@glandais/vcyclist-engine 6.0.0 → 6.0.1

package/vcyclist-engine.js

@@ -30,123 +30,125 @@
   var imul = Math.imul;
   var hypot = Math.hypot;
   var sign = Math.sign;
-  var protoOf = kotlin_kotlin.$_$.j7;
-  var initMetadataForCompanion = kotlin_kotlin.$_$.v6;
+  var protoOf = kotlin_kotlin.$_$.o7;
+  var initMetadataForCompanion = kotlin_kotlin.$_$.a7;
   var VOID = kotlin_kotlin.$_$.a;
-  var getNumberHashCode = kotlin_kotlin.$_$.q6;
-  var equals = kotlin_kotlin.$_$.n6;
-  var initMetadataForClass = kotlin_kotlin.$_$.u6;
-  var toString = kotlin_kotlin.$_$.m7;
-  var hashCode = kotlin_kotlin.$_$.t6;
+  var getNumberHashCode = kotlin_kotlin.$_$.v6;
+  var equals = kotlin_kotlin.$_$.s6;
+  var initMetadataForClass = kotlin_kotlin.$_$.z6;
+  var toString = kotlin_kotlin.$_$.r7;
+  var hashCode = kotlin_kotlin.$_$.y6;
   var ElevationGainPreset_DEM_getInstance = kotlin_io_github_glandais_gpx.$_$.c;
-  var initMetadataForObject = kotlin_kotlin.$_$.a7;
-  var getBooleanHashCode = kotlin_kotlin.$_$.p6;
-  var isFinite = kotlin_kotlin.$_$.ma;
-  var IllegalArgumentException_init_$Create$ = kotlin_kotlin.$_$.a2;
-  var Unit_instance = kotlin_kotlin.$_$.g1;
+  var initMetadataForObject = kotlin_kotlin.$_$.f7;
+  var getBooleanHashCode = kotlin_kotlin.$_$.u6;
+  var isFinite = kotlin_kotlin.$_$.ab;
+  var IllegalArgumentException_init_$Create$ = kotlin_kotlin.$_$.b2;
+  var Unit_instance = kotlin_kotlin.$_$.h1;
   var ElevationGainOptions = kotlin_io_github_glandais_gpx.$_$.y;
-  var CoroutineImpl = kotlin_kotlin.$_$.d5;
+  var CoroutineImpl = kotlin_kotlin.$_$.h5;
   var PointPerDistance_instance = kotlin_io_github_glandais_gpx.$_$.o;
   var ElevationStep_instance = kotlin_io_github_glandais_gpx.$_$.l;
-  var get_COROUTINE_SUSPENDED = kotlin_kotlin.$_$.o4;
+  var get_COROUTINE_SUSPENDED = kotlin_kotlin.$_$.s4;
   var PointPerSecond_instance = kotlin_io_github_glandais_gpx.$_$.p;
   var PathSimplifier_instance = kotlin_io_github_glandais_gpx.$_$.m;
   var ElevationGain_instance = kotlin_io_github_glandais_gpx.$_$.k;
-  var initMetadataForCoroutine = kotlin_kotlin.$_$.w6;
-  var Companion_instance = kotlin_kotlin.$_$.e1;
-  var collectionSizeOrDefault = kotlin_kotlin.$_$.x2;
-  var ArrayList_init_$Create$ = kotlin_kotlin.$_$.i1;
-  var enumEntries = kotlin_kotlin.$_$.f5;
-  var Enum = kotlin_kotlin.$_$.t9;
-  var noWhenBranchMatchedException = kotlin_kotlin.$_$.qa;
-  var last = kotlin_kotlin.$_$.q3;
-  var toIntArray = kotlin_kotlin.$_$.f4;
-  var sortedWith = kotlin_kotlin.$_$.b4;
-  var toMutableList = kotlin_kotlin.$_$.j4;
-  var ArrayList_init_$Create$_0 = kotlin_kotlin.$_$.j1;
-  var first = kotlin_kotlin.$_$.j3;
-  var removeAll = kotlin_kotlin.$_$.w3;
-  var numberRangeToNumber = kotlin_kotlin.$_$.f7;
+  var initMetadataForCoroutine = kotlin_kotlin.$_$.b7;
+  var Companion_instance = kotlin_kotlin.$_$.f1;
+  var collectionSizeOrDefault = kotlin_kotlin.$_$.y2;
+  var ArrayList_init_$Create$ = kotlin_kotlin.$_$.j1;
+  var enumEntries = kotlin_kotlin.$_$.j5;
+  var Enum = kotlin_kotlin.$_$.ha;
+  var noWhenBranchMatchedException = kotlin_kotlin.$_$.eb;
+  var last = kotlin_kotlin.$_$.s3;
+  var toIntArray = kotlin_kotlin.$_$.j4;
+  var sortedWith = kotlin_kotlin.$_$.f4;
+  var toMutableList = kotlin_kotlin.$_$.n4;
+  var ArrayList_init_$Create$_0 = kotlin_kotlin.$_$.k1;
+  var first = kotlin_kotlin.$_$.l3;
+  var removeAll = kotlin_kotlin.$_$.a4;
+  var numberRangeToNumber = kotlin_kotlin.$_$.k7;
   var Vector3D = kotlin_io_github_glandais_elevation.$_$.h;
-  var emptyList = kotlin_kotlin.$_$.g3;
-  var coerceIn = kotlin_kotlin.$_$.u7;
+  var emptyList = kotlin_kotlin.$_$.h3;
+  var coerceIn = kotlin_kotlin.$_$.z7;
   var DouglasPeucker_instance = kotlin_io_github_glandais_elevation.$_$.b;
-  var FunctionAdapter = kotlin_kotlin.$_$.b6;
-  var isInterface = kotlin_kotlin.$_$.c7;
-  var Comparator = kotlin_kotlin.$_$.s9;
-  var compareValues = kotlin_kotlin.$_$.m4;
-  var until = kotlin_kotlin.$_$.z7;
-  var Pair = kotlin_kotlin.$_$.z9;
