Merge pull request #9 in OSHC/syropod_highlevel_controller from feature/model_comments to master

* commit 'ef5d4f1de9ead671f508c9cba98b124d23c3a6a1':
  Added missing comment for solveIK
  Added missing @param and @return in model header and source
  Updated comments in model header and source

Author: Jayasinghe, Oshada (Data61, Pullenvale)