Migrated from GitHub

.gitattributes

@@ -57,3 +57,15 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.pdf filter=lfs diff=lfs merge=lfs -text
+data/mir_command_tools/mir_teleop/ros/doc/youbot_joypad_description.vsd filter=lfs diff=lfs merge=lfs -text
+data/mir_common/mir_description/meshes/grippers/dynamixel/d435_center/dynamixel_motor_mount.stl filter=lfs diff=lfs merge=lfs -text
+data/mir_common/mir_description/meshes/grippers/dynamixel/v3/dynamixel_intel_camera_combined.stl filter=lfs diff=lfs merge=lfs -text
+data/mir_common/mir_description/meshes/sensor_mounts/d435.dae filter=lfs diff=lfs merge=lfs -text
+data/mir_perception/mir_cavity_detector/tools/code/feature_extraction_from_dataset filter=lfs diff=lfs merge=lfs -text
+data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text
+data/mir_perception/mir_object_recognition/common/config/dgcnn_asus/model.ckpt.meta filter=lfs diff=lfs merge=lfs -text
+data/mir_perception/mir_object_recognition/common/config/squeezeDet/atwork_sydney/model.ckpt.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text
+data/mir_perception/mir_object_recognition/common/config/squeezeDet/atwork_sydney/model.ckpt.meta filter=lfs diff=lfs merge=lfs -text
+data/mir_perception/mir_object_recognition/common/config/squeezeDet/stable/model.ckpt.data-00000-of-00001 filter=lfs diff=lfs merge=lfs -text
+data/mir_perception/mir_object_recognition/common/config/squeezeDet/stable/model.ckpt.meta filter=lfs diff=lfs merge=lfs -text

data/.clang-format

@@ -0,0 +1,90 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Linux
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+ColumnLimit:     100
+CommentPragmas:  '^ IWYU pragma:'
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IncludeCategories:
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IndentCaseLabels: true
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+ReflowComments:  true
+SortIncludes:    true
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+TabWidth:        8
+UseTab:          Never
+...
+

data/.isort.cfg

@@ -0,0 +1,7 @@
+[settings]
+known_third_party = PIL,actionlib,actionlib_msgs,arm_navigation_msgs,at_work_robot_example_ros,atwork_ros_msgs,brics_actuator,catkin_pkg,diagnostic_msgs,dynamic_reconfigure,geometry_msgs,mas_perception_msgs,mcr_common_converters_ros,mcr_manipulation_measurers_ros,mcr_manipulation_msgs,mcr_manipulation_pose_selector_ros,mcr_perception_msgs,mcr_perception_states,mcr_pose_generation_ros,mcr_states,mercury_planner,mir_actions,mir_controller_msgs,mir_knowledge,mir_knowledge_ros,mir_navigation_msgs,mir_planning_msgs,mir_planning_visualisation,mir_pregrasp_planning,mir_pregrasp_planning_ros,mir_states,mir_states_common,mir_world_generation,move_base_msgs,moveit_commander,moveit_msgs,nav_msgs,numpy,pandas,param_server_utils,roslib,rospkg,rosplan_dispatch_msgs,rosplan_knowledge_msgs,rospy,rostest,rosunit,sensor_msgs,shape_msgs,simple_script_server,smach,smach_ros,std_msgs,std_srvs,tf,visualization_msgs,yaml,zmq
+multi_line_output=3
+include_trailing_comma=True
+force_grid_wrap=0
+use_parentheses=True
+line_length=88

data/.pre-commit-config.yaml

@@ -0,0 +1,53 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+repos:
+    -   repo: https://github.com/asottile/seed-isort-config
+        rev: v1.9.3
+        hooks:
+            -   id: seed-isort-config
+
+    -   repo: https://github.com/pre-commit/mirrors-isort
+        rev: v4.3.21
+        hooks:
+            -   id: isort
+
+    -   repo: https://github.com/ambv/black
+        rev: stable
+        hooks:
+            -   id: black
+                language_version: python3.7     # Black requires python3.6 or above to run
+
+    -   repo: https://github.com/pycqa/pylint
+        rev: pylint-2.4.4
+        hooks:
+            -   id: pylint
+                entry: pylint --verbose --jobs 4
+                language_version: python3.7
+
+    -   repo: https://github.com/pocc/pre-commit-hooks
+        rev: python
+        hooks:
+            -   id: clang-format
+                language_version: python3.7
+
+    -   repo: https://github.com/bmorcos/pre-commit-hooks-cpp
+        rev: master
+        hooks:
+            -   id: cpplint
+            -   id: cppcheck
+
+
+    -   repo: https://github.com/pre-commit/pre-commit-hooks
+        rev: v2.5.0
+        hooks:
+            -   id: trailing-whitespace
+            -   id: check-json
+            -   id: check-yaml
+            -   id: check-toml
+            -   id: check-xml
+            -   id: check-merge-conflict
+            -   id: mixed-line-ending
+            -   id: name-tests-test
+                args: ['--django']
+            -   id: no-commit-to-branch
+                args: [-b, kinetic, -b, melodic]

data/.pylintrc

@@ -0,0 +1,553 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=1
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=print-statement,
+        parameter-unpacking,
+        unpacking-in-except,
+        old-raise-syntax,
+        backtick,
+        long-suffix,
+        old-ne-operator,
+        old-octal-literal,
+        import-star-module-level,
+        non-ascii-bytes-literal,
+        invalid-unicode-literal,
+        raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        locally-enabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        apply-builtin,
+        basestring-builtin,
+        buffer-builtin,
+        cmp-builtin,
+        coerce-builtin,
+        execfile-builtin,
+        file-builtin,
+        long-builtin,
+        raw_input-builtin,
+        reduce-builtin,
+        standarderror-builtin,
+        unicode-builtin,
+        xrange-builtin,
+        coerce-method,
+        delslice-method,
+        getslice-method,
+        setslice-method,
+        no-absolute-import,
+        old-division,
+        dict-iter-method,
+        dict-view-method,
+        next-method-called,
+        metaclass-assignment,
+        indexing-exception,
+        raising-string,
+        reload-builtin,
+        oct-method,
+        hex-method,
+        nonzero-method,
+        cmp-method,
+        input-builtin,
+        round-builtin,
+        intern-builtin,
+        unichr-builtin,
+        map-builtin-not-iterating,
+        zip-builtin-not-iterating,
+        range-builtin-not-iterating,
+        filter-builtin-not-iterating,
+        using-cmp-argument,
+        eq-without-hash,
+        div-method,
+        idiv-method,
+        rdiv-method,
+        exception-message-attribute,
+        invalid-str-codec,
+        sys-max-int,
+        bad-python3-import,
+        deprecated-string-function,
+        deprecated-str-translate-call,
+        deprecated-itertools-function,
+        deprecated-types-field,
+        next-method-defined,
+        dict-items-not-iterating,
+        dict-keys-not-iterating,
+        dict-values-not-iterating,
+        deprecated-operator-function,
+        deprecated-urllib-function,
+        xreadlines-attribute,
+        deprecated-sys-function,
+        exception-escape,
+        comprehension-escape,
+        R0205,  # Python 2.7 classes require object
+        E0401,  # Rospkg cant be imported in python 3.7
+        C0330,  # Black code formatter takes care of this
+        W0703   # To be removed later after specifying exceptions
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='    '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins,io,builtins
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception

data/.readthedocs.yaml

@@ -0,0 +1,35 @@
+# Read the Docs configuration file for Sphinx projects
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the OS, Python version and other tools you might need
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.11"
+    # You can also specify other tool versions:
+    # nodejs: "20"
+    # rust: "1.70"
+    # golang: "1.20"
+
+# Build documentation in the "docs/" directory with Sphinx
+sphinx:
+  configuration: docs/source/conf.py
+  # You can configure Sphinx to use a different builder, for instance use the dirhtml builder for simpler URLs
+  # builder: "dirhtml"
+  # Fail on all warnings to avoid broken references
+  # fail_on_warning: true
+
+# Optionally build your docs in additional formats such as PDF and ePub
+formats:
+   - pdf
+   - epub
+
+# Optional but recommended, declare the Python requirements required
+# to build your documentation
+# See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
+python:
+   install:
+   - requirements: docs/requirements.txt

