update getting started

docs/getting_started_main.rst

@@ -3,120 +3,10 @@
 Getting Started
 ===============
 
-.. _`What is PythonRobotics?`:
-
-What is PythonRobotics?
-------------------------
-
-This is an Open Source Software (OSS) project: PythonRobotics, which is a Python code collection of robotics algorithms.
-These codes are developed under `MIT license`_ and on `GitHub`_.
-
-This project has three main philosophies below:
-
-1. Easy to understand each algorithm's basic idea.
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The goal is for beginners in robotics to understand the basic ideas behind each algorithm.
-If the code is not easy to read, it would be difficult to achieve our goal of
-allowing beginners to understand the algorithms.
-
-Python[12] programming language is adopted in this project.
-Python has great libraries for matrix operation, mathematical and scientific operation,
-and visualization, which makes code more readable because such operations
-don’t need to be re-implemented.
-Having the core Python packages allows the user to focus on the algorithms,
-rather than the implementations.
-
-It includes intuitive animations to understand the behavior of the simulation.
-
-about documenttion
-
-2. Widely used and practical algorithms are selected.
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-The second philosophy is that implemented algorithms have to be practical
-and widely used in both academia and industry.
-We believe learning these algorithms will be useful in many applications.
-For example, Kalman filters and particle filter for localization,
-grid mapping for mapping,
-dynamic programming based approaches and sampling based approaches for path planning,
-and optimal control based approach for path tracking.
-These algorithms are implemented in this project.
-
-3. Minimum dependency.
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Each sample code is written in Python3 and only depends on some standard
-modules for readability and ease of use.
-
-
-.. _GitHub: https://github.com/AtsushiSakai/PythonRobotics
-.. _`MIT license`: https://github.com/AtsushiSakai/PythonRobotics/blob/master/LICENSE
-
-
-See this paper for more details:
-
-- PythonRobotics: a Python code collection of robotics algorithms: https://arxiv.org/abs/1808.10703
-
-.. _`Requirements`:
-
-Requirements
--------------
-
--  `Python 3.12.x`_
--  `NumPy`_
--  `SciPy`_
--  `Matplotlib`_
--  `cvxpy`_
-
-For development:
-
--  `pytest`_ (for unit tests)
--  `pytest-xdist`_ (for parallel unit tests)
--  `mypy`_ (for type check)
--  `sphinx`_ (for document generation)
--  `ruff`_ (for code style check)
-
-.. _`Python 3.12.x`: https://www.python.org/
-.. _`NumPy`: https://numpy.org/
-.. _`SciPy`: https://scipy.org/
-.. _`Matplotlib`: https://matplotlib.org/
-.. _`cvxpy`: https://www.cvxpy.org/
-.. _`pytest`: https://docs.pytest.org/en/latest/
-.. _`pytest-xdist`: https://github.com/pytest-dev/pytest-xdist
-.. _`mypy`: https://mypy-lang.org/
-.. _`sphinx`: https://www.sphinx-doc.org/en/master/index.html
-.. _`ruff`: https://github.com/astral-sh/ruff
-
-
-How to use
-----------
-
-1. Clone this repo and go into dir.
-
-.. code-block::
-
-    >$ git clone https://github.com/AtsushiSakai/PythonRobotics.git
-
-    >$ cd PythonRobotics
-
-
-2. Install the required libraries.
-
-using conda :
-
-.. code-block::
-
-    >$ conda env create -f requirements/environment.yml
-
-using pip :
-
-.. code-block::
-
-    >$ pip install -r requirements/requirements.txt
-
-
-3. Execute python script in each directory.
-
-4. Add star to this repo if you like it 😃.
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents
 
+   what_is_python_robotics
+   how_to_use
+   how_to_read_textbook

docs/how_to_read_textbook_main.rst

@@ -0,0 +1,4 @@
+How To read this textbook
+--------------------------
+
+TBD

docs/how_to_use_main.rst

@@ -0,0 +1,30 @@
+How to use
+----------
+
+1. Clone this repo and go into dir.
+
+.. code-block::
+
+    >$ git clone https://github.com/AtsushiSakai/PythonRobotics.git
+
+    >$ cd PythonRobotics
+
+
+2. Install the required libraries.
+
+using conda :
+
+.. code-block::
+
+    >$ conda env create -f requirements/environment.yml
+
+using pip :
+
+.. code-block::
+
+    >$ pip install -r requirements/requirements.txt
+
+
+3. Execute python script in each directory.
+
+4. Add star to this repo if you like it 😃.

