Update Documentation (#282)

* Added default doxygen file

* Updated Doxyfile; added DoxygenLayout.xml

* Added doxygen header for code documentation

* Updated code documentation

* Removed README content

* Moved docs location

* Added .gitignore

* Disable group graphs

* Added custom CSS themes from doxygen-awesome

* Commented setting of selected nav tree item to primary color

* Generated default header from style sheet

* Added icon to documentation

* Revised doxygen page layout

* Added workflow for building documentation

* Updated README to reference documentation website

* Disable copy and reference of source code

.github/workflows/docs.yml

@@ -0,0 +1,54 @@
+name: Build Documentation
+
+on:
+  push:
+    branches:
+      - master
+      - dev
+  workflow_dispatch:
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
+# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
+concurrency:
+  group: "pages"
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Pages
+        uses: actions/configure-pages@v5
+
+      - name: Run Doxygen
+        working-directory: docs
+        run: |
+          sudo apt update
+          sudo apt install -y -qq doxygen graphviz
+          doxygen Doxyfile
+          touch build/html/.nojekyll
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/build/html
+
+  deploy:
+    needs: build
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.gitignore

@@ -0,0 +1 @@
+docs/build

README.md

@@ -12,64 +12,6 @@ Lint  (Clang-Format) | [![Build Status](https://github.com/ros-industrial/noethe
 
 ## Description
 This repository provides software for performing tool path planning on arbitrary mesh surfaces.
-We define tool path planning as the generation of an ordered set of waypoints for a robotic process (e.g., painting, sanding, inspection, routing, etc.) based on some input geometry.
-The idea is that the tool of the robot should traverse through this set of waypoints in order to accomplish the desired task.
 
-We think of the tool path planning process as a pipeline consisting of 3 steps:
-1. Mesh modification
-    - Often input geometry (specifically meshes) does not actually reflect the surface from which we want to generate tool paths.
-    Usually we want to process the mesh in various ways, such as smoothing, segmentation, or primitive fitting and projection.
-1. Tool path planning
-    - This is the generation of waypoints directly from the modified mesh(es).
-    Planners generally create waypoints directly on the surface of the input modified mesh(es).
-1. Tool path modification
-    - Many robot processes require application specific changes or additions to a tool path. 
-    These include operations like order reorganization, pose offsets, approaches/departures, etc.
-    Instead of building these changes directly into customized tool path planners, we implement them as a separate step in the pipeline.
-
-## GUI
-This project provides a GUI application for use of the provided tool path planning utilities.
-Load an arbitrary mesh, configure your desired tool path planning pipeline, and experiment with different types of planners and modifiers.
-The generated tool path can then be saved to a YAML file for use in other applications.
-
-![GUI](docs/gui.png)
-
-## Architecture
-
-### Structure
-![Architecture](docs/architecture.png)
-
-### Interfaces
-This repository provides three key abstract interfaces to facilitate the tool path planning pipeline:
-- **[`MeshModifier`](noether_tpp/include/noether_tpp/core/mesh_modifier.h)**
-  - Takes an mesh and returns a vector of modified meshes
-  - Implementation examples include primitive fitting and projection, region of interest selection, smoothing, hole filling, etc.
-- **[`ToolPathPlanner`](noether_tpp/include/noether_tpp/core/tool_path_planner.h)**
-  - Takes an input mesh and produces a tool path
-  - This repository also provides two sub-interfaces for planners with more specific behavior:
-    - [`RasterPlanner`](noether_tpp/include/noether_tpp/tool_path_planners/raster/raster_planner.h)
-    - [`EdgePlanner`](noether_tpp/include/noether_tpp/tool_path_planners/edge/edge_planner.h)
-  - Implementation examples include plane slice raster planner, CAM style planner, mesh half-edge planner
-- **[`ToolPathModifier`](noether_tpp/include/noether_tpp/core/tool_path_modifier.h)**
-  - Takes an tool path and produces a modified tool path
-  - Implementation examples include order reorganization, orientation smoothing, approach/departure addition, pose offset, etc.
-
-See the [`noether_tpp` documentation](noether_tpp/README.md) for more details on the architecture of the package.
-
-### Customization
-Custom behavior can be added by providing a class that overrides one of the interface classes.
-See the implementations in the [`mesh_modifiers`](noether_tpp/include/noether_tpp/mesh_modifiers), [`tool_path_planners`](noether_tpp/include/noether_tpp/tool_path_planners), and [`tool_path_modifiers`](noether_tpp/include/noether_tpp/tool_path_modifiers) for reference.
-
-See the [`noether_gui` documentation](noether_gui/README.md) for more details on how to a GUI plugin for a custom implementation of one of the interfaces.
-
-## Build
-Nominally, this project is ROS-independent, but it is convenient to use the ROS dependency management and build tools to build the repository.
-
-Clone the repository into a workspace, download the dependencies, and build the workspace.
-
-```commandLine
-cd <ws>
-vcs import src < dependencies.repos
-rosdep install --from-paths src -iry
-<colcon/catkin> build
-```
+## Documentation
+See the [documentation](ros-industrial.github.io/noether) for more information on the capabilities and usage of this repository.