gps-plus-slam-js 1.0.5 → 1.0.7

package/README.md

@@ -147,13 +147,31 @@ Source: [github.com/cs-util-com/location-based-webxr](https://github.com/cs-util
 
 ## Releasing
 
-To prepare a new release version for npm:
+To prepare a new release version for npm, use the automated release preparation script from the repository root. It bumps the core package, updates the dependency range in the companion `GpsPlusSlamJs_AppFramework`, and prints a step-by-step checklist for the two PRs that follow.
+
+1. Run the preparation script for the desired bump (`patch`, `minor`, or `major`):
 
-1. Bump the package version using `pnpm`:
    ```bash
-   pnpm version patch --no-git-tag-version
+   # Core-only release (gps-plus-slam-js):
+   pnpm run prep_new_releases --core patch
+
+   # Framework-only release (gps-plus-slam-app-framework):
+   pnpm run prep_new_releases --framework patch
+
+   # Coordinated release — bump BOTH packages together. The two
+   # versions are independent SoTs; if you want them to move in
+   # lockstep you must pass both flags explicitly. A core-only
+   # bump leaves the framework's package.json#version unchanged,
+   # which will fail the publish workflow's tag-vs-version check
+   # (e.g. "Release tag app-framework@1.0.6 does not match
+   # package.json version app-framework@1.0.4").
+   pnpm run prep_new_releases --core patch --framework patch
    ```
-2. Commit the changes, open a PR, and merge it.
-3. Create a new GitHub Release with the new version tag. The GitHub Actions release workflow will automatically re-sign the community license key to ensure a fresh 12-month lifetime and publish the package to npm.
 
-_Note: See the internal `npm-publish-guide.md` (and `pnpm prep_new_releases` helper script) for detailed release instructions._
+   The public-repo `pnpm install` step is **expected** to fail with `ERR_PNPM_NO_MATCHING_VERSION` because the new version is not on npm yet — the script treats this as accepted-red and continues.
+
+2. **Private repo (`gps-plus-slam`):** follow the script's checklist to commit the core bump, open a PR, merge it, and draft a GitHub Release with the new `vX.Y.Z` tag. The release workflow re-signs the community license key and publishes `gps-plus-slam-js` to npm.
+3. **Wait** until the new version is resolvable on npm.
+4. **Public repo (`location-based-webxr`):** follow the script's checklist to push the AppFramework dep-range bump, run `pnpm install` to refresh the lockfile, open a PR, and merge it.
+
+_Note: See the internal `npm-publish-guide.md` for the full release procedure and fallback options._

package/dist/index.d.ts

@@ -258,37 +258,6 @@ interface ArImageCapture {
   /** Epoch milliseconds (Date.now() / new Date().getTime()) */
   capturedAt?: number;
 }
-/**
- * A user-defined reference point for ground truth validation.
- * Reference points are physical landmarks that can be revisited across sessions
- * to verify alignment accuracy.
- */
-interface ReferencePoint {
-  /** Unique identifier for this reference point (e.g., "benchCorner", "pointA") */
-  id: string;
-  /** AR pose when the reference point was marked */
-  position: Vector3;
-  rotation: Quaternion;
-  /** GPS data at the moment of marking */
-  gpsPoint: GpsPoint;
-  /** Epoch milliseconds (Date.now() / new Date().getTime()) */
-  timestamp: number;
-}
-/**
- * Payload for the markReferencePoint action.
- */
-interface MarkReferencePointPayload {
-  /** Unique identifier for this reference point */
-  id: string;
-  /** AR pose position when marking */
-  position: Vector3;
-  /** AR pose rotation when marking */
-  rotation: Quaternion;
-  /** Raw GPS point data at the moment of marking */
-  rawGpsPoint: RawGpsPoint;
-  /** Optional timestamp (defaults to Date.now() if not provided) */
-  timestamp?: number;
-}
 interface OdometryPath {
   points: ArImageCapture[];
 }
@@ -334,8 +303,6 @@ interface GpsModel {
   zero: LatLong;
   gpsEvents: GpsEventsType;
   odometryPath: OdometryPath;
-  /** User-defined reference points for ground truth validation */
-  referencePoints: ReferencePoint[];
 }
 interface GpsSlamState {
   gpsData: GpsModel | null;
@@ -453,7 +420,6 @@ declare const recordGpsEvent: _$_reduxjs_toolkit0.ActionCreatorWithPayload<Recor
