@wandelbots/wandelbots-js-react-components 3.2.0-pr.feat-improve-exports.414.40b4b4e → 3.2.0

package/dist/PoseJointValues-wLOjcYDe.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"PoseJointValues-wLOjcYDe.cjs","sources":["../node_modules/@mui/system/esm/styleFunctionSx/extendSxProp.js","../node_modules/@mui/system/esm/styled/styled.js","../node_modules/@mui/system/esm/Stack/createStack.js","../node_modules/@mui/material/esm/Stack/Stack.js","../src/icons/jog-minus.svg","../src/icons/jog-plus.svg","../src/components/jogging/JoggingCartesianAxisControl.tsx","../node_modules/@mui/icons-material/esm/ChevronLeft.js","../node_modules/@mui/icons-material/esm/ChevronRight.js","../node_modules/lodash-es/isObject.js","../node_modules/lodash-es/now.js","../node_modules/lodash-es/_trimmedEndIndex.js","../node_modules/lodash-es/_baseTrim.js","../node_modules/lodash-es/isSymbol.js","../node_modules/lodash-es/toNumber.js","../node_modules/lodash-es/debounce.js","../node_modules/lodash-es/throttle.js","../src/components/jogging/JoggingJointRotationControl.tsx","../node_modules/@mui/icons-material/esm/OpenWith.js","../node_modules/@mui/icons-material/esm/Share.js","../node_modules/reconnecting-websocket/dist/reconnecting-websocket-mjs.js","../node_modules/@wandelbots/nova-js/dist/LoginWithAuth0-wQB-Sol1.mjs","../node_modules/url-join/lib/url-join.js","../node_modules/path-to-regexp/dist/index.js","../node_modules/@wandelbots/nova-js/dist/lib/v2/index.mjs","../node_modules/three/src/math/MathUtils.js","../node_modules/three/src/math/Quaternion.js","../node_modules/three/src/math/Vector3.js","../src/lib/MotionStreamConnection.ts","../src/lib/JoggerConnection.ts","../node_modules/lodash-es/isFunction.js","../node_modules/lodash-es/_coreJsData.js","../node_modules/lodash-es/_isMasked.js","../node_modules/lodash-es/_toSource.js","../node_modules/lodash-es/_baseIsNative.js","../node_modules/lodash-es/_getValue.js","../node_modules/lodash-es/_getNative.js","../node_modules/lodash-es/_defineProperty.js","../node_modules/lodash-es/_baseAssignValue.js","../node_modules/lodash-es/_arrayAggregator.js","../node_modules/lodash-es/_createBaseFor.js","../node_modules/lodash-es/_baseFor.js","../node_modules/lodash-es/_baseTimes.js","../node_modules/lodash-es/_baseIsArguments.js","../node_modules/lodash-es/isArguments.js","../node_modules/lodash-es/isArray.js","../node_modules/lodash-es/stubFalse.js","../node_modules/lodash-es/isBuffer.js","../node_modules/lodash-es/_isIndex.js","../node_modules/lodash-es/isLength.js","../node_modules/lodash-es/_baseIsTypedArray.js","../node_modules/lodash-es/_baseUnary.js","../node_modules/lodash-es/_nodeUtil.js","../node_modules/lodash-es/isTypedArray.js","../node_modules/lodash-es/_arrayLikeKeys.js","../node_modules/lodash-es/_isPrototype.js","../node_modules/lodash-es/_overArg.js","../node_modules/lodash-es/_nativeKeys.js","../node_modules/lodash-es/_baseKeys.js","../node_modules/lodash-es/isArrayLike.js","../node_modules/lodash-es/keys.js","../node_modules/lodash-es/_baseForOwn.js","../node_modules/lodash-es/_createBaseEach.js","../node_modules/lodash-es/_baseEach.js","../node_modules/lodash-es/_baseAggregator.js","../node_modules/lodash-es/_listCacheClear.js","../node_modules/lodash-es/eq.js","../node_modules/lodash-es/_assocIndexOf.js","../node_modules/lodash-es/_listCacheDelete.js","../node_modules/lodash-es/_listCacheGet.js","../node_modules/lodash-es/_listCacheHas.js","../node_modules/lodash-es/_listCacheSet.js","../node_modules/lodash-es/_ListCache.js","../node_modules/lodash-es/_stackClear.js","../node_modules/lodash-es/_stackDelete.js","../node_modules/lodash-es/_stackGet.js","../node_modules/lodash-es/_stackHas.js","../node_modules/lodash-es/_Map.js","../node_modules/lodash-es/_nativeCreate.js","../node_modules/lodash-es/_hashClear.js","../node_modules/lodash-es/_hashDelete.js","../node_modules/lodash-es/_hashGet.js","../node_modules/lodash-es/_hashHas.js","../node_modules/lodash-es/_hashSet.js","../node_modules/lodash-es/_Hash.js","../node_modules/lodash-es/_mapCacheClear.js","../node_modules/lodash-es/_isKeyable.js","../node_modules/lodash-es/_getMapData.js","../node_modules/lodash-es/_mapCacheDelete.js","../node_modules/lodash-es/_mapCacheGet.js","../node_modules/lodash-es/_mapCacheHas.js","../node_modules/lodash-es/_mapCacheSet.js","../node_modules/lodash-es/_MapCache.js","../node_modules/lodash-es/_stackSet.js","../node_modules/lodash-es/_Stack.js","../node_modules/lodash-es/_setCacheAdd.js","../node_modules/lodash-es/_setCacheHas.js","../node_modules/lodash-es/_SetCache.js","../node_modules/lodash-es/_arraySome.js","../node_modules/lodash-es/_cacheHas.js","../node_modules/lodash-es/_equalArrays.js","../node_modules/lodash-es/_Uint8Array.js","../node_modules/lodash-es/_mapToArray.js","../node_modules/lodash-es/_setToArray.js","../node_modules/lodash-es/_equalByTag.js","../node_modules/lodash-es/_arrayPush.js","../node_modules/lodash-es/_baseGetAllKeys.js","../node_modules/lodash-es/_arrayFilter.js","../node_modules/lodash-es/stubArray.js","../node_modules/lodash-es/_getSymbols.js","../node_modules/lodash-es/_getAllKeys.js","../node_modules/lodas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{ isPlainObject } from '@mui/utils/deepmerge';\nimport defaultSxConfig from \"./defaultSxConfig.js\";\nconst splitProps = props => {\n  const result = {\n    systemProps: {},\n    otherProps: {}\n  };\n  const config = props?.theme?.unstable_sxConfig ?? defaultSxConfig;\n  Object.keys(props).forEach(prop => {\n    if (config[prop]) {\n      result.systemProps[prop] = props[prop];\n    } else {\n      result.otherProps[prop] = props[prop];\n    }\n  });\n  return result;\n};\nexport default function extendSxProp(props) {\n  const {\n    sx: inSx,\n    ...other\n  } = props;\n  const {\n    systemProps,\n    otherProps\n  } = splitProps(other);\n  let finalSx;\n  if (Array.isArray(inSx)) {\n    finalSx = [systemProps, ...inSx];\n  } else if (typeof inSx === 'function') {\n    finalSx = (...args) => {\n      const result = inSx(...args);\n      if (!isPlainObject(result)) {\n        return systemProps;\n      }\n      return {\n        ...systemProps,\n        ...result\n      };\n    };\n  } else {\n    finalSx = {\n      ...systemProps,\n      ...inSx\n    };\n  }\n  return {\n    ...otherProps,\n    sx: finalSx\n  };\n}","import createStyled from \"../createStyled/index.js\";\nconst styled = createStyled();\nexport default styled;","'use client';\n\nimport * as React from 'react';\nimport PropTypes from 'prop-types';\nimport clsx from 'clsx';\nimport deepmerge from '@mui/utils/deepmerge';\nimport generateUtilityClass from '@mui/utils/generateUtilityClass';\nimport composeClasses from '@mui/utils/composeClasses';\nimport systemStyled from \"../styled/index.js\";\nimport useThemePropsSystem from \"../useThemeProps/index.js\";\nimport { extendSxProp } from \"../styleFunctionSx/index.js\";\nimport createTheme from \"../createTheme/index.js\";\nimport { handleBreakpoints, mergeBreakpointsInOrder, resolveBreakpointValues } from \"../breakpoints/index.js\";\nimport { createUnarySpacing, getValue } from \"../spacing/index.js\";\nimport { jsx as _jsx } from \"react/jsx-runtime\";\nconst defaultTheme = createTheme();\n// widening Theme to any so that the consumer can own the theme structure.\nconst defaultCreateStyledComponent = systemStyled('div', {\n  name: 'MuiStack',\n  slot: 'Root'\n});\nfunction useThemePropsDefault(props) {\n  return useThemePropsSystem({\n    props,\n    name: 'MuiStack',\n    defaultTheme\n  });\n}\n\n/**\n * Return an array with the separator React element interspersed between\n * each React node of the input children.\n *\n * > joinChildren([1,2,3], 0)\n * [1,0,2,0,3]\n */\nfunction joinChildren(children, separator) {\n  const childrenArray = React.Children.toArray(children).filter(Boolean);\n  return childrenArray.reduce((output, child, index) => {\n    output.push(child);\n    if (index < childrenArray.length - 1) {\n      output.push(/*#__PURE__*/React.cloneElement(separator, {\n        key: `separator-${index}`\n      }));\n    }\n    return output;\n  }, []);\n}\nconst getSideFromDirection = direction => {\n  return {\n    row: 'Left',\n    'row-reverse': 'Right',\n    column: 'Top',\n    'column-reverse': 'Bottom'\n  }[direction];\n};\nexport const style = ({\n  ownerState,\n  theme\n}) => {\n  let styles = {\n    display: 'flex',\n    flexDirection: 'column',\n    ...handleBreakpoints({\n      theme\n    }, resolveBreakpointValues({\n      values: ownerState.direction,\n      breakpoints: theme.breakpoints.values\n    }), propValue => ({\n      flexDirection: propValue\n    }))\n  };\n  if (ownerState.spacing) {\n    const transformer = createUnarySpacing(theme);\n    const base = Object.keys(theme.breakpoints.values).reduce((acc, breakpoint) => {\n      if (typeof ownerState.spacing === 'object' && ownerState.spacing[breakpoint] != null || typeof ownerState.direction === 'object' && ownerState.direction[breakpoint] != null) {\n        acc[breakpoint] = true;\n      }\n      return acc;\n    }, {});\n    const directionValues = resolveBreakpointValues({\n      values: ownerState.direction,\n      base\n    });\n    const spacingValues = resolveBreakpointValues({\n      values: ownerState.spacing,\n      base\n    });\n    if (typeof directionValues === 'object') {\n      Object.keys(directionValues).forEach((breakpoint, index, breakpoints) => {\n        const directionValue = directionValues[breakpoint];\n        if (!directionValue) {\n          const previousDirectionValue = index > 0 ? directionValues[breakpoints[index - 1]] : 'column';\n          directionValues[breakpoint] = previousDirectionValue;\n        }\n      });\n    }\n    const styleFromPropValue = (propValue, breakpoint) => {\n      if (ownerState.useFlexGap) {\n        return {\n          gap: getValue(transformer, propValue)\n        };\n      }\n      return {\n        // The useFlexGap={false} implement relies on each child to give up control of the margin.\n        // We need to reset the margin to avoid double spacing.\n        '& > :not(style):not(style)': {\n          margin: 0\n        },\n        '& > :not(style) ~ :not(style)': {\n          [`margin${getSideFromDirection(breakpoint ? directionValues[breakpoint] : ownerState.direction)}`]: getValue(transformer, propValue)\n        }\n      };\n    };\n    styles = deepmerge(styles, handleBreakpoints({\n      theme\n    }, spacingValues, styleFromPropValue));\n  }\n  styles = mergeBreakpointsInOrder(theme.breakpoints, styles);\n  return styles;\n};\nexport default function createStack(options = {}) {\n  const {\n    // This will allow adding custom styled fn (for example for custom sx style function)\n    createStyledComponent = defaultCreateStyledComponent,\n    useThemeProps = useThemePropsDefault,\n    componentName = 'MuiStack'\n  } = options;\n  const useUtilityClasses = () => {\n    const slots = {\n      root: ['root']\n    };\n    return composeClasses(slots, slot => generateUtilityClass(componentName, slot), {});\n  };\n  const StackRoot = createStyledComponent(style);\n  const Stack = /*#__PURE__*/React.forwardRef(function Grid(inProps, ref) {\n    const themeProps = useThemeProps(inProps);\n    const props = extendSxProp(themeProps); // `color` type conflicts with html color attribute.\n    const {\n      component = 'div',\n      direction = 'column',\n      spacing = 0,\n      divider,\n      children,\n      className,\n      useFlexGap = false,\n      ...other\n    } = props;\n    const ownerState = {\n      direction,\n      spacing,\n      useFlexGap\n    };\n    const classes = useUtilityClasses();\n    return /*#__PURE__*/_jsx(StackRoot, {\n      as: component,\n      ownerState: ownerState,\n      ref: ref,\n      className: clsx(classes.root, className),\n      ...other,\n      children: divider ? joinChildren(children, divider) : children\n    });\n  });\n  process.env.NODE_ENV !== \"production\" ? Stack.propTypes /* remove-proptypes */ = {\n    children: PropTypes.node,\n    direction: PropTypes.oneOfType([PropTypes.oneOf(['column-reverse', 'column', 'row-reverse', 'row']), PropTypes.arrayOf(PropTypes.oneOf(['column-reverse', 'column', 'row-reverse', 'row'])), PropTypes.object]),\n    divider: PropTypes.node,\n    spacing: PropTypes.oneOfType([PropTypes.arrayOf(PropTypes.oneOfType([PropTypes.number, PropTypes.string])), PropTypes.number, PropTypes.object, PropTypes.string]),\n    sx: PropTypes.oneOfType([PropTypes.arrayOf(PropTypes.oneOfType([PropTypes.func, PropTypes.object, PropTypes.bool])), PropTypes.func, PropTypes.object])\n  } : void 0;\n  return Stack;\n}","'use client';\n\nimport PropTypes from 'prop-types';\nimport { createStack } from '@mui/system';\nimport styled from \"../styles/styled.js\";\nimport { useDefaultProps } from \"../DefaultPropsProvider/index.js\";\nconst Stack = createStack({\n  createStyledComponent: styled('div', {\n    name: 'MuiStack',\n    slot: 'Root'\n  }),\n  useThemeProps: inProps => useDefaultProps({\n    props: inProps,\n    name: 'MuiStack'\n  })\n});\nprocess.env.NODE_ENV !== \"production\" ? Stack.propTypes /* remove-proptypes */ = {\n  // ┌────────────────────────────── Warning ──────────────────────────────┐\n  // │ These PropTypes are generated from the TypeScript type definitions. │\n  // │    To update them, edit the d.ts file and run `pnpm proptypes`.     │\n  // └─────────────────────────────────────────────────────────────────────┘\n  /**\n   * The content of the component.\n   */\n  children: PropTypes.node,\n  /**\n   * The component used for the root node.\n   * Either a string to use a HTML element or a component.\n   */\n  component: PropTypes.elementType,\n  /**\n   * Defines the `flex-direction` style property.\n   * It is applied for all screen sizes.\n   * @default 'column'\n   */\n  direction: PropTypes.oneOfType([PropTypes.oneOf(['column-reverse', 'column', 'row-reverse', 'row']), PropTypes.arrayOf(PropTypes.oneOf(['column-reverse', 'column', 'row-reverse', 'row'])), PropTypes.object]),\n  /**\n   * Add an element between each child.\n   */\n  divider: PropTypes.node,\n  /**\n   * Defines the space between immediate children.\n   * @default 0\n   */\n  spacing: PropTypes.oneOfType([PropTypes.arrayOf(PropTypes.oneOfType([PropTypes.number, PropTypes.string])), PropTypes.number, PropTypes.object, PropTypes.string]),\n  /**\n   * The system prop, which allows defining system overrides as well as additional CSS styles.\n   */\n  sx: PropTypes.oneOfType([PropTypes.arrayOf(PropTypes.oneOfType([PropTypes.func, PropTypes.object, PropTypes.bool])), PropTypes.func, PropTypes.object]),\n  /**\n   * If `true`, the CSS flexbox `gap` is used instead of applying `margin` to children.\n   *\n   * While CSS `gap` removes the [known limitations](https://mui.com/joy-ui/react-stack/#limitations),\n   * it is not fully supported in some browsers. We recommend checking https://caniuse.com/?search=flex%20gap before using this flag.\n   *\n   * To enable this flag globally, follow the [theme's default props](https://mui.com/material-ui/customization/theme-components/#default-props) configuration.\n   * @default false\n   */\n  useFlexGap: PropTypes.bool\n} : void 0;\nexport default Stack;","import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgJogMinus = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { width: 21, height: 21, viewBox: \"0 0 21 21\", fill: \"none\", xmlns: \"http://www.w3.org/2000/svg\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"g\", { id: \"JogMinus\" }, /* @__PURE__ */ React.createElement(\"path\", { id: \"Minus\", d: \"M0 13V8H21V13H0Z\", fill: \"white\" })));\nconst ForwardRef = forwardRef(SvgJogMinus);\nexport default ForwardRef;\n","import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgJogPlus = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { width: 21, height: 21, viewBox: \"0 0 21 21\", fill: \"none\", xmlns: \"http://www.w3.org/2000/svg\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"g\", { id: \"JogPlus\" }, /* @__PURE__ */ React.createElement(\"g\", { id: \"Plus\" }, /* @__PURE__ */ React.createElement(\"path\", { d: \"M0 13V8H8V13H0Z\", fill: \"white\" }), /* @__PURE__ */ React.createElement(\"path\", { d: \"M8 0L13 2.18557e-07L13 21H8L8 0Z\", fill: \"white\" }), /* @__PURE__ */ React.createElement(\"path\", { d: \"M13 13V8H21V13H13Z\", fill: \"white\" }))));\nconst ForwardRef = forwardRef(SvgJogPlus);\nexport default ForwardRef;\n","import { IconButton, Typography, useTheme } from \"@mui/material\"\nimport Stack from \"@mui/material/Stack\"\nimport { observer } from \"mobx-react-lite\"\nimport React, { useEffect, useRef, useState, type ReactNode } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport JogMinus from \"../../icons/jog-minus.svg\"\nimport JogPlus from \"../../icons/jog-plus.svg\"\nimport type { AxisControlComponentColors } from \"../../themes/themeTypes\"\nimport { useAnimationFrame } from \"../utils/hooks\"\nimport type { JoggingDirection } from \"./JoggingStore\"\n\ntype JoggingCartesianAxisControlProps = {\n  colors?: AxisControlComponentColors\n  label: ReactNode\n  getDisplayedValue: () => string\n  startJogging: (direction: JoggingDirection) => void\n  stopJogging: () => void\n  disabled?: boolean\n  /** If set, the corresponding button will be rendered in the pressed state */\n  activeJoggingDirection?: JoggingDirection\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual cartesian axis */\nexport const JoggingCartesianAxisControl = externalizeComponent(\n  observer(\n    ({\n      colors,\n      label,\n      getDisplayedValue,\n      startJogging,\n      stopJogging,\n      disabled,\n      activeJoggingDirection,\n      ...rest\n    }: JoggingCartesianAxisControlProps) => {\n      useAnimationFrame(() => {\n        const displayValue = getDisplayedValue()\n        const element = valueContainerRef.current\n        if (!element) return\n\n        element.textContent = displayValue\n      })\n      const theme = useTheme()\n\n      const [localActiveJoggingDirection, setLocalActiveJoggingDirection] =\n        useState<JoggingDirection | null>(null)\n\n      // Trigger pointer \"release\" events because e.g. firefox does not trigger pointer events as soon as a component is disabled\n      useEffect(() => {\n        if (!disabled) {\n          return\n        }\n        onPointerUpOrOut()\n      }, [disabled])\n\n      // Handle both controlled and uncontrolled states\n      const showJoggingDirection =\n        activeJoggingDirection || localActiveJoggingDirection\n\n      const valueContainerRef = useRef<HTMLParagraphElement>(null)\n\n      if (!colors) {\n        colors = {\n          color: \"#fff\",\n          backgroundColor: \"#000\",\n          borderColor: \"#000\",\n          buttonBackgroundColor: {\n            disabled: \"#000\",\n            default: \"#000\",\n            hovered: \"#000\",\n            pressed: \"#000\",\n          },\n          labelColor: \"#000\",\n        }\n      }\n\n      const borderColor = showJoggingDirection\n        ? colors.buttonBackgroundColor?.pressed\n        : colors.borderColor\n\n      const sxAxisControlButtonBase = {\n        width: \"55px\",\n        color: colors.color,\n        path: { fill: colors.color },\n        alignContent: \"center\",\n        fontSize: \"37px\",\n        svg: {\n          pointerEvents: \"none\",\n        },\n      }\n\n      const sxAxisControlButtonDefault = {\n        ...sxAxisControlButtonBase,\n        backgroundColor: colors.buttonBackgroundColor?.default,\n        \":hover\": {\n          backgroundColor: colors.buttonBackgroundColor?.hovered,\n        },\n        \":active\": {\n          backgroundColor: colors.buttonBackgroundColor?.pressed,\n          color: colors.backgroundColor,\n          path: { fill: colors.backgroundColor },\n        },\n        \":disabled\": {\n          backgroundColor: colors.buttonBackgroundColor?.disabled,\n          \"svg path\": { fill: theme.palette.action.disabled },\n        },\n      }\n\n      const sxAxisControlButtonPressed = {\n        ...sxAxisControlButtonBase,\n        backgroundColor: colors.buttonBackgroundColor?.pressed,\n        color: colors.backgroundColor,\n        path: { fill: colors.backgroundColor },\n        \":disabled\": {\n          backgroundColor: colors.buttonBackgroundColor?.pressed,\n          \"svg path\": { fill: theme.palette.action.disabled },\n        },\n      }\n\n      function onPointerDown(\n        ev: React.PointerEvent,\n        direction: JoggingDirection,\n      ) {\n        if (disabled) {\n          return\n        }\n\n        if (ev.button === 0) {\n          setLocalActiveJoggingDirection(direction)\n          startJogging(direction)\n        }\n      }\n\n      function onPointerUpOrOut() {\n        setLocalActiveJoggingDirection(null)\n        stopJogging()\n      }\n\n      return (\n        <Stack height=\"64px\" direction=\"row\" justifyContent=\"center\" {...rest}>\n          <IconButton\n            disabled={disabled}\n            disableRipple\n            onPointerDown={(ev: React.PointerEvent) => onPointerDown(ev, \"-\")}\n            onPointerUp={onPointerUpOrOut}\n            onPointerOut={onPointerUpOrOut}\n            size=\"large\"\n            sx={{\n              ...(showJoggingDirection === \"-\"\n                ? sxAxisControlButtonPressed\n                : sxAxisControlButtonDefault),\n              borderRadius: \"16px 0px 0px 16px\",\n              borderLeft: `2px solid ${borderColor ?? \"#fff\"}`,\n              borderBottom: `2px solid ${borderColor ?? \"#fff\"}`,\n              borderTop: `2px solid ${borderColor ?? \"#fff\"}`,\n            }}\n          >\n            <JogMinus />\n          </IconButton>\n\n          <Stack\n            spacing=\"6px\"\n            sx={{\n              width: \"150px\",\n              backgroundColor: colors.backgroundColor,\n              alignItems: \"center\",\n              justifyContent: \"center\",\n              opacity: \"0.9\",\n              borderBottom: `2px solid ${borderColor ?? \"#fff\"}`,\n              borderTop: `2px solid ${borderColor ?? \"#fff\"}`,\n            }}\n          >\n            <Stack\n              height=\"22px\"\n              direction=\"row\"\n              alignItems=\"center\"\n              justifyItems=\"center\"\n              spacing={1}\n              sx={{\n                userSelect: \"none\",\n                color: colors.color,\n                \".MuiTypography-root\": {\n                  fontWeight: 700,\n                  ...(disabled ? { color: theme.palette.action.disabled } : {}),\n                },\n                ...(disabled\n                  ? { \"svg path\": { fill: theme.palette.action.disabled } }\n                  : {}),\n              }}\n            >\n              {label}\n            </Stack>\n            <Typography\n              height=\"22px\"\n              sx={{\n                fontSize: \"15px\",\n                color: disabled ? theme.palette.action.disabled : colors.color,\n                fontWeight: 700,\n              }}\n              ref={valueContainerRef}\n            >\n              {getDisplayedValue()}\n            </Typography>\n          </Stack>\n\n          <IconButton\n            disableRipple\n            disabled={disabled}\n            onPointerDown={(ev: React.PointerEvent) => onPointerDown(ev, \"+\")}\n            onPointerUp={onPointerUpOrOut}\n            onPointerOut={onPointerUpOrOut}\n            size=\"large\"\n            sx={{\n              ...(showJoggingDirection === \"+\"\n                ? sxAxisControlButtonPressed\n                : sxAxisControlButtonDefault),\n              borderRadius: \"0px 16px 16px 0px\",\n              borderRight: `2px solid ${borderColor ?? \"#fff\"}`,\n              borderBottom: `2px solid ${borderColor ?? \"#fff\"}`,\n              borderTop: `2px solid ${borderColor ?? \"#fff\"}`,\n            }}\n          >\n            <JogPlus />\n          </IconButton>\n        </Stack>\n      )\n    },\n  ),\n)\n","\"use client\";\n\nimport createSvgIcon from \"./utils/createSvgIcon.js\";\nimport { jsx as _jsx } from \"react/jsx-runtime\";\nexport default createSvgIcon(/*#__PURE__*/_jsx(\"path\", {\n  d: \"M15.41 7.41 14 6l-6 6 6 6 1.41-1.41L10.83 12z\"\n}), 'ChevronLeft');","\"use client\";\n\nimport createSvgIcon from \"./utils/createSvgIcon.js\";\nimport { jsx as _jsx } from \"react/jsx-runtime\";\nexport default createSvgIcon(/*#__PURE__*/_jsx(\"path\", {\n  d: \"M10 6 8.59 7.41 13.17 12l-4.58 4.59L10 18l6-6z\"\n}), 'ChevronRight');","/**\n * Checks if `value` is the\n * [language type](http://www.ecma-international.org/ecma-262/7.0/#sec-ecmascript-language-types)\n * of `Object`. (e.g. arrays, functions, objects, regexes, `new Number(0)`, and `new String('')`)\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is an object, else `false`.\n * @example\n *\n * _.isObject({});\n * // => true\n *\n * _.isObject([1, 2, 3]);\n * // => true\n *\n * _.isObject(_.noop);\n * // => true\n *\n * _.isObject(null);\n * // => false\n */\nfunction isObject(value) {\n  var type = typeof value;\n  return value != null && (type == 'object' || type == 'function');\n}\n\nexport default isObject;\n","import root from './_root.js';\n\n/**\n * Gets the timestamp of the number of milliseconds that have elapsed since\n * the Unix epoch (1 January 1970 00:00:00 UTC).\n *\n * @static\n * @memberOf _\n * @since 2.4.0\n * @category Date\n * @returns {number} Returns the timestamp.\n * @example\n *\n * _.defer(function(stamp) {\n *   console.log(_.now() - stamp);\n * }, _.now());\n * // => Logs the number of milliseconds it took for the deferred invocation.\n */\nvar now = function() {\n  return root.Date.now();\n};\n\nexport default now;\n","/** Used to match a single whitespace character. */\nvar reWhitespace = /\\s/;\n\n/**\n * Used by `_.trim` and `_.trimEnd` to get the index of the last non-whitespace\n * character of `string`.\n *\n * @private\n * @param {string} string The string to inspect.\n * @returns {number} Returns the index of the last non-whitespace character.\n */\nfunction trimmedEndIndex(string) {\n  var index = string.length;\n\n  while (index-- && reWhitespace.test(string.charAt(index))) {}\n  return index;\n}\n\nexport default trimmedEndIndex;\n","import trimmedEndIndex from './_trimmedEndIndex.js';\n\n/** Used to match leading whitespace. */\nvar reTrimStart = /^\\s+/;\n\n/**\n * The base implementation of `_.trim`.\n *\n * @private\n * @param {string} string The string to trim.\n * @returns {string} Returns the trimmed string.\n */\nfunction baseTrim(string) {\n  return string\n    ? string.slice(0, trimmedEndIndex(string) + 1).replace(reTrimStart, '')\n    : string;\n}\n\nexport default baseTrim;\n","import baseGetTag from './_baseGetTag.js';\nimport isObjectLike from './isObjectLike.js';\n\n/** `Object#toString` result references. */\nvar symbolTag = '[object Symbol]';\n\n/**\n * Checks if `value` is classified as a `Symbol` primitive or object.\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a symbol, else `false`.\n * @example\n *\n * _.isSymbol(Symbol.iterator);\n * // => true\n *\n * _.isSymbol('abc');\n * // => false\n */\nfunction isSymbol(value) {\n  return typeof value == 'symbol' ||\n    (isObjectLike(value) && baseGetTag(value) == symbolTag);\n}\n\nexport default isSymbol;\n","import baseTrim from './_baseTrim.js';\nimport isObject from './isObject.js';\nimport isSymbol from './isSymbol.js';\n\n/** Used as references for various `Number` constants. */\nvar NAN = 0 / 0;\n\n/** Used to detect bad signed hexadecimal string values. */\nvar reIsBadHex = /^[-+]0x[0-9a-f]+$/i;\n\n/** Used to detect binary string values. */\nvar reIsBinary = /^0b[01]+$/i;\n\n/** Used to detect octal string values. */\nvar reIsOctal = /^0o[0-7]+$/i;\n\n/** Built-in method references without a dependency on `root`. */\nvar freeParseInt = parseInt;\n\n/**\n * Converts `value` to a number.\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Lang\n * @param {*} value The value to process.\n * @returns {number} Returns the number.\n * @example\n *\n * _.toNumber(3.2);\n * // => 3.2\n *\n * _.toNumber(Number.MIN_VALUE);\n * // => 5e-324\n *\n * _.toNumber(Infinity);\n * // => Infinity\n *\n * _.toNumber('3.2');\n * // => 3.2\n */\nfunction toNumber(value) {\n  if (typeof value == 'number') {\n    return value;\n  }\n  if (isSymbol(value)) {\n    return NAN;\n  }\n  if (isObject(value)) {\n    var other = typeof value.valueOf == 'function' ? value.valueOf() : value;\n    value = isObject(other) ? (other + '') : other;\n  }\n  if (typeof value != 'string') {\n    return value === 0 ? value : +value;\n  }\n  value = baseTrim(value);\n  var isBinary = reIsBinary.test(value);\n  return (isBinary || reIsOctal.test(value))\n    ? freeParseInt(value.slice(2), isBinary ? 2 : 8)\n    : (reIsBadHex.test(value) ? NAN : +value);\n}\n\nexport default toNumber;\n","import isObject from './isObject.js';\nimport now from './now.js';\nimport toNumber from './toNumber.js';\n\n/** Error message constants. */\nvar FUNC_ERROR_TEXT = 'Expected a function';\n\n/* Built-in method references for those with the same name as other `lodash` methods. */\nvar nativeMax = Math.max,\n    nativeMin = Math.min;\n\n/**\n * Creates a debounced function that delays invoking `func` until after `wait`\n * milliseconds have elapsed since the last time the debounced function was\n * invoked. The debounced function comes with a `cancel` method to cancel\n * delayed `func` invocations and a `flush` method to immediately invoke them.\n * Provide `options` to indicate whether `func` should be invoked on the\n * leading and/or trailing edge of the `wait` timeout. The `func` is invoked\n * with the last arguments provided to the debounced function. Subsequent\n * calls to the debounced function return the result of the last `func`\n * invocation.\n *\n * **Note:** If `leading` and `trailing` options are `true`, `func` is\n * invoked on the trailing edge of the timeout only if the debounced function\n * is invoked more than once during the `wait` timeout.\n *\n * If `wait` is `0` and `leading` is `false`, `func` invocation is deferred\n * until to the next tick, similar to `setTimeout` with a timeout of `0`.\n *\n * See [David Corbacho's article](https://css-tricks.com/debouncing-throttling-explained-examples/)\n * for details over the differences between `_.debounce` and `_.throttle`.\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Function\n * @param {Function} func The function to debounce.\n * @param {number} [wait=0] The number of milliseconds to delay.\n * @param {Object} [options={}] The options object.\n * @param {boolean} [options.leading=false]\n *  Specify invoking on the leading edge of the timeout.\n * @param {number} [options.maxWait]\n *  The maximum time `func` is allowed to be delayed before it's invoked.\n * @param {boolean} [options.trailing=true]\n *  Specify invoking on the trailing edge of the timeout.\n * @returns {Function} Returns the new debounced function.\n * @example\n *\n * // Avoid costly calculations while the window size is in flux.\n * jQuery(window).on('resize', _.debounce(calculateLayout, 150));\n *\n * // Invoke `sendMail` when clicked, debouncing subsequent calls.\n * jQuery(element).on('click', _.debounce(sendMail, 300, {\n *   'leading': true,\n *   'trailing': false\n * }));\n *\n * // Ensure `batchLog` is invoked once after 1 second of debounced calls.\n * var debounced = _.debounce(batchLog, 250, { 'maxWait': 1000 });\n * var source = new EventSource('/stream');\n * jQuery(source).on('message', debounced);\n *\n * // Cancel the trailing debounced invocation.\n * jQuery(window).on('popstate', debounced.cancel);\n */\nfunction debounce(func, wait, options) {\n  var lastArgs,\n      lastThis,\n      maxWait,\n      result,\n      timerId,\n      lastCallTime,\n      lastInvokeTime = 0,\n      leading = false,\n      maxing = false,\n      trailing = true;\n\n  if (typeof func != 'function') {\n    throw new TypeError(FUNC_ERROR_TEXT);\n  }\n  wait = toNumber(wait) || 0;\n  if (isObject(options)) {\n    leading = !!options.leading;\n    maxing = 'maxWait' in options;\n    maxWait = maxing ? nativeMax(toNumber(options.maxWait) || 0, wait) : maxWait;\n    trailing = 'trailing' in options ? !!options.trailing : trailing;\n  }\n\n  function invokeFunc(time) {\n    var args = lastArgs,\n        thisArg = lastThis;\n\n    lastArgs = lastThis = undefined;\n    lastInvokeTime = time;\n    result = func.apply(thisArg, args);\n    return result;\n  }\n\n  function leadingEdge(time) {\n    // Reset any `maxWait` timer.\n    lastInvokeTime = time;\n    // Start the timer for the trailing edge.\n    timerId = setTimeout(timerExpired, wait);\n    // Invoke the leading edge.\n    return leading ? invokeFunc(time) : result;\n  }\n\n  function remainingWait(time) {\n    var timeSinceLastCall = time - lastCallTime,\n        timeSinceLastInvoke = time - lastInvokeTime,\n        timeWaiting = wait - timeSinceLastCall;\n\n    return maxing\n      ? nativeMin(timeWaiting, maxWait - timeSinceLastInvoke)\n      : timeWaiting;\n  }\n\n  function shouldInvoke(time) {\n    var timeSinceLastCall = time - lastCallTime,\n        timeSinceLastInvoke = time - lastInvokeTime;\n\n    // Either this is the first call, activity has stopped and we're at the\n    // trailing edge, the system time has gone backwards and we're treating\n    // it as the trailing edge, or we've hit the `maxWait` limit.\n    return (lastCallTime === undefined || (timeSinceLastCall >= wait) ||\n      (timeSinceLastCall < 0) || (maxing && timeSinceLastInvoke >= maxWait));\n  }\n\n  function timerExpired() {\n    var time = now();\n    if (shouldInvoke(time)) {\n      return trailingEdge(time);\n    }\n    // Restart the timer.\n    timerId = setTimeout(timerExpired, remainingWait(time));\n  }\n\n  function trailingEdge(time) {\n    timerId = undefined;\n\n    // Only invoke if we have `lastArgs` which means `func` has been\n    // debounced at least once.\n    if (trailing && lastArgs) {\n      return invokeFunc(time);\n    }\n    lastArgs = lastThis = undefined;\n    return result;\n  }\n\n  function cancel() {\n    if (timerId !== undefined) {\n      clearTimeout(timerId);\n    }\n    lastInvokeTime = 0;\n    lastArgs = lastCallTime = lastThis = timerId = undefined;\n  }\n\n  function flush() {\n    return timerId === undefined ? result : trailingEdge(now());\n  }\n\n  function debounced() {\n    var time = now(),\n        isInvoking = shouldInvoke(time);\n\n    lastArgs = arguments;\n    lastThis = this;\n    lastCallTime = time;\n\n    if (isInvoking) {\n      if (timerId === undefined) {\n        return leadingEdge(lastCallTime);\n      }\n      if (maxing) {\n        // Handle invocations in a tight loop.\n        clearTimeout(timerId);\n        timerId = setTimeout(timerExpired, wait);\n        return invokeFunc(lastCallTime);\n      }\n    }\n    if (timerId === undefined) {\n      timerId = setTimeout(timerExpired, wait);\n    }\n    return result;\n  }\n  debounced.cancel = cancel;\n  debounced.flush = flush;\n  return debounced;\n}\n\nexport default debounce;\n","import debounce from './debounce.js';\nimport isObject from './isObject.js';\n\n/** Error message constants. */\nvar FUNC_ERROR_TEXT = 'Expected a function';\n\n/**\n * Creates a throttled function that only invokes `func` at most once per\n * every `wait` milliseconds. The throttled function comes with a `cancel`\n * method to cancel delayed `func` invocations and a `flush` method to\n * immediately invoke them. Provide `options` to indicate whether `func`\n * should be invoked on the leading and/or trailing edge of the `wait`\n * timeout. The `func` is invoked with the last arguments provided to the\n * throttled function. Subsequent calls to the throttled function return the\n * result of the last `func` invocation.\n *\n * **Note:** If `leading` and `trailing` options are `true`, `func` is\n * invoked on the trailing edge of the timeout only if the throttled function\n * is invoked more than once during the `wait` timeout.\n *\n * If `wait` is `0` and `leading` is `false`, `func` invocation is deferred\n * until to the next tick, similar to `setTimeout` with a timeout of `0`.\n *\n * See [David Corbacho's article](https://css-tricks.com/debouncing-throttling-explained-examples/)\n * for details over the differences between `_.throttle` and `_.debounce`.\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Function\n * @param {Function} func The function to throttle.\n * @param {number} [wait=0] The number of milliseconds to throttle invocations to.\n * @param {Object} [options={}] The options object.\n * @param {boolean} [options.leading=true]\n *  Specify invoking on the leading edge of the timeout.\n * @param {boolean} [options.trailing=true]\n *  Specify invoking on the trailing edge of the timeout.\n * @returns {Function} Returns the new throttled function.\n * @example\n *\n * // Avoid excessively updating the position while scrolling.\n * jQuery(window).on('scroll', _.throttle(updatePosition, 100));\n *\n * // Invoke `renewToken` when the click event is fired, but not more than once every 5 minutes.\n * var throttled = _.throttle(renewToken, 300000, { 'trailing': false });\n * jQuery(element).on('click', throttled);\n *\n * // Cancel the trailing throttled invocation.\n * jQuery(window).on('popstate', throttled.cancel);\n */\nfunction throttle(func, wait, options) {\n  var leading = true,\n      trailing = true;\n\n  if (typeof func != 'function') {\n    throw new TypeError(FUNC_ERROR_TEXT);\n  }\n  if (isObject(options)) {\n    leading = 'leading' in options ? !!options.leading : leading;\n    trailing = 'trailing' in options ? !!options.trailing : trailing;\n  }\n  return debounce(func, wait, {\n    'leading': leading,\n    'maxWait': wait,\n    'trailing': trailing\n  });\n}\n\nexport default throttle;\n","import ChevronLeft from \"@mui/icons-material/ChevronLeft\"\nimport ChevronRight from \"@mui/icons-material/ChevronRight\"\nimport { IconButton, Slider, Typography, useTheme } from \"@mui/material\"\nimport Stack from \"@mui/material/Stack\"\nimport throttle from \"lodash-es/throttle\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { useAnimationFrame } from \"../utils/hooks\"\n\ntype JoggingJointRotationControlProps = {\n  startJogging: (direction: \"-\" | \"+\") => void\n  stopJogging: () => void\n  lowerLimitDegs?: number\n  upperLimitDegs?: number\n  getValueDegs: () => number | undefined\n\n  disabled?: boolean\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual joint */\nexport const JoggingJointRotationControl = externalizeComponent(\n  observer(\n    ({\n      startJogging,\n      stopJogging,\n      lowerLimitDegs,\n      upperLimitDegs,\n      getValueDegs,\n      disabled,\n      ...rest\n    }: JoggingJointRotationControlProps) => {\n      const { t } = useTranslation()\n      const [currentValue, setCurrentValue] = useState<number | undefined>()\n      const theme = useTheme()\n\n      const pressedButtonStyle = {\n        background: theme.palette.backgroundPaperElevation?.[4],\n        color: theme.palette.backgroundPaperElevation?.[11],\n      }\n\n      const state = useLocalObservable(() => ({\n        activeJoggingDir: null as \"-\" | \"+\" | null,\n\n        startJogging(dir: \"-\" | \"+\") {\n          this.activeJoggingDir = dir\n          startJogging(dir)\n        },\n\n        stopJogging() {\n          this.activeJoggingDir = null\n          stopJogging()\n        },\n      }))\n\n      const updateValue = throttle(() => {\n        setCurrentValue(getValueDegs())\n      }, 50)\n\n      useAnimationFrame(updateValue)\n\n      function onPointerDownMinus(ev: React.PointerEvent) {\n        // Stop right click from triggering jog\n        if (ev.button === 0) state.startJogging(\"-\")\n      }\n\n      function onPointerDownPlus(ev: React.PointerEvent) {\n        if (ev.button === 0) state.startJogging(\"+\")\n      }\n\n      function onPointerUp(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function onPointerOut(ev: React.PointerEvent) {\n        state.stopJogging()\n      }\n\n      function formatDegrees(value: number | undefined, precision = 1) {\n        if (value === undefined || isNaN(value)) return \"\"\n\n        const output = t(\"General.degree.variable\", {\n          amount: value.toFixed(precision),\n        })\n\n        if (value > 0 && precision === 0) {\n          return `+${output}`\n        } else {\n          return output\n        }\n      }\n\n      return (\n        <Stack\n          height=\"64px\"\n          width=\"100%\"\n          maxWidth=\"260px\"\n          direction=\"row\"\n          {...rest}\n          sx={{\n            \"& .MuiIconButton-root\": {\n              width: \"52px\",\n              color: theme.palette.text.primary,\n              alignContent: \"center\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              \"& svg\": {\n                width: \"42px\",\n                height: \"42px\",\n              },\n\n              \"&.Mui-disabled\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n                color: theme.palette.action.disabled,\n                opacity: 1,\n              },\n              \"&:hover\": {\n                backgroundColor: theme.palette.backgroundPaperElevation?.[9],\n              },\n              \"&:active\": {\n                ...pressedButtonStyle,\n              },\n            },\n          }}\n        >\n          <IconButton\n            onPointerDown={onPointerDownMinus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"16px 0px 0px 16px\",\n              ...