Index: /trunk/include/FlairCore/AhrsData.h
===================================================================
--- /trunk/include/FlairCore/AhrsData.h	(revision 12)
+++ /trunk/include/FlairCore/AhrsData.h	(revision 13)
@@ -18,158 +18,172 @@
 #include <Quaternion.h>
 
-namespace flair { namespace core {
+namespace flair {
+namespace core {
 
-    /*! \class AhrsData
-    *
-    * \brief Class defining AHRS datas
-    *
-    * AHRS datas consist of quaternion and rotational angles values. \n
-    *
-    */
-    class AhrsData: public io_data {
-        public:
-            class Type: public DataType {
-            public:
-                Type(const ScalarType &inElementDataType):
-                    elementDataType(inElementDataType) {}
-                const ScalarType  &GetElementDataType() const {return elementDataType;}
-                std::string GetDescription() const {return "ahrs data";}
-                size_t GetSize() const {
-                    return 7*elementDataType.GetSize();
-                }
-            private:
-                const ScalarType &elementDataType;
-            };
+/*! \class AhrsData
+*
+* \brief Class defining AHRS datas
+*
+* AHRS datas consist of quaternion and rotational angles values. \n
+*
+*/
+class AhrsData : public io_data {
+public:
+  class Type : public DataType {
+  public:
+    Type(const ScalarType &inElementDataType)
+        : elementDataType(inElementDataType) {}
+    const ScalarType &GetElementDataType() const { return elementDataType; }
+    std::string GetDescription() const { return "ahrs data"; }
+    size_t GetSize() const { return 7 * elementDataType.GetSize(); }
 
-            /*!
-            \enum PlotableData_t
-            \brief Datas wich can be plotted in a DataPlot1D
-            */
-            typedef enum {
-                Roll/*! roll */, Pitch/*! pitch */, Yaw/*! yaw */,
-                RollDeg/*! roll degree*/, PitchDeg/*! pitch degree */, YawDeg/*! yaw degree */,
-                Q0/*! quaternion 0 */, Q1/*! quaternion 1 */, Q2/*! quaternion 2 */, Q3/*! quaternion 3 */,
-                Wx/*! x filtered angular rate */, Wy/*! y filtered angular rate */, Wz/*! z filtered angular rate */,
-                WxDeg/*! x filtered angular rate degree*/, WyDeg/*! y filtered angular rate degree*/, WzDeg/*! z filtered angular rate degree*/,
-                } PlotableData_t;
+  private:
+    const ScalarType &elementDataType;
+  };
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct an io_data representing AHRS datas. \n
-            *
-            * \param parent parent
-            * \param name name
-            * \param n number of samples
-            */
-            AhrsData(const Object* parent,std::string name="",int n=1);
+  /*!
+  \enum PlotableData_t
+  \brief Datas wich can be plotted in a DataPlot1D
+  */
+  typedef enum {
+    Roll /*! roll */,
+    Pitch /*! pitch */,
+    Yaw /*! yaw */,
+    RollDeg /*! roll degree*/,
+    PitchDeg /*! pitch degree */,
+    YawDeg /*! yaw degree */,
+    Q0 /*! quaternion 0 */,
+    Q1 /*! quaternion 1 */,
+    Q2 /*! quaternion 2 */,
+    Q3 /*! quaternion 3 */,
+    Wx /*! x filtered angular rate */,
+    Wy /*! y filtered angular rate */,
+    Wz /*! z filtered angular rate */,
+    WxDeg /*! x filtered angular rate degree*/,
+    WyDeg /*! y filtered angular rate degree*/,
+    WzDeg /*! z filtered angular rate degree*/,
+  } PlotableData_t;
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~AhrsData();
+  /*!
+  * \brief Constructor
+  *
+  * Construct an io_data representing AHRS datas. \n
+  *
+  * \param parent parent
+  * \param name name
+  * \param n number of samples
+  */
+  AhrsData(const Object *parent, std::string name = "", int n = 1);
 
-            /*!
-            * \brief Element
-            *
-            * Get a pointer to a specific element. This pointer can be used for plotting.
-            *
-            * \param plotableData data type
-            *
-            * \return pointer to the element
-            */
-            IODataElement *Element(PlotableData_t plotableData) const;
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~AhrsData();
 
-            /*!
-            * \brief Set quaternion
-            *
-            * This method is mutex protected.
-            *
-            * \param quaternion quaternion
-            *
-            */
-            void SetQuaternion(const Quaternion &quaternion);
+  /*!
+  * \brief Element
+  *
+  * Get a pointer to a specific element. This pointer can be used for plotting.
+  *
+  * \param plotableData data type
+  *
+  * \return pointer to the element
+  */
+  IODataElement *Element(PlotableData_t plotableData) const;
 
-            /*!
-            * \brief Get quaternion
-            *
-            * This method is mutex protected.
-            *
-            * \return quaternion
-            *
-            */
-            Quaternion GetQuaternion(void) const;
+  /*!
+  * \brief Set quaternion
+  *
+  * This method is mutex protected.
+  *
+  * \param quaternion quaternion
+  *
+  */
+  void SetQuaternion(const Quaternion &quaternion);
 
-            /*!
-            * \brief Set angular rates
-            *
-            * This method is mutex protected.
-            *
-            * \param angularRates angular rates
-            *
-            */
-            void SetAngularRates(const Vector3D &angularRates);
+  /*!
+  * \brief Get quaternion
+  *
+  * This method is mutex protected.
+  *
+  * \return quaternion
+  *
+  */
+  Quaternion GetQuaternion(void) const;
 
-            /*!
-            * \brief Get angular rates
-            *
-            * This method is mutex protected.
-            *
-            * \return angular rates
-            *
-            */
-            Vector3D GetAngularRates(void) const;
+  /*!
+  * \brief Set angular rates
+  *
+  * This method is mutex protected.
+  *
+  * \param angularRates angular rates
+  *
+  */
+  void SetAngularRates(const Vector3D &angularRates);
 
-            /*!
-            * \brief Get both quaternion and angular rates
-            *
-            * This method is mutex protected.
-            *
-            * \param quaternion quaternion
-            * \param angularRates angular rates
-            *
-            */
-            void GetQuaternionAndAngularRates(Quaternion &quaternion,Vector3D &angularRates) const;
+  /*!
+  * \brief Get angular rates
+  *
+  * This method is mutex protected.
+  *
+  * \return angular rates
+  *
+  */
+  Vector3D GetAngularRates(void) const;
 
-            /*!
-            * \brief Set both quaternion and angular rates
-            *
-            * This method is mutex protected.
-            *
-            * \param quaternion quaternion
-            * \param angularRates angular rates
-            *
-            */
-            void SetQuaternionAndAngularRates(const Quaternion &quaternion,const Vector3D &angularRates);
+  /*!
+  * \brief Get both quaternion and angular rates
+  *
+  * This method is mutex protected.
+  *
+  * \param quaternion quaternion
+  * \param angularRates angular rates
+  *
+  */
+  void GetQuaternionAndAngularRates(Quaternion &quaternion,
+                                    Vector3D &angularRates) const;
 
-            const Type &GetDataType() const {return dataType;}
-        private:
-            /*!
-            * \brief Copy datas
-            *
-            * Reimplemented from io_data. \n
-            * See io_data::CopyDatas.
-            *
-            * \param dst destination buffer
-            */
-            void CopyDatas(char *dst) const;
+  /*!
+  * \brief Set both quaternion and angular rates
+  *
+  * This method is mutex protected.
+  *
+  * \param quaternion quaternion
+  * \param angularRates angular rates
+  *
+  */
+  void SetQuaternionAndAngularRates(const Quaternion &quaternion,
+                                    const Vector3D &angularRates);
 
-            void Queue(char **dst,const void *src,size_t size) const;
+  const Type &GetDataType() const { return dataType; }
 
-            /*!
-            * \brief %Quaternion
-            *
-            */
-            Quaternion quaternion;
+private:
+  /*!
+  * \brief Copy datas
+  *
+  * Reimplemented from io_data. \n
+  * See io_data::CopyDatas.
+  *
+  * \param dst destination buffer
+  */
+  void CopyDatas(char *dst) const;
 
-            /*!
-            * \brief Angular rates
-            *
-            */
-            Vector3D angularRates;
+  void Queue(char **dst, const void *src, size_t size) const;
 
-            Type dataType;
-    };
+  /*!
+  * \brief %Quaternion
+  *
+  */
+  Quaternion quaternion;
+
+  /*!
+  * \brief Angular rates
+  *
+  */
+  Vector3D angularRates;
+
+  Type dataType;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Box.h
===================================================================
--- /trunk/include/FlairCore/Box.h	(revision 12)
+++ /trunk/include/FlairCore/Box.h	(revision 13)
@@ -16,91 +16,92 @@
 #include <Widget.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class Layout;
-    class LayoutPosition;
+class Layout;
+class LayoutPosition;
 
-    /*! \class Box
-    *
-    * \brief Abstract class to display a box on the ground station
-    *
-    * This is an abstract class to display boxes (like CheckBox, SpinBox, etc). \n
-    * To access reimplemented box's value, use Box::GetMutex and Box::ReleaseMutex. \n
-    * Note that this mutex is in reality the one from the parent Layout. To minimize memory
-    * footprint, each Box does not have its own Mutex.
-    */
-    class Box: public Widget
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Box. \n
-            * Type must agree with predifined (hard coded) types
-            * in ground station code. \n
-            * The Box will automatically be child of position->getLayout() Layout. After calling this method,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param position position
-            * \param name name
-            * \param type type
-            */
-            Box(const LayoutPosition* position,std::string name,std::string type);
+/*! \class Box
+*
+* \brief Abstract class to display a box on the ground station
+*
+* This is an abstract class to display boxes (like CheckBox, SpinBox, etc). \n
+* To access reimplemented box's value, use Box::GetMutex and Box::ReleaseMutex.
+*\n
+* Note that this mutex is in reality the one from the parent Layout. To minimize
+*memory
+* footprint, each Box does not have its own Mutex.
+*/
+class Box : public Widget {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Box. \n
+  * Type must agree with predifined (hard coded) types
+  * in ground station code. \n
+  * The Box will automatically be child of position->getLayout() Layout. After
+  *calling this method,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param position position
+  * \param name name
+  * \param type type
+  */
+  Box(const LayoutPosition *position, std::string name, std::string type);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Box();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Box();
 
-            /*!
-            * \brief Has the value changed since last call?
-            *
-            * This method returns the value of an internal flag
-            * which is set through SetValueChanged(). \n
-            * After calling this method, the internal flag is
-            * set to false.
-            *
-            * \return true is valued has changed since last call
-            */
-            bool ValueChanged(void);
+  /*!
+  * \brief Has the value changed since last call?
+  *
+  * This method returns the value of an internal flag
+  * which is set through SetValueChanged(). \n
+  * After calling this method, the internal flag is
+  * set to false.
+  *
+  * \return true is valued has changed since last call
+  */
+  bool ValueChanged(void);
 
-        protected:
-            /*!
-            * \brief Set the value changed flag
-            *
-            * The reimplemented class must call this method when Box's value is changed. \n
-            * This method must be called with Mutex locked. Indeed, as reimplemented class
-            * also has to lock the Mutex to change the Box value, this mecanism avoid two successives
-            * lock and unlock.
-            *
-            */
-            void SetValueChanged(void);
+protected:
+  /*!
+  * \brief Set the value changed flag
+  *
+  * The reimplemented class must call this method when Box's value is changed.
+  *\n
+  * This method must be called with Mutex locked. Indeed, as reimplemented class
+  * also has to lock the Mutex to change the Box value, this mecanism avoid two
+  *successives
+  * lock and unlock.
+  *
+  */
+  void SetValueChanged(void);
 
-            /*!
-            * \brief Get Mutex
-            *
-            * This method must be called before changing Box's value or
-            * calling SetValueChanged().
-            *
-            */
-            void GetMutex(void) const;
+  /*!
+  * \brief Get Mutex
+  *
+  * This method must be called before changing Box's value or
+  * calling SetValueChanged().
+  *
+  */
+  void GetMutex(void) const;
 
-            /*!
-            * \brief Release Mutex
-            *
-             * This method must be called after changing Box's value or
-            *  calling SetValueChanged().
-            *
-            */
-            void ReleaseMutex(void) const;
+  /*!
+  * \brief Release Mutex
+  *
+   * This method must be called after changing Box's value or
+  *  calling SetValueChanged().
+  *
+  */
+  void ReleaseMutex(void) const;
 
-
-        private:
-            bool value_changed;
-    };
+private:
+  bool value_changed;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/CheckBox.h
===================================================================
--- /trunk/include/FlairCore/CheckBox.h	(revision 12)
+++ /trunk/include/FlairCore/CheckBox.h	(revision 13)
@@ -16,61 +16,59 @@
 #include <Box.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class CheckBox
-    *
-    * \brief Class displaying a QCheckBox on the ground station
-    *
-    */
-    class CheckBox: public Box
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QCheckBox at given position.
-            *
-            * \param position position to display the QCheckBox
-            * \param name name
-            * \param default_value default value if not in the xml config file
-            */
-            CheckBox(const LayoutPosition* position,std::string name,bool default_value=true);
+/*! \class CheckBox
+*
+* \brief Class displaying a QCheckBox on the ground station
+*
+*/
+class CheckBox : public Box {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QCheckBox at given position.
+  *
+  * \param position position to display the QCheckBox
+  * \param name name
+  * \param default_value default value if not in the xml config file
+  */
+  CheckBox(const LayoutPosition *position, std::string name,
+           bool default_value = true);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~CheckBox();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~CheckBox();
 
-            /*!
-            * \brief Is checked?
-            *
-            * \return true if checked
-            */
-            bool IsChecked(void) const;
+  /*!
+  * \brief Is checked?
+  *
+  * \return true if checked
+  */
+  bool IsChecked(void) const;
 
-            /*!
-            * \brief Value
-            *
-            * \return 1 if checked, 0 otherwise
-            */
-            int Value(void) const;
+  /*!
+  * \brief Value
+  *
+  * \return 1 if checked, 0 otherwise
+  */
+  int Value(void) const;
 
-        private:
-            /*!
-            * \brief XmlEvent from ground station
-            *
-            * Reimplemented from Widget.
-            *
-            */
-            void XmlEvent(void);
+private:
+  /*!
+  * \brief XmlEvent from ground station
+  *
+  * Reimplemented from Widget.
+  *
+  */
+  void XmlEvent(void);
 
-            bool box_value;
-    };
+  bool box_value;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/ComboBox.h
===================================================================
--- /trunk/include/FlairCore/ComboBox.h	(revision 12)
+++ /trunk/include/FlairCore/ComboBox.h	(revision 13)
@@ -16,64 +16,61 @@
 #include <Box.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class ComboBox
-    *
-    * \brief Class displaying a QComboBox on the ground station
-    *
-    */
-    class ComboBox: public Box
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QComboBox at given position.
-            *
-            * \param position position to display the QComboBox
-            * \param name name
-            */
-            ComboBox(const LayoutPosition* position,std::string name);
+/*! \class ComboBox
+*
+* \brief Class displaying a QComboBox on the ground station
+*
+*/
+class ComboBox : public Box {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QComboBox at given position.
+  *
+  * \param position position to display the QComboBox
+  * \param name name
+  */
+  ComboBox(const LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~ComboBox();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~ComboBox();
 
-             /*!
-            * \brief Add an item
-            *
-            * Add an item to the end of the list.
-            *
-            * \param name item nam
-            */
-            void AddItem(std::string name);
+  /*!
+ * \brief Add an item
+ *
+ * Add an item to the end of the list.
+ *
+ * \param name item nam
+ */
+  void AddItem(std::string name);
 
-            /*!
-            * \brief Currend index
-            *
-            * Index of the currently selected item. Items are numbered starting to 0.
-            *
-            * \return index number
-            */
-            int CurrentIndex(void) const;
+  /*!
+  * \brief Currend index
+  *
+  * Index of the currently selected item. Items are numbered starting to 0.
+  *
+  * \return index number
+  */
+  int CurrentIndex(void) const;
 
-        private:
-            /*!
-            * \brief XmlEvent from ground station
-            *
-            * Reimplemented from Widget.
-            *
-            */
-            void XmlEvent(void);
+private:
+  /*!
+  * \brief XmlEvent from ground station
+  *
+  * Reimplemented from Widget.
+  *
+  */
+  void XmlEvent(void);
 
-            int box_value;
-    };
+  int box_value;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/ConditionVariable.h
===================================================================
--- /trunk/include/FlairCore/ConditionVariable.h	(revision 12)
+++ /trunk/include/FlairCore/ConditionVariable.h	(revision 13)
@@ -18,69 +18,75 @@
 class ConditionVariable_impl;
 
-namespace flair
-{
-namespace core
-{
+namespace flair {
+namespace core {
 
-    /*! \class ConditionVariable
-    *
-    * \brief Class defining a condition variable
-    *
-    */
+/*! \class ConditionVariable
+*
+* \brief Class defining a condition variable
+*
+*/
 
-    class ConditionVariable: public Mutex
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a condition variable with its associated mutex.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            ConditionVariable(const Object* parent,std::string name);
+class ConditionVariable : public Mutex {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a condition variable with its associated mutex.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  ConditionVariable(const Object *parent, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~ConditionVariable();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~ConditionVariable();
 
-            /*!
-            * \brief Block on the condition variable
-            *
-            * This method must be called with mutex locked (see Mutex::GetMutex) by the calling thread or undefined behaviour will result. \n
-            * It atomically releases mutex and causes the calling thread to block on the condition variable. \n
-            * Only one thread can be blocked at the same time. \n
-            * Upon successful return, the mutex has been locked and is owned by the calling thread which should unlock it (see Mutex::ReleaseMutex).
-            */
-            void CondWait(void);
+  /*!
+  * \brief Block on the condition variable
+  *
+  * This method must be called with mutex locked (see Mutex::GetMutex) by the
+  *calling thread or undefined behaviour will result. \n
+  * It atomically releases mutex and causes the calling thread to block on the
+  *condition variable. \n
+  * Only one thread can be blocked at the same time. \n
+  * Upon successful return, the mutex has been locked and is owned by the
+  *calling thread which should unlock it (see Mutex::ReleaseMutex).
+  */
+  void CondWait(void);
 
-            /*!
-            * \brief Block on the condition variable with a timeout
-            *
-            * This method must be called with mutex locked (see Mutex::GetMutex) by the calling thread or undefined behaviour will result. \n
-            * It atomically releases mutex and causes the calling thread to block on the condition variable. \n
-            * Only one thread can be blocked at the same time. \n
-            * Upon successful return, the mutex has been locked and is owned by the calling thread which should unlock it (see Mutex::ReleaseMutex).
-            *
-            * \param date absolute date
-            * \return true if the condition variable is signaled before the date specified in parameter elapses, false otherwise
-            */
-            bool CondWaitUntil(Time date);
+  /*!
+  * \brief Block on the condition variable with a timeout
+  *
+  * This method must be called with mutex locked (see Mutex::GetMutex) by the
+  *calling thread or undefined behaviour will result. \n
+  * It atomically releases mutex and causes the calling thread to block on the
+  *condition variable. \n
+  * Only one thread can be blocked at the same time. \n
+  * Upon successful return, the mutex has been locked and is owned by the
+  *calling thread which should unlock it (see Mutex::ReleaseMutex).
+  *
+  * \param date absolute date
+  * \return true if the condition variable is signaled before the date specified
+  *in parameter elapses, false otherwise
+  */
+  bool CondWaitUntil(Time date);
 
-            /*!
-            * \brief Unblock threads blocked on the condition variable
-            *
-            * This method should be called with mutex locked (see Mutex::GetMutex) by the calling thread. \n
-            * In this case, upon return, the calling thread should unlock the mutex (see Mutex::ReleaseMutex).
-            *
-            */
-            void CondSignal(void);
+  /*!
+  * \brief Unblock threads blocked on the condition variable
+  *
+  * This method should be called with mutex locked (see Mutex::GetMutex) by the
+  *calling thread. \n
+  * In this case, upon return, the calling thread should unlock the mutex (see
+  *Mutex::ReleaseMutex).
+  *
+  */
+  void CondSignal(void);
 
-        private:
-            class ConditionVariable_impl* pimpl_;
-    };
+private:
+  class ConditionVariable_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/ConnectedSocket.h
===================================================================
--- /trunk/include/FlairCore/ConnectedSocket.h	(revision 12)
+++ /trunk/include/FlairCore/ConnectedSocket.h	(revision 13)
@@ -16,89 +16,93 @@
 #include <Object.h>
 
-namespace flair
-{
-namespace core
-{
+namespace flair {
+namespace core {
 
-    /*! \class ConnectedSocket
-    *
-    * \brief Interface class encapsulating a connected socket. Preserves packets order and guaranty delivery.
-    *
-    */
-    class ConnectedSocket: public Object {
-    public:
-        /*!
-        * \brief Constructor
-        *
-        */
-        ConnectedSocket(const Object* parent,const std::string name);
+/*! \class ConnectedSocket
+*
+* \brief Interface class encapsulating a connected socket. Preserves packets
+*order and guaranty delivery.
+*
+*/
+class ConnectedSocket : public Object {
+public:
+  /*!
+  * \brief Constructor
+  *
+  */
+  ConnectedSocket(const Object *parent, const std::string name);
 
-        /*!
-        * \brief Destructor
-        *
-        */
-        ~ConnectedSocket();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~ConnectedSocket();
 
-        /*!
-        * \brief Returns a socket which listens on a specific port/address
-        *
-        * \param const Object* parentObject
-        * \param const string name
-        * \param unsigned int port
-        * \param const localAddress (defaults to any)
-        */
-        virtual void Listen(const unsigned int port,const std::string localAddress="ANY")=0;
+  /*!
+  * \brief Returns a socket which listens on a specific port/address
+  *
+  * \param const Object* parentObject
+  * \param const string name
+  * \param unsigned int port
+  * \param const localAddress (defaults to any)
+  */
+  virtual void Listen(const unsigned int port,
+                      const std::string localAddress = "ANY") = 0;
 
-        /*!
-        * \brief Returns a socket on a new incoming connexion
-        *
-        * \param ConnectedSocket &listeningSocket
-        */
-        virtual ConnectedSocket *Accept(Time timeout)=0; //should throw an exception if not a listening socket
+  /*!
+  * \brief Returns a socket on a new incoming connexion
+  *
+  * \param ConnectedSocket &listeningSocket
+  */
+  virtual ConnectedSocket *Accept(
+      Time timeout) = 0; // should throw an exception if not a listening socket
 
-        /*!
-        * \brief Returns a socket connected to a distant host
-        *
-        * \param const Object* parentObject
-        * \param const string name
-        * \param unsigned int port
-        * \param const distantAddress
-        * \param timeout timeout (in milliseconds)
-        */
-        virtual bool Connect(const unsigned int port,const std::string distantAddress,Time timeout)=0;
+  /*!
+  * \brief Returns a socket connected to a distant host
+  *
+  * \param const Object* parentObject
+  * \param const string name
+  * \param unsigned int port
+  * \param const distantAddress
+  * \param timeout timeout (in milliseconds)
+  */
+  virtual bool Connect(const unsigned int port,
+                       const std::string distantAddress, Time timeout) = 0;
 
