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Add table of contents to API Functions documentation page.

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Change-Id: I792aa72e748443a3f422d0b6cf65a2803f3ec012
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Yuval Tassa
2023-03-13 06:25:57 -07:00
committed by Copybara-Service
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doc/APIreference/APIfunctions.rst
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Functions
=========
The main header `mujoco.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a very large
number of functions. However the functions that most users are likely to need are a small fraction. For example,
:ref:`simulate.cc <saSimulate>` which is as elaborate as a MuJoCo application is likely to get, calls around 40 of these
functions, while ``basic.cc`` calls around 20. The rest are explosed just in case someone has a use for them. This
includes us as users of MuJoCo -- we do our own work with the public library instead of relying on internal builds.
The main header `mujoco.h <https://github.com/deepmind/mujoco/blob/main/include/mujoco/mujoco.h>`_ exposes a large
number of functions. However the functions that most users are likely to need are a small fraction.
API function can be classified as:
- :ref:`Virtual file system<Virtualfilesystem>`, used to load assets from memory.
- :ref:`Parse and compile<Parseandcompile>` an :ref:`mjModel` from XML files and assets.
- :ref:`Main simulation<Mainsimulation>` entry points, including :ref:`mj_step`.
- :ref:`Initialization<Initialization>` of data structures.
- :ref:`Printing<Printing>` of various quantities.
- :ref:`Components<Components>` of the simulation pipeline, called from :ref:`mj_step`, :ref:`mj_forward` and :ref:`mj_inverse`.
- :ref:`Sub components<Subcomponents>` of the simulation pipeline.
- :ref:`Support<Support>` functions requiring :ref:`mjModel` and :ref:`mjData`.
- :ref:`Ray casting<Raycollisions>`.
- :ref:`Abstract interaction<Interaction>`: mouse control of cameras and perturbations.
- :ref:`Abstract Visualization<Visualization-api>`.
- :ref:`OpenGL rendering<OpenGLrendering>`.
- :ref:`UI framework<UIframework>`.
- :ref:`Error and memory<Errorandmemory>`.
- Deprecated :ref:`activation<Activation>` mechanism.
- :ref:`Aliases for C standard math<Standardmath>` functions.
- :ref:`Vector math<Vectormath>`.
- :ref:`Quaternions<Quaternions>`.
- :ref:`Poses transformations<Poses>`.
- :ref:`Matrix decompositions and solvers<Decompositions>`.
- :ref:`Miscellaneous<Miscellaneous>` functions.
- :ref:`Dynamics derivatives<Derivatives-api>`.
- :ref:`Plugin<Plugins-api>` related functions.
- :ref:`Macros<Macros>`.
.. TODO(b/273075045): Better category-label namespacing.
.. include:: functions.rst