diff --git a/.codedocs b/.codedocs index 519c28d6..f6e7ceb0 100644 --- a/.codedocs +++ b/.codedocs @@ -1 +1 @@ -DOXYFILE=.doxygen.txt +DOXYFILE=docs/Doxyfile diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 4e33c8cb..dc5e56bb 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -172,6 +172,40 @@ jobs: working-directory: ${{runner.workspace}}/build run: make test + pybind11: + needs: [build-ubuntu, build-mac] + strategy: + fail-fast: false + matrix: + platform: [macos-latest, ubuntu-latest] #windows-latest, + # python-version: [3.5, 3.6, 3.7, 3.8] + python-version: [3.6] + runs-on: ${{ matrix.platform }} + steps: + - name: Checkout + uses: actions/checkout@v2 + - name: Set up Python ${{ matrix.python-version }} + uses: actions/setup-python@v2 + with: + python-version: ${{ matrix.python-version }} + - name: Setup apt + if: runner.os == 'Linux' + run: | + sudo apt update + sudo apt install -y libeigen3-dev + - name: Setup brew + if: runner.os == 'macOS' + run: brew install eigen + - name: Setup + run: | + python -m pip install --upgrade pip + pip install pytest "pybind11[global]" + pip install -r requirements.txt + - name: Build + run: pip install . + - name: Test + run: pytest + # arm64: # needs: [build-ubuntu] # runs-on: ubuntu-latest diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml new file mode 100644 index 00000000..6c557b92 --- /dev/null +++ b/.github/workflows/docs.yml @@ -0,0 +1,91 @@ +name: documentation +on: + push: + branches: devel + workflow_dispatch: + +jobs: + + # There is no way as of now to move artifacts around jobs and + # across workflows. So we build the Python bindings here too. + build: + runs-on: ubuntu-20.04 + steps: + + # Build manifpy + + - name: Checkout + uses: actions/checkout@v2 + - name: Set up Python + uses: actions/setup-python@v2 + with: + python-version: 3.6 + - name: Setup apt + run: | + sudo apt update + sudo apt install -y libeigen3-dev + - name: Setup + run: | + python -m pip install --upgrade pip + pip install pytest "pybind11[global]" + pip install -r requirements.txt + - name: Build + run: pip install . + + # build: + # runs-on: ubuntu-20.04 + # needs: [pybind11] + # steps: + # - name: Checkout + # uses: actions/checkout@v2 + # - name: Set up Python + # uses: actions/setup-python@v2 + + # Build documentation website + + - name: Fetch apt deps + run: | + sudo apt update + sudo apt install -y libeigen3-dev flex bison doxygen graphicsmagick-imagemagick-compat + - name: Fetch Python deps + run: python -m pip install jinja2 Pygments + - name: Fetch m.css + working-directory: ${{runner.workspace}}/manif/docs + run: git clone git://github.com/mosra/m.css + + - name: Build Python docs + working-directory: ${{runner.workspace}}/manif/docs + run: python m.css/documentation/python.py conf_python.py + - name: Build C++ docs + working-directory: ${{runner.workspace}}/manif/docs + run: | + mkdir -p site/cpp + python m.css/documentation/doxygen.py conf_cpp.py + - name: Build site + working-directory: ${{runner.workspace}}/manif/docs + run: python m.css/documentation/doxygen.py conf.py + + - name: Latex equation white color + working-directory: ${{runner.workspace}}/manif/docs + run: ./fix_latex_color.sh + + - name: Archive artifacts + uses: actions/upload-artifact@v2 + with: + name: site + path: docs/site + + deploy: + runs-on: ubuntu-20.04 + needs: [build] + steps: + - name: Download artifacts + uses: actions/download-artifact@v2 + with: + name: site + - name: Deploy + uses: JamesIves/github-pages-deploy-action@3.7.1 + with: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + BRANCH: gh-pages + FOLDER: site diff --git a/.gitignore b/.gitignore index 8e53b8e7..982efe74 100644 --- a/.gitignore +++ b/.gitignore @@ -4,5 +4,14 @@ .settings .tags build -doc -doxygen_warnings.txt +docs/xml +docs/html +docs/site +docs/m.css +*doxygen_warnings.txt +*.cache +.vscode +*.egg-info +*.so +*__pycache__ +.pytest_cache diff --git a/CMakeLists.txt b/CMakeLists.txt index 41a497a6..bec9cf75 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -54,6 +54,13 @@ endif() option(BUILD_TESTING "Build all tests." OFF) option(ENABLE_CPPCHECK "Enable cppcheck." OFF) option(BUILD_EXAMPLES "Build all examples." OFF) +option(BUILD_PYTHON_BINDINGS "Build Python bindings with pybind11." OFF) +option(BUILD_TESTING_PYTHON "Build Python tests only." OFF) + +if (BUILD_PYTHON_BINDINGS) + find_package(pybind11 REQUIRED) + add_subdirectory(python) +endif() ########### ## Build ## @@ -263,3 +270,10 @@ if(BUILD_TESTING) add_subdirectory(test) endif(BUILD_TESTING) + +if(BUILD_PYTHON_BINDINGS AND (BUILD_TESTING OR