Merge branch 'main' into dev

Author: Larbino1

.github/workflows/CI.yml

@@ -7,6 +7,7 @@ on:
   pull_request:
     branches:
       - main
+  workflow_dispatch:
 concurrency:
   # Skip intermediate builds: always.
   # Cancel intermediate builds: only if it is a pull request build.

.github/workflows/documentation.yml

@@ -6,7 +6,7 @@ on:
       - main
     tags: '*'
   pull_request:
-
+  workflow_dispatch:
 jobs:
   build:
     env:
@@ -16,7 +16,7 @@ jobs:
       contents: write
       pull-requests: read
       statuses: write
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v2

Project.toml

@@ -44,7 +44,6 @@ VMRobotControlDifferentialEquationsExt = "DifferentialEquations"
 VMRobotControlMakieExt = "Makie"
 
 [compat]
-julia = "1.9"
 BenchmarkTools = "1"
 ColorTypes = "0.11, 0.12"
 Colors = "0.12, 0.13"
@@ -54,7 +53,7 @@ DifferentialEquations = "7"
 DigitalAssetExchangeFormatIO = "1.1.3"
 EzXML = "1"
 FileIO = "1"
-ForwardDiff = "0.10"
+ForwardDiff = "0.10, 1"
 FunctionWrappers = "1"
 GeometryBasics = "0.5"
 Graphs = "1"
@@ -70,6 +69,7 @@ ResultTypes = "3, 4"
 SparseArrays = "1"
 StaticArrays = "1.8.1"
 StatsBase = "0.34"
+julia = "1.9"
 
 [extras]
 DifferentialEquations = "0c46a032-eb83-5123-abaf-570d42b7fbaa"

src/coordinates/coordinates.jl

@@ -14,12 +14,14 @@ Base.eltype(c::CoordinateData) = eltype(typeof(c))
 cache_size(c::CoordinateData) = cache_size(typeof(c))
 remaker_of(c::CoordinateData) = parameterless_type(c)
 
-struct CompiledCoord{C<:CoordinateData}
+@kwdef struct CompiledCoord{C<:CoordinateData}
     coord_data::C
     cache_idxs::UnitRange{Int}
 end
 
-# Base.show(io::IO, ::Type{<:CompiledCoord{C}}) where C = print(io, "CompiledCoord{$C}")
+remaker_of(c::CompiledCoord) = parameterless_type(c)
+
+Base.show(io::IO, ::Type{<:CompiledCoord{C}}) where C = print(io, "CompiledCoord{$C}")
 
 """
     CompiledCoordID{C}