@wemap/providers 11.3.2 → 11.4.0

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sources":["../src/events/Types.ts","../src/ProvidersOptions.ts","../src/events/ProvidersLoggerOld.ts","../src/errors/ContainsIgnoredProviderError.ts","../src/providers/Provider.ts","../src/events/AvailabilityHelper.ts","../src/errors/AskImuOnDesktopError.ts","../src/errors/MissingSensorError.ts","../src/errors/MissingMagnetometerError.ts","../src/errors/GeolocationApiMissingError.ts","../src/errors/GeolocationPermissionDeniedError.ts","../src/errors/GeolocationPositionUnavailableError.ts","../src/providers/Constants.ts","../src/providers/position/absolute/GnssWifiProvider.ts","../src/errors/MissingArCoreError.ts","../src/errors/MissingNativeInterfaceError.ts","../src/providers/vision/ArCoreProvider.ts","../src/providers/position/relative/GeoRelativePositionFromArCoreProvider.ts","../src/providers/attitude/EkfAttitude.ts","../src/providers/imu/ImuProvider.ts","../src/errors/MissingAccelerometerError.ts","../src/providers/imu/AccelerometerProvider.ts","../src/errors/MissingGyroscopeError.ts","../src/providers/imu/GyroscopeProvider.ts","../src/providers/attitude/relative/RelativeAttitudeFromEkfProvider.ts","../src/providers/attitude/relative/RelativeAttitudeFromBrowserProvider.ts","../src/providers/imu/HighRotationsProvider.ts","../src/providers/attitude/relative/RelativeAttitudeFromInertialProvider.ts","../src/providers/steps/StepDetectionLadetto.ts","../src/providers/steps/StepDetectionMinMaxPeaks.ts","../src/providers/steps/StepDetectionMinMaxPeaks2.ts","../src/providers/steps/StepDetectionMinMaxPeaks3.ts","../src/providers/steps/StepProvider.ts","../src/providers/position/relative/PdrProvider.ts","../src/providers/position/relative/GeoRelativePositionProvider.ts","../src/providers/inclination/InclinationFromAccProvider.ts","../src/providers/inclination/InclinationFromRelativeAttitudeProvider.ts","../src/providers/inclination/InclinationProvider.ts","../src/providers/vision/vps/VpsMetadata.ts","../src/providers/vision/vps/VpsRequest.ts","../src/providers/vision/vps/VpsResponse.ts","../src/providers/vision/vps/ImageRelocalization.ts","../src/providers/vision/vps/RelativeRotationCalc.ts","../src/errors/MissingPoleStarError.ts","../src/providers/position/absolute/PoleStarProvider.ts","../src/providers/vision/vps/VpsProvider.ts","../src/providers/position/absolute/AbsolutePositionProvider.ts","../src/providers/attitude/absolute/AbsoluteAttitudeFromBrowserProvider.ts","../src/providers/attitude/relative/RelativeAttitudeProvider.ts","../src/providers/attitude/absolute/AbsoluteAttitudeProvider.ts","../src/providers/attitude/TurnProvider.ts","../src/providers/steps/StraightLineProvider.ts","../src/mapmatching/MapMatchingHandler.ts","../src/smoothers/PositionSmoother.ts","../src/smoothers/AttitudeSmoother.ts","../src/providers/imu/MagnetometerCalibrationProvider.ts","../src/errors/IpResolveServerError.ts","../src/providers/position/absolute/IpProvider.ts","../src/providers/vision/BarcodeProvider.ts","../src/providers/others/CameraNativeProvider.ts","../src/providers/others/CameraProjectionMatrixProvider.ts"],"sourcesContent":["import { Attitude, UserPosition } from \"@wemap/geo\";\nimport { Vector16_t, Vector3_t } from \"@wemap/maths\";\n\nexport type Acceleration = Readonly<{ readonly timestamp: number; readonly values: Vector3_t; }>\nexport type AngularRate = Readonly<{ readonly timestamp: number; readonly values: Vector3_t; }>\nexport type HighRotation = Readonly<{ readonly timestamp: number; }>\nexport type MagnetometerNeedCalibration = Readonly<{ readonly angle: number; }>\nexport class RelativeAttitude extends Attitude { }\nexport class AbsoluteAttitude extends Attitude { }\nexport class AbsolutePosition extends UserPosition { }\nexport type Inclination = number;\nexport type Barcode = string;\nexport type Step = { readonly size: number; readonly number: number; }\nexport type Turn = { readonly timestamp: number; }\nexport type StraightLine = boolean;\nexport type CameraProjectionMatrix = Vector16_t;\nexport type CameraNativeState = 'started' | 'stopped';\n\n","const ProvidersOptions = {\n\n    /**\n     * Does provider will use map to\n     */\n    useMapMatching: true,\n\n    /**\n     * Providers listed here will not be used by the system\n     * List of {@link Provider#pname}\n     */\n    ignoreProviders: [] as string[],\n\n    /**\n     * Some providers are not used by default (i.e. PoleStar) because they\n     * require data from an optional external service or because they drain more\n     * battery. They can be added to this list to be used\n     * List of {@link Provider#pname}\n     */\n    optionalProviders: [] as string[],\n\n    stopOnError: true,\n\n    checkAvailabilityOnStart: true,\n\n    get hasPoleStar() {\n        return this.optionalProviders.includes('PoleStar');\n    }\n};\n\nexport default ProvidersOptions;\n","import Logger from '@wemap/logger';\n\ninterface MyObject { getName(): string }\n\nclass ProvidersLoggerOld {\n\n    _enabled = false;\n\n    currentId = 0;\n    objectsIdMap = new WeakMap<MyObject, number>();\n\n    pushEvents: { [key: number]: number } = {};\n    pushEventsRef: { [key: number]: MyObject } = {};\n\n    interval?: number;\n    initDate?: number;\n\n\n    get enabled() {\n        return this._enabled;\n    }\n\n    set enabled(_newVal) {\n        this._enabled = _newVal;\n    }\n\n    initializeInterval() {\n\n        if (this.interval) {\n            return;\n        }\n\n        this.interval = window.setInterval(() => {\n\n            for (const [key, value] of Object.entries(this.pushEvents)) {\n                Logger.debug('Received ' + value + ' notifications from '\n                    + this.pushEventsRef[Number(key)].getName() + ' last second');\n            }\n\n            this.pushEvents = {};\n            this.pushEventsRef = {};\n        }, 1000);\n    }\n\n    getObjectId(object: MyObject) {\n        if (!this.objectsIdMap.has(object)) {\n            this.objectsIdMap.set(object, ++this.currentId);\n        }\n        return this.objectsIdMap.get(object) as number;\n    }\n\n    addEvent(object: MyObject, method: string) {\n\n        if (!this.enabled) {\n            return;\n        }\n\n        if (!this.initDate) {\n            this.initDate = Date.now();\n        }\n\n        this.initializeInterval();\n\n        const objectId = this.getObjectId(object);\n        const objectClassName = object.getName();\n\n        Logger.debug(objectClassName + '[' + objectId + '].' + method);\n    }\n\n    incrementNotifications(object: MyObject) {\n\n        if (!this.enabled) {\n            return;\n        }\n\n        const objectId = this.getObjectId(object);\n\n        let counter = this.pushEvents[objectId];\n        if (!counter) {\n            counter = 0;\n            this.pushEventsRef[objectId] = object;\n        }\n        this.pushEvents[objectId] = counter + 1;\n    }\n\n}\nexport default new ProvidersLoggerOld();\n","class ContainsIgnoredProviderError extends Error {\n\n    static DEFAULT_MESSAGE = 'Contains ignored provider';\n\n    constructor(message?: string) {\n        super(message || ContainsIgnoredProviderError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default ContainsIgnoredProviderError;\n","import ProvidersLoggerOld from '../events/ProvidersLoggerOld.js';\nimport ContainsIgnoredProviderError from '../errors/ContainsIgnoredProviderError.js';\nimport ProvidersOptions from '../ProvidersOptions.js';\nimport { ProviderState } from './ProviderState.js';\nimport { AvailabilityPromise } from '../events/AvailabilityHelper.js';\nimport { NativeCallbackInterface, NativeInterface } from './NativeProviders.js';\n\ndeclare global {\n    interface Window {\n        __nativeProviders?: NativeInterface;\n        __nativeJsProviders?: NativeCallbackInterface;\n    }\n}\n\n/**\n * A provider is a meta class to define an entity which can be\n * started / stopped and provides a data of <E>\n */\nabstract class Provider<E> {\n\n    static _callbackUniqueId = 0;\n    static _uniqueId = 1;\n\n    id: number;\n    state: ProviderState = 'stopped';\n\n    _lastEvent: E | null = null;\n\n    _eventsCallbacks: {\n        id: number,\n        onEvent: ((event: E) => void) | null,\n        onError: ((error: Error) => void) | null,\n        optional: boolean\n    }[] = [];\n\n    _monitoringCallbacks: {\n        id: number,\n        onStarted: (() => void) | null,\n        onStopped: (() => void) | null\n    }[] = [];\n\n    /**\n     * Provider constructor\n     */\n    constructor() {\n        this.id = Provider._uniqueId++;\n        ProvidersLoggerOld.addEvent(this, 'constructor');\n    }\n\n    /**\n     * Get the provider name\n     */\n    abstract getName(): string;\n\n\n    /**\n     * Resolve with an error if the provider is not available\n     */\n    getAvailability() {\n        if (ProvidersOptions.ignoreProviders.includes(this.getName())) {\n            return Promise.resolve(new ContainsIgnoredProviderError());\n        }\n\n        return this.availability();\n    }\n\n    protected abstract availability(): AvailabilityPromise;\n\n\n    protected get hasNativeInterface() {\n        return Boolean(this.nativeInterface);\n    }\n\n    protected get nativeInterface() {\n        return typeof window !== 'undefined' && window.__nativeProviders as NativeInterface || null;\n    }\n\n    protected get nativeJsInterface(): NativeCallbackInterface | null {\n        if (typeof window === 'undefined') {\n            return null;\n        }\n        if (!window.__nativeJsProviders) {\n            window.__nativeJsProviders = {};\n        }\n        return window.__nativeJsProviders;\n    }\n\n\n    get useCameraNatively() {\n        return false;\n    }\n\n\n    addEventListener(\n        onEvent: ((events: E) => void) | null = null,\n        onError: ((error: Error) => void) | null = null,\n        startIfNecessary = true\n    ) {\n        const id = ++Provider._callbackUniqueId;\n\n        /**\n         * Build callback\n         */\n        this._eventsCallbacks.push({\n            id,\n            onEvent: onEvent || (() => { /* do nothing */ }),\n            onError: onError || (() => { /* do nothing */ }),\n            optional: !startIfNecessary\n        });\n\n\n        // The caller just want to have callbacks without starting the provider,\n        // the routine can be stopped here\n        if (!startIfNecessary) {\n            return id;\n        }\n\n\n        // If the provider is already started do not go further\n        if (this.state !== 'stopped') {\n            return id;\n        }\n        this.state = 'starting';\n\n        // Check availability on start if defined in options\n        let availabilityPromise: AvailabilityPromise = Promise.resolve();\n        if (ProvidersOptions.checkAvailabilityOnStart) {\n            availabilityPromise = this.getAvailability();\n        }\n\n        (async () => {\n            const error = await availabilityPromise;\n            if (error) {\n                this.state = 'stopped';\n                this.notifyError(error);\n                return;\n            }\n\n            ProvidersLoggerOld.addEvent(this, 'start');\n\n            // Call the child start function\n            this.start();\n\n            this.state = 'started';\n\n            this._monitoringCallbacks.forEach(cb => cb.onStarted?.());\n        })();\n\n        return id;\n    }\n\n    removeEventListener(callbackUniqueId?: number) {\n\n        // Search the caller object in callbacks list\n        const callback = this._eventsCallbacks.find(_callback => _callback.id === callbackUniqueId);\n        if (!callback) {\n            // The callback object is not found. Maybe it is already stopped.\n            return;\n        }\n\n        // Remove the current callback from the list of the callbacks\n        this._eventsCallbacks = this._eventsCallbacks.filter(_callback => _callback !== callback);\n\n        // If this callback was optional, do not go further to stop the provider\n        if (callback.optional) {\n            return;\n        }\n\n        // If there is callbacks that are not optionals for start, do not stop the provider\n        if (this._eventsCallbacks.find(_callback => !_callback.optional)) {\n            return;\n        }\n\n        // If the provider is already stopped, do not stop it again.\n        // This condition can be true if checkAvailabilityOnStart is true and returns an error\n        if (this.state === 'stopped') {\n            return;\n        }\n\n        ProvidersLoggerOld.addEvent(this, 'stop');\n        // Call the child stop function\n        this.stop();\n\n        this.state = 'stopped';\n\n        this._monitoringCallbacks.forEach(cb => cb.onStopped?.());\n    }\n\n\n    addMonitoringListener(onStarted?: (() => void) | null, onStopped?: (() => void) | null) {\n        const id = Provider._callbackUniqueId++;\n        this._monitoringCallbacks.push({\n            id,\n            onStarted: onStarted || null,\n            onStopped: onStopped || null\n        });\n        return id;\n    }\n\n    removeMonitoringListener(callbackUniqueId?: number) {\n        this._monitoringCallbacks = this._monitoringCallbacks.filter(\n            _callback => _callback.id !== callbackUniqueId\n        );\n    }\n\n\n    protected abstract start(): void\n    protected abstract stop(): void\n\n\n    /**\n     * Notify the subscriber defined in {@link addEventListener}\n     */\n    notify = (event: E) => {\n        // Logging\n        ProvidersLoggerOld.incrementNotifications(this);\n\n        // Notify callbacks\n        this._eventsCallbacks.forEach(cb => cb.onEvent?.(event));\n\n        // Keep a trace of the last events.\n        this._lastEvent = event;\n    }\n\n    /**\n     * Notify the subscriber defined in {@link addEventListener}\n     */\n    notifyError = (error: Error) => {\n        this._eventsCallbacks.forEach(({\n            id, onError\n        }) => {\n            if (ProvidersOptions.stopOnError) {\n                this.removeEventListener(id);\n            }\n            onError?.(error);\n        });\n    }\n\n    get lastEvent() {\n        return this._lastEvent;\n    }\n}\n\nexport default Provider;\n","export type AvailabilityPromise = Promise<Error | null | void>;\n\nexport default class AvailabilityHelper {\n\n    static async every(availabilityPromises: AvailabilityPromise[]): AvailabilityPromise {\n        for (const aPr of availabilityPromises) {\n            const error = await aPr;\n            if (error) {\n                return error;\n            }\n        }\n        return null;\n    }\n\n    static async some(availabilityPromises: AvailabilityPromise[]): AvailabilityPromise {\n        let firstError;\n        for (const aPr of availabilityPromises) {\n            const error = await aPr;\n            if (!error) {\n                return null;\n            } else if (!firstError) {\n                firstError = error;\n            }\n        }\n        return firstError || null;\n    }\n\n}\n","class AskImuOnDesktopError extends Error {\n\n    static DEFAULT_MESSAGE = 'It seems that you ask for IMU events on a desktop browser';\n\n    constructor(message?: string) {\n        super(message || AskImuOnDesktopError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default AskImuOnDesktopError;\n","class MissingSensorError extends Error {\n\n    static DEFAULT_MESSAGE = 'Impossible to retrieve events, a sensor is missing';\n\n    constructor(message?: string) {\n        super(message || MissingSensorError.DEFAULT_MESSAGE);\n    }\n\n    from(fromMessage: string) {\n        this.message += ' from ' + fromMessage;\n        return this;\n    }\n}\n\nexport default MissingSensorError;\n","import MissingSensorError from './MissingSensorError.js';\n\nclass MissingMagnetometerError extends MissingSensorError {\n    constructor(message?: string) {\n        super(message);\n    }\n}\n\nexport default MissingMagnetometerError;\n","class GeolocationApiMissingError extends Error {\n\n    static DEFAULT_MESSAGE = 'Geolocation api is missing';\n\n    constructor(message?: string) {\n        super(message || GeolocationApiMissingError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default GeolocationApiMissingError;\n","class GeolocationPermissionDeniedError extends Error {\n\n    static DEFAULT_MESSAGE = 'Geolocation permission denied';\n\n    constructor(message?: string) {\n        super(message || GeolocationPermissionDeniedError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default GeolocationPermissionDeniedError;\n","class GeolocationPositionUnavailableError extends Error {\n\n    static DEFAULT_MESSAGE = 'Geolocation position unavailable';\n\n    constructor(message?: string) {\n        super(message || GeolocationPositionUnavailableError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default GeolocationPositionUnavailableError;\n","const Constants = {\n    DEFAULT_ALTITUDE: 1.6\n};\n\nexport default Constants;\n","import { UserPosition } from '@wemap/geo';\nimport Logger from '@wemap/logger';\nimport { deg2rad } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport GeolocationApiMissingError from '../../../errors/GeolocationApiMissingError.js';\nimport Provider from '../../Provider.js';\nimport GeolocationPermissionDeniedError from '../../../errors/GeolocationPermissionDeniedError.js';\nimport GeolocationPositionUnavailableError from '../../../errors/GeolocationPositionUnavailableError.js';\nimport Constants from '../../Constants.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\n\n\n/**\n * GnssWifiProvider is a provider based on navigator.geolocation.\n * This API does not allow us to know if the position returned is provided\n *  by Wifi Fingerprinting algorithms or by GNSS. That is why the name is\n *  \"GnssWifi\".\n */\nclass GnssWifiProvider extends Provider<AbsolutePosition> {\n\n    static POSITION_OPTIONS = {\n        enableHighAccuracy: true,\n        timeout: Infinity,\n        maximumAge: 0\n    };\n\n    static DEFAULT_DISCARD_POSITIONS_ABOVE = 50;\n\n    discardPositionsAbove = GnssWifiProvider.DEFAULT_DISCARD_POSITIONS_ABOVE;\n\n    geoLocationId?: number;\n\n    getName = () => 'GnssWifi';\n\n\n    availability() {\n        return typeof (navigator) === 'object' && navigator.geolocation\n            ? Promise.resolve()\n            : Promise.resolve(new GeolocationApiMissingError());\n    }\n\n    start() {\n        // Note: added timeout for a workaround on Safari/iOS when user disabled geolocation:\n        //  watchPosition does not send the error callback without the \"setTimeout\"\n        setTimeout(() => {\n            this.geoLocationId = navigator.geolocation.watchPosition(\n                this.onNewPosition,\n                this.onPositionError,\n                GnssWifiProvider.POSITION_OPTIONS\n            );\n        }, 150);\n    }\n\n    stop() {\n        if (typeof this.geoLocationId !== 'undefined') {\n            navigator.geolocation.clearWatch(this.geoLocationId);\n        }\n    }\n\n    private onNewPosition = (geolocation: GeolocationPosition) => {\n\n        const { coords } = geolocation;\n        if (!coords) {\n            return;\n        }\n\n        let bearing;\n        if (coords.heading) {\n            bearing = deg2rad(coords.heading);\n        }\n\n        const timestamp = TimeUtils.unixTimestampToPreciseTime(geolocation.timestamp) / 1e3;\n\n        const position = new UserPosition(\n            coords.latitude,\n            coords.longitude,\n            Constants.DEFAULT_ALTITUDE,\n            null,\n            timestamp,\n            coords.accuracy,\n            bearing);\n\n        if (typeof this.discardPositionsAbove === 'number'\n            && coords.accuracy > this.discardPositionsAbove\n        ) {\n            return;\n        }\n\n        this.notify(position);\n\n    };\n\n    onPositionError = (error: GeolocationPositionError) => {\n\n        Logger.warn(`[Providers] watchPosition error: [${error.code}] ${error.message}`);\n\n        let customError;\n        switch (error.code) {\n            case 1:\n                customError = new GeolocationPermissionDeniedError(error.message);\n                break;\n            case 2:\n                customError = new GeolocationPositionUnavailableError(error.message);\n                break;\n            default:\n                customError = new Error(error.message);\n        }\n\n        this.notifyError(customError);\n    };\n}\n\nexport default new GnssWifiProvider();\n","class MissingArCoreError extends Error {\n\n    static DEFAULT_MESSAGE = 'ARCore is missing';\n\n    constructor(message?: string) {\n        super(message || MissingArCoreError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingArCoreError;\n","class MissingNativeInterfaceError extends Error {\n\n    static DEFAULT_MESSAGE = 'Native interface is missing. You are maybe trying to '\n        + 'execute a code which is not available in a web browser';\n\n    constructor(message?: string) {\n        super(message || MissingNativeInterfaceError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingNativeInterfaceError;\n","import { RelativePosition } from '@wemap/geo';\nimport { deg2rad, Quaternion_t, Vector16_t, Vector3_t } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../Provider.js';\nimport MissingArCoreError from '../../errors/MissingArCoreError.js';\nimport MissingNativeInterfaceError from '../../errors/MissingNativeInterfaceError.js';\nimport { NativeArCore } from '../NativeProviders.js';\nimport { Barcode, CameraProjectionMatrix, RelativeAttitude} from '../../events/Types.js';\n\n\nexport type Payload = [number, ...[number | string]];\n\nexport type ArCoreEvent = Readonly<{\n    readonly relativePosition: RelativePosition,\n    readonly relativeAttitude: RelativeAttitude,\n    readonly cameraProjection?: CameraProjectionMatrix,\n    readonly barcode?: Barcode\n}>;\n\nclass ArCoreProvider extends Provider<ArCoreEvent> {\n\n    static Payload = {\n        Pose: {\n            ref: 2 ** 0,\n            size: 7\n        },\n        Barcode: {\n            ref: 2 ** 1,\n            size: 1\n        },\n        ProjMat: {\n            ref: 2 ** 2,\n            size: 16\n        },\n        ImageRef: {\n            ref: 2 ** 3,\n            size: 1\n        }\n    } as const;\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static RELATIVE_ATTITUDE_DRIFT = deg2rad(3) / 60;\n\n    _nativeProvider?: NativeArCore;\n\n    previousPosition = [0, 0, 0];\n\n    getName = () => 'ArCore';\n\n    availability() {\n        try {\n            const nativeProvider = this.nativeProvider;\n\n            if (!nativeProvider.checkAvailability()) {\n                return Promise.resolve(new MissingArCoreError());\n            }\n\n        } catch (e) {\n            return Promise.resolve(e as Error);\n        }\n\n        return Promise.resolve();\n    }\n\n    start() {\n        this.nativeProvider?.start();\n        this.pullDataLoop();\n    }\n\n    stop() {\n        this.nativeProvider?.stop();\n    }\n\n    pullDataLoop = () => {\n\n        if (this.state === 'stopped') {\n            return;\n        }\n\n        const payload = JSON.parse(this.nativeProvider.getInfo());\n        if (payload.length > 1) {\n            this.parsePayload(payload);\n        }\n        requestAnimationFrame(this.pullDataLoop);\n    }\n\n    parsePayload(payload: Payload) {\n\n        const ref = payload[0];\n        let bufferIndex = 1;\n\n        let attitude: RelativeAttitude,\n            position: RelativePosition,\n            cameraProjection,\n            barcode;\n\n        const time = TimeUtils.preciseTime() / 1e3;\n\n        if (ref & ArCoreProvider.Payload.Pose.ref) {\n\n            attitude = new RelativeAttitude(\n                payload.slice(bufferIndex, bufferIndex + 4) as Quaternion_t,\n                time,\n                ArCoreProvider.RELATIVE_ATTITUDE_DRIFT,\n            );\n\n            const newPosition = [\n                payload[bufferIndex + 4], payload[bufferIndex + 5], payload[bufferIndex + 6]\n            ] as Vector3_t;\n            position = new RelativePosition(\n                newPosition[0] - this.previousPosition[0],\n                newPosition[1] - this.previousPosition[1],\n                newPosition[2] - this.previousPosition[2],\n                time,\n                1e-4\n            );\n            this.previousPosition = newPosition;\n\n            bufferIndex += ArCoreProvider.Payload.Pose.size;\n        }\n\n        if (ref & ArCoreProvider.Payload.Barcode.ref) {\n            barcode = payload[bufferIndex] as Barcode;\n            bufferIndex += ArCoreProvider.Payload.Barcode.size;\n        }\n\n        if (ref & ArCoreProvider.Payload.ProjMat.ref) {\n            cameraProjection = payload.slice(bufferIndex, bufferIndex + ArCoreProvider.Payload.ProjMat.size) as Vector16_t;\n            bufferIndex += ArCoreProvider.Payload.ProjMat.size;\n        }\n\n        this.notify({\n            relativePosition: position!,\n            relativeAttitude: attitude!,\n            ...(barcode && { barcode }),\n            ...(cameraProjection && { cameraProjection })\n\n        })\n    }\n\n\n    get nativeProvider() {\n\n        if (!this._nativeProvider) {\n\n            if (!this.nativeInterface) {\n                throw new MissingNativeInterfaceError();\n            }\n\n            this._nativeProvider = this.nativeInterface.getArCoreProvider();\n            if (!this._nativeProvider) {\n                throw new MissingArCoreError();\n            }\n        }\n\n        return this._nativeProvider;\n    }\n\n\n    enableBarcodeScanner() {\n        try {\n            this.nativeProvider.enableBarcodeScanner();\n        } catch (e) {\n            this.notifyError(e as Error);\n        }\n    }\n\n    disableBarcodeScanner() {\n        try {\n            this.nativeProvider.disableBarcodeScanner();\n        } catch (e) {\n            this.notifyError(e as Error);\n        }\n    }\n\n    get useCameraNatively() {\n        return true;\n    }\n}\n\nexport default new ArCoreProvider();\n","import { GeoRelativePosition, RelativePosition } from '@wemap/geo';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport AbsoluteAttitudeProvider from '../../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport ArCoreProvider, { ArCoreEvent } from '../../vision/ArCoreProvider.js';\nimport { AbsoluteAttitude, RelativeAttitude } from '../../../events/Types.js';\n\nclass GeoRelativePositionFromArCoreProvider extends Provider<GeoRelativePosition> {\n\n    absoluteAttitudeProviderId?: number;\n    arCoreProviderId?: number;\n    absoluteAttitudeEvent?: AbsoluteAttitude;\n\n    getName = () => 'GeoRelativePositionFromArCore';\n\n    availability() {\n        return AvailabilityHelper.every([\n            ArCoreProvider.getAvailability(),\n            AbsoluteAttitudeProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        this.arCoreProviderId = ArCoreProvider.addEventListener(\n            this.onArCoreEvents,\n            this.notifyError\n        );\n\n        this.absoluteAttitudeProviderId = AbsoluteAttitudeProvider.addEventListener(\n            event => this.absoluteAttitudeEvent = event,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        ArCoreProvider.removeEventListener(this.arCoreProviderId);\n        AbsoluteAttitudeProvider.removeEventListener(this.absoluteAttitudeProviderId);\n    }\n\n    onArCoreEvents = (event: ArCoreEvent) => {\n        const relativeAttitudeEvent = event.relativeAttitude;\n        const relativePositionEvent = event.relativePosition;\n\n        if (relativeAttitudeEvent && relativePositionEvent && this.absoluteAttitudeEvent) {\n            this.compute(relativePositionEvent, relativeAttitudeEvent, this.absoluteAttitudeEvent);\n        }\n    }\n\n    compute(\n        relativePosition: RelativePosition,\n        relativeAttitude: RelativeAttitude,\n        absoluteAttitude: AbsoluteAttitude\n    ) {\n\n        const rotation = absoluteAttitude.heading - relativeAttitude.heading;\n\n        /**\n         * Here, we transform \"relativePosition\" which is defined in ArCore frame to a relative \"position\" defined in ENU frame\n         */\n        const east = Math.cos(rotation) * relativePosition.x - Math.sin(rotation) * relativePosition.z;\n        const north = -Math.sin(rotation) * relativePosition.x - Math.cos(rotation) * relativePosition.z;\n        const up = relativePosition.y;\n\n        /**\n         * Relative position is defined in ENU frame\n         */\n        const position = new GeoRelativePosition(\n            east,\n            north,\n            up,\n            relativePosition.time,\n            0,\n            absoluteAttitude.heading\n        );\n\n        this.notify(position);\n    }\n}\n\nexport default new GeoRelativePositionFromArCoreProvider();\n","import { Matrix_t } from '@wemap/maths';\nimport {\n    Matrix, Matrix3, Matrix3_t, Matrix4, Matrix4_t,\n    Quaternion, Quaternion_t, Vector, Vector3, Vector3_t,\n    Vector4_t\n} from '@wemap/maths';\n\ntype RelativeNoises = { acc: number, gyr: number };\ntype AbsoluteNoises = { acc: number, gyr: number, yc: number };\n\ntype RelativeNoisesMat = { acc: Matrix3_t, gyr: Matrix3_t };\ntype AbsoluteNoisesMat = { acc: Matrix3_t, gyr: Matrix3_t, yc: Matrix3_t };\n\nconst DEFAULT_RELATIVE_NOISES = {\n    acc: 0.5,\n    gyr: 0.3\n};\n\nconst DEFAULT_ABSOLUTE_NOISES = {\n    acc: 0.5,\n    gyr: 0.3,\n    yc: 2\n};\n\nclass EkfAttitude {\n    P: Matrix4_t;\n    accRef: Vector3_t;\n    cRef: Vector3_t;\n    noises!: { relative: RelativeNoisesMat, absolute: AbsoluteNoisesMat };\n    quaternion: Quaternion_t | null;\n\n    constructor(accRef: Vector3_t = [0, 0, 1], ycRef: Vector3_t = [-1, 0, 0]) {\n\n        this.accRef = accRef;\n        this.cRef = ycRef;\n\n        this.P = Matrix4.fromDiagVector(Array(4).fill(0.1 ** 2) as Vector4_t);\n\n        this.quaternion = null;\n        \n        this.noises = {} as never;\n        this.setRelativeNoises(DEFAULT_RELATIVE_NOISES);\n        this.setAbsoluteNoises(DEFAULT_ABSOLUTE_NOISES);\n    }\n\n    setRelativeNoises(relativeNoises: RelativeNoises) {\n        this.noises.relative = {\n            acc: Matrix3.diag(Array(3).fill(relativeNoises.acc ** 2) as Vector3_t),\n            gyr: Matrix3.diag(Array(3).fill(relativeNoises.gyr ** 2) as Vector3_t)\n        };\n    }\n\n\n    setAbsoluteNoises(absoluteNoises: AbsoluteNoises) {\n        this.noises.absolute = {\n            acc: Matrix3.diag(Array(3).fill(absoluteNoises.acc ** 2) as Vector3_t),\n            gyr: Matrix3.diag(Array(3).fill(absoluteNoises.gyr ** 2) as Vector3_t),\n            yc: Matrix3.diag(Array(3).fill(absoluteNoises.yc ** 2) as Vector3_t)\n        };\n    }\n\n    /**\n     * Try to initialize filter.\n     * To initialize, we need at least current acceleration (acc)\n     */\n    tryInitialize(acc: Vector3_t, mag?: Vector3_t) {\n\n        const accNormalized = Vector3.normalize(acc);\n\n        if (mag) {\n            const magNormalized = Vector3.normalize(mag);\n\n            const H = Vector3.normalize(Vector3.cross(magNormalized, accNormalized));\n            const M = Vector3.cross(accNormalized, H);\n\n            const R: Matrix3_t = [\n                [H[0], M[0], accNormalized[0]],\n                [H[1], M[1], accNormalized[1]],\n                [H[2], M[2], accNormalized[2]]\n            ];\n\n            this.quaternion = Quaternion.fromMatrix3Matlab(R);\n\n        } else {\n\n            const r = Vector3.dot(accNormalized, this.accRef) + 1;\n            const v = Vector3.cross(accNormalized, this.accRef);\n\n            let quaternion: Quaternion_t = [r, v[0], v[1], v[2]];\n            quaternion = Quaternion.normalize(quaternion);\n\n            this.quaternion = quaternion;\n        }\n\n        return this.quaternion;\n    }\n\n    update(diffTime: number, acc: Vector3_t, gyr: Vector3_t, mag?: Vector3_t) {\n\n        if (!this.quaternion) {\n            return this.tryInitialize(acc, mag);\n        }\n\n        let q = this.quaternion;\n\n        /* ------------\n         *   ESTIMATION\n         * ------------*/\n\n        const qArray = q;\n        const gyrInt = Vector3.multiplyScalar(gyr, 0.5 * diffTime);\n        const F = this.computeC([1, gyrInt[0], gyrInt[1], gyrInt[2]]);\n        const qAPriori = Matrix4.multiplyVector(F, q);\n        const E1 = Matrix3.diag([qArray[0], qArray[0], qArray[0]]);\n        const eSkew = Matrix3.skew([qArray[1], qArray[2], qArray[3]]);\n\n        const qPart = [-1 * qArray[1], -1 * qArray[2], -1 * qArray[3]];\n        const E = Matrix.concatRow([qPart], Matrix3.sum(eSkew, E1));\n\n        const Qk = Matrix4.multiplyScalar(\n            Matrix.multiply(\n                Matrix.multiply(E, this.noises[mag ? 'absolute' : 'relative'].gyr),\n                Matrix.transpose(E)\n            ) as Matrix4_t,\n            (diffTime / 2) ** 2\n        );\n\n        const pAPriori = Matrix4.sum(\n            Matrix4.multiply(\n                Matrix4.multiply(F, this.P),\n                Matrix4.transpose(F)\n            ),\n            Qk\n        );\n\n        /* ------------\n         *   CORRECTION\n         * ------------*/\n\n        const accNormalized = Vector3.normalize(acc);\n        let dz, K: Matrix_t, H;\n\n        if (mag) {\n\n            const magNormalized = Vector3.normalize(mag);\n            const yc = Vector3.cross(accNormalized, magNormalized);\n            const ycNormalized = Vector3.normalize(yc);\n\n            const dzYc = Vector3.subtract(ycNormalized, Quaternion.rotateMatlab(qAPriori, this.cRef));\n            const dzAcc = Vector3.subtract(accNormalized, Quaternion.rotateMatlab(qAPriori, this.accRef));\n            dz = Vector.concat(dzYc, dzAcc);\n\n            const HYc = this.jacobianES(qAPriori, this.cRef);\n            const HAcc = this.jacobianES(qAPriori, this.accRef);\n            H = Matrix.concatRow(HYc, HAcc);\n\n            const RYc = Matrix.concatLine(this.noises.absolute.yc, Matrix3.zeros);\n            const RAcc = Matrix.concatLine(Matrix3.zeros, this.noises.absolute.acc);\n            const R = Matrix.concatRow(RYc, RAcc);\n\n            K = Matrix.multiply(\n                Matrix.multiply(pAPriori, Matrix.transpose(H)),\n                Matrix.inverse(\n                    Matrix.sum(\n                        Matrix.multiply(\n                            Matrix.multiply(H, pAPriori),\n                            Matrix.transpose(H)\n                        ),\n                        R\n                    )\n                ) as Matrix_t\n            );\n        } else {\n            dz = Vector3.subtract(accNormalized, Quaternion.rotateMatlab(qAPriori, this.accRef));\n            H = this.jacobianES(qAPriori, this.accRef);\n            const R = this.noises.relative.acc;\n\n            K = Matrix.multiply(\n                Matrix.multiply(pAPriori, Matrix.transpose(H)),\n                Matrix3.inverse(\n                    Matrix3.sum(\n                        Matrix.multiply(\n                            Matrix.multiply(H, pAPriori),\n                            Matrix.transpose(H)\n                        ) as Matrix3_t,\n                        R\n                    )\n                ) as Matrix_t\n            );\n        }\n\n        q = Quaternion.sum(\n            qAPriori,\n            Matrix.multiplyVector(K, dz) as Quaternion_t\n        );\n        const P = Matrix4.multiply(\n            Matrix4.subtract(\n                Matrix4.identity,\n                Matrix.multiply(K, H) as Matrix4_t\n            ),\n            pAPriori\n        );\n\n        q = Quaternion.normalize(q);\n        this.quaternion = q;\n        this.P = P;\n\n        return q;\n    }\n\n    computeC(b: Vector4_t): Matrix4_t {\n        return [\n            [b[0], -b[1], -b[2], -b[3]],\n            [b[1], b[0], b[3], -b[2]],\n            [b[2], -b[3], b[0], b[1]],\n            [b[3], b[2], -b[1], b[0]]\n        ];\n    }\n\n    jacobianES(q: Quaternion_t, v: Vector3_t) {\n\n        const [qw, qx, qy, qz] = q;\n        const [vx, vy, vz] = v;\n\n        return [\n            [2 * qz * vy - 2 * qy * vz, 2 * qy * vy + 2 * qz * vz, 2 * qx * vy - 2 * qw * vz - 4 * qy * vx, 2 * qw * vy + 2 * qx * vz - 4 * qz * vx],\n            [2 * qx * vz - 2 * qz * vx, 2 * qw * vz - 4 * qx * vy + 2 * qy * vx, 2 * qx * vx + 2 * qz * vz, 2 * qy * vz - 2 * qw * vx - 4 * qz * vy],\n            [2 * qy * vx - 2 * qx * vy, 2 * qz * vx - 4 * qx * vz - 2 * qw * vy, 2 * qw * vx - 4 * qy * vz + 2 * qz * vy, 2 * qx * vx + 2 * qy * vy]\n        ];\n    }\n}\n\nexport default EkfAttitude;\n","import { deg2rad, Vector3_t } from '@wemap/maths';\nimport { Browser, BrowserUtils } from '@wemap/utils';\n\nimport Provider from '../Provider.js';\nimport AskImuOnDesktopError from '../../errors/AskImuOnDesktopError.js';\nimport { Acceleration, AngularRate } from '../../events/Types.js';\n\n// https://stackoverflow.com/a/73369838/2239938\ninterface DeviceMotionEventiOS extends DeviceMotionEvent {\n    requestPermission?: () => Promise<'granted' | 'denied'>;\n}\n\n/**\n * Imu (Inertial Measurement Unit) provider retrieve acceleration data\n *  and/or angular rate data from inertial sensors.\n *\n * -----------------------------------\n * Overview of compatibilities:\n * -----------------------------------\n *\n * Chrome Android (v72.0.3626): YES (via devicemotion)\n * Safari iOS (v12.0): YES (via devicemotion)\n * Opera Android (v50.2.2426): NO {@link https://developer.mozilla.org/en-US/docs/Web/API/DeviceMotionEvent}\n * Firefox Android (v65.0.1): YES (via devicemotion)\n *\n * -----------------------------------\n */\n\ntype ImuEvent = { readonly acceleration?: Acceleration, readonly angularRate?: AngularRate };\nclass ImuProvider extends Provider<ImuEvent> {\n\n    getName = () => 'IMU';\n\n    availability() {\n        return BrowserUtils.isMobile\n            ? Promise.resolve()\n            : Promise.resolve(new AskImuOnDesktopError());\n    }\n\n    start() {\n        const subscribe = () => window.addEventListener('devicemotion', this.parseDeviceMotionEvent, true);\n\n        const requestPermission = (DeviceMotionEvent as unknown as DeviceMotionEventiOS).requestPermission || undefined;\n\n        if (requestPermission) {\n            requestPermission()\n                .then(response => {\n                    if (response !== 'granted') {\n                        throw new Error('Permission not granted');\n                    }\n                    subscribe();\n                })\n                .catch(this.notifyError);\n        } else {\n            subscribe();\n        }\n    }\n\n    stop() {\n        window.removeEventListener('devicemotion', this.parseDeviceMotionEvent, true);\n    }\n\n    /**\n     * devicemotion callback\n     */\n    private parseDeviceMotionEvent = (e: DeviceMotionEvent) => {\n\n        const timestamp = e.timeStamp / 1e3;\n\n        let acc: Vector3_t | undefined;\n        if (e.accelerationIncludingGravity) {\n            const {\n                x, y, z\n            } = e.accelerationIncludingGravity;\n\n            if (typeof x === 'number' && typeof y === 'number' && typeof z === 'number') {\n                acc = [x, y, z];\n\n                if (BrowserUtils.getName() === Browser.SAFARI\n                    || BrowserUtils.getName() === Browser.IOS_WEBVIEW) {\n                    acc[0] *= -1;\n                    acc[1] *= -1;\n                    acc[2] *= -1;\n                }\n            }\n        }\n\n        let gyr: [number, number, number] | undefined;\n        if (e.rotationRate) {\n            const {\n                alpha, beta, gamma\n            } = e.rotationRate;\n\n            if (typeof alpha === 'number' && typeof beta === 'number' && typeof gamma === 'number') {\n                gyr = [deg2rad(alpha), deg2rad(beta), deg2rad(gamma)];\n            }\n        }\n\n\n        if (acc || gyr) {\n            this.notify({\n                ...(acc && { acceleration: { timestamp, values: acc } }),\n                ...(gyr && { angularRate: { timestamp, values: gyr } })\n            });\n        }\n    }\n\n}\n\nexport default new ImuProvider();\n","import MissingSensorError from './MissingSensorError.js';\nclass MissingAccelerometerError extends MissingSensorError {\n\n    static DEFAULT_MESSAGE = 'Impossible to retrieve Acceleration data';\n\n    constructor(message?: string) {\n        super(message || MissingAccelerometerError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingAccelerometerError;\n","import Provider from '../Provider.js';\nimport ImuProvider from './ImuProvider.js';\nimport MissingAccelerometerError from '../../errors/MissingAccelerometerError.js';\nimport { Acceleration } from '../../events/Types.js';\n\nclass AccelerometerProvider extends Provider<Acceleration> {\n\n    private imuProviderId?: number;\n\n    getName = () => 'Accelerometer';\n\n    availability = () => ImuProvider.getAvailability();\n\n    start() {\n        this.imuProviderId = ImuProvider.addEventListener(event => {\n            event.acceleration\n                ? this.notify(event.acceleration)\n                : this.notifyError(new MissingAccelerometerError().from('devicemotion'));\n\n        }, this.notifyError);\n    }\n\n    stop() {\n        ImuProvider.removeEventListener(this.imuProviderId);\n    }\n}\n\nexport default new AccelerometerProvider();\n","import MissingSensorError from './MissingSensorError.js';\nclass MissingGyroscopeError extends MissingSensorError {\n\n    static DEFAULT_MESSAGE = 'Impossible to retrieve Angular Rate data';\n\n    constructor(message?: string) {\n        super(message || MissingSensorError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingGyroscopeError;\n","import Provider from '../Provider.js';\nimport ImuProvider from './ImuProvider.js';\nimport MissingGyroscopeError from '../../errors/MissingGyroscopeError.js';\nimport { AngularRate } from '../../events/Types.js';\n\nclass GyroscopeProvider extends Provider<AngularRate> {\n\n    private imuProviderId?: number;\n\n    getName = () => 'Gyroscope';\n\n    availability = () => ImuProvider.getAvailability();\n\n    start() {\n        this.imuProviderId = ImuProvider.addEventListener(event => {\n            event.angularRate\n                ? this.notify(event.angularRate)\n                : this.notifyError(new MissingGyroscopeError().from('devicemotion'));\n        }, this.notifyError);\n    }\n\n    stop() {\n        ImuProvider.removeEventListener(this.imuProviderId);\n    }\n}\n\nexport default new GyroscopeProvider();\n","import { deg2rad, Vector3_t } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport EkfAttitude from '../EkfAttitude.js';\nimport Accelerometer from '../../imu/AccelerometerProvider.js';\nimport Gyroscope from '../../imu/GyroscopeProvider.js';\nimport { Acceleration, AngularRate, RelativeAttitude } from '../../../events/Types.js';\n\n/**\n * Relative attitude provider gives the device attitude in East-North-Up (ENU) frame using\n *  browser deviceorientation\n * The provider does not work until an offset is given.