-  var listOf = kotlin_kotlin.$_$.r3;
-  var initMetadataForInterface = kotlin_kotlin.$_$.y6;
-  var Default_getInstance = kotlin_kotlin.$_$.b1;
-  var equals_0 = kotlin_kotlin.$_$.p8;
-  var isNaN_0 = kotlin_kotlin.$_$.oa;
+  var FunctionAdapter = kotlin_kotlin.$_$.g6;
+  var isInterface = kotlin_kotlin.$_$.h7;
+  var Comparator = kotlin_kotlin.$_$.ga;
+  var compareValues = kotlin_kotlin.$_$.q4;
+  var until = kotlin_kotlin.$_$.e8;
+  var Pair = kotlin_kotlin.$_$.na;
+  var listOf = kotlin_kotlin.$_$.t3;
+  var initMetadataForInterface = kotlin_kotlin.$_$.d7;
+  var Default_getInstance = kotlin_kotlin.$_$.c1;
+  var equals_0 = kotlin_kotlin.$_$.v8;
+  var isNaN_0 = kotlin_kotlin.$_$.cb;
   var PointField_TEMPERATURE_getInstance = kotlin_io_github_glandais_gpx.$_$.d;
   var get_entries = kotlin_io_github_glandais_gpx.$_$.a1;
   var Path = kotlin_io_github_glandais_gpx.$_$.z;
-  var arrayCopy = kotlin_kotlin.$_$.t2;
-  var sort = kotlin_kotlin.$_$.d4;
-  var numberToInt = kotlin_kotlin.$_$.h7;
-  var coerceIn_0 = kotlin_kotlin.$_$.v7;
-  var lastOrNull = kotlin_kotlin.$_$.p3;
-  var HashMap_init_$Create$ = kotlin_kotlin.$_$.l1;
-  var fromInt = kotlin_kotlin.$_$.s5;
-  var add = kotlin_kotlin.$_$.i5;
-  var numberToLong = kotlin_kotlin.$_$.v5;
-  var shiftLeft = kotlin_kotlin.$_$.w5;
-  var Long = kotlin_kotlin.$_$.x9;
-  var bitwiseAnd = kotlin_kotlin.$_$.j5;
-  var bitwiseXor = kotlin_kotlin.$_$.l5;
-  var copyOf = kotlin_kotlin.$_$.c3;
-  var coerceAtLeast = kotlin_kotlin.$_$.r7;
-  var round = kotlin_kotlin.$_$.p7;
-  var listOf_0 = kotlin_kotlin.$_$.s3;
-  var Collection = kotlin_kotlin.$_$.n2;
-  var zipWithNext = kotlin_kotlin.$_$.l4;
-  var toDoubleArray = kotlin_kotlin.$_$.e4;
-  var joinToString = kotlin_kotlin.$_$.m3;
+  var arrayCopy = kotlin_kotlin.$_$.u2;
+  var sort = kotlin_kotlin.$_$.h4;
+  var numberToInt = kotlin_kotlin.$_$.m7;
+  var coerceIn_0 = kotlin_kotlin.$_$.a8;
+  var lastOrNull = kotlin_kotlin.$_$.r3;
+  var HashMap_init_$Create$ = kotlin_kotlin.$_$.m1;
+  var fromInt = kotlin_kotlin.$_$.w5;
+  var add = kotlin_kotlin.$_$.m5;
+  var numberToLong = kotlin_kotlin.$_$.a6;
+  var shiftLeft = kotlin_kotlin.$_$.b6;
+  var Long = kotlin_kotlin.$_$.la;
+  var bitwiseAnd = kotlin_kotlin.$_$.n5;
+  var bitwiseXor = kotlin_kotlin.$_$.p5;
+  var copyOf = kotlin_kotlin.$_$.d3;
+  var coerceAtLeast = kotlin_kotlin.$_$.w7;
+  var fill = kotlin_kotlin.$_$.i3;
+  var round = kotlin_kotlin.$_$.u7;
+  var booleanArray = kotlin_kotlin.$_$.i6;
+  var listOf_0 = kotlin_kotlin.$_$.u3;
+  var Collection = kotlin_kotlin.$_$.o2;
+  var zipWithNext = kotlin_kotlin.$_$.p4;
+  var toDoubleArray = kotlin_kotlin.$_$.i4;
+  var joinToString = kotlin_kotlin.$_$.o3;
   var GpxParser_instance = kotlin_io_github_glandais_gpx.$_$.e;
-  var copyToArray = kotlin_kotlin.$_$.f3;
+  var copyToArray = kotlin_kotlin.$_$.g3;
   var firstTrackAsPath = kotlin_io_github_glandais_gpx.$_$.r;
   var tracksAsPaths = kotlin_io_github_glandais_gpx.$_$.v;
   var segmentsAsPaths = kotlin_io_github_glandais_gpx.$_$.t;
   var GpxPathKind_TRACK_getInstance = kotlin_io_github_glandais_gpx.$_$.b;
-  var setOf = kotlin_kotlin.$_$.z3;
+  var setOf = kotlin_kotlin.$_$.d4;
   var GpxPathKind_ROUTE_getInstance = kotlin_io_github_glandais_gpx.$_$.a;
   var GpxWriter_instance = kotlin_io_github_glandais_gpx.$_$.g;
-  var toList = kotlin_kotlin.$_$.i4;
-  var Companion_getInstance = kotlin_kotlin.$_$.d1;
+  var toList = kotlin_kotlin.$_$.m4;
+  var Companion_getInstance = kotlin_kotlin.$_$.e1;
   var pathsToGpxDocument = kotlin_io_github_glandais_gpx.$_$.s;
   var toGpxDocument = kotlin_io_github_glandais_gpx.$_$.u;
   var GlobalScope_instance = kotlin_org_jetbrains_kotlinx_kotlinx_coroutines_core.$_$.a;
   var promise = kotlin_org_jetbrains_kotlinx_kotlinx_coroutines_core.$_$.l;
   var Companion_getInstance_0 = kotlin_io_github_glandais_gpx.$_$.n;
-  var IllegalStateException_init_$Create$ = kotlin_kotlin.$_$.c2;
+  var IllegalStateException_init_$Create$ = kotlin_kotlin.$_$.d2;