-        /*!
-        * \brief Send a message
-        *
-        * \param message message
-        * \param message_len message length
-        * \param timeout timeout (in milliseconds)
-        */
-        virtual ssize_t SendMessage(const char* message,size_t message_len,Time timeout)=0;
+  /*!
+  * \brief Send a message
+  *
+  * \param message message
+  * \param message_len message length
+  * \param timeout timeout (in milliseconds)
+  */
+  virtual ssize_t SendMessage(const char *message, size_t message_len,
+                              Time timeout) = 0;
 
-        /*!
-        * \brief Receive a message
-        *
-        * Receive a message and wait up to timeout. \n
-        *
-        * \param buf buffer to put the message
-        * \param buf_len buffer length
-        * \param timeout timeout (in milliseconds)
-        *
-        * \return size of the received message
-        */
-        virtual ssize_t RecvMessage(char* buf,size_t buf_len,Time timeout)=0;
+  /*!
+  * \brief Receive a message
+  *
+  * Receive a message and wait up to timeout. \n
+  *
+  * \param buf buffer to put the message
+  * \param buf_len buffer length
+  * \param timeout timeout (in milliseconds)
+  *
+  * \return size of the received message
+  */
+  virtual ssize_t RecvMessage(char *buf, size_t buf_len, Time timeout) = 0;
 
-        std::string ReadString(const size_t &stringLength, Time timeout);
-        uint16_t ReadUInt16(Time const& timeout);
-        void WriteUInt16(uint16_t const& data,Time const& timeout);
-        uint32_t ReadUInt32(Time const& timeout);
-        void WriteUInt32(uint32_t const& data,Time const& timeout);
+  std::string ReadString(const size_t &stringLength, Time timeout);
+  uint16_t ReadUInt16(Time const &timeout);
+  void WriteUInt16(uint16_t const &data, Time const &timeout);
+  uint32_t ReadUInt32(Time const &timeout);
+  void WriteUInt32(uint32_t const &data, Time const &timeout);
 
-        //!! See Socket.h for a more generic implementation of network/host endianness conversion
-        virtual uint16_t NetworkToHost16(uint16_t data)=0;
-        virtual uint16_t HostToNetwork16(uint16_t data)=0;
-        virtual uint32_t NetworkToHost32(uint32_t data)=0;
-        virtual uint32_t HostToNetwork32(uint32_t data)=0;
+  //!! See Socket.h for a more generic implementation of network/host endianness
+  // conversion
+  virtual uint16_t NetworkToHost16(uint16_t data) = 0;
+  virtual uint16_t HostToNetwork16(uint16_t data) = 0;
+  virtual uint32_t NetworkToHost32(uint32_t data) = 0;
+  virtual uint32_t HostToNetwork32(uint32_t data) = 0;
 };
 
Index: /trunk/include/FlairCore/DataPlot.h
===================================================================
--- /trunk/include/FlairCore/DataPlot.h	(revision 12)
+++ /trunk/include/FlairCore/DataPlot.h	(revision 13)
@@ -18,98 +18,93 @@
 class DataPlot_impl;
 
-namespace flair
-{
-    namespace core
-    {
-        class IODataElement;
-    }
+namespace flair {
+namespace core {
+class IODataElement;
 }
-namespace flair
-{
-namespace gui
-{
-    class LayoutPosition;
+}
+namespace flair {
+namespace gui {
+class LayoutPosition;
 
-    /*! \class DataPlot
-    *
-    * \brief Abstract class to display plots on ground station
-    *
-    */
-    class DataPlot: public SendData
-    {
-        public:
-            /*!
-            \enum Color_t
-            \brief Types of colors
-            */
-            typedef enum {
-                Red/*! red  */,
-                Blue/*! blue  */,
-                Green/*! green  */,
-                Yellow/*! yellow  */,
-                Black/*! black  */,
-                White/*! white  */,
-                } Color_t;
+/*! \class DataPlot
+*
+* \brief Abstract class to display plots on ground station
+*
+*/
+class DataPlot : public SendData {
+public:
+  /*!
+  \enum Color_t
+  \brief Types of colors
+  */
+  typedef enum {
+    Red /*! red  */,
+    Blue /*! blue  */,
+    Green /*! green  */,
+    Yellow /*! yellow  */,
+    Black /*! black  */,
+    White /*! white  */,
+  } Color_t;
 
-            /*!
-            * \brief Constructor
-            *
-            * Type must agree with predifined (hard coded) types
-            * in ground station code. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            * The DataPlot will automatically be child of position->getLayout() Layout.
-            *
-            * \param position position
-            * \param name nom
-            * \param type type
-            */
-            DataPlot(const LayoutPosition* position,std::string name,std::string type);
+  /*!
+  * \brief Constructor
+  *
+  * Type must agree with predifined (hard coded) types
+  * in ground station code. After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  * The DataPlot will automatically be child of position->getLayout() Layout.
+  *
+  * \param position position
+  * \param name nom
+  * \param type type
+  */
+  DataPlot(const LayoutPosition *position, std::string name, std::string type);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~DataPlot();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~DataPlot();
 
-        protected:
-            /*!
-            * \brief Add an IODataElement to the plot.
-            *
-            * This method registers element for sending.
-            *
-            * \param element element to plot
-            */
-            void AddDataToSend(const core::IODataElement *element);
+protected:
+  /*!
+  * \brief Add an IODataElement to the plot.
+  *
+  * This method registers element for sending.
+  *
+  * \param element element to plot
+  */
+  void AddDataToSend(const core::IODataElement *element);
 
-        private:
-            /*!
-            * \brief Copy datas to specified buffer
-            *
-            * Reimplemented from SendData.
-            *
-            * \param buf output buffer
-            */
-            void CopyDatas(char* buf) const;
+private:
+  /*!
+  * \brief Copy datas to specified buffer
+  *
+  * Reimplemented from SendData.
+  *
+  * \param buf output buffer
+  */
+  void CopyDatas(char *buf) const;
 
-            /*!
-            * \brief Extra Xml event
-            *
-            * Reimplemented from SendData.
-            */
-            void ExtraXmlEvent(void){};
+  /*!
+  * \brief Extra Xml event
+  *
+  * Reimplemented from SendData.
+  */
+  void ExtraXmlEvent(void){};
 
-            class DataPlot_impl* pimpl_;
-    };
+  class DataPlot_impl *pimpl_;
+};
 
-    /*!
-    * \brief Get RGB components from color type
-    *
-    *
-    * \param color input color
-    * \param r output component
-    * \param g output component
-    * \param b output component
-    */
-    void RGBFromColor(DataPlot::Color_t color,uint8_t &r,uint8_t &g,uint8_t &b);
+/*!
+* \brief Get RGB components from color type
+*
+*
+* \param color input color
+* \param r output component
+* \param g output component
+* \param b output component
+*/
+void RGBFromColor(DataPlot::Color_t color, uint8_t &r, uint8_t &g, uint8_t &b);
 
 } // end namespace gui
Index: /trunk/include/FlairCore/DataPlot1D.h
===================================================================
--- /trunk/include/FlairCore/DataPlot1D.h	(revision 12)
+++ /trunk/include/FlairCore/DataPlot1D.h	(revision 13)
@@ -17,66 +17,67 @@
 #include <stdint.h>
 
-namespace flair
-{
-namespace core
-{
-    class IODataElement;
+namespace flair {
+namespace core {
+class IODataElement;
 }
 
-namespace gui
-{
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class DataPlot1D
-    *
-    * \brief Class displaying a 1D plot on the ground station
-    *
-    */
-    class DataPlot1D: private DataPlot
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a 1D plot at given position.
-            *
-            * \param position position to display the plot
-            * \param name name
-            * \param ymin default ymin of the plot
-            * \param ymax default ymax of the plot
-            */
-            DataPlot1D(const LayoutPosition* position,std::string name,float ymin,float ymax);
+/*! \class DataPlot1D
+*
+* \brief Class displaying a 1D plot on the ground station
+*
+*/
+class DataPlot1D : private DataPlot {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a 1D plot at given position.
+  *
+  * \param position position to display the plot
+  * \param name name
+  * \param ymin default ymin of the plot
+  * \param ymax default ymax of the plot
+  */
+  DataPlot1D(const LayoutPosition *position, std::string name, float ymin,
+             float ymax);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~DataPlot1D();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~DataPlot1D();
 
-            /*!
-            * \brief Add a curve from an IODataElement to the plot.
-            *
-            * Curve's color can be selected by its name.
-            *
-            * \param element element to plot
-            * \param color color of the curve
-            * \param curve_name name of the curve for the legend, if unspecified, element->ObjectName() will be used
-            */
-            void AddCurve(const core::IODataElement* element,Color_t color,std::string curve_name="");
+  /*!
+  * \brief Add a curve from an IODataElement to the plot.
+  *
+  * Curve's color can be selected by its name.
+  *
+  * \param element element to plot
+  * \param color color of the curve
+  * \param curve_name name of the curve for the legend, if unspecified,
+  *element->ObjectName() will be used
+  */
+  void AddCurve(const core::IODataElement *element, Color_t color,
+                std::string curve_name = "");
 
-            /*!
-            * \brief Add a curve from an IODataElement to the plot.
-            *
-            * Curve's color can be selected by its RGB components.
-            *
-            * \param element element to plot
-            * \param r red component of the curve
-            * \param g green component of the curve
-            * \param b blue component of the curve
-            * \param curve_name name of the curve for the legend, if unspecified, element->ObjectName() will be used
-            */
-            void AddCurve(const core::IODataElement* element,uint8_t r=255,uint8_t g=0,uint8_t b=0,std::string curve_name="");
-    };
+  /*!
+  * \brief Add a curve from an IODataElement to the plot.
+  *
+  * Curve's color can be selected by its RGB components.
+  *
+  * \param element element to plot
+  * \param r red component of the curve
+  * \param g green component of the curve
+  * \param b blue component of the curve
+  * \param curve_name name of the curve for the legend, if unspecified,
+  *element->ObjectName() will be used
+  */
+  void AddCurve(const core::IODataElement *element, uint8_t r = 255,
+                uint8_t g = 0, uint8_t b = 0, std::string curve_name = "");
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/DataPlot2D.h
===================================================================
--- /trunk/include/FlairCore/DataPlot2D.h	(revision 12)
+++ /trunk/include/FlairCore/DataPlot2D.h	(revision 13)
@@ -17,74 +17,75 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class IODataElement;
-    }
+namespace flair {
+namespace core {
+class IODataElement;
 }
-namespace flair
-{
-namespace gui
-{
+}
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class DataPlot2D
-    *
-    * \brief Class displaying a 2D plot on the ground station
-    *
-    */
-    class DataPlot2D: private DataPlot
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a 2D plot at given place position.
-            *
-            * \param position position to display the plot
-            * \param name name
-            * \param x_name name of x axis
-            * \param xmin default xmin of the plot
-            * \param xmax default xmax of the plot
-            * \param y_name name of y axis
-            * \param ymin default ymin of the plot
-            * \param ymax default ymax of the plot
-            */
-            DataPlot2D(const LayoutPosition* position,std::string name,std::string x_name,float xmin,float xmax,std::string y_name,float ymin,float ymax);
+/*! \class DataPlot2D
+*
+* \brief Class displaying a 2D plot on the ground station
+*
+*/
+class DataPlot2D : private DataPlot {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a 2D plot at given place position.
+  *
+  * \param position position to display the plot
+  * \param name name
+  * \param x_name name of x axis
+  * \param xmin default xmin of the plot
+  * \param xmax default xmax of the plot
+  * \param y_name name of y axis
+  * \param ymin default ymin of the plot
+  * \param ymax default ymax of the plot
+  */
+  DataPlot2D(const LayoutPosition *position, std::string name,
+             std::string x_name, float xmin, float xmax, std::string y_name,
+             float ymin, float ymax);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~DataPlot2D();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~DataPlot2D();
 
-            /*!
-            * \brief Add a curve from elements to the plot.
-            *
-            * Curve's color can be selected by its name.
-            *
-            * \param x_element element to plot for x coordinate
-            * \param y_element element to plot for y coordinate
-            * \param color color of the curve
-            * \param curve_name name of the curve ofr the legend
-            */
-            void AddCurve(const core::IODataElement* x_element,const core::IODataElement* y_element,Color_t color,std::string curve_name="");
+  /*!
+  * \brief Add a curve from elements to the plot.
+  *
+  * Curve's color can be selected by its name.
+  *
+  * \param x_element element to plot for x coordinate
+  * \param y_element element to plot for y coordinate
+  * \param color color of the curve
+  * \param curve_name name of the curve ofr the legend
+  */
+  void AddCurve(const core::IODataElement *x_element,
+                const core::IODataElement *y_element, Color_t color,
+                std::string curve_name = "");
 
-            /*!
-            * \brief Add a curve from elements to the plot.
-            *
-            * Curve's color can be selected by its RGB components.
-            *
-            * \param x_element element to plot for x coordinate
-            * \param y_element element to plot for y coordinate
-            * \param r red component of the curve
-            * \param g green component of the curve
-            * \param b blue component of the curve
-            * \param curve_name name of the curve ofr the legend
-            */
-            void AddCurve(const core::IODataElement* x_element,const core::IODataElement* y_element,uint8_t r=255,uint8_t g=0,uint8_t b=0,std::string curve_name="");
-    };
+  /*!
+  * \brief Add a curve from elements to the plot.
+  *
+  * Curve's color can be selected by its RGB components.
+  *
+  * \param x_element element to plot for x coordinate
+  * \param y_element element to plot for y coordinate
+  * \param r red component of the curve
+  * \param g green component of the curve
+  * \param b blue component of the curve
+  * \param curve_name name of the curve ofr the legend
+  */
+  void AddCurve(const core::IODataElement *x_element,
+                const core::IODataElement *y_element, uint8_t r = 255,
+                uint8_t g = 0, uint8_t b = 0, std::string curve_name = "");
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/DoubleSpinBox.h
===================================================================
--- /trunk/include/FlairCore/DoubleSpinBox.h	(revision 12)
+++ /trunk/include/FlairCore/DoubleSpinBox.h	(revision 13)
@@ -16,76 +16,77 @@
 #include <Box.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class Layout;
+class Layout;
 
-    /*! \class DoubleSpinBox
-    *
-    * \brief Class displaying a QDoubleSpinBox on the ground station
-    *
-    */
-    class DoubleSpinBox: public Box
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QDoubleSpinBox at given position. \n
-            * The QDoubleSpinBox is saturated to min and max values.
-            *
-            * \param position position to display the QDoubleSpinBox
-            * \param name name
-            * \param min minimum value
-            * \param max maximum value
-            * \param step step
-            * \param decimals number of decimals
-            * \param default_value default value if not in the xml config file
-            */
-            DoubleSpinBox(const LayoutPosition* position,std::string name,double min,double max,double step,int decimals=2,double default_value=0);
+/*! \class DoubleSpinBox
+*
+* \brief Class displaying a QDoubleSpinBox on the ground station
+*
+*/
+class DoubleSpinBox : public Box {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QDoubleSpinBox at given position. \n
+  * The QDoubleSpinBox is saturated to min and max values.
+  *
+  * \param position position to display the QDoubleSpinBox
+  * \param name name
+  * \param min minimum value
+  * \param max maximum value
+  * \param step step
+  * \param decimals number of decimals
+  * \param default_value default value if not in the xml config file
+  */
+  DoubleSpinBox(const LayoutPosition *position, std::string name, double min,
+                double max, double step, int decimals = 2,
+                double default_value = 0);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QDoubleSpinBox at given position. \n
-            * The QDoubleSpinBox is saturated to min and max values.
-            *
-            * \param position position to display the QDoubleSpinBox
-            * \param name name
-            * \param suffix suffix for the value (eg unit)
-            * \param min minimum value
-            * \param max maximum value
-            * \param step step
-            * \param decimals number of decimals
-            * \param default_value default value if not in the xml config file
-            */
-            DoubleSpinBox(const LayoutPosition* position,std::string name,std::string suffix,double min,double max,double step,int decimals=2,double default_value=0);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QDoubleSpinBox at given position. \n
+  * The QDoubleSpinBox is saturated to min and max values.
+  *
+  * \param position position to display the QDoubleSpinBox
+  * \param name name
+  * \param suffix suffix for the value (eg unit)
+  * \param min minimum value
+  * \param max maximum value
+  * \param step step
+  * \param decimals number of decimals
+  * \param default_value default value if not in the xml config file
+  */
+  DoubleSpinBox(const LayoutPosition *position, std::string name,
+                std::string suffix, double min, double max, double step,
+                int decimals = 2, double default_value = 0);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~DoubleSpinBox();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~DoubleSpinBox();
 
-            /*!
-            * \brief Value
-            *
-            * \return value
-            */
-            double Value(void) const;
+  /*!
+  * \brief Value
+  *
+  * \return value
+  */
+  double Value(void) const;
 
-        private:
-            /*!
-            * \brief XmlEvent from ground station
-            *
-            * Reimplemented from Widget.
-            *
-            */
-            void XmlEvent(void);
+private:
+  /*!
+  * \brief XmlEvent from ground station
+  *
+  * Reimplemented from Widget.
+  *
+  */
+  void XmlEvent(void);
 
-            double box_value;
-    };
+  double box_value;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Euler.h
===================================================================
--- /trunk/include/FlairCore/Euler.h	(revision 12)
+++ /trunk/include/FlairCore/Euler.h	(revision 13)
@@ -14,136 +14,136 @@
 #define EULER_H
 
-namespace flair { namespace core {
-    class Quaternion;
+namespace flair {
+namespace core {
+class Quaternion;
 
-    /*! \class Euler
-    *
-    * \brief Class defining euler angles
-    *
-    * Euler angles are expressed in radians.
-    *
-    */
-    class Euler {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct euler angles using specified values.
-            *
-            * \param roll roll value
-            * \param pitch pitch value
-            * \param yaw yaw value
-            */
-            Euler(float roll=0,float pitch=0,float yaw=0);
+/*! \class Euler
+*
+* \brief Class defining euler angles
+*
+* Euler angles are expressed in radians.
+*
+*/
+class Euler {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct euler angles using specified values.
+  *
+  * \param roll roll value
+  * \param pitch pitch value
+  * \param yaw yaw value
+  */
+  Euler(float roll = 0, float pitch = 0, float yaw = 0);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Euler();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Euler();
 
-            /*!
-            * \brief x axis rotation
-            *
-            * \param value rotation value in radians
-            */
-            //todo: passer par un quaternion
-            //void RotateX(float value);
+  /*!
+  * \brief x axis rotation
+  *
+  * \param value rotation value in radians
+  */
+  // todo: passer par un quaternion
+  // void RotateX(float value);
 
-            /*!
-            * \brief x axis rotation
-            *
-            * \param value rotation value in degrees
-            */
-            //void RotateXDeg(float value);
+  /*!
+  * \brief x axis rotation
+  *
+  * \param value rotation value in degrees
+  */
+  // void RotateXDeg(float value);
 
-            /*!
-            * \brief y axis rotation
-            *
-            * \param value rotation value in radians
-            */
-            //void RotateY(float value);
+  /*!
+  * \brief y axis rotation
+  *
+  * \param value rotation value in radians
+  */
+  // void RotateY(float value);
 
-            /*!
-            * \brief y axis rotation
-            *
-            * \param value rotation value in degrees
-            */
-            //void RotateYDeg(float value);
+  /*!
+  * \brief y axis rotation
+  *
+  * \param value rotation value in degrees
+  */
+  // void RotateYDeg(float value);
 
-            /*!
-            * \brief z axis rotation
-            *
-            * \param value rotation value in radians
-            */
-            //void RotateZ(float value);
+  /*!
+  * \brief z axis rotation
+  *
+  * \param value rotation value in radians
+  */
+  // void RotateZ(float value);
 
-            /*!
-            * \brief z axis rotation
-            *
-            * \param value rotation value in degrees
-            */
-            //void RotateZDeg(float value);
+  /*!
+  * \brief z axis rotation
+  *
+  * \param value rotation value in degrees
+  */
+  // void RotateZDeg(float value);
 
-            /*!
-            * \brief Convert to quaternion
-            *
-            * \param quaternion output quaternion
-            */
-            void ToQuaternion(Quaternion &quaternion) const;
+  /*!
+  * \brief Convert to quaternion
+  *
+  * \param quaternion output quaternion
+  */
+  void ToQuaternion(Quaternion &quaternion) const;
 
-            /*!
-            * \brief Convert to quaternion
-            *
-            * \return quaternion
-            */
-            Quaternion ToQuaternion(void) const;
-            /*!
-            * \brief Convert from radian to degree
-            *
-            * \param radianValue value in radian
-            *
-            * \return value in degree
-            */
-            static float ToDegree(float radianValue);
+  /*!
+  * \brief Convert to quaternion
+  *
+  * \return quaternion
+  */
+  Quaternion ToQuaternion(void) const;
+  /*!
+  * \brief Convert from radian to degree
+  *
+  * \param radianValue value in radian
+  *
+  * \return value in degree
+  */
+  static float ToDegree(float radianValue);
 
-            /*!
-            * \brief Convert from degree to radian
-            *
-            * \param degreeValue value in degree
-            *
-            * \return value in radian
-            */
-            static float ToRadian(float degreeValue);
+  /*!
+  * \brief Convert from degree to radian
+  *
+  * \param degreeValue value in degree
+  *
+  * \return value in radian
+  */
+  static float ToRadian(float degreeValue);
 
-            /*!
-            * \brief Compute yaw distance
-            *
-            * Compute yaw distance from given angle. This is the minimum distance.
-            *
-            * \param angle starting angle
-            *
-            * \return value distance in radian
-            */
-            float YawDistanceFrom(float angle) const;
+  /*!
+  * \brief Compute yaw distance
+  *
+  * Compute yaw distance from given angle. This is the minimum distance.
+  *
+  * \param angle starting angle
+  *
+  * \return value distance in radian
+  */
+  float YawDistanceFrom(float angle) const;
 
-            /*!
-            * \brief roll value
-            */
-            float roll;
+  /*!
+  * \brief roll value
+  */
+  float roll;
 
-            /*!
-            * \brief pitch value
-            */
-            float pitch;
+  /*!
+  * \brief pitch value
+  */
+  float pitch;
 
-            /*!
-            * \brief yaw value
-            */
-            float yaw;
+  /*!
+  * \brief yaw value
+  */
+  float yaw;
 
-            Euler& operator=(const Euler &euler);
-
-    };
+  Euler &operator=(const Euler &euler);
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/FrameworkManager.h
===================================================================
--- /trunk/include/FlairCore/FrameworkManager.h	(revision 12)
+++ /trunk/include/FlairCore/FrameworkManager.h	(revision 13)
@@ -18,202 +18,209 @@
 class FrameworkManager_impl;
 
