var ROS2D=function(e,t,i){"use strict";function s(e){if(e&&e.__esModule)return e;var t=Object.create(null);return e&&Object.keys(e).forEach((function(i){if("default"!==i){var s=Object.getOwnPropertyDescriptor(e,i);Object.defineProperty(t,i,s.get?s:{enumerable:!0,get:function(){return e[i]}})}})),t.default=e,Object.freeze(t)}var n=s(t),r=s(i);n.Stage.prototype.globalToRos=function(e,t){var i=(e-this.x)/this.scaleX,s=(this.y-t)/this.scaleY;return new r.Vector3({x:i,y:s})},n.Stage.prototype.rosToGlobal=function(e){return{x:e.x*this.scaleX+this.x,y:e.y*this.scaleY+this.y}},n.Stage.prototype.rosQuaternionToGlobalTheta=function(e){var t=e.w,i=e.x,s=e.y,n=e.z;return 180*-Math.atan2(2*(t*n+i*s),1-2*(s*s+n*n))/Math.PI};class o extends n.Bitmap{constructor(e){var t=(e=e||{}).message;super(e.image),this.pose=new r.Pose({position:t.origin.position,orientation:t.origin.orientation}),this.width=t.width,this.height=t.height,this.y=-this.height*t.resolution,this.scaleX=t.resolution,this.scaleY=t.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y}}function a(e){return e&&e.__esModule&&Object.prototype.hasOwnProperty.call(e,"default")?e.default:e}var h,l={exports:{}};
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   * https://github.com/hij1nx/EventEmitter2
   *
   * Copyright (c) 2013 hij1nx
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h=-1,l=0,c=s.length;l<c;l++)if(s[l]===t||s[l].listener&&s[l].listener===t||s[l]._origin&&s[l]._origin===t){h=l;break}if(h<0)continue;return this.wildcard?a._listeners.splice(h,1):this._events[e].splice(h,1),0===s.length&&(this.wildcard?delete a._listeners:delete this._events[e]),this._removeListener&&this.emit("removeListener",e,t),this}(s===t||s.listener&&s.listener===t||s._origin&&s._origin===t)&&(this.wildcard?delete a._listeners:delete this._events[e],this._removeListener&&this.emit("removeListener",e,t))}return this.listenerTree&&L(this.listenerTree),this},j.prototype.offAny=function(e){var t,i=0,s=0;if(e&&this._all&&this._all.length>0){for(i=0,s=(t=this._all).length;i<s;i++)if(e===t[i])return t.splice(i,1),this._removeListener&&this.emit("removeListenerAny",e),this}else{if(t=this._all,this._removeListener)for(i=0,s=t.length;i<s;i++)this.emit("removeListenerAny",t[i]);this._all=[]}return this},j.prototype.removeListener=j.prototype.off,j.prototype.removeAllListeners=function(t){if(t===e)return!this._events||h.call(this),this;if(this.wildcard){var i,s=C.call(this,null,t,this.listenerTree,0);if(!s)return this;for(i=0;i<s.length;i++)s[i]._listeners=null;this.listenerTree&&L(this.listenerTree)}else this._events&&(this._events[t]=null);return this},j.prototype.listeners=function(t){var i,s,n,r,o,h=this._events;if(t===e){if(this.wildcard)throw Error("event name required for wildcard emitter");if(!h)return[];for(r=(i=a(h)).length,n=[];r-- >0;)"function"==typeof(s=h[i[r]])?n.push(s):n.push.apply(n,s);return n}if(this.wildcard){if(!(o=this.listenerTree))return[];var l=[],c="string"==typeof t?t.split(this.delimiter):t.slice();return C.call(this,l,c,o,0),l}return h&&(s=h[t])?"function"==typeof s?[s]:s:[]},j.prototype.eventNames=function(e){var t=this._events;return this.wildcard?x.call(this,this.listenerTree,[],null,e):t?a(t):[]},j.prototype.listenerCount=function(e){return this.listeners(e).length},j.prototype.hasListeners=function(t){if(this.wildcard){var i=[],s="string"==typeof t?t.split(this.delimiter):t.slice();return C.call(this,i,s,this.listenerTree,0),i.length>0}var n=this._events,r=this._all;return!!