This removes all EOL whitespace and converts tabs to the numbers of spaces the file author intended (to not screw up indentation).
Feel free to review the stuff and tell me what I did wrong. Test files are next on my list. Missing from the commit is also the actual FrameStore class, which needs a bit more polish, before I add it. The story so far: - ATrans: Affine transform class * as the matrix is not necessarily a rotation matrix, the accessor is probably named wrong * tries to be "compatible" with other matrix classes, but is probalby missing some features in that respect - TreeNode: Generic tree implementation for n-iary trees * could be probably used in other places, where trees with varying number of childs are required, so feel free to take a look if you'd like to generalize it further * it's pretty much optimized for child->parent lookup the other way round is slow, due to the use of single-linked, un-ordered list. - Frame: Named affine transform * Is probably missing some helper methods to beautify rpy assignements etc * The RAPID folks would most likely want to see a vector<string> extras be added * The typical use case would probably benefit from the ability to cache single-rotation-axis updates - FrameTreeNode: Typedef and helpers for a tree of frame-transforms I also added doxygen documenation and added the Geometry module to the Doxyfile. Please revert, if Geometry is not intended to be documented by default.