diff --git a/docs/Makefile b/docs/Makefile
deleted file mode 100644
index fe17b50..0000000
--- a/docs/Makefile
+++ /dev/null
@@ -1,153 +0,0 @@
-# Makefile for Sphinx documentation
-#
-
-# You can set these variables from the command line.
-SPHINXOPTS    =
-SPHINXBUILD   = sphinx-build
-PAPER         =
-BUILDDIR      = build
-
-# Internal variables.
-PAPEROPT_a4     = -D latex_paper_size=a4
-PAPEROPT_letter = -D latex_paper_size=letter
-ALLSPHINXOPTS   = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source
-# the i18n builder cannot share the environment and doctrees with the others
-I18NSPHINXOPTS  = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) source
-
-.PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext
-
-help:
-	@echo "Please use \`make <target>' where <target> is one of"
-	@echo "  html       to make standalone HTML files"
-	@echo "  dirhtml    to make HTML files named index.html in directories"
-	@echo "  singlehtml to make a single large HTML file"
-	@echo "  pickle     to make pickle files"
-	@echo "  json       to make JSON files"
-	@echo "  htmlhelp   to make HTML files and a HTML help project"
-	@echo "  qthelp     to make HTML files and a qthelp project"
-	@echo "  devhelp    to make HTML files and a Devhelp project"
-	@echo "  epub       to make an epub"
-	@echo "  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter"
-	@echo "  latexpdf   to make LaTeX files and run them through pdflatex"
-	@echo "  text       to make text files"
-	@echo "  man        to make manual pages"
-	@echo "  texinfo    to make Texinfo files"
-	@echo "  info       to make Texinfo files and run them through makeinfo"
-	@echo "  gettext    to make PO message catalogs"
-	@echo "  changes    to make an overview of all changed/added/deprecated items"
-	@echo "  linkcheck  to check all external links for integrity"
-	@echo "  doctest    to run all doctests embedded in the documentation (if enabled)"
-
-clean:
-	-rm -rf $(BUILDDIR)/*
-
-html:
-	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
-	@echo
-	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
-
-dirhtml:
-	$(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml
-	@echo
-	@echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml."
-
-singlehtml:
-	$(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml
-	@echo
-	@echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml."
-
-pickle:
-	$(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle
-	@echo
-	@echo "Build finished; now you can process the pickle files."
-
-json:
-	$(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json
-	@echo
-	@echo "Build finished; now you can process the JSON files."
-
-htmlhelp:
-	$(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp
-	@echo
-	@echo "Build finished; now you can run HTML Help Workshop with the" \
-	      ".hhp project file in $(BUILDDIR)/htmlhelp."
-
-qthelp:
-	$(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp
-	@echo
-	@echo "Build finished; now you can run "qcollectiongenerator" with the" \
-	      ".qhcp project file in $(BUILDDIR)/qthelp, like this:"
-	@echo "# qcollectiongenerator $(BUILDDIR)/qthelp/CeresSolver.qhcp"
-	@echo "To view the help file:"
-	@echo "# assistant -collectionFile $(BUILDDIR)/qthelp/CeresSolver.qhc"
-
-devhelp:
-	$(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp
-	@echo
-	@echo "Build finished."
-	@echo "To view the help file:"
-	@echo "# mkdir -p $$HOME/.local/share/devhelp/CeresSolver"
-	@echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/CeresSolver"
-	@echo "# devhelp"
-
-epub:
-	$(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub
-	@echo
-	@echo "Build finished. The epub file is in $(BUILDDIR)/epub."
-
-latex:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo
-	@echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex."
-	@echo "Run \`make' in that directory to run these through (pdf)latex" \
