Doxygen 1.8.16 fixes

Description

Fixes for Doxygen v1.8.16:

• More rigorous in parsing @{ / @} groups: must be in Doxygen /** .. */ comment, must be properly balanced.
• Use check_tags.py to remove duplicate documentation anchors to prevent warnings
• Prefix library name to documentation anchors to prevent warnings
• Fix probably bug with Doxygen parsing non-Doxygen comments and trying to interpret e.g. \dot in mathematical formulae

API Changes and Justification

Backwards Compatible Changes

• This change introduces no API changes
• This change adds new API calls

Backwards Incompatible Changes

• This change modifies an existing API
• This change removes an existing API

Review Status

None required.