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+/**
+
+
+@page dev-docs Documentation Guide
+
+
+@section developers-pdfmanual Building the Latex PDF Reference Manual
+
+1. You will need to install doxygen and texlive with all packages
+    - `sudo apt-get update`
+    - `sudo apt-get install doxygen texlive-full`
+    - You will likely need new version of [doxygen](https://stackoverflow.com/a/50986638/7718197) 1.9.4 to fix ghostscript errors
+2. Go into the project folder and generate latex files
+    - `cd open_vins/`
+    - `doxygen`
+    - This should run, and will stop if there are any latex errors
+    - On my Ubuntu 20.04 this installs version "2019.20200218"
+3. Generate a PDF from the latex files
+    - `cd doxgen_generated/latex/`
+    - `make`
+    - File should be called `refman.pdf`
+
+
+
+@section developers-addpage Adding a Website Page
+
+1. Add a `doc/pagename.dox` file, copy up-to-date license header.
+2. Add a @c \@page definition and title to your page
+3. If the page is top-level, list it in `doc/00-page-order.dox` to ensure it
+    gets listed at a proper place
+4. If the page is not top-level, list it using @c \@subpage in its parent page
+5. Leverage @c \@section and @c \@subsection to separate the page
+
+
+
+@section latex Math / Latex Equations
+
+- More details on how to format your documentation can be found here:
+    - http://www.doxygen.nl/manual/formulas.html
+    - https://mcss.mosra.cz/css/components/#math
+    - https://mcss.mosra.cz/css/components/
+- Use the inline commands for latex `\f $ <formula_here> \f $` (no space between f and $)
+- Use block to have equation centered on page `\f [ <big_formula_here> \f ]` (no space between f and [])
+
+
+
+@section developers-building Building the Documentation Site
+
+1. Clone the m.css repository which has scripts to build
+    - Ensure that it is **not** in the same folder as your open_vins
+    - `git clone https://github.com/mosra/m.css`
+    - This repository contains the script that will generate our documentation
+2. You will need to install python3.6
+    - `sudo add-apt-repository ppa:deadsnakes/ppa`
+    - `sudo apt-get update`
+    - `sudo apt-get install python3.6`
+    - `curl https://bootstrap.pypa.io/get-pip.py | sudo python3.6`
+    - `sudo -H pip3.6 install jinja2 Pygments`
+    - `sudo apt install texlive-base texlive-latex-extra texlive-fonts-extra texlive-fonts-recommended`
+3. To use the bibtex citing you need to have
+    - bibtex executable in search path
+    - perl executable in search path
+    - http://www.doxygen.nl/manual/commands.html#cmdcite
+4. Go into the documentation folder and build
+    - `cd m.css/documentation/`
+    - `python3.6 doxygen.py <path_to_Doxyfile-mcss>`
+5. If you run into errors, ensure your python path is set to use the 3.6 libraries
+    - ` export PYTHONPATH=/usr/local/lib/python3.6/dist-packages/`
+6. You might need to comment out the `enable_async=True` flag in the doxygen.py file
+7. This should then build the documentation website
+8. Open the html page `/open_vins/doxgen_generated/html/index.html` to view documentation
+
+
+@section developers-theme Custom m.css Theme
+
+1. This is based on the [m.css docs](https://mcss.mosra.cz/css/themes/#make-your-own) for custom theme
+2. Files needed are in `open_vins/docs/mcss_theme/`
+3. Copy the following files into the `m.css/css/` folder
+    - m-theme-udel.css
+    - pygments-tango.css
+    - m-udel.css
+4. Most settings are in the `m-theme-udel.css` file
+5. To generate / compile the edited theme do:
+    - `python3.6 postprocess.py m-udel.css m-documentation.css -o m-udel+documentation.compiled.css`
+    - Copy this generated file into `open_vins/docs/css/`
+    - Regenerate the website and it should change the theme
+
+
+@section developers-figures Creating Figures
+
+- One of the editors we use is [IPE](http://ipe.otfried.org/) which is avalible of different platforms
+- We use the ubuntu 16.04 version 7.1.10
+- Create your figure in IPE then save it to disk (i.e. should have a `file.ipe`)
+- Use the command line utility `iperender`  to convert into a svg
+- `iperender -svg -transparent file.ipe file.svg`
+
+
+*/