@horizon36596/zenith-core 0.1.1

package/dist/sim/ideal.js

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+import { integrateProfile } from "../estimate.js";
+import { angleDelta, wrapAngle } from "../geometry/angle.js";
+import { distance } from "../geometry/vec.js";
+import { headingFunction } from "../heading.js";
+import { decelInPerS2, robotLimits, velocityCapInPerS } from "../kinematics.js";
+import { containsPath } from "../resolve.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 const IDEAL_POSITION_TOLERANCE_IN = 0.01;
+/** Heading gaps below this are the same heading, in radians. */
+export const IDEAL_HEADING_TOLERANCE_RAD = 1e-3;
+/** Spacing of the profile samples along a transition, in inches, the same as a path's. */
+const TRANSITION_SPACING_IN = 2;
+/** True when the robot has to move or turn to get from one pose to the other. */
+export function posesDiffer(a, b) {
+    return (distance(a, b) > IDEAL_POSITION_TOLERANCE_IN ||
+        Math.abs(angleDelta(a.headingRad, b.headingRad)) > IDEAL_HEADING_TOLERANCE_RAD);
+}
+/**
+ * The seconds and the profile of a straight transition. A pure turn is timed at the robot's
+ * angular velocity limit. A move samples the line every 2 in, turns the heading evenly with the
+ * distance, caps each sample by the velocity ellipse at the default speed fraction and by the
+ * heading rate, and integrates from rest to rest with the estimate's own two-pass profile.
+ */
+function transitionProfile(from, to, limits) {
+    const translateIn = distance(from, to);
+    const turnRad = angleDelta(from.headingRad, to.headingRad);
+    if (translateIn <= IDEAL_POSITION_TOLERANCE_IN) {
+        const seconds = limits.maxAngularVelRadPerS > 0 ? Math.abs(turnRad) / limits.maxAngularVelRadPerS : 0;
+        return { translateIn: 0, turnRad, sIns: [0, 0], timesS: [0, seconds] };
+    }
+    const sIns = [];
+    for (let s = 0; s < translateIn; s += TRANSITION_SPACING_IN)
+        sIns.push(s);
+    sIns.push(translateIn);
+    const travelRad = Math.atan2(to.yIn - from.yIn, to.xIn - from.xIn);
+    const headingRatePerIn = Math.abs(turnRad) / translateIn;
+    const samples = sIns.map((sIn) => {
+        const headingRad = wrapAngle(from.headingRad + turnRad * (sIn / translateIn));
+        const phiRad = wrapAngle(travelRad - headingRad);
+        let capInPerS = limits.defaultPathSpeedFraction * velocityCapInPerS(limits, phiRad);
+        if (headingRatePerIn > 1e-9)
+            capInPerS = Math.min(capInPerS, limits.maxAngularVelRadPerS / headingRatePerIn);
+        return { sIn, phiRad, capInPerS, decelInPerS2: decelInPerS2(limits, phiRad) };
+    });
+    const timing = integrateProfile(samples, limits, 0, 0);
+    return { translateIn, turnRad, sIns, timesS: timing.timeAtSampleS };
+}
+/**
+ * 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 function idealTrajectory(plan, estimate) {
+    const limits = robotLimits(plan.robot);
+    const byId = estimate.byStepId;
+    const segments = [];
+    const spans = [];
+    const transitions = [];
+    const push = (segment) => {
+        if (segment.endS - segment.startS <= 0 && segment.kind !== "path")
+            return;
+        segments.push(segment);
+    };
+    const hold = (stepId, cursor, seconds) => {
+        if (seconds <= 0)
+            return;
+        push({ kind: "hold", stepId, startS: cursor.clockS, endS: cursor.clockS + seconds, pose: cursor.pose });
+        cursor.clockS += seconds;
+    };
+    /** Moves the cursor to `target` with a transition when it is not there already; returns its seconds. */
+    const transitionTo = (stepId, cursor, target) => {
+        if (!posesDiffer(cursor.pose, target)) {
+            cursor.pose = target;
+            return 0;
+        }
+        const profile = transitionProfile(cursor.pose, target, limits);
+        const seconds = profile.timesS[profile.timesS.length - 1] ?? 0;
+        const transition = {
+            kind: "transition",
+            stepId,
+            startS: cursor.clockS,
+            endS: cursor.clockS + seconds,
+            fromPose: cursor.pose,
+            toPose: target,
+            translateIn: profile.translateIn,
+            turnRad: profile.turnRad,
+            sIns: profile.sIns,
+            timesS: profile.timesS.map((at) => cursor.clockS + at),
+        };
+        transitions.push(transition);
+        push(transition);
+        cursor.clockS = transition.endS;
+        cursor.pose = target;
+        return seconds;
+    };
+    /**
+     * One step from the cursor. `record` is false for members whose motion is not the one drawn (the
+     * non-driving members of a parallel group, the `else` side of a branch): they are still timed, so
+     * their spans exist, but they add no segments and do not move the robot.
