@wemap/geo 12.0.0-alpha.11 → 12.0.0-alpha.9

package/dist/index.mjs

@@ -58,13 +58,13 @@ const _Level = class _Level {
    */
   static isRange(level) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(level);
+      this.checkType(level);
     }
     return Array.isArray(level);
   }
   static clone(level) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(level);
+      this.checkType(level);
     }
     if (level === null) {
       return null;
@@ -92,14 +92,14 @@ const _Level = class _Level {
       const levels = splited.map((str2) => Number(str2));
       const low = Math.min(...levels);
       const up = Math.max(...levels);
-      _Level.checkType([low, up]);
+      this.checkType([low, up]);
       return [low, up];
     } else {
       const rangeSeparator = str.substring(1).indexOf("-") + 1;
       if (rangeSeparator > 0) {
         const low = Number(str.substring(0, rangeSeparator));
         const up = Number(str.substring(rangeSeparator + 1));
-        _Level.checkType([low, up]);
+        this.checkType([low, up]);
         return [low, up];
       }
     }
@@ -112,8 +112,8 @@ const _Level = class _Level {
    */
   static contains(container, targeted) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(container);
-      _Level.checkType(targeted);
+      this.checkType(container);
+      this.checkType(targeted);
     }
     if (container === targeted) {
       return true;
@@ -148,26 +148,26 @@ const _Level = class _Level {
    */
   static intersection(first, second) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(first);
-      _Level.checkType(second);
+      this.checkType(first);
+      this.checkType(second);
     }
     if (first === null || second === null) {
       return null;
     }
-    if (_Level.equals(first, second)) {
-      return _Level.clone(first);
+    if (this.equals(first, second)) {
+      return this.clone(first);
     }
     if (typeof first === "number" && typeof second === "number") {
       return first === second ? first : null;
     }
     if (Array.isArray(first) && !Array.isArray(second)) {
-      if (_Level.contains(first, second)) {
+      if (this.contains(first, second)) {
         return second;
       }
       return null;
     }
     if (!Array.isArray(first) && Array.isArray(second)) {
-      if (_Level.contains(second, first)) {
+      if (this.contains(second, first)) {
         return first;
       }
       return null;
@@ -187,13 +187,13 @@ const _Level = class _Level {
   */
   static intersect(first, second) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(first);
-      _Level.checkType(second);
+      this.checkType(first);
+      this.checkType(second);
     }
     if (first === null && second === null) {
       return true;
     }
-    return _Level.intersection(first, second) !== null;
+    return this.intersection(first, second) !== null;
   }
   /**
    * Retrieve the union of two levels
@@ -211,11 +211,11 @@ const _Level = class _Level {
    */
   static union(first, second) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(first);
-      _Level.checkType(second);
+      this.checkType(first);
+      this.checkType(second);
     }
     if (first === second) {
-      return _Level.clone(first);
+      return this.clone(first);
     }
     if (second === null) {
       return null;
@@ -250,7 +250,7 @@ const _Level = class _Level {
    */
   static multiplyBy(level, factor) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(level);
+      this.checkType(level);
     }
     if (level === null) {
       return null;
@@ -259,7 +259,7 @@ const _Level = class _Level {
   }
   static toString(level) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(level);
+      this.checkType(level);
     }
     if (level === null) {
       return null;
@@ -268,8 +268,8 @@ const _Level = class _Level {
   }
   static equals(first, second) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(first);
-      _Level.checkType(second);
+      this.checkType(first);
+      this.checkType(second);
     }
     if (first === second) {
       return true;
@@ -281,8 +281,8 @@ const _Level = class _Level {
   }
   static diff(first, second) {
     if (_Level.VERIFY_TYPING) {
-      _Level.checkType(first);
-      _Level.checkType(second);
+      this.checkType(first);
+      this.checkType(second);
     }
     if (first === null || second === null) {
       return null;
@@ -809,34 +809,9 @@ function geolocationPositionToUserPosition(geolocationPosition) {
 function calcDistance(coords) {
   return coords.reduce((acc, coords2, idx, arr) => acc + (idx ? arr[idx - 1].distanceTo(coords2) : 0), 0);
 }
-function createSegmentsAtLevel(itineraryCoords, segmentsLevel, useMultiLevelSegments = true) {
-  const itineraryCoordsLength = itineraryCoords.length;
-  let previousLevelCorrespond = false;
-  const segments = [];
-  let coordinates = [];
-  for (let i = 0; i < itineraryCoordsLength; i++) {
-    const coords = itineraryCoords[i];
-    const levelCorrespond = Level.intersect(segmentsLevel, coords.level);
-    if (useMultiLevelSegments && !levelCorrespond && previousLevelCorrespond) {
-      coordinates.push(coords);
-    } else if (levelCorrespond) {
-      if (!previousLevelCorrespond) {
-        coordinates = [];
-        segments.push(coordinates);
-        if (useMultiLevelSegments && i !== 0) {
-          coordinates.push(itineraryCoords[i - 1]);
-        }
-      }
-      coordinates.push(coords);
-    }
-    previousLevelCorrespond = levelCorrespond;
-  }
-  return segments;
-}
 const Utils = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
   __proto__: null,
   calcDistance,
-  createSegmentsAtLevel,
   geolocationPositionToUserPosition,
   sampleRoute,
   simplifyRoute,

package/dist/index.mjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","sources":["../src/Constants.ts","../src/coordinates/Level.ts","../src/coordinates/Coordinates.ts","../src/coordinates/UserPosition.ts","../src/Utils.ts","../src/coordinates/BoundingBox.ts","../src/coordinates/RelativePosition.ts","../src/coordinates/GeoRelativePosition.ts","../src/coordinates/GeoRef.ts","../src/rotations/Attitude.ts","../src/rotations/AbsoluteHeading.ts"],"sourcesContent":["export const R_MAJOR = 6378137.0;\nexport const R_MINOR = 6356752.3142;\nexport const EARTH_GRAVITY = 9.80665;\n\n/**\n * latitude and longitude epsilon in degrees\n * 1e-8° correspond to ~1mm at latitude = 0\n */\nexport const EPS_DEG_MM = 1e-8;\n\n/**\n * epsilon in meters which corresponds to 1 millimeter\n */\nexport const EPS_MM = 1e-3;\n\n\nexport const ELLIPSOID_FLATNESS = (R_MAJOR - R_MINOR) / R_MAJOR;\n\nexport const ECCENTRICITY = Math.sqrt(ELLIPSOID_FLATNESS * (2 - ELLIPSOID_FLATNESS));\nexport const ECCENTRICITY_2 = ECCENTRICITY * ECCENTRICITY;\n\nexport const R_MAJOR_2 = R_MAJOR * R_MAJOR;\nexport const R_MAJOR_4 = R_MAJOR_2 * R_MAJOR_2;\nexport const R_MINOR_2 = R_MINOR * R_MINOR;\nexport const R_MINOR_4 = R_MINOR_2 * R_MINOR_2;\nexport const CIRCUMFERENCE = R_MAJOR * 2 * Math.PI;\n","import { Level_t } from \"../types\";\n\n/**\n * A Level is the representation of a building floor number\n * A level can be a simple number or a range (low, up)\n * The range is an array of two numbers\n */\nclass Level {\n\n    static VERIFY_TYPING = false;\n\n    static checkType(level: Level_t) {\n        if (level === null) {\n            return;\n        }\n        if (typeof level === 'number' && !isNaN(level)) {\n            return;\n        }\n        if (Array.isArray(level) && level.length === 2) {\n            const [low, up] = level;\n            if (typeof low === 'number' && !isNaN(low)\n                && typeof up === 'number' && !isNaN(up)) {\n                if (low > up || low === up) {\n                    throw Error(`Invalid level range: [${low}, ${up}]`);\n                }\n                return;\n            }\n        }\n        throw Error(`Unknown level format: ${level}`);\n    }\n\n    /**\n     * Return true if the level is a range, false otherwise\n     */\n    static isRange(level: Level_t): level is [number, number] {\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(level);\n        }\n        return Array.isArray(level);\n    }\n\n    static clone(level: Level_t): Level_t {\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(level);\n        }\n        if (level === null) {\n            return null;\n        }\n        if (typeof level === 'number') {\n            return level;\n        }\n\n        return [level[0], level[1]];\n    }\n\n    /**\n     * Create a level from a string (eg. 1, -2, 1;2, -2;3, 2;-1, 0.5;1 ...)\n     */\n    static fromString(str: string | null): Level_t {\n\n        if (str === null) {\n            return null;\n        }\n\n        if (typeof str !== 'string' || !str.length) {\n            throw Error(`argument must be a non empty string, got ${typeof str}`);\n        }\n\n        if (!isNaN(Number(str))) {\n            return parseFloat(str);\n        }\n\n        const splited = str.split(';');\n        if (splited.length > 1) {\n            const levels = splited.map(str => Number(str));\n            const low = Math.min(...levels);\n            const up = Math.max(...levels);\n            Level.checkType([low, up]);\n            return [low, up];\n        } else {\n            const rangeSeparator = str.substring(1).indexOf('-') + 1;\n            if (rangeSeparator > 0) {\n                const low = Number(str.substring(0, rangeSeparator));\n                const up = Number(str.substring(rangeSeparator + 1));\n                Level.checkType([low, up]);\n                return [low, up];\n            }\n        }\n\n        throw Error(`Cannot parse following level: ${str}`);\n    }\n\n\n    /**\n     * Returns if a level is contained in another\n     * @param {null|number|[number, number]} container The container level\n     * @param {null|number|[number, number]} targeted The targeted level\n     */\n    static contains(container: Level_t, targeted: Level_t): boolean {\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(container);\n            Level.checkType(targeted);\n        }\n\n        // Covers null and number\n        if (container === targeted) {\n            return true;\n        }\n\n        if (Array.isArray(container)) {\n            if (Array.isArray(targeted)) {\n                return container[0] <= targeted[0] && container[1] >= targeted[1];\n            }\n            if (targeted === null) {\n                return false;\n            }\n            return container[0] <= targeted && container[1] >= targeted;\n        }\n        if (container === null || targeted === null) {\n            return false;\n        }\n        return container <= (targeted as [number, number])[0]\n            && container >= (targeted as [number, number])[1];\n    }\n\n    /**\n     * Retrieve the intersection of two levels\n     * null n null => null\n     * null n 1 => null // Conception choice\n     * null n [1,2] => null // Conception choice\n     * 1 n 1 => 1\n     * 1 n 2 => null\n     * 1 n [1,2] => 1\n     * 1 n [0,2] => 1\n     * 1 n [2,3] => null\n     * [1,2] n [1,2] => [1,2]\n     * [1,2] n [2,3] => 2\n     * [1,2] n [3,4] => null\n     */\n    static intersection(first: Level_t, second: Level_t): Level_t {\n\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(first);\n            Level.checkType(second);\n        }\n\n        if (first === null || second === null) {\n            return null;\n        }\n\n        if (Level.equals(first, second)) {\n            return Level.clone(first);\n        }\n\n        if (typeof first === 'number' && typeof second === 'number') {\n            return first === second ? first : null;\n        }\n\n        if (Array.isArray(first) && !Array.isArray(second)) {\n            if (Level.contains(first, second)) {\n                return second;\n            }\n            return null;\n        }\n        if (!Array.isArray(first) && Array.isArray(second)) {\n            if (Level.contains(second, first)) {\n                return first;\n            }\n            return null;\n        }\n\n        // There are two ranges\n        const low = Math.max((first as [number, number])[0], (second as [number, number])[0]);\n        const up = Math.min((first as [number, number])[1], (second as [number, number])[1]);\n        if (up === low) {\n            return up;\n        }\n        return up < low ? null : [low, up];\n    }\n\n    /**\n    * Retrieve the intersection of two levels\n    * @param {null|number|[number, number]} first The first level\n    * @param {null|number|[number, number]} second The second level\n    * @returns {boolean}\n    */\n    static intersect(first: Level_t, second: Level_t): boolean {\n\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(first);\n            Level.checkType(second);\n        }\n\n        if (first === null && second === null) {\n            return true;\n        }\n\n        return Level.intersection(first, second) !