Improve code style consistency

[Eirik Bøe]

Different code styles are scattered troughout the library

void someFunc() {
  if (somCond) {
  }
}

void someSecondFunc()
{
  if (somCond) {
  }
}

void someThirdFunc() {
  if (somCond)
  {
  }
}

More inline documentation would be nice as well

[Matthew Johnston]

@OptoCloud one solution is to use clang-format to enforce a standard. Although it will cause a lot of churn within the library.