# 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 = "2021"
name = "factrs"
version = "0.1.0"
authors = [
    "Easton Potokar",
    "Taylor Pool",
]
build = false
autobins = false
autoexamples = false
autotests = false
autobenches = false
description = "Factor graph optimization for robotics"
readme = "README.md"
keywords = [
    "nonlinear",
    "optimization",
    "robotics",
    "estimation",
    "SLAM",
]
categories = [
    "science::robotics",
    "mathematics",
]
license = "MIT"
repository = "https://github.com/rpl-cmu/factrs"

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

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

[[example]]
name = "g2o"
path = "examples/g2o.rs"

[[example]]
name = "g2o-rerun"
path = "examples/g2o-rerun.rs"
required-features = ["rerun"]

[[example]]
name = "serde"
path = "examples/serde.rs"
required-features = [
    "serde",
    "serde_json",
]

[dependencies.ahash]
version = "0.8.11"

[dependencies.derive_more]
version = "0.99.17"

[dependencies.downcast-rs]
version = "1.2.1"

[dependencies.faer]
version = "0.19.0"
features = [
    "perf-warn",
    "std",
    "matrixcompare",
]
default-features = false

[dependencies.faer-ext]
version = "0.2.0"
features = ["nalgebra"]

[dependencies.log]
version = "0.4.21"

[dependencies.matrixcompare]
version = "0.1"

[dependencies.nalgebra]
version = "0.32.5"
features = ["compare"]

[dependencies.num-dual]
version = "0.9.1"

[dependencies.paste]
version = "1.0.15"

[dependencies.rerun]
version = "0.18"
features = ["sdk"]
optional = true
default-features = false

[dependencies.serde]
version = "1.0.203"
optional = true

[dependencies.serde_json]
version = "1.0.120"
optional = true

[dependencies.typetag]
version = "0.2.16"
optional = true

[dev-dependencies.matrixcompare]
version = "0.3.0"

[dev-dependencies.nalgebra]
version = "0.32.5"
features = ["compare"]

[dev-dependencies.pretty_env_logger]
version = "0.4"

[features]
f32 = []
fake_exp = []
left = []
rayon = ["faer/rayon"]
rerun = ["dep:rerun"]
serde = [
    "dep:serde",
    "dep:typetag",
    "nalgebra/serde-serialize",
    "faer/serde",
    "ahash/serde",
]
serde_json = ["dep:serde_json"]