@drawtonomy/sdk 0.7.0 → 0.9.0

package/dist/exporter/odrGeometry.d.ts

@@ -0,0 +1,64 @@
+import type { OdrCubic, OdrGeometry, OdrRoad } from './opendriveParser';
+/** Pose on the reference line: inertial position + heading. */
+export interface GeomPose {
+    x: number;
+    y: number;
+    hdg: number;
+}
+/**
+ * Fresnel integrals in the normalized convention:
+ *   C(t) = ∫₀ᵗ cos(π u² / 2) du,   S(t) = ∫₀ᵗ sin(π u² / 2) du
+ *
+ * Implementation follows the classic two-regime scheme (see Abramowitz &
+ * Stegun §7.3 and Press et al., "Numerical Recipes", §6.9 "Fresnel Integrals"):
+ *   - |t| ≤ 1.5: power series expansion (A&S 7.3.11/7.3.13), which converges
+ *     rapidly in this range.
+ *   - |t| > 1.5: evaluation through the complex continued fraction for the
+ *     related complementary error function, computed with the modified Lentz
+ *     algorithm. Accuracy is limited only by EPS (~1e-12 here), far better
+ *     than the ~1e-8 needed for sub-millimeter road geometry.
+ *
+ * Both C and S are odd functions, so negative arguments are handled by sign.
+ */
+export declare function fresnel(t: number): {
+    C: number;
+    S: number;
+};
+/** Evaluate a cubic polynomial record at a local offset ds. */
+export declare function evalPoly3(rec: OdrCubic, ds: number): number;
+/** Derivative of a cubic polynomial record at a local offset ds. */
+export declare function evalPoly3Derivative(rec: OdrCubic, ds: number): number;
+/**
+ * Evaluate a plan-view geometry at offset `ds` (m) from its start.
+ * Returns the inertial position and heading.
+ */
+export declare function evalGeometry(geom: OdrGeometry, ds: number): GeomPose;
+export interface SampleReferenceLineOptions {
+    /** Maximum allowed chord deviation at the midpoint of a step (m). Default 0.05. */
+    maxChordErrorMeters?: number;
+    /** Maximum station spacing (m). Default 5. */
+    maxStepMeters?: number;
+    /**
+     * Additional stations that must appear in the output (e.g. laneSection
+     * starts, laneOffset breakpoints). Values outside [0, road.length] are
+     * clamped/ignored.
+     */
+    extraStations?: readonly number[];
+}
+export interface ReferenceSample {
+    /** Station along the road reference line (m). */
+    s: number;
+    x: number;
+    y: number;
+    hdg: number;
+}
+/**
+ * Adaptively sample a road's reference line.
+ *
+ * Stations always include s = 0, s = road.length, every plan-view geometry
+ * boundary, and the caller's `extraStations`. Between those, intervals are
+ * recursively bisected until the chord deviation at the interval midpoint is
+ * below `maxChordErrorMeters` and the step is at most `maxStepMeters`.
+ */
+export declare function sampleReferenceLine(road: OdrRoad, options?: SampleReferenceLineOptions): ReferenceSample[];
+//# sourceMappingURL=odrGeometry.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/exporter/odrGeometry.js

@@ -0,0 +1,324 @@
+// Analytic evaluation of OpenDRIVE plan-view geometry.
+//
+// Supported primitives: line, arc, spiral (Euler clothoid via Fresnel
+// integrals), paramPoly3 (both pRange modes), and the deprecated poly3.
+// `sampleReferenceLine` adaptively samples a road's reference line under a
+// maximum chord error + maximum step, always including geometry boundaries
+// (and any caller-supplied stations such as laneSection starts).
+//
+// No external dependencies.
+// ---------------------------------------------------------------------------
+// Fresnel integrals
+// ---------------------------------------------------------------------------
+/**
+ * Fresnel integrals in the normalized convention:
+ *   C(t) = ∫₀ᵗ cos(π u² / 2) du,   S(t) = ∫₀ᵗ sin(π u² / 2) du
+ *
+ * Implementation follows the classic two-regime scheme (see Abramowitz &
+ * Stegun §7.3 and Press et al., "Numerical Recipes", §6.9 "Fresnel Integrals"):
+ *   - |t| ≤ 1.5: power series expansion (A&S 7.3.11/7.3.13), which converges
+ *     rapidly in this range.
