feat: Add statistics to propagation (#3450)

This is an attempt to centralize statistics about the propagation which includes stepping and navigation. The intention is to monitor these quantities in the CI and to use them as comparison for different stepper / navigator implementations.
acts-project · Nov 23, 2024 · b30f8df · b30f8df
1 parent 306ae23
commit b30f8df
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Showing 25 changed files with 214 additions and 69 deletions.
diff --git a/Core/include/Acts/Navigation/DetectorNavigator.hpp b/Core/include/Acts/Navigation/DetectorNavigator.hpp
@@ -17,6 +17,7 @@
 #include "Acts/Geometry/Layer.hpp"
 #include "Acts/Navigation/NavigationState.hpp"
 #include "Acts/Propagator/NavigatorOptions.hpp"
+#include "Acts/Propagator/NavigatorStatistics.hpp"
 #include "Acts/Propagator/Propagator.hpp"
 #include "Acts/Surfaces/BoundaryTolerance.hpp"
 #include "Acts/Surfaces/Surface.hpp"
@@ -68,6 +69,9 @@ class DetectorNavigator {
     bool targetReached = false;
     /// Navigation state : a break has been detected
     bool navigationBreak = false;
+
+    /// Navigation statistics
+    NavigatorStatistics statistics;
   };
 
   /// Constructor with configuration object

diff --git a/Core/include/Acts/Propagator/AtlasStepper.hpp b/Core/include/Acts/Propagator/AtlasStepper.hpp
@@ -21,6 +21,7 @@
 #include "Acts/MagneticField/MagneticFieldProvider.hpp"
 #include "Acts/Propagator/ConstrainedStep.hpp"
 #include "Acts/Propagator/StepperOptions.hpp"
+#include "Acts/Propagator/StepperStatistics.hpp"
 #include "Acts/Propagator/detail/SteppingHelper.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/Intersection.hpp"
@@ -305,6 +306,9 @@ class AtlasStepper {
     /// buffer & formatting for consistent output
     std::size_t debugPfxWidth = 30;
     std::size_t debugMsgWidth = 50;
+
+    /// The statistics of the stepper
+    StepperStatistics statistics;
   };
 
   explicit AtlasStepper(std::shared_ptr<const MagneticFieldProvider> bField)

diff --git a/Core/include/Acts/Propagator/DirectNavigator.hpp b/Core/include/Acts/Propagator/DirectNavigator.hpp
@@ -14,6 +14,7 @@
 #include "Acts/Geometry/TrackingGeometry.hpp"
 #include "Acts/Geometry/TrackingVolume.hpp"
 #include "Acts/Propagator/NavigatorOptions.hpp"
+#include "Acts/Propagator/NavigatorStatistics.hpp"
 #include "Acts/Propagator/Propagator.hpp"
 #include "Acts/Surfaces/BoundaryTolerance.hpp"
 #include "Acts/Surfaces/Surface.hpp"
@@ -75,6 +76,9 @@ class DirectNavigator {
     /// Navigation state - external interface: a break has been detected
     bool navigationBreak = false;
 
+    /// Navigation statistics
+    NavigatorStatistics statistics;
+
     const Surface* navSurface() const {
       return options.surfaces.at(surfaceIndex);
     }

diff --git a/Core/include/Acts/Propagator/EigenStepper.hpp b/Core/include/Acts/Propagator/EigenStepper.hpp
@@ -13,7 +13,6 @@
 
 #include "Acts/Definitions/Algebra.hpp"
 #include "Acts/Definitions/Tolerance.hpp"
-#include "Acts/Definitions/Units.hpp"
 #include "Acts/EventData/TrackParameters.hpp"
 #include "Acts/EventData/detail/CorrectedTransformationFreeToBound.hpp"
 #include "Acts/Geometry/GeometryContext.hpp"
@@ -23,6 +22,7 @@
 #include "Acts/Propagator/EigenStepperDefaultExtension.hpp"
 #include "Acts/Propagator/PropagatorTraits.hpp"
 #include "Acts/Propagator/StepperOptions.hpp"
+#include "Acts/Propagator/StepperStatistics.hpp"
 #include "Acts/Propagator/detail/SteppingHelper.hpp"
 #include "Acts/Utilities/Intersection.hpp"
 #include "Acts/Utilities/Result.hpp"
@@ -164,6 +164,9 @@ class EigenStepper {
       /// k_i elements of the momenta
       std::array<double, 4> kQoP{};
     } stepData;
+
+    /// Statistics of the stepper
+    StepperStatistics statistics;
   };
 
