diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index cab410a95c8..95c720cecc7 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -5,16 +5,16 @@ on: pull_request: schedule: # * is a special character in YAML so you have to quote this string - # Execute a "nightly" build at 2 AM UTC + # Execute a "nightly" build at 2 AM UTC - cron: '0 2 * * *' env: YCM_TAG: v0.12.0 YARP_TAG: v3.4.1 ICUB_TAG: v1.17.0 - + jobs: - build-with-conda-dependencies: + build-with-conda-dependencies: name: '[conda:${{ matrix.os }}]' runs-on: ${{ matrix.os }} strategy: @@ -33,25 +33,25 @@ jobs: channels: conda-forge,robotology - name: Install files to enable compilation of mex files [Conda/Linux] - if: contains(matrix.os, 'ubuntu') + if: contains(matrix.os, 'ubuntu') run: | curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip unzip msdk_R2020b_mexa64.zip rm msdk_R2020b_mexa64.zip echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV - + - name: Install files to enable compilation of mex files [Conda/macOS] - if: contains(matrix.os, 'macos') + if: contains(matrix.os, 'macos') run: | curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip unzip msdk_R2020a_mexmaci64.zip rm msdk_R2020a_mexmaci64.zip echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV - + - name: Install files to enable compilation of mex files [Conda/Windows] - if: contains(matrix.os, 'windows') + if: contains(matrix.os, 'windows') shell: bash run: | curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip @@ -65,21 +65,21 @@ jobs: run: | # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 conda config --remove channels defaults - # Compilation related dependencies + # Compilation related dependencies mamba install cmake compilers make ninja pkg-config # Actual dependencies - mamba install eigen libxml2 assimp ipopt qt irrlicht + mamba install eigen libxml2 assimp ipopt qt irrlicht swig pybind11 python numpy # robotology dependencies mamba install yarp icub-main osqp-eigen # Additional dependencies useful only on Linux - name: Dependencies [Conda/Linux] - if: contains(matrix.os, 'ubuntu') + if: contains(matrix.os, 'ubuntu') shell: bash -l {0} run: | # Additional dependencies only useful on Linux # See https://github.com/robotology/robotology-superbuild/issues/477 - mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 + mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 - name: Configure [Conda/Linux&macOS] if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') @@ -87,7 +87,7 @@ jobs: run: | mkdir build cd build - cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON .. + cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_USES_PYTHON_PYBIND11:BOOL=ON .. - name: Configure [Conda/Windows] if: contains(matrix.os, 'windows') @@ -95,7 +95,7 @@ jobs: run: | mkdir build cd build - cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON .. + cmake -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_QT5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_USES_PYTHON_PYBIND11:BOOL=ON .. - name: Build [Conda] shell: bash -l {0} @@ -110,19 +110,29 @@ jobs: cd build ldd ./lib/iDynTreeMEX.mexa64 - - name: Test [Conda] + - name: Test [Conda/Linux&macOS] + if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') shell: bash -l {0} run: | cd build # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 - ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . - + ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . + + - name: Test [Conda/Windows] + if: contains(matrix.os, 'windows') + shell: bash -l {0} + run: | + cd build + # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 + # Python tests excluded as a workaround for https://github.com/robotology/idyntree/issues/939 + ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab|Python|pybind" . + - name: Install [Conda] shell: bash -l {0} run: | cd build cmake --install . --config ${{ matrix.build_type }} - + - name: Test standalone installation of MATLAB bindings [Conda/Linux&macOS] if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') shell: bash -l {0} @@ -159,25 +169,25 @@ jobs: - name: Install files to enable compilation of mex files [Linux] - if: contains(matrix.os, 'ubuntu') + if: contains(matrix.os, 'ubuntu') run: | curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip unzip msdk_R2020b_mexa64.zip rm msdk_R2020b_mexa64.zip echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV - + - name: Install files to enable compilation of mex files [macOS] - if: contains(matrix.os, 'macos') + if: contains(matrix.os, 'macos') run: | curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip unzip msdk_R2020a_mexmaci64.zip rm msdk_R2020a_mexmaci64.zip echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV - + - name: Install files to enable compilation of mex files [Windows] - if: contains(matrix.os, 'windows') + if: contains(matrix.os, 'windows') shell: bash run: | curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip @@ -190,23 +200,23 @@ jobs: - name: Environment Variables shell: bash run: env - - # Remove apt repos that are known to break from time to time - # See https://github.com/actions/virtual-environments/issues/323 + + # Remove apt repos that are known to break from time to time + # See https://github.com/actions/virtual-environments/issues/323 - name: Remove broken apt repos [Ubuntu] if: contains(matrix.os, 'ubuntu') run: | for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done - + # ============ # DEPENDENCIES # ============ - + - name: Dependencies [macOS] if: matrix.os == 'macOS-latest' run: | brew install ace assimp boost eigen ipopt irrlicht swig qt5 - + - name: Dependencies [Ubuntu] if: contains(matrix.os, 'ubuntu') run: | @@ -215,9 +225,9 @@ jobs: git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev swig \ qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \ libxml2-dev liboctave-dev python-dev python3-numpy valgrind libassimp-dev libirrlicht-dev - - - - name: Source-based Dependencies [Ubuntu/macOS] + + + - name: Source-based Dependencies [Ubuntu/macOS] if: steps.cache-source-deps.outputs.cache-hit != 'true' && (contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest') shell: bash run: | @@ -227,28 +237,28 @@ jobs: mkdir -p build cd build cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. - cmake --build . --config ${{ matrix.build_type }} --target install + cmake --build . --config ${{ matrix.build_type }} --target install # YARP git clone -b ${YARP_TAG} https://github.com/robotology/yarp cd yarp mkdir -p build cd build cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. - cmake --build . --config ${{ matrix.build_type }} --target install + cmake --build . --config ${{ matrix.build_type }} --target install # ICUB git clone -b ${ICUB_TAG} https://github.com/robotology/icub-main cd icub-main mkdir -p build cd build cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. - cmake --build . --config ${{ matrix.build_type }} --target install - - + cmake --build . --config ${{ matrix.build_type }} --target install + + - name: Dependencies (workaround for portaudio YCM problem) [macOS] if: matrix.os == 'macOS-latest' run: | brew install octave - + # =================== # CMAKE-BASED PROJECT # =================== @@ -264,7 +274,7 @@ jobs: -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON \ -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_OCTAVE:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. - - name: Enable additional Ubuntu options (Valgrind, Python) [Ubuntu] + - name: Enable additional Ubuntu options (Valgrind, Python) [Ubuntu] if: contains(matrix.os, 'ubuntu') run: | cd build @@ -274,32 +284,32 @@ jobs: # As a workaround, we test against the regular blas instead of openblas sudo apt-get install libblas-dev libatlas-base-dev sudo apt-get remove libopenblas-base - + - name: Build shell: bash run: | cd build - # Attempt of fix for using YARP