(r&&r.length||n&&(t===e?a(n).length:n[t]))},j.prototype.listenersAny=function(){return this._all?this._all:[]},j.prototype.waitFor=function(t,i){var s=this,n=typeof i;return"number"===n?i={timeout:i}:"function"===n&&(i={filter:i}),w((i=v(i,{timeout:0,filter:e,handleError:!1,Promise:Promise,overload:!1},{filter:m,Promise:g})).Promise,(function(e,n,r){function o(){var r=i.filter;if(!r||r.apply(s,arguments))if(s.off(t,o),i.handleError){var a=arguments[0];a?n(a):e(u.apply(null,arguments).slice(1))}else e(u.apply(null,arguments))}r((function(){s.off(t,o)})),s._on(t,o,!1)}),{timeout:i.timeout,overload:i.overload})};var O=j.prototype;Object.defineProperties(j,{defaultMaxListeners:{get:function(){return O._maxListeners},set:function(e){if("number"!=typeof e||e<0||Number.isNaN(e))throw TypeError("n must be a non-negative number");O._maxListeners=e},enumerable:!0},once:{value:function(e,t,i){return w((i=v(i,{Promise:Promise,timeout:0,overload:!1},{Promise:g})).Promise,(function(i,s,n){var r;if("function"==typeof e.addEventListener)return r=function(){i(u.apply(null,arguments))},n((function(){e.removeEventListener(t,r)})),void e.addEventListener(t,r,{once:!0});var o,a=function(){o&&e.removeListener("error",o),i(u.apply(null,arguments))};"error"!==t&&(o=function(i){e.removeListener(t,a),s(i)},e.once("error",o)),n((function(){o&&e.removeListener("error",o),e.removeListener(t,a)})),e.once(t,a)}),{timeout:i.timeout,overload:i.overload})},writable:!0,configurable:!0}}),Object.defineProperties(O,{_maxListeners:{value:10,writable:!0,configurable:!0},_observers:{value:null,writable:!0,configurable:!0}}),c.exports=j}()),l.exports),u=a(p);class f extends n.Bitmap{constructor(e){var t=(e=e||{}).message,i=document.createElement("canvas"),s=i.getContext("2d");i.width=t.info.width,i.height=t.info.height;for(var n=s.createImageData(i.width,i.height),o=0;o<i.height;o++)for(var a=0;a<i.width;a++){var h,l=a+(i.height-o-1)*i.width,c=t.data[l];h=100===c?0:0===c?255:127;var p=4*(a+o*i.width);n.data[p]=h,n.data[++p]=h,n.data[++p]=h,n.data[++p]=255}s.putImageData(n,0,0),super(i),this.width=i.width,this.height=i.height,this.pose=new r.Pose({position:t.info.origin.position,orientation:t.info.origin.orientation}),this.y=-this.height*t.info.resolution,this.scaleX=t.info.resolution,this.scaleY=t.info.resolution,this.width*=this.scaleX,this.height*=this.scaleY,this.x+=this.pose.position.x,this.y-=this.pose.position.y}}class d extends n.Shape{constructor(e){var t=(e=e||{}).size||10,i=e.cellSize||.1,s=e.lineWidth||.001,r=new n.Graphics;r.setStrokeStyle(5*s),r.beginStroke(n.Graphics.getRGB(0,0,0)),r.beginFill(n.Graphics.getRGB(255,0,0)),r.moveTo(-t*i,0),r.lineTo(t*i,0),r.moveTo(0,-t*i),r.lineTo(0,t*i),r.endFill(),r.endStroke(),r.setStrokeStyle(s),r.beginStroke(n.Graphics.getRGB(0,0,0)),r.beginFill(n.Graphics.getRGB(255,0,0));for(var o=-t;o<=t;o++)r.moveTo(-t*i,o*i),r.lineTo(t*i,o*i),r.moveTo(o*i,-t*i),r.lineTo(o*i,t*i);r.endFill(),r.endStroke(),super(r)}}class v extends n.Shape{constructor(e){var t=this,i=(e=e||{}).size||10,s=e.strokeSize||3,r=e.strokeColor||n.Graphics.getRGB(0,0,0),o=e.fillColor||n.Graphics.getRGB(255,0,0),a=e.pulse,h=new n.Graphics,l=i/3,c=2*l/3;if(h.setStrokeStyle(s),h.beginStroke(r),h.moveTo(0,0),h.lineTo(i-l,0),h.beginFill(o),h.moveTo(i,0),h.lineTo(i-l,c/2),h.lineTo(i-l,-c/2),h.closePath(),h.endFill(),h.endStroke(),super(h),a){var p=0,u=!0;n.Ticker.addEventListener("tick",(function(){u?