 declare const odometryTrackingRestarted: _$_reduxjs_toolkit0.ActionCreatorWithPayload<OdometryTrackingRestartedPayload, "gpsData/odometryTrackingRestarted">;
 declare const arLoopClosureDetected: _$_reduxjs_toolkit0.ActionCreatorWithPayload<ArLoopClosureDetectedPayload, "gpsData/arLoopClosureDetected">;
 declare const add2dImage: _$_reduxjs_toolkit0.ActionCreatorWithPayload<ArImageCapture, "gpsData/add2dImage">;
-declare const markReferencePoint: _$_reduxjs_toolkit0.ActionCreatorWithPayload<MarkReferencePointPayload, "gpsData/markReferencePoint">;
 declare const gpsDataReducer: (state: GpsModel | null | undefined, action: _$redux.UnknownAction) => GpsModel | null;
 //#endregion
 //#region ../src/state/gpsElementsSlice.d.ts
@@ -531,8 +497,6 @@ declare const getOdometryPositions: (state: GpsSlamState) => readonly Vector3[];
 declare const getOdometryRotations: (state: GpsSlamState) => readonly Quaternion[];
 /** Returns the recorded GPS positions with metadata. */
 declare const getGpsPositions: (state: GpsSlamState) => readonly GpsPoint[];
-/** Returns the user-defined reference points. */
-declare const getReferencePoints: (state: GpsSlamState) => readonly ReferencePoint[];
 /** Returns the GPS zero reference (origin for coordinate conversion), or null. */
 declare const getZeroReference: (state: GpsSlamState) => LatLong | null;
 /** Returns median and mean GPS accuracy statistics, or null values if unavailable. */
@@ -561,4 +525,4 @@ declare function validateLicenseKey(key: string): LicenseValidationResult;
 //#region ../src/index.d.ts
 declare const LIB_VERSION = "1.0.0";
 //#endregion
-export { type Add2dImagePayload, type ArElementsState, type ArImageCapture, type ArLoopClosureDetectedPayload, type AreaPolygon, type CreateGpsSlamStoreOptions, type DetectedArPlane, type EventArea, type FloorDetection, type GpsElementsState, type GpsLine, type GpsMarker, type GpsModel, type GpsPoint, type GpsSlamDispatch, type GpsSlamState, type GpsSlamStore, type HeatArea, type HeatMapTile, IDENTITY_MATRIX4, IDENTITY_QUATERNION, LIB_VERSION, type LatLong, type LatLongAlt, type LicenseValidationResult, type MarkReferencePointPayload, type Matrix4, type OdometryPath, type OdometryTrackingRestartedPayload, type Quaternion, type RawDeviceOrientation, type RawGpsPoint, type RecordGpsEventPayload, type ReferencePoint, type RootState, type Vector3, type Vector4, ZERO_VECTOR3, add2dImage, addArea, addCornerToEventArea, addHeatMapArea, addLine, addMarker, addOrUpdateArPlane, addToHeatMaps, anchorEventAreaInWorldSpace, arElementsReducer, arLoopClosureDetected, calcGeoHash, calcGpsCoords, calcQuadKey, calcRelativeCoordsInMeters, cloneMatrix4, cloneQuaternion, cloneVector3, correctArDriftForEventArea, createGpsSlamStore, distanceInMeters, distanceInMetersRelative, enuQuaternionToNUE, eulerToQuaternion, finishEventArea, fromMatrix4, fromQuaternion, fromVector3, fusedGpsFromOdom, geoHashToLatLong, getAlignmentMatrix, getAlignmentRotation, getGoogleMapsDirectionsLink, getGoogleMapsLink, getGpsAccuracyStats, getGpsPositions, getOdometryPositions, getOdometryRotations, getOpenStreetMapLink, getReferencePoints, getZeroReference, gpsDataReducer, gpsElementsReducer, invertQuaternion, isIdentityMatrix4, isIdentityQuaternion, isNearIdentityQuaternion, markReferencePoint, multiplyQuaternions, normalizeQuaternion, nueQuaternionToENU, nueQuaternionToWebXR, nueToWebXR, odometryTrackingRestarted, quadKeyToLatLong, quaternionMagnitude, quaternionsEquivalent, recordGpsEvent, recordPhoneHeight, resetArElements, resetGpsElements, sanitizeForDevTools, setZeroPos, startEventArea, toEarthCenteredCoordinates, toMatrix4, toQuaternion, toVector3, validateLicenseKey, webxrQuaternionToNUE, webxrToNUE };
+export { type Add2dImagePayload, type ArElementsState, type ArImageCapture, type ArLoopClosureDetectedPayload, type AreaPolygon, type CreateGpsSlamStoreOptions, type DetectedArPlane, type EventArea, type FloorDetection, type GpsElementsState, type GpsLine, type GpsMarker, type GpsModel, type GpsPoint, type GpsSlamDispatch, type GpsSlamState, type GpsSlamStore, type HeatArea, type HeatMapTile, IDENTITY_MATRIX4, IDENTITY_QUATERNION, LIB_VERSION, type LatLong, type LatLongAlt, type LicenseValidationResult, type Matrix4, type OdometryPath, type OdometryTrackingRestartedPayload, type Quaternion, type RawDeviceOrientation, type RawGpsPoint, type RecordGpsEventPayload, type RootState, type Vector3, type Vector4, ZERO_VECTOR3, add2dImage, addArea, addCornerToEventArea, addHeatMapArea, addLine, addMarker, addOrUpdateArPlane, addToHeatMaps, anchorEventAreaInWorldSpace, arElementsReducer, arLoopClosureDetected, calcGeoHash, calcGpsCoords, calcQuadKey, calcRelativeCoordsInMeters, cloneMatrix4, cloneQuaternion, cloneVector3, correctArDriftForEventArea, createGpsSlamStore, distanceInMeters, distanceInMetersRelative, enuQuaternionToNUE, eulerToQuaternion, finishEventArea, fromMatrix4, fromQuaternion, fromVector3, fusedGpsFromOdom, geoHashToLatLong, getAlignmentMatrix, getAlignmentRotation, getGoogleMapsDirectionsLink, getGoogleMapsLink, getGpsAccuracyStats, getGpsPositions, getOdometryPositions, getOdometryRotations, getOpenStreetMapLink, getZeroReference, gpsDataReducer, gpsElementsReducer, invertQuaternion, isIdentityMatrix4, isIdentityQuaternion, isNearIdentityQuaternion, multiplyQuaternions, normalizeQuaternion, nueQuaternionToENU, nueQuaternionToWebXR, nueToWebXR, odometryTrackingRestarted, quadKeyToLatLong, quaternionMagnitude, quaternionsEquivalent, recordGpsEvent, recordPhoneHeight, resetArElements, resetGpsElements, sanitizeForDevTools, setZeroPos, startEventArea, toEarthCenteredCoordinates, toMatrix4, toQuaternion, toVector3, validateLicenseKey, webxrQuaternionToNUE, webxrToNUE };

package/dist/index.js

@@ -1,2 +1,2 @@
 /*! gps-plus-slam-js | (c) 2026 cs-util-com | UNLICENSED — see EULA.md */
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See EULA §3.`)}function f(e){return((...t)=>(d(),e(...t)))}function p(e){let t=((...t)=>(d(),e(...t)));return Object.assign(t,e),t.toString=()=>e.type,t}function m(e){return(t,n)=>(d(),e(t,n))}function h(e){let t=e.replace(/-/g,`+`).replace(/_/g,`/`),n=`=`.repeat((4-t.length%4)%4),r=atob(t+n);return Uint8Array.from(r,e=>e.charCodeAt(0))}function g(e){let t=new Date,i=e.indexOf(`.`);if(i<=0||i>=e.length-1)throw Error(`Invalid license key format: expected "payload.signature" with base64url-encoded parts.`);let a,o;try{a=h(e.substring(0,i)),o=h(e.substring(i+1))}catch{throw Error(`Invalid license key format: base64url decoding failed.`)}let s=r(`dfe5c62120b7a0ce962b17907a15b27cf1b056e6619bf6ce55e6e094b322a470`);if(!n.verify(o,a,s))throw Error(`Invalid license key: signature verification failed.`);let c=JSON.parse(new TextDecoder().decode(a));if(typeof c!=`object`||!c)throw Error(`Invalid license key: payload must be a JSON object.`);let{type:l,exp:d}=c;if(l!==`community`)throw Error(`Invalid license key: "type" must be "community".`);if(typeof d!=`number`||!Number.isFinite(d))throw Error(`Invalid license key: "exp" must be a finite number (Unix timestamp in seconds).`);if(d<Math.floor(t.getTime()/1e3)){let e=new Date(d*1e3);throw Error(`License key expired on ${e.toISOString()}. 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i.fromRotationTranslation(e,r,n),s&&(o.set(u,a,a,a),i.scale(e,e,u)),o.negate(l,t),i.translate(e,e,l),e}function Ze(e,t,n={}){let r=e.length;if(r!==t.length)throw Error(`Length of the point lists was not equal: ${r} vs ${t.length}`);if(r===0)return i.create();let s=n.solveRotation??!0,c=n.solveScale??!1,l=n.ignoreYAxisForRotation??!1,u=n.rotationIterations??9,{inCentroid:d,refCentroid:f,scaleRatio:p}=Ye(e,t,c,{inCentroid:o.create(),refCentroid:o.create(),refVec:o.create(),tmp:o.create()}),m=a.create();s?new Qe(l).solve(e,t,d,f,m,u):a.identity(m);let h={negCentroid:o.create(),scaleVec:o.create()};return Xe(i.create(),d,f,m,p,c,h)}var Qe=class e{static twoPi=Math.PI*2;static basisX=o.fromValues(1,0,0);static basisY=o.fromValues(0,1,0);static basisZ=o.fromValues(0,0,1);constructor(e){this.ignoreYAxis=e}solve(t,n,r,i,o,s){let c=this.transposeMultSubtract(t,n,r,i);if(this.ignoreYAxis){let t=c[0][0],n=c[0][2],r=c[2][0],i=c[2][2],s=Math.atan2(r-n,t+i);a.setAxisAngle(o,e.basisY,s)}else this.extractRotation(c,o,s)}transposeMultSubtract(e,t,n,r){let i=[o.create(),o.create(),o.create()],a=o.clone(n),s=o.clone(r);this.ignoreYAxis&&(a[1]=0,s[1]=0);let c=o.create(),l=o.create(),u=o.create();for(let n=0;n<e.length;n++){o.copy(c,e[n]),q(u,t[n]),this.ignoreYAxis&&(c[1]=0,u[1]=0);let