Polished documentation some more.
Polished documentation some more.

billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake