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Improved documentation #35

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@johnhenning

Right now, the documentation for the API and tutorials aren't enough to have a good understanding of how to build a complete system. I think it should have standard API documentation going over available modules, classes, functions, etc. The little bit that is listed under the API docs just links to C++ header files, which doesn't explain the functionality or help with the understanding the Python API, which is the primary use case for many.

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