r=t[n][3];o.subtract(c,c,a),o.scale(c,c,r),o.subtract(l,u,s),i[0][0]+=c[0]*l[0],i[1][0]+=c[1]*l[0],i[2][0]+=c[2]*l[0],i[0][1]+=c[0]*l[1],i[1][1]+=c[1]*l[1],i[2][1]+=c[2]*l[1],i[0][2]+=c[0]*l[2],i[1][2]+=c[1]*l[2],i[2][2]+=c[2]*l[2]}return i}extractRotation(t,n,r){let i=[o.create(),o.create(),o.create()],s=o.create(),c=o.create(),l=o.create();for(let u=0;u<r;u++){this.fillMatrixFromQuaternion(n,i),o.cross(s,i[0],t[0]),o.cross(l,i[1],t[1]),o.add(s,s,l),o.cross(l,i[2],t[2]),o.add(s,s,l);let r=o.dot(i[0],t[0])+o.dot(i[1],t[1])+o.dot(i[2],t[2])+1e-9;r=Math.abs(r),o.scale(s,s,1/r);let u=o.length(s);if(u<1e-9)break;o.scale(c,s,1/u);let d=u%e.twoPi,f=a.create();a.setAxisAngle(f,c,d),a.multiply(n,f,n),a.normalize(n,n)}}fillMatrixFromQuaternion(t,n){o.transformQuat(n[0],e.basisX,t),o.transformQuat(n[1],e.basisY,t),o.transformQuat(n[2],e.basisZ,t)}};const q=(e,t)=>(e[0]=t[0],e[1]=t[1],e[2]=t[2],e);function $e(e,t,n,r,i,a,o=Math.random){let s=Array.from(e);if(n>s.length)throw RangeError(`minSampleSize must be smaller than the number of elements: minSampleSize=${n}, elements=${s.length}`);return nt(s,et(s,t,n,r,i,a,o),i,a)}function et(e,t,n,r,i,a,o){let s=null,c=Array(n),l=new Uint8Array(e.length);for(let u=0;u<r;u+=1){it(e,n,o,c,l);let{inliers:r,outliers:u}=tt(e,l,i(c),a);if(s===null||n+r.length>=t){let e=[...c,...r],t=i(e),n=rt(t,`createModel must assign totalModelError for comparison during RANSAC`);(s===null||n<s.error)&&(t.inliers=e,t.outliers=u,s={model:t,error:n})}}return s?.model??null}function tt(e,t,n,r){let i=[],a=[];for(let o=0;o<e.length;o+=1){if(t?.[o])continue;let 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at={useOnlyRecentData:!1,recentSeconds:180,includeTimeWeight:!0,weightByTimeFactor:800,ignoreYAxisForRotation:!0,useRansac:!1,ransacInlierRatio:.95,ransacSampleRatio:.3,ransacMaxIterations:230,ransacErrorTolerance:1,geohashPrecision:8,geohashWindowSize:10,gpsAccuracyExponent:.1},ot=e=>e.map(e=>R(e)),st=e=>e.map(e=>H(e)),ct=e=>e.map(Q),lt=e=>e.map(e=>[e[0],e[1],e[2],e[3]]),J=e=>Array.isArray(e)?e:F(e),Y=e=>Array.isArray(e)?e:I(e),ut=(e,t,n,r)=>({odometryPosOffset:R(J(e)),odometryRotOffset:H(Y(t)),latestLoopClosureFixPointPos:n?R(J(n)):null,latestLoopClosureFixPointRot:r?H(Y(r)):null}),dt=(e,t,n,r)=>({odometryPositions:[],odometryRotations:[],gpsPositions:[],gpsPositionsVec4:[],alignmentMatrix:[...V],alignmentRotation:[...z],alignmentTranslation:[...B],alignmentRotationInDegree:[...B],...ut(e,t,n,r),gpsAccuracyMedian:null,gpsAccuracyMean:null,currentGpsPosGeoHash:null}),ft=()=>dt(B,z,null,null),pt=(e,t,n,r)=>{let i=e.map(e=>J(e)),a=t.map(e=>H(Y(e))),o=n.map(Q),s=r.gpsAccuracyExponent;for(let e of o)e.weight=ht(e.latLongAccuracy,s);let c=o.map(Ot),l=r.includeTimeWeight?wt(c,o,r.weightByTimeFactor):c,u=r.useOnlyRecentData?Ct(o,r.recentSeconds):0;return{allPositionTuples:i,allRotationTuples:a,allGpsPoints:o,allVec4Tuples:l,solverPositionsTyped:i.slice(u).map(N),solverGpsPoints:o.slice(u),solverWeightedVec4Tuples:l.slice(u)}},mt=e=>{let{odometryPositions:t,odometryRotations:n,gpsPoints:r,odometryPosOffset:i=B,odometryRotOffset:s=z,latestLoopClosureFixPointPos:c=null,latestLoopClosureFixPointRot:l=null,alignmentConfig:u,random:d}=e;if(t.length!==n.length||t.length!==r.length)throw Error(`GpsEvents requires odometry positions, rotations, and gps points to have identical lengths`);let f={...at,...u??{}};if(t.length===0)return 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e=o.length,t=Math.max(3,Math.min(e,Math.ceil(e*n.ransacSampleRatio))),i=$e(o,Math.max(t,Math.min(e,Math.ceil(e*n.ransacInlierRatio))),t,n.ransacMaxIterations,e=>bt(e,n.ignoreYAxisForRotation),(e,t)=>xt(e,t)<e.meanAlignmentError+n.ransacErrorTolerance,r);return{matrix:i.alignmentMatrix,meanError:i.meanAlignmentError}}let c=bt(o,n.ignoreYAxisForRotation);return{matrix:c.alignmentMatrix,meanError:c.meanAlignmentError}},bt=(e,t)=>{let n=Array.from(e),r=n.length,i=Array(r),a=Array(r);for(let e=0;e<r;e+=1)i[e]=n[e].odom,a[e]=n[e].ref;let s=Ze(i,a,{ignoreYAxisForRotation:t}),c=0;for(let e=0;e<r;e+=1)o.transformMat4(X,i[e],s),c+=St(X,n[e].ref);return{alignmentMatrix:s,meanAlignmentError:r===0?0:c/r,totalModelError:c}},xt=(e,t)=>(o.transformMat4(X,t.odom,e.alignmentMatrix),St(X,t.ref)),St=(e,t)=>(o.set(vt,t[0],t[1],t[2]),o.squaredDistance(e,vt)),Ct=(e,t)=>{if(e.length===0||t<=0)return 0;let n=e[e.length-1].timestamp-t*1e3;for(let t=0;t<e.length;t+=1)if(e[t].timestamp>=n)return t;return 0},wt=(e,t,n)=>{if(e.length<2)return e.map(e=>[e[0],e[1],e[2],e[3]]);let r=t[t.length-1].timestamp,i=t[0].timestamp,a=Math.max(1,r-i);return e.map((e,i)=>{let o=n*((r-t[i].timestamp)/a)+1,s=t[i].weight,c=1/(1/(s>0&&Number.isFinite(s)?s:1)+o);return[e[0],e[1],e[2],c]})},Z=new Map,Tt=(e,t,n)=>{if(e.length===0)return null;let r=Math.max(0,e.length-n);Z.clear();for(let n=r;n<e.length;n+=1){let r=e[n],i=ce(kt(r),t),a=Z.get(i);a?