gps-plus-slam-js 1.5.0 → 1.6.0

package/dist/index.d.ts

@@ -166,6 +166,41 @@ interface RawAbsoluteOrientation {
  */
 declare const eulerToQuaternion: (alpha: number, beta: number, gamma: number) => Quaternion;
 //#endregion
+//#region ../src/state/models/compass-trust.d.ts
+/**
+ * Phase 4 Stage A — magnetometer consistency-trust state machine
+ * (CLOSED / INTERNAL ONLY).
+ *
+ * A pure, deterministic reducer that earns (or withholds) trust in the absolute
+ * compass by comparing it against the **GPS-only** alignment yaw over time. It
+ * exists to feed the *steady-state* Stage B/C use of the compass (detection /
+ * soft-prior correction) — it is built in the same iteration as Stage 0 but is
+ * **deliberately orthogonal to the Stage-0 cold-start handover**, which stays
+ * GPS-intrinsic and never consults trust (plan §7b "the circularity trap").
+ *
+ * The cardinal property (plan §4c item 9, §10): a **consistently-biased**
+ * magnetometer must NEVER reach "trusted" once GPS yaw is observable — its
+ * disagreement keeps it out of the trusted state, and a sustained disagreement
+ * raises the figure-8 recalibration recommendation instead.
+ *
+ * Trust ordering (plan §7b Stage A):
+ *   - Before GPS yaw is observable there is nothing trustworthy to validate
+ *     against ⇒ the machine is `dormant` (Stage 0's unconditional override holds).
+ *   - Once observable, agreement within tolerance for a sustained streak ⇒
+ *     `trusted`; a later large disagreement drops it back to `untrusted`.
+ *
+ * See the colocated `.md` sidecar for the API, invariants and test strategy.
+ */
+type TrustState = 'dormant' | 'untrusted' | 'trusted';
+/** Serializable trust memory (survives Redux round-trips). */
+interface TrustMemory {
+  readonly state: TrustState;
+  readonly agreeStreak: number;
+  readonly disagreeStreak: number;
+  /** Derived per-step: surface the figure-8 prompt (observable + sustained disagreement). */
+  readonly recommendRecalibration: boolean;
+}
+//#endregion
 //#region ../src/state/models/gpsEvents.d.ts
 /**
  * Plain object representing GPS events state.
@@ -200,6 +235,23 @@ interface GpsEventsState {
    */
   lastAdmittedOdomPos: Vector3 | null;
   lastAdmittedTs: number | null;
+  /**
+   * Phase-4 Stage 0 (only present when `useCompassColdStartOverride` is on):
+   * ring buffer of the last N GPS-only solved yaw bearings (deg) feeding the
+   * intrinsic observability gate, and the last applied override bearing driving
+   * the snap-correction across incremental calls. **Absent** when the override is
+   * off ⇒ byte-identical state shape for every existing consumer. Reset on
+   * origin-jump rebuilds (the batch path rebuilds the window from prefixes).
+   */
+  coldStartYawWindowDeg?: number[];
+  coldStartAppliedBearingDeg?: number | null;
+  /**
+   * Phase-4 Stage C (only present when `useCompassRotationPrior` is on): the
+   * compass consistency-trust memory, updated each observation from the windowed
+   * compass-vs-GPS-only-yaw agreement (gated on observability). Absent otherwise
+   * ⇒ byte-identical state shape. Reset to dormant on origin-jump rebuilds.
+   */
+  compassTrust?: TrustMemory;
 }
 //#endregion
 //#region ../src/state/types.d.ts
@@ -353,6 +405,16 @@ interface GpsModel {
   zero: LatLong;
   gpsEvents: GpsEventsType;
   odometryPath: OdometryPath;
+  /**
+   * Runtime opt-in for the Phase-4 Stage-0 cold-start compass yaw override
+   * (closed/internal alignment feature). Set via `setColdStartOverrideEnabled`
+   * — must be dispatched **after** `setZeroPos` (state is null before it). When
+   * truthy the reducer threads `{ useCompassColdStartOverride: true }` into the
+   * solve; absent/false ⇒ byte-identical to today. A debug/experiment flag —
+   * keep OFF until the §6a field matrix re-tunes the thresholds. See
+   * GpsPlusSlamJs_Docs/docs/2026-06-26-absolute-orientation-sensor-phase4-stage0-followup.md.
