rigidity-core 0.2.0

The core: Lie groups, ICP, conditioning analysis. No I/O, no UI.
Documentation 
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//! The `rigidity` core.
//!
//! Dependencies are limited to `nalgebra`, `rayon` and `thiserror`: no file
//! I/O, no GPU, no UI. This crate must build and pass its tests on Linux,
//! Windows and macOS without a single system library.
//!
//! Three invariants hold throughout:
//! - points are stored as `f32` offsets from an `f64` origin, while all
//!   arithmetic is done in `f64`;
//! - `H = JᵀWJ` is never formed explicitly — the work goes through a
//!   tall-skinny QR of the weighted Jacobian;
//! - results are bit-for-bit reproducible at any thread count.

pub mod cloud;
pub mod icp;
pub mod lie;
pub mod linalg;
pub mod neighbors;
pub mod normals;
pub mod observability;
pub mod voxel;

pub use cloud::{Attribute, AttributeData, CloudError, PointCloud};
pub use neighbors::{BruteForce, Neighbor, NeighborSearch};

/// The linear algebra the public interface is written in.
///
/// `Vector3<f64>`, `Vector6<f64>` and `Matrix6<f64>` appear in almost every
/// signature here, so a downstream crate that resolves a different
/// `nalgebra` gets type errors that read as nonsense. Re-exporting removes
/// the possibility: `use rigidity_core::nalgebra` cannot drift.
pub use nalgebra;