(state.activeJoggingDir === \"-\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronLeft\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n\n          <Stack\n            flexGrow={1}\n            alignItems=\"center\"\n            justifyContent=\"center\"\n            sx={{\n              borderStyle: \"solid\",\n              borderLeftWidth: 0,\n              borderRightWidth: 0,\n              border: \"none\",\n              backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n              paddingLeft: \"20px\",\n              paddingRight: \"20px\",\n              zIndex: 1,\n            }}\n          >\n            <Typography\n              sx={{\n                fontSize: \"15px\",\n                fontWeight: 700,\n                position: \"relative\",\n                top: \"5px\",\n\n                color: disabled\n                  ? theme.palette.action.disabled\n                  : theme.palette.text.primary,\n              }}\n            >\n              {formatDegrees(currentValue)}\n            </Typography>\n\n            <Slider\n              disabled\n              aria-label=\"Joint position\"\n              min={lowerLimitDegs}\n              max={upperLimitDegs}\n              value={currentValue || 0}\n              track={false}\n              sx={{\n                \"& .MuiSlider-mark\": {\n                  display: \"none\",\n                },\n                \"& .MuiSlider-thumb\": {\n                  width: \"5px\",\n                  height: \"12px\",\n                  borderRadius: \"2px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.primary,\n                },\n                \"& .MuiSlider-markLabel\": {\n                  top: \"20px\",\n                  fontSize: \"12px\",\n                  color: disabled\n                    ? theme.palette.action.disabled\n                    : theme.palette.text.secondary,\n                },\n                \"& .MuiSlider-rail\": {\n                  backgroundColor: theme.palette.backgroundPaperElevation?.[5],\n                  opacity: 1,\n                },\n              }}\n              marks={\n                lowerLimitDegs !== undefined &&\n                upperLimitDegs !== undefined && [\n                  {\n                    value: lowerLimitDegs,\n                    label: formatDegrees(lowerLimitDegs, 0),\n                  },\n                  {\n                    value: upperLimitDegs,\n                    label: formatDegrees(upperLimitDegs, 0),\n                  },\n                ]\n              }\n            />\n          </Stack>\n\n          <IconButton\n            onPointerDown={onPointerDownPlus}\n            onPointerUp={onPointerUp}\n            onPointerOut={onPointerOut}\n            disabled={disabled}\n            disableRipple\n            sx={{\n              borderRadius: \"0px 16px 16px 0px\",\n              ...(state.activeJoggingDir === \"+\" ? pressedButtonStyle : {}),\n            }}\n          >\n            <ChevronRight\n              sx={{\n                pointerEvents: \"none\",\n                color:\n                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n                    ?.arrowColor,\n              }}\n            />\n          </IconButton>\n        </Stack>\n      )\n    },\n  ),\n)\n","\"use client\";\n\nimport createSvgIcon from \"./utils/createSvgIcon.js\";\nimport { jsx as _jsx } from \"react/jsx-runtime\";\nexport default createSvgIcon(/*#__PURE__*/_jsx(\"path\", {\n  d: \"M10 9h4V6h3l-5-5-5 5h3zm-1 1H6V7l-5 5 5 5v-3h3zm14 2-5-5v3h-3v4h3v3zm-9 3h-4v3H7l5 5 5-5h-3z\"\n}), 'OpenWith');","\"use client\";\n\nimport createSvgIcon from \"./utils/createSvgIcon.js\";\nimport { jsx as _jsx } from \"react/jsx-runtime\";\nexport default createSvgIcon(/*#__PURE__*/_jsx(\"path\", {\n  d: \"M18 16.08c-.76 0-1.44.3-1.96.77L8.91 12.7c.05-.23.09-.46.09-.7s-.04-.47-.09-.7l7.05-4.11c.54.5 1.25.81 2.04.81 1.66 0 3-1.34 3-3s-1.34-3-3-3-3 1.34-3 3c0 .24.04.47.09.7L8.04 9.81C7.5 9.31 6.79 9 6 9c-1.66 0-3 1.34-3 3s1.34 3 3 3c.79 0 1.5-.31 2.04-.81l7.12 4.16c-.05.21-.08.43-.08.65 0 1.61 1.31 2.92 2.92 2.92s2.92-1.31 2.92-2.92-1.31-2.92-2.92-2.92\"\n}), 'Share');","/*! *****************************************************************************\r\nCopyright (c) Microsoft Corporation. All rights reserved.\r\nLicensed under the Apache License, Version 2.0 (the \"License\"); you may not use\r\nthis file except in compliance with the License. You may obtain a copy of the\r\nLicense at http://www.apache.org/licenses/LICENSE-2.0\r\n\r\nTHIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY\r\nKIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED\r\nWARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE,\r\nMERCHANTABLITY OR NON-INFRINGEMENT.\r\n\r\nSee the Apache Version 2.0 License for specific language governing permissions\r\nand limitations under the License.\r\n***************************************************************************** */\r\n/* global Reflect, Promise */\r\n\r\nvar extendStatics = function(d, b) {\r\n    extendStatics = Object.setPrototypeOf ||\r\n        ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\r\n        function (d, b) { for (var p in b) if (b.hasOwnProperty(p)) d[p] = b[p]; };\r\n    return extendStatics(d, b);\r\n};\r\n\r\nfunction __extends(d, b) {\r\n    extendStatics(d, b);\r\n    function __() { this.constructor = d; }\r\n    d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\r\n}\r\n\r\nfunction __values(o) {\r\n    var m = typeof Symbol === \"function\" && o[Symbol.iterator], i = 0;\r\n    if (m) return m.call(o);\r\n    return {\r\n        next: function () {\r\n            if (o && i >= o.length) o = void 0;\r\n            return { value: o && o[i++], done: !o };\r\n        }\r\n    };\r\n}\r\n\r\nfunction __read(o, n) {\r\n    var m = typeof Symbol === \"function\" && o[Symbol.iterator];\r\n    if (!m) return o;\r\n    var i = m.call(o), r, ar = [], e;\r\n    try {\r\n        while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\r\n    }\r\n    catch (error) { e = { error: error }; }\r\n    finally {\r\n        try {\r\n            if (r && !r.done && (m = i[\"return\"])) m.call(i);\r\n        }\r\n        finally { if (e) throw e.error; }\r\n    }\r\n    return ar;\r\n}\r\n\r\nfunction __spread() {\r\n    for (var ar = [], i = 0; i < arguments.length; i++)\r\n        ar = ar.concat(__read(arguments[i]));\r\n    return ar;\r\n}\n\nvar Event = /** @class */ (function () {\r\n    function Event(type, target) {\r\n        this.target = target;\r\n        this.type = type;\r\n    }\r\n    return Event;\r\n}());\r\nvar ErrorEvent = /** @class */ (function (_super) {\r\n    __extends(ErrorEvent, _super);\r\n    function ErrorEvent(error, target) {\r\n        var _this = _super.call(this, 'error', target) || this;\r\n        _this.message = error.message;\r\n        _this.error = error;\r\n        return _this;\r\n    }\r\n    return ErrorEvent;\r\n}(Event));\r\nvar CloseEvent = /** @class */ (function (_super) {\r\n    __extends(CloseEvent, _super);\r\n    function CloseEvent(code, reason, target) {\r\n        if (code === void 0) { code = 1000; }\r\n        if (reason === void 0) { reason = ''; }\r\n        var _this = _super.call(this, 'close', target) || this;\r\n        _this.wasClean = true;\r\n        _this.code = code;\r\n        _this.reason = reason;\r\n        return _this;\r\n    }\r\n    return CloseEvent;\r\n}(Event));\n\n/*!\r\n * Reconnecting WebSocket\r\n * by Pedro Ladaria <pedro.ladaria@gmail.com>\r\n * https://github.com/pladaria/reconnecting-websocket\r\n * License MIT\r\n */\r\nvar getGlobalWebSocket = function () {\r\n    if (typeof WebSocket !== 'undefined') {\r\n        // @ts-ignore\r\n        return WebSocket;\r\n    }\r\n};\r\n/**\r\n * Returns true if given argument looks like a WebSocket class\r\n */\r\nvar isWebSocket = function (w) { return typeof w !== 'undefined' && !!w && w.CLOSING === 2; };\r\nvar DEFAULT = {\r\n    maxReconnectionDelay: 10000,\r\n    minReconnectionDelay: 1000 + Math.random() * 4000,\r\n    minUptime: 5000,\r\n    reconnectionDelayGrowFactor: 1.3,\r\n    connectionTimeout: 4000,\r\n    maxRetries: Infinity,\r\n    maxEnqueuedMessages: Infinity,\r\n    startClosed: false,\r\n    debug: false,\r\n};\r\nvar ReconnectingWebSocket = /** @class */ (function () {\r\n    function ReconnectingWebSocket(url, protocols, options) {\r\n        var _this = this;\r\n        if (options === void 0) { options = {}; }\r\n        this._listeners = {\r\n            error: [],\r\n            message: [],\r\n            open: [],\r\n            close: [],\r\n        };\r\n        this._retryCount = -1;\r\n        this._shouldReconnect = true;\r\n        this._connectLock = false;\r\n        this._binaryType = 'blob';\r\n        this._closeCalled = false;\r\n        this._messageQueue = [];\r\n        /**\r\n         * An event listener to be called when the WebSocket connection's readyState changes to CLOSED\r\n         */\r\n        this.onclose = null;\r\n        /**\r\n         * An event listener to be called when an error occurs\r\n         */\r\n        this.onerror = null;\r\n        /**\r\n         * An event listener to be called when a message is received from the server\r\n         */\r\n        this.onmessage = null;\r\n        /**\r\n         * An event listener to be called when the WebSocket connection's readyState changes to OPEN;\r\n         * this indicates that the connection is ready to send and receive data\r\n         */\r\n        this.onopen = null;\r\n        this._handleOpen = function (event) {\r\n            _this._debug('open event');\r\n            var _a = _this._options.minUptime, minUptime = _a === void 0 ? DEFAULT.minUptime : _a;\r\n            clearTimeout(_this._connectTimeout);\r\n            _this._uptimeTimeout = setTimeout(function () { return _this._acceptOpen(); }, minUptime);\r\n            _this._ws.binaryType = _this._binaryType;\r\n            // send enqueued messages (messages sent before websocket open event)\r\n            _this._messageQueue.forEach(function (message) { return _this._ws.send(message); });\r\n            _this._messageQueue = [];\r\n            if (_this.onopen) {\r\n                _this.onopen(event);\r\n            }\r\n            _this._listeners.open.forEach(function (listener) { return _this._callEventListener(event, listener); });\r\n        };\r\n        this._handleMessage = function (event) {\r\n            _this._debug('message event');\r\n            if (_this.onmessage) {\r\n                _this.onmessage(event);\r\n            }\r\n            _this._listeners.message.forEach(function (listener) { return _this._callEventListener(event, listener); });\r\n        };\r\n        this._handleError = function (event) {\r\n            _this._debug('error event', event.message);\r\n            _this._disconnect(undefined, event.message === 'TIMEOUT' ? 'timeout' : undefined);\r\n            if (_this.onerror) {\r\n                _this.onerror(event);\r\n            }\r\n            _this._debug('exec error listeners');\r\n            _this._listeners.error.forEach(function (listener) { return _this._callEventListener(event, listener); });\r\n            _this._connect();\r\n        };\r\n        this._handleClose = function (event) {\r\n            _this._debug('close event');\r\n            _this._clearTimeouts();\r\n            if (_this._shouldReconnect) {\r\n                _this._connect();\r\n            }\r\n            if (_this.onclose) {\r\n                _this.onclose(event);\r\n            }\r\n            _this._listeners.close.forEach(function (listener) { return _this._callEventListener(event, listener); });\r\n        };\r\n        this._url = url;\r\n        this._protocols = protocols;\r\n        this._options = options;\r\n        if (this._options.startClosed) {\r\n            this._shouldReconnect = false;\r\n        }\r\n        this._connect();\r\n    }\r\n    Object.defineProperty(ReconnectingWebSocket, \"CONNECTING\", {\r\n        get: function () {\r\n            return 0;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket, \"OPEN\", {\r\n        get: function () {\r\n            return 1;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket, \"CLOSING\", {\r\n        get: function () {\r\n            return 2;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket, \"CLOSED\", {\r\n        get: function () {\r\n            return 3;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"CONNECTING\", {\r\n        get: function () {\r\n            return ReconnectingWebSocket.CONNECTING;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"OPEN\", {\r\n        get: function () {\r\n            return ReconnectingWebSocket.OPEN;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"CLOSING\", {\r\n        get: function () {\r\n            return ReconnectingWebSocket.CLOSING;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"CLOSED\", {\r\n        get: function () {\r\n            return ReconnectingWebSocket.CLOSED;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"binaryType\", {\r\n        get: function () {\r\n            return this._ws ? this._ws.binaryType : this._binaryType;\r\n        },\r\n        set: function (value) {\r\n            this._binaryType = value;\r\n            if (this._ws) {\r\n                this._ws.binaryType = value;\r\n            }\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"retryCount\", {\r\n        /**\r\n         * Returns the number or connection retries\r\n         */\r\n        get: function () {\r\n            return Math.max(this._retryCount, 0);\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"bufferedAmount\", {\r\n        /**\r\n         * The number of bytes of data that have been queued using calls to send() but not yet\r\n         * transmitted to the network. This value resets to zero once all queued data has been sent.\r\n         * This value does not reset to zero when the connection is closed; if you keep calling send(),\r\n         * this will continue to climb. Read only\r\n         */\r\n        get: function () {\r\n            var bytes = this._messageQueue.reduce(function (acc, message) {\r\n                if (typeof message === 'string') {\r\n                    acc += message.length; // not byte size\r\n                }\r\n                else if (message instanceof Blob) {\r\n                    acc += message.size;\r\n                }\r\n                else {\r\n                    acc += message.byteLength;\r\n                }\r\n                return acc;\r\n            }, 0);\r\n            return bytes + (this._ws ? this._ws.bufferedAmount : 0);\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"extensions\", {\r\n        /**\r\n         * The extensions selected by the server. This is currently only the empty string or a list of\r\n         * extensions as negotiated by the connection\r\n         */\r\n        get: function () {\r\n            return this._ws ? this._ws.extensions : '';\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"protocol\", {\r\n        /**\r\n         * A string indicating the name of the sub-protocol the server selected;\r\n         * this will be one of the strings specified in the protocols parameter when creating the\r\n         * WebSocket object\r\n         */\r\n        get: function () {\r\n            return this._ws ? this._ws.protocol : '';\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"readyState\", {\r\n        /**\r\n         * The current state of the connection; this is one of the Ready state constants\r\n         */\r\n        get: function () {\r\n            if (this._ws) {\r\n                return this._ws.readyState;\r\n            }\r\n            return this._options.startClosed\r\n                ? ReconnectingWebSocket.CLOSED\r\n                : ReconnectingWebSocket.CONNECTING;\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    Object.defineProperty(ReconnectingWebSocket.prototype, \"url\", {\r\n        /**\r\n         * The URL as resolved by the constructor\r\n         */\r\n        get: function () {\r\n            return this._ws ? this._ws.url : '';\r\n        },\r\n        enumerable: true,\r\n        configurable: true\r\n    });\r\n    /**\r\n     * Closes the WebSocket connection or connection attempt, if any. If the connection is already\r\n     * CLOSED, this method does nothing\r\n     */\r\n    ReconnectingWebSocket.prototype.close = function (code, reason) {\r\n        if (code === void 0) { code = 1000; }\r\n        this._closeCalled = true;\r\n        this._shouldReconnect = false;\r\n        this._clearTimeouts();\r\n        if (!this._ws) {\r\n            this._debug('close enqueued: no ws instance');\r\n            return;\r\n        }\r\n        if (this._ws.readyState === this.CLOSED) {\r\n            this._debug('close: already closed');\r\n            return;\r\n        }\r\n        this._ws.close(code, reason);\r\n    };\r\n    /**\r\n     * Closes the WebSocket connection or connection attempt and connects again.\r\n     * Resets retry counter;\r\n     */\r\n    ReconnectingWebSocket.prototype.reconnect = function (code, reason) {\r\n        this._shouldReconnect = true;\r\n        this._closeCalled = false;\r\n        this._retryCount = -1;\r\n        if (!this._ws || this._ws.readyState === this.CLOSED) {\r\n            this._connect();\r\n        }\r\n        else {\r\n            this._disconnect(code, reason);\r\n            this._connect();\r\n        }\r\n    };\r\n    /**\r\n     * Enqueue specified data to be transmitted to the server over the WebSocket connection\r\n     */\r\n    ReconnectingWebSocket.prototype.send = function (data) {\r\n        if (this._ws && this._ws.readyState === this.OPEN) {\r\n            this._debug('send', data);\r\n            this._ws.send(data);\r\n        }\r\n        else {\r\n            var _a = this._options.maxEnqueuedMessages, maxEnqueuedMessages = _a === void 0 ? DEFAULT.maxEnqueuedMessages : _a;\r\n            if (this._messageQueue.length < maxEnqueuedMessages) {\r\n                this._debug('enqueue', data);\r\n                this._messageQueue.push(data);\r\n            }\r\n        }\r\n    };\r\n    /**\r\n     * Register an event handler of a specific event type\r\n     */\r\n    ReconnectingWebSocket.prototype.addEventListener = function (type, listener) {\r\n        if (this._listeners[type]) {\r\n            // @ts-ignore\r\n            this._listeners[type].push(listener);\r\n        }\r\n    };\r\n    ReconnectingWebSocket.prototype.dispatchEvent = function (event) {\r\n        var e_1, _a;\r\n        var listeners = this._listeners[event.type];\r\n        if (listeners) {\r\n            try {\r\n                for (var listeners_1 = __values(listeners), listeners_1_1 = listeners_1.next(); !listeners_1_1.done; listeners_1_1 = listeners_1.next()) {\r\n                    var listener = listeners_1_1.value;\r\n                    this._callEventListener(event, listener);\r\n                }\r\n            }\r\n            catch (e_1_1) { e_1 = { error: e_1_1 }; }\r\n            finally {\r\n                try {\r\n                    if (listeners_1_1 && !listeners_1_1.done && (_a = listeners_1.return)) _a.call(listeners_1);\r\n                }\r\n                finally { if (e_1) throw e_1.error; }\r\n            }\r\n        }\r\n        return true;\r\n    };\r\n    /**\r\n     * Removes an event listener\r\n     */\r\n    ReconnectingWebSocket.prototype.removeEventListener = function (type, listener) {\r\n        if (this._listeners[type]) {\r\n            // @ts-ignore\r\n            this._listeners[type] = this._listeners[type].filter(function (l) { return l !== listener; });\r\n        }\r\n    };\r\n    ReconnectingWebSocket.prototype._debug = function () {\r\n        var args = [];\r\n        for (var _i = 0; _i < arguments.length; _i++) {\r\n            args[_i] = arguments[_i];\r\n        }\r\n        if (this._options.debug) {\r\n            // not using spread because compiled version uses Symbols\r\n            // tslint:disable-next-line\r\n            console.log.apply(console, __spread(['RWS>'], args));\r\n        }\r\n    };\r\n    ReconnectingWebSocket.prototype._getNextDelay = function () {\r\n        var _a = this._options, _b = _a.reconnectionDelayGrowFactor, reconnectionDelayGrowFactor = _b === void 0 ? DEFAULT.reconnectionDelayGrowFactor : _b, _c = _a.minReconnectionDelay, minReconnectionDelay = _c === void 0 ? DEFAULT.minReconnectionDelay : _c, _d = _a.maxReconnectionDelay, maxReconnectionDelay = _d === void 0 ? DEFAULT.maxReconnectionDelay : _d;\r\n        var delay = 0;\r\n        if (this._retryCount > 0) {\r\n            delay =\r\n                minReconnectionDelay * Math.pow(reconnectionDelayGrowFactor, this._retryCount - 1);\r\n            if (delay > maxReconnectionDelay) {\r\n                delay = maxReconnectionDelay;\r\n            }\r\n        }\r\n        this._debug('next delay', delay);\r\n        return delay;\r\n    };\r\n    ReconnectingWebSocket.prototype._wait = function () {\r\n        var _this = this;\r\n        return new Promise(function (resolve) {\r\n            setTimeout(resolve, _this._getNextDelay());\r\n        });\r\n    };\r\n    ReconnectingWebSocket.prototype._getNextUrl = function (urlProvider) {\r\n        if (typeof urlProvider === 'string') {\r\n            return Promise.resolve(urlProvider);\r\n        }\r\n        if (typeof urlProvider === 'function') {\r\n            var url = urlProvider();\r\n            if (typeof url === 'string') {\r\n                return Promise.resolve(url);\r\n            }\r\n            if (!!url.then) {\r\n                return url;\r\n            }\r\n        }\r\n        throw Error('Invalid URL');\r\n    };\r\n    ReconnectingWebSocket.prototype._connect = function () {\r\n        var _this = this;\r\n        if (this._connectLock || !this._shouldReconnect) {\r\n            return;\r\n        }\r\n        this._connectLock = true;\r\n        var _a = this._options, _b = _a.maxRetries, maxRetries = _b === void 0 ? DEFAULT.maxRetries : _b, _c = _a.connectionTimeout, connectionTimeout = _c === void 0 ? DEFAULT.connectionTimeout : _c, _d = _a.WebSocket, WebSocket = _d === void 0 ? getGlobalWebSocket() : _d;\r\n        if (this._retryCount >= maxRetries) {\r\n            this._debug('max retries reached', this._retryCount, '>=', maxRetries);\r\n            return;\r\n        }\r\n        this._retryCount++;\r\n        this._debug('connect', this._retryCount);\r\n        this._removeListeners();\r\n        if (!isWebSocket(WebSocket)) {\r\n            throw Error('No valid WebSocket class provided');\r\n        }\r\n        this._wait()\r\n            .then(function () { return _this._getNextUrl(_this._url); })\r\n            .then(function (url) {\r\n            // close could be called before creating the ws\r\n            if (_this._closeCalled) {\r\n                return;\r\n            }\r\n            _this._debug('connect', { url: url, protocols: _this._protocols });\r\n            _this._ws = _this._protocols\r\n                ? new WebSocket(url, _this._protocols)\r\n                : new WebSocket(url);\r\n            _this._ws.binaryType = _this._binaryType;\r\n            _this._connectLock = false;\r\n            _this._addListeners();\r\n            _this._connectTimeout = setTimeout(function () { return _this._handleTimeout(); }, connectionTimeout);\r\n        });\r\n    };\r\n    ReconnectingWebSocket.prototype._handleTimeout = function () {\r\n        this._debug('timeout event');\r\n        this._handleError(new ErrorEvent(Error('TIMEOUT'), this));\r\n    };\r\n    ReconnectingWebSocket.prototype._disconnect = function (code, reason) {\r\n        if (code === void 0) { code = 1000; }\r\n        this._clearTimeouts();\r\n        if (!this._ws) {\r\n            return;\r\n        }\r\n        this._removeListeners();\r\n        try {\r\n            this._ws.close(code, reason);\r\n            this._handleClose(new CloseEvent(code, reason, this));\r\n        }\r\n        catch (error) {\r\n            // ignore\r\n        }\r\n    };\r\n    ReconnectingWebSocket.prototype._acceptOpen = function () {\r\n        this._debug('accept open');\r\n        this._retryCount = 0;\r\n    };\r\n    ReconnectingWebSocket.prototype._callEventListener = function (event, listener) {\r\n        if ('handleEvent' in listener) {\r\n            // @ts-ignore\r\n            listener.handleEvent(event);\r\n        }\r\n        else {\r\n            // @ts-ignore\r\n            listener(event);\r\n        }\r\n    };\r\n    ReconnectingWebSocket.prototype._removeListeners = function () {\r\n        if (!this._ws) {\r\n            return;\r\n        }\r\n        this._debug('removeListeners');\r\n        this._ws.removeEventListener('open', this._handleOpen);\r\n        this._ws.removeEventListener('close', this._handleClose);\r\n        this._ws.removeEventListener('message', this._handleMessage);\r\n        // @ts-ignore\r\n        this._ws.removeEventListener('error', this._handleError);\r\n    };\r\n    ReconnectingWebSocket.prototype._addListeners = function () {\r\n        if (!this._ws) {\r\n            return;\r\n        }\r\n        this._debug('addListeners');\r\n        this._ws.addEventListener('open', this._handleOpen);\r\n        this._ws.addEventListener('close', this._handleClose);\r\n        this._ws.addEventListener('message', this._handleMessage);\r\n        // @ts-ignore\r\n        this._ws.addEventListener('error', this._handleError);\r\n    };\r\n    ReconnectingWebSocket.prototype._clearTimeouts = function () {\r\n        clearTimeout(this._connectTimeout);\r\n        clearTimeout(this._uptimeTimeout);\r\n    };\r\n    return ReconnectingWebSocket;\r\n}());\n\nexport default ReconnectingWebSocket;\n","import ReconnectingWebSocket from \"reconnecting-websocket\";\n\n//#region src/lib/AutoReconnectingWebsocket.ts\nvar AutoReconnectingWebsocket = class extends ReconnectingWebSocket {\n\tconstructor(targetUrl, opts = {}) {\n\t\tconsole.log(\"Opening websocket to\", targetUrl);\n\t\tsuper(() => this.targetUrl || targetUrl, void 0, { startClosed: true });\n\t\tthis.opts = opts;\n\t\tthis.disposed = false;\n\t\tObject.defineProperty(this, \"url\", { get() {\n\t\t\treturn this.targetUrl;\n\t\t} });\n\t\tthis.targetUrl = targetUrl;\n\t\tthis.addEventListener(\"open\", () => {\n\t\t\tconsole.log(`Websocket to ${this.url} opened`);\n\t\t});\n\t\tthis.addEventListener(\"message\", (ev) => {\n\t\t\tif (!this.receivedFirstMessage) this.receivedFirstMessage = ev;\n\t\t});\n\t\tthis.addEventListener(\"close\", () => {\n\t\t\tconsole.log(`Websocket to ${this.url} closed`);\n\t\t});\n\t\tconst origReconnect = this.reconnect;\n\t\tthis.reconnect = () => {\n\t\t\tif (this.opts.mock) this.opts.mock.handleWebsocketConnection(this);\n\t\t\telse origReconnect.apply(this);\n\t\t};\n\t\tthis.reconnect();\n\t}\n\tchangeUrl(targetUrl) {\n\t\tthis.receivedFirstMessage = void 0;\n\t\tthis.targetUrl = targetUrl;\n\t\tthis.reconnect();\n\t}\n\tsendJson(data) {\n\t\tif (this.opts.mock) this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data));\n\t\telse this.send(JSON.stringify(data));\n\t}\n\t/**\n\t* Permanently close this websocket and indicate that\n\t* this object should not be used again.\n\t**/\n\tdispose() {\n\t\tthis.close();\n\t\tthis.disposed = true;\n\t\tif (this.opts.onDispose) this.opts.onDispose();\n\t}\n\t/**\n\t* Returns a promise that resolves once the websocket\n\t* is in the OPEN state. */\n\tasync opened() {\n\t\treturn new Promise((resolve, reject) => {\n\t\t\tif (this.readyState === WebSocket.OPEN) resolve();\n\t\t\telse {\n\t\t\t\tthis.addEventListener(\"open\", () => resolve());\n\t\t\t\tthis.addEventListener(\"error\", reject);\n\t\t\t}\n\t\t});\n\t}\n\t/**\n\t* Returns a promise that resolves once the websocket\n\t* is in the CLOSED state. */\n\tasync closed() {\n\t\treturn new Promise((resolve, reject) => {\n\t\t\tif (this.readyState === WebSocket.CLOSED) resolve();\n\t\t\telse {\n\t\t\t\tthis.addEventListener(\"close\", () => resolve());\n\t\t\t\tthis.addEventListener(\"error\", reject);\n\t\t\t}\n\t\t});\n\t}\n\t/**\n\t* Returns a promise that resolves when the first message\n\t* is received from the websocket. Resolves immediately if\n\t* the first message has already been received.\n\t*/\n\tasync firstMessage() {\n\t\tif (this.receivedFirstMessage) return this.receivedFirstMessage;\n\t\treturn new Promise((resolve, reject) => {\n\t\t\tconst onMessage = (ev) => {\n\t\t\t\tthis.receivedFirstMessage = ev;\n\t\t\t\tthis.removeEventListener(\"message\", onMessage);\n\t\t\t\tthis.removeEventListener(\"error\", onError);\n\t\t\t\tresolve(ev);\n\t\t\t};\n\t\t\tconst onError = (ev) => {\n\t\t\t\tthis.removeEventListener(\"message\", onMessage);\n\t\t\t\tthis.removeEventListener(\"error\", onError);\n\t\t\t\treject(ev);\n\t\t\t};\n\t\t\tthis.addEventListener(\"message\", onMessage);\n\t\t\tthis.addEventListener(\"error\", onError);\n\t\t});\n\t}\n\t/**\n\t* Returns a promise that resolves when the next message\n\t* is received from the websocket.\n\t*/\n\tasync nextMessage() {\n\t\treturn new Promise((resolve, reject) => {\n\t\t\tconst onMessage = (ev) => {\n\t\t\t\tthis.removeEventListener(\"message\", onMessage);\n\t\t\t\tthis.removeEventListener(\"error\", onError);\n\t\t\t\tresolve(ev);\n\t\t\t};\n\t\t\tconst onError = (ev) => {\n\t\t\t\tthis.removeEventListener(\"message\", onMessage);\n\t\t\t\tthis.removeEventListener(\"error\", onError);\n\t\t\t\treject(ev);\n\t\t\t};\n\t\t\tthis.addEventListener(\"message\", onMessage);\n\t\t\tthis.addEventListener(\"error\", onError);\n\t\t});\n\t}\n};\n\n//#endregion\n//#region src/lib/availableStorage.ts\n/**\n* Safety wrapper around browser localStorage providing context availability\n* checks and JSON parsing\n*/\nvar AvailableStorage = class {\n\tconstructor() {\n\t\tthis.available = typeof window !== \"undefined\" && !!window.localStorage;\n\t}\n\tgetJSON(key) {\n\t\tif (!this.available) return null;\n\t\tconst result = window.localStorage.getItem(key);\n\t\tif (result === null) return null;\n\t\ttry {\n\t\t\treturn JSON.parse(result);\n\t\t} catch (err) {\n\t\t\treturn null;\n\t\t}\n\t}\n\tsetJSON(key, obj) {\n\t\tif (!this.available) return null;\n\t\twindow.localStorage.setItem(key, JSON.stringify(obj));\n\t}\n\tdelete(key) {\n\t\tif (!this.available) return null;\n\t\twindow.localStorage.removeItem(key);\n\t}\n\tsetString(key, value) {\n\t\tif (!this.available) return null;\n\t\twindow.localStorage.setItem(key, value);\n\t}\n\tgetString(key) {\n\t\tif (!this.available) return null;\n\t\treturn window.localStorage.getItem(key);\n\t}\n};\nconst availableStorage = new AvailableStorage();\n\n//#endregion\n//#region src/LoginWithAuth0.ts\nconst DOMAIN_SUFFIX = \"wandelbots.io\";\n/**\n* Mapping of stages to Auth0 configurations.\n* The client ids are public identifiers for a specific auth0 application\n* and are safe to include in client-side code.\n* https://auth0.com/docs/get-started/applications/application-settings\n*/\nconst auth0ConfigMap = {\n\tdev: {\n\t\tdomain: `https://auth.portal.dev.${DOMAIN_SUFFIX}`,\n\t\tclientId: \"fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha\"\n\t},\n\tstg: {\n\t\tdomain: `https://auth.portal.stg.${DOMAIN_SUFFIX}`,\n\t\tclientId: \"joVDeD9e786WzFNSGCqoVq7HNkWt5j6s\"\n\t},\n\tprod: {\n\t\tdomain: `https://auth.portal.${DOMAIN_SUFFIX}`,\n\t\tclientId: \"J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2\"\n\t}\n};\n/** Determine which Auth0 configuration to use based on instance URL  */\nconst getAuth0Config = (instanceUrl) => {\n\tif (instanceUrl.endsWith(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev;\n\tif (instanceUrl.endsWith(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg;\n\tif (instanceUrl.endsWith(DOMAIN_SUFFIX)) return auth0ConfigMap.prod;\n\tthrow new Error(\"Unsupported instance URL. Cannot determine Auth0 configuration.\");\n};\n/**\n* Initializes Auth0 login process using redirect if necessary and retrieves an access token.\n* Returns null when an access token should not be needed to authenticate (i.e. cookie auth\n* when deployed on the instance domain)\n*/\nconst loginWithAuth0 = async (instanceUrl) => {\n\tif (typeof window === \"undefined\") throw new Error(`Access token must be set to use NovaClient when not in a browser environment.`);\n\tconst auth0Config = getAuth0Config(instanceUrl);\n\tif (new URL(instanceUrl).origin === window.location.origin) {\n\t\twindow.location.reload();\n\t\tthrow new Error(\"Failed to reload page to get auth details, please refresh manually\");\n\t}\n\tconst { Auth0Client } = await import(\"@auth0/auth0-spa-js\");\n\tconst auth0Client = new Auth0Client({\n\t\tdomain: auth0Config.domain,\n\t\tclientId: auth0Config.clientId ?? \"\",\n\t\tuseRefreshTokens: false,\n\t\tauthorizationParams: {\n\t\t\taudience: \"nova-api\",\n\t\t\tredirect_uri: window.location.origin\n\t\t}\n\t});\n\tif (window.location.search.includes(\"code=\") && window.location.search.includes(\"state=\")) {\n\t\tconst { appState } = await auth0Client.handleRedirectCallback();\n\t\twindow.history.replaceState({}, document.title, appState?.returnTo || window.location.pathname);\n\t} else await auth0Client.loginWithRedirect();\n\treturn await auth0Client.getTokenSilently();\n};\n\n//#endregion\nexport { availableStorage as n, AutoReconnectingWebsocket as r, loginWithAuth0 as t };\n//# sourceMappingURL=LoginWithAuth0-wQB-Sol1.mjs.map","function normalize (strArray) {\n  var resultArray = [];\n  if (strArray.length === 0) { return ''; }\n\n  if (typeof strArray[0] !== 'string') {\n    throw new TypeError('Url must be a string. Received ' + strArray[0]);\n  }\n\n  // If the first part is a plain protocol, we combine it with the next part.\n  if (strArray[0].match(/^[^/:]+:\\/*$/) && strArray.length > 1) {\n    var first = strArray.shift();\n    strArray[0] = first + strArray[0];\n  }\n\n  // There must be two or three slashes in the file protocol, two slashes in anything else.\n  if (strArray[0].match(/^file:\\/\\/\\//)) {\n    strArray[0] = strArray[0].replace(/^([^/:]+):\\/*/, '$1:///');\n  } else {\n    strArray[0] = strArray[0].replace(/^([^/:]+):\\/*/, '$1://');\n  }\n\n  for (var i = 0; i < strArray.length; i++) {\n    var component = strArray[i];\n\n    if (typeof component !== 'string') {\n      throw new TypeError('Url must be a string. Received ' + component);\n    }\n\n    if (component === '') { continue; }\n\n    if (i > 0) {\n      // Removing the starting slashes for each component but the first.\n      component = component.replace(/^[\\/]+/, '');\n    }\n    if (i < strArray.length - 1) {\n      // Removing the ending slashes for each component but the last.\n      component = component.replace(/[\\/]+$/, '');\n    } else {\n      // For the last component we will combine multiple slashes to a single one.\n      component = component.replace(/[\\/]+$/, '/');\n    }\n\n    resultArray.push(component);\n\n  }\n\n  var str = resultArray.join('/');\n  // Each input component is now separated by a single slash except the possible first plain protocol part.\n\n  // remove trailing slash before parameters or hash\n  str = str.replace(/\\/(\\?|&|#[^!])/g, '$1');\n\n  // replace ? in parameters with &\n  var parts = str.split('?');\n  str = parts.shift() + (parts.length > 0 ? '?': '') + parts.join('&');\n\n  return str;\n}\n\nexport default function urlJoin() {\n  var input;\n\n  if (typeof arguments[0] === 'object') {\n    input = arguments[0];\n  } else {\n    input = [].slice.call(arguments);\n  }\n\n  return normalize(input);\n}\n","\"use strict\";\nObject.defineProperty(exports, \"__esModule\", { value: true });\nexports.PathError = exports.TokenData = void 0;\nexports.parse = parse;\nexports.compile = compile;\nexports.match = match;\nexports.pathToRegexp = pathToRegexp;\nexports.stringify = stringify;\nconst DEFAULT_DELIMITER = \"/\";\nconst NOOP_VALUE = (value) => value;\nconst ID_START = /^[$_\\p{ID_Start}]$/u;\nconst ID_CONTINUE = /^[$\\u200c\\u200d\\p{ID_Continue}]$/u;\nconst SIMPLE_TOKENS = {\n    // Groups.\n    \"{\": \"{\",\n    \"}\": \"}\",\n    // Reserved.\n    \"(\": \"(\",\n    \")\": \")\",\n    \"[\": \"[\",\n    \"]\": \"]\",\n    \"+\": \"+\",\n    \"?\": \"?\",\n    \"!\": \"!\",\n};\n/**\n * Escape text for stringify to path.\n */\nfunction escapeText(str) {\n    return str.replace(/[{}()\\[\\]+?!:*\\\\]/g, \"\\\\$&\");\n}\n/**\n * Escape a regular expression string.\n */\nfunction escape(str) {\n    return str.replace(/[.+*?^${}()[\\]|/\\\\]/g, \"\\\\$&\");\n}\n/**\n * Tokenized path instance.\n */\nclass TokenData {\n    constructor(tokens, originalPath) {\n        this.tokens = tokens;\n        this.originalPath = originalPath;\n    }\n}\nexports.TokenData = TokenData;\n/**\n * ParseError is thrown when there is an error processing the path.\n */\nclass PathError extends TypeError {\n    constructor(message, originalPath) {\n        let text = message;\n        if (originalPath)\n            text += `: ${originalPath}`;\n        text += `; visit https://git.new/pathToRegexpError for info`;\n        super(text);\n        this.originalPath = originalPath;\n    }\n}\nexports.PathError = PathError;\n/**\n * Parse a string for the raw tokens.\n */\nfunction parse(str, options = {}) {\n    const { encodePath = NOOP_VALUE } = options;\n    const chars = [...str];\n    const tokens = [];\n    let index = 0;\n    let pos = 0;\n    function name() {\n        let value = \"\";\n        if (ID_START.test(chars[index])) {\n            do {\n                value += chars[index++];\n            } while (ID_CONTINUE.test(chars[index]));\n        }\n        else if (chars[index] === '\"') {\n            let quoteStart = index;\n            while (index++ < chars.length) {\n                if (chars[index] === '\"') {\n                    index++;\n                    quoteStart = 0;\n                    break;\n                }\n                // Increment over escape characters.\n                if (chars[index] === \"\\\\\")\n                    index++;\n                value += chars[index];\n            }\n            if (quoteStart) {\n                throw new PathError(`Unterminated quote at index ${quoteStart}`, str);\n            }\n        }\n        if (!value) {\n            throw new PathError(`Missing parameter name at index ${index}`, str);\n        }\n        return value;\n    }\n    while (index < chars.length) {\n        const value = chars[index];\n        const type = SIMPLE_TOKENS[value];\n        if (type) {\n            tokens.push({ type, index: index++, value });\n        }\n        else if (value === \"\\\\\") {\n            tokens.push({ type: \"escape\", index: index++, value: chars[index++] });\n        }\n        else if (value === \":\") {\n            tokens.push({ type: \"param\", index: index++, value: name() });\n        }\n        else if (value === \"*\") {\n            tokens.push({ type: \"wildcard\", index: index++, value: name() });\n        }\n        else {\n            tokens.push({ type: \"char\", index: index++, value });\n        }\n    }\n    tokens.push({ type: \"end\", index, value: \"\" });\n    function consumeUntil(endType) {\n        const output = [];\n        while (true) {\n            const token = tokens[pos++];\n            if (token.type === endType)\n                break;\n            if (token.type === \"char\" || token.type === \"escape\") {\n                let path = token.value;\n                let cur = tokens[pos];\n                while (cur.type === \"char\" || cur.type === \"escape\") {\n                    path += cur.value;\n                    cur = tokens[++pos];\n                }\n                output.push({\n                    type: \"text\",\n                    value: encodePath(path),\n                });\n                continue;\n            }\n            if (token.type === \"param\" || token.type === \"wildcard\") {\n                output.push({\n                    type: token.type,\n                    name: token.value,\n                });\n                continue;\n            }\n            if (token.type === \"{\") {\n                output.push({\n                    type: \"group\",\n                    tokens: consumeUntil(\"}\"),\n                });\n                continue;\n            }\n            throw new PathError(`Unexpected ${token.type} at index ${token.index}, expected ${endType}`, str);\n        }\n        return output;\n    }\n    return new TokenData(consumeUntil(\"end\"), str);\n}\n/**\n * Compile a string to a template function for the path.\n */\nfunction compile(path, options = {}) {\n    const { encode = encodeURIComponent, delimiter = DEFAULT_DELIMITER } = options;\n    const data = typeof path === \"object\" ? path : parse(path, options);\n    const fn = tokensToFunction(data.tokens, delimiter, encode);\n    return function path(params = {}) {\n        const [path, ...missing] = fn(params);\n        if (missing.length) {\n            throw new TypeError(`Missing parameters: ${missing.join(\", \")}`);\n        }\n        return path;\n    };\n}\nfunction tokensToFunction(tokens, delimiter, encode) {\n    const encoders = tokens.map((token) => tokenToFunction(token, delimiter, encode));\n    return (data) => {\n        const result = [\"\"];\n        for (const encoder of encoders) {\n            const [value, ...extras] = encoder(data);\n            result[0] += value;\n            result.push(...extras);\n        }\n        return result;\n    };\n}\n/**\n * Convert a single token into a path building function.\n */\nfunction tokenToFunction(token, delimiter, encode) {\n    if (token.type === \"text\")\n        return () => [token.value];\n    if (token.type === \"group\") {\n        const fn = tokensToFunction(token.tokens, delimiter, encode);\n        return (data) => {\n            const [value, ...missing] = fn(data);\n            if (!missing.length)\n                return [value];\n            return [\"\"];\n        };\n    }\n    const encodeValue = encode || NOOP_VALUE;\n    if (token.type === \"wildcard\" && encode !