idl generators (that link ACE) in Windows + # Attempt of fix for using YARP idl generators (that link ACE) in Windows # See https://github.com/robotology/idyntree/issues/569 export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/debug/bin cmake --build . --config ${{ matrix.build_type }} - - + + - name: Test shell: bash run: | cd build # Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808 - ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . + ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" . + - - name: Install [Ubuntu/macOS] if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest' shell: bash run: | cd build cmake --build . --config ${{ matrix.build_type }} --target install - + - name: Compile Examples [Ubuntu/macOS] if: contains(matrix.os, 'ubuntu') || matrix.os == 'macOS-latest' shell: bash @@ -307,10 +317,10 @@ jobs: cd examples mkdir -p build cd build - cmake -DCMAKE_PREFIX_PATH="${GITHUB_WORKSPACE}/install/deps;${GITHUB_WORKSPACE}/install" .. + cmake -DCMAKE_PREFIX_PATH="${GITHUB_WORKSPACE}/install/deps;${GITHUB_WORKSPACE}/install" .. cmake --build . --config ${{ matrix.build_type }} - + - name: Check build if some dependencies are not enabled [Ubuntu] if: contains(matrix.os, 'ubuntu') shell: bash @@ -321,6 +331,6 @@ jobs: # Deselect missing dependency and build cmake -DIDYNTREE_USES_${missing_dep}:BOOL=OFF . cmake --build . --config ${{ matrix.build_type }} - # Enable again dependency + # Enable again dependency cmake -DIDYNTREE_USES_${missing_dep}:BOOL=ON . done diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml new file mode 100644 index 00000000000..3ac5adcb3a7 --- /dev/null +++ b/.github/workflows/gh-pages.yml @@ -0,0 +1,74 @@ +name: gh-pages +on: + push: + branches: + - '*' + - '!gh-pages' + +jobs: + build: + runs-on: ubuntu-20.04 + steps: + - uses: actions/checkout@master + + - uses: conda-incubator/setup-miniconda@v2 + with: + mamba-version: "*" + channels: conda-forge + channel-priority: true + + - name: Dependencies [apt] + shell: bash -l {0} + run: | + # The following dependencies are not available in conda + # See: https://github.com/conda-forge/texlive-core-feedstock/issues/19 + sudo apt update + sudo apt install -y xsltproc texlive ghostscript graphviz texlive-base texlive-latex-extra texlive-fonts-extra texlive-fonts-recommended flex bison + + - name: Dependencies + shell: bash -l {0} + run: | + # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186 + conda config --remove channels defaults + + # Dependencies + mamba install doxygen toml pygments docutils jinja2 + + - name: Fetch m.css + shell: bash -l {0} + run: | + # Use an unofficial version of m.css because of https://github.com/mosra/m.css/pull/189 + cd ${GITHUB_WORKSPACE} + git clone https://github.com/crisluengo/m.css.git + cd m.css + git checkout fix-class-parsed-as-function + + - name: Build docs + shell: bash -l {0} + run: | + cd docs + git clone https://github.com/robotology/idyntree.git + python3 ./generate_website.py --mcss_path ${GITHUB_WORKSPACE}/m.css/documentation/doxygen.py + + - name: Archive artifacts + uses: actions/upload-artifact@v2 + with: + name: site + path: docs/site + + deploy: + runs-on: ubuntu-20.04 + needs: [build] + if: github.ref == 'refs/heads/master' + steps: + - name: Download artifacts + uses: actions/download-artifact@v2 + with: + name: site + path: 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/.github/workflows/ghpages.yml b/.github/workflows/ghpages.yml deleted file mode 100644 index 687710e73ca..00000000000 --- a/.github/workflows/ghpages.yml +++ /dev/null @@ -1,45 +0,0 @@ -name: CI - -on: [push] - -jobs: - build: - - runs-on: ubuntu-latest - - steps: - - uses: actions/checkout@v1 - - - name: Print GitHub context - env: - GITHUB_EVENT: ${{ github.event_name }} - GITHUB_REF: ${{ github.ref }} - run: | - echo $GITHUB_EVENT $GITHUB_REF - - - name: Generate Doxygen Website - if: github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/devel') - run: | - cd ${GITHUB_WORKSPACE} - mkdir deploy - sudo apt-get install build-essential doxygen graphviz - cd ${GITHUB_WORKSPACE} - git clone https://github.com/robotology/idyntree - cd idyntree - mkdir build - cd build - cmake -DIDYNTREE_ONLY_DOCS:BOOL=ON .. - make dox - cp -r ./doc/html ${GITHUB_WORKSPACE}/deploy/master - git checkout devel - cmake -DIDYNTREE_ONLY_DOCS:BOOL=ON .. - make dox - cp -r ./doc/html ${GITHUB_WORKSPACE}/deploy/devel - - - name: Deploy - if: github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/devel') - uses: JamesIves/github-pages-deploy-action@4.1.1 - with: - branch: gh-pages - folder: deploy - token: ${{ secrets.ACCESS_TOKEN }} diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml index 9db49bd018b..fd887060640 100644 --- a/.github/workflows/matlab.yml +++ b/.github/workflows/matlab.yml @@ -57,7 +57,7 @@ jobs: run: | # Additional dependencies only useful on Linux # See https://github.com/robotology/robotology-superbuild/issues/477 - mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 + mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 - name: Configure if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu') diff --git a/CHANGELOG.md b/CHANGELOG.md index 9d05c5bde5c..67e43070b52 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ## [Unreleased Major] +## [4.3.0] - 2021-11-22 + ### Added - Added the possibility to draw in different portions of the visualizer window and textures at the same time. Allow disabling the drawing on textures (https://github.com/robotology/idyntree/pull/903). - Implement iDynTree base type `type_caster` for pybind11 bindings. In other word, `VectorDynSize`,`VectorFixSize`, `MatrixDynSize` and `MatrixFixSize` are now automatically converted in `NumPy` objects (https://github.com/robotology/idyntree/pull/931). @@ -14,9 +16,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 - The `iDynTree::Visualizer::enviroment()` was deprecated. Please use the `iDynTree::Visualizer::environment()` method instead (https://github.com/robotology/idyntree/pull/903). - The `iDynTree::idyntree-modelio-urdf` CMake imported target used when using classes such as `iDynTree::ModelLoader` and `iDynTree::ModelExporter` was deprecated. Please use the `iDynTree::idyntree-modelio` imported target instead. +### Removed +- The tools that depend on YARP (`urdf2dh`, `yarprobotstatepublisher`, `idyntree-sole-gui`, `iDynTreePlotter`) have been moved in [`idyntree-yarp-tools`](https://github.com/robotology/idyntree-yarp-tools) and their have been removed from iDynTree, together with the the option `IDYNTREE_COMPILES_YARP_TOOLS` that was been introduced to disable their compilation in iDynTree 3 (https://github.com/robotology/idyntree/pull/940). + ### Fixed - Fixed the conversion from irrlicht pixels to iDynTree pixels. Fixed a typo in the environment method of the visualizer. Fixed the running of two visualizer instances in the same process (https://github.com/robotology/idyntree/pull/903). - Fixed the update of the vectors in the visualization that caused the FPS to drop (https://github.com/robotology/idyntree/pull/921). +- Fixed compatibility with pybind11 >= 2.6.0 (https://github.com/robotology/idyntree/issues/867, https://github.com/robotology/idyntree/pull/937). ## [Unreleased] @@ -24,6 +30,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 - Added support for exporting joint position limits to URDF for 1-DoF joints (prismatic and revolute). - Added pybind11 python bindings for adding and reading joint limits. +- Added the `ModelTransformsSolidShapes.h` header in the `iDynTree::idyntree-solid-shapes` library. + At the moment, this header contains just the `iDynTree::approximateSolidShapesWithPrimitiveShape` + function, useful to approximate the solid shapes of a given iDynTree::Model to a series of bounding boxes (https://github.com/robotology/idyntree/pull/941). +- Added `idyntree-model-simplify-shapes` command