@horizon36596/zenith-core 0.1.1

package/dist/sim/plant.js.map

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package/dist/sim/residuals.d.ts

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+import type { Trace } from "../trace.js";
+/**
+ * How far the instant sim is from a Gradle run of the same routine (site/docs/simulation.md): the
+ * numbers that say whether the preview can replace the slow sim yet, and which part of the model to
+ * fix when it cannot. Pure: it compares two traces and reads nothing else.
+ */
+export interface StepResidual {
+    id: string;
+    /** Which occurrence of this id, from 0, when a step runs more than once. */
+    occurrence: number;
+    simS: number;
+    gradleS: number;
+    /** Sim minus Gradle, in seconds: positive when the preview is slower. */
+    residualS: number;
+    /** Sim minus Gradle start time, which is how much earlier steps have drifted. */
+    startResidualS: number;
+}
+export interface SimResiduals {
+    steps: StepResidual[];
+    /** Steps the Gradle trace ran that the sim did not, and the other way round. */
+    missingInSim: string[];
+    missingInGradle: string[];
+    stepDurationRmsS: number | null;
+    stepDurationMaxAbsS: number | null;
+    /** Sim minus Gradle, for the whole routine. */
+    totalResidualS: number;
+    /** Poses compared at the Gradle trace's own times, inside both traces' spans. */
+    poseSamples: number;
+    positionRmsIn: number | null;
+    positionMaxIn: number | null;
+    headingRmsRad: number | null;
+    headingMaxRad: number | null;
+}
+/** Compares a sim trace with a Gradle trace of the same routine, step by step and pose by pose. */
+export declare function simResiduals(trace: Trace, gradleTrace: Trace): SimResiduals;
+//# sourceMappingURL=residuals.d.ts.map

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

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package/dist/sim/residuals.js

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+import { normalizeSigned } from "./pedroPath.js";
+import { simPoseAt } from "./simulate.js";
+const occurrenceKey = (id, occurrence) => `${id}#${String(occurrence)}`;
+function keyed(trace) {
+    const counts = new Map();
+    const out = new Map();
+    for (const step of trace.steps) {
+        const occurrence = counts.get(step.id) ?? 0;
+        counts.set(step.id, occurrence + 1);
+        out.set(occurrenceKey(step.id, occurrence), {
+            id: step.id,
+            occurrence,
+            startS: step.startS,
+            endS: step.endS,
+        });
+    }
+    return out;
+}
+const rms = (values) => values.length === 0 ? null : Math.sqrt(values.reduce((sum, v) => sum + v * v, 0) / values.length);
+const maxAbs = (values) => values.length === 0 ? null : values.reduce((max, v) => Math.max(max, Math.abs(v)), 0);
+const endOf = (trace) => {
+    const lastPose = trace.poses[trace.poses.length - 1];
+    let end = lastPose?.[0] ?? 0;
+    for (const step of trace.steps)
+        end = Math.max(end, step.endS);
+    return end;
+};
+/** Compares a sim trace with a Gradle trace of the same routine, step by step and pose by pose. */
+export function simResiduals(trace, gradleTrace) {
+    const sim = keyed(trace);
+    const gradle = keyed(gradleTrace);
+    const steps = [];
+    const missingInSim = [];
+    for (const [key, g] of gradle) {
+        const s = sim.get(key);
+        if (s === undefined) {
+            missingInSim.push(g.id);
+            continue;
+        }
+        const simS = s.endS - s.startS;
+        const gradleS = g.endS - g.startS;
+        steps.push({
+            id: g.id,
+            occurrence: g.occurrence,
+            simS,
+            gradleS,
+            residualS: simS - gradleS,
+            startResidualS: s.startS - g.startS,
+        });
+    }
+    const missingInGradle = [];
+    for (const [key, s] of sim)
+        if (!gradle.has(key))
+            missingInGradle.push(s.id);
+    const positions = [];
+    const headings = [];
+    const first = trace.poses[0];
+    const last = trace.poses[trace.poses.length - 1];
+    if (first !== undefined && last !== undefined) {
+        for (const row of gradleTrace.poses) {
+            const t = row[0];
+            if (t < first[0] || t > last[0])
+                continue;
+            const pose = simPoseAt(trace, t);
+            if (pose === null)
+                continue;
+            positions.push(Math.hypot(pose.xIn - row[1], pose.yIn - row[2]));
+            headings.push(normalizeSigned(pose.headingRad - row[3]));
+        }
+    }
+    const residuals = steps.map((step) => step.residualS);
+    return {
+        steps,
+        missingInSim,
+        missingInGradle,
+        stepDurationRmsS: rms(residuals),
+        stepDurationMaxAbsS: maxAbs(residuals),
+        totalResidualS: endOf(trace) - endOf(gradleTrace),
+        poseSamples: positions.length,
+        positionRmsIn: rms(positions),
+        positionMaxIn: maxAbs(positions),
+        headingRmsRad: rms(headings),
+        headingMaxRad: maxAbs(headings),
+    };
+}
+//# sourceMappingURL=residuals.js.map

package/dist/sim/residuals.js.map

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package/dist/sim/simulate.d.ts

@@ -0,0 +1,27 @@
+import type { Field, Robot } from "@horizon36596/zenith-schema";
+import type { Plan } from "../types.js";
+import type { SimOptions, SimRun, SimTrace, TracePoseRow } from "./types.js";
+/** Runs the routine from the start and keeps the checkpoints `resimulate` needs. */
+export declare function simulateRun(plan: Plan, robot: Robot, field: Field, options?: SimOptions): SimRun;
+/**
+ * The instant sim: the routine as the robot would run it, tick by tick, as a `Trace` with the
+ * sim's additions (`SimTrace`). The default fidelity is `robot`; pass `fidelity: "gradle"` to
+ * reproduce the robot repository's headless harness instead.
+ */
+export declare function simulate(plan: Plan, robot: Robot, field: Field, options?: SimOptions): SimTrace;
+/**
+ * Re-simulates after an edit, from the latest checkpoint whose every earlier top-level step, and
+ * every input, is unchanged. `fromStepIndex`, when given, is the first step the caller knows was
+ * edited; the sim never resumes later than it. The result is identical to `simulateRun` on the
+ * same inputs, only faster. A `conditions` resolver is not part of the key: pass the same one.
+ */
+export declare function resimulate(previous: SimRun, plan: Plan, robot: Robot, field: Field, options?: SimOptions, fromStepIndex?: number): SimRun;
+/** The recorded pose at `timeS`, interpolated between ticks, with the heading taken the short way. */
+export declare function simPoseAt(trace: {
+    poses: readonly TracePoseRow[];
+}, timeS: number): {
+    xIn: number;
+    yIn: number;
+    headingRad: number;
+} | null;
+//# sourceMappingURL=simulate.d.ts.map

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