-namespace flair
-{
-    namespace gui
-    {
-        class TabWidget;
-        class SendData;
-    }
+namespace flair {
+namespace gui {
+class TabWidget;
+class SendData;
 }
-namespace flair
-{
-namespace core
-{
-    class IODevice;
-
-    /*! \class FrameworkManager
-    *
-    * \brief Main class of the Framework library
-    *
-    * This is the main class of the library. Only one instance of this class is allowed
-    * by program. Morevoer, its name must be unique if more than one program using this class
-    * is running on the same system (a control and a simlator for example). \n
-    * This class allows: \n
-    * -connexion with ground station, \n
-    * -creation of a QTabWidget on ground station, \n
-    * -handling of xml files, used for default values of Widgets, \n
-    * -logging of datas.
-    */
-    class FrameworkManager: public Object
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a FrameworkManager. \n
-            * Call SetupConnection method just after this constructor to setup the conection with a ground station.
-            *
-            * \param name name, must be unique
-            */
-            FrameworkManager(std::string name);
-
-            /*!
-            * \brief Destructor
-            *
-            * Calling it will automatically destruct all childs. \n
-            * Destruction implies destruction of the QTabWidget on ground station.
-            *
-            */
-            ~FrameworkManager();
-
-            /*!
-            * \brief Setup the connection with ground station
-            *
-            * Call this method just after the constructor of this class. If this method is not called, the program will run headless.
-            *
-            * \param address address of ground station
-            * \param port port of ground station
-            * \param rcv_buf_size receive buffer size
-            */
-            void SetupConnection(std::string address,uint16_t port,size_t rcv_buf_size=10000);
-
-            /*!
-            * \brief Setup the user interface
-            *
-            * If this method is called after SetupConnection, Widgets will be displayed in the ground station.
-            * Otherwise, it will run headless, but default values of Widgets will be taken from the xml file.
-            *
-            * \param xml_file xml file for default values of Widgets
-            */
-            void SetupUserInterface(std::string xml_file);
-
-            /*!
-            * \brief Get TabWidget
-            *
-            * \return TabWidget
-            */
-            gui::TabWidget* GetTabWidget(void) const;
-
-            /*!
-            * \brief Logger setup
-            *
-            * Setup path of log files. \n
-            * No logging will be performed if this method is not called. \n
-            *
-            * \param log_path path to store logs
-            */
-            void SetupLogger(std::string log_path);
-
-            /*!
-            * \brief Add log element
-            *
-            * The added element will be automatically logged once
-            * logging started (see StartLog()). \n
-            * This element must define on its side the io_data
-            * to log, trough IODevice::SetDataToLog method.
-            *
-            * \param device IODevice to add
-            */
-            void AddDeviceToLog(IODevice *device);
-
-            /*!
-            * \brief Start logging
-            *
-            * All IODevice added through AddDeviceToLog() method
-            * will automatically be logged. \n
-            * SetupLogger() must have been called before.
-            */
-            void StartLog(void);
-
-            /*!
-            * \brief Stop logging
-            *
-            * Logs will automatically be sent to ground station.
-            */
-            void StopLog(void);
-
-            /*!
-            * \brief Is logging?
-            *
-            * \return true if is logging
-            */
-            bool IsLogging(void) const;
-
-            /*!
-            * \brief Notify that SendData's period has changed
-            *
-            * This funtion must be called when the period has changed. \n
-            * Normally, it occurs in the Widget::XmlEvent method. \n
-            * This method must be called with communication blocked (see BlockCom()).
-            *
-            * \param obj SendData which changed
-            */
-            void UpdateSendData(const gui::SendData *obj);
-
-            /*!
-            * \brief Block communication
-            *
-            * This funtion blocks the communication beetween the program and ground station. \n
-            * It must be called before changing datas or parameters exchanged between the program
-            * and the ground station.
-            *
-            */
-            void BlockCom(void);
-
-             /*!
-            * \brief Unblock communication
-            *
-            * This funtion unblocks the communication beetween the program and ground station. \n
-            * It must be called after changing datas or parameters exchanged between the program
-            * and the ground station.
-            *
-            */
-            void UnBlockCom(void);
-
-            /*!
-            * \brief Is connection lost?
-            *
-            * Once this method returns true, it will never return false back. \n
-            * Note that this method return false if no connection is defined (see SetupConnection).
-            *
-            * \return true if connection with ground station is lost
-            */
-            bool ConnectionLost(void) const;
-
-            /*!
-            * \brief Disable errors display
-            *
-            * Disable errors display, if you do not want to saturate console for exemple.
-            * By defaults errors disply is enabled.
-            *
-            * \param value true to disable errors display
-            */
-            void DisableErrorsDisplay(bool value);
-
-            /*!
-            * \brief Is displaying errors?
-            *
-            *
-            * \return true if errors display is enabled
-            */
-            bool IsDisplayingErrors(void) const;
-
-        private:
-            class FrameworkManager_impl* pimpl_;
-    };
-
-    /*!
-    * \brief get FrameworkManager
-    *
-    * \return the FrameworkManager
-    */
-    FrameworkManager* getFrameworkManager(void);
-
-    /*!
-    * \brief is big endian?
-    *
-    * \return true if big endian, false if little endian
-    */
-    bool IsBigEndian(void);
+}
+namespace flair {
+namespace core {
+class IODevice;
+
+/*! \class FrameworkManager
+*
+* \brief Main class of the Framework library
+*
+* This is the main class of the library. Only one instance of this class is
+*allowed
+* by program. Morevoer, its name must be unique if more than one program using
+*this class
+* is running on the same system (a control and a simlator for example). \n
+* This class allows: \n
+* -connexion with ground station, \n
+* -creation of a QTabWidget on ground station, \n
+* -handling of xml files, used for default values of Widgets, \n
+* -logging of datas.
+*/
+class FrameworkManager : public Object {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a FrameworkManager. \n
+  * Call SetupConnection method just after this constructor to setup the
+  *conection with a ground station.
+  *
+  * \param name name, must be unique
+  */
+  FrameworkManager(std::string name);
+
+  /*!
+  * \brief Destructor
+  *
+  * Calling it will automatically destruct all childs. \n
+  * Destruction implies destruction of the QTabWidget on ground station.
+  *
+  */
+  ~FrameworkManager();
+
+  /*!
+  * \brief Setup the connection with ground station
+  *
+  * Call this method just after the constructor of this class. If this method is
+  *not called, the program will run headless.
+  *
+  * \param address address of ground station
+  * \param port port of ground station
+  * \param rcv_buf_size receive buffer size
+  */
+  void SetupConnection(std::string address, uint16_t port,
+                       size_t rcv_buf_size = 10000);
+
+  /*!
+  * \brief Setup the user interface
+  *
+  * If this method is called after SetupConnection, Widgets will be displayed in
+  *the ground station.
+  * Otherwise, it will run headless, but default values of Widgets will be taken
+  *from the xml file.
+  *
+  * \param xml_file xml file for default values of Widgets
+  */
+  void SetupUserInterface(std::string xml_file);
+
+  /*!
+  * \brief Get TabWidget
+  *
+  * \return TabWidget
+  */
+  gui::TabWidget *GetTabWidget(void) const;
+
+  /*!
+  * \brief Logger setup
+  *
+  * Setup path of log files. \n
+  * No logging will be performed if this method is not called. \n
+  *
+  * \param log_path path to store logs
+  */
+  void SetupLogger(std::string log_path);
+
+  /*!
+  * \brief Add log element
+  *
+  * The added element will be automatically logged once
+  * logging started (see StartLog()). \n
+  * This element must define on its side the io_data
+  * to log, trough IODevice::SetDataToLog method.
+  *
+  * \param device IODevice to add
+  */
+  void AddDeviceToLog(IODevice *device);
+
+  /*!
+  * \brief Start logging
+  *
+  * All IODevice added through AddDeviceToLog() method
+  * will automatically be logged. \n
+  * SetupLogger() must have been called before.
+  */
+  void StartLog(void);
+
+  /*!
+  * \brief Stop logging
+  *
+  * Logs will automatically be sent to ground station.
+  */
+  void StopLog(void);
+
+  /*!
+  * \brief Is logging?
+  *
+  * \return true if is logging
+  */
+  bool IsLogging(void) const;
+
+  /*!
+  * \brief Notify that SendData's period has changed
+  *
+  * This funtion must be called when the period has changed. \n
+  * Normally, it occurs in the Widget::XmlEvent method. \n
+  * This method must be called with communication blocked (see BlockCom()).
+  *
+  * \param obj SendData which changed
+  */
+  void UpdateSendData(const gui::SendData *obj);
+
+  /*!
+  * \brief Block communication
+  *
+  * This funtion blocks the communication beetween the program and ground
+  *station. \n
+  * It must be called before changing datas or parameters exchanged between the
+  *program
+  * and the ground station.
+  *
+  */
+  void BlockCom(void);
+
+  /*!
+ * \brief Unblock communication
+ *
+ * This funtion unblocks the communication beetween the program and ground
+ *station. \n
+ * It must be called after changing datas or parameters exchanged between the
+ *program
+ * and the ground station.
+ *
+ */
+  void UnBlockCom(void);
+
+  /*!
+  * \brief Is connection lost?
+  *
+  * Once this method returns true, it will never return false back. \n
+  * Note that this method return false if no connection is defined (see
+  *SetupConnection).
+  *
+  * \return true if connection with ground station is lost
+  */
+  bool ConnectionLost(void) const;
+
+  /*!
+  * \brief Disable errors display
+  *
+  * Disable errors display, if you do not want to saturate console for exemple.
+  * By defaults errors disply is enabled.
+  *
+  * \param value true to disable errors display
+  */
+  void DisableErrorsDisplay(bool value);
+
+  /*!
+  * \brief Is displaying errors?
+  *
+  *
+  * \return true if errors display is enabled
+  */
+  bool IsDisplayingErrors(void) const;
+
+private:
+  class FrameworkManager_impl *pimpl_;
+};
+
+/*!
+* \brief get FrameworkManager
+*
+* \return the FrameworkManager
+*/
+FrameworkManager *getFrameworkManager(void);
+
+/*!
+* \brief is big endian?
+*
+* \return true if big endian, false if little endian
+*/
+bool IsBigEndian(void);
 
 } // end namespace core
Index: /trunk/include/FlairCore/GeoCoordinate.h
===================================================================
--- /trunk/include/FlairCore/GeoCoordinate.h	(revision 12)
+++ /trunk/include/FlairCore/GeoCoordinate.h	(revision 13)
@@ -15,94 +15,99 @@
 #include <io_data.h>
 
-namespace flair { namespace core {
+namespace flair {
+namespace core {
 
-    /*! \class GeoCoordinate
-    *
-    * \brief Class defining a point by its lla coordinates
-    */
-    class GeoCoordinate: public io_data {
-        public:
-            class Type: public DataType {
-            public:
-                size_t GetSize() const {
-                    return sizeof(latitude)+sizeof(longitude)+sizeof(altitude);
-                }
-                std::string GetDescription() const {return "lla";}
-            };
+/*! \class GeoCoordinate
+*
+* \brief Class defining a point by its lla coordinates
+*/
+class GeoCoordinate : public io_data {
+public:
+  class Type : public DataType {
+  public:
+    size_t GetSize() const {
+      return sizeof(latitude) + sizeof(longitude) + sizeof(altitude);
+    }
+    std::string GetDescription() const { return "lla"; }
+  };
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct GeoCoordinate using values from another class.
-            *
-            * \param parent parent
-            * \param name name
-            * \param point class to copy
-            * \param n number of samples
-            */
-            GeoCoordinate(const Object* parent,std::string name,const GeoCoordinate *point,int n=1);
+  /*!
+  * \brief Constructor
+  *
+  * Construct GeoCoordinate using values from another class.
+  *
+  * \param parent parent
+  * \param name name
+  * \param point class to copy
+  * \param n number of samples
+  */
+  GeoCoordinate(const Object *parent, std::string name,
+                const GeoCoordinate *point, int n = 1);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct GeoCoordinate using specified values.
-            *
-            * \param parent parent
-            * \param name name
-            * \param latitude latitude
-            * \param longitude longitude
-            * \param altitude altitude
-            * \param n number of samples
-            */
-            GeoCoordinate(const Object* parent,std::string name,double latitude,double longitude,double altitude,int n=1);
+  /*!
+  * \brief Constructor
+  *
+  * Construct GeoCoordinate using specified values.
+  *
+  * \param parent parent
+  * \param name name
+  * \param latitude latitude
+  * \param longitude longitude
+  * \param altitude altitude
+  * \param n number of samples
+  */
+  GeoCoordinate(const Object *parent, std::string name, double latitude,
+                double longitude, double altitude, int n = 1);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~GeoCoordinate();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~GeoCoordinate();
 
-            /*!
-            * \brief Copy
-            *
-            * \param point class to copy
-            */
-            void CopyFrom(const GeoCoordinate *point);
+  /*!
+  * \brief Copy
+  *
+  * \param point class to copy
+  */
+  void CopyFrom(const GeoCoordinate *point);
 
-            /*!
-            * \brief Set coordinates
-            *
-            * \param latitude latitude
-            * \param longitude longitude
-            * \param altitude altitude
-            */
-            void SetCoordinates(double latitude,double longitude,double altitude);
+  /*!
+  * \brief Set coordinates
+  *
+  * \param latitude latitude
+  * \param longitude longitude
+  * \param altitude altitude
+  */
+  void SetCoordinates(double latitude, double longitude, double altitude);
 
-            /*!
-            * \brief Get coordinates
-            *
-            * \param latitude latitude
-            * \param longitude longitude
-            * \param altitude altitude
-            */
-            void GetCoordinates(double *latitude,double *longitude,double *altitude) const;
+  /*!
+  * \brief Get coordinates
+  *
+  * \param latitude latitude
+  * \param longitude longitude
+  * \param altitude altitude
+  */
+  void GetCoordinates(double *latitude, double *longitude,
+                      double *altitude) const;
 
-            Type const &GetDataType() const {return dataType;}
-        private:
-            /*!
-            * \brief Copy datas
-            *
-            * Reimplemented from io_data. \n
-            * See io_data::CopyDatas.
-            *
-            * \param dst destination buffer
-            */
-            void CopyDatas(char* ptr) const;
+  Type const &GetDataType() const { return dataType; }
 
-            double latitude;
-            double longitude;
-            double altitude;
-            Type dataType;
-    };
+private:
+  /*!
+  * \brief Copy datas
+  *
+  * Reimplemented from io_data. \n
+  * See io_data::CopyDatas.
+  *
+  * \param dst destination buffer
+  */
+  void CopyDatas(char *ptr) const;
+
+  double latitude;
+  double longitude;
+  double altitude;
+  Type dataType;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/GridLayout.h
===================================================================
--- /trunk/include/FlairCore/GridLayout.h	(revision 12)
+++ /trunk/include/FlairCore/GridLayout.h	(revision 13)
@@ -16,39 +16,37 @@
 #include <Layout.h>
 
-namespace flair
-{
-namespace gui
-{
-    class LayoutPosition;
+namespace flair {
+namespace gui {
+class LayoutPosition;
 
-    /*! \class GridLayout
-    *
-    * \brief Class displaying a QGridLayout on the ground station
-    *
-    */
-    class GridLayout: public Layout
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QCheckBox at given position. \n
-            * The GridLayout will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param parent parent
-            * \param name name
+/*! \class GridLayout
+*
+* \brief Class displaying a QGridLayout on the ground station
+*
+*/
+class GridLayout : public Layout {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QCheckBox at given position. \n
+  * The GridLayout will automatically be child of position->getLayout() Layout.
+  After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param parent parent
+  * \param name name
 
-            */
-            GridLayout(const LayoutPosition* position,std::string name);
+  */
+  GridLayout(const LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~GridLayout();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~GridLayout();
 
-        private:
-    };
+private:
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/GroupBox.h
===================================================================
--- /trunk/include/FlairCore/GroupBox.h	(revision 12)
+++ /trunk/include/FlairCore/GroupBox.h	(revision 13)
@@ -16,38 +16,36 @@
 #include <Layout.h>
 
-namespace flair
-{
-namespace gui
-{
-    class LayoutPosition;
+namespace flair {
+namespace gui {
+class LayoutPosition;
 
-    /*! \class GroupBox
-    *
-    * \brief Class displaying a QGroupBox on the ground station
-    *
-    */
-    class GroupBox: public Layout
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QGroupBox at given position. \n
-            * The GroupBox will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param position position
-            * \param name name
-            */
-            GroupBox(const LayoutPosition* position,std::string name);
+/*! \class GroupBox
+*
+* \brief Class displaying a QGroupBox on the ground station
+*
+*/
+class GroupBox : public Layout {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QGroupBox at given position. \n
+  * The GroupBox will automatically be child of position->getLayout() Layout.
+  *After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param position position
+  * \param name name
+  */
+  GroupBox(const LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~GroupBox();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~GroupBox();
 
-        private:
-    };
+private:
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/I2cPort.h
===================================================================
--- /trunk/include/FlairCore/I2cPort.h	(revision 12)
+++ /trunk/include/FlairCore/I2cPort.h	(revision 13)
@@ -17,84 +17,81 @@
 #include <stdint.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class I2cPort
-    *
-    * \brief Base class for i2c port
-    *
-    * This class has a Mutex which must be used to protect access to the port in case
-    * that more than one Thread is using it. Lock the Mutex before any communication (including SetSlave)
-    * and release it after communication.
-    */
-    class I2cPort: public Mutex
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an i2c port.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            I2cPort(const Object* parent,std::string name): Mutex(parent,name)
-            {}
+namespace flair {
+namespace core {
+/*! \class I2cPort
+*
+* \brief Base class for i2c port
+*
+* This class has a Mutex which must be used to protect access to the port in
+*case
+* that more than one Thread is using it. Lock the Mutex before any communication
+*(including SetSlave)
+* and release it after communication.
+*/
+class I2cPort : public Mutex {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an i2c port.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  I2cPort(const Object *parent, std::string name) : Mutex(parent, name) {}
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~I2cPort(){};
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~I2cPort(){};
 
-            /*!
-            * \brief Set slave's address
-            *
-            * This function need to be called before any communication.
-            *
-            * \param address slave's address
-            */
-            virtual int SetSlave(uint16_t address)=0;
+  /*!
+  * \brief Set slave's address
+  *
+  * This function need to be called before any communication.
+  *
+  * \param address slave's address
+  */
+  virtual int SetSlave(uint16_t address) = 0;
 
-            /*!
-            * \brief Write datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of written datas
-            */
-            virtual ssize_t Write(const void *buf,size_t nbyte)=0;
+  /*!
+  * \brief Write datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of written datas
+  */
+  virtual ssize_t Write(const void *buf, size_t nbyte) = 0;
 
-            /*!
-            * \brief Read datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of read datas
-            */
-            virtual ssize_t Read(void *buf,size_t nbyte)=0;
+  /*!
+  * \brief Read datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of read datas
+  */
+  virtual ssize_t Read(void *buf, size_t nbyte) = 0;
 
-            /*!
-            * \brief Set RX timeout
-            *
-            * Timeout for waiting an ACK from the slave.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            virtual void SetRxTimeout(Time timeout_ns)=0;
+  /*!
+  * \brief Set RX timeout
+  *
+  * Timeout for waiting an ACK from the slave.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  virtual void SetRxTimeout(Time timeout_ns) = 0;
 
-            /*!
-            * \brief Set TX timeout
-            *
-            * Timeout for waiting an ACK from the slave.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            virtual void SetTxTimeout(Time timeout_ns)=0;
-
-    };
+  /*!
+  * \brief Set TX timeout
+  *
+  * Timeout for waiting an ACK from the slave.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  virtual void SetTxTimeout(Time timeout_ns) = 0;
+};
 } // end namespace core
 } // end namespace framework
Index: /trunk/include/FlairCore/IODataElement.h
===================================================================
--- /trunk/include/FlairCore/IODataElement.h	(revision 12)
+++ /trunk/include/FlairCore/IODataElement.h	(revision 13)
@@ -16,46 +16,42 @@
 #include "io_data.h"
 
-namespace flair { namespace core {
+namespace flair {
+namespace core {
 
-    class DataType;
+class DataType;
 
-    /*! \class IODataElement
-    *
-    * \brief Abstract class for accessing an element of an io_data.
-    */
-    class IODataElement: public Object
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an IODataElement. \n
-            *
-            */
-            IODataElement(const io_data* parent,std::string name): Object(parent,name)
-            {
-                this->parent=parent;
-            }
-            size_t Size() const
-            {
-                return size;
-            }
+/*! \class IODataElement
+*
+* \brief Abstract class for accessing an element of an io_data.
+*/
+class IODataElement : public Object {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an IODataElement. \n
+  *
+  */
+  IODataElement(const io_data *parent, std::string name)
+      : Object(parent, name) {
+    this->parent = parent;
+  }
+  size_t Size() const { return size; }
 
-            virtual void CopyData(char* dst) const=0;
+  virtual void CopyData(char *dst) const = 0;
 
-            /*!
-            * \brief DataType
-            *
-            * \return type of data
-            */
-            virtual DataType const &GetDataType(void) const=0;
+  /*!
+  * \brief DataType
+  *
+  * \return type of data
+  */
+  virtual DataType const &GetDataType(void) const = 0;
 
-        protected:
-            size_t size;
+protected:
+  size_t size;
 
-        private:
-            const io_data* parent;
-
-    };
+private:
+  const io_data *parent;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/IODevice.h
===================================================================
--- /trunk/include/FlairCore/IODevice.h	(revision 12)
+++ /trunk/include/FlairCore/IODevice.h	(revision 13)
@@ -20,120 +20,131 @@
 class FrameworkManager_impl;
 
-namespace flair { namespace core {
+namespace flair {
+namespace core {
 
-    class io_data;
-    class DataType;
+class io_data;
+class DataType;
 
-    /*! \class IODevice
-    *
-    * \brief Abstract class for input/ouput system
-    *
-    * An input/output system is generally used to describe a sensor, an actuator or a filter. \n
-    * These systems can be linked (for exemple a sensor with a filter), when an IODevice
-    * is created with a parent of type IODevice.
-    * In this case, an update of the parent's data will call an update
-    * of the child's data (for exemple when a sensor gets new datas, a filter is automatically called). \n
-    * Output of this object can also be sent to a shared memory using the OutputToShMem method; in order to use it with an
-    * external program.
-    */
-    class IODevice: public Object {
-        friend class ::IODevice_impl;
-        friend class ::Thread_impl;
-        friend class ::FrameworkManager_impl;
+/*! \class IODevice
+*
+* \brief Abstract class for input/ouput system
+*
+* An input/output system is generally used to describe a sensor, an actuator or
+*a filter. \n
+* These systems can be linked (for exemple a sensor with a filter), when an
+*IODevice
+* is created with a parent of type IODevice.
+* In this case, an update of the parent's data will call an update
+* of the child's data (for exemple when a sensor gets new datas, a filter is
+*automatically called). \n
+* Output of this object can also be sent to a shared memory using the
+*OutputToShMem method; in order to use it with an
+* external program.
+*/
+class IODevice : public Object {
+  friend class ::IODevice_impl;
+  friend class ::Thread_impl;
+  friend class ::FrameworkManager_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an IODevice of Object's type "IODevice" (see Object::ObjectType). \n
-            * If parent's Object::ObjectType is also "IODevice", this IODevice will be linked to its parent
-            * (see ProcessUpdate()).
-            *
-            * \param parent parent
-            * \param name name
-            */
-            IODevice(const Object* parent,std::string name);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an IODevice of Object's type "IODevice" (see Object::ObjectType).
+  *\n
+  * If parent's Object::ObjectType is also "IODevice", this IODevice will be
+  *linked to its parent
+  * (see ProcessUpdate()).
+  *
+  * \param parent parent
+  * \param name name
+  */
+  IODevice(const Object *parent, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            virtual ~IODevice();
+  /*!
+  * \brief Destructor
+  *
+  */
+  virtual ~IODevice();
 
