@horizon36596/zenith-core 0.1.1

package/dist/sim/follower.js

@@ -0,0 +1,472 @@
+import { normalizeAngle, normalizeSigned, theta, turnDirection } from "./pedroPath.js";
+const ZERO = { forward: 0, strafe: 0, turn: 0 };
+/** `DiamondDrivetrainModel.interpolateVelocity`. */
+export const diamondVelocity = (xRadius, yRadius, thetaRad) => 1 / (Math.abs(Math.cos(thetaRad)) / xRadius + Math.abs(Math.sin(thetaRad)) / yRadius);
+/** `Utils.solveQuadratic`: the two roots of a x^2 + b x + c, in the numerically stable form. */
+export function solveQuadratic(a, b, c) {
+    const sqrtD = Math.sqrt(b * b - 4 * a * c);
+    const signed = b < 0 || Object.is(b, -0) ? -sqrtD : sqrtD;
+    const q = -0.5 * (b + signed);
+    return [q / a, c / q];
+}
+/** `Control.clampBrakingPower`: cap power that opposes the motion at `maxBrakingPower`. */
+export function clampBrakingPower(power, directionOfMotion, max) {
+    if (directionOfMotion * power >= 0)
+        return power;
+    return Math.sign(power) * Math.min(Math.abs(power), max);
+}
+/** `Control.cosineScale`. */
+const cosineScale = (error, falloff) => Math.cos(Math.min(Math.abs(error) * (Math.PI / 2 / falloff), Math.PI / 2));
+/** `Mecanum.computeWheelPowersUnnormalized`, in [FL, FR, BL, BR] order. */
+export function wheelPowers(p, out = [0, 0, 0, 0]) {
+    out[0] = p.forward - p.strafe - p.turn;
+    out[1] = p.forward + p.strafe + p.turn;
+    out[2] = p.forward + p.strafe - p.turn;
+    out[3] = p.forward - p.strafe + p.turn;
+    return out;
+}
+const scratchA = [0, 0, 0, 0];
+const scratchB = [0, 0, 0, 0];
+/** `Mecanum.maxScaling`: the largest share of `delta` that keeps every wheel inside [-1, 1]. */
+export function mecanumMaxScaling(current, delta) {
+    let lambda = 1;
+    const a = wheelPowers(current, scratchA);
+    const b = wheelPowers(delta, scratchB);
+    for (let i = 0; i < 4; i += 1) {
+        const ai = a[i];
+        const bi = b[i];
+        if (Math.abs(bi) < 1e-9)
+            continue;
+        const t1 = (1 - ai) / bi;
+        const t2 = (-1 - ai) / bi;
+        if (t1 >= 0 && t1 < lambda)
+            lambda = t1;
+        if (t2 >= 0 && t2 < lambda)
+            lambda = t2;
+    }
+    return lambda < 0 ? 0 : lambda > 1 ? 1 : lambda;
+}
+export const initialFollowerState = () => ({
+    mode: "IDLE",
+    path: null,
+    segmentIndex: 0,
+    maxVelocityInPerS: Infinity,
+    holdPose: null,
+    closestT: 0,
+    projectedClosestT: 0,
+    curveCompletion: 0,
+    remainingDistance: 0,
+    tangentialSpeed: 0,
+    closestTangentX: 0,
+    closestTangentY: 0,
+    translationalError: 0,
+    headingError: 0,
+    busy: false,
+    holdTimerStartS: null,
+});
+export const copyFollowerState = (state) => ({
+    ...state,
+    holdPose: state.holdPose === null ? null : { ...state.holdPose },
+});
+export class PedroFollower {
+    params;
+    forwardVel;
+    strafeVel;
+    /** `Follower.holdEnd`: hold the end pose when a path finishes, rather than stop. */
+    holdEnd;
+    state;
+    constructor(params, forwardVel, strafeVel, holdEnd) {
+        this.params = params;
+        this.forwardVel = forwardVel;
+        this.strafeVel = strafeVel;
+        this.holdEnd = holdEnd;
+        this.state = initialFollowerState();
+    }
+    follow(path, speedFraction) {
+        this.clear();
+        const s = this.state;
+        s.mode = "FOLLOW";
+        s.path = path;
+        s.segmentIndex = 0;
+        // `FORESIGHT_CONFIG.setPathSpeed(f)`: the velocity cap is a fraction of the forward maximum.
+        s.maxVelocityInPerS = this.forwardVel * speedFraction;
+        this.reset();
+    }
+    hold(pose) {
+        this.clear();
+        this.state.mode = "HOLD";
+        this.state.holdPose = { ...pose };
+    }
+    stop() {
+        this.clear();
+        this.state.mode = "IDLE";
+    }
+    clear() {
+        const s = this.state;
+        s.path = null;
+        s.holdPose = null;
+        s.maxVelocityInPerS = Infinity;
+    }
+    /** `ForesightV3.reset`. */
+    reset() {
+        const s = this.state;
+        s.holdTimerStartS = null;
+        s.busy = true;
+        s.closestT = 0;
+        s.projectedClosestT = 0;
+    }
+    get following() {
+        return this.state.mode === "FOLLOW";
+    }
+    /** `PathTracker.remainingPaths`. */
+    remaining() {
+        const s = this.state;
+        return s.path === null ? 0 : s.path.segments.length - s.segmentIndex;
+    }
+    /**
+     * `Follower.update(deltaTime)`: the powers to write this tick, or null when Pedro writes none and
+     * the motors keep what they were last given (the tick a finished path hands over to the hold).
+     */
+    update(motion, nowS) {
+        const s = this.state;
+        switch (s.mode) {
+            case "FOLLOW": {
+                if (s.path === null || s.segmentIndex >= s.path.segments.length) {
+                    const end = s.path?.endPose ?? { x: motion.x, y: motion.y, heading: motion.heading };
+                    if (this.holdEnd)
+                        this.hold(end);
+                    else
+                        this.stop();
+                    return null;
+                }
+                return this.calculatePath(motion);
+            }
+            case "HOLD":
+                return this.calculateHold(motion, nowS);
+            case "IDLE":
+                return ZERO;
+        }
+    }
+    /** How far along the current path the follower says it is, as `PathMarkers.Runner` reads it. */
+    distanceAlongIn() {
+        const s = this.state;
+        const path = s.path;
+        if (path === null)
+            return 0;
+        const lengths = path.runtimeLengthsIn;
+        if (s.segmentIndex >= lengths.length)
+            return path.runtimeTotalIn;
+        let before = 0;
+        for (let i = 0; i < s.segmentIndex; i += 1)
+            before += lengths[i];
+        let completion = s.curveCompletion;
+        if (Number.isNaN(completion))
+            completion = 0;
+        completion = Math.max(0, Math.min(1, completion));
+        return before + completion * lengths[s.segmentIndex];
+    }
+    /** Pedro's hold end constraints, which `settledS` reports. */
+    endConstraintsMet() {
+        const s = this.state;
+        const p = this.params;
+        return (s.mode === "HOLD" &&
+            s.tangentialSpeed < p.endVelocityToleranceInPerS &&
+            Math.abs(s.translationalError) < p.endTranslationalToleranceIn &&
+            Math.abs(s.headingError) < p.endHeadingToleranceRad);
+    }
+    /** `ForesightV3.getBrakeDisplacement`: where braking now would leave the robot, relative to it. */
+    brakeDisplacement(motion) {
+        const p = this.params;
+        const vx = motion.twistX;
+        const vy = motion.twistY;
+        const w = motion.omega;
+        const bodyX = p.brakeQuadraticForwardS2PerIn * vx * Math.abs(vx) + p.brakeLinearForwardS * vx;
+        const bodyY = p.brakeQuadraticStrafeS2PerIn * vy * Math.abs(vy) + p.brakeLinearStrafeS * vy;
+        const headingDisp = w * Math.abs(w) * p.headingBrakeQuadraticS2PerRad + w * p.headingBrakeLinearS;
+        const h = motion.heading;
+        let dx;
+        let dy;
+        if (Math.abs(headingDisp) < 1e-9) {
+            // `Pose.exp(Twist)` with no rotation: the body displacement turned into the field frame.
