[doc] Revamp/modernize visual look of documentation, update Doxygen config options

CHANGELOG.md

@@ -21,6 +21,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - bindings/python : Add missing arg names in `visualizer-visitor.hpp`
 - use deprecation, warning macros already provided by jrl-cmakemodules
 - renamed `PINOCCHIO_PRAGMA_DEPRECATED_HEADER` to `PINOCCHIO_DEPRECATED_MOVED_HEADER`
+- docs : update documentation stylesheet, fix some Doxygen config options
 
 ### Removed
 

README.md

@@ -253,7 +253,7 @@ The currently active core developers of **Pinocchio** are:
 -   [Justin Carpentier](https://jcarpent.github.io) (Inria): main developer and manager of the project
 -   [Guilhem Saurel](https://www.laas.fr/fr/annuaire/gsaurel) (LAAS-CNRS): CI/CD, packaging
 -   [Etienne Arlaud](https://github.com/EtienneAr) (Inria): core developer
--   [Wilson Jallet](https://github.com/ManifoldFR) (LAAS-CNRS/Inria): extension of Python bindings, C++ visualization API
+-   [Wilson Jallet](https://github.com/ManifoldFR) (Inria): extension of Python bindings, C++ visualization API
 -   [Fabian Schramm](https://github.com/fabinsch) (Inria): core developper
 -   [Stéphane Caron](https://scaron.info) (Inria): core developper
 -   [Joris Vaillant](https://github.com/jorisv) (Inria): core developer and project manager

doc/Doxyfile.extra.in

@@ -315,10 +315,11 @@ FILE_PATTERNS          = *.cc *.cpp *.h *.hpp *.hh *.dox *.md *.py
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-#EXCLUDE                = @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
+EXCLUDE                = @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
 
 # Put them back for inclusion as whole files
-HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src
+HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/d-practical-exercises/src \
+                          @PROJECT_SOURCE_DIR@/doc/doxygen-awesome-darkmode-toggle.js
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -355,8 +356,7 @@ EXCLUDE_PATTERNS      += CMake* \
 # wildcard * is used, a substring. Examples: ANamespace, AClass,
 # AClass::ANamespace, ANamespace::*Test
 
-EXCLUDE_SYMBOLS        = internal::* \
-                         *Visitor
+EXCLUDE_SYMBOLS        = internal::*,detail*::**Visitor,boost::*,Eigen::*,eigenpy::*,std::*
 
 # The IMAGE_PATH tag can be used to specify one or more files or
 # directories that contain image that are included in the documentation (see
@@ -397,12 +397,6 @@ VERBATIM_HEADERS       = YES
 
 ALPHABETICAL_INDEX     = YES
 
-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
-# in which this list will be split (can be a number in the range [1..20])
-
-COLS_IN_ALPHA_INDEX    = 4
-
 #---------------------------------------------------------------------------
 # configuration options related to the HTML output
 #---------------------------------------------------------------------------
@@ -413,7 +407,8 @@ COLS_IN_ALPHA_INDEX    = 4
 # Doxygen will copy the logo to the output directory.
 
 PROJECT_LOGO           = @PROJECT_SOURCE_DIR@/doc/pinocchio.png
-HTML_EXTRA_FILES       += pinocchio.png
+HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/pinocchio.png \
+                          @PROJECT_SOURCE_DIR@/doc/pinocchio.ico
 
 # The HTML_HEADER tag can be used to specify a personal HTML header for
 # each generated HTML page. If it is left blank doxygen will generate a
@@ -427,60 +422,21 @@ HTML_EXTRA_FILES       += pinocchio.png
 # changing the value of configuration settings such as GENERATE_TREEVIEW!
 
 HTML_HEADER            = @PROJECT_SOURCE_DIR@/doc/header.html
-HTML_EXTRA_FILES       += @PROJECT_SOURCE_DIR@/doc/pinocchio.ico
 
 # The HTML_FOOTER tag can be used to specify a personal HTML footer for
 # each generated HTML page. If it is left blank doxygen will generate a
 # standard footer.
 