-            /*!
-            * \brief Add an IODevice to the logs
-            *
-            * The IODevice will be automatically logged among this IODevice logs,
-            * if logging is enabled (see SetDataToLog(), FrameworkManager::StartLog
-            * and FrameworkManager::AddDeviceToLog). \n
-            * Logging happens when ProcessUpdate() is called. \n
-            * Note that when an IODevice is just added for logs (ie. no parent/child
-            * link between the two IODevice),
-            * UpdateFrom() is not automatically called.
-            *
-            * \param device IODevice to log
-            */
-            void AddDeviceToLog(const IODevice* device);
+  /*!
+  * \brief Add an IODevice to the logs
+  *
+  * The IODevice will be automatically logged among this IODevice logs,
+  * if logging is enabled (see SetDataToLog(), FrameworkManager::StartLog
+  * and FrameworkManager::AddDeviceToLog). \n
+  * Logging happens when ProcessUpdate() is called. \n
+  * Note that when an IODevice is just added for logs (ie. no parent/child
+  * link between the two IODevice),
+  * UpdateFrom() is not automatically called.
+  *
+  * \param device IODevice to log
+  */
+  void AddDeviceToLog(const IODevice *device);
 
-            /*!
-            * \brief Add an io_data to the log
-            *
-            * The io_data will be automatically logged if enabled (see FrameworkManager::StartLog
-            * and FrameworkManager::AddDeviceToLog),
-            * during call to ProcessUpdate().
-            *
-            * \param data data to log
-            */
-            void AddDataToLog(const io_data* data);
+  /*!
+  * \brief Add an io_data to the log
+  *
+  * The io_data will be automatically logged if enabled (see
+  *FrameworkManager::StartLog
+  * and FrameworkManager::AddDeviceToLog),
+  * during call to ProcessUpdate().
+  *
+  * \param data data to log
+  */
+  void AddDataToLog(const io_data *data);
 
-            /*!
-            * \brief Send the output to a shared memory
-            *
-            * Use this method to output log datas to a shared memory.
-            * This can be usefull to get datas from an external progam. \n
-            * Output happens when ProcessUpdate() is called. \n
-            * The name and the structure of the shared memory will be displayed when
-            * this method is called with true as argument. \n
-            * By default it is not enabled.
-            *
-            *
-            * \param enabled true to enable the output, false otherwise
-            */
-            void OutputToShMem(bool enabled);
+  /*!
+  * \brief Send the output to a shared memory
+  *
+  * Use this method to output log datas to a shared memory.
+  * This can be usefull to get datas from an external progam. \n
+  * Output happens when ProcessUpdate() is called. \n
+  * The name and the structure of the shared memory will be displayed when
+  * this method is called with true as argument. \n
+  * By default it is not enabled.
+  *
+  *
+  * \param enabled true to enable the output, false otherwise
+  */
+  void OutputToShMem(bool enabled);
 
-            //TODO: these 2 method should be pure virtual
-            virtual DataType const &GetInputDataType() const;
-            virtual DataType const &GetOutputDataType() const;
+  // TODO: these 2 method should be pure virtual
+  virtual DataType const &GetInputDataType() const;
+  virtual DataType const &GetOutputDataType() const;
 
-        protected:
-            /*!
-            * \brief Process the childs of type IODevice, and log if needed
-            *
-            * This method must be called after computing datas;
-            * generally at the end of the reimplemented UpdateFrom or after acquiring datas in case of a sensor. \n
-            * It will call UpdateFrom methods of each child of type IODevice,
-            * and log all datas (this IODevice and its childs)
-            * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
-            * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
-            * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be resumed.
-            *
-            * \param data data to process
-            */
-            void ProcessUpdate(io_data* data);
+protected:
+  /*!
+  * \brief Process the childs of type IODevice, and log if needed
+  *
+  * This method must be called after computing datas;
+  * generally at the end of the reimplemented UpdateFrom or after acquiring
+  *datas in case of a sensor. \n
+  * It will call UpdateFrom methods of each child of type IODevice,
+  * and log all datas (this IODevice and its childs)
+  * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
+  * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
+  * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be
+  *resumed.
+  *
+  * \param data data to process
+  */
+  void ProcessUpdate(io_data *data);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * This method is automatically called by ProcessUpdate()
-            * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
-            * This method must be reimplemented, in order to process the data from the parent.
-            *
-            * \param data data from the parent to process
-            */
-            virtual void UpdateFrom(const io_data *data)=0;
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * This method is automatically called by ProcessUpdate()
+  * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
+  * This method must be reimplemented, in order to process the data from the
+  *parent.
+  *
+  * \param data data from the parent to process
+  */
+  virtual void UpdateFrom(const io_data *data) = 0;
 
-            class IODevice_impl* pimpl_;
-    };
+  class IODevice_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/ImuData.h
===================================================================
--- /trunk/include/FlairCore/ImuData.h	(revision 12)
+++ /trunk/include/FlairCore/ImuData.h	(revision 13)
@@ -17,190 +17,203 @@
 #include <Vector3D.h>
 
-namespace flair { namespace core {
-
-    /*! \class ImuData
-    *
-    * \brief Class defining IMU datas
-    *
-    * IMU (inertial measurement unit) datas consist of raw accelerometer values, raw gyrometer values
-    * and raw magnetometer values.
-    *
-    */
-    class ImuData: public io_data {
-        public:
-            class Type: public DataType {
-            public:
-                Type(ScalarType const &_elementDataType):
-                    elementDataType(_elementDataType){}
-                ScalarType const &GetElementDataType() const {return elementDataType;}
-                std::string GetDescription() const {return "imu data";}
-                size_t GetSize() const {
-                    size_t size=0;
-                    size+=3*elementDataType.GetSize();//RawAcc
-                    size+=3*elementDataType.GetSize();//RawGyr
-                    size+=3*elementDataType.GetSize();//RawMag
-                    return size;
-                }
-            private:
-                ScalarType const &elementDataType;
-            };
-
-            /*!
-            \enum PlotableData_t
-            \brief Datas wich can be plotted in a DataPlot1D
-            */
-            typedef enum {
-                RawAx/*! x raw accelerometer */, RawAy/*! y raw accelerometer */ ,RawAz/*! z raw accelerometer */,
-                RawGx/*! x raw gyrometer */,RawGy/*! y raw gyrometer */,RawGz/*! z raw gyrometer */,
-                RawGxDeg/*! x raw gyrometer degree */,RawGyDeg/*! y raw gyrometer degree */,RawGzDeg/*! z raw gyrometer degree */,
-                RawMx/*! x raw magnetometer */,RawMy/*! y raw magnetometer */,RawMz/*! z raw magnetometer */
-                } PlotableData_t;
-
-            /*!
-            * \brief Constructor
-            *
-            * Construct an io_data representing IMU datas. \n
-            *
-            * \param parent parent
-            * \param name name
-            * \param n number of samples
-            */
-            ImuData(const Object* parent,std::string name="",int n=1);
-
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~ImuData();
-
-            /*!
-            * \brief Element
-            *
-            * Get a pointer to a specific element. This pointer can be used for plotting.
-            *
-            * \param data_type data type
-            *
-            * \return pointer to the element
-            */
-            IODataElement* Element(PlotableData_t data_type) const;
-
-            /*!
-            * \brief Get raw accelerations
-            *
-            * This method is mutex protected.
-            *
-            * \return raw accelerations
-            *
-            */
-            Vector3D GetRawAcc(void) const;
-
-            /*!
-            * \brief Get raw magnetometers
-            *
-            * This method is mutex protected.
-            *
-            * \return raw magnetometers
-            *
-            */
-            Vector3D GetRawMag(void) const;
-
-            /*!
-            * \brief Get raw angular speed
-            *
-            * This method is mutex protected.
-            *
-            * \return raw angular speed
-            *
-            */
-            Vector3D GetRawGyr(void) const;
-
-            /*!
-            * \brief Get raw accelerations, magnetometers and angular speeds
-            *
-            * This method is mutex protected.
-            *
-            * \param rawAcc raw accelerations
-            * \param rawMag raw magnetometers
-            * \param rawGyr raw angular speeds
-            *
-            */
-            void GetRawAccMagAndGyr(Vector3D &rawAcc,Vector3D &rawMag,Vector3D &rawGyr) const;
-
-            /*!
-            * \brief Set raw accelerations
-            *
-            * This method is mutex protected.
-            *
-            * \param raw accelerations
-            *
-            */
-            void SetRawAcc(const Vector3D &rawAcc);
-
-            /*!
-            * \brief Set raw magnetometers
-            *
-            * This method is mutex protected.
-            *
-            * \param raw magnetometers
-            *
-            */
-            void SetRawMag(const Vector3D &rawMag);
-
-            /*!
-            * \brief Set raw angular speed
-            *
-            * This method is mutex protected.
-            *
-            * \param raw angular speed
-            *
-            */
-            void SetRawGyr(const Vector3D &rawGyr);
-
-            /*!
-            * \brief Set raw accelerations, magnetometers and angular speeds
-            *
-            * This method is mutex protected.
-            *
-            * \param rawAcc raw accelerations
-            * \param rawMag raw magnetometers
-            * \param rawGyr raw angular speeds
-            *
-            */
-            void SetRawAccMagAndGyr(const Vector3D &rawAcc,const Vector3D &rawMag,const Vector3D &rawGyr);
-
-            Type const&GetDataType() const {return dataType;}
-        private:
-            /*!
-            * \brief Copy datas
-            *
-            * Reimplemented from io_data. \n
-            * See io_data::CopyDatas.
-            *
-            * \param dst destination buffer
-            */
-            void CopyDatas(char* dst) const;
-
-            /*!
-            * \brief Raw accelerometer
-            *
-            */
-            Vector3D rawAcc;
-
-            /*!
-            * \brief Raw gyrometer
-            *
-            */
-            Vector3D rawGyr;
-
-            /*!
-            * \brief Raw magnetometer
-            *
-            */
-            Vector3D rawMag;
-
-            void Queue(char** dst,const void *src,size_t size) const;
-            Type dataType;
-
-    };
+namespace flair {
+namespace core {
+
+/*! \class ImuData
+*
+* \brief Class defining IMU datas
+*
+* IMU (inertial measurement unit) datas consist of raw accelerometer values, raw
+*gyrometer values
+* and raw magnetometer values.
+*
+*/
+class ImuData : public io_data {
+public:
+  class Type : public DataType {
+  public:
+    Type(ScalarType const &_elementDataType)
+        : elementDataType(_elementDataType) {}
+    ScalarType const &GetElementDataType() const { return elementDataType; }
+    std::string GetDescription() const { return "imu data"; }
+    size_t GetSize() const {
+      size_t size = 0;
+      size += 3 * elementDataType.GetSize(); // RawAcc
+      size += 3 * elementDataType.GetSize(); // RawGyr
+      size += 3 * elementDataType.GetSize(); // RawMag
+      return size;
+    }
+
+  private:
+    ScalarType const &elementDataType;
+  };
+
+  /*!
+  \enum PlotableData_t
+  \brief Datas wich can be plotted in a DataPlot1D
+  */
+  typedef enum {
+    RawAx /*! x raw accelerometer */,
+    RawAy /*! y raw accelerometer */,
+    RawAz /*! z raw accelerometer */,
+    RawGx /*! x raw gyrometer */,
+    RawGy /*! y raw gyrometer */,
+    RawGz /*! z raw gyrometer */,
+    RawGxDeg /*! x raw gyrometer degree */,
+    RawGyDeg /*! y raw gyrometer degree */,
+    RawGzDeg /*! z raw gyrometer degree */,
+    RawMx /*! x raw magnetometer */,
+    RawMy /*! y raw magnetometer */,
+    RawMz /*! z raw magnetometer */
+  } PlotableData_t;
+
+  /*!
+  * \brief Constructor
+  *
+  * Construct an io_data representing IMU datas. \n
+  *
+  * \param parent parent
+  * \param name name
+  * \param n number of samples
+  */
+  ImuData(const Object *parent, std::string name = "", int n = 1);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~ImuData();
+
+  /*!
+  * \brief Element
+  *
+  * Get a pointer to a specific element. This pointer can be used for plotting.
+  *
+  * \param data_type data type
+  *
+  * \return pointer to the element
+  */
+  IODataElement *Element(PlotableData_t data_type) const;
+
+  /*!
+  * \brief Get raw accelerations
+  *
+  * This method is mutex protected.
+  *
+  * \return raw accelerations
+  *
+  */
+  Vector3D GetRawAcc(void) const;
+
+  /*!
+  * \brief Get raw magnetometers
+  *
+  * This method is mutex protected.
+  *
+  * \return raw magnetometers
+  *
+  */
+  Vector3D GetRawMag(void) const;
+
+  /*!
+  * \brief Get raw angular speed
+  *
+  * This method is mutex protected.
+  *
+  * \return raw angular speed
+  *
+  */
+  Vector3D GetRawGyr(void) const;
+
+  /*!
+  * \brief Get raw accelerations, magnetometers and angular speeds
+  *
+  * This method is mutex protected.
+  *
+  * \param rawAcc raw accelerations
+  * \param rawMag raw magnetometers
+  * \param rawGyr raw angular speeds
+  *
+  */
+  void GetRawAccMagAndGyr(Vector3D &rawAcc, Vector3D &rawMag,
+                          Vector3D &rawGyr) const;
+
+  /*!
+  * \brief Set raw accelerations
+  *
+  * This method is mutex protected.
+  *
+  * \param raw accelerations
+  *
+  */
+  void SetRawAcc(const Vector3D &rawAcc);
+
+  /*!
+  * \brief Set raw magnetometers
+  *
+  * This method is mutex protected.
+  *
+  * \param raw magnetometers
+  *
+  */
+  void SetRawMag(const Vector3D &rawMag);
+
+  /*!
+  * \brief Set raw angular speed
+  *
+  * This method is mutex protected.
+  *
+  * \param raw angular speed
+  *
+  */
+  void SetRawGyr(const Vector3D &rawGyr);
+
+  /*!
+  * \brief Set raw accelerations, magnetometers and angular speeds
+  *
+  * This method is mutex protected.
+  *
+  * \param rawAcc raw accelerations
+  * \param rawMag raw magnetometers
+  * \param rawGyr raw angular speeds
+  *
+  */
+  void SetRawAccMagAndGyr(const Vector3D &rawAcc, const Vector3D &rawMag,
+                          const Vector3D &rawGyr);
+
+  Type const &GetDataType() const { return dataType; }
+
+private:
+  /*!
+  * \brief Copy datas
+  *
+  * Reimplemented from io_data. \n
+  * See io_data::CopyDatas.
+  *
+  * \param dst destination buffer
+  */
+  void CopyDatas(char *dst) const;
+
+  /*!
+  * \brief Raw accelerometer
+  *
+  */
+  Vector3D rawAcc;
+
+  /*!
+  * \brief Raw gyrometer
+  *
+  */
+  Vector3D rawGyr;
+
+  /*!
+  * \brief Raw magnetometer
+  *
+  */
+  Vector3D rawMag;
+
+  void Queue(char **dst, const void *src, size_t size) const;
+  Type dataType;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Label.h
===================================================================
--- /trunk/include/FlairCore/Label.h	(revision 12)
+++ /trunk/include/FlairCore/Label.h	(revision 13)
@@ -16,48 +16,47 @@
 #include <Widget.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class Label
-    *
-    * \brief Class displaying a QLabel on the ground station
-    *
-    */
-    class Label:public Widget
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QLabel at given position. \n
-            * The Label will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param parent parent
-            * \param name name
-            * \param buf_size size of the text buffer
-            */
-            Label(const LayoutPosition* position,std::string name,size_t buf_size=255);
+/*! \class Label
+*
+* \brief Class displaying a QLabel on the ground station
+*
+*/
+class Label : public Widget {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QLabel at given position. \n
+  * The Label will automatically be child of position->getLayout() Layout. After
+  *calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param parent parent
+  * \param name name
+  * \param buf_size size of the text buffer
+  */
+  Label(const LayoutPosition *position, std::string name,
+        size_t buf_size = 255);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Label();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Label();
 
-            /*!
-            * \brief Set text
-            *
-            * \param format text string to display, see standard printf
-            */
-            void SetText(const char * format, ...);
+  /*!
+  * \brief Set text
+  *
+  * \param format text string to display, see standard printf
+  */
+  void SetText(const char *format, ...);
 
-        private:
-            char* printf_buffer;
-    };
+private:
+  char *printf_buffer;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Layout.h
===================================================================
--- /trunk/include/FlairCore/Layout.h	(revision 12)
+++ /trunk/include/FlairCore/Layout.h	(revision 13)
@@ -17,80 +17,80 @@
 #include <Mutex.h>
 
-namespace flair
-{
-namespace gui
-{
-    class LayoutPosition;
+namespace flair {
+namespace gui {
+class LayoutPosition;
 
-    /*! \class Layout
-    *
-    * \brief Abstract class to display a layout on the ground station
-    *
-    * This is an abstract class to display layouts (like GridLayout, GroupBox, etc). \n
-    * A layout can contains Widgets (Box, DataPlot, Picture, etc). \n
-    * Layout holds a Mutex, which can be used to protect access to Box's value for example.
-    */
-    class Layout: public Widget
-    {
-        friend class Box;
+/*! \class Layout
+*
+* \brief Abstract class to display a layout on the ground station
+*
+* This is an abstract class to display layouts (like GridLayout, GroupBox, etc).
+*\n
+* A layout can contains Widgets (Box, DataPlot, Picture, etc). \n
+* Layout holds a Mutex, which can be used to protect access to Box's value for
+*example.
+*/
+class Layout : public Widget {
+  friend class Box;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Layout. Type is a predifined one, and will be
-            * interpreted by the ground station.
-            *
-            * \param parent parent
-            * \param name name
-            * \param type type of layout
-            */
-            Layout(const Widget* parent,std::string name,std::string type);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Layout. Type is a predifined one, and will be
+  * interpreted by the ground station.
+  *
+  * \param parent parent
+  * \param name name
+  * \param type type of layout
+  */
+  Layout(const Widget *parent, std::string name, std::string type);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Layout();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Layout();
 
-            /*!
-            * \brief Last Row and Col LayoutPosition
-            *
-            * Get a LayoutPosition at the last row and col.
-            *
-            * \return the LayoutPosition
-            */
-            LayoutPosition* LastRowLastCol(void) const;
+  /*!
+  * \brief Last Row and Col LayoutPosition
+  *
+  * Get a LayoutPosition at the last row and col.
+  *
+  * \return the LayoutPosition
+  */
+  LayoutPosition *LastRowLastCol(void) const;
 
-            /*!
-            * \brief New Row LayoutPosition
-            *
-            * Get a LayoutPosition at a new row and first col. This new row will be at the last position.
-            *
-            * \return the LayoutPosition
-            */
-            LayoutPosition*  NewRow(void) const;
+  /*!
+  * \brief New Row LayoutPosition
+  *
+  * Get a LayoutPosition at a new row and first col. This new row will be at the
+  *last position.
+  *
+  * \return the LayoutPosition
+  */
+  LayoutPosition *NewRow(void) const;
 
-            /*!
-            * \brief LayoutPosition at specified position
-            *
-            * Get a LayoutPosition at specified row and col.
-            *
-            * \param row row
-            * \param col col
-            *
-            * \return the LayoutPosition
-            */
-            LayoutPosition*  At(uint16_t row,uint16_t col) const;
+  /*!
+  * \brief LayoutPosition at specified position
+  *
+  * Get a LayoutPosition at specified row and col.
+  *
+  * \param row row
+  * \param col col
+  *
+  * \return the LayoutPosition
+  */
+  LayoutPosition *At(uint16_t row, uint16_t col) const;
 
-        private:
-            /*!
-            * \brief Mutex
-            *
-            * This Mutex can be used by friends class like Box to protect access
-            * to Box's value.
-            */
-            core::Mutex* mutex;
-    };
+private:
+  /*!
+  * \brief Mutex
+  *
+  * This Mutex can be used by friends class like Box to protect access
+  * to Box's value.
+  */
+  core::Mutex *mutex;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/LayoutPosition.h
===================================================================
--- /trunk/include/FlairCore/LayoutPosition.h	(revision 12)
+++ /trunk/include/FlairCore/LayoutPosition.h	(revision 13)
@@ -16,63 +16,58 @@
 #include <stdint.h>
 
-namespace flair
-{
-namespace gui
-{
-    class Layout;
+namespace flair {
+namespace gui {
+class Layout;
 
-    /*! \class LayoutPosition
-    *
-    * \brief Class to define a position in a layout on the ground station.
-    *
+/*! \class LayoutPosition
+*
+* \brief Class to define a position in a layout on the ground station.
+*
 
-    */
-    class LayoutPosition
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a LayoutPosition, in given Layout at given place.
-            *
-            * \param layout layout
-            * \param row row position
-            * \param col col position
-            */
-            LayoutPosition(const Layout* layout,int16_t row,int16_t col);
+*/
+class LayoutPosition {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a LayoutPosition, in given Layout at given place.
+  *
+  * \param layout layout
+  * \param row row position
+  * \param col col position
+  */
+  LayoutPosition(const Layout *layout, int16_t row, int16_t col);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~LayoutPosition();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~LayoutPosition();
 
-            /*!
-            * \brief get Layout
-            *
-            * \return the parent Layout
-            */
-            const Layout* getLayout(void) const;
+  /*!
+  * \brief get Layout
+  *
+  * \return the parent Layout
+  */
+  const Layout *getLayout(void) const;
 
-            /*!
-            * \brief get row
-            *
-            * \return row position
-            */
-            int16_t Row(void) const;
+  /*!
+  * \brief get row
+  *
+  * \return row position
+  */
+  int16_t Row(void) const;
 
-            /*!
-            * \brief get col
-            *
-            * \return col position
-            */
-            int16_t Col(void) const;
+  /*!
+  * \brief get col
+  *
+  * \return col position
+  */
+  int16_t Col(void) const;
 
-
-        private:
-            const Layout *layout;
-            int16_t row,col;
-
-    };
+private:
+  const Layout *layout;
+  int16_t row, col;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Map.h
===================================================================
--- /trunk/include/FlairCore/Map.h	(revision 12)
+++ /trunk/include/FlairCore/Map.h	(revision 13)
@@ -17,72 +17,69 @@
 #include <stdint.h>
 