== false) {\n        return (data) => {\n            const value = data[token.name];\n            if (value == null)\n                return [\"\", token.name];\n            if (!Array.isArray(value) || value.length === 0) {\n                throw new TypeError(`Expected \"${token.name}\" to be a non-empty array`);\n            }\n            return [\n                value\n                    .map((value, index) => {\n                    if (typeof value !== \"string\") {\n                        throw new TypeError(`Expected \"${token.name}/${index}\" to be a string`);\n                    }\n                    return encodeValue(value);\n                })\n                    .join(delimiter),\n            ];\n        };\n    }\n    return (data) => {\n        const value = data[token.name];\n        if (value == null)\n            return [\"\", token.name];\n        if (typeof value !== \"string\") {\n            throw new TypeError(`Expected \"${token.name}\" to be a string`);\n        }\n        return [encodeValue(value)];\n    };\n}\n/**\n * Transform a path into a match function.\n */\nfunction match(path, options = {}) {\n    const { decode = decodeURIComponent, delimiter = DEFAULT_DELIMITER } = options;\n    const { regexp, keys } = pathToRegexp(path, options);\n    const decoders = keys.map((key) => {\n        if (decode === false)\n            return NOOP_VALUE;\n        if (key.type === \"param\")\n            return decode;\n        return (value) => value.split(delimiter).map(decode);\n    });\n    return function match(input) {\n        const m = regexp.exec(input);\n        if (!m)\n            return false;\n        const path = m[0];\n        const params = Object.create(null);\n        for (let i = 1; i < m.length; i++) {\n            if (m[i] === undefined)\n                continue;\n            const key = keys[i - 1];\n            const decoder = decoders[i - 1];\n            params[key.name] = decoder(m[i]);\n        }\n        return { path, params };\n    };\n}\nfunction pathToRegexp(path, options = {}) {\n    const { delimiter = DEFAULT_DELIMITER, end = true, sensitive = false, trailing = true, } = options;\n    const keys = [];\n    const flags = sensitive ? \"\" : \"i\";\n    const sources = [];\n    for (const input of pathsToArray(path, [])) {\n        const data = typeof input === \"object\" ? input : parse(input, options);\n        for (const tokens of flatten(data.tokens, 0, [])) {\n            sources.push(toRegExpSource(tokens, delimiter, keys, data.originalPath));\n        }\n    }\n    let pattern = `^(?:${sources.join(\"|\")})`;\n    if (trailing)\n        pattern += `(?:${escape(delimiter)}$)?`;\n    pattern += end ? \"$\" : `(?=${escape(delimiter)}|$)`;\n    const regexp = new RegExp(pattern, flags);\n    return { regexp, keys };\n}\n/**\n * Convert a path or array of paths into a flat array.\n */\nfunction pathsToArray(paths, init) {\n    if (Array.isArray(paths)) {\n        for (const p of paths)\n            pathsToArray(p, init);\n    }\n    else {\n        init.push(paths);\n    }\n    return init;\n}\n/**\n * Generate a flat list of sequence tokens from the given tokens.\n */\nfunction* flatten(tokens, index, init) {\n    if (index === tokens.length) {\n        return yield init;\n    }\n    const token = tokens[index];\n    if (token.type === \"group\") {\n        for (const seq of flatten(token.tokens, 0, init.slice())) {\n            yield* flatten(tokens, index + 1, seq);\n        }\n    }\n    else {\n        init.push(token);\n    }\n    yield* flatten(tokens, index + 1, init);\n}\n/**\n * Transform a flat sequence of tokens into a regular expression.\n */\nfunction toRegExpSource(tokens, delimiter, keys, originalPath) {\n    let result = \"\";\n    let backtrack = \"\";\n    let isSafeSegmentParam = true;\n    for (const token of tokens) {\n        if (token.type === \"text\") {\n            result += escape(token.value);\n            backtrack += token.value;\n            isSafeSegmentParam || (isSafeSegmentParam = token.value.includes(delimiter));\n            continue;\n        }\n        if (token.type === \"param\" || token.type === \"wildcard\") {\n            if (!isSafeSegmentParam && !backtrack) {\n                throw new PathError(`Missing text before \"${token.name}\" ${token.type}`, originalPath);\n            }\n            if (token.type === \"param\") {\n                result += `(${negate(delimiter, isSafeSegmentParam ? \"\" : backtrack)}+)`;\n            }\n            else {\n                result += `([\\\\s\\\\S]+)`;\n            }\n            keys.push(token);\n            backtrack = \"\";\n            isSafeSegmentParam = false;\n            continue;\n        }\n    }\n    return result;\n}\n/**\n * Block backtracking on previous text and ignore delimiter string.\n */\nfunction negate(delimiter, backtrack) {\n    if (backtrack.length < 2) {\n        if (delimiter.length < 2)\n            return `[^${escape(delimiter + backtrack)}]`;\n        return `(?:(?!${escape(delimiter)})[^${escape(backtrack)}])`;\n    }\n    if (delimiter.length < 2) {\n        return `(?:(?!${escape(backtrack)})[^${escape(delimiter)}])`;\n    }\n    return `(?:(?!${escape(backtrack)}|${escape(delimiter)})[\\\\s\\\\S])`;\n}\n/**\n * Stringify an array of tokens into a path string.\n */\nfunction stringifyTokens(tokens) {\n    let value = \"\";\n    let i = 0;\n    function name(value) {\n        const isSafe = isNameSafe(value) && isNextNameSafe(tokens[i]);\n        return isSafe ? value : JSON.stringify(value);\n    }\n    while (i < tokens.length) {\n        const token = tokens[i++];\n        if (token.type === \"text\") {\n            value += escapeText(token.value);\n            continue;\n        }\n        if (token.type === \"group\") {\n            value += `{${stringifyTokens(token.tokens)}}`;\n            continue;\n        }\n        if (token.type === \"param\") {\n            value += `:${name(token.name)}`;\n            continue;\n        }\n        if (token.type === \"wildcard\") {\n            value += `*${name(token.name)}`;\n            continue;\n        }\n        throw new TypeError(`Unknown token type: ${token.type}`);\n    }\n    return value;\n}\n/**\n * Stringify token data into a path string.\n */\nfunction stringify(data) {\n    return stringifyTokens(data.tokens);\n}\n/**\n * Validate the parameter name contains valid ID characters.\n */\nfunction isNameSafe(name) {\n    const [first, ...rest] = name;\n    return ID_START.test(first) && rest.every((char) => ID_CONTINUE.test(char));\n}\n/**\n * Validate the next token does not interfere with the current param name.\n */\nfunction isNextNameSafe(token) {\n    if (token && token.type === \"text\")\n        return !ID_CONTINUE.test(token.value[0]);\n    return true;\n}\n//# sourceMappingURL=index.js.map","import { n as availableStorage, r as AutoReconnectingWebsocket, t as loginWithAuth0 } from \"../../LoginWithAuth0-wQB-Sol1.mjs\";\nimport axios, { AxiosError, isAxiosError } from \"axios\";\nimport urlJoin from \"url-join\";\nimport * as pathToRegexp from \"path-to-regexp\";\nimport { ApplicationApi, BUSInputsOutputsApi, CellApi, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from \"@wandelbots/nova-api/v2\";\n\nexport * from \"@wandelbots/nova-api/v2\"\n\n//#region src/lib/v2/NovaCellAPIClient.ts\n/**\n* API client providing type-safe access to all the Nova API REST endpoints\n* associated with a specific cell id.\n*/\nvar NovaCellAPIClient = class {\n\tconstructor(cellId, opts) {\n\t\tthis.cellId = cellId;\n\t\tthis.opts = opts;\n\t\tthis.system = this.withUnwrappedResponsesOnly(SystemApi);\n\t\tthis.cell = this.withUnwrappedResponsesOnly(CellApi);\n\t\tthis.motionGroup = this.withCellId(MotionGroupApi);\n\t\tthis.motionGroupModels = this.withCellId(MotionGroupModelsApi);\n\t\tthis.controller = this.withCellId(ControllerApi);\n\t\tthis.controllerIOs = this.withCellId(ControllerInputsOutputsApi);\n\t\tthis.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi);\n\t\tthis.trajectoryExecution = this.withCellId(TrajectoryExecutionApi);\n\t\tthis.trajectoryCaching = this.withCellId(TrajectoryCachingApi);\n\t\tthis.application = this.withCellId(ApplicationApi);\n\t\tthis.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi);\n\t\tthis.jogging = this.withCellId(JoggingApi);\n\t\tthis.kinematics = this.withCellId(KinematicsApi);\n\t\tthis.busInputsOutputs = this.withCellId(BUSInputsOutputsApi);\n\t\tthis.virtualController = this.withCellId(VirtualControllerApi);\n\t\tthis.virtualControllerBehavior = this.withCellId(VirtualControllerBehaviorApi);\n\t\tthis.virtualControllerIOs = this.withCellId(VirtualControllerInputsOutputsApi);\n\t\tthis.storeObject = this.withCellId(StoreObjectApi);\n\t\tthis.storeCollisionComponents = this.withCellId(StoreCollisionComponentsApi);\n\t\tthis.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi);\n\t}\n\t/**\n\t* Some TypeScript sorcery which alters the API class methods so you don't\n\t* have to pass the cell id to every single one, and de-encapsulates the\n\t* response data\n\t*/\n\twithCellId(ApiConstructor) {\n\t\tconst apiClient = new ApiConstructor({\n\t\t\t...this.opts,\n\t\t\tisJsonMime: (mime) => {\n\t\t\t\treturn mime === \"application/json\";\n\t\t\t}\n\t\t}, this.opts.basePath ?? \"\", this.opts.axiosInstance ?? axios.create());\n\t\tfor (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n\t\t\tconst originalFunction = apiClient[key];\n\t\t\tapiClient[key] = (...args) => {\n\t\t\t\treturn originalFunction.apply(apiClient, [this.cellId, ...args]).then((res) => res.data);\n\t\t\t};\n\t\t}\n\t\treturn apiClient;\n\t}\n\t/**\n\t* As withCellId, but only does the response unwrapping\n\t*/\n\twithUnwrappedResponsesOnly(ApiConstructor) {\n\t\tconst apiClient = new ApiConstructor({\n\t\t\t...this.opts,\n\t\t\tisJsonMime: (mime) => {\n\t\t\t\treturn mime === \"application/json\";\n\t\t\t}\n\t\t}, this.opts.basePath ?? \"\", this.opts.axiosInstance ?? axios.create());\n\t\tfor (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n\t\t\tconst originalFunction = apiClient[key];\n\t\t\tapiClient[key] = (...args) => {\n\t\t\t\treturn originalFunction.apply(apiClient, args).then((res) => res.data);\n\t\t\t};\n\t\t}\n\t\treturn apiClient;\n\t}\n};\n\n//#endregion\n//#region src/lib/v2/mock/MockNovaInstance.ts\n/**\n* Ultra-simplified mock Nova server for testing stuff\n*/\nvar MockNovaInstance = class {\n\tconstructor() {\n\t\tthis.connections = [];\n\t}\n\tasync handleAPIRequest(config) {\n\t\tconst apiHandlers = [\n\t\t\t{\n\t\t\t\tmethod: \"GET\",\n\t\t\t\tpath: \"/cells/:cellId/controllers\",\n\t\t\t\thandle() {\n\t\t\t\t\treturn [\"mock-ur5e\"];\n\t\t\t\t}\n\t\t\t},\n\t\t\t{\n\t\t\t\tmethod: \"GET\",\n\t\t\t\tpath: \"/cells/:cellId/controllers/:controllerId\",\n\t\t\t\thandle() {\n\t\t\t\t\treturn {\n\t\t\t\t\t\tconfiguration: {\n\t\t\t\t\t\t\tinitial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n\t\t\t\t\t\t\tkind: \"VirtualController\",\n\t\t\t\t\t\t\tmanufacturer: \"universalrobots\",\n\t\t\t\t\t\t\ttype: \"universalrobots-ur5e\"\n\t\t\t\t\t\t},\n\t\t\t\t\t\tname: \"mock-ur5\"\n\t\t\t\t\t};\n\t\t\t\t}\n\t\t\t},\n\t\t\t{\n\t\t\t\tmethod: \"GET\",\n\t\t\t\tpath: \"/cells/:cellId/controllers/:controllerId/state\",\n\t\t\t\thandle() {\n\t\t\t\t\treturn {\n\t\t\t\t\t\tmode: \"MODE_CONTROL\",\n\t\t\t\t\t\tlast_error: [],\n\t\t\t\t\t\ttimestamp: \"2025-10-16T09:19:26.634534092Z\",\n\t\t\t\t\t\tsequence_number: 1054764,\n\t\t\t\t\t\tcontroller: \"mock-ur5e\",\n\t\t\t\t\t\toperation_mode: \"OPERATION_MODE_AUTO\",\n\t\t\t\t\t\tsafety_state: \"SAFETY_STATE_NORMAL\",\n\t\t\t\t\t\tvelocity_override: 100,\n\t\t\t\t\t\tmotion_groups: [{\n\t\t\t\t\t\t\ttimestamp: \"2025-10-16T09:19:26.634534092Z\",\n\t\t\t\t\t\t\tsequence_number: 1054764,\n\t\t\t\t\t\t\tmotion_group: \"0@mock-ur5e\",\n\t\t\t\t\t\t\tcontroller: \"mock-ur5e\",\n\t\t\t\t\t\t\tjoint_position: [\n\t\t\t\t\t\t\t\t1.487959623336792,\n\t\t\t\t\t\t\t\t-1.8501918315887451,\n\t\t\t\t\t\t\t\t1.8003005981445312,\n\t\t\t\t\t\t\t\t6.034560203552246,\n\t\t\t\t\t\t\t\t1.4921919107437134,\n\t\t\t\t\t\t\t\t1.593459963798523\n\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\tjoint_limit_reached: { limit_reached: [\n\t\t\t\t\t\t\t\tfalse,\n\t\t\t\t\t\t\t\tfalse,\n\t\t\t\t\t\t\t\tfalse,\n\t\t\t\t\t\t\t\tfalse,\n\t\t\t\t\t\t\t\tfalse,\n\t\t\t\t\t\t\t\tfalse\n\t\t\t\t\t\t\t] },\n\t\t\t\t\t\t\tjoint_torque: [],\n\t\t\t\t\t\t\tjoint_current: [\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\tflange_pose: {\n\t\t\t\t\t\t\t\tposition: [\n\t\t\t\t\t\t\t\t\t107.6452433732927,\n\t\t\t\t\t\t\t\t\t-409.0402987746852,\n\t\t\t\t\t\t\t\t\t524.2402132330305\n\t\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\t\torientation: [\n\t\t\t\t\t\t\t\t\t.9874434028353319,\n\t\t\t\t\t\t\t\t\t-.986571714997442,\n\t\t\t\t\t\t\t\t\t1.3336589451098142\n\t\t\t\t\t\t\t\t]\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\ttcp: \"Flange\",\n\t\t\t\t\t\t\ttcp_pose: {\n\t\t\t\t\t\t\t\tposition: [\n\t\t\t\t\t\t\t\t\t107.6452433732927,\n\t\t\t\t\t\t\t\t\t-409.0402987746852,\n\t\t\t\t\t\t\t\t\t524.2402132330305\n\t\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\t\torientation: [\n\t\t\t\t\t\t\t\t\t.9874434028353319,\n\t\t\t\t\t\t\t\t\t-.986571714997442,\n\t\t\t\t\t\t\t\t\t1.3336589451098142\n\t\t\t\t\t\t\t\t]\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\tpayload: \"\",\n\t\t\t\t\t\t\tcoordinate_system: \"\",\n\t\t\t\t\t\t\tstandstill: true\n\t\t\t\t\t\t}]\n\t\t\t\t\t};\n\t\t\t\t}\n\t\t\t},\n\t\t\t{\n\t\t\t\tmethod: \"GET\",\n\t\t\t\tpath: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n\t\t\t\thandle() {\n\t\t\t\t\treturn {\n\t\t\t\t\t\tmotion_group_model: \"UniversalRobots_UR5e\",\n\t\t\t\t\t\tmounting: {\n\t\t\t\t\t\t\tposition: [\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\torientation: [\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t]\n\t\t\t\t\t\t},\n\t\t\t\t\t\ttcps: { Flange: {\n\t\t\t\t\t\t\tname: \"Default-Flange\",\n\t\t\t\t\t\t\tpose: {\n\t\t\t\t\t\t\t\tposition: [\n\t\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\t\torientation: [\n\t\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t\t]\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t} },\n\t\t\t\t\t\tpayloads: { \"FPay-0\": {\n\t\t\t\t\t\t\tname: \"FPay-0\",\n\t\t\t\t\t\t\tpayload: 0,\n\t\t\t\t\t\t\tcenter_of_mass: [\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\tmoment_of_inertia: [\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t\t0\n\t\t\t\t\t\t\t]\n\t\t\t\t\t\t} },\n\t\t\t\t\t\tcycle_time: 8,\n\t\t\t\t\t\tdh_parameters: [\n\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\talpha: 1.5707963267948966,\n\t\t\t\t\t\t\t\td: 162.25\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t{ a: -425 },\n\t\t\t\t\t\t\t{ a: -392.2 },\n\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\talpha: 1.5707963267948966,\n\t\t\t\t\t\t\t\td: 133.3\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\talpha: -1.5707963267948966,\n\t\t\t\t\t\t\t\td: 99.7\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t{ d: 99.6 }\n\t\t\t\t\t\t],\n\t\t\t\t\t\toperation_limits: {\n\t\t\t\t\t\t\tauto_limits: {\n\t\t\t\t\t\t\t\tjoints: [\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\t\ttcp: { velocity: 5e3 },\n\t\t\t\t\t\t\t\telbow: { velocity: 5e3 },\n\t\t\t\t\t\t\t\tflange: { velocity: 5e3 }\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\tmanual_limits: {\n\t\t\t\t\t\t\t\tjoints: [\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\t\ttcp: { velocity: 5e3 }\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\tmanual_t1_limits: {\n\t\t\t\t\t\t\t\tjoints: [\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\t\ttcp: { velocity: 5e3 }\n\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\tmanual_t2_limits: {\n\t\t\t\t\t\t\t\tjoints: [\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 150\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t{\n\t\t\t\t\t\t\t\t\t\tposition: {\n\t\t\t\t\t\t\t\t\t\t\tlower_limit: -6.283185307179586,\n\t\t\t\t\t\t\t\t\t\t\tupper_limit: 6.283185307179586\n\t\t\t\t\t\t\t\t\t\t},\n\t\t\t\t\t\t\t\t\t\tvelocity: 3.34159255027771,\n\t\t\t\t\t\t\t\t\t\tacceleration: 40,\n\t\t\t\t\t\t\t\t\t\ttorque: 28\n\t\t\t\t\t\t\t\t\t}\n\t\t\t\t\t\t\t\t],\n\t\t\t\t\t\t\t\ttcp: { velocity: 5e3 }\n\t\t\t\t\t\t\t}\n\t\t\t\t\t\t},\n\t\t\t\t\t\tserial_number: \"WBVirtualRobot\"\n\t\t\t\t\t};\n\t\t\t\t}\n\t\t\t},\n\t\t\t{\n\t\t\t\tmethod: \"GET\",\n\t\t\t\tpath: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n\t\t\t\thandle() {\n\t\t\t\t\treturn [{\n\t\t\t\t\t\tcoordinate_system: \"\",\n\t\t\t\t\t\tname: \"world\",\n\t\t\t\t\t\treference_coordinate_system: \"\",\n\t\t\t\t\t\tposition: [\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0\n\t\t\t\t\t\t],\n\t\t\t\t\t\torientation: [\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0\n\t\t\t\t\t\t],\n\t\t\t\t\t\torientation_type: \"ROTATION_VECTOR\"\n\t\t\t\t\t}, {\n\t\t\t\t\t\tcoordinate_system: \"CS-0\",\n\t\t\t\t\t\tname: \"Default-CS\",\n\t\t\t\t\t\treference_coordinate_system: \"\",\n\t\t\t\t\t\tposition: [\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0\n\t\t\t\t\t\t],\n\t\t\t\t\t\torientation: [\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0,\n\t\t\t\t\t\t\t0\n\t\t\t\t\t\t],\n\t\t\t\t\t\torientation_type: \"ROTATION_VECTOR\"\n\t\t\t\t\t}];\n\t\t\t\t}\n\t\t\t}\n\t\t];\n\t\tconst method = config.method?.toUpperCase() || \"GET\";\n\t\tconst path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`;\n\t\tfor (const handler of apiHandlers) {\n\t\t\tconst match = pathToRegexp.match(handler.path)(path || \"\");\n\t\t\tif (method === handler.method && match) {\n\t\t\t\tconst json = handler.handle();\n\t\t\t\treturn {\n\t\t\t\t\tstatus: 200,\n\t\t\t\t\tstatusText: \"Success\",\n\t\t\t\t\tdata: JSON.stringify(json),\n\t\t\t\t\theaders: {},\n\t\t\t\t\tconfig,\n\t\t\t\t\trequest: { responseURL: config.url }\n\t\t\t\t};\n\t\t\t}\n\t\t}\n\t\tthrow new AxiosError(`No mock handler matched this request: ${method} ${path}`, \"404\", config);\n\t}\n\thandleWebsocketConnection(socket) {\n\t\tthis.connections.push(socket);\n\t\tsetTimeout(() => {\n\t\t\tsocket.dispatchEvent(new Event(\"open\"));\n\t\t\tconsole.log(\"Websocket connection opened from\", socket.url);\n\t\t\tif (socket.url.includes(\"/state-stream\")) socket.dispatchEvent(new MessageEvent(\"message\", { data: JSON.stringify(defaultMotionState) }));\n\t\t\tif (socket.url.includes(\"/execution/jogging\")) socket.dispatchEvent(new MessageEvent(\"message\", { data: JSON.stringify({ result: {\n\t\t\t\tmessage: \"string\",\n\t\t\t\tkind: \"INITIALIZE_RECEIVED\"\n\t\t\t} }) }));\n\t\t}, 10);\n\t}\n\thandleWebsocketMessage(socket, message) {\n\t\tconsole.log(`Received message on ${socket.url}`, message);\n\t}\n};\nconst defaultMotionState = { result: {\n\tmotion_group: \"0@universalrobots-ur5e\",\n\tcontroller: \"universalrobots-ur5e\",\n\ttimestamp: (/* @__PURE__ */ new Date()).toISOString(),\n\tsequence_number: 1,\n\tjoint_position: [\n\t\t1.1699999570846558,\n\t\t-1.5700000524520874,\n\t\t1.3600000143051147,\n\t\t1.0299999713897705,\n\t\t1.2899999618530273,\n\t\t1.2799999713897705\n\t],\n\tjoint_limit_reached: { limit_reached: [\n\t\tfalse,\n\t\tfalse,\n\t\tfalse,\n\t\tfalse,\n\t\tfalse,\n\t\tfalse\n\t] },\n\tstandstill: false,\n\tflange_pose: {\n\t\tposition: [\n\t\t\t1.3300010259703043,\n\t\t\t-409.2680714682808,\n\t\t\t531.0203477065281\n\t\t],\n\t\torientation: [\n\t\t\t1.7564919306270736,\n\t\t\t-1.7542521568325058,\n\t\t\t.7326972590614671\n\t\t]\n\t},\n\ttcp_pose: {\n\t\tposition: [\n\t\t\t1.3300010259703043,\n\t\t\t-409.2680714682808,\n\t\t\t531.0203477065281\n\t\t],\n\t\torientation: [\n\t\t\t1.7564919306270736,\n\t\t\t-1.7542521568325058,\n\t\t\t.7326972590614671\n\t\t]\n\t}\n} };\n\n//#endregion\n//#region src/lib/v2/NovaClient.ts\nfunction permissiveInstanceUrlParse(url) {\n\tif (!url.startsWith(\"http\")) url = `http://${url}`;\n\treturn new URL(url).toString();\n}\n/**\n*\n* Client for connecting to a Nova instance and controlling robots.\n*/\nvar NovaClient = class {\n\tconstructor(config) {\n\t\tthis.authPromise = null;\n\t\tthis.accessToken = null;\n\t\tconst cellId = config.cellId ?? \"cell\";\n\t\tthis.config = {\n\t\t\tcellId,\n\t\t\t...config\n\t\t};\n\t\tthis.accessToken = config.accessToken || availableStorage.getString(\"wbjs.access_token\") || null;\n\t\tif (this.config.instanceUrl === \"https://mock.example.com\") this.mock = new MockNovaInstance();\n\t\telse this.config.instanceUrl = permissiveInstanceUrlParse(this.config.instanceUrl);\n\t\tconst axiosInstance = axios.create({\n\t\t\tbaseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n\t\t\theaders: typeof window !== \"undefined\" && window.location.origin.includes(\"localhost\") ? {} : { \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\" }\n\t\t});\n\t\taxiosInstance.interceptors.request.use(async (request) => {\n\t\t\tif (!request.headers.Authorization) {\n\t\t\t\tif (this.accessToken) request.headers.Authorization = `Bearer ${this.accessToken}`;\n\t\t\t\telse if (this.config.username && this.config.password) request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;\n\t\t\t}\n\t\t\treturn request;\n\t\t});\n\t\tif (typeof window !== \"undefined\") axiosInstance.interceptors.response.use((r) => r, async (error) => {\n\t\t\tif (isAxiosError(error)) {\n\t\t\t\tif (error.response?.status === 401) try {\n\t\t\t\t\tawait this.renewAuthentication();\n\t\t\t\t\tif (error.config) {\n\t\t\t\t\t\tif (this.accessToken) error.config.headers.Authorization = `Bearer ${this.accessToken}`;\n\t\t\t\t\t\telse delete error.config.headers.Authorization;\n\t\t\t\t\t\treturn axiosInstance.request(error.config);\n\t\t\t\t\t}\n\t\t\t\t} catch (err) {\n\t\t\t\t\treturn Promise.reject(err);\n\t\t\t\t}\n\t\t\t\telse if (error.response?.status === 503) {\n\t\t\t\t\tif ((await fetch(window.location.href)).status === 503) window.location.reload();\n\t\t\t\t}\n\t\t\t}\n\t\t\treturn Promise.reject(error);\n\t\t});\n\t\tthis.api = new NovaCellAPIClient(cellId, {\n\t\t\t...config,\n\t\t\tbasePath: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n\t\t\tisJsonMime: (mime) => {\n\t\t\t\treturn mime === \"application/json\";\n\t\t\t},\n\t\t\tbaseOptions: {\n\t\t\t\t...this.mock ? { adapter: (config$1) => {\n\t\t\t\t\treturn this.mock.handleAPIRequest(config$1);\n\t\t\t\t} } : {},\n\t\t\t\t...config.baseOptions\n\t\t\t},\n\t\t\taxiosInstance\n\t\t});\n\t}\n\tasync renewAuthentication() {\n\t\tif (this.authPromise) return;\n\t\tthis.authPromise = loginWithAuth0(this.config.instanceUrl);\n\t\ttry {\n\t\t\tthis.accessToken = await this.authPromise;\n\t\t\tif (this.accessToken) availableStorage.setString(\"wbjs.access_token\", this.accessToken);\n\t\t\telse availableStorage.delete(\"wbjs.access_token\");\n\t\t} finally {\n\t\t\tthis.authPromise = null;\n\t\t}\n\t}\n\tmakeWebsocketURL(path) {\n\t\tconst url = new URL(urlJoin(this.config.instanceUrl, `/api/v2/cells/${this.config.cellId}`, path));\n\t\turl.protocol = url.protocol.replace(\"http\", \"ws\");\n\t\turl.protocol = url.protocol.replace(\"https\", \"wss\");\n\t\tif (this.accessToken) url.searchParams.append(\"token\", this.accessToken);\n\t\telse if (this.config.username && this.config.password) {\n\t\t\turl.username = this.config.username;\n\t\t\turl.password = this.config.password;\n\t\t}\n\t\treturn url.toString();\n\t}\n\t/**\n\t* Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n\t* If you explicitly want to reconnect an existing websocket, call `reconnect`\n\t* on the returned object.\n\t*/\n\topenReconnectingWebsocket(path) {\n\t\treturn new AutoReconnectingWebsocket(this.makeWebsocketURL(path), { mock: this.mock });\n\t}\n};\n\n//#endregion\n//#region src/lib/v2/wandelscriptUtils.ts\n/**\n* Convert a Pose object representing a motion group position\n* into a string which represents that pose in Wandelscript.\n*/\nfunction poseToWandelscriptString(pose) {\n\tconst position = [\n\t\tpose.position?.[0] ?? 0,\n\t\tpose.position?.[1] ?? 0,\n\t\tpose.position?.[2] ?? 0\n\t];\n\tconst orientation = [\n\t\tpose.orientation?.[0] ?? 0,\n\t\tpose.orientation?.[1] ?? 0,\n\t\tpose.orientation?.[2] ?? 0\n\t];\n\tconst positionValues = position.map((v) => v.toFixed(1));\n\tconst rotationValues = orientation.map((v) => v.toFixed(4));\n\treturn `(${positionValues.concat(rotationValues).join(\", \")})`;\n}\n\n//#endregion\nexport { NovaCellAPIClient, NovaClient, poseToWandelscriptString };\n//# sourceMappingURL=index.mjs.map","const _lut = [ '00', '01', '02', '03', '04', '05', '06', '07', '08', '09', '0a', '0b', '0c', '0d', '0e', '0f', '10', '11', '12', '13', '14', '15', '16', '17', '18', '19', '1a', '1b', '1c', '1d', '1e', '1f', '20', '21', '22', '23', '24', '25', '26', '27', '28', '29', '2a', '2b', '2c', '2d', '2e', '2f', '30', '31', '32', '33', '34', '35', '36', '37', '38', '39', '3a', '3b', '3c', '3d', '3e', '3f', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '4a', '4b', '4c', '4d', '4e', '4f', '50', '51', '52', '53', '54', '55', '56', '57', '58', '59', '5a', '5b', '5c', '5d', '5e', '5f', '60', '61', '62', '63', '64', '65', '66', '67', '68', '69', '6a', '6b', '6c', '6d', '6e', '6f', '70', '71', '72', '73', '74', '75', '76', '77', '78', '79', '7a', '7b', '7c', '7d', '7e', '7f', '80', '81', '82', '83', '84', '85', '86', '87', '88', '89', '8a', '8b', '8c', '8d', '8e', '8f', '90', '91', '92', '93', '94', '95', '96', '97', '98', '99', '9a', '9b', '9c', '9d', '9e', '9f', 'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8', 'a9', 'aa', 'ab', 'ac', 'ad', 'ae', 'af', 'b0', 'b1', 'b2', 'b3', 'b4', 'b5', 'b6', 'b7', 'b8', 'b9', 'ba', 'bb', 'bc', 'bd', 'be', 'bf', 'c0', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6', 'c7', 'c8', 'c9', 'ca', 'cb', 'cc', 'cd', 'ce', 'cf', 'd0', 'd1', 'd2', 'd3', 'd4', 'd5', 'd6', 'd7', 'd8', 'd9', 'da', 'db', 'dc', 'dd', 'de', 'df', 'e0', 'e1', 'e2', 'e3', 'e4', 'e5', 'e6', 'e7', 'e8', 'e9', 'ea', 'eb', 'ec', 'ed', 'ee', 'ef', 'f0', 'f1', 'f2', 'f3', 'f4', 'f5', 'f6', 'f7', 'f8', 'f9', 'fa', 'fb', 'fc', 'fd', 'fe', 'ff' ];\n\nlet _seed = 1234567;\n\n\nconst DEG2RAD = Math.PI / 180;\nconst RAD2DEG = 180 / Math.PI;\n\n/**\n * Generate a [UUID]{@link https://en.wikipedia.org/wiki/Universally_unique_identifier}\n * (universally unique identifier).\n *\n * @return {string} The UUID.\n */\nfunction generateUUID() {\n\n\t// http://stackoverflow.com/questions/105034/how-to-create-a-guid-uuid-in-javascript/21963136#21963136\n\n\tconst d0 = Math.random() * 0xffffffff | 0;\n\tconst d1 = Math.random() * 0xffffffff | 0;\n\tconst d2 = Math.random() * 0xffffffff | 0;\n\tconst d3 = Math.random() * 0xffffffff | 0;\n\tconst uuid = _lut[ d0 & 0xff ] + _lut[ d0 >> 8 & 0xff ] + _lut[ d0 >> 16 & 0xff ] + _lut[ d0 >> 24 & 0xff ] + '-' +\n\t\t\t_lut[ d1 & 0xff ] + _lut[ d1 >> 8 & 0xff ] + '-' + _lut[ d1 >> 16 & 0x0f | 0x40 ] + _lut[ d1 >> 24 & 0xff ] + '-' +\n\t\t\t_lut[ d2 & 0x3f | 0x80 ] + _lut[ d2 >> 8 & 0xff ] + '-' + _lut[ d2 >> 16 & 0xff ] + _lut[ d2 >> 24 & 0xff ] +\n\t\t\t_lut[ d3 & 0xff ] + _lut[ d3 >> 8 & 0xff ] + _lut[ d3 >> 16 & 0xff ] + _lut[ d3 >> 24 & 0xff ];\n\n\t// .toLowerCase() here flattens concatenated strings to save heap memory space.\n\treturn uuid.toLowerCase();\n\n}\n\n/**\n * Clamps the given value between min and max.\n *\n * @param {number} value - The value to clamp.\n * @param {number} min - The min value.\n * @param {number} max - The max value.\n * @return {number} The clamped value.\n */\nfunction clamp( value, min, max ) {\n\n\treturn Math.max( min, Math.min( max, value ) );\n\n}\n\n/**\n * Computes the Euclidean modulo of the given parameters that\n * is `( ( n % m ) + m ) % m`.\n *\n * @param {number} n - The first parameter.\n * @param {number} m - The second parameter.\n * @return {number} The Euclidean modulo.\n */\nfunction euclideanModulo( n, m ) {\n\n\t// https://en.wikipedia.org/wiki/Modulo_operation\n\n\treturn ( ( n % m ) + m ) % m;\n\n}\n\n/**\n * Performs a linear mapping from range `<a1, a2>` to range `<b1, b2>`\n * for the given value.\n *\n * @param {number} x - The value to be mapped.\n * @param {number} a1 - Minimum value for range A.\n * @param {number} a2 - Maximum value for range A.\n * @param {number} b1 - Minimum value for range B.\n * @param {number} b2 - Maximum value for range B.\n * @return {number} The mapped value.\n */\nfunction mapLinear( x, a1, a2, b1, b2 ) {\n\n\treturn b1 + ( x - a1 ) * ( b2 - b1 ) / ( a2 - a1 );\n\n}\n\n/**\n * Returns the percentage in the closed interval `[0, 1]` of the given value\n * between the start and end point.\n *\n * @param {number} x - The start point\n * @param {number} y - The end point.\n * @param {number} value - A value between start and end.\n * @return {number} The interpolation factor.\n */\nfunction inverseLerp( x, y, value ) {\n\n\t// https://www.gamedev.net/tutorials/programming/general-and-gameplay-programming/inverse-lerp-a-super-useful-yet-often-overlooked-function-r5230/\n\n\tif ( x !== y ) {\n\n\t\treturn ( value - x ) / ( y - x );\n\n\t} else {\n\n\t\treturn 0;\n\n\t}\n\n}\n\n/**\n * Returns a value linearly interpolated from two known points based on the given interval -\n * `t = 0` will return `x` and `t = 1` will return `y`.\n *\n * @param {number} x - The start point\n * @param {number} y - The end point.\n * @param {number} t - The interpolation factor in the closed interval `[0, 1]`.\n * @return {number} The interpolated value.\n */\nfunction lerp( x, y, t ) {\n\n\treturn ( 1 - t ) * x + t * y;\n\n}\n\n/**\n * Smoothly interpolate a number from `x` to `y` in  a spring-like manner using a delta\n * time to maintain frame rate independent movement. For details, see\n * [Frame rate independent damping using lerp]{@link http://www.rorydriscoll.com/2016/03/07/frame-rate-independent-damping-using-lerp/}.\n *\n * @param {number} x - The current point.\n * @param {number} y - The target point.\n * @param {number} lambda - A higher lambda value will make the movement more sudden,\n * and a lower value will make the movement more gradual.\n * @param {number} dt - Delta time in seconds.\n * @return {number} The interpolated value.\n */\nfunction damp( x, y, lambda, dt ) {\n\n\treturn lerp( x, y, 1 - Math.exp( - lambda * dt ) );\n\n}\n\n/**\n * Returns a value that alternates between `0` and the given `length` parameter.\n *\n * @param {number} x - The value to pingpong.\n * @param {number} [length=1] - The positive value the function will pingpong to.\n * @return {number} The alternated value.\n */\nfunction pingpong( x, length = 1 ) {\n\n\t// https://www.desmos.com/calculator/vcsjnyz7x4\n\n\treturn length - Math.abs( euclideanModulo( x, length * 2 ) - length );\n\n}\n\n/**\n * Returns a value in the range `[0,1]` that represents the percentage that `x` has\n * moved between `min` and `max`, but smoothed or slowed down the closer `x` is to\n * the `min` and `max`.\n *\n * See [Smoothstep]{@link http://en.wikipedia.org/wiki/Smoothstep} for more details.\n *\n * @param {number} x - The value to evaluate based on its position between min and max.\n * @param {number} min - The min value. Any x value below min will be `0`.\n * @param {number} max - The max value. Any x value above max will be `1`.\n * @return {number} The alternated value.\n */\nfunction smoothstep( x, min, max ) {\n\n\tif ( x <= min ) return 0;\n\tif ( x >= max ) return 1;\n\n\tx = ( x - min ) / ( max - min );\n\n\treturn x * x * ( 3 - 2 * x );\n\n}\n\n/**\n * A [variation on smoothstep]{@link https://en.wikipedia.org/wiki/Smoothstep#Variations}\n * that has zero 1st and 2nd order derivatives at x=0 and x=1.\n *\n * @param {number} x - The value to evaluate based on its position between min and max.\n * @param {number} min - The min value. Any x value below min will be `0`.\n * @param {number} max - The max value. Any x value above max will be `1`.\n * @return {number} The alternated value.\n */\nfunction smootherstep( x, min, max ) {\n\n\tif ( x <= min ) return 0;\n\tif ( x >= max ) return 1;\n\n\tx = ( x - min ) / ( max - min );\n\n\treturn x * x * x * ( x * ( x * 6 - 15 ) + 10 );\n\n}\n\n/**\n * Returns a random integer from `<low, high>` interval.\n *\n * @param {number} low - The lower value boundary.\n * @param {number} high - The upper value boundary\n * @return {number} A random integer.\n */\nfunction randInt( low, high ) {\n\n\treturn low + Math.floor( Math.random() * ( high - low + 1 ) );\n\n}\n\n/**\n * Returns a random float from `<low, high>` interval.\n *\n * @param {number} low - The lower value boundary.\n * @param {number} high - The upper value boundary\n * @return {number} A random float.\n */\nfunction randFloat( low, high ) {\n\n\treturn low + Math.random() * ( high - low );\n\n}\n\n/**\n * Returns a random integer from `<-range/2, range/2>` interval.\n *\n * @param {number} range - Defines the value range.\n * @return {number} A random float.\n */\nfunction randFloatSpread( range ) {\n\n\treturn range * ( 0.5 - Math.random() );\n\n}\n\n/**\n * Returns a deterministic pseudo-random float in the interval `[0, 1]`.\n *\n * @param {number} [s] - The integer seed.\n * @return {number} A random float.\n */\nfunction seededRandom( s ) {\n\n\tif ( s !== undefined ) _seed = s;\n\n\t// Mulberry32 generator\n\n\tlet t = _seed += 0x6D2B79F5;\n\n\tt = Math.imul( t ^ t >>> 15, t | 1 );\n\n\tt ^= t + Math.imul( t ^ t >>> 7, t | 61 );\n\n\treturn ( ( t ^ t >>> 14 ) >>> 0 ) / 4294967296;\n\n}\n\n/**\n * Converts degrees to radians.\n *\n * @param {number} degrees - A value in degrees.\n * @return {number} The converted value in radians.\n */\nfunction degToRad( degrees ) {\n\n\treturn degrees * DEG2RAD;\n\n}\n\n/**\n * Converts radians to degrees.\n *\n * @param {number} radians - A value in radians.\n * @return {number} The converted value in degrees.\n */\nfunction radToDeg( radians ) {\n\n\treturn radians * RAD2DEG;\n\n}\n\n/**\n * Returns `true` if the given number is a power of two.\n *\n * @param {number} value - The value to check.\n * @return {boolean} Whether the given number is a power of two or not.\n */\nfunction isPowerOfTwo( value ) {\n\n\treturn ( value & ( value - 1 ) ) === 0 && value !== 0;\n\n}\n\n/**\n * Returns the smallest power of two that is greater than or equal to the given number.\n *\n * @param {number} value - The value to find a POT for.\n * @return {number} The smallest power of two that is greater than or equal to the given number.\n */\nfunction ceilPowerOfTwo( value ) {\n\n\treturn Math.pow( 2, Math.ceil( Math.log( value ) / Math.LN2 ) );\n\n}\n\n/**\n * Returns the largest power of two that is less than or equal to the given number.\n *\n * @param {number} value - The value to find a POT for.\n * @return {number} The largest power of two that is less than or equal to the given number.\n */\nfunction floorPowerOfTwo( value ) {\n\n\treturn Math.pow( 2, Math.floor( Math.log( value ) / Math.LN2 ) );\n\n}\n\n/**\n * Sets the given quaternion from the [Intrinsic Proper Euler Angles]{@link https://en.wikipedia.org/wiki/Euler_angles}\n * defined by the given angles and order.\n *\n * Rotations are applied to the axes in the order specified by order:\n * rotation by angle `a` is applied first, then by angle `b`, then by angle `c`.\n *\n * @param {Quaternion} q - The quaternion to set.\n * @param {number} a - The rotation applied to the first axis, in radians.\n * @param {number} b - The rotation applied to the second axis, in radians.\n * @param {number} c - The rotation applied to the third axis, in radians.\n * @param {('XYX'|'XZX'|'YXY'|'YZY'|'ZXZ'|'ZYZ')} order - A string specifying the axes order.\n */\nfunction setQuaternionFromProperEuler( q, a, b, c, order ) {\n\n\tconst cos = Math.cos;\n\tconst sin = Math.sin;\n\n\tconst c2 = cos( b / 2 );\n\tconst s2 = sin( b / 2 );\n\n\tconst c13 = cos( ( a + c ) / 2 );\n\tconst s13 = sin( ( a + c ) / 2 );\n\n\tconst c1_3 = cos( ( a - c ) / 2 );\n\tconst s1_3 = sin( ( a - c ) / 2 );\n\n\tconst c3_1 = cos( ( c - a ) / 2 );\n\tconst s3_1 = sin( ( c - a ) / 2 );\n\n\tswitch ( order ) {\n\n\t\tcase 'XYX':\n\t\t\tq.set( c2 * s13, s2 * c1_3, s2 * s1_3, c2 * c13 );\n\t\t\tbreak;\n\n\t\tcase 'YZY':\n\t\t\tq.set( s2 * s1_3, c2 * s13, s2 * c1_3, c2 * c13 );\n\t\t\tbreak;\n\n\t\tcase 'ZXZ':\n\t\t\tq.set( s2 * c1_3, s2 * s1_3, c2 * s13, c2 * c13 );\n\t\t\tbreak;\n\n\t\tcase 'XZX':\n\t\t\tq.set( c2 * s13, s2 * s3_1, s2 * c3_1, c2 * c13 );\n\t\t\tbreak;\n\n\t\tcase 'YXY':\n\t\t\tq.set( s2 * c3_1, c2 * s13, s2 * s3_1, c2 * c13 );\n\t\t\tbreak;\n\n\t\tcase 'ZYZ':\n\t\t\tq.set( s2 * s3_1, s2 * c3_1, c2 * s13, c2 * c13 );\n\t\t\tbreak;\n\n\t\tdefault:\n\t\t\tconsole.warn( 'THREE.MathUtils: .setQuaternionFromProperEuler() encountered an unknown order: ' + order );\n\n\t}\n\n}\n\n/**\n * Denormalizes the given value according to the given typed array.\n *\n * @param {number} value - The value to denormalize.\n * @param {TypedArray} array - The typed array that defines the data type of the value.\n * @return {number} The denormalize (float) value in the range `[0,1]`.\n */\nfunction denormalize( value, array ) {\n\n\tswitch ( array.constructor ) {\n\n\t\tcase Float32Array:\n\n\t\t\treturn value;\n\n\t\tcase Uint32Array:\n\n\t\t\treturn value / 4294967295.0;\n\n\t\tcase Uint16Array:\n\n\t\t\treturn value / 65535.0;\n\n\t\tcase Uint8Array:\n\n\t\t\treturn value / 255.0;\n\n\t\tcase Int32Array:\n\n\t\t\treturn Math.max( value / 2147483647.0, - 1.0 );\n\n\t\tcase Int16Array:\n\n\t\t\treturn Math.max( value / 32767.0, - 1.0 );\n\n\t\tcase Int8Array:\n\n\t\t\treturn Math.max( value / 127.0, - 1.0 );\n\n\t\tdefault:\n\n\t\t\tthrow new Error( 'Invalid component type.' );\n\n\t}\n\n}\n\n/**\n * Normalizes the given value according to the given typed array.\n *\n * @param {number} value - The float value in the range `[0,1]` to normalize.\n * @param {TypedArray} array - The typed array that defines the data type of the value.\n * @return {number} The normalize value.\n */\nfunction normalize( value, array ) {\n\n\tswitch ( array.constructor ) {\n\n\t\tcase Float32Array:\n\n\t\t\treturn value;\n\n\t\tcase Uint32Array:\n\n\t\t\treturn Math.round( value * 4294967295.0 );\n\n\t\tcase Uint16Array:\n\n\t\t\treturn Math.round( value * 65535.0 );\n\n\t\tcase Uint8Array:\n\n\t\t\treturn Math.round( value * 255.0 );\n\n\t\tcase Int32Array:\n\n\t\t\treturn Math.round( value * 2147483647.0 );\n\n\t\tcase Int16Array:\n\n\t\t\treturn Math.round( value * 32767.0 );\n\n\t\tcase Int8Array:\n\n\t\t\treturn Math.round( value * 127.0 );\n\n\t\tdefault:\n\n\t\t\tthrow new Error( 'Invalid component type.' );\n\n\t}\n\n}\n\nconst MathUtils = {\n\tDEG2RAD: DEG2RAD,\n\tRAD2DEG: RAD2DEG,\n\tgenerateUUID: generateUUID,\n\tclamp: clamp,\n\teuclideanModulo: euclideanModulo,\n\tmapLinear: mapLinear,\n\tinverseLerp: inverseLerp,\n\tlerp: lerp,\n\tdamp: damp,\n\tpingpong: pingpong,\n\tsmoothstep: smoothstep,\n\tsmootherstep: smootherstep,\n\trandInt: randInt,\n\trandFloat: randFloat,\n\trandFloatSpread: randFloatSpread,\n\tseededRandom: seededRandom,\n\tdegToRad: degToRad,\n\tradToDeg: radToDeg,\n\tisPowerOfTwo: isPowerOfTwo,\n\tceilPowerOfTwo: ceilPowerOfTwo,\n\tfloorPowerOfTwo: floorPowerOfTwo,\n\tsetQuaternionFromProperEuler: setQuaternionFromProperEuler,\n\tnormalize: normalize,\n\tdenormalize: denormalize\n};\n\nexport {\n\tDEG2RAD,\n\tRAD2DEG,\n\tgenerateUUID,\n\tclamp,\n\teuclideanModulo,\n\tmapLinear,\n\tinverseLerp,\n\tlerp,\n\tdamp,\n\tpingpong,\n\tsmoothstep,\n\tsmootherstep,\n\trandInt,\n\trandFloat,\n\trandFloatSpread,\n\tseededRandom,\n\tdegToRad,\n\tradToDeg,\n\tisPowerOfTwo,\n\tceilPowerOfTwo,\n\tfloorPowerOfTwo,\n\tsetQuaternionFromProperEuler,\n\tnormalize,\n\tdenormalize,\n\tMathUtils\n};\n","import { clamp } from './MathUtils.js';\n\n/**\n * Class for representing a Quaternion. Quaternions are used in three.js to represent rotations.\n *\n * Iterating through a vector instance will yield its components `(x, y, z, w)` in\n * the corresponding order.\n *\n * Note that three.js expects Quaternions to be normalized.\n * ```js\n * const quaternion = new THREE.Quaternion();\n * quaternion.setFromAxisAngle( new THREE.Vector3( 0, 1, 0 ), Math.PI / 2 );\n *\n * const vector = new THREE.Vector3( 1, 0, 0 );\n * vector.applyQuaternion( quaternion );\n * ```\n */\nclass Quaternion {\n\n\t/**\n\t * Constructs a new quaternion.\n\t *\n\t * @param {number} [x=0] - The x value of this quaternion.\n\t * @param {number} [y=0] - The y value of this quaternion.\n\t * @param {number} [z=0] - The z value of this quaternion.\n\t * @param {number} [w=1] - The w value of this quaternion.\n\t */\n\tconstructor( x = 0, y = 0, z = 0, w = 1 ) {\n\n\t\t/**\n\t\t * This flag can be used for type testing.\n\t\t *\n\t\t * @type {boolean}\n\t\t * @readonly\n\t\t * @default true\n\t\t */\n\t\tthis.isQuaternion = true;\n\n\t\tthis._x = x;\n\t\tthis._y = y;\n\t\tthis._z = z;\n\t\tthis._w = w;\n\n\t}\n\n\t/**\n\t * Interpolates between two quaternions via SLERP. This implementation assumes the\n\t * quaternion data are managed  in flat arrays.\n\t *\n\t * @param {Array<number>} dst - The destination array.\n\t * @param {number} dstOffset - An offset into the destination array.\n\t * @param {Array<number>} src0 - The source array of the first quaternion.\n\t * @param {number} srcOffset0 - An offset into the first source array.\n\t * @param {Array<number>} src1 -  The source array of the second quaternion.\n\t * @param {number} srcOffset1 - An offset into the second source array.\n\t * @param {number} t - The interpolation factor in the range `[0,1]`.\n\t * @see {@link Quaternion#slerp}\n\t */\n\tstatic slerpFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1, t ) {\n\n\t\t// fuzz-free, array-based Quaternion SLERP operation\n\n\t\tlet x0 = src0[ srcOffset0 + 0 ],\n\t\t\ty0 = src0[ srcOffset0 + 1 ],\n\t\t\tz0 = src0[ srcOffset0 + 2 ],\n\t\t\tw0 = src0[ srcOffset0 + 3 ];\n\n\t\tconst x1 = src1[ srcOffset1 + 0 ],\n\t\t\ty1 = src1[ srcOffset1 + 1 ],\n\t\t\tz1 = src1[ srcOffset1 + 2 ],\n\t\t\tw1 = src1[ srcOffset1 + 3 ];\n\n\t\tif ( t === 0 ) {\n\n\t\t\tdst[ dstOffset + 0 ] = x0;\n\t\t\tdst[ dstOffset + 1 ] = y0;\n\t\t\tdst[ dstOffset + 2 ] = z0;\n\t\t\tdst[ dstOffset + 3 ] = w0;\n\t\t\treturn;\n\n\t\t}\n\n\t\tif ( t === 1 ) {\n\n\t\t\tdst[ dstOffset + 0 ] = x1;\n\t\t\tdst[ dstOffset + 1 ] = y1;\n\t\t\tdst[ dstOffset + 2 ] = z1;\n\t\t\tdst[ dstOffset + 3 ] = w1;\n\t\t\treturn;\n\n\t\t}\n\n\t\tif ( w0 !