data/Doxyfile

@@ -0,0 +1,1783 @@
+# Doxyfile 1.7.6.1
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a hash (#) is considered a comment and will be ignored.
+# The format is:
+#       TAG = value [value, ...]
+# For lists items can also be appended using:
+#       TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ").
+
+# ---------------------------------------------------------------------------
+# Project related configuration options
+# ---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the config file
+# that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# http://www.gnu.org/software/libiconv for the list of possible encodings.
+
+DOXYFILE_ENCODING = UTF - 8
+
+# The PROJECT_NAME tag is a single word (or sequence of words) that should
+# identify the project. Note that if you do not use Doxywizard you need
+# to put quotes around the project name if it contains spaces.
+
+PROJECT_NAME = "mas_industrial_robotics"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER =
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer
+# a quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF =
+
+# With the PROJECT_LOGO tag one can specify an logo or icon that is
+# included in the documentation. The maximum height of the logo should not
+# exceed 55 pixels and the maximum width should not exceed 200 pixels.
+# Doxygen will copy the logo to the output directory.
+
+PROJECT_LOGO =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY =
+
+# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
+# 4096 sub-directories (in 2 levels) under the output directory of each output
+# format and will distribute the generated files over these directories.
+# Enabling this option can be useful when feeding doxygen a huge amount of
+# source files, where putting all generated files in the same directory would
+# otherwise cause performance problems for the file system.
+
+CREATE_SUBDIRS = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
+# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
+# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
+# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
+# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak,
+# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
+
+OUTPUT_LANGUAGE = English
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator
+# that is used to form the text in various listings. Each string
+# in this list, if found as the leading text of the brief description, will be
+# stripped from the text and the result after processing the whole list, is
+# used as the annotated text. Otherwise, the brief description is used as-is.
+# If left blank, the following values are used ("$name" is automatically
+# replaced with the name of the entity): "The $name class" "The $name widget"
+# "The $name file" "is" "provides" "specifies" "contains"
+# "represents" "a" "an" "the"
+
+ABBREVIATE_BRIEF =
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES = YES
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user-defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the
+# path to strip.
+
+STRIP_FROM_PATH =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
+# the path mentioned in the documentation of a class, which tells
+# the reader which header file to include in order to use a class.
+# If left blank only the name of the header file containing the class
+# definition is used. Otherwise one should specify the include paths that
+# are normally passed to the compiler using the -I flag.
+
+STRIP_FROM_INC_PATH =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful if your file system
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like regular Qt-style comments
+# (thus requiring an explicit @brief command for a brief description.)
+
+JAVADOC_AUTOBRIEF = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then Doxygen will
+# interpret the first line (until the first dot) of a Qt-style
+# comment as the brief description. If set to NO, the comments
+# will behave just like regular Qt-style comments (thus requiring
+# an explicit \brief command for a brief description.)
+
+QT_AUTOBRIEF = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
+# treat a multi-line C++ special comment block (i.e. a block of //! or ///
+# comments) as a brief description. This used to be the default behaviour.
+# The new default is to treat a multi-line C++ comment block as a detailed
+# description. Set this tag to YES if you prefer the old behaviour instead.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# re-implements.
+
+INHERIT_DOCS = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
+# a new page for each member. If set to NO, the documentation of a member will
+# be part of the file/class/namespace that contains it.
+
+SEPARATE_MEMBER_PAGES = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE = 8
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user-defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES =
+
+# This tag can be used to specify a number of word-keyword mappings (TCL only).
+# A mapping has the form "name=value". For example adding
+# "class=itcl::class" will allow you to use the command class in the
+# itcl::class meaning.
+
+TCL_SUBST =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
+# sources only. Doxygen will then generate output that is more tailored for C.
+# For instance, some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
+# sources only. Doxygen will then generate output that is more tailored for
+# Java. For instance, namespaces will be presented as packages, qualified
+# scopes will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources only. Doxygen will then generate output that is more tailored for
+# Fortran.
+
+OPTIMIZE_FOR_FORTRAN = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for
+# VHDL.
+
+OPTIMIZE_OUTPUT_VHDL = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given extension.
+# Doxygen has a built-in mapping, but you can override or extend it using this
+# tag. The format is ext=language, where ext is a file extension, and language
+# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C,
+# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make
+# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C
+# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions
+# you also need to set FILE_PATTERNS otherwise the files are not read by
+# doxygen.
+
+EXTENSION_MAPPING =
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should
+# set this tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
+# func(std::string) {}). This also makes the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+
+BUILTIN_STL_SUPPORT = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+
+CPP_CLI_SUPPORT = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
+# Doxygen will parse them like normal C++ but will assume all classes use public
+# instead of private inheritance when no explicit protection keyword is
+# present.
+
+SIP_SUPPORT = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate getter
+# and setter methods for a property. Setting this option to YES (the default)
+# will make doxygen replace the get and set methods by a property in the
+# documentation. This will only work if the methods are indeed getting or
+# setting a simple type. If this is not the case, or you want to show the
+# methods anyway, you should set this option to NO.
+
+IDL_PROPERTY_SUPPORT = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC = NO
+
+# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
+# the same type (for instance a group of public functions) to be put as a
+# subgroup of that type (e.g. under the Public Functions section). Set it to
+# NO to prevent subgrouping. Alternatively, this can be done per class using
+# the \nosubgrouping command.
+
+SUBGROUPING = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
+# unions are shown inside the group in which they are included (e.g. using
+# @ingroup) instead of on a separate page (for HTML and Man pages) or
+# section (for LaTeX and RTF).
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
+# unions with only public data fields will be shown inline in the documentation
+# of the scope in which they are defined (i.e. file, namespace, or group
+# documentation), provided this scope is documented. If set to NO (the default),
+# structs, classes, and unions are shown on a separate page (for HTML and Man
+# pages) or section (for LaTeX and RTF).
+
+INLINE_SIMPLE_STRUCTS = NO
+
+# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
+# is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically
+# be useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+
+TYPEDEF_HIDES_STRUCT = NO
+
+# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
+# determine which symbols to keep in memory and which to flush to disk.
+# When the cache is full, less often used symbols will be written to disk.
+# For small to medium size projects (<1000 input files) the default value is
+# probably good enough. For larger projects a too small cache size can cause
+# doxygen to be busy swapping symbols to and from disk most of the time
+# causing a significant performance penalty.
+# If the system has enough physical memory increasing the cache will improve the
+# performance by keeping more symbols in memory. Note that the value works on
+# a logarithmic scale so increasing the size by one will roughly double the
+# memory usage. The cache size is given by this formula:
+# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
+# corresponding to a cache size of 2^16 = 65536 symbols.
+
+SYMBOL_CACHE_SIZE = 0
+
+# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
+# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
+# their name and scope. Since this can be an expensive process and often the
+# same symbol appear multiple times in the code, doxygen keeps a cache of
+# pre-resolved symbols. If the cache is too small doxygen will become slower.
+# If the cache is too large, memory is wasted. The cache size is given by this
+# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
+# corresponding to a cache size of 2^16 = 65536 symbols.
+
+LOOKUP_CACHE_SIZE = 0
+
+# ---------------------------------------------------------------------------
+# Build related configuration options
+# ---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC = YES
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# This flag is only useful for Objective-C code. When set to YES local
+# methods, which are defined in the implementation section but not in
+# the interface are included in the documentation.
+# If set to NO (the default) only methods in the interface are included.
+
+EXTRACT_LOCAL_METHODS = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base
+# name of the file that contains the anonymous namespace. By default
+# anonymous namespaces are hidden.
+
+EXTRACT_ANON_NSPACES = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these classes will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
+# friend (class|struct|union) declarations.
+# If set to NO (the default) these declarations will be included in the
+# documentation.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
+# documentation blocks found inside the body of a function.
+# If set to NO (the default) these blocks will be appended to the
+# function's detailed documentation block.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put a list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
+# will list include files with double quotes in the documentation
+# rather than with sharp brackets.
+
+FORCE_LOCAL_INCLUDES = NO
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
+# brief documentation of file, namespace and class members alphabetically
+# by member name. If set to NO (the default) the members will appear in
+# declaration order.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
+# will sort the (brief and detailed) documentation of class members so that
+# constructors and destructors are listed first. If set to NO (the default)
+# the constructors will appear in the respective orders defined by
+# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
+# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
+# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
+# hierarchy of group names into alphabetical order. If set to NO (the default)
+# the group names will appear in their defined order.
+
+SORT_GROUP_NAMES = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
+# sorted by fully-qualified names, including namespaces. If set to
+# NO (the default), the class list will be sorted only by class name,
+# not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the
+# alphabetical list.
+
+SORT_BY_SCOPE_NAME = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
+# do proper type resolution of all parameters of a function it will reject a
+# match between the prototype and the implementation of a member function even
+# if there is only one candidate or it is obvious which candidate to choose
+# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
+# will still accept a match between prototype and implementation in such cases.
+
+STRICT_PROTO_MATCHING = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
+# disable (NO) the deprecated list. This list is created by putting
+# \deprecated commands in the documentation.
+
+GENERATE_DEPRECATEDLIST = YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or macro consists of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and macros in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES = YES
+
+# If the sources in your project are distributed over multiple directories
+# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
+# in the documentation. The default is NO.
+
+SHOW_DIRECTORIES = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
+# This will remove the Files entry from the Quick Index and from the
+# Folder Tree View (if specified). The default is YES.
+
+SHOW_FILES = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
+# Namespaces page.
+# This will remove the Namespaces entry from the Quick Index
+# and from the Folder Tree View (if specified). The default is YES.
+
+SHOW_NAMESPACES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command <command> <input-file>, where <command> is the value of
+# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
+# provided by doxygen. Whatever the program writes to standard output
+# is used as the file version. See the manual for examples.
+
+FILE_VERSION_FILTER =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. The create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option.
+# You can optionally specify a file name after the option, if omitted
+# DoxygenLayout.xml will be used as the name of the layout file.
+
+LAYOUT_FILE =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files
+# containing the references data. This must be a list of .bib files. The
+# .bib extension is automatically appended if omitted. Using this command
+# requires the bibtex tool to be installed. See also
+# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
+# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
+# feature you need bibtex and perl available in the search path.
+
+CITE_BIB_FILES =
+
+# ---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+# ---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some
+# parameters in a documented function, or documenting parameters that
+# don't exist or using markup commands wrongly.
+
+WARN_IF_DOC_ERROR = YES
+
+# The WARN_NO_PARAMDOC option can be enabled to get warnings for
+# functions that are documented, but have no documentation for their parameters
+# or return value. If set to NO (the default) doxygen will only warn about
+# wrong or incomplete parameter documentation, but not about the absence of
+# documentation.
+
+WARN_NO_PARAMDOC = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text. Optionally the format may contain
+# $version, which will be replaced by the version of the file (if it could
+# be obtained via FILE_VERSION_FILTER)
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE =
+
+# ---------------------------------------------------------------------------
+# configuration options related to the input files
+# ---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT =
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
+# also the default input encoding. Doxygen uses libiconv (or the iconv built
+# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
+# the list of possible encodings.
+
+INPUT_ENCODING = UTF - 8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
+# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
+# *.f90 *.f *.for *.vhd *.vhdl
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories. Note that the wildcards are matched
+# against the file with absolute path, so to exclude all test directories
+# for example use the pattern */test/*
+
+EXCLUDE_PATTERNS =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+
+EXCLUDE_SYMBOLS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output.
+# If FILTER_PATTERNS is specified, this tag will be
+# ignored.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis.
+# Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match.
+# The filters are a list of the form:
+# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
+# info on how filters are used. If FILTER_PATTERNS is empty or if
+# non of the patterns match the file name, INPUT_FILTER is applied.
+
+FILTER_PATTERNS = *.py = doxypy
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse (i.e. when SOURCE_BROWSER is set to YES).
+
+FILTER_SOURCE_FILES = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
+# and it is also possible to disable source filtering for a specific pattern
+# using *.ext= (so without naming a filter). This option only has effect when
+# FILTER_SOURCE_FILES is enabled.
+
+FILTER_SOURCE_PATTERNS =
+
+# ---------------------------------------------------------------------------
+# configuration options related to source browsing
+# ---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+# Note: To get rid of all source code in the generated output, make sure also
+# VERBATIM_HEADERS is set to NO.
+
+SOURCE_BROWSER = YES
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS = NO
+
+# If the REFERENCED_BY_RELATION tag is set to YES
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
+# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
+# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
+# link to the source code.
+# Otherwise they will link to the documentation.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code
+# will point to the HTML generated by the htags(1) tool instead of doxygen
+# built-in source browser. The htags tool is part of GNU's global source
+# tagging system (see http://www.gnu.org/software/global/global.html). You
+# will need version 4.8.6 or higher.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS = YES
+
+# ---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+# ---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX = YES
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX =
+
+# ---------------------------------------------------------------------------
+# configuration options related to the HTML output
+# ---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header. Note that when using a custom header you are responsible
+#  for the proper inclusion of any scripts and style sheets that doxygen
+# needs, which is dependent on the configuration options used.
+# It is advised to generate a default header using "doxygen -w html
+# header.html footer.html stylesheet.css YourConfigFile" and then modify
+# that header. Note that the header is subject to change so you typically
+# have to redo this when upgrading to a newer version of doxygen or when
+# changing the value of configuration settings such as GENERATE_TREEVIEW!
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet. Note that doxygen will try to copy
+# the style sheet file to the HTML output directory, so don't put your own
+# style sheet in the HTML output directory as well, or it will be erased!
+
+HTML_STYLESHEET =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that
+# the files will be copied as-is; there are no commands or markers available.
+
+HTML_EXTRA_FILES =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
+# Doxygen will adjust the colors in the style sheet and background images
+# according to this color. Hue is specified as an angle on a colorwheel,
+# see http://en.wikipedia.org/wiki/Hue for more information.
+# For instance the value 0 represents red, 60 is yellow, 120 is green,
+# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
+# The allowed range is 0 to 359.
+
+HTML_COLORSTYLE_HUE = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
+# the colors in the HTML output. For a value of 0 the output will use
+# grayscales only. A value of 255 will produce the most vivid colors.
+
+HTML_COLORSTYLE_SAT = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
+# the luminance component of the colors in the HTML output. Values below
+# 100 gradually make the output lighter, whereas values above 100 make
+# the output darker. The value divided by 100 is the actual gamma applied,
+# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
+# and 100 does not change the gamma.
+
+HTML_COLORSTYLE_GAMMA = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting
+# this to NO can help when comparing the output of multiple runs.
+
+HTML_TIMESTAMP = YES
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded. For this to work a browser that supports
+# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
+# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files
+# will be generated that can be used as input for Apple's Xcode 3
+# integrated development environment, introduced with OSX 10.5 (Leopard).
+# To create a documentation set, doxygen will generate a Makefile in the
+# HTML output directory. Running make will produce the docset in that
+# directory and running "make install" will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
+# it at startup.
+# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+
+GENERATE_DOCSET = NO
+
+# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
+# feed. A documentation feed provides an umbrella under which multiple
+# documentation sets from a single provider (such as a company or product suite)
+# can be grouped.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
+# should uniquely identify the documentation set bundle. This should be a
+# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
+# will append .docset to the name.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+
+DOCSET_PUBLISHER_ID = org.doxygen.Publisher
+
+# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
+
+DOCSET_PUBLISHER_NAME = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
+# be used to specify the file name of the resulting .chm file. You
+# can add a path in front of the file if the result should not be
+# written to the html output directory.
+
+CHM_FILE =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
+# be used to specify the location (absolute path including file name) of
+# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
+# the HTML help compiler on the generated index.hhp.
+
+HHC_LOCATION =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
+# is used to encode HtmlHelp index (hhk), content (hhc) and project file
+# content.
+
+CHM_INDEX_ENCODING =
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the HTML help documentation and to the tree view.
+
+TOC_EXPAND = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
+# that can be used as input for Qt's qhelpgenerator to generate a
+# Qt Compressed Help (.qch) of the generated HTML documentation.
+
+GENERATE_QHP = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
+# be used to specify the file name of the resulting .qch file.
+# The path specified is relative to the HTML output folder.
+
+QCH_FILE =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#namespace
+
+QHP_NAMESPACE = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
+# Qt Help Project output. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#virtual-folders
+
+QHP_VIRTUAL_FOLDER = doc
+
+# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
+# add. For more information please see
+# http://doc.trolltech.com/qthelpproject.html#custom-filters
+
+QHP_CUST_FILTER_NAME =
+
+# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see
+# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
+# Qt Help Project / Custom Filters</a>.
+
+QHP_CUST_FILTER_ATTRS =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's
+# filter section matches.
+# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
+# Qt Help Project / Filter Attributes</a>.
+
+QHP_SECT_FILTER_ATTRS =
+
+# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
+# be used to specify the location of Qt's qhelpgenerator.
+# If non-empty doxygen will try to run qhelpgenerator on the generated
+# .qhp file.
+
+QHG_LOCATION =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
+#  will be generated, which together with the HTML files, form an Eclipse help
+# plugin. To install this plugin and make it available under the help contents
+# menu in Eclipse, the contents of the directory containing the HTML and XML
+# files needs to be copied into the plugins directory of eclipse. The name of
+# the directory within the plugins directory should be the same as
+# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
+# the help appears.
+
+GENERATE_ECLIPSEHELP = NO
+
+# A unique identifier for the eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have
+# this name.
+
+ECLIPSE_DOC_ID = org.doxygen.Project
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
+# at top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it. Since the tabs have the same information as the
+# navigation tree you can set this option to NO if you already set
+# GENERATE_TREEVIEW to YES.
+
+DISABLE_INDEX = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information.
+# If the tag value is set to YES, a side panel will be generated
+# containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
+# Windows users are probably better off using the HTML help feature.
+# Since the tree basically has the same information as the tab index you
+# could consider to set DISABLE_INDEX to NO when enabling this option.
+
+GENERATE_TREEVIEW = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
+# (range [0,1..20]) that doxygen will group on one line in the generated HTML
+# documentation. Note that a value of 0 will completely suppress the enum
+# values from appearing in the overview section.
+
+ENUM_VALUES_PER_LINE = 4
+
+# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
+# and Class Hierarchy pages using a tree view instead of an ordered list.
+
+USE_INLINE_TREES = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH = 250
+
+# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
+# links to external symbols imported via tag files in a separate window.
+
+EXT_LINKS_IN_WINDOW = NO
+
+# Use this tag to change the font size of Latex formulas included
+# as images in the HTML documentation. The default is 10. Note that
+# when you change the font size after a successful doxygen run you need
+# to manually remove any form_*.png images from the HTML output directory
+# to force them to be regenerated.
+
+FORMULA_FONTSIZE = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are
+# not supported properly for IE 6.0, but are supported on all modern browsers.
+# Note that when changing this option you need to delete any form_*.png files
+# in the HTML output before the changes have effect.
+
+FORMULA_TRANSPARENT = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
+# (see http://www.mathjax.org) which uses client side Javascript for the
+# rendering instead of using prerendered bitmaps. Use this if you do not
+# have LaTeX installed or if you want to formulas look prettier in the HTML
+# output. When enabled you also need to install MathJax separately and
+# configure the path to it using the MATHJAX_RELPATH option.
+
+USE_MATHJAX = NO
+
+# When MathJax is enabled you need to specify the location relative to the
+# HTML output directory using the MATHJAX_RELPATH option. The destination
+# directory should contain the MathJax.js script. For instance, if the mathjax
+# directory is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the
+# mathjax.org site, so you can quickly see the result without installing
+# MathJax, but it is strongly recommended to install a local copy of MathJax
+# before deployment.
+
+MATHJAX_RELPATH = http: // www.mathjax.org / mathjax
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
+# names that should be enabled during MathJax rendering.
+
+MATHJAX_EXTENSIONS =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box
+# for the HTML output. The underlying search engine uses javascript
+# and DHTML and should work on any modern browser. Note that when using
+# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
+# (GENERATE_DOCSET) there is already a search function so this one should
+# typically be disabled. For large projects the javascript based search engine
+# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
+
+SEARCHENGINE = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a PHP enabled web server instead of at the web client
+# using Javascript. Doxygen will generate the search PHP script and index
+# file to put on the web server. The advantage of the server
+# based approach is that it scales better to large projects and allows
+# full text search. The disadvantages are that it is more difficult to setup
+# and does not have live searching capabilities.
+
+SERVER_BASED_SEARCH = NO
+
+# ---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+# ---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked. If left blank `latex' will be used as the default command name.
+# Note that when enabling USE_PDFLATEX this option is only used for
+# generating bitmaps for formulas in the HTML output, but not in the
+# Makefile that is written to the output directory.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE = a4
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES = amsmath
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
+# the generated latex document. The footer should contain everything after
+# the last chapter. If it is left blank doxygen will generate a
+# standard footer. Notice: only use this tag if you know what you are doing!
+
+LATEX_FOOTER =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS = YES
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE = NO
+
+# If LATEX_HIDE_INDICES is set to YES then doxygen will not
+# include the index chapters (such as File Index, Compound Index, etc.)
+# in the output.
+
+LATEX_HIDE_INDICES = NO
+
+# If LATEX_SOURCE_CODE is set to YES then doxygen will include
+# source code with syntax highlighting in the LaTeX output.
+# Note that which sources are shown also depends on other settings
+# such as SOURCE_BROWSER.
+
+LATEX_SOURCE_CODE = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
+# http://en.wikipedia.org/wiki/BibTeX for more info.
+
+LATEX_BIB_STYLE = plain
+
+# ---------------------------------------------------------------------------
+# configuration options related to the RTF output
+# ---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimized for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS = NO
+
+# Load style sheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE =
+
+# ---------------------------------------------------------------------------
+# configuration options related to the man page output
+# ---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS = NO
+
+# ---------------------------------------------------------------------------
+# configuration options related to the XML output
+# ---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `xml' will be used as the default path.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify an XML schema,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify an XML DTD,
+# which can be used by a validating XML parser to check the
+# syntax of the XML files.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
+# dump the program listings (including syntax highlighting
+# and cross-referencing information) to the XML output. Note that
+# enabling this will significantly increase the size of the XML output.
+
+XML_PROGRAMLISTING = YES
+
+# ---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+# ---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF = NO
+
+# ---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+# ---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES Doxygen will
+# generate a Perl module file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
+# the necessary Makefile rules, Perl scripts and LaTeX code to be able
+# to generate PDF and DVI output from the Perl module output.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
+# nicely formatted so it can be parsed by a human reader.
+# This is useful
+# if you want to understand what is going on.
+# On the other hand, if this
+# tag is set to NO the size of the Perl module output will be much smaller
+# and Perl will parse it just the same.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file
+# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
+# This is useful so different doxyrules.make files included by the same
+# Makefile don't overwrite each other's variables.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+# ---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+# ---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_DEFINED tags.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# pointed to by INCLUDE_PATH will be searched when a #include is found.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed. To prevent a macro definition from being
+# undefined via #undef or recursively expanded use the := operator
+# instead of the = operator.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition that
+# overrules the definition found in the source code.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all references to function-like macros
+# that are alone on a line, have an all uppercase name, and do not end with a
+# semicolon, because these will confuse the parser if not removed.
+
+SKIP_FUNCTION_MACROS = YES
+
+# ---------------------------------------------------------------------------
+# Configuration::additions related to external references
+# ---------------------------------------------------------------------------
+
+# The TAGFILES option can be used to specify one or more tagfiles.
+# Optionally an initial location of the external documentation
+# can be added for each tagfile. The format of a tag file without
+# this location is as follows:
+#
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+#
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where "loc1" and "loc2" can be relative or absolute paths or
+# URLs. If a location is present for each tag, the installdox tool
+# does not have to be run to correct the links.
+# Note that each tag file must have a unique name
+# (where the name does NOT include the path)
+# If a tag file is not located in the directory in which doxygen
+# is run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH = /usr / bin / perl
+
+# ---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+# ---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
+# or super classes. Setting the tag to NO turns the diagrams off. Note that
+# this option also works with HAVE_DOT disabled, but it is recommended to
+# install and use dot, since it yields more powerful graphs.
+
+CLASS_DIAGRAMS = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see
+# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH =
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS = NO
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT = YES
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
+# allowed to run in parallel. When set to 0 (the default) doxygen will
+# base this on the number of processors available in the system. You can set it
+# explicitly to a value larger than 0 to get control over the balance
+# between CPU load and processing speed.
+
+DOT_NUM_THREADS = 0
+
+# By default doxygen will use the Helvetica font for all dot files that
+# doxygen generates. When you want a differently looking font you can specify
+# the font name using DOT_FONTNAME. You need to make sure dot is able to find
+# the font, which can be done by putting it in a standard location or by setting
+# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
+# directory containing the font.
+
+DOT_FONTNAME = Helvetica
+
+# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
+# The default size is 10pt.
+
+DOT_FONTSIZE = 10
+
+# By default doxygen will tell dot to use the Helvetica font.
+# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
+# set the path where dot can find it.
+
+DOT_FONTPATH =
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH = YES
+
+# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for groups, showing the direct groups dependencies
+
+GROUP_GRAPHS = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+
+UML_LOOK = YES
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS = NO
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH and HAVE_DOT options are set to YES then
+# doxygen will generate a call dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable call graphs
+# for selected functions only using the \callgraph command.
+
+CALL_GRAPH = NO
+
+# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
+# doxygen will generate a caller dependency graph for every global function
+# or class method. Note that enabling this option will significantly increase
+# the time of a run. So in most cases it will be better to enable caller
+# graphs for selected functions only using the \callergraph command.
+
+CALLER_GRAPH = NO
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will generate a graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY = YES
+
+# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
+# then doxygen will show the dependencies a directory has on other directories
+# in a graphical way. The dependency relations are determined by the #include
+# relations between the files in the directories.
+
+DIRECTORY_GRAPH = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are svg, png, jpg, or gif.
+# If left blank png will be used. If you choose svg you need to set
+# HTML_FILE_EXTENSION to xhtml in order to make the SVG files
+# visible in IE 9+ (other browsers do not have this requirement).
+
+DOT_IMAGE_FORMAT = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+# Note that this requires a modern browser other than Internet Explorer.
+# Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
+# need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
+# visible. Older versions of IE do not have SVG support.
+
+INTERACTIVE_SVG = NO
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the
+# \mscfile command).
+
+MSCFILE_DIRS =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
+# nodes that will be shown in the graph. If the number of nodes in a graph
+# becomes larger than this value, doxygen will truncate the graph, which is
+# visualized by representing a node as a red box. Note that doxygen if the
+# number of direct children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
+# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+
+DOT_GRAPH_MAX_NODES = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
+# graphs generated by dot. A depth value of 3 means that only nodes reachable
+# from the root by following a path via at most 3 edges will be shown. Nodes
+# that lay further from the root node will be omitted. Note that setting this
+# option to 1 or 2 may greatly reduce the computation time needed for large
+# code bases. Also note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not
+# seem to support this out of the box. Warning: Depending on the platform used,
+# enabling this option may lead to badly anti-aliased labels on the edges of
+# a graph (i.e. they become hard to read).
+
+DOT_TRANSPARENT = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10)
+# support this, this feature is disabled by default.
+
+DOT_MULTI_TARGETS = YES
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermediate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP = YES

