npm - @aibee/crc-bmap - Versions diffs - 0.2.17 → 0.2.18 - Mend

@aibee/crc-bmap 0.2.17 → 0.2.18

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Files changed (9) hide show

package/lib/bmap.esm.min.js CHANGED Viewed

@@ -7513,7 +7513,7 @@ Example:
   mathjs.config({ number: 'BigNumber' });
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b=p[0],y=p[1],S=this._size[0],x=this._size[1],_=t,M=0;jt(this._datatype)&&(_=e.find(t,[this._datatype,this._datatype])||t,M=e.convert(0,this._datatype)),(b>S-1||y>x-1)&&(f(this,Math.max(b+1,S),Math.max(y+1,x),v),S=this._size[0],x=this._size[1]),Et(b,S),Et(y,x);var w=s(b,this._ptr[y],this._ptr[y+1],this._index);return w<this._ptr[y+1]&&this._index[w]===b?_(m,M)?u(w,y,this._values,this._index,this._ptr):this._values[w]=m:_(m,M)||h(w,b,y,m,this._values,this._index,this._ptr),this};function s(p,m,v,b){if(v-m===0)return v;for(var y=m;y<v;y++)if(b[y]===p)return y;return m}function u(p,m,v,b,y){v.splice(p,1),b.splice(p,1);for(var S=m+1;S<y.length;S++)y[S]--}function h(p,m,v,b,y,S,x){y.splice(p,0,b),S.splice(p,0,m);for(var _=v+1;_<x.length;_++)x[_]++}i.prototype.resize=function(p,m,v){if(!Fe(p))throw new TypeError("Array or Matrix expected");var b=p.valueOf().map(S=>Array.isArray(S)&&S.length===1?S[0]:S);if(b.length!==2)throw new Error("Only two dimensions matrix are 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k=p._ptr[P],L=p._ptr[P+1]-G;for(D=k;D<L;D++)C=p._index[D],C>m-1&&(p._values.splice(D,1),p._index.splice(D,1),G++)}p._ptr[P]=p._values.length}return p._size[0]=m,p._size[1]=v,p}i.prototype.reshape=function(p,m){if(!yt(p))throw new TypeError("Array expected");if(p.length!==2)throw new Error("Sparse matrices can only be reshaped in two dimensions");p.forEach(function(j){if(!nt(j)||!tt(j)||j<=-2||j===0)throw new TypeError("Invalid size, must contain positive integers or -1 (size: "+vt(p)+")")});var v=this._size[0]*this._size[1];p=tr(p,v);var b=p[0]*p[1];if(v!==b)throw new Error("Reshaping sparse matrix will result in the wrong number of elements");var y=m?this.clone():this;if(this._size[0]===p[0]&&this._size[1]===p[1])return y;for(var S=[],x=0;x<y._ptr.length;x++)for(var _=0;_<y._ptr[x+1]-y._ptr[x];_++)S.push(x);for(var M=y._values.slice(),w=y._index.slice(),C=0;C<y._index.length;C++){var P=w[C],D=S[C],R=P*y._size[1]+D;S[C]=R%p[1],w[C]=Math.floor(R/p[1])}y._values.length=0,y._index.length=0,y._ptr.length=p[1]+1,y._size=p.slice();for(var W=0;W<y._ptr.length;W++)y._ptr[W]=0;for(var G=0;G<M.length;G++){var k=w[G],L=S[G],q=M[G],Y=s(k,y._ptr[L],y._ptr[L+1],y._index);h(Y,k,L,q,y._values,y._index,y._ptr)}return y},i.prototype.clone=function(){var p=new i({values:this._values?ft(this._values):void 0,index:ft(this._index),ptr:ft(this._ptr),size:ft(this._size),datatype:this._datatype});return p},i.prototype.size=function(){return this._size.slice(0)},i.prototype.map=function(p,m){if(!this._values)throw new Error("Cannot invoke map on a Pattern only matrix");var v=this,b=this._size[0],y=this._size[1],S=function(_,M,w){return hi(p,_,[M,w],v,"map")};return d(this,0,b-1,0,y-1,S,m)};function d(p,m,v,b,y,S,x){var _=[],M=[],w=[],C=t,P=0;jt(p._datatype)&&(C=e.find(t,[p._datatype,p._datatype])||t,P=e.convert(0,p._datatype));for(var D=function(pt,Tt,wt){var St=S(pt,Tt,wt);C(St,P)||(_.push(St),M.push(Tt))},R=b;R<=y;R++){w.push(_.length);var W=p._ptr[R],G=p._ptr[R+1];if(x)for(var k=W;k<G;k++){var L=p._index[k];L>=m&&L<=v&&D(p._values[k],L-m,R-b)}else{for(var q={},Y=W;Y<G;Y++){var j=p._index[Y];q[j]=p._values[Y]}for(var J=m;J<=v;J++){var lt=J in q?q[J]:0;D(lt,J-m,R-b)}}}return w.push(_.length),new i({values:_,index:M,ptr:w,size:[v-m+1,y-b+1]})}i.prototype.forEach=function(p,m){if(!this._values)throw new Error("Cannot invoke forEach on a Pattern only matrix");for(var v=this,b=this._size[0],y=this._size[1],S=0;S<y;S++){var x=this._ptr[S],_=this._ptr[S+1];if(m)for(var M=x;M<_;M++){var w=this._index[M];p(this._values[M],[w,S],v)}else{for(var C={},P=x;P<_;P++){var D=this._index[P];C[D]=this._values[P]}for(var R=0;R<b;R++){var W=R in C?C[R]:0;p(W,[R,S],v)}}}},i.prototype[Symbol.iterator]=function*(){if(!this._values)throw new Error("Cannot iterate a Pattern only matrix");for(var p=this._size[1],m=0;m<p;m++)for(var v=this._ptr[m],b=this._ptr[m+1],y=v;y<b;y++){var S=this._index[y];yield{value:this._values[y],index:[S,m]}}},i.prototype.toArray=function(){return g(this._values,this._index,this._ptr,this._size,!0)},i.prototype.valueOf=function(){return g(this._values,this._index,this._ptr,this._size,!1)};function g(p,m,v,b,y){var S=b[0],x=b[1],_=[],M,w;for(M=0;M<S;M++)for(_[M]=[],w=0;w<x;w++)_[M][w]=0;for(w=0;w<x;w++)for(var C=v[w],P=v[w+1],D=C;D<P;D++)M=m[D],_[M][w]=p?y?ft(p[D]):p[D]:1;return _}return i.prototype.format=function(p){for(var m=this._size[0],v=this._size[1],b=this.density(),y="Sparse Matrix ["+vt(m,p)+" x "+vt(v,p)+"] density: "+vt(b,p)+`
 `,S=0;S<v;S++)for(var x=this._ptr[S],_=this._ptr[S+1],M=x;M<_;M++){var w=this._index[M];y+=`
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e=parseInt(r.integerPart,r.radix),t=0,n=0;n<r.fractionalPart.length;n++){var i=parseInt(r.fractionalPart[n],r.radix);t+=i/Math.pow(r.radix,n+1)}var o=e+t;if(isNaN(o))throw new SyntaxError('String "'+r.input+'" is not a valid number');return o}var To=N(fm,dm,r=>{var{typed:e}=r,t=e("number",{"":function(){return 0},number:function(i){return i},string:function(i){if(i==="NaN")return NaN;var o=gm(i);if(o)return mm(o);var a=0,c=i.match(/(0[box][0-9a-fA-F]*)i([0-9]*)/);c&&(a=Number(c[2]),i=c[1]);var l=Number(i);if(isNaN(l))throw new SyntaxError('String "'+i+'" is not a valid number');if(c){if(l>2**a-1)throw new SyntaxError('String "'.concat(i,'" is out of range'));l>=2**(a-1)&&(l=l-2**a)}return l},BigNumber:function(i){return i.toNumber()},bigint:function(i){return Number(i)},Fraction:function(i){return i.valueOf()},Unit:e.referToSelf(n=>i=>{var o=i.clone();return o.value=n(i.value),o}),null:function(i){return 0},"Unit, string | Unit":function(i,o){return i.toNumber(o)},"Array | 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e("fraction",{number:function(i){if(!isFinite(i)||isNaN(i))throw new Error(i+" cannot be represented as a fraction");return new t(i)},string:function(i){return new t(i)},"number, number":function(i,o){return new t(i,o)},null:function(i){return new t(0)},BigNumber:function(i){return new t(i.toString())},bigint:function(i){return new t(i.toString())},Fraction:function(i){return i},Unit:e.referToSelf(n=>i=>{var o=i.clone();return o.value=n(i.value),o}),Object:function(i){return new t(i)},"Array | Matrix":e.referToSelf(n=>i=>_t(i,n))})});var dl="matrix",Em=["typed","Matrix","DenseMatrix","SparseMatrix"],Po=N(dl,Em,r=>{var{typed:e,Matrix:t,DenseMatrix:n,SparseMatrix:i}=r;return e(dl,{"":function(){return o([])},string:function(c){return o([],c)},"string, string":function(c,l){return o([],c,l)},Array:function(c){return o(c)},Matrix:function(c){return o(c,c.storage())},"Array | Matrix, string":o,"Array | Matrix, string, string":o});function o(a,c,l){if(c==="dense"||c==="default"||c===void 0)return new n(a,l);if(c==="sparse")return new i(a,l);throw new TypeError("Unknown matrix type "+JSON.stringify(c)+".")}});var gl="unaryMinus",bm=["typed"],Do=N(gl,bm,r=>{var{typed:e}=r;return e(gl,{number:_o,"Complex | BigNumber | Fraction":t=>t.neg(),bigint:t=>-t,Unit:e.referToSelf(t=>n=>{var i=n.clone();return i.value=e.find(t,i.valueType())(n.value),i}),"Array | Matrix":e.referToSelf(t=>n=>_t(n,t,!0))})});var ml="abs",Sm=["typed"],Io=N(ml,Sm,r=>{var{typed:e}=r;return e(ml,{number:go,"Complex | BigNumber | Fraction | Unit":t=>t.abs(),bigint:t=>t<0n?-t:t,"Array | Matrix":e.referToSelf(t=>n=>_t(n,t,!0))})});var yl="addScalar",Mm=["typed"],Ro=N(yl,Mm,r=>{var{typed:e}=r;return e(yl,{"number, number":mo,"Complex, Complex":function(n,i){return n.add(i)},"BigNumber, BigNumber":function(n,i){return n.plus(i)},"bigint, bigint":function(n,i){return n+i},"Fraction, Fraction":function(n,i){return n.add(i)},"Unit, Unit":e.referToSelf(t=>(n,i)=>{if(n.value===null||n.value===void 0)throw new Error("Parameter x contains a unit with undefined value");if(i.value===null||i.value===void 0)throw new Error("Parameter y contains a unit with undefined value");if(!n.equalBase(i))throw new Error("Units do not match");var o=n.clone();return o.value=e.find(t,[o.valueType(),i.valueType()])(o.value,i.value),o.fixPrefix=!1,o})})});var vl="subtractScalar",wm=["typed"],No=N(vl,wm,r=>{var{typed:e}=r;return e(vl,{"number, number":yo,"Complex, Complex":function(n,i){return n.sub(i)},"BigNumber, BigNumber":function(n,i){return n.minus(i)},"bigint, bigint":function(n,i){return n-i},"Fraction, Fraction":function(n,i){return n.sub(i)},"Unit, Unit":e.referToSelf(t=>(n,i)=>{if(n.value===null||n.value===void 0)throw new Error("Parameter x contains a unit with undefined value");if(i.value===null||i.value===void 0)throw new Error("Parameter y contains a unit with undefined value");if(!n.equalBase(i))throw new Error("Units do not match");var o=n.clone();return o.value=e.find(t,[o.valueType(),i.valueType()])(o.value,i.value),o.fixPrefix=!1,o})})});var Tm="matAlgo11xS0s",Cm=["typed","equalScalar"],De=N(Tm,Cm,r=>{var{typed:e,equalScalar:t}=r;return function(i,o,a,c){var l=i._values,s=i._index,u=i._ptr,h=i._size,f=i._datatype;if(!l)throw new Error("Cannot perform operation on Pattern Sparse Matrix and Scalar value");var d=h[0],g=h[1],p,m=t,v=0,b=a;typeof f=="string"&&(p=f,m=e.find(t,[p,p]),v=e.convert(0,p),o=e.convert(o,p),b=e.find(a,[p,p]));for(var y=[],S=[],x=[],_=0;_<g;_++){x[_]=S.length;for(var M=u[_],w=u[_+1],C=M;C<w;C++){var P=s[C],D=c?b(o,l[C]):b(l[C],o);m(D,v)||(S.push(P),y.push(D))}}return x[g]=S.length,i.createSparseMatrix({values:y,index:S,ptr:x,size:[d,g],datatype:p})}});var Am="matAlgo12xSfs",Pm=["typed","DenseMatrix"],Nn=N(Am,Pm,r=>{var{typed:e,DenseMatrix:t}=r;return function(i,o,a,c){var l=i._values,s=i._index,u=i._ptr,h=i._size,f=i._datatype;if(!l)throw new Error("Cannot perform operation on Pattern Sparse Matrix and Scalar 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e(Lo,{number:function(o){return pe(o,n(o),t.relTol,t.absTol)?n(o):Math.ceil(o)},"number, number":function(o,a){if(pe(o,n(o,a),t.relTol,t.absTol))return n(o,a);var[c,l]="".concat(o,"e").split("e"),s=Math.ceil(Number("".concat(c,"e").concat(Number(l)+a)));return[c,l]="".concat(s,"e").split("e"),Number("".concat(c,"e").concat(Number(l)-a))}})}),Oo=N(Lo,Rm,r=>{var{typed:e,config:t,round:n,matrix:i,equalScalar:o,zeros:a,DenseMatrix:c}=r,l=De({typed:e,equalScalar:o}),s=Nn({typed:e,DenseMatrix:c}),u=Ie({typed:e}),h=Nm({typed:e,config:t,round:n});return e("ceil",{number:h.signatures.number,"number,number":h.signatures["number,number"],Complex:function(d){return d.ceil()},"Complex, number":function(d,g){return d.ceil(g)},"Complex, BigNumber":function(d,g){return d.ceil(g.toNumber())},BigNumber:function(d){return Je(d,n(d),t.relTol,t.absTol)?n(d):d.ceil()},"BigNumber, BigNumber":function(d,g){return Je(d,n(d,g),t.relTol,t.absTol)?n(d,g):d.toDecimalPlaces(g.toNumber(),Jn.ROUND_CEIL)},Fraction:function(d){return d.ceil()},"Fraction, number":function(d,g){return d.ceil(g)},"Fraction, BigNumber":function(d,g){return d.ceil(g.toNumber())},"Array | Matrix":e.referToSelf(f=>d=>_t(d,f,!0)),"Array, number | BigNumber":e.referToSelf(f=>(d,g)=>_t(d,p=>f(p,g),!0)),"SparseMatrix, number | BigNumber":e.referToSelf(f=>(d,g)=>l(d,g,f,!1)),"DenseMatrix, number | BigNumber":e.referToSelf(f=>(d,g)=>u(d,g,f,!1)),"number | Complex | Fraction | BigNumber, Array":e.referToSelf(f=>(d,g)=>u(i(g),d,f,!0).valueOf()),"number | Complex | Fraction | BigNumber, Matrix":e.referToSelf(f=>(d,g)=>o(d,0)?a(g.size(),g.storage()):g.storage()==="dense"?u(g,d,f,!0):s(g,d,f,!0))})});var _l="exp",Lm=["typed"],Fo=N(_l,Lm,r=>{var{typed:e}=r;return e(_l,{number:xo,Complex:function(n){return n.exp()},BigNumber:function(n){return n.exp()}})});var Om="matAlgo02xDS0",Fm=["typed","equalScalar"],xl=N(Om,Fm,r=>{var{typed:e,equalScalar:t}=r;return function(i,o,a,c){var l=i._data,s=i._size,u=i._datatype||i.getDataType(),h=o._values,f=o._index,d=o._ptr,g=o._size,p=o._datatype||o._data===void 0?o._datatype:o.getDataType();if(s.length!==g.length)throw new Q(s.length,g.length);if(s[0]!==g[0]||s[1]!==g[1])throw new RangeError("Dimension mismatch. Matrix A ("+s+") must match Matrix B ("+g+")");if(!h)throw new Error("Cannot perform operation on Dense Matrix and Pattern Sparse Matrix");var m=s[0],v=s[1],b,y=t,S=0,x=a;typeof u=="string"&&u===p&&u!=="mixed"&&(b=u,y=e.find(t,[b,b]),S=e.convert(0,b),x=e.find(a,[b,b]));for(var _=[],M=[],w=[],C=0;C<v;C++){w[C]=M.length;for(var P=d[C],D=d[C+1],R=P;R<D;R++){var W=f[R],G=c?x(h[R],l[W][C]):x(l[W][C],h[R]);y(G,S)||(M.push(W),_.push(G))}}return w[v]=M.length,o.createSparseMatrix({values:_,index:M,ptr:w,size:[m,v],datatype:u===i._datatype&&p===o._datatype?b:void 0})}});var Um="matAlgo03xDSf",Bm=["typed"],El=N(Um,Bm,r=>{var{typed:e}=r;return function(n,i,o,a){var c=n._data,l=n._size,s=n._datatype||n.getDataType(),u=i._values,h=i._index,f=i._ptr,d=i._size,g=i._datatype||i._data===void 0?i._datatype:i.getDataType();if(l.length!==d.length)throw new Q(l.length,d.length);if(l[0]!==d[0]||l[1]!==d[1])throw new RangeError("Dimension mismatch. Matrix A ("+l+") must match Matrix B ("+d+")");if(!u)throw new Error("Cannot perform operation on Dense Matrix and Pattern Sparse Matrix");var p=l[0],m=l[1],v,b=0,y=o;typeof s=="string"&&s===g&&s!=="mixed"&&(v=s,b=e.convert(0,v),y=e.find(o,[v,v]));for(var S=[],x=0;x<p;x++)S[x]=[];for(var _=[],M=[],w=0;w<m;w++){for(var C=w+1,P=f[w],D=f[w+1],R=P;R<D;R++){var W=h[R];_[W]=a?y(u[R],c[W][w]):y(c[W][w],u[R]),M[W]=C}for(var G=0;G<p;G++)M[G]===C?S[G][w]=_[G]:S[G][w]=a?y(b,c[G][w]):y(c[G][w],b)}return n.createDenseMatrix({data:S,size:[p,m],datatype:s===n._datatype&&g===i._datatype?v:void 0})}});var zm="matAlgo13xDD",Gm=["typed"],bl=N(zm,Gm,r=>{var{typed:e}=r;return function(i,o,a){var c=i._data,l=i._size,s=i._datatype,u=o._data,h=o._size,f=o._datatype,d=[];if(l.length!==h.length)throw new Q(l.length,h.length);for(var g=0;g<l.length;g++){if(l[g]!==h[g])throw new RangeError("Dimension mismatch. Matrix A ("+l+") must match Matrix B ("+h+")");d[g]=l[g]}var p,m=a;typeof s=="string"&&s===f&&(p=s,m=e.find(a,[p,p]));var v=d.length>0?t(m,0,d,d[0],c,u):[];return i.createDenseMatrix({data:v,size:d,datatype:p})};function t(n,i,o,a,c,l){var s=[];if(i===o.length-1)for(var u=0;u<a;u++)s[u]=n(c[u],l[u]);else for(var h=0;h<a;h++)s[h]=t(n,i+1,o,o[i+1],c[h],l[h]);return s}});function Dt(r,e){if(ce(r.size(),e.size()))return[r,e];var t=co(r.size(),e.size());return[r,e].map(n=>km(n,t))}function km(r,e){return ce(r.size(),e)?r:r.create(er(r.valueOf(),e),r.datatype())}var Vm="matrixAlgorithmSuite",Hm=["typed","matrix"],di=N(Vm,Hm,r=>{var{typed:e,matrix:t}=r,n=bl({typed:e}),i=Ie({typed:e});return function(a){var c=a.elop,l=a.SD||a.DS,s;c?