.. trep documentation master file, created by
   sphinx-quickstart on Sun Mar  4 00:58:26 2012.
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Trep: Dynamic Simulation and Optimal Control
============================================

:Release: v\ |version|
:Date: |today|

Trep is a Python module for modeling rigid body mechanical systems in
generalized coordinates.  It provides tools for calculating continuous
and discrete dynamics (based on a midpoint variational integrator),
and the first and second derivatives of both.  Tools for trajectory
optimization and other basic optimal control methods are also available.

You can find detailed `installation instructions
<http://murpheylab.github.io/trep/install/>`_ on our website.
Many examples are included with the source code (`browse online
<https://github.com/MurpheyLab/trep/tree/master/examples>`_).

The :ref:`api reference` has detailed documentation for each part of
:mod:`trep`. We have also put together a detailed :ref:`tutorial` that gives an
idea of the capabilities and organization of :mod:`trep` by stepping through
several example problems.

If you have any questions or suggestions, please head over to our
`project page <http://murpheylab.github.io/trep/>`_.


Contents:

.. toctree::
   :maxdepth: 2

   ref/index
   tutorial/index

.. toctree:: 
   :hidden:

   user_guide/index
   placeholders

Indices and tables
==================

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`