@wemap/providers 12.10.8-alpha.1 → 12.10.8

package/dist/index.js

@@ -1,2 +1,3447 @@
-"use strict";var t=Object.defineProperty,e=(e,i,s)=>(((e,i,s)=>{i in e?t(e,i,{enumerable:!0,configurable:!0,writable:!0,value:s}):e[i]=s})(e,"symbol"!=typeof i?i+"":i,s),s);Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const i=require("@wemap/geo"),s=require("@wemap/maths"),r=require("@wemap/routers"),n=require("@wemap/utils"),o=require("@wemap/logger"),a=require("geomag"),l=require("@wemap/camera");function h(t){const e=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(t)for(const i in t)if("default"!==i){const s=Object.getOwnPropertyDescriptor(t,i);Object.defineProperty(e,i,s.get?s:{enumerable:!0,get:()=>t[i]})}return e.default=t,Object.freeze(e)}const c=h(a);class d extends i.Attitude{}class u extends i.Attitude{}class v extends i.UserPosition{}const E={useMapMatching:!0,ignoreProviders:[],optionalProviders:[],stopOnError:!0,checkAvailabilityOnStart:!0,get hasPoleStar(){return this.optionalProviders.includes("PoleStar")}};const _=new class{constructor(){e(this,"_enabled",!1),e(this,"currentId",0),e(this,"objectsIdMap",new WeakMap),e(this,"pushEvents",{}),e(this,"pushEventsRef",{}),e(this,"interval"),e(this,"initDate")}get enabled(){return this._enabled}set enabled(t){this._enabled=t}initializeInterval(){this.interval||(this.interval=window.setInterval((()=>{for(const[t,e]of Object.entries(this.pushEvents))o.debug("Received "+e+" notifications from "+this.pushEventsRef[Number(t)].getName()+" last second");this.pushEvents={},this.pushEventsRef={}}),1e3))}getObjectId(t){return this.objectsIdMap.has(t)||this.objectsIdMap.set(t,++this.currentId),this.objectsIdMap.get(t)}addEvent(t,e){if(!this.enabled)return;this.initDate||(this.initDate=Date.now()),this.initializeInterval();const i=this.getObjectId(t),s=t.getName();o.debug(s+"["+i+"]."+e)}incrementNotifications(t){if(!this.enabled)return;const e=this.getObjectId(t);let i=this.pushEvents[e];i||(i=0,this.pushEventsRef[e]=t),this.pushEvents[e]=i+1}},m=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(m,"DEFAULT_MESSAGE","Contains ignored provider");let p=m;const g=class t{constructor(){e(this,"id"),e(this,"state","stopped"),e(this,"_lastEvent",null),e(this,"_eventsCallbacks",[]),e(this,"_monitoringCallbacks",[]),e(this,"notify",(t=>{_.incrementNotifications(this),this._eventsCallbacks.forEach((e=>{var i;return null==(i=e.onEvent)?void 0:i.call(e,t)})),this._lastEvent=t})),e(this,"notifyError",(t=>{this._eventsCallbacks.forEach((({id:e,onError:i})=>{E.stopOnError&&this.removeEventListener(e),null==i||i(t)}))})),this.id=t._uniqueId++,_.addEvent(this,"constructor")}getAvailability(){return E.ignoreProviders.includes(this.getName())?Promise.resolve(new p):this.availability()}get hasNativeInterface(){return Boolean(this.nativeInterface)}get nativeInterface(){return"undefined"!=typeof window&&window.__nativeProviders||null}get nativeJsInterface(){return"undefined"==typeof window?null:(window.__nativeJsProviders||(window.__nativeJsProviders={}),window.__nativeJsProviders)}get useCameraNatively(){return!1}addEventListener(e=null,i=null,s=!0){const r=++t._callbackUniqueId;if(this._eventsCallbacks.push({id:r,onEvent:e||(()=>{}),onError:i||(()=>{}),optional:!s}),!s)return r;if("stopped"!==this.state)return r;this.state="starting";let n=Promise.resolve();return E.checkAvailabilityOnStart&&(n=this.getAvailability()),(async()=>{const t=await n;if(t)return this.state="stopped",void this.notifyError(t);_.addEvent(this,"start"),this.start(),this.state="started",this._monitoringCallbacks.forEach((t=>{var e;return null==(e=t.onStarted)?void 0:e.call(t)}))})(),r}removeEventListener(t){const e=this._eventsCallbacks.find((e=>e.id===t));e&&(this._eventsCallbacks=this._eventsCallbacks.filter((t=>t!==e)),e.optional||this._eventsCallbacks.find((t=>!t.optional))||"stopped"!==this.state&&(_.addEvent(this,"stop"),this.stop(),this.state="stopped",this._monitoringCallbacks.forEach((t=>{var e;return null==(e=t.onStopped)?void 0:e.call(t)}))))}addMonitoringListener(e,i){const s=t._callbackUniqueId++;return this._monitoringCallbacks.push({id:s,onStarted:e||null,onStopped:i||null}),s}removeMonitoringListener(t){this._monitoringCallbacks=this._monitoringCallbacks.filter((e=>e.id!==t))}get lastEvent(){return this._lastEvent}};e(g,"_callbackUniqueId",0),e(g,"_uniqueId",1);let A=g;class I{static async every(t){for(const e of t){const t=await e;if(t)return t}return null}static async some(t){let e;for(const i of t){const t=await i;if(!t)return null;e||(e=t)}return e||null}}const f=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(f,"DEFAULT_MESSAGE","It seems that you ask for IMU events on a desktop browser");let P=f;const T=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}from(t){return this.message+=" from "+t,this}};e(T,"DEFAULT_MESSAGE","Impossible to retrieve events, a sensor is missing");let S=T;class y extends S{constructor(t){super(t)}}const M=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(M,"DEFAULT_MESSAGE","Geolocation api is missing");let b=M;const R=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(R,"DEFAULT_MESSAGE","Geolocation permission denied");let L=R;const w=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(w,"DEFAULT_MESSAGE","Geolocation position unavailable");let N=w;const D=1.6,C=class t extends A{constructor(){super(...arguments),e(this,"discardPositionsAbove",t.DEFAULT_DISCARD_POSITIONS_ABOVE),e(this,"enableHighAccuracy",!0),e(this,"geoLocationId"),e(this,"getName",(()=>"GnssWifi")),e(this,"onNewPosition",(t=>{const{coords:e}=t;if(!e)return;let r;e.heading&&(r=s.deg2rad(e.heading));const o=n.TimeUtils.unixTimestampToPreciseTime(t.timestamp)/1e3,a=new i.UserPosition(e.latitude,e.longitude,D,null,o,e.accuracy,r);this.enableHighAccuracy&&"number"==typeof this.discardPositionsAbove&&e.accuracy>this.discardPositionsAbove||this.notify(a)})),e(this,"onPositionError",(t=>{let e;switch(o.warn(`[Providers] watchPosition error: [${t.code}] ${t.message}`),t.code){case 1:e=new L(t.message);break;case 2:e=new N(t.message);break;default:e=new Error(t.message)}this.notifyError(e)}))}get positionOptions(){return{enableHighAccuracy:this.enableHighAccuracy,timeout:1/0,maximumAge:0}}availability(){return"object"==typeof navigator&&navigator.geolocation?Promise.resolve():Promise.resolve(new b)}start(){navigator.geolocation.getCurrentPosition(this.onNewPosition,this.onPositionError,this.positionOptions),setTimeout((()=>{this.geoLocationId=navigator.geolocation.watchPosition(this.onNewPosition,this.onPositionError,this.positionOptions)}),150)}stop(){void 0!==this.geoLocationId&&navigator.geolocation.clearWatch(this.geoLocationId)}};e(C,"DEFAULT_DISCARD_POSITIONS_ABOVE",50);const F=new C,O=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(O,"DEFAULT_MESSAGE","ARCore is missing");let x=O;const U=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(U,"DEFAULT_MESSAGE","Native interface is missing. You are maybe trying to execute a code which is not available in a web browser");let H=U;const B=class t extends A{constructor(){super(...arguments),e(this,"_nativeProvider"),e(this,"previousPosition",[0,0,0]),e(this,"getName",(()=>"ArCore")),e(this,"pullDataLoop",(()=>{if("stopped"===this.state)return;const t=JSON.parse(this.nativeProvider.getInfo());t.length>1&&this.parsePayload(t),requestAnimationFrame(this.pullDataLoop)}))}availability(){try{if(!this.nativeProvider.checkAvailability())return Promise.resolve(new x)}catch(t){return Promise.resolve(t)}return Promise.resolve()}start(){var t;null==(t=this.nativeProvider)||t.start(),this.pullDataLoop()}stop(){var t;null==(t=this.nativeProvider)||t.stop()}parsePayload(e){const s=e[0];let r,o,a,l,h=1;const c=n.TimeUtils.preciseTime()/1e3;if(s&t.Payload.Pose.ref){r=new d(e.slice(h,h+4),c,t.RELATIVE_ATTITUDE_DRIFT);const s=[e[h+4],e[h+5],e[h+6]];o=new i.RelativePosition(s[0]-this.previousPosition[0],s[1]-this.previousPosition[1],s[2]-this.previousPosition[2],c,1e-4),this.previousPosition=s,h+=t.Payload.Pose.size}s&t.Payload.Barcode.ref&&(l=e[h],h+=t.Payload.Barcode.size),s&t.Payload.ProjMat.ref&&(a=e.slice(h,h+t.Payload.ProjMat.size),h+=t.Payload.ProjMat.size),this.notify({relativePosition:o,relativeAttitude:r,...l&&{barcode:l},...a&&{cameraProjection:a}})}get nativeProvider(){if(!this._nativeProvider){if(!this.nativeInterface)throw new H;if(this._nativeProvider=this.nativeInterface.getArCoreProvider(),!this._nativeProvider)throw new x}return this._nativeProvider}enableBarcodeScanner(){try{this.nativeProvider.enableBarcodeScanner()}catch(t){this.notifyError(t)}}disableBarcodeScanner(){try{this.nativeProvider.disableBarcodeScanner()}catch(t){this.notifyError(t)}}get useCameraNatively(){return!0}};e(B,"Payload",{Pose:{ref:1,size:7},Barcode:{ref:2,size:1},ProjMat:{ref:4,size:16},ImageRef:{ref:8,size:1}}),e(B,"RELATIVE_ATTITUDE_DRIFT",s.deg2rad(3)/60);const W=new B;const V=new class extends A{constructor(){super(...arguments),e(this,"absoluteAttitudeProviderId"),e(this,"arCoreProviderId"),e(this,"absoluteAttitudeEvent"),e(this,"getName",(()=>"GeoRelativePositionFromArCore")),e(this,"onArCoreEvents",(t=>{const e=t.relativeAttitude,i=t.relativePosition;e&&i&&this.absoluteAttitudeEvent&&this.compute(i,e,this.absoluteAttitudeEvent)}))}availability(){return I.every([W.getAvailability(),xt.getAvailability()])}start(){this.arCoreProviderId=W.addEventListener(this.onArCoreEvents,this.notifyError),this.absoluteAttitudeProviderId=xt.addEventListener((t=>this.absoluteAttitudeEvent=t),this.notifyError)}stop(){W.removeEventListener(this.arCoreProviderId),xt.removeEventListener(this.absoluteAttitudeProviderId)}compute(t,e,s){const r=s.heading-e.heading,n=Math.cos(r)*t.x-Math.sin(r)*t.z,o=-Math.sin(r)*t.x-Math.cos(r)*t.z,a=t.y,l=new i.GeoRelativePosition(n,o,a,t.time,0,s.heading);this.notify(l)}},G={acc:.5,gyr:.3},k={acc:.5,gyr:.3,yc:2};class Q{constructor(t=[0,0,1],i=[-1,0,0]){e(this,"P"),e(this,"accRef"),e(this,"cRef"),e(this,"noises"),e(this,"quaternion"),this.accRef=t,this.cRef=i,this.P=s.Matrix4.fromDiagVector(Array(4).fill(.1**2)),this.quaternion=null,this.noises={},this.setRelativeNoises(G),this.setAbsoluteNoises(k)}setRelativeNoises(t){this.noises.relative={acc:s.Matrix3.diag(Array(3).fill(t.acc**2)),gyr:s.Matrix3.diag(Array(3).fill(t.gyr**2))}}setAbsoluteNoises(t){this.noises.absolute={acc:s.Matrix3.diag(Array(3).fill(t.acc**2)),gyr:s.Matrix3.diag(Array(3).fill(t.gyr**2)),yc:s.Matrix3.diag(Array(3).fill(t.yc**2))}}tryInitialize(t,e){const i=s.Vector3.normalize(t);if(e){const t=s.Vector3.normalize(e),r=s.Vector3.normalize(s.Vector3.cross(t,i)),n=s.Vector3.cross(i,r),o=[[r[0],n[0],i[0]],[r[1],n[1],i[1]],[r[2],n[2],i[2]]];this.quaternion=s.Quaternion.fromMatrix3Matlab(o)}else{const t=s.Vector3.dot(i,this.accRef)+1,e=s.Vector3.cross(i,this.accRef);let r=[t,e[0],e[1],e[2]];r=s.Quaternion.normalize(r),this.quaternion=r}return this.quaternion}update(t,e,i,r){if(!this.quaternion)return this.tryInitialize(e,r);let n=this.quaternion;const o=n,a=s.Vector3.multiplyScalar(i,.5*t),l=this.computeC([1,a[0],a[1],a[2]]),h=s.Matrix4.multiplyVector(l,n),c=s.Matrix3.diag([o[0],o[0],o[0]]),d=s.Matrix3.skew([o[1],o[2],o[3]]),u=[-1*o[1],-1*o[2],-1*o[3]],v=s.Matrix.concatRow([u],s.Matrix3.sum(d,c)),E=s.Matrix4.multiplyScalar(s.Matrix.multiply(s.Matrix.multiply(v,this.noises[r?"absolute":"relative"].gyr),s.Matrix.transpose(v)),(t/2)**2),_=s.Matrix4.sum(s.Matrix4.multiply(s.Matrix4.multiply(l,this.P),s.Matrix4.transpose(l)),E),m=s.Vector3.normalize(e);let p,g,A;if(r){const t=s.Vector3.normalize(r),e=s.Vector3.cross(m,t),i=s.Vector3.normalize(e),n=s.Vector3.subtract(i,s.Quaternion.rotateMatlab(h,this.cRef)),o=s.Vector3.subtract(m,s.Quaternion.rotateMatlab(h,this.accRef));p=s.Vector.concat(n,o);const a=this.jacobianES(h,this.cRef),l=this.jacobianES(h,this.accRef);A=s.Matrix.concatRow(a,l);const c=s.Matrix.concatLine(this.noises.absolute.yc,s.Matrix3.zeros),d=s.Matrix.concatLine(s.Matrix3.zeros,this.noises.absolute.acc),u=s.Matrix.concatRow(c,d);g=s.Matrix.multiply(s.Matrix.multiply(_,s.Matrix.transpose(A)),s.Matrix.inverse(s.Matrix.sum(s.Matrix.multiply(s.Matrix.multiply(A,_),s.Matrix.transpose(A)),u)))}else{p=s.Vector3.subtract(m,s.Quaternion.rotateMatlab(h,this.accRef)),A=this.jacobianES(h,this.accRef);const t=this.noises.relative.acc;g=s.Matrix.multiply(s.Matrix.multiply(_,s.Matrix.transpose(A)),s.Matrix3.inverse(s.Matrix3.sum(s.Matrix.multiply(s.Matrix.multiply(A,_),s.Matrix.transpose(A)),t)))}n=s.Quaternion.sum(h,s.Matrix.multiplyVector(g,p));const I=s.Matrix4.multiply(s.Matrix4.subtract(s.Matrix4.identity,s.Matrix.multiply(g,A)),_);return n=s.Quaternion.normalize(n),this.quaternion=n,this.P=I,n}computeC(t){return[[t[0],-t[1],-t[2],-t[3]],[t[1],t[0],t[3],-t[2]],[t[2],-t[3],t[0],t[1]],[t[3],t[2],-t[1],t[0]]]}jacobianES(t,e){const[i,s,r,n]=t,[o,a,l]=e;return[[2*n*a-2*r*l,2*r*a+2*n*l,2*s*a-2*i*l-4*r*o,2*i*a+2*s*l-4*n*o],[2*s*l-2*n*o,2*i*l-4*s*a+2*r*o,2*s*o+2*n*l,2*r*l-2*i*o-4*n*a],[2*r*o-2*s*a,2*n*o-4*s*l-2*i*a,2*i*o-4*r*l+2*n*a,2*s*o+2*r*a]]}}const q=new class extends A{constructor(){super(...arguments),e(this,"getName",(()=>"IMU")),e(this,"parseDeviceMotionEvent",(t=>{const e=t.timeStamp/1e3;let i,r;if(t.accelerationIncludingGravity){const{x:e,y:s,z:r}=t.accelerationIncludingGravity;"number"==typeof e&&"number"==typeof s&&"number"==typeof r&&(i=[e,s,r],n.BrowserUtils.getName()!==n.Browser.SAFARI&&n.BrowserUtils.getName()!==n.Browser.IOS_WEBVIEW||(i[0]*=-1,i[1]*=-1,i[2]*=-1))}if(t.rotationRate){const{alpha:e,beta:i,gamma:n}=t.rotationRate;"number"==typeof e&&"number"==typeof i&&"number"==typeof n&&(r=[s.deg2rad(e),s.deg2rad(i),s.deg2rad(n)])}(i||r)&&this.notify({...i&&{acceleration:{timestamp:e,values:i}},...r&&{angularRate:{timestamp:e,values:r}}})}))}availability(){return n.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new P)}start(){const t=()=>window.addEventListener("devicemotion",this.parseDeviceMotionEvent,!0),e=DeviceMotionEvent.requestPermission||void 0;e?e().then((e=>{if("granted"!==e)throw new Error("Permission not granted");t()})).catch(this.notifyError):t()}stop(){window.removeEventListener("devicemotion",this.parseDeviceMotionEvent,!0)}},j=class t extends S{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(j,"DEFAULT_MESSAGE","Impossible to retrieve Acceleration data");let z=j;const J=new class extends A{constructor(){super(...arguments),e(this,"imuProviderId"),e(this,"getName",(()=>"Accelerometer")),e(this,"availability",(()=>q.getAvailability()))}start(){this.imuProviderId=q.addEventListener((t=>{t.acceleration?this.notify(t.acceleration):this.notifyError((new z).from("devicemotion"))}),this.notifyError)}stop(){q.removeEventListener(this.imuProviderId)}};class Y extends S{constructor(t){super(t||S.DEFAULT_MESSAGE)}}e(Y,"DEFAULT_MESSAGE","Impossible to retrieve Angular Rate data");const X=new class extends A{constructor(){super(...arguments),e(this,"imuProviderId"),e(this,"getName",(()=>"Gyroscope")),e(this,"availability",(()=>q.getAvailability()))}start(){this.imuProviderId=q.addEventListener((t=>{t.angularRate?this.notify(t.angularRate):this.notifyError((new Y).from("devicemotion"))}),this.notifyError)}stop(){q.removeEventListener(this.imuProviderId)}},K=class t extends A{constructor(){super(...arguments),e(this,"accelerometerProviderId"),e(this,"ekfAttitude",new Q),e(this,"gyroscopeEvent"),e(this,"gyroscopeProviderId"),e(this,"lastTimestamp",0),e(this,"getName",(()=>"RelativeAttitudeFromEkf")),e(this,"onAccelerometerEvent",(e=>{if(!this.gyroscopeEvent)return;const{values:i,timestamp:s}=e;if(0===this.lastTimestamp)return void(this.lastTimestamp=s);const r=s-this.lastTimestamp;this.lastTimestamp=s;const n=this.ekfAttitude.update(r,i,this.gyroscopeEvent.values);if(n){const e=new d(n,s,t.DEFAULT_DRIFT);this.notify(e)}}))}availability(){return I.every([J.getAvailability(),X.getAvailability()])}start(){this.accelerometerProviderId=J.addEventListener((t=>this.onAccelerometerEvent(t)),(t=>this.notifyError(t))),this.gyroscopeProviderId=X.addEventListener((t=>this.gyroscopeEvent=t),(t=>this.notifyError(t)))}stop(){J.removeEventListener(this.accelerometerProviderId),X.removeEventListener(this.gyroscopeProviderId)}};e(K,"DEFAULT_DRIFT",s.deg2rad(5)/60);const Z=new K,$=class t extends A{constructor(){super(...arguments),e(this,"getName",(()=>"RelativeAttitudeFromBrowser")),e(this,"onDeviceOrientationEvent",(e=>{if("number"!=typeof e.alpha||"number"!=typeof e.beta||"number"!=typeof e.gamma)return void this.notifyError((new S).from("deviceorientation"));const i=s.Rotations.eulerToQuaternionZXYDegrees([e.alpha,e.beta,e.gamma]),r=new d(i,e.timeStamp/1e3,t.DEFAULT_DRIFT);this.notify(r)}))}availability(){return n.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new P)}start(){const t=()=>window.addEventListener("deviceorientation",this.onDeviceOrientationEvent,!0),e=DeviceOrientationEvent.requestPermission||void 0;e?e().then((e=>{if("granted"!==e)throw new Error("Permission not granted");t()})).catch((t=>this.notifyError(t))):t()}stop(){window.removeEventListener("deviceorientation",this.onDeviceOrientationEvent,!0)}};e($,"DEFAULT_DRIFT",s.deg2rad(5)/60);const tt=new $,et=class t extends A{constructor(){super(...arguments),e(this,"gyroscopeProviderId"),e(this,"getName",(()=>"HighRotationsProvider")),e(this,"availability",(()=>X.getAvailability())),e(this,"_parseGyroscopeEvent",(e=>{const{values:i,timestamp:r}=e;s.Vector3.norm(i)>t.THRESHOLD&&this.notify({timestamp:r})}))}start(){this.gyroscopeProviderId=X.addEventListener(this._parseGyroscopeEvent,this.notifyError)}stop(){X.removeEventListener(this.gyroscopeProviderId)}isInProgress(){if(!this.lastEvent||!X.lastEvent)return!1;return X.lastEvent.timestamp-this.lastEvent.timestamp<t.DELAY_CONSIDERATION}};e(et,"THRESHOLD",10),e(et,"DELAY_CONSIDERATION",3);const it=new et,st=class t extends A{constructor(){super(...arguments),e(this,"_highRotationsProviderId"),e(this,"listenerId"),e(this,"provider"),e(this,"getName",(()=>"RelativeAttitudeFromInertial"))}availability(){return I.some([Z.getAvailability(),tt.getAvailability()])}start(){Z.getAvailability().then((t=>{this.provider=t?tt:Z,this.listenerId=this.provider.addEventListener((t=>this._parseEvent(t)),this.notifyError),this._highRotationsProviderId=it.addEventListener(null,this.notifyError)}))}_parseEvent(e){const i=e.clone();if(it.isInProgress()){let e=(i.accuracy||0)+100*t.DEFAULT_DRIFT;e=Math.min(e,Math.PI),i.accuracy=e}this.notify(i)}stop(){this.provider&&(this.provider.removeEventListener(this.listenerId),delete this.provider),it.removeEventListener(this._highRotationsProviderId)}};e(st,"DEFAULT_DRIFT",s.deg2rad(5)/60);const rt=new st,nt=class t{constructor(){e(this,"frequency",0),e(this,"lastVerticalAcc",0),e(this,"maxAcceleration",0),e(this,"lastStepTimestamp",-t.MIN_TIME_BETWEEN_STEPS)}compute(e,i){let s=!1;const r=i[2],n=e-this.lastStepTimestamp;if(r>this.lastVerticalAcc)r>this.maxAcceleration&&(this.maxAcceleration=r);else if(this.maxAcceleration>t.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&n>t.MIN_TIME_BETWEEN_STEPS){this.maxAcceleration=0;const i=e-this.lastStepTimestamp;this.frequency=Math.min(Math.max(1/i,t.MIN_FRENQUENCY),t.MAX_FRENQUENCY),s=!0,this.lastStepTimestamp=e}else this.maxAcceleration=0;return this.lastVerticalAcc=r,s}get lastStepSize(){if(!this.frequency)return 0;return.45+.2*this.frequency}get speed(){return this.lastStepTimestamp?this.lastStepSize*this.frequency:0}};e(nt,"MIN_TIME_BETWEEN_STEPS",.4),e(nt,"MAX_FRENQUENCY",4),e(nt,"MIN_FRENQUENCY",1),e(nt,"VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD",1);let ot=nt;const at=class t{constructor(){e(this,"frequency",0),e(this,"lastStepTimestamp",-t.MIN_TIME_BETWEEN_STEPS),e(this,"slidingWindow",[])}compute(e,i){if(this.lastStepTimestamp&&this.lastStepTimestamp+t.MIN_TIME_BETWEEN_STEPS>e)return!1;let s=Number.MIN_SAFE_INTEGER,r=Number.MAX_SAFE_INTEGER;const n=t.WINDOW_TIME;if(this.slidingWindow.forEach(((t,i,o)=>{t.timestamp<e-n?o.splice(i,1):(s=Math.max(t.verticalAcc,s),r=Math.min(t.verticalAcc,r))})),this.slidingWindow.push({timestamp:e,verticalAcc:i[2]}),s>t.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&r<t.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){const i=this.lastStepTimestamp?e-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/i,t.MIN_FRENQUENCY),t.MAX_FRENQUENCY),this.lastStepTimestamp=e,!0}return!1}get lastStepSize(){if(!this.frequency)return 0;return.45+.2*this.frequency}get speed(){return this.lastStepTimestamp?this.lastStepSize*this.frequency:0}};e(at,"WINDOW_TIME",.3),e(at,"MIN_TIME_BETWEEN_STEPS",.4),e(at,"MAX_FRENQUENCY",4),e(at,"MIN_FRENQUENCY",1),e(at,"VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD",1.5),e(at,"VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD",-1);let lt=at;const ht=class t{constructor(){e(this,"frequency",0),e(this,"influence",.2),e(this,"slidingWindow",[]),e(this,"lastStepTimestamp",-t.MIN_TIME_BETWEEN_STEPS),e(this,"previousVerticalAcc",0)}compute(e,i,s){const r=this.influence*(2*i[2])+(1-this.influence)*this.previousVerticalAcc;if(this.previousVerticalAcc=r,Math.sqrt(s[0]**2+s[1]**2+s[2]**2)>.75)return!1;if(this.lastStepTimestamp&&this.lastStepTimestamp+t.MIN_TIME_BETWEEN_STEPS>e)return!1;let n=Number.MIN_SAFE_INTEGER,o=Number.MAX_SAFE_INTEGER;if(this.slidingWindow.forEach(((i,s,r)=>{i.timestamp<e-t.WINDOW_TIME?r.splice(s,1):(n=Math.max(i.verticalAcc,n),o=Math.min(i.verticalAcc,o))})),this.slidingWindow.push({timestamp:e,verticalAcc:r}),n>t.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&o<t.