== null;\n    }\n\n    /**\n     * Retrieve the union of two levels\n     * null u null => null\n     * null u 1 => null // Conception choice\n     * null u [1,2] => null // Conception choice\n     * 1 u 1 => 1\n     * 1 u 2 => [1,2]\n     * 1 u [1,2] => [1,2]\n     * 1 u [0,2] => [0,2]\n     * 1 u [2,3] => [1,3]\n     * [1,2] u [1,2] => [1,2]\n     * [1,2] u [2,3] => [1,3]\n     * [1,2] u [3,4] => [1,4]\n     */\n    static union(first: Level_t, second: Level_t): Level_t {\n\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(first);\n            Level.checkType(second);\n        }\n\n        if (first === second) {\n            return Level.clone(first);\n        }\n\n        if (second === null) {\n            return null;\n            // return Level.clone(first);\n        }\n\n        if (first === null) {\n            return null;\n            // return Level.clone(second);\n        }\n\n        let low, up;\n        if (!Array.isArray(first) && !Array.isArray(second)) {\n            low = Math.min(first, second);\n            up = Math.max(first, second);\n        } else if (Array.isArray(first) && !Array.isArray(second)) {\n            low = Math.min(first[0], second);\n            up = Math.max(first[1], second);\n        } else if (!Array.isArray(first) && Array.isArray(second)) {\n            low = Math.min(second[0], first);\n            up = Math.max(second[1], first);\n        } else {\n            /* if (Array.isArray(first) && Array.isArray(second)) */\n            low = Math.min((first as [number, number])[0], (second as [number, number])[0]);\n            up = Math.max((first as [number, number])[1], (second as [number, number])[1]);\n        }\n\n        if (low === up) {\n            return low;\n        }\n        return [low, up];\n    }\n\n    /**\n     * Multiply a level by a factor\n     * @param {null|number|[number, number]} level the level to multiply\n     * @param {number} factor\n     * @returns {null|number|[number, number]}\n     */\n    static multiplyBy(level: Level_t, factor: number): Level_t {\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(level);\n        }\n\n        if (level === null) {\n            return null;\n        }\n\n        return Array.isArray(level) ? [level[0] * factor, level[1] * factor] : level * factor;\n    }\n\n    static toString(level: Level_t): string | null {\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(level);\n        }\n        if (level === null) {\n            return null;\n        }\n        return Array.isArray(level) ? level[0] + ';' + level[1] : String(level);\n    }\n\n    static equals(first: Level_t, second: Level_t): boolean {\n\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(first);\n            Level.checkType(second);\n        }\n\n        if (first === second) {\n            return true;\n        }\n\n        if (Array.isArray(first) && Array.isArray(second)) {\n            return first[0] === second[0] && first[1] === second[1];\n        }\n\n        return false;\n    }\n\n\n    static diff(first: Level_t, second: Level_t): null | number {\n\n        if (Level.VERIFY_TYPING) {\n            Level.checkType(first);\n            Level.checkType(second);\n        }\n\n        if (first === null || second === null) {\n            return null;\n        }\n\n        if (!Array.isArray(first) && !Array.isArray(second)) {\n            return second - first;\n        }\n\n        if (Array.isArray(first) && !Array.isArray(second)) {\n            if (first[0] === second) {\n                return second - first[1];\n            }\n            if (first[1] === second) {\n                return second - first[0];\n            }\n            return null;\n        }\n\n        if (Array.isArray(second) && !Array.isArray(first)) {\n            if (first === second[0]) {\n                return second[1] - first;\n            }\n            if (first === second[1]) {\n                return second[0] - first;\n            }\n            return null;\n        }\n\n        if (Level.equals(first, second)) {\n            return 0;\n        }\n\n        return null;\n    }\n}\n\nexport default Level;\n","import {\n    deg2rad, Vector3, Quaternion, rad2deg, wrap, Vector3_t, Quaternion_t\n} from '@wemap/maths';\nimport { EPS_DEG_MM, EPS_MM, R_MAJOR } from '../Constants.js';\n\nimport { CoordinatesCompressedJson, CoordinatesJson, Level_t } from '../types.js';\nimport Level from './Level.js';\n\n/**\n * A Coordinates position using at least latitude (lat) and longitude (lng).\n * Optionnal fields are: altitude (alt) and level.\n *\n * Basic geo methods are directly accessibles from here:\n * distanceTo, bearingTo, toEcef...\n *\n * /!\\ This class has been adapted to use earth as a sphere and not as an ellipsoid\n * /!\\ So, this class does not stricly represent WGS84 coordinates anymore\n * /!\\ This modifications have been made for computational improvements.\n */\nclass Coordinates {\n\n    private _lat!: number;\n    private _lng!: number;\n    private _alt: number | null = null;\n    private _level: Level_t | null = null;\n\n    private _ecef: Vector3_t | null;\n\n    autoWrap = true;\n\n    constructor(lat: number, lng: number, alt: number | null = null, level: Level_t | null = null) {\n        this.lat = lat;\n        this.lng = lng;\n        this.alt = alt;\n        this.level = level;\n        this._ecef = null;\n    }\n\n    get lat() {\n        return this._lat;\n    }\n\n    set lat(lat: number) {\n        if (Math.abs(lat) <= 90) {\n            this._lat = lat;\n        } else {\n            throw new Error('lat argument is not in [-90; 90]');\n        }\n        this._ecef = null;\n    }\n\n    get latitude() {\n        return this._lat;\n    }\n\n    set latitude(_) {\n        throw new Error('Please use Coordinates#lat setter instead of Coordinate#latitude');\n    }\n\n    get lng() {\n        return this._lng;\n    }\n\n    set lng(lng) {\n        this._lng = lng;\n        if (this.autoWrap) {\n            this.wrap();\n        }\n        this._ecef = null;\n    }\n\n    get longitude() {\n        return this._lng;\n    }\n\n    set longitude(_) {\n        throw new Error('Please use Coordinates#lng setter instead of Coordinate#longitude');\n    }\n\n    /**\n     * alt does not denote the altitude of a point but its height from\n     *  the \"level\" field (if defined) or from the ground\n     */\n    get alt() {\n        return this._alt;\n    }\n\n    set alt(alt) {\n        this._alt = alt;\n        this._ecef = null;\n    }\n\n    get level() {\n        return this._level;\n    }\n\n    set level(level) {\n        Level.checkType(level);\n        this._level = level;\n    }\n\n    /**\n     * Deep clone coordinates\n     */\n    clone() {\n        const output = new Coordinates(this.lat, this.lng, this.alt);\n        if (this.level !== null) {\n            output.level = Level.clone(this.level);\n        }\n        return output;\n    }\n\n    wrap() {\n        if (this._lng <= -180 || this._lng > 180) {\n            this._lng = wrap(this._lng, -180, 180);\n        }\n    }\n\n\n    static equals(pos1: Coordinates | null, pos2: Coordinates | null, eps = EPS_DEG_MM, epsAlt = EPS_MM) {\n\n        // Handle null comparison\n        if (pos1 === null && pos1 === pos2) {\n            return true;\n        }\n\n        if (!(pos1 instanceof Coordinates) || !(pos2 instanceof Coordinates)) {\n            return false;\n        }\n\n        return Math.abs(pos2.lat - pos1.lat) < eps\n            && Math.abs(pos2.lng - pos1.lng) < eps\n            && (pos1.alt === pos2.alt\n                || pos1.alt !== null && pos2.alt !== null\n                && Math.abs(pos2.alt - pos1.alt) < epsAlt)\n            && Level.equals(pos1.level, pos2.level);\n    }\n\n    equals(other: Coordinates) {\n        return Coordinates.equals(this, other);\n    }\n\n    /**\n     * @throws {Error} if elevation is defined and point altitude is not defined\n     */\n    destinationPoint(distance: number, bearing: number, elevation: number | null = null) {\n        const newPoint = this.clone();\n        newPoint.move(distance, bearing, elevation);\n        return newPoint;\n    }\n\n    /**\n     * Source: http://www.movable-type.co.uk/scripts/latlong.html#destPoint\n     * @throws {Error} if elevation is defined and point altitude is not defined\n     */\n    move(distance: number, bearing: number, elevation: number | null = null) {\n\n        const dR = distance / R_MAJOR;\n        const cosDr = Math.cos(dR);\n        const sinDr = Math.sin(dR);\n\n        const phi1 = deg2rad(this.lat);\n        const lambda1 = deg2rad(this.lng);\n\n        const phi2 = Math.asin(\n            Math.sin(phi1) * cosDr\n            + Math.cos(phi1) * sinDr * Math.cos(bearing)\n        );\n        const lambda2 = lambda1 + Math.atan2(\n            Math.sin(bearing) * sinDr * Math.cos(phi1),\n            cosDr - Math.sin(phi1) * Math.sin(phi2)\n        );\n\n        this.lat = rad2deg(phi2);\n        this.lng = rad2deg(lambda2);\n\n        if (elevation !== null) {\n            if (this.alt === null) {\n                throw new Error('Point altitude is not defined');\n            }\n            this.alt += elevation;\n        }\n\n        return this;\n    }\n\n    /**\n     * Returns a distance between two points in meters\n     */\n    distanceTo(location2: Coordinates) {\n        const lat1 = this.lat;\n        const lng1 = this.lng;\n\n        const lat2 = location2.lat;\n        const lng2 = location2.lng;\n\n        const dlat = deg2rad(lat2 - lat1);\n        const dlng = deg2rad(lng2 - lng1);\n\n        const dlngsin = Math.sin(dlng / 2);\n        const dlatsin = Math.sin(dlat / 2);\n        const lat1rad = deg2rad(lat1);\n        const lat1cos = Math.cos(lat1rad);\n        const lat2rad = deg2rad(lat2);\n        const lat2cos = Math.cos(lat2rad);\n        const angle = dlatsin * dlatsin + lat1cos * lat2cos * dlngsin * dlngsin;\n\n        // arctangent\n        const tangy = Math.sqrt(angle);\n        const tangx = Math.sqrt(1 - angle);\n        const cosn = 2 * Math.atan2(tangy, tangx);\n\n        return R_MAJOR * cosn;\n    }\n\n    static distanceBetween(point1: Coordinates, point2: Coordinates) {\n        return point1.distanceTo(point2);\n    }\n\n    bearingTo(location2: Coordinates) {\n        const lat1 = deg2rad(this.lat);\n        const lat2 = deg2rad(location2.lat);\n        const diffLng = deg2rad(location2.lng - this.lng);\n\n        return Math.atan2(Math.sin(diffLng) * Math.cos(lat2),\n            Math.cos(lat1) * Math.sin(lat2) - Math.sin(lat1) * Math.cos(lat2) * Math.cos(diffLng));\n    }\n\n    static bearingTo(point1: Coordinates, point2: Coordinates) {\n        return point1.bearingTo(point2);\n    }\n\n\n    /**\n     * ECEF Transformations\n     * Here we used a light version of ECEF considering earth\n     * as a sphere instead of an ellipse\n     */\n\n    get enuToEcefRotation(): Quaternion_t {\n        const rot1 = Quaternion.fromAxisAngle([0, 0, 1], Math.PI / 2 + deg2rad(this.lng));\n        const rot2 = Quaternion.fromAxisAngle([1, 0, 0], Math.PI / 2 - deg2rad(this.lat));\n        return Quaternion.multiply(rot1, rot2);\n    }\n\n    get ecefToEnuRotation(): Quaternion_t {\n        const rot1 = Quaternion.fromAxisAngle([1, 0, 0], deg2rad(this.lat) - Math.PI / 2);\n        const rot2 = Quaternion.fromAxisAngle([0, 0, 1], -deg2rad(this.lng) - Math.PI / 2);\n        return Quaternion.multiply(rot1, rot2);\n    }\n\n    /**\n     * https://gist.github.com/klucar/1536194\n     * Adapted for spherical formula\n     */\n    get ecef(): Vector3_t {\n\n        if (!this._ecef) {\n            const lat = deg2rad(this.lat);\n            const lng = deg2rad(this.lng);\n            const alt = this.alt || 0;\n\n            const x = (R_MAJOR + alt) * Math.cos(lat) * Math.cos(lng);\n            const y = (R_MAJOR + alt) * Math.cos(lat) * Math.sin(lng);\n            const z = (R_MAJOR + alt) * Math.sin(lat);\n\n            this._ecef = [x, y, z];\n        }\n\n        return this._ecef;\n    }\n\n\n    static fromECEF(ecef: Vector3_t): Coordinates {\n\n        const x = ecef[0];\n        const y = ecef[1];\n        const z = ecef[2];\n\n        const p = Math.sqrt(x ** 2 + y ** 2);\n\n        let lng = Math.atan2(y, x);\n        const lat = Math.atan2(z, p);\n        const alt = p / Math.cos(lat) - R_MAJOR;\n\n        lng = lng % (2 * Math.PI);\n\n        const newPoint = new Coordinates(rad2deg(lat), rad2deg(lng), alt);\n        newPoint._ecef = ecef;\n        return newPoint;\n    }\n\n\n    /**\n     * https://stackoverflow.com/questions/1299567/how-to-calculate-distance-from-a-point-to-a-line-segment-on-a-sphere\n     * Adapted to ECEF\n     */\n    getSegmentProjection(p1: Coordinates, p2: Coordinates): Coordinates | null {\n\n        const a = Vector3.normalize(p1.ecef);\n        const b = Vector3.normalize(p2.ecef);\n        const c = Vector3.normalize(this.ecef);\n\n        const G = Vector3.cross(a, b);\n        if (Vector3.norm(G) === 0) {\n            return null;\n        }\n\n        const F = Vector3.cross(c, G);\n        const t = Vector3.normalize(Vector3.cross(G, F));\n\n        const posECEF = Vector3.multiplyScalar(t, R_MAJOR);\n        const poseCoordinates = Coordinates.fromECEF(posECEF);\n\n        // poseCoordinates.alt is not 0 here due to the ECEF transformation residual.\n        // So if p1.alt and p2.alt are defined we take the middle elevation between p1 and p2.\n        // Otherwise we remove alt from projection because the residual has no sense.\n        let alt;\n        if (p1.alt !== null && p2.alt !== null) {\n            // This formula is maybe not the best one.