diff --git a/doc/main.dox b/doc/main.dox index 62090c8648315200e0ba9b726d55048d74406425..efde8f91eab56973935fe8efa85d64e6dd558b48 100644 --- a/doc/main.dox +++ b/doc/main.dox @@ -1,258 +1,29 @@ // EDIT CAPS TEXTS /*! \mainpage WOLF - - \section Description - WOLF (Windowed Localization Frames) is a software library ... - - \section Main Main Features + WOLF (Windowed Localization Frames) is a C++ framework for state estimation based on factor graphs. - - Uses Eigen3.2. as an algebra engine - - Suited for Filtering and Optimization approaches - - Allows different state spaces configurations - - Minimizes read/write of state vectors and matrix to memory - - \section Contents - - - \link Installation Installation \endlink - - \link how_to How To \endlink - - \link Performance Performance \endlink - - \link faq FAQ \endlink - - \link todo To Do \endlink - - \link other OTHER STUFF FTW \endlink - . - - - \section Authors - Joan Solà (jsola (_at_) iri.upc.edu) - - Andreu Corominas (acorominas (_at_) iri.upc.edu) - - Faust Terrado (fterrado (_at_) iri.upc.edu) + This is the Doxygen documentation of the **WOLF core** library. - Àngel Santamaria (asantamaria (_at_) iri.upc.edu) - - Joan Vallvé (jvallve (_at_) iri.upc.edu) - - \section License - - TO BE DISCUSSED : - This package is licensed under a - <a href="http://www.gnu.org/licenses/lgpl.html" target=â€_blankâ€> - LGPL 3.0 License</a>. - - \section Disclaimer - - This 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. - - This program 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 Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public License - along with this program. If not, see <http://www.gnu.org/licenses/>. - - \section References References and External Documentation + If you are looking for one of the following: - ... Nothing written here yet ... - -*/ - - - -// HERE STARTS THE FUN (THE DIFFERENT PAGES) - -// TITLE -// MINI PAGES MENU -// CONTENT (SECTIONS...) - -// ADDING PAGES: -// - add the new page in the menus of each page -// - current page is bold "\b", not a \link! - - -/*! \page Installation Installation -\b Installation | \link how_to How To \endlink | \link Performance \endlink | \link faq FAQ \endlink | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink - - -To install the WOLF library, please follow the steps below: - -\section Download - -Checkout the source code from the IRI public repository -\code -cd <your_developing_folder> -svn checkout https://devel.iri.upc.edu/labrobotica/algorithms/wolf wolf -\endcode - -\section Compilation - -After downloading, change directory to wolf/build and execute cmake, -\code -cd build -cmake .. -\endcode -compile the shared library (wolf.so) and the example programs, -\code -make -\endcode - -<!-- -The <em>cmake</em> only need to be executed once (make will automatically call -<em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files). ---> - -Optionally, if you want to generate this documentation in your local machine (uses doxygen default style type), -\code -make doc -\endcode <!--OTHER--> -<!-- -- To generate this documentation with IRI-DOC style type -\code -cd doc -svn checkout https://devel.iri.upc.edu/labrobotica/tools/iri_doc -cd ../build; rm -rf *; cmake ..; make; make doc -\endcode ---> - -Please note that the files in the <em>build</em> directory are genetated by <em>cmake</em> -and <em>make</em> and can be safely removed. -After doing so you will need to call cmake manually again. - -\section Installing_subsec Installing - -In order to be able to use the library, it is necessary to copy it into the system. -To do that, execute, from the build directory -\code -sudo make install -\endcode - -as root and the shared libraries will be copied to <em>/usr/local/lib/iridrivers</em> directory -and the header files will be copied to <em>/usr/local/include/iridrivers</em> dierctory. At -this point, the library may be used by any user. - -To remove the library from the system, execute -\code -sudo make uninstall -\endcode -as root, and all the associated files will be removed from the system. -OTHER - -\section Configuration - -The default build mode is