BUILD_TESTING_PYTHON)) + + enable_testing() + add_subdirectory(test/python) + +endif() diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 00000000..18eeb4ba --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,73 @@ +# Contributing + +## General guidelines + +**manif** is developed according to Vincent Driessen's [Gitflow Workflow][git-workflow]. +This means, + +- the `master` branch is for releases only. +- development is done on feature branches. +- finished features are integrated via PullRequests into the branch `devel`. + +For a PullRequest to get merged into `devel`, it must pass + +- Review by one of the maintainers. + - Are the changes introduced in scope of **manif**? + - Is the documentation updated? + - Are enough reasonable tests added? + - Will these changes break the API? + - Do the new changes follow the current style of naming? +- Compile / Test / Run on all target environments. + +Note: The test suite detailed below is run in CI for many targets environments including, + +- Ubuntu 16.04/18.04/20.04 +- MacOS 10.15 +- Visual Studio 15 + +## Development environment + +We will detail here how to set up a development environment. +It is recommended to use containers if you do not want to install the dependencies on your host. +You may refer to [this blog post](lxd-post) to set up a LXD container. + +First let us clone the **manif** repo, + +```terminal +git clone https://github.com/artivis/manif.git +cd manif +``` + +Let's install all dependencies for development and testing, + +```terminal +apt install libeigen3-dev +python3 -m pip install "pybind11[global]" pytest +python3 -m pip install -r requirements +``` + +We can now build **manif**, its Python wrappers and all tests, + +```terminal +mkdir build && cd build +cmake -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_BINDINGS=ON -DBUILD_EXAMPLES=ON .. +make +``` + +To run the C++ tests execute the following, + +```terminal +ctest --output-on-failure +``` + +To run the Python tests, + +```terminal +cd manif +pytest +``` + +[//]: # (URLs) + +[git-workflow]: http://nvie.com/posts/a-successful-git-branching-model +[lxd-post]: https://artivis.github.io/post/2020/lxc \ No newline at end of file diff --git a/README.md b/README.md index ca3f2059..4cbaba85 100644 --- a/README.md +++ b/README.md @@ -1,133 +1,69 @@ # manif -## A small header-only library for Lie theory. -[![GHA](https://github.com/artivis/manif/workflows/build-and-test/badge.svg?branch=devel)](https://github.com/artivis/manif/workflows/build-and-test/badge.svg?branch=devel) -[![appveyor](https://ci.appveyor.com/api/projects/status/l0q7b0shhonvejrd?svg=true)](https://ci.appveyor.com/project/artivis/manif) -[![Documentation](https://codedocs.xyz/artivis/manif.svg)](https://codedocs.xyz/artivis/manif/) -[![codecov](https://codecov.io/gh/artivis/manif/branch/devel/graph/badge.svg)](https://codecov.io/gh/artivis/manif) -![GitHub](https://img.shields.io/github/license/mashape/apistatus.svg) -[![JOSS](http://joss.theoj.org/papers/e3fc778689407f0edd19df8c2089c160/status.svg)](http://joss.theoj.org/papers/e3fc778689407f0edd19df8c2089c160) +## A small header-only library for Lie theory + +[![GHA][badge-ci-img]][badge-ci] +[![appveyor][badge-ci-win-img]][badge-ci-win] +[![Documentation][badge-doc-img]][manif-doc] +[![codecov][badge-cov-img]][badge-cov] +![GitHub][badge-license] +[![JOSS][badge-joss-img]][deray20] ## Package Summary -**manif** is a header-only C++11 Lie theory library for state-estimation + +**manif** is a Lie theory library for state-estimation targeted at robotics applications. +It is developed as a header-only C++11 library with Python 3 wrappers. At the moment, it provides the groups: - - R(n): Euclidean space with addition. - - SO(2): rotations in the plane. - - SE(2): rigid motion (rotation and translation) in the plane. - - SO(3): rotations in 3D space. - - SE(3): rigid motion (rotation and translation) in 3D space. - - SE_2(3): extended pose (rotation, translation and velocity) in 3D space, introduced (to the best of knowledge) in this [paper](https://arxiv.org/pdf/1410.1465.pdf). NOTE: The implementation here differs slightly from the developments in the [paper](https://arxiv.org/pdf/1410.1465.pdf). + +- ℝ(n): Euclidean space with addition. +- SO(2): rotations in the plane. +- SE(2): rigid motion (rotation and translation) in the plane. +- SO(3): rotations in 3D space. +- SE(3): rigid motion (rotation and translation) in 3D space. +- SE_2(3): extended pose (rotation, translation and velocity) in 3D space, + introduced (to the best of knowledge) in this [paper][barrau15]. + NOTE: The implementation here differs slightly from + the