-	      "(use \`make latexpdf' here to do that automatically)."
-
-latexpdf:
-	$(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex
-	@echo "Running LaTeX files through pdflatex..."
-	$(MAKE) -C $(BUILDDIR)/latex all-pdf
-	@echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex."
-
-text:
-	$(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text
-	@echo
-	@echo "Build finished. The text files are in $(BUILDDIR)/text."
-
-man:
-	$(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man
-	@echo
-	@echo "Build finished. The manual pages are in $(BUILDDIR)/man."
-
-texinfo:
-	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
-	@echo
-	@echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo."
-	@echo "Run \`make' in that directory to run these through makeinfo" \
-	      "(use \`make info' here to do that automatically)."
-
-info:
-	$(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo
-	@echo "Running Texinfo files through makeinfo..."
-	make -C $(BUILDDIR)/texinfo info
-	@echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo."
-
-gettext:
-	$(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale
-	@echo
-	@echo "Build finished. The message catalogs are in $(BUILDDIR)/locale."
-
-changes:
-	$(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes
-	@echo
-	@echo "The overview file is in $(BUILDDIR)/changes."
-
-linkcheck:
-	$(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck
-	@echo
-	@echo "Link check complete; look for any errors in the above output " \
-	      "or in $(BUILDDIR)/linkcheck/output.txt."
-
-doctest:
-	$(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest
-	@echo "Testing of doctests in the sources finished, look at the " \
-	      "results in $(BUILDDIR)/doctest/output.txt."
diff --git a/docs/make.bat b/docs/make.bat
deleted file mode 100644
index 005a432..0000000
--- a/docs/make.bat
+++ /dev/null
@@ -1,190 +0,0 @@
-@ECHO OFF
-
-REM Command file for Sphinx documentation
-
-if "%SPHINXBUILD%" == "" (
-	set SPHINXBUILD=sphinx-build
-)
-set BUILDDIR=build
-set ALLSPHINXOPTS=-d %BUILDDIR%/doctrees %SPHINXOPTS% source
-set I18NSPHINXOPTS=%SPHINXOPTS% source
-if NOT "%PAPER%" == "" (
-	set ALLSPHINXOPTS=-D latex_paper_size=%PAPER% %ALLSPHINXOPTS%
-	set I18NSPHINXOPTS=-D latex_paper_size=%PAPER% %I18NSPHINXOPTS%
-)
-
-if "%1" == "" goto help
-
-if "%1" == "help" (
-	:help
-	echo.Please use `make ^<target^>` where ^<target^> is one of
-	echo.  html       to make standalone HTML files
-	echo.  dirhtml    to make HTML files named index.html in directories
-	echo.  singlehtml to make a single large HTML file
-	echo.  pickle     to make pickle files
-	echo.  json       to make JSON files
-	echo.  htmlhelp   to make HTML files and a HTML help project
-	echo.  qthelp     to make HTML files and a qthelp project
-	echo.  devhelp    to make HTML files and a Devhelp project
-	echo.  epub       to make an epub
-	echo.  latex      to make LaTeX files, you can set PAPER=a4 or PAPER=letter
-	echo.  text       to make text files
-	echo.  man        to make manual pages
-	echo.  texinfo    to make Texinfo files
-	echo.  gettext    to make PO message catalogs
-	echo.  changes    to make an overview over all changed/added/deprecated items
-	echo.  linkcheck  to check all external links for integrity
-	echo.  doctest    to run all doctests embedded in the documentation if enabled
-	goto end
-)
-
-if "%1" == "clean" (
-	for /d %%i in (%BUILDDIR%\*) do rmdir /q /s %%i
-	del /q /s %BUILDDIR%\*
-	goto end
-)
-
-if "%1" == "html" (
-	%SPHINXBUILD% -b html %ALLSPHINXOPTS% %BUILDDIR%/html
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The HTML pages are in %BUILDDIR%/html.
-	goto end
-)
-
-if "%1" == "dirhtml" (
-	%SPHINXBUILD% -b dirhtml %ALLSPHINXOPTS% %BUILDDIR%/dirhtml
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The HTML pages are in %BUILDDIR%/dirhtml.
-	goto end
-)
-
-if "%1" == "singlehtml" (
-	%SPHINXBUILD% -b singlehtml %ALLSPHINXOPTS% %BUILDDIR%/singlehtml
