gps-plus-slam-js 1.6.0 → 1.6.2

package/dist/index.d.ts

@@ -415,6 +415,24 @@ interface GpsModel {
    * GpsPlusSlamJs_Docs/docs/2026-06-26-absolute-orientation-sensor-phase4-stage0-followup.md.
    */
   coldStartOverrideEnabled?: boolean;
+  /**
+   * Runtime opt-in for the Phase-4 **Stage C** trust-gated compass rotation prior
+   * (closed/internal). Set via `setCompassRotationPriorEnabled` (after
+   * `setZeroPos`). When truthy the reducer threads
+   * `{ useCompassRotationPrior: true }` into the solve (it supersedes Stage 0,
+   * keeping a steady-state vote once observable+trusted). Absent/false ⇒
+   * byte-identical. Debug/experiment flag.
+   */
+  compassRotationPriorEnabled?: boolean;
+  /**
+   * Runtime opt-in for the GPS-free compass↔WebXR consistency gate
+   * (closed/internal). Set via `setCompassWebXRConsistencyEnabled` (after
+   * `setZeroPos`). When truthy the reducer threads
+   * `{ requireCompassWebXRConsistency: true }` into the solve, so the compass
+   * override (Stage 0 / Stage C) abstains unless the compass is rotating in
+   * lock-step with WebXR. Absent/false ⇒ byte-identical. Debug/experiment flag.
+   */
+  compassWebXRConsistencyEnabled?: boolean;
 }
 interface GpsSlamState {
   gpsData: GpsModel | null;
@@ -539,6 +557,8 @@ declare const odometryTrackingRestarted: _$_reduxjs_toolkit0.ActionCreatorWithPa
 declare const arLoopClosureDetected: _$_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 setCompassRotationPriorEnabled: _$_reduxjs_toolkit0.ActionCreatorWithPayload<boolean, "gpsData/setCompassRotationPriorEnabled">;
+declare const setCompassWebXRConsistencyEnabled: _$_reduxjs_toolkit0.ActionCreatorWithPayload<boolean, "gpsData/setCompassWebXRConsistencyEnabled">;
 declare const gpsDataReducer: (state: GpsModel | null | undefined, action: _$redux.UnknownAction) => GpsModel | null;
 //#endregion
 //#region ../src/state/gpsElementsSlice.d.ts
@@ -744,4 +764,4 @@ 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, setColdStartOverrideEnabled, 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, setCompassRotationPriorEnabled, setCompassWebXRConsistencyEnabled, 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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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 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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 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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: 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m=_n(t,n,r,f),{allPositionTuples:h,allRotationTuples:g,allGpsPoints:_,allVec4Tuples:v,solverPositionsTyped:y,solverGpsPoints:b,solverWeightedVec4Tuples:x,solverVerticalWeights:S}=hn(m.odometryPositions,m.odometryRotations,m.gpsPoints,f),C=Bn(wn(y,x,S,f,p).matrix,y,x,S,_,g,f,p),w=C.matrix,T=a.create(),E=o.create(),D=o.create();Sn(w,T,E,D);let{mean:ee,median:O}=Xn(_),te=Yn(m.gpsPoints,f.geohashPrecision,f.geohashWindowSize),{lastAdmittedOdomPos:k,lastAdmittedTs:A}=vn(h,m.gpsPoints);return{odometryPositions:cn(h),odometryRotations:ln(g),gpsPositions:un(_),gpsPositionsVec4:dn(v),alignmentMatrix:F(w),alignmentRotation:P(T),alignmentTranslation:N(E),alignmentRotationInDegree:N(D),...fn(i,s,c,l),gpsAccuracyMedian:O,gpsAccuracyMean:ee,currentGpsPosGeoHash:te,lastAdmittedOdomPos:k,lastAdmittedTs:A,...C.fields}},bn=(e,t)=>e!