\n */\nclass RelativeAttitudeFromEkf extends Provider<RelativeAttitude> {\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static DEFAULT_DRIFT = deg2rad(5) / 60;\n\n    accelerometerProviderId?: number;\n    ekfAttitude = new EkfAttitude();\n    gyroscopeEvent?: AngularRate;\n    gyroscopeProviderId?: number;\n\n    lastTimestamp = 0;\n\n    getName = () => 'RelativeAttitudeFromEkf';\n\n    availability() {\n        return AvailabilityHelper.every([\n            Accelerometer.getAvailability(),\n            Gyroscope.getAvailability()\n        ]);\n    }\n\n    start() {\n        this.accelerometerProviderId = Accelerometer.addEventListener(\n            event => this.onAccelerometerEvent(event),\n            error => this.notifyError(error)\n        );\n\n        this.gyroscopeProviderId = Gyroscope.addEventListener(\n            event => this.gyroscopeEvent = event,\n            error => this.notifyError(error)\n        );\n    }\n\n    stop() {\n        Accelerometer.removeEventListener(this.accelerometerProviderId);\n        Gyroscope.removeEventListener(this.gyroscopeProviderId);\n    }\n\n    private onAccelerometerEvent = (accelerationEvent: Acceleration) => {\n\n        if (!this.gyroscopeEvent) {\n            return;\n        }\n\n        const {\n            values: acceleration, timestamp\n        } = accelerationEvent;\n\n        // Handle timestamps and dt\n        if (this.lastTimestamp === 0) {\n            this.lastTimestamp = timestamp;\n            return;\n        }\n        const diffTime = timestamp - this.lastTimestamp;\n        this.lastTimestamp = timestamp;\n\n        const quaternion = this.ekfAttitude.update(\n            diffTime,\n            acceleration as Vector3_t,\n            this.gyroscopeEvent.values as Vector3_t\n        );\n\n        if (quaternion) {\n            const attitude = new RelativeAttitude(quaternion,\n                timestamp,\n                RelativeAttitudeFromEkf.DEFAULT_DRIFT\n            );\n            this.notify(attitude);\n        }\n    };\n}\n\nexport default new RelativeAttitudeFromEkf();\n","import { deg2rad, Rotations } from '@wemap/maths';\nimport { BrowserUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport AskImuOnDesktopError from '../../../errors/AskImuOnDesktopError.js';\nimport MissingSensorError from '../../../errors/MissingSensorError.js';\nimport { RelativeAttitude } from '../../../events/Types.js';\n\n// https://stackoverflow.com/a/73369838/2239938\ninterface DeviceOrientationEventiOS extends DeviceOrientationEvent {\n    requestPermission?: () => Promise<'granted' | 'denied'>;\n}\n\n/**\n * Relative attitude provider gives the device attitude in a custom frame (x-right, y-front, z-up) using\n *  browser deviceorientation\n *\n * -----------------------------------\n * Overview of compatibilities:\n * -----------------------------------\n *\n * Chrome Android (v72.0.3626): YES (via deviceorientation but deviceorientation.alpha is unreliable! Sometimes it starts at 0°, sometimes at 270°)\n * Safari iOS (v12.0): YES (via deviceorientation)\n * Opera Android (v50.2.2426): NO {@link https://developer.mozilla.org/en-US/docs/Web/API/Window/ondeviceorientation}\n * Firefox Android (v65.0.1): YES (via deviceorientation)\n *\n * -----------------------------------\n */\n\nclass RelativeAttitudeFromBrowser extends Provider<RelativeAttitude> {\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static DEFAULT_DRIFT = deg2rad(5) / 60;\n\n    getName = () => 'RelativeAttitudeFromBrowser';\n\n    availability() {\n        return BrowserUtils.isMobile\n            ? Promise.resolve()\n            : Promise.resolve(new AskImuOnDesktopError());\n    }\n\n    start() {\n        const subscribe = () => window.addEventListener('deviceorientation', this.onDeviceOrientationEvent, true);\n\n        const requestPermission = (DeviceOrientationEvent as unknown as DeviceOrientationEventiOS).requestPermission || undefined;\n\n        if (requestPermission) {\n            requestPermission()\n                .then(response => {\n                    if (response !== 'granted') {\n                        throw new Error('Permission not granted');\n                    }\n                    subscribe();\n                })\n                .catch(error => this.notifyError(error));\n        } else {\n            subscribe();\n        }\n    }\n\n    stop() {\n        window.removeEventListener('deviceorientation', this.onDeviceOrientationEvent, true);\n    }\n\n    onDeviceOrientationEvent = (e: DeviceOrientationEvent) => {\n\n        if (typeof e.alpha !== 'number' || typeof e.beta !== 'number' || typeof e.gamma !== 'number') {\n            this.notifyError(new MissingSensorError().from('deviceorientation'));\n            return;\n        }\n\n        const quaternion = Rotations.eulerToQuaternionZXYDegrees([e.alpha, e.beta, e.gamma]);\n        const attitude = new RelativeAttitude(quaternion,\n            e.timeStamp / 1e3,\n            RelativeAttitudeFromBrowser.DEFAULT_DRIFT\n        );\n        this.notify(attitude);\n    };\n}\n\nexport default new RelativeAttitudeFromBrowser();\n","import { Vector3, Vector3_t } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport GyroscopeProvider from './GyroscopeProvider.js';\nimport { AngularRate, HighRotation } from '../../events/Types.js';\n\nclass HighRotationsProvider extends Provider<HighRotation> {\n\n    static THRESHOLD = 10; // in radians by second\n    static DELAY_CONSIDERATION = 3; // in seconds\n\n    gyroscopeProviderId?: number;\n\n    getName = () => 'HighRotationsProvider';\n\n    availability = () => GyroscopeProvider.getAvailability();\n\n    start() {\n        this.gyroscopeProviderId = GyroscopeProvider.addEventListener(\n            this._parseGyroscopeEvent,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        GyroscopeProvider.removeEventListener(this.gyroscopeProviderId);\n    }\n\n    isInProgress() {\n        if (!this.lastEvent || !GyroscopeProvider.lastEvent) {\n            return false;\n        }\n\n        const diffTime = GyroscopeProvider.lastEvent.timestamp - this.lastEvent.timestamp;\n        return diffTime < HighRotationsProvider.DELAY_CONSIDERATION;\n    }\n\n    private _parseGyroscopeEvent = (gyroscopeEvent: AngularRate) => {\n\n        const { values, timestamp } = gyroscopeEvent;\n        const speed = Vector3.norm(values as Vector3_t);\n        if (speed > HighRotationsProvider.THRESHOLD) {\n            this.notify({ timestamp });\n        }\n\n    }\n}\n\nexport default new HighRotationsProvider();\n","import { deg2rad } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport RelativeAttitudeFromEkfProvider from './RelativeAttitudeFromEkfProvider.js';\nimport RelativeAttitudeFromBrowserProvider from './RelativeAttitudeFromBrowserProvider.js';\nimport HighRotationsProvider from '../../imu/HighRotationsProvider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport { RelativeAttitude } from '../../../events/Types.js';\n\n\nclass RelativeAttitudeFromInertial extends Provider<RelativeAttitude> {\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static DEFAULT_DRIFT = deg2rad(5) / 60;\n\n    _highRotationsProviderId?: number;\n    listenerId?: number;\n    provider?: Provider<RelativeAttitude>;\n\n    getName = () => 'RelativeAttitudeFromInertial';\n\n    availability() {\n        return AvailabilityHelper.some([\n            RelativeAttitudeFromEkfProvider.getAvailability(),\n            RelativeAttitudeFromBrowserProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        RelativeAttitudeFromEkfProvider.getAvailability().then(availabilityError => {\n            this.provider = !availabilityError ? RelativeAttitudeFromEkfProvider : RelativeAttitudeFromBrowserProvider;\n\n            this.listenerId = this.provider.addEventListener(\n                event => this._parseEvent(event),\n                this.notifyError\n            );\n            this._highRotationsProviderId = HighRotationsProvider.addEventListener(\n                null,\n                this.notifyError\n            );\n        });\n    }\n\n    _parseEvent(event: RelativeAttitude) {\n        const relativeAttitude = event.clone();\n        if (HighRotationsProvider.isInProgress()) {\n            let accuracy = (relativeAttitude.accuracy || 0) + (RelativeAttitudeFromInertial.DEFAULT_DRIFT * 100);\n            accuracy = Math.min(accuracy, Math.PI);\n            relativeAttitude.accuracy = accuracy;\n        }\n        this.notify(relativeAttitude);\n    }\n\n    stop() {\n        if (this.provider) {\n            this.provider.removeEventListener(this.listenerId);\n            delete this.provider;\n        }\n        HighRotationsProvider.removeEventListener(this._highRotationsProviderId);\n    }\n}\n\nexport default new RelativeAttitudeFromInertial();\n","import { Vector3_t } from \"@wemap/maths\";\n\nclass StepDetectionLadetto {\n\n    \n    static MIN_TIME_BETWEEN_STEPS = 0.4; // in seconds\n\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 1; // in m.s-2\n\n\n    frequency = 0;\n\n    lastVerticalAcc = 0;\n    maxAcceleration = 0;\n    lastStepTimestamp = -StepDetectionLadetto.MIN_TIME_BETWEEN_STEPS;\n\n    compute(timestamp: number, linearAcc: Vector3_t) {\n\n        let stepDetected = false;\n\n        const verticalAcc = linearAcc[2];\n        const timeInterval = timestamp - this.lastStepTimestamp;\n\n        const upfront = verticalAcc > this.lastVerticalAcc;\n\n        if (upfront) {\n            if (verticalAcc > this.maxAcceleration) {\n                this.maxAcceleration = verticalAcc;\n            }\n        } else if (this.maxAcceleration > StepDetectionLadetto.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD\n            && timeInterval > StepDetectionLadetto.MIN_TIME_BETWEEN_STEPS) {\n            this.maxAcceleration = 0;\n\n            const diffTime = timestamp - this.lastStepTimestamp;\n            this.frequency = Math.min(Math.max((1 / diffTime), StepDetectionLadetto.MIN_FRENQUENCY), StepDetectionLadetto.MAX_FRENQUENCY);\n\n            stepDetected = true;\n            this.lastStepTimestamp = timestamp;\n        } else {\n            this.maxAcceleration = 0;\n        }\n\n        this.lastVerticalAcc = verticalAcc;\n\n        return stepDetected;\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepTimestamp ? this.lastStepSize * this.frequency : 0;\n    }\n}\n\nexport default StepDetectionLadetto;\n","import { Vector3_t } from \"@wemap/maths\";\n\n\nclass StepDetectionMinMaxPeaks {\n\n    static WINDOW_TIME = 0.3; // in seconds\n    static MIN_TIME_BETWEEN_STEPS = 0.4; // in seconds\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 1.5; // in m.s-2\n    static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD = -1; // in m.s-2\n\n    frequency = 0;\n    lastStepTimestamp = -StepDetectionMinMaxPeaks.MIN_TIME_BETWEEN_STEPS;\n    slidingWindow: { timestamp: number, verticalAcc: number }[] = [];\n\n    compute(timestamp: number, linearAcc: Vector3_t) {\n\n        if (this.lastStepTimestamp && this.lastStepTimestamp + StepDetectionMinMaxPeaks.MIN_TIME_BETWEEN_STEPS > timestamp) {\n            return false;\n        }\n\n        let maxValue = Number.MIN_SAFE_INTEGER;\n        let minValue = Number.MAX_SAFE_INTEGER;\n\n        const windowTime = StepDetectionMinMaxPeaks.WINDOW_TIME;\n        this.slidingWindow.forEach((item, index, object) => {\n            if (item.timestamp < timestamp - windowTime) {\n                object.splice(index, 1);\n            } else {\n                maxValue = Math.max(item.verticalAcc, maxValue);\n                minValue = Math.min(item.verticalAcc, minValue);\n            }\n        });\n        this.slidingWindow.push({\n            timestamp: timestamp,\n            verticalAcc: linearAcc[2]\n        });\n\n\n        if (maxValue > StepDetectionMinMaxPeaks.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD\n            && minValue < StepDetectionMinMaxPeaks.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {\n\n            const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;\n            this.frequency = Math.min(Math.max((1 / timeInterval), StepDetectionMinMaxPeaks.MIN_FRENQUENCY), StepDetectionMinMaxPeaks.MAX_FRENQUENCY);\n\n            this.lastStepTimestamp = timestamp;\n            return true;\n        }\n\n        return false;\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepTimestamp ? this.lastStepSize * this.frequency : 0;\n    }\n}\n\nexport default StepDetectionMinMaxPeaks;\n","import { Vector3_t } from \"@wemap/maths\";\n\nclass StepDetectionMinMaxPeaks2 {\n\n    static WINDOW_TIME = 0.3; // in seconds\n    static MIN_TIME_BETWEEN_STEPS = 0.4; // in seconds\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 0.75; // in m.s-2\n    static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD = -0.3; // in m.s-2\n\n    frequency = 0;\n    influence = 0.2;\n\n    slidingWindow: { timestamp: number, verticalAcc: number }[] = [];\n    lastStepTimestamp = -StepDetectionMinMaxPeaks2.MIN_TIME_BETWEEN_STEPS;\n    previousVerticalAcc = 0;\n\n    compute(timestamp: number, linearAcc: Vector3_t, angularRate: Vector3_t) {\n\n        const verticalAcc = this.influence * (linearAcc[2] * 2) + (1 - this.influence) * this.previousVerticalAcc;\n        this.previousVerticalAcc = verticalAcc;\n\n\n        if (Math.sqrt(angularRate[0] ** 2 + angularRate[1] ** 2 + angularRate[2] ** 2) > 0.75) {\n            return false;\n        }\n\n        if (this.lastStepTimestamp && this.lastStepTimestamp + StepDetectionMinMaxPeaks2.MIN_TIME_BETWEEN_STEPS > timestamp) {\n            return false;\n        }\n\n        let maxValue = Number.MIN_SAFE_INTEGER;\n        let minValue = Number.MAX_SAFE_INTEGER;\n\n        this.slidingWindow.forEach((item, index, object) => {\n            if (item.timestamp < timestamp - StepDetectionMinMaxPeaks2.WINDOW_TIME) {\n                object.splice(index, 1);\n            } else {\n                maxValue = Math.max(item.verticalAcc, maxValue);\n                minValue = Math.min(item.verticalAcc, minValue);\n            }\n        });\n        this.slidingWindow.push({\n            timestamp: timestamp,\n            verticalAcc: verticalAcc\n        });\n\n\n        if (maxValue > StepDetectionMinMaxPeaks2.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD\n            && minValue < StepDetectionMinMaxPeaks2.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {\n\n            const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;\n            this.frequency = Math.min(Math.max((1 / timeInterval), StepDetectionMinMaxPeaks2.MIN_FRENQUENCY), StepDetectionMinMaxPeaks2.MAX_FRENQUENCY);\n\n            this.lastStepTimestamp = timestamp;\n            return true;\n        }\n\n        return false;\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepSize && this.frequency ? this.lastStepSize * this.frequency : 0;\n    }\n\n    mean(data: { verticalAcc: number }[]) {\n        let sum = 0.0, mean = 0.0;\n\n        for (let i = 0; i < data.length; ++i) {\n            sum += data[i].verticalAcc;\n        }\n        mean = sum / data.length;\n        return mean;\n    }\n\n    stddev(data: { verticalAcc: number }[]) {\n        const theMean = this.mean(data);\n        let standardDeviation = 0;\n        for (let i = 0; i < data.length; ++i) {\n            standardDeviation += (data[i].verticalAcc - theMean) ** 2;\n        }\n\n        return Math.sqrt(standardDeviation / data.length);\n    }\n}\n\nexport default StepDetectionMinMaxPeaks2;\n","import { Vector3_t } from \"@wemap/maths\";\n\nclass StepDetectionMinMaxPeaks3 {\n\n    static WINDOW_TIME = 0.6; // in seconds\n    static MIN_TIME_BETWEEN_STEPS = 0.6; // in seconds\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 0.2; // in m.s-2\n    static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD = -0.1; // in m.s-2\n\n    frequency = 0;\n    influence = 0.05;\n\n    slidingWindow: { timestamp: number, verticalAcc: number }[] = [];\n    lastStepTimestamp = -StepDetectionMinMaxPeaks3.MIN_TIME_BETWEEN_STEPS;\n    previousVerticalAcc = 0;\n    previousHorizontalAcc = 0;\n\n\n    compute(timestamp: number, linearAcc: Vector3_t) {\n\n        const verticalAcc = this.influence * linearAcc[2] + (1 - this.influence) * this.previousVerticalAcc;\n        this.previousVerticalAcc = verticalAcc;\n\n        // let horizontalAcc = Math.sqrt(linearAcc[0] ** 2 + linearAcc[1] ** 2);\n        // horizontalAcc = this.influence * horizontalAcc + (1 - this.influence) * this.previousHorizontalAcc;\n        // this.previousHorizontalAcc = horizontalAcc;\n\n        // const angularRateNorm = Math.sqrt(angularRate[0] ** 2 + angularRate[1] ** 2 + angularRate[2] ** 2);\n        // horizontalAcc = this.influence * horizontalAcc + (1 - this.influence) * this.previousHorizontalAcc;\n        // this.previousangularRateNorm = angularRateNorm;\n\n        // Update sliding window\n        this.slidingWindow = this.slidingWindow.filter(item => item.timestamp >= timestamp - StepDetectionMinMaxPeaks3.WINDOW_TIME\n        );\n        this.slidingWindow.push({ timestamp, verticalAcc });\n        // , horizontalAcc });\n\n        // this.horizontalAccStd = this.stddev(this.slidingWindow.map(el => el.horizontalAcc));\n        // this.verticalAccStd = this.stddev(this.slidingWindow.map(el => el.verticalAcc));\n\n\n        const isTooEarlyForANewStep = this.lastStepTimestamp\n            && this.lastStepTimestamp + StepDetectionMinMaxPeaks3.MIN_TIME_BETWEEN_STEPS > timestamp;\n        if (isTooEarlyForANewStep) {\n            return false;\n        }\n\n        // Looking for max peak\n        let maxValue = Number.MIN_VALUE;\n        let maxValueIdx = -1;\n        let foundMaxPeakHigherThanThreshold = false;\n        this.slidingWindow.forEach((item, idx) => {\n            if (item.verticalAcc > maxValue\n                && item.verticalAcc >= StepDetectionMinMaxPeaks3.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD) {\n                maxValue = item.verticalAcc;\n                maxValueIdx = idx;\n                foundMaxPeakHigherThanThreshold = true;\n            }\n        });\n        if (!foundMaxPeakHigherThanThreshold) {\n            return false;\n        }\n\n        // Looking for a value lower than a threshold before the max peak\n        let hasLowNegativeValueBeforeMaxPeak = false;\n        let minValueBeforeMaxPeak = Number.MAX_VALUE;\n        for (let i = 0; i < maxValueIdx; i++) {\n            const curValue = this.slidingWindow[i].verticalAcc;\n            minValueBeforeMaxPeak = Math.min(minValueBeforeMaxPeak, curValue);\n            if (curValue < StepDetectionMinMaxPeaks3.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {\n                hasLowNegativeValueBeforeMaxPeak = true;\n                break;\n            }\n        }\n        if (!hasLowNegativeValueBeforeMaxPeak) {\n            return false;\n        }\n\n        // looking for another minimum after max peak\n        const diffMinMax = maxValue - minValueBeforeMaxPeak;\n        const targetValue = maxValue - 0.5 * diffMinMax;\n        let targetValueFoundAfterMaxPeak = false;\n        for (let i = maxValueIdx + 1; i < this.slidingWindow.length; i++) {\n            if (this.slidingWindow[i].verticalAcc <= targetValue) {\n                targetValueFoundAfterMaxPeak = true;\n                break;\n            }\n        }\n        if (!targetValueFoundAfterMaxPeak) {\n            return false;\n        }\n\n        // // looking for another local minimum / maximum after 100ms\n        // let localMinimumFound = false;\n        // let localMaximumFound = false;\n        // let localMaxiumValue = Number.MIN_SAFE_INTEGER;\n        // let localMinimumVal = null;\n        // const maxPeakTimestamp = this.slidingWindow[maxValueIdx].timestamp;\n        // for (let i = maxValueIdx + 1; i < this.slidingWindow.length; i++) {\n        //     const curVal = this.slidingWindow[i];\n        //     const prevVal = this.slidingWindow[i - 1];\n\n        //     if (curVal.timestamp > maxPeakTimestamp + 0.4) {\n        //         break;\n        //     }\n\n        //     if (!localMinimumFound) {\n        //         // if (curVal.timestamp < maxPeakTimestamp + 0.05) {\n        //         //     // too early\n        //         //     continue;\n        //         // }\n\n        //         if (curVal.verticalAcc > prevVal.verticalAcc) {\n        //             localMinimumFound = true;\n        //             localMinimumVal = prevVal;\n        //         }\n        //         continue;\n        //     }\n\n        //     if (!localMaximumFound) {\n\n        //         // if (curVal.timestamp < localMinimumVal.timestamp + 0.05) {\n        //         //     // too early\n        //         //     continue;\n        //         // }\n\n        //         if (curVal.verticalAcc < prevVal.verticalAcc) {\n        //             localMaximumFound = true;\n        //             localMaxiumValue = prevVal.verticalAcc;\n        //             break;\n        //         }\n        //     }\n        // }\n        // const localMinMaxFoundAfterPeak = localMinimumFound && localMaximumFound;\n        // // && localMaxiumValue / maxValue < 0.8;\n        // // if (!localMinMaxFoundAfterPeak) {\n        // //     return false;\n        // // }\n\n\n        // const highRotationDetected = angularRateNorm > 0.75;\n        // // if (highRotationDetected) {\n        // //     return false;\n        // // }\n\n        const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;\n        this.frequency = Math.min(Math.max((1 / timeInterval), StepDetectionMinMaxPeaks3.MIN_FRENQUENCY), StepDetectionMinMaxPeaks3.MAX_FRENQUENCY);\n\n        this.lastStepTimestamp = timestamp;\n        return true;\n\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepSize && this.frequency ? this.lastStepSize * this.frequency : 0;\n    }\n\n    mean(data: number[]) {\n        let sum = 0.0, mean = 0.0;\n\n        for (let i = 0; i < data.length; ++i) {\n            sum += data[i];\n        }\n        mean = sum / data.length;\n        return mean;\n    }\n\n    stddev(data: number[]) {\n        const theMean = this.mean(data);\n        let standardDeviation = 0;\n        for (let i = 0; i < data.length; ++i) {\n            standardDeviation += (data[i] - theMean) ** 2;\n        }\n\n        return Math.sqrt(standardDeviation / data.length);\n    }\n}\n\nexport default StepDetectionMinMaxPeaks3;\n","import { Constants as GeoConstants } from '@wemap/geo';\nimport { Quaternion, Quaternion_t, Vector3_t } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport AvailabilityHelper from '../../events/AvailabilityHelper.js';\nimport { Acceleration, AngularRate, RelativeAttitude, Step } from '../../events/Types.js';\nimport RelativeAttitudeFromInertialProvider from '../attitude/relative/RelativeAttitudeFromInertialProvider.js';\nimport AccelerometerProvider from '../imu/AccelerometerProvider.js';\nimport GyroscopeProvider from '../imu/GyroscopeProvider.js';\nimport StepDetectionLadetto from './StepDetectionLadetto.js';\nimport StepDetectionMinMaxPeaks from './StepDetectionMinMaxPeaks.js';\nimport StepDetectionMinMaxPeaks2 from './StepDetectionMinMaxPeaks2.js';\nimport StepDetectionMinMaxPeaks3 from './StepDetectionMinMaxPeaks3.js';\n\n\ntype StepDetectorAlgorithmName = 'ladetto' | 'minMaxPeaks' | 'minMaxPeaks2' | 'minMaxPeaks3';\n\ntype StepDetectorAlgorithm = {\n    compute(timestamp: number, linearAcc: Vector3_t, angularRate?: Vector3_t): boolean;\n    lastStepSize: number;\n};\n\nclass StepProvider extends Provider<Step> {\n\n    static DEFAULT_STEP_SIZE_MULTIPLIER = 1;\n    static DEFAULT_ALGORITHM: StepDetectorAlgorithmName = 'minMaxPeaks3';\n\n    accelerometerProviderId?: number;\n    attitudeProviderId?: number;\n    gyroscopeProviderId?: number;\n    angularRateEvent?: AngularRate;\n    attitudeEvent?: RelativeAttitude;\n    numOfSteps = 0;\n    stepDetector!: StepDetectorAlgorithm;\n\n    _stepSizeMultiplier = StepProvider.DEFAULT_STEP_SIZE_MULTIPLIER;\n    _algorithm: StepDetectorAlgorithmName = StepProvider.DEFAULT_ALGORITHM;\n    _accValues: Vector3_t[] = [];\n\n    constructor() {\n        super();\n        this.algorithm = this._algorithm;\n    }\n\n    getName = () => 'StepDetector';\n\n    availability() {\n        return AvailabilityHelper.every([\n            AccelerometerProvider.getAvailability(),\n            GyroscopeProvider.getAvailability(),\n            RelativeAttitudeFromInertialProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        this.numOfSteps = 0;\n\n        this.accelerometerProviderId = AccelerometerProvider.addEventListener(\n            this.onAccelerometerEvent,\n            this.notifyError\n        );\n\n        this.gyroscopeProviderId = GyroscopeProvider.addEventListener(\n            event => this.angularRateEvent = event,\n            this.notifyError\n        );\n\n        this.attitudeProviderId = RelativeAttitudeFromInertialProvider.addEventListener(\n            event => this.attitudeEvent = event,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        AccelerometerProvider.removeEventListener(this.accelerometerProviderId);\n        GyroscopeProvider.removeEventListener(this.gyroscopeProviderId);\n        RelativeAttitudeFromInertialProvider.removeEventListener(this.attitudeProviderId);\n    }\n\n    onAccelerometerEvent = (accelerationEvent: Acceleration) => {\n\n        if (!this.attitudeEvent || !this.angularRateEvent) {\n            return;\n        }\n\n        const {\n            values: acceleration, timestamp\n        } = accelerationEvent;\n\n        /**\n         * Step Detection and Step Size Detection\n         */\n        const linearAcc = StepProvider.computeLinearAcceleration(\n            this.attitudeEvent.quaternion, acceleration);\n        const stepDetected = this.stepDetector.compute(timestamp, linearAcc, this.angularRateEvent.values);\n\n        if (stepDetected) {\n            const size = this.stepDetector.lastStepSize * this._stepSizeMultiplier;\n            this.numOfSteps++;\n            this.notify({ size, number: this.numOfSteps });\n        }\n    }\n\n    // Linear acceleration in ENU\n    static computeLinearAcceleration(quaternion: Quaternion_t, acc: Vector3_t) {\n        const linearAcc = Quaternion.rotateMatlab(Quaternion.inverse(quaternion), acc);\n        linearAcc[2] -= GeoConstants.EARTH_GRAVITY;\n        return linearAcc;\n    }\n\n    set stepSizeMultiplier(stepSizeMultiplier) {\n        this._stepSizeMultiplier = stepSizeMultiplier;\n    }\n\n    get stepSizeMultiplier() {\n        return this._stepSizeMultiplier;\n    }\n\n    set algorithm(algorithm) {\n        switch (algorithm) {\n            case 'ladetto':\n                this.stepDetector = new StepDetectionLadetto();\n                break;\n            case 'minMaxPeaks':\n                this.stepDetector = new StepDetectionMinMaxPeaks();\n                break;\n            case 'minMaxPeaks2':\n                this.stepDetector = new StepDetectionMinMaxPeaks2();\n                break;\n            case 'minMaxPeaks3':\n            default:\n                algorithm = 'minMaxPeaks3';\n                this.stepDetector = new StepDetectionMinMaxPeaks3();\n                break;\n        }\n        this._algorithm = algorithm;\n    }\n\n    get algorithm() {\n        return this._algorithm;\n    }\n}\n\nexport function createStepProvider(algorithm: StepDetectorAlgorithmName) {\n    const stepProvider = new StepProvider();\n    stepProvider.algorithm = algorithm;\n    return stepProvider;\n}\n\nexport default new StepProvider();\n","import { GeoRelativePosition } from '@wemap/geo';\nimport { deg2rad } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport StepProvider from '../../steps/StepProvider.js';\nimport AbsoluteAttitudeProvider from '../../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport { Step, AbsoluteAttitude } from '../../../events/Types.js';\n\n\nclass PdrProvider extends Provider<GeoRelativePosition> {\n\n    private absoluteAttitudeProviderId?: number;\n    private stepDetectionProviderId?: number;\n    private attitudeEvent?: AbsoluteAttitude;\n\n    // https://ieeexplore.ieee.org/document/7346766\n    // private misalignment = [1, 0, 0, 0];\n    private misalignmentError = deg2rad(3);\n\n    getName = () => 'Pdr';\n\n    availability() {\n        return AvailabilityHelper.every([\n            StepProvider.getAvailability(),\n            AbsoluteAttitudeProvider.getAvailability()\n        ]);\n    }\n\n\n    start() {\n\n        this.stepDetectionProviderId = StepProvider.addEventListener(\n            this.onStepEvent,\n            this.notifyError\n        );\n\n        this.absoluteAttitudeProviderId = AbsoluteAttitudeProvider.addEventListener(\n            event => (this.attitudeEvent = event),\n            this.notifyError\n        );\n\n    }\n\n    stop() {\n        StepProvider.removeEventListener(this.stepDetectionProviderId);\n        AbsoluteAttitudeProvider.removeEventListener(this.absoluteAttitudeProviderId);\n    }\n\n    private onStepEvent = (stepEvent: Step) => {\n\n        if (!this.attitudeEvent) {\n            return;\n        }\n\n        const stepSize = stepEvent.size;\n\n        /**\n         * There is three frames because (device heading != walking direction):\n         *\n         * Device frame (x-Device Right, y-Device Top, z-Device Front)\n         * Navigation frame (x-Nav East, y-Nav North, z-Nav Up)\n         * Earth local frame (x-East y-North z-Up)\n         *\n         *\n         * For the PDR, in order to find the step direction,\n         *  we are looking for the rotation between the device frame and the navigation frame.\n         * Attitude is the rotation from the device frame to the earth local frame.\n         * Misalignment is the rotation from the navigation frame to the earth local frame\n         */\n        const deviceAttitude = this.attitudeEvent;\n\n        /**\n         * For optimisation, as we define misalignment to identity, we do not process the quat mulitply formula.\n         */\n        // const deviceInNavFrame = Quaternion.multiply(deviceAttitude.quaternion, this.misalignment);\n        // const deviceDirection = new Attitude(deviceInNavFrame).heading;\n        const deviceDirection = deviceAttitude.heading;\n\n        /**\n         * A bad accuracy from PDR is due to three things:\n         * - Attitude accuracy\n         * - Misalignement (device heading != walking direction)\n         * - Step detection false positives / false negatives\n         * Following formula only use attitude accuracy with cone formula\n         */\n        const deviceDirectionAccuracy = deviceAttitude.accuracy! + this.misalignmentError;\n        const accuracy = (stepSize / 2) * Math.sin(deviceDirectionAccuracy / 2);\n        const timestamp = deviceAttitude.time;\n\n        /**\n         * Relative position is defined in ENU frame\n         */\n        const position = new GeoRelativePosition(\n            stepSize * Math.sin(deviceDirection),\n            stepSize * Math.cos(deviceDirection),\n            0,\n            timestamp,\n            accuracy,\n            deviceDirection\n        );\n\n        this.notify(position);\n    }\n}\n\nexport default new PdrProvider();\n","import { GeoRelativePosition } from '@wemap/geo';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport GeoRelativePositionFromArCoreProvider from './GeoRelativePositionFromArCoreProvider.js';\nimport PdrProvider from './PdrProvider.js';\n\n\nclass GeoRelativePositionProvider extends Provider<GeoRelativePosition> {\n\n    providerId?: number;\n    geoRelativeProvider?: Provider<GeoRelativePosition>;\n\n    getName = () => 'GeoRelativePosition';\n\n    availability() {\n        return AvailabilityHelper.some([\n            PdrProvider.getAvailability(),\n            GeoRelativePositionFromArCoreProvider.getAvailability()\n        ]);\n    }\n\n    async start() {\n        const availabilityError = await GeoRelativePositionFromArCoreProvider.getAvailability();\n        this.geoRelativeProvider = availabilityError ? PdrProvider : GeoRelativePositionFromArCoreProvider;\n        this.providerId = this.geoRelativeProvider.addEventListener(this.notify, this.notifyError);\n    }\n\n    stop() {\n        this.geoRelativeProvider?.removeEventListener(this.providerId);\n        delete this.geoRelativeProvider;\n    }\n}\n\nexport default new GeoRelativePositionProvider();\n","import Provider from '../Provider.js';\nimport AccelerometerProvider from '../imu/AccelerometerProvider.js';\nimport { Acceleration, Inclination } from '../../events/Types.js';\n\n/**\n * Inclination provider gives the inclination of the device using Imu Sensor\n * For example, when the top of the device is pointing the sky, inclination = Math.PI/2\n *              when the device is layed on a table, inclination = 0\n * This provider use window.orientation to return a result in function of screen orientation\n */\nclass InclinationFromAccProvider extends Provider<Inclination> {\n\n    providerId?: number;\n\n    getName = () => 'InclinationFromAcc';\n\n    availability = () => AccelerometerProvider.getAvailability();\n\n    start() {\n        this.providerId = AccelerometerProvider.addEventListener(\n            this.onAccelerometerEvent,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        AccelerometerProvider.removeEventListener(this.providerId);\n    }\n\n    private onAccelerometerEvent = (accelerometerEvent: Acceleration) => {\n        const acc = accelerometerEvent.values;\n\n        const screenOrientation = window.orientation || 0;\n\n        const sizeAcc = Math.sqrt(acc[0] * acc[0] + acc[1] * acc[1] + acc[2] * acc[2]);\n        const accNormalized = [acc[0] / sizeAcc, acc[1] / sizeAcc, acc[2] / sizeAcc];\n\n        const q = [accNormalized[2] + 1, accNormalized[1], -accNormalized[0], 0];\n        const qSize = Math.sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2]);\n        const qNormalized = [q[0] / qSize, q[1] / qSize, q[2] / qSize, 0];\n\n        let inclination;\n        if (screenOrientation === 0) {\n            inclination = Math.asin(2 * qNormalized[1] * qNormalized[0]);\n        } else if (screenOrientation === 90) {\n            inclination = -Math.asin(2 * qNormalized[2] * qNormalized[0]);\n        } else if (screenOrientation === -90) {\n            inclination = Math.asin(2 * qNormalized[2] * qNormalized[0]);\n        } else { // if (screenOrientation === 180) {\n            inclination = -Math.asin(2 * qNormalized[1] * qNormalized[0]);\n        }\n\n        this.notify(inclination);\n    };\n}\n\nexport default new InclinationFromAccProvider();\n","import { Quaternion_t } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport RelativeAttitudeFromInertialProvider from '../attitude/relative/RelativeAttitudeFromInertialProvider.js';\nimport { Inclination } from '../../events/Types.js';\n\n\n/**\n * Inclination provider gives the inclination of the device using Relative Attitude\n * For example, when the top of the device is pointing the sky, inclination = Math.PI/2\n *              when the device is layed on a table, inclination = 0\n * This provider use window.orientation to return a result in function of screen orientation\n */\nclass InclinationFromRelativeAttitudeProvider extends Provider<Inclination> {\n\n    providerId?: number;\n\n    getName = () => 'InclinationFromRelativeAttitude';\n\n    availability = () => RelativeAttitudeFromInertialProvider.getAvailability();\n\n    start() {\n        this.providerId = RelativeAttitudeFromInertialProvider.addEventListener(\n            attitudeEvent => {\n                const inclination = this.enuQuatToInclination(attitudeEvent.quaternion);\n                this.notify(inclination);\n            },\n            this.notifyError\n        );\n    }\n\n    stop() {\n        RelativeAttitudeFromInertialProvider.removeEventListener(this.providerId);\n    }\n\n    enuQuatToInclination(q: Quaternion_t) {\n        const screenOrientation = window.orientation || 0;\n\n        if (screenOrientation === 0) {\n            return Math.asin(2 * (q[2] * q[3] + q[1] * q[0]));\n        } else if (screenOrientation === 90) {\n            return Math.asin(2 * (q[1] * q[3] - q[2] * q[0]));\n        } else if (screenOrientation === -90) {\n            return Math.asin(2 * (q[2] * q[0] - q[1] * q[3]));\n        }\n        // else if (screenOrientation === 180)\n        return -Math.asin(2 * (q[2] * q[3] + q[1] * q[0]));\n    }\n}\n\nexport default new InclinationFromRelativeAttitudeProvider();\n","import Provider from '../Provider.js';\nimport InclinationFromAccProvider from './InclinationFromAccProvider.js';\nimport InclinationFromRelativeAttitudeProvider from './InclinationFromRelativeAttitudeProvider.js';\nimport AvailabilityHelper from '../../events/AvailabilityHelper.js';\nimport { Inclination } from '../../events/Types.js';\n\n/**\n * Inclination provider gives the inclination of the device using Imu Sensor\n * For example, when the top of the device is pointing the sky, inclination = Math.PI/2\n *              when the device is layed on a table, inclination = 0\n * This provider use window.orientation to return a result in function of screen orientation\n */\nclass InclinationProvider extends Provider<Inclination> {\n\n    provider?: Provider<Inclination>;\n    providerId?: number;\n\n    getName = () => 'Inclination';\n\n    availability() {\n        return AvailabilityHelper.some([\n            InclinationFromAccProvider.getAvailability(),\n            InclinationFromRelativeAttitudeProvider.getAvailability()\n        ]);\n    }\n\n    async start() {\n\n        const startInclinationFromAcc = () => {\n            this.provider = InclinationFromAccProvider;\n            this.providerId = this.provider.addEventListener(\n                this.notify,\n                this.notifyError\n            );\n        };\n\n        if (await InclinationFromRelativeAttitudeProvider.getAvailability()) {\n            this.provider = InclinationFromRelativeAttitudeProvider;\n            this.providerId = this.provider.addEventListener(\n                this.notify,\n                () => {\n                    InclinationFromRelativeAttitudeProvider.removeEventListener(this.providerId);\n                    startInclinationFromAcc();\n                }\n            );\n        } else {\n            startInclinationFromAcc();\n        }\n    }\n\n\n    stop() {\n        if (this.provider) {\n            this.provider.removeEventListener(this.providerId);\n        }\n    }\n}\n\nexport default new InclinationProvider();\n","import { Calibration } from '@wemap/camera';\nimport { Attitude, AttitudeJson, UserPosition, UserPositionJson } from '@wemap/geo';\nimport { Device } from '@wemap/utils';\n\nexport type CoarsePoseJson = {\n    attitude?: AttitudeJson,\n    position?: UserPositionJson,\n};\n\nexport type CoarsePose = {\n    attitude?: Attitude,\n    position?: UserPosition,\n};\n\nexport type VpsMetadataJson = {\n    size: [number, number], // [width, height]\n    calibration?: Calibration,\n    coarse?: CoarsePoseJson,\n    device?: Device\n}\n\n\nclass VpsMetadata {\n\n    constructor(\n        public size: { width: number, height: number },\n        public calibration: Calibration | null = null,\n        public coarse: CoarsePose | null = null,\n        public device: Device | null = null,\n    ) { }\n\n    toJson(): VpsMetadataJson {\n        return {\n            size: [this.size.width, this.size.height],\n            ...(this.calibration && { calibration: this.calibration }),\n            ...(this.coarse && {\n                coarse: {\n                    ...(this.coarse.attitude && { attitude: this.coarse.attitude.toJson() }),\n                    ...(this.coarse.position && { position: this.coarse.position.toJson() })\n                }\n            }),\n            ...(typeof this.device === 'object' && { device: this.device })\n        };\n    }\n\n\n    static fromJson(json: VpsMetadataJson) {\n        return new VpsMetadata(\n            {\n                width: json.size[0],\n                height: json.size[1]\n            },\n            json.calibration,\n            {\n                ...(json.coarse?.position && { position: UserPosition.fromJson(json.coarse.position) }),\n                ...