CI.yml

```yaml
name: PANKH CI

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]

jobs:
  build-and-test:
    runs-on: ubuntu-latest

    steps:
    - name: Checkout code
      uses: actions/checkout@v4

    - name: Install dependencies
      run: |
        sudo apt-get update
        sudo apt-get install -y g++ libeigen3-dev gnuplot
        wget https://github.com/nlohmann/json/releases/download/v3.11.3/json.hpp -O include/json.hpp

    - name: Download Catch2
      run: |
        wget https://github.com/catchorg/Catch2/releases/download/v3.4.0/catch.hpp -O include/catch.hpp

    - name: Compile and run tests
      run: |
        g++ -std=c++17 -Iinclude -I/usr/include/eigen3 tests/test_geometry.cpp src/geometry.cpp src/VectorOperations.cpp -o tests/test_geometry
        g++ -std=c++17 -Iinclude -I/usr/include/eigen3 tests/test_kinematics.cpp src/kinematics.cpp src/MotionParameters.cpp src/VectorOperations.cpp src/constants.cpp -o tests/test_kinematics
        g++ -std=c++17 -Iinclude -I/usr/include/eigen3 tests/test_velocity.cpp src/velocity.cpp src/VectorOperations.cpp src/MotionParameters.cpp src/constants.cpp -o tests/test_velocity
        g++ -std=c++17 -Iinclude -I/usr/include/eigen3 tests/test_influencematrix.cpp src/InfluenceMatrix.cpp src/VectorOperations.cpp src/geometry.cpp -o tests/test_influencematrix
        g++ -std=c++17 -Iinclude -I/usr/include/eigen3 tests/test_newtonraphson.cpp src/NewtonRaphsonNonLinear.cpp src/VectorOperations.cpp src/geometry.cpp src/velocity.cpp src/MotionParameters.cpp src/constants.cpp -o tests/test_newtonraphson
        ./tests/test_geometry
        ./tests/test_kinematics
        ./tests/test_velocity
        ./tests/test_influencematrix
        ./tests/test_newtonraphson
```