Build and Test

Add `Doxyfile` #2871

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Run time

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Job	Run time
Ubuntu (g++, Debug, ubuntu-20.04)	13m 18s
Ubuntu (g++, Debug, ubuntu-22.04)	6m 29s
Ubuntu (g++, Release, ubuntu-20.04)	5m 21s
Ubuntu (g++, Release, ubuntu-22.04)	4m 25s
Ubuntu (clang++, Debug, ubuntu-20.04)	39m 32s
Ubuntu (clang++, Debug, ubuntu-22.04)	9m 31s
Ubuntu (clang++, Release, ubuntu-20.04)	7m 52s
Ubuntu (clang++, Release, ubuntu-22.04)	8m 3s
	1h 34m 31s