doxygen doc: minor improvements
* doc/footer.html: Make the footer XML compatible. * doc/mainpage.dox: Fix references to modules. * spot/tl/formula.hh: Introduce a hierarchy module. * spot/tl/hierarchy.hh: Use it.
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/// \li spot::formula Base class for an LTL or PSL formula.
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/// \li spot::parse_infix_psl() Parsing a text string into a
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/// spot::formula.
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/// \li \ref tl
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/// \li spot::twa Base class for Transition-based
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/// ω-Automata.
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/// \li spot::twa_algorithms Algorithms on ω-Automata.
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/// \li spot::translator Convert a spot::formula into a
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/// spot::twa.
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/// \li \ref twa_algorithms
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/// \li spot::kripke Base class for Kripke structures.
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/// \li spot::twa_product On-the-fly product of two spot::twa.
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/// \li spot::emptiness_check Base class for all emptiness-check algorithms
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