multicalc 0.8.0

Calculus, autodiff, nonlinear least squares, and Lie groups in pure no_std Rust: the same math from 64-bit servers to bare-metal microcontrollers
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#![doc = include_str!("../README.md")]
#![no_std]

#[cfg(feature = "alloc")]
extern crate alloc;

/// Re-export of [`libm`], so `no_std` users can reach transcendental functions
/// (`libm::sin`, `libm::exp`, …) without taking their own dependency.
pub use libm;

/// The scalar trait the calculus modules are generic over (implemented for `f32` and `f64`).
pub use scalar::Numeric;

/// Forward-mode dual number giving exact first derivatives (it implements [`Numeric`]).
pub use scalar::Dual;

/// Hyper-dual number giving exact first and second derivatives (it implements [`Numeric`]).
pub use scalar::HyperDual;

/// Jet (truncated Taylor series) giving exact derivatives to arbitrary order (it implements [`Numeric`]).
pub use scalar::Jet;

/// Scalar-function abstraction evaluable at any [`Numeric`] scalar, so one formula drives both
/// finite differences and autodiff.
pub use scalar::{ScalarFn, ScalarFnN, VectorFn};

/// Fixed-size, stack-allocated vector and matrix types.
pub use linear_algebra::{Matrix, Vector};

/// Zero-order-hold, Van Loan, and white-noise discretization of continuous-time linear systems.
pub use discretization::{q_discrete_white_noise, van_loan, zoh};

/// Fixed-step RK4 and adaptive RK45 (Dormand–Prince) ODE integrators.
pub use ode::{Rk4, Rk45};

/// Quaternion
pub use spatial::Quaternion;

/// SO(2)/SE(2)/SO(3)/SE(3) Lie groups for 2D and 3D rotations and rigid-body transforms.
pub use spatial::{SE2, SE3, SO2, SO3};

/// Typed spatial velocity and force in the linear-first `[v; ω]` / `[force; torque]` ordering.
pub use spatial::{Twist, Wrench};

/// The Levenberg-Marquardt and Gauss-Newton least-squares solvers and their result types.
pub use optimization::{GaussNewton, LevenbergMarquardt, MinimizationReport, TerminationReason};

/// Bracketed and Newton root finders for scalar equations and square systems.
pub use root_finding::{Bisection, Newton, NewtonSystem, RootReport, RootReportN, RootTermination};

/// Per-module-family error enums and the umbrella they convert into.
pub use error::{CalcError, DiffError, IntegrateError, LinalgError, SolveError};

pub mod approximation;
pub mod discretization;
pub mod error;
pub mod gaussian_tables;
pub mod linear_algebra;
pub mod numerical_derivative;
pub mod numerical_integration;
pub mod ode;
pub mod optimization;
pub mod root_finding;
pub mod scalar;
pub mod spatial;
pub mod utils;
pub mod vector_field;