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){const i=this.lastStepTimestamp?e-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/i,t.MIN_FRENQUENCY),t.MAX_FRENQUENCY),this.lastStepTimestamp=e,!0}return!1}get lastStepSize(){if(!this.frequency)return 0;return.45+.2*this.frequency}get speed(){return this.lastStepSize&&this.frequency?this.lastStepSize*this.frequency:0}mean(t){let e=0,i=0;for(let s=0;s<t.length;++s)e+=t[s].verticalAcc;return i=e/t.length,i}stddev(t){const e=this.mean(t);let i=0;for(let s=0;s<t.length;++s)i+=(t[s].verticalAcc-e)**2;return Math.sqrt(i/t.length)}};e(ht,"WINDOW_TIME",.3),e(ht,"MIN_TIME_BETWEEN_STEPS",.4),e(ht,"MAX_FRENQUENCY",4),e(ht,"MIN_FRENQUENCY",1),e(ht,"VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD",.75),e(ht,"VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD",-.3);let ct=ht;const dt=class t{constructor(){e(this,"frequency",0),e(this,"influence",.05),e(this,"slidingWindow",[]),e(this,"lastStepTimestamp",-t.MIN_TIME_BETWEEN_STEPS),e(this,"previousVerticalAcc",0),e(this,"previousHorizontalAcc",0)}compute(e,i){const s=this.influence*i[2]+(1-this.influence)*this.previousVerticalAcc;this.previousVerticalAcc=s,this.slidingWindow=this.slidingWindow.filter((i=>i.timestamp>=e-t.WINDOW_TIME)),this.slidingWindow.push({timestamp:e,verticalAcc:s});if(this.lastStepTimestamp&&this.lastStepTimestamp+t.MIN_TIME_BETWEEN_STEPS>e)return!1;let r=Number.MIN_VALUE,n=-1,o=!1;if(this.slidingWindow.forEach(((e,i)=>{e.verticalAcc>r&&e.verticalAcc>=t.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD&&(r=e.verticalAcc,n=i,o=!0)})),!o)return!1;let a=!1,l=Number.MAX_VALUE;for(let u=0;u<n;u++){const e=this.slidingWindow[u].verticalAcc;if(l=Math.min(l,e),e<t.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD){a=!0;break}}if(!a)return!1;const h=r-.5*(r-l);let c=!1;for(let t=n+1;t<this.slidingWindow.length;t++)if(this.slidingWindow[t].verticalAcc<=h){c=!0;break}if(!c)return!1;const d=this.lastStepTimestamp?e-this.lastStepTimestamp:1;return this.frequency=Math.min(Math.max(1/d,t.MIN_FRENQUENCY),t.MAX_FRENQUENCY),this.lastStepTimestamp=e,!0}get lastStepSize(){if(!this.frequency)return 0;return.45+.2*this.frequency}get speed(){return this.lastStepSize&&this.frequency?this.lastStepSize*this.frequency:0}mean(t){let e=0,i=0;for(let s=0;s<t.length;++s)e+=t[s];return i=e/t.length,i}stddev(t){const e=this.mean(t);let i=0;for(let s=0;s<t.length;++s)i+=(t[s]-e)**2;return Math.sqrt(i/t.length)}};e(dt,"WINDOW_TIME",.6),e(dt,"MIN_TIME_BETWEEN_STEPS",.6),e(dt,"MAX_FRENQUENCY",4),e(dt,"MIN_FRENQUENCY",1),e(dt,"VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD",.2),e(dt,"VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD",-.1);let ut=dt;const vt=class t extends A{constructor(){super(),e(this,"accelerometerProviderId"),e(this,"attitudeProviderId"),e(this,"gyroscopeProviderId"),e(this,"angularRateEvent"),e(this,"attitudeEvent"),e(this,"numOfSteps",0),e(this,"stepDetector"),e(this,"_stepSizeMultiplier",t.DEFAULT_STEP_SIZE_MULTIPLIER),e(this,"_algorithm",t.DEFAULT_ALGORITHM),e(this,"_accValues",[]),e(this,"getName",(()=>"StepDetector")),e(this,"onAccelerometerEvent",(e=>{if(!this.attitudeEvent||!this.angularRateEvent)return;const{values:i,timestamp:s}=e,r=t.computeLinearAcceleration(this.attitudeEvent.quaternion,i);if(this.stepDetector.compute(s,r,this.angularRateEvent.values)){const t=this.stepDetector.lastStepSize*this._stepSizeMultiplier;this.numOfSteps++,this.notify({size:t,number:this.numOfSteps})}})),this.algorithm=this._algorithm}availability(){return I.every([J.getAvailability(),X.getAvailability(),rt.getAvailability()])}start(){this.numOfSteps=0,this.accelerometerProviderId=J.addEventListener(this.onAccelerometerEvent,this.notifyError),this.gyroscopeProviderId=X.addEventListener((t=>this.angularRateEvent=t),this.notifyError),this.attitudeProviderId=rt.addEventListener((t=>this.attitudeEvent=t),this.notifyError)}stop(){J.removeEventListener(this.accelerometerProviderId),X.removeEventListener(this.gyroscopeProviderId),rt.removeEventListener(this.attitudeProviderId)}static computeLinearAcceleration(t,e){const r=s.Quaternion.rotateMatlab(s.Quaternion.inverse(t),e);return r[2]-=i.Constants.EARTH_GRAVITY,r}set stepSizeMultiplier(t){this._stepSizeMultiplier=t}get stepSizeMultiplier(){return this._stepSizeMultiplier}set algorithm(t){switch(t){case"ladetto":this.stepDetector=new ot;break;case"minMaxPeaks":this.stepDetector=new lt;break;case"minMaxPeaks2":this.stepDetector=new ct;break;default:t="minMaxPeaks3",this.stepDetector=new ut}this._algorithm=t}get algorithm(){return this._algorithm}};e(vt,"DEFAULT_STEP_SIZE_MULTIPLIER",1),e(vt,"DEFAULT_ALGORITHM","minMaxPeaks3");const Et=new vt;const _t=new class extends A{constructor(){super(...arguments),e(this,"absoluteAttitudeProviderId"),e(this,"stepDetectionProviderId"),e(this,"attitudeEvent"),e(this,"misalignmentError",s.deg2rad(3)),e(this,"getName",(()=>"Pdr")),e(this,"onStepEvent",(t=>{if(!this.attitudeEvent)return;const e=t.size,s=this.attitudeEvent,r=s.heading,n=s.accuracy+this.misalignmentError,o=e/2*Math.sin(n/2),a=s.time,l=new i.GeoRelativePosition(e*Math.sin(r),e*Math.cos(r),0,a,o,r);this.notify(l)}))}availability(){return I.every([Et.getAvailability(),xt.getAvailability()])}start(){this.stepDetectionProviderId=Et.addEventListener(this.onStepEvent,this.notifyError),this.absoluteAttitudeProviderId=xt.addEventListener((t=>this.attitudeEvent=t),this.notifyError)}stop(){Et.removeEventListener(this.stepDetectionProviderId),xt.removeEventListener(this.absoluteAttitudeProviderId)}};const mt=new class extends A{constructor(){super(...arguments),e(this,"providerId"),e(this,"geoRelativeProvider"),e(this,"getName",(()=>"GeoRelativePosition"))}availability(){return I.some([_t.getAvailability(),V.getAvailability()])}async start(){const t=await V.getAvailability();this.geoRelativeProvider=t?_t:V,this.providerId=this.geoRelativeProvider.addEventListener(this.notify,this.notifyError)}stop(){var t;null==(t=this.geoRelativeProvider)||t.removeEventListener(this.providerId),delete this.geoRelativeProvider}};const pt=new class extends A{constructor(){super(...arguments),e(this,"providerId"),e(this,"getName",(()=>"InclinationFromAcc")),e(this,"availability",(()=>J.getAvailability())),e(this,"onAccelerometerEvent",(t=>{const e=t.values,i=window.orientation||0,s=Math.sqrt(e[0]*e[0]+e[1]*e[1]+e[2]*e[2]),r=[e[0]/s,e[1]/s,e[2]/s],n=[r[2]+1,r[1],-r[0],0],o=Math.sqrt(n[0]*n[0]+n[1]*n[1]+n[2]*n[2]),a=[n[0]/o,n[1]/o,n[2]/o,0];let l;l=0===i?Math.asin(2*a[1]*a[0]):90===i?-Math.asin(2*a[2]*a[0]):-90===i?Math.asin(2*a[2]*a[0]):-Math.asin(2*a[1]*a[0]),this.notify(l)}))}start(){this.providerId=J.addEventListener(this.onAccelerometerEvent,this.notifyError)}stop(){J.removeEventListener(this.providerId)}};const gt=new class extends A{constructor(){super(...arguments),e(this,"providerId"),e(this,"getName",(()=>"InclinationFromRelativeAttitude")),e(this,"availability",(()=>rt.getAvailability()))}start(){this.providerId=rt.addEventListener((t=>{const e=this.enuQuatToInclination(t.quaternion);this.notify(e)}),this.notifyError)}stop(){rt.removeEventListener(this.providerId)}enuQuatToInclination(t){const e=window.orientation||0;return 0===e?Math.asin(2*(t[2]*t[3]+t[1]*t[0])):90===e?Math.asin(2*(t[1]*t[3]-t[2]*t[0])):-90===e?Math.asin(2*(t[2]*t[0]-t[1]*t[3])):-Math.asin(2*(t[2]*t[3]+t[1]*t[0]))}};const At=new class extends A{constructor(){super(...arguments),e(this,"provider"),e(this,"providerId"),e(this,"getName",(()=>"Inclination"))}availability(){return I.some([pt.getAvailability(),gt.getAvailability()])}async start(){const t=()=>{this.provider=pt,this.providerId=this.provider.addEventListener(this.notify,this.notifyError)};await gt.getAvailability()?(this.provider=gt,this.providerId=this.provider.addEventListener(this.notify,(()=>{gt.removeEventListener(this.providerId),t()}))):t()}stop(){this.provider&&this.provider.removeEventListener(this.providerId)}};class It{constructor(t,e=null,i=null,s=null){this.size=t,this.calibration=e,this.coarse=i,this.device=s}toJson(){return{size:[this.size.width,this.size.height],...this.calibration&&{calibration:this.calibration},...this.coarse&&{coarse:{...this.coarse.attitude&&{attitude:this.coarse.attitude.toJson()},...this.coarse.position&&{position:this.coarse.position.toJson()}}},..."object"==typeof this.device&&{device:this.device}}}static fromJson(t){var e,s;return new It({width:t.size[0],height:t.size[1]},t.calibration,{...(null==(e=t.coarse)?void 0:e.position)&&{position:i.UserPosition.fromJson(t.coarse.position)},...(null==(s=t.coarse)?void 0:s.attitude)&&{attitude:i.Attitude.fromJson(t.coarse.attitude)}},t.device)}}class ft{constructor(t,e){this.metadata=t,this.image=e}toJson(){return{image:l.canvasToBase64(this.image),...this.metadata.toJson()}}static fromJson(t){return new ft(It.fromJson(t),l.base64ToCanvas(t.image))}}class Pt{constructor(t,e=null,i=null){this.success=t,this.attitude=e,this.position=i}toJson(){var t,e;return{success:this.success,attitude:null==(t=this.attitude)?void 0:t.toJson(),position:null==(e=this.position)?void 0:e.toJson()}}static fromJson(t,e=null){let s=null;t.attitude&&(s=i.Attitude.fromJson(t.attitude),s.time=e);let r=null;return t.position&&(r=i.UserPosition.fromJson(t.position),r.time=e),new Pt(t.success,s,r)}}class Tt{static _prepareRequest(t,e=null,i=null){l.convertToGrayscale(t);const s=l.reduceImageSize(t,1280),r=new It({width:s.width,height:s.height},e,i,n.UserAgentUtils.getDeviceFromUserAgent());return new ft(r,s)}static async relocalize(t,e,i=null,s=null,r=null){const a=n.TimeUtils.preciseTime()/1e3,l=this._prepareRequest(e,i,s);let h;try{const e=JSON.stringify(l.toJson());o.debug(`[VPS] Request (${(e.length/1024).toFixed(0)} kB) sent to server ${t}`),h=await fetch(t,{method:"POST",body:e,headers:Object.assign({"Content-Type":"application/json",Accept:"application/vnd.geopose+json; version=1"},r||{})})}catch(u){return o.debug("[VPS] Server respond error"),null}if(200!==h.status)return o.debug("[VPS] Server respond error"),null;const c=await h.json(),d=Pt.fromJson(c,a);return o.debug("[VPS] Server respond "+(d.success?"success":"not found")),d}static getHeadingFromQuaternion(t){const[e,i,s,r]=t,n=Math.sqrt(2)/2,o=[n*(e-i),n*(e+i),n*(s+r),n*(r-s)];return-Math.atan2(2*o[3]*o[0]-2*o[2]*o[1],1-2*o[1]**2-2*o[3]**2)}}class St{constructor(){e(this,"_providerId"),e(this,"_isRunning",!1),e(this,"_dataOnStart",null)}tickStart(){this._dataOnStart=null,this._isRunning||(this._isRunning=!0,this._providerId=tt.addEventListener((t=>{this._dataOnStart||(this._dataOnStart=t)})))}tickEnd(){if(!this._isRunning)return o.warn("You have to call tickStart before tickEnd"),null;if(this._internalStop(),!this._dataOnStart)return o.warn("Delay was too short between tickStart and tickEnd or RelativeAttitudeProvider cannot be retrieved."),null;const t=tt.lastEvent;return i.Attitude.diff(this._dataOnStart,t)}_internalStop(){tt.removeEventListener(this._providerId),delete this._providerId,this._isRunning=!1}release(){this._isRunning&&this._internalStop()}}const yt=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(yt,"DEFAULT_MESSAGE","PoleStar is missing");let Mt=yt;const bt=new class extends A{constructor(){super(),e(this,"getName",(()=>"PoleStar")),this.addMethodsToNativeJsProvider()}availability(){try{return this.nativeProvider.checkAvailability(),Promise.resolve()}catch(t){return Promise.resolve(t)}}setApiKey(t){this.nativeProvider.setApiKey(t)}start(){this.nativeProvider.start()}stop(){this.nativeProvider.stop()}get nativeProvider(){if(!this.nativeInterface)throw new H;const t=this.nativeInterface.getPoleStarProvider();if(!t)throw new Mt;return t}addMethodsToNativeJsProvider(){this.nativeJsInterface&&(this.nativeJsInterface.polestar={callbackError:t=>this.notifyError(new Error(t)),callbackPosition:t=>{const e=JSON.parse(t),i=n.TimeUtils.unixTimestampToPreciseTime(e.time)/1e3,r=new v(e.lat,e.lng,D,e.alt/5,i,e.accuracy,s.deg2rad(e.bearing));this.notify(r)}})}},Rt=class t extends A{constructor(){super(...arguments),e(this,"_relativeRotationCalc"),e(this,"_serverError",!1),e(this,"_cameraError",!1),e(this,"_camera",null),e(this,"_endpoint",null),e(this,"_inclinationProviderId"),e(this,"_minInclinationForRequest",t.DEFAULT_MIN_INCLINATION_FOR_REQUEST),e(this,"_waitTimeMinInclinationForRequest",t.DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST),e(this,"_useCoarsePose",t.DEFAULT_USE_COARSE_POSE),e(this,"getName",(()=>"Vps")),e(this,"availability",(()=>l.Camera.checkAvailability())),e(this,"_onCameraDetected",(({camera:t})=>{this._camera&&o.warn("It seems that more than 1 camera has been detected for VPS. Taking the first..."),this._useCamera(t)})),e(this,"_onCameraRemoved",(()=>{this._camera?(this._camera.off("started",this._internalStart),this._camera.off("stopped",this._internalStop)):o.warn("There is no previously detected camera but once has stopped"),this._camera=null})),e(this,"_internalStart",(async()=>{var e,r;if(!this._endpoint)return void this.notifyError(new Error("VPS endpoint has not been set before calling start()"));let o=null;const a=()=>"stopped"===this.state;for(;!a();){if(null!==o){const e=n.TimeUtils.preciseTime()-o,i=Math.max(0,t.MIN_TIME_BETWEEN_TWO_REQUESTS-e);await new Promise((t=>setTimeout(t,i)))}if(o=n.TimeUtils.preciseTime(),a()||!this._camera||"started"!==this._camera.state)break;const l=At.lastEvent?At.lastEvent:null;if(null!==l&&l<this._minInclinationForRequest){await new Promise((t=>setTimeout(t,this._waitTimeMinInclinationForRequest)));continue}null==(e=this._relativeRotationCalc)||e.tickStart();const h=await this._camera.currentImage;if(!h)continue;let c=null;const d=Nt.getBestPositionEvent(F.lastEvent,bt.lastEvent);this._useCoarsePose&&(d||xt.lastEvent)&&(c={...d&&{position:d},...xt.lastEvent&&{attitude:xt.lastEvent}});const v=await Tt.relocalize(this._endpoint,h,null,c);if(!v||!v.success)continue;const E=v.attitude.quaternion,_=s.Quaternion.multiply(E,t.CAMERA_TO_SMARTPHONE_ROT),m=s.Quaternion.multiply(s.Quaternion.fromAxisAngle([0,0,1],s.deg2rad(window.orientation||0)),_),p=(null==(r=this._relativeRotationCalc)?void 0:r.tickEnd())||new i.Attitude([1,0,0,0]),g=s.Quaternion.multiply(m,p.quaternion),A=new u(g,v.attitude.time,v.attitude.accuracy),I=v.position.clone();if(null===I.accuracy&&(I.accuracy=5),a())break;this.notify({absoluteAttitude:A,absolutePosition:I})}})),e(this,"_internalStop",(()=>{}))}start(){this._inclinationProviderId=At.addEventListener(),this._relativeRotationCalc=new St,l.SharedCameras.on("added",this._onCameraDetected),l.SharedCameras.on("removed",this._onCameraRemoved),l.SharedCameras.list.length&&(l.SharedCameras.list.length>1&&o.warn("It seems that more than 1 camera has been detected for VPS. Taking the first..."),this._useCamera(l.SharedCameras.list[0].camera))}stop(){var t;At.removeEventListener(this._inclinationProviderId),null==(t=this._relativeRotationCalc)||t.release(),l.SharedCameras.off("added",this._onCameraDetected),l.SharedCameras.off("removed",this._onCameraRemoved),this._camera=null}_useCamera(t){this._camera=t,t.on("started",this._internalStart),t.on("stopped",this._internalStop),"started"===t.state&&this._internalStart()}get endpoint(){return this._endpoint}set endpoint(t){this._endpoint=t}get minInclinationForRequest(){return this._minInclinationForRequest}set minInclinationForRequest(t){this._minInclinationForRequest=t}get waitTimeMinInclinationForRequest(){return this._waitTimeMinInclinationForRequest}set waitTimeMinInclinationForRequest(t){this._waitTimeMinInclinationForRequest=t}get useCoarsePose(){return this._useCoarsePose}set useCoarsePose(t){this._useCoarsePose=t}};e(Rt,"MIN_TIME_BETWEEN_TWO_REQUESTS",1e3),e(Rt,"DEFAULT_MIN_INCLINATION_FOR_REQUEST",s.deg2rad(60)),e(Rt,"DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST",200),e(Rt,"DEFAULT_USE_COARSE_POSE",!0),e(Rt,"CAMERA_TO_SMARTPHONE_ROT",s.Quaternion.fromAxisAngle([1,0,0],Math.PI));const Lt=new Rt,wt=class t extends A{constructor(){super(...arguments),e(this,"_polestarProviderId"),e(this,"_vpsProviderId"),e(this,"_gnssWifiProviderId"),e(this,"_relativePositionProviderId"),e(this,"_mapMatchingHandlerId"),e(this,"useAllAbsolutePositions",!1),e(this,"_waitUntilNextVpsPosition",!1),e(this,"_lastPolestarFix",null),e(this,"getName",(()=>"AbsolutePosition"))}availability(){return I.some([mt.getAvailability(),F.getAvailability(),...E.hasPoleStar?[bt.getAvailability()]:[],Lt.getAvailability()])}start(){mt.getAvailability().then((t=>{t||(this._relativePositionProviderId=mt.addEventListener((t=>this._onRelativePosition(t))))})),this._gnssWifiProviderId=F.addEventListener((t=>{const e=t.clone();e.bearing=null,this._onAbsolutePosition(e,!1)})),this._vpsProviderId=Lt.addEventListener((t=>this._onAbsolutePosition(t.absolutePosition)),this.notifyError,!1),E.hasPoleStar&&(this._polestarProviderId=bt.addEventListener((t=>{var e;this._lastPolestarFix=n.TimeUtils.preciseTime();if(!this._onAbsolutePosition(t)&&null===(null==(e=this.lastEvent)?void 0:e.level)){const e=this.lastEvent.clone();e.level=t.level,this.notify(e)}}))),this._mapMatchingHandlerId=Gt.addEventListener()}stop(){this._relativePositionProviderId&&(mt.removeEventListener(this._relativePositionProviderId),delete this._relativePositionProviderId),this._gnssWifiProviderId&&(F.removeEventListener(this._gnssWifiProviderId),delete this._gnssWifiProviderId),this._vpsProviderId&&(Lt.removeEventListener(this._vpsProviderId),delete this._vpsProviderId),this._polestarProviderId&&(bt.removeEventListener(this._polestarProviderId),delete this._polestarProviderId),Gt.removeEventListener(this._mapMatchingHandlerId)}_shouldTakeIntoAccountNewAbsolutePosition(e,s=!0){const r=e,n=this.lastEvent||null;if(!n)return!0;const o=r.accuracy*t.ACCURACY_RELOC_RATIO<=n.accuracy;if(o)return!0;const a=n.distanceTo(r)>n.accuracy+r.accuracy;if(a)return!0;const l=a&&r.accuracy<=n.accuracy;if(o&&l)return!0;return!(!s||i.Level.equals(r.level,n.level))}_onAbsolutePosition(t,e=!0){if(!this._shouldTakeIntoAccountNewAbsolutePosition(t,e)&&!this.useAllAbsolutePositions)return!1;const i=t.clone(),s=this.lastEvent?this.lastEvent:null;return s&&(e||(i.level=s.level),null===i.bearing&&(i.bearing=s.bearing)),Gt.canUseMapMatching()?Gt.notifyPositionFromAbsolute(i):(this.notify(i),!0)}_onRelativePosition(t){if(!this.lastEvent||this._waitUntilNextVpsPosition)return!1;const e=this.lastEvent,i=t,s=Math.sqrt(i.x**2+i.y**2),r=Math.atan2(i.x,i.y),n=null!==e.alt?i.z:null,o=e.destinationPoint(s,r,n);return o.bearing=i.bearing,o.time=i.time,o.accuracy+=i.accuracy,Gt.canUseMapMatching()?Gt.notifyPositionFromRelative(o):(this.notify(o),!0)}feed(e){let s;if(!(e instanceof i.UserPosition))throw new Error("data is nor an UserPosition or an AbsolutePositionEvent");if(null===e.time)throw Error("the time of the position is not defined");if(null===e.accuracy)throw Error("the accuracy of the position is not defined");s=e,t.USE_MM_FOR_FEED&&Gt.canUseMapMatching()?Gt.notifyPositionFromFeed(s):this.notify(s)}getBestPositionEvent(...t){return t.reduce(((t,e)=>{if(!t)return e;if(!e||null===e.accuracy||null===e.time)return t;const{accuracy:i,time:s}=e,{accuracy:r,time:n}=t;return i<r+1.3888*(s-n)?e:t}),null)}};e(wt,"ACCURACY_RELOC_RATIO",1),e(wt,"USE_MM_FOR_FEED",!0);const Nt=new wt;class Dt extends A{constructor(){super(...arguments),e(this,"DEFAULT_ACCURACY",s.deg2rad(15)),e(this,"absolutePositionProviderId"),e(this,"absolutePositionEvent"),e(this,"declinationQuaternion"),e(this,"magQuaternion"),e(this,"magQuaternionTimestamp"),e(this,"iosPreviousQuat"),e(this,"iosIsSkyMode",null),e(this,"getName",(()=>"AbsoluteAttitudeFromBrowser")),e(this,"onDeviceOrientationChromeEvent",(t=>{this.magQuaternionTimestamp=t.timeStamp/1e3,"number"==typeof t.alpha&&"number"==typeof t.beta&&"number"==typeof t.gamma?(this.magQuaternion=s.Rotations.eulerToQuaternionZXYDegrees([t.alpha,t.beta,t.gamma]),this.compute()):this.notifyError((new S).from("deviceorientationabsolute"))})),e(this,"onDeviceOrientationSafariEvent",(t=>{if(this.magQuaternionTimestamp=t.timeStamp/1e3,"number"!=typeof t.beta||"number"!=typeof t.gamma)return void this.notifyError((new S).from("deviceorientation"));if("number"!=typeof t.webkitCompassHeading)return void this.notifyError((new y).from("deviceorientation"));let e;const[i,r,n,o]=s.Rotations.eulerToQuaternionZXYDegrees([t.webkitCompassHeading,t.beta,t.gamma]),a=s.rad2deg(Math.acos(i**2-r**2-n**2+o**2));let l=null;a>136?l=!0:a<134?l=!1:this.iosPreviousQuat&&null!==this.iosIsSkyMode&&(l=s.Quaternion.distance([i,r,n,o],this.iosPreviousQuat)<.5?this.iosIsSkyMode:!this.iosIsSkyMode),this.iosPreviousQuat=[i,r,n,o],this.iosIsSkyMode=l,void 0!==l&&(e=l?180-t.webkitCompassHeading:Dt.webkitCompassToHeading(t.webkitCompassHeading,t.beta,t.gamma),this.magQuaternion=s.Rotations.eulerToQuaternionZXYDegrees([e,t.beta,t.gamma]),this.compute())})),e(this,"onAbsolutePositionEvent",(t=>{this.absolutePositionEvent=t;const e=c.field(t.lat,t.lng);this.declinationQuaternion=s.Quaternion.fromAxisAngle([0,0,1],-s.deg2rad(e.declination)),Nt.removeEventListener(this.absolutePositionProviderId),delete this.absolutePositionProviderId,this.compute()}))}availability(){return n.BrowserUtils.isMobile?Promise.resolve():Promise.resolve(new P)}start(){const t=()=>{switch(n.BrowserUtils.getName()){case n.Browser.CHROME:window.addEventListener("deviceorientationabsolute",this.onDeviceOrientationChromeEvent,!0);break;case n.Browser.SAFARI:case n.Browser.IOS_WEBVIEW:window.addEventListener("deviceorientation",this.onDeviceOrientationSafariEvent,!0)}},e=DeviceOrientationEvent.requestPermission||void 0;e?e().then((e=>{if("granted"!