(utilities.h) : Add documentation for ProjectGenerator

doc/utilities.h

@@ -6,6 +6,27 @@
 
 generate a template project file 
 
+ProjectGenerator [input files] [options]
+
+<i>input files</i> shold be VRML or COLLADA files.<br>
+
+--output [output file]<br>
+&nbsp;&nbsp;Specify output file path (Required)<br>
+&nbsp;&nbsp;For example, when output file is <i>test.xml</i>, ProjectGenerator generates <i>test.xml</i>, <i>test.conf</i>, and <i>test.RobotHardware.conf</i>.<br>
+--integrate [true or false]<br>
+&nbsp;&nbsp;Use forward dynamics mode or kinematics mode.<br>
+--dt [dt]<br>
+&nbsp;&nbsp;<i>dt</i> is controllers' time step[s].<br>
+--timestep [timestep]<br>
+&nbsp;&nbsp;<i>timestep</i> is simulator time step[s].<br>
+--conf-file-option [conf file option]<br>
+&nbsp;&nbsp;<i>conf file option</i> is added to controller's config file such as <i>test.conf</i>.<br>
+--robothardware-conf-file-option [robothardware conf file option]<br>
+&nbsp;&nbsp;<i>robothardware conf file option</i> is added to robothardware's config file such as <i>test.Robothardware.conf</i>.<br>
+--joint-properties [joint properties]<br>
+&nbsp;&nbsp;<i>joint properties</i> are properties for each joint. Specify property name and property value.<br>
+&nbsp;&nbsp;For example, <i>--joint-properties RLEG_JOINT0.angle,0,RLEG_JOINT1.mode,Torque</i><br>
+
 \section hrpsys-simulator hrpsys-simulator
 
 read a project file and execute simulation