Refactor joint limit clamping logic

Removes detailed, multi-step comments from the documentation of the
`clamp_joint_limits` and `handle_braking_near_position_limit` methods.
These functions' internal workings are complex enough that the previous
verbose description became overly long and hard to parse.

Signed-off-by: Sachin Kumar <sachinkum123567@gmail.com>

Author: sachinkum0009

joint_limits/include/joint_limits/joint_saturation_limiter.hpp

@@ -123,26 +123,6 @@ class JointSaturationLimiter : public JointLimiterInterface<JointLimitsStateData
   /**
    * @brief
    * Clamps the joint limits
-   *
-   * Steps:
-   * 1. if has_desired_position -> has_position_limits -> clamp pos -> update desired_vel_
-   * 2. has_velocity_limits -> if desired_vel not defined -> calc from (desired_pos -
-   * current_position) . dt -> clamp vel -> if has_desired_position -> recalculate desired_pos ->
-   * calc desired_acc from vel
-   * 3. if has_acc_limits || has_dec_limits -> if desired_acc not defined -> cal from (desired_vel -
-   * current_vel) / dt
-   * -> if decelerating -> limit deceleration -> if accelerating -> limit acceleration -> if
-   * limit_applied -> cal desired_vel from current_joint_vel + desried_acceleration . dt -> if
-   * has_desired_positon -> calc desired_pos
-   *
-   * if has_position_limits -> if has_desired_velosity && !has_desired_position -> calc expected_pos
-   * -> clamp pos -> if pos != expected_pos -> expected_pos = pos -> calc desired_vel
-   *
-   * stopping_deccel = desired_vel / dt -> update stopping_deccel based on max_dec or mac_acc -> cal
-   * stopping_distance -> cal stopping_duration -> check if joint limits are beyond stopping_dist
-   * and desired_velocity -> else distance_after_stopping_duration -> recheck if joint limits are
-   * beyond -> update the bracking_near_pos_limit_trigger
-   *
    */
   void clamp_joint_limits(
     const bool has_desired_position, const bool has_desired_velocity,
@@ -155,15 +135,6 @@ class JointSaturationLimiter : public JointLimiterInterface<JointLimitsStateData
   /**
    * @brief
    * Handles the braking near position limit
-   *
-   * Steps:
-   * for every joint -> cal desired_acc -> limit deceleration -> limit acceleration
-   *
-   * if has_desired_velocity -> update desired_vel = current_joint_velocity + desired_acc . dt
-   *
-   * if has_desired_position -> updated desired_pos = current_joint_position +
-   * current_joint_velocities . dt + 0.5 * desired_acc . dt . dt
-   *
    */
   void handle_braking_near_position_limit(
     const std::vector<double> & current_joint_velocities, double dt_seconds,