@wandelbots/nova-js 4.2.0 → 4.3.0-nova-api-dev.26-6-0-dev-136

package/dist/Nova-Dkb6yPVr.d.mts.map

@@ -0,0 +1 @@
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package/dist/experimental/math/index.d.mts

@@ -0,0 +1,140 @@
+import { Yc as Pose$1, t as Nova } from "../../Nova-Dkb6yPVr.mjs";
+//#region src/lib/experimental/math/Pose.d.ts
+/**
+ * A `Pose` (position + axis-angle orientation) with methods for composing
+ * and inverting transforms. Instances are plain-data compatible with the
+ * wire-format `PoseData` type (own `position`/`orientation` properties only,
+ * no enumerable methods), so they can be passed directly back into API calls
+ * that expect a pose.
+ */
+declare class Pose implements Pose$1 {
+  readonly position: number[];
+  readonly orientation: number[];
+  constructor(position?: number[], orientation?: number[]);
+  static from(pose: Pose$1): Pose;
+  static identity(): Pose;
+  /**
+   * Compose this pose with `other`, treating `other` as being expressed in
+   * this pose's coordinate frame. Equivalent to the homogeneous transform
+   * product `this * other`: applying the result to a point is the same as
+   * applying `other` first, then `this`.
+   */
+  multiply(other: Pose$1): Pose;
+  /** The inverse transform, such that `pose.multiply(pose.inverse())` is the identity pose. */
+  inverse(): Pose;
+  /** Apply this pose's transform to a point, returning the transformed point. */
+  transformPoint(point: number[]): number[];
+  /**
+   * Compare to another pose using separate position/orientation tolerances,
+   * matching wb-robotix's `Pose::isApprox()`: Euclidean distance for
+   * position, and quaternion angular distance for orientation - not a naive
+   * per-component diff, since two rotation vectors can represent nearly
+   * identical rotations while differing componentwise near a
+   * canonicalization boundary (e.g. close to the +/-pi wraparound).
+   */
+  isApprox(other: Pose$1, deltaPosition?: number, deltaOrientation?: number): boolean;
+  /**
+   * Position + orientation as a 6-element [x, y, z, roll, pitch, yaw] vector
+   * (Euler angles in rad, XYZ Tait-Bryan / Rx*Ry*Rz convention), matching
+   * wb-robotix's `Pose::toCartesian()`.
+   */
+  toCartesian(): number[];
+  /** Human-readable `[x, y, z][rx, ry, rz]` representation, matching wb-robotix's `Pose::string()`. */
+  toString(precision?: number): string;
+  toJSON(): Pose$1;
+}
+//#endregion
+//#region src/lib/experimental/math/Quaternion.d.ts
+/**
+ * A unit quaternion representing a 3D rotation. Mirrors the subset of
+ * `Eigen::Quaternion`'s API (see wb-robotix's `QuaternionBasePlugin.h`) that
+ * `Pose` composition needs: Hamilton product, conjugate/inverse, vector
+ * rotation, and axis-angle rotation-vector conversion. Instances are
+ * immutable - every method returns a new `Quaternion`.
+ */
+type QuaternionData = {
+  w: number;
+  x: number;
+  y: number;
+  z: number;
+};
+declare class Quaternion implements QuaternionData {
+  readonly w: number;
+  readonly x: number;
+  readonly y: number;
+  readonly z: number;
+  constructor(w?: number, x?: number, y?: number, z?: number);
+  static identity(): Quaternion;
+  /**
+   * Construct from an axis-angle rotation vector [rx, ry, rz] (magnitude =
+   * angle in rad), matching `Eigen::Quaternion::FromRotationVector` (ported
+   * from wb-robotix's `QuaternionBasePlugin.h`).
+   */
+  static fromRotationVector(rotationVector: number[]): Quaternion;
+  /**
+   * Rotation vector [rx, ry, rz] representation (magnitude = angle in rad),
+   * matching `Eigen::Quaternion::toRotationVector()` (ported from
+   * wb-robotix's `QuaternionBasePlugin.h`): using `atan2` rather than `acos`
+   * keeps the angle canonically within [0, pi] regardless of which of the
+   * two antipodal unit quaternions (this or its negation) represents the
+   * rotation, rather than acos's [0, 2*pi] range - important since composed
+   * poses need to match the same canonical rotation vector the robot
+   * controller itself would report for a pose.
+   */
+  toRotationVector(): number[];
+  /** Hamilton product: `a.multiply(b)` applied to a vector rotates by `b` first, then by `a`. */
+  multiply(other: QuaternionData): Quaternion;
+  /** Conjugate: negates the vector part. Equal to `inverse()` for unit quaternions. */
+  conjugate(): Quaternion;
+  /** Inverse: `conjugate()` scaled by `1 / squaredNorm()`, matching `Eigen::Quaternion::inverse()`. Equal to `conjugate()` for unit quaternions. */
+  inverse(): Quaternion;
+  /**
+   * The angle (in rad, always within [0, pi]) of the rotation that takes
+   * `other` to `this`, matching Eigen's built-in `Quaternion::angularDistance()`.
