Improved doxygen comments and fixed a bug.
Improved doxygen comments and fixed a bug.

simbody/simbody,elen4/simbody,elkingtonmcb/simbody,scamille/simbody,elkingtonmcb/simbody,Gjacquenot/simbody,robojukie/simbody,robojukie/simbody,Gjacquenot/simbody,chrisdembia/simbody,simbody/simbody,scamille/simbody,scamille/simbody,elen4/simbody,robojukie/simbody,Gjacquenot/simbody,chrisdembia/simbody,chrisdembia/simbody,elkingtonmcb/simbody