-HTML_FOOTER            =
-
-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
-# style sheet that is used by each HTML page. It can be used to
-# fine-tune the look of the HTML output. If the tag is left blank doxygen
-# will generate a default style sheet. Note that doxygen will try to copy
-# the style sheet file to the HTML output directory, so don't put your own
-# style sheet in the HTML output directory as well, or it will be erased!
-# NOTE: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag,
-# as it is more robust and this tag (HTML_STYLESHEET)
-# will in the future become obsolete.
-
-#HTML_STYLESHEET        = @PROJECT_SOURCE_DIR@/doc/package.css
-
-# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
-# cascading style sheets that are included after the standard style sheets
-# created by doxygen. Using this option one can overrule certain style aspects.
-# This is preferred over using HTML_STYLESHEET since it does not replace
-# the standard style sheet and is therefore more robust against future updates.
-# Doxygen will copy the style sheet files to the output directory.
-
-HTML_EXTRA_STYLESHEET        = @PROJECT_SOURCE_DIR@/doc/customdoxygen.css
-
-# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
-# Doxygen will adjust the colors in the style sheet and background images
-# according to this color. Hue is specified as an angle on a colorwheel,
-# see http://en.wikipedia.org/wiki/Hue for more information.
-# For instance the value 0 represents red, 60 is yellow, 120 is green,
-# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
-# The allowed range is 0 to 359.
-# The default is 220.
-
-HTML_COLORSTYLE_HUE    = 220
-
-# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
-# the colors in the HTML output. For a value of 0 the output will use
-# grayscales only. A value of 255 will produce the most vivid colors.
+HTML_FOOTER             =
 
-HTML_COLORSTYLE_SAT    = 100
+FULL_SIDEBAR            = NO
 
-# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
-# the luminance component of the colors in the HTML output. Values below
-# 100 gradually make the output lighter, whereas values above 100 make
-# the output darker. The value divided by 100 is the actual gamma applied,
-# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
-# and 100 does not change the gamma.
+HTML_EXTRA_STYLESHEET        = @PROJECT_SOURCE_DIR@/doc/doxygen-awesome.css
 
-HTML_COLORSTYLE_GAMMA  = 80
+HTML_COLORSTYLE_HUE     = 209
+HTML_COLORSTYLE_SAT     = 255
+HTML_COLORSTYLE_GAMMA   = 113
+HTML_COLORSTYLE         = LIGHT
 
 # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
 # documentation will contain sections that can be hidden and shown after the
@@ -534,7 +490,7 @@ ECLIPSE_DOC_ID         = org.doxygen.@PACKAGE_NAME@
 # top of each HTML page. The value NO (the default) enables the index and
 # the value YES disables it.
 
-DISABLE_INDEX          = YES
+DISABLE_INDEX          = NO
 
 # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
 # structure should be generated to display hierarchical information.
@@ -608,7 +564,8 @@ PREDEFINED             += EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
                           PINOCCHIO_WITH_URDFDOM \
                           PINOCCHIO_WITH_CPPAD_SUPPORT \
                           PINOCCHIO_WITH_CPPADCG_SUPPORT \
-                          PINOCCHIO_WITH_LUA5
+                          PINOCCHIO_DONT_INLINE \
+                          PINOCCHIO_NOEXCEPT=noexcept
 
