Adds dependencies to Docs Project.toml

Other minor changes
JuliaRobotics · Nov 9, 2020 · 29dfd05 · 29dfd05
1 parent 1d7c23f
commit 29dfd05
Show file tree

Hide file tree

Showing 6 changed files with 17 additions and 11 deletions.
diff --git a/README.md b/README.md
@@ -1,14 +1,16 @@
 # TORA.jl
 
-*Trajectory Optimisation for Robot Arms*
+*Trajectory Optimization for Robot Arms*
 
 |                             **Documentation**                             |                                        **Build Status**                                         |
 | :-----------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------: |
 | [![][docs-stable-img]][docs-stable-url] [![][docs-dev-img]][docs-dev-url] | [![][travis-img]][travis-url] [![][appveyor-img]][appveyor-url] [![][codecov-img]][codecov-url] |
 
 ## Installation
 
-The package can be installed with the Julia package manager. From the Julia REPL, type `]` to enter the Pkg REPL mode and run:
+The package can be installed with the Julia package manager.
+
+From the Julia REPL, type `]` to enter the Pkg REPL mode and run:
 ```
 pkg> add https://github.com/ferrolho/TORA.jl
 ```
@@ -25,15 +27,17 @@ julia> import Pkg; Pkg.add("https://github.com/ferrolho/TORA.jl")
 
 ## Contributions and Questions
 
-Contributions are very welcome, as are feature requests and suggestions. Please open an [issue][issues-url] if you encounter any problems.
+Contributions are very welcome, as are feature requests and suggestions.
+
+Please open an [issue][issues-url] if you encounter any problems.
 
 [docs-dev-img]: https://img.shields.io/badge/docs-dev-blue.svg
 [docs-dev-url]: https://ferrolho.github.io/TORA.jl/dev
 
 [docs-stable-img]: https://img.shields.io/badge/docs-stable-blue.svg
 [docs-stable-url]: https://ferrolho.github.io/TORA.jl/stable
 
-[travis-img]: https://travis-ci.com/ferrolho/TORA.jl.svg?branch=main
+[travis-img]: https://travis-ci.com/ferrolho/TORA.jl.svg?branch=main&token=wa8UTQ2MKiuHJN6QRxtH
 [travis-url]: https://travis-ci.com/ferrolho/TORA.jl
 
 [appveyor-img]: https://ci.appveyor.com/api/projects/status/x?svg=true

diff --git a/docs/Project.toml b/docs/Project.toml
@@ -1,3 +1,6 @@
 [deps]
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
+MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
+RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
 TORA = "a6da6c0f-f153-4ec6-bf42-6dc0ab733f84"
diff --git a/docs/src/install.md b/docs/src/install.md
@@ -16,13 +16,12 @@ After the command above, you are pretty much done.
 The installation notes below need not be followed right now.
 At the end of the tutorial, I will refer you back here.
 
-
 ## HSL Routines for Ipopt
 
 This section will guide you through the steps required to install the [Harwell Subroutine Library (HSL)](http://www.hsl.rl.ac.uk/ipopt/).
 
 !!! info "Information about Ipopt and the HSL"
-    TORA.jl uses [Ipopt](https://github.com/coin-or/Ipopt) (**I**nterior-**P**oint **OPT**imizer) by default, a large-scale nonlinear optimisation solver.
+    TORA.jl uses [Ipopt](https://github.com/coin-or/Ipopt) (**I**nterior-**P**oint **OPT**imizer) by default, a large-scale nonlinear optimization solver.
 
     Ipopt itself depends on other solvers to handle systems of linear equations.
 
@@ -31,7 +30,7 @@ This section will guide you through the steps required to install the [Harwell S
 !!! tip "Choose a good linear solver"
     Picking a good linear solver is **extremely important** to maximise the performance of nonlinear solvers.
 
-    For example, the linear solver `MA27` is out dated and can be quite slow. `MA57` is a much better alternative, especially for highly-sparse problems (such as trajectory optimisation problem).
+    For example, the linear solver `MA27` is out dated and can be quite slow. `MA57` is a much better alternative, especially for highly-sparse problems (such as trajectory optimization problems).
 
 First, install the following dependencies:
 ```

diff --git a/notebooks/Example.ipynb b/notebooks/Example.ipynb
@@ -124,7 +124,7 @@
     "solve = TORA.solve_with_ipopt  # Uses Ipopt (https://github.com/coin-or/Ipopt)\n",
     "# solve = TORA.solve_with_knitro  # Uses KNITRO (https://www.artelys.com/solvers/knitro/)\n",
     "\n",
-    "# Calling this will start the optimisation.\n",
+    "# Calling this will start the optimization.\n",
     "cpu_time, x, solver_log = solve(problem, robot,\n",
     "                                initial_guess=initial_guess,\n",
     "                                use_inv_dyn=use_inv_dyn,\n",

diff --git a/notebooks/Tutorial.ipynb b/notebooks/Tutorial.ipynb
@@ -106,7 +106,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "# Calling this will start the optimisation\n",
+    "# Calling this will start the optimization\n",
     "cpu_time, x, solver_log = TORA.solve_with_ipopt(problem, robot, initial_guess=initial_guess)"
    ]
   },
@@ -116,7 +116,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "play_trajectory(vis, problem, robot, x)"
+    "TORA.play_trajectory(vis, problem, robot, x)"
    ]
   },
   {

diff --git a/src/TORA.jl b/src/TORA.jl
@@ -11,13 +11,13 @@ using MeshCat
 using MeshCatMechanisms
 using NPZ
 using Plots
-using Random: rand!
 using Requires
 using RigidBodyDynamics
 using SparseArrays
 using SparseDiffTools
 
 using Plots.PlotMeasures: px
+using Random: rand!
 
 import Base: length