apex-solver 1.2.1

High-performance nonlinear least squares optimization with Lie group support for SLAM and bundle adjustment
Documentation 
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name: Rust CI

on:
  push:
    branches: ["main"]
  pull_request:
    branches: ["main"]

env:
  CARGO_TERM_COLOR: always

jobs:
  check_and_test:
    name: Check & Test on ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-22.04, ubuntu-24.04, macos-latest, windows-latest]

    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          lfs: true

      - name: Checkout LFS objects
        run: git lfs pull

      - name: Install Rust toolchain
        uses: dtolnay/rust-toolchain@stable
        with:
          components: clippy, rustfmt

      - name: Cache Cargo dependencies
        uses: actions/cache@v4
        with:
          path: |
            ~/.cargo/bin/
            ~/.cargo/registry/index/
            ~/.cargo/registry/cache/
            ~/.cargo/git/db/
            target/
          key: ${{ runner.os }}-cargo-${{ hashFiles('**/Cargo.lock') }}
          restore-keys: |
            ${{ runner.os }}-cargo-

      - name: Check formatting
        run: cargo fmt --all -- --check

      - name: Run Clippy
        run: cargo clippy --workspace --all-targets --all-features --lib --bins -- -D warnings

      - name: Run tests
        run: cargo test --release --verbose

      - name: Check visualization examples compile
        run: cargo check --examples --features visualization

      - name: Build release
        run: cargo build --release --verbose