pubo-web 1.0.13 → 1.0.17

package/lib/ros/factory/super.js

@@ -1,50 +0,0 @@
-"use strict";
-
-var __values = this && this.__values || function (o) {
-  var s = typeof Symbol === "function" && Symbol.iterator,
-      m = s && o[s],
-      i = 0;
-  if (m) return m.call(o);
-  if (o && typeof o.length === "number") return {
-    next: function next() {
-      if (o && i >= o.length) o = void 0;
-      return {
-        value: o && o[i++],
-        done: !o
-      };
-    }
-  };
-  throw new TypeError(s ? "Object is not iterable." : "Symbol.iterator is not defined.");
-};
-
-Object.defineProperty(exports, "__esModule", {
-  value: true
-});
-exports.superFactory = void 0;
-
-exports.superFactory = function (factory) {
-  return function (options) {
-    var e_1, _a;
-
-    var product = {};
-
-    try {
-      for (var _b = __values(Object.keys(options)), _c = _b.next(); !_c.done; _c = _b.next()) {
-        var key = _c.value;
-        product[key] = factory(options[key]);
-      }
-    } catch (e_1_1) {
-      e_1 = {
-        error: e_1_1
-      };
-    } finally {
-      try {
-        if (_c && !_c.done && (_a = _b["return"])) _a.call(_b);
-      } finally {
-        if (e_1) throw e_1.error;
-      }
-    }
-
-    return product;
-  };
-};

package/lib/ros/index.d.ts

@@ -1,7 +0,0 @@
-import { RosUtils } from './factory';
-import type { RosConfigure } from './factory/configure';
-import { RosViewer } from './ros3d/viewer';
-export declare const createConfigureRos: (rosConfigure: RosConfigure) => {
-    rosUtils: RosUtils;
-    createRosViewer(): RosViewer;
-};

package/lib/ros/index.js

@@ -1,19 +0,0 @@
-"use strict";
-
-Object.defineProperty(exports, "__esModule", {
-  value: true
-});
-exports.createConfigureRos = void 0;
-
-var factory_1 = require("./factory");
-
-var viewer_1 = require("./ros3d/viewer");
-
-exports.createConfigureRos = function (rosConfigure) {
-  return {
-    rosUtils: new factory_1.RosUtils(rosConfigure),
-    createRosViewer: function createRosViewer() {
-      return new viewer_1.RosViewer(rosConfigure);
-    }
-  };
-};

package/lib/ros/ros3d/inject.d.ts

@@ -1,6 +0,0 @@
-export declare class InjectUtil {
-    state: any;
-    inject(obj: any, options: any): any;
-    install(key: string, value: any): void;
-    remove(key: string): void;
-}

package/lib/ros/ros3d/inject.js

@@ -1,46 +0,0 @@
-"use strict";
-
-var __assign = this && this.__assign || function () {
-  __assign = Object.assign || function (t) {
-    for (var s, i = 1, n = arguments.length; i < n; i++) {
-      s = arguments[i];
-
-      for (var p in s) {
-        if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
-      }
-    }
-
-    return t;
-  };
-
-  return __assign.apply(this, arguments);
-};
-
-Object.defineProperty(exports, "__esModule", {
-  value: true
-});
-exports.InjectUtil = void 0;
-
-var InjectUtil =
-/** @class */
-function () {
-  function InjectUtil() {
-    this.state = {};
-  }
-
-  InjectUtil.prototype.inject = function (obj, options) {
-    return new obj(__assign(__assign({}, this.state), options));
-  };
-
-  InjectUtil.prototype.install = function (key, value) {
-    this.state[key] = value;
-  };
-
-  InjectUtil.prototype.remove = function (key) {
-    delete this.state[key];
-  };
-
-  return InjectUtil;
-}();
-
-exports.InjectUtil = InjectUtil;

package/lib/ros/ros3d/utils.d.ts

@@ -1,11 +0,0 @@
-export declare function getRainbowColor(pct: number): any;
-export declare function colormap(x: number): any;
-export declare function loadLib(url: string): Promise<any>;
-export declare const basePointCloudOptions: {
-    colorsrc: string;
-    material: {
-        size: number;
-    };
-    max_pts: number;
-    colormap: typeof colormap;
-};