+   */
+  coldStartOverrideEnabled?: boolean;
 }
 interface GpsSlamState {
   gpsData: GpsModel | null;
@@ -476,6 +538,7 @@ 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 setColdStartOverrideEnabled: _$_reduxjs_toolkit0.ActionCreatorWithPayload<boolean, "gpsData/setColdStartOverrideEnabled">;
 declare const gpsDataReducer: (state: GpsModel | null | undefined, action: _$redux.UnknownAction) => GpsModel | null;
 //#endregion
 //#region ../src/state/gpsElementsSlice.d.ts
@@ -681,4 +744,4 @@ 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 Matrix4, type OdometryPath, type OdometryTrackingRestartedPayload, type Quaternion, type RawAbsoluteOrientation, type RawDeviceOrientation, type RawGpsPoint, type RecordGpsEventPayload, type RootState, type Vector3, type Vector4, WMM2025_EPOCH, WMM2025_VALID_FROM, WMM2025_VALID_TO, ZERO_VECTOR3, add2dImage, addArea, addCornerToEventArea, addHeatMapArea, addLine, addMarker, addOrUpdateArPlane, addToHeatMaps, anchorEventAreaInWorldSpace, arElementsReducer, arLoopClosureDetected, arNorthBearingDeg, arToEnuRotation, bearingDeltaDeg, 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, magneticDeclinationDeg, magneticHeadingFromEnuQuat, magneticToTrueHeadingDeg, 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 RawAbsoluteOrientation, type RawDeviceOrientation, type RawGpsPoint, type RecordGpsEventPayload, type RootState, type Vector3, type Vector4, WMM2025_EPOCH, WMM2025_VALID_FROM, WMM2025_VALID_TO, ZERO_VECTOR3, add2dImage, addArea, addCornerToEventArea, addHeatMapArea, addLine, addMarker, addOrUpdateArPlane, addToHeatMaps, anchorEventAreaInWorldSpace, arElementsReducer, arLoopClosureDetected, arNorthBearingDeg, arToEnuRotation, bearingDeltaDeg, 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, magneticDeclinationDeg, magneticHeadingFromEnuQuat, magneticToTrueHeadingDeg, multiplyQuaternions, normalizeQuaternion, nueQuaternionToENU, nueQuaternionToWebXR, nueToWebXR, odometryTrackingRestarted, quadKeyToLatLong, quaternionMagnitude, quaternionsEquivalent, recordGpsEvent, recordPhoneHeight, resetArElements, resetGpsElements, sanitizeForDevTools, setColdStartOverrideEnabled, 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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+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(). 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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Error(`geoHash must not be empty`);let t=-90,n=90,r=-180,i=180,a=!0;for(let o of e){let e=T.indexOf(o);if(e===-1)throw Error(`Invalid geohash character: ${o}`);for(let o of E){if(a){let t=(r+i)/2;(e&o)===0?i=t:r=t}else{let r=(t+n)/2;(e&o)===0?n=r:t=r}a=!a}}return{lat:(t+n)/2,lon:(r+i)/2}}),oe=f((e,t)=>{let n=O(e.lat),r=O(t.lat),i=r-n,a=O(t.lon-e.lon),o=Math.sin(i/2),s=Math.sin(a/2),c=o*o+Math.cos(n)*Math.cos(r)*s*s,l=Math.min(1,Math.max(0,c));return 