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Repository Guidelines

When asked to execute on an issue or new high-level feature request, ask the user if this should be completed on the current branch or to create a new branch. This project is still in pre-1.0 development, so breaking changes may be introduced at any time and backwards compatibility need not be maintained.

Project Structure & Module Organization

This is a Cargo workspace with three primary crates plus supporting data/scripts.

  • core/: strapdown-core library (INS algorithms, filters, simulation utilities).
  • sim/: strapdown-sim CLI for open/closed-loop runs and GNSS degradation.
  • geonav/: experimental geophysical navigation module.
  • data/: sample datasets and scenarios (e.g., data/input/*.csv).
  • docs/, papers/, spec.md: design notes and research docs.
  • scripts/, examples/: helper workflows and usage examples.

Build, Test, and Development Commands

Use Pixi when available; Cargo works directly too.

  • pixi run build / cargo build --workspace --release: build all crates.
  • cargo test --workspace: run all tests.
  • cargo test --package strapdown-core: test a single crate.
  • pixi run lint: run Rust clippy and Python ruff.
  • pixi run fmt: run rustfmt and Python formatting.
  • pixi run coverage / cargo tarpaulin --workspace --timeout 600: coverage.
  • Example run: ./target/release/strapdown-sim -i data/input/input.csv -o output.csv open-loop.

Coding Style & Naming Conventions

  • Rust formatting via rustfmt (4-space indentation); keep functions focused and small.
  • Naming: snake_case for functions/vars, CamelCase for types, SCREAMING_SNAKE_CASE for constants.
  • Prefer descriptive names over symbols; add Rust doc comments (///) and cite Groves equations when relevant.
  • Use assert_approx_eq for floating-point comparisons in tests.

Testing Guidelines

  • Unit tests live alongside modules; integration tests live in core/tests/integration_tests.rs.
  • Tests should be deterministic; seed RNGs when applicable.
  • Name test functions in snake_case and keep fixtures minimal.

Commit & Pull Request Guidelines

  • Commit subjects are short, imperative, and plain (e.g., "Update RBPF documentation..."). Use Fixes #123 when closing issues.
  • PRs should include a concise description, linked issue(s), and any new flags/configs or dataset notes. Add tests when behavior changes.

Environment & Configuration

  • Pixi manages Python/Rust deps (pixi.toml); Rust >=1.91 and Python >=3.12 are expected. HDF5 is required for geonav.
  • Scenarios use YAML/JSON configs; CSV inputs follow Sensor Logger-style IMU/GNSS columns.