[doc]Minor change to installation instruction
.. _installation:
-Installation instructions
-==========================
+Installation instructions for Python API
+=========================================
Basic installation
--------------------------
-To install toppra, ensure that numpy and cython are installed, then:
+To install `toppra`, ensure that `numpy` and `cython` are installed, then run
.. code-block:: shell
pip install numpy cython
git clone https://github.com/hungpham2511/toppra && cd toppra/
- python setup.py install
+ pip install .
-You can now use toppra. Try a basic example here:
+You can now try a basic example:
.. code-block:: shell
python examples/kinematics.py
-Generally, Python packages should be installed in a `virtual
-environment <https://docs.python-guide.org/dev/virtualenvs/>`_. See
-the hyperlink for more details. To install TOPP-RA in a virtual
-environment, simply activate the environment and do the above steps
-omitting the :code:`--user` flag.
-
Advanced: Other solver backends
--------------------------------
@@ -34,20 +28,20 @@ The default installation comes with an implementation of the seidel LP
solver, specialized for parametrization problem. Other backends are
also available.
-To install `qpoases` run following commands in a terminal:
+To install `qpoases` run following command after installing `pyinvoke`
.. code-block:: shell
- git clone https://github.com/hungpham2511/qpOASES
- cd qpOASES/ && mkdir bin && make
- cd interfaces/python/
- python setup.py install --user
+ invoke install-solvers
+
-To install other backends (cvxpy, cvxopt, ecos):
+To install other backends (cvxpy, cvxopt, ecos), install the `dev`
+extra requirements:
.. code-block:: shell
- pip install -r requirements.txt
+ pip install .[dev]
+
Advanced: OpenRAVE and Pymanoid
--------------------------------------
@@ -86,32 +80,41 @@ Advanced: toppra C++ and bindings
A C++ toppra API with python bindings is being developed. For
instruction see `toppra/cpp/README.md`.
+Installation instructions for C++ API
+=========================================
+
+See `cpp/README.md` for more details.
+
Building docs
-------------------------------
+==============================
The latest documentation is available at
-`<https://hungpham2511.github.io/toppra/>`_.
+`<https://toppra.readthedocs.io/en/latest/>`_.
-To build and view the documentation, install `sphinx
+To build and view the documentation locally, install `sphinx
<http://www.sphinx-doc.org/en/stable/index.html>`_ then run the
-following commands in the terminal
+following command in the terminal
.. code-block:: shell
- cd <toppra-dir>/docs/
- make clean && make html
- <browser> build/index.html
+ invoke build-docs
+
+The C++ API has its own doxygen-based API.
Testing
--------------------------------
+===============================
-TOPP-RA test suites use :code:`pytest` for running unittests and
-:code:`cvxpy` to verify computational results. Both libraries can be
-installed from :code:`pip`. To run all the tests, do:
+The Python API test suites use :code:`pytest` for running unittests,
+you will need to install the `dev` extra (See above) and run `pytest`
+to run the full suite.
.. code-block:: sh
cd <toppra-dir>/
pytest -v
+The C++ API has a set of unit tests as well, from the build folder run:
+
+.. code-block:: sh
+ ./tests/all_tests