data/camera_calibration_config.rviz

@@ -0,0 +1,1621 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /btt1/Perception1/perception_markers1/Namespaces1
+        - /btt1/New_Perception1/rgb_labels1/Namespaces1
+        - /btt1/Navigation1/nav goals1/Namespaces1
+        - /btt1/direct_base_ctrl1/base_link_as_pose1
+      Splitter Ratio: 0.5240506529808044
+    Tree Height: 797
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: raw_color_pcl
+  - Class: rviz/Tool Properties
+    Expanded: ~
+    Name: Tool Properties
+    Splitter Ratio: 0.5
+  - Class: rviz/Selection
+    Name: Selection
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.4000000059604645
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
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+        Link Tree Style: Links in Alphabetic Order
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+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000022500000364fc020000001efb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004700000364000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000020006c0069006e0065005f00740072006100630069006e0067005f00720067006200000002aa000001130000001900fffffffb0000001600640065006200750067005f0069006d00610067006500000002200000019b0000001900fffffffb000000140032006400200063006f006e0074006f0075007201000002f9000000c20000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006700000002b1000002750000000000000000fb0000000a0049006d006100670065000000020a000000ba0000001900fffffffb0000000a0049006d006100670065000000044e000000d80000000000000000fb00000018006300610076006900740079005f00640065006200750067000000028c000000c70000001900fffffffb00000018006d006d005f007200670062005f0064006500620075006700000003410000006a0000001900fffffffb0000000a0049006d0061006700650000000333000001f30000000000000000fb0000000a0049006d00610067006501000002d3000000ca0000000000000000fb0000000a0049006d00610067006501000002f0000000cb0000000000000000fb0000000a0049006d00610067006501000002ce000000ef0000000000000000fb000000140079006f006c006f005f0064006500620075006700000001a7000002040000001900fffffffb00000012007200610077005f0069006d0061006700650000000248000001630000001900fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000002ff000000ac0000006e00fffffffb0000001200530065006c0065006300740069006f006e00000002ff000000ac0000006e00fffffffb0000002000730071007500650065007a0065004400650074005f0064006500620075006700000002c9000000190000000000000000fb00000018006d006d005f007200670062005f006400650062007500670000000000ffffffff0000000000000000fb00000018006300610076006900740079005f006400650062007500670000000000ffffffff0000000000000000fb00000020006c0069006e0065005f00740072006100630069006e0067005f0072006700620000000000ffffffff0000000000000000fb0000001600640065006200750067005f0069006d0061006700650000000000ffffffff0000000000000000fb00000012007200610077005f0069006d00610067006500000002e2000000c90000000000000000000000010000010f00000364fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004700000364000000c200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000040fc0100000002fb0000000800540069006d00650100000000000007800000045a00fffffffb0000000800540069006d006501000000000000045000000000000000000000043e0000036400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0
+  cavity_debug:
+    collapsed: false
+  debug_image:
+    collapsed: false
+  line_tracing_rgb:
+    collapsed: false
+  mm_rgb_debug:
+    collapsed: false
+  raw_image:
+    collapsed: false
+  yolo_debug:
+    collapsed: false