==e)throw new Error("Permission not granted");t()})).catch(this.notifyError):t();const i=Nt.lastEvent;i?this.onAbsolutePositionEvent(i):this.absolutePositionProviderId=Nt.addEventListener(this.onAbsolutePositionEvent,this.notifyError,!1)}stop(){switch(n.BrowserUtils.getName()){case n.Browser.CHROME:window.removeEventListener("deviceorientationabsolute",this.onDeviceOrientationChromeEvent,!0);break;case n.Browser.SAFARI:case n.Browser.IOS_WEBVIEW:window.removeEventListener("deviceorientation",this.onDeviceOrientationSafariEvent,!0)}Nt.removeEventListener(this.absolutePositionProviderId)}compute(){if(!this.declinationQuaternion||!this.magQuaternion||!this.absolutePositionEvent)return;const t=s.Quaternion.multiply(this.declinationQuaternion,this.magQuaternion),e=new u(t,this.magQuaternionTimestamp,this.DEFAULT_ACCURACY);this.notify(e)}static webkitCompassToHeading(t,e,i){const r=s.deg2rad(t),n=s.deg2rad(e),o=s.deg2rad(i),a=Math.cos(r/2),l=Math.cos(n/2),h=Math.cos(o/2),c=Math.sin(r/2),d=Math.sin(n/2),u=Math.sin(o/2),v=a*l*h-c*d*u,E=c*l*h+a*d*u;return s.rad2deg(-2*Math.atan(E/v))}}const Ct=new Dt;const Ft=new class extends A{constructor(){super(...arguments),e(this,"arCoreMonitoringId"),e(this,"arCoreProviderId"),e(this,"inertialProviderId"),e(this,"getName",(()=>"RelativeAttitude")),e(this,"availability",(()=>rt.getAvailability())),e(this,"listenInertial",(()=>{this.inertialProviderId=rt.addEventListener(this.notify,this.notifyError)})),e(this,"unlistenInertial",(()=>{rt.removeEventListener(this.inertialProviderId)})),e(this,"listenArCore",(()=>{this.arCoreProviderId=W.addEventListener((t=>this.notify(t.relativeAttitude)),null,!1)})),e(this,"unlistenArCore",(()=>{W.removeEventListener(this.arCoreProviderId)}))}start(){this.arCoreMonitoringId=W.addMonitoringListener((()=>{this.listenArCore(),this.unlistenInertial()}),(()=>{this.unlistenArCore(),this.listenInertial()})),"started"===W.state?this.listenArCore():this.listenInertial()}stop(){W.removeMonitoringListener(this.arCoreMonitoringId),this.unlistenArCore(),this.unlistenInertial()}},Ot=class t extends A{constructor(){super(...arguments),e(this,"_absAttitudeFromBrowser"),e(this,"_vpsProviderId"),e(this,"fromBrowserProviderId"),e(this,"highRotationProviderId"),e(this,"inclinationProviderId"),e(this,"relativeAttitudeProviderId"),e(this,"_attitudeFromBrowserErrored",!1),e(this,"_attitudeFromRelativeErrored",!1),e(this,"_relativeAttitude",null),e(this,"_relativeAccuracy",0),e(this,"_lastForcedHeadingEvent"),e(this,"_relAbsQuat"),e(this,"_wasHighRotationInProgress",!1),e(this,"_timeFirstDivergence",null),e(this,"_callbackMagCalibration"),e(this,"getName",(()=>"AbsoluteAttitude")),e(this,"_onError",(t=>{this._attitudeFromBrowserErrored&&this._attitudeFromRelativeErrored&&this.notifyError(t)})),e(this,"_forceHeadingForRelative",(t=>{if(this.lastEvent&&t.accuracy>this.lastEvent.accuracy)return;const e=e=>{const i=e.heading;this._relAbsQuat=s.Quaternion.fromAxisAngle([0,0,1],i-t.heading),this._relativeAccuracy=0,this._lastForcedHeadingEvent=t};if(this._relativeAttitude)return void e(this._relativeAttitude);const i=Ft.addEventListener((t=>{e(t),Ft.removeEventListener(i)}))})),e(this,"_onRelativeAttitudeEvent",(e=>{var r;const{quaternion:n,accuracy:o,time:a}=e;if(this._relativeAttitude&&(this._relativeAccuracy+=(a-this._relativeAttitude.time)*o),this._relativeAttitude=e,!this._lastForcedHeadingEvent||!this._relAbsQuat)return;const l=Math.min((this._lastForcedHeadingEvent.accuracy||0)+this._relativeAccuracy,Math.PI),h=it.isInProgress();let c=!1;if(this._absAttitudeFromBrowser){const{accuracy:e,heading:o}=this._absAttitudeFromBrowser;if(this._wasHighRotationInProgress&&!h)this._forceHeadingForRelative(this._absAttitudeFromBrowser);else if(e<l){const e=s.Quaternion.multiply(this._relAbsQuat,n),l=new i.Attitude(e),h=Math.abs(s.diffAngle(l.heading,o)),d=At.lastEvent;h>t.REL_ABS_DIVERGENCE_ANGLE_THRESHOLD&&null!==d&&Math.abs(d-Math.PI/4)>t.REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD&&(c=!0,null!==this._timeFirstDivergence&&a-this._timeFirstDivergence>t.REL_ABS_DIVERGENCE_TIME_THRESHOLD?(this._forceHeadingForRelative(this._absAttitudeFromBrowser),null==(r=this._callbackMagCalibration)||r.call(this,{angle:h}),this._timeFirstDivergence=null):null===this._timeFirstDivergence&&(this._timeFirstDivergence=a))}}c||(this._timeFirstDivergence=null),this._wasHighRotationInProgress=h;const d=s.Quaternion.multiply(this._relAbsQuat,n),v=new u(d,a,l);this.notify(v)})),e(this,"_onAttitudeFromBrowser",(t=>{this._absAttitudeFromBrowser=t,this._lastForcedHeadingEvent||this._forceHeadingForRelative(t)})),e(this,"_onAttitudeFromVps",(t=>{this._forceHeadingForRelative(t)}))}availability(){return I.some([Ct.getAvailability(),Ft.getAvailability()])}start(){this.fromBrowserProviderId=Ct.addEventListener(this._onAttitudeFromBrowser,(t=>{this._attitudeFromBrowserErrored=!0,this._onError(t)})),this._vpsProviderId=Lt.addEventListener((t=>this._onAttitudeFromVps(t.absoluteAttitude)),(t=>this.notifyError(t)),!1),this.relativeAttitudeProviderId=Ft.addEventListener(this._onRelativeAttitudeEvent,(t=>{this._attitudeFromRelativeErrored=!0,this._onError(t)})),this.inclinationProviderId=At.addEventListener(),this.highRotationProviderId=it.addEventListener()}stop(){Ct.removeEventListener(this.fromBrowserProviderId),Ft.removeEventListener(this.relativeAttitudeProviderId),At.removeEventListener(this.inclinationProviderId),it.removeEventListener(this.highRotationProviderId),Lt.removeEventListener(this._vpsProviderId)}_setCallbackMagCalibration(t){this._callbackMagCalibration=t}feed(t){if(t instanceof i.AbsoluteHeading){if(null===t.time)throw Error("the time of the absolute heading is not defined");if(null===t.accuracy)throw Error("the accuracy of the absolute heading is not defined");this._forceHeadingForRelative(t)}else{if(!(t instanceof u))throw new Error("data is nor an AbsoluteHeading or an Attitude object");if(null===t.time)throw Error("the time of the attitude is not defined");if(null===t.accuracy)throw Error("the accuracy of the attitude is not defined");this._forceHeadingForRelative(t)}}};e(Ot,"REL_ABS_DIVERGENCE_ANGLE_THRESHOLD",s.deg2rad(25)),e(Ot,"REL_ABS_DIVERGENCE_TIME_THRESHOLD",2.5),e(Ot,"REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD",s.deg2rad(15));const xt=new Ot,Ut=class t extends A{constructor(){super(...arguments),e(this,"providerId"),e(this,"slidingWindow",[]),e(this,"getName",(()=>"Turn")),e(this,"availability",(()=>Ft.getAvailability())),e(this,"_parseRelativeAttitude",(e=>{const{heading:i}=e,r=e.time;this.slidingWindow=this.slidingWindow.filter((e=>e[0]>=r-t.SLIDING_WINDOW_TIME)),this.slidingWindow.push([r,i]);s.std(this.slidingWindow.map((t=>t[1])))>t.STD_THRESHOLD&&this.notify({timestamp:r})}))}start(){this.providerId=Ft.addEventListener(this._parseRelativeAttitude,this.notifyError)}stop(){Ft.removeEventListener(this.providerId)}isTurning(){if(!this.lastEvent||!Ft.lastEvent)return!1;return Ft.lastEvent.time-this.lastEvent.timestamp<t.CONSIDER_TURN_UNTIL}};e(Ut,"SLIDING_WINDOW_TIME",.3),e(Ut,"STD_THRESHOLD",.075),e(Ut,"CONSIDER_TURN_UNTIL",1);const Ht=new Ut,Bt=class t extends A{constructor(){super(...arguments),e(this,"_turnProviderId"),e(this,"_stepProviderId"),e(this,"_countSteps",0),e(this,"_stepsConsideredForStraightLine",t.DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE),e(this,"getName",(()=>"StraightLine")),e(this,"_onTurn",(()=>{this._countSteps>=this._stepsConsideredForStraightLine&&this.notify(!1),this._countSteps=0})),e(this,"_onStep",(()=>{this._countSteps++,this._countSteps===this._stepsConsideredForStraightLine&&this.notify(!0)}))}availability(){return I.every([Ht.getAvailability(),Et.getAvailability()])}start(){this._turnProviderId=Ht.addEventListener(this._onTurn),this._stepProviderId=Et.addEventListener(this._onStep)}stop(){Ht.removeEventListener(this._turnProviderId),Et.removeEventListener(this._stepProviderId)}isStraight(){return this._countSteps>=this._stepsConsideredForStraightLine}get numStepsDetectedFromLastTurn(){return this._countSteps}get stepsConsideredForStraightLine(){return this._stepsConsideredForStraightLine}set stepsConsideredForStraightLine(t){this._stepsConsideredForStraightLine=t}};e(Bt,"DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE",2);const Wt=new Bt,Vt=class t extends A{constructor(){super(...arguments),e(this,"_mapMatchingMaxDistance",t.DEFAULT_MM_MAX_DIST),e(this,"_mapMatchingMinDistance",t.DEFAULT_MM_MIN_DIST),e(this,"_mapMatchingMaxAngleBearing",t.DEFAULT_MM_MAX_ANGLE),e(this,"_useItineraryStartAsPosition",t.DEFAULT_USE_ITINERARY_START_AS_POSITION),e(this,"_useOrientationMatching",t.DEFAULT_USE_ORIENTATION_MATCHING),e(this,"_hugeJumpDistance",t.DEFAULT_MM_HUGE_JUMP_DISTANCE),e(this,"_disableMMCloseToATurnDistance",t.DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE),e(this,"_minStepsBetweenOrientationMatching",t.DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING),e(this,"_minStepsForOrientationMatching",t.DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING),e(this,"_lastProjectionsWindowSize",t.DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE),e(this,"_lastProjectionsEdgeAngleThreshold",t.DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD),e(this,"_graph",null),e(this,"_internalProvidersStarted",!1),e(this,"_straightLineProviderId"),e(this,"_turnProviderId"),e(this,"_stepProviderId"),e(this,"_projectionsWithAbsAndWithoutRelAttitudeInARow",[]),e(this,"_countStepsFromLastMatching",0),e(this,"_lastProjections",[]),e(this,"_itineraryInfoManager",null),e(this,"getName",(()=>"MapMatchingHandler")),e(this,"availability",(()=>Promise.resolve())),e(this,"_manageStartStop",(()=>{this.graph&&!this._internalProvidersStarted?this._startInternalProviders():!this.graph&&this._internalProvidersStarted&&this._stopInternalProviders()}))}start(){this.graph&&this._startInternalProviders()}stop(){this._stopInternalProviders()}_startInternalProviders(){this.enabled&&this._internalProvidersStarted||(this._straightLineProviderId=Wt.addEventListener(),this._turnProviderId=Ht.addEventListener(),this._stepProviderId=Et.addEventListener((()=>this._countStepsFromLastMatching++)),this._internalProvidersStarted=!0)}_stopInternalProviders(){this.enabled&&!this._internalProvidersStarted||(Wt.removeEventListener(this._straightLineProviderId),Ht.removeEventListener(this._turnProviderId),Et.removeEventListener(this._stepProviderId),this._internalProvidersStarted=!1)}get enabled(){return E.useMapMatching}get graph(){return this._graph}set graph(t){this._graph=t,this._itineraryInfoManager=null,this.notify({...t&&{graph:t}}),this._manageStartStop(),this.canUseMapMatching()}set itinerary(t){this._graph=t?t.toGraph():null,this._itineraryInfoManager=new r.ItineraryInfoManager(t),this.notify({...t&&{itinerary:t}}),this._manageStartStop(),this.canUseMapMatching()&&t&&this._notifyPositionFromItineraryInput(t)}canUseMapMatching(){return this.enabled&&this.graph}_notifyPositionFromItineraryInput(t){if(!this._useItineraryStartAsPosition||!t.origin)return;const e=Nt.lastEvent||null,s=i.UserPosition.fromCoordinates(t.origin);if(e)s.alt=e.alt,s.time=e.time,s.accuracy=e.accuracy+s.distanceTo(e),s.bearing=e.bearing;else{if(!(t.coords.length>=2))return;s.alt=D,s.time=n.TimeUtils.preciseTime(),s.accuracy=0,s.bearing=t.coords[0].bearingTo(t.coords[1])}const r=this.getProjection(s,!0);r?Nt.notify(r.coords):Nt.notify(s)}notifyPositionFromFeed(t){const e=this.getProjection(t,!0,!1);e?Nt.notify(e.coords):Nt.notify(t)}notifyPositionFromAbsolute(t){let e=null;if(null!==t.bearing&&(e=this.getProjection(t,!0,!0)),!e)return Nt.notify(t),!0;const i=e.distanceFromNearestElement>this._hugeJumpDistance;return!(i&&!Wt.isStraight())&&((!i||!this._detectWrongBigJump(e))&&(Nt.notify(e.coords),this.tryOrientationMatching(e),!0))}notifyPositionFromRelative(t){var e;if(Ht.isTurning())return this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections=[],Nt.notify(t),!0;const i=this.getProjection(t,!0,!0);if(i){this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections.push(i),this._lastProjections.length>this._lastProjectionsWindowSize&&this._lastProjections.shift();const e=i.distanceFromNearestElement>this._hugeJumpDistance;return e&&!Wt.isStraight()||e&&this._detectWrongBigJump(i)?(Nt.notify(t),!0):this._areLastProjectionsInTheSameDirection()?this._disableMMCloseToATurnDistance>0&&this._hasTurnInCircle(i.coords,this._disableMMCloseToATurnDistance)?(Nt.notify(t),!0):(Nt.notify(i.coords),this.tryOrientationMatching(i),!0):(Nt.notify(t),!0)}if(Wt.isStraight()){const i=t.clone();i.bearing=(null==(e=Ct.lastEvent)?void 0:e.heading)||null;const s=this.getProjection(i,!0,!0);if(s)return this._projectionsWithAbsAndWithoutRelAttitudeInARow.push(s),this._projectionsWithAbsAndWithoutRelAttitudeInARow.length<3?(Nt.notify(t),!0):(this._lastProjections.push(s),this._lastProjections.length>this._lastProjectionsWindowSize&&this._lastProjections.shift(),this._areLastProjectionsInTheSameDirection()?(Nt.notify(s.coords),this.tryOrientationMatching(s),!0):(Nt.notify(t),!0))}return this._projectionsWithAbsAndWithoutRelAttitudeInARow=[],this._lastProjections=[],Nt.notify(t),!0}_detectWrongBigJump(t){if(this._itineraryInfoManager&&Nt.lastEvent){const e=this._itineraryInfoManager.getInfo(Nt.lastEvent),i=this._itineraryInfoManager.getInfo(t.coords);if(e&&i&&e.traveledDistance>i.traveledDistance&&e.traveledDistance-i.traveledDistance>t.origin.accuracy&&t.distanceFromNearestElement>t.origin.accuracy&&t.origin.distanceTo(Nt.lastEvent)<t.origin.accuracy+Nt.lastEvent.accuracy)return!0}return!1}_areLastProjectionsInTheSameDirection(){if(0===this._lastProjections.length)return!1;const t=this._lastProjections[0];return!this._lastProjections.some((e=>!(e.nearestElement instanceof r.Edge)||!(t.nearestElement instanceof r.Edge)||s.diffAngleLines(e.nearestElement.bearing,t.nearestElement.bearing)>this._lastProjectionsEdgeAngleThreshold))}_nodeHasTurn(e){if(!this._graph)return;const i=this._graph.edges.filter((t=>t.vertex1===e||t.vertex2===e));for(let r=0;r<i.length;r++)for(let e=r+1;e<i.length;e++){if(s.diffAngleLines(i[r].bearing,i[e].bearing)>t.DEFAULT_MM_MAX_ANGLE)return!0}return!1}_hasTurnInCircle(t,e){const s=this._graph;return!!s&&s.vertices.filter((s=>s.coords.distanceTo(t)<=e&&i.Level.intersect(s.coords.level,t.level))).some((t=>this._nodeHasTurn(t)))}tryOrientationMatching(t){if(!this._useOrientationMatching)return;if("started"!==this.state||this._countStepsFromLastMatching<this._minStepsBetweenOrientationMatching||Wt.numStepsDetectedFromLastTurn<this._minStepsForOrientationMatching)return;const{nearestElement:e,origin:n}=t;if(!(e instanceof r.Edge))return;let o;const a=s.diffAngle(e.bearing,n.bearing),l=s.diffAngle(e.bearing+Math.PI,n.bearing);o=Math.abs(a)<Math.abs(l)?e.bearing:(e.bearing+Math.PI)%(2*Math.PI);const h=new i.AbsoluteHeading(o,n.time,0);xt._forceHeadingForRelative(h),this._countStepsFromLastMatching=0}getProjection(t,e,i){var s;const r={...e&&{maxDistance:this._mapMatchingMaxDistance},...i&&{maxBearingAngle:this._mapMatchingMaxAngleBearing}};return null==(s=this._graph)?void 0:s.getProjection(t,r)}get maxDistance(){return this._mapMatchingMaxDistance}set maxDistance(t){this._mapMatchingMaxDistance=t}get minDistance(){return this._mapMatchingMinDistance}set minDistance(t){this._mapMatchingMinDistance=t}get maxAngleBearing(){return this._mapMatchingMaxAngleBearing}set maxAngleBearing(t){this._mapMatchingMaxAngleBearing=t}get useItineraryStartAsPosition(){return this._useItineraryStartAsPosition}set useItineraryStartAsPosition(t){this._useItineraryStartAsPosition=t}get useOrientationMatching(){return this._useOrientationMatching}set useOrientationMatching(t){this._useOrientationMatching=t}get hugeJumpDistance(){return this._hugeJumpDistance}set hugeJumpDistance(t){this._hugeJumpDistance=t}get disableMMCloseToATurnDistance(){return this._disableMMCloseToATurnDistance}set disableMMCloseToATurnDistance(t){this._disableMMCloseToATurnDistance=t}get minStepsBetweenOrientationMatching(){return this._minStepsBetweenOrientationMatching}set minStepsBetweenOrientationMatching(t){this._minStepsBetweenOrientationMatching=t}get minStepsForOrientationMatching(){return this._minStepsForOrientationMatching}set minStepsForOrientationMatching(t){this._minStepsForOrientationMatching=t}get lastProjectionsWindowSize(){return this._lastProjectionsWindowSize}set lastProjectionsWindowSize(t){this._lastProjectionsWindowSize=t}get lastProjectionsEdgeAngleThreshold(){return this._lastProjectionsEdgeAngleThreshold}set lastProjectionsEdgeAngleThreshold(t){this._lastProjectionsEdgeAngleThreshold=t}};e(Vt,"DEFAULT_MM_MAX_ANGLE",s.deg2rad(30)),e(Vt,"DEFAULT_MM_MAX_DIST",30),e(Vt,"DEFAULT_MM_MIN_DIST",0),e(Vt,"DEFAULT_USE_ITINERARY_START_AS_POSITION",!1),e(Vt,"DEFAULT_USE_ORIENTATION_MATCHING",!0),e(Vt,"DEFAULT_MM_HUGE_JUMP_DISTANCE",3),e(Vt,"DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE",2),e(Vt,"DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING",3),e(Vt,"DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING",5),e(Vt,"DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE",3),e(Vt,"DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD",s.deg2rad(3));const Gt=new Vt,kt=class t{constructor(i,s=t.DEFAULT_FREQUENCY){e(this,"positionsQueue",[]),e(this,"previousPosition",null),e(this,"timeoutNotify"),e(this,"_notifyNext",(()=>{var t;this.positionsQueue.length&&(null==(t=this.callback)||t.call(this,this.positionsQueue.shift()),0!==this.positionsQueue.length?this.timeoutNotify=setTimeout(this._notifyNext,1e3/this.frequency):delete this.timeoutNotify)})),this.callback=i,this.frequency=s}feed(e,s=t.DEFAULT_FLYBY_TIME){if(!(e instanceof i.UserPosition))throw new TypeError("newPosition is not instance of UserPosition");if(null===e.time)throw new Error("newPosition does not have time property");let r;if(0!==this.positionsQueue.length?(r=this.positionsQueue[0],this.positionsQueue=[]):r=this.previousPosition,r){const t=e.time,n=r.distanceTo(e),o=r.bearingTo(e);let a=1;const l=this.frequency*s+1,h=i.Level.clone(e.level);for(;a<l+1;){const i=r.destinationPoint(n*a/l,o);i.time=t+(a-1)/this.frequency,i.level=h,i.bearing=e.bearing,i.accuracy=Math.max(i.accuracy+(e.accuracy-i.accuracy)*a/l,0),this.positionsQueue.push(i),a++}this.timeoutNotify&&clearTimeout(this.timeoutNotify)}else this.positionsQueue.push(e.clone());this.previousPosition=e,this._notifyNext()}clear(){clearTimeout(this.timeoutNotify),delete this.timeoutNotify,this.positionsQueue=[]}};e(kt,"DEFAULT_FREQUENCY",60),e(kt,"DEFAULT_FLYBY_TIME",1);let Qt=kt;const qt=class t{constructor(t){e(this,"_previousAttitude"),e(this,"_smoothing",null),this.callback=t}feed(e){if(null===e.time)throw new Error("newAttitude does not have time property");const{_previousAttitude:r}=this;if(this._previousAttitude=e,r){if(t.isJump(r,e)){const n=null===this._smoothing?r:this._smoothing.interpAttitude(r),o=n.heading,a=e.heading,l=s.diffAngle(a,o),h=Math.abs(l)<t.HIGH_JUMP_THRESHOLD?t.ROTATION_SPEED_CONVERGENCE:t.ROTATION_SPEED_HIGH_JUMP_CONVERGENCE,c=n.time,d=Math.abs(l)/h,u=l<0?-1:1;this._smoothing={toTime:c+d,interpAttitude:t=>{const e=h*(t.time-c),r=o+e*u,n=s.Quaternion.fromAxisAngle([0,0,1],a-r),l=s.Quaternion.multiply(n,t.quaternion);return new i.Attitude(l,t.time,t.accuracy)}}}if(null!==this._smoothing){if(!(e.time>=this._smoothing.toTime)){const t=this._smoothing.interpAttitude(e);return void this.callback(t)}this._smoothing=null}this.callback(e)}else this.callback(e)}static isJump(e,i){const r=e.heading,n=i.heading,o=s.diffAngle(n,r),a=i.time-e.time,[l,h,c,d]=i.quaternion;return!(Math.abs(Math.asin(2*(l*h+c*d))-Math.PI/4)<t.PITCH_UNCERTAINITY_HEADING_THRESHOLD)&&Math.abs(o)>t.ROTATION_SPEED_JUMP_THRESHOLD*a}};e(qt,"ROTATION_SPEED_JUMP_THRESHOLD",s.deg2rad(180)),e(qt,"ROTATION_SPEED_CONVERGENCE",s.deg2rad(10)),e(qt,"HIGH_JUMP_THRESHOLD",s.deg2rad(20)),e(qt,"ROTATION_SPEED_HIGH_JUMP_CONVERGENCE",s.deg2rad(100)),e(qt,"PITCH_UNCERTAINITY_HEADING_THRESHOLD",s.deg2rad(5));let jt=qt;const zt=new class extends A{constructor(){super(),e(this,"getName",(()=>"MagnetometerCalibrationProvider")),e(this,"availability",(()=>xt.getAvailability())),xt._setCallbackMagCalibration((t=>"started"===this.state&&this.notify(t)))}start(){}stop(){}},Jt=class t extends Error{constructor(e){super(e||t.DEFAULT_MESSAGE)}};e(Jt,"DEFAULT_MESSAGE","IP Resolver failed");let Yt=Jt;const Xt=new class extends A{constructor(){super(...arguments),e(this,"getName",(()=>"Ip")),e(this,"availability",(()=>Promise.resolve()))}async start(){const t=await fetch("https://ipinfo.io/geo?token=24a7ca2f3b489d");if(!t)return void this.notifyError(new Yt);const e=n.TimeUtils.preciseTime()/1e3,s=(await t.json()).loc.split(","),r=new i.UserPosition(parseFloat(s[0]),parseFloat(s[1]),null,null,e,1e5);this.notify(r)}stop(){}};const Kt=new class extends A{constructor(){super(...arguments),e(this,"providerId"),e(this,"getName",(()=>"Barcode")),e(this,"availability",(()=>W.getAvailability()))}start(){W.enableBarcodeScanner(),this.providerId=W.addEventListener((t=>t.barcode&&this.notify(t.barcode)),this.notifyError)}stop(){W.disableBarcodeScanner(),W.removeEventListener(this.providerId)}};const Zt=new class extends A{constructor(){super(...arguments),e(this,"providerId"),e(this,"getName",(()=>"CameraNative")),e(this,"availability",(()=>Promise.resolve()))}start(){"stopped"!==W.state&&this.notify("started"),this.providerId=W.addMonitoringListener((()=>this.notify("started")),(()=>this.notify("stopped")))}stop(){W.removeMonitoringListener(this.providerId)}};const $t=new class extends A{constructor(){super(...arguments),e(this,"providerId"),e(this,"getName",(()=>"CameraProjectionMatrix")),e(this,"availability",(()=>W.getAvailability()))}start(){this.providerId=W.addEventListener((t=>t.cameraProjection&&this.notify(t.cameraProjection)),this.notifyError)}stop(){W.removeEventListener(this.providerId)}};exports.AbsoluteAttitude=u,exports.AbsoluteAttitudeFromBrowserProvider=Ct,exports.AbsoluteAttitudeProvider=xt,exports.AbsolutePosition=v,exports.AbsolutePositionProvider=Nt,exports.AccelerometerProvider=J,exports.ArCoreProvider=W,exports.AttitudeSmoother=jt,exports.BarcodeProvider=Kt,exports.CameraNativeProvider=Zt,exports.CameraProjectionMatrixProvider=$t,exports.GeoRelativePositionFromArCoreProvider=V,exports.GeoRelativePositionProvider=mt,exports.GnssWifiProvider=F,exports.GyroscopeProvider=X,exports.HighRotationsProvider=it,exports.ImageRelocalization=Tt,exports.ImuProvider=q,exports.InclinationFromAccProvider=pt,exports.InclinationFromRelativeAttitudeProvider=gt,exports.InclinationProvider=At,exports.IpProvider=Xt,exports.MagnetometerCalibrationProvider=zt,exports.MapMatchingHandler=Gt,exports.PdrProvider=_t,exports.PoleStarProvider=bt,exports.PositionSmoother=Qt,exports.ProvidersLoggerOld=_,exports.ProvidersOptions=E,exports.RelativeAttitude=d,exports.RelativeAttitudeFromBrowserProvider=tt,exports.RelativeAttitudeFromEkfProvider=Z,exports.RelativeAttitudeFromInertialProvider=rt,exports.RelativeAttitudeProvider=Ft,exports.RelativeRotationCalc=St,exports.StepDetectionMinMaxPeaks2=ct,exports.StepDetectionMinMaxPeaks3=ut,exports.StepProvider=Et,exports.StraightLineProvider=Wt,exports.TurnProvider=Ht,exports.VpsMetadata=It,exports.VpsProvider=Lt,exports.VpsRequest=ft,exports.VpsResponse=Pt;