(a.count+=1,a.index=n):Z.set(i,{count:1,index:n})}let i=null,a=-1,o=-1;for(let[e,{count:t,index:n}]of Z)(t>a||t===a&&n>o)&&(i=e,a=t,o=n);return i},Et=e=>{let t=e.map(e=>e.latLongAccuracy).filter(e=>typeof e==`number`&&Number.isFinite(e));if(t.length===0)return{mean:null,median:null};let n=t.reduce((e,t)=>e+t,0)/t.length,r=t.slice().sort((e,t)=>e-t),i=Math.floor(r.length/2);return{mean:n,median:r.length%2==0?(r[i-1]+r[i])/2:r[i]}},Dt=(e,t)=>{let n=e[0],r=e[1],i=e[2],a=e[3],s=2*(a*n+r*i),c=1-2*(n*n+r*r),l=Math.atan2(s,c),u=2*(a*r-i*n),d;d=Math.abs(u)>=1?Math.PI/2*Math.sign(u):Math.asin(u);let f=2*(a*i+n*r),p=1-2*(r*r+i*i),m=Math.atan2(f,p),h=180/Math.PI,g=t??o.create();return g[0]=l*h,g[1]=d*h,g[2]=m*h,g},Ot=e=>[e.coordinates[0],e.coordinates[1],e.coordinates[2],e.weight>0&&Number.isFinite(e.weight)?e.weight:1],kt=e=>({lat:e.latitude,lon:e.longitude}),Q=e=>({...e,zeroRef:{lat:e.zeroRef.lat,lon:e.zeroRef.lon},coordinates:[e.coordinates[0],e.coordinates[1],e.coordinates[2]],timestamp:e.timestamp,deviceRotation:e.deviceRotation?H(Y(e.deviceRotation)):void 0}),At=({lat:e,lon:t})=>{if(!Number.isFinite(e))throw Error(`Invalid latitude value: ${e}`);if(!Number.isFinite(t))throw Error(`Invalid longitude value: ${t}`);if(e<-90||e>90)throw Error(`Invalid latitude range: ${e}`);if(t<-180||t>180)throw Error(`Invalid longitude range: ${t}`)},jt=o.fromValues(1,1,1),Mt=(e,t)=>[e[0]+t[0],e[1]+t[1],e[2]+t[2]],Nt=(e,t,n)=>{let 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r=o.create(),s=o.create(),c=a.create(),l=a.create();i.getTranslation(r,e),i.getTranslation(s,t),i.getRotation(c,e),i.getRotation(l,t);let u=o.create();o.lerp(u,r,s,n);let d=a.create();return a.slerp(d,c,l,n),i.fromRotationTranslation(i.create(),d,u)},zt=(e,t)=>{if(e.length===0)return[];let n=e[e.length-1],r=i.invert(i.create(),n);if(!r)throw Error(`End pose matrix is not invertible`);let a=i.multiply(i.create(),t,r),o=i.create(),s=e.length-1;return e.map((e,t)=>{let n=Rt(o,a,s<=0?1:t/s);return i.multiply(i.create(),n,e)})},Bt=(e,t,n)=>{for(let r=e.length-1;r>=0;--r)if(n(e[r],t))return r;return-1},Vt=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2],Ht=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3],Ut=t({name:`gpsData`,initialState:null,reducers:{setZeroPos:{reducer:(e,t)=>e===null?{zero:t.payload,gpsEvents:ft(),odometryPath:_e(),referencePoints:[]}:e,prepare:e=>(At(e),{payload:e})},recordGpsEvent:(e,t)=>{if(!e)return e;let{odomPosition:n,odomRotation:r,rawGpsPoint:i,rawDeviceOrientation:a}=t.payload,o=Nt(i,e.zero,a);gt(e.gpsEvents,U(n),W(r),o)},odometryTrackingRestarted:(e,t)=>{if(!e)return e;let n=Mt(e.gpsEvents.odometryPosOffset,U(t.payload.lastValidOdomPos)),r=Pt(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=Pt(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(mt({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:It({...t.payload,lastValidOdomRot:W(t.payload.lastValidOdomRot),newOdomRot:W(t.payload.newOdomRot),lastSensorRot:G(r),newSensorRot:G(i)}),latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},arLoopClosureDetected:(e,t)=>{if(!e)return e;let n=e.gpsEvents;if(n.odometryPositions.length===0)return e;let r=n.latestLoopClosureFixPointPos?Bt(n.odometryPositions,n.latestLoopClosureFixPointPos,Vt):0,s=n.latestLoopClosureFixPointRot?Bt(n.odometryRotations,n.latestLoopClosureFixPointRot,Ht):0;if(r<0||s<0)throw Error(`Loop closure fix point could not be located in history`);if(r!