Update docs

docs/Project.toml

@@ -1,5 +1,8 @@
 [deps]
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
+ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
 [compat]
 Documenter = "0.24"

docs/make.jl

@@ -1,24 +1,32 @@
 using Documenter
 using RobotDynamics
+using FiniteDiff
+using ForwardDiff
+using StaticArrays
 
 makedocs(
     sitename = "RobotDynamics",
     format = Documenter.HTML(prettyurls = false),
     pages = [
         "Introduction" => "index.md",
-        "Getting Started" => [
-            "models.md",
-            "dynamics_evaluation.md"
+        "Dynamics Models" => [
+            "continuous.md",
+            "discrete.md",
         ],
-        "Documentation" => [
-            "discretization.md",
-            "knotpoints.md",
-            "liemodel.md",
-            "rigidbody.md",
-            "linearmodel.md",
-            "finite_diff.md",
-            "dynamics_api.md"   
-        ]
+        "Function Base" => "functionbase.md",
+        # "Getting Started" => [
+        #     "models.md",
+        #     "dynamics_evaluation.md"
+        # ],
+        # "Documentation" => [
+        #     "discretization.md",
+        #     "knotpoints.md",
+        #     "liemodel.md",
+        #     "rigidbody.md",
+        #     "linearmodel.md",
+        #     "finite_diff.md",
+        #     "dynamics_api.md"   
+        # ]
     ]
 )
 

docs/src/continuous.md

@@ -0,0 +1,23 @@
+# Continuous Dynamics
+
+```@meta
+CurrentModule = RobotDynamics
+```
+
+This page provides the API for continuous dynamics models.
+
+```@contents
+Pages = ["continuous.md"]
+Depth = 3
+```
+
+## Continuous Dynamics type
+```@docs
+ContinuousDynamics
+```
+
+## Methods on continuous dynamics types
+```@docs
+dynamics
+dynamics!
+```

docs/src/discrete.md

@@ -0,0 +1,54 @@
+# Discrete Dynamics
+
+```@meta
+CurrentModule = RobotDynamics
+```
+
+This page provides the API for discrete dynamics models.
+
+```@contents
+Pages = ["discrete.md"]
+Depth = 3
+```
+
+## Discrete Dynamics type
+```@docs
+DiscreteDynamics
+```
+
+## Methods for Discrete Dynamics models
+```@docs
+discrete_dynamics
+discrete_dynamics!
+dynamics_error
+dynamics_error!
+dynamics_error_jacobian!
+propagate_dynamics!
+```
+
+## Discretizing Continuous Models
+
+```@docs
+DiscretizedDynamics
+QuadratureRule
+Explicit
+Implicit
+```
+
+## Implemented Integrators
+### Explicit
+```@docs
+Euler
+RK3
+RK4
+```
+
+### Implicit
+```@docs
+ImplicitMidpoint
+```
+
+### Interal API
+```@docs
+ADVector
+```

docs/src/functionbase.md

@@ -0,0 +1,26 @@
+# `AbstractFunction` API
+```@meta
+CurrentModule = RobotDynamics
+```
+
+RobotDynamics sets up a unified framework for evaluating functions accepting a 
+state and control vector as inputs, not just dynamics functions. This can be used 
+by downstream packages to define functions such as cost functions or constraints.
+This page details the API behind this abstraction, which is used quite heavily 
+to set up the functionality for defining dynamics models. This should provide the 
+insight into the internal workings of the package.
+
+## The `AbstractFunction` Type
+```@docs
+AbstractFunction
+dims
+input_dim
+```
+
+## Traits on `AbstractFunction`
+```@docs
+FunctionSignature
+DiffMethod
+FunctionInputs
+functioninputs
+```