@wemap/positioning 1.2.0 → 1.2.2

package/package.json

@@ -8,9 +8,9 @@
     "Guillaume Pannetier <guillaume.pannetier@getwemap.com>"
   ],
   "dependencies": {
-    "@wemap/geo": "^0.1.2",
+    "@wemap/geo": "^0.1.3",
     "@wemap/logger": "^0.1.4",
-    "@wemap/maths": "^0.1.1",
+    "@wemap/maths": "^0.1.2",
     "file-saver": "^2.0.2",
     "geomagnetism": "^0.1.0",
     "jszip": "^3.2.2",
@@ -78,5 +78,5 @@
     "test": "mocha -r esm \"src/**/*.spec.js\"",
     "release": "node ./scripts/release-github.js"
   },
-  "version": "1.2.0"
+  "version": "1.2.2"
 }

package/src/attitude/AttitudeHandler.js

@@ -1,14 +1,13 @@
 import geomagnetism from 'geomagnetism';
 
+import { Attitude } from '@wemap/geo';
 import {
-    Quaternion, Utils as MathUtils
+    deg2rad, Quaternion
 } from '@wemap/maths';
 
-import Attitude from './Attitude';
 import EkfAttitude from './EkfAttitude';
 import SensorsCompatibility from '../sensors/SensorsCompatibility';
 
-const { deg2rad } = MathUtils;
 
 const RelativeMethod = {
     AUTOMATIC: 0,

package/src/components/LocationSource.jsx

@@ -10,7 +10,7 @@ import 'mapbox-gl/dist/mapbox-gl.css';
 import {
     WGS84UserPosition, Itinerary, Edge
 } from '@wemap/geo';
-import { Utils as MathUtils } from '@wemap/maths';
+import { deg2rad } from '@wemap/maths';
 
 import IPLocationSource from '../providers/IPLocationSource';
 import GnssLocationSource from '../providers/GnssLocationSource';
@@ -91,14 +91,14 @@ class LocationSource extends React.Component {
             'smoother': false
         });
         pdr1LocationSource.setLocation(INITIAL_LOCATION);
-        pdr1LocationSource.setHeading(MathUtils.deg2rad(INITIAL_HEADING));
+        pdr1LocationSource.setHeading(deg2rad(INITIAL_HEADING));
 
         const pdr2LocationSource = new PdrLocationSource(fn, {
             'stepdetectionlocker': false,
             'smoother': false
         });
         pdr2LocationSource.setLocation(INITIAL_LOCATION);
-        pdr2LocationSource.setHeading(MathUtils.deg2rad(INITIAL_HEADING));
+        pdr2LocationSource.setHeading(deg2rad(INITIAL_HEADING));
         pdr2LocationSource.enableMapMatching(ITINERARY);
 
         const pdr3LocationSource = new PdrLocationSource(fn, {
@@ -106,7 +106,7 @@ class LocationSource extends React.Component {
             'smoother': false
         });
         pdr3LocationSource.setLocation(INITIAL_LOCATION);
-        pdr3LocationSource.setHeading(MathUtils.deg2rad(INITIAL_HEADING));
+        pdr3LocationSource.setHeading(deg2rad(INITIAL_HEADING));
         pdr3LocationSource.enableMapMatching(ITINERARY);
         pdr3LocationSource.setItinerary(ITINERARY);
 
@@ -115,7 +115,7 @@ class LocationSource extends React.Component {
             'smoother': true
         });
         pdr4LocationSource.setLocation(INITIAL_LOCATION);
-        pdr4LocationSource.setHeading(MathUtils.deg2rad(INITIAL_HEADING));
+        pdr4LocationSource.setHeading(deg2rad(INITIAL_HEADING));
         pdr4LocationSource.enableMapMatching(ITINERARY);
         pdr4LocationSource.setItinerary(ITINERARY);
 

package/src/components/Others.jsx

@@ -2,7 +2,7 @@ import React from 'react';
 
 import { Constants as GeoConstants } from '@wemap/geo';
 import {
-    Quaternion, Vector3, Utils as MathUtils
+    Quaternion, Vector3, rad2deg
 } from '@wemap/maths';
 
