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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/// \addtogroup tl_rewriting Rewriting Algorithms for Formulas
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/// \ingroup tl
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/// \addtogroup tl_hier Algorithms related to the temporal hierarchy
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/// \ingroup tl
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/// \addtogroup tl_misc Miscellaneous Algorithms for Formulas
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/// \ingroup tl
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