docs: Update documentation for v0.3.0 release

- Added comprehensive linear solver documentation
- Updated index with v0.3.0 key features and what's new
- Enhanced getting started guide with solver examples
- Added new module documentation (config, parameter, data_loader)
- Documented solver methods and constraint capabilities
- Updated identification and calibration module overviews

Author: thanhndv212

docs/source/getting_started.rst

@@ -143,6 +143,50 @@ Configuration Management
     calib_config = parser.create_task_config(robot, config, "calibration")
     identif_config = parser.create_task_config(robot, config, "identification")
 
+Advanced Linear Solver (New in v0.3.0)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. code-block:: python
+
+    from figaroh.tools.solver import LinearSolver, solve_linear_system
+    
+    # Basic usage with convenience function
+    result = solve_linear_system(
+        A, b, 
+        method='ridge',
+        alpha=0.01
+    )
+    x = result['solution']
+    
+    # Advanced usage with constraints
+    solver = LinearSolver()
+    result = solver.solve(
+        A, b,
+        method='constrained',
+        bounds=(0, None),  # Positive constraints
+        A_eq=A_eq, b_eq=b_eq,  # Equality constraints
+        alpha=0.1  # Regularization
+    )
+    
+    # Access quality metrics
+    print(f"RMSE: {result['rmse']:.4f}")
+    print(f"R²: {result['r_squared']:.4f}")
+    print(f"Condition number: {result['condition_number']:.2e}")
+    
+    # Use in identification workflow
+    from figaroh.identification import BaseIdentification
+    
+    identification = BaseIdentification(robot, config)
+    identification.load_data("data/identification_data.csv")
+    
+    # Solve with custom solver and regularization
+    params = identification.solve_with_custom_solver(
+        method='elastic_net',
+        alpha=0.01,
+        l1_ratio=0.5,
+        bounds=(0, None)  # Physical constraints
+    )
+
 Next Steps
 ---------
 

docs/source/index.rst

@@ -7,11 +7,19 @@ is a comprehensive Python toolbox for robot calibration and identification.
 **Key Features:**
 - Dynamic parameter identification for rigid multi-body systems
 - Geometric calibration for serial and tree-structure robots  
+- **Advanced linear solver with 10 methods** (lstsq, QR, SVD, Ridge, Lasso, Elastic Net, Tikhonov, constrained, robust, weighted)
+- **Regularization and constraint optimization** (L1/L2 regularization, box constraints, linear equality/inequality)
 - Unified configuration system with template inheritance
 - Advanced regressor computation with object-oriented design
 - Support for URDF modeling convention
 - Extensive examples and tutorials
 
+**What's New in v0.3.0:**
+- Advanced linear solver for robot parameter identification
+- Module reorganization for better maintainability
+- Enhanced BaseIdentification with flexible solver methods
+- Comprehensive test coverage with 18 unit tests
+
 **Quick Links:**
 - `PyPI Package <https://pypi.org/project/figaroh/>`_
 - `Examples Repository <https://github.com/thanhndv212/figaroh-examples>`_

docs/source/modules/calibration.rst

@@ -1,6 +1,13 @@
 Calibration
 ==========
 
+The calibration module provides tools for geometric calibration of robots.
+
+**New in v0.3.0:**
+- Modular code organization with separate config, parameter, and data loader modules
+- Significant code reduction (58% fewer lines in calibration_tools)
+- Enhanced maintainability and extensibility
+
 base_calibration
 ---------------
 .. automodule:: figaroh.calibration.base_calibration
@@ -14,3 +21,24 @@ calibration_tools
    :members:
    :undoc-members:
    :show-inheritance:
+
+Configuration Management (New in v0.3.0)
+----------------------------------------
+.. automodule:: figaroh.calibration.config
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Parameter Management (New in v0.3.0)
+------------------------------------
+.. automodule:: figaroh.calibration.parameter
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Data Loading (New in v0.3.0)
+----------------------------
+.. automodule:: figaroh.calibration.data_loader
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/identification.rst

@@ -1,6 +1,14 @@
 Identification
 =============
 
+The identification module provides tools for dynamic parameter identification of robots.
+
+**New in v0.3.0:**
+- ``solve_with_custom_solver()`` method with advanced solving options
+- Support for regularization (L1, L2, Elastic Net)
+- Physical constraint enforcement (e.g., positive masses/inertias)
+- Enhanced configuration management with modular design
+
 base_identification
 ------------------
 .. automodule:: figaroh.identification.base_identification
@@ -14,3 +22,17 @@ identification_tools
    :members:
    :undoc-members:
    :show-inheritance:
+
+Configuration Management (New in v0.3.0)
+----------------------------------------
+.. automodule:: figaroh.identification.config
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Parameter Management (New in v0.3.0)
+------------------------------------
+.. automodule:: figaroh.identification.parameter
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/source/modules/tools.rst

@@ -1,6 +1,21 @@
 Tools
 =====
 
+Advanced Linear Solver (New in v0.3.0)
+--------------------------------------
+.. automodule:: figaroh.tools.solver
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+The linear solver provides comprehensive solving methods for robot parameter identification:
+
+- **Basic methods**: lstsq, QR decomposition, SVD
+- **Regularized methods**: Ridge (L2), Lasso (L1), Elastic Net, Tikhonov
+- **Advanced methods**: Constrained optimization, robust regression, weighted least squares
+- **Constraint support**: Box constraints, linear equality/inequality constraints
+- **Quality metrics**: RMSE, R², condition number, residual analysis
+
 Robot Management
 ---------------
 .. automodule:: figaroh.tools.robot