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Commit b57cb3ef authored by Valenza Florian's avatar Valenza Florian
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[DOC] Reworked layout and pages

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// //
// Copyright (c) 2016 CNRS // Copyright (c) 2016 CNRS
// Author: Florent Lamiraux // Author: Florent Lamiraux, Justin Carpentier, Florian Valenza
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -16,18 +16,22 @@ ...@@ -16,18 +16,22 @@
// Pinocchio If not, see // Pinocchio If not, see
// <http://www.gnu.org/licenses/>. // <http://www.gnu.org/licenses/>.
/** \page pinocchio_page_loading Loading a model namespace pinocchio
{
/** \page Chapters_CreatingModels Creating models
\section pinocchio_page_loading_introduction Introduction Here you can find the differents ways to create a model ( simple models, python/lua/urdf loading, Joint after Joint)
The most convenient way to build a robot model consists in parsing a description \section Chapters_CreatingModels_introduction Introduction
file.
\section pinocchio_page_loading_supported_formats Supported formats 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.
Two format are supported. \section Chapters_CreatingModels_supported_formats Supported formats
\subsection pinocchio_page_loading_urdf Format urdf
\subsection Chapters_CreatingModels_urdf Format urdf
To load an urdf file in C++ code, copy the following lines: To load an urdf file in C++ code, copy the following lines:
\code \code
...@@ -43,7 +47,19 @@ se3::Model model = se3::urdf::buildModel (filename, rootJoint, verbose); ...@@ -43,7 +47,19 @@ se3::Model model = se3::urdf::buildModel (filename, rootJoint, verbose);
se3::Data data (model); se3::Data data (model);
\endcode \endcode
\subsection pinocchio_page_loading_lua Format lua \subsection Chapters_CreatingModels_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
To load an lua file in C++ code, copy the following lines: To load an lua file in C++ code, copy the following lines:
\code \code
...@@ -58,4 +74,5 @@ se3::Model model = se3::lua::buildModel (filename, freeflyer); ...@@ -58,4 +74,5 @@ se3::Model model = se3::lua::buildModel (filename, freeflyer);
se3::Data data (model); se3::Data data (model);
\endcode \endcode
*/ */
}
\ No newline at end of file
// //
// Copyright (c) 2016 CNRS // Copyright (c) 2016 CNRS
// Author: Florent Lamiraux, Justin Carpentier // Author: Florent Lamiraux, Justin Carpentier, Florian Valenza
// //
// This file is part of Pinocchio // This file is part of Pinocchio
// Pinocchio is free software: you can redistribute it // Pinocchio is free software: you can redistribute it
...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
// Pinocchio If not, see // Pinocchio If not, see
// <http://www.gnu.org/licenses/>. // <http://www.gnu.org/licenses/>.
/** \page pinocchio_page_crtp Curiously recurring template pattern /** \page Chapters_crtp Curiously recurring template pattern
Similarly to Eigen, Pinocchio library makes intensive use of the so called CRTP design Similarly to Eigen, Pinocchio library makes intensive use of the so called CRTP design
pattern. This pattern is used for performance reasons in the pattern. This pattern is used for performance reasons in the
......
//
// 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
//
// 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
//
// 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
//
// 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
//
// 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
//
// 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
//
// 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 GettingStarted_install install
Here you can find the installation procedure. What to put ? Copy paste from github ?
*/
}
\ No newline at end of file
//
// 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 GettingStarted Getting started
Here you can find the installation procedure and some examples or HowTo
*/
}
\ No newline at end of file
//
// 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 GettingStarted_simple_huma_IK Inverse Kinematics
Here you can find how to use pinocchio API to build a really simple model and compute inverse kinematics
*/
}
\ No newline at end of file
//
// 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 GettingStarted_urdf_loading_viewer Loading an urdf file
Here you can find how to create a model from an urdf file and how to display it in gepetto viewer using the python bindings
*/
}
\ No newline at end of file
//
// 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 Users Current Users
Somes teams/companies that are currently using Pinocchio
*/
}
\ No newline at end of file
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<!-- Navigation index tabs for HTML output --> <!-- Navigation index tabs for HTML output -->
<navindex> <navindex>
<tab type="mainpage" visible="yes" title="hello"/> <tab type="mainpage" visible="yes" title="hello"/>
<tab type="pages" visible="yes" title="Getting Started" intro=""/> <tab type="pages" visible="yes" title="Pages" intro=""/>
<tab type="modules" visible="yes" title="" intro=""/> <tab type="modules" visible="yes" title="" intro=""/>
<!-- <tab type="namespaces" visible="yes" title=""> <!-- <tab type="namespaces" visible="yes" title="">
<tab type="namespacelist" visible="yes" title="" intro=""/> <tab type="namespacelist" visible="yes" title="" intro=""/>
......
//
// 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/>.
// //
// This file strutures pages and modules into a convenient hierarchical structure. // This file strutures pages and modules into a convenient hierarchical structure.
// //
...@@ -9,23 +27,24 @@ namespace pinocchio { ...@@ -9,23 +27,24 @@ namespace pinocchio {
// Pages/ tutorials organization // Pages/ tutorials organization
// //
/** \page UserManual_Generalities General topics /** \page GettingStarted Getting Started
- \subpage pinocchio_page_crtp - \subpage GettingStarted_install
- \subpage pinocchio_page_loading - \subpage GettingStarted_simple_huma_IK
- \subpage UserManual_UnderstandingEigen - \subpage GettingStarted_urdf_loading_viewer
*/ */
/** \page UserManual_ModelCreation Build a Model /** \page Chapters Chapters
- \subpage pinocchio_page_create_from_scratch - \subpage Chapters_SpatialAlgebra
- \subpage pinocchio_page_loading - \subpage Chapters_RigidBodyDynamicModel
- \subpage pinocchio_page_urdf_loading - \subpage Chapters_DynamicAlgorithms
- \subpage pinocchio_page_python_loading - \subpage Chapters_DataDrivenAlgorithms
- \subpage Chapters_FclGeometries
- \subpage Chapters_CreatingModels
- \subpage Chapters_PythonBindings
- \subpage Chapters_crtp
*/ */
/** \page UserManual_UnderstandingEigen Understanding Eigen /** \page Users Current Users
\subpage TopicInsideEigenExample
\subpage TopicClassHierarchy
\subpage TopicLazyEvaluation
*/ */
...@@ -70,4 +89,8 @@ namespace pinocchio { ...@@ -70,4 +89,8 @@ namespace pinocchio {
/** \defgroup tools_group Tools */ /** \defgroup tools_group Tools */
/** \defgroup bench_group Benchmarks */
/** \defgroup unittest_group Unittests */
} }
\ No newline at end of file
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