developments in the [paper][barrau15]. Other Lie groups can and will be added, contributions are welcome. -**manif** is based on the mathematical presentation of the Lie theory available in [this paper](http://arxiv.org/abs/1812.01537). +**manif** is based on the mathematical presentation of the Lie theory available in [this paper][jsola18]. We recommend every user of **manif** to read the paper (17 pages) before starting to use the library. -The paper provides a thorough introduction to Lie theory, in a simplified way so as to make the entrance to Lie theory easy for the average robotician who is interested in designing rigorous and elegant state estimation algorithms. -In a rush? Check out our [Lie group cheat sheet](paper/Lie_theory_cheat_sheet.pdf). +The paper provides a thorough introduction to Lie theory, +in a simplified way so as to make the entrance to Lie theory easy for the average roboticist +who is interested in designing rigorous and elegant state estimation algorithms. +In a rush? Check out our [Lie group cheat sheet][cheat_sheet]. -**manif** has been designed for an easy integration to larger projects: - - A single dependency on [Eigen](http://eigen.tuxfamily.org), - - header-only for easy integration, - - templated on the underlying scalar type so that one can use its own, - - and C++11, since not everyone gets to enjoy the latest C++ features, especially in industry. + -All Lie group classes defined in **manif** have in common that they inherit from a templated base class ([CRTP](https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern)). -It allows one to write generic code abstracting the Lie group details. -Please find more information in the related [wiki page](https://github.com/artivis/manif/wiki/Writing-generic-code) +It provides analytic computation of Jacobians for all the operations listed [below](#features). -#### Details + + +### Details - Maintainer status: maintained -- Maintainer: Jeremie Deray [deray.jeremie@gmail.com](mailto:deray.jeremie@gmail.com) +- Maintainer: Jeremie Deray - Authors: - Jeremie Deray [deray.jeremie@gmail.com](mailto:deray.jeremie@gmail.com) - Joan Sola [jsola@iri.upc.edu](mailto:jsola@iri.upc.edu) -- License: MIT -- Bug / feature tracker: [github.com/artivis/manif/issues](https://github.com/artivis/manif/issues) -- Source: [github.com/artivis/manif.git](https://github.com/artivis/manif.git) (branch: devel) - -___ - -

- Installation • - Features • - Documentation • - Tutorials • - Publications • - They use manif • - Contributing -

-___ +- License: [MIT](LICENSE) +- Bug / feature tracker: [github.com/artivis/manif/issues][manif-issue] +- Source: [github.com/artivis/manif.git][manif-repo] (branch: devel) ## Quick Start -### Dependencies - -- Eigen 3 : - + Linux ( Ubuntu and similar ) - - ```terminal - apt-get install libeigen3-dev - ``` - - + OS X - - ```terminal - brew install eigen - ``` - -- [lt::optional](https://github.com/TartanLlama/optional) : included in the `external` folder - -### Installation - - - -```terminal -$ git clone https://github.com/artivis/manif.git -$ cd manif && mkdir build && cd build -$ cmake -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON .. -$ make -$ make install -``` - -###### Using catkin_tools -```terminal -$ git clone https://github.com/artivis/manif.git -$ catkin build manif --cmake-args -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -``` - -###### Generate the documentation -```terminal -$ cd manif -$ doxygen .doxygen.txt -``` - -#### Use **manif** in your project -In your project `CMakeLists.txt` : - -```cmake -project(foo) -# Find the Eigen library -find_package(Eigen3 REQUIRED) -target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS}) -# Find the manif library -find_package(manif REQUIRED) -add_executable(${PROJECT_NAME} src/foo.cpp) -# Add manif include directories to the target -target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${manif_INCLUDE_DIRS}) -``` +Get quickly started with **manif** following our 'quick start' guides for both +[C++](docs/pages/cpp/Quick-start.md) and [Python](docs/pages/python/Quick-start.md). ## Features @@ -136,186 +72,146 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${manif_INCLUDE_DIRS}) | Operation | | Code | | :--- | :---: | :---: | | | Base Operation | | -| Inverse | | `X.inverse()` | -| Composition | | `X * Y`
`X.compose(Y)` | -| Hat | | `w.hat()` | -| Act on vector | | `X.act(v)` | -| Retract to group element | | `w.exp()` | -| Lift to tangent space | | `X.log()` | -| Manifold Adjoint | | `X.adj()` | -| Tangent adjoint | | `w.smallAdj()` | +| Inverse | ![\mathbf\Phi^{-1}][latex1] | `X.inverse()` | +| Composition | ![\mathbf\mathcal{X}\circ\mathbf\mathcal{Y}][latex2] | `X * Y`