+            dx = bodyX * Math.cos(h) - bodyY * Math.sin(h);
+            dy = bodyX * Math.sin(h) + bodyY * Math.cos(h);
+        }
+        else {
+            const sin = Math.sin(headingDisp);
+            const cos = Math.cos(headingDisp);
+            const localX = (sin * bodyX - (1 - cos) * bodyY) / headingDisp;
+            const localY = ((1 - cos) * bodyX + sin * bodyY) / headingDisp;
+            dx = localX * Math.cos(h) - localY * Math.sin(h);
+            dy = localX * Math.sin(h) + localY * Math.cos(h);
+        }
+        return { x: dx, y: dy, heading: normalizeAngle(headingDisp) };
+    }
+    /** `ForesightV3.getVelocityToBrakeInTime`. */
+    velocityToBrakeInTime(distance, tangent, heading) {
+        const p = this.params;
+        const cos = Math.cos(-heading);
+        const sin = Math.sin(-heading);
+        const tx = Math.abs(tangent.x * cos - tangent.y * sin);
+        const ty = Math.abs(tangent.x * sin + tangent.y * cos);
+        const k1 = p.brakeQuadraticForwardS2PerIn * tx * tx * tx + p.brakeQuadraticStrafeS2PerIn * ty * ty * ty;
+        const k2 = p.brakeLinearForwardS * tx * tx + p.brakeLinearStrafeS * ty * ty;
+        const [r1, r2] = solveQuadratic(k1, k2, -Math.abs(distance) / p.brakeAggression);
+        const result = Math.max(r1, r2) * Math.sign(distance);
+        // Pedro produces NaN here only when both the distance and the linear term are exactly zero.
+        return Number.isNaN(result) ? 0 : result;
+    }
+    /** `ForesightV3.translationalCorrection`: [error, field-frame power vector]. */
+    translationalCorrection(px, py, heading, targetX, targetY, normal) {
+        const p = this.params;
+        const ex = targetX - px;
+        const ey = targetY - py;
+        const nn = normal.x * normal.x + normal.y * normal.y;
+        if (!(nn > 0))
+            return [0, 0, 0];
+        const scale = (ex * normal.x + ey * normal.y) / nn;
+        const dispX = normal.x * scale;
+        const dispY = normal.y * scale;
+        const error = Math.hypot(dispX, dispY);
+        if (error < p.minCorrectionDistanceIn)
+            return [0, 0, 0];
+        const cos = Math.cos(-heading);
+        const sin = Math.sin(-heading);
+        const bx = dispX * cos - dispY * sin;
+        const by = dispX * sin + dispY * cos;
+        const gx = p.forwardTranslationalPowerPerIn * bx;
+        const gy = p.strafeTranslationalPowerPerIn * by;
+        const bb = bx * bx + by * by;
+        const k = bb === 0 ? 0 : (gx * bx + gy * by) / bb;
+        const cx = bx * k;
+        const cy = by * k;
+        const c2 = Math.cos(heading);
+        const s2 = Math.sin(heading);
+        return [error, cx * c2 - cy * s2, cx * s2 + cy * c2];
+    }
+    /** `ForesightPowerAllocator.getDrivePowers`. */
+    drivePowers(fx, fy, turn, motion) {
+        const h = -motion.heading;
+        const cos = Math.cos(h);
+        const sin = Math.sin(h);
+        const rx = fx * cos - fy * sin;
+        const ry = fx * sin + fy * cos;
+        const max = this.params.maxBrakingPower;
+        return {
+            forward: clampBrakingPower(rx, motion.twistX, max),
+            strafe: clampBrakingPower(ry, motion.twistY, max),
+            turn,
+        };
+    }
+    /** `ForesightPowerAllocator.allocatePowers` and `clampPowers`. */
+    allocate(motion, headingFeedforward, tx, ty, dx, dy, headingPower, translationalError, headingError) {
+        const p = this.params;
+        const translationalPriority = Math.abs(translationalError) > p.translationalDeviationToleranceIn;
+        const headingPriority = Math.abs(headingError) > p.headingDeviationToleranceRad;
+        const ff = headingFeedforward + headingPower * p.headingDriveRatio;
+        const fb = headingPower * (1 - p.headingDriveRatio);
+        // The normal feedforward vector V3 passes is zero, so it is left out of every order below.
+        const translational = { angular: false, x: tx, y: ty };
+        const drive = { angular: false, x: dx, y: dy };
+        const feedforward = { angular: true, value: ff };
+        const feedback = { angular: true, value: fb };
+        const order = translationalPriority && headingPriority
+            ? [feedforward, translational, feedback, drive]
+            : headingPriority
+                ? [feedforward, feedback, translational, drive]
+                : [feedforward, translational, drive, feedback];
+        let pathX = 0;
+        let pathY = 0;
+        let turn = 0;
+        for (const item of order) {
+            const current = this.drivePowers(pathX, pathY, turn, motion);
+            if (item.angular) {
+                const delta = this.drivePowers(0, 0, item.value, motion);
+                turn += mecanumMaxScaling(current, delta) * item.value;
+            }
+            else {
+                const delta = this.drivePowers(item.x, item.y, 0, motion);
+                const scaling = mecanumMaxScaling(current, delta);
+                pathX += item.x * scaling;
+                pathY += item.y * scaling;
+            }
+        }
+        return this.drivePowers(pathX, pathY, turn, motion);
+    }
+    /** `ForesightV3.calculatePath`, with Pedro's recursion on advancing a segment as a loop. */
+    calculatePath(motion) {
+        const s = this.state;
+        const p = this.params;
+        const path = s.path;
+        for (let guard = 0; guard <= path.segments.length; guard += 1) {
+            const segment = path.segments[s.segmentIndex];
+            if (segment === undefined)
+                return ZERO;
+            const curve = segment.curve;
+            s.closestT = curve.closestT(motion.x, motion.y, s.closestT);
+            if (s.closestT >= 1 - p.endParametricT) {
+                // The end constraint: this segment is done. Advance, and either carry on with the next one
+                // this same tick or, at the last, drive nothing and let the next update hand over to hold.
+                s.closestT = 1;
+                s.segmentIndex += 1;
+                this.reset();
+                if (s.segmentIndex < path.segments.length)
+                    continue;
+                return ZERO;
+            }
+            const targetHeading = segment.heading(s.closestT);
+            const closest = curve.get(s.closestT);
+            s.remainingDistance = curve.remainingDistance(s.closestT);
+            s.curveCompletion = curve.lengthIn === 0 ? 1 : 1 - s.remainingDistance / curve.lengthIn;
+            const tangent = curve.tangent(s.closestT);
+            s.closestTangentX = tangent.x;
+            s.closestTangentY = tangent.y;
+            s.tangentialSpeed = motion.vx * tangent.x + motion.vy * tangent.y;
+            s.translationalError = Math.hypot(motion.x - closest.x, motion.y - closest.y);
+            s.headingError = normalizeSigned(targetHeading - motion.heading);
+            const disp = this.brakeDisplacement(motion);
+            const projX = motion.x + disp.x;
+            const projY = motion.y + disp.y;
+            const projHeading = normalizeAngle(motion.heading + disp.heading);
+            s.projectedClosestT = curve.closestT(projX, projY, s.projectedClosestT);
+            const projectedTargetHeading = segment.heading(s.projectedClosestT);
+            const projTangent = curve.tangent(s.projectedClosestT);
+            const projTarget = curve.get(s.projectedClosestT);
+            const projNormal = { x: -projTangent.y, y: projTangent.x };
+            let projectedRemaining = curve.remainingDistance(s.projectedClosestT);
+            if (projectedRemaining <= 0.01) {
+                projectedRemaining =
+                    projTangent.x * (projTarget.x - projX) + projTangent.y * (projTarget.y - projY);
+            }
+            const angleToTangent = theta(projTangent) - projHeading;
+            const brakeVelocity = this.velocityToBrakeInTime(projectedRemaining, projTangent, projHeading);
+            const isBraking = brakeVelocity <= 0 || projectedRemaining <= 0;
+            // `brakeAtEnd` is true in biobuzz and by default, so only a segment before the last hands
+            // over early: once the projected stop passes its end, the next segment takes the robot.
