Diff: MatrixMath_Kinematics.cpp

Revision:

5:93948a9bbde2

Parent:

4:d360c068d55f

Child:

6:aa5e94cddb3f

--- a/MatrixMath_Kinematics.cpp	Sun Oct 30 04:48:15 2011 +0000
+++ b/MatrixMath_Kinematics.cpp	Sun Oct 30 19:21:30 2011 +0000
@@ -1,9 +1,11 @@
 /**
- * @brief  Kinematics Operations
+ * @brief  Simple Kinematics Operations
  * @file   MatrixMath_Kinematics.cpp
- * @author Erneseto Palacios
+ * @author Ernesto Palacios
  *
- *  Develop Under  GPL v3.0 License
+ * Created on september 2011, 09:44 AM.
+ *
+ * Develop Under  GPL v3.0 License
  * http://www.gnu.org/licenses/gpl-3.0.html
  */
 
@@ -20,9 +22,9 @@
     Matrix rotate( 4, 4 );
 
     rotate << 1 << 0  <<  0  << 0
-	       << 0 << cs << -sn << 0
-	       << 0 << sn <<  cs << 0
-	       << 0 << 0  <<  0  << 1;
+           << 0 << cs << -sn << 0
+           << 0 << sn <<  cs << 0
+           << 0 << 0  <<  0  << 1;
 
     return rotate;
 
@@ -36,9 +38,9 @@
     Matrix rotate( 4, 4 );
 
     rotate << cs   << 0   <<  sn  << 0
-	       <<  0   << 1   <<  0   << 0
-	       << -sn  << 0   <<  cs  << 0
-	       <<  0   << 0   <<  0   << 1;
+           <<  0   << 1   <<  0   << 0
+           << -sn  << 0   <<  cs  << 0
+           <<  0   << 0   <<  0   << 1;
 
     return rotate;
 }
@@ -52,8 +54,8 @@
 
     rotate << cs   << -sn  <<  0  << 0
            << sn   <<  cs  <<  0  << 0
-	       <<  0   <<  0   <<  1  << 0
-	       <<  0   <<  0   <<  0  << 1;
+           <<  0   <<  0   <<  1  << 0
+           <<  0   <<  0   <<  0  << 1;
 
     return rotate;
 }
@@ -64,7 +66,7 @@
     Matrix Translation = MatrixMath::Eye( 3 );  //Identity Matrix
     Matrix Position( 4, 1 );                   // Position Matrix
 
-    Position << x << y << z << 1;             // position @ x,y,z
+    Position << x << y << z << 1;            // position @ x,y,z
 
     Matrix::AddRow( Translation, 4 );             // Add Row
     Matrix::AddCol( Translation, Position, 4 );  // Add Position Matrix