line tool. This tool is useful to take in input a model, and + return in output the same model, but with all the geometries of the model approximated with their axis aligned + bounding boxes (https://github.com/robotology/idyntree/issues/933, https://github.com/robotology/idyntree/pull/941). ### Fixed - In the URDF exporter, export only frames attached to the exported traversal [#914](https://github.com/robotology/idyntree/pull/914). diff --git a/README.md b/README.md index 7d9670390fa..2460ab64f87 100644 --- a/README.md +++ b/README.md @@ -1,208 +1,128 @@ iDynTree [![License: LGPL v3](https://img.shields.io/badge/License-LGPL%20v3-blue.svg)](https://www.gnu.org/licenses/lgpl-3.0) [![License: LGPL v2](https://img.shields.io/badge/License-LGPL%20v2-blue.svg)](https://www.gnu.org/licenses/lgpl-2.1) [![ZenHub](https://img.shields.io/badge/Shipping_faster_with-ZenHub-435198.svg)](https://zenhub.com) =========== -iDynTree is a library of robots dynamics algorithms for control, estimation and simulation. +iDynTree is a library of robots dynamics algorithms for control, estimation and simulation. It is specifically designed for free-floating robots, but it is possible to use it also with fixed-base robots. -iDynTree is specifically designed for free-floating robots, but it is possible to use it also with fixed-base robots. +The **major characteristic features** of iDynTree are: +* It is written in **C++**, with **Python** and **MATLAB** bindings. +* It uses an **undirected graph data structure** (`iDynTree::Model`) that is used to represent robots, to easily change the **base link** that you are using for your kinematics and dynamics computations without the need to reload your model or change your joint or link serializations. This is done as iDynTree was developed for floating-base robots such as humanoids, in which the most convenient choice of **base link** can change. +* It contains support for **reading and writing URDF files** from a `iDynTree::Model`, making it useful to write tools that modify robot models and saves them back to file. This is done as iDynTree was meant to develop **tools for identification of kinematics and dynamics parameters**. +* It defaults to use the **mixed representation** to represent link quantities (including the velocity and acceleration of the base link), but it can optionally use also **body (left-trivialized)** or **inertial (right-trivialized)** representation if requested. This is done because iDynTree was developed to satisfy the needs of **research in synthesis of floating-base whole-body controllers**. If you are not familiar with the different representation for 6D quantities, check [Section 6 of "Multibody dynamics notation (version 2)"]( +https://pure.tue.nl/ws/portalfiles/portal/139293126/A_Multibody_Dynamics_Notation_Revision_2_.pdf). +* It contains an implementation of the algorithm used in the iCub humanoid robot to **estimate the joint torques without the need of collocated joint torque sensors**, exploting the specific **undirected graph data structure** . This is done as this was one of the originally goal for the implementation of iDynTree. See the class [`iDynTree::ExtWrenchesAndJointTorquesEstimator`](https://github.com/robotology/idyntree/blob/master/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h) and [Chapter 6 of "Modelling, Estimation and Identification of Humanoid Robots Dynamics"](https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf). + +To avoid confusion, it is also useful to clarify what **iDynTree is not**: +* It is not the **fastest C++ library** for kinematics and dynamics multibody computations for robotics. It is not slow, but if have an application in which you need the absolute fastest library, check out [Pinocchio](https://github.com/stack-of-tasks/pinocchio). +* It is not a **multibody simulator** library. It provides the building blocks that you could use to build a multibody simulator, but it is not a multibody simulator per se. If you need a simulator library in C++, check out [DART](https://dartsim.github.io/), [Simbody](https://github.com/simbody/simbody), [Drake](https://drake.mit.edu/), [MuJoCo](https://mujoco.org/) or the abstraction layer [`ignition-physics`](https://github.com/ignitionrobotics/ign-physics). If you need a simulator implemented in MATLAB/Simulink (built on iDynTree), check [`matlab-whole-body-simulator`](https://github.com/ami-iit/matlab-whole-body-simulator). -iDynTree is written in C++ language, but thanks to [SWIG](http://www.swig.org/) it is possible to use the iDynTree algorithms in several other languages. Support and documentation is provided in particular for C++, Matlab, Python and Lua. If you are interested in using iDynTree with another programming language, feel free to [create a new issue](https://github.com/robotology/idyntree/issues/new) requesting support for it. ## Contents * **[Installation](#installation)** -* **[Tutorials](#tutorials)** -* **[Documentation](#documentation)** +* **[Library Usage](#library-usage)** +* **[Tools Usage](#tools-usage)** +* **[Reference Documentation](#reference-documentation)** * **[Announcements](#announcements)** * **[Developer Documentation](#developer-documentation)** * **[Reference Paper](#reference-paper)** * **[Acknowledgments](#acknowledgments)** ## Installation -iDynTree is mainly developed and mantained by the [iCub Tech facility](https://www.iit.it/research/facilities/icub-tech) and [Dynamic Interaction Control research line](https://www.iit.it/research/lines/dynamic-interaction-control) at the [Italian Institute of Technology](https://www.iit.it/), as part of the [iCub project](http://www.icub.org/) . - -For this reason it is usually installed through the [robotology-superbuild](https://github.com/robotology/robotology-superbuild), an easy way to download, compile and install the robotology software on multiple operating systems, using the [CMake](www.cmake.org) build system and its extension [YCM](http://robotology.github.io/ycm). To get iDynTree when using the `robotology-superbuild`, please enable the `ROBOTOLOGY_ENABLE_DYNAMICS` CMake option of the superbuild. - -If you are not interested in installing all the robotology software it is still possible to install iDynTree without installing the rest of the robotology software, and please read the rest of the Readme for more info on this. - -### Dependencies -iDynTree requires few external libraries. At the first configuration, the build system of iDynTree enables the use of the dependencies that it finds in the system, -but you can manually make sure that iDynTree searches or ignores a given dependency by enabling or disabling the `IDYNTREE_USES_` CMake options. - -##### Build dependencies -- [CMake](http://www.cmake.org) - -##### Required -- [Eigen](http://eigen.tuxfamily.org) -- [Libxml2](http://xmlsoft.org/) - -##### Optional -- [Assimp](http://www.assimp.org/) -- [IPOPT](https://projects.coin-or.org/Ipopt) -- [Qt5](https://www.qt.io/) -- [YARP](https://github.com/robotology/yarp) -- [ICUB](https://github.com/robotology/icub-main) -- [irrlicht](http://irrlicht.sourceforge.net/) -##### Optional for the optimal control part -- [ALGLIB](https://github.com/S-Dafarra/alglib-cmake) -- [osqp-eigen](https://github.com/robotology/osqp-eigen) -- [WORHP](https://worhp.de/) +### conda (recommended) -#### Install dependencies - -If you need to install also `YARP` and `ICUB`, it is recommended that you install iDynTree via the [`robotology-superbuild`](https://github.com/robotology/robotology-superbuild). If instead you are not interested in the `YARP` and `ICUB` integration, you can easily install the rest of the dependencies using -standard package managers. - -##### Windows - -On Windows we recommend to use [`vcpkg`](https://github.com/Microsoft/vcpkg) C++ package manager to install iDynTree dependencies. - -###### vcpkg -If you use [`vcpkg`](https://github.com/Microsoft/vcpkg), you can install all the required and optional dependencies of iDynTree using the following command: +You can easily install the C++ and Python library with via [`conda-forge`](https://conda-forge.org) using the following command ~~~ - ./vcpkg install --triplet x64-windows assimp eigen3 qt5 libxml2 irrlicht +conda install -c conda-forge idyntree ~~~ -The default way to use the libraries provided by vcpkg in CMake is to use the [vcpkg CMake toolchain](https://github.com/Microsoft/vcpkg/blob/master/docs/users/integration.md#cmake-toolchain-file-recommended-for-open-source-cmake-projects). - -If you want also to install the `ipopt` library, we recommend to use the port `ipopt-binary` available at https://github.com/robotology/robotology-vcpkg-ports . -##### macOS -You can install most of the required and optional dependencies of iDynTree using [homebrew](https://brew.sh/) with the following command: +If you need to install also the MATLAB bindings, you can install them with: ~~~ -brew install assimp eigen qt5 ipopt +conda install -c conda-forge -c robotology idyntree-matlab-bindings ~~~ -#### Debian/Ubuntu -You can install most of the required and optional dependencies of iDynTree using the following command: -~~~ -sudo apt-get install libeigen3-dev libxml2-dev coinor-libipopt-dev qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev qml-module-qtquick2 qml-module-qtquick-window2 qml-module-qtmultimedia qml-module-qtquick-dialogs qml-module-qtquick-controls qml-module-qt-labs-folderlistmodel qml-module-qt-labs-settings -~~~ - -### Build -Once you installed the necessary dependencies, the iDynTree library can be compiled as any CMake based project. In the following instructions, we indicate with `` where -you should add the platform specific options, as the use of `-DCMAKE_TOOLCHAIN_FILE=[path to vcpkg]/scripts/buildsystems/vcpkg.cmake` if you are using [vcpkg](https://github.com/Microsoft/vcpkg). - -With `make` facilities: -```bash -$ git clone https://github.com/robotology/idyntree -$ cd idyntree -$ mkdir build && cd build -$ cmake .. -$ make -$ [sudo] make install -``` +If you are not familiar with conda or conda-forge, you can read an introduction document in [conda-forge overview](https://github.com/robotology/robotology-superbuild/blob/master/doc/conda-forge.md#conda-forge-overview). -With IDE build tool facilities, such as Visual Studio or Xcode -```bash -$ git clone https://github.com/robotology/idyntree -$ cd idyntree -$ mkdir build && cd build -$ cmake .. -$ cmake --build . --target ALL_BUILD --config Release -$ cmake --build . --target INSTALL --config Release -``` +### robotology-superbuild (advanced) +If you are installing iDynTree for use as part of [iCub humanoid robot software installation](https://icub-tech-iit.github.io/documentation/sw_installation/), you may want to install iDynTree through the [robotology-superbuild](https://github.com/robotology/robotology-superbuild), an easy way to download, compile and install the robotology software on multiple operating systems, using the [CMake](www.cmake.org) build system and its extension [YCM](http://robotology.github.io/ycm). To get iDynTree when using the `robotology-superbuild`, please enable the `ROBOTOLOGY_ENABLE_DYNAMICS` CMake option of the superbuild. If you want to install also iDynTree Python or MATLAB bindings, remember to enable the `ROBOTOLOGY_USES_PYTHON` or `ROBOTOLOGY_USES_MATLAB` options. -If you need more help on how to build CMake-based projects, please check [CGold's First step](https://cgold.readthedocs.io/en/latest/first-step.html) section. +### Build from source (advanced) -In the rest of the documentation, `` will indicate the installation prefix in which you installed iDynTree, i.e. the value that you passed as [`CMAKE_INSTALL_PREFIX`](https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html) during the CMake configuration. +If you want to build iDynTree directly from source, you can check the documentation in [`doc/build-from-source.md`](doc/build-from-source.md). +## Library Usage -### Link -Once the library is installed, you can link it using `CMake` with as little effort as writing the following line of code in your project's `CMakeLists.txt`: +### Usage in C++ +Once the library is installed, you can link it in C++ programs using `CMake` with as little effort as writing the following line of code in your project's `CMakeLists.txt`: ```cmake -... find_package(iDynTree REQUIRED) -... -target_link_libraries( PRIVATE ${iDynTree_LIBRARIES}) -... +target_link_libraries( PRIVATE iDynTree::idyntree-high-level iDynTree::idyntree-estimation) ``` -Note that unless you did not use the default value of `CMAKE_INSTALL_PREFIX`, the `` in which you installed iDynTree will need to be appended to the `CMAKE_PREFIX_PATH` enviromental -variable to ensure that `find_package` can find your iDynTree installation. - See [CMake's reference documentation](https://cmake.org/cmake/help/latest/) if you need more info on the [`find_package`](https://cmake.org/cmake/help/latest/command/find_package.html) or [`target_link_libraries`](https://cmake.org/cmake/help/latest/command/target_link_libraries.html) CMake commands. -### Bindings -To compile bindings to iDynTree in several scriping languages, you should enable them using the `IDYNTREE_USES_PYTHON`, `IDYNTREE_USES_LUA`, `IDYNTREE_USES_MATLAB`, `IDYNTREE_USES_OCTAVE` CMake options. - -Then, properly accessing bindings to iDynTree can require some additional steps. - -#### Python -You should add to the `PYTHONPATH` enviromental variable the install path of the `iDynTree.py` file. +### Usage in MATLAB +To make sure that iDynTree is available in MATLAB, try to run some simple code that uses it: ~~~ -export PYTHONPATH=$PYTHONPATH:/lib/python../dist-packages/ +p = iDynTree.Position() ~~~ -#### Python (pybind11) -To compile the python bindings based on [pybind11](https://github.com/pybind/pybind11) set to `TRUE` the `IDYNTREE_USES_PYTHON_PYBIND11` option. - -**NOTE**: the generated bindings are not compatible with the bindings generated by SWIG. Do not expect your Python code to use either of the two without modifications. +If this is not working, make sure that you are launching `matlab` after having activated the conda environment (if you installed iDynTree via conda) or after having sourced por executed the correct setup script (if you installed iDynTree via the robotology-superbuild). -##### Use -Modify your `PYTHONPATH` environment variable to point to the bindings installation directory: +### Tutorials -```sh -export PYTHONPATH=${PYTHONPATH}:/ -``` +These tutorials describe how to use specific parts of iDynTree. Are you interested in a tutorial on a specific feature or algorithm that you can't find in this list? Just [request it on an enhancement issue](https://github.com/robotology/idyntree/issues/new). -where `` corresponds to the value specified in `CMAKE_INSTALL_PREFIX` and `` is the Python installation prefix, as returned by -```python -disutils.sysconfig.get_python_lib(1,0,prefix='') -``` +| Topic | Location | Language | +|:------:|:--------:|:---------:| +| Basic usage of the [KinDynComputations class](https://robotology.github.io/idyntree/master/classiDynTree_1_1KinDynComputations.html) together with the [[Eigen](http://eigen.tuxfamily.org) C++ Matrix library to compute kinematics and dynamics quantities such as forward kinematics, inverse dynamics, mass matrix. | [examples/cxx/KinDynComputationsWithEigen/main.cpp](examples/cxx/KinDynComputationsWithEigen/main.cpp) | C++ | +| How to use the [InverseKinematics class](https://robotology.github.io/docs/idyntree/master/classiDynTree_1_1InverseKinematics.html) for the IK of an industrial fixed-base manipulator. | [examples/cxx/InverseKinematics/README.md](examples/cxx/InverseKinematics/README.md) | C++ | +| Use