From 0c955e2209426b5684b636316d23bb61dc8c1ade Mon Sep 17 00:00:00 2001
From: Yey007 <55263178+Yey007@users.noreply.github.com>
Date: Thu, 4 Sep 2025 20:45:21 -0400
Subject: [PATCH 1/2] better usage instructions

---
 README.md | 26 +++++++++++++++++++++-----
 1 file changed, 21 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index a4c411c..e49cd34 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,6 @@
 ![Docs Badge](https://github.com/cornellev/icp/actions/workflows/docs.yaml/badge.svg)
 
 ## Introduction
-
 This repository hosts CEV's implementation of Iterative Closest Points (ICP) as applied to scan matching.
 
 ## Authors
@@ -17,17 +16,34 @@ This repository hosts CEV's implementation of Iterative Closest Points (ICP) as
 Please see [LICENSE](LICENSE). Note that all code is licensed under the MIT license, with the exception of some additions to `doxygen-style.css`. Files with copyright headers denoting specific copyright holders belong to said holders. Files under `book/asset` are from [doxygen_theme_flat_design](https://github.com/kcwongjoe/doxygen_theme_flat_design) under its MIT license (again with the exception of some additions to `doxygen-style.css`). Files without copyright headers are under the MIT license, Copyright (c) 2024-2025 Cornell Electric Vehicles.
 
 ## Install
-
 You can view installation instructions at [INSTALL.md](INSTALL.md).
 
-## Usage and Documentation
+## Usage
+```cpp
+#include "icp/icp.h"
+#include "icp/geo.h"
+#include "icp/driver.h"
+#include <iostream>
+
+void align_clouds(const icp::PointCloud2& a, const icp::PointCloud2& b) {
+    std::unique_ptr<icp::ICP2> icp = icp::ICP2::from_method("vanilla", icp::Config()).value();
+    icp::ICPDriver driver(std::move(icp));
 
+    driver.set_max_iterations(100);
+    driver.set_transform_tolerance(0.1 * M_PI / 180, 0.1);
+    auto result = driver.converge(a, b, icp::RBTransform2::Identity());
+
+    std::cout << "Rotation: " << result.transform.rotation() << "\n";
+    std::cout << "Translation: " << result.transform.translation() << "\n";
+}
+```
+
+<!-- ## Usage and Documentation
 We host the usage information and documentation at [cornellev.github.io/icp/](https://cornellev.github.io/icp/).
 Please see there for information on how to download and how to use or extend the library.
 
 You can build the documentation yourself locally with `make docs`.
-The main page will be located at `docs/index.html` relative to the project root.
+The main page will be located at `docs/index.html` relative to the project root. -->
 
 ## Versions
-
 Version information can be found in the [releases](https://github.com/cornellev/icp/releases) page.

From 1a07a4882f0e0e60bbe7302e5c29e9f012afdc29 Mon Sep 17 00:00:00 2001
From: Yey007 <55263178+Yey007@users.noreply.github.com>
Date: Sun, 7 Sep 2025 21:55:55 -0400
Subject: [PATCH 2/2] documentation info

---
 README.md | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index e49cd34..1e3c294 100644
--- a/README.md
+++ b/README.md
@@ -38,12 +38,9 @@ void align_clouds(const icp::PointCloud2& a, const icp::PointCloud2& b) {
 }
 ```
 
-<!-- ## Usage and Documentation
-We host the usage information and documentation at [cornellev.github.io/icp/](https://cornellev.github.io/icp/).
-Please see there for information on how to download and how to use or extend the library.
-
-You can build the documentation yourself locally with `make docs`.
-The main page will be located at `docs/index.html` relative to the project root. -->
+## Documentation
+Some documentation is available in the `book` folder. There are also Doxygen docs and other generated documentation hosted at 
+[cornellev.github.io/icp/](https://cornellev.github.io/icp/), but we haven't update this system in a bit and it might be out of date.
 
 ## Versions
 Version information can be found in the [releases](https://github.com/cornellev/icp/releases) page.