diff --git a/CHANGELOG.md b/CHANGELOG.md index ce92d2d3d8..b789835b97 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -27,6 +27,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ### Fixed - Remove pixi 0.57 warnings ([#2802](https://github.com/stack-of-tasks/pinocchio/pull/2802)) - CMake: use `sdformat.cmake` from `jrl-cmakemodules` ([#2800](https://github.com/stack-of-tasks/pinocchio/pull/2800)) +- Fix doxygen document hierarchy ([#2811](https://github.com/stack-of-tasks/pinocchio/pull/2811)) ### Removed - Remove CMake < 3.22 details ([#2790](https://github.com/stack-of-tasks/pinocchio/pull/2790)) diff --git a/doc/a-features/a-spatial.md b/doc/a-features/a-spatial.md index abacf6b4d8..04afa453a3 100644 --- a/doc/a-features/a-spatial.md +++ b/doc/a-features/a-spatial.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_a-spatial Spatial algebra +# Spatial algebra {#md_doc_a-features_a-spatial} Spatial algebra is a mathematical notation commonly employed in rigid body dynamics to represent and manipulate physical quantities such as velocities, diff --git a/doc/a-features/b-model-data.md b/doc/a-features/b-model-data.md index 2f4385d3ff..ecf5ccbf75 100644 --- a/doc/a-features/b-model-data.md +++ b/doc/a-features/b-model-data.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_b-model-data Model and data +# Model and data {#md_doc_a-features_b-model-data} A fundamental paradigm of Pinocchio is the strict separation between *model* and *data*. By *model*, we mean the physical description of the diff --git a/doc/a-features/c-joints.md b/doc/a-features/c-joints.md index 72e7772ea3..c89fda9aa2 100644 --- a/doc/a-features/c-joints.md +++ b/doc/a-features/c-joints.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_c-joints Joints +# Joints {#md_doc_a-features_c-joints} Within a model, a robot is represented as a kinematic tree, containing a collection of all the joints, information about their connectivity, and, diff --git a/doc/a-features/d-model.md b/doc/a-features/d-model.md index 9c4e731fd9..7ca5930b3e 100644 --- a/doc/a-features/d-model.md +++ b/doc/a-features/d-model.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_d-model Geometric and collision models +# Geometric and collision models {#md_doc_a-features_d-model} Aside from the kinematic model, Pinocchio defines a geometric model, i.e. the volumes attached to the kinematic tree. This model can be used for displaying diff --git a/doc/a-features/e-lie.md b/doc/a-features/e-lie.md index 5b97b3701a..679f919c57 100644 --- a/doc/a-features/e-lie.md +++ b/doc/a-features/e-lie.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_e-lie Dealing with Lie-group geometry +# Dealing with Lie-group geometry {#md_doc_a-features_e-lie} Pinocchio relies heavily on Lie groups and Lie algebras to handle motions and more specifically rotations. For this reason it supports the following special groups \\( SO(2), SO(3), SE(2), SE(3) \\) and implements their associated algebras @@ -8,7 +8,7 @@ or the motion of the robot links. The later is particularly useful for collision It is also interesting to have general vector space over which a Lie algebra is defined. -## Using \\( SE(2) \\) with pinocchio in C++ +## Using SE(2) with pinocchio in C++ As a motivating example let us consider a mobile robot evolving in a plane \f$(\mathbb{R}^2 \times \mathbb{S}^1 \f$). ![SE2MotivatingExample](SE2MotivatingExample.svg) @@ -72,7 +72,7 @@ The result is indeed: -1 \endcode -## Using \f$ SE(3) \f$ with pinocchio in C++ +## Using SE(3) with pinocchio in C++ Our mobile robot is not in a plane but in a 3-dimensional space. So let's consider a object in our physical space. This is actually almost the same case, we want the object from one position to an other position. The difficulty lies in the fact that we now have three dimensions so the object has six degrees of freedom, three corresponding to its translation and three to its rotation. diff --git a/doc/a-features/f-kinematic.md b/doc/a-features/f-kinematic.md index 2086f11cd9..3c2170523a 100644 --- a/doc/a-features/f-kinematic.md +++ b/doc/a-features/f-kinematic.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_f-kinematic Kinematics algorithms +# Kinematics algorithms {#md_doc_a-features_f-kinematic} ## Forward kinematics diff --git a/doc/a-features/g-dynamic.md b/doc/a-features/g-dynamic.md index a25d46975c..5def2a4278 100644 --- a/doc/a-features/g-dynamic.md +++ b/doc/a-features/g-dynamic.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_g-dynamic Dynamics algorithms +# Dynamics algorithms {#md_doc_a-features_g-dynamic} ## Inverse dynamics diff --git a/doc/a-features/h-frames.md b/doc/a-features/h-frames.md index 0fd4b9fbdc..48f3201c76 100644 --- a/doc/a-features/h-frames.md +++ b/doc/a-features/h-frames.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_h-frames Operational frames +# Operational frames {#md_doc_a-features_h-frames} TODO: as frames are not necessary to understand the previous sections, it could be a good idea to treat them diff --git a/doc/a-features/intro.md b/doc/a-features/intro.md new file mode 100644 index 0000000000..f0585f2d2d --- /dev/null +++ b/doc/a-features/intro.md @@ -0,0 +1 @@ +# Feature {#md_doc_a-features_intro} diff --git a/doc/a-features/j-analytical-derivatives.md b/doc/a-features/j-analytical-derivatives.md index 58bb7f65f2..f5e383a9b5 100644 --- a/doc/a-features/j-analytical-derivatives.md +++ b/doc/a-features/j-analytical-derivatives.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_j-analytical-derivatives Analytical derivatives +# Analytical derivatives {#md_doc_a-features_j-analytical-derivatives} Beside proposing standard forward and inverse dynamics algorithms, Pinocchio also provides efficient implementations of their analytical derivatives. These diff --git a/doc/a-features/k-automatic-differentiation.md b/doc/a-features/k-automatic-differentiation.md index 28bd8efd04..48d32251bb 100644 --- a/doc/a-features/k-automatic-differentiation.md +++ b/doc/a-features/k-automatic-differentiation.md @@ -1,4 +1,4 @@ -\page md_doc_a-features_k-automatic-differentiation Automatic differentiation and source code generation +# Automatic differentiation and source code generation {#md_doc_a-features_k-automatic-differentiation} In addition to analytical derivatives, Pinocchio supports automatic differentiation. This is made possible through the full *scalar* diff --git a/doc/a-features/l-python.md b/doc/a-features/l-python.md index 1bb71375a3..980d11ba9a 100644 --- a/doc/a-features/l-python.md +++ b/doc/a-features/l-python.md @@ -1,3 +1,3 @@ -\page md_doc_a-features_l-python Python bindings +# Python bindings {#md_doc_a-features_l-python} TODO: ... diff --git a/doc/a-features/m-tests.md b/doc/a-features/m-tests.md index 4d4a19fb37..c9479b39e1 100644 --- a/doc/a-features/m-tests.md +++ b/doc/a-features/m-tests.md @@ -1,3 +1,3 @@ -\page md_doc_a-features_m-tests Unit tests +# Unit tests {#md_doc_a-features_m-tests} TODO: ... diff --git a/doc/b-examples/a-model.md b/doc/b-examples/a-model.md index 5e6a519eb6..ca7279f66e 100644 --- a/doc/b-examples/a-model.md +++ b/doc/b-examples/a-model.md @@ -1,4 +1,4 @@ -# Loading the model +# Loading the model {#md_doc_b-examples_a-model} ## Python \include overview-urdf.py diff --git a/doc/b-examples/ab-geometry-models.md b/doc/b-examples/ab-geometry-models.md index 6b89d0564f..78154420d2 100644 --- a/doc/b-examples/ab-geometry-models.md +++ b/doc/b-examples/ab-geometry-models.md @@ -1,4 +1,4 @@ -# Geometry models +# Geometry models {#md_doc_b-examples_ab-geometry-models} ## Python \include geometry-models.py diff --git a/doc/b-examples/b-display.md b/doc/b-examples/b-display.md index 3ba70bedd5..10cc623b0c 100644 --- a/doc/b-examples/b-display.md +++ b/doc/b-examples/b-display.md @@ -1,4 +1,4 @@ -# Load and display a model +# Load and display a model {#md_doc_b-examples_b-display} Pinocchio does not feature a built-in viewer and you will have to rely on external libraries. However, Pinocchio offers Python support for a few external tools in order to ease the display of a given model. diff --git a/doc/b-examples/c-collisions.md b/doc/b-examples/c-collisions.md index 79c157b96e..973cd04966 100644 --- a/doc/b-examples/c-collisions.md +++ b/doc/b-examples/c-collisions.md @@ -1,4 +1,4 @@ -# Collision detection and distances +# Collision detection and distances {#md_doc_b-examples_c-collisions} ## Python \include collisions.py diff --git a/doc/b-examples/d-inverse-kinematics.md b/doc/b-examples/d-inverse-kinematics.md index 8b816a2c2c..c91b7bc63c 100644 --- a/doc/b-examples/d-inverse-kinematics.md +++ b/doc/b-examples/d-inverse-kinematics.md @@ -1,4 +1,4 @@ -# Inverse kinematics (clik) +# Inverse kinematics (clik) {#md_doc_b-examples_d-inverse-kinematics} This example shows how to position the end effector of a manipulator robot to a given pose (position and orientation). The example employs a simple Jacobian-based iterative algorithm, which is called closed-loop inverse kinematics (CLIK). diff --git a/doc/b-examples/display/a-gepetto-viewer.md b/doc/b-examples/display/a-gepetto-viewer.md index c7fad92506..9827c048e6 100644 --- a/doc/b-examples/display/a-gepetto-viewer.md +++ b/doc/b-examples/display/a-gepetto-viewer.md @@ -1,3 +1,3 @@ -# Display a model using GepettoViewer +# Display a model using GepettoViewer {#md_doc_b-examples_display_a-gepetto-viewer} \include gepetto-viewer.py diff --git a/doc/b-examples/display/b-meshcat-viewer.md b/doc/b-examples/display/b-meshcat-viewer.md index 582ffc2a4a..0c43ef8a60 100644 --- a/doc/b-examples/display/b-meshcat-viewer.md +++ b/doc/b-examples/display/b-meshcat-viewer.md @@ -1,3 +1,3 @@ -# Display a model using Meshcat +# Display a model using Meshcat {#md_doc_b-examples_display_b-meshcat-viewer} \include meshcat-viewer.py diff --git a/doc/b-examples/display/c-robot-wrapper-viewer.md b/doc/b-examples/display/c-robot-wrapper-viewer.md index f1cb4c1da4..b194a1e7fb 100644 --- a/doc/b-examples/display/c-robot-wrapper-viewer.md +++ b/doc/b-examples/display/c-robot-wrapper-viewer.md @@ -1,4 +1,4 @@ -# Display a model using RobotWrapper +# Display a model using RobotWrapper {#md_doc_b-examples_display_c-robot-wrapper-viewer} `RobotWrapper` is a wrapper class written in Python holding Pinocchio models and data. It also includes wrapper functions for a few common methods. diff --git a/doc/b-examples/e-reduced-model.md b/doc/b-examples/e-reduced-model.md index 7b8ea6ea21..3e9f9e6380 100644 --- a/doc/b-examples/e-reduced-model.md +++ b/doc/b-examples/e-reduced-model.md @@ -1,4 +1,4 @@ -# Build reduced model +# Build reduced model {#md_doc_b-examples_e-reduced-model} This example shows how to build a reduced robot model from an existing URDF model by fixing the desired joints at a specified position. diff --git a/doc/b-examples/f-update-model.md b/doc/b-examples/f-update-model.md index 7e141b8abc..e33dd4504c 100644 --- a/doc/b-examples/f-update-model.md +++ b/doc/b-examples/f-update-model.md @@ -1,4 +1,4 @@ -# Update model after loading its URDF +# Update model after loading its URDF {#md_doc_b-examples_f-update-model} This example shows how to update a robot model after loading it from a URDF description. diff --git a/doc/b-examples/intro.md b/doc/b-examples/intro.md index df635b4e61..a079e34b80 100644 --- a/doc/b-examples/intro.md +++ b/doc/b-examples/intro.md @@ -1 +1 @@ -# Examples +# Examples {#md_doc_b-examples_intro} diff --git a/doc/c-maths/a-rigid-bodies.md b/doc/c-maths/a-rigid-bodies.md index f513380652..3eb1226d19 100644 --- a/doc/c-maths/a-rigid-bodies.md +++ b/doc/c-maths/a-rigid-bodies.md @@ -1,4 +1,4 @@ -# Rigid Bodies +# Rigid Bodies {#md_doc_c-maths_a-rigid-bodies} ## Geometry diff --git a/doc/c-maths/b-joints.md b/doc/c-maths/b-joints.md index 1d203ab5cb..7ce1a69f02 100644 --- a/doc/c-maths/b-joints.md +++ b/doc/c-maths/b-joints.md @@ -1,4 +1,4 @@ -# Joint dynamics +# Joint dynamics {#md_doc_c-maths_b-joints} ## Geometry diff --git a/doc/c-maths/intro.md b/doc/c-maths/intro.md index c9b3eba2d1..6916def446 100644 --- a/doc/c-maths/intro.md +++ b/doc/c-maths/intro.md @@ -1,3 +1,3 @@ -# Mathematical formulation +# Mathematical formulation {#md_doc_c-maths_intro} This section describes the mathematical formulation used by Pinocchio, which is the base for Featherstone's algorithms. diff --git a/doc/c-maths/se3.md b/doc/c-maths/se3.md index f59d9654d0..f01c876742 100644 --- a/doc/c-maths/se3.md +++ b/doc/c-maths/se3.md @@ -1,4 +1,4 @@ -# CheatSheet: SE(3) operations +# CheatSheet: SE(3) operations {#md_doc_c-maths_se3}
diff --git a/doc/d-practical-exercises/1-directgeom.md b/doc/d-practical-exercises/1-directgeom.md index 3a7dc1c168..291bac524c 100644 --- a/doc/d-practical-exercises/1-directgeom.md +++ b/doc/d-practical-exercises/1-directgeom.md @@ -1,4 +1,4 @@ -# 1) Move your body (aka direct geometry) +# 1) Move your body (aka direct geometry) {#md_doc_d-practical-exercises_1-directgeom} ## Objective diff --git a/doc/d-practical-exercises/2-invgeom.md b/doc/d-practical-exercises/2-invgeom.md index f7b18b858e..85acc0a725 100644 --- a/doc/d-practical-exercises/2-invgeom.md +++ b/doc/d-practical-exercises/2-invgeom.md @@ -1,4 +1,4 @@ -# 2) Grasp an object (aka inverse Geometry) +# 2) Grasp an object (aka inverse Geometry) {#md_doc_d-practical-exercises_2-invgeom} ## Objectives