Add documentation generation through Doxygen

CMakeLists.txt

@@ -76,3 +76,17 @@ set(BENCHMARK_ON TRUE CACHE BOOL "Build benchmark executables")
 if(${BENCHMARK_ON})
   add_subdirectory(benchmarks)
 endif()
+
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile.in
+    ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
+  add_custom_target(doc
+    ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    COMMENT "Generating API documentation with Doxygen" VERBATIM)
+else(DOXYGEN_FOUND)
+  message("Doxygen not found.")
+  add_custom_target(doc
+    COMMENT "Doxygen was not found on this system so this target does not exist, please install it and re-run CMake." VERBATIM)
+endif(DOXYGEN_FOUND)

README.md

@@ -87,3 +87,20 @@ Using CMake (manual)
 ```bash
 cd build/lgmath && sudo make uninstall
 ```
+
+## Generating Documentation
+
+Using catkin tool (recommended)
+In your catkin workspace
+```bash
+catkin build --make-arg
+```
+
+
+Using CMake (manual)
+In your build folder
+```bash
+make doc
+```
+
+The documentation will be found in the `doc` subdirectory of the build folder.

doc/Doxyfile.in

@@ -0,0 +1,12 @@
+# See http://www.stack.nl/~dimitri/doxygen/manual/config.html for configuration
+# options.
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = "lgmath"
+PROJECT_BRIEF          = "Lie group mathematics library"
+PROJECT_LOGO           =
+OUTPUT_DIRECTORY       = @CMAKE_CURRENT_BINARY_DIR@/doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/src @CMAKE_CURRENT_SOURCE_DIR@/include
+EXTRACT_ALL            = YES
+RECURSIVE              = YES