Remove trailing whitespace for PGTypes

include/walkGenJrl/PGTypes.h

 /*
- * Copyright 2007, 2008, 2009, 2010, 
+ * Copyright 2007, 2008, 2009, 2010,
  *
  * Mehdi    Benallegue
  * Andrei   Herdt
@@ -21,7 +21,7 @@
  * You should have received a copy of the GNU Lesser General Public License
  * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
  *
- *  Research carried out within the scope of the 
+ *  Research carried out within the scope of the
  *  Joint Japanese-French Robotics Laboratory (JRL)
  */
 /*! \file PGTypes.h
@@ -32,11 +32,11 @@
 
 // For Windows compatibility.
 #if defined (WIN32)
-#  ifdef walkGenJrl_EXPORTS 
+#  ifdef walkGenJrl_EXPORTS
 #    define WALK_GEN_JRL_EXPORT __declspec(dllexport)
-#  else  
+#  else
 #    define WALK_GEN_JRL_EXPORT __declspec(dllimport)
-#  endif 
+#  endif
 #else
 #  define WALK_GEN_JRL_EXPORT
 #endif
@@ -47,17 +47,17 @@ namespace PatternGeneratorJRL
 {
   struct COMState_s;
 
-  /// Structure to store the COM position computed by the preview control. 
+  /// Structure to store the COM position computed by the preview control.
   struct WALK_GEN_JRL_EXPORT COMPosition_s
   {
-    double x[3],y[3]; 
-    double z[3];    	
+    double x[3],y[3];
+    double z[3];
     double yaw; // aka theta
     double pitch; // aka omega
-    double roll; // aka hip 
-    
+    double roll; // aka hip
+
     struct COMPosition_s & operator=(const COMState_s &aCS);
-    
+
   };
 
   typedef struct COMPosition_s COMPosition;
@@ -70,58 +70,58 @@ namespace PatternGeneratorJRL
     double yaw[3]; // aka theta
     double pitch[3]; // aka omega
     double roll[3]; // aka hip
-    
+
     struct COMState_s & operator=(const COMPosition_s &aCS);
-      
-    void reset(); 
+
+    void reset();
 
     COMState_s();
   };
 
   typedef struct COMState_s COMState;
-  
-  /** Structure to store each foot position when the user is specifying 
+
+  /** Structure to store each foot position when the user is specifying
       a sequence of relative positions. */
   struct RelativeFootPosition_s
-  { 
+  {
     double sx,sy,theta;
     float SStime;
     float DStime;
     int stepType;     //1:normal walking 2:one step before opbstacle
                       //3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
-    double DeviationHipHeight;      
+    double DeviationHipHeight;
    };
   typedef struct RelativeFootPosition_s RelativeFootPosition;
 
   /** Structure to store each of the ZMP value, with a given
       direction at a certain time. */
   struct ZMPPosition_s
-  { 
+  {
     double px,py,pz;
     double theta;//For COM
     double time;
     int stepType;     //1:normal walking 2:one step before opbstacle
                       //3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
 			//+10 if duoble support phase
-			//*(-1) if right foot stance else left foot stance 
+			//*(-1) if right foot stance else left foot stance
   };
   typedef struct ZMPPosition_s ZMPPosition;
 
   //TODO 0: FootAbsolutePosition_t does not contain the acceleration
   /// Structure to store the absolute foot position.
   struct FootAbsolutePosition_t
-  { 
+  {
     /*! px, py in meters, theta in DEGREES. */
-    double x,y,z, theta, omega, omega2; 
+    double x,y,z, theta, omega, omega2;
     /*! Speed of the foot. */
-    double dx,dy,dz, dtheta, domega, domega2; 
+    double dx,dy,dz, dtheta, domega, domega2;
     /*! Time at which this position should be reached. */
     double time;
     /*! 1:normal walking 2:one step before opbstacle
       3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
       +10 if double support phase
       (-1) if support foot  */
-    int stepType;     
+    int stepType;
   };
   typedef struct FootAbsolutePosition_t FootAbsolutePosition;
 
@@ -134,9 +134,9 @@ namespace PatternGeneratorJRL
     std::vector<int> SimilarConstraints;
     double StartingTime, EndingTime;
   };
-  typedef struct LinearConstraintInequality_s 
+  typedef struct LinearConstraintInequality_s
     LinearConstraintInequality_t;
-  
+
   /// Linear constraints with variable feet placement.
   struct LinearConstraintInequalityFreeFeet_s
   {
@@ -144,7 +144,7 @@ namespace PatternGeneratorJRL
     MAL_MATRIX(Dc,double);
     int StepNumber;
   };
-  typedef struct LinearConstraintInequalityFreeFeet_s 
+  typedef struct LinearConstraintInequalityFreeFeet_s
     LinearConstraintInequalityFreeFeet_t;
 
   //State of the feet on the ground
@@ -153,17 +153,17 @@ namespace PatternGeneratorJRL
     double x,y,theta,StartTime;
     int SupportFoot;
   };
-  typedef struct SupportFeet_s 
+  typedef struct SupportFeet_s
     SupportFeet_t;
 
   /// Structure to store the absolute reference.
   struct ReferenceAbsoluteVelocity_t
-  { 
+  {
     /*! m/sec or degrees/sec */
     double x,y,z, dYaw;
 
     /*! reference values for the whole preview window */
-    MAL_VECTOR(RefVectorX,double);	
+    MAL_VECTOR(RefVectorX,double);
     MAL_VECTOR(RefVectorY,double);
     MAL_VECTOR(RefVectorTheta,double);
   };
@@ -177,6 +177,6 @@ namespace PatternGeneratorJRL
        double TimeLimit;
   };
   typedef struct SupportState_s SupportState_t;
- 
+
 };
 #endif