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C++ documentation overhaul


We are doing a refactor of the C++ documentation which will appear in

Currently, the main entry point of the C++ documentation is a
Doxygen-generated API documentation in the traditional format, together
with a couple MarkDown pages covering some example use cases.

The rewrite integrates the C++ API documentation in a larger Sphinx
documentation also holding the format specification and Python docs.
This allows us to add cross-references very easily and make the whole
documentation more cohesive.

To accompany this transformation, I have started writing some prose
documentation about fundamental concepts in the C++ API.  I have
uploaded a snapshot build of this work-in-progress here:

Comments and suggestions are welcome.