Created basic documentation/introduction to sot-dynamic

doc/additionalDoc/package.hh

@@ -23,6 +23,51 @@
 
 The sot-dynamic package is a bridge between the stack of tasks framework and the dynamicsJRLJapan library.
 It provides an inverse dynamic model of the robot through dynamic-graph entities.
+More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library
+to make it accessible for the stack of tasks controllers
+(in the Stack of Tasks Framework as defined in \ref Mansard2007.)
 
-This class provides an inverse dynamic model of the robot. More precisely it wraps the newton euler algorithm implemented by the dynamicsJRLJapan library to make it accessible in the stack of tasks
-controllers in the Stack of Tasks Framework as defined in \ref Mansard2007.
+This package depends on the following packages:
+\li dynamicsJRLJapan
+\li sot-core
+\li dynamic-graph
+Optional packages (for specific support of the hrp2-N robots)
+\li hrp210optimized
+\li hrp2-dynamics
+
+See the JRL umi3218's page on github for instructions on how to download and
+install these packages at https://github.com/jrl-umi3218.
+
+\section overview API overview
+As most packages based on the dynamic-graph framework (see https://github.com/jrl-umi3218/dynamic-graph),
+the functionnality is exposed through entities. Hence .so or .dll (dynamic-link) libraries are
+generated in the dynamic-graph plugins directory.
+
+The following entities are created by this package:\n
+(all entites are placed in the namespace sot::)
+\li sot::ZmprefFromCom
+\li sot::ForceCompensation
+\li sot::IntegratorForceExact
+\li sot::MassApparent
+\li sot::IntegratorForceRk4
+\li sot::IntegratorForce
+\li sot::AngleEstimator
+\li sot::WaistAttitudeFromSensor
+\li sot::Dynamic - provides the inverse dynamics computations for of a humanoid robot
+
+Optionally, if the packages in brackets are installed, the following entities
+are made available:
+\li sot::DynamicHrp2 - same as sot::Dynamic, but specialized for hrp2 robots [needs hrp2-dynamics]
+\li sot::DynamicHrp2_10 - same as previous, optimized for the hrp2-10 robot [needs hrp210optimized]
+\li sot::DynamicHrp2_10_old [needs hrp210optimized]
+
+See each entity's documentation page for more information (when available).
+
+\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
+
+**/