Squashed 'third_party/ct/' content from commit 0048d02
Change-Id: Ia7e5360cbb414f92ce4f118bd9613ea23597db52
git-subtree-dir: third_party/ct
git-subtree-split: 0048d027531b6cf1ea730da17b68a0b7ef9070b1
diff --git a/ct_doc/doc/.gitkeep b/ct_doc/doc/.gitkeep
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diff --git a/ct_doc/doc/DoxygenLayout.xml b/ct_doc/doc/DoxygenLayout.xml
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@@ -0,0 +1,194 @@
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diff --git a/ct_doc/doc/application_examples.dox b/ct_doc/doc/application_examples.dox
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+++ b/ct_doc/doc/application_examples.dox
@@ -0,0 +1,13 @@
+/*!
+
+\page application_examples Application Examples
+@tableofcontents
+
+
+\section Whole-Body Model Predictive Control
+
+
+\section Constrained Motion Planning
+
+
+*/
\ No newline at end of file
diff --git a/ct_doc/doc/changelog.dox b/ct_doc/doc/changelog.dox
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--- /dev/null
+++ b/ct_doc/doc/changelog.dox
@@ -0,0 +1,32 @@
+/*!
+
+\page changelog Change Log
+@tableofcontents
+
+For a complete list of changes, we encourage you to check out our git repository at https://bitbucket.org/adrlab/ct
+
+\section cl_v21 Version 2.1
+- added (in)equality constrained linear-quadratic optimal control problems
+- refactored HPIPM interface (HPIPM is a high-performance interior-point QP solver)
+- changed from pure state and state-input constraints to box constraints and general
+inequality constraints in optimal control problems
+- provide general in-equality constrained versions of iLQR, GNMS and their hybrid variants.
+- minor improvements to NLOCBackends
+
+\section cl_v2 Version 2.0
+Features
+- added GNMS algorithm
+- type simplifications
+- explicit template instantiation for faster compilation speed
+- improved interfaces for SNOPT/IPOPT
+- several speed improvements
+- added HPIPM interface
+- improved Auto-Diff JIT and code-generation support
+- Constraints module
+
+
+\section cl_v1 Version 1.0
+- initial release
+
+
+*/
diff --git a/ct_doc/doc/core_tutorial.dox b/ct_doc/doc/core_tutorial.dox
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--- /dev/null
+++ b/ct_doc/doc/core_tutorial.dox
@@ -0,0 +1,224 @@
+/*!
+@page core_tutorials ct core Tutorials
+
+- \subpage core_tut_control
+- \subpage core_tut_linearization
+- \subpage core_tut_types
+
+This tutorial is specific for the Core Module of the Control Toolbox. For installation instructions and an overview see the main CT documentation.
+
+\page core_tut_control Feedback Control Tutorial
+@tableofcontents
+
+In this tutorial, we will take a look how to implement and simulate simple (feedback) controllers.
+
+\section cure_tut_pid PID Control
+
+First, we will implement a controller based on a simple PID Controller. There are at least three different ways to realize a PID Controller in CT.
+While there is a ct::core::PIDController, it is only SISO. However, CT assumes all systems and controllers are MIMO. Therefore, if you want to use
+the pre-implemented ct::core::PIDController, you will have to provide a mapping from states to PIDController input and from the output to the control input.
+Alternatively, you can implement your own Controller class which could utilize the ct::core::PIDController
+An example is shown in the \ref core_tut_custom_control "Custom Controller Tutorial". The third and easiest option is to implement the PID controller as
+ a linear state feedback controller of the form \f$ u = K x \f$. Herefore, we can use ct::core::StateFeedbackController.
+
+
+
+\section core_tut_custom_control Custom Controller
+
+In this example, we create our own implementation of a controller. We create a controller that has two states and one control input. Our
+control structure will be a PD controller with a feedforward control action. To implement a controller, we derive from ct::core::Controller. As we will see in a bit, this will ensure our feedback controller is interoperable with the rest of the Control Toolbox.
+Our CustomController.h looks like the following
+
+\include CustomController.h
+
+\note Any ct::core::Integrator will evaluate the controller at every integration step. Therefore, if you wish to implement a Controller with
+a fixed or lower sampling rate, you will have to implement this in your Controller class.
+
+We can now use this controller to control and simulate a damped oscillator again
+
+\include DampedOscillatorCustomController.cpp
+
+You can run this example with the following command
+
+\code{.sh}
+rosrun ct_core ex_DampedOscillatorCustomController
+\endcode
+
+\note Make sure you have built the examples before trying to run it.
+
+
+
+
+\page core_tut_linearization Derivatives/Jacobian/Linearization Tutorial
+@tableofcontents
+
+Often when working with a general nonlinear function \f$ f(x) \f$ we are interested in its Jacobian (derivatives) \f$ J = \frac{df}{dx} \f$.
+
+In order to compute this Jacobian, we are left with four methods
+1. Numerical differentiation, e.g. \f$ A = \frac{f(x+h,u) - f(x)}{h} \f$
+2. Analytical, manually derivation
+3. Symbolic math engine
+4. Auto-Differentiation (with optional codegen)
+
+The different methods are summarized below:
+
+Derivative Method | Numerical Accuracy | Computation Speed | Setup Time | Error Safe |
+------------------------- | ------------------ | ----------------- | ---------- | ---------- |
+Numeric Differentiation | - | - | +++ | +++ |
+Analytical Derivatives | +++ | ++ | - | - |
+Symbolic Math Engine | +++ | + | + | ++ |
+Automatic Differentiation | +++ | + | ++ | ++ |
+Auto-Diff Code Generation | +++ | +++ | ++ | ++ |
+
+Bottom line: Automatic Differentiation is the tool of choice for accurate, yet easy to setup derivatives. For best performance, Automatic Differentiation
+with code generation (Auto-Diff Codgen) should be used. <b>Auto-Diff Codegen is as accurate as analytical derivatives and equally fast if not faster!</b>.
+For more on this please refer to the following publications: \cite giftthaler2017autodiff \cite neunert:2016:derivatives
+
+\note Both Auto-Diff and Auto-Diff Codegen require you to template your function on the scalar type. Please see the tutorial \ref core_tut_linearization_scalar_templating
+for tips and tricks on how to do this easily!
+
+
+\section core_tut_linearization_function Jacobian/Derivative of a General Function
+In this tutorial, we will compute the Jacobian (derivative) of a general function using Auto-Diff Codegeneration. For this let's look at the
+unit test found in ct_core/test/math/JacobianCGTest.h
+
+\include JacobianCGTest.h
+
+So what do we see here? In the first test, even though we do code generation, we can evaluate the Jacobian at runtime without recompiling our code. The code gets
+compiled in the background. This gives maximum speed while maintaining flexibility. For simple functions this process is very fast. However, what if our function
+is more complex? In this case, the second tests shows how to generate source code and actually write it to file.
+
+But what is this ct::core::JacobianCG::generateForwardZeroCode()? Well it generates code for the original function. So in the end, it regenerates the function. But why is
+this even relavant? For such a simple example as here, there is probably not a lot of difference. However, for more complex equations, a regenerated function can
+be faster by up to 2x or more. The reason for that is that Auto-Diff builds an expression graph that can optimize the original function. Since it is case dependent
+whether you gain speed or not, you will have to try it out.
+
+
+
+
+\section core_tut_linearization_systems Jacobian/Linearization of a Nonlinear System
+
+Often when dealing with nonlinear systems, described by a differential equation of the form \f$ \dot{x} = f(x,u,t) \f$ we wish to compute the linearized form of
+the system around an operating point \f$ x=x_s \f$, \f$ u=u_s \f$.
+
+\f[
+ \dot{x} = A(x_s, u_s) x + B(x_s, u_s) u
+\f]
+
+with the System's Jacobians with respect to state and input
+
+\f[
+\begin{aligned}
+A &= \frac{df}{dx} |_{x=x_s, u=u_s} \\
+B &= \frac{df}{du} |_{x=x_s, u=u_s}
+\end{aligned}
+\f]
+
+As in the example above, we are left with different methods for computing the Jacobians. In the Control Toolbox the following methods are implemented for linearizing
+a ct::core::System.
+1. Numerical Differentiation, see ct::core::SystemLinearizer
+2. Automatic Differentiation, see ct::core::AutoDiffLinearizer
+3. Auto-Diff Codegen, see ct::core::ADCodegenLinearizer
+
+Again, the same properties as above hold in terms of speed, accuracy, setup time etc. As an example on how to use these different classes, let's again look at a unit
+test, this time at ct_core/test/math/AutoDiffLinearizerTest.cpp. This unit test shows how to use numerical and automatic differentiation to compute the linearization.
+
+\include AutoDiffLinearizerTest.cpp
+
+For an example on how to use Auto-Diff Codegen to compute the linearization, see \ref ADCodegenLinearizerTest.h
+
+\note Both Auto-Diff and Auto-Diff Codegen require you to template your function on the scalar type. Please see the tutorial \ref core_tut_linearization_scalar_templating
+for tips and tricks on how to do this easily!
+
+\section core_tut_linearization_scalar_templating Templating your System or Function on the Scalar Type
+In order to make use of Auto-Differentiation, you need to template your system on the scalar type. This means Auto-Diff needs to be able to call your system function
+with a special type, rather than a regular float or double type. If your modelling framework does not support this natively (as often the case), here is a short guide
+on how to add Auto-Diff support. Luckily, the Eigen library already templates its type on the scalar type already. Thus, if you are using Eigen, this process is even easier.