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The HTML pages are in %BUILDDIR%/singlehtml.
-	goto end
-)
-
-if "%1" == "pickle" (
-	%SPHINXBUILD% -b pickle %ALLSPHINXOPTS% %BUILDDIR%/pickle
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished; now you can process the pickle files.
-	goto end
-)
-
-if "%1" == "json" (
-	%SPHINXBUILD% -b json %ALLSPHINXOPTS% %BUILDDIR%/json
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished; now you can process the JSON files.
-	goto end
-)
-
-if "%1" == "htmlhelp" (
-	%SPHINXBUILD% -b htmlhelp %ALLSPHINXOPTS% %BUILDDIR%/htmlhelp
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished; now you can run HTML Help Workshop with the ^
-.hhp project file in %BUILDDIR%/htmlhelp.
-	goto end
-)
-
-if "%1" == "qthelp" (
-	%SPHINXBUILD% -b qthelp %ALLSPHINXOPTS% %BUILDDIR%/qthelp
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished; now you can run "qcollectiongenerator" with the ^
-.qhcp project file in %BUILDDIR%/qthelp, like this:
-	echo.^> qcollectiongenerator %BUILDDIR%\qthelp\CeresSolver.qhcp
-	echo.To view the help file:
-	echo.^> assistant -collectionFile %BUILDDIR%\qthelp\CeresSolver.ghc
-	goto end
-)
-
-if "%1" == "devhelp" (
-	%SPHINXBUILD% -b devhelp %ALLSPHINXOPTS% %BUILDDIR%/devhelp
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished.
-	goto end
-)
-
-if "%1" == "epub" (
-	%SPHINXBUILD% -b epub %ALLSPHINXOPTS% %BUILDDIR%/epub
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The epub file is in %BUILDDIR%/epub.
-	goto end
-)
-
-if "%1" == "latex" (
-	%SPHINXBUILD% -b latex %ALLSPHINXOPTS% %BUILDDIR%/latex
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished; the LaTeX files are in %BUILDDIR%/latex.
-	goto end
-)
-
-if "%1" == "text" (
-	%SPHINXBUILD% -b text %ALLSPHINXOPTS% %BUILDDIR%/text
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The text files are in %BUILDDIR%/text.
-	goto end
-)
-
-if "%1" == "man" (
-	%SPHINXBUILD% -b man %ALLSPHINXOPTS% %BUILDDIR%/man
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The manual pages are in %BUILDDIR%/man.
-	goto end
-)
-
-if "%1" == "texinfo" (
-	%SPHINXBUILD% -b texinfo %ALLSPHINXOPTS% %BUILDDIR%/texinfo
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The Texinfo files are in %BUILDDIR%/texinfo.
-	goto end
-)
-
-if "%1" == "gettext" (
-	%SPHINXBUILD% -b gettext %I18NSPHINXOPTS% %BUILDDIR%/locale
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Build finished. The message catalogs are in %BUILDDIR%/locale.
-	goto end
-)
-
-if "%1" == "changes" (
-	%SPHINXBUILD% -b changes %ALLSPHINXOPTS% %BUILDDIR%/changes
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.The overview file is in %BUILDDIR%/changes.
-	goto end
-)
-
-if "%1" == "linkcheck" (
-	%SPHINXBUILD% -b linkcheck %ALLSPHINXOPTS% %BUILDDIR%/linkcheck
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Link check complete; look for any errors in the above output ^
-or in %BUILDDIR%/linkcheck/output.txt.
-	goto end
-)
-
-if "%1" == "doctest" (
-	%SPHINXBUILD% -b doctest %ALLSPHINXOPTS% %BUILDDIR%/doctest
-	if errorlevel 1 exit /b 1
-	echo.
-	echo.Testing of doctests in the sources finished, look at the ^
-results in %BUILDDIR%/doctest/output.txt.
-	goto end
-)
-
-:end
diff --git a/docs/source/_themes/armstrong/layout.html b/docs/source/_themes/armstrong/layout.html
index 6e9a1f5..3faa34c 100644
--- a/docs/source/_themes/armstrong/layout.html
+++ b/docs/source/_themes/armstrong/layout.html
@@ -59,12 +59,6 @@
 {%- if last_updated %}
   {% trans last_updated=last_updated|e %}Last updated on {{ last_updated }}.{% endtrans %}
 {%- endif %}
-{%- if show_sphinx %}
-  {% trans sphinx_version=sphinx_version|e %}Created using <a href="http://sphinx.pocoo.org/">Sphinx</a> {{ sphinx_version }}.{% endtrans %}
-{%- endif %}
-{%- if theme_show_rtd %}
-  {% trans %}<br />Theme based on <a href="http://readthedocs.org/">Read The Docs</a>{% endtrans %}
-{% endif %}
 </div>
 