+   */
+  angularDistance(other: QuaternionData): number;
+  /** Rotate a 3D vector by this quaternion. */
+  rotateVector(v: number[]): number[];
+  toJSON(): QuaternionData;
+}
+//#endregion
+//#region src/lib/experimental/math/withMath.d.ts
+type PoseKeys = keyof Pose$1;
+type IsExactlyPoseData<T> = [Exclude<keyof T, PoseKeys>] extends [never] ? [Exclude<PoseKeys, keyof T>] extends [never] ? true : false : false;
+type MaxDepth = [unknown, unknown, unknown, unknown, unknown, unknown, unknown, unknown, unknown, unknown];
+type AugmentPosesCore<T, Depth extends readonly unknown[]> = Depth["length"] extends MaxDepth["length"] ? T : IsExactlyPoseData<T> extends true ? Pose : T extends readonly (infer U)[] ? DeepPoseAugmented<U, [...Depth, unknown]>[] : T extends object ? { [K in keyof T]: DeepPoseAugmented<T[K], [...Depth, unknown]>; } : T;
+/**
+ * Type-level counterpart to `augmentPoses`: recursively replaces any
+ * `PoseData`-shaped field with `Pose` (distributing over unions, e.g. so
+ * optional `Pose | undefined` fields keep the `| undefined`), so the static
+ * type matches what's actually returned at runtime.
+ */
+type DeepPoseAugmented<T, Depth extends readonly unknown[] = []> = T extends unknown ? AugmentPosesCore<T, Depth> : never;
+/**
+ * Recursively walks a parsed API response/request body, upgrading any
+ * `Pose`-shaped objects in place to `Pose` instances so they gain math
+ * methods (`multiply`, `inverse`, ...) while remaining JSON/wire-compatible.
+ * Used by `withMath` for `nova.api.*` responses; exported so it can also
+ * be applied manually to e.g. websocket messages.
+ */
+declare function augmentPoses<T>(value: T): DeepPoseAugmented<T>;
+type WithAugmentedPosesCore<T, Depth extends readonly unknown[]> = Depth["length"] extends MaxDepth["length"] ? T : T extends ((...args: infer A) => Promise<infer R>) ? (...args: A) => Promise<DeepPoseAugmented<R>> : T extends object ? { [K in keyof T]: WithAugmentedPosesCore<T[K], [...Depth, unknown]>; } : T;
+/**
+ * Recursively maps every method on `Nova["api"]` (and its nested API groups)
+ * so calls are typed as returning `DeepPoseAugmented` results, matching what
+ * `withMath` does at runtime.
+ */
+type WithAugmentedPoses<T> = WithAugmentedPosesCore<T, []>;
+type NovaWithMath = Omit<Nova, "api"> & {
+  readonly api: WithAugmentedPoses<Nova["api"]>;
+};
+/**
+ * Wraps a `Nova` instance so every `nova.api.*` call automatically upgrades
+ * `Pose`-shaped fields in its response to `Pose` instances (with math
+ * methods like `multiply`/`inverse`). Returns a new proxied view - does not
+ * mutate the original `nova` instance.
+ */
+declare function withMath(nova: Nova): NovaWithMath;
+//#endregion
+export { type DeepPoseAugmented, type NovaWithMath, Pose, type Pose$1 as PoseData, Quaternion, type QuaternionData, augmentPoses, withMath };
+//# sourceMappingURL=index.d.mts.map

package/dist/experimental/math/index.d.mts.map

@@ -0,0 +1 @@
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package/dist/experimental/math/index.mjs

@@ -0,0 +1,290 @@
+//#region src/lib/experimental/math/Quaternion.ts
+const EPSILON = 1e-12;
+var Quaternion = class Quaternion {
+	w;
+	x;
+	y;
+	z;
+	constructor(w = 1, x = 0, y = 0, z = 0) {
+		this.w = w;
+		this.x = x;
+		this.y = y;
+		this.z = z;
+	}
+	static identity() {
+		return new Quaternion();
+	}
+	/**
+	* Construct from an axis-angle rotation vector [rx, ry, rz] (magnitude =
+	* angle in rad), matching `Eigen::Quaternion::FromRotationVector` (ported
+	* from wb-robotix's `QuaternionBasePlugin.h`).
+	*/
+	static fromRotationVector(rotationVector) {
+		const rx = rotationVector[0] ?? 0;
+		const ry = rotationVector[1] ?? 0;
+		const rz = rotationVector[2] ?? 0;
+		const angle = Math.sqrt(rx * rx + ry * ry + rz * rz);
+		if (angle < EPSILON) return Quaternion.identity();
+		const half = angle / 2;
+		const s = Math.sin(half) / angle;
+		return new Quaternion(Math.cos(half), rx * s, ry * s, rz * s);
+	}
+	/**
+	* Rotation vector [rx, ry, rz] representation (magnitude = angle in rad),
+	* matching `Eigen::Quaternion::toRotationVector()` (ported from
+	* wb-robotix's `QuaternionBasePlugin.h`): using `atan2` rather than `acos`
+	* keeps the angle canonically within [0, pi] regardless of which of the
+	* two antipodal unit quaternions (this or its negation) represents the
+	* rotation, rather than acos's [0, 2*pi] range - important since composed
+	* poses need to match the same canonical rotation vector the robot
+	* controller itself would report for a pose.
