std::size_t>(container.size()) != subspaceSize) {
+  if (static_cast<std::size_t>(indexRange.size()) != subspaceSize) {
     return false;
   }
-  for (auto it = container.begin(); it != container.end();) {
+  for (auto it = indexRange.begin(); it != indexRange.end();) {
     auto index = *it;
     if (index >= fullSize) {
       return false;
     }
     ++it;
-    if (std::find(it, container.end(), index) != container.end()) {
+    if (std::find(it, indexRange.end(), index) != indexRange.end()) {
       return false;
     }
   }
@@ -69,7 +68,8 @@ inline static SerializedSubspaceIndices serializeSubspaceIndices(
 {
   SerializedSubspaceIndices result = 0;
   for (std::size_t i = 0; i < FullSize; ++i) {
-    result |= static_cast<SerializedSubspaceIndices>(indices[i]) << (i * 8);
+    result |= static_cast<SerializedSubspaceIndices>(indices[i] & 0xFF)
+              << (i * 8);
   }
   return result;
 }
@@ -88,7 +88,7 @@ inline static SubspaceIndices<FullSize> deserializeSubspaceIndices(
 {
   SubspaceIndices<FullSize> result;
   for (std::size_t i = 0; i < FullSize; ++i) {
-    result[i] = static_cast<std::uint8_t>(serialized >> (i * 8));
+    result[i] = static_cast<std::uint8_t>((serialized >> (i * 8)) & 0xFF);
   }
   return result;
 }
@@ -187,8 +187,8 @@ class VariableSubspaceHelper
   using IndexType = index_t;
   using Container = boost::container::static_vector<IndexType, FullSize>;
 
-  template <typename OtherContainer>
-  explicit VariableSubspaceHelper(const OtherContainer& indices) {
+  template <std::ranges::sized_range other_index_range_t>
+  explicit VariableSubspaceHelper(const other_index_range_t& indices) {
     assert(checkSubspaceIndices(indices, kFullSize, indices.size()) &&
            "Invalid indices");
     m_indices.resize(indices.size());
@@ -236,8 +236,8 @@ class FixedSubspaceHelper
   using IndexType = index_t;
   using Container = std::array<IndexType, kSubspaceSize>;
 
-  template <typename OtherContainer>
-  explicit FixedSubspaceHelper(const OtherContainer& indices) {
+  template <std::ranges::sized_range other_index_range_t>
+  explicit FixedSubspaceHelper(const other_index_range_t& indices) {
     assert(checkSubspaceIndices(indices, kFullSize, kSubspaceSize) &&
            "Invalid indices");
     std::transform(indices.begin(), indices.end(), m_indices.begin(),

Core/include/Acts/EventData/TrackStateProxy.hpp

@@ -8,7 +8,6 @@
 
 #pragma once
 
-#include "Acts/Definitions/Algebra.hpp"
 #include "Acts/Definitions/TrackParametrization.hpp"
 #include "Acts/EventData/SourceLink.hpp"
 #include "Acts/EventData/SubspaceHelpers.hpp"
@@ -17,11 +16,11 @@
 #include "Acts/EventData/TrackStateType.hpp"
 #include "Acts/EventData/Types.hpp"
 #include "Acts/Surfaces/Surface.hpp"
-#include "Acts/Utilities/AlgebraHelpers.hpp"
 #include "Acts/Utilities/HashedString.hpp"
 #include "Acts/Utilities/Helpers.hpp"
 
 #include <cstddef>
+#include <ranges>
 #include <span>
 
 #include <Eigen/Core>
@@ -127,11 +126,6 @@ struct TrackStateTraits {
       typename detail_lt::DynamicSizeTypes<ReadOnly>::CoefficientsMap;
   using EffectiveCalibratedCovariance =
       typename detail_lt::DynamicSizeTypes<ReadOnly>::CovarianceMap;
-
-  constexpr static auto ProjectorFlags = Eigen::RowMajor | Eigen::AutoAlign;
-  using Projector = Eigen::Matrix<double, M, eBoundSize, ProjectorFlags>;
-  using EffectiveProjector = Eigen::Matrix<double, Eigen::Dynamic, eBoundSize,
-                                           ProjectorFlags, M, eBoundSize>;
 };
 