 
diff --git a/docs/source/building.rst b/docs/source/building.rst
index 3edcac8..36fecf9 100644
--- a/docs/source/building.rst
+++ b/docs/source/building.rst
@@ -4,8 +4,8 @@
 Building
 ========
 
-Ceres source code and documentation are hosted at
-http://code.google.com/p/ceres-solver/ .
+Ceres source code and documentation are hosted at `code.google.com
+<http://code.google.com/p/ceres-solver/>`_.
 
 .. _section-dependencies:
 
@@ -41,10 +41,12 @@
 dependency.
 
 6. `CXSparse <http://www.cise.ufl.edu/research/sparse/CXSparse/>`_ is
-used for sparse matrix analysis, ordering and factorization. While it
-is similar to SuiteSparse in scope, its performance is a bit worse but
-is a much simpler library to build and does not have any other
-dependencies. This is an optional dependency.
+a sparse matrix library similar in scope to ``SuiteSparse`` but with
+no dependencies on ``LAPACK`` and ``BLAS``. This makes for a simpler
+build process and a smaller binary.  The simplicity comes at a cost --
+for all but the most trivial matrices, ``SuiteSparse`` is
+significantly faster than ``CXSparse``.
+
 
 7. `BLAS <http://www.netlib.org/blas/>`_ and `LAPACK
 <http://www.netlib.org/lapack/>`_ routines are needed by
@@ -62,73 +64,41 @@
 
 Building on Linux
 =================
-We will use `Ubuntu <http://www.ubuntu.com>`_ as our example platform.
+We will use `Ubuntu <http://www.ubuntu.com>`_ as our example
+platform. Start by installing all the dependencies.
 
-#. ``CMake``
+.. code-block:: bash
 
-   .. code-block:: bash
-
-      sudo apt-get install cmake
-
-#. ``gflags`` can either be installed from source via the ``autoconf``
-   invocation
-
-   .. code-block:: bash
-
+     # CMake
+     sudo apt-hey install cmake
+     # gflags
      tar -xvzf gflags-2.0.tar.gz
      cd gflags-2.0
      ./configure --prefix=/usr/local
      make
      sudo make install.
-
-
-   or via the ``deb`` or ``rpm`` packages available on the ``gflags`` website.
-
-#. ``google-glog`` must be configured to use the previously installed
-   ``gflags``, rather than the stripped down version that is bundled
-   with ``google-glog``. Assuming you have it installed in ``/usr/local`` the
-   following ``autoconf`` invocation installs it.
-
-   .. code-block:: bash
-
+     # google-glog must be configured to use the previously installed gflags
      tar -xvzf glog-0.3.2.tar.gz
      cd glog-0.3.2
      ./configure --with-gflags=/usr/local/
      make
      sudo make install
-
-#. ``Eigen``
-
-   .. code-block:: bash
-
-      sudo apt-get install libeigen3-dev
-
-#. ``SuiteSparse`` and ``CXSparse``
-
-   .. code-block:: bash
-
-      sudo apt-get install libsuitesparse-dev
-
-   This should automatically bring in the necessary ``BLAS`` and
-   ``LAPACK`` dependencies. By co-incidence on Ubuntu, this also
-   installs ``CXSparse``.
-
-#. ``protobuf``
-
-   .. code-block:: bash
-
-      sudo apt-get install libprotobuf-dev
-
+     # Eigen3
+     sudo apt-get install libeigen3-dev
+     # SuiteSparse and CXSparse
+     sudo apt-get install libsuitesparse-dev
+     # protobuf
+     sudo apt-get install libprotobuf-dev
 
 We are now ready to build and test Ceres. Note that ``CMake`` requires
 the exact path to the ``libglog.a`` and ``libgflag.a``.
 