+
+There are different ways of templating your code on the scalar type. Here, we describe one of several options. Assume you have your class that contains your model/system:
+
+\code{.cpp}
+namespace my_sys {
+
+class MySystem : public ct:core::ControlledSystem<2, 1> {
+ public:
+ size_t STATE_DIM = 2;
+ size_t INPUT_DIM = 1;
+
+ void computeControlledDynamics(const StateVector<STATE_DIM>& state,
+ const double& t,
+ const ControlVector<CONTROL_DIM>& control,
+ StateVector<STATE_DIM>& derivative) override;
+
+ private:
+ double my_paramter_;
+};
+
+} // namespace my_sys
+
+\endcode
+
+The first step is to template your class on the scalar type. When doing so, we recommend moving your class to a new subnamespace (here called "tpl"). The reason
+to do so is that you can add a "using" directive in the original namespace, that defines your class with its original scalar type. In this way, all other code
+you might have written is not affected and continues to work. As a second step, you replace all double or floats or whatever scalar type you used before with the
+template parameter. CT types are already templated on scalar types, making your life much easier. The result would look something like this:
+
+\code{.cpp}
+namespace my_sys {
+namespace tpl {
+
+template <typename SCALAR>
+class MySystem : ct::core::ControlledSystem<2, 1, SCALAR> {
+ public:
+ size_t STATE_DIM = 2;
+ size_t INPUT_DIM = 1;
+
+ void computeControlledDynamics(const StateVector<STATE_DIM, SCALAR>& state,
+ const SCALAR& t,
+ const ControlVector<CONTROL_DIM, SCALAR>& control,
+ StateVector<STATE_DIM, SCALAR>& derivative) override;
+
+ private:
+ SCALAR my_paramter_;
+};
+
+} // namespace tpl
+
+using MySystem = tpl::MySystem<double>; // this line ensures backwards compatibility of dependent code
+
+} // namespace my_sys
+
+\endcode
+
+\note Fixed quantities such as the state dimension obviously do not need to be type converted.
+
+\note It is not strictly necessary to change the parameter ("my_parameter_") to SCALAR type as well. However, you can then use Auto-Diff to derive e.g. your
+dynamics function by this parameter if you ever wanted to do parametric optimization or system identification. Cool eh? :)
+
+\note Since your class is templated now, make sure you move the implementation from the .cpp file to the .h file (or an implementation file that gets included in the .h file).
+
+\note In case your class is already templated (on anything really), one option is to add the scalar type to the list of templates and default it to whatever scalar
+type you used before.
+
+\warn There are some pitfalls when using Auto-Differentiation. Please read the notes below.
+
+In order to make sure your class works with Auto-Differentiation, your code needs to comply with some restrictions:
+ * Ideally, your code should not contain branching, i.e. no if/else, switch or for loops that **depend** on an Auto-Diff scalar. While there are proper ways of dealing with branching
+you might not want to start out with it. Branching that depends only on paramters of which you do not want to take the derivative of is fine.
+ * Using mathematical functions or linear algebra: Functions such as std::sin, std::exp or inverses of Eigen matrices either do not support scalar types or have internal branching.
+Thus, they cannot be used. Thus, we provide traits that help you in this situation. These traits will select appropriate functions to call, depending on which SCALAR type is used.
+In case you called std::sin before, you should now call ct::core::internal::TraitSelector<SCALAR>::Trait::sin. In case e.g. SCALAR is a double type, this will call std::sin but for
+instances of the Auto-Diff scalar it will call the Auto-Diff compatible versions of sin.
+
+Once the conversion is completed, you can follow the instructions above to compute Jacobians.
+
+\page core_tut_types Some notes on types
+
+In ct/core/types, the user will find a variety of predefined variable types that are common in robotics and control. Our definitions of vectors and matrices are based
+on Eigen and are deliberately chosen to be fixed-size, while discrete array and discrete trajectory types rely on STL std::vectors.
+
+While discrete arrays, for example StateVectorArray.h, denote a pure `stack' of variables of a certain type, discrete trajectories like StateTrajectory.h also include timing
+information for the data points. The discrete trajectory employs ct::core::Interpolation to provide ZOH or piecewise linear interpolation between the data points, which is automatically
+done when calling the eval() method. Apart from that, discrete trajectories can be shifted in time, truncated, etc.
+
+ */
diff --git a/ct_doc/doc/ct_doc.doxyfile b/ct_doc/doc/ct_doc.doxyfile
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+# 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.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES 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
+# The default value is: YES.
+
+FULL_PATH_NAMES = YES
+
+# 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.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+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 list of 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 is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+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-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+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 Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+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 behavior. 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 behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+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.
+# The default value is: NO.
+
+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.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE = 4
+
+# This tag can be used to specify a number of aliases that act 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.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+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.
+# The default value is: NO.
+
+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,
+# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
+# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
+# Fortran. In the later case the parser tries to guess whether the code is fixed
+# or free formatted code, this is the default for Fortran type files), VHDL. 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 For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen.
+
+EXTENSION_MAPPING =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See http://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT = YES
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by by putting a % sign in front of the word
+# or globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT = YES
+
+# 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);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# http://www.riverbankcomputing.co.uk/software/sip/intro) 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.
+# The default value is: NO.
+
+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 will make
+# doxygen to 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.
+# The default value is: YES.
+
+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.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC = YES
+
+# Set the SUBGROUPING tag to YES 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.
+# The default value is: YES.
+
+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).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef 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, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS = NO
+
+# When TYPEDEF_HIDES_STRUCT tag 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.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT = NO
+
+# 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 appears 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. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+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 respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE = NO
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC = NO
+
+# 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. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+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 only methods in the interface are
+# included.
+# The default value is: NO.
+
+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 namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES = NO
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO 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.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS = YES
+
+# 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 these classes will be included in the various overviews. This option has
+# no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES = YES
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+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 these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+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 then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+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.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC = NO
+
+# 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.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES 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.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS = NO
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+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 constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: 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 group names will
+# appear in their defined order.
+# The default value is: NO.
+
+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 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.
+# The default value is: NO.
+
+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.
+# The default value is: NO.
+
+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.
+# The default value is: YES.
+
+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.
+# The default value is: YES.
+
+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.
+# The default value is: YES.
+
+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.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have 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 value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+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.
+# The default value is: YES.
+
+SHOW_USED_FILES = 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 value 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 value 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. For an example see the documentation.
+
+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. To 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.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE = DoxygenLayout.xml
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This 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. Do not use file names with spaces, bibtex cannot handle them. See
+# also \cite for info how to create references.
+
+CITE_BIB_FILES = refs.bib
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS = YES
+
+# If the WARN_IF_UNDOCUMENTED tag 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.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If the WARN_IF_DOC_ERROR tag 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.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR = YES
+
+# This 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 doxygen will only warn about wrong or incomplete parameter
+# documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC = YES
+
+# 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)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT = "$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 standard
+# error (stderr).
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is 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.
+# Note: If this tag is empty the current directory is searched.
+
+# CT DEV: Need to specify explicitely to ensure ordering!
+# https://stackoverflow.com/questions/18001897/how-do-you-order-doxygen-custom-pages
+
+INPUT = mainpage.dox \
+ installation.dox \
+ getting_started.dox \
+ core_tutorial.dox \
+ optcon_tutorial.dox \
+ rbd_tutorial.dox \
+ performance.dox \
+ application_examples.dox \
+ changelog.dox \
+ developer_info.dox
+
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+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 patterns (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++, *.java, *.ii,
+# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp,
+# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown,
+# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf,
+# *.qsf, *.as and *.js.
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+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.
+# The default value is: NO.
+
+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 = */external/cppad/* \
+ */src/codegen/* \
+ */generated/jacobians* \
+ */generated/transforms*
+
+# 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
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */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 = ../examples \
+ ../../ct_core/examples \
+ ../../ct_core/test \
+ ../../ct_optcon/examples \
+ ../../ct_optcon/test \
+ ../../ct_rbd/test \
+ ../../ct_models/test
+
+# 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.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE = YES
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be 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.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+
+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 information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER ) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+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 tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+#---------------------------------------------------------------------------
+# 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 that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = YES
+
+# 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.
+# The default value is: NO.
+
+REFERENCES_RELATION = YES
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES 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.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS = 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.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set the YES 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.
+# See also: Section \class.
+# The default value is: YES.
+
+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.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+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 a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output
+# The default value is: YES.
+
+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.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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 left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user-
+# defined cascading style sheet that is included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefor more robust against future updates.
+# Doxygen will copy the style sheet file to the output directory. For an example
+# see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_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.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the stylesheet 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.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP = 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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# 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 (see: http://developer.apple.com/tools/xcode/), 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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET = NO
+
+# This tag determines the name of the docset 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.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# 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.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# The DOCSET_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.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP = NO
+
+# 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.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE =
+
+# 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.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION =
+
+# 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).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING =
+
+# 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. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+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 Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS =
+
+# 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.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they 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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set 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. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW = YES
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values 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.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE = 4
+
+# 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.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. 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.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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 directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+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 may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT = HTML-CSS
+
+# 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
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE =
+
+# 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. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES doxygen will generate LaTeX output.
+# The default value is: YES.
+
+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.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# 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.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+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 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. To get the times font for
+# instance you can specify
+# EXTRA_PACKAGES=times
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+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. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber. Doxygen will
+# replace them by respectively the title of the page, the current date and time,
+# only the current date, the version number of doxygen, the project name (see
+# PROJECT_NAME), or the project number (see PROJECT_NUMBER).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+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.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). 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.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS = YES
+
+# If the LATEX_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES = NO
+
+# If the LATEX_SOURCE_CODE tag 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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE = YES
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+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 too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+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.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+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 some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet 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.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+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. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR =
+
+# 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 value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+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.
+# The default value is: NO.
+
+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.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT = xml
+
+# 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.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT = docbook
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES doxygen will generate an AutoGen
+# Definitions (see http://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.