(s={"DenseMatrix, DenseMatrix":(d,g)=>n(...Dt(d,g),c),"Array, Array":(d,g)=>n(...Dt(t(d),t(g)),c).valueOf(),"Array, DenseMatrix":(d,g)=>n(...Dt(t(d),g),c),"DenseMatrix, Array":(d,g)=>n(...Dt(d,t(g)),c)},a.SS&&(s["SparseMatrix, SparseMatrix"]=(d,g)=>a.SS(...Dt(d,g),c,!1)),a.DS&&(s["DenseMatrix, SparseMatrix"]=(d,g)=>a.DS(...Dt(d,g),c,!1),s["Array, SparseMatrix"]=(d,g)=>a.DS(...Dt(t(d),g),c,!1)),l&&(s["SparseMatrix, DenseMatrix"]=(d,g)=>l(...Dt(g,d),c,!0),s["SparseMatrix, Array"]=(d,g)=>l(...Dt(t(g),d),c,!0))):(s={"DenseMatrix, DenseMatrix":e.referToSelf(d=>(g,p)=>n(...Dt(g,p),d)),"Array, Array":e.referToSelf(d=>(g,p)=>n(...Dt(t(g),t(p)),d).valueOf()),"Array, DenseMatrix":e.referToSelf(d=>(g,p)=>n(...Dt(t(g),p),d)),"DenseMatrix, Array":e.referToSelf(d=>(g,p)=>n(...Dt(g,t(p)),d))},a.SS&&(s["SparseMatrix, SparseMatrix"]=e.referToSelf(d=>(g,p)=>a.SS(...Dt(g,p),d,!1))),a.DS&&(s["DenseMatrix, SparseMatrix"]=e.referToSelf(d=>(g,p)=>a.DS(...Dt(g,p),d,!1)),s["Array, SparseMatrix"]=e.referToSelf(d=>(g,p)=>a.DS(...Dt(t(g),p),d,!1))),l&&(s["SparseMatrix, DenseMatrix"]=e.referToSelf(d=>(g,p)=>l(...Dt(p,g),d,!0)),s["SparseMatrix, Array"]=e.referToSelf(d=>(g,p)=>l(...Dt(t(p),g),d,!0))));var u=a.scalar||"any",h=a.Ds||a.Ss;h&&(c?(s["DenseMatrix,"+u]=(d,g)=>i(d,g,c,!1),s[u+", DenseMatrix"]=(d,g)=>i(g,d,c,!0),s["Array,"+u]=(d,g)=>i(t(d),g,c,!1).valueOf(),s[u+", Array"]=(d,g)=>i(t(g),d,c,!0).valueOf()):(s["DenseMatrix,"+u]=e.referToSelf(d=>(g,p)=>i(g,p,d,!1)),s[u+", DenseMatrix"]=e.referToSelf(d=>(g,p)=>i(p,g,d,!0)),s["Array,"+u]=e.referToSelf(d=>(g,p)=>i(t(g),p,d,!1).valueOf()),s[u+", Array"]=e.referToSelf(d=>(g,p)=>i(t(p),g,d,!0).valueOf())));var f=a.sS!==void 0?a.sS:a.Ss;return c?(a.Ss&&(s["SparseMatrix,"+u]=(d,g)=>a.Ss(d,g,c,!1)),f&&(s[u+", SparseMatrix"]=(d,g)=>f(g,d,c,!0))):(a.Ss&&(s["SparseMatrix,"+u]=e.referToSelf(d=>(g,p)=>a.Ss(g,p,d,!1))),f&&(s[u+", SparseMatrix"]=e.referToSelf(d=>(g,p)=>f(p,g,d,!0)))),c&&c.signatures&&Kr(s,c.signatures),s}});var Wm="matAlgo01xDSid",qm=["typed"],Sl=N(Wm,qm,r=>{var{typed:e}=r;return function(n,i,o,a){var c=n._data,l=n._size,s=n._datatype||n.getDataType(),u=i._values,h=i._index,f=i._ptr,d=i._size,g=i._datatype||i._data===void 0?i._datatype:i.getDataType();if(l.length!==d.length)throw new Q(l.length,d.length);if(l[0]!==d[0]||l[1]!==d[1])throw new RangeError("Dimension mismatch. Matrix A ("+l+") must match Matrix B ("+d+")");if(!u)throw new Error("Cannot perform operation on Dense Matrix and Pattern Sparse Matrix");var p=l[0],m=l[1],v=typeof s=="string"&&s!=="mixed"&&s===g?s:void 0,b=v?e.find(o,[v,v]):o,y,S,x=[];for(y=0;y<p;y++)x[y]=[];var _=[],M=[];for(S=0;S<m;S++){for(var w=S+1,C=f[S],P=f[S+1],D=C;D<P;D++)y=h[D],_[y]=a?b(u[D],c[y][S]):b(c[y][S],u[D]),M[y]=w;for(y=0;y<p;y++)M[y]===w?x[y][S]=_[y]:x[y][S]=c[y][S]}return n.createDenseMatrix({data:x,size:[p,m],datatype:s===n._datatype&&g===i._datatype?v:void 0})}});var Xm="matAlgo04xSidSid",jm=["typed","equalScalar"],Ml=N(Xm,jm,r=>{var{typed:e,equalScalar:t}=r;return function(i,o,a){var c=i._values,l=i._index,s=i._ptr,u=i._size,h=i._datatype||i._data===void 0?i._datatype:i.getDataType(),f=o._values,d=o._index,g=o._ptr,p=o._size,m=o._datatype||o._data===void 0?o._datatype:o.getDataType();if(u.length!==p.length)throw new Q(u.length,p.length);if(u[0]!==p[0]||u[1]!==p[1])throw new RangeError("Dimension mismatch. Matrix A ("+u+") must match Matrix B ("+p+")");var v=u[0],b=u[1],y,S=t,x=0,_=a;typeof h=="string"&&h===m&&h!=="mixed"&&(y=h,S=e.find(t,[y,y]),x=e.convert(0,y),_=e.find(a,[y,y]));var M=c&&f?[]:void 0,w=[],C=[],P=c&&f?[]:void 0,D=c&&f?[]:void 0,R=[],W=[],G,k,L,q,Y;for(k=0;k<b;k++){C[k]=w.length;var j=k+1;for(q=s[k],Y=s[k+1],L=q;L<Y;L++)G=l[L],w.push(G),R[G]=j,P&&(P[G]=c[L]);for(q=g[k],Y=g[k+1],L=q;L<Y;L++)if(G=d[L],R[G]===j){if(P){var J=_(P[G],f[L]);S(J,x)?R[G]=null:P[G]=J}}else w.push(G),W[G]=j,D&&(D[G]=f[L]);if(P&&D)for(L=C[k];L<w.length;)G=w[L],R[G]===j?(M[L]=P[G],L++):W[G]===j?(M[L]=D[G],L++):w.splice(L,1)}return C[b]=w.length,i.createSparseMatrix({values:M,index:w,ptr:C,size:[v,b],datatype:h===i._datatype&&m===o._datatype?y:void 0})}});var Ym="matAlgo10xSids",$m=["typed","DenseMatrix"],wl=N(Ym,$m,r=>{var{typed:e,DenseMatrix:t}=r;return function(i,o,a,c){var l=i._values,s=i._index,u=i._ptr,h=i._size,f=i._datatype;if(!l)throw new Error("Cannot perform operation on Pattern Sparse Matrix and Scalar value");var d=h[0],g=h[1],p,m=a;typeof f=="string"&&(p=f,o=e.convert(o,p),m=e.find(a,[p,p]));for(var v=[],b=[],y=[],S=0;S<g;S++){for(var x=S+1,_=u[S],M=u[S+1],w=_;w<M;w++){var C=s[w];b[C]=l[w],y[C]=x}for(var P=0;P<d;P++)S===0&&(v[P]=[]),y[P]===x?v[P][S]=c?m(o,b[P]):m(b[P],o):v[P][S]=o}return new t({data:v,size:[d,g],datatype:p})}});var Tl="log2",Zm=["typed","config","Complex"],Uo=N(Tl,Zm,r=>{var{typed:e,config:t,Complex:n}=r;return e(Tl,{number:function(a){return a>=0||t.predictable?Eo(a):i(new n(a,0))},Complex:i,BigNumber:function(a){return!a.isNegative()||t.predictable?a.log(2):i(new n(a.toNumber(),0))},"Array | Matrix":e.referToSelf(o=>a=>_t(a,o))});function i(o){var a=Math.sqrt(o.re*o.re+o.im*o.im);return new n(Math.log2?Math.log2(a):Math.log(a)/Math.LN2,Math.atan2(o.im,o.re)/Math.LN2)}});var Km="multiplyScalar",Jm=["typed"],Bo=N(Km,Jm,r=>{var{typed:e}=r;return e("multiplyScalar",{"number, number":vo,"Complex, Complex":function(n,i){return n.mul(i)},"BigNumber, BigNumber":function(n,i){return n.times(i)},"bigint, bigint":function(n,i){return n*i},"Fraction, Fraction":function(n,i){return n.mul(i)},"number | Fraction | BigNumber | Complex, Unit":(t,n)=>n.multiply(t),"Unit, number | Fraction | BigNumber | Complex | Unit":(t,n)=>t.multiply(n)})});var Cl="multiply",Qm=["typed","matrix","addScalar","multiplyScalar","equalScalar","dot"],zo=N(Cl,Qm,r=>{var{typed:e,matrix:t,addScalar:n,multiplyScalar:i,equalScalar:o,dot:a}=r,c=De({typed:e,equalScalar:o}),l=Ie({typed:e});function s(x,_){switch(x.length){case 1:switch(_.length){case 1:if(x[0]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Vectors must have the same length");break;case 2:if(x[0]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Vector length ("+x[0]+") must match Matrix rows ("+_[0]+")");break;default:throw new Error("Can only multiply a 1 or 2 dimensional matrix (Matrix B has "+_.length+" dimensions)")}break;case 2:switch(_.length){case 1:if(x[1]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Matrix columns ("+x[1]+") must match Vector length ("+_[0]+")");break;case 2:if(x[1]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Matrix A columns ("+x[1]+") must match Matrix B rows ("+_[0]+")");break;default:throw new Error("Can only multiply a 1 or 2 dimensional matrix (Matrix B has "+_.length+" dimensions)")}break;default:throw new Error("Can only multiply a 1 or 2 dimensional matrix (Matrix A has "+x.length+" dimensions)")}}function u(x,_,M){if(M===0)throw new Error("Cannot multiply two empty vectors");return a(x,_)}function h(x,_){if(_.storage()!=="dense")throw new Error("Support for SparseMatrix not implemented");return f(x,_)}function f(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._data,D=_._size,R=_._datatype||_.getDataType(),W=w[0],G=D[1],k,L=n,q=i;C&&R&&C===R&&typeof C=="string"&&C!=="mixed"&&(k=C,L=e.find(n,[k,k]),q=e.find(i,[k,k]));for(var Y=[],j=0;j<G;j++){for(var J=q(M[0],P[0][j]),lt=1;lt<W;lt++)J=L(J,q(M[lt],P[lt][j]));Y[j]=J}return x.createDenseMatrix({data:Y,size:[G],datatype:C===x._datatype&&R===_._datatype?k:void 0})}var d=e("_multiplyMatrixVector",{"DenseMatrix, any":p,"SparseMatrix, any":b}),g=e("_multiplyMatrixMatrix",{"DenseMatrix, DenseMatrix":m,"DenseMatrix, SparseMatrix":v,"SparseMatrix, DenseMatrix":y,"SparseMatrix, SparseMatrix":S});function p(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._data,D=_._datatype||_.getDataType(),R=w[0],W=w[1],G,k=n,L=i;C&&D&&C===D&&typeof C=="string"&&C!=="mixed"&&(G=C,k=e.find(n,[G,G]),L=e.find(i,[G,G]));for(var q=[],Y=0;Y<R;Y++){for(var j=M[Y],J=L(j[0],P[0]),lt=1;lt<W;lt++)J=k(J,L(j[lt],P[lt]));q[Y]=J}return x.createDenseMatrix({data:q,size:[R],datatype:C===x._datatype&&D===_._datatype?G:void 0})}function m(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._data,D=_._size,R=_._datatype||_.getDataType(),W=w[0],G=w[1],k=D[1],L,q=n,Y=i;C&&R&&C===R&&typeof C=="string"&&C!=="mixed"&&C!=="mixed"&&(L=C,q=e.find(n,[L,L]),Y=e.find(i,[L,L]));for(var j=[],J=0;J<W;J++){var lt=M[J];j[J]=[];for(var at=0;at<k;at++){for(var pt=Y(lt[0],P[0][at]),Tt=1;Tt<G;Tt++)pt=q(pt,Y(lt[Tt],P[Tt][at]));j[J][at]=pt}}return x.createDenseMatrix({data:j,size:[W,k],datatype:C===x._datatype&&R===_._datatype?L:void 0})}function v(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._values,D=_._index,R=_._ptr,W=_._size,G=_._datatype||_._data===void 0?_._datatype:_.getDataType();if(!P)throw new Error("Cannot multiply Dense Matrix times Pattern only Matrix");var k=w[0],L=W[1],q,Y=n,j=i,J=o,lt=0;C&&G&&C===G&&typeof C=="string"&&C!=="mixed"&&(q=C,Y=e.find(n,[q,q]),j=e.find(i,[q,q]),J=e.find(o,[q,q]),lt=e.convert(0,q));for(var at=[],pt=[],Tt=[],wt=_.createSparseMatrix({values:at,index:pt,ptr:Tt,size:[k,L],datatype:C===x._datatype&&G===_._datatype?q:void 0}),St=0;St<L;St++){Tt[St]=pt.length;var xt=R[St],$t=R[St+1];if($t>xt)for(var Mt=0,gt=0;gt<k;gt++){for(var se=gt+1,Ot=void 0,ct=xt;ct<$t;ct++){var It=D[ct];Mt!==se?(Ot=j(M[gt][It],P[ct]),Mt=se):Ot=Y(Ot,j(M[gt][It],P[ct]))}Mt===se&&!J(Ot,lt)&&(pt.push(gt),at.push(Ot))}}return Tt[L]=pt.length,wt}function b(x,_){var M=x._values,w=x._index,C=x._ptr,P=x._datatype||x._data===void 0?x._datatype:x.getDataType();if(!M)throw new Error("Cannot multiply Pattern only Matrix times Dense Matrix");var D=_._data,R=_._datatype||_.getDataType(),W=x._size[0],G=_._size[0],k=[],L=[],q=[],Y,j=n,J=i,lt=o,at=0;P&&R&&P===R&&typeof P=="string"&&P!=="mixed"&&(Y=P,j=e.find(n,[Y,Y]),J=e.find(i,[Y,Y]),lt=e.find(o,[Y,Y]),at=e.convert(0,Y));var pt=[],Tt=[];q[0]=0;for(var wt=0;wt<G;wt++){var St=D[wt];if(!lt(St,at))for(var xt=C[wt],$t=C[wt+1],Mt=xt;Mt<$t;Mt++){var gt=w[Mt];Tt[gt]?pt[gt]=j(pt[gt],J(St,M[Mt])):(Tt[gt]=!0,L.push(gt),pt[gt]=J(St,M[Mt]))}}for(var se=L.length,Ot=0;Ot<se;Ot++){var ct=L[Ot];k[Ot]=pt[ct]}return q[1]=L.length,x.createSparseMatrix({values:k,index:L,ptr:q,size:[W,1],datatype:P===x._datatype&&R===_._datatype?Y:void 0})}function y(x,_){var M=x._values,w=x._index,C=x._ptr,P=x._datatype||x._data===void 0?x._datatype:x.getDataType();if(!M)throw new Error("Cannot multiply Pattern only Matrix times Dense Matrix");var D=_._data,R=_._datatype||_.getDataType(),W=x._size[0],G=_._size[0],k=_._size[1],L,q=n,Y=i,j=o,J=0;P&&R&&P===R&&typeof P=="string"&&P!=="mixed"&&(L=P,q=e.find(n,[L,L]),Y=e.find(i,[L,L]),j=e.find(o,[L,L]),J=e.convert(0,L));for(var lt=[],at=[],pt=[],Tt=x.createSparseMatrix({values:lt,index:at,ptr:pt,size:[W,k],datatype:P===x._datatype&&R===_._datatype?L:void 0}),wt=[],St=[],xt=0;xt<k;xt++){pt[xt]=at.length;for(var $t=xt+1,Mt=0;Mt<G;Mt++){var gt=D[Mt][xt];if(!j(gt,J))for(var se=C[Mt],Ot=C[Mt+1],ct=se;ct<Ot;ct++){var It=w[ct];St[It]!==$t?(St[It]=$t,at.push(It),wt[It]=Y(gt,M[ct])):wt[It]=q(wt[It],Y(gt,M[ct]))}}for(var zt=pt[xt],Ee=at.length,Ge=zt;Ge<Ee;Ge++){var Un=at[Ge];lt[Ge]=wt[Un]}}return pt[k]=at.length,Tt}function S(x,_){var M=x._values,w=x._index,C=x._ptr,P=x._datatype||x._data===void 0?x._datatype:x.getDataType(),D=_._values,R=_._index,W=_._ptr,G=_._datatype||_._data===void 0?_._datatype:_.getDataType(),k=x._size[0],L=_._size[1],q=M&&D,Y,j=n,J=i;P&&G&&P===G&&typeof P=="string"&&P!=="mixed"&&(Y=P,j=e.find(n,[Y,Y]),J=e.find(i,[Y,Y]));for(var lt=q?[]:void 0,at=[],pt=[],Tt=x.createSparseMatrix({values:lt,index:at,ptr:pt,size:[k,L],datatype:P===x._datatype&&G===_._datatype?Y:void 0}),wt=q?[]:void 0,St=[],xt,$t,Mt,gt,se,Ot,ct,It,zt=0;zt<L;zt++){pt[zt]=at.length;var Ee=zt+1;for(se=W[zt],Ot=W[zt+1],gt=se;gt<Ot;gt++)if(It=R[gt],q)for($t=C[It],Mt=C[It+1],xt=$t;xt<Mt;xt++)ct=w[xt],St[ct]!==Ee?(St[ct]=Ee,at.push(ct),wt[ct]=J(D[gt],M[xt])):wt[ct]=j(wt[ct],J(D[gt],M[xt]));else for($t=C[It],Mt=C[It+1],xt=$t;xt<Mt;xt++)ct=w[xt],St[ct]!==Ee&&(St[ct]=Ee,at.push(ct));if(q)for(var Ge=pt[zt],Un=at.length,cn=Ge;cn<Un;cn++){var ar=at[cn];lt[cn]=wt[ar]}}return pt[L]=at.length,Tt}return e(Cl,i,{"Array, Array":e.referTo("Matrix, Matrix",x=>(_,M)=>{s(st(_),st(M));var w=x(t(_),t(M));return 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u(h,f,d){var g,p,m,v,b;if(f===1){if(v=h[0][0],v===0)throw Error("Cannot calculate inverse, determinant is zero");return[[n(1,v)]]}else if(f===2){var y=c(h);if(y===0)throw Error("Cannot calculate inverse, determinant is zero");return[[n(h[1][1],y),n(a(h[0][1]),y)],[n(a(h[1][0]),y),n(h[0][0],y)]]}else{var S=h.concat();for(g=0;g<f;g++)S[g]=S[g].concat();for(var x=l(f).valueOf(),_=0;_<d;_++){var M=s(S[_][_]),w=_;for(g=_+1;g<f;)s(S[g][_])>M&&(M=s(S[g][_]),w=g),g++;if(M===0)throw Error("Cannot calculate inverse, determinant is zero");g=w,g!==_&&(b=S[_],S[_]=S[g],S[g]=b,b=x[_],x[_]=x[g],x[g]=b);var C=S[_],P=x[_];for(g=0;g<f;g++){var D=S[g],R=x[g];if(g!==_){if(D[_]!==0){for(m=n(a(D[_]),C[_]),p=_;p<d;p++)D[p]=i(D[p],o(m,C[p]));for(p=0;p<d;p++)R[p]=i(R[p],o(m,P[p]))}}else{for(m=C[_],p=_;p<d;p++)D[p]=n(D[p],m);for(p=0;p<d;p++)R[p]=n(R[p],m)}}}return x}}});var 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yi=class{NumParticle;reSampNumParticle;initial_xy_uncertainty;initial_yaw_uncertainty;step_noise_sigma;yaw_noise_sigma;compass_update_interval;sigmaCompass;delta_yaw;sigmaBeacon;unaccess_weight;particle_PosInitFlag;particle_yawInitFlag;xEst;particleX;particleWeight;last_compass_time;last_yaw_compass=0;compass_consecutive_offset_count=0;constructor(e){this.NumParticle=e.NumParticle,this.reSampNumParticle=e.reSampNumParticle,this.initial_xy_uncertainty=e.initial_xy_uncertainty,this.initial_yaw_uncertainty=e.initial_yaw_uncertainty,this.step_noise_sigma=e.step_noise_sigma,this.yaw_noise_sigma=e.yaw_noise_sigma,this.compass_update_interval=e.compass_update_interval,this.sigmaCompass=e.sigmaCompass,this.delta_yaw=e.delta_yaw,this.sigmaBeacon=e.sigmaBeacon,this.unaccess_weight=e.unaccess_weight,this.particle_PosInitFlag=!1,this.particle_yawInitFlag=!1,this.xEst=[[0],[0],[0]],this.particleX=Array.from({length:3},()=>Array(this.NumParticle).fill(0)),this.particleWeight=Array.from({length:1},()=>Array(this.NumParticle).fill(1/this.NumParticle)),this.last_compass_time=0}motionModelRotYaw(e){if(!