add docs build

.github/workflows/CI.yml

@@ -19,11 +19,11 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.0'
           - '1.9'
           - 'nightly'
         os:
           - ubuntu-latest
+          - windows-latest
         arch:
           - x64
     steps:

.github/workflows/documentation.yml

@@ -0,0 +1,35 @@
+name: documentation
+
+on:
+  push:
+    branches:
+      - main
+    tags: '*'
+
+# env:
+  # JULIA_PKG_USE_CLI_GIT: true #github runner was not checking out Utility...https://discourse.julialang.org/t/prepare-self-hosted-runner-on-windows-10-for-github-actions-and-julia-private-registry-and-packages/82367
+
+jobs:
+  build:
+    permissions:
+      contents: write
+      statuses: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1.9'
+
+      - name: Clone this repo
+        uses: actions/checkout@v2 
+        with:
+
+      - name: Install dependencies
+        run: julia --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
+
+      - name: Build and deploy
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} # If authenticating with GitHub Actions token
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }} # If authenticating with SSH deploy key
+        run: julia --project=docs/ docs/make.jl
+        # run: julia --project=docs/ -e 'pwd()' && julia --project=docs/ docs/make.jl

docs/Project.toml

@@ -0,0 +1,10 @@
+name = "HomogeneousTransformations Documentation"
+authors = ["Ben Conrad <[email protected]>"]
+
+[deps]
+DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
+Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
+DocumenterTools = "35a29f4d-8980-5a13-9543-d66fff28ecb8"
+
+[compat]
+Documenter = "~0.27"

docs/make.jl

@@ -0,0 +1,38 @@
+using Documenter
+using DocumenterTools
+using DocStringExtensions
+using HomogeneousTransformations
+
+makedocs(
+  sitename="HomogeneousTransformations.jl",
+  modules=[HomogeneousTransformations],
+  root = joinpath(dirname(pathof(HomogeneousTransformations)), "..", "docs"),
+  source = "src",
+  build = "build",
+  clean=true,
+  doctest=true,
+  draft=false,
+  checkdocs=:all,
+  # linkcheck=true, fails to find internal links to bookmarks..
+  )
+
+# compile custom theme scss in to css, copying over the default themes
+DocumenterTools.Themes.compile("docs/src/assets/themes/documenter-mechanomy.scss", "docs/build/assets/themes/documenter-dark.css")
+DocumenterTools.Themes.compile("docs/src/assets/themes/documenter-mechanomy.scss", "docs/build/assets/themes/documenter-light.css")
+
+deploydocs(
+  root = joinpath(dirname(pathof(BeltTransmission)), "..", "docs"),
+  target = "build",
+  dirname = "",
+  repo = "github.com/mechanomy/HomogeneousTransformations.jl.git",
+  branch = "gh-pages",
+  deps = nothing, 
+  make = nothing,
+  devbranch = "main",
+  devurl = "dev",
+  versions = ["stable" => "v^", "v#.#", "dev" => "dev"],
+  forcepush = false,
+  deploy_config = Documenter.auto_detect_deploy_system(),
+  push_preview = false,
+)
+

