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lint: Apply cpp_docstring_lint as part of drakelint - #13491

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EricCousineau-TRI wants to merge 9 commits into
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EricCousineau-TRI:feature-cc-transform-doxygen-comments-final
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lint: Apply cpp_docstring_lint as part of drakelint#13491
EricCousineau-TRI wants to merge 9 commits into
RobotLocomotion:masterfrom
EricCousineau-TRI:feature-cc-transform-doxygen-comments-final

merp. still messed up, need to fix...

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