readme: update content

Author: jcarpent

README.md

@@ -1,46 +1,49 @@
 EigenPy — Python bindings between Numpy and Eigen
 ======
 
-[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
-[![Build Status](https://travis-ci.org/stack-of-tasks/eigenpy.svg?branch=devel)](https://travis-ci.org/stack-of-tasks/eigenpy)
-[![Conda Downloads](https://img.shields.io/conda/dn/conda-forge/eigenpy.svg)](https://anaconda.org/conda-forge/eigenpy)
-[![Conda Version](https://img.shields.io/conda/vn/conda-forge/eigenpy.svg)](https://anaconda.org/conda-forge/eigenpy)
-[![Anaconda-Server Badge](https://anaconda.org/conda-forge/eigenpy/badges/installer/conda.svg)](https://conda.anaconda.org/conda-forge)
-
+<p align="center">
+  <a href="https://opensource.org/licenses/BSD-2-Clause"><img src="https://img.shields.io/badge/License-BSD%202--Clause-green.svg" alt="License"/></a>
+  <a href="https://travis-ci.org/stack-of-tasks/eigenpy"><img src="https://travis-ci.org/stack-of-tasks/eigenpy.svg?branch=master" alt="Build Status"/></a>
+  <a href="https://anaconda.org/conda-forge/eigenpy"><img src="https://img.shields.io/conda/dn/conda-forge/eigenpy.svg" alt="Conda Downloads"/></a>
+  <a href="https://anaconda.org/conda-forge/eigenpy"><img src="https://img.shields.io/conda/vn/conda-forge/eigenpy.svg" alt="Conda Version"/></a>
+  <a href="https://conda.anaconda.org/conda-forge"><img src="https://anaconda.org/conda-forge/eigenpy/badges/installer/conda.svg" alt="Anaconda-Server Badge"/></a>
+</p>
 
 **EigenPy** is an open source framework which allows to bind the famous [Eigen](http://eigen.tuxfamily.org) in Python as NumPy object (as matrix or array).
+**EigenPy** allows the sharing of memory between Numpy and Eigen avoiding memory allocation.
+**EigenPy** fully support Eigen::Ref avoiding memory allocation.
 **EigenPy** also exposes the Geometry module of Eigen for easy code prototyping.
 **EigenPy** also supports the basic matrix decomposion routines of Eigen such as the Cholesky decomposition, SVD decomposition, QR decomposition, and etc.
 
 ## Setup
 
 The installation of **EigenPy** on your computer is made easy for Linux/BSD and Mac OS X environments.
 
+### The Conda approach
+
+You simply need this simple line:
+```
+conda install eigenpy -c conda-forge
+```
 ### Ubuntu
 
 You can easily install **EigenPy** from binairies.
 
 #### Add robotpkg apt repository
-
-1. Check your distribution codename in a terminal with the following command:
-```
-$ lsb_release -c
-Codename:       xenial
-```
-2. Add robotpkg as source repository to apt:
+1. Add robotpkg as source repository to apt:
 ```
-sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub xenial robotpkg' >> /etc/apt/sources.list.d/robotpkg.list"
+sudo sh -c "echo 'deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg' >> /etc/apt/sources.list.d/robotpkg.list"
 ```
-3. Register the authentication certificate of robotpkg:
+2. Register the authentication certificate of robotpkg:
 ```
 curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
 ```
-4. You need to run at least once apt update to fetch the package descriptions:
+3. You need to run at least once apt update to fetch the package descriptions:
 ```
 sudo apt-get update
 ```
 #### Install EigenPy
-5. The installation of **EigenPy** and its dependencies is made through the line:
+4. The installation of **EigenPy** and its dependencies is made through the line:
 
 For Python 2.7
 ```
@@ -60,15 +63,14 @@ You just need to register the tap of the sofware repository.
 ```
 brew tap gepetto/homebrew-gepetto
 ```
-and then install **EigenPy** with:
+and then install **EigenPy** for Python 3.x with:
 ```
 brew install eigenpy
 ```
-for Python 2.7 or:
+or for Python 2.7:
 ```
-brew install eigenpy-python3
+brew install eigenpy@2
 ```
-for Python 3 support.
 
 ## Credits