@horizon36596/zenith-core 0.1.1

package/LICENSE

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+MIT License
+
+Copyright (c) 2026 Horizon (FTC 36596)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

package/NOTICE

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+Zenith
+Copyright (c) 2026 Horizon (FTC 36596)
+
+Zenith is licensed under the MIT License; see LICENSE.
+
+Third-party assets
+
+- BIOBUZZ field images (apps/web/public/fields/biobuzz/*.webp) by Team Juice 16236, from the r/FTC
+  post "BIOBUZZ custom field images (MeepMeep compatible)". Used with the credit the author asks for.
+
+Bundled fonts
+
+The following fonts are bundled in apps/web/public/fonts/. Each is licensed under the SIL Open Font
+License, Version 1.1. The full licence text ships next to each font file.
+
+- Jost, licensed under the SIL Open Font License 1.1 (jost-OFL.txt).
+- IBM Plex Sans, licensed under the SIL Open Font License 1.1 (ibm-plex-sans-OFL.txt).
+- JetBrains Mono, licensed under the SIL Open Font License 1.1 (jetbrains-mono-OFL.txt).

package/README.md

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+# @horizon36596/zenith-core
+
+The planning core of [Zenith](https://libraries.horizon36596.org/zenith/), the FTC autonomous planner
+by Horizon (FTC 36596). It turns an auto file into a plan and answers the questions about it: path
+geometry and heading modes, robot footprints, the feasibility checks and their findings, the time
+estimate, the structural edits an editor or agent makes, the canonical file form and the SVG render.
+
+```
+npm install @horizon36596/zenith-core
+```
+
+The package is pure: no DOM, no clock, no randomness and no Node APIs. The editor, the `zenith` CLI
+and the MCP server all use it, so they give the same answer for the same files.
+
+Most projects want [`@horizon36596/zenith-cli`](https://www.npmjs.com/package/@horizon36596/zenith-cli)
+instead. Documentation: https://libraries.horizon36596.org/zenith/. Licence: MIT.

package/dist/canonicalize.d.ts

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+import { type Kind } from "@horizon36596/zenith-schema";
+/**
+ * Canonical form (site/docs/file-format.md): UTF-8, LF, two-space indent, object keys in schema
+ * declaration order (not alphabetical), numbers rounded to 3 decimals for inches, 4 for radians and
+ * 3 for seconds (and so for in/s and in/s²) by the key that names the unit, trailing newline. A file round-trips byte-identically through load and save, which
+ * is what makes a git diff of an auto readable.
+ *
+ * The key order comes from the zod schemas themselves, so the schema is the single definition of
+ * the order and the two cannot drift apart.
+ */
+export declare function canonicalize(kind: Kind, doc: unknown): string;
+/**
+ * Digits after the point for a key, by the unit its name declares, or null for a key that names no
+ * unit and is written exactly as given.
+ *
+ * Only the key that names the unit is rounded. A number inside an object under such a key — the
+ * `value` of `maxForwardVelInPerS: { value, provenance }`, the `rapid` of `cadenceS` — names no
+ * unit of its own and keeps its full precision: inheriting the parent's unit rounded a MEASURED
+ * 72.3456 to 72.346 while the `…InPerS2` values beside it kept every digit. An array's elements do
+ * take the unit of the key holding the array, because an array has no keys of its own to name one.
+ */
+export declare function digitsForKey(key: string): number | null;
+/** Rounds to `digits` decimals, without -0 and without exponent notation for our magnitudes. */
+export declare function formatNumber(value: number, digits: number | null): string;
+//# sourceMappingURL=canonicalize.d.ts.map

package/dist/canonicalize.d.ts.map

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package/dist/canonicalize.js