(t.scaleX*=1.035,t.scaleY*=1.035,u=++p<10):(t.scaleX/=1.035,t.scaleY/=1.035,u=--p<0)}))}}}class g extends n.Shape{constructor(e){var t=this,i=(e=e||{}).size||10,s=e.strokeSize||3,r=e.strokeColor||n.Graphics.getRGB(0,0,0),o=e.fillColor||n.Graphics.getRGB(255,0,0),a=e.pulse,h=new n.Graphics;if(h.setStrokeStyle(s),h.moveTo(-i/2,-i/2),h.beginStroke(r),h.beginFill(o),h.lineTo(i,0),h.lineTo(-i/2,i/2),h.closePath(),h.endFill(),h.endStroke(),super(h),a){var l=0,c=!0;n.Ticker.addEventListener("tick",(function(){c?(t.scaleX*=1.035,t.scaleY*=1.035,c=++l<10):(t.scaleX/=1.035,t.scaleY/=1.035,c=--l<0)}))}}}class y extends n.Bitmap{constructor(e){var t=(e=e||{}).size||10,i=e.image,s=e.pulse,r=e.alpha||1,o={},a=new Image;super(a);a.onload=function(){var e=h(t);if(this.alpha=r,this.scaleX=e,this.scaleY=e,this.regY=this.image.height/2,this.regX=this.image.width/2,o.rotation=this.rotation,Object.defineProperty(this,"rotation",{get:function(){return o.rotation+90},set:function(e){o.rotation=e}}),s){var i=0,a=!0,l=1.02;n.Ticker.addEventListener("tick",(function(){a?(this.scaleX*=l,this.scaleY*=l,a=++i<10):(this.scaleX/=l,this.scaleY/=l,a=--i<0)}))}}.bind(this),a.src=i;var h=function(e){return e/a.width}}}class m extends n.Shape{constructor(e){var t=(e=e||{}).path;if(this.strokeSize=e.strokeSize||3,this.strokeColor=e.strokeColor||n.Graphics.getRGB(0,0,0),this.graphics=new n.Graphics,null!=t){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(t.poses[0].pose.position.x/this.scaleX,t.poses[0].pose.position.y/-this.scaleY);for(var i=1;i<t.poses.length;++i)this.graphics.lineTo(t.poses[i].pose.position.x/this.scaleX,t.poses[i].pose.position.y/-this.scaleY);this.graphics.endStroke()}super(this.graphics)}setPath(e){if(this.graphics.clear(),null!=e){this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.moveTo(e.poses[0].pose.position.x/this.scaleX,e.poses[0].pose.position.y/-this.scaleY);for(var t=1;t<e.poses.length;++t)this.graphics.lineTo(e.poses[t].pose.position.x/this.scaleX,e.poses[t].pose.position.y/-this.scaleY);this.graphics.endStroke()}}}class _ extends n.Container{constructor(e){super(),e=e||{},this.lineSize=e.lineSize||3,this.lineColor=e.lineColor||n.Graphics.getRGB(0,0,255,.66),this.pointSize=e.pointSize||10,this.pointColor=e.pointColor||n.Graphics.getRGB(255,0,0,.66),this.fillColor=e.pointColor||n.Graphics.getRGB(0,255,0,.33),this.lineCallBack=e.lineCallBack,this.pointCallBack=e.pointCallBack,this.pointContainer=new n.Container,this.lineContainer=new n.Container,this.fillShape=new n.Shape,this.addChild(this.fillShape),this.addChild(this.lineContainer),this.addChild(this.pointContainer)}createLineShape(e,t){var i=new n.Shape;this.editLineShape(i,e,t);var s=this;return i.addEventListener("mousedown",(function(e){null!==s.lineCallBack&&void 0!==s.lineCallBack&&s.lineCallBack("mousedown",e,s.lineContainer.getChildIndex(e.target))})),i}editLineShape(e,t,i){e.graphics.clear(),e.graphics.setStrokeStyle(this.lineSize),e.graphics.beginStroke(this.lineColor),e.graphics.moveTo(t.x,t.y),e.graphics.lineTo(i.x,i.y)}createPointShape(e){var t=new n.Shape;t.graphics.beginFill(this.pointColor),t.graphics.drawCircle(0,0,this.pointSize),t.x=e.x,t.y=-e.y;var i=this;return t.addEventListener("mousedown",(function(e){null!==i.pointCallBack&&void 0!