== w1 || x0 !== x1 || y0 !== y1 || z0 !== z1 ) {\n\n\t\t\tlet s = 1 - t;\n\t\t\tconst cos = x0 * x1 + y0 * y1 + z0 * z1 + w0 * w1,\n\t\t\t\tdir = ( cos >= 0 ? 1 : - 1 ),\n\t\t\t\tsqrSin = 1 - cos * cos;\n\n\t\t\t// Skip the Slerp for tiny steps to avoid numeric problems:\n\t\t\tif ( sqrSin > Number.EPSILON ) {\n\n\t\t\t\tconst sin = Math.sqrt( sqrSin ),\n\t\t\t\t\tlen = Math.atan2( sin, cos * dir );\n\n\t\t\t\ts = Math.sin( s * len ) / sin;\n\t\t\t\tt = Math.sin( t * len ) / sin;\n\n\t\t\t}\n\n\t\t\tconst tDir = t * dir;\n\n\t\t\tx0 = x0 * s + x1 * tDir;\n\t\t\ty0 = y0 * s + y1 * tDir;\n\t\t\tz0 = z0 * s + z1 * tDir;\n\t\t\tw0 = w0 * s + w1 * tDir;\n\n\t\t\t// Normalize in case we just did a lerp:\n\t\t\tif ( s === 1 - t ) {\n\n\t\t\t\tconst f = 1 / Math.sqrt( x0 * x0 + y0 * y0 + z0 * z0 + w0 * w0 );\n\n\t\t\t\tx0 *= f;\n\t\t\t\ty0 *= f;\n\t\t\t\tz0 *= f;\n\t\t\t\tw0 *= f;\n\n\t\t\t}\n\n\t\t}\n\n\t\tdst[ dstOffset ] = x0;\n\t\tdst[ dstOffset + 1 ] = y0;\n\t\tdst[ dstOffset + 2 ] = z0;\n\t\tdst[ dstOffset + 3 ] = w0;\n\n\t}\n\n\t/**\n\t * Multiplies two quaternions. This implementation assumes the quaternion data are managed\n\t * in flat arrays.\n\t *\n\t * @param {Array<number>} dst - The destination array.\n\t * @param {number} dstOffset - An offset into the destination array.\n\t * @param {Array<number>} src0 - The source array of the first quaternion.\n\t * @param {number} srcOffset0 - An offset into the first source array.\n\t * @param {Array<number>} src1 -  The source array of the second quaternion.\n\t * @param {number} srcOffset1 - An offset into the second source array.\n\t * @return {Array<number>} The destination array.\n\t * @see {@link Quaternion#multiplyQuaternions}.\n\t */\n\tstatic multiplyQuaternionsFlat( dst, dstOffset, src0, srcOffset0, src1, srcOffset1 ) {\n\n\t\tconst x0 = src0[ srcOffset0 ];\n\t\tconst y0 = src0[ srcOffset0 + 1 ];\n\t\tconst z0 = src0[ srcOffset0 + 2 ];\n\t\tconst w0 = src0[ srcOffset0 + 3 ];\n\n\t\tconst x1 = src1[ srcOffset1 ];\n\t\tconst y1 = src1[ srcOffset1 + 1 ];\n\t\tconst z1 = src1[ srcOffset1 + 2 ];\n\t\tconst w1 = src1[ srcOffset1 + 3 ];\n\n\t\tdst[ dstOffset ] = x0 * w1 + w0 * x1 + y0 * z1 - z0 * y1;\n\t\tdst[ dstOffset + 1 ] = y0 * w1 + w0 * y1 + z0 * x1 - x0 * z1;\n\t\tdst[ dstOffset + 2 ] = z0 * w1 + w0 * z1 + x0 * y1 - y0 * x1;\n\t\tdst[ dstOffset + 3 ] = w0 * w1 - x0 * x1 - y0 * y1 - z0 * z1;\n\n\t\treturn dst;\n\n\t}\n\n\t/**\n\t * The x value of this quaternion.\n\t *\n\t * @type {number}\n\t * @default 0\n\t */\n\tget x() {\n\n\t\treturn this._x;\n\n\t}\n\n\tset x( value ) {\n\n\t\tthis._x = value;\n\t\tthis._onChangeCallback();\n\n\t}\n\n\t/**\n\t * The y value of this quaternion.\n\t *\n\t * @type {number}\n\t * @default 0\n\t */\n\tget y() {\n\n\t\treturn this._y;\n\n\t}\n\n\tset y( value ) {\n\n\t\tthis._y = value;\n\t\tthis._onChangeCallback();\n\n\t}\n\n\t/**\n\t * The z value of this quaternion.\n\t *\n\t * @type {number}\n\t * @default 0\n\t */\n\tget z() {\n\n\t\treturn this._z;\n\n\t}\n\n\tset z( value ) {\n\n\t\tthis._z = value;\n\t\tthis._onChangeCallback();\n\n\t}\n\n\t/**\n\t * The w value of this quaternion.\n\t *\n\t * @type {number}\n\t * @default 1\n\t */\n\tget w() {\n\n\t\treturn this._w;\n\n\t}\n\n\tset w( value ) {\n\n\t\tthis._w = value;\n\t\tthis._onChangeCallback();\n\n\t}\n\n\t/**\n\t * Sets the quaternion components.\n\t *\n\t * @param {number} x - The x value of this quaternion.\n\t * @param {number} y - The y value of this quaternion.\n\t * @param {number} z - The z value of this quaternion.\n\t * @param {number} w - The w value of this quaternion.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tset( x, y, z, w ) {\n\n\t\tthis._x = x;\n\t\tthis._y = y;\n\t\tthis._z = z;\n\t\tthis._w = w;\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Returns a new quaternion with copied values from this instance.\n\t *\n\t * @return {Quaternion} A clone of this instance.\n\t */\n\tclone() {\n\n\t\treturn new this.constructor( this._x, this._y, this._z, this._w );\n\n\t}\n\n\t/**\n\t * Copies the values of the given quaternion to this instance.\n\t *\n\t * @param {Quaternion} quaternion - The quaternion to copy.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tcopy( quaternion ) {\n\n\t\tthis._x = quaternion.x;\n\t\tthis._y = quaternion.y;\n\t\tthis._z = quaternion.z;\n\t\tthis._w = quaternion.w;\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets this quaternion from the rotation specified by the given\n\t * Euler angles.\n\t *\n\t * @param {Euler} euler - The Euler angles.\n\t * @param {boolean} [update=true] - Whether the internal `onChange` callback should be executed or not.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tsetFromEuler( euler, update = true ) {\n\n\t\tconst x = euler._x, y = euler._y, z = euler._z, order = euler._order;\n\n\t\t// http://www.mathworks.com/matlabcentral/fileexchange/\n\t\t// \t20696-function-to-convert-between-dcm-euler-angles-quaternions-and-euler-vectors/\n\t\t//\tcontent/SpinCalc.m\n\n\t\tconst cos = Math.cos;\n\t\tconst sin = Math.sin;\n\n\t\tconst c1 = cos( x / 2 );\n\t\tconst c2 = cos( y / 2 );\n\t\tconst c3 = cos( z / 2 );\n\n\t\tconst s1 = sin( x / 2 );\n\t\tconst s2 = sin( y / 2 );\n\t\tconst s3 = sin( z / 2 );\n\n\t\tswitch ( order ) {\n\n\t\t\tcase 'XYZ':\n\t\t\t\tthis._x = s1 * c2 * c3 + c1 * s2 * s3;\n\t\t\t\tthis._y = c1 * s2 * c3 - s1 * c2 * s3;\n\t\t\t\tthis._z = c1 * c2 * s3 + s1 * s2 * c3;\n\t\t\t\tthis._w = c1 * c2 * c3 - s1 * s2 * s3;\n\t\t\t\tbreak;\n\n\t\t\tcase 'YXZ':\n\t\t\t\tthis._x = s1 * c2 * c3 + c1 * s2 * s3;\n\t\t\t\tthis._y = c1 * s2 * c3 - s1 * c2 * s3;\n\t\t\t\tthis._z = c1 * c2 * s3 - s1 * s2 * c3;\n\t\t\t\tthis._w = c1 * c2 * c3 + s1 * s2 * s3;\n\t\t\t\tbreak;\n\n\t\t\tcase 'ZXY':\n\t\t\t\tthis._x = s1 * c2 * c3 - c1 * s2 * s3;\n\t\t\t\tthis._y = c1 * s2 * c3 + s1 * c2 * s3;\n\t\t\t\tthis._z = c1 * c2 * s3 + s1 * s2 * c3;\n\t\t\t\tthis._w = c1 * c2 * c3 - s1 * s2 * s3;\n\t\t\t\tbreak;\n\n\t\t\tcase 'ZYX':\n\t\t\t\tthis._x = s1 * c2 * c3 - c1 * s2 * s3;\n\t\t\t\tthis._y = c1 * s2 * c3 + s1 * c2 * s3;\n\t\t\t\tthis._z = c1 * c2 * s3 - s1 * s2 * c3;\n\t\t\t\tthis._w = c1 * c2 * c3 + s1 * s2 * s3;\n\t\t\t\tbreak;\n\n\t\t\tcase 'YZX':\n\t\t\t\tthis._x = s1 * c2 * c3 + c1 * s2 * s3;\n\t\t\t\tthis._y = c1 * s2 * c3 + s1 * c2 * s3;\n\t\t\t\tthis._z = c1 * c2 * s3 - s1 * s2 * c3;\n\t\t\t\tthis._w = c1 * c2 * c3 - s1 * s2 * s3;\n\t\t\t\tbreak;\n\n\t\t\tcase 'XZY':\n\t\t\t\tthis._x = s1 * c2 * c3 - c1 * s2 * s3;\n\t\t\t\tthis._y = c1 * s2 * c3 - s1 * c2 * s3;\n\t\t\t\tthis._z = c1 * c2 * s3 + s1 * s2 * c3;\n\t\t\t\tthis._w = c1 * c2 * c3 + s1 * s2 * s3;\n\t\t\t\tbreak;\n\n\t\t\tdefault:\n\t\t\t\tconsole.warn( 'THREE.Quaternion: .setFromEuler() encountered an unknown order: ' + order );\n\n\t\t}\n\n\t\tif ( update === true ) this._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets this quaternion from the given axis and angle.\n\t *\n\t * @param {Vector3} axis - The normalized axis.\n\t * @param {number} angle - The angle in radians.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tsetFromAxisAngle( axis, angle ) {\n\n\t\t// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm\n\n\t\tconst halfAngle = angle / 2, s = Math.sin( halfAngle );\n\n\t\tthis._x = axis.x * s;\n\t\tthis._y = axis.y * s;\n\t\tthis._z = axis.z * s;\n\t\tthis._w = Math.cos( halfAngle );\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets this quaternion from the given rotation matrix.\n\t *\n\t * @param {Matrix4} m - A 4x4 matrix of which the upper 3x3 of matrix is a pure rotation matrix (i.e. unscaled).\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tsetFromRotationMatrix( m ) {\n\n\t\t// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm\n\n\t\t// assumes the upper 3x3 of m is a pure rotation matrix (i.e, unscaled)\n\n\t\tconst te = m.elements,\n\n\t\t\tm11 = te[ 0 ], m12 = te[ 4 ], m13 = te[ 8 ],\n\t\t\tm21 = te[ 1 ], m22 = te[ 5 ], m23 = te[ 9 ],\n\t\t\tm31 = te[ 2 ], m32 = te[ 6 ], m33 = te[ 10 ],\n\n\t\t\ttrace = m11 + m22 + m33;\n\n\t\tif ( trace > 0 ) {\n\n\t\t\tconst s = 0.5 / Math.sqrt( trace + 1.0 );\n\n\t\t\tthis._w = 0.25 / s;\n\t\t\tthis._x = ( m32 - m23 ) * s;\n\t\t\tthis._y = ( m13 - m31 ) * s;\n\t\t\tthis._z = ( m21 - m12 ) * s;\n\n\t\t} else if ( m11 > m22 && m11 > m33 ) {\n\n\t\t\tconst s = 2.0 * Math.sqrt( 1.0 + m11 - m22 - m33 );\n\n\t\t\tthis._w = ( m32 - m23 ) / s;\n\t\t\tthis._x = 0.25 * s;\n\t\t\tthis._y = ( m12 + m21 ) / s;\n\t\t\tthis._z = ( m13 + m31 ) / s;\n\n\t\t} else if ( m22 > m33 ) {\n\n\t\t\tconst s = 2.0 * Math.sqrt( 1.0 + m22 - m11 - m33 );\n\n\t\t\tthis._w = ( m13 - m31 ) / s;\n\t\t\tthis._x = ( m12 + m21 ) / s;\n\t\t\tthis._y = 0.25 * s;\n\t\t\tthis._z = ( m23 + m32 ) / s;\n\n\t\t} else {\n\n\t\t\tconst s = 2.0 * Math.sqrt( 1.0 + m33 - m11 - m22 );\n\n\t\t\tthis._w = ( m21 - m12 ) / s;\n\t\t\tthis._x = ( m13 + m31 ) / s;\n\t\t\tthis._y = ( m23 + m32 ) / s;\n\t\t\tthis._z = 0.25 * s;\n\n\t\t}\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets this quaternion to the rotation required to rotate the direction vector\n\t * `vFrom` to the direction vector `vTo`.\n\t *\n\t * @param {Vector3} vFrom - The first (normalized) direction vector.\n\t * @param {Vector3} vTo - The second (normalized) direction vector.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tsetFromUnitVectors( vFrom, vTo ) {\n\n\t\t// assumes direction vectors vFrom and vTo are normalized\n\n\t\tlet r = vFrom.dot( vTo ) + 1;\n\n\t\tif ( r < Number.EPSILON ) {\n\n\t\t\t// vFrom and vTo point in opposite directions\n\n\t\t\tr = 0;\n\n\t\t\tif ( Math.abs( vFrom.x ) > Math.abs( vFrom.z ) ) {\n\n\t\t\t\tthis._x = - vFrom.y;\n\t\t\t\tthis._y = vFrom.x;\n\t\t\t\tthis._z = 0;\n\t\t\t\tthis._w = r;\n\n\t\t\t} else {\n\n\t\t\t\tthis._x = 0;\n\t\t\t\tthis._y = - vFrom.z;\n\t\t\t\tthis._z = vFrom.y;\n\t\t\t\tthis._w = r;\n\n\t\t\t}\n\n\t\t} else {\n\n\t\t\t// crossVectors( vFrom, vTo ); // inlined to avoid cyclic dependency on Vector3\n\n\t\t\tthis._x = vFrom.y * vTo.z - vFrom.z * vTo.y;\n\t\t\tthis._y = vFrom.z * vTo.x - vFrom.x * vTo.z;\n\t\t\tthis._z = vFrom.x * vTo.y - vFrom.y * vTo.x;\n\t\t\tthis._w = r;\n\n\t\t}\n\n\t\treturn this.normalize();\n\n\t}\n\n\t/**\n\t * Returns the angle between this quaternion and the given one in radians.\n\t *\n\t * @param {Quaternion} q - The quaternion to compute the angle with.\n\t * @return {number} The angle in radians.\n\t */\n\tangleTo( q ) {\n\n\t\treturn 2 * Math.acos( Math.abs( clamp( this.dot( q ), - 1, 1 ) ) );\n\n\t}\n\n\t/**\n\t * Rotates this quaternion by a given angular step to the given quaternion.\n\t * The method ensures that the final quaternion will not overshoot `q`.\n\t *\n\t * @param {Quaternion} q - The target quaternion.\n\t * @param {number} step - The angular step in radians.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\trotateTowards( q, step ) {\n\n\t\tconst angle = this.angleTo( q );\n\n\t\tif ( angle === 0 ) return this;\n\n\t\tconst t = Math.min( 1, step / angle );\n\n\t\tthis.slerp( q, t );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets this quaternion to the identity quaternion; that is, to the\n\t * quaternion that represents \"no rotation\".\n\t *\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tidentity() {\n\n\t\treturn this.set( 0, 0, 0, 1 );\n\n\t}\n\n\t/**\n\t * Inverts this quaternion via {@link Quaternion#conjugate}. The\n\t * quaternion is assumed to have unit length.\n\t *\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tinvert() {\n\n\t\treturn this.conjugate();\n\n\t}\n\n\t/**\n\t * Returns the rotational conjugate of this quaternion. The conjugate of a\n\t * quaternion represents the same rotation in the opposite direction about\n\t * the rotational axis.\n\t *\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tconjugate() {\n\n\t\tthis._x *= - 1;\n\t\tthis._y *= - 1;\n\t\tthis._z *= - 1;\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Calculates the dot product of this quaternion and the given one.\n\t *\n\t * @param {Quaternion} v - The quaternion to compute the dot product with.\n\t * @return {number} The result of the dot product.\n\t */\n\tdot( v ) {\n\n\t\treturn this._x * v._x + this._y * v._y + this._z * v._z + this._w * v._w;\n\n\t}\n\n\t/**\n\t * Computes the squared Euclidean length (straight-line length) of this quaternion,\n\t * considered as a 4 dimensional vector. This can be useful if you are comparing the\n\t * lengths of two quaternions, as this is a slightly more efficient calculation than\n\t * {@link Quaternion#length}.\n\t *\n\t * @return {number} The squared Euclidean length.\n\t */\n\tlengthSq() {\n\n\t\treturn this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w;\n\n\t}\n\n\t/**\n\t * Computes the Euclidean length (straight-line length) of this quaternion,\n\t * considered as a 4 dimensional vector.\n\t *\n\t * @return {number} The Euclidean length.\n\t */\n\tlength() {\n\n\t\treturn Math.sqrt( this._x * this._x + this._y * this._y + this._z * this._z + this._w * this._w );\n\n\t}\n\n\t/**\n\t * Normalizes this quaternion - that is, calculated the quaternion that performs\n\t * the same rotation as this one, but has a length equal to `1`.\n\t *\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tnormalize() {\n\n\t\tlet l = this.length();\n\n\t\tif ( l === 0 ) {\n\n\t\t\tthis._x = 0;\n\t\t\tthis._y = 0;\n\t\t\tthis._z = 0;\n\t\t\tthis._w = 1;\n\n\t\t} else {\n\n\t\t\tl = 1 / l;\n\n\t\t\tthis._x = this._x * l;\n\t\t\tthis._y = this._y * l;\n\t\t\tthis._z = this._z * l;\n\t\t\tthis._w = this._w * l;\n\n\t\t}\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Multiplies this quaternion by the given one.\n\t *\n\t * @param {Quaternion} q - The quaternion.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tmultiply( q ) {\n\n\t\treturn this.multiplyQuaternions( this, q );\n\n\t}\n\n\t/**\n\t * Pre-multiplies this quaternion by the given one.\n\t *\n\t * @param {Quaternion} q - The quaternion.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tpremultiply( q ) {\n\n\t\treturn this.multiplyQuaternions( q, this );\n\n\t}\n\n\t/**\n\t * Multiplies the given quaternions and stores the result in this instance.\n\t *\n\t * @param {Quaternion} a - The first quaternion.\n\t * @param {Quaternion} b - The second quaternion.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tmultiplyQuaternions( a, b ) {\n\n\t\t// from http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/code/index.htm\n\n\t\tconst qax = a._x, qay = a._y, qaz = a._z, qaw = a._w;\n\t\tconst qbx = b._x, qby = b._y, qbz = b._z, qbw = b._w;\n\n\t\tthis._x = qax * qbw + qaw * qbx + qay * qbz - qaz * qby;\n\t\tthis._y = qay * qbw + qaw * qby + qaz * qbx - qax * qbz;\n\t\tthis._z = qaz * qbw + qaw * qbz + qax * qby - qay * qbx;\n\t\tthis._w = qaw * qbw - qax * qbx - qay * qby - qaz * qbz;\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Performs a spherical linear interpolation between quaternions.\n\t *\n\t * @param {Quaternion} qb - The target quaternion.\n\t * @param {number} t - The interpolation factor in the closed interval `[0, 1]`.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tslerp( qb, t ) {\n\n\t\tif ( t === 0 ) return this;\n\t\tif ( t === 1 ) return this.copy( qb );\n\n\t\tconst x = this._x, y = this._y, z = this._z, w = this._w;\n\n\t\t// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/\n\n\t\tlet cosHalfTheta = w * qb._w + x * qb._x + y * qb._y + z * qb._z;\n\n\t\tif ( cosHalfTheta < 0 ) {\n\n\t\t\tthis._w = - qb._w;\n\t\t\tthis._x = - qb._x;\n\t\t\tthis._y = - qb._y;\n\t\t\tthis._z = - qb._z;\n\n\t\t\tcosHalfTheta = - cosHalfTheta;\n\n\t\t} else {\n\n\t\t\tthis.copy( qb );\n\n\t\t}\n\n\t\tif ( cosHalfTheta >= 1.0 ) {\n\n\t\t\tthis._w = w;\n\t\t\tthis._x = x;\n\t\t\tthis._y = y;\n\t\t\tthis._z = z;\n\n\t\t\treturn this;\n\n\t\t}\n\n\t\tconst sqrSinHalfTheta = 1.0 - cosHalfTheta * cosHalfTheta;\n\n\t\tif ( sqrSinHalfTheta <= Number.EPSILON ) {\n\n\t\t\tconst s = 1 - t;\n\t\t\tthis._w = s * w + t * this._w;\n\t\t\tthis._x = s * x + t * this._x;\n\t\t\tthis._y = s * y + t * this._y;\n\t\t\tthis._z = s * z + t * this._z;\n\n\t\t\tthis.normalize(); // normalize calls _onChangeCallback()\n\n\t\t\treturn this;\n\n\t\t}\n\n\t\tconst sinHalfTheta = Math.sqrt( sqrSinHalfTheta );\n\t\tconst halfTheta = Math.atan2( sinHalfTheta, cosHalfTheta );\n\t\tconst ratioA = Math.sin( ( 1 - t ) * halfTheta ) / sinHalfTheta,\n\t\t\tratioB = Math.sin( t * halfTheta ) / sinHalfTheta;\n\n\t\tthis._w = ( w * ratioA + this._w * ratioB );\n\t\tthis._x = ( x * ratioA + this._x * ratioB );\n\t\tthis._y = ( y * ratioA + this._y * ratioB );\n\t\tthis._z = ( z * ratioA + this._z * ratioB );\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Performs a spherical linear interpolation between the given quaternions\n\t * and stores the result in this quaternion.\n\t *\n\t * @param {Quaternion} qa - The source quaternion.\n\t * @param {Quaternion} qb - The target quaternion.\n\t * @param {number} t - The interpolation factor in the closed interval `[0, 1]`.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tslerpQuaternions( qa, qb, t ) {\n\n\t\treturn this.copy( qa ).slerp( qb, t );\n\n\t}\n\n\t/**\n\t * Sets this quaternion to a uniformly random, normalized quaternion.\n\t *\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\trandom() {\n\n\t\t// Ken Shoemake\n\t\t// Uniform random rotations\n\t\t// D. Kirk, editor, Graphics Gems III, pages 124-132. Academic Press, New York, 1992.\n\n\t\tconst theta1 = 2 * Math.PI * Math.random();\n\t\tconst theta2 = 2 * Math.PI * Math.random();\n\n\t\tconst x0 = Math.random();\n\t\tconst r1 = Math.sqrt( 1 - x0 );\n\t\tconst r2 = Math.sqrt( x0 );\n\n\t\treturn this.set(\n\t\t\tr1 * Math.sin( theta1 ),\n\t\t\tr1 * Math.cos( theta1 ),\n\t\t\tr2 * Math.sin( theta2 ),\n\t\t\tr2 * Math.cos( theta2 ),\n\t\t);\n\n\t}\n\n\t/**\n\t * Returns `true` if this quaternion is equal with the given one.\n\t *\n\t * @param {Quaternion} quaternion - The quaternion to test for equality.\n\t * @return {boolean} Whether this quaternion is equal with the given one.\n\t */\n\tequals( quaternion ) {\n\n\t\treturn ( quaternion._x === this._x ) && ( quaternion._y === this._y ) && ( quaternion._z === this._z ) && ( quaternion._w === this._w );\n\n\t}\n\n\t/**\n\t * Sets this quaternion's components from the given array.\n\t *\n\t * @param {Array<number>} array - An array holding the quaternion component values.\n\t * @param {number} [offset=0] - The offset into the array.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tfromArray( array, offset = 0 ) {\n\n\t\tthis._x = array[ offset ];\n\t\tthis._y = array[ offset + 1 ];\n\t\tthis._z = array[ offset + 2 ];\n\t\tthis._w = array[ offset + 3 ];\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Writes the components of this quaternion to the given array. If no array is provided,\n\t * the method returns a new instance.\n\t *\n\t * @param {Array<number>} [array=[]] - The target array holding the quaternion components.\n\t * @param {number} [offset=0] - Index of the first element in the array.\n\t * @return {Array<number>} The quaternion components.\n\t */\n\ttoArray( array = [], offset = 0 ) {\n\n\t\tarray[ offset ] = this._x;\n\t\tarray[ offset + 1 ] = this._y;\n\t\tarray[ offset + 2 ] = this._z;\n\t\tarray[ offset + 3 ] = this._w;\n\n\t\treturn array;\n\n\t}\n\n\t/**\n\t * Sets the components of this quaternion from the given buffer attribute.\n\t *\n\t * @param {BufferAttribute} attribute - The buffer attribute holding quaternion data.\n\t * @param {number} index - The index into the attribute.\n\t * @return {Quaternion} A reference to this quaternion.\n\t */\n\tfromBufferAttribute( attribute, index ) {\n\n\t\tthis._x = attribute.getX( index );\n\t\tthis._y = attribute.getY( index );\n\t\tthis._z = attribute.getZ( index );\n\t\tthis._w = attribute.getW( index );\n\n\t\tthis._onChangeCallback();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * This methods defines the serialization result of this class. Returns the\n\t * numerical elements of this quaternion in an array of format `[x, y, z, w]`.\n\t *\n\t * @return {Array<number>} The serialized quaternion.\n\t */\n\ttoJSON() {\n\n\t\treturn this.toArray();\n\n\t}\n\n\t_onChange( callback ) {\n\n\t\tthis._onChangeCallback = callback;\n\n\t\treturn this;\n\n\t}\n\n\t_onChangeCallback() {}\n\n\t*[ Symbol.iterator ]() {\n\n\t\tyield this._x;\n\t\tyield this._y;\n\t\tyield this._z;\n\t\tyield this._w;\n\n\t}\n\n}\n\nexport { Quaternion };\n","import { clamp } from './MathUtils.js';\nimport { Quaternion } from './Quaternion.js';\n\n/**\n * Class representing a 3D vector. A 3D vector is an ordered triplet of numbers\n * (labeled x, y and z), which can be used to represent a number of things, such as:\n *\n * - A point in 3D space.\n * - A direction and length in 3D space. In three.js the length will\n * always be the Euclidean distance(straight-line distance) from `(0, 0, 0)` to `(x, y, z)`\n * and the direction is also measured from `(0, 0, 0)` towards `(x, y, z)`.\n * - Any arbitrary ordered triplet of numbers.\n *\n * There are other things a 3D vector can be used to represent, such as\n * momentum vectors and so on, however these are the most\n * common uses in three.js.\n *\n * Iterating through a vector instance will yield its components `(x, y, z)` in\n * the corresponding order.\n * ```js\n * const a = new THREE.Vector3( 0, 1, 0 );\n *\n * //no arguments; will be initialised to (0, 0, 0)\n * const b = new THREE.Vector3( );\n *\n * const d = a.distanceTo( b );\n * ```\n */\nclass Vector3 {\n\n\t/**\n\t * Constructs a new 3D vector.\n\t *\n\t * @param {number} [x=0] - The x value of this vector.\n\t * @param {number} [y=0] - The y value of this vector.\n\t * @param {number} [z=0] - The z value of this vector.\n\t */\n\tconstructor( x = 0, y = 0, z = 0 ) {\n\n\t\t/**\n\t\t * This flag can be used for type testing.\n\t\t *\n\t\t * @type {boolean}\n\t\t * @readonly\n\t\t * @default true\n\t\t */\n\t\tVector3.prototype.isVector3 = true;\n\n\t\t/**\n\t\t * The x value of this vector.\n\t\t *\n\t\t * @type {number}\n\t\t */\n\t\tthis.x = x;\n\n\t\t/**\n\t\t * The y value of this vector.\n\t\t *\n\t\t * @type {number}\n\t\t */\n\t\tthis.y = y;\n\n\t\t/**\n\t\t * The z value of this vector.\n\t\t *\n\t\t * @type {number}\n\t\t */\n\t\tthis.z = z;\n\n\t}\n\n\t/**\n\t * Sets the vector components.\n\t *\n\t * @param {number} x - The value of the x component.\n\t * @param {number} y - The value of the y component.\n\t * @param {number} z - The value of the z component.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tset( x, y, z ) {\n\n\t\tif ( z === undefined ) z = this.z; // sprite.scale.set(x,y)\n\n\t\tthis.x = x;\n\t\tthis.y = y;\n\t\tthis.z = z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector components to the same value.\n\t *\n\t * @param {number} scalar - The value to set for all vector components.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetScalar( scalar ) {\n\n\t\tthis.x = scalar;\n\t\tthis.y = scalar;\n\t\tthis.z = scalar;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector's x component to the given value\n\t *\n\t * @param {number} x - The value to set.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetX( x ) {\n\n\t\tthis.x = x;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector's y component to the given value\n\t *\n\t * @param {number} y - The value to set.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetY( y ) {\n\n\t\tthis.y = y;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector's z component to the given value\n\t *\n\t * @param {number} z - The value to set.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetZ( z ) {\n\n\t\tthis.z = z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Allows to set a vector component with an index.\n\t *\n\t * @param {number} index - The component index. `0` equals to x, `1` equals to y, `2` equals to z.\n\t * @param {number} value - The value to set.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetComponent( index, value ) {\n\n\t\tswitch ( index ) {\n\n\t\t\tcase 0: this.x = value; break;\n\t\t\tcase 1: this.y = value; break;\n\t\t\tcase 2: this.z = value; break;\n\t\t\tdefault: throw new Error( 'index is out of range: ' + index );\n\n\t\t}\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Returns the value of the vector component which matches the given index.\n\t *\n\t * @param {number} index - The component index. `0` equals to x, `1` equals to y, `2` equals to z.\n\t * @return {number} A vector component value.\n\t */\n\tgetComponent( index ) {\n\n\t\tswitch ( index ) {\n\n\t\t\tcase 0: return this.x;\n\t\t\tcase 1: return this.y;\n\t\t\tcase 2: return this.z;\n\t\t\tdefault: throw new Error( 'index is out of range: ' + index );\n\n\t\t}\n\n\t}\n\n\t/**\n\t * Returns a new vector with copied values from this instance.\n\t *\n\t * @return {Vector3} A clone of this instance.\n\t */\n\tclone() {\n\n\t\treturn new this.constructor( this.x, this.y, this.z );\n\n\t}\n\n\t/**\n\t * Copies the values of the given vector to this instance.\n\t *\n\t * @param {Vector3} v - The vector to copy.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tcopy( v ) {\n\n\t\tthis.x = v.x;\n\t\tthis.y = v.y;\n\t\tthis.z = v.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Adds the given vector to this instance.\n\t *\n\t * @param {Vector3} v - The vector to add.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tadd( v ) {\n\n\t\tthis.x += v.x;\n\t\tthis.y += v.y;\n\t\tthis.z += v.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Adds the given scalar value to all components of this instance.\n\t *\n\t * @param {number} s - The scalar to add.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\taddScalar( s ) {\n\n\t\tthis.x += s;\n\t\tthis.y += s;\n\t\tthis.z += s;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Adds the given vectors and stores the result in this instance.\n\t *\n\t * @param {Vector3} a - The first vector.\n\t * @param {Vector3} b - The second vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\taddVectors( a, b ) {\n\n\t\tthis.x = a.x + b.x;\n\t\tthis.y = a.y + b.y;\n\t\tthis.z = a.z + b.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Adds the given vector scaled by the given factor to this instance.\n\t *\n\t * @param {Vector3|Vector4} v - The vector.\n\t * @param {number} s - The factor that scales `v`.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\taddScaledVector( v, s ) {\n\n\t\tthis.x += v.x * s;\n\t\tthis.y += v.y * s;\n\t\tthis.z += v.z * s;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Subtracts the given vector from this instance.\n\t *\n\t * @param {Vector3} v - The vector to subtract.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsub( v ) {\n\n\t\tthis.x -= v.x;\n\t\tthis.y -= v.y;\n\t\tthis.z -= v.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Subtracts the given scalar value from all components of this instance.\n\t *\n\t * @param {number} s - The scalar to subtract.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsubScalar( s ) {\n\n\t\tthis.x -= s;\n\t\tthis.y -= s;\n\t\tthis.z -= s;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Subtracts the given vectors and stores the result in this instance.\n\t *\n\t * @param {Vector3} a - The first vector.\n\t * @param {Vector3} b - The second vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsubVectors( a, b ) {\n\n\t\tthis.x = a.x - b.x;\n\t\tthis.y = a.y - b.y;\n\t\tthis.z = a.z - b.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Multiplies the given vector with this instance.\n\t *\n\t * @param {Vector3} v - The vector to multiply.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tmultiply( v ) {\n\n\t\tthis.x *= v.x;\n\t\tthis.y *= v.y;\n\t\tthis.z *= v.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Multiplies the given scalar value with all components of this instance.\n\t *\n\t * @param {number} scalar - The scalar to multiply.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tmultiplyScalar( scalar ) {\n\n\t\tthis.x *= scalar;\n\t\tthis.y *= scalar;\n\t\tthis.z *= scalar;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Multiplies the given vectors and stores the result in this instance.\n\t *\n\t * @param {Vector3} a - The first vector.\n\t * @param {Vector3} b - The second vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tmultiplyVectors( a, b ) {\n\n\t\tthis.x = a.x * b.x;\n\t\tthis.y = a.y * b.y;\n\t\tthis.z = a.z * b.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Applies the given Euler rotation to this vector.\n\t *\n\t * @param {Euler} euler - The Euler angles.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tapplyEuler( euler ) {\n\n\t\treturn this.applyQuaternion( _quaternion.setFromEuler( euler ) );\n\n\t}\n\n\t/**\n\t * Applies a rotation specified by an axis and an angle to this vector.\n\t *\n\t * @param {Vector3} axis - A normalized vector representing the rotation axis.\n\t * @param {number} angle - The angle in radians.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tapplyAxisAngle( axis, angle ) {\n\n\t\treturn this.applyQuaternion( _quaternion.setFromAxisAngle( axis, angle ) );\n\n\t}\n\n\t/**\n\t * Multiplies this vector with the given 3x3 matrix.\n\t *\n\t * @param {Matrix3} m - The 3x3 matrix.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tapplyMatrix3( m ) {\n\n\t\tconst x = this.x, y = this.y, z = this.z;\n\t\tconst e = m.elements;\n\n\t\tthis.x = e[ 0 ] * x + e[ 3 ] * y + e[ 6 ] * z;\n\t\tthis.y = e[ 1 ] * x + e[ 4 ] * y + e[ 7 ] * z;\n\t\tthis.z = e[ 2 ] * x + e[ 5 ] * y + e[ 8 ] * z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Multiplies this vector by the given normal matrix and normalizes\n\t * the result.\n\t *\n\t * @param {Matrix3} m - The normal matrix.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tapplyNormalMatrix( m ) {\n\n\t\treturn this.applyMatrix3( m ).normalize();\n\n\t}\n\n\t/**\n\t * Multiplies this vector (with an implicit 1 in the 4th dimension) by m, and\n\t * divides by perspective.\n\t *\n\t * @param {Matrix4} m - The matrix to apply.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tapplyMatrix4( m ) {\n\n\t\tconst x = this.x, y = this.y, z = this.z;\n\t\tconst e = m.elements;\n\n\t\tconst w = 1 / ( e[ 3 ] * x + e[ 7 ] * y + e[ 11 ] * z + e[ 15 ] );\n\n\t\tthis.x = ( e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z + e[ 12 ] ) * w;\n\t\tthis.y = ( e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z + e[ 13 ] ) * w;\n\t\tthis.z = ( e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z + e[ 14 ] ) * w;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Applies the given Quaternion to this vector.\n\t *\n\t * @param {Quaternion} q - The Quaternion.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tapplyQuaternion( q ) {\n\n\t\t// quaternion q is assumed to have unit length\n\n\t\tconst vx = this.x, vy = this.y, vz = this.z;\n\t\tconst qx = q.x, qy = q.y, qz = q.z, qw = q.w;\n\n\t\t// t = 2 * cross( q.xyz, v );\n\t\tconst tx = 2 * ( qy * vz - qz * vy );\n\t\tconst ty = 2 * ( qz * vx - qx * vz );\n\t\tconst tz = 2 * ( qx * vy - qy * vx );\n\n\t\t// v + q.w * t + cross( q.xyz, t );\n\t\tthis.x = vx + qw * tx + qy * tz - qz * ty;\n\t\tthis.y = vy + qw * ty + qz * tx - qx * tz;\n\t\tthis.z = vz + qw * tz + qx * ty - qy * tx;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Projects this vector from world space into the camera's normalized\n\t * device coordinate (NDC) space.\n\t *\n\t * @param {Camera} camera - The camera.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tproject( camera ) {\n\n\t\treturn this.applyMatrix4( camera.matrixWorldInverse ).applyMatrix4( camera.projectionMatrix );\n\n\t}\n\n\t/**\n\t * Unprojects this vector from the camera's normalized device coordinate (NDC)\n\t * space into world space.\n\t *\n\t * @param {Camera} camera - The camera.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tunproject( camera ) {\n\n\t\treturn this.applyMatrix4( camera.projectionMatrixInverse ).applyMatrix4( camera.matrixWorld );\n\n\t}\n\n\t/**\n\t * Transforms the direction of this vector by a matrix (the upper left 3 x 3\n\t * subset of the given 4x4 matrix and then normalizes the result.\n\t *\n\t * @param {Matrix4} m - The matrix.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\ttransformDirection( m ) {\n\n\t\t// input: THREE.Matrix4 affine matrix\n\t\t// vector interpreted as a direction\n\n\t\tconst x = this.x, y = this.y, z = this.z;\n\t\tconst e = m.elements;\n\n\t\tthis.x = e[ 0 ] * x + e[ 4 ] * y + e[ 8 ] * z;\n\t\tthis.y = e[ 1 ] * x + e[ 5 ] * y + e[ 9 ] * z;\n\t\tthis.z = e[ 2 ] * x + e[ 6 ] * y + e[ 10 ] * z;\n\n\t\treturn this.normalize();\n\n\t}\n\n\t/**\n\t * Divides this instance by the given vector.\n\t *\n\t * @param {Vector3} v - The vector to divide.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tdivide( v ) {\n\n\t\tthis.x /= v.x;\n\t\tthis.y /= v.y;\n\t\tthis.z /= v.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Divides this vector by the given scalar.\n\t *\n\t * @param {number} scalar - The scalar to divide.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tdivideScalar( scalar ) {\n\n\t\treturn this.multiplyScalar( 1 / scalar );\n\n\t}\n\n\t/**\n\t * If this vector's x, y or z value is greater than the given vector's x, y or z\n\t * value, replace that value with the corresponding min value.\n\t *\n\t * @param {Vector3} v - The vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tmin( v ) {\n\n\t\tthis.x = Math.min( this.x, v.x );\n\t\tthis.y = Math.min( this.y, v.y );\n\t\tthis.z = Math.min( this.z, v.z );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * If this vector's x, y or z value is less than the given vector's x, y or z\n\t * value, replace that value with the corresponding max value.\n\t *\n\t * @param {Vector3} v - The vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tmax( v ) {\n\n\t\tthis.x = Math.max( this.x, v.x );\n\t\tthis.y = Math.max( this.y, v.y );\n\t\tthis.z = Math.max( this.z, v.z );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * If this vector's x, y or z value is greater than the max vector's x, y or z\n\t * value, it is replaced by the corresponding value.\n\t * If this vector's x, y or z value is less than the min vector's x, y or z value,\n\t * it is replaced by the corresponding value.\n\t *\n\t * @param {Vector3} min - The minimum x, y and z values.\n\t * @param {Vector3} max - The maximum x, y and z values in the desired range.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tclamp( min, max ) {\n\n\t\t// assumes min < max, componentwise\n\n\t\tthis.x = clamp( this.x, min.x, max.x );\n\t\tthis.y = clamp( this.y, min.y, max.y );\n\t\tthis.z = clamp( this.z, min.z, max.z );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * If this vector's x, y or z values are greater than the max value, they are\n\t * replaced by the max value.\n\t * If this vector's x, y or z values are less than the min value, they are\n\t * replaced by the min value.\n\t *\n\t * @param {number} minVal - The minimum value the components will be clamped to.\n\t * @param {number} maxVal - The maximum value the components will be clamped to.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tclampScalar( minVal, maxVal ) {\n\n\t\tthis.x = clamp( this.x, minVal, maxVal );\n\t\tthis.y = clamp( this.y, minVal, maxVal );\n\t\tthis.z = clamp( this.z, minVal, maxVal );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * If this vector's length is greater than the max value, it is replaced by\n\t * the max value.\n\t * If this vector's length is less than the min value, it is replaced by the\n\t * min value.\n\t *\n\t * @param {number} min - The minimum value the vector length will be clamped to.\n\t * @param {number} max - The maximum value the vector length will be clamped to.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tclampLength( min, max ) {\n\n\t\tconst length = this.length();\n\n\t\treturn this.divideScalar( length || 1 ).multiplyScalar( clamp( length, min, max ) );\n\n\t}\n\n\t/**\n\t * The components of this vector are rounded down to the nearest integer value.\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tfloor() {\n\n\t\tthis.x = Math.floor( this.x );\n\t\tthis.y = Math.floor( this.y );\n\t\tthis.z = Math.floor( this.z );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * The components of this vector are rounded up to the nearest integer value.\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tceil() {\n\n\t\tthis.x = Math.ceil( this.x );\n\t\tthis.y = Math.ceil( this.y );\n\t\tthis.z = Math.ceil( this.z );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * The components of this vector are rounded to the nearest integer value\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tround() {\n\n\t\tthis.x = Math.round( this.x );\n\t\tthis.y = Math.round( this.y );\n\t\tthis.z = Math.round( this.z );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * The components of this vector are rounded towards zero (up if negative,\n\t * down if positive) to an integer value.\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\troundToZero() {\n\n\t\tthis.x = Math.trunc( this.x );\n\t\tthis.y = Math.trunc( this.y );\n\t\tthis.z = Math.trunc( this.z );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Inverts this vector - i.e. sets x = -x, y = -y and z = -z.\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tnegate() {\n\n\t\tthis.x = - this.x;\n\t\tthis.y = - this.y;\n\t\tthis.z = - this.z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Calculates the dot product of the given vector with this instance.\n\t *\n\t * @param {Vector3} v - The vector to compute the dot product with.\n\t * @return {number} The result of the dot product.\n\t */\n\tdot( v ) {\n\n\t\treturn this.x * v.x + this.y * v.y + this.z * v.z;\n\n\t}\n\n\t// TODO lengthSquared?\n\n\t/**\n\t * Computes the square of the Euclidean length (straight-line length) from\n\t * (0, 0, 0) to (x, y, z). If you are comparing the lengths of vectors, you should\n\t * compare the length squared instead as it is slightly more efficient to calculate.\n\t *\n\t * @return {number} The square length of this vector.\n\t */\n\tlengthSq() {\n\n\t\treturn this.x * this.x + this.y * this.y + this.z * this.z;\n\n\t}\n\n\t/**\n\t * Computes the  Euclidean length (straight-line length) from (0, 0, 0) to (x, y, z).\n\t *\n\t * @return {number} The length of this vector.\n\t */\n\tlength() {\n\n\t\treturn Math.sqrt( this.x * this.x + this.y * this.y + this.z * this.z );\n\n\t}\n\n\t/**\n\t * Computes the Manhattan length of this vector.\n\t *\n\t * @return {number} The length of this vector.\n\t */\n\tmanhattanLength() {\n\n\t\treturn Math.abs( this.x ) + Math.abs( this.y ) + Math.abs( this.z );\n\n\t}\n\n\t/**\n\t * Converts this vector to a unit vector - that is, sets it equal to a vector\n\t * with the same direction as this one, but with a vector length of `1`.\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tnormalize() {\n\n\t\treturn this.divideScalar( this.length() || 1 );\n\n\t}\n\n\t/**\n\t * Sets this vector to a vector with the same direction as this one, but\n\t * with the specified length.\n\t *\n\t * @param {number} length - The new length of this vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetLength( length ) {\n\n\t\treturn this.normalize().multiplyScalar( length );\n\n\t}\n\n\t/**\n\t * Linearly interpolates between the given vector and this instance, where\n\t * alpha is the percent distance along the line - alpha = 0 will be this\n\t * vector, and alpha = 1 will be the given one.\n\t *\n\t * @param {Vector3} v - The vector to interpolate towards.\n\t * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tlerp( v, alpha ) {\n\n\t\tthis.x += ( v.x - this.x ) * alpha;\n\t\tthis.y += ( v.y - this.y ) * alpha;\n\t\tthis.z += ( v.z - this.z ) * alpha;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Linearly interpolates between the given vectors, where alpha is the percent\n\t * distance along the line - alpha = 0 will be first vector, and alpha = 1 will\n\t * be the second one. The result is stored in this instance.\n\t *\n\t * @param {Vector3} v1 - The first vector.\n\t * @param {Vector3} v2 - The second vector.\n\t * @param {number} alpha - The interpolation factor, typically in the closed interval `[0, 1]`.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tlerpVectors( v1, v2, alpha ) {\n\n\t\tthis.x = v1.x + ( v2.x - v1.x ) * alpha;\n\t\tthis.y = v1.y + ( v2.y - v1.y ) * alpha;\n\t\tthis.z = v1.z + ( v2.z - v1.z ) * alpha;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Calculates the cross product of the given vector with this instance.\n\t *\n\t * @param {Vector3} v - The vector to compute the cross product with.\n\t * @return {Vector3} The result of the cross product.\n\t */\n\tcross( v ) {\n\n\t\treturn this.crossVectors( this, v );\n\n\t}\n\n\t/**\n\t * Calculates the cross product of the given vectors and stores the result\n\t * in this instance.\n\t *\n\t * @param {Vector3} a - The first vector.\n\t * @param {Vector3} b - The second vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tcrossVectors( a, b ) {\n\n\t\tconst ax = a.x, ay = a.y, az = a.z;\n\t\tconst bx = b.x, by = b.y, bz = b.z;\n\n\t\tthis.x = ay * bz - az * by;\n\t\tthis.y = az * bx - ax * bz;\n\t\tthis.z = ax * by - ay * bx;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Projects this vector onto the given one.\n\t *\n\t * @param {Vector3} v - The vector to project to.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tprojectOnVector( v ) {\n\n\t\tconst denominator = v.lengthSq();\n\n\t\tif ( denominator === 0 ) return this.set( 0, 0, 0 );\n\n\t\tconst scalar = v.dot( this ) / denominator;\n\n\t\treturn this.copy( v ).multiplyScalar( scalar );\n\n\t}\n\n\t/**\n\t * Projects this vector onto a plane by subtracting this\n\t * vector projected onto the plane's normal from this vector.