   var CsvOptions = kotlin_io_github_glandais_gpx.$_$.w;
   var CsvWriter_instance = kotlin_io_github_glandais_gpx.$_$.h;
-  var firstOrNull = kotlin_kotlin.$_$.q8;
-  var Char = kotlin_kotlin.$_$.r9;
-  var charSequenceLength = kotlin_kotlin.$_$.i6;
+  var firstOrNull = kotlin_kotlin.$_$.w8;
+  var Char = kotlin_kotlin.$_$.fa;
+  var charSequenceLength = kotlin_kotlin.$_$.n6;
   var JsonOptions = kotlin_io_github_glandais_gpx.$_$.x;
   var JsonWriter_instance = kotlin_io_github_glandais_gpx.$_$.i;
   var toFitBytes = kotlin_io_github_glandais_fit.$_$.a;
-  var Companion_getInstance_1 = kotlin_kotlin.$_$.c1;
-  var DurationUnit_MILLISECONDS_getInstance = kotlin_kotlin.$_$.w;
-  var toDuration = kotlin_kotlin.$_$.q9;
+  var Companion_getInstance_1 = kotlin_kotlin.$_$.d1;
+  var DurationUnit_MILLISECONDS_getInstance = kotlin_kotlin.$_$.x;
+  var toDuration = kotlin_kotlin.$_$.ea;
   var toFitBytes_0 = kotlin_io_github_glandais_fit.$_$.b;
-  var toNumber = kotlin_kotlin.$_$.a6;
+  var toNumber = kotlin_kotlin.$_$.f6;
   var Companion_getInstance_2 = kotlin_io_github_glandais_gpx.$_$.f;
   var GpxWaypoint = kotlin_io_github_glandais_gpx.$_$.q;
   var Companion_instance_0 = kotlin_io_github_glandais_gpx.$_$.j;
   var ElevationProvider = kotlin_io_github_glandais_elevation.$_$.e;
   var ElevationProviderConfig = kotlin_io_github_glandais_elevation.$_$.d;
-  var sorted = kotlin_kotlin.$_$.c4;
-  var THROW_CCE = kotlin_kotlin.$_$.ca;
+  var sorted = kotlin_kotlin.$_$.g4;
+  var THROW_CCE = kotlin_kotlin.$_$.qa;
   var CoroutineScope = kotlin_org_jetbrains_kotlinx_kotlinx_coroutines_core.$_$.j;
-  var initMetadataForLambda = kotlin_kotlin.$_$.z6;
-  var constructCallableReference = kotlin_kotlin.$_$.k6;
-  var setOf_0 = kotlin_kotlin.$_$.a4;
+  var initMetadataForLambda = kotlin_kotlin.$_$.e7;
+  var constructCallableReference = kotlin_kotlin.$_$.p6;
+  var setOf_0 = kotlin_kotlin.$_$.e4;
   //endregion
   //region block: pre-declaration
   initMetadataForCompanion(Companion);
@@ -1494,7 +1496,7 @@
       $l$loop: do {
         var i = inductionVariable;
         inductionVariable = inductionVariable + 1 | 0;
-        var dx = (_this__u8e3s4.longitude_a9xl_k$(i) - lon0) * cosLat0;
+        var dx = LocalFrame_instance.unwrap_i6c8al_k$(_this__u8e3s4.longitude_a9xl_k$(i) - lon0) * cosLat0;
         var dy = _this__u8e3s4.latitude_gb4iok_k$(i) - lat0;
         // Inline function 'kotlin.math.hypot' call
         var length = hypot(dx, dy);
@@ -2322,6 +2324,7 @@
     this.lastIndex_1 = -1;
     this.lastElapsedS_1 = 0.0;
     this.lastPowerW_1 = 0.0;
+    this.lastLimitedW_1 = 0.0;
   }
   protoOf(PowerProviderSlewLimited).powerAt_ejucaq_k$ = function (course, path, pointIndex) {
     var target = this.delegate_1.powerAt_ejucaq_k$(course, path, pointIndex);
@@ -2329,8 +2332,8 @@
       this.reset_5u6xz3_k$();
     }
     if (pointIndex === this.lastIndex_1) {
-      this.delegate_1.onDelivered_drn2rh_k$(pointIndex, this.lastPowerW_1);
-      return this.lastPowerW_1;
+      this.delegate_1.onDelivered_drn2rh_k$(pointIndex, this.lastLimitedW_1);
+      return this.lastLimitedW_1;
     }
     var elapsedS = path.elapsed_7307rw_k$(pointIndex);
     var dtS = elapsedS - this.lastElapsedS_1;
@@ -2354,16 +2357,20 @@
       this.lastElapsedS_1 = elapsedS;
     this.lastIndex_1 = pointIndex;
     this.lastPowerW_1 = limited;
+    this.lastLimitedW_1 = limited;
     this.delegate_1.onDelivered_drn2rh_k$(pointIndex, limited);
     return limited;
   };
   protoOf(PowerProviderSlewLimited).onDelivered_drn2rh_k$ = function (pointIndex, powerW) {
-    return this.delegate_1.onDelivered_drn2rh_k$(pointIndex, powerW);
+    if (pointIndex === this.lastIndex_1 && isFinite(powerW))
+      this.lastPowerW_1 = powerW;
+    this.delegate_1.onDelivered_drn2rh_k$(pointIndex, powerW);
   };
   protoOf(PowerProviderSlewLimited).reset_5u6xz3_k$ = function () {
     this.lastIndex_1 = -1;
     this.lastElapsedS_1 = 0.0;
     this.lastPowerW_1 = 0.0;
+    this.lastLimitedW_1 = 0.0;