package/lib/ros/ros3d/utils.js

@@ -1,272 +0,0 @@
-"use strict";
-
-var __assign = this && this.__assign || function () {
-  __assign = Object.assign || function (t) {
-    for (var s, i = 1, n = arguments.length; i < n; i++) {
-      s = arguments[i];
-
-      for (var p in s) {
-        if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
-      }
-    }
-
-    return t;
-  };
-
-  return __assign.apply(this, arguments);
-};
-
-var __awaiter = this && this.__awaiter || function (thisArg, _arguments, P, generator) {
-  function adopt(value) {
-    return value instanceof P ? value : new P(function (resolve) {
-      resolve(value);
-    });
-  }
-
-  return new (P || (P = Promise))(function (resolve, reject) {
-    function fulfilled(value) {
-      try {
-        step(generator.next(value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-
-    function rejected(value) {
-      try {
-        step(generator["throw"](value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-
-    function step(result) {
-      result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected);
-    }
-
-    step((generator = generator.apply(thisArg, _arguments || [])).next());
-  });
-};
-
-var __generator = this && this.__generator || function (thisArg, body) {
-  var _ = {
-    label: 0,
-    sent: function sent() {
-      if (t[0] & 1) throw t[1];
-      return t[1];
-    },
-    trys: [],
-    ops: []
-  },
-      f,
-      y,
-      t,
-      g;
-  return g = {
-    next: verb(0),
-    "throw": verb(1),
-    "return": verb(2)
-  }, typeof Symbol === "function" && (g[Symbol.iterator] = function () {
-    return this;
-  }), g;
-
-  function verb(n) {
-    return function (v) {
-      return step([n, v]);
-    };
-  }
-
-  function step(op) {
-    if (f) throw new TypeError("Generator is already executing.");
-
-    while (_) {
-      try {
-        if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
-        if (y = 0, t) op = [op[0] & 2, t.value];
-
-        switch (op[0]) {
-          case 0:
-          case 1:
-            t = op;
-            break;
-
-          case 4:
-            _.label++;
-            return {
-              value: op[1],
-              done: false
-            };
-
-          case 5:
-            _.label++;
-            y = op[1];
-            op = [0];
-            continue;
-
-          case 7:
-            op = _.ops.pop();
-
-            _.trys.pop();
-
-            continue;
-
-          default:
-            if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) {
-              _ = 0;
-              continue;
-            }
-
-            if (op[0] === 3 && (!t || op[1] > t[0] && op[1] < t[3])) {
-              _.label = op[1];
-              break;
-            }
-
-            if (op[0] === 6 && _.label < t[1]) {
-              _.label = t[1];
-              t = op;
-              break;
-            }
-
-            if (t && _.label < t[2]) {
-              _.label = t[2];
-
-              _.ops.push(op);
-
-              break;
-            }
-
-            if (t[2]) _.ops.pop();
-
-            _.trys.pop();
-
-            continue;
-        }
-
-        op = body.call(thisArg, _);
-      } catch (e) {
-        op = [6, e];
-        y = 0;
-      } finally {
-        f = t = 0;
-      }
-    }
-
-    if (op[0] & 5) throw op[1];
-    return {
-      value: op[0] ? op[1] : void 0,
-      done: true
-    };
-  }
-};
-
-var __importDefault = this && this.__importDefault || function (mod) {
-  return mod && mod.__esModule ? mod : {
-    "default": mod
-  };
-};
-
-Object.defineProperty(exports, "__esModule", {
-  value: true
-});
-exports.basePointCloudOptions = exports.loadLib = exports.colormap = exports.getRainbowColor = void 0;
-
-var roslib_1 = __importDefault(require("roslib"));
-
-var load_script_1 = require("../../load-script");
-
-function getRainbowColor(pct) {
-  var h = (1 - pct) * 5.0 + 1.0;
-  var i = Math.floor(h);
-  var f = h % 1.0;
-
-  if ((i & 1) === 0) {
-    f = 1 - f;
-  }
-
-  var n = 1 - f;
-  var dic = [{
-    r: n,
-    g: 0,
-    b: 1
-  }, {
-    r: 0,
-    g: n,
-    b: 1
-  }, {
-    r: 0,
-    g: 1,
-    b: n
-  }, {
-    r: n,
-    g: 1,
-    b: 0
-  }, {
-    r: 1,
-    g: n,
-    b: 0
-  }];
-
-  if (i < 1) {
-    i = 1;
-  }
-
-  var temp = dic[i - 1] || dic[4];
-  Object.keys(temp).forEach(function (key) {
-    return temp[key] = temp[key] * 255;
-  });
-  return __assign(__assign({}, temp), {
-    a: 1
-  });
-}
-
-exports.getRainbowColor = getRainbowColor;
-
-function colormap(x) {
-  var minColorValue = 0;
-  var maxColorValue = 512 * 512 * 512;
-  var colorFieldRange = maxColorValue - minColorValue || Infinity;
-  var pct = Math.max(0, Math.min((Math.pow(x, 4) - minColorValue) / colorFieldRange, 1));
-  return getRainbowColor(pct);
-}
-
-exports.colormap = colormap;
-
-function loadLib(url) {
-  return __awaiter(this, void 0, void 0, function () {
-    return __generator(this, function (_a) {
-      switch (_a.label) {
-        case 0:
-          if (!window.ROSLIB) {
-            window.ROSLIB = roslib_1["default"];
-          }
-
-          if (window.ROS3D) {
-            return [2
-            /*return*/
-            , window.ROS3D];
-          }
-
-          return [4
-          /*yield*/
-          , load_script_1.loadScript(url)];
-
-        case 1:
-          _a.sent();
-
-          return [2
-          /*return*/
-          , window.ROS3D];
-      }
-    });
-  });
-}
-
-exports.loadLib = loadLib;
-exports.basePointCloudOptions = {
-  colorsrc: 'intensity',
-  material: {
-    size: 0.1
-  },
-  max_pts: 10000000,
-  colormap: colormap
-};