-namespace flair
-{
-namespace core
-{
-    class GeoCoordinate;
+namespace flair {
+namespace core {
+class GeoCoordinate;
 }
 
-namespace gui
-{
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class Map
-    *
-    * \brief Class displaying a GPS map on the ground station
-    *
-    */
-    class Map: public SendData
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a map at given position. \n
-            * The Map will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param position position to draw map
-            * \param name name
-            */
-            Map(const LayoutPosition* position,std::string name);
+/*! \class Map
+*
+* \brief Class displaying a GPS map on the ground station
+*
+*/
+class Map : public SendData {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a map at given position. \n
+  * The Map will automatically be child of position->getLayout() Layout. After
+  *calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param position position to draw map
+  * \param name name
+  */
+  Map(const LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Map();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Map();
 
-            /*!
-            * \brief Add a point to the map
-            *
-            * \param point point to draw
-            * \param name name
-            */
-            void AddPoint(const core::GeoCoordinate* point,std::string name="");
+  /*!
+  * \brief Add a point to the map
+  *
+  * \param point point to draw
+  * \param name name
+  */
+  void AddPoint(const core::GeoCoordinate *point, std::string name = "");
 
-            /*!
-            * \brief Copy datas to specified buffer
-            *
-            * Reimplemented from SendData.
-            *
-            * \param buf output buffer
-            */
-            void CopyDatas(char* buf) const;
+  /*!
+  * \brief Copy datas to specified buffer
+  *
+  * Reimplemented from SendData.
+  *
+  * \param buf output buffer
+  */
+  void CopyDatas(char *buf) const;
 
-        private:
-            /*!
-            * \brief Extra Xml event
-            *
-            * Reimplemented from SendData.
-            */
-            void ExtraXmlEvent(void);
+private:
+  /*!
+  * \brief Extra Xml event
+  *
+  * Reimplemented from SendData.
+  */
+  void ExtraXmlEvent(void);
 
-            std::vector<core::GeoCoordinate*> checkpoints;
-            std::vector<const core::GeoCoordinate*> to_draw;
-            //std::vector<xmlNodePtr> checkpoints_node;
-            //bool init;
-    };
+  std::vector<core::GeoCoordinate *> checkpoints;
+  std::vector<const core::GeoCoordinate *> to_draw;
+  // std::vector<xmlNodePtr> checkpoints_node;
+  // bool init;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Mutex.h
===================================================================
--- /trunk/include/FlairCore/Mutex.h	(revision 12)
+++ /trunk/include/FlairCore/Mutex.h	(revision 13)
@@ -19,54 +19,51 @@
 class ConditionVariable_impl;
 
-namespace flair
-{
-namespace core
-{
+namespace flair {
+namespace core {
 
-    /*! \class Mutex
-    *
-    * \brief Class defining a mutex
-    *
-    */
-    class Mutex: public Object
-    {
-        friend class ::ConditionVariable_impl;
+/*! \class Mutex
+*
+* \brief Class defining a mutex
+*
+*/
+class Mutex : public Object {
+  friend class ::ConditionVariable_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a mutex.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            Mutex(const Object *parent,std::string name="");
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a mutex.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  Mutex(const Object *parent, std::string name = "");
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Mutex();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Mutex();
 
-            /*!
-            * \brief GetMutex
-            *
-            * Lock the mutex.
-            *
-            */
-            void GetMutex(void) const;
+  /*!
+  * \brief GetMutex
+  *
+  * Lock the mutex.
+  *
+  */
+  void GetMutex(void) const;
 
-            /*!
-            * \brief ReleaseMutex
-            *
-            * Unlock the mutex.
-            *
-            */
-            void ReleaseMutex(void) const;
+  /*!
+  * \brief ReleaseMutex
+  *
+  * Unlock the mutex.
+  *
+  */
+  void ReleaseMutex(void) const;
 
-        private:
-            class Mutex_impl* pimpl_;
-    };
+private:
+  class Mutex_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Object.h
===================================================================
--- /trunk/include/FlairCore/Object.h	(revision 12)
+++ /trunk/include/FlairCore/Object.h	(revision 13)
@@ -18,7 +18,7 @@
 #include <stdarg.h>
 
-#define Warn(...) Warning(__PRETTY_FUNCTION__,__VA_ARGS__)
-#define Err(...) Error(__PRETTY_FUNCTION__,__VA_ARGS__)
-#define Info(...) Information(__PRETTY_FUNCTION__,__LINE__,__VA_ARGS__)
+#define Warn(...) Warning(__PRETTY_FUNCTION__, __VA_ARGS__)
+#define Err(...) Error(__PRETTY_FUNCTION__, __VA_ARGS__)
+#define Info(...) Information(__PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
 
 #define TIME_INFINITE 0
@@ -28,168 +28,166 @@
 class Widget_impl;
 
-namespace flair
-{
-namespace core
-{
+namespace flair {
+namespace core {
 
-    class FrameworkManager;
+class FrameworkManager;
 
-    class Message {
-    public:
-        Message(unsigned int myBufferSize):bufferSize(myBufferSize) {
-            buffer=new char[bufferSize];
-        }
-        ~Message() {
-            delete buffer;
-        }
-        char *buffer;
-        size_t bufferSize;
-    };
+class Message {
+public:
+  Message(unsigned int myBufferSize) : bufferSize(myBufferSize) {
+    buffer = new char[bufferSize];
+  }
+  ~Message() { delete buffer; }
+  char *buffer;
+  size_t bufferSize;
+};
 
-    /*!
-    * \brief Time definition, in ns
-    *
-    */
-    typedef unsigned long long Time;
+/*!
+* \brief Time definition, in ns
+*
+*/
+typedef unsigned long long Time;
 
-    /*!
-    * \brief Time
-    *
-    * \return actual time in ns (origin depends on whether the method is compiled in hard real time mode or not. As a conquence, only time differences should be used)
-    */
-    Time GetTime(void);
+/*!
+* \brief Time
+*
+* \return actual time in ns (origin depends on whether the method is compiled in
+*hard real time mode or not. As a conquence, only time differences should be
+*used)
+*/
+Time GetTime(void);
 
-    /*!
-    * \brief Formatted print
-    *
-    * See standard printf for syntax.
-    *
-    * \param format text string to display
-    */
-    void Printf(const char *format, ...);
+/*!
+* \brief Formatted print
+*
+* See standard printf for syntax.
+*
+* \param format text string to display
+*/
+void Printf(const char *format, ...);
 
-    /*! \class Object
-    *
-    * \brief Base class for all Framework's classes
-    *
-    * This is the base class for all other classes. \n
-    * It handles parent/child links and thus allow auto destruction of childs.
-    *
-    */
-    class Object
-    {
-        friend class ::Widget_impl;
+/*! \class Object
+*
+* \brief Base class for all Framework's classes
+*
+* This is the base class for all other classes. \n
+* It handles parent/child links and thus allow auto destruction of childs.
+*
+*/
+class Object {
+  friend class ::Widget_impl;
 
-        public:
-            typedef enum {
-                Auto=0,
-                Red=31,
-                Green=32,
-                Orange=33
-            } color_t;
-            /*!
-            * \brief Constructor
-            *
-            * Construct an Object, which is child of its parent.
-            *
-            * \param parent parent
-            * \param name name
-            * \param type type
-            */
-            Object(const Object* parent=NULL,std::string name="",std::string type="");
+public:
+  typedef enum { Auto = 0, Red = 31, Green = 32, Orange = 33 } color_t;
+  /*!
+  * \brief Constructor
+  *
+  * Construct an Object, which is child of its parent.
+  *
+  * \param parent parent
+  * \param name name
+  * \param type type
+  */
+  Object(const Object *parent = NULL, std::string name = "",
+         std::string type = "");
 
-            /*!
-            * \brief Destructor
-            *
-            * Calling it will automatically destruct all childs.
-            *
-            */
-            virtual ~Object();
+  /*!
+  * \brief Destructor
+  *
+  * Calling it will automatically destruct all childs.
+  *
+  */
+  virtual ~Object();
 
-            /*!
-            * \brief Name
-            *
-            * \return Object's name
-            */
-            std::string ObjectName(void) const;
+  /*!
+  * \brief Name
+  *
+  * \return Object's name
+  */
+  std::string ObjectName(void) const;
 
-            /*!
-            * \brief Type
-            *
-            * \return Object's type
-            */
-            std::string ObjectType(void) const;
+  /*!
+  * \brief Type
+  *
+  * \return Object's type
+  */
+  std::string ObjectType(void) const;
 
-            /*!
-            * \brief Parent
-            *
-            * \return Object's parent
-            */
-            const Object* Parent(void) const;
+  /*!
+  * \brief Parent
+  *
+  * \return Object's parent
+  */
+  const Object *Parent(void) const;
 
-            /*!
-            * \brief Childs of the same type
-            *
-            * \return a vector of all childs of the same type
-            */
-            std::vector<const Object*>* TypeChilds(void) const;
+  /*!
+  * \brief Childs of the same type
+  *
+  * \return a vector of all childs of the same type
+  */
+  std::vector<const Object *> *TypeChilds(void) const;
 
-            /*!
-            * \brief Childs
-            *
-            * \return a vector of all childs
-            */
-            std::vector<const Object*>* Childs(void) const;
+  /*!
+  * \brief Childs
+  *
+  * \return a vector of all childs
+  */
+  std::vector<const Object *> *Childs(void) const;
 
-            /*!
-            * \brief Formatted information
-            *
-            * Green colored Printf(). \n
-            * Note that it is better to call Info macro, which automatically fills function parameter.
-            *
-            * \param function name of calling function
-            * \param line line number in calling function
-            * \param format text string to display
-            */
-            void Information(const char *function, int line, const char *format, ...) const;
+  /*!
+  * \brief Formatted information
+  *
+  * Green colored Printf(). \n
+  * Note that it is better to call Info macro, which automatically fills
+  *function parameter.
+  *
+  * \param function name of calling function
+  * \param line line number in calling function
+  * \param format text string to display
+  */
+  void Information(const char *function, int line, const char *format,
+                   ...) const;
 
-            /*!
-            * \brief Formatted warning
-            *
-            * Orange colored Printf(). \n
-            * Note that it is better to call Warn macro, which automatically fills function parameter.
-            *
-            * \param function name of calling function
-            * \param format text string to display
-            */
-            void Warning(const char *function,const char *format, ...) const;
+  /*!
+  * \brief Formatted warning
+  *
+  * Orange colored Printf(). \n
+  * Note that it is better to call Warn macro, which automatically fills
+  *function parameter.
+  *
+  * \param function name of calling function
+  * \param format text string to display
+  */
+  void Warning(const char *function, const char *format, ...) const;
 
-            /*!
-            * \brief Formatted error
-            *
-            * Red colored Printf(). \n
-            * Note that it is better to call Err macro, which automatically fills function parameter. \n
-            * After calling this method, ErrorOccured() will always return true.
-            *
-            * \param function name of calling function
-            * \param format text string to display
-            */
-            void Error(const char *function,const char *format, ...) const;
+  /*!
+  * \brief Formatted error
+  *
+  * Red colored Printf(). \n
+  * Note that it is better to call Err macro, which automatically fills function
+  *parameter. \n
+  * After calling this method, ErrorOccured() will always return true.
+  *
+  * \param function name of calling function
+  * \param format text string to display
+  */
+  void Error(const char *function, const char *format, ...) const;
 
-            /*!
-            * \brief Has an errror occured?
-            *
-            * Check if an error occured, in fact if Error() was called at least once. \n
-            * Once Error() was called, this method will never return back false.
-            *
-            * \param recursive if true, recursively check among childs
-            * \return true if an error occured
-            */
-            bool ErrorOccured(bool recursive=true) const;
+  /*!
+  * \brief Has an errror occured?
+  *
+  * Check if an error occured, in fact if Error() was called at least once. \n
+  * Once Error() was called, this method will never return back false.
+  *
+  * \param recursive if true, recursively check among childs
+  * \return true if an error occured
+  */
+  bool ErrorOccured(bool recursive = true) const;
 
-        private:
-            class Object_impl* pimpl_;
-            void ColorPrintf(color_t, const char *function, int line, const char *format, va_list *args) const;
-    };
+private:
+  class Object_impl *pimpl_;
+  void ColorPrintf(color_t, const char *function, int line, const char *format,
+                   va_list *args) const;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/OneAxisRotation.h
===================================================================
--- /trunk/include/FlairCore/OneAxisRotation.h	(revision 12)
+++ /trunk/include/FlairCore/OneAxisRotation.h	(revision 13)
@@ -18,77 +18,71 @@
 class OneAxisRotation_impl;
 
-
-namespace flair
-{
-namespace gui
-{
-    class LayoutPosition;
+namespace flair {
+namespace gui {
+class LayoutPosition;
 }
 
-namespace core
-{
-    class Vector3D;
-    class Euler;
-    class Quaternion;
-    class RotationMatrix;
+namespace core {
+class Vector3D;
+class Euler;
+class Quaternion;
+class RotationMatrix;
 
-    /*! \class OneAxisRotation
-    *
-    * \brief Class defining a rotation around one axis
-    *
-    * Axe and value of the rotation are placed in a GroupBox on ground station.
-    *
-    */
-    class OneAxisRotation: public gui::GroupBox
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a OneAxisRotation at given position.
-            *
-            * \param position position to place the GroupBox
-            * \param name name
-            */
-            OneAxisRotation(const gui::LayoutPosition* position,std::string namel);
+/*! \class OneAxisRotation
+*
+* \brief Class defining a rotation around one axis
+*
+* Axe and value of the rotation are placed in a GroupBox on ground station.
+*
+*/
+class OneAxisRotation : public gui::GroupBox {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a OneAxisRotation at given position.
+  *
+  * \param position position to place the GroupBox
+  * \param name name
+  */
+  OneAxisRotation(const gui::LayoutPosition *position, std::string namel);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~OneAxisRotation();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~OneAxisRotation();
 
-            /*!
-            * \brief Compute rotation
-            *
-            * \param vector Vector3D to rotate
-            */
-            void ComputeRotation(core::Vector3D& vector) const;
+  /*!
+  * \brief Compute rotation
+  *
+  * \param vector Vector3D to rotate
+  */
+  void ComputeRotation(core::Vector3D &vector) const;
 
-            /*!
-            * \brief Compute rotation
-            *
-            * \param euler Euler angle to rotate
-            */
-            void ComputeRotation(core::Euler& euler) const;
+  /*!
+  * \brief Compute rotation
+  *
+  * \param euler Euler angle to rotate
+  */
+  void ComputeRotation(core::Euler &euler) const;
 
-            /*!
-            * \brief Compute rotation
-            *
-            * \param quaternion Quaternion to rotate
-            */
-            void ComputeRotation(core::Quaternion& quaternion) const;
+  /*!
+  * \brief Compute rotation
+  *
+  * \param quaternion Quaternion to rotate
+  */
+  void ComputeRotation(core::Quaternion &quaternion) const;
 
-            /*!
-            * \brief Compute rotation
-            *
-            * \param matrix RotationMatrix to rotate
-            */
-            void ComputeRotation(core::RotationMatrix& matrix) const;
+  /*!
+  * \brief Compute rotation
+  *
+  * \param matrix RotationMatrix to rotate
+  */
+  void ComputeRotation(core::RotationMatrix &matrix) const;
 
-        private:
-            const class OneAxisRotation_impl* pimpl_;
-
-    };
+private:
+  const class OneAxisRotation_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Picture.h
===================================================================
--- /trunk/include/FlairCore/Picture.h	(revision 12)
+++ /trunk/include/FlairCore/Picture.h	(revision 13)
@@ -17,62 +17,60 @@
 #include <cxtypes.h>
 
-namespace flair
-{
-namespace core
-{
-    class cvimage;
+namespace flair {
+namespace core {
+class cvimage;
 }
 
-namespace gui
-{
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class Picture
-    *
-    * \brief Class displaying a Picture on the ground station
-    *
-    */
-    class Picture:public SendData
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a picture at given position. \n
-            * The Picture will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param position position to draw plot
-            * \param name name
-            * \param image image to draw
-            */
-            Picture(const LayoutPosition* position,std::string name,const core::cvimage *image);
+/*! \class Picture
+*
+* \brief Class displaying a Picture on the ground station
+*
+*/
+class Picture : public SendData {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a picture at given position. \n
+  * The Picture will automatically be child of position->getLayout() Layout.
+  *After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param position position to draw plot
+  * \param name name
+  * \param image image to draw
+  */
+  Picture(const LayoutPosition *position, std::string name,
+          const core::cvimage *image);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Picture();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Picture();
 
-        private:
-            /*!
-            * \brief Copy datas to specified buffer
-            *
-            * Reimplemented from SendData.
-            *
-            * \param buf output buffer
-            */
-            void CopyDatas(char* buf) const;
+private:
+  /*!
+  * \brief Copy datas to specified buffer
+  *
+  * Reimplemented from SendData.
+  *
+  * \param buf output buffer
+  */
+  void CopyDatas(char *buf) const;
 
-            /*!
-            * \brief Extra Xml event
-            *
-            * Reimplemented from SendData.
-            */
-            void ExtraXmlEvent(void){};
+  /*!
+  * \brief Extra Xml event
+  *
+  * Reimplemented from SendData.
+  */
+  void ExtraXmlEvent(void){};
 
-            const core::cvimage *image;
-    };
+  const core::cvimage *image;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/PushButton.h
===================================================================
--- /trunk/include/FlairCore/PushButton.h	(revision 12)
+++ /trunk/include/FlairCore/PushButton.h	(revision 13)
@@ -16,59 +16,57 @@
 #include <Widget.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class PushButton
-    *
-    * \brief Class displaying a QPushButton on the ground station
-    *
-    */
-    class PushButton:public Widget
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QPushButton at given position. \n
-            * The PushButton will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            PushButton(const LayoutPosition* position,std::string name);
+/*! \class PushButton
+*
+* \brief Class displaying a QPushButton on the ground station
+*
+*/
+class PushButton : public Widget {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QPushButton at given position. \n
+  * The PushButton will automatically be child of position->getLayout() Layout.
+  *After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  PushButton(const LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~PushButton();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~PushButton();
 
-            /*!
-            * \brief Has been clicled?
-            *
-            * After calling this method, the internal flag
-            * representing the state of the button is
-            * automatically set to false.
-            *
-            * \return true if button was clicked
-            */
-            bool Clicked(void);
+  /*!
+  * \brief Has been clicled?
+  *
+  * After calling this method, the internal flag
+  * representing the state of the button is
+  * automatically set to false.
+  *
+  * \return true if button was clicked
+  */
+  bool Clicked(void);
 
-        private:
-            /*!
-            * \brief XmlEvent from ground station
-            *
-            * Reimplemented from Widget.
-            *
-            */
-            void XmlEvent(void);
+private:
+  /*!
+  * \brief XmlEvent from ground station
+  *
+  * Reimplemented from Widget.
+  *
+  */
+  void XmlEvent(void);
 
-            bool clicked;
-    };
+  bool clicked;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Quaternion.h
===================================================================
--- /trunk/include/FlairCore/Quaternion.h	(revision 12)
+++ /trunk/include/FlairCore/Quaternion.h	(revision 13)
@@ -13,201 +13,205 @@
 #define QUATERNION_H
 