6371008.8*(2*Math.atan2(Math.sqrt(l),Math.sqrt(1-l)))}),se=f((e,t)=>{let n=ce(e,t);return Math.hypot(n[0],n[2])}),ce=f((e,t,n=0,r=0)=>{let i=(t.lon-e.lon)*x*Math.cos(O(e.lat)),a=(t.lat-e.lat)*S,s=n-r;return o.fromValues(a,s,i)}),le=f((e,t)=>{let 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i=0;i<e.length;i+=1)n+=e[i]*t[i],r+=t[i];if(r>0&&Number.isFinite(r))return n/r;let i=0;for(let t=0;t<e.length;t+=1)i+=e[t];return e.length===0?0:i/e.length},vn=(e,t)=>{if(e.length===0)return 0;if(e.length===1)return e[0];let n=e.map((e,t)=>t);n.sort((t,n)=>e[t]-e[n]);let r=0;for(let e=0;e<t.length;e+=1)r+=t[e];if(!(r>0)||!Number.isFinite(r)){let t=n.map(t=>e[t]);return t[Math.floor((t.length-1)/2)]}let i=r/2,a=0;for(let r=0;r<n.length;r+=1)if(a+=t[n[r]],a>=i)return e[n[r]];return e[n[n.length-1]]},yn=e=>{let t=0;for(let n=1;n<e.length;n+=1){let r=e[n].coordinates,i=e[n-1].coordinates;t+=Math.hypot(r[0]-i[0],r[2]-i[2])}return t},bn=(e,t)=>{let n=o.create(),r=0;for(let i=0;i<e.length;i+=1){let a=t[i][3];o.scaleAndAdd(n,n,e[i],a),r+=a}return r>0&&o.scale(n,n,1/r),n},xn=(e,t)=>{let n=[];for(let r=0;r<e.length;r+=1){let i=e[r].absoluteOrientation,a=t[r];if(!i||!a)continue;let o=gt(i.quaternion,a);if(o===null)continue;let s=((o+Ft(e[r].latitude,e[r].longitude,{date:e[r].timestamp||void 0}))%360+360)%360;Number.isFinite(s)&&n.push(s)}return n.length===0?null:Rt(n)},Sn=e=>({collapseThresholdDeg:e.coldStartObservabilityCollapseDeg,rampWidthDeg:e.coldStartObservabilityRampDeg,minWindow:e.coldStartObservabilityWindow,baselineMinM:e.coldStartBaselineMinM,baselineRampM:e.coldStartBaselineRampM}),Cn=(e,t,n,r,i)=>{let a=e.length,o=Math.max(1,a-r.coldStartObservabilityWindow+1),s=[];for(let c=o;c<=a;c+=1){let a=hn(e.slice(0,c),t.slice(0,c),n.slice(0,c),r,i);s.push(Y(a.matrix))}return s},wn={agreeToleranceDeg:8,minAgreeStreak:3,dropToleranceDeg:20,recalibrateAfterStreak:4},Tn=(e,t,n,r,i,a,o,s,c)=>{let l=xn(r,i);if(l===null)return{matrix:e,appliedBearingDeg:o,trust:s};let u=a.length>0?a[a.length-1]:Y(e),d=Ht(a,yn(r),Sn(c)),f,p=s;c.useCompassRotationPrior?(p=Jt(s??qt(),{gpsYawObservable:d>=.5,agreementDeltaDeg:W(l,u)},wn),f=Zt(d,Xt(p.state),{steadyStateMaxWeight:c.compassSteadyStateMaxWeight})):f=Ut(d);let m=Gt(o,Wt(l,u,f),c.coldStartSnapAlpha);return{matrix:ye(Kt(e,bn(t,n),m)),appliedBearingDeg:m,trust:p}},En=e=>e.useCompassColdStartOverride||e.useCompassRotationPrior,Dn=(e,t,n,r,i,a,o)=>{if(!En(o))return t;let s=e.coldStartYawWindowDeg?[...e.coldStartYawWindowDeg]:[];for(s.push(Y(t));s.length>o.coldStartObservabilityWindow;)s.shift();let c=Tn(t,n,r,i,a,s,e.coldStartAppliedBearingDeg??null,e.compassTrust,o);return e.coldStartYawWindowDeg=s,e.coldStartAppliedBearingDeg=c.appliedBearingDeg,c.trust!==void 0&&(e.compassTrust=c.trust),c.matrix},On=(e,t,n,r,i,a,o,s)=>{if(!En(o))return{matrix:e,fields:{}};let c=Cn(t,n,r,o,s),l=Tn(e,t,n,i,a,c,null,void 0,o),u={coldStartYawWindowDeg:c,coldStartAppliedBearingDeg:l.appliedBearingDeg};return l.trust!