(Math.abs(e)<.001)){this.last_yaw_compass=jn(this.last_yaw_compass+e);for(let t=0;t<this.NumParticle;t++){let n=Math.random()*this.yaw_noise_sigma;this.particleX[2][t]=this.particleX[2][t]+e+n,this.particleX[2][t]=jn(this.particleX[2][t])}}}motionModelStepLength(e,t){if(e===0)return;for(let i=0;i<this.NumParticle;i++){let o=Math.random()*this.step_noise_sigma;this.particleX[0][i]+=(.65+o)*Math.sin(-this.particleX[2][i]/180*Math.PI),this.particleX[1][i]+=(.65+o)*Math.cos(this.particleX[2][i]/180*Math.PI),t(this.particleX[0][i],this.particleX[1][i])||(this.particleWeight[0][i]*=this.unaccess_weight)}let n=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/n)}motionModelCompassYaw(e,t){if(t-this.last_compass_time>this.compass_update_interval){let n=360-e;n+=this.delta_yaw,n=jn(n),Math.abs(n-this.last_yaw_compass)>60?this.compass_consecutive_offset_count++:this.compass_consecutive_offset_count=0,this.compass_consecutive_offset_count>=5&&this.initParticlesByCompass(e);for(let o=0;o<this.NumParticle;o++){let a=Math.abs(this.particleX[2][o]-n);a>180&&(a=360-a),this.particleWeight[0][o]*=Yr(a,this.sigmaCompass)}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i),this.setLastCompassTime(t)}}resampling(){if(1/this.particleWeight[0].reduce((t,n)=>t+n*n,0)<this.reSampNumParticle){let t=this.particleWeight[0].reduce((c,l,s)=>c.concat(c[s]+l),[0]),i=this.particleWeight[0].map(()=>1/this.NumParticle).map((c,l)=>c+Math.random()/this.NumParticle),o=[],a=0;for(let c=0;c<this.NumParticle;c++){for(;i[c]>t[a];)a++;o.push(a)}this.particleX=this.particleX.map((c,l)=>o.map(s=>c[s])),this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle)}}update(e,t){for(let i=0;i<this.NumParticle;i++){let o=En(this.particleX[0][i],this.particleX[1][i],e.x,e.y);this.particleWeight[0][i]=Math.max(1e-7,this.particleWeight[0][i]*Yr(o,t))}let n=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/n)}updateCar(e,t){let n=e.x-this.xEst[0][0],i=e.y-this.xEst[1][0];for(let a=0;a<this.NumParticle;a++){let c=En(this.particleX[0][a],this.particleX[1][a],e.x,e.y);this.particleWeight[0][a]=Math.max(1e-7,this.particleWeight[0][a]*Yr(c,t)),this.particleX[0][a]+=n,this.particleX[1][a]+=i}let o=this.particleWeight[0].reduce((a,c)=>a+c,0);this.particleWeight[0]=this.particleWeight[0].map(a=>a/o)}getPosInitFlag(){return this.particle_PosInitFlag}getYawInitFlag(){return this.particle_yawInitFlag}setPosInitFlag(e){this.particle_PosInitFlag=e}setYawInitFlag(e){this.particle_yawInitFlag=e}getResultX(){let e=ic(this.particleWeight,[this.NumParticle,1]),t=Fn(this.particleX,e);return this.xEst=t,this.xEst[0][0]}getResultY(){return this.xEst[1][0]}getResultYaw(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0]));return this.particleX[2][e]}getEstConfidence(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0])),t=this.particleWeight[0].indexOf(Math.min(...this.particleWeight[0])),n=[this.particleX[0][e],this.particleX[1][e]],i=[this.particleX[0][t],this.particleX[1][t]],o=En(n[0],n[1],i[0],i[1]),a=o*.67;return console.log(o,a),a}getParticleNum(){return this.NumParticle}getParticleX(){return this.particleX}setLastCompassTime(e){this.last_compass_time=e}getLastCompassTime(){return this.last_compass_time}initParticlesByPos(e,t,n){if(!this.particle_PosInitFlag){this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle);let i=0;for(;i<this.NumParticle;){let a=(2*Math.random()-1)*this.initial_xy_uncertainty,c=(2*Math.random()-1)*this.initial_xy_uncertainty;n(e+a,t+c)||(this.particleWeight[0][i]*=this.unaccess_weight),this.particleX[0][i]=e+a,this.particleX[1][i]=t+c,i++}let o=this.particleWeight[0].reduce((a,c)=>a+c,0);this.particleWeight[0]=this.particleWeight[0].map(a=>a/o),this.particle_PosInitFlag=!0,this.xEst[0][0]=e,this.xEst[1][0]=t,this.xEst[2][0]=0}}initParticlesByCompass(e){console.log(`Init compass: ${e}`);let t=360-e;t+=this.delta_yaw,t=jn(t),console.log(`Init Yaw: ${t}`);for(let n=0;n<this.NumParticle;n++){let i=(2*Math.random()-1)*this.initial_yaw_uncertainty;this.particleX[2][n]=t+i}this.particle_yawInitFlag=!0,this.xEst[2][0]=t,this.last_yaw_compass=t,this.compass_consecutive_offset_count=0}};var vi=class{fre=100;accH_fifo=[];accH_time_fifo=[];accH_fifo_len=Math.floor(1*this.fre)+1;step_count=0;state_count=0;last_valley_time=0;last_peak_time=0;last_step_time=0;min_step_time=.3;max_step_time=1;min_peak=10.5;max_valley=9.5;peak_num=0;valley_num=0;fft_min_amp=.3;fft_min_fre=0;fft_max_fre=4;last_fft_amp=0;abnor_start_time=0;abnor_fft_detected=!1;abnor_time_threshold=4;abnor_peak_time=0;abnor_peak_accH=0;const_step_length=.65;last_rot=[];delta_rot=[];last_yaw=0;delta_yaw=null;delta_rot_sum_fifo=[];delta_rot_sum_time_fifo=[];delta_yaw_accum=0;delta_yaw_accum_timestamp=0;delta_yaw_time_threshold=.5;last_px=0;last_py=0;delta_px=0;delta_py=0;init(){this.fre=100,this.accH_fifo=[],this.accH_time_fifo=[],this.accH_fifo_len=Math.floor(1*this.fre)+1,this.step_count=0,this.state_count=0,this.last_valley_time=0,this.last_peak_time=0,this.last_step_time=0,this.min_step_time=.3,this.max_step_time=1,this.min_peak=10+.5,this.max_valley=10-.5,this.peak_num=0,this.valley_num=0,this.fft_min_amp=.3,this.fft_min_fre=0,this.fft_max_fre=4,this.last_fft_amp=0,this.abnor_start_time=0,this.abnor_fft_detected=!1,this.abnor_peak_time=0,this.abnor_peak_accH=0,this.const_step_length=.65,this.last_rot=[0,0,0],this.delta_rot=[0,0,0],this.last_yaw=0,this.delta_yaw=null,this.delta_rot_sum_fifo=[],this.delta_rot_sum_time_fifo=[],this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=0,this.delta_yaw_time_threshold=.5,this.last_px=0,this.last_py=0,this.delta_px=0,this.delta_py=0}reset(){this.init()}setInitPose(e=[0,0]){this.last_px=e[0],this.last_py=e[1],console.info(`pdr init pos: ${this.last_px}, ${this.last_py}`)}setInitYaw(e=0){this.last_yaw=e}getPos(e,t,n){let i=0;return n.length===3&&(this.delta_yaw=this.getDeltaYawFromRot(e,n)),t.length===3&&(i=this.getStepLength(e,t)),i!==0&&(this.last_px+=this.delta_px,this.last_py+=this.delta_py),[this.last_px,this.last_py]}getDeltaPose(){return[this.delta_px,this.delta_py]}getStepLength(e,t){if(t.length<3)return console.warn("acc data less than 3"),0;let n=!1,i=Math.sqrt(Math.pow(t[0],2)+Math.pow(t[1],2)+Math.pow(t[2],2));if(this.accH_fifo.push(i),this.accH_time_fifo.push(e),this.imuFreUpdate(),this.accH_fifo.length<this.accH_fifo_len+1)n=!1;else{for(;this.accH_fifo.length>=this.accH_fifo_len+1;)this.accH_fifo.shift(),this.accH_time_fifo.shift();let o=this.PVStepDetec(),a=this.FFTStepDetec(),c=this.recheckState(),l=this.accH_time_fifo[Math.floor(this.accH_time_fifo.length*3/4)];Math.abs(this.abnor_start_time)<.001&&this.abnor_fft_detected?this.abnor_start_time=l:this.abnor_fft_detected||(this.abnor_start_time=0),o&&a&&c?(this.step_count+=1,this.last_step_time=l,n=!0):Math.abs(this.abnor_start_time)>.001&&this.abnor_peak_time-this.abnor_start_time>this.abnor_time_threshold&&this.step_count>1&&this.abnor_peak_time-this.last_step_time>1?(this.step_count+=1,this.last_step_time=l,n=!0):(l-this.last_step_time>2&&(this.state_count=0),n=!1)}if(n){let o=this.last_yaw/180*Math.PI;return this.delta_px=this.const_step_length*Math.cos(o),this.delta_py=this.const_step_length*Math.sin(o),this.const_step_length}else return 0}imuFreUpdate(){if(this.accH_time_fifo.length>2&&(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]<0||this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]>10||this.accH_time_fifo[this.accH_time_fifo.length-1]===this.accH_time_fifo[0])&&(console.warn(`pdr reset last one time ${this.accH_time_fifo[this.accH_time_fifo.length-1]} last two time ${this.accH_time_fifo[this.accH_time_fifo.length-2]}`),this.reset()),this.accH_fifo.length>9||this.fre<15){let e=(this.accH_fifo.length-1)/(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[0]);Math.abs(this.fre-e)>8&&(this.fre=Math.round((e-3)/10)*10,(this.fre<=10||this.fre>=100)&&(console.warn(`Frequency Error ${this.fre}`),this.fre=100),console.debug(`Frequency change to ${this.fre}`),this.accH_fifo_len=Math.floor(1*this.fre)+1)}}recheckState(){return!0}PVStepDetec(){let e=!1,t=this.accH_fifo.slice(Math.floor(this.accH_fifo_len/2)),n=this.accH_time_fifo.slice(Math.floor(this.accH_fifo_len/2)),i=t[Math.floor(t.length/2)],o=n[Math.floor(n.length/2)],a=Math.max(...t),c=Math.min(...t),l=!1,s=!1;return Math.abs(i-c)<.01&&i<this.max_valley&&this.valley_num<=this.peak_num&&(this.last_valley_time===0?s=!0:s=o-this.last_valley_time>this.min_step_time,s&&(this.last_valley_time=o,this.valley_num+=1)),Math.abs(i-a)<.01&&i>this.min_peak&&this.peak_num<=this.valley_num&&(this.last_peak_time===0?l=!0:l=o-this.last_peak_time>this.min_step_time,l&&(this.last_peak_time=o,this.peak_num+=1)),i===a&&i>this.min_peak&&(this.abnor_peak_time=o,this.abnor_peak_accH=i),this.peak_num===this.valley_num&&(l||s)&&(e=!0),e}FFTStepDetec(){return!0}getDeltaYawFromRot(e,t){if(t.length<3)return console.warn("rot data less than 3"),0;let n=[0,0,0];this.last_rot.length===3&&(n=t.map((c,l)=>c-this.last_rot[l]));for(let c=0;c<t.length;c++)n[c]<-180?n[c]+=360:n[c]>180&&(n[c]-=360);let i=.2;this.delta_rot.length===3?this.delta_rot=this.delta_rot.map((c,l)=>i*c+(1-i)*n[l]):this.delta_rot=n,this.last_rot=t,this.delta_yaw=this.delta_rot[0],this.last_yaw+=this.delta_yaw,this.last_yaw=this.limitYaw(this.last_yaw);let o=this.delta_rot.reduce((c,l)=>c+Math.abs(l),0);this.delta_rot_sum_fifo.push(o),this.delta_rot_sum_time_fifo.push(e),Math.abs(this.delta_rot_sum_time_fifo[this.delta_rot_sum_time_fifo.length-1]-this.delta_rot_sum_time_fifo[0])>1&&(this.delta_rot_sum_fifo.shift(),this.delta_rot_sum_time_fifo.shift()),this.delta_yaw_accum+=this.delta_yaw;let a=0;return Math.abs(this.delta_yaw_accum_timestamp-e)>this.delta_yaw_time_threshold?(a=this.delta_yaw_accum,this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=e,a):null}limitYaw(e){for(;e<-180;)e+=360;for(;e>180;)e-=360;return e}};var _i=class{particleFilter;pdr;sigmaBeacon=5;gps_horizontalAccuracy=10;using_gps=!0;last_beacon_time=null;last_pos_time;position_count=0;gps_max_horizontalAccuracy=20;MaxEstimateErr=5;outTrustRegionNum=0;TrustNum=4;cacheSensorData=[];constructor(){this.particleFilter=new yi({NumParticle:200,reSampNumParticle:.65,initial_xy_uncertainty:12,initial_yaw_uncertainty:100,step_noise_sigma:.5,yaw_noise_sigma:2,compass_update_interval:3e3,sigmaCompass:80,delta_yaw:2,sigmaBeacon:5,unaccess_weight:.7}),this.pdr=new vi}pfFusionPDRiBeacon(e){let{type:t,timestamp:n,res:i}=e,o=!1;if(this.particleFilter.getPosInitFlag()&&this.particleFilter.getYawInitFlag()){if(t==="acceleration"){let a=i,c=this.pdr.getStepLength(n/1e3,a);c!==0&&(this.particleFilter.motionModelStepLength(c,()=>!0),this.particleFilter.resampling(),this.position_count+=1,o=!0)}if(this.using_gps&&t==="gps"&&(this.last_beacon_time===null||n-this.last_beacon_time>5e3)){let a=this.getGpsPosition(i);o=a!==null,a&&(this.particleFilter.update(a,this.gps_horizontalAccuracy),this.resetParticleFilterDist(a),this.particleFilter.resampling(),this.position_count+=1)}if(t==="deviceMotion"){let a=this.pdr.getDeltaYawFromRot(n/1e3,i);a!==null&&this.particleFilter.motionModelRotYaw(a)}t==="compass"&&this.particleFilter.motionModelCompassYaw(i,n),this.last_pos_time&&n-this.last_pos_time>500&&(this.position_count+=1,o=!0)}else if(!this.particleFilter.getPosInitFlag()&&this.using_gps&&t==="gps"){let a=this.getGpsPosition(i);o=a!==null,a?(this.particleFilter.initParticlesByPos(a.x,a.y,()=>!0),this.last_pos_time=n,console.log(`init Pos by gps success time ${n}`),this.cacheSensorData.length=0):console.log(`init Pos by gps fail time ${n}`)}else if(!this.particleFilter.getYawInitFlag()&&t==="compass"){let a=i;this.particleFilter.initParticlesByCompass(a),this.particleFilter.setLastCompassTime(n),console.log(`init yaw by compass success time ${n}`)}else this.cacheSensorData.push(e);return o&&(this.last_pos_time=n),[o,this.particleFilter.getResultX(),this.particleFilter.getResultY()]}setBeaconPosition(e,t){return this.last_beacon_time=t,this.particleFilter.getPosInitFlag()?this.particleFilter.update(e,this.sigmaBeacon):this.particleFilter.initParticlesByPos(e.x,e.y,()=>!0),this.resetParticleFilterDist(e),this.particleFilter.resampling(),this.position_count+=1,this.cacheSensorData.filter(i=>i.timestamp>t).map(i=>this.pfFusionPDRiBeacon(i)),this.cacheSensorData.length=0,[this.particleFilter.getResultX(),this.particleFilter.getResultY()]}getGpsPosition(e){return e[2]>this.gps_max_horizontalAccuracy?null:Ba(e[0],e[1])}resetParticleFilterDist(e){let t=this.particleFilter.getResultX(),n=this.particleFilter.getResultY();En(t,n,e.x,e.y)>this.MaxEstimateErr?