   };
   function Companion_10() {
     this.DEFAULT_GRADIENT_GAIN_1 = 3.0;
@@ -3426,31 +3433,38 @@
     var previous = NaN;
     var inductionVariable = 0;
     if (inductionVariable < n)
-      do {
+      $l$loop: do {
         var i = inductionVariable;
         inductionVariable = inductionVariable + 1 | 0;
         var a = i > 0 ? i - 1 | 0 : 0;
         var b = i < (n - 1 | 0) ? i + 1 | 0 : n - 1 | 0;
         var dx = frame.x_1[b] - frame.x_1[a];
         var dy = frame.y_1[b] - frame.y_1[a];
-        var tmp;
         if (dx === 0.0 && dy === 0.0) {
-          tmp = isNaN_0(previous) ? 0.0 : previous;
-        } else {
-          // Inline function 'kotlin.math.atan2' call
-          tmp = Math.atan2(dy, dx);
+          theta[i] = previous;
+          continue $l$loop;
         }
-        var raw = tmp;
-        var tmp_0;
-        if (i === 0 || isNaN_0(previous)) {
-          tmp_0 = raw;
+        // Inline function 'kotlin.math.atan2' call
+        var raw = Math.atan2(dy, dx);
+        if (isNaN_0(previous)) {
+          theta[i] = raw;
+          var inductionVariable_0 = 0;
+          if (inductionVariable_0 < i)
+            do {
+              var j = inductionVariable_0;
+              inductionVariable_0 = inductionVariable_0 + 1 | 0;
+              theta[j] = raw;
+            }
+             while (inductionVariable_0 < i);
         } else {
-          tmp_0 = previous + LocalFrame_instance.unwrap_i6c8al_k$(raw - previous);
+          theta[i] = previous + LocalFrame_instance.unwrap_i6c8al_k$(raw - previous);
         }
-        theta[i] = tmp_0;
         previous = theta[i];
       }
        while (inductionVariable < n);
+    if (isNaN_0(previous)) {
+      fill(theta, 0.0);
+    }
   };
   protoOf(CurvatureEstimator).computeCurvature_emiphc_k$ = function (frame, windowsM, sigmaThetaRad, curvatureSmoothM) {
     var n = frame.get_size_woubt6_k$();
@@ -3505,15 +3519,7 @@
             }
           }
            while (0 <= inductionVariable_1);
-        var tmp;
-        if (!isNaN_0(chosen)) {
-          tmp = chosen;
-        } else if (!isNaN_0(widest)) {
-          tmp = widest;
-        } else {
-          tmp = 0.0;
-        }
-        raw[i] = tmp;
+        raw[i] = !isNaN_0(chosen) ? chosen : widest;
       }
        while (inductionVariable < n);
     var smoothed = LocalFrame_instance.smooth_kce7pb_k$(raw, frame.s_1, curvatureSmoothM);
@@ -3521,10 +3527,10 @@
     var endIndex = smoothed.length;
     // Inline function 'kotlin.js.unsafeCast' call
     // Inline function 'kotlin.js.asDynamic' call
-    var tmp_0 = smoothed;
+    var tmp = smoothed;
     // Inline function 'kotlin.js.unsafeCast' call
     // Inline function 'kotlin.js.asDynamic' call
-    arrayCopy(tmp_0, kappa, 0, 0, endIndex);
+    arrayCopy(tmp, kappa, 0, 0, endIndex);
   };
   protoOf(CurvatureEstimator).radiusAt_umgvjz_k$ = function (kappa) {
     var tmp;
@@ -3587,7 +3593,7 @@
   };
   protoOf(LocalFrame).unproject_ym27oh_k$ = function (frame, x, y) {
     var lat = frame.lat0__1 + y / 6371000.0;
-    var lon = frame.lon0__1 + x / (6371000.0 * frame.k_1);
+    var lon = this.unwrap_i6c8al_k$(frame.lon0__1 + x / (6371000.0 * frame.k_1));
     // Inline function 'kotlin.doubleArrayOf' call
     return new Float64Array([lat, lon]);
   };
@@ -3609,7 +3615,8 @@
        while (inductionVariable < last);
   };
   protoOf(LocalFrame).unwrap_i6c8al_k$ = function (a) {
-    return a - 2.0 * 3.141592653589793 * round(a / (2.0 * 3.141592653589793));
+    var r = a - 2.0 * 3.141592653589793 * round(a / (2.0 * 3.141592653589793));
+    return r <= -3.141592653589793 ? r + 2.0 * 3.141592653589793 : r;
   };
   protoOf(LocalFrame).smooth_kce7pb_k$ = function (v, s, windowM) {
     var n = v.length;
@@ -3646,13 +3653,13 @@
             // Inline function 'kotlin.math.abs' call
             var x = s[j] - c;
             var w = 1.0 - Math.abs(x) / windowM;
-            if (w <= 0.0)
+            if (w <= 0.0 || isNaN_0(v[j]))