 /// Proxy object to access a single point on the trajectory.
@@ -207,17 +201,6 @@ class TrackStateProxy {
   /// Sentinel value that indicates an invalid index
   static constexpr IndexType kInvalid = kTrackIndexInvalid;
 
-  /// Matrix representing the projector (measurement mapping function) for a
-  /// measurement.  This is not a map type, but an actual matrix. This matrix
-  /// is always \f$M \times M\f$, even if the local measurement dimension is lower.
-  /// The actual \f$N\times M\f$ projector is given by the top \f$N\f$ rows.
-  using Projector = typename TrackStateTraits<M, ReadOnly>::Projector;
-
-  /// Dynamic variant of the projector matrix
-  /// @warning Using this type is discouraged, as it has a runtime overhead
-  using EffectiveProjector =
-      typename TrackStateTraits<M, ReadOnly>::EffectiveProjector;
-
   /// The track state container backend given as a template parameter
   using Trajectory = trajectory_t;
 
@@ -615,145 +598,61 @@ class TrackStateProxy {
   ///
   /// @{
 
-  /// Returns the projector (measurement mapping function) for this track
-  /// state. It is derived from the uncalibrated measurement
-  /// @note This function returns the overallocated projector. This means it
-  /// is of dimension MxM, where M is the maximum number of measurement
-  /// dimensions. The NxM submatrix, where N is the actual dimension of the
-  /// measurement, is located in the top left corner, everything else is zero.
-  /// @return The overallocated projector
-  Projector projector() const;
-
-  /// Returns whether a projector is set
-  /// @return Whether it is set
-  bool hasProjector() const { return has<hashString("projector")>(); }
-
-  /// Returns the projector (measurement mapping function) for this track
-  /// state. It is derived from the uncalibrated measurement
-  /// @warning This function returns the effective projector. This means it
-  /// is of dimension \f$N\times M\f$, where \f$N\f$ is the actual dimension of the
-  /// measurement.
-  /// @return The effective projector
-  EffectiveProjector effectiveProjector() const {
-    return projector().topLeftCorner(calibratedSize(), M);
-  }
-
-  /// Set the projector on this track state
-  /// This will convert the projector to a more compact bitset representation
-  /// and store it.
-  /// @param projector The projector in the form of a dense matrix
-  /// @note @p projector is assumed to only have 0s or 1s as components.
-  template <typename Derived>
-  [[deprecated("use setProjector(span) instead")]] void setProjector(
-      const Eigen::MatrixBase<Derived>& projector)
-    requires(!ReadOnly)
+  /// Set the projector subspace indices
+  /// @param subspaceIndices The projector subspace indices to set
+  template <std::ranges::sized_range index_range_t>
+  void setProjectorSubspaceIndices(const index_range_t& subspaceIndices)
+    requires(!ReadOnly &&
+             std::convertible_to<std::ranges::range_value_t<index_range_t>,
+                                 std::uint8_t>)
   {
-    constexpr int rows = Eigen::MatrixBase<Derived>::RowsAtCompileTime;
-    constexpr int cols = Eigen::MatrixBase<Derived>::ColsAtCompileTime;
-
-    static_assert(rows != -1 && cols != -1,
-                  "Assignment of dynamic matrices is currently not supported.");
-
     assert(has<hashString("projector")>());
-
-    static_assert(rows <= M, "Given projector has too many rows");
-    static_assert(cols <= eBoundSize, "Given projector has too many columns");
-
-    // set up full size projector with only zeros
-    typename TrackStateProxy::Projector fullProjector =
-        decltype(fullProjector)::Zero();
-
-    // assign (potentially) smaller actual projector to matrix, preserving
-    // zeroes outside of smaller matrix block.
-    fullProjector.template topLeftCorner<rows, cols>() = projector;
-
-    // convert to bitset before storing
-    ProjectorBitset projectorBitset = matrixToBitset(fullProjector).to_ulong();
-    setProjectorBitset(projectorBitset);
-  }
-
-  /// Directly get the projector bitset, a compressed form of a projection
-  /// matrix
-  /// @note This is mainly to copy explicitly a projector from one state
-  ///       to another. Use the `projector` or `effectiveProjector` method if
-  ///       you want to access the matrix.
-  /// @return The projector bitset
-  [[deprecated("use projector() instead")]] ProjectorBitset projectorBitset()
-      const {
-    return variableBoundSubspaceHelper().projectorBitset();
+    assert(subspaceIndices.size() <= eBoundSize);
+    BoundSubspaceIndices boundSubspace{};
+    std::transform(subspaceIndices.begin(), subspaceIndices.end(),
+                   boundSubspace.begin(),
+                   [](auto i) { return static_cast<std::uint8_t>(i); });
+    component<SerializedSubspaceIndices, hashString("projector")>() =
+        serializeSubspaceIndices(boundSubspace);
   }
 