\n            alt = (p1.alt + p2.alt) / 2;\n        }\n        const projection = new Coordinates(poseCoordinates.lat, poseCoordinates.lng,\n            alt, Level.union(p1.level, p2.level));\n\n        if (Math.abs((p1.distanceTo(p2) - p1.distanceTo(projection) - p2.distanceTo(projection))) > EPS_MM) {\n            return null;\n        }\n\n        return projection;\n    }\n\n    /**\n     * Input / Output\n     */\n\n    toString() {\n        let str = '[' + this._lat.toFixed(7) + ', ' + this._lng.toFixed(7);\n        if (this._alt !== null) {\n            str += ', ' + this._alt.toFixed(2);\n        }\n        if (this._level !== null) {\n            str += ', [' + Level.toString(this._level) + ']';\n        }\n        str += ']';\n        return str;\n    }\n\n    toJson(): CoordinatesJson {\n        return {\n            lat: Number(this.lat.toFixed(8)),\n            lng: Number(this.lng.toFixed(8)),\n            ...(this.alt !== null && { alt: Number(this.alt.toFixed(3)) }),\n            ...(this.level !== null && { level: this.level })\n        };\n    }\n\n    static fromJson(json: CoordinatesJson) {\n        return new Coordinates(json.lat, json.lng, json.alt, json.level);\n    }\n\n\n    toCompressedJson(): CoordinatesCompressedJson {\n        if (this.level !== null) {\n            return [\n                Number(this.lat.toFixed(8)),\n                Number(this.lng.toFixed(8)),\n                this.level\n            ];\n        }\n        return [Number(this.lat.toFixed(8)), Number(this.lng.toFixed(8))];\n    }\n\n    static fromCompressedJson(json: CoordinatesCompressedJson) {\n        const coords = new Coordinates(json[0], json[1]);\n        if (json.length > 2) {\n            coords.level = json[2] as number | [number, number];\n        }\n        return coords;\n    }\n}\n\nexport default Coordinates;\n","import Coordinates from './Coordinates.js';\nimport { Level_t, UserPositionJson } from '../types.js';\nimport { EPS_DEG_MM, EPS_MM } from '../Constants.js';\n\n/**\n * A Coordinates User Position is a Coordinates position with specific data related to user (bearing, time, accuracy)\n */\nclass UserPosition extends Coordinates {\n\n    private _time: number | null = null;\n    private _accuracy: number | null = null;\n    private _bearing: number | null = null;\n\n    constructor(\n        lat: number, lng: number, alt: number | null = null, level: Level_t = null,\n        time: number | null = null, accuracy: number | null = null, bearing: number | null = null\n    ) {\n        super(lat, lng, alt, level);\n        this.time = time;\n        this.accuracy = accuracy;\n        this.bearing = bearing;\n    }\n\n    get time() {\n        return this._time;\n    }\n\n    set time(time) {\n        this._time = time;\n    }\n\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && accuracy < 0) {\n            throw new Error('accuracy argument is not a positive number');\n        }\n        this._accuracy = accuracy;\n    }\n\n    get bearing() {\n        return this._bearing;\n    }\n\n    set bearing(bearing) {\n        this._bearing = bearing !== null ? bearing % (2 * Math.PI) : null;\n    }\n\n    move(distance: number, bearing: number, elevation: number | null = null) {\n        super.move(distance, bearing, elevation);\n        return this;\n    }\n\n    destinationPoint(distance: number, bearing: number, elevation: number | null = null) {\n        const newPoint = this.clone();\n        newPoint.move(distance, bearing, elevation);\n        return newPoint;\n    }\n\n\n    // Create a UserPosition with lat, lng, alt from Coordinates coordinates and\n    //   other fields from another UserPosition\n    static fromCoordinates(coordinates: Coordinates) {\n        return new UserPosition(coordinates.lat, coordinates.lng,\n            coordinates.alt, coordinates.level);\n    }\n\n    clone() {\n        const cloned = UserPosition.fromCoordinates(super.clone());\n        cloned.time = this.time;\n        cloned.accuracy = this.accuracy;\n        cloned.bearing = this.bearing;\n        return cloned;\n    }\n\n\n    static equals(pos1: UserPosition | Coordinates | null,\n        pos2: UserPosition | Coordinates | null,\n        eps = EPS_DEG_MM, epsAlt = EPS_MM\n    ) {\n\n        // Handle null comparison\n        if (pos1 === null && pos1 === pos2) {\n            return true;\n        }\n\n        if (!(pos1 instanceof UserPosition) || !(pos2 instanceof UserPosition)) {\n            return false;\n        }\n\n        if (!super.equals(pos1, pos2, eps, epsAlt)) {\n            return false;\n        }\n\n        return pos1.time === pos2.time\n            && pos1.accuracy === pos2.accuracy\n            && pos1.bearing === pos2.bearing;\n    }\n\n    equals(other: UserPosition | Coordinates | null, eps = EPS_DEG_MM, epsAlt = EPS_MM) {\n        return UserPosition.equals(this, other, eps, epsAlt);\n    }\n\n\n    toJson(): UserPositionJson {\n        return {\n            ...super.toJson(),\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy }),\n            ...(this.bearing !== null && { bearing: this.bearing })\n        };\n    }\n\n    static fromJson(json: UserPositionJson) {\n        const position = UserPosition.fromCoordinates(Coordinates.fromJson(json));\n        if (typeof json.time !== 'undefined') {\n            position.time = json.time;\n        }\n        if (typeof json.accuracy !== 'undefined') {\n            position.accuracy = json.accuracy;\n        }\n        if (typeof json.bearing !== 'undefined') {\n            position.bearing = json.bearing;\n        }\n        return position;\n    }\n}\n\nexport default UserPosition;\n","/* eslint-disable max-statements */\n\nimport { deg2rad, positiveMod } from '@wemap/maths';\nimport { EPS_MM } from './Constants.js';\n\nimport Coordinates from './coordinates/Coordinates.js';\nimport UserPosition from './coordinates/UserPosition.js';\nimport Level from './coordinates/Level.js';\nimport { Level_t } from './types.js';\n\nexport type RouteSample = Coordinates & { bearing: number };\n\n/**\n * Sample a route of Coordinates\n * @param route ordered points\n * @param stepSize step size to sample\n * @param maxLength max route length to sample\n */\nexport function sampleRoute(\n    route: Coordinates[],\n    stepSize = 0.7,\n    startSampling = 0,\n    length = Number.MAX_VALUE\n) {\n\n    const endSampling = startSampling + length;\n\n    const sampledRoute = [];\n\n    let lastSample: RouteSample;\n\n    let totalDistanceTraveled = 0;\n    let distanceToNextSample = 0;\n    let startFound = false;\n\n    for (let segmentIndex = 0; segmentIndex < route.length - 1; segmentIndex++) {\n\n        const p1 = route[segmentIndex];\n        const p2 = route[segmentIndex + 1];\n        const segmentSize = p1.distanceTo(p2);\n        const segmentBearing = p1.bearingTo(p2);\n\n        let distanceTraveledOnSegment = 0;\n\n        if (!startFound) {\n            if (startSampling < totalDistanceTraveled + segmentSize) {\n                startFound = true;\n                distanceToNextSample = startSampling - totalDistanceTraveled;\n            } else {\n                totalDistanceTraveled += segmentSize;\n                continue;\n            }\n        }\n\n        lastSample = Object.assign(p1.clone(), { bearing: segmentBearing });\n        while (distanceTraveledOnSegment + distanceToNextSample < segmentSize\n            && totalDistanceTraveled + distanceToNextSample <= endSampling) {\n\n            const newPoint = lastSample.destinationPoint(distanceToNextSample, segmentBearing) as RouteSample;\n            newPoint.bearing = segmentBearing;\n            sampledRoute.push(newPoint);\n            lastSample = newPoint;\n\n            distanceTraveledOnSegment += distanceToNextSample;\n            totalDistanceTraveled += distanceToNextSample;\n            distanceToNextSample = stepSize;\n        }\n\n        if (totalDistanceTraveled + distanceToNextSample > endSampling) {\n            break;\n        }\n\n        const rest = segmentSize - distanceTraveledOnSegment;\n        totalDistanceTraveled += rest;\n        distanceToNextSample -= rest;\n    }\n\n    return sampledRoute;\n}\n\n/**\n * Trim a route of Coordinates\n * @param {Array.<Coordinates>} route ordered points\n * @param {Coordinates} startPosition position where the trim starts. startPosition has to be on the route.\n * @param {*} maxLength max route length\n */\nexport function trimRoute(route: Coordinates[], startPosition = route[0], length = Number.MAX_VALUE) {\n\n    const newRoute = [];\n    let previousPoint: Coordinates | null = null;\n\n    let currentPointIndex;\n    let cumulativeDistance = 0;\n\n    if (route.length <= 1) {\n        throw new Error('Route must have at least 2 points');\n    }\n\n    for (currentPointIndex = 1; currentPointIndex < route.length; currentPointIndex++) {\n\n        const p1 = route[currentPointIndex - 1];\n        const p2 = route[currentPointIndex];\n\n        if (Coordinates.equals(startPosition, p1)) {\n            newRoute.push(p1);\n            previousPoint = p1;\n            break;\n        }\n\n        const proj = startPosition.getSegmentProjection(p1, p2);\n        if (proj && Coordinates.equals(startPosition, proj) && !proj.equals(p2)) {\n            newRoute.push(proj);\n            previousPoint = proj;\n            break;\n        }\n    }\n\n    if (!newRoute.length) {\n        throw new Error('startPosition is not on the route');\n    }\n\n    while (previousPoint && currentPointIndex < route.length) {\n        const currentPoint = route[currentPointIndex];\n        const dist = previousPoint.distanceTo(currentPoint);\n        if (cumulativeDistance + dist >= length\n            || Math.abs(cumulativeDistance + dist - length) <= EPS_MM) {\n            const bearing = previousPoint.bearingTo(currentPoint);\n            const remainingLength = length - cumulativeDistance;\n            const end = previousPoint.destinationPoint(remainingLength, bearing);\n            newRoute.push(end);\n            break;\n        }\n        newRoute.push(currentPoint);\n        previousPoint = currentPoint;\n        cumulativeDistance += dist;\n        currentPointIndex++;\n    }\n\n    return newRoute;\n}\n\n\nexport function simplifyRoute(coords: Coordinates[], precisionAngle = deg2rad(5)) {\n\n    const isClosed = (coords[0].equals(coords[coords.length - 1]));\n\n    let newRoute = coords.slice(0, coords.length - (isClosed ? 1 : 0));\n\n    const len = newRoute.length;\n    for (let i = isClosed ? 0 : 1; i < len; i++) {\n\n        const p0 = coords[positiveMod(i - 1, len)];\n        const p1 = coords[i];\n        const p2 = coords[positiveMod(i + 1, len)];\n\n        const seg1Dir = p0.bearingTo(p1);\n        const seg2Dir = p1.bearingTo(p2);\n\n        if (Math.abs(seg2Dir - seg1Dir) < precisionAngle) {\n            newRoute = newRoute.filter(coord => coord !== p1);\n        }\n    }\n\n    if (isClosed) {\n        newRoute.push(newRoute[0]);\n    }\n\n    return newRoute;\n}\n\nexport function geolocationPositionToUserPosition(geolocationPosition: GeolocationPosition) {\n    if (geolocationPosition === null) {\n        return null;\n    }\n\n    const { latitude, longitude, accuracy, heading } = geolocationPosition.coords;\n\n    const userPosition = new UserPosition(latitude, longitude);\n    userPosition.time = geolocationPosition.timestamp;\n    userPosition.accuracy = accuracy;\n    userPosition.bearing = heading ? deg2rad(heading) : null;\n    return userPosition;\n}\n\nexport function calcDistance(coords: Coordinates[]) {\n    return coords.reduce((acc, coords, idx, arr) =>\n        acc + (idx ? arr[idx - 1].distanceTo(coords) : 0), 0);\n}\n\n\nexport function createSegmentsAtLevel(itineraryCoords: Coordinates[], segmentsLevel: Level_t, useMultiLevelSegments = true) {\n\n    const itineraryCoordsLength = itineraryCoords.length;\n    let previousLevelCorrespond = false;\n\n    const segments: Coordinates[][] = [];\n    let coordinates: Coordinates[] = [];\n    for (let i = 0; i < itineraryCoordsLength; i++) {\n        const coords = itineraryCoords[i];\n        const levelCorrespond = Level.intersect(segmentsLevel, coords.level);\n\n        if (useMultiLevelSegments && !levelCorrespond && previousLevelCorrespond) {\n            coordinates.push(coords);\n        } else if (levelCorrespond) {\n            if (!previousLevelCorrespond) {\n                coordinates = [];\n                segments.push(coordinates);\n                if (useMultiLevelSegments && i !== 0) {\n                    coordinates.push(itineraryCoords[i - 1]);\n                }\n            }\n            coordinates.push(coords);\n        }\n\n        previousLevelCorrespond = levelCorrespond;\n    }\n    return segments;\n}","import Coordinates from './Coordinates.js';\n\nclass BoundingBox {\n\n    northEast: Coordinates;\n    southWest: Coordinates;\n\n    constructor(northEast: Coordinates, southWest: Coordinates) {\n        this.northEast = northEast;\n        this.southWest = southWest;\n\n        if (this.northEast && this.southWest && this.getNorth() < this.getSouth()) {\n            throw new Error('Incorrect bounding box');\n        }\n    }\n\n    /**\n     * Returns the geographical coordinate equidistant from the bounding box's corners.\n     */\n    get center(): Coordinates {\n        const latCenter = (this.southWest.lat + this.northEast.lat) / 2;\n        const lngCenter = (this.northEast.lng + this.southWest.lng) / 2;\n        return new Coordinates(latCenter, lngCenter);\n    }\n\n    /**\n     * Check if a point is contained in the bounding box.\n     */\n    contains(point: Coordinates): boolean {\n        return point.lat <= this.northEast.lat\n            && point.lat >= this.southWest.lat\n            && point.lng <= this.northEast.lng\n            && point.lng >= this.southWest.lng;\n    }\n\n    /**\n     * Extend the bounds to include a given LngLat or LngLatBounds.\n     */\n    extend(obj: Coordinates | BoundingBox): BoundingBox {\n        const sw = this.southWest,\n            ne = this.northEast;\n        let sw2, ne2;\n\n        if (obj instanceof Coordinates) {\n            sw2 = obj;\n            ne2 = obj;\n\n        } else if (obj instanceof BoundingBox) {\n            sw2 = obj.southWest;\n            ne2 = obj.northEast;\n        } else {\n            throw new Error('Unknown parameter');\n        }\n\n        this.southWest = new Coordinates(\n            Math.min(sw2.lat, sw.lat),\n            Math.min(sw2.lng, sw.lng)\n        );\n        this.northEast = new Coordinates(\n            Math.max(ne2.lat, ne.lat),\n            Math.max(ne2.lng, ne.lng)\n        );\n\n        return this;\n    }\n\n    /**\n     * This method extends the bounding box with a value in meters\n     * /*\\ This method is not precise as distance differs in function of latitude\n     */\n    extendsWithMeasure(measure: number): BoundingBox {\n\n        if (typeof measure !== 'number') {\n            throw new Error('measure is not a number');\n        }\n\n        this.northEast = this.northEast\n            .destinationPoint(measure, 0)\n            .move(measure, Math.PI / 2);\n\n        this.southWest = this.southWest.clone()\n            .destinationPoint(measure, -Math.PI / 2)\n            .destinationPoint(measure, Math.PI);\n\n        return this;\n    }\n\n    /**\n     * Returns bounds created by extending or retracting the current bounds by a given ratio in each direction.\n     * For example, a ratio of 0.5 extends the bounds by 50% in each direction.\n     * Negative values will retract the bounds.\n     */\n    pad(bufferRatio: number): BoundingBox {\n        const sw = this.southWest;\n        const ne = this.northEast;\n\n        const heightBuffer = Math.abs(sw.lat - ne.lat) * bufferRatio;\n        const widthBuffer = Math.abs(sw.lng - ne.lng) * bufferRatio;\n\n        this.southWest = new Coordinates(sw.lat - heightBuffer, sw.lng - widthBuffer);\n        this.northEast = new Coordinates(ne.lat + heightBuffer, ne.lng + widthBuffer);\n\n        return this;\n    }\n\n    /**\n     * Returns the southwest corner of the bounding box.\n     */\n    getSouthWest() {\n        return this.southWest;\n    }\n\n    /**\n    * Returns the northeast corner of the bounding box.\n    */\n    getNorthEast() {\n        return this.northEast;\n    }\n\n    /**\n    * Returns the northwest corner of the bounding box.\n    */\n    getNorthWest() {\n        return new Coordinates(this.getNorth(), this.getWest());\n    }\n\n    /**\n    * Returns the southeast corner of the bounding box.\n    */\n    getSouthEast() {\n        return new Coordinates(this.getSouth(), this.getEast());\n    }\n\n    /**\n    * Returns the west edge of the bounding box.\n    */\n    getWest() {\n        return this.southWest.lng;\n    }\n\n    /**\n    * Returns the south edge of the bounding box.\n    */\n    getSouth() {\n        return this.southWest.lat;\n    }\n\n    /**\n    * Returns the east edge of the bounding box.\n    */\n    getEast() {\n        return this.northEast.lng;\n    }\n\n    /**\n    * Returns the north edge of the bounding box.\n    */\n    getNorth() {\n        return this.northEast.lat;\n    }\n\n    static equals(bb1: BoundingBox, bb2: BoundingBox) {\n        return Coordinates.equals(bb1.northEast, bb2.northEast)\n            && Coordinates.equals(bb1.southWest, bb2.southWest);\n    }\n\n    equals(other: BoundingBox) {\n        return BoundingBox.equals(this, other);\n    }\n\n    /**\n     * Create a BoundingBox from a WSEN array\n     */\n    static fromArray(bounds: [number, number, number, number]) {\n        return new BoundingBox(\n            new Coordinates(bounds[3], bounds[2]),\n            new Coordinates(bounds[1], bounds[0])\n        );\n    }\n\n    static fromCoordinates(coords: Coordinates[]) {\n        if (coords.length === 0) {\n            return null;\n        }\n        return coords.reduce(\n            (acc, _coords) => acc.extend(_coords),\n            new BoundingBox(coords[0], coords[0])\n        );\n    }\n\n    /**\n     * Returns the WSEN array\n     */\n    toArray(): [number, number, number, number] {\n        return [this.getWest(), this.getSouth(), this.getEast(), this.getNorth()];\n    }\n}\n\nexport default BoundingBox;\n","import { EPS_MM } from '../Constants.js';\nimport { RelativePositionJson } from '../types.js';\n\nclass RelativePosition {\n\n    x: number;\n    y: number;\n    z: number;\n    time: number | null = null;\n    private _accuracy: number | null = null;\n    private _bearing: number | null = null;\n\n    constructor(\n        x: number, y: number, z: number,\n        time: number | null = null, accuracy: number | null = null, bearing: number | null = null\n    ) {\n        this.x = x;\n        this.y = y;\n        this.z = z;\n        this.time = time;\n        this.accuracy = accuracy;\n        this.bearing = bearing;\n    }\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && accuracy < 0) {\n            throw new Error('accuracy argument is not a positive number');\n        }\n        this._accuracy = accuracy;\n    }\n\n    get bearing() {\n        return this._bearing;\n    }\n\n    set bearing(bearing) {\n        this._bearing = bearing !== null ? bearing % (2 * Math.PI) : null;\n    }\n\n    clone() {\n        return new RelativePosition(this.x, this.y, this.z, this.time, this.accuracy, this.bearing);\n    }\n\n\n    /**\n     * Compares two RelativePosition\n     * @param {RelativePosition} pos1 position 1\n     * @param {RelativePosition} pos2 position 2\n     * @param {Number} eps x, y, z epsilon in meters (default: 1e-3 [= 1mm])\n     */\n    static equals(pos1: RelativePosition | null, pos2: RelativePosition | null, eps = EPS_MM) {\n\n        // Handle null comparison\n        if (pos1 === null && pos1 === pos2) {\n            return true;\n        }\n\n        if (!(pos1 instanceof RelativePosition) || !(pos2 instanceof RelativePosition)) {\n            return false;\n        }\n\n        return Math.abs(pos2.x - pos1.x) < eps\n            && Math.abs(pos2.y - pos1.y) < eps\n            && Math.abs(pos2.z - pos1.z) < eps\n            && pos1.time === pos2.time\n            && pos1.accuracy === pos2.accuracy\n            && pos1.bearing === pos2.bearing;\n    }\n\n    equals(other: RelativePosition) {\n        return RelativePosition.equals(this, other);\n    }\n\n    toJson(): RelativePositionJson {\n        return {\n            x: this.x,\n            y: this.y,\n            z: this.z,\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy }),\n            ...(this.bearing !== null && { bearing: this.bearing })\n        };\n    }\n\n    static fromJson(json: RelativePositionJson) {\n        return new RelativePosition(json.x, json.y, json.z, json.time, json.accuracy, json.bearing);\n    }\n}\n\nexport default RelativePosition;\n","import RelativePosition from './RelativePosition.js';\n\n/**\n * Position is defined in EUS (East-Up-South) frame with: x pointing to East, y pointing to Up, z pointing to South\n * This frame is close to ThreeJS / OpenGL frame.\n */\nclass GeoRelativePosition extends RelativePosition { }\n\nexport default GeoRelativePosition;\n","import { Quaternion, Vector3, Vector3_t } from '@wemap/maths';\nimport { GeoRefJson } from '../types.js';\n\nimport Coordinates from './Coordinates.js';\n\nclass GeoRef {\n\n    origin: Coordinates;\n    scale = 1;\n    heading = 0;\n\n    constructor(origin: Coordinates) {\n        this.origin = origin;\n    }\n\n    /**\n     * LocalPosition in ENU frame\n     */\n    localToWorld(localPosition: Vector3_t) {\n        const enuTranslationScaled = Vector3.multiplyScalar(localPosition, this.scale);\n        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], this.heading);\n        const enuToEcefRotationOrigin = Quaternion.multiply(rotationOffset, this.origin.enuToEcefRotation);\n        const ecefTranslation = Quaternion.rotate(enuToEcefRotationOrigin, enuTranslationScaled);\n        const ecef = Vector3.sum(this.origin.ecef, ecefTranslation);\n        return Coordinates.fromECEF(ecef);\n    }\n\n    /**\n     * LocalPosition in ENU frame\n     */\n    worldToLocal(coords: Coordinates) {\n        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], -this.heading);\n        const ecefToEnuRotationOrigin = Quaternion.multiply(this.origin.ecefToEnuRotation, rotationOffset);\n        const ecefTranslation = Vector3.subtract(coords.ecef, this.origin.ecef);\n        const ecefTranslationScaled = Vector3.multiplyScalar(ecefTranslation, 1 / this.scale);\n        return Quaternion.rotate(ecefToEnuRotationOrigin, ecefTranslationScaled);\n    }\n\n    toJson(): GeoRefJson {\n        return {\n            origin: this.origin.toJson(),\n            ...(this.scale !== 1 && { scale: this.scale }),\n            ...(this.heading !== 0 && { heading: this.heading })\n        };\n    }\n\n    static fromJson(json: GeoRefJson) {\n        const geoRef = new GeoRef(Coordinates.fromJson(json.origin));\n        geoRef.scale = typeof json.scale !== 'undefined' ? json.scale : 1;\n        geoRef.heading = typeof json.heading !== 'undefined' ? json.heading : 0;\n        return geoRef;\n    }\n}\n\nexport default GeoRef;\n","import {\n    Rotations, Quaternion, rad2deg, deg2rad,\n    Quaternion_t, EulerAngles_t, EulerAnglesDegrees_t\n} from '@wemap/maths';\nimport { AttitudeJson } from '../types';\n\nclass Attitude {\n\n    _quaternion: Quaternion_t = [1, 0, 0, 0];\n    _heading: number | null = null;\n    _eulerAngles: EulerAngles_t | null = null;\n    _time: number | null = null;\n    _accuracy: number | null = null;\n\n    constructor(quaternion: Quaternion_t,\n        time: number | null = null,\n        accuracy: number | null = null\n    ) {\n        this.quaternion = quaternion;\n        this.time = time;\n        this.accuracy = accuracy;\n    }\n\n    static unitary() {\n        return new Attitude([1, 0, 0, 0]);\n    }\n\n\n    get quaternion() {\n        return this._quaternion;\n    }\n\n    set quaternion(quaternion) {\n        if (Math.abs(1 - Quaternion.norm(quaternion)) > 1e-4) {\n            throw new Error('quaternion is not a unit quaternion');\n        }\n        this._quaternion = quaternion;\n        this._heading = null;\n        this._eulerAngles = null;\n    }\n\n\n    get time() {\n        return this._time;\n    }\n\n    set time(time) {\n        this._time = time;\n    }\n\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && (accuracy < 0 || accuracy > Math.PI)) {\n            throw new Error('accuracy argument (' + accuracy + ') is not in range [0; PI]');\n        }\n        this._accuracy = accuracy;\n    }\n\n    get eulerAngles(): EulerAngles_t {\n        if (this._eulerAngles === null) {\n            this._eulerAngles = Rotations.quaternionToEulerZXY(this.quaternion);\n        }\n        return this._eulerAngles;\n    }\n\n    get eulerAnglesDegrees(): EulerAnglesDegrees_t {\n        return this.eulerAngles.map(x => rad2deg(x)) as EulerAnglesDegrees_t;\n    }\n\n    get heading() {\n        if (this._heading === null) {\n            let offset = 0;\n            if (typeof (window) !== 'undefined' && window && window.orientation) {\n                offset = deg2rad(window.orientation);\n            }\n            this._heading = Rotations.getHeadingFromQuaternion(this.quaternion) + offset;\n        }\n        return this._heading;\n    }\n\n    get headingDegrees() {\n        return rad2deg(this.heading);\n    }\n\n\n    static equals(att1: Attitude | null, att2: Attitude | null) {\n\n        // Handle null comparison\n        if (att1 === null && att1 === att2) {\n            // TODO not sure to return true here.\n            return true;\n        }\n\n        if (!(att1 instanceof Attitude) || !(att2 instanceof Attitude)) {\n            return false;\n        }\n\n        if (att1 === att2) {\n            return true;\n        }\n\n        return Quaternion.equals(att1.quaternion, att2.quaternion);\n    }\n\n    equals(other: Attitude) {\n        return Attitude.equals(this, other);\n    }\n\n    toJson(): AttitudeJson {\n        if (this.time === null && this.accuracy === null) {\n            return this.quaternion;\n        }\n        return {\n            q: this.quaternion,\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy })\n        };\n    }\n\n\n    static fromJson(json: AttitudeJson) {\n        if (Array.isArray(json)) {\n            return new Attitude(json, null, null);\n        }\n        return new Attitude(json.q, json.time, json.accuracy);\n    }\n\n\n    clone() {\n        return new Attitude(this.quaternion.slice(0) as Quaternion_t, this.time, this.accuracy);\n    }\n\n    /**\n     * Calculate the relative attitude between two given attitudes\n     */\n    static diff(attitudeStart: Attitude, attitudeEnd: Attitude) {\n\n        const quaternionDiff = Quaternion.multiply(\n            Quaternion.inverse(attitudeStart.quaternion),\n            attitudeEnd.quaternion\n        );\n\n        let timeDiff = null;\n        if (attitudeEnd.time !