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Overhaul documentation (now Exhale+Sphinx+RTD), refactor

Pietro Saccardi requested to merge sphinx into next
  • document everything
  • convert documentation to Doxygen+Breathe+Exhale+Spinx+RTD theme
  • draft documentation main page
  • refactor all types that were named inconsistently, and simplify inheritance where possible
Edited by Pietro Saccardi

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