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Contributing to featherstone

Thanks for your interest in contributing! Here's how to get started.

Building

cargo build
cargo build --all-features   # includes URDF support

Testing

cargo test --all-features

Linting

cargo fmt --check
cargo clippy --all-features -- -D warnings -A clippy::too-many-arguments

Pull Request Process

  1. Fork the repository and create a branch from main.
  2. Make your changes. Add tests for new functionality.
  3. Ensure cargo test --all-features passes.
  4. Ensure cargo clippy and cargo fmt --check are clean.
  5. Open a pull request against main.

Code Style

  • Run cargo fmt before committing.
  • Keep clippy warnings clean (except too-many-arguments).
  • Write doc comments for public items.
  • Add tests for new algorithms and bug fixes.

License

By contributing, you agree that your contributions will be licensed under Apache-2.0.