data/docker-compose.yml

@@ -0,0 +1,9 @@
+version: '2'
+services:
+  mas_industrial_robotics:
+    build:
+      dockerfile: images/mas_industrial_robotics/Dockerfile
+      context: .
+      args:
+        ROS_DISTRO: ${ROS_DISTRO}
+    image: ghcr.io/b-it-bots/mas_industrial_robotics/industrial-${ROS_DISTRO}:${IMAGE_TAG}

data/docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

data/docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

data/docs/requirements.txt

@@ -0,0 +1,2 @@
+sphinx==7.1.2
+sphinx-rtd-theme==1.3.0rc1

data/docs/source/conf.py

@@ -0,0 +1,73 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import subprocess
+
+# sys.path.insert(0, os.path.abspath('.'))
+
+current_file_dir = os.path.dirname(os.path.realpath(__file__))
+
+
+def get_git_short_hash():
+    rc = subprocess.check_output(["git", "rev-parse", "--short", "HEAD"])
+    rc = rc.decode("utf-8").strip()
+    return rc
+
+
+# -- Project information -----------------------------------------------------
+project = "MAS Industrial Robotics"
+copyright = "2022, www.b-it-bots.de"
+author = "www.b-it-bots.de"
+
+# The full version, including alpha/beta/rc tags
+# current_hash = get_git_short_hash()
+current_hash = "Noetic"
+version = "latest ({})".format(current_hash)
+release = version
+
+
+# -- General configuration ---------------------------------------------------
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = ["sphinx.ext.autodoc"]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+
+# -- Options for HTML output -------------------------------------------------
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = "sphinx_rtd_theme"
+theme_path = os.path.join(
+    current_file_dir, "..", "..", "third_party", "sphinx_rtd_theme"
+)
+html_theme_path = [
+    theme_path,
+]
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []
+
+# Master document should be index.rst instead of contents.rst
+# https://github.com/readthedocs/readthedocs.org/issues/2569#issuecomment-485117471
+master_doc = "index"

data/docs/source/contributing/coding_style.rst

@@ -0,0 +1,219 @@
+.. _coding_style:
+
+Coding guidelines
+=================
+
+.. note::
+
+  Make sure that your text editor is properly configured to use **spaces** instead of tabs.
+  All C/C++ code should be written and formatted according to the **Google style guide** (with an exception to column limit
+  and breaking braces.
+  See `.clang-format <https://github.com/b-it-bots/mas_industrial_robotics/blob/kinetic/.clang-format>`_ for more details).
+  All Python code should adhere to the **PEP-8 style guide**.
+
+.. _style-label:
+
+Coding style
+------------
+
+C/C++
+^^^^^
+
+* Linting
+
+  `cpplint <https://github.com/cpplint/cpplint>`_ is used to lint C++ code according to the
+  `Google style guide <https://google.github.io/styleguide/cppguide.html>`_.
+  cpplint can be installed using pip (in a python 3.7 environment)
+
+  .. code-block:: bash
+
+    pip install cpplint
+
+  Run cpplint on a file/directory as follows
+
+  .. code-block:: bash
+
+    cpplint <filename/directory>
+
+
+* Code formatting
+
+  `Clang format <https://clang.llvm.org/docs/ClangFormat.html>`_ is used to format C/C++ code.
+  Install clang format as follows.
+
+  .. code-block:: bash
+
+    sudo apt-get install clang-format
+
+  All configurations are present in .clang-format file and its is mandatory to use this file to format
+  the code in this repository.
+  Please note that it is necessary to run clang-format from the repository's root folder so that it
+  uses the repository's .clang-format file. To run clang-format on a single C++ file, use
+
+  .. code-block:: bash
+
+    clang-format -i <C++ filename>
+
+  To run clang-format on files inside a directory recursively, use
+
+  .. code-block:: bash
+
+    find . -regex '.*\.\(cpp\|hpp\|cu\|c\|h\)' -exec clang-format -i {} \;
+
+* Static code analysis
+
+  `Cppcheck <http://cppcheck.sourceforge.net/>`_ is used for static code analysis in order to detect
+  bugs and undefined behaviors due to bad coding constructs. Install cppcheck using
+
+  .. code-block:: bash
+
+    sudo apt-get install cppcheck
+
+  To run cppcheck on a file or directory, run
+
+  .. code-block:: bash
+
+    cppcheck <filename/directory>
+
+
+
+Python
+^^^^^^
+
+* Linting
+
+  Python code should follow the `PEP-8 <https://www.python.org/dev/peps/pep-0008/>`_ style guide.
+  Installing linters in your python environment ensures compliance with the PEP-8 style guide.
+  The precommit hooks for this repository uses pylint in a **python 3.7 environment** and can lint
+  python 2 code. Pylint can
+  be easily installed using pip.
+
+  .. code-block:: bash
+
+    pip install pylint
+
+  In order to analyze file/s for linting errors, manually run pylint using the following command.
+
+  .. code-block:: bash
+
+    pylint <python filename or directory name>
+
+* Sorting imports
+
+  `isort <https://timothycrosley.github.io/isort/>`_ organizes and sorts imports in python files.
+  Install isort using pip.
+
+  .. code-block:: bash
+
+    pip install isort
+
+  To run isort on a python file use
+
+  .. code-block:: bash
+
+    isort <python filename>
+
+* Code formatter
+
+  `Black <https://black.readthedocs.io/en/stable/installation_and_usage.html>`_ is used to format python
+  code. Please ensure that your code is formatted using black before committing your changes.
+  Black can be installed using pip (again in a **python 3.7 environment**).
+
+  .. code-block:: bash
+
+    pip install black
+
+  To format existing python code using black, run the following
+
+  .. code-block:: bash
+
+    black <python filename/directory>
+
+
+.. note::
+
+  `Pre-commit <https://pre-commit.com/#intro>`_ hooks has been added to this repository.
+  Please note that you will not be able to locally commit your changes to git until all the
+  checks in the .pre-commit-config.yaml pass. Some serious violations of the standard coding
+  guidelines will result in errors while running git commit and have to be manually fixed.
+  **Users will not be able to commit their code, until these errors are fixed.**
+  Please ensure that **git commit** or **pre-commit hooks** (and not the code itself) is run in a **python 3.7 environment**
+  as configured in .pre-commit-config.yaml.
+
+.. warning::
+
+  Alternatively, one could also verify if the pre-commit hooks pass before actually committing
+  the code to git. To do so please run the following command after making necessary changes to
+  your code.
+
+  .. code-block:: bash
+
+    pre-commit run --all-files
+
+  This is however currently discouraged because there are several linting errors in the whole
+  repository yet to be fixed and one doesn't want to end up fixing thousands of errors when
+  just trying to add their contribution.
+
+
+Editors for software development
+--------------------------------
+
+* Visual Studio Code
+* Vim
+* Pycharm
+
+Install the necessary python, C++ and ROS plugins after installing a desired editor.
+Other editors which support ROS are listed `here <http://wiki.ros.org/IDEs>`_.
+
+Configuring editors
+^^^^^^^^^^^^^^^^^^^
+
+It is important to configure your editor settings so that linters, code formatters and
+code checkers check for errors (and solve them if possible) automatically upon saving
+your changes in a file.
+Below is an illustration of the settings configurations that need to modified in Visual Studio Code to avoid
+manually performing the checks described in :ref:`style-label`. Similar configurations can be done in
+other editors too.
+
+The settings can be configured through the Settings option in File menu or in
+settings.json.
+
+* Python linting
+    By default pylint is enabled in Visual Studio Code, however pylint has to be installed
+    using pip in your chosen python interpreter path. Please do not enable other linters as
+    this could create a conflict while running pre-commit hooks. Please checkout the
+    `VS Code website <https://code.visualstudio.com/docs/python/linting>`_ for more information.
+
+* Python code formatting
+    Since pre-commit hooks uses black to format python code, this can be very conveniently
+    added to your editor so that the file is auto-formatted by black upon saving. Add the following
+    to your settings.json to enable black code formatting.
+
+    .. code-block:: bash
+
+      "python.formatting.blackArgs": [
+      "--line-length=79"
+      ],
+      "python.formatting.provider": "black",
+      "[python]": {
+      "editor.codeActionsOnSave": {
+      "source.organizeImports": true
+      }
+      },
+
+* C++ linting
+    Install the cpplint extension to VS Code to enable the cpplinter. This then highlights the linting
+    errors in the C++ code with squiggly lines.
+
+* C++ code formatting
+    Clang-format is used to format C++ code. This can be configured in settings.json
+    after installing the official Microsoft C/C++ extension. Add the following lines to your
+    settings.json file so that the configurations from .clang-format in the repository are
+    used by VS Code to format the C++ files.
+
+    .. code-block:: bash
+
+      "C_Cpp.clang_format_style": "file",
+      "C_Cpp.formatting": "clangFormat"
+
+

data/docs/source/contributing/index.rst

@@ -0,0 +1,10 @@
+.. _contributing:
+
+Contributing
+############
+
+.. toctree::
+
+  ros
+  coding_style
+  toolkit