 .. code-block:: bash
 
- tar zxf ceres-solver-1.2.1.tar.gz
+ tar zxf ceres-solver-1.5.0.tar.gz
  mkdir ceres-bin
  cd ceres-bin
- cmake ../ceres-solver-1.2.1
+ cmake ../ceres-solver-1.5.0
  make -j3
  make test
 
@@ -139,7 +109,7 @@
 .. code-block:: bash
 
  bin/simple_bundle_adjuster \
-   ../ceres-solver-1.2.1/data/problem-16-22106-pre.txt \
+   ../ceres-solver-1.5.0/data/problem-16-22106-pre.txt \
 
 This runs Ceres for a maximum of 10 iterations using the
 ``DENSE_SCHUR`` linear solver. The output should look something like
@@ -200,39 +170,20 @@
 ====================
 
 On OS X, we recommend using the `homebrew
-<http://mxcl.github.com/homebrew/>`_ package manager.
+<http://mxcl.github.com/homebrew/>`_ package manager. Start by
+installing all the dependencies.
 
+.. code-block:: bash
 
-#. ``CMake``
-
-   .. code-block:: bash
-
+      # CMake
       brew install cmake
-
-#. ``google-glog`` and ``gflags``
-
-Installing ``google-glog`` takes also brings in ``gflags`` as a dependency.
-
-   .. code-block:: bash
-
+      # google-glog and gflags
       brew install glog
-
-#. ``Eigen3``
-
-   .. code-block:: bash
-
+      # Eigen2
       brew install eigen
-
-#. ``SuiteSparse`` and ``CXSparse``
-
-   .. code-block:: bash
-
+      # SuiteSparse and CXSparse
       brew install suite-sparse
-
-#. ``protobuf``
-
-   .. code-block:: bash
-
+      # protobuf
       brew install protobuf
 
 
@@ -240,10 +191,10 @@
 
 .. code-block:: bash
 
-   tar zxf ceres-solver-1.2.1.tar.gz
+   tar zxf ceres-solver-1.5.0.tar.gz
    mkdir ceres-bin
    cd ceres-bin
-   cmake ../ceres-solver-1.2.1
+   cmake ../ceres-solver-1.5.0
    make -j3
    make test
 
@@ -267,7 +218,7 @@
    (``ceres/eigen``, ``ceres/glog``, etc)
 
    #. ``Eigen`` 3.1 (needed on Windows; 3.0.x will not work). There is
-       no need to build anything; just unpack the source tarball.
+      no need to build anything; just unpack the source tarball.
 
    #. ``google-glog`` Open up the Visual Studio solution and build it.
    #. ``gflags`` Open up the Visual Studio solution and build it.
@@ -285,7 +236,7 @@
    ``ceres-solver.git`` directory for the CMake file. Then select the
    ``ceres-bin`` for the build dir.
 
-#. Try running "Configure". It won't work. It'll show a bunch of options.
+#. Try running ``Configure``. It won't work. It'll show a bunch of options.
    You'll need to set:
 
    #. ``GLOG_INCLUDE``
@@ -339,36 +290,36 @@
 customize the build process by passing appropriate flags to
 ``CMake``. Use these flags only if you really know what you are doing.
 
-#. ``-DPROTOBUF=OFF`` : ``protobuf`` is a big dependency and if you do not
-   care for the tests that depend on it and the logging support it
-   enables, you can use this flag to turn it off.
+#. ``-DPROTOBUF=OFF``: ``protobuf`` is a large and complicated
+   dependency. If you do not care for the tests that depend on it and
+   the logging support it enables, you can use this flag to turn it
+   off.
 
-#. ``-DSUITESPARSE=OFF`` : By default, Ceres will link to
+#. ``-DSUITESPARSE=OFF``: By default, Ceres will link to
    ``SuiteSparse`` if all its dependencies are present. Use this flag
-   to buils Ceres without ``SuiteSparse``. This will also disable
-   dependency checking for ``LAPACK`` and ``BLAS`` This saves on
+   to build Ceres without ``SuiteSparse``. This will also disable
+   dependency checking for ``LAPACK`` and ``BLAS``. This saves on
    binary size, but the resulting version of Ceres is not suited to
    large scale problems due to the lack of a sparse Cholesky solver.
    This will reduce Ceres' dependencies down to ``Eigen``, ``gflags``
    and ``google-glog``.
 
-#. ``-DCXSPARSE=OFF`` : By default, Ceres will link to ``CXSparse`` if all
+#. ``-DCXSPARSE=OFF``: By default, Ceres will link to ``CXSparse`` if all
    its dependencies are present. Use this flag to buils Ceres without
    ``CXSparse``. This saves on binary size, but the resulting version
    of Ceres is not suited to large scale problems due to the lack of a
    sparse Cholesky solver.  This will reduce Ceres' dependencies down
    to ``Eigen``, ``gflags`` and ``google-glog``.
 
