Make minor C++ docstring adjustments

common/symbolic_rational_function.h

@@ -150,7 +150,7 @@ RationalFunction operator/(double c, const RationalFunction& f);
  */
 RationalFunction pow(const RationalFunction& f, int n);
 /**
- *  Provides the following operations:
+ * Provides the following operations:
  *
  *  - Matrix<RF>         * Matrix<Polynomial> => Matrix<RF>
  *  - Matrix<RF>         * Matrix<double>     => Matrix<RF>

manipulation/schunk_wsg/schunk_wsg_plain_controller.h

@@ -16,7 +16,7 @@ enum class ControlMode { kPosition = 0, kForce = 1 };
  * control mode specified for the controller, which can be either
  * ControlMode::kPosition or ControlMode::kForce. In both cases, the overall
  * layout of the diagram is:
- *```
+ * ```
  *             ┌─────────────┐
  * joint       │Joint State  │   ┌──────────┐
  * state ─────▶│To Control   ├──▶│          │
@@ -45,12 +45,12 @@ enum class ControlMode { kPosition = 0, kForce = 1 };
  *                 │   ┌──┐  └──▶│Saturation├──▶│To Joint   ├──▶│   │
  * max force / 2 ──┴──▶│-1├─────▶│          │   │Force      │   └───┘
  *                     └──┘      └──────────┘   └───────────┘
- *```
+ * ```
  * The blocks with double outlines (══) differ between the two control modes:
  *
  * - Generate Desired Control State
  *   - ControlMode::kPosition
- *```
+ * ```
  *        ┌───────────┐
  *        │Desired    │
  *        │Mean Finger├──▶█
@@ -62,9 +62,9 @@ enum class ControlMode { kPosition = 0, kForce = 1 };
  *         grip   ───────▶█
  *         state
  *
- *```
+ * ```
  *    - ControlMode::kForce
- *```
+ * ```
  *        ┌───────────┐
  *        │Desired    │                          desired
  *        │Mean Finger├────────────────────────▶ control
@@ -74,10 +74,10 @@ enum class ControlMode { kPosition = 0, kForce = 1 };
  *         desired        ┌────────┐
  *         grip   ───────▶│IGNORED │
  *         state          └────────┘
- *```
+ * ```
  * - Handle Feed-Forward Force
  *   - ControlMode::kPosition
- *```
+ * ```
  *                                     █────▶ mean finger force
  *         pid                         █
  *         controller ────────────────▶█
@@ -86,9 +86,9 @@ enum class ControlMode { kPosition = 0, kForce = 1 };
  *         feed           ┌────────┐
  *         forward ──────▶│IGNORED │
  *         force          └────────┘
- *```
+ * ```
  *   - ControlMode::kForce
- *```
+ * ```
  *         pid
  *         controller ──────────────────────▶ mean finger force
  *         output
@@ -97,7 +97,7 @@ enum class ControlMode { kPosition = 0, kForce = 1 };
  *         forward ─────────────────────────▶ grip force
  *         force
  *
- *```
+ * ```
  * The remaining blocks differ only in their numerical parameters.
  *
  * Note that the "feed forward force" input is ignored for

multibody/tree/door_hinge.h

@@ -153,7 +153,7 @@ class DoorHinge final : public ForceElement<T> {
    @name Advanced Functions
     Convenience functions for evaluating %DoorHinge operations without worrying
     about context-related issues.
-  @{
+   @{
   */
 
   /// Calculates the total frictional torque with the given @p angular_rate

perception/point_cloud.h

@@ -160,7 +160,7 @@ class PointCloud final {
     return mutable_xyzs().col(i);
   }
 
-  /// @}  // Geometric Descriptors - XYZs
+  /// @}
 
   /// @name Geometric Descriptors - Normals
   /// @{
@@ -186,7 +186,7 @@ class PointCloud final {
     return mutable_normals().col(i);
   }
 
-  /// @}  // Geometric Descriptors - Normals
+  /// @}
 
   /// @name Geometric Descriptors - RGBs
   /// @{
@@ -212,7 +212,7 @@ class PointCloud final {
     return mutable_rgbs().col(i);
   }
 
-  /// @}  // Geometric Descriptors - RGBs
+  /// @}
 
   /// @name Run-Time Descriptors
   /// @{

solvers/constraint.h

@@ -449,11 +449,11 @@ class EvaluatorConstraint : public Constraint {
 };
 
 /**
+ * A constraint on the values of multivariate polynomials.
+ *
  *  lb[i] <= P[i](x, y...) <= ub[i], where each P[i] is a multivariate
  *  polynomial in x, y...
  *
- * A constraint on the values of multivariate polynomials.
- *
  * The Polynomial class uses a different variable naming scheme; thus the
  * caller must provide a list of Polynomial::VarType variables that correspond
  * to the members of the MathematicalProgram::Binding (the individual scalar

solvers/test/semidefinite_program_examples.h

@@ -81,17 +81,15 @@ void SolveSDPwithSecondOrderConeExample1(const SolverInterface& solver,
 void SolveSDPwithSecondOrderConeExample2(const SolverInterface& solver,
                                          double tol);
 
-/** Solve an SDP with two PSD constraint, each of the PSD constraint has
- * duplicated entries, and the two PSD matrix share a common variables.
-
+/** Solve an SDP with two PSD constraint, where each PSD constraint has
+ * duplicate entries and the two PSD matrix share a common variables.
  * min 2 * x0 + x2
  * s.t [x0 x1] is psd
  *     [x1 x0]
-
  *     [x0 x2] is psd
  *     [x2 x0]
  *     x1 == 1
- * the optimal solution is x = (1, 1, -1).
+ * The optimal solution will be x = (1, 1, -1).
  */
 void SolveSDPwithOverlappingVariables(const SolverInterface& solver,
                                       double tol);

systems/analysis/bogacki_shampine3_integrator.h

@@ -23,7 +23,7 @@ namespace systems {
  -----------------------------------------------------------------------------
         2/9         1/3      4/9     0
         7/24        1/4      1/3     1/8
-</pre>
+ </pre>
  where the second to last row is the 3rd-order (propagated) solution and
  the last row gives a 2nd-order accurate solution used for error control.