               continue $l$loop;
             weightSum = weightSum + w;
             valueSum = valueSum + v[j] * w;
           }
            while (!(j === last));
-        out[i] = weightSum > 0.0 ? valueSum / weightSum : v[i];
+        out[i] = isNaN_0(v[i]) || weightSum <= 0.0 ? v[i] : valueSum / weightSum;
       }
        while (inductionVariable < n);
     return out;
@@ -3663,15 +3670,16 @@
   }
   function Companion_12() {
   }
-  protoOf(Companion_12).assemble_miimn7_k$ = function (frame, center, rho, steeringLengthM, centeringLengthM) {
+  protoOf(Companion_12).assemble_7bjwpt_k$ = function (frame, center, rho, steeringLengthM, centeringLengthM, fixed) {
     var n = frame.get_size_woubt6_k$();
     var h0 = new Float64Array(n);
     var h1 = new Float64Array(n);
     var h2 = new Float64Array(n);
     var linear = new Float64Array(n);
-    var constant = 0.0;
     var lambdaR = 1.0 / (steeringLengthM * steeringLengthM);
     var lambdaC = 1.0 / (centeringLengthM * centeringLengthM * centeringLengthM * centeringLengthM);
+    var meanSpacing = n > 1 ? (frame.s_1[n - 1 | 0] - frame.s_1[0]) / (n - 1 | 0) : 0.0;
+    var tie = meanSpacing > 0.0 ? lambdaR / meanSpacing : lambdaR;
     var a = new Float64Array(3);
     var b = new Float64Array(3);
     var inductionVariable = 0;
@@ -3684,7 +3692,13 @@
         var weight = 0.5 * (hMinus + hPlus);
         h0[i] = h0[i] + 2.0 * weight * lambdaC;
         linear[i] = linear[i] - 2.0 * weight * lambdaC * center[i];
-        constant = constant + weight * lambdaC * center[i] * center[i];
+        if (weight <= 0.0 && i >= 1 && !fixed[i]) {
+          h0[i] = h0[i] + 2.0 * tie;
+          var _index_0__fvwizt = i - 1 | 0;
+          h0[_index_0__fvwizt] = h0[_index_0__fvwizt] + 2.0 * tie;
+          var _index_0__fvwizt_0 = i - 1 | 0;
+          h1[_index_0__fvwizt_0] = h1[_index_0__fvwizt_0] - 2.0 * tie;
+        }
         if (i < 1 || (i + 1 | 0) >= n)
           continue $l$loop_0;
         var denom = hPlus * hMinus * (hPlus + hMinus);
@@ -3728,37 +3742,44 @@
                while (inductionVariable_1 <= 2);
           }
            while (inductionVariable_0 <= 2);
-        constant = constant + wRho * kappaI * kappaI;
       }
        while (inductionVariable < n);
-    return new OffsetEnergy(h0, h1, h2, linear, constant);
+    return new OffsetEnergy(h0, h1, h2, linear);
   };
   var Companion_instance_14;
   function Companion_getInstance_16() {
     return Companion_instance_14;
   }
-  function OffsetEnergy(h0, h1, h2, linear, constant) {
+  function OffsetEnergy(h0, h1, h2, linear) {
     this.h0__1 = h0;
     this.h1__1 = h1;
     this.h2__1 = h2;
     this.linear_1 = linear;
-    this.constant_1 = constant;
   }
   protoOf(OffsetEnergy).get_size_woubt6_k$ = function () {
     return this.h0__1.length;
   };
-  protoOf(OffsetEnergy).value_6wg803_k$ = function (n, scratch) {
-    BandedLdl_instance.multiply_dwj15t_k$(this.h0__1, this.h1__1, this.h2__1, n, scratch);
-    var acc = this.constant_1;
+  protoOf(OffsetEnergy).change_z3fx8j_k$ = function (from, to, gradient, delta, scratch) {
     var inductionVariable = 0;
-    var last = n.length - 1 | 0;
+    var last = delta.length - 1 | 0;
     if (inductionVariable <= last)
       do {
         var i = inductionVariable;
         inductionVariable = inductionVariable + 1 | 0;
-        acc = acc + (0.5 * scratch[i] * n[i] + this.linear_1[i] * n[i]);
+        delta[i] = to[i] - from[i];
       }
        while (inductionVariable <= last);
+    BandedLdl_instance.multiply_dwj15t_k$(this.h0__1, this.h1__1, this.h2__1, delta, scratch);
+    var acc = 0.0;
+    var inductionVariable_0 = 0;
+    var last_0 = delta.length - 1 | 0;
+    if (inductionVariable_0 <= last_0)
+      do {
+        var i_0 = inductionVariable_0;
+        inductionVariable_0 = inductionVariable_0 + 1 | 0;
+        acc = acc + (gradient[i_0] + 0.5 * scratch[i_0]) * delta[i_0];
+      }
+       while (inductionVariable_0 <= last_0);
     return acc;
   };