\n\t *\n\t * @param {Vector3} planeNormal - The plane normal.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tprojectOnPlane( planeNormal ) {\n\n\t\t_vector.copy( this ).projectOnVector( planeNormal );\n\n\t\treturn this.sub( _vector );\n\n\t}\n\n\t/**\n\t * Reflects this vector off a plane orthogonal to the given normal vector.\n\t *\n\t * @param {Vector3} normal - The (normalized) normal vector.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\treflect( normal ) {\n\n\t\treturn this.sub( _vector.copy( normal ).multiplyScalar( 2 * this.dot( normal ) ) );\n\n\t}\n\t/**\n\t * Returns the angle between the given vector and this instance in radians.\n\t *\n\t * @param {Vector3} v - The vector to compute the angle with.\n\t * @return {number} The angle in radians.\n\t */\n\tangleTo( v ) {\n\n\t\tconst denominator = Math.sqrt( this.lengthSq() * v.lengthSq() );\n\n\t\tif ( denominator === 0 ) return Math.PI / 2;\n\n\t\tconst theta = this.dot( v ) / denominator;\n\n\t\t// clamp, to handle numerical problems\n\n\t\treturn Math.acos( clamp( theta, - 1, 1 ) );\n\n\t}\n\n\t/**\n\t * Computes the distance from the given vector to this instance.\n\t *\n\t * @param {Vector3} v - The vector to compute the distance to.\n\t * @return {number} The distance.\n\t */\n\tdistanceTo( v ) {\n\n\t\treturn Math.sqrt( this.distanceToSquared( v ) );\n\n\t}\n\n\t/**\n\t * Computes the squared distance from the given vector to this instance.\n\t * If you are just comparing the distance with another distance, you should compare\n\t * the distance squared instead as it is slightly more efficient to calculate.\n\t *\n\t * @param {Vector3} v - The vector to compute the squared distance to.\n\t * @return {number} The squared distance.\n\t */\n\tdistanceToSquared( v ) {\n\n\t\tconst dx = this.x - v.x, dy = this.y - v.y, dz = this.z - v.z;\n\n\t\treturn dx * dx + dy * dy + dz * dz;\n\n\t}\n\n\t/**\n\t * Computes the Manhattan distance from the given vector to this instance.\n\t *\n\t * @param {Vector3} v - The vector to compute the Manhattan distance to.\n\t * @return {number} The Manhattan distance.\n\t */\n\tmanhattanDistanceTo( v ) {\n\n\t\treturn Math.abs( this.x - v.x ) + Math.abs( this.y - v.y ) + Math.abs( this.z - v.z );\n\n\t}\n\n\t/**\n\t * Sets the vector components from the given spherical coordinates.\n\t *\n\t * @param {Spherical} s - The spherical coordinates.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromSpherical( s ) {\n\n\t\treturn this.setFromSphericalCoords( s.radius, s.phi, s.theta );\n\n\t}\n\n\t/**\n\t * Sets the vector components from the given spherical coordinates.\n\t *\n\t * @param {number} radius - The radius.\n\t * @param {number} phi - The phi angle in radians.\n\t * @param {number} theta - The theta angle in radians.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromSphericalCoords( radius, phi, theta ) {\n\n\t\tconst sinPhiRadius = Math.sin( phi ) * radius;\n\n\t\tthis.x = sinPhiRadius * Math.sin( theta );\n\t\tthis.y = Math.cos( phi ) * radius;\n\t\tthis.z = sinPhiRadius * Math.cos( theta );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector components from the given cylindrical coordinates.\n\t *\n\t * @param {Cylindrical} c - The cylindrical coordinates.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromCylindrical( c ) {\n\n\t\treturn this.setFromCylindricalCoords( c.radius, c.theta, c.y );\n\n\t}\n\n\t/**\n\t * Sets the vector components from the given cylindrical coordinates.\n\t *\n\t * @param {number} radius - The radius.\n\t * @param {number} theta - The theta angle in radians.\n\t * @param {number} y - The y value.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromCylindricalCoords( radius, theta, y ) {\n\n\t\tthis.x = radius * Math.sin( theta );\n\t\tthis.y = y;\n\t\tthis.z = radius * Math.cos( theta );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector components to the position elements of the\n\t * given transformation matrix.\n\t *\n\t * @param {Matrix4} m - The 4x4 matrix.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromMatrixPosition( m ) {\n\n\t\tconst e = m.elements;\n\n\t\tthis.x = e[ 12 ];\n\t\tthis.y = e[ 13 ];\n\t\tthis.z = e[ 14 ];\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector components to the scale elements of the\n\t * given transformation matrix.\n\t *\n\t * @param {Matrix4} m - The 4x4 matrix.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromMatrixScale( m ) {\n\n\t\tconst sx = this.setFromMatrixColumn( m, 0 ).length();\n\t\tconst sy = this.setFromMatrixColumn( m, 1 ).length();\n\t\tconst sz = this.setFromMatrixColumn( m, 2 ).length();\n\n\t\tthis.x = sx;\n\t\tthis.y = sy;\n\t\tthis.z = sz;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector components from the specified matrix column.\n\t *\n\t * @param {Matrix4} m - The 4x4 matrix.\n\t * @param {number} index - The column index.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromMatrixColumn( m, index ) {\n\n\t\treturn this.fromArray( m.elements, index * 4 );\n\n\t}\n\n\t/**\n\t * Sets the vector components from the specified matrix column.\n\t *\n\t * @param {Matrix3} m - The 3x3 matrix.\n\t * @param {number} index - The column index.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromMatrix3Column( m, index ) {\n\n\t\treturn this.fromArray( m.elements, index * 3 );\n\n\t}\n\n\t/**\n\t * Sets the vector components from the given Euler angles.\n\t *\n\t * @param {Euler} e - The Euler angles to set.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromEuler( e ) {\n\n\t\tthis.x = e._x;\n\t\tthis.y = e._y;\n\t\tthis.z = e._z;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets the vector components from the RGB components of the\n\t * given color.\n\t *\n\t * @param {Color} c - The color to set.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tsetFromColor( c ) {\n\n\t\tthis.x = c.r;\n\t\tthis.y = c.g;\n\t\tthis.z = c.b;\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Returns `true` if this vector is equal with the given one.\n\t *\n\t * @param {Vector3} v - The vector to test for equality.\n\t * @return {boolean} Whether this vector is equal with the given one.\n\t */\n\tequals( v ) {\n\n\t\treturn ( ( v.x === this.x ) && ( v.y === this.y ) && ( v.z === this.z ) );\n\n\t}\n\n\t/**\n\t * Sets this vector's x value to be `array[ offset ]`, y value to be `array[ offset + 1 ]`\n\t * and z value to be `array[ offset + 2 ]`.\n\t *\n\t * @param {Array<number>} array - An array holding the vector component values.\n\t * @param {number} [offset=0] - The offset into the array.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tfromArray( array, offset = 0 ) {\n\n\t\tthis.x = array[ offset ];\n\t\tthis.y = array[ offset + 1 ];\n\t\tthis.z = array[ offset + 2 ];\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Writes the components of this vector to the given array. If no array is provided,\n\t * the method returns a new instance.\n\t *\n\t * @param {Array<number>} [array=[]] - The target array holding the vector components.\n\t * @param {number} [offset=0] - Index of the first element in the array.\n\t * @return {Array<number>} The vector components.\n\t */\n\ttoArray( array = [], offset = 0 ) {\n\n\t\tarray[ offset ] = this.x;\n\t\tarray[ offset + 1 ] = this.y;\n\t\tarray[ offset + 2 ] = this.z;\n\n\t\treturn array;\n\n\t}\n\n\t/**\n\t * Sets the components of this vector from the given buffer attribute.\n\t *\n\t * @param {BufferAttribute} attribute - The buffer attribute holding vector data.\n\t * @param {number} index - The index into the attribute.\n\t * @return {Vector3} A reference to this vector.\n\t */\n\tfromBufferAttribute( attribute, index ) {\n\n\t\tthis.x = attribute.getX( index );\n\t\tthis.y = attribute.getY( index );\n\t\tthis.z = attribute.getZ( index );\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets each component of this vector to a pseudo-random value between `0` and\n\t * `1`, excluding `1`.\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\trandom() {\n\n\t\tthis.x = Math.random();\n\t\tthis.y = Math.random();\n\t\tthis.z = Math.random();\n\n\t\treturn this;\n\n\t}\n\n\t/**\n\t * Sets this vector to a uniformly random point on a unit sphere.\n\t *\n\t * @return {Vector3} A reference to this vector.\n\t */\n\trandomDirection() {\n\n\t\t// https://mathworld.wolfram.com/SpherePointPicking.html\n\n\t\tconst theta = Math.random() * Math.PI * 2;\n\t\tconst u = Math.random() * 2 - 1;\n\t\tconst c = Math.sqrt( 1 - u * u );\n\n\t\tthis.x = c * Math.cos( theta );\n\t\tthis.y = u;\n\t\tthis.z = c * Math.sin( theta );\n\n\t\treturn this;\n\n\t}\n\n\t*[ Symbol.iterator ]() {\n\n\t\tyield this.x;\n\t\tyield this.y;\n\t\tyield this.z;\n\n\t}\n\n}\n\nconst _vector = /*@__PURE__*/ new Vector3();\nconst _quaternion = /*@__PURE__*/ new Quaternion();\n\nexport { Vector3 };\n","import { AutoReconnectingWebsocket, tryParseJson } from \"@wandelbots/nova-js\"\nimport type {\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  RobotControllerState,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport {\n  jointValuesEqual,\n  tcpMotionEqual,\n  unwrapRotationVector,\n} from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Get the motion group description for later usage in jogging\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      description,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly description: MotionGroupDescription,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.joint_position =\n            latestMotionState.joint_position\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              latestMotionState.tcp_pose\n          } else if (\n            latestMotionState.tcp_pose?.orientation &&\n            latestMotionState.tcp_pose?.position &&\n            this.rapidlyChangingMotionState.tcp_pose?.orientation\n          ) {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: latestMotionState.tcp_pose.position,\n              orientation: unwrapRotationVector(\n                latestMotionState.tcp_pose.orientation as Vector3Simple,\n                this.rapidlyChangingMotionState.tcp_pose\n                  .orientation as Vector3Simple,\n              ),\n            }\n          } else {\n            console.warn(\n              \"Received incomplete tcp_pose, ignoring\",\n              latestMotionState.tcp_pose,\n            )\n          }\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replace(/-/g, \"_\")}_${num}`\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n","import {\n  AutoReconnectingWebsocket,\n  tryParseJson,\n  XYZ_TO_VECTOR,\n} from \"@wandelbots/nova-js\"\nimport type {\n  InitializeMovementResponse,\n  MotionCommand,\n  NovaClient,\n  Pose,\n  StartMovementResponse,\n} from \"@wandelbots/nova-js/v2\"\nimport { when } from \"mobx\"\nimport { Vector3 } from \"three/src/math/Vector3.js\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection\"\n\nexport type Vector3Simple = [number, number, number]\n\nconst API_ERROR_CONNECTION_BLOCKED = `Movement request rejected. Another client is currently executing a 'Jogging' motion!`\n\nexport type JoggerConnectionOptions = {\n  // The mode of the jogger connection - see type description of JoggerMode for details\n  mode?: JoggerMode\n\n  // Connection timeout in milliseconds to wait for jogging initialization to complete\n  timeout?: number\n\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n\n  // The TCP to use for jogging motions.\n  tcp?: string\n\n  // The coordinate system in which jogging takes place in\n  // coordinateSystem?: string,\n\n  // If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option\n  orientation?: JoggerOrientation\n}\n\n// Three modes are supported:\n// - \"jogging\": Continuous jogging mode, where joint velocities or TCP velocities can be commanded. Opens a single websocket connection to jogging endpoint\n// - \"trajectory\": Incremental jogging mode, where fixed distance motions are planned and executed. Opens a short lived websocket for each motion.\n// - \"off\": No jogging, all websockets are closed.\nexport type JoggerMode = \"jogging\" | \"trajectory\" | \"off\"\n\n// If set to \"tool\", will use `use_tool_coordinate_system` option in movement requests\nexport type JoggerOrientation = \"coordsys\" | \"tool\"\n\nexport class JoggerConnection {\n  ENDPOINT_JOGGING = \"/execution/jogging\"\n  ENDPOINT_TRAJECTORY = \"/execution/trajectory\"\n  DEFAULT_MODE = \"off\" as JoggerMode\n  DEFAULT_TCP = \"Flange\"\n  // DEFAULT_COORDINATE_SYSTEM = \"world\"\n  DEFAULT_INIT_TIMEOUT = 5000\n  DEFAULT_ORIENTATION = \"coordsys\" as JoggerOrientation\n\n  mode: JoggerMode = \"off\"\n  joggingSocket: AutoReconnectingWebsocket | null = null\n  trajectorySocket: AutoReconnectingWebsocket | null = null\n  timeout: number = this.DEFAULT_INIT_TIMEOUT\n  tcp: string\n  // coordinateSystem?: string\n  orientation: JoggerOrientation\n  onError?: (err: unknown) => void\n  onBlocked?: () => void\n\n  /**\n   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.\n   *\n   * @param nova - The Nova client instance\n   * @param motionGroupId - The ID of the motion group to connect to\n   * @param options - Configuration options for the jogger connection\n   * @param options.mode - The jogging mode to initialize:\n   *   - \"jogging\": Continuous jogging mode with persistent websocket for real-time velocity commands\n   *   - \"trajectory\": Incremental jogging mode for fixed-distance motions via trajectory planning\n   *   - \"off\": No jogging enabled, all websockets closed (default)\n   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)\n   * @param options.tcp - TCP frame to use for motions (default: from motion group)\n   * //param options.coordinateSystem - Coordinate system for jogging commands (default: \"world\"). Please note: Currently not implemented\n   * @param options.orientation - If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: \"coordsys\")\n   * @param options.onError - Error handler for websocket errors\n   * @returns Promise resolving to initialized JoggerConnection instance\n   */\n  static async open(\n    nova: NovaClient,\n    motionGroupId: string,\n    options: JoggerConnectionOptions = {},\n  ) {\n    // Get matching motion stream\n    const motionStream = await MotionStreamConnection.open(nova, motionGroupId)\n\n    // Initialize jogger with options\n    const jogger = new JoggerConnection(motionStream, options)\n\n    // Initialize the jogging websocket, if necessary (mode is \"jogging\")\n    await jogger.setJoggingMode(jogger.mode)\n\n    // Return the initialized jogger\n    return jogger\n  }\n\n  constructor(\n    readonly motionStream: MotionStreamConnection,\n    readonly options: JoggerConnectionOptions | undefined = {},\n  ) {\n    this.tcp = options?.tcp || motionStream.motionGroup.tcp || this.DEFAULT_TCP\n    // this.coordinateSystem = options?.coordinateSystem || this.DEFAULT_COORDINATE_SYSTEM\n    this.orientation = options?.orientation || this.DEFAULT_ORIENTATION\n    this.timeout = options?.timeout || this.DEFAULT_INIT_TIMEOUT\n    this.mode = options?.mode || this.DEFAULT_MODE\n    this.onError = options?.onError\n  }\n\n  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket\n  async setOptions(options: Partial<JoggerConnectionOptions>) {\n    if (options.tcp) {\n      this.tcp = options.tcp\n    }\n\n    if (options.orientation) {\n      this.orientation = options.orientation\n    }\n\n    // if (options.coordinateSystem) {\n    //   this.coordinateSystem = options.coordinateSystem\n    // }\n\n    if (options.timeout) {\n      this.timeout = options.timeout\n    }\n\n    if (options.mode) {\n      this.mode = options.mode\n    }\n\n    if (options.onError) {\n      this.onError = options.onError\n    }\n\n    this.setJoggingMode(this.mode, false)\n  }\n\n  get motionGroupId() {\n    return this.motionStream.motionGroupId\n  }\n\n  get nova() {\n    return this.motionStream.nova\n  }\n\n  get numJoints() {\n    return this.motionStream.joints.length\n  }\n\n  // get activeJoggingMode() {\n  //   return this.mode\n  // }\n\n  // get activeWebsocket() {\n  //   return this.mode === \"jogging\" ? this.joggingSocket : this.trajectorySocket;\n  // }\n\n  // Sends stop movement command to robot\n  async stop() {\n    if (this.joggingSocket) {\n      const velocity = new Array(this.numJoints).fill(0)\n      this.joggingSocket.sendJson({\n        message_type: \"JointVelocityRequest\",\n        velocity,\n      })\n    }\n\n    if (this.trajectorySocket) {\n      this.trajectorySocket.sendJson({\n        message_type: \"PauseMovementRequest\",\n      })\n    }\n  }\n\n  // Dispose the jogger, closing all open websockets\n  async dispose() {\n    // Collect all initialized sockets\n    const sockets = [this.joggingSocket, this.trajectorySocket].filter(\n      (s) => s !== null,\n    ) as AutoReconnectingWebsocket[]\n\n    // Call them to dispose\n    sockets.forEach((s) => {\n      s.dispose()\n    })\n\n    // Remove references\n    this.joggingSocket = null\n    this.trajectorySocket = null\n\n    // Return promise that resolves when all sockets are closed\n    return Promise.all(sockets.map((s) => s.closed()))\n  }\n\n  // Activate jogger in one of the supported modes\n  // Will iniitialize or close websockets as necessary\n  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)\n  async setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode = true) {\n    // If not changing mode, do nothing\n    if (this.mode === mode && skipReinitializeIfSameMode) {\n      return\n    }\n\n    // Close any previous websocket connection\n    this.dispose()\n\n    // Set the new mode\n    this.mode = mode\n\n    // Mode is \"jogging\" - open jogging websocket\n    if (this.mode === \"jogging\") {\n      return this.initializeJoggingWebsocket()\n    }\n\n    // Mode is \"trajectory\" or \"off\" - nothing more to do\n    return\n  }\n\n  // Initializes continuous jogging websocket, called by setJoggingMode(\"jogging\")\n  async initializeJoggingWebsocket() {\n    // Wait for initialization with timeout\n    return new Promise<void>((resolve, reject) => {\n      const connectionFailedTimeout = setTimeout(() => {\n        reject(\n          new Error(\n            `Jogging initialization timeout after ${this.timeout} seconds`,\n          ),\n        )\n      }, this.timeout)\n\n      this.joggingSocket = this.nova.openReconnectingWebsocket(\n        this.ENDPOINT_JOGGING,\n      )\n      this.joggingSocket.addEventListener(\"message\", (ev: MessageEvent) => {\n        const data = tryParseJson(ev.data)\n\n        if (data?.result?.kind === \"INITIALIZE_RECEIVED\") {\n          clearTimeout(connectionFailedTimeout)\n          resolve()\n          return\n        }\n\n        if (data?.result?.kind === \"MOTION_ERROR\") {\n          clearTimeout(connectionFailedTimeout)\n          if (\n            this.onBlocked &&\n            data?.result?.message.includes(API_ERROR_CONNECTION_BLOCKED)\n          ) {\n            this.joggingSocket?.dispose()\n            this.onBlocked()\n            return\n          } else if (this.onError) {\n            this.onError(ev.data)\n          } else {\n            reject(new Error(ev.data))\n          }\n        }\n      })\n\n      this.joggingSocket.sendJson({\n        message_type: \"InitializeJoggingRequest\",\n        motion_group: this.motionGroupId,\n        tcp: this.tcp,\n      })\n    })\n  }\n\n  /**\n   * Jogging: Start rotation of a single robot joint at the specified velocity\n   */\n  async rotateJoints({\n    joint,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Direction of rotation (\"+\" or \"-\") */\n    direction: \"+\" | \"-\"\n    /** Speed of the rotation in radians per second */\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n\n    const velocity = new Array(this.numJoints).fill(0)\n\n    velocity[joint] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"JointVelocityRequest\",\n      velocity,\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP moving along a specified axis at a given velocity\n   */\n  async translateTCP({\n    axis,\n    direction,\n    velocityMmPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityMmPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    translation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityMmPerSec : velocityMmPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n      use_tool_coordinate_system: this.orientation === \"tool\",\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP rotating around a specified axis at a given velocity\n   */\n  async rotateTCP({\n    axis,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    rotation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n    })\n  }\n\n  /**\n   * Trajectory jogging:\n   *\n   * Move the robot by a fixed distance in a single cartesian\n   * axis, either rotating or translating relative to the TCP.\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalCartesianMotion({\n    currentTcpPose,\n    currentJoints,\n    // coordSystemId,\n    velocityInRelevantUnits,\n    axis,\n    direction,\n    motion,\n  }: {\n    currentTcpPose: Pose\n    currentJoints: Vector3Simple\n    coordSystemId: string\n    velocityInRelevantUnits: number\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    motion:\n      | {\n          type: \"rotate\"\n          distanceRads: number\n        }\n      | {\n          type: \"translate\"\n          distanceMm: number\n        }\n  }) {\n    const commands: MotionCommand[] = []\n\n    if (this.mode !== \"trajectory\") {\n      throw new Error(\n        \"Set jogging mode to 'trajectory' to run incremental cartesian motions\",\n      )\n    }\n\n    if (motion.type === \"translate\") {\n      if (!currentTcpPose.position) {\n        throw new Error(\n          \"Current pose has no position, cannot perform translation\",\n        )\n      }\n\n      const targetTcpPosition = [...currentTcpPose.position]\n      targetTcpPosition[XYZ_TO_VECTOR[axis]] +=\n        motion.distanceMm * (direction === \"-\" ? -1 : 1)\n\n      commands.push({\n        limits_override: {\n          tcp_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: targetTcpPosition,\n            orientation: currentTcpPose.orientation,\n          },\n        },\n      })\n    } else if (motion.type === \"rotate\") {\n      // Concatenate rotations expressed by rotation vectors\n      // Equations taken from https://physics.stackexchange.com/a/287819\n\n      if (!currentTcpPose.orientation) {\n        throw new Error(\n          \"Current pose has no orientation, cannot perform rotation\",\n        )\n      }\n\n      // Compute axis and angle of current rotation vector\n      const currentRotationVector = new Vector3(\n        currentTcpPose.orientation[0],\n        currentTcpPose.orientation[1],\n        currentTcpPose.orientation[2],\n      )\n\n      const currentRotationRad = currentRotationVector.length()\n      const currentRotationDirection = currentRotationVector.clone().normalize()\n\n      // Compute axis and angle of difference rotation vector\n      const differenceRotationRad =\n        motion.distanceRads * (direction === \"-\" ? -1 : 1)\n\n      const differenceRotationDirection = new Vector3(0.0, 0.0, 0.0)\n      differenceRotationDirection[axis] = 1.0\n\n      // Some abbreviations to make the following equations more readable\n      const f1 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f2 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n      const f3 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f4 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n\n      const dotProduct = differenceRotationDirection.dot(\n        currentRotationDirection,\n      )\n\n      const crossProduct = differenceRotationDirection\n        .clone()\n        .cross(currentRotationDirection)\n\n      // Compute angle of concatenated rotation\n      const newRotationRad = 2.0 * Math.acos(f1 - f2 * dotProduct)\n\n      // Compute rotation vector of concatenated rotation\n      const f5 = newRotationRad / Math.sin(0.5 * newRotationRad)\n\n      const targetTcpOrientation = new Vector3()\n        .addScaledVector(crossProduct, f2)\n        .addScaledVector(differenceRotationDirection, f3)\n        .addScaledVector(currentRotationDirection, f4)\n        .multiplyScalar(f5)\n\n      commands.push({\n        limits_override: {\n          tcp_orientation_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: currentTcpPose.position,\n            orientation: [...targetTcpOrientation],\n          },\n        },\n      })\n    }\n\n    // Plan the motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/planTrajectory\n    const description = this.motionStream.description\n    if (description.cycle_time === undefined) {\n      console.warn(\n        \"Current motion group has no cycle time, cannot plan jogging motion\",\n      )\n      return\n    }\n\n    const motion_group_setup = {\n      motion_group_model: description.motion_group_model,\n      cycle_time: description.cycle_time,\n      mounting: description.mounting,\n\n      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling\n      // FIXME use proper mode's limits if set\n      global: description.operation_limits.auto_limits,\n    }\n\n    const motionPlanRes = await this.nova.api.trajectoryPlanning.planTrajectory(\n      {\n        motion_group_setup,\n        start_joint_position: currentJoints,\n        motion_commands: commands,\n      },\n    )\n\n    const trajectoryData = motionPlanRes.response\n    if (!trajectoryData) {\n      throw new Error(\n        `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`,\n      )\n    }\n\n    if (this.trajectorySocket) {\n      console.warn(\"Trajectory jogging websocket already open; will close\")\n      this.trajectorySocket.dispose()\n    }\n\n    // Execute the planned motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/executeTrajectory\n    this.trajectorySocket = this.nova.openReconnectingWebsocket(\n      this.ENDPOINT_TRAJECTORY,\n    )\n\n    const messageInitializeMovementResponse = (\n      result: InitializeMovementResponse | undefined,\n    ) => {\n      // Handle errorous response\n      if (!result || result.add_trajectory_error || result.message) {\n        if (this.onError) {\n          this.onError(result)\n        } else {\n          throw new Error(\n            result?.add_trajectory_error?.message ||\n              result?.message ||\n              \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Handle socket gone\n      if (!this.trajectorySocket) {\n        throw new Error(\n          `Failed to execute trajectory, websocket not available anymore`,\n        )\n      }\n\n      // Trajectory locked, now start movement\n      this.trajectorySocket.sendJson({\n        message_type: \"StartMovementRequest\",\n        direction: \"DIRECTION_FORWARD\",\n      })\n    }\n\n    const waitForMovementToStartAndFinish = async () => {\n      // Wait for robot to start moving (standstill becomes false)\n      await when(() => !this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Then wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const waitForMovementToFinish = async () => {\n      // Wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const messageStartMovementResponse = async (\n      data: StartMovementResponse,\n    ) => {\n      if (data?.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(\n            data.message || \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Movement started we now wait to verify the robot is moving\n      // by observing changes to motion state\n      if (this.motionStream.rapidlyChangingMotionState.standstill) {\n        await waitForMovementToStartAndFinish()\n      } else {\n        await waitForMovementToFinish()\n      }\n    }\n\n    this.trajectorySocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data)\n\n      if (!data?.result?.kind) {\n        throw new Error(\n          `Failed to execute trajectory: Received invalid message ${ev.data}`,\n        )\n      }\n\n      if (\n        this.onBlocked &&\n        data.result.message?.includes(API_ERROR_CONNECTION_BLOCKED)\n      ) {\n        this.onBlocked()\n        return\n      }\n\n      if (data.result.kind === \"INITIALIZE_RECEIVED\") {\n        messageInitializeMovementResponse(data.result)\n      } else if (data.result.kind === \"START_RECEIVED\") {\n        messageStartMovementResponse(data)\n      } else if (data.result.kind === \"PAUSE_RECEIVED\") {\n        // do nothing\n      } else if (data.result.kind === \"MOTION_ERROR\" && data.result.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(data.result.message)\n        }\n      } else {\n        throw new Error(\n          `Failed to execute trajectory, cannot handle message type \"${data.result.kind}\"`,\n        )\n      }\n    })\n\n    // Send initialization/movement request\n    this.trajectorySocket.sendJson({\n      message_type: \"InitializeMovementRequest\",\n      trajectory: {\n        message_type: \"TrajectoryData\",\n        motion_group: this.motionGroupId,\n        data: trajectoryData,\n        tcp: this.tcp,\n      },\n    })\n  }\n}\n","import baseGetTag from './_baseGetTag.js';\nimport isObject from './isObject.js';\n\n/** `Object#toString` result references. */\nvar asyncTag = '[object AsyncFunction]',\n    funcTag = '[object Function]',\n    genTag = '[object GeneratorFunction]',\n    proxyTag = '[object Proxy]';\n\n/**\n * Checks if `value` is classified as a `Function` object.\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a function, else `false`.\n * @example\n *\n * _.isFunction(_);\n * // => true\n *\n * _.isFunction(/abc/);\n * // => false\n */\nfunction isFunction(value) {\n  if (!isObject(value)) {\n    return false;\n  }\n  // The use of `Object#toString` avoids issues with the `typeof` operator\n  // in Safari 9 which returns 'object' for typed arrays and other constructors.\n  var tag = baseGetTag(value);\n  return tag == funcTag || tag == genTag || tag == asyncTag || tag == proxyTag;\n}\n\nexport default isFunction;\n","import root from './_root.js';\n\n/** Used to detect overreaching core-js shims. */\nvar coreJsData = root['__core-js_shared__'];\n\nexport default coreJsData;\n","import coreJsData from './_coreJsData.js';\n\n/** Used to detect methods masquerading as native. */\nvar maskSrcKey = (function() {\n  var uid = /[^.]+$/.exec(coreJsData && coreJsData.keys && coreJsData.keys.IE_PROTO || '');\n  return uid ? ('Symbol(src)_1.' + uid) : '';\n}());\n\n/**\n * Checks if `func` has its source masked.\n *\n * @private\n * @param {Function} func The function to check.\n * @returns {boolean} Returns `true` if `func` is masked, else `false`.\n */\nfunction isMasked(func) {\n  return !!maskSrcKey && (maskSrcKey in func);\n}\n\nexport default isMasked;\n","/** Used for built-in method references. */\nvar funcProto = Function.prototype;\n\n/** Used to resolve the decompiled source of functions. */\nvar funcToString = funcProto.toString;\n\n/**\n * Converts `func` to its source code.\n *\n * @private\n * @param {Function} func The function to convert.\n * @returns {string} Returns the source code.\n */\nfunction toSource(func) {\n  if (func != null) {\n    try {\n      return funcToString.call(func);\n    } catch (e) {}\n    try {\n      return (func + '');\n    } catch (e) {}\n  }\n  return '';\n}\n\nexport default toSource;\n","import isFunction from './isFunction.js';\nimport isMasked from './_isMasked.js';\nimport isObject from './isObject.js';\nimport toSource from './_toSource.js';\n\n/**\n * Used to match `RegExp`\n * [syntax characters](http://ecma-international.org/ecma-262/7.0/#sec-patterns).\n */\nvar reRegExpChar = /[\\\\^$.*+?()[\\]{}|]/g;\n\n/** Used to detect host constructors (Safari). */\nvar reIsHostCtor = /^\\[object .+?Constructor\\]$/;\n\n/** Used for built-in method references. */\nvar funcProto = Function.prototype,\n    objectProto = Object.prototype;\n\n/** Used to resolve the decompiled source of functions. */\nvar funcToString = funcProto.toString;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/** Used to detect if a method is native. */\nvar reIsNative = RegExp('^' +\n  funcToString.call(hasOwnProperty).replace(reRegExpChar, '\\\\$&')\n  .replace(/hasOwnProperty|(function).*?(?=\\\\\\()| for .+?(?=\\\\\\])/g, '$1.*?') + '$'\n);\n\n/**\n * The base implementation of `_.isNative` without bad shim checks.\n *\n * @private\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a native function,\n *  else `false`.\n */\nfunction baseIsNative(value) {\n  if (!isObject(value) || isMasked(value)) {\n    return false;\n  }\n  var pattern = isFunction(value) ? reIsNative : reIsHostCtor;\n  return pattern.test(toSource(value));\n}\n\nexport default baseIsNative;\n","/**\n * Gets the value at `key` of `object`.\n *\n * @private\n * @param {Object} [object] The object to query.\n * @param {string} key The key of the property to get.\n * @returns {*} Returns the property value.\n */\nfunction getValue(object, key) {\n  return object == null ? undefined : object[key];\n}\n\nexport default getValue;\n","import baseIsNative from './_baseIsNative.js';\nimport getValue from './_getValue.js';\n\n/**\n * Gets the native function at `key` of `object`.\n *\n * @private\n * @param {Object} object The object to query.\n * @param {string} key The key of the method to get.\n * @returns {*} Returns the function if it's native, else `undefined`.\n */\nfunction getNative(object, key) {\n  var value = getValue(object, key);\n  return baseIsNative(value) ? value : undefined;\n}\n\nexport default getNative;\n","import getNative from './_getNative.js';\n\nvar defineProperty = (function() {\n  try {\n    var func = getNative(Object, 'defineProperty');\n    func({}, '', {});\n    return func;\n  } catch (e) {}\n}());\n\nexport default defineProperty;\n","import defineProperty from './_defineProperty.js';\n\n/**\n * The base implementation of `assignValue` and `assignMergeValue` without\n * value checks.\n *\n * @private\n * @param {Object} object The object to modify.\n * @param {string} key The key of the property to assign.\n * @param {*} value The value to assign.\n */\nfunction baseAssignValue(object, key, value) {\n  if (key == '__proto__' && defineProperty) {\n    defineProperty(object, key, {\n      'configurable': true,\n      'enumerable': true,\n      'value': value,\n      'writable': true\n    });\n  } else {\n    object[key] = value;\n  }\n}\n\nexport default baseAssignValue;\n","/**\n * A specialized version of `baseAggregator` for arrays.\n *\n * @private\n * @param {Array} [array] The array to iterate over.\n * @param {Function} setter The function to set `accumulator` values.\n * @param {Function} iteratee The iteratee to transform keys.\n * @param {Object} accumulator The initial aggregated object.\n * @returns {Function} Returns `accumulator`.\n */\nfunction arrayAggregator(array, setter, iteratee, accumulator) {\n  var index = -1,\n      length = array == null ? 0 : array.length;\n\n  while (++index < length) {\n    var value = array[index];\n    setter(accumulator, value, iteratee(value), array);\n  }\n  return accumulator;\n}\n\nexport default arrayAggregator;\n","/**\n * Creates a base function for methods like `_.forIn` and `_.forOwn`.\n *\n * @private\n * @param {boolean} [fromRight] Specify iterating from right to left.\n * @returns {Function} Returns the new base function.\n */\nfunction createBaseFor(fromRight) {\n  return function(object, iteratee, keysFunc) {\n    var index = -1,\n        iterable = Object(object),\n        props = keysFunc(object),\n        length = props.length;\n\n    while (length--) {\n      var key = props[fromRight ? length : ++index];\n      if (iteratee(iterable[key], key, iterable) === false) {\n        break;\n      }\n    }\n    return object;\n  };\n}\n\nexport default createBaseFor;\n","import createBaseFor from './_createBaseFor.js';\n\n/**\n * The base implementation of `baseForOwn` which iterates over `object`\n * properties returned by `keysFunc` and invokes `iteratee` for each property.\n * Iteratee functions may exit iteration early by explicitly returning `false`.\n *\n * @private\n * @param {Object} object The object to iterate over.\n * @param {Function} iteratee The function invoked per iteration.\n * @param {Function} keysFunc The function to get the keys of `object`.\n * @returns {Object} Returns `object`.\n */\nvar baseFor = createBaseFor();\n\nexport default baseFor;\n","/**\n * The base implementation of `_.times` without support for iteratee shorthands\n * or max array length checks.\n *\n * @private\n * @param {number} n The number of times to invoke `iteratee`.\n * @param {Function} iteratee The function invoked per iteration.\n * @returns {Array} Returns the array of results.\n */\nfunction baseTimes(n, iteratee) {\n  var index = -1,\n      result = Array(n);\n\n  while (++index < n) {\n    result[index] = iteratee(index);\n  }\n  return result;\n}\n\nexport default baseTimes;\n","import baseGetTag from './_baseGetTag.js';\nimport isObjectLike from './isObjectLike.js';\n\n/** `Object#toString` result references. */\nvar argsTag = '[object Arguments]';\n\n/**\n * The base implementation of `_.isArguments`.\n *\n * @private\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is an `arguments` object,\n */\nfunction baseIsArguments(value) {\n  return isObjectLike(value) && baseGetTag(value) == argsTag;\n}\n\nexport default baseIsArguments;\n","import baseIsArguments from './_baseIsArguments.js';\nimport isObjectLike from './isObjectLike.js';\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/** Built-in value references. */\nvar propertyIsEnumerable = objectProto.propertyIsEnumerable;\n\n/**\n * Checks if `value` is likely an `arguments` object.\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is an `arguments` object,\n *  else `false`.\n * @example\n *\n * _.isArguments(function() { return arguments; }());\n * // => true\n *\n * _.isArguments([1, 2, 3]);\n * // => false\n */\nvar isArguments = baseIsArguments(function() { return arguments; }()) ? baseIsArguments : function(value) {\n  return isObjectLike(value) && hasOwnProperty.call(value, 'callee') &&\n    !propertyIsEnumerable.call(value, 'callee');\n};\n\nexport default isArguments;\n","/**\n * Checks if `value` is classified as an `Array` object.\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is an array, else `false`.\n * @example\n *\n * _.isArray([1, 2, 3]);\n * // => true\n *\n * _.isArray(document.body.children);\n * // => false\n *\n * _.isArray('abc');\n * // => false\n *\n * _.isArray(_.noop);\n * // => false\n */\nvar isArray = Array.isArray;\n\nexport default isArray;\n","/**\n * This method returns `false`.\n *\n * @static\n * @memberOf _\n * @since 4.13.0\n * @category Util\n * @returns {boolean} Returns `false`.\n * @example\n *\n * _.times(2, _.stubFalse);\n * // => [false, false]\n */\nfunction stubFalse() {\n  return false;\n}\n\nexport default stubFalse;\n","import root from './_root.js';\nimport stubFalse from './stubFalse.js';\n\n/** Detect free variable `exports`. */\nvar freeExports = typeof exports == 'object' && exports && !exports.nodeType && exports;\n\n/** Detect free variable `module`. */\nvar freeModule = freeExports && typeof module == 'object' && module && !module.nodeType && module;\n\n/** Detect the popular CommonJS extension `module.exports`. */\nvar moduleExports = freeModule && freeModule.exports === freeExports;\n\n/** Built-in value references. */\nvar Buffer = moduleExports ? root.Buffer : undefined;\n\n/* Built-in method references for those with the same name as other `lodash` methods. */\nvar nativeIsBuffer = Buffer ? Buffer.isBuffer : undefined;\n\n/**\n * Checks if `value` is a buffer.\n *\n * @static\n * @memberOf _\n * @since 4.3.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a buffer, else `false`.\n * @example\n *\n * _.isBuffer(new Buffer(2));\n * // => true\n *\n * _.isBuffer(new Uint8Array(2));\n * // => false\n */\nvar isBuffer = nativeIsBuffer || stubFalse;\n\nexport default isBuffer;\n","/** Used as references for various `Number` constants. */\nvar MAX_SAFE_INTEGER = 9007199254740991;\n\n/** Used to detect unsigned integer values. */\nvar reIsUint = /^(?:0|[1-9]\\d*)$/;\n\n/**\n * Checks if `value` is a valid array-like index.\n *\n * @private\n * @param {*} value The value to check.\n * @param {number} [length=MAX_SAFE_INTEGER] The upper bounds of a valid index.\n * @returns {boolean} Returns `true` if `value` is a valid index, else `false`.\n */\nfunction isIndex(value, length) {\n  var type = typeof value;\n  length = length == null ? MAX_SAFE_INTEGER : length;\n\n  return !!length &&\n    (type == 'number' ||\n      (type != 'symbol' && reIsUint.test(value))) &&\n        (value > -1 && value % 1 == 0 && value < length);\n}\n\nexport default isIndex;\n","/** Used as references for various `Number` constants. */\nvar MAX_SAFE_INTEGER = 9007199254740991;\n\n/**\n * Checks if `value` is a valid array-like length.\n *\n * **Note:** This method is loosely based on\n * [`ToLength`](http://ecma-international.org/ecma-262/7.0/#sec-tolength).\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a valid length, else `false`.