 # The following macros would be better treated with EXPAND_AS_DEFINED.
 # However, it was not working properly

doc/doxygen-awesome-darkmode-toggle.js

@@ -0,0 +1,157 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeDarkModeToggle extends HTMLElement {
+    // SVG icons from https://fonts.google.com/icons
+    // Licensed under the Apache 2.0 license:
+    // https://www.apache.org/licenses/LICENSE-2.0.html
+    static lightModeIcon = `<svg xmlns="http://www.w3.org/2000/svg" enable-background="new 0 0 24 24" height="24px" viewBox="0 0 24 24" width="24px" fill="#FCBF00"><rect fill="none" height="24" width="24"/><circle cx="12" cy="12" opacity=".3" r="3"/><path d="M12,9c1.65,0,3,1.35,3,3s-1.35,3-3,3s-3-1.35-3-3S10.35,9,12,9 M12,7c-2.76,0-5,2.24-5,5s2.24,5,5,5s5-2.24,5-5 S14.76,7,12,7L12,7z M2,13l2,0c0.55,0,1-0.45,1-1s-0.45-1-1-1l-2,0c-0.55,0-1,0.45-1,1S1.45,13,2,13z M20,13l2,0c0.55,0,1-0.45,1-1 s-0.45-1-1-1l-2,0c-0.55,0-1,0.45-1,1S19.45,13,20,13z M11,2v2c0,0.55,0.45,1,1,1s1-0.45,1-1V2c0-0.55-0.45-1-1-1S11,1.45,11,2z M11,20v2c0,0.55,0.45,1,1,1s1-0.45,1-1v-2c0-0.55-0.45-1-1-1C11.45,19,11,19.45,11,20z M5.99,4.58c-0.39-0.39-1.03-0.39-1.41,0 c-0.39,0.39-0.39,1.03,0,1.41l1.06,1.06c0.39,0.39,1.03,0.39,1.41,0s0.39-1.03,0-1.41L5.99,4.58z M18.36,16.95 c-0.39-0.39-1.03-0.39-1.41,0c-0.39,0.39-0.39,1.03,0,1.41l1.06,1.06c0.39,0.39,1.03,0.39,1.41,0c0.39-0.39,0.39-1.03,0-1.41 L18.36,16.95z M19.42,5.99c0.39-0.39,0.39-1.03,0-1.41c-0.39-0.39-1.03-0.39-1.41,0l-1.06,1.06c-0.39,0.39-0.39,1.03,0,1.41 s1.03,0.39,1.41,0L19.42,5.99z M7.05,18.36c0.39-0.39,0.39-1.03,0-1.41c-0.39-0.39-1.03-0.39-1.41,0l-1.06,1.06 c-0.39,0.39-0.39,1.03,0,1.41s1.03,0.39,1.41,0L7.05,18.36z"/></svg>`
+    static darkModeIcon = `<svg xmlns="http://www.w3.org/2000/svg" enable-background="new 0 0 24 24" height="24px" viewBox="0 0 24 24" width="24px" fill="#FE9700"><rect fill="none" height="24" width="24"/><path d="M9.37,5.51C9.19,6.15,9.1,6.82,9.1,7.5c0,4.08,3.32,7.4,7.4,7.4c0.68,0,1.35-0.09,1.99-0.27 C17.45,17.19,14.93,19,12,19c-3.86,0-7-3.14-7-7C5,9.07,6.81,6.55,9.37,5.51z" opacity=".3"/><path d="M9.37,5.51C9.19,6.15,9.1,6.82,9.1,7.5c0,4.08,3.32,7.4,7.4,7.4c0.68,0,1.35-0.09,1.99-0.27C17.45,17.19,14.93,19,12,19 c-3.86,0-7-3.14-7-7C5,9.07,6.81,6.55,9.37,5.51z M12,3c-4.97,0-9,4.03-9,9s4.03,9,9,9s9-4.03,9-9c0-0.46-0.04-0.92-0.1-1.36 c-0.98,1.37-2.58,2.26-4.4,2.26c-2.98,0-5.4-2.42-5.4-5.4c0-1.81,0.89-3.42,2.26-4.4C12.92,3.04,12.46,3,12,3L12,3z"/></svg>`
+    static title = "Toggle Light/Dark Mode"
+
+    static prefersLightModeInDarkModeKey = "prefers-light-mode-in-dark-mode"
+    static prefersDarkModeInLightModeKey = "prefers-dark-mode-in-light-mode"
+
+    static _staticConstructor = function() {
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.userPreference)
+        // Update the color scheme when the browsers preference changes
+        // without user interaction on the website.
+        window.matchMedia('(prefers-color-scheme: dark)').addEventListener('change', event => {
+            DoxygenAwesomeDarkModeToggle.onSystemPreferenceChanged()
+        })
+        // Update the color scheme when the tab is made visible again.
+        // It is possible that the appearance was changed in another tab 
+        // while this tab was in the background.
+        document.addEventListener("visibilitychange", visibilityState => {
+            if (document.visibilityState === 'visible') {
+                DoxygenAwesomeDarkModeToggle.onSystemPreferenceChanged()
+            }
+        });
+    }()
+
+    static init() {
+        $(function() {
+            $(document).ready(function() {
+                const toggleButton = document.createElement('doxygen-awesome-dark-mode-toggle')
+                toggleButton.title = DoxygenAwesomeDarkModeToggle.title
