[DOC] Reworked layout and pages

doc/additionalDoc/loading.hh → doc/additionalDoc/Chapters/creating-models.dox

 //
 // Copyright (c) 2016 CNRS
-// Author: Florent Lamiraux
+// Author: Florent Lamiraux, Justin Carpentier, Florian Valenza
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -16,18 +16,22 @@
 // Pinocchio If not, see
 // <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
-file.
+\section Chapters_CreatingModels_introduction Introduction
 
-\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:
 \code
@@ -43,7 +47,19 @@ se3::Model model = se3::urdf::buildModel (filename, rootJoint, verbose);
 se3::Data data (model);
 \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:
 \code
@@ -58,4 +74,5 @@ se3::Model model = se3::lua::buildModel (filename, freeflyer);
 se3::Data data (model);
 \endcode
 
- */
+*/  
+}
\ No newline at end of file

doc/additionalDoc/crtp.hh → doc/additionalDoc/Chapters/crtp.dox

 //
 // Copyright (c) 2016 CNRS
-// Author: Florent Lamiraux, Justin Carpentier
+// Author: Florent Lamiraux, Justin Carpentier, Florian Valenza
 //
 // This file is part of Pinocchio
 // Pinocchio is free software: you can redistribute it
@@ -16,7 +16,7 @@
 // Pinocchio If not, see
 // <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
 pattern. This pattern is used for performance reasons in the

doc/additionalDoc/Chapters/data-driven-algorithms.dox

+//
+// 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

+//
+// 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

+//
+// 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

+//
+// 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

doc/additionalDoc/Chapters/python-bindings.dox

+//
+// 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

+//
+// 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/additionalDoc/GettingStarted/install.dox

+//
+// 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

doc/additionalDoc/GettingStarted/intro.dox

+//
+// 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

doc/additionalDoc/GettingStarted/simple-humanoid.dox

+//
+// 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

doc/additionalDoc/GettingStarted/urdf-loading-displaying.dox

+//
+// 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

doc/additionalDoc/users.dox

+//
+// 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

doc/layout.xml

@@ -2,7 +2,7 @@
   <!-- Navigation index tabs for HTML output -->
   <navindex>
     <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="namespaces" visible="yes" title="">
       <tab type="namespacelist" visible="yes" title="" intro=""/>

doc/treeview.dox

+//
+// 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.
 //
@@ -9,23 +27,24 @@ namespace pinocchio {
   // Pages/ tutorials organization
   //
 
-  /** \page UserManual_Generalities General topics
-       - \subpage pinocchio_page_crtp
-       - \subpage pinocchio_page_loading
-       - \subpage UserManual_UnderstandingEigen
+  /** \page GettingStarted  Getting Started
+       - \subpage GettingStarted_install
+       - \subpage GettingStarted_simple_huma_IK
+       - \subpage GettingStarted_urdf_loading_viewer
   */
   
-  /** \page UserManual_ModelCreation Build a Model
-       - \subpage pinocchio_page_create_from_scratch
-       - \subpage pinocchio_page_loading
-          - \subpage pinocchio_page_urdf_loading
-          - \subpage pinocchio_page_python_loading
+  /** \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
   */
 
-  /** \page UserManual_UnderstandingEigen Understanding Eigen
-        \subpage TopicInsideEigenExample
-        \subpage TopicClassHierarchy
-        \subpage TopicLazyEvaluation
+  /** \page Users Current Users
   */
 
 
@@ -70,4 +89,8 @@ namespace pinocchio {
 
 
   /** \defgroup tools_group Tools */
+
+  /** \defgroup bench_group Benchmarks */
+
+  /** \defgroup unittest_group Unittests */
 } 
\ No newline at end of file