diff --git a/build/ros3d.cjs.js b/build/ros3d.cjs.js
index 0c209205..f6d38d8b 100644
--- a/build/ros3d.cjs.js
+++ b/build/ros3d.cjs.js
@@ -45996,7 +45996,7 @@ var THREE = Object.assign({}, THREE$1);
  * @author David Gossow - dgossow@willowgarage.com
  */
 
-var REVISION = '1.0.1';
+var REVISION = '1.1.0';
 
 // Marker types
 var MARKER_ARROW = 0;
diff --git a/build/ros3d.esm.js b/build/ros3d.esm.js
index b22a47cb..3eeb0957 100644
--- a/build/ros3d.esm.js
+++ b/build/ros3d.esm.js
@@ -45972,7 +45972,7 @@ var THREE = Object.assign({}, THREE$1);
  * @author David Gossow - dgossow@willowgarage.com
  */
 
-var REVISION = '1.0.1';
+var REVISION = '1.1.0';
 
 // Marker types
 var MARKER_ARROW = 0;
diff --git a/build/ros3d.js b/build/ros3d.js
index 5e03079a..d66d6fa8 100644
--- a/build/ros3d.js
+++ b/build/ros3d.js
@@ -45980,7 +45980,7 @@ var ROS3D = (function (exports, ROSLIB) {
 	 * @author David Gossow - dgossow@willowgarage.com
 	 */
 
-	var REVISION = '1.0.1';
+	var REVISION = '1.1.0';
 
 	// Marker types
 	var MARKER_ARROW = 0;
diff --git a/build/ros3d.min.js b/build/ros3d.min.js
index 1ce34150..16fe351e 100644
--- a/build/ros3d.min.js
+++ b/build/ros3d.min.js
@@ -9,4 +9,4 @@ Object.assign(za.prototype,{_getValue_unbound:za.prototype.getValue,_setValue_un
 	 *
 	 * Copyright (c) 2013 hij1nx
 	 * Licensed under the MIT license.
-	 */Hs=Ws,function(e){var t=Object.hasOwnProperty,i=Array.isArray?Array.isArray:function(e){return"[object Array]"===Object.prototype.toString.call(e)},r="object"==typeof process&&"function"==typeof process.nextTick,n="function"==typeof Symbol,o="object"==typeof Reflect,a="function"==typeof setImmediate?setImmediate:setTimeout,s=n?o&&"function"==typeof Reflect.ownKeys?Reflect.ownKeys:function(e){var t=Object.getOwnPropertyNames(e);return t.push.apply(t,Object.getOwnPropertySymbols(e)),t}:Object.keys;function c(){this._events={},this._conf&&h.call(this,this._conf)}function h(t){t&&(this._conf=t,t.delimiter&&(this.delimiter=t.delimiter),t.maxListeners!==e&&(this._maxListeners=t.maxListeners),t.wildcard&&(this.wildcard=t.wildcard),t.newListener&&(this._newListener=t.newListener),t.removeListener&&(this._removeListener=t.removeListener),t.verboseMemoryLeak&&(this.verboseMemoryLeak=t.verboseMemoryLeak),t.ignoreErrors&&(this.ignoreErrors=t.ignoreErrors),this.wildcard&&(this.listenerTree={}))}function l(e,t){var i="(node) warning: possible EventEmitter memory leak detected. "+e+" listeners added. Use emitter.setMaxListeners() to increase limit.";if(this.verboseMemoryLeak&&(i+=" Event name: "+t+"."),"undefined"!=typeof process&&process.emitWarning){var r=new Error(i);r.name="MaxListenersExceededWarning",r.emitter=this,r.count=e,process.emitWarning(r)}else console.error(i),console.trace&&console.trace()}var u=function(e,t,i){var r=arguments.length;switch(r){case 0:return[];case 1:return[e];case 2:return[e,t];case 3:return[e,t,i];default:for(var n=new Array(r);r--;)n[r]=arguments[r];return n}};function p(t,i){for(var r={},n=t.length,o=i?value.length:0,a=0;a<n;a++)r[t[a]]=a<o?i[a]:e;return r}function d(e,t,i){var r,n;if(this._emitter=e,this._target=t,this._listeners={},this._listenersCount=0,(i.on||i.off)&&(r=i.on,n=i.off),t.addEventListener?(r=t.addEventListener,n=t.removeEventListener):t.addListener?(r=t.addListener,n=t.removeListener):t.on&&(r=t.on,n=t.off),!r&&!n)throw Error("target does not implement any known event API");if("function"!=typeof r)throw TypeError("on method must be a function");if("function"!=typeof n)throw TypeError("off method must be a function");this._on=r,this._off=n;var o=e._observers;o?o.push(this):e._observers=[this]}function f(i,r,n,o){var a=Object.assign({},r);if(!i)return a;if("object"!=typeof i)throw TypeError("options must be an object");var s,c,h,l=Object.keys(i),u=l.length;function p(e){throw Error('Invalid "'+s+'" option value'+(e?". 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c=-1,h=0,l=r.length;h<l;h++)if(r[h]===t||r[h].listener&&r[h].listener===t||r[h]._origin&&r[h]._origin===t){c=h;break}if(c<0)continue;return this.wildcard?s._listeners.splice(c,1):this._events[e].splice(c,1),0===r.length&&(this.wildcard?delete s._listeners:delete this._events[e]),this._removeListener&&this.emit("removeListener",e,t),this}(r===t||r.listener&&r.listener===t||r._origin&&r._origin===t)&&(this.wildcard?delete s._listeners:delete this._events[e],this._removeListener&&this.emit("removeListener",e,t))}return this.listenerTree&&E(this.listenerTree),this},A.prototype.offAny=function(e){var t,i=0,r=0;if(e&&this._all&&this._all.length>0){for(i=0,r=(t=this._all).length;i<r;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,r=t.length;i<r;i++)this.emit("removeListenerAny",t[i]);this._all=[]}return this},A.prototype.removeListener=A.prototype.off,A.prototype.removeAllListeners=function(t){if(t===e)return!this._events||c.call(this),this;if(this.wildcard){var i,r=w.call(this,null,t,this.listenerTree,0);if(!r)return this;for(i=0;i<r.length;i++)r[i]._listeners=null;this.listenerTree&&E(this.listenerTree)}else this._events&&(this._events[t]=null);return this},A.prototype.listeners=function(t){var i,r,n,o,a,c=this._events;if(t===e){if(this.wildcard)throw Error("event name required for wildcard emitter");if(!c)return[];for(o=(i=s(c)).length,n=[];o-- >0;)"function"==typeof(r=c[i[o]])?n.push(r):n.push.apply(n,r);return n}if(this.wildcard){if(!(a=this.listenerTree))return[];var h=[],l="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,h,l,a,0),h}return c&&(r=c[t])?"function"==typeof r?[r]:r:[]},A.prototype.eventNames=function(e){var t=this._events;return this.wildcard?M.call(this,this.listenerTree,[],null,e):t?s(t):[]},A.prototype.listenerCount=function(e){return this.listeners(e).length},A.prototype.hasListeners=function(t){if(this.wildcard){var i=[],r="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,i,r,this.listenerTree,0),i.length>0}var n=this._events,o=this._all;return!!(o&&o.length||n&&(t===e?s(n).length:n[t]))},A.prototype.listenersAny=function(){return this._all?this._all:[]},A.prototype.waitFor=function(t,i){var r=this,n=typeof i;return"number"===n?i={timeout:i}:"function"===n&&(i={filter:i}),x((i=f(i,{timeout:0,filter:e,handleError:!1,Promise:Promise,overload:!1},{filter:g,Promise:m})).Promise,(function(e,n,o){function a(){var o=i.filter;if(!o||o.apply(r,arguments))if(r.off(t,a),i.handleError){var s=arguments[0];s?n(s):e(u.apply(null,arguments).slice(1))}else e(u.apply(null,arguments))}o((function(){r.off(t,a)})),r._on(t,a,!1)}),{timeout:i.timeout,overload:i.overload})};var L=A.prototype;Object.defineProperties(A,{defaultMaxListeners:{get:function(){return L._maxListeners},set:function(e){if("number"!=typeof e||e<0||Number.isNaN(e))throw TypeError("n must be a non-negative number");L._maxListeners=e},enumerable:!0},once:{value:function(e,t,i){return x((i=f(i,{Promise:Promise,timeout:0,overload:!1},{Promise:m})).Promise,(function(i,r,n){var o;if("function"==typeof e.addEventListener)return o=function(){i(u.apply(null,arguments))},n((function(){e.removeEventListener(t,o)})),void e.addEventListener(t,o,{once:!0});var a,s=function(){a&&e.removeListener("error",a),i(u.apply(null,arguments))};"error"!==t&&(a=function(i){e.removeListener(t,s),r(i)},e.once("error",a)),n((function(){a&&e.removeListener("error",a),e.removeListener(t,s)})),e.once(t,s)}),{timeout:i.timeout,overload:i.overload})},writable:!0,configurable:!0}}),Object.defineProperties(L,{_maxListeners:{value:10,writable:!0,configurable:!0},_observers:{value:null,writable:!0,configurable:!0}}),Hs.exports=A}();var Xs=Ws.exports;class qs extends Xs{constructor(e){super(),e=e||{},this.message=e.message,this.feedbackTopic=e.feedbackTopic,this.tfClient=e.tfClient,this.menuFontSize=e.menuFontSize||"0.8em",this.name=this.message.name,this.header=this.message.header,this.controls=this.message.controls,this.menuEntries=this.message.menu_entries,this.dragging=!1,this.timeoutHandle=null,this.tfTransform=new r.Transform,this.pose=new r.Pose,this.setPoseFromClientBound=this.setPoseFromClient.bind(this),this.onMouseDownBound=this.onMouseDown.bind(this),this.onMouseUpBound=this.onMouseUp.bind(this),this.onButtonClickBound=this.onButtonClick.bind(this),this.onMenuSelectBound=this.onMenuSelect.bind(this),this.setPoseFromServer(this.message.pose),this.tfUpdateBound=this.tfUpdate.bind(this)}subscribeTf(){0===this.message.header.stamp.secs&&0===this.message.header.stamp.nsecs&&this.tfClient.subscribe(this.message.header.frame_id,this.tfUpdateBound)}unsubscribeTf(){this.tfClient.unsubscribe(this.message.header.frame_id,this.tfUpdateBound)}emitServerPoseUpdate(){var e=new r.Pose(this.pose);e.applyTransform(this.tfTransform),this.emit("pose",e)}setPoseFromServer(e){this.pose=new r.Pose(e),this.emitServerPoseUpdate()}tfUpdate(e){this.tfTransform=new r.Transform(e),this.emitServerPoseUpdate()}setPoseFromClient(e){this.pose=new r.Pose(e);var t=this.tfTransform.clone();t.rotation.invert(),t.translation.multiplyQuaternion(t.rotation),t.translation.x*=-1,t.translation.y*=-1,t.translation.z*=-1,this.pose.applyTransform(t),this.sendFeedback(1,void 0,0,e.controlName),this.dragging&&(this.timeoutHandle&&clearTimeout(this.timeoutHandle),this.timeoutHandle=setTimeout(this.setPoseFromClient.bind(this,e),250))}onButtonClick(e){this.sendFeedback(3,e.clickPosition,0,e.controlName)}onMouseDown(e){this.sendFeedback(4,e.clickPosition,0,e.controlName),this.dragging=!0}onMouseUp(e){this.sendFeedback(5,e.clickPosition,0,e.controlName),this.dragging=!1,this.timeoutHandle&&clearTimeout(this.timeoutHandle)}onMenuSelect(e){this.sendFeedback(2,void 0,e.id,e.controlName)}sendFeedback(e,t,i,r){var n=void 0!==t;t=t||{x:0,y:0,z:0};var o={header:this.header,client_id:this.clientID,marker_name:this.name,control_name:r,event_type:e,pose:this.pose,mouse_point:t,mouse_point_valid:n,menu_entry_id:i};this.feedbackTopic.publish(o)}}class Ys extends Ss.Object3D{constructor(e){super(),e=e||{};var t=this;this.tfClient=e.tfClient,this.frameID=e.frameID;var i=e.object;this.pose=e.pose||new r.Pose,this.visible=!1,this.add(i),this.updatePose(this.pose),this.tfUpdate=function(e){var i=new r.Transform(e),n=new r.Pose(t.pose);n.applyTransform(i),t.updatePose(n),t.visible=!0},this.tfClient.subscribe(this.frameID,this.tfUpdate)}updatePose(e){this.position.set(e.position.x,e.position.y,e.position.z),this.quaternion.set(e.orientation.x,e.orientation.y,e.orientation.z,e.orientation.w),this.updateMatrixWorld(!0)}unsubscribeTf(){this.tfClient.unsubscribe(this.frameID,this.tfUpdate)}}class Zs extends Ss.ArrowHelper{constructor(e){var t=(e=e||{}).origin||new Ss.Vector3(0,0,0),i=e.direction||new Ss.Vector3(1,0,0),r=e.length||1;e.headLength,e.shaftDiameter,e.headDiameter,e.material||new Ss.MeshBasicMaterial,super(i,t,r,16711680)}dispose(){void 0!==this.line&&(this.line.material.dispose(),this.line.geometry.dispose()),void 0!==this.cone&&(this.cone.material.dispose(),this.cone.geometry.dispose())}}class Js extends Ss.Object3D{constructor(e){super();var t=this,i=(e=e||{}).shaftRadius||.008,r=e.headRadius||.023,n=e.headLength||.1,o=e.scale||1,a=e.lineType||"full",s=e.lineDashLength||.1;function c(e){var r=new Ss.Color;r.setRGB(e.x,e.y,e.z);var n=new Ss.MeshBasicMaterial({color:r.getHex()}),o=new Ss.Vector3;o.crossVectors(e,new Ss.Vector3(0,-1,0));var c=new Ss.Quaternion;c.setFromAxisAngle(o,.5*Math.PI);var h,l=new Ss.Mesh(t.headGeom,n);if(l.position.copy(e),l.position.multiplyScalar(.95),l.quaternion.copy(c),l.updateMatrix(),t.add(l),"dashed"===a)for(var u=s,p=0;u/2+3*u*p+u/2<=1;++p){var d=new Ss.CylinderGeometry(i,i,u);(h=new Ss.Mesh(d,n)).position.copy(e),h.position.multiplyScalar(u/2+3*u*p),h.quaternion.copy(c),h.updateMatrix(),t.add(h)}else"full"===a?((h=new Ss.Mesh(t.lineGeom,n)).position.copy(e),h.position.multiplyScalar(.45),h.quaternion.copy(c),h.updateMatrix(),t.add(h)):console.warn("[Axes]: Unsupported line type. Not drawing any axes.")}this.scale.set(o,o,o),this.lineGeom=new Ss.CylinderGeometry(i,i,1-n),this.headGeom=new Ss.CylinderGeometry(0,r,n),c(new Ss.Vector3(1,0,0)),c(new Ss.Vector3(0,1,0)),c(new Ss.Vector3(0,0,1))}}class Ks extends Ss.Object3D{constructor(e){var t=(e=e||{}).num_cells||10,i=e.color||"#cccccc",r=e.lineWidth||1,n=e.cellSize||1;super();for(var o=new Ss.LineBasicMaterial({color:i,linewidth:r}),a=0;a<=t;++a){var s=n*t/2,c=s-a*n,h=new Ss.Geometry;h.vertices.push(new Ss.Vector3(-s,c,0),new Ss.Vector3(s,c,0));var l=new Ss.Geometry;l.vertices.push(new Ss.Vector3(c,-s,0),new Ss.Vector3(c,s,0)),this.add(new Ss.Line(h,o)),this.add(new Ss.Line(l,o))}}}class Qs extends Ss.Mesh{constructor(e){var t=(e=e||{}).message,i=e.opacity||1,r=e.color||{r:255,g:255,b:255,a:255},n=t.info,o=n.origin,a=n.width,s=n.height,c=new Ss.PlaneBufferGeometry(a,s),h=new Uint8Array(a*s*4),l=new Ss.DataTexture(h,a,s,Ss.RGBAFormat);l.flipY=!0,l.minFilter=Ss.NearestFilter,l.magFilter=Ss.NearestFilter,l.needsUpdate=!0;var u=new Ss.MeshBasicMaterial({map:l,transparent:i<1,opacity:i});u.side=Ss.DoubleSide,super(c,u),Object.assign(this,e),this.quaternion.copy(new Ss.Quaternion(o.orientation.x,o.orientation.y,o.orientation.z,o.orientation.w)),this.position.x=a*n.resolution/2+o.position.x,this.position.y=s*n.resolution/2+o.position.y,this.position.z=o.position.z,this.scale.x=n.resolution,this.scale.y=n.resolution;var p=t.data;this.color=r,this.material=u,this.texture=l;for(var d=0;d<s;d++)for(var f=0;f<a;f++){var m=s-d-1,v=f+m*a,g=this.getValue(v,m,f,p),y=(r=this.getColor(v,m,f,g),4*(f+d*a));h.set(r,y)}l.needsUpdate=!0}dispose(){this.material.dispose(),this.texture.dispose()}getValue(e,t,i,r){return r[e]}getColor(e,t,i,r){return[r*this.color.r/255,r*this.color.g/255,r*this.color.b/255,255]}}class $s{constructor(){this._children=[null,null,null,null,null,null,null,null],this.value=null}createChildNodeAt(e,t){this._children[t%8]=e}hasChildAt(e){return null!==this._children[e%8]}getChildAt(e){return this._children[e%8]}isLeafNode(){for(let e=0;e<8;++e)if(null!==this._children[e])return!1;return!0}hasChildren(){for(let e=0;e<8;++e)if(null!==this._children[e])return!0;return!1}}var ec="occupied",tc="free",ic="solid",rc="color";function nc(e,t){return this.buffer=e.buffer,this.length=e.length,this.isLittleEndian=void 0===t||!!t,this._dataView=new DataView(this.buffer),this._cursor=0,[{kind:"Int8",width:1},{kind:"Uint8",width:1},{kind:"Int16",width:2},{kind:"Uint16",width:2},{kind:"Int32",width:4},{kind:"Uint32",width:4},{kind:"BigInt64",width:8},{kind:"BigUint64",width:8},{kind:"Float32",width:4},{kind:"Float64",width:8}].forEach((e=>{const t="read"+e.kind,i="get"+e.kind;this[t]=()=>{if(this._cursor+e.width>this.length)throw new Error("Cannot read data stream. Overflow. Len="+this.length+" crsr="+this._cursor);const t=this._dataView[i](this._cursor,this.isLittleEndian);return this._cursor+=e.width,t}})),Object.defineProperty(this,"isEnd",{get:()=>this.cursor>=this.data.length}),this}class oc{constructor(e){this.resolution=void 0!==e.resolution?e.resolution:1,this.color=new Ss.Color(void 0!==e.color?e.color:"green"),this.opacity=void 0!==e.opacity?e.opacity:1,this.voxelRenderMode=void 0!==e.voxelRenderMode?e.voxelRenderMode:ec,this._rootNode=null,this._treeDepth=16,this._treeMaxKeyVal=32768,this._BINARY_UNALLOCATED=0,this._BINARY_LEAF_FREE=1,this._BINARY_LEAF_OCCUPIED=2,this._BINARY_HAS_CHILDREN=3,this._BINARY_CHILD_BUILD_TABLE={},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_FREE]=function(e){e.value=this._defaultFreeValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_OCCUPIED]=function(e){e.value=this._defaultOccupiedValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_HAS_CHILDREN]=function(e){e.value=null},this._FACES=[{normal:[-1,0,0],vertices:[[0,1,0],[0,0,0],[0,1,1],[0,0,1]],childIndex:[1,3,5,7]},{normal:[1,0,0],vertices:[[1,1,1],[1,0,1],[1,1,0],[1,0,0]],childIndex:[0,2,4,6]},{normal:[0,-1,0],vertices:[[1,0,1],[0,0,1],[1,0,0],[0,0,0]],childIndex:[2,3,6,7]},{normal:[0,1,0],vertices:[[0,1,1],[1,1,1],[0,1,0],[1,1,0]],childIndex:[0,1,4,5]},{normal:[0,0,-1],vertices:[[1,0,0],[0,0,0],[1,1,0],[0,1,0]],childIndex:[4,5,6,7]},{normal:[0,0,1],vertices:[[0,0,1],[1,0,1],[0,1,1],[1,1,1]],childIndex:[0,1,2,3]}],this.nodeSizeTable=new Array(this._treeDepth);let t=this.resolution;for(let e=this._treeDepth-1;e>=0;--e)this.nodeSizeTable[e]=t,t*=2;this._defaultOccupiedValue=!0,this._defaultFreeValue=!1,this.object=null}searchAtDepth(e,t){t=void 0!==t&&t>0?t:this._treeDepth;const i=this._adjustKeyAtDepth(e,t),r=this._treeDepth-t;let n=this._rootNode;for(let e=this._treeDepth-1;e>=r;--e){const t=this._computeChildIdx(i,e);if(!n.hasChildAt(t))return n.hasChildren()?null:n;n=n.getChildAt(t)}return n}_computeCoordFromKey(e){return e.map((e=>this.resolution*(e-this._treeMaxKeyVal)))}_computeChildIdx(e,t){let i=0;return e[0]&1<<t&&(i+=1),e[1]&1<<t&&(i+=2),e[2]&1<<t&&(i+=4),i}_computeKeyFromChildIdx(e,t,i){const r=this._treeDepth-i-1;return[t[0]+(!!(1&e)<<r),t[1]+(!!(2&e)<<r),t[2]+(!!(4&e)<<r)]}_adjustKeyAtDepth(e,t){let i=this._treeDepth-t;return 0===i?e:e.map((e=>(e-this._treeMaxKeyVal>>i<<i)+(1<<i-1)+this._treeMaxKeyVal))}_newNode(){return new $s}readBinary(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new nc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();const r=t.readUint16();let n=8;for(;0!==n;){--n;const t=(r&3<<2*n)>>2*n;if(t!==this._BINARY_UNALLOCATED){let r=this._newNode();this._BINARY_CHILD_BUILD_TABLE[t].bind(this)(r),e.createChildNodeAt(r,n),t===this._BINARY_HAS_CHILDREN&&i.push(r)}}}}read(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new nc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();this._readNodeData(t,e);const r=t.readUint8();let n=8;for(;0!==n;){--n;if(r&1<<n){let t=this._newNode();t.value=null,e.createChildNodeAt(t,n),i.push(t)}}}}_readNodeData(e,t){console.error("Not implemented")}buildGeometry(){console.assert(null!==this._rootNode,"No tree data");const{vertices:e,normals:t,colors:i,indices:r}=this._buildFaces(),n=new Ss.BufferGeometry,o=new Ss.MeshBasicMaterial({color:"white",flatShading:!0,vertexColors:Ss.VertexColors,transparent:this.opacity<1,opacity:this.opacity});n.addAttribute("position",new Ss.BufferAttribute(new Float32Array(e),3)),n.addAttribute("normal",new Ss.BufferAttribute(new Float32Array(t),3)),n.addAttribute("color",new Ss.BufferAttribute(new Float32Array(i),3)),n.setIndex(r);const a=new Ss.Mesh(n,o);this.object=new Ss.Object3D,this.object.add(a)}_traverseLeaves(e){let t=new Array;for(t.push({node:this._rootNode,depth:0,key:[0,0,0]});t.length>0;){let i=t.pop();if(i.node.isLeafNode())e(i.node,i.key,i.depth-1);else for(let e=0;e<8;++e)if(i.node.hasChildAt(e)){const r=this._computeKeyFromChildIdx(e,i.key,i.depth);t.push({node:i.node.getChildAt(e),depth:i.depth+1,key:r})}}}_obtainColor(e){return this.color}_checkOccupied(e){return!1!==e.value}_buildFaces(){let e={vertices:[],indices:[],normals:[],colors:[],_insertFace:function(e,t,i,r){const n=this.vertices.length/3;e.vertices.forEach((function(e){this.vertices.push(t[0]+e[0]*i,t[1]+e[1]*i,t[2]+e[2]*i)}));const o=[r.r,r.g,r.b];this.colors.push(...o,...o,...o,...o),this.normals.push(...e.normal,...e.normal,...e.normal,...e.normal),this.indices.push(n,n+1,n+2,n+2,n+1,n+3)},_checkNeighborsTouchingFace:function(e,t,i){let r=new Array;for(r.push(t);0!==r.length;){const t=r.pop();t.hasChildren()&&e.childIndex.forEach((function(e){if(!t.hasChildAt(e))return!0;{const n=t.getChildAt(e),o=this._checkOccupied(t);(o&&i===ROS3D.OcTreeVoxelRenderMode.OCCUPIED||!o&&i===tc)&&r.push(n)}}))}return!1}};return this._traverseLeaves(((t,i,r)=>{const n=this._computeCoordFromKey(i),o=this.nodeSizeTable[r],a=this._treeDepth-r,s=this._checkOccupied(t);(s||this.voxelRenderMode!==ec)&&(s&&this.voxelRenderMode===tc||this._FACES.forEach((function(s){const c=[i[0]+s.normal[0]*a*a,i[1]+s.normal[1]*a*a,i[2]+s.normal[2]*a*a],h=this.searchAtDepth(c);null===h?e._insertFace(s,n,o,this._obtainColor(t)):r<this._treeDepth&&e._checkNeighborsTouchingFace(s,h,this.voxelRenderMode)})))})),{vertices:e.vertices,normals:e.normals,colors:e.colors,indices:e.indices}}}class ac extends oc{constructor(e){super(e),this._defaultOccupiedValue=1,this._defaultFreeValue=-1,this.occupancyThreshold=void 0!==e.occupancyThreshold?e.occupancyThreshold:1e-7,this.useFlatColoring=void 0!==e.colorMode&&e.colorMode===ic,this.palette=void 0!==e.palette?e.palette.map((e=>new Ss.Color(e))):[{r:0,g:0,b:128},{r:0,g:255,b:0},{r:255,g:255,b:0},{r:255,g:128,b:0},{r:255,g:0,b:0}],this.paletteScale=void 0!==e.paletteScale?e.paletteScale:1}_readNodeData(e,t){t.value=e.readFloat32()}_obtainColor(e){if(this.useFlatColoring)return this.color;const t=1/(1+Math.exp(-e.value*this.paletteScale))*this.palette.length,i=Math.trunc(t),r=t-i;return i<0?this.palette[0]:i>=this.palette.length-1?this.palette[this.palette.length-1]:{r:r*this.palette[i].r+(1-r)*this.palette[i+1].r,g:r*this.palette[i].g+(1-r)*this.palette[i+1].g,b:r*this.palette[i].b+(1-r)*this.palette[i+1].b}}_checkOccupied(e){return e.value>=this.occupancyThreshold}}class sc extends ac{constructor(e){super(e),this.useOwnColor=void 0!==e.palette&&e.colorMode===rc}_readNodeData(e,t){t.value=e.readFloat32(),t.color={r:e.readUint8(),g:e.readUint8(),b:e.readUint8()}}_obtainColor(e){return this.useOwnColor?e.color:ac.prototype._obtainColor.call(this,e)}}class cc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.keep=e.keep||1,this.sns=[],this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Odometry"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){this.sns.length>=this.keep&&(this.sns[0].unsubscribeTf(),this.rootObject.remove(this.sns[0]),this.sns.shift()),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sns.push(new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i})),this.rootObject.add(this.sns[this.sns.length-1])}}class hc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Path"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t=new Ss.Geometry,i=0;i<e.poses.length;i++){var r=new Ss.Vector3(e.poses[i].pose.position.x,e.poses[i].pose.position.y,e.poses[i].pose.position.z);t.vertices.push(r)}t.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(t,n);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class lc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/point",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.radius=e.radius||.2,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PointStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));var t=new Ss.SphereGeometry(this.radius),i=new Ss.MeshBasicMaterial({color:this.color}),r=new Ss.Mesh(t,i);r.position.set(e.point.x,e.point.y,e.point.z),this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.sn)}}class uc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PolygonStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Geometry,r=0;r<e.polygon.points.length;r++)t=new Ss.Vector3(e.polygon.points[r].x,e.polygon.points[r].y,e.polygon.points[r].z),i.vertices.push(t);t=new Ss.Vector3(e.polygon.points[0].x,e.polygon.points[0].y,e.polygon.points[0].z),i.vertices.push(t),i.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(i,n);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class pc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/pose",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.position.x,e.pose.position.y,e.pose.position.z);var t=new Ss.Quaternion(e.pose.orientation.x,e.pose.orientation.y,e.pose.orientation.z,e.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class dc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseArray"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Object3D,r=0;r<e.poses.length;r++){var n=new Ss.Geometry,o=new Ss.Vector3(e.poses[r].position.x,e.poses[r].position.y,e.poses[r].position.z);n.vertices.push(o);var a=new Ss.Quaternion(e.poses[r].orientation.x,e.poses[r].orientation.y,e.poses[r].orientation.z,e.poses[r].orientation.w),s=new Ss.Vector3(this.length,0,0),c=new Ss.Vector3(.8*this.length,.2*this.length,0),h=new Ss.Vector3(.8*this.length,.2*-this.length,0);s.applyQuaternion(a),c.applyQuaternion(a),h.applyQuaternion(a),n.vertices.push(s.add(o)),n.vertices.push(c.add(o)),n.vertices.push(h.add(o)),n.vertices.push(s),n.computeLineDistances();var l=new Ss.LineBasicMaterial({color:this.color});t=new Ss.Line(n,l),i.add(t)}this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class fc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/PoseWithCovariance",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseWithCovarianceStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class mc extends Ss.Object3D{constructor(e){super(),e=e||{},this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.max_pts=e.max_pts||1e4,this.pointRatio=e.pointRatio||1,this.messageRatio=e.messageRatio||1,this.messageCount=0,this.material=e.material||{},this.colorsrc=e.colorsrc,this.colormap=e.colormap,("color"in e||"size"in e||"texture"in e)&&console.warn('toplevel "color", "size" and "texture" options are deprecated.They should beprovided within a "material" option, e.g. :  { tfClient, material : { color: mycolor, size: mysize, map: mytexture }, ... }'),this.sn=null}setup(e,t,i){if(null===this.sn){i=i||[],this.fields={};for(var r=0;r<i.length;r++)this.fields[i[r].name]=i[r];if(this.geom=new Ss.BufferGeometry,this.positions=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("position",this.positions.setDynamic(!0)),!this.colorsrc&&this.fields.rgb&&(this.colorsrc="rgb"),this.colorsrc){var n=this.fields[this.colorsrc];if(n){this.colors=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("color",this.colors.setDynamic(!0));var o=n.offset;this.getColor=[function(e,t,i){return e.getInt8(t+o,i)},function(e,t,i){return e.getUint8(t+o,i)},function(e,t,i){return e.getInt16(t+o,i)},function(e,t,i){return e.getUint16(t+o,i)},function(e,t,i){return e.getInt32(t+o,i)},function(e,t,i){return e.getUint32(t+o,i)},function(e,t,i){return e.getFloat32(t+o,i)},function(e,t,i){return e.getFloat64(t+o,i)}][n.datatype-1],this.colormap=this.colormap||function(e){return new Ss.Color(e)}}else console.warn('unavailable field "'+this.colorsrc+'" for coloring.')}this.material.isMaterial||(this.colors&&void 0===this.material.vertexColors&&(this.material.vertexColors=Ss.VertexColors),this.material=new Ss.PointsMaterial(this.material)),this.object=new Ss.Points(this.geom,this.material),this.sn=new Ys({frameID:e,tfClient:this.tfClient,object:this.object}),this.rootObject.add(this.sn)}return this.messageCount++%this.messageRatio==0}update(e){this.geom.setDrawRange(0,e),this.positions.needsUpdate=!0,this.positions.updateRange.count=e*this.positions.itemSize,this.colors&&(this.colors.needsUpdate=!0,this.colors.updateRange.count=e*this.colors.itemSize)}}class vc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/scan",this.compression=e.compression||"cbor",this.points=new mc(e),this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,compression:this.compression,queue_length:1,messageType:"sensor_msgs/LaserScan"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){if(this.points.setup(e.header.frame_id)){for(var t=e.ranges.length,i=0,r=0;r<t;r+=this.points.pointRatio){var n=e.ranges[r];if(n>=e.range_min&&n<=e.range_max){var o=e.angle_min+r*e.angle_increment;this.points.positions.array[i++]=n*Math.cos(o),this.points.positions.array[i++]=n*Math.sin(o),this.points.positions.array[i++]=0}}this.points.update(i/3)}}}class gc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/gps/fix",this.rootObject=e.rootObject||new Ss.Object3D,this.object3d=e.object3d||new Ss.Object3D;var t=e.material||{};this.altitudeNaN=e.altitudeNaN||0,this.keep=e.keep||100,this.convert=e.convert||function(e,t,i){return new Ss.Vector3(e,t,i)},this.count=0,this.next1=0,this.next2=this.keep,this.geom=new Ss.BufferGeometry,this.vertices=new Ss.BufferAttribute(new Float32Array(6*this.keep),3),this.geom.addAttribute("position",this.vertices),this.material=t.isMaterial?t:new Ss.LineBasicMaterial(t),this.line=new Ss.Line(this.geom,this.material),this.rootObject.add(this.object3d),this.rootObject.add(this.line),this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"sensor_msgs/NavSatFix"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){var t=isNaN(e.altitude)?this.altitudeNaN:e.altitude,i=this.convert(e.longitude,e.latitude,t);this.object3d.position.copy(i),this.object3d.updateMatrixWorld(!0),this.vertices.array[3*this.next1]=i.x,this.vertices.array[3*this.next1+1]=i.y,this.vertices.array[3*this.next1+2]=i.z,this.vertices.array[3*this.next2]=i.x,this.vertices.array[3*this.next2+1]=i.y,this.vertices.array[3*this.next2+2]=i.z,this.vertices.needsUpdate=!0,this.next1=(this.next1+1)%this.keep,this.next2=this.next1+this.keep,this.count=Math.min(this.count+1,this.keep),this.geom.setDrawRange(this.next2-this.count,this.count)}}function yc(e,t,i,r){var n,o=0,a=0,s=0,c=e.length,h=t.length,l=((r=r||1)-1)*(i=i||h)*8;for(n=0;n<c&&s<h;n++)o=(o<<6)+yc.e[e.charAt(n)],(a+=6)>=8&&(a-=8,t[s++]=o>>>a&255,s%i==0&&(n+=Math.ceil((l-a)/6),(a%=8)>0&&(o=yc.e[e.charAt(n)])));return Math.floor(s/i)}yc.S="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/",yc.e={};for(var xc=0;xc<64;xc++)yc.e[yc.S.charAt(xc)]=xc;class bc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/points",this.throttle_rate=e.throttle_rate||null,this.compression=e.compression||"cbor",this.max_pts=e.max_pts||1e4,this.points=new mc(e),this.rosTopic=void 0,this.buffer=null,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/PointCloud2",throttle_rate:this.throttle_rate,queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){if(this.points.setup(e.header.frame_id,e.point_step,e.fields)){var t,i=this.points.pointRatio,r=this.max_pts*e.point_step;e.data.buffer?(this.buffer=e.data.slice(0,Math.min(e.data.byteLength,r)),t=Math.min(e.height*e.width/i,this.points.positions.array.length/3)):((!this.buffer||this.buffer.byteLength<r)&&(this.buffer=new Uint8Array(r)),t=yc(e.data,this.buffer,e.point_step,i),i=1);for(var n,o,a=new DataView(this.buffer.buffer),s=!e.is_bigendian,c=this.points.fields.x.offset,h=this.points.fields.y.offset,l=this.points.fields.z.offset,u=0;u<t;u++)n=u*i*e.point_step,this.points.positions.array[3*u]=a.getFloat32(n+c,s),this.points.positions.array[3*u+1]=a.getFloat32(n+h,s),this.points.positions.array[3*u+2]=a.getFloat32(n+l,s),this.points.colors&&(o=this.points.colormap(this.points.getColor(a,n,s)),this.points.colors.array[3*u]=o.r,this.points.colors.array[3*u+1]=o.g,this.points.colors.array[3*u+2]=o.b);this.points.update(t)}}}class wc extends Ss.Object3D{constructor(e){super(),e=e||{},this.frame_id=e.frame_id,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.axes=new Js({shaftRadius:e.shaftRadius||.025,headRadius:e.headRaidus||.07,headLength:e.headLength||.2,scale:e.scale||1,lineType:e.lineType||"full",lineDashLength:e.lineDashLength||.1}),this.sn=new Ys({frameID:this.frame_id,tfClient:this.tfClient,object:this.axes}),this.rootObject.add(this.sn)}}class _c extends Ss.Object3D{constructor(e){var t=(e=e||{}).urdfModel,i=e.path||"/",n=e.tfClient,o=e.tfPrefix||"",a=e.loader;super();var s=t.links;for(var c in s)for(var h=s[c],l=0;l<h.visuals.length;l++){var u=h.visuals[l];if(u&&u.geometry){var p=o+"/"+h.name,d=null;if(u.material&&u.material.color){var f=u.material&&u.material.color;d=As(f.r,f.g,f.b,f.a)}if(u.geometry.type===r.URDF_MESH){var m=u.geometry.filename,v=m.indexOf("package://");-1!==v&&(m=m.substr(v+"package://".length));var g=m.substr(-3).toLowerCase();if(Fs.loaders[g]){var y=new Bs({path:i,resource:m,loader:a,material:d});h.visuals[l].geometry.scale&&y.scale.copy(u.geometry.scale);var x=new Ys({frameID:p,pose:u.origin,tfClient:n,object:y});x.name=u.name,this.add(x)}else console.warn("Could not load geometry mesh: "+m)}else{var b=this.createShapeMesh(u,e),w=new Ys({frameID:p,pose:u.origin,tfClient:n,object:b});w.name=u.name,this.add(w)}}}}createShapeMesh(e,t){var i,n=null;switch(n||(n=As(0,0,0,1)),e.geometry.type){case r.URDF_BOX:var o=e.geometry.dimension,a=new Ss.BoxGeometry(o.x,o.y,o.z);i=new Ss.Mesh(a,n);break;case r.URDF_CYLINDER:var s=e.geometry.radius,c=e.geometry.length,h=new Ss.CylinderGeometry(s,s,c,16,1,!1);(i=new Ss.Mesh(h,n)).quaternion.setFromAxisAngle(new Ss.Vector3(1,0,0),.5*Math.PI);break;case r.URDF_SPHERE:var l=new Ss.SphereGeometry(e.geometry.radius,16);i=new Ss.Mesh(l,n)}return i}unsubscribeTf(){this.children.forEach((function(e){"function"==typeof e.unsubscribeTf&&e.unsubscribeTf()}))}}class Mc{constructor(e){e=e||{},this.mouseHandler=e.mouseHandler,this.hoverObjs={},this.mouseHandler.addEventListener("mouseover",this.onMouseOver.bind(this)),this.mouseHandler.addEventListener("mouseout",this.onMouseOut.bind(this))}onMouseOver(e){this.hoverObjs[e.currentTarget.uuid]=e.currentTarget}onMouseOut(e){var t=e.currentTarget.uuid;t in this.hoverObjs&&delete this.hoverObjs[t]}renderHighlights(e,t,i){this.makeEverythingInvisible(e),this.makeHighlightedVisible(e);var r=e.overrideMaterial;e.overrideMaterial=new Ss.MeshBasicMaterial({fog:!1,opacity:.5,transparent:!0,depthTest:!0,depthWrite:!1,polygonOffset:!0,polygonOffsetUnits:-1,side:Ss.DoubleSide}),t.render(e,i),e.overrideMaterial=r,this.restoreVisibility(e)}makeEverythingInvisible(e){e.traverse((function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.previousVisibility=e.visible,e.visible=!1)}))}makeHighlightedVisible(e){var t=function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.visible=!0)};for(var i in this.hoverObjs){var r=this.hoverObjs[i];r.visible=!0,r.traverse(t)}}restoreVisibility(e){e.traverse(function(e){e.hasOwnProperty("previousVisibility")&&(e.visible=e.previousVisibility)}.bind(this))}}class Ec extends Ss.EventDispatcher{constructor(e){super(),this.renderer=e.renderer,this.camera=e.camera,this.rootObject=e.rootObject,this.fallbackTarget=e.fallbackTarget,this.lastTarget=this.fallbackTarget,this.dragging=!1;this.listeners={},["contextmenu","click","dblclick","mouseout","mousedown","mouseup","mousemove","mousewheel","DOMMouseScroll","touchstart","touchend","touchcancel","touchleave","touchmove"].forEach((function(e){this.listeners[e]=this.processDomEvent.bind(this),this.renderer.domElement.addEventListener(e,this.listeners[e],!1)}),this)}processDomEvent(e){e.preventDefault();var t,i,r=e.target,n=r.getBoundingClientRect();if(-1!==e.type.indexOf("touch")){t=0,i=0;for(var o=0;o<e.touches.length;++o)t+=e.touches[o].clientX,i+=e.touches[o].clientY;t/=e.touches.length,i/=e.touches.length}else t=e.clientX,i=e.clientY;var a=t-n.left-r.clientLeft+r.scrollLeft,s=i-n.top-r.clientTop+r.scrollTop,c=a/r.clientWidth*2-1,h=-s/r.clientHeight*2+1,l=new Ss.Vector2(c,h),u=new Ss.Raycaster;u.linePrecision=.001,u.setFromCamera(l,this.camera);var p={mousePos:l,mouseRay:u.ray,domEvent:e,camera:this.camera,intersection:this.lastIntersection};if("mouseout"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"mouseout",p),void(this.lastTarget=null);if("touchleave"===e.type||"touchend"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"touchend",p),void(this.lastTarget=null);if(this.dragging)return this.notify(this.lastTarget,e.type,p),void(("mouseup"===e.type&&2===e.button||"click"===e.type||"touchend"===e.type)&&(this.dragging=!1));r=this.lastTarget;var d;if((d=u.intersectObject(this.rootObject,!0)).length>0?(r=d[0].object,p.intersection=this.lastIntersection=d[0]):r=this.fallbackTarget,r!==this.lastTarget&&e.type.match(/mouse/)){var f=this.notify(r,"mouseover",p);0===f?this.notify(this.lastTarget,"mouseout",p):1===f&&(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(r,"mouseover",p),this.notify(this.lastTarget,"mouseout",p))}r!==this.lastTarget&&e.type.match(/touch/)&&(this.notify(r,e.type,p)?(this.notify(this.lastTarget,"touchleave",p),this.notify(this.lastTarget,"touchend",p)):(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(this.lastTarget,"touchmove",p),this.notify(this.lastTarget,"touchend",p)));this.notify(r,e.type,p),"mousedown"!==e.type&&"touchstart"!==e.type&&"touchmove"!==e.type||(this.dragging=!0),this.lastTarget=r}notify(e,t,i){for(i.type=t,i.cancelBubble=!1,i.continueBubble=!1,i.stopPropagation=function(){i.cancelBubble=!0},i.continuePropagation=function(){i.continueBubble=!0},i.currentTarget=e;i.currentTarget;){if(i.currentTarget.dispatchEvent&&i.currentTarget.dispatchEvent instanceof Function){if(i.currentTarget.dispatchEvent(i),i.cancelBubble)return this.dispatchEvent(i),0;if(i.continueBubble)return 2}i.currentTarget=i.currentTarget.parent}return 1}}class Tc extends Ss.EventDispatcher{constructor(e){super();var t=this,i=(e=e||{}).scene;this.camera=e.camera,this.center=new Ss.Vector3,this.userZoom=!0,this.userZoomSpeed=e.userZoomSpeed||1,this.userRotate=!0,this.userRotateSpeed=e.userRotateSpeed||1,this.autoRotate=e.autoRotate,this.autoRotateSpeed=e.autoRotateSpeed||2,this.displayPanAndZoomFrame=void 0===e.displayPanAndZoomFrame||!!e.displayPanAndZoomFrame,this.lineTypePanAndZoomFrame=e.dashedPanAndZoomFrame||"full",this.camera.up=new Ss.Vector3(0,0,1);var r=1800,n=new Ss.Vector2,o=new Ss.Vector2,a=new Ss.Vector2,s=new Ss.Vector2,c=new Ss.Vector2,h=new Ss.Vector2,l=new Ss.Vector3,u=new Ss.Vector3,p=new Ss.Vector3,d=new Ss.Vector3,f=new Array(2),m=new Array(2);this.phiDelta=0,this.thetaDelta=0,this.scale=1,this.lastPosition=new Ss.Vector3;var v=-1,g=0,y=1,x=2,b=v;function w(e,t,i){var r=new Ss.Vector3;new Ss.Vector3;r.subVectors(t,e.origin);var n=e.direction.dot(i);if(Math.abs(n)<e.precision)return null;var o=i.dot(r)/n;return e.direction.clone().multiplyScalar(o)}function _(e){if(t.userZoom){var i=e.domEvent;(void 0!==i.wheelDelta?i.wheelDelta:-i.detail)>0?t.zoomIn():t.zoomOut(),this.showAxes()}}this.axes=new Js({shaftRadius:.025,headRadius:.07,headLength:.2,lineType:this.lineTypePanAndZoomFrame}),this.displayPanAndZoomFrame&&(i.add(this.axes),this.axes.traverse((function(e){e.visible=!1}))),this.addEventListener("mousedown",(function(e){var i=e.domEvent;switch(i.preventDefault(),i.button){case 0:b=g,n.set(i.clientX,i.clientY);break;case 1:b=x,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u);break;case 2:b=y,s.set(i.clientX,i.clientY)}this.showAxes()})),this.addEventListener("mouseup",(function(e){t.userRotate&&(b=v)})),this.addEventListener("mousemove",(function(e){var i=e.domEvent;if(b===g)o.set(i.clientX,i.clientY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else if(b===y)c.set(i.clientX,i.clientY),h.subVectors(c,s),h.y>0?t.zoomIn():t.zoomOut(),s.copy(c),this.showAxes();else if(b===x){var f=w(e.mouseRay,t.center,u);if(!f)return;var m=(new Ss.Vector3).subVectors(d.clone(),f.clone());t.center.addVectors(l.clone(),m.clone()),t.camera.position.addVectors(p.clone(),m.clone()),t.update(),t.camera.updateMatrixWorld(),this.showAxes()}})),this.addEventListener("touchstart",(function(e){var i=e.domEvent;switch(i.touches.length){case 1:b=g,n.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY);break;case 2:b=v,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u),f[0]=new Ss.Vector2(i.touches[0].pageX,i.touches[0].pageY),f[1]=new Ss.Vector2(i.touches[1].pageX,i.touches[1].pageY),m[0]=new Ss.Vector2(0,0),m[1]=new Ss.Vector2(0,0)}this.showAxes(),i.preventDefault()})),this.addEventListener("touchmove",(function(e){var i=e.domEvent;if(b===g)o.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else{if(m[0].set(f[0].x-i.touches[0].pageX,f[0].y-i.touches[0].pageY),m[1].set(f[1].x-i.touches[1].pageX,f[1].y-i.touches[1].pageY),m[0].lengthSq()>10&&m[1].lengthSq()>10&&(f[0].set(i.touches[0].pageX,i.touches[0].pageY),f[1].set(i.touches[1].pageX,i.touches[1].pageY),m[0].dot(m[1])>0&&b!==y?b=x:m[0].dot(m[1])<0&&b!==x&&(b=y),b===y)){var s=new Ss.Vector2;s.subVectors(f[0],f[1]),m[0].dot(s)<0&&m[1].dot(s)>0?t.zoomOut():m[0].dot(s)>0&&m[1].dot(s)<0&&t.zoomIn()}if(b===x){var c=w(e.mouseRay,t.center,u);if(!c)return;var h=(new Ss.Vector3).subVectors(d.clone(),c.clone());t.center.addVectors(l.clone(),h.clone()),t.camera.position.addVectors(p.clone(),h.clone()),t.update(),t.camera.updateMatrixWorld()}this.showAxes(),i.preventDefault()}})),this.addEventListener("touchend",(function(e){var t=e.domEvent;1===t.touches.length&&b!==g?(b=g,n.set(t.touches[0].pageX-window.scrollX,t.touches[0].pageY-window.scrollY)):b=v})),this.addEventListener("mousewheel",_),this.addEventListener("DOMMouseScroll",_)}showAxes(){var e=this;this.axes.traverse((function(e){e.visible=!0})),this.hideTimeout&&clearTimeout(this.hideTimeout),this.hideTimeout=setTimeout((function(){e.axes.traverse((function(e){e.visible=!1})),e.hideTimeout=!1}),1e3)}rotateLeft(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta-=e}rotateRight(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta+=e}rotateUp(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta-=e}rotateDown(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta+=e}zoomIn(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale/=e}zoomOut(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale*=e}update(){var e=this.camera.position,t=e.clone().sub(this.center),i=Math.atan2(t.y,t.x),r=Math.atan2(Math.sqrt(t.y*t.y+t.x*t.x),t.z);this.autoRotate&&this.rotateLeft(2*Math.PI/60/60*this.autoRotateSpeed),i+=this.thetaDelta,r+=this.phiDelta;var n=1e-6;r=Math.max(n,Math.min(Math.PI-n,r));var o=t.length();t.set(o*Math.sin(r)*Math.cos(i),o*Math.sin(r)*Math.sin(i),o*Math.cos(r)),t.multiplyScalar(this.scale),e.copy(this.center).add(t),this.camera.lookAt(this.center),o=t.length(),this.axes.position.copy(this.center),this.axes.scale.set(.05*o,.05*o,.05*o),this.axes.updateMatrixWorld(!0),this.thetaDelta=0,this.phiDelta=0,this.scale=1,this.lastPosition.distanceTo(this.camera.position)>0&&(this.dispatchEvent({type:"change"}),this.lastPosition.copy(this.camera.position))}}return e.Arrow=Ns,e.Arrow2=Zs,e.Axes=Js,e.ColorOcTree=sc,e.DepthCloud=Ps,e.Grid=Ks,e.Highlighter=Mc,e.INTERACTIVE_MARKER_BUTTON=2,e.INTERACTIVE_MARKER_BUTTON_CLICK=3,e.INTERACTIVE_MARKER_FIXED=1,e.INTERACTIVE_MARKER_INHERIT=0,e.INTERACTIVE_MARKER_KEEP_ALIVE=0,e.INTERACTIVE_MARKER_MENU=1,e.INTERACTIVE_MARKER_MENU_SELECT=2,e.INTERACTIVE_MARKER_MOUSE_DOWN=4,e.INTERACTIVE_MARKER_MOUSE_UP=5,e.INTERACTIVE_MARKER_MOVE_3D=7,e.INTERACTIVE_MARKER_MOVE_AXIS=3,e.INTERACTIVE_MARKER_MOVE_PLANE=4,e.INTERACTIVE_MARKER_MOVE_ROTATE=6,e.INTERACTIVE_MARKER_MOVE_ROTATE_3D=9,e.INTERACTIVE_MARKER_NONE=0,e.INTERACTIVE_MARKER_POSE_UPDATE=1,e.INTERACTIVE_MARKER_ROTATE_3D=8,e.INTERACTIVE_MARKER_ROTATE_AXIS=5,e.INTERACTIVE_MARKER_VIEW_FACING=2,e.InteractiveMarker=js,e.InteractiveMarkerClient=class{constructor(e){e=e||{},this.ros=e.ros,this.tfClient=e.tfClient,this.topicName=e.topic,this.path=e.path||"/",this.camera=e.camera,this.rootObject=e.rootObject||new Ss.Object3D,this.loader=e.loader,this.menuFontSize=e.menuFontSize||"0.8em",this.interactiveMarkers={},this.updateTopic=null,this.feedbackTopic=null,this.topicName&&this.subscribe(this.topicName)}subscribe(e){this.unsubscribe(),this.updateTopic=new r.Topic({ros:this.ros,name:e+"/tunneled/update",messageType:"visualization_msgs/InteractiveMarkerUpdate",compression:"png"}),this.updateTopic.subscribe(this.processUpdate.bind(this)),this.feedbackTopic=new r.Topic({ros:this.ros,name:e+"/feedback",messageType:"visualization_msgs/InteractiveMarkerFeedback",compression:"png"}),this.feedbackTopic.advertise(),this.initService=new r.Service({ros:this.ros,name:e+"/tunneled/get_init",serviceType:"demo_interactive_markers/GetInit"});var t=new r.ServiceRequest({});this.initService.callService(t,this.processInit.bind(this))}unsubscribe(){for(var e in this.updateTopic&&this.updateTopic.unsubscribe(this.processUpdate),this.feedbackTopic&&this.feedbackTopic.unadvertise(),this.interactiveMarkers)this.eraseIntMarker(e);this.interactiveMarkers={}}processInit(e){var t=e.msg;for(var i in t.erases=[],this.interactiveMarkers)t.erases.push(i);t.poses=[],this.processUpdate(t)}processUpdate(e){var t=this;e.erases.forEach((function(e){t.eraseIntMarker(e)})),e.poses.forEach((function(e){var i=t.interactiveMarkers[e.name];i&&i.setPoseFromServer(e.pose)})),e.markers.forEach((function(e){var i=t.interactiveMarkers[e.name];i&&t.eraseIntMarker(i.name);var r=new qs({message:e,feedbackTopic:t.feedbackTopic,tfClient:t.tfClient,menuFontSize:t.menuFontSize});t.interactiveMarkers[e.name]=r;var n=new js({handle:r,camera:t.camera,path:t.path,loader:t.loader});n.name=e.name,t.rootObject.add(n),r.on("pose",(function(e){n.onServerSetPose({pose:e})})),n.addEventListener("user-pose-change",r.setPoseFromClientBound),n.addEventListener("user-mousedown",r.onMouseDownBound),n.addEventListener("user-mouseup",r.onMouseUpBound),n.addEventListener("user-button-click",r.onButtonClickBound),n.addEventListener("menu-select",r.onMenuSelectBound),r.subscribeTf()}))}eraseIntMarker(e){if(this.interactiveMarkers[e]){var t=this.rootObject.getObjectByName(e);this.rootObject.remove(t);var i=this.interactiveMarkers[e];i.unsubscribeTf(),t.removeEventListener("user-pose-change",i.setPoseFromClientBound),t.removeEventListener("user-mousedown",i.onMouseDownBound),t.removeEventListener("user-mouseup",i.onMouseUpBound),t.removeEventListener("user-button-click",i.onButtonClickBound),t.removeEventListener("menu-select",i.onMenuSelectBound),delete this.interactiveMarkers[e],t.dispose()}}},e.InteractiveMarkerControl=Gs,e.InteractiveMarkerHandle=qs,e.InteractiveMarkerMenu=Vs,e.LaserScan=vc,e.MARKER_ARROW=0,e.MARKER_CUBE=1,e.MARKER_CUBE_LIST=6,e.MARKER_CYLINDER=3,e.MARKER_LINE_LIST=5,e.MARKER_LINE_STRIP=4,e.MARKER_MESH_RESOURCE=10,e.MARKER_POINTS=8,e.MARKER_SPHERE=2,e.MARKER_SPHERE_LIST=7,e.MARKER_TEXT_VIEW_FACING=9,e.MARKER_TRIANGLE_LIST=11,e.Marker=ks,e.MarkerArrayClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.markers={},this.rosTopic=void 0,this.subscribe()}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/MarkerArray",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){e.markers.forEach(function(e){var t=e.ns+e.id;if(0===e.action){var i=!1;if(t in this.markers&&((i=this.markers[t].children[0].update(e))||this.removeMarker(t)),!i){var r=new ks({message:e,path:this.path});this.markers[t]=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}}else if(1===e.action)console.warn('Received marker message with deprecated action identifier "1"');else if(2===e.action)this.removeMarker(t);else if(3===e.action){for(var n in this.markers)this.removeMarker(n);this.markers={}}else console.warn('Received marker message with unknown action identifier "'+e.action+'"')}.bind(this)),this.emit("change")}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MarkerClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.lifetime=e.lifetime||0,this.markers={},this.rosTopic=void 0,this.updatedTime={},this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}checkTime(e){if((new Date).getTime()-this.updatedTime[e]>this.lifetime)this.removeMarker(e),this.emit("change");else{var t=this;setTimeout((function(){t.checkTime(e)}),100)}}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/Marker",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){var t=e.ns+e.id,i=this.markers[t];if(this.updatedTime[t]=(new Date).getTime(),i?this.removeMarker(t):this.lifetime&&this.checkTime(e.ns+e.id),0===e.action){var r=new ks({message:e,path:this.path});this.markers[t]=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}this.emit("change")}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MeshLoader=Fs,e.MeshResource=Bs,e.MouseHandler=Ec,e.NavSatFix=gc,e.OcTree=ac,e.OcTreeClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/octomap",this.compression=e.compression||"cbor",this.continuous=e.continuous,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.offsetPose=e.offsetPose||new r.Pose,this.options={},void 0!==e.color&&(this.options.color=e.color),void 0!==e.opacity&&(this.options.opacity=e.opacity),void 0!==e.colorMode&&(this.options.colorMode=e.colorMode),void 0!==e.palette&&(this.options.palette=e.palette),void 0!==e.paletteScale&&(this.options.paletteScale=e.palette),void 0!==e.voxelRenderMode&&(this.options.voxelRenderMode=e.voxelRenderMode),this.currentMap=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"octomap_msgs/Octomap",queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){this.currentMap&&this.currentMap.tfClient&&this.currentMap.unsubscribeTf(),this._processMessagePrivate(e),this.continuous||this.rosTopic.unsubscribe(this.processMessage)}_loadOcTree(e){return new Promise(function(t,i){const r=Object.assign({resolution:e.resolution},this.options);let n=null;if(e.binary)n=new oc(r),n.readBinary(e.data);else{const t={OcTree:ac,ColorOcTree:sc};e.id in t&&(console.log(e.id,t),n=new t[e.id](r),n.read(e.data))}n.buildGeometry(),t(n)}.bind(this))}_processMessagePrivate(e){this._loadOcTree(e).then(function(t){const i=this.sceneNode;this.tfClient?(this.currentMap=t,this.sceneNode=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:t.object,pose:this.offsetPose})):(this.sceneNode=t.object,this.currentMap=t),this.rootObject.remove(i),this.rootObject.add(this.sceneNode),this.emit("change")}.bind(this))}},e.OccupancyGrid=Qs,e.OccupancyGridClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/map",this.compression=e.compression||"cbor",this.continuous=e.continuous,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.offsetPose=e.offsetPose||new r.Pose,this.color=e.color||{r:255,g:255,b:255},this.opacity=e.opacity||1,this.currentGrid=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/OccupancyGrid",queue_length:1,compression:this.compression}),this.sceneNode=null,this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){this.currentGrid&&(this.tfClient?(this.sceneNode.unsubscribeTf(),this.sceneNode.remove(this.currentGrid)):this.rootObject.remove(this.currentGrid),this.currentGrid.dispose());var t=new Qs({message:e,color:this.color,opacity:this.opacity});this.tfClient?(this.currentGrid=t,null===this.sceneNode?(this.sceneNode=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:t,pose:this.offsetPose}),this.rootObject.add(this.sceneNode)):this.sceneNode.add(this.currentGrid)):(this.sceneNode=this.currentGrid=t,this.rootObject.add(this.currentGrid)),this.emit("change"),this.continuous||this.rosTopic.unsubscribe(this.processMessage)}},e.Odometry=cc,e.OrbitControls=Tc,e.Path=hc,e.Point=lc,e.PointCloud2=bc,e.Points=mc,e.Polygon=uc,e.Pose=pc,e.PoseArray=dc,e.PoseWithCovariance=fc,e.REVISION="1.0.1",e.SceneNode=Ys,e.TFAxes=wc,e.TriangleList=zs,e.Urdf=_c,e.UrdfClient=class{constructor(e){var t=this,i=(e=e||{}).ros;this.param=e.param||"robot_description",this.path=e.path||"/",this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.tfPrefix=e.tfPrefix||"",this.loader=e.loader,new r.Param({ros:i,name:this.param}).get((function(e){var i=new r.UrdfModel({string:e});t.urdf=new _c({urdfModel:i,path:t.path,tfClient:t.tfClient,tfPrefix:t.tfPrefix,loader:t.loader}),t.rootObject.add(t.urdf)}))}},e.Viewer=class{constructor(e){var t=(e=e||{}).divID,i=e.elem,r=e.width,n=e.height,o=e.background||"#111111",a=e.antialias,s=e.intensity||.66,c=e.near||.01,h=e.far||1e3,l=e.alpha||1,u=e.cameraPose||{x:3,y:3,z:3},p=e.cameraZoomSpeed||.5,d=void 0===e.displayPanAndZoomFrame||!!e.displayPanAndZoomFrame,f=e.lineTypePanAndZoomFrame||"full";this.renderer=new Ss.WebGLRenderer({antialias:a,alpha:!0}),this.renderer.setClearColor(parseInt(o.replace("#","0x"),16),l),this.renderer.sortObjects=!1,this.renderer.setSize(r,n),this.renderer.shadowMap.enabled=!1,this.renderer.autoClear=!1,this.scene=new Ss.Scene,this.camera=new Ss.PerspectiveCamera(40,r/n,c,h),this.camera.position.x=u.x,this.camera.position.y=u.y,this.camera.position.z=u.z,this.cameraControls=new 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this},A.prototype.removeListener=A.prototype.off,A.prototype.removeAllListeners=function(t){if(t===e)return!this._events||c.call(this),this;if(this.wildcard){var i,r=w.call(this,null,t,this.listenerTree,0);if(!r)return this;for(i=0;i<r.length;i++)r[i]._listeners=null;this.listenerTree&&E(this.listenerTree)}else this._events&&(this._events[t]=null);return this},A.prototype.listeners=function(t){var i,r,n,o,a,c=this._events;if(t===e){if(this.wildcard)throw Error("event name required for wildcard emitter");if(!c)return[];for(o=(i=s(c)).length,n=[];o-- >0;)"function"==typeof(r=c[i[o]])?n.push(r):n.push.apply(n,r);return n}if(this.wildcard){if(!(a=this.listenerTree))return[];var h=[],l="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,h,l,a,0),h}return c&&(r=c[t])?"function"==typeof r?[r]:r:[]},A.prototype.eventNames=function(e){var t=this._events;return this.wildcard?M.call(this,this.listenerTree,[],null,e):t?s(t):[]},A.prototype.listenerCount=function(e){return this.listeners(e).length},A.prototype.hasListeners=function(t){if(this.wildcard){var i=[],r="string"==typeof t?t.split(this.delimiter):t.slice();return w.call(this,i,r,this.listenerTree,0),i.length>0}var n=this._events,o=this._all;return!!(o&&o.length||n&&(t===e?s(n).length:n[t]))},A.prototype.listenersAny=function(){return this._all?this._all:[]},A.prototype.waitFor=function(t,i){var r=this,n=typeof i;return"number"===n?i={timeout:i}:"function"===n&&(i={filter:i}),x((i=f(i,{timeout:0,filter:e,handleError:!1,Promise:Promise,overload:!1},{filter:g,Promise:m})).Promise,(function(e,n,o){function a(){var o=i.filter;if(!o||o.apply(r,arguments))if(r.off(t,a),i.handleError){var s=arguments[0];s?n(s):e(u.apply(null,arguments).slice(1))}else e(u.apply(null,arguments))}o((function(){r.off(t,a)})),r._on(t,a,!1)}),{timeout:i.timeout,overload:i.overload})};var L=A.prototype;Object.defineProperties(A,{defaultMaxListeners:{get:function(){return L._maxListeners},set:function(e){if("number"!=typeof e||e<0||Number.isNaN(e))throw TypeError("n must be a non-negative number");L._maxListeners=e},enumerable:!0},once:{value:function(e,t,i){return x((i=f(i,{Promise:Promise,timeout:0,overload:!1},{Promise:m})).Promise,(function(i,r,n){var o;if("function"==typeof e.addEventListener)return o=function(){i(u.apply(null,arguments))},n((function(){e.removeEventListener(t,o)})),void e.addEventListener(t,o,{once:!0});var a,s=function(){a&&e.removeListener("error",a),i(u.apply(null,arguments))};"error"!==t&&(a=function(i){e.removeListener(t,s),r(i)},e.once("error",a)),n((function(){a&&e.removeListener("error",a),e.removeListener(t,s)})),e.once(t,s)}),{timeout:i.timeout,overload:i.overload})},writable:!0,configurable:!0}}),Object.defineProperties(L,{_maxListeners:{value:10,writable:!0,configurable:!0},_observers:{value:null,writable:!0,configurable:!0}}),Hs.exports=A}();var Xs=Ws.exports;class qs extends Xs{constructor(e){super(),e=e||{},this.message=e.message,this.feedbackTopic=e.feedbackTopic,this.tfClient=e.tfClient,this.menuFontSize=e.menuFontSize||"0.8em",this.name=this.message.name,this.header=this.message.header,this.controls=this.message.controls,this.menuEntries=this.message.menu_entries,this.dragging=!1,this.timeoutHandle=null,this.tfTransform=new r.Transform,this.pose=new r.Pose,this.setPoseFromClientBound=this.setPoseFromClient.bind(this),this.onMouseDownBound=this.onMouseDown.bind(this),this.onMouseUpBound=this.onMouseUp.bind(this),this.onButtonClickBound=this.onButtonClick.bind(this),this.onMenuSelectBound=this.onMenuSelect.bind(this),this.setPoseFromServer(this.message.pose),this.tfUpdateBound=this.tfUpdate.bind(this)}subscribeTf(){0===this.message.header.stamp.secs&&0===this.message.header.stamp.nsecs&&this.tfClient.subscribe(this.message.header.frame_id,this.tfUpdateBound)}unsubscribeTf(){this.tfClient.unsubscribe(this.message.header.frame_id,this.tfUpdateBound)}emitServerPoseUpdate(){var e=new r.Pose(this.pose);e.applyTransform(this.tfTransform),this.emit("pose",e)}setPoseFromServer(e){this.pose=new r.Pose(e),this.emitServerPoseUpdate()}tfUpdate(e){this.tfTransform=new r.Transform(e),this.emitServerPoseUpdate()}setPoseFromClient(e){this.pose=new r.Pose(e);var t=this.tfTransform.clone();t.rotation.invert(),t.translation.multiplyQuaternion(t.rotation),t.translation.x*=-1,t.translation.y*=-1,t.translation.z*=-1,this.pose.applyTransform(t),this.sendFeedback(1,void 0,0,e.controlName),this.dragging&&(this.timeoutHandle&&clearTimeout(this.timeoutHandle),this.timeoutHandle=setTimeout(this.setPoseFromClient.bind(this,e),250))}onButtonClick(e){this.sendFeedback(3,e.clickPosition,0,e.controlName)}onMouseDown(e){this.sendFeedback(4,e.clickPosition,0,e.controlName),this.dragging=!0}onMouseUp(e){this.sendFeedback(5,e.clickPosition,0,e.controlName),this.dragging=!1,this.timeoutHandle&&clearTimeout(this.timeoutHandle)}onMenuSelect(e){this.sendFeedback(2,void 0,e.id,e.controlName)}sendFeedback(e,t,i,r){var n=void 0!==t;t=t||{x:0,y:0,z:0};var o={header:this.header,client_id:this.clientID,marker_name:this.name,control_name:r,event_type:e,pose:this.pose,mouse_point:t,mouse_point_valid:n,menu_entry_id:i};this.feedbackTopic.publish(o)}}class Ys extends Ss.Object3D{constructor(e){super(),e=e||{};var t=this;this.tfClient=e.tfClient,this.frameID=e.frameID;var i=e.object;this.pose=e.pose||new r.Pose,this.visible=!1,this.add(i),this.updatePose(this.pose),this.tfUpdate=function(e){var i=new r.Transform(e),n=new r.Pose(t.pose);n.applyTransform(i),t.updatePose(n),t.visible=!0},this.tfClient.subscribe(this.frameID,this.tfUpdate)}updatePose(e){this.position.set(e.position.x,e.position.y,e.position.z),this.quaternion.set(e.orientation.x,e.orientation.y,e.orientation.z,e.orientation.w),this.updateMatrixWorld(!0)}unsubscribeTf(){this.tfClient.unsubscribe(this.frameID,this.tfUpdate)}}class Zs extends Ss.ArrowHelper{constructor(e){var t=(e=e||{}).origin||new Ss.Vector3(0,0,0),i=e.direction||new Ss.Vector3(1,0,0),r=e.length||1;e.headLength,e.shaftDiameter,e.headDiameter,e.material||new Ss.MeshBasicMaterial,super(i,t,r,16711680)}dispose(){void 0!==this.line&&(this.line.material.dispose(),this.line.geometry.dispose()),void 0!==this.cone&&(this.cone.material.dispose(),this.cone.geometry.dispose())}}class Js extends Ss.Object3D{constructor(e){super();var t=this,i=(e=e||{}).shaftRadius||.008,r=e.headRadius||.023,n=e.headLength||.1,o=e.scale||1,a=e.lineType||"full",s=e.lineDashLength||.1;function c(e){var r=new Ss.Color;r.setRGB(e.x,e.y,e.z);var n=new Ss.MeshBasicMaterial({color:r.getHex()}),o=new Ss.Vector3;o.crossVectors(e,new Ss.Vector3(0,-1,0));var c=new Ss.Quaternion;c.setFromAxisAngle(o,.5*Math.PI);var h,l=new Ss.Mesh(t.headGeom,n);if(l.position.copy(e),l.position.multiplyScalar(.95),l.quaternion.copy(c),l.updateMatrix(),t.add(l),"dashed"===a)for(var u=s,p=0;u/2+3*u*p+u/2<=1;++p){var d=new Ss.CylinderGeometry(i,i,u);(h=new Ss.Mesh(d,n)).position.copy(e),h.position.multiplyScalar(u/2+3*u*p),h.quaternion.copy(c),h.updateMatrix(),t.add(h)}else"full"===a?((h=new Ss.Mesh(t.lineGeom,n)).position.copy(e),h.position.multiplyScalar(.45),h.quaternion.copy(c),h.updateMatrix(),t.add(h)):console.warn("[Axes]: Unsupported line type. Not drawing any axes.")}this.scale.set(o,o,o),this.lineGeom=new Ss.CylinderGeometry(i,i,1-n),this.headGeom=new Ss.CylinderGeometry(0,r,n),c(new Ss.Vector3(1,0,0)),c(new Ss.Vector3(0,1,0)),c(new Ss.Vector3(0,0,1))}}class Ks extends Ss.Object3D{constructor(e){var t=(e=e||{}).num_cells||10,i=e.color||"#cccccc",r=e.lineWidth||1,n=e.cellSize||1;super();for(var o=new Ss.LineBasicMaterial({color:i,linewidth:r}),a=0;a<=t;++a){var s=n*t/2,c=s-a*n,h=new Ss.Geometry;h.vertices.push(new Ss.Vector3(-s,c,0),new Ss.Vector3(s,c,0));var l=new Ss.Geometry;l.vertices.push(new Ss.Vector3(c,-s,0),new Ss.Vector3(c,s,0)),this.add(new Ss.Line(h,o)),this.add(new Ss.Line(l,o))}}}class Qs extends Ss.Mesh{constructor(e){var t=(e=e||{}).message,i=e.opacity||1,r=e.color||{r:255,g:255,b:255,a:255},n=t.info,o=n.origin,a=n.width,s=n.height,c=new Ss.PlaneBufferGeometry(a,s),h=new Uint8Array(a*s*4),l=new Ss.DataTexture(h,a,s,Ss.RGBAFormat);l.flipY=!0,l.minFilter=Ss.NearestFilter,l.magFilter=Ss.NearestFilter,l.needsUpdate=!0;var u=new Ss.MeshBasicMaterial({map:l,transparent:i<1,opacity:i});u.side=Ss.DoubleSide,super(c,u),Object.assign(this,e),this.quaternion.copy(new Ss.Quaternion(o.orientation.x,o.orientation.y,o.orientation.z,o.orientation.w)),this.position.x=a*n.resolution/2+o.position.x,this.position.y=s*n.resolution/2+o.position.y,this.position.z=o.position.z,this.scale.x=n.resolution,this.scale.y=n.resolution;var p=t.data;this.color=r,this.material=u,this.texture=l;for(var d=0;d<s;d++)for(var f=0;f<a;f++){var m=s-d-1,v=f+m*a,g=this.getValue(v,m,f,p),y=(r=this.getColor(v,m,f,g),4*(f+d*a));h.set(r,y)}l.needsUpdate=!0}dispose(){this.material.dispose(),this.texture.dispose()}getValue(e,t,i,r){return r[e]}getColor(e,t,i,r){return[r*this.color.r/255,r*this.color.g/255,r*this.color.b/255,255]}}class $s{constructor(){this._children=[null,null,null,null,null,null,null,null],this.value=null}createChildNodeAt(e,t){this._children[t%8]=e}hasChildAt(e){return null!==this._children[e%8]}getChildAt(e){return this._children[e%8]}isLeafNode(){for(let e=0;e<8;++e)if(null!==this._children[e])return!1;return!0}hasChildren(){for(let e=0;e<8;++e)if(null!==this._children[e])return!0;return!1}}var ec="occupied",tc="free",ic="solid",rc="color";function nc(e,t){return this.buffer=e.buffer,this.length=e.length,this.isLittleEndian=void 0===t||!!t,this._dataView=new DataView(this.buffer),this._cursor=0,[{kind:"Int8",width:1},{kind:"Uint8",width:1},{kind:"Int16",width:2},{kind:"Uint16",width:2},{kind:"Int32",width:4},{kind:"Uint32",width:4},{kind:"BigInt64",width:8},{kind:"BigUint64",width:8},{kind:"Float32",width:4},{kind:"Float64",width:8}].forEach((e=>{const t="read"+e.kind,i="get"+e.kind;this[t]=()=>{if(this._cursor+e.width>this.length)throw new Error("Cannot read data stream. Overflow. Len="+this.length+" crsr="+this._cursor);const t=this._dataView[i](this._cursor,this.isLittleEndian);return this._cursor+=e.width,t}})),Object.defineProperty(this,"isEnd",{get:()=>this.cursor>=this.data.length}),this}class oc{constructor(e){this.resolution=void 0!==e.resolution?e.resolution:1,this.color=new Ss.Color(void 0!==e.color?e.color:"green"),this.opacity=void 0!==e.opacity?e.opacity:1,this.voxelRenderMode=void 0!==e.voxelRenderMode?e.voxelRenderMode:ec,this._rootNode=null,this._treeDepth=16,this._treeMaxKeyVal=32768,this._BINARY_UNALLOCATED=0,this._BINARY_LEAF_FREE=1,this._BINARY_LEAF_OCCUPIED=2,this._BINARY_HAS_CHILDREN=3,this._BINARY_CHILD_BUILD_TABLE={},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_FREE]=function(e){e.value=this._defaultFreeValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_LEAF_OCCUPIED]=function(e){e.value=this._defaultOccupiedValue},this._BINARY_CHILD_BUILD_TABLE[this._BINARY_HAS_CHILDREN]=function(e){e.value=null},this._FACES=[{normal:[-1,0,0],vertices:[[0,1,0],[0,0,0],[0,1,1],[0,0,1]],childIndex:[1,3,5,7]},{normal:[1,0,0],vertices:[[1,1,1],[1,0,1],[1,1,0],[1,0,0]],childIndex:[0,2,4,6]},{normal:[0,-1,0],vertices:[[1,0,1],[0,0,1],[1,0,0],[0,0,0]],childIndex:[2,3,6,7]},{normal:[0,1,0],vertices:[[0,1,1],[1,1,1],[0,1,0],[1,1,0]],childIndex:[0,1,4,5]},{normal:[0,0,-1],vertices:[[1,0,0],[0,0,0],[1,1,0],[0,1,0]],childIndex:[4,5,6,7]},{normal:[0,0,1],vertices:[[0,0,1],[1,0,1],[0,1,1],[1,1,1]],childIndex:[0,1,2,3]}],this.nodeSizeTable=new Array(this._treeDepth);let t=this.resolution;for(let e=this._treeDepth-1;e>=0;--e)this.nodeSizeTable[e]=t,t*=2;this._defaultOccupiedValue=!0,this._defaultFreeValue=!1,this.object=null}searchAtDepth(e,t){t=void 0!==t&&t>0?t:this._treeDepth;const i=this._adjustKeyAtDepth(e,t),r=this._treeDepth-t;let n=this._rootNode;for(let e=this._treeDepth-1;e>=r;--e){const t=this._computeChildIdx(i,e);if(!n.hasChildAt(t))return n.hasChildren()?null:n;n=n.getChildAt(t)}return n}_computeCoordFromKey(e){return e.map((e=>this.resolution*(e-this._treeMaxKeyVal)))}_computeChildIdx(e,t){let i=0;return e[0]&1<<t&&(i+=1),e[1]&1<<t&&(i+=2),e[2]&1<<t&&(i+=4),i}_computeKeyFromChildIdx(e,t,i){const r=this._treeDepth-i-1;return[t[0]+(!!(1&e)<<r),t[1]+(!!(2&e)<<r),t[2]+(!!(4&e)<<r)]}_adjustKeyAtDepth(e,t){let i=this._treeDepth-t;return 0===i?e:e.map((e=>(e-this._treeMaxKeyVal>>i<<i)+(1<<i-1)+this._treeMaxKeyVal))}_newNode(){return new $s}readBinary(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new nc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();const r=t.readUint16();let n=8;for(;0!==n;){--n;const t=(r&3<<2*n)>>2*n;if(t!==this._BINARY_UNALLOCATED){let r=this._newNode();this._BINARY_CHILD_BUILD_TABLE[t].bind(this)(r),e.createChildNodeAt(r,n),t===this._BINARY_HAS_CHILDREN&&i.push(r)}}}}read(e){null!==this._rootNode&&delete this._rootNode,this._rootNode=this._newNode();let t=new nc(e,!0),i=new Array;for(i.push(this._rootNode);i.length>0;){let e=i.pop();this._readNodeData(t,e);const r=t.readUint8();let n=8;for(;0!==n;){--n;if(r&1<<n){let t=this._newNode();t.value=null,e.createChildNodeAt(t,n),i.push(t)}}}}_readNodeData(e,t){console.error("Not implemented")}buildGeometry(){console.assert(null!==this._rootNode,"No tree data");const{vertices:e,normals:t,colors:i,indices:r}=this._buildFaces(),n=new Ss.BufferGeometry,o=new Ss.MeshBasicMaterial({color:"white",flatShading:!0,vertexColors:Ss.VertexColors,transparent:this.opacity<1,opacity:this.opacity});n.addAttribute("position",new Ss.BufferAttribute(new Float32Array(e),3)),n.addAttribute("normal",new Ss.BufferAttribute(new Float32Array(t),3)),n.addAttribute("color",new Ss.BufferAttribute(new Float32Array(i),3)),n.setIndex(r);const a=new Ss.Mesh(n,o);this.object=new Ss.Object3D,this.object.add(a)}_traverseLeaves(e){let t=new Array;for(t.push({node:this._rootNode,depth:0,key:[0,0,0]});t.length>0;){let i=t.pop();if(i.node.isLeafNode())e(i.node,i.key,i.depth-1);else for(let e=0;e<8;++e)if(i.node.hasChildAt(e)){const r=this._computeKeyFromChildIdx(e,i.key,i.depth);t.push({node:i.node.getChildAt(e),depth:i.depth+1,key:r})}}}_obtainColor(e){return this.color}_checkOccupied(e){return!1!==e.value}_buildFaces(){let e={vertices:[],indices:[],normals:[],colors:[],_insertFace:function(e,t,i,r){const n=this.vertices.length/3;e.vertices.forEach((function(e){this.vertices.push(t[0]+e[0]*i,t[1]+e[1]*i,t[2]+e[2]*i)}));const o=[r.r,r.g,r.b];this.colors.push(...o,...o,...o,...o),this.normals.push(...e.normal,...e.normal,...e.normal,...e.normal),this.indices.push(n,n+1,n+2,n+2,n+1,n+3)},_checkNeighborsTouchingFace:function(e,t,i){let r=new Array;for(r.push(t);0!==r.length;){const t=r.pop();t.hasChildren()&&e.childIndex.forEach((function(e){if(!t.hasChildAt(e))return!0;{const n=t.getChildAt(e),o=this._checkOccupied(t);(o&&i===ROS3D.OcTreeVoxelRenderMode.OCCUPIED||!o&&i===tc)&&r.push(n)}}))}return!1}};return this._traverseLeaves(((t,i,r)=>{const n=this._computeCoordFromKey(i),o=this.nodeSizeTable[r],a=this._treeDepth-r,s=this._checkOccupied(t);(s||this.voxelRenderMode!==ec)&&(s&&this.voxelRenderMode===tc||this._FACES.forEach((function(s){const c=[i[0]+s.normal[0]*a*a,i[1]+s.normal[1]*a*a,i[2]+s.normal[2]*a*a],h=this.searchAtDepth(c);null===h?e._insertFace(s,n,o,this._obtainColor(t)):r<this._treeDepth&&e._checkNeighborsTouchingFace(s,h,this.voxelRenderMode)})))})),{vertices:e.vertices,normals:e.normals,colors:e.colors,indices:e.indices}}}class ac extends oc{constructor(e){super(e),this._defaultOccupiedValue=1,this._defaultFreeValue=-1,this.occupancyThreshold=void 0!==e.occupancyThreshold?e.occupancyThreshold:1e-7,this.useFlatColoring=void 0!==e.colorMode&&e.colorMode===ic,this.palette=void 0!==e.palette?e.palette.map((e=>new Ss.Color(e))):[{r:0,g:0,b:128},{r:0,g:255,b:0},{r:255,g:255,b:0},{r:255,g:128,b:0},{r:255,g:0,b:0}],this.paletteScale=void 0!==e.paletteScale?e.paletteScale:1}_readNodeData(e,t){t.value=e.readFloat32()}_obtainColor(e){if(this.useFlatColoring)return this.color;const t=1/(1+Math.exp(-e.value*this.paletteScale))*this.palette.length,i=Math.trunc(t),r=t-i;return i<0?this.palette[0]:i>=this.palette.length-1?this.palette[this.palette.length-1]:{r:r*this.palette[i].r+(1-r)*this.palette[i+1].r,g:r*this.palette[i].g+(1-r)*this.palette[i+1].g,b:r*this.palette[i].b+(1-r)*this.palette[i+1].b}}_checkOccupied(e){return e.value>=this.occupancyThreshold}}class sc extends ac{constructor(e){super(e),this.useOwnColor=void 0!==e.palette&&e.colorMode===rc}_readNodeData(e,t){t.value=e.readFloat32(),t.color={r:e.readUint8(),g:e.readUint8(),b:e.readUint8()}}_obtainColor(e){return this.useOwnColor?e.color:ac.prototype._obtainColor.call(this,e)}}class cc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.keep=e.keep||1,this.sns=[],this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Odometry"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){this.sns.length>=this.keep&&(this.sns[0].unsubscribeTf(),this.rootObject.remove(this.sns[0]),this.sns.shift()),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sns.push(new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i})),this.rootObject.add(this.sns[this.sns.length-1])}}class hc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"nav_msgs/Path"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t=new Ss.Geometry,i=0;i<e.poses.length;i++){var r=new Ss.Vector3(e.poses[i].pose.position.x,e.poses[i].pose.position.y,e.poses[i].pose.position.z);t.vertices.push(r)}t.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(t,n);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class lc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/point",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.radius=e.radius||.2,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PointStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));var t=new Ss.SphereGeometry(this.radius),i=new Ss.MeshBasicMaterial({color:this.color}),r=new Ss.Mesh(t,i);r.position.set(e.point.x,e.point.y,e.point.z),this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.sn)}}class uc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/path",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.line=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PolygonStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Geometry,r=0;r<e.polygon.points.length;r++)t=new Ss.Vector3(e.polygon.points[r].x,e.polygon.points[r].y,e.polygon.points[r].z),i.vertices.push(t);t=new Ss.Vector3(e.polygon.points[0].x,e.polygon.points[0].y,e.polygon.points[0].z),i.vertices.push(t),i.computeLineDistances();var n=new Ss.LineBasicMaterial({color:this.color}),o=new Ss.Line(i,n);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:o}),this.rootObject.add(this.sn)}}class pc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/pose",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.position.x,e.pose.position.y,e.pose.position.z);var t=new Ss.Quaternion(e.pose.orientation.x,e.pose.orientation.y,e.pose.orientation.z,e.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class dc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/particlecloud",this.tfClient=e.tfClient,this.color=e.color||13369599,this.length=e.length||1,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseArray"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn));for(var t,i=new Ss.Object3D,r=0;r<e.poses.length;r++){var n=new Ss.Geometry,o=new Ss.Vector3(e.poses[r].position.x,e.poses[r].position.y,e.poses[r].position.z);n.vertices.push(o);var a=new Ss.Quaternion(e.poses[r].orientation.x,e.poses[r].orientation.y,e.poses[r].orientation.z,e.poses[r].orientation.w),s=new Ss.Vector3(this.length,0,0),c=new Ss.Vector3(.8*this.length,.2*this.length,0),h=new Ss.Vector3(.8*this.length,.2*-this.length,0);s.applyQuaternion(a),c.applyQuaternion(a),h.applyQuaternion(a),n.vertices.push(s.add(o)),n.vertices.push(c.add(o)),n.vertices.push(h.add(o)),n.vertices.push(s),n.computeLineDistances();var l=new Ss.LineBasicMaterial({color:this.color});t=new Ss.Line(n,l),i.add(t)}this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class fc extends Ss.Object3D{constructor(e){super(),this.options=e||{},this.ros=e.ros,this.topicName=e.topic||"/PoseWithCovariance",this.tfClient=e.tfClient,this.color=e.color||13369599,this.rootObject=e.rootObject||new Ss.Object3D,this.sn=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"geometry_msgs/PoseWithCovarianceStamped"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){null!==this.sn&&(this.sn.unsubscribeTf(),this.rootObject.remove(this.sn)),this.options.origin=new Ss.Vector3(e.pose.pose.position.x,e.pose.pose.position.y,e.pose.pose.position.z);var t=new Ss.Quaternion(e.pose.pose.orientation.x,e.pose.pose.orientation.y,e.pose.pose.orientation.z,e.pose.pose.orientation.w);this.options.direction=new Ss.Vector3(1,0,0),this.options.direction.applyQuaternion(t),this.options.material=new Ss.MeshBasicMaterial({color:this.color});var i=new Ns(this.options);this.sn=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:i}),this.rootObject.add(this.sn)}}class mc extends Ss.Object3D{constructor(e){super(),e=e||{},this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.max_pts=e.max_pts||1e4,this.pointRatio=e.pointRatio||1,this.messageRatio=e.messageRatio||1,this.messageCount=0,this.material=e.material||{},this.colorsrc=e.colorsrc,this.colormap=e.colormap,("color"in e||"size"in e||"texture"in e)&&console.warn('toplevel "color", "size" and "texture" options are deprecated.They should beprovided within a "material" option, e.g. :  { tfClient, material : { color: mycolor, size: mysize, map: mytexture }, ... }'),this.sn=null}setup(e,t,i){if(null===this.sn){i=i||[],this.fields={};for(var r=0;r<i.length;r++)this.fields[i[r].name]=i[r];if(this.geom=new Ss.BufferGeometry,this.positions=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("position",this.positions.setDynamic(!0)),!this.colorsrc&&this.fields.rgb&&(this.colorsrc="rgb"),this.colorsrc){var n=this.fields[this.colorsrc];if(n){this.colors=new Ss.BufferAttribute(new Float32Array(3*this.max_pts),3,!1),this.geom.addAttribute("color",this.colors.setDynamic(!0));var o=n.offset;this.getColor=[function(e,t,i){return e.getInt8(t+o,i)},function(e,t,i){return e.getUint8(t+o,i)},function(e,t,i){return e.getInt16(t+o,i)},function(e,t,i){return e.getUint16(t+o,i)},function(e,t,i){return e.getInt32(t+o,i)},function(e,t,i){return e.getUint32(t+o,i)},function(e,t,i){return e.getFloat32(t+o,i)},function(e,t,i){return e.getFloat64(t+o,i)}][n.datatype-1],this.colormap=this.colormap||function(e){return new Ss.Color(e)}}else console.warn('unavailable field "'+this.colorsrc+'" for coloring.')}this.material.isMaterial||(this.colors&&void 0===this.material.vertexColors&&(this.material.vertexColors=Ss.VertexColors),this.material=new Ss.PointsMaterial(this.material)),this.object=new Ss.Points(this.geom,this.material),this.sn=new Ys({frameID:e,tfClient:this.tfClient,object:this.object}),this.rootObject.add(this.sn)}return this.messageCount++%this.messageRatio==0}update(e){this.geom.setDrawRange(0,e),this.positions.needsUpdate=!0,this.positions.updateRange.count=e*this.positions.itemSize,this.colors&&(this.colors.needsUpdate=!0,this.colors.updateRange.count=e*this.colors.itemSize)}}class vc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/scan",this.compression=e.compression||"cbor",this.points=new mc(e),this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,compression:this.compression,queue_length:1,messageType:"sensor_msgs/LaserScan"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){if(this.points.setup(e.header.frame_id)){for(var t=e.ranges.length,i=0,r=0;r<t;r+=this.points.pointRatio){var n=e.ranges[r];if(n>=e.range_min&&n<=e.range_max){var o=e.angle_min+r*e.angle_increment;this.points.positions.array[i++]=n*Math.cos(o),this.points.positions.array[i++]=n*Math.sin(o),this.points.positions.array[i++]=0}}this.points.update(i/3)}}}class gc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/gps/fix",this.rootObject=e.rootObject||new Ss.Object3D,this.object3d=e.object3d||new Ss.Object3D;var t=e.material||{};this.altitudeNaN=e.altitudeNaN||0,this.keep=e.keep||100,this.convert=e.convert||function(e,t,i){return new Ss.Vector3(e,t,i)},this.count=0,this.next1=0,this.next2=this.keep,this.geom=new Ss.BufferGeometry,this.vertices=new Ss.BufferAttribute(new Float32Array(6*this.keep),3),this.geom.addAttribute("position",this.vertices),this.material=t.isMaterial?t:new Ss.LineBasicMaterial(t),this.line=new Ss.Line(this.geom,this.material),this.rootObject.add(this.object3d),this.rootObject.add(this.line),this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,queue_length:1,messageType:"sensor_msgs/NavSatFix"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){var t=isNaN(e.altitude)?this.altitudeNaN:e.altitude,i=this.convert(e.longitude,e.latitude,t);this.object3d.position.copy(i),this.object3d.updateMatrixWorld(!0),this.vertices.array[3*this.next1]=i.x,this.vertices.array[3*this.next1+1]=i.y,this.vertices.array[3*this.next1+2]=i.z,this.vertices.array[3*this.next2]=i.x,this.vertices.array[3*this.next2+1]=i.y,this.vertices.array[3*this.next2+2]=i.z,this.vertices.needsUpdate=!0,this.next1=(this.next1+1)%this.keep,this.next2=this.next1+this.keep,this.count=Math.min(this.count+1,this.keep),this.geom.setDrawRange(this.next2-this.count,this.count)}}function yc(e,t,i,r){var n,o=0,a=0,s=0,c=e.length,h=t.length,l=((r=r||1)-1)*(i=i||h)*8;for(n=0;n<c&&s<h;n++)o=(o<<6)+yc.e[e.charAt(n)],(a+=6)>=8&&(a-=8,t[s++]=o>>>a&255,s%i==0&&(n+=Math.ceil((l-a)/6),(a%=8)>0&&(o=yc.e[e.charAt(n)])));return Math.floor(s/i)}yc.S="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/",yc.e={};for(var xc=0;xc<64;xc++)yc.e[yc.S.charAt(xc)]=xc;class bc extends Ss.Object3D{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/points",this.throttle_rate=e.throttle_rate||null,this.compression=e.compression||"cbor",this.max_pts=e.max_pts||1e4,this.points=new mc(e),this.rosTopic=void 0,this.buffer=null,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"sensor_msgs/PointCloud2",throttle_rate:this.throttle_rate,queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){if(this.points.setup(e.header.frame_id,e.point_step,e.fields)){var t,i=this.points.pointRatio,r=this.max_pts*e.point_step;e.data.buffer?(this.buffer=e.data.slice(0,Math.min(e.data.byteLength,r)),t=Math.min(e.height*e.width/i,this.points.positions.array.length/3)):((!this.buffer||this.buffer.byteLength<r)&&(this.buffer=new Uint8Array(r)),t=yc(e.data,this.buffer,e.point_step,i),i=1);for(var n,o,a=new DataView(this.buffer.buffer),s=!e.is_bigendian,c=this.points.fields.x.offset,h=this.points.fields.y.offset,l=this.points.fields.z.offset,u=0;u<t;u++)n=u*i*e.point_step,this.points.positions.array[3*u]=a.getFloat32(n+c,s),this.points.positions.array[3*u+1]=a.getFloat32(n+h,s),this.points.positions.array[3*u+2]=a.getFloat32(n+l,s),this.points.colors&&(o=this.points.colormap(this.points.getColor(a,n,s)),this.points.colors.array[3*u]=o.r,this.points.colors.array[3*u+1]=o.g,this.points.colors.array[3*u+2]=o.b);this.points.update(t)}}}class wc extends Ss.Object3D{constructor(e){super(),e=e||{},this.frame_id=e.frame_id,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.axes=new Js({shaftRadius:e.shaftRadius||.025,headRadius:e.headRaidus||.07,headLength:e.headLength||.2,scale:e.scale||1,lineType:e.lineType||"full",lineDashLength:e.lineDashLength||.1}),this.sn=new Ys({frameID:this.frame_id,tfClient:this.tfClient,object:this.axes}),this.rootObject.add(this.sn)}}class _c extends Ss.Object3D{constructor(e){var t=(e=e||{}).urdfModel,i=e.path||"/",n=e.tfClient,o=e.tfPrefix||"",a=e.loader;super();var s=t.links;for(var c in s)for(var h=s[c],l=0;l<h.visuals.length;l++){var u=h.visuals[l];if(u&&u.geometry){var p=o+"/"+h.name,d=null;if(u.material&&u.material.color){var f=u.material&&u.material.color;d=As(f.r,f.g,f.b,f.a)}if(u.geometry.type===r.URDF_MESH){var m=u.geometry.filename,v=m.indexOf("package://");-1!==v&&(m=m.substr(v+"package://".length));var g=m.substr(-3).toLowerCase();if(Fs.loaders[g]){var y=new Bs({path:i,resource:m,loader:a,material:d});h.visuals[l].geometry.scale&&y.scale.copy(u.geometry.scale);var x=new Ys({frameID:p,pose:u.origin,tfClient:n,object:y});x.name=u.name,this.add(x)}else console.warn("Could not load geometry mesh: "+m)}else{var b=this.createShapeMesh(u,e),w=new Ys({frameID:p,pose:u.origin,tfClient:n,object:b});w.name=u.name,this.add(w)}}}}createShapeMesh(e,t){var i,n=null;switch(n||(n=As(0,0,0,1)),e.geometry.type){case r.URDF_BOX:var o=e.geometry.dimension,a=new Ss.BoxGeometry(o.x,o.y,o.z);i=new Ss.Mesh(a,n);break;case r.URDF_CYLINDER:var s=e.geometry.radius,c=e.geometry.length,h=new Ss.CylinderGeometry(s,s,c,16,1,!1);(i=new Ss.Mesh(h,n)).quaternion.setFromAxisAngle(new Ss.Vector3(1,0,0),.5*Math.PI);break;case r.URDF_SPHERE:var l=new Ss.SphereGeometry(e.geometry.radius,16);i=new Ss.Mesh(l,n)}return i}unsubscribeTf(){this.children.forEach((function(e){"function"==typeof e.unsubscribeTf&&e.unsubscribeTf()}))}}class Mc{constructor(e){e=e||{},this.mouseHandler=e.mouseHandler,this.hoverObjs={},this.mouseHandler.addEventListener("mouseover",this.onMouseOver.bind(this)),this.mouseHandler.addEventListener("mouseout",this.onMouseOut.bind(this))}onMouseOver(e){this.hoverObjs[e.currentTarget.uuid]=e.currentTarget}onMouseOut(e){var t=e.currentTarget.uuid;t in this.hoverObjs&&delete this.hoverObjs[t]}renderHighlights(e,t,i){this.makeEverythingInvisible(e),this.makeHighlightedVisible(e);var r=e.overrideMaterial;e.overrideMaterial=new Ss.MeshBasicMaterial({fog:!1,opacity:.5,transparent:!0,depthTest:!0,depthWrite:!1,polygonOffset:!0,polygonOffsetUnits:-1,side:Ss.DoubleSide}),t.render(e,i),e.overrideMaterial=r,this.restoreVisibility(e)}makeEverythingInvisible(e){e.traverse((function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.previousVisibility=e.visible,e.visible=!1)}))}makeHighlightedVisible(e){var t=function(e){(e instanceof Ss.Mesh||e instanceof Ss.Line||e instanceof Ss.Sprite)&&(e.visible=!0)};for(var i in this.hoverObjs){var r=this.hoverObjs[i];r.visible=!0,r.traverse(t)}}restoreVisibility(e){e.traverse(function(e){e.hasOwnProperty("previousVisibility")&&(e.visible=e.previousVisibility)}.bind(this))}}class Ec extends Ss.EventDispatcher{constructor(e){super(),this.renderer=e.renderer,this.camera=e.camera,this.rootObject=e.rootObject,this.fallbackTarget=e.fallbackTarget,this.lastTarget=this.fallbackTarget,this.dragging=!1;this.listeners={},["contextmenu","click","dblclick","mouseout","mousedown","mouseup","mousemove","mousewheel","DOMMouseScroll","touchstart","touchend","touchcancel","touchleave","touchmove"].forEach((function(e){this.listeners[e]=this.processDomEvent.bind(this),this.renderer.domElement.addEventListener(e,this.listeners[e],!1)}),this)}processDomEvent(e){e.preventDefault();var t,i,r=e.target,n=r.getBoundingClientRect();if(-1!==e.type.indexOf("touch")){t=0,i=0;for(var o=0;o<e.touches.length;++o)t+=e.touches[o].clientX,i+=e.touches[o].clientY;t/=e.touches.length,i/=e.touches.length}else t=e.clientX,i=e.clientY;var a=t-n.left-r.clientLeft+r.scrollLeft,s=i-n.top-r.clientTop+r.scrollTop,c=a/r.clientWidth*2-1,h=-s/r.clientHeight*2+1,l=new Ss.Vector2(c,h),u=new Ss.Raycaster;u.linePrecision=.001,u.setFromCamera(l,this.camera);var p={mousePos:l,mouseRay:u.ray,domEvent:e,camera:this.camera,intersection:this.lastIntersection};if("mouseout"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"mouseout",p),void(this.lastTarget=null);if("touchleave"===e.type||"touchend"===e.type)return this.dragging&&(this.notify(this.lastTarget,"mouseup",p),this.dragging=!1),this.notify(this.lastTarget,"touchend",p),void(this.lastTarget=null);if(this.dragging)return this.notify(this.lastTarget,e.type,p),void(("mouseup"===e.type&&2===e.button||"click"===e.type||"touchend"===e.type)&&(this.dragging=!1));r=this.lastTarget;var d;if((d=u.intersectObject(this.rootObject,!0)).length>0?(r=d[0].object,p.intersection=this.lastIntersection=d[0]):r=this.fallbackTarget,r!==this.lastTarget&&e.type.match(/mouse/)){var f=this.notify(r,"mouseover",p);0===f?this.notify(this.lastTarget,"mouseout",p):1===f&&(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(r,"mouseover",p),this.notify(this.lastTarget,"mouseout",p))}r!==this.lastTarget&&e.type.match(/touch/)&&(this.notify(r,e.type,p)?(this.notify(this.lastTarget,"touchleave",p),this.notify(this.lastTarget,"touchend",p)):(r=this.fallbackTarget)!==this.lastTarget&&(this.notify(this.lastTarget,"touchmove",p),this.notify(this.lastTarget,"touchend",p)));this.notify(r,e.type,p),"mousedown"!==e.type&&"touchstart"!==e.type&&"touchmove"!==e.type||(this.dragging=!0),this.lastTarget=r}notify(e,t,i){for(i.type=t,i.cancelBubble=!1,i.continueBubble=!1,i.stopPropagation=function(){i.cancelBubble=!0},i.continuePropagation=function(){i.continueBubble=!0},i.currentTarget=e;i.currentTarget;){if(i.currentTarget.dispatchEvent&&i.currentTarget.dispatchEvent instanceof Function){if(i.currentTarget.dispatchEvent(i),i.cancelBubble)return this.dispatchEvent(i),0;if(i.continueBubble)return 2}i.currentTarget=i.currentTarget.parent}return 1}}class Tc extends Ss.EventDispatcher{constructor(e){super();var t=this,i=(e=e||{}).scene;this.camera=e.camera,this.center=new Ss.Vector3,this.userZoom=!0,this.userZoomSpeed=e.userZoomSpeed||1,this.userRotate=!0,this.userRotateSpeed=e.userRotateSpeed||1,this.autoRotate=e.autoRotate,this.autoRotateSpeed=e.autoRotateSpeed||2,this.displayPanAndZoomFrame=void 0===e.displayPanAndZoomFrame||!!e.displayPanAndZoomFrame,this.lineTypePanAndZoomFrame=e.dashedPanAndZoomFrame||"full",this.camera.up=new Ss.Vector3(0,0,1);var r=1800,n=new Ss.Vector2,o=new Ss.Vector2,a=new Ss.Vector2,s=new Ss.Vector2,c=new Ss.Vector2,h=new Ss.Vector2,l=new Ss.Vector3,u=new Ss.Vector3,p=new Ss.Vector3,d=new Ss.Vector3,f=new Array(2),m=new Array(2);this.phiDelta=0,this.thetaDelta=0,this.scale=1,this.lastPosition=new Ss.Vector3;var v=-1,g=0,y=1,x=2,b=v;function w(e,t,i){var r=new Ss.Vector3;new Ss.Vector3;r.subVectors(t,e.origin);var n=e.direction.dot(i);if(Math.abs(n)<e.precision)return null;var o=i.dot(r)/n;return e.direction.clone().multiplyScalar(o)}function _(e){if(t.userZoom){var i=e.domEvent;(void 0!==i.wheelDelta?i.wheelDelta:-i.detail)>0?t.zoomIn():t.zoomOut(),this.showAxes()}}this.axes=new Js({shaftRadius:.025,headRadius:.07,headLength:.2,lineType:this.lineTypePanAndZoomFrame}),this.displayPanAndZoomFrame&&(i.add(this.axes),this.axes.traverse((function(e){e.visible=!1}))),this.addEventListener("mousedown",(function(e){var i=e.domEvent;switch(i.preventDefault(),i.button){case 0:b=g,n.set(i.clientX,i.clientY);break;case 1:b=x,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u);break;case 2:b=y,s.set(i.clientX,i.clientY)}this.showAxes()})),this.addEventListener("mouseup",(function(e){t.userRotate&&(b=v)})),this.addEventListener("mousemove",(function(e){var i=e.domEvent;if(b===g)o.set(i.clientX,i.clientY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else if(b===y)c.set(i.clientX,i.clientY),h.subVectors(c,s),h.y>0?t.zoomIn():t.zoomOut(),s.copy(c),this.showAxes();else if(b===x){var f=w(e.mouseRay,t.center,u);if(!f)return;var m=(new Ss.Vector3).subVectors(d.clone(),f.clone());t.center.addVectors(l.clone(),m.clone()),t.camera.position.addVectors(p.clone(),m.clone()),t.update(),t.camera.updateMatrixWorld(),this.showAxes()}})),this.addEventListener("touchstart",(function(e){var i=e.domEvent;switch(i.touches.length){case 1:b=g,n.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY);break;case 2:b=v,u=new Ss.Vector3(0,0,1);var r=(new Ss.Matrix4).extractRotation(this.camera.matrix);u.applyMatrix4(r),l=t.center.clone(),p=t.camera.position.clone(),d=w(e.mouseRay,l,u),f[0]=new Ss.Vector2(i.touches[0].pageX,i.touches[0].pageY),f[1]=new Ss.Vector2(i.touches[1].pageX,i.touches[1].pageY),m[0]=new Ss.Vector2(0,0),m[1]=new Ss.Vector2(0,0)}this.showAxes(),i.preventDefault()})),this.addEventListener("touchmove",(function(e){var i=e.domEvent;if(b===g)o.set(i.touches[0].pageX-window.scrollX,i.touches[0].pageY-window.scrollY),a.subVectors(o,n),t.rotateLeft(2*Math.PI*a.x/r*t.userRotateSpeed),t.rotateUp(2*Math.PI*a.y/r*t.userRotateSpeed),n.copy(o),this.showAxes();else{if(m[0].set(f[0].x-i.touches[0].pageX,f[0].y-i.touches[0].pageY),m[1].set(f[1].x-i.touches[1].pageX,f[1].y-i.touches[1].pageY),m[0].lengthSq()>10&&m[1].lengthSq()>10&&(f[0].set(i.touches[0].pageX,i.touches[0].pageY),f[1].set(i.touches[1].pageX,i.touches[1].pageY),m[0].dot(m[1])>0&&b!==y?b=x:m[0].dot(m[1])<0&&b!==x&&(b=y),b===y)){var s=new Ss.Vector2;s.subVectors(f[0],f[1]),m[0].dot(s)<0&&m[1].dot(s)>0?t.zoomOut():m[0].dot(s)>0&&m[1].dot(s)<0&&t.zoomIn()}if(b===x){var c=w(e.mouseRay,t.center,u);if(!c)return;var h=(new Ss.Vector3).subVectors(d.clone(),c.clone());t.center.addVectors(l.clone(),h.clone()),t.camera.position.addVectors(p.clone(),h.clone()),t.update(),t.camera.updateMatrixWorld()}this.showAxes(),i.preventDefault()}})),this.addEventListener("touchend",(function(e){var t=e.domEvent;1===t.touches.length&&b!==g?(b=g,n.set(t.touches[0].pageX-window.scrollX,t.touches[0].pageY-window.scrollY)):b=v})),this.addEventListener("mousewheel",_),this.addEventListener("DOMMouseScroll",_)}showAxes(){var e=this;this.axes.traverse((function(e){e.visible=!0})),this.hideTimeout&&clearTimeout(this.hideTimeout),this.hideTimeout=setTimeout((function(){e.axes.traverse((function(e){e.visible=!1})),e.hideTimeout=!1}),1e3)}rotateLeft(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta-=e}rotateRight(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.thetaDelta+=e}rotateUp(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta-=e}rotateDown(e){void 0===e&&(e=2*Math.PI/60/60*this.autoRotateSpeed),this.phiDelta+=e}zoomIn(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale/=e}zoomOut(e){void 0===e&&(e=Math.pow(.95,this.userZoomSpeed)),this.scale*=e}update(){var e=this.camera.position,t=e.clone().sub(this.center),i=Math.atan2(t.y,t.x),r=Math.atan2(Math.sqrt(t.y*t.y+t.x*t.x),t.z);this.autoRotate&&this.rotateLeft(2*Math.PI/60/60*this.autoRotateSpeed),i+=this.thetaDelta,r+=this.phiDelta;var n=1e-6;r=Math.max(n,Math.min(Math.PI-n,r));var o=t.length();t.set(o*Math.sin(r)*Math.cos(i),o*Math.sin(r)*Math.sin(i),o*Math.cos(r)),t.multiplyScalar(this.scale),e.copy(this.center).add(t),this.camera.lookAt(this.center),o=t.length(),this.axes.position.copy(this.center),this.axes.scale.set(.05*o,.05*o,.05*o),this.axes.updateMatrixWorld(!0),this.thetaDelta=0,this.phiDelta=0,this.scale=1,this.lastPosition.distanceTo(this.camera.position)>0&&(this.dispatchEvent({type:"change"}),this.lastPosition.copy(this.camera.position))}}return e.Arrow=Ns,e.Arrow2=Zs,e.Axes=Js,e.ColorOcTree=sc,e.DepthCloud=Ps,e.Grid=Ks,e.Highlighter=Mc,e.INTERACTIVE_MARKER_BUTTON=2,e.INTERACTIVE_MARKER_BUTTON_CLICK=3,e.INTERACTIVE_MARKER_FIXED=1,e.INTERACTIVE_MARKER_INHERIT=0,e.INTERACTIVE_MARKER_KEEP_ALIVE=0,e.INTERACTIVE_MARKER_MENU=1,e.INTERACTIVE_MARKER_MENU_SELECT=2,e.INTERACTIVE_MARKER_MOUSE_DOWN=4,e.INTERACTIVE_MARKER_MOUSE_UP=5,e.INTERACTIVE_MARKER_MOVE_3D=7,e.INTERACTIVE_MARKER_MOVE_AXIS=3,e.INTERACTIVE_MARKER_MOVE_PLANE=4,e.INTERACTIVE_MARKER_MOVE_ROTATE=6,e.INTERACTIVE_MARKER_MOVE_ROTATE_3D=9,e.INTERACTIVE_MARKER_NONE=0,e.INTERACTIVE_MARKER_POSE_UPDATE=1,e.INTERACTIVE_MARKER_ROTATE_3D=8,e.INTERACTIVE_MARKER_ROTATE_AXIS=5,e.INTERACTIVE_MARKER_VIEW_FACING=2,e.InteractiveMarker=js,e.InteractiveMarkerClient=class{constructor(e){e=e||{},this.ros=e.ros,this.tfClient=e.tfClient,this.topicName=e.topic,this.path=e.path||"/",this.camera=e.camera,this.rootObject=e.rootObject||new Ss.Object3D,this.loader=e.loader,this.menuFontSize=e.menuFontSize||"0.8em",this.interactiveMarkers={},this.updateTopic=null,this.feedbackTopic=null,this.topicName&&this.subscribe(this.topicName)}subscribe(e){this.unsubscribe(),this.updateTopic=new r.Topic({ros:this.ros,name:e+"/tunneled/update",messageType:"visualization_msgs/InteractiveMarkerUpdate",compression:"png"}),this.updateTopic.subscribe(this.processUpdate.bind(this)),this.feedbackTopic=new r.Topic({ros:this.ros,name:e+"/feedback",messageType:"visualization_msgs/InteractiveMarkerFeedback",compression:"png"}),this.feedbackTopic.advertise(),this.initService=new r.Service({ros:this.ros,name:e+"/tunneled/get_init",serviceType:"demo_interactive_markers/GetInit"});var t=new r.ServiceRequest({});this.initService.callService(t,this.processInit.bind(this))}unsubscribe(){for(var e in this.updateTopic&&this.updateTopic.unsubscribe(this.processUpdate),this.feedbackTopic&&this.feedbackTopic.unadvertise(),this.interactiveMarkers)this.eraseIntMarker(e);this.interactiveMarkers={}}processInit(e){var t=e.msg;for(var i in t.erases=[],this.interactiveMarkers)t.erases.push(i);t.poses=[],this.processUpdate(t)}processUpdate(e){var t=this;e.erases.forEach((function(e){t.eraseIntMarker(e)})),e.poses.forEach((function(e){var i=t.interactiveMarkers[e.name];i&&i.setPoseFromServer(e.pose)})),e.markers.forEach((function(e){var i=t.interactiveMarkers[e.name];i&&t.eraseIntMarker(i.name);var r=new qs({message:e,feedbackTopic:t.feedbackTopic,tfClient:t.tfClient,menuFontSize:t.menuFontSize});t.interactiveMarkers[e.name]=r;var n=new js({handle:r,camera:t.camera,path:t.path,loader:t.loader});n.name=e.name,t.rootObject.add(n),r.on("pose",(function(e){n.onServerSetPose({pose:e})})),n.addEventListener("user-pose-change",r.setPoseFromClientBound),n.addEventListener("user-mousedown",r.onMouseDownBound),n.addEventListener("user-mouseup",r.onMouseUpBound),n.addEventListener("user-button-click",r.onButtonClickBound),n.addEventListener("menu-select",r.onMenuSelectBound),r.subscribeTf()}))}eraseIntMarker(e){if(this.interactiveMarkers[e]){var t=this.rootObject.getObjectByName(e);this.rootObject.remove(t);var i=this.interactiveMarkers[e];i.unsubscribeTf(),t.removeEventListener("user-pose-change",i.setPoseFromClientBound),t.removeEventListener("user-mousedown",i.onMouseDownBound),t.removeEventListener("user-mouseup",i.onMouseUpBound),t.removeEventListener("user-button-click",i.onButtonClickBound),t.removeEventListener("menu-select",i.onMenuSelectBound),delete this.interactiveMarkers[e],t.dispose()}}},e.InteractiveMarkerControl=Gs,e.InteractiveMarkerHandle=qs,e.InteractiveMarkerMenu=Vs,e.LaserScan=vc,e.MARKER_ARROW=0,e.MARKER_CUBE=1,e.MARKER_CUBE_LIST=6,e.MARKER_CYLINDER=3,e.MARKER_LINE_LIST=5,e.MARKER_LINE_STRIP=4,e.MARKER_MESH_RESOURCE=10,e.MARKER_POINTS=8,e.MARKER_SPHERE=2,e.MARKER_SPHERE_LIST=7,e.MARKER_TEXT_VIEW_FACING=9,e.MARKER_TRIANGLE_LIST=11,e.Marker=ks,e.MarkerArrayClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.markers={},this.rosTopic=void 0,this.subscribe()}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/MarkerArray",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){e.markers.forEach(function(e){var t=e.ns+e.id;if(0===e.action){var i=!1;if(t in this.markers&&((i=this.markers[t].children[0].update(e))||this.removeMarker(t)),!i){var r=new ks({message:e,path:this.path});this.markers[t]=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}}else if(1===e.action)console.warn('Received marker message with deprecated action identifier "1"');else if(2===e.action)this.removeMarker(t);else if(3===e.action){for(var n in this.markers)this.removeMarker(n);this.markers={}}else console.warn('Received marker message with unknown action identifier "'+e.action+'"')}.bind(this)),this.emit("change")}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MarkerClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.path=e.path||"/",this.lifetime=e.lifetime||0,this.markers={},this.rosTopic=void 0,this.updatedTime={},this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}checkTime(e){if((new Date).getTime()-this.updatedTime[e]>this.lifetime)this.removeMarker(e),this.emit("change");else{var t=this;setTimeout((function(){t.checkTime(e)}),100)}}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"visualization_msgs/Marker",compression:"png"}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){var t=e.ns+e.id,i=this.markers[t];if(this.updatedTime[t]=(new Date).getTime(),i?this.removeMarker(t):this.lifetime&&this.checkTime(e.ns+e.id),0===e.action){var r=new ks({message:e,path:this.path});this.markers[t]=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:r}),this.rootObject.add(this.markers[t])}this.emit("change")}removeMarker(e){var t=this.markers[e];t&&(t.unsubscribeTf(),this.rootObject.remove(t),t.children.forEach((e=>{e.dispose()})),delete this.markers[e])}},e.MeshLoader=Fs,e.MeshResource=Bs,e.MouseHandler=Ec,e.NavSatFix=gc,e.OcTree=ac,e.OcTreeClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/octomap",this.compression=e.compression||"cbor",this.continuous=e.continuous,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.offsetPose=e.offsetPose||new r.Pose,this.options={},void 0!==e.color&&(this.options.color=e.color),void 0!==e.opacity&&(this.options.opacity=e.opacity),void 0!==e.colorMode&&(this.options.colorMode=e.colorMode),void 0!==e.palette&&(this.options.palette=e.palette),void 0!==e.paletteScale&&(this.options.paletteScale=e.palette),void 0!==e.voxelRenderMode&&(this.options.voxelRenderMode=e.voxelRenderMode),this.currentMap=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"octomap_msgs/Octomap",queue_length:1,compression:this.compression}),this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){this.currentMap&&this.currentMap.tfClient&&this.currentMap.unsubscribeTf(),this._processMessagePrivate(e),this.continuous||this.rosTopic.unsubscribe(this.processMessage)}_loadOcTree(e){return new Promise(function(t,i){const r=Object.assign({resolution:e.resolution},this.options);let n=null;if(e.binary)n=new oc(r),n.readBinary(e.data);else{const t={OcTree:ac,ColorOcTree:sc};e.id in t&&(console.log(e.id,t),n=new t[e.id](r),n.read(e.data))}n.buildGeometry(),t(n)}.bind(this))}_processMessagePrivate(e){this._loadOcTree(e).then(function(t){const i=this.sceneNode;this.tfClient?(this.currentMap=t,this.sceneNode=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:t.object,pose:this.offsetPose})):(this.sceneNode=t.object,this.currentMap=t),this.rootObject.remove(i),this.rootObject.add(this.sceneNode),this.emit("change")}.bind(this))}},e.OccupancyGrid=Qs,e.OccupancyGridClient=class extends Xs{constructor(e){super(),e=e||{},this.ros=e.ros,this.topicName=e.topic||"/map",this.compression=e.compression||"cbor",this.continuous=e.continuous,this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.offsetPose=e.offsetPose||new r.Pose,this.color=e.color||{r:255,g:255,b:255},this.opacity=e.opacity||1,this.currentGrid=null,this.rosTopic=void 0,this.subscribe()}unsubscribe(){this.rosTopic&&this.rosTopic.unsubscribe(this.processMessage)}subscribe(){this.unsubscribe(),this.rosTopic=new r.Topic({ros:this.ros,name:this.topicName,messageType:"nav_msgs/OccupancyGrid",queue_length:1,compression:this.compression}),this.sceneNode=null,this.rosTopic.subscribe(this.processMessage.bind(this))}processMessage(e){this.currentGrid&&(this.tfClient?(this.sceneNode.unsubscribeTf(),this.sceneNode.remove(this.currentGrid)):this.rootObject.remove(this.currentGrid),this.currentGrid.dispose());var t=new Qs({message:e,color:this.color,opacity:this.opacity});this.tfClient?(this.currentGrid=t,null===this.sceneNode?(this.sceneNode=new Ys({frameID:e.header.frame_id,tfClient:this.tfClient,object:t,pose:this.offsetPose}),this.rootObject.add(this.sceneNode)):this.sceneNode.add(this.currentGrid)):(this.sceneNode=this.currentGrid=t,this.rootObject.add(this.currentGrid)),this.emit("change"),this.continuous||this.rosTopic.unsubscribe(this.processMessage)}},e.Odometry=cc,e.OrbitControls=Tc,e.Path=hc,e.Point=lc,e.PointCloud2=bc,e.Points=mc,e.Polygon=uc,e.Pose=pc,e.PoseArray=dc,e.PoseWithCovariance=fc,e.REVISION="1.1.0",e.SceneNode=Ys,e.TFAxes=wc,e.TriangleList=zs,e.Urdf=_c,e.UrdfClient=class{constructor(e){var t=this,i=(e=e||{}).ros;this.param=e.param||"robot_description",this.path=e.path||"/",this.tfClient=e.tfClient,this.rootObject=e.rootObject||new Ss.Object3D,this.tfPrefix=e.tfPrefix||"",this.loader=e.loader,new r.Param({ros:i,name:this.param}).get((function(e){var i=new r.UrdfModel({string:e});t.urdf=new _c({urdfModel:i,path:t.path,tfClient:t.tfClient,tfPrefix:t.tfPrefix,loader:t.loader}),t.rootObject.add(t.urdf)}))}},e.Viewer=class{constructor(e){var t=(e=e||{}).divID,i=e.elem,r=e.width,n=e.height,o=e.background||"#111111",a=e.antialias,s=e.intensity||.66,c=e.near||.01,h=e.far||1e3,l=e.alpha||1,u=e.cameraPose||{x:3,y:3,z:3},p=e.cameraZoomSpeed||.5,d=void 0===e.displayPanAndZoomFrame||!!e.displayPanAndZoomFrame,f=e.lineTypePanAndZoomFrame||"full";this.renderer=new Ss.WebGLRenderer({antialias:a,alpha:!0}),this.renderer.setClearColor(parseInt(o.replace("#","0x"),16),l),this.renderer.sortObjects=!1,this.renderer.setSize(r,n),this.renderer.shadowMap.enabled=!1,this.renderer.autoClear=!1,this.scene=new Ss.Scene,this.camera=new Ss.PerspectiveCamera(40,r/n,c,h),this.camera.position.x=u.x,this.camera.position.y=u.y,this.camera.position.z=u.z,this.cameraControls=new Tc({scene:this.scene,camera:this.camera,displayPanAndZoomFrame:d,lineTypePanAndZoomFrame:f}),this.cameraControls.userZoomSpeed=p,this.scene.add(new Ss.AmbientLight(5592405)),this.directionalLight=new Ss.DirectionalLight(16777215,s),this.scene.add(this.directionalLight),this.selectableObjects=new Ss.Group,this.scene.add(this.selectableObjects);var m=new Ec({renderer:this.renderer,camera:this.camera,rootObject:this.selectableObjects,fallbackTarget:this.cameraControls});this.highlighter=new Mc({mouseHandler:m}),this.stopped=!0,this.animationRequestId=void 0,(i||document.getElementById(t)).appendChild(this.renderer.domElement),this.start()}start(){this.stopped=!1,this.draw()}draw(){this.stopped||(this.cameraControls.update(),this.directionalLight.position.normalize(),this.renderer.clear(!0,!0,!0),this.renderer.render(this.scene,this.camera),this.highlighter.renderHighlights(this.scene,this.renderer,this.camera),this.animationRequestId=requestAnimationFrame(this.draw.bind(this)))}stop(){this.stopped||cancelAnimationFrame(this.animationRequestId),this.stopped=!0}addObject(e,t){t?this.selectableObjects.add(e):this.scene.add(e)}resize(e,t){this.camera.aspect=e/t,this.camera.updateProjectionMatrix(),this.renderer.setSize(e,t)}},e.closestAxisPoint=Cs,e.findClosestPoint=Rs,e.intersectPlane=Ls,e.makeColorMaterial=As,Object.defineProperty(e,"__esModule",{value:!0}),e}({},ROSLIB);