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+import { FORMAT_VERSIONS, migrate, schemaByKind, withCurrentSchemaId } from "@horizon36596/zenith-schema";
+import { z } from "zod";
+/**
+ * Canonical form (site/docs/file-format.md): UTF-8, LF, two-space indent, object keys in schema
+ * declaration order (not alphabetical), numbers rounded to 3 decimals for inches, 4 for radians and
+ * 3 for seconds (and so for in/s and in/s²) by the key that names the unit, trailing newline. A file round-trips byte-identically through load and save, which
+ * is what makes a git diff of an auto readable.
+ *
+ * The key order comes from the zod schemas themselves, so the schema is the single definition of
+ * the order and the two cannot drift apart.
+ */
+export function canonicalize(kind, doc) {
+    return `${write(atCurrentVersion(kind, doc), schemaByKind[kind], null, "")}\n`;
+}
+/**
+ * Every writer writes the current format version (site/docs/file-format.md, Versioning), so a
+ * document handed over at an older version is migrated first. One that cannot be migrated is
+ * written as it is: canonical form is about bytes, and refusing the file is the loader's job. A
+ * legacy `$schema` alias is always written as the current id (Schema ids, same document).
+ */
+function atCurrentVersion(kind, input) {
+    const doc = withCurrentSchemaId(kind, input);
+    if (!isRecord(doc))
+        return doc;
+    const version = doc["formatVersion"];
+    if (typeof version !== "number" || version >= FORMAT_VERSIONS[kind])
+        return doc;
+    try {
+        return migrate(doc, kind).data;
+    }
+    catch {
+        return doc;
+    }
+}
+const INDENT = "  ";
+/**
+ * Digits after the point for a key, by the unit its name declares, or null for a key that names no
+ * unit and is written exactly as given.
+ *
+ * Only the key that names the unit is rounded. A number inside an object under such a key — the
+ * `value` of `maxForwardVelInPerS: { value, provenance }`, the `rapid` of `cadenceS` — names no
+ * unit of its own and keeps its full precision: inheriting the parent's unit rounded a MEASURED
+ * 72.3456 to 72.346 while the `…InPerS2` values beside it kept every digit. An array's elements do
+ * take the unit of the key holding the array, because an array has no keys of its own to name one.
+ */
+export function digitsForKey(key) {
+    if (key.endsWith("Rad"))
+        return 4;
+    if (key.endsWith("In"))
+        return 3;
+    // An acceleration (`accelInPerS2`) is inches per second squared, rounded like a speed.
+    if (key.endsWith("S2"))
+        return 3;
+    if (key.endsWith("S"))
+        return 3;
+    return null;
+}
+/** Rounds to `digits` decimals, without -0 and without exponent notation for our magnitudes. */
+export function formatNumber(value, digits) {
+    if (!Number.isFinite(value))
+        throw new Error(`Cannot canonicalize the number ${String(value)}.`);
+    if (digits === null)
+        return JSON.stringify(value === 0 ? 0 : value);
+    const rounded = Number(value.toFixed(digits));
+    return JSON.stringify(rounded === 0 ? 0 : rounded);
+}
+const isRecord = (value) => typeof value === "object" && value !== null && !Array.isArray(value);
+/** Peels the wrappers that do not change an object's shape. */
+function unwrap(schema) {
+    let current = schema;
+    for (let guard = 0; guard < 32 && current !== null; guard += 1) {
+        if (current instanceof z.ZodOptional ||
+            current instanceof z.ZodNullable ||
+            current instanceof z.ZodDefault ||
+            current instanceof z.ZodReadonly) {
+            current = current._def.innerType;
+            continue;
+        }
+        if (current instanceof z.ZodEffects) {
+            current = current._def.schema;
+            continue;
+        }
+        if (current instanceof z.ZodLazy) {
+            current = current._def.getter();
+            continue;
+        }
+        return current;
+    }
+    return current;
+}
+/** The literal values an object schema pins, so a union option can be matched without parsing. */
+function literalsOf(schema) {
+    const literals = new Map();
+    for (const [key, value] of Object.entries(schema.shape)) {
+        const inner = unwrap(value);
+        if (inner instanceof z.ZodLiteral)
+            literals.set(key, inner.value);
+    }
+    return literals;
+}
+/** Picks the union member this value belongs to: by its discriminator first, then by parsing. */
+function resolveSchema(schema, value) {
+    const current = unwrap(schema);
+    if (current === null)
+        return null;
+    if (current instanceof z.ZodDiscriminatedUnion) {
+        const discriminator = current._def.discriminator;
+        if (isRecord(value)) {
+            const option = current._def.optionsMap.get(value[discriminator]);
+            if (option !== undefined)
+                return unwrap(option);
+        }
+        return pickByParsing(current._def.options, value);
+    }
+    if (current instanceof z.ZodUnion) {
+        const options = current._def.options;
+        if (isRecord(value)) {
+            for (const option of options) {
+                const inner = unwrap(option);
+                if (!(inner instanceof z.ZodObject))
+                    continue;
+                const literals = literalsOf(inner);
+                if (literals.size === 0)
+                    continue;
+                let matches = true;
+                for (const [key, literal] of literals) {
+                    if (value[key] !== literal)
+                        matches = false;
+                }
+                if (matches)
+                    return inner;
+            }
+        }
+        return pickByParsing(options, value);
+    }
+    return current;
+}
+function pickByParsing(options, value) {
+    for (const option of options) {
+        if (option.safeParse(value).success)
+            return unwrap(option);
+    }
+    return null;
+}
+function childSchema(schema, key) {
+    const current = unwrap(schema);
+    if (current instanceof z.ZodObject) {
+        const shape = current.shape;
+        return shape[key] ?? null;
+    }
+    if (current instanceof z.ZodRecord)
+        return current._def.valueType;
+    return null;
+}
+/** Schema declaration order first, then any key the schema does not name, in insertion order. */
+function orderedKeys(schema, value) {
+    const current = unwrap(schema);
+    const present = Object.keys(value).filter((key) => value[key] !== undefined);
+    if (!(current instanceof z.ZodObject))
+        return present;
+    const declared = Object.keys(current.shape);
+    const known = declared.filter((key) => present.includes(key));
+    const extra = present.filter((key) => !declared.includes(key));
+    return [...known, ...extra];
+}
+function write(value, schema, unitKey, indent) {
+    if (value === null)
+        return "null";
+    if (typeof value === "boolean")
+        return value ? "true" : "false";
+    if (typeof value === "string")
+        return JSON.stringify(value);
+    if (typeof value === "number") {
+        return formatNumber(value, unitKey === null ? null : digitsForKey(unitKey));
+    }
+    const resolved = resolveSchema(schema, value);
+    const inner = indent + INDENT;
+    if (Array.isArray(value)) {
+        if (value.length === 0)
+            return "[]";
+        const element = resolved instanceof z.ZodArray ? resolved._def.type : null;
+        const items = value.map((item) => `${inner}${write(item, element, unitKey, inner)}`);
+        return `[\n${items.join(",\n")}\n${indent}]`;
+    }
+    if (isRecord(value)) {
+        const keys = orderedKeys(resolved, value);
+        if (keys.length === 0)
+            return "{}";
+        const lines = keys.map((key) => {
+            // A key names its own unit or none at all; the parent's never reaches into an object.
+            const childUnit = digitsForKey(key) === null ? null : key;
+            const child = write(value[key], childSchema(resolved, key), childUnit, inner);
+            return `${inner}${JSON.stringify(key)}: ${child}`;
+        });
+        return `{\n${lines.join(",\n")}\n${indent}}`;
+    }
+    throw new Error(`Cannot canonicalize a value of type ${typeof value}.`);
+}
+//# sourceMappingURL=canonicalize.js.map