+     */
+    const walk = (step, cursor, record) => {
+        const startS = cursor.clockS;
+        const ownS = byId[step.id]?.nominalS ?? null;
+        let transitionS = 0;
+        if (step.kind === "path" && step.geometry !== undefined && step.samples.length >= 2) {
+            const pathStep = step.step;
+            if (record) {
+                transitionS += transitionTo(step.id, cursor, step.startPose);
+            }
+            else if (posesDiffer(cursor.pose, step.startPose)) {
+                transitionS += transitionProfileSeconds(cursor.pose, step.startPose, limits);
+                cursor.clockS += transitionS;
+            }
+            const atSample = byId[step.id]?.timeAtSampleS;
+            const offsets = atSample !== undefined && atSample.length === step.samples.length
+                ? atSample
+                : step.samples.map((sample) => sample.t * Math.max(0, (ownS ?? 0) - limits.settleS));
+            const moveS = offsets[offsets.length - 1] ?? 0;
+            const motionStartS = cursor.clockS;
+            if (record) {
+                push({
+                    kind: "path",
+                    stepId: step.id,
+                    startS: motionStartS,
+                    endS: motionStartS + moveS,
+                    step,
+                    timesS: offsets.map((at) => motionStartS + at),
+                    headingAt: pathStep.heading === undefined
+                        ? () => step.startPose.headingRad
+                        : headingFunction(pathStep.heading, step.geometry),
+                });
+            }
+            cursor.clockS = motionStartS + moveS;
+            cursor.pose = step.endPose ?? step.samples[step.samples.length - 1]?.pose ?? cursor.pose;
+            const settleS = Math.max(0, (ownS ?? moveS) - moveS);
+            if (record)
+                hold(step.id, cursor, settleS);
+            else
+                cursor.clockS += settleS;
+        }
+        else if (step.children !== undefined && step.children.length > 0) {
+            transitionS += walkGroup(step, cursor, record);
+        }
+        else {
+            // A wait, a command, or a path with nothing to drive: the robot holds where it is.
+            if (record)
+                hold(step.id, cursor, ownS ?? 0);
+            else
+                cursor.clockS += ownS ?? 0;
+        }
+        spans.push({ stepId: step.id, startS, endS: cursor.clockS, transitionS });
+        return transitionS;
+    };
+    const walkGroup = (step, cursor, record) => {
+        const children = step.children ?? [];
+        const startS = cursor.clockS;
+        const entry = cursor.pose;
+        const authored = step.step;
+        if (authored.kind === "sequence") {
+            let transitionS = 0;
+            for (const child of children)
+                transitionS += walk(child, cursor, record);
+            return transitionS;
+        }
+        if (authored.kind === "branch") {
+            const thenCount = authored.then.length;
+            const thenCursor = { clockS: startS, pose: entry };
+            let transitionS = 0;
+            for (const child of children.slice(0, thenCount))
+                transitionS += walk(child, thenCursor, record);
+            const elseCursor = { clockS: startS, pose: entry };
+            for (const child of children.slice(thenCount))
+                walk(child, elseCursor, false);
+            // The estimate costs a branch as its longer side; the ideal robot waits out the difference.
