Let's try to do it with restructuredtext/sphinx!
The documentation (open source!) is automatically build on http://3di-documentation.readthedocs.io, we can change the URL later on.
If you can run docker, you're in luck. One-time setup:
$ docker-compose build
And then every time you want to re-generate your documentation:
$ docker-compose build
If you're not so lucky, you'll need to pip-install sphinx and you need latex (see the Dockerfile for the short list of packages that we install).
If the sphinx documentation tells you about a makefile: you can run those commands from within docker, too. For example:
$ docker-compose run builder make latexpdf
You'll need to learn a bit of restructuredtext: http://www.sphinx-doc.org/en/stable/rest.html
Special stuff, cross-references, indices etc: http://www.sphinx-doc.org/en/stable/markup/index.html
Math support ("it is all LaTeX"): http://www.sphinx-doc.org/en/stable/ext/math.html
Any questions: ask Reinout.