+	*/
+	toRotationVector() {
+		const vecNorm = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+		if (vecNorm < EPSILON) return [
+			0,
+			0,
+			0
+		];
+		const angle = 2 * Math.atan2(vecNorm, Math.abs(this.w));
+		const scale = (this.w >= 0 ? angle : -angle) / vecNorm;
+		return [
+			this.x * scale,
+			this.y * scale,
+			this.z * scale
+		];
+	}
+	/** Hamilton product: `a.multiply(b)` applied to a vector rotates by `b` first, then by `a`. */
+	multiply(other) {
+		const { w: aw, x: ax, y: ay, z: az } = this;
+		const { w: bw, x: bx, y: by, z: bz } = other;
+		return new Quaternion(aw * bw - ax * bx - ay * by - az * bz, aw * bx + ax * bw + ay * bz - az * by, aw * by - ax * bz + ay * bw + az * bx, aw * bz + ax * by - ay * bx + az * bw);
+	}
+	/** Conjugate: negates the vector part. Equal to `inverse()` for unit quaternions. */
+	conjugate() {
+		return new Quaternion(this.w, -this.x, -this.y, -this.z);
+	}
+	/** Inverse: `conjugate()` scaled by `1 / squaredNorm()`, matching `Eigen::Quaternion::inverse()`. Equal to `conjugate()` for unit quaternions. */
+	inverse() {
+		const squaredNorm = this.w * this.w + this.x * this.x + this.y * this.y + this.z * this.z;
+		if (squaredNorm < EPSILON) return new Quaternion(0, 0, 0, 0);
+		const conjugate = this.conjugate();
+		return new Quaternion(conjugate.w / squaredNorm, conjugate.x / squaredNorm, conjugate.y / squaredNorm, conjugate.z / squaredNorm);
+	}
+	/**
+	* The angle (in rad, always within [0, pi]) of the rotation that takes
+	* `other` to `this`, matching Eigen's built-in `Quaternion::angularDistance()`.
+	*/
+	angularDistance(other) {
+		const relative = this.multiply({
+			w: other.w,
+			x: -other.x,
+			y: -other.y,
+			z: -other.z
+		});
+		const vecNorm = Math.sqrt(relative.x * relative.x + relative.y * relative.y + relative.z * relative.z);
+		return 2 * Math.atan2(vecNorm, Math.abs(relative.w));
+	}
+	/** Rotate a 3D vector by this quaternion. */
+	rotateVector(v) {
+		const vx = v[0] ?? 0;
+		const vy = v[1] ?? 0;
+		const vz = v[2] ?? 0;
+		const { w, x, y, z } = this;
+		const tx = 2 * (y * vz - z * vy);
+		const ty = 2 * (z * vx - x * vz);
+		const tz = 2 * (x * vy - y * vx);
+		return [
+			vx + w * tx + (y * tz - z * ty),
+			vy + w * ty + (z * tx - x * tz),
+			vz + w * tz + (x * ty - y * tx)
+		];
+	}
+	toJSON() {
+		return {
+			w: this.w,
+			x: this.x,
+			y: this.y,
+			z: this.z
+		};
+	}
+};
+//#endregion
+//#region src/lib/experimental/math/Pose.ts
+const ZERO_VECTOR = [
+	0,
+	0,
+	0
+];
+const TOLERANCE_MILLI = .001;
+function addVectors(a, b) {
+	return [
+		(a[0] ?? 0) + (b[0] ?? 0),
+		(a[1] ?? 0) + (b[1] ?? 0),
+		(a[2] ?? 0) + (b[2] ?? 0)
+	];
+}
+function negateVector(a) {
+	return [
+		-(a[0] ?? 0),
+		-(a[1] ?? 0),
+		-(a[2] ?? 0)
+	];
+}
+function isFiniteVector3(v) {
+	return v.length === 3 && v.every((n) => Number.isFinite(n));
+}
+/**
+* A `Pose` (position + axis-angle orientation) with methods for composing
+* and inverting transforms. Instances are plain-data compatible with the
+* wire-format `PoseData` type (own `position`/`orientation` properties only,
+* no enumerable methods), so they can be passed directly back into API calls
+* that expect a pose.
+*/
+var Pose = class Pose {
+	position;
+	orientation;
+	constructor(position = ZERO_VECTOR, orientation = ZERO_VECTOR) {
+		if (!isFiniteVector3(position)) throw new Error(`Pose constructor: position must be an array of 3 finite numbers, got ${JSON.stringify(position)}`);
+		if (!isFiniteVector3(orientation)) throw new Error(`Pose constructor: orientation must be an array of 3 finite numbers, got ${JSON.stringify(orientation)}`);
+		this.position = [...position];
+		this.orientation = [...orientation];
+	}
+	static from(pose) {
+		if (pose instanceof Pose) return pose;
+		return new Pose(pose.position ?? ZERO_VECTOR, pose.orientation ?? ZERO_VECTOR);
+	}
+	static identity() {
+		return new Pose();
+	}
+	/**
+	* Compose this pose with `other`, treating `other` as being expressed in
+	* this pose's coordinate frame. Equivalent to the homogeneous transform
+	* product `this * other`: applying the result to a point is the same as
+	* applying `other` first, then `this`.