(json.coarse?.attitude && { attitude: Attitude.fromJson(json.coarse.attitude) })\n            },\n            json.device\n        );\n    }\n}\n\nexport default VpsMetadata;\n","import { canvasToBase64, base64ToCanvas } from '@wemap/camera';\n\nimport VpsMetadata, { VpsMetadataJson } from './VpsMetadata.js';\n\nexport type VpsRequestJson = VpsMetadataJson & {\n    image: string\n}\n\nclass VpsRequest {\n\n    constructor(public metadata: VpsMetadata, public image: HTMLCanvasElement) {}\n\n    toJson() {\n        const base64Image = canvasToBase64(this.image);\n        return {\n            image: base64Image,\n            ...this.metadata.toJson()\n        };\n    }\n\n    static fromJson(json: VpsRequestJson) {\n        return new VpsRequest(\n            VpsMetadata.fromJson(json),\n            base64ToCanvas(json.image)\n        );\n    }\n}\n\nexport default VpsRequest;\n","import { Attitude, AttitudeJson, UserPosition, UserPositionJson } from '@wemap/geo';\n\nexport type VpsResponseJson = {\n    success: boolean,\n    attitude?: AttitudeJson,\n    position?: UserPositionJson\n}\n\nclass VpsResponse {\n\n    constructor(\n        public success: boolean,\n        public attitude: Attitude | null = null,\n        public position: UserPosition | null = null\n    ) { }\n\n    toJson(): VpsResponseJson {\n        return {\n            success: this.success,\n            attitude: this.attitude?.toJson(),\n            position: this.position?.toJson()\n        }\n    }\n\n    static fromJson(json: VpsResponseJson, imageRecordTime: number | null = null) {\n\n        let attitude: Attitude | null = null;\n        if (json.attitude) {\n            attitude = Attitude.fromJson(json.attitude);\n            attitude.time = imageRecordTime;\n        }\n\n        let position: UserPosition | null = null;\n        if (json.position) {\n            position = UserPosition.fromJson(json.position);\n            position.time = imageRecordTime;\n        }\n\n        return new VpsResponse(json.success, attitude, position);\n    }\n}\n\nexport default VpsResponse;\n","import { Calibration, reduceImageSize, convertToGrayscale } from '@wemap/camera';\nimport Logger from '@wemap/logger';\nimport { Quaternion_t } from '@wemap/maths/index.js';\nimport { TimeUtils, UserAgentUtils } from '@wemap/utils';\nimport VpsMetadata, { CoarsePose } from './VpsMetadata.js';\n\nimport VpsRequest from './VpsRequest.js';\nimport VpsResponse from './VpsResponse.js';\n\nclass ImageRelocalization {\n\n    static _prepareRequest(\n        imageCanvas: HTMLCanvasElement,\n        calibration: Calibration | null = null,\n        coarsePose: CoarsePose | null = null\n    ) {\n        convertToGrayscale(imageCanvas);\n        const reducedImage = reduceImageSize(imageCanvas, 1280);\n\n        const metadata = new VpsMetadata(\n            { width: reducedImage.width, height: reducedImage.height },\n            calibration,\n            coarsePose,\n            UserAgentUtils.getDeviceFromUserAgent()\n        );\n\n        return new VpsRequest(metadata, reducedImage);\n    }\n\n    \n    static async relocalize(\n        endpointUrl: string,\n        imageCanvas: HTMLCanvasElement,\n        calibration: Calibration | null = null,\n        coarsePose: CoarsePose | null = null,\n        customHeaders: Record<string, string> | null = null\n    ) {\n\n        const timeBeforeRequest = TimeUtils.preciseTime() / 1e3;\n\n        // 1. Prepare the request\n        const vpsRequest = this._prepareRequest(imageCanvas, calibration, coarsePose);\n\n        // 2. Send the request\n        let serverResponse;\n        try {\n            const body = JSON.stringify(vpsRequest.toJson());\n            Logger.debug(`[VPS] Request (${(body.length / 1024).toFixed(0)} kB) sent to server ${endpointUrl}`);\n            serverResponse = await fetch(endpointUrl, {\n                method: 'POST',\n                body,\n                headers: Object.assign(\n                    { 'Content-Type': 'application/json', 'Accept': 'application/json' },\n                    customHeaders ? customHeaders : {}\n                )\n            });\n        } catch (e) {\n            Logger.debug('[VPS] Server respond error');\n            return null;\n        }\n\n        if (serverResponse.status !== 200) {\n            Logger.debug('[VPS] Server respond error');\n            return null;\n        }\n\n        // 3. Parse the response\n        const json = await serverResponse.json();\n        const res = VpsResponse.fromJson(json, timeBeforeRequest);\n        Logger.debug(`[VPS] Server respond ${res.success ? 'success' : 'not found'}`);\n        return res;\n    }\n\n    static getHeadingFromQuaternion(quaternion: Quaternion_t) {\n\n        const [qw, qx, qy, qz] = quaternion;\n\n        const s = Math.sqrt(2) / 2;\n        const C = [s * (qw - qx), s * (qw + qx), s * (qy + qz), s * (qz - qy)];\n        return -Math.atan2(2 * C[3] * C[0] - 2 * C[2] * C[1], 1 - 2 * C[1] ** 2 - 2 * C[3] ** 2);\n\n        // ---- Not optimized version ----\n\n        // const eulerAnglesAR = Rotations.quaternionToEulerZXY(\n        //     Quaternion.multiply(\n        //         quaternion,\n        //         Quaternion.fromAxisAngle([1, 0, 0], Math.PI / 2)\n        //     )\n        // );\n\n        // return -eulerAnglesAR[0];\n    }\n}\n\nexport default ImageRelocalization;\n","import { Attitude } from '@wemap/geo';\nimport Logger from '@wemap/logger';\nimport RelativeAttitudeFromBrowser from '../../attitude/relative/RelativeAttitudeFromBrowserProvider.js';\n\nexport default class RelativeRotationCalc {\n\n    _providerId?: number;\n\n    _isRunning = false;\n    _dataOnStart: Attitude | null = null;\n\n    tickStart() {\n        this._dataOnStart = null;\n\n        if (this._isRunning) {\n            // Do not start the provider if tickStart() has already been called without tickEnd()\n            return;\n        }\n\n        this._isRunning = true;\n\n        this._providerId = RelativeAttitudeFromBrowser.addEventListener(event => {\n            if (!this._dataOnStart) {\n                this._dataOnStart = event;\n            }\n        });\n    }\n\n    tickEnd() {\n        if (!this._isRunning) {\n            Logger.warn('You have to call tickStart before tickEnd');\n            return null;\n        }\n\n        this._internalStop();\n\n        if (!this._dataOnStart) {\n            Logger.warn('Delay was too short between tickStart and tickEnd '\n                + 'or RelativeAttitudeProvider cannot be retrieved.');\n            return null;\n        }\n\n        const dataOnEnd = RelativeAttitudeFromBrowser.lastEvent!;\n        return Attitude.diff(this._dataOnStart, dataOnEnd);\n    }\n\n    _internalStop() {\n        RelativeAttitudeFromBrowser.removeEventListener(this._providerId);\n        delete this._providerId;\n        this._isRunning = false;\n    }\n\n    release() {\n        if (this._isRunning) {\n            this._internalStop();\n        }\n    }\n}\n","class MissingPoleStarError extends Error {\n\n    static DEFAULT_MESSAGE = 'PoleStar is missing';\n\n    constructor(message?: string) {\n        super(message || MissingPoleStarError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingPoleStarError;\n","import { deg2rad } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport MissingPoleStarError from '../../../errors/MissingPoleStarError.js';\nimport MissingNativeInterfaceError from '../../../errors/MissingNativeInterfaceError.js';\nimport Constants from '../../Constants.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\nimport { NativePolestarPosition } from '../../NativeProviders.js';\n\nclass PoleStarProvider extends Provider<AbsolutePosition> {\n\n    getName = () => 'PoleStar';\n\n    constructor() {\n        super();\n        this.addMethodsToNativeJsProvider();\n    }\n\n    availability() {\n        try {\n            this.nativeProvider.checkAvailability();\n            return Promise.resolve();\n        } catch (e) {\n            return Promise.resolve(e as Error);\n        }\n    }\n\n    setApiKey(apiKey: string) {\n        this.nativeProvider.setApiKey(apiKey);\n    }\n\n    start() {\n        this.nativeProvider.start();\n    }\n\n    stop() {\n        this.nativeProvider.stop();\n    }\n\n    get nativeProvider() {\n\n        if (!this.nativeInterface) {\n            throw new MissingNativeInterfaceError();\n        }\n\n        const nativeProvider = this.nativeInterface.getPoleStarProvider();\n        if (!nativeProvider) {\n            throw new MissingPoleStarError();\n        }\n\n        return nativeProvider;\n    }\n\n\n\n    addMethodsToNativeJsProvider() {\n\n        if (!this.nativeJsInterface) {\n            return;\n        }\n\n        this.nativeJsInterface.polestar = {\n            callbackError: (errorMessage: string) => this.notifyError(new Error(errorMessage)),\n            callbackPosition: (jsonString: string) => {\n\n                const json: NativePolestarPosition = JSON.parse(jsonString);\n\n                const timestamp = TimeUtils.unixTimestampToPreciseTime(json.time) / 1e3;\n\n                const position = new AbsolutePosition(\n                    json.lat,\n                    json.lng,\n                    Constants.DEFAULT_ALTITUDE,\n                    json.alt / 5,\n                    timestamp,\n                    json.accuracy,\n                    deg2rad(json.bearing)\n                );\n\n                this.notify(position);\n            }\n        };\n\n    }\n}\n\nexport default new PoleStarProvider();\n","/* eslint-disable complexity */\n/* eslint-disable max-statements */\nimport { SharedCameras, Camera } from '@wemap/camera';\nimport { Attitude } from '@wemap/geo';\nimport Logger from '@wemap/logger';\nimport { Quaternion, deg2rad } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport Inclination from '../../inclination/InclinationProvider.js';\nimport ImageRelocalization from './ImageRelocalization.js';\nimport AbsoluteAttitudeProvider from '../../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport RelativeRotationCalc from './RelativeRotationCalc.js';\nimport GnssWifiProvider from '../../position/absolute/GnssWifiProvider.js';\nimport AbsolutePositionProvider from '../../position/absolute/AbsolutePositionProvider.js';\nimport PoleStarProvider from '../../position/absolute/PoleStarProvider.js';\nimport { AbsoluteAttitude, AbsolutePosition } from '../../../events/Types.js';\nimport { CoarsePose } from './VpsMetadata.js';\n\nexport type VpsEvent = { absoluteAttitude: AbsoluteAttitude, absolutePosition: AbsolutePosition };\nclass VpsProvider extends Provider<VpsEvent> {\n\n    static MIN_TIME_BETWEEN_TWO_REQUESTS = 1000; // in ms\n    static DEFAULT_MIN_INCLINATION_FOR_REQUEST = deg2rad(60); // in radians\n    static DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST = 200; // in ms\n    static DEFAULT_USE_COARSE_POSE = true;\n    static CAMERA_TO_SMARTPHONE_ROT = Quaternion.fromAxisAngle([1, 0, 0], Math.PI);\n\n    _relativeRotationCalc?: RelativeRotationCalc;\n\n    _serverError = false;\n    _cameraError = false;\n\n    _camera: Camera | null = null;\n    _endpoint: string | null = null;\n\n    _inclinationProviderId?: number;\n\n    _minInclinationForRequest = VpsProvider.DEFAULT_MIN_INCLINATION_FOR_REQUEST;\n    _waitTimeMinInclinationForRequest = VpsProvider.DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST;\n    _useCoarsePose = VpsProvider.DEFAULT_USE_COARSE_POSE;\n\n    getName = () => 'Vps';\n\n    availability = () => Camera.checkAvailability();\n\n    start() {\n\n        // 1. Inclination\n        this._inclinationProviderId = Inclination.addEventListener();\n\n        // 2. Relative Rotation Calc\n        this._relativeRotationCalc = new RelativeRotationCalc();\n\n        // 3. Add listeners on shared cameras to detect new cameras\n        SharedCameras.on('added', this._onCameraDetected);\n        SharedCameras.on('removed', this._onCameraRemoved);\n\n        // 4. If a camera already exists, use it\n        if (SharedCameras.list.length) {\n            if (SharedCameras.list.length > 1) {\n                Logger.warn('It seems that more than 1 camera has been detected'\n                    + ' for VPS. Taking the first...');\n            }\n            this._useCamera(SharedCameras.list[0].camera);\n        }\n    }\n\n    stop() {\n\n        Inclination.removeEventListener(this._inclinationProviderId);\n\n        this._relativeRotationCalc?.release();\n\n        SharedCameras.off('added', this._onCameraDetected);\n        SharedCameras.off('removed', this._onCameraRemoved);\n\n        this._camera = null;\n    }\n\n    _onCameraDetected = ({ camera }: { camera: Camera }) => {\n        if (this._camera) {\n            Logger.warn('It seems that more than 1 camera has been detected'\n                + ' for VPS. Taking the first...');\n        }\n        this._useCamera(camera);\n    }\n\n    _onCameraRemoved = () => {\n        if (this._camera) {\n            this._camera.off('started', this._internalStart);\n            this._camera.off('stopped', this._internalStop);\n        } else {\n            Logger.warn('There is no previously detected camera but once has stopped');\n        }\n        this._camera = null;\n    }\n\n    _useCamera(camera: Camera) {\n        this._camera = camera;\n\n        camera.on('started', this._internalStart);\n        camera.on('stopped', this._internalStop);\n\n        if (camera.state === 'started') {\n            this._internalStart();\n        }\n    }\n\n\n    _internalStart = async () => {\n\n        if (!this._endpoint) {\n            this.notifyError(new Error('VPS endpoint has not been set before calling start()'));\n            return;\n        }\n\n        let lastRequestTime = null;\n        const isProviderStopped = () => this.state === 'stopped';\n        while (!isProviderStopped()) {\n\n            // 1. Handle the time to wait between two requests (MIN_TIME_BETWEEN_TWO_REQUESTS)\n            if (lastRequestTime !== null) {\n                const diffTime = TimeUtils.preciseTime() - lastRequestTime;\n                const timeToWait = Math.max(0, VpsProvider.MIN_TIME_BETWEEN_TWO_REQUESTS - diffTime);\n                await new Promise(resolve => setTimeout(resolve, timeToWait));\n            }\n            lastRequestTime = TimeUtils.preciseTime();\n\n            // 2. Check if Vps is not stopped and camera is still started\n            if (isProviderStopped()\n                || !this._camera\n                || this._camera.state !== 'started') {\n                break;\n            }\n\n            // 2.a. Do not send an image if smartphone looks at the floor\n            const inclination = Inclination.lastEvent ? Inclination.lastEvent : null;\n            if (inclination !== null\n                && inclination < this._minInclinationForRequest) {\n                await new Promise(resolve => setTimeout(resolve, this._waitTimeMinInclinationForRequest));\n                continue;\n            }\n\n            // 3. Get current image from camera and relocalize it.\n\n            // 3.a. Get current image and time it.\n            this._relativeRotationCalc?.tickStart();\n            const image = await this._camera.currentImage;\n            if (!image) {\n                continue;\n            }\n\n            // 3.b. Retrieve coarse position if necessary.\n            let coarsePose: CoarsePose | null = null;\n            const bestCoarsePosition = AbsolutePositionProvider.getBestPositionEvent(GnssWifiProvider.lastEvent, PoleStarProvider.lastEvent);\n            if (this._useCoarsePose && (bestCoarsePosition || AbsoluteAttitudeProvider.lastEvent)) {\n                coarsePose = {\n                    ...(bestCoarsePosition && {position: bestCoarsePosition}),\n                    ...(AbsoluteAttitudeProvider.lastEvent && {attitude: AbsoluteAttitudeProvider.lastEvent})\n                };\n            }\n\n            // 3.c. Send image and metadata.\n            const res = await ImageRelocalization.relocalize(this._endpoint, image, null, coarsePose);\n            if (!res || !res.success) {\n                continue;\n            }\n\n            // 4. If relocalization is successful, apply the transforms\n            const enuToCameraRot = res.attitude!.quaternion;\n            const enuToSmartphoneRot = Quaternion.multiply(\n                enuToCameraRot,\n                VpsProvider.CAMERA_TO_SMARTPHONE_ROT\n            );\n\n            const deviceQuaternion = Quaternion.multiply(\n                Quaternion.fromAxisAngle([0, 0, 1], deg2rad(window.orientation || 0)),\n                enuToSmartphoneRot\n            );\n\n            const diffAttitude = this._relativeRotationCalc?.tickEnd() || new Attitude([1, 0, 0, 0]);\n            const deviceQuaternionWithRelOffset = Quaternion.multiply(\n                deviceQuaternion,\n                diffAttitude.quaternion\n            );\n            const attitude = new AbsoluteAttitude(\n                deviceQuaternionWithRelOffset,\n                res.attitude!.time,\n                res.attitude!.accuracy\n            );\n\n            // [16/06/22] Force VPS accuracy to 5m if the information does not exist\n            // this allows to correctly fuse positions from different providers (VPS,\n            // GnssWifi, Pole Star...)\n            const devicePosition = res.position!.clone();\n            if (devicePosition.accuracy === null) {\n                devicePosition.accuracy = 5;\n            }\n\n            // 5. Finally, notify the listeners if the VPS is not stopped\n            if (isProviderStopped()) {\n                break;\n            }\n\n            this.notify({\n                absoluteAttitude: attitude,\n                absolutePosition: devicePosition\n            });\n\n        }\n    }\n\n    _internalStop = () => {\n        // do nothing\n    }\n\n    get endpoint() {\n        return this._endpoint;\n    }\n\n    set endpoint(endpoint) {\n        this._endpoint = endpoint;\n    }\n\n    get minInclinationForRequest() {\n        return this._minInclinationForRequest;\n    }\n\n    set minInclinationForRequest(minInclinationForRequest) {\n        this._minInclinationForRequest = minInclinationForRequest;\n    }\n\n    get waitTimeMinInclinationForRequest() {\n        return this._waitTimeMinInclinationForRequest;\n    }\n\n    set waitTimeMinInclinationForRequest(waitTimeMinInclinationForRequest) {\n        this._waitTimeMinInclinationForRequest = waitTimeMinInclinationForRequest;\n    }\n\n    get useCoarsePose() {\n        return this._useCoarsePose;\n    }\n\n    set useCoarsePose(useCoarsePose) {\n        this._useCoarsePose = useCoarsePose;\n    }\n}\n\nexport default new VpsProvider();\n","import { Level, GeoRelativePosition, UserPosition } from '@wemap/geo';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport MapMatchingHandler from '../../../mapmatching/MapMatchingHandler.js';\nimport GnssWifiProvider from './GnssWifiProvider.js';\nimport GeoRelativePositionProvider from '../relative/GeoRelativePositionProvider.js';\nimport ProvidersOptions from '../../../ProvidersOptions.js';\nimport VpsProvider from '../../vision/vps/VpsProvider.js';\nimport PoleStarProvider from './PoleStarProvider.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\n\nclass AbsolutePositionProvider extends Provider<AbsolutePosition> {\n\n    // Use the new absolute position if its accuracy is at least x times better than the last one.\n    static ACCURACY_RELOC_RATIO = 1; // or 1.5\n    static USE_MM_FOR_FEED = true;\n\n    _polestarProviderId?: number;\n    _vpsProviderId?: number;\n    _gnssWifiProviderId?: number;\n    _relativePositionProviderId?: number;\n    _mapMatchingHandlerId?: number;\n\n    useAllAbsolutePositions = false;\n    _waitUntilNextVpsPosition = false;\n    _lastPolestarFix: number | null = null;\n\n    getName = () => 'AbsolutePosition';\n\n\n    availability() {\n        return AvailabilityHelper.some([\n            GeoRelativePositionProvider.getAvailability(),\n            GnssWifiProvider.getAvailability(),\n            ...(ProvidersOptions.hasPoleStar ? [PoleStarProvider.getAvailability()] : []),\n            VpsProvider.getAvailability()\n        ]);\n    }\n\n\n    start() {\n        GeoRelativePositionProvider.getAvailability()\n            .then((error) => {\n                if (!error) {\n                    this._relativePositionProviderId = GeoRelativePositionProvider.addEventListener(\n                        e => this._onRelativePosition(e)\n                    );\n                } else {\n                    // do nothing\n                }\n            });\n\n        // GnssWifi\n        this._gnssWifiProviderId = GnssWifiProvider.addEventListener(\n            event => {\n                const clone = event.clone();\n                clone.bearing = null;\n                this._onAbsolutePosition(clone, false);\n            }\n        );\n\n        // Vps\n        this._vpsProviderId = VpsProvider.addEventListener(\n            event => this._onAbsolutePosition(event.absolutePosition),\n            this.notifyError,\n            false\n        );\n\n        // PoleStar\n        if (ProvidersOptions.hasPoleStar) {\n            this._polestarProviderId = PoleStarProvider.addEventListener(polestarPositionEvent => {\n\n                this._lastPolestarFix = TimeUtils.preciseTime();\n                const psPositionUsed = this._onAbsolutePosition(polestarPositionEvent);\n\n                /**\n                 * In the case of a degraded position from PoleStar and a good position from GnssWifi,\n                 *  we still need to retrieve the level from PoleStar.\n                 * To do so, we duplicate lastEvent and add the level from PoleStar to the current\n                 *  position, then we notify with the new position.\n                 */\n                if (!psPositionUsed && this.lastEvent?.level === null) {\n                    const lastPositionWithLevel = this.lastEvent.clone();\n                    lastPositionWithLevel.level = polestarPositionEvent.level;\n                    this.notify(lastPositionWithLevel);\n                }\n            });\n        }\n\n        this._mapMatchingHandlerId = MapMatchingHandler.addEventListener();\n    }\n\n\n    /**\n     * @override\n     */\n    stop() {\n        if (this._relativePositionProviderId) {\n            GeoRelativePositionProvider.removeEventListener(this._relativePositionProviderId);\n            delete this._relativePositionProviderId;\n        }\n        if (this._gnssWifiProviderId) {\n            GnssWifiProvider.removeEventListener(this._gnssWifiProviderId);\n            delete this._gnssWifiProviderId;\n        }\n        if (this._vpsProviderId) {\n            VpsProvider.removeEventListener(this._vpsProviderId);\n            delete this._vpsProviderId;\n        }\n        if (this._polestarProviderId) {\n            PoleStarProvider.removeEventListener(this._polestarProviderId);\n            delete this._polestarProviderId;\n        }\n\n        MapMatchingHandler.removeEventListener(this._mapMatchingHandlerId);\n    }\n\n\n    private _shouldTakeIntoAccountNewAbsolutePosition(newPositionEvent: AbsolutePosition, canContainLevel = true) {\n\n        const newPosition = newPositionEvent;\n        const lastPosition = this.lastEvent || null;\n\n        // 1. Verifiy if it is the first known absolute position\n        if (!lastPosition) {\n            return true;\n        }\n\n        // 2. Is the new position accuracy is better enough than the last position accuracy\n        const isBetterEnough = newPosition.accuracy! * AbsolutePositionProvider.ACCURACY_RELOC_RATIO <= lastPosition.accuracy!;\n        if (isBetterEnough) {\n            return true;\n        }\n\n        // 3.a. Is the new position is far from the new one (regarding accuracy)\n        // This condition return true if the two positions accuracy circles does not intersect.\n        // This is important if the person put the current page in the background during a while. But,\n        //  could be dangerous if two providers do not provide close positions (ping-pong effect). This\n        //  is why the 3.b. condition has been added.\n        // TODO: add a routine to augment the current position accuracy when the page is in background\n        const isFarEnough = lastPosition.distanceTo(newPosition) > lastPosition.accuracy! + newPosition.accuracy!;\n        if (isFarEnough) {\n            return true;\n        }\n\n        // 3.b. Added on 16/06/22\n        // The goal of this condition is to avoid continuous jumps between positions from two providers\n        // (i.e. GnssWifi and PoleStar)\n        const isFarEnoughAndAccuracyIsBetter = isFarEnough && newPosition.accuracy! <= lastPosition.accuracy!;\n\n        if (isBetterEnough && isFarEnoughAndAccuracyIsBetter) {\n            return true;\n        }\n\n        // 4. Added on 23/06/22\n        // The goal of this condition is to take into account levels change when map-matching is not enabled / set\n        const isChangingLevel = canContainLevel && !Level.equals(newPosition.level, lastPosition.level);\n        if (isChangingLevel) {\n            return true;\n        }\n\n        return false;\n    }\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    private _onAbsolutePosition(positionEvent: AbsolutePosition, canContainLevel = true) {\n\n        if (!this._shouldTakeIntoAccountNewAbsolutePosition(positionEvent, canContainLevel)\n            && !this.useAllAbsolutePositions) {\n            return false;\n        }\n\n        const newPosition = positionEvent.clone();\n        const lastPosition = this.lastEvent ? this.lastEvent : null;\n\n        if (lastPosition) {\n            if (!canContainLevel) {\n                newPosition.level = lastPosition.level;\n            }\n\n            // If the new position does not have a bearing, retrieve the bearing from the last position\n            if (newPosition.bearing === null) {\n                newPosition.bearing = lastPosition.bearing;\n            }\n        }\n\n        // If the MM is disable or the network is not set yet, use the new position as it is.\n        // If the position bearing is null, do not use MM, it is too dangerous.\n        if (!MapMatchingHandler.canUseMapMatching()) {\n            this.notify(newPosition);\n            return true;\n        }\n\n        return MapMatchingHandler.notifyPositionFromAbsolute(newPosition);\n    }\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    _onRelativePosition(relativeEvent: GeoRelativePosition) {\n\n        if (!this.lastEvent || this._waitUntilNextVpsPosition) {\n            return false;\n        }\n\n        const lastPosition = this.lastEvent;\n\n        const offsetPos = relativeEvent;\n\n        const dist = Math.sqrt(offsetPos.x ** 2 + offsetPos.y ** 2);\n        const bearing = Math.atan2(offsetPos.x, offsetPos.y);\n        const alt = lastPosition.alt !== null ? offsetPos.z : null;\n\n        const newPosition = lastPosition.destinationPoint(dist, bearing, alt);\n        newPosition.bearing = offsetPos.bearing;\n        newPosition.time = offsetPos.time;\n        newPosition.accuracy! += offsetPos.accuracy!;\n\n\n        if (!MapMatchingHandler.canUseMapMatching()) {\n            this.notify(newPosition);\n            return true;\n        }\n\n        return MapMatchingHandler.notifyPositionFromRelative(newPosition);\n    }\n\n\n    feed(data: AbsolutePosition) {\n\n        let newPositionEvent: AbsolutePosition;\n\n        if (data instanceof UserPosition) {\n\n            if (data.time === null) {\n                throw Error('the time of the position is not defined');\n            }\n            if (data.accuracy === null) {\n                throw Error('the accuracy of the position is not defined');\n            }\n\n            newPositionEvent = data;\n\n        } else {\n            throw new Error('data is nor an UserPosition or an AbsolutePositionEvent');\n        }\n\n        // If the MM is disable or the network is not set yet, use the new position as it is.\n        if (!AbsolutePositionProvider.USE_MM_FOR_FEED || !MapMatchingHandler.canUseMapMatching()) {\n            this.notify(newPositionEvent);\n            return;\n        }\n\n        MapMatchingHandler.notifyPositionFromFeed(newPositionEvent);\n    }\n\n    getBestPositionEvent(...absolutePositionEvents: (AbsolutePosition | null)[]) {\n        return absolutePositionEvents.reduce((best, value) => {\n            if (!best) {\n                return value;\n            }\n            if (!value || value.accuracy === null || value.time === null) {\n                return best;\n            }\n            const { accuracy: curAccuracy, time: curTime } = value;\n            const { accuracy: bestAccuracy, time: bestTime } = best;\n            // 1.3888 corresponds to 1.3888 m/s (5 km/h)\n            return curAccuracy < (bestAccuracy! + 1.3888 * (curTime - bestTime!)) ? value : best;\n        }, null as null | AbsolutePosition);\n    }\n}\n\nexport default new AbsolutePositionProvider();\n","import * as geomag from 'geomag';\n\nimport { deg2rad, rad2deg, Quaternion, Rotations, Quaternion_t } from '@wemap/maths';\nimport { Browser, BrowserUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport AskImuOnDesktopError from '../../../errors/AskImuOnDesktopError.js';\nimport MissingMagnetometerError from '../../../errors/MissingMagnetometerError.js';\nimport MissingSensorError from '../../../errors/MissingSensorError.js';\nimport AbsolutePositionProvider from '../../position/absolute/AbsolutePositionProvider.js';\nimport { AbsoluteAttitude, AbsolutePosition } from '../../../events/Types.js';\n\n\n// https://stackoverflow.com/a/73369838/2239938\nexport interface DeviceOrientationEventiOS extends DeviceOrientationEvent {\n    webkitCompassHeading: number | null;\n    webkitCompassAccuracy: number | null;\n    requestPermission?: () => Promise<'granted' | 'denied'>;\n}\n\n\n\ndeclare global {\n    interface Window {\n        addEventListener(evtName: 'deviceorientationabsolute', cb: (evt: DeviceOrientationEvent) => void, options?: boolean): void;\n        addEventListener(evtName: 'deviceorientation', cb: (evt: DeviceOrientationEventiOS) => void, options?: boolean): void;\n        removeEventListener(evtName: 'deviceorientationabsolute', cb: (evt: DeviceOrientationEvent) => void, options?: boolean): void;\n        removeEventListener(evtName: 'deviceorientation', cb: (evt: DeviceOrientationEventiOS) => void, options?: boolean): void;\n    }\n}\n\n\n\n/**\n * Absolute attitude provider gives the device attitude in East-North-Up (ENU) frame using\n *  browser deviceorientation or deviceorientationabsolute\n * The provider does not work until an AbsolutePosition is given. This is necessary to\n *  calculate declination.\n *\n * -----------------------------------\n * Overview of compatibilities:\n * -----------------------------------\n *\n * Chrome Android (v72.0.3626): YES (via deviceorientationabsolute)\n * Safari iOS (v12.0): YES (via deviceorientation and event.webkitCompassHeading)\n * Opera Android (v50.2.2426): NO {@link https://developer.mozilla.org/en-US/docs/Web/API/Window/ondeviceorientation}\n * Firefox Android (v65.0.1): NO {@link https://www.fxsitecompat.com/en-CA/docs/2018/various-device-sensor-apis-are-now-deprecated/}\n *\n * -----------------------------------\n */\nclass AbsoluteAttitudeFromBrowser extends Provider<AbsoluteAttitude> {\n\n    // from http://tyrex.inria.fr/mobile/benchmarks-attitude/\n    DEFAULT_ACCURACY = deg2rad(15);\n\n    absolutePositionProviderId?: number;\n    absolutePositionEvent?: AbsolutePosition;\n\n    declinationQuaternion?: Quaternion_t;\n    magQuaternion?: Quaternion_t;\n    magQuaternionTimestamp?: number;\n\n    iosPreviousQuat?: Quaternion_t;\n    iosIsSkyMode: boolean | null = null;\n\n\n    getName = () => 'AbsoluteAttitudeFromBrowser';\n\n    availability() {\n        return BrowserUtils.isMobile\n            ? Promise.resolve()\n            : Promise.resolve(new AskImuOnDesktopError());\n    }\n\n    start() {\n\n\n        const subscribe = () => {\n            switch (BrowserUtils.getName()) {\n                case Browser.CHROME:\n                    window.addEventListener('deviceorientationabsolute',\n                        this.onDeviceOrientationChromeEvent, true);\n                    break;\n\n                case Browser.SAFARI:\n                case Browser.IOS_WEBVIEW:\n                    window.addEventListener('deviceorientation',\n                        this.onDeviceOrientationSafariEvent, true);\n                    break;\n            }\n        };\n\n        const requestPermission = (DeviceOrientationEvent as unknown as DeviceOrientationEventiOS).requestPermission || undefined;\n\n        if (requestPermission) {\n            requestPermission()\n                .then(response => {\n                    if (response !== 'granted') {\n                        throw new Error('Permission not granted');\n                    }\n                    subscribe();\n                })\n                .catch(this.notifyError);\n        } else {\n            subscribe();\n        }\n\n\n        const lastAbsolutePosition = AbsolutePositionProvider.lastEvent;\n        if (lastAbsolutePosition) {\n            this.onAbsolutePositionEvent(lastAbsolutePosition);\n        } else {\n            this.absolutePositionProviderId = AbsolutePositionProvider.addEventListener(\n                this.onAbsolutePositionEvent,\n                this.notifyError,\n                false\n            );\n        }\n\n    }\n\n    stop() {\n        switch (BrowserUtils.getName()) {\n            case Browser.CHROME:\n                window.removeEventListener('deviceorientationabsolute',\n                    this.onDeviceOrientationChromeEvent, true);\n                break;\n\n            case Browser.SAFARI:\n            case Browser.IOS_WEBVIEW:\n                window.removeEventListener('deviceorientation',\n                    this.onDeviceOrientationSafariEvent, true);\n                break;\n        }\n\n        AbsolutePositionProvider.removeEventListener(this.absolutePositionProviderId);\n    }\n\n\n    onDeviceOrientationChromeEvent = (e: DeviceOrientationEvent) => {\n\n        this.magQuaternionTimestamp = e.timeStamp / 1e3;\n\n        if (typeof e.alpha !== 'number' || typeof e.beta !== 'number' || typeof e.gamma !== 'number') {\n            this.notifyError(new MissingSensorError().from('deviceorientationabsolute'));\n            return;\n        }\n\n        this.magQuaternion = Rotations.eulerToQuaternionZXYDegrees(\n            [e.alpha, e.beta, e.gamma]);\n\n        this.compute();\n    };\n\n\n    onDeviceOrientationSafariEvent = (e: DeviceOrientationEventiOS) => {\n\n        this.magQuaternionTimestamp = e.timeStamp / 1e3;\n\n        if (typeof e.beta !== 'number' || typeof e.gamma !== 'number') {\n            this.notifyError(new MissingSensorError().from('deviceorientation'));\n            return;\n        }\n\n        if (typeof e.webkitCompassHeading !== 'number') {\n            super.notifyError(new MissingMagnetometerError().from('deviceorientation'));\n            return;\n        }\n\n        /**\n         * Trying the best to retrieve a good quaternion from devicemotion event.\n         */\n\n        let alpha;\n        const [qw, qx, qy, qz] = Rotations.eulerToQuaternionZXYDegrees([e.webkitCompassHeading, e.beta, e.gamma]);\n        const groundAngle = rad2deg(Math.acos(qw ** 2 - qx ** 2 - qy ** 2 + qz ** 2));\n\n        let isSkyMode = null;\n        if (groundAngle > 136) {\n            isSkyMode = true;\n        } else if (groundAngle < 134) {\n            isSkyMode = false;\n        } else if (this.iosPreviousQuat && this.iosIsSkyMode !== null) {\n            /**\n             * This condition is true only if :\n             * - we are in the [134°; 136°] ground angle range\n             * - we know the previous quaternion\n             * - one of the both previous condition has been reached during this session\n             *\n             * In this case, we define a threshold to detect if there is a \"jump\" in the quaternion calculation,\n             * then, the mode is switched.\n             */\n            isSkyMode = Quaternion.distance([qw, qx, qy, qz], this.iosPreviousQuat) < 0.5\n                ? this.iosIsSkyMode\n                : !this.iosIsSkyMode;\n        }\n        this.iosPreviousQuat = [qw, qx, qy, qz];\n        this.iosIsSkyMode = isSkyMode;\n\n        if (typeof (isSkyMode) === 'undefined') {\n            // Algorithm uncertainity\n            return;\n        }\n\n        if (isSkyMode) {\n            alpha = 180 - e.webkitCompassHeading;\n        } else {\n            alpha = AbsoluteAttitudeFromBrowser.webkitCompassToHeading(\n                e.webkitCompassHeading, e.beta, e.gamma);\n        }\n\n        this.magQuaternion = Rotations.eulerToQuaternionZXYDegrees([alpha, e.beta, e.gamma]);\n\n        this.compute();\n    };\n\n\n    compute() {\n\n        if (!this.declinationQuaternion || !this.magQuaternion || !this.absolutePositionEvent) {\n            return;\n        }\n\n        const trueQuaternion = Quaternion.multiply(this.declinationQuaternion, this.magQuaternion);\n        const attitude = new AbsoluteAttitude(trueQuaternion, this.magQuaternionTimestamp, this.DEFAULT_ACCURACY);\n        this.notify(attitude);\n    }\n\n    /**\n     * Initialized declination quaternion using current position.\n     * This method should be theoretically called every time the user moves.\n     * But in reality declination does not change as much.\n     */\n    onAbsolutePositionEvent = (position: AbsolutePosition) => {\n\n        this.absolutePositionEvent = position;\n\n        const wmmResult = geomag.field(position.lat, position.lng);\n\n        // Declination is given in NED frame and our code use ENU, that is why we have: \"-declination\"\n        this.declinationQuaternion = Quaternion.fromAxisAngle([0, 0, 1], - deg2rad(wmmResult.declination));\n\n        AbsolutePositionProvider.removeEventListener(this.absolutePositionProviderId);\n        delete this.absolutePositionProviderId;\n        this.compute();\n    }\n\n    static webkitCompassToHeading(_webkitCompassHeading: number, _beta: number, _gamma: number) {\n        const webkitCompassHeading = deg2rad(_webkitCompassHeading);\n        const beta = deg2rad(_beta);\n        const gamma = deg2rad(_gamma);\n\n        const c1 = Math.cos(webkitCompassHeading / 2);\n        const c2 = Math.cos(beta / 2);\n        const c3 = Math.cos(gamma / 2);\n        const s1 = Math.sin(webkitCompassHeading / 2);\n        const s2 = Math.sin(beta / 2);\n        const s3 = Math.sin(gamma / 2);\n\n        const qw = c1 * c2 * c3 - s1 * s2 * s3;\n        const qz = s1 * c2 * c3 + c1 * s2 * s3;\n\n        return rad2deg(-2 * Math.atan(qz / qw));\n    }\n}\n\nexport default new AbsoluteAttitudeFromBrowser();\n","import Provider from '../../Provider.js';\nimport RelativeAttitudeFromInertialProvider from './RelativeAttitudeFromInertialProvider.js';\nimport ArCoreProvider from '../../vision/ArCoreProvider.js';\nimport { RelativeAttitude } from '../../../events/Types.js';\n\n/**\n * Relative attitude provider gives the device attitude in East-North-Up (ENU) frame using\n *  browser deviceorientation\n * The provider does not work until an offset is given.\n */\nclass RelativeAttitudeProvider extends Provider<RelativeAttitude> {\n\n    arCoreMonitoringId?: number;\n    arCoreProviderId?: number;\n    inertialProviderId?: number;\n\n    getName = () => 'RelativeAttitude';\n\n    availability = () => RelativeAttitudeFromInertialProvider.getAvailability();\n\n    start() {\n        this.arCoreMonitoringId = ArCoreProvider.addMonitoringListener(\n            () => {\n                this.listenArCore();\n                this.unlistenInertial();\n            }, () => {\n                this.unlistenArCore();\n                this.listenInertial();\n            });\n\n        if (ArCoreProvider.state === 'started') {\n            this.listenArCore();\n        } else {\n            this.listenInertial();\n        }\n    }\n\n    /**\n     * @override\n     */\n    stop() {\n        ArCoreProvider.removeMonitoringListener(this.arCoreMonitoringId);\n        this.unlistenArCore();\n        this.unlistenInertial();\n    }\n\n\n    listenInertial = () => {\n        this.inertialProviderId = RelativeAttitudeFromInertialProvider.addEventListener(\n            this.notify,\n            this.notifyError\n        );\n    }\n\n    unlistenInertial = () => {\n        RelativeAttitudeFromInertialProvider.removeEventListener(this.inertialProviderId);\n    }\n\n    listenArCore = () => {\n        this.arCoreProviderId = ArCoreProvider.addEventListener(\n            event => this.notify(event.relativeAttitude), null, false\n        );\n    };\n\n    unlistenArCore = () => {\n        ArCoreProvider.removeEventListener(this.arCoreProviderId);\n    }\n}\n\nexport default new RelativeAttitudeProvider();\n","/* eslint-disable max-statements */\nimport { AbsoluteHeading, Attitude } from '@wemap/geo';\nimport { deg2rad, diffAngle, Quaternion, Quaternion_t } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport AbsoluteAttitudeFromBrowserProvider from './AbsoluteAttitudeFromBrowserProvider.js';\nimport RelativeAttitudeProvider from '../relative/RelativeAttitudeProvider.js';\nimport InclinationProvider from '../../inclination/InclinationProvider.js';\nimport HighRotationsProvider from '../../imu/HighRotationsProvider.js';\nimport VpsProvider from '../../vision/vps/VpsProvider.js';\nimport { AbsoluteAttitude, RelativeAttitude } from '../../../events/Types.js';\n\n/**\n * Absolute attitude provider gives the device attitude in East-North-Up (ENU) frame\n */\nclass AbsoluteAttitudeProvider extends Provider<AbsoluteAttitude> {\n\n    static REL_ABS_DIVERGENCE_ANGLE_THRESHOLD = deg2rad(25) // in radians;\n    static REL_ABS_DIVERGENCE_TIME_THRESHOLD = 2.5; // in seconds\n    static REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD = deg2rad(15) // in radians;\n\n    private _absAttitudeFromBrowser?: AbsoluteAttitude;\n    private _vpsProviderId?: number;\n    fromBrowserProviderId?: number;\n    highRotationProviderId?: number;\n    inclinationProviderId?: number;\n    relativeAttitudeProviderId?: number;\n\n    _attitudeFromBrowserErrored = false;\n    _attitudeFromRelativeErrored = false;\n\n    /*\n     * RELATIVE\n     */\n\n    _relativeAttitude: RelativeAttitude | null = null;\n    _relativeAccuracy = 0; // in radians/s\n\n    _lastForcedHeadingEvent?: AbsoluteAttitude | AbsoluteHeading;\n    _relAbsQuat?: Quaternion_t;\n    _wasHighRotationInProgress = false;\n    _timeFirstDivergence: number | null = null;\n    _callbackMagCalibration?: (data: { angle: number }) => void;\n\n    getName = () => 'AbsoluteAttitude';\n\n    availability() {\n        return AvailabilityHelper.some([\n            AbsoluteAttitudeFromBrowserProvider.getAvailability(),\n            RelativeAttitudeProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        this.fromBrowserProviderId = AbsoluteAttitudeFromBrowserProvider.addEventListener(\n            this._onAttitudeFromBrowser,\n            error => {\n                this._attitudeFromBrowserErrored = true;\n                this._onError(error);\n            }\n        );\n\n        // Vps\n        this._vpsProviderId = VpsProvider.addEventListener(\n            event => this._onAttitudeFromVps(event.absoluteAttitude),\n            error => this.notifyError(error),\n            false\n        );\n\n        this.relativeAttitudeProviderId = RelativeAttitudeProvider.addEventListener(\n            this._onRelativeAttitudeEvent,\n            error => {\n                this._attitudeFromRelativeErrored = true;\n                this._onError(error);\n            }\n        );\n\n        this.inclinationProviderId = InclinationProvider.addEventListener();\n\n        this.highRotationProviderId = HighRotationsProvider.addEventListener();\n    }\n\n    stop() {\n        AbsoluteAttitudeFromBrowserProvider.removeEventListener(this.fromBrowserProviderId);\n        RelativeAttitudeProvider.removeEventListener(this.relativeAttitudeProviderId);\n        InclinationProvider.removeEventListener(this.inclinationProviderId);\n        HighRotationsProvider.removeEventListener(this.highRotationProviderId);\n        VpsProvider.removeEventListener(this._vpsProviderId);\n    }\n\n    _setCallbackMagCalibration(cb: (data: { angle: number }) => void) {\n        this._callbackMagCalibration = cb;\n    }\n\n    private _onError = (error: Error) => {\n        if (this._attitudeFromBrowserErrored && this._attitudeFromRelativeErrored) {\n            this.notifyError(error);\n        }\n    }\n\n\n    _forceHeadingForRelative = (absoluteHeadingEvent: AbsoluteAttitude | AbsoluteHeading) => {\n\n        if (this.lastEvent && absoluteHeadingEvent.accuracy! > this.lastEvent.accuracy!) {\n            return;\n        }\n\n        const calcForceHeading = (relativeAttitude: RelativeAttitude) => {\n            const currentRelativeHeading = relativeAttitude.heading;\n\n            this._relAbsQuat = Quaternion.fromAxisAngle(\n                [0, 0, 1],\n                currentRelativeHeading - absoluteHeadingEvent.heading\n            );\n\n            this._relativeAccuracy = 0;\n            this._lastForcedHeadingEvent = absoluteHeadingEvent;\n        };\n\n        // If relativeAttitude does not exist yet, wait the next\n        if (this._relativeAttitude) {\n            calcForceHeading(this._relativeAttitude);\n            return;\n        }\n\n        // If this._relativeAttitude does not exist, wait the first value\n        // /!\\ This works only if the relative attitude event is provided rapidly.\n        const providerId = RelativeAttitudeProvider.addEventListener(\n            event => {\n                calcForceHeading(event);\n                RelativeAttitudeProvider.removeEventListener(providerId);\n            }\n        );\n\n    };\n\n    _onRelativeAttitudeEvent = (event: RelativeAttitude) => {\n\n        const { quaternion, accuracy, time } = event;\n\n        // Calculate relative accuracy\n        if (this._relativeAttitude) {\n            this._relativeAccuracy += (time! - this._relativeAttitude.time!) * accuracy!;\n        }\n\n        // Keep the relative attitude event for the calculation of relAbsQuat\n        // /!\\ Keep this even if forced heading is not set /!\\\n        this._relativeAttitude = event;\n\n\n        if (!this._lastForcedHeadingEvent || !this._relAbsQuat) {\n            return;\n        }\n\n        const accuracyWithRelative = Math.min(\n            (this._lastForcedHeadingEvent.accuracy || 0) + this._relativeAccuracy,\n            Math.PI\n        );\n\n        const highRotationInProgress = HighRotationsProvider.isInProgress();\n\n        let divergenceDetected = false;\n\n        if (this._absAttitudeFromBrowser) {\n\n            const {\n                accuracy: accuracyWithAbsolute,\n                heading: headingFromAbsolute\n            } = this._absAttitudeFromBrowser;\n\n            if (this._wasHighRotationInProgress && !highRotationInProgress) {\n                // Update heading for relative if it the end of high rotations\n                // (probably due to a magnetometer calibratiton)\n                this._forceHeadingForRelative(this._absAttitudeFromBrowser);\n\n            } else if (accuracyWithAbsolute! < accuracyWithRelative) {\n                // Update heading for relative if:\n                // (1) accuracy from absolute is better than relative\n                // (2) heading divergence is greater than REL_ABS_DIVERGENCE_THRESHOLD\n                const relativeQuaternion = Quaternion.multiply(this._relAbsQuat, quaternion);\n                const relativeAttitude = new Attitude(relativeQuaternion);\n                const angle = Math.abs(diffAngle(relativeAttitude.heading, headingFromAbsolute));\n                const inclination = InclinationProvider.lastEvent;\n\n\n                if (angle > AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_ANGLE_THRESHOLD\n                    && inclination !== null\n                    && Math.abs(inclination - Math.PI / 4) > AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD\n                ) {\n                    divergenceDetected = true;\n\n                    // Be sure before forcing heading\n                    if (this._timeFirstDivergence !== null\n                        && time! - this._timeFirstDivergence > AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_TIME_THRESHOLD) {\n\n                        this._forceHeadingForRelative(this._absAttitudeFromBrowser);\n                        this._callbackMagCalibration?.({ angle });\n                        this._timeFirstDivergence = null;\n                    } else if (this._timeFirstDivergence === null) {\n                        this._timeFirstDivergence = time;\n                    }\n\n                }\n            }\n\n        }\n\n        if (!divergenceDetected) {\n            this._timeFirstDivergence = null;\n        }\n\n        this._wasHighRotationInProgress = highRotationInProgress;\n\n        const absoluteQuat = Quaternion.multiply(this._relAbsQuat, quaternion);\n        const attitude = new AbsoluteAttitude(absoluteQuat, time, accuracyWithRelative);\n        this.notify(attitude);\n    }\n\n\n    _onAttitudeFromBrowser = (event: AbsoluteAttitude) => {\n        this._absAttitudeFromBrowser = event;\n\n        if (!this._lastForcedHeadingEvent) {\n            this._forceHeadingForRelative(event);\n            return;\n        }\n\n        // Absolute attitude from browser is not used anymore due to magnetometer inaccuracy on pitch and roll\n    }\n\n\n    _onAttitudeFromVps = (event: AbsoluteAttitude) => {\n        this._forceHeadingForRelative(event);\n    }\n\n    feed(data: AbsoluteHeading | AbsoluteAttitude) {\n\n        if (data instanceof AbsoluteHeading) {\n\n            if (data.time === null) {\n                throw Error('the time of the absolute heading is not defined');\n            }\n            if (data.accuracy === null) {\n                throw Error('the accuracy of the absolute heading is not defined');\n            }\n\n            this._forceHeadingForRelative(data);\n\n        } else if (data instanceof AbsoluteAttitude) {\n\n            if (data.time === null) {\n                throw Error('the time of the attitude is not defined');\n            }\n            if (data.accuracy === null) {\n                throw Error('the accuracy of the attitude is not defined');\n            }\n\n            this._forceHeadingForRelative(data);\n\n        } else {\n            throw new Error('data is nor an AbsoluteHeading or an Attitude object');\n        }\n    }\n}\n\nexport default new AbsoluteAttitudeProvider();\n","import { std } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport RelativeAttitudeProvider from './relative/RelativeAttitudeProvider.js';\nimport { RelativeAttitude, Turn } from '../../events/Types.js';\n\nclass TurnProvider extends Provider<Turn> {\n\n    static SLIDING_WINDOW_TIME = 0.3;  // in seconds\n    static STD_THRESHOLD = 0.075;\n    static CONSIDER_TURN_UNTIL = 1; // in seconds\n\n    providerId?: number;\n\n    slidingWindow: [number, number][] = [];\n\n    getName = () => 'Turn';\n\n    availability = () => RelativeAttitudeProvider.getAvailability();\n\n    start() {\n        this.providerId = RelativeAttitudeProvider.addEventListener(\n            this._parseRelativeAttitude,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        RelativeAttitudeProvider.removeEventListener(this.providerId);\n    }\n\n    isTurning() {\n        if (!this.lastEvent || !RelativeAttitudeProvider.lastEvent) {\n            return false;\n        }\n\n        const diffTime = RelativeAttitudeProvider.lastEvent.time as number - this.lastEvent.timestamp;\n        return diffTime < TurnProvider.CONSIDER_TURN_UNTIL;\n    }\n\n\n    private _parseRelativeAttitude = (relativeAttitudeEvent: RelativeAttitude) => {\n\n        const { heading } = relativeAttitudeEvent;\n        const timestamp = relativeAttitudeEvent.time as number;\n\n        this.slidingWindow = this.slidingWindow.filter(item => item[0] >= timestamp - TurnProvider.SLIDING_WINDOW_TIME);\n        this.slidingWindow.push([timestamp, heading]);\n\n        const stdVal = std(this.slidingWindow.map(item => item[1]));\n        if (stdVal > TurnProvider.STD_THRESHOLD) {\n            this.notify({ timestamp });\n        }\n\n    }\n}\n\nexport default new TurnProvider();\n","import Provider from '../Provider.js';\nimport AvailabilityHelper from '../../events/AvailabilityHelper.js';\nimport StepProvider from './StepProvider.js';\nimport TurnProvider from '../attitude/TurnProvider.js';\nimport { StraightLine } from '../../events/Types.js';\n\nclass StraightLineProvider extends Provider<StraightLine> {\n\n    static DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE = 2;\n\n    _turnProviderId?: number;\n    _stepProviderId?: number;\n\n    _countSteps = 0;\n    _stepsConsideredForStraightLine = StraightLineProvider.DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE;\n\n    getName = () => 'StraightLine';\n\n    availability() {\n        return AvailabilityHelper.every([\n            TurnProvider.getAvailability(),\n            StepProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n        this._turnProviderId = TurnProvider.addEventListener(this._onTurn);\n        this._stepProviderId = StepProvider.addEventListener(this._onStep);\n    }\n\n    stop() {\n        TurnProvider.removeEventListener(this._turnProviderId);\n        StepProvider.removeEventListener(this._stepProviderId);\n    }\n\n    private _onTurn = () => {\n        if (this._countSteps >= this._stepsConsideredForStraightLine) {\n            this.notify(false);\n        }\n        this._countSteps = 0;\n    }\n\n    private _onStep = () => {\n        this._countSteps++;\n\n        if (this._countSteps === this._stepsConsideredForStraightLine) {\n            this.notify(true);\n        }\n\n    }\n\n    isStraight() {\n        return this._countSteps >= this._stepsConsideredForStraightLine;\n    }\n\n    get numStepsDetectedFromLastTurn() {\n        return this._countSteps;\n    }\n\n    get stepsConsideredForStraightLine() {\n        return this._stepsConsideredForStraightLine;\n    }\n\n    set stepsConsideredForStraightLine(stepsConsideredForStraightLine) {\n        this._stepsConsideredForStraightLine = stepsConsideredForStraightLine;\n    }\n}\n\nexport default new StraightLineProvider();\n","import {\n    AbsoluteHeading, Level,  UserPosition, Coordinates, GeoGraph, GeoGraphProjectionHandler, GeoGraphProjection, GeoGraphEdge, GeoGraphVertex\n} from '@wemap/geo';\nimport { deg2rad, diffAngle, diffAngleLines } from '@wemap/maths';\nimport { Itinerary, ItineraryInfoManager } from '@wemap/routers';\nimport { TimeUtils } from '@wemap/utils';\n\nimport AbsoluteAttitudeProvider from '../providers/attitude/absolute/AbsoluteAttitudeProvider.js';\nimport AbsoluteAttitudeFromBrowser from '../providers/attitude/absolute/AbsoluteAttitudeFromBrowserProvider.js';\nimport TurnProvider from '../providers/attitude/TurnProvider.js';\nimport Constants from '../providers/Constants.js';\nimport AbsolutePositionProvider from '../providers/position/absolute/AbsolutePositionProvider.js';\nimport Provider from '../providers/Provider.js';\nimport StepProvider from '../providers/steps/StepProvider.js';\nimport StraightLineProvider from '../providers/steps/StraightLineProvider.js';\nimport ProvidersOptions from '../ProvidersOptions.js';\nimport { AbsolutePosition } from '../events/Types.js';\n\n\ntype MapMatchingEvent = { graph?: GeoGraph, itinerary?: Itinerary | null };\nclass MapMatchingHandler extends Provider<MapMatchingEvent> {\n\n    static DEFAULT_MM_MAX_ANGLE = deg2rad(30); // radians\n    static DEFAULT_MM_MAX_DIST = 30; // meters\n    static DEFAULT_MM_MIN_DIST = 0; // meters\n    static DEFAULT_USE_ITINERARY_START_AS_POSITION = false;\n    static DEFAULT_USE_ORIENTATION_MATCHING = true;\n    static DEFAULT_MM_HUGE_JUMP_DISTANCE = 3; // meters\n    static DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE = 2; // meters\n    static DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING = 3;\n    static DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING = 5;\n    static DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE = 3;\n    static DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD = deg2rad(3); // radians\n\n    _mapMatchingMinDistance = MapMatchingHandler.DEFAULT_MM_MIN_DIST;\n    _useItineraryStartAsPosition = MapMatchingHandler.DEFAULT_USE_ITINERARY_START_AS_POSITION;\n    _useOrientationMatching = MapMatchingHandler.DEFAULT_USE_ORIENTATION_MATCHING;\n    _hugeJumpDistance = MapMatchingHandler.DEFAULT_MM_HUGE_JUMP_DISTANCE;\n    _disableMMCloseToATurnDistance = MapMatchingHandler.DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE;\n    _minStepsBetweenOrientationMatching = MapMatchingHandler.DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING;\n    _minStepsForOrientationMatching = MapMatchingHandler.DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING;\n    _lastProjectionsWindowSize = MapMatchingHandler.DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE;\n    _lastProjectionsEdgeAngleThreshold = MapMatchingHandler.DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD;\n\n    _geoGraphProjectionHandler: GeoGraphProjectionHandler;\n    _internalProvidersStarted = false;\n    _straightLineProviderId?: number;\n    _turnProviderId?: number;\n    _stepProviderId?: number;\n    _projectionsWithAbsAndWithoutRelAttitudeInARow: GeoGraphProjection[] = [];\n    _countStepsFromLastMatching = 0;\n    _lastProjections: GeoGraphProjection[] = [];\n\n    _itineraryInfoManager: ItineraryInfoManager | null = null;\n\n    constructor() {\n        super();\n\n        this._geoGraphProjectionHandler = new GeoGraphProjectionHandler();\n        this._geoGraphProjectionHandler.maxDistance = MapMatchingHandler.DEFAULT_MM_MAX_DIST;\n        this._geoGraphProjectionHandler.maxAngleBearing = MapMatchingHandler.DEFAULT_MM_MAX_ANGLE;\n    }\n\n    getName = () => 'MapMatchingHandler';\n\n    availability = () => Promise.resolve();\n\n    start() {\n        if (this.graph) {\n            this._startInternalProviders();\n        }\n    }\n\n    stop() {\n        this._stopInternalProviders();\n    }\n\n    _manageStartStop = () => {\n        if (this.graph && !this._internalProvidersStarted) {\n            this._startInternalProviders();\n        } else if (!this.graph && this._internalProvidersStarted) {\n            this._stopInternalProviders();\n        }\n    }\n\n    _startInternalProviders() {\n\n        if (this.enabled && this._internalProvidersStarted) {\n            return;\n        }\n\n        this._straightLineProviderId = StraightLineProvider.addEventListener();\n        this._turnProviderId = TurnProvider.addEventListener();\n        this._stepProviderId = StepProvider.addEventListener(() => (this._countStepsFromLastMatching++));\n\n        this._internalProvidersStarted = true;\n    }\n\n    _stopInternalProviders() {\n\n        if (this.enabled && !this._internalProvidersStarted) {\n            return;\n        }\n\n        StraightLineProvider.removeEventListener(this._straightLineProviderId);\n        TurnProvider.removeEventListener(this._turnProviderId);\n        StepProvider.removeEventListener(this._stepProviderId);\n\n        this._internalProvidersStarted = false;\n    }\n\n    get enabled() {\n        return ProvidersOptions.useMapMatching;\n    }\n\n    get graph() {\n        return this._geoGraphProjectionHandler.graph;\n    }\n\n    // TODO: rename to setGraphNetwork()\n    set graph(graph) {\n\n        this._geoGraphProjectionHandler.graph = graph;\n        this._itineraryInfoManager = null;\n        this.notify({ ...(graph && { graph })});\n\n        this._manageStartStop();\n\n        if (this.canUseMapMatching()) {\n            // TODO if necessary\n            // this._notifyPositionFromNetworkInput(network);\n        }\n    }\n\n    set itinerary(itinerary: Itinerary | null) {\n\n        this._geoGraphProjectionHandler.graph = itinerary ? itinerary.toGraph() : null;\n        this._itineraryInfoManager = new ItineraryInfoManager(itinerary);\n        this.notify({ ...(itinerary && { itinerary })});\n\n        this._manageStartStop();\n\n        if (this.canUseMapMatching() && itinerary) {\n            this._notifyPositionFromItineraryInput(itinerary);\n        }\n    }\n\n    canUseMapMatching() {\n        return this.enabled && this.graph;\n    }\n\n\n    private _notifyPositionFromItineraryInput(itinerary: Itinerary) {\n\n        if (!this._useItineraryStartAsPosition || itinerary.from) {\n            return;\n        }\n\n        const lastPosition = AbsolutePositionProvider.lastEvent || null;\n\n        // In case of an itinerary, use itinerary start as new position,\n        // but add the distance between lastPosition and itinerary start for the accuracy\n        const newPosition = UserPosition.fromCoordinates(itinerary.from);\n\n        if (lastPosition) {\n            newPosition.alt = lastPosition.alt;\n            newPosition.time = lastPosition.time;\n            newPosition.accuracy = lastPosition.accuracy! + newPosition.distanceTo(lastPosition);\n            newPosition.bearing = lastPosition.bearing;\n        } else if (itinerary.coords.length >= 2) {\n            newPosition.alt = Constants.DEFAULT_ALTITUDE;\n            newPosition.time = TimeUtils.preciseTime();\n            newPosition.accuracy = 0;\n            newPosition.bearing = itinerary.coords[0].bearingTo(itinerary.coords[1]);\n        } else {\n            return;\n        }\n\n        // if the distance between itinerary.start and itinerary.nodes[0] is less than MM_MAX_DIST,\n        //  projection.coords is itinerary.nodes[0]\n        const projection = this.getProjection(newPosition, true);\n        if (projection) {\n            AbsolutePositionProvider.notify(projection.coords);\n            // Do not notify for attitude projection because bearing has not been used.\n        } else {\n            AbsolutePositionProvider.notify(newPosition);\n        }\n        return;\n    }\n\n    notifyPositionFromFeed(newPositionEvent: AbsolutePosition) {\n\n        const projection = this.getProjection(newPositionEvent, true, false);\n        if (!projection) {\n            AbsolutePositionProvider.notify(newPositionEvent);\n            return;\n        }\n\n        AbsolutePositionProvider.notify(projection.coords);\n    }\n\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    notifyPositionFromAbsolute(newPosition: AbsolutePosition) {\n\n        let projectionWithBearing = null;\n        if (newPosition.bearing !== null) {\n            projectionWithBearing = this.getProjection(newPosition, true, true);\n        }\n\n        if (!projectionWithBearing) {\n            // Verify if the newPosition is far enough from the network to be used by the system.\n            // const projectionWithoutBearing = this.getProjection(newPosition, true, false);\n            // if (!projectionWithoutBearing) {\n            // In this case, the newPosition is far enough and can be used safely.\n            AbsolutePositionProvider.notify(newPosition);\n            return true;\n            // }\n            // return true;\n        }\n\n        // newPosition must not be used after this line\n\n        const thisWillBeAHugeJump = projectionWithBearing.distanceFromNearestElement > this._hugeJumpDistance;\n\n        // In case of a huge jump, be sure the user is in a straight line\n        if (thisWillBeAHugeJump && !StraightLineProvider.isStraight()) {\n            return false;\n        }\n\n        // Detector to avoid big jumps in the wrong direction\n        if (thisWillBeAHugeJump && this._detectWrongBigJump(projectionWithBearing)) {\n            return false;\n        }\n\n        AbsolutePositionProvider.notify(projectionWithBearing.coords);\n\n        this.tryOrientationMatching(projectionWithBearing);\n        return true;\n    }\n\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    notifyPositionFromRelative(newPosition: AbsolutePosition) {\n\n        if (TurnProvider.isTurning()) {\n            this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];\n            this._lastProjections = [];\n            AbsolutePositionProvider.notify(newPosition);\n            return true;\n        }\n\n        const projection = this.getProjection(newPosition, true, true);\n\n        if (projection) {\n            this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];\n            this._lastProjections.push(projection);\n            if (this._lastProjections.length > this._lastProjectionsWindowSize) {\n                this._lastProjections.shift();\n            }\n\n            const thisWillBeAHugeJump = projection.distanceFromNearestElement > this._hugeJumpDistance;\n\n            // In case of a huge jump, be sure the user is in a straight line\n            if (thisWillBeAHugeJump && !StraightLineProvider.isStraight()) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            // Detector to avoid big jumps in the wrong direction\n            if (thisWillBeAHugeJump && this._detectWrongBigJump(projection)) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            // Do not use projection if the neareast element is not the same direction than previous\n            if (!this._areLastProjectionsInTheSameDirection()) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            // Detector to avoid map-matching close to network turns\n            if (this._disableMMCloseToATurnDistance > 0\n                && this._hasTurnInCircle(projection.coords, this._disableMMCloseToATurnDistance)) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            AbsolutePositionProvider.notify(projection.coords);\n            this.tryOrientationMatching(projection);\n\n            return true;\n\n        }\n        // else {\n\n        // Sometimes, the newPosition.bearing diverges due to the Absolute Attitude offset\n        // and the Orientation Matching. So, we created this detector to check if projection\n        // with bearing from \"AbsoluteAttitudeFromBrowser\" is better than the current bearing.\n        // /!\\ This works only if the user is waking in the same direction than the smartphone orientation /!\\\n        if (StraightLineProvider.isStraight()) {\n\n            const testedPosition = newPosition.clone();\n            testedPosition.bearing = AbsoluteAttitudeFromBrowser.lastEvent?.heading || null;\n            const projectionWithAbs = this.getProjection(testedPosition, true, true);\n\n            if (projectionWithAbs) {\n\n                this._projectionsWithAbsAndWithoutRelAttitudeInARow.push(projectionWithAbs);\n                if (this._projectionsWithAbsAndWithoutRelAttitudeInARow.length < 3) {\n                    AbsolutePositionProvider.notify(newPosition);\n                    return true;\n                }\n\n                this._lastProjections.push(projectionWithAbs);\n                if (this._lastProjections.length > this._lastProjectionsWindowSize) {\n                    this._lastProjections.shift();\n                }\n\n\n                if (!this._areLastProjectionsInTheSameDirection()) {\n                    AbsolutePositionProvider.notify(newPosition);\n                    return true;\n                }\n\n                AbsolutePositionProvider.notify(projectionWithAbs.coords);\n\n                this.tryOrientationMatching(projectionWithAbs);\n                return true;\n            }\n        }\n\n        this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];\n        this._lastProjections = [];\n\n        // If no projection found with both projection methods, simply use the newPosition.\n        AbsolutePositionProvider.notify(newPosition);\n        return true;\n\n        // }\n\n    }\n\n    _detectWrongBigJump(projection: GeoGraphProjection<unknown, unknown, UserPosition>) {\n\n        if (this._itineraryInfoManager && AbsolutePositionProvider.lastEvent) {\n            const infoPrevious = this._itineraryInfoManager.getInfo(AbsolutePositionProvider.lastEvent);\n            const infoProjection = this._itineraryInfoManager.getInfo(projection.coords);\n            if (infoPrevious\n                && infoProjection\n                && infoPrevious.traveledDistance > infoProjection.traveledDistance\n                && (infoPrevious.traveledDistance - infoProjection.traveledDistance) > projection.origin.accuracy!\n                && projection.distanceFromNearestElement > projection.origin.accuracy!\n                && projection.origin.distanceTo(AbsolutePositionProvider.lastEvent) < projection.origin.accuracy! + AbsolutePositionProvider.lastEvent.accuracy!) {\n\n                return true;\n            }\n        }\n\n        return false;\n    }\n\n    _areLastProjectionsInTheSameDirection() {\n\n        if (this._lastProjections.length === 0) {\n            return false;\n        }\n\n        const firstProjection = this._lastProjections[0];\n        return !this._lastProjections.some(projection =>\n            !(projection.nearestElement instanceof GeoGraphEdge)\n            || !(firstProjection.nearestElement instanceof GeoGraphEdge)\n            || (diffAngleLines(projection.nearestElement.bearing, firstProjection.nearestElement.bearing)\n                > this._lastProjectionsEdgeAngleThreshold)\n        );\n    }\n\n\n    _nodeHasTurn(node: GeoGraphVertex) {\n        const { edges } = node;\n        for (let i = 0; i < edges.length; i++) {\n            for (let j = i + 1; j < edges.length; j++) {\n                const angle = diffAngleLines(edges[i].bearing, edges[j].bearing);\n                if (angle > MapMatchingHandler.DEFAULT_MM_MAX_ANGLE) {\n                    return true;\n                }\n            }\n        }\n        return false;\n    }\n\n\n    _hasTurnInCircle(center: Coordinates, radius: number) {\n        const network = this._geoGraphProjectionHandler.graph;\n        if (!network) {\n            return false;\n        }\n\n        return network.vertices.filter(vertex =>\n            vertex.coords.distanceTo(center) <= radius\n            && Level.intersect(vertex.coords.level, center.level)\n        ).some(this._nodeHasTurn);\n    }\n\n    tryOrientationMatching(projection: GeoGraphProjection<unknown, unknown, UserPosition>) {\n\n        if (!this._useOrientationMatching) {\n            return;\n        }\n\n        if (this.state !== 'started'\n            || this._countStepsFromLastMatching < this._minStepsBetweenOrientationMatching\n            || StraightLineProvider.numStepsDetectedFromLastTurn < this._minStepsForOrientationMatching) {\n            return;\n        }\n\n        const { nearestElement, origin } = projection;\n        if (!(nearestElement instanceof GeoGraphEdge)) {\n            return;\n        }\n\n        let matchingDirection;\n        const matchingDirectionAngle1 = diffAngle(nearestElement.bearing, origin.bearing!);\n        const matchingDirectionAngle2 = diffAngle(nearestElement.bearing + Math.PI, origin.bearing!);\n\n        if (Math.abs(matchingDirectionAngle1) < Math.abs(matchingDirectionAngle2)) {\n            matchingDirection = nearestElement.bearing;\n        } else {\n            matchingDirection = (nearestElement.bearing + Math.PI) % (2 * Math.PI);\n        }\n\n        const matchedHeading = new AbsoluteHeading(\n            matchingDirection,\n            origin.time,\n            0\n            // Math.min(Math.abs(matchingDirectionAngle1), Math.abs(matchingDirectionAngle2))\n        );\n\n        AbsoluteAttitudeProvider._forceHeadingForRelative(matchedHeading);\n\n        this._countStepsFromLastMatching = 0;\n    }\n\n    getProjection(position: UserPosition, useDistance?: boolean, useBearing?: boolean) {\n        return this._geoGraphProjectionHandler.getProjection(position, useDistance, useBearing);\n    }\n\n    get maxDistance() {\n        return this._geoGraphProjectionHandler.maxDistance;\n    }\n\n    set maxDistance(maxDistance) {\n        this._geoGraphProjectionHandler.maxDistance = maxDistance;\n    }\n\n    get minDistance() {\n        return this._mapMatchingMinDistance;\n    }\n\n    set minDistance(minDistance) {\n        this._mapMatchingMinDistance = minDistance;\n    }\n\n    get maxAngleBearing() {\n        return this._geoGraphProjectionHandler.maxAngleBearing;\n    }\n\n    set maxAngleBearing(maxAngleBearing) {\n        this._geoGraphProjectionHandler.maxAngleBearing = maxAngleBearing;\n    }\n\n    get useItineraryStartAsPosition() {\n        return this._useItineraryStartAsPosition;\n    }\n\n    set useItineraryStartAsPosition(useItineraryStartAsPosition) {\n        this._useItineraryStartAsPosition = useItineraryStartAsPosition;\n    }\n\n    get useOrientationMatching() {\n        return this._useOrientationMatching;\n    }\n\n    set useOrientationMatching(useOrientationMatching) {\n        this._useOrientationMatching = useOrientationMatching;\n    }\n\n    get hugeJumpDistance() {\n        return this._hugeJumpDistance;\n    }\n\n    set hugeJumpDistance(hugeJumpDistance) {\n        this._hugeJumpDistance = hugeJumpDistance;\n    }\n\n    get disableMMCloseToATurnDistance() {\n        return this._disableMMCloseToATurnDistance;\n    }\n\n    set disableMMCloseToATurnDistance(disableMMCloseToATurnDistance) {\n        this._disableMMCloseToATurnDistance = disableMMCloseToATurnDistance;\n    }\n\n    get minStepsBetweenOrientationMatching() {\n        return this._minStepsBetweenOrientationMatching;\n    }\n\n    set minStepsBetweenOrientationMatching(minStepsBetweenOrientationMatching) {\n        this._minStepsBetweenOrientationMatching = minStepsBetweenOrientationMatching;\n    }\n\n    get minStepsForOrientationMatching() {\n        return this._minStepsForOrientationMatching;\n    }\n\n    set minStepsForOrientationMatching(minStepsForOrientationMatching) {\n        this._minStepsForOrientationMatching = minStepsForOrientationMatching;\n    }\n\n    get lastProjectionsWindowSize() {\n        return this._lastProjectionsWindowSize;\n    }\n\n    set lastProjectionsWindowSize(lastProjectionsWindowSize) {\n        this._lastProjectionsWindowSize = lastProjectionsWindowSize;\n    }\n\n    get lastProjectionsEdgeAngleThreshold() {\n        return this._lastProjectionsEdgeAngleThreshold;\n    }\n\n    set lastProjectionsEdgeAngleThreshold(lastProjectionsEdgeAngleThreshold) {\n        this._lastProjectionsEdgeAngleThreshold = lastProjectionsEdgeAngleThreshold;\n    }\n}\n\nexport default new MapMatchingHandler();\n","import { Level, UserPosition } from '@wemap/geo';\n\nclass PositionSmoother {\n\n    // Generated positions by second\n    static DEFAULT_FREQUENCY = 60;\n\n    // flyby (in second)\n    static DEFAULT_FLYBY_TIME = 1;\n\n    positionsQueue: UserPosition[] = [];\n    previousPosition: UserPosition | null = null;\n    timeoutNotify?: any; // can be number if web or NodeJS.Timer\n\n\n    /**\n     * @param frequency in Hz\n     */\n    constructor(\n        public callback?: (position: UserPosition) => void,\n        public frequency = PositionSmoother.DEFAULT_FREQUENCY\n    ) {}\n\n    /**\n     * @param flybyTime in seconds\n     */\n    feed(newPosition: UserPosition, flybyTime = PositionSmoother.DEFAULT_FLYBY_TIME) {\n\n        if (!(newPosition instanceof UserPosition)) {\n            throw new TypeError('newPosition is not instance of UserPosition');\n        }\n\n        if (newPosition.time === null) {\n            throw new Error('newPosition does not have time property');\n        }\n\n        let previousPosition;\n        if (this.positionsQueue.length !== 0) {\n            previousPosition = this.positionsQueue[0];\n            this.positionsQueue = [];\n        } else {\n            previousPosition = this.previousPosition;\n        }\n\n        if (previousPosition) {\n\n            const refTimestamp = newPosition.time;\n            const distance = previousPosition.distanceTo(newPosition);\n            const azimuth = previousPosition.bearingTo(newPosition);\n\n            let i = 1;\n            const nSamples = this.frequency * flybyTime + 1;\n\n            const newPositionLevel = Level.clone(newPosition.level);\n            while (i < nSamples + 1) {\n                const smoothedPosition = previousPosition.destinationPoint(distance * i / nSamples, azimuth);\n                smoothedPosition.time = refTimestamp + (i - 1) / this.frequency;\n                smoothedPosition.level = newPositionLevel;\n                smoothedPosition.bearing = newPosition.bearing;\n                smoothedPosition.accuracy = Math.max(\n                    smoothedPosition.accuracy! + (newPosition.accuracy! - smoothedPosition.accuracy!) * i / nSamples,\n                    0\n                );\n                this.positionsQueue.push(smoothedPosition);\n                i++;\n            }\n\n            if (this.timeoutNotify) {\n                clearTimeout(this.timeoutNotify);\n            }\n        } else {\n            this.positionsQueue.push(newPosition.clone());\n        }\n\n        this.previousPosition = newPosition;\n        this._notifyNext();\n    }\n\n    _notifyNext = () => {\n        if (!this.positionsQueue.length) return;\n        this.callback?.(this.positionsQueue.shift() as UserPosition);\n        if (this.positionsQueue.length !== 0) {\n            this.timeoutNotify = setTimeout(this._notifyNext, 1e3 / this.frequency);\n        } else {\n            delete this.timeoutNotify;\n        }\n    }\n\n    clear() {\n        clearTimeout(this.timeoutNotify);\n        delete this.timeoutNotify;\n        this.positionsQueue = [];\n    }\n}\n\nexport default PositionSmoother;\n","import { Attitude } from '@wemap/geo';\nimport { deg2rad, diffAngle, Quaternion } from '@wemap/maths';\n\nclass AttitudeSmoother {\n\n    static ROTATION_SPEED_JUMP_THRESHOLD = deg2rad(180); // in radians/s\n    static ROTATION_SPEED_CONVERGENCE = deg2rad(10); // in radians/s\n    static HIGH_JUMP_THRESHOLD = deg2rad(20); // in radians/s\n    static ROTATION_SPEED_HIGH_JUMP_CONVERGENCE = deg2rad(100); // in radians/s\n    static PITCH_UNCERTAINITY_HEADING_THRESHOLD = deg2rad(5); // in radians/s\n\n    _previousAttitude?: Attitude;\n\n    _smoothing : null | {\n        interpAttitude(attitude: Attitude): Attitude,\n        toTime: number\n    } = null;\n\n    constructor(public callback: (attitude: Attitude) => void) {}\n\n    feed(newAttitude: Attitude) {\n\n        if (newAttitude.time === null) {\n            throw new Error('newAttitude does not have time property');\n        }\n\n        const { _previousAttitude: previousAttitude } = this;\n        this._previousAttitude = newAttitude;\n\n        if (!previousAttitude) {\n            this.callback(newAttitude);\n            return;\n        }\n\n        /*\n         * Comparison between two successive Attitude from the \"feed\" function\n         */\n        if (AttitudeSmoother.isJump(previousAttitude, newAttitude)) {\n\n            const fromAttitude = this._smoothing === null\n                ? previousAttitude\n                : this._smoothing.interpAttitude(previousAttitude);\n\n            const fromHeading = fromAttitude.heading;\n            const toHeading = newAttitude.heading;\n            const diffAngleHeading = diffAngle(toHeading, fromHeading);\n\n            const isHighJump = Math.abs(diffAngleHeading) < AttitudeSmoother.HIGH_JUMP_THRESHOLD;\n            const rotationSpeedConvergence = isHighJump\n                ? AttitudeSmoother.ROTATION_SPEED_CONVERGENCE\n                : AttitudeSmoother.ROTATION_SPEED_HIGH_JUMP_CONVERGENCE;\n\n            const fromTime = fromAttitude.time!;\n            const timeToConsume = Math.abs(diffAngleHeading) / rotationSpeedConvergence;\n            const multiplier = diffAngleHeading < 0 ? -1 : 1;\n\n            this._smoothing = {\n                toTime: fromTime + timeToConsume,\n\n                interpAttitude: (attitude: Attitude) => {\n                    const angle = rotationSpeedConvergence * (attitude.time! - fromTime);\n                    const interpHeading = fromHeading + angle * multiplier;\n                    const offsetQuat = Quaternion.fromAxisAngle([0, 0, 1], toHeading - interpHeading);\n                    const interpQuat = Quaternion.multiply(offsetQuat, attitude.quaternion);\n                    return new Attitude(interpQuat, attitude.time, attitude.accuracy);\n                }\n            };\n        }\n\n        if (this._smoothing !== null) {\n            if (newAttitude.time >= this._smoothing.toTime) {\n                // This means that is the last epoch for smoothing\n                this._smoothing = null;\n            } else {\n                const interpAttitude = this._smoothing.interpAttitude(newAttitude);\n                this.callback(interpAttitude);\n                return;\n            }\n        }\n\n        this.callback(newAttitude);\n    }\n\n    /**\n     * @param {Attitude} previousAttitude\n     * @param {Attitude} newAttitude\n     * @returns {boolean}\n     */\n    static isJump(previousAttitude: Attitude, newAttitude: Attitude) {\n        const fromHeading = previousAttitude.heading;\n        const toHeading = newAttitude.heading;\n        const diffAngleHeading = diffAngle(toHeading, fromHeading);\n        const diffTime = newAttitude.time! - previousAttitude.time!;\n\n        /**\n         * Heading is calculated from two different formulas in function of the pitch angle.\n         * Do not consider a jump if attitude is close to the change of the methods\n         * @see MathsRotations#getHeadingFromQuaternion()\n         */\n        const [qw, qx, qy, qz] = newAttitude.quaternion;\n        const distToPitchThreshold = Math.abs(Math.asin(2 * (qw * qx + qy * qz)) - Math.PI / 4);\n        if (distToPitchThreshold < AttitudeSmoother.PITCH_UNCERTAINITY_HEADING_THRESHOLD) {\n            return false;\n        }\n\n        return Math.abs(diffAngleHeading) > AttitudeSmoother.ROTATION_SPEED_JUMP_THRESHOLD * diffTime;\n    }\n}\n\nexport default AttitudeSmoother;\n","import Provider from '../Provider.js';\nimport AbsoluteAttitudeProvider from '../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport { MagnetometerNeedCalibration } from '../../events/Types.js';\n\nclass MagnetometerCalibrationProvider extends Provider<MagnetometerNeedCalibration> {\n\n    getName = () => 'MagnetometerCalibrationProvider';\n\n    availability = () => AbsoluteAttitudeProvider.getAvailability();\n\n    constructor() {\n        super();\n        AbsoluteAttitudeProvider._setCallbackMagCalibration(e => this.state === 'started' && this.notify(e));\n    }\n\n    start() { /* do nothing */ }\n    stop() { /* do nothing */ }\n\n}\n\nexport default new MagnetometerCalibrationProvider();\n","class IpResolveServerError extends Error {\n\n    static DEFAULT_MESSAGE = 'IP Resolver failed';\n\n    constructor(message?: string) {\n        super(message || IpResolveServerError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default IpResolveServerError;\n","import { UserPosition } from '@wemap/geo';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport IpResolveServerError from '../../../errors/IpResolveServerError.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\n\n/**\n * GnssWifiProvider is a provider based on navigator.geolocation.\n * This API does not allow us to know if the position returned is provided\n *  by Wifi Fingerprinting algorithms or by GNSS. That is why the name is\n *  \"GnssWifi\".\n */\nclass IpProvider extends Provider<AbsolutePosition> {\n\n    getName = () => 'Ip';\n\n    availability = () => Promise.resolve();\n\n    async start() {\n\n        const response = await fetch('https://ipinfo.io/geo?token=24a7ca2f3b489d');\n        if (!response) {\n            this.notifyError(new IpResolveServerError());\n            return;\n        }\n\n        const timestamp = TimeUtils.preciseTime() / 1e3;\n\n        const latLngStr = (await response.json()).loc.split(',');\n        const position = new UserPosition(\n            parseFloat(latLngStr[0]),\n            parseFloat(latLngStr[1]),\n            null,\n            null,\n            timestamp,\n            100000\n        );\n\n        this.notify(position);\n    }\n\n    stop() { /* do nothing */ }\n\n}\n\nexport default new IpProvider();\n","import Provider from '../Provider.js';\nimport ArCore from './ArCoreProvider.js';\nimport { Barcode } from '../../events/Types.js';\n\nclass BarcodePoleStarProvider extends Provider<Barcode> {\n    \n    providerId?: number;\n\n    getName = () => 'Barcode';\n\n    availability = () => ArCore.getAvailability();\n\n    start() {\n        ArCore.enableBarcodeScanner();\n\n        this.providerId = ArCore.addEventListener(\n            event => event.barcode && this.notify(event.barcode),\n            this.notifyError\n        );\n    }\n\n    stop() {\n        ArCore.disableBarcodeScanner();\n        ArCore.removeEventListener(this.providerId);\n    }\n}\n\nexport default new BarcodePoleStarProvider();\n","import Provider from '../Provider.js';\nimport ArCoreProvider from '../vision/ArCoreProvider.js';\nimport { CameraNativeState } from '../../events/Types.js';\n\nclass CameraNativeProvider extends Provider<CameraNativeState> {\n\n    providerId?: number;\n\n    getName = () => 'CameraNative';\n\n    availability = () => Promise.resolve();\n\n    start() {\n\n        if (ArCoreProvider.state !== 'stopped') {\n            this.notify('started');\n        }\n        this.providerId = ArCoreProvider.addMonitoringListener(\n            () => this.notify('started'),\n            () => this.notify('stopped')\n        );\n    }\n\n    stop() {\n        ArCoreProvider.removeMonitoringListener(this.providerId);\n    }\n}\n\nexport default new CameraNativeProvider();\n","import Provider from '../Provider.js';\nimport ArCoreProvider from '../vision/ArCoreProvider.js';\nimport { CameraProjectionMatrix } from '../../events/Types.js';\n\nclass CameraProjectionMatrixProvider extends Provider<CameraProjectionMatrix> {\n\n    providerId?: number;\n\n    getName = () => 'CameraProjectionMatrix';\n\n    availability = () => ArCoreProvider.getAvailability();\n\n    start() {\n        this.providerId = ArCoreProvider.addEventListener(\n            event => event.cameraProjection && this.notify(event.cameraProjection),\n            this.notifyError\n        );\n    }\n\n    stop() {\n        ArCoreProvider.removeEventListener(this.providerId);\n    }\n}\n\nexport default new 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+{"version":3,"file":"index.js","sources":["../src/events/Types.ts","../src/ProvidersOptions.ts","../src/events/ProvidersLoggerOld.ts","../src/errors/ContainsIgnoredProviderError.ts","../src/providers/Provider.ts","../src/events/AvailabilityHelper.ts","../src/errors/AskImuOnDesktopError.ts","../src/errors/MissingSensorError.ts","../src/errors/MissingMagnetometerError.ts","../src/errors/GeolocationApiMissingError.ts","../src/errors/GeolocationPermissionDeniedError.ts","../src/errors/GeolocationPositionUnavailableError.ts","../src/providers/Constants.ts","../src/providers/position/absolute/GnssWifiProvider.ts","../src/errors/MissingArCoreError.ts","../src/errors/MissingNativeInterfaceError.ts","../src/providers/vision/ArCoreProvider.ts","../src/providers/position/relative/GeoRelativePositionFromArCoreProvider.ts","../src/providers/attitude/EkfAttitude.ts","../src/providers/imu/ImuProvider.ts","../src/errors/MissingAccelerometerError.ts","../src/providers/imu/AccelerometerProvider.ts","../src/errors/MissingGyroscopeError.ts","../src/providers/imu/GyroscopeProvider.ts","../src/providers/attitude/relative/RelativeAttitudeFromEkfProvider.ts","../src/providers/attitude/relative/RelativeAttitudeFromBrowserProvider.ts","../src/providers/imu/HighRotationsProvider.ts","../src/providers/attitude/relative/RelativeAttitudeFromInertialProvider.ts","../src/providers/steps/StepDetectionLadetto.ts","../src/providers/steps/StepDetectionMinMaxPeaks.ts","../src/providers/steps/StepDetectionMinMaxPeaks2.ts","../src/providers/steps/StepDetectionMinMaxPeaks3.ts","../src/providers/steps/StepProvider.ts","../src/providers/position/relative/PdrProvider.ts","../src/providers/position/relative/GeoRelativePositionProvider.ts","../src/providers/inclination/InclinationFromAccProvider.ts","../src/providers/inclination/InclinationFromRelativeAttitudeProvider.ts","../src/providers/inclination/InclinationProvider.ts","../src/providers/vision/vps/VpsMetadata.ts","../src/providers/vision/vps/VpsRequest.ts","../src/providers/vision/vps/VpsResponse.ts","../src/providers/vision/vps/ImageRelocalization.ts","../src/providers/vision/vps/RelativeRotationCalc.ts","../src/errors/MissingPoleStarError.ts","../src/providers/position/absolute/PoleStarProvider.ts","../src/providers/vision/vps/VpsProvider.ts","../src/providers/position/absolute/AbsolutePositionProvider.ts","../src/providers/attitude/absolute/AbsoluteAttitudeFromBrowserProvider.ts","../src/providers/attitude/relative/RelativeAttitudeProvider.ts","../src/providers/attitude/absolute/AbsoluteAttitudeProvider.ts","../src/providers/attitude/TurnProvider.ts","../src/providers/steps/StraightLineProvider.ts","../src/mapmatching/MapMatchingHandler.ts","../src/smoothers/PositionSmoother.ts","../src/smoothers/AttitudeSmoother.ts","../src/providers/imu/MagnetometerCalibrationProvider.ts","../src/errors/IpResolveServerError.ts","../src/providers/position/absolute/IpProvider.ts","../src/providers/vision/BarcodeProvider.ts","../src/providers/others/CameraNativeProvider.ts","../src/providers/others/CameraProjectionMatrixProvider.ts"],"sourcesContent":["import { Attitude, UserPosition } from \"@wemap/geo\";\nimport { Vector16_t, Vector3_t } from \"@wemap/maths\";\n\nexport type Acceleration = Readonly<{ readonly timestamp: number; readonly values: Vector3_t; }>\nexport type AngularRate = Readonly<{ readonly timestamp: number; readonly values: Vector3_t; }>\nexport type HighRotation = Readonly<{ readonly timestamp: number; }>\nexport type MagnetometerNeedCalibration = Readonly<{ readonly angle: number; }>\nexport class RelativeAttitude extends Attitude { }\nexport class AbsoluteAttitude extends Attitude { }\nexport class AbsolutePosition extends UserPosition { }\nexport type Inclination = number;\nexport type Barcode = string;\nexport type Step = { readonly size: number; readonly number: number; }\nexport type Turn = { readonly timestamp: number; }\nexport type StraightLine = boolean;\nexport type CameraProjectionMatrix = Vector16_t;\nexport type CameraNativeState = 'started' | 'stopped';\n\n","const ProvidersOptions = {\n\n    /**\n     * Does provider will use map to\n     */\n    useMapMatching: true,\n\n    /**\n     * Providers listed here will not be used by the system\n     * List of {@link Provider#pname}\n     */\n    ignoreProviders: [] as string[],\n\n    /**\n     * Some providers are not used by default (i.e. PoleStar) because they\n     * require data from an optional external service or because they drain more\n     * battery. They can be added to this list to be used\n     * List of {@link Provider#pname}\n     */\n    optionalProviders: [] as string[],\n\n    stopOnError: true,\n\n    checkAvailabilityOnStart: true,\n\n    get hasPoleStar() {\n        return this.optionalProviders.includes('PoleStar');\n    }\n};\n\nexport default ProvidersOptions;\n","import Logger from '@wemap/logger';\n\ninterface MyObject { getName(): string }\n\nclass ProvidersLoggerOld {\n\n    _enabled = false;\n\n    currentId = 0;\n    objectsIdMap = new WeakMap<MyObject, number>();\n\n    pushEvents: { [key: number]: number } = {};\n    pushEventsRef: { [key: number]: MyObject } = {};\n\n    interval?: number;\n    initDate?: number;\n\n\n    get enabled() {\n        return this._enabled;\n    }\n\n    set enabled(_newVal) {\n        this._enabled = _newVal;\n    }\n\n    initializeInterval() {\n\n        if (this.interval) {\n            return;\n        }\n\n        this.interval = window.setInterval(() => {\n\n            for (const [key, value] of Object.entries(this.pushEvents)) {\n                Logger.debug('Received ' + value + ' notifications from '\n                    + this.pushEventsRef[Number(key)].getName() + ' last second');\n            }\n\n            this.pushEvents = {};\n            this.pushEventsRef = {};\n        }, 1000);\n    }\n\n    getObjectId(object: MyObject) {\n        if (!this.objectsIdMap.has(object)) {\n            this.objectsIdMap.set(object, ++this.currentId);\n        }\n        return this.objectsIdMap.get(object) as number;\n    }\n\n    addEvent(object: MyObject, method: string) {\n\n        if (!this.enabled) {\n            return;\n        }\n\n        if (!this.initDate) {\n            this.initDate = Date.now();\n        }\n\n        this.initializeInterval();\n\n        const objectId = this.getObjectId(object);\n        const objectClassName = object.getName();\n\n        Logger.debug(objectClassName + '[' + objectId + '].' + method);\n    }\n\n    incrementNotifications(object: MyObject) {\n\n        if (!this.enabled) {\n            return;\n        }\n\n        const objectId = this.getObjectId(object);\n\n        let counter = this.pushEvents[objectId];\n        if (!counter) {\n            counter = 0;\n            this.pushEventsRef[objectId] = object;\n        }\n        this.pushEvents[objectId] = counter + 1;\n    }\n\n}\nexport default new ProvidersLoggerOld();\n","class ContainsIgnoredProviderError extends Error {\n\n    static DEFAULT_MESSAGE = 'Contains ignored provider';\n\n    constructor(message?: string) {\n        super(message || ContainsIgnoredProviderError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default ContainsIgnoredProviderError;\n","import ProvidersLoggerOld from '../events/ProvidersLoggerOld.js';\nimport ContainsIgnoredProviderError from '../errors/ContainsIgnoredProviderError.js';\nimport ProvidersOptions from '../ProvidersOptions.js';\nimport { ProviderState } from './ProviderState.js';\nimport { AvailabilityPromise } from '../events/AvailabilityHelper.js';\nimport { NativeCallbackInterface, NativeInterface } from './NativeProviders.js';\n\ndeclare global {\n    interface Window {\n        __nativeProviders?: NativeInterface;\n        __nativeJsProviders?: NativeCallbackInterface;\n    }\n}\n\n/**\n * A provider is a meta class to define an entity which can be\n * started / stopped and provides a data of <E>\n */\nabstract class Provider<E> {\n\n    static _callbackUniqueId = 0;\n    static _uniqueId = 1;\n\n    id: number;\n    state: ProviderState = 'stopped';\n\n    _lastEvent: E | null = null;\n\n    _eventsCallbacks: {\n        id: number,\n        onEvent: ((event: E) => void) | null,\n        onError: ((error: Error) => void) | null,\n        optional: boolean\n    }[] = [];\n\n    _monitoringCallbacks: {\n        id: number,\n        onStarted: (() => void) | null,\n        onStopped: (() => void) | null\n    }[] = [];\n\n    /**\n     * Provider constructor\n     */\n    constructor() {\n        this.id = Provider._uniqueId++;\n        ProvidersLoggerOld.addEvent(this, 'constructor');\n    }\n\n    /**\n     * Get the provider name\n     */\n    abstract getName(): string;\n\n\n    /**\n     * Resolve with an error if the provider is not available\n     */\n    getAvailability() {\n        if (ProvidersOptions.ignoreProviders.includes(this.getName())) {\n            return Promise.resolve(new ContainsIgnoredProviderError());\n        }\n\n        return this.availability();\n    }\n\n    protected abstract availability(): AvailabilityPromise;\n\n\n    protected get hasNativeInterface() {\n        return Boolean(this.nativeInterface);\n    }\n\n    protected get nativeInterface() {\n        return typeof window !== 'undefined' && window.__nativeProviders as NativeInterface || null;\n    }\n\n    protected get nativeJsInterface(): NativeCallbackInterface | null {\n        if (typeof window === 'undefined') {\n            return null;\n        }\n        if (!window.__nativeJsProviders) {\n            window.__nativeJsProviders = {};\n        }\n        return window.__nativeJsProviders;\n    }\n\n\n    get useCameraNatively() {\n        return false;\n    }\n\n\n    addEventListener(\n        onEvent: ((events: E) => void) | null = null,\n        onError: ((error: Error) => void) | null = null,\n        startIfNecessary = true\n    ) {\n        const id = ++Provider._callbackUniqueId;\n\n        /**\n         * Build callback\n         */\n        this._eventsCallbacks.push({\n            id,\n            onEvent: onEvent || (() => { /* do nothing */ }),\n            onError: onError || (() => { /* do nothing */ }),\n            optional: !startIfNecessary\n        });\n\n\n        // The caller just want to have callbacks without starting the provider,\n        // the routine can be stopped here\n        if (!startIfNecessary) {\n            return id;\n        }\n\n\n        // If the provider is already started do not go further\n        if (this.state !== 'stopped') {\n            return id;\n        }\n        this.state = 'starting';\n\n        // Check availability on start if defined in options\n        let availabilityPromise: AvailabilityPromise = Promise.resolve();\n        if (ProvidersOptions.checkAvailabilityOnStart) {\n            availabilityPromise = this.getAvailability();\n        }\n\n        (async () => {\n            const error = await availabilityPromise;\n            if (error) {\n                this.state = 'stopped';\n                this.notifyError(error);\n                return;\n            }\n\n            ProvidersLoggerOld.addEvent(this, 'start');\n\n            // Call the child start function\n            this.start();\n\n            this.state = 'started';\n\n            this._monitoringCallbacks.forEach(cb => cb.onStarted?.());\n        })();\n\n        return id;\n    }\n\n    removeEventListener(callbackUniqueId?: number) {\n\n        // Search the caller object in callbacks list\n        const callback = this._eventsCallbacks.find(_callback => _callback.id === callbackUniqueId);\n        if (!callback) {\n            // The callback object is not found. Maybe it is already stopped.\n            return;\n        }\n\n        // Remove the current callback from the list of the callbacks\n        this._eventsCallbacks = this._eventsCallbacks.filter(_callback => _callback !== callback);\n\n        // If this callback was optional, do not go further to stop the provider\n        if (callback.optional) {\n            return;\n        }\n\n        // If there is callbacks that are not optionals for start, do not stop the provider\n        if (this._eventsCallbacks.find(_callback => !_callback.optional)) {\n            return;\n        }\n\n        // If the provider is already stopped, do not stop it again.\n        // This condition can be true if checkAvailabilityOnStart is true and returns an error\n        if (this.state === 'stopped') {\n            return;\n        }\n\n        ProvidersLoggerOld.addEvent(this, 'stop');\n        // Call the child stop function\n        this.stop();\n\n        this.state = 'stopped';\n\n        this._monitoringCallbacks.forEach(cb => cb.onStopped?.());\n    }\n\n\n    addMonitoringListener(onStarted?: (() => void) | null, onStopped?: (() => void) | null) {\n        const id = Provider._callbackUniqueId++;\n        this._monitoringCallbacks.push({\n            id,\n            onStarted: onStarted || null,\n            onStopped: onStopped || null\n        });\n        return id;\n    }\n\n    removeMonitoringListener(callbackUniqueId?: number) {\n        this._monitoringCallbacks = this._monitoringCallbacks.filter(\n            _callback => _callback.id !== callbackUniqueId\n        );\n    }\n\n\n    protected abstract start(): void\n    protected abstract stop(): void\n\n\n    /**\n     * Notify the subscriber defined in {@link addEventListener}\n     */\n    notify = (event: E) => {\n        // Logging\n        ProvidersLoggerOld.incrementNotifications(this);\n\n        // Notify callbacks\n        this._eventsCallbacks.forEach(cb => cb.onEvent?.(event));\n\n        // Keep a trace of the last events.\n        this._lastEvent = event;\n    }\n\n    /**\n     * Notify the subscriber defined in {@link addEventListener}\n     */\n    notifyError = (error: Error) => {\n        this._eventsCallbacks.forEach(({\n            id, onError\n        }) => {\n            if (ProvidersOptions.stopOnError) {\n                this.removeEventListener(id);\n            }\n            onError?.(error);\n        });\n    }\n\n    get lastEvent() {\n        return this._lastEvent;\n    }\n}\n\nexport default Provider;\n","export type AvailabilityPromise = Promise<Error | null | void>;\n\nexport default class AvailabilityHelper {\n\n    static async every(availabilityPromises: AvailabilityPromise[]): AvailabilityPromise {\n        for (const aPr of availabilityPromises) {\n            const error = await aPr;\n            if (error) {\n                return error;\n            }\n        }\n        return null;\n    }\n\n    static async some(availabilityPromises: AvailabilityPromise[]): AvailabilityPromise {\n        let firstError;\n        for (const aPr of availabilityPromises) {\n            const error = await aPr;\n            if (!error) {\n                return null;\n            } else if (!firstError) {\n                firstError = error;\n            }\n        }\n        return firstError || null;\n    }\n\n}\n","class AskImuOnDesktopError extends Error {\n\n    static DEFAULT_MESSAGE = 'It seems that you ask for IMU events on a desktop browser';\n\n    constructor(message?: string) {\n        super(message || AskImuOnDesktopError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default AskImuOnDesktopError;\n","class MissingSensorError extends Error {\n\n    static DEFAULT_MESSAGE = 'Impossible to retrieve events, a sensor is missing';\n\n    constructor(message?: string) {\n        super(message || MissingSensorError.DEFAULT_MESSAGE);\n    }\n\n    from(fromMessage: string) {\n        this.message += ' from ' + fromMessage;\n        return this;\n    }\n}\n\nexport default MissingSensorError;\n","import MissingSensorError from './MissingSensorError.js';\n\nclass MissingMagnetometerError extends MissingSensorError {\n    constructor(message?: string) {\n        super(message);\n    }\n}\n\nexport default MissingMagnetometerError;\n","class GeolocationApiMissingError extends Error {\n\n    static DEFAULT_MESSAGE = 'Geolocation api is missing';\n\n    constructor(message?: string) {\n        super(message || GeolocationApiMissingError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default GeolocationApiMissingError;\n","class GeolocationPermissionDeniedError extends Error {\n\n    static DEFAULT_MESSAGE = 'Geolocation permission denied';\n\n    constructor(message?: string) {\n        super(message || GeolocationPermissionDeniedError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default GeolocationPermissionDeniedError;\n","class GeolocationPositionUnavailableError extends Error {\n\n    static DEFAULT_MESSAGE = 'Geolocation position unavailable';\n\n    constructor(message?: string) {\n        super(message || GeolocationPositionUnavailableError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default GeolocationPositionUnavailableError;\n","const Constants = {\n    DEFAULT_ALTITUDE: 1.6\n};\n\nexport default Constants;\n","import { UserPosition } from '@wemap/geo';\nimport Logger from '@wemap/logger';\nimport { deg2rad } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport GeolocationApiMissingError from '../../../errors/GeolocationApiMissingError.js';\nimport Provider from '../../Provider.js';\nimport GeolocationPermissionDeniedError from '../../../errors/GeolocationPermissionDeniedError.js';\nimport GeolocationPositionUnavailableError from '../../../errors/GeolocationPositionUnavailableError.js';\nimport Constants from '../../Constants.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\n\n\n/**\n * GnssWifiProvider is a provider based on navigator.geolocation.\n * This API does not allow us to know if the position returned is provided\n *  by Wifi Fingerprinting algorithms or by GNSS. That is why the name is\n *  \"GnssWifi\".\n */\nclass GnssWifiProvider extends Provider<AbsolutePosition> {\n\n    static POSITION_OPTIONS = {\n        enableHighAccuracy: true,\n        timeout: Infinity,\n        maximumAge: 0\n    };\n\n    static DEFAULT_DISCARD_POSITIONS_ABOVE = 50;\n\n    discardPositionsAbove = GnssWifiProvider.DEFAULT_DISCARD_POSITIONS_ABOVE;\n\n    geoLocationId?: number;\n\n    getName = () => 'GnssWifi';\n\n\n    availability() {\n        return typeof (navigator) === 'object' && navigator.geolocation\n            ? Promise.resolve()\n            : Promise.resolve(new GeolocationApiMissingError());\n    }\n\n    start() {\n        // Note: added timeout for a workaround on Safari/iOS when user disabled geolocation:\n        //  watchPosition does not send the error callback without the \"setTimeout\"\n        setTimeout(() => {\n            this.geoLocationId = navigator.geolocation.watchPosition(\n                this.onNewPosition,\n                this.onPositionError,\n                GnssWifiProvider.POSITION_OPTIONS\n            );\n        }, 150);\n    }\n\n    stop() {\n        if (typeof this.geoLocationId !== 'undefined') {\n            navigator.geolocation.clearWatch(this.geoLocationId);\n        }\n    }\n\n    private onNewPosition = (geolocation: GeolocationPosition) => {\n\n        const { coords } = geolocation;\n        if (!coords) {\n            return;\n        }\n\n        let bearing;\n        if (coords.heading) {\n            bearing = deg2rad(coords.heading);\n        }\n\n        const timestamp = TimeUtils.unixTimestampToPreciseTime(geolocation.timestamp) / 1e3;\n\n        const position = new UserPosition(\n            coords.latitude,\n            coords.longitude,\n            Constants.DEFAULT_ALTITUDE,\n            null,\n            timestamp,\n            coords.accuracy,\n            bearing);\n\n        if (typeof this.discardPositionsAbove === 'number'\n            && coords.accuracy > this.discardPositionsAbove\n        ) {\n            return;\n        }\n\n        this.notify(position);\n\n    };\n\n    onPositionError = (error: GeolocationPositionError) => {\n\n        Logger.warn(`[Providers] watchPosition error: [${error.code}] ${error.message}`);\n\n        let customError;\n        switch (error.code) {\n            case 1:\n                customError = new GeolocationPermissionDeniedError(error.message);\n                break;\n            case 2:\n                customError = new GeolocationPositionUnavailableError(error.message);\n                break;\n            default:\n                customError = new Error(error.message);\n        }\n\n        this.notifyError(customError);\n    };\n}\n\nexport default new GnssWifiProvider();\n","class MissingArCoreError extends Error {\n\n    static DEFAULT_MESSAGE = 'ARCore is missing';\n\n    constructor(message?: string) {\n        super(message || MissingArCoreError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingArCoreError;\n","class MissingNativeInterfaceError extends Error {\n\n    static DEFAULT_MESSAGE = 'Native interface is missing. You are maybe trying to '\n        + 'execute a code which is not available in a web browser';\n\n    constructor(message?: string) {\n        super(message || MissingNativeInterfaceError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingNativeInterfaceError;\n","import { RelativePosition } from '@wemap/geo';\nimport { deg2rad, Quaternion_t, Vector16_t, Vector3_t } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../Provider.js';\nimport MissingArCoreError from '../../errors/MissingArCoreError.js';\nimport MissingNativeInterfaceError from '../../errors/MissingNativeInterfaceError.js';\nimport { NativeArCore } from '../NativeProviders.js';\nimport { Barcode, CameraProjectionMatrix, RelativeAttitude} from '../../events/Types.js';\n\n\nexport type Payload = [number, ...[number | string]];\n\nexport type ArCoreEvent = Readonly<{\n    readonly relativePosition: RelativePosition,\n    readonly relativeAttitude: RelativeAttitude,\n    readonly cameraProjection?: CameraProjectionMatrix,\n    readonly barcode?: Barcode\n}>;\n\nclass ArCoreProvider extends Provider<ArCoreEvent> {\n\n    static Payload = {\n        Pose: {\n            ref: 2 ** 0,\n            size: 7\n        },\n        Barcode: {\n            ref: 2 ** 1,\n            size: 1\n        },\n        ProjMat: {\n            ref: 2 ** 2,\n            size: 16\n        },\n        ImageRef: {\n            ref: 2 ** 3,\n            size: 1\n        }\n    } as const;\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static RELATIVE_ATTITUDE_DRIFT = deg2rad(3) / 60;\n\n    _nativeProvider?: NativeArCore;\n\n    previousPosition = [0, 0, 0];\n\n    getName = () => 'ArCore';\n\n    availability() {\n        try {\n            const nativeProvider = this.nativeProvider;\n\n            if (!nativeProvider.checkAvailability()) {\n                return Promise.resolve(new MissingArCoreError());\n            }\n\n        } catch (e) {\n            return Promise.resolve(e as Error);\n        }\n\n        return Promise.resolve();\n    }\n\n    start() {\n        this.nativeProvider?.start();\n        this.pullDataLoop();\n    }\n\n    stop() {\n        this.nativeProvider?.stop();\n    }\n\n    pullDataLoop = () => {\n\n        if (this.state === 'stopped') {\n            return;\n        }\n\n        const payload = JSON.parse(this.nativeProvider.getInfo());\n        if (payload.length > 1) {\n            this.parsePayload(payload);\n        }\n        requestAnimationFrame(this.pullDataLoop);\n    }\n\n    parsePayload(payload: Payload) {\n\n        const ref = payload[0];\n        let bufferIndex = 1;\n\n        let attitude: RelativeAttitude,\n            position: RelativePosition,\n            cameraProjection,\n            barcode;\n\n        const time = TimeUtils.preciseTime() / 1e3;\n\n        if (ref & ArCoreProvider.Payload.Pose.ref) {\n\n            attitude = new RelativeAttitude(\n                payload.slice(bufferIndex, bufferIndex + 4) as Quaternion_t,\n                time,\n                ArCoreProvider.RELATIVE_ATTITUDE_DRIFT,\n            );\n\n            const newPosition = [\n                payload[bufferIndex + 4], payload[bufferIndex + 5], payload[bufferIndex + 6]\n            ] as Vector3_t;\n            position = new RelativePosition(\n                newPosition[0] - this.previousPosition[0],\n                newPosition[1] - this.previousPosition[1],\n                newPosition[2] - this.previousPosition[2],\n                time,\n                1e-4\n            );\n            this.previousPosition = newPosition;\n\n            bufferIndex += ArCoreProvider.Payload.Pose.size;\n        }\n\n        if (ref & ArCoreProvider.Payload.Barcode.ref) {\n            barcode = payload[bufferIndex] as Barcode;\n            bufferIndex += ArCoreProvider.Payload.Barcode.size;\n        }\n\n        if (ref & ArCoreProvider.Payload.ProjMat.ref) {\n            cameraProjection = payload.slice(bufferIndex, bufferIndex + ArCoreProvider.Payload.ProjMat.size) as Vector16_t;\n            bufferIndex += ArCoreProvider.Payload.ProjMat.size;\n        }\n\n        this.notify({\n            relativePosition: position!,\n            relativeAttitude: attitude!,\n            ...(barcode && { barcode }),\n            ...(cameraProjection && { cameraProjection })\n\n        })\n    }\n\n\n    get nativeProvider() {\n\n        if (!this._nativeProvider) {\n\n            if (!this.nativeInterface) {\n                throw new MissingNativeInterfaceError();\n            }\n\n            this._nativeProvider = this.nativeInterface.getArCoreProvider();\n            if (!this._nativeProvider) {\n                throw new MissingArCoreError();\n            }\n        }\n\n        return this._nativeProvider;\n    }\n\n\n    enableBarcodeScanner() {\n        try {\n            this.nativeProvider.enableBarcodeScanner();\n        } catch (e) {\n            this.notifyError(e as Error);\n        }\n    }\n\n    disableBarcodeScanner() {\n        try {\n            this.nativeProvider.disableBarcodeScanner();\n        } catch (e) {\n            this.notifyError(e as Error);\n        }\n    }\n\n    get useCameraNatively() {\n        return true;\n    }\n}\n\nexport default new ArCoreProvider();\n","import { GeoRelativePosition, RelativePosition } from '@wemap/geo';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport AbsoluteAttitudeProvider from '../../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport ArCoreProvider, { ArCoreEvent } from '../../vision/ArCoreProvider.js';\nimport { AbsoluteAttitude, RelativeAttitude } from '../../../events/Types.js';\n\nclass GeoRelativePositionFromArCoreProvider extends Provider<GeoRelativePosition> {\n\n    absoluteAttitudeProviderId?: number;\n    arCoreProviderId?: number;\n    absoluteAttitudeEvent?: AbsoluteAttitude;\n\n    getName = () => 'GeoRelativePositionFromArCore';\n\n    availability() {\n        return AvailabilityHelper.every([\n            ArCoreProvider.getAvailability(),\n            AbsoluteAttitudeProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        this.arCoreProviderId = ArCoreProvider.addEventListener(\n            this.onArCoreEvents,\n            this.notifyError\n        );\n\n        this.absoluteAttitudeProviderId = AbsoluteAttitudeProvider.addEventListener(\n            event => this.absoluteAttitudeEvent = event,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        ArCoreProvider.removeEventListener(this.arCoreProviderId);\n        AbsoluteAttitudeProvider.removeEventListener(this.absoluteAttitudeProviderId);\n    }\n\n    onArCoreEvents = (event: ArCoreEvent) => {\n        const relativeAttitudeEvent = event.relativeAttitude;\n        const relativePositionEvent = event.relativePosition;\n\n        if (relativeAttitudeEvent && relativePositionEvent && this.absoluteAttitudeEvent) {\n            this.compute(relativePositionEvent, relativeAttitudeEvent, this.absoluteAttitudeEvent);\n        }\n    }\n\n    compute(\n        relativePosition: RelativePosition,\n        relativeAttitude: RelativeAttitude,\n        absoluteAttitude: AbsoluteAttitude\n    ) {\n\n        const rotation = absoluteAttitude.heading - relativeAttitude.heading;\n\n        /**\n         * Here, we transform \"relativePosition\" which is defined in ArCore frame to a relative \"position\" defined in ENU frame\n         */\n        const east = Math.cos(rotation) * relativePosition.x - Math.sin(rotation) * relativePosition.z;\n        const north = -Math.sin(rotation) * relativePosition.x - Math.cos(rotation) * relativePosition.z;\n        const up = relativePosition.y;\n\n        /**\n         * Relative position is defined in ENU frame\n         */\n        const position = new GeoRelativePosition(\n            east,\n            north,\n            up,\n            relativePosition.time,\n            0,\n            absoluteAttitude.heading\n        );\n\n        this.notify(position);\n    }\n}\n\nexport default new GeoRelativePositionFromArCoreProvider();\n","import { Matrix_t } from '@wemap/maths';\nimport {\n    Matrix, Matrix3, Matrix3_t, Matrix4, Matrix4_t,\n    Quaternion, Quaternion_t, Vector, Vector3, Vector3_t,\n    Vector4_t\n} from '@wemap/maths';\n\ntype RelativeNoises = { acc: number, gyr: number };\ntype AbsoluteNoises = { acc: number, gyr: number, yc: number };\n\ntype RelativeNoisesMat = { acc: Matrix3_t, gyr: Matrix3_t };\ntype AbsoluteNoisesMat = { acc: Matrix3_t, gyr: Matrix3_t, yc: Matrix3_t };\n\nconst DEFAULT_RELATIVE_NOISES = {\n    acc: 0.5,\n    gyr: 0.3\n};\n\nconst DEFAULT_ABSOLUTE_NOISES = {\n    acc: 0.5,\n    gyr: 0.3,\n    yc: 2\n};\n\nclass EkfAttitude {\n    P: Matrix4_t;\n    accRef: Vector3_t;\n    cRef: Vector3_t;\n    noises!: { relative: RelativeNoisesMat, absolute: AbsoluteNoisesMat };\n    quaternion: Quaternion_t | null;\n\n    constructor(accRef: Vector3_t = [0, 0, 1], ycRef: Vector3_t = [-1, 0, 0]) {\n\n        this.accRef = accRef;\n        this.cRef = ycRef;\n\n        this.P = Matrix4.fromDiagVector(Array(4).fill(0.1 ** 2) as Vector4_t);\n\n        this.quaternion = null;\n        \n        this.noises = {} as never;\n        this.setRelativeNoises(DEFAULT_RELATIVE_NOISES);\n        this.setAbsoluteNoises(DEFAULT_ABSOLUTE_NOISES);\n    }\n\n    setRelativeNoises(relativeNoises: RelativeNoises) {\n        this.noises.relative = {\n            acc: Matrix3.diag(Array(3).fill(relativeNoises.acc ** 2) as Vector3_t),\n            gyr: Matrix3.diag(Array(3).fill(relativeNoises.gyr ** 2) as Vector3_t)\n        };\n    }\n\n\n    setAbsoluteNoises(absoluteNoises: AbsoluteNoises) {\n        this.noises.absolute = {\n            acc: Matrix3.diag(Array(3).fill(absoluteNoises.acc ** 2) as Vector3_t),\n            gyr: Matrix3.diag(Array(3).fill(absoluteNoises.gyr ** 2) as Vector3_t),\n            yc: Matrix3.diag(Array(3).fill(absoluteNoises.yc ** 2) as Vector3_t)\n        };\n    }\n\n    /**\n     * Try to initialize filter.\n     * To initialize, we need at least current acceleration (acc)\n     */\n    tryInitialize(acc: Vector3_t, mag?: Vector3_t) {\n\n        const accNormalized = Vector3.normalize(acc);\n\n        if (mag) {\n            const magNormalized = Vector3.normalize(mag);\n\n            const H = Vector3.normalize(Vector3.cross(magNormalized, accNormalized));\n            const M = Vector3.cross(accNormalized, H);\n\n            const R: Matrix3_t = [\n                [H[0], M[0], accNormalized[0]],\n                [H[1], M[1], accNormalized[1]],\n                [H[2], M[2], accNormalized[2]]\n            ];\n\n            this.quaternion = Quaternion.fromMatrix3Matlab(R);\n\n        } else {\n\n            const r = Vector3.dot(accNormalized, this.accRef) + 1;\n            const v = Vector3.cross(accNormalized, this.accRef);\n\n            let quaternion: Quaternion_t = [r, v[0], v[1], v[2]];\n            quaternion = Quaternion.normalize(quaternion);\n\n            this.quaternion = quaternion;\n        }\n\n        return this.quaternion;\n    }\n\n    update(diffTime: number, acc: Vector3_t, gyr: Vector3_t, mag?: Vector3_t) {\n\n        if (!this.quaternion) {\n            return this.tryInitialize(acc, mag);\n        }\n\n        let q = this.quaternion;\n\n        /* ------------\n         *   ESTIMATION\n         * ------------*/\n\n        const qArray = q;\n        const gyrInt = Vector3.multiplyScalar(gyr, 0.5 * diffTime);\n        const F = this.computeC([1, gyrInt[0], gyrInt[1], gyrInt[2]]);\n        const qAPriori = Matrix4.multiplyVector(F, q);\n        const E1 = Matrix3.diag([qArray[0], qArray[0], qArray[0]]);\n        const eSkew = Matrix3.skew([qArray[1], qArray[2], qArray[3]]);\n\n        const qPart = [-1 * qArray[1], -1 * qArray[2], -1 * qArray[3]];\n        const E = Matrix.concatRow([qPart], Matrix3.sum(eSkew, E1));\n\n        const Qk = Matrix4.multiplyScalar(\n            Matrix.multiply(\n                Matrix.multiply(E, this.noises[mag ? 'absolute' : 'relative'].gyr),\n                Matrix.transpose(E)\n            ) as Matrix4_t,\n            (diffTime / 2) ** 2\n        );\n\n        const pAPriori = Matrix4.sum(\n            Matrix4.multiply(\n                Matrix4.multiply(F, this.P),\n                Matrix4.transpose(F)\n            ),\n            Qk\n        );\n\n        /* ------------\n         *   CORRECTION\n         * ------------*/\n\n        const accNormalized = Vector3.normalize(acc);\n        let dz, K: Matrix_t, H;\n\n        if (mag) {\n\n            const magNormalized = Vector3.normalize(mag);\n            const yc = Vector3.cross(accNormalized, magNormalized);\n            const ycNormalized = Vector3.normalize(yc);\n\n            const dzYc = Vector3.subtract(ycNormalized, Quaternion.rotateMatlab(qAPriori, this.cRef));\n            const dzAcc = Vector3.subtract(accNormalized, Quaternion.rotateMatlab(qAPriori, this.accRef));\n            dz = Vector.concat(dzYc, dzAcc);\n\n            const HYc = this.jacobianES(qAPriori, this.cRef);\n            const HAcc = this.jacobianES(qAPriori, this.accRef);\n            H = Matrix.concatRow(HYc, HAcc);\n\n            const RYc = Matrix.concatLine(this.noises.absolute.yc, Matrix3.zeros);\n            const RAcc = Matrix.concatLine(Matrix3.zeros, this.noises.absolute.acc);\n            const R = Matrix.concatRow(RYc, RAcc);\n\n            K = Matrix.multiply(\n                Matrix.multiply(pAPriori, Matrix.transpose(H)),\n                Matrix.inverse(\n                    Matrix.sum(\n                        Matrix.multiply(\n                            Matrix.multiply(H, pAPriori),\n                            Matrix.transpose(H)\n                        ),\n                        R\n                    )\n                ) as Matrix_t\n            );\n        } else {\n            dz = Vector3.subtract(accNormalized, Quaternion.rotateMatlab(qAPriori, this.accRef));\n            H = this.jacobianES(qAPriori, this.accRef);\n            const R = this.noises.relative.acc;\n\n            K = Matrix.multiply(\n                Matrix.multiply(pAPriori, Matrix.transpose(H)),\n                Matrix3.inverse(\n                    Matrix3.sum(\n                        Matrix.multiply(\n                            Matrix.multiply(H, pAPriori),\n                            Matrix.transpose(H)\n                        ) as Matrix3_t,\n                        R\n                    )\n                ) as Matrix_t\n            );\n        }\n\n        q = Quaternion.sum(\n            qAPriori,\n            Matrix.multiplyVector(K, dz) as Quaternion_t\n        );\n        const P = Matrix4.multiply(\n            Matrix4.subtract(\n                Matrix4.identity,\n                Matrix.multiply(K, H) as Matrix4_t\n            ),\n            pAPriori\n        );\n\n        q = Quaternion.normalize(q);\n        this.quaternion = q;\n        this.P = P;\n\n        return q;\n    }\n\n    computeC(b: Vector4_t): Matrix4_t {\n        return [\n            [b[0], -b[1], -b[2], -b[3]],\n            [b[1], b[0], b[3], -b[2]],\n            [b[2], -b[3], b[0], b[1]],\n            [b[3], b[2], -b[1], b[0]]\n        ];\n    }\n\n    jacobianES(q: Quaternion_t, v: Vector3_t) {\n\n        const [qw, qx, qy, qz] = q;\n        const [vx, vy, vz] = v;\n\n        return [\n            [2 * qz * vy - 2 * qy * vz, 2 * qy * vy + 2 * qz * vz, 2 * qx * vy - 2 * qw * vz - 4 * qy * vx, 2 * qw * vy + 2 * qx * vz - 4 * qz * vx],\n            [2 * qx * vz - 2 * qz * vx, 2 * qw * vz - 4 * qx * vy + 2 * qy * vx, 2 * qx * vx + 2 * qz * vz, 2 * qy * vz - 2 * qw * vx - 4 * qz * vy],\n            [2 * qy * vx - 2 * qx * vy, 2 * qz * vx - 4 * qx * vz - 2 * qw * vy, 2 * qw * vx - 4 * qy * vz + 2 * qz * vy, 2 * qx * vx + 2 * qy * vy]\n        ];\n    }\n}\n\nexport default EkfAttitude;\n","import { deg2rad, Vector3_t } from '@wemap/maths';\nimport { Browser, BrowserUtils } from '@wemap/utils';\n\nimport Provider from '../Provider.js';\nimport AskImuOnDesktopError from '../../errors/AskImuOnDesktopError.js';\nimport { Acceleration, AngularRate } from '../../events/Types.js';\n\n// https://stackoverflow.com/a/73369838/2239938\ninterface DeviceMotionEventiOS extends DeviceMotionEvent {\n    requestPermission?: () => Promise<'granted' | 'denied'>;\n}\n\n/**\n * Imu (Inertial Measurement Unit) provider retrieve acceleration data\n *  and/or angular rate data from inertial sensors.\n *\n * -----------------------------------\n * Overview of compatibilities:\n * -----------------------------------\n *\n * Chrome Android (v72.0.3626): YES (via devicemotion)\n * Safari iOS (v12.0): YES (via devicemotion)\n * Opera Android (v50.2.2426): NO {@link https://developer.mozilla.org/en-US/docs/Web/API/DeviceMotionEvent}\n * Firefox Android (v65.0.1): YES (via devicemotion)\n *\n * -----------------------------------\n */\n\ntype ImuEvent = { readonly acceleration?: Acceleration, readonly angularRate?: AngularRate };\nclass ImuProvider extends Provider<ImuEvent> {\n\n    getName = () => 'IMU';\n\n    availability() {\n        return BrowserUtils.isMobile\n            ? Promise.resolve()\n            : Promise.resolve(new AskImuOnDesktopError());\n    }\n\n    start() {\n        const subscribe = () => window.addEventListener('devicemotion', this.parseDeviceMotionEvent, true);\n\n        const requestPermission = (DeviceMotionEvent as unknown as DeviceMotionEventiOS).requestPermission || undefined;\n\n        if (requestPermission) {\n            requestPermission()\n                .then(response => {\n                    if (response !== 'granted') {\n                        throw new Error('Permission not granted');\n                    }\n                    subscribe();\n                })\n                .catch(this.notifyError);\n        } else {\n            subscribe();\n        }\n    }\n\n    stop() {\n        window.removeEventListener('devicemotion', this.parseDeviceMotionEvent, true);\n    }\n\n    /**\n     * devicemotion callback\n     */\n    private parseDeviceMotionEvent = (e: DeviceMotionEvent) => {\n\n        const timestamp = e.timeStamp / 1e3;\n\n        let acc: Vector3_t | undefined;\n        if (e.accelerationIncludingGravity) {\n            const {\n                x, y, z\n            } = e.accelerationIncludingGravity;\n\n            if (typeof x === 'number' && typeof y === 'number' && typeof z === 'number') {\n                acc = [x, y, z];\n\n                if (BrowserUtils.getName() === Browser.SAFARI\n                    || BrowserUtils.getName() === Browser.IOS_WEBVIEW) {\n                    acc[0] *= -1;\n                    acc[1] *= -1;\n                    acc[2] *= -1;\n                }\n            }\n        }\n\n        let gyr: [number, number, number] | undefined;\n        if (e.rotationRate) {\n            const {\n                alpha, beta, gamma\n            } = e.rotationRate;\n\n            if (typeof alpha === 'number' && typeof beta === 'number' && typeof gamma === 'number') {\n                gyr = [deg2rad(alpha), deg2rad(beta), deg2rad(gamma)];\n            }\n        }\n\n\n        if (acc || gyr) {\n            this.notify({\n                ...(acc && { acceleration: { timestamp, values: acc } }),\n                ...(gyr && { angularRate: { timestamp, values: gyr } })\n            });\n        }\n    }\n\n}\n\nexport default new ImuProvider();\n","import MissingSensorError from './MissingSensorError.js';\nclass MissingAccelerometerError extends MissingSensorError {\n\n    static DEFAULT_MESSAGE = 'Impossible to retrieve Acceleration data';\n\n    constructor(message?: string) {\n        super(message || MissingAccelerometerError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingAccelerometerError;\n","import Provider from '../Provider.js';\nimport ImuProvider from './ImuProvider.js';\nimport MissingAccelerometerError from '../../errors/MissingAccelerometerError.js';\nimport { Acceleration } from '../../events/Types.js';\n\nclass AccelerometerProvider extends Provider<Acceleration> {\n\n    private imuProviderId?: number;\n\n    getName = () => 'Accelerometer';\n\n    availability = () => ImuProvider.getAvailability();\n\n    start() {\n        this.imuProviderId = ImuProvider.addEventListener(event => {\n            event.acceleration\n                ? this.notify(event.acceleration)\n                : this.notifyError(new MissingAccelerometerError().from('devicemotion'));\n\n        }, this.notifyError);\n    }\n\n    stop() {\n        ImuProvider.removeEventListener(this.imuProviderId);\n    }\n}\n\nexport default new AccelerometerProvider();\n","import MissingSensorError from './MissingSensorError.js';\nclass MissingGyroscopeError extends MissingSensorError {\n\n    static DEFAULT_MESSAGE = 'Impossible to retrieve Angular Rate data';\n\n    constructor(message?: string) {\n        super(message || MissingSensorError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingGyroscopeError;\n","import Provider from '../Provider.js';\nimport ImuProvider from './ImuProvider.js';\nimport MissingGyroscopeError from '../../errors/MissingGyroscopeError.js';\nimport { AngularRate } from '../../events/Types.js';\n\nclass GyroscopeProvider extends Provider<AngularRate> {\n\n    private imuProviderId?: number;\n\n    getName = () => 'Gyroscope';\n\n    availability = () => ImuProvider.getAvailability();\n\n    start() {\n        this.imuProviderId = ImuProvider.addEventListener(event => {\n            event.angularRate\n                ? this.notify(event.angularRate)\n                : this.notifyError(new MissingGyroscopeError().from('devicemotion'));\n        }, this.notifyError);\n    }\n\n    stop() {\n        ImuProvider.removeEventListener(this.imuProviderId);\n    }\n}\n\nexport default new GyroscopeProvider();\n","import { deg2rad, Vector3_t } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport EkfAttitude from '../EkfAttitude.js';\nimport Accelerometer from '../../imu/AccelerometerProvider.js';\nimport Gyroscope from '../../imu/GyroscopeProvider.js';\nimport { Acceleration, AngularRate, RelativeAttitude } from '../../../events/Types.js';\n\n/**\n * Relative attitude provider gives the device attitude in East-North-Up (ENU) frame using\n *  browser deviceorientation\n * The provider does not work until an offset is given.