Drake Documentation

Overview

Drake's C++ library is composed primarily of an interface for solving numerical optimization problems, interfaces for modeling dynamical systems, and a collection of state-of-the-art algorithms for optimization on dynamical systems:

• Formulating and Solving Optimization Problems
• Modeling Dynamical Systems
• Algorithms
• Examples
• Technical Notes

For more general information, you can also visit the Drake documentation main page.

How do I document the code I am contributing?

If you want to make your own Doxygen locally, see Documentation Generation Instructions

Check out the Doxygen C++ documentation

Drake's Doxygen documentation is hosted online for the master branch, but is only updated nightly.