==void 0&&(u.compassTrust=l.trust),{matrix:l.matrix,fields:u}},kn=(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=et(i,a,{ignoreYAxisForRotation:t}),c=0;for(let e=0;e<r;e+=1)o.transformMat4(Q,i[e],s),c+=jn(Q,n[e].ref);return{alignmentMatrix:s,meanAlignmentError:r===0?0:c/r,totalModelError:c}},An=(e,t)=>(o.transformMat4(Q,t.odom,e.alignmentMatrix),jn(Q,t.ref)),jn=(e,t)=>(o.set(mn,t[0],t[1],t[2]),o.squaredDistance(e,mn)),Mn=(e,t)=>{o.transformMat4(Q,t.odom,e.alignmentMatrix);let n=Q[0]-t.ref[0],r=Q[2]-t.ref[2];return n*n+r*r},Nn=(e,t)=>{let n=e.length,r=Math.max(3,Math.ceil(t.outlierRetainRatio*n)),i=t.outlierThresholdMeters*t.outlierThresholdMeters,a=Array.from(e),o=kn(a,t.ignoreYAxisForRotation);for(;a.length>r;){let e=-1,n=-1;for(let t=0;t<a.length;t+=1){let r=Mn(o,a[t]);r>n&&(n=r,e=t)}if(n<=i||e<0)break;a=a.filter((t,n)=>n!==e),o=kn(a,t.ignoreYAxisForRotation)}return{model:o,inliers:a}},Pn=(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},Fn=(e,t)=>{let n=t.gpsVerticalAccuracyExponent,r=e.map(e=>{let t=e.altitudeAccuracy;return dn(t!=null&&Number.isFinite(t)&&t>0?t:e.latLongAccuracy,n)});if(!t.includeTimeWeight||e.length<2)return r;let i=e[e.length-1].timestamp,a=e[0].timestamp,o=Math.max(1,i-a),s=t.weightByTimeFactor;return r.map((t,n)=>{if(!(t>0&&Number.isFinite(t)))return 0;let r=s*((i-e[n].timestamp)/o)+1;return 1/(1/t+r)})},In=(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;if(!(s>0&&Number.isFinite(s)))return[e[0],e[1],e[2],0];let c=1/(1/s+o);return[e[0],e[1],e[2],c]})},Ln=new Map,Rn=(e,t,n)=>{if(e.length===0)return null;let r=Math.max(0,e.length-n);Ln.clear();for(let n=r;n<e.length;n+=1){let r=e[n],i=ie(Hn(r),t),a=Ln.get(i);a?(a.count+=1,a.index=n):Ln.set(i,{count:1,index:n})}let i=null,a=-1,o=-1;for(let[e,{count:t,index:n}]of Ln)(t>a||t===a&&n>o)&&(i=e,a=t,o=n);return i},zn=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]}},Bn=(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},Vn=e=>[e.coordinates[0],e.coordinates[1],e.coordinates[2],e.weight>0&&Number.isFinite(e.weight)?e.weight:1],Hn=e=>({lat:e.latitude,lon:e.longitude}),Un=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?B(Z(e.deviceRotation)):void 0,absoluteOrientation:e.absoluteOrientation?{...e.absoluteOrientation,quaternion:[e.absoluteOrientation.quaternion[0],e.absoluteOrientation.quaternion[1],e.absoluteOrientation.quaternion[2],e.absoluteOrientation.quaternion[3]]}:void 0}),Wn=({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}`)},Gn=o.fromValues(1,1,1),Kn=(e,t)=>[e[0]+t[0],e[1]+t[1],e[2]+t[2]],qn=(e,t,n,r)=>{let i=ce(t,{lat:e.latitude,lon:e.longitude},e.altitude??0,0),a=n?.alpha!=null&&n?.beta!=null&&n?.gamma!