 import AttitudeHandler from '../attitude/AttitudeHandler';
@@ -93,7 +93,7 @@ class Others extends React.Component {
         } else if (inclination === -1) {
             inclinationString += 'Not available';
         } else {
-            inclinationString += MathUtils.rad2deg(inclination).toFixed(2);
+            inclinationString += rad2deg(inclination).toFixed(2);
         }
 
         let stepCounterLadetto = 'StepCounter Ladetto: ';

package/src/index.js

@@ -1,9 +1,7 @@
-import Attitude from './attitude/Attitude';
 import AttitudeHandler from './attitude/AttitudeHandler';
 import NavigationHandler from './NavigationHandler';
 
 export {
-    Attitude,
     AttitudeHandler,
     NavigationHandler
 };

package/src/providers/GnssLocationSource.js

@@ -1,5 +1,5 @@
 import { WGS84UserPosition } from '@wemap/geo';
-import { Utils as MathUtils } from '@wemap/maths';
+import { deg2rad } from '@wemap/maths';
 
 import LocationSource from './LocationSource';
 import AttitudeHandler from '../attitude/AttitudeHandler';
@@ -58,7 +58,7 @@ class GnssLocationSource extends LocationSource {
 
                     let bearing;
                     if (coords.heading) {
-                        bearing = MathUtils.deg2rad(coords.heading);
+                        bearing = deg2rad(coords.heading);
                     }
 
                     const timestamp = SensorsLoggerUtils.unixTimestampToPerformanceNow(position.timestamp) / 1e3;

package/src/providers/PdrLocationSource.js

@@ -1,9 +1,11 @@
 import noop from 'lodash.noop';
 
 import {
-    Itinerary, WGS84UserPosition
+    Constants as GeoConstants, Itinerary, WGS84UserPosition
 } from '@wemap/geo';
-import { Rotations, Utils as MathUtils } from '@wemap/maths';
+import {
+    rad2deg, Quaternion
+} from '@wemap/maths';
 
 import LocationSource from './LocationSource';
 import AttitudeHandler from '../attitude/AttitudeHandler';
@@ -189,7 +191,7 @@ class PdrLocationSource extends LocationSource {
         /**
          * Step Detection and Step Size Detection
          */
-        const linearAcc = Rotations.computeLinearAcceleration(
+        const linearAcc = PdrLocationSource.computeLinearAcceleration(
             this.pose.attitude.quaternion, acceleration);
         const stepDetected = this.stepDetection.compute(timestamp, linearAcc, motionEvent.gyr);
 
@@ -227,7 +229,7 @@ class PdrLocationSource extends LocationSource {
          */
         const newLocationWithoutMM = previousLocation.clone();
         newLocationWithoutMM.move(stepSize, heading);
-        newLocationWithoutMM.bearing = MathUtils.rad2deg(heading);
+        newLocationWithoutMM.bearing = rad2deg(heading);
         newLocationWithoutMM.time = timestamp;
 
         if (!this.mapMatching) {
@@ -307,6 +309,12 @@ class PdrLocationSource extends LocationSource {
         this.stepDetectionLocker.setWaitingOrientation(orientation);
     }
 
+    // Linear acceleration in ENU
+    static computeLinearAcceleration(quaternion, acc) {
+        const linearAcc = Quaternion.rotate(Quaternion.inverse(quaternion), acc);
+        linearAcc[2] -= GeoConstants.EARTH_GRAVITY;
+        return linearAcc;
+    }
 }
 
 export default PdrLocationSource;

package/src/providers/ProvidersLogger.js

@@ -70,7 +70,7 @@ class ProvidersLogger {
     }
 
     static get enabled() {
-        return Logger.LOG_LEVEL === Logger.DEBUG;
+        return Logger.ENABLED && Logger.LOG_LEVEL === Logger.DEBUG;
     }
 
 }

package/src/providers/pdr/HeadingUnlocker.js

@@ -1,6 +1,6 @@
 import isnumber from 'lodash.isnumber';
 
