diff --git a/.github/workflows/test_docs.yml b/.github/workflows/test_docs.yml
index c510e1f2..f675c9ed 100644
--- a/.github/workflows/test_docs.yml
+++ b/.github/workflows/test_docs.yml
@@ -30,7 +30,7 @@ jobs:
           python3 -m pip install --upgrade pip
           pip install mkdocs mkdocs-material pymdown-extensions mkdocstrings[python]
           pip install sphinx sphinx-immaterial numpy msgpack-rpc-python
-          pip install breathe exhale  # for doxygen -> sphinx conversion
+          pip install breathe  # for doxygen -> sphinx conversion
 
       - name: "Generate C++ API documentation: Doxygen -> Breathe -> Sphinx"
         shell: bash
diff --git a/AutonomyLib/docs/conf.py b/AutonomyLib/docs/conf.py
index 04f81c25..c584cc90 100644
--- a/AutonomyLib/docs/conf.py
+++ b/AutonomyLib/docs/conf.py
@@ -63,7 +63,6 @@
     "sphinx.ext.napoleon",
     "sphinx.ext.viewcode",
     "breathe",
-    "exhale",
 ]
 
 autodoc_default_flags = ["members"]
@@ -75,22 +74,6 @@
 breathe_projects = {"AutonomyLib": "./doxyxml/xml/"}
 breathe_default_project = "AutonomyLib"
 
-# Setup the exhale extension
-exhale_args = {
-    # required arguments
-    "containmentFolder": "./api",
-    "rootFileName": "library_root.rst",
-    "doxygenStripFromPath": "..",
-    # strongly encouraged optional argument (see docs)
-    "rootFileTitle": "C++ Library API",
-    # suggested optional arguments
-    "createTreeView": True,
-    # tip: if using the sphinx-bootstrap-theme, you need
-    # "treeViewIsBootstrap": True,
-    "exhaleExecutesDoxygen": False,
-    "exhaleDoxygenStdin": "INPUT = ../include",
-}
-
 # Tell sphinx what the primary language being documented is.
 primary_domain = "cpp"
 
diff --git a/AutonomyLib/docs/index.rst b/AutonomyLib/docs/index.rst
index 9cd9627f..d8e456da 100644
--- a/AutonomyLib/docs/index.rst
+++ b/AutonomyLib/docs/index.rst
@@ -14,5 +14,4 @@ This page documents `AutonomyLib`_, the C++ library of `AutonomySim`_.
    :maxdepth: 2
    :caption: Contents:
 
-   about
    api/library_root
diff --git a/AutonomyLib/include/common/utils/ColorUtils.hpp b/AutonomyLib/include/common/utils/ColorUtils.hpp
index 0fb3680f..2acce784 100644
--- a/AutonomyLib/include/common/utils/ColorUtils.hpp
+++ b/AutonomyLib/include/common/utils/ColorUtils.hpp
@@ -37,8 +37,12 @@ class ColorUtils {
      * follows the International Electrotechnical Commission standard IEC 61966-2-1 "Multimedia systems and equipment -
      * Colour measurement and management - Part 2-1: Colour management - Default RGB colour space - sRGB"
      *
-     * @param xyz XYZ values in a double array in the order of X, Y, Z. each value in the range of [0.0, 1.0]
-     * @return RGB values in a double array, in the order of R, G, B. each value in the range of [0.0, 1.0]
+     * @param x XYZ values in a double array in the order of X, Y, Z. each value in the range of [0.0, 1.0]
+     * @param y XYZ values in a double array in the order of X, Y, Z. each value in the range of [0.0, 1.0]
+     * @param x XYZ values in a double array in the order of X, Y, Z. each value in the range of [0.0, 1.0]
+     * @param r values in a double array, in the order of R, G, B. each value in the range of [0.0, 1.0]
+     * @param g values in a double array, in the order of R, G, B. each value in the range of [0.0, 1.0]
+     * @param b values in a double array, in the order of R, G, B. each value in the range of [0.0, 1.0]
      */
     static void srgbXYZ2RGB(double x, double y, double z, double &r, double &g, double &b) {
         double rl = 3.2406255 * x + -1.537208 * y + -0.4986286 * z;
@@ -48,6 +52,8 @@ class ColorUtils {
         r = srgbXYZ2RGBPostprocess(rl);
         g = srgbXYZ2RGBPostprocess(gl);
         b = srgbXYZ2RGBPostprocess(bl);
+
+        return;
     }
 
     /**