-  /// Set the projector bitset, a compressed form of a projection matrix
-  /// @param proj The projector bitset
-  ///
-  /// @note This is mainly to copy explicitly a projector from one state
-  ///       to another. If you have a projection matrix, set it with
-  ///       `setProjector`.
-  [[deprecated("use setProjector(span) instead")]] void setProjectorBitset(
-      ProjectorBitset proj)
-    requires(!ReadOnly)
-  {
-    BoundMatrix projMatrix = bitsetToMatrix<BoundMatrix>(proj);
-    BoundSubspaceIndices boundSubspace =
-        projectorToSubspaceIndices<eBoundSize>(projMatrix);
-    setBoundSubspaceIndices(boundSubspace);
-  }
+  /// Returns whether a projector is set
+  /// @return Whether it is set
+  bool hasProjector() const { return has<hashString("projector")>(); }
 
-  BoundSubspaceIndices boundSubspaceIndices() const {
+  /// Returns the projector subspace indices
+  /// @return The projector subspace indices
+  BoundSubspaceIndices projectorSubspaceIndices() const {
     assert(has<hashString("projector")>());
     return deserializeSubspaceIndices<eBoundSize>(
         component<SerializedSubspaceIndices, hashString("projector")>());
   }
 
+  /// Returns the projector subspace indices
+  /// @return The projector subspace indices
   template <std::size_t measdim>
-  SubspaceIndices<measdim> subspaceIndices() const {
-    BoundSubspaceIndices boundSubspace = BoundSubspaceIndices();
+  SubspaceIndices<measdim> projectorSubspaceIndices() const {
+    BoundSubspaceIndices boundSubspace = projectorSubspaceIndices();
     SubspaceIndices<measdim> subspace;
     std::copy(boundSubspace.begin(), boundSubspace.begin() + measdim,
               subspace.begin());
     return subspace;
   }
 