-namespace flair { namespace core {
-    class Euler;
-    class Vector3D;
-    class RotationMatrix;
-
-    /*! \class Quaternion
-    *
-    * \brief Class defining a quaternion
-    */
-    class Quaternion {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a quaternion using specified values.
-            *
-            * \param q0, scalar part
-            * \param q1
-            * \param q2
-            * \param q3
-            */
-            Quaternion(float q0=1,float q1=0,float q2=0,float q3=0);
-
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Quaternion();
-
-            /*!
-            * \brief Norm
-            *
-            * \return norm
-            */
-            float GetNorm(void) const;
-
-            /*!
-            * \brief Normalize
-            */
-            void Normalize(void);
-
-            /*!
-            * \brief Logarithm
-            *
-            * This method also Normalize the quaternion.
-            *
-            * \param logarithm output logarithm
-            */
-            void GetLogarithm(Vector3D &logarithm);
-
-            /*!
-            * \brief Logarithm
-            *
-            * This method also Normalize the quaternion.
-            *
-            * \return output logarithm
-            */
-            Vector3D GetLogarithm(void);
-
-            /*!
-            * \brief Conjugate
-            */
-            void Conjugate(void);
-
-            /*!
-            * \brief Conjugate
-            *
-            * \return Conjugate
-            */
-            Quaternion GetConjugate(void);
-
-            /*!
-            * \brief Derivative
-            *
-            * \param w angular speed
-            *
-            * \return derivative
-            */
-            Quaternion GetDerivative(const Vector3D &angularSpeed) const;
-
-            /*!
-            * \brief Derivate
-            *
-            * \param w rotationonal speed
-            */
-            void Derivate(const Vector3D &angularSpeed);
-
-            /*!
-            * \brief Convert to euler angles
-            *
-            * \param euler output euler angles
-            */
-            void ToEuler(Euler &euler) const;
-
-            /*!
-            * \brief Convert to euler angles
-            *
-            * \return euler angles
-            */
-            Euler ToEuler(void) const;
-
-            /*!
-            * \brief Convert to rotation matrix
-            *
-            * \param m output matrix
-            */
-            void ToRotationMatrix(RotationMatrix &matrix) const;
-
-            /*!
-            * \brief q0
-            */
-            float q0;
-
-            /*!
-            * \brief q1
-            */
-            float q1;
-
-            /*!
-            * \brief q2
-            */
-            float q2;
-
-            /*!
-            * \brief q3
-            */
-            float q3;
-
-            Quaternion& operator+=(const Quaternion& quaternion);
-            Quaternion& operator-=(const Quaternion& quaternion);
-            Quaternion& operator=(const Quaternion& quaternion);
-    };
-
-    /*! Add
-    *
-    * \brief Add
-    *
-    * \param quaterniontA quaternion
-    * \param quaterniontB quaternion
-    *
-    * \return quaterniontA+quaterniontB
-    */
-    Quaternion operator + (Quaternion const &quaterniontA,Quaternion const &quaterniontB);
-
-    /*! Substract
-    *
-    * \brief Substract
-    *
-    * \param quaterniontA quaternion
-    * \param quaterniontB quaternion
-    *
-    * \return quaterniontA-quaterniontB
-    */
-    Quaternion operator - (Quaternion const &quaternionA,Quaternion const &quaterniontB);
-
-    /*! Minus
-    *
-    * \brief Minus
-    *
-    * \param quaternion quaternion
-    *
-    * \return -quaternion
-    */
-    Quaternion operator-(const Quaternion &quaternion);
-
-    /*! Multiply
-    *
-    * \brief Multiply
-    *
-    * \param quaterniontA quaternion
-    * \param quaterniontB quaternion
-    *
-    * \return quaterniontA*quaterniontB
-    */
-    Quaternion operator * (Quaternion const &quaternionA,Quaternion const &quaterniontB);
-
-    /*! Multiply
-    *
-    * \brief Multiply
-    *
-    * \param coeff coefficient
-    * \param quat quaternion
-    *
-    * \return coeff*quat
-    */
-    Quaternion operator * (float coeff,Quaternion const &quaternion);
-
-    /*! Multiply
-    *
-    * \brief Multiply
-    *
-    * \param quat quaternion
-    * \param coeff coefficient
-    *
-    * \return coeff*quat
-    */
-    Quaternion operator * (Quaternion const &quaternion,float coeff);
+namespace flair {
+namespace core {
+class Euler;
+class Vector3D;
+class RotationMatrix;
+
+/*! \class Quaternion
+*
+* \brief Class defining a quaternion
+*/
+class Quaternion {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a quaternion using specified values.
+  *
+  * \param q0, scalar part
+  * \param q1
+  * \param q2
+  * \param q3
+  */
+  Quaternion(float q0 = 1, float q1 = 0, float q2 = 0, float q3 = 0);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Quaternion();
+
+  /*!
+  * \brief Norm
+  *
+  * \return norm
+  */
+  float GetNorm(void) const;
+
+  /*!
+  * \brief Normalize
+  */
+  void Normalize(void);
+
+  /*!
+  * \brief Logarithm
+  *
+  * This method also Normalize the quaternion.
+  *
+  * \param logarithm output logarithm
+  */
+  void GetLogarithm(Vector3D &logarithm);
+
+  /*!
+  * \brief Logarithm
+  *
+  * This method also Normalize the quaternion.
+  *
+  * \return output logarithm
+  */
+  Vector3D GetLogarithm(void);
+
+  /*!
+  * \brief Conjugate
+  */
+  void Conjugate(void);
+
+  /*!
+  * \brief Conjugate
+  *
+  * \return Conjugate
+  */
+  Quaternion GetConjugate(void);
+
+  /*!
+  * \brief Derivative
+  *
+  * \param w angular speed
+  *
+  * \return derivative
+  */
+  Quaternion GetDerivative(const Vector3D &angularSpeed) const;
+
+  /*!
+  * \brief Derivate
+  *
+  * \param w rotationonal speed
+  */
+  void Derivate(const Vector3D &angularSpeed);
+
+  /*!
+  * \brief Convert to euler angles
+  *
+  * \param euler output euler angles
+  */
+  void ToEuler(Euler &euler) const;
+
+  /*!
+  * \brief Convert to euler angles
+  *
+  * \return euler angles
+  */
+  Euler ToEuler(void) const;
+
+  /*!
+  * \brief Convert to rotation matrix
+  *
+  * \param m output matrix
+  */
+  void ToRotationMatrix(RotationMatrix &matrix) const;
+
+  /*!
+  * \brief q0
+  */
+  float q0;
+
+  /*!
+  * \brief q1
+  */
+  float q1;
+
+  /*!
+  * \brief q2
+  */
+  float q2;
+
+  /*!
+  * \brief q3
+  */
+  float q3;
+
+  Quaternion &operator+=(const Quaternion &quaternion);
+  Quaternion &operator-=(const Quaternion &quaternion);
+  Quaternion &operator=(const Quaternion &quaternion);
+};
+
+/*! Add
+*
+* \brief Add
+*
+* \param quaterniontA quaternion
+* \param quaterniontB quaternion
+*
+* \return quaterniontA+quaterniontB
+*/
+Quaternion operator+(Quaternion const &quaterniontA,
+                     Quaternion const &quaterniontB);
+
+/*! Substract
+*
+* \brief Substract
+*
+* \param quaterniontA quaternion
+* \param quaterniontB quaternion
+*
+* \return quaterniontA-quaterniontB
+*/
+Quaternion operator-(Quaternion const &quaternionA,
+                     Quaternion const &quaterniontB);
+
+/*! Minus
+*
+* \brief Minus
+*
+* \param quaternion quaternion
+*
+* \return -quaternion
+*/
+Quaternion operator-(const Quaternion &quaternion);
+
+/*! Multiply
+*
+* \brief Multiply
+*
+* \param quaterniontA quaternion
+* \param quaterniontB quaternion
+*
+* \return quaterniontA*quaterniontB
+*/
+Quaternion operator*(Quaternion const &quaternionA,
+                     Quaternion const &quaterniontB);
+
+/*! Multiply
+*
+* \brief Multiply
+*
+* \param coeff coefficient
+* \param quat quaternion
+*
+* \return coeff*quat
+*/
+Quaternion operator*(float coeff, Quaternion const &quaternion);
+
+/*! Multiply
+*
+* \brief Multiply
+*
+* \param quat quaternion
+* \param coeff coefficient
+*
+* \return coeff*quat
+*/
+Quaternion operator*(Quaternion const &quaternion, float coeff);
 
 } // end namespace core
Index: /trunk/include/FlairCore/RTDM_I2cPort.h
===================================================================
--- /trunk/include/FlairCore/RTDM_I2cPort.h	(revision 12)
+++ /trunk/include/FlairCore/RTDM_I2cPort.h	(revision 13)
@@ -16,88 +16,85 @@
 #include <I2cPort.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class RTDM_I2cPort
-    *
-    * \brief Class for real time i2c port using RTDM
-    *
-    * This class can only be used with the real time version of Framework library.
-    *
-    */
-    class RTDM_I2cPort: public I2cPort
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an RTDM i2c port, with the following default values: \n
-            * - 400kbits baudrate \n
-            * - 500000ns RX timeout \n
-            * - 1000000ns TX timeout
-            *
-            * \param parent parent
-            * \param name name
-            * \param device i2c device (ex rti2c1)
-            */
-            RTDM_I2cPort(const Object* parent,std::string name,std::string device);
+namespace flair {
+namespace core {
+/*! \class RTDM_I2cPort
+*
+* \brief Class for real time i2c port using RTDM
+*
+* This class can only be used with the real time version of Framework library.
+*
+*/
+class RTDM_I2cPort : public I2cPort {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an RTDM i2c port, with the following default values: \n
+  * - 400kbits baudrate \n
+  * - 500000ns RX timeout \n
+  * - 1000000ns TX timeout
+  *
+  * \param parent parent
+  * \param name name
+  * \param device i2c device (ex rti2c1)
+  */
+  RTDM_I2cPort(const Object *parent, std::string name, std::string device);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~RTDM_I2cPort();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~RTDM_I2cPort();
 
-            /*!
-            * \brief Set slave's address
-            *
-            * This method need to be called before any communication.
-            *
-            * \param address slave's address
-            */
-            int SetSlave(uint16_t address);
+  /*!
+  * \brief Set slave's address
+  *
+  * This method need to be called before any communication.
+  *
+  * \param address slave's address
+  */
+  int SetSlave(uint16_t address);
 
-            /*!
-            * \brief Write datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of written datas
-            */
-            ssize_t Write(const void *buf,size_t nbyte);
+  /*!
+  * \brief Write datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of written datas
+  */
+  ssize_t Write(const void *buf, size_t nbyte);
 
-            /*!
-            * \brief Read datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of read datas
-            */
-            ssize_t Read(void *buf,size_t nbyte);
+  /*!
+  * \brief Read datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of read datas
+  */
+  ssize_t Read(void *buf, size_t nbyte);
 
-            /*!
-            * \brief Set RX timeout
-            *
-            * Timeout for waiting an ACK from the slave.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            void SetRxTimeout(Time timeout_ns);
+  /*!
+  * \brief Set RX timeout
+  *
+  * Timeout for waiting an ACK from the slave.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  void SetRxTimeout(Time timeout_ns);
 
-            /*!
-            * \brief Set TX timeout
-            *
-            * Timeout for waiting an ACK from the slave.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            void SetTxTimeout(Time timeout_ns);
+  /*!
+  * \brief Set TX timeout
+  *
+  * Timeout for waiting an ACK from the slave.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  void SetTxTimeout(Time timeout_ns);
 
-        private:
-            int fd;
-    };
+private:
+  int fd;
+};
 } // end namespace core
 } // end namespace flair
Index: /trunk/include/FlairCore/RTDM_SerialPort.h
===================================================================
--- /trunk/include/FlairCore/RTDM_SerialPort.h	(revision 12)
+++ /trunk/include/FlairCore/RTDM_SerialPort.h	(revision 13)
@@ -16,83 +16,81 @@
 #include <SerialPort.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class RTDM_SerialPort
-    *
-    * \brief Class for real time serial port using RTDM
-    *
-    * This class can only be used with the real time version of Framework library.
-    *
-    */
-    class RTDM_SerialPort: public SerialPort
-    {
+namespace flair {
+namespace core {
+/*! \class RTDM_SerialPort
+*
+* \brief Class for real time serial port using RTDM
+*
+* This class can only be used with the real time version of Framework library.
+*
+*/
+class RTDM_SerialPort : public SerialPort {
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an RTDM serial port, with the following default values: \n
-            * - 115200bps baudrate
-            *
-            * \param parent parent
-            * \param name name
-            * \param device serial device (ex rtser1)
-            */
-            RTDM_SerialPort(const Object* parent,std::string port_name,std::string device);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an RTDM serial port, with the following default values: \n
+  * - 115200bps baudrate
+  *
+  * \param parent parent
+  * \param name name
+  * \param device serial device (ex rtser1)
+  */
+  RTDM_SerialPort(const Object *parent, std::string port_name,
+                  std::string device);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~RTDM_SerialPort();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~RTDM_SerialPort();
 
-            /*!
-            * \brief Set baudrate
-            *
-            * \param baudrate baudrate
-            *
-            */
-            void SetBaudrate(int baudrate);
+  /*!
+  * \brief Set baudrate
+  *
+  * \param baudrate baudrate
+  *
+  */
+  void SetBaudrate(int baudrate);
 
-            /*!
-            * \brief Set RX timeout
-            *
-            * Timeout for waiting datas.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            void SetRxTimeout(Time timeout_ns);
+  /*!
+  * \brief Set RX timeout
+  *
+  * Timeout for waiting datas.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  void SetRxTimeout(Time timeout_ns);
 
-            /*!
-            * \brief Write datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of written datas
-            */
-            ssize_t Write(const void *buf,size_t nbyte);
+  /*!
+  * \brief Write datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of written datas
+  */
+  ssize_t Write(const void *buf, size_t nbyte);
 
-            /*!
-            * \brief Read datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of read datas
-            */
-            ssize_t Read(void *buf,size_t nbyte);
+  /*!
+  * \brief Read datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of read datas
+  */
+  ssize_t Read(void *buf, size_t nbyte);
 
-            /*!
-            * \brief Flush input datas
-            *
-            */
-            void FlushInput(void);
+  /*!
+  * \brief Flush input datas
+  *
+  */
+  void FlushInput(void);
 
-        private:
-            int fd;
-    };
+private:
+  int fd;
+};
 } // end namespace core
 } // end namespace flair
Index: /trunk/include/FlairCore/RangeFinderPlot.h
===================================================================
--- /trunk/include/FlairCore/RangeFinderPlot.h	(revision 12)
+++ /trunk/include/FlairCore/RangeFinderPlot.h	(revision 13)
@@ -5,5 +5,6 @@
 /*!
  * \file RangeFinderPlot.h
- * \brief Class displaying a 2D plot on the ground station for laser range finder like Hokuyo
+ * \brief Class displaying a 2D plot on the ground station for laser range
+ * finder like Hokuyo
  * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
  * \date 2014/07/23
@@ -17,77 +18,75 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+}
 }
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class RangeFinderPlot
-    *
-    * \brief Class displaying a 2D plot on the ground station for laser range finder like Hokuyo
-    *
-    */
-    class RangeFinderPlot: public SendData
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a 2D plot at given position. \n
-            * The RangeFinderPlot will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param position position to display the plot
-            * \param name name
-            * \param x_name name of x axis
-            * \param xmin default xmin of the plot
-            * \param xmax default xmax of the plot
-            * \param y_name name of y axis
-            * \param ymin default ymin of the plot
-            * \param ymax default ymax of the plot
-            * \param datas laser datas
-            * \param start_angle start angle of the laser
-            * \param end_angle end angle of the laser
-            * \param nb_samples number of samples
-            */
-            RangeFinderPlot(const LayoutPosition* position,std::string name,
-                            std::string x_name,float xmin,float xmax,
-                            std::string y_name,float ymin,float ymax,
-                            const core::cvmatrix* datas,float start_angle,float end_angle,uint32_t nb_samples);
+/*! \class RangeFinderPlot
+*
+* \brief Class displaying a 2D plot on the ground station for laser range finder
+*like Hokuyo
+*
+*/
+class RangeFinderPlot : public SendData {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a 2D plot at given position. \n
+  * The RangeFinderPlot will automatically be child of position->getLayout()
+  *Layout. After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param position position to display the plot
+  * \param name name
+  * \param x_name name of x axis
+  * \param xmin default xmin of the plot
+  * \param xmax default xmax of the plot
+  * \param y_name name of y axis
+  * \param ymin default ymin of the plot
+  * \param ymax default ymax of the plot
+  * \param datas laser datas
+  * \param start_angle start angle of the laser
+  * \param end_angle end angle of the laser
+  * \param nb_samples number of samples
+  */
+  RangeFinderPlot(const LayoutPosition *position, std::string name,
+                  std::string x_name, float xmin, float xmax,
+                  std::string y_name, float ymin, float ymax,
+                  const core::cvmatrix *datas, float start_angle,
+                  float end_angle, uint32_t nb_samples);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~RangeFinderPlot();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~RangeFinderPlot();
 
-        private:
-            /*!
-            * \brief Copy datas to specified buffer
-            *
-            * Reimplemented from SendData.
-            *
-            * \param buf output buffer
-            */
-            void CopyDatas(char* buf) const;
+private:
+  /*!
+  * \brief Copy datas to specified buffer
+  *
+  * Reimplemented from SendData.
+  *
+  * \param buf output buffer
+  */
+  void CopyDatas(char *buf) const;
 
-            /*!
-            * \brief Extra Xml event
-            *
-            * Reimplemented from SendData.
-            */
-            void ExtraXmlEvent(void){};
+  /*!
+  * \brief Extra Xml event
+  *
+  * Reimplemented from SendData.
+  */
+  void ExtraXmlEvent(void){};
 
-            const core::cvmatrix* datas;
-    };
+  const core::cvmatrix *datas;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/RotationMatrix.h
===================================================================
--- /trunk/include/FlairCore/RotationMatrix.h	(revision 12)
+++ /trunk/include/FlairCore/RotationMatrix.h	(revision 13)
@@ -17,48 +17,48 @@
 namespace flair {
 namespace core {
-    class Euler;
+class Euler;
 
-    /*! \class RotationMatrix
-    *
-    * \brief Class defining a rotation matrix
-    */
-    class RotationMatrix {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an identity rotation matrix
-            *
-            */
-            RotationMatrix();
+/*! \class RotationMatrix
+*
+* \brief Class defining a rotation matrix
+*/
+class RotationMatrix {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an identity rotation matrix
+  *
+  */
+  RotationMatrix();
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~RotationMatrix();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~RotationMatrix();
 
-            /*!
-            * \brief Convert to euler angles
-            *
-            * \param euler output euler angles
-            */
-            void ToEuler(Euler &euler) const;
+  /*!
+  * \brief Convert to euler angles
+  *
+  * \param euler output euler angles
+  */
+  void ToEuler(Euler &euler) const;
 
-            /*!
-            * \brief Convert to euler angles
-            *
-            * \return euler angles
-            */
-            Euler ToEuler(void) const;
-            /*!
-            * \brief matrix
-            *
-            */
-            float m[3][3];
+  /*!
+  * \brief Convert to euler angles
+  *
+  * \return euler angles
+  */
+  Euler ToEuler(void) const;
+  /*!
+  * \brief matrix
+  *
+  */
+  float m[3][3];
 
-            float& operator()(size_t row,size_t col);
-            const float& operator()(size_t row,size_t col) const;
-    };
+  float &operator()(size_t row, size_t col);
+  const float &operator()(size_t row, size_t col) const;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/SendData.h
===================================================================
--- /trunk/include/FlairCore/SendData.h	(revision 12)
+++ /trunk/include/FlairCore/SendData.h	(revision 13)
@@ -18,80 +18,78 @@
 class SendData_impl;
 
-namespace flair
-{
-namespace gui
-{
-    class LayoutPosition;
+namespace flair {
+namespace gui {
+class LayoutPosition;
 
-    /*! \class SendData
-    *
-    * \brief Abstract class for sending datas to ground station
-    *
-    */
-    class SendData: public Widget
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            */
-            SendData(const LayoutPosition* position,std::string name,std::string type,uint16_t default_periodms=100,bool default_enabled=false);
+/*! \class SendData
+*
+* \brief Abstract class for sending datas to ground station
+*
+*/
+class SendData : public Widget {
+public:
+  /*!
+  * \brief Constructor
+  *
+  */
+  SendData(const LayoutPosition *position, std::string name, std::string type,
+           uint16_t default_periodms = 100, bool default_enabled = false);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            virtual ~SendData();
+  /*!
+  * \brief Destructor
+  *
+  */
+  virtual ~SendData();
 
-            /*!
-            * \brief Copy datas to specified buffer
-            *
-            * This method must be reimplemented, in order to send datas to ground station.
-            *
-            * \param buf output buffer
-            */
-            virtual void CopyDatas(char* buf) const =0;
+  /*!
+  * \brief Copy datas to specified buffer
+  *
+  * This method must be reimplemented, in order to send datas to ground station.
+  *
+  * \param buf output buffer
+  */
+  virtual void CopyDatas(char *buf) const = 0;
 
-            size_t SendSize(void) const;
-            uint16_t SendPeriod(void) const; // in ms
-            bool IsEnabled(void) const;
+  size_t SendSize(void) const;
+  uint16_t SendPeriod(void) const; // in ms
+  bool IsEnabled(void) const;
 
-        protected:
+protected:
+  /*!
+  * \brief Notify that SenData's datas have changed
+  *
+  * This method must be called when the datas have changed. \n
+  * Normally, it occurs when a curve is added to a plot for example. \n
+  * This method automatically blocks and unblocks the communication.
+  *
+  */
+  void SetSendSize(size_t value);
 
-            /*!
-            * \brief Notify that SenData's datas have changed
-            *
-            * This method must be called when the datas have changed. \n
-            * Normally, it occurs when a curve is added to a plot for example. \n
-            * This method automatically blocks and unblocks the communication.
-            *
-            */
-            void SetSendSize(size_t value);
+  /*!
+  * \brief Extra Xml event
+  *
+  * This method must be reimplemented to handle extra xml event. \n
+  * It is automatically called when something changed from
+  * ground station, through XmlEvent method. \n
+  */
+  virtual void ExtraXmlEvent(void) = 0;
 
-            /*!
-            * \brief Extra Xml event
-            *
-            * This method must be reimplemented to handle extra xml event. \n
-            * It is automatically called when something changed from
-            * ground station, through XmlEvent method. \n
-            */
-            virtual void ExtraXmlEvent(void)=0;
+private:
+  /*!
+  * \brief XmlEvent from ground station
+  *
+  * Reimplemented from Widget. \n
+  * This method handles period and enabled properties of the SendData. \n
+  * Then it calls ExtraXmlEvent to handle specific xml events of reimplemented
+  *class.
+  *
+  */
+  void XmlEvent(void);
 
-        private:
-            /*!
-            * \brief XmlEvent from ground station
-            *
-            * Reimplemented from Widget. \n
-            * This method handles period and enabled properties of the SendData. \n
-            * Then it calls ExtraXmlEvent to handle specific xml events of reimplemented class.
-            *
-            */
-            void XmlEvent(void);
+  void SetSendPeriod(uint16_t value);
+  void SetEnabled(bool value);
 
-            void SetSendPeriod(uint16_t value);
-            void SetEnabled(bool value);
-
-            class SendData_impl* pimpl_;
-    };
+  class SendData_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/SerialPort.h
===================================================================
--- /trunk/include/FlairCore/SerialPort.h	(revision 12)
+++ /trunk/include/FlairCore/SerialPort.h	(revision 13)
@@ -17,76 +17,71 @@
 #include <stdint.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class SerialPort
-    *
-    * \brief Base class for serial port
-    */
-    class SerialPort: public Object
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a serial port.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            SerialPort(const Object* parent,std::string name): Object(parent,name)
-            {}
+namespace flair {
+namespace core {
+/*! \class SerialPort
+*
+* \brief Base class for serial port
+*/
+class SerialPort : public Object {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a serial port.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  SerialPort(const Object *parent, std::string name) : Object(parent, name) {}
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SerialPort(){};
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SerialPort(){};
 
-            /*!
-            * \brief Set baudrate
-            *
-            * \param baudrate baudrate
-            *
-            */
-            virtual void SetBaudrate(int baudrate)=0;
+  /*!
+  * \brief Set baudrate
+  *
+  * \param baudrate baudrate
+  *
+  */
+  virtual void SetBaudrate(int baudrate) = 0;
 
-            /*!
-            * \brief Set RX timeout
-            *
-            * Timeout for waiting datas.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            virtual void SetRxTimeout(Time timeout_ns)=0;
+  /*!
+  * \brief Set RX timeout
+  *
+  * Timeout for waiting datas.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  virtual void SetRxTimeout(Time timeout_ns) = 0;
 
-            /*!
-            * \brief Write datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of written datas
-            */
-            virtual ssize_t Write(const void *buf,size_t nbyte)=0;
+  /*!
+  * \brief Write datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of written datas
+  */
+  virtual ssize_t Write(const void *buf, size_t nbyte) = 0;
 
-            /*!
-            * \brief Read datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of read datas
-            */
-            virtual ssize_t Read(void *buf,size_t nbyte)=0;
+  /*!
+  * \brief Read datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of read datas
+  */
+  virtual ssize_t Read(void *buf, size_t nbyte) = 0;
 
-            /*!
-            * \brief Flush input datas
-            *
-            */
-            virtual void FlushInput(void)=0;
-
-    };
+  /*!
+  * \brief Flush input datas
+  *
+  */
+  virtual void FlushInput(void) = 0;
+};
 } // end namespace core
 } // end namespace framework
Index: /trunk/include/FlairCore/SharedMem.h
===================================================================
--- /trunk/include/FlairCore/SharedMem.h	(revision 12)
+++ /trunk/include/FlairCore/SharedMem.h	(revision 13)
@@ -19,56 +19,53 @@
 class SharedMem_impl;
 
-namespace flair
-{
-namespace core
-{
+namespace flair {
+namespace core {
 
-    /*! \class SharedMem
-    *
-    * \brief Class defining a shared memory
-    *
-    * Shared memory is identified by its name so it can be accessed
-    * by another processus using its name.
-    */
+/*! \class SharedMem
+*
+* \brief Class defining a shared memory
+*
+* Shared memory is identified by its name so it can be accessed
+* by another processus using its name.
+*/
 