== null && attitudeStart.time !== null) {\n            timeDiff = attitudeEnd.time - attitudeStart.time;\n        }\n\n        let accuracyDiff = null;\n        if (attitudeStart.accuracy !== null && attitudeEnd.accuracy !== null) {\n            // Approximation\n            accuracyDiff = Math.max(attitudeEnd.accuracy - attitudeStart.accuracy);\n        }\n\n        return new Attitude(quaternionDiff, timeDiff, accuracyDiff);\n    }\n}\n\nexport default Attitude;\n","import { Quaternion } from '@wemap/maths';\nimport { AbsoluteHeadingJson } from '../types.js';\n\nimport Attitude from './Attitude.js';\n\nclass AbsoluteHeading {\n\n    heading: number;\n    time: number | null = null;\n    private _accuracy: number | null = null;\n\n    constructor(heading: number,\n        time: number | null = null,\n        accuracy: number | null = null\n    ) {\n        this.heading = heading;\n        this.time = time;\n        this.accuracy = accuracy;\n    }\n\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && (accuracy < 0 || accuracy > Math.PI)) {\n            throw new Error('accuracy argument (' + accuracy + ') is not in range [0; PI]');\n        }\n        this._accuracy = accuracy;\n    }\n\n    toAttitude() {\n        /**\n         * Heading is given around z-axis in NED frame and our attitude in ENU frame, that is why\n         *  -1* is applied to heading.\n         */\n        return new Attitude(\n            Quaternion.fromAxisAngle([0, 0, 1], -this.heading),\n            this.time,\n            this.accuracy\n        );\n    }\n\n\n    /**\n     * Compares two AbsoluteHeading\n     * @param {AbsoluteHeading} heading1 heading 1\n     * @param {AbsoluteHeading} heading2 heading 2\n     */\n    static equals(heading1: AbsoluteHeading | null, heading2: AbsoluteHeading | null) {\n\n        // Handle null comparison\n        if (heading1 === null && heading1 === heading2) {\n            return true;\n        }\n\n        if (!(heading1 instanceof AbsoluteHeading) || !(heading2 instanceof AbsoluteHeading)) {\n            return false;\n        }\n\n        return Math.abs(heading1.heading - heading2.heading) < 1e-8;\n    }\n\n    equals(other: AbsoluteHeading | null) {\n        return AbsoluteHeading.equals(this, other);\n    }\n\n    toJson(): AbsoluteHeadingJson {\n        return {\n            heading: this.heading,\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy })\n        };\n    }\n\n    static fromJson(json: AbsoluteHeadingJson) {\n        return new AbsoluteHeading(json.heading, json.time, 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const R_MAJOR_2 = R_MAJOR * R_MAJOR;\nexport const R_MAJOR_4 = R_MAJOR_2 * R_MAJOR_2;\nexport const R_MINOR_2 = R_MINOR * R_MINOR;\nexport const R_MINOR_4 = R_MINOR_2 * R_MINOR_2;\nexport const CIRCUMFERENCE = R_MAJOR * 2 * Math.PI;\n","import { Level_t } from \"../types\";\n\n/**\n * A Level is the representation of a building floor number\n * A level can be a simple number or a range (low, up)\n * The range is an array of two numbers\n */\nclass Level {\n\n    static VERIFY_TYPING = false;\n\n    static checkType(level: Level_t) {\n        if (level === null) {\n            return;\n        }\n        if (typeof level === 'number' && !isNaN(level)) {\n            return;\n        }\n        if (Array.isArray(level) && level.length === 2) {\n            const [low, up] = level;\n            if (typeof low === 'number' && !isNaN(low)\n                && typeof up === 'number' && !isNaN(up)) {\n                if (low > up || low === up) {\n                    throw Error(`Invalid level range: [${low}, ${up}]`);\n                }\n                return;\n            }\n        }\n        throw Error(`Unknown level format: ${level}`);\n    }\n\n    /**\n     * Return true if the level is a range, false otherwise\n     */\n    static isRange(level: Level_t): level is [number, number] {\n        if (Level.VERIFY_TYPING) {\n            this.checkType(level);\n        }\n        return Array.isArray(level);\n    }\n\n    static clone(level: Level_t): Level_t {\n        if (Level.VERIFY_TYPING) {\n            this.checkType(level);\n        }\n        if (level === null) {\n            return null;\n        }\n        if (typeof level === 'number') {\n            return level;\n        }\n\n        return [level[0], level[1]];\n    }\n\n    /**\n     * Create a level from a string (eg. 1, -2, 1;2, -2;3, 2;-1, 0.5;1 ...)\n     */\n    static fromString(str: string | null): Level_t {\n\n        if (str === null) {\n            return null;\n        }\n\n        if (typeof str !== 'string' || !str.length) {\n            throw Error(`argument must be a non empty string, got ${typeof str}`);\n        }\n\n        if (!isNaN(Number(str))) {\n            return parseFloat(str);\n        }\n\n        const splited = str.split(';');\n        if (splited.length > 1) {\n            const levels = splited.map(str => Number(str));\n            const low = Math.min(...levels);\n            const up = Math.max(...levels);\n            this.checkType([low, up]);\n            return [low, up];\n        } else {\n            const rangeSeparator = str.substring(1).indexOf('-') + 1;\n            if (rangeSeparator > 0) {\n                const low = Number(str.substring(0, rangeSeparator));\n                const up = Number(str.substring(rangeSeparator + 1));\n                this.checkType([low, up]);\n                return [low, up];\n            }\n        }\n\n        throw Error(`Cannot parse following level: ${str}`);\n    }\n\n\n    /**\n     * Returns if a level is contained in another\n     * @param {null|number|[number, number]} container The container level\n     * @param {null|number|[number, number]} targeted The targeted level\n     */\n    static contains(container: Level_t, targeted: Level_t): boolean {\n        if (Level.VERIFY_TYPING) {\n            this.checkType(container);\n            this.checkType(targeted);\n        }\n\n        // Covers null and number\n        if (container === targeted) {\n            return true;\n        }\n\n        if (Array.isArray(container)) {\n            if (Array.isArray(targeted)) {\n                return container[0] <= targeted[0] && container[1] >= targeted[1];\n            }\n            if (targeted === null) {\n                return false;\n            }\n            return container[0] <= targeted && container[1] >= targeted;\n        }\n        if (container === null || targeted === null) {\n            return false;\n        }\n        return container <= (targeted as [number, number])[0]\n            && container >= (targeted as [number, number])[1];\n    }\n\n    /**\n     * Retrieve the intersection of two levels\n     * null n null => null\n     * null n 1 => null // Conception choice\n     * null n [1,2] => null // Conception choice\n     * 1 n 1 => 1\n     * 1 n 2 => null\n     * 1 n [1,2] => 1\n     * 1 n [0,2] => 1\n     * 1 n [2,3] => null\n     * [1,2] n [1,2] => [1,2]\n     * [1,2] n [2,3] => 2\n     * [1,2] n [3,4] => null\n     */\n    static intersection(first: Level_t, second: Level_t): Level_t {\n\n        if (Level.VERIFY_TYPING) {\n            this.checkType(first);\n            this.checkType(second);\n        }\n\n        if (first === null || second === null) {\n            return null;\n        }\n\n        if (this.equals(first, second)) {\n            return this.clone(first);\n        }\n\n        if (typeof first === 'number' && typeof second === 'number') {\n            return first === second ? first : null;\n        }\n\n        if (Array.isArray(first) && !Array.isArray(second)) {\n            if (this.contains(first, second)) {\n                return second;\n            }\n            return null;\n        }\n        if (!Array.isArray(first) && Array.isArray(second)) {\n            if (this.contains(second, first)) {\n                return first;\n            }\n            return null;\n        }\n\n        // There are two ranges\n        const low = Math.max((first as [number, number])[0], (second as [number, number])[0]);\n        const up = Math.min((first as [number, number])[1], (second as [number, number])[1]);\n        if (up === low) {\n            return up;\n        }\n        return up < low ? null : [low, up];\n    }\n\n    /**\n    * Retrieve the intersection of two levels\n    * @param {null|number|[number, number]} first The first level\n    * @param {null|number|[number, number]} second The second level\n    * @returns {boolean}\n    */\n    static intersect(first: Level_t, second: Level_t): boolean {\n\n        if (Level.VERIFY_TYPING) {\n            this.checkType(first);\n            this.checkType(second);\n        }\n\n        if (first === null && second === null) {\n            return true;\n        }\n\n        return this.intersection(first, second) !== null;\n    }\n\n    /**\n     * Retrieve the union of two levels\n     * null u null => null\n     * null u 1 => null // Conception choice\n     * null u [1,2] => null // Conception choice\n     * 1 u 1 => 1\n     * 1 u 2 => [1,2]\n     * 1 u [1,2] => [1,2]\n     * 1 u [0,2] => [0,2]\n     * 1 u [2,3] => [1,3]\n     * [1,2] u [1,2] => [1,2]\n     * [1,2] u [2,3] => [1,3]\n     * [1,2] u [3,4] => [1,4]\n     */\n    static union(first: Level_t, second: Level_t): Level_t {\n\n        if (Level.VERIFY_TYPING) {\n            this.checkType(first);\n            this.checkType(second);\n        }\n\n        if (first === second) {\n            return this.clone(first);\n        }\n\n        if (second === null) {\n            return null;\n            // return this.clone(first);\n        }\n\n        if (first === null) {\n            return null;\n            // return this.clone(second);\n        }\n\n        let low, up;\n        if (!Array.isArray(first) && !Array.isArray(second)) {\n            low = Math.min(first, second);\n            up = Math.max(first, second);\n        } else if (Array.isArray(first) && !Array.isArray(second)) {\n            low = Math.min(first[0], second);\n            up = Math.max(first[1], second);\n        } else if (!Array.isArray(first) && Array.isArray(second)) {\n            low = Math.min(second[0], first);\n            up = Math.max(second[1], first);\n        } else {\n            /* if (Array.isArray(first) && Array.isArray(second)) */\n            low = Math.min((first as [number, number])[0], (second as [number, number])[0]);\n            up = Math.max((first as [number, number])[1], (second as [number, number])[1]);\n        }\n\n        if (low === up) {\n            return low;\n        }\n        return [low, up];\n    }\n\n    /**\n     * Multiply a level by a factor\n     * @param {null|number|[number, number]} level the level to multiply\n     * @param {number} factor\n     * @returns {null|number|[number, number]}\n     */\n    static multiplyBy(level: Level_t, factor: number): Level_t {\n        if (Level.VERIFY_TYPING) {\n            this.checkType(level);\n        }\n\n        if (level === null) {\n            return null;\n        }\n\n        return Array.isArray(level) ? [level[0] * factor, level[1] * factor] : level * factor;\n    }\n\n    static toString(level: Level_t): string | null {\n        if (Level.VERIFY_TYPING) {\n            this.checkType(level);\n        }\n        if (level === null) {\n            return null;\n        }\n        return Array.isArray(level) ? level[0] + ';' + level[1] : String(level);\n    }\n\n    static equals(first: Level_t, second: Level_t): boolean {\n\n        if (Level.VERIFY_TYPING) {\n            this.checkType(first);\n            this.checkType(second);\n        }\n\n        if (first === second) {\n            return true;\n        }\n\n        if (Array.isArray(first) && Array.isArray(second)) {\n            return first[0] === second[0] && first[1] === second[1];\n        }\n\n        return false;\n    }\n\n\n    static diff(first: Level_t, second: Level_t): null | number {\n\n        if (Level.VERIFY_TYPING) {\n            this.checkType(first);\n            this.checkType(second);\n        }\n\n        if (first === null || second === null) {\n            return null;\n        }\n\n        if (!Array.isArray(first) && !Array.isArray(second)) {\n            return second - first;\n        }\n\n        if (Array.isArray(first) && !Array.isArray(second)) {\n            if (first[0] === second) {\n                return second - first[1];\n            }\n            if (first[1] === second) {\n                return second - first[0];\n            }\n            return null;\n        }\n\n        if (Array.isArray(second) && !Array.isArray(first)) {\n            if (first === second[0]) {\n                return second[1] - first;\n            }\n            if (first === second[1]) {\n                return second[0] - first;\n            }\n            return null;\n        }\n\n        if (Level.equals(first, second)) {\n            return 0;\n        }\n\n        return null;\n    }\n}\n\nexport default Level;\n","import {\n    deg2rad, Vector3, Quaternion, rad2deg, wrap, Vector3_t, Quaternion_t\n} from '@wemap/maths';\nimport { EPS_DEG_MM, EPS_MM, R_MAJOR } from '../Constants.js';\n\nimport { CoordinatesCompressedJson, CoordinatesJson, Level_t } from '../types.js';\nimport Level from './Level.js';\n\n/**\n * A Coordinates position using at least latitude (lat) and longitude (lng).