   protoOf(OffsetEnergy).gradient_zecmby_k$ = function (n, out) {
@@ -3781,7 +3802,7 @@
     this.activeConstraints_1 = activeConstraints;
   }
   function isFree($this, x, lo, hi, g, epsilon) {
-    if (hi - lo <= 2.0 * epsilon)
+    if ($this.isFixed_s6zw2k_k$(lo, hi, epsilon))
       return false;
     if (x <= lo + epsilon && g > 0.0)
       return false;
@@ -3863,7 +3884,10 @@
     var f1 = new Float64Array(n);
     var f2 = new Float64Array(n);
     var rhs = new Float64Array(n);
-    $l$loop_3: while (iterations < maxIterations) {
+    var solveIndex = new Int32Array(n);
+    var held = booleanArray(n);
+    var delta = new Float64Array(n);
+    $l$loop_5: while (iterations < maxIterations) {
       energy.gradient_zecmby_k$(x, g);
       var freeCount = 0;
       var residual = 0.0;
@@ -3889,81 +3913,124 @@
       relativeResidual = residual / referenceGradient;
       if (freeCount === 0 || relativeResidual <= gradientTolerance) {
         converged = true;
-        break $l$loop_3;
-      }
-      buildFreeSystem(this, energy, freeIndex, freeCount, f0, f1, f2);
-      var fa0 = copyOf(f0, freeCount);
-      var fa1 = copyOf(f1, freeCount);
-      var fa2 = copyOf(f2, freeCount);
-      if (!BandedLdl_instance.factor_n459o6_k$(fa0, fa1, fa2)) {
-        break $l$loop_3;
+        break $l$loop_5;
       }
       var inductionVariable_1 = 0;
-      var last = freeCount;
-      if (inductionVariable_1 < last)
+      if (inductionVariable_1 < n)
         do {
-          var p = inductionVariable_1;
+          var i_1 = inductionVariable_1;
           inductionVariable_1 = inductionVariable_1 + 1 | 0;
-          rhs[p] = -g[freeIndex[p]];
-        }
-         while (inductionVariable_1 < last);
-      BandedLdl_instance.solveInPlace_jrw92v_k$(fa0, fa1, fa2, rhs);
-      var inductionVariable_2 = 0;
-      if (inductionVariable_2 < n)
-        do {
-          var i_1 = inductionVariable_2;
-          inductionVariable_2 = inductionVariable_2 + 1 | 0;
-          direction[i_1] = 0.0;
-        }
-         while (inductionVariable_2 < n);
-      var inductionVariable_3 = 0;
-      var last_0 = freeCount;
-      if (inductionVariable_3 < last_0)
-        do {
-          var p_0 = inductionVariable_3;
-          inductionVariable_3 = inductionVariable_3 + 1 | 0;
-          direction[freeIndex[p_0]] = rhs[p_0];
-        }
-         while (inductionVariable_3 < last_0);
-      var directionalDerivative = 0.0;
-      var inductionVariable_4 = 0;
-      var last_1 = freeCount;
-      if (inductionVariable_4 < last_1)
-        do {
-          var p_1 = inductionVariable_4;
-          inductionVariable_4 = inductionVariable_4 + 1 | 0;
-          var i_2 = freeIndex[p_1];
-          directionalDerivative = directionalDerivative + g[i_2] * direction[i_2];
+          held[i_1] = false;
         }
-         while (inductionVariable_4 < last_1);
-      if (directionalDerivative >= 0.0)
-        break $l$loop_3;
-      var current = energy.value_6wg803_k$(x, scratch);
-      var step = 1.0;
+         while (inductionVariable_1 < n);
       var accepted = false;
-      var inductionVariable_5 = 0;
-      if (inductionVariable_5 < 20)
-        $l$loop_2: do {
-          var attempt = inductionVariable_5;
-          inductionVariable_5 = inductionVariable_5 + 1 | 0;
-          var inductionVariable_6 = 0;
-          if (inductionVariable_6 < n)
-            do {
-              var i_3 = inductionVariable_6;
-              inductionVariable_6 = inductionVariable_6 + 1 | 0;
-              candidate[i_3] = coerceIn(x[i_3] + step * direction[i_3], lo[i_3], hi[i_3]);
+      $l$loop_4: while (true) {
+        var solveCount = 0;
+        var inductionVariable_2 = 0;
+        var last = freeCount;
+        if (inductionVariable_2 < last)
+          do {
+            var p = inductionVariable_2;
+            inductionVariable_2 = inductionVariable_2 + 1 | 0;
+            if (!held[freeIndex[p]]) {
+              var _unary__edvuaz_0 = solveCount;
