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README.md

@@ -1,24 +1,71 @@
-# Rotgen - EIGEN QoL Wrapper
+# ROTGEN - Runtime Overlay for EIGEN
 
-Rotgen is a C++20 library that wraps EIGEN and adds some *Quality of Life* options :
+**ROTGEN** is a C++20 library that wraps EIGEN and adds some *Quality of Life* options :
   + Limitation of compile-time by forcing the library to use precompiled code and dynamic settings.
-  + Limitation of compile-time by de-activating the Expression Tempalte layer.
-  + Limitation of unrolling by forcing containers to fall back to dynamic storage above a given size.
+  + Limitation of compile-time by de-activating the Expression Template layer.
+  + Limitation of unrolling by forcing containers to fall back to dynamic storage above a given static size.
+  + Free function versions of some member function from Eigen to promote a more generic programming approach.
 
-Rotgen depends on Eigen v3.4.0.
+**ROTGEN** depends on [Eigen v3.4.0](https://eigen.tuxfamily.org/index.php?title=Main_Page).
 
 ## Installation
-TODO
+After cloning this repository, you can setup **ROTGEN** via CMake using the following options:
 
-## Roadmap
-TODO
+  + `-DROTGEN_FORCE_DYNAMIC=ON` that will precompile the wrapped Eigen functions and types into a shared library - `librotgen`.
+  + `-DROTGEN_MAX_SIZE=n` that will limit the total static size of any container to `n`. So, for example, if the library is setup with `-DROTGEN_MAX_SIZE=9`, `rotgen::matrix<float,3,4>` will use a dynamic size Eigen container under the hood while `rotgen::matrix<flaot,2,3>` will still be using static sizes. In this mode, all Eigen expression templates systems are disabled, elmading to all operations ot generate intermediate data.
+  + `-DROTGEN_ENABLE_EXPRESSION_TEMPLATES=ON` will re-enable Eigen expression templates systems when paired with `ROTGEN_MAX_SIZE`. If used without `ROTGEN_MAX_SIZE`, `ROTGEN_MAX_SIZE` willbe set to 0, thus forcing all containers to be allocated dynamically.
+
+At configuration time, **ROTGEN** wil display a summary of options used and how they'll affect compialtion flags. For example, the command `cmake . -DROTGEN_MAX_SIZE=16 -DROTGEN_ENABLE_EXPRESSION_TEMPLATES` will output:
+
+```bash
+-- ==================== Rotgen Configuration Summary ====================
+--   Configuration mode: STATIC
+--   Expression Templates: ON
+--   Preprocessor flags:  -DROTGEN_MAX_SIZE=16 -DROTGEN_ENABLE_EXPRESSION_TEMPLATES
+-- ======================================================================
+-- Configuring done (0.0s)
+-- Generating done (0.0s)
+```
+
+While the command `cmake -DROTGEN_FORCE_DYNAMIC=ON` will output:
+
+```bash
+-- ==================== Rotgen Configuration Summary ====================
+--   Configuration mode: DYNAMIC
+--   Reason          : No static size options were provided
+--   Preprocessor flags:  -DROTGEN_FORCE_DYNAMIC
+-- ======================================================================
+-- Configuring done (0.0s)
+-- Generating done (0.1s)
+```
+
+Once setup, you can run:
+  + `make rotgen` to compile the rotgen library. This is required in all above scenarios.
+  + `make install` to install the library binary and headers. Use [CMAKE_INSTALL_PREFIX](https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html) to select where you want it to be installed.
+  + `make rotgen-test` to run our unit test suite.
+
+## Suppported Features
+
+### Types
+The following containers are provided
+  + `rotgen::matrix`, which wraps `Eigen::Matrix`.
+  + `rotgen::block`, which wraps `Eigen::Block`.
+  + `rotgen::map`, which wraps `Eigen::Map`.
+  + `rotgen::ref`, which wraps `Eigen::Ref`.
+
+Supported scalar types are `float` and  `double`.
+
+### Operations
+  + Arithmetic operations on containers/scalars.
+  + Block extractions.
+  + Data generation interface (i.e `matrix::Zero`, etc...)
 
 ## Project status
- + 07/2025 - Beta version in progress.
+ + 08/2025 - Version 0.0.1beta
 
 ## License
 
-Rotgen is licensed under the Boost Software License
+**ROTGEN** is licensed under the Boost Software License
 
 ```
 Permission is hereby granted, free of charge, to any person obtaining a copy