+            if (isBraking && this.remaining() > 1) {
+                s.segmentIndex += 1;
+                continue;
+            }
+            const headingError = normalizeSigned(projectedTargetHeading - projHeading);
+            const currentHeadingError = normalizeSigned(targetHeading - motion.heading);
+            const total = p.headingPowerPerRad * headingError;
+            let feedback = p.headingPowerPerRad * currentHeadingError;
+            let feedforward;
+            if (Math.abs(total) <= 1e-3) {
+                feedback = 0;
+                feedforward = 0;
+            }
+            else if (total * feedback < 0) {
+                feedforward = total;
+                feedback = 0;
+            }
+            else if (Math.abs(feedback) >= Math.abs(total)) {
+                feedforward = 0;
+                feedback = total;
+            }
+            else {
+                feedforward = total - feedback;
+            }
+            feedforward += p.headingStaticPower * Math.sign(turnDirection(headingError));
+            const drivePower = this.drivePower(isBraking, brakeVelocity, angleToTangent);
+            let driveX = projTangent.x * drivePower;
+            let driveY = projTangent.y * drivePower;
+            const [translationalError, tx, ty] = this.translationalCorrection(projX, projY, projHeading, projTarget.x, projTarget.y, projNormal);
+            if (s.projectedClosestT <= p.endParametricT) {
+                const start = curve.start;
+                const toStartX = start.x - projX;
+                const toStartY = start.y - projY;
+                const alongToStart = toStartX * s.closestTangentX + toStartY * s.closestTangentY;
+                const beforePath = alongToStart > 1 && translationalError > p.translationalDeviationToleranceIn;
+                const headingBeforePath = Math.abs(headingError) > p.headingDeviationToleranceRad;
+                if (beforePath && p.cosineScale) {
+                    driveX *= alongToStart / translationalError;
+                    driveY *= alongToStart / translationalError;
+                }
+                if (headingBeforePath && p.cosineScale) {
+                    if (p.turnBeforeDriving) {
+                        driveX = 0;
+                        driveY = 0;
+                    }
+                    const scalar = this.driveScalar(0, headingError);
+                    driveX *= scalar;
+                    driveY *= scalar;
+                }
+            }
+            else if ((Math.abs(headingError) > 2 * p.headingDeviationToleranceRad ||
+                Math.abs(translationalError) > 2 * p.translationalDeviationToleranceIn) &&
+                p.cosineScale) {
+                const scalar = this.driveScalar(translationalError, headingError);
+                driveX *= scalar;
+                driveY *= scalar;
+            }
+            return this.allocate(motion, feedforward, tx, ty, driveX, driveY, feedback, translationalError, headingError);
+        }
+        return ZERO;
+    }
+    /** `ForesightPowerAllocator.getDriveScalar`. */
+    driveScalar(normalError, headingError) {
+        const p = this.params;
+        return (cosineScale(normalError, p.translationalDeviationToleranceIn) *
+            cosineScale(headingError, p.headingDeviationToleranceRad));
+    }
+    /** `ForesightV3.drive` and `coast`, with no acceleration or deceleration constraint set. */
+    drivePower(isBraking, profiledVelocity, angleToTangent) {
+        const p = this.params;
+        const maxAchievable = diamondVelocity(this.forwardVel, this.strafeVel, angleToTangent);
+        const target = Math.min(profiledVelocity, maxAchievable);
+        if (isBraking)
+            return p.brakeFeedforwardPowerPerInPerS * target;
+        let coastTarget = maxAchievable;
+        if (Number.isFinite(this.state.maxVelocityInPerS)) {
+            coastTarget = Math.min(coastTarget, this.state.maxVelocityInPerS);
+        }
+        if (coastTarget >= maxAchievable)
+            return 1;
+        const error = Math.max(0, coastTarget);
+        return Math.max(p.coastPowerPerInPerS * error + p.coastFeedforwardPowerPerInPerS * coastTarget, 0);
+    }
+    /** `ForesightV3.calculateHold`, without the optional hold scaling (`hold(pose)` passes false). */
+    calculateHold(motion, nowS) {
+        const s = this.state;
+        const p = this.params;
+        const target = s.holdPose;
+        if (s.holdTimerStartS === null)
+            s.holdTimerStartS = nowS;
+        const disp = this.brakeDisplacement(motion);
+        const projX = motion.x + disp.x;
+        const projY = motion.y + disp.y;
+        const projHeading = normalizeAngle(motion.heading + disp.heading);
+        const projError = normalizeSigned(target.heading - projHeading);
+        const headingCorrection = p.headingPowerPerRad * projError + p.headingStaticPower * Math.sign(turnDirection(projError));
+        s.headingError = normalizeSigned(target.heading - motion.heading);
+        const dispX = target.x - projX;
+        const dispY = target.y - projY;
+        const dist = Math.hypot(dispX, dispY);
+        s.translationalError = Math.hypot(target.x - motion.x, target.y - motion.y);
+        if (dist < 1e-9) {
+            s.tangentialSpeed = 0;
+            s.closestTangentX = 0;
+            s.closestTangentY = 0;
+        }
+        else {
+            s.closestTangentX = dispX / dist;
+            s.closestTangentY = dispY / dist;
+            s.tangentialSpeed = s.closestTangentX * motion.vx + s.closestTangentY * motion.vy;
+        }
+        const timedOut = nowS - s.holdTimerStartS > p.holdTimeoutS;
+        if ((s.busy && timedOut) || this.endConstraintsMet())
+            s.busy = false;
+        // Pedro divides by the distance here and so produces NaN when the projected pose sits exactly on
+        // the target; `CachedMotor` then ignores the NaN. No correction is the same outcome.
+        let tx = 0;
+        let ty = 0;
+        if (dist >= 1e-9) {