data/docs/source/contributing/ros.rst

@@ -0,0 +1,187 @@
+.. _contributing_ros:
+
+Robot Operating System (ROS)
+=============================
+
+ROS packages naming and structure
+----------------------------------
+
+Creating a new package
+^^^^^^^^^^^^^^^^^^^^^^^
+
+* Naming
+
+  In order to create a new ROS package for one of the repositories some rules need to be considered:
+
+  1. The package name has always the following format:
+
+    .. code-block:: bash
+
+      prefix_my_package_name
+
+  2. Use the right prefix for every repository:
+
+    a. mas_domestic_robotics: *mdr_*
+    b. mas_industrial_robotics: *mir_*
+    c. mas_common_robotics: *mcr_*
+
+  3. Use lowercase.
+  4. Separate words in the package name by underscores (_).
+
+  Examples for creating packages according to the above described rules are as follows:
+
+  .. code-block:: bash
+
+    catkin create_pkg mdr_grasp_planning
+    catkin create_pkg mir_whole_body_control
+    catkin create_pkg mcr_object_detection
+
+* Folder structure
+
+  Every ROS package within our repositories has to strictly match the following structure:
+
+  .. code-block:: bash
+
+    .
+    ├── common
+    │   ├── config
+    │   ├── include
+    │   │   └── <package_name>
+    │   ├── src
+    │   │   └── <package_name>
+    │   ├── test
+    │   └── tools
+    ├── ros
+    │   ├── config
+    │   ├── include
+    │   │   └── <package_name>
+    │   ├── launch
+    │   │   └── <package_name>.launch
+    │   ├── rviz
+    │   │   └── <package_name>.rviz
+    │   ├── scripts
+    │   │   └── <package_name>
+    │   ├── src
+    │   │   └── <package_name>_node
+    │   ├── test
+    │   └── tools
+    ├── CMakeLists.txt
+    ├── package.xml
+    ├── setup.py
+    └── README.md
+
+  In short:
+    * ROS-independent code goes into the `common` folder
+    * the `ros` folder contains a ROS-wrapper for the functionality you are adding
+
+Meta-packages
+^^^^^^^^^^^^^^
+
+If the package you are creating is meant to contain other packages inside of it, it needs to have instead the following structure:
+
+.. code-block:: bash
+
+  ./<meta_package_name>
+  └── <meta_package_name>
+      ├── CMakeLists.txt
+      ├── package.xml
+      └── README.md
+
+.. note::
+
+  It is **extremely** important to maintain your *package.xml* up to date with its dependencies.
+  Not doing so results in the need of specialized tools or manual inspection of launch files and
+  source code to discover your package dependencies.
+
+Messages, services and actions
+-------------------------------
+
+Creating a new message, service or action.
+If your package defines its own messages, services or actions you should add them to the corresponding meta-package:
+
+.. code-block:: bash
+
+  ./<package_name>_msgs
+  ├── action
+  │   ├── MyAction.action
+  ├── msg
+  │   ├── MyMessage.msg
+  ├── srv
+  │   └── MyService.srv
+  ├── CMakeLists.txt
+  ├── package.xml
+  └── README.md
+
+.. note::
+
+  The *srv* file name should start with verb i.e. *RecognizeImage.srv*
+
+Depending on the repository you are working on, the meta-package is related to the domain, e.g. *mdr_planning_msgs* or *mdr_navigation_actions*
+
+Linting
+--------
+
+Running **roslint** with catkin
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Before merging into the main repository *roslint* is ran on all merge requests.
+Unless all errors are resolved the merge request will be rejected. To test if your changes would pass the *roslint* test locally:
+
+* Add the following lines to your `CMakelists.txt`:
+
+  .. code-block:: bash
+
+    find_package(catkin REQUIRED COMPONENTS roslint ...)
+
+    roslint_python()  # pep8 linting
+    roslint_cpp()     # ROS wrapper of Google's cpplint
+
+  Your *package.xm* should include *roslint* as a build dependency:
+
+  .. code-block:: bash
+
+    <build_depend>roslint</build_depend>
+
+* Build target roslint:
+
+  * with `catkin_make`:
+
+    .. code-block:: bash
+
+      catkin_make roslint_<package_name>
+
+  * with `catkin_tools`:
+
+    .. code-block:: bash
+
+      catkin build --no-deps <package_name> --make-args roslint_<package_name>
+
+* If build fail copy and execute the gray line that looks something like the following to see more detailed errors:
+
+  .. code-block:: bash
+
+    cd <package_source_directory>
+    catkin build --get-env <package_name> | catkin env -si  /usr/bin/make roslint --jobserver-fds=6,7 -j; cd -
+
+
+Running **catkin_lint**
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+You should also make sure that the *catkin_lint* tests pass;
+running it from the root of your catkin workspace you can run:
+
+.. code-block:: bash
+
+  catkin_lint --strict --ignore CRITICAL_VAR_APPEND,LINK_DIRECTORY src/mas_domestic_robotics
+
+
+See Also:
+
+* `roslint <http://wiki.ros.org/roslint>`_
+* `catkin_lint <http://fkie.github.io/catkin_lint/>`_
+
+Proposed linters:
+
+* `C++ <https://github.com/cpplint/cpplint>`_
+* `Python <https://www.pylint.org/>`_
+* `ROS <http://wiki.ros.org/roslint>`_

data/docs/source/contributing/toolkit.rst

@@ -0,0 +1,4 @@
+.. _toolkit:
+
+Toolkit
+========

data/docs/source/docker.rst

@@ -0,0 +1,130 @@
+.. _docker:
+
+Docker
+######
+
+The latest versions of docker-engine and docker-compose have to be installed 
+before getting started. Please have a look at `docker's official website <https://docs.docker.com/get-started/overview/>`_ 
+for more insights into the working and usage of docker images and docker containers.
+
+It is highly recommended that you use docker containers to build and run your 
+nodes rather than directly installing ROS and working with the MAS industrial software on your PC.
+
+.. _using_mir_docker_images:
+
+Using Our Images
+================
+
+Our docker images are available `here <https://github.com/orgs/b-it-bots/packages>`_.
+The images provide a proper development environment -with ros pre-installed and without 
+any missing dependencies- for the MAS industrial software. Additionally, the images 
+also contain src packages which are prebuilt.
+
+Directory structure in the image:
+
+  .. code-block:: bash
+
+    /home/robocup/<ros_distro>/catkin_ws
+      ├── build
+      ├── devel
+      ├── logs
+      ├── src
+        ├── mas_industrial_robotics
+        ├── mas_perception_msgs
+        ├── mas_navigation
+        ├── ...
+
+Where `ros_distro` corresponds to the ros distribution i.e. `kinetic, melodic`.
+
+The main github branch of the each ros distro should always reflect `latest` 
+tag in the github registry, for example `kinetic` branch reflects 
+`mas_industrial_robotics/industrial-kinetic:latest`, while the `devel` branch
+always reflects `devel` tag, for example `kinetic` branch reflects  `mas_industrial_robotics/industrial-kinetic:devel`
+
+* **Start the container**
+
+  To start the container, `docker-compose <https://docs.docker.com/compose/install/>`_ 
+  is required, with which it is easier to define the environment and volumes from 
+  the host PC to the container. 
+
+  .. code-block:: bash
+    
+    docker-compose -f start-container.yaml up industrial_<ros_distro>
+
+  If there is no local image, docker will automatically pull from MIR github 
+  container registry. 
+
+  The images can also be pulled manually without docker-compose.
+
+  .. code-block:: bash
+
+    #kinetic image
+    docker pull  ghcr.io/b-it-bots/mas_industrial_robotics/industrial-kinetic:latest
+
+    #melodic image
+    docker pull ghcr.io/b-it-bots/mas_industrial_robotics/industrial-melodic:latest
+
+* **Log in to the container**
+
+  .. code-block:: bash
+    
+    docker exec -it mas_industrial_robotics_industrial_kinetic_1 /bin/bash
+
+.. tip::
+
+  The container is set up to use `host` network, and therefore when you run 
+  roscore or ros packages in either host or container, and both will have access 
+  to ros communication infrastructure such as topics and services.
+
+
+.. _mounting_volumes:
+
+Mounting Local Volumes
+======================
+
+Since the codes in the image are not persistent, which means they will be 
+removed when the images are rebuilt, it is recommended to mount your local disk 
+containing the repository to the container.
+
+To mount your local disk to the container, you need to modify `start-container.yaml` 
+under `mas_industrial_robotics` repository. The following example shows how you 
+can mount your `rviz` configuration and `mas_industrial_robotics` repository which 
+is mounted to `/home/robocup/<ros_distro>/catkin_ws/src/external` in the container.
+
+  .. code-block:: yaml
+
+    # under volume add your local disk
+    volumes:
+      - $HOME/.rviz:/home/robocup/.rviz
+      - $HOME/catkin_ws/mas_industrial_robotics:/home/robocup/<ros_distro>/catkin_ws/src/external/mas_industrial_robotics
+
+Since there are now two `mas_industrial_robotics` repositories, you have to do 
+the followings to make the build successful:
+
+  * Remove or `CATKIN_IGNORE` the repository that comes with the image under `src/mas_industrial_robotics`.
+  * `catkin clean` to remove the prebuilt packages from the image
+  * Rebuild the package e.g. `catkin build mir_object_recognition`
+
+Now, you can make changes locally in your PC using your favourite IDE, and build 
+the package inside the container.
+
+.. note::
+
+  This was only tested with Linux.
+
+
+.. _creating_own_image:
+
+Creating Your Own Image
+=======================
+
+You can create your own image by using b-it-bots image as base:
+
+.. code-block:: bash
+
+  FROM ghcr.io/b-it-bots/mas_industrial_robotics/industrial-melodic:latest
+
+  USER robocup
+
+  # add your modification e.g. install tensorflow
+  RUN pip install tensorflow

data/docs/source/getting_started.rst

@@ -0,0 +1,205 @@
+.. _getting_started:
+
+Getting started
+###############
+
+.. _install_ubuntu:
+
+Install Ubuntu
+==============
+
+The repository and its related components have been tested under the following Ubuntu distributions:
+
+- ROS Kinetic: Ubuntu 16.04
+- ROS Melodic: Ubuntu 18.04
+- ROS Noetic: Ubuntu 20.04
+
+If you do not have a Ubuntu distribution on your computer you can download it `here <http://www.ubuntu.com/download>`_.
+
+.. _git_version_control:
+
+Git - Version Control
+=====================
+
+* Install Git Software
+
+  Install the Git core components and some additional GUI's for the version control:
+
+  .. code-block:: bash
+
+    sudo apt-get install git-core gitg gitk
+
+* Set Up Git
+
+  Now it's time to configure your settings. To do this you need to open a new Terminal. First you need to tell git your name, so that it can properly label the commits you make:
+
+  .. code-block:: bash
+
+     git config --global user.name "Your Name Here"
+
+  Git also saves your email address into the commits you make.
+
+  .. code-block:: bash
+
+     git config --global user.email "[email protected]"
+
+
+* GIT Tutorial
+  If you have never worked with git before, we recommend to go through the
+  `basic git tutorial <http://excess.org/article/2008/07/ogre-git-tutorial/>`_.
+
+.. _getting_started_docker:
+
+Docker (Recommended)
+====================
+
+To be able to use our software independent of the operating system and/or ROS 
+distribution, it is recommended to use docker. You can follow 
+:ref:`this tutorial <docker>` to use docker.
+
+.. _robot_operating_system:
+
+ROS - Robot Operating System
+============================
+
+* Install ROS
+
+  The repository has been tested successfully with the following ROS distributions.
+  Use the link behind a ROS distribution to get to the particular
+  `ROS Kinetic installation instructions <http://wiki.ros.org/noetic/Installation/Ubuntu>`_.
+
+  .. note::
+    Do not forget to update your .bashrc!
+
+* ROS Tutorials
+
+  If you have never worked with ROS before, we recommend to go through
+  `the beginner tutorials provided by ROS <http://wiki.ros.org/ROS/Tutorials>`_.
+
+  In order to understand at least the different core components of ROS, you have to start from tutorial 1 ("Installing and Configuring Your ROS Environment") till tutorial 7 ("Understanding ROS Services and Parameters").
+
+.. _setup_catkin_workspace:
+
+Setup catkin workspace
+=========================
+
+* Create a catkin workspace
+
+  .. code-block:: bash
+
+    source /opt/ros/noetic/setup.bash
+    mkdir -p ~/noetic/src; cd ~/noetic/src
+    catkin_init_workspace
+    catkin build
+
+* Clone and compile the MAS industrial robotics software
+
+  First of all you have to clone the repository.
+
+  .. code-block:: bash
+
+    cd ~/noetic/src;
+    git clone [email protected]:b-it-bots/mas_industrial_robotics.git
+
+  Then go on with installing further external dependencies:
+
+  .. code-block:: bash
+
+    cd ~/noetic/src/mas_industrial_robotics
+    ./repository.debs
+    source ~/noetic/devel/setup.bash
+
+  The last command should be added to the ~/.bashrc file so that they do not need to be executed everytime you open a new terminal.
+
+  And finally compile the repository:
+
+  .. code-block:: bash
+
+    cd ~/noetic
+    catkin build
+
+  If no errors appear everything is ready to use. Great job!
+
+* Setting the Environment Variables
+
+  * ROBOT variable
+
+    With the ROBOT variable you can choose which hardware configuration should be loaded when starting the robot. The following line will add the variable to your .bashrc:
+
+    .. code-block:: bash
+
+      echo "export ROBOT=youbot-brsu-1" >> ~/.bashrc
+      source ~/.bashrc
+
+  * ROBOT_ENV Variable
+
+    The ROBOT_ENV variable can be used to switch between different environments. The following line will add the variable to your .bashrc:
+
+    * Real robot
+
+    .. code-block:: bash
+
+      echo "export ROBOT_ENV=brsu-c025" >> ~/.bashrc
+      source ~/.bashrc
+
+    * Simulation
+
+    .. code-block:: bash
+
+      echo "export ROBOT_ENV=brsu-c025-sim" >> ~/.bashrc
+      source ~/.bashrc
+
+.. _bringup_robot:
+
+Bring up the robot and its basic components
+===========================================
+
+* In Simulation
+
+  .. code-block:: bash
+
+     roslaunch mir_bringup_sim robot.launch
+
+  In a new terminal you can open the Gazebo GUI to see the environment and the robot
+
+  .. code-block:: bash
+
+     rosrun gazebo_ros gzclient
+
+* At the Real Robot
+
+  .. code-block:: bash
+
+     roslaunch mir_bringup robot.launch
+
+
+* Test the base
+
+  .. code-block:: bash
+
+     roslaunch mir_teleop teleop_keyboard.launch
+
+
+* Visualize the robot state and sensor data
+
+  .. code-block:: bash
+
+     rosrun rviz rviz
+
+
+* Build a map for base navigation
+
+  .. code-block:: bash
+
+     roslaunch mir_2dslam 2dslam.launch
+
+
+* Use autonomous navigation
+
+  * Omni-directional navigation
+
+    .. code-block:: bash
+
+        roslaunch mir_2dnav 2dnav.launch nav_mode:=dwa
+
+Click on the menu bar "File -> Open Config", navigate to "~/noetic/src/mas_industrial_robotics" and select the "youbot.rviz" file.