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package/dist/check.d.ts

@@ -0,0 +1,26 @@
+import { type Field, type Robot } from "@horizon36596/zenith-schema";
+import { type SeasonRules } from "./season.js";
+import type { Estimate, Finding, Plan } from "./types.js";
+/**
+ * How far outside the field a footprint corner may sit before PERIMETER fires, in inches.
+ *
+ * A start pose touching the wall is legal and common, and canonical form rounds headings to four
+ * decimals, so a nose-to-the-wall pose is out by a ten-thousandth of an inch by arithmetic alone.
+ * This tolerance is far below anything a person can measure and far above that.
+ */
+export declare const PERIMETER_TOLERANCE_IN = 0.05;
+/**
+ * Every check of site/docs/checks-and-findings.md.
+ *
+ * The ones that need no timing (SCHEMA, CONTINUITY, HEADING_MISSING, HEADING, PERIMETER, STRUCTURE,
+ * START_ILLEGAL, KEEPOUT, MOUTH_LEADING, SWEEP_SPEED, STATIONARY_MARKER, MOVES_ROBOT, PROVENANCE
+ * and the ledger's own) run whatever is passed for `estimate`; STRAFE_FRACTION, TIME_BUDGET and
+ * TIMEOUT_TIGHT need it and are skipped when it is null.
+ *
+ * Pure: the same plan always produces the same findings in the same order, so a golden test and a
+ * pull-request body can both rely on it.
+ */
+export declare function check(plan: Plan, estimate: Estimate | null, robot: Robot, field: Field, season?: SeasonRules): Finding[];
+/** True when any finding is an error, which is what `zenith validate` exits non-zero on. */
+export declare const hasErrors: (findings: readonly Finding[]) => boolean;
+//# sourceMappingURL=check.d.ts.map