(this.outTrustRegionNum+=1,this.outTrustRegionNum>=this.TrustNum&&(console.info(`\u8D85\u51FA\u53EF\u4FE1\u533A\u57DF\uFF0C\u91CD\u7F6E\u7C92\u5B50\u8FC7\u6EE4\u5668\u5230: ${e.x}, ${e.y}`),this.particleFilter.setPosInitFlag(!1),this.particleFilter.setYawInitFlag(!1),this.outTrustRegionNum=0)):this.outTrustRegionNum=0}};var hc=class extends iv{sensor;pdr;constructor(e={}){super(),this.sensor=new jr(e.sensor),this.pdr=new _i}checkSensor(){return this.sensor.checkSensor()}start(){this.sensor.start(),this.sensor.addEventListener("add-data-item",({item:e})=>{this.getPositionBySensorItem(e)})}getPositionBySensorItem(e){let[t,n,i]=this.pdr.pfFusionPDRiBeacon(e);return t&&this.dispatchEvent({type:"position",x:n,y:i,_type:e.type==="gps"?"gps":"pdr"}),[t,n,i]}setBeaconPosition(e,t){let[n,i]=this.pdr.setBeaconPosition(e,t);this.dispatchEvent({type:"position",x:n,y:i,_type:"beacon"})}dispose(){this.sensor.stop()}};async function pc({brand:r,project:e},t){let{apiDomain:n,apiPath:{floorRange:i},apiInfo:o}=t,a=`${n}${i}?brand=${r}&project=${e}&phase=${e}&building=${e}`;return await fetch(a,o).then(l=>l.json()).then(l=>l.data).then(l=>{let s=(l||[])[0];return s&&(s.info=JSON.parse(s.info)),s})}async function fc({brand:r,project:e,floor:t,ts:n,resource_type_list:i},o){let{apiDomain:a,apiPath:{floorGraphic:c},apiInfo:l}=o,s=`${a}${c}?brand=${r}&project=${e}&phase=${e}&building=${e}&floor=${t}&ts=${n}&resource_type_list=${i}`;return await fetch(s,l).then(h=>h.json()).then(h=>h.data).then(h=>((h||[]).map(f=>f.info=JSON.parse(f.info)),h||[]))}async function b2({project:r,floor:e},t){let{apiDomain:n,apiInfo:i}=t,o=`${n}/api/inception-map/external_street/get?projectCode=${r}&floorCode=${e}`;return await fetch(o,i).then(c=>c.json()).then(c=>c.data).then(c=>JSON.parse(c[0].streetInfo||"{}")).then(c=>c.fileId?ov(c.fileId,t):null)}async function ov(r,e){let{apiDomain:t,apiInfo:n}=e;return fetch(`${t}/api/inception-map/file/getFileStream?fileId=${r}`,n).then(i=>i.arrayBuffer()).then(i=>{let a=new TextDecoder("utf-8").decode(i);return a?JSON.parse(a):null})}var xe;function dc(r="aibee_map"){return new Promise((e,t)=>{if(xe)return e({db:xe,type:"success"});let n=indexedDB.open(r);n.onupgradeneeded=function(i){xe=i.target.result,console.log("onupgradeneeded"),e({db:xe,type:"onupgradeneeded"})},n.onsuccess=i=>{xe=i.target.result,e({db:xe,type:"success"})},n.onerror=i=>{t(i)}})}function gc(r,e,t=xe){return new Promise((n,i)=>{t||i("\u6CA1\u6709db");let a=t.transaction([r],"readonly").objectStore(r).get(e);a.onsuccess=()=>{a.result?n(a.result.value):n(null)},a.onerror=c=>{console.log("[getVersionByKey]",c),n(null)}})}function mc(r,e,t,n=xe){return new Promise((i,o)=>(n||o("\u6CA1\u6709db"),new Promise((a,c)=>{let s=n.transaction([r],"readwrite").objectStore(r).add({key:e,value:t});s.onsuccess=function(u){a(u)},s.onerror=function(u){c(u)}})))}function sr(r,e=xe){e&&(e.objectStoreNames.contains(r)||e.createObjectStore(r,{keyPath:"key"}))}function yc(){xe?.close(),xe=null}var 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";var F2={loadRoadNetwork:!1},cs="map_version",hs="route_version",ps="map_data",xi="road_network_data",Ec={half:vc,power:_c,mechanical:xc},bc=class{constructor(e){this.bmap=e;this.initDb()}floors=[];async initDb(){try{let{db:e,type:t}=await dc();t==="onupgradeneeded"&&(sr(cs),sr(hs),sr(ps),sr(xi))}catch(e){console.log("[\u6253\u5F00indexDb\u9519\u8BEF]",e)}}async load(e){if(this.clear(),Array.isArray(e))this.floors=e;else{let t=await fetch(e).then(n=>n.json());t.code==="0"&&(this.floors=t.data.list)}}setCacheData(e,t,n){return mc(e,`${t}`,n)}getCacheData(e,t){return gc(e,`${t}`)}getFloorCacheKey(e){return`${e.floor_id}`}async getFloorData(e){let t=this.floors.find(i=>i.floor===e);if(!t)return null;let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(cs,n)===t.version_id){let o=await this.getCacheData(ps,n);if(o)return this.getDataByJson(o)}return this.getFloorDataByFloorInfo(t)}catch{return this.getFloorDataByFloorInfo(t)}}async getFloorDataByFloorInfo(e){let t=this.getFloorCacheKey(e);console.time("zstd_json");let n=await fetch(e.map_url).then(i=>i.json());return n.floor=e.floor,console.timeEnd("zstd_json"),this.setCacheData(ps,t,n),this.setCacheData(cs,t,e.version_id),this.getDataByJson(n)}async getRoadNetworkData(){return(await Promise.all(this.floors.map(async t=>{let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(hs,n)===t.version_id){let a=await this.getCacheData(xi,n);if(a)return a}let o=await fetch(t.route_url).then(a=>a.json());return this.setCacheData(xi,n,o),this.setCacheData(hs,n,t.version_id),o}catch{let i=await fetch(t.route_url).then(o=>o.json());return this.setCacheData(xi,n,i),i}}))).filter(t=>t.points)}async getFacilitiesData(){if(this.floors[0]?.entry_infra_url)return fetch(this.floors[0].entry_infra_url).then(e=>e.json())}async getOtherDataByFreeTime(){}async getMulFloorsData(e){return Promise.all(e.map(t=>this.getFloorData(t))).then(t=>t.filter(n=>n))}async getDataByUrl(e){let t=await fetch(e).then(n=>n.json());return this.getDataByJson(t)}getDataByJson(e){let t=new Ce(this.bmap.context);t.userData.graphics=[],t.userData.graphicMap=new Map;let n=[0,0];return e.layers.forEach(i=>{switch(i.l_type){case"range":let o=i.elements[0];n=[o.center_x,o.center_y];break;case"graph":ee(i.elements,n);let a=[];i.elements.forEach(p=>{p.group==="ground"?t.createGround(p):a.push(p)});let c=a.reduce((p,m)=>{let{fillColor:v,fillOpacity:b,strokeColor:y,strokeOpacity:S,height:x}=m,_=`${v.toLowerCase()}-${b}-${y.toLowerCase()}-${S}-${x}`;return S===0&&(_=`${v.toLowerCase()}-${b}-${x}`),p[_]?p[_].push(m):p[_]=[m],p},{});Object.values(c).forEach(p=>{let m=new Dr(this.bmap.context,p);t.mergeGraphicLayer.add(m)});break;case"ground":ee(i.elements,n);let l=i.elements.map(p=>new Ft(this.bmap.context,p));t.addGrounds(l);break;case"wall":ee(i.elements,n);let s=i.elements.reduce((p,m)=>{let{fillColor:v,fillOpacity:b,strokeColor:y,strokeOpacity:S,height:x}=m,_=`${v.toLowerCase()}-${b}-${y.toLowerCase()}-${S}-${x}`;return S===0&&(_=`${v.toLowerCase()}-${b}-${x}`),p[_]?p[_].push(m):p[_]=[m],p},{});Object.values(s).forEach(p=>{let m=new Cr(this.bmap.context,p);t.wallLayer.add(m)});break;case"lane":ee(i.elements,n);let u=i.elements.reduce((p,m)=>{let{fillColor:v,fillOpacity:b,strokeColor:y,strokeOpacity:S}=m,x=`${v.toLowerCase()}-${b}-${y.toLowerCase()}-${S}`;return S===0&&(x=`${v.toLowerCase()}-${b}`),p[x]?p[x].push(m):p[x]=[m],p},{});Object.values(u).forEach(p=>{let m=new Pr(this.bmap.context,p);t.laneLayer.add(m)});break;case"texture2d":case"texture3d":if(ee(i.elements,n),i.elements.length){let p=new Wn(this.bmap.context,i.elements);t.textureLayer.add(p)}break;case"glb":ee(i.elements,n),i.elements.forEach(p=>{let m=Te([p.center_x,p.center_y],n),v=new Ar(this.bmap.context,{...p,url:p.secondUrl,rotate:p.secondRotate,width:p.secondWidth,center_x:m[0],center_y:m[1]});t.glbModelLayer.add(v)});break;case"store":ee(i.elements,n),i.elements.map(p=>{let m=Te([p.center_x,p.center_y],n),v=t.addGraphic(p);t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v);try{let b=new ne(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:m[0],y:m[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(b),b&&(b.userData.type="store",b.userData.data=p)}catch(b){console.log("\u521B\u5EFA\u5E97\u94FApoi\u5931\u8D25",b,p)}});break;case"facility":ee(i.elements,n),i.elements.map(p=>{let m=Te([p.center_x,p.center_y],n),v=t.addGraphic(p);if(t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v),p.poi_info){let b=new ne(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:m[0],y:m[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(b),b.userData.type="facility",b.userData.data=p}else console.log("\u6DFB\u52A0facility\u5931\u8D25\u6CA1\u6709poi_info",p)});break;case"parkingSpace":ee(i.elements,n);let h=[],f=new Map;i.elements.forEach(p=>{let m=t.addGraphic(p);h.push(m),f.set(p.id,m);let v=Te([p.center_x,p.center_y],n);if(p.texts[0]){let b=new ne(this.bmap.context,{id:p.id,text:p.texts[0],position:{x:v[0],y:v[1],z:p.airHeight+p.height}});b&&(b.userData.type="parkingSpace",b.userData.data=p),t.poiLayer2.pushPoi(b)}});let d=i.elements.filter(p=>Ec[p.parkingType]).map(p=>{let m=Te([p.center_x,p.center_y],n),v=Ms(p.geometry.coords,m);return{uuid:p.id,iconUrl:Ec[p.parkingType],name:p.texts[0],deltaHeight:p.deltaHeight,airHeight:p.airHeight,height:p.height,geometry:{...p.geometry,coords:v},opacity:p.fillOpacity,visible:!0}});if(d.length){let p=new Wn(this.bmap.context,d);t.textureLayer.add(p)}t.userData.parkingSpaces=h,t.userData.parkingSpacesGraphicMap=f;break;case"text":ee(i.elements,n);let g=new Rr(this.bmap.context,i.elements.map(p=>{let m=Te([p.center_x,p.center_y],n);return{...p,center_x:m[0],center_y:m[1]}}));t.textTextureLayer.add(g);break}}),t.userData.center=n,t.userData.height=e.floorHeight*10,t.name=e.floor,t.userData.data=e,t.updateBox(),t}clear(){}dispose(){this.clear(),yc()}};var Sc=class{constructor(e){this.bmap=e}cacheData=new Map;floorDataLengthMap=new Map;buildingGroundMap=new Map;externalStreetMap=new Map;async load(e){let t=yn(e);if(this.cacheData.has(t))return this.cacheData.get(t);let[,n]=await Promise.all([this.loadBuildGround(e),fc(e,this.bmap.config)]),i=yn({floor:e.floor,ts:e.ts});ee(n.map(a=>a.info),this.bmap.buildingCenter,this.floorDataLengthMap.get(i)||0),n.forEach(a=>a.info.transformToBuildingGround=!1),this.cacheData.set(t,n);let o=this.floorDataLengthMap.get(i)||0;return this.floorDataLengthMap.set(i,o+n.length),this.loadExternalStreet(e),n}async loadExternalStreet(e){}switchFloorByData(e,t){if(!e.length)return;let n=t.userData.legacyToGraphicMap||new Map,i=t.userData.graphicMap||new Map,{ground:o,markGraphic:a,graphic:c}=this.bmap.config;for(let l=0;l<e.length;l++){let s=e[l];s.info.group==="ground"?(s.info.fillColor=o.color,s.info.fillOpacity=o.opacity,s.info.height=o.height,s.info.stroke=o.stroke,s.info.strokeColor=o.strokeColor,s.info.strokeOpacity=o.strokeOpacity):s.info.userData.mark?(s.info.height=a.height,s.info.fillColor=a.color,s.info.fillOpacity=a.opacity,s.info.stroke=a.stroke,s.info.strokeColor=a.strokeColor,s.info.strokeOpacity=a.strokeOpacity):(s.info.fillOpacity=c.fillOpacity,this.bmap.config.initTransToMark&&(s.info.height=a.height,s.info.fillColor=a.color,s.info.stroke=a.stroke,s.info.strokeColor=a.strokeColor,s.info.strokeOpacity=a.strokeOpacity))}for(let l of e){if(l.info.group==="ground")t.createGround(l.info);else{let s=t.addGraphic(l.info);s.userData.data=l,n.set(l.legacy_id,s)}i.set(l.element_uuid,l)}t.userData.legacyToGraphicMap=n,t.userData.graphicMap=i,t.updateBox(),t===this.bmap.context.currentFloor?(this.bmap.triggerHooks("switch_floor_before",{curFloor:t,graphics:t.graphicLayer.children}),this.bmap.initialFloorCamera(),this.bmap.triggerHooks("switch_floor_after",{curFloor:t,graphics:t.graphicLayer.children})):this.bmap.switchFloorByFloor(t)}filterData(e,t){let n=t.userData.graphicMap||new Map;return e.filter(i=>!n.has(i.element_uuid))}async switchFloorByStoreData(e,t){let n=await this.load({...e,resource_type_list:"6"}),i=this.filterData(n,t);this.switchFloorByData(i,t)}async switchFloorByOtherData(e,t){let n=await this.load({...e,resource_type_list:"1,2,3,4"}),i=this.filterData(n,t);this.switchFloorByData(i,t)}async loadBuildGround({brand:e,project:t}){let n=await this.loadBuildingGround({brand:e,project:t});return this.bmap.currentBuildGround=n,this.bmap.changeBuildingCenter(n,{brand:e,project:t}),this.bmap.currentBuildGround}async loadBuildingGround({brand:e,project:t}){let n=yn({brand:e,project:t});if(this.buildingGroundMap.has(n))return this.buildingGroundMap.get(n);let i=pc({brand:e,project:t},this.bmap.config).then(o=>(this.buildingGroundMap.set(n,o),o));return this.buildingGroundMap.set(n,i),i}async switchFloor(e){let t=new Ce(this.bmap.context);t.name=e.floor;try{await Promise.all([this.switchFloorByStoreData(e,t),this.switchFloorByOtherData(e,t)])}catch(n){console.log(n)}return t}dispose(){this.cacheData.clear(),this.floorDataLengthMap.clear(),this.buildingGroundMap.clear()}};export{bc as AibeeLoader,Sa as BMap,Oa as BMapSelect,le as BaseSvg,Hr as Context,Sc as CrLoader,La as CrNavPath,Ma as Equipment,Ps as Events,Ce as Floor,Ar as GlbModel,Ft as Graphic,Er as GraphicLayer,Wn as GroundTexture,_r as HeatmapElement,Vn as HooksName,Or as HoverHelper,Pr as Lane,Ht as Layer,Vf as MapTypePolar,Dr as MergeGraphic,xr as Model,Ra as MulFloors,Na as NavPath,Ia as Navigation,vr as Overlay,zs as PathDirection,hc as PdrPosition,rn as Poi,ne as Poi2,_n as PoiLayer,br as PoiLayer2,ea as RoadNetwork,na as RoadNetwork2,ha as SelectBox,Lr as Selection,jr as Sensor,yr as Shadow,wr as SvgLine,Tr as SvgPolygon,Rr as TextTexture,Gt as Timer,vn as TweenUtil,As as UA,Cr as Wall,Tv as addAlphaToHexColor,Ss as calc_angle,Mi as calc_direction,ra as convertToSnakeCase,Gn as createCircle,fr as createLine,Ve as createRect,Ts as createSvg,pr as createSvgElement,l_ as createThreeBox,u_ as createThreeLine,Le as darkenColor,F2 as defaultAibeeLoaderOption,Bf as defaultConfig,Pi as defaultGraphicOptions,kp as defaultOptions,vf as defaultTextTextureOptions,Jt as dispose,Bs as distancePointToSegment,yn as generatorKeyByObj,vh as getAngle,hr as getCenter,ba as getConfig,Vv as getDirectPath,Gs as getDistanceByPathPos,kt as getLength,vv as getLongestSideDir,Ms as getMinEdgeSquare,Se as getPathLength,fn as getPointEdgeIndex,dr as getPosByPathDistance,bs as hasChinese,bi as hexToRgb,Es as initDirectionalLight,xs as initLight,be as initShape,Av as isAndroid,ke as isContain,mn as isControl,kn as isIphone,gn as isMac,ws as isPointInPolygon,pc as loadBuildingGround,b2 as loadExternalStreet,fc as loadGraphics,kv as moveOnRoute,dn as proxyOptions,xh as removeWeightPath,en as setCirclePosition,ge as setLineStartEnd,Xt as setRectPosition,Us as simplifyPath,Cs as sleepOnePromise,Sv as sleepOneRf,Fs as smoothPath,wv as strToNumber,tn as timeoutPromise,i_ as toWebWorker,ee as transformGraphicData,Te as translatePosToCenter,we as triggerWorker,et as vector3ToDevice,Ov as xhrGet};
+    (`+vt(w,p)+", "+vt(S,p)+") ==> "+(this._values?vt(this._values[M],p):"X")}return y},i.prototype.toString=function(){return vt(this.toArray())},i.prototype.toJSON=function(){return{mathjs:"SparseMatrix",values:this._values,index:this._index,ptr:this._ptr,size:this._size,datatype:this._datatype}},i.prototype.diagonal=function(p){if(p){if(it(p)&&(p=p.toNumber()),!nt(p)||!tt(p))throw new TypeError("The parameter k must be an integer number")}else p=0;var m=p>0?p:0,v=p<0?-p:0,b=this._size[0],y=this._size[1],S=Math.min(b-v,y-m),x=[],_=[],M=[];M[0]=0;for(var w=m;w<y&&x.length<S;w++)for(var C=this._ptr[w],P=this._ptr[w+1],D=C;D<P;D++){var R=this._index[D];if(R===w-m+v){x.push(this._values[D]),_[x.length-1]=R-v;break}}return M.push(x.length),new i({values:x,index:_,ptr:M,size:[S,1]})},i.fromJSON=function(p){return new i(p)},i.diagonal=function(p,m,v,b,y){if(!yt(p))throw new TypeError("Array expected, size parameter");if(p.length!==2)throw new Error("Only two dimensions matrix are supported");if(p=p.map(function(j){if(it(j)&&(j=j.toNumber()),!nt(j)||!tt(j)||j<1)throw new Error("Size values must be positive integers");return j}),v){if(it(v)&&(v=v.toNumber()),!nt(v)||!tt(v))throw new TypeError("The parameter k must be an integer number")}else v=0;var S=t,x=0;jt(y)&&(S=e.find(t,[y,y])||t,x=e.convert(0,y));var _=v>0?v:0,M=v<0?-v:0,w=p[0],C=p[1],P=Math.min(w-M,C-_),D;if(yt(m)){if(m.length!==P)throw new Error("Invalid value array length");D=function(J){return m[J]}}else if(ot(m)){var R=m.size();if(R.length!==1||R[0]!==P)throw new Error("Invalid matrix length");D=function(J){return m.get([J])}}else D=function(){return m};for(var W=[],G=[],k=[],L=0;L<C;L++){k.push(W.length);var q=L-_;if(q>=0&&q<P){var Y=D(q);S(Y,x)||(G.push(q+M),W.push(Y))}}return k.push(W.length),new i({values:W,index:G,ptr:k,size:[w,C]})},i.prototype.swapRows=function(p,m){if(!nt(p)||!tt(p)||!nt(m)||!tt(m))throw new Error("Row index must be positive integers");if(this._size.length!==2)throw new Error("Only two dimensional matrix is supported");return Et(p,this._size[0]),Et(m,this._size[0]),i._swapRows(p,m,this._size[1],this._values,this._index,this._ptr),this},i._forEachRow=function(p,m,v,b,y){for(var S=b[p],x=b[p+1],_=S;_<x;_++)y(v[_],m[_])},i._swapRows=function(p,m,v,b,y,S){for(var x=0;x<v;x++){var _=S[x],M=S[x+1],w=s(p,_,M,y),C=s(m,_,M,y);if(w<M&&C<M&&y[w]===p&&y[C]===m){if(b){var P=b[w];b[w]=b[C],b[C]=P}continue}if(w<M&&y[w]===p&&(C>=M||y[C]!