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Commit 0e96ddc5 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by jcarpent
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[Doc] Remove empty files, translate other to md

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doc/additionalDoc/Chapters/creating-models.dox → doc/Chapters/creating-models.md
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# Creating models
<!--
//
// Copyright (c) 2016 CNRS
// Author: Florent Lamiraux, Justin Carpentier, Florian Valenza
......@@ -15,26 +17,22 @@
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
namespace pinocchio
{
/** \page Chapters_CreatingModels Creating models
-->
Here you can find the differents ways to create a model ( simple models, python/lua/urdf loading, Joint after Joint)
\section Chapters_CreatingModels_introduction Introduction
## Introduction
In Pinocchio you can create Models in many ways. We have built-in parsers for different kind of format ( urdf, python, Lua)
but you can also create a Model from scratch and fill it with the Joints you want.
\section Chapters_CreatingModels_supported_formats Supported formats
## Supported formats
\subsection Chapters_CreatingModels_urdf Format urdf
### Format urdf
To load an urdf file in C++ code, copy the following lines:
\code
```
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/parser/urdf.hpp>
#include <pinocchio/multibody/parser/utils.hpp>
......@@ -45,24 +43,24 @@ const std::string filename = "path/to/file/model.urdf";
se3::JointModelFreeflyer rootJoint;
se3::Model model = se3::urdf::buildModel (filename, rootJoint, verbose);
se3::Data data (model);
\endcode
```
\subsection Chapters_CreatingModels_Python Format Python
### Format Python
To load a python file in C++ code, copy the following lines:
\code
```
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/parser/python.hpp>
#include <pinocchio/multibody/parser/utils.hpp>
#include <pinocchio/multibody/joint.hpp>
//put here code to load from python
\endcode
```
\subsection Chapters_CreatingModels_lua Format lua
### Format lua
To load an lua file in C++ code, copy the following lines:
\code
```
#include <pinocchio/multibody/model.hpp>
#include <pinocchio/multibody/parser/lua.hpp>
#include <pinocchio/multibody/parser/utils.hpp>
......@@ -72,7 +70,4 @@ bool freeflyer = true;
const std::string filename = "path/to/file/model.lua";
se3::Model model = se3::lua::buildModel (filename, freeflyer);
se3::Data data (model);
\endcode
*/
}
\ No newline at end of file
```
doc/additionalDoc/Chapters/crtp.dox → doc/Chapters/crtp.md
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//
# Curiously recurring template pattern
<!--
// Copyright (c) 2016 CNRS
// Author: Florent Lamiraux, Justin Carpentier, Florian Valenza
//
......@@ -15,8 +16,7 @@
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
/** \page Chapters_crtp Curiously recurring template pattern
-->
Similarly to Eigen, Pinocchio library makes intensive use of the so called CRTP design
pattern. This pattern is used for performance reasons in the
......@@ -24,4 +24,3 @@ implementation of static polymorphism, avoiding dynamic casts and calls to virtu
All in all, CRTP plays a central role in the performance of Pinocchio.
We refer to https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern for further explanations.
*/
doc/Doxyfile.extra.in
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......@@ -308,7 +308,7 @@ RECURSIVE = YES
# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90
FILE_PATTERNS = *.cc *.cpp *.h *.hpp *.hxx *.hh *.dox
FILE_PATTERNS = *.cc *.cpp *.h *.hpp *.hxx *.hh *.dox *.md
# If the value of the INPUT tag contains directories, you can use the
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
......
doc/Overview.dox → doc/Overview.md
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# Overview {#index}
<!--
//
// Copyright (c) 2016 CNRS
// Author: Florent Lamiraux, Justin Carpentier
// Copyright (c) 2016, 2018 CNRS
// Author: Florent Lamiraux, Justin Carpentier, Guilhem Saurel
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
......@@ -15,48 +17,40 @@
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
-->
namespace pinocchio {
/** \mainpage Overview
This is the documentation of Pinocchio, the Eigen-like library for Rigid Body Dynamics computations.
This library implements highly efficient kinematic and dynamic algorithms for multi-body systems making Pinocchio a versatile framework for robotics applications.
\section pinocchio_section_installation Installation
## Installation
The full installation procedure can be found at https://github.com/stack-of-tasks/pinocchio/wiki/Installation.
For further details about the project, please visit the GitHub page:
https://github.com/stack-of-tasks/pinocchio
https://github.com/stack-of-tasks/pinocchio
\section pinocchio_section_introduction Introduction
## Introduction
One of the main features is the separation between models (constant values representing an object) and data (used for intermediate computations).
The two main classes are:
\li se3::Model that represents a kinematic chain composed of joints that move
links with mass and inertia,
\li se3::Data that stores intermediate data for kinematic and dynamic computations.
- se3::Model that represents a kinematic chain composed of joints that move links with mass and inertia,
- se3::Data that stores intermediate data for kinematic and dynamic computations.
\section pinocchio_section_spatial_algebra Spatial Algebra
## Spatial Algebra
The library provides some classes to represent spatial quantities at the root of kinematic and dynamic computations. This main classes are reported below:
\li se3::SE3Tpl represents a rigid placement, a mathematical representation of \f$ SE(3) \f$.
\li se3::MotionTpl represents a spatial motion (linear and angular velocities), e.g. a spatial velocity or acceleration associated to a frame or a body. The spatial motion is the mathematical representation of \f$ se(3) \f$.
\li se3::ForceTpl represents a spatial force, e.g. a spatial impulse or force associated to a body. The spatial force is the mathematical representation of \f$ se^{*}(3) \f$, the dual of \f$ se(3) \f$.
\li se3::InertiaTpl represents a spatial inertia characterizing a rigid body and expressed in a given frame. This inertia is composed of mass, the position of the center of mass regarding to the frame and a rotational inertia.
- se3::SE3Tpl represents a rigid placement, a mathematical representation of \f$ SE(3) \f$.
- se3::MotionTpl represents a spatial motion (linear and angular velocities), e.g. a spatial velocity or acceleration associated to a frame or a body. The spatial motion is the mathematical representation of \f$ se(3) \f$.
- se3::ForceTpl represents a spatial force, e.g. a spatial impulse or force associated to a body. The spatial force is the mathematical representation of \f$ se^{*}(3) \f$, the dual of \f$ se(3) \f$.
- se3::InertiaTpl represents a spatial inertia characterizing a rigid body and expressed in a given frame. This inertia is composed of mass, the position of the center of mass regarding to the frame and a rotational inertia.
\section pinocchio_section_algos Main Algorithms
## Main Algorithms
\section pinocchio_section_collision_checking Collision checking and distance computation
## Collision checking and distance computation
Collision checking between two bodies of the kinematic chain and external
obstacles is implemented using library hpp-fcl (a modified version of
Flexible Collision Library). The computation of the position of objects in 3D
space for a given configuration is performed by the following classes:
\li se3::GeometryModel that represents the collision objects associated to a joint stored in a se3::Model,
\li se3::GeometryData that stores intermediate data like the position of objects
in a given configuration of the kinematic chain.
*/
}
- se3::GeometryModel that represents the collision objects associated to a joint stored in a se3::Model,
- se3::GeometryData that stores intermediate data like the position of objects in a given configuration of the kinematic chain.
doc/additionalDoc/Chapters/data-driven-algorithms.dox deleted 100644 → 0
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//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
namespace pinocchio
{
/** \page Chapters_DataDrivenAlgorithms Data Driven Algorithms
Here you can find informations about how information is stored in PInocchio and how algorithms workd
*/
}
\ No newline at end of file
doc/additionalDoc/Chapters/dynamic-algorithms.dox deleted 100644 → 0
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//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
namespace pinocchio
{
/** \page Chapters_DynamicAlgorithms Dynamic Algorithms
Here you can find informations about dynamic algorithms
*/
}
\ No newline at end of file
doc/additionalDoc/Chapters/fcl-geometries.dox deleted 100644 → 0
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//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
namespace pinocchio
{
/** \page Chapters_FclGeometries Geometry
Here you can find informations about how geometries are stored ( index of parent ) and used via FCL
*/
}
\ No newline at end of file
doc/additionalDoc/Chapters/modeling-rigid-body.dox deleted 100644 → 0
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//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
namespace pinocchio
{
/** \page Chapters_RigidBodyDynamicModel Modeling rigid bodies
Here you can find informations related to how pinocchio models a rigid multi body model. (ie Joints augmented by inertias)
*/
}
\ No newline at end of file
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//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
namespace pinocchio
{
/** \page Chapters_PythonBindings Python Bindings
Here you can find explications concerning python bindings and calls to C++ methods + RobotWrapper Class
*/
}
\ No newline at end of file
doc/additionalDoc/Chapters/spatial-algebra.dox deleted 100644 → 0
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//
// Copyright (c) 2016 CNRS
// Author: Florian Valenza
//
// This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// Pinocchio is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// Pinocchio If not, see
// <http://www.gnu.org/licenses/>.
namespace pinocchio
{
/** \page Chapters_SpatialAlgebra Spatial Algebra
Here you can find informations related to Roy FeatherStone's book Rigid Body Dynamic Algorithms and spatial algebra
*/
}
\ No newline at end of file
doc/treeview.dox
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......@@ -28,14 +28,8 @@ namespace pinocchio {
//
/** \page Chapters Chapters
- \subpage Chapters_SpatialAlgebra
- \subpage Chapters_RigidBodyDynamicModel
- \subpage Chapters_DynamicAlgorithms
- \subpage Chapters_DataDrivenAlgorithms
- \subpage Chapters_FclGeometries
- \subpage Chapters_CreatingModels
- \subpage Chapters_PythonBindings
- \subpage Chapters_crtp
- \subpage md_doc_Chapters_creating-models
- \subpage md_doc_Chapters_crtp
*/
//
......
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