+# The default value is: NO.
+
+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.
+# The default value is: NO.
+
+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.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+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.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+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.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+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 only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set 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.
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diff --git a/ct_doc/doc/developer_info.dox b/ct_doc/doc/developer_info.dox
new file mode 100644
index 0000000..d5a4e63
--- /dev/null
+++ b/ct_doc/doc/developer_info.dox
@@ -0,0 +1,95 @@
+/*!
+
+\page developer Developer Guidelines
+@tableofcontents
+
+We very much welcome external developers. Small changes and contributions can be made via pull requests.
+If you have a larger enhancement, bug fix or other contribution in mind, feel free to first create an issue
+to align the development with ongoing activities.
+
+\section Code Formatting
+We support clang-format and provide a style template to automatically format the source code.
+Please refer to the clang-format style sheet in the package root directory for our conventions.
+Or simply rely on clang-format to do the formatting for you.
+
+Note for developers using the *Eclipse IDE*: you can conveniently integrate clang-format (and our .clang-format
+configuration file) in your project using the "CppStyle" plugin (see http://www.cppstyle.com/ for
+detailed information). To automatically format the code according to ct-style, just mark the source-code
+and press *Ctrl+Shift+f*.
+
+
+Example command for running clang-tidy:
+\code
+$ catkin build --no-deps <package_name> -v --make-args clang-tidy
+\endcode
+
+For clang-format it's just the same:
+\code
+$ catkin build --no-deps <package_name> -v --make-args clang-format
+\endcode
+
+\section Explicit Template Instantiation
+
+CT relies on explicit template instantiation, that means precompilation of the library for
+user-specified state and control dimensions.
+While CT handles things slightly different, please see [this post](https://anteru.net/blog/2008/11/19/318/index.html)
+to learn more about the subject.
+The basic idea is that for all templated class there is
+- a header (.h) that defines the class and its methods
+- an (header) implementation (-impl.h) that implements all methods
+- a cpp template file (.cpp.in) that instantiates the template
+
+The template file has the following placeholders
+
+Placeholder | Description
+-------------- | -------------
+STATE_DIM_PRESPEC | The state dimension
+CONTROL_DIM_PRESPEC | The control dimension
+SCALAR_PRESPEC | The scalar type
+DOUBLE_OR_FLOAT | "true" if the scalar type is double or float
+POS_DIM_PRESPEC | Position dimension for symplectic integrator (default: 0)
+VEL_DIM_PRESPEC | Velocity dimension for symplectic integrator (default: 0)
+
+You can use these placeholders in the code
+\code{.cpp}
+ #if \@DOUBLE_OR_FLOAT\@
+ template class ct::coreMyClass<\@STATE_DIM_PRESPEC\@, \@CONTROL_DIM_PRESPEC\@>;
+ #endif
+\endcode
+
+The parser in the CMakeLists.txt would then create the following code out of this
+(for STATE_DIM=3, CONTROL_DIM=2, SCALAR=double)
+
+\code{.cpp}
+ #if 1
+ template class ct::coreMyClass<3, 2>;
+ #endif
+\endcode
+
+\note The parameter DOUBLE_OR_FLOAT is optional but can be used if your class does not compile for Auto-Diff types
+which is often the case if no special care is taken.
+
+
+\section other_guidelines Other guidelines
+
+ - Headerguards:
+please use
+\code
+#pragma once
+\endcode
+as header guards, rather than
+\code
+#ifndef
+#define
+/*...*/
+#endif
+\endcode
+
+ - never use **std::make_shared** and **std::allocate_shared** within the CT. They cause aligment issues,
+compare the following bugreport: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1049
+Currently, the best option is to declare and define shared pointers using CT types as in the following example
+\code{.cpp}
+std::shared_ptr<ct::core::ControlledSystem<state_dim, control_dim>> nonlinearSystem( new SomeClass(...));
+\endcode
+
+*/
diff --git a/ct_doc/doc/getting_started.dox b/ct_doc/doc/getting_started.dox
new file mode 100644
index 0000000..5e00771
--- /dev/null
+++ b/ct_doc/doc/getting_started.dox
@@ -0,0 +1,60 @@
+/*!
+@page getting_started Getting Started
+
+In order to get you started with using the Control Toolbox, there are several useful resources available. First make sure
+you have installed the Control Toolbox as described in the \ref install_guide "Installation Guide". Afterwards you can
+follow the Tutorials below.
+
+- \subpage tut_basics "Basics Tutorial"
+- \subpage core_tutorials "ct core Tutorials"
+- \subpage optcon_tutorials "ct optcon Tutorials"
+- \subpage rbd_tutorials "ct rbd Tutorials"
+
+If you need additional support, feel free to create an issue on Bitbucket or contact the developers.
+
+\page tut_basics Basic Tutorial
+@tableofcontents
+
+\section tut_basics_pkg Creating a ROS package
+CT is middleware free. Therefore, you are not bound to use ROS or catkin. However, for the sake of simplicity we will use catkin in this tutorial.
+Make sure you have succesfully downloaded and compiled CT according to our @ref gs instructions. Afterwards go to your catkin workspace
+and create a new package
+
+\code{.sh}
+cd ~/catkin_ws/src
+catkin_create_pkg my_ct_project roscpp ct_core ct_rbd ct_optcon ct_models
+\endcode
+
+In this example, we made \a my_ct_project dependent on all CT packages. This is not strictly necessary, however there is no harm to it either.
+
+
+\section tut_basics_exec Creating our first executable
+
+First, we are going to simulate the dynamics of a damped oscillator. Let's create our main file
+
+\include DampedOscillator.cpp
+
+So what happens in this code? We first include ct/core.h. This includes all relevant headers from CT Core. Other CT modules have similar header files
+such as \a ct/rbd.h . If you were to include ct/rbd.h you would not have to include ct/core.h anymore. It is automatically included.
+
+Then, we create a state vector and set it to zero. Afterwards, we can create a shared pointer to a ct::core::SecondOrderSystem
+which is a damped oscillator. It is derived from type ct::core::System, which means we can directly plug it into a ct::core::Integrator. Here, we have many
+choices such as ct::core::IntegratorEuler or ct::core::ODE45. Here, we chose a fourth-order Runge-Kutta integrator. We then simulate (integrate) it forward
+for 1 second with a time step of 0.001 seconds. Finally, we print the new state.
+
+
+\section tut_basics_system Creating our first system
+In the example above, we have been using an oscillator that is provided with CT. However, we might want to model our own system. Here, we will model
+a simple mass point subject to friction. However, if you are interested in more sophisticated models, especially Rigid Body Dynamics, make sure you
+check out the tutorials in ct_rbd as well.
+
+First we create our system within a header Masspoint.h
+
+\include Masspoint.h
+
+As before, we can now integrate this system forward
+
+\include MasspointIntegration.cpp
+
+
+ */
diff --git a/ct_doc/doc/installation.dox b/ct_doc/doc/installation.dox
new file mode 100644
index 0000000..d4f0ba7
--- /dev/null
+++ b/ct_doc/doc/installation.dox
@@ -0,0 +1,105 @@
+/*!
+
+\page install_guide Installation
+- \subpage requirements
+- \subpage install
+
+
+\page requirements Requirements
+@tableofcontents
+This library is written in C++11. It is tested under Ubuntu 14.04 and 16.04 with
+library versions as provided in the package sources.
+
+
+\section dep Dependencies
+
+ - C++ compiler with C++11 support (we recommend gcc-5.4.1 or greater or clang-3.5 or greater)
+ - <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a>
+ - <a href="http://wiki.ros.org/catkin">catkin</a> (build system, easy to switch to CMakeLists.txt where needed). We recommend using <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a>
+ - boost 1.54 or greater (soon optional)
+ - <a href="https://github.com/ethz-asl/kindr">kindr</a>, a kinematics library for robotics,
+ which is required for building ct_rbd. Ideally, clone the newest version into your
+ catkin workspace:
+ \code{.sh}
+ $ git clone https://github.com/ethz-asl/kindr.git
+ \endcode
+
+
+\section opt_dep Optional Dependencies and Bindings
+The following dependencies and bindings are optional but can help to enhance the functionality or performance of the CT
+
+ - <a href="http://www.netlib.org/lapack/">lapack</a> (enables Schur method as an alternative to iterative method in ct::optcon::LQR)
+
+ - <a href="https://clang.llvm.org/">clang</a> compiler (faster compilation for large linear models), install from command-line via
+ \code{.sh} $ sudo apt-get install clang-3.5 \endcode
+
+ - <a href="http://wiki.ros.org/indigo">ROS Indigo</a> or <a href="http://wiki.ros.org/kinetic">Kinetic</a> (for ROS bindings, visualization and extended examples), see <a href="../../../../ct_ros/ct_ros_nodes/doc/html/index.html">ct_ros_nodes</a>, <a href="../../../../ct_ros/ct_ros_nodes/doc/html/index.html">ct_ros_msgs</a>
+
+ - <a href="https://projects.coin-or.org/Ipopt">IPOPT</a> or <a href="http://www.sbsi-sol-optimize.com/asp/sol_product_snopt.htm">SNOPT</a>
+ (for ct::optcon::SnoptSolver and ct::optcon::IpoptSolver as used by ct::optcon::DMS)
+
+ - <a href="https://github.com/giaf/blasfeo/releases/tag/ct-v2">blasfeo</a> linear algebra and <a href="https://github.com/giaf/hpipm/releases/tag/ct-v2">HPIPM solver</a> as
+ alternative high-performance (constrained) linear-quadratic optimal control solver. Check out the *ct-v2* tags. Detailed reference
+ about blasefeo can be found <a href="https://arxiv.org/abs/1704.02457">here</a>.
