Edited the main doxygen page.

Author: dtydc5

mainpage.dox

@@ -2,68 +2,36 @@
 
 @section sec_intro Introduction
 
-This is the documentation for the \c libbarrett robot control library, written
-and maintained by Barrett Technology, Inc.  For more details about the
-library, see the development page at <http://wiki.barrett.com/libbarrett>.
-For questions, send an email to <support@barrett.com>.
-
-@section sec_modules Modules
-
-The \c libbarrett library is composed of two main parts that are in the process
-of being reconciled:
-  - a C library dubbed \c cdlbt that handles CAN communication, real-time
-    execution, kinematics, dynamics, and lots of other things
-  - a C++ library that allows users to compose the main-loop of the control
-    thread for their application.
-
-@subsection subsec_cdlbt cdlbt Library Overview
-The \c cdlbt library is separated into several modules, that look like this:
-
-@dot
-   digraph modules {
-      node [shape=box, fontname=FreeSans, fontsize=9];
-      bt_wam -> bt_control -> bt_dynamics;
-                bt_control -> bt_kinematics;
-                bt_control -> bt_gsl;
-      bt_wam -> bt_refgen -> bt_kinematics;
-                bt_refgen -> bt_spline -> bt_interp;
-                bt_refgen -> bt_profile;
-                bt_refgen -> bt_log;
-      bt_wam -> bt_dynamics -> bt_kinematics;
-      bt_wam -> bt_gravity -> bt_kinematics;
-      bt_wam -> bt_kinematics;
-      bt_wam -> bt_log;
-      bt_wam -> bt_os;
-      bt_wam -> bt_wambot -> bt_bus -> bt_os;
-      bt_discover;
-      bt_rpc;
-   }
-@enddot
-
-
-@subsection subsec_mainloop Main-loop Library Overview
-The main-loop library allows users to construct a main-loop by describing a block-diagram; the blocks are called \ref barrett::systems::System "System"s, and the lines representing information flow are formed by \ref barrett::systems::connect() "connect"ing \ref barrett::systems::System::Output "System::Output"s to \ref barrett::systems::System::Input "System::Input"s. In other words, \ref barrett::systems::System "System"s are where the processing happens, and \ref barrett::systems::System::Input "System::Input"s and \ref barrett::systems::System::Output "System::Output"s are the pipes through which data flows into and out of a \ref barrett::systems::System "System" (respectively).
-
-Each \ref barrett::systems::System::Input "System::Input" and \ref barrett::systems::System::Output "System::Output" can transmit any one type of data. That data type is specified at compile-time with a template parameter. Only \ref barrett::systems::System::Input "System::Input"s and \ref barrett::systems::System::Output "System::Output"s that transmit the same type of data can be \ref barrett::systems::connect() "connect"ed together. A \ref barrett::systems::System "System" can have any number of \ref barrett::systems::System::Input "System::Input"s and \ref barrett::systems::System::Output "System::Output"s.
-
-Additionally, the library provides a mechanism to label \ref barrett::math::Vector "Vector"s of doubles with "units" in order to increase code clarity. (The built-in units classes are found in the barrett::units namespace.) Such \ref barrett::math::Vector "Vector"s can take advantage of a collection of arithmetic operators and \ref math/utils.h "math utilities". For these reasons, classes in the barrett::units namespace are often the data-types of choice for \ref barrett::systems::System::Input "System::Input"s and \ref barrett::systems::System::Output "System::Output"s.
-
-Key sections of documentation describing the C++ main-loop library are:
-  - barrett::systems::System
-  - barrett::systems::System::Input
-  - barrett::systems::System::Output
-  - barrett::units
-
-@section sec_using Using libbarrett in Your Programs
-
-There are several example programs in the \c examples directory.
-
-@section sec_license License Notes
-
-See <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes> for more details.
-
+This is the documentation for the \c libbarrett real-time controls library,
+written and maintained by Barrett Technology, Inc. Libbarrett is written in C++
+and runs Barrett Technology's products, including the WAM Arm and the BH8-280
+BarrettHand. For further information, see the documentation at:
+	http://support.barrett.com/wiki/Libbarrett
+
+The best way to get started with libbarrett is by reading and experimenting with
+the programs in the \c examples directory.
+
+The library provides both a high-level interface (initialize the Hand, move the
+WAM to a position in joint-space, etc.) and a low-level interface (for
+performing torque calculations in hard real-time).
+
+This version of libbarrett is free software: you can redistribute it and/or
+modify it under the terms of the GNU General Public License as published by the
+Free Software Foundation.
+
+Contact us at:
+<pre>
+support@barrett.com
+http://www.barrett.com/
++1-617-252-9000
+
+Barrett Technology 
+625 Mount Auburn Street
+Cambridge, MA 02138
+USA
+</pre>
 */
 
 /** @namespace barrett
 The root namespace for libbarrett.
-*/
+*/