package/lib/ros/ros3d/viewer.d.ts

@@ -1,19 +0,0 @@
-import type { RosConfigure } from '../factory/configure';
-import { InjectUtil } from './inject';
-interface InitProps {
-    elem: any;
-    view?: any;
-    tf?: any;
-}
-export declare class RosViewer {
-    private readonly configure;
-    private elem;
-    ROS3D: any;
-    viewer: any;
-    iu: InjectUtil;
-    constructor(configure: RosConfigure);
-    init({ elem, view, tf }: InitProps): Promise<void>;
-    destroy(): void;
-    initPointClouds(optList: any[]): any[];
-}
-export {};

package/lib/ros/ros3d/viewer.js

@@ -1,259 +0,0 @@
-"use strict";
-
-var __assign = this && this.__assign || function () {
-  __assign = Object.assign || function (t) {
-    for (var s, i = 1, n = arguments.length; i < n; i++) {
-      s = arguments[i];
-
-      for (var p in s) {
-        if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];
-      }
-    }
-
-    return t;
-  };
-
-  return __assign.apply(this, arguments);
-};
-
-var __awaiter = this && this.__awaiter || function (thisArg, _arguments, P, generator) {
-  function adopt(value) {
-    return value instanceof P ? value : new P(function (resolve) {
-      resolve(value);
-    });
-  }
-
-  return new (P || (P = Promise))(function (resolve, reject) {
-    function fulfilled(value) {
-      try {
-        step(generator.next(value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-
-    function rejected(value) {
-      try {
-        step(generator["throw"](value));
-      } catch (e) {
-        reject(e);
-      }
-    }
-
-    function step(result) {
-      result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected);
-    }
-
-    step((generator = generator.apply(thisArg, _arguments || [])).next());
-  });
-};
-
-var __generator = this && this.__generator || function (thisArg, body) {
-  var _ = {
-    label: 0,
-    sent: function sent() {
-      if (t[0] & 1) throw t[1];
-      return t[1];
-    },
-    trys: [],
-    ops: []
-  },
-      f,
-      y,
-      t,
-      g;
-  return g = {
-    next: verb(0),
-    "throw": verb(1),
-    "return": verb(2)
-  }, typeof Symbol === "function" && (g[Symbol.iterator] = function () {
-    return this;
-  }), g;
-
-  function verb(n) {
-    return function (v) {
-      return step([n, v]);
-    };
-  }
-
-  function step(op) {
-    if (f) throw new TypeError("Generator is already executing.");
-
-    while (_) {
-      try {
-        if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
-        if (y = 0, t) op = [op[0] & 2, t.value];
-
-        switch (op[0]) {
-          case 0:
-          case 1:
-            t = op;
-            break;
-
-          case 4:
-            _.label++;
-            return {
-              value: op[1],
-              done: false
-            };
-
-          case 5:
-            _.label++;
-            y = op[1];
-            op = [0];
-            continue;
-
-          case 7:
-            op = _.ops.pop();
-
-            _.trys.pop();
-
-            continue;
-
-          default:
-            if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) {
-              _ = 0;
-              continue;
-            }
-
-            if (op[0] === 3 && (!t || op[1] > t[0] && op[1] < t[3])) {
-              _.label = op[1];
-              break;
-            }
-