+ Both packages were developed by <a href="https://www.syscop.de/people/dr-gianluca-frison">Gianluca Frison</a>, <a href="https://www.syscop.de/">University of Freiburg</a>.
+
+ - <a href="http://qwt.sourceforge.net/">Qwt</a> (for basic plotting)
+
+ - MATLAB (for Matlab logging)
+
+ - <a href="http://clang.llvm.org/extra/clang-tidy/">clang-tidy</a>, install via
+ \code{.sh}
+ $ sudo apt-get install clang-tidy-3.9
+ \endcode
+
+ - <a href="https://clang.llvm.org/docs/ClangFormat.html">clang-format</a>, install via
+ \code{.sh}
+ $ sudo apt-get install clang-format-3.9
+ \endcode
+
+
+\page install Compile
+@tableofcontents
+
+\section build_lib Build the library
+
+In order to build the library, execute the following commands in your terminal
+\code{.sh}
+cd catkin_ws/src
+git clone https://github.com/ethz-asl/kindr.git
+git clone https://bitbucket.org/adrlab/ct.git
+catkin build -DCMAKE_BUILD_TYPE=RELEASE
+\endcode
+
+The following additional build flags are available, which can be appended to the build command above
+
+Build Flag | Default value | Description
+------------- | ------------- | ------------
+-DBUILD_EXAMPLES=\<BOOL> | FALSE | Builds examples for all packages
+-DBUILD_HYQ_FULL=\<FALSE> | FALSE | Build HyQ examples and executables (warning: slow with GCC!)
+-DUSE_CLANG=\<BOOL> | FALSE | Use CLANG instead of the default compiler
+-DCLANG_CXX_COMPILER=\<clang-bin> | "/usr/bin/clang++-3.5" | Set clang C++ compiler binary
+-DCLANG_C_COMPILER=\<clang-bin> | "/usr/bin/clang-3.5" | Set clang C compiler binary
+-DUSE_INTEL=\<BOOL> | FALSE | Use Intel compiler instead of the default compiler
+-DINTEL_CXX_COMPILER=\<clang-bin> | "/opt/intel/bin/icc" | Set Intel C++ compiler binary
+-DINTEL_C_COMPILER=\<clang-bin> | "/opt/intel/bin/icpc" | Set Intel C compiler binary
+-DHPIPM=\<BOOL> | FALSE | Compile with HPIPM support (set $BLASFEO_DIR and $HPIPM_DIR environment variables)
+
+
+
+\section build_doc Build this Documentation
+To build the documentation do
+\code{.sh}
+catkin build ct_doc -v --make-args doc # build the doc
+\endcode
+This will build the documentation and open it in your browser.
+
+
+\section run_tests Run Unit Tests
+The unit tests are writte as <a href="http://code.google.com/p/googletest/">Google Tests</a>.
+To run unit tests and verify operation execute
+\code{.sh}
+catkin run_tests
+\endcode
+
+*/
diff --git a/ct_doc/doc/mainpage.dox b/ct_doc/doc/mainpage.dox
new file mode 100644
index 0000000..975e675
--- /dev/null
+++ b/ct_doc/doc/mainpage.dox
@@ -0,0 +1,338 @@
+
+/*!
+\mainpage Overview
+
+@tableofcontents
+
+\section ct1 Control Toolbox
+
+This is the ADRL Control Toolbox ('CT'), an open-source C++ library for efficient modelling, control,
+estimation, trajectory optimization and model predictive control.
+The CT is applicable to a broad class of dynamic systems, but features additional modelling tools specially designed for robotics.
+This page outlines its general concept, its major building blocks and highlights selected application examples.
+
+The library contains several tools to design and evaluate controllers, model dynamical systems and solve optimal control problems.
+The CT was designed with the following features in mind:
+
+ - **Systems and dynamics**:
+ - intuitive modelling of systems governed by ordinary differential- or difference equations.
+
+ - **Trajectory optimization, optimal control and (nonlinear) model predictive control**:
+ - intuitive modelling of cost functions and constraints
+ - common interfaces for optimal control solvers and nonlinear model predictive control
+ - currently supported algorithms:
+ - Single Shooting
+ - iLQR \cite todorov2005ilqg / SLQ \cite slq:2005
+ - Gauss-Newton-Multiple-Shooting (GNMS) \cite giftthaler2017family
+ - Classical Direct Multiple Shooting (DMS) \cite bock1984direct
+ - standardized interfaces for the solvers
+ - IPOPT (first and second order)
+ - SNOPT
+ - HPIPM
+ - custom Riccati-solver
+
+ - **Performance**:
+ - solve large scale optimal control problems in MPC fashion.
+
+ - **Robot Modelling and rigid body dynamics**:
+ - straight-forward interface to a state-of the art rigid body dynamics modelling tool.
+
+ - **Automatic Differentiation**:
+ - first- and second order automatic differentiation of arbitrary vector-valued functions including cost functions and constraints
+ - automatic differentiation of rigid body dynamics
+ - derivative code generation for maximum efficiency
+
+ - **Simplicity**:
+ - all algorithm flavors and solver backends are available through simple configuration files.
+
+
+The CT is hosted on bitbucket: <a href="https://bitbucket.org/adrlab/ct" target="_blank">https://bitbucket.org/adrlab/ct</a>
+
+
+
+\section ae Robot Application Examples
+
+The Control Toolbox has been used for Hardware and Simulation control tasks on flying, walking and ground robots.
+
+\htmlonly
+<iframe width="560" height="315" src="https://www.youtube.com/embed/Y7-1CBqs4x4" frameborder="2" allowfullscreen></iframe>
+<iframe width="560" height="315" src="https://www.youtube.com/embed/vuCSKtP67E4" frameborder="2" allowfullscreen></iframe>
+<iframe width="560" height="315" src="https://www.youtube.com/embed/rWmw-ERGyz4" frameborder="2" allowfullscreen></iframe>
+<iframe width="560" height="315" src="https://www.youtube.com/embed/rVu1L_tPCoM" frameborder="2" allowfullscreen></iframe>
+\endhtmlonly
+
+For details and more videos see \ref application_examples "Application Examples" and our \ref publications "publications".
+
+
+\section teaser What is the CT?
+
+A common tasks for researchers and practitioners in both the control and the robotics communities
+is to model systems, implement equations of motion and design model-based controllers, estimators,
+planning algorithms, etc.
+Sooner or later, one is confronted with questions of efficient implementation, computing derivative
+information, formulating cost functions and constraints or running controllers in model-predictive
+control fashion.
+
+The Control Toolbox is specifically designed for these tasks. It is written entirely in C++ and has
+a strong focus on highly efficient code that can be run online (in the loop) on robots or other
+actuated hardware. A major contribution of the CT is are its implementations of optimal control
+algorithms, spanning a range from simple LQR reference implementations to constrained model predictive
+control. The CT supports Automatic Differentiation (Auto-Diff) and allows to generate derivative code
+for arbitrary scalar and vector-valued functions.
+We designed the toolbox with usability in mind, allowing users to apply advanced concepts such as
+nonlinear model predictive control (NMPC) or numerical optimal control easily and with minimal effort.
+While we provide an interface to a state-of-the art Auto-Diff compatible robot modelling software, all
+other modules are independent of the a particular modelling framework, allowing the code to be interfaced
+with existing C/C++ code or libraries.
+
+The CT has been successfully used in a variety of different projects, including a large number of
+hardware experiments, demonstrations and academic publications.
+Example hardware applications are online trajectory optimization with collision
+avoidance \cite giftthaler2017autodiff, trajectory optimization for Quadrupeds \cite neunert:2017:ral
+and mobile manipulators \cite giftthaler2017efficient as well as NMPC on ground robots \cite neunert2017mpc
+and UAVs \cite neunert16hexrotor. The project originated from research conducted at the Agile \& Dexterous
+Robotics Lab at ETH Zurich, but is continuously extended to cover more fields of applications and algorithms.
+
+
+\section scope Scope of the CT
+
+ Software is one of the key building blocks for robotic systems and there is a great effort
+ in creating software tools and libraries for robotics.
+ However, when it comes to control and especially Numerical Optimal Control, there are not
+ many open source tools available that are both easy to use for fast development as well as
+ efficient enough for online usage.
+ While there exist mature toolboxes for Numerical Optimal Control and Trajectory Optimization,
+ they are highly specialized, standalone tools that due not provide sufficient flexibility
+ for other applications. Here is where the CT steps in. The CT has been designed from ground
+ up to provide the tools needed for fast development and evaluation of control methods while
+ being optimized for efficiency allowing for online operation. While the emphasis lies on control,
+ the tools provided can also be used for simulation, estimation or optimization applications.
+
+ In contrast to other robotic software, CT is not a rigid integrated application but can be
+ seen quite literal as a toolbox: It offers a variety of tools which can be used and combined
+ to solve a task at hand. While ease-of-use has been a major criteria during the design and
+ application examples are provided, using CT still requires programming and control knowledge.
+ However, it frees the users from implementing standard methods that require in-depth experience
+ with linear algebra or numerical methods. Furthermore, by using common definitions and types,
+ a seamless integration between different components such as systems, controllers or integrators
+ is provided, enabling fast prototyping.
+
+
+\section design Design and Implementation
+
+The main focus of CT is efficiency, which is why it is fully implemented in C++.
+Since CT is designed as a toolbox rather than an integrated application, we tried to provide
+maximum flexibility to the users. Therefore, it is not tied to a specific middleware such as
+ROS and dependencies are kept at a minimum. The two essential dependencies for CT are
+<a href="http://eigen.tuxfamily.org" target="_blank">Eigen</a> and
+<a href="http://github.com/ethz-asl/kindr" target="_blank">Kindr</a>
+(which is based on Eigen). This Eigen dependency is intentional since Eigen
+is a defacto standard for linear algebra in C++, as it provides highly efficient implementations
+of standard matrix operations as well as more advanced linear algebra methods.
