Update documentation

docs/source/index.rst

@@ -11,6 +11,7 @@ Welcome to RTD-code's documentation!
    :caption: Contents:
 
    introduction
+   setup
    examples/examples
    planner/planner
    simulation/simulation

docs/source/setup.rst

@@ -0,0 +1,27 @@
+Setup Guide
+===========
+
+Rtd-code-matlab expects MATLAB R2021b or later due to its use of classes and the arguments block in function definitions.
+
+General Setup
+-------------
+
+1. In MATLAB R2021b, add `CORA 2021 <https://tumcps.github.io/CORA/pages/archive/v2021/index.html>`_  and its subfolders to your MATLAB path.
+2. Add your URDFs folder (and subfolders) to your MATLAB path.
+3. Add the rtd-code-matlab folder and subfolders to your MATLAB path.
+4. Navigate to the rtd-code-matlab folder and run the script in ``scripts/armour/new_agent_demo.m`` to see if everything is working.
+
+Optional Components for MEXed Functions
+---------------------------------------
+
+We also provide MEXed versions of the robust controller used in ARMOUR.
+To use these MEXed functions, you will need to install the following build dependencies:
+
+* Eigen3 >= 3.3
+* Boost (particularly the `Boost Interval Arthmetic library <https://www.boost.org/doc/libs/1_84_0/libs/numeric/interval/doc/interval.htm>`_)
+
+Obtaining URDFs
+---------------
+
+To obtain the URDFs used in the demos, please visit the `ARMOUR <https://github.com/roahmlab/armour>`_ repository and download the ``urdfs`` folder.
+These can be added to your path to use the demos in rtd-code-matlab.