Improve documentation

[klane]

All classes, methods, and functions need docstrings so that Sphinx can build the documentation. Additionally, the project site needs a page for examples, the README has broken links that need fixing, and the wiki is outdated.

• Update README #96
• Create documentation website #97
• Combine Sphinx docs in website #98
• Add docstrings to all Python source #99
• Add page for examples/tutorials #100
• Add contributing guidelines #101
• Add change log #102
• Update wiki