+Kindr is a header only Kinematics library which builds on top of it and provides data types
+for different rotation representations such as Quaternions, Euler angles or rotation matrices.
+
+
+\section modules Structure and Modules of the CT
+
+The Control Toolbox consists of three main modules. The Core module (ct_core), the Optimal
+Control (ct_optcon) module and the rigid body dynamics (ct_rbd) module.
+There is a clear hierarchy between the modules.
+That means, the modules depend on each other in this order, e.g. you can use the core module
+without the optcon or rbd module.
+ - The `core' module (ct_core) module provides general type definitions and mathematical tools.
+For example, it contains most data type definitions, definitions for systems and controllers,
+as well as basic functionality such as numerical integrators for differential equations.
+ - The `optimal Control' module (ct_optcon) builds on top of the `core' module and adds
+infrastructure for defining and solving Optimal Control Problems. It contains the functionality
+for defining cost functions, constraints, solver backends and a general MPC wrapper.
+ - The `rigid body dynamics' module (ct_rbd) provides tools for modelling Rigid Body Dynamics
+systems and interfaces with ct_core and ct_optcon data types.
+
+For testing as well as examples, we also provide the 'models' module (ct_models) which contains
+various robot models including a quadruped, a robotic arm, a normal quadrotor and a quadrotor
+with slung load.
+
+The four different main modules are detailed in the following.
+
+
+\subsection ct_core_overview CT Core
+
+ - Definitions of fundamental types for **control** and simulation, such as dynamic systems
+ (ct::core::System), states (ct::core::StateVector), controls (ct::core::Controller), or trajectories
+ (ct::core::DiscreteTrajectoryBase).
+ - **Numeric integration** (ct::core::Integrator) with various ODE solvers including fixed step
+ (ct::core::IntegratorEuler, ct::core::IntegratorRK4) and variable step (ct::core::IntegratorRK5Variable,
+ ct::core::ODE45) integrators, as well as symplectic (semi-implicit) integrators.
+ - Numerical approximation of Trajectory **Sensitivities** (ct::core::Sensitivity , e.g. by forward-integrating
+ variational differential equations)
+ - Common **feedback controllers** (e.g. ct::core::PIDController)
+ - Derivatives/Jacobians of general functions using **Numerical Differentiation** (ct::core::DerivativesNumDiff)
+ or **Automatic-Differentiation** with code-generation (ct::core::DerivativesCppadCG) and just-in-time (JIT)
+ compilation (ct::core::DerivativesCppadJIT)
+ - <a href="../../../ct_core/doc/html/index.html">quick link to ct_core</a>
+
+
+\subsection ct_optcon_overview CT Optimal Control
+
+ - Definitions for **Optimal Control Problems** (ct::optcon::OptConProblem) and **Optimal Control Solvers** (ct::optcon::OptConSolver)
+ - **CostFunction toolbox** allowing to construct cost functions from file and providing first-order and **second-order approximations**, see ct::optcon::CostFunction.
+ - **Constraint toolbox** for formulating constraints of Optimal Control Problems, as well as automatically computing their Jacobians.
+ - reference C++ implementations of the **Linear Quadratic Regulator**, infinite-horizon LQR and time-varying LQR (ct::optcon::LQR, ct::optcon::TVLQR)
+ - **Riccati-solver** (ct::optcon::GNRiccatiSolver) for unconstrained linear-quadratic optimal control problems, interface to high-performance
+ <a href="https://github.com/giaf/hpipm" target="_blank"> third-party Riccati-solvers</a> for constrained linear-quadratic optimal control problems
+ - **iterative non-linear Optimal Control** solvers, i.e. Gauss-Newton solvers such as iLQR (ct::optcon::iLQR) and
+ Gauss-Newton Multiple Shooting(ct::optcon::GNMS), constrained direct multiple-shooting (ct::optcon::DmsSolver)
+ - Non-Linear **Model Predictive Control** (ct::optcon::MPC)
+ - Definitions for Nonlinear Programming Problems (**NLPs**, ct::optcon::Nlp) and interfaces to third-party **NLP Solvers**
+ (ct::optcon::SnoptSolver and ct::optcon::IpoptSolver)
+ - <a href="../../../ct_optcon/doc/html/index.html">quick link to ct_optcon</a>
+
+
+\subsection ct_rbd_overview CT Rigid Body Dynamics
+
+ - Standard models for Rigid Body Dynamics
+ - Definitions for the state of a Rigid Body System expressed as general coordinates (ct::rbd::RBDState)
+ - Routines for different flavors of **Forward** and **Inverse Dynamics** (ct::rbd::Dynamics)
+ - Rigid body and end-effector **kinematics** (ct::rbd::Kinematics, note that we do currently not provide inverse kinematics)
+ - Operational Space Controllers
+ - Basic soft **auto-differentiable contact model** for arbitrary frames (ct::rbd::EEContactModel)
+ - **Actuator dynamics** (ct::rbd::ActuatorDynamics)
+ - Backend uses <a href="https://bitbucket.org/mfrigerio17/roboticscodegenerator/" target="_blank">RobCoGen</a> \cite frigerioCodeGen,
+ a highly efficient Rigid Body Dynamics library
+ - <a href="../../../ct_rbd/doc/html/index.html">quick link to ct_rbd</a>
+
+
+\subsection ct_models_overview CT Models:
+
+ - Various standard models for testing and evaluation including UAVs (ct::models::Quadrotor), ground robots,
+ legged robots (ct::models::HyQ), robot arms (ct::models::HyA), inverted pendulums etc.
+ - Means of creating linear approximation of these models
+ - <a href="../../../ct_models/doc/html/index.html">quick link to ct_models</a>
+
+
+\section source_code Source Code
+
+The source code is available at <a href="https://bitbucket.org/adrlab/ct" target="_blank">https://bitbucket.org/adrlab/ct</a>
+
+Furthermore there are examples for ROS interfaces available:
+ - <a href="../../../../ct_ros/ct_ros_msgs/doc/html/index.html" target="_blank">ct_ros_msgs</a>
+ - <a href="../../../../ct_ros/ct_ros_nodes/doc/html/index.html" target="_blank">ct_ros_nodes</a>
+
+
+\section gs How to use the Control Toolbox
+
+To get started with the control toolbox, please see \ref getting_started "Getting Started".
+
+
+\section contact Support
+
+For any questions, issues or other troubleshooting please either
+- create an issue: https://bitbucket.org/adrlab/ct/issues
+- contact the devs: control-toolbox-dev@googlegroups.com
+
+
+\section ct_doc_acknowledgement Acknowledgements
+
+\subsection contribs Contributors
+ - Michael Neunert
+ - Markus Giftthaler
+ - Markus Stäuble
+ - Farbod Farshidian
+ - Diego Pardo
+ - Timothy Sandy
+ - Jan Carius
+ - Hamza Merzic
+
+\subsection lead_overview Project Lead and Maintenance
+ - Michael Neunert, neunertm (at) gmail (dot) com
+ - Markus Giftthaler, mgiftthaler (at) ethz (dot) ch
+
+\subsection funding Funding
+This software has been developed at the <a href="http://www.adrl.ethz.ch" target="_blank">Agile & Dexterous Robotics Lab</a>
+at <a href="http://www.ethz.ch/en" target="_blank">ETH Zurich</a>, Switzerland.
+The development has been made possible through financial support from the <a href="http://www.snf.ch/en/" target="_blank">Swiss National Science Foundation (SNF)</a>
+through a SNF Professorship award to Jonas Buchli and the National Competence Centers in Research (NCCR)
+<a href="https://www.nccr-robotics.ch/" target="_blank">Robotics</a> and <a href="http://www.dfab.ch/en/" target="_blank">Digital Fabrication</a>.
+
+
+\section licence Licence Information
+
+The Control Toolbox is released under the
+<a href="https://www.apache.org/licenses/LICENSE-2.0" target="_blank">Apache Licence, Version 2.0</a>.
+Please note the licence and notice files in the source directory.
+
+
+\section cite_ct How to cite the CT
+
+\code
+@misc{adrlCT,
+ author = "Giftthaler, Markus and Neunert, Michael and {St\"auble}, Markus and Buchli, Jonas",
+ title = "The {Control Toolbox} - An Open-Source {C++} Library for Robotics, Optimal and Model Predictive Control",
+ howpublished = "\url{https://adrlab.bitbucket.io/ct}",
+ year = "2018",
+ note = "arXiv:1801.04290 [cs.RO]"
+}
+\endcode
+
+
+\section publications Related Publications
+
+This toolbox has been used in, or has helped to realize the following academic publications:
+
+- Markus Giftthaler, Michael Neunert, Markus Stäuble, Jonas Buchli and Moritz Diehl.
+“A Family of iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control”.
+<a href="https://arxiv.org/abs/1711.11006" target="_blank">arXiv preprint</a>
+
+- Michael Neunert, Markus Stäuble, Markus Giftthaler, Dario Bellicoso, Jan Carius, Christian Gehring,
+Marco Hutter and Jonas Buchli.
+“Whole Body Model Predictive Control Through Contacts For Quadrupeds”.
+To appear in IEEE Robotics and Automation Letters.
+<a href="https://arxiv.org/abs/1712.02889" target="_blank">arXiv preprint</a>
+
+- Markus Giftthaler and Jonas Buchli.
+“A Projection Approach to Equality Constrained Iterative Linear Quadratic Optimal Control”.
+2017 IEEE-RAS International Conference on Humanoid Robots, November 15-17, Birmingham, UK.
+<a href="http://ieeexplore.ieee.org/document/8239538/" target="_blank">IEEE Xplore</a>
+
+- Markus Giftthaler, Michael Neunert, Markus Stäuble, Marco Frigerio, Claudio Semini and Jonas Buchli.
+“Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation”,
+Advanced Robotics, SIMPAR special issue. November 2017.
+<a href="https://arxiv.org/abs/1709.03799" target="_blank">arXiv preprint</a>
+
+- Michael Neunert, Markus Giftthaler, Marco Frigerio, Claudio Semini and Jonas Buchli.
+“Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation”,
+2016 IEEE International Conference on Simulation, Modelling, and Programming for Autonomous Robots,
+San Francisco. (Best Paper Award).
+<a href="http://ieeexplore.ieee.org/document/7862380/" target="_blank">IEEE Xplore</a>
+
+- Michael Neunert, Farbod Farshidian, Alexander W. Winkler, Jonas Buchli
+"Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds",
+IEEE Robotics and Automation Letters,
+<a href="http://ieeexplore.ieee.org/document/7845678/" target="_blank">IEEE Xplore</a>
+
+- Michael Neunert, Cédric de Crousaz, Fadri Furrer, Mina Kamel, Farbod Farshidian, Roland Siegwart, Jonas Buchli.
+"Fast nonlinear model predictive control for unified trajectory optimization and tracking",
+2016 IEEE International Conference on Robotics and Automation (ICRA),
+<a href="http://ieeexplore.ieee.org/document/7487274/" target="_blank">IEEE Xplore</a>
+
+- Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann and Jonas Buchli.
+“Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control”,
+IEEE International Conference on Robotics and Automation, 2017, Singapore.
+<a href="https://arxiv.org/abs/1701.08051" target="_blank">arXiv preprint</a>
+
+- Markus Giftthaler, Timothy Sandy, Kathrin Dörfler, Ian Brooks, Mark Buckingham, Gonzalo Rey,
+Matthias Kohler, Fabio Gramazio and Jonas Buchli.
+“Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator”. Construction Robotics, Springer Journal no. 41693
+<a href="https://arxiv.org/abs/1701.03573" target="_blank">arXiv preprint</a>
+
+- Timothy Sandy, Markus Giftthaler, Kathrin Dörfler, Matthias Kohler and Jonas Buchli.
+“Autonomous Repositioning and Localization of an In situ Fabricator”,
+IEEE International Conference on Robotics and Automation 2016, Stockholm, Sweden.
+<a href="http://ieeexplore.ieee.org/document/7487449/" target="_blank">IEEE Xplore</a>
+
+- Michael Neunert, Farbod Farshidian, Jonas Buchli (2014). Adaptive Real-time Nonlinear Model Predictive Motion Control.
+In IROS 2014 Workshop on Machine Learning in Planning and Control of Robot Motion
+<a href="http://www.adrl.ethz.ch/archive/p_14_mlpc_mpc_rezero.pdf" target="_blank">preprint</a>
+
+*/
diff --git a/ct_doc/doc/optcon_tutorial.dox b/ct_doc/doc/optcon_tutorial.dox
new file mode 100644
index 0000000..b0954e3
--- /dev/null
+++ b/ct_doc/doc/optcon_tutorial.dox
@@ -0,0 +1,100 @@
+/*!
+@page optcon_tutorials ct optcon Tutorial
+
+In this tutorial we will walk you through implementing several Optimal Controllers for your system, including a basic LQR controller,
+a Nonlinear Optimal Controller (NLOC), a Nonlinear Model Predictive Controller (NMPC) as well as Direct Multiple Shooting (DMS).
+- \subpage optcon_tut_lqr
+- \subpage optcon_tut_nloc
+- \subpage optcon_tut_nloc_box_constrained
+- \subpage optcon_tut_nloc_gen_constrained
+- \subpage optcon_tut_mpc
+- \subpage optcon_tut_dms
+
+\page optcon_tut_lqr LQR Control of a Damped Oscillator
+In this example, we will take an existing damped oscillator model, linearize the (already linear) dynamics around the steady state
+ using Auto-Differentiation with Code Generation and finally design an LQR controller based on the linearized model.
+
+\include LQR.cpp
+
+You can run this example with the following command
+
+\code{.sh}
+rosrun ct_optcon ex_LQR
+\endcode
+
+\note Make sure you have built the examples before trying to run it.
+
+
+\page optcon_tut_nloc NLOC of a Damped Oscillator
+
+This example shows how to use the nonlinear optimal control solvers iLQR, unconstrained Gauss-Newton-Multiple-Shooting (GNMS),
+as well as the hybrid methods iLQR-GNMS(M), where M denotes the number of multiple-shooting intervals.
+
+\include NLOC.cpp
+
+You can run this example with the following command
+\code{.sh}
+rosrun ct_optcon ex_NLOC
+\endcode
+
+
+\page optcon_tut_nloc_box_constrained Box-constrained nonlinear Optimal Control
+
+In this example, we show how to set up a box-constrained variation of the nonlinear optimal control solver from the previous example.
+
+\note This example requires the HPIPM solver to be installed.
+
+\include NLOC_boxConstrained.cpp
+
+You can run this example with the following command
+\code{.sh}
+rosrun ct_optcon ex_NLOC_boxConstrained
+\endcode
+
+
+\page optcon_tut_nloc_gen_constrained Generally-constrained nonlinear Optimal Control
+
+In this example, we show how to set up a generally-constrained variation of the nonlinear optimal control solver from the previous example.
+
+\note This example requires the HPIPM solver to be installed.
+
+\include NLOC_generalConstrained.cpp
+
+You can run this example with the following command
+\code{.sh}
+rosrun ct_optcon ex_NLOC_generalConstrained
+\endcode
+
+
+\page optcon_tut_mpc NLOC-MPC of a Damped Oscillator
+
+In this example we show how to use a Nonlinear Optimal Control solver (here iLQG) in combination with the MPC-class for out-of-the box Model Predictive Control.
+
+\include NLOC_MPC.cpp
+
+You can run this example with the following command
+\code{.sh}
+rosrun ct_optcon ex_NLOC_MPC
+\endcode
+
+
+\page optcon_tut_dms Classical, Constrained Direct Multiple Shooting for a Damped Oscillator
+
+In this example, we show how to solve an Optimal Control problem for a oscillator system using classical Direct Multiple Shooting with an NLP solver backend.
+
+\note Generally, we suggest using a Gauss-Newton Multiple Shooting (ct::optcon::GNMS) approach due to its linear time complexity
+and faster computation. For problems with a fine control discretization, it typically performs better than classical DMS.
+
+\note This example requires either <a href="https://projects.coin-or.org/Ipopt">IPOPT</a> or
+<a href="http://www.sbsi-sol-optimize.com/asp/sol_product_snopt.htm">SNOPT</a> to be installed. If you have a global installation
+of one of these solvers, and an environment variable set, it will be automatically detected.
+
+\include DMS.cpp
+
+You can run this example with the following command
+\code{.sh}
+rosrun ct_optcon ex_DMS
+\endcode
+
+
+ */
diff --git a/ct_doc/doc/performance.dox b/ct_doc/doc/performance.dox
new file mode 100644
index 0000000..f2786d7
--- /dev/null
+++ b/ct_doc/doc/performance.dox
@@ -0,0 +1,68 @@
+/*!
+
+\page performance Performance Optimization
+- \subpage compile_time
+- \subpage execution_speed
+
+The Control Toolbox is optimized for performance and, if used correctly, constitutes one of the fastest
+implementation for many state-of-the-art control approaches. This page gives an overview of how to achieve
+best performance.
+
+\page compile_time Optimize Compile Time
+@tableofcontents
+
+Especially with increasing complexity of your project, compilation time of the CT can become long. However,
+there are some tricks to reduce compilation time
+- make sure you compile in Release mode (catkin build -DCMAKE_BUILD_TYPE=RELEASE)
+- use CLANG instead of gcc. See the build flags in the \ref install "Installation Guide" on how to use clang.
+- use \ref prespec
+
+\section prespec Explicit Template Instantiation
+The Control Toolbox is a heavily templated library for best runtime performance. However, this means most
+code lives in header files and gets recompiled when any changes are made to the code. Needless to say, that
+this can become cumbersome after some time. However, there is a simple yet effective workaround:
+Explicit template instantiation. The idea is simple: You define the templates that are used before compilation
+and they get compiled into a library. In CT templates are:
+
+Template Parameter | Description
+------------------ | -----------
+STATE_DIM | The dimension of the system's system state
+CONTROL_DIM | The dimension of the system's control input
+SCALAR | The scalar type used (usually double)
+POS_DIM | (optional) Dimension of the position vector for a symplectic system
+VEL_DIM | (optional) Dimension of the velocity vector for a symplectic system
+
+In case you are multiple systems of different dimensions, you can prespecify each of their dimensions.
+
+To use explicit template instantiation follow these steps:
+1. add your dimensions to ct/ct/config/explicit_templates.cfg . You can set POS_DIM and VEL_DIM to 0 if you
+are not using symplectic integrators.
+2. rerun cmake: catkin build -DCMAKE_BUILD_TYPE=RELEASE --force-cmake
+3. In your executable change the standard CT includes from their regular ones to the prespecified ones,
+e.g. change \code{.cpp}#include <ct/core/core.h>\endcode to \code{.cpp}#include <ct/core/core-prespec.h>\endcode Remember to do this for
+optcon and rbd as well.
