added doc and tests for util2d.h

doc/conf.py

@@ -0,0 +1,96 @@
+
+import os
+import sys
+sys.path.insert(0, os.path.abspath(os.path.join('None', '..')))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'rtabmap'
+copyright = 'The <rtabmap> Contributors. License: BSD'
+author = """Mathieu Labbe"""
+
+# The full version, including alpha/beta/rc tags
+release = '0.21.12'
+
+version = '0.21'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+## rosdoc2 will extend the extensions to enable Breathe and Exhale if you
+## do not add them here, as well as others, perhaps.
+## If you add them manually rosdoc2 may still try to configure them.
+## See the rosdoc2_settings below for some options on avoiding that.
+extensions = [
+    'sphinx_rtd_theme',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+master_doc = 'index'
+
+source_suffix = {
+    '.rst': 'restructuredtext',
+    '.md': 'markdown',
+    '.markdown': 'markdown',
+}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+## rosdoc2 comments this out by default because we're not creating it.
+# html_static_path = ['_static']
+
+# -- Options for rosdoc2 -----------------------------------------------------
+
+## These settings are specific to rosdoc2, and if Sphinx is run without rosdoc2
+## they will be safely ignored.
+## None are required by default, so the lines below show the default values,
+## therefore you will need to uncomment the lines and change their value
+## if you want change the behavior of rosdoc2.
+rosdoc2_settings = {
+    ## This setting, if True, will ensure breathe is part of the 'extensions',
+    ## and will set all of the breathe configurations, if not set, and override
+    ## settings as needed if they are set by this configuration.
+    'enable_breathe': True,
+
+    ## This setting, if True, will ensure exhale is part of the 'extensions',
+    ## and will set all of the exhale configurations, if not set, and override
+    ## settings as needed if they are set by this configuration.
+    'enable_exhale': True,
+
+    ## This setting, if provided, allows option specification for breathe
+    ## directives through exhale. If not set, exhale defaults will be used.
+    ## If an empty dictionary is provided, breathe defaults will be used.
+    # 'exhale_specs_mapping': {},
+
+    ## This setting, if True, will ensure autodoc is part of the 'extensions'.
+    # 'enable_autodoc': True,
+
+    ## This setting, if True, will ensure intersphinx is part of the 'extensions'.
+    # 'enable_intersphinx': True,
+
+    ## This setting, if True, will have the 'html_theme' overridden to provide
+    ## a consistent style across all of the ROS documentation.
+    # 'override_theme': True,
+
+    ## This setting, if True, will automatically extend the intersphinx mapping
+    ## using inventory files found in the cross-reference directory.
+    ## If false, the `found_intersphinx_mappings` variable will be in the global
+    ## scope when run with rosdoc2, and could be conditionally used in your own
+    ## Sphinx conf.py file.
+    # 'automatically_extend_intersphinx_mapping': True,
+
+    ## Support markdown
+    # 'support_markdown': True,
+}