==m)){var D=b?b[w]:void 0;y.splice(C,0,m),b&&b.splice(C,0,D),y.splice(C<=w?w+1:w,1),b&&b.splice(C<=w?w+1:w,1);continue}if(C<M&&y[C]===m&&(w>=M||y[w]!==p)){var R=b?b[C]:void 0;y.splice(w,0,p),b&&b.splice(w,0,R),y.splice(w<=C?C+1:C,1),b&&b.splice(w<=C?C+1:C,1)}}},i},{isClass:!0});var fm="number",dm=["typed"];function gm(r){var e=r.match(/(0[box])([0-9a-fA-F]*)\.([0-9a-fA-F]*)/);if(e){var t={"0b":2,"0o":8,"0x":16}[e[1]],n=e[2],i=e[3];return{input:r,radix:t,integerPart:n,fractionalPart:i}}else return null}function mm(r){for(var e=parseInt(r.integerPart,r.radix),t=0,n=0;n<r.fractionalPart.length;n++){var i=parseInt(r.fractionalPart[n],r.radix);t+=i/Math.pow(r.radix,n+1)}var o=e+t;if(isNaN(o))throw new SyntaxError('String "'+r.input+'" is not a valid number');return o}var To=N(fm,dm,r=>{var{typed:e}=r,t=e("number",{"":function(){return 0},number:function(i){return i},string:function(i){if(i==="NaN")return NaN;var o=gm(i);if(o)return mm(o);var a=0,c=i.match(/(0[box][0-9a-fA-F]*)i([0-9]*)/);c&&(a=Number(c[2]),i=c[1]);var l=Number(i);if(isNaN(l))throw new SyntaxError('String "'+i+'" is not a valid number');if(c){if(l>2**a-1)throw new SyntaxError('String "'.concat(i,'" is out of range'));l>=2**(a-1)&&(l=l-2**a)}return l},BigNumber:function(i){return i.toNumber()},bigint:function(i){return Number(i)},Fraction:function(i){return i.valueOf()},Unit:e.referToSelf(n=>i=>{var o=i.clone();return o.value=n(i.value),o}),null:function(i){return 0},"Unit, string | Unit":function(i,o){return i.toNumber(o)},"Array | Matrix":e.referToSelf(n=>i=>_t(i,n))});return t.fromJSON=function(n){return parseFloat(n.value)},t});var ym="bignumber",vm=["typed","BigNumber"],Co=N(ym,vm,r=>{var{typed:e,BigNumber:t}=r;return e("bignumber",{"":function(){return new t(0)},number:function(i){return new t(i+"")},string:function(i){var o=i.match(/(0[box][0-9a-fA-F]*)i([0-9]*)/);if(o){var a=o[2],c=t(o[1]),l=new t(2).pow(Number(a));if(c.gt(l.sub(1)))throw new SyntaxError('String "'.concat(i,'" is out of range'));var s=new t(2).pow(Number(a)-1);return c.gte(s)?c.sub(l):c}return new t(i)},BigNumber:function(i){return i},bigint:function(i){return new t(i.toString())},Unit:e.referToSelf(n=>i=>{var o=i.clone();return o.value=n(i.value),o}),Fraction:function(i){return new t(i.n).div(i.d).times(i.s)},null:function(i){return new t(0)},"Array | Matrix":e.referToSelf(n=>i=>_t(i,n))})});var _m="fraction",xm=["typed","Fraction"],Ao=N(_m,xm,r=>{var{typed:e,Fraction:t}=r;return e("fraction",{number:function(i){if(!isFinite(i)||isNaN(i))throw new Error(i+" cannot be represented as a fraction");return new t(i)},string:function(i){return new t(i)},"number, number":function(i,o){return new t(i,o)},null:function(i){return new t(0)},BigNumber:function(i){return new t(i.toString())},bigint:function(i){return new t(i.toString())},Fraction:function(i){return i},Unit:e.referToSelf(n=>i=>{var o=i.clone();return o.value=n(i.value),o}),Object:function(i){return new t(i)},"Array | Matrix":e.referToSelf(n=>i=>_t(i,n))})});var dl="matrix",Em=["typed","Matrix","DenseMatrix","SparseMatrix"],Po=N(dl,Em,r=>{var{typed:e,Matrix:t,DenseMatrix:n,SparseMatrix:i}=r;return e(dl,{"":function(){return o([])},string:function(c){return o([],c)},"string, string":function(c,l){return o([],c,l)},Array:function(c){return o(c)},Matrix:function(c){return o(c,c.storage())},"Array | Matrix, string":o,"Array | Matrix, string, string":o});function o(a,c,l){if(c==="dense"||c==="default"||c===void 0)return new n(a,l);if(c==="sparse")return new i(a,l);throw new TypeError("Unknown matrix type "+JSON.stringify(c)+".")}});var gl="unaryMinus",bm=["typed"],Do=N(gl,bm,r=>{var{typed:e}=r;return e(gl,{number:_o,"Complex | BigNumber | Fraction":t=>t.neg(),bigint:t=>-t,Unit:e.referToSelf(t=>n=>{var i=n.clone();return i.value=e.find(t,i.valueType())(n.value),i}),"Array | Matrix":e.referToSelf(t=>n=>_t(n,t,!0))})});var ml="abs",Sm=["typed"],Io=N(ml,Sm,r=>{var{typed:e}=r;return e(ml,{number:go,"Complex | BigNumber | Fraction | Unit":t=>t.abs(),bigint:t=>t<0n?-t:t,"Array | Matrix":e.referToSelf(t=>n=>_t(n,t,!0))})});var yl="addScalar",Mm=["typed"],Ro=N(yl,Mm,r=>{var{typed:e}=r;return e(yl,{"number, number":mo,"Complex, Complex":function(n,i){return n.add(i)},"BigNumber, BigNumber":function(n,i){return n.plus(i)},"bigint, bigint":function(n,i){return n+i},"Fraction, Fraction":function(n,i){return n.add(i)},"Unit, Unit":e.referToSelf(t=>(n,i)=>{if(n.value===null||n.value===void 0)throw new Error("Parameter x contains a unit with undefined value");if(i.value===null||i.value===void 0)throw new Error("Parameter y contains a unit with undefined value");if(!n.equalBase(i))throw new Error("Units do not match");var o=n.clone();return o.value=e.find(t,[o.valueType(),i.valueType()])(o.value,i.value),o.fixPrefix=!1,o})})});var vl="subtractScalar",wm=["typed"],No=N(vl,wm,r=>{var{typed:e}=r;return e(vl,{"number, number":yo,"Complex, Complex":function(n,i){return n.sub(i)},"BigNumber, BigNumber":function(n,i){return n.minus(i)},"bigint, bigint":function(n,i){return n-i},"Fraction, Fraction":function(n,i){return n.sub(i)},"Unit, Unit":e.referToSelf(t=>(n,i)=>{if(n.value===null||n.value===void 0)throw new Error("Parameter x contains a unit with undefined value");if(i.value===null||i.value===void 0)throw new Error("Parameter y contains a unit with undefined value");if(!n.equalBase(i))throw new Error("Units do not match");var o=n.clone();return o.value=e.find(t,[o.valueType(),i.valueType()])(o.value,i.value),o.fixPrefix=!1,o})})});var Tm="matAlgo11xS0s",Cm=["typed","equalScalar"],De=N(Tm,Cm,r=>{var{typed:e,equalScalar:t}=r;return function(i,o,a,c){var l=i._values,s=i._index,u=i._ptr,h=i._size,f=i._datatype;if(!l)throw new Error("Cannot perform operation on Pattern Sparse Matrix and Scalar value");var d=h[0],g=h[1],p,m=t,v=0,b=a;typeof f=="string"&&(p=f,m=e.find(t,[p,p]),v=e.convert(0,p),o=e.convert(o,p),b=e.find(a,[p,p]));for(var y=[],S=[],x=[],_=0;_<g;_++){x[_]=S.length;for(var M=u[_],w=u[_+1],C=M;C<w;C++){var P=s[C],D=c?b(o,l[C]):b(l[C],o);m(D,v)||(S.push(P),y.push(D))}}return x[g]=S.length,i.createSparseMatrix({values:y,index:S,ptr:x,size:[d,g],datatype:p})}});var Am="matAlgo12xSfs",Pm=["typed","DenseMatrix"],Nn=N(Am,Pm,r=>{var{typed:e,DenseMatrix:t}=r;return function(i,o,a,c){var l=i._values,s=i._index,u=i._ptr,h=i._size,f=i._datatype;if(!l)throw new Error("Cannot perform operation on Pattern Sparse Matrix and Scalar 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e(Lo,{number:function(o){return pe(o,n(o),t.relTol,t.absTol)?n(o):Math.ceil(o)},"number, number":function(o,a){if(pe(o,n(o,a),t.relTol,t.absTol))return n(o,a);var[c,l]="".concat(o,"e").split("e"),s=Math.ceil(Number("".concat(c,"e").concat(Number(l)+a)));return[c,l]="".concat(s,"e").split("e"),Number("".concat(c,"e").concat(Number(l)-a))}})}),Oo=N(Lo,Rm,r=>{var{typed:e,config:t,round:n,matrix:i,equalScalar:o,zeros:a,DenseMatrix:c}=r,l=De({typed:e,equalScalar:o}),s=Nn({typed:e,DenseMatrix:c}),u=Ie({typed:e}),h=Nm({typed:e,config:t,round:n});return e("ceil",{number:h.signatures.number,"number,number":h.signatures["number,number"],Complex:function(d){return d.ceil()},"Complex, number":function(d,g){return d.ceil(g)},"Complex, BigNumber":function(d,g){return d.ceil(g.toNumber())},BigNumber:function(d){return Je(d,n(d),t.relTol,t.absTol)?n(d):d.ceil()},"BigNumber, BigNumber":function(d,g){return Je(d,n(d,g),t.relTol,t.absTol)?n(d,g):d.toDecimalPlaces(g.toNumber(),Jn.ROUND_CEIL)},Fraction:function(d){return d.ceil()},"Fraction, number":function(d,g){return d.ceil(g)},"Fraction, BigNumber":function(d,g){return d.ceil(g.toNumber())},"Array | Matrix":e.referToSelf(f=>d=>_t(d,f,!0)),"Array, number | BigNumber":e.referToSelf(f=>(d,g)=>_t(d,p=>f(p,g),!0)),"SparseMatrix, number | BigNumber":e.referToSelf(f=>(d,g)=>l(d,g,f,!1)),"DenseMatrix, number | BigNumber":e.referToSelf(f=>(d,g)=>u(d,g,f,!1)),"number | Complex | Fraction | BigNumber, Array":e.referToSelf(f=>(d,g)=>u(i(g),d,f,!0).valueOf()),"number | Complex | Fraction | BigNumber, Matrix":e.referToSelf(f=>(d,g)=>o(d,0)?a(g.size(),g.storage()):g.storage()==="dense"?u(g,d,f,!0):s(g,d,f,!0))})});var _l="exp",Lm=["typed"],Fo=N(_l,Lm,r=>{var{typed:e}=r;return e(_l,{number:xo,Complex:function(n){return n.exp()},BigNumber:function(n){return n.exp()}})});var Om="matAlgo02xDS0",Fm=["typed","equalScalar"],xl=N(Om,Fm,r=>{var{typed:e,equalScalar:t}=r;return function(i,o,a,c){var l=i._data,s=i._size,u=i._datatype||i.getDataType(),h=o._values,f=o._index,d=o._ptr,g=o._size,p=o._datatype||o._data===void 0?o._datatype:o.getDataType();if(s.length!==g.length)throw new Q(s.length,g.length);if(s[0]!==g[0]||s[1]!==g[1])throw new RangeError("Dimension mismatch. Matrix A ("+s+") must match Matrix B ("+g+")");if(!h)throw new Error("Cannot perform operation on Dense Matrix and Pattern Sparse Matrix");var m=s[0],v=s[1],b,y=t,S=0,x=a;typeof u=="string"&&u===p&&u!=="mixed"&&(b=u,y=e.find(t,[b,b]),S=e.convert(0,b),x=e.find(a,[b,b]));for(var _=[],M=[],w=[],C=0;C<v;C++){w[C]=M.length;for(var P=d[C],D=d[C+1],R=P;R<D;R++){var W=f[R],G=c?x(h[R],l[W][C]):x(l[W][C],h[R]);y(G,S)||(M.push(W),_.push(G))}}return w[v]=M.length,o.createSparseMatrix({values:_,index:M,ptr:w,size:[m,v],datatype:u===i._datatype&&p===o._datatype?b:void 0})}});var Um="matAlgo03xDSf",Bm=["typed"],El=N(Um,Bm,r=>{var{typed:e}=r;return function(n,i,o,a){var c=n._data,l=n._size,s=n._datatype||n.getDataType(),u=i._values,h=i._index,f=i._ptr,d=i._size,g=i._datatype||i._data===void 0?i._datatype:i.getDataType();if(l.length!==d.length)throw new Q(l.length,d.length);if(l[0]!==d[0]||l[1]!==d[1])throw new RangeError("Dimension mismatch. Matrix A ("+l+") must match Matrix B ("+d+")");if(!u)throw new Error("Cannot perform operation on Dense Matrix and Pattern Sparse Matrix");var p=l[0],m=l[1],v,b=0,y=o;typeof s=="string"&&s===g&&s!=="mixed"&&(v=s,b=e.convert(0,v),y=e.find(o,[v,v]));for(var S=[],x=0;x<p;x++)S[x]=[];for(var _=[],M=[],w=0;w<m;w++){for(var C=w+1,P=f[w],D=f[w+1],R=P;R<D;R++){var W=h[R];_[W]=a?y(u[R],c[W][w]):y(c[W][w],u[R]),M[W]=C}for(var G=0;G<p;G++)M[G]===C?S[G][w]=_[G]:S[G][w]=a?y(b,c[G][w]):y(c[G][w],b)}return n.createDenseMatrix({data:S,size:[p,m],datatype:s===n._datatype&&g===i._datatype?v:void 0})}});var zm="matAlgo13xDD",Gm=["typed"],bl=N(zm,Gm,r=>{var{typed:e}=r;return function(i,o,a){var c=i._data,l=i._size,s=i._datatype,u=o._data,h=o._size,f=o._datatype,d=[];if(l.length!==h.length)throw new Q(l.length,h.length);for(var g=0;g<l.length;g++){if(l[g]!==h[g])throw new RangeError("Dimension mismatch. Matrix A ("+l+") must match Matrix B ("+h+")");d[g]=l[g]}var p,m=a;typeof s=="string"&&s===f&&(p=s,m=e.find(a,[p,p]));var v=d.length>0?t(m,0,d,d[0],c,u):[];return i.createDenseMatrix({data:v,size:d,datatype:p})};function t(n,i,o,a,c,l){var s=[];if(i===o.length-1)for(var u=0;u<a;u++)s[u]=n(c[u],l[u]);else for(var h=0;h<a;h++)s[h]=t(n,i+1,o,o[i+1],c[h],l[h]);return s}});function Dt(r,e){if(ce(r.size(),e.size()))return[r,e];var t=co(r.size(),e.size());return[r,e].map(n=>km(n,t))}function km(r,e){return ce(r.size(),e)?r:r.create(er(r.valueOf(),e),r.datatype())}var Vm="matrixAlgorithmSuite",Hm=["typed","matrix"],di=N(Vm,Hm,r=>{var{typed:e,matrix:t}=r,n=bl({typed:e}),i=Ie({typed:e});return function(a){var c=a.elop,l=a.SD||a.DS,s;c?(s={"DenseMatrix, DenseMatrix":(d,g)=>n(...Dt(d,g),c),"Array, Array":(d,g)=>n(...Dt(t(d),t(g)),c).valueOf(),"Array, DenseMatrix":(d,g)=>n(...Dt(t(d),g),c),"DenseMatrix, Array":(d,g)=>n(...Dt(d,t(g)),c)},a.SS&&(s["SparseMatrix, SparseMatrix"]=(d,g)=>a.SS(...Dt(d,g),c,!1)),a.DS&&(s["DenseMatrix, SparseMatrix"]=(d,g)=>a.DS(...Dt(d,g),c,!1),s["Array, SparseMatrix"]=(d,g)=>a.DS(...Dt(t(d),g),c,!1)),l&&(s["SparseMatrix, DenseMatrix"]=(d,g)=>l(...Dt(g,d),c,!0),s["SparseMatrix, Array"]=(d,g)=>l(...Dt(t(g),d),c,!0))):(s={"DenseMatrix, DenseMatrix":e.referToSelf(d=>(g,p)=>n(...Dt(g,p),d)),"Array, Array":e.referToSelf(d=>(g,p)=>n(...Dt(t(g),t(p)),d).valueOf()),"Array, DenseMatrix":e.referToSelf(d=>(g,p)=>n(...Dt(t(g),p),d)),"DenseMatrix, Array":e.referToSelf(d=>(g,p)=>n(...Dt(g,t(p)),d))},a.SS&&(s["SparseMatrix, SparseMatrix"]=e.referToSelf(d=>(g,p)=>a.SS(...Dt(g,p),d,!1))),a.DS&&(s["DenseMatrix, SparseMatrix"]=e.referToSelf(d=>(g,p)=>a.DS(...Dt(g,p),d,!1)),s["Array, SparseMatrix"]=e.referToSelf(d=>(g,p)=>a.DS(...Dt(t(g),p),d,!1))),l&&(s["SparseMatrix, DenseMatrix"]=e.referToSelf(d=>(g,p)=>l(...Dt(p,g),d,!0)),s["SparseMatrix, Array"]=e.referToSelf(d=>(g,p)=>l(...Dt(t(p),g),d,!0))));var u=a.scalar||"any",h=a.Ds||a.Ss;h&&(c?(s["DenseMatrix,"+u]=(d,g)=>i(d,g,c,!1),s[u+", DenseMatrix"]=(d,g)=>i(g,d,c,!0),s["Array,"+u]=(d,g)=>i(t(d),g,c,!1).valueOf(),s[u+", Array"]=(d,g)=>i(t(g),d,c,!0).valueOf()):(s["DenseMatrix,"+u]=e.referToSelf(d=>(g,p)=>i(g,p,d,!1)),s[u+", DenseMatrix"]=e.referToSelf(d=>(g,p)=>i(p,g,d,!0)),s["Array,"+u]=e.referToSelf(d=>(g,p)=>i(t(g),p,d,!1).valueOf()),s[u+", Array"]=e.referToSelf(d=>(g,p)=>i(t(p),g,d,!0).valueOf())));var f=a.sS!==void 0?a.sS:a.Ss;return c?(a.Ss&&(s["SparseMatrix,"+u]=(d,g)=>a.Ss(d,g,c,!1)),f&&(s[u+", SparseMatrix"]=(d,g)=>f(g,d,c,!0))):(a.Ss&&(s["SparseMatrix,"+u]=e.referToSelf(d=>(g,p)=>a.Ss(g,p,d,!1))),f&&(s[u+", SparseMatrix"]=e.referToSelf(d=>(g,p)=>f(p,g,d,!0)))),c&&c.signatures&&Kr(s,c.signatures),s}});var Wm="matAlgo01xDSid",qm=["typed"],Sl=N(Wm,qm,r=>{var{typed:e}=r;return function(n,i,o,a){var c=n._data,l=n._size,s=n._datatype||n.getDataType(),u=i._values,h=i._index,f=i._ptr,d=i._size,g=i._datatype||i._data===void 0?i._datatype:i.getDataType();if(l.length!==d.length)throw new Q(l.length,d.length);if(l[0]!==d[0]||l[1]!==d[1])throw new RangeError("Dimension mismatch. Matrix A ("+l+") must match Matrix B ("+d+")");if(!u)throw new Error("Cannot perform operation on Dense Matrix and Pattern Sparse Matrix");var p=l[0],m=l[1],v=typeof s=="string"&&s!=="mixed"&&s===g?s:void 0,b=v?e.find(o,[v,v]):o,y,S,x=[];for(y=0;y<p;y++)x[y]=[];var _=[],M=[];for(S=0;S<m;S++){for(var w=S+1,C=f[S],P=f[S+1],D=C;D<P;D++)y=h[D],_[y]=a?b(u[D],c[y][S]):b(c[y][S],u[D]),M[y]=w;for(y=0;y<p;y++)M[y]===w?x[y][S]=_[y]:x[y][S]=c[y][S]}return n.createDenseMatrix({data:x,size:[p,m],datatype:s===n._datatype&&g===i._datatype?v:void 0})}});var Xm="matAlgo04xSidSid",jm=["typed","equalScalar"],Ml=N(Xm,jm,r=>{var{typed:e,equalScalar:t}=r;return function(i,o,a){var c=i._values,l=i._index,s=i._ptr,u=i._size,h=i._datatype||i._data===void 0?i._datatype:i.getDataType(),f=o._values,d=o._index,g=o._ptr,p=o._size,m=o._datatype||o._data===void 0?o._datatype:o.getDataType();if(u.length!