+
+\page execution_speed Optimize Execution Speed
+@tableofcontents
+
+- make use of \ref vectorization "Vectorization"
+- use \ref core_tut_linearization "Auto-Differentiation" with just-in-time compilation or code generation
+- if you do not want to use Auto-Diff, consider using the ct::rbd::RbdLinearizer for linearizing Rigid Body Dynamics
+- use multi-threading for Nonlinear Optimal Control Solvers
+- use HPIPM for running MPC or solving Optimal Control problems
+
+
+\section vectorization Vectorization
+Vectorization is a processor feature where a Single Instruction is applied to Multiple Data (SIMD). This
+is especially useful for linear algebra operations. CT relies on [Eigen's Vectorization](http://eigen.tuxfamily.org/index.php?title=FAQ)
+ capabilities. This means CT supports SSE, FMA and AVX2 instructions.
+
+\warning Please study Eigen's documentation carefully. Especially the part about [memory alignment](
+https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html)
+
+To enable vectorization in CT build it with vectorization flags. E.g. if you are on a fairly recent Intel CPU
+the following build command will enable vectorization
+
+ catkin build -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_CXX_FLAGS="-march=native -mtune=native -mavx2 -mfma"
+
+*/
\ No newline at end of file
diff --git a/ct_doc/doc/rbd_tutorial.dox b/ct_doc/doc/rbd_tutorial.dox
new file mode 100644
index 0000000..2531967
--- /dev/null
+++ b/ct_doc/doc/rbd_tutorial.dox
@@ -0,0 +1,172 @@
+/*!
+@page rbd_tutorials ct rbd Tutorials
+
+- \subpage rbd_tut_modelling
+- \subpage rbd_tut_forward_dynamics
+- \subpage rbd_tut_types
+
+This tutorial is specific for the RBD Module of the Control Toolbox. For installation instructions and an overview see the main CT documentation.
+
+\page rbd_tut_modelling Model a Rigid Body Dynamics system
+@tableofcontents
+
+In this tutorial, we will create a simple Rigid Body Dynamics system.
+
+\section rbd_tut_modelling_robcogen Creating an new model
+
+The Rigid Body Dynamics module of the Control Toolbox relies on <a href="https://robcogenteam.bitbucket.io">RobCoGen</a>, a code-generation framework for Rigid Body Dynamics and Kinematics. This involves
+a separate code generation step for creating the dynamics and kinematics equations prior to using your model in the Control Toolbox. However, as of writing this documentation, RobCoGen is the only Rigid
+Body Dynamics framework that supports Auto-Differentiation, a major ingredient for fast Optimal Control. We plan to support more modelling frameworks in the future.
+
+\subsection rbd_tut_robcogen Step 1: Create your model using RobCoGen
+As a first step, download RobCoGen version 0.4ad.0 from the <a href="https://robcogenteam.bitbucket.io/binary.html">official website</a>. Follow the instruction on the website for creating your kindsl and
+dtdsl files. Generate all C++ outputs.
+
+\subsection rbd_tut_robcogen_import Step 2: Create a model for CT
+As a next step, we suggest to first create a new package
+
+\code{.sh}
+cd catkin_ws/src
+catkin_create_pkg my_robot ct_rbd
+\endcode
+
+As you can see, we made our package depend on ct_rbd. Next, we create the folder structure
+
+\code{.sh}
+cd my_robot
+mkdir -p include/my_robot/generated
+\endcode
+
+Copy all files generated by RobCoGen into this folder. We generally recommend adding your kindsl/dtdsl files to a subfolder called "model" as well for later reference.
+
+Next, edit the CMakeLists.txt in your package and add the following lines:
+
+\code{.cmake}
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+)
+\endcode
+
+Next, create a header file for your robot in include/my_robot/MyRobot.h with the following content
+
+
+\code{.cpp}
+
+#pragma once
+
+#include <Eigen/Core>
+#include <Eigen/StdVector>
+
+#include "generated/declarations.h"
+#include "generated/jsim.h"
+#include "generated/jacobians.h"
+#include "generated/traits.h"
+#include "generated/forward_dynamics.h"
+#include "generated/inertia_properties.h"
+#include "generated/inverse_dynamics.h"
+#include "generated/transforms.h"
+#include "generated/link_data_map.h"
+
+// define namespace and base
+#define ROBCOGEN_NS ct_my_robot
+#define TARGET_NS MyRobot
+
+// define the links
+#define CT_BASE fr_MyRobotBase
+#define CT_L0 fr_Shoulder_AA
+#define CT_L1 fr_Shoulder_FE
+#define CT_L2 fr_Humerus_R
+#define CT_L3 fr_Elbow_FE
+#define CT_L4 fr_Wrist_R
+#define CT_L5 fr_Wrist_FE
+
+// define single end effector (could also be multiple)
+#define CT_N_EE 1
+#define CT_EE0 fr_ee
+#define CT_EE0_IS_ON_LINK 5
+#define CT_EE0_FIRST_JOINT 0
+#define CT_EE0_LAST_JOINT 5
+
+#include <ct/rbd/robot/robcogen/robcogenHelpers.h>
+
+\endcode
+
+You need to adjust a few variables. First, set the namespace (ROBCOGEN_NS) which the RobCoGen files have been created in. Also, you can define a target namespace (MyRobot). Next, you need to define your base link (CT_BASE, which is either floating or fixed, depending on your kindsl). Afterwards, define all links (CT_L0, CT_L1, CT_L2, ...) by using the frames you defined in RobCoGen. Last but not least, you can but do not have to specify endeffectors. Endeffectors can be useful for contacts or optimal control. If in doubt, skip these for now.
+
+Once you need end-effectors, specify their number (CT_N_EE). Then, for each end-effector, specify its name in RobCoGen (CT_EEx) and which link it is rigidly attached to (CT_EEx_IS_ON_LINK). Then specify the first joint in the kinematic chain leading up to the end-effector (CT_EEx_FIRST_JOINT, often but not necessarily 0) as well as the last joint (CT_EEx_LAST_JOINT). The Control Toolbox assumes that all joint numbers in between those two also influence the end-effector.
+
+Above steps automatically create the following useful types:
+
+\code{.cpp}
+ct::rbd::MyRobot::Dynamics myRobotDynamics; // an implementation of ct::rbd::Dynamics for your robot
+ct::rbd::MyRobot::tpl::Dynamics<SCALAR> myRobotDynamicsTpl; // an implementation of ct::rbd::Dynamics for your robot templated on the scalar type!
+
+ct::rbd::MyRobot::Kinematics myRobotKinematics; // an implementation of ct::rbd::Kinematics for your robot
+\endcode
+
+The Dynamics and Kinematics class have some useful functions including computing forward and inverse dynamics as well as transforms and Jacobians. Please refer to the documentation for more details.
+
+That's it! You can verify your setup by looking into the ct models package, e.g. at the HyA robot. Feel free to check out our tutorials on how to \ref rbd_tut_forward_dynamics as well as \ref rbd_tut_types.
+
+
+
+
+
+\page rbd_tut_forward_dynamics Simulate your robot and create a controller
+@tableofcontents
+
+Do you still remember the \ref tut_basics? If not, refresh your mind really quickly now. Great! As you remember, to forward simulate a system or apply any control to it, we first have to make it a ct::core::System or if controllable a ct::core::ControlledSystem.
+
+\section rbd_tut_create_system Creating a ControlledSystem for our robot
+Effectively, we want to turn our robot into a Ordinary Differential Equation (ODE) of the form \f[ \dot(x) = f(x(t),u(t)) \f] . However, this raises the question what our state x and control u are. For a Rigid Body Dynamics system there are multiple choices. If we assume a kinematic model, the state consists of joint positions and control inputs are the joint velocities. If we use a dynamic model, the state will most likely be joint positions and velocities while the control input are joint forces/torques. This is the case that we will look at in this example. However, keep in mind there are multiple choices for formulating the ODE.
+
+The Control Toolbox provides two handy wrappers, that transform the forward dynamics of a Rigid Body system into a ct::core::ControlledSystem. For fixed-base system, this is the class ct::rbd::FixBaseFDSystem and for floating-base system this is ct::rbd::FloatingBaseFDSystem. Take a look at those files to see the implementation details.
+
+You can simply instantiate your dynamics using those classes
+
+\code{.cpp}
+ // obtain the state dimension
+ const size_t STATE_DIM = FixBaseFDSystem<MyRobot::Dynamics>::STATE_DIM;
+
+ // create an instance of the system
+ std::shared_ptr<core::System<STATE_DIM>> dynamics(new FixBaseFDSystem<MyRobot::Dynamics>);
+\endcode
+
+Please look at the documentation to find other ct::rbd::Dynamics methods that you can potentially use.
+
+
+
+\section rbd_tut_simulate_system Simulate the forward dynamics
+
+In order to forward simulate the dynamics, we can simply call an integrator
+
+\code{.cpp}
+ core::Integrator<STATE_DIM> integrator(dynamics, ct::core::RK4);
+
+ core::StateVector<12> state;
+ state.setZero();
+
+ integrator.integrate_n_steps(state, 0, 1000, 0.001);
+\endcode
+
+While we are using a regular integrator in the example above, all ct/rbd models can also be used with our ct::core::SymplecticIntegrator which allows for bigger step sizes.
+
+
+\section rbd_tut_control Control and Linearization
+
+Now that our robot is a ct::core::ControlledSystem we can throw all sorts of great control algorithms at it! If we want to compute an LQR controller for the forward dynamics, you can simply follow our tutorial on \ref optcon_tut_lqr. Or maybe even want throw an MPC controller at it (see \ref optcon_tut_mpc)? Do not forget to check out ct::rbd::FixBaseNLOC and ct::rbd::FloatingBaseNLOCContactModel to quickly generate a Nonlinear Optimal Control setup for your robot!
+
+\warn In most cases we need the linearization for our system. Here we have the same choices as indicated in \ref core_tut_linearization. The same characteristics apply and for best accuracy and speed we recommend using Auto-Differentiation with code generation. However, for quick prototyping numerical differentiation can be appealing. Due to the special structure of Rigid Body Dynamics systems, we can compute a slightly better linearization which mixes analytic and numerical derivatives to improve accuracy and speed over pure numerical derivatives. This class is called ct::rbd::RbdLinearizer.
