Add initial Doxygen support for generating api documentation.
Doxygen is a tool for generating programming documentation based on comments in header and source files. This commit adds the necessary configuration file and associated support in the autotools build. Right now it doesn't generate much documentation because our public header files aren't marked up. Warnings are printed for undocumented members and arguments.
doc/Doxyfile.in
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doc/Makefile.am
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