...

1 files changed, 21 insertions, 21 deletions

diff --git a/meowpp/math/LinearTransformations.h b/meowpp/math/LinearTransformations.h
index e882a6c..4bf9a36 100644
--- a/meowpp/math/LinearTransformations.h
+++ b/meowpp/math/LinearTransformations.h
@@ -22,19 +22,19 @@ private:
   struct Myself {
     Vector3D<Scalar> theta_;
     bool              need_;
-    
+
     Myself(): theta_(0, 0, 0), need_(true) {
     }
-    
+
     Myself(Myself const& b): theta_(b.theta_), need_(b.need_) {
     }
-    
+
     ~Myself() {
     }
   };
-  
+
   Self<Myself> const self;
-  
+
   void calcMatrix() const {
     if (self->need_) {
       Matrix<Scalar> tmp(3, 3, 0.0);
@@ -61,27 +61,27 @@ private:
       self()->need_ = false;
     }
   }
-  
+
 public:
   /*!
    * Constructor with no rotation
    */
   Rotation3D(): LinearTransformation<Scalar>(3u, 3u, 3u), self() {
   }
-  
+
   /*!
    * Constructor and copy data
    */
   Rotation3D(Rotation3D const& b): LinearTransformation<Scalar>(b),
   self(b.self, Self<Myself>::COPY_FROM) {
   }
-  
+
   /*!
    * Destructor
    */
   ~Rotation3D() {
   }
-  
+
   /*!
    * @brief Copy data
    *
@@ -93,7 +93,7 @@ public:
     self().copyFrom(b.self);
     return *this;
   }
-  
+
   /*!
    * @brief Reference data
    *
@@ -119,7 +119,7 @@ public:
   Scalar parameter(size_t i, Scalar const& s) {
     return theta(i, s);
   }
-  
+
   /*!
    * @brief Get the \c i -th theta
    *
@@ -131,7 +131,7 @@ public:
   Scalar const& theta(size_t i) const {
     return self->theta_(i);
   }
-  
+
   /*!
    * @brief Set the \c i -th theta
    *
@@ -163,7 +163,7 @@ public:
       theta(i, n(i) * angle);
     }
   }
-  
+
   /*!
    * @brief Concat another rotation transformation
    * @param [in] r another rotation transformation
@@ -174,10 +174,10 @@ public:
     }
     return *this;
   }
-  
+
   /*!
    * @brief Do the transformate
-   
+
    * Assume:
    *  - The input  vector is \f$ (x ,y ,z ) \f$
    *  - The output vector is \f$ (x',y',z') \f$
@@ -214,7 +214,7 @@ public:
     calcMatrix();
     return LinearTransformation<Scalar>::matrix() * x;
   }
-  
+
   /*!
    * @brief Return the jacobian matrix (derivate by the input vector)
    *        of this transformate
@@ -244,7 +244,7 @@ public:
     calcMatrix();
     return LinearTransformation<Scalar>::matrix();
   }
-  
+
   /*!
    * @brief Return the jacobian matrix of this transformate
    *
@@ -344,7 +344,7 @@ public:
   Matrix<Scalar> transformateInv(Matrix<Scalar> const& x) const {
     return matrixInv() * x;
   }
-  
+
   /*!
    * @brief Return the jacobian matrix of the inverse form of this transformate
    *
@@ -354,7 +354,7 @@ public:
   Matrix<Scalar> jacobianInv(Matrix<Scalar> const& x) const {
     return matrixInv();
   }
-  
+
   /*!
    * @brief Return the jacobian matrix of the inverse form of this transformate
    *
@@ -392,13 +392,13 @@ public:
     calcMatrix();
     return LinearTransformation<Scalar>::matrix().transpose();
   }
-  
+
   //! @brief same as \c copyFrom(b)
   Rotation3D& operator=(Rotation3D const& b) {
     return copyFrom(b);
   }
 };
 
-}
+} // meow
 
 #endif // math_LinearTransformations_H__