dynibo 0.5.2

Tree-structured robot kinematics and dynamics with runtime-size workspace APIs
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"
name = "dynibo"
version = "0.5.2"
build = "build.rs"
exclude = [
    ".github/",
    "bindings/",
    "ci/",
    "tests/native/",
    "tests/python/",
    "CMakeLists.txt",
    "MANIFEST.in",
    "pyproject.toml",
    "setup.py",
]
autolib = false
autobins = false
autoexamples = false
autotests = false
autobenches = false
description = "Tree-structured robot kinematics and dynamics with runtime-size workspace APIs"
homepage = "https://github.com/xiaojie-xue/dynibo"
documentation = "https://docs.rs/dynibo"
readme = "README.md"
keywords = [
    "robotics",
    "kinematics",
    "dynamics",
    "urdf",
]
categories = [
    "science::robotics",
    "simulation",
]
license = "MIT"
repository = "https://github.com/xiaojie-xue/dynibo"

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

[features]
core-bench = ["dep:criterion"]
default = []
pinocchio-bench = [
    "pinocchio-tests",
    "dep:criterion",
]
pinocchio-tests = [
    "dep:cc",
    "dep:pkg-config",
]

[lib]
name = "dynibo"
path = "src/lib.rs"

[[example]]
name = "franka"
path = "examples/rust/franka.rs"

[[example]]
name = "g1"
path = "examples/rust/g1.rs"

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[[bench]]
name = "core"
path = "benches/core.rs"
harness = false
required-features = ["core-bench"]

[[bench]]
name = "pinocchio"
path = "benches/pinocchio.rs"
harness = false
required-features = ["pinocchio-bench"]

[dependencies.criterion]
version = "0.7.0"
optional = true

[dependencies.nalgebra]
version = "0.34.1"

[dependencies.urdf-rs]
version = "0.9.0"

[dev-dependencies.approx]
version = "0.5.1"

[dev-dependencies.getrandom]
version = "0.3.4"

[build-dependencies.cc]
version = "1.2.49"
optional = true

[build-dependencies.pkg-config]
version = "0.3.32"
optional = true

[lints.rust.unexpected_cfgs]
level = "warn"
priority = 0
check-cfg = ["cfg(coverage_nightly)"]

[profile.release]
lto = "fat"
codegen-units = 1