Update documentation.

CMakeLists.txt

@@ -41,6 +41,7 @@ SET (TEST_UR5 FALSE CACHE BOOL "Activate tests using ur5")
 SEARCH_FOR_BOOST()
 ADD_DOC_DEPENDENCY(hpp-model >= 3.0.0)
 ADD_DOC_DEPENDENCY(hpp-manipulation-urdf)
+ADD_DOC_DEPENDENCY(hpp-fcl)
 ADD_REQUIRED_DEPENDENCY(hpp-core >= 3.0.0)
 ADD_REQUIRED_DEPENDENCY(hpp-constraints >= 3.0.0)
 ADD_REQUIRED_DEPENDENCY(hpp-statistics >= 0.1)
@@ -48,6 +49,11 @@ IF (TEST_UR5)
   ADD_REQUIRED_DEPENDENCY(hpp-model-urdf >= 3.0.0)
 ENDIF ()
 
+CONFIGURE_FILE (${CMAKE_SOURCE_DIR}/doc/main.hh.in
+  ${CMAKE_BINARY_DIR}/doc/main.hh
+  @ONLY
+  )
+
 SET (${PROJECT_NAME}_HEADERS
   include/hpp/manipulation/fwd.hh
   include/hpp/manipulation/container.hh

doc/Doxyfile.extra.in

@@ -5,7 +5,7 @@ INPUT     = @CMAKE_SOURCE_DIR@/doc \
 TAGFILES	= @HPP_MODEL_DOXYGENDOCDIR@/hpp-model.doxytag=@HPP_MODEL_DOXYGENDOCDIR@ \
             @HPP_CORE_DOXYGENDOCDIR@/hpp-core.doxytag=@HPP_CORE_DOXYGENDOCDIR@ \
             @HPP_CONSTRAINTS_DOXYGENDOCDIR@/hpp-constraints.doxytag=@HPP_CONSTRAINTS_DOXYGENDOCDIR@ \
-            @HPP_MANIPULATION_URDF_DOXYGENDOCDIR@/hpp-manipulation-urdf.doxytag=@HPP_MANIPULATION_URDF_DOXYGENDOCDIR@
+            @HPP_FCL_DOXYGENDOCDIR@/hpp-fcl.doxytag=@HPP_FCL_DOXYGENDOCDIR@
 
 HTML_EXTRA_FILES = @CMAKE_SOURCE_DIR@/doc/ObjectManipulation_MasterThesis_JosephMirabel.pdf
 

doc/main.hh → doc/main.hh.in

@@ -13,8 +13,8 @@ namespace hpp {
  \li Graph: A graph of constraints defining the rules of a manipulation
  problem.
 
- To build a Device, have a look at the package \ref hpp_manipulation_urdf
- "hpp-manipulation-urdf".
+ To build a Device, have a look at the package <a
+ href="@HPP_MANIPULATION_URDF_DOXYGENDOCDIR@/index.html">hpp-manipulation-urdf</a>.
  ManipulationPlanner implements a RRT-based algorithm to solve manipulation
  planning problems.
 

include/hpp/manipulation/device.hh

@@ -21,7 +21,6 @@
 # define HPP_MANIPULATION_DEVICE_HH
 
 # include <hpp/model/humanoid-robot.hh>
-# include <hpp/fcl/shape/geometric_shapes.h>
 
 # include "hpp/manipulation/fwd.hh"
 # include "hpp/manipulation/config.hh"
@@ -33,6 +32,8 @@ namespace hpp {
     ///
     /// As a deriving class of hpp::model::HumanoidRobot,
     /// it is compatible with hpp::model::urdf::loadHumanoidRobot
+    ///
+    /// This class also contains model::Gripper, Handle and \ref TriangleList
     class HPP_MANIPULATION_DLLAPI Device : public model::HumanoidRobot,
       public Container <HandlePtr_t>, public Container <model::GripperPtr_t>,
       public Container <TriangleList>
@@ -64,6 +65,8 @@ namespace hpp {
         }
 
         /// \name Accessors to container elements
+        /// Contained elements are of type model::Gripper, Handle and
+        /// \ref TriangleList
         /// \{
 
         /// Get an element of a container

include/hpp/manipulation/fwd.hh

-///
-/// Copyright (c) 2014 CNRS
-/// Authors: Florent Lamiraux, Joseph Mirabel
-///
-///
+//
+// Copyright (c) 2014 CNRS
+// Authors: Florent Lamiraux, Joseph Mirabel
+//
+//
 // This file is part of hpp-manipulation.
 // hpp-manipulation is free software: you can redistribute it
 // and/or modify it under the terms of the GNU Lesser General Public
@@ -22,16 +22,9 @@
 
 # include <map>
 # include <hpp/core/fwd.hh>
-
-namespace fcl {
-  class TriangleP;
-}
+# include <hpp/fcl/shape/geometric_shapes.h>
 
 namespace hpp {
-  namespace model {
-    typedef boost::shared_ptr <const Device> DeviceConstPtr_t;
-  }
-
   namespace manipulation {
     HPP_PREDEF_CLASS (Device);
     typedef boost::shared_ptr <Device> DevicePtr_t;
@@ -97,7 +90,7 @@ namespace hpp {
     typedef core::ConfigurationShooter ConfigurationShooter;
     typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
     typedef core::ValidationReport ValidationReport;
-    
+
     typedef std::pair< GripperPtr_t, HandlePtr_t> Grasp_t;
     typedef boost::shared_ptr <Grasp_t> GraspPtr_t;
     typedef std::map <DifferentiableFunctionPtr_t, GraspPtr_t> GraspsMap_t;