[package]
name = "relaxed_ik_core"
version = "0.1.4"
authors = ["djrakita <djrakita@gmail.com>", "yepw <yepingw@outlook.com>"]
edition = "2021"

[package.metadata.pyo3]
name = "relaxed_ik"

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html

[dependencies]
nalgebra = {version = "0.30", features = ["serde-serialize"]}
yaml-rust = "0.4"
optimization_engine =  { version = "0.9.0", features = ["wasm"] }
ndarray = "0.13.0"
num = "0.2.0"
time = "0.1"
rand = "0.7.2"
parry3d-f64 = "0.8.0"
path-slash = "0.1.2"
lazy_static = "1.4.0"
csv = "1.1.6"
chrono = "0.4.19"
serde = { version = "1.0.136", features = ["derive"] }
dirs = "4.0.0"
urdf-rs =  "0.6.7"
k = "0.29"
# For python wrapper
pyo3 = { version = "0.21", features = ["extension-module"] }
numpy = "0.21"

# Below are for webassembly
wasm-bindgen = { version = "0.2", features = ["serde-serialize"] }
serde-wasm-bindgen = "0.4"
js-sys = "0.3"
serde_json = "1.0"
console_error_panic_hook = "0.1"

[dependencies.web-sys]
version = "0.3"
features = [
  "console",
]

[profile.dev]
opt-level = 3

[profile.release]
opt-level = 3

[lib]
name = "relaxed_ik_lib"
path = "src/lib.rs"
crate-type = ["rlib",  "cdylib"]