=null&&e>0?1/Math.max(e,1)**+t:1,xn=(e,t,n,r,i,s)=>{let 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b=a.create(),x=o.create(),S=o.create();Sn(y,b,x,S),e.alignmentRotation=P(b),e.alignmentTranslation=N(x),e.alignmentRotationInDegree=N(S);let{mean:C,median:w}=Xn(f);e.gpsAccuracyMean=C,e.gpsAccuracyMedian=w,e.currentGpsPosGeoHash=Yn(f,c.geohashPrecision,c.geohashWindowSize),e.lastAdmittedOdomPos=I(l),e.lastAdmittedTs=r.timestamp},Sn=(e,t,n,r)=>{i.getRotation(t,e),a.normalize(t,t),i.getTranslation(n,e),Zn(t,r)},Z=o.create(),Cn=o.create(),wn=(e,t,n,r,a)=>{if(e.length===0)return{matrix:i.create(),meanError:0};let o=e.length,c=[];for(let r=0;r<o;r+=1){let i=t[r];c.push({odom:e[r],ref:s.fromValues(i[0],i[1],i[2],i[3]),verticalWeight:n[r]??1})}let l,u,d;if(r.useRansac&&c.length>=3){let e=c.length,t=Math.max(3,Math.min(e,Math.ceil(e*r.ransacSampleRatio))),n=it(c,Math.max(t,Math.min(e,Math.ceil(e*r.ransacInlierRatio))),t,r.ransacMaxIterations,e=>Q(e,r.ignoreYAxisForRotation),(e,t)=>Vn(e,t)<e.meanAlignmentError+r.ransacErrorTolerance,a);l=n.alignmentMatrix,u=n.meanAlignmentError,n.inliers!==void 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n.length===0?null:zt(n)},jn=e=>({collapseThresholdDeg:e.coldStartObservabilityCollapseDeg,rampWidthDeg:e.coldStartObservabilityRampDeg,minWindow:e.coldStartObservabilityWindow,baselineMinM:e.coldStartBaselineMinM,baselineRampM:e.coldStartBaselineRampM}),Mn=(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=wn(e.slice(0,c),t.slice(0,c),n.slice(0,c),r,i);s.push(J(a.matrix))}return s},Nn=.5,Pn={agreeToleranceDeg:8,minAgreeStreak:3,dropToleranceDeg:20,recalibrateAfterStreak:4},Fn={minHorizontality:.5,maxYawSpreadDeg:12,maxUpDisagreementDeg:15,minUsableFraction:.5},In=(e,t)=>{let n=[];for(let r=0;r<e.length;r+=1){let i=e[r].absoluteOrientation,a=t[r];i&&a&&n.push({qSensor:i.quaternion,qWebxr:a})}return n.length===0?!1:on(an(n,Fn),Fn)},Ln=(e,t,n,r,i,a,o,s,c)=>{let l=An(r,i);if(l===null)return{matrix:e,appliedBearingDeg:o,trust:s};let 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0,o),u={coldStartYawWindowDeg:c,coldStartAppliedBearingDeg:l.appliedBearingDeg};return l.trust!==void 0&&(u.compassTrust=l.trust),{matrix:l.matrix,fields:u}},Q=(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=tt(i,a,{ignoreYAxisForRotation:t}),c=0;for(let e=0;e<r;e+=1)o.transformMat4(Z,i[e],s),c+=Hn(Z,n[e].ref);return{alignmentMatrix:s,meanAlignmentError:r===0?0:c/r,totalModelError:c}},Vn=(e,t)=>(o.transformMat4(Z,t.odom,e.alignmentMatrix),Hn(Z,t.ref)),Hn=(e,t)=>(o.set(Cn,t[0],t[1],t[2]),o.squaredDistance(e,Cn)),Un=(e,t)=>{o.transformMat4(Z,t.odom,e.alignmentMatrix);let n=Z[0]-t.ref[0],r=Z[2]-t.ref[2];return n*n+r*r},Wn=(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=Q(a,t.ignoreYAxisForRotation);for(;a.length>r;){let e=-1,n=-1;for(let t=0;t<a.length;t+=1){let r=Un(o,a[t]);r>n&&(n=r,e=t)}if(n<=i||e<0)break;a=a.filter((t,n)=>n!