package/dist/check.d.ts.map

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package/dist/check.js

@@ -0,0 +1,231 @@
+import {} from "@horizon36596/zenith-schema";
+import { checkHeading } from "./checks/heading.js";
+import { checkMotion } from "./checks/motion.js";
+import { CONTINUITY_TOLERANCE_IN, continuityGaps } from "./continuity.js";
+import { checkSchedule } from "./checks/schedule.js";
+import { checkSeason } from "./checks/season.js";
+import { duplicateIds } from "./edit/ids.js";
+import { fieldBounds } from "./footprint.js";
+import { polygonOutsideBox, polygonOverlapsBox } from "./geometry/sat.js";
+import { robotHeightIn } from "./kinematics.js";
+import { runLedger } from "./ledger.js";
+import { flattenSteps } from "./plan.js";
+import { noSeasonRules } from "./season.js";
+/**
+ * How far outside the field a footprint corner may sit before PERIMETER fires, in inches.
+ *
+ * A start pose touching the wall is legal and common, and canonical form rounds headings to four
+ * decimals, so a nose-to-the-wall pose is out by a ten-thousandth of an inch by arithmetic alone.
+ * This tolerance is far below anything a person can measure and far above that.
+ */
+export const PERIMETER_TOLERANCE_IN = 0.05;
+const obstacleBox = (obstacle) => ({
+    minXIn: obstacle.minXIn,
+    maxXIn: obstacle.maxXIn,
+    minYIn: obstacle.minYIn,
+    maxYIn: obstacle.maxYIn,
+});
+/**
+ * The z gate: an obstacle only matters when its underside is lower than the robot is tall. The RED
+ * hive's pivot bar starts at 25.5 in, so an 18 in robot drives under it; the hive's base does not.
+ */
+const reachesRobot = (obstacle, robotHeightIn) => obstacle.minZIn < robotHeightIn;
+/**
+ * Every check of site/docs/checks-and-findings.md.
+ *
+ * The ones that need no timing (SCHEMA, CONTINUITY, HEADING_MISSING, HEADING, PERIMETER, STRUCTURE,
+ * START_ILLEGAL, KEEPOUT, MOUTH_LEADING, SWEEP_SPEED, STATIONARY_MARKER, MOVES_ROBOT, PROVENANCE
+ * and the ledger's own) run whatever is passed for `estimate`; STRAFE_FRACTION, TIME_BUDGET and
+ * TIMEOUT_TIGHT need it and are skipped when it is null.
+ *
+ * Pure: the same plan always produces the same findings in the same order, so a golden test and a
+ * pull-request body can both rely on it.
+ */
+export function check(plan, estimate, robot, field, season = noSeasonRules) {
+    const findings = [...plan.findings];
+    const steps = flattenSteps(plan.steps);
+    findings.push(...checkIds(plan));
+    findings.push(...checkRegistry(plan, robot));
+    findings.push(...checkGroups(steps));
+    findings.push(...checkContinuity(plan.steps, plan.startPose));
+    findings.push(...checkGeometry(steps, robot, field));
+    findings.push(...checkHeading(steps));
+    findings.push(...season.startLegal(field, plan.startPose, robot, plan.auto.alliance));
+    findings.push(...checkMotion(plan, estimate, robot, field, steps));
+    findings.push(...checkSeason(plan, robot, season, runLedger(plan, field, season)));
+    findings.push(...checkSchedule(estimate, robot, field, steps));
+    return findings;
+}
+/** SCHEMA: a command or condition the robot's registry does not define. */
+function checkRegistry(plan, robot) {
+    const findings = [];
+    const commands = new Set(robot.commands.map((command) => command.name));
+    const conditions = new Set((robot.conditions ?? []).map((condition) => condition.name));
+    const wantCommand = (name, stepId, where) => {
+        if (!commands.has(name)) {
+            findings.push({
+                severity: "error",
+                stepId,
+                code: "SCHEMA",
+                message: `${where} names the command ${JSON.stringify(name)}, which robot.json does not register.`,
+            });
+        }
+    };
+    const wantCondition = (name, stepId, where) => {
+        if (!conditions.has(name)) {
+            findings.push({
+                severity: "error",
+                stepId,
+                code: "SCHEMA",
+                message: `${where} names the condition ${JSON.stringify(name)}, which robot.json does not register.`,
+            });
+        }
+    };
+    for (const planned of flattenSteps(plan.steps)) {
+        const step = planned.step;
+        switch (step.kind) {
+            case "command":
+                wantCommand(step.name, planned.id, "This step");
+                break;
+            case "path":
+                for (const marker of step.markers ?? []) {
+                    wantCommand(marker.command.name, planned.id, "A marker on this step");
+                }
+                if (step.endCondition !== undefined) {
+                    wantCondition(step.endCondition.condition, planned.id, "This step's endCondition");
+                }
+                break;
+            case "wait":
+                if (step.until !== undefined)
+                    wantCondition(step.until, planned.id, "This wait");
+                break;
+            case "branch":
+                wantCondition(step.condition, planned.id, "This branch");
+                break;
+            default:
+                break;
+        }
+    }
+    return findings;
+}
+/**
+ * SCHEMA: the same effective id on two steps.
+ *
+ * Every finding, every one-click fix and every `zenith.edit.*` primitive addresses a step by this
+ * id, and all of them take the first match, so a repeated id makes the second step's error
+ * indistinguishable from the first's and silently points every edit at the wrong step. The schema
