added a simple bash script to install ct

Author: markusgft

ct/build_ct.sh

@@ -0,0 +1,50 @@
+#!/bin/bash
+
+build_module(){
+# if module directory exists
+if [ -d "../$1" ]; then  
+
+  echo " === Starting module " $1 " === "
+  # go to that module
+  cd ../$1  
+  echo "Current directory is " $PWD
+
+  # collect array of all args, remove first arg because that is equal to the module to be built
+  build_flags=( "$@" )
+  unset build_flags[0]
+
+  # make and go to build directory
+  mkdir -p build && cd build
+
+  echo "Building with the following flags ... "
+  printf '%s\n' "${build_flags[@]}"
+  
+  make clean
+  cmake .. ${build_flags[*]}
+  make -j4
+  sudo make install  >/dev/null
+  cd ..
+  echo " === completed " $1 " === "
+else
+    echo "ERROR: you need to start the installer from the control-toolbox/ct directory."
+    exit 1
+fi
+}
+
+# check number of user input args
+# no args
+if [ -z "$1" ] 
+  then
+    echo "No build flags supplied, using -DCMAKE_BUILD_TYPE=Release"
+    BUILD_FLAGS="-DCMAKE_BUILD_TYPE=Release"
+else 
+  # entire user input is interpreted as build flags
+  BUILD_FLAGS="$@"
+fi
+
+build_module ct_core $BUILD_FLAGS 
+build_module ct_optcon $BUILD_FLAGS
+build_module ct_rbd $BUILD_FLAGS 
+build_module ct_models $BUILD_FLAGS
+
+exit 0

ct_doc/doc/getting_started.dox

@@ -9,7 +9,6 @@ follow the Tutorials below.
 - \subpage core_tutorials "ct core Tutorials"
 - \subpage optcon_tutorials "ct optcon Tutorials"
 - \subpage rbd_tutorials "ct rbd Tutorials"
-- \subpage ik_tutorials "Inverse kinematics Tutorials"
 
 If you need additional support, feel free to create an issue on Bitbucket or contact the developers.
 

ct_doc/doc/installation.dox

@@ -10,43 +10,37 @@
 
 
 \section dep Dependencies and building the library
- - install ROS, please follow the steps in <a href="http://wiki.ros.org/Installation/Ubuntu"> this tutorial</a> for your Linux distribution.
  - install <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a> via
   \code{.sh} 
   sudo apt-get update 
   sudo apt-get install libeigen3-dev 
   \endcode
- - install the <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a> build system
- \code{.sh}
- sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
- wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
- sudo apt-get update
- sudo apt-get install python-catkin-tools
- \endcode
  - install boost
  \code{.sh}
  sudo apt-get install libboost-all-dev
  \endcode
- - create a catkin workspace and initialize it
- \code{.sh}
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws
- catkin init
- \endcode
-
  - install the <a href="https://github.com/ethz-asl/kindr">kindr</a> library
   \code{.sh}
   cd ~/catkin_ws/src
   git clone https://github.com/ANYbotics/kindr.git
   \endcode
-
  - finally, clone the control toolbox and build your workspace
   \code{.sh}
   cd ~/catkin_ws/src
   git clone https://github.com/ethz-adrl/control-toolbox.git
   catkin build -DCMAKE_BUILD_TYPE=Release
   \endcode
-
+ - VARIANT A, if you are a ROS-user: create a catkin workspace and build the CT using catkin tools
+  \code{.sh}
+  mkdir -p ~/catkin_ws/src
+  cd ~/catkin_ws
+  catkin init
+  catkin build -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
+  \endcode
+ - VARIANT B, if you prefer plain cmake.
+  \code{.sh}
+  todo ...
+  \endcode
  - if you would like to run an example, build the library with 
   \code{.sh}
   cd ~/catkin_ws/src
@@ -62,7 +56,7 @@
 
 
 \section opt_dep Optional Dependencies and Bindings
-The following dependencies and bindings are optional but can help to enhance the functionality or performance of the CT
+The following dependencies and bindings are optional but can help to enhance the user-experience or performance of the CT
 
  - <a href="http://www.netlib.org/lapack/">lapack</a> (enables Schur method as an alternative to iterative method in ct::optcon::LQR)
  \code{.sh} $ sudo apt-get install liblapack-dev \endcode
@@ -81,6 +75,14 @@ The following dependencies and bindings are optional but can help to enhance the
  about blasefeo can be found <a href="https://arxiv.org/abs/1704.02457">here</a>.
  Both packages were developed by <a href="https://www.syscop.de/people/dr-gianluca-frison">Gianluca Frison</a>, <a href="https://www.syscop.de/">University of Freiburg</a>.
 