==i.pointCallBack&&i.pointCallBack("mousedown",e,i.pointContainer.getChildIndex(e.target))})),t}addPoint(e){var t=this.createPointShape(e);this.pointContainer.addChild(t);var i=this.pointContainer.numChildren;if(i<2);else if(i<3){var s=this.createLineShape(this.pointContainer.getChildAt(i-2),t);this.lineContainer.addChild(s)}if(i>2&&this.editLineShape(this.lineContainer.getChildAt(i-2),this.pointContainer.getChildAt(i-2),t),i>1){var n=this.createLineShape(t,this.pointContainer.getChildAt(0));this.lineContainer.addChild(n)}this.drawFill()}remPoint(e){var t;t=e instanceof n.Shape?this.pointContainer.getChildIndex(e):e;var i=this.pointContainer.numChildren;i<2||(i<3?this.lineContainer.removeAllChildren():(this.editLineShape(this.lineContainer.getChildAt((t-1+i)%i),this.pointContainer.getChildAt((t-1+i)%i),this.pointContainer.getChildAt((t+1)%i)),this.lineContainer.removeChildAt(t))),this.pointContainer.removeChildAt(t),this.drawFill()}movePoint(e,t){var i,s;e instanceof n.Shape?(i=this.pointContainer.getChildIndex(e),s=e):(i=e,s=this.pointContainer.getChildAt(i)),s.x=t.x,s.y=-t.y;var r=this.pointContainer.numChildren;if(r>1){var o=this.lineContainer.getChildAt((i-1+r)%r);this.editLineShape(o,this.pointContainer.getChildAt((i-1+r)%r),s);var a=this.lineContainer.getChildAt(i);this.editLineShape(a,s,this.pointContainer.getChildAt((i+1)%r))}this.drawFill()}splitLine(e){var t,i;e instanceof n.Shape?(t=this.lineContainer.getChildIndex(e),i=e):(t=e,i=this.lineContainer.getChildAt(t));var s=this.pointContainer.numChildren,o=this.pointContainer.getChildAt(t).x,a=this.pointContainer.getChildAt(t).y,h=(o+this.pointContainer.getChildAt((t+1)%s).x)/2,l=(a+this.pointContainer.getChildAt((t+1)%s).y)/2,c=new r.Vector3({x:h,y:-l}),p=this.createPointShape(c);this.pointContainer.addChildAt(p,t+1),++s;var u=this.createLineShape(p,this.pointContainer.getChildAt((t+2)%s));this.lineContainer.addChildAt(u,t+1),this.editLineShape(i,this.pointContainer.getChildAt(t),p),this.drawFill()}drawFill(){var e=this.pointContainer.numChildren;if(e>2){var t=this.fillShape.graphics;t.clear(),t.setStrokeStyle(0),t.beginStroke(),t.beginFill(this.fillColor),t.moveTo(this.pointContainer.getChildAt(0).x,this.pointContainer.getChildAt(0).y);for(var i=1;i<e;++i)t.lineTo(this.pointContainer.getChildAt(i).x,this.pointContainer.getChildAt(i).y);t.closePath(),t.endFill(),t.endStroke()}else this.fillShape.graphics.clear()}}class w extends n.Shape{constructor(e){var t=(e=e||{}).pose;this.strokeSize=e.strokeSize||3,this.strokeColor=e.strokeColor||n.Graphics.getRGB(0,0,0),this.maxPoses=e.maxPoses||0===e.maxPoses?e.maxPoses:100,this.minDist=e.minDist||.05,this.minDist=this.minDist*this.minDist,this.poses=[],this.graphics=new n.Graphics,this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),null!=t&&this.poses.push(t),super(this.graphics)}addPose(e){var t=this.poses.length-1;if(t<0)this.poses.push(e),this.graphics.moveTo(e.position.x/this.scaleX,e.position.y/-this.scaleY);else{var i=this.poses[t].position.x,s=this.poses[t].position.y,n=e.position.x-i,r=e.position.y-s;n*n+r*r>this.minDist&&(this.graphics.lineTo(e.position.x/this.scaleX,e.position.y/-this.scaleY),this.poses.push(e))}this.maxPoses>0&&this.maxPoses<this.poses.length&&this.popFront()}popFront(){if(this.poses.length>0){this.poses.shift(),this.graphics.clear(),this.graphics.setStrokeStyle(this.strokeSize),this.graphics.beginStroke(this.strokeColor),this.graphics.lineTo(this.poses[0].position.x/this.scaleX,this.poses[0].position.y/-this.scaleY);for(var e=1;e<this.poses.length;++e)this.graphics.lineTo(this.poses[e].position.x/this.scaleX,this.poses[e].position.y/-this.scaleY)}}}return e.ArrowShape=v,e.Grid=d,e.ImageMap=o,e.ImageMapClient=class extends u{constructor(e){super();var t=(e=e||{}).ros,i=e.topic||"/map_metadata";this.image=e.image,this.rootObject=e.rootObject||new n.Container,this.currentImage=new n.Shape;var s=new r.Topic({ros:t,name:i,messageType:"nav_msgs/MapMetaData"});s.subscribe(function(e){s.unsubscribe(),this.currentImage=new