Massive documentation

[toastertaster]

We must have the appropriate doxygen documentation comments for:

• [ ] classes
• [ ] methods
• [ ] functions
• [ ] variables

Make sure you:

• [ ] use LaTeX math to describe any math expressions/formulas
• [ ] use Markdown in your comment style
• [ ] include links to relevant internet/wikipedia content for background knowledge.

This is a large effort for the whole team, so not for a specific 1-2 people to complete. Keep your merges into master on a regular basis for this so we don't duplicate documentation efforts.

Doxygen background details: https://www.stack.nl/~dimitri/doxygen/manual/docblocks.html

[Ahmad-Bamba]

Seems like a great idea! First though, I want to have Zach's latest vision code merged in, and then the code cleanup I did Friday.

That way we have complete, clean, and documented code ready for analysis for next year's game.