+"use strict";
+var __defProp = Object.defineProperty;
+var __defNormalProp = (obj, key, value) => key in obj ? __defProp(obj, key, { enumerable: true, configurable: true, writable: true, value }) : obj[key] = value;
+var __publicField = (obj, key, value) => {
+  __defNormalProp(obj, typeof key !== "symbol" ? key + "" : key, value);
+  return value;
+};
+Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
+const geo = require("@wemap/geo");
+const maths = require("@wemap/maths");
+const routers = require("@wemap/routers");
+const utils = require("@wemap/utils");
+const Logger = require("@wemap/logger");
+const geomag = require("geomag");
+const camera = require("@wemap/camera");
+function _interopNamespaceDefault(e) {
+  const n = Object.create(null, { [Symbol.toStringTag]: { value: "Module" } });
+  if (e) {
+    for (const k in e) {
+      if (k !== "default") {
+        const d = Object.getOwnPropertyDescriptor(e, k);
+        Object.defineProperty(n, k, d.get ? d : {
+          enumerable: true,
+          get: () => e[k]
+        });
+      }
+    }
+  }
+  n.default = e;
+  return Object.freeze(n);
+}
+const geomag__namespace = /* @__PURE__ */ _interopNamespaceDefault(geomag);
+class RelativeAttitude extends geo.Attitude {
+}
+class AbsoluteAttitude extends geo.Attitude {
+}
+class AbsolutePosition extends geo.UserPosition {
+}
+const ProvidersOptions = {
+  /**
+   * Does provider will use map to
+   */
+  useMapMatching: true,
+  /**
+   * Providers listed here will not be used by the system
+   * List of {@link Provider#pname}
+   */
+  ignoreProviders: [],
+  /**
+   * Some providers are not used by default (i.e. PoleStar) because they
+   * require data from an optional external service or because they drain more
+   * battery. They can be added to this list to be used
+   * List of {@link Provider#pname}
+   */
+  optionalProviders: [],
+  stopOnError: true,
+  checkAvailabilityOnStart: true,
+  get hasPoleStar() {
+    return this.optionalProviders.includes("PoleStar");
+  }
+};
+class ProvidersLoggerOld {
+  constructor() {
+    __publicField(this, "_enabled", false);
+    __publicField(this, "currentId", 0);
+    __publicField(this, "objectsIdMap", /* @__PURE__ */ new WeakMap());
+    __publicField(this, "pushEvents", {});
+    __publicField(this, "pushEventsRef", {});
+    __publicField(this, "interval");
+    __publicField(this, "initDate");
+  }
+  get enabled() {
+    return this._enabled;
+  }
+  set enabled(_newVal) {
+    this._enabled = _newVal;
+  }
+  initializeInterval() {
+    if (this.interval) {
+      return;
+    }
+    this.interval = window.setInterval(() => {
+      for (const [key, value] of Object.entries(this.pushEvents)) {
+        Logger.debug("Received " + value + " notifications from " + this.pushEventsRef[Number(key)].getName() + " last second");
+      }
+      this.pushEvents = {};
+      this.pushEventsRef = {};
+    }, 1e3);
+  }
+  getObjectId(object) {
+    if (!this.objectsIdMap.has(object)) {
+      this.objectsIdMap.set(object, ++this.currentId);
+    }
+    return this.objectsIdMap.get(object);
+  }
+  addEvent(object, method) {
+    if (!this.enabled) {
+      return;
+    }
+    if (!this.initDate) {
+      this.initDate = Date.now();
+    }
+    this.initializeInterval();
+    const objectId = this.getObjectId(object);
+    const objectClassName = object.getName();
+    Logger.debug(objectClassName + "[" + objectId + "]." + method);
+  }
+  incrementNotifications(object) {
+    if (!this.enabled) {
+      return;
+    }
+    const objectId = this.getObjectId(object);
+    let counter = this.pushEvents[objectId];
+    if (!counter) {
+      counter = 0;
+      this.pushEventsRef[objectId] = object;
+    }
+    this.pushEvents[objectId] = counter + 1;
+  }
+}
+const ProvidersLoggerOld$1 = new ProvidersLoggerOld();
+const _ContainsIgnoredProviderError = class _ContainsIgnoredProviderError extends Error {
+  constructor(message) {
+    super(message || _ContainsIgnoredProviderError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_ContainsIgnoredProviderError, "DEFAULT_MESSAGE", "Contains ignored provider");
+let ContainsIgnoredProviderError = _ContainsIgnoredProviderError;
+const _Provider = class _Provider {
+  /**
+   * Provider constructor
+   */
+  constructor() {
+    __publicField(this, "id");
+    __publicField(this, "state", "stopped");
+    __publicField(this, "_lastEvent", null);
+    __publicField(this, "_eventsCallbacks", []);
+    __publicField(this, "_monitoringCallbacks", []);
+    /**
+     * Notify the subscriber defined in {@link addEventListener}
+     */
+    __publicField(this, "notify", (event) => {
+      ProvidersLoggerOld$1.incrementNotifications(this);
+      this._eventsCallbacks.forEach((cb) => {
+        var _a;
+        return (_a = cb.onEvent) == null ? void 0 : _a.call(cb, event);
+      });
+      this._lastEvent = event;
+    });
+    /**
+     * Notify the subscriber defined in {@link addEventListener}
+     */
+    __publicField(this, "notifyError", (error) => {
+      this._eventsCallbacks.forEach(({
+        id,
+        onError
+      }) => {
+        if (ProvidersOptions.stopOnError) {
+          this.removeEventListener(id);
+        }
+        onError == null ? void 0 : onError(error);
+      });
+    });
+    this.id = _Provider._uniqueId++;
+    ProvidersLoggerOld$1.addEvent(this, "constructor");
+  }
+  /**
+   * Resolve with an error if the provider is not available
+   */
+  getAvailability() {
+    if (ProvidersOptions.ignoreProviders.includes(this.getName())) {
+      return Promise.resolve(new ContainsIgnoredProviderError());
+    }
+    return this.availability();
+  }
+  get hasNativeInterface() {
+    return Boolean(this.nativeInterface);
+  }
+  get nativeInterface() {
+    return typeof window !== "undefined" && window.__nativeProviders || null;
+  }
+  get nativeJsInterface() {
+    if (typeof window === "undefined") {
+      return null;
+    }
+    if (!window.__nativeJsProviders) {
+      window.__nativeJsProviders = {};
+    }
+    return window.__nativeJsProviders;
+  }
+  get useCameraNatively() {
+    return false;
+  }
+  addEventListener(onEvent = null, onError = null, startIfNecessary = true) {
+    const id = ++_Provider._callbackUniqueId;
+    this._eventsCallbacks.push({
+      id,
+      onEvent: onEvent || (() => {
+      }),
+      onError: onError || (() => {
+      }),
+      optional: !startIfNecessary
+    });
+    if (!startIfNecessary) {
+      return id;
+    }
+    if (this.state !== "stopped") {
+      return id;
+    }
+    this.state = "starting";
+    let availabilityPromise = Promise.resolve();
+    if (ProvidersOptions.checkAvailabilityOnStart) {
+      availabilityPromise = this.getAvailability();
+    }
+    (async () => {
+      const error = await availabilityPromise;
+      if (error) {
+        this.state = "stopped";
+        this.notifyError(error);
+        return;
+      }
+      ProvidersLoggerOld$1.addEvent(this, "start");
+      this.start();
+      this.state = "started";
+      this._monitoringCallbacks.forEach((cb) => {
+        var _a;
+        return (_a = cb.onStarted) == null ? void 0 : _a.call(cb);
+      });
+    })();
+    return id;
+  }
+  removeEventListener(callbackUniqueId) {
+    const callback = this._eventsCallbacks.find((_callback) => _callback.id === callbackUniqueId);
+    if (!callback) {
+      return;
+    }
+    this._eventsCallbacks = this._eventsCallbacks.filter((_callback) => _callback !== callback);
+    if (callback.optional) {
+      return;
+    }
+    if (this._eventsCallbacks.find((_callback) => !_callback.optional)) {
+      return;
+    }
+    if (this.state === "stopped") {
+      return;
+    }
+    ProvidersLoggerOld$1.addEvent(this, "stop");
+    this.stop();
+    this.state = "stopped";
+    this._monitoringCallbacks.forEach((cb) => {
+      var _a;
+      return (_a = cb.onStopped) == null ? void 0 : _a.call(cb);
+    });
+  }
+  addMonitoringListener(onStarted, onStopped) {
+    const id = _Provider._callbackUniqueId++;
+    this._monitoringCallbacks.push({
+      id,
+      onStarted: onStarted || null,
+      onStopped: onStopped || null
+    });
+    return id;
+  }
+  removeMonitoringListener(callbackUniqueId) {
+    this._monitoringCallbacks = this._monitoringCallbacks.filter(
+      (_callback) => _callback.id !== callbackUniqueId
+    );
+  }
+  get lastEvent() {
+    return this._lastEvent;
+  }
+};
+__publicField(_Provider, "_callbackUniqueId", 0);
+__publicField(_Provider, "_uniqueId", 1);
+let Provider = _Provider;
+class AvailabilityHelper {
+  static async every(availabilityPromises) {
+    for (const aPr of availabilityPromises) {
+      const error = await aPr;
+      if (error) {
+        return error;
+      }
+    }
+    return null;
+  }
+  static async some(availabilityPromises) {
+    let firstError;
+    for (const aPr of availabilityPromises) {
+      const error = await aPr;
+      if (!error) {
+        return null;
+      } else if (!firstError) {
+        firstError = error;
+      }
+    }
+    return firstError || null;
+  }
+}
+const _AskImuOnDesktopError = class _AskImuOnDesktopError extends Error {
+  constructor(message) {
+    super(message || _AskImuOnDesktopError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_AskImuOnDesktopError, "DEFAULT_MESSAGE", "It seems that you ask for IMU events on a desktop browser");
+let AskImuOnDesktopError = _AskImuOnDesktopError;
+const _MissingSensorError = class _MissingSensorError extends Error {
+  constructor(message) {
+    super(message || _MissingSensorError.DEFAULT_MESSAGE);
+  }
+  from(fromMessage) {
+    this.message += " from " + fromMessage;
+    return this;
+  }
+};
+__publicField(_MissingSensorError, "DEFAULT_MESSAGE", "Impossible to retrieve events, a sensor is missing");
+let MissingSensorError = _MissingSensorError;
+class MissingMagnetometerError extends MissingSensorError {
+  constructor(message) {
+    super(message);
+  }
+}
+const _GeolocationApiMissingError = class _GeolocationApiMissingError extends Error {
+  constructor(message) {
+    super(message || _GeolocationApiMissingError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_GeolocationApiMissingError, "DEFAULT_MESSAGE", "Geolocation api is missing");
+let GeolocationApiMissingError = _GeolocationApiMissingError;
+const _GeolocationPermissionDeniedError = class _GeolocationPermissionDeniedError extends Error {
+  constructor(message) {
+    super(message || _GeolocationPermissionDeniedError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_GeolocationPermissionDeniedError, "DEFAULT_MESSAGE", "Geolocation permission denied");
+let GeolocationPermissionDeniedError = _GeolocationPermissionDeniedError;
+const _GeolocationPositionUnavailableError = class _GeolocationPositionUnavailableError extends Error {
+  constructor(message) {
+    super(message || _GeolocationPositionUnavailableError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_GeolocationPositionUnavailableError, "DEFAULT_MESSAGE", "Geolocation position unavailable");
+let GeolocationPositionUnavailableError = _GeolocationPositionUnavailableError;
+const Constants = {
+  DEFAULT_ALTITUDE: 1.6
+};
+const _GnssWifiProvider = class _GnssWifiProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "discardPositionsAbove", _GnssWifiProvider.DEFAULT_DISCARD_POSITIONS_ABOVE);
+    __publicField(this, "enableHighAccuracy", true);
+    __publicField(this, "geoLocationId");
+    __publicField(this, "getName", () => "GnssWifi");
+    __publicField(this, "onNewPosition", (geolocation) => {
+      const { coords } = geolocation;
+      if (!coords) {
+        return;
+      }
+      let bearing;
+      if (coords.heading) {
+        bearing = maths.deg2rad(coords.heading);
+      }
+      const timestamp = utils.TimeUtils.unixTimestampToPreciseTime(geolocation.timestamp) / 1e3;
+      const position = new geo.UserPosition(
+        coords.latitude,
+        coords.longitude,
+        Constants.DEFAULT_ALTITUDE,
+        null,
+        timestamp,
+        coords.accuracy,
+        bearing
+      );
+      if (this.enableHighAccuracy && typeof this.discardPositionsAbove === "number" && coords.accuracy > this.discardPositionsAbove) {
+        return;
+      }
+      this.notify(position);
+    });
+    __publicField(this, "onPositionError", (error) => {
+      Logger.warn(`[Providers] watchPosition error: [${error.code}] ${error.message}`);
+      let customError;
+      switch (error.code) {
+        case 1:
+          customError = new GeolocationPermissionDeniedError(error.message);
+          break;
+        case 2:
+          customError = new GeolocationPositionUnavailableError(error.message);
+          break;
+        default:
+          customError = new Error(error.message);
+      }
+      this.notifyError(customError);
+    });
+  }
+  get positionOptions() {
+    return {
+      enableHighAccuracy: this.enableHighAccuracy,
+      timeout: Infinity,
+      maximumAge: 0
+    };
+  }
+  availability() {
+    return typeof navigator === "object" && navigator.geolocation ? Promise.resolve() : Promise.resolve(new GeolocationApiMissingError());
+  }
+  start() {
+    navigator.geolocation.getCurrentPosition(
+      this.onNewPosition,
+      this.onPositionError,
+      this.positionOptions
+    );
+    setTimeout(() => {
+      this.geoLocationId = navigator.geolocation.watchPosition(
+        this.onNewPosition,
+        this.onPositionError,
+        this.positionOptions
+      );
+    }, 150);
+  }
+  stop() {
+    if (typeof this.geoLocationId !== "undefined") {
+      navigator.geolocation.clearWatch(this.geoLocationId);
+    }
+  }
+};
+__publicField(_GnssWifiProvider, "DEFAULT_DISCARD_POSITIONS_ABOVE", 50);
+let GnssWifiProvider = _GnssWifiProvider;
+const GnssWifiProvider$1 = new GnssWifiProvider();
+const _MissingArCoreError = class _MissingArCoreError extends Error {
+  constructor(message) {
+    super(message || _MissingArCoreError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_MissingArCoreError, "DEFAULT_MESSAGE", "ARCore is missing");
+let MissingArCoreError = _MissingArCoreError;
+const _MissingNativeInterfaceError = class _MissingNativeInterfaceError extends Error {
+  constructor(message) {
+    super(message || _MissingNativeInterfaceError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_MissingNativeInterfaceError, "DEFAULT_MESSAGE", "Native interface is missing. You are maybe trying to execute a code which is not available in a web browser");
+let MissingNativeInterfaceError = _MissingNativeInterfaceError;
+const _ArCoreProvider = class _ArCoreProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "_nativeProvider");
+    __publicField(this, "previousPosition", [0, 0, 0]);
+    __publicField(this, "getName", () => "ArCore");
+    __publicField(this, "pullDataLoop", () => {
+      if (this.state === "stopped") {
+        return;
+      }
+      const payload = JSON.parse(this.nativeProvider.getInfo());
+      if (payload.length > 1) {
+        this.parsePayload(payload);
+      }
+      requestAnimationFrame(this.pullDataLoop);
+    });
+  }
+  availability() {
+    try {
+      const nativeProvider = this.nativeProvider;
+      if (!nativeProvider.checkAvailability()) {
+        return Promise.resolve(new MissingArCoreError());
+      }
+    } catch (e) {
+      return Promise.resolve(e);
+    }
+    return Promise.resolve();
+  }
+  start() {
+    var _a;
+    (_a = this.nativeProvider) == null ? void 0 : _a.start();
+    this.pullDataLoop();
+  }
+  stop() {
+    var _a;
+    (_a = this.nativeProvider) == null ? void 0 : _a.stop();
+  }
+  parsePayload(payload) {
+    const ref = payload[0];
+    let bufferIndex = 1;
+    let attitude, position, cameraProjection, barcode;
+    const time = utils.TimeUtils.preciseTime() / 1e3;
+    if (ref & _ArCoreProvider.Payload.Pose.ref) {
+      attitude = new RelativeAttitude(
+        payload.slice(bufferIndex, bufferIndex + 4),
+        time,
+        _ArCoreProvider.RELATIVE_ATTITUDE_DRIFT
+      );
+      const newPosition = [
+        payload[bufferIndex + 4],
+        payload[bufferIndex + 5],
+        payload[bufferIndex + 6]
+      ];
+      position = new geo.RelativePosition(
+        newPosition[0] - this.previousPosition[0],
+        newPosition[1] - this.previousPosition[1],
+        newPosition[2] - this.previousPosition[2],
+        time,
+        1e-4
+      );
+      this.previousPosition = newPosition;
+      bufferIndex += _ArCoreProvider.Payload.Pose.size;
+    }
+    if (ref & _ArCoreProvider.Payload.Barcode.ref) {
+      barcode = payload[bufferIndex];
+      bufferIndex += _ArCoreProvider.Payload.Barcode.size;
+    }
+    if (ref & _ArCoreProvider.Payload.ProjMat.ref) {
+      cameraProjection = payload.slice(bufferIndex, bufferIndex + _ArCoreProvider.Payload.ProjMat.size);
+      bufferIndex += _ArCoreProvider.Payload.ProjMat.size;
+    }
+    this.notify({
+      relativePosition: position,
+      relativeAttitude: attitude,
+      ...barcode && { barcode },
+      ...cameraProjection && { cameraProjection }
+    });
+  }
+  get nativeProvider() {
+    if (!this._nativeProvider) {
+      if (!this.nativeInterface) {
+        throw new MissingNativeInterfaceError();
+      }
+      this._nativeProvider = this.nativeInterface.getArCoreProvider();
+      if (!this._nativeProvider) {
+        throw new MissingArCoreError();
+      }
+    }
+    return this._nativeProvider;
+  }
+  enableBarcodeScanner() {
+    try {
+      this.nativeProvider.enableBarcodeScanner();
+    } catch (e) {
+      this.notifyError(e);
+    }
+  }
+  disableBarcodeScanner() {
+    try {
+      this.nativeProvider.disableBarcodeScanner();
+    } catch (e) {
+      this.notifyError(e);
+    }
+  }
+  get useCameraNatively() {
+    return true;
+  }
+};
+__publicField(_ArCoreProvider, "Payload", {
+  Pose: {
+    ref: 2 ** 0,
+    size: 7
+  },
+  Barcode: {
+    ref: 2 ** 1,
+    size: 1
+  },
+  ProjMat: {
+    ref: 2 ** 2,
+    size: 16
+  },
+  ImageRef: {
+    ref: 2 ** 3,
+    size: 1
+  }
+});
+/**
+ * default relative attitude drift in rad.second-1
+ */
+__publicField(_ArCoreProvider, "RELATIVE_ATTITUDE_DRIFT", maths.deg2rad(3) / 60);
+let ArCoreProvider = _ArCoreProvider;
+const ArCoreProvider$1 = new ArCoreProvider();
+class GeoRelativePositionFromArCoreProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "absoluteAttitudeProviderId");
+    __publicField(this, "arCoreProviderId");
+    __publicField(this, "absoluteAttitudeEvent");
+    __publicField(this, "getName", () => "GeoRelativePositionFromArCore");
+    __publicField(this, "onArCoreEvents", (event) => {
+      const relativeAttitudeEvent = event.relativeAttitude;
+      const relativePositionEvent = event.relativePosition;
+      if (relativeAttitudeEvent && relativePositionEvent && this.absoluteAttitudeEvent) {
+        this.compute(relativePositionEvent, relativeAttitudeEvent, this.absoluteAttitudeEvent);
+      }
+    });
+  }
+  availability() {
+    return AvailabilityHelper.every([
+      ArCoreProvider$1.getAvailability(),
+      AbsoluteAttitudeProvider$1.getAvailability()
+    ]);
+  }
+  start() {
+    this.arCoreProviderId = ArCoreProvider$1.addEventListener(
+      this.onArCoreEvents,
+      this.notifyError
+    );
+    this.absoluteAttitudeProviderId = AbsoluteAttitudeProvider$1.addEventListener(
+      (event) => this.absoluteAttitudeEvent = event,
+      this.notifyError
+    );
+  }
+  stop() {
+    ArCoreProvider$1.removeEventListener(this.arCoreProviderId);
+    AbsoluteAttitudeProvider$1.removeEventListener(this.absoluteAttitudeProviderId);
+  }
+  compute(relativePosition, relativeAttitude, absoluteAttitude) {
+    const rotation = absoluteAttitude.heading - relativeAttitude.heading;
+    const east = Math.cos(rotation) * relativePosition.x - Math.sin(rotation) * relativePosition.z;
+    const north = -Math.sin(rotation) * relativePosition.x - Math.cos(rotation) * relativePosition.z;
+    const up = relativePosition.y;
+    const position = new geo.GeoRelativePosition(
+      east,
+      north,
+      up,
+      relativePosition.time,
+      0,
+      absoluteAttitude.heading
+    );
+    this.notify(position);
+  }
+}
+const GeoRelativePositionFromArCoreProvider$1 = new GeoRelativePositionFromArCoreProvider();
+const DEFAULT_RELATIVE_NOISES = {
+  acc: 0.5,
+  gyr: 0.3
+};
+const DEFAULT_ABSOLUTE_NOISES = {
+  acc: 0.5,
+  gyr: 0.3,
+  yc: 2
+};
+class EkfAttitude {
+  constructor(accRef = [0, 0, 1], ycRef = [-1, 0, 0]) {
+    __publicField(this, "P");
+    __publicField(this, "accRef");
+    __publicField(this, "cRef");
+    __publicField(this, "noises");
+    __publicField(this, "quaternion");
+    this.accRef = accRef;
+    this.cRef = ycRef;
+    this.P = maths.Matrix4.fromDiagVector(Array(4).fill(0.1 ** 2));
+    this.quaternion = null;
+    this.noises = {};
+    this.setRelativeNoises(DEFAULT_RELATIVE_NOISES);
+    this.setAbsoluteNoises(DEFAULT_ABSOLUTE_NOISES);
+  }
+  setRelativeNoises(relativeNoises) {
+    this.noises.relative = {
+      acc: maths.Matrix3.diag(Array(3).fill(relativeNoises.acc ** 2)),
+      gyr: maths.Matrix3.diag(Array(3).fill(relativeNoises.gyr ** 2))
+    };
+  }
+  setAbsoluteNoises(absoluteNoises) {
+    this.noises.absolute = {
+      acc: maths.Matrix3.diag(Array(3).fill(absoluteNoises.acc ** 2)),
+      gyr: maths.Matrix3.diag(Array(3).fill(absoluteNoises.gyr ** 2)),
+      yc: maths.Matrix3.diag(Array(3).fill(absoluteNoises.yc ** 2))
+    };
+  }
+  /**
+   * Try to initialize filter.
