@drawtonomy/sdk 0.4.0 → 0.5.0

package/dist/exporter/openscenario.js

@@ -0,0 +1,393 @@
+// OpenSCENARIO 1.3 (.xosc) exporter — emits scenario actors and trajectories
+// from a snapshot. No external library dependencies.
+//
+// Design:
+// - Each Vehicle / Pedestrian shape becomes a ScenarioObject
+// - 3D rendering is delegated to the player; we only emit BoundingBox + category
+// - Initial pose is a WorldPosition + TeleportAction
+// - The road network is referenced via <LogicFile> pointing to the paired .xodr
+// - Dynamic animations are emitted as <FollowTrajectoryAction> stories
+import { buildPathTrajectory } from './trajectory';
+import { escapeXml, fmt, pxToEnuX, pxToEnuY, pxToMeter } from './units';
+/** Map a vehicle template id to a normalized form (legacy id rewrites). */
+const LEGACY_TEMPLATE_ID_MAP = {
+    black: 'filled', // legacy "black" pedestrian template renamed to "filled"
+};
+/** Pedestrian template id patterns. */
+const PEDESTRIAN_PATTERNS = [/^pedestrian/, /^walk/, /^simple/, /^filled/];
+function defaultResolveTemplateId(id) {
+    return LEGACY_TEMPLATE_ID_MAP[id] || id;
+}
+function defaultIsPedestrianTemplate(id) {
+    const resolved = defaultResolveTemplateId(id || '');
+    return PEDESTRIAN_PATTERNS.some((re) => re.test(resolved));
+}
+/**
+ * Map a vehicle template id to an OpenSCENARIO vehicleCategory.
+ * Spec values: car, van, truck, trailer, semitrailer, bus, motorbike, bicycle, train, tram.
+ */
+export function templateIdToVehicleCategory(templateId, resolver) {
+    const resolveId = resolver?.resolveTemplateId ?? defaultResolveTemplateId;
+    const id = resolveId(templateId);
+    switch (id) {
+        case 'sedan': return 'car';
+        case 'bus': return 'bus';
+        case 'truck': return 'truck';
+        case 'motorcycle':
+        case 'motorcycle2':
+            return 'motorbike';
+        case 'bicycle':
+        case 'bicycle2':
+            return 'bicycle';
+        case 'amr':
+        case 'amr2':
+        case 'robovac':
+            return 'car';
+        default:
+            return 'car';
+    }
+}
+/**
+ * Default Performance values per category (matches esmini demo conventions).
+ */
+function defaultPerformance(category) {
+    switch (category) {
+        case 'truck':
+        case 'bus':
+            return { maxSpeed: 25, maxAccel: 2, maxDecel: 6 };
+        case 'motorbike':
+            return { maxSpeed: 60, maxAccel: 6, maxDecel: 9 };
+        case 'bicycle':
+            return { maxSpeed: 8, maxAccel: 2, maxDecel: 4 };
+        default:
+            return { maxSpeed: 50, maxAccel: 5, maxDecel: 10 };
+    }
+}
+function defaultAxles(length, width) {
+    const wheelbase = Math.max(length * 0.6, 0.3);
+    const trackWidth = Math.max(width * 0.85, 0.3);
+    return {
+        front: { positionX: wheelbase, trackWidth },
+        rear: { positionX: 0, trackWidth },
+    };
+}
+function collectEntities(snapshot, resolver) {
+    const out = [];
+    let counter = 0;
+    const isPedestrian = resolver?.isPedestrianTemplate ?? defaultIsPedestrianTemplate;
+    const resolveId = resolver?.resolveTemplateId ?? defaultResolveTemplateId;
+    // Path footprints are a canvas-side "trail preview" — multiple ghost copies
+    // of the same vehicle along a path. In a 3D scene we want a single moving
+    // vehicle, so only the leading footprint (footprintIds[0]) is exported as
+    // a ScenarioObject; the rest are dropped.
+    const followerFootprintIds = new Set();
+    for (const shape of snapshot.shapes) {
+        if (shape.type !== 'linestring')
+            continue;
+        const ls = shape;
+        if (!ls.props.isPath)
+            continue;
+        const ids = ls.props.footprintIds ?? [];
+        for (let i = 1; i < ids.length; i++)
+            followerFootprintIds.add(ids[i]);
+    }
+    for (const shape of snapshot.shapes) {
+        if (shape.type !== 'vehicle')
+            continue;
+        if (followerFootprintIds.has(shape.id))
+            continue;
+        const v = shape;
+        const id = resolveId(v.props.templateId || '');
+        const isPed = isPedestrian(v.props.templateId || '');
+        // Vehicle template orientation: front faces -Y in canvas space, so the
+        // shape's bbox dimensions map as length=h (front-back axis), width=w.
+        const widthM = pxToMeter(v.props.w);
+        const lengthM = pxToMeter(v.props.h);
+        const category = isPed ? 'pedestrian' : templateIdToVehicleCategory(id, resolver);
+        let heightM;
+        if (isPed)