+ *   - |t| > 1.5: evaluation through the complex continued fraction for the
+ *     related complementary error function, computed with the modified Lentz
+ *     algorithm. Accuracy is limited only by EPS (~1e-12 here), far better
+ *     than the ~1e-8 needed for sub-millimeter road geometry.
+ *
+ * Both C and S are odd functions, so negative arguments are handled by sign.
+ */
+export function fresnel(t) {
+    const EPS = 1e-12;
+    const MAXIT = 120;
+    const SERIES_MAX = 1.5;
+    const ax = Math.abs(t);
+    let c;
+    let s;
+    if (ax < 1e-30) {
+        c = ax;
+        s = 0;
+    }
+    else if (ax <= SERIES_MAX) {
+        // Power series (A&S 7.3.11 / 7.3.13):
+        //   C(x) = Σ (-1)^n (π/2)^(2n)   x^(4n+1) / ((2n)!   (4n+1))
+        //   S(x) = Σ (-1)^n (π/2)^(2n+1) x^(4n+3) / ((2n+1)! (4n+3))
+        const h = (Math.PI / 2) * ax * ax;
+        const h2 = h * h;
+        let cTerm = ax; // x * (π/2 x²)^0 / 0!
+        let sTerm = ax * h; // x * (π/2 x²)^1 / 1!
+        c = cTerm; // n = 0 contribution: cTerm / 1
+        s = sTerm / 3; // n = 0 contribution: sTerm / 3
+        for (let n = 1; n <= MAXIT; n++) {
+            cTerm *= -h2 / ((2 * n - 1) * (2 * n));
+            sTerm *= -h2 / ((2 * n) * (2 * n + 1));
+            const dc = cTerm / (4 * n + 1);
+            const ds = sTerm / (4 * n + 3);
+            c += dc;
+            s += ds;
+            if (Math.abs(dc) + Math.abs(ds) < EPS * (Math.abs(c) + Math.abs(s)))
+                break;
+        }
+    }
+    else {
+        // Complex continued fraction via modified Lentz (Numerical Recipes §6.9).
+        const pix2 = Math.PI * ax * ax;
+        let bRe = 1;
+        let bIm = -pix2;
+        const BIG = 1e100;
+        let ccRe = BIG;
+        let ccIm = 0;
+        let den = bRe * bRe + bIm * bIm;
+        let dRe = bRe / den;
+        let dIm = -bIm / den;
+        let hRe = dRe;
+        let hIm = dIm;
+        let n = -1;
+        for (let k = 2; k <= MAXIT; k++) {
+            n += 2;
+            const a = -n * (n + 1);
+            bRe += 4;
+            // d = 1 / (a*d + b)
+            let tRe = a * dRe + bRe;
+            let tIm = a * dIm + bIm;
+            den = tRe * tRe + tIm * tIm;
+            dRe = tRe / den;
+            dIm = -tIm / den;
+            // cc = b + a / cc
+            den = ccRe * ccRe + ccIm * ccIm;
+            ccRe = bRe + (a * ccRe) / den;
+            ccIm = bIm - (a * ccIm) / den;
+            // del = cc * d ; h *= del
+            const delRe = ccRe * dRe - ccIm * dIm;
+            const delIm = ccRe * dIm + ccIm * dRe;
+            tRe = hRe * delRe - hIm * delIm;
+            tIm = hRe * delIm + hIm * delRe;
