Documentation Generation Instructions

Note: Before proceeding, please build Drake from source. This is necessary because otherwise the various build targets mentioned below will not exist.

This section contains instructions on how to generate Drake’s documentation. This includes both API documentation (C++), which uses Doxygen, and Drake’s website, which uses Sphinx.

When using Bazel

To generate the website (Sphinx) documentation:

$ bazel run //doc:serve_sphinx

This will rebuild the website content and serve it to your web browser for preview using https://docs.python.org/2/library/webbrowser.html.

To merely compile the website into bazel-genfiles/doc/sphinx.zip without launching a preview:

$ bazel build //doc:sphinx.zip

To generate the Doxygen documentation:

$ cd drake-distro
$ doc/doxygen.py [--quick]

To view the generated documentation, open using a web browser to drake-distro/build/drake/doc/doxygen_cxx/html/index.html