[Doc] update plan

doc/Overview.md

@@ -25,9 +25,8 @@ This library implements highly efficient kinematic and dynamic algorithms for mu
 
 ## 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
+The full installation procedure can be found on the Github Pages of the project:
+http://stack-of-tasks.github.io/pinocchio/download.html.
 
 ## Introduction
 
@@ -36,7 +35,7 @@ The two main classes are:
 - 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.
 
-## 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:
 - se3::SE3Tpl represents a rigid placement, a mathematical representation of \f$ SE(3) \f$.
@@ -44,9 +43,9 @@ The library provides some classes to represent spatial quantities at the root of
 - se3::ForceTpl represents a spatial force, e.g. a spatial impulse or force associated to a body. The spatial force is the mathematical representation of \f$ 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.
 
-## Main Algorithms
+### Main Algorithms
 
-## 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
@@ -54,3 +53,13 @@ Flexible Collision Library). The computation of the position of objects in 3D
 space for a given configuration is performed by the following classes:
 - 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.
+
+## Further reading
+
+This documentation starts with a preview of the [Mathematical Formulation of operations in
+SE(3)](md_doc_a-maths_se3.html).
+
+After this, we explain [how to use](md_doc_b-usage_intro.html) this library in different use cases, and we provide
+[quick tutorials](md_doc_c-tutorials_intro.html) for classical tasks.
+
+If you need an in-depth understanding of the topic, we also have [Labs](md_doc_d-labs_intro.html) for you.