Refined documentation.
Refined documentation.

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