==s)throw Error(`Loop closure fix point indices for position and rotation diverged`);let l=n.odometryPositions.slice(0,r).map(e=>R(e)),u=n.odometryRotations.slice(0,r).map(e=>H(e)),d=n.odometryPositions.slice(r).map(e=>R(e)),f=n.odometryRotations.slice(r).map(e=>H(e)),p=d.map((e,t)=>Lt(e,f[t])),m=Lt(U(t.payload.lastPos),H(W(t.payload.lastRot)));p.push(m);let h=zt(p,Lt(U(t.payload.newPos),H(W(t.payload.newRot)))),g=[],_=[],v=o.create();for(let e=0;e<h.length-1;e+=1){let t=h[e],n=o.create();i.getTranslation(n,t);let r=a.create();if(i.getRotation(r,t),a.normalize(r,r),i.getScaling(v,t),Math.hypot(v[0]-1,v[1]-1,v[2]-1)>.05)throw Error(`Unexpected scale drift encountered during loop closure correction`);g.push(F(n)),_.push(I(r))}e.gpsEvents=c(mt({odometryPositions:l.concat(g),odometryRotations:u.concat(_),gpsPoints:n.gpsPositions,odometryPosOffset:n.odometryPosOffset,odometryRotOffset:n.odometryRotOffset,latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},add2dImage:(e,t)=>{if(!e)return e;e.odometryPath.points.push(c({imageFile:t.payload.imageFile,screenRotation:t.payload.screenRotation,position:U(t.payload.position),rotation:H(W(t.payload.rotation)),capturedAt:t.payload.capturedAt}))},markReferencePoint:(e,t)=>{if(!e)return e;let{id:n,position:r,rotation:i,rawGpsPoint:a,timestamp:o}=t.payload,s=Nt(a,e.zero);e.referencePoints.push(c({id:n,position:U(r),rotation:H(W(i)),gpsPoint:Q(s),timestamp:o??Date.now()}))}}}),{setZeroPos:Wt,recordGpsEvent:Gt,odometryTrackingRestarted:Kt,arLoopClosureDetected:qt,add2dImage:Jt,markReferencePoint:Yt}=Ut.actions,Xt=p(Wt),Zt=p(Gt),Qt=p(Kt),$t=p(qt),en=p(Jt),tn=p(Yt),nn=m(Ut.reducer),rn=t({name:`gpsElements`,initialState:j(),reducers:{addMarker:(e,t)=>{e.gpsMarkers.push(t.payload)},addLine:(e,t)=>{e.gpsLines.push(t.payload)},addArea:(e,t)=>{e.areas.push(t.payload)},addToHeatMaps:(e,t)=>{let{category:n,tiles:r}=t.payload,i=e.heatMap[n]??{};e.heatMap[n]={...i,...r}},addHeatMapArea:(e,t)=>{let n=t.payload,r=n.category;if(e.heatAreas[r]||(e.heatAreas[r]={}),e.heatAreas[r][n.geoHash])throw Error(`HeatArea collision detected for GeoHash: 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+import{configureStore as e,createSlice as t}from"@reduxjs/toolkit";import{ed25519 as n}from"@noble/curves/ed25519.js";import{hexToBytes as r}from"@noble/curves/utils.js";import{mat4 as i,quat as a,vec3 as o,vec4 as s}from"gl-matrix";import{castDraft as c}from"immer";let l=!1;function u(){l=!0}function d(){if(!l)throw Error(`gps-plus-slam-js: license not activated. Construct your store via createRecorderStore() from gps-plus-slam-app-framework, or pass a valid licenseKey to createGpsSlamStore(). 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i=e.map(e=>J(e)),a=t.map(e=>V(Y(e))),o=n.map(Nt),s=r.gpsAccuracyExponent;for(let e of o)e.weight=X(e.latLongAccuracy,s);let c=o.map(jt),l=r.includeTimeWeight?Dt(c,o,r.weightByTimeFactor):c,u=r.useOnlyRecentData?Tt(o,r.recentSeconds):0,d=i.slice(u).map(M),f=o.slice(u);return{allPositionTuples:i,allRotationTuples:a,allGpsPoints:o,allVec4Tuples:l,solverPositionsTyped:d,solverGpsPoints:f,solverWeightedVec4Tuples:l.slice(u),solverVerticalWeights:Et(f,r)}},mt=e=>{let{odometryPositions:t,odometryRotations:n,gpsPoints:r,odometryPosOffset:i=z,odometryRotOffset:s=R,latestLoopClosureFixPointPos:c=null,latestLoopClosureFixPointRot:l=null,alignmentConfig:u,random:d}=e;if(t.length!==n.length||t.length!==r.length)throw Error(`GpsEvents requires odometry positions, rotations, and gps points to have identical lengths`);let f={...at,...u??{}};if(t.length===0)return 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n=It(e.gpsEvents.odometryPosOffset,H(t.payload.lastValidOdomPos)),r=Rt(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=Rt(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(mt({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:Bt({...t.payload,lastValidOdomRot:U(t.payload.lastValidOdomRot),newOdomRot:U(t.payload.newOdomRot),lastSensorRot:W(r),newSensorRot:W(i)}),latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},arLoopClosureDetected:(e,t)=>{if(!e)return e;let n=e.gpsEvents;if(n.odometryPositions.length===0)return e;let r=n.latestLoopClosureFixPointPos?Wt(n.odometryPositions,n.latestLoopClosureFixPointPos,Gt):0,s=n.latestLoopClosureFixPointRot?Wt(n.odometryRotations,n.latestLoopClosureFixPointRot,Kt):0;if(r<0||s<0)throw Error(`Loop closure fix point could not be located in history`);if(r!