\n * @example\n *\n * _.isLength(3);\n * // => true\n *\n * _.isLength(Number.MIN_VALUE);\n * // => false\n *\n * _.isLength(Infinity);\n * // => false\n *\n * _.isLength('3');\n * // => false\n */\nfunction isLength(value) {\n  return typeof value == 'number' &&\n    value > -1 && value % 1 == 0 && value <= MAX_SAFE_INTEGER;\n}\n\nexport default isLength;\n","import baseGetTag from './_baseGetTag.js';\nimport isLength from './isLength.js';\nimport isObjectLike from './isObjectLike.js';\n\n/** `Object#toString` result references. */\nvar argsTag = '[object Arguments]',\n    arrayTag = '[object Array]',\n    boolTag = '[object Boolean]',\n    dateTag = '[object Date]',\n    errorTag = '[object Error]',\n    funcTag = '[object Function]',\n    mapTag = '[object Map]',\n    numberTag = '[object Number]',\n    objectTag = '[object Object]',\n    regexpTag = '[object RegExp]',\n    setTag = '[object Set]',\n    stringTag = '[object String]',\n    weakMapTag = '[object WeakMap]';\n\nvar arrayBufferTag = '[object ArrayBuffer]',\n    dataViewTag = '[object DataView]',\n    float32Tag = '[object Float32Array]',\n    float64Tag = '[object Float64Array]',\n    int8Tag = '[object Int8Array]',\n    int16Tag = '[object Int16Array]',\n    int32Tag = '[object Int32Array]',\n    uint8Tag = '[object Uint8Array]',\n    uint8ClampedTag = '[object Uint8ClampedArray]',\n    uint16Tag = '[object Uint16Array]',\n    uint32Tag = '[object Uint32Array]';\n\n/** Used to identify `toStringTag` values of typed arrays. */\nvar typedArrayTags = {};\ntypedArrayTags[float32Tag] = typedArrayTags[float64Tag] =\ntypedArrayTags[int8Tag] = typedArrayTags[int16Tag] =\ntypedArrayTags[int32Tag] = typedArrayTags[uint8Tag] =\ntypedArrayTags[uint8ClampedTag] = typedArrayTags[uint16Tag] =\ntypedArrayTags[uint32Tag] = true;\ntypedArrayTags[argsTag] = typedArrayTags[arrayTag] =\ntypedArrayTags[arrayBufferTag] = typedArrayTags[boolTag] =\ntypedArrayTags[dataViewTag] = typedArrayTags[dateTag] =\ntypedArrayTags[errorTag] = typedArrayTags[funcTag] =\ntypedArrayTags[mapTag] = typedArrayTags[numberTag] =\ntypedArrayTags[objectTag] = typedArrayTags[regexpTag] =\ntypedArrayTags[setTag] = typedArrayTags[stringTag] =\ntypedArrayTags[weakMapTag] = false;\n\n/**\n * The base implementation of `_.isTypedArray` without Node.js optimizations.\n *\n * @private\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a typed array, else `false`.\n */\nfunction baseIsTypedArray(value) {\n  return isObjectLike(value) &&\n    isLength(value.length) && !!typedArrayTags[baseGetTag(value)];\n}\n\nexport default baseIsTypedArray;\n","/**\n * The base implementation of `_.unary` without support for storing metadata.\n *\n * @private\n * @param {Function} func The function to cap arguments for.\n * @returns {Function} Returns the new capped function.\n */\nfunction baseUnary(func) {\n  return function(value) {\n    return func(value);\n  };\n}\n\nexport default baseUnary;\n","import freeGlobal from './_freeGlobal.js';\n\n/** Detect free variable `exports`. */\nvar freeExports = typeof exports == 'object' && exports && !exports.nodeType && exports;\n\n/** Detect free variable `module`. */\nvar freeModule = freeExports && typeof module == 'object' && module && !module.nodeType && module;\n\n/** Detect the popular CommonJS extension `module.exports`. */\nvar moduleExports = freeModule && freeModule.exports === freeExports;\n\n/** Detect free variable `process` from Node.js. */\nvar freeProcess = moduleExports && freeGlobal.process;\n\n/** Used to access faster Node.js helpers. */\nvar nodeUtil = (function() {\n  try {\n    // Use `util.types` for Node.js 10+.\n    var types = freeModule && freeModule.require && freeModule.require('util').types;\n\n    if (types) {\n      return types;\n    }\n\n    // Legacy `process.binding('util')` for Node.js < 10.\n    return freeProcess && freeProcess.binding && freeProcess.binding('util');\n  } catch (e) {}\n}());\n\nexport default nodeUtil;\n","import baseIsTypedArray from './_baseIsTypedArray.js';\nimport baseUnary from './_baseUnary.js';\nimport nodeUtil from './_nodeUtil.js';\n\n/* Node.js helper references. */\nvar nodeIsTypedArray = nodeUtil && nodeUtil.isTypedArray;\n\n/**\n * Checks if `value` is classified as a typed array.\n *\n * @static\n * @memberOf _\n * @since 3.0.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a typed array, else `false`.\n * @example\n *\n * _.isTypedArray(new Uint8Array);\n * // => true\n *\n * _.isTypedArray([]);\n * // => false\n */\nvar isTypedArray = nodeIsTypedArray ? baseUnary(nodeIsTypedArray) : baseIsTypedArray;\n\nexport default isTypedArray;\n","import baseTimes from './_baseTimes.js';\nimport isArguments from './isArguments.js';\nimport isArray from './isArray.js';\nimport isBuffer from './isBuffer.js';\nimport isIndex from './_isIndex.js';\nimport isTypedArray from './isTypedArray.js';\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/**\n * Creates an array of the enumerable property names of the array-like `value`.\n *\n * @private\n * @param {*} value The value to query.\n * @param {boolean} inherited Specify returning inherited property names.\n * @returns {Array} Returns the array of property names.\n */\nfunction arrayLikeKeys(value, inherited) {\n  var isArr = isArray(value),\n      isArg = !isArr && isArguments(value),\n      isBuff = !isArr && !isArg && isBuffer(value),\n      isType = !isArr && !isArg && !isBuff && isTypedArray(value),\n      skipIndexes = isArr || isArg || isBuff || isType,\n      result = skipIndexes ? baseTimes(value.length, String) : [],\n      length = result.length;\n\n  for (var key in value) {\n    if ((inherited || hasOwnProperty.call(value, key)) &&\n        !(skipIndexes && (\n           // Safari 9 has enumerable `arguments.length` in strict mode.\n           key == 'length' ||\n           // Node.js 0.10 has enumerable non-index properties on buffers.\n           (isBuff && (key == 'offset' || key == 'parent')) ||\n           // PhantomJS 2 has enumerable non-index properties on typed arrays.\n           (isType && (key == 'buffer' || key == 'byteLength' || key == 'byteOffset')) ||\n           // Skip index properties.\n           isIndex(key, length)\n        ))) {\n      result.push(key);\n    }\n  }\n  return result;\n}\n\nexport default arrayLikeKeys;\n","/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/**\n * Checks if `value` is likely a prototype object.\n *\n * @private\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is a prototype, else `false`.\n */\nfunction isPrototype(value) {\n  var Ctor = value && value.constructor,\n      proto = (typeof Ctor == 'function' && Ctor.prototype) || objectProto;\n\n  return value === proto;\n}\n\nexport default isPrototype;\n","/**\n * Creates a unary function that invokes `func` with its argument transformed.\n *\n * @private\n * @param {Function} func The function to wrap.\n * @param {Function} transform The argument transform.\n * @returns {Function} Returns the new function.\n */\nfunction overArg(func, transform) {\n  return function(arg) {\n    return func(transform(arg));\n  };\n}\n\nexport default overArg;\n","import overArg from './_overArg.js';\n\n/* Built-in method references for those with the same name as other `lodash` methods. */\nvar nativeKeys = overArg(Object.keys, Object);\n\nexport default nativeKeys;\n","import isPrototype from './_isPrototype.js';\nimport nativeKeys from './_nativeKeys.js';\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/**\n * The base implementation of `_.keys` which doesn't treat sparse arrays as dense.\n *\n * @private\n * @param {Object} object The object to query.\n * @returns {Array} Returns the array of property names.\n */\nfunction baseKeys(object) {\n  if (!isPrototype(object)) {\n    return nativeKeys(object);\n  }\n  var result = [];\n  for (var key in Object(object)) {\n    if (hasOwnProperty.call(object, key) && key != 'constructor') {\n      result.push(key);\n    }\n  }\n  return result;\n}\n\nexport default baseKeys;\n","import isFunction from './isFunction.js';\nimport isLength from './isLength.js';\n\n/**\n * Checks if `value` is array-like. A value is considered array-like if it's\n * not a function and has a `value.length` that's an integer greater than or\n * equal to `0` and less than or equal to `Number.MAX_SAFE_INTEGER`.\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Lang\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is array-like, else `false`.\n * @example\n *\n * _.isArrayLike([1, 2, 3]);\n * // => true\n *\n * _.isArrayLike(document.body.children);\n * // => true\n *\n * _.isArrayLike('abc');\n * // => true\n *\n * _.isArrayLike(_.noop);\n * // => false\n */\nfunction isArrayLike(value) {\n  return value != null && isLength(value.length) && !isFunction(value);\n}\n\nexport default isArrayLike;\n","import arrayLikeKeys from './_arrayLikeKeys.js';\nimport baseKeys from './_baseKeys.js';\nimport isArrayLike from './isArrayLike.js';\n\n/**\n * Creates an array of the own enumerable property names of `object`.\n *\n * **Note:** Non-object values are coerced to objects. See the\n * [ES spec](http://ecma-international.org/ecma-262/7.0/#sec-object.keys)\n * for more details.\n *\n * @static\n * @since 0.1.0\n * @memberOf _\n * @category Object\n * @param {Object} object The object to query.\n * @returns {Array} Returns the array of property names.\n * @example\n *\n * function Foo() {\n *   this.a = 1;\n *   this.b = 2;\n * }\n *\n * Foo.prototype.c = 3;\n *\n * _.keys(new Foo);\n * // => ['a', 'b'] (iteration order is not guaranteed)\n *\n * _.keys('hi');\n * // => ['0', '1']\n */\nfunction keys(object) {\n  return isArrayLike(object) ? arrayLikeKeys(object) : baseKeys(object);\n}\n\nexport default keys;\n","import baseFor from './_baseFor.js';\nimport keys from './keys.js';\n\n/**\n * The base implementation of `_.forOwn` without support for iteratee shorthands.\n *\n * @private\n * @param {Object} object The object to iterate over.\n * @param {Function} iteratee The function invoked per iteration.\n * @returns {Object} Returns `object`.\n */\nfunction baseForOwn(object, iteratee) {\n  return object && baseFor(object, iteratee, keys);\n}\n\nexport default baseForOwn;\n","import isArrayLike from './isArrayLike.js';\n\n/**\n * Creates a `baseEach` or `baseEachRight` function.\n *\n * @private\n * @param {Function} eachFunc The function to iterate over a collection.\n * @param {boolean} [fromRight] Specify iterating from right to left.\n * @returns {Function} Returns the new base function.\n */\nfunction createBaseEach(eachFunc, fromRight) {\n  return function(collection, iteratee) {\n    if (collection == null) {\n      return collection;\n    }\n    if (!isArrayLike(collection)) {\n      return eachFunc(collection, iteratee);\n    }\n    var length = collection.length,\n        index = fromRight ? length : -1,\n        iterable = Object(collection);\n\n    while ((fromRight ? index-- : ++index < length)) {\n      if (iteratee(iterable[index], index, iterable) === false) {\n        break;\n      }\n    }\n    return collection;\n  };\n}\n\nexport default createBaseEach;\n","import baseForOwn from './_baseForOwn.js';\nimport createBaseEach from './_createBaseEach.js';\n\n/**\n * The base implementation of `_.forEach` without support for iteratee shorthands.\n *\n * @private\n * @param {Array|Object} collection The collection to iterate over.\n * @param {Function} iteratee The function invoked per iteration.\n * @returns {Array|Object} Returns `collection`.\n */\nvar baseEach = createBaseEach(baseForOwn);\n\nexport default baseEach;\n","import baseEach from './_baseEach.js';\n\n/**\n * Aggregates elements of `collection` on `accumulator` with keys transformed\n * by `iteratee` and values set by `setter`.\n *\n * @private\n * @param {Array|Object} collection The collection to iterate over.\n * @param {Function} setter The function to set `accumulator` values.\n * @param {Function} iteratee The iteratee to transform keys.\n * @param {Object} accumulator The initial aggregated object.\n * @returns {Function} Returns `accumulator`.\n */\nfunction baseAggregator(collection, setter, iteratee, accumulator) {\n  baseEach(collection, function(value, key, collection) {\n    setter(accumulator, value, iteratee(value), collection);\n  });\n  return accumulator;\n}\n\nexport default baseAggregator;\n","/**\n * Removes all key-value entries from the list cache.\n *\n * @private\n * @name clear\n * @memberOf ListCache\n */\nfunction listCacheClear() {\n  this.__data__ = [];\n  this.size = 0;\n}\n\nexport default listCacheClear;\n","/**\n * Performs a\n * [`SameValueZero`](http://ecma-international.org/ecma-262/7.0/#sec-samevaluezero)\n * comparison between two values to determine if they are equivalent.\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Lang\n * @param {*} value The value to compare.\n * @param {*} other The other value to compare.\n * @returns {boolean} Returns `true` if the values are equivalent, else `false`.\n * @example\n *\n * var object = { 'a': 1 };\n * var other = { 'a': 1 };\n *\n * _.eq(object, object);\n * // => true\n *\n * _.eq(object, other);\n * // => false\n *\n * _.eq('a', 'a');\n * // => true\n *\n * _.eq('a', Object('a'));\n * // => false\n *\n * _.eq(NaN, NaN);\n * // => true\n */\nfunction eq(value, other) {\n  return value === other || (value !== value && other !== other);\n}\n\nexport default eq;\n","import eq from './eq.js';\n\n/**\n * Gets the index at which the `key` is found in `array` of key-value pairs.\n *\n * @private\n * @param {Array} array The array to inspect.\n * @param {*} key The key to search for.\n * @returns {number} Returns the index of the matched value, else `-1`.\n */\nfunction assocIndexOf(array, key) {\n  var length = array.length;\n  while (length--) {\n    if (eq(array[length][0], key)) {\n      return length;\n    }\n  }\n  return -1;\n}\n\nexport default assocIndexOf;\n","import assocIndexOf from './_assocIndexOf.js';\n\n/** Used for built-in method references. */\nvar arrayProto = Array.prototype;\n\n/** Built-in value references. */\nvar splice = arrayProto.splice;\n\n/**\n * Removes `key` and its value from the list cache.\n *\n * @private\n * @name delete\n * @memberOf ListCache\n * @param {string} key The key of the value to remove.\n * @returns {boolean} Returns `true` if the entry was removed, else `false`.\n */\nfunction listCacheDelete(key) {\n  var data = this.__data__,\n      index = assocIndexOf(data, key);\n\n  if (index < 0) {\n    return false;\n  }\n  var lastIndex = data.length - 1;\n  if (index == lastIndex) {\n    data.pop();\n  } else {\n    splice.call(data, index, 1);\n  }\n  --this.size;\n  return true;\n}\n\nexport default listCacheDelete;\n","import assocIndexOf from './_assocIndexOf.js';\n\n/**\n * Gets the list cache value for `key`.\n *\n * @private\n * @name get\n * @memberOf ListCache\n * @param {string} key The key of the value to get.\n * @returns {*} Returns the entry value.\n */\nfunction listCacheGet(key) {\n  var data = this.__data__,\n      index = assocIndexOf(data, key);\n\n  return index < 0 ? undefined : data[index][1];\n}\n\nexport default listCacheGet;\n","import assocIndexOf from './_assocIndexOf.js';\n\n/**\n * Checks if a list cache value for `key` exists.\n *\n * @private\n * @name has\n * @memberOf ListCache\n * @param {string} key The key of the entry to check.\n * @returns {boolean} Returns `true` if an entry for `key` exists, else `false`.\n */\nfunction listCacheHas(key) {\n  return assocIndexOf(this.__data__, key) > -1;\n}\n\nexport default listCacheHas;\n","import assocIndexOf from './_assocIndexOf.js';\n\n/**\n * Sets the list cache `key` to `value`.\n *\n * @private\n * @name set\n * @memberOf ListCache\n * @param {string} key The key of the value to set.\n * @param {*} value The value to set.\n * @returns {Object} Returns the list cache instance.\n */\nfunction listCacheSet(key, value) {\n  var data = this.__data__,\n      index = assocIndexOf(data, key);\n\n  if (index < 0) {\n    ++this.size;\n    data.push([key, value]);\n  } else {\n    data[index][1] = value;\n  }\n  return this;\n}\n\nexport default listCacheSet;\n","import listCacheClear from './_listCacheClear.js';\nimport listCacheDelete from './_listCacheDelete.js';\nimport listCacheGet from './_listCacheGet.js';\nimport listCacheHas from './_listCacheHas.js';\nimport listCacheSet from './_listCacheSet.js';\n\n/**\n * Creates an list cache object.\n *\n * @private\n * @constructor\n * @param {Array} [entries] The key-value pairs to cache.\n */\nfunction ListCache(entries) {\n  var index = -1,\n      length = entries == null ? 0 : entries.length;\n\n  this.clear();\n  while (++index < length) {\n    var entry = entries[index];\n    this.set(entry[0], entry[1]);\n  }\n}\n\n// Add methods to `ListCache`.\nListCache.prototype.clear = listCacheClear;\nListCache.prototype['delete'] = listCacheDelete;\nListCache.prototype.get = listCacheGet;\nListCache.prototype.has = listCacheHas;\nListCache.prototype.set = listCacheSet;\n\nexport default ListCache;\n","import ListCache from './_ListCache.js';\n\n/**\n * Removes all key-value entries from the stack.\n *\n * @private\n * @name clear\n * @memberOf Stack\n */\nfunction stackClear() {\n  this.__data__ = new ListCache;\n  this.size = 0;\n}\n\nexport default stackClear;\n","/**\n * Removes `key` and its value from the stack.\n *\n * @private\n * @name delete\n * @memberOf Stack\n * @param {string} key The key of the value to remove.\n * @returns {boolean} Returns `true` if the entry was removed, else `false`.\n */\nfunction stackDelete(key) {\n  var data = this.__data__,\n      result = data['delete'](key);\n\n  this.size = data.size;\n  return result;\n}\n\nexport default stackDelete;\n","/**\n * Gets the stack value for `key`.\n *\n * @private\n * @name get\n * @memberOf Stack\n * @param {string} key The key of the value to get.\n * @returns {*} Returns the entry value.\n */\nfunction stackGet(key) {\n  return this.__data__.get(key);\n}\n\nexport default stackGet;\n","/**\n * Checks if a stack value for `key` exists.\n *\n * @private\n * @name has\n * @memberOf Stack\n * @param {string} key The key of the entry to check.\n * @returns {boolean} Returns `true` if an entry for `key` exists, else `false`.\n */\nfunction stackHas(key) {\n  return this.__data__.has(key);\n}\n\nexport default stackHas;\n","import getNative from './_getNative.js';\nimport root from './_root.js';\n\n/* Built-in method references that are verified to be native. */\nvar Map = getNative(root, 'Map');\n\nexport default Map;\n","import getNative from './_getNative.js';\n\n/* Built-in method references that are verified to be native. */\nvar nativeCreate = getNative(Object, 'create');\n\nexport default nativeCreate;\n","import nativeCreate from './_nativeCreate.js';\n\n/**\n * Removes all key-value entries from the hash.\n *\n * @private\n * @name clear\n * @memberOf Hash\n */\nfunction hashClear() {\n  this.__data__ = nativeCreate ? nativeCreate(null) : {};\n  this.size = 0;\n}\n\nexport default hashClear;\n","/**\n * Removes `key` and its value from the hash.\n *\n * @private\n * @name delete\n * @memberOf Hash\n * @param {Object} hash The hash to modify.\n * @param {string} key The key of the value to remove.\n * @returns {boolean} Returns `true` if the entry was removed, else `false`.\n */\nfunction hashDelete(key) {\n  var result = this.has(key) && delete this.__data__[key];\n  this.size -= result ? 1 : 0;\n  return result;\n}\n\nexport default hashDelete;\n","import nativeCreate from './_nativeCreate.js';\n\n/** Used to stand-in for `undefined` hash values. */\nvar HASH_UNDEFINED = '__lodash_hash_undefined__';\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/**\n * Gets the hash value for `key`.\n *\n * @private\n * @name get\n * @memberOf Hash\n * @param {string} key The key of the value to get.\n * @returns {*} Returns the entry value.\n */\nfunction hashGet(key) {\n  var data = this.__data__;\n  if (nativeCreate) {\n    var result = data[key];\n    return result === HASH_UNDEFINED ? undefined : result;\n  }\n  return hasOwnProperty.call(data, key) ? data[key] : undefined;\n}\n\nexport default hashGet;\n","import nativeCreate from './_nativeCreate.js';\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/**\n * Checks if a hash value for `key` exists.\n *\n * @private\n * @name has\n * @memberOf Hash\n * @param {string} key The key of the entry to check.\n * @returns {boolean} Returns `true` if an entry for `key` exists, else `false`.\n */\nfunction hashHas(key) {\n  var data = this.__data__;\n  return nativeCreate ? (data[key] !== undefined) : hasOwnProperty.call(data, key);\n}\n\nexport default hashHas;\n","import nativeCreate from './_nativeCreate.js';\n\n/** Used to stand-in for `undefined` hash values. */\nvar HASH_UNDEFINED = '__lodash_hash_undefined__';\n\n/**\n * Sets the hash `key` to `value`.\n *\n * @private\n * @name set\n * @memberOf Hash\n * @param {string} key The key of the value to set.\n * @param {*} value The value to set.\n * @returns {Object} Returns the hash instance.\n */\nfunction hashSet(key, value) {\n  var data = this.__data__;\n  this.size += this.has(key) ? 0 : 1;\n  data[key] = (nativeCreate && value === undefined) ? HASH_UNDEFINED : value;\n  return this;\n}\n\nexport default hashSet;\n","import hashClear from './_hashClear.js';\nimport hashDelete from './_hashDelete.js';\nimport hashGet from './_hashGet.js';\nimport hashHas from './_hashHas.js';\nimport hashSet from './_hashSet.js';\n\n/**\n * Creates a hash object.\n *\n * @private\n * @constructor\n * @param {Array} [entries] The key-value pairs to cache.\n */\nfunction Hash(entries) {\n  var index = -1,\n      length = entries == null ? 0 : entries.length;\n\n  this.clear();\n  while (++index < length) {\n    var entry = entries[index];\n    this.set(entry[0], entry[1]);\n  }\n}\n\n// Add methods to `Hash`.\nHash.prototype.clear = hashClear;\nHash.prototype['delete'] = hashDelete;\nHash.prototype.get = hashGet;\nHash.prototype.has = hashHas;\nHash.prototype.set = hashSet;\n\nexport default Hash;\n","import Hash from './_Hash.js';\nimport ListCache from './_ListCache.js';\nimport Map from './_Map.js';\n\n/**\n * Removes all key-value entries from the map.\n *\n * @private\n * @name clear\n * @memberOf MapCache\n */\nfunction mapCacheClear() {\n  this.size = 0;\n  this.__data__ = {\n    'hash': new Hash,\n    'map': new (Map || ListCache),\n    'string': new Hash\n  };\n}\n\nexport default mapCacheClear;\n","/**\n * Checks if `value` is suitable for use as unique object key.\n *\n * @private\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` is suitable, else `false`.\n */\nfunction isKeyable(value) {\n  var type = typeof value;\n  return (type == 'string' || type == 'number' || type == 'symbol' || type == 'boolean')\n    ? (value !== '__proto__')\n    : (value === null);\n}\n\nexport default isKeyable;\n","import isKeyable from './_isKeyable.js';\n\n/**\n * Gets the data for `map`.\n *\n * @private\n * @param {Object} map The map to query.\n * @param {string} key The reference key.\n * @returns {*} Returns the map data.\n */\nfunction getMapData(map, key) {\n  var data = map.__data__;\n  return isKeyable(key)\n    ? data[typeof key == 'string' ? 'string' : 'hash']\n    : data.map;\n}\n\nexport default getMapData;\n","import getMapData from './_getMapData.js';\n\n/**\n * Removes `key` and its value from the map.\n *\n * @private\n * @name delete\n * @memberOf MapCache\n * @param {string} key The key of the value to remove.\n * @returns {boolean} Returns `true` if the entry was removed, else `false`.\n */\nfunction mapCacheDelete(key) {\n  var result = getMapData(this, key)['delete'](key);\n  this.size -= result ? 1 : 0;\n  return result;\n}\n\nexport default mapCacheDelete;\n","import getMapData from './_getMapData.js';\n\n/**\n * Gets the map value for `key`.\n *\n * @private\n * @name get\n * @memberOf MapCache\n * @param {string} key The key of the value to get.\n * @returns {*} Returns the entry value.\n */\nfunction mapCacheGet(key) {\n  return getMapData(this, key).get(key);\n}\n\nexport default mapCacheGet;\n","import getMapData from './_getMapData.js';\n\n/**\n * Checks if a map value for `key` exists.\n *\n * @private\n * @name has\n * @memberOf MapCache\n * @param {string} key The key of the entry to check.\n * @returns {boolean} Returns `true` if an entry for `key` exists, else `false`.\n */\nfunction mapCacheHas(key) {\n  return getMapData(this, key).has(key);\n}\n\nexport default mapCacheHas;\n","import getMapData from './_getMapData.js';\n\n/**\n * Sets the map `key` to `value`.\n *\n * @private\n * @name set\n * @memberOf MapCache\n * @param {string} key The key of the value to set.\n * @param {*} value The value to set.\n * @returns {Object} Returns the map cache instance.\n */\nfunction mapCacheSet(key, value) {\n  var data = getMapData(this, key),\n      size = data.size;\n\n  data.set(key, value);\n  this.size += data.size == size ? 0 : 1;\n  return this;\n}\n\nexport default mapCacheSet;\n","import mapCacheClear from './_mapCacheClear.js';\nimport mapCacheDelete from './_mapCacheDelete.js';\nimport mapCacheGet from './_mapCacheGet.js';\nimport mapCacheHas from './_mapCacheHas.js';\nimport mapCacheSet from './_mapCacheSet.js';\n\n/**\n * Creates a map cache object to store key-value pairs.\n *\n * @private\n * @constructor\n * @param {Array} [entries] The key-value pairs to cache.\n */\nfunction MapCache(entries) {\n  var index = -1,\n      length = entries == null ? 0 : entries.length;\n\n  this.clear();\n  while (++index < length) {\n    var entry = entries[index];\n    this.set(entry[0], entry[1]);\n  }\n}\n\n// Add methods to `MapCache`.\nMapCache.prototype.clear = mapCacheClear;\nMapCache.prototype['delete'] = mapCacheDelete;\nMapCache.prototype.get = mapCacheGet;\nMapCache.prototype.has = mapCacheHas;\nMapCache.prototype.set = mapCacheSet;\n\nexport default MapCache;\n","import ListCache from './_ListCache.js';\nimport Map from './_Map.js';\nimport MapCache from './_MapCache.js';\n\n/** Used as the size to enable large array optimizations. */\nvar LARGE_ARRAY_SIZE = 200;\n\n/**\n * Sets the stack `key` to `value`.\n *\n * @private\n * @name set\n * @memberOf Stack\n * @param {string} key The key of the value to set.\n * @param {*} value The value to set.\n * @returns {Object} Returns the stack cache instance.\n */\nfunction stackSet(key, value) {\n  var data = this.__data__;\n  if (data instanceof ListCache) {\n    var pairs = data.__data__;\n    if (!Map || (pairs.length < LARGE_ARRAY_SIZE - 1)) {\n      pairs.push([key, value]);\n      this.size = ++data.size;\n      return this;\n    }\n    data = this.__data__ = new MapCache(pairs);\n  }\n  data.set(key, value);\n  this.size = data.size;\n  return this;\n}\n\nexport default stackSet;\n","import ListCache from './_ListCache.js';\nimport stackClear from './_stackClear.js';\nimport stackDelete from './_stackDelete.js';\nimport stackGet from './_stackGet.js';\nimport stackHas from './_stackHas.js';\nimport stackSet from './_stackSet.js';\n\n/**\n * Creates a stack cache object to store key-value pairs.\n *\n * @private\n * @constructor\n * @param {Array} [entries] The key-value pairs to cache.\n */\nfunction Stack(entries) {\n  var data = this.__data__ = new ListCache(entries);\n  this.size = data.size;\n}\n\n// Add methods to `Stack`.\nStack.prototype.clear = stackClear;\nStack.prototype['delete'] = stackDelete;\nStack.prototype.get = stackGet;\nStack.prototype.has = stackHas;\nStack.prototype.set = stackSet;\n\nexport default Stack;\n","/** Used to stand-in for `undefined` hash values. */\nvar HASH_UNDEFINED = '__lodash_hash_undefined__';\n\n/**\n * Adds `value` to the array cache.\n *\n * @private\n * @name add\n * @memberOf SetCache\n * @alias push\n * @param {*} value The value to cache.\n * @returns {Object} Returns the cache instance.\n */\nfunction setCacheAdd(value) {\n  this.__data__.set(value, HASH_UNDEFINED);\n  return this;\n}\n\nexport default setCacheAdd;\n","/**\n * Checks if `value` is in the array cache.\n *\n * @private\n * @name has\n * @memberOf SetCache\n * @param {*} value The value to search for.\n * @returns {number} Returns `true` if `value` is found, else `false`.\n */\nfunction setCacheHas(value) {\n  return this.__data__.has(value);\n}\n\nexport default setCacheHas;\n","import MapCache from './_MapCache.js';\nimport setCacheAdd from './_setCacheAdd.js';\nimport setCacheHas from './_setCacheHas.js';\n\n/**\n *\n * Creates an array cache object to store unique values.\n *\n * @private\n * @constructor\n * @param {Array} [values] The values to cache.\n */\nfunction SetCache(values) {\n  var index = -1,\n      length = values == null ? 0 : values.length;\n\n  this.__data__ = new MapCache;\n  while (++index < length) {\n    this.add(values[index]);\n  }\n}\n\n// Add methods to `SetCache`.\nSetCache.prototype.add = SetCache.prototype.push = setCacheAdd;\nSetCache.prototype.has = setCacheHas;\n\nexport default SetCache;\n","/**\n * A specialized version of `_.some` for arrays without support for iteratee\n * shorthands.\n *\n * @private\n * @param {Array} [array] The array to iterate over.\n * @param {Function} predicate The function invoked per iteration.\n * @returns {boolean} Returns `true` if any element passes the predicate check,\n *  else `false`.\n */\nfunction arraySome(array, predicate) {\n  var index = -1,\n      length = array == null ? 0 : array.length;\n\n  while (++index < length) {\n    if (predicate(array[index], index, array)) {\n      return true;\n    }\n  }\n  return false;\n}\n\nexport default arraySome;\n","/**\n * Checks if a `cache` value for `key` exists.\n *\n * @private\n * @param {Object} cache The cache to query.\n * @param {string} key The key of the entry to check.\n * @returns {boolean} Returns `true` if an entry for `key` exists, else `false`.\n */\nfunction cacheHas(cache, key) {\n  return cache.has(key);\n}\n\nexport default cacheHas;\n","import SetCache from './_SetCache.js';\nimport arraySome from './_arraySome.js';\nimport cacheHas from './_cacheHas.js';\n\n/** Used to compose bitmasks for value comparisons. */\nvar COMPARE_PARTIAL_FLAG = 1,\n    COMPARE_UNORDERED_FLAG = 2;\n\n/**\n * A specialized version of `baseIsEqualDeep` for arrays with support for\n * partial deep comparisons.\n *\n * @private\n * @param {Array} array The array to compare.\n * @param {Array} other The other array to compare.\n * @param {number} bitmask The bitmask flags. See `baseIsEqual` for more details.\n * @param {Function} customizer The function to customize comparisons.\n * @param {Function} equalFunc The function to determine equivalents of values.\n * @param {Object} stack Tracks traversed `array` and `other` objects.\n * @returns {boolean} Returns `true` if the arrays are equivalent, else `false`.\n */\nfunction equalArrays(array, other, bitmask, customizer, equalFunc, stack) {\n  var isPartial = bitmask & COMPARE_PARTIAL_FLAG,\n      arrLength = array.length,\n      othLength = other.length;\n\n  if (arrLength != othLength && !(isPartial && othLength > arrLength)) {\n    return false;\n  }\n  // Check that cyclic values are equal.\n  var arrStacked = stack.get(array);\n  var othStacked = stack.get(other);\n  if (arrStacked && othStacked) {\n    return arrStacked == other && othStacked == array;\n  }\n  var index = -1,\n      result = true,\n      seen = (bitmask & COMPARE_UNORDERED_FLAG) ? new SetCache : undefined;\n\n  stack.set(array, other);\n  stack.set(other, array);\n\n  // Ignore non-index properties.\n  while (++index < arrLength) {\n    var arrValue = array[index],\n        othValue = other[index];\n\n    if (customizer) {\n      var compared = isPartial\n        ? customizer(othValue, arrValue, index, other, array, stack)\n        : customizer(arrValue, othValue, index, array, other, stack);\n    }\n    if (compared !== undefined) {\n      if (compared) {\n        continue;\n      }\n      result = false;\n      break;\n    }\n    // Recursively compare arrays (susceptible to call stack limits).\n    if (seen) {\n      if (!arraySome(other, function(othValue, othIndex) {\n            if (!cacheHas(seen, othIndex) &&\n                (arrValue === othValue || equalFunc(arrValue, othValue, bitmask, customizer, stack))) {\n              return seen.push(othIndex);\n            }\n          })) {\n        result = false;\n        break;\n      }\n    } else if (!(\n          arrValue === othValue ||\n            equalFunc(arrValue, othValue, bitmask, customizer, stack)\n        )) {\n      result = false;\n      break;\n    }\n  }\n  stack['delete'](array);\n  stack['delete'](other);\n  return result;\n}\n\nexport default equalArrays;\n","import root from './_root.js';\n\n/** Built-in value references. */\nvar Uint8Array = root.Uint8Array;\n\nexport default Uint8Array;\n","/**\n * Converts `map` to its key-value pairs.\n *\n * @private\n * @param {Object} map The map to convert.\n * @returns {Array} Returns the key-value pairs.\n */\nfunction mapToArray(map) {\n  var index = -1,\n      result = Array(map.size);\n\n  map.forEach(function(value, key) {\n    result[++index] = [key, value];\n  });\n  return result;\n}\n\nexport default mapToArray;\n","/**\n * Converts `set` to an array of its values.\n *\n * @private\n * @param {Object} set The set to convert.\n * @returns {Array} Returns the values.\n */\nfunction setToArray(set) {\n  var index = -1,\n      result = Array(set.size);\n\n  set.forEach(function(value) {\n    result[++index] = value;\n  });\n  return result;\n}\n\nexport default setToArray;\n","import Symbol from './_Symbol.js';\nimport Uint8Array from './_Uint8Array.js';\nimport eq from './eq.js';\nimport equalArrays from './_equalArrays.js';\nimport mapToArray from './_mapToArray.js';\nimport setToArray from './_setToArray.js';\n\n/** Used to compose bitmasks for value comparisons. */\nvar COMPARE_PARTIAL_FLAG = 1,\n    COMPARE_UNORDERED_FLAG = 2;\n\n/** `Object#toString` result references. */\nvar boolTag = '[object Boolean]',\n    dateTag = '[object Date]',\n    errorTag = '[object Error]',\n    mapTag = '[object Map]',\n    numberTag = '[object Number]',\n    regexpTag = '[object RegExp]',\n    setTag = '[object Set]',\n    stringTag = '[object String]',\n    symbolTag = '[object Symbol]';\n\nvar arrayBufferTag = '[object ArrayBuffer]',\n    dataViewTag = '[object DataView]';\n\n/** Used to convert symbols to primitives and strings. */\nvar symbolProto = Symbol ? Symbol.prototype : undefined,\n    symbolValueOf = symbolProto ? symbolProto.valueOf : undefined;\n\n/**\n * A specialized version of `baseIsEqualDeep` for comparing objects of\n * the same `toStringTag`.\n *\n * **Note:** This function only supports comparing values with tags of\n * `Boolean`, `Date`, `Error`, `Number`, `RegExp`, or `String`.\n *\n * @private\n * @param {Object} object The object to compare.\n * @param {Object} other The other object to compare.\n * @param {string} tag The `toStringTag` of the objects to compare.\n * @param {number} bitmask The bitmask flags. See `baseIsEqual` for more details.\n * @param {Function} customizer The function to customize comparisons.\n * @param {Function} equalFunc The function to determine equivalents of values.\n * @param {Object} stack Tracks traversed `object` and `other` objects.\n * @returns {boolean} Returns `true` if the objects are equivalent, else `false`.\n */\nfunction equalByTag(object, other, tag, bitmask, customizer, equalFunc, stack) {\n  switch (tag) {\n    case dataViewTag:\n      if ((object.byteLength != other.byteLength) ||\n          (object.byteOffset != other.byteOffset)) {\n        return false;\n      }\n      object = object.buffer;\n      other = other.buffer;\n\n    case arrayBufferTag:\n      if ((object.byteLength != other.byteLength) ||\n          !equalFunc(new Uint8Array(object), new Uint8Array(other))) {\n        return false;\n      }\n      return true;\n\n    case boolTag:\n    case dateTag:\n    case numberTag:\n      // Coerce booleans to `1` or `0` and dates to milliseconds.\n      // Invalid dates are coerced to `NaN`.\n      return eq(+object, +other);\n\n    case errorTag:\n      return object.name == other.name && object.message == other.message;\n\n    case regexpTag:\n    case stringTag:\n      // Coerce regexes to strings and treat strings, primitives and objects,\n      // as equal. See http://www.ecma-international.org/ecma-262/7.0/#sec-regexp.prototype.tostring\n      // for more details.\n      return object == (other + '');\n\n    case mapTag:\n      var convert = mapToArray;\n\n    case setTag:\n      var isPartial = bitmask & COMPARE_PARTIAL_FLAG;\n      convert || (convert = setToArray);\n\n      if (object.size != other.size && !isPartial) {\n        return false;\n      }\n      // Assume cyclic values are equal.\n      var stacked = stack.get(object);\n      if (stacked) {\n        return stacked == other;\n      }\n      bitmask |= COMPARE_UNORDERED_FLAG;\n\n      // Recursively compare objects (susceptible to call stack limits).\n      stack.set(object, other);\n      var result = equalArrays(convert(object), convert(other), bitmask, customizer, equalFunc, stack);\n      stack['delete'](object);\n      return result;\n\n    case symbolTag:\n      if (symbolValueOf) {\n        return symbolValueOf.call(object) == symbolValueOf.call(other);\n      }\n  }\n  return false;\n}\n\nexport default equalByTag;\n","/**\n * Appends the elements of `values` to `array`.\n *\n * @private\n * @param {Array} array The array to modify.\n * @param {Array} values The values to append.\n * @returns {Array} Returns `array`.\n */\nfunction arrayPush(array, values) {\n  var index = -1,\n      length = values.length,\n      offset = array.length;\n\n  while (++index < length) {\n    array[offset + index] = values[index];\n  }\n  return array;\n}\n\nexport default arrayPush;\n","import arrayPush from './_arrayPush.js';\nimport isArray from './isArray.js';\n\n/**\n * The base implementation of `getAllKeys` and `getAllKeysIn` which uses\n * `keysFunc` and `symbolsFunc` to get the enumerable property names and\n * symbols of `object`.\n *\n * @private\n * @param {Object} object The object to query.\n * @param {Function} keysFunc The function to get the keys of `object`.\n * @param {Function} symbolsFunc The function to get the symbols of `object`.\n * @returns {Array} Returns the array of property names and symbols.\n */\nfunction baseGetAllKeys(object, keysFunc, symbolsFunc) {\n  var result = keysFunc(object);\n  return isArray(object) ? result : arrayPush(result, symbolsFunc(object));\n}\n\nexport default baseGetAllKeys;\n","/**\n * A specialized version of `_.filter` for arrays without support for\n * iteratee shorthands.\n *\n * @private\n * @param {Array} [array] The array to iterate over.\n * @param {Function} predicate The function invoked per iteration.\n * @returns {Array} Returns the new filtered array.\n */\nfunction arrayFilter(array, predicate) {\n  var index = -1,\n      length = array == null ? 0 : array.length,\n      resIndex = 0,\n      result = [];\n\n  while (++index < length) {\n    var value = array[index];\n    if (predicate(value, index, array)) {\n      result[resIndex++] = value;\n    }\n  }\n  return result;\n}\n\nexport default arrayFilter;\n","/**\n * This method returns a new empty array.\n *\n * @static\n * @memberOf _\n * @since 4.13.0\n * @category Util\n * @returns {Array} Returns the new empty array.\n * @example\n *\n * var arrays = _.times(2, _.stubArray);\n *\n * console.log(arrays);\n * // => [[], []]\n *\n * console.log(arrays[0] === arrays[1]);\n * // => false\n */\nfunction stubArray() {\n  return [];\n}\n\nexport default stubArray;\n","import arrayFilter from './_arrayFilter.js';\nimport stubArray from './stubArray.js';\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Built-in value references. */\nvar propertyIsEnumerable = objectProto.propertyIsEnumerable;\n\n/* Built-in method references for those with the same name as other `lodash` methods. */\nvar nativeGetSymbols = Object.getOwnPropertySymbols;\n\n/**\n * Creates an array of the own enumerable symbols of `object`.\n *\n * @private\n * @param {Object} object The object to query.\n * @returns {Array} Returns the array of symbols.\n */\nvar getSymbols = !nativeGetSymbols ? stubArray : function(object) {\n  if (object == null) {\n    return [];\n  }\n  object = Object(object);\n  return arrayFilter(nativeGetSymbols(object), function(symbol) {\n    return propertyIsEnumerable.call(object, symbol);\n  });\n};\n\nexport default getSymbols;\n","import baseGetAllKeys from './_baseGetAllKeys.js';\nimport getSymbols from './_getSymbols.js';\nimport keys from './keys.js';\n\n/**\n * Creates an array of own enumerable property names and symbols of `object`.\n *\n * @private\n * @param {Object} object The object to query.\n * @returns {Array} Returns the array of property names and symbols.\n */\nfunction getAllKeys(object) {\n  return baseGetAllKeys(object, keys, getSymbols);\n}\n\nexport default getAllKeys;\n","import getAllKeys from './_getAllKeys.js';\n\n/** Used to compose bitmasks for value comparisons. */\nvar COMPARE_PARTIAL_FLAG = 1;\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/**\n * A specialized version of `baseIsEqualDeep` for objects with support for\n * partial deep comparisons.\n *\n * @private\n * @param {Object} object The object to compare.\n * @param {Object} other The other object to compare.\n * @param {number} bitmask The bitmask flags. See `baseIsEqual` for more details.\n * @param {Function} customizer The function to customize comparisons.\n * @param {Function} equalFunc The function to determine equivalents of values.\n * @param {Object} stack Tracks traversed `object` and `other` objects.\n * @returns {boolean} Returns `true` if the objects are equivalent, else `false`.\n */\nfunction equalObjects(object, other, bitmask, customizer, equalFunc, stack) {\n  var isPartial = bitmask & COMPARE_PARTIAL_FLAG,\n      objProps = getAllKeys(object),\n      objLength = objProps.length,\n      othProps = getAllKeys(other),\n      othLength = othProps.length;\n\n  if (objLength != othLength && !isPartial) {\n    return false;\n  }\n  var index = objLength;\n  while (index--) {\n    var key = objProps[index];\n    if (!(isPartial ? key in other : hasOwnProperty.call(other, key))) {\n      return false;\n    }\n  }\n  // Check that cyclic values are equal.