+              solveCount = _unary__edvuaz_0 + 1 | 0;
+              solveIndex[_unary__edvuaz_0] = freeIndex[p];
             }
-             while (inductionVariable_6 < n);
-          var trial = energy.value_6wg803_k$(candidate, scratch);
-          if (trial <= current + 1.0E-4 * step * directionalDerivative) {
-            accepted = true;
-            break $l$loop_2;
           }
-          step = step / 2.0;
+           while (inductionVariable_2 < last);
+        buildFreeSystem(this, energy, solveIndex, solveCount, f0, f1, f2);
+        var fa0 = copyOf(f0, solveCount);
+        var fa1 = copyOf(f1, solveCount);
+        var fa2 = copyOf(f2, solveCount);
+        if (!BandedLdl_instance.factor_n459o6_k$(fa0, fa1, fa2)) {
+          break $l$loop_4;
         }
-         while (inductionVariable_5 < 20);
+        var inductionVariable_3 = 0;
+        var last_0 = solveCount;
+        if (inductionVariable_3 < last_0)
+          do {
+            var p_0 = inductionVariable_3;
+            inductionVariable_3 = inductionVariable_3 + 1 | 0;
+            rhs[p_0] = -g[solveIndex[p_0]];
+          }
+           while (inductionVariable_3 < last_0);
+        BandedLdl_instance.solveInPlace_jrw92v_k$(fa0, fa1, fa2, rhs);
+        var inductionVariable_4 = 0;
+        if (inductionVariable_4 < n)
+          do {
+            var i_2 = inductionVariable_4;
+            inductionVariable_4 = inductionVariable_4 + 1 | 0;
+            direction[i_2] = 0.0;
+          }
+           while (inductionVariable_4 < n);
+        var inductionVariable_5 = 0;
+        var last_1 = solveCount;
+        if (inductionVariable_5 < last_1)
+          do {
+            var p_1 = inductionVariable_5;
+            inductionVariable_5 = inductionVariable_5 + 1 | 0;
+            direction[solveIndex[p_1]] = rhs[p_1];
+          }
+           while (inductionVariable_5 < last_1);
+        var directionalDerivative = 0.0;
+        var inductionVariable_6 = 0;
+        var last_2 = solveCount;
+        if (inductionVariable_6 < last_2)
+          do {
+            var p_2 = inductionVariable_6;
+            inductionVariable_6 = inductionVariable_6 + 1 | 0;
+            var i_3 = solveIndex[p_2];
+            directionalDerivative = directionalDerivative + g[i_3] * direction[i_3];
+          }
+           while (inductionVariable_6 < last_2);
+        if (directionalDerivative >= 0.0)
+          break $l$loop_4;
+        var step = 1.0;
+        var lastStep = step;
+        var inductionVariable_7 = 0;
+        if (inductionVariable_7 < 20)
+          $l$loop_2: do {
+            var attempt = inductionVariable_7;
+            inductionVariable_7 = inductionVariable_7 + 1 | 0;
+            var inductionVariable_8 = 0;
+            if (inductionVariable_8 < n)
+              do {
+                var i_4 = inductionVariable_8;
+                inductionVariable_8 = inductionVariable_8 + 1 | 0;
+                candidate[i_4] = coerceIn(x[i_4] + step * direction[i_4], lo[i_4], hi[i_4]);
+              }
+               while (inductionVariable_8 < n);
+            if (energy.change_z3fx8j_k$(x, candidate, g, delta, scratch) <= 1.0E-4 * step * directionalDerivative) {
+              accepted = true;
+              break $l$loop_2;
+            }
+            lastStep = step;
+            step = step / 2.0;
+          }
+           while (inductionVariable_7 < 20);
+        if (accepted)
+          break $l$loop_4;
+        var newlyHeld = 0;
+        var inductionVariable_9 = 0;
+        var last_3 = solveCount;
+        if (inductionVariable_9 < last_3)
+          do {
+            var p_3 = inductionVariable_9;
+            inductionVariable_9 = inductionVariable_9 + 1 | 0;
+            var i_5 = solveIndex[p_3];
+            var target = x[i_5] + lastStep * direction[i_5];
+            if (target < lo[i_5] || target > hi[i_5]) {
+              held[i_5] = true;
+              newlyHeld = newlyHeld + 1 | 0;
+            }
+          }
+           while (inductionVariable_9 < last_3);