==e),o=Q(a,t.ignoreYAxisForRotation)}return{model:o,inliers:a}},Gn=(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},Kn=(e,t)=>{let n=t.gpsVerticalAccuracyExponent,r=e.map(e=>{let t=e.altitudeAccuracy;return bn(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)})},qn=(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]})},Jn=new 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i=le(t,{lat:e.latitude,lon:e.longitude},e.altitude??0,0),a=n?.alpha!=null&&n?.beta!=null&&n?.gamma!=null?H(Pe(n.alpha,n.beta,n.gamma)):void 0;return{...e,zeroRef:t,coordinates:N(i),weight:1,deviceRotation:a,absoluteOrientation:r}},ar=(e,t,n)=>{if(e)return Pe(e.alpha,e.beta,e.gamma);if(t)return t;throw Error(`Sensor rotation missing for ${n}: neither raw orientation nor legacy quaternion provided`)},or=e=>{let t=a.invert(a.create(),e);if(!t)throw Error(`Encountered non-invertible quaternion`);return t},sr=e=>{let t=or(a.normalize(a.create(),M(e.lastSensorRot))),n=a.normalize(a.create(),M(e.lastValidOdomRot)),r=a.multiply(a.create(),t,n),i=a.normalize(a.create(),M(e.newSensorRot)),o=a.multiply(a.create(),i,r),s=a.normalize(a.create(),M(e.newOdomRot)),c=a.multiply(a.create(),o,s);return a.normalize(c,c),P(c)},cr=(e,t)=>{let n=i.create();return i.fromRotationTranslationScale(n,a.normalize(a.create(),M(t)),j(e),nr),n},lr=(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)},ur=(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=lr(o,a,s<=0?1:t/s);return i.multiply(i.create(),n,e)})},dr=(e,t,n)=>{for(let r=e.length-1;r>=0;--r)if(n(e[r],t))return r;return-1},fr=e=>{let t={};return e.coldStartOverrideEnabled&&(t.useCompassColdStartOverride=!0),e.compassRotationPriorEnabled&&(t.useCompassRotationPrior=!0),e.compassWebXRConsistencyEnabled&&(t.requireCompassWebXRConsistency=!0),Object.keys(t).length>0?t:void 0},pr=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2],mr=(e,t)=>e[0]===t[0]&&e[1]===t[1]&&e[2]===t[2]&&e[3]===t[3],hr=t({name:`gpsData`,initialState:null,reducers:{setZeroPos:{reducer:(e,t)=>e===null?{zero:t.payload,gpsEvents:mn(),odometryPath:_e()}:e,prepare:e=>(tr(e),{payload:e})},recordGpsEvent:(e,t)=>{if(!e)return e;let{odomPosition:n,odomRotation:r,rawGpsPoint:i,rawDeviceOrientation:a,rawAbsoluteOrientation:o}=t.payload,s=ir(i,e.zero,a,o);xn(e.gpsEvents,B(n),V(r),s,fr(e))},setColdStartOverrideEnabled:(e,t)=>{if(!e)return e;e.coldStartOverrideEnabled=t.payload},setCompassRotationPriorEnabled:(e,t)=>{if(!e)return e;e.compassRotationPriorEnabled=t.payload},setCompassWebXRConsistencyEnabled:(e,t)=>{if(!e)return e;e.compassWebXRConsistencyEnabled=t.payload},odometryTrackingRestarted:(e,t)=>{if(!e)return e;let n=rr(e.gpsEvents.odometryPosOffset,B(t.payload.lastValidOdomPos)),r=ar(t.payload.lastSensorOrientation,t.payload.lastSensorRot,`lastSensor`),i=ar(t.payload.newSensorOrientation,t.payload.newSensorRot,`newSensor`);e.gpsEvents=c(yn({odometryPositions:[],odometryRotations:[],gpsPoints:[],odometryPosOffset:n,odometryRotOffset:sr({...t.payload,lastValidOdomRot:V(t.payload.lastValidOdomRot),newOdomRot:V(t.payload.newOdomRot),lastSensorRot:H(r),newSensorRot:H(i)}),latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null,alignmentConfig:fr(e)}))},arLoopClosureDetected:(e,t)=>{if(!e)return e;let n=e.gpsEvents;if(n.odometryPositions.length===0)return e;let