a tutorial for using the code

[puren]

Hello,

I'm trying to understan the example code "track_space_justing_demo.cpp" to understand how to use DART. However a lot of things are unexplained in the code. I cannot figure out what they are for even though I read the paper.
Is there a generic tutorial document that tells step by step what exactly is needed for using DART from the beginning for a new robot?
For instance, what "dart::loadParamMapPoseReduction" do exactly? How to create a file similar to justinHandParamMap.txt and what is it for? I looked into dart_io.cpp to understand that function but the code was not explanatory either.
There are lots of classes and functions but there is not enough explanation to link what is explained in the paper with the tool. Example code does not help much either.