+	*/
+	multiply(other) {
+		const q1 = Quaternion.fromRotationVector(this.orientation);
+		const q2 = Quaternion.fromRotationVector(other.orientation ?? ZERO_VECTOR);
+		const position = addVectors(this.position, q1.rotateVector(other.position ?? ZERO_VECTOR));
+		const orientation = q1.multiply(q2).toRotationVector();
+		return new Pose(position, orientation);
+	}
+	/** The inverse transform, such that `pose.multiply(pose.inverse())` is the identity pose. */
+	inverse() {
+		const position = Quaternion.fromRotationVector(this.orientation).inverse().rotateVector(negateVector(this.position));
+		const orientation = negateVector(this.orientation);
+		return new Pose(position, orientation);
+	}
+	/** Apply this pose's transform to a point, returning the transformed point. */
+	transformPoint(point) {
+		const q = Quaternion.fromRotationVector(this.orientation);
+		return addVectors(this.position, q.rotateVector(point));
+	}
+	/**
+	* Compare to another pose using separate position/orientation tolerances,
+	* matching wb-robotix's `Pose::isApprox()`: Euclidean distance for
+	* position, and quaternion angular distance for orientation - not a naive
+	* per-component diff, since two rotation vectors can represent nearly
+	* identical rotations while differing componentwise near a
+	* canonicalization boundary (e.g. close to the +/-pi wraparound).
+	*/
+	isApprox(other, deltaPosition = TOLERANCE_MILLI, deltaOrientation = TOLERANCE_MILLI) {
+		const otherPosition = other.position ?? ZERO_VECTOR;
+		const otherOrientation = other.orientation ?? ZERO_VECTOR;
+		const positionDistance = Math.sqrt(this.position.reduce((sum, v, i) => sum + (v - (otherPosition[i] ?? 0)) ** 2, 0));
+		const orientationDistance = Quaternion.fromRotationVector(this.orientation).angularDistance(Quaternion.fromRotationVector(otherOrientation));
+		return positionDistance <= deltaPosition && orientationDistance <= deltaOrientation;
+	}
+	/**
+	* Position + orientation as a 6-element [x, y, z, roll, pitch, yaw] vector
+	* (Euler angles in rad, XYZ Tait-Bryan / Rx*Ry*Rz convention), matching
+	* wb-robotix's `Pose::toCartesian()`.
+	*/
+	toCartesian() {
+		const { w, x, y, z } = Quaternion.fromRotationVector(this.orientation);
+		const roll = Math.atan2(2 * (w * x - y * z), 1 - 2 * (x * x + y * y));
+		const pitch = Math.asin(Math.min(1, Math.max(-1, 2 * (x * z + w * y))));
+		const yaw = Math.atan2(2 * (w * z - x * y), 1 - 2 * (y * y + z * z));
+		return [
+			...this.position,
+			roll,
+			pitch,
+			yaw
+		];
+	}
+	/** Human-readable `[x, y, z][rx, ry, rz]` representation, matching wb-robotix's `Pose::string()`. */
+	toString(precision = 6) {
+		const fmt = (v) => Number(v.toPrecision(precision));
+		return `[${this.position.map(fmt).join(", ")}][${this.orientation.map(fmt).join(", ")}]`;
+	}
+	toJSON() {
+		return {
+			position: this.position,
+			orientation: this.orientation
+		};
+	}
+};
+//#endregion
+//#region src/lib/experimental/math/withMath.ts
+function isPlainObject(value) {
+	return typeof value === "object" && value !== null && !Array.isArray(value) && !(value instanceof Pose);
+}
+function isNumberTriple(value) {
+	return Array.isArray(value) && value.length === 3 && value.every((n) => typeof n === "number");
+}
+/**
+* Structural check for the wire shape of `Pose` (`{ position, orientation }`,
+* each a 3-number array, and nothing else). This API has no other type with
+* this exact shape, so it reliably identifies `Pose` values without needing
+* per-endpoint knowledge of which fields are poses.
+*/
+function isPoseShape(value) {
+	return Object.keys(value).length === 2 && isNumberTriple(value.position) && isNumberTriple(value.orientation);
+}
+function augmentPosesInPlace(value) {
+	if (Array.isArray(value)) {
+		for (const item of value) augmentPosesInPlace(item);
+		return;
+	}
+	if (isPlainObject(value)) if (isPoseShape(value)) Object.setPrototypeOf(value, Pose.prototype);
+	else for (const key of Object.keys(value)) augmentPosesInPlace(value[key]);
+}
+/**
+* Recursively walks a parsed API response/request body, upgrading any
+* `Pose`-shaped objects in place to `Pose` instances so they gain math
+* methods (`multiply`, `inverse`, ...) while remaining JSON/wire-compatible.