r=n.latestLoopClosureFixPointPos?dr(n.odometryPositions,n.latestLoopClosureFixPointPos,pr):0,s=n.latestLoopClosureFixPointRot?dr(n.odometryRotations,n.latestLoopClosureFixPointRot,mr):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=>I(e)),u=n.odometryRotations.slice(0,r).map(e=>z(e)),d=n.odometryPositions.slice(r).map(e=>I(e)),f=n.odometryRotations.slice(r).map(e=>z(e)),p=d.map((e,t)=>cr(e,f[t])),m=cr(B(t.payload.lastPos),z(V(t.payload.lastRot)));p.push(m);let h=ur(p,cr(B(t.payload.newPos),z(V(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(N(n)),_.push(P(r))}e.gpsEvents=c(yn({odometryPositions:l.concat(g),odometryRotations:u.concat(_),gpsPoints:n.gpsPositions,odometryPosOffset:n.odometryPosOffset,odometryRotOffset:n.odometryRotOffset,latestLoopClosureFixPointPos:null,latestLoopClosureFixPointRot:null,alignmentConfig:fr(e)}))},add2dImage:(e,t)=>{if(!e)return e;e.odometryPath.points.push(c({imageFile:t.payload.imageFile,screenRotation:t.payload.screenRotation,position:B(t.payload.position),rotation:z(V(t.payload.rotation)),capturedAt:t.payload.capturedAt,width:t.payload.width,height:t.payload.height}))}}}),{setZeroPos:gr,recordGpsEvent:_r,odometryTrackingRestarted:vr,arLoopClosureDetected:yr,add2dImage:br,setColdStartOverrideEnabled:xr,setCompassRotationPriorEnabled:Sr,setCompassWebXRConsistencyEnabled:Cr}=hr.actions,wr=p(gr),Tr=p(_r),Er=p(vr),Dr=p(yr),Or=p(br),kr=p(xr),Ar=p(Sr),jr=p(Cr),Mr=m(hr.reducer),Nr=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: ${n.geoHash}`);e.heatAreas[r][n.geoHash]=n},resetGpsElements:()=>ve()}}),{addMarker:Pr,addLine:Fr,addArea:Ir,addToHeatMaps:Lr,addHeatMapArea:Rr,resetGpsElements:zr}=Nr.actions,Br=p(Pr),Vr=p(Fr),Hr=p(Ir),Ur=p(Lr),Wr=p(Rr),Gr=p(zr),Kr=m(Nr.reducer),qr=()=>({gpsData:null,gpsElements:ve(),arElements:ye()}),Jr=e=>{let t=Array.from({length:Math.min(e.length,4)},(t,n)=>e[n].toFixed(2));e.length>4&&t.push(`…`);let n=`[${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},Yr=e=>(e.length===3||e.length===4||e.length===16)&&e.every(e=>typeof e==`number`),$=(e,t=0)=>{if(t>10||e==null)return e;if(Array.isArray(e))return Yr(e)?Jr(e):e.map(e=>$(e,t+1));if(typeof e==`object`){let n={};for(let[r,i]of Object.entries(e))n[r]=$(i,t+1);return n}return e},Xr=(t={})=>{let{preloadedState:n,enableDevToolsSanitizers:r=!0,enableDevChecks:i=!0,licenseKey:a}=t;if(a==null)throw Error(`License key required. Pass options.licenseKey or use createRecorderStore() from gps-plus-slam-app-framework. See EULA §3.`);g(a);let o=qr(),s=n?{gpsData:n.gpsData??o.gpsData,gpsElements:n.gpsElements??o.gpsElements,arElements:n.arElements??o.arElements}:void 0;return e({reducer:{gpsData:Mr,gpsElements:Kr,arElements:Qe},preloadedState:s,middleware:e=>e({serializableCheck:i,immutableCheck:i}),devTools:r?{actionSanitizer:$,stateSanitizer:$}:!0})},Zr=[],Qr=[],$r=[],ei={median:null,mean:null},ti=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentMatrix}),ni=f(function(e){let t=e.gpsData?.gpsEvents;return!t||t.gpsPositions.length===0?null:t.alignmentRotation}),ri=f(function(e){return e.gpsData?.gpsEvents?.odometryPositions??Zr}),ii=f(function(e){return e.gpsData?.gpsEvents?.odometryRotations??Qr}),ai=f(function(e){return e.gpsData?.gpsEvents?.gpsPositions??