\n */\nclass RelativeAttitudeFromEkf extends Provider<RelativeAttitude> {\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static DEFAULT_DRIFT = deg2rad(5) / 60;\n\n    accelerometerProviderId?: number;\n    ekfAttitude = new EkfAttitude();\n    gyroscopeEvent?: AngularRate;\n    gyroscopeProviderId?: number;\n\n    lastTimestamp = 0;\n\n    getName = () => 'RelativeAttitudeFromEkf';\n\n    availability() {\n        return AvailabilityHelper.every([\n            Accelerometer.getAvailability(),\n            Gyroscope.getAvailability()\n        ]);\n    }\n\n    start() {\n        this.accelerometerProviderId = Accelerometer.addEventListener(\n            event => this.onAccelerometerEvent(event),\n            error => this.notifyError(error)\n        );\n\n        this.gyroscopeProviderId = Gyroscope.addEventListener(\n            event => this.gyroscopeEvent = event,\n            error => this.notifyError(error)\n        );\n    }\n\n    stop() {\n        Accelerometer.removeEventListener(this.accelerometerProviderId);\n        Gyroscope.removeEventListener(this.gyroscopeProviderId);\n    }\n\n    private onAccelerometerEvent = (accelerationEvent: Acceleration) => {\n\n        if (!this.gyroscopeEvent) {\n            return;\n        }\n\n        const {\n            values: acceleration, timestamp\n        } = accelerationEvent;\n\n        // Handle timestamps and dt\n        if (this.lastTimestamp === 0) {\n            this.lastTimestamp = timestamp;\n            return;\n        }\n        const diffTime = timestamp - this.lastTimestamp;\n        this.lastTimestamp = timestamp;\n\n        const quaternion = this.ekfAttitude.update(\n            diffTime,\n            acceleration as Vector3_t,\n            this.gyroscopeEvent.values as Vector3_t\n        );\n\n        if (quaternion) {\n            const attitude = new RelativeAttitude(quaternion,\n                timestamp,\n                RelativeAttitudeFromEkf.DEFAULT_DRIFT\n            );\n            this.notify(attitude);\n        }\n    };\n}\n\nexport default new RelativeAttitudeFromEkf();\n","import { deg2rad, Rotations } from '@wemap/maths';\nimport { BrowserUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport AskImuOnDesktopError from '../../../errors/AskImuOnDesktopError.js';\nimport MissingSensorError from '../../../errors/MissingSensorError.js';\nimport { RelativeAttitude } from '../../../events/Types.js';\n\n// https://stackoverflow.com/a/73369838/2239938\ninterface DeviceOrientationEventiOS extends DeviceOrientationEvent {\n    requestPermission?: () => Promise<'granted' | 'denied'>;\n}\n\n/**\n * Relative attitude provider gives the device attitude in a custom frame (x-right, y-front, z-up) using\n *  browser deviceorientation\n *\n * -----------------------------------\n * Overview of compatibilities:\n * -----------------------------------\n *\n * Chrome Android (v72.0.3626): YES (via deviceorientation but deviceorientation.alpha is unreliable! Sometimes it starts at 0°, sometimes at 270°)\n * Safari iOS (v12.0): YES (via deviceorientation)\n * Opera Android (v50.2.2426): NO {@link https://developer.mozilla.org/en-US/docs/Web/API/Window/ondeviceorientation}\n * Firefox Android (v65.0.1): YES (via deviceorientation)\n *\n * -----------------------------------\n */\n\nclass RelativeAttitudeFromBrowser extends Provider<RelativeAttitude> {\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static DEFAULT_DRIFT = deg2rad(5) / 60;\n\n    getName = () => 'RelativeAttitudeFromBrowser';\n\n    availability() {\n        return BrowserUtils.isMobile\n            ? Promise.resolve()\n            : Promise.resolve(new AskImuOnDesktopError());\n    }\n\n    start() {\n        const subscribe = () => window.addEventListener('deviceorientation', this.onDeviceOrientationEvent, true);\n\n        const requestPermission = (DeviceOrientationEvent as unknown as DeviceOrientationEventiOS).requestPermission || undefined;\n\n        if (requestPermission) {\n            requestPermission()\n                .then(response => {\n                    if (response !== 'granted') {\n                        throw new Error('Permission not granted');\n                    }\n                    subscribe();\n                })\n                .catch(error => this.notifyError(error));\n        } else {\n            subscribe();\n        }\n    }\n\n    stop() {\n        window.removeEventListener('deviceorientation', this.onDeviceOrientationEvent, true);\n    }\n\n    onDeviceOrientationEvent = (e: DeviceOrientationEvent) => {\n\n        if (typeof e.alpha !== 'number' || typeof e.beta !== 'number' || typeof e.gamma !== 'number') {\n            this.notifyError(new MissingSensorError().from('deviceorientation'));\n            return;\n        }\n\n        const quaternion = Rotations.eulerToQuaternionZXYDegrees([e.alpha, e.beta, e.gamma]);\n        const attitude = new RelativeAttitude(quaternion,\n            e.timeStamp / 1e3,\n            RelativeAttitudeFromBrowser.DEFAULT_DRIFT\n        );\n        this.notify(attitude);\n    };\n}\n\nexport default new RelativeAttitudeFromBrowser();\n","import { Vector3, Vector3_t } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport GyroscopeProvider from './GyroscopeProvider.js';\nimport { AngularRate, HighRotation } from '../../events/Types.js';\n\nclass HighRotationsProvider extends Provider<HighRotation> {\n\n    static THRESHOLD = 10; // in radians by second\n    static DELAY_CONSIDERATION = 3; // in seconds\n\n    gyroscopeProviderId?: number;\n\n    getName = () => 'HighRotationsProvider';\n\n    availability = () => GyroscopeProvider.getAvailability();\n\n    start() {\n        this.gyroscopeProviderId = GyroscopeProvider.addEventListener(\n            this._parseGyroscopeEvent,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        GyroscopeProvider.removeEventListener(this.gyroscopeProviderId);\n    }\n\n    isInProgress() {\n        if (!this.lastEvent || !GyroscopeProvider.lastEvent) {\n            return false;\n        }\n\n        const diffTime = GyroscopeProvider.lastEvent.timestamp - this.lastEvent.timestamp;\n        return diffTime < HighRotationsProvider.DELAY_CONSIDERATION;\n    }\n\n    private _parseGyroscopeEvent = (gyroscopeEvent: AngularRate) => {\n\n        const { values, timestamp } = gyroscopeEvent;\n        const speed = Vector3.norm(values as Vector3_t);\n        if (speed > HighRotationsProvider.THRESHOLD) {\n            this.notify({ timestamp });\n        }\n\n    }\n}\n\nexport default new HighRotationsProvider();\n","import { deg2rad } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport RelativeAttitudeFromEkfProvider from './RelativeAttitudeFromEkfProvider.js';\nimport RelativeAttitudeFromBrowserProvider from './RelativeAttitudeFromBrowserProvider.js';\nimport HighRotationsProvider from '../../imu/HighRotationsProvider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport { RelativeAttitude } from '../../../events/Types.js';\n\n\nclass RelativeAttitudeFromInertial extends Provider<RelativeAttitude> {\n\n    /**\n     * default relative attitude drift in rad.second-1\n     */\n    static DEFAULT_DRIFT = deg2rad(5) / 60;\n\n    _highRotationsProviderId?: number;\n    listenerId?: number;\n    provider?: Provider<RelativeAttitude>;\n\n    getName = () => 'RelativeAttitudeFromInertial';\n\n    availability() {\n        return AvailabilityHelper.some([\n            RelativeAttitudeFromEkfProvider.getAvailability(),\n            RelativeAttitudeFromBrowserProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        RelativeAttitudeFromEkfProvider.getAvailability().then(availabilityError => {\n            this.provider = !availabilityError ? RelativeAttitudeFromEkfProvider : RelativeAttitudeFromBrowserProvider;\n\n            this.listenerId = this.provider.addEventListener(\n                event => this._parseEvent(event),\n                this.notifyError\n            );\n            this._highRotationsProviderId = HighRotationsProvider.addEventListener(\n                null,\n                this.notifyError\n            );\n        });\n    }\n\n    _parseEvent(event: RelativeAttitude) {\n        const relativeAttitude = event.clone();\n        if (HighRotationsProvider.isInProgress()) {\n            let accuracy = (relativeAttitude.accuracy || 0) + (RelativeAttitudeFromInertial.DEFAULT_DRIFT * 100);\n            accuracy = Math.min(accuracy, Math.PI);\n            relativeAttitude.accuracy = accuracy;\n        }\n        this.notify(relativeAttitude);\n    }\n\n    stop() {\n        if (this.provider) {\n            this.provider.removeEventListener(this.listenerId);\n            delete this.provider;\n        }\n        HighRotationsProvider.removeEventListener(this._highRotationsProviderId);\n    }\n}\n\nexport default new RelativeAttitudeFromInertial();\n","import { Vector3_t } from \"@wemap/maths\";\n\nclass StepDetectionLadetto {\n\n    \n    static MIN_TIME_BETWEEN_STEPS = 0.4; // in seconds\n\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 1; // in m.s-2\n\n\n    frequency = 0;\n\n    lastVerticalAcc = 0;\n    maxAcceleration = 0;\n    lastStepTimestamp = -StepDetectionLadetto.MIN_TIME_BETWEEN_STEPS;\n\n    compute(timestamp: number, linearAcc: Vector3_t) {\n\n        let stepDetected = false;\n\n        const verticalAcc = linearAcc[2];\n        const timeInterval = timestamp - this.lastStepTimestamp;\n\n        const upfront = verticalAcc > this.lastVerticalAcc;\n\n        if (upfront) {\n            if (verticalAcc > this.maxAcceleration) {\n                this.maxAcceleration = verticalAcc;\n            }\n        } else if (this.maxAcceleration > StepDetectionLadetto.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD\n            && timeInterval > StepDetectionLadetto.MIN_TIME_BETWEEN_STEPS) {\n            this.maxAcceleration = 0;\n\n            const diffTime = timestamp - this.lastStepTimestamp;\n            this.frequency = Math.min(Math.max((1 / diffTime), StepDetectionLadetto.MIN_FRENQUENCY), StepDetectionLadetto.MAX_FRENQUENCY);\n\n            stepDetected = true;\n            this.lastStepTimestamp = timestamp;\n        } else {\n            this.maxAcceleration = 0;\n        }\n\n        this.lastVerticalAcc = verticalAcc;\n\n        return stepDetected;\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepTimestamp ? this.lastStepSize * this.frequency : 0;\n    }\n}\n\nexport default StepDetectionLadetto;\n","import { Vector3_t } from \"@wemap/maths\";\n\n\nclass StepDetectionMinMaxPeaks {\n\n    static WINDOW_TIME = 0.3; // in seconds\n    static MIN_TIME_BETWEEN_STEPS = 0.4; // in seconds\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 1.5; // in m.s-2\n    static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD = -1; // in m.s-2\n\n    frequency = 0;\n    lastStepTimestamp = -StepDetectionMinMaxPeaks.MIN_TIME_BETWEEN_STEPS;\n    slidingWindow: { timestamp: number, verticalAcc: number }[] = [];\n\n    compute(timestamp: number, linearAcc: Vector3_t) {\n\n        if (this.lastStepTimestamp && this.lastStepTimestamp + StepDetectionMinMaxPeaks.MIN_TIME_BETWEEN_STEPS > timestamp) {\n            return false;\n        }\n\n        let maxValue = Number.MIN_SAFE_INTEGER;\n        let minValue = Number.MAX_SAFE_INTEGER;\n\n        const windowTime = StepDetectionMinMaxPeaks.WINDOW_TIME;\n        this.slidingWindow.forEach((item, index, object) => {\n            if (item.timestamp < timestamp - windowTime) {\n                object.splice(index, 1);\n            } else {\n                maxValue = Math.max(item.verticalAcc, maxValue);\n                minValue = Math.min(item.verticalAcc, minValue);\n            }\n        });\n        this.slidingWindow.push({\n            timestamp: timestamp,\n            verticalAcc: linearAcc[2]\n        });\n\n\n        if (maxValue > StepDetectionMinMaxPeaks.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD\n            && minValue < StepDetectionMinMaxPeaks.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {\n\n            const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;\n            this.frequency = Math.min(Math.max((1 / timeInterval), StepDetectionMinMaxPeaks.MIN_FRENQUENCY), StepDetectionMinMaxPeaks.MAX_FRENQUENCY);\n\n            this.lastStepTimestamp = timestamp;\n            return true;\n        }\n\n        return false;\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepTimestamp ? this.lastStepSize * this.frequency : 0;\n    }\n}\n\nexport default StepDetectionMinMaxPeaks;\n","import { Vector3_t } from \"@wemap/maths\";\n\nclass StepDetectionMinMaxPeaks2 {\n\n    static WINDOW_TIME = 0.3; // in seconds\n    static MIN_TIME_BETWEEN_STEPS = 0.4; // in seconds\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 0.75; // in m.s-2\n    static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD = -0.3; // in m.s-2\n\n    frequency = 0;\n    influence = 0.2;\n\n    slidingWindow: { timestamp: number, verticalAcc: number }[] = [];\n    lastStepTimestamp = -StepDetectionMinMaxPeaks2.MIN_TIME_BETWEEN_STEPS;\n    previousVerticalAcc = 0;\n\n    compute(timestamp: number, linearAcc: Vector3_t, angularRate: Vector3_t) {\n\n        const verticalAcc = this.influence * (linearAcc[2] * 2) + (1 - this.influence) * this.previousVerticalAcc;\n        this.previousVerticalAcc = verticalAcc;\n\n\n        if (Math.sqrt(angularRate[0] ** 2 + angularRate[1] ** 2 + angularRate[2] ** 2) > 0.75) {\n            return false;\n        }\n\n        if (this.lastStepTimestamp && this.lastStepTimestamp + StepDetectionMinMaxPeaks2.MIN_TIME_BETWEEN_STEPS > timestamp) {\n            return false;\n        }\n\n        let maxValue = Number.MIN_SAFE_INTEGER;\n        let minValue = Number.MAX_SAFE_INTEGER;\n\n        this.slidingWindow.forEach((item, index, object) => {\n            if (item.timestamp < timestamp - StepDetectionMinMaxPeaks2.WINDOW_TIME) {\n                object.splice(index, 1);\n            } else {\n                maxValue = Math.max(item.verticalAcc, maxValue);\n                minValue = Math.min(item.verticalAcc, minValue);\n            }\n        });\n        this.slidingWindow.push({\n            timestamp: timestamp,\n            verticalAcc: verticalAcc\n        });\n\n\n        if (maxValue > StepDetectionMinMaxPeaks2.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD\n            && minValue < StepDetectionMinMaxPeaks2.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {\n\n            const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;\n            this.frequency = Math.min(Math.max((1 / timeInterval), StepDetectionMinMaxPeaks2.MIN_FRENQUENCY), StepDetectionMinMaxPeaks2.MAX_FRENQUENCY);\n\n            this.lastStepTimestamp = timestamp;\n            return true;\n        }\n\n        return false;\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepSize && this.frequency ? this.lastStepSize * this.frequency : 0;\n    }\n\n    mean(data: { verticalAcc: number }[]) {\n        let sum = 0.0, mean = 0.0;\n\n        for (let i = 0; i < data.length; ++i) {\n            sum += data[i].verticalAcc;\n        }\n        mean = sum / data.length;\n        return mean;\n    }\n\n    stddev(data: { verticalAcc: number }[]) {\n        const theMean = this.mean(data);\n        let standardDeviation = 0;\n        for (let i = 0; i < data.length; ++i) {\n            standardDeviation += (data[i].verticalAcc - theMean) ** 2;\n        }\n\n        return Math.sqrt(standardDeviation / data.length);\n    }\n}\n\nexport default StepDetectionMinMaxPeaks2;\n","import { Vector3_t } from \"@wemap/maths\";\n\nclass StepDetectionMinMaxPeaks3 {\n\n    static WINDOW_TIME = 0.6; // in seconds\n    static MIN_TIME_BETWEEN_STEPS = 0.6; // in seconds\n    static MAX_FRENQUENCY = 4; // in Hz\n    static MIN_FRENQUENCY = 1; // in Hz\n    static VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD = 0.2; // in m.s-2\n    static VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD = -0.1; // in m.s-2\n\n    frequency = 0;\n    influence = 0.05;\n\n    slidingWindow: { timestamp: number, verticalAcc: number }[] = [];\n    lastStepTimestamp = -StepDetectionMinMaxPeaks3.MIN_TIME_BETWEEN_STEPS;\n    previousVerticalAcc = 0;\n    previousHorizontalAcc = 0;\n\n\n    compute(timestamp: number, linearAcc: Vector3_t) {\n\n        const verticalAcc = this.influence * linearAcc[2] + (1 - this.influence) * this.previousVerticalAcc;\n        this.previousVerticalAcc = verticalAcc;\n\n        // let horizontalAcc = Math.sqrt(linearAcc[0] ** 2 + linearAcc[1] ** 2);\n        // horizontalAcc = this.influence * horizontalAcc + (1 - this.influence) * this.previousHorizontalAcc;\n        // this.previousHorizontalAcc = horizontalAcc;\n\n        // const angularRateNorm = Math.sqrt(angularRate[0] ** 2 + angularRate[1] ** 2 + angularRate[2] ** 2);\n        // horizontalAcc = this.influence * horizontalAcc + (1 - this.influence) * this.previousHorizontalAcc;\n        // this.previousangularRateNorm = angularRateNorm;\n\n        // Update sliding window\n        this.slidingWindow = this.slidingWindow.filter(item => item.timestamp >= timestamp - StepDetectionMinMaxPeaks3.WINDOW_TIME\n        );\n        this.slidingWindow.push({ timestamp, verticalAcc });\n        // , horizontalAcc });\n\n        // this.horizontalAccStd = this.stddev(this.slidingWindow.map(el => el.horizontalAcc));\n        // this.verticalAccStd = this.stddev(this.slidingWindow.map(el => el.verticalAcc));\n\n\n        const isTooEarlyForANewStep = this.lastStepTimestamp\n            && this.lastStepTimestamp + StepDetectionMinMaxPeaks3.MIN_TIME_BETWEEN_STEPS > timestamp;\n        if (isTooEarlyForANewStep) {\n            return false;\n        }\n\n        // Looking for max peak\n        let maxValue = Number.MIN_VALUE;\n        let maxValueIdx = -1;\n        let foundMaxPeakHigherThanThreshold = false;\n        this.slidingWindow.forEach((item, idx) => {\n            if (item.verticalAcc > maxValue\n                && item.verticalAcc >= StepDetectionMinMaxPeaks3.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD) {\n                maxValue = item.verticalAcc;\n                maxValueIdx = idx;\n                foundMaxPeakHigherThanThreshold = true;\n            }\n        });\n        if (!foundMaxPeakHigherThanThreshold) {\n            return false;\n        }\n\n        // Looking for a value lower than a threshold before the max peak\n        let hasLowNegativeValueBeforeMaxPeak = false;\n        let minValueBeforeMaxPeak = Number.MAX_VALUE;\n        for (let i = 0; i < maxValueIdx; i++) {\n            const curValue = this.slidingWindow[i].verticalAcc;\n            minValueBeforeMaxPeak = Math.min(minValueBeforeMaxPeak, curValue);\n            if (curValue < StepDetectionMinMaxPeaks3.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {\n                hasLowNegativeValueBeforeMaxPeak = true;\n                break;\n            }\n        }\n        if (!hasLowNegativeValueBeforeMaxPeak) {\n            return false;\n        }\n\n        // looking for another minimum after max peak\n        const diffMinMax = maxValue - minValueBeforeMaxPeak;\n        const targetValue = maxValue - 0.5 * diffMinMax;\n        let targetValueFoundAfterMaxPeak = false;\n        for (let i = maxValueIdx + 1; i < this.slidingWindow.length; i++) {\n            if (this.slidingWindow[i].verticalAcc <= targetValue) {\n                targetValueFoundAfterMaxPeak = true;\n                break;\n            }\n        }\n        if (!targetValueFoundAfterMaxPeak) {\n            return false;\n        }\n\n        // // looking for another local minimum / maximum after 100ms\n        // let localMinimumFound = false;\n        // let localMaximumFound = false;\n        // let localMaxiumValue = Number.MIN_SAFE_INTEGER;\n        // let localMinimumVal = null;\n        // const maxPeakTimestamp = this.slidingWindow[maxValueIdx].timestamp;\n        // for (let i = maxValueIdx + 1; i < this.slidingWindow.length; i++) {\n        //     const curVal = this.slidingWindow[i];\n        //     const prevVal = this.slidingWindow[i - 1];\n\n        //     if (curVal.timestamp > maxPeakTimestamp + 0.4) {\n        //         break;\n        //     }\n\n        //     if (!localMinimumFound) {\n        //         // if (curVal.timestamp < maxPeakTimestamp + 0.05) {\n        //         //     // too early\n        //         //     continue;\n        //         // }\n\n        //         if (curVal.verticalAcc > prevVal.verticalAcc) {\n        //             localMinimumFound = true;\n        //             localMinimumVal = prevVal;\n        //         }\n        //         continue;\n        //     }\n\n        //     if (!localMaximumFound) {\n\n        //         // if (curVal.timestamp < localMinimumVal.timestamp + 0.05) {\n        //         //     // too early\n        //         //     continue;\n        //         // }\n\n        //         if (curVal.verticalAcc < prevVal.verticalAcc) {\n        //             localMaximumFound = true;\n        //             localMaxiumValue = prevVal.verticalAcc;\n        //             break;\n        //         }\n        //     }\n        // }\n        // const localMinMaxFoundAfterPeak = localMinimumFound && localMaximumFound;\n        // // && localMaxiumValue / maxValue < 0.8;\n        // // if (!localMinMaxFoundAfterPeak) {\n        // //     return false;\n        // // }\n\n\n        // const highRotationDetected = angularRateNorm > 0.75;\n        // // if (highRotationDetected) {\n        // //     return false;\n        // // }\n\n        const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;\n        this.frequency = Math.min(Math.max((1 / timeInterval), StepDetectionMinMaxPeaks3.MIN_FRENQUENCY), StepDetectionMinMaxPeaks3.MAX_FRENQUENCY);\n\n        this.lastStepTimestamp = timestamp;\n        return true;\n\n    }\n\n    get lastStepSize() {\n\n        if (!this.frequency) {\n            return 0;\n        }\n\n        const kParamA = 0.45;\n        const kParamB = 0.2;\n        return kParamA + kParamB * this.frequency;\n    }\n\n    get speed() {\n        return this.lastStepSize && this.frequency ? this.lastStepSize * this.frequency : 0;\n    }\n\n    mean(data: number[]) {\n        let sum = 0.0, mean = 0.0;\n\n        for (let i = 0; i < data.length; ++i) {\n            sum += data[i];\n        }\n        mean = sum / data.length;\n        return mean;\n    }\n\n    stddev(data: number[]) {\n        const theMean = this.mean(data);\n        let standardDeviation = 0;\n        for (let i = 0; i < data.length; ++i) {\n            standardDeviation += (data[i] - theMean) ** 2;\n        }\n\n        return Math.sqrt(standardDeviation / data.length);\n    }\n}\n\nexport default StepDetectionMinMaxPeaks3;\n","import { Constants as GeoConstants } from '@wemap/geo';\nimport { Quaternion, Quaternion_t, Vector3_t } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport AvailabilityHelper from '../../events/AvailabilityHelper.js';\nimport { Acceleration, AngularRate, RelativeAttitude, Step } from '../../events/Types.js';\nimport RelativeAttitudeFromInertialProvider from '../attitude/relative/RelativeAttitudeFromInertialProvider.js';\nimport AccelerometerProvider from '../imu/AccelerometerProvider.js';\nimport GyroscopeProvider from '../imu/GyroscopeProvider.js';\nimport StepDetectionLadetto from './StepDetectionLadetto.js';\nimport StepDetectionMinMaxPeaks from './StepDetectionMinMaxPeaks.js';\nimport StepDetectionMinMaxPeaks2 from './StepDetectionMinMaxPeaks2.js';\nimport StepDetectionMinMaxPeaks3 from './StepDetectionMinMaxPeaks3.js';\n\n\ntype StepDetectorAlgorithmName = 'ladetto' | 'minMaxPeaks' | 'minMaxPeaks2' | 'minMaxPeaks3';\n\ntype StepDetectorAlgorithm = {\n    compute(timestamp: number, linearAcc: Vector3_t, angularRate?: Vector3_t): boolean;\n    lastStepSize: number;\n};\n\nclass StepProvider extends Provider<Step> {\n\n    static DEFAULT_STEP_SIZE_MULTIPLIER = 1;\n    static DEFAULT_ALGORITHM: StepDetectorAlgorithmName = 'minMaxPeaks3';\n\n    accelerometerProviderId?: number;\n    attitudeProviderId?: number;\n    gyroscopeProviderId?: number;\n    angularRateEvent?: AngularRate;\n    attitudeEvent?: RelativeAttitude;\n    numOfSteps = 0;\n    stepDetector!: StepDetectorAlgorithm;\n\n    _stepSizeMultiplier = StepProvider.DEFAULT_STEP_SIZE_MULTIPLIER;\n    _algorithm: StepDetectorAlgorithmName = StepProvider.DEFAULT_ALGORITHM;\n    _accValues: Vector3_t[] = [];\n\n    constructor() {\n        super();\n        this.algorithm = this._algorithm;\n    }\n\n    getName = () => 'StepDetector';\n\n    availability() {\n        return AvailabilityHelper.every([\n            AccelerometerProvider.getAvailability(),\n            GyroscopeProvider.getAvailability(),\n            RelativeAttitudeFromInertialProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        this.numOfSteps = 0;\n\n        this.accelerometerProviderId = AccelerometerProvider.addEventListener(\n            this.onAccelerometerEvent,\n            this.notifyError\n        );\n\n        this.gyroscopeProviderId = GyroscopeProvider.addEventListener(\n            event => this.angularRateEvent = event,\n            this.notifyError\n        );\n\n        this.attitudeProviderId = RelativeAttitudeFromInertialProvider.addEventListener(\n            event => this.attitudeEvent = event,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        AccelerometerProvider.removeEventListener(this.accelerometerProviderId);\n        GyroscopeProvider.removeEventListener(this.gyroscopeProviderId);\n        RelativeAttitudeFromInertialProvider.removeEventListener(this.attitudeProviderId);\n    }\n\n    onAccelerometerEvent = (accelerationEvent: Acceleration) => {\n\n        if (!this.attitudeEvent || !this.angularRateEvent) {\n            return;\n        }\n\n        const {\n            values: acceleration, timestamp\n        } = accelerationEvent;\n\n        /**\n         * Step Detection and Step Size Detection\n         */\n        const linearAcc = StepProvider.computeLinearAcceleration(\n            this.attitudeEvent.quaternion, acceleration);\n        const stepDetected = this.stepDetector.compute(timestamp, linearAcc, this.angularRateEvent.values);\n\n        if (stepDetected) {\n            const size = this.stepDetector.lastStepSize * this._stepSizeMultiplier;\n            this.numOfSteps++;\n            this.notify({ size, number: this.numOfSteps });\n        }\n    }\n\n    // Linear acceleration in ENU\n    static computeLinearAcceleration(quaternion: Quaternion_t, acc: Vector3_t) {\n        const linearAcc = Quaternion.rotateMatlab(Quaternion.inverse(quaternion), acc);\n        linearAcc[2] -= GeoConstants.EARTH_GRAVITY;\n        return linearAcc;\n    }\n\n    set stepSizeMultiplier(stepSizeMultiplier) {\n        this._stepSizeMultiplier = stepSizeMultiplier;\n    }\n\n    get stepSizeMultiplier() {\n        return this._stepSizeMultiplier;\n    }\n\n    set algorithm(algorithm) {\n        switch (algorithm) {\n            case 'ladetto':\n                this.stepDetector = new StepDetectionLadetto();\n                break;\n            case 'minMaxPeaks':\n                this.stepDetector = new StepDetectionMinMaxPeaks();\n                break;\n            case 'minMaxPeaks2':\n                this.stepDetector = new StepDetectionMinMaxPeaks2();\n                break;\n            case 'minMaxPeaks3':\n            default:\n                algorithm = 'minMaxPeaks3';\n                this.stepDetector = new StepDetectionMinMaxPeaks3();\n                break;\n        }\n        this._algorithm = algorithm;\n    }\n\n    get algorithm() {\n        return this._algorithm;\n    }\n}\n\nexport function createStepProvider(algorithm: StepDetectorAlgorithmName) {\n    const stepProvider = new StepProvider();\n    stepProvider.algorithm = algorithm;\n    return stepProvider;\n}\n\nexport default new StepProvider();\n","import { GeoRelativePosition } from '@wemap/geo';\nimport { deg2rad } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport StepProvider from '../../steps/StepProvider.js';\nimport AbsoluteAttitudeProvider from '../../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport { Step, AbsoluteAttitude } from '../../../events/Types.js';\n\n\nclass PdrProvider extends Provider<GeoRelativePosition> {\n\n    private absoluteAttitudeProviderId?: number;\n    private stepDetectionProviderId?: number;\n    private attitudeEvent?: AbsoluteAttitude;\n\n    // https://ieeexplore.ieee.org/document/7346766\n    // private misalignment = [1, 0, 0, 0];\n    private misalignmentError = deg2rad(3);\n\n    getName = () => 'Pdr';\n\n    availability() {\n        return AvailabilityHelper.every([\n            StepProvider.getAvailability(),\n            AbsoluteAttitudeProvider.getAvailability()\n        ]);\n    }\n\n\n    start() {\n\n        this.stepDetectionProviderId = StepProvider.addEventListener(\n            this.onStepEvent,\n            this.notifyError\n        );\n\n        this.absoluteAttitudeProviderId = AbsoluteAttitudeProvider.addEventListener(\n            event => (this.attitudeEvent = event),\n            this.notifyError\n        );\n\n    }\n\n    stop() {\n        StepProvider.removeEventListener(this.stepDetectionProviderId);\n        AbsoluteAttitudeProvider.removeEventListener(this.absoluteAttitudeProviderId);\n    }\n\n    private onStepEvent = (stepEvent: Step) => {\n\n        if (!this.attitudeEvent) {\n            return;\n        }\n\n        const stepSize = stepEvent.size;\n\n        /**\n         * There is three frames because (device heading != walking direction):\n         *\n         * Device frame (x-Device Right, y-Device Top, z-Device Front)\n         * Navigation frame (x-Nav East, y-Nav North, z-Nav Up)\n         * Earth local frame (x-East y-North z-Up)\n         *\n         *\n         * For the PDR, in order to find the step direction,\n         *  we are looking for the rotation between the device frame and the navigation frame.\n         * Attitude is the rotation from the device frame to the earth local frame.\n         * Misalignment is the rotation from the navigation frame to the earth local frame\n         */\n        const deviceAttitude = this.attitudeEvent;\n\n        /**\n         * For optimisation, as we define misalignment to identity, we do not process the quat mulitply formula.\n         */\n        // const deviceInNavFrame = Quaternion.multiply(deviceAttitude.quaternion, this.misalignment);\n        // const deviceDirection = new Attitude(deviceInNavFrame).heading;\n        const deviceDirection = deviceAttitude.heading;\n\n        /**\n         * A bad accuracy from PDR is due to three things:\n         * - Attitude accuracy\n         * - Misalignement (device heading != walking direction)\n         * - Step detection false positives / false negatives\n         * Following formula only use attitude accuracy with cone formula\n         */\n        const deviceDirectionAccuracy = deviceAttitude.accuracy! + this.misalignmentError;\n        const accuracy = (stepSize / 2) * Math.sin(deviceDirectionAccuracy / 2);\n        const timestamp = deviceAttitude.time;\n\n        /**\n         * Relative position is defined in ENU frame\n         */\n        const position = new GeoRelativePosition(\n            stepSize * Math.sin(deviceDirection),\n            stepSize * Math.cos(deviceDirection),\n            0,\n            timestamp,\n            accuracy,\n            deviceDirection\n        );\n\n        this.notify(position);\n    }\n}\n\nexport default new PdrProvider();\n","import { GeoRelativePosition } from '@wemap/geo';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport GeoRelativePositionFromArCoreProvider from './GeoRelativePositionFromArCoreProvider.js';\nimport PdrProvider from './PdrProvider.js';\n\n\nclass GeoRelativePositionProvider extends Provider<GeoRelativePosition> {\n\n    providerId?: number;\n    geoRelativeProvider?: Provider<GeoRelativePosition>;\n\n    getName = () => 'GeoRelativePosition';\n\n    availability() {\n        return AvailabilityHelper.some([\n            PdrProvider.getAvailability(),\n            GeoRelativePositionFromArCoreProvider.getAvailability()\n        ]);\n    }\n\n    async start() {\n        const availabilityError = await GeoRelativePositionFromArCoreProvider.getAvailability();\n        this.geoRelativeProvider = availabilityError ? PdrProvider : GeoRelativePositionFromArCoreProvider;\n        this.providerId = this.geoRelativeProvider.addEventListener(this.notify, this.notifyError);\n    }\n\n    stop() {\n        this.geoRelativeProvider?.removeEventListener(this.providerId);\n        delete this.geoRelativeProvider;\n    }\n}\n\nexport default new GeoRelativePositionProvider();\n","import Provider from '../Provider.js';\nimport AccelerometerProvider from '../imu/AccelerometerProvider.js';\nimport { Acceleration, Inclination } from '../../events/Types.js';\n\n/**\n * Inclination provider gives the inclination of the device using Imu Sensor\n * For example, when the top of the device is pointing the sky, inclination = Math.PI/2\n *              when the device is layed on a table, inclination = 0\n * This provider use window.orientation to return a result in function of screen orientation\n */\nclass InclinationFromAccProvider extends Provider<Inclination> {\n\n    providerId?: number;\n\n    getName = () => 'InclinationFromAcc';\n\n    availability = () => AccelerometerProvider.getAvailability();\n\n    start() {\n        this.providerId = AccelerometerProvider.addEventListener(\n            this.onAccelerometerEvent,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        AccelerometerProvider.removeEventListener(this.providerId);\n    }\n\n    private onAccelerometerEvent = (accelerometerEvent: Acceleration) => {\n        const acc = accelerometerEvent.values;\n\n        const screenOrientation = window.orientation || 0;\n\n        const sizeAcc = Math.sqrt(acc[0] * acc[0] + acc[1] * acc[1] + acc[2] * acc[2]);\n        const accNormalized = [acc[0] / sizeAcc, acc[1] / sizeAcc, acc[2] / sizeAcc];\n\n        const q = [accNormalized[2] + 1, accNormalized[1], -accNormalized[0], 0];\n        const qSize = Math.sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2]);\n        const qNormalized = [q[0] / qSize, q[1] / qSize, q[2] / qSize, 0];\n\n        let inclination;\n        if (screenOrientation === 0) {\n            inclination = Math.asin(2 * qNormalized[1] * qNormalized[0]);\n        } else if (screenOrientation === 90) {\n            inclination = -Math.asin(2 * qNormalized[2] * qNormalized[0]);\n        } else if (screenOrientation === -90) {\n            inclination = Math.asin(2 * qNormalized[2] * qNormalized[0]);\n        } else { // if (screenOrientation === 180) {\n            inclination = -Math.asin(2 * qNormalized[1] * qNormalized[0]);\n        }\n\n        this.notify(inclination);\n    };\n}\n\nexport default new InclinationFromAccProvider();\n","import { Quaternion_t } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport RelativeAttitudeFromInertialProvider from '../attitude/relative/RelativeAttitudeFromInertialProvider.js';\nimport { Inclination } from '../../events/Types.js';\n\n\n/**\n * Inclination provider gives the inclination of the device using Relative Attitude\n * For example, when the top of the device is pointing the sky, inclination = Math.PI/2\n *              when the device is layed on a table, inclination = 0\n * This provider use window.orientation to return a result in function of screen orientation\n */\nclass InclinationFromRelativeAttitudeProvider extends Provider<Inclination> {\n\n    providerId?: number;\n\n    getName = () => 'InclinationFromRelativeAttitude';\n\n    availability = () => RelativeAttitudeFromInertialProvider.getAvailability();\n\n    start() {\n        this.providerId = RelativeAttitudeFromInertialProvider.addEventListener(\n            attitudeEvent => {\n                const inclination = this.enuQuatToInclination(attitudeEvent.quaternion);\n                this.notify(inclination);\n            },\n            this.notifyError\n        );\n    }\n\n    stop() {\n        RelativeAttitudeFromInertialProvider.removeEventListener(this.providerId);\n    }\n\n    enuQuatToInclination(q: Quaternion_t) {\n        const screenOrientation = window.orientation || 0;\n\n        if (screenOrientation === 0) {\n            return Math.asin(2 * (q[2] * q[3] + q[1] * q[0]));\n        } else if (screenOrientation === 90) {\n            return Math.asin(2 * (q[1] * q[3] - q[2] * q[0]));\n        } else if (screenOrientation === -90) {\n            return Math.asin(2 * (q[2] * q[0] - q[1] * q[3]));\n        }\n        // else if (screenOrientation === 180)\n        return -Math.asin(2 * (q[2] * q[3] + q[1] * q[0]));\n    }\n}\n\nexport default new InclinationFromRelativeAttitudeProvider();\n","import Provider from '../Provider.js';\nimport InclinationFromAccProvider from './InclinationFromAccProvider.js';\nimport InclinationFromRelativeAttitudeProvider from './InclinationFromRelativeAttitudeProvider.js';\nimport AvailabilityHelper from '../../events/AvailabilityHelper.js';\nimport { Inclination } from '../../events/Types.js';\n\n/**\n * Inclination provider gives the inclination of the device using Imu Sensor\n * For example, when the top of the device is pointing the sky, inclination = Math.PI/2\n *              when the device is layed on a table, inclination = 0\n * This provider use window.orientation to return a result in function of screen orientation\n */\nclass InclinationProvider extends Provider<Inclination> {\n\n    provider?: Provider<Inclination>;\n    providerId?: number;\n\n    getName = () => 'Inclination';\n\n    availability() {\n        return AvailabilityHelper.some([\n            InclinationFromAccProvider.getAvailability(),\n            InclinationFromRelativeAttitudeProvider.getAvailability()\n        ]);\n    }\n\n    async start() {\n\n        const startInclinationFromAcc = () => {\n            this.provider = InclinationFromAccProvider;\n            this.providerId = this.provider.addEventListener(\n                this.notify,\n                this.notifyError\n            );\n        };\n\n        if (await InclinationFromRelativeAttitudeProvider.getAvailability()) {\n            this.provider = InclinationFromRelativeAttitudeProvider;\n            this.providerId = this.provider.addEventListener(\n                this.notify,\n                () => {\n                    InclinationFromRelativeAttitudeProvider.removeEventListener(this.providerId);\n                    startInclinationFromAcc();\n                }\n            );\n        } else {\n            startInclinationFromAcc();\n        }\n    }\n\n\n    stop() {\n        if (this.provider) {\n            this.provider.removeEventListener(this.providerId);\n        }\n    }\n}\n\nexport default new InclinationProvider();\n","import { Calibration } from '@wemap/camera';\nimport { Attitude, AttitudeJson, UserPosition, UserPositionJson } from '@wemap/geo';\nimport { Device } from '@wemap/utils';\n\nexport type CoarsePoseJson = {\n    attitude?: AttitudeJson,\n    position?: UserPositionJson,\n};\n\nexport type CoarsePose = {\n    attitude?: Attitude,\n    position?: UserPosition,\n};\n\nexport type VpsMetadataJson = {\n    size: [number, number], // [width, height]\n    calibration?: Calibration,\n    coarse?: CoarsePoseJson,\n    device?: Device\n}\n\n\nclass VpsMetadata {\n\n    constructor(\n        public size: { width: number, height: number },\n        public calibration: Calibration | null = null,\n        public coarse: CoarsePose | null = null,\n        public device: Device | null = null,\n    ) { }\n\n    toJson(): VpsMetadataJson {\n        return {\n            size: [this.size.width, this.size.height],\n            ...(this.calibration && { calibration: this.calibration }),\n            ...(this.coarse && {\n                coarse: {\n                    ...(this.coarse.attitude && { attitude: this.coarse.attitude.toJson() }),\n                    ...(this.coarse.position && { position: this.coarse.position.toJson() })\n                }\n            }),\n            ...(typeof this.device === 'object' && { device: this.device })\n        };\n    }\n\n\n    static fromJson(json: VpsMetadataJson) {\n        return new VpsMetadata(\n            {\n                width: json.size[0],\n                height: json.size[1]\n            },\n            json.calibration,\n            {\n                ...(json.coarse?.position && { position: UserPosition.fromJson(json.coarse.position) }),\n                ...(json.coarse?.attitude && { attitude: Attitude.fromJson(json.coarse.attitude) })\n            },\n            json.device\n        );\n    }\n}\n\nexport default VpsMetadata;\n","import { canvasToBase64, base64ToCanvas } from '@wemap/camera';\n\nimport VpsMetadata, { VpsMetadataJson } from './VpsMetadata.js';\n\nexport type VpsRequestJson = VpsMetadataJson & {\n    image: string\n}\n\nclass VpsRequest {\n\n    constructor(public metadata: VpsMetadata, public image: HTMLCanvasElement) {}\n\n    toJson() {\n        const base64Image = canvasToBase64(this.image);\n        return {\n            image: base64Image,\n            ...this.metadata.toJson()\n        };\n    }\n\n    static fromJson(json: VpsRequestJson) {\n        return new VpsRequest(\n            VpsMetadata.fromJson(json),\n            base64ToCanvas(json.image)\n        );\n    }\n}\n\nexport default VpsRequest;\n","import { Attitude, AttitudeJson, UserPosition, UserPositionJson } from '@wemap/geo';\n\nexport type VpsResponseJson = {\n    success: boolean,\n    attitude?: AttitudeJson,\n    position?: UserPositionJson\n}\n\nclass VpsResponse {\n\n    constructor(\n        public success: boolean,\n        public attitude: Attitude | null = null,\n        public position: UserPosition | null = null\n    ) { }\n\n    toJson(): VpsResponseJson {\n        return {\n            success: this.success,\n            attitude: this.attitude?.toJson(),\n            position: this.position?.toJson()\n        }\n    }\n\n    static fromJson(json: VpsResponseJson, imageRecordTime: number | null = null) {\n\n        let attitude: Attitude | null = null;\n        if (json.attitude) {\n            attitude = Attitude.fromJson(json.attitude);\n            attitude.time = imageRecordTime;\n        }\n\n        let position: UserPosition | null = null;\n        if (json.position) {\n            position = UserPosition.fromJson(json.position);\n            position.time = imageRecordTime;\n        }\n\n        return new VpsResponse(json.success, attitude, position);\n    }\n}\n\nexport default VpsResponse;\n","import { Calibration, reduceImageSize, convertToGrayscale } from '@wemap/camera';\nimport Logger from '@wemap/logger';\nimport { Quaternion_t } from '@wemap/maths/index.js';\nimport { TimeUtils, UserAgentUtils } from '@wemap/utils';\nimport VpsMetadata, { CoarsePose } from './VpsMetadata.js';\n\nimport VpsRequest from './VpsRequest.js';\nimport VpsResponse from './VpsResponse.js';\n\nclass ImageRelocalization {\n\n    static _prepareRequest(\n        imageCanvas: HTMLCanvasElement,\n        calibration: Calibration | null = null,\n        coarsePose: CoarsePose | null = null\n    ) {\n        convertToGrayscale(imageCanvas);\n        const reducedImage = reduceImageSize(imageCanvas, 1280);\n\n        const metadata = new VpsMetadata(\n            { width: reducedImage.width, height: reducedImage.height },\n            calibration,\n            coarsePose,\n            UserAgentUtils.getDeviceFromUserAgent()\n        );\n\n        return new VpsRequest(metadata, reducedImage);\n    }\n\n    \n    static async relocalize(\n        endpointUrl: string,\n        imageCanvas: HTMLCanvasElement,\n        calibration: Calibration | null = null,\n        coarsePose: CoarsePose | null = null,\n        customHeaders: Record<string, string> | null = null\n    ) {\n\n        const timeBeforeRequest = TimeUtils.preciseTime() / 1e3;\n\n        // 1. Prepare the request\n        const vpsRequest = this._prepareRequest(imageCanvas, calibration, coarsePose);\n\n        // 2. Send the request\n        let serverResponse;\n        try {\n            const body = JSON.stringify(vpsRequest.toJson());\n            Logger.debug(`[VPS] Request (${(body.length / 1024).toFixed(0)} kB) sent to server ${endpointUrl}`);\n            serverResponse = await fetch(endpointUrl, {\n                method: 'POST',\n                body,\n                headers: Object.assign(\n                    { 'Content-Type': 'application/json', 'Accept': 'application/json' },\n                    customHeaders ? customHeaders : {}\n                )\n            });\n        } catch (e) {\n            Logger.debug('[VPS] Server respond error');\n            return null;\n        }\n\n        if (serverResponse.status !== 200) {\n            Logger.debug('[VPS] Server respond error');\n            return null;\n        }\n\n        // 3. Parse the response\n        const json = await serverResponse.json();\n        const res = VpsResponse.fromJson(json, timeBeforeRequest);\n        Logger.debug(`[VPS] Server respond ${res.success ? 'success' : 'not found'}`);\n        return res;\n    }\n\n    static getHeadingFromQuaternion(quaternion: Quaternion_t) {\n\n        const [qw, qx, qy, qz] = quaternion;\n\n        const s = Math.sqrt(2) / 2;\n        const C = [s * (qw - qx), s * (qw + qx), s * (qy + qz), s * (qz - qy)];\n        return -Math.atan2(2 * C[3] * C[0] - 2 * C[2] * C[1], 1 - 2 * C[1] ** 2 - 2 * C[3] ** 2);\n\n        // ---- Not optimized version ----\n\n        // const eulerAnglesAR = Rotations.quaternionToEulerZXY(\n        //     Quaternion.multiply(\n        //         quaternion,\n        //         Quaternion.fromAxisAngle([1, 0, 0], Math.PI / 2)\n        //     )\n        // );\n\n        // return -eulerAnglesAR[0];\n    }\n}\n\nexport default ImageRelocalization;\n","import { Attitude } from '@wemap/geo';\nimport Logger from '@wemap/logger';\nimport RelativeAttitudeFromBrowser from '../../attitude/relative/RelativeAttitudeFromBrowserProvider.js';\n\nexport default class RelativeRotationCalc {\n\n    _providerId?: number;\n\n    _isRunning = false;\n    _dataOnStart: Attitude | null = null;\n\n    tickStart() {\n        this._dataOnStart = null;\n\n        if (this._isRunning) {\n            // Do not start the provider if tickStart() has already been called without tickEnd()\n            return;\n        }\n\n        this._isRunning = true;\n\n        this._providerId = RelativeAttitudeFromBrowser.addEventListener(event => {\n            if (!this._dataOnStart) {\n                this._dataOnStart = event;\n            }\n        });\n    }\n\n    tickEnd() {\n        if (!this._isRunning) {\n            Logger.warn('You have to call tickStart before tickEnd');\n            return null;\n        }\n\n        this._internalStop();\n\n        if (!this._dataOnStart) {\n            Logger.warn('Delay was too short between tickStart and tickEnd '\n                + 'or RelativeAttitudeProvider cannot be retrieved.');\n            return null;\n        }\n\n        const dataOnEnd = RelativeAttitudeFromBrowser.lastEvent!;\n        return Attitude.diff(this._dataOnStart, dataOnEnd);\n    }\n\n    _internalStop() {\n        RelativeAttitudeFromBrowser.removeEventListener(this._providerId);\n        delete this._providerId;\n        this._isRunning = false;\n    }\n\n    release() {\n        if (this._isRunning) {\n            this._internalStop();\n        }\n    }\n}\n","class MissingPoleStarError extends Error {\n\n    static DEFAULT_MESSAGE = 'PoleStar is missing';\n\n    constructor(message?: string) {\n        super(message || MissingPoleStarError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default MissingPoleStarError;\n","import { deg2rad } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport MissingPoleStarError from '../../../errors/MissingPoleStarError.js';\nimport MissingNativeInterfaceError from '../../../errors/MissingNativeInterfaceError.js';\nimport Constants from '../../Constants.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\nimport { NativePolestarPosition } from '../../NativeProviders.js';\n\nclass PoleStarProvider extends Provider<AbsolutePosition> {\n\n    getName = () => 'PoleStar';\n\n    constructor() {\n        super();\n        this.addMethodsToNativeJsProvider();\n    }\n\n    availability() {\n        try {\n            this.nativeProvider.checkAvailability();\n            return Promise.resolve();\n        } catch (e) {\n            return Promise.resolve(e as Error);\n        }\n    }\n\n    setApiKey(apiKey: string) {\n        this.nativeProvider.setApiKey(apiKey);\n    }\n\n    start() {\n        this.nativeProvider.start();\n    }\n\n    stop() {\n        this.nativeProvider.stop();\n    }\n\n    get nativeProvider() {\n\n        if (!this.nativeInterface) {\n            throw new MissingNativeInterfaceError();\n        }\n\n        const nativeProvider = this.nativeInterface.getPoleStarProvider();\n        if (!nativeProvider) {\n            throw new MissingPoleStarError();\n        }\n\n        return nativeProvider;\n    }\n\n\n\n    addMethodsToNativeJsProvider() {\n\n        if (!this.nativeJsInterface) {\n            return;\n        }\n\n        this.nativeJsInterface.polestar = {\n            callbackError: (errorMessage: string) => this.notifyError(new Error(errorMessage)),\n            callbackPosition: (jsonString: string) => {\n\n                const json: NativePolestarPosition = JSON.parse(jsonString);\n\n                const timestamp = TimeUtils.unixTimestampToPreciseTime(json.time) / 1e3;\n\n                const position = new AbsolutePosition(\n                    json.lat,\n                    json.lng,\n                    Constants.DEFAULT_ALTITUDE,\n                    json.alt / 5,\n                    timestamp,\n                    json.accuracy,\n                    deg2rad(json.bearing)\n                );\n\n                this.notify(position);\n            }\n        };\n\n    }\n}\n\nexport default new PoleStarProvider();\n","/* eslint-disable complexity */\n/* eslint-disable max-statements */\nimport { SharedCameras, Camera } from '@wemap/camera';\nimport { Attitude } from '@wemap/geo';\nimport Logger from '@wemap/logger';\nimport { Quaternion, deg2rad } from '@wemap/maths';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport Inclination from '../../inclination/InclinationProvider.js';\nimport ImageRelocalization from './ImageRelocalization.js';\nimport AbsoluteAttitudeProvider from '../../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport RelativeRotationCalc from './RelativeRotationCalc.js';\nimport GnssWifiProvider from '../../position/absolute/GnssWifiProvider.js';\nimport AbsolutePositionProvider from '../../position/absolute/AbsolutePositionProvider.js';\nimport PoleStarProvider from '../../position/absolute/PoleStarProvider.js';\nimport { AbsoluteAttitude, AbsolutePosition } from '../../../events/Types.js';\nimport { CoarsePose } from './VpsMetadata.js';\n\nexport type VpsEvent = { absoluteAttitude: AbsoluteAttitude, absolutePosition: AbsolutePosition };\nclass VpsProvider extends Provider<VpsEvent> {\n\n    static MIN_TIME_BETWEEN_TWO_REQUESTS = 1000; // in ms\n    static DEFAULT_MIN_INCLINATION_FOR_REQUEST = deg2rad(60); // in radians\n    static DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST = 200; // in ms\n    static DEFAULT_USE_COARSE_POSE = true;\n    static CAMERA_TO_SMARTPHONE_ROT = Quaternion.fromAxisAngle([1, 0, 0], Math.PI);\n\n    _relativeRotationCalc?: RelativeRotationCalc;\n\n    _serverError = false;\n    _cameraError = false;\n\n    _camera: Camera | null = null;\n    _endpoint: string | null = null;\n\n    _inclinationProviderId?: number;\n\n    _minInclinationForRequest = VpsProvider.DEFAULT_MIN_INCLINATION_FOR_REQUEST;\n    _waitTimeMinInclinationForRequest = VpsProvider.DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST;\n    _useCoarsePose = VpsProvider.DEFAULT_USE_COARSE_POSE;\n\n    getName = () => 'Vps';\n\n    availability = () => Camera.checkAvailability();\n\n    start() {\n\n        // 1. Inclination\n        this._inclinationProviderId = Inclination.addEventListener();\n\n        // 2. Relative Rotation Calc\n        this._relativeRotationCalc = new RelativeRotationCalc();\n\n        // 3. Add listeners on shared cameras to detect new cameras\n        SharedCameras.on('added', this._onCameraDetected);\n        SharedCameras.on('removed', this._onCameraRemoved);\n\n        // 4. If a camera already exists, use it\n        if (SharedCameras.list.length) {\n            if (SharedCameras.list.length > 1) {\n                Logger.warn('It seems that more than 1 camera has been detected'\n                    + ' for VPS. Taking the first...');\n            }\n            this._useCamera(SharedCameras.list[0].camera);\n        }\n    }\n\n    stop() {\n\n        Inclination.removeEventListener(this._inclinationProviderId);\n\n        this._relativeRotationCalc?.release();\n\n        SharedCameras.off('added', this._onCameraDetected);\n        SharedCameras.off('removed', this._onCameraRemoved);\n\n        this._camera = null;\n    }\n\n    _onCameraDetected = ({ camera }: { camera: Camera }) => {\n        if (this._camera) {\n            Logger.warn('It seems that more than 1 camera has been detected'\n                + ' for VPS. Taking the first...');\n        }\n        this._useCamera(camera);\n    }\n\n    _onCameraRemoved = () => {\n        if (this._camera) {\n            this._camera.off('started', this._internalStart);\n            this._camera.off('stopped', this._internalStop);\n        } else {\n            Logger.warn('There is no previously detected camera but once has stopped');\n        }\n        this._camera = null;\n    }\n\n    _useCamera(camera: Camera) {\n        this._camera = camera;\n\n        camera.on('started', this._internalStart);\n        camera.on('stopped', this._internalStop);\n\n        if (camera.state === 'started') {\n            this._internalStart();\n        }\n    }\n\n\n    _internalStart = async () => {\n\n        if (!this._endpoint) {\n            this.notifyError(new Error('VPS endpoint has not been set before calling start()'));\n            return;\n        }\n\n        let lastRequestTime = null;\n        const isProviderStopped = () => this.state === 'stopped';\n        while (!isProviderStopped()) {\n\n            // 1. Handle the time to wait between two requests (MIN_TIME_BETWEEN_TWO_REQUESTS)\n            if (lastRequestTime !== null) {\n                const diffTime = TimeUtils.preciseTime() - lastRequestTime;\n                const timeToWait = Math.max(0, VpsProvider.MIN_TIME_BETWEEN_TWO_REQUESTS - diffTime);\n                await new Promise(resolve => setTimeout(resolve, timeToWait));\n            }\n            lastRequestTime = TimeUtils.preciseTime();\n\n            // 2. Check if Vps is not stopped and camera is still started\n            if (isProviderStopped()\n                || !this._camera\n                || this._camera.state !== 'started') {\n                break;\n            }\n\n            // 2.a. Do not send an image if smartphone looks at the floor\n            const inclination = Inclination.lastEvent ? Inclination.lastEvent : null;\n            if (inclination !== null\n                && inclination < this._minInclinationForRequest) {\n                await new Promise(resolve => setTimeout(resolve, this._waitTimeMinInclinationForRequest));\n                continue;\n            }\n\n            // 3. Get current image from camera and relocalize it.\n\n            // 3.a. Get current image and time it.\n            this._relativeRotationCalc?.tickStart();\n            const image = await this._camera.currentImage;\n            if (!image) {\n                continue;\n            }\n\n            // 3.b. Retrieve coarse position if necessary.\n            let coarsePose: CoarsePose | null = null;\n            const bestCoarsePosition = AbsolutePositionProvider.getBestPositionEvent(GnssWifiProvider.lastEvent, PoleStarProvider.lastEvent);\n            if (this._useCoarsePose && (bestCoarsePosition || AbsoluteAttitudeProvider.lastEvent)) {\n                coarsePose = {\n                    ...(bestCoarsePosition && {position: bestCoarsePosition}),\n                    ...(AbsoluteAttitudeProvider.lastEvent && {attitude: AbsoluteAttitudeProvider.lastEvent})\n                };\n            }\n\n            // 3.c. Send image and metadata.\n            const res = await ImageRelocalization.relocalize(this._endpoint, image, null, coarsePose);\n            if (!res || !res.success) {\n                continue;\n            }\n\n            // 4. If relocalization is successful, apply the transforms\n            const enuToCameraRot = res.attitude!.quaternion;\n            const enuToSmartphoneRot = Quaternion.multiply(\n                enuToCameraRot,\n                VpsProvider.CAMERA_TO_SMARTPHONE_ROT\n            );\n\n            const deviceQuaternion = Quaternion.multiply(\n                Quaternion.fromAxisAngle([0, 0, 1], deg2rad(window.orientation || 0)),\n                enuToSmartphoneRot\n            );\n\n            const diffAttitude = this._relativeRotationCalc?.tickEnd() || new Attitude([1, 0, 0, 0]);\n            const deviceQuaternionWithRelOffset = Quaternion.multiply(\n                deviceQuaternion,\n                diffAttitude.quaternion\n            );\n            const attitude = new AbsoluteAttitude(\n                deviceQuaternionWithRelOffset,\n                res.attitude!.time,\n                res.attitude!.accuracy\n            );\n\n            // [16/06/22] Force VPS accuracy to 5m if the information does not exist\n            // this allows to correctly fuse positions from different providers (VPS,\n            // GnssWifi, Pole Star...)\n            const devicePosition = res.position!.clone();\n            if (devicePosition.accuracy === null) {\n                devicePosition.accuracy = 5;\n            }\n\n            // 5. Finally, notify the listeners if the VPS is not stopped\n            if (isProviderStopped()) {\n                break;\n            }\n\n            this.notify({\n                absoluteAttitude: attitude,\n                absolutePosition: devicePosition\n            });\n\n        }\n    }\n\n    _internalStop = () => {\n        // do nothing\n    }\n\n    get endpoint() {\n        return this._endpoint;\n    }\n\n    set endpoint(endpoint) {\n        this._endpoint = endpoint;\n    }\n\n    get minInclinationForRequest() {\n        return this._minInclinationForRequest;\n    }\n\n    set minInclinationForRequest(minInclinationForRequest) {\n        this._minInclinationForRequest = minInclinationForRequest;\n    }\n\n    get waitTimeMinInclinationForRequest() {\n        return this._waitTimeMinInclinationForRequest;\n    }\n\n    set waitTimeMinInclinationForRequest(waitTimeMinInclinationForRequest) {\n        this._waitTimeMinInclinationForRequest = waitTimeMinInclinationForRequest;\n    }\n\n    get useCoarsePose() {\n        return this._useCoarsePose;\n    }\n\n    set useCoarsePose(useCoarsePose) {\n        this._useCoarsePose = useCoarsePose;\n    }\n}\n\nexport default new VpsProvider();\n","import { Level, GeoRelativePosition, UserPosition } from '@wemap/geo';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport MapMatchingHandler from '../../../mapmatching/MapMatchingHandler.js';\nimport GnssWifiProvider from './GnssWifiProvider.js';\nimport GeoRelativePositionProvider from '../relative/GeoRelativePositionProvider.js';\nimport ProvidersOptions from '../../../ProvidersOptions.js';\nimport VpsProvider from '../../vision/vps/VpsProvider.js';\nimport PoleStarProvider from './PoleStarProvider.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\n\nclass AbsolutePositionProvider extends Provider<AbsolutePosition> {\n\n    // Use the new absolute position if its accuracy is at least x times better than the last one.\n    static ACCURACY_RELOC_RATIO = 1; // or 1.5\n    static USE_MM_FOR_FEED = true;\n\n    _polestarProviderId?: number;\n    _vpsProviderId?: number;\n    _gnssWifiProviderId?: number;\n    _relativePositionProviderId?: number;\n    _mapMatchingHandlerId?: number;\n\n    useAllAbsolutePositions = false;\n    _waitUntilNextVpsPosition = false;\n    _lastPolestarFix: number | null = null;\n\n    getName = () => 'AbsolutePosition';\n\n\n    availability() {\n        return AvailabilityHelper.some([\n            GeoRelativePositionProvider.getAvailability(),\n            GnssWifiProvider.getAvailability(),\n            ...(ProvidersOptions.hasPoleStar ? [PoleStarProvider.getAvailability()] : []),\n            VpsProvider.getAvailability()\n        ]);\n    }\n\n\n    start() {\n        GeoRelativePositionProvider.getAvailability()\n            .then((error) => {\n                if (!error) {\n                    this._relativePositionProviderId = GeoRelativePositionProvider.addEventListener(\n                        e => this._onRelativePosition(e)\n                    );\n                } else {\n                    // do nothing\n                }\n            });\n\n        // GnssWifi\n        this._gnssWifiProviderId = GnssWifiProvider.addEventListener(\n            event => {\n                const clone = event.clone();\n                clone.bearing = null;\n                this._onAbsolutePosition(clone, false);\n            }\n        );\n\n        // Vps\n        this._vpsProviderId = VpsProvider.addEventListener(\n            event => this._onAbsolutePosition(event.absolutePosition),\n            this.notifyError,\n            false\n        );\n\n        // PoleStar\n        if (ProvidersOptions.hasPoleStar) {\n            this._polestarProviderId = PoleStarProvider.addEventListener(polestarPositionEvent => {\n\n                this._lastPolestarFix = TimeUtils.preciseTime();\n                const psPositionUsed = this._onAbsolutePosition(polestarPositionEvent);\n\n                /**\n                 * In the case of a degraded position from PoleStar and a good position from GnssWifi,\n                 *  we still need to retrieve the level from PoleStar.\n                 * To do so, we duplicate lastEvent and add the level from PoleStar to the current\n                 *  position, then we notify with the new position.\n                 */\n                if (!psPositionUsed && this.lastEvent?.level === null) {\n                    const lastPositionWithLevel = this.lastEvent.clone();\n                    lastPositionWithLevel.level = polestarPositionEvent.level;\n                    this.notify(lastPositionWithLevel);\n                }\n            });\n        }\n\n        this._mapMatchingHandlerId = MapMatchingHandler.addEventListener();\n    }\n\n\n    /**\n     * @override\n     */\n    stop() {\n        if (this._relativePositionProviderId) {\n            GeoRelativePositionProvider.removeEventListener(this._relativePositionProviderId);\n            delete this._relativePositionProviderId;\n        }\n        if (this._gnssWifiProviderId) {\n            GnssWifiProvider.removeEventListener(this._gnssWifiProviderId);\n            delete this._gnssWifiProviderId;\n        }\n        if (this._vpsProviderId) {\n            VpsProvider.removeEventListener(this._vpsProviderId);\n            delete this._vpsProviderId;\n        }\n        if (this._polestarProviderId) {\n            PoleStarProvider.removeEventListener(this._polestarProviderId);\n            delete this._polestarProviderId;\n        }\n\n        MapMatchingHandler.removeEventListener(this._mapMatchingHandlerId);\n    }\n\n\n    private _shouldTakeIntoAccountNewAbsolutePosition(newPositionEvent: AbsolutePosition, canContainLevel = true) {\n\n        const newPosition = newPositionEvent;\n        const lastPosition = this.lastEvent || null;\n\n        // 1. Verifiy if it is the first known absolute position\n        if (!lastPosition) {\n            return true;\n        }\n\n        // 2. Is the new position accuracy is better enough than the last position accuracy\n        const isBetterEnough = newPosition.accuracy! * AbsolutePositionProvider.ACCURACY_RELOC_RATIO <= lastPosition.accuracy!;\n        if (isBetterEnough) {\n            return true;\n        }\n\n        // 3.a. Is the new position is far from the new one (regarding accuracy)\n        // This condition return true if the two positions accuracy circles does not intersect.\n        // This is important if the person put the current page in the background during a while. But,\n        //  could be dangerous if two providers do not provide close positions (ping-pong effect). This\n        //  is why the 3.b. condition has been added.\n        // TODO: add a routine to augment the current position accuracy when the page is in background\n        const isFarEnough = lastPosition.distanceTo(newPosition) > lastPosition.accuracy! + newPosition.accuracy!;\n        if (isFarEnough) {\n            return true;\n        }\n\n        // 3.b. Added on 16/06/22\n        // The goal of this condition is to avoid continuous jumps between positions from two providers\n        // (i.e. GnssWifi and PoleStar)\n        const isFarEnoughAndAccuracyIsBetter = isFarEnough && newPosition.accuracy! <= lastPosition.accuracy!;\n\n        if (isBetterEnough && isFarEnoughAndAccuracyIsBetter) {\n            return true;\n        }\n\n        // 4. Added on 23/06/22\n        // The goal of this condition is to take into account levels change when map-matching is not enabled / set\n        const isChangingLevel = canContainLevel && !Level.equals(newPosition.level, lastPosition.level);\n        if (isChangingLevel) {\n            return true;\n        }\n\n        return false;\n    }\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    private _onAbsolutePosition(positionEvent: AbsolutePosition, canContainLevel = true) {\n\n        if (!this._shouldTakeIntoAccountNewAbsolutePosition(positionEvent, canContainLevel)\n            && !this.useAllAbsolutePositions) {\n            return false;\n        }\n\n        const newPosition = positionEvent.clone();\n        const lastPosition = this.lastEvent ? this.lastEvent : null;\n\n        if (lastPosition) {\n            if (!canContainLevel) {\n                newPosition.level = lastPosition.level;\n            }\n\n            // If the new position does not have a bearing, retrieve the bearing from the last position\n            if (newPosition.bearing === null) {\n                newPosition.bearing = lastPosition.bearing;\n            }\n        }\n\n        // If the MM is disable or the network is not set yet, use the new position as it is.\n        // If the position bearing is null, do not use MM, it is too dangerous.\n        if (!MapMatchingHandler.canUseMapMatching()) {\n            this.notify(newPosition);\n            return true;\n        }\n\n        return MapMatchingHandler.notifyPositionFromAbsolute(newPosition);\n    }\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    _onRelativePosition(relativeEvent: GeoRelativePosition) {\n\n        if (!this.lastEvent || this._waitUntilNextVpsPosition) {\n            return false;\n        }\n\n        const lastPosition = this.lastEvent;\n\n        const offsetPos = relativeEvent;\n\n        const dist = Math.sqrt(offsetPos.x ** 2 + offsetPos.y ** 2);\n        const bearing = Math.atan2(offsetPos.x, offsetPos.y);\n        const alt = lastPosition.alt !== null ? offsetPos.z : null;\n\n        const newPosition = lastPosition.destinationPoint(dist, bearing, alt);\n        newPosition.bearing = offsetPos.bearing;\n        newPosition.time = offsetPos.time;\n        newPosition.accuracy! += offsetPos.accuracy!;\n\n\n        if (!MapMatchingHandler.canUseMapMatching()) {\n            this.notify(newPosition);\n            return true;\n        }\n\n        return MapMatchingHandler.notifyPositionFromRelative(newPosition);\n    }\n\n\n    feed(data: AbsolutePosition) {\n\n        let newPositionEvent: AbsolutePosition;\n\n        if (data instanceof UserPosition) {\n\n            if (data.time === null) {\n                throw Error('the time of the position is not defined');\n            }\n            if (data.accuracy === null) {\n                throw Error('the accuracy of the position is not defined');\n            }\n\n            newPositionEvent = data;\n\n        } else {\n            throw new Error('data is nor an UserPosition or an AbsolutePositionEvent');\n        }\n\n        // If the MM is disable or the network is not set yet, use the new position as it is.\n        if (!AbsolutePositionProvider.USE_MM_FOR_FEED || !MapMatchingHandler.canUseMapMatching()) {\n            this.notify(newPositionEvent);\n            return;\n        }\n\n        MapMatchingHandler.notifyPositionFromFeed(newPositionEvent);\n    }\n\n    getBestPositionEvent(...absolutePositionEvents: (AbsolutePosition | null)[]) {\n        return absolutePositionEvents.reduce((best, value) => {\n            if (!best) {\n                return value;\n            }\n            if (!value || value.accuracy === null || value.time === null) {\n                return best;\n            }\n            const { accuracy: curAccuracy, time: curTime } = value;\n            const { accuracy: bestAccuracy, time: bestTime } = best;\n            // 1.3888 corresponds to 1.3888 m/s (5 km/h)\n            return curAccuracy < (bestAccuracy! + 1.3888 * (curTime - bestTime!)) ? value : best;\n        }, null as null | AbsolutePosition);\n    }\n}\n\nexport default new AbsolutePositionProvider();\n","import * as geomag from 'geomag';\n\nimport { deg2rad, rad2deg, Quaternion, Rotations, Quaternion_t } from '@wemap/maths';\nimport { Browser, BrowserUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport AskImuOnDesktopError from '../../../errors/AskImuOnDesktopError.js';\nimport MissingMagnetometerError from '../../../errors/MissingMagnetometerError.js';\nimport MissingSensorError from '../../../errors/MissingSensorError.js';\nimport AbsolutePositionProvider from '../../position/absolute/AbsolutePositionProvider.js';\nimport { AbsoluteAttitude, AbsolutePosition } from '../../../events/Types.js';\n\n\n// https://stackoverflow.com/a/73369838/2239938\nexport interface DeviceOrientationEventiOS extends DeviceOrientationEvent {\n    webkitCompassHeading: number | null;\n    webkitCompassAccuracy: number | null;\n    requestPermission?: () => Promise<'granted' | 'denied'>;\n}\n\n\n\ndeclare global {\n    interface Window {\n        addEventListener(evtName: 'deviceorientationabsolute', cb: (evt: DeviceOrientationEvent) => void, options?: boolean): void;\n        addEventListener(evtName: 'deviceorientation', cb: (evt: DeviceOrientationEventiOS) => void, options?: boolean): void;\n        removeEventListener(evtName: 'deviceorientationabsolute', cb: (evt: DeviceOrientationEvent) => void, options?: boolean): void;\n        removeEventListener(evtName: 'deviceorientation', cb: (evt: DeviceOrientationEventiOS) => void, options?: boolean): void;\n    }\n}\n\n\n\n/**\n * Absolute attitude provider gives the device attitude in East-North-Up (ENU) frame using\n *  browser deviceorientation or deviceorientationabsolute\n * The provider does not work until an AbsolutePosition is given. This is necessary to\n *  calculate declination.\n *\n * -----------------------------------\n * Overview of compatibilities:\n * -----------------------------------\n *\n * Chrome Android (v72.0.3626): YES (via deviceorientationabsolute)\n * Safari iOS (v12.0): YES (via deviceorientation and event.webkitCompassHeading)\n * Opera Android (v50.2.2426): NO {@link https://developer.mozilla.org/en-US/docs/Web/API/Window/ondeviceorientation}\n * Firefox Android (v65.0.1): NO {@link https://www.fxsitecompat.com/en-CA/docs/2018/various-device-sensor-apis-are-now-deprecated/}\n *\n * -----------------------------------\n */\nclass AbsoluteAttitudeFromBrowser extends Provider<AbsoluteAttitude> {\n\n    // from http://tyrex.inria.fr/mobile/benchmarks-attitude/\n    DEFAULT_ACCURACY = deg2rad(15);\n\n    absolutePositionProviderId?: number;\n    absolutePositionEvent?: AbsolutePosition;\n\n    declinationQuaternion?: Quaternion_t;\n    magQuaternion?: Quaternion_t;\n    magQuaternionTimestamp?: number;\n\n    iosPreviousQuat?: Quaternion_t;\n    iosIsSkyMode: boolean | null = null;\n\n\n    getName = () => 'AbsoluteAttitudeFromBrowser';\n\n    availability() {\n        return BrowserUtils.isMobile\n            ? Promise.resolve()\n            : Promise.resolve(new AskImuOnDesktopError());\n    }\n\n    start() {\n\n\n        const subscribe = () => {\n            switch (BrowserUtils.getName()) {\n                case Browser.CHROME:\n                    window.addEventListener('deviceorientationabsolute',\n                        this.onDeviceOrientationChromeEvent, true);\n                    break;\n\n                case Browser.SAFARI:\n                case Browser.IOS_WEBVIEW:\n                    window.addEventListener('deviceorientation',\n                        this.onDeviceOrientationSafariEvent, true);\n                    break;\n            }\n        };\n\n        const requestPermission = (DeviceOrientationEvent as unknown as DeviceOrientationEventiOS).requestPermission || undefined;\n\n        if (requestPermission) {\n            requestPermission()\n                .then(response => {\n                    if (response !== 'granted') {\n                        throw new Error('Permission not granted');\n                    }\n                    subscribe();\n                })\n                .catch(this.notifyError);\n        } else {\n            subscribe();\n        }\n\n\n        const lastAbsolutePosition = AbsolutePositionProvider.lastEvent;\n        if (lastAbsolutePosition) {\n            this.onAbsolutePositionEvent(lastAbsolutePosition);\n        } else {\n            this.absolutePositionProviderId = AbsolutePositionProvider.addEventListener(\n                this.onAbsolutePositionEvent,\n                this.notifyError,\n                false\n            );\n        }\n\n    }\n\n    stop() {\n        switch (BrowserUtils.getName()) {\n            case Browser.CHROME:\n                window.removeEventListener('deviceorientationabsolute',\n                    this.onDeviceOrientationChromeEvent, true);\n                break;\n\n            case Browser.SAFARI:\n            case Browser.IOS_WEBVIEW:\n                window.removeEventListener('deviceorientation',\n                    this.onDeviceOrientationSafariEvent, true);\n                break;\n        }\n\n        AbsolutePositionProvider.removeEventListener(this.absolutePositionProviderId);\n    }\n\n\n    onDeviceOrientationChromeEvent = (e: DeviceOrientationEvent) => {\n\n        this.magQuaternionTimestamp = e.timeStamp / 1e3;\n\n        if (typeof e.alpha !== 'number' || typeof e.beta !== 'number' || typeof e.gamma !== 'number') {\n            this.notifyError(new MissingSensorError().from('deviceorientationabsolute'));\n            return;\n        }\n\n        this.magQuaternion = Rotations.eulerToQuaternionZXYDegrees(\n            [e.alpha, e.beta, e.gamma]);\n\n        this.compute();\n    };\n\n\n    onDeviceOrientationSafariEvent = (e: DeviceOrientationEventiOS) => {\n\n        this.magQuaternionTimestamp = e.timeStamp / 1e3;\n\n        if (typeof e.beta !== 'number' || typeof e.gamma !== 'number') {\n            this.notifyError(new MissingSensorError().from('deviceorientation'));\n            return;\n        }\n\n        if (typeof e.webkitCompassHeading !== 'number') {\n            super.notifyError(new MissingMagnetometerError().from('deviceorientation'));\n            return;\n        }\n\n        /**\n         * Trying the best to retrieve a good quaternion from devicemotion event.\n         */\n\n        let alpha;\n        const [qw, qx, qy, qz] = Rotations.eulerToQuaternionZXYDegrees([e.webkitCompassHeading, e.beta, e.gamma]);\n        const groundAngle = rad2deg(Math.acos(qw ** 2 - qx ** 2 - qy ** 2 + qz ** 2));\n\n        let isSkyMode = null;\n        if (groundAngle > 136) {\n            isSkyMode = true;\n        } else if (groundAngle < 134) {\n            isSkyMode = false;\n        } else if (this.iosPreviousQuat && this.iosIsSkyMode !== null) {\n            /**\n             * This condition is true only if :\n             * - we are in the [134°; 136°] ground angle range\n             * - we know the previous quaternion\n             * - one of the both previous condition has been reached during this session\n             *\n             * In this case, we define a threshold to detect if there is a \"jump\" in the quaternion calculation,\n             * then, the mode is switched.\n             */\n            isSkyMode = Quaternion.distance([qw, qx, qy, qz], this.iosPreviousQuat) < 0.5\n                ? this.iosIsSkyMode\n                : !this.iosIsSkyMode;\n        }\n        this.iosPreviousQuat = [qw, qx, qy, qz];\n        this.iosIsSkyMode = isSkyMode;\n\n        if (typeof (isSkyMode) === 'undefined') {\n            // Algorithm uncertainity\n            return;\n        }\n\n        if (isSkyMode) {\n            alpha = 180 - e.webkitCompassHeading;\n        } else {\n            alpha = AbsoluteAttitudeFromBrowser.webkitCompassToHeading(\n                e.webkitCompassHeading, e.beta, e.gamma);\n        }\n\n        this.magQuaternion = Rotations.eulerToQuaternionZXYDegrees([alpha, e.beta, e.gamma]);\n\n        this.compute();\n    };\n\n\n    compute() {\n\n        if (!this.declinationQuaternion || !this.magQuaternion || !this.absolutePositionEvent) {\n            return;\n        }\n\n        const trueQuaternion = Quaternion.multiply(this.declinationQuaternion, this.magQuaternion);\n        const attitude = new AbsoluteAttitude(trueQuaternion, this.magQuaternionTimestamp, this.DEFAULT_ACCURACY);\n        this.notify(attitude);\n    }\n\n    /**\n     * Initialized declination quaternion using current position.\n     * This method should be theoretically called every time the user moves.\n     * But in reality declination does not change as much.\n     */\n    onAbsolutePositionEvent = (position: AbsolutePosition) => {\n\n        this.absolutePositionEvent = position;\n\n        const wmmResult = geomag.field(position.lat, position.lng);\n\n        // Declination is given in NED frame and our code use ENU, that is why we have: \"-declination\"\n        this.declinationQuaternion = Quaternion.fromAxisAngle([0, 0, 1], - deg2rad(wmmResult.declination));\n\n        AbsolutePositionProvider.removeEventListener(this.absolutePositionProviderId);\n        delete this.absolutePositionProviderId;\n        this.compute();\n    }\n\n    static webkitCompassToHeading(_webkitCompassHeading: number, _beta: number, _gamma: number) {\n        const webkitCompassHeading = deg2rad(_webkitCompassHeading);\n        const beta = deg2rad(_beta);\n        const gamma = deg2rad(_gamma);\n\n        const c1 = Math.cos(webkitCompassHeading / 2);\n        const c2 = Math.cos(beta / 2);\n        const c3 = Math.cos(gamma / 2);\n        const s1 = Math.sin(webkitCompassHeading / 2);\n        const s2 = Math.sin(beta / 2);\n        const s3 = Math.sin(gamma / 2);\n\n        const qw = c1 * c2 * c3 - s1 * s2 * s3;\n        const qz = s1 * c2 * c3 + c1 * s2 * s3;\n\n        return rad2deg(-2 * Math.atan(qz / qw));\n    }\n}\n\nexport default new AbsoluteAttitudeFromBrowser();\n","import Provider from '../../Provider.js';\nimport RelativeAttitudeFromInertialProvider from './RelativeAttitudeFromInertialProvider.js';\nimport ArCoreProvider from '../../vision/ArCoreProvider.js';\nimport { RelativeAttitude } from '../../../events/Types.js';\n\n/**\n * Relative attitude provider gives the device attitude in East-North-Up (ENU) frame using\n *  browser deviceorientation\n * The provider does not work until an offset is given.\n */\nclass RelativeAttitudeProvider extends Provider<RelativeAttitude> {\n\n    arCoreMonitoringId?: number;\n    arCoreProviderId?: number;\n    inertialProviderId?: number;\n\n    getName = () => 'RelativeAttitude';\n\n    availability = () => RelativeAttitudeFromInertialProvider.getAvailability();\n\n    start() {\n        this.arCoreMonitoringId = ArCoreProvider.addMonitoringListener(\n            () => {\n                this.listenArCore();\n                this.unlistenInertial();\n            }, () => {\n                this.unlistenArCore();\n                this.listenInertial();\n            });\n\n        if (ArCoreProvider.state === 'started') {\n            this.listenArCore();\n        } else {\n            this.listenInertial();\n        }\n    }\n\n    /**\n     * @override\n     */\n    stop() {\n        ArCoreProvider.removeMonitoringListener(this.arCoreMonitoringId);\n        this.unlistenArCore();\n        this.unlistenInertial();\n    }\n\n\n    listenInertial = () => {\n        this.inertialProviderId = RelativeAttitudeFromInertialProvider.addEventListener(\n            this.notify,\n            this.notifyError\n        );\n    }\n\n    unlistenInertial = () => {\n        RelativeAttitudeFromInertialProvider.removeEventListener(this.inertialProviderId);\n    }\n\n    listenArCore = () => {\n        this.arCoreProviderId = ArCoreProvider.addEventListener(\n            event => this.notify(event.relativeAttitude), null, false\n        );\n    };\n\n    unlistenArCore = () => {\n        ArCoreProvider.removeEventListener(this.arCoreProviderId);\n    }\n}\n\nexport default new RelativeAttitudeProvider();\n","/* eslint-disable max-statements */\nimport { AbsoluteHeading, Attitude } from '@wemap/geo';\nimport { deg2rad, diffAngle, Quaternion, Quaternion_t } from '@wemap/maths';\n\nimport Provider from '../../Provider.js';\nimport AvailabilityHelper from '../../../events/AvailabilityHelper.js';\nimport AbsoluteAttitudeFromBrowserProvider from './AbsoluteAttitudeFromBrowserProvider.js';\nimport RelativeAttitudeProvider from '../relative/RelativeAttitudeProvider.js';\nimport InclinationProvider from '../../inclination/InclinationProvider.js';\nimport HighRotationsProvider from '../../imu/HighRotationsProvider.js';\nimport VpsProvider from '../../vision/vps/VpsProvider.js';\nimport { AbsoluteAttitude, RelativeAttitude } from '../../../events/Types.js';\n\n/**\n * Absolute attitude provider gives the device attitude in East-North-Up (ENU) frame\n */\nclass AbsoluteAttitudeProvider extends Provider<AbsoluteAttitude> {\n\n    static REL_ABS_DIVERGENCE_ANGLE_THRESHOLD = deg2rad(25) // in radians;\n    static REL_ABS_DIVERGENCE_TIME_THRESHOLD = 2.5; // in seconds\n    static REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD = deg2rad(15) // in radians;\n\n    private _absAttitudeFromBrowser?: AbsoluteAttitude;\n    private _vpsProviderId?: number;\n    fromBrowserProviderId?: number;\n    highRotationProviderId?: number;\n    inclinationProviderId?: number;\n    relativeAttitudeProviderId?: number;\n\n    _attitudeFromBrowserErrored = false;\n    _attitudeFromRelativeErrored = false;\n\n    /*\n     * RELATIVE\n     */\n\n    _relativeAttitude: RelativeAttitude | null = null;\n    _relativeAccuracy = 0; // in radians/s\n\n    _lastForcedHeadingEvent?: AbsoluteAttitude | AbsoluteHeading;\n    _relAbsQuat?: Quaternion_t;\n    _wasHighRotationInProgress = false;\n    _timeFirstDivergence: number | null = null;\n    _callbackMagCalibration?: (data: { angle: number }) => void;\n\n    getName = () => 'AbsoluteAttitude';\n\n    availability() {\n        return AvailabilityHelper.some([\n            AbsoluteAttitudeFromBrowserProvider.getAvailability(),\n            RelativeAttitudeProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n\n        this.fromBrowserProviderId = AbsoluteAttitudeFromBrowserProvider.addEventListener(\n            this._onAttitudeFromBrowser,\n            error => {\n                this._attitudeFromBrowserErrored = true;\n                this._onError(error);\n            }\n        );\n\n        // Vps\n        this._vpsProviderId = VpsProvider.addEventListener(\n            event => this._onAttitudeFromVps(event.absoluteAttitude),\n            error => this.notifyError(error),\n            false\n        );\n\n        this.relativeAttitudeProviderId = RelativeAttitudeProvider.addEventListener(\n            this._onRelativeAttitudeEvent,\n            error => {\n                this._attitudeFromRelativeErrored = true;\n                this._onError(error);\n            }\n        );\n\n        this.inclinationProviderId = InclinationProvider.addEventListener();\n\n        this.highRotationProviderId = HighRotationsProvider.addEventListener();\n    }\n\n    stop() {\n        AbsoluteAttitudeFromBrowserProvider.removeEventListener(this.fromBrowserProviderId);\n        RelativeAttitudeProvider.removeEventListener(this.relativeAttitudeProviderId);\n        InclinationProvider.removeEventListener(this.inclinationProviderId);\n        HighRotationsProvider.removeEventListener(this.highRotationProviderId);\n        VpsProvider.removeEventListener(this._vpsProviderId);\n    }\n\n    _setCallbackMagCalibration(cb: (data: { angle: number }) => void) {\n        this._callbackMagCalibration = cb;\n    }\n\n    private _onError = (error: Error) => {\n        if (this._attitudeFromBrowserErrored && this._attitudeFromRelativeErrored) {\n            this.notifyError(error);\n        }\n    }\n\n\n    _forceHeadingForRelative = (absoluteHeadingEvent: AbsoluteAttitude | AbsoluteHeading) => {\n\n        if (this.lastEvent && absoluteHeadingEvent.accuracy! > this.lastEvent.accuracy!) {\n            return;\n        }\n\n        const calcForceHeading = (relativeAttitude: RelativeAttitude) => {\n            const currentRelativeHeading = relativeAttitude.heading;\n\n            this._relAbsQuat = Quaternion.fromAxisAngle(\n                [0, 0, 1],\n                currentRelativeHeading - absoluteHeadingEvent.heading\n            );\n\n            this._relativeAccuracy = 0;\n            this._lastForcedHeadingEvent = absoluteHeadingEvent;\n        };\n\n        // If relativeAttitude does not exist yet, wait the next\n        if (this._relativeAttitude) {\n            calcForceHeading(this._relativeAttitude);\n            return;\n        }\n\n        // If this._relativeAttitude does not exist, wait the first value\n        // /!