docs/src/assets/assets/themes/documenter-mechanomy.scss

@@ -0,0 +1,65 @@
+@charset "UTF-8";
+
+// this documenter-dark is modified from documenter-light, as the shipping version is too dark and green.
+// Documenter & DocumenterTools do not say how the theme can be chosen, only that it can be compiled, so this is a workaround for now
+
+//copying some parameters from https://github.com/JuliaDocs/Documenter.jl/blob/master/assets/html/scss/documenter-dark.scss
+$themename: "documenter-dark"; // CSS file must be called `$(themename).css`
+
+// @import "darkly/variables";
+
+$documenter-is-dark-theme: true;
+
+
+// <link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Aldrich">
+// <link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Actor">
+
+@import "https://fonts.googleapis.com/css?family=Aldrich";
+@import "https://fonts.googleapis.com/css?family=Actor";
+$family-sans-serif: 'Actor', 'Lato Medium', -apple-system, BlinkMacSystemFont, "Segoe UI", "Helvetica Neue", "Helvetica", "Arial", sans-serif; 
+$family-monospace: 'JuliaMono', 'SFMono-Regular', 'Menlo', 'Consolas', 'Liberation Mono', 'DejaVu Sans Mono', monospace;
+
+// $documenter-sidebar-background: #555;
+// $body-background-color: #656;
+
+$link: #0069ff; //override the Dcumenter.jl/assets/html/scss/documenter/_variables.scss default
+
+$info: #209cee;
+$success: #22c35b;
+$warning: #ffdd57;
+$danger: #da0b00;
+$compat: #1db5c9;
+
+// slightly increase contrast over default l: 48%
+$grey: hsl(0, 0%, 42%);
+
+@import "documenter/utilities";
+@import "documenter/variables";
+
+@import "bulma/utilities/all";
+@import "bulma/base/all";
+
+@import "documenter/overrides";
+
+@import "bulma/elements/all";
+@import "bulma/form/all";
+@import "bulma/components/all";
+@import "bulma/grid/all";
+@import "bulma/layout/all";
+
+@import "documenter/elements";
+@import "documenter/components/all";
+@import "documenter/patches";
+@import "documenter/layout/all";
+
+@import "documenter/ansicolors";
+
+// highlight.js color scheme override for the julia> prompt
+code.language-julia-repl > span.hljs-meta {
+  color: $ansi-green;
+  font-weight: bolder;
+}
+
+// Workaround to compile in highlightjs theme, so that we could have different themes for both
+@import "highlightjs/default"
+

readme.md

@@ -1,7 +1,20 @@
-# HomogeneousTransformations
+# HomogeneousTransformations.jl
 HomogeneousTransformations provides basic functions for creating and using homogeneous transformation matrices to perform 3D translations and rotations.
+These are 4x4 matrices that allow rotation and translations of points to be performed, without the limitations of euler angles or quaternions.
 
-[![Build Status](https://github.com/[email protected]/HomogeneousTransformations.jl/actions/workflows/CI.yml/badge.svg?branch=main)](https://github.com/[email protected]/HomogeneousTransformations.jl/actions/workflows/CI.yml?query=branch%3Amain)
+## Use
+
+## Dimensions
+
+## Design
+This package is intentionally simple, focused only on providing functions for calculating transformations and not attempting to include many functions like [Rigid Body Dynamics](https://github.com/JuliaRobotics/RigidBodyDynamics.jl).
+
+
+## Status
+[![Build Status](https://github.com/mechanomy/HomogeneousTransformations/actions/workflows/CI.yml/badge.svg?branch=main)](https://github.com/mechanomy/HomogeneousTransformations/actions/workflows/CI.yml?query=branch%3Amain)
+
+## References:
+* [2006_Spong_RobotModelingAndControl](https://www.google.com/books/edition/Robot_Modeling_and_Control/DdjNDwAAQBAJ?hl=en&gbpv=1&dq=robot%20modeling%20and%20control%20homogeneous&pg=PA62&printsec=frontcover)
 
 ## Copyright
 Copyright (c) 2023 Mechanomy LLC

src/HomogeneousTransformations.jl

@@ -1,14 +1,14 @@
 
 
 """
-HomogeneousTransformations provides basic functions for creating and using [homogeneous transformation matrices]() to perform 3D translations and rotations.
+HomogeneousTransformations.jl provides basic functions for creating and using [homogeneous transformation matrices]() to perform 3D translations and rotations.
 
 
 ## Exports:
 ($EXPORTS)
 
 ## References:
-* 2006_Spong_RobotModelingAndControl
+* [2006_Spong_RobotModelingAndControl](https://www.google.com/books/edition/Robot_Modeling_and_Control/DdjNDwAAQBAJ?hl=en&gbpv=1&dq=robot%20modeling%20and%20control%20homogeneous&pg=PA62&printsec=frontcover)
 
 """
 module HomogeneousTransformations