of the [ExtWrenchesAndJointTorquesEstimator class](https://robotology.github.io/idyntree/master/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.html) for computing offset for FT sensors | [examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m](examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m) | MATLAB | +| How to get the axis of a revolute joint expressed in a arbitary frame using the [KinDynComputations class](https://robotology.github.io/idyntree/master/classiDynTree_1_1KinDynComputations.html) | [examples/matlab/SensorsListParsing/SensorsListParsing.m](examples/matlab/SensorsListParsing/SensorsListParsing.m) | MATLAB | +| How to read the Six Axis Force Torque sensors information contained in a URDF model. | [examples/matlab/GetJointAxesInWorldFrame.m](examples/matlab/GetJointAxesInWorldFrame.m) | MATLAB | +| Usage of the MATLAB-native visualizer using the [MATLAB high-level wrappers](bindings/matlab/+iDynTreeWrappers/README.md). | [examples/matlab/iDynTreeWrappers/visualizeRobot.m](examples/matlab/iDynTreeWrappers/visualizeRobot.m) | MATLAB | +| Basic usage of the [KinDynComputations class](https://robotology.github.io/idyntree/master/classiDynTree_1_1KinDynComputations.html). | [examples/python/KinDynComputationsTutorial.py](examples/python/KinDynComputationsTutorial.py) | Python | +| Basic usage of the [MeshcatVisualizer class](bindings/python/visualize/meshcat_visualizer.py). | [examples/python/MeshcatVisualizerExample.ipynb](examples/python/MeshcatVisualizerExample.ipynb) | Python | -for example: `lib/python3.8/site-packages`. +## Tools Usage -Finally to use the bindings in your Python code, simply import the package: +iDynTree also includes some command line tools to use some of the functionality of the library without writing any line of code. The available command line tools are listed in the following, and each tool also includes an online help that is tipically available by passing the `-h` flag. -```python -import idyntree.pybind as iDynTree +### `idyntree-model-info` -``` +Tool that reads a model from a file, and print some useful information as specified via the command line. -#### MATLAB -You should add to Matlab path the `/mex` directory. -You can modify the relative location for Matlab bindings files in the installation prefix using the `IDYNTREE_INSTALL_MATLAB_LIBDIR` and `IDYNTREE_INSTALL_MATLAB_MFILESDIR` CMake options. +Example: Print the total mass of a given model +~~~ +idyntree-model-info -m --total-mass +~~~ -#### Octave -You should add to Octave path the `/octave` directory. -You can modify the relative location for Matlab bindings files in the installation prefix using the`IDYNTREE_INSTALL_OCTAVE_LIBDIR` and `IDYNTREE_INSTALL_OCTAVE_MFILESDIR` CMake options. +### `idyntree-model-view` +Tool that reads a model from a file and visualize it using the `idyntree-visualizer` library -##### MATLAB/Octave bindings modifications -All the other bindings (Python,Lua, ...) are generated by SWIG and compiled on the fly by the user, -by enabling the `IDYNTREE_USES_` option. The Matlab and Octave bindings are an exception because they -rely on an experimental version of Swig, developed for providing Matlab bindings for the [casadi](https://github.com/casadi/casadi/wiki) project. For this reason, usually the Matlab bindigs -are not generated by the users, but by iDynTree developers that have a special experimental Swig -version installed. The bindings code is then committed to the repository, and the `IDYNTREE_USES_MATLAB` -option simply enables *compilation* of the bindings. If you want to regenerate the Matlab bindings, -for example because you modified some iDynTree classes, you can install the experimental -version of Swig with Matlab support from https://github.com/robotology-dependencies/swig/ (branch `matlab`) and then enable Matlab bindings generation with the `IDYNTREE_GENERATE_MATLAB` options. -For more info on how to modify the matlab bindings, see https://github.com/robotology/idyntree/blob/master/doc/dev/faqs.md#how-to-add-wrap-a-new-class-or-function-with-swig . +Example: Visualize a given model +~~~ +idyntree-model-view -m +~~~ -##### MATLAB/Octave high level wrappers -They are a collection of Matlab/Octave functions that wraps the functionalities of (mainly) the iDyntree class `KinDynComputations` into functions with a typical Matlab/Octave interface. The purpose of the high-level wrappers is to provide a simpler and easy-to-use interface for Matlab/Octave users who want to use iDyntree inside Matlab/Octave, also helping in designing code which is less error-prone and easier to debug (e.g. in case the interface of an iDyntree function will change in the future). More details and a complete list of the wrappers can be found in the [wrappers README](/bindings/matlab/+iDynTreeWrappers/README.md). +### `idyntree-model-simplify-shapes` -**Usage**: the wrappers package is installed together with the iDyntree bindings when compiling iDyntree with option `IDYNTREE_USES_MATLAB` or `IDYNTREE_USES_OCTAVE` set to `ON`. The functions can be called from Matlab/Octave using the namespace `iDynTreeWrappers`, i.e. `iDynTreeWrappers.name_of_the_corresponding_iDynTree_method`. +Tool that reads a model from a file, and returns in output the same model, but with all +solid shapes of the model (both collision and visual) substituted with a primitive shape +that approximates in some way the original solid shape. At the moment, the only conversion +type provided is to approximate each solid shape of the model with its axis aligned bounding box. -## Tutorials -| Topic | Location | Language | -|:------:|:--------:|:---------:| -| Basic usage of the [KinDynComputations class](https://robotology.github.io/idyntree/master/classiDynTree_1_1KinDynComputations.html) together with the [[Eigen](http://eigen.tuxfamily.org) C++ Matrix library. | [examples/cxx/KinDynComputationsWithEigen/main.cpp](examples/cxx/KinDynComputationsWithEigen/main.cpp) | C++ | -| How to use the [InverseKinematics class](https://robotology.github.io/docs/idyntree/master/classiDynTree_1_1InverseKinematics.html) for the IK of an industrial fixed-base manipulator. | [examples/cxx/InverseKinematics/README.md](examples/cxx/InverseKinematics/README.md) | C++ | -| Use of the [ExtWrenchesAndJointTorquesEstimator class](https://robotology.github.io/idyntree/master/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.html) for computing offset for FT sensors | [examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m](examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m) | MATLAB | -| How to get the axis of a revolute joint expressed in a arbitary frame using the [KinDynComputations class](https://robotology.github.io/idyntree/master/classiDynTree_1_1KinDynComputations.html) | [examples/matlab/SensorsListParsing/SensorsListParsing.m](examples/matlab/SensorsListParsing/SensorsListParsing.m) | MATLAB | -| How to read the Six Axis Force Torque sensors information contained in a URDF model. | [examples/matlab/GetJointAxesInWorldFrame.m](examples/matlab/GetJointAxesInWorldFrame.m) | MATLAB | -| Usage of the MATLAB-native visualizer using the [MATLAB high-level wrappers](bindings/matlab/+iDynTreeWrappers/README.md). | [examples/matlab/iDynTreeWrappers/visualizeRobot.m](examples/matlab/iDynTreeWrappers/visualizeRobot.m) | MATLAB | -| Basic usage of the [KinDynComputations class](https://robotology.github.io/idyntree/master/classiDynTree_1_1KinDynComputations.html). | [examples/python/KinDynComputationsTutorial.py](examples/python/KinDynComputationsTutorial.py) | Python | -| Basic usage of the [MeshcatVisualizer class](bindings/python/visualize/meshcat_visualizer.py). | [examples/python/MeshcatVisualizerExample.ipynb](examples/python/MeshcatVisualizerExample.ipynb) | Python | +Example: Approximate a given model +~~~ +idyntree-model-simplify-shapes -m -o +~~~ -Are you interested in a tutorial on a specific feature or algorithm? Just [request it on an enhancement issue](https://github.com/robotology/idyntree/issues/new). -## Documentation +## Reference Documentation The documentation for the complete API of iDynTree is automatically extracted from the C++ code using [Doxygen](http://www.doxygen.org), -and is available at the URL : [https://robotology.github.io/idyntree/master/](https://robotology.github.io/idyntree/master/). -The documentation generated from the `devel` branch is available at the URL : [https://robotology.github.io/idyntree/devel/](https://robotology.github.io/idyntree/devel/). +and is available at the URL : [https://robotology.github.io/idyntree](https://robotology.github.io/idyntree). ## Announcements Announcements on new releases, API changes or other news are done on [`robotology/QA` GitHub repository](https://github.com/robotology/QA). You can watch that repository to get all the iDynTree-related announcements, that will always tagged with the `announcement` tag. @@ -234,7 +154,7 @@ The bibtex code for including this citation is provided: ## Acknowledgments The initial development of iDynTree was supported by the FP7 EU projects [CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics)](http://www.codyco.eu/) and [Koroibot (No. 611909 ICT- 2013.2.1 Cognitive Systems and Robotics)](http://koroibot.eu/). -The development is now supported by the [Dynamic Interaction Control research line](https://www.iit.it/research/lines/dynamic-interaction-control) at the [Italian Institute of Technology](https://www.iit.it/). +The development is now supported by the [Artificial Mechanical Intelligence research line](https://ami.iit.it/) at the [Italian Institute of Technology](https://www.iit.it/). ## License iDynTree is licensed under either the GNU Lesser General Public License v3.0 : diff --git a/bindings/pybind11/CMakeLists.txt b/bindings/pybind11/CMakeLists.txt index c81fca341cd..5a1b48606ac 100644 --- a/bindings/pybind11/CMakeLists.txt +++ b/bindings/pybind11/CMakeLists.txt @@ -21,14 +21,13 @@ install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/include/iDynTree/pybind11/VectorCaste add_library(iDynTree::${libraryname} ALIAS ${libraryname}) set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS ${libraryname}) -pybind11_add_module(pybind11_idyntree SYSTEM idyntree.cpp +pybind11_add_module(pybind11_idyntree idyntree.cpp error_utilities.h error_utilities.cpp idyntree_core.h idyntree_core.cpp error_utilities.h error_utilities.cpp idyntree_model.h idyntree_model.cpp idyntree_sensors.h idyntree_sensors.cpp - idyntree_modelio_urdf.h idyntree_modelio_urdf.cpp - ) + idyntree_modelio_urdf.h idyntree_modelio_urdf.cpp) target_link_libraries(pybind11_idyntree PUBLIC idyntree-core idyntree-model diff --git a/bindings/pybind11/tests/CMakeLists.txt b/bindings/pybind11/tests/CMakeLists.txt index 33913443d0e..5a248f58286 100644 --- a/bindings/pybind11/tests/CMakeLists.txt +++ b/bindings/pybind11/tests/CMakeLists.txt @@ -10,5 +10,5 @@ set_target_properties (test_idyntree_vector_casters PROPERTIES add_test (NAME pybind11_idyntree_test COMMAND ${Python3_EXECUTABLE} -m unittest discover -s ${CMAKE_CURRENT_SOURCE_DIR} - WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/bindings/pybind11 + WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/pybind11 ) diff --git a/doc/build-from-source.md b/doc/build-from-source.md new file mode 100644 index 00000000000..5cee7d836cc --- /dev/null +++ b/doc/build-from-source.md @@ -0,0 +1,128 @@ +# Build iDynTree from source + +iDynTree is a fairly classical C++ project build with CMake, so it should be quite easy to build if you are already familiar with how you build C++ projects with CMake. +If you are not familiar with the use of CMake, you can check some documentation on https://cmake.org/runningcmake/ or https://cgold.readthedocs.io . + +## C++ Dependencies + +Before building iDynTree, you need to install the dependencies of iDynTree. Not all dependenies are strictly required, some of them can be enabled or disabled. +In case they are disabled, tipically some functionality of iDynTree is not provided or disabled. + +| Name | Strictly required? | Option to enable/disable | Enabled in conda-forge builds? | Enabled in robotology-superbuild builds? | +|:-----:|:-----------------:|:------------------------:|:-------------------------------:|:------------------------------------------:| +| [Eigen](http://eigen.tuxfamily.org) | **Yes** | n.a. | ✔️ | ✔️ | +| [Libxml2](http://xmlsoft.org/) | **Yes** | n.a. | ✔️ | ✔️ | +| [Assimp](http://www.assimp.org/) | No| `IDYNTREE_USES_ASSIMP` | ❌ | ❌ | +| [IPOPT](https://projects.coin-or.org/Ipopt) | No | `IDYNTREE_USES_IPOPT` | ✔️ | ✔️ | +| [irrlicht](http://irrlicht.sourceforge.net/) | No | `IDYNTREE_USES_IRRLICHT` | ✔️ | ✔️ | +| [osqp-eigen](https://github.com/robotology/osqp-eigen) | No | `IDYNTREE_USES_OSQPEIGEN` | ✔️ | ✔️ | + + +### Install dependencies with conda-forge + +If you are using conda, the dependencies of iDynTree can be installed with: +~~~ +conda install -c conda-forge cmake compilers make ninja pkg-config eigen libxml2 assimp ipopt irrlicht osqp-eigen swig python +~~~ + +### Install dependencies with apt + +If you are using an apt-based distribution such as Ubuntu and you want to use apt, the dependencies can be installed via: +~~~ +sudo apt-get install build-essential libeigen3-dev libxml2-dev coinor-libipopt-dev libassimp-dev libirrlicht-dev +~~~ + + +## Build +Once you installed the necessary dependencies, the iDynTree library can be compiled as any CMake based project. In the following instructions, we indicate with `` where +you should add the platform specific options, as the use of `-DCMAKE_TOOLCHAIN_FILE=[path to vcpkg]/scripts/buildsystems/vcpkg.cmake` if you are using [vcpkg](https://github.com/Microsoft/vcpkg). + +With `make` facilities: +```bash +$ git clone https://github.com/robotology/idyntree +$ cd idyntree +$ mkdir build && cd build +$ cmake -DCMAKE_INSTALL_PREFIX= .. +$ make +$ make install +``` + +With IDE build tool facilities, such as Visual Studio or Xcode +```bash +$ git clone https://github.com/robotology/idyntree +$ cd idyntree +$ mkdir build && cd build +$ cmake -DCMAKE_INSTALL_PREFIX= .. +$ cmake --build . --target ALL_BUILD --config Release +$ cmake --build . --target INSTALL --config Release +``` + + +If you need more help on how to build CMake-based projects, please check [CGold's First step](https://cgold.readthedocs.io/en/latest/first-step.html) section. + +In this documentation, `` will indicate the installation prefix in which you installed iDynTree, i.e. the value that you passed as [`CMAKE_INSTALL_PREFIX`](https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html) during the CMake configuration. + +Depending on the location in which you installed `iDynTree`, you may need to add `/bin` to the `PATH` env variable and `` to the `CMAKE_PREFIX_PATH` env variable. + +### Bindings +To compile bindings to iDynTree in several scriping languages, you should enable them using the `IDYNTREE_USES_PYTHON`, `IDYNTREE_USES_LUA`, `IDYNTREE_USES_MATLAB`, `IDYNTREE_USES_OCTAVE` CMake options. + +Then, properly accessing bindings to iDynTree can require some additional steps. + +#### Python +You should add to the `PYTHONPATH` enviromental variable the install path of the `iDynTree.py` file. +~~~ +export PYTHONPATH=$PYTHONPATH:/lib/python../dist-packages/ +~~~ + +#### Python (pybind11) +To compile the python bindings based on [pybind11](https://github.com/pybind/pybind11) set to `TRUE` the `IDYNTREE_USES_PYTHON_PYBIND11` option. + +**NOTE**: the generated bindings are not compatible with the bindings generated by SWIG. Do not expect your Python code to use either of the two without modifications. + +##### Use +Modify your `PYTHONPATH` environment variable to point to the bindings