`X.compose(Y)` | +| Hat | ![\varphi^\wedge][latex3] | `w.hat()` | +| Act on vector | ![\mathbf\mathcal{X}\circ\mathbf v][latex4] | `X.act(v)` | +| Retract to group element | ![\exp(\mathbf\varphi^\wedge][latex5] | `w.exp()` | +| Lift to tangent space | ![\log(\mathbf\mathcal{X})^\vee][latex6] | `X.log()` | +| Manifold Adjoint | ![\operatorname{Adj}(\mathbf\mathcal{X})][latex7] | `X.adj()` | +| Tangent adjoint | ![\operatorname{adj}(\mathbf\varphi^\wedge][latex8] | `w.smallAdj()` | | | Composed Operation | | -| Manifold right plus | | `X + w`
`X.plus(w)`
`X.rplus(w)` | -| Manifold left plus | | `w + X`
`w.plus(X)`
`w.lplus(X)` | -| Manifold right minus | | `X - Y`
`X.minus(Y)`
`X.rminus(Y)` | -| Manifold left minus | | `X.lminus(Y)` | -| Between | | `X.between(Y)` | -| Inner Product | | `w.inner(t)` | -| Norm | | `w.weightedNorm()`
`w.squaredWeightedNorm()` | - -Above, \mathcal{Y} represent group elements, small phi represent elements in the Lie algebra of the Lie group, small phi or `w,t` represent the same elements of the tangent space but expressed in Cartesian coordinates in , and v or `v` represents any element of . +| Manifold right plus | ![\mathbf\mathcal{X}\circ\exp(\mathbf\varphi^\wedge)][latex9] | `X + w`
`X.plus(w)`
`X.rplus(w)` | +| Manifold left plus | ![\exp(\mathbf\varphi^\wedge)\circ\mathbf\mathcal{X}][latex10] | `w + X`
`w.plus(X)`
`w.lplus(X)` | +| Manifold right minus | ![\log(\mathbf\mathcal{Y}^{-1}\circ\mathbf\mathcal{X})^\vee][latex11] | `X - Y`
`X.minus(Y)`
`X.rminus(Y)` | +| Manifold left minus | ![\log(\mathbf\mathcal{X}\circ\mathbf\mathcal{Y}^{-1})^\vee][latex12] | `X.lminus(Y)` | +| Between | ![\mathbf\mathcal{X}^{-1}\circ\mathbf\mathcal{Y}][latex13] | `X.between(Y)` | +| Inner Product | ![\langle\varphi,\tau\rangle][latex14] | `w.inner(t)` | +| Norm | ![\left\lVert\varphi\right\rVert][latex15] | `w.weightedNorm()`
`w.squaredWeightedNorm()` | + +Above, ![\mathbf\mathcal{X},\mathbf\mathcal{Y}][latex16] represent group elements, +![\mathbf\varphi^\wedge,\tau^\wedge][latex17] represent elements in the Lie algebra of the Lie group, +![\mathbf\varphi,\tau][latex18] or `w,t` represent the same elements of the tangent space +but expressed in Cartesian coordinates in ![\mathbb{R}^n][latex19], +and ![\mathbf{v}][latex20] or `v` represents any element of ![\mathbb{R}^n][latex21]. ### Jacobians -All operations come with their respective analytical Jacobian matrices. -Throughout **manif**, **Jacobians are differentiated with respect to a local perturbation on the tangent space**. - -Currently, **manif** implements the **right Jacobian** (see [here](http://arxiv.org/abs/1812.01537) for reference), whose definition reads: - -

  +All operations come with their respective analytical Jacobian matrices. +Throughout **manif**, **Jacobians are differentiated with respect to a local perturbation on the tangent space**. These Jacobians map tangent spaces, as described in [this paper][jsola18]. -The Jacobians of any of the aforementionned operations can then be evaluated, e.g., +Currently, **manif** implements the **right Jacobian**, whose definition reads: -```cpp - SO2d X = SO2d::Random(), - Y = SO2d::Random(); - - SO2d::Jacobian J_c_x, J_c_y; - auto compose = X.compose(Y, J_c_x, J_c_y); - - SO2d::Jacobian J_m_x, J_m_y; - auto minus = X.minus(Y, J_m_x, J_m_y); +![\frac{\delta f(\mathbf\mathcal{X})}{\delta\mathbf\mathcal{X}}][latex22] - SO2d::Jacobian J_i_x; - auto inverse = X.inverse(J_i_x); - - // etc... -``` +The Jacobians of any of the aforementionned operations can then be evaluated: -Shall you be interested only in a specific Jacobian, it can be retrieved without evaluating the other: +in C++, ```cpp - auto composition = X.compose(Y, J_c_x); -``` + SE3d X = SE3d::Random(); + SE3Tangentd w = SE3Tangentd::Random(); -or conversely, + SE3d::Jacobian J_o_x, J_o_w; -```cpp - auto composition = X.compose(Y, SO2d::_, J_c_y); + auto X_plus_w = X.plus(w, J_o_x, J_o_w); ``` -#### A note on Jacobians - -The **manif** package differentiates Jacobians with respect to a -local perturbation on the tangent space. -These Jacobians map tangent spaces, as described in [this paper](http://arxiv.org/abs/1812.01537). - -However, many non-linear solvers -(e.g. [Ceres](http://ceres-solver.org/)) expect functions to be differentiated with respect to the underlying -representation vector of the group element -(e.g. with respect to quaternion vector for ). - -For this reason **manif** is compliant with [Ceres](http://ceres-solver.org/) -auto-differentiation and the -[`ceres::Jet`](http://ceres-solver.org/automatic_derivatives.html#dual-numbers-jets) type. +in Python, -For reference of the size of the Jacobians returned when using ```ceres::Jet```, **manif** implements rotations in the following way: - - SO(2) and SE(2): as a complex number with `real = cos(theta)` and `imag = sin(theta)` values. - - SO(3), SE(3) and SE_2(3): as a unit quaternion, using the underlying `Eigen::Quaternion` type. +```python + X = SE3.Random() + w = SE3Tangentd.Random() -Therefore, the respective Jacobian sizes using ```ceres::Jet``` are as follows: - - SO(2) : size 2 - - SO(3) : size 4 - - SE(2) : size 4 - - SE(3) : size 7 - - SE_2(3): size 10 + J_o_x = np.zeros((SE3.DoF, SE3.DoF)) + J_o_w = np.zeros((SE3.DoF, SE3.DoF)) -For more information, please refer to the [Ceres wiki page](https://github.com/artivis/manif/wiki/Using-manif-with-Ceres). + X_plus_w = X.plus(w, J_o_x, J_o_w) +``` ## Documentation -The API documentation can be found online at [codedocs.xyz/artivis/manif](https://codedocs.xyz/artivis/manif/). - -Some more general documentation and tips on the use of the library is available on the [wiki-page](https://github.com/artivis/manif/wiki). - - -To generate the documentation on your machine, type in the terminal - -```terminal -$ cd manif -$ doxygen .doxygen.txt -``` +The documentation is available online at the accompanying [website](manif). +Both the [C++](cpp) and the [Python](python) APIs are documented. -and find it at `manif/doc/html/index.html`. +Do you want to build it locally? +Find out how on the [dedicated page](docs/pages/documentation.md). -Throughout the code documentation we refer to 'the paper' which you can -find in the section Publications. +Note: throughout the code documentation we refer to 'the paper' which you can +find on [the dedicated page](docs/pages/publication.md). ## Tutorials and application demos -We provide some self-contained and self-explained executables implementing some real problems. -Their source code is located in `manif/examples/`. -These demos are: +We provide some self-contained and self-explained [C++ examples](docs/pages/cpp/Quick-start.md#tutorials-and-application-demos) to help you get started. -- [`se2_localization.cpp`](examples/se2_localization.cpp): 2D robot localization based on fixed landmarks using SE2 as robot poses. This implements the example V.A in the paper. -- [`se2_localization_ukfm.cpp`](examples/se2_localization_ukfm.cpp): 2D robot localization based on fixed landmarks using SE2 as robot poses. This implements the filter described in ['A Code for Unscented Kalman Filtering on Manifolds (UKF-M)'](https://arxiv.org/pdf/2002.00878.pdf), M. Brossard, A. Barrau and S. Bonnabel. -- [`se3_localization.cpp`](examples/se3_localization.cpp): 3D robot localization based on fixed landmarks using SE3 as robot poses. This re-implements the example above but in 3D. -- [`se2_sam.cpp`](examples/se2_sam.cpp): 2D smoothing and mapping (SAM) with simultaneous estimation of robot poses and landmark locations, based on SE2 robot poses. This implements a the example V.B in the paper. -- [`se3_sam.cpp`](examples/se3_sam.cpp): 3D smoothing and mapping (SAM) with simultaneous estimation of robot poses and landmark locations, based on SE3 robot poses. This implements a 3D version of the example V.B in the paper. -- [`se3_sam_selfcalib.cpp`](examples/se3_sam_selfcalib.cpp): 3D smoothing and mapping (SAM) with self-calibration, with simultaneous estimation of robot poses, landmark locations and sensor parameters, based on SE3 robot poses. This implements a 3D version of the example V.C in the paper. -- [`se_2_3_localization.cpp`](examples/se_2_3_localization.cpp): A strap down IMU model based 3D robot localization, with measurements of fixed landmarks, using SE_2_3 as extended robot poses (translation, rotation and linear velocity). +You prefer Python? The same examples are also [available in Python](docs/pages/python/Quick-start.md#tutorials-and-application-demos). ## Publications -If you use this software, please consider citing -[this paper](https://joss.theoj.org/papers/10.21105/joss.01371#) as follows: - -``` -@article{Deray-20-JOSS, - doi = {10.21105/joss.01371}, - url = {https://doi.org/10.21105/joss.01371}, - year = {2020}, - publisher = {The Open Journal}, - volume = {5}, - number = {46}, - pages = {1371}, - author = {Jérémie Deray and Joan Solà}, - title = {Manif: A micro {L}ie theory library for state estimation in robotics applications}, - journal = {Journal of Open Source Software} -} - -``` - -You can also consider citing [this paper](http://arxiv.org/abs/1812.01537) as follows: - -``` -@techreport{SOLA-18-Lie, - Address = {Barcelona}, - Author = {Joan Sol\`a and Jeremie Deray and Dinesh Atchuthan}, - Institution = {{Institut de Rob\`otica i Inform\`atica Industrial}}, - Number = {IRI-TR-18-01}, - Title = {A micro {L}ie theory for state estimation in robotics}, - Howpublished="\url{http://arxiv.org/abs/1812.01537}", - Year = {2018} -} -``` -Notice that this reference is the one referred to throughout the code documentation. -Since this is a versioned work, please refer to [version 4, available here](http://arxiv.org/abs/1812.01537v4), of the paper when cross-referencing with the **manif** documentation. -This will give the appropriate equation numbers. - -### Lie group cheat sheets - -In a rush? Here is your Lie group theory take away: -[Lie group cheat sheet](paper/Lie_theory_cheat_sheet.pdf). +Check out our related [publications](docs/pages/publication.md) and how to cite them. -## They use **manif** +## They use manif -You may find [here](projects.md) a list of work and projects using **manif**. -Your project is not listed? Let us know about it! +Find out [who's already using manif](docs/pages/projects.md). ## Contributing -**manif** is developed according to Vincent Driessen's [Gitflow Workflow](http://nvie.com/posts/a-successful-git-branching-model/). -This means, -- the `master` branch is for releases only. -- development is done on feature branches. -- finished features are integrated via PullRequests into the branch `devel`. - -For a PullRequest to get merged into `devel`, it must pass -- Review by one of the maintainers. - + Are the changes introduced in scope of **manif**? - + Is the documentation updated? - + Are enough reasonable tests added? - + Will these changes break the API? - + Do the new changes follow the current style of naming? -- Compile / Test / Run on all target environments. +Want to contribute? Great! Check out our [contribution guidelines](CONTRIBUTING.md). + +[//]: # (URLs) + +[jsola18]: http://arxiv.org/abs/1812.01537 +[jsola18v]: http://arxiv.org/abs/1812.01537v4 +[barrau15]: https://arxiv.org/pdf/1410.1465.pdf +[deray20]: https://joss.theoj.org/papers/10.21105/joss.01371 + +[eigen]: http://eigen.tuxfamily.org +[ceres]: http://ceres-solver.org/ +[ceres-jet]: http://ceres-solver.org/automatic_derivatives.html#dual-numbers-jets +[crtp]: https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern + +[manif-repo]: https://github.com/artivis/manif.git +[manif-issue]: https://github.com/artivis/manif/issues +[manif-doc]: https://codedocs.xyz/artivis/manif +[cheat_sheet]: paper/Lie_theory_cheat_sheet.pdf + +[optional-repo]: https://github.com/TartanLlama/optional + +[pybind11]: https://pybind11.readthedocs.io/en/stable/index.html + +[git-workflow]: http://nvie.com/posts/a-successful-git-branching-model/ + +[badge-ci]: https://github.com/artivis/manif/workflows/build-and-test/badge.svg?branch=devel +[badge-ci-img]: https://github.com/artivis/manif/workflows/build-and-test/badge.svg?branch=devel +[badge-ci-win]: https://ci.appveyor.com/project/artivis/manif +[badge-ci-win-img]: https://ci.appveyor.com/api/projects/status/l0q7b0shhonvejrd?svg=true +[badge-doc-img]: https://codedocs.xyz/artivis/manif.svg +[badge-cov]: https://codecov.io/gh/artivis/manif +[badge-cov-img]: https://codecov.io/gh/artivis/manif/branch/devel/graph/badge.svg +[badge-license]: https://img.shields.io/github/license/mashape/apistatus.svg +[badge-joss]: http://joss.theoj.org/papers/e3fc778689407f0edd19df8c2089c160 +[badge-joss-img]: http://joss.theoj.org/papers/e3fc778689407f0edd19df8c2089c160/status.svg + +[latex1]: https://latex.codecogs.com/svg.latex?\mathbf&space;\mathcal{X}^{-1} +[latex2]: https://latex.codecogs.com/svg.latex?\mathbf&space;\mathcal{X}&space;\circ&space;\mathbf&space;\mathcal{Y} +[latex3]: https://latex.codecogs.com/svg.latex?\varphi^\wedge +[latex4]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\circ\mathbf&space;v +[latex5]: https://latex.codecogs.com/svg.latex?\exp(\mathbf\varphi^\wedge) +[latex6]: https://latex.codecogs.com/svg.latex?\log(\mathbf&space;\mathcal{X})^\vee +[latex7]: https://latex.codecogs.com/svg.latex?\operatorname{Adj}(\mathbf&space;\mathcal{X}) +[latex8]: https://latex.codecogs.com/svg.latex?\operatorname{adj}(\mathbf&space;\varphi^\wedge) +[latex9]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\oplus\mathbf\varphi=\mathbf\mathcal{X}\circ\exp(\mathbf\varphi^\wedge) +[latex10]: https://latex.codecogs.com/svg.latex?