+ * cannot express it (an id is optional and a positional one is minted from the index), so it is
+ * checked here, over the whole tree.
+ */
+function checkIds(plan) {
+    return duplicateIds(plan.auto.steps).map((id) => ({
+        severity: "error",
+        stepId: id,
+        code: "SCHEMA",
+        message: `Two steps have the id ${JSON.stringify(id)}; every step is addressed by its id, so it has to name one step.`,
+    }));
+}
+/**
+ * SCHEMA: a `deadline` parallel group whose `deadline` does not name one of its own direct
+ * children.
+ *
+ * Nothing in the file format can express this, so it is checked here: the estimator has no step to
+ * time the group by, the generated Java falls back to a different member than the estimate assumed,
+ * and the runtime throws at init. Naming a grandchild or a step outside the group is the same
+ * mistake as naming nothing.
+ */
+function checkGroups(steps) {
+    const findings = [];
+    for (const step of steps) {
+        if (step.step.kind !== "parallel" || step.step.mode !== "deadline")
+            continue;
+        const deadline = step.step.deadline;
+        const children = step.children ?? [];
+        if (deadline !== undefined && children.some((child) => child.id === deadline))
+            continue;
+        const names = children.map((child) => JSON.stringify(child.id)).join(", ");
+        findings.push({
+            severity: "error",
+            stepId: step.id,
+            code: "SCHEMA",
+            message: deadline === undefined
+                ? `This group runs until its deadline step finishes but names no deadline; name one of ${names}.`
+                : `This group's deadline names ${JSON.stringify(deadline)}, which is not one of its own steps (${names}).`,
+        });
+    }
+    return findings;
+}
+/**
+ * CONTINUITY: segment endpoints inside the tolerance, and each step starting where the robot was.
+ * The walk itself, including how sequences, parallel groups and branches chain, is
+ * `continuityGaps`, which the editor's insert-in-the-middle reads as well.
+ */
+function checkContinuity(steps, entry) {
+    return continuityGaps(steps, entry).map((gap) => ({
+        severity: "error",
+        stepId: gap.stepId,
+        code: "CONTINUITY",
+        message: gap.where === "segment"
+            ? `Segment ${String((gap.segmentIndex ?? 0) + 1)} starts ${gap.gapIn.toFixed(2)} in from where segment ${String(gap.segmentIndex ?? 0)} ended; the limit is ${String(CONTINUITY_TOLERANCE_IN)} in.`
+            : `This step starts ${gap.gapIn.toFixed(2)} in from where the robot was; the limit is ${String(CONTINUITY_TOLERANCE_IN)} in.`,
+        geometry: { pointIn: gap.pointIn },
+    }));
+}
+/** PERIMETER and STRUCTURE, over every footprint sample of every step. */
+function checkGeometry(steps, robot, field) {
+    const findings = [];
+    const bounds = fieldBounds(field);
+    const heightIn = robotHeightIn(robot);
+    const obstacles = (field.obstacles ?? []).filter((obstacle) => (obstacle.solidToRobot ?? true) && reachesRobot(obstacle, heightIn));
+    for (const step of steps) {
+        if (step.samples.length === 0)
+            continue;
+        let worstOutside = { worstIn: 0, t: 0, pointIn: { xIn: 0, yIn: 0 } };
+        const deepest = new Map();
+        for (const sample of step.samples) {
+            for (const polygon of [sample.footprintIn, ...sample.mouthsIn]) {
+                const outside = polygonOutsideBox(polygon, bounds);
+                if (outside.worstIn > PERIMETER_TOLERANCE_IN && outside.worstIn > worstOutside.worstIn) {
+                    worstOutside = {
+                        worstIn: outside.worstIn,
+                        t: sample.t,
+                        pointIn: outside.worstPointIn ?? { xIn: 0, yIn: 0 },
+                    };
+                }
+                for (const obstacle of obstacles) {
+                    const overlap = polygonOverlapsBox(polygon, obstacleBox(obstacle));
+                    if (!overlap.overlaps)
+                        continue;
+                    const seen = deepest.get(obstacle.id);
+                    if (seen === undefined || overlap.penetrationIn > seen.penetrationIn) {
+                        deepest.set(obstacle.id, { penetrationIn: overlap.penetrationIn, t: sample.t });
+                    }
+                }
+            }
+        }
+        if (worstOutside.worstIn > 0) {
+            findings.push({
+                severity: "error",
+                stepId: step.id,
+                t: worstOutside.t,
+                code: "PERIMETER",
+                message: `The footprint leaves the field by ${worstOutside.worstIn.toFixed(2)} in.`,
+                geometry: { pointIn: worstOutside.pointIn },
+            });
+        }
+        for (const [obstacleId, hit] of deepest) {
+            findings.push({
+                severity: "error",
+                stepId: step.id,
+                t: hit.t,
+                code: "STRUCTURE",
+                message: `The footprint overlaps ${obstacleId} by ${hit.penetrationIn.toFixed(2)} in at its deepest.`,
+                geometry: { obstacleId, penetrationIn: hit.penetrationIn },
+            });
+        }
+    }
+    return findings;
+}
+/** True when any finding is an error, which is what `zenith validate` exits non-zero on. */
+export const hasErrors = (findings) => findings.some((finding) => finding.severity === "error");
+//# sourceMappingURL=check.js.map

