copp 0.2.2

Convex-objective path parameterization for robotic trajectory planning.
Documentation 
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# THIS FILE IS AUTOMATICALLY GENERATED BY CARGO
#
# When uploading crates to the registry Cargo will automatically
# "normalize" Cargo.toml files for maximal compatibility
# with all versions of Cargo and also rewrite `path` dependencies
# to registry (e.g., crates.io) dependencies.
#
# If you are reading this file be aware that the original Cargo.toml
# will likely look very different (and much more reasonable).
# See Cargo.toml.orig for the original contents.

[package]
edition = "2024"
rust-version = "1.88"
name = "copp"
version = "0.2.2"
build = "build.rs"
exclude = [
    "data/**",
    "target/**",
    "bindings/python/**/*.pdb",
]
autolib = false
autobins = false
autoexamples = false
autotests = false
autobenches = false
description = "Convex-objective path parameterization for robotic trajectory planning."
readme = "README.md"
keywords = [
    "trajectory-planning",
    "jerk-limited",
    "motion-planning",
    "convex-optimization",
    "time-optimal",
]
categories = [
    "science::robotics",
    "algorithms",
    "mathematics",
    "simulation",
]
license = "MIT"
repository = "https://github.com/TOPP-THU/copp"

[package.metadata.docs.rs]
rustdoc-args = [
    "--html-in-header",
    "mathjax-config.html",
]

[features]
c = []
cpp = [
    "dep:cxx",
    "dep:cxx-build",
]
default = []
matlab = ["c"]
python = [
    "dep:numpy",
    "dep:pyo3",
]

[lib]
name = "copp"
crate-type = [
    "rlib",
    "cdylib",
    "staticlib",
]
path = "src/lib.rs"

[[example]]
name = "copp2_socp"
path = "examples/copp2_socp.rs"

[[example]]
name = "copp3_socp"
path = "examples/copp3_socp.rs"

[[example]]
name = "reach_set2"
path = "examples/reach_set2.rs"

[[example]]
name = "topp2_ra"
path = "examples/topp2_ra.rs"

[[example]]
name = "topp3_lp"
path = "examples/topp3_lp.rs"

[[example]]
name = "topp3_socp"
path = "examples/topp3_socp.rs"

[[test]]
name = "test_franka"
path = "tests/test_franka.rs"

[[test]]
name = "test_random_spline"
path = "tests/test_random_spline.rs"

[dependencies.chrono]
version = "0.4.44"

[dependencies.clarabel]
version = "0.11.1"

[dependencies.cxx]
version = "1.0"
optional = true

[dependencies.itertools]
version = "0.14.0"

[dependencies.log]
version = "0.4.30"

[dependencies.nalgebra]
version = "0.34.1"
features = ["serde-serialize"]

[dependencies.numpy]
version = "0.28.0"
features = ["nalgebra"]
optional = true

[dependencies.pyo3]
version = "0.28.3"
optional = true

[dependencies.rayon]
version = "1.12.0"

[dependencies.serde]
version = "1.0"
features = ["derive"]

[dependencies.thiserror]
version = "2.0.18"

[dev-dependencies.csv]
version = "1.4.0"

[dev-dependencies.env_logger]
version = "0.11.8"

[dev-dependencies.memmap2]
version = "0.9.10"

[dev-dependencies.plotters]
version = "0.3.7"

[dev-dependencies.rand]
version = "0.10.1"

[dev-dependencies.rkyv]
version = "0.7.46"
features = [
    "std",
    "validation",
    "size_64",
]
default-features = false

[build-dependencies.cxx-build]
version = "1.0"
optional = true