\mathbf\varphi\oplus\mathbf\mathcal{X}=\exp(\mathbf\varphi^\wedge)\circ\mathbf\mathcal{X} +[latex11]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\ominus\mathbf\mathcal{Y}=\log(\mathbf\mathcal{Y}^{-1}\circ\mathbf\mathcal{X})^\vee +[latex12]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}\ominus\mathbf\mathcal{Y}=\log(\mathbf\mathcal{X}\circ\mathbf\mathcal{Y}^{-1})^\vee +[latex13]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X}^{-1}\circ\mathbf\mathcal{Y} +[latex14]: https://latex.codecogs.com/svg.latex?\langle\varphi,\tau\rangle +[latex15]: https://latex.codecogs.com/svg.latex?\left\lVert\varphi\right\rVert +[latex16]: https://latex.codecogs.com/svg.latex?\mathbf\mathcal{X},\mathbf\mathcal{Y} +[latex17]: https://latex.codecogs.com/svg.latex?\mathbf\varphi^\wedge,\tau^\wedge +[latex18]: https://latex.codecogs.com/svg.latex?\mathbf\varphi,\tau +[latex19]: https://latex.codecogs.com/svg.latex?\mathbb{R}^n +[latex20]: https://latex.codecogs.com/svg.latex?\mathbf{v} +[latex21]: https://latex.codecogs.com/svg.latex?\mathbb{R}^n +[latex22]: https://latex.codecogs.com/svg.latex?\frac{\delta&space;f(\mathbf\mathcal{X})}{\delta\mathbf\mathcal{X}}\triangleq\lim_{\varphi\to0}\frac{&space;f(\mathbf\mathcal{X}\oplus\varphi)\ominus&space;f(\mathbf\mathcal{X})}{\varphi}\triangleq\lim_{\varphi\to0}\frac{\log(f(\mathbf\mathcal{X})^{-1}&space;f(\mathbf\mathcal{X}\exp(\varphi^\wedge)))^\vee}{\varphi} +[latex23]: https://latex.codecogs.com/svg.latex?SO(3) diff --git a/.doxygen.txt b/docs/Doxyfile similarity index 99% rename from .doxygen.txt rename to docs/Doxyfile index 2a1218e0..263bce78 100644 --- a/.doxygen.txt +++ b/docs/Doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = "manif" # for a project that appears at the top of each page and should give viewer a # quick idea about the purpose of the project. Keep the description short. -PROJECT_BRIEF = "A small library for Lie group theory with application to state estimation in robotics." +PROJECT_BRIEF = "C++ API" # The INPUT tag is used to specify the files and/or directories that contain # documented source files. You may enter file names like myfile.cpp or @@ -46,8 +46,7 @@ PROJECT_BRIEF = "A small library for Lie group theory with application # spaces. # Note: If this tag is empty the current directory is searched. -INPUT = include -INPUT += README.md +INPUT = "../include" "./pages/cpp" #--------------------------------------------------------------------------- # Shared @@ -80,7 +79,7 @@ PROJECT_LOGO = # entered, it will be relative to the location where doxygen was started. If # left blank the current directory will be used. -OUTPUT_DIRECTORY = doc +OUTPUT_DIRECTORY = "../docs" # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub- # directories (in 2 levels) under the output directory of each output format and @@ -152,7 +151,7 @@ INLINE_INHERITED_MEMB = NO # shortest path that makes the file name unique will be used # The default value is: YES. -FULL_PATH_NAMES = YES +FULL_PATH_NAMES = NO # The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. # Stripping is only done if one of the specified strings matches the left-hand @@ -302,6 +301,8 @@ EXTENSION_MAPPING = MARKDOWN_SUPPORT = YES +TOC_INCLUDE_HEADINGS = 4 + # When enabled doxygen tries to link words that correspond to documented # classes, or namespaces to their corresponding documentation. Such a link can # be prevented in individual cases by by putting a % sign in front of the word @@ -592,7 +593,7 @@ STRICT_PROTO_MATCHING = NO # documentation. # The default value is: YES. -GENERATE_TODOLIST = YES +GENERATE_TODOLIST = NO # The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the # test list. This list is created by putting \test commands in the @@ -767,7 +768,7 @@ INPUT_ENCODING = UTF-8 # *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, # *.qsf, *.as and *.js. -FILE_PATTERNS = *.c *.cpp *.h *.hpp +FILE_PATTERNS = *.c *.cpp *.h *.hpp *.md # The RECURSIVE tag can be used to specify whether or not subdirectories should # be searched for input files as well. @@ -835,7 +836,7 @@ EXAMPLE_RECURSIVE = NO # that contain images that are to be included in the documentation (see the # \image command). -IMAGE_PATH = +IMAGE_PATH = "./images" # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program @@ -883,7 +884,7 @@ FILTER_SOURCE_PATTERNS = # (index.html). This can be useful if you have a project on for instance GitHub # and want to reuse the introduction page also for the doxygen output. -USE_MDFILE_AS_MAINPAGE = README.md +USE_MDFILE_AS_MAINPAGE = #--------------------------------------------------------------------------- # Configuration options related to source browsing diff --git a/docs/Doxyfile-mcss b/docs/Doxyfile-mcss new file mode 100644 index 00000000..13a0140d --- /dev/null +++ b/docs/Doxyfile-mcss @@ -0,0 +1,12 @@ +@INCLUDE = Doxyfile + +PROJECT_BRIEF = "C++ API" + +USE_MDFILE_AS_MAINPAGE = "pages/cpp/Quick-start.md" + +GENERATE_HTML = NO +GENERATE_XML = YES +XML_PROGRAMLISTING = NO + +XML_OUTPUT = "site/cpp/xml" +HTML_OUTPUT = "site/cpp" diff --git a/docs/Doxyfile-mcss-site b/docs/Doxyfile-mcss-site new file mode 100644 index 00000000..6d3f08de --- /dev/null +++ b/docs/Doxyfile-mcss-site @@ -0,0 +1,10 @@ +@INCLUDE = Doxyfile-site + +PROJECT_BRIEF = "" + +GENERATE_HTML = NO +GENERATE_XML = YES +XML_PROGRAMLISTING = NO + +XML_OUTPUT = "site/xml" +HTML_OUTPUT = "site" diff --git a/docs/Doxyfile-site b/docs/Doxyfile-site new file mode 100644 index 00000000..ef3e8f1c --- /dev/null +++ b/docs/Doxyfile-site @@ -0,0 +1,2281 @@ +# +# CI Hello World +# +# Copyright (C) 2017 Assured Information Security, Inc. +# Author: Rian Quinn +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +#--------------------------------------------------------------------------- +# Custom +#--------------------------------------------------------------------------- + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "manif" + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = "" + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. 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Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 2 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = NO + +# This flag is only useful for Objective-C code. When set to YES local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO these classes will be included in the various overviews. This option has +# no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = YES + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = YES + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = NO + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = NO + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO the members will appear in declaration order. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = YES + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the +# todo list. This list is created by putting \todo commands in the +# documentation. +# The default value is: YES. + +GENERATE_TODOLIST = NO + +# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the +# test list. This list is created by putting \test commands in the +# documentation. +# The default value is: YES. + +GENERATE_TESTLIST = NO + +# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = NO + +# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES the list +# will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. Do not use file names with spaces, bibtex cannot handle them. See +# also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO doxygen will only warn about wrong or incomplete parameter +# documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = YES + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "FIX: $file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = doxygen_warnings.txt + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank the +# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii, +# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, +# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, +# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf, +# *.qsf, *.as and *.js. + +FILE_PATTERNS = *.c *.cpp *.h *.hpp *.md + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = "../example" + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = "../docs/images" + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER ) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = "../README.md" + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES, then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user- +# defined cascading style sheet that is included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefor more robust against future updates. +# Doxygen will copy the style sheet file to the output directory. For an example +# see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the stylesheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to NO can help when comparing the output of multiple runs. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler ( hhc.exe). If non-empty +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated ( +# YES) or that it should be included in the master .chm file ( NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated ( +# YES) or a normal table of contents ( NO) in the .chm file. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using prerendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /