Added documentation (ha ha).

doc/additionalDoc/package.h

+/** \mainpage
+\section sec_intro Introduction
+
+This library implements a modular architecture to test and experiment
+controllers in the Stack of Tasks Framework as defined in \ref Mansard2007.
+It is specifically targeted to retain real-time capabilities while
+having high level software capabilities such as:
+\li On-line plugin loading and unloading,
+\li Scripting of the control,
+\li A strong software model which allow a clear identification
+of the library application field.
+
+\section sec_RequirementsInstallation Requirements and Installation
+ The library assumes that Boost is installed.
+
+\section sec_organization Organization of the code
+
+The code is divided mostly in two parts: the controller also called
+Tasks, and the signals providing the information necessary to compute
+the command.
+
+\section subsec_Tasks Tasks
+They are a certain number of pre-written tasks that can be used.
+
+\section subsec_tools Tools
+
+\section References
+\anchor Mansard2007
+<b>"Task sequencing for sensor-based control"</b>,
+<em>N. Mansard, F. Chaumette,</em>
+IEEE Trans. on Robotics, 23(1):60-72, February 2007
+
+@defgroup Installation
+
+<h1> Configuration and compiling with cmake (recommended) </h1>
+In the repository create a build directory and go inside :<br>
+$ make build <br>
+$ cd build <br>
+
+For configuration try:<br>
+$ ccmake ..<br>
+Press [c] to configure and start the autodetection.<br>
+The system will try to detect as much as possible the needed
+information but it might not work depending on your installation.
+If everything worked,
+press [g] to generate all the necessary makefiles. <br>
+Then type <br>
+$ make <br>
+to compile the Stack Of Tasks. <br>
+Finally to install it properly type:<br>
+$ make install <br>
+If cmake fails to detect some of the needed tools please read the following.
+
+<h2> Installation prefix </h2>
+To specify the installation directory you have to set CMAKE_INSTALL_PREFIX. <br>
+
+<h2> Boost thread library </h2>
+First check that the BOOST_THREAD_LIB_NAME is the one you have in your
+boost installation directory. To find the one on your system type: <br>
+$ ls -al /usr/lib/libboost*thread*  <br>
+and if the following line is displayed: <br>
+lrwxrwxrwx 1 root root    50 2008-08-28 09:00 /usr/lib/libboost_thread-gcc41-mt-1_34_1.so -> /usr/lib/libboost_thread-gcc41-mt-1_34_1.so.1.34.1 <br>
+You can put: <br>
+boost_thread-gcc41-mt-1_34_1<br>
+<br>
+<h2> OpenHRP </h2>
+The system looks for OpenHRP in the <b>${OPENHRPHOME}</b> environment variable,
+and in /home/user_name/src/OpenHRP otherwise. CMake sets an internal variable
+called <b>OPENHRP_HOME</b>. If version 3 is installed (detected by the presence
+of the file Make.vars.ubuntu.8.04) the internal variable called <b>OPENHRP3_HOME</b>.
+
+
+<h1> Configuration and compiling with automake </h1>
+Type the following command: <br>
+$ aclocal -I macros && automake -a <br>
+$ autoconf  <br>
+Usually you should type <br>
+$ configure <br>
+but if you really want your system to be properly configured with OpenHRP: <br>
+$ ./configure  CXX=g++-3.3 --with-boost-thread=/usr/local/3.3 --with-dynamicsjrl=/usr/local/ --with-maal --with-openhrp=/path/to/OpenHRP/ CXXFLAGS="-DNDEBUG -O2" <br>
+
+$ make install <br>
+Once this is done you have to remove the plugin compiled with the wrong image of libsot-0.so: <br>
+$ rm ./lib/plugin/sot*.so <br>
+$ make <br>
+
+To create the tests.<br>
+$ make tests -k <br>
+
+Do not take care to the warnings coming from aclocal or automake executions
+(they are only warnings)
+
+
+@defgroup stackoftasks Stack of Tasks
+This part implements the general framework of the stack
+of stack i.e. its recursive definition
+
+@defgroup tasks Tasks
+@ingroup stackoftasks
+
+Each task implements a specific controller which
+can be a free space task, visual servoing, a constraint,
+and so on ...
+
+@defgroup features Features
+Each feature compute some information
+from measurements, from the robot state,or/and
+from others features. Features should be lightweight
+regarding computation and be included at this level
+only if necessary.
+
+@defgroup softwaresupport Plugin management modules.
+
+@defgroup factory Factory
+@ingroup softwaresupport
+
+This code implements the factory design pattern, making creation of features,
+tasks and objects available.
+
+Objects, which are derived from Entities, Tasks, or Features, can be
+ declared within the code and compiled to shared librairies (.so/.dll files).
+These librairies can be loaded at run-time using the sotPluginLoader methods,
+and at the same time register their class names to the Factory (see the
+sotFactory documentation to learn how).
+
+The Factory can then create instances of these objects and subsequently
+register them in the Pool, where they can be listed, accessed, and acted upon
+(see sotPoolStorage documentation). Basic commands defined by entities include
+signal connection graph file generation, help and name print, and signals.
+
+Finally, a shell (command-line) interface is made available thanks to the
+sotInterpretor class (see the file test_shell.cpp). Objects deriving from
+Entity can expose their own commands by overriding the Entity's default
+commandLine() method. It is possible to load a plugin to register custom
+shell commands; see sotShellFunctions and sotShellProcedure for an example.
+
+The public static objects (singletons) made available by including the
+corresponding headers in this module are:
+\li sotFactory: sotFactoryStorage
+\li sotPool: sotPoolStorage
+
+\image html schema_plugin.png
+
+
+@defgroup signals Signals
+@ingroup softwaresupport
+This part provides the mechanism to transfer information
+from one feature to another.
+
+
+@defgroup codesourceexamples Code source examples
+Various examples to use the different parts of the Stack of Tasks.
+They are all located in the tests directory.
+
+
+*/
+