mapping-algorithms 0.1.0

A collection of pure-rust algorithms, for spatial and SLAM purposes
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96

[![Build Pipeline](https://github.com/EmilyMatt/mapping-rs/actions/workflows/main.yml/badge.svg)](https://github.com/EmilyMatt/mapping-rs/actions/workflows/main.yml)
[![codecov](https://codecov.io/gh/EmilyMatt/mapping-rs/graph/badge.svg)](https://codecov.io/gh/EmilyMatt/mapping-rs)
[![GitHub Issues](https://img.shields.io/github/issues/EmilyMatt/mapping-rs)](https://github.com/EmilyMatt/mapping-rs/issues)
[![MIT](https://img.shields.io/badge/license-MIT-blue.svg)](https://github.com/EmilyMatt/mapping-rs?tab=License-1-ov-file)

![GitHub Stars](https://img.shields.io/github/stars/EmilyMatt/mapping-rs)
![GitHub Watchers](https://img.shields.io/github/watchers/EmilyMatt/mapping-rs)
[![GitHub Forks](https://img.shields.io/github/forks/EmilyMatt/mapping-rs)](https://github.com/EmilyMatt/mapping-rs/fork)

[![Discord Channel](https://dcbadge.vercel.app/api/server/hKFKTaMKkq/)](https://discord.gg/j4z4WM3ZNV)

# mapping-algorithms

### Various computational geometry and spatial algorithms

## ⚠️ Unstable API ⚠️

### Warning: this crate is in early development, breaking API changes are to be expected.

## Usage

Add this to your `Cargo.toml`:

```toml
[dependencies]
mapping-algorithms = { git = "https://github.com/EmilyMatt/mapping-rs.git" }
```

# Features

## no_std support

While the `std` feature is enabled by default,
this crate was designed with `no_std` support in mind,\
provided that a memory allocator is configured
(this crate __does__ use the `alloc` crate).

It can be easily achieved like so:

```toml
[dependencies.mapping-algorithms]
default-features = false
```

## tracing

This crate provides profiling and instrumentation insight
via the [tracing](https://github.com/tokio-rs/tracing) crate.

To use it, simply enable the `tracing` feature in your Cargo.toml,
and use your choice of a subscriber.
Note that different functions have different tracing levels.

Since each and every function is instrumented, be sure to remember the overhead for enabling tracing.

## pregenerated

This crate heavily rely on generics, and suffers severe performance penalties in `debug`\
(We strive to be _very_ fast in `release` though).

For this purpose, a `pregenerated` feature exists, which provides access to public pre-generated functions for most use
cases and types.\
This is recommended for most users, and allows bypassing the generics overhead.

Usage:

In your Cargo.toml:

```toml
# Enables the pregenerated feature (This is enabled by default)
[dependencies.mapping-algorithms]
features = ["pregenerated"]

# Compiles these crates with max optimizations
[profile.dev.package.mapping-algorithms]
opt-level = 3
```

Code example:

```rust,ignore
use mapping_algorithms::point_clouds;

// Instead of doing this:
let res = point_clouds::icp::<f32, 2 > (...); // Uses generics, uses your project's optimization level

// Do this(Runs much faster):
let res = point_clouds::single_precision::icp_2d(...); // Is a regular function, uses the crate's optimization level
```

The `pregenerated` macro is enabled by default.

## Contributing

If you would like to contribute, we welcome your contributions.
Please be sure to check out our [CONTRIBUTING.md](https://github.com/EmilyMatt/mapping-rs/blob/main/CONTRIBUTING.md)