update readme

README.md

@@ -18,48 +18,6 @@ To do so, tools are provided to:
 The library is template-based, thus generic:  the curves can be of any dimension, and can be implemented in double, float  ...
 
 
-----------
-Example of use for and end-effector trajectory
--------------
-The library comes with an helper class to automatically generate end-effector trajectories.
-For instance, to create a 2 second long trajectory from the point (0,0,0) to (1,1,0), with a waypoint
-at (0.5,0.5,0.5), one can use the following code:
-
-```cpp
-typedef std::pair<double, Eigen::Vector3d> Waypoint;
-typedef std::vector<Waypoint> T_Waypoint;
-
-// loading helper class namespace
-using namespace spline::helpers;
-
-// Create waypoints
-waypoints.push_back(std::make_pair(0., Eigen::Vector3d(0,0,0)));
-waypoints.push_back(std::make_pair(1., Eigen::Vector3d(0.5,0.5,0.5)));
-waypoints.push_back(std::make_pair(2., Eigen::Vector3d(1,1,0)));
-
-exact_cubic_t* eff_traj = effector_spline(waypoints.begin(),waypoints.end());
-
-// evaluate spline
-(*eff_traj)(0.); // (0,0,0)
-(*eff_traj)(2.); // (1,1,0)
-```
-If rotation of the effector must be considered, the code is almost the same:
-
-```cpp
-// initial rotation is 0, end rotation is a rotation by Pi around x axis
-quat_t init_rot(0,0,0,1), end_rot(1,0,0,0);
-effector_spline_rotation eff_traj_rot(waypoints.begin(),waypoints.end(), init_quat, end_quat);
-
-// evaluate spline
-eff_traj_rot(0.); // (0,0,0,0,0,0,1)
-eff_traj_rot(1.); // (0.5,0.5,0.5,0.707107,0,0,0.707107) // Pi/2 around x axis
-eff_traj_rot(2.); // (0,0,0,1,0,0,0)
-```
-
-Additional parameters for the same methods an be used to specify parameters for the take off and
-landing phases: height and duration of the phase, and along which normal.
-Please refer to the Main.cpp files to see all the unit tests and possibilities offered by the library
-
 Installation
 -------------
 
@@ -75,20 +33,18 @@ This package is available as binary in [robotpkg/wip](http://robotpkg.openrobots
 To handle this with cmake, use the recursive option to clone the repository.
 For instance, using http:
 ```
-git clone --recursive https://github.com/stonneau/spline.git $SPLINE_DIR
+git clone --recursive https://github.com/loco-3d/curves $CURVES_DIR
 ```
 The library is header only, so the build only serves to build the tests and python bindings:
 
 ```sh
-cd $SPLINE_DIR && mkdir build && cd build
-cmake .. && make
-../bin/tests
+cd $CURVES_DIR && mkdir build && cd build
+cmake .. && make && make test
 ```
 
 If everything went fine you should obtain the following output:
 ```sh
-performing tests...
-no errors found
+100% tests passed, 0 tests failed out of 3
 ```
 ### Optional: Python bindings installation
 To install the Python bindings, in the CMakeLists.txt file, first enable the BUILD_PYTHON_INTERFACE option:
@@ -98,13 +54,18 @@ OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
 
 Then rebuild the library:
 ```sh
-cd $SPLINE_DIR/build
+cd $CURVES_DIR/build
 cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install ..
 make install
 ```
 The python bindings should then be accessible through the package centroidal_dynamics.
-To see example of use, you can refer to the [test file](https://github.com/stonneau/spline/blob/master/python/test/test.py)
-which is rather self explanatory:
 
-In spite of an exhaustive documentation, please refer to the C++ documentation, which mostly applies
-to python. For the moment, only bezier curves are binded.
+
+Documentation and tutorial
+-------------
+
+For a python tutorial, you can refer to the [jupyter notebook](https://github.com/loco-3d/curves/blob/devel/python/test/sandbox/test.ipynb) . The [test file](https://github.com/loco-3d/curves/blob/master/python/test/test.py)
+is more exhaustive and rather self explanatory.
+
+Please refer to the C++ manual, which mostly applies
+to python.