o({message:e,image:this.image}),this.rootObject.addChild(this.currentImage),this.emit("change")}.bind(this))}},e.NavigationArrow=g,e.NavigationImage=y,e.OccupancyGrid=f,e.OccupancyGridClient=class extends u{constructor(e){super();var t=this,i=(e=e||{}).ros,s=e.topic||"/map";this.continuous=e.continuous,this.rootObject=e.rootObject||new n.Container,this.currentGrid=new n.Shape,this.rootObject.addChild(this.currentGrid),this.rootObject.addChild(new d({size:1}));var o=new r.Topic({ros:i,name:s,messageType:"nav_msgs/OccupancyGrid",compression:"png"});o.subscribe((function(e){var i=null;t.currentGrid&&(i=t.rootObject.getChildIndex(t.currentGrid),t.rootObject.removeChild(t.currentGrid)),t.currentGrid=new f({message:e}),null!==i?t.rootObject.addChildAt(t.currentGrid,i):t.rootObject.addChild(t.currentGrid),t.emit("change"),t.continuous||o.unsubscribe()}))}},e.OccupancyGridSrvClient=class extends u{constructor(e){super();var t=this,i=(e=e||{}).ros,s=e.service||"/static_map";this.rootObject=e.rootObject||new n.Container,this.currentGrid=null,new r.Service({ros:i,name:s,serviceType:"nav_msgs/GetMap",compression:"png"}).callService(new r.ServiceRequest,(function(e){t.currentGrid&&t.rootObject.removeChild(t.currentGrid),t.currentGrid=new f({message:e.map}),t.rootObject.addChild(t.currentGrid),t.emit("change",t.currentGrid)}))}},e.PanView=class{constructor(e){e=e||{},this.rootObject=e.rootObject,this.rootObject instanceof n.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.startPos=new r.Vector3}startPan(e,t){this.startPos.x=e,this.startPos.y=t}pan(e,t){this.stage.x+=e-this.startPos.x,this.startPos.x=e,this.stage.y+=t-this.startPos.y,this.startPos.y=t}},e.PathShape=m,e.PolygonMarker=_,e.TraceShape=w,e.Viewer=class{constructor(e){var t=(e=e||{}).divID;this.width=e.width,this.height=e.height;var i=e.background||"#111111",s=document.createElement("canvas");s.width=this.width,s.height=this.height,s.style.background=i,document.getElementById(t).appendChild(s),this.scene=new n.Stage(s),this.scene.y=this.height,document.getElementById(t).appendChild(s),n.Ticker.framerate=30,n.Ticker.addEventListener("tick",this.scene)}addObject(e){this.scene.addChild(e)}scaleToDimensions(e,t){this.scene.x=void 0!==this.scene.x_prev_shift?this.scene.x_prev_shift:this.scene.x,this.scene.y=void 0!==this.scene.y_prev_shift?this.scene.y_prev_shift:this.scene.y,this.scene.scaleX=this.width/e,this.scene.scaleY=this.height/t}shift(e,t){this.scene.x_prev_shift=this.scene.x,this.scene.y_prev_shift=this.scene.y,this.scene.x-=e*this.scene.scaleX,this.scene.y+=t*this.scene.scaleY}},e.ZoomView=class{constructor(e){e=e||{},this.rootObject=e.rootObject,this.minScale=e.minScale||.001,this.rootObject instanceof n.Stage?this.stage=this.rootObject:this.stage=this.rootObject.getStage(),this.center=new r.Vector3,this.startShift=new r.Vector3,this.startScale=new r.Vector3}startZoom(e,t){this.center.x=e,this.center.y=t,this.startShift.x=this.stage.x,this.startShift.y=this.stage.y,this.startScale.x=this.stage.scaleX,this.startScale.y=this.stage.scaleY}zoom(e){this.startScale.x*e<this.minScale&&(e=this.minScale/this.startScale.x),this.startScale.y*e<this.minScale&&(e=this.minScale/this.startScale.y),this.stage.scaleX=this.startScale.x*e,this.stage.scaleY=this.startScale.y*e,this.stage.x=this.startShift.x-(this.center.x-this.startShift.x)*(this.stage.scaleX/this.startScale.x-1),this.stage.y=this.startShift.y-(this.center.y-this.startShift.y)*(this.stage.scaleY/this.startScale.y-1)}},Object.defineProperty(e,"__esModule",{value:!0}),e}({},createjs,ROSLIB);