-            if (op[0] === 6 && _.label < t[1]) {
-              _.label = t[1];
-              t = op;
-              break;
-            }
-
-            if (t && _.label < t[2]) {
-              _.label = t[2];
-
-              _.ops.push(op);
-
-              break;
-            }
-
-            if (t[2]) _.ops.pop();
-
-            _.trys.pop();
-
-            continue;
-        }
-
-        op = body.call(thisArg, _);
-      } catch (e) {
-        op = [6, e];
-        y = 0;
-      } finally {
-        f = t = 0;
-      }
-    }
-
-    if (op[0] & 5) throw op[1];
-    return {
-      value: op[0] ? op[1] : void 0,
-      done: true
-    };
-  }
-};
-
-var __importDefault = this && this.__importDefault || function (mod) {
-  return mod && mod.__esModule ? mod : {
-    "default": mod
-  };
-};
-
-Object.defineProperty(exports, "__esModule", {
-  value: true
-});
-exports.RosViewer = void 0;
-
-var roslib_1 = __importDefault(require("roslib"));
-
-var inject_1 = require("./inject");
-
-var utils_1 = require("./utils");
-
-var RosViewer =
-/** @class */
-function () {
-  function RosViewer(configure) {
-    this.iu = new inject_1.InjectUtil();
-    this.configure = configure;
-  }
-
-  RosViewer.prototype.init = function (_a) {
-    var elem = _a.elem,
-        _b = _a.view,
-        view = _b === void 0 ? {} : _b,
-        _c = _a.tf,
-        tf = _c === void 0 ? {} : _c;
-    return __awaiter(this, void 0, void 0, function () {
-      var _d, tfClient;
-
-      return __generator(this, function (_e) {
-        switch (_e.label) {
-          case 0:
-            if (!this.configure.conf.ros3d_lib_url) {
-              throw new Error('ros3djs lib not found');
-            }
-
-            _d = this;
-            return [4
-            /*yield*/
-            , utils_1.loadLib(this.configure.conf.ros3d_lib_url)];
-
-          case 1:
-            _d.ROS3D = _e.sent();
-            this.elem = elem;
-            this.iu.install('ros', this.configure.ros);
-            this.viewer = new this.ROS3D.Viewer(__assign({
-              elem: elem,
-              width: elem.clientWidth,
-              height: elem.clientHeight,
-              antialias: true,
-              cameraPose: {
-                x: 100,
-                y: 100,
-                z: 100
-              },
-              displayPanAndZoomFrame: false,
-              background: '#000000'
-            }, view));
-            this.iu.install('rootObject', this.viewer.scene);
-            tfClient = this.iu.inject(roslib_1["default"].TFClient, __assign({
-              angularThres: 0.01,
-              transThres: 0.01,
-              fixedFrame: '/base_link'
-            }, tf));
-            this.iu.install('tfClient', tfClient);
-            return [2
-            /*return*/
-            ];
-        }
-      });
-    });
-  };
-
-  RosViewer.prototype.destroy = function () {
-    if (this.viewer && typeof this.viewer.stop === 'function') {
-      this.viewer.stop();
-    }
-
-    this.elem.innerHTML = '';
-  };
-
-  RosViewer.prototype.initPointClouds = function (optList) {
-    var _this = this;
-
-    return optList.map(function (opt) {
-      return _this.iu.inject(_this.ROS3D.PointCloud2, __assign(__assign({}, utils_1.basePointCloudOptions), opt));
-    });
-  };
-
-  return RosViewer;
-}();
-
-exports.RosViewer = RosViewer;