Commit 1a321398 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Update documentation.

parent f1002d44
......@@ -9,14 +9,19 @@ Humanoid Path Planner is a software platform aimed at solving motion planning
problems for humanoid robots. It is also designed to solve classical (non
humanoid) path planning problems.
##Installation
##Installation on ubuntu-12.04 with ros-hydro
To install all the packages under ubuntu 12.04 LTS, you should do the following
Installation with ros-groovy can be found by checking out branch ros-groovy
of this package.
To install all the packages on ubuntu 12.04 LTS, you should do the following
steps:
1. install by apt-get (see http://wiki.ros.org/groovy/Installation/Ubuntu)
- ros-groovy-desktop-full,
- ros-groovy-libccd,
1. install by apt-get (see http://wiki.ros.org/hydro/Installation/Ubuntu)
- ros-hydro-desktop-full,
- ros-hydro-pr2-robot,
- ros-hydro-libccd,
- ros-hydro-srdfdom,
- asciidoc,
- source-highlight,
- git,
......@@ -26,7 +31,7 @@ steps:
- omniidl-python
sudo apt-get install ros-groovy-desktop-full ros-groovy-libccd asciidoc source-highlight git libomniorb4-dev omniorb-nameserver omniidl omniidl-python
sudo apt-get install ros-hydro-desktop-full ros-hydro-pr2-robot ros-hydro-libccd ros-hydro-srdfdom asciidoc source-highlight git libomniorb4-dev omniorb-nameserver omniidl omniidl-python
2. Choose a directory on you file system and define the environment
variable DEVEL_DIR with the full path to this directory.
......
......@@ -9,9 +9,12 @@ Humanoid Path Planner is a software platform aimed at solving motion planning
problems for humanoid robots. It is also designed to solve classical (non
humanoid) path planning problems.
##Installation
##Installation on ubuntu-12.04 with ros-hydro
To install all the packages under ubuntu 12.04 LTS, you should do the following
Installation with ros-groovy can be found by checking out branch ros-groovy
of this package.
To install all the packages on ubuntu 12.04 LTS, you should do the following
steps:
1. install by apt-get (see http://wiki.ros.org/hydro/Installation/Ubuntu)
......
......@@ -56,7 +56,11 @@ if test $pkg_failed = yes; then
AC_MSG_RESULT([no])
else
if test x`$PKG_CONFIG $PKGNAME --variable=doxygendocdir` = x; then
docPrefix=`$PKG_CONFIG $PKGNAME --variable=docdir`/html
if test x`$PKG_CONFIG $PKGNAME --variable=docdir` = x; then
docPrefix=`$PKG_CONFIG $PKGNAME --variable=prefix`/share/doc/$PKGNAME/doxygen-html
else
docPrefix=docPrefix=`$PKG_CONFIG $PKGNAME --variable=docdir`
fi
else
docPrefix=`$PKG_CONFIG $PKGNAME --variable=doxygendocdir`
fi
......@@ -83,6 +87,8 @@ JRL_GENERATELINK([HPPWHOLEBODYSTEP], [hpp-wholebody-step])
JRL_GENERATELINK([HPPWHOLEBODYSTEPCORBA], [hpp-wholebody-step-corba])
JRL_GENERATELINK([HPPMANIPULATION], [hpp-manipulation])
JRL_GENERATELINK([HPPMANIPULATIONCORBA], [hpp-manipulation-corba])
JRL_GENERATELINK([HPPROS], [hpp_ros])
JRL_GENERATELINK([HPPTUTORIAL], [hpp_tutorial])
# Generate the list of html stub pages for missing packages that
# will be generated.
......@@ -100,7 +106,7 @@ AC_CONFIG_FILES([
doc/corba.html
doc/algorithm.html
doc/kpp-interface.html
doc/robotic-component.html
doc/ros.html
doc/main.html
doc/index.html
doc/tree.html
......
......@@ -92,8 +92,9 @@ iai_maps_repository=${HPP_REPO}
hpp_tutorial_branch=master
hpp_tutorial_repository=${HPP_REPO}
all: hpp_ros.install hpp-wholebody-step-corba.install
all: hpp_tutorial.install hpp-wholebody-step-corba.install
${MAKE} hpp-doc.install
# source $DEVEL_DIR/install/setup.bash before installing hrp2.
hrp2: test-hpp.install
......
......@@ -46,7 +46,8 @@ DOC_EXTRA = \
custom.css \
doxygen.css \
figures/archi.png \
figures/kppInterfaceWalk.png \
figures/python.png \
figures/rviz.png \
images/dependencies.png \
images/film.png \
images/footer.jpg \
......@@ -103,6 +104,7 @@ DOC_EXTRA +=
nobase_html_DATA = \
algorithm.html \
corba.html \
ros.html \
graph-dependency.html \
index.html \
main.html \
......