+            const endS = Math.max(thenCursor.clockS, elseCursor.clockS);
+            cursor.pose = thenCursor.pose;
+            cursor.clockS = thenCursor.clockS;
+            if (record)
+                hold(step.id, cursor, endS - thenCursor.clockS);
+            cursor.clockS = endS;
+            return transitionS;
+        }
+        // Parallel: every member starts together from the group's start; the driving one is drawn.
+        const group = authored;
+        const mover = children.find((child) => child.id === group.deadline && containsPath(child)) ??
+            [...children].reverse().find(containsPath);
+        const ends = new Map();
+        let transitionS = 0;
+        let moverCursor = null;
+        const moverSegments = [];
+        for (const child of children) {
+            const childCursor = { clockS: startS, pose: entry };
+            if (child === mover) {
+                const before = segments.length;
+                transitionS += walk(child, childCursor, record);
+                moverSegments.push(...segments.splice(before));
+                moverCursor = childCursor;
+            }
+            else {
+                walk(child, childCursor, false);
+            }
+            ends.set(child.id, childCursor.clockS);
+        }
+        const durations = [...ends.values()].map((endS) => endS - startS);
+        let groupS;
+        if (group.mode === "deadline" && ends.has(group.deadline ?? "")) {
+            groupS = ends.get(group.deadline ?? "") - startS;
+        }
+        else if (group.mode === "race") {
+            groupS = durations.length === 0 ? 0 : Math.min(...durations);
+        }
+        else {
+            groupS = durations.length === 0 ? 0 : Math.max(...durations);
+        }
+        const endS = startS + groupS;
+        if (!record) {
+            cursor.pose = moverCursor?.pose ?? entry;
+            cursor.clockS = endS;
+            return transitionS;
+        }
+        // The mover's motion, cut where the group ends (a race or a deadline can end it early).
+        let pose = entry;
+        for (const segment of moverSegments) {
+            if (segment.startS >= endS && segment.endS > segment.startS)
+                break;
+            if (segment.endS <= endS) {
+                segments.push(segment);
+                pose = segmentEndPose(segment);
+            }
+            else {
+                segments.push({ ...segment, endS });
+                pose = poseInSegment(segment, endS);
+            }
+        }
+        if (moverCursor !== null && moverCursor.clockS <= endS)
+            pose = moverCursor.pose;
+        const last = segments[segments.length - 1];
+        const lastS = last === undefined ? startS : Math.max(startS, last.endS);
+        cursor.pose = pose;
+        cursor.clockS = Math.min(lastS, endS);
+        hold(step.id, cursor, endS - cursor.clockS);
+        cursor.clockS = endS;
+        return transitionS;
+    };
+    const cursor = { clockS: 0, pose: plan.startPose };
+    for (const step of plan.steps)
+        walk(step, cursor, true);
+    return { startPose: plan.startPose, segments, spans, transitions, totalS: cursor.clockS };
+}
+/** The seconds a transition would take, for a member that is timed but not drawn. */
+function transitionProfileSeconds(from, to, limits) {
+    const profile = transitionProfile(from, to, limits);
+    return profile.timesS[profile.timesS.length - 1] ?? 0;
+}
+/** Where a segment leaves the robot at its natural end. */
+function segmentEndPose(segment) {
+    switch (segment.kind) {
+        case "hold":
+            return segment.pose;
+        case "transition":
+            return segment.toPose;
+        case "path":
+            return poseInSegment(segment, segment.endS);
+    }
+}
+/** Linear interpolation of a clock series: the index before `atS` and the fraction past it. */
+function locate(timesS, atS) {
+    const count = timesS.length;
+    if (count < 2 || atS <= timesS[0])
+        return { index: 0, u: 0 };
+    if (atS >= timesS[count - 1])
+        return { index: Math.max(0, count - 2), u: 1 };
