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This PR does more than one thing - my apologies. The main thrust is editing the developer documentation so that it links to module-level documentation where possible. This left many pages with very little content in them, so I have combined them in one page, called Code Walkthrough. I also fixed up some of the documentation while moving it around.
Reminder of how to compile the doxygen: in
src
rundoxygen
. Then open 'doc/html/index.html'.