==s)throw Error(`Loop closure fix point indices for position and rotation diverged`);let l=n.odometryPositions.slice(0,r).map(e=>L(e)),u=n.odometryRotations.slice(0,r).map(e=>V(e)),d=n.odometryPositions.slice(r).map(e=>L(e)),f=n.odometryRotations.slice(r).map(e=>V(e)),p=d.map((e,t)=>Vt(e,f[t])),m=Vt(H(t.payload.lastPos),V(U(t.payload.lastRot)));p.push(m);let h=Ut(p,Vt(H(t.payload.newPos),V(U(t.payload.newRot)))),g=[],_=[],v=o.create();for(let e=0;e<h.length-1;e+=1){let t=h[e],n=o.create();i.getTranslation(n,t);let r=a.create();if(i.getRotation(r,t),a.normalize(r,r),i.getScaling(v,t),Math.hypot(v[0]-1,v[1]-1,v[2]-1)>.05)throw Error(`Unexpected scale drift encountered during loop closure correction`);g.push(P(n)),_.push(F(r))}e.gpsEvents=c(mt({odometryPositions:l.concat(g),odometryRotations:u.concat(_),gpsPoints:n.gpsPositions,odometryPosOffset:n.odometryPosOffset,odometryRotOffset:n.odometryRotOffset,latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null}))},add2dImage:(e,t)=>{if(!e)return e;e.odometryPath.points.push(c({imageFile:t.payload.imageFile,screenRotation:t.payload.screenRotation,position:H(t.payload.position),rotation:V(U(t.payload.rotation)),capturedAt:t.payload.capturedAt}))}}}),{setZeroPos:Jt,recordGpsEvent:Yt,odometryTrackingRestarted:Xt,arLoopClosureDetected:Zt,add2dImage:Qt}=qt.actions,$t=p(Jt),en=p(Yt),tn=p(Xt),nn=p(Zt),rn=p(Qt),an=m(qt.reducer),on=t({name:`gpsElements`,initialState:ve(),reducers:{addMarker:(e,t)=>{e.gpsMarkers.push(t.payload)},addLine:(e,t)=>{e.gpsLines.push(t.payload)},addArea:(e,t)=>{e.areas.push(t.payload)},addToHeatMaps:(e,t)=>{let{category:n,tiles:r}=t.payload,i=e.heatMap[n]??{};e.heatMap[n]={...i,...r}},addHeatMapArea:(e,t)=>{let n=t.payload,r=n.category;if(e.heatAreas[r]||(e.heatAreas[r]={}),e.heatAreas[r][n.geoHash])throw Error(`HeatArea collision detected for GeoHash: ${n.geoHash}`);e.heatAreas[r][n.geoHash]=n},resetGpsElements:()=>ve()}}),{addMarker:sn,addLine:cn,addArea:ln,addToHeatMaps:un,addHeatMapArea:dn,resetGpsElements:fn}=on.actions,pn=p(sn),mn=p(cn),hn=p(ln),gn=p(un),_n=p(dn),vn=p(fn),yn=m(on.reducer),bn=()=>({gpsData:null,gpsElements:ve(),arElements:j()}),xn=e=>{let t=Array.from({length:Math.min(e.length,4)},(t,n)=>e[n].toFixed(2));e.length>4&&t.push(`…`);let n=`[${t.join(`, `)}]`;if(e.length===4){let{pitch:t,yaw:r,roll:i}=v(e);return`${n} (pitch=${t.toFixed(0)}°, yaw=${r.toFixed(0)}°, roll=${i.toFixed(0)}°)`}return n},Sn=e=>(e.length===3||e.length===4||e.length===16)&&e.every(e=>typeof e==`number`),$=(e,t=0)=>{if(t>10||e==null)return e;if(Array.isArray(e))return Sn(e)?xn(e):e.map(e=>$(e,t+1));if(typeof e==`object`){let n={};for(let[r,i]of Object.entries(e))n[r]=$(i,t+1);return n}return e},Cn=(t={})=>{let{preloadedState:n,enableDevToolsSanitizers:r=!0,enableDevChecks:i=!0,licenseKey:a}=t;if(a==null)throw Error(`License key required. Pass options.licenseKey or use createRecorderStore() from gps-plus-slam-app-framework. See EULA §3.`);g(a);let o=bn(),s=n?{gpsData:n.gpsData??o.gpsData,gpsElements:n.gpsElements??o.gpsElements,arElements:n.arElements??o.arElements}:void 0;return e({reducer:{gpsData:an,gpsElements:yn,arElements:Ye},preloadedState:s,middleware:e=>e({serializableCheck:i,immutableCheck:i}),devTools:r?{actionSanitizer:$,stateSanitizer:$}:!0})},wn=[],Tn=[],En=[],Dn={median:null,mean:null},On=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentMatrix}),kn=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentRotation}),An=f(function(e){return e.gpsData?.gpsEvents?.odometryPositions??wn}),jn=f(function(e){return e.gpsData?.gpsEvents?.odometryRotations??Tn}),Mn=f(function(e){return e.gpsData?.gpsEvents?.gpsPositions??En}),Nn=f(function(e){return e.gpsData?.zero??null}),Pn=f(function(e){let t=e.gpsData?.gpsEvents?.gpsAccuracyMedian??null,n=e.gpsData?.gpsEvents?.gpsAccuracyMean??null;return t===null&&n===null?Dn:{median:t,mean:n}}),Fn=`1.0.0`;export{B as IDENTITY_MATRIX4,R as IDENTITY_QUATERNION,Fn as LIB_VERSION,z as ZERO_VECTOR3,rn as add2dImage,hn as addArea,We as addCornerToEventArea,_n as addHeatMapArea,mn as addLine,pn as addMarker,He as addOrUpdateArPlane,gn as addToHeatMaps,qe as anchorEventAreaInWorldSpace,Ye as arElementsReducer,nn as arLoopClosureDetected,ce as calcGeoHash,k as calcGpsCoords,oe as calcQuadKey,O as calcRelativeCoordsInMeters,xe as cloneMatrix4,be as cloneQuaternion,L as