+    let lo = 0;
+    let hi = count - 1;
+    while (hi - lo > 1) {
+        const mid = (lo + hi) >> 1;
+        if (timesS[mid] <= atS)
+            lo = mid;
+        else
+            hi = mid;
+    }
+    const ta = timesS[lo];
+    const tb = timesS[hi];
+    return { index: lo, u: tb - ta <= 1e-12 ? 1 : (atS - ta) / (tb - ta) };
+}
+/** The pose inside one segment at a routine time, clamped to the segment. */
+function poseInSegment(segment, atS) {
+    if (segment.kind === "hold")
+        return segment.pose;
+    if (segment.kind === "transition") {
+        if (segment.translateIn === 0) {
+            const start = segment.timesS[0];
+            const end = segment.timesS[segment.timesS.length - 1];
+            const u = end - start <= 1e-12 ? 1 : Math.min(1, Math.max(0, (atS - start) / (end - start)));
+            return {
+                xIn: segment.toPose.xIn,
+                yIn: segment.toPose.yIn,
+                headingRad: wrapAngle(segment.fromPose.headingRad + segment.turnRad * u),
+            };
+        }
+        const { index, u } = locate(segment.timesS, atS);
+        const sa = segment.sIns[index];
+        const sb = segment.sIns[Math.min(index + 1, segment.sIns.length - 1)];
+        const f = (sa + (sb - sa) * u) / segment.translateIn;
+        return {
+            xIn: segment.fromPose.xIn + (segment.toPose.xIn - segment.fromPose.xIn) * f,
+            yIn: segment.fromPose.yIn + (segment.toPose.yIn - segment.fromPose.yIn) * f,
+            headingRad: wrapAngle(segment.fromPose.headingRad + segment.turnRad * f),
+        };
+    }
+    const { step, timesS } = segment;
+    const geometry = step.geometry;
+    if (geometry === undefined)
+        return step.startPose;
+    const { index, u } = locate(timesS, atS);
+    const sa = step.samples[index].sIn;
+    const sb = step.samples[Math.min(index + 1, step.samples.length - 1)].sIn;
+    const sIn = sa + (sb - sa) * u;
+    const point = geometry.pointAtDistance(sIn);
+    return { xIn: point.xIn, yIn: point.yIn, headingRad: segment.headingAt(geometry.tAtDistance(sIn)) };
+}
+/**
+ * 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 function idealPoseAt(trajectory, atS) {
+    const segments = trajectory.segments;
+    if (segments.length === 0)
+        return trajectory.startPose;
+    const first = segments[0];
+    if (atS <= first.startS)
+        return poseInSegment(first, first.startS);
+    let lo = 0;
+    let hi = segments.length - 1;
+    if (atS >= segments[hi].startS)
+        return poseInSegment(segments[hi], atS);
+    while (hi - lo > 1) {
+        const mid = (lo + hi) >> 1;
+        if (segments[mid].startS <= atS)
+            lo = mid;
+        else
+            hi = mid;
+    }
+    return poseInSegment(segments[lo], atS);
+}
+/**
+ * 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 function idealTimeAt(trajectory, stepId, t) {
+    const motion = trajectory.segments.find((segment) => segment.kind === "path" && segment.stepId === stepId);
+    if (motion === undefined)
+        return null;
+    const { step, timesS } = motion;
+    const sIn = step.lengthIn * Math.min(1, Math.max(0, t));
+    const count = Math.min(step.samples.length, timesS.length);
+    if (count === 0)
+        return null;
+    for (let index = 0; index + 1 < count; index += 1) {
+        const sa = step.samples[index].sIn;
+        const sb = step.samples[index + 1].sIn;
+        if (sIn <= sb) {
+            const u = sb - sa <= 1e-12 ? 0 : (sIn - sa) / (sb - sa);
+            const ta = timesS[index];
+            return ta + (timesS[index + 1] - ta) * u;
+        }
+    }
+    return timesS[count - 1];
+}
+//# sourceMappingURL=ideal.js.map

package/dist/sim/ideal.js.map

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package/dist/sim/index.d.ts

@@ -0,0 +1,11 @@
+/**
+ * The instant sim's public surface, and the ideal playback level beside it (`ideal.ts`). The
+ * follower, the plant and the command ports stay internal: callers get traces, the parameters the
+ * sim resolved, and the comparison with a Gradle run.
