Update docs

Author: maxhcohen

docs/make.jl

@@ -12,6 +12,7 @@ makedocs(;
         "Systems" => "systems.md",
         "Barrier Functions" => "barriers.md",
         "Controllers" => "controllers.md",
+        "Simulations" => "simulation.md",
         "Index" => "api.md",
     ],
 )

docs/src/barriers.md

@@ -5,4 +5,6 @@
 ## Implementation
 ```@docs
 ControlBarrierFunction
+ControlBarrierFunction(h::Function, Σ::ControlAffineSystem, α::Function)
+ControlBarrierFunction(h::Function, Σ::ControlAffineSystem)
 ```

docs/src/controllers.md

@@ -5,15 +5,16 @@
 ## Quadratic Programming Safety Filters
 ```@docs
 ExplicitSafetyFilter
+ExplicitSafetyFilter(cbf::ControlBarrierFunction, Σ::ControlAffineSystem, kd::Function)
+ExplicitSafetyFilter(cbf::ControlBarrierFunction, Σ::ControlAffineSystem)
 QPSafetyFilter
+QPSafetyFilter(cbf::ControlBarrierFunction, Σ::ControlAffineSystem, kd::Function)
+QPSafetyFilter(cbfs::Vector{ControlBarrierFunction}, Σ::ControlAffineSystem, kd::Function)
 TunableQPSafetyFilter
 ```
 
 ## Smooth Safety Filters
 ```@docs
 SmoothSafetyFilter
+ISSfSmoothSafetyFilter
 ```
-
-## Robust Safety Filters
-
-## Implementation

docs/src/index.md

@@ -7,8 +7,7 @@ This toolbox provides utilities to construct nonlinear systems and control polic
 ## Installation
 To download this package open the Julia REPL, enter the package manager (type `]` into the REPL) and run
 ```julia
-using Pkg
-Pkg.add("https://github.com/maxhcohen/ControlBarrierFunctions.jl")
+add ControlBarrierFunctions
 ```
 
 ## Usage

docs/src/simulation.md

@@ -0,0 +1,14 @@
+# Simulations 
+
+## Background
+We provide a shorthand function for running simulations of Control Affine Systems equipped with feedback controllers:
+```julia
+sol = simulate(Σ, k, x0, T)
+```
+where `Σ` is a `ControlAffineSystem`, `k` is a feedback controller of the form `k(x,t)` or `k(x)`, `x0` is the initial state, and `T` is the length of the simulation. This function simply calls a solver from `DifferentialEquations.jl` to simulate the closed-loop system and returns an ODE solution object.
+
+## Implementation
+```@docs
+simulate(Σ::ControlAffineSystem, x0, T::Float64)
+simulate(Σ::ControlAffineSystem, k::Function, x0, T::Float64)
+```