@drawtonomy/sdk 0.8.0 → 0.10.0

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 @@
+{"version":3,"file":"odrGeometry.js","sourceRoot":"","sources":["../../src/exporter/odrGeometry.ts"],"names":[],"mappings":"AAAA,uDAAuD;AACvD,EAAE;AACF,sEAAsE;AACtE,wEAAwE;AACxE,2EAA2E;AAC3E,2EAA2E;AAC3E,iEAAiE;AACjE,EAAE;AACF,4BAA4B;AAW5B,8EAA8E;AAC9E,oBAAoB;AACpB,8EAA8E;AAE9E;;;;;;;;;;;;;;GAcG;AACH,MAAM,UAAU,OAAO,CAAC,CAAS;IAC/B,MAAM,GAAG,GAAG,KAAK,CAAA;IACjB,MAAM,KAAK,GAAG,GAAG,CAAA;IACjB,MAAM,UAAU,GAAG,GAAG,CAAA;IACtB,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAA;IACtB,IAAI,CAAS,CAAA;IACb,IAAI,CAAS,CAAA;IAEb,IAAI,EAAE,GAAG,KAAK,EAAE,CAAC;QACf,CAAC,GAAG,EAAE,CAAA;QACN,CAAC,GAAG,CAAC,CAAA;IACP,CAAC;SAAM,IAAI,EAAE,IAAI,UAAU,EAAE,CAAC;QAC5B,sCAAsC;QACtC,6DAA6D;QAC7D,6DAA6D;QAC7D,MAAM,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,EAAE,CAAA;QACjC,MAAM,EAAE,GAAG,CAAC,GAAG,CAAC,CAAA;QAChB,IAAI,KAAK,GAAG,EAAE,CAAA,CAAC,sBAAsB;QACrC,IAAI,KAAK,GAAG,EAAE,GAAG,CAAC,CAAA,CAAC,sBAAsB;QACzC,CAAC,GAAG,KAAK,CAAA,CAAC,gCAAgC;QAC1C,CAAC,GAAG,KAAK,GAAG,CAAC,CAAA,CAAC,gCAAgC;QAC9C,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,KAAK,EAAE,CAAC,EAAE,EAAE,CAAC;YAChC,KAAK,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAA;YACtC,KAAK,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAA;YACtC,MAAM,EAAE,GAAG,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAA;YAC9B,MAAM,EAAE,GAAG,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAA;YAC9B,CAAC,IAAI,EAAE,CAAA;YACP,CAAC,IAAI,EAAE,CAAA;YACP,IAAI,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,GAAG,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;gBAAE,MAAK;QAC5E,CAAC;IACH,CAAC;SAAM,CAAC;QACN,0EAA0E;QAC1E,MAAM,IAAI,GAAG,IAAI,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,CAAA;QAC9B,IAAI,GAAG,GAAG,CAAC,CAAA;QACX,IAAI,GAAG,GAAG,CAAC,IAAI,CAAA;QACf,MAAM,GAAG,GAAG,KAAK,CAAA;QACjB,IAAI,IAAI,GAAG,GAAG,CAAA;QACd,IAAI,IAAI,GAAG,CAAC,CAAA;QACZ,IAAI,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QAC/B,IAAI,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACnB,IAAI,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,CAAA;QACpB,IAAI,GAAG,GAAG,GAAG,CAAA;QACb,IAAI,GAAG,GAAG,GAAG,CAAA;QACb,IAAI,CAAC,GAAG,CAAC,CAAC,CAAA;QACV,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,KAAK,EAAE,CAAC,EAAE,EAAE,CAAC;YAChC,CAAC,IAAI,CAAC,CAAA;YACN,MAAM,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAA;YACtB,GAAG,IAAI,CAAC,CAAA;YACR,oBAAoB;YACpB,IAAI,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,GAAG,CAAA;YACvB,IAAI,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,GAAG,CAAA;YACvB,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;YAC3B,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;YACf,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,CAAA;YAChB,kBAAkB;YAClB,GAAG,GAAG,IAAI,GAAG,IAAI,GAAG,IAAI,GAAG,IAAI,CAAA;YAC/B,IAAI,GAAG,GAAG,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,CAAA;YAC7B,IAAI,GAAG,GAAG,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,GAAG,CAAA;YAC7