\\ This works only if the relative attitude event is provided rapidly.\n        const providerId = RelativeAttitudeProvider.addEventListener(\n            event => {\n                calcForceHeading(event);\n                RelativeAttitudeProvider.removeEventListener(providerId);\n            }\n        );\n\n    };\n\n    _onRelativeAttitudeEvent = (event: RelativeAttitude) => {\n\n        const { quaternion, accuracy, time } = event;\n\n        // Calculate relative accuracy\n        if (this._relativeAttitude) {\n            this._relativeAccuracy += (time! - this._relativeAttitude.time!) * accuracy!;\n        }\n\n        // Keep the relative attitude event for the calculation of relAbsQuat\n        // /!\\ Keep this even if forced heading is not set /!\\\n        this._relativeAttitude = event;\n\n\n        if (!this._lastForcedHeadingEvent || !this._relAbsQuat) {\n            return;\n        }\n\n        const accuracyWithRelative = Math.min(\n            (this._lastForcedHeadingEvent.accuracy || 0) + this._relativeAccuracy,\n            Math.PI\n        );\n\n        const highRotationInProgress = HighRotationsProvider.isInProgress();\n\n        let divergenceDetected = false;\n\n        if (this._absAttitudeFromBrowser) {\n\n            const {\n                accuracy: accuracyWithAbsolute,\n                heading: headingFromAbsolute\n            } = this._absAttitudeFromBrowser;\n\n            if (this._wasHighRotationInProgress && !highRotationInProgress) {\n                // Update heading for relative if it the end of high rotations\n                // (probably due to a magnetometer calibratiton)\n                this._forceHeadingForRelative(this._absAttitudeFromBrowser);\n\n            } else if (accuracyWithAbsolute! < accuracyWithRelative) {\n                // Update heading for relative if:\n                // (1) accuracy from absolute is better than relative\n                // (2) heading divergence is greater than REL_ABS_DIVERGENCE_THRESHOLD\n                const relativeQuaternion = Quaternion.multiply(this._relAbsQuat, quaternion);\n                const relativeAttitude = new Attitude(relativeQuaternion);\n                const angle = Math.abs(diffAngle(relativeAttitude.heading, headingFromAbsolute));\n                const inclination = InclinationProvider.lastEvent;\n\n\n                if (angle > AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_ANGLE_THRESHOLD\n                    && inclination !== null\n                    && Math.abs(inclination - Math.PI / 4) > AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD\n                ) {\n                    divergenceDetected = true;\n\n                    // Be sure before forcing heading\n                    if (this._timeFirstDivergence !== null\n                        && time! - this._timeFirstDivergence > AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_TIME_THRESHOLD) {\n\n                        this._forceHeadingForRelative(this._absAttitudeFromBrowser);\n                        this._callbackMagCalibration?.({ angle });\n                        this._timeFirstDivergence = null;\n                    } else if (this._timeFirstDivergence === null) {\n                        this._timeFirstDivergence = time;\n                    }\n\n                }\n            }\n\n        }\n\n        if (!divergenceDetected) {\n            this._timeFirstDivergence = null;\n        }\n\n        this._wasHighRotationInProgress = highRotationInProgress;\n\n        const absoluteQuat = Quaternion.multiply(this._relAbsQuat, quaternion);\n        const attitude = new AbsoluteAttitude(absoluteQuat, time, accuracyWithRelative);\n        this.notify(attitude);\n    }\n\n\n    _onAttitudeFromBrowser = (event: AbsoluteAttitude) => {\n        this._absAttitudeFromBrowser = event;\n\n        if (!this._lastForcedHeadingEvent) {\n            this._forceHeadingForRelative(event);\n            return;\n        }\n\n        // Absolute attitude from browser is not used anymore due to magnetometer inaccuracy on pitch and roll\n    }\n\n\n    _onAttitudeFromVps = (event: AbsoluteAttitude) => {\n        this._forceHeadingForRelative(event);\n    }\n\n    feed(data: AbsoluteHeading | AbsoluteAttitude) {\n\n        if (data instanceof AbsoluteHeading) {\n\n            if (data.time === null) {\n                throw Error('the time of the absolute heading is not defined');\n            }\n            if (data.accuracy === null) {\n                throw Error('the accuracy of the absolute heading is not defined');\n            }\n\n            this._forceHeadingForRelative(data);\n\n        } else if (data instanceof AbsoluteAttitude) {\n\n            if (data.time === null) {\n                throw Error('the time of the attitude is not defined');\n            }\n            if (data.accuracy === null) {\n                throw Error('the accuracy of the attitude is not defined');\n            }\n\n            this._forceHeadingForRelative(data);\n\n        } else {\n            throw new Error('data is nor an AbsoluteHeading or an Attitude object');\n        }\n    }\n}\n\nexport default new AbsoluteAttitudeProvider();\n","import { std } from '@wemap/maths';\n\nimport Provider from '../Provider.js';\nimport RelativeAttitudeProvider from './relative/RelativeAttitudeProvider.js';\nimport { RelativeAttitude, Turn } from '../../events/Types.js';\n\nclass TurnProvider extends Provider<Turn> {\n\n    static SLIDING_WINDOW_TIME = 0.3;  // in seconds\n    static STD_THRESHOLD = 0.075;\n    static CONSIDER_TURN_UNTIL = 1; // in seconds\n\n    providerId?: number;\n\n    slidingWindow: [number, number][] = [];\n\n    getName = () => 'Turn';\n\n    availability = () => RelativeAttitudeProvider.getAvailability();\n\n    start() {\n        this.providerId = RelativeAttitudeProvider.addEventListener(\n            this._parseRelativeAttitude,\n            this.notifyError\n        );\n    }\n\n    stop() {\n        RelativeAttitudeProvider.removeEventListener(this.providerId);\n    }\n\n    isTurning() {\n        if (!this.lastEvent || !RelativeAttitudeProvider.lastEvent) {\n            return false;\n        }\n\n        const diffTime = RelativeAttitudeProvider.lastEvent.time as number - this.lastEvent.timestamp;\n        return diffTime < TurnProvider.CONSIDER_TURN_UNTIL;\n    }\n\n\n    private _parseRelativeAttitude = (relativeAttitudeEvent: RelativeAttitude) => {\n\n        const { heading } = relativeAttitudeEvent;\n        const timestamp = relativeAttitudeEvent.time as number;\n\n        this.slidingWindow = this.slidingWindow.filter(item => item[0] >= timestamp - TurnProvider.SLIDING_WINDOW_TIME);\n        this.slidingWindow.push([timestamp, heading]);\n\n        const stdVal = std(this.slidingWindow.map(item => item[1]));\n        if (stdVal > TurnProvider.STD_THRESHOLD) {\n            this.notify({ timestamp });\n        }\n\n    }\n}\n\nexport default new TurnProvider();\n","import Provider from '../Provider.js';\nimport AvailabilityHelper from '../../events/AvailabilityHelper.js';\nimport StepProvider from './StepProvider.js';\nimport TurnProvider from '../attitude/TurnProvider.js';\nimport { StraightLine } from '../../events/Types.js';\n\nclass StraightLineProvider extends Provider<StraightLine> {\n\n    static DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE = 2;\n\n    _turnProviderId?: number;\n    _stepProviderId?: number;\n\n    _countSteps = 0;\n    _stepsConsideredForStraightLine = StraightLineProvider.DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE;\n\n    getName = () => 'StraightLine';\n\n    availability() {\n        return AvailabilityHelper.every([\n            TurnProvider.getAvailability(),\n            StepProvider.getAvailability()\n        ]);\n    }\n\n    start() {\n        this._turnProviderId = TurnProvider.addEventListener(this._onTurn);\n        this._stepProviderId = StepProvider.addEventListener(this._onStep);\n    }\n\n    stop() {\n        TurnProvider.removeEventListener(this._turnProviderId);\n        StepProvider.removeEventListener(this._stepProviderId);\n    }\n\n    private _onTurn = () => {\n        if (this._countSteps >= this._stepsConsideredForStraightLine) {\n            this.notify(false);\n        }\n        this._countSteps = 0;\n    }\n\n    private _onStep = () => {\n        this._countSteps++;\n\n        if (this._countSteps === this._stepsConsideredForStraightLine) {\n            this.notify(true);\n        }\n\n    }\n\n    isStraight() {\n        return this._countSteps >= this._stepsConsideredForStraightLine;\n    }\n\n    get numStepsDetectedFromLastTurn() {\n        return this._countSteps;\n    }\n\n    get stepsConsideredForStraightLine() {\n        return this._stepsConsideredForStraightLine;\n    }\n\n    set stepsConsideredForStraightLine(stepsConsideredForStraightLine) {\n        this._stepsConsideredForStraightLine = stepsConsideredForStraightLine;\n    }\n}\n\nexport default new StraightLineProvider();\n","import {\n    AbsoluteHeading, Level,  UserPosition, Coordinates, GeoGraph, GeoGraphProjectionHandler, GeoGraphProjection, GeoGraphEdge, GeoGraphVertex\n} from '@wemap/geo';\nimport { deg2rad, diffAngle, diffAngleLines } from '@wemap/maths';\nimport { Itinerary, ItineraryInfoManager } from '@wemap/routers';\nimport { TimeUtils } from '@wemap/utils';\n\nimport AbsoluteAttitudeProvider from '../providers/attitude/absolute/AbsoluteAttitudeProvider.js';\nimport AbsoluteAttitudeFromBrowser from '../providers/attitude/absolute/AbsoluteAttitudeFromBrowserProvider.js';\nimport TurnProvider from '../providers/attitude/TurnProvider.js';\nimport Constants from '../providers/Constants.js';\nimport AbsolutePositionProvider from '../providers/position/absolute/AbsolutePositionProvider.js';\nimport Provider from '../providers/Provider.js';\nimport StepProvider from '../providers/steps/StepProvider.js';\nimport StraightLineProvider from '../providers/steps/StraightLineProvider.js';\nimport ProvidersOptions from '../ProvidersOptions.js';\nimport { AbsolutePosition } from '../events/Types.js';\n\n\ntype MapMatchingEvent = { graph?: GeoGraph, itinerary?: Itinerary | null };\nclass MapMatchingHandler extends Provider<MapMatchingEvent> {\n\n    static DEFAULT_MM_MAX_ANGLE = deg2rad(30); // radians\n    static DEFAULT_MM_MAX_DIST = 30; // meters\n    static DEFAULT_MM_MIN_DIST = 0; // meters\n    static DEFAULT_USE_ITINERARY_START_AS_POSITION = false;\n    static DEFAULT_USE_ORIENTATION_MATCHING = true;\n    static DEFAULT_MM_HUGE_JUMP_DISTANCE = 3; // meters\n    static DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE = 2; // meters\n    static DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING = 3;\n    static DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING = 5;\n    static DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE = 3;\n    static DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD = deg2rad(3); // radians\n\n    _mapMatchingMinDistance = MapMatchingHandler.DEFAULT_MM_MIN_DIST;\n    _useItineraryStartAsPosition = MapMatchingHandler.DEFAULT_USE_ITINERARY_START_AS_POSITION;\n    _useOrientationMatching = MapMatchingHandler.DEFAULT_USE_ORIENTATION_MATCHING;\n    _hugeJumpDistance = MapMatchingHandler.DEFAULT_MM_HUGE_JUMP_DISTANCE;\n    _disableMMCloseToATurnDistance = MapMatchingHandler.DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE;\n    _minStepsBetweenOrientationMatching = MapMatchingHandler.DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING;\n    _minStepsForOrientationMatching = MapMatchingHandler.DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING;\n    _lastProjectionsWindowSize = MapMatchingHandler.DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE;\n    _lastProjectionsEdgeAngleThreshold = MapMatchingHandler.DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD;\n\n    _geoGraphProjectionHandler: GeoGraphProjectionHandler;\n    _internalProvidersStarted = false;\n    _straightLineProviderId?: number;\n    _turnProviderId?: number;\n    _stepProviderId?: number;\n    _projectionsWithAbsAndWithoutRelAttitudeInARow: GeoGraphProjection[] = [];\n    _countStepsFromLastMatching = 0;\n    _lastProjections: GeoGraphProjection[] = [];\n\n    _itineraryInfoManager: ItineraryInfoManager | null = null;\n\n    constructor() {\n        super();\n\n        this._geoGraphProjectionHandler = new GeoGraphProjectionHandler();\n        this._geoGraphProjectionHandler.maxDistance = MapMatchingHandler.DEFAULT_MM_MAX_DIST;\n        this._geoGraphProjectionHandler.maxAngleBearing = MapMatchingHandler.DEFAULT_MM_MAX_ANGLE;\n    }\n\n    getName = () => 'MapMatchingHandler';\n\n    availability = () => Promise.resolve();\n\n    start() {\n        if (this.graph) {\n            this._startInternalProviders();\n        }\n    }\n\n    stop() {\n        this._stopInternalProviders();\n    }\n\n    _manageStartStop = () => {\n        if (this.graph && !this._internalProvidersStarted) {\n            this._startInternalProviders();\n        } else if (!this.graph && this._internalProvidersStarted) {\n            this._stopInternalProviders();\n        }\n    }\n\n    _startInternalProviders() {\n\n        if (this.enabled && this._internalProvidersStarted) {\n            return;\n        }\n\n        this._straightLineProviderId = StraightLineProvider.addEventListener();\n        this._turnProviderId = TurnProvider.addEventListener();\n        this._stepProviderId = StepProvider.addEventListener(() => (this._countStepsFromLastMatching++));\n\n        this._internalProvidersStarted = true;\n    }\n\n    _stopInternalProviders() {\n\n        if (this.enabled && !this._internalProvidersStarted) {\n            return;\n        }\n\n        StraightLineProvider.removeEventListener(this._straightLineProviderId);\n        TurnProvider.removeEventListener(this._turnProviderId);\n        StepProvider.removeEventListener(this._stepProviderId);\n\n        this._internalProvidersStarted = false;\n    }\n\n    get enabled() {\n        return ProvidersOptions.useMapMatching;\n    }\n\n    get graph() {\n        return this._geoGraphProjectionHandler.graph;\n    }\n\n    set graph(graph) {\n\n        this._geoGraphProjectionHandler.graph = graph;\n        this._itineraryInfoManager = null;\n        this.notify({ ...(graph && { graph })});\n\n        this._manageStartStop();\n\n        if (this.canUseMapMatching()) {\n            // TODO if necessary\n            // this._notifyPositionFromNetworkInput(network);\n        }\n    }\n\n    set itinerary(itinerary: Itinerary | null) {\n\n        this._geoGraphProjectionHandler.graph = itinerary ? itinerary.toGraph() : null;\n        this._itineraryInfoManager = new ItineraryInfoManager(itinerary);\n        this.notify({ ...(itinerary && { itinerary })});\n\n        this._manageStartStop();\n\n        if (this.canUseMapMatching() && itinerary) {\n            this._notifyPositionFromItineraryInput(itinerary);\n        }\n    }\n\n    canUseMapMatching() {\n        return this.enabled && this.graph;\n    }\n\n\n    private _notifyPositionFromItineraryInput(itinerary: Itinerary) {\n\n        if (!this._useItineraryStartAsPosition || itinerary.from) {\n            return;\n        }\n\n        const lastPosition = AbsolutePositionProvider.lastEvent || null;\n\n        // In case of an itinerary, use itinerary start as new position,\n        // but add the distance between lastPosition and itinerary start for the accuracy\n        const newPosition = UserPosition.fromCoordinates(itinerary.from);\n\n        if (lastPosition) {\n            newPosition.alt = lastPosition.alt;\n            newPosition.time = lastPosition.time;\n            newPosition.accuracy = lastPosition.accuracy! + newPosition.distanceTo(lastPosition);\n            newPosition.bearing = lastPosition.bearing;\n        } else if (itinerary.coords.length >= 2) {\n            newPosition.alt = Constants.DEFAULT_ALTITUDE;\n            newPosition.time = TimeUtils.preciseTime();\n            newPosition.accuracy = 0;\n            newPosition.bearing = itinerary.coords[0].bearingTo(itinerary.coords[1]);\n        } else {\n            return;\n        }\n\n        // if the distance between itinerary.start and itinerary.nodes[0] is less than MM_MAX_DIST,\n        //  projection.coords is itinerary.nodes[0]\n        const projection = this.getProjection(newPosition, true);\n        if (projection) {\n            AbsolutePositionProvider.notify(projection.coords);\n            // Do not notify for attitude projection because bearing has not been used.\n        } else {\n            AbsolutePositionProvider.notify(newPosition);\n        }\n        return;\n    }\n\n    notifyPositionFromFeed(newPositionEvent: AbsolutePosition) {\n\n        const projection = this.getProjection(newPositionEvent, true, false);\n        if (!projection) {\n            AbsolutePositionProvider.notify(newPositionEvent);\n            return;\n        }\n\n        AbsolutePositionProvider.notify(projection.coords);\n    }\n\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    notifyPositionFromAbsolute(newPosition: AbsolutePosition) {\n\n        let projectionWithBearing = null;\n        if (newPosition.bearing !== null) {\n            projectionWithBearing = this.getProjection(newPosition, true, true);\n        }\n\n        if (!projectionWithBearing) {\n            // Verify if the newPosition is far enough from the network to be used by the system.\n            // const projectionWithoutBearing = this.getProjection(newPosition, true, false);\n            // if (!projectionWithoutBearing) {\n            // In this case, the newPosition is far enough and can be used safely.\n            AbsolutePositionProvider.notify(newPosition);\n            return true;\n            // }\n            // return true;\n        }\n\n        // newPosition must not be used after this line\n\n        const thisWillBeAHugeJump = projectionWithBearing.distanceFromNearestElement > this._hugeJumpDistance;\n\n        // In case of a huge jump, be sure the user is in a straight line\n        if (thisWillBeAHugeJump && !StraightLineProvider.isStraight()) {\n            return false;\n        }\n\n        // Detector to avoid big jumps in the wrong direction\n        if (thisWillBeAHugeJump && this._detectWrongBigJump(projectionWithBearing)) {\n            return false;\n        }\n\n        AbsolutePositionProvider.notify(projectionWithBearing.coords);\n\n        this.tryOrientationMatching(projectionWithBearing);\n        return true;\n    }\n\n\n    /**\n     * @returns if input position is used by the system (true = used, false = discarded)\n     */\n    notifyPositionFromRelative(newPosition: AbsolutePosition) {\n\n        if (TurnProvider.isTurning()) {\n            this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];\n            this._lastProjections = [];\n            AbsolutePositionProvider.notify(newPosition);\n            return true;\n        }\n\n        const projection = this.getProjection(newPosition, true, true);\n\n        if (projection) {\n            this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];\n            this._lastProjections.push(projection);\n            if (this._lastProjections.length > this._lastProjectionsWindowSize) {\n                this._lastProjections.shift();\n            }\n\n            const thisWillBeAHugeJump = projection.distanceFromNearestElement > this._hugeJumpDistance;\n\n            // In case of a huge jump, be sure the user is in a straight line\n            if (thisWillBeAHugeJump && !StraightLineProvider.isStraight()) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            // Detector to avoid big jumps in the wrong direction\n            if (thisWillBeAHugeJump && this._detectWrongBigJump(projection)) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            // Do not use projection if the neareast element is not the same direction than previous\n            if (!this._areLastProjectionsInTheSameDirection()) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            // Detector to avoid map-matching close to network turns\n            if (this._disableMMCloseToATurnDistance > 0\n                && this._hasTurnInCircle(projection.coords, this._disableMMCloseToATurnDistance)) {\n                AbsolutePositionProvider.notify(newPosition);\n                return true;\n            }\n\n            AbsolutePositionProvider.notify(projection.coords);\n            this.tryOrientationMatching(projection);\n\n            return true;\n\n        }\n        // else {\n\n        // Sometimes, the newPosition.bearing diverges due to the Absolute Attitude offset\n        // and the Orientation Matching. So, we created this detector to check if projection\n        // with bearing from \"AbsoluteAttitudeFromBrowser\" is better than the current bearing.\n        // /!\\ This works only if the user is waking in the same direction than the smartphone orientation /!\\\n        if (StraightLineProvider.isStraight()) {\n\n            const testedPosition = newPosition.clone();\n            testedPosition.bearing = AbsoluteAttitudeFromBrowser.lastEvent?.heading || null;\n            const projectionWithAbs = this.getProjection(testedPosition, true, true);\n\n            if (projectionWithAbs) {\n\n                this._projectionsWithAbsAndWithoutRelAttitudeInARow.push(projectionWithAbs);\n                if (this._projectionsWithAbsAndWithoutRelAttitudeInARow.length < 3) {\n                    AbsolutePositionProvider.notify(newPosition);\n                    return true;\n                }\n\n                this._lastProjections.push(projectionWithAbs);\n                if (this._lastProjections.length > this._lastProjectionsWindowSize) {\n                    this._lastProjections.shift();\n                }\n\n\n                if (!this._areLastProjectionsInTheSameDirection()) {\n                    AbsolutePositionProvider.notify(newPosition);\n                    return true;\n                }\n\n                AbsolutePositionProvider.notify(projectionWithAbs.coords);\n\n                this.tryOrientationMatching(projectionWithAbs);\n                return true;\n            }\n        }\n\n        this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];\n        this._lastProjections = [];\n\n        // If no projection found with both projection methods, simply use the newPosition.\n        AbsolutePositionProvider.notify(newPosition);\n        return true;\n\n        // }\n\n    }\n\n    _detectWrongBigJump(projection: GeoGraphProjection<unknown, unknown, UserPosition>) {\n\n        if (this._itineraryInfoManager && AbsolutePositionProvider.lastEvent) {\n            const infoPrevious = this._itineraryInfoManager.getInfo(AbsolutePositionProvider.lastEvent);\n            const infoProjection = this._itineraryInfoManager.getInfo(projection.coords);\n            if (infoPrevious\n                && infoProjection\n                && infoPrevious.traveledDistance > infoProjection.traveledDistance\n                && (infoPrevious.traveledDistance - infoProjection.traveledDistance) > projection.origin.accuracy!\n                && projection.distanceFromNearestElement > projection.origin.accuracy!\n                && projection.origin.distanceTo(AbsolutePositionProvider.lastEvent) < projection.origin.accuracy! + AbsolutePositionProvider.lastEvent.accuracy!) {\n\n                return true;\n            }\n        }\n\n        return false;\n    }\n\n    _areLastProjectionsInTheSameDirection() {\n\n        if (this._lastProjections.length === 0) {\n            return false;\n        }\n\n        const firstProjection = this._lastProjections[0];\n        return !this._lastProjections.some(projection =>\n            !(projection.nearestElement instanceof GeoGraphEdge)\n            || !(firstProjection.nearestElement instanceof GeoGraphEdge)\n            || (diffAngleLines(projection.nearestElement.bearing, firstProjection.nearestElement.bearing)\n                > this._lastProjectionsEdgeAngleThreshold)\n        );\n    }\n\n\n    _nodeHasTurn(node: GeoGraphVertex) {\n        const { edges } = node;\n        for (let i = 0; i < edges.length; i++) {\n            for (let j = i + 1; j < edges.length; j++) {\n                const angle = diffAngleLines(edges[i].bearing, edges[j].bearing);\n                if (angle > MapMatchingHandler.DEFAULT_MM_MAX_ANGLE) {\n                    return true;\n                }\n            }\n        }\n        return false;\n    }\n\n\n    _hasTurnInCircle(center: Coordinates, radius: number) {\n        const network = this._geoGraphProjectionHandler.graph;\n        if (!network) {\n            return false;\n        }\n\n        return network.vertices.filter(vertex =>\n            vertex.coords.distanceTo(center) <= radius\n            && Level.intersect(vertex.coords.level, center.level)\n        ).some(this._nodeHasTurn);\n    }\n\n    tryOrientationMatching(projection: GeoGraphProjection<unknown, unknown, UserPosition>) {\n\n        if (!this._useOrientationMatching) {\n            return;\n        }\n\n        if (this.state !== 'started'\n            || this._countStepsFromLastMatching < this._minStepsBetweenOrientationMatching\n            || StraightLineProvider.numStepsDetectedFromLastTurn < this._minStepsForOrientationMatching) {\n            return;\n        }\n\n        const { nearestElement, origin } = projection;\n        if (!(nearestElement instanceof GeoGraphEdge)) {\n            return;\n        }\n\n        let matchingDirection;\n        const matchingDirectionAngle1 = diffAngle(nearestElement.bearing, origin.bearing!);\n        const matchingDirectionAngle2 = diffAngle(nearestElement.bearing + Math.PI, origin.bearing!);\n\n        if (Math.abs(matchingDirectionAngle1) < Math.abs(matchingDirectionAngle2)) {\n            matchingDirection = nearestElement.bearing;\n        } else {\n            matchingDirection = (nearestElement.bearing + Math.PI) % (2 * Math.PI);\n        }\n\n        const matchedHeading = new AbsoluteHeading(\n            matchingDirection,\n            origin.time,\n            0\n            // Math.min(Math.abs(matchingDirectionAngle1), Math.abs(matchingDirectionAngle2))\n        );\n\n        AbsoluteAttitudeProvider._forceHeadingForRelative(matchedHeading);\n\n        this._countStepsFromLastMatching = 0;\n    }\n\n    getProjection(position: UserPosition, useDistance?: boolean, useBearing?: boolean) {\n        return this._geoGraphProjectionHandler.getProjection(position, useDistance, useBearing);\n    }\n\n    get maxDistance() {\n        return this._geoGraphProjectionHandler.maxDistance;\n    }\n\n    set maxDistance(maxDistance) {\n        this._geoGraphProjectionHandler.maxDistance = maxDistance;\n    }\n\n    get minDistance() {\n        return this._mapMatchingMinDistance;\n    }\n\n    set minDistance(minDistance) {\n        this._mapMatchingMinDistance = minDistance;\n    }\n\n    get maxAngleBearing() {\n        return this._geoGraphProjectionHandler.maxAngleBearing;\n    }\n\n    set maxAngleBearing(maxAngleBearing) {\n        this._geoGraphProjectionHandler.maxAngleBearing = maxAngleBearing;\n    }\n\n    get useItineraryStartAsPosition() {\n        return this._useItineraryStartAsPosition;\n    }\n\n    set useItineraryStartAsPosition(useItineraryStartAsPosition) {\n        this._useItineraryStartAsPosition = useItineraryStartAsPosition;\n    }\n\n    get useOrientationMatching() {\n        return this._useOrientationMatching;\n    }\n\n    set useOrientationMatching(useOrientationMatching) {\n        this._useOrientationMatching = useOrientationMatching;\n    }\n\n    get hugeJumpDistance() {\n        return this._hugeJumpDistance;\n    }\n\n    set hugeJumpDistance(hugeJumpDistance) {\n        this._hugeJumpDistance = hugeJumpDistance;\n    }\n\n    get disableMMCloseToATurnDistance() {\n        return this._disableMMCloseToATurnDistance;\n    }\n\n    set disableMMCloseToATurnDistance(disableMMCloseToATurnDistance) {\n        this._disableMMCloseToATurnDistance = disableMMCloseToATurnDistance;\n    }\n\n    get minStepsBetweenOrientationMatching() {\n        return this._minStepsBetweenOrientationMatching;\n    }\n\n    set minStepsBetweenOrientationMatching(minStepsBetweenOrientationMatching) {\n        this._minStepsBetweenOrientationMatching = minStepsBetweenOrientationMatching;\n    }\n\n    get minStepsForOrientationMatching() {\n        return this._minStepsForOrientationMatching;\n    }\n\n    set minStepsForOrientationMatching(minStepsForOrientationMatching) {\n        this._minStepsForOrientationMatching = minStepsForOrientationMatching;\n    }\n\n    get lastProjectionsWindowSize() {\n        return this._lastProjectionsWindowSize;\n    }\n\n    set lastProjectionsWindowSize(lastProjectionsWindowSize) {\n        this._lastProjectionsWindowSize = lastProjectionsWindowSize;\n    }\n\n    get lastProjectionsEdgeAngleThreshold() {\n        return this._lastProjectionsEdgeAngleThreshold;\n    }\n\n    set lastProjectionsEdgeAngleThreshold(lastProjectionsEdgeAngleThreshold) {\n        this._lastProjectionsEdgeAngleThreshold = lastProjectionsEdgeAngleThreshold;\n    }\n}\n\nexport default new MapMatchingHandler();\n","import { Level, UserPosition } from '@wemap/geo';\n\nclass PositionSmoother {\n\n    // Generated positions by second\n    static DEFAULT_FREQUENCY = 60;\n\n    // flyby (in second)\n    static DEFAULT_FLYBY_TIME = 1;\n\n    positionsQueue: UserPosition[] = [];\n    previousPosition: UserPosition | null = null;\n    timeoutNotify?: any; // can be number if web or NodeJS.Timer\n\n\n    /**\n     * @param frequency in Hz\n     */\n    constructor(\n        public callback?: (position: UserPosition) => void,\n        public frequency = PositionSmoother.DEFAULT_FREQUENCY\n    ) {}\n\n    /**\n     * @param flybyTime in seconds\n     */\n    feed(newPosition: UserPosition, flybyTime = PositionSmoother.DEFAULT_FLYBY_TIME) {\n\n        if (!(newPosition instanceof UserPosition)) {\n            throw new TypeError('newPosition is not instance of UserPosition');\n        }\n\n        if (newPosition.time === null) {\n            throw new Error('newPosition does not have time property');\n        }\n\n        let previousPosition;\n        if (this.positionsQueue.length !== 0) {\n            previousPosition = this.positionsQueue[0];\n            this.positionsQueue = [];\n        } else {\n            previousPosition = this.previousPosition;\n        }\n\n        if (previousPosition) {\n\n            const refTimestamp = newPosition.time;\n            const distance = previousPosition.distanceTo(newPosition);\n            const azimuth = previousPosition.bearingTo(newPosition);\n\n            let i = 1;\n            const nSamples = this.frequency * flybyTime + 1;\n\n            const newPositionLevel = Level.clone(newPosition.level);\n            while (i < nSamples + 1) {\n                const smoothedPosition = previousPosition.destinationPoint(distance * i / nSamples, azimuth);\n                smoothedPosition.time = refTimestamp + (i - 1) / this.frequency;\n                smoothedPosition.level = newPositionLevel;\n                smoothedPosition.bearing = newPosition.bearing;\n                smoothedPosition.accuracy = Math.max(\n                    smoothedPosition.accuracy! + (newPosition.accuracy! - smoothedPosition.accuracy!) * i / nSamples,\n                    0\n                );\n                this.positionsQueue.push(smoothedPosition);\n                i++;\n            }\n\n            if (this.timeoutNotify) {\n                clearTimeout(this.timeoutNotify);\n            }\n        } else {\n            this.positionsQueue.push(newPosition.clone());\n        }\n\n        this.previousPosition = newPosition;\n        this._notifyNext();\n    }\n\n    _notifyNext = () => {\n        if (!this.positionsQueue.length) return;\n        this.callback?.(this.positionsQueue.shift() as UserPosition);\n        if (this.positionsQueue.length !== 0) {\n            this.timeoutNotify = setTimeout(this._notifyNext, 1e3 / this.frequency);\n        } else {\n            delete this.timeoutNotify;\n        }\n    }\n\n    clear() {\n        clearTimeout(this.timeoutNotify);\n        delete this.timeoutNotify;\n        this.positionsQueue = [];\n    }\n}\n\nexport default PositionSmoother;\n","import { Attitude } from '@wemap/geo';\nimport { deg2rad, diffAngle, Quaternion } from '@wemap/maths';\n\nclass AttitudeSmoother {\n\n    static ROTATION_SPEED_JUMP_THRESHOLD = deg2rad(180); // in radians/s\n    static ROTATION_SPEED_CONVERGENCE = deg2rad(10); // in radians/s\n    static HIGH_JUMP_THRESHOLD = deg2rad(20); // in radians/s\n    static ROTATION_SPEED_HIGH_JUMP_CONVERGENCE = deg2rad(100); // in radians/s\n    static PITCH_UNCERTAINITY_HEADING_THRESHOLD = deg2rad(5); // in radians/s\n\n    _previousAttitude?: Attitude;\n\n    _smoothing : null | {\n        interpAttitude(attitude: Attitude): Attitude,\n        toTime: number\n    } = null;\n\n    constructor(public callback: (attitude: Attitude) => void) {}\n\n    feed(newAttitude: Attitude) {\n\n        if (newAttitude.time === null) {\n            throw new Error('newAttitude does not have time property');\n        }\n\n        const { _previousAttitude: previousAttitude } = this;\n        this._previousAttitude = newAttitude;\n\n        if (!previousAttitude) {\n            this.callback(newAttitude);\n            return;\n        }\n\n        /*\n         * Comparison between two successive Attitude from the \"feed\" function\n         */\n        if (AttitudeSmoother.isJump(previousAttitude, newAttitude)) {\n\n            const fromAttitude = this._smoothing === null\n                ? previousAttitude\n                : this._smoothing.interpAttitude(previousAttitude);\n\n            const fromHeading = fromAttitude.heading;\n            const toHeading = newAttitude.heading;\n            const diffAngleHeading = diffAngle(toHeading, fromHeading);\n\n            const isHighJump = Math.abs(diffAngleHeading) < AttitudeSmoother.HIGH_JUMP_THRESHOLD;\n            const rotationSpeedConvergence = isHighJump\n                ? AttitudeSmoother.ROTATION_SPEED_CONVERGENCE\n                : AttitudeSmoother.ROTATION_SPEED_HIGH_JUMP_CONVERGENCE;\n\n            const fromTime = fromAttitude.time!;\n            const timeToConsume = Math.abs(diffAngleHeading) / rotationSpeedConvergence;\n            const multiplier = diffAngleHeading < 0 ? -1 : 1;\n\n            this._smoothing = {\n                toTime: fromTime + timeToConsume,\n\n                interpAttitude: (attitude: Attitude) => {\n                    const angle = rotationSpeedConvergence * (attitude.time! - fromTime);\n                    const interpHeading = fromHeading + angle * multiplier;\n                    const offsetQuat = Quaternion.fromAxisAngle([0, 0, 1], toHeading - interpHeading);\n                    const interpQuat = Quaternion.multiply(offsetQuat, attitude.quaternion);\n                    return new Attitude(interpQuat, attitude.time, attitude.accuracy);\n                }\n            };\n        }\n\n        if (this._smoothing !== null) {\n            if (newAttitude.time >= this._smoothing.toTime) {\n                // This means that is the last epoch for smoothing\n                this._smoothing = null;\n            } else {\n                const interpAttitude = this._smoothing.interpAttitude(newAttitude);\n                this.callback(interpAttitude);\n                return;\n            }\n        }\n\n        this.callback(newAttitude);\n    }\n\n    /**\n     * @param {Attitude} previousAttitude\n     * @param {Attitude} newAttitude\n     * @returns {boolean}\n     */\n    static isJump(previousAttitude: Attitude, newAttitude: Attitude) {\n        const fromHeading = previousAttitude.heading;\n        const toHeading = newAttitude.heading;\n        const diffAngleHeading = diffAngle(toHeading, fromHeading);\n        const diffTime = newAttitude.time! - previousAttitude.time!;\n\n        /**\n         * Heading is calculated from two different formulas in function of the pitch angle.\n         * Do not consider a jump if attitude is close to the change of the methods\n         * @see MathsRotations#getHeadingFromQuaternion()\n         */\n        const [qw, qx, qy, qz] = newAttitude.quaternion;\n        const distToPitchThreshold = Math.abs(Math.asin(2 * (qw * qx + qy * qz)) - Math.PI / 4);\n        if (distToPitchThreshold < AttitudeSmoother.PITCH_UNCERTAINITY_HEADING_THRESHOLD) {\n            return false;\n        }\n\n        return Math.abs(diffAngleHeading) > AttitudeSmoother.ROTATION_SPEED_JUMP_THRESHOLD * diffTime;\n    }\n}\n\nexport default AttitudeSmoother;\n","import Provider from '../Provider.js';\nimport AbsoluteAttitudeProvider from '../attitude/absolute/AbsoluteAttitudeProvider.js';\nimport { MagnetometerNeedCalibration } from '../../events/Types.js';\n\nclass MagnetometerCalibrationProvider extends Provider<MagnetometerNeedCalibration> {\n\n    getName = () => 'MagnetometerCalibrationProvider';\n\n    availability = () => AbsoluteAttitudeProvider.getAvailability();\n\n    constructor() {\n        super();\n        AbsoluteAttitudeProvider._setCallbackMagCalibration(e => this.state === 'started' && this.notify(e));\n    }\n\n    start() { /* do nothing */ }\n    stop() { /* do nothing */ }\n\n}\n\nexport default new MagnetometerCalibrationProvider();\n","class IpResolveServerError extends Error {\n\n    static DEFAULT_MESSAGE = 'IP Resolver failed';\n\n    constructor(message?: string) {\n        super(message || IpResolveServerError.DEFAULT_MESSAGE);\n    }\n}\n\nexport default IpResolveServerError;\n","import { UserPosition } from '@wemap/geo';\nimport { TimeUtils } from '@wemap/utils';\n\nimport Provider from '../../Provider.js';\nimport IpResolveServerError from '../../../errors/IpResolveServerError.js';\nimport { AbsolutePosition } from '../../../events/Types.js';\n\n/**\n * GnssWifiProvider is a provider based on navigator.geolocation.\n * This API does not allow us to know if the position returned is provided\n *  by Wifi Fingerprinting algorithms or by GNSS. That is why the name is\n *  \"GnssWifi\".\n */\nclass IpProvider extends Provider<AbsolutePosition> {\n\n    getName = () => 'Ip';\n\n    availability = () => Promise.resolve();\n\n    async start() {\n\n        const response = await fetch('https://ipinfo.io/geo?token=24a7ca2f3b489d');\n        if (!response) {\n            this.notifyError(new IpResolveServerError());\n            return;\n        }\n\n        const timestamp = TimeUtils.preciseTime() / 1e3;\n\n        const latLngStr = (await response.json()).loc.split(',');\n        const position = new UserPosition(\n            parseFloat(latLngStr[0]),\n            parseFloat(latLngStr[1]),\n            null,\n            null,\n            timestamp,\n            100000\n        );\n\n        this.notify(position);\n    }\n\n    stop() { /* do nothing */ }\n\n}\n\nexport default new IpProvider();\n","import Provider from '../Provider.js';\nimport ArCore from './ArCoreProvider.js';\nimport { Barcode } from '../../events/Types.js';\n\nclass BarcodePoleStarProvider extends Provider<Barcode> {\n    \n    providerId?: number;\n\n    getName = () => 'Barcode';\n\n    availability = () => ArCore.getAvailability();\n\n    start() {\n        ArCore.enableBarcodeScanner();\n\n        this.providerId = ArCore.addEventListener(\n            event => event.barcode && this.notify(event.barcode),\n            this.notifyError\n        );\n    }\n\n    stop() {\n        ArCore.disableBarcodeScanner();\n        ArCore.removeEventListener(this.providerId);\n    }\n}\n\nexport default new BarcodePoleStarProvider();\n","import Provider from '../Provider.js';\nimport ArCoreProvider from '../vision/ArCoreProvider.js';\nimport { CameraNativeState } from '../../events/Types.js';\n\nclass CameraNativeProvider extends Provider<CameraNativeState> {\n\n    providerId?: number;\n\n    getName = () => 'CameraNative';\n\n    availability = () => Promise.resolve();\n\n    start() {\n\n        if (ArCoreProvider.state 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ArCoreProvider.removeEventListener(this.providerId);\n    }\n}\n\nexport default new 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