@wemap/positioning 2.7.1 → 2.7.3

package/package.json

@@ -8,11 +8,11 @@
     "Guillaume Pannetier <guillaume.pannetier@getwemap.com>"
   ],
   "dependencies": {
-    "@wemap/geo": "^2.7.1",
-    "@wemap/graph": "^2.7.1",
+    "@wemap/geo": "^2.7.2",
+    "@wemap/graph": "^2.7.2",
     "@wemap/logger": "^2.7.0",
-    "@wemap/maths": "^2.7.0",
-    "@wemap/osm": "^2.7.1",
+    "@wemap/maths": "^2.7.2",
+    "@wemap/osm": "^2.7.2",
     "@wemap/utils": "^2.7.0",
     "geomagnetism": "^0.1.0",
     "lodash.isempty": "^4.4.0",
@@ -71,6 +71,6 @@
     "lint": "eslint --ext .js,.jsx --quiet src",
     "test": "mocha -r esm \"src/**/*.spec.js\""
   },
-  "version": "2.7.1",
-  "gitHead": "3d332f1dce308ba28f2a551c2e709e840c54bd83"
+  "version": "2.7.3",
+  "gitHead": "e4f4ccdfdb5a2aaa1f8d4ab2c062f1ff3a740a43"
 }

package/src/PositioningHandler.js

@@ -10,6 +10,8 @@ import ArCoreAbsoluteProvider from './providers/pose/ArCoreAbsoluteProvider';
 import GnssWifiProvider from './providers/position/GnssWifiProvider';
 import NoProviderFoundError from './errors/NoProviderFoundError';
 import Availability from './events/Availability';
+import RelativeAttitudeProvider from './providers/attitude/RelativeAttitudeProvider';
+import AbsoluteAttitudeProvider from './providers/attitude/AbsoluteAttitudeProvider';
 
 /**
  * @private
@@ -113,6 +115,30 @@ class PositioningHandler {
             throw availability.reason;
         }
 
+        const wantAbsoluteAttitude = eventsType.length === 1
+            && eventsType.includes(EventType.AbsoluteAttitude);
+
+        if (wantAbsoluteAttitude) {
+            if (canUse(AbsoluteAttitudeProvider)) {
+                return AbsoluteAttitudeProvider;
+            }
+            throw availability.reason;
+        }
+
+
+        const wantRelativeAttitude = eventsType.length === 1
+            && eventsType.includes(EventType.RelativeAttitude);
+
+        if (wantRelativeAttitude) {
+            if (!options.waitInputHeading) {
+                throw new NoProviderFoundError();
+            }
+            if (canUse(RelativeAttitudeProvider)) {
+                return RelativeAttitudeProvider;
+            }
+            throw availability.reason;
+        }
+
         throw new NoProviderFoundError();
     }
 

package/src/PositioningHandler.spec.js

@@ -13,6 +13,9 @@ import ArCoreProvider from './providers/pose/ArCoreProvider';
 import { ProvidersName } from './providers/ProvidersList';
 import AskImuOnDesktopError from './errors/AskImuOnDesktopError';
 import ContainsIgnoredProviderError from './errors/ContainsIgnoredProviderError';
+import AbsoluteAttitudeProvider from './providers/attitude/AbsoluteAttitudeProvider';
+import NoProviderFoundError from './errors/NoProviderFoundError';
+import RelativeAttitudeProvider from './providers/attitude/RelativeAttitudeProvider';
 
 const expect = chai.expect;
 
@@ -238,4 +241,51 @@ describe('PositioningHandler#findProvider', () => {
         ).to.throw(ContainsIgnoredProviderError);
     });
 
+    it('Absolute Attitude Desktop', () => {
+        config(CHROME_DESKTOP_USER_AGENT);
+        expect(
+            () => PositioningHandler.findProvider([EventType.AbsoluteAttitude])
+        ).to.throw(AskImuOnDesktopError);
+    });
+
+
+    it('Absolute Attitude Web', () => {
+        config(CHROME_ANDROID_USER_AGENT);
+        const provider = PositioningHandler.findProvider([EventType.AbsoluteAttitude]);
+        expect(provider).to.be.equals(AbsoluteAttitudeProvider);
+    });
+
+
+    it('Relative Attitude Desktop without waitInputHeading', () => {
+        config(CHROME_DESKTOP_USER_AGENT);
+        expect(
+            () => PositioningHandler.findProvider([EventType.RelativeAttitude])
+        ).to.throw(NoProviderFoundError);
+    });
+
+    it('Relative Attitude Desktop', () => {
+        config(CHROME_DESKTOP_USER_AGENT);
+        expect(() => PositioningHandler.findProvider(
+            [EventType.RelativeAttitude],
+            { waitInputHeading: true })
+        ).to.throw(AskImuOnDesktopError);
+    });
+
+    it('Relative Attitude Web without waitInputHeading', () => {
+        config(CHROME_ANDROID_USER_AGENT);
+        expect(
+            () => PositioningHandler.findProvider([EventType.RelativeAttitude])
+        ).to.throw(NoProviderFoundError);
+    });
+
+
+    it('Relative Attitude Web', () => {
+        config(CHROME_ANDROID_USER_AGENT);
+        const provider = PositioningHandler.findProvider(
+            [EventType.RelativeAttitude],
+            { waitInputHeading: true }
+        );
+        expect(provider).to.be.equals(RelativeAttitudeProvider);
+    });
+
 });

package/src/providers/attitude/EkfAttitude.js

@@ -159,8 +159,8 @@ class EkfAttitude {
             const HAcc = this.jacobianES(qAPriori, this.accRef);
             H = Matrix.concatRow(HYc, HAcc);
 
-            const RYc = Matrix.concatLine(this.noises.absolute.yc, Matrix3.zeros());
-            const RAcc = Matrix.concatLine(Matrix3.zeros(), this.noises.absolute.accelerometer);
+            const RYc = Matrix.concatLine(this.noises.absolute.yc, Matrix3.zeros);
+            const RAcc = Matrix.concatLine(Matrix3.zeros, this.noises.absolute.accelerometer);
             const R = Matrix.concatRow(RYc, RAcc);
 
             K = Matrix.multiply(
@@ -200,7 +200,7 @@ class EkfAttitude {
         );
         const P = Matrix.multiply(
             Matrix4.subtract(
-                Matrix.identity4(),
+                Matrix4.identity,
                 Matrix.multiply(K, H)
             ),
             pAPriori