=null?U(Ne(n.alpha,n.beta,n.gamma)):void 0;return{...e,zeroRef:t,coordinates:P(i),weight:1,deviceRotation:a,absoluteOrientation:r}},Jn=(e,t,n)=>{if(e)return Ne(e.alpha,e.beta,e.gamma);if(t)return t;throw Error(`Sensor rotation missing for ${n}: neither raw orientation nor legacy quaternion provided`)},Yn=e=>{let t=a.invert(a.create(),e);if(!t)throw Error(`Encountered non-invertible quaternion`);return t},Xn=e=>{let t=Yn(a.normalize(a.create(),N(e.lastSensorRot))),n=a.normalize(a.create(),N(e.lastValidOdomRot)),r=a.multiply(a.create(),t,n),i=a.normalize(a.create(),N(e.newSensorRot)),o=a.multiply(a.create(),i,r),s=a.normalize(a.create(),N(e.newOdomRot)),c=a.multiply(a.create(),o,s);return a.normalize(c,c),F(c)},Zn=(e,t)=>{let n=i.create();return i.fromRotationTranslationScale(n,a.normalize(a.create(),N(t)),M(e),Gn),n},Qn=(e,t,n)=>{let r=o.create(),s=o.create(),c=a.create(),l=a.create();i.getTranslation(r,e),i.getTranslation(s,t),i.getRotation(c,e),i.getRotation(l,t);let u=o.create();o.lerp(u,r,s,n);let d=a.create();return a.slerp(d,c,l,n),i.fromRotationTranslation(i.create(),d,u)},$n=(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=Qn(o,a,s<=0?1:t/s);return i.multiply(i.create(),n,e)})},er=(e,t,n)=>{for(let r=e.length-1;r>=0;--r)if(n(e[r],t))return r;return-1},tr=e=>e.coldStartOverrideEnabled?{useCompassColdStartOverride:!0}:void 0,nr=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2],rr=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3],ir=t({name:`gpsData`,initialState:null,reducers:{setZeroPos:{reducer:(e,t)=>e===null?{zero:t.payload,gpsEvents:on(),odometryPath:ge()}:e,prepare:e=>(Wn(e),{payload:e})},recordGpsEvent:(e,t)=>{if(!e)return e;let{odomPosition:n,odomRotation:r,rawGpsPoint:i,rawDeviceOrientation:a,rawAbsoluteOrientation:o}=t.payload,s=qn(i,e.zero,a,o);fn(e.gpsEvents,V(n),H(r),s,tr(e))},setColdStartOverrideEnabled:(e,t)=>{if(!e)return e;e.coldStartOverrideEnabled=t.payload},odometryTrackingRestarted:(e,t)=>{if(!e)return e;let n=Kn(e.gpsEvents.odometryPosOffset,V(t.payload.lastValidOdomPos)),r=Jn(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=Jn(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(un({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:Xn({...t.payload,lastValidOdomRot:H(t.payload.lastValidOdomRot),newOdomRot:H(t.payload.newOdomRot),lastSensorRot:U(r),newSensorRot:U(i)}),latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null,alignmentConfig:tr(e)}))},arLoopClosureDetected:(e,t)=>{if(!e)return e;let n=e.gpsEvents;if(n.odometryPositions.length===0)return e;let r=n.latestLoopClosureFixPointPos?er(n.odometryPositions,n.latestLoopClosureFixPointPos,nr):0,s=n.latestLoopClosureFixPointRot?er(n.odometryRotations,n.latestLoopClosureFixPointRot,rr):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=>B(e)),d=n.odometryPositions.slice(r).map(e=>L(e)),f=n.odometryRotations.slice(r).map(e=>B(e)),p=d.map((e,t)=>Zn(e,f[t])),m=Zn(V(t.payload.lastPos),B(H(t.payload.lastRot)));p.push(m);let h=$n(p,Zn(V(t.payload.newPos),B(H(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(un({odometryPositions:l.concat(g),odometryRotations:u.concat(_),gpsPoints:n.gpsPositions,odometryPosOffset:n.odometryPosOffset,odometryRotOffset:n.odometryRotOffset,latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null,alignmentConfig:tr(e)}))},add2dImage:(e,t)=>{if(!e)return e;e.odometryPath.points.push(c({imageFile:t.payload.imageFile,screenRotation:t.payload.screenRotation,position:V(t.payload.position),rotation:B(H(t.payload.rotation)),capturedAt:t.payload.capturedAt,width:t.payload.width,height:t.payload.height}))}}}),{setZeroPos:ar,recordGpsEvent:or,odometryTrackingRestarted:sr,arLoopClosureDetected:cr,add2dImage:lr,setColdStartOverrideEnabled:ur}=ir.actions,dr=p(ar),fr=p(or),pr=p(sr),mr=p(cr),hr=p(lr),gr=p(ur),_r=m(ir.reducer),vr=t({name:`gpsElements`,initialState:_e(),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: ${n.geoHash}`);e.heatAreas[r][n.geoHash]=n},resetGpsElements:()=>_e()}}),{addMarker:yr,addLine:br,addArea:xr,addToHeatMaps:Sr,addHeatMapArea:Cr,resetGpsElements:wr}=vr.actions,Tr=p(yr),Er=p(br),Dr=p(xr),Or=p(Sr),kr=p(Cr),Ar=p(wr),jr=m(vr.reducer),Mr=()=>({gpsData:null,gpsElements:_e(),arElements:ve()}),Nr=e=>{let t=Array.from({length:Math.min(e.length,4)},(t,n)=>e[n].toFixed(2));e.length>4&&t.push(`…`);let n=`[${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},Pr=e=>(e.length===3||e.length===4||e.length===16)&&e.every(e=>typeof e==`number`),$=(e,t=0)=>{if(t>10||e==null)return e;if(Array.isArray(e))return Pr(e)?Nr(e):e.map(e=>$(e,t+1));if(typeof e==`object`){let n={};for(let[r,i]of Object.entries(e))n[r]=$(i,t+1);return n}return e},Fr=(t={})=>{let{preloadedState:n,enableDevToolsSanitizers:r=!0,enableDevChecks:i=!0,licenseKey:a}=t;if(a==null)throw Error(`License key required. Pass options.licenseKey or use createRecorderStore() from gps-plus-slam-app-framework. See EULA §3.`);g(a);let o=Mr(),s=n?{gpsData:n.gpsData??o.gpsData,gpsElements:n.gpsElements??o.gpsElements,arElements:n.arElements??o.arElements}:void 0;return e({reducer:{gpsData:_r,gpsElements:jr,arElements:Ze},preloadedState:s,middleware:e=>e({serializableCheck:i,immutableCheck:i}),devTools:r?{actionSanitizer:$,stateSanitizer:$}:!0})},Ir=[],Lr=[],Rr=[],zr={median:null,mean:null},Br=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentMatrix}),Vr=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentRotation}),Hr=f(function(e){return e.gpsData?.gpsEvents?.odometryPositions??Ir}),Ur=f(function(e){return e.gpsData?.gpsEvents?.odometryRotations??Lr}),Wr=f(function(e){return e.gpsData?.gpsEvents?.gpsPositions??Rr}),Gr=f(function(e){return e.gpsData?.zero??null}),Kr=f(function(e){let t=e.gpsData?.gpsEvents?.gpsAccuracyMedian??null,n=e.gpsData?.gpsEvents?.gpsAccuracyMean??null;return t===null&&n===null?zr:{median:t,mean:n}}),qr=`1.0.0`;export{Se as IDENTITY_MATRIX4,R as IDENTITY_QUATERNION,qr as LIB_VERSION,yt as WMM2025_EPOCH,bt as WMM2025_VALID_FROM,xt as WMM2025_VALID_TO,z as