@lumikmz/kmz 0.11.1 → 0.11.2

package/dist/index.mjs

@@ -366,7 +366,7 @@ function stabilizeTurnCorridors(segments) {
 * (entry climb is a missionConfig behaviour, not a grid concern).
 */
 function surveyGrid(ring, opts) {
-	const { directionDeg, marginM, lineSpacing, phaseOffsetM = 0, lengthwiseShiftM = 0 } = opts;
+	const { directionDeg, marginM, lineSpacing, lengthwiseShiftM = 0 } = opts;
 	const t = directionDeg * DEG2RAD$1;
 	const rawAlpha = Math.atan2(Math.cos(t), Math.sin(t));
 	const alpha = Math.abs(rawAlpha) < ANGLE_EPS_RAD ? 0 : rawAlpha;
@@ -377,6 +377,7 @@ function surveyGrid(ring, opts) {
 		if (y < minY) minY = y;
 		if (y > maxY) maxY = y;
 	}
+	const phaseOffsetM = opts.phaseOffsetM ?? (maxY - minY <= lineSpacing ? (maxY - minY) / 2 : 0);
 	const scanSegments = [];
 	let leftToRight = true;
 	for (let y = minY + phaseOffsetM; y <= maxY + lineSpacing * .5; y += lineSpacing) {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@lumikmz/kmz",
-  "version": "0.11.1",
+  "version": "0.11.2",
   "description": "DJI KMZ/WPML domain model + plan() algorithm + validate(), spec-aligned types mirroring docs/kmz/",
   "license": "MIT",
   "type": "module",

package/src/plan/geometry.test.ts

@@ -71,6 +71,55 @@ describe("rotateEnu", () => {
 });
 
 describe("surveyGrid", () => {
+  it.each([
+    { directionDeg: 90, lineSpacing: 100, start: [-100, 0], end: [100, 0] },
+    { directionDeg: 90, lineSpacing: 200, start: [-100, 0], end: [100, 0] },
+    { directionDeg: 0, lineSpacing: 200, start: [0, -50], end: [0, 50] },
+    { directionDeg: 0, lineSpacing: 400, start: [0, -50], end: [0, 50] },
+    { directionDeg: 270, lineSpacing: 200, start: [100, 0], end: [-100, 0] },
+  ])(
+    "centers a narrow area's flight line at heading $directionDeg with spacing $lineSpacing",
+    ({ directionDeg, lineSpacing, start, end }) => {
+      const diamond: EnuPoint[] = [
+        [0, -50],
+        [100, 0],
+        [0, 50],
+        [-100, 0],
+      ];
+      const pts = surveyGrid(diamond, { directionDeg, marginM: 0, lineSpacing });
+
+      expect(pts).toHaveLength(2);
+      expect(pts[0]![0]).toBeCloseTo(start[0]!, 6);
+      expect(pts[0]![1]).toBeCloseTo(start[1]!, 6);
+      expect(pts[1]![0]).toBeCloseTo(end[0]!, 6);
+      expect(pts[1]![1]).toBeCloseTo(end[1]!, 6);
+    },
+  );
+
+  it.each([
+    { phaseOffsetM: 0, expected: [] },
+    {
+      phaseOffsetM: 25,
+      expected: [
+        [-50, -25],
+        [50, -25],
+      ],
+    },
+  ])(
+    "preserves an explicit phase offset of $phaseOffsetM in a narrow area",
+    ({ phaseOffsetM, expected }) => {
+      const diamond: EnuPoint[] = [
+        [0, -50],
+        [100, 0],
+        [0, 50],
+        [-100, 0],
+      ];
+      expect(
+        surveyGrid(diamond, { directionDeg: 90, marginM: 0, lineSpacing: 200, phaseOffsetM }),
+      ).toEqual(expected);
+    },
+  );
+
   it("scans a square and returns paired flight-line endpoints", () => {
     const pts = surveyGrid(SQUARE, { directionDeg: 90, marginM: 0, lineSpacing: 25 });
     expect(pts.length).toBeGreaterThanOrEqual(8); // ≥4 lines × 2 endpoints

package/src/plan/geometry.ts

@@ -198,7 +198,8 @@ export interface SurveyGridOptions {
   /**
    * Across-track phase shift (meters) applied to every flight line.
    * Used to interleave two grids on the same axis by half a line spacing
-   * (e.g. mapping3d forward vs backward oblique passes). Default 0.
+   * (e.g. mapping3d forward vs backward oblique passes). Defaults to 0,
+   * or a centered line when the area is no wider than one line spacing.
    */
   phaseOffsetM?: number;
   /**
@@ -263,7 +264,7 @@ function stabilizeTurnCorridors(segments: ScanSegment[]): EnuPoint[] {
  * (entry climb is a missionConfig behaviour, not a grid concern).
  */
 export function surveyGrid(ring: readonly EnuPoint[], opts: SurveyGridOptions): EnuPoint[] {
-  const { directionDeg, marginM, lineSpacing, phaseOffsetM = 0, lengthwiseShiftM = 0 } = opts;
+  const { directionDeg, marginM, lineSpacing, lengthwiseShiftM = 0 } = opts;
   // Map the heading clockwise-from-north → CCW angle from +x axis
   const t = directionDeg * DEG2RAD;
   const rawAlpha = Math.atan2(Math.cos(t), Math.sin(t));
@@ -277,6 +278,9 @@ export function surveyGrid(ring: readonly EnuPoint[], opts: SurveyGridOptions):
     if (y > maxY) maxY = y;
   }
 
+  // A boundary scan may only touch a vertex. Center a single line in narrow
+  // areas, while retaining explicit phases used by interleaved/strip grids.
+  const phaseOffsetM = opts.phaseOffsetM ?? (maxY - minY <= lineSpacing ? (maxY - minY) / 2 : 0);
   const scanSegments: ScanSegment[] = [];
   let leftToRight = true;
   for (let y = minY + phaseOffsetM; y <= maxY + lineSpacing * 0.5; y += lineSpacing) {