B,0BAA0B;YAC1B,MAAM,KAAK,GAAG,IAAI,GAAG,GAAG,GAAG,IAAI,GAAG,GAAG,CAAA;YACrC,MAAM,KAAK,GAAG,IAAI,GAAG,GAAG,GAAG,IAAI,GAAG,GAAG,CAAA;YACrC,GAAG,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK,CAAA;YAC/B,GAAG,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK,CAAA;YAC/B,GAAG,GAAG,GAAG,CAAA;YACT,GAAG,GAAG,GAAG,CAAA;YACT,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,GAAG;gBAAE,MAAK;QACxD,CAAC;QACD,mBAAmB;QACnB,MAAM,IAAI,GAAG,EAAE,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,CAAA;QAC7B,MAAM,IAAI,GAAG,EAAE,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,CAAA;QAC7B,GAAG,GAAG,IAAI,CAAA;QACV,GAAG,GAAG,IAAI,CAAA;QACV,4DAA4D;QAC5D,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,CAAA;QACjC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,CAAA;QACjC,MAAM,GAAG,GAAG,CAAC,GAAG,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,GAAG,GAAG,CAAC,CAAA;QACzC,MAAM,GAAG,GAAG,CAAC,CAAC,IAAI,GAAG,GAAG,GAAG,IAAI,GAAG,GAAG,CAAC,CAAA;QACtC,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,CAAA;QACrB,CAAC,GAAG,GAAG,GAAG,CAAC,GAAG,GAAG,GAAG,CAAC,CAAA;IACvB,CAAC;IAED,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC;QACV,CAAC,GAAG,CAAC,CAAC,CAAA;QACN,CAAC,GAAG,CAAC,CAAC,CAAA;IACR,CAAC;IACD,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAA;AACvB,CAAC;AAED,8EAA8E;AAC9E,sBAAsB;AACtB,8EAA8E;AAE9E,+DAA+D;AAC/D,MAAM,UAAU,SAAS,CAAC,GAAa,EAAE,EAAU;IACjD,OAAO,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,CAAA;AACzD,CAAC;AAED,oEAAoE;AACpE,MAAM,UAAU,mBAAmB,CAAC,GAAa,EAAE,EAAU;IAC3D,OAAO,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,CAAA;AAClD,CAAC;AAED,MAAM,aAAa,GAAG,KAAK,CAAA;AAE3B,SAAS,QAAQ,CAAC,IAA2C,EAAE,EAAU;IACvE,OAAO;QACL,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE;QACnC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE;QACnC,GAAG,EAAE,IAAI,CAAC,GAAG;KACd,CAAA;AACH,CAAC;AAED,SAAS,OAAO,CAAC,IAA2C,EAAE,SAAiB,EAAE,EAAU;IACzF,IAAI,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,GAAG,aAAa;QAAE,OAAO,QAAQ,CAAC,IAAI,EAAE,EAAE,CAAC,CAAA;IAClE,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,GAAG,SAAS,GAAG,EAAE,CAAA;IACtC,OAAO;QACL,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,SAAS;QAC7D,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,SAAS;QAC7D,GAAG,EAAE,IAAI;KACV,CAAA;AACH,CAAC;AAED;;;;;;;;;;;;GAYG;AACH,SAAS,UAAU,CACjB,IAA2D,EAC3D,SAAiB,EACjB,OAAe,EACf,EAAU;IAEV,MAAM,IAAI,GAAG,CAAC,OAAO,GAAG,SAAS,CAAC,GAAG,IAAI,CAAC,MAAM,CAAA;IAChD,IAAI,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,aAAa,EAAE,CAAC;QACnC,gEAAgE;QAChE,OAAO,OAAO,CAAC,IAAI,EAAE,SAAS,EAAE,EAAE,CAAC,CAAA;IACrC,CAAC;IACD,MAAM,EAAE,GAAG,SAAS,GAAG,IAAI,CAAA;IAC3B,MAAM,KAAK,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAA;IACjD,MAAM,GAAG,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,CAAA;IAE3B,MAAM,QAAQ,GAAG,CAAC,KAAa,EAA4B,EAAE;QAC3D,MAAM,CAAC,GAAG,OAAO,CAAC,KAAK,GAAG,KAAK,CAAC,CAAA;QAChC,OAAO,EAAE,CAAC,EAAE,KAAK,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,GAAG,GAAG,KAAK,GAAG,CAAC,CAAC,CAAC,EAAE