rapidjson.h: add some file-level doxygen documentation
Although not yet complete, the rapidjson.h header contains most of the customisation macro definitions. These should be documented via Doxygen as well. This requires adding file-level documentation. Some parts are excluded via `@cond` to avoid cluttering the documentation with internals too much. Secondly, a brief description is added to the 'rapidjson' namespace to include the namespace-level elements (enums, typedefs, functions) to the generated documentation.
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