+            hRe = tRe;
+            hIm = tIm;
+            if (Math.abs(delRe - 1) + Math.abs(delIm) < EPS)
+                break;
+        }
+        // h *= (ax - i*ax)
+        const t2Re = ax * (hRe + hIm);
+        const t2Im = ax * (hIm - hRe);
+        hRe = t2Re;
+        hIm = t2Im;
+        // cs = (0.5 + 0.5i) * (1 - (cos(πx²/2) + i sin(πx²/2)) * h)
+        const cosv = Math.cos(0.5 * pix2);
+        const sinv = Math.sin(0.5 * pix2);
+        const mRe = 1 - (cosv * hRe - sinv * hIm);
+        const mIm = -(cosv * hIm + sinv * hRe);
+        c = 0.5 * (mRe - mIm);
+        s = 0.5 * (mRe + mIm);
+    }
+    if (t < 0) {
+        c = -c;
+        s = -s;
+    }
+    return { C: c, S: s };
+}
+// ---------------------------------------------------------------------------
+// Geometry evaluation
+// ---------------------------------------------------------------------------
+/** Evaluate a cubic polynomial record at a local offset ds. */
+export function evalPoly3(rec, ds) {
+    return rec.a + ds * (rec.b + ds * (rec.c + ds * rec.d));
+}
+/** Derivative of a cubic polynomial record at a local offset ds. */
+export function evalPoly3Derivative(rec, ds) {
+    return rec.b + ds * (2 * rec.c + ds * 3 * rec.d);
+}
+const CURVATURE_EPS = 1e-12;
+function evalLine(geom, ds) {
+    return {
+        x: geom.x + Math.cos(geom.hdg) * ds,
+        y: geom.y + Math.sin(geom.hdg) * ds,
+        hdg: geom.hdg,
+    };
+}
+function evalArc(geom, curvature, ds) {
+    if (Math.abs(curvature) < CURVATURE_EPS)
+        return evalLine(geom, ds);
+    const hdg1 = geom.hdg + curvature * ds;
+    return {
+        x: geom.x + (Math.sin(hdg1) - Math.sin(geom.hdg)) / curvature,
+        y: geom.y - (Math.cos(hdg1) - Math.cos(geom.hdg)) / curvature,
+        hdg: hdg1,
+    };
+}
+/**
+ * Evaluate an Euler spiral (clothoid) with linearly varying curvature.
+ *
+ * The general spiral maps onto the unit clothoid κ(σ) = cDot·σ via the
+ * standard parameter transform (a textbook property of the Euler spiral —
+ * see e.g. Abramowitz & Stegun §7.3 on Fresnel integrals):
+ * the road geometry covers the parameter window σ ∈ [s0, s0 + ds] with
+ * s0 = curvStart / cDot. On that base clothoid,
+ *   position(σ) = scale · (C(σ/scale), sign(cDot) · S(σ/scale)),
+ *   tangent(σ)  = cDot · σ² / 2,
+ * with scale = sqrt(π / |cDot|). The window is then rotated/translated so
+ * that its start coincides with the geometry's (x, y, hdg).
+ */
+function evalSpiral(geom, curvStart, curvEnd, ds) {
+    const cDot = (curvEnd - curvStart) / geom.length;
+    if (Math.abs(cDot) < CURVATURE_EPS) {
+        // Degenerate spiral: constant curvature (arc) or straight line.