+            heightM = 1.7;
+        else if (category === 'truck' || category === 'bus')
+            heightM = 3.0;
+        else if (category === 'motorbike')
+            heightM = 1.2;
+        else if (category === 'bicycle')
+            heightM = 1.2;
+        else
+            heightM = 1.5;
+        out.push({
+            shape: v,
+            isPedestrian: isPed,
+            name: isPed ? `Pedestrian_${counter++}` : `Vehicle_${counter++}`,
+            width: widthM,
+            length: lengthM,
+            height: heightM,
+            category,
+            worldX: pxToEnuX(v.x),
+            worldY: pxToEnuY(v.y),
+            // SVG template orientation: front faces -Y in canvas space, so a
+            // rotation=0 vehicle points "up" on the canvas. ENU has y-up and CCW
+            // positive headings, so canvas -Y maps to ENU +Y, i.e. heading=π/2
+            // when rotation=0. The π/2 offset and sign flip account for both.
+            heading: -((v.rotation || 0) * Math.PI) / 180 + Math.PI / 2,
+        });
+    }
+    return out;
+}
+function emitFileHeader() {
+    const date = new Date().toISOString();
+    return `  <FileHeader revMajor="1" revMinor="3" date="${date}" description="Generated by drawtonomy" author="drawtonomy"/>`;
+}
+/**
+ * Map a vehicleCategory to a bundled esmini 3D model path. An explicit
+ * model3d is required, otherwise scaleMode is ignored and the BoundingBox
+ * has no effect on rendering size.
+ */
+function getModel3d(category) {
+    switch (category) {
+        case 'truck': return '../models/truck_yellow.osgb';
+        case 'bus': return '../models/bus_blue.osgb';
+        case 'motorbike': return '../models/mc.osgb';
+        case 'bicycle': return '../models/cyclist.osgb';
+        case 'pedestrian': return '../models/walkman.osgb';
+        default: return '../models/car_white.osgb';
+    }
+}
+function emitVehicleEntity(e) {
+    const perf = defaultPerformance(e.category);
+    const axles = defaultAxles(e.length, e.width);
+    const model3d = getModel3d(e.category);
+    const lines = [];
+    lines.push(`    <ScenarioObject name="${escapeXml(e.name)}">`);
+    lines.push(`      <Vehicle name="${escapeXml(e.shape.props.templateId || 'vehicle')}" vehicleCategory="${e.category}" model3d="${model3d}">`);
+    lines.push(`        <BoundingBox>`);
+    lines.push(`          <Center x="${fmt(e.length / 2)}" y="0" z="${fmt(e.height / 2)}"/>`);
+    lines.push(`          <Dimensions width="${fmt(e.width)}" length="${fmt(e.length)}" height="${fmt(e.height)}"/>`);
+    lines.push(`        </BoundingBox>`);
+    lines.push(`        <Performance maxSpeed="${fmt(perf.maxSpeed)}" maxAcceleration="${fmt(perf.maxAccel)}" maxDeceleration="${fmt(perf.maxDecel)}"/>`);
+    lines.push(`        <Axles>`);
+    lines.push(`          <FrontAxle maxSteering="0.5" wheelDiameter="0.5" trackWidth="${fmt(axles.front.trackWidth)}" positionX="${fmt(axles.front.positionX)}" positionZ="0.25"/>`);
+    lines.push(`          <RearAxle maxSteering="0" wheelDiameter="0.5" trackWidth="${fmt(axles.rear.trackWidth)}" positionX="${fmt(axles.rear.positionX)}" positionZ="0.25"/>`);
+    lines.push(`        </Axles>`);
+    // scaleMode=ModelToBB tells the player to deform the model so it matches
+    // the BoundingBox dimensions. Without it the model is drawn at its native
+    // size and the BoundingBox has no visual effect. The name is read as
+    // "Model is fitted To BoundingBox" — the model is what gets scaled.
+    lines.push(`        <Properties>`);
+    lines.push(`          <Property name="scaleMode" value="ModelToBB"/>`);
+    lines.push(`        </Properties>`);
+    lines.push(`      </Vehicle>`);
+    lines.push(`    </ScenarioObject>`);
+    return lines.join('\n');
+}
+function emitPedestrianEntity(e) {
+    const model3d = getModel3d('pedestrian');
+    const lines = [];
+    lines.push(`    <ScenarioObject name="${escapeXml(e.name)}">`);
+    lines.push(`      <Pedestrian name="${escapeXml(e.shape.props.templateId || 'pedestrian')}" pedestrianCategory="pedestrian" mass="80" model3d="${model3d}">`);
+    lines.push(`        <BoundingBox>`);
+    lines.push(`          <Center x="0" y="0" z="${fmt(e.height / 2)}"/>`);
+    lines.push(`          <Dimensions width="${fmt(e.width)}" length="${fmt(e.length)}" height="${fmt(e.height)}"/>`);
+    lines.push(`        </BoundingBox>`);
+    lines.push(`        <Properties>`);
+    lines.push(`          <Property name="scaleMode" value="ModelToBB"/>`);
+    lines.push(`        </Properties>`);