diff --git a/doc/d-practical-exercises/3-invkine.md b/doc/d-practical-exercises/3-invkine.md index 89e011eaaf..96b6555ede 100644 --- a/doc/d-practical-exercises/3-invkine.md +++ b/doc/d-practical-exercises/3-invkine.md @@ -1,4 +1,4 @@ -# 3) Drag and Drop (aka Inverse kinematics) +# 3) Drag and Drop (aka Inverse kinematics) {#md_doc_d-practical-exercises_3-invkine} ## Objectives diff --git a/doc/d-practical-exercises/4-dyn.md b/doc/d-practical-exercises/4-dyn.md index 2aa67858d5..4ccc32608b 100644 --- a/doc/d-practical-exercises/4-dyn.md +++ b/doc/d-practical-exercises/4-dyn.md @@ -1,4 +1,4 @@ -# 4) Snap your fingers (aka direct and inverse dynamics) +# 4) Snap your fingers (aka direct and inverse dynamics) {#md_doc_d-practical-exercises_4-dyn} ## Objectives diff --git a/doc/d-practical-exercises/5-planner.md b/doc/d-practical-exercises/5-planner.md index 6f3acedc32..bb90bd57e3 100644 --- a/doc/d-practical-exercises/5-planner.md +++ b/doc/d-practical-exercises/5-planner.md @@ -1,4 +1,4 @@ -# 5) Look ahead (aka motion planning) +# 5) Look ahead (aka motion planning) {#md_doc_d-practical-exercises_5-planner} ## Objective diff --git a/doc/d-practical-exercises/6-wpg.md b/doc/d-practical-exercises/6-wpg.md index 3c558a653b..61a7c62499 100644 --- a/doc/d-practical-exercises/6-wpg.md +++ b/doc/d-practical-exercises/6-wpg.md @@ -1,4 +1,4 @@ -# 6) Take a walk (aka optimal control) +# 6) Take a walk (aka optimal control) {#md_doc_d-practical-exercises_6-wpg} ## Objective diff --git a/doc/d-practical-exercises/7-learn.md b/doc/d-practical-exercises/7-learn.md index bc44ab6d28..95025fff47 100644 --- a/doc/d-practical-exercises/7-learn.md +++ b/doc/d-practical-exercises/7-learn.md @@ -1,4 +1,4 @@ -# 7) Learning to fly (aka policy learning) +# 7) Learning to fly (aka policy learning) {#md_doc_d-practical-exercises_7-learn} ## Objective diff --git a/doc/d-practical-exercises/intro.md b/doc/d-practical-exercises/intro.md index 55de5b1cc9..253eb1b341 100644 --- a/doc/d-practical-exercises/intro.md +++ b/doc/d-practical-exercises/intro.md @@ -1,3 +1,3 @@ -# Practical Exercises +# Practical Exercises {#md_doc_d-practical-exercises_intro} This section contains complete exercices to understand Pinocchio. diff --git a/doc/treeview.dox b/doc/treeview.dox index 43b63a370d..ea2a1b3615 100644 --- a/doc/treeview.dox +++ b/doc/treeview.dox @@ -39,6 +39,7 @@ namespace pinocchio { - \subpage md_doc_b-examples_c-collisions - \subpage md_doc_b-examples_d-inverse-kinematics - \subpage md_doc_b-examples_e-reduced-model + - \subpage md_doc_b-examples_f-update-model */ /** \page md_doc_b-examples_b-display @@ -48,14 +49,8 @@ namespace pinocchio { */ /** \page md_doc_c-maths_intro Mathematical Formulation - - \subpage md_doc_c-maths_a-overview - - \subpage md_doc_c-maths_b-rigid-bodies - - \subpage md_doc_c-maths_c-joints - - \subpage md_doc_c-maths_d-articulated - - \subpage md_doc_c-maths_dynamics - - \subpage md_doc_c-maths_e-collisions - - \subpage md_doc_c-maths_e-miscs - - \subpage md_doc_c-maths_f-algorithms + - \subpage md_doc_c-maths_a-rigid-bodies + - \subpage md_doc_c-maths_b-joints - \subpage md_doc_c-maths_se3 */ @@ -105,7 +100,4 @@ namespace pinocchio { /// \namespace pinocchio::srdf /// \brief SRDF parsing - - /// \namespace pinocchio::lua - /// \brief Lua parsing }