add necessary documentation and change according to code review

trunk/fcl/CMakeLists.txt

trunk/fcl/include/fcl/BV.h

trunk/fcl/include/fcl/BV/AABB.h

trunk/fcl/include/fcl/BV/OBB.h

trunk/fcl/include/fcl/BV/OBBRSS.h

trunk/fcl/include/fcl/BV/RSS.h

trunk/fcl/include/fcl/BV/kDOP.h

trunk/fcl/include/fcl/BV/kIOS.h

trunk/fcl/include/fcl/BVH_model.h

trunk/fcl/include/fcl/BVH_utility.h

trunk/fcl/include/fcl/BV_fitter.h

trunk/fcl/include/fcl/BV_node.h

trunk/fcl/include/fcl/BV_splitter.h

trunk/fcl/include/fcl/broadphase/hierarchy_tree.h

trunk/fcl/include/fcl/ccd/conservative_advancement.h

trunk/fcl/include/fcl/ccd/interval_matrix.h

trunk/fcl/include/fcl/ccd/interval_vector.h

trunk/fcl/include/fcl/ccd/motion.h

trunk/fcl/include/fcl/ccd/motion_base.h

trunk/fcl/include/fcl/ccd/taylor_matrix.h