+            [, tx, ty] = this.translationalCorrection(projX, projY, projHeading, target.x, target.y, {
+                x: dispX / dist,
+                y: dispY / dist,
+            });
+        }
+        return this.drivePowers(tx, ty, headingCorrection, motion);
+    }
+}
+//# sourceMappingURL=follower.js.map

package/dist/sim/follower.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"follower.js","sourceRoot":"","sources":["../../src/sim/follower.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,cAAc,EAAE,eAAe,EAAE,KAAK,EAAE,aAAa,EAAgB,MAAM,gBAAgB,CAAC;AA0CrG,MAAM,IAAI,GAAgB,EAAE,OAAO,EAAE,CAAC,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,CAAC;AAE7D,oDAAoD;AACpD,MAAM,CAAC,MAAM,eAAe,GAAG,CAAC,OAAe,EAAE,OAAe,EAAE,QAAgB,EAAU,EAAE,CAC5F,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC,GAAG,OAAO,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC;AAExF,gGAAgG;AAChG,MAAM,UAAU,cAAc,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS;IAC5D,MAAM,KAAK,GAAG,IAAI,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;IAC3C,MAAM,MAAM,GAAG,CAAC,GAAG,CAAC,IAAI,MAAM,CAAC,EAAE,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC;IAC1D,MAAM,CAAC,GAAG,CAAC,GAAG,GAAG,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC;IAC9B,OAAO,CAAC,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,CAAC;AACxB,CAAC;AAED,2FAA2F;AAC3F,MAAM,UAAU,iBAAiB,CAAC,KAAa,EAAE,iBAAyB,EAAE,GAAW;IACrF,IAAI,iBAAiB,GAAG,KAAK,IAAI,CAAC;QAAE,OAAO,KAAK,CAAC;IACjD,OAAO,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,GAAG,CAAC,CAAC;AAC3D,CAAC;AAED,6BAA6B;AAC7B,MAAM,WAAW,GAAG,CAAC,KAAa,EAAE,OAAe,EAAU,EAAE,CAC7D,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,GAAG,OAAO,CAAC,EAAE,IAAI,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC;AAE7E,2EAA2E;AAC3E,MAAM,UAAU,WAAW,CAAC,CAAc,EAAE,MAAgB,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;IACtE,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,OAAO,GAAG,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,IAAI,CAAC;IACvC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,OAAO,GAAG,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,IAAI,CAAC;IACvC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,OAAO,GAAG,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,IAAI,CAAC;IACvC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,OAAO,GAAG,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,IAAI,CAAC;IACvC,OAAO,GAAG,CAAC;AACb,CAAC;AAED,MAAM,QAAQ,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAC9B,MAAM,QAAQ,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;AAE9B,gGAAgG;AAChG,MAAM,UAAU,iBAAiB,CAAC,OAAoB,EAAE,KAAkB;IACxE,IAAI,MAAM,GAAG,CAAC,CAAC;IACf,MAAM,CAAC,GAAG,WAAW,CAAC,OAAO,EAAE,QAAQ,CAAC,CAAC;IACzC,MAAM,CAAC,GAAG,WAAW,CAAC,KAAK,EAAE,QAAQ,CAAC,CAAC;IACvC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,EAAE,CAAC,IAAI,CAAC,EAAE,CAAC;QAC9B,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAW,CAAC;QAC1B,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,CAAW,CAAC;QAC1B,IAAI,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,IAAI;YAAE,SAAS;QAClC,MAAM,EAAE,GAAG,CAAC,CAAC,GAAG,EAAE,CAAC,GAAG,EAAE,CAAC;QACzB,MAAM,EAAE,GAAG,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC,GAAG,EAAE,CAAC;QAC1B,IAAI,EAAE,IAAI,CAAC,IAAI,EAAE,GAAG,MAAM;YAAE,MAAM,GAAG,EAAE,CAAC;QACxC,IAAI,EAAE,IAAI,CAAC,IAAI,EAAE,GAAG,MAAM;YAAE,MAAM,GAAG,EAAE,CAAC;IAC1C,CAAC;IACD,OAAO,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC;AAClD,CAAC;AAwBD,MAAM,CAAC,MAAM,oBAAoB,GAAG,GAAkB,EAAE,CAAC,CAAC;IACxD,IAAI,EAAE,MAAM;IACZ,IAAI,EAAE,IAAI;IACV,YAAY,EAAE,CAAC;IACf,iBAAiB,EAAE,QAAQ;IAC3B,QAAQ,EAAE,IAAI;IACd,QAAQ,EAAE,CAAC;IACX,iBAAiB,EAAE,CAAC;IACpB,eAAe,EAAE,CAAC;IAClB,iBAAiB,EAAE,CAAC;IACpB,eAAe,EAAE,CAAC;IAClB,eAAe,EAAE,CAAC;IAClB,eAAe,EAAE,CAAC;IAClB,kBAAkB,EAAE,CAAC;IACrB,YAAY,EAAE,CAAC;IACf,IAAI,EAAE,KAAK;IACX,eAAe,EAAE,IAAI;CACtB,CAAC,CAAC;AAEH,MAAM,CAAC,MAAM,iBAAiB,GAAG,CAAC,KAAoB,EAAiB,EAAE,CAAC,CAAC;IACzE,GAAG,KAAK;IACR,QAAQ,EAAE,KAAK,CAAC,QAAQ,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,EAAE,GAAG,KAAK,CAAC,QAAQ,EAAE;CACjE,CAAC,CAAC;AAKH,MAAM,OAAO,aAAa;IACf,MAAM,CAAiB;IACvB,UAAU,CAAS;IACnB,SAAS,CAAS;IAC3B,oFAAoF;IAC3E,OAAO,CAAU;IAC1B,KAAK,CAAgB;IAErB,YAAY,MAAsB,EAAE,UAAkB,EAAE,SAAiB,EAAE,OAAgB;QACzF,IAAI,CAAC,MAAM,GAAG,MAAM,CAAC;QACrB,IAAI,CAAC,UAAU,GAAG,UAAU,CAAC;QAC7B,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;QAC3B,IAAI,CAAC,OAAO,GAAG,OAAO,CAAC;QACvB,IAAI,CAAC,KAAK,GAAG,oBAAoB,EAAE,CAAC;IACtC,CAAC;IAED,MAAM,CAAC,IAAa,EAAE,aAAqB;QACzC,IAAI,CAAC,KAAK,EAAE,CAAC;QACb,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,CAAC,CAAC,IAAI,GAAG,QAAQ,CAAC;QAClB,CAAC,CAAC,IAAI,GAAG,IAAI,CAAC;QACd,CAAC,CAAC,YAAY,GAAG,CAAC,CAAC;QACnB,6FAA6F;QAC7F,CAAC,CAAC,iBAAiB,GAAG,IAAI,CAAC,UAAU,GAAG,aAAa,CAAC;QACtD,IAAI,CAAC,KAAK,EAAE,CAAC;IACf,CAAC;IAED,IAAI,CAAC,IAA+C;QAClD,IAAI,CAAC,KAAK,EAAE,CAAC;QACb,IAAI,CAAC,KAAK,CAAC,IAAI,GAAG,MAAM,CAAC;QACzB,IAAI,CAAC,KAAK,CAAC,QAAQ,GAAG,EAAE,GAAG,IAAI,EAAE,CAAC;IACpC,CAAC;IAED,IAAI;QACF,IAAI,CAAC,KAAK,EAAE,CAAC;QACb,IAAI,CAAC,KAAK,CAAC,IAAI,GAAG,MAAM,CAAC;IAC3B,CAAC;IAEO,KAAK;QACX,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,CAAC,CAAC,IAAI,GAAG,IAAI,CAAC;QACd,CAAC,CAAC,QAAQ,GAAG,IAAI,CAAC;QAClB,CAAC,CAAC,iBAAiB,GAAG,QAAQ,CAAC;IACjC,CAAC;IAED,2BAA2B;IACnB,KAAK;QACX,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,CAAC,CAAC,eAAe,GAAG,IAAI,CAAC;QACzB,CAAC,CAAC,IAAI,GAAG,IAAI,CAAC;QACd,CAAC,CAAC,QAAQ,GAAG,CAAC,CAAC;QACf,CAAC,CAAC,iBAAiB,GAAG,CAAC,CAAC;IAC1B,CAAC;IAED,IAAI,SAAS;QACX,OAAO,IAAI,CAAC,KAAK,CAAC,IAAI,KAAK,QAAQ,CAAC;IACtC,CAAC;IAED,oCAAoC;IAC5B,SAAS;QACf,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,OAAO,CAAC,CAAC,IAAI,KAAK,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,CAAC,CAAC,YAAY,CAAC;IACvE,CAAC;IAED;;;OAGG;IACH,MAAM,CAAC,MAAmB,EAAE,IAAY;QACtC,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,QAAQ,CAAC,CAAC,IAAI,EAAE,CAAC;YACf,KAAK,QAAQ,CAAC,CAAC,CAAC;gBACd,IAAI,CAAC,CAAC,IAAI,KAAK,IAAI,IAAI,CAAC,CAAC,YAAY,IAAI,CAAC,CAAC,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