+* Used by `withMath` for `nova.api.*` responses; exported so it can also
+* be applied manually to e.g. websocket messages.
+*/
+function augmentPoses(value) {
+	augmentPosesInPlace(value);
+	return value;
+}
+function wrapWithPoseAugmentation(target) {
+	return new Proxy(target, { get(t, prop) {
+		const value = Reflect.get(t, prop, t);
+		if (typeof value === "function") return (...args) => {
+			const result = value.apply(t, args);
+			return result instanceof Promise ? result.then((data) => augmentPoses(data)) : result;
+		};
+		if (value !== null && typeof value === "object") return wrapWithPoseAugmentation(value);
+		return value;
+	} });
+}
+/**
+* Wraps a `Nova` instance so every `nova.api.*` call automatically upgrades
+* `Pose`-shaped fields in its response to `Pose` instances (with math
+* methods like `multiply`/`inverse`). Returns a new proxied view - does not
+* mutate the original `nova` instance.
+*/
+function withMath(nova) {
+	return new Proxy(nova, { get(target, prop) {
+		if (prop === "api") return wrapWithPoseAugmentation(target.api);
+		return Reflect.get(target, prop, target);
+	} });
+}
+//#endregion
+export { Pose, Quaternion, augmentPoses, withMath };
+
+//# sourceMappingURL=index.mjs.map

package/dist/experimental/math/index.mjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/experimental/math/Quaternion.ts","../../../src/lib/experimental/math/Pose.ts","../../../src/lib/experimental/math/withMath.ts"],"sourcesContent":["/**\n * A unit quaternion representing a 3D rotation. Mirrors the subset of\n * `Eigen::Quaternion`'s API (see wb-robotix's `QuaternionBasePlugin.h`) that\n * `Pose` composition needs: Hamilton product, conjugate/inverse, vector\n * rotation, and axis-angle rotation-vector conversion. Instances are\n * immutable - every method returns a new `Quaternion`.\n */\n\nexport type QuaternionData = { w: number; x: number; y: number; z: number }\n\nconst EPSILON = 1e-12\n\nexport class Quaternion implements QuaternionData {\n  readonly w: number\n  readonly x: number\n  readonly y: number\n  readonly z: number\n\n  constructor(w = 1, x = 0, y = 0, z = 0) {\n    this.w = w\n    this.x = x\n    this.y = y\n    this.z = z\n  }\n\n  static identity(): Quaternion {\n    return new Quaternion()\n  }\n\n  /**\n   * Construct from an axis-angle rotation vector [rx, ry, rz] (magnitude =\n   * angle in rad), matching `Eigen::Quaternion::FromRotationVector` (ported\n   * from wb-robotix's `QuaternionBasePlugin.h`).\n   */\n  static fromRotationVector(rotationVector: number[]): Quaternion {\n    const rx = rotationVector[0] ?? 0\n    const ry = rotationVector[1] ?? 0\n    const rz = rotationVector[2] ?? 0\n\n    const angle = Math.sqrt(rx * rx + ry * ry + rz * rz)\n    if (angle < EPSILON) {\n      return Quaternion.identity()\n    }\n    const half = angle / 2\n    const s = Math.sin(half) / angle\n    return new Quaternion(Math.cos(half), rx * s, ry * s, rz * s)\n  }\n\n  /**\n   * Rotation vector [rx, ry, rz] representation (magnitude = angle in rad),\n   * matching `Eigen::Quaternion::toRotationVector()` (ported from\n   * wb-robotix's `QuaternionBasePlugin.h`): using `atan2` rather than `acos`\n   * keeps the angle canonically within [0, pi] regardless of which of the\n   * two antipodal unit quaternions (this or its negation) represents the\n   * rotation, rather than acos's [0, 2*pi] range - important since composed\n   * poses need to match the same canonical rotation vector the robot\n   * controller itself would report for a pose.\n   */\n  toRotationVector(): number[] {\n    const vecNorm = Math.sqrt(\n      this.x * this.x + this.y * this.y + this.z * this.z,\n    )\n    if (vecNorm < EPSILON) {\n      return [0, 0, 0]\n    }\n    const angle = 2 * Math.atan2(vecNorm, Math.abs(this.w))\n    const scale = (this.w >= 0 ? angle : -angle) / vecNorm\n    return [this.x * scale, this.y * scale, this.z * scale]\n  }\n\n  /** Hamilton product: `a.multiply(b)` applied to a vector rotates by `b` first, then by `a`. */\n  multiply(other: QuaternionData): Quaternion {\n    const { w: aw, x: ax, y: ay, z: az } = this\n    const { w: bw, x: bx, y: by, z: bz } = other\n    return new Quaternion(\n      aw * bw - ax * bx - ay * by - az * bz,\n      aw * bx + ax * bw + ay * bz - az * by,\n      aw * by - ax * bz + ay * bw + az * bx,\n      aw * bz + ax * by - ay * bx + az * bw,\n    )\n  }\n\n  /** Conjugate: negates the vector part. Equal to `inverse()` for unit quaternions. */\n  conjugate(): Quaternion {\n    return new Quaternion(this.w, -this.x, -this.y, -this.z)\n  }\n\n  /** Inverse: `conjugate()` scaled by `1 / squaredNorm()`, matching `Eigen::Quaternion::inverse()`. Equal to `conjugate()` for unit quaternions. */\n  inverse(): Quaternion {\n    const squaredNorm =\n      this.w * this.w + this.x * this.x + this.y * this.y + this.z * this.z\n    // Degenerate (zero) quaternion has no inverse - flag it the same way Eigen does.