\n  var objStacked = stack.get(object);\n  var othStacked = stack.get(other);\n  if (objStacked && othStacked) {\n    return objStacked == other && othStacked == object;\n  }\n  var result = true;\n  stack.set(object, other);\n  stack.set(other, object);\n\n  var skipCtor = isPartial;\n  while (++index < objLength) {\n    key = objProps[index];\n    var objValue = object[key],\n        othValue = other[key];\n\n    if (customizer) {\n      var compared = isPartial\n        ? customizer(othValue, objValue, key, other, object, stack)\n        : customizer(objValue, othValue, key, object, other, stack);\n    }\n    // Recursively compare objects (susceptible to call stack limits).\n    if (!(compared === undefined\n          ? (objValue === othValue || equalFunc(objValue, othValue, bitmask, customizer, stack))\n          : compared\n        )) {\n      result = false;\n      break;\n    }\n    skipCtor || (skipCtor = key == 'constructor');\n  }\n  if (result && !skipCtor) {\n    var objCtor = object.constructor,\n        othCtor = other.constructor;\n\n    // Non `Object` object instances with different constructors are not equal.\n    if (objCtor != othCtor &&\n        ('constructor' in object && 'constructor' in other) &&\n        !(typeof objCtor == 'function' && objCtor instanceof objCtor &&\n          typeof othCtor == 'function' && othCtor instanceof othCtor)) {\n      result = false;\n    }\n  }\n  stack['delete'](object);\n  stack['delete'](other);\n  return result;\n}\n\nexport default equalObjects;\n","import getNative from './_getNative.js';\nimport root from './_root.js';\n\n/* Built-in method references that are verified to be native. */\nvar DataView = getNative(root, 'DataView');\n\nexport default DataView;\n","import getNative from './_getNative.js';\nimport root from './_root.js';\n\n/* Built-in method references that are verified to be native. */\nvar Promise = getNative(root, 'Promise');\n\nexport default Promise;\n","import getNative from './_getNative.js';\nimport root from './_root.js';\n\n/* Built-in method references that are verified to be native. */\nvar Set = getNative(root, 'Set');\n\nexport default Set;\n","import getNative from './_getNative.js';\nimport root from './_root.js';\n\n/* Built-in method references that are verified to be native. */\nvar WeakMap = getNative(root, 'WeakMap');\n\nexport default WeakMap;\n","import DataView from './_DataView.js';\nimport Map from './_Map.js';\nimport Promise from './_Promise.js';\nimport Set from './_Set.js';\nimport WeakMap from './_WeakMap.js';\nimport baseGetTag from './_baseGetTag.js';\nimport toSource from './_toSource.js';\n\n/** `Object#toString` result references. */\nvar mapTag = '[object Map]',\n    objectTag = '[object Object]',\n    promiseTag = '[object Promise]',\n    setTag = '[object Set]',\n    weakMapTag = '[object WeakMap]';\n\nvar dataViewTag = '[object DataView]';\n\n/** Used to detect maps, sets, and weakmaps. */\nvar dataViewCtorString = toSource(DataView),\n    mapCtorString = toSource(Map),\n    promiseCtorString = toSource(Promise),\n    setCtorString = toSource(Set),\n    weakMapCtorString = toSource(WeakMap);\n\n/**\n * Gets the `toStringTag` of `value`.\n *\n * @private\n * @param {*} value The value to query.\n * @returns {string} Returns the `toStringTag`.\n */\nvar getTag = baseGetTag;\n\n// Fallback for data views, maps, sets, and weak maps in IE 11 and promises in Node.js < 6.\nif ((DataView && getTag(new DataView(new ArrayBuffer(1))) != dataViewTag) ||\n    (Map && getTag(new Map) != mapTag) ||\n    (Promise && getTag(Promise.resolve()) != promiseTag) ||\n    (Set && getTag(new Set) != setTag) ||\n    (WeakMap && getTag(new WeakMap) != weakMapTag)) {\n  getTag = function(value) {\n    var result = baseGetTag(value),\n        Ctor = result == objectTag ? value.constructor : undefined,\n        ctorString = Ctor ? toSource(Ctor) : '';\n\n    if (ctorString) {\n      switch (ctorString) {\n        case dataViewCtorString: return dataViewTag;\n        case mapCtorString: return mapTag;\n        case promiseCtorString: return promiseTag;\n        case setCtorString: return setTag;\n        case weakMapCtorString: return weakMapTag;\n      }\n    }\n    return result;\n  };\n}\n\nexport default getTag;\n","import Stack from './_Stack.js';\nimport equalArrays from './_equalArrays.js';\nimport equalByTag from './_equalByTag.js';\nimport equalObjects from './_equalObjects.js';\nimport getTag from './_getTag.js';\nimport isArray from './isArray.js';\nimport isBuffer from './isBuffer.js';\nimport isTypedArray from './isTypedArray.js';\n\n/** Used to compose bitmasks for value comparisons. */\nvar COMPARE_PARTIAL_FLAG = 1;\n\n/** `Object#toString` result references. */\nvar argsTag = '[object Arguments]',\n    arrayTag = '[object Array]',\n    objectTag = '[object Object]';\n\n/** Used for built-in method references. */\nvar objectProto = Object.prototype;\n\n/** Used to check objects for own properties. */\nvar hasOwnProperty = objectProto.hasOwnProperty;\n\n/**\n * A specialized version of `baseIsEqual` for arrays and objects which performs\n * deep comparisons and tracks traversed objects enabling objects with circular\n * references to be compared.\n *\n * @private\n * @param {Object} object The object to compare.\n * @param {Object} other The other object to compare.\n * @param {number} bitmask The bitmask flags. See `baseIsEqual` for more details.\n * @param {Function} customizer The function to customize comparisons.\n * @param {Function} equalFunc The function to determine equivalents of values.\n * @param {Object} [stack] Tracks traversed `object` and `other` objects.\n * @returns {boolean} Returns `true` if the objects are equivalent, else `false`.\n */\nfunction baseIsEqualDeep(object, other, bitmask, customizer, equalFunc, stack) {\n  var objIsArr = isArray(object),\n      othIsArr = isArray(other),\n      objTag = objIsArr ? arrayTag : getTag(object),\n      othTag = othIsArr ? arrayTag : getTag(other);\n\n  objTag = objTag == argsTag ? objectTag : objTag;\n  othTag = othTag == argsTag ? objectTag : othTag;\n\n  var objIsObj = objTag == objectTag,\n      othIsObj = othTag == objectTag,\n      isSameTag = objTag == othTag;\n\n  if (isSameTag && isBuffer(object)) {\n    if (!isBuffer(other)) {\n      return false;\n    }\n    objIsArr = true;\n    objIsObj = false;\n  }\n  if (isSameTag && !objIsObj) {\n    stack || (stack = new Stack);\n    return (objIsArr || isTypedArray(object))\n      ? equalArrays(object, other, bitmask, customizer, equalFunc, stack)\n      : equalByTag(object, other, objTag, bitmask, customizer, equalFunc, stack);\n  }\n  if (!(bitmask & COMPARE_PARTIAL_FLAG)) {\n    var objIsWrapped = objIsObj && hasOwnProperty.call(object, '__wrapped__'),\n        othIsWrapped = othIsObj && hasOwnProperty.call(other, '__wrapped__');\n\n    if (objIsWrapped || othIsWrapped) {\n      var objUnwrapped = objIsWrapped ? object.value() : object,\n          othUnwrapped = othIsWrapped ? other.value() : other;\n\n      stack || (stack = new Stack);\n      return equalFunc(objUnwrapped, othUnwrapped, bitmask, customizer, stack);\n    }\n  }\n  if (!isSameTag) {\n    return false;\n  }\n  stack || (stack = new Stack);\n  return equalObjects(object, other, bitmask, customizer, equalFunc, stack);\n}\n\nexport default baseIsEqualDeep;\n","import baseIsEqualDeep from './_baseIsEqualDeep.js';\nimport isObjectLike from './isObjectLike.js';\n\n/**\n * The base implementation of `_.isEqual` which supports partial comparisons\n * and tracks traversed objects.\n *\n * @private\n * @param {*} value The value to compare.\n * @param {*} other The other value to compare.\n * @param {boolean} bitmask The bitmask flags.\n *  1 - Unordered comparison\n *  2 - Partial comparison\n * @param {Function} [customizer] The function to customize comparisons.\n * @param {Object} [stack] Tracks traversed `value` and `other` objects.\n * @returns {boolean} Returns `true` if the values are equivalent, else `false`.\n */\nfunction baseIsEqual(value, other, bitmask, customizer, stack) {\n  if (value === other) {\n    return true;\n  }\n  if (value == null || other == null || (!isObjectLike(value) && !isObjectLike(other))) {\n    return value !== value && other !== other;\n  }\n  return baseIsEqualDeep(value, other, bitmask, customizer, baseIsEqual, stack);\n}\n\nexport default baseIsEqual;\n","import Stack from './_Stack.js';\nimport baseIsEqual from './_baseIsEqual.js';\n\n/** Used to compose bitmasks for value comparisons. */\nvar COMPARE_PARTIAL_FLAG = 1,\n    COMPARE_UNORDERED_FLAG = 2;\n\n/**\n * The base implementation of `_.isMatch` without support for iteratee shorthands.\n *\n * @private\n * @param {Object} object The object to inspect.\n * @param {Object} source The object of property values to match.\n * @param {Array} matchData The property names, values, and compare flags to match.\n * @param {Function} [customizer] The function to customize comparisons.\n * @returns {boolean} Returns `true` if `object` is a match, else `false`.\n */\nfunction baseIsMatch(object, source, matchData, customizer) {\n  var index = matchData.length,\n      length = index,\n      noCustomizer = !customizer;\n\n  if (object == null) {\n    return !length;\n  }\n  object = Object(object);\n  while (index--) {\n    var data = matchData[index];\n    if ((noCustomizer && data[2])\n          ? data[1] !== object[data[0]]\n          : !(data[0] in object)\n        ) {\n      return false;\n    }\n  }\n  while (++index < length) {\n    data = matchData[index];\n    var key = data[0],\n        objValue = object[key],\n        srcValue = data[1];\n\n    if (noCustomizer && data[2]) {\n      if (objValue === undefined && !(key in object)) {\n        return false;\n      }\n    } else {\n      var stack = new Stack;\n      if (customizer) {\n        var result = customizer(objValue, srcValue, key, object, source, stack);\n      }\n      if (!(result === undefined\n            ? baseIsEqual(srcValue, objValue, COMPARE_PARTIAL_FLAG | COMPARE_UNORDERED_FLAG, customizer, stack)\n            : result\n          )) {\n        return false;\n      }\n    }\n  }\n  return true;\n}\n\nexport default baseIsMatch;\n","import isObject from './isObject.js';\n\n/**\n * Checks if `value` is suitable for strict equality comparisons, i.e. `===`.\n *\n * @private\n * @param {*} value The value to check.\n * @returns {boolean} Returns `true` if `value` if suitable for strict\n *  equality comparisons, else `false`.\n */\nfunction isStrictComparable(value) {\n  return value === value && !isObject(value);\n}\n\nexport default isStrictComparable;\n","import isStrictComparable from './_isStrictComparable.js';\nimport keys from './keys.js';\n\n/**\n * Gets the property names, values, and compare flags of `object`.\n *\n * @private\n * @param {Object} object The object to query.\n * @returns {Array} Returns the match data of `object`.\n */\nfunction getMatchData(object) {\n  var result = keys(object),\n      length = result.length;\n\n  while (length--) {\n    var key = result[length],\n        value = object[key];\n\n    result[length] = [key, value, isStrictComparable(value)];\n  }\n  return result;\n}\n\nexport default getMatchData;\n","/**\n * A specialized version of `matchesProperty` for source values suitable\n * for strict equality comparisons, i.e. `===`.\n *\n * @private\n * @param {string} key The key of the property to get.\n * @param {*} srcValue The value to match.\n * @returns {Function} Returns the new spec function.\n */\nfunction matchesStrictComparable(key, srcValue) {\n  return function(object) {\n    if (object == null) {\n      return false;\n    }\n    return object[key] === srcValue &&\n      (srcValue !== undefined || (key in Object(object)));\n  };\n}\n\nexport default matchesStrictComparable;\n","import baseIsMatch from './_baseIsMatch.js';\nimport getMatchData from './_getMatchData.js';\nimport matchesStrictComparable from './_matchesStrictComparable.js';\n\n/**\n * The base implementation of `_.matches` which doesn't clone `source`.\n *\n * @private\n * @param {Object} source The object of property values to match.\n * @returns {Function} Returns the new spec function.\n */\nfunction baseMatches(source) {\n  var matchData = getMatchData(source);\n  if (matchData.length == 1 && matchData[0][2]) {\n    return matchesStrictComparable(matchData[0][0], matchData[0][1]);\n  }\n  return function(object) {\n    return object === source || baseIsMatch(object, source, matchData);\n  };\n}\n\nexport default baseMatches;\n","import isArray from './isArray.js';\nimport isSymbol from './isSymbol.js';\n\n/** Used to match property names within property paths. */\nvar reIsDeepProp = /\\.|\\[(?:[^[\\]]*|([\"'])(?:(?!\\1)[^\\\\]|\\\\.)*?\\1)\\]/,\n    reIsPlainProp = /^\\w*$/;\n\n/**\n * Checks if `value` is a property name and not a property path.\n *\n * @private\n * @param {*} value The value to check.\n * @param {Object} [object] The object to query keys on.\n * @returns {boolean} Returns `true` if `value` is a property name, else `false`.\n */\nfunction isKey(value, object) {\n  if (isArray(value)) {\n    return false;\n  }\n  var type = typeof value;\n  if (type == 'number' || type == 'symbol' || type == 'boolean' ||\n      value == null || isSymbol(value)) {\n    return true;\n  }\n  return reIsPlainProp.test(value) || !reIsDeepProp.test(value) ||\n    (object != null && value in Object(object));\n}\n\nexport default isKey;\n","import MapCache from './_MapCache.js';\n\n/** Error message constants. */\nvar FUNC_ERROR_TEXT = 'Expected a function';\n\n/**\n * Creates a function that memoizes the result of `func`. If `resolver` is\n * provided, it determines the cache key for storing the result based on the\n * arguments provided to the memoized function. By default, the first argument\n * provided to the memoized function is used as the map cache key. The `func`\n * is invoked with the `this` binding of the memoized function.\n *\n * **Note:** The cache is exposed as the `cache` property on the memoized\n * function. Its creation may be customized by replacing the `_.memoize.Cache`\n * constructor with one whose instances implement the\n * [`Map`](http://ecma-international.org/ecma-262/7.0/#sec-properties-of-the-map-prototype-object)\n * method interface of `clear`, `delete`, `get`, `has`, and `set`.\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Function\n * @param {Function} func The function to have its output memoized.\n * @param {Function} [resolver] The function to resolve the cache key.\n * @returns {Function} Returns the new memoized function.\n * @example\n *\n * var object = { 'a': 1, 'b': 2 };\n * var other = { 'c': 3, 'd': 4 };\n *\n * var values = _.memoize(_.values);\n * values(object);\n * // => [1, 2]\n *\n * values(other);\n * // => [3, 4]\n *\n * object.a = 2;\n * values(object);\n * // => [1, 2]\n *\n * // Modify the result cache.\n * values.cache.set(object, ['a', 'b']);\n * values(object);\n * // => ['a', 'b']\n *\n * // Replace `_.memoize.Cache`.\n * _.memoize.Cache = WeakMap;\n */\nfunction memoize(func, resolver) {\n  if (typeof func != 'function' || (resolver != null && typeof resolver != 'function')) {\n    throw new TypeError(FUNC_ERROR_TEXT);\n  }\n  var memoized = function() {\n    var args = arguments,\n        key = resolver ? resolver.apply(this, args) : args[0],\n        cache = memoized.cache;\n\n    if (cache.has(key)) {\n      return cache.get(key);\n    }\n    var result = func.apply(this, args);\n    memoized.cache = cache.set(key, result) || cache;\n    return result;\n  };\n  memoized.cache = new (memoize.Cache || MapCache);\n  return memoized;\n}\n\n// Expose `MapCache`.\nmemoize.Cache = MapCache;\n\nexport default memoize;\n","import memoize from './memoize.js';\n\n/** Used as the maximum memoize cache size. */\nvar MAX_MEMOIZE_SIZE = 500;\n\n/**\n * A specialized version of `_.memoize` which clears the memoized function's\n * cache when it exceeds `MAX_MEMOIZE_SIZE`.\n *\n * @private\n * @param {Function} func The function to have its output memoized.\n * @returns {Function} Returns the new memoized function.\n */\nfunction memoizeCapped(func) {\n  var result = memoize(func, function(key) {\n    if (cache.size === MAX_MEMOIZE_SIZE) {\n      cache.clear();\n    }\n    return key;\n  });\n\n  var cache = result.cache;\n  return result;\n}\n\nexport default memoizeCapped;\n","import memoizeCapped from './_memoizeCapped.js';\n\n/** Used to match property names within property paths. */\nvar rePropName = /[^.[\\]]+|\\[(?:(-?\\d+(?:\\.\\d+)?)|([\"'])((?:(?!\\2)[^\\\\]|\\\\.)*?)\\2)\\]|(?=(?:\\.|\\[\\])(?:\\.|\\[\\]|$))/g;\n\n/** Used to match backslashes in property paths. */\nvar reEscapeChar = /\\\\(\\\\)?/g;\n\n/**\n * Converts `string` to a property path array.\n *\n * @private\n * @param {string} string The string to convert.\n * @returns {Array} Returns the property path array.\n */\nvar stringToPath = memoizeCapped(function(string) {\n  var result = [];\n  if (string.charCodeAt(0) === 46 /* . */) {\n    result.push('');\n  }\n  string.replace(rePropName, function(match, number, quote, subString) {\n    result.push(quote ? subString.replace(reEscapeChar, '$1') : (number || match));\n  });\n  return result;\n});\n\nexport default stringToPath;\n","/**\n * A specialized version of `_.map` for arrays without support for iteratee\n * shorthands.\n *\n * @private\n * @param {Array} [array] The array to iterate over.\n * @param {Function} iteratee The function invoked per iteration.\n * @returns {Array} Returns the new mapped array.\n */\nfunction arrayMap(array, iteratee) {\n  var index = -1,\n      length = array == null ? 0 : array.length,\n      result = Array(length);\n\n  while (++index < length) {\n    result[index] = iteratee(array[index], index, array);\n  }\n  return result;\n}\n\nexport default arrayMap;\n","import Symbol from './_Symbol.js';\nimport arrayMap from './_arrayMap.js';\nimport isArray from './isArray.js';\nimport isSymbol from './isSymbol.js';\n\n/** Used as references for various `Number` constants. */\nvar INFINITY = 1 / 0;\n\n/** Used to convert symbols to primitives and strings. */\nvar symbolProto = Symbol ? Symbol.prototype : undefined,\n    symbolToString = symbolProto ? symbolProto.toString : undefined;\n\n/**\n * The base implementation of `_.toString` which doesn't convert nullish\n * values to empty strings.\n *\n * @private\n * @param {*} value The value to process.\n * @returns {string} Returns the string.\n */\nfunction baseToString(value) {\n  // Exit early for strings to avoid a performance hit in some environments.\n  if (typeof value == 'string') {\n    return value;\n  }\n  if (isArray(value)) {\n    // Recursively convert values (susceptible to call stack limits).\n    return arrayMap(value, baseToString) + '';\n  }\n  if (isSymbol(value)) {\n    return symbolToString ? symbolToString.call(value) : '';\n  }\n  var result = (value + '');\n  return (result == '0' && (1 / value) == -INFINITY) ? '-0' : result;\n}\n\nexport default baseToString;\n","import baseToString from './_baseToString.js';\n\n/**\n * Converts `value` to a string. An empty string is returned for `null`\n * and `undefined` values. The sign of `-0` is preserved.\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Lang\n * @param {*} value The value to convert.\n * @returns {string} Returns the converted string.\n * @example\n *\n * _.toString(null);\n * // => ''\n *\n * _.toString(-0);\n * // => '-0'\n *\n * _.toString([1, 2, 3]);\n * // => '1,2,3'\n */\nfunction toString(value) {\n  return value == null ? '' : baseToString(value);\n}\n\nexport default toString;\n","import isArray from './isArray.js';\nimport isKey from './_isKey.js';\nimport stringToPath from './_stringToPath.js';\nimport toString from './toString.js';\n\n/**\n * Casts `value` to a path array if it's not one.\n *\n * @private\n * @param {*} value The value to inspect.\n * @param {Object} [object] The object to query keys on.\n * @returns {Array} Returns the cast property path array.\n */\nfunction castPath(value, object) {\n  if (isArray(value)) {\n    return value;\n  }\n  return isKey(value, object) ? [value] : stringToPath(toString(value));\n}\n\nexport default castPath;\n","import isSymbol from './isSymbol.js';\n\n/** Used as references for various `Number` constants. */\nvar INFINITY = 1 / 0;\n\n/**\n * Converts `value` to a string key if it's not a string or symbol.\n *\n * @private\n * @param {*} value The value to inspect.\n * @returns {string|symbol} Returns the key.\n */\nfunction toKey(value) {\n  if (typeof value == 'string' || isSymbol(value)) {\n    return value;\n  }\n  var result = (value + '');\n  return (result == '0' && (1 / value) == -INFINITY) ? '-0' : result;\n}\n\nexport default toKey;\n","import castPath from './_castPath.js';\nimport toKey from './_toKey.js';\n\n/**\n * The base implementation of `_.get` without support for default values.\n *\n * @private\n * @param {Object} object The object to query.\n * @param {Array|string} path The path of the property to get.\n * @returns {*} Returns the resolved value.\n */\nfunction baseGet(object, path) {\n  path = castPath(path, object);\n\n  var index = 0,\n      length = path.length;\n\n  while (object != null && index < length) {\n    object = object[toKey(path[index++])];\n  }\n  return (index && index == length) ? object : undefined;\n}\n\nexport default baseGet;\n","import baseGet from './_baseGet.js';\n\n/**\n * Gets the value at `path` of `object`. If the resolved value is\n * `undefined`, the `defaultValue` is returned in its place.\n *\n * @static\n * @memberOf _\n * @since 3.7.0\n * @category Object\n * @param {Object} object The object to query.\n * @param {Array|string} path The path of the property to get.\n * @param {*} [defaultValue] The value returned for `undefined` resolved values.\n * @returns {*} Returns the resolved value.\n * @example\n *\n * var object = { 'a': [{ 'b': { 'c': 3 } }] };\n *\n * _.get(object, 'a[0].b.c');\n * // => 3\n *\n * _.get(object, ['a', '0', 'b', 'c']);\n * // => 3\n *\n * _.get(object, 'a.b.c', 'default');\n * // => 'default'\n */\nfunction get(object, path, defaultValue) {\n  var result = object == null ? undefined : baseGet(object, path);\n  return result === undefined ? defaultValue : result;\n}\n\nexport default get;\n","/**\n * The base implementation of `_.hasIn` without support for deep paths.\n *\n * @private\n * @param {Object} [object] The object to query.\n * @param {Array|string} key The key to check.\n * @returns {boolean} Returns `true` if `key` exists, else `false`.\n */\nfunction baseHasIn(object, key) {\n  return object != null && key in Object(object);\n}\n\nexport default baseHasIn;\n","import castPath from './_castPath.js';\nimport isArguments from './isArguments.js';\nimport isArray from './isArray.js';\nimport isIndex from './_isIndex.js';\nimport isLength from './isLength.js';\nimport toKey from './_toKey.js';\n\n/**\n * Checks if `path` exists on `object`.\n *\n * @private\n * @param {Object} object The object to query.\n * @param {Array|string} path The path to check.\n * @param {Function} hasFunc The function to check properties.\n * @returns {boolean} Returns `true` if `path` exists, else `false`.\n */\nfunction hasPath(object, path, hasFunc) {\n  path = castPath(path, object);\n\n  var index = -1,\n      length = path.length,\n      result = false;\n\n  while (++index < length) {\n    var key = toKey(path[index]);\n    if (!(result = object != null && hasFunc(object, key))) {\n      break;\n    }\n    object = object[key];\n  }\n  if (result || ++index != length) {\n    return result;\n  }\n  length = object == null ? 0 : object.length;\n  return !!length && isLength(length) && isIndex(key, length) &&\n    (isArray(object) || isArguments(object));\n}\n\nexport default hasPath;\n","import baseHasIn from './_baseHasIn.js';\nimport hasPath from './_hasPath.js';\n\n/**\n * Checks if `path` is a direct or inherited property of `object`.\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Object\n * @param {Object} object The object to query.\n * @param {Array|string} path The path to check.\n * @returns {boolean} Returns `true` if `path` exists, else `false`.\n * @example\n *\n * var object = _.create({ 'a': _.create({ 'b': 2 }) });\n *\n * _.hasIn(object, 'a');\n * // => true\n *\n * _.hasIn(object, 'a.b');\n * // => true\n *\n * _.hasIn(object, ['a', 'b']);\n * // => true\n *\n * _.hasIn(object, 'b');\n * // => false\n */\nfunction hasIn(object, path) {\n  return object != null && hasPath(object, path, baseHasIn);\n}\n\nexport default hasIn;\n","import baseIsEqual from './_baseIsEqual.js';\nimport get from './get.js';\nimport hasIn from './hasIn.js';\nimport isKey from './_isKey.js';\nimport isStrictComparable from './_isStrictComparable.js';\nimport matchesStrictComparable from './_matchesStrictComparable.js';\nimport toKey from './_toKey.js';\n\n/** Used to compose bitmasks for value comparisons. */\nvar COMPARE_PARTIAL_FLAG = 1,\n    COMPARE_UNORDERED_FLAG = 2;\n\n/**\n * The base implementation of `_.matchesProperty` which doesn't clone `srcValue`.\n *\n * @private\n * @param {string} path The path of the property to get.\n * @param {*} srcValue The value to match.\n * @returns {Function} Returns the new spec function.\n */\nfunction baseMatchesProperty(path, srcValue) {\n  if (isKey(path) && isStrictComparable(srcValue)) {\n    return matchesStrictComparable(toKey(path), srcValue);\n  }\n  return function(object) {\n    var objValue = get(object, path);\n    return (objValue === undefined && objValue === srcValue)\n      ? hasIn(object, path)\n      : baseIsEqual(srcValue, objValue, COMPARE_PARTIAL_FLAG | COMPARE_UNORDERED_FLAG);\n  };\n}\n\nexport default baseMatchesProperty;\n","/**\n * This method returns the first argument it receives.\n *\n * @static\n * @since 0.1.0\n * @memberOf _\n * @category Util\n * @param {*} value Any value.\n * @returns {*} Returns `value`.\n * @example\n *\n * var object = { 'a': 1 };\n *\n * console.log(_.identity(object) === object);\n * // => true\n */\nfunction identity(value) {\n  return value;\n}\n\nexport default identity;\n","/**\n * The base implementation of `_.property` without support for deep paths.\n *\n * @private\n * @param {string} key The key of the property to get.\n * @returns {Function} Returns the new accessor function.\n */\nfunction baseProperty(key) {\n  return function(object) {\n    return object == null ? undefined : object[key];\n  };\n}\n\nexport default baseProperty;\n","import baseGet from './_baseGet.js';\n\n/**\n * A specialized version of `baseProperty` which supports deep paths.\n *\n * @private\n * @param {Array|string} path The path of the property to get.\n * @returns {Function} Returns the new accessor function.\n */\nfunction basePropertyDeep(path) {\n  return function(object) {\n    return baseGet(object, path);\n  };\n}\n\nexport default basePropertyDeep;\n","import baseProperty from './_baseProperty.js';\nimport basePropertyDeep from './_basePropertyDeep.js';\nimport isKey from './_isKey.js';\nimport toKey from './_toKey.js';\n\n/**\n * Creates a function that returns the value at `path` of a given object.\n *\n * @static\n * @memberOf _\n * @since 2.4.0\n * @category Util\n * @param {Array|string} path The path of the property to get.\n * @returns {Function} Returns the new accessor function.\n * @example\n *\n * var objects = [\n *   { 'a': { 'b': 2 } },\n *   { 'a': { 'b': 1 } }\n * ];\n *\n * _.map(objects, _.property('a.b'));\n * // => [2, 1]\n *\n * _.map(_.sortBy(objects, _.property(['a', 'b'])), 'a.b');\n * // => [1, 2]\n */\nfunction property(path) {\n  return isKey(path) ? baseProperty(toKey(path)) : basePropertyDeep(path);\n}\n\nexport default property;\n","import baseMatches from './_baseMatches.js';\nimport baseMatchesProperty from './_baseMatchesProperty.js';\nimport identity from './identity.js';\nimport isArray from './isArray.js';\nimport property from './property.js';\n\n/**\n * The base implementation of `_.iteratee`.\n *\n * @private\n * @param {*} [value=_.identity] The value to convert to an iteratee.\n * @returns {Function} Returns the iteratee.\n */\nfunction baseIteratee(value) {\n  // Don't store the `typeof` result in a variable to avoid a JIT bug in Safari 9.\n  // See https://bugs.webkit.org/show_bug.cgi?id=156034 for more details.\n  if (typeof value == 'function') {\n    return value;\n  }\n  if (value == null) {\n    return identity;\n  }\n  if (typeof value == 'object') {\n    return isArray(value)\n      ? baseMatchesProperty(value[0], value[1])\n      : baseMatches(value);\n  }\n  return property(value);\n}\n\nexport default baseIteratee;\n","import arrayAggregator from './_arrayAggregator.js';\nimport baseAggregator from './_baseAggregator.js';\nimport baseIteratee from './_baseIteratee.js';\nimport isArray from './isArray.js';\n\n/**\n * Creates a function like `_.groupBy`.\n *\n * @private\n * @param {Function} setter The function to set accumulator values.\n * @param {Function} [initializer] The accumulator object initializer.\n * @returns {Function} Returns the new aggregator function.\n */\nfunction createAggregator(setter, initializer) {\n  return function(collection, iteratee) {\n    var func = isArray(collection) ? arrayAggregator : baseAggregator,\n        accumulator = initializer ? initializer() : {};\n\n    return func(collection, setter, baseIteratee(iteratee, 2), accumulator);\n  };\n}\n\nexport default createAggregator;\n","import baseAssignValue from './_baseAssignValue.js';\nimport createAggregator from './_createAggregator.js';\n\n/**\n * Creates an object composed of keys generated from the results of running\n * each element of `collection` thru `iteratee`. The corresponding value of\n * each key is the last element responsible for generating the key. The\n * iteratee is invoked with one argument: (value).\n *\n * @static\n * @memberOf _\n * @since 4.0.0\n * @category Collection\n * @param {Array|Object} collection The collection to iterate over.\n * @param {Function} [iteratee=_.identity] The iteratee to transform keys.\n * @returns {Object} Returns the composed aggregate object.\n * @example\n *\n * var array = [\n *   { 'dir': 'left', 'code': 97 },\n *   { 'dir': 'right', 'code': 100 }\n * ];\n *\n * _.keyBy(array, function(o) {\n *   return String.fromCharCode(o.code);\n * });\n * // => { 'a': { 'dir': 'left', 'code': 97 }, 'd': { 'dir': 'right', 'code': 100 } }\n *\n * _.keyBy(array, 'dir');\n * // => { 'left': { 'dir': 'left', 'code': 97 }, 'right': { 'dir': 'right', 'code': 100 } }\n */\nvar keyBy = createAggregator(function(result, value, key) {\n  baseAssignValue(result, key, value);\n});\n\nexport default keyBy;\n","import toString from './toString.js';\n\n/** Used to generate unique IDs. */\nvar idCounter = 0;\n\n/**\n * Generates a unique ID. If `prefix` is given, the ID is appended to it.\n *\n * @static\n * @since 0.1.0\n * @memberOf _\n * @category Util\n * @param {string} [prefix=''] The value to prefix the ID with.\n * @returns {string} Returns the unique ID.\n * @example\n *\n * _.uniqueId('contact_');\n * // => 'contact_104'\n *\n * _.uniqueId();\n * // => '105'\n */\nfunction uniqueId(prefix) {\n  var id = ++idCounter;\n  return toString(prefix) + id;\n}\n\nexport default uniqueId;\n","import { tryParseJson } from \"@wandelbots/nova-js\"\nimport type {\n  CoordinateSystem,\n  MotionGroupDescription,\n  RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy\"\nimport uniqueId from \"lodash-es/uniqueId\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n  JoggerConnection,\n  JoggerOrientation,\n  Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n  { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n  { id: \"1\", mm: 1, degrees: 0.5 },\n  { id: \"5\", mm: 5, degrees: 2.5 },\n  { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n  { id: \"continuous\" },\n  ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n  direction: JoggingDirection\n  axis: JoggingAxis\n}\n\nexport class JoggingStore {\n  selectedTabId: \"cartesian\" | \"joint\" | \"debug\" = \"cartesian\"\n\n  /**\n   * State of the jogging panel. Starts as \"inactive\"\n   */\n  activationState: \"inactive\" | \"loading\" | \"active\" = \"inactive\"\n\n  /**\n   * If an error occurred connecting to the jogging websocket\n   */\n  activationError: unknown | null = null\n\n  /** To avoid activation race conditions */\n  activationCounter: number = 0\n\n  /** Locks to prevent UI interactions during certain operations */\n  locks = new Set<string>()\n\n  /** Block jogging UI interactions when connection is taken by another jogger */\n  blocked: boolean = false\n\n  /**\n   * Id of selected coordinate system from among those defined on the API side\n   */\n  selectedCoordSystemId: string = \"world\"\n\n  /** Id of selected tool center point from among the options available on the robot */\n  selectedTcpId: string = \"\"\n\n  /**\n   * Whether the user is jogging in the coordinate system or tool orientation.\n   * When in tool orientation, the robot moves in a direction relative to the\n   * attached tool rotation.\n   */\n  selectedOrientation: OrientationId = \"coordsys\"\n\n  /**\n   * Id of selected increment amount for jogging. Options are defined by robot pad.\n   * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n   * each time the button is pressed, for extra precision\n   */\n  selectedIncrementId: IncrementOptionId = \"continuous\"\n\n  /**\n   * When on the cartesian tab, jogging can be either translating or rotating\n   * around the TCP.\n   */\n  selectedCartesianMotionType: \"translate\" | \"rotate\" = \"translate\"\n\n  /**\n   * If the jogger is busy running an incremental jog, this will be set\n   * with the information about the motion\n   */\n  incrementJogInProgress: IncrementJogInProgress | null = null\n\n  /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n  translationVelocityMmPerSec: number = 10\n  /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n  rotationVelocityDegPerSec: number = 1\n\n  /** Minimum translation velocity user can choose on the velocity slider in °/s */\n  minTranslationVelocityMmPerSec: number = 5\n  /** Maximum translation velocity user can choose on the velocity slider in °/s */\n  maxTranslationVelocityMmPerSec: number = 250\n\n  /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n  minRotationVelocityDegPerSec: number = 1\n  /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n  maxRotationVelocityDegPerSec: number = 60\n\n  /** Whether to show the coordinate system select dropdown in the UI */\n  showCoordSystemSelect: boolean = false\n\n  /** Whether to show the TCP select dropdown in the UI */\n  showTcpSelect: boolean = true\n\n  /** Whether to show the orientation select dropdown in the UI */\n  showOrientationSelect: boolean = true\n\n  /** Whether to show the increment select dropdown in the UI */\n  showIncrementSelect: boolean = true\n\n  /** Whether to show icons in the jogging tabs */\n  showTabIcons: boolean = false\n\n  /** Whether to show the label to the right of the velocity slider */\n  showVelocitySliderLabel: boolean = true\n\n  /** Whether to show the legend before the slider */\n  showVelocityLegend: boolean = false\n\n  /** Whether to show the legend before the joints */\n  showJointsLegend: boolean = false\n\n  disposers: IReactionDisposer[] = []\n\n  /**\n   * Load a jogging store with the relevant data it needs\n   * from the backend\n   */\n  static async loadFor(jogger: JoggerConnection) {\n    const { nova } = jogger\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const [coordinatesystems, description] = await Promise.all([\n      // Fetch coord systems so user can select between them\n      nova.api.controller.listCoordinateSystems(\n        jogger.motionStream.controllerId,\n        \"ROTATION_VECTOR\",\n      ),\n\n      // Same for TCPs and other info from description\n      nova.api.motionGroup.getMotionGroupDescription(\n        jogger.motionStream.controllerId,\n        jogger.motionGroupId,\n      ),\n    ])\n\n    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n      id,\n      readable_name: tcp.name,\n      position: tcp.pose.position as Vector3Simple,\n      orientation: tcp.pose.orientation as Vector3Simple,\n    }))\n\n    return new JoggingStore(jogger, coordinatesystems || [], description, tcps)\n  }\n\n  constructor(\n    readonly jogger: JoggerConnection,\n    readonly coordSystems: CoordinateSystem[],\n    readonly motionGroupDescription: MotionGroupDescription,\n    readonly tcps: RobotTcp[],\n  ) {\n    // TODO workaround for default coord system on backend having a canonical id\n    // of empty string. Can remove when fixed on API side\n    for (const cs of coordSystems) {\n      if (cs.coordinate_system === \"\") {\n        cs.coordinate_system = \"world\"\n        break\n      }\n    }\n    this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n    this.selectedTcpId = tcps[0]?.id || \"\"\n\n    // Make all properties observable and actions auto-bound\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    // Register blocked watching\n    this.jogger.onBlocked = () => {\n      this.block()\n    }\n\n    // Load user settings from local storage if available\n    this.loadFromLocalStorage()\n\n    // Automatically save user settings to local storage when save changes\n    this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n    // Assign joggingStore to window\n    ;(window as any).joggingStore = this\n  }\n\n  dispose() {\n    for (const dispose of this.disposers) {\n      dispose()\n    }\n    this.jogger.dispose()\n  }\n\n  get coordSystemCountByName() {\n    return countBy(this.coordSystems, (cs) => cs.name)\n  }\n\n  async deactivate() {\n    if (this.jogger.mode === \"jogging\") {\n      return this.jogger.stop()\n    }\n  }\n\n  /** Activate the jogger with current settings */\n  async activate() {\n    if (this.currentTab.id === \"cartesian\") {\n      if (\n        this.jogger.tcp !== this.selectedTcpId ||\n        this.jogger.orientation !== this.selectedOrientation\n      ) {\n        this.jogger.setOptions({\n          tcp: this.selectedTcpId,\n          orientation: this.selectedOrientation as JoggerOrientation,\n        })\n      }\n\n      if (this.activeDiscreteIncrement) {\n        this.jogger.setJoggingMode(\"trajectory\")\n      } else {\n        this.jogger.setJoggingMode(\"jogging\")\n      }\n    } else {\n      this.jogger.setJoggingMode(\"jogging\")\n    }\n\n    return this.jogger\n  }\n\n  loadFromLocalStorage() {\n    const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n    if (!save) return\n\n    if (this.tabsById[save.selectedTabId]) {\n      this.selectedTabId = save.selectedTabId\n    }\n\n    if (this.coordSystemsById[save.selectedCoordSystemId]) {\n      this.selectedCoordSystemId = save.selectedCoordSystemId\n    }\n\n    if (this.tcpsById[save.selectedTcpId]) {\n      this.selectedTcpId = save.selectedTcpId\n    }\n\n    if (this.incrementOptionsById[save.selectedIncrementId]) {\n      this.selectedIncrementId = save.selectedIncrementId\n    }\n\n    if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n      this.selectedCartesianMotionType = save.selectedCartesianMotionType\n    }\n\n    if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n      this.selectedOrientation = save.selectedOrientation\n    }\n  }\n\n  saveToLocalStorage() {\n    localStorage.setItem(\n      \"joggingToolStore\",\n      JSON.stringify(this.localStorageSave),\n    )\n  }\n\n  get isLocked() {\n    return this.locks.size > 0\n  }\n\n  get localStorageSave() {\n    return {\n      selectedTabId: this.selectedTabId,\n      selectedCoordSystemId: this.selectedCoordSystemId,\n      selectedTcpId: this.selectedTcpId,\n      selectedOrientation: this.selectedOrientation,\n      selectedIncrementId: this.selectedIncrementId,\n      selectedCartesianMotionType: this.selectedCartesianMotionType,\n    }\n  }\n\n  get tabs() {\n    return [\n      {\n        id: \"cartesian\",\n        label: \"cartesian\",\n      },\n      {\n        id: \"joint\",\n        label: \"joint\",\n      },\n    ] as const\n  }\n\n  get incrementOptions() {\n    return incrementOptions\n  }\n\n  get discreteIncrementOptions() {\n    return discreteIncrementOptions\n  }\n\n  get incrementOptionsById() {\n    return keyBy(this.incrementOptions, (o) => o.id)\n  }\n\n  get tabsById() {\n    return keyBy(this.tabs, (t) => t.id)\n  }\n\n  get currentTab() {\n    return this.tabsById[this.selectedTabId] || this.tabs[0]!\n  }\n\n  get tabIndex() {\n    return this.tabs.indexOf(this.currentTab)\n  }\n\n  get coordSystemsById() {\n    return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n  }\n\n  get selectedCoordSystem() {\n    return this.coordSystemsById[this.selectedCoordSystemId]\n  }\n\n  /**\n   * The id of the coordinate system to use for jogging.\n   * If in tool orientation, this is set to \"tool\", not the\n   * selected coordinate system.\n   */\n  get activeCoordSystemId() {\n    return this.selectedOrientation === \"tool\"\n      ? \"tool\"\n      : this.selectedCoordSystemId\n  }\n\n  get tcpsById() {\n    return keyBy(this.tcps, (tcp) => tcp.id)\n  }\n\n  get activeDiscreteIncrement() {\n    return this.selectedOrientation === \"tool\"\n      ? undefined\n      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n  }\n\n  /** The selected rotation velocity converted to radians per second */\n  get rotationVelocityRadsPerSec() {\n    return (this.rotationVelocityDegPerSec * Math.PI) / 180\n  }\n\n  /** Selected velocity in mm/sec or deg/sec */\n  get velocityInDisplayUnits() {\n    return this.currentMotionType === \"translate\"\n      ? this.translationVelocityMmPerSec\n      : this.rotationVelocityDegPerSec\n  }\n\n  /** Minimum selectable velocity in mm/sec or deg/sec */\n  get minVelocityInDisplayUnits() {\n    return this.currentMotionType === \"translate\"\n      ? this.minTranslationVelocityMmPerSec\n      : this.minRotationVelocityDegPerSec\n  }\n\n  /** Maximum selectable velocity in mm/sec or deg/sec */\n  get maxVelocityInDisplayUnits() {\n    return this.currentMotionType === \"translate\"\n      ? this.maxTranslationVelocityMmPerSec\n      : this.maxRotationVelocityDegPerSec\n  }\n\n  /**\n   * For velocity unit purposes, joint and cartesian rotation\n   * are treated as the same type of motion\n   */\n  get currentMotionType() {\n    if (\n      this.selectedTabId === \"cartesian\" &&\n      this.selectedCartesianMotionType === \"translate\"\n    ) {\n      return \"translate\"\n    } else {\n      return \"rotate\"\n    }\n  }\n\n  onTabChange(_event: React.SyntheticEvent, newValue: number) {\n    const tab = this.tabs[newValue] || this.tabs[0]!