updated coding style and dev documentation

docs/00-page-order.dox

@@ -14,8 +14,8 @@
 
 
 
-@page developers Developers guide
-@page coding-style Coding style
+@page dev-developers Developer guide
+@page dev-coding-style Developer coding style
 
 
 

docs/dev-coding-style.dox

@@ -0,0 +1,47 @@
+/**
+
+
+@page dev-coding-style Coding Style
+
+
+
+@section coding-style-overview Overview
+
+Please note that if you have a good excuse to either break the rules or modify
+them, feel free to do it (and update this guide accordingly, if appropriate).
+Nothing is worse than rule that hurts productivity instead of improving it.
+In general, the main aim of this style is:
+
+-   Vertical and horizontal compression, fitting more code on a screen while keeping the code readable.
+-   Do not need to enforce line wrapping if clarity is impacted (i.e. Jacobians)
+-   Consistent indentation and formatting rules to ensure readability (4 space tabbing)
+
+
+The codebase is coded in [snake case](https://en.wikipedia.org/wiki/Snake_case) with accessor and getter function for most classes.
+We leverage the [Doxygen](http://www.doxygen.nl/) documentation system with a post-processing script from [m.css](https://mcss.mosra.cz/documentation/doxygen/).
+Please see @ref dev-developers for details on how our documentation is generated.
+All functions should be commented both internally and externally with a focus on being as clear to a developer or user that is reading the code or documentation website.
+
+
+
+
+@section coding-style-naming Naming Conventions
+
+We have particular naming style for our orientations and positions that should be consistent throughout the project.
+In general rotation matrices are the only exception of a variable that starts with a capital letter.
+Both position and orientation variables should contain the frame of references.
+
+
+@code{.cpp}
+Eigen::Matrix<double,3,3> R_ItoC; //=> SO(3) rotation from IMU to camera frame
+Eigen::Matrix<double,4,1> q_ItoC; //=> JPL quaternion rot from IMU to the camera
+Eigen::Vector3d p_IinC; //=> 3d position of the IMU frame in the camera frame
+Eigen::Vector3d p_FinG; //=> position of feature F in the global frame G
+@endcode
+
+
+
+
+
+
+*/

docs/developers.dox → docs/dev-developers.dox

@@ -1,7 +1,7 @@
 /**
 
 
-@page developers Developers guide
+@page dev-developers Developer guide
 
 
 @section developers-addpage Adding a website page
@@ -11,7 +11,6 @@
     gets listed at a proper place
 3.  If the page is not top-level, list it using @c \@subpage in its parent page
 4.  Add a @c \@brief documentation, if applicable
-5.  Populate it, see @ref coding-style for more information
 
 
 

docs/gs-calibration.dox

@@ -5,19 +5,19 @@
 
 
 
-@section calib-cam-static Camera intrinsic calibration
+@section gs-calib-cam-static Camera intrinsic calibration
 
 
 
 
 
-@section calib-imu-static IMU intrinsic calibration
+@section gs-calib-imu-static IMU intrinsic calibration
 
 
 
 
 
-@section calib-cam-dynamic Dynamic IMU-CAM calibration
+@section gs-calib-cam-dynamic Dynamic IMU-CAM calibration
 
 
 

docs/gs-datasets.dox

@@ -4,7 +4,7 @@
 @page gs-datasets Supported Datasets
 
 
-@section data-euroc The EuRoC MAV Dataset
+@section gs-data-euroc The EuRoC MAV Dataset
 
 
 | Dataset Name | Length | Link Dataset | Link Groundtruth | Link Calibration |
@@ -19,7 +19,7 @@
 
 
 
-@section data-tumvi TUM Visual-Inertial Dataset
+@section gs-data-tumvi TUM Visual-Inertial Dataset
 
 
 | Dataset Name | Length | Link Dataset | Link Groundtruth | Link Calibration |
@@ -34,7 +34,7 @@
 
 
 
-@section data-rpng RPNG Dataset
+@section gs-data-rpng RPNG Dataset
 
 
 | Dataset Name | Length | Link Dataset | Link Groundtruth | Link Calibration |

docs/gs-tutorial.dox

@@ -4,27 +4,27 @@
 @page gs-tutorial Simple Tutorial
 
 
-@section data Dataset
+@section gs-data Dataset
 
 
 
 
 
 
-@section launch Configuration
+@section gs-launch Configuration
 
 
 
 
 
 
-@section viz Visualization
+@section gs-viz Visualization
 
 
 
 
 
-@section evaluation Evaluation
+@section gs-evaluation Evaluation