+
+
+
+\page rbd_tut_types Useful RBD types
+There are several useful types in the ct RBD package. This is just a loose collection of a few useful classes and types. Please refer to the individual documentation for more information.
+
+* ct::rbd::Dynamics and ct::rbd::Kinematics - forward/inverse dynamics, transforms and Jacobians
+* ct::rbd::RBDState - the state of a Rigid Body Dynamics system in minimal coordinates
+* ct::rbd::RigidBodyState - the state of a single 6-DoF Rigid Body
+* ct::rbd::IDControllerFB - a floating base inverse dynamics controller
+
+*/
\ No newline at end of file
diff --git a/ct_doc/doc/refs.bib b/ct_doc/doc/refs.bib
new file mode 100644
index 0000000..10ed26a
--- /dev/null
+++ b/ct_doc/doc/refs.bib
@@ -0,0 +1,181 @@
+@book{lavalle2006planning,
+ title={Planning algorithms},
+ author={LaValle, Steven M},
+ year={2006},
+ publisher={Cambridge university press},
+ url = {http://planning.cs.uiuc.edu/}
+}
+@inproceedings{neunert2016open,
+ title={An open source, fiducial based, visual-inertial motion capture system},
+ author={Neunert, Michael and Bloesch, Michael and Buchli, Jonas},
+ booktitle={2016 19th International Conference on Information Fusion (FUSION)},
+ pages={1523--1530},
+ year={2016},
+ organization={IEEE},
+ url = {https://arxiv.org/abs/1507.02081}
+}
+@article{bell2012cppad,
+ title={{CppAD: a package for C++ algorithmic differentiation}},
+ author={Bell, Bradley M},
+ journal={Computational Infrastructure for Operations Research},
+ volume={57},
+ year={2012},
+ url = {https://www.coin-or.org/CppAD/Doc/cppad.xml}
+}
+@INPROCEEDINGS{frigerioCodeGen,
+author={Frigerio, M. and Buchli, J. and Caldwell, D.G.},
+booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
+title={Code generation of algebraic quantities for robot controllers},
+year={2012},
+doi={10.1109/IROS.2012.6385694},
+ISSN={2153-0858},
+month={Oct},
+url={https://bitbucket.org/robcogenteam/robcogen-superproject/wiki/Home},
+}
+@inproceedings{neunert16hexrotor,
+ author = {Michael Neunert and Cédric de Crousaz and Fadri Furrer and Mina Kamel and Farbod Farshidian and Roland Siegwart and Jonas Buchli},
+ booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
+ title = {Fast Nonlinear Model Predictive Control for Unified Trajectory Optimization and Tracking},
+ year = {2016},
+ Pages = {},
+ url = {http://ieeexplore.ieee.org/document/7487274/}
+}
+@article{Houska2011autogenerated,
+ title={An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range},
+ author={Boris Houska and Hans Joachim Ferreau and Moritz Diehl},
+ journal={Automatica},
+ year={2011},
+ volume={47},
+ pages={2279-2285},
+ url={https://www.sciencedirect.com/science/article/pii/S0005109811003918}
+}
+@Article{neunert:2017:ral,
+author = {Michael Neunert and Farbod Farshidian and Alexander W. Winkler and Jonas Buchli},
+title = {Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds},
+journal = {IEEE Robotics and Automation Letters (RA-L)},
+year = {2017},
+url = {http://ieeexplore.ieee.org/document/7845678/}
+}
+@article{slq:2005,
+ title={An efficient sequential linear quadratic algorithm for solving nonlinear optimal control problems},
+ author={Sideris, Athanasios and Bobrow, James E},
+ journal={Transactions on Automatic Control},
+ volume={50},
+ number={12},
+ pages={2043--2047},
+ year={2005},
+ url = {http://ieeexplore.ieee.org/document/1470308/?denied}
+}
+@inproceedings{bock1984direct,
+ title={A multiple shooting algorithm for direct solution of optimal control problems},
+ author={Bock, Hans Georg and Plitt, Karl-Josef},
+ year={1984},
+ booktitle={Proceedings of the IFAC World Congress},
+ url = {http://www.sciencedirect.com/science/article/pii/S1474667017612059}
+}
+@inproceedings{neunert:2016:derivatives,
+author = {Michael Neunert and Markus Giftthaler and Marco Frigerio and Claudio Semini and Jonas Buchli},
+title = {{Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation}},
+booktitle = {2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2016), San Francisco},
+year = {2016},
+url = {http://ieeexplore.ieee.org/document/7862380/}
+}
+@article{diehl:2005:real,
+ title={A real-time iteration scheme for nonlinear optimization in optimal feedback control},
+ author={Diehl, Moritz and Bock, Hans Georg and Schl{\"o}der, Johannes P},
+ journal={SIAM Journal on control and optimization},
+ volume={43},
+ number={5},
+ pages={1714--1736},
+ year={2005},
+ publisher={SIAM},
+ url = {http://epubs.siam.org/doi/abs/10.1137/S0363012902400713}
+}
+@article{diehl2005nominal,
+ title={Nominal stability of real-time iteration scheme for nonlinear model predictive control},
+ author={Diehl, Moritz and Findeisen, Rolf and Allg{\"o}wer, Frank and Bock, Hans Georg and Schl{\"o}der, Johannes P},
+ journal={IEE Proceedings-Control Theory and Applications},
+ volume={152},
+ number={3},
+ pages={296--308},
+ year={2005},
+ publisher={IET},
+ url={http://ieeexplore.ieee.org/document/1454212/}
+}
+@article{diehl2003efficient,
+ title={An efficient algorithm for nonlinear model predictive control of large-scale systems. Part II: Experimental evaluation for a distillation column},
+ author={DIEHL, Moritz and FINDEISEN, Rolf and SCHWARZKOPF, Stefan and USLU, Ilknur and ALLG{\"O}WER, Frank and BOCK, Hans Georg and GILLES, Ernst Dieter and SCHL{\"O}DER, Johannes P},
+ journal={Automatisierungstechnik},
+ volume={51},
+ number={1},
+ pages={22--29},
+ year={2003},
+ publisher={Oldenbourg},
+ url={https://www.researchgate.net/publication/237458896_An_Efficient_Algorithm_for_Nonlinear_Model_Predictive_Control_of_Large-Scale_Systems_Part_II_Experimental_Evaluation_for_a_Distillation_Column_Ein_effizienter_Algorithmus_fur_die_nichtlineare_pradikti}
+}
+@article{mayne1966ddp,
+ title={A second-order gradient method for determining optimal trajectories of non-linear discrete-time systems},
+ author={Mayne, David},
+ journal={International Journal of Control},
+ volume={3},
+ number={1},
+ pages={85--95},
+ year={1966},
+ publisher={Taylor \& Francis},
+ url={http://www.tandfonline.com/doi/abs/10.1080/00207176608921369}
+}
+@incollection{diehl2006fast,
+ title={Fast direct multiple shooting algorithms for optimal robot control},
+ author={Diehl, Moritz and Bock, Hans Georg and Diedam, Holger and Wieber, P-B},
+ booktitle={Fast motions in biomechanics and robotics},
+ pages={65--93},
+ year={2006},
+ publisher={Springer},
+ url={https://hal.inria.fr/inria-00390435}
+}
+@inproceedings{todorov2005ilqg,
+ title={A generalized iterative {LQG} method for locally-optimal feedback control of constrained nonlinear stochastic systems},
+ author={Todorov, Emanuel and Li, Weiwei},
+ booktitle={American Control Conference, 2005. Proceedings of the 2005},
+ pages={300--306},
+ year={2005},
+ organization={IEEE},
+ url={http://ieeexplore.ieee.org/document/1469949/}
+}
+@inproceedings{giftthaler2017efficient,
+ title={{Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control}},
+ author={Giftthaler, Markus and Farshidian, Farbod and Sandy, Timothy and Stadelmann, Lukas and Buchli, Jonas},
+ booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
+ year={2017},
+ url={https://arxiv.org/abs/1701.08051}
+}
+@misc{giftthaler2017autodiff,
+ author = "Markus Giftthaler and Michael Neunert and Markus St{\"a}uble and Marco Frigerio and Claudio Semini and Jonas Buchli",
+ title = {{Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation}},
+ howpublished = "Advanced Robotics",
+ month = "November",
+ year = {2017},
+ url = {https://arxiv.org/abs/1709.03799},
+ }
+@phdthesis{frisonalgorithms,
+ title={Algorithms and Methods for Fast Model Predictive Control},
+ author={Frison, Gianluca},
+ school={Technical University of Denmark},
+ year = {2015}
+}
+@misc{neunert2017mpc,
+ title = {{Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds}},
+ author = {Michael Neunert and Markus St{\"a}uble and Markus Giftthaler and Carmine D. Bellicoso and Jan Carius and Christian Gehring and Marco Hutter and Jonas Buchli},
+ note = {To appear in {IEEE Robotics and Automation Letters}},
+ year = "2017",
+ url = {https://arxiv.org/abs/1712.02889}
+}
+@misc{giftthaler2017family,
+author={Giftthaler, Markus and Neunert, Michael and St{\"a}uble, Markus and Buchli, Jonas and Diehl, Moritz},
+title={{A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control}},
+howpublished = {{arXiv:1711.11006 [cs.SY]}},
+year = {2017},
+url = {https://arxiv.org/abs/1711.11006}
+}
+
+}
diff --git a/ct_doc/doc/tags/.gitkeep b/ct_doc/doc/tags/.gitkeep
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/ct_doc/doc/tags/.gitkeep