added docs page

.gitignore

@@ -36,3 +36,7 @@
 
 # Matlab
 *.m~
+
+docs/_build
+docs/doxyoutput
+docs/api

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SPHINXPROJ    = project
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/conf.py

@@ -0,0 +1,46 @@
+import os
+
+name = 'mav_trajectory_generation'
+
+on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
+
+if not on_rtd:  # only import and set the theme if we're building docs locally
+    import sphinx_rtd_theme
+    html_theme = 'sphinx_rtd_theme'
+    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+source_parsers = {
+    '.md': 'recommonmark.parser.CommonMarkParser',
+}
+
+extensions = [
+    'breathe', 'exhale', 'sphinx.ext.autosectionlabel', 'recommonmark'
+]
+
+project = name
+master_doc = 'index'
+
+# Setup the breathe extension
+breathe_projects = {"project": "./doxyoutput/xml"}
+breathe_default_project = "project"
+
+# Setup the exhale extension
+exhale_args = {
+    "verboseBuild": False,
+    "containmentFolder": "./api",
+    "rootFileName": "library_root.rst",
+    "rootFileTitle": "Library API",
+    "doxygenStripFromPath": "..",
+    "createTreeView": True,
+    "exhaleExecutesDoxygen": True,
+    "exhaleUseDoxyfile": True,
+    "pageLevelConfigMeta": ":github_url: https://github.com/ethz-asl/" + name
+}
+
+source_suffix = ['.rst', '.md']
+
+# Tell sphinx what the primary language being documented is.
+primary_domain = 'cpp'
+
+# Tell sphinx what the pygments highlight language should be.
+highlight_language = 'cpp'

docs/index.rst

@@ -0,0 +1,53 @@
+=========================
+mav_trajectory_generation
+=========================
+
+This repository contains tools for polynomial trajectory generation and optimization based on methods described in [1].
+These techniques are especially suitable for rotary-wing micro aerial vehicles (MAVs).
+This README provides a brief overview of our trajectory generation utilities with some examples.
+
+**Authors**: Markus Achtelik, Michael Burri, Helen Oleynikova, Rik Bähnemann, Marija Popović  
+**Maintainer**: Rik Bähnemann, [email protected]  
+**Affiliation**: Autonomous Systems Lab, ETH Zurich  
+
+.. toctree::
+   :maxdepth: 3
+   :caption: Table of Contents
+   :glob:
+
+   pages/*
+
+   api/library_root
+
+Bibliography
+============
+
+This implementation is largely based on the work of C. Richter *et al*, who should be cited if this is used in a scientific publication (or the preceding conference papers):  
+[1] C. Richter, A. Bry, and N. Roy, “**Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,**” in *International Journal of Robotics Research*, Springer, 2016.
+
+.. code-block:: latex
+
+	@incollection{richter2016polynomial,
+	  title={Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments},
+	  author={Richter, Charles and Bry, Adam and Roy, Nicholas},
+	  booktitle={Robotics Research},
+	  pages={649--666},
+	  year={2016},
+	  publisher={Springer}
+	}
+
+Furthermore, the nonlinear optimization features our own extensions, described in:  
+
+Michael Burri, Helen Oleynikova, Markus Achtelik, and Roland Siegwart, “**Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown Environments**”. In *IEEE Int. Conf. on Intelligent Robots and Systems* (IROS), September 2015.
+
+.. code-block:: latex
+
+	@inproceedings{burri2015real-time,
+	  author={Burri, Michael and Oleynikova, Helen and  and Achtelik, Markus W. and Siegwart, Roland},
+	  booktitle={Intelligent Robots and Systems (IROS 2015), 2015 IEEE/RSJ International Conference on},
+	  title={Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Unknown Environments},
+	  year={2015},
+	  month={Sept}
+	}
+
+

