Add cargo fmt check to CI, rename lint job

.github/workflows/ci.yml

@@ -52,10 +52,14 @@ jobs:
       - run: cd python && maturin develop --release
       - run: pytest python/tests/
 
-  python-lint:
+  lint:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+      - run: cargo fmt --all -- --check
       - uses: astral-sh/setup-uv@v7
       - run: cd devtools-pyenv && uv sync
       # ruff.toml at the root covers python/tests/, benchmark/, and

benchmark/quickik_rust/src/perf.rs

@@ -185,7 +185,12 @@ pub fn run_all(tree: &Arc<KinematicTree>, fixtures: &Fixtures, body: &str) {
     println!("-- single-frame time (latency), default config (adaptive early stop) --");
     let single_frame_latency = summarize(
         "solve()",
-        bench_single_frame_latency(tree, &target_obs, 10_000, SolverConfig::<NoMapper>::default()),
+        bench_single_frame_latency(
+            tree,
+            &target_obs,
+            10_000,
+            SolverConfig::<NoMapper>::default(),
+        ),
     );
 
     // Early stop disabled (tolerances = 0), so every call runs the full
@@ -289,7 +294,10 @@ fn tiled_native_rate_sequence_2d(
 /// `../plot/results/quickik-rust-2d-xyview-<body>.json` for
 /// `../plot/plot_2d_comparison.py` to pick up.
 pub fn run_all_2d(tree: &Arc<KinematicTree>, fixtures: &Fixtures, body: &str) {
-    println!("quickik Rust benchmark, 2D via XYView (state_dim={})\n", tree.state_dim());
+    println!(
+        "quickik Rust benchmark, 2D via XYView (state_dim={})\n",
+        tree.state_dim()
+    );
 
     let target_obs = observations_2d_xyview(&fixtures.synthetic_frames[0].target_ego);
     println!("-- single-frame time (latency), default config (adaptive early stop) --");
@@ -323,9 +331,7 @@ pub fn run_all_2d(tree: &Arc<KinematicTree>, fixtures: &Fixtures, body: &str) {
         bench_single_frame_latency(tree, &target_obs, 10_000, max_iterations_config),
     );
 
-    println!(
-        "\n-- single-thread sequence throughput (native-rate frames, adaptive early stop) --"
-    );
+    println!("\n-- single-thread sequence throughput (native-rate frames, adaptive early stop) --");
     let single_thread_sequence = tiled_native_rate_sequence_2d(
         &fixtures.native_rate_frames,
         SINGLE_THREAD_N_FRAMES,

tests/observation_test.rs

@@ -6,7 +6,8 @@ fn xyview_drops_z_and_passes_through_xy() {
     let mapper = XYView;
     let jacobian_world3d = DMatrix::from_row_slice(3, 2, &[1.0, 0.0, 0.0, 1.0, 0.0, 0.0]);
     let mut jac2d = DMatrix::<f32>::zeros(2, 2);
-    let pos2d = mapper.project_3d_to_2d(&Vector3::new(1.0, 2.0, 3.0), &jacobian_world3d, &mut jac2d);
+    let pos2d =
+        mapper.project_3d_to_2d(&Vector3::new(1.0, 2.0, 3.0), &jacobian_world3d, &mut jac2d);
 
     assert_eq!(pos2d, Vector2::new(1.0, 2.0));
     assert_eq!(jac2d, jacobian_world3d.rows(0, 2).into_owned());
@@ -24,7 +25,8 @@ fn camera_projects_point_directly_in_front_to_principal_point() {
     };
     let jacobian_world3d = DMatrix::<f32>::identity(3, 3);
     let mut jac2d = DMatrix::<f32>::zeros(2, 3);
-    let pos2d = camera.project_3d_to_2d(&Vector3::new(0.0, 0.0, 0.0), &jacobian_world3d, &mut jac2d);
+    let pos2d =
+        camera.project_3d_to_2d(&Vector3::new(0.0, 0.0, 0.0), &jacobian_world3d, &mut jac2d);
 
     assert!((pos2d - Vector2::new(320.0, 240.0)).norm() < 1e-4);
 }