cloneVector3,Ge as correctArDriftForEventArea,Cn as createGpsSlamStore,ue as distanceInMeters,de as distanceInMetersRelative,W as enuQuaternionToNUE,G as eulerToQuaternion,Ke as finishEventArea,ye as fromMatrix4,N as fromQuaternion,M as fromVector3,ge as fusedGpsFromOdom,le as geoHashToLatLong,On as getAlignmentMatrix,kn as getAlignmentRotation,me as getGoogleMapsDirectionsLink,pe as getGoogleMapsLink,Pn as getGpsAccuracyStats,Mn as getGpsPositions,An as getOdometryPositions,jn as getOdometryRotations,he as getOpenStreetMapLink,Nn as getZeroReference,an as gpsDataReducer,yn as gpsElementsReducer,Oe as invertQuaternion,Se as isIdentityMatrix4,we as isIdentityQuaternion,Te as isNearIdentityQuaternion,De as multiplyQuaternions,V as normalizeQuaternion,je as nueQuaternionToENU,Ae as nueQuaternionToWebXR,ke as nueToWebXR,tn as odometryTrackingRestarted,se as quadKeyToLatLong,Ce as quaternionMagnitude,Ee as quaternionsEquivalent,en as recordGpsEvent,Ve as recordPhoneHeight,Je as resetArElements,vn as resetGpsElements,$ as sanitizeForDevTools,$t as setZeroPos,Ue as startEventArea,fe as toEarthCenteredCoordinates,I as toMatrix4,F as toQuaternion,P as toVector3,g as validateLicenseKey,U as webxrQuaternionToNUE,H as webxrToNUE};

package/dist/licensing/community-license-key.d.ts

@@ -35,6 +35,6 @@
  * @see docs/2026-04-25-private-key-security-plan.md — secret-backed renewal
  * @see ../../GpsPlusSlamJs_Docs/docs/2026-05-01-community-key-resign-cross-repo-issue.md
  */
-declare const COMMUNITY_LICENSE_KEY = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODA5NTA0ODYyfQ.y_V0DcaNmpj6SwBdHOyxrYwIDYwDBPNiM2uBZOlg87CvSA4KtaQl0GTjWi8vT0Sbu5hE_W63FEuoBMi36aJOBw";
+declare const COMMUNITY_LICENSE_KEY = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODExNzg4MTA2fQ.0lSHw7QYXP8U_PgQ7ckP3JIP31h4EGvgzNx0_6u-FeYdFMwM-QUENHsWSbyZ718n8nfyxOvNNGN2v-ljSOxhDQ";
 //#endregion
 export { COMMUNITY_LICENSE_KEY };

package/dist/licensing/community-license-key.js

@@ -1,2 +1,2 @@
 /*! gps-plus-slam-js | (c) 2026 cs-util-com | UNLICENSED — see EULA.md */
-const e=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODA5NTA0ODYyfQ.y_V0DcaNmpj6SwBdHOyxrYwIDYwDBPNiM2uBZOlg87CvSA4KtaQl0GTjWi8vT0Sbu5hE_W63FEuoBMi36aJOBw`;export{e as COMMUNITY_LICENSE_KEY};
+const e=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODExNzg4MTA2fQ.0lSHw7QYXP8U_PgQ7ckP3JIP31h4EGvgzNx0_6u-FeYdFMwM-QUENHsWSbyZ718n8nfyxOvNNGN2v-ljSOxhDQ`;export{e as COMMUNITY_LICENSE_KEY};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gps-plus-slam-js",
-  "version": "1.0.5",
+  "version": "1.0.7",
   "description": "TypeScript library for real-time GPS + AR odometry alignment.",
   "author": "cs-util-com",
   "keywords": [
@@ -42,35 +42,35 @@
     "@noble/curves": "^2.2.0",
     "@reduxjs/toolkit": "^2.11.2",
     "gl-matrix": "3.4.4",
-    "immer": "^11.1.4",
+    "immer": "^11.1.8",
     "redux": "^5.0.1",
     "redux-thunk": "^3.1.0"
   },
   "license": "UNLICENSED",
   "devDependencies": {
     "@eslint/js": "^10.0.1",
-    "@playwright/test": "^1.59.1",
+    "@playwright/test": "^1.60.0",
     "@stryker-mutator/core": "^9.6.1",
     "@stryker-mutator/typescript-checker": "^9.6.1",
     "@stryker-mutator/vitest-runner": "^9.6.1",
-    "@types/node": "^25.6.0",
-    "@vitest/coverage-v8": "^4.1.5",
-    "@vitest/eslint-plugin": "^1.6.16",
-    "dependency-cruiser": "^17.3.10",
-    "dpdm": "^4.0.1",
-    "eslint": "^10.2.1",
+    "@types/node": "^25.7.0",
+    "@vitest/coverage-v8": "^4.1.6",
+    "@vitest/eslint-plugin": "^1.6.17",
+    "dependency-cruiser": "^17.4.0",
+    "dpdm": "^4.2.0",
+    "eslint": "^10.3.0",
     "eslint-config-prettier": "^10.1.8",
-    "fast-check": "^4.7.0",
-    "globals": "^17.5.0",
-    "jscpd": "^4.0.9",
-    "knip": "^6.6.0",
+    "fast-check": "^4.8.0",
+    "globals": "^17.6.0",
+    "jscpd": "^4.1.1",
+    "knip": "^6.13.1",
     "prettier": "^3.8.3",
     "serve": "^14.2.6",
-    "tailwindcss": "^4.2.4",
-    "tsdown": "^0.21.9",
+    "tailwindcss": "^4.3.0",
+    "tsdown": "^0.22.0",
     "typescript": "^6.0.3",
-    "typescript-eslint": "^8.59.0",
-    "vitest": "^4.1.5"
+    "typescript-eslint": "^8.59.3",
+    "vitest": "^4.1.6"
   },
   "scripts": {
     "generate-keys": "node scripts/generate-keys.mjs",