+ */
+export { simulate, simulateRun, resimulate, simPoseAt } from "./simulate.js";
+export { idealTrajectory, idealPoseAt, idealTimeAt, posesDiffer as idealPosesDiffer, IDEAL_POSITION_TOLERANCE_IN, IDEAL_HEADING_TOLERANCE_RAD, type IdealHold, type IdealPathMotion, type IdealSegment, type IdealSpan, type IdealTrajectory, type IdealTransition, } from "./ideal.js";
+export { simResiduals, type SimResiduals, type StepResidual } from "./residuals.js";
+export { followerParams as simFollowerParams, plantParams as simPlantParams, PEDRO_DEFAULTS, DEFAULT_TICK_S as SIM_DEFAULT_TICK_S, GRADLE_TICK_S as SIM_GRADLE_TICK_S, } from "./params.js";
+export type { ConditionQuery, ConditionResolver, CoastModel, FollowerParams, PlantParams, SimCheckpoint, SimEvent, SimFidelity, SimOptions, SimRun, SimStepRecord, SimTrace, TraceVelocityRow, } from "./types.js";
+//# sourceMappingURL=index.d.ts.map

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package/dist/sim/index.js

@@ -0,0 +1,10 @@
+/**
+ * The instant sim's public surface, and the ideal playback level beside it (`ideal.ts`). The
+ * follower, the plant and the command ports stay internal: callers get traces, the parameters the
+ * sim resolved, and the comparison with a Gradle run.
+ */
+export { simulate, simulateRun, resimulate, simPoseAt } from "./simulate.js";
+export { idealTrajectory, idealPoseAt, idealTimeAt, posesDiffer as idealPosesDiffer, IDEAL_POSITION_TOLERANCE_IN, IDEAL_HEADING_TOLERANCE_RAD, } from "./ideal.js";
+export { simResiduals } from "./residuals.js";
+export { followerParams as simFollowerParams, plantParams as simPlantParams, PEDRO_DEFAULTS, DEFAULT_TICK_S as SIM_DEFAULT_TICK_S, GRADLE_TICK_S as SIM_GRADLE_TICK_S, } from "./params.js";
+//# sourceMappingURL=index.js.map

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package/dist/sim/params.d.ts

@@ -0,0 +1,91 @@
+import type { Field, Robot } from "@horizon36596/zenith-schema";
+import type { FollowerParams, PlantParams, SimFidelity, SimOptions } from "./types.js";
+/**
+ * Where every number the instant sim runs on comes from, in one place, with the order of
+ * preference stated: the caller's `options`, then `robot.json`, then a default. Each default is
+ * either Pedro Pathing v3's own `ForesightConfig` default (read from the pinned sources jar, see
+ * site/docs/simulation.md) or derived from a number `robot.json` already carries, and
+ * says which. None is a number made up for the purpose (CLAUDE.md rule 4).
+ *
+ * The follower gains, the drivetrain geometry and each condition's `ledger` meaning are optional
+ * keys in `robot.json` (`followerSchema` and `drivetrainSchema` in `packages/schema/src/robot.ts`,
+ * site/docs/file-format.md). This file still reads them structurally, so a key the schema adds
+ * later takes effect without a change here.
+ */
+/** The default tick for the preview, in seconds. */
+export declare const DEFAULT_TICK_S = 0.01;
+/** SimLoop's `HeadlessOpModeRunner.TICK_SECONDS`: a Gradle headless sim's 50 Hz loop. */
+export declare const GRADLE_TICK_S = 0.02;
+/**
+ * Seconds the sim runs past the auto period before it gives up on a routine that has not finished:
+ * the same margin a Gradle headless sim gives a 30 s period (1700 ticks of 0.02 s is 34 s).
