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German Larrain committed 634d5e0

README, INSTALL and other documentation files updated

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ARS installation - Ubuntu.txt

+1) install python packages
+	sudo apt-get install python python-dev python-support
+
+2) now VTK
+	sudo apt-get install libvtk5.2 python-vtk
+
+3) now ODE
+	- unpack ode-r1858.{tar.bz2|tar.gz|zip|7z}
+	- run
+		./configure --enable-double-precision --with-trimesh=opcode --enable-new-trimesh --enable-shared --enable-debug
+		make
+		sudo make install
+4) now PyODE
+	- unpack "pyode-6ef2c2a, 2010.10.13 snapshot.{tar.bz2|tar.gz|zip|7z}"
+		sudo python setup.py install
+
+5) finally, ARS
+	- unpack the archive
+	- run
+		sudo python setup.py install
+
+6) for a test, demos and documentation read INSTALL
-To install the software (only "ars" is part of the installation; docs, tests and demos are not), you need to:
+INSTALL
 
-1) check the requirements listed in README
+(If your OS is Ubuntu, follow the instructions in "ARS installation - Ubuntu.txt", for an easier process that deals with requirements too)
+
+To install the software (only the "ars" package is part of the installation; docs, tests and demos are not), you need to:
+
+1) check & install the requirements listed in README.
 2) open a command window, with the current directoy set to the project main directory
-
-ANY OS:
-2) execute the standard setup script (included):
+3) execute the (included) standard python setup script (you may need administrator privileges):
 	python setup.py install
 
-LINUX: If your OS is GNU/Linux and you have the "checkinstall" program installed, use it (it is optional but convenient)
-2) run the setup script wrapped by checkinstall, which will create a package and install it:
-	sudo checkinstall python setup.py install
+----------------------------------------
+TEST INSTALLATION
+Start the Python interpreter (with the command "python") and execute this statement:
+	import ars
 
-	(if you want to uninstall, run
-	sudo dpkg -r ars)
+If no errors appear, you are all set.
+You may explore the contents by entering "help(ars)".
+To exit the interpreter, use "quit()".
 
 ----------------------------------------
-
-To run a demo, execute any of the following:
+RUN DEMO
+To run a demo, execute any file in the "bin" subfolder, such as:
 	python bin/FallingBall.py
-	python python bin/IROS/example4_sinusoidal_terrain.py
+	python bin/IROS/example4_sinusoidal_terrain.py
 
 ----------------------------------------
+BUILD DOCUMENTATION
+(See development notes.txt for the necessary software)
 
-Documentation
-	the epydoc program generates API documentation for Python modules, based on their docstrings
-	
-	to build it, run the following command from the project main directory
-		epydoc -v --config doc/epydoc.cfg ars/
-	
-	to generate class diagrams based on a python module, see "development notes.txt"
+The epydoc program generates API documentation for Python modules, based on their docstrings (this is a Python term)
 
-----------------------------------------
+To build the docs, run the following command from the project main directory
+	epydoc -v --config doc/epydoc.cfg ars/
+
+To generate class diagrams based on a Python module
+	pyreverse path/to/module.py
+	dot -Tps classes_No_Name.dot -o graph1.ps
+
 Autonomous Robot Simulator (ARS).
 
-ARS is an open simulation suite for research and development of mobile manipulators. It will encompass a wide range of tools spanning from kinematics and dynamics simulation to robot interfacing and control.
+ARS is a physically-accurate open-source simulation suite for research and development of mobile manipulators and, in general, any multi-body system. It is modular, easy to learn and use, and can be a valuable tool in the process of robot design, in the development of control and reasoning algorithms, as well as in teaching and educational activities.
+It will encompass a wide range of tools spanning from kinematics and dynamics simulation to robot interfacing and control.
+The software is implemented in Python integrating the Open Dynamics Engine (ODE) and the Visualization Toolkit (VTK).
 
-software
-* Physics engine: Open Dynamics Engine (ODE) r1858, via PyODE Python wrapper
-* Programming language: Python 2.6.5
-* 3D Visualization: Visualization Toolkit (VTK) 5.2.1
-* IDE: Eclipse 3.7.1 (Indigo SR 1) with PyDev and MercurialEclipse
-* SCM: Mercurial 1.7.5
+REQUIREMENTS
+* Python 2.6.5
+	http://www.python.org/download/releases/2.6.5/
+* ODE (Open Dynamics Engine) rev 1858 (version 0.11.1 does not work. 0.12 is untested)
+	http://sourceforge.net/projects/arsproject/files/ODE/
+* PyODE rev 6ef2c2a (2010-03-22 snapshot)
+	https://sourceforge.net/projects/pyode/files/pyode/snapshot-2010-03-22/
+	http://sourceforge.net/projects/arsproject/files/PyODE/
+* VTK (Visualization Toolkit) 5.2.1 (5.4.2 may work but is untested)
+	http://www.vtk.org/VTK/resources/software.html
+	https://sourceforge.net/projects/arsproject/files/VTK/
 
-documentation:
-* API documentation generation tool: epydoc 3.0.1
-* Automatic graph drawings generation: graphviz 2.20.2
+DOCUMENTATION
+	To generate it, read the corresponding section in the INSTALL file

development notes.txt

-code style and conventions
+Information about software useful for developers
 
-	PEP 8 - Style Guide for Python Code
-		http://www.python.org/dev/peps/pep-0008/
+----------------------------------------
+
+DEVELOPMENT SOFTWARE
+* IDE (Integrated Development Environment):
+	Eclipse 3.7.1 (Indigo SR 1) with PyDev and MercurialEclipse
+		http://www.eclipse.org/downloads/
+		http://pydev.org/
+		http://javaforge.com/project/HGE
+		
+* SCM (Source Code Management):
+	Mercurial 1.7.5
+		http://mercurial.selenic.com/
+
+DOCUMENTATION GENERATION SOFTWARE
+* API documentation generation tool
+	epydoc 3.0.1
+		http://epydoc.sourceforge.net/
+
+* Automatic graph drawings generation
+	graphviz 2.20.2
+		http://www.graphviz.org/
+
+TOOLS
+* code analyzer and syntax checking
+	pylint (for now, we will not accept the recommendation of using 4-space indentation instead of tabs)
+		http://www.logilab.org/project/pylint
+		command:
+			pylint -d W0312 MyScript.py
+
+CODE STYLE AND CONVENTIONS
+* PEP 8 - Style Guide for Python Code
+	http://www.python.org/dev/peps/pep-0008/
 	
-	Docstring Conventions
-		http://www.python.org/dev/peps/pep-0257/
+* Docstring Conventions
+	http://www.python.org/dev/peps/pep-0257/
 
-code analyzer and syntax checking
-	pylint -d W0312 MyScript.py
-		for now, we will not accept the recommendation of using 4-space indentation instead of tabs
-
-diagram generation
-	pyreverse ars/app/__init__.py
-	dot -Tps classes_No_Name.dot -o graph1.ps