data/docs/source/index.rst

@@ -0,0 +1,42 @@
+.. MAS Industrial Robotics documentation master file, created by
+   sphinx-quickstart on Mon Dec  2 09:12:52 2019.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+MAS Industrial Robotics
+=======================
+
+.. toctree::
+  :maxdepth: 2
+
+  introduction
+  getting_started
+  contributing/index.rst
+
+.. toctree::
+  :maxdepth: 2
+  :caption: Tutorial
+
+  docker
+  mir_perception/index.rst
+  mir_manipulation/index.rst
+  mir_navigation/index.rst
+  mir_planning/index.rst
+  mir_simulation/index.rst
+  infrastructure
+
+.. toctree::
+  :maxdepth: 2
+  :caption: Task
+
+  tasks/bmt/bmt_demo.rst
+
+.. toctree::
+  :maxdepth: 2
+  :caption: Documentation
+
+  mir_perception/docstring/index.rst
+  mir_manipulation/docstring/index.rst
+  mir_navigation/docstring/index.rst
+  mir_planning/docstring/index.rst
+  mir_simulation/docstring/index.rst

data/docs/source/infrastructure.rst

@@ -0,0 +1,73 @@
+.. _infrastructure:
+
+Infrastructure
+##############
+
+
+C025 Hub Server
+===============
+
+You can use our workstation in C025 lab if you need computing facilities such as 
+GPU, but the available resouces are limited with 24 cores of CPU, 40GB RAM, and 2x
+Nvidia 3090 with 24 GB GPU memory each. However, if you need more resources, please request 
+access to `the university HPC cluster <https://wr0.wr.inf.h-brs.de/wr/index.html>`_.
+
+We also provide a JupyterHub server on the workstation so that you do not have to 
+setup the environment.
+
+Hub Server
+----------
+
+The address of the JupyterHub server is `https://10.20.118.78:32025 <https://10.20.118.78:32025>`_ and 
+LDAP is used for the login.
+
+Multiple environments can be provided and is described in `here <https://github.com/b-it-bots/docker>`_. 
+You can choose the one that meets your needs or PR to the aforementioned repository 
+if you need to update the libraries. We can, of course, provide more environment 
+options as per request.
+
+`Deep Learning env with Tensorflow and Pytorch` is default environment and contains 
+several deep learning libraries defined in `gpu-notebook <https://github.com/b-it-bots/docker/tree/master/gpu-notebook>`_.
+The GPUs are accessible by all authorized users and there is no individual GPU resouce 
+allocation.
+
+Access
+------
+
+In order to get access to the hub, we need to add your LDAP username. 
+
+.. hint::
+
+  Admins can add new users by going to admin page `https://10.20.118.78:32025/hub/admin <https://10.20.118.78:32025/hub/admin>`_.
+
+* Within the university network: 
+
+  You can access the hub directly from the university network.
+
+* Remote access
+  
+  * University VPN
+
+    Follow `this instruction <https://faq.infcs.de/vpn>`_ to setup VPN 
+    in your local machine. Once you are connected to the university VPN, you can 
+    open the Hub address.
+
+  * SSH tunnel
+
+    If you do not want to use VPN, you can port forward from your FB02 account to 
+    C025 workstation
+
+    .. code-block:: bash
+      
+      # replace account2s with your FBUID
+      ssh -L 32025:10.20.118.78:32025 [email protected]
+
+    Then, open browser and go to `https://localhost:32025 <https://localhost:32025>`_.
+
+.. note::
+
+  SSH access to the workstation is only possible with ssh key, so if you need it, 
+  please send us your ssh key.
+
+University Cluster
+==================

data/docs/source/introduction.rst

@@ -0,0 +1,5 @@
+.. _introduction:
+
+About
+########
+

data/docs/source/mir_manipulation/docstring/index.rst

@@ -0,0 +1,10 @@
+.. _mir_manipulation_docs:
+
+Manipulation Documentation
+##########################
+
+.. toctree::
+  :maxdepth: 1
+
+  mir_moveit_scene_ros.rst
+  mir_pregrasp_planning_ros.rst

data/docs/source/mir_manipulation/docstring/mir_moveit_scene_ros.rst

@@ -0,0 +1,20 @@
+.. _mir_moveit_scene_ros_docs:
+
+mir\_moveit\_scene\_ros
+=======================
+
+mir\_moveit\_scene\_ros.attach\_grasped\_object module
+------------------------------------------------------
+
+.. automodule:: mir_moveit_scene_ros.attach_grasped_object
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+mir\_moveit\_scene\_ros.restrict\_arm\_workspace module
+-------------------------------------------------------
+
+.. automodule:: mir_moveit_scene_ros.restrict_arm_workspace
+    :members:
+    :undoc-members:
+    :show-inheritance:

data/docs/source/mir_manipulation/docstring/mir_pregrasp_planning_ros.rst

@@ -0,0 +1,28 @@
+.. _mir_pregrasp_planning_ros_docs:
+
+mir\_pregrasp\_planning\_ros
+============================
+
+mir\_pregrasp\_planning\_ros.pose\_mock\_up\_gui module
+-------------------------------------------------------
+
+.. automodule:: mir_pregrasp_planning_ros.pose_mock_up_gui
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+mir\_pregrasp\_planning\_ros.pregrasp\_planner\_node module
+-----------------------------------------------------------
+
+.. automodule:: mir_pregrasp_planning_ros.pregrasp_planner_node
+    :members:
+    :undoc-members:
+    :show-inheritance:
+
+mir\_pregrasp\_planning\_ros.simple\_pregrasp\_planner\_utils module
+--------------------------------------------------------------------
+
+.. automodule:: mir_pregrasp_planning_ros.simple_pregrasp_planner_utils
+    :members:
+    :undoc-members:
+    :show-inheritance:

data/docs/source/mir_manipulation/index.rst

@@ -0,0 +1,6 @@
+.. _mir_manipulation:
+
+Manipulation
+##############
+
+MAS industrial robotics - manipulation tutorial

data/docs/source/mir_navigation/docstring/index.rst

@@ -0,0 +1,10 @@
+.. _mir_navigation_docs:
+
+Navigation Documentation
+########################
+
+.. toctree::
+  :maxdepth: 1
+
+  mir_move_base_ros
+

data/docs/source/mir_navigation/docstring/mir_move_base_ros.rst

@@ -0,0 +1,12 @@
+.. _mir_move_base_ros_docs:
+
+mir\_move\_base\_ros
+====================
+
+mir\_move\_base\_ros.move\_base module
+--------------------------------------
+
+.. automodule:: mir_move_base_ros.move_base
+    :members:
+    :undoc-members:
+    :show-inheritance:

data/docs/source/mir_navigation/index.rst

@@ -0,0 +1,217 @@
+.. _mir_navigation:
+
+Navigation
+#############
+
+On workstation or your PC
+==========================
+
+* To shh the youbot (in all terminals):
+
+  .. code-block:: bash
+
+      yb4
+
+  .. note::
+
+      alias yb4=ssh -X robocup@youbot-brsu-4-pc2
+
+* Export the youbot ssh alias
+
+  .. code-block:: bash
+
+      export_yb4
+
+  .. note::
+
+      alias export_yb4=export ROS_MASTER_URI=http://youbot-brsu-4-pc2:11311
+
+* Run rviz
+
+  .. code-block:: bash
+
+    rosrun rviz rviz
+
+  Set the global frame to `base_link`
+
+.. _2d_slam:
+
+2D SLAM
+========
+
+* Run roscore
+
+  .. code-block:: bash
+
+      roscore
+
+* Launch the robot
+
+  .. code-block:: bash
+
+      roslaunch mir_bringup robot.launch
+
+* Run 2D SLAM
+
+  .. code-block:: bash
+
+      roslaunch mir_2dslam 2dslam.launch
+
+  .. note::
+
+      The map is built using the front laser's only
+
+* Run the map saver
+
+  Go to the map configuration directory
+
+  .. code-block:: bash
+
+      roscd mcr_default_env_config
+
+  By using `ls` you can see several folders corresponding to existing environments.
+  You can either use an existing map or create a new one:
+
+  .. code-block:: bash
+
+      mkdir [map_name]
+      cd [map_name]
+
+  And then run:
+
+  .. code-block:: bash
+
+      rosrun map_server map_saver
+
+  This will create two files: a `map.pgm` and `map.yml`.
+
+  Finally, to use the map that you just created you need to check which map will be loaded by the navigation stack:
+
+  .. code-block:: bash
+
+      echo $ROBOT_ENV
+
+  If you need to change it:
+
+  .. code-block:: bash
+
+      export ROBOT_ENV=[map_name]
+
+  .. note::
+
+      Usually the `.rosc` script is used to set the environment, among other variables.
+
+.. _2d_navigation:
+
+2D Navigation
+================
+
+* Bringup the robot
+
+  First export the environment to be used:
+
+  .. code-block:: bash
+
+      export ROBOT_ENV=brsu-C025
+
+  Launch the robot:
+
+  .. code-block:: bash
+
+      roslaunch mir_bringup robot.launch
+
+* Launch the navigation node
+
+  .. code-block:: bash
+
+      roslaunch mir_2dnav 2dnav.launch
+
+* Launch the planning bringup
+
+  .. code-block:: bash
+
+      roslaunch mir_planning_bringup robot.launch
+
+* Create navigation goals and orientations
+
+  First you need to create the files where goals will be saved:
+
+  .. code-block:: bash
+
+    touch navigation_goals.yaml
+    touch orientation_goals.yaml
+
+* Localize the robot
+
+  In rviz:
+
+  1. Select the 2D pose estimate
+  2. Click the position near the robot
+  3. Move with joystick
+  4. Launch navigation tools in yb2
+
+* Save the navigation and orientation goals
+
+  .. code-block:: bash
+
+      roscd mcr_default_env_config
+      cd brsu-C025
+      rosrun mcr_navigation_tools save_base_map_poses_to_file
+
+* Test navigation goal using move_base
+
+.. code-block:: bash
+
+    rosrun mir_move_base_safe move_base_safe_server.py
+    rosrun mir_move_base_safe move_base_safe_client_test.py [dest]
+
+* Navigation test using refbox
+
+.. code-block:: bash
+
+    roslaunch mir_basic_navigation_test refbox_parser.py
+
+.. _Direct_robot_control:
+
+Direct base controller
+======================
+
+The direct base controller is used to perform relative motions of the robot with respect to a reference frame. It has an optional feature to stop the motions when obstacles are detected with the laser scanners.
+
+* Bringup the robot
+
+.. code-block:: bash
+
+      roslaunch mir_bringup robot.launch
+
+* Launch the direct base controller
+
+.. code-block:: bash
+
+    roslaunch mir_direct_base_controller direct_base_controller.launch
+
+
+* Launch the pose mockup GUI on your PC:
+.. code-block:: bash
+
+    export ROS_MASTER_URI=http://<robot_ip_address>:11311
+    roslaunch mir_direct_base_controller pose_mock_up_gui.launch
+
+A GUI pop up window will appear.
+Set the relative pose accordingly in the window (e.g. 0.1 in X to move forward 10 cm).
+
+* Run rviz on your PC:
+
+  .. code-block:: bash
+
+    export ROS_MASTER_URI=http://<robot_ip_address>:11311
+    rviz
+
+  Set the 'Fixed Frame' to `odom`
+  Add a 'Pose' display and set the topic to '/mcr_navigation/direct_base_controller/input_pose'
+
+
+* Publish an `e_start` event to the direct base controller node
+.. code-block:: bash
+
+    rostopic pub /mcr_navigation/direct_base_controller/coordinator/event_in std_msgs/String "data: 'e_start'"

data/docs/source/mir_perception/barrier_tape.rst

@@ -0,0 +1,4 @@
+.. _barrier_tape:
+
+Barrier tape detection
+======================

data/docs/source/mir_perception/camera.rst

@@ -0,0 +1,207 @@
+.. _camera:
+
+Camera
+=======
+
+Tower-mount camera calibration
+-----------------------
+
+On workstation or your PC
+
+1. To shh the youbot (in all terminals):
+
+  .. code-block:: bash
+
+      yb2
+
+  .. note::
+
+      alias yb2=ssh -X robocup@youbot-brsu-2-pc2
+
+2. Export the youbot ssh alias
+
+  .. code-block:: bash
+
+      export_yb2
+
+  .. note::
+
+      alias export_yb2=export ROS_MASTER_URI=http://youbot-brsu-2-pc2:11311
+
+On robot
+
+3. Launch the robot
+
+  .. code-block:: bash
+
+      roslaunch mir_bringup robot.launch
+
+4. Launch Nav2d (to visualize the robot in Rviz)
+
+  .. code-block:: bash
+
+      roslaunch mir_2dnav 2dnav.launch
+
+4. Run calibration
+
+  .. code-block:: bash
+
+      roslaunch mir_calibrate_pick calibrate_pick.launch
+
+  A small gui window to adjust the pose of the end-effector in terms of XYZRPY will appear.
+
+5. Place a small round object on the ground (at approx. 25 cm from the center of the front wheel)
+
+On workstation or your PC
+
+6. Run rviz
+
+  .. code-block:: bash
+
+    rosrun rviz rviz
+
+7. Load the camera_calibration_config.rviz config and set the global frame to `base_link`
+
+    Ensure to enable `raw_color_pcl` and `camera_calibration_obj_pose`.  You can see an arrow pointing away from the robot.
+
+8. Adjust the values in the pose mockup gui, so that the beginning of the arrow matches the center of the round object.
+
+  .. note::
+
+      Make sure the object is not too far away from the robot and the Z value is slightly above the object.
+
+
+  .. figure:: images/camera_calib_side.png   
+    :align: center
+
+    Camera calibration example side view
+
+
+  .. figure:: images/camera_calib_top.png   
+    :align: center
+
+    Camera calibration example top view
+
+On robot
+
+9. Test the calibration in another terminal
+
+  .. code-block:: bash
+
+      rosrun mir_calibrate_pick calibrate_pick_client_test.py
+
+    The robot will move towards the gripper and move the end-effector of the arm close the object based on the given offset.
+
+10. If the final end-effector position is not properly aligned to the desired goal position, in the robot navigate to the robot urdf configuration and edit the `robot.urdf.xacro`
+
+  .. code-block:: bash
+
+      /ros/noetic/robocup/src/mas_industrial_robotics/mir_robots/mir_hardware_config/youbot-brsu-2/urdf/robot.urdf.xacro
+
+  .. code-block:: bash
+
+      <xacro:realsense_d435 name="arm_cam3d" parent="base_link">
+        <origin xyz="0.30 -0.05 0.80" rpy="0.00 1.137 0.0" />
+      </xacro:realsense_d435>
+
+  Adjust the values of xyz and rpy to account for the offset according to the values set in step 8 and repeat from step 8.
+
+11. If the final end-effector position is properly aligned to the desired goal position, the camera calibration is complete.
+
+12. Terminate all operations and relaunch the robot to continue.
+
+
+.. _realsense2_camera:
+
+RealSense2 camera
+------------------
+
+How to use the RealSense2 camera
+
+1. Installation
+
+  Go to the intel-ros github page. Clone the realsense repository in your catkin workspace inside src:
+
+  .. code-block:: bash
+
+    git clone [email protected]:intel-ros/realsense.git
+
+2. Camera Output
+
+  Run the following to get access to the camera:
+
+  .. code-block:: bash
+
+    roslaunch realsense2_camera rs_rgbd.launch
+
+  Open rviz to visualize the camera output.
+
+3. Configure camera output (OPTIONAL)
+
+  Run the following to open the rviz configuration window:
+
+  .. code-block:: bash
+
+    rosrun rqt_reconfigure rqt_reconfigure
+
+  You can also try to change the "octree_resolution" value:
+
+  .. code-block:: bash
+
+    cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/config
+
+4. Setup Base Frame
+
+  Run the following:
+
+  .. code-block:: bash
+
+    rosrun tf static_transform_publisher x y z roll pitch yaw base_link camera_link 100
+
+  where x, y, z are the distances and roll, pitch, yaw are the rotations from the base_link to the camera_link.
+
+  To visualize your frames in rzviz, add the TF feature in the rviz menu.
+
+5. Save Point Clouds
+
+  If it's your first time saving point clouds, you need to choose where you want to save them and enable data collection:
+
+  .. code-block:: bash
+
+    cd *catkin workspace*/src/mas_perception/mcr_scene_segmentation/ros/launch
+
+  Change the value of "dataset_collection" from "false" to "true". Change value of "logdir" from "/temp/
+  to the path in your computer where you want to save the files.
+
+  Run the following to get access to the point clouds given by the camera:
+
+  .. code-block:: bash
+
+    roslaunch mcr_scene_segmentation scene_segmentation.launch input_pointcloud_topic:=/camera/depth_registered/points
+
+  Publish the message 'e-start':
+
+  .. code-block:: bash
+
+    rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_start'"
+
+  Publish the message 'e-add-cloud-start':
+
+  .. code-block:: bash
+
+    rostopic pub /mcr_perception/scene_segmentation/event_in std_msgs/String "data: 'e_add_cloud_start'"
+
+  This last one will save the current point cloud of the observed object in your system.
+
+  .. warning::
+
+    Sometimes the camera won't save the point cloud (don't worry, not your fault).
+    Just try a different position for the object until it works.
+
+6. Visualize Point Cloud
+
+  Run the following in the folder where you saved the point clouds:
+
+  .. code-block:: bash
+
+    pcl_viewer *.pcd file you want to open*

data/docs/source/mir_perception/cavity_detection.rst

@@ -0,0 +1,4 @@
+.. _cavity_detection:
+
+Cavity detection
+================

data/docs/source/mir_perception/dataset.rst

@@ -0,0 +1,124 @@
+.. _dataset:
+
+Dataset
+========
+
+.. _dataset_collection:
+
+Dataset collection
+----------------------
+
+.. _3d_dataset_collection:
+
+3D dataset collection
+^^^^^^^^^^^^^^^^^^^^^^
+
+Objects are placed on a rotating table such that it can capture the objects from 
+different angle. However, this can be done manually on a normal table and change 
+the object orientation manually.
+
+.. note::
+
+  This only works with a single object.
+
+Setup:
+
+  1. Using external camera
+
+    * Launch the camera
+
+      Go to :ref:`realsense2_camera` for more information about the camera.
+
+    * Apply static transform from camera_frame to base_link as explained in :ref:`realsense2_camera`
+
+      Make sure the pointcloud of the plane is parallel to the gorund on rviz by transforming/rotating it.
+
+      .. note::
+
+        Passthrough filter will not work if it's not parallel to the ground
+
+    * Launch multimodal object recognition
+
+      .. code-block:: bash
+
+        roslaunch mir_object_recognition multimodal_object_recognition.launch debug_mode:=true
+
+      .. note::
+
+        To enable dataset collection, it requires to be in *debug_mode*. You can also
+        point to a specifi logdir to save the data e.g. logdir:=/home/robocup/cloud_dataset.
+
+    * Start collectiong dataset
+
+      .. code-block:: bash
+
+        rostopic pub /mir_perception/multimodal_object_recognition/event_in std_msgs/String e_start
+
+
+  2. Using robot arm camera
+
+    * Bringup the robot
+
+    * Start `multimodal_object_recognition` and continue with the next steps as described previously.
+    
+ .. note::
+
+    The segemented point clouds are saved in the `logdir`.
+
+.. _2d_dataset_collection:
+
+2D dataset collection
+^^^^^^^^^^^^^^^^^^^^^^
+
+Images can be collected using the robot camera or external camera.
+They can also be collected using `easy augment too <https://github.com/santoshreddy254/easy_augment>`_ 
+which use Intel Realsense D435 camera to capture the image and automatically 
+annotate them for 2D object detection.
+
+
+.. _dataset_preprocessing:
+
+Dataset preprocessing
+-----------------------
+
+Before training training the model, the data should be preprocessed, and this 
+includes but not limited to *removing bad data*, *normalization*, and converting 
+it to the required format such as *h5* for point clouds and *VOC* or *KITTI* for 
+images.
+
+.. _3d_dataset_preprocessing:
+
+3D dataset preprocessing
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+An example of the data directory structure:
+
+.. code-block:: bash
+
+  b-it-bots_atwork_dataset
+  ├── train
+  │   ├── AXIS
+  |       ├── axis_0001.pcd
+  |       ├── ...
+  │   ├── ...
+  ├── test
+  │   ├── AXIS
+  |       ├── axis_0001.pcd
+  |       ├── ...
+  │   ├── ...
+
+The dataset preprocessing can be found in `this notebook 
+<https://github.com/mhwasil/pointcloud_classification/blob/master/dataset/b-it-bots_dataset_preprocessing.ipynb>`_.
+
+It will generate `pgz` files containing a dictionary of objects consisting of `x y z r g b` and label.
+
+
+.. _2d_dataset_preprocessing:
+
+2D dataset preprocessing
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+* Create semantic labels using `labelme <https://github.com/wkentaro/labelme>`_.
+* Convert the semantic labels using `labelme2voc <https://github.com/mhwasil/labelme/blob/master/examples/bbox_detection/labelme2voc.py>`_.
+* If KITTI dataset is required, convert VOC dataset to KITTI using 
+  `vod-converter <https://github.com/umautobots/vod-converter>`_

data/docs/source/mir_perception/docstring/index.rst

@@ -0,0 +1,7 @@
+.. _mir_perception_docs:
+
+Perception Documentation
+########################
+
+.. toctree::
+  :maxdepth: 1

data/docs/source/mir_perception/index.rst

@@ -0,0 +1,21 @@
+.. _mir_perception:
+
+Perception
+##########
+
+Robot perception architecture
+
+.. figure:: images/perception_architecture.png   
+  :align: center
+
+  Robot perception architecture
+
+.. toctree::
+
+  camera
+  dataset
+  training
+  object_segmentation
+  object_recognition
+  barrier_tape
+  cavity_detection

