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main.dox
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/*
* 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
*
*/
// Definition of doxygen groups
/**
* \defgroup iDynTreeCore %iDynTree core data structures
*
* iDynTree provides basic data structures to implement kinemanics and dynamics
* algorithms.
*
*/
/**
* \defgroup iDynTreeModel %iDynTree model data structures
*
* Data structures and algorithm to model and implement algorithm
* on multibody articulated systems.
*
*/
/**
* \defgroup iDynTreeSensors %iDynTree sensors data structures
*
* Data structures and algorithm to model sensors distributed on
* multibody articulated systems.
*
*/
/**
* \defgroup iDynTreeModelIO %iDynTree model data structures
*
* Functions to read and write iDynTree models and sensors
* in external formats (URDF at the moment).
*
*/
/**
* \defgroup iDynTreeEstimation Algorithms related to whole-body estimation.
*/
/**
* \defgroup iDynTreeRegressors Algorithms related to whole-body dynamics identification.
*/
/**
* \defgroup iDynTreeHighLevel High level interfaces to access algorithms contained in iDynTree.
*/
/**
* \defgroup iDynTreeExperimental Experimental classes, for which the interface is currently under active development and is not stable.
*
* The classes and function contained in this group are in active development and are expected to change between different iDynTree
* releases without any support for backward compatibility.
*/
/**
* \defgroup iDynTreeInverseKinematics Inverse kinematics algorithms.
*
* \warning This component is compiled only if iDynTree is compiled with the CMake flag
* IDYNTREE_USES_IPOPT set to ON .
*/
/**
* \defgroup iDynTreeYARP Functions and classes for simplifying integration of %iDynTree and YARP.
*
* \warning This component is compiled only if iDynTree was compiled with the CMake flag
* IDYNTREE_USES_YARP set to ON .
*
*/
/**
* \defgroup iDynTreeICUB Functions and classes for simplifying integration of %iDynTree and ICUB.
*
* \warning This component is compiled only if iDynTree was compiled with the CMake flag
* IDYNTREE_USES_ICUB set to ON .
*
*/
/**
* \defgroup iDynTreeDeprecated Deprecated functions and classes
*
* \warning The functions and classes in this component should not be used for new code.
*
*/
/**
\mainpage Welcome to %iDynTree reference documentation.
%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.
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.
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.
%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 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 iDynTreeHighLevel "HighLevel" : High level interfaces to access algorithms contained in %iDynTree.
<br>
%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.
*
*/