Doxygen Instructions

This section contains instructions on how to use Doxygen with Drake.

Doxygen Style Guide

Coming soon. See issue #2051 and PR #2359.

Classes that implement the drake::systems::System interface should add a simple diagram documenting their input and output ports using the custom doxygen-style @system and @endsystem tags:

name: Alchemist
- lead
- more lead
- gold

The text between these tags is parsed as YAML, and must define the key name and may optionally define the lists input_ports and/or output_ports. The values may include html code. The class name appears in the inside of the rendered system block, you can get creative and add an image, or you can adjust the text colors of your ports.

Some systems have variable numbers of ports, or ports that are created conditionally. Prefer to add all possible ports to the diagram; see the Adder system for an example of a system with a variable number of ports. The @system/@endsystem tags can be used multiple times to add multiple renders of the system to the documentation, if the system is most clearly described by a few examples.

Documentation Tips and Tricks

We encourage the use of unicode in documentation.

For documenting block diagrams, consider using ascii art. See, for instance,

The Emacs ascii-art-to-unicode package can make ascii-art block diagrams even prettier by replacing -, |, etc. with unicode box-drawing characters.

Doxygen Website Generation

To generate and view Drake’s Doxygen website, see the Documentation Generation Instructions.