docs/pages/Time-Allocation.md

@@ -0,0 +1,65 @@
+# Time Allocation
+
+Optimization for:
+* Time only ([Burri](#burri-et-al), [Richter](#richter-et-al), [Mellinger](#melling-and-kumar) and [Segment violation](#segment-violation))
+* Time and free constraints ([Burri](#burri-et-al) and [Richter](#richter-et-al))
+
+Methods implemented:  
+1. C. Richter, A. Bry, and N. Roy, “**Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,**” in *International Journal of Robotics Research*, Springer, 2016.
+2. M. Burri, H. Oleynikova, M. Achtelik, and R. Siegwart, “**Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown Environments**”. In *IEEE Int. Conf. on Intelligent Robots and Systems* (IROS), September 2015.
+3. D. Mellinger and V. Kumar, "**Minimum Snap Trajectory Generation and Control for Quadrotors**"
+4. Segment violation  
+
+
+### Benchmark
+* trajectory time
+* computation time
+* relative violation of velocity
+* maximum distance between trajectory and straight line
+* area between trajectory and straight line
+
+Additionally:
+* comparison of convergence time and quality of default and custom initial step
+* comparison magic fabian vs. trapezoidal for initial time segments
+
+
+### [Richter et al.](#richter-et-al)
+Paper: **Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments**  
+Published in: *International Journal of Robotics Research*, Springer  
+Year: 2016   
+
+Usable for optimization of: 
+* Time only (`NonlinearOptimizationParameters::kRichterTime`):    
+* Time and free derivatives (`NonlinearOptimizationParameters::kRichterTimeAndConstraints`):  
+<img src="https://user-images.githubusercontent.com/17544220/38020829-8bba3e8e-327b-11e8-9b36-5ca2cb3fb609.png" height="100" />  <br />
+
+
+### [Burri et al.](#burri-et-al)
+Paper: **Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown Environments**  
+Published in: *IEEE Int. Conf. on Intelligent Robots and Systems* (IROS)  
+Year: 2015  
+
+Usable for optimization of: 
+* Time only (`NonlinearOptimizationParameters::kSquaredTime`)
+* Time and free derivatives (`NonlinearOptimizationParameters::kSquaredTimeAndConstraints`):  
+<img src="https://user-images.githubusercontent.com/17544220/38019910-2e6f41c2-3279-11e8-9602-1e861b05b520.png" height="100" />  <br />
+<img src="https://user-images.githubusercontent.com/17544220/38019908-2e30f9bc-3279-11e8-8fdc-5f3d997da955.png" height="50" />  <br />
+<img src="https://user-images.githubusercontent.com/17544220/38019909-2e538e3c-3279-11e8-9dee-fe08a881743c.png" height="80" />  <br />
+
+
+### [Mellinger and Kumar](#mellinger-and-kumar)
+Paper: **Minimum Snap Trajectory Generation and Control for Quadrotors**    
+Published in: *IEEE International Conference on Robotics and Automation* (ICRA)  
+Year: 2011  
+
+Usable for optimization of: 
+* Time only (`NonlinearOptimizationParameters::kMellingerOuterLoop`):  
+<img src="https://user-images.githubusercontent.com/17544220/38021405-0544f040-327d-11e8-9d92-86d5c0c31f70.png" height="30" />  <br />
+<img src="https://user-images.githubusercontent.com/17544220/38021406-0560c428-327d-11e8-87c6-8d0b1ccf1886.png" height="60" />  <br />
+<img src="https://user-images.githubusercontent.com/17544220/38021407-0583bf46-327d-11e8-8ac5-d784736da1ad.png" height="100" />  <br />  
+
+
+### [Segment violation](#segment-violation)
+
+Usable for optimization of: 
+* Time only:  

docs/requirements.txt

@@ -0,0 +1 @@
+exhale

mav_trajectory_generation/include/mav_trajectory_generation/extremum.h

@@ -25,8 +25,8 @@
 
 namespace mav_trajectory_generation {
 
-// Container holding the properties of an extremum (time, value,
-// segment where it occurred).
+/// Container holding the properties of an extremum (time, value,
+/// segment where it occurred).
 struct Extremum {
  public:
   Extremum() : time(0.0), value(0.0), segment_idx(0) {}
@@ -38,9 +38,9 @@ struct Extremum {
   bool operator>(const Extremum& rhs) const { return value > rhs.value; }
 
   double
-      time;  // Time where the extremum occurs, relative to the segment start.
-  double value;     // Value of the extremum at time.
-  int segment_idx;  // Index of the segment where the extremum occurs.
+      time;  ///< Time where the extremum occurs, relative to the segment start.
+  double value;     ///< Value of the extremum at time.
+  int segment_idx;  ///< Index of the segment where the extremum occurs.
 };
 
 inline std::ostream& operator<<(std::ostream& stream, const Extremum& e) {