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Update documentation (#23)
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‎docs/api/cpp/index.rst‎

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C++ API Reference
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C++ Controller API
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==================
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This section contains the C++ API documentation generated from the source code.
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High-performance C++ controller for real-time policy execution with ONNX Runtime.
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.. doxygenindex::
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:project: Exporter
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Overview
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--------
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The C++ controller provides a real-time inference system for deploying RL policies
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exported to ONNX format. It features:
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* **ONNX Runtime Integration** - Efficient model execution
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* **Extensible Interface Design** - Easy integration with different robot platforms
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* **Component-Based Architecture** - Modular input/output handling
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* **Automatic Component Matching** - Maps ONNX model I/O to robot interfaces
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Core Classes
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------------
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Controller
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~~~~~~~~~~
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.. doxygenclass:: exploy::control::OnnxRLController
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:members:
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:undoc-members:
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Context Management
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~~~~~~~~~~~~~~~~~~
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.. doxygenclass:: exploy::control::OnnxContext
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:members:
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:undoc-members:
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ONNX Runtime
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~~~~~~~~~~~~
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.. doxygenclass:: exploy::control::OnnxRuntime
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:members:
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:undoc-members:
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Interfaces
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----------
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These abstract interfaces define the contract for robot integration.
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State Interface
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~~~~~~~~~~~~~~~
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.. doxygenclass:: exploy::control::RobotStateInterface
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:members:
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:undoc-members:
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Command Interface
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~~~~~~~~~~~~~~~~~
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.. doxygenclass:: exploy::control::CommandInterface
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:members:
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:undoc-members:
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Data Collection Interface
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~~~~~~~~~~~~~~~~~~~~~~~~~
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.. doxygenclass:: exploy::control::DataCollectionInterface
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:members:
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:undoc-members:
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Components
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----------
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Input and output components for data flow management.
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.. doxygenstruct:: exploy::control::Input
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:members:
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:undoc-members:
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.. doxygenstruct:: exploy::control::Output
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:undoc-members:
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Data Types
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----------
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Core data structures used throughout the controller.
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.. doxygenstruct:: exploy::control::Position
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:members:
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.. doxygenstruct:: exploy::control::Quaternion
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.. doxygenstruct:: exploy::control::LinearVelocity
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:members:
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.. doxygenstruct:: exploy::control::AngularVelocity
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.. doxygenstruct:: exploy::control::SE2Velocity
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.. doxygenstruct:: exploy::control::SE3Pose
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:members:
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.. doxygenstruct:: exploy::control::HeightScan
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:members:
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Configuration
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-------------
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.. doxygenstruct:: exploy::control::OnnxRuntimeOptions
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:members:
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.. doxygenstruct:: exploy::control::SE2VelocityConfig
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.. doxygenstruct:: exploy::control::SE2VelocityRanges
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:members:
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Metadata
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--------
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Metadata structures for component configuration.
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.. doxygenstruct:: exploy::control::JointMetadata
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:members:
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.. doxygenstruct:: exploy::control::JointOutputMetadata
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:members:
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.. doxygenstruct:: exploy::control::SE2VelocityCommandMetadata
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.. doxygenstruct:: exploy::control::HeightScanMetadata
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:members:
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.. doxygenstruct:: exploy::control::RangeImageMetadata
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.. doxygenstruct:: exploy::control::DepthImageMetadata
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:members:
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Matchers
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--------
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Component matchers for automatic ONNX I/O mapping.
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.. doxygenclass:: exploy::control::Matcher
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:undoc-members:
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.. doxygenstruct:: exploy::control::Match
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:members:

‎docs/api/exporter/components.rst‎

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Components
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==========
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Core building blocks for environment export.
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This module defines the component abstractions (``Input``, ``Output``, ``Memory``, ``Group``, ``Connection``)
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used to structure and manage data flow during policy export.
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.. automodule:: exporter.components
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‎docs/api/exporter/context_manager.rst‎

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Context Manager
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===============
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Manages components for environment export.
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The ``ContextManager`` class organizes and manages all inputs, outputs, memory components,
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and connections needed during the ONNX export process.
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.. automodule:: exporter.context_manager
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‎docs/api/exporter/evaluator.rst‎

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Evaluator
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=========
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Validation and testing utilities for exported ONNX models.
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This module provides the ``evaluate`` function to compare ONNX model outputs
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against the original environment and PyTorch policy for correctness verification.
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.. automodule:: exporter.evaluator
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:members:
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:undoc-members:

‎docs/api/exporter/exporter.rst‎

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Exporter
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========
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Exporter Module
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===============
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Core ONNX export functionality for RL policies.
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This module provides the main entry point for exporting trained policies to ONNX format,
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including the ``export_environment_as_onnx`` function and the ``OnnxEnvironmentExporter`` class.
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.. automodule:: exporter.exporter
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‎docs/api/exporter/session_wrapper.rst‎

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Session Wrapper
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===============
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ONNX Runtime inference session management.
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The ``SessionWrapper`` class provides a convenient interface for loading and running
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ONNX models with ONNX Runtime, managing input/output handling and session configuration.
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.. automodule:: exporter.session_wrapper
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‎docs/api/exporter/tensor_proxy.rst‎

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Tensor Proxy
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============
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Tensor list abstraction for improved ONNX export.
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The ``TensorProxy`` class manages lists of tensors and exposes them as a single stacked tensor,
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improving the structure of exported computational graphs.
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‎docs/api/frameworks/isaaclab.rst‎

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Isaac Lab Framework
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===================
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Isaac Lab integration for RL policy export.
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This module provides the ``IsaacLabExportableEnvironment`` class and utilities
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for exporting policies trained in NVIDIA Isaac Lab to ONNX format.
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.. automodule:: exporter_frameworks.isaaclab
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‎docs/api/index.rst‎

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API Reference
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=============
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This section contains detailed API documentation for the Exporter project.
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This section contains detailed API documentation for Exploy.
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Exporter Core
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-------------
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Python Exporter API
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-------------------
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The core exporter functionality for ONNX export.
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Core functionality for exporting RL policies to ONNX format.
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.. toctree::
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:maxdepth: 2
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exporter/exporter
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exporter/components
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exporter/context_manager
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exporter/evaluator
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exporter/exporter
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exporter/session_wrapper
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exporter/tensor_proxy
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Exporter Frameworks
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-------------------
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Framework Integration
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---------------------
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Framework-specific implementations.
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Framework-specific implementations for different RL environments.
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:maxdepth: 2
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frameworks/isaaclab
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C++ API
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-------
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C++ Controller API
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------------------
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C++ controller implementation with ONNX Runtime.
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High-performance C++ controller for real-time policy execution.
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.. toctree::
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:maxdepth: 2

‎docs/conf.py‎

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"sphinx.ext.intersphinx",
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"sphinx_autodoc_typehints",
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"breathe",
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"myst_parser",
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]
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# Breathe configuration for C++ documentation

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