==p.length)throw new Q(u.length,p.length);if(u[0]!==p[0]||u[1]!==p[1])throw new RangeError("Dimension mismatch. Matrix A ("+u+") must match Matrix B ("+p+")");var v=u[0],b=u[1],y,S=t,x=0,_=a;typeof h=="string"&&h===m&&h!=="mixed"&&(y=h,S=e.find(t,[y,y]),x=e.convert(0,y),_=e.find(a,[y,y]));var M=c&&f?[]:void 0,w=[],C=[],P=c&&f?[]:void 0,D=c&&f?[]:void 0,R=[],W=[],G,k,L,q,Y;for(k=0;k<b;k++){C[k]=w.length;var j=k+1;for(q=s[k],Y=s[k+1],L=q;L<Y;L++)G=l[L],w.push(G),R[G]=j,P&&(P[G]=c[L]);for(q=g[k],Y=g[k+1],L=q;L<Y;L++)if(G=d[L],R[G]===j){if(P){var J=_(P[G],f[L]);S(J,x)?R[G]=null:P[G]=J}}else w.push(G),W[G]=j,D&&(D[G]=f[L]);if(P&&D)for(L=C[k];L<w.length;)G=w[L],R[G]===j?(M[L]=P[G],L++):W[G]===j?(M[L]=D[G],L++):w.splice(L,1)}return C[b]=w.length,i.createSparseMatrix({values:M,index:w,ptr:C,size:[v,b],datatype:h===i._datatype&&m===o._datatype?y:void 0})}});var Ym="matAlgo10xSids",$m=["typed","DenseMatrix"],wl=N(Ym,$m,r=>{var{typed:e,DenseMatrix:t}=r;return function(i,o,a,c){var l=i._values,s=i._index,u=i._ptr,h=i._size,f=i._datatype;if(!l)throw new Error("Cannot perform operation on Pattern Sparse Matrix and Scalar value");var d=h[0],g=h[1],p,m=a;typeof f=="string"&&(p=f,o=e.convert(o,p),m=e.find(a,[p,p]));for(var v=[],b=[],y=[],S=0;S<g;S++){for(var x=S+1,_=u[S],M=u[S+1],w=_;w<M;w++){var C=s[w];b[C]=l[w],y[C]=x}for(var P=0;P<d;P++)S===0&&(v[P]=[]),y[P]===x?v[P][S]=c?m(o,b[P]):m(b[P],o):v[P][S]=o}return new t({data:v,size:[d,g],datatype:p})}});var Tl="log2",Zm=["typed","config","Complex"],Uo=N(Tl,Zm,r=>{var{typed:e,config:t,Complex:n}=r;return e(Tl,{number:function(a){return a>=0||t.predictable?Eo(a):i(new n(a,0))},Complex:i,BigNumber:function(a){return!a.isNegative()||t.predictable?a.log(2):i(new n(a.toNumber(),0))},"Array | Matrix":e.referToSelf(o=>a=>_t(a,o))});function i(o){var a=Math.sqrt(o.re*o.re+o.im*o.im);return new n(Math.log2?Math.log2(a):Math.log(a)/Math.LN2,Math.atan2(o.im,o.re)/Math.LN2)}});var Km="multiplyScalar",Jm=["typed"],Bo=N(Km,Jm,r=>{var{typed:e}=r;return e("multiplyScalar",{"number, number":vo,"Complex, Complex":function(n,i){return n.mul(i)},"BigNumber, BigNumber":function(n,i){return n.times(i)},"bigint, bigint":function(n,i){return n*i},"Fraction, Fraction":function(n,i){return n.mul(i)},"number | Fraction | BigNumber | Complex, Unit":(t,n)=>n.multiply(t),"Unit, number | Fraction | BigNumber | Complex | Unit":(t,n)=>t.multiply(n)})});var Cl="multiply",Qm=["typed","matrix","addScalar","multiplyScalar","equalScalar","dot"],zo=N(Cl,Qm,r=>{var{typed:e,matrix:t,addScalar:n,multiplyScalar:i,equalScalar:o,dot:a}=r,c=De({typed:e,equalScalar:o}),l=Ie({typed:e});function s(x,_){switch(x.length){case 1:switch(_.length){case 1:if(x[0]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Vectors must have the same length");break;case 2:if(x[0]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Vector length ("+x[0]+") must match Matrix rows ("+_[0]+")");break;default:throw new Error("Can only multiply a 1 or 2 dimensional matrix (Matrix B has "+_.length+" dimensions)")}break;case 2:switch(_.length){case 1:if(x[1]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Matrix columns ("+x[1]+") must match Vector length ("+_[0]+")");break;case 2:if(x[1]!==_[0])throw new RangeError("Dimension mismatch in multiplication. Matrix A columns ("+x[1]+") must match Matrix B rows ("+_[0]+")");break;default:throw new Error("Can only multiply a 1 or 2 dimensional matrix (Matrix B has "+_.length+" dimensions)")}break;default:throw new Error("Can only multiply a 1 or 2 dimensional matrix (Matrix A has "+x.length+" dimensions)")}}function u(x,_,M){if(M===0)throw new Error("Cannot multiply two empty vectors");return a(x,_)}function h(x,_){if(_.storage()!=="dense")throw new Error("Support for SparseMatrix not implemented");return f(x,_)}function f(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._data,D=_._size,R=_._datatype||_.getDataType(),W=w[0],G=D[1],k,L=n,q=i;C&&R&&C===R&&typeof C=="string"&&C!=="mixed"&&(k=C,L=e.find(n,[k,k]),q=e.find(i,[k,k]));for(var Y=[],j=0;j<G;j++){for(var J=q(M[0],P[0][j]),lt=1;lt<W;lt++)J=L(J,q(M[lt],P[lt][j]));Y[j]=J}return x.createDenseMatrix({data:Y,size:[G],datatype:C===x._datatype&&R===_._datatype?k:void 0})}var d=e("_multiplyMatrixVector",{"DenseMatrix, any":p,"SparseMatrix, any":b}),g=e("_multiplyMatrixMatrix",{"DenseMatrix, DenseMatrix":m,"DenseMatrix, SparseMatrix":v,"SparseMatrix, DenseMatrix":y,"SparseMatrix, SparseMatrix":S});function p(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._data,D=_._datatype||_.getDataType(),R=w[0],W=w[1],G,k=n,L=i;C&&D&&C===D&&typeof C=="string"&&C!=="mixed"&&(G=C,k=e.find(n,[G,G]),L=e.find(i,[G,G]));for(var q=[],Y=0;Y<R;Y++){for(var j=M[Y],J=L(j[0],P[0]),lt=1;lt<W;lt++)J=k(J,L(j[lt],P[lt]));q[Y]=J}return x.createDenseMatrix({data:q,size:[R],datatype:C===x._datatype&&D===_._datatype?G:void 0})}function m(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._data,D=_._size,R=_._datatype||_.getDataType(),W=w[0],G=w[1],k=D[1],L,q=n,Y=i;C&&R&&C===R&&typeof C=="string"&&C!=="mixed"&&C!=="mixed"&&(L=C,q=e.find(n,[L,L]),Y=e.find(i,[L,L]));for(var j=[],J=0;J<W;J++){var lt=M[J];j[J]=[];for(var at=0;at<k;at++){for(var pt=Y(lt[0],P[0][at]),Tt=1;Tt<G;Tt++)pt=q(pt,Y(lt[Tt],P[Tt][at]));j[J][at]=pt}}return x.createDenseMatrix({data:j,size:[W,k],datatype:C===x._datatype&&R===_._datatype?L:void 0})}function v(x,_){var M=x._data,w=x._size,C=x._datatype||x.getDataType(),P=_._values,D=_._index,R=_._ptr,W=_._size,G=_._datatype||_._data===void 0?_._datatype:_.getDataType();if(!P)throw new Error("Cannot multiply Dense Matrix times Pattern only Matrix");var k=w[0],L=W[1],q,Y=n,j=i,J=o,lt=0;C&&G&&C===G&&typeof C=="string"&&C!=="mixed"&&(q=C,Y=e.find(n,[q,q]),j=e.find(i,[q,q]),J=e.find(o,[q,q]),lt=e.convert(0,q));for(var at=[],pt=[],Tt=[],wt=_.createSparseMatrix({values:at,index:pt,ptr:Tt,size:[k,L],datatype:C===x._datatype&&G===_._datatype?q:void 0}),St=0;St<L;St++){Tt[St]=pt.length;var xt=R[St],$t=R[St+1];if($t>xt)for(var Mt=0,gt=0;gt<k;gt++){for(var se=gt+1,Ot=void 0,ct=xt;ct<$t;ct++){var It=D[ct];Mt!==se?(Ot=j(M[gt][It],P[ct]),Mt=se):Ot=Y(Ot,j(M[gt][It],P[ct]))}Mt===se&&!J(Ot,lt)&&(pt.push(gt),at.push(Ot))}}return Tt[L]=pt.length,wt}function b(x,_){var M=x._values,w=x._index,C=x._ptr,P=x._datatype||x._data===void 0?x._datatype:x.getDataType();if(!M)throw new Error("Cannot multiply Pattern only Matrix times Dense Matrix");var D=_._data,R=_._datatype||_.getDataType(),W=x._size[0],G=_._size[0],k=[],L=[],q=[],Y,j=n,J=i,lt=o,at=0;P&&R&&P===R&&typeof P=="string"&&P!=="mixed"&&(Y=P,j=e.find(n,[Y,Y]),J=e.find(i,[Y,Y]),lt=e.find(o,[Y,Y]),at=e.convert(0,Y));var pt=[],Tt=[];q[0]=0;for(var wt=0;wt<G;wt++){var St=D[wt];if(!lt(St,at))for(var xt=C[wt],$t=C[wt+1],Mt=xt;Mt<$t;Mt++){var gt=w[Mt];Tt[gt]?pt[gt]=j(pt[gt],J(St,M[Mt])):(Tt[gt]=!0,L.push(gt),pt[gt]=J(St,M[Mt]))}}for(var se=L.length,Ot=0;Ot<se;Ot++){var ct=L[Ot];k[Ot]=pt[ct]}return q[1]=L.length,x.createSparseMatrix({values:k,index:L,ptr:q,size:[W,1],datatype:P===x._datatype&&R===_._datatype?Y:void 0})}function y(x,_){var M=x._values,w=x._index,C=x._ptr,P=x._datatype||x._data===void 0?x._datatype:x.getDataType();if(!M)throw new Error("Cannot multiply Pattern only Matrix times Dense Matrix");var D=_._data,R=_._datatype||_.getDataType(),W=x._size[0],G=_._size[0],k=_._size[1],L,q=n,Y=i,j=o,J=0;P&&R&&P===R&&typeof P=="string"&&P!=="mixed"&&(L=P,q=e.find(n,[L,L]),Y=e.find(i,[L,L]),j=e.find(o,[L,L]),J=e.convert(0,L));for(var lt=[],at=[],pt=[],Tt=x.createSparseMatrix({values:lt,index:at,ptr:pt,size:[W,k],datatype:P===x._datatype&&R===_._datatype?L:void 0}),wt=[],St=[],xt=0;xt<k;xt++){pt[xt]=at.length;for(var $t=xt+1,Mt=0;Mt<G;Mt++){var gt=D[Mt][xt];if(!j(gt,J))for(var se=C[Mt],Ot=C[Mt+1],ct=se;ct<Ot;ct++){var It=w[ct];St[It]!==$t?(St[It]=$t,at.push(It),wt[It]=Y(gt,M[ct])):wt[It]=q(wt[It],Y(gt,M[ct]))}}for(var zt=pt[xt],Ee=at.length,Ge=zt;Ge<Ee;Ge++){var Un=at[Ge];lt[Ge]=wt[Un]}}return pt[k]=at.length,Tt}function S(x,_){var M=x._values,w=x._index,C=x._ptr,P=x._datatype||x._data===void 0?x._datatype:x.getDataType(),D=_._values,R=_._index,W=_._ptr,G=_._datatype||_._data===void 0?_._datatype:_.getDataType(),k=x._size[0],L=_._size[1],q=M&&D,Y,j=n,J=i;P&&G&&P===G&&typeof P=="string"&&P!=="mixed"&&(Y=P,j=e.find(n,[Y,Y]),J=e.find(i,[Y,Y]));for(var lt=q?[]:void 0,at=[],pt=[],Tt=x.createSparseMatrix({values:lt,index:at,ptr:pt,size:[k,L],datatype:P===x._datatype&&G===_._datatype?Y:void 0}),wt=q?[]:void 0,St=[],xt,$t,Mt,gt,se,Ot,ct,It,zt=0;zt<L;zt++){pt[zt]=at.length;var Ee=zt+1;for(se=W[zt],Ot=W[zt+1],gt=se;gt<Ot;gt++)if(It=R[gt],q)for($t=C[It],Mt=C[It+1],xt=$t;xt<Mt;xt++)ct=w[xt],St[ct]!==Ee?(St[ct]=Ee,at.push(ct),wt[ct]=J(D[gt],M[xt])):wt[ct]=j(wt[ct],J(D[gt],M[xt]));else for($t=C[It],Mt=C[It+1],xt=$t;xt<Mt;xt++)ct=w[xt],St[ct]!==Ee&&(St[ct]=Ee,at.push(ct));if(q)for(var Ge=pt[zt],Un=at.length,cn=Ge;cn<Un;cn++){var ar=at[cn];lt[cn]=wt[ar]}}return pt[L]=at.length,Tt}return e(Cl,i,{"Array, Array":e.referTo("Matrix, Matrix",x=>(_,M)=>{s(st(_),st(M));var w=x(t(_),t(M));return 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Yl="det",_y=["typed","matrix","subtractScalar","multiply","divideScalar","isZero","unaryMinus"],es=N(Yl,_y,r=>{var{typed:e,matrix:t,subtractScalar:n,multiply:i,divideScalar:o,isZero:a,unaryMinus:c}=r;return e(Yl,{any:function(u){return ft(u)},"Array | Matrix":function(u){var h;switch(ot(u)?h=u.size():Array.isArray(u)?(u=t(u),h=u.size()):h=[],h.length){case 0:return ft(u);case 1:if(h[0]===1)return ft(u.valueOf()[0]);if(h[0]===0)return 1;throw new RangeError("Matrix must be square (size: "+vt(h)+")");case 2:{var f=h[0],d=h[1];if(f===d)return l(u.clone().valueOf(),f,d);if(d===0)return 1;throw new RangeError("Matrix must be square (size: "+vt(h)+")")}default:throw new RangeError("Matrix must be two dimensional (size: "+vt(h)+")")}}});function l(s,u,h){if(u===1)return ft(s[0][0]);if(u===2)return n(i(s[0][0],s[1][1]),i(s[1][0],s[0][1]));for(var f=!1,d=new Array(u).fill(0).map((M,w)=>w),g=0;g<u;g++){var p=d[g];if(a(s[p][g])){var m=void 0;for(m=g+1;m<u;m++)if(!a(s[d[m]][g])){p=d[m],d[m]=d[g],d[g]=p,f=!f;break}if(m===u)return s[p][g]}for(var v=s[p][g],b=g===0?1:s[d[g-1]][g-1],y=g+1;y<u;y++)for(var S=d[y],x=g+1;x<u;x++)s[S][x]=o(n(i(s[S][x],v),i(s[S][g],s[p][x])),b)}var _=s[d[u-1]][u-1];return f?c(_):_}});var $l="inv",xy=["typed","matrix","divideScalar","addScalar","multiply","unaryMinus","det","identity","abs"],ns=N($l,xy,r=>{var{typed:e,matrix:t,divideScalar:n,addScalar:i,multiply:o,unaryMinus:a,det:c,identity:l,abs:s}=r;return e($l,{"Array | Matrix":function(f){var d=ot(f)?f.size():st(f);switch(d.length){case 1:if(d[0]===1)return ot(f)?t([n(1,f.valueOf()[0])]):[n(1,f[0])];throw new RangeError("Matrix must be square (size: "+vt(d)+")");case 2:{var g=d[0],p=d[1];if(g===p)return ot(f)?t(u(f.valueOf(),g,p),f.storage()):u(f,g,p);throw new RangeError("Matrix must be square (size: "+vt(d)+")")}default:throw new RangeError("Matrix must be two dimensional (size: "+vt(d)+")")}},any:function(f){return n(1,f)}});function u(h,f,d){var g,p,m,v,b;if(f===1){if(v=h[0][0],v===0)throw Error("Cannot calculate inverse, determinant is zero");return[[n(1,v)]]}else if(f===2){var y=c(h);if(y===0)throw Error("Cannot calculate inverse, determinant is zero");return[[n(h[1][1],y),n(a(h[0][1]),y)],[n(a(h[1][0]),y),n(h[0][0],y)]]}else{var S=h.concat();for(g=0;g<f;g++)S[g]=S[g].concat();for(var x=l(f).valueOf(),_=0;_<d;_++){var M=s(S[_][_]),w=_;for(g=_+1;g<f;)s(S[g][_])>M&&(M=s(S[g][_]),w=g),g++;if(M===0)throw Error("Cannot calculate inverse, determinant is zero");g=w,g!==_&&(b=S[_],S[_]=S[g],S[g]=b,b=x[_],x[_]=x[g],x[g]=b);var C=S[_],P=x[_];for(g=0;g<f;g++){var D=S[g],R=x[g];if(g!==_){if(D[_]!==0){for(m=n(a(D[_]),C[_]),p=_;p<d;p++)D[p]=i(D[p],o(m,C[p]));for(p=0;p<d;p++)R[p]=i(R[p],o(m,P[p]))}}else{for(m=C[_],p=_;p<d;p++)D[p]=n(D[p],m);for(p=0;p<d;p++)R[p]=n(R[p],m)}}}return x}}});var Ey="divide",by=["typed","matrix","multiply","equalScalar","divideScalar","inv"],rs=N(Ey,by,r=>{var{typed:e,matrix:t,multiply:n,equalScalar:i,divideScalar:o,inv:a}=r,c=De({typed:e,equalScalar:i}),l=Ie({typed:e});return e("divide",Kr({"Array | Matrix, Array | Matrix":function(u,h){return n(u,a(h))},"DenseMatrix, any":function(u,h){return l(u,h,o,!1)},"SparseMatrix, any":function(u,h){return c(u,h,o,!1)},"Array, any":function(u,h){return l(t(u),h,o,!1).valueOf()},"any, Array | Matrix":function(u,h){return n(u,a(h))}},o.signatures))});var Zl="mean",Sy=["typed","add","divide"],is=N(Zl,Sy,r=>{var{typed:e,add:t,divide:n}=r;return e(Zl,{"Array | Matrix":o,"Array | Matrix, number | BigNumber":i,"...":function(c){if(al(c))throw new TypeError("Scalar values expected in function mean");return o(c)}});function i(a,c){try{var l=ul(a,c,t),s=Array.isArray(a)?st(a):a.size();return n(l,s[c])}catch(u){throw jo(u,"mean")}}function o(a){var c,l=0;if(po(a,function(s){try{c=c===void 0?s:t(c,s),l++}catch(u){throw jo(u,"mean",s)}}),l===0)throw new Error("Cannot calculate the mean of an empty array");return n(c,l)}});var os=Kl("tau",["config","?BigNumber"],r=>{var{config:e,BigNumber:t}=r;return e.number==="BigNumber"?ql(t):cl});var ss=Kl("i",["Complex"],r=>{var{Complex:e}=r;return e.I});function Kl(r,e,t){return N(r,e,t,{recreateOnConfigChange:!0})}var On=to({config:he}),mi=no({});var Jl=io({}),zy=ss({Complex:mi});var as=oo({});var Gy=os({BigNumber:On,config:he});var ln=ho({Matrix:as});var rt=ji({BigNumber:On,Complex:mi,DenseMatrix:ln,Fraction:Jl});var ky=Io({typed:rt});var ir=Ro({typed:rt});var Ql=Go({typed:rt});var Qe=Mo({config:he,typed:rt});var Vy=Fo({typed:rt});var tc=fo({typed:rt});var Hy=So({equalScalar:Qe,typed:rt});var Wy=Uo({Complex:mi,config:he,typed:rt});var us=Bo({typed:rt});var ec=To({typed:rt});var ls=wo({Matrix:as,equalScalar:Qe,typed:rt});var qy=No({typed:rt});var Xy=Co({BigNumber:On,typed:rt});var nc=Do({typed:rt});var rc=Ao({Fraction:Jl,typed:rt});var Yt=Po({DenseMatrix:ln,Matrix:as,SparseMatrix:ls,typed:rt});var jy=Yo({bignumber:Xy,fraction:rc,number:ec});var ic=Ho({isInteger:tc,matrix:Yt,typed:rt}),Yy=Wo({matrix:Yt,config:he,typed:rt});var oc=qo({BigNumber:On,config:he,matrix:Yt,typed:rt});var sc=ko({isInteger:tc,matrix:Yt,typed:rt});var or=$o({numeric:jy,typed:rt}),$y=Jo({DenseMatrix:ln,concat:sc,divideScalar:or,equalScalar:Qe,matrix:Yt,typed:rt});var ac=Vo({BigNumber:On,DenseMatrix:ln,SparseMatrix:ls,config:he,matrix:Yt,typed:rt});var Zy=Ko({BigNumber:On,DenseMatrix:ln,config:he,equalScalar:Qe,matrix:Yt,typed:rt,zeros:oc});var Ky=Qo({DenseMatrix:ln,SparseMatrix:ls,addScalar:ir,concat:sc,equalScalar:Qe,matrix:Yt,typed:rt});var Jy=ts({addScalar:ir,conj:Ql,multiplyScalar:us,size:Yy,typed:rt});var Fn=zo({addScalar:ir,dot:Jy,equalScalar:Qe,matrix:Yt,multiplyScalar:us,typed:rt});var Qy=Oo({DenseMatrix:ln,config:he,equalScalar:Qe,matrix:Yt,round:Zy,typed:rt,zeros:oc});var tv=es({divideScalar:or,isZero:Hy,matrix:Yt,multiply:Fn,subtractScalar:qy,typed:rt,unaryMinus:nc});var uc=ns({abs:ky,addScalar:ir,det:tv,divideScalar:or,identity:ac,matrix:Yt,multiply:Fn,typed:rt,unaryMinus:nc});var ev=Zo({Complex:mi,config:he,fraction:rc,identity:ac,inv:uc,matrix:Yt,multiply:Fn,number:ec,typed:rt});var lc=Xo({addScalar:ir,ceil:Qy,conj:Ql,divideScalar:or,dotDivide:$y,exp:Vy,i:zy,log2:Wy,matrix:Yt,multiplyScalar:us,pow:ev,tau:Gy,typed:rt});var nv=rs({divideScalar:or,equalScalar:Qe,inv:uc,matrix:Yt,multiply:Fn,typed:rt});var cc=is({add:Ky,divide:nv,typed:rt});var yi=class{NumParticle;reSampNumParticle;initial_xy_uncertainty;initial_yaw_uncertainty;step_noise_sigma;yaw_noise_sigma;compass_update_interval;sigmaCompass;delta_yaw;sigmaBeacon;unaccess_weight;particle_PosInitFlag;particle_yawInitFlag;xEst;particleX;particleWeight;last_compass_time;last_yaw_compass=0;compass_consecutive_offset_count=0;constructor(e){this.NumParticle=e.NumParticle,this.reSampNumParticle=e.reSampNumParticle,this.initial_xy_uncertainty=e.initial_xy_uncertainty,this.initial_yaw_uncertainty=e.initial_yaw_uncertainty,this.step_noise_sigma=e.step_noise_sigma,this.yaw_noise_sigma=e.yaw_noise_sigma,this.compass_update_interval=e.compass_update_interval,this.sigmaCompass=e.sigmaCompass,this.delta_yaw=e.delta_yaw,this.sigmaBeacon=e.sigmaBeacon,this.unaccess_weight=e.unaccess_weight,this.particle_PosInitFlag=!1,this.particle_yawInitFlag=!1,this.xEst=[[0],[0],[0]],this.particleX=Array.from({length:3},()=>Array(this.NumParticle).fill(0)),this.particleWeight=Array.from({length:1},()=>Array(this.NumParticle).fill(1/this.NumParticle)),this.last_compass_time=0}motionModelRotYaw(e){if(!