+   * To initialize, we need at least current acceleration (acc)
+   */
+  tryInitialize(acc, mag) {
+    const accNormalized = maths.Vector3.normalize(acc);
+    if (mag) {
+      const magNormalized = maths.Vector3.normalize(mag);
+      const H = maths.Vector3.normalize(maths.Vector3.cross(magNormalized, accNormalized));
+      const M = maths.Vector3.cross(accNormalized, H);
+      const R = [
+        [H[0], M[0], accNormalized[0]],
+        [H[1], M[1], accNormalized[1]],
+        [H[2], M[2], accNormalized[2]]
+      ];
+      this.quaternion = maths.Quaternion.fromMatrix3Matlab(R);
+    } else {
+      const r = maths.Vector3.dot(accNormalized, this.accRef) + 1;
+      const v = maths.Vector3.cross(accNormalized, this.accRef);
+      let quaternion = [r, v[0], v[1], v[2]];
+      quaternion = maths.Quaternion.normalize(quaternion);
+      this.quaternion = quaternion;
+    }
+    return this.quaternion;
+  }
+  update(diffTime, acc, gyr, mag) {
+    if (!this.quaternion) {
+      return this.tryInitialize(acc, mag);
+    }
+    let q = this.quaternion;
+    const qArray = q;
+    const gyrInt = maths.Vector3.multiplyScalar(gyr, 0.5 * diffTime);
+    const F = this.computeC([1, gyrInt[0], gyrInt[1], gyrInt[2]]);
+    const qAPriori = maths.Matrix4.multiplyVector(F, q);
+    const E1 = maths.Matrix3.diag([qArray[0], qArray[0], qArray[0]]);
+    const eSkew = maths.Matrix3.skew([qArray[1], qArray[2], qArray[3]]);
+    const qPart = [-1 * qArray[1], -1 * qArray[2], -1 * qArray[3]];
+    const E = maths.Matrix.concatRow([qPart], maths.Matrix3.sum(eSkew, E1));
+    const Qk = maths.Matrix4.multiplyScalar(
+      maths.Matrix.multiply(
+        maths.Matrix.multiply(E, this.noises[mag ? "absolute" : "relative"].gyr),
+        maths.Matrix.transpose(E)
+      ),
+      (diffTime / 2) ** 2
+    );
+    const pAPriori = maths.Matrix4.sum(
+      maths.Matrix4.multiply(
+        maths.Matrix4.multiply(F, this.P),
+        maths.Matrix4.transpose(F)
+      ),
+      Qk
+    );
+    const accNormalized = maths.Vector3.normalize(acc);
+    let dz, K, H;
+    if (mag) {
+      const magNormalized = maths.Vector3.normalize(mag);
+      const yc = maths.Vector3.cross(accNormalized, magNormalized);
+      const ycNormalized = maths.Vector3.normalize(yc);
+      const dzYc = maths.Vector3.subtract(ycNormalized, maths.Quaternion.rotateMatlab(qAPriori, this.cRef));
+      const dzAcc = maths.Vector3.subtract(accNormalized, maths.Quaternion.rotateMatlab(qAPriori, this.accRef));
+      dz = maths.Vector.concat(dzYc, dzAcc);
+      const HYc = this.jacobianES(qAPriori, this.cRef);
+      const HAcc = this.jacobianES(qAPriori, this.accRef);
+      H = maths.Matrix.concatRow(HYc, HAcc);
+      const RYc = maths.Matrix.concatLine(this.noises.absolute.yc, maths.Matrix3.zeros);
+      const RAcc = maths.Matrix.concatLine(maths.Matrix3.zeros, this.noises.absolute.acc);
+      const R = maths.Matrix.concatRow(RYc, RAcc);
+      K = maths.Matrix.multiply(
+        maths.Matrix.multiply(pAPriori, maths.Matrix.transpose(H)),
+        maths.Matrix.inverse(
+          maths.Matrix.sum(
+            maths.Matrix.multiply(
+              maths.Matrix.multiply(H, pAPriori),
+              maths.Matrix.transpose(H)
+            ),
+            R
+          )
+        )
+      );
+    } else {
+      dz = maths.Vector3.subtract(accNormalized, maths.Quaternion.rotateMatlab(qAPriori, this.accRef));
+      H = this.jacobianES(qAPriori, this.accRef);
+      const R = this.noises.relative.acc;
+      K = maths.Matrix.multiply(
+        maths.Matrix.multiply(pAPriori, maths.Matrix.transpose(H)),
+        maths.Matrix3.inverse(
+          maths.Matrix3.sum(
+            maths.Matrix.multiply(
+              maths.Matrix.multiply(H, pAPriori),
+              maths.Matrix.transpose(H)
+            ),
+            R
+          )
+        )
+      );
+    }
+    q = maths.Quaternion.sum(
+      qAPriori,
+      maths.Matrix.multiplyVector(K, dz)
+    );
+    const P = maths.Matrix4.multiply(
+      maths.Matrix4.subtract(
+        maths.Matrix4.identity,
+        maths.Matrix.multiply(K, H)
+      ),
+      pAPriori
+    );
+    q = maths.Quaternion.normalize(q);
+    this.quaternion = q;
+    this.P = P;
+    return q;
+  }
+  computeC(b) {
+    return [
+      [b[0], -b[1], -b[2], -b[3]],
+      [b[1], b[0], b[3], -b[2]],
+      [b[2], -b[3], b[0], b[1]],
+      [b[3], b[2], -b[1], b[0]]
+    ];
+  }
+  jacobianES(q, v) {
+    const [qw, qx, qy, qz] = q;
+    const [vx, vy, vz] = v;
+    return [
+      [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],
+      [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],
+      [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]
+    ];
+  }
+}
+class ImuProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "getName", () => "IMU");
+    /**
+     * devicemotion callback
+     */
+    __publicField(this, "parseDeviceMotionEvent", (e) => {
+      const timestamp = e.timeStamp / 1e3;
+      let acc;
+      if (e.accelerationIncludingGravity) {
+        const {
+          x,
+          y,
+          z
+        } = e.accelerationIncludingGravity;
+        if (typeof x === "number" && typeof y === "number" && typeof z === "number") {
+          acc = [x, y, z];
+          if (utils.BrowserUtils.getName() === utils.Browser.SAFARI || utils.BrowserUtils.getName() === utils.Browser.IOS_WEBVIEW) {
+            acc[0] *= -1;
+            acc[1] *= -1;
+            acc[2] *= -1;
+          }
+        }
+      }
+      let gyr;
+      if (e.rotationRate) {
+        const {
+          alpha,
+          beta,
+          gamma
+        } = e.rotationRate;
+        if (typeof alpha === "number" && typeof beta === "number" && typeof gamma === "number") {
+          gyr = [maths.deg2rad(alpha), maths.deg2rad(beta), maths.deg2rad(gamma)];
+        }
+      }
+      if (acc || gyr) {
+        this.notify({
+          ...acc && { acceleration: { timestamp, values: acc } },
+          ...gyr && { angularRate: { timestamp, values: gyr } }
+        });
+      }
+    });
+  }
+  availability() {
+    return utils.BrowserUtils.isMobile ? Promise.resolve() : Promise.resolve(new AskImuOnDesktopError());
+  }
+  start() {
+    const subscribe = () => window.addEventListener("devicemotion", this.parseDeviceMotionEvent, true);
+    const requestPermission = DeviceMotionEvent.requestPermission || void 0;
+    if (requestPermission) {
+      requestPermission().then((response) => {
+        if (response !== "granted") {
+          throw new Error("Permission not granted");
+        }
+        subscribe();
+      }).catch(this.notifyError);
+    } else {
+      subscribe();
+    }
+  }
+  stop() {
+    window.removeEventListener("devicemotion", this.parseDeviceMotionEvent, true);
+  }
+}
+const ImuProvider$1 = new ImuProvider();
+const _MissingAccelerometerError = class _MissingAccelerometerError extends MissingSensorError {
+  constructor(message) {
+    super(message || _MissingAccelerometerError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_MissingAccelerometerError, "DEFAULT_MESSAGE", "Impossible to retrieve Acceleration data");
+let MissingAccelerometerError = _MissingAccelerometerError;
+class AccelerometerProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "imuProviderId");
+    __publicField(this, "getName", () => "Accelerometer");
+    __publicField(this, "availability", () => ImuProvider$1.getAvailability());
+  }
+  start() {
+    this.imuProviderId = ImuProvider$1.addEventListener((event) => {
+      event.acceleration ? this.notify(event.acceleration) : this.notifyError(new MissingAccelerometerError().from("devicemotion"));
+    }, this.notifyError);
+  }
+  stop() {
+    ImuProvider$1.removeEventListener(this.imuProviderId);
+  }
+}
+const AccelerometerProvider$1 = new AccelerometerProvider();
+class MissingGyroscopeError extends MissingSensorError {
+  constructor(message) {
+    super(message || MissingSensorError.DEFAULT_MESSAGE);
+  }
+}
+__publicField(MissingGyroscopeError, "DEFAULT_MESSAGE", "Impossible to retrieve Angular Rate data");
+class GyroscopeProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "imuProviderId");
+    __publicField(this, "getName", () => "Gyroscope");
+    __publicField(this, "availability", () => ImuProvider$1.getAvailability());
+  }
+  start() {
+    this.imuProviderId = ImuProvider$1.addEventListener((event) => {
+      event.angularRate ? this.notify(event.angularRate) : this.notifyError(new MissingGyroscopeError().from("devicemotion"));
+    }, this.notifyError);
+  }
+  stop() {
+    ImuProvider$1.removeEventListener(this.imuProviderId);
+  }
+}
+const GyroscopeProvider$1 = new GyroscopeProvider();
+const _RelativeAttitudeFromEkf = class _RelativeAttitudeFromEkf extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "accelerometerProviderId");
+    __publicField(this, "ekfAttitude", new EkfAttitude());
+    __publicField(this, "gyroscopeEvent");
+    __publicField(this, "gyroscopeProviderId");
+    __publicField(this, "lastTimestamp", 0);
+    __publicField(this, "getName", () => "RelativeAttitudeFromEkf");
+    __publicField(this, "onAccelerometerEvent", (accelerationEvent) => {
+      if (!this.gyroscopeEvent) {
+        return;
+      }
+      const {
+        values: acceleration,
+        timestamp
+      } = accelerationEvent;
+      if (this.lastTimestamp === 0) {
+        this.lastTimestamp = timestamp;
+        return;
+      }
+      const diffTime = timestamp - this.lastTimestamp;
+      this.lastTimestamp = timestamp;
+      const quaternion = this.ekfAttitude.update(
+        diffTime,
+        acceleration,
+        this.gyroscopeEvent.values
+      );
+      if (quaternion) {
+        const attitude = new RelativeAttitude(
+          quaternion,
+          timestamp,
+          _RelativeAttitudeFromEkf.DEFAULT_DRIFT
+        );
+        this.notify(attitude);
+      }
+    });
+  }
+  availability() {
+    return AvailabilityHelper.every([
+      AccelerometerProvider$1.getAvailability(),
+      GyroscopeProvider$1.getAvailability()
+    ]);
+  }
+  start() {
+    this.accelerometerProviderId = AccelerometerProvider$1.addEventListener(
+      (event) => this.onAccelerometerEvent(event),
+      (error) => this.notifyError(error)
+    );
+    this.gyroscopeProviderId = GyroscopeProvider$1.addEventListener(
+      (event) => this.gyroscopeEvent = event,
+      (error) => this.notifyError(error)
+    );
+  }
+  stop() {
+    AccelerometerProvider$1.removeEventListener(this.accelerometerProviderId);
+    GyroscopeProvider$1.removeEventListener(this.gyroscopeProviderId);
+  }
+};
+/**
+ * default relative attitude drift in rad.second-1
+ */
+__publicField(_RelativeAttitudeFromEkf, "DEFAULT_DRIFT", maths.deg2rad(5) / 60);
+let RelativeAttitudeFromEkf = _RelativeAttitudeFromEkf;
+const RelativeAttitudeFromEkfProvider = new RelativeAttitudeFromEkf();
+const _RelativeAttitudeFromBrowser = class _RelativeAttitudeFromBrowser extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "getName", () => "RelativeAttitudeFromBrowser");
+    __publicField(this, "onDeviceOrientationEvent", (e) => {
+      if (typeof e.alpha !== "number" || typeof e.beta !== "number" || typeof e.gamma !== "number") {
+        this.notifyError(new MissingSensorError().from("deviceorientation"));
+        return;
+      }
+      const quaternion = maths.Rotations.eulerToQuaternionZXYDegrees([e.alpha, e.beta, e.gamma]);
+      const attitude = new RelativeAttitude(
+        quaternion,
+        e.timeStamp / 1e3,
+        _RelativeAttitudeFromBrowser.DEFAULT_DRIFT
+      );
+      this.notify(attitude);
+    });
+  }
+  availability() {
+    return utils.BrowserUtils.isMobile ? Promise.resolve() : Promise.resolve(new AskImuOnDesktopError());
+  }
+  start() {
+    const subscribe = () => window.addEventListener("deviceorientation", this.onDeviceOrientationEvent, true);
+    const requestPermission = DeviceOrientationEvent.requestPermission || void 0;
+    if (requestPermission) {
+      requestPermission().then((response) => {
+        if (response !== "granted") {
+          throw new Error("Permission not granted");
+        }
+        subscribe();
+      }).catch((error) => this.notifyError(error));
+    } else {
+      subscribe();
+    }
+  }
+  stop() {
+    window.removeEventListener("deviceorientation", this.onDeviceOrientationEvent, true);
+  }
+};
+/**
+ * default relative attitude drift in rad.second-1
+ */
+__publicField(_RelativeAttitudeFromBrowser, "DEFAULT_DRIFT", maths.deg2rad(5) / 60);
+let RelativeAttitudeFromBrowser = _RelativeAttitudeFromBrowser;
+const RelativeAttitudeFromBrowser$1 = new RelativeAttitudeFromBrowser();
+const _HighRotationsProvider = class _HighRotationsProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    // in seconds
+    __publicField(this, "gyroscopeProviderId");
+    __publicField(this, "getName", () => "HighRotationsProvider");
+    __publicField(this, "availability", () => GyroscopeProvider$1.getAvailability());
+    __publicField(this, "_parseGyroscopeEvent", (gyroscopeEvent) => {
+      const { values, timestamp } = gyroscopeEvent;
+      const speed = maths.Vector3.norm(values);
+      if (speed > _HighRotationsProvider.THRESHOLD) {
+        this.notify({ timestamp });
+      }
+    });
+  }
+  start() {
+    this.gyroscopeProviderId = GyroscopeProvider$1.addEventListener(
+      this._parseGyroscopeEvent,
+      this.notifyError
+    );
+  }
+  stop() {
+    GyroscopeProvider$1.removeEventListener(this.gyroscopeProviderId);
+  }
+  isInProgress() {
+    if (!this.lastEvent || !GyroscopeProvider$1.lastEvent) {
+      return false;
+    }
+    const diffTime = GyroscopeProvider$1.lastEvent.timestamp - this.lastEvent.timestamp;
+    return diffTime < _HighRotationsProvider.DELAY_CONSIDERATION;
+  }
+};
+__publicField(_HighRotationsProvider, "THRESHOLD", 10);
+// in radians by second
+__publicField(_HighRotationsProvider, "DELAY_CONSIDERATION", 3);
+let HighRotationsProvider = _HighRotationsProvider;
+const HighRotationsProvider$1 = new HighRotationsProvider();
+const _RelativeAttitudeFromInertial = class _RelativeAttitudeFromInertial extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "_highRotationsProviderId");
+    __publicField(this, "listenerId");
+    __publicField(this, "provider");
+    __publicField(this, "getName", () => "RelativeAttitudeFromInertial");
+  }
+  availability() {
+    return AvailabilityHelper.some([
+      RelativeAttitudeFromEkfProvider.getAvailability(),
+      RelativeAttitudeFromBrowser$1.getAvailability()
+    ]);
+  }
+  start() {
+    RelativeAttitudeFromEkfProvider.getAvailability().then((availabilityError) => {
+      this.provider = !availabilityError ? RelativeAttitudeFromEkfProvider : RelativeAttitudeFromBrowser$1;
+      this.listenerId = this.provider.addEventListener(
+        (event) => this._parseEvent(event),
+        this.notifyError
+      );
+      this._highRotationsProviderId = HighRotationsProvider$1.addEventListener(
+        null,
+        this.notifyError
+      );
+    });
+  }
+  _parseEvent(event) {
+    const relativeAttitude = event.clone();
+    if (HighRotationsProvider$1.isInProgress()) {
+      let accuracy = (relativeAttitude.accuracy || 0) + _RelativeAttitudeFromInertial.DEFAULT_DRIFT * 100;
+      accuracy = Math.min(accuracy, Math.PI);
+      relativeAttitude.accuracy = accuracy;
+    }
+    this.notify(relativeAttitude);
+  }
+  stop() {
+    if (this.provider) {
+      this.provider.removeEventListener(this.listenerId);
+      delete this.provider;
+    }
+    HighRotationsProvider$1.removeEventListener(this._highRotationsProviderId);
+  }
+};
+/**
+ * default relative attitude drift in rad.second-1
+ */
+__publicField(_RelativeAttitudeFromInertial, "DEFAULT_DRIFT", maths.deg2rad(5) / 60);
+let RelativeAttitudeFromInertial = _RelativeAttitudeFromInertial;
+const RelativeAttitudeFromInertialProvider = new RelativeAttitudeFromInertial();
+const _StepDetectionLadetto = class _StepDetectionLadetto {
+  constructor() {
+    // in m.s-2
+    __publicField(this, "frequency", 0);
+    __publicField(this, "lastVerticalAcc", 0);
+    __publicField(this, "maxAcceleration", 0);
+    __publicField(this, "lastStepTimestamp", -_StepDetectionLadetto.MIN_TIME_BETWEEN_STEPS);
+  }
+  compute(timestamp, linearAcc) {
+    let stepDetected = false;
+    const verticalAcc = linearAcc[2];
+    const timeInterval = timestamp - this.lastStepTimestamp;
+    const upfront = verticalAcc > this.lastVerticalAcc;
+    if (upfront) {
+      if (verticalAcc > this.maxAcceleration) {
+        this.maxAcceleration = verticalAcc;
+      }
+    } else if (this.maxAcceleration > _StepDetectionLadetto.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD && timeInterval > _StepDetectionLadetto.MIN_TIME_BETWEEN_STEPS) {
+      this.maxAcceleration = 0;
+      const diffTime = timestamp - this.lastStepTimestamp;
+      this.frequency = Math.min(Math.max(1 / diffTime, _StepDetectionLadetto.MIN_FRENQUENCY), _StepDetectionLadetto.MAX_FRENQUENCY);
+      stepDetected = true;
+      this.lastStepTimestamp = timestamp;
+    } else {
+      this.maxAcceleration = 0;
+    }
+    this.lastVerticalAcc = verticalAcc;
+    return stepDetected;
+  }
+  get lastStepSize() {
+    if (!this.frequency) {
+      return 0;
+    }
+    const kParamA = 0.45;
+    const kParamB = 0.2;
+    return kParamA + kParamB * this.frequency;
+  }
+  get speed() {
+    return this.lastStepTimestamp ? this.lastStepSize * this.frequency : 0;
+  }
+};
+__publicField(_StepDetectionLadetto, "MIN_TIME_BETWEEN_STEPS", 0.4);
+// in seconds
+__publicField(_StepDetectionLadetto, "MAX_FRENQUENCY", 4);
+// in Hz
+__publicField(_StepDetectionLadetto, "MIN_FRENQUENCY", 1);
+// in Hz
+__publicField(_StepDetectionLadetto, "VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD", 1);
+let StepDetectionLadetto = _StepDetectionLadetto;
+const _StepDetectionMinMaxPeaks = class _StepDetectionMinMaxPeaks {
+  constructor() {
+    // in m.s-2
+    __publicField(this, "frequency", 0);
+    __publicField(this, "lastStepTimestamp", -_StepDetectionMinMaxPeaks.MIN_TIME_BETWEEN_STEPS);
+    __publicField(this, "slidingWindow", []);
+  }
+  compute(timestamp, linearAcc) {
+    if (this.lastStepTimestamp && this.lastStepTimestamp + _StepDetectionMinMaxPeaks.MIN_TIME_BETWEEN_STEPS > timestamp) {
+      return false;
+    }
+    let maxValue = Number.MIN_SAFE_INTEGER;
+    let minValue = Number.MAX_SAFE_INTEGER;
+    const windowTime = _StepDetectionMinMaxPeaks.WINDOW_TIME;
+    this.slidingWindow.forEach((item, index, object) => {
+      if (item.timestamp < timestamp - windowTime) {
+        object.splice(index, 1);
+      } else {
+        maxValue = Math.max(item.verticalAcc, maxValue);
+        minValue = Math.min(item.verticalAcc, minValue);
+      }
+    });
+    this.slidingWindow.push({
+      timestamp,
+      verticalAcc: linearAcc[2]
+    });
+    if (maxValue > _StepDetectionMinMaxPeaks.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD && minValue < _StepDetectionMinMaxPeaks.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {
+      const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;
+      this.frequency = Math.min(Math.max(1 / timeInterval, _StepDetectionMinMaxPeaks.MIN_FRENQUENCY), _StepDetectionMinMaxPeaks.MAX_FRENQUENCY);
+      this.lastStepTimestamp = timestamp;
+      return true;
+    }
+    return false;
+  }
+  get lastStepSize() {
+    if (!this.frequency) {
+      return 0;
+    }
+    const kParamA = 0.45;
+    const kParamB = 0.2;
+    return kParamA + kParamB * this.frequency;
+  }
+  get speed() {
+    return this.lastStepTimestamp ? this.lastStepSize * this.frequency : 0;
+  }
+};
+__publicField(_StepDetectionMinMaxPeaks, "WINDOW_TIME", 0.3);
+// in seconds
+__publicField(_StepDetectionMinMaxPeaks, "MIN_TIME_BETWEEN_STEPS", 0.4);
+// in seconds
+__publicField(_StepDetectionMinMaxPeaks, "MAX_FRENQUENCY", 4);
+// in Hz
+__publicField(_StepDetectionMinMaxPeaks, "MIN_FRENQUENCY", 1);
+// in Hz
+__publicField(_StepDetectionMinMaxPeaks, "VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD", 1.5);
+// in m.s-2
+__publicField(_StepDetectionMinMaxPeaks, "VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD", -1);
+let StepDetectionMinMaxPeaks = _StepDetectionMinMaxPeaks;
+const _StepDetectionMinMaxPeaks2 = class _StepDetectionMinMaxPeaks2 {
+  constructor() {
+    // in m.s-2
+    __publicField(this, "frequency", 0);
+    __publicField(this, "influence", 0.2);
+    __publicField(this, "slidingWindow", []);
+    __publicField(this, "lastStepTimestamp", -_StepDetectionMinMaxPeaks2.MIN_TIME_BETWEEN_STEPS);
+    __publicField(this, "previousVerticalAcc", 0);
+  }
+  compute(timestamp, linearAcc, angularRate) {
+    const verticalAcc = this.influence * (linearAcc[2] * 2) + (1 - this.influence) * this.previousVerticalAcc;
+    this.previousVerticalAcc = verticalAcc;
+    if (Math.sqrt(angularRate[0] ** 2 + angularRate[1] ** 2 + angularRate[2] ** 2) > 0.75) {
+      return false;
+    }
+    if (this.lastStepTimestamp && this.lastStepTimestamp + _StepDetectionMinMaxPeaks2.MIN_TIME_BETWEEN_STEPS > timestamp) {
+      return false;
+    }
+    let maxValue = Number.MIN_SAFE_INTEGER;
+    let minValue = Number.MAX_SAFE_INTEGER;
+    this.slidingWindow.forEach((item, index, object) => {
+      if (item.timestamp < timestamp - _StepDetectionMinMaxPeaks2.WINDOW_TIME) {
+        object.splice(index, 1);
+      } else {
+        maxValue = Math.max(item.verticalAcc, maxValue);
+        minValue = Math.min(item.verticalAcc, minValue);
+      }
+    });
+    this.slidingWindow.push({
+      timestamp,
+      verticalAcc
+    });
+    if (maxValue > _StepDetectionMinMaxPeaks2.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD && minValue < _StepDetectionMinMaxPeaks2.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {
+      const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;
+      this.frequency = Math.min(Math.max(1 / timeInterval, _StepDetectionMinMaxPeaks2.MIN_FRENQUENCY), _StepDetectionMinMaxPeaks2.MAX_FRENQUENCY);
+      this.lastStepTimestamp = timestamp;
+      return true;
+    }
+    return false;
+  }
+  get lastStepSize() {
+    if (!this.frequency) {
+      return 0;
+    }
+    const kParamA = 0.45;
+    const kParamB = 0.2;
+    return kParamA + kParamB * this.frequency;
+  }
+  get speed() {
+    return this.lastStepSize && this.frequency ? this.lastStepSize * this.frequency : 0;
+  }
+  mean(data) {
+    let sum = 0, mean = 0;
+    for (let i = 0; i < data.length; ++i) {
+      sum += data[i].verticalAcc;
+    }
+    mean = sum / data.length;
+    return mean;
+  }
+  stddev(data) {
+    const theMean = this.mean(data);
+    let standardDeviation = 0;
+    for (let i = 0; i < data.length; ++i) {
+      standardDeviation += (data[i].verticalAcc - theMean) ** 2;
+    }
+    return Math.sqrt(standardDeviation / data.length);
+  }
+};
+__publicField(_StepDetectionMinMaxPeaks2, "WINDOW_TIME", 0.3);
+// in seconds
+__publicField(_StepDetectionMinMaxPeaks2, "MIN_TIME_BETWEEN_STEPS", 0.4);
+// in seconds
+__publicField(_StepDetectionMinMaxPeaks2, "MAX_FRENQUENCY", 4);
+// in Hz
+__publicField(_StepDetectionMinMaxPeaks2, "MIN_FRENQUENCY", 1);
+// in Hz
+__publicField(_StepDetectionMinMaxPeaks2, "VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD", 0.75);
+// in m.s-2
+__publicField(_StepDetectionMinMaxPeaks2, "VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD", -0.3);
+let StepDetectionMinMaxPeaks2 = _StepDetectionMinMaxPeaks2;
+const _StepDetectionMinMaxPeaks3 = class _StepDetectionMinMaxPeaks3 {
+  constructor() {
+    // in m.s-2
+    __publicField(this, "frequency", 0);
+    __publicField(this, "influence", 0.05);
+    __publicField(this, "slidingWindow", []);
+    __publicField(this, "lastStepTimestamp", -_StepDetectionMinMaxPeaks3.MIN_TIME_BETWEEN_STEPS);
+    __publicField(this, "previousVerticalAcc", 0);
+    __publicField(this, "previousHorizontalAcc", 0);
+  }
+  compute(timestamp, linearAcc) {
+    const verticalAcc = this.influence * linearAcc[2] + (1 - this.influence) * this.previousVerticalAcc;
+    this.previousVerticalAcc = verticalAcc;
+    this.slidingWindow = this.slidingWindow.filter(
+      (item) => item.timestamp >= timestamp - _StepDetectionMinMaxPeaks3.WINDOW_TIME
+    );
+    this.slidingWindow.push({ timestamp, verticalAcc });
+    const isTooEarlyForANewStep = this.lastStepTimestamp && this.lastStepTimestamp + _StepDetectionMinMaxPeaks3.MIN_TIME_BETWEEN_STEPS > timestamp;
+    if (isTooEarlyForANewStep) {
+      return false;
+    }
+    let maxValue = Number.MIN_VALUE;
+    let maxValueIdx = -1;
+    let foundMaxPeakHigherThanThreshold = false;
+    this.slidingWindow.forEach((item, idx) => {
+      if (item.verticalAcc > maxValue && item.verticalAcc >= _StepDetectionMinMaxPeaks3.VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD) {
+        maxValue = item.verticalAcc;
+        maxValueIdx = idx;
+        foundMaxPeakHigherThanThreshold = true;
+      }
+    });
+    if (!foundMaxPeakHigherThanThreshold) {
+      return false;
+    }
+    let hasLowNegativeValueBeforeMaxPeak = false;
+    let minValueBeforeMaxPeak = Number.MAX_VALUE;
+    for (let i = 0; i < maxValueIdx; i++) {
+      const curValue = this.slidingWindow[i].verticalAcc;
+      minValueBeforeMaxPeak = Math.min(minValueBeforeMaxPeak, curValue);
+      if (curValue < _StepDetectionMinMaxPeaks3.VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD) {
+        hasLowNegativeValueBeforeMaxPeak = true;
+        break;
+      }
+    }
+    if (!hasLowNegativeValueBeforeMaxPeak) {
+      return false;
+    }
+    const diffMinMax = maxValue - minValueBeforeMaxPeak;
+    const targetValue = maxValue - 0.5 * diffMinMax;
+    let targetValueFoundAfterMaxPeak = false;
+    for (let i = maxValueIdx + 1; i < this.slidingWindow.length; i++) {
+      if (this.slidingWindow[i].verticalAcc <= targetValue) {
+        targetValueFoundAfterMaxPeak = true;
+        break;
+      }
+    }
+    if (!targetValueFoundAfterMaxPeak) {
+      return false;
+    }
+    const timeInterval = this.lastStepTimestamp ? timestamp - this.lastStepTimestamp : 1;
+    this.frequency = Math.min(Math.max(1 / timeInterval, _StepDetectionMinMaxPeaks3.MIN_FRENQUENCY), _StepDetectionMinMaxPeaks3.MAX_FRENQUENCY);
+    this.lastStepTimestamp = timestamp;
+    return true;
+  }
+  get lastStepSize() {
+    if (!this.frequency) {
+      return 0;
+    }
+    const kParamA = 0.45;
+    const kParamB = 0.2;
+    return kParamA + kParamB * this.frequency;
+  }
+  get speed() {
+    return this.lastStepSize && this.frequency ? this.lastStepSize * this.frequency : 0;
+  }
+  mean(data) {
+    let sum = 0, mean = 0;
+    for (let i = 0; i < data.length; ++i) {
+      sum += data[i];
+    }
+    mean = sum / data.length;
+    return mean;
+  }
+  stddev(data) {
+    const theMean = this.mean(data);
+    let standardDeviation = 0;
+    for (let i = 0; i < data.length; ++i) {
+      standardDeviation += (data[i] - theMean) ** 2;
+    }
+    return Math.sqrt(standardDeviation / data.length);
+  }
+};
+__publicField(_StepDetectionMinMaxPeaks3, "WINDOW_TIME", 0.6);
+// in seconds
+__publicField(_StepDetectionMinMaxPeaks3, "MIN_TIME_BETWEEN_STEPS", 0.6);
+// in seconds
+__publicField(_StepDetectionMinMaxPeaks3, "MAX_FRENQUENCY", 4);
+// in Hz
+__publicField(_StepDetectionMinMaxPeaks3, "MIN_FRENQUENCY", 1);
+// in Hz
+__publicField(_StepDetectionMinMaxPeaks3, "VERTICAL_ACC_POSITIVE_PEAK_THRESHOLD", 0.2);
+// in m.s-2
+__publicField(_StepDetectionMinMaxPeaks3, "VERTICAL_ACC_NEGATIVE_PEAK_THRESHOLD", -0.1);
+let StepDetectionMinMaxPeaks3 = _StepDetectionMinMaxPeaks3;
+const _StepProvider = class _StepProvider extends Provider {
+  constructor() {
+    super();
+    __publicField(this, "accelerometerProviderId");
+    __publicField(this, "attitudeProviderId");
+    __publicField(this, "gyroscopeProviderId");
+    __publicField(this, "angularRateEvent");
+    __publicField(this, "attitudeEvent");
+    __publicField(this, "numOfSteps", 0);
+    __publicField(this, "stepDetector");
+    __publicField(this, "_stepSizeMultiplier", _StepProvider.DEFAULT_STEP_SIZE_MULTIPLIER);
+    __publicField(this, "_algorithm", _StepProvider.DEFAULT_ALGORITHM);
+    __publicField(this, "_accValues", []);
+    __publicField(this, "getName", () => "StepDetector");
+    __publicField(this, "onAccelerometerEvent", (accelerationEvent) => {
+      if (!this.attitudeEvent || !this.angularRateEvent) {
+        return;
+      }
+      const {
+        values: acceleration,
+        timestamp
+      } = accelerationEvent;
+      const linearAcc = _StepProvider.computeLinearAcceleration(
+        this.attitudeEvent.quaternion,
+        acceleration
+      );
+      const stepDetected = this.stepDetector.compute(timestamp, linearAcc, this.angularRateEvent.values);
+      if (stepDetected) {
+        const size = this.stepDetector.lastStepSize * this._stepSizeMultiplier;
+        this.numOfSteps++;
+        this.notify({ size, number: this.numOfSteps });
+      }
+    });
+    this.algorithm = this._algorithm;
+  }
+  availability() {
+    return AvailabilityHelper.every([
+      AccelerometerProvider$1.getAvailability(),
+      GyroscopeProvider$1.getAvailability(),
+      RelativeAttitudeFromInertialProvider.getAvailability()
+    ]);
+  }
+  start() {
+    this.numOfSteps = 0;
+    this.accelerometerProviderId = AccelerometerProvider$1.addEventListener(
+      this.onAccelerometerEvent,
+      this.notifyError
+    );
+    this.gyroscopeProviderId = GyroscopeProvider$1.addEventListener(
+      (event) => this.angularRateEvent = event,
+      this.notifyError
+    );
+    this.attitudeProviderId = RelativeAttitudeFromInertialProvider.addEventListener(
+      (event) => this.attitudeEvent = event,
+      this.notifyError
+    );
+  }
+  stop() {
+    AccelerometerProvider$1.removeEventListener(this.accelerometerProviderId);
