Update documentation

.gitignore

@@ -15,4 +15,17 @@ urdfs/
 .vscode/
 
 # sphinx
-docs/build/
+docs/build/
+
+# Generated documentation
+_build/
+docs/build/
+docs/source/**/generated/
+docs/_site
+_site
+docs/dev
+
+# MACOS
+.ds_store
+.DS_Store
+.DS_STORE

docs/source/_templates/autosummary/class.rst

@@ -0,0 +1,33 @@
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+.. autoclass:: {{ objname }}
+   :members:
+   :show-inheritance:
+   :inherited-members:
+   :undoc-members:
+
+   {% block methods %}
+   .. automethod:: __init__
+
+   {% if methods %}
+   .. rubric:: {{ _('Methods') }}
+
+   .. autosummary::
+   {% for item in methods %}
+      ~{{ name }}.{{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}
+
+   {% block attributes %}
+   {% if attributes %}
+   .. rubric:: {{ _('Attributes') }}
+
+   .. autosummary::
+   {% for item in attributes %}
+      ~{{ name }}.{{ item }}
+   {%- endfor %}
+   {% endif %}
+   {% endblock %}

docs/source/planner/armour.rst

@@ -1,2 +1,58 @@
 Example RTD Planner Implementation of ARMOUR
-============================================
+============================================
+
+ArmourPlanner and these related components define the ARMOUR planner as described by Michaux et. al. in https://arxiv.org/abs/2301.13308.
+This planner requires the use of the matching robust controller.
+Currently a kinematics-only minimal version of this is implemented.
+
+The Base ARMOUR Planner
+-----------------------
+.. autoclass:: armour.ArmourPlanner.ArmourPlanner
+   :show-inheritance:
+   :members:
+   :undoc-members:
+
+Reachable Set Generation
+------------------------
+.. automodule:: armour.reachsets
+   :show-inheritance:
+   :members:
+   :undoc-members:
+.. currentmodule:: armour.reachsets
+
+Generation of reachable sets are implemented as constraint generating classes, with the following classes generating instances for the constraints.
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    JRSGenerator
+    JLSGenerator
+    FOGenerator
+    IRSGenerator
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    JRSInstance
+    JLSInstance
+    FOInstance
+    IRSInstance
+
+Trajectory Types and Factory
+----------------------------
+.. automodule:: armour.trajectory
+   :show-inheritance:
+   :members:
+   :undoc-members:
+.. currentmodule:: armour.trajectory
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    ZeroHoldArmTrajectory
+    PiecewiseArmTrajectory
+    BernsteinArmTrajectory
+    ArmTrajectoryFactory

docs/source/planner/rtd.rst

@@ -1,2 +1,67 @@
 RTD Planner Interfaces and Base Classes
-=======================================
+=======================================
+
+The core components to any mid-level RTD Planner.
+
+The RTD Planner
+---------------
+
+This is an interface to specify the midlevel planner.
+It's written to be relatively isolated from the rest of the simulation package.
+
+.. autoclass:: rtd.planner.RtdPlanner
+   :show-inheritance:
+   :members:
+   :undoc-members:
+
+Reachable Sets Generation Interfaces
+------------------------------------
+.. automodule:: rtd.planner.reachsets
+   :show-inheritance:
+   :members:
+   :undoc-members:
+.. currentmodule:: rtd.planner.reachsets
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    ReachSetGenerator
+    ReachSetInstance
+
+Trajectory Interfaces
+---------------------
+.. automodule:: rtd.planner.trajectory
+   :show-inheritance:
+   :members:
+   :undoc-members:
+.. currentmodule:: rtd.planner.trajectory
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    Trajectory
+    InvalidTrajectory
+    TrajectoryFactory
+    TrajectoryContainer
+    BadTrajectoryException
+
+Trajectory Optimization Interfaces & Components
+-----------------------------------------------
+.. automodule:: rtd.planner.trajopt
+   :show-inheritance:
+   :members:
+   :undoc-members:
+.. currentmodule:: rtd.planner.trajopt
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    TrajOptProps
+    Objective
+    GenericArmObjective
+    OptimizationEngine
+    ScipyOptimizationEngine
+    RtdTrajOpt

docs/source/setup.rst

@@ -3,10 +3,38 @@ Setup Guide
 
 *rtd-code-python requires Python 3 or higher. For best results, use Python 3.11.3*
 
+General Setup
+-------------
+
 1. Clone the repository and open a terminal in the root directory
-2. Install *virtualenv* with `py -m pip install virtualenv`
-3. Create a new Virtual Environment with `py -m venv rtd_venv`
-4. Activate the Virtual Environment with `rtd_venv\scripts\activate`
-5. Install *rtd-code-python* and its dependencies with `py -m pip install -r requirements.txt`
-6. Optionally, open a terminal inside `scripts\demos` and run the demo scripts
+2. Install *virtualenv* with ``py -m pip install virtualenv``
+3. Create a new Virtual Environment with ``py -m venv rtd_venv``
+4. Activate the Virtual Environment with ``rtd_venv\scripts\activate``
+5. Install *rtd-code-python* and its dependencies with ``py -m pip install -r requirements.txt``
+6. Optionally, open a terminal inside ``scripts\demos`` and run the demo scripts
+
+(Alternative) Conda Quickstart
+------------------------------
+
+Another way to setup rtd-code-python is through the creation and use of a conda environment.
+In your desired folder, run the following commands to get a conda environment called ``rtd-code`` setup
+
+.. code-block:: bash
+
+    # Create conda environment and install python 3.11.3 & pytorch 2.0.1
+    # Adjust the torch packages according to your system
+    conda create -n rtd-code python==3.11.3 pytorch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 pytorch-cuda=11.8 -c pytorch -c nvidia
+    conda activate rtd-code
+
+    # Clone zonopy dependencies and RTD-Code, and install
+    git clone [email protected]:roahmlab/zonopy.git
+    git clone [email protected]:roahmlab/zonopy-robots.git
+    git clone [email protected]:roahmlab/rtd-code-python.git
+    pip install -r rtd-code-python/requirements.txt -e zonopy/ -e zonopy-robots/ -e rtd-code-python/
+
+
+Obtaining URDFs
+---------------
 
+To obtain the URDFs used in the demos, please visit the `ARMOUR <https://github.com/roahmlab/armour>`_ repository and download the ``urdfs`` folder.
+Place the ``urdfs`` folder in the parent directory of the rtd-code-python repository in order to run ``scripts\demos\planner_demo.py``.