Update General Documentation

[VladimirKupryukhin]

Context

Some code does not have comments. This is not good :( There is also a lack of documentation files under /docs for the packages.

What to Do

Go through the code and add comments that help the understanding when reading the code. Add markdown files under /docs in order to give a more in-depth explanation of the packages

[VladimirKupryukhin]

This was finished sometime in September during the library implementation.