+    lines.push(`      </Pedestrian>`);
+    lines.push(`    </ScenarioObject>`);
+    return lines.join('\n');
+}
+function emitInitTeleport(e) {
+    return emitInitTeleportAt(e, e.worldX, e.worldY, e.heading);
+}
+function emitInitTeleportAt(e, x, y, heading) {
+    const lines = [];
+    lines.push(`        <Private entityRef="${escapeXml(e.name)}">`);
+    lines.push(`          <PrivateAction>`);
+    lines.push(`            <TeleportAction>`);
+    lines.push(`              <Position>`);
+    lines.push(`                <WorldPosition x="${fmt(x)}" y="${fmt(y)}" z="0" h="${fmt(heading)}" p="0" r="0"/>`);
+    lines.push(`              </Position>`);
+    lines.push(`            </TeleportAction>`);
+    lines.push(`          </PrivateAction>`);
+    lines.push(`        </Private>`);
+    return lines.join('\n');
+}
+function collectPathAssignments(snapshot, entities) {
+    const out = [];
+    const shapeMap = new Map();
+    for (const s of snapshot.shapes)
+        shapeMap.set(s.id, s);
+    const shapeIdToEntityName = new Map();
+    for (const e of entities)
+        shapeIdToEntityName.set(e.shape.id, e.name);
+    let trajCounter = 0;
+    for (const shape of snapshot.shapes) {
+        if (shape.type !== 'linestring')
+            continue;
+        const ls = shape;
+        if (!ls.props.isPath)
+            continue;
+        const footprintIds = ls.props.footprintIds ?? [];
+        const fp = ls.props.footprint;
+        if (footprintIds.length === 0)
+            continue;
+        const headFootprintId = footprintIds[0];
+        const entityName = shapeIdToEntityName.get(headFootprintId);
+        if (!entityName)
+            continue;
+        const points = [];
+        for (const pid of ls.props.pointIds) {
+            const p = shapeMap.get(pid);
+            if (p)
+                points.push({ x: p.x, y: p.y });
+        }
+        if (points.length < 2)
+            continue;
+        const samples = buildPathTrajectory({
+            points,
+            tValues: fp?.tValues,
+            interval: fp?.interval,
+            offset: fp?.offset,
+        });
+        if (samples.length < 2)
+            continue;
+        out.push({
+            entityName,
+            trajectoryName: `path${trajCounter++}_${entityName}`,
+            samples,
+        });
+    }
+    return out;
+}
+function emitFollowTrajectoryStory(assignments) {
+    if (!assignments.length)
+        return [];
+    const lines = [];
+    lines.push(`    <Story name="MovingStory">`);
+    lines.push(`      <Act name="MovingAct">`);
+    for (const a of assignments) {
+        lines.push(`        <ManeuverGroup name="MG_${escapeXml(a.entityName)}" maximumExecutionCount="1">`);
+        lines.push(`          <Actors selectTriggeringEntities="false">`);
+        lines.push(`            <EntityRef entityRef="${escapeXml(a.entityName)}"/>`);
+        lines.push(`          </Actors>`);
+        lines.push(`          <Maneuver name="MV_${escapeXml(a.entityName)}">`);
+        lines.push(`            <Event name="EV_${escapeXml(a.entityName)}" priority="override">`);
+        lines.push(`              <Action name="ACT_${escapeXml(a.entityName)}">`);
+        lines.push(`                <PrivateAction>`);
+        lines.push(`                  <RoutingAction>`);
+        lines.push(`                    <FollowTrajectoryAction>`);
+        lines.push(`                      <TrajectoryRef>`);
+        lines.push(`                        <Trajectory name="${escapeXml(a.trajectoryName)}" closed="false">`);
+        lines.push(`                          <ParameterDeclarations/>`);
+        lines.push(`                          <Shape>`);
+        lines.push(`                            <Polyline>`);
+        for (const s of a.samples) {
+            lines.push(`                              <Vertex time="${fmt(s.time)}">`);
+            lines.push(`                                <Position>`);
+            lines.push(`                                  <WorldPosition x="${fmt(s.x)}" y="${fmt(s.y)}" z="0" h="${fmt(s.heading)}" p="0" r="0"/>`);
+            lines.push(`                                </Position>`);
+            lines.push(`                              </Vertex>`);
+        }
+        lines.push(`                            </Polyline>`);
+        lines.push(`                          </Shape>`);
+        lines.push(`                        </Trajectory>`);
+        lines.push(`                      </TrajectoryRef>`);
+        lines.push(`                      <TimeReference>`);
+        lines.push(`                        <Timing domainAbsoluteRelative="absolute" scale="1.0" offset="0.0"/>`);
+        lines.push(`                      </TimeReference>`);
+        lines.push(`                      <TrajectoryFollowingMode followingMode="position"/>`);
+        lines.push(`                    </FollowTrajectoryAction>`);
+        lines.push(`                  </RoutingAction>`);
+        lines.push(`                </PrivateAction>`);
+        lines.push(`              </Action>`);
+        lines.push(`              <StartTrigger>`);
+        lines.push(`                <ConditionGroup>`);
+        lines.push(`                  <Condition name="Start_${escapeXml(a.entityName)}" delay="0" conditionEdge="none">`);
+        lines.push(`                    <ByValueCondition>`);
+        lines.push(`                      <SimulationTimeCondition value="0" rule="greaterOrEqual"/>`);
+        lines.push(`                    </ByValueCondition>`);
+        lines.push(`                  </Condition>`);
+        lines.push(`                </ConditionGroup>`);
+        lines.push(`              </StartTrigger>`);
+        lines.push(`            </Event>`);
+        lines.push(`          </Maneuver>`);
+        lines.push(`        </ManeuverGroup>`);
+    }
+    lines.push(`        <StartTrigger>`);
+    lines.push(`          <ConditionGroup>`);
+    lines.push(`            <Condition name="ActStart" delay="0" conditionEdge="none">`);
+    lines.push(`              <ByValueCondition>`);
+    lines.push(`                <SimulationTimeCondition value="0" rule="greaterOrEqual"/>`);
+    lines.push(`              </ByValueCondition>`);
+    lines.push(`            </Condition>`);
+    lines.push(`          </ConditionGroup>`);
+    lines.push(`        </StartTrigger>`);
+    lines.push(`      </Act>`);
+    lines.push(`    </Story>`);
+    return lines;
+}
+/**
+ * Build an OpenSCENARIO 1.3 XML document from a snapshot.
+ */
+export function exportToOpenScenario(snapshot, options = {}) {
+    const xodrFilename = options.xodrFilename ?? '';
+    const entities = collectEntities(snapshot, options.templateResolver);
+    const lines = [];
+    lines.push(`<?xml version="1.0" encoding="UTF-8"?>`);
+    lines.push(`<OpenSCENARIO>`);
+    lines.push(emitFileHeader());
+    lines.push(`  <ParameterDeclarations/>`);
+    lines.push(`  <CatalogLocations/>`);
+    lines.push(`  <RoadNetwork>`);
+    if (xodrFilename) {
+        lines.push(`    <LogicFile filepath="${escapeXml(xodrFilename)}"/>`);
+    }
+    else {
+        lines.push(`    <LogicFile filepath=""/>`);
+    }
+    lines.push(`  </RoadNetwork>`);
+    lines.push(`  <Entities>`);
+    for (const e of entities) {
+        lines.push(e.isPedestrian ? emitPedestrianEntity(e) : emitVehicleEntity(e));
+    }
+    lines.push(`  </Entities>`);
+    // For entities bound to a trajectory, snap the Init TeleportAction to the
+    // trajectory start so the entity does not "jump" once the trajectory takes
+    // over. The path assignments are computed before Init Actions are emitted.
+    const pathAssignments = collectPathAssignments(snapshot, entities);
+    const pathStartByEntity = new Map();
+    for (const a of pathAssignments) {
+        if (a.samples.length > 0)
+            pathStartByEntity.set(a.entityName, a.samples[0]);
+    }
+    lines.push(`  <Storyboard>`);
+    lines.push(`    <Init>`);
+    lines.push(`      <Actions>`);
+    for (const e of entities) {
+        const pathStart = pathStartByEntity.get(e.name);
+        if (pathStart) {
+            lines.push(emitInitTeleportAt(e, pathStart.x, pathStart.y, pathStart.heading));
+        }
+        else {
+            lines.push(emitInitTeleport(e));
+        }
+    }
+    lines.push(`      </Actions>`);
+    lines.push(`    </Init>`);
+    for (const line of emitFollowTrajectoryStory(pathAssignments)) {
+        lines.push(line);
+    }
+    lines.push(`    <StopTrigger>`);
+    lines.push(`      <ConditionGroup>`);
+    lines.push(`        <Condition name="StopCondition" delay="0" conditionEdge="rising">`);
+    lines.push(`          <ByValueCondition>`);
+    lines.push(`            <SimulationTimeCondition value="60" rule="greaterThan"/>`);
+    lines.push(`          </ByValueCondition>`);
+    lines.push(`        </Condition>`);
+    lines.push(`      </ConditionGroup>`);
+    lines.push(`    </StopTrigger>`);
+    lines.push(`  </Storyboard>`);
+    lines.push(`</OpenSCENARIO>`);
+    return lines.join('\n');
+}
+//# sourceMappingURL=openscenario.js.map

package/dist/exporter/openscenario.js.map

@@ -0,0 +1 @@
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package/dist/exporter/packageEsmini.d.ts

@@ -0,0 +1,18 @@
+import type { DrawtonomySnapshot } from '../types';
+import { type TemplateResolver } from './openscenario';
+export interface EsminiPackageOptions {
+    /**
+     * Base name (without extension). Sanitized before use; falls back to
+     * "drawtonomy" if the input is empty or only invalid characters.
+     */
+    baseName?: string;
+    /** Optional template resolver hook for xosc. */
+    templateResolver?: TemplateResolver;
+}
+export interface EsminiPackageResult {
+    blob: Blob;
+    /** Sanitized base name actually used for the archive. */
+    baseName: string;
+}
+export declare function buildEsminiZip(snapshot: DrawtonomySnapshot, options?: EsminiPackageOptions): EsminiPackageResult;
+//# sourceMappingURL=packageEsmini.d.ts.map

package/dist/exporter/packageEsmini.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"packageEsmini.d.ts","sourceRoot":"","sources":["../../src/exporter/packageEsmini.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,EAAE,kBAAkB,EAAE,MAAM,UAAU,CAAA;AAElD,OAAO,EAAwB,KAAK,gBAAgB,EAAE,MAAM,gBAAgB,CAAA;AAI5E,MAAM,WAAW,oBAAoB;IACnC;;;OAGG;IACH,QAAQ,CAAC,EAAE,MAAM,CAAA;IACjB,gDAAgD;IAChD,gBAAgB,CAAC,EAAE,gBAAgB,CAAA;CACpC;AAED,MAAM,WAAW,mBAAmB;IAClC,IAAI,EAAE,IAAI,CAAA;IACV,yDAAyD;IACzD,QAAQ,EAAE,MAAM,CAAA;CACjB;AAED,wBAAgB,cAAc,CAC5B,QAAQ,EAAE,kBAAkB,EAC5B,OAAO,GAAE,oBAAyB,GACjC,mBAAmB,CAarB"}

package/dist/exporter/packageEsmini.js

@@ -0,0 +1,23 @@
+// One-shot helper that builds an esmini-friendly zip from a snapshot:
+// `<baseName>.zip` containing `<baseName>/<baseName>.xodr` and
+// `<baseName>/<baseName>.xosc`. The xosc <LogicFile> reference uses the same
+// baseName so the bundle works without renames.
+import { exportToOpenDrive } from './opendrive';
+import { exportToOpenScenario } from './openscenario';
+import { sanitizeFileBaseName } from './sanitize';
+import { buildZip } from './zip';
+export function buildEsminiZip(snapshot, options = {}) {
+    const sanitized = options.baseName ? sanitizeFileBaseName(options.baseName) : null;
+    const baseName = sanitized ?? 'drawtonomy';
+    const xodrXml = exportToOpenDrive(snapshot);
+    const xoscXml = exportToOpenScenario(snapshot, {
+        xodrFilename: `${baseName}.xodr`,
+        templateResolver: options.templateResolver,
+    });
+    const blob = buildZip([
+        { path: `${baseName}/${baseName}.xodr`, data: xodrXml },
+        { path: `${baseName}/${baseName}.xosc`, data: xoscXml },
+    ]);
+    return { blob, baseName };
+}
+//# sourceMappingURL=packageEsmini.js.map

package/dist/exporter/packageEsmini.js.map

@@ -0,0 +1 @@
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package/dist/exporter/sanitize.d.ts