+    GyroscopeProvider$1.removeEventListener(this.gyroscopeProviderId);
+    RelativeAttitudeFromInertialProvider.removeEventListener(this.attitudeProviderId);
+  }
+  // Linear acceleration in ENU
+  static computeLinearAcceleration(quaternion, acc) {
+    const linearAcc = maths.Quaternion.rotateMatlab(maths.Quaternion.inverse(quaternion), acc);
+    linearAcc[2] -= geo.Constants.EARTH_GRAVITY;
+    return linearAcc;
+  }
+  set stepSizeMultiplier(stepSizeMultiplier) {
+    this._stepSizeMultiplier = stepSizeMultiplier;
+  }
+  get stepSizeMultiplier() {
+    return this._stepSizeMultiplier;
+  }
+  set algorithm(algorithm) {
+    switch (algorithm) {
+      case "ladetto":
+        this.stepDetector = new StepDetectionLadetto();
+        break;
+      case "minMaxPeaks":
+        this.stepDetector = new StepDetectionMinMaxPeaks();
+        break;
+      case "minMaxPeaks2":
+        this.stepDetector = new StepDetectionMinMaxPeaks2();
+        break;
+      case "minMaxPeaks3":
+      default:
+        algorithm = "minMaxPeaks3";
+        this.stepDetector = new StepDetectionMinMaxPeaks3();
+        break;
+    }
+    this._algorithm = algorithm;
+  }
+  get algorithm() {
+    return this._algorithm;
+  }
+};
+__publicField(_StepProvider, "DEFAULT_STEP_SIZE_MULTIPLIER", 1);
+__publicField(_StepProvider, "DEFAULT_ALGORITHM", "minMaxPeaks3");
+let StepProvider = _StepProvider;
+const StepProvider$1 = new StepProvider();
+class PdrProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "absoluteAttitudeProviderId");
+    __publicField(this, "stepDetectionProviderId");
+    __publicField(this, "attitudeEvent");
+    // https://ieeexplore.ieee.org/document/7346766
+    // private misalignment = [1, 0, 0, 0];
+    __publicField(this, "misalignmentError", maths.deg2rad(3));
+    __publicField(this, "getName", () => "Pdr");
+    __publicField(this, "onStepEvent", (stepEvent) => {
+      if (!this.attitudeEvent) {
+        return;
+      }
+      const stepSize = stepEvent.size;
+      const deviceAttitude = this.attitudeEvent;
+      const deviceDirection = deviceAttitude.heading;
+      const deviceDirectionAccuracy = deviceAttitude.accuracy + this.misalignmentError;
+      const accuracy = stepSize / 2 * Math.sin(deviceDirectionAccuracy / 2);
+      const timestamp = deviceAttitude.time;
+      const position = new geo.GeoRelativePosition(
+        stepSize * Math.sin(deviceDirection),
+        stepSize * Math.cos(deviceDirection),
+        0,
+        timestamp,
+        accuracy,
+        deviceDirection
+      );
+      this.notify(position);
+    });
+  }
+  availability() {
+    return AvailabilityHelper.every([
+      StepProvider$1.getAvailability(),
+      AbsoluteAttitudeProvider$1.getAvailability()
+    ]);
+  }
+  start() {
+    this.stepDetectionProviderId = StepProvider$1.addEventListener(
+      this.onStepEvent,
+      this.notifyError
+    );
+    this.absoluteAttitudeProviderId = AbsoluteAttitudeProvider$1.addEventListener(
+      (event) => this.attitudeEvent = event,
+      this.notifyError
+    );
+  }
+  stop() {
+    StepProvider$1.removeEventListener(this.stepDetectionProviderId);
+    AbsoluteAttitudeProvider$1.removeEventListener(this.absoluteAttitudeProviderId);
+  }
+}
+const PdrProvider$1 = new PdrProvider();
+class GeoRelativePositionProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "providerId");
+    __publicField(this, "geoRelativeProvider");
+    __publicField(this, "getName", () => "GeoRelativePosition");
+  }
+  availability() {
+    return AvailabilityHelper.some([
+      PdrProvider$1.getAvailability(),
+      GeoRelativePositionFromArCoreProvider$1.getAvailability()
+    ]);
+  }
+  async start() {
+    const availabilityError = await GeoRelativePositionFromArCoreProvider$1.getAvailability();
+    this.geoRelativeProvider = availabilityError ? PdrProvider$1 : GeoRelativePositionFromArCoreProvider$1;
+    this.providerId = this.geoRelativeProvider.addEventListener(this.notify, this.notifyError);
+  }
+  stop() {
+    var _a;
+    (_a = this.geoRelativeProvider) == null ? void 0 : _a.removeEventListener(this.providerId);
+    delete this.geoRelativeProvider;
+  }
+}
+const GeoRelativePositionProvider$1 = new GeoRelativePositionProvider();
+class InclinationFromAccProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "providerId");
+    __publicField(this, "getName", () => "InclinationFromAcc");
+    __publicField(this, "availability", () => AccelerometerProvider$1.getAvailability());
+    __publicField(this, "onAccelerometerEvent", (accelerometerEvent) => {
+      const acc = accelerometerEvent.values;
+      const screenOrientation = window.orientation || 0;
+      const sizeAcc = Math.sqrt(acc[0] * acc[0] + acc[1] * acc[1] + acc[2] * acc[2]);
+      const accNormalized = [acc[0] / sizeAcc, acc[1] / sizeAcc, acc[2] / sizeAcc];
+      const q = [accNormalized[2] + 1, accNormalized[1], -accNormalized[0], 0];
+      const qSize = Math.sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2]);
+      const qNormalized = [q[0] / qSize, q[1] / qSize, q[2] / qSize, 0];
+      let inclination;
+      if (screenOrientation === 0) {
+        inclination = Math.asin(2 * qNormalized[1] * qNormalized[0]);
+      } else if (screenOrientation === 90) {
+        inclination = -Math.asin(2 * qNormalized[2] * qNormalized[0]);
+      } else if (screenOrientation === -90) {
+        inclination = Math.asin(2 * qNormalized[2] * qNormalized[0]);
+      } else {
+        inclination = -Math.asin(2 * qNormalized[1] * qNormalized[0]);
+      }
+      this.notify(inclination);
+    });
+  }
+  start() {
+    this.providerId = AccelerometerProvider$1.addEventListener(
+      this.onAccelerometerEvent,
+      this.notifyError
+    );
+  }
+  stop() {
+    AccelerometerProvider$1.removeEventListener(this.providerId);
+  }
+}
+const InclinationFromAccProvider$1 = new InclinationFromAccProvider();
+class InclinationFromRelativeAttitudeProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "providerId");
+    __publicField(this, "getName", () => "InclinationFromRelativeAttitude");
+    __publicField(this, "availability", () => RelativeAttitudeFromInertialProvider.getAvailability());
+  }
+  start() {
+    this.providerId = RelativeAttitudeFromInertialProvider.addEventListener(
+      (attitudeEvent) => {
+        const inclination = this.enuQuatToInclination(attitudeEvent.quaternion);
+        this.notify(inclination);
+      },
+      this.notifyError
+    );
+  }
+  stop() {
+    RelativeAttitudeFromInertialProvider.removeEventListener(this.providerId);
+  }
+  enuQuatToInclination(q) {
+    const screenOrientation = window.orientation || 0;
+    if (screenOrientation === 0) {
+      return Math.asin(2 * (q[2] * q[3] + q[1] * q[0]));
+    } else if (screenOrientation === 90) {
+      return Math.asin(2 * (q[1] * q[3] - q[2] * q[0]));
+    } else if (screenOrientation === -90) {
+      return Math.asin(2 * (q[2] * q[0] - q[1] * q[3]));
+    }
+    return -Math.asin(2 * (q[2] * q[3] + q[1] * q[0]));
+  }
+}
+const InclinationFromRelativeAttitudeProvider$1 = new InclinationFromRelativeAttitudeProvider();
+class InclinationProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "provider");
+    __publicField(this, "providerId");
+    __publicField(this, "getName", () => "Inclination");
+  }
+  availability() {
+    return AvailabilityHelper.some([
+      InclinationFromAccProvider$1.getAvailability(),
+      InclinationFromRelativeAttitudeProvider$1.getAvailability()
+    ]);
+  }
+  async start() {
+    const startInclinationFromAcc = () => {
+      this.provider = InclinationFromAccProvider$1;
+      this.providerId = this.provider.addEventListener(
+        this.notify,
+        this.notifyError
+      );
+    };
+    if (await InclinationFromRelativeAttitudeProvider$1.getAvailability()) {
+      this.provider = InclinationFromRelativeAttitudeProvider$1;
+      this.providerId = this.provider.addEventListener(
+        this.notify,
+        () => {
+          InclinationFromRelativeAttitudeProvider$1.removeEventListener(this.providerId);
+          startInclinationFromAcc();
+        }
+      );
+    } else {
+      startInclinationFromAcc();
+    }
+  }
+  stop() {
+    if (this.provider) {
+      this.provider.removeEventListener(this.providerId);
+    }
+  }
+}
+const InclinationProvider$1 = new InclinationProvider();
+class VpsMetadata {
+  constructor(size, calibration = null, coarse = null, device = null) {
+    this.size = size;
+    this.calibration = calibration;
+    this.coarse = coarse;
+    this.device = device;
+  }
+  toJson() {
+    return {
+      size: [this.size.width, this.size.height],
+      ...this.calibration && { calibration: this.calibration },
+      ...this.coarse && {
+        coarse: {
+          ...this.coarse.attitude && { attitude: this.coarse.attitude.toJson() },
+          ...this.coarse.position && { position: this.coarse.position.toJson() }
+        }
+      },
+      ...typeof this.device === "object" && { device: this.device }
+    };
+  }
+  static fromJson(json) {
+    var _a, _b;
+    return new VpsMetadata(
+      {
+        width: json.size[0],
+        height: json.size[1]
+      },
+      json.calibration,
+      {
+        ...((_a = json.coarse) == null ? void 0 : _a.position) && { position: geo.UserPosition.fromJson(json.coarse.position) },
+        ...((_b = json.coarse) == null ? void 0 : _b.attitude) && { attitude: geo.Attitude.fromJson(json.coarse.attitude) }
+      },
+      json.device
+    );
+  }
+}
+class VpsRequest {
+  constructor(metadata, image) {
+    this.metadata = metadata;
+    this.image = image;
+  }
+  toJson() {
+    const base64Image = camera.canvasToBase64(this.image);
+    return {
+      image: base64Image,
+      ...this.metadata.toJson()
+    };
+  }
+  static fromJson(json) {
+    return new VpsRequest(
+      VpsMetadata.fromJson(json),
+      camera.base64ToCanvas(json.image)
+    );
+  }
+}
+class VpsResponse {
+  constructor(success, attitude = null, position = null) {
+    this.success = success;
+    this.attitude = attitude;
+    this.position = position;
+  }
+  toJson() {
+    var _a, _b;
+    return {
+      success: this.success,
+      attitude: (_a = this.attitude) == null ? void 0 : _a.toJson(),
+      position: (_b = this.position) == null ? void 0 : _b.toJson()
+    };
+  }
+  static fromJson(json, imageRecordTime = null) {
+    let attitude = null;
+    if (json.attitude) {
+      attitude = geo.Attitude.fromJson(json.attitude);
+      attitude.time = imageRecordTime;
+    }
+    let position = null;
+    if (json.position) {
+      position = geo.UserPosition.fromJson(json.position);
+      position.time = imageRecordTime;
+    }
+    return new VpsResponse(json.success, attitude, position);
+  }
+}
+class ImageRelocalization {
+  static _prepareRequest(imageCanvas, calibration = null, coarsePose = null) {
+    camera.convertToGrayscale(imageCanvas);
+    const reducedImage = camera.reduceImageSize(imageCanvas, 1280);
+    const metadata = new VpsMetadata(
+      { width: reducedImage.width, height: reducedImage.height },
+      calibration,
+      coarsePose,
+      utils.UserAgentUtils.getDeviceFromUserAgent()
+    );
+    return new VpsRequest(metadata, reducedImage);
+  }
+  static async relocalize(endpointUrl, imageCanvas, calibration = null, coarsePose = null, customHeaders = null) {
+    const timeBeforeRequest = utils.TimeUtils.preciseTime() / 1e3;
+    const vpsRequest = this._prepareRequest(imageCanvas, calibration, coarsePose);
+    let serverResponse;
+    try {
+      const body = JSON.stringify(vpsRequest.toJson());
+      Logger.debug(`[VPS] Request (${(body.length / 1024).toFixed(0)} kB) sent to server ${endpointUrl}`);
+      serverResponse = await fetch(endpointUrl, {
+        method: "POST",
+        body,
+        headers: Object.assign(
+          {
+            "Content-Type": "application/json",
+            "Accept": "application/vnd.geopose+json; version=1"
+          },
+          customHeaders ? customHeaders : {}
+        )
+      });
+    } catch (e) {
+      Logger.debug("[VPS] Server respond error");
+      return null;
+    }
+    if (serverResponse.status !== 200) {
+      Logger.debug("[VPS] Server respond error");
+      return null;
+    }
+    const json = await serverResponse.json();
+    const res = VpsResponse.fromJson(json, timeBeforeRequest);
+    Logger.debug(`[VPS] Server respond ${res.success ? "success" : "not found"}`);
+    return res;
+  }
+  static getHeadingFromQuaternion(quaternion) {
+    const [qw, qx, qy, qz] = quaternion;
+    const s = Math.sqrt(2) / 2;
+    const C = [s * (qw - qx), s * (qw + qx), s * (qy + qz), s * (qz - qy)];
+    return -Math.atan2(2 * C[3] * C[0] - 2 * C[2] * C[1], 1 - 2 * C[1] ** 2 - 2 * C[3] ** 2);
+  }
+}
+class RelativeRotationCalc {
+  constructor() {
+    __publicField(this, "_providerId");
+    __publicField(this, "_isRunning", false);
+    __publicField(this, "_dataOnStart", null);
+  }
+  tickStart() {
+    this._dataOnStart = null;
+    if (this._isRunning) {
+      return;
+    }
+    this._isRunning = true;
+    this._providerId = RelativeAttitudeFromBrowser$1.addEventListener((event) => {
+      if (!this._dataOnStart) {
+        this._dataOnStart = event;
+      }
+    });
+  }
+  tickEnd() {
+    if (!this._isRunning) {
+      Logger.warn("You have to call tickStart before tickEnd");
+      return null;
+    }
+    this._internalStop();
+    if (!this._dataOnStart) {
+      Logger.warn("Delay was too short between tickStart and tickEnd or RelativeAttitudeProvider cannot be retrieved.");
+      return null;
+    }
+    const dataOnEnd = RelativeAttitudeFromBrowser$1.lastEvent;
+    return geo.Attitude.diff(this._dataOnStart, dataOnEnd);
+  }
+  _internalStop() {
+    RelativeAttitudeFromBrowser$1.removeEventListener(this._providerId);
+    delete this._providerId;
+    this._isRunning = false;
+  }
+  release() {
+    if (this._isRunning) {
+      this._internalStop();
+    }
+  }
+}
+const _MissingPoleStarError = class _MissingPoleStarError extends Error {
+  constructor(message) {
+    super(message || _MissingPoleStarError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_MissingPoleStarError, "DEFAULT_MESSAGE", "PoleStar is missing");
+let MissingPoleStarError = _MissingPoleStarError;
+class PoleStarProvider extends Provider {
+  constructor() {
+    super();
+    __publicField(this, "getName", () => "PoleStar");
+    this.addMethodsToNativeJsProvider();
+  }
+  availability() {
+    try {
+      this.nativeProvider.checkAvailability();
+      return Promise.resolve();
+    } catch (e) {
+      return Promise.resolve(e);
+    }
+  }
+  setApiKey(apiKey) {
+    this.nativeProvider.setApiKey(apiKey);
+  }
+  start() {
+    this.nativeProvider.start();
+  }
+  stop() {
+    this.nativeProvider.stop();
+  }
+  get nativeProvider() {
+    if (!this.nativeInterface) {
+      throw new MissingNativeInterfaceError();
+    }
+    const nativeProvider = this.nativeInterface.getPoleStarProvider();
+    if (!nativeProvider) {
+      throw new MissingPoleStarError();
+    }
+    return nativeProvider;
+  }
+  addMethodsToNativeJsProvider() {
+    if (!this.nativeJsInterface) {
+      return;
+    }
+    this.nativeJsInterface.polestar = {
+      callbackError: (errorMessage) => this.notifyError(new Error(errorMessage)),
+      callbackPosition: (jsonString) => {
+        const json = JSON.parse(jsonString);
+        const timestamp = utils.TimeUtils.unixTimestampToPreciseTime(json.time) / 1e3;
+        const position = new AbsolutePosition(
+          json.lat,
+          json.lng,
+          Constants.DEFAULT_ALTITUDE,
+          json.alt / 5,
+          timestamp,
+          json.accuracy,
+          maths.deg2rad(json.bearing)
+        );
+        this.notify(position);
+      }
+    };
+  }
+}
+const PoleStarProvider$1 = new PoleStarProvider();
+const _VpsProvider = class _VpsProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "_relativeRotationCalc");
+    __publicField(this, "_serverError", false);
+    __publicField(this, "_cameraError", false);
+    __publicField(this, "_camera", null);
+    __publicField(this, "_endpoint", null);
+    __publicField(this, "_inclinationProviderId");
+    __publicField(this, "_minInclinationForRequest", _VpsProvider.DEFAULT_MIN_INCLINATION_FOR_REQUEST);
+    __publicField(this, "_waitTimeMinInclinationForRequest", _VpsProvider.DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST);
+    __publicField(this, "_useCoarsePose", _VpsProvider.DEFAULT_USE_COARSE_POSE);
+    __publicField(this, "getName", () => "Vps");
+    __publicField(this, "availability", () => camera.Camera.checkAvailability());
+    __publicField(this, "_onCameraDetected", ({ camera: camera2 }) => {
+      if (this._camera) {
+        Logger.warn("It seems that more than 1 camera has been detected for VPS. Taking the first...");
+      }
+      this._useCamera(camera2);
+    });
+    __publicField(this, "_onCameraRemoved", () => {
+      if (this._camera) {
+        this._camera.off("started", this._internalStart);
+        this._camera.off("stopped", this._internalStop);
+      } else {
+        Logger.warn("There is no previously detected camera but once has stopped");
+      }
+      this._camera = null;
+    });
+    __publicField(this, "_internalStart", async () => {
+      var _a, _b;
+      if (!this._endpoint) {
+        this.notifyError(new Error("VPS endpoint has not been set before calling start()"));
+        return;
+      }
+      let lastRequestTime = null;
+      const isProviderStopped = () => this.state === "stopped";
+      while (!isProviderStopped()) {
+        if (lastRequestTime !== null) {
+          const diffTime = utils.TimeUtils.preciseTime() - lastRequestTime;
+          const timeToWait = Math.max(0, _VpsProvider.MIN_TIME_BETWEEN_TWO_REQUESTS - diffTime);
+          await new Promise((resolve) => setTimeout(resolve, timeToWait));
+        }
+        lastRequestTime = utils.TimeUtils.preciseTime();
+        if (isProviderStopped() || !this._camera || this._camera.state !== "started") {
+          break;
+        }
+        const inclination = InclinationProvider$1.lastEvent ? InclinationProvider$1.lastEvent : null;
+        if (inclination !== null && inclination < this._minInclinationForRequest) {
+          await new Promise((resolve) => setTimeout(resolve, this._waitTimeMinInclinationForRequest));
+          continue;
+        }
+        (_a = this._relativeRotationCalc) == null ? void 0 : _a.tickStart();
+        const image = await this._camera.currentImage;
+        if (!image) {
+          continue;
+        }
+        let coarsePose = null;
+        const bestCoarsePosition = AbsolutePositionProvider$1.getBestPositionEvent(GnssWifiProvider$1.lastEvent, PoleStarProvider$1.lastEvent);
+        if (this._useCoarsePose && (bestCoarsePosition || AbsoluteAttitudeProvider$1.lastEvent)) {
+          coarsePose = {
+            ...bestCoarsePosition && { position: bestCoarsePosition },
+            ...AbsoluteAttitudeProvider$1.lastEvent && { attitude: AbsoluteAttitudeProvider$1.lastEvent }
+          };
+        }
+        const res = await ImageRelocalization.relocalize(this._endpoint, image, null, coarsePose);
+        if (!res || !res.success) {
+          continue;
+        }
+        const enuToCameraRot = res.attitude.quaternion;
+        const enuToSmartphoneRot = maths.Quaternion.multiply(
+          enuToCameraRot,
+          _VpsProvider.CAMERA_TO_SMARTPHONE_ROT
+        );
+        const deviceQuaternion = maths.Quaternion.multiply(
+          maths.Quaternion.fromAxisAngle([0, 0, 1], maths.deg2rad(window.orientation || 0)),
+          enuToSmartphoneRot
+        );
+        const diffAttitude = ((_b = this._relativeRotationCalc) == null ? void 0 : _b.tickEnd()) || new geo.Attitude([1, 0, 0, 0]);
+        const deviceQuaternionWithRelOffset = maths.Quaternion.multiply(
+          deviceQuaternion,
+          diffAttitude.quaternion
+        );
+        const attitude = new AbsoluteAttitude(
+          deviceQuaternionWithRelOffset,
+          res.attitude.time,
+          res.attitude.accuracy
+        );
+        const devicePosition = res.position.clone();
+        if (devicePosition.accuracy === null) {
+          devicePosition.accuracy = 5;
+        }
+        if (isProviderStopped()) {
+          break;
+        }
+        this.notify({
+          absoluteAttitude: attitude,
+          absolutePosition: devicePosition
+        });
+      }
+    });
+    __publicField(this, "_internalStop", () => {
+    });
+  }
+  start() {
+    this._inclinationProviderId = InclinationProvider$1.addEventListener();
+    this._relativeRotationCalc = new RelativeRotationCalc();
+    camera.SharedCameras.on("added", this._onCameraDetected);
+    camera.SharedCameras.on("removed", this._onCameraRemoved);
+    if (camera.SharedCameras.list.length) {
+      if (camera.SharedCameras.list.length > 1) {
+        Logger.warn("It seems that more than 1 camera has been detected for VPS. Taking the first...");
+      }
+      this._useCamera(camera.SharedCameras.list[0].camera);
+    }
+  }
+  stop() {
+    var _a;
+    InclinationProvider$1.removeEventListener(this._inclinationProviderId);
+    (_a = this._relativeRotationCalc) == null ? void 0 : _a.release();
+    camera.SharedCameras.off("added", this._onCameraDetected);
+    camera.SharedCameras.off("removed", this._onCameraRemoved);
+    this._camera = null;
+  }
+  _useCamera(camera2) {
+    this._camera = camera2;
+    camera2.on("started", this._internalStart);
+    camera2.on("stopped", this._internalStop);
+    if (camera2.state === "started") {
+      this._internalStart();
+    }
+  }
+  get endpoint() {
+    return this._endpoint;
+  }
+  set endpoint(endpoint) {
+    this._endpoint = endpoint;
+  }
+  get minInclinationForRequest() {
+    return this._minInclinationForRequest;
+  }
+  set minInclinationForRequest(minInclinationForRequest) {
+    this._minInclinationForRequest = minInclinationForRequest;
+  }
+  get waitTimeMinInclinationForRequest() {
+    return this._waitTimeMinInclinationForRequest;
+  }
+  set waitTimeMinInclinationForRequest(waitTimeMinInclinationForRequest) {
+    this._waitTimeMinInclinationForRequest = waitTimeMinInclinationForRequest;
+  }
+  get useCoarsePose() {
+    return this._useCoarsePose;
+  }
+  set useCoarsePose(useCoarsePose) {
+    this._useCoarsePose = useCoarsePose;
+  }
+};
+__publicField(_VpsProvider, "MIN_TIME_BETWEEN_TWO_REQUESTS", 1e3);
+// in ms
+__publicField(_VpsProvider, "DEFAULT_MIN_INCLINATION_FOR_REQUEST", maths.deg2rad(60));
+// in radians
+__publicField(_VpsProvider, "DEFAULT_WAIT_TIME_MIN_INCLINATION_FOR_REQUEST", 200);
+// in ms
+__publicField(_VpsProvider, "DEFAULT_USE_COARSE_POSE", true);
+__publicField(_VpsProvider, "CAMERA_TO_SMARTPHONE_ROT", maths.Quaternion.fromAxisAngle([1, 0, 0], Math.PI));
+let VpsProvider = _VpsProvider;
+const VpsProvider$1 = new VpsProvider();
+const _AbsolutePositionProvider = class _AbsolutePositionProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "_polestarProviderId");
+    __publicField(this, "_vpsProviderId");
+    __publicField(this, "_gnssWifiProviderId");
+    __publicField(this, "_relativePositionProviderId");
+    __publicField(this, "_mapMatchingHandlerId");
+    __publicField(this, "useAllAbsolutePositions", false);
+    __publicField(this, "_waitUntilNextVpsPosition", false);
+    __publicField(this, "_lastPolestarFix", null);
+    __publicField(this, "getName", () => "AbsolutePosition");
+  }
+  availability() {
+    return AvailabilityHelper.some([
+      GeoRelativePositionProvider$1.getAvailability(),
+      GnssWifiProvider$1.getAvailability(),
+      ...ProvidersOptions.hasPoleStar ? [PoleStarProvider$1.getAvailability()] : [],
+      VpsProvider$1.getAvailability()
+    ]);
+  }
+  start() {
+    GeoRelativePositionProvider$1.getAvailability().then((error) => {
+      if (!error) {
+        this._relativePositionProviderId = GeoRelativePositionProvider$1.addEventListener(
+          (e) => this._onRelativePosition(e)
+        );
+      }
+    });
+    this._gnssWifiProviderId = GnssWifiProvider$1.addEventListener(
+      (event) => {
+        const clone = event.clone();
+        clone.bearing = null;
+        this._onAbsolutePosition(clone, false);
+      }
+    );
+    this._vpsProviderId = VpsProvider$1.addEventListener(
+      (event) => this._onAbsolutePosition(event.absolutePosition),
+      this.notifyError,
+      false
+    );
+    if (ProvidersOptions.hasPoleStar) {
+      this._polestarProviderId = PoleStarProvider$1.addEventListener((polestarPositionEvent) => {
+        var _a;
+        this._lastPolestarFix = utils.TimeUtils.preciseTime();
+        const psPositionUsed = this._onAbsolutePosition(polestarPositionEvent);
+        if (!psPositionUsed && ((_a = this.lastEvent) == null ? void 0 : _a.level) === null) {
+          const lastPositionWithLevel = this.lastEvent.clone();
+          lastPositionWithLevel.level = polestarPositionEvent.level;
+          this.notify(lastPositionWithLevel);
+        }
+      });
+    }
+    this._mapMatchingHandlerId = MapMatchingHandler$1.addEventListener();
+  }
+  /**
+   * @override
+   */
+  stop() {
+    if (this._relativePositionProviderId) {
+      GeoRelativePositionProvider$1.removeEventListener(this._relativePositionProviderId);
+      delete this._relativePositionProviderId;
+    }
+    if (this._gnssWifiProviderId) {
+      GnssWifiProvider$1.removeEventListener(this._gnssWifiProviderId);
+      delete this._gnssWifiProviderId;
+    }
+    if (this._vpsProviderId) {
+      VpsProvider$1.removeEventListener(this._vpsProviderId);
+      delete this._vpsProviderId;
+    }
+    if (this._polestarProviderId) {
+      PoleStarProvider$1.removeEventListener(this._polestarProviderId);
+      delete this._polestarProviderId;
+    }
+    MapMatchingHandler$1.removeEventListener(this._mapMatchingHandlerId);
+  }
+  _shouldTakeIntoAccountNewAbsolutePosition(newPositionEvent, canContainLevel = true) {
+    const newPosition = newPositionEvent;
+    const lastPosition = this.lastEvent || null;
+    if (!lastPosition) {
+      return true;
+    }
+    const isBetterEnough = newPosition.accuracy * _AbsolutePositionProvider.ACCURACY_RELOC_RATIO <= lastPosition.accuracy;
+    if (isBetterEnough) {
+      return true;
+    }
+    const isFarEnough = lastPosition.distanceTo(newPosition) > lastPosition.accuracy + newPosition.accuracy;
+    if (isFarEnough) {
+      return true;
+    }
+    const isFarEnoughAndAccuracyIsBetter = isFarEnough && newPosition.accuracy <= lastPosition.accuracy;
+    if (isBetterEnough && isFarEnoughAndAccuracyIsBetter) {
+      return true;
+    }
+    const isChangingLevel = canContainLevel && !geo.Level.equals(newPosition.level, lastPosition.level);
+    if (isChangingLevel) {
+      return true;
+    }
+    return false;
+  }
+  /**
+   * @returns if input position is used by the system (true = used, false = discarded)
+   */
+  _onAbsolutePosition(positionEvent, canContainLevel = true) {
+    if (!this._shouldTakeIntoAccountNewAbsolutePosition(positionEvent, canContainLevel) && !this.useAllAbsolutePositions) {
+      return false;
+    }
+    const newPosition = positionEvent.clone();
+    const lastPosition = this.lastEvent ? this.lastEvent : null;
+    if (lastPosition) {
+      if (!canContainLevel) {
+        newPosition.level = lastPosition.level;
+      }
+      if (newPosition.bearing === null) {
+        newPosition.bearing = lastPosition.bearing;
+      }
+    }
+    if (!MapMatchingHandler$1.canUseMapMatching()) {
+      this.notify(newPosition);
+      return true;
+    }
+    return MapMatchingHandler$1.notifyPositionFromAbsolute(newPosition);
+  }
+  /**
+   * @returns if input position is used by the system (true = used, false = discarded)
+   */
+  _onRelativePosition(relativeEvent) {
+    if (!this.lastEvent || this._waitUntilNextVpsPosition) {
+      return false;
+    }
+    const lastPosition = this.lastEvent;
+    const offsetPos = relativeEvent;
+    const dist = Math.sqrt(offsetPos.x ** 2 + offsetPos.y ** 2);
+    const bearing = Math.atan2(offsetPos.x, offsetPos.y);
+    const alt = lastPosition.alt !== null ? offsetPos.z : null;
+    const newPosition = lastPosition.destinationPoint(dist, bearing, alt);
+    newPosition.bearing = offsetPos.bearing;
+    newPosition.time = offsetPos.time;
+    newPosition.accuracy += offsetPos.accuracy;
+    if (!MapMatchingHandler$1.canUseMapMatching()) {
+      this.notify(newPosition);
+      return true;
+    }
+    return MapMatchingHandler$1.notifyPositionFromRelative(newPosition);
+  }
+  feed(data) {
+    let newPositionEvent;
+    if (data instanceof geo.UserPosition) {
+      if (data.time === null) {
+        throw Error("the time of the position is not defined");
+      }
+      if (data.accuracy === null) {
+        throw Error("the accuracy of the position is not defined");
+      }
+      newPositionEvent = data;
+    } else {
+      throw new Error("data is nor an UserPosition or an AbsolutePositionEvent");
+    }
+    if (!_AbsolutePositionProvider.USE_MM_FOR_FEED || !MapMatchingHandler$1.canUseMapMatching()) {
+      this.notify(newPositionEvent);
+      return;
+    }
+    MapMatchingHandler$1.notifyPositionFromFeed(newPositionEvent);
+  }
+  getBestPositionEvent(...absolutePositionEvents) {
+    return absolutePositionEvents.reduce((best, value) => {
+      if (!best) {
+        return value;
+      }
+      if (!value || value.accuracy === null || value.time === null) {
+        return best;
+      }
+      const { accuracy: curAccuracy, time: curTime } = value;
+      const { accuracy: bestAccuracy, time: bestTime } = best;
+      return curAccuracy < bestAccuracy + 1.3888 * (curTime - bestTime) ? value : best;
+    }, null);
+  }
+};
+// Use the new absolute position if its accuracy is at least x times better than the last one.
