gps-plus-slam-app-framework 1.0.6 → 1.1.0

package/dist/state/store-subscribers.js

@@ -1,6 +1,6 @@
-import { fusedGpsFromOdom } from "../utils/fused-path.js";
-import { subscribeToSelector } from "./subscribe-to-selector.js";
 import { selectAlignmentMatrix, selectGpsPositions, selectOdometryPositions, selectOdometryRotations, selectZeroReference } from "./app-selectors.js";
+import { buildMapData } from "../visualization/map-data.js";
+import { subscribeToSelector } from "./subscribe-to-selector.js";
 import { calcGpsCoords } from "gps-plus-slam-js";
 import { mat4, vec3 } from "gl-matrix";
 //#region ../src/state/store-subscribers.ts
@@ -27,6 +27,30 @@ function wireStoreSubscribers(store, deps) {
 	const _odomVec = vec3.create();
 	const _alignedVec = vec3.create();
 	const unsubs = [];
+	const alignmentSnapshotGps = [];
+	/**
+	* Rebuild the full map snapshot from the current store state and hand it to
+	* the overlay's `render`. Called whenever the alignment matrix or the GPS
+	* positions change — the change-gated subscriptions below provide the
+	* throttling, so no extra debouncing is needed. The fused path is always
+	* recomputed from the latest matrix inside `buildMapData` (D2).
+	*/
+	function rebuildMap() {
+		if (!deps.mapOverlay?.render) return;
+		const state = store.getState();
+		const rawGpsPath = selectGpsPositions(state).map((p) => ({
+			lat: p.latitude,
+			lng: p.longitude,
+			accuracy: p.latLongAccuracy
+		}));
+		deps.mapOverlay.render(buildMapData({
+			rawGpsPath,
+			odometryPositions: selectOdometryPositions(state),
+			alignmentMatrix: selectAlignmentMatrix(state),
+			zeroRef: selectZeroReference(state),
+			alignmentSnapshots: alignmentSnapshotGps
+		}));
+	}
 	unsubs.push(subscribeToSelector(store, selectAlignmentMatrix, (matrix) => {
 		if (!matrix) return;
 		deps.applyAlignmentMatrix(matrix);
@@ -45,11 +69,15 @@ function wireStoreSubscribers(store, deps) {
 			deps.gpsEventVisualizer.addAlignmentSnapshot(snapshotPos);
 			deps.onAlignmentSnapshot?.(snapshotPos);
 			const zeroRef = selectZeroReference(state);
-			if (zeroRef && deps.mapOverlay?.addAlignmentSnapshot) {
+			if (zeroRef) {
 				const gps = calcGpsCoords(zeroRef, _alignedVec);
-				deps.mapOverlay.addAlignmentSnapshot(gps.lat, gps.lon);
+				alignmentSnapshotGps.push({
+					lat: gps.lat,
+					lng: gps.lon
+				});
 			}
 		}
+		rebuildMap();
 	}));
 	unsubs.push(subscribeToSelector(store, selectGpsPositions, (gpsPositions, prevPositions) => {
 		const prevCount = prevPositions?.length ?? 0;
@@ -62,16 +90,13 @@ function wireStoreSubscribers(store, deps) {
 			const gpsPoint = gpsPositions[i];
 			const odomPos = odomPositions[i];
 			if (gpsPoint && odomPos) {
-				deps.gpsEventVisualizer.addGpsEvent(gpsPoint.coordinates, odomPos);
+				const accuracy = deps.showAccuracySpheres ? {
+					horizontal: gpsPoint.latLongAccuracy,
+					vertical: gpsPoint.altitudeAccuracy
+				} : void 0;
+				deps.gpsEventVisualizer.addGpsEvent(gpsPoint.coordinates, odomPos, accuracy);
 				deps.onNewGpsPosition?.(gpsPoint.coordinates);
 				deps.onNewGpsLatLng?.(gpsPoint.latitude, gpsPoint.longitude);
-				deps.mapOverlay?.addRawGpsPoint?.(gpsPoint.latitude, gpsPoint.longitude);
-				const alignmentMatrix = selectAlignmentMatrix(state);
-				const zero = selectZeroReference(state);
-				if (alignmentMatrix && zero && deps.mapOverlay?.addFusedPoint) {
-					const fusedGps = fusedGpsFromOdom(alignmentMatrix, odomPos, zero);
-					deps.mapOverlay.addFusedPoint(fusedGps.lat, fusedGps.lon);
-				}
 				const odomRot = odomRotations[i];
 				if (odomRot) deps.onNewOdomPose?.(odomPos, odomRot);
 			}
@@ -80,6 +105,7 @@ function wireStoreSubscribers(store, deps) {
 			const lastGpsPoint = gpsPositions[gpsPositions.length - 1];
 			deps.mapOverlay.setGpsPosition(lastGpsPoint.latitude, lastGpsPoint.longitude);
 		}
+		rebuildMap();
 	}));
 	return () => {
 		for (const unsub of unsubs) unsub();

package/dist/state/subscribe-to-selector.d.ts

@@ -1,2 +1,2 @@
-import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector-ghDKYtap.js";
+import { n as subscribeToSelector, t as SubscribableStore } from "../subscribe-to-selector--KQpgLXG.js";
 export { SubscribableStore, subscribeToSelector };

package/dist/state/tracking-quality.d.ts

@@ -0,0 +1,2 @@
+import { A as resetTrackingQuality, C as computeResidualConsensus, D as firstAgreementReached, E as degradedCountUpdated, F as snapshotsTrimmed, I as trackingQualityReducer, M as selectRecentAlignments, N as selectTrackingQuality, O as matrixDelta, P as snapshotPushed, S as computeGpsVsFusedDivergence, T as createTrackingQualityListenerMiddleware, _ as TrackingQualityState, b as computeCoverage, c as CompassAgreementResult, d as DEFAULT_TRACKING_QUALITY_OPTIONS, f as GpsAccuracyResult, g as TrackingQualitySliceState, h as TrackingQualityReport, j as selectFirstAgreementObservationIndex, k as reportUpdated, l as ConvergenceResult, m as TrackingQualityOptions, p as ResidualConsensusResult, s as AlignmentSnapshot, u as CoverageResult, v as computeCompassAgreement, w as computeTrackingQualityReport, x as computeGpsAccuracy, y as computeConvergence } from "../create-slam-app-store-B76AGaI0.js";
+export { AlignmentSnapshot, CompassAgreementResult, ConvergenceResult, CoverageResult, DEFAULT_TRACKING_QUALITY_OPTIONS, GpsAccuracyResult, ResidualConsensusResult, TrackingQualityOptions, TrackingQualityReport, TrackingQualitySliceState, TrackingQualityState, computeCompassAgreement, computeConvergence, computeCoverage, computeGpsAccuracy, computeGpsVsFusedDivergence, computeResidualConsensus, computeTrackingQualityReport, createTrackingQualityListenerMiddleware, degradedCountUpdated, firstAgreementReached, matrixDelta, reportUpdated, resetTrackingQuality, selectFirstAgreementObservationIndex, selectRecentAlignments, selectTrackingQuality, snapshotPushed, snapshotsTrimmed, trackingQualityReducer };