BoneIKController Pole Target Placement

Hey guys, i have been searching the forum looking for some explanation of Pole Targets for the BoneIKController. I cant seem to find the rhyme or reason for the pole target placement.

I am basically try to create a standard biped IK rig. So i place IK Target Mesh (IK Handle) at each wrist and foot bones (but the parent is the root character object, not the actual bones). But how am i supposed to know where to put the pole target meshes. For example the Left Foot, where on the body or space do I place the pole target, and why?

Is there some document or ANYTHING that explains the details of the Pole Target Meshes ?

As well as PoleAngle ?

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