+        if (newlyHeld === 0)
+          break $l$loop_4;
+      }
       if (!accepted)
-        break $l$loop_3;
+        break $l$loop_5;
       // Inline function 'kotlin.collections.copyInto' call
       var endIndex = candidate.length;
       // Inline function 'kotlin.js.unsafeCast' call
@@ -3975,18 +4042,21 @@
       iterations = iterations + 1 | 0;
     }
     var active = 0;
-    var inductionVariable_7 = 0;
-    if (inductionVariable_7 < n)
+    var inductionVariable_10 = 0;
+    if (inductionVariable_10 < n)
       do {
-        var i_4 = inductionVariable_7;
-        inductionVariable_7 = inductionVariable_7 + 1 | 0;
-        if (x[i_4] <= lo[i_4] + boundEpsilonM || x[i_4] >= hi[i_4] - boundEpsilonM) {
+        var i_6 = inductionVariable_10;
+        inductionVariable_10 = inductionVariable_10 + 1 | 0;
+        if (x[i_6] <= lo[i_6] + boundEpsilonM || x[i_6] >= hi[i_6] - boundEpsilonM) {
           active = active + 1 | 0;
         }
       }
-       while (inductionVariable_7 < n);
+       while (inductionVariable_10 < n);
     return new QpResult(x, iterations, relativeResidual, converged, active);
   };
+  protoOf(OffsetQp).isFixed_s6zw2k_k$ = function (lo, hi, epsilon) {
+    return hi - lo <= 2.0 * epsilon;
+  };
   var OffsetQp_instance;
   function OffsetQp_getInstance() {
     return OffsetQp_instance;
@@ -4217,6 +4287,17 @@
     var frame = tmp;
     CurvatureEstimator_instance.computeHeadings_ev7p13_k$(frame);
     CurvatureEstimator_instance.computeCurvature_emiphc_k$(frame, toDoubleArray(options.curvature_1.curvatureWindowsM_1), options.curvature_1.headingNoiseRad_1, options.curvature_1.curvatureSmoothWindowM_1);
+    var inductionVariable = 0;
+    var last = frame.get_size_woubt6_k$();
+    if (inductionVariable < last)
+      do {
+        var i = inductionVariable;
+        inductionVariable = inductionVariable + 1 | 0;
+        if (isNaN_0(frame.kappa_1[i])) {
+          frame.kappa_1[i] = 0.0;
+        }
+      }
+       while (inductionVariable < last);
     return frame;
   }
   function analyzeFrame($this, path, frame, options) {
@@ -4250,15 +4331,24 @@
       tmp_3 = tmp_3 + 1 | 0;
     }
     var rho = tmp_5;
-    var energy = Companion_instance_14.assemble_miimn7_k$(frame, center, rho, options.steeringLengthM_1, options.centeringLengthM_1);
+    var tmp_8 = Companion_instance_14;
+    var tmp_9 = 0;
+    var tmp_10 = frame.get_size_woubt6_k$();
+    var tmp_11 = booleanArray(tmp_10);
+    while (tmp_9 < tmp_10) {
+      var tmp_12 = tmp_9;
+      tmp_11[tmp_12] = OffsetQp_instance.isFixed_s6zw2k_k$(bounds.lo_1[tmp_12], bounds.hi_1[tmp_12], options.boundEpsilonM_1);
+      tmp_9 = tmp_9 + 1 | 0;
+    }
+    var energy = tmp_8.assemble_7bjwpt_k$(frame, center, rho, options.steeringLengthM_1, options.centeringLengthM_1, tmp_11);
     var seed = center;
     var solved = OffsetQp_instance.solve_j37bz7_k$(energy, bounds.lo_1, bounds.hi_1, seed, options.maxNewtonIterations_1, options.gradientTolerance_1, options.boundEpsilonM_1);
     var trajectoryCurvature = measureOffsetCurvature($this, frame, solved.offset_1, options);
-    var tmp_8 = frame.get_size_woubt6_k$();
+    var tmp_13 = frame.get_size_woubt6_k$();
     // Inline function 'kotlin.collections.copyOf' call
     // Inline function 'kotlin.js.asDynamic' call
-    var tmp$ret$3 = frame.kappa_1.slice();
-    return new RacingLineReport(tmp_8, corners, tmp$ret$3, bounds.lo_1, bounds.hi_1, bounds.halfWidthM_1, solved.offset_1, trajectoryCurvature, solved.iterations_1, solved.gradientInfNorm_1, solved.converged_1, solved.activeConstraints_1);
+    var tmp$ret$4 = frame.kappa_1.slice();
+    return new RacingLineReport(tmp_13, corners, tmp$ret$4, bounds.lo_1, bounds.hi_1, bounds.halfWidthM_1, solved.offset_1, trajectoryCurvature, solved.iterations_1, solved.gradientInfNorm_1, solved.converged_1, solved.activeConstraints_1);
   }
   function measureOffsetCurvature($this, frame, offset, options) {
     var size = frame.get_size_woubt6_k$();