data/docs/source/mir_perception/object_recognition.rst

@@ -0,0 +1,106 @@
+.. _object_recognition:
+
+Object recognition
+==================
+
+Our object recognition comes from two different modalities, namely 3D based object recognition and 
+2D object detection and recognition.
+
+.. _3d_object_recognition_model:
+
+3D object recognition models
+----------------------------
+
+`Our 3D object recognition node <https://github.com/b-it-bots/mas_industrial_robotics/blob/melodic/mir_perception/mir_object_recognition/ros/script/pc_object_recognizer_node>`_ 
+uses segmented point clouds described in :ref:`3d_object_segmentation` as the input 
+to the models. These segemented point clouds are published from 
+`mir_object_recognition node <https://github.com/b-it-bots/mas_industrial_robotics/blob/melodic/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_node.cpp>`_.
+
+The tutorial for training the model is described in :ref:`training`.
+
+We use two models for the 3D object recognition, namely:
+
+* Random forest with Radial density distribution and 3D modified Fisher vector 
+  (3DmFV) as features as described in `our paper <https://link.springer.com/chapter/10.1007/978-3-030-35699-6_48>`_.
+* `Dynamic Graph CNN <https://github.com/WangYueFt/dgcnn>`_: an end-to-end point 
+  cloud classification. However, in addition to points, we also incorporate colors as inputs.
+
+You can change the classifier in the launch file
+
+.. literalinclude:: ../../../mir_perception/mir_object_recognition/ros/launch/pc_object_recognition.launch
+  :language: xml
+  :lineno-start: 0
+  :linenos:
+
+Where:
+
+* `model`: whether it is CNN based (`cnn_based`) or traditional ML estimators (`feature_based`) 
+* `model_id`: the actual name of the model, available model ids: 
+
+  * `cnn_based`: `dgcnn`
+  * `feature_based`: `fvrdd`
+* `dataset`: the dataset name where the model was trained on
+
+.. _2d_object_recognition_model:
+
+2D object recognition models
+----------------------------
+
+We use `squeezeDet <https://github.com/BichenWuUCB/squeezeDet>`_ for out 2D object detection model.
+This is lightweight, one-shot object detection and classification.
+The model can be changed in the `rgb_object_recognition.launch`
+
+.. literalinclude:: ../../../mir_perception/mir_object_recognition/ros/launch/rgb_object_recognition.launch
+  :language: xml
+  :lineno-start: 0
+  :linenos:
+
+Where:
+
+* `classifier`: the model used to detect and classify objects 
+* `dataset`: the dataset used to train the model 
+
+.. _mutlimodal_object_recognition:
+
+Multimodal object recognition
+-----------------------------
+
+`multimodal_object_recognition_node <https://github.com/b-it-bots/mas_industrial_robotics/blob/melodic/mir_perception/mir_object_recognition/ros/src/multimodal_object_recognition_node.cpp>`_
+coordinates the whole perception pipeline as described in the following items:
+
+* Subscribes to rgb and point cloud topics
+* Transforms point cloud to the target fram
+* Finds 3D object clusters from the point cloud using `mir_object_segementation`
+* Sends the 3D clusters to point cloud object recognizer (`pc_object_recognizer_node`)
+* Sends the image to rgb object detection and recognition node (`rgb_object_recognized_node`)
+* Waits until it gets results from both classifiers or if the timeout is reached
+* Posts processing of the recognized objects
+
+  * Applies filters for the objects
+* Sends object_list to object_list_merger
+
+**Trigger multimodal_object_recognition**
+
+  .. code-block:: bash
+
+    rostopic pub /mir_perception/multimodal_object_recognition/event_in std_msgs/String e_start
+
+**Outputs**
+
+  .. code-block:: bash
+
+    /mcr_perception/object_detector/object_list
+    /mir_perception/multimodal_object_recognition/output/workspace_height
+
+**Visualization outputs**
+
+  .. code-block:: bash
+
+    /mir_perception/multimodal_object_recognition/output/bounding_boxes
+    /mir_perception/multimodal_object_recognition/output/debug_cloud_plane
+    /mir_perception/multimodal_object_recognition/output/pc_labels
+    /mir_perception/multimodal_object_recognition/output/pc_object_pose_array
+    /mir_perception/multimodal_object_recognition/output/rgb_labels
+    /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array
+    /mir_perception/multimodal_object_recognition/output/tabletop_cluster_pc
+    /mir_perception/multimodal_object_recognition/output/tabletop_cluster_rgb

data/docs/source/mir_perception/object_segmentation.rst

@@ -0,0 +1,143 @@
+.. _object_segmentation:
+
+Object Segmentation
+===================
+
+.. _3d_object_segmentation:
+
+3D object segmentation
+-------------------------
+
+Our scene segmentation works with the assumption that the table has to be parallel 
+to the ground as we use 
+`SampleConsensusModelPerpendicularPlane <https://pointclouds.org/documentation/classpcl_1_1_sample_consensus_model_perpendicular_plane.html>`_
+from PCL library. We keep points which are perpendicular to `z` axis.
+
+There are two packages you can launch in order to segment table top point clouds:
+
+*mir_object_segmentation* package 
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+`mir_object_segmentation <https://github.com/b-it-bots/mas_industrial_robotics/tree/melodic/mir_perception/mir_object_segmentation>`_ 
+package can be used to accumulate clouds from different views (if necessary),
+register them, and then segment the objects above the table.
+
+**Usage**
+
+* Find plane height
+
+  To find the object height, you have to send the following messages to `event_in`
+  topic:
+
+  .. code-block:: bash
+
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_start
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_find_plane
+
+  The plane height will be published to `workspace_height` topic:
+
+  .. code-block:: bash
+    
+    /mir_perception/scene_segmentation/output/workspace_height
+
+
+* Segment objects from one view point
+
+  .. code-block:: bash
+
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_start
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_segment
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_stop
+
+* Segment objects from one view point
+
+  You can segment table top objects from multiple viewpoints. You can do this by 
+  manually moving the camera position to a new view point, and then register 
+  the cloud with the existing ones.
+
+  .. code-block:: bash
+
+    # accumulate point cloud from the 1st view point
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_start
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_stop
+
+    # accumulate point cloud from the 2nd view point
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_start
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_add_cloud_stop
+
+    # segment accumulated cloud and stop segmentation
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_segment
+    rostopic pub /mir_perception/scene_segmentation/event_in std_msgs/String e_stop
+
+
+.. hint:: Published msgs from mir_object_segmentation
+
+  * Object list
+    
+    .. code-block:: bash
+
+      /mir_perception/scene_segmentation/output/object_list
+
+  * Bounding Boxes (for visualization in Rviz)
+
+    .. code-block:: bash
+
+      /mir_perception/scene_segmentation/output/bounding_boxes
+    
+  * Object labels (for visualization in Rviz)
+
+    .. code-block:: bash
+      
+      /mir_perception/scene_segmentation/output/labels
+
+  * Debug pointcloud (shows filtered input to plane segmentation)
+
+    .. code-block:: bash
+
+      /mir_perception/scene_segmentation/output/debug_cloud
+      
+  * Object clusters: segmented point clouds
+
+    .. code-block:: bash
+
+      /mir_perception/scene_segmentation/output/tabletop_clusters
+
+  * Workspace height:
+
+    .. code-block:: bash
+      
+      /mir_perception/scene_segmentation/output/workspace_height
+
+
+*mir_object_recognition* package
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+`mir_object_recognition` uses the same `scene_segmentation` method 
+as in `mir_object_segmentation`, but it does not accumulate point clouds. It only 
+takes one view and then segment table top objects.
+
+**Usage**
+
+* Segment objects
+
+  .. code-block:: bash
+
+    rostopic pub /mir_perception/multimodal_object_recognition/event_in std_msgs/String e_start
+
+**Published messages**
+
+  .. code-block:: bash
+
+    /mcr_perception/object_detector/object_list
+    /mir_perception/multimodal_object_recognition/output/bounding_boxes
+    /mir_perception/multimodal_object_recognition/output/debug_cloud_plane
+    /mir_perception/multimodal_object_recognition/output/pc_labels
+    /mir_perception/multimodal_object_recognition/output/pc_object_pose_array
+    /mir_perception/multimodal_object_recognition/output/rgb_labels
+    /mir_perception/multimodal_object_recognition/output/rgb_object_pose_array
+    /mir_perception/multimodal_object_recognition/output/tabletop_cluster_pc
+    /mir_perception/multimodal_object_recognition/output/tabletop_cluster_rgb
+    /mir_perception/multimodal_object_recognition/output/workspace_height

data/docs/source/mir_perception/training.rst

@@ -0,0 +1,47 @@
+.. _training:
+
+Training models
+===============
+
+.. _training_pointcloud_classification:
+
+Traning point cloud classification
+----------------------------------
+
+Collect point cloud dataset as describe in :ref:`3d_dataset_collection`, and 
+preprocess them as explained in :ref:`3d_dataset_preprocessing`.
+
+To train the models, you need to clone `this repo <https://github.com/mhwasil/pointcloud_classification>`_, and 
+install the requirements to train the model.
+
+Training deep learning model
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+  The supported models are available under `config/config.yaml`.
+
+  .. code-block:: bash
+    
+    #python trainer.py --model <model_name> --train
+    #an example for training DGCNN with color (DGCNNC)
+
+    python trainer.py --model DGCNNC --train
+
+
+Adding new model
+^^^^^^^^^^^^^^^^
+
+ToDo
+
+
+.. _training_2d_object_detection:
+
+Training 2D object detection
+----------------------------
+
+ToDo
+
+.. note::
+  
+  You can train the model on `H-BRS Scientific Computing Cluster <https://wr0.wr.inf.h-brs.de/wr/index.html>`_,
+  provided that you have access to it. The tutorial on how to submit job and train 
+  your model on the cluster can be found `here <https://github.com/mhwasil/pointcloud_classification/blob/master/hbrs_cluster_usage.md>`_.

data/docs/source/mir_planning/actions/insert_cavity.rst

@@ -0,0 +1,15 @@
+.. _mir_insert_cavity:
+
+Insert cavity
+=============
+
+Insert an object into a cavity on a precision placement workstation after picking
+it from robot's back platform.
+
+
+Goal parameter description
+--------------------------
+
+- ``peg``: name of object which needs to be inserted (e.g. ``M30``, ``F20_20_B``)
+- ``platform``: name of robot's back platform (e.g. ``PLATFORM_MIDDLE``, ``PLATFORM_LEFT``)
+- ``hole``: name of container on workstation (e.g. ``PP01``, ``PP02``)

data/docs/source/mir_planning/actions/insert_object.rst

@@ -0,0 +1,12 @@
+.. _mir_insert_object:
+
+Insert object
+=============
+
+Insert an object into a container on a workstation after picking it from robot's back platform.
+
+Goal parameter description
+--------------------------
+
+- ``platform``: name of robot's back platform (e.g. ``PLATFORM_MIDDLE``, ``PLATFORM_LEFT``)
+- ``hole``: name of container on workstation (e.g. ``CONTAINER_BOX_BLUE``)

data/docs/source/mir_planning/actions/move_base_safe.rst

@@ -0,0 +1,17 @@
+.. _mir_move_base_safe:
+
+Move base safe
+==============
+
+Move robot base from a known/mapped location to another known/mapped location while
+looking for barrier tape.
+
+
+Goal parameter description
+--------------------------
+
+- ``destination_location``: name of known/mapped location (e.g. ``WS01``, ``SH02``, ``PP01``)
+- ``dont_be_safe``: bool determining if barrier tape detection should be used or
+  not (e.g. ``true``, ``false``)
+- ``arm_safe_position``: joint configuration name for arm while the base is in
+  motion. This is used for barrier tape detection. (e.g. ``barrier_tape``, ``folded``)

data/docs/source/mir_planning/actions/perceive_cavity.rst

@@ -0,0 +1,11 @@
+.. _mir_perceive_cavity:
+
+Perceive cavity
+===============
+
+Perceive a precision placement workstation and detect and classify cavities in it.
+
+Goal parameter description
+--------------------------
+
+- ``location``: name of known/mapped location (e.g. ``PP01``, ``PP02``)

data/docs/source/mir_planning/actions/perceive_location.rst

@@ -0,0 +1,11 @@
+.. _mir_perceive_location:
+
+Perceive location
+=================
+
+Perceive a workstation and detect and classify objects on it.
+
+Goal parameter description
+--------------------------
+
+- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``, ``PP01``)

data/docs/source/mir_planning/actions/perceive_mock.rst

@@ -0,0 +1,23 @@
+.. _mir_perceive_aruco:
+
+Perceive mock
+=============
+
+Perceive an aruco cube on a workstation
+
+Related to: ``mir_perceive_aruco_cube``
+
+Goal parameter description
+--------------------------
+
+- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``, ``PP01``)
+
+Usage
+-----
+
+Make sure :ref:`mir_planning_bringup`'s launch file is already launched.
+
+  .. code-block:: bash
+
+    roslaunch mir_perceive_mock perceive_aruco_server.launch
+    rosrun mir_perceive_mock perceive_aruco_client_test

data/docs/source/mir_planning/actions/pick_object.rst

@@ -0,0 +1,12 @@
+.. _mir_pick_object:
+
+Pick object
+===========
+
+Pick an object from a workstation at a known/mapped location
+
+Goal parameter description
+--------------------------
+
+- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``)
+- ``object``: name of object to be picked (e.g. ``M20``, ``S40_40_G``)

data/docs/source/mir_planning/actions/place_object.rst

@@ -0,0 +1,11 @@
+.. _mir_place_object:
+
+Place object
+============
+
+Place object in gripper on a workstation at a known/mapped location
+
+Goal parameter description
+--------------------------
+
+- ``location``: name of known/mapped location (e.g. ``WS01``, ``SH02``)