\n    if (squaredNorm < EPSILON) {\n      return new Quaternion(0, 0, 0, 0)\n    }\n    const conjugate = this.conjugate()\n    return new Quaternion(\n      conjugate.w / squaredNorm,\n      conjugate.x / squaredNorm,\n      conjugate.y / squaredNorm,\n      conjugate.z / squaredNorm,\n    )\n  }\n\n  /**\n   * The angle (in rad, always within [0, pi]) of the rotation that takes\n   * `other` to `this`, matching Eigen's built-in `Quaternion::angularDistance()`.\n   */\n  angularDistance(other: QuaternionData): number {\n    const relative = this.multiply({\n      w: other.w,\n      x: -other.x,\n      y: -other.y,\n      z: -other.z,\n    })\n    const vecNorm = Math.sqrt(\n      relative.x * relative.x +\n        relative.y * relative.y +\n        relative.z * relative.z,\n    )\n    return 2 * Math.atan2(vecNorm, Math.abs(relative.w))\n  }\n\n  /** Rotate a 3D vector by this quaternion. */\n  rotateVector(v: number[]): number[] {\n    const vx = v[0] ?? 0\n    const vy = v[1] ?? 0\n    const vz = v[2] ?? 0\n    const { w, x, y, z } = this\n\n    // t = 2 * cross(q.xyz, v)\n    const tx = 2 * (y * vz - z * vy)\n    const ty = 2 * (z * vx - x * vz)\n    const tz = 2 * (x * vy - y * vx)\n\n    // v' = v + w*t + cross(q.xyz, t)\n    return [\n      vx + w * tx + (y * tz - z * ty),\n      vy + w * ty + (z * tx - x * tz),\n      vz + w * tz + (x * ty - y * tx),\n    ]\n  }\n\n  toJSON(): QuaternionData {\n    return { w: this.w, x: this.x, y: this.y, z: this.z }\n  }\n}\n","import type { Pose as PoseData } from \"@wandelbots/nova-api/v2\"\nimport { Quaternion } from \"./Quaternion.ts\"\n\nconst ZERO_VECTOR = [0, 0, 0]\n\n// Matches wb-robotix's Constants.h TOLERANCE_MILLI, the default isApprox tolerance.\nconst TOLERANCE_MILLI = 1e-3\n\nfunction addVectors(a: number[], b: number[]): number[] {\n  return [\n    (a[0] ?? 0) + (b[0] ?? 0),\n    (a[1] ?? 0) + (b[1] ?? 0),\n    (a[2] ?? 0) + (b[2] ?? 0),\n  ]\n}\n\nfunction negateVector(a: number[]): number[] {\n  return [-(a[0] ?? 0), -(a[1] ?? 0), -(a[2] ?? 0)]\n}\n\nfunction isFiniteVector3(v: number[]): boolean {\n  return v.length === 3 && v.every((n) => Number.isFinite(n))\n}\n\n/**\n * A `Pose` (position + axis-angle orientation) with methods for composing\n * and inverting transforms. Instances are plain-data compatible with the\n * wire-format `PoseData` type (own `position`/`orientation` properties only,\n * no enumerable methods), so they can be passed directly back into API calls\n * that expect a pose.\n */\nexport class Pose implements PoseData {\n  readonly position: number[]\n  readonly orientation: number[]\n\n  constructor(\n    position: number[] = ZERO_VECTOR,\n    orientation: number[] = ZERO_VECTOR,\n  ) {\n    if (!isFiniteVector3(position)) {\n      throw new Error(\n        `Pose constructor: position must be an array of 3 finite numbers, got ${JSON.stringify(position)}`,\n      )\n    }\n    if (!isFiniteVector3(orientation)) {\n      throw new Error(\n        `Pose constructor: orientation must be an array of 3 finite numbers, got ${JSON.stringify(orientation)}`,\n      )\n    }\n    // Copy defensively so mutating the caller's arrays afterward can't\n    // change this (supposedly immutable) instance's state.\n    this.position = [...position]\n    this.orientation = [...orientation]\n  }\n\n  static from(pose: PoseData): Pose {\n    if (pose instanceof Pose) {\n      return pose\n    }\n    return new Pose(\n      pose.position ?? ZERO_VECTOR,\n      pose.orientation ?? ZERO_VECTOR,\n    )\n  }\n\n  static identity(): Pose {\n    return new Pose()\n  }\n\n  /**\n   * Compose this pose with `other`, treating `other` as being expressed in\n   * this pose's coordinate frame. Equivalent to the homogeneous transform\n   * product `this * other`: applying the result to a point is the same as\n   * applying `other` first, then `this`.