[doc]Update some installation documentation
Installation
**********************
-Installation instructions for Python API
+Installing Python API
=========================================
Basic installation
--------------------------
-To install `toppra`, ensure that `numpy` and `cython` are installed, then run
+Run the below command to run the stable version of the Python API
.. code-block:: shell
- pip install numpy cython
- git clone https://github.com/hungpham2511/toppra && cd toppra/
- pip install .
+ pip install git+https://github.com/hungpham2511/toppra
+
+The development version can be installed with this instead.
+
+.. code-block:: shell
+
+ pip install git+https://github.com/hungpham2511/toppra@develop
You can now try a basic example:
.. code-block:: shell
- python examples/kinematics.py
+ python examples/plot_kinematics.py
-Advanced: Other solver backends
+Installing other solver backends
--------------------------------
The default installation comes with an implementation of the seidel LP
@@ -35,8 +39,7 @@ To install `qpoases` run following command after installing `pyinvoke`
.. code-block:: shell
- invoke install-solvers
-
+ inv install-solvers
To install other backends (cvxpy, cvxopt, ecos), install the `dev`
extra requirements:
@@ -45,48 +48,12 @@ extra requirements:
pip install .[dev]
-
-Advanced: OpenRAVE and Pymanoid
---------------------------------------
-
-In order to run some of the examples, it is necessary to install
-`openRAVE <https://github.com/rdiankov/openrave>`_. A good instruction
-for installing this library on Ubuntu 16.04 can be found `here
-<https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html>`_.
-
-.. note:: The humanoid and redundantly-actuated torque examples are not
- yet included in the current library. See tag ``v0.1`` if you
- want to run these examples.
-
-Multi-contact and torque bounds. To use these functionality, the
-following libraries are needed:
-
-1. [openRAVE](https://github.com/rdiankov/openrave)
-2. [pymanoid](https://github.com/stephane-caron/pymanoid)
-
-`openRAVE` can be tricky to install, a good instruction for installing
-`openRAVE` on Ubuntu 16.04 can be
-found
-[here](https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html).
-
-To install `pymanoid` locally, do the following
-``` sh
-mkdir git && cd git
-git clone <pymanoid-git-url>
-git checkout 54299cf
-export PYTHONPATH=$PYTHONPATH:$HOME/git/pymanoid
-```
-
-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
+Installing C++ API
=========================================
-See `cpp/README.md` for more details.
+See `cpp/README.md
+<https://github.com/hungpham2511/toppra/blob/develop/cpp/README.md>`_
+for more details.
Building docs
==============================