$r}),oi=f(function(e){return e.gpsData?.zero??null}),si=f(function(e){let t=e.gpsData?.gpsEvents?.gpsAccuracyMedian??null,n=e.gpsData?.gpsEvents?.gpsAccuracyMean??null;return t===null&&n===null?ei:{median:t,mean:n}}),ci=`1.0.0`;export{Ce as IDENTITY_MATRIX4,L as IDENTITY_QUATERNION,ci as LIB_VERSION,bt as WMM2025_EPOCH,xt as WMM2025_VALID_FROM,St as WMM2025_VALID_TO,R as ZERO_VECTOR3,Or as add2dImage,Hr as addArea,qe as addCornerToEventArea,Wr as addHeatMapArea,Vr as addLine,Br as addMarker,Ge as addOrUpdateArPlane,Ur as addToHeatMaps,Xe as anchorEventAreaInWorldSpace,Qe as arElementsReducer,Dr as arLoopClosureDetected,_t as arNorthBearingDeg,gt as arToEnuRotation,U as bearingDeltaDeg,ae as calcGeoHash,ue as calcGpsCoords,re as calcQuadKey,le as calcRelativeCoordsInMeters,Se as cloneMatrix4,xe as cloneQuaternion,I as cloneVector3,Je as correctArDriftForEventArea,Xr as createGpsSlamStore,se as distanceInMeters,ce as distanceInMetersRelative,H as enuQuaternionToNUE,Pe as eulerToQuaternion,Ye as finishEventArea,be as fromMatrix4,M as fromQuaternion,j as fromVector3,ge as fusedGpsFromOdom,oe as geoHashToLatLong,ti as getAlignmentMatrix,ni as getAlignmentRotation,me as getGoogleMapsDirectionsLink,pe as getGoogleMapsLink,si as getGpsAccuracyStats,ai as getGpsPositions,ri as getOdometryPositions,ii as getOdometryRotations,he as getOpenStreetMapLink,oi as getZeroReference,Mr as gpsDataReducer,Kr as gpsElementsReducer,Ae as invertQuaternion,we as isIdentityMatrix4,Ee as isIdentityQuaternion,De as isNearIdentityQuaternion,It as magneticDeclinationDeg,mt as magneticHeadingFromEnuQuat,Lt as magneticToTrueHeadingDeg,ke as multiplyQuaternions,z as normalizeQuaternion,Ne as nueQuaternionToENU,Me as nueQuaternionToWebXR,je as nueToWebXR,Er as odometryTrackingRestarted,ie as quadKeyToLatLong,Te as quaternionMagnitude,Oe as quaternionsEquivalent,Tr as recordGpsEvent,We as recordPhoneHeight,Ze as resetArElements,Gr as resetGpsElements,$ as sanitizeForDevTools,kr as setColdStartOverrideEnabled,Ar as setCompassRotationPriorEnabled,jr as setCompassWebXRConsistencyEnabled,wr as setZeroPos,Ke as startEventArea,de as toEarthCenteredCoordinates,F as toMatrix4,P as toQuaternion,N as toVector3,g as validateLicenseKey,V as webxrQuaternionToNUE,B 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 = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODE0MDQ4ODExfQ.93uD-XHsPVXAAVkr163KYmYcRxMXpi4qkdntamr9kUWsU9q5-zb67ptgISNOOfdLDJnejod4auPokrYlF1zqBQ";
+declare const COMMUNITY_LICENSE_KEY = "eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODE0MDk4ODkzfQ.SvCD62PM1LLzQIh-OXH-EjiuU8luhnNzkbmuk7KzJNlBJaUvchV-0hXvxYviH-xCQ1QLy6HuMjq4Z8HSGZbGAA";
 //#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=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODE0MDQ4ODExfQ.93uD-XHsPVXAAVkr163KYmYcRxMXpi4qkdntamr9kUWsU9q5-zb67ptgISNOOfdLDJnejod4auPokrYlF1zqBQ`;export{e as COMMUNITY_LICENSE_KEY};
+const e=`eyJ0eXBlIjoiY29tbXVuaXR5IiwiZXhwIjoxODE0MDk4ODkzfQ.SvCD62PM1LLzQIh-OXH-EjiuU8luhnNzkbmuk7KzJNlBJaUvchV-0hXvxYviH-xCQ1QLy6HuMjq4Z8HSGZbGAA`;export{e as COMMUNITY_LICENSE_KEY};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "gps-plus-slam-js",
-  "version": "1.6.0",
+  "version": "1.6.2",
   "description": "TypeScript library for real-time GPS + AR odometry alignment.",
   "author": "cs-util-com",
   "keywords": [