# Commits

committed fa3ccdb

documentation cleanup

# doc/Mainpage.h

 /** \file Mainpage.h
  * \mainpage RBDL - Rigid Body Dynamics Library
- * \image html logo/rbdl_logo_64x64.png
+ * \image html logo/rbdl_logo.png
  *
  * This is the documentation of RBDL, the Rigid Body Dynamics Library. The
  * library contains highly efficient code for both forward and inverse
  * pseudo code of the book "Rigid Body Dynamics Algorithms" of <a
  * href="http://users.cecs.anu.edu.au/~roy/">Roy Featherstone</a>.
  *
+ * Development is taking place on <a
+ * href="http://bitbucket.org">bitbucket.org</a>. The official repository
+ * can be found at:
+ * <a href="http://bitbucket.org/rbdl/rbdl/">http://bitbucket.org/rbdl/rbdl/</a>.
+ *
  * The library comes with version 3 of the the
  * <a href="http://eigen.tuxfamily.org/">Eigen</a> math library. More
  * information about it can be found here:
- * <a href="http://eigen.tuxfamily.org/">http://eigen.tuxfamily.org/</a>.
+ * <a href="http://eigen.tuxfamily.org/">http://eigen.tuxfamily.org/</a>
  *
- * \section ModelConstruction Construction of Models
+ * \section Example Example
  *
- * The construction of \link RigidBodyDynamics::Model Models \endlink makes
- * use of carefully designed constructors of the classes \link
- * RigidBodyDynamics::Body Body \endlink and \link RigidBodyDynamics::Joint
- * Joint \endlink to ease the process of creating bodies.  Adding bodies to
- * the model is done by specifying the parent body by its id, the
- * transformation from the parent origin to the joint origin, the joint
- * specification as an object, and the body itself. These parameters are
- * then fed to the function RigidBodyDynamics::Model::AddBody().
- *
- * A simple example can be found \ref SimpleExample "here".
+ * A simple example for creation of a model and computation of the forward
+ * dynamics can be found \ref SimpleExample "here".
  *
  * \section ModuleOverview API reference separated by functional modules
  *

# src/Contacts.h

  *
  * \note To increase performance group constraints body and pointwise such
  * that constraints acting on the same body point are sequentially in
- * ContactData. This can save computation of point jacobians \f$G\f$.
-  *
+ * ConstraintSet. This can save computation of point jacobians \f$G\f$.
+ *
  * \param model rigid body model
  * \param Q     state vector of the internal joints
  * \param QDot  velocity vector of the internal joints
  * \param Tau   actuations of the internal joints
- * \param ContactData	a list of all contact points
+ * \param ConstraintSet list of all contact points
  * \param QDDot accelerations of the internals joints (output)
  *
- * \note During execution of this function the values ContactData[i].force
- * 	get modified and will contain the value of the force acting along
- * 	the normal.
+ * \note During execution of this function values such as
+ * ConstraintSet::constraint_force get modified and will contain the value
+ * of the force acting along the normal.
+ *
  */
 void ForwardDynamicsContactsLagrangian (
 		Model &model,
  *
  * \note To increase performance group constraints body and pointwise such
  * that constraints acting on the same body point are sequentially in
- * ContactData. This can save computation of point jacobians \f$G\f$.
+ * ConstraintSet. This can save computation of point jacobians \f$G\f$.
  *
  * \param model rigid body model
  * \param Q     state vector of the internal joints
 		Math::VectorNd &QDotPlus
 		);

-/** \brief Computes forward dynamics that accounts for active contacts in ContactData
+/** \brief Computes forward dynamics that accounts for active contacts in ConstraintSet.
  *
  * The method used here is the one described by Kokkevis and Metaxas in the
  * Paper "Practical Physics for Articulated Characters", Game Developers
  * \param Q     state vector of the internal joints
  * \param QDot  velocity vector of the internal joints
  * \param Tau   actuations of the internal joints
- * \param ContactData	a list of all contact points
+ * \param CS a list of all contact points
  * \param QDDot accelerations of the internals joints (output)
  *
- * \note During execution of this function the values ContactData[i].force
- * 	get modified and will contain the value of the force acting along
- * 	the normal.
+ * \note During execution of this function values such as
+ * ConstraintSet::constraint_force get modified and will contain the value
+ * of the force acting along the normal.
  *
  * \todo Allow for external forces
  */void ForwardDynamicsContacts (

# src/Model.h

  * \link RigidBodyDynamics::Model::AddBody Model::AddBody(...)\endlink,
  * \link RigidBodyDynamics::Model::AppendBody Model::AppendBody(...)\endlink, and
  * \link RigidBodyDynamics::Model::GetBodyId Model::GetBodyId(...)\endlink,
- * are used to initialize and construct the \ref model_structure. To
- * create a model with a floating base (a.k.a a model with a free-flyer
- * joint) it is recommended to use
- * \link RigidBodyDynamics::Model::SetFloatingBaseBody Model::SetFloatingBaseBody(...)\endlink.
+ * are used to initialize and construct the \ref model_structure.
+ *
+ * The construction of \link RigidBodyDynamics::Model Models \endlink makes
+ * use of carefully designed constructors of the classes \link
+ * RigidBodyDynamics::Body Body \endlink and \link RigidBodyDynamics::Joint
+ * Joint \endlink to ease the process of creating bodies.  Adding bodies to
+ * the model is done by specifying the parent body by its id, the
+ * transformation from the parent origin to the joint origin, the joint
+ * specification as an object, and the body itself. These parameters are
+ * then fed to the function RigidBodyDynamics::Model::AddBody().
+ *
+ * To create a model with a floating base (a.k.a a model with a free-flyer
+ * joint) it is recommended to use \link
+ * RigidBodyDynamics::Model::SetFloatingBaseBody
+ * Model::SetFloatingBaseBody(...)\endlink.
  *
  * Once this is done, the model structure can be used with the functions of \ref
  * kinematics_group, \ref dynamics_group, \ref contacts_group, to perform
  * computations.
  *
+ * A simple example can be found \ref SimpleExample "here".
+ *
  * \section model_structure Model Structure
  *
  * The model structure contains all the parameters of the rigid multi-body