-    class SharedMem: public Object
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a shared memory object
-            *
-            * \param parent parent
-            * \param name name
-            * \param size size of the shared memory
-            */
-            SharedMem(const Object* parent,std::string name,size_t size);
+class SharedMem : public Object {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a shared memory object
+  *
+  * \param parent parent
+  * \param name name
+  * \param size size of the shared memory
+  */
+  SharedMem(const Object *parent, std::string name, size_t size);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SharedMem();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SharedMem();
 
-            /*!
-            * \brief Write
-            *
-            * \param buf input buffer to write to memory
-            * \param size buffer size
-            */
-            void Write(const char* buf,size_t size);
+  /*!
+  * \brief Write
+  *
+  * \param buf input buffer to write to memory
+  * \param size buffer size
+  */
+  void Write(const char *buf, size_t size);
 
-            /*!
-            * \brief Read
-            *
-            * \param buf output buffer to write from memory
-            * \param size buffer size
-            */
-            void Read(char* buf,size_t size) const;
+  /*!
+  * \brief Read
+  *
+  * \param buf output buffer to write from memory
+  * \param size buffer size
+  */
+  void Read(char *buf, size_t size) const;
 
-        private:
-            SharedMem_impl* pimpl_;
-    };
+private:
+  SharedMem_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Socket.h
===================================================================
--- /trunk/include/FlairCore/Socket.h	(revision 12)
+++ /trunk/include/FlairCore/Socket.h	(revision 13)
@@ -20,87 +20,89 @@
 class Socket_impl;
 
-namespace flair
-{
-namespace core
-{
+namespace flair {
+namespace core {
 
-    /*! \class Socket
-    *
-    * \brief Class encapsulating a UDP socket. It assumes packets are coming from only one distant host on a given port.
-    *
-    */
-    class Socket: public Object {
-    public:
-        /*!
-        * \brief Constructor
-        *
-        * Construct the client side of the socket
-        *
-        * \param parent parent
-        * \param name name
-        * \param address server address (ex 192.168.1.1:9000)
-        * \param broadcast true if address is a broadcast address
-        */
-        Socket(const Object* parent, std::string name,std::string address,bool broadcast=false);
+/*! \class Socket
+*
+* \brief Class encapsulating a UDP socket. It assumes packets are coming from
+*only one distant host on a given port.
+*
+*/
+class Socket : public Object {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct the client side of the socket
+  *
+  * \param parent parent
+  * \param name name
+  * \param address server address (ex 192.168.1.1:9000)
+  * \param broadcast true if address is a broadcast address
+  */
+  Socket(const Object *parent, std::string name, std::string address,
+         bool broadcast = false);
 
-        /*!
-        * \brief Constructor
-        *
-        * Construct the server side of the socket
-        *
-        * \param parent parent
-        * \param name name
-        * \param port listening port
-        */
-        Socket(const Object* parent, std::string name,uint16_t port);
+  /*!
+  * \brief Constructor
+  *
+  * Construct the server side of the socket
+  *
+  * \param parent parent
+  * \param name name
+  * \param port listening port
+  */
+  Socket(const Object *parent, std::string name, uint16_t port);
 
-        /*!
-        * \brief Destructor
-        *
-        */
-        ~Socket();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Socket();
 
-        /*!
-        * \brief Send a message
-        *
-        * In case of a broadcast Socket, Parent()->ObjectName() is used as source of the message, this name should be unique.
-        *
-        * \param message message
-        */
-        void SendMessage(std::string message);
+  /*!
+  * \brief Send a message
+  *
+  * In case of a broadcast Socket, Parent()->ObjectName() is used as source of
+  *the message, this name should be unique.
+  *
+  * \param message message
+  */
+  void SendMessage(std::string message);
 
-        /*!
-        * \brief Send a message
-        *
-        * \param message message
-        * \param message_len message length
-        */
-        void SendMessage(const char* message,size_t message_len);
+  /*!
+  * \brief Send a message
+  *
+  * \param message message
+  * \param message_len message length
+  */
+  void SendMessage(const char *message, size_t message_len);
 
-        /*!
-        * \brief Receive a message
-        *
-        * Receive a message and wait up to timeout. \n
-        * If src and src_len are specified, the source of the message will be
-        * copied in the src buffer. \n
-        * Note that in case of a broadcast socket, own messages are filtered and
-        * are not received.
-        *
-        * \param buf buffer to put the message
-        * \param buf_len buffer length
-        * \param timeout timeout
-        * \param src buffer to put source name
-        * \param src_len buffer length
-        *
-        * \return size of the received message
-        */
-        ssize_t RecvMessage(char* buf,size_t buf_len,Time timeout,char* src=NULL,size_t* src_len=NULL);
+  /*!
+  * \brief Receive a message
+  *
+  * Receive a message and wait up to timeout. \n
+  * If src and src_len are specified, the source of the message will be
+  * copied in the src buffer. \n
+  * Note that in case of a broadcast socket, own messages are filtered and
+  * are not received.
+  *
+  * \param buf buffer to put the message
+  * \param buf_len buffer length
+  * \param timeout timeout
+  * \param src buffer to put source name
+  * \param src_len buffer length
+  *
+  * \return size of the received message
+  */
+  ssize_t RecvMessage(char *buf, size_t buf_len, Time timeout, char *src = NULL,
+                      size_t *src_len = NULL);
 
-        void NetworkToHost(char *data,size_t dataSize);
-        void HostToNetwork(char *data,size_t dataSize);
+  void NetworkToHost(char *data, size_t dataSize);
+  void HostToNetwork(char *data, size_t dataSize);
 
-    private:
-       class Socket_impl* pimpl_;
-    };
+private:
+  class Socket_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/SpinBox.h
===================================================================
--- /trunk/include/FlairCore/SpinBox.h	(revision 12)
+++ /trunk/include/FlairCore/SpinBox.h	(revision 13)
@@ -16,73 +16,72 @@
 #include <Box.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class SpinBox
-    *
-    * \brief Class displaying a QSpinBox on the ground station
-    *
-    */
-    class SpinBox : public Box
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QSpinBox at given position. \n
-            * The QSpinBox is saturated to min and max values.
-            *
-            * \param position position to display the QSpinBox
-            * \param name name
-            * \param min minimum value
-            * \param max maximum value
-            * \param step step
-            * \param default_value default value if not in the xml config file
-            */
-            SpinBox(const LayoutPosition* position,std::string name,int min,int max,int step,int default_value=0);/*!
+/*! \class SpinBox
+*
+* \brief Class displaying a QSpinBox on the ground station
+*
+*/
+class SpinBox : public Box {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QSpinBox at given position. \n
+  * The QSpinBox is saturated to min and max values.
+  *
+  * \param position position to display the QSpinBox
+  * \param name name
+  * \param min minimum value
+  * \param max maximum value
+  * \param step step
+  * \param default_value default value if not in the xml config file
+  */
+  SpinBox(const LayoutPosition *position, std::string name, int min, int max,
+          int step, int default_value = 0); /*!
 
-            * \brief Constructor
-            *
-            * Construct a QSpinBox at given position. \n
-            * The QSpinBox is saturated to min and max values.
-            *
-            * \param position position to display the QSpinBox
-            * \param name name
-            * \param suffix suffix for the value (eg unit)
-            * \param min minimum value
-            * \param max maximum value
-            * \param step step
-            * \param default_value default value if not in the xml config file
-            */
-            SpinBox(const LayoutPosition* position,std::string name,std::string suffix,int min,int max,int step,int default_value=0);
+* \brief Constructor
+*
+* Construct a QSpinBox at given position. \n
+* The QSpinBox is saturated to min and max values.
+*
+* \param position position to display the QSpinBox
+* \param name name
+* \param suffix suffix for the value (eg unit)
+* \param min minimum value
+* \param max maximum value
+* \param step step
+* \param default_value default value if not in the xml config file
+*/
+  SpinBox(const LayoutPosition *position, std::string name, std::string suffix,
+          int min, int max, int step, int default_value = 0);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SpinBox();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SpinBox();
 
-           /*!
-            * \brief Value
-            *
-            * \return value
-            */
-            int Value(void) const;
+  /*!
+   * \brief Value
+   *
+   * \return value
+   */
+  int Value(void) const;
 
-        private:
-            /*!
-            * \brief XmlEvent from ground station
-            *
-            * Reimplemented from Widget.
-            *
-            */
-            void XmlEvent(void);
+private:
+  /*!
+  * \brief XmlEvent from ground station
+  *
+  * Reimplemented from Widget.
+  *
+  */
+  void XmlEvent(void);
 
-            int box_value;
-    };
+  int box_value;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Tab.h
===================================================================
--- /trunk/include/FlairCore/Tab.h	(revision 12)
+++ /trunk/include/FlairCore/Tab.h	(revision 13)
@@ -16,39 +16,36 @@
 #include <Layout.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class TabWidget;
+class TabWidget;
 
-    /*! \class Tab
-    *
-    * \brief Class displaying a QTab on the ground station
-    *
-    * Tabs are displayed in a TabWidget.
-    */
-    class Tab: public Layout
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Tab in the TabWidget.
-            *
-            * \param parent parent
-            * \param name name
-            * \param position tab position, -1 to put at the last position
-            */
-            Tab(const TabWidget* parent,std::string name,int position=-1);
+/*! \class Tab
+*
+* \brief Class displaying a QTab on the ground station
+*
+* Tabs are displayed in a TabWidget.
+*/
+class Tab : public Layout {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Tab in the TabWidget.
+  *
+  * \param parent parent
+  * \param name name
+  * \param position tab position, -1 to put at the last position
+  */
+  Tab(const TabWidget *parent, std::string name, int position = -1);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Tab();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Tab();
 
-        private:
-    };
+private:
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/TabWidget.h
===================================================================
--- /trunk/include/FlairCore/TabWidget.h	(revision 12)
+++ /trunk/include/FlairCore/TabWidget.h	(revision 13)
@@ -16,47 +16,51 @@
 #include <Widget.h>
 
-namespace flair
-{
-namespace gui
-{
-    class LayoutPosition;
+namespace flair {
+namespace gui {
+class LayoutPosition;
 
-    /*! \class TabWidget
-    *
-    * \brief Class displaying a QTabWidget on the ground station
-    *
-    * TabWidget contains Tabs.
-    *
-    */
-    class TabWidget:public Widget
-    {
-        public:
-            /*!
-            * \enum TabPosition_t
-            * \brief Position of tabs
-            */
-            typedef enum { North/*! north */, South/*! south */, West/*! west */, East/*! east */} TabPosition_t;
+/*! \class TabWidget
+*
+* \brief Class displaying a QTabWidget on the ground station
+*
+* TabWidget contains Tabs.
+*
+*/
+class TabWidget : public Widget {
+public:
+  /*!
+  * \enum TabPosition_t
+  * \brief Position of tabs
+  */
+  typedef enum {
+    North /*! north */,
+    South /*! south */,
+    West /*! west */,
+    East /*! east */
+  } TabPosition_t;
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QTabWidget at given position. \n
-            * The TabWidget will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param position position
-            * \param name name
-            * \param tabPosition position of tabs
-            */
-            TabWidget(const LayoutPosition* position,std::string name,TabPosition_t tabPosition=TabWidget::West);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QTabWidget at given position. \n
+  * The TabWidget will automatically be child of position->getLayout() Layout.
+  *After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param position position
+  * \param name name
+  * \param tabPosition position of tabs
+  */
+  TabWidget(const LayoutPosition *position, std::string name,
+            TabPosition_t tabPosition = TabWidget::West);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~TabWidget();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~TabWidget();
 
-        private:
-    };
+private:
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/TcpSocket.h
===================================================================
--- /trunk/include/FlairCore/TcpSocket.h	(revision 12)
+++ /trunk/include/FlairCore/TcpSocket.h	(revision 13)
@@ -16,36 +16,39 @@
 #include <ConnectedSocket.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class TcpSocket
-    *
-    * \brief Class encapsulating a TCP socket
-    *
-    */
-    class TcpSocket:public ConnectedSocket {
-    public:
-        TcpSocket(const Object* parent,const std::string name,bool blockOnSend=false,bool blockOnReceive=true);
-        ~TcpSocket();
-        void Listen(const unsigned int port,const std::string localAddress="ANY");
-        TcpSocket *Accept(Time timeout=0); //should throw an exception if not a listening socket
-        bool Connect(const unsigned int distantPort,const std::string distantAddress,Time timeout=0); // timeout in milliseconds
-        ssize_t SendMessage(const char* message,size_t message_len,Time timeout=0); // timeout in milliseconds
-        ssize_t RecvMessage(char* buf,size_t buf_len,Time timeout=0); // timeout in milliseconds
+namespace flair {
+namespace core {
+/*! \class TcpSocket
+*
+* \brief Class encapsulating a TCP socket
+*
+*/
+class TcpSocket : public ConnectedSocket {
+public:
+  TcpSocket(const Object *parent, const std::string name,
+            bool blockOnSend = false, bool blockOnReceive = true);
+  ~TcpSocket();
+  void Listen(const unsigned int port, const std::string localAddress = "ANY");
+  TcpSocket *Accept(
+      Time timeout = 0); // should throw an exception if not a listening socket
+  bool Connect(const unsigned int distantPort, const std::string distantAddress,
+               Time timeout = 0); // timeout in milliseconds
+  ssize_t SendMessage(const char *message, size_t message_len,
+                      Time timeout = 0); // timeout in milliseconds
+  ssize_t RecvMessage(char *buf, size_t buf_len,
+                      Time timeout = 0); // timeout in milliseconds
 
-        uint16_t NetworkToHost16(uint16_t data);
-        uint16_t HostToNetwork16(uint16_t data);
-        uint32_t NetworkToHost32(uint32_t data);
-        uint32_t HostToNetwork32(uint32_t data);
+  uint16_t NetworkToHost16(uint16_t data);
+  uint16_t HostToNetwork16(uint16_t data);
+  uint32_t NetworkToHost32(uint32_t data);
+  uint32_t HostToNetwork32(uint32_t data);
 
-    private:
-        int socket; // socket file descriptor
-        bool blockOnSend;
-        bool blockOnReceive;
-        bool isConnected;
-        unsigned int distantPort;
-        std::string distantAddress;
-    };
+private:
+  int socket; // socket file descriptor
+  bool blockOnSend;
+  bool blockOnReceive;
+  bool isConnected;
+  unsigned int distantPort;
+  std::string distantAddress;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/TextEdit.h
===================================================================
--- /trunk/include/FlairCore/TextEdit.h	(revision 12)
+++ /trunk/include/FlairCore/TextEdit.h	(revision 13)
@@ -16,51 +16,50 @@
 #include <Widget.h>
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    class LayoutPosition;
+class LayoutPosition;
 
-    /*! \class TextEdit
-    *
-    * \brief Class displaying a QTextEdit on the ground station
-    *
-    * QTextEdit allows printing on multiple lines. \n
-    *
-    */
-    class TextEdit:public Widget
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a QTabWidget at given position. \n
-            * The TextEdit will automatically be child of position->getLayout() Layout. After calling this constructor,
-            * position will be deleted as it is no longer usefull.
-            *
-            * \param parent parent
-            * \param name name
-            * \param buf_size size of the text buffer
-            */
-            TextEdit(const LayoutPosition* position,std::string name,size_t buf_size=255);
+/*! \class TextEdit
+*
+* \brief Class displaying a QTextEdit on the ground station
+*
+* QTextEdit allows printing on multiple lines. \n
+*
+*/
+class TextEdit : public Widget {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a QTabWidget at given position. \n
+  * The TextEdit will automatically be child of position->getLayout() Layout.
+  *After calling this constructor,
+  * position will be deleted as it is no longer usefull.
+  *
+  * \param parent parent
+  * \param name name
+  * \param buf_size size of the text buffer
+  */
+  TextEdit(const LayoutPosition *position, std::string name,
+           size_t buf_size = 255);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~TextEdit();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~TextEdit();
 
-            /*!
-            * \brief Append a line
-            *
-            * \param format text string to display, see standard printf
-            */
-            void Append(const char * format, ...);
+  /*!
+  * \brief Append a line
+  *
+  * \param format text string to display, see standard printf
+  */
+  void Append(const char *format, ...);
 
-        private:
-            char* printf_buffer;
-            xmlNodePtr text_node;
-    };
+private:
+  char *printf_buffer;
+  xmlNodePtr text_node;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Thread.h
===================================================================
--- /trunk/include/FlairCore/Thread.h	(revision 12)
+++ /trunk/include/FlairCore/Thread.h	(revision 13)
@@ -19,212 +19,214 @@
 class Thread_impl;
 
-namespace flair
-{
-namespace core
-{
-
-    class IODevice;
-
-    /*! \class Thread
-    *
-    * \brief Abstract class for a thread
-    *
-    * To implement a thread, Run() method must be reimplemented. \n
-    * When Start() is called, it will automatically call Run() reimplemented method.
-    * A thread can be periodic, in this case WaitPeriod() will block untill period is met.
-    * Thread can also e synnchronized with an IODevice, using WaitUpdate() method. \n
-    * Thread period is by default 100ms.
-    */
-    class Thread: public Object
-    {
-        friend class ::Thread_impl;
-
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * \param parent parent
-            * \param name name
-            * \param priority priority, should be >20 (<20 is reserved for internal use)
-            */
-            Thread(const Object* parent,std::string name,uint8_t priority);//priority>20, for real time only
-
-            /*!
-            * \brief Destructor
-            *
-            * If thread is started, SafeStop() and Join() will
-            * be automatically called.
-            *
-            */
-            virtual ~Thread();
-
-            /*!
-            * \brief Start the thread
-            *
-            */
-            void Start(void);
-
-            /*!
-            * \brief Set a stop flag
-            *
-            * ToBeStopped() will return true after calling this method.
-            */
-            void SafeStop(void);
-
-            /*!
-            * \brief Set a stop flag
-            *
-            * Reimplemented Run() can poll this method to
-            * determine when to stop the thread.
-            *
-            * \return true if SafeStop() was called
-            */
-            bool ToBeStopped(void) const;
-
-            /*!
-            * \brief Join the thread
-            *
-            * This method will block untill Run() returns.
-            *
-            */
-            void Join(void);
-
-            /*!
-            * \brief Set the period in micro second
-            *
-            * After calling this method, IsPeriodSet will return true.
-            *
-            * \param period_us period in us
-            */
-            void SetPeriodUS(uint32_t period_us);
-
-            uint32_t GetPeriodUS() const;
-
-            /*!
-            * \brief Set the period in milli second
-            *
-            * After calling this method, IsPeriodSet will return true.
-            *
-            * \param period_ums period in ms
-            */
-            void SetPeriodMS(uint32_t period_ms);
-
-            uint32_t GetPeriodMS() const;
-
-            /*!
-            * \brief Returns if period was set
-            *
-            * \return true if a period was set using SetPeriodUS or SetPeriodMS
-            * false otherwise
-            */
-            bool IsPeriodSet(void);
-
-            /*!
-            * \brief Wait the period
-            *
-            * This method will block untill period is met. \n
-            * If no period was set (see SetPeriodUS, SetPeriodMS and IsPeriodSet), this method
-            * returns immediately.
-            *
-            */
-            void WaitPeriod(void) const;
-
-            /*!
-            * \brief Wait update of an IODevice
-            *
-            * This method will block untill IODevice::ProcessUpdate
-            * is called. \n
-            * This method is usefull to synchronize a thread with an IODevice.
-            *
-            * \param device IODevice to wait update from
-            */
-            int WaitUpdate(const IODevice* device);
-
-            /*!
-            * \brief Suspend the thread
-            *
-            * This method will block untill Resume() is called.
-            *
-            */
-            void Suspend(void);
-
-            /*!
-            * \brief Suspend the thread with timeout
-            *
-            * This method will block until Resume() is called or the absolute date specified occurs
-            *
-            * \param date absolute date in ns
-            * \return true if thread is woken up by a call to Resume, false otherwise
-            */
-            bool SuspendUntil(Time date);
-
-            /*!
-            * \brief Resume the thread
-            *
-            * This method will unblock the call to Suspend().
-            *
-            */
-            void Resume(void);
-
-            /*!
-            * \brief Is the thread suspended?
-            *
-            * \return true if thread is suspended
-            *
-            */
-            bool IsSuspended(void) const;
-
-            /*!
-            * \brief Sleep until absolute time
-            *
-            * This method will block untill time is reached.
-            *
-            * \param time absolute time
-            */
-            void SleepUntil(Time time) const;
-
-            /*!
-            * \brief Sleep for a certain time in micro second
-            *
-            * This method will block untill time is elapsed.
-            *
-            * \param time_us time to wait in micro second
-            */
-            void SleepUS(uint32_t time_us) const;
-
-            /*!
-            * \brief Sleep for a cartain time in milli second
-            *
-            * This method will block untill time is elapsed.
-            *
-            * \param time_ms time to wait in milli second
-            */
-            void SleepMS(uint32_t time_ms) const;
-
-            /*!
-            * \brief Warn if real time / non real time switches occur
-            *
-            * If enabled, a message with the call stack will be displayed
-            * in case of real time / non real time switches. \n
-            * This method can help to debug application and see if switches occur. \n
-            * Note that it as no effect if this method is called from the non real time
-            * Framework library.
-            *
-            * \param enable enable or disable warns
-            */
-            static void WarnUponSwitches(bool enable);
-
-        private:
-            /*!
-            * \brief Run method
-            *
-            * This method is automatically called by Start(). \n
-            * This method must be reimplemented, in order to implement the thread.
-            *
-            */
-            virtual void Run(void)=0;
-
-            class Thread_impl* pimpl_;
-    };
+namespace flair {
+namespace core {
+
+class IODevice;
+
+/*! \class Thread
+*
+* \brief Abstract class for a thread
+*
+* To implement a thread, Run() method must be reimplemented. \n
+* When Start() is called, it will automatically call Run() reimplemented method.
+* A thread can be periodic, in this case WaitPeriod() will block untill period
+*is met.
+* Thread can also e synnchronized with an IODevice, using WaitUpdate() method.
+*\n
+* Thread period is by default 100ms.
+*/
+class Thread : public Object {
+  friend class ::Thread_impl;
+
+public:
+  /*!
+  * \brief Constructor
+  *
+  * \param parent parent
+  * \param name name
+  * \param priority priority, should be >20 (<20 is reserved for internal use)
+  */
+  Thread(const Object *parent, std::string name,
+         uint8_t priority); // priority>20, for real time only
+
+  /*!
+  * \brief Destructor
+  *
+  * If thread is started, SafeStop() and Join() will
+  * be automatically called.
+  *
+  */
+  virtual ~Thread();
+
+  /*!
+  * \brief Start the thread
+  *
+  */
+  void Start(void);
+
+  /*!
+  * \brief Set a stop flag
+  *
+  * ToBeStopped() will return true after calling this method.
+  */
+  void SafeStop(void);
+
+  /*!
+  * \brief Set a stop flag
+  *
+  * Reimplemented Run() can poll this method to
+  * determine when to stop the thread.
+  *
+  * \return true if SafeStop() was called
+  */
+  bool ToBeStopped(void) const;
+
+  /*!
+  * \brief Join the thread
+  *
+  * This method will block untill Run() returns.
+  *
+  */
+  void Join(void);
+
+  /*!
+  * \brief Set the period in micro second
+  *
+  * After calling this method, IsPeriodSet will return true.
+  *
+  * \param period_us period in us
+  */
+  void SetPeriodUS(uint32_t period_us);
+
+  uint32_t GetPeriodUS() const;
+
+  /*!
+  * \brief Set the period in milli second
+  *
+  * After calling this method, IsPeriodSet will return true.
+  *
+  * \param period_ums period in ms
+  */
+  void SetPeriodMS(uint32_t period_ms);
+
+  uint32_t GetPeriodMS() const;
+
+  /*!
+  * \brief Returns if period was set
+  *
+  * \return true if a period was set using SetPeriodUS or SetPeriodMS
+  * false otherwise
+  */
+  bool IsPeriodSet(void);
+
+  /*!
+  * \brief Wait the period
+  *
+  * This method will block untill period is met. \n
+  * If no period was set (see SetPeriodUS, SetPeriodMS and IsPeriodSet), this
+  *method
+  * returns immediately.
+  *
+  */
+  void WaitPeriod(void) const;
+
+  /*!
+  * \brief Wait update of an IODevice
+  *
+  * This method will block untill IODevice::ProcessUpdate
+  * is called. \n
+  * This method is usefull to synchronize a thread with an IODevice.
+  *
+  * \param device IODevice to wait update from
+  */
+  int WaitUpdate(const IODevice *device);
+
+  /*!
+  * \brief Suspend the thread
+  *
+  * This method will block untill Resume() is called.
+  *
+  */
+  void Suspend(void);
+
+  /*!
+  * \brief Suspend the thread with timeout
+  *
+  * This method will block until Resume() is called or the absolute date
+  *specified occurs
+  *
+  * \param date absolute date in ns
+  * \return true if thread is woken up by a call to Resume, false otherwise
+  */
+  bool SuspendUntil(Time date);
+
+  /*!
+  * \brief Resume the thread
+  *
+  * This method will unblock the call to Suspend().
+  *
+  */
+  void Resume(void);
+
+  /*!
+  * \brief Is the thread suspended?
+  *
+  * \return true if thread is suspended
+  *
+  */
+  bool IsSuspended(void) const;
+
+  /*!
+  * \brief Sleep until absolute time
+  *
+  * This method will block untill time is reached.
+  *
+  * \param time absolute time
+  */
+  void SleepUntil(Time time) const;
+
+  /*!
+  * \brief Sleep for a certain time in micro second
+  *
+  * This method will block untill time is elapsed.
+  *
+  * \param time_us time to wait in micro second
+  */
+  void SleepUS(uint32_t time_us) const;
+
+  /*!
+  * \brief Sleep for a cartain time in milli second
+  *
+  * This method will block untill time is elapsed.
+  *
+  * \param time_ms time to wait in milli second
+  */
+  void SleepMS(uint32_t time_ms) const;
+
+  /*!
+  * \brief Warn if real time / non real time switches occur
+  *
+  * If enabled, a message with the call stack will be displayed
+  * in case of real time / non real time switches. \n
+  * This method can help to debug application and see if switches occur. \n
+  * Note that it as no effect if this method is called from the non real time
+  * Framework library.
+  *
+  * \param enable enable or disable warns
+  */
+  static void WarnUponSwitches(bool enable);
+
+private:
+  /*!
+  * \brief Run method
+  *
+  * This method is automatically called by Start(). \n
+  * This method must be reimplemented, in order to implement the thread.
+  *
+  */
+  virtual void Run(void) = 0;
+
+  class Thread_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/UdtSocket.h
===================================================================
--- /trunk/include/FlairCore/UdtSocket.h	(revision 12)
+++ /trunk/include/FlairCore/UdtSocket.h	(revision 13)
@@ -18,33 +18,34 @@
 #include <ConnectedSocket.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class UdtSocket
-    *
-    * \brief Class encapsulating a UDT socket
-    *
-    */
-    class UdtSocket:public ConnectedSocket {
-    public:
-        UdtSocket(const Object* parent,const std::string name,bool blockOnSend=false,bool blockOnReceive=true);
-        ~UdtSocket();
-        void Listen(const unsigned int port,const std::string localAddress="ANY");
-        UdtSocket *Accept(Time timeout); //should throw an exception if not a listening socket
-        bool Connect(const unsigned int port,const std::string distantAddress,Time timeout); // /!\ timeout is ignored
-        ssize_t SendMessage(const char* message,size_t message_len,Time timeout);
-        ssize_t RecvMessage(char* buf,size_t buf_len,Time timeout);
+namespace flair {
+namespace core {
+/*! \class UdtSocket
+*
+* \brief Class encapsulating a UDT socket
+*
+*/
+class UdtSocket : public ConnectedSocket {
+public:
+  UdtSocket(const Object *parent, const std::string name,
+            bool blockOnSend = false, bool blockOnReceive = true);
+  ~UdtSocket();
+  void Listen(const unsigned int port, const std::string localAddress = "ANY");
+  UdtSocket *
+  Accept(Time timeout); // should throw an exception if not a listening socket
+  bool Connect(const unsigned int port, const std::string distantAddress,
+               Time timeout); // /!\ timeout is ignored
+  ssize_t SendMessage(const char *message, size_t message_len, Time timeout);
+  ssize_t RecvMessage(char *buf, size_t buf_len, Time timeout);
 