#FIG 3.2
Portrait
#FIG 3.2 Produced by xfig version 3.2.5b
Landscape
Center
Metric
Letter
......@@ -7,102 +7,70 @@ Letter
Single
-2
1200 2
6 8321 320 12668 1104
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3 1 1.00 67.98 135.96
8321 730 9566 413 10768 1104
0.000 -1.000 0.000
4 0 0 50 -1 0 15 0.0000 4 195 1995 10563 628 dynamic library loading\001
6 6750 7605 14461 14265
2 5 0 1 0 -1 50 -1 -1 0.000 0 0 -1 0 0 5
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4 0 0 50 -1 2 17 0.0000 4 165 1335 5789 1255 KPP module\001
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4 1 0 50 -1 2 20 0.0000 4 195 2040 3780 1896 CORBA INTER\001
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4 1 0 50 -1 2 30 0.0000 4 444 2243 2525 5534 algorithms\001
4 1 0 50 -1 2 30 0.0000 4 333 1199 2710 1714 corba\001
4 1 0 50 -1 0 18 0.0000 4 200 1221 1710 2602 Extension\001
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......@@ -20,8 +20,8 @@
<body>
<h1>Humanoid Path Planner Documentation</h1>
<p>
<h2> Introduction </h2>
<p></p>
<h2>Introduction</h2>
HPP (Humanoid Path Planner) is a collection of software packages
implementing path planning functionalities for a humanoid robot.
......@@ -31,16 +31,55 @@ The core functionalities are well suited to solve classical path planning proble
It can be extended to path planning for other types of robots like digital actors for instance.
<h2> Organization of the packages </h2>
<h2>Installation</h2>
<p>Installation instructions can be found on
<a href="https://github.com/humanoid-path-planner/hpp-doc">github</a>.
Select branch
<a href="https://github.com/humanoid-path-planner/hpp-doc/tree/ros-hydro"> ros-hydro</a> or
<a href="https://github.com/humanoid-path-planner/hpp-doc/tree/ros-groovy">
ros-groovy</a> and follow the instructions provided at the bottom of the page.
</p>
<h2>Overview of the architecture</h2>
<p>The code relative to HPP is distributed into several software
packages handled by <a href="http://www.cmake.org">CMake</a>.</p>
packages. See <a href="graph-dependency.html">dependency graph</a> for a quick
view of the package hierarchy.</p>
<p>The packages are distributed into the following categories:</p>
<ul>
<li><a href="algorithm.html">Algorithms</a> implementing path planning functionalities</li>
<li><a href="corba.html">Corba</a> communication facilities to control algorithms</li>
<li><a href="ros.html">Ros</a> connection with ros for loading models and displaying in rviz.
</ul>
<p></p>
<table>
<tr><td width="50%">
<a href="figures/archi.png"><image src="figures/archi.png" width="100%"/></a>
</td><td width="5%">
</td><td width="30%">
The algorithmic part, built on <a href="@HPPCORE_LINK@">hpp-core</a> is
embedded in corba servers implemented by
<a href="@HPPCORBASERVER_LINK@">hpp-corbaserver</a> or extensions like
<a href="@HPPWHOLEBODYSTEPCORBA_LINK@">hpp-wholebody-step-corba</a>.
The corba servers are linked to executable <code>hppcorbaserver</code>.
<p></p>
From a python terminal, clients to the corba servers can be created in order
to control the executable. The control of the application is performed via
idl interfaces and python classes available in <a href="corba.html">corba
</a> packages.
<p></p>
Results of path planning requests as well as individual configurations can
be displayed in rviz via a ros node implemented by package <code>hpp_ros
</code>.
</td></tr>
</table>
<h2>Getting started</h2>
Package <a href="@HPPTUTORIAL_LINK@">hpp-tutorial</a> provide some examples of
how to use this project.
</body>
</html>
......
......@@ -100,6 +100,11 @@ pkg "hpp-manipulation-corba" \
"ssh://trac.laas.fr/git/jrl/corba/hpp-manipulation-corba" \
"path/hpp-manipulation-corba"
pkg "hpp_ros" \
"hpp_ros" \
"git@github.com:humanoid-path-planner/hpp_ros" \
"path/hpp_ros"
# Retrieve information about wanted package.
key=`echo "$package" | sed 's/-/_/g'`
name=$(eval echo "\$name__$key")
......
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<html>
<head>
<meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
<link href="custom.css" rel="stylesheet" type="text/css">
<title>Humanoid Path Planner documentation</title>
</head>
<body>
<h1>Packages implementing ROS interfaces</h1>
<p>
The following packages implement Corba communication functionalities
<ul>
<li><b>hpp_ros</b> display of robot configurations,
obstacles and paths in rviz</li>
<li><a href="@HPPMODELURDF_LINK@">hpp-model-urdf</a> Construction of
robots and objects by parsing urdf/srdf files.</li>
</p>
<br><br>
<hr>
<center>
<img src="images/footer.jpg" height="100" alt="footer"><br>
Humanoid Path Planner documentation<br>
</center>
</body>
</html>
......@@ -72,6 +72,7 @@
<div id="folder2">
<p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="algorithm.html" target="basefrm">Algorithms</a></p>
<p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="corba.html" target="basefrm">Corba interfaces</a></p>
<p><img src="images/ftv2vertline.png" alt="|" width="16" height="22" /><img src="images/ftv2node.png" alt="o" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="ros.html" target="basefrm">Ros</a></p>
</div>
<p><img src="images/ftv2lastnode.png" alt="\" width="16" height="22" /><img src="images/ftv2doc.png" alt="*" width="24" height="22" /><a class="el" href="graph-dependency.html" target="basefrm">Dependencies</a></p>
......
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