+        return evalArc(geom, curvStart, ds);
+    }
+    const s0 = curvStart / cDot;
+    const scale = Math.sqrt(Math.PI / Math.abs(cDot));
+    const sgn = Math.sign(cDot);
+    const clothoid = (sigma) => {
+        const f = fresnel(sigma / scale);
+        return { x: scale * f.C, y: sgn * scale * f.S };
+    };
+    const p0 = clothoid(s0);
+    const p1 = clothoid(s0 + ds);
+    const theta0 = 0.5 * cDot * s0 * s0;
+    const rot = geom.hdg - theta0;
+    const cosR = Math.cos(rot);
+    const sinR = Math.sin(rot);
+    const dx = p1.x - p0.x;
+    const dy = p1.y - p0.y;
+    return {
+        x: geom.x + dx * cosR - dy * sinR,
+        y: geom.y + dx * sinR + dy * cosR,
+        hdg: geom.hdg + curvStart * ds + 0.5 * cDot * ds * ds,
+    };
+}
+function evalParamPoly3(geom, ds) {
+    const p = geom.pRange === 'arcLength' ? ds : geom.length > 0 ? ds / geom.length : 0;
+    const u = geom.aU + p * (geom.bU + p * (geom.cU + p * geom.dU));
+    const v = geom.aV + p * (geom.bV + p * (geom.cV + p * geom.dV));
+    const du = geom.bU + p * (2 * geom.cU + p * 3 * geom.dU);
+    const dv = geom.bV + p * (2 * geom.cV + p * 3 * geom.dV);
+    const cosH = Math.cos(geom.hdg);
+    const sinH = Math.sin(geom.hdg);
+    return {
+        x: geom.x + u * cosH - v * sinH,
+        y: geom.y + u * sinH + v * cosH,
+        hdg: geom.hdg + Math.atan2(dv, du),
+    };
+}
+function evalCubicPoly3(geom, ds) {
+    // Deprecated primitive (replaced by paramPoly3 in OpenDRIVE 1.6). The
+    // polynomial is v(u) in the local frame; we approximate the local abscissa
+    // u by the arc length ds, which is exact for flat curves and a small
+    // overestimate for strongly bent ones. Callers surface this as a warning.
+    const u = ds;
+    const v = evalPoly3(geom, u);
+    const dv = evalPoly3Derivative(geom, u);
+    const cosH = Math.cos(geom.hdg);
+    const sinH = Math.sin(geom.hdg);
+    return {
+        x: geom.x + u * cosH - v * sinH,
+        y: geom.y + u * sinH + v * cosH,
+        hdg: geom.hdg + Math.atan2(dv, 1),
+    };
+}
+/**
+ * Evaluate a plan-view geometry at offset `ds` (m) from its start.
+ * Returns the inertial position and heading.
+ */
+export function evalGeometry(geom, ds) {
+    switch (geom.kind) {
+        case 'line':
+            return evalLine(geom, ds);
+        case 'arc':
+            return evalArc(geom, geom.curvature, ds);
+        case 'spiral':
+            return evalSpiral(geom, geom.curvStart, geom.curvEnd, ds);
+        case 'paramPoly3':
+            return evalParamPoly3(geom, ds);
+        case 'poly3':
+            return evalCubicPoly3(geom, ds);
+    }
+}
+const STATION_EPS = 1e-9;
+const MIN_STEP = 1e-3;
+const MAX_REFINE_DEPTH = 32;
+/** Distance from point p to the chord segment a-b. */
+function chordDeviation(a, b, p) {
+    const dx = b.x - a.x;
+    const dy = b.y - a.y;
+    const len2 = dx * dx + dy * dy;
+    if (len2 < 1e-18)
+        return Math.hypot(p.x - a.x, p.y - a.y);
+    let t = ((p.x - a.x) * dx + (p.y - a.y) * dy) / len2;
+    if (t < 0)
+        t = 0;
+    if (t > 1)
+        t = 1;
+    return Math.hypot(p.x - (a.x + t * dx), p.y - (a.y + t * dy));
+}
+/**
+ * Adaptively sample a road's reference line.
+ *
+ * Stations always include s = 0, s = road.length, every plan-view geometry
+ * boundary, and the caller's `extraStations`. Between those, intervals are
+ * recursively bisected until the chord deviation at the interval midpoint is
+ * below `maxChordErrorMeters` and the step is at most `maxStepMeters`.
+ */
+export function sampleReferenceLine(road, options = {}) {
+    const tol = options.maxChordErrorMeters ?? 0.05;
+    const maxStep = options.maxStepMeters ?? 5;
+    const roadLength = road.length;
+    if (road.planView.length === 0 || roadLength <= 0)
+        return [];
+    // Base stations: geometry boundaries + caller stations + road ends.
+    const baseSet = [0, roadLength];
+    for (const g of road.planView) {
+        if (g.s > 0 && g.s < roadLength)
+            baseSet.push(g.s);
+        const end = g.s + g.length;
+        if (end > 0 && end < roadLength)
+            baseSet.push(end);
+    }
+    if (options.extraStations) {
+        for (const s of options.extraStations) {
+            if (s > 0 && s < roadLength)
+                baseSet.push(s);
+        }
+    }
+    baseSet.sort((a, b) => a - b);
+    const base = [];
+    for (const s of baseSet) {
+        if (base.length === 0 || s - base[base.length - 1] > STATION_EPS)
+            base.push(s);
+    }
+    // Locate the geometry containing a station (last geometry with g.s <= s).