,CAAA;IACjD,CAAC,CAAA;IAED,MAAM,EAAE,GAAG,QAAQ,CAAC,EAAE,CAAC,CAAA;IACvB,MAAM,EAAE,GAAG,QAAQ,CAAC,EAAE,GAAG,EAAE,CAAC,CAAA;IAC5B,MAAM,MAAM,GAAG,GAAG,GAAG,IAAI,GAAG,EAAE,GAAG,EAAE,CAAA;IACnC,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,GAAG,MAAM,CAAA;IAC7B,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,CAAA;IAC1B,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,CAAA;IAC1B,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAA;IACtB,MAAM,EAAE,GAAG,EAAE,CAAC,CAAC,GAAG,EAAE,CAAC,CAAC,CAAA;IACtB,OAAO;QACL,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,EAAE,GAAG,IAAI;QACjC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,EAAE,GAAG,IAAI,GAAG,EAAE,GAAG,IAAI;QACjC,GAAG,EAAE,IAAI,CAAC,GAAG,GAAG,SAAS,GAAG,EAAE,GAAG,GAAG,GAAG,IAAI,GAAG,EAAE,GAAG,EAAE;KACtD,CAAA;AACH,CAAC;AAED,SAAS,cAAc,CACrB,IAAkD,EAClD,EAAU;IAEV,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,KAAK,WAAW,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAA;IACnF,MAAM,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,CAAC,CAAA;IAC/D,MAAM,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,CAAC,CAAA;IAC/D,MAAM,EAAE,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,CAAA;IACxD,MAAM,EAAE,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,CAAC,GAAG,IAAI,CAAC,EAAE,CAAC,CAAA;IACxD,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAA;IAC/B,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAA;IAC/B,OAAO;QACL,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,GAAG,CAAC,GAAG,IAAI;QAC/B,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,GAAG,CAAC,GAAG,IAAI;QAC/B,GAAG,EAAE,IAAI,CAAC,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,EAAE,CAAC;KACnC,CAAA;AACH,CAAC;AAED,SAAS,cAAc,CAAC,IAA6C,EAAE,EAAU;IAC/E,sEAAsE;IACtE,2EAA2E;IAC3E,qEAAqE;IACrE,0EAA0E;IAC1E,MAAM,CAAC,GAAG,EAAE,CAAA;IACZ,MAAM,CAAC,GAAG,SAAS,CAAC,IAAI,EAAE,CAAC,CAAC,CAAA;IAC5B,MAAM,EAAE,GAAG,mBAAmB,CAAC,IAAI,EAAE,CAAC,CAAC,CAAA;IACvC,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAA;IAC/B,MAAM,IAAI,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAA;IAC/B,OAAO;QACL,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,GAAG,CAAC,GAAG,IAAI;QAC/B,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,IAAI,GAAG,CAAC,GAAG,IAAI;QAC/B,GAAG,EAAE,IAAI,CAAC,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,EAAE,EAAE,CAAC,CAAC;KAClC,CAAA;AACH,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,YAAY,CAAC,IAAiB,EAAE,EAAU;IACxD,QAAQ,IAAI,CAAC,IAAI,EAAE,CAAC;QAClB,KAAK,MAAM;YACT,OAAO,QAAQ,CAAC,IAAI,EAAE,EAAE,CAAC,CAAA;QAC3B,KAAK,KAAK;YACR,OAAO,OAAO,CAAC,IAAI,EAAE,IAAI,CAAC,SAAS,EAAE,EAAE,CAAC,CAAA;QAC1C,KAAK,QAAQ;YACX,OAAO,UAAU,CAAC,IAAI,EAAE,IAAI,CAAC,SAAS,EAAE,IAAI,CAAC,OAAO,EAAE,EAAE,CAAC,CAAA;QAC3D,KAAK,YAAY;YACf,OAAO,cAAc,CAAC,IAAI,EAAE,EAAE,CAAC,CAAA;QACjC,KAAK,OAAO;YACV,OAAO,cAAc,CAAC,IAAI,EAAE,EAAE,CAAC,CAAA;IACnC,CAAC;AACH,CAAC;AA2BD,MAAM,WAAW,GAAG,IAAI,CAAA;AACxB,MAAM,QAAQ,GAAG,IAAI,CAAA;AACrB,MAAM,gBAAgB,GAAG,EAAE,CAAA;AAE3B,sDAAsD;AACtD,SAAS,cAAc,CACrB,CAA2B,EAC3B,CAA2B,EAC