doc: Add inline documentation to interfaces and controller.
doc: Fix fill column and param indentation.
Merge pull request #17 from memmett/feature/readme

doc: Add inline documentation to interfaces and controller.
docu: fixing Doxygen sources
docu: minor fix for Doxygen's markdown parsin
code style: add astyle config
code style: applied Astyle to sources
code style: capitalizing constants
code style: dvector -> DVectorT
code style: template parameter 'scalar' -> 'ScalarT'
code style: template parameter 'time' -> 'timeT'
code style: class name 'polynomial' -> 'Polynomial'
code style: template parameter 'coeffT' -> 'CoeffT'
code style: template parameter 'controllerT' -> 'ControllerT'
code style: template parameter capitalization

'buildT' -> 'BuildT'
'initialT' -> 'InitialT'
code style: typdef 'auto_build_tuple' -> 'AutoBuildTupleT'