   /// Constructor requires knowledge of the detector's magnetic field

diff --git a/Core/include/Acts/Propagator/EigenStepper.ipp b/Core/include/Acts/Propagator/EigenStepper.ipp
@@ -6,6 +6,7 @@
 // License, v. 2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
+#include "Acts/Definitions/Direction.hpp"
 #include "Acts/EventData/TransformationHelpers.hpp"
 #include "Acts/Propagator/ConstrainedStep.hpp"
 #include "Acts/Propagator/EigenStepperError.hpp"
@@ -259,7 +260,9 @@ Acts::Result<double> Acts::EigenStepper<E>::step(
   // Select and adjust the appropriate Runge-Kutta step size as given
   // ATL-SOFT-PUB-2009-001
   while (true) {
-    nStepTrials++;
+    ++nStepTrials;
+    ++state.stepping.statistics.nAttemptedSteps;
+
     auto res = tryRungeKuttaStep(h);
     if (!res.ok()) {
       return res.error();
@@ -268,6 +271,8 @@ Acts::Result<double> Acts::EigenStepper<E>::step(
       break;
     }
 
+    ++state.stepping.statistics.nRejectedSteps;
+
     const double stepSizeScaling = calcStepSizeScaling(errorEstimate);
     h *= stepSizeScaling;
 
@@ -351,6 +356,14 @@ Acts::Result<double> Acts::EigenStepper<E>::step(
   ++state.stepping.nSteps;
   state.stepping.nStepTrials += nStepTrials;
 
+  ++state.stepping.statistics.nSuccessfulSteps;
+  if (state.options.direction !=
+      Direction::fromScalarZeroAsPositive(initialH)) {
+    ++state.stepping.statistics.nReverseSteps;
+  }
+  state.stepping.statistics.pathLength += h;
+  state.stepping.statistics.absolutePathLength += std::abs(h);
+
   const double stepSizeScaling = calcStepSizeScaling(errorEstimate);
   const double nextAccuracy = std::abs(h * stepSizeScaling);
   const double previousAccuracy = std::abs(state.stepping.stepSize.accuracy());

diff --git a/Core/include/Acts/Propagator/MultiEigenStepperLoop.hpp b/Core/include/Acts/Propagator/MultiEigenStepperLoop.hpp
@@ -25,6 +25,7 @@
 #include "Acts/Propagator/MultiStepperError.hpp"
 #include "Acts/Propagator/Propagator.hpp"
 #include "Acts/Propagator/StepperOptions.hpp"
+#include "Acts/Propagator/StepperStatistics.hpp"
 #include "Acts/Propagator/detail/LoopStepperUtils.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/Intersection.hpp"
@@ -219,6 +220,9 @@ class MultiEigenStepperLoop : public EigenStepper<extension_t> {
     /// reached a surface
     std::optional<std::size_t> stepCounterAfterFirstComponentOnSurface;
 
+    /// The stepper statistics
+    StepperStatistics statistics;
+
     /// No default constructor is provided
     State() = delete;
 

diff --git a/Core/include/Acts/Propagator/Navigator.hpp b/Core/include/Acts/Propagator/Navigator.hpp
@@ -8,13 +8,13 @@
 
 #pragma once
 
-#include "Acts/Definitions/Units.hpp"
 #include "Acts/Geometry/GeometryIdentifier.hpp"
 #include "Acts/Geometry/Layer.hpp"
 #include "Acts/Geometry/TrackingGeometry.hpp"
 #include "Acts/Geometry/TrackingVolume.hpp"
 #include "Acts/Propagator/ConstrainedStep.hpp"
 #include "Acts/Propagator/NavigatorOptions.hpp"
+#include "Acts/Propagator/NavigatorStatistics.hpp"
 #include "Acts/Surfaces/BoundaryTolerance.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/Logger.hpp"
@@ -176,9 +176,12 @@ class Navigator {
     bool targetReached = false;
     /// Navigation state : a break has been detected
     bool navigationBreak = false;
-    // The navigation stage (@todo: integrate break, target)
+    /// The navigation stage (@todo: integrate break, target)
     Stage navigationStage = Stage::undefined;
 
+    /// Navigation statistics
+    NavigatorStatistics statistics;
+
     void reset() {
       navSurfaces.clear();
       navSurfaceIndex = navSurfaces.size();
@@ -427,6 +430,7 @@ class Navigator {
                  << "No targets found, we got lost! Attempt renavigation.");
 
     state.navigation.reset();
+    ++state.navigation.statistics.nRenavigations;
 
     // We might have punched through a boundary and entered another volume
     // so we have to reinitialize
@@ -576,6 +580,7 @@ class Navigator {
           state.navigation.navBoundaries.clear();
           state.navigation.navBoundaryIndex =
               state.navigation.navBoundaries.size();
+          ++state.navigation.statistics.nVolumeSwitches;
         }
       } else {
         // Set the navigation stage back to boundary target
@@ -772,8 +777,6 @@ class Navigator {
   /// @return boolean return triggers exit to stepper
   template <typename propagator_state_t, typename stepper_t>
   bool targetLayers(propagator_state_t& state, const stepper_t& stepper) const {
-    using namespace UnitLiterals;
-
     if (state.navigation.navigationBreak) {
       return false;
     }

diff --git a/Core/include/Acts/Propagator/NavigatorStatistics.hpp b/Core/include/Acts/Propagator/NavigatorStatistics.hpp
@@ -0,0 +1,26 @@
+// This file is part of the ACTS project.
+//
+// Copyright (C) 2016 CERN for the benefit of the ACTS project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include <cstddef>
+
+namespace Acts {
+
+/// @struct NavigatorStatistics
+///
+/// @brief A struct to hold statistics of the navigator
+struct NavigatorStatistics {
+  /// Number of renavigation attempts
+  std::size_t nRenavigations = 0;
+
+  /// Number of volume switches
+  std::size_t nVolumeSwitches = 0;
+};
+
+}  // namespace Acts
diff --git a/Core/include/Acts/Propagator/Propagator.ipp b/Core/include/Acts/Propagator/Propagator.ipp
@@ -341,6 +341,9 @@ void Acts::Propagator<S, N>::moveStateToResult(propagator_state_t& state,
 
   result.steps = state.steps;
   result.pathLength = state.pathLength;
+
+  result.statistics.stepping = state.stepping.statistics;
+  result.statistics.navigation = state.navigation.statistics;
 }
 
 template <typename derived_t>

diff --git a/Core/include/Acts/Propagator/PropagatorResult.hpp b/Core/include/Acts/Propagator/PropagatorResult.hpp
@@ -9,6 +9,7 @@
 #pragma once
 
 #include "Acts/Definitions/TrackParametrization.hpp"
+#include "Acts/Propagator/PropagatorStatistics.hpp"
 #include "Acts/Utilities/detail/Extendable.hpp"
 
 #include <optional>
@@ -36,6 +37,9 @@ struct PropagatorResult : private detail::Extendable<result_list...> {
 
   /// Signed distance over which the parameters were propagated
   double pathLength = 0.;
+
+  /// Propagator statistics
+  PropagatorStatistics statistics;
 };
 
 }  // namespace Acts
diff --git a/Core/include/Acts/Propagator/PropagatorState.hpp b/Core/include/Acts/Propagator/PropagatorState.hpp
@@ -9,6 +9,7 @@
 #pragma once
 
 #include "Acts/Geometry/GeometryContext.hpp"
+#include "Acts/Propagator/PropagatorStatistics.hpp"
 #include "Acts/Utilities/detail/Extendable.hpp"
 
 #include <functional>
@@ -72,6 +73,9 @@ struct PropagatorState : private detail::Extendable<extension_state_t...> {
 
   /// Signed distance over which the parameters were propagated
   double pathLength = 0.;
+
+  /// Statistics of the propagation
+  PropagatorStatistics statistics;
 };
 
 }  // namespace Acts
diff --git a/Core/include/Acts/Propagator/PropagatorStatistics.hpp b/Core/include/Acts/Propagator/PropagatorStatistics.hpp
@@ -0,0 +1,26 @@
+// This file is part of the ACTS project.
+//
+// Copyright (C) 2016 CERN for the benefit of the ACTS project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include <Acts/Propagator/NavigatorStatistics.hpp>
+#include <Acts/Propagator/StepperStatistics.hpp>
+
+namespace Acts {
+
+/// @struct PropagatorStatistics
+///
+/// @brief A struct to hold statistics of the propagator
+struct PropagatorStatistics {
+  /// Statistics of the stepper
+  StepperStatistics stepping;
+  /// Statistics of the navigator
+  NavigatorStatistics navigation;
+};
+
+}  // namespace Acts
diff --git a/Core/include/Acts/Propagator/StepperStatistics.hpp b/Core/include/Acts/Propagator/StepperStatistics.hpp
@@ -0,0 +1,34 @@
+// This file is part of the ACTS project.
+//
+// Copyright (C) 2016 CERN for the benefit of the ACTS project
+//
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include <cstddef>
+
+namespace Acts {
+
+/// @struct StepperStatistics
+///
+/// @brief A struct to hold statistics of the stepper
+struct StepperStatistics {
+  /// Number of attempted steps
+  std::size_t nAttemptedSteps = 0;
+  /// Number of rejected steps
+  std::size_t nRejectedSteps = 0;
+  /// Number of successful steps
+  std::size_t nSuccessfulSteps = 0;
+  /// Number of steps that were reversed
+  std::size_t nReverseSteps = 0;
+
+  /// Signed sum of the step lengths
+  double pathLength = 0;
+  /// Unsigned sum of the step lengths
+  double absolutePathLength = 0;
+};
+
+}  // namespace Acts
diff --git a/Core/include/Acts/Propagator/StraightLineStepper.hpp b/Core/include/Acts/Propagator/StraightLineStepper.hpp
@@ -23,6 +23,7 @@
 #include "Acts/Propagator/ConstrainedStep.hpp"
 #include "Acts/Propagator/PropagatorTraits.hpp"
 #include "Acts/Propagator/StepperOptions.hpp"
+#include "Acts/Propagator/StepperStatistics.hpp"
 #include "Acts/Propagator/detail/SteppingHelper.hpp"
 #include "Acts/Surfaces/BoundaryTolerance.hpp"
 #include "Acts/Surfaces/Surface.hpp"
@@ -142,6 +143,9 @@ class StraightLineStepper {
 
     // Cache the geometry context of this propagation
     std::reference_wrapper<const GeometryContext> geoContext;
+
+    /// Statistics of the stepper
+    StepperStatistics statistics;
   };
 
   StraightLineStepper() = default;
@@ -430,6 +434,7 @@ class StraightLineStepper {
     Vector3 dir = direction(state.stepping);
     state.stepping.pars.template segment<3>(eFreePos0) += h * dir;
     state.stepping.pars[eFreeTime] += h * dtds;
+
     // Propagate the jacobian
     if (state.stepping.covTransport) {
       // The step transport matrix in global coordinates
@@ -450,7 +455,14 @@ class StraightLineStepper {
     ++state.stepping.nSteps;
     ++state.stepping.nStepTrials;
 
-    // return h
+    ++state.stepping.statistics.nAttemptedSteps;
+    ++state.stepping.statistics.nSuccessfulSteps;
+    if (state.options.direction != Direction::fromScalarZeroAsPositive(h)) {
+      ++state.stepping.statistics.nReverseSteps;
+    }
+    state.stepping.statistics.pathLength += h;
+    state.stepping.statistics.absolutePathLength += std::abs(h);
+
     return h;
   }
 };

diff --git a/Core/include/Acts/Propagator/SympyStepper.hpp b/Core/include/Acts/Propagator/SympyStepper.hpp
@@ -22,6 +22,7 @@
 #include "Acts/Propagator/ConstrainedStep.hpp"
 #include "Acts/Propagator/PropagatorTraits.hpp"
 #include "Acts/Propagator/StepperOptions.hpp"
+#include "Acts/Propagator/StepperStatistics.hpp"
 #include "Acts/Propagator/detail/SteppingHelper.hpp"
 
 namespace Acts {
@@ -132,15 +133,8 @@ class SympyStepper {
     /// The geometry context
     std::reference_wrapper<const GeometryContext> geoContext;
 
-    /// @brief Storage of magnetic field and the sub steps during a RKN4 step
-    struct {
-      /// Magnetic field evaulations
-      Vector3 B_first, B_middle, B_last;
-      /// k_i of the RKN4 algorithm
-      Vector3 k1, k2, k3, k4;
-      /// k_i elements of the momenta
-      std::array<double, 4> kQoP{};
-    } stepData;
+    /// Statistics of the stepper
+    StepperStatistics statistics;
   };
 
   /// Constructor requires knowledge of the detector's magnetic field