-#. ``-DGFLAGS=OFF`` : Use this flag to build Ceres without
+#. ``-DGFLAGS=OFF``: Use this flag to build Ceres without
    ``gflags``. This will also prevent some of the example code from
    building.
 
-#. ``-DSCHUR_SPECIALIZATIONS=OFF`` : If you are concerned about binary
+#. ``-DSCHUR_SPECIALIZATIONS=OFF``: If you are concerned about binary
    size/compilation time over some small (10-20%) performance gains in
    the ``SPARSE_SCHUR`` solver, you can disable some of the template
    specializations by using this flag.
 
-#. ``-DOPENMP=OFF`` : On certain platforms like Android,
-   multithreading with ``OpenMP`` is not supported. Use this flag to
+#. ``-DOPENMP=OFF``: On certain platforms like Android,
+   multi-threading with ``OpenMP`` is not supported. Use this flag to
    disable multithreading.
-
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 8aaeca6..e6ea8ef 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -21,5 +21,3 @@
    version_history
    bibliography
    license
-
-
diff --git a/docs/source/introduction.rst b/docs/source/introduction.rst
index 33d847f..4e9e967 100644
--- a/docs/source/introduction.rst
+++ b/docs/source/introduction.rst
@@ -24,7 +24,7 @@
 
 #. Automatic and numeric differentiation.
 
-#. Robust loss functions and Local parameterizations.
+#. Robust loss functions and local parameterizations.
 
 #. Multithreading.
 
@@ -59,11 +59,12 @@
          squares problems, please start by reading the
          :ref:`chapter-tutorial`.
 
-.. [#f2] While there is some debate as to who invented of the method
-         of Least Squares [Stigler]_. There is no debate that it was
-         Carl Friedrich Gauss's prediction of the orbit of the newly
-         discovered asteroid Ceres based on just 41 days of
-         observations that brought it to the attention of the world
+.. [#f2] While there is some debate as to who invented the method of
+         Least Squares [Stigler]_, there is no debate that it was Carl
+         Friedrich brought it to the attention of the world. Using
+         just 22 observations of the newly discovered asteroid Ceres,
+         Gauss used the method of least squares to correctly predict
+         when and where the asteroid will emerge from behind the Sun
          [TenenbaumDirector]_. We named our solver after Ceres to
          celebrate this seminal event in the history of astronomy,
          statistics and optimization.
diff --git a/docs/source/modeling.rst b/docs/source/modeling.rst
index ae5cfdf..d17423a 100644
--- a/docs/source/modeling.rst
+++ b/docs/source/modeling.rst
@@ -1018,7 +1018,7 @@
 functions. These functions are templated so that the user can use them
 within Ceres Solver's automatic differentiation framework.
 
-.. function:: template<typename T> void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
+.. function:: void AngleAxisToQuaternion<T>(T const* angle_axis, T* quaternion)
 
    Convert a value in combined axis-angle representation to a
    quaternion.
@@ -1027,7 +1027,7 @@
    and whose direction is aligned with the axis of rotation, and
    ``quaternion`` is a 4-tuple that will contain the resulting quaternion.
 
-.. function:: template<typename T> void QuaternionToAngleAxis(T const* quaternion, T* angle_axis);
+.. function:: void QuaternionToAngleAxis<T>(T const* quaternion, T* angle_axis)
 
    Convert a quaternion to the equivalent combined axis-angle
    representation.
@@ -1037,13 +1037,13 @@
    whose norm is the angle of rotation in radians, and whose direction
    is the axis of rotation.
 
-.. function:: template <typename T> void RotationMatrixToAngleAxis(T const * R, T * angle_axis);
-.. function:: template <typename T> void AngleAxisToRotationMatrix(T const * angle_axis, T * R);
+.. function:: void RotationMatrixToAngleAxis<T>(T const * R, T * angle_axis)
+.. function:: void AngleAxisToRotationMatrix<T>(T const * angle_axis, T * R)
 
    Conversions between 3x3 rotation matrix (in column major order) and
    axis-angle rotation representations.
 
