Update docs

Author: ferrolho

docs/README.md

@@ -0,0 +1,19 @@
+Navigate to the root of the project with
+```bash
+cd path/to/TORA.jl
+```
+
+To build the docs locally run
+```bash
+julia --color=yes --project=docs docs/make.jl
+```
+
+To serve the docs locally run
+```bash
+julia -e 'using LiveServer; serve(dir="docs/build")'
+```
+
+To serve the docs and update them in real time use
+```bash
+julia --project=docs -ie 'using TORA, LiveServer; servedocs()'
+```

docs/make.jl

@@ -7,6 +7,7 @@ makedocs(
     format = Documenter.HTML(),
     warnonly = Documenter.except(),
     sitename = "TORA.jl",
+    # repo = Remotes.GitHub("JuliaRobotics", "TORA.jl"),
     authors = "Henrique Ferrolho",
     pages = [
         "Home" => "index.md",

docs/src/solver_interfaces.md

@@ -35,13 +35,13 @@ The *default value* for `use_inv_dyn` is `false`. I.e., the default behaviour is
 
 ### Energy Minimization
 
-`minimise_τ=false`
+`minimise_torques=false`
 
 By default, problems formulated with TORA.jl are *feasibility problems*.
 In other words, the goal for the solver is to find a set of values that satisfies all the constraints of a [`Problem`](@ref).
 However, it is possible to define a cost function to be minimized. (Or a value function to be maximized.)
 
-The *default value* for `minimise_τ` is `false`. I.e., the default behaviour is to solve the feasibility problem, without optimizing any objective function. Alternatively, if `minimise_τ` is set to `true`, TORA.jl will minimize the joint torques required by the trajectory being computed.
+The *default value* for `minimise_torques` is `false`. I.e., the default behaviour is to solve the feasibility problem, without optimizing any objective function. Alternatively, if `minimise_torques` is set to `true`, TORA.jl will minimize the joint torques required by the trajectory being computed.
 
 !!! warning
     Optimizing an objective function is very costly, and may take a significant amount of iterations depending on the [Initial Guess](@ref) provided to the solver.