added simple logo. fixed links. fixed toc

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diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# rmagine
+# Rmagine
 
 These docs are built with [MkDocs](https://mkdocs.org) and published to [uos.github.io/rmagine_docs](https://uos.github.io/rmagine_docs)
 

diff --git a/docs/extra/data.md b/docs/extra/data.md
@@ -5,7 +5,7 @@ For development and testing we include some meshes inside our repository in the
 
 ## sphere.ply
 
-![sphere.ply](../resources/img/rmagine_dat_sphere.png)
+![sphere.ply](/resources/img/rmagine_dat_sphere.png)
 
 ```bash
 user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/sphere.ply
@@ -41,7 +41,7 @@ Scene Graph:
 
 ## triangle.ply
 
-![triangle.ply](../resources/img/rmagine_dat_triangle.png)
+![triangle.ply](/resources/img/rmagine_dat_triangle.png)
 
 ```bash
 user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/triangle.ply
@@ -77,7 +77,7 @@ Scene Graph:
 
 ## box_rot_trans_scaled.dae
 
-![box_rot_trans_scaled.dae](../resources/img/rmagine_dat_box_rot_trans_scaled.png)
+![box_rot_trans_scaled.dae](/resources/img/rmagine_dat_box_rot_trans_scaled.png)
 
 ```bash
 user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/box_rot_trans_scaled.dae
@@ -146,7 +146,7 @@ Scene Graph:
 
 ## two_cubes.dae
 
-![two_cubes.dae](../resources/img/rmagine_dat_two_cubes.png)
+![two_cubes.dae](/resources/img/rmagine_dat_two_cubes.png)
 
 ```bash
 user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/two_cubes.dae
@@ -239,7 +239,7 @@ Scene Graph:
 
 ## many_objects.dae
 
-![many_objects.dae](../resources/img/rmagine_dat_many_objects.png)
+![many_objects.dae](/resources/img/rmagine_dat_many_objects.png)
 
 ```bash
 user@pc:~/rmagine/build$ ./bin/rmagine_map_info ../dat/many_objects.dae

diff --git a/docs/extra/tools.md b/docs/extra/tools.md
@@ -153,7 +153,7 @@ Usage: ./bin/rmagine_synthetic mesh_type mesh_file
 
 | | |
 |:----:|:----:|
-|  ![plane](../resources/img/rmagine_synthetic_plane.png) | ![cube](../resources/img/rmagine_synthetic_cube.png)  |
+|  ![plane](/resources/img/rmagine_synthetic_plane.png) | ![cube](/resources/img/rmagine_synthetic_cube.png)  |
 | `rmagine_synthetic plane plane.ply` | `rmagine_synthetic cube cube.ply` |
-|  ![sphere](../resources/img/rmagine_synthetic_sphere.png) | ![cylinder](../resources/img/rmagine_synthetic_cylinder.png)  |
+|  ![sphere](/resources/img/rmagine_synthetic_sphere.png) | ![cylinder](/resources/img/rmagine_synthetic_cylinder.png)  |
 | `rmagine_synthetic sphere sphere.ply` | `rmagine_synthetic cylinder cylinder.ply` |
diff --git a/docs/getting_started/installation.md b/docs/getting_started/installation.md
@@ -14,7 +14,7 @@ user@pc:~$ sudo apt install libassimp-dev
 
 ## Backbones
 
-![rmagine_backends](../resources/img/rmagine_backends.png)
+![rmagine_backends](/resources/img/rmagine_backends.png)
 
 Rmagine provides an interface to integrate ray tracing libraries, we call backbones. All of these backbones are optional. So far we integrated Intel Embree and NVIDIA OptiX.
 
@@ -30,8 +30,7 @@ user@pc:~/embree/build$ make -j`nproc`
 user@pc:~/embree/build$ sudo make install
 ```
 
-
-<!-- For older Embree versions we refer to [this](Supplementary-Embree). -->
+For older Embree versions we refer to [this](/extra/embree3).
 
 ### OptiX Backbone (optional)
 

diff --git a/docs/getting_started/maps.md b/docs/getting_started/maps.md
@@ -1,6 +1,6 @@
 # Maps
 
-Triangle Meshes can be stored in various file formats. Rmagine utilizes the [Open Asset Import Library (assimp)](https://github.com/assimp/assimp) in order to support a wide range of well known file formats. After loading the raw scene graph buffers with Assimp it is converted into Rmagines internal scene graph structure. Dependend on the computation backend `Embree` or `OptiX` the scene graph is prepared for fast ray traversals by building the required acceleration structures.
+Triangle Meshes can be stored in various file formats. Rmagine utilizes the [Open Asset Import Library (assimp)](https://github.com/assimp/assimp) in order to support a wide range of well known file formats. After loading the raw scene graph buffers with Assimp it is converted into Rmagines internal scene graph structure. Dependent on the computation backend `Embree` or `OptiX` the scene graph is prepared for fast ray traversals by building the required acceleration structures.
 
 ## Embree Map
 
@@ -34,5 +34,5 @@ int main(int argc, char** argv)
 
 ## Properties
 
-After loading, the map consists of a complete scene graph. It then usually passed to a simulator (see next gettingstarted-sections).
-The advanced [Map](library/Map)-section describes how to modify or create the internal maps from scratch.
+After loading, the map consists of a complete scene graph. It then usually passed to a simulator (see next "Getting Started"-sections).
+The advanced [Map](library/map)-section describes how to modify or create the internal maps from scratch.
diff --git a/docs/getting_started/noise.md b/docs/getting_started/noise.md
@@ -1,6 +1,6 @@
 Currently noise models are implemented as postprocessing steps that modify the simulated ranges. Any of the following noise models can be chained to generate complex combined noise models.
-The Noise models are implented equally both on GPU and CPU.
-Thus the developer can manage to apply noise to the data without downloading or uploading the data from GPU to CPU or vice versa.
+The Noise models are implemented equally both for GPU and CPU.
+Thus the developer can apply noise to the data without downloading or uploading the data from GPU to CPU or vice versa.
 
 
 1. Gaussian Noise
@@ -13,7 +13,7 @@ Apply gaussian noise $N(\mu, \sigma)$ to simulated ranges.
 | `stddev` | standard deviation $\sigma$ of normal distributed noise |
 
 
-![rmagine_noise_gaussian](../resources/img/rmagine_noise_gaussian.png)
+![rmagine_noise_gaussian](/resources/img/rmagine_noise_gaussian.png)
 
 
 Example CPU:
@@ -74,7 +74,7 @@ Apply gaussian noise $N(\mu, \sigma_r)$ to simulated ranges. Here, the standard
 | `stddev` | standard deviation $\sigma$ of normal distributed noise |
 | `range_exp` | range exponent $c$ to compute range based stddev: $ \sigma_r = \sigma \cdot r^{c} $ |
 
-![rmagine_noise_rel_gaussian](../resources/img/rmagine_noise_rel_gaussian.png)
+![rmagine_noise_rel_gaussian](/resources/img/rmagine_noise_rel_gaussian.png)
 
 Example CPU:
 
@@ -137,7 +137,7 @@ Parameters:
 | `return_prob` | Probability of a ray hitting dust returns to sender depending on particle distance |
 
 
-![rmagine_noise_dust](../resources/img/rmagine_noise_dust.png)
+![rmagine_noise_dust](/resources/img/rmagine_noise_dust.png)
 
 
 Example CPU:

diff --git a/docs/getting_started/overview.md b/docs/getting_started/overview.md
@@ -20,7 +20,7 @@ In addition to the wiki, the following papers wrap up the library conceptually.
 
 ```latex
 @inproceedings{mock2023rmagine,
-  title={Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ray Tracing for Embedded Hardware on Mobile Robots}, 
+  title={{Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ray Tracing for Embedded Hardware on Mobile Robots}}, 
   author={Mock, Alexander and Wiemann, Thomas and Hertzberg, Joachim},
   booktitle={IEEE International Conference on Robotics and Automation (ICRA)}, 
   year={2023}

diff --git a/docs/getting_started/problem_modelling.md b/docs/getting_started/problem_modelling.md
@@ -2,9 +2,9 @@
 
 The general computing flow is as follows. 
 
-![rmagine_example](../resources/img/rmagine.drawio.png)
+![rmagine_example](/resources/img/rmagine.drawio.png)
 
-Tsb is the transform from sensor to base frame. Or spoken: The sensor pose relative to the robot base. The map can be either a pointer to an `EmbreeMap` or `OptixMap`. The Prefix of the `Simulator` is either `Embree` for CPU computation or `Optix` for GPU computation. The suffix of the Simulator is dependend on which sensor model you want to simulate. A few examples:
+Tsb is the transform from sensor to base frame. Or spoken: The sensor pose relative to the robot base. The map can be either a pointer to an `EmbreeMap` or `OptixMap`. The Prefix of the `Simulator` is either `Embree` for CPU computation or `Optix` for GPU computation. The suffix of the Simulator is dependent on which sensor model you want to simulate. A few examples:
 
 - `SphereSimulatorEmbree` - Simulate a velodyne on CPU
 - `PinholeSimulatorOptix`- Simulate a depth camera on GPU
@@ -14,7 +14,7 @@ Tsb is the transform from sensor to base frame. Or spoken: The sensor pose relat
 
 Now we want to construct the following pipeline.
 
-![rmagine_example_1](../resources/img/rmagine_example_1.drawio.png)
+![rmagine_example_1](/resources/img/rmagine_example_1.drawio.png)
 
 ```cpp
 
@@ -75,7 +75,7 @@ int main(int argc, char** argv)
 
 Now we want to construct the following pipeline.
 
-![rmagine_example_1](../resources/img/rmagine_example_2.drawio.png)
+![rmagine_example_1](/resources/img/rmagine_example_2.drawio.png)
 
 The green cells are memory objects on GPU as you see in the following code snippet.
 
@@ -146,7 +146,7 @@ int main(int argc, char** argv)
 
 Now we want to construct the following pipeline.
 
-![rmagine_example_1](../resources/img/rmagine_example_3.drawio.png)
+![rmagine_example_1](/resources/img/rmagine_example_3.drawio.png)
 
 
 ```cpp

diff --git a/docs/getting_started/sensors.md b/docs/getting_started/sensors.md
@@ -3,8 +3,8 @@
 Rmagine supports several configurations of commonly used range sensors as Spherical, Pinhole or even fully customizable O1Dn and OnDn models.
 The following image shows how the results could look like using these different models.
 
-![sensor_models_3d](../resources/img/sensor_models_3d.png) 
-![sensor_models_ortho](../resources/img/sensor_models_ortho.png)
+![sensor_models_3d](/resources/img/sensor_models_3d.png) 
+![sensor_models_ortho](/resources/img/sensor_models_ortho.png)
 
 The next instructions show how to initialize each model individually.
 

diff --git a/docs/getting_started/simulation.md b/docs/getting_started/simulation.md
@@ -1,6 +1,6 @@
 # Simulation
 
-![simulation_attributes](../resources/img/simulation_attributes.png)
+![simulation_attributes](/resources/img/simulation_attributes.png)
 
 ## Requirements
 

diff --git a/docs/index.md b/docs/index.md
@@ -1,12 +1,13 @@
 
 ![rmagine_teaser_image](resources/img/sensor_models_3d.png)
-# Rmagine 
+# Rmagine
 
-This library called Rmagine allows a robot to simulate sensor data for arbitrary range sensors directly on board via raytracing. Since robots typically only have limited computational resources, the Rmagine aims at being flexible and lightweight, while scaling well even to large environment maps. It runs on several platforms like Laptops or embedded computing boards like Nvidia Jetson by putting an unified API over the specific proprietary libraries provided by the hardware manufacturers. This work is designed to support the future development of robotic applications depending on simulation of range data that could previously not be computed in reasonable time on mobile systems.
+Rmagine allows a robot to simulate sensor data for arbitrary range sensors directly on board via raytracing. Since robots typically only have limited computational resources, Rmagine aims at being flexible and lightweight, while scaling well even to large environment maps. It runs on several platforms like Laptops or embedded computing boards like Nvidia Jetson by putting an unified API over specific proprietary libraries provided by the hardware manufacturers. This work is designed to support the future development of robotic applications depending on simulation of range data that could previously not be computed in reasonable time on mobile systems.
 
 ## Table of Contents
 
 **Getting Started**
+
 - [Overview](getting_started/overview)
 - [Installation](getting_started/installation)
 - [Integration](getting_started/integration)
@@ -15,6 +16,18 @@ This library called Rmagine allows a robot to simulate sensor data for arbitrary
 - [Simulation](getting_started/simulation)
 - [Problem Modelling](getting_started/problem_modelling)
 - [Noise](getting_started/noise)
-- [Tools](getting_started/tools)
 
+**Library**
+
+- [Concepts](library/concepts)
+- [Math](library/math)
+- [Memory](library/memory)
+- [Maps](library/maps)
+
+**Extra**
+
+- [Tools](extra/tools)
+- [Data](extra/data)
+- [News](extra/news)
+- [Embree 3](extra/embree3)
 
diff --git a/docs/library/concepts.md b/docs/library/concepts.md
@@ -18,11 +18,11 @@ Rmagine has the following top-level structure of directories:
 Contains all math related types and functions. 
 All math datatypes are completely CUDA compatible.
 See `rmagine/math/types.h` for all types.
-See [Math](Library-Math) section for more details.
+See [Math](/library/math) section for more details.
 
 ## Types
 
-Fundamental types required for simulations, e.g. [sensor models](GettingStarted-Sensors). Depends on math types.
+Fundamental types required for simulations, e.g. [sensor models](/getting_started/sensors). Depends on math types.
 
 ## Util
 
@@ -73,7 +73,7 @@ int main(int argc, char* argv)
 
 # Map
 
-All classes and functions that relate to map construction and map modifications. See [Getting Started - Maps](GettingStarted-Maps) for a introduction to map loading. Go to [Library - Maps](Library-Maps) for a more detailed descriptions of how to build Rmagine maps.
+All classes and functions that relate to map construction and map modifications. See [Getting Started - Maps](/getting_started/maps) for a introduction to map loading. Go to [Library - Maps](/library/maps) for a more detailed descriptions of how to build Rmagine maps.
 
 # Simulation
 

diff --git a/docs/resources/img/rmagine_icon.png b/docs/resources/img/rmagine_icon.png
diff --git a/docs/resources/img/rmagine_logo.png b/docs/resources/img/rmagine_logo.png
diff --git a/mkdocs.yml b/mkdocs.yml
@@ -11,8 +11,8 @@ theme:
       - navigation.instant
       - navigation.tabs
       - navigation.sections
-    # logo: img/mbf_icon.png
-    # favicon: img/mbf_icon.png
+    logo: resources/img/rmagine_logo.png
+    favicon: resources/img/rmagine_icon.png
     palette:
       primary: cyan