\n    this.selectedTabId = tab.id\n  }\n\n  setSelectedCoordSystemId(id: string) {\n    this.selectedCoordSystemId = id\n  }\n\n  setSelectedTcpId(id: string) {\n    this.selectedTcpId = id\n  }\n\n  setSelectedOrientation(orientation: OrientationId) {\n    this.selectedOrientation = orientation\n  }\n\n  setSelectedIncrementId(id: IncrementOptionId) {\n    this.selectedIncrementId = id\n  }\n\n  setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n    this.incrementJogInProgress = incrementJog\n  }\n\n  setVelocityFromSlider(velocity: number) {\n    if (this.currentMotionType === \"translate\") {\n      this.translationVelocityMmPerSec = velocity\n    } else {\n      this.rotationVelocityDegPerSec = velocity\n    }\n  }\n\n  setSelectedCartesianMotionType(type: \"translate\" | \"rotate\") {\n    this.selectedCartesianMotionType = type\n  }\n\n  lock(id: string) {\n    this.locks.add(id)\n  }\n\n  unlock(id: string) {\n    this.locks.delete(id)\n  }\n\n  block() {\n    this.blocked = true\n  }\n\n  unblock() {\n    this.blocked = false\n    if (this.jogger.mode === \"jogging\") {\n      this.jogger.initializeJoggingWebsocket()\n    }\n  }\n\n  /** Lock the UI until the given async callback resolves */\n  async withMotionLock(fn: () => Promise<void>) {\n    const lockId = uniqueId()\n    this.lock(lockId)\n\n    try {\n      return await fn()\n    } finally {\n      this.unlock(lockId)\n    }\n  }\n}\n","import { Alert, AlertTitle, Backdrop, Button, Stack } from \"@mui/material\"\nimport { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport { type JoggingStore } from \"./JoggingStore\"\n\nexport const JoggingBlocked = observer(({ store }: { store: JoggingStore }) => {\n  const { t } = useTranslation()\n\n  return (\n    <Backdrop\n      open={true}\n      sx={{\n        position: \"absolute\",\n        zIndex: (theme) => theme.zIndex.drawer + 1,\n        color: \"#fff\",\n        background: \"rgba(15, 15, 15, 0.88)\",\n        justifyContent: \"flex-start\",\n        alignItems: \"flex-start\",\n      }}\n    >\n      <Stack sx={{ m: 2, width: \"100%\" }}>\n        <Alert severity=\"error\" sx={{ mb: 2 }}>\n          <AlertTitle>{t(\"Jogging.Blocked.ti\")}</AlertTitle>\n          {t(\"Jogging.Blocked.lb\")}\n        </Alert>\n\n        <Button\n          variant=\"contained\"\n          color=\"secondary\"\n          onClick={() => store.unblock()}\n        >\n          {t(\"Jogging.Blocked.Reenable.bt\")}\n        </Button>\n      </Stack>\n    </Backdrop>\n  )\n})\n","import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgAxisX = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", width: 19, height: 10, fill: \"none\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { fill: \"#fff\", fillRule: \"evenodd\", d: \"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0\", clipRule: \"evenodd\" }));\nconst ForwardRef = forwardRef(SvgAxisX);\nexport default ForwardRef;\n","import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgAxisY = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", width: 19, height: 10, fill: \"none\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { fill: \"#fff\", fillRule: \"evenodd\", d: \"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0\", clipRule: \"evenodd\" }));\nconst ForwardRef = forwardRef(SvgAxisY);\nexport default ForwardRef;\n","import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgAxisZ = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { xmlns: \"http://www.w3.org/2000/svg\", width: 10, height: 19, fill: \"none\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { fill: \"#fff\", fillRule: \"evenodd\", d: \"M9.522 14.811A.899.899 0 1 0 8.25 13.54L6.19 15.601V3.16L8.25 5.221A.9.9 0 0 0 9.522 3.95L5.926.354a.9.9 0 0 0-1.272 0L1.058 3.95a.9.9 0 1 0 1.271 1.271L4.391 3.16v12.442L2.329 13.54a.899.899 0 1 0-1.271 1.271l3.596 3.597a.9.9 0 0 0 1.272 0z\", clipRule: \"evenodd\" }));\nconst ForwardRef = forwardRef(SvgAxisZ);\nexport default ForwardRef;\n","import * as React from \"react\";\nimport { forwardRef } from \"react\";\nconst SvgRotation = ({\n  title,\n  titleId,\n  ...props\n}, ref) => /* @__PURE__ */ React.createElement(\"svg\", { width: 16, height: 16, viewBox: \"0 0 16 16\", fill: \"none\", xmlns: \"http://www.w3.org/2000/svg\", ref, \"aria-labelledby\": titleId, ...props }, title ? /* @__PURE__ */ React.createElement(\"title\", { id: titleId }, title) : null, /* @__PURE__ */ React.createElement(\"path\", { d: \"M8 16C5.76667 16 3.875 15.225 2.325 13.675C0.775 12.125 0 10.2333 0 8C0 5.76667 0.775 3.875 2.325 2.325C3.875 0.775 5.76667 0 8 0C9.15 0 10.25 0.2375 11.3 0.7125C12.35 1.1875 13.25 1.86667 14 2.75V0H16V7H9V5H13.2C12.6667 4.06667 11.9375 3.33333 11.0125 2.8C10.0875 2.26667 9.08333 2 8 2C6.33333 2 4.91667 2.58333 3.75 3.75C2.58333 4.91667 2 6.33333 2 8C2 9.66667 2.58333 11.0833 3.75 12.25C4.91667 13.4167 6.33333 14 8 14C9.28333 14 10.4417 13.6333 11.475 12.9C11.0583 14.1 12.5083 12.1667 11.475 12.9L12.9 14.325C11.4667 15.4417 9.83333 16 8 16Z\", fill: \"white\" }));\nconst ForwardRef = forwardRef(SvgRotation);\nexport default ForwardRef;\n","import baseIsEqual from './_baseIsEqual.js';\n\n/**\n * Performs a deep comparison between two values to determine if they are\n * equivalent.\n *\n * **Note:** This method supports comparing arrays, array buffers, booleans,\n * date objects, error objects, maps, numbers, `Object` objects, regexes,\n * sets, strings, symbols, and typed arrays. `Object` objects are compared\n * by their own, not inherited, enumerable properties. Functions and DOM\n * nodes are compared by strict equality, i.e. `===`.\n *\n * @static\n * @memberOf _\n * @since 0.1.0\n * @category Lang\n * @param {*} value The value to compare.\n * @param {*} other The other value to compare.\n * @returns {boolean} Returns `true` if the values are equivalent, else `false`.\n * @example\n *\n * var object = { 'a': 1 };\n * var other = { 'a': 1 };\n *\n * _.isEqual(object, other);\n * // => true\n *\n * object === other;\n * // => false\n */\nfunction isEqual(value, other) {\n  return baseIsEqual(value, other);\n}\n\nexport default isEqual;\n","import { Typography } from \"@mui/material\"\nimport isEqual from \"lodash-es/isEqual\"\nimport { useRef, useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { useAnimationFrame } from \"../utils/hooks\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\n/**\n * Monitors the active robot motion state and displays a message if\n * any joint limits are reached.\n */\nexport const JoggingJointLimitDetector = ({\n  store,\n}: {\n  store: JoggingStore\n}) => {\n  const { t } = useTranslation()\n\n  const [jointLimitsReached, setJointLimitsReached] = useState(\n    store.jogger.motionStream.rapidlyChangingMotionState\n      .joint_limit_reached.limit_reached,\n  )\n  const jointLimitsReachedRef = useRef(jointLimitsReached)\n\n  useAnimationFrame(() => {\n    const newLimitsReached =\n      store.jogger.motionStream.rapidlyChangingMotionState\n        .joint_limit_reached.limit_reached\n\n    if (!isEqual(jointLimitsReachedRef.current, newLimitsReached)) {\n      jointLimitsReachedRef.current = newLimitsReached\n      setJointLimitsReached(newLimitsReached)\n    }\n  })\n\n  const jointLimitReachedIndices: number[] = []\n  for (const [index, limitReached] of jointLimitsReached.entries()) {\n    if (limitReached) jointLimitReachedIndices.push(index)\n  }\n\n  return (\n    <Typography\n      color=\"error\"\n      sx={{\n        margin: \"0.5rem 1rem\",\n        textAlign: \"center\",\n        minHeight: \"1.5rem\",\n        visibility: jointLimitReachedIndices.length ? \"visible\" : \"hidden\",\n      }}\n    >\n      {t(\"Jogging.JointLimitsReached.lb\", {\n        jointNumbers: jointLimitReachedIndices.map((i) => i + 1).join(\", \"),\n      })}\n    </Typography>\n  )\n}\n","import {\n  FormControl,\n  InputLabel,\n  Select,\n  styled,\n  type SelectProps,\n} from \"@mui/material\"\n\nconst AdornedFormControl = styled(FormControl)(({ theme }) => ({\n  \"&.MuiFormControl-root\": {\n    \".MuiSelect-select\": {\n      paddingTop: \"20px\",\n      paddingLeft: \"12px\",\n    },\n    label: {\n      pointerEvents: \"none\",\n      fontSize: \"16px\",\n    },\n    \".MuiInputLabel-root\": {\n      \"&.Mui-focused\": {\n        color: theme.palette.text.primary,\n      },\n    },\n  },\n}))\n\ntype AdornedSelectProps = {\n  labelValue: string\n  labelId: string\n} & SelectProps\n\nexport default function AdornedSelect({\n  labelValue,\n  ...props\n}: AdornedSelectProps) {\n  return (\n    <AdornedFormControl fullWidth variant=\"filled\">\n      <InputLabel id={props.labelId}>{labelValue}</InputLabel>\n      <Select {...props} />\n    </AdornedFormControl>\n  )\n}\n","import { Box, MenuItem } from \"@mui/material\"\nimport { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport AdornedSelect from \"../experimental/utils/AdornedSelect\"\nimport {\n  ORIENTATION_IDS,\n  type IncrementOptionId,\n  type JoggingStore,\n  type OrientationId,\n} from \"./JoggingStore\"\n\nexport const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {\n  const { t } = useTranslation()\n  const joggingOptions: React.ReactElement[] = []\n\n  function translateOrientation(orientation: OrientationId): string {\n    switch (orientation) {\n      case \"coordsys\":\n        return t(\"Jogging.Orientation.coordsys\")\n      case \"tool\":\n        return t(\"Jogging.Orientation.tool\")\n      default:\n        return orientation\n    }\n  }\n\n  if (store.showCoordSystemSelect) {\n    joggingOptions.push(\n      <AdornedSelect\n        key=\"coord\"\n        labelId=\"jogging-coord-select\"\n        labelValue={t(\"Jogging.CoordinateSystem.hlb\")}\n        value={store.selectedCoordSystemId}\n        size=\"small\"\n        variant=\"filled\"\n        displayEmpty={true}\n        onChange={(event) =>\n          store.setSelectedCoordSystemId(event.target.value as string)\n        }\n        disabled={store.isLocked}\n      >\n        {store.coordSystems.map((cs) => (\n          <MenuItem key={cs.coordinate_system} value={cs.coordinate_system}>\n            {cs.name && store.coordSystemCountByName[cs.name] > 1\n              ? `${cs.name} / ${cs.coordinate_system}`\n              : cs.name || cs.coordinate_system}\n          </MenuItem>\n        ))}\n      </AdornedSelect>,\n    )\n  }\n\n  if (store.showTcpSelect) {\n    joggingOptions.push(\n      <AdornedSelect\n        key=\"tcp\"\n        labelId=\"jogging-tcp-select\"\n        labelValue=\"TCP\"\n        value={store.selectedTcpId}\n        size=\"small\"\n        variant=\"filled\"\n        onChange={(event) =>\n          store.setSelectedTcpId(event.target.value as string)\n        }\n        disabled={store.isLocked}\n      >\n        {store.tcps.map((tcp) => (\n          <MenuItem key={tcp.id} value={tcp.id}>\n            {tcp.id}\n          </MenuItem>\n        ))}\n      </AdornedSelect>,\n    )\n  }\n\n  if (store.showOrientationSelect) {\n    joggingOptions.push(\n      <AdornedSelect\n        key=\"orientation\"\n        labelValue={t(\"Jogging.Cartesian.Orientation.lb\")}\n        id=\"orientation-select\"\n        labelId=\"orientation-select\"\n        value={store.selectedOrientation}\n        onChange={(event) =>\n          store.setSelectedOrientation(event.target.value as OrientationId)\n        }\n        disabled={store.isLocked}\n      >\n        {ORIENTATION_IDS.map((orientationId) => (\n          <MenuItem key={orientationId} value={orientationId}>\n            {translateOrientation(orientationId)}\n          </MenuItem>\n        ))}\n      </AdornedSelect>,\n    )\n  }\n\n  if (store.showIncrementSelect) {\n    joggingOptions.push(\n      <AdornedSelect\n        key=\"increment\"\n        labelValue={t(\"Jogging.Increment.hlb\")}\n        labelId=\"jogging-increment-select\"\n        size=\"small\"\n        variant=\"filled\"\n        value={store.activeDiscreteIncrement?.id || \"continuous\"}\n        onChange={(event) =>\n          store.setSelectedIncrementId(event.target.value as IncrementOptionId)\n        }\n        disabled={store.isLocked}\n      >\n        <MenuItem key=\"continuous\" value=\"continuous\">\n          {t(\"Jogging.Increment.Continuous.dd\")}\n        </MenuItem>\n\n        {store.selectedOrientation === \"tool\"\n          ? null\n          : store.discreteIncrementOptions.map((inc) => (\n              <MenuItem key={inc.id} value={inc.id}>\n                {store.currentMotionType === \"translate\"\n                  ? `${inc.mm}mm`\n                  : `${inc.degrees}°`}\n              </MenuItem>\n            ))}\n      </AdornedSelect>,\n    )\n  }\n\n  return (\n    <Box\n      component=\"div\"\n      sx={{\n        display: \"grid\",\n        gap: \"16px\",\n        gridTemplateColumns: \"1fr 1fr\",\n        gridAutoRows: \"min-content\",\n        \"& label\": { opacity: 0.7, fontSize: \"12px\", marginBottom: \"4px\" },\n      }}\n    >\n      {joggingOptions.map((select, idx) => (\n        <Box\n          key={idx}\n          sx={{\n            gridColumn:\n              joggingOptions.length % 2 === 1 &&\n              idx === joggingOptions.length - 1\n                ? \"span 2\"\n                : \"auto\",\n          }}\n        >\n          {select}\n        </Box>\n      ))}\n    </Box>\n  )\n})\n","import type { ToggleButtonGroupProps } from \"@mui/material\"\nimport { styled, ToggleButtonGroup } from \"@mui/material\"\n\nexport const JoggingToggleButtonGroup: React.ComponentType<ToggleButtonGroupProps> =\n  styled(ToggleButtonGroup)(({ theme }) => ({\n    \"&.MuiToggleButtonGroup-root\": {\n      background: theme.palette.backgroundPaperElevation?.[8],\n      borderRadius: \"8px\",\n      padding: \"4px\",\n      gap: \"4px\",\n      button: {\n        border: \"none\",\n        borderRadius: \"4px\",\n        flex: \"1 1 0px\",\n        minWidth: 0,\n        \"&.MuiToggleButtonGroup-firstButton\": {\n          borderRadius: \"8px 4px 4px 8px\",\n        },\n\n        \"&.MuiToggleButtonGroup-lastButton\": {\n          borderRadius: \"4px 8px 8px 4px\",\n        },\n      },\n    },\n  }))\n","import { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport { VelocitySlider, VelocitySliderLabel } from \"../VelocitySlider\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\nexport const JoggingVelocitySlider = observer(\n  ({ store }: { store: JoggingStore }) => {\n    const { t } = useTranslation()\n\n    const state = useLocalObservable(() => ({\n      get valueLabelFormat() {\n        if (store.currentMotionType === \"translate\") {\n          return (value: number) =>\n            `v = ${t(\"Jogging.Cartesian.Translation.velocityMmPerSec.lb\", { amount: value })}`\n        } else {\n          return (value: number) =>\n            `ω = ${t(\"Jogging.Cartesian.Rotation.velocityDegPerSec.lb\", { amount: value })}`\n        }\n      },\n    }))\n\n    return (\n      <VelocitySlider\n        store={store}\n        velocity={store.velocityInDisplayUnits}\n        min={store.minVelocityInDisplayUnits}\n        max={store.maxVelocityInDisplayUnits}\n        onVelocityChange={store.setVelocityFromSlider}\n        disabled={store.isLocked}\n        renderValue={(value) => (\n          <VelocitySliderLabel\n            value={state.valueLabelFormat(value)}\n            sx={{\n              minWidth: \"111px\",\n              span: {\n                transform: \"translateY(-1.5px)\",\n              },\n            }}\n          />\n        )}\n      />\n    )\n  },\n)\n","import {\n  Divider,\n  Stack,\n  ToggleButton,\n  Typography,\n  useTheme,\n  type Theme,\n} from \"@mui/material\"\nimport {\n  degreesToRadians,\n  radiansToDegrees,\n  XYZ_TO_VECTOR,\n} from \"@wandelbots/nova-js\"\nimport { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport XAxisIcon from \"../../icons/axis-x.svg\"\nimport YAxisIcon from \"../../icons/axis-y.svg\"\nimport ZAxisIcon from \"../../icons/axis-z.svg\"\nimport RotationIcon from \"../../icons/rotation.svg\"\nimport type { Vector3Simple } from \"../../lib/JoggerConnection\"\nimport { useReaction } from \"../utils/hooks\"\nimport { JoggingCartesianAxisControl } from \"./JoggingCartesianAxisControl\"\nimport { JoggingJointLimitDetector } from \"./JoggingJointLimitDetector\"\nimport { JoggingOptions } from \"./JoggingOptions\"\nimport type {\n  DiscreteIncrementOption,\n  JoggingAxis,\n  JoggingDirection,\n  JoggingStore,\n} from \"./JoggingStore\"\nimport { JoggingToggleButtonGroup } from \"./JoggingToggleButtonGroup\"\nimport { JoggingVelocitySlider } from \"./JoggingVelocitySlider\"\n\ntype JoggingCartesianOpts = {\n  axis: JoggingAxis\n  motionType: \"translate\" | \"rotate\"\n  direction: JoggingDirection\n}\n\nexport const JoggingCartesianTab = observer(\n  ({\n    store,\n    children,\n  }: {\n    store: JoggingStore\n    children?: React.ReactNode\n  }) => {\n    const { t } = useTranslation()\n    const theme = useTheme()\n\n    function onMotionTypeChange(\n      _event: React.MouseEvent<HTMLElement>,\n      newMotionType: string,\n    ) {\n      if (newMotionType === \"translate\" || newMotionType === \"rotate\")\n        store.setSelectedCartesianMotionType(newMotionType)\n    }\n\n    useReaction(\n      () => [store.selectedCoordSystemId, store.selectedTcpId],\n      () => {\n        store.jogger.motionStream.motionStateSocket.changeUrl(\n          store.jogger.nova.makeWebsocketURL(\n            `/controllers/${store.jogger.motionStream.controllerId}/motion-groups/${store.jogger.motionGroupId}/state-stream?tcp=${store.selectedTcpId}`,\n          ),\n        )\n      },\n      { fireImmediately: true } as any,\n    )\n\n    async function runIncrementalCartesianJog(\n      opts: JoggingCartesianOpts,\n      increment: DiscreteIncrementOption,\n    ) {\n      const jogger = await store.activate()\n\n      const tcpPose = jogger.motionStream.rapidlyChangingMotionState.tcp_pose\n      const jointPosition = jogger.motionStream.rapidlyChangingMotionState\n        .joint_position as Vector3Simple\n      if (!tcpPose) return\n\n      await store.withMotionLock(async () => {\n        try {\n          store.setCurrentIncrementJog({\n            axis: opts.axis,\n            direction: opts.direction,\n          })\n          await store.jogger.runIncrementalCartesianMotion({\n            currentTcpPose: tcpPose,\n            currentJoints: jointPosition,\n            coordSystemId: store.activeCoordSystemId,\n            velocityInRelevantUnits:\n              store.selectedCartesianMotionType === \"translate\"\n                ? store.translationVelocityMmPerSec\n                : store.rotationVelocityRadsPerSec,\n            axis: opts.axis,\n            direction: opts.direction,\n            motion:\n              store.selectedCartesianMotionType === \"translate\"\n                ? {\n                    type: \"translate\",\n                    distanceMm: increment.mm,\n                  }\n                : {\n                    type: \"rotate\",\n                    distanceRads: degreesToRadians(increment.degrees),\n                  },\n          })\n        } finally {\n          store.setCurrentIncrementJog(null)\n          await store.deactivate()\n        }\n      })\n    }\n\n    async function startCartesianJogging(opts: JoggingCartesianOpts) {\n      if (store.isLocked) return\n\n      const jogger = await store.activate()\n      if (store.activeDiscreteIncrement) {\n        return runIncrementalCartesianJog(opts, store.activeDiscreteIncrement)\n      }\n\n      if (opts.motionType === \"translate\") {\n        await store.jogger.translateTCP({\n          axis: opts.axis,\n          direction: opts.direction,\n          velocityMmPerSec: store.translationVelocityMmPerSec,\n        })\n      } else {\n        await store.jogger.rotateTCP({\n          axis: opts.axis,\n          direction: opts.direction,\n          velocityRadsPerSec: store.rotationVelocityRadsPerSec,\n        })\n      }\n    }\n\n    async function stopJogging() {\n      if (store.isLocked) return\n\n      if (store.activeDiscreteIncrement) {\n        return\n      }\n\n      await store.deactivate()\n    }\n\n    function getAxisColors(\n      axisId: \"X\" | \"Y\" | \"Z\",\n      motionType: \"translate\" | \"rotate\",\n      theme: Theme,\n    ) {\n      const axisColors =\n        theme.componentsExt?.JoggingPanel?.JoggingCartesian?.Axis\n\n      if (!axisColors) return undefined\n\n      if (motionType === \"translate\") {\n        return axisColors[axisId]\n      }\n\n      return axisColors.CustomRotation ?? axisColors[axisId]\n    }\n\n    const axisList = [\n      {\n        id: \"x\",\n        icon: <XAxisIcon />,\n        colors: getAxisColors(\"X\", store.selectedCartesianMotionType, theme),\n      },\n      {\n        id: \"y\",\n        icon: <YAxisIcon />,\n        colors: getAxisColors(\"Y\", store.selectedCartesianMotionType, theme),\n      },\n      {\n        id: \"z\",\n        icon: <ZAxisIcon />,\n        colors: getAxisColors(\"Z\", store.selectedCartesianMotionType, theme),\n      },\n    ] as const\n\n    function formatMM(value: number) {\n      return t(\"General.mm.variable\", { amount: value.toFixed(1) })\n    }\n\n    function formatDegrees(value: number) {\n      return t(\"General.degree.variable\", {\n        amount: radiansToDegrees(value).toFixed(1),\n      })\n    }\n\n    return (\n      <Stack flexGrow={1} gap={2} sx={{ padding: \"18px 24px\" }}>\n        <Stack gap={2}>\n          <JoggingOptions store={store} />\n          <JoggingVelocitySlider store={store} />\n          <Divider />\n        </Stack>\n\n        <Stack\n          //maxWidth=\"296px\"\n          marginLeft=\"auto\"\n          marginRight=\"auto\"\n          gap=\"24px\"\n          justifyContent=\"center\"\n          sx={{ flexGrow: \"1\" }}\n        >\n          <Stack\n            alignItems=\"center\"\n            justifyContent=\"center\"\n            gap=\"24px\"\n            sx={{ flexGrow: 1 }}\n          >\n            {/* Translate or rotate toggle */}\n            <JoggingToggleButtonGroup\n              value={store.selectedCartesianMotionType}\n              onChange={onMotionTypeChange}\n              exclusive\n              aria-label={t(\"Jogging.Cartesian.MotionType.lb\")}\n              sx={{ justifyContent: \"center\" }}\n            >\n              <ToggleButton value=\"translate\">\n                {t(\"Jogging.Cartesian.Translation.bt\")}\n              </ToggleButton>\n              <ToggleButton value=\"rotate\">\n                {t(\"Jogging.Cartesian.Rotation.bt\")}\n              </ToggleButton>\n            </JoggingToggleButtonGroup>\n\n            {/* Cartesian translate jogging */}\n            {store.selectedCartesianMotionType === \"translate\" &&\n              axisList.map((axis) => (\n                <JoggingCartesianAxisControl\n                  key={axis.id}\n                  colors={axis.colors}\n                  disabled={store.isLocked}\n                  activeJoggingDirection={\n                    store.incrementJogInProgress?.axis === axis.id\n                      ? store.incrementJogInProgress.direction\n                      : undefined\n                  }\n                  label={\n                    <>\n                      {axis.icon}\n                      <Typography\n                        sx={{\n                          fontSize: \"24px\",\n                          color:\n                            axis.colors?.labelColor ??\n                            theme.palette.text.primary,\n                        }}\n                      >\n                        {axis.id.toUpperCase()}\n                      </Typography>\n                    </>\n                  }\n                  getDisplayedValue={() =>\n                    formatMM(\n                      store.jogger.motionStream.rapidlyChangingMotionState\n                        .tcp_pose?.position?.[XYZ_TO_VECTOR[axis.id]] || 0,\n                    )\n                  }\n                  startJogging={(direction: \"-\" | \"+\") =>\n                    startCartesianJogging({\n                      axis: axis.id,\n                      motionType: \"translate\",\n                      direction,\n                    })\n                  }\n                  stopJogging={stopJogging}\n                />\n              ))}\n\n            {/* Cartesian rotate jogging */}\n            {store.selectedCartesianMotionType === \"rotate\" &&\n              axisList.map((axis) => (\n                <JoggingCartesianAxisControl\n                  key={axis.id}\n                  colors={axis.colors}\n                  disabled={store.isLocked}\n                  activeJoggingDirection={\n                    store.incrementJogInProgress?.axis === axis.id\n                      ? store.incrementJogInProgress.direction\n                      : undefined\n                  }\n                  label={\n                    <>\n                      <RotationIcon />\n                      <Typography\n                        sx={{\n                          fontSize: \"24px\",\n                          color:\n                            axis.colors?.labelColor ??\n                            theme.palette.text.primary,\n                        }}\n                      >\n                        {axis.id.toUpperCase()}\n                      </Typography>\n                    </>\n                  }\n                  getDisplayedValue={() =>\n                    formatDegrees(\n                      store.jogger.motionStream.rapidlyChangingMotionState\n                        .tcp_pose?.orientation?.[XYZ_TO_VECTOR[axis.id]] || 0,\n                    )\n                  }\n                  startJogging={(direction: \"-\" | \"+\") =>\n                    startCartesianJogging({\n                      axis: axis.id,\n                      motionType: \"rotate\",\n                      direction,\n                    })\n                  }\n                  stopJogging={stopJogging}\n                />\n              ))}\n          </Stack>\n        </Stack>\n\n        {/* Show message if joint limits reached */}\n        <JoggingJointLimitDetector store={store} />\n\n        {children && <Divider />}\n\n        {/* Custom content */}\n\n        {children}\n      </Stack>\n    )\n  },\n)\n","import { Divider, Stack, Typography, useTheme } from \"@mui/material\"\nimport { radiansToDegrees } from \"@wandelbots/nova-js\"\nimport { observer } from \"mobx-react-lite\"\nimport type { ReactNode } from \"react\"\nimport { JoggingJointLimitDetector } from \"./JoggingJointLimitDetector\"\nimport { JoggingJointRotationControl } from \"./JoggingJointRotationControl\"\nimport type { JoggingStore } from \"./JoggingStore\"\nimport { JoggingVelocitySlider } from \"./JoggingVelocitySlider\"\n\nexport const JoggingJointTab = observer(\n  ({ store, children }: { store: JoggingStore; children: ReactNode }) => {\n    const theme = useTheme()\n    async function startJointJogging(opts: {\n      joint: number\n      direction: \"-\" | \"+\"\n    }) {\n      await store.activate()\n\n      await store.jogger.rotateJoints({\n        joint: opts.joint,\n        direction: opts.direction,\n        velocityRadsPerSec: store.rotationVelocityRadsPerSec,\n      })\n    }\n\n    async function stopJointJogging() {\n      await store.jogger.stop()\n      await store.deactivate()\n    }\n\n    return (\n      <Stack flexGrow={1} gap={2} sx={{ padding: \"18px 24px\" }}>\n        <JoggingVelocitySlider store={store} />\n        <Divider />\n\n        <Stack\n          justifyContent=\"center\"\n          alignItems=\"stretch\"\n          sx={{ flexGrow: \"1\" }}\n          id=\"JointControls\"\n        >\n          <Stack alignItems=\"center\" gap=\"24px\">\n            {store.jogger.motionStream.joints.map((joint) => {\n              const jointLimits =\n                store.motionGroupDescription.operation_limits.auto_limits\n                  ?.joints?.[joint.index]?.position\n              const lowerLimitDegs =\n                jointLimits?.lower_limit !== undefined\n                  ? radiansToDegrees(jointLimits.lower_limit)\n                  : undefined\n              const upperLimitDegs =\n                jointLimits?.upper_limit !== undefined\n                  ? radiansToDegrees(jointLimits.upper_limit)\n                  : undefined\n\n              return (\n                <Stack\n                  key={`joint-${joint.index}`}\n                  direction=\"row\"\n                  alignItems=\"center\"\n                  justifyContent={\"center\"}\n                  spacing={1.5}\n                  width={\"100%\"}\n                >\n                  {store.showJointsLegend && (\n                    <Typography\n                      color={\n                        store.isLocked\n                          ? theme.palette.text.disabled\n                          : theme.palette.text.secondary\n                      }\n                    >\n                      {`G${joint.index + 1}`}\n                    </Typography>\n                  )}\n\n                  <JoggingJointRotationControl\n                    disabled={store.isLocked}\n                    lowerLimitDegs={lowerLimitDegs}\n                    upperLimitDegs={upperLimitDegs}\n                    getValueDegs={() => {\n                      const value =\n                        store.jogger.motionStream.rapidlyChangingMotionState\n                          .joint_position[joint.index]\n                      return value !== undefined\n                        ? radiansToDegrees(value)\n                        : undefined\n                    }}\n                    startJogging={(direction: \"-\" | \"+\") =>\n                      startJointJogging({\n                        joint: joint.index,\n                        direction,\n                      })\n                    }\n                    stopJogging={stopJointJogging}\n                  />\n                </Stack>\n              )\n            })}\n          </Stack>\n        </Stack>\n        <JoggingJointLimitDetector store={store} />\n\n        {children && <Divider />}\n\n        {/* Custom content */}\n        {children}\n      </Stack>\n    )\n  },\n)\n","import MoveIcon from \"@mui/icons-material/OpenWith\"\nimport ShareIcon from \"@mui/icons-material/Share\"\nimport { Stack, Tab, Tabs, type SxProps } from \"@mui/material\"\nimport { NovaClient } from \"@wandelbots/nova-js/v2\"\nimport { isString } from \"lodash-es\"\nimport { runInAction } from \"mobx\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useEffect } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { JoggerConnection } from \"../../lib/JoggerConnection\"\nimport { LoadingCover } from \"../LoadingCover\"\nimport { JoggingBlocked } from \"./JoggingBlocked\"\nimport { JoggingCartesianTab } from \"./JoggingCartesianTab\"\nimport { JoggingJointTab } from \"./JoggingJointTab\"\nimport { JoggingStore } from \"./JoggingStore\"\n\nexport type JoggingPanelTabId = \"cartesian\" | \"joint\"\n\nexport type JoggingPanelProps = {\n  /** Either an existing NovaClient or the base url of a deployed Nova instance */\n  nova: NovaClient | string\n  /** Id of the motion group to move e.g. 0@ur5e */\n  motionGroupId: string\n  /** Callback with the jogging panel's state store for further customization/config */\n  onSetup?: (store: JoggingStore) => void\n  /** Any children will go at the bottom of the panel under the default contents */\n  children?: React.ReactNode\n  /** Set this to true to disable jogging UI temporarily e.g. when a program is executing */\n  locked?: boolean\n  sx?: SxProps\n\n  /**\n   * To preserve state while the jogging panel is hidden, you can create and pass a\n   * JoggingStore here and it will be used instead of creating a new one.\n   */\n  store?: JoggingStore\n}\n\n/**\n * A high-level, opinionated UI panel for jogging a robot using the Wandelbots Platform API\n */\nexport const JoggingPanel = externalizeComponent(\n  observer((props: JoggingPanelProps) => {\n    const nova = isString(props.nova)\n      ? new NovaClient({ instanceUrl: props.nova })\n      : props.nova\n\n    const state = useLocalObservable(() => ({\n      joggingStore: null as JoggingStore | null,\n      loadingError: null as unknown | null,\n    }))\n\n    async function init() {\n      runInAction(() => {\n        state.loadingError = null\n        state.joggingStore = null\n      })\n\n      try {\n        let joggingStore = props.store\n        if (!joggingStore) {\n          const jogger = await JoggerConnection.open(nova, props.motionGroupId)\n          joggingStore = await JoggingStore.loadFor(jogger)\n        }\n        runInAction(() => {\n          state.joggingStore = joggingStore\n        })\n        if (props.onSetup) {\n          props.onSetup(joggingStore)\n        }\n      } catch (err) {\n        state.loadingError = err\n      }\n    }\n\n    useEffect(() => {\n      init()\n      return props.store\n        ? () => null\n        : () => {\n            state.joggingStore?.dispose()\n          }\n    }, [props.store, props.nova, props.motionGroupId])\n\n    useEffect(() => {\n      const store = state.joggingStore\n      if (!store) return\n\n      if (props.locked) {\n        store.lock(\"external\")\n      } else {\n        store.unlock(\"external\")\n      }\n    }, [state.joggingStore, props.locked])\n\n    return (\n      <Stack\n        sx={{\n          maxWidth: \"460px\",\n          minWidth: \"320px\",\n          position: \"relative\",\n          ...props.sx,\n        }}\n      >\n        {state.joggingStore ? (\n          <JoggingPanelInner\n            store={state.joggingStore}\n            children={props.children}\n          ></JoggingPanelInner>\n        ) : (\n          <LoadingCover message=\"Loading jogging\" error={state.loadingError} />\n        )}\n      </Stack>\n    )\n  }),\n)\n\nconst JoggingPanelInner = observer(\n  ({\n    store,\n    children,\n  }: {\n    store: JoggingStore\n    children?: React.ReactNode\n    childrenJoint?: React.ReactNode\n  }) => {\n    const { t } = useTranslation()\n\n    function renderTabContent() {\n      if (store.currentTab.id === \"cartesian\") {\n        return (\n          <>\n            <JoggingCartesianTab store={store}>{children}</JoggingCartesianTab>\n          </>\n        )\n      } else if (store.currentTab.id === \"joint\") {\n        return (\n          <>\n            <JoggingJointTab store={store}>{children}</JoggingJointTab>\n          </>\n        )\n      }\n    }\n\n    return (\n      <Stack flexGrow={1} sx={{ overflow: \"hidden\" }}>\n        {/* Tab selection */}\n        <Tabs\n          value={store.tabIndex}\n          onChange={store.onTabChange}\n          variant=\"fullWidth\"\n        >\n          {store.tabs.map((tab) => {\n            const label =\n              tab.label === \"cartesian\"\n                ? t(\"Jogging.Cartesian.bt\")\n                : t(\"Jogging.Joints.bt\")\n\n            const icon =\n              tab.label === \"cartesian\" ? (\n                <MoveIcon fontSize=\"small\" sx={{ mr: 1 }} />\n              ) : (\n                <ShareIcon fontSize=\"small\" sx={{ mr: 1 }} />\n              )\n\n            return (\n              <Tab\n                key={tab.id}\n                label={\n                  store.showTabIcons ? (\n                    <Stack direction=\"row\" alignItems=\"center\">\n                      {icon}\n                      {label}\n                    </Stack>\n                  ) : (\n                    label\n                  )\n                }\n                id={`jogging-tab-${tab.id}`}\n                aria-controls={`jogging-tab-${tab.id}`}\n              />\n            )\n          })}\n        </Tabs>\n        {/* Current tab content */}\n        <Stack\n          flexGrow={1}\n          position=\"relative\"\n          sx={{ overflowY: \"auto\", overflowX: \"hidden\" }}\n        >\n          {renderTabContent()}\n        </Stack>\n        {/* Overlay when jogging connection is blocked */}\n        {store.blocked && <JoggingBlocked store={store} />}\n      </Stack>\n    )\n  },\n)\n","import { Stack, Tooltip, Typography, useTheme } from \"@mui/material\"\nimport { useEffect, useState } from \"react\"\n\nexport const CopyableText = (props: {\n  label?: string\n  value: string\n  ref?: React.Ref<HTMLDivElement>\n}) => {\n  const { value, ref } = props\n  // Note: label prop is available but not currently used in the component\n  const theme = useTheme()\n  const [tooltipOpen, setTooltipOpen] = useState(false)\n\n  async function onCopyText(): Promise<boolean> {\n    if (!ref || !(\"current\" in ref)) {\n      console.warn(\"No copy target found\")\n      return false\n    }\n    try {\n      await navigator.clipboard.writeText(value)\n      console.log(\"Copied!\")\n      setTooltipOpen(true)\n      return true\n    } catch (err) {\n      // Direct clipboard copy is not available in non-secure contexts\n      console.error(err)\n\n      // Let's fall back to selecting the text so the user can manually copy easily\n      const selection = window.getSelection()\n      if (selection && ref && \"current\" in ref && ref.current) {\n        const range = document.createRange()\n        range.selectNodeContents(ref.current)\n        selection.removeAllRanges()\n        selection.addRange(range)\n      }\n    }\n    return false\n  }\n\n  useEffect(() => {\n    if (!tooltipOpen) {\n      return\n    }\n    const timeoutId = setTimeout(() => setTooltipOpen(false), 3000)\n    return () => {\n      timeoutId ? clearTimeout(timeoutId) : {}\n    }\n  }, [tooltipOpen])\n\n  return (\n    <Tooltip open={tooltipOpen} title=\"Copied!\">\n      <Stack\n        justifyContent=\"center\"\n        sx={{\n          height: \"100%\",\n          boxSizing: \"border-box\",\n          padding: \"6px 12px\",\n          background: theme.palette.backgroundPaperElevation?.[8],\n          borderRadius: \"10px\",\n          minWidth: \"0\",\n          cursor: \"pointer\",\n        }}\n        onClick={() => onCopyText()}\n      >\n        <Typography\n          ref={ref}\n          align=\"center\"\n          sx={{\n            pointerEvents: \"none\",\n            fontSize: \"12px\",\n            color: theme.palette.text.primary,\n            whiteSpace: \"nowrap\",\n            minWidth: 0,\n            textOverflow: \"ellipsis\",\n            width: \"100%\",\n            overflow: \"hidden\",\n          }}\n        >\n          {value}\n        </Typography>\n      </Stack>\n    </Tooltip>\n  )\n}\n","import { Button, Stack } from \"@mui/material\"\nimport { poseToWandelscriptString, type Pose } from \"@wandelbots/nova-js/v2\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseCartesianValuesProps = {\n  tcpPose: Pose\n  showCopyButton?: boolean\n}\n\nexport const PoseCartesianValues = externalizeComponent(\n  observer(({ tcpPose, showCopyButton = false }: PoseCartesianValuesProps) => {\n    const [copyMessage, setCopyMessage] = useState<string | null>(null)\n    const poseString = poseToWandelscriptString(tcpPose)\n\n    const handleCopy = async () => {\n      try {\n        await navigator.clipboard.writeText(poseString)\n        setCopyMessage(\"Copied!\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      } catch {\n        setCopyMessage(\"Copy failed\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      }\n    }\n\n    return (\n      <Stack\n        direction=\"row\"\n        alignItems=\"center\"\n        spacing={1}\n        sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n        data-testid=\"pose-cartesian-values\"\n      >\n        <CopyableText value={poseString} />\n        {showCopyButton && (\n          <Button\n            variant=\"contained\"\n            color=\"secondary\"\n            size=\"small\"\n            onClick={handleCopy}\n            sx={{ flexShrink: 0 }}\n          >\n            {copyMessage ? copyMessage : \"Copy\"}\n          </Button>\n        )}\n      </Stack>\n    )\n  }),\n)\n","import { Button, Stack } from \"@mui/material\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseJointValuesProps = {\n  joints: Array<number>\n  showCopyButton?: boolean\n}\n\nexport const PoseJointValues = externalizeComponent(\n  observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {\n    const [copyMessage, setCopyMessage] = useState<string | null>(null)\n    const poseString = `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(\", \")}]`\n\n    const handleCopy = async () => {\n      try {\n        await navigator.clipboard.writeText(poseString)\n        setCopyMessage(\"Copied!\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      } catch {\n        setCopyMessage(\"Copy failed\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      }\n    }\n\n    return (\n      <Stack\n        direction=\"row\"\n        alignItems=\"center\"\n        spacing={1}\n        sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n        data-testid=\"pose-joint-values\"\n      >\n        <CopyableText value={poseString} />\n        {showCopyButton && (\n          <Button\n            variant=\"contained\"\n            color=\"secondary\"\n            size=\"small\"\n            onClick={handleCopy}\n            sx={{ flexShrink: 0 }}\n          >\n            {copyMessage ? copyMessage : \"Copy\"}\n          </Button>\n        )}\n      </Stack>\n    )\n  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