From 36c9a6bdae33d3ef5e38620441efa736b1c93049 Mon Sep 17 00:00:00 2001
From: Max Spahn <m.spahn@tudelft.nl>
Date: Wed, 2 Mar 2022 17:26:34 +0100
Subject: [PATCH] Adds explicit short getting started to docs, addresses #4.

---
 docs/source/example.rst         |  2 +
 docs/source/getting_started.rst | 96 +++++++++++++++++++++++++++++++++
 docs/source/index.rst           |  1 +
 docs/source/introduction.rst    | 75 --------------------------
 4 files changed, 99 insertions(+), 75 deletions(-)
 create mode 100644 docs/source/getting_started.rst

diff --git a/docs/source/example.rst b/docs/source/example.rst
index 0604fc3..db99d33 100644
--- a/docs/source/example.rst
+++ b/docs/source/example.rst
@@ -1,3 +1,5 @@
+.. _example_long:
+
 Example
 ==================
 
diff --git a/docs/source/getting_started.rst b/docs/source/getting_started.rst
new file mode 100644
index 0000000..4b0d1f4
--- /dev/null
+++ b/docs/source/getting_started.rst
@@ -0,0 +1,96 @@
+Getting started
+=====================================
+
+This is the guide to quickly get going with the local motion planning benchmark suite.
+
+
+Pre-requisites
+-----------------
+
+- Linux Ubuntu LTS >= 18.04
+- Python >3.6, < 3.10
+- pip3
+- gnuplot (``sudo apt install gnuplot``)
+- [Optional] `poetry <https://python-poetry.org/docs/>`_
+- [Optional] `embotech forces pro <https://www.embotech.com/products/forcespro/overview/>`_ for mpc
+
+
+Installation
+------------
+
+You first have to download the repository
+
+.. code:: bash
+
+    git clone git@github.com:maxspahn/localPlannerBench.git
+
+Then, you can install the package using pip as:
+
+.. code:: bash
+
+    pip3 install .
+
+Optional: Installation with poetry
+------------------------------------
+
+If you want to use `poetry <https://python-poetry.org/docs/>`_, you have
+to install it first. See their webpage for instructions
+`docs <https://python-poetry.org/docs/>`_. Once poetry is installed, you can
+install the virtual environment with the following commands. Note that during 
+the first installation ``poetry update`` takes up to 300 secs.
+
+.. code:: bash
+
+    poetry update
+    poetry install
+
+The virtual environment is entered by
+
+.. code:: bash
+
+    poetry shell
+
+Tutorial
+------------
+
+The following is a very simple example case.
+
+Run an experiments:
+
+Experiments should be added in separate folder in ``experiments``. 
+One very simple example can be found in this folder.
+Note that you need to active your poetry shell if you have installed the package using
+poetry by
+
+.. code:: bash
+
+    poetry shell
+
+Then you navigate there by
+
+.. code:: bash
+
+    cd experiments/1_fabric_mpc/pointMass
+
+Then the experiment is run with the command line interface
+
+.. code:: bash
+
+    ../../../plannerbenchmark/exec/runner -c setup/exp.yaml -p fabric setup/fabric.yaml --render
+
+Postprocessing:
+
+The experiments can be postprocessed using the provide executable. When
+using poetry, make sure you are in the virtual environment (``poetry shell``)
+
+.. code:: bash
+
+    cd path/to/folder/of/experiment
+
+The you can run the post processor with arguments as
+
+.. code:: bash
+
+    ../../../plannerbenchmark/exec/postProcessor --exp path/to/experiment -k time2Goal pathLength --plot
+
+More detailed information about this example can be found in :ref:`example_long`
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 1a64169..d21de08 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -11,6 +11,7 @@ Welcome to Local Planner Bench's documentation!
    :caption: Contents:
 
    introduction
+   getting_started
    example
    structure
 
diff --git a/docs/source/introduction.rst b/docs/source/introduction.rst
index 6f7fb08..e921c90 100644
--- a/docs/source/introduction.rst
+++ b/docs/source/introduction.rst
@@ -6,78 +6,3 @@ local motion planning algorithms. Running and postprocessing is
 available and we aim to offer a nice interface to implement a wrapper to
 your own motion planner.
 
-Dependencies
--------------
-
-The package generates plots using `gnuplot`. Gnuplot can be installed on ubuntu
-using aptitude.
-
-.. code:: bash
-
-   sudo apt install gnuplot
-
-
-Installation
-------------
-
-You first have to download the repository
-
-.. code:: bash
-
-    git clone git@github.com:maxspahn/localPlannerBench.git
-
-You can install the package using pip as:
-
-.. code:: bash
-
-    pip3 install .
-
-If you want to use `poetry <https://python-poetry.org/docs/>`_, you have
-to install it first. See their webpage for instructions
-https://python-poetry.org/docs/. Once poetry is installed, you can
-install the virtual environment with
-
-.. code:: bash
-
-    poetry update
-    poetry install
-
-The virtual environment is entered by
-
-.. code:: bash
-
-    poetry shell
-
-Run an experiments
-------------------
-
-Experiments should be added in separate folder in ``experiments``. Some
-default experiments are setup in this repositiory. Navigate there by
-
-.. code:: bash
-
-    poetry shell
-    cd experiments/1_fabric_mpc/pointMass
-
-Then the experiment is run with the command line interface
-
-.. code:: bash
-
-    ../../../plannerbenchmark/exec/runner -c setup/exp.yaml -p fabric setup/fabric.yaml --render
-
-Postprocessing
---------------
-
-The experiments can be postprocessed using the provide executable. When
-using poetry, make sure you are in the virtual environment.
-
-.. code:: bash
-
-    poetry shell
-    cd path/to/folder/of/experiment
-
-The you can run the post processor with arguments as
-
-.. code:: bash
-
-    ../../../plannerbenchmark/exec/postProcessor --exp path/to/experiment -k time2Goal pathLength --plot