@neilberkman/sidereon 0.19.0 → 0.19.1

package/pkg/sidereon.js

@@ -5042,6 +5042,104 @@ export class FrameStates {
 }
 if (Symbol.dispose) FrameStates.prototype[Symbol.dispose] = FrameStates.prototype.free;
 
+/**
+ * Recorded fusion forward-pass history accepted by `smoothFusionRts`.
+ */
+export class FusionRtsHistory {
+    static __wrap(ptr) {
+        const obj = Object.create(FusionRtsHistory.prototype);
+        obj.__wbg_ptr = ptr;
+        FusionRtsHistoryFinalization.register(obj, obj.__wbg_ptr, obj);
+        return obj;
+    }
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+        FusionRtsHistoryFinalization.unregister(this);
+        return ptr;
+    }
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_fusionrtshistory_free(ptr, 0);
+    }
+    /**
+     * Number of recorded epochs.
+     * @returns {number}
+     */
+    get epochCount() {
+        const ret = wasm.fusionrtshistory_epochCount(this.__wbg_ptr);
+        return ret >>> 0;
+    }
+    /**
+     * Recorded epochs in forward time order.
+     * @returns {any}
+     */
+    get epochs() {
+        const ret = wasm.fusionrtshistory_epochs(this.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
+}
+if (Symbol.dispose) FusionRtsHistory.prototype[Symbol.dispose] = FusionRtsHistory.prototype.free;
+
+/**
+ * Builder for recording a fusion forward pass before RTS smoothing.
+ */
+export class FusionRtsHistoryBuilder {
+    static __wrap(ptr) {
+        const obj = Object.create(FusionRtsHistoryBuilder.prototype);
+        obj.__wbg_ptr = ptr;
+        FusionRtsHistoryBuilderFinalization.register(obj, obj.__wbg_ptr, obj);
+        return obj;
+    }
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+        FusionRtsHistoryBuilderFinalization.unregister(this);
+        return ptr;
+    }
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_fusionrtshistorybuilder_free(ptr, 0);
+    }
+    /**
+     * Return a validated recorded history.
+     * @returns {FusionRtsHistory}
+     */
+    finish() {
+        const ret = wasm.fusionrtshistorybuilder_finish(this.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return FusionRtsHistory.__wrap(ret[0]);
+    }
+    /**
+     * Start a history from the filter's current checkpoint.
+     * @param {GnssInsFilter} filter
+     * @returns {FusionRtsHistoryBuilder}
+     */
+    static fromFilter(filter) {
+        _assertClass(filter, GnssInsFilter);
+        const ret = wasm.fusionrtshistorybuilder_fromFilter(filter.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return FusionRtsHistoryBuilder.__wrap(ret[0]);
+    }
+    /**
+     * Start an empty history for manual recording.
+     */
+    constructor() {
+        const ret = wasm.fusionrtshistorybuilder_new();
+        this.__wbg_ptr = ret;
+        FusionRtsHistoryBuilderFinalization.register(this, this.__wbg_ptr, this);
+        return this;
+    }
+}
+if (Symbol.dispose) FusionRtsHistoryBuilder.prototype[Symbol.dispose] = FusionRtsHistoryBuilder.prototype.free;
+
 /**
  * WGS84 geodesic input failure class exposed as a stable enum symbol.
  * @enum {0}
@@ -5755,6 +5853,20 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Propagate and record the transition for later fusion RTS smoothing.
+     * @param {any} sample
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    propagateRecorded(sample, history) {
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_propagateRecorded(this.__wbg_ptr, sample, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Restore this filter from versioned fusion-state bytes.
      * @param {Uint8Array} bytes
@@ -5812,6 +5924,20 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Apply a loose GNSS fix and record checkpoints for fusion RTS smoothing.
+     * @param {any} measurement
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    updateLooseRecorded(measurement, history) {
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_updateLooseRecorded(this.__wbg_ptr, measurement, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Apply a loose GNSS fix, replaying retained IMU checkpoints when it is late.
      * @param {any} measurement
@@ -5838,6 +5964,22 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Apply a tight broadcast update and record checkpoints for fusion RTS smoothing.
+     * @param {BroadcastEphemeris} broadcast
+     * @param {any} epoch
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    updateTightBroadcastRecorded(broadcast, epoch, history) {
+        _assertClass(broadcast, BroadcastEphemeris);
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_updateTightBroadcastRecorded(this.__wbg_ptr, broadcast.__wbg_ptr, epoch, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Apply a tight broadcast update, replaying retained IMU checkpoints when it is late.
      * @param {BroadcastEphemeris} broadcast
@@ -5866,6 +6008,22 @@ export class GnssInsFilter {
         }
         return takeFromExternrefTable0(ret[0]);
     }
+    /**
+     * Apply a tight SP3 update and record checkpoints for fusion RTS smoothing.
+     * @param {Sp3} sp3
+     * @param {any} epoch
+     * @param {FusionRtsHistoryBuilder} history
+     * @returns {any}
+     */
+    updateTightSp3Recorded(sp3, epoch, history) {
+        _assertClass(sp3, Sp3);
+        _assertClass(history, FusionRtsHistoryBuilder);
+        const ret = wasm.gnssinsfilter_updateTightSp3Recorded(this.__wbg_ptr, sp3.__wbg_ptr, epoch, history.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
     /**
      * Apply a tight SP3 update, replaying retained IMU checkpoints when it is late.
      * @param {Sp3} sp3
@@ -15313,6 +15471,48 @@ export class SmoothCodeResult {
 }
 if (Symbol.dispose) SmoothCodeResult.prototype[Symbol.dispose] = SmoothCodeResult.prototype.free;
 
+/**
+ * Smoothed fusion trajectory returned by fixed-interval RTS smoothing.
+ */
+export class SmoothedFusionTrajectory {
+    static __wrap(ptr) {
+        const obj = Object.create(SmoothedFusionTrajectory.prototype);
+        obj.__wbg_ptr = ptr;
+        SmoothedFusionTrajectoryFinalization.register(obj, obj.__wbg_ptr, obj);
+        return obj;
+    }
+    __destroy_into_raw() {
+        const ptr = this.__wbg_ptr;
+        this.__wbg_ptr = 0;
+        SmoothedFusionTrajectoryFinalization.unregister(this);
+        return ptr;
+    }
+    free() {
+        const ptr = this.__destroy_into_raw();
+        wasm.__wbg_smoothedfusiontrajectory_free(ptr, 0);
+    }
+    /**
+     * Number of smoothed epochs.
+     * @returns {number}
+     */
+    get epochCount() {
+        const ret = wasm.smoothedfusiontrajectory_epochCount(this.__wbg_ptr);
+        return ret >>> 0;
+    }
+    /**
+     * Smoothed epochs in the same order as the recorded history.
+     * @returns {any}
+     */
+    get epochs() {
+        const ret = wasm.smoothedfusiontrajectory_epochs(this.__wbg_ptr);
+        if (ret[2]) {
+            throw takeFromExternrefTable0(ret[1]);
+        }
+        return takeFromExternrefTable0(ret[0]);
+    }
+}
+if (Symbol.dispose) SmoothedFusionTrajectory.prototype[Symbol.dispose] = SmoothedFusionTrajectory.prototype.free;
+
 export class SmoothedTrack {
     static __wrap(ptr) {
         const obj = Object.create(SmoothedTrack.prototype);
@@ -26489,6 +26689,20 @@ export function smoothCode(arc, options, hatch_window_cap) {
     return v1;
 }
 
+/**
+ * Apply fixed-interval RTS smoothing to recorded fusion history.
+ * @param {FusionRtsHistory} history
+ * @returns {SmoothedFusionTrajectory}
+ */
+export function smoothFusionRts(history) {
+    _assertClass(history, FusionRtsHistory);
+    const ret = wasm.smoothFusionRts(history.__wbg_ptr);
+    if (ret[2]) {
+        throw takeFromExternrefTable0(ret[1]);
+    }
+    return SmoothedFusionTrajectory.__wrap(ret[0]);
+}
+
 /**
  * Dual-frequency ionosphere-free Hatch carrier-smoothed code.
  * @param {any} arc
@@ -28371,6 +28585,12 @@ const FrameScannerFinalization = (typeof FinalizationRegistry === 'undefined')
 const FrameStatesFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_framestates_free(ptr, 1));
+const FusionRtsHistoryFinalization = (typeof FinalizationRegistry === 'undefined')
+    ? { register: () => {}, unregister: () => {} }
+    : new FinalizationRegistry(ptr => wasm.__wbg_fusionrtshistory_free(ptr, 1));
+const FusionRtsHistoryBuilderFinalization = (typeof FinalizationRegistry === 'undefined')
+    ? { register: () => {}, unregister: () => {} }
+    : new FinalizationRegistry(ptr => wasm.__wbg_fusionrtshistorybuilder_free(ptr, 1));
 const GeofenceFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_geofence_free(ptr, 1));
@@ -28671,6 +28891,9 @@ const SlipResultFinalization = (typeof FinalizationRegistry === 'undefined')
 const SmoothCodeResultFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_smoothcoderesult_free(ptr, 1));
+const SmoothedFusionTrajectoryFinalization = (typeof FinalizationRegistry === 'undefined')
+    ? { register: () => {}, unregister: () => {} }
+    : new FinalizationRegistry(ptr => wasm.__wbg_smoothedfusiontrajectory_free(ptr, 1));
 const SmoothedTrackFinalization = (typeof FinalizationRegistry === 'undefined')
     ? { register: () => {}, unregister: () => {} }
     : new FinalizationRegistry(ptr => wasm.__wbg_smoothedtrack_free(ptr, 1));