ZERO_VECTOR3,hr as add2dImage,Dr as addArea,Ke as addCornerToEventArea,kr as addHeatMapArea,Er as addLine,Tr as addMarker,We as addOrUpdateArPlane,Or as addToHeatMaps,Ye as anchorEventAreaInWorldSpace,Ze as arElementsReducer,mr as arLoopClosureDetected,gt as arNorthBearingDeg,ht as arToEnuRotation,W as bearingDeltaDeg,ie as calcGeoHash,le as calcGpsCoords,ne as calcQuadKey,ce as calcRelativeCoordsInMeters,xe as cloneMatrix4,be as cloneQuaternion,L as cloneVector3,qe as correctArDriftForEventArea,Fr as createGpsSlamStore,oe as distanceInMeters,se as distanceInMetersRelative,U as enuQuaternionToNUE,Ne as eulerToQuaternion,Je as finishEventArea,ye as fromMatrix4,N as fromQuaternion,M as fromVector3,he as fusedGpsFromOdom,ae as geoHashToLatLong,Br as getAlignmentMatrix,Vr as getAlignmentRotation,pe as getGoogleMapsDirectionsLink,fe as getGoogleMapsLink,Kr as getGpsAccuracyStats,Wr as getGpsPositions,Hr as getOdometryPositions,Ur as getOdometryRotations,me as getOpenStreetMapLink,Gr as getZeroReference,_r as gpsDataReducer,jr as gpsElementsReducer,ke as invertQuaternion,Ce as isIdentityMatrix4,Te as isIdentityQuaternion,Ee as isNearIdentityQuaternion,Ft as magneticDeclinationDeg,pt as magneticHeadingFromEnuQuat,It as magneticToTrueHeadingDeg,Oe as multiplyQuaternions,B as normalizeQuaternion,Me as nueQuaternionToENU,je as nueQuaternionToWebXR,Ae as nueToWebXR,pr as odometryTrackingRestarted,re as quadKeyToLatLong,we as quaternionMagnitude,De as quaternionsEquivalent,fr as recordGpsEvent,Ue as recordPhoneHeight,Xe as resetArElements,Ar as resetGpsElements,$ as sanitizeForDevTools,gr as setColdStartOverrideEnabled,dr as setZeroPos,Ge as startEventArea,ue as toEarthCenteredCoordinates,I as toMatrix4,F as toQuaternion,P as toVector3,g as validateLicenseKey,H as webxrQuaternionToNUE,V 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 = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODEzOTA4MDgzfQ.zzBeiFZSpkdY22kZKTL5WuexQ_MZOe0o7KTmuv7p873-66tZYWIjYUPkRXt4LI_XAJFpmeCPxlEpvpw1pqCgBw";
+declare const COMMUNITY_LICENSE_KEY = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODE0MDQ4ODExfQ.93uD-XHsPVXAAVkr163KYmYcRxMXpi4qkdntamr9kUWsU9q5-zb67ptgISNOOfdLDJnejod4auPokrYlF1zqBQ";
 //#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=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODEzOTA4MDgzfQ.zzBeiFZSpkdY22kZKTL5WuexQ_MZOe0o7KTmuv7p873-66tZYWIjYUPkRXt4LI_XAJFpmeCPxlEpvpw1pqCgBw`;export{e as COMMUNITY_LICENSE_KEY};
+const e=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODE0MDQ4ODExfQ.93uD-XHsPVXAAVkr163KYmYcRxMXpi4qkdntamr9kUWsU9q5-zb67ptgISNOOfdLDJnejod4auPokrYlF1zqBQ`;export{e as COMMUNITY_LICENSE_KEY};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gps-plus-slam-js",
-  "version": "1.5.0",
+  "version": "1.6.0",
   "description": "TypeScript library for real-time GPS + AR odometry alignment.",
   "author": "cs-util-com",
   "keywords": [