\n * Optionnal fields are: altitude (alt) and level.\n *\n * Basic geo methods are directly accessibles from here:\n * distanceTo, bearingTo, toEcef...\n *\n * /!\\ This class has been adapted to use earth as a sphere and not as an ellipsoid\n * /!\\ So, this class does not stricly represent WGS84 coordinates anymore\n * /!\\ This modifications have been made for computational improvements.\n */\nclass Coordinates {\n\n    private _lat!: number;\n    private _lng!: number;\n    private _alt: number | null = null;\n    private _level: Level_t | null = null;\n\n    private _ecef: Vector3_t | null;\n\n    autoWrap = true;\n\n    constructor(lat: number, lng: number, alt: number | null = null, level: Level_t | null = null) {\n        this.lat = lat;\n        this.lng = lng;\n        this.alt = alt;\n        this.level = level;\n        this._ecef = null;\n    }\n\n    get lat() {\n        return this._lat;\n    }\n\n    set lat(lat: number) {\n        if (Math.abs(lat) <= 90) {\n            this._lat = lat;\n        } else {\n            throw new Error('lat argument is not in [-90; 90]');\n        }\n        this._ecef = null;\n    }\n\n    get latitude() {\n        return this._lat;\n    }\n\n    set latitude(_) {\n        throw new Error('Please use Coordinates#lat setter instead of Coordinate#latitude');\n    }\n\n    get lng() {\n        return this._lng;\n    }\n\n    set lng(lng) {\n        this._lng = lng;\n        if (this.autoWrap) {\n            this.wrap();\n        }\n        this._ecef = null;\n    }\n\n    get longitude() {\n        return this._lng;\n    }\n\n    set longitude(_) {\n        throw new Error('Please use Coordinates#lng setter instead of Coordinate#longitude');\n    }\n\n    /**\n     * alt does not denote the altitude of a point but its height from\n     *  the \"level\" field (if defined) or from the ground\n     */\n    get alt() {\n        return this._alt;\n    }\n\n    set alt(alt) {\n        this._alt = alt;\n        this._ecef = null;\n    }\n\n    get level() {\n        return this._level;\n    }\n\n    set level(level) {\n        Level.checkType(level);\n        this._level = level;\n    }\n\n    /**\n     * Deep clone coordinates\n     */\n    clone() {\n        const output = new Coordinates(this.lat, this.lng, this.alt);\n        if (this.level !== null) {\n            output.level = Level.clone(this.level);\n        }\n        return output;\n    }\n\n    wrap() {\n        if (this._lng <= -180 || this._lng > 180) {\n            this._lng = wrap(this._lng, -180, 180);\n        }\n    }\n\n\n    static equals(pos1: Coordinates | null, pos2: Coordinates | null, eps = EPS_DEG_MM, epsAlt = EPS_MM) {\n\n        // Handle null comparison\n        if (pos1 === null && pos1 === pos2) {\n            return true;\n        }\n\n        if (!(pos1 instanceof Coordinates) || !(pos2 instanceof Coordinates)) {\n            return false;\n        }\n\n        return Math.abs(pos2.lat - pos1.lat) < eps\n            && Math.abs(pos2.lng - pos1.lng) < eps\n            && (pos1.alt === pos2.alt\n                || pos1.alt !== null && pos2.alt !== null\n                && Math.abs(pos2.alt - pos1.alt) < epsAlt)\n            && Level.equals(pos1.level, pos2.level);\n    }\n\n    equals(other: Coordinates) {\n        return Coordinates.equals(this, other);\n    }\n\n    /**\n     * @throws {Error} if elevation is defined and point altitude is not defined\n     */\n    destinationPoint(distance: number, bearing: number, elevation: number | null = null) {\n        const newPoint = this.clone();\n        newPoint.move(distance, bearing, elevation);\n        return newPoint;\n    }\n\n    /**\n     * Source: http://www.movable-type.co.uk/scripts/latlong.html#destPoint\n     * @throws {Error} if elevation is defined and point altitude is not defined\n     */\n    move(distance: number, bearing: number, elevation: number | null = null) {\n\n        const dR = distance / R_MAJOR;\n        const cosDr = Math.cos(dR);\n        const sinDr = Math.sin(dR);\n\n        const phi1 = deg2rad(this.lat);\n        const lambda1 = deg2rad(this.lng);\n\n        const phi2 = Math.asin(\n            Math.sin(phi1) * cosDr\n            + Math.cos(phi1) * sinDr * Math.cos(bearing)\n        );\n        const lambda2 = lambda1 + Math.atan2(\n            Math.sin(bearing) * sinDr * Math.cos(phi1),\n            cosDr - Math.sin(phi1) * Math.sin(phi2)\n        );\n\n        this.lat = rad2deg(phi2);\n        this.lng = rad2deg(lambda2);\n\n        if (elevation !== null) {\n            if (this.alt === null) {\n                throw new Error('Point altitude is not defined');\n            }\n            this.alt += elevation;\n        }\n\n        return this;\n    }\n\n    /**\n     * Returns a distance between two points in meters\n     */\n    distanceTo(location2: Coordinates) {\n        const lat1 = this.lat;\n        const lng1 = this.lng;\n\n        const lat2 = location2.lat;\n        const lng2 = location2.lng;\n\n        const dlat = deg2rad(lat2 - lat1);\n        const dlng = deg2rad(lng2 - lng1);\n\n        const dlngsin = Math.sin(dlng / 2);\n        const dlatsin = Math.sin(dlat / 2);\n        const lat1rad = deg2rad(lat1);\n        const lat1cos = Math.cos(lat1rad);\n        const lat2rad = deg2rad(lat2);\n        const lat2cos = Math.cos(lat2rad);\n        const angle = dlatsin * dlatsin + lat1cos * lat2cos * dlngsin * dlngsin;\n\n        // arctangent\n        const tangy = Math.sqrt(angle);\n        const tangx = Math.sqrt(1 - angle);\n        const cosn = 2 * Math.atan2(tangy, tangx);\n\n        return R_MAJOR * cosn;\n    }\n\n    static distanceBetween(point1: Coordinates, point2: Coordinates) {\n        return point1.distanceTo(point2);\n    }\n\n    bearingTo(location2: Coordinates) {\n        const lat1 = deg2rad(this.lat);\n        const lat2 = deg2rad(location2.lat);\n        const diffLng = deg2rad(location2.lng - this.lng);\n\n        return Math.atan2(Math.sin(diffLng) * Math.cos(lat2),\n            Math.cos(lat1) * Math.sin(lat2) - Math.sin(lat1) * Math.cos(lat2) * Math.cos(diffLng));\n    }\n\n    static bearingTo(point1: Coordinates, point2: Coordinates) {\n        return point1.bearingTo(point2);\n    }\n\n\n    /**\n     * ECEF Transformations\n     * Here we used a light version of ECEF considering earth\n     * as a sphere instead of an ellipse\n     */\n\n    get enuToEcefRotation(): Quaternion_t {\n        const rot1 = Quaternion.fromAxisAngle([0, 0, 1], Math.PI / 2 + deg2rad(this.lng));\n        const rot2 = Quaternion.fromAxisAngle([1, 0, 0], Math.PI / 2 - deg2rad(this.lat));\n        return Quaternion.multiply(rot1, rot2);\n    }\n\n    get ecefToEnuRotation(): Quaternion_t {\n        const rot1 = Quaternion.fromAxisAngle([1, 0, 0], deg2rad(this.lat) - Math.PI / 2);\n        const rot2 = Quaternion.fromAxisAngle([0, 0, 1], -deg2rad(this.lng) - Math.PI / 2);\n        return Quaternion.multiply(rot1, rot2);\n    }\n\n    /**\n     * https://gist.github.com/klucar/1536194\n     * Adapted for spherical formula\n     */\n    get ecef(): Vector3_t {\n\n        if (!this._ecef) {\n            const lat = deg2rad(this.lat);\n            const lng = deg2rad(this.lng);\n            const alt = this.alt || 0;\n\n            const x = (R_MAJOR + alt) * Math.cos(lat) * Math.cos(lng);\n            const y = (R_MAJOR + alt) * Math.cos(lat) * Math.sin(lng);\n            const z = (R_MAJOR + alt) * Math.sin(lat);\n\n            this._ecef = [x, y, z];\n        }\n\n        return this._ecef;\n    }\n\n\n    static fromECEF(ecef: Vector3_t): Coordinates {\n\n        const x = ecef[0];\n        const y = ecef[1];\n        const z = ecef[2];\n\n        const p = Math.sqrt(x ** 2 + y ** 2);\n\n        let lng = Math.atan2(y, x);\n        const lat = Math.atan2(z, p);\n        const alt = p / Math.cos(lat) - R_MAJOR;\n\n        lng = lng % (2 * Math.PI);\n\n        const newPoint = new Coordinates(rad2deg(lat), rad2deg(lng), alt);\n        newPoint._ecef = ecef;\n        return newPoint;\n    }\n\n\n    /**\n     * https://stackoverflow.com/questions/1299567/how-to-calculate-distance-from-a-point-to-a-line-segment-on-a-sphere\n     * Adapted to ECEF\n     */\n    getSegmentProjection(p1: Coordinates, p2: Coordinates): Coordinates | null {\n\n        const a = Vector3.normalize(p1.ecef);\n        const b = Vector3.normalize(p2.ecef);\n        const c = Vector3.normalize(this.ecef);\n\n        const G = Vector3.cross(a, b);\n        if (Vector3.norm(G) === 0) {\n            return null;\n        }\n\n        const F = Vector3.cross(c, G);\n        const t = Vector3.normalize(Vector3.cross(G, F));\n\n        const posECEF = Vector3.multiplyScalar(t, R_MAJOR);\n        const poseCoordinates = Coordinates.fromECEF(posECEF);\n\n        // poseCoordinates.alt is not 0 here due to the ECEF transformation residual.\n        // So if p1.alt and p2.alt are defined we take the middle elevation between p1 and p2.\n        // Otherwise we remove alt from projection because the residual has no sense.\n        let alt;\n        if (p1.alt !== null && p2.alt !== null) {\n            // This formula is maybe not the best one.\n            alt = (p1.alt + p2.alt) / 2;\n        }\n        const projection = new Coordinates(poseCoordinates.lat, poseCoordinates.lng,\n            alt, Level.union(p1.level, p2.level));\n\n        if (Math.abs((p1.distanceTo(p2) - p1.distanceTo(projection) - p2.distanceTo(projection))) > EPS_MM) {\n            return null;\n        }\n\n        return projection;\n    }\n\n    /**\n     * Input / Output\n     */\n\n    toString() {\n        let str = '[' + this._lat.toFixed(7) + ', ' + this._lng.toFixed(7);\n        if (this._alt !== null) {\n            str += ', ' + this._alt.toFixed(2);\n        }\n        if (this._level !== null) {\n            str += ', [' + Level.toString(this._level) + ']';\n        }\n        str += ']';\n        return str;\n    }\n\n    toJson(): CoordinatesJson {\n        return {\n            lat: Number(this.lat.toFixed(8)),\n            lng: Number(this.lng.toFixed(8)),\n            ...(this.alt !== null && { alt: Number(this.alt.toFixed(3)) }),\n            ...(this.level !== null && { level: this.level })\n        };\n    }\n\n    static fromJson(json: CoordinatesJson) {\n        return new Coordinates(json.lat, json.lng, json.alt, json.level);\n    }\n\n\n    toCompressedJson(): CoordinatesCompressedJson {\n        if (this.level !== null) {\n            return [\n                Number(this.lat.toFixed(8)),\n                Number(this.lng.toFixed(8)),\n                this.level\n            ];\n        }\n        return [Number(this.lat.toFixed(8)), Number(this.lng.toFixed(8))];\n    }\n\n    static fromCompressedJson(json: CoordinatesCompressedJson) {\n        const coords = new Coordinates(json[0], json[1]);\n        if (json.length > 2) {\n            coords.level = json[2] as number | [number, number];\n        }\n        return coords;\n    }\n}\n\nexport default Coordinates;\n","import Coordinates from './Coordinates.js';\nimport { Level_t, UserPositionJson } from '../types.js';\nimport { EPS_DEG_MM, EPS_MM } from '../Constants.js';\n\n/**\n * A Coordinates User Position is a Coordinates position with specific data related to user (bearing, time, accuracy)\n */\nclass UserPosition extends Coordinates {\n\n    private _time: number | null = null;\n    private _accuracy: number | null = null;\n    private _bearing: number | null = null;\n\n    constructor(\n        lat: number, lng: number, alt: number | null = null, level: Level_t = null,\n        time: number | null = null, accuracy: number | null = null, bearing: number | null = null\n    ) {\n        super(lat, lng, alt, level);\n        this.time = time;\n        this.accuracy = accuracy;\n        this.bearing = bearing;\n    }\n\n    get time() {\n        return this._time;\n    }\n\n    set time(time) {\n        this._time = time;\n    }\n\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && accuracy < 0) {\n            throw new Error('accuracy argument is not a positive number');\n        }\n        this._accuracy = accuracy;\n    }\n\n    get bearing() {\n        return this._bearing;\n    }\n\n    set bearing(bearing) {\n        this._bearing = bearing !== null ? bearing % (2 * Math.PI) : null;\n    }\n\n    move(distance: number, bearing: number, elevation: number | null = null) {\n        super.move(distance, bearing, elevation);\n        return this;\n    }\n\n    destinationPoint(distance: number, bearing: number, elevation: number | null = null) {\n        const newPoint = this.clone();\n        newPoint.move(distance, bearing, elevation);\n        return newPoint;\n    }\n\n\n    // Create a UserPosition with lat, lng, alt from Coordinates coordinates and\n    //   other fields from another UserPosition\n    static fromCoordinates(coordinates: Coordinates) {\n        return new UserPosition(coordinates.lat, coordinates.lng,\n            coordinates.alt, coordinates.level);\n    }\n\n    clone() {\n        const cloned = UserPosition.fromCoordinates(super.clone());\n        cloned.time = this.time;\n        cloned.accuracy = this.accuracy;\n        cloned.bearing = this.bearing;\n        return cloned;\n    }\n\n\n    static equals(pos1: UserPosition | Coordinates | null,\n        pos2: UserPosition | Coordinates | null,\n        eps = EPS_DEG_MM, epsAlt = EPS_MM\n    ) {\n\n        // Handle null comparison\n        if (pos1 === null && pos1 === pos2) {\n            return true;\n        }\n\n        if (!