installation directory: + +```sh +export PYTHONPATH=${PYTHONPATH}:/ +``` + +where `` corresponds to the value specified in `CMAKE_INSTALL_PREFIX` and `` is the Python installation prefix, as returned by + +```python +disutils.sysconfig.get_python_lib(1,0,prefix='') +``` + +for example: `lib/python3.8/site-packages`. + +Finally to use the bindings in your Python code, simply import the package: + +```python +import idyntree.pybind as iDynTree + +``` + +#### MATLAB +You should add to Matlab path the `/mex` directory. +You can modify the relative location for Matlab bindings files in the installation prefix using the `IDYNTREE_INSTALL_MATLAB_LIBDIR` and `IDYNTREE_INSTALL_MATLAB_MFILESDIR` CMake options. + +#### Octave +You should add to Octave path the `/octave` directory. +You can modify the relative location for Matlab bindings files in the installation prefix using the`IDYNTREE_INSTALL_OCTAVE_LIBDIR` and `IDYNTREE_INSTALL_OCTAVE_MFILESDIR` CMake options. + + +##### MATLAB/Octave bindings modifications +All the other bindings (Python,Lua, ...) are generated by SWIG and compiled on the fly by the user, +by enabling the `IDYNTREE_USES_` option. The Matlab and Octave bindings are an exception because they +rely on an experimental version of Swig, developed for providing Matlab bindings for the [casadi](https://github.com/casadi/casadi/wiki) project. For this reason, usually the Matlab bindigs +are not generated by the users, but by iDynTree developers that have a special experimental Swig +version installed. The bindings code is then committed to the repository, and the `IDYNTREE_USES_MATLAB` +option simply enables *compilation* of the bindings. If you want to regenerate the Matlab bindings, +for example because you modified some iDynTree classes, you can install the experimental +version of Swig with Matlab support from https://github.com/robotology-dependencies/swig/ (branch `matlab`) and then enable Matlab bindings generation with the `IDYNTREE_GENERATE_MATLAB` options. +For more info on how to modify the matlab bindings, see https://github.com/robotology/idyntree/blob/master/doc/dev/faqs.md#how-to-add-wrap-a-new-class-or-function-with-swig . + +##### MATLAB/Octave high level wrappers +They are a collection of Matlab/Octave functions that wraps the functionalities of (mainly) the iDyntree class `KinDynComputations` into functions with a typical Matlab/Octave interface. The purpose of the high-level wrappers is to provide a simpler and easy-to-use interface for Matlab/Octave users who want to use iDyntree inside Matlab/Octave, also helping in designing code which is less error-prone and easier to debug (e.g. in case the interface of an iDyntree function will change in the future). More details and a complete list of the wrappers can be found in the [wrappers README](/bindings/matlab/+iDynTreeWrappers/README.md). + +**Usage**: the wrappers package is installed together with the iDyntree bindings when compiling iDyntree with option `IDYNTREE_USES_MATLAB` or `IDYNTREE_USES_OCTAVE` set to `ON`. The functions can be called from Matlab/Octave using the namespace `iDynTreeWrappers`, i.e. `iDynTreeWrappers.name_of_the_corresponding_iDynTree_method`. diff --git a/doc/main.dox b/doc/main.dox index b37d9695ce3..24b18e5f81f 100644 --- a/doc/main.dox +++ b/doc/main.dox @@ -1,6 +1,6 @@ /* - * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia + * Copyright (C) 2015-2021 Fondazione Istituto Italiano di Tecnologia * Authors: See AUTHORS file. * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT * @@ -92,46 +92,41 @@ - - /** -\mainpage Welcome to %iDynTree +\mainpage Welcome to %iDynTree reference documentation. -%iDynTree is a library of robots dynamics algorithms for control, estimation and simulation. +%iDynTree is a library of robots dynamics algorithms for control, estimation and simulation. %iDynTree is specifically designed for free-floating robots, but it is possible to use it also with fixed-base robots. -%iDynTree is specifically designed for free-floating robots, but it is possible to use it also with fixed-base robots. +This is %iDynTree's reference documentation, that is automatically generated from the C++ headers. +It contains specific details for each class, method and function contained in %iDynTree. -\li Source code: https://github.com/robotology/idyntree -\li File an issue: https://github.com/robotology/idyntree/issues/new -\li Installation and Tutorials: https://github.com/robotology/idyntree/blob/master/README.md +For how to install iDynTree and tutorial on how to use iDynTree, please check the README at https://github.com/robotology/idyntree/blob/master/README.md . +If you have a problem using iDynTree or you do not understand something in iDynTree documentation, please file an issue: https://github.com/robotology/idyntree/issues/new %iDynTree is written in C++ language, but thanks to SWIG it is possible to use the iDynTree algorithms in several other languages. Support and documentation is provided in particular for C++, Matlab, Python and Lua. If you are interested in using %iDynTree with another programming language, feel free to create a new issue requesting support for it. -This documentation is automatically generated from the C++ headers, and -can be used as a reference documentation for the classes and functions -contained in iDynTree . - %iDynTree is divided in several parts: -\li \ref iDynTreeCore "Core" : Basic data structures for kinematics and dynamics of rigid bodies. -\li \ref iDynTreeModel "Model": Data structures and algorithms for modeling articulated body structures. -\li \ref iDynTreeSensors "Sensors" : Data structures for modeling sensors distribude on articulated body structures. + +\li \ref iDynTreeCore "Core" : Basic data structures for kinematics and dynamics of rigid bodies. +\li \ref iDynTreeModel "Model": Data structures and algorithms for modeling articulated body structures. +\li \ref iDynTreeSensors "Sensors" : Data structures for modeling sensors distribude on articulated body structures. \li \ref iDynTreeModelIO "ModelIO" : Function to read and write %iDynTree models and sensors to external files (such as [URDF](http://wiki.ros.org/urdf) or [iKin DH parameters](http://wiki.icub.org/brain/classiCub_1_1iKin_1_1iKinLimb.html#a76c93aae76bb0f7ef9470b81d0da0e26) ). \li \ref iDynTreeEstimation "Estimation" : Algorithms related to whole-body estimation. -\li \ref iDynTreeRegressors "Regressors" : Algorithms related to whole-body dynamics identification. \li \ref iDynTreeHighLevel "HighLevel" : High level interfaces to access algorithms contained in %iDynTree. -\li \ref iDynTreeYARP "YARP" : Function and classes for simplifying integration of %iDynTree with [YARP](http://yarp.it/). +
