[trajoptlib] Build and publish rust docs

TODO
- [ ] document constraints

Resolves SleipnirGroup#942

Signed-off-by: Jade Turner <[email protected]>

make-docs.sh

@@ -13,11 +13,13 @@ popd
 pushd trajoptlib
 mkdir -p build/docs
 doxygen docs/Doxyfile
+cargo doc
 popd
 
 mkdir -p site/api/{choreolib,trajoptlib}
 cp -r choreolib/build/docs/javadoc site/api/choreolib/java
 cp -r choreolib/build/docs/cpp/html site/api/choreolib/cpp
 cp -r trajoptlib/build/docs/html site/api/trajoptlib/cpp
+cp -r target/docs/trajoptlib site/api/trajoptlib/rs
 
 mkdocs build --dirty

trajoptlib/include/trajopt/DifferentialTrajectoryGenerator.hpp

@@ -29,13 +29,13 @@ struct TRAJOPT_DLLEXPORT DifferentialDrivetrain {
   /// The moment of inertia of the robot about the origin (kg−m²).
   double moi;
 
-  /// Radius of wheel (m).
+  /// Radius of the wheels (m).
   double wheelRadius;
 
-  /// Maximum angular velocity of wheel (rad/s).
+  /// Maximum angular velocity of the wheels (rad/s).
   double wheelMaxAngularVelocity;
 
-  /// Maximum torque applied to wheel (N−m).
+  /// Maximum torque applied to the wheels (N−m).
   double wheelMaxTorque;
 
   /// The Coefficient of Friction (CoF) of the wheels.
@@ -97,22 +97,22 @@ class TRAJOPT_DLLEXPORT DifferentialTrajectorySample {
   /// The heading.
   double heading = 0.0;
 
-  /// The left wheel velocity.
+  /// The left wheel's velocity.
   double velocityL = 0.0;
 
-  /// The right wheel velocity.
+  /// The right wheel's velocity.
   double velocityR = 0.0;
 
-  /// The left wheel acceleration.
+  /// The left wheel's acceleration.
   double accelerationL = 0.0;
 
-  /// The right wheel acceleration.
+  /// The right wheel's acceleration.
   double accelerationR = 0.0;
 
-  /// The left wheel force.
+  /// The left wheel's force.
   double forceL = 0.0;
 
-  /// The right wheel force.
+  /// The right wheel's force.
   double forceR = 0.0;
 
   DifferentialTrajectorySample() = default;
@@ -152,15 +152,15 @@ class TRAJOPT_DLLEXPORT DifferentialTrajectorySample {
  */
 class TRAJOPT_DLLEXPORT DifferentialTrajectory {
  public:
-  /// Trajectory samples.
+  /// The samples that make up the trajectory.
   std::vector<DifferentialTrajectorySample> samples;
 
   DifferentialTrajectory() = default;
 
   /**
    * Construct a DifferentialTrajectory from samples.
    *
-   * @param samples The samples.
+   * @param samples The samples that make up the trajectory.
    */
   explicit DifferentialTrajectory(
       std::vector<DifferentialTrajectorySample> samples)

trajoptlib/include/trajopt/SwerveTrajectoryGenerator.hpp

@@ -27,13 +27,13 @@ struct TRAJOPT_DLLEXPORT SwerveDrivetrain {
   /// The moment of inertia of the robot about the origin (kg−m²).
   double moi;
 
-  /// Radius of wheel (m).
+  /// Radius of the wheels (m).
   double wheelRadius;
 
-  /// Maximum angular velocity of wheel (rad/s).
+  /// Maximum angular velocity of each wheel (rad/s).
   double wheelMaxAngularVelocity;
 
-  /// Maximum torque applied to wheel (N−m).
+  /// Maximum torque applied to each wheel (N−m).
   double wheelMaxTorque;
 
   /// The Coefficient of Friction (CoF) of the wheels.
@@ -173,15 +173,15 @@ class TRAJOPT_DLLEXPORT SwerveTrajectorySample {
  */
 class TRAJOPT_DLLEXPORT SwerveTrajectory {
  public:
-  /// Trajectory samples.
+  /// The samples that make up the trajectory.
   std::vector<SwerveTrajectorySample> samples;
 
   SwerveTrajectory() = default;
 
   /**
    * Construct a SwerveTrajectory from samples.
    *
-   * @param samples The samples.
+   * @param samples The samples that make up the trajectory.
    */
   explicit SwerveTrajectory(std::vector<SwerveTrajectorySample> samples)
       : samples{std::move(samples)} {}

trajoptlib/include/trajopt/path/PathBuilder.hpp

@@ -42,7 +42,7 @@ template <typename Drivetrain, typename Solution>
 class TRAJOPT_DLLEXPORT PathBuilder {
  public:
   /**
-   * Set the Drivetrain object
+   * Set the Drivetrain object.
    *
    * @param drivetrain the new drivetrain
    */

trajoptlib/src/error.rs

@@ -1,27 +1,37 @@
 use thiserror::Error;
 
 #[derive(Debug, Error)]
-// messages taken from https://github.com/SleipnirGroup/Sleipnir/blob/main/include/sleipnir/optimization/SolverExitCondition.hpp#L47-L78
+/// Represents an error returned by Trajoptlib. Primarily exposes the Sleipnir [Solver Exit
+/// Condition](https://github.com/SleipnirGroup/Sleipnir/blob/main/include/sleipnir/optimization/SolverExitCondition.hpp#L47-L78)
 pub enum TrajoptError {
     #[error("The solver determined the problem to be overconstrained and gave up")]
+    /// The solver determined the problem to be overconstrained and gave up
     TooFewDOF,
     #[error("The solver determined the problem to be locally infeasible and gave up")]
+    /// The solver determined the problem to be locally infeasible and gave up
     LocallyInfeasible,
     #[error("The solver failed to reach the desired tolerance, and feasibility restoration failed to converge")]
+    /// The solver failed to reach the desired tolerance, and feasibility restoration failed to converge
     FeasibilityRestorationFailed,
     #[error("The solver encountered nonfinite initial cost or constraints and gave up")]
+    /// The solver encountered nonfinite initial cost or constraints and gave up
     NonfiniteInitialCostOrConstraints,
     #[error("The solver encountered diverging primal iterates xₖ and/or sₖ and gave up")]
+    /// The solver encountered diverging primal iterates xₖ and/or sₖ and gave up
     DivergingIterates,
     #[error(
         "The solver returned its solution so far after exceeding the maximum number of iterations"
     )]
+    /// The solver returned its solution so far after exceeding the maximum number of iterations
     MaxIterationsExceeded,
     #[error("The solver returned its solution so far after exceeding the maximum elapsed wall clock time")]
+    /// The solver returned its solution so far after exceeding the maximum elapsed wall clock time
     Timeout,
     #[error("The solver returned an unparsable error code: {0}")]
+    /// The solver returned an unparsable error code
     Unparsable(Box<str>),
     #[error("Unknown error: {0:?}")]
+    /// Unknown error type
     Unknown(i8),
 }