(Math.abs(e)<.001)){this.last_yaw_compass=jn(this.last_yaw_compass+e);for(let t=0;t<this.NumParticle;t++){let n=Math.random()*this.yaw_noise_sigma;this.particleX[2][t]=this.particleX[2][t]+e+n,this.particleX[2][t]=jn(this.particleX[2][t])}}}motionModelStepLength(e,t){if(e===0)return;for(let i=0;i<this.NumParticle;i++){let o=Math.random()*this.step_noise_sigma;this.particleX[0][i]+=(.65+o)*Math.sin(-this.particleX[2][i]/180*Math.PI),this.particleX[1][i]+=(.65+o)*Math.cos(this.particleX[2][i]/180*Math.PI),t(this.particleX[0][i],this.particleX[1][i])||(this.particleWeight[0][i]*=this.unaccess_weight)}let n=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/n)}motionModelCompassYaw(e,t){if(t-this.last_compass_time>this.compass_update_interval){let n=360-e;n+=this.delta_yaw,n=jn(n),Math.abs(n-this.last_yaw_compass)>60?this.compass_consecutive_offset_count++:this.compass_consecutive_offset_count=0;for(let o=0;o<this.NumParticle;o++){let a=Math.abs(this.particleX[2][o]-n);a>180&&(a=360-a),this.particleWeight[0][o]*=Yr(a,this.sigmaCompass)}let i=this.particleWeight[0].reduce((o,a)=>o+a,0);this.particleWeight[0]=this.particleWeight[0].map(o=>o/i),this.setLastCompassTime(t)}}resampling(){if(1/this.particleWeight[0].reduce((t,n)=>t+n*n,0)<this.reSampNumParticle){let t=this.particleWeight[0].reduce((c,l,s)=>c.concat(c[s]+l),[0]),i=this.particleWeight[0].map(()=>1/this.NumParticle).map((c,l)=>c+Math.random()/this.NumParticle),o=[],a=0;for(let c=0;c<this.NumParticle;c++){for(;i[c]>t[a];)a++;o.push(a)}this.particleX=this.particleX.map((c,l)=>o.map(s=>c[s])),this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle)}}update(e,t){for(let i=0;i<this.NumParticle;i++){let o=En(this.particleX[0][i],this.particleX[1][i],e.x,e.y);this.particleWeight[0][i]=Math.max(1e-7,this.particleWeight[0][i]*Yr(o,t))}let n=this.particleWeight[0].reduce((i,o)=>i+o,0);this.particleWeight[0]=this.particleWeight[0].map(i=>i/n)}updateCar(e,t){let n=e.x-this.xEst[0][0],i=e.y-this.xEst[1][0];for(let a=0;a<this.NumParticle;a++){let c=En(this.particleX[0][a],this.particleX[1][a],e.x,e.y);this.particleWeight[0][a]=Math.max(1e-7,this.particleWeight[0][a]*Yr(c,t)),this.particleX[0][a]+=n,this.particleX[1][a]+=i}let o=this.particleWeight[0].reduce((a,c)=>a+c,0);this.particleWeight[0]=this.particleWeight[0].map(a=>a/o)}getPosInitFlag(){return this.particle_PosInitFlag}getYawInitFlag(){return this.particle_yawInitFlag}setPosInitFlag(e){this.particle_PosInitFlag=e}setYawInitFlag(e){this.particle_yawInitFlag=e}getResultX(){let e=ic(this.particleWeight,[this.NumParticle,1]),t=Fn(this.particleX,e);return this.xEst=t,this.xEst[0][0]}getResultY(){return this.xEst[1][0]}getResultYaw(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0]));return this.particleX[2][e]}getEstConfidence(){let e=this.particleWeight[0].indexOf(Math.max(...this.particleWeight[0])),t=this.particleWeight[0].indexOf(Math.min(...this.particleWeight[0])),n=[this.particleX[0][e],this.particleX[1][e]],i=[this.particleX[0][t],this.particleX[1][t]],o=En(n[0],n[1],i[0],i[1]),a=o*.67;return console.log(o,a),a}getParticleNum(){return this.NumParticle}getParticleX(){return this.particleX}setLastCompassTime(e){this.last_compass_time=e}getLastCompassTime(){return this.last_compass_time}initParticlesByPos(e,t,n){if(!this.particle_PosInitFlag){this.particleWeight[0]=Array(this.NumParticle).fill(1/this.NumParticle);let i=0;for(;i<this.NumParticle;){let a=(2*Math.random()-1)*this.initial_xy_uncertainty,c=(2*Math.random()-1)*this.initial_xy_uncertainty;n(e+a,t+c)||(this.particleWeight[0][i]*=this.unaccess_weight),this.particleX[0][i]=e+a,this.particleX[1][i]=t+c,i++}let o=this.particleWeight[0].reduce((a,c)=>a+c,0);this.particleWeight[0]=this.particleWeight[0].map(a=>a/o),this.particle_PosInitFlag=!0,this.xEst[0][0]=e,this.xEst[1][0]=t,this.xEst[2][0]=0}}initParticlesByCompass(e){console.log(`Init compass: ${e}`);let t=360-e;t+=this.delta_yaw,t=jn(t),console.log(`Init Yaw: ${t}`);for(let n=0;n<this.NumParticle;n++){let i=(2*Math.random()-1)*this.initial_yaw_uncertainty;this.particleX[2][n]=t+i}this.particle_yawInitFlag=!0,this.xEst[2][0]=t,this.last_yaw_compass=t,this.compass_consecutive_offset_count=0}};var vi=class{fre=100;accH_fifo=[];accH_time_fifo=[];accH_fifo_len=Math.floor(1*this.fre)+1;step_count=0;state_count=0;last_valley_time=0;last_peak_time=0;last_step_time=0;min_step_time=.3;max_step_time=1;min_peak=10.5;max_valley=9.5;peak_num=0;valley_num=0;fft_min_amp=.3;fft_min_fre=0;fft_max_fre=4;last_fft_amp=0;abnor_start_time=0;abnor_fft_detected=!1;abnor_time_threshold=4;abnor_peak_time=0;abnor_peak_accH=0;const_step_length=.65;last_rot=[];delta_rot=[];last_yaw=0;delta_yaw=null;delta_rot_sum_fifo=[];delta_rot_sum_time_fifo=[];delta_yaw_accum=0;delta_yaw_accum_timestamp=0;delta_yaw_time_threshold=.5;last_px=0;last_py=0;delta_px=0;delta_py=0;init(){this.fre=100,this.accH_fifo=[],this.accH_time_fifo=[],this.accH_fifo_len=Math.floor(1*this.fre)+1,this.step_count=0,this.state_count=0,this.last_valley_time=0,this.last_peak_time=0,this.last_step_time=0,this.min_step_time=.3,this.max_step_time=1,this.min_peak=10+.5,this.max_valley=10-.5,this.peak_num=0,this.valley_num=0,this.fft_min_amp=.3,this.fft_min_fre=0,this.fft_max_fre=4,this.last_fft_amp=0,this.abnor_start_time=0,this.abnor_fft_detected=!1,this.abnor_peak_time=0,this.abnor_peak_accH=0,this.const_step_length=.65,this.last_rot=[0,0,0],this.delta_rot=[0,0,0],this.last_yaw=0,this.delta_yaw=null,this.delta_rot_sum_fifo=[],this.delta_rot_sum_time_fifo=[],this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=0,this.delta_yaw_time_threshold=.5,this.last_px=0,this.last_py=0,this.delta_px=0,this.delta_py=0}reset(){this.init()}setInitPose(e=[0,0]){this.last_px=e[0],this.last_py=e[1],console.info(`pdr init pos: ${this.last_px}, ${this.last_py}`)}setInitYaw(e=0){this.last_yaw=e}getPos(e,t,n){let i=0;return n.length===3&&(this.delta_yaw=this.getDeltaYawFromRot(e,n)),t.length===3&&(i=this.getStepLength(e,t)),i!==0&&(this.last_px+=this.delta_px,this.last_py+=this.delta_py),[this.last_px,this.last_py]}getDeltaPose(){return[this.delta_px,this.delta_py]}getStepLength(e,t){if(t.length<3)return console.warn("acc data less than 3"),0;let n=!1,i=Math.sqrt(Math.pow(t[0],2)+Math.pow(t[1],2)+Math.pow(t[2],2));if(this.accH_fifo.push(i),this.accH_time_fifo.push(e),this.imuFreUpdate(),this.accH_fifo.length<this.accH_fifo_len+1)n=!1;else{for(;this.accH_fifo.length>=this.accH_fifo_len+1;)this.accH_fifo.shift(),this.accH_time_fifo.shift();let o=this.PVStepDetec(),a=this.FFTStepDetec(),c=this.recheckState(),l=this.accH_time_fifo[Math.floor(this.accH_time_fifo.length*3/4)];Math.abs(this.abnor_start_time)<.001&&this.abnor_fft_detected?this.abnor_start_time=l:this.abnor_fft_detected||(this.abnor_start_time=0),o&&a&&c?(this.step_count+=1,this.last_step_time=l,n=!0):Math.abs(this.abnor_start_time)>.001&&this.abnor_peak_time-this.abnor_start_time>this.abnor_time_threshold&&this.step_count>1&&this.abnor_peak_time-this.last_step_time>1?(this.step_count+=1,this.last_step_time=l,n=!0):(l-this.last_step_time>2&&(this.state_count=0),n=!1)}if(n){let o=this.last_yaw/180*Math.PI;return this.delta_px=this.const_step_length*Math.cos(o),this.delta_py=this.const_step_length*Math.sin(o),this.const_step_length}else return 0}imuFreUpdate(){if(this.accH_time_fifo.length>2&&(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]<0||this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[this.accH_time_fifo.length-2]>10||this.accH_time_fifo[this.accH_time_fifo.length-1]===this.accH_time_fifo[0])&&(console.warn(`pdr reset last one time ${this.accH_time_fifo[this.accH_time_fifo.length-1]} last two time ${this.accH_time_fifo[this.accH_time_fifo.length-2]}`),this.reset()),this.accH_fifo.length>9||this.fre<15){let e=(this.accH_fifo.length-1)/(this.accH_time_fifo[this.accH_time_fifo.length-1]-this.accH_time_fifo[0]);Math.abs(this.fre-e)>8&&(this.fre=Math.round((e-3)/10)*10,(this.fre<=10||this.fre>=100)&&(console.warn(`Frequency Error ${this.fre}`),this.fre=100),console.debug(`Frequency change to ${this.fre}`),this.accH_fifo_len=Math.floor(1*this.fre)+1)}}recheckState(){return!0}PVStepDetec(){let e=!1,t=this.accH_fifo.slice(Math.floor(this.accH_fifo_len/2)),n=this.accH_time_fifo.slice(Math.floor(this.accH_fifo_len/2)),i=t[Math.floor(t.length/2)],o=n[Math.floor(n.length/2)],a=Math.max(...t),c=Math.min(...t),l=!1,s=!1;return Math.abs(i-c)<.01&&i<this.max_valley&&this.valley_num<=this.peak_num&&(this.last_valley_time===0?s=!0:s=o-this.last_valley_time>this.min_step_time,s&&(this.last_valley_time=o,this.valley_num+=1)),Math.abs(i-a)<.01&&i>this.min_peak&&this.peak_num<=this.valley_num&&(this.last_peak_time===0?l=!0:l=o-this.last_peak_time>this.min_step_time,l&&(this.last_peak_time=o,this.peak_num+=1)),i===a&&i>this.min_peak&&(this.abnor_peak_time=o,this.abnor_peak_accH=i),this.peak_num===this.valley_num&&(l||s)&&(e=!0),e}FFTStepDetec(){return!0}getDeltaYawFromRot(e,t){if(t.length<3)return console.warn("rot data less than 3"),0;let n=[0,0,0];this.last_rot.length===3&&(n=t.map((c,l)=>c-this.last_rot[l]));for(let c=0;c<t.length;c++)n[c]<-180?n[c]+=360:n[c]>180&&(n[c]-=360);let i=.2;this.delta_rot.length===3?this.delta_rot=this.delta_rot.map((c,l)=>i*c+(1-i)*n[l]):this.delta_rot=n,this.last_rot=t,this.delta_yaw=this.delta_rot[0],this.last_yaw+=this.delta_yaw,this.last_yaw=this.limitYaw(this.last_yaw);let o=this.delta_rot.reduce((c,l)=>c+Math.abs(l),0);this.delta_rot_sum_fifo.push(o),this.delta_rot_sum_time_fifo.push(e),Math.abs(this.delta_rot_sum_time_fifo[this.delta_rot_sum_time_fifo.length-1]-this.delta_rot_sum_time_fifo[0])>1&&(this.delta_rot_sum_fifo.shift(),this.delta_rot_sum_time_fifo.shift()),this.delta_yaw_accum+=this.delta_yaw;let a=0;return Math.abs(this.delta_yaw_accum_timestamp-e)>this.delta_yaw_time_threshold?(a=this.delta_yaw_accum,this.delta_yaw_accum=0,this.delta_yaw_accum_timestamp=e,a):null}limitYaw(e){for(;e<-180;)e+=360;for(;e>180;)e-=360;return e}};var _i=class{particleFilter;pdr;sigmaBeacon=5;gps_horizontalAccuracy=10;using_gps=!0;last_beacon_time=null;last_pos_time;position_count=0;gps_max_horizontalAccuracy=20;MaxEstimateErr=5;outTrustRegionNum=0;TrustNum=4;cacheSensorData=[];constructor(){this.particleFilter=new yi({NumParticle:200,reSampNumParticle:.65,initial_xy_uncertainty:12,initial_yaw_uncertainty:100,step_noise_sigma:.5,yaw_noise_sigma:2,compass_update_interval:3e3,sigmaCompass:80,delta_yaw:2,sigmaBeacon:5,unaccess_weight:.7}),this.pdr=new vi}pfFusionPDRiBeacon(e){let{type:t,timestamp:n,res:i}=e,o=!1;if(this.particleFilter.getPosInitFlag()&&this.particleFilter.getYawInitFlag()){if(t==="acceleration"){let a=i,c=this.pdr.getStepLength(n/1e3,a);c!==0&&(this.particleFilter.motionModelStepLength(c,()=>!0),this.particleFilter.resampling(),this.position_count+=1,o=!0)}if(this.using_gps&&t==="gps"&&(this.last_beacon_time===null||n-this.last_beacon_time>5e3)){let a=this.getGpsPosition(i);o=a!==null,a&&(this.particleFilter.update(a,this.gps_horizontalAccuracy),this.resetParticleFilterDist(a),this.particleFilter.resampling(),this.position_count+=1)}if(t==="deviceMotion"){let a=this.pdr.getDeltaYawFromRot(n/1e3,i);a!==null&&this.particleFilter.motionModelRotYaw(a)}t==="compass"&&this.particleFilter.motionModelCompassYaw(i,n),this.last_pos_time&&n-this.last_pos_time>500&&(this.position_count+=1,o=!0)}else if(!this.particleFilter.getPosInitFlag()&&this.using_gps&&t==="gps"){let a=this.getGpsPosition(i);o=a!==null,a?(this.particleFilter.initParticlesByPos(a.x,a.y,()=>!0),this.last_pos_time=n,console.log(`init Pos by gps success time ${n}`),this.cacheSensorData.length=0):console.log(`init Pos by gps fail time ${n}`)}else if(!this.particleFilter.getYawInitFlag()&&t==="compass"){let a=i;this.particleFilter.initParticlesByCompass(a),this.particleFilter.setLastCompassTime(n),console.log(`init yaw by compass success time ${n}`)}else this.cacheSensorData.push(e);return o&&(this.last_pos_time=n),[o,this.particleFilter.getResultX(),this.particleFilter.getResultY()]}setBeaconPosition(e,t){return this.last_beacon_time=t,this.particleFilter.getPosInitFlag()?this.particleFilter.update(e,this.sigmaBeacon):this.particleFilter.initParticlesByPos(e.x,e.y,()=>!0),this.resetParticleFilterDist(e),this.particleFilter.resampling(),this.position_count+=1,this.cacheSensorData.filter(i=>i.timestamp>t).map(i=>this.pfFusionPDRiBeacon(i)),this.cacheSensorData.length=0,[this.particleFilter.getResultX(),this.particleFilter.getResultY()]}getGpsPosition(e){return e[2]>this.gps_max_horizontalAccuracy?null:Ba(e[0],e[1])}resetParticleFilterDist(e){let t=this.particleFilter.getResultX(),n=this.particleFilter.getResultY();En(t,n,e.x,e.y)>this.MaxEstimateErr?