,CAAC;oBAChE,MAAM,GAAG,GAAG,CAAC,CAAC,IAAI,EAAE,OAAO,IAAI,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,OAAO,EAAE,MAAM,CAAC,OAAO,EAAE,CAAC;oBACrF,IAAI,IAAI,CAAC,OAAO;wBAAE,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;;wBAC5B,IAAI,CAAC,IAAI,EAAE,CAAC;oBACjB,OAAO,IAAI,CAAC;gBACd,CAAC;gBACD,OAAO,IAAI,CAAC,aAAa,CAAC,MAAM,CAAC,CAAC;YACpC,CAAC;YACD,KAAK,MAAM;gBACT,OAAO,IAAI,CAAC,aAAa,CAAC,MAAM,EAAE,IAAI,CAAC,CAAC;YAC1C,KAAK,MAAM;gBACT,OAAO,IAAI,CAAC;QAChB,CAAC;IACH,CAAC;IAED,gGAAgG;IAChG,eAAe;QACb,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,MAAM,IAAI,GAAG,CAAC,CAAC,IAAI,CAAC;QACpB,IAAI,IAAI,KAAK,IAAI;YAAE,OAAO,CAAC,CAAC;QAC5B,MAAM,OAAO,GAAG,IAAI,CAAC,gBAAgB,CAAC;QACtC,IAAI,CAAC,CAAC,YAAY,IAAI,OAAO,CAAC,MAAM;YAAE,OAAO,IAAI,CAAC,cAAc,CAAC;QACjE,IAAI,MAAM,GAAG,CAAC,CAAC;QACf,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,YAAY,EAAE,CAAC,IAAI,CAAC;YAAE,MAAM,IAAI,OAAO,CAAC,CAAC,CAAW,CAAC;QAC3E,IAAI,UAAU,GAAG,CAAC,CAAC,eAAe,CAAC;QACnC,IAAI,MAAM,CAAC,KAAK,CAAC,UAAU,CAAC;YAAE,UAAU,GAAG,CAAC,CAAC;QAC7C,UAAU,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,UAAU,CAAC,CAAC,CAAC;QAClD,OAAO,MAAM,GAAG,UAAU,GAAI,OAAO,CAAC,CAAC,CAAC,YAAY,CAAY,CAAC;IACnE,CAAC;IAED,8DAA8D;IAC9D,iBAAiB;QACf,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,OAAO,CACL,CAAC,CAAC,IAAI,KAAK,MAAM;YACjB,CAAC,CAAC,eAAe,GAAG,CAAC,CAAC,0BAA0B;YAChD,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,kBAAkB,CAAC,GAAG,CAAC,CAAC,2BAA2B;YAC9D,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,YAAY,CAAC,GAAG,CAAC,CAAC,sBAAsB,CACpD,CAAC;IACJ,CAAC;IAED,mGAAmG;IAC3F,iBAAiB,CAAC,MAAmB;QAC3C,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,EAAE,GAAG,MAAM,CAAC,MAAM,CAAC;QACzB,MAAM,EAAE,GAAG,MAAM,CAAC,MAAM,CAAC;QACzB,MAAM,CAAC,GAAG,MAAM,CAAC,KAAK,CAAC;QACvB,MAAM,KAAK,GAAG,CAAC,CAAC,4BAA4B,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,mBAAmB,GAAG,EAAE,CAAC;QAC9F,MAAM,KAAK,GAAG,CAAC,CAAC,2BAA2B,GAAG,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,CAAC,CAAC,kBAAkB,GAAG,EAAE,CAAC;QAC5F,MAAM,WAAW,GAAG,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,6BAA6B,GAAG,CAAC,GAAG,CAAC,CAAC,mBAAmB,CAAC;QAClG,MAAM,CAAC,GAAG,MAAM,CAAC,OAAO,CAAC;QACzB,IAAI,EAAU,CAAC;QACf,IAAI,EAAU,CAAC;QACf,IAAI,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,GAAG,IAAI,EAAE,CAAC;YACjC,yFAAyF;YACzF,EAAE,GAAG,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;YAC/C,EAAE,GAAG,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACjD,CAAC;aAAM,CAAC;YACN,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,CAAC;YAClC,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,CAAC,CAAC;YAClC,MAAM,MAAM,GAAG,CAAC,GAAG,GAAG,KAAK,GAAG,CAAC,CAAC,GAAG,GAAG,CAAC,GAAG,KAAK,CAAC,GAAG,WAAW,CAAC;YAC/D,MAAM,MAAM,GAAG,CAAC,CAAC,CAAC,GAAG,GAAG,CAAC,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK,CAAC,GAAG,WAAW,CAAC;YAC/D,EAAE,GAAG,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;YACjD,EAAE,GAAG,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,GAAG,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACnD,CAAC;QACD,OAAO,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,OAAO,EAAE,cAAc,CAAC,WAAW,CAAC,EAAE,CAAC;IAChE,CAAC;IAED,8CAA8C;IACtC,qBAAqB,CAAC,QAAgB,EAAE,OAAW,EAAE,OAAe;QAC1E,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC;QAC/B,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC;QAC/B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,GAAG,GAAG,GAAG,OAAO,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC;QACvD,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC,GAAG,GAAG,GAAG,OAAO,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC;QACvD,MAAM,EAAE,GAAG,CAAC,CAAC,4BAA4B,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC,2BAA2B,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;QACxG,MAAM,EAAE,GAAG,CAAC,CAAC,mBAAmB,GAAG,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC,kBAAkB,GAAG,EAAE,GAAG,EAAE,CAAC;QAC5E,MAAM,CAAC,EAAE,EAAE,EAAE,CAAC,GAAG,cAAc,CAAC,EAAE,EAAE,EAAE,EAAE,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,eAAe,CAAC,CAAC;QACjF,MAAM,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,CAAC,GAAG,IAAI,CAAC,IAAI,CAAC,QAAQ,CAAC,CAAC;QACtD,4FAA4F;QAC5F,OAAO,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC;IAC3C,CAAC;IAED,gFAAgF;IACxE,uBAAuB,CAC7B,EAAU,EACV,EAAU,EACV,OAAe,EACf,OAAe,EACf,OAAe,EACf,MAAU;QAEV,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,EAAE,GAAG,OAAO,GAAG,EAAE,CAAC;QACxB,MAAM,EAAE,GAAG,OAAO,GAAG,EAAE,CAAC;QACxB,MAAM,EAAE,GAAG,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC;QACrD,IAAI,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC;YAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QAChC,MAAM,KAAK,GAAG,CAAC,EAAE,GAAG,MAAM,CAAC,CAAC,GAAG,EAAE,GAAG,MAAM,CAAC,CAAC,CAAC,GAAG,EAAE,CAAC;QACnD,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,KAAK,CAAC;QAC/B,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,KAAK,CAAC;QAC/B,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QACvC,IAAI,KAAK,GAAG,CAAC,CAAC,uBAAuB;YAAE,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACxD,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC;QAC/B,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,OAAO,CAAC,CAAC;QAC/B,MAAM,EAAE,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,CAAC;QACrC,MAAM,EAAE,GAAG,KAAK,GAAG,GAAG,GAAG,KAAK,GAAG,GAAG,CAAC;QACrC,MAAM,EAAE,GAAG,CAAC,CAAC,8BAA8B,GAAG,EAAE,CAAC;QACjD,MAAM,EAAE,GAAG,CAAC,CAAC,6BAA6B,GAAG,EAAE,CAAC;QAChD,MAAM,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC;QAC7B,MAAM,CAAC,GAAG,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,GAAG,EAAE,CAAC;QAClD,MAAM,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;QAClB,MAAM,EAAE,GAAG,EAAE,GAAG,CAAC,CAAC;QAClB,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QAC7B,MAAM,EAAE,GAAG,IAAI,CAAC,GAAG,CAAC,OAAO,CAAC,CAAC;QAC7B,OAAO,CAAC,KAAK,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,EAAE,EAAE,GAAG,EAAE,GAAG,EAAE,GAAG,EAAE,CAAC,CAAC;IACvD,CAAC;IAED,gDAAgD;IACxC,WAAW,CAAC,EAAU,EAAE,EAAU,EAAE,IAAY,EAAE,MAAmB;QAC3E,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,OAAO,CAAC;QAC1B,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACxB,MAAM,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;QACxB,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;QAC/B,MAAM,EAAE,GAAG,EAAE,GAAG,GAAG,GAAG,EAAE,GAAG,GAAG,CAAC;QAC/B,MAAM,GAAG,GAAG,IAAI,CAAC,MAAM,CAAC,eAAe,CAAC;QACxC,OAAO;YACL,OAAO,EAAE,iBAAiB,CAAC,EAAE,EAAE,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC;YAClD,MAAM,EAAE,iBAAiB,CAAC,EAAE,EAAE,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC;YACjD,IAAI;SACL,CAAC;IACJ,CAAC;IAED,kEAAkE;IAC1D,QAAQ,CACd,MAAmB,EACnB,kBAA0B,EAC1B,EAAU,EACV,EAAU,EACV,EAAU,EACV,EAAU,EACV,YAAoB,EACpB,kBAA0B,EAC1B,YAAoB;QAEpB,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,qBAAqB,GAAG,IAAI,CAAC,GAAG,CAAC,kBAAkB,CAAC,GAAG,CAAC,CAAC,iCAAiC,CAAC;QACjG,MAAM,eAAe,GAAG,IAAI,CAAC,GAAG,CAAC,YAAY,CAAC,GAAG,CAAC,CAAC,4BAA4B,CAAC;QAChF,MAAM,EAAE,GAAG,kBAAkB,GAAG,YAAY,GAAG,CAAC,CAAC,iBAAiB,CAAC;QACnE,MAAM,EAAE,GAAG,YAAY,GAAG,CAAC,CAAC,GAAG,CAAC,CAAC,iBAAiB,CAAC,CAAC;QAEpD,2FAA2F;QAC3F,MAAM,aAAa,GAAW,EAAE,OAAO,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC;QAC/D,MAAM,KAAK,GAAW,EAAE,OAAO,EAAE,KAAK,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC,EAAE,EAAE,EAAE,CAAC;QACvD,MAAM,WAAW,GAAW,EAAE,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC;QACzD,MAAM,QAAQ,GAAW,EAAE,OAAO,EAAE,IAAI,EAAE,KAAK,EAAE,EAAE,EAAE,CAAC;QACtD,MAAM,KAAK,GACT,qBAAqB,IAAI,eAAe;YACtC,CAAC,CAAC,CAAC,WAAW,EAAE,aAAa,EAAE,QAAQ,EAAE,KAAK,CAAC;YAC/C,CAAC,CAAC,eAAe;gBACf,CAAC,CAAC,CAAC,WAAW,EAAE,QAAQ,EAAE,aAAa,EAAE,KAAK,CAAC;gBAC/C,CAAC,CAAC,CAAC,WAAW,EAAE,aAAa,EAAE,KAAK,EAAE,QAAQ,CAAC,CAAC;QAEtD,IAAI,KAAK,GAAG,CAAC,CAAC;QACd,IAAI,KAAK,GAAG,CAAC,CAAC;QACd,IAAI,IAAI,GAAG,CAAC,CAAC;QACb,KAAK,MAAM,IAAI,IAAI,KAAK,EAAE,CAAC;YACzB,MAAM,OAAO,GAAG,IAAI,CAAC,WAAW,CAAC,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,MAAM,CAAC,CAAC;YAC7D,IAAI,IAAI,CAAC,OAAO,EAAE,CAAC;gBACjB,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,EAAE,IAAI,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;gBACzD,IAAI,IAAI,iBAAiB,CAAC,OAAO,EAAE,KAAK,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;YACzD,CAAC;iBAAM,CAAC;gBACN,MAAM,KAAK,GAAG,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC,EAAE,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,MAAM,CAAC,CAAC;gBAC1D,MAAM,OAAO,GAAG,iBAAiB,CAAC,OAAO,EAAE,KAAK,CAAC,CAAC;gBAClD,KAAK,IAAI,IAAI,CAAC,CAAC,GAAG,OAAO,CAAC;gBAC1B,KAAK,IAAI,IAAI,CAAC,CAAC,GAAG,OAAO,CAAC;YAC5B,CAAC;QACH,CAAC;QACD,OAAO,IAAI,CAAC,WAAW,CAAC,KAAK,EAAE,KAAK,EAAE,IAAI,EAAE,MAAM,CAAC,CAAC;IACtD,CAAC;IAED,4FAA4F;IACpF,aAAa,CAAC,MAAmB;QACvC,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,IAAI,GAAG,CAAC,CAAC,IAAe,CAAC;QAE/B,KAAK,IAAI,KAAK,GAAG,CAAC,EAAE,KAAK,IAAI,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,KAAK,IAAI,CAAC,EAAE,CAAC;YAC9D,MAAM,OAAO,GAAG,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,YAAY,CAAC,CAAC;YAC9C,IAAI,OAAO,KAAK,SAAS;gBAAE,OAAO,IAAI,CAAC;YACvC,MAAM,KAAK,GAAG,OAAO,CAAC,KAAK,CAAC;YAE5B,CAAC,CAAC,QAAQ,GAAG,KAAK,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE,CAAC,CAAC,QAAQ,CAAC,CAAC;YAC5D,IAAI,CAAC,CAAC,QAAQ,IAAI,CAAC,GAAG,CAAC,CAAC,cAAc,EAAE,CAAC;gBACvC,2FAA2F;gBAC3F,2FAA2F;gBAC3F,CAAC,CAAC,QAAQ,GAAG,CAAC,CAAC;gBACf,CAAC,CAAC,YAAY,IAAI,CAAC,CAAC;gBACpB,IAAI,CAAC,KAAK,EAAE,CAAC;gBACb,IAAI,CAAC,CAAC,YAAY,GAAG,IAAI,CAAC,QAAQ,CAAC,MAAM;oBAAE,SAAS;gBACpD,OAAO,IAAI,CAAC;YACd,CAAC;YAED,MAAM,aAAa,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC;YAClD,MAAM,OAAO,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC;YACtC,CAAC,CAAC,iBAAiB,GAAG,KAAK,CAAC,iBAAiB,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC;YAC1D,CAAC,CAAC,eAAe,GAAG,KAAK,CAAC,QAAQ,KAAK,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,iBAAiB,GAAG,KAAK,CAAC,QAAQ,CAAC;YACxF,MAAM,OAAO,GAAG,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,QAAQ,CAAC,CAAC;YAC1C,CAAC,CAAC,eAAe,GAAG,OAAO,CAAC,CAAC,CAAC;YAC9B,CAAC,CAAC,eAAe,GAAG,OAAO,CAAC,CAAC,CAAC;YAC9B,CAAC,CAAC,eAAe,GAAG,MAAM,CAAC,EAAE,GAAG,OAAO,CAAC,CAAC,GAAG,MAAM,CAAC,EAAE,GAAG,OAAO,CAAC,CAAC,CAAC;YAClE,CAAC,CAAC,kBAAkB,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,OAAO,CAAC,CAAC,CAAC,CAAC;YAC9E,CAAC,CAAC,YAAY,GAAG,eAAe,CAAC,aAAa,GAAG,MAAM,CAAC,OAAO,CAAC,CAAC;YAEjE,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,CAAC,MAAM,CAAC,CAAC;YAC5C,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;YAChC,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;YAChC,MAAM,WAAW,GAAG,cAAc,CAAC,MAAM,CAAC,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC;YAClE,CAAC,CAAC,iBAAiB,GAAG,KAAK,CAAC,QAAQ,CAAC,KAAK,EAAE,KAAK,EAAE,CAAC,CAAC,iBAAiB,CAAC,CAAC;YACxE,MAAM,sBAAsB,GAAG,OAAO,CAAC,OAAO,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC;YACpE,MAAM,WAAW,GAAG,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC;YACvD,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC;YAClD,MAAM,UAAU,GAAG,EAAE,CAAC,EAAE,CAAC,WAAW,CAAC,CAAC,EAAE,CAAC,EAAE,WAAW,CAAC,CAAC,EAAE,CAAC;YAC3D,IAAI,kBAAkB,GAAG,KAAK,CAAC,iBAAiB,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC;YACtE,IAAI,kBAAkB,IAAI,IAAI,EAAE,CAAC;gBAC/B,kBAAkB;oBAChB,WAAW,CAAC,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC,GAAG,KAAK,CAAC,GAAG,WAAW,CAAC,CAAC,GAAG,CAAC,UAAU,CAAC,CAAC,GAAG,KAAK,CAAC,CAAC;YACpF,CAAC;YACD,MAAM,cAAc,GAAG,KAAK,CAAC,WAAW,CAAC,GAAG,WAAW,CAAC;YAExD,MAAM,aAAa,GAAG,IAAI,CAAC,qBAAqB,CAAC,kBAAkB,EAAE,WAAW,EAAE,WAAW,CAAC,CAAC;YAC/F,MAAM,SAAS,GAAG,aAAa,IAAI,CAAC,IAAI,kBAAkB,IAAI,CAAC,CAAC;YAEhE,0FAA0F;YAC1F,wFAAwF;YACxF,IAAI,SAAS,IAAI,IAAI,CAAC,SAAS,EAAE,GAAG,CAAC,EAAE,CAAC;gBACtC,CAAC,CAAC,YAAY,IAAI,CAAC,CAAC;gBACpB,SAAS;YACX,CAAC;YAED,MAAM,YAAY,GAAG,eAAe,CAAC,sBAAsB,GAAG,WAAW,CAAC,CAAC;YAC3E,MAAM,mBAAmB,GAAG,eAAe,CAAC,aAAa,GAAG,MAAM,CAAC,OAAO,CAAC,CAAC;YAC5E,MAAM,KAAK,GAAG,CAAC,CAAC,kBAAkB,GAAG,YAAY,CAAC;YAClD,IAAI,QAAQ,GAAG,CAAC,CAAC,kBAAkB,GAAG,mBAAmB,CAAC;YAC1D,IAAI,WAAmB,CAAC;YACxB,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,IAAI,EAAE,CAAC;gBAC5B,QAAQ,GAAG,CAAC,CAAC;gBACb,WAAW,GAAG,CAAC,CAAC;YAClB,CAAC;iBAAM,IAAI,KAAK,GAAG,QAAQ,GAAG,CAAC,EAAE,CAAC;gBAChC,WAAW,GAAG,KAAK,CAAC;gBACpB,QAAQ,GAAG,CAAC,CAAC;YACf,CAAC;iBAAM,IAAI,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,IAAI,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;gBACjD,WAAW,GAAG,CAAC,CAAC;gBAChB,QAAQ,GAAG,KAAK,CAAC;YACnB,CAAC;iBAAM,CAAC;gBACN,WAAW,GAAG,KAAK,GAAG,QAAQ,CAAC;YACjC,CAAC;YACD,WAAW,IAAI,CAAC,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,CAAC,aAAa,CAAC,YAAY,CAAC,CAAC,CAAC;YAE7E,MAAM,UAAU,GAAG,IAAI,CAAC,UAAU,CAAC,SAAS,EAAE,aAAa,EAAE,cAAc,CAAC,CAAC;YAC7E,IAAI,MAAM,GAAG,WAAW,CAAC,CAAC,GAAG,UAAU,CAAC;YACxC,IAAI,MAAM,GAAG,WAAW,CAAC,CAAC,GAAG,UAAU,CAAC;YAExC,MAAM,CAAC,kBAAkB,EAAE,EAAE,EAAE,EAAE,CAAC,GAAG,IAAI,CAAC,uBAAuB,CAC/D,KAAK,EACL,KAAK,EACL,WAAW,EACX,UAAU,CAAC,CAAC,EACZ,UAAU,CAAC,CAAC,EACZ,UAAU,CACX,CAAC;YAEF,IAAI,CAAC,CAAC,iBAAiB,IAAI,CAAC,CAAC,cAAc,EAAE,CAAC;gBAC5C,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC;gBAC1B,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC;gBACjC,MAAM,QAAQ,GAAG,KAAK,CAAC,CAAC,GAAG,KAAK,CAAC;gBACjC,MAAM,YAAY,GAAG,QAAQ,GAAG,CAAC,CAAC,eAAe,GAAG,QAAQ,GAAG,CAAC,CAAC,eAAe,CAAC;gBACjF,MAAM,UAAU,GACd,YAAY,GAAG,CAAC,IAAI,kBAAkB,GAAG,CAAC,CAAC,iCAAiC,CAAC;gBAC/E,MAAM,iBAAiB,GAAG,IAAI,CAAC,GAAG,CAAC,YAAY,CAAC,GAAG,CAAC,CAAC,4BAA4B,CAAC;gBAClF,IAAI,UAAU,IAAI,CAAC,CAAC,WAAW,EAAE,CAAC;oBAChC,MAAM,IAAI,YAAY,GAAG,kBAAkB,CAAC;oBAC5C,MAAM,IAAI,YAAY,GAAG,kBAAkB,CAAC;gBAC9C,CAAC;gBACD,IAAI,iBAAiB,IAAI,CAAC,CAAC,WAAW,EAAE,CAAC;oBACvC,IAAI,CAAC,CAAC,iBAAiB,EAAE,CAAC;wBACxB,MAAM,GAAG,CAAC,CAAC;wBACX,MAAM,GAAG,CAAC,CAAC;oBACb,CAAC;oBACD,MAAM,MAAM,GAAG,IAAI,CAAC,WAAW,CAAC,CAAC,EAAE,YAAY,CAAC,CAAC;oBACjD,MAAM,IAAI,MAAM,CAAC;oBACjB,MAAM,IAAI,MAAM,CAAC;gBACnB,CAAC;YACH,CAAC;iBAAM,IACL,CAAC,IAAI,CAAC,GAAG,CAAC,YAAY,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,4BAA4B;gBAC1D,IAAI,CAAC,GAAG,CAAC,kBAAkB,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,iCAAiC,CAAC;gBACzE,CAAC,CAAC,WAAW,EACb,CAAC;gBACD,MAAM,MAAM,GAAG,IAAI,CAAC,WAAW,CAAC,kBAAkB,EAAE,YAAY,CAAC,CAAC;gBAClE,MAAM,IAAI,MAAM,CAAC;gBACjB,MAAM,IAAI,MAAM,CAAC;YACnB,CAAC;YAED,OAAO,IAAI,CAAC,QAAQ,CAClB,MAAM,EACN,WAAW,EACX,EAAE,EACF,EAAE,EACF,MAAM,EACN,MAAM,EACN,QAAQ,EACR,kBAAkB,EAClB,YAAY,CACb,CAAC;QACJ,CAAC;QACD,OAAO,IAAI,CAAC;IACd,CAAC;IAED,gDAAgD;IACxC,WAAW,CAAC,WAAmB,EAAE,YAAoB;QAC3D,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,OAAO,CACL,WAAW,CAAC,WAAW,EAAE,CAAC,CAAC,iCAAiC,CAAC;YAC7D,WAAW,CAAC,YAAY,EAAE,CAAC,CAAC,4BAA4B,CAAC,CAC1D,CAAC;IACJ,CAAC;IAED,4FAA4F;IACpF,UAAU,CAAC,SAAkB,EAAE,gBAAwB,EAAE,cAAsB;QACrF,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,aAAa,GAAG,eAAe,CAAC,IAAI,CAAC,UAAU,EAAE,IAAI,CAAC,SAAS,EAAE,cAAc,CAAC,CAAC;QACvF,MAAM,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,gBAAgB,EAAE,aAAa,CAAC,CAAC;QACzD,IAAI,SAAS;YAAE,OAAO,CAAC,CAAC,8BAA8B,GAAG,MAAM,CAAC;QAChE,IAAI,WAAW,GAAG,aAAa,CAAC;QAChC,IAAI,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,KAAK,CAAC,iBAAiB,CAAC,EAAE,CAAC;YAClD,WAAW,GAAG,IAAI,CAAC,GAAG,CAAC,WAAW,EAAE,IAAI,CAAC,KAAK,CAAC,iBAAiB,CAAC,CAAC;QACpE,CAAC;QACD,IAAI,WAAW,IAAI,aAAa;YAAE,OAAO,CAAC,CAAC;QAC3C,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,WAAW,CAAC,CAAC;QACvC,OAAO,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,mBAAmB,GAAG,KAAK,GAAG,CAAC,CAAC,8BAA8B,GAAG,WAAW,EAAE,CAAC,CAAC,CAAC;IACrG,CAAC;IAED,kGAAkG;IAC1F,aAAa,CAAC,MAAmB,EAAE,IAAY;QACrD,MAAM,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC;QACrB,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,MAAM,GAAG,CAAC,CAAC,QAAqD,CAAC;QACvE,IAAI,CAAC,CAAC,eAAe,KAAK,IAAI;YAAE,CAAC,CAAC,eAAe,GAAG,IAAI,CAAC;QAEzD,MAAM,IAAI,GAAG,IAAI,CAAC,iBAAiB,CAAC,MAAM,CAAC,CAAC;QAC5C,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;QAChC,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,CAAC,CAAC;QAChC,MAAM,WAAW,GAAG,cAAc,CAAC,MAAM,CAAC,OAAO,GAAG,IAAI,CAAC,OAAO,CAAC,CAAC;QAClE,MAAM,SAAS,GAAG,eAAe,CAAC,MAAM,CAAC,OAAO,GAAG,WAAW,CAAC,CAAC;QAChE,MAAM,iBAAiB,GACrB,CAAC,CAAC,kBAAkB,GAAG,SAAS,GAAG,CAAC,CAAC,kBAAkB,GAAG,IAAI,CAAC,IAAI,CAAC,aAAa,CAAC,SAAS,CAAC,CAAC,CAAC;QAChG,CAAC,CAAC,YAAY,GAAG,eAAe,CAAC,MAAM,CAAC,OAAO,GAAG,MAAM,CAAC,OAAO,CAAC,CAAC;QAElE,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,KAAK,CAAC;QAC/B,MAAM,KAAK,GAAG,MAAM,CAAC,CAAC,GAAG,KAAK,CAAC;QAC/B,MAAM,IAAI,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QACtC,CAAC,CAAC,kBAAkB,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAC,CAAC;QAC5E,IAAI,IAAI,GAAG,IAAI,EAAE,CAAC;YAChB,CAAC,CAAC,eAAe,GAAG,CAAC,CAAC;YACtB,CAAC,CAAC,eAAe,GAAG,CAAC,CAAC;YACtB,CAAC,CAAC,eAAe,GAAG,CAAC,CAAC;QACxB,CAAC;aAAM,CAAC;YACN,CAAC,CAAC,eAAe,GAAG,KAAK,GAAG,IAAI,CAAC;YACjC,CAAC,CAAC,eAAe,GAAG,KAAK,GAAG,IAAI,CAAC;YACjC,CAAC,CAAC,eAAe,GAAG,CAAC,CAAC,eAAe,GAAG,MAAM,CAAC,EAAE,GAAG,CAAC,CAAC,eAAe,GAAG,MAAM,CAAC,EAAE,CAAC;QACpF,CAAC;QAED,MAAM,QAAQ,GAAG,IAAI,GAAG,CAAC,CAAC,eAAe,GAAG,CAAC,CAAC,YAAY,CAAC;QAC3D,IAAI,CAAC,CAAC,CAAC,IAAI,IAAI,QAAQ,CAAC,IAAI,IAAI,CAAC,iBAAiB,EAAE;YAAE,CAAC,CAAC,IAAI,GAAG,KAAK,CAAC;QAErE,iGAAiG;QACjG,qFAAqF;QACrF,IAAI,EAAE,GAAG,CAAC,CAAC;QACX,IAAI,EAAE,GAAG,CAAC,CAAC;QACX,IAAI,IAAI,IAAI,IAAI,EAAE,CAAC;YACjB,CAAC,EAAE,EAAE,EAAE,EAAE,CAAC,GAAG,IAAI,CAAC,uBAAuB,CAAC,KAAK,EAAE,KAAK,EAAE,WAAW,EAAE,MAAM,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,EAAE;gBACvF,CAAC,EAAE,KAAK,GAAG,IAAI;gBACf,CAAC,EAAE,KAAK,GAAG,IAAI;aAChB,CAAC,CAAC;QACL,CAAC;QACD,OAAO,IAAI,CAAC,WAAW,CAAC,EAAE,EAAE,EAAE,EAAE,iBAAiB,EAAE,MAAM,CAAC,CAAC;IAC7D,CAAC;CACF"}

package/dist/sim/ideal.d.ts

@@ -0,0 +1,103 @@
+import { type Pose } from "../geometry/vec.js";
+import type { Estimate, Plan, PlanStep } from "../types.js";
+/**
+ * The ideal playback level (site/docs/simulation.md, "Playback levels"): the robot follows the
+ * planned geometry exactly, with no wobble and no overshoot, and its heading is the heading
+ * interpolation exactly, the way the public Pedro visualizer draws a path. The clock is the one the
+ * timeline already uses, the kinematic estimate (`estimate.ts`), so a path step drives along its
+ * samples at `timeAtSampleS` and then holds its end pose for the settle time the estimate adds.
