Merge pull request #38 from tkoolen/doc-fixes

Minor doc fixes, add readme.

README.md

@@ -4,4 +4,6 @@
 [![codecov.io](http://codecov.io/github/tkoolen/RigidBodySim.jl/coverage.svg?branch=master)](http://codecov.io/github/tkoolen/RigidBodySim.jl?branch=master)
 [![Docs (latest)](https://img.shields.io/badge/docs-latest-blue.svg)](https://tkoolen.github.io/RigidBodySim.jl/latest)
 
-***This package is currently under construction.***
+RigidBodySim provides Julia tools for simulation and visualization of systems of interconnected rigid bodies (both passive and controlled), built on top of [RigidBodyDynamics](https://github.com/tkoolen/RigidBodyDynamics.jl), [DifferentialEquations](https://github.com/JuliaDiffEq/DifferentialEquations.jl), and [RigidBodyTreeInspector](https://github.com/rdeits/RigidBodyTreeInspector.jl).
+
+See the [latest documentation](https://tkoolen.github.io/RigidBodySim.jl/latest) for more information.

docs/src/index.md

@@ -1,8 +1,9 @@
 # RigidBodySim
 
-RigidBodySim provides Julia tools for simulation and visualization of rigid body dynamics.
+RigidBodySim provides Julia tools for simulation and visualization of systems of interconnected rigid bodies.
 
 RigidBodySim is mainly built on top of the following packages:
+
 * [RigidBodyDynamics](https://github.com/tkoolen/RigidBodyDynamics.jl) for construction of rigid body dynamics mechanisms and evaluation of their dynamics.
 * [DifferentialEquations](https://github.com/JuliaDiffEq/DifferentialEquations.jl) packages, for numerical integration of the differential equations.
 * [RigidBodyTreeInspector](https://github.com/rdeits/RigidBodyTreeInspector.jl) for visualization.
@@ -15,13 +16,14 @@ RigidBodySim does not attempt to abstract away its dependence on these packages,
 ## Functionality
 
 RigidBodySim currently provides the following key features:
+
 * Convenient creation of [`DiffEqBase.ODEProblem`s](http://docs.juliadiffeq.org/release-4.0/types/ode_types.html) given a [`RigidBodyDynamics.MechanismState`](http://tkoolen.github.io/RigidBodyDynamics.jl/release-0.4/mechanismstate.html#RigidBodyDynamics.MechanismState) and, optionally, a controller.
 * Integration with [RigidBodyTreeInspector](https://github.com/rdeits/RigidBodyTreeInspector.jl) for visualization, both during simulation and after. The visualizer window can also control (currently, pause or terminate) the simulation.
 * Easy simulation of a digital controller running at a fixed rate (see [PeriodicController](@ref control)).
 
 ## Performance
 
-Performance is currently fair. For example, we have used RigidBodySim to perform a 10-second simulation of the humanoid robot [Atlas (v5)](https://en.wikipedia.org/wiki/Atlas_(robot)) standing on flat ground with a controller running at 100 Hz in 13 seconds with the Tsitouras 5/4 variable-step integrator on a 3GHz machine.
+Performance is fairly good. For example, we have used RigidBodySim to perform a 10-second simulation of the humanoid robot [Atlas (v5)](https://en.wikipedia.org/wiki/Atlas_(robot)) standing on flat ground with a controller running at 100 Hz in 13 seconds with the Tsitouras 5/4 variable-step integrator on a 3GHz machine.
 
 ## Installation
 
@@ -38,7 +40,7 @@ Download links and more detailed instructions are available on the [Julia](http:
 To install the latest tagged release of RigidBodySim, simply run
 
 ```julia
-Pkg.add("RigidBodySim") 
+Pkg.add("RigidBodySim")
 ```
 
 To check out the master branch and work on the bleeding edge (generally, not recommended), additionally run
@@ -50,11 +52,12 @@ Pkg.checkout("RigidBodySim")
 ### First steps
 
 To load the package, use the command:
-```
+
+```julia
 using RigidBodySim
 ```
-It is recommended to follow the [quick start guide](@ref quickstart) to get up to speed.
 
+It is recommended to follow the [quick start guide](@ref quickstart) to get up to speed.
 
 ## Contents
 

src/control.jl

@@ -15,7 +15,7 @@ PeriodicController(τ, Δt, control; initialize = DiffEqBase.INITIALIZE_DEFAULT,
 ```
 
 where `control` is a controller satisfying the standard RigidBodySim controller signature
-(`control(τ, Δt, state)`), Δt is the simulation time interval between calls to the
+(`control(τ, Δt, state)`), `Δt` is the simulation time interval between calls to the
 `control` function, and `τ` is used to call `control`.
 The `initialize` and `save_positions` keyword arguments are documented in
 the [`DiscreteCallback`](http://docs.juliadiffeq.org/release-4.0/features/callback_functions.html#DiscreteCallback-1)
@@ -31,10 +31,6 @@ this `PeriodicCallback`, as it is automatically created and
 added to the `ODEProblem` when the `PeriodicController` is passed into the
 following `DiffEqBase.ODEProblem` constructor overload:
 
-```julia
-DiffEqBase.ODEProblem(state::MechanismState, tspan, controller::PeriodicController; callback = nothing)
-```
-
 ```
 ODEProblem(state, tspan, controller::PeriodicController; callback)
 ```

src/visualization.jl

@@ -118,7 +118,7 @@ representing the state of the mechanism that was simulated, and will be modified
 * `max_fps`: the maximum number of frames per second to draw. Default: `60.0`.
 * `realtime_rate`: can be used to slow down or speed up playback compared to wall time. A `realtime_rate` of `2`
   will result in playback that is sped up 2x. Default: `1.0`.
-* `pause_pollint`: how often to poll for commands coming from the director window when playback is paused.
+* `pause_pollint`: how often to poll for commands coming from the director window when playback is paused. Default: $DEFAULT_PAUSE_POLLINT.
 
 # Examples