Re-architecture document structure (#669)

* Rearchitecture document structure

* Rearchitecture document structure

* Rearchitecture document structure

* Rearchitecture document structure

* Rearchitecture document structure

* Rearchitecture document structure

* Rearchitecture document structure

docs/modules/path_planning/bezier_path/bezier_path_main.rst

@@ -5,13 +5,13 @@ A sample code of Bezier path planning.
 
 It is based on 4 control points Beizer path.
 
-.. image:: Bezier_path/Figure_1.png
+.. image:: Figure_1.png
 
 If you change the offset distance from start and end point,
 
 You can get different Beizer course:
 
-.. image:: Bezier_path/Figure_2.png
+.. image:: Figure_2.png
 
 Ref:
 

docs/modules/path_planning/bspline_path/bspline_path_main.rst

@@ -1,7 +1,7 @@
 B-Spline planning
 -----------------
 
-.. image:: bspline_path/Figure_1.png
+.. image:: Figure_1.png
 
 This is a path planning with B-Spline curse.
 

docs/modules/path_planning/cubic_spline/cubic_spline_main.rst

@@ -8,6 +8,6 @@ with cubic spline.
 
 Heading angle of each point can be also calculated analytically.
 
-.. image:: cubic_spline/Figure_1.png
-.. image:: cubic_spline/Figure_2.png
-.. image:: cubic_spline/Figure_3.png
+.. image:: Figure_1.png
+.. image:: Figure_2.png
+.. image:: Figure_3.png

docs/modules/path_planning/dubins_path/dubins_path_main.rst

@@ -19,12 +19,12 @@ Possible path will be at least one of these six types: RSR, RSL, LSR, LSL, RLR,
 
 For example, one of RSR Dubins paths is:
 
-.. image:: dubins_path/RSR.jpg
+.. image:: RSR.jpg
    :width: 400px
 
 one of RLR Dubins paths is:
 
-.. image:: dubins_path/RLR.jpg
+.. image:: RLR.jpg
    :width: 200px
 
 Dubins path planner can output three types and distances of each course segment.

docs/modules/path_planning/dynamic_window_approach/dynamic_window_approach_main.rst

@@ -1,3 +1,5 @@
+.. _dynamic_window_approach:
+
 Dynamic Window Approach
 -----------------------
 

docs/modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator_main.rst

@@ -14,7 +14,7 @@ Path optimization sample
 Lookup table generation sample
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-.. image:: model_predictive_trajectory_generator/lookup_table.png
+.. image:: lookup_table.png
 
 Ref:
 

docs/modules/path_planning/path_planning_main.rst

@@ -3,24 +3,28 @@
 Path Planning
 =============
 
-.. include:: dynamic_window_approach/dynamic_window_approach.rst
-.. include:: bugplanner/bugplanner.rst
-.. include:: grid_base_search/grid_base_search.rst
-.. include:: model_predictive_trajectory_generator/model_predictive_trajectory_generator.rst
-.. include:: state_lattice_planner/state_lattice_planner.rst
-.. include:: prm_planner/prm_planner.rst
-.. include:: visibility_road_map_planner/visibility_road_map_planner.rst
-.. include:: vrm_planner/vrm_planner.rst
-.. include:: rrt/rrt.rst
-.. include:: cubic_spline/cubic_spline.rst
-.. include:: bspline_path/bspline_path.rst
-.. include:: clothoid_path/clothoid_path.rst
-.. include:: eta3_spline/eta3_spline.rst
-.. include:: bezier_path/bezier_path.rst
-.. include:: quintic_polynomials_planner/quintic_polynomials_planner.rst
-.. include:: dubins_path/dubins_path.rst
-.. include:: reeds_shepp_path/reeds_shepp_path.rst
-.. include:: lqr_path/lqr_path.rst
-.. include:: hybridastar/hybridastar.rst
-.. include:: frenet_frame_path/frenet_frame_path.rst
-.. include:: coverage_path/coverage_path.rst
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents
+
+   dynamic_window_approach/dynamic_window_approach
+   bugplanner/bugplanner
+   grid_base_search/grid_base_search
+   model_predictive_trajectory_generator/model_predictive_trajectory_generator
+   state_lattice_planner/state_lattice_planner
+   prm_planner/prm_planner
+   visibility_road_map_planner/visibility_road_map_planner
+   vrm_planner/vrm_planner
+   rrt/rrt
+   cubic_spline/cubic_spline
+   bspline_path/bspline_path
+   clothoid_path/clothoid_path
+   eta3_spline/eta3_spline
+   bezier_path/bezier_path
+   quintic_polynomials_planner/quintic_polynomials_planner
+   dubins_path/dubins_path
+   reeds_shepp_path/reeds_shepp_path
+   lqr_path/lqr_path
+   hybridastar/hybridastar
+   frenet_frame_path/frenet_frame_path
+   coverage_path/coverage_path

docs/modules/path_planning/rrt/rrt_main.rst

@@ -14,7 +14,7 @@ This is a simple path planning code with Rapidly-Exploring Random Trees
 Black circles are obstacles, green line is a searched tree, red crosses
 are start and goal positions.
 
-.. include:: rrt/rrt_star.rst
+.. include:: rrt_star.rst
 
 
 RRT with dubins path

docs/modules/path_planning/rrt/rrt_star.rst

@@ -10,7 +10,7 @@ Black circles are obstacles, green line is a searched tree, red crosses are star
 Simulation
 ^^^^^^^^^^
 
-.. image:: rrt/rrt_star/rrt_star_1_0.png
+.. image:: rrt_star/rrt_star_1_0.png
    :width: 600px
 
 

docs/modules/path_planning/visibility_road_map_planner/visibility_road_map_planner_main.rst

@@ -24,7 +24,7 @@ We assume this planner can be provided these information in the below figure.
 - 2. Goal point (Blue point)
 - 3. Obstacle polygons (Black lines)
 
-.. image:: visibility_road_map_planner/step0.png
+.. image:: step0.png
    :width: 400px
 
 
@@ -33,7 +33,7 @@ Step1: Generate visibility nodes based on polygon obstacles
 
 The nodes are generated by expanded these polygons vertexes like the below figure:
 
-.. image:: visibility_road_map_planner/step1.png
+.. image:: step1.png
    :width: 400px
 
 Each polygon vertex is expanded outward from the vector of adjacent vertices.
@@ -49,7 +49,7 @@ If the arc is collided, the graph is removed.
 
 The blue lines are generated visibility graphs in the figure:
 
-.. image:: visibility_road_map_planner/step2.png
+.. image:: step2.png
    :width: 400px
 
 
@@ -58,7 +58,7 @@ Step3: Search the shortest path in the graphs using Dijkstra algorithm
 
 The red line is searched path in the figure:
 
-.. image:: visibility_road_map_planner/step3.png
+.. image:: step3.png
    :width: 400px
 
 You can find the details of Dijkstra algorithm in :ref:`dijkstra`.