+ - install the <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a> build system
+ \code{.sh}
+ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
+ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+ sudo apt-get update
+ sudo apt-get install python-catkin-tools
+ \endcode
+
  - <a href="http://qwt.sourceforge.net/">Qwt</a> (for basic plotting)
 
  - MATLAB (for Matlab logging)

ct_doc/doc/mainpage.dox

@@ -6,12 +6,11 @@
 
 \section ct1 Control Toolbox
 
-The Control Toolbox ('CT'), an open-source C++ library for efficient modelling, control, 
-estimation, trajectory optimization and model predictive control.
-The CT is applicable to a broad class of dynamic systems, but features additional modelling tools specially designed for robotics.
+The Control Toolbox ('CT'), is a C++ library for  modelling, control, estimation, trajectory optimization and model predictive control.
+The CT is applicable to a broad class of dynamic systems, but features additional tools specially designed for robotics.
 This page outlines its general concept, its major building blocks and highlights selected application examples.
 
-The library contains several tools to design and evaluate controllers, model dynamical systems and solve optimal control problems.
+The library contains several tools to design and evaluate controllers, model dynamical systems and numerically solve optimal control problems.
 The CT was designed with the following features in mind:
 
  - **Systems and dynamics**: 
@@ -35,7 +34,7 @@ The CT was designed with the following features in mind:
  	- solve large scale optimal control problems in MPC fashion. 
 
  - **Robot Modelling, Rigid Body Kinematics and Dynamics**: 
-    - straight-forward interface to a state-of the art rigid body dynamics modelling tool.
+  - straight-forward interface to a state-of the art rigid body dynamics modelling tool.
 	- implementation of a basic nonlinear-programming-based inverse kinematics solver.
 
  - **Automatic Differentiation**:
@@ -171,7 +170,6 @@ The four different main modules are detailed in the following.
  - Derivatives/Jacobians of general functions using **Numerical Differentiation** (ct::core::DerivativesNumDiff) 
  or **Automatic-Differentiation** with code-generation (ct::core::DerivativesCppadCG) and just-in-time (JIT) 
  compilation (ct::core::DerivativesCppadJIT)
- - <a href="../../../ct_core/doc/html/index.html">quick link to ct_core</a> 
 
 
 \subsection ct_optcon_overview CT Optimal Control
@@ -187,10 +185,9 @@ The four different main modules are detailed in the following.
  - Non-Linear **Model Predictive Control** (ct::optcon::MPC)
  - Definitions for Nonlinear Programming Problems (**NLPs**, ct::optcon::Nlp) and interfaces to third-party **NLP Solvers** 
  (ct::optcon::SnoptSolver and ct::optcon::IpoptSolver)
- - <a href="../../../ct_optcon/doc/html/index.html">quick link to ct_optcon</a>
 
 
-\subsection ct_rbd_overview CT Rigid Body Dynamics
+\subsection ct_rbd_overview CT Rigid Body Dynamics (Robot)
 
  - Standard models for Rigid Body Dynamics
  - Definitions for the state of a Rigid Body System expressed as general coordinates (ct::rbd::RBDState)
@@ -201,15 +198,13 @@ The four different main modules are detailed in the following.
  - **Actuator dynamics** (ct::rbd::ActuatorDynamics)
  - Backend uses <a href="https://bitbucket.org/mfrigerio17/roboticscodegenerator/" target="_blank">RobCoGen</a> \cite frigerioCodeGen, 
  a highly efficient Rigid Body Dynamics library
- - <a href="../../../ct_rbd/doc/html/index.html">quick link to ct_rbd</a>
 
 
 \subsection ct_models_overview CT Models:
 
  - Various standard models for testing and evaluation including UAVs (ct::models::Quadrotor), ground robots, 
  legged robots (ct::models::HyQ), robot arms (ct::models::HyA), inverted pendulums etc.
  - Means of creating linear approximation of these models
- - <a href="../../../ct_models/doc/html/index.html">quick link to ct_models</a>