+__publicField(_AbsolutePositionProvider, "ACCURACY_RELOC_RATIO", 1);
+// or 1.5
+__publicField(_AbsolutePositionProvider, "USE_MM_FOR_FEED", true);
+let AbsolutePositionProvider = _AbsolutePositionProvider;
+const AbsolutePositionProvider$1 = new AbsolutePositionProvider();
+class AbsoluteAttitudeFromBrowser extends Provider {
+  constructor() {
+    super(...arguments);
+    // from http://tyrex.inria.fr/mobile/benchmarks-attitude/
+    __publicField(this, "DEFAULT_ACCURACY", maths.deg2rad(15));
+    __publicField(this, "absolutePositionProviderId");
+    __publicField(this, "absolutePositionEvent");
+    __publicField(this, "declinationQuaternion");
+    __publicField(this, "magQuaternion");
+    __publicField(this, "magQuaternionTimestamp");
+    __publicField(this, "iosPreviousQuat");
+    __publicField(this, "iosIsSkyMode", null);
+    __publicField(this, "getName", () => "AbsoluteAttitudeFromBrowser");
+    __publicField(this, "onDeviceOrientationChromeEvent", (e) => {
+      this.magQuaternionTimestamp = e.timeStamp / 1e3;
+      if (typeof e.alpha !== "number" || typeof e.beta !== "number" || typeof e.gamma !== "number") {
+        this.notifyError(new MissingSensorError().from("deviceorientationabsolute"));
+        return;
+      }
+      this.magQuaternion = maths.Rotations.eulerToQuaternionZXYDegrees(
+        [e.alpha, e.beta, e.gamma]
+      );
+      this.compute();
+    });
+    __publicField(this, "onDeviceOrientationSafariEvent", (e) => {
+      this.magQuaternionTimestamp = e.timeStamp / 1e3;
+      if (typeof e.beta !== "number" || typeof e.gamma !== "number") {
+        this.notifyError(new MissingSensorError().from("deviceorientation"));
+        return;
+      }
+      if (typeof e.webkitCompassHeading !== "number") {
+        this.notifyError(new MissingMagnetometerError().from("deviceorientation"));
+        return;
+      }
+      let alpha;
+      const [qw, qx, qy, qz] = maths.Rotations.eulerToQuaternionZXYDegrees([e.webkitCompassHeading, e.beta, e.gamma]);
+      const groundAngle = maths.rad2deg(Math.acos(qw ** 2 - qx ** 2 - qy ** 2 + qz ** 2));
+      let isSkyMode = null;
+      if (groundAngle > 136) {
+        isSkyMode = true;
+      } else if (groundAngle < 134) {
+        isSkyMode = false;
+      } else if (this.iosPreviousQuat && this.iosIsSkyMode !== null) {
+        isSkyMode = maths.Quaternion.distance([qw, qx, qy, qz], this.iosPreviousQuat) < 0.5 ? this.iosIsSkyMode : !this.iosIsSkyMode;
+      }
+      this.iosPreviousQuat = [qw, qx, qy, qz];
+      this.iosIsSkyMode = isSkyMode;
+      if (typeof isSkyMode === "undefined") {
+        return;
+      }
+      if (isSkyMode) {
+        alpha = 180 - e.webkitCompassHeading;
+      } else {
+        alpha = AbsoluteAttitudeFromBrowser.webkitCompassToHeading(
+          e.webkitCompassHeading,
+          e.beta,
+          e.gamma
+        );
+      }
+      this.magQuaternion = maths.Rotations.eulerToQuaternionZXYDegrees([alpha, e.beta, e.gamma]);
+      this.compute();
+    });
+    /**
+     * Initialized declination quaternion using current position.
+     * This method should be theoretically called every time the user moves.
+     * But in reality declination does not change as much.
+     */
+    __publicField(this, "onAbsolutePositionEvent", (position) => {
+      this.absolutePositionEvent = position;
+      const wmmResult = geomag__namespace.field(position.lat, position.lng);
+      this.declinationQuaternion = maths.Quaternion.fromAxisAngle([0, 0, 1], -maths.deg2rad(wmmResult.declination));
+      AbsolutePositionProvider$1.removeEventListener(this.absolutePositionProviderId);
+      delete this.absolutePositionProviderId;
+      this.compute();
+    });
+  }
+  availability() {
+    return utils.BrowserUtils.isMobile ? Promise.resolve() : Promise.resolve(new AskImuOnDesktopError());
+  }
+  start() {
+    const subscribe = () => {
+      switch (utils.BrowserUtils.getName()) {
+        case utils.Browser.CHROME:
+          window.addEventListener(
+            "deviceorientationabsolute",
+            this.onDeviceOrientationChromeEvent,
+            true
+          );
+          break;
+        case utils.Browser.SAFARI:
+        case utils.Browser.IOS_WEBVIEW:
+          window.addEventListener(
+            "deviceorientation",
+            this.onDeviceOrientationSafariEvent,
+            true
+          );
+          break;
+      }
+    };
+    const requestPermission = DeviceOrientationEvent.requestPermission || void 0;
+    if (requestPermission) {
+      requestPermission().then((response) => {
+        if (response !== "granted") {
+          throw new Error("Permission not granted");
+        }
+        subscribe();
+      }).catch(this.notifyError);
+    } else {
+      subscribe();
+    }
+    const lastAbsolutePosition = AbsolutePositionProvider$1.lastEvent;
+    if (lastAbsolutePosition) {
+      this.onAbsolutePositionEvent(lastAbsolutePosition);
+    } else {
+      this.absolutePositionProviderId = AbsolutePositionProvider$1.addEventListener(
+        this.onAbsolutePositionEvent,
+        this.notifyError,
+        false
+      );
+    }
+  }
+  stop() {
+    switch (utils.BrowserUtils.getName()) {
+      case utils.Browser.CHROME:
+        window.removeEventListener(
+          "deviceorientationabsolute",
+          this.onDeviceOrientationChromeEvent,
+          true
+        );
+        break;
+      case utils.Browser.SAFARI:
+      case utils.Browser.IOS_WEBVIEW:
+        window.removeEventListener(
+          "deviceorientation",
+          this.onDeviceOrientationSafariEvent,
+          true
+        );
+        break;
+    }
+    AbsolutePositionProvider$1.removeEventListener(this.absolutePositionProviderId);
+  }
+  compute() {
+    if (!this.declinationQuaternion || !this.magQuaternion || !this.absolutePositionEvent) {
+      return;
+    }
+    const trueQuaternion = maths.Quaternion.multiply(this.declinationQuaternion, this.magQuaternion);
+    const attitude = new AbsoluteAttitude(trueQuaternion, this.magQuaternionTimestamp, this.DEFAULT_ACCURACY);
+    this.notify(attitude);
+  }
+  static webkitCompassToHeading(_webkitCompassHeading, _beta, _gamma) {
+    const webkitCompassHeading = maths.deg2rad(_webkitCompassHeading);
+    const beta = maths.deg2rad(_beta);
+    const gamma = maths.deg2rad(_gamma);
+    const c1 = Math.cos(webkitCompassHeading / 2);
+    const c2 = Math.cos(beta / 2);
+    const c3 = Math.cos(gamma / 2);
+    const s1 = Math.sin(webkitCompassHeading / 2);
+    const s2 = Math.sin(beta / 2);
+    const s3 = Math.sin(gamma / 2);
+    const qw = c1 * c2 * c3 - s1 * s2 * s3;
+    const qz = s1 * c2 * c3 + c1 * s2 * s3;
+    return maths.rad2deg(-2 * Math.atan(qz / qw));
+  }
+}
+const AbsoluteAttitudeFromBrowser$1 = new AbsoluteAttitudeFromBrowser();
+class RelativeAttitudeProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "arCoreMonitoringId");
+    __publicField(this, "arCoreProviderId");
+    __publicField(this, "inertialProviderId");
+    __publicField(this, "getName", () => "RelativeAttitude");
+    __publicField(this, "availability", () => RelativeAttitudeFromInertialProvider.getAvailability());
+    __publicField(this, "listenInertial", () => {
+      this.inertialProviderId = RelativeAttitudeFromInertialProvider.addEventListener(
+        this.notify,
+        this.notifyError
+      );
+    });
+    __publicField(this, "unlistenInertial", () => {
+      RelativeAttitudeFromInertialProvider.removeEventListener(this.inertialProviderId);
+    });
+    __publicField(this, "listenArCore", () => {
+      this.arCoreProviderId = ArCoreProvider$1.addEventListener(
+        (event) => this.notify(event.relativeAttitude),
+        null,
+        false
+      );
+    });
+    __publicField(this, "unlistenArCore", () => {
+      ArCoreProvider$1.removeEventListener(this.arCoreProviderId);
+    });
+  }
+  start() {
+    this.arCoreMonitoringId = ArCoreProvider$1.addMonitoringListener(
+      () => {
+        this.listenArCore();
+        this.unlistenInertial();
+      },
+      () => {
+        this.unlistenArCore();
+        this.listenInertial();
+      }
+    );
+    if (ArCoreProvider$1.state === "started") {
+      this.listenArCore();
+    } else {
+      this.listenInertial();
+    }
+  }
+  /**
+   * @override
+   */
+  stop() {
+    ArCoreProvider$1.removeMonitoringListener(this.arCoreMonitoringId);
+    this.unlistenArCore();
+    this.unlistenInertial();
+  }
+}
+const RelativeAttitudeProvider$1 = new RelativeAttitudeProvider();
+const _AbsoluteAttitudeProvider = class _AbsoluteAttitudeProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    // in radians;
+    __publicField(this, "_absAttitudeFromBrowser");
+    __publicField(this, "_vpsProviderId");
+    __publicField(this, "fromBrowserProviderId");
+    __publicField(this, "highRotationProviderId");
+    __publicField(this, "inclinationProviderId");
+    __publicField(this, "relativeAttitudeProviderId");
+    __publicField(this, "_attitudeFromBrowserErrored", false);
+    __publicField(this, "_attitudeFromRelativeErrored", false);
+    /*
+     * RELATIVE
+     */
+    __publicField(this, "_relativeAttitude", null);
+    __publicField(this, "_relativeAccuracy", 0);
+    // in radians/s
+    __publicField(this, "_lastForcedHeadingEvent");
+    __publicField(this, "_relAbsQuat");
+    __publicField(this, "_wasHighRotationInProgress", false);
+    __publicField(this, "_timeFirstDivergence", null);
+    __publicField(this, "_callbackMagCalibration");
+    __publicField(this, "getName", () => "AbsoluteAttitude");
+    __publicField(this, "_onError", (error) => {
+      if (this._attitudeFromBrowserErrored && this._attitudeFromRelativeErrored) {
+        this.notifyError(error);
+      }
+    });
+    __publicField(this, "_forceHeadingForRelative", (absoluteHeadingEvent) => {
+      if (this.lastEvent && absoluteHeadingEvent.accuracy > this.lastEvent.accuracy) {
+        return;
+      }
+      const calcForceHeading = (relativeAttitude) => {
+        const currentRelativeHeading = relativeAttitude.heading;
+        this._relAbsQuat = maths.Quaternion.fromAxisAngle(
+          [0, 0, 1],
+          currentRelativeHeading - absoluteHeadingEvent.heading
+        );
+        this._relativeAccuracy = 0;
+        this._lastForcedHeadingEvent = absoluteHeadingEvent;
+      };
+      if (this._relativeAttitude) {
+        calcForceHeading(this._relativeAttitude);
+        return;
+      }
+      const providerId = RelativeAttitudeProvider$1.addEventListener(
+        (event) => {
+          calcForceHeading(event);
+          RelativeAttitudeProvider$1.removeEventListener(providerId);
+        }
+      );
+    });
+    __publicField(this, "_onRelativeAttitudeEvent", (event) => {
+      var _a;
+      const { quaternion, accuracy, time } = event;
+      if (this._relativeAttitude) {
+        this._relativeAccuracy += (time - this._relativeAttitude.time) * accuracy;
+      }
+      this._relativeAttitude = event;
+      if (!this._lastForcedHeadingEvent || !this._relAbsQuat) {
+        return;
+      }
+      const accuracyWithRelative = Math.min(
+        (this._lastForcedHeadingEvent.accuracy || 0) + this._relativeAccuracy,
+        Math.PI
+      );
+      const highRotationInProgress = HighRotationsProvider$1.isInProgress();
+      let divergenceDetected = false;
+      if (this._absAttitudeFromBrowser) {
+        const {
+          accuracy: accuracyWithAbsolute,
+          heading: headingFromAbsolute
+        } = this._absAttitudeFromBrowser;
+        if (this._wasHighRotationInProgress && !highRotationInProgress) {
+          this._forceHeadingForRelative(this._absAttitudeFromBrowser);
+        } else if (accuracyWithAbsolute < accuracyWithRelative) {
+          const relativeQuaternion = maths.Quaternion.multiply(this._relAbsQuat, quaternion);
+          const relativeAttitude = new geo.Attitude(relativeQuaternion);
+          const angle = Math.abs(maths.diffAngle(relativeAttitude.heading, headingFromAbsolute));
+          const inclination = InclinationProvider$1.lastEvent;
+          if (angle > _AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_ANGLE_THRESHOLD && inclination !== null && Math.abs(inclination - Math.PI / 4) > _AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD) {
+            divergenceDetected = true;
+            if (this._timeFirstDivergence !== null && time - this._timeFirstDivergence > _AbsoluteAttitudeProvider.REL_ABS_DIVERGENCE_TIME_THRESHOLD) {
+              this._forceHeadingForRelative(this._absAttitudeFromBrowser);
+              (_a = this._callbackMagCalibration) == null ? void 0 : _a.call(this, { angle });
+              this._timeFirstDivergence = null;
+            } else if (this._timeFirstDivergence === null) {
+              this._timeFirstDivergence = time;
+            }
+          }
+        }
+      }
+      if (!divergenceDetected) {
+        this._timeFirstDivergence = null;
+      }
+      this._wasHighRotationInProgress = highRotationInProgress;
+      const absoluteQuat = maths.Quaternion.multiply(this._relAbsQuat, quaternion);
+      const attitude = new AbsoluteAttitude(absoluteQuat, time, accuracyWithRelative);
+      this.notify(attitude);
+    });
+    __publicField(this, "_onAttitudeFromBrowser", (event) => {
+      this._absAttitudeFromBrowser = event;
+      if (!this._lastForcedHeadingEvent) {
+        this._forceHeadingForRelative(event);
+        return;
+      }
+    });
+    __publicField(this, "_onAttitudeFromVps", (event) => {
+      this._forceHeadingForRelative(event);
+    });
+  }
+  availability() {
+    return AvailabilityHelper.some([
+      AbsoluteAttitudeFromBrowser$1.getAvailability(),
+      RelativeAttitudeProvider$1.getAvailability()
+    ]);
+  }
+  start() {
+    this.fromBrowserProviderId = AbsoluteAttitudeFromBrowser$1.addEventListener(
+      this._onAttitudeFromBrowser,
+      (error) => {
+        this._attitudeFromBrowserErrored = true;
+        this._onError(error);
+      }
+    );
+    this._vpsProviderId = VpsProvider$1.addEventListener(
+      (event) => this._onAttitudeFromVps(event.absoluteAttitude),
+      (error) => this.notifyError(error),
+      false
+    );
+    this.relativeAttitudeProviderId = RelativeAttitudeProvider$1.addEventListener(
+      this._onRelativeAttitudeEvent,
+      (error) => {
+        this._attitudeFromRelativeErrored = true;
+        this._onError(error);
+      }
+    );
+    this.inclinationProviderId = InclinationProvider$1.addEventListener();
+    this.highRotationProviderId = HighRotationsProvider$1.addEventListener();
+  }
+  stop() {
+    AbsoluteAttitudeFromBrowser$1.removeEventListener(this.fromBrowserProviderId);
+    RelativeAttitudeProvider$1.removeEventListener(this.relativeAttitudeProviderId);
+    InclinationProvider$1.removeEventListener(this.inclinationProviderId);
+    HighRotationsProvider$1.removeEventListener(this.highRotationProviderId);
+    VpsProvider$1.removeEventListener(this._vpsProviderId);
+  }
+  _setCallbackMagCalibration(cb) {
+    this._callbackMagCalibration = cb;
+  }
+  feed(data) {
+    if (data instanceof geo.AbsoluteHeading) {
+      if (data.time === null) {
+        throw Error("the time of the absolute heading is not defined");
+      }
+      if (data.accuracy === null) {
+        throw Error("the accuracy of the absolute heading is not defined");
+      }
+      this._forceHeadingForRelative(data);
+    } else if (data instanceof AbsoluteAttitude) {
+      if (data.time === null) {
+        throw Error("the time of the attitude is not defined");
+      }
+      if (data.accuracy === null) {
+        throw Error("the accuracy of the attitude is not defined");
+      }
+      this._forceHeadingForRelative(data);
+    } else {
+      throw new Error("data is nor an AbsoluteHeading or an Attitude object");
+    }
+  }
+};
+__publicField(_AbsoluteAttitudeProvider, "REL_ABS_DIVERGENCE_ANGLE_THRESHOLD", maths.deg2rad(25));
+// in radians;
+__publicField(_AbsoluteAttitudeProvider, "REL_ABS_DIVERGENCE_TIME_THRESHOLD", 2.5);
+// in seconds
+__publicField(_AbsoluteAttitudeProvider, "REL_ABS_DIVERGENCE_INCLINATION_THRESHOLD", maths.deg2rad(15));
+let AbsoluteAttitudeProvider = _AbsoluteAttitudeProvider;
+const AbsoluteAttitudeProvider$1 = new AbsoluteAttitudeProvider();
+const _TurnProvider = class _TurnProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    // in seconds
+    __publicField(this, "providerId");
+    __publicField(this, "slidingWindow", []);
+    __publicField(this, "getName", () => "Turn");
+    __publicField(this, "availability", () => RelativeAttitudeProvider$1.getAvailability());
+    __publicField(this, "_parseRelativeAttitude", (relativeAttitudeEvent) => {
+      const { heading } = relativeAttitudeEvent;
+      const timestamp = relativeAttitudeEvent.time;
+      this.slidingWindow = this.slidingWindow.filter((item) => item[0] >= timestamp - _TurnProvider.SLIDING_WINDOW_TIME);
+      this.slidingWindow.push([timestamp, heading]);
+      const stdVal = maths.std(this.slidingWindow.map((item) => item[1]));
+      if (stdVal > _TurnProvider.STD_THRESHOLD) {
+        this.notify({ timestamp });
+      }
+    });
+  }
+  start() {
+    this.providerId = RelativeAttitudeProvider$1.addEventListener(
+      this._parseRelativeAttitude,
+      this.notifyError
+    );
+  }
+  stop() {
+    RelativeAttitudeProvider$1.removeEventListener(this.providerId);
+  }
+  isTurning() {
+    if (!this.lastEvent || !RelativeAttitudeProvider$1.lastEvent) {
+      return false;
+    }
+    const diffTime = RelativeAttitudeProvider$1.lastEvent.time - this.lastEvent.timestamp;
+    return diffTime < _TurnProvider.CONSIDER_TURN_UNTIL;
+  }
+};
+__publicField(_TurnProvider, "SLIDING_WINDOW_TIME", 0.3);
+// in seconds
+__publicField(_TurnProvider, "STD_THRESHOLD", 0.075);
+__publicField(_TurnProvider, "CONSIDER_TURN_UNTIL", 1);
+let TurnProvider = _TurnProvider;
+const TurnProvider$1 = new TurnProvider();
+const _StraightLineProvider = class _StraightLineProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "_turnProviderId");
+    __publicField(this, "_stepProviderId");
+    __publicField(this, "_countSteps", 0);
+    __publicField(this, "_stepsConsideredForStraightLine", _StraightLineProvider.DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE);
+    __publicField(this, "getName", () => "StraightLine");
+    __publicField(this, "_onTurn", () => {
+      if (this._countSteps >= this._stepsConsideredForStraightLine) {
+        this.notify(false);
+      }
+      this._countSteps = 0;
+    });
+    __publicField(this, "_onStep", () => {
+      this._countSteps++;
+      if (this._countSteps === this._stepsConsideredForStraightLine) {
+        this.notify(true);
+      }
+    });
+  }
+  availability() {
+    return AvailabilityHelper.every([
+      TurnProvider$1.getAvailability(),
+      StepProvider$1.getAvailability()
+    ]);
+  }
+  start() {
+    this._turnProviderId = TurnProvider$1.addEventListener(this._onTurn);
+    this._stepProviderId = StepProvider$1.addEventListener(this._onStep);
+  }
+  stop() {
+    TurnProvider$1.removeEventListener(this._turnProviderId);
+    StepProvider$1.removeEventListener(this._stepProviderId);
+  }
+  isStraight() {
+    return this._countSteps >= this._stepsConsideredForStraightLine;
+  }
+  get numStepsDetectedFromLastTurn() {
+    return this._countSteps;
+  }
+  get stepsConsideredForStraightLine() {
+    return this._stepsConsideredForStraightLine;
+  }
+  set stepsConsideredForStraightLine(stepsConsideredForStraightLine) {
+    this._stepsConsideredForStraightLine = stepsConsideredForStraightLine;
+  }
+};
+__publicField(_StraightLineProvider, "DEFAULT_STEPS_CONSIDERED_FOR_STRAIGHT_LINE", 2);
+let StraightLineProvider = _StraightLineProvider;
+const StraightLineProvider$1 = new StraightLineProvider();
+const _MapMatchingHandler = class _MapMatchingHandler extends Provider {
+  constructor() {
+    super(...arguments);
+    // radians
+    __publicField(this, "_mapMatchingMaxDistance", _MapMatchingHandler.DEFAULT_MM_MAX_DIST);
+    __publicField(this, "_mapMatchingMinDistance", _MapMatchingHandler.DEFAULT_MM_MIN_DIST);
+    __publicField(this, "_mapMatchingMaxAngleBearing", _MapMatchingHandler.DEFAULT_MM_MAX_ANGLE);
+    __publicField(this, "_useItineraryStartAsPosition", _MapMatchingHandler.DEFAULT_USE_ITINERARY_START_AS_POSITION);
+    __publicField(this, "_useOrientationMatching", _MapMatchingHandler.DEFAULT_USE_ORIENTATION_MATCHING);
+    __publicField(this, "_hugeJumpDistance", _MapMatchingHandler.DEFAULT_MM_HUGE_JUMP_DISTANCE);
+    __publicField(this, "_disableMMCloseToATurnDistance", _MapMatchingHandler.DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE);
+    __publicField(this, "_minStepsBetweenOrientationMatching", _MapMatchingHandler.DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING);
+    __publicField(this, "_minStepsForOrientationMatching", _MapMatchingHandler.DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING);
+    __publicField(this, "_lastProjectionsWindowSize", _MapMatchingHandler.DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE);
+    __publicField(this, "_lastProjectionsEdgeAngleThreshold", _MapMatchingHandler.DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD);
+    __publicField(this, "_graph", null);
+    __publicField(this, "_internalProvidersStarted", false);
+    __publicField(this, "_straightLineProviderId");
+    __publicField(this, "_turnProviderId");
+    __publicField(this, "_stepProviderId");
+    __publicField(this, "_projectionsWithAbsAndWithoutRelAttitudeInARow", []);
+    __publicField(this, "_countStepsFromLastMatching", 0);
+    __publicField(this, "_lastProjections", []);
+    __publicField(this, "_itineraryInfoManager", null);
+    __publicField(this, "getName", () => "MapMatchingHandler");
+    __publicField(this, "availability", () => Promise.resolve());
+    __publicField(this, "_manageStartStop", () => {
+      if (this.graph && !this._internalProvidersStarted) {
+        this._startInternalProviders();
+      } else if (!this.graph && this._internalProvidersStarted) {
+        this._stopInternalProviders();
+      }
+    });
+  }
+  start() {
+    if (this.graph) {
+      this._startInternalProviders();
+    }
+  }
+  stop() {
+    this._stopInternalProviders();
+  }
+  _startInternalProviders() {
+    if (this.enabled && this._internalProvidersStarted) {
+      return;
+    }
+    this._straightLineProviderId = StraightLineProvider$1.addEventListener();
+    this._turnProviderId = TurnProvider$1.addEventListener();
+    this._stepProviderId = StepProvider$1.addEventListener(() => this._countStepsFromLastMatching++);
+    this._internalProvidersStarted = true;
+  }
+  _stopInternalProviders() {
+    if (this.enabled && !this._internalProvidersStarted) {
+      return;
+    }
+    StraightLineProvider$1.removeEventListener(this._straightLineProviderId);
+    TurnProvider$1.removeEventListener(this._turnProviderId);
+    StepProvider$1.removeEventListener(this._stepProviderId);
+    this._internalProvidersStarted = false;
+  }
+  get enabled() {
+    return ProvidersOptions.useMapMatching;
+  }
+  get graph() {
+    return this._graph;
+  }
+  set graph(graph) {
+    this._graph = graph;
+    this._itineraryInfoManager = null;
+    this.notify({ ...graph && { graph } });
+    this._manageStartStop();
+    if (this.canUseMapMatching())
+      ;
+  }
+  set itinerary(itinerary) {
+    this._graph = itinerary ? itinerary.toGraph() : null;
+    this._itineraryInfoManager = new routers.ItineraryInfoManager(itinerary);
+    this.notify({ ...itinerary && { itinerary } });
+    this._manageStartStop();
+    if (this.canUseMapMatching() && itinerary) {
+      this._notifyPositionFromItineraryInput(itinerary);
+    }
+  }
+  canUseMapMatching() {
+    return this.enabled && this.graph;
+  }
+  _notifyPositionFromItineraryInput(itinerary) {
+    if (!this._useItineraryStartAsPosition || !itinerary.origin) {
+      return;
+    }
+    const lastPosition = AbsolutePositionProvider$1.lastEvent || null;
+    const newPosition = geo.UserPosition.fromCoordinates(itinerary.origin);
+    if (lastPosition) {
+      newPosition.alt = lastPosition.alt;
+      newPosition.time = lastPosition.time;
+      newPosition.accuracy = lastPosition.accuracy + newPosition.distanceTo(lastPosition);
+      newPosition.bearing = lastPosition.bearing;
+    } else if (itinerary.coords.length >= 2) {
+      newPosition.alt = Constants.DEFAULT_ALTITUDE;
+      newPosition.time = utils.TimeUtils.preciseTime();
+      newPosition.accuracy = 0;
+      newPosition.bearing = itinerary.coords[0].bearingTo(itinerary.coords[1]);
+    } else {
+      return;
+    }
+    const projection = this.getProjection(newPosition, true);
+    if (projection) {
+      AbsolutePositionProvider$1.notify(projection.coords);
+    } else {
+      AbsolutePositionProvider$1.notify(newPosition);
+    }
+    return;
+  }
+  notifyPositionFromFeed(newPositionEvent) {
+    const projection = this.getProjection(newPositionEvent, true, false);
+    if (!projection) {
+      AbsolutePositionProvider$1.notify(newPositionEvent);
+      return;
+    }
+    AbsolutePositionProvider$1.notify(projection.coords);
+  }
+  /**
+   * @returns if input position is used by the system (true = used, false = discarded)
+   */
+  notifyPositionFromAbsolute(newPosition) {
+    let projectionWithBearing = null;
+    if (newPosition.bearing !== null) {
+      projectionWithBearing = this.getProjection(newPosition, true, true);
+    }
+    if (!projectionWithBearing) {
+      AbsolutePositionProvider$1.notify(newPosition);
+      return true;
+    }
+    const thisWillBeAHugeJump = projectionWithBearing.distanceFromNearestElement > this._hugeJumpDistance;
+    if (thisWillBeAHugeJump && !StraightLineProvider$1.isStraight()) {
+      return false;
+    }
+    if (thisWillBeAHugeJump && this._detectWrongBigJump(projectionWithBearing)) {
+      return false;
+    }
+    AbsolutePositionProvider$1.notify(projectionWithBearing.coords);
+    this.tryOrientationMatching(projectionWithBearing);
+    return true;
+  }
+  /**
+   * @returns if input position is used by the system (true = used, false = discarded)
+   */
+  notifyPositionFromRelative(newPosition) {
+    var _a;
+    if (TurnProvider$1.isTurning()) {
+      this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];
+      this._lastProjections = [];
+      AbsolutePositionProvider$1.notify(newPosition);
+      return true;
+    }
+    const projection = this.getProjection(newPosition, true, true);
+    if (projection) {
+      this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];
+      this._lastProjections.push(projection);
+      if (this._lastProjections.length > this._lastProjectionsWindowSize) {
+        this._lastProjections.shift();
+      }
+      const thisWillBeAHugeJump = projection.distanceFromNearestElement > this._hugeJumpDistance;
+      if (thisWillBeAHugeJump && !StraightLineProvider$1.isStraight()) {
+        AbsolutePositionProvider$1.notify(newPosition);
+        return true;
+      }
+      if (thisWillBeAHugeJump && this._detectWrongBigJump(projection)) {
+        AbsolutePositionProvider$1.notify(newPosition);
+        return true;
+      }
+      if (!this._areLastProjectionsInTheSameDirection()) {
+        AbsolutePositionProvider$1.notify(newPosition);
+        return true;
+      }
+      if (this._disableMMCloseToATurnDistance > 0 && this._hasTurnInCircle(projection.coords, this._disableMMCloseToATurnDistance)) {
+        AbsolutePositionProvider$1.notify(newPosition);
+        return true;
+      }
+      AbsolutePositionProvider$1.notify(projection.coords);
+      this.tryOrientationMatching(projection);
+      return true;
+    }
+    if (StraightLineProvider$1.isStraight()) {
+      const testedPosition = newPosition.clone();
+      testedPosition.bearing = ((_a = AbsoluteAttitudeFromBrowser$1.lastEvent) == null ? void 0 : _a.heading) || null;
+      const projectionWithAbs = this.getProjection(testedPosition, true, true);
+      if (projectionWithAbs) {
+        this._projectionsWithAbsAndWithoutRelAttitudeInARow.push(projectionWithAbs);
+        if (this._projectionsWithAbsAndWithoutRelAttitudeInARow.length < 3) {
+          AbsolutePositionProvider$1.notify(newPosition);
+          return true;
+        }
+        this._lastProjections.push(projectionWithAbs);
+        if (this._lastProjections.length > this._lastProjectionsWindowSize) {
+          this._lastProjections.shift();
+        }
+        if (!this._areLastProjectionsInTheSameDirection()) {
+          AbsolutePositionProvider$1.notify(newPosition);
+          return true;
+        }
+        AbsolutePositionProvider$1.notify(projectionWithAbs.coords);
+        this.tryOrientationMatching(projectionWithAbs);
+        return true;
+      }
+    }
+    this._projectionsWithAbsAndWithoutRelAttitudeInARow = [];
+    this._lastProjections = [];
+    AbsolutePositionProvider$1.notify(newPosition);
+    return true;
+  }
+  _detectWrongBigJump(projection) {
+    if (this._itineraryInfoManager && AbsolutePositionProvider$1.lastEvent) {
+      const infoPrevious = this._itineraryInfoManager.getInfo(AbsolutePositionProvider$1.lastEvent);
+      const infoProjection = this._itineraryInfoManager.getInfo(projection.coords);
+      if (infoPrevious && infoProjection && infoPrevious.traveledDistance > infoProjection.traveledDistance && infoPrevious.traveledDistance - infoProjection.traveledDistance > projection.origin.accuracy && projection.distanceFromNearestElement > projection.origin.accuracy && projection.origin.distanceTo(AbsolutePositionProvider$1.lastEvent) < projection.origin.accuracy + AbsolutePositionProvider$1.lastEvent.accuracy) {
+        return true;
+      }
+    }
+    return false;
+  }
+  _areLastProjectionsInTheSameDirection() {
+    if (this._lastProjections.length === 0) {
+      return false;
+    }
+    const firstProjection = this._lastProjections[0];
+    return !this._lastProjections.some(
+      (projection) => !(projection.nearestElement instanceof routers.Edge) || !(firstProjection.nearestElement instanceof routers.Edge) || maths.diffAngleLines(projection.nearestElement.bearing, firstProjection.nearestElement.bearing) > this._lastProjectionsEdgeAngleThreshold
+    );
+  }
+  _nodeHasTurn(vertex) {
+    if (!this._graph)
+      return;
+    const edges = this._graph.edges.filter((e) => e.vertex1 === vertex || e.vertex2 === vertex);
+    for (let i = 0; i < edges.length; i++) {
+      for (let j = i + 1; j < edges.length; j++) {
+        const angle = maths.diffAngleLines(edges[i].bearing, edges[j].bearing);
+        if (angle > _MapMatchingHandler.DEFAULT_MM_MAX_ANGLE) {
+          return true;
+        }
+      }
+    }
+    return false;
+  }
+  _hasTurnInCircle(center, radius) {
+    const graph = this._graph;
+    if (!graph) {
+      return false;
+    }
+    return graph.vertices.filter(
+      (vertex) => vertex.coords.distanceTo(center) <= radius && geo.Level.intersect(vertex.coords.level, center.level)
+    ).some((it) => this._nodeHasTurn(it));
+  }
+  tryOrientationMatching(projection) {
+    if (!this._useOrientationMatching) {
+      return;
+    }
+    if (this.state !== "started" || this._countStepsFromLastMatching < this._minStepsBetweenOrientationMatching || StraightLineProvider$1.numStepsDetectedFromLastTurn < this._minStepsForOrientationMatching) {
+      return;
+    }
+    const { nearestElement, origin } = projection;
+    if (!(nearestElement instanceof routers.Edge)) {
+      return;
+    }
+    let matchingDirection;
+    const matchingDirectionAngle1 = maths.diffAngle(nearestElement.bearing, origin.bearing);
+    const matchingDirectionAngle2 = maths.diffAngle(nearestElement.bearing + Math.PI, origin.bearing);
+    if (Math.abs(matchingDirectionAngle1) < Math.abs(matchingDirectionAngle2)) {
+      matchingDirection = nearestElement.bearing;
+    } else {
+      matchingDirection = (nearestElement.bearing + Math.PI) % (2 * Math.PI);
+    }
+    const matchedHeading = new geo.AbsoluteHeading(
+      matchingDirection,
+      origin.time,
+      0
+      // Math.min(Math.abs(matchingDirectionAngle1), Math.abs(matchingDirectionAngle2))
+    );
+    AbsoluteAttitudeProvider$1._forceHeadingForRelative(matchedHeading);
+    this._countStepsFromLastMatching = 0;
+  }
+  getProjection(position, useDistance, useBearing) {
+    var _a;
+    const projectionsOptions = {
+      ...useDistance && { maxDistance: this._mapMatchingMaxDistance },
+      ...useBearing && { maxBearingAngle: this._mapMatchingMaxAngleBearing }
+    };
+    return (_a = this._graph) == null ? void 0 : _a.getProjection(position, projectionsOptions);
+  }
+  get maxDistance() {
+    return this._mapMatchingMaxDistance;
+  }
+  set maxDistance(maxDistance) {
+    this._mapMatchingMaxDistance = maxDistance;
+  }
+  get minDistance() {
+    return this._mapMatchingMinDistance;
+  }
+  set minDistance(minDistance) {
+    this._mapMatchingMinDistance = minDistance;
+  }
+  get maxAngleBearing() {
+    return this._mapMatchingMaxAngleBearing;
+  }
+  set maxAngleBearing(maxAngleBearing) {
+    this._mapMatchingMaxAngleBearing = maxAngleBearing;
+  }
+  get useItineraryStartAsPosition() {
+    return this._useItineraryStartAsPosition;
+  }
+  set useItineraryStartAsPosition(useItineraryStartAsPosition) {
+    this._useItineraryStartAsPosition = useItineraryStartAsPosition;
+  }
+  get useOrientationMatching() {
+    return this._useOrientationMatching;
+  }
+  set useOrientationMatching(useOrientationMatching) {
+    this._useOrientationMatching = useOrientationMatching;
+  }
+  get hugeJumpDistance() {
+    return this._hugeJumpDistance;
+  }
+  set hugeJumpDistance(hugeJumpDistance) {
+    this._hugeJumpDistance = hugeJumpDistance;
+  }
+  get disableMMCloseToATurnDistance() {
+    return this._disableMMCloseToATurnDistance;
+  }
+  set disableMMCloseToATurnDistance(disableMMCloseToATurnDistance) {
+    this._disableMMCloseToATurnDistance = disableMMCloseToATurnDistance;
+  }
+  get minStepsBetweenOrientationMatching() {
+    return this._minStepsBetweenOrientationMatching;
+  }
+  set minStepsBetweenOrientationMatching(minStepsBetweenOrientationMatching) {
+    this._minStepsBetweenOrientationMatching = minStepsBetweenOrientationMatching;
+  }
+  get minStepsForOrientationMatching() {
+    return this._minStepsForOrientationMatching;
+  }
+  set minStepsForOrientationMatching(minStepsForOrientationMatching) {
+    this._minStepsForOrientationMatching = minStepsForOrientationMatching;
+  }
+  get lastProjectionsWindowSize() {
+    return this._lastProjectionsWindowSize;
+  }
+  set lastProjectionsWindowSize(lastProjectionsWindowSize) {
+    this._lastProjectionsWindowSize = lastProjectionsWindowSize;
+  }
+  get lastProjectionsEdgeAngleThreshold() {
+    return this._lastProjectionsEdgeAngleThreshold;
+  }
+  set lastProjectionsEdgeAngleThreshold(lastProjectionsEdgeAngleThreshold) {
+    this._lastProjectionsEdgeAngleThreshold = lastProjectionsEdgeAngleThreshold;
+  }
+};
+__publicField(_MapMatchingHandler, "DEFAULT_MM_MAX_ANGLE", maths.deg2rad(30));
+// radians
+__publicField(_MapMatchingHandler, "DEFAULT_MM_MAX_DIST", 30);
+// meters
+__publicField(_MapMatchingHandler, "DEFAULT_MM_MIN_DIST", 0);
+// meters
+__publicField(_MapMatchingHandler, "DEFAULT_USE_ITINERARY_START_AS_POSITION", false);
+__publicField(_MapMatchingHandler, "DEFAULT_USE_ORIENTATION_MATCHING", true);
+__publicField(_MapMatchingHandler, "DEFAULT_MM_HUGE_JUMP_DISTANCE", 3);
+// meters
+__publicField(_MapMatchingHandler, "DEFAULT_DISABLE_MM_CLOSE_TO_A_TURN_DISTANCE", 2);
+// meters
+__publicField(_MapMatchingHandler, "DEFAULT_MIN_STEPS_BETWEEN_ORIENTATION_MATCHING", 3);
+__publicField(_MapMatchingHandler, "DEFAULT_MIN_STEPS_FOR_ORIENTATION_MATCHING", 5);
+__publicField(_MapMatchingHandler, "DEFAULT_LAST_PROJECTIONS_WINDOW_SIZE", 3);
+__publicField(_MapMatchingHandler, "DEFAULT_LAST_PROJECTIONS_EDGE_ANGLE_THRESHOLD", maths.deg2rad(3));
+let MapMatchingHandler = _MapMatchingHandler;
+const MapMatchingHandler$1 = new MapMatchingHandler();
+const _PositionSmoother = class _PositionSmoother {
+  // can be number if web or NodeJS.Timer
+  /**
+   * @param frequency in Hz
+   */
+  constructor(callback, frequency = _PositionSmoother.DEFAULT_FREQUENCY) {
+    __publicField(this, "positionsQueue", []);
+    __publicField(this, "previousPosition", null);
+    __publicField(this, "timeoutNotify");
+    __publicField(this, "_notifyNext", () => {
+      var _a;
+      if (!this.positionsQueue.length)
+        return;
+      (_a = this.callback) == null ? void 0 : _a.call(this, this.positionsQueue.shift());
+      if (this.positionsQueue.length !== 0) {
+        this.timeoutNotify = setTimeout(this._notifyNext, 1e3 / this.frequency);
+      } else {
+        delete this.timeoutNotify;
+      }
+    });
+    this.callback = callback;
+    this.frequency = frequency;
+  }
+  /**
+   * @param flybyTime in seconds
+   */
+  feed(newPosition, flybyTime = _PositionSmoother.DEFAULT_FLYBY_TIME) {
+    if (!(newPosition instanceof geo.UserPosition)) {
+      throw new TypeError("newPosition is not instance of UserPosition");
+    }
+    if (newPosition.time === null) {
+      throw new Error("newPosition does not have time property");
+    }
+    let previousPosition;
+    if (this.positionsQueue.length !== 0) {
+      previousPosition = this.positionsQueue[0];
+      this.positionsQueue = [];
+    } else {
+      previousPosition = this.previousPosition;
+    }
+    if (previousPosition) {
+      const refTimestamp = newPosition.time;
+      const distance = previousPosition.distanceTo(newPosition);
+      const azimuth = previousPosition.bearingTo(newPosition);
+      let i = 1;
+      const nSamples = this.frequency * flybyTime + 1;
+      const newPositionLevel = geo.Level.clone(newPosition.level);
+      while (i < nSamples + 1) {
+        const smoothedPosition = previousPosition.destinationPoint(distance * i / nSamples, azimuth);
+        smoothedPosition.time = refTimestamp + (i - 1) / this.frequency;
+        smoothedPosition.level = newPositionLevel;
+        smoothedPosition.bearing = newPosition.bearing;
+        smoothedPosition.accuracy = Math.max(
+          smoothedPosition.accuracy + (newPosition.accuracy - smoothedPosition.accuracy) * i / nSamples,
+          0
+        );
+        this.positionsQueue.push(smoothedPosition);
+        i++;
+      }
+      if (this.timeoutNotify) {
+        clearTimeout(this.timeoutNotify);
+      }
+    } else {
+      this.positionsQueue.push(newPosition.clone());
+    }
+    this.previousPosition = newPosition;
+    this._notifyNext();
+  }
+  clear() {
+    clearTimeout(this.timeoutNotify);
+    delete this.timeoutNotify;
+    this.positionsQueue = [];
+  }
+};
+// Generated positions by second
+__publicField(_PositionSmoother, "DEFAULT_FREQUENCY", 60);
+// flyby (in second)
+__publicField(_PositionSmoother, "DEFAULT_FLYBY_TIME", 1);
+let PositionSmoother = _PositionSmoother;
+const _AttitudeSmoother = class _AttitudeSmoother {
+  constructor(callback) {
+    // in radians/s
+    __publicField(this, "_previousAttitude");
+    __publicField(this, "_smoothing", null);
+    this.callback = callback;
+  }
+  feed(newAttitude) {
+    if (newAttitude.time === null) {
+      throw new Error("newAttitude does not have time property");
+    }
+    const { _previousAttitude: previousAttitude } = this;
+    this._previousAttitude = newAttitude;
+    if (!previousAttitude) {
+      this.callback(newAttitude);
+      return;
+    }
+    if (_AttitudeSmoother.isJump(previousAttitude, newAttitude)) {
+      const fromAttitude = this._smoothing === null ? previousAttitude : this._smoothing.interpAttitude(previousAttitude);
+      const fromHeading = fromAttitude.heading;
+      const toHeading = newAttitude.heading;
+      const diffAngleHeading = maths.diffAngle(toHeading, fromHeading);
+      const isHighJump = Math.abs(diffAngleHeading) < _AttitudeSmoother.HIGH_JUMP_THRESHOLD;
+      const rotationSpeedConvergence = isHighJump ? _AttitudeSmoother.ROTATION_SPEED_CONVERGENCE : _AttitudeSmoother.ROTATION_SPEED_HIGH_JUMP_CONVERGENCE;
+      const fromTime = fromAttitude.time;
+      const timeToConsume = Math.abs(diffAngleHeading) / rotationSpeedConvergence;
+      const multiplier = diffAngleHeading < 0 ? -1 : 1;
+      this._smoothing = {
+        toTime: fromTime + timeToConsume,
+        interpAttitude: (attitude) => {
+          const angle = rotationSpeedConvergence * (attitude.time - fromTime);
+          const interpHeading = fromHeading + angle * multiplier;
+          const offsetQuat = maths.Quaternion.fromAxisAngle([0, 0, 1], toHeading - interpHeading);
+          const interpQuat = maths.Quaternion.multiply(offsetQuat, attitude.quaternion);
+          return new geo.Attitude(interpQuat, attitude.time, attitude.accuracy);
+        }
+      };
+    }
+    if (this._smoothing !== null) {
+      if (newAttitude.time >= this._smoothing.toTime) {
+        this._smoothing = null;
+      } else {
+        const interpAttitude = this._smoothing.interpAttitude(newAttitude);
+        this.callback(interpAttitude);
+        return;
+      }
+    }
+    this.callback(newAttitude);
+  }
+  /**
+   * @param {Attitude} previousAttitude
+   * @param {Attitude} newAttitude
+   * @returns {boolean}
+   */
+  static isJump(previousAttitude, newAttitude) {
+    const fromHeading = previousAttitude.heading;
+    const toHeading = newAttitude.heading;
+    const diffAngleHeading = maths.diffAngle(toHeading, fromHeading);
+    const diffTime = newAttitude.time - previousAttitude.time;
+    const [qw, qx, qy, qz] = newAttitude.quaternion;
+    const distToPitchThreshold = Math.abs(Math.asin(2 * (qw * qx + qy * qz)) - Math.PI / 4);
+    if (distToPitchThreshold < _AttitudeSmoother.PITCH_UNCERTAINITY_HEADING_THRESHOLD) {
+      return false;
+    }
+    return Math.abs(diffAngleHeading) > _AttitudeSmoother.ROTATION_SPEED_JUMP_THRESHOLD * diffTime;
+  }
+};
+__publicField(_AttitudeSmoother, "ROTATION_SPEED_JUMP_THRESHOLD", maths.deg2rad(180));
+// in radians/s
+__publicField(_AttitudeSmoother, "ROTATION_SPEED_CONVERGENCE", maths.deg2rad(10));
+// in radians/s
+__publicField(_AttitudeSmoother, "HIGH_JUMP_THRESHOLD", maths.deg2rad(20));
+// in radians/s
+__publicField(_AttitudeSmoother, "ROTATION_SPEED_HIGH_JUMP_CONVERGENCE", maths.deg2rad(100));
+// in radians/s
+__publicField(_AttitudeSmoother, "PITCH_UNCERTAINITY_HEADING_THRESHOLD", maths.deg2rad(5));
+let AttitudeSmoother = _AttitudeSmoother;
+class MagnetometerCalibrationProvider extends Provider {
+  constructor() {
+    super();
+    __publicField(this, "getName", () => "MagnetometerCalibrationProvider");
+    __publicField(this, "availability", () => AbsoluteAttitudeProvider$1.getAvailability());
+    AbsoluteAttitudeProvider$1._setCallbackMagCalibration((e) => this.state === "started" && this.notify(e));
+  }
+  start() {
+  }
+  stop() {
+  }
+}
+const MagnetometerCalibrationProvider$1 = new MagnetometerCalibrationProvider();
+const _IpResolveServerError = class _IpResolveServerError extends Error {
+  constructor(message) {
+    super(message || _IpResolveServerError.DEFAULT_MESSAGE);
+  }
+};
+__publicField(_IpResolveServerError, "DEFAULT_MESSAGE", "IP Resolver failed");
+let IpResolveServerError = _IpResolveServerError;
+class IpProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "getName", () => "Ip");
+    __publicField(this, "availability", () => Promise.resolve());
+  }
+  async start() {
+    const response = await fetch("https://ipinfo.io/geo?token=24a7ca2f3b489d");
+    if (!response) {
+      this.notifyError(new IpResolveServerError());
+      return;
+    }
+    const timestamp = utils.TimeUtils.preciseTime() / 1e3;
+    const latLngStr = (await response.json()).loc.split(",");
+    const position = new geo.UserPosition(
+      parseFloat(latLngStr[0]),
+      parseFloat(latLngStr[1]),
+      null,
+      null,
+      timestamp,
+      1e5
+    );
+    this.notify(position);
+  }
+  stop() {
+  }
+}
+const IpProvider$1 = new IpProvider();
+class BarcodePoleStarProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "providerId");
+    __publicField(this, "getName", () => "Barcode");
+    __publicField(this, "availability", () => ArCoreProvider$1.getAvailability());
+  }
+  start() {
+    ArCoreProvider$1.enableBarcodeScanner();
+    this.providerId = ArCoreProvider$1.addEventListener(
+      (event) => event.barcode && this.notify(event.barcode),
+      this.notifyError
+    );
+  }
+  stop() {
+    ArCoreProvider$1.disableBarcodeScanner();
+    ArCoreProvider$1.removeEventListener(this.providerId);
+  }
+}
+const BarcodeProvider = new BarcodePoleStarProvider();
+class CameraNativeProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "providerId");
+    __publicField(this, "getName", () => "CameraNative");
+    __publicField(this, "availability", () => Promise.resolve());
+  }
+  start() {
+    if (ArCoreProvider$1.state !== "stopped") {
+      this.notify("started");
+    }
+    this.providerId = ArCoreProvider$1.addMonitoringListener(
+      () => this.notify("started"),
+      () => this.notify("stopped")
+    );
+  }
+  stop() {
+    ArCoreProvider$1.removeMonitoringListener(this.providerId);
+  }
+}
+const CameraNativeProvider$1 = new CameraNativeProvider();
+class CameraProjectionMatrixProvider extends Provider {
+  constructor() {
+    super(...arguments);
+    __publicField(this, "providerId");
+    __publicField(this, "getName", () => "CameraProjectionMatrix");
+    __publicField(this, "availability", () => ArCoreProvider$1.getAvailability());
+  }
+  start() {
+    this.providerId = ArCoreProvider$1.addEventListener(
+      (event) => event.cameraProjection && this.notify(event.cameraProjection),
+      this.notifyError
+    );
+  }
+  stop() {
+    ArCoreProvider$1.removeEventListener(this.providerId);
+  }
+}
+const CameraProjectionMatrixProvider$1 = new CameraProjectionMatrixProvider();
+exports.AbsoluteAttitude = AbsoluteAttitude;
+exports.AbsoluteAttitudeFromBrowserProvider = AbsoluteAttitudeFromBrowser$1;
+exports.AbsoluteAttitudeProvider = AbsoluteAttitudeProvider$1;
+exports.AbsolutePosition = AbsolutePosition;
+exports.AbsolutePositionProvider = AbsolutePositionProvider$1;
+exports.AccelerometerProvider = AccelerometerProvider$1;
+exports.ArCoreProvider = ArCoreProvider$1;
+exports.AttitudeSmoother = AttitudeSmoother;
+exports.BarcodeProvider = BarcodeProvider;
+exports.CameraNativeProvider = CameraNativeProvider$1;
+exports.CameraProjectionMatrixProvider = CameraProjectionMatrixProvider$1;
+exports.GeoRelativePositionFromArCoreProvider = GeoRelativePositionFromArCoreProvider$1;
+exports.GeoRelativePositionProvider = GeoRelativePositionProvider$1;
+exports.GnssWifiProvider = GnssWifiProvider$1;
+exports.GyroscopeProvider = GyroscopeProvider$1;
+exports.HighRotationsProvider = HighRotationsProvider$1;
+exports.ImageRelocalization = ImageRelocalization;
+exports.ImuProvider = ImuProvider$1;
+exports.InclinationFromAccProvider = InclinationFromAccProvider$1;
+exports.InclinationFromRelativeAttitudeProvider = InclinationFromRelativeAttitudeProvider$1;
+exports.InclinationProvider = InclinationProvider$1;
+exports.IpProvider = IpProvider$1;
+exports.MagnetometerCalibrationProvider = MagnetometerCalibrationProvider$1;
+exports.MapMatchingHandler = MapMatchingHandler$1;
+exports.PdrProvider = PdrProvider$1;
+exports.PoleStarProvider = PoleStarProvider$1;
+exports.PositionSmoother = PositionSmoother;
+exports.ProvidersLoggerOld = ProvidersLoggerOld$1;
+exports.ProvidersOptions = ProvidersOptions;
+exports.RelativeAttitude = RelativeAttitude;
+exports.RelativeAttitudeFromBrowserProvider = RelativeAttitudeFromBrowser$1;
+exports.RelativeAttitudeFromEkfProvider = RelativeAttitudeFromEkfProvider;
+exports.RelativeAttitudeFromInertialProvider = RelativeAttitudeFromInertialProvider;
+exports.RelativeAttitudeProvider = RelativeAttitudeProvider$1;
+exports.RelativeRotationCalc = RelativeRotationCalc;
+exports.StepDetectionMinMaxPeaks2 = StepDetectionMinMaxPeaks2;
+exports.StepDetectionMinMaxPeaks3 = StepDetectionMinMaxPeaks3;
+exports.StepProvider = StepProvider$1;
+exports.StraightLineProvider = StraightLineProvider$1;
+exports.TurnProvider = TurnProvider$1;
+exports.VpsMetadata = VpsMetadata;
+exports.VpsProvider = VpsProvider$1;
+exports.VpsRequest = VpsRequest;
+exports.VpsResponse = VpsResponse;
 //# sourceMappingURL=index.js.map