-.. function:: template <typename T> void EulerAnglesToRotationMatrix(const T* euler, int row_stride, T* R);
+.. function:: void EulerAnglesToRotationMatrix<T>(const T* euler, int row_stride, T* R)
 
    Conversions between 3x3 rotation matrix (in row major order) and
    Euler angle (in degrees) rotation representations.
@@ -1052,7 +1052,7 @@
    axes, respectively.  They are applied in that same order, so the
    total rotation R is Rz * Ry * Rx.
 
-.. function:: template <typename T> inline void QuaternionToScaledRotation(const T q[4], T R[3 * 3]);
+.. function:: void QuaternionToScaledRotation<T>(const T q[4], T R[3 * 3])
 
    Convert a 4-vector to a 3x3 scaled rotation matrix.
 
@@ -1079,12 +1079,12 @@
    such that :math:`\det(Q) = 1` and :math:`Q*Q' = I`.
 
 
-.. function:: template <typename T> inline void QuaternionToRotation(const T q[4], T R[3 * 3]);
+.. function:: void QuaternionToRotation<T>(const T q[4], T R[3 * 3])
 
    Same as above except that the rotation matrix is normalized by the
    Frobenius norm, so that :math:`R R' = I` (and :math:`\det(R) = 1`).
 
-.. function:: template <typename T> inline void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+.. function:: void UnitQuaternionRotatePoint<T>(const T q[4], const T pt[3], T result[3])
 
    Rotates a point pt by a quaternion q:
 
@@ -1095,22 +1095,22 @@
    result you get for a unit quaternion.
 
 
-.. function:: template <typename T> inline void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+.. function:: void QuaternionRotatePoint<T>(const T q[4], const T pt[3], T result[3])
 
    With this function you do not need to assume that q has unit norm.
    It does assume that the norm is non-zero.
 
-.. function:: template<typename T> inline void QuaternionProduct(const T z[4], const T w[4], T zw[4]);
+.. function:: void QuaternionProduct<T>(const T z[4], const T w[4], T zw[4])
 
    .. math:: zw = z * w
 
-   where :math`*` is the Quaternion product between 4-vectors.
+   where :math:`*` is the Quaternion product between 4-vectors.
 
 
-.. function:: template<typename T> inline void CrossProduct(const T x[3], const T y[3], T x_cross_y[3]);
+.. function:: void CrossProduct<T>(const T x[3], const T y[3], T x_cross_y[3])
 
    .. math:: \text{x_cross_y} = x \times y
 
-.. function:: template<typename T> inline void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]);
+.. function:: void AngleAxisRotatePoint<T>(const T angle_axis[3], const T pt[3], T result[3])
 
    .. math:: y = R(\text{angle_axis}) x
diff --git a/docs/source/tutorial.rst b/docs/source/tutorial.rst
index df910ef..a8ffc31 100644
--- a/docs/source/tutorial.rst
+++ b/docs/source/tutorial.rst
@@ -8,6 +8,11 @@
 
 .. _section-hello-world:
 
+Full working code for all the examples described in this chapter and
+more can be found in the `example
+<https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/>`_
+directory.
+
 Hello World!
 ============
 
@@ -26,7 +31,7 @@
 component.
 
 When solving a problem with Ceres, the first thing to do is to define
-a subclass of CostFunction. It is responsible for computing
+a subclass of :class:`CostFunction`. It is responsible for computing
 the value of the residual function and its derivative (also known as
 the Jacobian) with respect to :math:`x`.
 
@@ -42,7 +47,7 @@
      residuals[0] = 10 - x;
 
      // Compute the Jacobian if asked for.
-     if (jacobians != NULL && jacobians[0] != NULL) {
+     if (jacobians != NULL) {
        jacobians[0][0] = -1;
      }
      return true;
@@ -50,21 +55,22 @@
  };
 
 
-SimpleCostFunction is provided with an input array of
-parameters, an output array for residuals and an optional output array
-for Jacobians. In our example, there is just one parameter and one
-residual and this is known at compile time, therefore we can save some
-code and instead of inheriting from CostFunction, we can
-instaed inherit from the templated SizedCostFunction class.
+``SimpleCostFunction`` is provided with an input array of
+``parameters``, an output array for ``residuals`` and an optional
+output array for ``jacobians``. In our example, there is just one
+parameter and one residual and this is known at compile time,
+therefore we can save some code and instead of inheriting from
+:class:`CostFunction`, we can instead inherit from the templated
+:class:`SizedCostFunction` class.
 