(this.outTrustRegionNum+=1,this.outTrustRegionNum>=this.TrustNum&&(console.info(`\u8D85\u51FA\u53EF\u4FE1\u533A\u57DF\uFF0C\u91CD\u7F6E\u7C92\u5B50\u8FC7\u6EE4\u5668\u5230: ${e.x}, ${e.y}`),this.particleFilter.setPosInitFlag(!1),this.particleFilter.setYawInitFlag(!1),this.outTrustRegionNum=0)):this.outTrustRegionNum=0}};var hc=class extends iv{sensor;pdr;constructor(e={}){super(),this.sensor=new jr(e.sensor),this.pdr=new _i}checkSensor(){return this.sensor.checkSensor()}start(){this.sensor.start(),this.sensor.addEventListener("add-data-item",({item:e})=>{this.getPositionBySensorItem(e)})}getPositionBySensorItem(e){let[t,n,i]=this.pdr.pfFusionPDRiBeacon(e);return t&&this.dispatchEvent({type:"position",x:n,y:i,_type:e.type==="gps"?"gps":"pdr"}),[t,n,i]}setBeaconPosition(e,t){let[n,i]=this.pdr.setBeaconPosition(e,t);this.dispatchEvent({type:"position",x:n,y:i,_type:"beacon"})}dispose(){this.sensor.stop()}};async function pc({brand:r,project:e},t){let{apiDomain:n,apiPath:{floorRange:i},apiInfo:o}=t,a=`${n}${i}?brand=${r}&project=${e}&phase=${e}&building=${e}`;return await fetch(a,o).then(l=>l.json()).then(l=>l.data).then(l=>{let s=(l||[])[0];return s&&(s.info=JSON.parse(s.info)),s})}async function fc({brand:r,project:e,floor:t,ts:n,resource_type_list:i},o){let{apiDomain:a,apiPath:{floorGraphic:c},apiInfo:l}=o,s=`${a}${c}?brand=${r}&project=${e}&phase=${e}&building=${e}&floor=${t}&ts=${n}&resource_type_list=${i}`;return await fetch(s,l).then(h=>h.json()).then(h=>h.data).then(h=>((h||[]).map(f=>f.info=JSON.parse(f.info)),h||[]))}async function b2({project:r,floor:e},t){let{apiDomain:n,apiInfo:i}=t,o=`${n}/api/inception-map/external_street/get?projectCode=${r}&floorCode=${e}`;return await fetch(o,i).then(c=>c.json()).then(c=>c.data).then(c=>JSON.parse(c[0].streetInfo||"{}")).then(c=>c.fileId?ov(c.fileId,t):null)}async function ov(r,e){let{apiDomain:t,apiInfo:n}=e;return fetch(`${t}/api/inception-map/file/getFileStream?fileId=${r}`,n).then(i=>i.arrayBuffer()).then(i=>{let a=new TextDecoder("utf-8").decode(i);return a?JSON.parse(a):null})}var xe;function dc(r="aibee_map"){return new Promise((e,t)=>{if(xe)return e({db:xe,type:"success"});let n=indexedDB.open(r);n.onupgradeneeded=function(i){xe=i.target.result,console.log("onupgradeneeded"),e({db:xe,type:"onupgradeneeded"})},n.onsuccess=i=>{xe=i.target.result,e({db:xe,type:"success"})},n.onerror=i=>{t(i)}})}function gc(r,e,t=xe){return new Promise((n,i)=>{t||i("\u6CA1\u6709db");let a=t.transaction([r],"readonly").objectStore(r).get(e);a.onsuccess=()=>{a.result?n(a.result.value):n(null)},a.onerror=c=>{console.log("[getVersionByKey]",c),n(null)}})}function mc(r,e,t,n=xe){return new Promise((i,o)=>(n||o("\u6CA1\u6709db"),new Promise((a,c)=>{let s=n.transaction([r],"readwrite").objectStore(r).add({key:e,value:t});s.onsuccess=function(u){a(u)},s.onerror=function(u){c(u)}})))}function sr(r,e=xe){e&&(e.objectStoreNames.contains(r)||e.createObjectStore(r,{keyPath:"key"}))}function yc(){xe?.close(),xe=null}var 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";var F2={loadRoadNetwork:!1},cs="map_version",hs="route_version",ps="map_data",xi="road_network_data",Ec={half:vc,power:_c,mechanical:xc},bc=class{constructor(e){this.bmap=e;this.initDb()}floors=[];async initDb(){try{let{db:e,type:t}=await dc();t==="onupgradeneeded"&&(sr(cs),sr(hs),sr(ps),sr(xi))}catch(e){console.log("[\u6253\u5F00indexDb\u9519\u8BEF]",e)}}async load(e){if(this.clear(),Array.isArray(e))this.floors=e;else{let t=await fetch(e).then(n=>n.json());t.code==="0"&&(this.floors=t.data.list)}}setCacheData(e,t,n){return mc(e,`${t}`,n)}getCacheData(e,t){return gc(e,`${t}`)}getFloorCacheKey(e){return`${e.floor_id}`}async getFloorData(e){let t=this.floors.find(i=>i.floor===e);if(!t)return null;let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(cs,n)===t.version_id){let o=await this.getCacheData(ps,n);if(o)return this.getDataByJson(o)}return this.getFloorDataByFloorInfo(t)}catch{return this.getFloorDataByFloorInfo(t)}}async getFloorDataByFloorInfo(e){let t=this.getFloorCacheKey(e);console.time("zstd_json");let n=await fetch(e.map_url).then(i=>i.json());return n.floor=e.floor,console.timeEnd("zstd_json"),this.setCacheData(ps,t,n),this.setCacheData(cs,t,e.version_id),this.getDataByJson(n)}async getRoadNetworkData(){return(await Promise.all(this.floors.map(async t=>{let n=this.getFloorCacheKey(t);try{if(await this.getCacheData(hs,n)===t.version_id){let a=await this.getCacheData(xi,n);if(a)return a}let o=await fetch(t.route_url).then(a=>a.json());return this.setCacheData(xi,n,o),this.setCacheData(hs,n,t.version_id),o}catch{let i=await fetch(t.route_url).then(o=>o.json());return this.setCacheData(xi,n,i),i}}))).filter(t=>t.points)}async getFacilitiesData(){if(this.floors[0]?.entry_infra_url)return fetch(this.floors[0].entry_infra_url).then(e=>e.json())}async getOtherDataByFreeTime(){}async getMulFloorsData(e){return Promise.all(e.map(t=>this.getFloorData(t))).then(t=>t.filter(n=>n))}async getDataByUrl(e){let t=await fetch(e).then(n=>n.json());return this.getDataByJson(t)}getDataByJson(e){let t=new Ce(this.bmap.context);t.userData.graphics=[],t.userData.graphicMap=new Map;let n=[0,0];return e.layers.forEach(i=>{switch(i.l_type){case"range":let o=i.elements[0];n=[o.center_x,o.center_y];break;case"graph":ee(i.elements,n);let a=[];i.elements.forEach(p=>{p.group==="ground"?t.createGround(p):a.push(p)});let c=a.reduce((p,m)=>{let{fillColor:v,fillOpacity:b,strokeColor:y,strokeOpacity:S,height:x}=m,_=`${v.toLowerCase()}-${b}-${y.toLowerCase()}-${S}-${x}`;return S===0&&(_=`${v.toLowerCase()}-${b}-${x}`),p[_]?p[_].push(m):p[_]=[m],p},{});Object.values(c).forEach(p=>{let m=new Dr(this.bmap.context,p);t.mergeGraphicLayer.add(m)});break;case"ground":ee(i.elements,n);let l=i.elements.map(p=>new Ft(this.bmap.context,p));t.addGrounds(l);break;case"wall":ee(i.elements,n);let s=i.elements.reduce((p,m)=>{let{fillColor:v,fillOpacity:b,strokeColor:y,strokeOpacity:S,height:x}=m,_=`${v.toLowerCase()}-${b}-${y.toLowerCase()}-${S}-${x}`;return S===0&&(_=`${v.toLowerCase()}-${b}-${x}`),p[_]?p[_].push(m):p[_]=[m],p},{});Object.values(s).forEach(p=>{let m=new Cr(this.bmap.context,p);t.wallLayer.add(m)});break;case"lane":ee(i.elements,n);let u=i.elements.reduce((p,m)=>{let{fillColor:v,fillOpacity:b,strokeColor:y,strokeOpacity:S}=m,x=`${v.toLowerCase()}-${b}-${y.toLowerCase()}-${S}`;return S===0&&(x=`${v.toLowerCase()}-${b}`),p[x]?p[x].push(m):p[x]=[m],p},{});Object.values(u).forEach(p=>{let m=new Pr(this.bmap.context,p);t.laneLayer.add(m)});break;case"texture2d":case"texture3d":if(ee(i.elements,n),i.elements.length){let p=new Wn(this.bmap.context,i.elements);t.textureLayer.add(p)}break;case"glb":ee(i.elements,n),i.elements.forEach(p=>{let m=Te([p.center_x,p.center_y],n),v=new Ar(this.bmap.context,{...p,url:p.secondUrl,rotate:p.secondRotate,width:p.secondWidth,center_x:m[0],center_y:m[1]});t.glbModelLayer.add(v)});break;case"store":ee(i.elements,n),i.elements.map(p=>{let m=Te([p.center_x,p.center_y],n),v=t.addGraphic(p);t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v);try{let b=new ne(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:m[0],y:m[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(b),b&&(b.userData.type="store",b.userData.data=p)}catch(b){console.log("\u521B\u5EFA\u5E97\u94FApoi\u5931\u8D25",b,p)}});break;case"facility":ee(i.elements,n),i.elements.map(p=>{let m=Te([p.center_x,p.center_y],n),v=t.addGraphic(p);if(t.userData.graphics.push(v),t.userData.graphicMap.set(p.id,v),p.poi_info){let b=new ne(this.bmap.context,{id:p.id,icon:p.poi_info.icon,text:p.poi_info.showName||p.store_name||p.poi_info.text,position:{x:m[0],y:m[1],z:p.airHeight+p.height},icon_size:[18,18]});t.poiLayer2.pushPoi(b),b.userData.type="facility",b.userData.data=p}else console.log("\u6DFB\u52A0facility\u5931\u8D25\u6CA1\u6709poi_info",p)});break;case"parkingSpace":ee(i.elements,n);let h=[],f=new Map;i.elements.forEach(p=>{let m=t.addGraphic(p);h.push(m),f.set(p.id,m);let v=Te([p.center_x,p.center_y],n);if(p.texts[0]){let b=new ne(this.bmap.context,{id:p.id,text:p.texts[0],position:{x:v[0],y:v[1],z:p.airHeight+p.height}});b&&(b.userData.type="parkingSpace",b.userData.data=p),t.poiLayer2.pushPoi(b)}});let d=i.elements.filter(p=>Ec[p.parkingType]).map(p=>{let m=Te([p.center_x,p.center_y],n),v=Ms(p.geometry.coords,m);return{uuid:p.id,iconUrl:Ec[p.parkingType],name:p.texts[0],deltaHeight:p.deltaHeight,airHeight:p.airHeight,height:p.height,geometry:{...p.geometry,coords:v},opacity:p.fillOpacity,visible:!0}});if(d.length){let p=new Wn(this.bmap.context,d);t.textureLayer.add(p)}t.userData.parkingSpaces=h,t.userData.parkingSpacesGraphicMap=f;break;case"text":ee(i.elements,n);let g=new Rr(this.bmap.context,i.elements.map(p=>{let m=Te([p.center_x,p.center_y],n);return{...p,center_x:m[0],center_y:m[1]}}));t.textTextureLayer.add(g);break}}),t.userData.center=n,t.userData.height=e.floorHeight*10,t.name=e.floor,t.userData.data=e,t.updateBox(),t}clear(){}dispose(){this.clear(),yc()}};var Sc=class{constructor(e){this.bmap=e}cacheData=new Map;floorDataLengthMap=new Map;buildingGroundMap=new Map;externalStreetMap=new Map;async load(e){let t=yn(e);if(this.cacheData.has(t))return this.cacheData.get(t);let[,n]=await Promise.all([this.loadBuildGround(e),fc(e,this.bmap.config)]),i=yn({floor:e.floor,ts:e.ts});ee(n.map(a=>a.info),this.bmap.buildingCenter,this.floorDataLengthMap.get(i)||0),n.forEach(a=>a.info.transformToBuildingGround=!1),this.cacheData.set(t,n);let o=this.floorDataLengthMap.get(i)||0;return this.floorDataLengthMap.set(i,o+n.length),this.loadExternalStreet(e),n}async loadExternalStreet(e){}switchFloorByData(e,t){if(!e.length)return;let n=t.userData.legacyToGraphicMap||new Map,i=t.userData.graphicMap||new Map,{ground:o,markGraphic:a,graphic:c}=this.bmap.config;for(let l=0;l<e.length;l++){let s=e[l];s.info.group==="ground"?(s.info.fillColor=o.color,s.info.fillOpacity=o.opacity,s.info.height=o.height,s.info.stroke=o.stroke,s.info.strokeColor=o.strokeColor,s.info.strokeOpacity=o.strokeOpacity):s.info.userData.mark?(s.info.height=a.height,s.info.fillColor=a.color,s.info.fillOpacity=a.opacity,s.info.stroke=a.stroke,s.info.strokeColor=a.strokeColor,s.info.strokeOpacity=a.strokeOpacity):(s.info.fillOpacity=c.fillOpacity,this.bmap.config.initTransToMark&&(s.info.height=a.height,s.info.fillColor=a.color,s.info.stroke=a.stroke,s.info.strokeColor=a.strokeColor,s.info.strokeOpacity=a.strokeOpacity))}for(let l of e){if(l.info.group==="ground")t.createGround(l.info);else{let s=t.addGraphic(l.info);s.userData.data=l,n.set(l.legacy_id,s)}i.set(l.element_uuid,l)}t.userData.legacyToGraphicMap=n,t.userData.graphicMap=i,t.updateBox(),t===this.bmap.context.currentFloor?(this.bmap.triggerHooks("switch_floor_before",{curFloor:t,graphics:t.graphicLayer.children}),this.bmap.initialFloorCamera(),this.bmap.triggerHooks("switch_floor_after",{curFloor:t,graphics:t.graphicLayer.children})):this.bmap.switchFloorByFloor(t)}filterData(e,t){let n=t.userData.graphicMap||new Map;return e.filter(i=>!n.has(i.element_uuid))}async switchFloorByStoreData(e,t){let n=await this.load({...e,resource_type_list:"6"}),i=this.filterData(n,t);this.switchFloorByData(i,t)}async switchFloorByOtherData(e,t){let n=await this.load({...e,resource_type_list:"1,2,3,4"}),i=this.filterData(n,t);this.switchFloorByData(i,t)}async loadBuildGround({brand:e,project:t}){let n=await this.loadBuildingGround({brand:e,project:t});return this.bmap.currentBuildGround=n,this.bmap.changeBuildingCenter(n,{brand:e,project:t}),this.bmap.currentBuildGround}async loadBuildingGround({brand:e,project:t}){let n=yn({brand:e,project:t});if(this.buildingGroundMap.has(n))return this.buildingGroundMap.get(n);let i=pc({brand:e,project:t},this.bmap.config).then(o=>(this.buildingGroundMap.set(n,o),o));return this.buildingGroundMap.set(n,i),i}async switchFloor(e){let t=new Ce(this.bmap.context);t.name=e.floor;try{await Promise.all([this.switchFloorByStoreData(e,t),this.switchFloorByOtherData(e,t)])}catch(n){console.log(n)}return t}dispose(){this.cacheData.clear(),this.floorDataLengthMap.clear(),this.buildingGroundMap.clear()}};export{bc as AibeeLoader,Sa as BMap,Oa as BMapSelect,le as BaseSvg,Hr as Context,Sc as CrLoader,La as CrNavPath,Ma as Equipment,Ps as Events,Ce as Floor,Ar as GlbModel,Ft as Graphic,Er as GraphicLayer,Wn as GroundTexture,_r as HeatmapElement,Vn as HooksName,Or as HoverHelper,Pr as Lane,Ht as Layer,Vf as MapTypePolar,Dr as MergeGraphic,xr as Model,Ra as MulFloors,Na as NavPath,Ia as Navigation,vr as Overlay,zs as PathDirection,hc as PdrPosition,rn as Poi,ne as Poi2,_n as PoiLayer,br as PoiLayer2,ea as RoadNetwork,na as RoadNetwork2,ha as SelectBox,Lr as Selection,jr as Sensor,yr as Shadow,wr as SvgLine,Tr as SvgPolygon,Rr as TextTexture,Gt as Timer,vn as TweenUtil,As as UA,Cr as Wall,Tv as addAlphaToHexColor,Ss as calc_angle,Mi as calc_direction,ra as convertToSnakeCase,Gn as createCircle,fr as createLine,Ve as createRect,Ts as createSvg,pr as createSvgElement,l_ as createThreeBox,u_ as createThreeLine,Le as darkenColor,F2 as defaultAibeeLoaderOption,Bf as defaultConfig,Pi as defaultGraphicOptions,kp as defaultOptions,vf as defaultTextTextureOptions,Jt as dispose,Bs as distancePointToSegment,yn as generatorKeyByObj,vh as getAngle,hr as getCenter,ba as getConfig,Vv as getDirectPath,Gs as getDistanceByPathPos,kt as getLength,vv as getLongestSideDir,Ms as getMinEdgeSquare,Se as getPathLength,fn as getPointEdgeIndex,dr as getPosByPathDistance,bs as hasChinese,bi as hexToRgb,Es as initDirectionalLight,xs as initLight,be as initShape,Av as isAndroid,ke as isContain,mn as isControl,kn as isIphone,gn as isMac,ws as isPointInPolygon,pc as loadBuildingGround,b2 as loadExternalStreet,fc as loadGraphics,kv as moveOnRoute,dn as proxyOptions,xh as removeWeightPath,en as setCirclePosition,ge as setLineStartEnd,Xt as setRectPosition,Us as simplifyPath,Cs as sleepOnePromise,Sv as sleepOneRf,Fs as smoothPath,wv as strToNumber,tn as timeoutPromise,i_ as toWebWorker,ee as transformGraphicData,Te as translatePosToCenter,we as triggerWorker,et as vector3ToDevice,Ov as xhrGet};
 /*! Bundled license information:
 complex.js/complex.js: