English Manual Added

README.md

@@ -2,7 +2,6 @@
 
 [![Join the chat at https://gitter.im/euslisp/jskeus](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/euslisp/jskeus?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
-
 This repository contains software developed and used by [JSK](http://www.jsk.t.u-tokyo.ac.jp) at The University of Tokyo.
 
 ## 1. Getting started
@@ -12,30 +11,35 @@ This repository contains software developed and used by [JSK](http://www.jsk.t.u
 #### 1.1.1 Setup ROS repository
 
 Please set `ROS_DISTRO` environment variable to your ROS distro. For example, if you use 18.04, run `export ROS_DISTRO=melodic`.
+
 ```
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 sudo apt-get update
 ```
+
 #### 1.1.2 Install Euslisp
+
 ```
 sudo apt-get install ros-$ROS_DISTRO-euslisp
 ```
 
 ### 1.2 Install via Homebrew (OSX)
+
 ```
 brew install euslisp/jskeus/jskeus
 ```
 
 ## 2 Playing with Demo programs
 
 ### 2.1 Motion generation
+
 ```
 $ irteusgl irteus/demo/demo.l
 ```
-and type any command, such as '(crank-motion)' or '(dual-arm-ik)'
 
+and type any command, such as '(crank-motion)' or '(dual-arm-ik)'
 
 [![full-body-ik](images/Full-body-ik.png)](https://github.com/euslisp/jskeus/blob/master/irteus/demo/full-body-ik.l)
 [![dual-arm-ik](images/Dual-arm-ik.png)](https://github.com/euslisp/jskeus/blob/master/irteus/demo/dual-arm-ik.l)
@@ -47,14 +51,17 @@ and type any command, such as '(crank-motion)' or '(dual-arm-ik)'
 [![null-space-ik](images/Null-space-ik.png)](https://github.com/euslisp/jskeus/blob/master/irteus/demo/null-space-ik.l)
 
 ### 2.2 Robots and objects models
+
 ```
 $ irteusgl models/irt-all-robots.l "(make-all-robots)"
 ```
+
 ![all robots](images/irt-all-robots.png)
 
 ```
 $ irteusgl models/irt-all-objects.l "(make-all-objects)"
 ```
+
 ![all objects](images/irt-all-objects.png)
 
 ## 3 Getting started for ROS and PR2 users
@@ -64,12 +71,14 @@ $ irteusgl models/irt-all-objects.l "(make-all-objects)"
 #### 3.1.1 Setup ROS repository
 
 You can skip this procedure if you have already setup your ROS system
+
 ```
 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
 wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 sudo apt-get update
 ```
+
 #### 3.1.2 Install pr2/euslisp programs
 
 ```
@@ -79,6 +88,7 @@ sudo apt-get install ros-$ROS_DISTRO-pr2eus
 ### 3.3 Running demo programs
 
 #### 3.3.1 Visualization of pr2 robot
+
 ```
 $ rosrun euscollada pr2.sh
 ```
@@ -97,7 +107,8 @@ $ roslaunch ./pr2-read-state.launch
 $ roslaunch ./pr2-send-joints.launch
 ```
 
-You can use our script to set  `ROS_MASTER_URI` and `ROS_IP`
+You can use our script to set `ROS_MASTER_URI` and `ROS_IP`
+
 ```
 $ source `rospack find jsk_tools`/src/bashrc.ros
 $ rossetrobot pr1012.jsk.com # change to your environment
@@ -107,32 +118,35 @@ $ rossetip
 
 ![./pr2-read-state.launch](images/Pr2-read-state.png)
 
-
 Have a look at roseus package in http://github.com/jsk-ros-pkg repository for ROS client library for euslisp
 
 ### 3.4 Support and Trouble Shooting
 
-
 Open an issue on our [issue tracker](https://github.com/euslisp/jskeus/issues) if something doesn't work as expected, or if you want new features implemented.
 
 Use the [pull requests](https://github.com/euslisp/jskeus/pulls) system to send us solutions for the issues so we can implement them in this repository.
 
-### 3.5 Online Documents (Currently only Japanese is available)
+### 3.5 Online Documents
 
 See online [manual](http://euslisp.github.io/jskeus/)
 
-PDF files are also available from [here](https://github.com/euslisp/jskeus/raw/master/doc/jmanual.pdf)
+PDF files are also available below:
+
+- [日本語](https://github.com/euslisp/jskeus/raw/master/doc/jmanual.pdf)
+- [english](https://github.com/euslisp/jskeus/raw/master/doc/manual.pdf)
 
-### 3.6 Install euslisp from source code  (EXPERTS ONLY)
+### 3.6 Install euslisp from source code (EXPERTS ONLY)
 
 #### 3.6.1 Installing dependent libraries
 
 For Ubuntu users:
+
 ```
 $ sudo apt-get install git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng12-dev xfonts-100dpi xfonts-75dpi gsfonts-x11 texlive-fonts-extra xfonts-100dpi-transcoded xfonts-75dpi-transcoded msttcorefonts pkg-config libbullet-dev
 ```
 
 For Mac OSX users using Homebrew:
+
 ```
 $ brew install jpeg libpng mesalib-glw wget bullet
 ```
@@ -144,14 +158,16 @@ Also for Mac OSX lion (or older) users it's better to install the latest XQuartz
 
 (If XQuartz is older than 2.7.3, the installation of EusLisp will fail. You should install the latest XQuartz.)
 
-
 For Raspberry Pi users using debian(Raspbian "wheezy"):
+
 ```
 $ sudo apt-get install git gcc g++ libjpeg62-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng12-dev xfonts-100dpi xfonts-75dpi
 ## additional install for using OpenGL on raspberry pi
 $ sudo apt-get install libgl1-mesa-dri xserver-xorg-video-vesa xutils
 ```
+
 For Cygwin(only works with 32bit systems)
+
 ```
 Packages listed below should be intalled using setup.exe.
 
@@ -165,6 +181,7 @@ bitmap fonts (all bitmap font packages -75dpi, -100dpi, -misc )
 ```
 
 #### 3.6.2 Downloading and building EusLisp
+
 ```
 $ git clone http://github.com/euslisp/jskeus jskeus
 $ cd jskeus
@@ -173,7 +190,7 @@ you will see instructions to add EUSDIR, ARCHDIR, PATH, LD_LIBRARY_PATH environm
 $ echo "source ~/bashrc.eus" >> ~/.bashrc
 ```
 
-#### 3.6.3  Install ROS and jsk-ros-pkg repository
+#### 3.6.3 Install ROS and jsk-ros-pkg repository
 
 See http://wiki.ros.org/$ROS_DISTRO/Installation/Source for more details
 

doc/Makefile

@@ -18,9 +18,12 @@ copy_eus_tex:
 	cp ../eus/doc/jlatex/*.tex ${TMPDIR}
 	cp ../eus/doc/jlatex/*.sty ${TMPDIR}
 	cp -r ../eus/doc/jlatex/fig/* ./fig/* ${TMPDIR}/fig/
+	cp ../eus/doc/latex/*.tex ${TMPDIR}
+	cp ../eus/doc/latex/*.sty ${TMPDIR}
+	cp -r ../eus/doc/latex/fig/* ./fig/* ${TMPDIR}/fig/
 	(cd ${TMPDIR};for x in fig/*.ps;  do ps2ps $$x $$x.new; mv $$x.new $$x; done) ### ???? we need to run ps2ps to pass gs??
 	(cd ${TMPDIR};for x in fig/*.jpg; do extractbb $$x; done) # workaround for https://github.com/backtracking/bibtex2html/issues/9
-	cp *.tex ${TMPDIR}
+	cp ./*latex/*.tex ${TMPDIR}
 	platex --version | grep utf8 || nkf --in-place -e ${TMPDIR}/*.tex
 	for x in irtrobot irtmodel irtsensor irtscene irtdyna irtgeo irtgl irtutil irtviewer irtx irtmath irtbvh irtcollada irtgraph gnuplotlib irtimage irtpointcloud png irtcollision pqp bullet; do\
 		irteusgl ../eus/lib/llib/documentation.l "(make-document \"../irteus/$$x.l\" \"${TMPDIR}/$$x-func.tex\")" "(exit)"; \
@@ -34,27 +37,35 @@ current.tex:
 
 toc: copy_eus_tex current.tex
 	(cd ${TMPDIR}; makeindex jmanual.tex)
+	(cd ${TMPDIR}; makeindex manual.tex)
+
 
 dvi: toc
 	(cd ${TMPDIR}; platex jmanual.tex)
-	(cd ${TMPDIR}; platex jmanual.tex)
-	cp ${TMPDIR}/*.dvi .
+	(cd ${TMPDIR}; platex manual.tex)
+	cp ${TMPDIR}/j*.dvi ./jlatex
+	cp ${TMPDIR}/[!j]*.dvi ./latex
 
 pdf: dvi
 	(cd ${TMPDIR}; dvipdfmx jmanual.dvi)
+	(cd ${TMPDIR}; dvipdfmx manual.dvi)
+	cp ${TMPDIR}/j*.pdf ./jlatex
+	cp ${TMPDIR}/[!j]*.pdf ./latex
 	cp ${TMPDIR}/*.pdf .
 
 
 clean:
 	rm -f *~ *.aux *.idx *.log *.toc *.out *.ind *.ilg
 
 distclean: clean
-	rm -f *.dvi *.pdf
+	rm -fr *.dvi *.pdf
 
 html: dvi
 	mkdir -p ${TMPDIR}/html
 	(cd ${TMPDIR}; TRANSPARENT_COLOR="#ffffff" charset="UTF-8" latex2html -dir ${TMPDIR}/html -local_icons -split +3 -auto_prefix -init_file ${PWD}/../eus/doc/latex/.latex2html-init -iso_language JP -address "This document was generated using the LaTeX2HTML translator on `date` from <a href=\"http://github.com/euslisp/jskeus.git\">jskeus</a> version <a href=\"http://github.com/euslisp/jskeus/commit/`git -C ${PWD} rev-parse --verify HEAD`\">`git log -1  --oneline`</a>" -html_version="4.0,unicode" jmanual)
-	(cd ${TMPDIR}/html; for imgfile in jmanual-img*.png; do pngtopnm $$imgfile > /tmp/$$imgfile.pnm; pnmtopng -transparent white /tmp/$$imgfile.pnm > $$imgfile || echo "Failed to convert $$imgfile"; done)
+	(cd ${TMPDIR}; TRANSPARENT_COLOR="#ffffff" charset="UTF-8" latex2html -dir ${TMPDIR}/html -local_icons -split +3 -auto_prefix -init_file ${PWD}/../eus/doc/latex/.latex2html-init -iso_language JP -address "This document was generated using the LaTeX2HTML translator on `date` from <a href=\"http://github.com/euslisp/jskeus.git\">jskeus</a> version <a href=\"http://github.com/euslisp/jskeus/commit/`git -C ${PWD} rev-parse --verify HEAD`\">`git log -1  --oneline`</a>" -html_version="4.0,unicode" manual)
+	(cd ${TMPDIR}/html; for imgfile in jmanual-img*.png; do pngtopnm $$imgfile > ${TMPDIR}/$$imgfile.pnm; pnmtopng -transparent white ${TMPDIR}/$$imgfile.pnm > $$imgfile || echo "Failed to convert $$imgfile"; done)
+	(cd ${TMPDIR}/html; for imgfile in manual-img*.png; do pngtopnm $$imgfile > ${TMPDIR}/$$imgfile.pnm; pnmtopng -transparent white ${TMPDIR}/$$imgfile.pnm > $$imgfile || echo "Failed to convert $$imgfile"; done)
 	(cd ${TMPDIR}/html; sed -i 's@</TITLE>@</TITLE>\n<META HTTP-EQUIV="Content-Type" CONTENT="text/html; charset=UTF-8">@' j*.html index.html)
 	cp -r ${TMPDIR}/html ./
 
@@ -65,32 +76,33 @@ rst: current.tex copy_eus_tex latex.py
 	cp latex.py ../eus/doc/latex/preamble.tex ${TMPDIR}
 	for file in ${TMPDIR}/*.tex; do \
 	   name=`basename $$file .tex`; \
-	   if [ \"$$name\" = \"test\" -o \"$$name\" = \"jmanual\" ]; then continue; fi; \
+	   if [ \"$$name\" == \"test\" -o \"$$name\" == \"jmanual\" ]; then continue; fi; \
 	   echo \"Converting $$name.tex to $$name.rst\"; \
-	   (cd ${TMPDIR}; python3 latex.py -2 -L preamble.tex $$name.tex > /tmp/tmp_$$name.tex); \
-	   pandoc /tmp/tmp_$$name.tex -o $$name.rst -V documentclass=ltjarticle --latex-engine=lualatex; \
+	   (cd ${TMPDIR}; python3 latex.py -2 -L preamble.tex $$name.tex > ${TMPDIR}/tmp_$$name.tex); \
+	   pandoc ${TMPDIR}/tmp_$$name.tex -o $$name.rst -V documentclass=ltjarticle --pdf-engine=lualatex; \
 	   sed -i 's@.. figure:: \(.*\).ps@.. figure:: \1.png@g' $$name.rst;  # use png for figures \
 	done
 	for file in ../eus/doc/jlatex/fig/*.ps; do \
 	   name=`basename $$file .ps`; \
 	   echo \"Converting $$name.ps to $$name.png\";  ### ???? we need to run ps2ps to pass gs?? does not happy with pstopnm \
 	   pstopnm -stdout ../eus/doc/jlatex/fig/$$name.ps | pnmflip -rotate270 | pnmtopng - > fig/$$name.png; \
 	done
-	cp jmanual.tex /tmp/jmanual.tex
-	sed -i 's@\\input{\(.*\)}@..include:: \1\n@g' /tmp/jmanual.tex     ### convert \input in tex to bypass pandoc EXCEPT current
-	sed -i '/..include:: current/r ${TMPDIR}/current.tex' /tmp/jmanual.tex  ### convert \input in tex to bypass pandoc EXCEPT current
-	sed -i 's@\\part{\(.*\)}@.. toctree:: \1@' /tmp/jmanual.tex  # convert \part in tex to bypass pandoc
-	sed -i ':a;/^[^%].*\\\\$$/{N;s/\\\\\n//;ba}' /tmp/jmanual.tex # concatinate title/author multi lines
-	sed -i '/^\\vspace{10mm}$$/d' /tmp/jmanual.tex # remove vspace{10mm} within title to pass pandoc
-	pandoc --no-wrap -s /tmp/jmanual.tex -o jmanual.rst -V documentclass=ltjarticle --latex-engine=lualatex
+
+	cp ./jlatex/jmanual.tex ${TMPDIR}/jmanual.tex
+	sed -i 's@\\input{\(.*\)}@..include:: \1\n@g' ${TMPDIR}/jmanual.tex     ### convert \input in tex to bypass pandoc EXCEPT current
+	sed -i '/..include:: current/r ${TMPDIR}/current.tex' ${TMPDIR}/jmanual.tex  ### convert \input in tex to bypass pandoc EXCEPT current
+	sed -i 's@\\part{\(.*\)}@.. toctree:: \1@' ${TMPDIR}/jmanual.tex  # convert \part in tex to bypass pandoc
+	sed -i ':a;/^[^%].*\\\\$$/{N;s/\\\\\n//;ba}' ${TMPDIR}/jmanual.tex # concatinate title/author multi lines
+	sed -i '/^\\vspace{10mm}$$/d' ${TMPDIR}/jmanual.tex # remove vspace{10mm} within title to pass pandoc
+	pandoc --wrap=none -s ${TMPDIR}/jmanual.tex -o jmanual.rst -V documentclass=ltjarticle --pdf-engine=lualatex
+	pandoc --wrap=none -s ${TMPDIR}/manual.tex -o manual.rst -V documentclass=ltjarticle --pdf-engine=lualatex
 	sed -i '[email protected]:: \(.*\)@   \1@' jmanual.rst # restore ..include for rst
 	sed -i 's@.. toctree:: \(.*\)@.. toctree::\n   :maxdepth: 2\n   :caption: \1@' jmanual.rst  # restore ..toctree for rst
 	sed -i 's@\*\* \*\*@\*\*\n\*\*@g' jmanual.rst # add newline after ** ** in title
 	sed -i 's@** -\(.*\)$$@**\n\n-\1\n@' jmanual.rst # add newline before -ロボットモデリングの拡張 in title
 	sed -i -ne '3!{p;d;};h;n;p;g;p' jmanual.rst  ## swap 2nd and 3rd line
 	sed -i -ne '4!{p;d;};h;n;:1;7!{N;b1};G;h;n;p;g;p' jmanual.rst  ## swap lines https://www.unix.com/shell-programming-and-scripting/85230-swapping-switching-2-lines-using-sed.html
 	sed -i -ne '2h;2!H;$${g;s/\n/ /;p}' jmanual.rst  ## concatenate EusLisp and Reference Manual (https://unix.stackexchange.com/questions/188264/want-to-substitute-only-first-occurence-with-sed)
-	sed -i 's/^:Author:/:Authors: -/' jmanual.rst # use :authors: insteqad of :author:
+	sed -i 's/^:Author:/:Authors: -/' jmanual.rst # use :authors: instead of :author:
 	sed -ie '/^:Authors:/ {p;s/.*//;N; s/\n/\ \ \ \ \ \ \ \ \ \ -\ /;}' jmanual.rst # add authors after :authors:
 	head -n 20 jmanual.rst
-

doc/conf.py

@@ -149,6 +149,7 @@ def sh(command):
     sh("mkdir -p _build/html")
     sh("cd _build/html; ln -sf jmanual.html index.html; ls -al")
     sh("find _build/html -type f -a -name 'j*.html' -a ! -name 'jmanual.html' -a -exec sed -i '[email protected]/euslisp/jskeus/blob/\(.*\)/doc/@github.com/euslisp/EusLisp/blob/\1/doc/jlatex/@' {} \;")
+    sh("find _build/html -type f -a -name 'j*.html' -a ! -name 'manual.html' -a -exec sed -i '[email protected]/euslisp/jskeus/blob/\(.*\)/doc/@github.com/euslisp/EusLisp/blob/\1/doc/latex/@' {} \;")
     # sh("sed -i '[email protected]/euslisp/jskeus/blob/\(.*\)/doc/@github.com/euslisp/EusLisp/blob/\1/doc/jlatex/@' _build/html/j!(manual).html || echo OK")
 
 

doc/latex/irtbvh_en.tex

@@ -0,0 +1,2 @@
+\section{BVH Data}
+ \input{irtbvh-func}

doc/latex/irtcollada_en.tex

@@ -0,0 +1,2 @@
+\section{Collada Data}
+ \input{irtcollada-func}