-  void setBoundSubspaceIndices(BoundSubspaceIndices boundSubspace)
-    requires(!ReadOnly)
-  {
-    assert(has<hashString("projector")>());
-    component<SerializedSubspaceIndices, hashString("projector")>() =
-        serializeSubspaceIndices(boundSubspace);
-  }
-
-  template <std::size_t measdim>
-  void setSubspaceIndices(SubspaceIndices<measdim> subspace)
-    requires(!ReadOnly && measdim <= eBoundSize)
-  {
-    assert(has<hashString("projector")>());
-    BoundSubspaceIndices boundSubspace{};
-    std::copy(subspace.begin(), subspace.end(), boundSubspace.begin());
-    setBoundSubspaceIndices(boundSubspace);
-  }
-
-  template <std::size_t measdim, typename index_t>
-  void setSubspaceIndices(std::array<index_t, measdim> subspaceIndices)
-    requires(!ReadOnly && measdim <= eBoundSize)
-  {
-    assert(has<hashString("projector")>());
-    BoundSubspaceIndices boundSubspace{};
-    std::transform(subspaceIndices.begin(), subspaceIndices.end(),
-                   boundSubspace.begin(),
-                   [](index_t i) { return static_cast<std::uint8_t>(i); });
-    setBoundSubspaceIndices(boundSubspace);
-  }
-
-  VariableBoundSubspaceHelper variableBoundSubspaceHelper() const {
-    BoundSubspaceIndices boundSubspace = boundSubspaceIndices();
+  /// Creates a variable size subspace helper
+  /// @return The subspace helper
+  VariableBoundSubspaceHelper projectorSubspaceHelper() const {
+    BoundSubspaceIndices boundSubspace = projectorSubspaceIndices();
     std::span<std::uint8_t> validSubspaceIndices(
         boundSubspace.begin(), boundSubspace.begin() + calibratedSize());
     return VariableBoundSubspaceHelper(validSubspaceIndices);
   }
 
+  /// Creates a fixed size subspace helper
+  /// @return The subspace helper
   template <std::size_t measdim>
-  FixedBoundSubspaceHelper<measdim> fixedBoundSubspaceHelper() const {
-    SubspaceIndices<measdim> subspace = subspaceIndices<measdim>();
+  FixedBoundSubspaceHelper<measdim> projectorSubspaceHelper() const {
+    SubspaceIndices<measdim> subspace = projectorSubspaceIndices<measdim>();
     return FixedBoundSubspaceHelper<measdim>(subspace);
   }
 
@@ -1028,7 +927,7 @@ class TrackStateProxy {
               other.template calibratedCovariance<measdim>().eval());
         });
 
-        setBoundSubspaceIndices(other.boundSubspaceIndices());
+        setProjectorSubspaceIndices(other.projectorSubspaceIndices());
       }
     } else {
       if (ACTS_CHECK_BIT(mask, PM::Predicted) &&
@@ -1073,7 +972,7 @@ class TrackStateProxy {
               other.template calibratedCovariance<measdim>().eval());
         });
 
-        setBoundSubspaceIndices(other.boundSubspaceIndices());
+        setProjectorSubspaceIndices(other.projectorSubspaceIndices());
       }
     }
 

Core/include/Acts/EventData/TrackStateProxy.ipp

@@ -61,11 +61,6 @@ inline auto TrackStateProxy<D, M, ReadOnly>::covariance() const
   }
 }
 
-template <typename D, std::size_t M, bool ReadOnly>
-inline auto TrackStateProxy<D, M, ReadOnly>::projector() const -> Projector {
-  return variableBoundSubspaceHelper().fullProjector();
-}
-
 template <typename D, std::size_t M, bool ReadOnly>
 inline auto TrackStateProxy<D, M, ReadOnly>::getUncalibratedSourceLink() const
     -> SourceLink {

Core/include/Acts/EventData/TrackStateProxyConcept.hpp

@@ -111,12 +111,6 @@ concept TrackStateProxyConcept =
       { cv.hasProjector() } -> std::same_as<bool>;
       { v.hasProjector() } -> std::same_as<bool>;
 
-      { cv.effectiveProjector() } -> std::same_as<detail::EffectiveProjector>;
-      { v.effectiveProjector() } -> std::same_as<detail::EffectiveProjector>;
-
-      { cv.projectorBitset() } -> std::same_as<ProjectorBitset>;
-      { v.projectorBitset() } -> std::same_as<ProjectorBitset>;
-
       { cv.getUncalibratedSourceLink() } -> std::same_as<SourceLink>;
       { v.getUncalibratedSourceLink() } -> std::same_as<SourceLink>;