+ *
+ * The one thing the estimate does not time is a gap: a step that starts somewhere other than where
+ * the robot is, or facing another way (a literal `from`, or a heading mode whose first heading is
+ * not the last one). The robot has to get there, so the ideal robot does, visibly: a transition that
+ * turns and drives in a straight line from the pose it has to the pose the next path starts at,
+ * timed with the same kinematic model (the same caps, acceleration and deceleration as a path
+ * step, from rest to rest). A transition therefore makes the ideal run longer than the estimate by
+ * exactly its own duration.
+ *
+ * A wait or a command holds the pose for its estimated seconds, as the time model does. A parallel
+ * group follows the member that drives (its deadline when that drives, else the last member with a
+ * path, the same member the estimate carries the velocity through) for as long as the group lasts;
+ * a branch drives its `then` side, the side the instant sim takes when it cannot read the
+ * condition, and lasts as long as the estimate says (the longer side).
+ *
+ * Pure and deterministic, like the rest of core: the same plan and estimate give the same poses.
+ */
+/** Position gaps below this are the same place, in inches: canonical form rounds to 1e-4. */
+export declare const IDEAL_POSITION_TOLERANCE_IN = 0.01;
+/** Heading gaps below this are the same heading, in radians. */
+export declare const IDEAL_HEADING_TOLERANCE_RAD = 0.001;
+/** The robot holds still: at a wait, a command, a path's settle, or the end of a group. */
+export interface IdealHold {
+    kind: "hold";
+    /** The step whose time this is, or null for a hold that belongs to no step. */
+    stepId: string | null;
+    startS: number;
+    endS: number;
+    pose: Pose;
+}
+/** The robot drives a path step along its planned geometry. */
+export interface IdealPathMotion {
+    kind: "path";
+    stepId: string;
+    startS: number;
+    endS: number;
+    step: PlanStep;
+    /** The routine clock at each of the step's plan samples. */
+    timesS: readonly number[];
+    /** h(t) for the step's heading mode, evaluated exactly rather than between samples. */
+    headingAt: (t: number) => number;
+}
+/** The robot turns and drives from where it is to where the next path starts. */
+export interface IdealTransition {
+    kind: "transition";
+    /** The step this transition leads into. */
+    stepId: string;
+    startS: number;
+    endS: number;
+    fromPose: Pose;
+    toPose: Pose;
+    /** How far it drives, in inches, and how far it turns (signed, the short way), in radians. */
+    translateIn: number;
+    turnRad: number;
+    /** Distance along the straight line and the clock there, from the profile. */
+    sIns: readonly number[];
+    timesS: readonly number[];
+}
+export type IdealSegment = IdealHold | IdealPathMotion | IdealTransition;
+/** When a step starts and ends on the ideal clock. */
+export interface IdealSpan {
+    stepId: string;
+    startS: number;
+    endS: number;
+    /** Seconds of transition inside the span: before the step, or inside a group's members. */
+    transitionS: number;
+}
+export interface IdealTrajectory {
+    startPose: Pose;
+    /** Contiguous, in time order, from 0 to `totalS`. */
+    segments: IdealSegment[];
+    /** Every step, groups and their members included, in document order. */
+    spans: IdealSpan[];
+    transitions: IdealTransition[];
+    totalS: number;
+}
+/** True when the robot has to move or turn to get from one pose to the other. */
+export declare function posesDiffer(a: Pose, b: Pose): boolean;
+/**
+ * Lays the plan on the ideal clock. Throws nothing: a step without an estimate takes no time, the
+ * way it counts as zero in the estimate's total.
+ */
+export declare function idealTrajectory(plan: Plan, estimate: Estimate): IdealTrajectory;
+/**
+ * The ideal robot's pose at a routine time: on the planned path exactly while a path runs, on the
+ * straight line of a transition while it closes a gap, and still otherwise. Before 0 it is at the
+ * start pose, and after the end at the last pose.
+ */
+export declare function idealPoseAt(trajectory: IdealTrajectory, atS: number): Pose;
+/**
+ * The ideal clock when the robot reaches arc-length fraction `t` of a path step, or null when the
+ * step is not driven on the ideal run (a member that is timed but not drawn).
+ */
+export declare function idealTimeAt(trajectory: IdealTrajectory, stepId: string, t: number): number | null;
+//# sourceMappingURL=ideal.d.ts.map

package/dist/sim/ideal.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"ideal.d.ts","sourceRoot":"","sources":["../../src/sim/ideal.ts"],"names":[],"mappings":"AAGA,OAAO,EAAY,KAAK,IAAI,EAAE,MAAM,oBAAoB,CAAC;AAIzD,OAAO,KAAK,EAAE,QAAQ,EAAE,IAAI,EAAE,QAAQ,EAAE,MAAM,aAAa,CAAC;AAE5D;;;;;;;;;;;;;;;;;;;;;;GAsBG;AAEH,6FAA6F;AAC7F,eAAO,MAAM,2BAA2B,OAAO,CAAC;AAEhD,gEAAgE;AAChE,eAAO,MAAM,2BAA2B,QAAO,CAAC;AAKhD,2FAA2F;AAC3F,MAAM,WAAW,SAAS;IACxB,IAAI,EAAE,MAAM,CAAC;IACb,+EAA+E;IAC/E,MAAM,EAAE,MAAM,GAAG,IAAI,CAAC;IACtB,MAAM,EAAE,MAAM,CAAC;IACf,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,EAAE,IAAI,CAAC;CACZ;AAED,+DAA+D;AAC/D,MAAM,WAAW,eAAe;IAC9B,IAAI,EAAE,MAAM,CAAC;IACb,MAAM,EAAE,MAAM,CAAC;IACf,MAAM,EAAE,MAAM,CAAC;IACf,IAAI,EAAE,MAAM,CAAC;IACb,IAAI,EAAE,QAAQ,CAAC;IACf,4DAA4D;IAC5D,MAAM,EAAE,SAAS,MAAM,EAAE,CAAC;IAC1B,uFAAuF;IACvF,SAAS,EAAE,CAAC,CAAC,EAAE,MAAM,KAAK,MAAM,CAAC;CAClC;AAED,iFAAiF;AACjF,MAAM,WAAW,eAAe;IAC9B,IAAI,EAAE,YAAY,CAAC;IACnB,2CAA2C;IAC3C,MAAM,EAAE,MAAM,CAAC;IACf,MAAM,EAAE,MAAM,CAAC;IACf,IAAI,EAAE,MAAM,CAAC;IACb,QAAQ,EAAE,IAAI,CAAC;IACf,MAAM,EAAE,IAAI,CAAC;IACb,8FAA8F;IAC9F,WAAW,EAAE,MAAM,CAAC;IACpB,OAAO,EAAE,MAAM,CAAC;IAChB,8EAA8E;IAC9E,IAAI,EAAE,SAAS,MAAM,EAAE,CAAC;IACxB,MAAM,EAAE,SAAS,MAAM,EAAE,CAAC;CAC3B;AAED,MAAM,MAAM,YAAY,GAAG,SAAS,GAAG,eAAe,GAAG,eAAe,CAAC;AAEzE,sDAAsD;AACtD,MAAM,WAAW,SAAS;IACxB,MAAM,EAAE,MAAM,CAAC;IACf,MAAM,EAAE,MAAM,CAAC;IACf,IAAI,EAAE,MAAM,CAAC;IACb,2FAA2F;IAC3F,WAAW,EAAE,MAAM,CAAC;CACrB;AAED,MAAM,WAAW,eAAe;IAC9B,SAAS,EAAE,IAAI,CAAC;IAChB,qDAAqD;IACrD,QAAQ,EAAE,YAAY,EAAE,CAAC;IACzB,wEAAwE;IACxE,KAAK,EAAE,SAAS,EAAE,CAAC;IACnB,WAAW,EAAE,eAAe,EAAE,CAAC;IAC/B,MAAM,EAAE,MAAM,CAAC;CAChB;AAOD,iFAAiF;AACjF,wBAAgB,WAAW,CAAC,CAAC,EAAE,IAAI,EAAE,CAAC,EAAE,IAAI,GAAG,OAAO,CAKrD;AAoCD;;;GAGG;AACH,wBAAgB,eAAe,CAAC,IAAI,EAAE,IAAI,EAAE,QAAQ,EAAE,QAAQ,GAAG,eAAe,CAgM/E;AAwED;;;;GAIG;AACH,wBAAgB,WAAW,CAAC,UAAU,EAAE,eAAe,EAAE,GAAG,EAAE,MAAM,GAAG,IAAI,CAc1E;AAED;;;GAGG;AACH,wBAAgB,WAAW,CAAC,UAAU,EAAE,eAAe,EAAE,MAAM,EAAE,MAAM,EAAE,CAAC,EAAE,MAAM,GAAG,MAAM,GAAG,IAAI,CAmBjG"}