DEBUG. That is, objects and executables -include debug information. - -The RELEASE build mode optimizes for speed. To build in this mode -execute -\code -cmake .. -DCMAKE_BUILD_TYPE=RELEASE -\endcode -The release mode will be kept until next time cmake is executed. - -*/ - - - -/*! \page how_to How to use this library -\link Installation \endlink | \b How \b To | \link Performance \endlink | \link faq FAQ \endlink | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink - -You can use only the functions provided by the library after \link Installation install this library \endlink. - -If you need to use this library in your code, you'll have to add these lines into your CMakeLists.txt file. - -- first it is necessary to locate if required libraries have been installed or not using the following command (TO DO) -\code -FIND_PACKAGE(wolf REQUIRED) -\endcode -- In the case that the packages are present, it is necessary to add the header files directory to -the include directory path by using -\code -INCLUDE_DIRECTORIES(${wolf_INCLUDE_DIR}) -\endcode -- Finally, it is also necessary to link with the desired libraries by using the following command -\code -TARGET_LINK_LIBRARIES(<executable name> ${wolf_LIBRARY}) -\endcode -. - -<!-- -All these steps are automatically done when the new project is created following the instructions -in <A href="http://wikiri.upc.es/index.php/Create_a_new_development_project" target=â€_blankâ€>here</a> ---> - -From the programming point of view the following example illustrates how to use wolf: -\code -#include "state_pvq.h" -int main() -{ - VectorXd storage(20); - unsigned int index = 0, bsize = 4; - - //set storage vector - storage << 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19; - - VectorXd vec_pvq(StatePVQ::SIZE_); - vec_pvq << 20, 21, 22, 23, 24, 25, 26, 27, 28, 29; - - StatePVQ pvq(storage, index + bsize, vec_pvq); - cout << "storage : " << storage.transpose() << endl; - cout << "pvq state: " << pvq.x().transpose() << endl; - cout << "pvq pos : " << pvq.p().transpose() << endl; - cout << "pvq vel : " << pvq.v().transpose() << endl; - cout << "pvq quat : " << pvq.q().coeffs().transpose() << endl; - - VectorXd vec_pvq2(StatePVQ::SIZE_); - vec_pvq2 << 30, 31, 32, 33, 34, 35, 36, 37, 38, 39; - pvq.x(vec_pvq2); - cout << "storage : " << storage.transpose() << endl; - cout << "pvq state: " << pvq.x().transpose() << endl; - - - return 0; -} -\endcode - -For further code examples, please see the files at src/examples where there are some "main()" instances that make use of the library in different useful ways. - -*/ - -/*! \page Performance Performance -\link Installation \endlink | \link how_to How To \endlink | \b Performance | \link faq FAQ \endlink | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink - -The following plot shows the processing time spent to compute ... - - <!-- \image html "images/xxx.png" --> -*/ - -/*! \page faq Frequently Asked Questions -\link Installation \endlink | \link how_to How To \endlink | \link Performance \endlink | \b FAQ | \link todo To Do \endlink | \link other OTHER STUFF FTW \endlink - -Do I need some extra libraries to compile WOLF ? -- Yes, please take a look at the \link Installation \endlink page. - -*/ - - -// THIS IS SHOWN BEFORE THE TO DO AUTOMATIC PAGE - -/*! \page todo To Do -\link Installation \endlink | \link how_to How To \endlink | \link Performance \endlink | \link faq FAQ \endlink| \b To \b Do | \link other OTHER STUFF FTW \endlink -- some to do -- another to do -*/ - - - - -/*! \page other OTHER STUFF FTW -\link Installation \endlink | \link how_to How To \endlink | \link Performance \endlink | \link faq FAQ \endlink | \link todo To Do \endlink | \b OTHER \b STUFF \b FTW - -HERE IS YOUR CONTENT FOR THE WIN - - + - full documentation + - installation instructions + - access to the repositories + - WOLF plugins + - ROS packages + + please visit the main WOLF page at http://www.iri.upc.edu/wolf. + + WOLF is copyright 2015--2022 + + - Joan Solà + - Joan Vallvé + - Joaquim Casals, + - Jérémie Deray, + - Médéric Fourmy, + - Dinesh Atchuthan, + - Andreu Corominas-Murtra + + at IRI-CSIC-UPC. */