+                toggleButton.updateIcon()
+
+                window.matchMedia('(prefers-color-scheme: dark)').addEventListener('change', event => {
+                    toggleButton.updateIcon()
+                })
+                document.addEventListener("visibilitychange", visibilityState => {
+                    if (document.visibilityState === 'visible') {
+                        toggleButton.updateIcon()
+                    }
+                });
+
+                $(document).ready(function(){
+                    document.getElementById("MSearchBox").parentNode.appendChild(toggleButton)
+                })
+                $(window).resize(function(){
+                    document.getElementById("MSearchBox").parentNode.appendChild(toggleButton)
+                })
+            })
+        })
+    }
+
+    constructor() {
+        super();
+        this.onclick=this.toggleDarkMode
+    }
+
+    /**
+     * @returns `true` for dark-mode, `false` for light-mode system preference
+     */
+    static get systemPreference() {
+        return window.matchMedia('(prefers-color-scheme: dark)').matches
+    }
+
+    /**
+     * @returns `true` for dark-mode, `false` for light-mode user preference
+     */
+    static get userPreference() {
+        return (!DoxygenAwesomeDarkModeToggle.systemPreference && localStorage.getItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey)) || 
+        (DoxygenAwesomeDarkModeToggle.systemPreference && !localStorage.getItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey))
+    }
+
+    static set userPreference(userPreference) {
+        DoxygenAwesomeDarkModeToggle.darkModeEnabled = userPreference
+        if(!userPreference) {
+            if(DoxygenAwesomeDarkModeToggle.systemPreference) {
+                localStorage.setItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey, true)
+            } else {
+                localStorage.removeItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey)
+            }
+        } else {
+            if(!DoxygenAwesomeDarkModeToggle.systemPreference) {
+                localStorage.setItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey, true)
+            } else {
+                localStorage.removeItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey)
+            }
+        }
+        DoxygenAwesomeDarkModeToggle.onUserPreferenceChanged()
+    }
+
+    static enableDarkMode(enable) {
+        if(enable) {
+            DoxygenAwesomeDarkModeToggle.darkModeEnabled = true
+            document.documentElement.classList.add("dark-mode")
+            document.documentElement.classList.remove("light-mode")
+        } else {
+            DoxygenAwesomeDarkModeToggle.darkModeEnabled = false
+            document.documentElement.classList.remove("dark-mode")
+            document.documentElement.classList.add("light-mode")
+        }
+    }
+
+    static onSystemPreferenceChanged() {
+        DoxygenAwesomeDarkModeToggle.darkModeEnabled = DoxygenAwesomeDarkModeToggle.userPreference
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.darkModeEnabled)
+    }
+
+    static onUserPreferenceChanged() {
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.darkModeEnabled)
+    }
+
+    toggleDarkMode() {
+        DoxygenAwesomeDarkModeToggle.userPreference = !DoxygenAwesomeDarkModeToggle.userPreference
+        this.updateIcon()
+    }
+
+    updateIcon() {
+        if(DoxygenAwesomeDarkModeToggle.darkModeEnabled) {
+            this.innerHTML = DoxygenAwesomeDarkModeToggle.darkModeIcon
+        } else {
+            this.innerHTML = DoxygenAwesomeDarkModeToggle.lightModeIcon
+        }
+    }
+}
+
+customElements.define("doxygen-awesome-dark-mode-toggle", DoxygenAwesomeDarkModeToggle);