+    const geomAt = (s) => {
+        let found = road.planView[0];
+        for (const g of road.planView) {
+            if (g.s <= s + STATION_EPS)
+                found = g;
+            else
+                break;
+        }
+        return found;
+    };
+    const evalAt = (s) => {
+        const g = geomAt(s);
+        return evalGeometry(g, Math.min(Math.max(s - g.s, 0), g.length));
+    };
+    const stations = [];
+    const refine = (sa, sb, pa, pb, depth) => {
+        const step = sb - sa;
+        if (step > MIN_STEP && depth < MAX_REFINE_DEPTH) {
+            const sm = (sa + sb) / 2;
+            const pm = evalAt(sm);
+            if (step > maxStep || chordDeviation(pa, pb, pm) > tol) {
+                refine(sa, sm, pa, pm, depth + 1);
+                refine(sm, sb, pm, pb, depth + 1);
+                return;
+            }
+        }
+        stations.push(sa);
+    };
+    for (let i = 0; i < base.length - 1; i++) {
+        refine(base[i], base[i + 1], evalAt(base[i]), evalAt(base[i + 1]), 0);
+    }
+    stations.push(roadLength);
+    return stations.map(s => {
+        const pose = evalAt(s);
+        return { s, x: pose.x, y: pose.y, hdg: pose.hdg };
+    });
+}
+//# sourceMappingURL=odrGeometry.js.map

package/dist/exporter/odrGeometry.js.map

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

@@ -0,0 +1,45 @@
+import type { OdrMap } from './opendriveParser';
+import { type ImportedShapes, type ShapeIdAllocator } from './osmToShapes';
+/** Sidecar captured at OpenDRIVE import time (for verbatim round-trip export). */
+export interface OdrSidecar {
+    rawXml: string;
+    originLat: number | null;
+    originLon: number | null;
+}
+export interface OdrImportResult extends ImportedShapes {
+    sidecar: OdrSidecar;
+    /** Human-readable notes about unsupported features (flattened elevation, etc.). */
+    warnings: string[];
+}
+export interface OdrToShapesOptions {
+    /** Custom id allocator. A fresh `createShapeIdAllocator()` is used when omitted. */
+    idAllocator?: ShapeIdAllocator;
+    /** Restrict conversion to the given road ids. When omitted, all roads are converted. */
+    selectedRoadIds?: readonly string[];
+    /** Maximum chord error for reference-line sampling (m). Default 0.05. */
+    maxChordErrorMeters?: number;
+    /** Maximum station spacing for reference-line sampling (m). Default 5. */
+    maxStepMeters?: number;
+}
+/**
+ * Derive a WGS84 origin from an OpenDRIVE <geoReference> PROJ string.
+ *
+ * Supports `+proj=tmerc +lat_0=.. +lon_0=..` (exact: the projection origin is
+ * the local (0, 0)) and `+proj=utm +zone=..` (approximate: the zone's central
+ * meridian on the equator; UTM's false easting/northing is not compensated).
+ * Returns null when the origin cannot be derived.
+ */
+export declare function parseGeoReferenceOrigin(geoReference: string | null): {
+    lat: number;
+    lon: number;
+    approximate: boolean;
+} | null;
+/**
+ * Convert a parsed OpenDRIVE map into editor-ready point/linestring/lane
+ * records plus a sidecar for round-trip export.
+ *
+ * Pass `selectedRoadIds` to restrict the conversion to a subset of roads
+ * (selective import); leave it `undefined` to import every road.
+ */
+export declare function odrToShapes(map: OdrMap, options?: OdrToShapesOptions): OdrImportResult;
+//# sourceMappingURL=odrToShapes.d.ts.map

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

@@ -0,0 +1 @@
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