@@ -0,0 +1,8 @@
+/**
+ * Strip characters that are not OS / zip safe from a file base name.
+ * - /, \, :, *, ?, ", <, >, |, NUL, control chars → "_"
+ * - Runs of whitespace collapse to one space; outer whitespace / dots trim
+ * - Empty / "." / ".." returns null (caller falls back to a default name)
+ */
+export declare function sanitizeFileBaseName(input: string): string | null;
+//# sourceMappingURL=sanitize.d.ts.map

package/dist/exporter/sanitize.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"sanitize.d.ts","sourceRoot":"","sources":["../../src/exporter/sanitize.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AACH,wBAAgB,oBAAoB,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,GAAG,IAAI,CAgBjE"}

package/dist/exporter/sanitize.js

@@ -0,0 +1,29 @@
+/**
+ * Strip characters that are not OS / zip safe from a file base name.
+ * - /, \, :, *, ?, ", <, >, |, NUL, control chars → "_"
+ * - Runs of whitespace collapse to one space; outer whitespace / dots trim
+ * - Empty / "." / ".." returns null (caller falls back to a default name)
+ */
+export function sanitizeFileBaseName(input) {
+    if (!input)
+        return null;
+    let s = input
+        // eslint-disable-next-line no-control-regex
+        .replace(/[\/\\:*?"<>|\x00-\x1f]/g, '_')
+        .replace(/\s+/g, ' ')
+        .trim()
+        .replace(/^\.+|\.+$/g, '');
+    if (!s)
+        return null;
+    if (s === '.' || s === '..')
+        return null;
+    // Reject pointless names made of only underscores / whitespace; the caller
+    // falls back to a default name in that case.
+    if (/^[_\s]+$/.test(s))
+        return null;
+    // Cap length to stay under typical OS filename limits.
+    if (s.length > 100)
+        s = s.slice(0, 100);
+    return s;
+}
+//# sourceMappingURL=sanitize.js.map

package/dist/exporter/sanitize.js.map

@@ -0,0 +1 @@
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package/dist/exporter/trajectory.d.ts

@@ -0,0 +1,41 @@
+export interface PathSamplePoint {
+    /** ENU x (m) */
+    x: number;
+    /** ENU y (m) */
+    y: number;
+    /** ENU heading (rad), 0 = +X, CCW positive */
+    heading: number;
+    /** Time since start (s) */
+    time: number;
+}
+export interface PathTrajectoryInput {
+    /** Path control points in canvas coordinates (px) */
+    points: {
+        x: number;
+        y: number;
+    }[];
+    /** Optional pre-computed normalized positions [0..1] along the path */
+    tValues?: number[];
+    /** Footprint interval (px), used when tValues is not provided */
+    interval?: number;
+    /** Footprint offset from the start (px), used when tValues is not provided */
+    offset?: number;
+    /** Default speed (m/s); falls back to DEFAULT_PATH_SPEED_MPS */
+    speedMps?: number;
+}
+export declare const DEFAULT_PATH_SPEED_MPS = 10;
+/**
+ * Build the sample sequence used by <FollowTrajectoryAction> from a path.
+ *
+ * - tValues mode: each value is treated as a normalized position along the path,
+ *   distributed across equal time slices over the total duration. A vertex at
+ *   t=0 is prepended when the first tValue is non-zero so the trajectory starts
+ *   from the path origin.
+ * - interval/offset mode: places samples at equal arc-length intervals and
+ *   computes time as cumulative_distance / speed.
+ *
+ * In both cases time strictly increases (small back-steps are nudged forward
+ * by 1 ms because trajectory replay rejects non-monotonic timestamps).
+ */
+export declare function buildPathTrajectory(input: PathTrajectoryInput): PathSamplePoint[];
+//# sourceMappingURL=trajectory.d.ts.map

package/dist/exporter/trajectory.d.ts.map

@@ -0,0 +1 @@
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