3B,CAA2B;IAE3B,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAA;IACpB,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAA;IACpB,MAAM,IAAI,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAA;IAC9B,IAAI,IAAI,GAAG,KAAK;QAAE,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAA;IACzD,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,GAAG,IAAI,CAAA;IACpD,IAAI,CAAC,GAAG,CAAC;QAAE,CAAC,GAAG,CAAC,CAAA;IAChB,IAAI,CAAC,GAAG,CAAC;QAAE,CAAC,GAAG,CAAC,CAAA;IAChB,OAAO,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC,CAAC,CAAA;AAC/D,CAAC;AAED;;;;;;;GAOG;AACH,MAAM,UAAU,mBAAmB,CACjC,IAAa,EACb,UAAsC,EAAE;IAExC,MAAM,GAAG,GAAG,OAAO,CAAC,mBAAmB,IAAI,IAAI,CAAA;IAC/C,MAAM,OAAO,GAAG,OAAO,CAAC,aAAa,IAAI,CAAC,CAAA;IAC1C,MAAM,UAAU,GAAG,IAAI,CAAC,MAAM,CAAA;IAE9B,IAAI,IAAI,CAAC,QAAQ,CAAC,MAAM,KAAK,CAAC,IAAI,UAAU,IAAI,CAAC;QAAE,OAAO,EAAE,CAAA;IAE5D,oEAAoE;IACpE,MAAM,OAAO,GAAa,CAAC,CAAC,EAAE,UAAU,CAAC,CAAA;IACzC,KAAK,MAAM,CAAC,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;QAC9B,IAAI,CAAC,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC,GAAG,UAAU;YAAE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAA;QAClD,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,MAAM,CAAA;QAC1B,IAAI,GAAG,GAAG,CAAC,IAAI,GAAG,GAAG,UAAU;YAAE,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,CAAA;IACpD,CAAC;IACD,IAAI,OAAO,CAAC,aAAa,EAAE,CAAC;QAC1B,KAAK,MAAM,CAAC,IAAI,OAAO,CAAC,aAAa,EAAE,CAAC;YACtC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,UAAU;gBAAE,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,CAAA;QAC9C,CAAC;IACH,CAAC;IACD,OAAO,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,CAAC,GAAG,CAAC,CAAC,CAAA;IAC7B,MAAM,IAAI,GAAa,EAAE,CAAA;IACzB,KAAK,MAAM,CAAC,IAAI,OAAO,EAAE,CAAC;QACxB,IAAI,IAAI,CAAC,MAAM,KAAK,CAAC,IAAI,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,MAAM,GAAG,CAAC,CAAC,GAAG,WAAW;YAAE,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,CAAA;IAChF,CAAC;IAED,0EAA0E;IAC1E,MAAM,MAAM,GAAG,CAAC,CAAS,EAAe,EAAE;QACxC,IAAI,KAAK,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAA;QAC5B,KAAK,MAAM,CAAC,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAC9B,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,WAAW;gBAAE,KAAK,GAAG,CAAC,CAAA;;gBAChC,MAAK;QACZ,CAAC;QACD,OAAO,KAAK,CAAA;IACd,CAAC,CAAA;IAED,MAAM,MAAM,GAAG,CAAC,CAAS,EAAY,EAAE;QACrC,MAAM,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,CAAA;QACnB,OAAO,YAAY,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,MAAM,CAAC,CAAC,CAAA;IAClE,CAAC,CAAA;IAED,MAAM,QAAQ,GAAa,EAAE,CAAA;IAC7B,MAAM,MAAM,GAAG,CAAC,EAAU,EAAE,EAAU,EAAE,EAAY,EAAE,EAAY,EAAE,KAAa,EAAQ,EAAE;QACzF,MAAM,IAAI,GAAG,EAAE,GAAG,EAAE,CAAA;QACpB,IAAI,IAAI,GAAG,QAAQ,IAAI,KAAK,GAAG,gBAAgB,EAAE,CAAC;YAChD,MAAM,EAAE,GAAG,CAAC,EAAE,GAAG,EAAE,CAAC,GAAG,CAAC,CAAA;YACxB,MAAM,EAAE,GAAG,MAAM,CAAC,EAAE,CAAC,CAAA;YACrB,IAAI,IAAI,GAAG,OAAO,IAAI,cAAc,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,GAAG,GAAG,EAAE,CAAC;gBACvD,MAAM,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,KAAK,GAAG,CAAC,CAAC,CAAA;gBACjC,MAAM,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,KAAK,GAAG,CAAC,CAAC,CAAA;gBACjC,OAAM;YACR,CAAC;QACH,CAAC;QACD,QAAQ,CAAC,IAAI,CAAC,EAAE,CAAC,CAAA;IACnB,CAAC,CAAA;IAED,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC;QACzC,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAA;IACvE,CAAC;IACD,QAAQ,CAAC,IAAI,CAAC,UAAU,CAAC,CAAA;IAEzB,OAAO,QAAQ,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE;QACtB,MAAM,IAAI,GAAG,MAAM,CAAC,CAAC,CAAC,CAAA;QACtB,OAAO,EAAE,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,GAAG,EAAE,CAAA;IACnD,CAAC,CAAC,CAAA;AACJ,CAAC"}

package/dist/exporter/odrGeometryFit.d.ts

@@ -0,0 +1,37 @@
+import type { OdrGeometry } from './opendriveParser';
+export interface FitPoint {
+    x: number;
+    y: number;
+}
+export interface PlanViewFitOptions {
+    /** Maximum position deviation between samples and the fit (m). Default 0.05. */
+    maxPosErrorMeters?: number;
+    /** Maximum end-heading deviation per segment (rad). Default 0.5 degrees. */
+    maxHdgErrorRad?: number;
+    /** Moving-median window (odd) for heading de-noising. Default 3; 1 disables. */
+    headingMedianWindow?: number;
+}
+/** Station + pose on the fitted reference line for one input sample. */
+export interface FittedSamplePose {
+    s: number;
+    x: number;
+    y: number;
+    hdg: number;
+}
+export interface PlanViewFit {
+    /** Fitted primitives with contiguous stations starting at s = 0. */
+    geometries: OdrGeometry[];
+    /** Fitted station and pose for every input point (duplicates share poses). */
+    samplePoses: FittedSamplePose[];
+    /** Total fitted arc length (m). */
+    length: number;
+}
+/**
+ * Fit a plan-view primitive sequence to a polyline of reference-line samples.
+ *
+ * The returned geometries are C1-continuous (each starts at the previous
+ * one's analytic end pose) except across degraded sharp-corner chords, and
+ * deviate from the input samples by at most the position tolerance.
+ */
+export declare function fitPlanView(points: readonly FitPoint[], options?: PlanViewFitOptions): PlanViewFit;
+//# sourceMappingURL=odrGeometryFit.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"odrGeometryFit.d.ts","sourceRoot":"","sources":["../../src/exporter/odrGeometryFit.ts"],"names":[],"mappings":"AAwBA,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,mBAAmB,CAAA;AAGpD,MAAM,WAAW,QAAQ;IACvB,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;CACV;AAED,MAAM,WAAW,kBAAkB;IACjC,gFAAgF;IAChF,iBAAiB,CAAC,EAAE,MAAM,CAAA;IAC1B,4EAA4E;IAC5E,cAAc,CAAC,EAAE,MAAM,CAAA;IACvB,gFAAgF;IAChF,mBAAmB,CAAC,EAAE,MAAM,CAAA;CAC7B;AAED,wEAAwE;AACxE,MAAM,WAAW,gBAAgB;IAC/B,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,CAAC,EAAE,MAAM,CAAA;IACT,GAAG,EAAE,MAAM,CAAA;CACZ;AAED,MAAM,WAAW,WAAW;IAC1B,oEAAoE;IACpE,UAAU,EAAE,WAAW,EAAE,CAAA;IACzB,8EAA8E;IAC9E,WAAW,EAAE,gBAAgB,EAAE,CAAA;IAC/B,mCAAmC;IACnC,MAAM,EAAE,MAAM,CAAA;CACf;AAuDD;;;;;;GAMG;AACH,wBAAgB,WAAW,CACzB,MAAM,EAAE,SAAS,QAAQ,EAAE,EAC3B,OAAO,GAAE,kBAAuB,GAC/B,WAAW,CAsZb"}