docs/what_is_python_robotics_main.rst

@@ -0,0 +1,100 @@
+.. _`What is PythonRobotics?`:
+
+What is PythonRobotics?
+------------------------
+
+This is an Open Source Software (OSS) project: PythonRobotics, which is a Python code collection of robotics algorithms.
+These codes are developed under `MIT license`_ and on `GitHub`_.
+
+This project has three main philosophies below:
+
+1. Easy to understand each algorithm's basic idea.
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The goal is for beginners in robotics to understand the basic ideas behind each algorithm.
+
+`Python`_ programming language is adopted in this project to achieve the goal.
+Python is a high-level programming language that is easy to read and write.
+If the code is not easy to read, it would be difficult to achieve our goal of
+allowing beginners to understand the algorithms.
+Python has great libraries for matrix operation, mathematical and scientific operation,
+and visualization, which makes code more readable because such operations
+don’t need to be re-implemented.
+Having the core Python packages allows the user to focus on the algorithms,
+rather than the implementations.
+
+PythonRobotics provides not only the code but also intuitive animations that
+visually demonstrate the process and behavior of each algorithm over time.
+This is an example of an animation gif file that shows the process of the
+path planning in a highway scenario for autonomous vehicle.
+
+.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/FrenetOptimalTrajectory/high_speed_and_velocity_keeping_frenet_path.gif
+
+This animation is a gif file and is created using the `Matplotlib`_ library.
+All animaion gif files are stored in the `PythonRoboticsGifs`_ repository and
+all animation movies are uploaded to this `YouTube channel`_.
+
+PythonRobotics also provides a textbook that explains the basic ideas of each algorithm.
+
+.. _`Python`: https://www.python.org/
+.. _`PythonRoboticsGifs`: https://github.com/AtsushiSakai/PythonRoboticsGifs
+.. _`YouTube channel`: https://youtube.com/playlist?list=PL12URV8HFpCozuz0SDxke6b2ae5UZvIwa&si=AH2fNPPYufPtK20S
+
+
+2. Widely used and practical algorithms are selected.
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The second philosophy is that implemented algorithms have to be practical
+and widely used in both academia and industry.
+We believe learning these algorithms will be useful in many applications.
+For example, Kalman filters and particle filter for localization,
+grid mapping for mapping,
+dynamic programming based approaches and sampling based approaches for path planning,
+and optimal control based approach for path tracking.
+These algorithms are implemented in this project.
+
+3. Minimum dependency.
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Each sample code is written in Python3 and only depends on some standard
+modules for readability and ease of use.
+
+
+.. _GitHub: https://github.com/AtsushiSakai/PythonRobotics
+.. _`MIT license`: https://github.com/AtsushiSakai/PythonRobotics/blob/master/LICENSE
+
+
+See this paper for more details:
+
+- PythonRobotics: a Python code collection of robotics algorithms: https://arxiv.org/abs/1808.10703
+
+.. _`Requirements`:
+
+Requirements
+============
+
+-  `Python 3.12.x`_
+-  `NumPy`_
+-  `SciPy`_
+-  `Matplotlib`_
+-  `cvxpy`_
+
+For development:
+
+-  `pytest`_ (for unit tests)
+-  `pytest-xdist`_ (for parallel unit tests)
+-  `mypy`_ (for type check)
+-  `sphinx`_ (for document generation)
+-  `ruff`_ (for code style check)
+
+.. _`Python 3.12.x`: https://www.python.org/
+.. _`NumPy`: https://numpy.org/
+.. _`SciPy`: https://scipy.org/
+.. _`Matplotlib`: https://matplotlib.org/
+.. _`cvxpy`: https://www.cvxpy.org/
+.. _`pytest`: https://docs.pytest.org/en/latest/
+.. _`pytest-xdist`: https://github.com/pytest-dev/pytest-xdist
+.. _`mypy`: https://mypy-lang.org/
+.. _`sphinx`: https://www.sphinx-doc.org/en/master/index.html
+.. _`ruff`: https://github.com/astral-sh/ruff
+