 
-The jacobians array is optional, Evaluate is expected to check when it
-is non-null, and if it is the case then fill it with the values of the
-derivative of the residual function. In this case since the residual
-function is linear, the Jacobian is constant.
+The ``jacobians`` array is optional, ``Evaluate`` is expected to check
+when it is non-null, and if it is the case then fill it with the
+values of the derivative of the residual function. In this case since
+the residual function is linear, the Jacobian is constant.
 
 Once we have a way of computing the residual vector, it is now time to
-construct a Non-linear least squares problem using it and have Ceres
+construct a non-linear least squares problem using it and have Ceres
 solve it.
 
 .. code-block:: c++
@@ -114,9 +120,9 @@
 
 .. rubric:: Footnotes
 
-.. [#f1] Full working code for this and other
-   examples in this manual can be found in the examples directory. Code
-   for this example can be found in ``examples/quadratic.cc``.
+.. [#f1] Full working code for this example can found in
+   `examples/quadratic.cc
+   <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/quadratic.cc>`_
 
 .. [#f2] Actually the solver ran for three iterations, and it was
    by looking at the value returned by the linear solver in the third
@@ -165,7 +171,7 @@
 
      residuals[0] = sqrt(10.0) * (x1 - x4) * (x1 - x4)
 
-     if (jacobians != NULL) {
+     if (jacobians != NULL && jacobians[0] != NULL) {
        jacobians[0][0] = 2.0 * sqrt(10.0) * (x1 - x4);
        jacobians[0][1] = 0.0;
        jacobians[0][2] = 0.0;
@@ -211,10 +217,10 @@
 
 Note also that the parameters are not packed
 into a single array, they are instead passed as separate arguments to
-``operator()``. Similarly we can define classes ``F1``,``F2``
+``operator()``. Similarly we can define classes ``F1``, ``F2``
 and ``F4``.  Then let us consider the construction and solution
 of the problem. For brevity we only describe the relevant bits of
-code [#f3]_ .
+code [#f3]_.
 
 
 .. code-block:: c++
@@ -302,21 +308,22 @@
 numerically differentiated implementation of
 ``examples/quadratic.cc``.
 
-**We recommend that if possible, automatic differentiation should be
-used. The use of C++ templates makes automatic differentiation
-extremely efficient, whereas numeric differentiation can be quite
-expensive, prone to numeric errors and leads to slower convergence.**
+**We recommend automatic differentiation if possible. The use of C++
+templates makes automatic differentiation extremely efficient, whereas
+numeric differentiation can be quite expensive, prone to numeric
+errors and leads to slower convergence.**
 
 
 .. rubric:: Footnotes
 
-.. [#f3] The full source code for this example can be found in ``examples/powell.cc``.
+.. [#f3] The full source code for this example can be found in
+.. `examples/powell.cc
+.. <https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/powell.cc>`_.
 
 .. _section-fitting:
 
-Fitting a Curve to Data
-=======================
-
+Curve Fitting
+=============
 
 The examples we have seen until now are simple optimization problems
 with no data. The original purpose of least squares and non-linear
@@ -324,7 +331,7 @@
 appropriate that we now consider an example of such a problem
 [#f4]_. It contains data generated by sampling the curve :math:`y =
 e^{0.3x + 0.1}` and adding Gaussian noise with standard deviation
-:math:`\sigma = 0.2`.}. Let us fit some data to the curve
+:math:`\sigma = 0.2`. Let us fit some data to the curve
 
 .. math::  y = e^{mx + c}.
 
@@ -356,7 +363,7 @@
 ``CostFunction`` for every observation.
 
 
-.. code-block: c++
+.. code-block:: c++
 
  double m = 0.0;
  double c = 0.0;
@@ -531,7 +538,7 @@
 this is a reasonable thing to do, bundle adjustment problems have a
 special sparsity structure that can be exploited to solve them much
 more efficiently. Ceres provides three specialized solvers
-(collectively known as Schur based solvers) for this task. The example
+(collectively known as Schur-based solvers) for this task. The example
 code uses the simplest of them ``DENSE_SCHUR``.
 
 .. code-block:: c++