-import {Utils as MathUtils} from '@wemap/maths';
+import { diffAngle } from '@wemap/maths';
 
 const LO_ANGLE = 15 * Math.PI / 180;
 
@@ -29,7 +29,7 @@ class HeadingUnlocker {
             throw new Error('HeadingUnlocker is already unlocked');
         }
 
-        if (Math.abs(MathUtils.diffAngle(heading, this.waitingOrientation)) < LO_ANGLE) {
+        if (Math.abs(diffAngle(heading, this.waitingOrientation)) < LO_ANGLE) {
             this.locked = false;
         }
 

package/src/sensors/SensorsCompatibility.js

@@ -1,6 +1,8 @@
 /* global Accelerometer, Gyroscope, Magnetometer, AbsoluteOrientationSensor, RelativeOrientationSensor */
 
-import { Quaternion, Rotations, Utils as MathUtils } from '@wemap/maths';
+import {
+    deg2rad, rad2deg, Quaternion, Rotations
+} from '@wemap/maths';
 
 import SensorsLogger from './SensorsLogger';
 
@@ -405,11 +407,11 @@ class SensorsCompatibility {
     }
 
     static headingEusToEnu(_alpha, _beta, _gamma) {
-        const alpha = MathUtils.deg2rad(_alpha);
-        const beta = MathUtils.deg2rad(_beta);
-        const gamma = MathUtils.deg2rad(_gamma);
+        const alpha = deg2rad(_alpha);
+        const beta = deg2rad(_beta);
+        const gamma = deg2rad(_gamma);
 
-        return MathUtils.rad2deg(Math.atan2(
+        return rad2deg(Math.atan2(
             Math.cos(alpha) * Math.sin(gamma) + Math.cos(gamma) * Math.sin(alpha) * Math.sin(beta),
             Math.sin(alpha) * Math.sin(gamma) - Math.cos(alpha) * Math.cos(gamma) * Math.sin(beta)));
     }

package/src/attitude/Attitude.js

@@ -1,65 +0,0 @@
-import {
-    Rotations, Utils as MathUtils, Quaternion
-} from '@wemap/maths';
-
-const rotxM90 = Quaternion.fromAxisAngle([1, 0, 0], -Math.PI / 2);
-
-class Attitude {
-
-    quaternion = [1, 0, 0, 0];
-    quaternionThreeJsV = null;
-    headingV = null;
-    headingDegreesV = null;
-    eulerAnglesV = null;
-    eulerAnglesDegreesV = null;
-
-    constructor(quaternion) {
-        this.quaternion = quaternion;
-    }
-
-    get eulerAngles() {
-        if (!this.eulerAnglesV) {
-            this.eulerAnglesV = Rotations.quaternionToEulerZXY(this.quaternion);
-        }
-        return this.eulerAnglesV;
-    }
-
-    get eulerAnglesDegrees() {
-        if (!this.eulerAnglesDegreesV) {
-            this.eulerAnglesDegreesV = Rotations.quaternionToEulerZXYDegrees(this.quaternion);
-        }
-        return this.eulerAnglesDegreesV;
-    }
-
-    get heading() {
-        if (!this.headingV) {
-            this.headingV = Rotations.getHeadingFromQuaternion(this.quaternion) + MathUtils.deg2rad(window.orientation || 0);
-        }
-        return this.headingV;
-    }
-
-    get headingDegrees() {
-        if (!this.headingDegreesV) {
-            this.headingDegreesV = MathUtils.rad2deg(Rotations.getHeadingFromQuaternion(this.quaternion)) + (window.orientation || 0);
-        }
-        return this.headingDegreesV;
-    }
-
-    get quaternionThreeJs() {
-        if (!this.quaternionThreeJsV) {
-            this.quaternionThreeJsV = Quaternion.wxyz2xyzw(Quaternion.multiply(rotxM90, this.quaternion));
-        }
-        return this.quaternionThreeJsV;
-    }
-
-    toMessage() {
-        return this.quaternion;
-    }
-
-    static fromMessage(message) {
-        return new Attitude(message);
-    }
-
-}
-
-export default Attitude;