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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
#ifndef _YARP2_USERDOC_
#define _YARP2_USERDOC_


/**
 * @mainpage Welcome to YARP
 *
 * \image html yarp-small.jpg
 *
 * @section welcome_topics Topics
 *
 * \li @subpage what_is_yarp "what exactly is YARP"?
 * \li @subpage install.
 * \li @subpage yarp "YARP's main command line interface".
 * \li Check out some @subpage yarp_code_examples "example code". 
 * \li Read about the @subpage yarp_os "YARP OS library".
 * \li Tutorial: @subpage note_ports.
 * \li Tutorial: @subpage note_devices.
 * \li Tutorial: @subpage yarp_motor_control.
 * \li For advanced users who want to add a new device, see the @subpage dev-how-to.
 * \li For those interested in interoperability, read the \subpage terms "specification of YARP terms and protocols".
 

 *
 * If you're viewing this text online, you can click a "Modules" link
 * at the top of your page to see the most important functionality
 * of YARP broken down category by category.
 *

 * @section welcome_disclaimer Ominous but Enigmatic Warning
 *
 * \code
 Through Me Pass into the Painful City,
 Through Me Pass into Eternal Grief,
 Through Me Pass among the Lost People.
 Justice Moved My Master-Builder:
 Heavenly Power First Fashioned Me
 With Highest Wisdom and with Primal Love.
 Before Me Nothing Was Created That
 Was Not Eternal, and I Last Eternally.
 All Hope Abandon, You Who Enter Here.
 * \endcode
 *

 */

/**
 * @page what_is_yarp What is YARP?
 *
 * YARP is written by and for researchers in robotics, particularly
 * humanoid robotics, who find themselves with a complicated pile of
 * hardware to control with an equally complicated pile of
 * software. At the time of writing (2006), running decent visual,
 * auditory, and tactile perception while performing elaborate motor
 * control in real-time requires a lot of computation. The easiest and
 * most scalable way to do this right now is to have a cluster of
 * computers. Every year what one machine can do grows, but so do our
 * demands. YARP is a set of tools we have found useful for meeting
 * our computational needs for controlling various humanoid robots.
 *
 * The components of YARP can be broken down into:

 * \li \link yarp_os libYARP_OS \endlink - interfacing with the operating system(s) to support
 * easy streaming of data across many threads across many
 * machines. YARP is written to be OS neutral, and explicitly
 * supports Linux, Microsoft Windows, Mac OSX and (in some versions) the
 * QNX realtime operating system.

 * \li \link sig_class libYARP_sig \endlink - performing common signal processing tasks (visual,
 * auditory) in an open manner easily interfaced with other
 * commonly used libraries.

 * \li \link dev_all libYARP_dev \endlink - interfacing with common devices used in robotics:
 * framegrabbers, digital cameras, motor control boards, etc.

 * These components are maintained separately. The core component
 * is libYARP_OS, which must be available before the other
 * components can be used.

 * YARP has some @subpage requirements
 *
 *
 */






/**
 * @page yarp_os The YARP OS library
 *
 * @section intro_sec Introduction
 *
 * Welcome to the YARP OS library.  This library interfaces
 * with your operating system and provides some basic services.
 * We give you
 * \link yarp::os::Thread Thread\endlink, 
 * \link yarp::os::Semaphore Semaphore\endlink, and 
 * \link yarp::os::Time Time\endlink
 * services just in case
 * you don't have them, but our main goal is to give you easy network
 * communication using the YARP 
 * \link yarp::os::Port Port\endlink
 * Network.
 * 
 * @section what_is_a_port What is a Port?
 *
 * A \link yarp::os::Port Port\endlink is an object that can read and
 * write values to peer objects spread throughout a network of
 * computers.  You can create them in your program, and then add and
 * remove connections either from that program, from the command line,
 * or from another program.
 * Ports are specialized for streaming communication, such as camera
 * images or motor commands.  You can switch network protocols for any
 * or all your connections without changing a line of code.
 * For more details, see 
 * \subpage terms "specification of YARP terms and protocols".

 *
 * For examples, see @subpage yarp_code_examples.
 *
 * @section important_yarp_os_classes Important classes
 *
 * \li \link yarp::os::Thread Thread\endlink
 * \li \link yarp::os::Semaphore Semaphore\endlink
 * \li \link yarp::os::Time Time\endlink
 * \li \link yarp::os::Network Network\endlink
 * \li \link yarp::os::Port Port\endlink
 * \li \link yarp::os::BufferedPort BufferedPort\endlink
 * \li \link yarp::os::Bottle Bottle\endlink
 * \li \link yarp::os::Property Property\endlink
 *
 */


#endif