+ */
+export declare const PERIOD_MARGIN_S = 4;
+/** When the field declares no auto period, the sim stops here. FTC's auto period is 30 s. */
+export declare const DEFAULT_PERIOD_S = 30;
+/** SimLoop's `FakeMotor.EPS`. */
+export declare const STOP_SNAP_FRACTION = 0.02;
+/** `MecanumConfig.powerThreshold`'s default in Pedro's revhub. */
+export declare const POWER_THRESHOLD = 0.01;
+/**
+ * Pedro's `ForesightConfig` defaults, for the knobs Pedro gives a default to. SPEC: copied from
+ * `com/pedropathing/algorithm/ForesightConfig.java` in core-3.0.0-20260828.185437-17.
+ */
+export declare const PEDRO_DEFAULTS: {
+    readonly headingPowerPerRad: 1.5;
+    readonly headingStaticPower: 0;
+    readonly forwardTranslationalPowerPerIn: 0.07;
+    readonly strafeTranslationalPowerPerIn: 0.1;
+    readonly brakeFeedforwardPowerPerInPerS: 0.009;
+    readonly coastPowerPerInPerS: 0.025;
+    readonly coastFeedforwardPowerPerInPerS: 0.015;
+    readonly maxBrakingPower: 0.2;
+    readonly headingDriveRatio: 0.5;
+    readonly cosineScale: true;
+    readonly turnBeforeDriving: false;
+    readonly brakeAggression: 1;
+    readonly endParametricT: 0.025;
+    readonly endHeadingToleranceRad: 0.007;
+    readonly endTranslationalToleranceIn: 0.1;
+    readonly endVelocityToleranceInPerS: 0.1;
+    readonly holdTimeoutS: 0.1;
+    readonly headingDeviationToleranceRad: number;
+    readonly translationalDeviationToleranceIn: 2.5;
+    readonly minCorrectionDistanceIn: 0.001;
+};
+/**
+ * The follower the sim runs. Pedro's defaults except where a Pedro default would make the preview
+ * meaningless for any robot that has not been tuned, and there the value is derived:
+ *
+ * - `coastFeedforwardPowerPerInPerS` defaults to 1 / maxForwardVel, the power that holds a target
+ *   velocity on this robot's measured top speed (a robot with a 100 in/s top speed gets 0.01).
+ *   Pedro's 0.015 would push past full power at any target, so `speedFraction` would do nothing.
+ * - `coastPowerPerInPerS` defaults to 0 for the same reason: V3 feeds the coast controller the
+ *   target velocity as its "error", so a P term there is a second feedforward.
+ * - The brake coefficients, which Pedro makes `required()` and so has no default for, come from the
+ *   measured coasting deceleration: stopping distance v^2 / 2a, linear term 0. APPROX: the real
+ *   coefficients come from Pedro's braking identification OpModes and are shorter, because they
+ *   brake under reverse power rather than coast.
+ */
+export declare function followerParams(robot: Robot, options?: SimOptions): FollowerParams;
+/**
+ * The mecanum lever arm: half the wheel base plus half the track width from
+ * `kinematics.drivetrain` when the file carries them, otherwise the arm that makes a full turn
+ * command reach `maxAngularVelRadPerS`, so the plant's angular limit is the one `robot.json` states.
+ */
+export declare function plantLeverArmIn(robot: Robot): number;
+/**
+ * The plant. The wheel response rate is `kinematics.drivetrain.wheelResponseRatePerS` when present
+ * (a robot's own Gradle sim sets the same rate), otherwise 2 * accel / maxForwardVel:
+ * the rate at which a first-order wheel loses the same time to reaching top speed, V / (2a), as the
+ * constant-acceleration estimate does, so the two agree about what `accelInPerS2` means.
+ */
+export declare function plantParams(robot: Robot, field: Field, fidelity: SimFidelity, options?: SimOptions): PlantParams;
+/** The tick, the fidelity and the stopping time, resolved. */
+export declare function runParams(field: Field, options: SimOptions): {
+    tickS: number;
+    fidelity: SimFidelity;
+    maxTimeS: number;
+    periodS: number | null;
+};
+//# sourceMappingURL=params.d.ts.map

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