To build the documentation, follow the steps below.

Install Doxygen.

Install breathe and the sphinx theme using the requirements.txt file in docs/:

pip install -r requirements.txt

From docs/:

doxygen && make html

If you run into issues rebuilding the docs, run make clean before building again.

Run a server in docs/build/html:

python -m http.server <port>

Point browser to http://localhost:<port>.