refactor into book subdirectory

.bazelrc

@@ -4,8 +4,8 @@ build --action_env=GRB_LICENSE_FILE
 # Location of the MOSEK license file, typically named "mosek.lic"
 build --action_env=MOSEKLM_LICENSE_FILE
 
-build --coverage_report_generator=//htmlbook/tools/coverage:coverage_report_generator
-build --coverage_support=//htmlbook/tools/coverage:coverage_support
+build --coverage_report_generator=//book/htmlbook/tools/coverage:coverage_report_generator
+build --coverage_support=//book/htmlbook/tools/coverage:coverage_support
 build --enable_platform_specific_config=yes
 
 build --incompatible_disable_target_provider_fields=yes

.editorconfig

@@ -20,4 +20,4 @@ trim_trailing_whitespace = false
 
 [*.py]
 indent_size = 4
-max_line_length = 79
+max_line_length = 88

.gitmodules

@@ -1,7 +1,7 @@
 [submodule "htmlbook"]
-	path = htmlbook
+	path = book/htmlbook
 	url = https://github.com/RussTedrake/htmlbook
 [submodule "data"]
-	path = data
+	path = book/data
 	url = https://github.com/RussTedrake/underactuated-data
 	shallow = True

BUILD.bazel

@@ -4,161 +4,11 @@
 # Copyright 2020 Massachusetts Institute of Technology.
 # Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
 
-load("//htmlbook/tools/html:defs.bzl", "rt_html_test")
-load("//htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
-load("//htmlbook/tools/tidy:def.bzl", "html_tidy_test")
-
 exports_files(
     ["LICENSE.TXT"],
     visibility = ["//visibility:public"],
 )
 
-exports_files(
-    ["setup.cfg"],
-    visibility = ["//:__subpackages__"],
-)
-
-filegroup(
-    name = "html",
-    srcs = glob([
-        "*.html",
-        "*.html.in",
-    ]),
-    visibility = ["//:__subpackages__"],
-)
-
-html_tidy_test(
-    name = "html_tidy",
-    srcs = [":html"],
-    config = ".tidy.config",
-)
-
-rt_html_test(
-    srcs = ["intro.html"],
-)
-
-rt_html_test(
-    srcs = ["pend.html"],
-)
-
-rt_html_test(
-    srcs = ["acrobot.html"],
-)
-
-rt_html_test(
-    srcs = ["simple_legs.html"],
-)
-
-rt_html_test(
-    srcs = ["humanoids.html"],
-)
-
-rt_html_test(
-    srcs = ["stochastic.html"],
-)
-rt_ipynb_test(
-    name = "stochastic",
-    srcs = ["stochastic.ipynb"],
-    deps = ["//underactuated"],
-)
-
-rt_html_test(
-    srcs = ["dp.html"],
-)
-
-rt_html_test(
-    srcs = ["lqr.html"],
-)
-
-rt_html_test(
-    srcs = ["lyapunov.html"],
-)
-
-rt_html_test(
-    srcs = ["trajopt.html"],
-)
-
-rt_html_test(
-    srcs = ["planning.html"],
-)
-
-rt_html_test(
-    srcs = ["feedback_motion_planning.html"],
-)
-
-rt_html_test(
-    srcs = ["policy_search.html"],
-)
-
-rt_html_test(
-    srcs = ["robust.html"],
-)
-
-rt_html_test(
-    srcs = ["output_feedback.html"],
-)
-
-rt_html_test(
-    srcs = ["limit_cycles.html"],
-)
-rt_ipynb_test(
-    name = "limit_cycles",
-    srcs = ["limit_cycles.ipynb"],
-    deps = ["//underactuated"],
-)
-
-rt_html_test(
-    srcs = ["contact.html"],
-)
-
-rt_html_test(
-    srcs = ["sysid.html"],
-)
-
-rt_html_test(
-    srcs = ["state_estimation.html"],
-)
-
-rt_html_test(
-    srcs = ["rl_policy_search.html"],
-)
-
-rt_html_test(
-    srcs = ["drake.html"],
-)
-
-rt_html_test(
-    srcs = ["multibody.html"],
-)
-
-rt_ipynb_test(
-    name = "multibody",
-    srcs = ["multibody.ipynb"],
-)
-
-rt_html_test(
-    srcs = ["optimization.html"],
-)
-rt_ipynb_test(
-    name = "optimization",
-    srcs = ["optimization.ipynb"],
-)
-
-
-rt_html_test(
-    srcs = ["playbook.html"],
-)
-
-rt_html_test(
-    srcs = ["misc.html"],
-)
-
-filegroup(
-    name = "chapters",
-    srcs = ["chapters.json"],
-    visibility = ["//visibility:public"],
-)
-
 # Some methods look for this file to find the root directory.
 filegroup(
     name = "workspace",

