minor doc update

Author: petercorke

docs/source/conf.py

@@ -43,6 +43,7 @@
     'sphinx.ext.doctest',
     'sphinx.ext.inheritance_diagram',
     'sphinx_autorun',
+    "sphinx.ext.intersphinx",
     ]
     #'sphinx-prompt',
     #'recommonmark',
@@ -159,3 +160,9 @@
 import numpy as np
 np.set_printoptions(precision=4, suppress=True)
 """
+
+intersphinx_mapping = {
+    "numpy": ("http://docs.scipy.org/doc/numpy/", None),
+    "scipy": ("http://docs.scipy.org/doc/scipy/reference/", None),
+    "matplotlib": ("http://matplotlib.sourceforge.net/", None),
+}

docs/source/index.rst

@@ -6,7 +6,15 @@
 Spatial Maths for Python
 ========================
 
-   
+
+This package provides Python classes and functions to represent, print, plot,
+manipulate and covert between many common representations of position,
+orientation and pose of objects in 2D or 3D space. This includes
+mathematical objects such as rotation matrices :math:`\mat{R} \in \SO{2},
+\SO{3}`, angle sequences, exponential coordinates, homogeneous transformation matrices :math:`\mat{T} \in \SE{2}, \SE{3}`,
+unit quaternions :math:`\q \in \mathrm{S}^3`, and twists :math:`S \in \se{2},
+\se{3}`.
+
 .. toctree::
    :maxdepth: 2