package/dist/check.js.map

@@ -0,0 +1 @@
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package/dist/checks/heading.d.ts

@@ -0,0 +1,17 @@
+import type { Finding, PlanStep } from "../types.js";
+/**
+ * HEADING: where the file asks for a heading the robot will not hold.
+ *
+ * - warning: a `linear` heading that asks one segment for more than half a turn. The runtime hands
+ *   Pedro that segment's two headings and Pedro turns the short way, so the robot goes round the
+ *   other way from the one the file wrote. The preview already draws the short way; this says so.
+ * - info: a `facePoint` heading with a non-zero `offsetRad`, which the robot runtime does not pass
+ *   to Pedro yet.
+ *
+ * HEADING_RANGES (error): a `piecewise` heading whose ranges do not run from 0 to 1 in order with no
+ * gap and no overlap. Pedro's `PiecewiseInterpolator` throws on the robot for exactly these, so the
+ * file cannot run. Inside ranges that are fine, a `linear` range over half a turn and a `facePoint`
+ * range with an offset raise the same HEADING findings as a whole-step heading.
+ */
+export declare function checkHeading(steps: readonly PlanStep[]): Finding[];
+//# sourceMappingURL=heading.d.ts.map

package/dist/checks/heading.d.ts.map

@@ -0,0 +1 @@
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