Add documentation main page.

include/fcl/doc.hh

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+//  Author: Florent Lamiraux
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+/// \mainpage
+/// \section fcl_introduction Introduction 
+///
+/// Fcl is a library for collision detection and distance computation between
+/// various types of geometric shapes reprensented either by
+/// \li basic shapes (fcl::ShapeBase) like box, sphere, cylinders, ...
+/// \li or by bounding volume hierarchies of various types (fcl::BVHModel)
+///
+/// \section fcl_howto Using fcl
+///
+/// The main entry points to the library are functions
+/// \li fcl::collide and
+/// \li fcl::distance.