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doxygen_instructions.html
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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
<link rel="apple-touch-icon" type="image/png" href="/apple-touch-icon.png"/>
<link rel="manifest" type="application/manifest+json" href="/site.webmanifest"/>
<link rel="mask-icon" type="image/svg+xml" href="/mask-icon.svg" color="#990000"/>
<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Doxygen Instructions</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
"/>
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<h1>Doxygen Instructions</h1>
</div>
</header>
<section class="padding">
<div class="contain">
<article class="markdown-body">
<p>This section contains instructions on how to use
<a href="https://www.doxygen.nl/">Doxygen</a> with Drake.</p>
<h1 id="doxygen-style-guide">Doxygen Style Guide</h1>
<p>Coming soon. See issue
<a href="https://github.com/RobotLocomotion/drake/issues/2051">#2051</a> and PR
<a href="https://github.com/RobotLocomotion/drake/pull/2359">#2359</a>.</p>
<p>Classes that implement the <a href="https://drake.mit.edu/doxygen_cxx/classdrake_1_1systems_1_1_system.html">drake::systems::System</a> interface should add a
simple diagram documenting their input and output ports using the custom doxygen-style <code class="language-plaintext highlighter-rouge">@system</code> and <code class="language-plaintext highlighter-rouge">@endsystem</code> tags:</p>
<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>@system
name: Alchemist
input_ports:
- lead
- more lead
output_ports:
- gold
@endsystem
</code></pre></div></div>
<p>The text between these tags is parsed as YAML, and must define the key <code class="language-plaintext highlighter-rouge">name</code>
and may optionally define the lists <code class="language-plaintext highlighter-rouge">input_ports</code> and/or <code class="language-plaintext highlighter-rouge">output_ports</code>. The
values may include <code class="language-plaintext highlighter-rouge">html</code> code. The class name appears in the inside of the
rendered system block, you can get creative and add an image, or you can adjust
the text colors of your ports.</p>
<p>Some systems have variable numbers of ports, or ports that are created
conditionally. Prefer to add all possible ports to the diagram; see the <a href="https://drake.mit.edu/doxygen_cxx/classdrake_1_1systems_1_1_adder.html">Adder</a>
system for an example of a system with a variable number of ports. The
<code class="language-plaintext highlighter-rouge">@system/@endsystem</code> tags can be used multiple times to add multiple renders
of the system to the documentation, if the system is most clearly described by a
few examples.</p>
<h1 id="documentation-tips-and-tricks">Documentation Tips and Tricks</h1>
<p>We encourage the use of <a href="/unicode_tips_tricks.html">unicode</a> in documentation.</p>
<p>For documenting block diagrams, consider using ascii art. See, for instance,</p>
<ul>
<li><a href="http://asciiflow.com/">http://asciiflow.com/</a></li>
</ul>
<p>The Emacs <a href="https://elpa.gnu.org/packages/ascii-art-to-unicode.html">ascii-art-to-unicode</a> package can make
ascii-art block diagrams even prettier by replacing <code class="language-plaintext highlighter-rouge">-</code>, <code class="language-plaintext highlighter-rouge">|</code>, etc. with unicode
<a href="https://en.wikipedia.org/wiki/Box-drawing_character">box-drawing characters</a>.</p>
<h1 id="doxygen-website-generation">Doxygen Website Generation</h1>
<p>To generate and view Drake’s Doxygen website, see the
<a href="/documentation_instructions.html">Documentation Generation Instructions</a>.</p>
</article>
</div>
</section>
</div>
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