Reorganize dox files

.gitignore

@@ -22,4 +22,3 @@ cython/gtsam_wrapper.pxd
 # for QtCreator:
 CMakeLists.txt.user*
 docs/build
-docs/source/_static

docs/Doxyfile

@@ -2261,7 +2261,7 @@ HIDE_UNDOC_RELATIONS   = YES
 # set to NO
 # The default value is: YES.
 
-HAVE_DOT               = NO
+HAVE_DOT               = YES
 
 # The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
 # to run in parallel. When set to 0 doxygen will base this on the number of

docs/_static/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

docs/source/TutorialCreateNewFactor.rst

@@ -0,0 +1,23 @@
+Creating new factor and variable types
+=======================================
+
+GTSAM comes with a set of variable and factor types typically used in SFM and
+SLAM.  Geometry variables such as points and poses are in the geometry
+subdirectory and module.  Factors such as BetweenFactor and BearingFactor are in
+the gtsam/slam directory.
+
+To use GTSAM to solve your own problems, you will often have to create new factor
+types, which derive either from NonlinearFactor or NoiseModelFactor, or one of
+their derived types.  Here is an outline of the options:
+
+- The number of variables your factor involves is <b>unknown</b> at compile time - derive from NoiseModelFactor and implement NoiseModelFactor::unwhitenedError()
+
+  - This is a factor expressing the sum-of-squares error between a measurement \f$ z \f$ and a measurement prediction function \f$ h(x) \f$, on which the errors are expected to follow some distribution specified by a noise model (see noiseModel).
+
+- The number of variables your factor involves is <b>known</b> at compile time and is between 1 and 6 - derive from NoiseModelFactor1, NoiseModelFactor2, NoiseModelFactor3, NoiseModelFactor4, NoiseModelFactor5, or NoiseModelFactor6, and implement <b>\c evaluateError()</b>
+
+  - This factor expresses the same sum-of-squares error with a noise model, but makes the implementation task slightly easier than with %NoiseModelFactor.
+
+- Derive from NonlinearFactor
+
+  - This is more advanced and allows creating factors without an explicit noise model, or that linearize to HessianFactor instead of JacobianFactor.

docs/source/Tutorials.rst

@@ -7,6 +7,7 @@ Tutorials
 
    KeyConcepts
    FactorGraphsAndGTSAM
+   TutorialCreateNewFactor
    CppExamples
    PythonExamples
    MatlabExamples

docs/source/_static/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

docs/source/conf.py

@@ -20,7 +20,7 @@
 read_the_docs_build = os.environ.get('READTHEDOCS', None) == 'True'
 
 if read_the_docs_build:
-    subprocess.call('cd ..; mkdir -p build/html/doxygen/; doxygen; mkdir _static || true; cp -r build/html/doxygen source/_static/', shell=True)
+    subprocess.call('cd ..; mkdir -p build/html/doxygen/; doxygen; cp -r build/html/doxygen source/_static/', shell=True)
 
 # -- Project information -----------------------------------------------------
 project = u'GTSAM'

gtsam/mainpage.dox

@@ -1,25 +1,13 @@
-// This causes Doxygen to find classes inside the gtsam namespace without
-// explicitly specifying it when writing class names.
-namespace gtsam {
 /**
-
 \mainpage GTSAM
 
-\section new_factor_variable_types Creating new factor and variable types
-
-GTSAM comes with a set of variable and factor types typically used in SFM and
-SLAM.  Geometry variables such as points and poses are in the geometry
-subdirectory and module.  Factors such as BetweenFactor and BearingFactor are in
-the gtsam/slam directory.
+Get back to [main documentation root](../../../index.html)...
 
-To use GTSAM to solve your own problems, you will often have to create new factor types, which derive either from NonlinearFactor or NoiseModelFactor, or one of their derived types.  Here is an outline of the options:
+\htmlonly
+<script>
+location.replace("../../../index.html")
+</script>
+\endhtmlonly
 
--# The number of variables your factor involves is <b>unknown</b> at compile time - derive from NoiseModelFactor and implement NoiseModelFactor::unwhitenedError()
-   - This is a factor expressing the sum-of-squares error between a measurement \f$ z \f$ and a measurement prediction function \f$ h(x) \f$, on which the errors are expected to follow some distribution specified by a noise model (see noiseModel).
--# The number of variables your factor involves is <b>known</b> at compile time and is between 1 and 6 - derive from NoiseModelFactor1, NoiseModelFactor2, NoiseModelFactor3, NoiseModelFactor4, NoiseModelFactor5, or NoiseModelFactor6, and implement <b>\c evaluateError()</b>
-   - This factor expresses the same sum-of-squares error with a noise model, but makes the implementation task slightly easier than with %NoiseModelFactor.
--# Derive from NonlinearFactor
-   - This is more advanced and allows creating factors without an explicit noise model, or that linearize to HessianFactor instead of JacobianFactor.
 
 */
-}

gtsam_unstable/mainpage.dox → gtsam_unstable/gtsam_unstable.dox

@@ -1,20 +1,13 @@
-// This causes Doxygen to find classes inside the gtsam namespace without
-// explicitly specifying it when writing class names.
-namespace gtsam {
-
 /**
 
-\mainpage GTSAM_UNSTABLE
-
-\section  gtsam_unstable_overview GTSAM_UNSTABLE Overview
+\page gtsam_unstable_overview gtsam_unstable overview
 
-GTSAM_UNSTABLE is a set of experimental additions to GTSAM that are not fully ready to be 
+GTSAM_UNSTABLE is a set of experimental additions to GTSAM that are not fully ready to be
 integrated into the rest of the library.  This library is actively maintained,
 and should follow the same design procedures as GTSAM.
 
 Because parts of this library are supposed to be a part of GTSAM, all code should
-be in the gtsam namespace, rather than a gtsam_unstable namespace.    
+be in the gtsam namespace, rather than a gtsam_unstable namespace.
 
-*/
 
-}
+*/