Add 'doc' Makefile target for generating PDF version of man page

This change adds a new target to the Makefile that can be used for
generating a PDF version of the man page. It also checks in the
generated file and links to it from the README.
We have also experimented with creation of an HTML version, but at least
the groff generated file is not very visually pleasing and also cannot
be linked to directly from Github. Github wants to prevent hosting of
web pages directly like this in repositories and instead promote their
Github Pages solution for that purpose. To that end they deliver content
with a Content-Type representing plain text which causes HTML to not be
rendered. PDF content, however, is rendered in-line and looks reasonable
at that.

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