\n   */\n  multiply(other: PoseData): Pose {\n    const q1 = Quaternion.fromRotationVector(this.orientation)\n    const q2 = Quaternion.fromRotationVector(other.orientation ?? ZERO_VECTOR)\n\n    const position = addVectors(\n      this.position,\n      q1.rotateVector(other.position ?? ZERO_VECTOR),\n    )\n    const orientation = q1.multiply(q2).toRotationVector()\n\n    return new Pose(position, orientation)\n  }\n\n  /** The inverse transform, such that `pose.multiply(pose.inverse())` is the identity pose. */\n  inverse(): Pose {\n    const qInverse = Quaternion.fromRotationVector(this.orientation).inverse()\n\n    const position = qInverse.rotateVector(negateVector(this.position))\n    // Negating an axis-angle vector gives the inverse rotation directly.\n    const orientation = negateVector(this.orientation)\n\n    return new Pose(position, orientation)\n  }\n\n  /** Apply this pose's transform to a point, returning the transformed point. */\n  transformPoint(point: number[]): number[] {\n    const q = Quaternion.fromRotationVector(this.orientation)\n    return addVectors(this.position, q.rotateVector(point))\n  }\n\n  /**\n   * Compare to another pose using separate position/orientation tolerances,\n   * matching wb-robotix's `Pose::isApprox()`: Euclidean distance for\n   * position, and quaternion angular distance for orientation - not a naive\n   * per-component diff, since two rotation vectors can represent nearly\n   * identical rotations while differing componentwise near a\n   * canonicalization boundary (e.g. close to the +/-pi wraparound).\n   */\n  isApprox(\n    other: PoseData,\n    deltaPosition = TOLERANCE_MILLI,\n    deltaOrientation = TOLERANCE_MILLI,\n  ): boolean {\n    const otherPosition = other.position ?? ZERO_VECTOR\n    const otherOrientation = other.orientation ?? ZERO_VECTOR\n\n    const positionDistance = Math.sqrt(\n      this.position.reduce(\n        (sum, v, i) => sum + (v - (otherPosition[i] ?? 0)) ** 2,\n        0,\n      ),\n    )\n    const orientationDistance = Quaternion.fromRotationVector(\n      this.orientation,\n    ).angularDistance(Quaternion.fromRotationVector(otherOrientation))\n\n    return (\n      positionDistance <= deltaPosition &&\n      orientationDistance <= deltaOrientation\n    )\n  }\n\n  /**\n   * Position + orientation as a 6-element [x, y, z, roll, pitch, yaw] vector\n   * (Euler angles in rad, XYZ Tait-Bryan / Rx*Ry*Rz convention), matching\n   * wb-robotix's `Pose::toCartesian()`.\n   */\n  toCartesian(): number[] {\n    const { w, x, y, z } = Quaternion.fromRotationVector(this.orientation)\n\n    const roll = Math.atan2(2 * (w * x - y * z), 1 - 2 * (x * x + y * y))\n    const pitch = Math.asin(Math.min(1, Math.max(-1, 2 * (x * z + w * y))))\n    const yaw = Math.atan2(2 * (w * z - x * y), 1 - 2 * (y * y + z * z))\n\n    return [...this.position, roll, pitch, yaw]\n  }\n\n  /** Human-readable `[x, y, z][rx, ry, rz]` representation, matching wb-robotix's `Pose::string()`. */\n  toString(precision = 6): string {\n    const fmt = (v: number) => Number(v.toPrecision(precision))\n    return `[${this.position.map(fmt).join(\", \")}][${this.orientation.map(fmt).join(\", \")}]`\n  }\n\n  toJSON(): PoseData {\n    return { position: this.position, orientation: this.orientation }\n  }\n}\n","import type { Pose as PoseData } from \"@wandelbots/nova-api/v2\"\nimport type { Nova } from \"../../Nova.ts\"\nimport { Pose } from \"./Pose.ts\"\n\ntype PoseKeys = keyof PoseData\n\ntype IsExactlyPoseData<T> = [Exclude<keyof T, PoseKeys>] extends [never]\n  ? [Exclude<PoseKeys, keyof T>] extends [never]\n    ? true\n    : false\n  : false\n\n// Depth cap avoids \"type instantiation is excessively deep\" on nova-api's\n// large (and possibly cyclic, e.g. compound colliders) generated type graph.\ntype MaxDepth = [\n  unknown,\n  unknown,\n  unknown,\n  unknown,\n  unknown,\n  unknown,\n  unknown,\n  unknown,\n  unknown,\n  unknown,\n]\n\ntype AugmentPosesCore<\n  T,\n  Depth extends readonly unknown[],\n> = Depth[\"length\"] extends MaxDepth[\"length\"]\n  ? T\n  : IsExactlyPoseData<T> extends true\n    ? Pose\n    : T extends readonly (infer U)[]\n      ? DeepPoseAugmented<U, [...Depth, unknown]>[]\n      : T extends object\n        ? { [K in keyof T]: DeepPoseAugmented<T[K], [...Depth, unknown]> }\n        : T\n\n/**\n * Type-level counterpart to `augmentPoses`: recursively replaces any\n * `PoseData`-shaped field with `Pose` (distributing over unions, e.g. so\n * optional `Pose | undefined` fields keep the `| undefined`), so the static\n * type matches what's actually returned at runtime.\n */\nexport type DeepPoseAugmented<\n  T,\n  Depth extends readonly unknown[] = [],\n> = T extends unknown ? AugmentPosesCore<T, Depth> : never\n\nfunction isPlainObject(value: unknown): value is Record<string, unknown> {\n  return (\n    typeof value === \"object\" &&\n    value !== null &&\n    !Array.isArray(value) &&\n    !(value instanceof Pose)\n  )\n}\n\nfunction isNumberTriple(value: unknown): value is number[] {\n  return (\n    Array.isArray(value) &&\n    value.length === 3 &&\n    value.every((n) => typeof n === \"number\")\n  )\n}\n\n/**\n * Structural check for the wire shape of `Pose` (`{ position, orientation }`,\n * each a 3-number array, and nothing else). This API has no other type with\n * this exact shape, so it reliably identifies `Pose` values without needing\n * per-endpoint knowledge of which fields are poses.\n */\nfunction isPoseShape(value: Record<string, unknown>): boolean {\n  return (\n    Object.keys(value).length === 2 &&\n    isNumberTriple(value.position) &&\n    isNumberTriple(value.orientation)\n  )\n}\n\nfunction augmentPosesInPlace(value: unknown): void {\n  if (Array.isArray(value)) {\n    for (const item of value) {\n      augmentPosesInPlace(item)\n    }\n    return\n  }\n\n  if (isPlainObject(value)) {\n    if (isPoseShape(value)) {\n      Object.setPrototypeOf(value, Pose.prototype)\n    } else {\n      for (const key of Object.keys(value)) {\n        augmentPosesInPlace(value[key])\n      }\n    }\n  }\n}\n\n/**\n * Recursively walks a parsed API response/request body, upgrading any\n * `Pose`-shaped objects in place to `Pose` instances so they gain math\n * methods (`multiply`, `inverse`, ...) while remaining JSON/wire-compatible.\n * Used by `withMath` for `nova.api.*` responses; exported so it can also\n * be applied manually to e.g. websocket messages.\n */\nexport function augmentPoses<T>(value: T): DeepPoseAugmented<T> {\n  augmentPosesInPlace(value)\n  return value as DeepPoseAugmented<T>\n}\n\ntype WithAugmentedPosesCore<\n  T,\n  Depth extends readonly unknown[],\n> = Depth[\"length\"] extends MaxDepth[\"length\"]\n  ? T\n  : T extends (...args: infer A) => Promise<infer R>\n    ? (...args: A) => Promise<DeepPoseAugmented<R>>\n    : T extends object\n      ? { [K in keyof T]: WithAugmentedPosesCore<T[K], [...Depth, unknown]> }\n      : T\n\n/**\n * Recursively maps every method on `Nova[\"api\"]` (and its nested API groups)\n * so calls are typed as returning `DeepPoseAugmented` results, matching what\n * `withMath` does at runtime.\n */\ntype WithAugmentedPoses<T> = WithAugmentedPosesCore<T, []>\n\nexport type NovaWithMath = Omit<Nova, \"api\"> & {\n  readonly api: WithAugmentedPoses<Nova[\"api\"]>\n}\n\nfunction wrapWithPoseAugmentation<T extends object>(target: T): T {\n  return new Proxy(target, {\n    get(t, prop) {\n      const value = Reflect.get(t, prop, t)\n      if (typeof value === \"function\") {\n        return (...args: unknown[]) => {\n          const result = (value as (...a: unknown[]) => unknown).apply(t, args)\n          return result instanceof Promise\n            ? result.then((data) => augmentPoses(data))\n            : result\n        }\n      }\n      if (value !== null && typeof value === \"object\") {\n        return wrapWithPoseAugmentation(value)\n      }\n      return value\n    },\n  }) as T\n}\n\n/**\n * Wraps a `Nova` instance so every `nova.api.*` call automatically upgrades\n * `Pose`-shaped fields in its response to `Pose` instances (with math\n * methods like `multiply`/`inverse`). Returns a new proxied view - does not\n * mutate the original `nova` instance.\n */\nexport function withMath(nova: Nova): NovaWithMath {\n  const proxy = new Proxy(nova, {\n    get(target, prop) {\n      if (prop === \"api\") {\n        return wrapWithPoseAugmentation(target.api)\n      }\n      // receiver is `target`, not the proxy, so `this` inside Nova's own\n      // methods stays bound to the original (un-proxied) instance.\n      return Reflect.get(target, prop, target)\n    },\n  })\n\n  return proxy as unknown as 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