WORKSPACE.bazel

@@ -7,7 +7,7 @@
 workspace(name = "underactuated")
 
 load(
-    "//htmlbook/tools:repositories.bzl",
+    "//book/htmlbook/tools:repositories.bzl",
     "rt_dependencies",
     "rt_toolchains",
 )
@@ -27,11 +27,11 @@ pip_install(
     requirements = "//:requirements-bazel.txt",
 )
 
-load("//htmlbook/tools/buildifier:repositories.bzl", "buildifier_dependencies")
+load("//book/htmlbook/tools/buildifier:repositories.bzl", "buildifier_dependencies")
 
 buildifier_dependencies()
 
-load("//htmlbook/tools/tidy:repositories.bzl", "tidy_dependencies")
+load("//book/htmlbook/tools/tidy:repositories.bzl", "tidy_dependencies")
 
 tidy_dependencies()
 

book/BUILD.bazel

@@ -0,0 +1,165 @@
+# -*- mode: python -*-
+# vi: set ft=python :
+
+# Copyright 2020 Massachusetts Institute of Technology.
+# Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
+
+load("//book/htmlbook/tools/html:defs.bzl", "rt_html_test")
+load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
+load("//book/htmlbook/tools/tidy:def.bzl", "html_tidy_test")
+
+filegroup(
+    name = "html",
+    srcs = glob([
+        "*.html",
+        "*.html.in",
+    ]),
+    visibility = ["//:__subpackages__"],
+)
+
+html_tidy_test(
+    name = "html_tidy",
+    srcs = [":html"],
+    config = ".tidy.config",
+)
+
+rt_html_test(
+    srcs = ["intro.html"],
+    data = [
+      "//book/data:double_pendulum_passive.html",
+    ],
+)
+
+rt_html_test(
+    srcs = ["pend.html"],
+)
+
+rt_html_test(
+    srcs = ["acrobot.html"],
+    data = [
+      "//book/data:quadrotor2d_lqr.html",
+    ],
+)
+
+rt_html_test(
+    srcs = ["simple_legs.html"],
+)
+
+rt_html_test(
+    srcs = ["humanoids.html"],
+)
+
+rt_html_test(
+    srcs = ["stochastic.html"],
+)
+rt_ipynb_test(
+    name = "stochastic",
+    srcs = ["stochastic.ipynb"],
+    deps = ["//underactuated"],
+)
+
+rt_html_test(
+    srcs = ["dp.html"],
+    data = [
+      "//book/data:grid_world.html",
+    ],
+)
+
+rt_html_test(
+    srcs = ["lqr.html"],
+)
+
+rt_html_test(
+    srcs = ["lyapunov.html"],
+)
+
+rt_html_test(
+    srcs = ["trajopt.html"],
+)
+
+rt_html_test(
+    srcs = ["planning.html"],
+    data = [
+      "//book/figures:rrt_voronoi.swf",
+    ],
+)
+
+rt_html_test(
+    srcs = ["feedback_motion_planning.html"],
+)
+
+rt_html_test(
+    srcs = ["policy_search.html"],
+    data = [
+      "//book/policy_search:pl_inequality.py",
+    ],
+)
+
+rt_html_test(
+    srcs = ["robust.html"],
+)
+
+rt_html_test(
+    srcs = ["output_feedback.html"],
+)
+
+rt_html_test(
+    srcs = ["limit_cycles.html"],
+)
+rt_ipynb_test(
+    name = "limit_cycles",
+    srcs = ["limit_cycles.ipynb"],
+    deps = ["//underactuated"],
+)
+
+rt_html_test(
+    srcs = ["contact.html"],
+)
+
+rt_html_test(
+    srcs = ["sysid.html"],
+)
+
+rt_html_test(
+    srcs = ["state_estimation.html"],
+)
+
+rt_html_test(
+    srcs = ["rl_policy_search.html"],
+)
+
+rt_html_test(
+    srcs = ["drake.html"],
+)
+
+rt_html_test(
+    srcs = ["multibody.html"],
+)
+
+rt_ipynb_test(
+    name = "multibody",
+    srcs = ["multibody.ipynb"],
+)
+
+rt_html_test(
+    srcs = ["optimization.html"],
+)
+rt_ipynb_test(
+    name = "optimization",
+    srcs = ["optimization.ipynb"],
+)
+
+
+rt_html_test(
+    srcs = ["playbook.html"],
+)
+
+rt_html_test(
+    srcs = ["misc.html"],
+)
+
+filegroup(
+    name = "chapters",
+    srcs = ["chapters.json"],
+    visibility = ["//visibility:public"],
+)

acrobot/BUILD.bazel → book/acrobot/BUILD.bazel

@@ -4,7 +4,7 @@
 # Copyright 2020-2022 Massachusetts Institute of Technology.
 # Licensed under the BSD 3-Clause License. See LICENSE.TXT for details.
 
-load("//htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
+load("//book/htmlbook/tools/jupyter:defs.bzl", "rt_ipynb_test")
 
 rt_ipynb_test(
     name = "acrobot",