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+//
+// Software License Agreement (BSD License)
+//
+//  Copyright (c) 2014 CNRS-LAAS
+//  Author: Florent Lamiraux
+//  All rights reserved.
+//
+//  Redistribution and use in source and binary forms, with or without
+//  modification, are permitted provided that the following conditions
+//  are met:
+//
+//   * Redistributions of source code must retain the above copyright
+//     notice, this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above
+//     copyright notice, this list of conditions and the following
+//     disclaimer in the documentation and/or other materials provided
+//     with the distribution.
+//   * Neither the name of CNRS-LAAS. nor the names of its
+//     contributors may be used to endorse or promote products derived
+//     from this software without specific prior written permission.
+//
+//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+//  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+//  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+//  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+//  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+//  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+//  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+//  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+//  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+//  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+//  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+//  POSSIBILITY OF SUCH DAMAGE.
+
+/// \mainpage
+/// \section fcl_introduction Introduction 
+///
+/// Fcl is a library for collision detection and distance computation between
+/// various types of geometric shapes reprensented either by
+/// \li basic shapes (fcl::ShapeBase) like box, sphere, cylinders, ...
+/// \li or by bounding volume hierarchies of various types (fcl::BVHModel)
+///
+/// \section fcl_howto Using fcl
+///
+/// The main entry points to the library are functions
+/// \li fcl::collide and
+/// \li fcl::distance.