(pos1 instanceof UserPosition) || !(pos2 instanceof UserPosition)) {\n            return false;\n        }\n\n        if (!super.equals(pos1, pos2, eps, epsAlt)) {\n            return false;\n        }\n\n        return pos1.time === pos2.time\n            && pos1.accuracy === pos2.accuracy\n            && pos1.bearing === pos2.bearing;\n    }\n\n    equals(other: UserPosition | Coordinates | null, eps = EPS_DEG_MM, epsAlt = EPS_MM) {\n        return UserPosition.equals(this, other, eps, epsAlt);\n    }\n\n\n    toJson(): UserPositionJson {\n        return {\n            ...super.toJson(),\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy }),\n            ...(this.bearing !== null && { bearing: this.bearing })\n        };\n    }\n\n    static fromJson(json: UserPositionJson) {\n        const position = UserPosition.fromCoordinates(Coordinates.fromJson(json));\n        if (typeof json.time !== 'undefined') {\n            position.time = json.time;\n        }\n        if (typeof json.accuracy !== 'undefined') {\n            position.accuracy = json.accuracy;\n        }\n        if (typeof json.bearing !== 'undefined') {\n            position.bearing = json.bearing;\n        }\n        return position;\n    }\n}\n\nexport default UserPosition;\n","/* eslint-disable max-statements */\n\nimport { deg2rad, positiveMod } from '@wemap/maths';\nimport { EPS_MM } from './Constants.js';\n\nimport Coordinates from './coordinates/Coordinates.js';\nimport UserPosition from './coordinates/UserPosition.js';\n\nexport type RouteSample = Coordinates & { bearing: number };\n\n/**\n * Sample a route of Coordinates\n * @param route ordered points\n * @param stepSize step size to sample\n * @param maxLength max route length to sample\n */\nexport function sampleRoute(\n    route: Coordinates[],\n    stepSize = 0.7,\n    startSampling = 0,\n    length = Number.MAX_VALUE\n) {\n\n    const endSampling = startSampling + length;\n\n    const sampledRoute = [];\n\n    let lastSample: RouteSample;\n\n    let totalDistanceTraveled = 0;\n    let distanceToNextSample = 0;\n    let startFound = false;\n\n    for (let segmentIndex = 0; segmentIndex < route.length - 1; segmentIndex++) {\n\n        const p1 = route[segmentIndex];\n        const p2 = route[segmentIndex + 1];\n        const segmentSize = p1.distanceTo(p2);\n        const segmentBearing = p1.bearingTo(p2);\n\n        let distanceTraveledOnSegment = 0;\n\n        if (!startFound) {\n            if (startSampling < totalDistanceTraveled + segmentSize) {\n                startFound = true;\n                distanceToNextSample = startSampling - totalDistanceTraveled;\n            } else {\n                totalDistanceTraveled += segmentSize;\n                continue;\n            }\n        }\n\n        lastSample = Object.assign(p1.clone(), { bearing: segmentBearing });\n        while (distanceTraveledOnSegment + distanceToNextSample < segmentSize\n            && totalDistanceTraveled + distanceToNextSample <= endSampling) {\n\n            const newPoint = lastSample.destinationPoint(distanceToNextSample, segmentBearing) as RouteSample;\n            newPoint.bearing = segmentBearing;\n            sampledRoute.push(newPoint);\n            lastSample = newPoint;\n\n            distanceTraveledOnSegment += distanceToNextSample;\n            totalDistanceTraveled += distanceToNextSample;\n            distanceToNextSample = stepSize;\n        }\n\n        if (totalDistanceTraveled + distanceToNextSample > endSampling) {\n            break;\n        }\n\n        const rest = segmentSize - distanceTraveledOnSegment;\n        totalDistanceTraveled += rest;\n        distanceToNextSample -= rest;\n    }\n\n    return sampledRoute;\n}\n\n/**\n * Trim a route of Coordinates\n * @param {Array.<Coordinates>} route ordered points\n * @param {Coordinates} startPosition position where the trim starts. startPosition has to be on the route.\n * @param {*} maxLength max route length\n */\nexport function trimRoute(route: Coordinates[], startPosition = route[0], length = Number.MAX_VALUE) {\n\n    const newRoute = [];\n    let previousPoint: Coordinates | null = null;\n\n    let currentPointIndex;\n    let cumulativeDistance = 0;\n\n    if (route.length <= 1) {\n        throw new Error('Route must have at least 2 points');\n    }\n\n    for (currentPointIndex = 1; currentPointIndex < route.length; currentPointIndex++) {\n\n        const p1 = route[currentPointIndex - 1];\n        const p2 = route[currentPointIndex];\n\n        if (Coordinates.equals(startPosition, p1)) {\n            newRoute.push(p1);\n            previousPoint = p1;\n            break;\n        }\n\n        const proj = startPosition.getSegmentProjection(p1, p2);\n        if (proj && Coordinates.equals(startPosition, proj) && !proj.equals(p2)) {\n            newRoute.push(proj);\n            previousPoint = proj;\n            break;\n        }\n    }\n\n    if (!newRoute.length) {\n        throw new Error('startPosition is not on the route');\n    }\n\n    while (previousPoint && currentPointIndex < route.length) {\n        const currentPoint = route[currentPointIndex];\n        const dist = previousPoint.distanceTo(currentPoint);\n        if (cumulativeDistance + dist >= length\n            || Math.abs(cumulativeDistance + dist - length) <= EPS_MM) {\n            const bearing = previousPoint.bearingTo(currentPoint);\n            const remainingLength = length - cumulativeDistance;\n            const end = previousPoint.destinationPoint(remainingLength, bearing);\n            newRoute.push(end);\n            break;\n        }\n        newRoute.push(currentPoint);\n        previousPoint = currentPoint;\n        cumulativeDistance += dist;\n        currentPointIndex++;\n    }\n\n    return newRoute;\n}\n\n\nexport function simplifyRoute(coords: Coordinates[], precisionAngle = deg2rad(5)) {\n\n    const isClosed = (coords[0].equals(coords[coords.length - 1]));\n\n    let newRoute = coords.slice(0, coords.length - (isClosed ? 1 : 0));\n\n    const len = newRoute.length;\n    for (let i = isClosed ? 0 : 1; i < len; i++) {\n\n        const p0 = coords[positiveMod(i - 1, len)];\n        const p1 = coords[i];\n        const p2 = coords[positiveMod(i + 1, len)];\n\n        const seg1Dir = p0.bearingTo(p1);\n        const seg2Dir = p1.bearingTo(p2);\n\n        if (Math.abs(seg2Dir - seg1Dir) < precisionAngle) {\n            newRoute = newRoute.filter(coord => coord !== p1);\n        }\n    }\n\n    if (isClosed) {\n        newRoute.push(newRoute[0]);\n    }\n\n    return newRoute;\n}\n\nexport function geolocationPositionToUserPosition(geolocationPosition: GeolocationPosition) {\n    if (geolocationPosition === null) {\n        return null;\n    }\n\n    const { latitude, longitude, accuracy, heading } = geolocationPosition.coords;\n\n    const userPosition = new UserPosition(latitude, longitude);\n    userPosition.time = geolocationPosition.timestamp;\n    userPosition.accuracy = accuracy;\n    userPosition.bearing = heading ? deg2rad(heading) : null;\n    return userPosition;\n}\n\nexport function calcDistance(coords: Coordinates[]) {\n    return coords.reduce((acc, coords, idx, arr) =>\n        acc + (idx ? arr[idx - 1].distanceTo(coords) : 0), 0);\n}\n","import Coordinates from './Coordinates.js';\n\nclass BoundingBox {\n\n    northEast: Coordinates;\n    southWest: Coordinates;\n\n    constructor(northEast: Coordinates, southWest: Coordinates) {\n        this.northEast = northEast;\n        this.southWest = southWest;\n\n        if (this.northEast && this.southWest && this.getNorth() < this.getSouth()) {\n            throw new Error('Incorrect bounding box');\n        }\n    }\n\n    /**\n     * Returns the geographical coordinate equidistant from the bounding box's corners.\n     */\n    get center(): Coordinates {\n        const latCenter = (this.southWest.lat + this.northEast.lat) / 2;\n        const lngCenter = (this.northEast.lng + this.southWest.lng) / 2;\n        return new Coordinates(latCenter, lngCenter);\n    }\n\n    /**\n     * Check if a point is contained in the bounding box.\n     */\n    contains(point: Coordinates): boolean {\n        return point.lat <= this.northEast.lat\n            && point.lat >= this.southWest.lat\n            && point.lng <= this.northEast.lng\n            && point.lng >= this.southWest.lng;\n    }\n\n    /**\n     * Extend the bounds to include a given LngLat or LngLatBounds.\n     */\n    extend(obj: Coordinates | BoundingBox): BoundingBox {\n        const sw = this.southWest,\n            ne = this.northEast;\n        let sw2, ne2;\n\n        if (obj instanceof Coordinates) {\n            sw2 = obj;\n            ne2 = obj;\n\n        } else if (obj instanceof BoundingBox) {\n            sw2 = obj.southWest;\n            ne2 = obj.northEast;\n        } else {\n            throw new Error('Unknown parameter');\n        }\n\n        this.southWest = new Coordinates(\n            Math.min(sw2.lat, sw.lat),\n            Math.min(sw2.lng, sw.lng)\n        );\n        this.northEast = new Coordinates(\n            Math.max(ne2.lat, ne.lat),\n            Math.max(ne2.lng, ne.lng)\n        );\n\n        return this;\n    }\n\n    /**\n     * This method extends the bounding box with a value in meters\n     * /*\\ This method is not precise as distance differs in function of latitude\n     */\n    extendsWithMeasure(measure: number): BoundingBox {\n\n        if (typeof measure !== 'number') {\n            throw new Error('measure is not a number');\n        }\n\n        this.northEast = this.northEast\n            .destinationPoint(measure, 0)\n            .move(measure, Math.PI / 2);\n\n        this.southWest = this.southWest.clone()\n            .destinationPoint(measure, -Math.PI / 2)\n            .destinationPoint(measure, Math.PI);\n\n        return this;\n    }\n\n    /**\n     * Returns bounds created by extending or retracting the current bounds by a given ratio in each direction.\n     * For example, a ratio of 0.5 extends the bounds by 50% in each direction.\n     * Negative values will retract the bounds.\n     */\n    pad(bufferRatio: number): BoundingBox {\n        const sw = this.southWest;\n        const ne = this.northEast;\n\n        const heightBuffer = Math.abs(sw.lat - ne.lat) * bufferRatio;\n        const widthBuffer = Math.abs(sw.lng - ne.lng) * bufferRatio;\n\n        this.southWest = new Coordinates(sw.lat - heightBuffer, sw.lng - widthBuffer);\n        this.northEast = new Coordinates(ne.lat + heightBuffer, ne.lng + widthBuffer);\n\n        return this;\n    }\n\n    /**\n     * Returns the southwest corner of the bounding box.\n     */\n    getSouthWest() {\n        return this.southWest;\n    }\n\n    /**\n    * Returns the northeast corner of the bounding box.\n    */\n    getNorthEast() {\n        return this.northEast;\n    }\n\n    /**\n    * Returns the northwest corner of the bounding box.\n    */\n    getNorthWest() {\n        return new Coordinates(this.getNorth(), this.getWest());\n    }\n\n    /**\n    * Returns the southeast corner of the bounding box.\n    */\n    getSouthEast() {\n        return new Coordinates(this.getSouth(), this.getEast());\n    }\n\n    /**\n    * Returns the west edge of the bounding box.\n    */\n    getWest() {\n        return this.southWest.lng;\n    }\n\n    /**\n    * Returns the south edge of the bounding box.\n    */\n    getSouth() {\n        return this.southWest.lat;\n    }\n\n    /**\n    * Returns the east edge of the bounding box.\n    */\n    getEast() {\n        return this.northEast.lng;\n    }\n\n    /**\n    * Returns the north edge of the bounding box.\n    */\n    getNorth() {\n        return this.northEast.lat;\n    }\n\n    static equals(bb1: BoundingBox, bb2: BoundingBox) {\n        return Coordinates.equals(bb1.northEast, bb2.northEast)\n            && Coordinates.equals(bb1.southWest, bb2.southWest);\n    }\n\n    equals(other: BoundingBox) {\n        return BoundingBox.equals(this, other);\n    }\n\n    /**\n     * Create a BoundingBox from a WSEN array\n     */\n    static fromArray(bounds: [number, number, number, number]) {\n        return new BoundingBox(\n            new Coordinates(bounds[3], bounds[2]),\n            new Coordinates(bounds[1], bounds[0])\n        );\n    }\n\n    static fromCoordinates(coords: Coordinates[]) {\n        if (coords.length === 0) {\n            return null;\n        }\n        return coords.reduce(\n            (acc, _coords) => acc.extend(_coords),\n            new BoundingBox(coords[0], coords[0])\n        );\n    }\n\n    /**\n     * Returns the WSEN array\n     */\n    toArray(): [number, number, number, number] {\n        return [this.getWest(), this.getSouth(), this.getEast(), this.getNorth()];\n    }\n}\n\nexport default BoundingBox;\n","import { EPS_MM } from '../Constants.js';\nimport { RelativePositionJson } from '../types.js';\n\nclass RelativePosition {\n\n    x: number;\n    y: number;\n    z: number;\n    time: number | null = null;\n    private _accuracy: number | null = null;\n    private _bearing: number | null = null;\n\n    constructor(\n        x: number, y: number, z: number,\n        time: number | null = null, accuracy: number | null = null, bearing: number | null = null\n    ) {\n        this.x = x;\n        this.y = y;\n        this.z = z;\n        this.time = time;\n        this.accuracy = accuracy;\n        this.bearing = bearing;\n    }\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && accuracy < 0) {\n            throw new Error('accuracy argument is not a positive number');\n        }\n        this._accuracy = accuracy;\n    }\n\n    get bearing() {\n        return this._bearing;\n    }\n\n    set bearing(bearing) {\n        this._bearing = bearing !== null ? bearing % (2 * Math.PI) : null;\n    }\n\n    clone() {\n        return new RelativePosition(this.x, this.y, this.z, this.time, this.accuracy, this.bearing);\n    }\n\n\n    /**\n     * Compares two RelativePosition\n     * @param {RelativePosition} pos1 position 1\n     * @param {RelativePosition} pos2 position 2\n     * @param {Number} eps x, y, z epsilon in meters (default: 1e-3 [= 1mm])\n     */\n    static equals(pos1: RelativePosition | null, pos2: RelativePosition | null, eps = EPS_MM) {\n\n        // Handle null comparison\n        if (pos1 === null && pos1 === pos2) {\n            return true;\n        }\n\n        if (!(pos1 instanceof RelativePosition) || !(pos2 instanceof RelativePosition)) {\n            return false;\n        }\n\n        return Math.abs(pos2.x - pos1.x) < eps\n            && Math.abs(pos2.y - pos1.y) < eps\n            && Math.abs(pos2.z - pos1.z) < eps\n            && pos1.time === pos2.time\n            && pos1.accuracy === pos2.accuracy\n            && pos1.bearing === pos2.bearing;\n    }\n\n    equals(other: RelativePosition) {\n        return RelativePosition.equals(this, other);\n    }\n\n    toJson(): RelativePositionJson {\n        return {\n            x: this.x,\n            y: this.y,\n            z: this.z,\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy }),\n            ...(this.bearing !== null && { bearing: this.bearing })\n        };\n    }\n\n    static fromJson(json: RelativePositionJson) {\n        return new RelativePosition(json.x, json.y, json.z, json.time, json.accuracy, json.bearing);\n    }\n}\n\nexport default RelativePosition;\n","import RelativePosition from './RelativePosition.js';\n\n/**\n * Position is defined in EUS (East-Up-South) frame with: x pointing to East, y pointing to Up, z pointing to South\n * This frame is close to ThreeJS / OpenGL frame.\n */\nclass GeoRelativePosition extends RelativePosition { }\n\nexport default GeoRelativePosition;\n","import { Quaternion, Vector3, Vector3_t } from '@wemap/maths';\nimport { GeoRefJson } from '../types.js';\n\nimport Coordinates from './Coordinates.js';\n\nclass GeoRef {\n\n    origin: Coordinates;\n    scale = 1;\n    heading = 0;\n\n    constructor(origin: Coordinates) {\n        this.origin = origin;\n    }\n\n    /**\n     * LocalPosition in ENU frame\n     */\n    localToWorld(localPosition: Vector3_t) {\n        const enuTranslationScaled = Vector3.multiplyScalar(localPosition, this.scale);\n        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], this.heading);\n        const enuToEcefRotationOrigin = Quaternion.multiply(rotationOffset, this.origin.enuToEcefRotation);\n        const ecefTranslation = Quaternion.rotate(enuToEcefRotationOrigin, enuTranslationScaled);\n        const ecef = Vector3.sum(this.origin.ecef, ecefTranslation);\n        return Coordinates.fromECEF(ecef);\n    }\n\n    /**\n     * LocalPosition in ENU frame\n     */\n    worldToLocal(coords: Coordinates) {\n        const rotationOffset = Quaternion.fromAxisAngle([0, 0, 1], -this.heading);\n        const ecefToEnuRotationOrigin = Quaternion.multiply(this.origin.ecefToEnuRotation, rotationOffset);\n        const ecefTranslation = Vector3.subtract(coords.ecef, this.origin.ecef);\n        const ecefTranslationScaled = Vector3.multiplyScalar(ecefTranslation, 1 / this.scale);\n        return Quaternion.rotate(ecefToEnuRotationOrigin, ecefTranslationScaled);\n    }\n\n    toJson(): GeoRefJson {\n        return {\n            origin: this.origin.toJson(),\n            ...(this.scale !== 1 && { scale: this.scale }),\n            ...(this.heading !== 0 && { heading: this.heading })\n        };\n    }\n\n    static fromJson(json: GeoRefJson) {\n        const geoRef = new GeoRef(Coordinates.fromJson(json.origin));\n        geoRef.scale = typeof json.scale !== 'undefined' ? json.scale : 1;\n        geoRef.heading = typeof json.heading !== 'undefined' ? json.heading : 0;\n        return geoRef;\n    }\n}\n\nexport default GeoRef;\n","import {\n    Rotations, Quaternion, rad2deg, deg2rad,\n    Quaternion_t, EulerAngles_t, EulerAnglesDegrees_t\n} from '@wemap/maths';\nimport { AttitudeJson } from '../types';\n\nclass Attitude {\n\n    _quaternion: Quaternion_t = [1, 0, 0, 0];\n    _heading: number | null = null;\n    _eulerAngles: EulerAngles_t | null = null;\n    _time: number | null = null;\n    _accuracy: number | null = null;\n\n    constructor(quaternion: Quaternion_t,\n        time: number | null = null,\n        accuracy: number | null = null\n    ) {\n        this.quaternion = quaternion;\n        this.time = time;\n        this.accuracy = accuracy;\n    }\n\n    static unitary() {\n        return new Attitude([1, 0, 0, 0]);\n    }\n\n\n    get quaternion() {\n        return this._quaternion;\n    }\n\n    set quaternion(quaternion) {\n        if (Math.abs(1 - Quaternion.norm(quaternion)) > 1e-4) {\n            throw new Error('quaternion is not a unit quaternion');\n        }\n        this._quaternion = quaternion;\n        this._heading = null;\n        this._eulerAngles = null;\n    }\n\n\n    get time() {\n        return this._time;\n    }\n\n    set time(time) {\n        this._time = time;\n    }\n\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && (accuracy < 0 || accuracy > Math.PI)) {\n            throw new Error('accuracy argument (' + accuracy + ') is not in range [0; PI]');\n        }\n        this._accuracy = accuracy;\n    }\n\n    get eulerAngles(): EulerAngles_t {\n        if (this._eulerAngles === null) {\n            this._eulerAngles = Rotations.quaternionToEulerZXY(this.quaternion);\n        }\n        return this._eulerAngles;\n    }\n\n    get eulerAnglesDegrees(): EulerAnglesDegrees_t {\n        return this.eulerAngles.map(x => rad2deg(x)) as EulerAnglesDegrees_t;\n    }\n\n    get heading() {\n        if (this._heading === null) {\n            let offset = 0;\n            if (typeof (window) !== 'undefined' && window && window.orientation) {\n                offset = deg2rad(window.orientation);\n            }\n            this._heading = Rotations.getHeadingFromQuaternion(this.quaternion) + offset;\n        }\n        return this._heading;\n    }\n\n    get headingDegrees() {\n        return rad2deg(this.heading);\n    }\n\n\n    static equals(att1: Attitude | null, att2: Attitude | null) {\n\n        // Handle null comparison\n        if (att1 === null && att1 === att2) {\n            // TODO not sure to return true here.\n            return true;\n        }\n\n        if (!(att1 instanceof Attitude) || !(att2 instanceof Attitude)) {\n            return false;\n        }\n\n        if (att1 === att2) {\n            return true;\n        }\n\n        return Quaternion.equals(att1.quaternion, att2.quaternion);\n    }\n\n    equals(other: Attitude) {\n        return Attitude.equals(this, other);\n    }\n\n    toJson(): AttitudeJson {\n        if (this.time === null && this.accuracy === null) {\n            return this.quaternion;\n        }\n        return {\n            q: this.quaternion,\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy })\n        };\n    }\n\n\n    static fromJson(json: AttitudeJson) {\n        if (Array.isArray(json)) {\n            return new Attitude(json, null, null);\n        }\n        return new Attitude(json.q, json.time, json.accuracy);\n    }\n\n\n    clone() {\n        return new Attitude(this.quaternion.slice(0) as Quaternion_t, this.time, this.accuracy);\n    }\n\n    /**\n     * Calculate the relative attitude between two given attitudes\n     */\n    static diff(attitudeStart: Attitude, attitudeEnd: Attitude) {\n\n        const quaternionDiff = Quaternion.multiply(\n            Quaternion.inverse(attitudeStart.quaternion),\n            attitudeEnd.quaternion\n        );\n\n        let timeDiff = null;\n        if (attitudeEnd.time !== null && attitudeStart.time !== null) {\n            timeDiff = attitudeEnd.time - attitudeStart.time;\n        }\n\n        let accuracyDiff = null;\n        if (attitudeStart.accuracy !== null && attitudeEnd.accuracy !== null) {\n            // Approximation\n            accuracyDiff = Math.max(attitudeEnd.accuracy - attitudeStart.accuracy);\n        }\n\n        return new Attitude(quaternionDiff, timeDiff, accuracyDiff);\n    }\n}\n\nexport default Attitude;\n","import { Quaternion } from '@wemap/maths';\nimport { AbsoluteHeadingJson } from '../types.js';\n\nimport Attitude from './Attitude.js';\n\nclass AbsoluteHeading {\n\n    heading: number;\n    time: number | null = null;\n    private _accuracy: number | null = null;\n\n    constructor(heading: number,\n        time: number | null = null,\n        accuracy: number | null = null\n    ) {\n        this.heading = heading;\n        this.time = time;\n        this.accuracy = accuracy;\n    }\n\n\n    get accuracy() {\n        return this._accuracy;\n    }\n\n    set accuracy(accuracy) {\n        if (accuracy !== null && (accuracy < 0 || accuracy > Math.PI)) {\n            throw new Error('accuracy argument (' + accuracy + ') is not in range [0; PI]');\n        }\n        this._accuracy = accuracy;\n    }\n\n    toAttitude() {\n        /**\n         * Heading is given around z-axis in NED frame and our attitude in ENU frame, that is why\n         *  -1* is applied to heading.\n         */\n        return new Attitude(\n            Quaternion.fromAxisAngle([0, 0, 1], -this.heading),\n            this.time,\n            this.accuracy\n        );\n    }\n\n\n    /**\n     * Compares two AbsoluteHeading\n     * @param {AbsoluteHeading} heading1 heading 1\n     * @param {AbsoluteHeading} heading2 heading 2\n     */\n    static equals(heading1: AbsoluteHeading | null, heading2: AbsoluteHeading | null) {\n\n        // Handle null comparison\n        if (heading1 === null && heading1 === heading2) {\n            return true;\n        }\n\n        if (!(heading1 instanceof AbsoluteHeading) || !(heading2 instanceof AbsoluteHeading)) {\n            return false;\n        }\n\n        return Math.abs(heading1.heading - heading2.heading) < 1e-8;\n    }\n\n    equals(other: AbsoluteHeading | null) {\n        return AbsoluteHeading.equals(this, other);\n    }\n\n    toJson(): AbsoluteHeadingJson {\n        return {\n            heading: this.heading,\n            ...(this.time !== null && { time: this.time }),\n            ...(this.accuracy !== null && { accuracy: this.accuracy })\n        };\n    }\n\n    static fromJson(json: AbsoluteHeadingJson) {\n        return new AbsoluteHeading(json.heading, json.time, json.accuracy);\n    }\n\n    clone() {\n        return new AbsoluteHeading(this.heading, this.time, this.accuracy);\n    }\n}\n\nexport default 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package/package.json

@@ -13,7 +13,7 @@
         "directory": "packages/geo"
     },
     "name": "@wemap/geo",
-    "version": "12.0.0-alpha.11",
+    "version": "12.0.0-alpha.9",
     "bugs": {
         "url": "https://github.com/wemap/wemap-modules-js/issues"
     },
@@ -45,5 +45,5 @@
         },
         "./tests/*": "./tests/*"
     },
-    "gitHead": "ba3049786a9c40313adee6ce098a8aff2be81fd9"
+    "gitHead": "2f2e4b4a5cc317377f9fea544188590e9aaee0be"
 }

package/src/Utils.ts

@@ -5,8 +5,6 @@ import { EPS_MM } from './Constants.js';
 
 import Coordinates from './coordinates/Coordinates.js';
 import UserPosition from './coordinates/UserPosition.js';
-import Level from './coordinates/Level.js';
-import { Level_t } from './types.js';
 
 export type RouteSample = Coordinates & { bearing: number };
 
@@ -186,33 +184,3 @@ export function calcDistance(coords: Coordinates[]) {
     return coords.reduce((acc, coords, idx, arr) =>
         acc + (idx ? arr[idx - 1].distanceTo(coords) : 0), 0);
 }
-
-
-export function createSegmentsAtLevel(itineraryCoords: Coordinates[], segmentsLevel: Level_t, useMultiLevelSegments = true) {
-
-    const itineraryCoordsLength = itineraryCoords.length;
-    let previousLevelCorrespond = false;
-
-    const segments: Coordinates[][] = [];
-    let coordinates: Coordinates[] = [];
-    for (let i = 0; i < itineraryCoordsLength; i++) {
-        const coords = itineraryCoords[i];
-        const levelCorrespond = Level.intersect(segmentsLevel, coords.level);
-
-        if (useMultiLevelSegments && !levelCorrespond && previousLevelCorrespond) {
-            coordinates.push(coords);
-        } else if (levelCorrespond) {
-            if (!previousLevelCorrespond) {
-                coordinates = [];
-                segments.push(coordinates);
-                if (useMultiLevelSegments && i !== 0) {
-                    coordinates.push(itineraryCoords[i - 1]);
-                }
-            }
-            coordinates.push(coords);
-        }
-
-        previousLevelCorrespond = levelCorrespond;
-    }
-    return segments;
-}