-As iDynTree is mainly developed to support the research effort of [iCub Facility department](https://www.iit.it/research/lines/icub) of the [Italian Institute of Technology](https://www.iit.it), +%iDynTree has a few classes that are particular used, those are linked in the following for quick access: +\li iDynTree::Model : Class used to represent a multibody model. +\li iDynTree::KinDynComputations : Class used to compute forward kinematics and dynamics quantities. + + +As iDynTree is mainly developed to support the research effort of [Artificial and Mechanical Intelligence research line](https://ami.iit.it) of the [Italian Institute of Technology](https://www.iit.it), some parts of it are activly developed and their interface can abroutly change between iDynTree releases. Until this components are ready to be integrated in a proper part of iDynTree, we keep them in the "experimental" part of iDynTree : \li \ref iDynTreeExperimental "Experimental" : Experimental data structures and algorithms, whose interface is not guaranteed to be stable. -iDynTree started as a tiny wrapper of code between [YARP](http://yarp.it/) and [KDL](https://github.com/orocos/orocos_kinematics_dynamics). -For this reason, in the repository there is still some legacy code, that should not be used by users, as it is going to be removed from iDynTree. - -\li \ref iDynTreeDeprecated "Deprecated" : Deprecated data structures and algorithms, that are going to be removed from iDynTree. * diff --git a/docs/Doxyfile-mcss.in b/docs/Doxyfile-mcss.in new file mode 100644 index 00000000000..a90f10550ab --- /dev/null +++ b/docs/Doxyfile-mcss.in @@ -0,0 +1,14 @@ +@INCLUDE = Doxyfile-@BLF_TAG@ + +USE_MDFILE_AS_MAINPAGE = "@BLF_MAIN_PAGE@" + + +GENERATE_HTML = NO +GENERATE_XML = YES +XML_PROGRAMLISTING = NO +XML_NS_MEMB_FILE_SCOPE = YES + +XML_OUTPUT = "site/@BLF_VERSION_PATH@/xml" +HTML_OUTPUT = "site/@BLF_VERSION_PATH@" + +PROJECT_BRIEF = "@BLF_TAG@" diff --git a/docs/Doxyfile.in b/docs/Doxyfile.in new file mode 100644 index 00000000000..8f97e56c59a --- /dev/null +++ b/docs/Doxyfile.in @@ -0,0 +1,2567 @@ +# Doxyfile 1.9.1 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the configuration +# file that follow. 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Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines (in the resulting output). You can put ^^ in the value part of an +# alias to insert a newline as if a physical newline was in the original file. +# When you need a literal { or } or , in the value part of an alias you have to +# escape them by means of a backslash (\), this can lead to conflicts with the +# commands \{ and \} for these it is advised to use the version @{ and @} or use +# a double escape (\\{ and \\}) + +ALIASES = "expects=\pre expects:" \ + "ensures=\post ensures:" + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL, +# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See https://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + +# 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 putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = YES + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. 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 = 0 + +# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which efficively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + +#--------------------------------------------------------------------------- +# 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_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = YES + +# 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. If 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 this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + +# 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 +# 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 = NO + +# 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 + +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# 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 HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= 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 = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = 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. Note that +# this will also influence the order of the classes in the class list. +# 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 = NO + +# 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 https://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. 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 = YES + +# 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. If +# EXTRACT_ALL is set to YES then this flag will automatically be disabled. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# Possible values are: NO, YES and FAIL_ON_WARNINGS. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# 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: $text. + +WARN_FORMAT = "$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 = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# 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. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = "@BLF_MAIN_PAGE@" @BLF_ADDITIONAL_FILES@ @BLF_INCLUDE_FOLDERS@ + +# 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: +# https://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. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# +# 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 (to be provided as doxygen C comment), +# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl, +# *.ucf, *.qsf and *.ice. + +FILE_PATTERNS = *.cpp \ + *.h \ + *.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 = + +# 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 = + +# 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. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +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. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +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 = + +#--------------------------------------------------------------------------- +# 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 = NO + +# 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 = NO + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# entity 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 https://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 configuration 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 = NO + +#--------------------------------------------------------------------------- +# 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 = NO + +# 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 additional user-defined +# cascading style sheets that are 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 therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). 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 style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# https://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 YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = 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: +# https://developer.apple.com/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 https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.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: +# https://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 main .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. Furthermore it +# enables the Previous and Next buttons. +# 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: +# https://doc.qt.io/archives/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: +# https://doc.qt.io/archives/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: +# https://doc.qt.io/archives/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: +# https://doc.qt.io/archives/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: +# https://doc.qt.io/archives/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 (absolute path +# including file name) 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 style sheets (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 + +# If 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 + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + +# 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 = 12 + +# Use the FORMULA_TRANSPARENT 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 + +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. + +FORMULA_MACROFILE = + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# https://www.mathjax.org) which uses client side JavaScript for the rendering +# instead of using pre-rendered 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/v2.7-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 https://www.mathjax.org before deployment. +# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://www.mathjax.org/mathjax + +# 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/v2.7-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 +# , /