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, which uses a combination of Sphinx and Doxygen. This includes API documentation (C++ and Python) and Drake’s website.

When using Bazel

To generate the website and serve it locally with webbrowser:

$ bazel run //doc:serve_sphinx [-- --browser=false]

The contents of the website are also available via bazel build //doc:sphinx.zip.

To generate the C++ API documentation:

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

To generate the Python API documentation:

$ bazel run //bindings/pydrake/doc:serve_sphinx [-- --browser=false]

The contents of the Python API documentation are also available via bazel build //bindings/pydrake/doc:sphinx.zip).