-        uint16_t NetworkToHost16(uint16_t data);
-        uint16_t HostToNetwork16(uint16_t data);
-        uint32_t NetworkToHost32(uint32_t data);
-        uint32_t HostToNetwork32(uint32_t data);
+  uint16_t NetworkToHost16(uint16_t data);
+  uint16_t HostToNetwork16(uint16_t data);
+  uint32_t NetworkToHost32(uint32_t data);
+  uint32_t HostToNetwork32(uint32_t data);
 
-    private:
-        UDTSOCKET socket;
-        bool blockOnSend;
-        bool blockOnReceive;
-    };
+private:
+  UDTSOCKET socket;
+  bool blockOnSend;
+  bool blockOnReceive;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Unix_I2cPort.h
===================================================================
--- /trunk/include/FlairCore/Unix_I2cPort.h	(revision 12)
+++ /trunk/include/FlairCore/Unix_I2cPort.h	(revision 13)
@@ -16,84 +16,81 @@
 #include <I2cPort.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class Unix_I2cPort
-    *
-    * \brief Class for unix serial port
-    *
-    */
-    class Unix_I2cPort: public I2cPort
-    {
+namespace flair {
+namespace core {
+/*! \class Unix_I2cPort
+*
+* \brief Class for unix serial port
+*
+*/
+class Unix_I2cPort : public I2cPort {
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an unix i2c port
-            *
-            * \param parent parent
-            * \param name name
-            * \param device serial device (ex /dev/i2c-1)
-            */
-            Unix_I2cPort(const Object* parent,std::string port_name,std::string device);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an unix i2c port
+  *
+  * \param parent parent
+  * \param name name
+  * \param device serial device (ex /dev/i2c-1)
+  */
+  Unix_I2cPort(const Object *parent, std::string port_name, std::string device);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Unix_I2cPort();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Unix_I2cPort();
 
-            /*!
-            * \brief Set slave's address
-            *
-            * This method need to be called before any communication.
-            *
-            * \param address slave's address
-            */
-            int SetSlave(uint16_t address);
+  /*!
+  * \brief Set slave's address
+  *
+  * This method need to be called before any communication.
+  *
+  * \param address slave's address
+  */
+  int SetSlave(uint16_t address);
 
-            /*!
-            * \brief Set RX timeout
-            *
-            * Timeout for waiting datas.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            void SetRxTimeout(Time timeout_ns);
+  /*!
+  * \brief Set RX timeout
+  *
+  * Timeout for waiting datas.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  void SetRxTimeout(Time timeout_ns);
 
-            /*!
-            * \brief Set TX timeout
-            *
-            * Timeout for waiting an ACK from the slave.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            void SetTxTimeout(Time timeout_ns);
+  /*!
+  * \brief Set TX timeout
+  *
+  * Timeout for waiting an ACK from the slave.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  void SetTxTimeout(Time timeout_ns);
 
-            /*!
-            * \brief Write datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of written datas
-            */
-            ssize_t Write(const void *buf,size_t nbyte);
+  /*!
+  * \brief Write datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of written datas
+  */
+  ssize_t Write(const void *buf, size_t nbyte);
 
-            /*!
-            * \brief Read datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of read datas
-            */
-            ssize_t Read(void *buf,size_t nbyte);
+  /*!
+  * \brief Read datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of read datas
+  */
+  ssize_t Read(void *buf, size_t nbyte);
 
-        private:
-            int fd;
-    };
+private:
+  int fd;
+};
 } // end namespace core
 } // end namespace flair
Index: /trunk/include/FlairCore/Unix_SerialPort.h
===================================================================
--- /trunk/include/FlairCore/Unix_SerialPort.h	(revision 12)
+++ /trunk/include/FlairCore/Unix_SerialPort.h	(revision 13)
@@ -17,82 +17,80 @@
 #include <termios.h> /* POSIX terminal control definitions */
 
-namespace flair
-{
-namespace core
-{
-    /*! \class RTDM_I2cPort
-    *
-    * \brief Class for unix serial port
-    *
-    */
-    class Unix_SerialPort: public SerialPort
-    {
+namespace flair {
+namespace core {
+/*! \class RTDM_I2cPort
+*
+* \brief Class for unix serial port
+*
+*/
+class Unix_SerialPort : public SerialPort {
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an unix serial port, with the following default values: \n
-            * - 115200bps baudrate
-            *
-            * \param parent parent
-            * \param name name
-            * \param device serial device (ex rtser1)
-            */
-            Unix_SerialPort(const Object* parent,std::string port_name,std::string device);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an unix serial port, with the following default values: \n
+  * - 115200bps baudrate
+  *
+  * \param parent parent
+  * \param name name
+  * \param device serial device (ex rtser1)
+  */
+  Unix_SerialPort(const Object *parent, std::string port_name,
+                  std::string device);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Unix_SerialPort();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Unix_SerialPort();
 
-            /*!
-            * \brief Set baudrate
-            *
-            * \param baudrate baudrate
-            *
-            */
-            void SetBaudrate(int baudrate);
+  /*!
+  * \brief Set baudrate
+  *
+  * \param baudrate baudrate
+  *
+  */
+  void SetBaudrate(int baudrate);
 
-            /*!
-            * \brief Set RX timeout
-            *
-            * Timeout for waiting datas.
-            *
-            * \param timeout_ns timeout in nano second
-            */
-            void SetRxTimeout(Time timeout_ns);
+  /*!
+  * \brief Set RX timeout
+  *
+  * Timeout for waiting datas.
+  *
+  * \param timeout_ns timeout in nano second
+  */
+  void SetRxTimeout(Time timeout_ns);
 
-            /*!
-            * \brief Write datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of written datas
-            */
-            ssize_t Write(const void *buf,size_t nbyte);
+  /*!
+  * \brief Write datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of written datas
+  */
+  ssize_t Write(const void *buf, size_t nbyte);
 
-            /*!
-            * \brief Read datas
-            *
-            * \param buf pointer to datas
-            * \param nbyte length of datas
-            *
-            * \return amount of read datas
-            */
-            ssize_t Read(void *buf,size_t nbyte);
+  /*!
+  * \brief Read datas
+  *
+  * \param buf pointer to datas
+  * \param nbyte length of datas
+  *
+  * \return amount of read datas
+  */
+  ssize_t Read(void *buf, size_t nbyte);
 
-            /*!
-            * \brief Flush input datas
-            *
-            */
-            void FlushInput(void);
+  /*!
+  * \brief Flush input datas
+  *
+  */
+  void FlushInput(void);
 
-        private:
-            int fd;
-            struct termios options;
-    };
+private:
+  int fd;
+  struct termios options;
+};
 } // end namespace core
 } // end namespace flair
Index: /trunk/include/FlairCore/Vector2D.h
===================================================================
--- /trunk/include/FlairCore/Vector2D.h	(revision 12)
+++ /trunk/include/FlairCore/Vector2D.h	(revision 13)
@@ -14,153 +14,153 @@
 #define VECTOR2D_H
 
-namespace flair { namespace core {
+namespace flair {
+namespace core {
 
-    /*! \class Vector2D
-    *
-    * \brief Class defining a 2D vector
-    */
-    class Vector2D {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Vector2D using specified values.
-            *
-            * \param x
-            * \param y
-            */
-            Vector2D(float x=0,float y=0);
+/*! \class Vector2D
+*
+* \brief Class defining a 2D vector
+*/
+class Vector2D {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Vector2D using specified values.
+  *
+  * \param x
+  * \param y
+  */
+  Vector2D(float x = 0, float y = 0);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Vector2D();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Vector2D();
 
-            /*!
-            * \brief Rotation
-            *
-            * \param value rotation value in radians
-            */
-            void Rotate(float value);
+  /*!
+  * \brief Rotation
+  *
+  * \param value rotation value in radians
+  */
+  void Rotate(float value);
 
-            /*!
-            * \brief Rotation
-            *
-            * \param value rotation value in degrees
-            */
-            void RotateDeg(float value);
+  /*!
+  * \brief Rotation
+  *
+  * \param value rotation value in degrees
+  */
+  void RotateDeg(float value);
 
-            /*!
-            * \brief Norm
-            *
-            * \return value
-            */
-            float GetNorm(void) const;
+  /*!
+  * \brief Norm
+  *
+  * \return value
+  */
+  float GetNorm(void) const;
 
-            /*!
-            * \brief Normalize
-            */
-            void Normalize(void);
+  /*!
+  * \brief Normalize
+  */
+  void Normalize(void);
 
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between min and max
-            *
-            * \param min minimum Vector2D value
-            * \param max maximum Vector2D value
-            */
-            void Saturate(Vector2D min,Vector2D max);
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between min and max
+  *
+  * \param min minimum Vector2D value
+  * \param max maximum Vector2D value
+  */
+  void Saturate(Vector2D min, Vector2D max);
 
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between min and max
-            *
-            * \param min minimum Vector2D(min,min) value
-            * \param max maximum Vector2D(max,max) value
-            */
-            void Saturate(float min,float max);
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between min and max
+  *
+  * \param min minimum Vector2D(min,min) value
+  * \param max maximum Vector2D(max,max) value
+  */
+  void Saturate(float min, float max);
 
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between -abs(value) and abs(value)
-            *
-            * \param value saturation Vector2D value
-            */
-            void Saturate(const Vector2D &value);
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between -abs(value) and abs(value)
+  *
+  * \param value saturation Vector2D value
+  */
+  void Saturate(const Vector2D &value);
 
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between -abs(Vector2D(value,value)) and abs(Vector2D(value,value))
-            *
-            * \param value saturation Vector2D(value,value)
-            */
-            void Saturate(float value);
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between -abs(Vector2D(value,value)) and abs(Vector2D(value,value))
+  *
+  * \param value saturation Vector2D(value,value)
+  */
+  void Saturate(float value);
 
+  /*!
+  * \brief x
+  */
+  float x;
 
-            /*!
-            * \brief x
-            */
-            float x;
+  /*!
+  * \brief y
+  */
+  float y;
 
-            /*!
-            * \brief y
-            */
-            float y;
+  Vector2D &operator=(const Vector2D &vector);
+};
 
-            Vector2D &operator=(const Vector2D &vector);
-    };
+/*! Add
+*
+* \brief Add
+*
+* \param vectorA vector
+* \param vectorB vector
+*/
+Vector2D operator+(const Vector2D &vectorA, const Vector2D &vectorB);
 
-    /*! Add
-    *
-    * \brief Add
-    *
-    * \param vectorA vector
-    * \param vectorB vector
-    */
-    Vector2D operator + (const Vector2D &vectorA,const Vector2D &vectorB);
+/*! Substract
+*
+* \brief Substract
+*
+* \param vectorA vector
+* \param vectorB vector
+*/
+Vector2D operator-(const Vector2D &vectorA, const Vector2D &vectorB);
 
-    /*! Substract
-    *
-    * \brief Substract
-    *
-    * \param vectorA vector
-    * \param vectorB vector
-    */
-    Vector2D operator - (const Vector2D &vectorA,const Vector2D &vectorB);
+/*! Divid
+*
+* \brief Divid
+*
+* \param vector vector
+* \param coeff coefficent
+* \return vector/coefficient
+*/
+Vector2D operator/(const Vector2D &vector, float coeff);
 
-    /*! Divid
-    *
-    * \brief Divid
-    *
-    * \param vector vector
-    * \param coeff coefficent
-    * \return vector/coefficient
-    */
-    Vector2D operator / (const Vector2D &vector, float coeff);
+/*! Multiply
+*
+* \brief Multiplyf
+*
+* \param vector vector
+* \param coeff coefficent
+* \return coefficient*vector
+*/
+Vector2D operator*(const Vector2D &vector, float coeff);
 
-    /*! Multiply
-    *
-    * \brief Multiplyf
-    *
-    * \param vector vector
-    * \param coeff coefficent
-    * \return coefficient*vector
-    */
-    Vector2D operator * (const Vector2D &vector, float coeff);
-
-    /*! Multiply
-    *
-    * \brief Multiply
-    *
-    * \param coeff coefficent
-    * \param vector vector
-    * \return coefficient*vector
-    */
-    Vector2D operator * (float coeff,const Vector2D &vector);
+/*! Multiply
+*
+* \brief Multiply
+*
+* \param coeff coefficent
+* \param vector vector
+* \return coefficient*vector
+*/
+Vector2D operator*(float coeff, const Vector2D &vector);
 
 } // end namespace core
Index: /trunk/include/FlairCore/Vector3D.h
===================================================================
--- /trunk/include/FlairCore/Vector3D.h	(revision 12)
+++ /trunk/include/FlairCore/Vector3D.h	(revision 13)
@@ -16,281 +16,282 @@
 #include <stddef.h>
 
-namespace flair { namespace core {
-    class Vector2D;
-    class RotationMatrix;
-    class Quaternion;
-
-    /*! \class Vector3D
-    *
-    * \brief Class defining a 3D vector
-    */
-    class Vector3D {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Vector3D using specified values.
-            *
-            * \param x
-            * \param y
-            * \param z
-            */
-            Vector3D(float x=0,float y=0,float z=0);
-
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Vector3D();
-
-            /*!
-            * \brief x
-            */
-            float x;
-
-            /*!
-            * \brief y
-            */
-            float y;
-
-            /*!
-            * \brief z
-            */
-            float z;
-
-            /*!
-            * \brief x axis rotation
-            *
-            * \param value rotation value in radians
-            */
-            void RotateX(float value);
-
-            /*!
-            * \brief x axis rotation
-            *
-            * \param value rotation value in degrees
-            */
-            void RotateXDeg(float value);
-
-            /*!
-            * \brief y axis rotation
-            *
-            * \param value rotation value in radians
-            */
-            void RotateY(float value);
-
-            /*!
-            * \brief y axis rotation
-            *
-            * \param value rotation value in degrees
-            */
-            void RotateYDeg(float value);
-
-            /*!
-            * \brief z axis rotation
-            *
-            * \param value rotation value in radians
-            */
-            void RotateZ(float value);
-
-            /*!
-            * \brief z axis rotation
-            *
-            * \param value rotation value in degrees
-            */
-            void RotateZDeg(float value);
-
-            /*!
-            * \brief rotation
-            *
-            * \param matrix rotation matrix
-            */
-            void Rotate(const RotationMatrix &matrix);
-
-            /*!
-            * \brief rotation
-            *
-            * Compute a rotation from a quaternion. This method uses a rotation matrix
-            * internaly.
-            *
-            * \param quaternion quaternion
-            */
-            void Rotate(const Quaternion &quaternion);
-
-            /*!
-            * \brief Convert to a Vector2D
-            *
-            * Uses x and y coordinates.
-            *
-            * \param vector destination
-            */
-            void To2Dxy(Vector2D &vector) const;
-
-            /*!
-            * \brief Convert to a Vector2D
-            *
-            * Uses x and y coordinates.
-            *
-            * \return destination
-            */
-            Vector2D To2Dxy(void) const;
-
-            /*!
-            * \brief Norm
-            *
-            * \return value
-            */
-            float GetNorm(void) const;
-
-            /*!
-            * \brief Normalize
-            */
-            void Normalize(void);
-
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between min and max
-            *
-            * \param min minimum value
-            * \param max maximum value
-            */
-            void Saturate(const Vector3D &min,const Vector3D &max);
-
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between min and max
-            *
-            * \param min minimum Vector3D(min,min,min) value
-            * \param max maximum Vector3D(max,max,max) value
-            */
-            void Saturate(float min,float max);
-
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between -abs(value) and abs(value)
-            *
-            * \param value saturation Vector3D value
-            */
-            void Saturate(const Vector3D &value);
-
-            /*!
-            * \brief Saturate
-            *
-            * Saturate between -abs(Vector3D(value,value,value)) and abs(Vector3D(value,value,value))
-            *
-            * \param value saturation Vector3D(value,value,value)
-            */
-            void Saturate(float value);
-
-            float &operator[](size_t idx);
-            const float &operator[](size_t idx) const;
-            Vector3D &operator=(const Vector3D& vector);
-            Vector3D &operator+=(const Vector3D& vector);
-            Vector3D &operator-=(const Vector3D& vector);
-
-        private:
-
-    };
-
-    /*! Add
-    *
-    * \brief Add
-    *
-    * \param vectorA vector
-    * \param vectorB vector
-    *
-    * \return vectorA+vectorB
-    */
-    Vector3D operator + (const Vector3D &vectorA,const Vector3D &vectorB);
-
-    /*! Substract
-    *
-    * \brief Substract
-    *
-    * \param vectorA vector
-    * \param vectorB vector
-    *
-    * \return vectorA-vectorB
-    */
-    Vector3D operator - (const Vector3D &vectorA,const Vector3D &vectorB);
-
-    /*! Minus
-    *
-    * \brief Minus
-    *
-    * \param vector vector
-    *
-    * \return -vector
-    */
-    Vector3D operator-(const Vector3D &vector);
-
-    /*! Divid
-    *
-    * \brief Divid
-    *
-    * \param vector vector
-    * \param coeff coefficent
-    *
-    * \return vector/coefficient
-    */
-    Vector3D operator / (const Vector3D &vector, float coeff);
-
-    /*! Hadamard product
-    *
-    * \brief Hadamard product
-    *
-    * \param vectorA vector
-    * \param vectorBA vector
-    *
-    * \return Hadamard product
-    */
-    Vector3D operator * (const Vector3D &vectorA, const Vector3D &vectorB);
-
-    /*! Multiply
-    *
-    * \brief Multiply
-    *
-    * \param vector vector
-    * \param coeff coefficent
-    *
-    * \return coefficient*vector
-    */
-    Vector3D operator * (const Vector3D &vector, float coeff);
-
-    /*! Multiply
-    *
-    * \brief Multiply
-    *
-    * \param coeff coefficent
-    * \param vector vector
-    *
-    * \return coefficient*vector
-    */
-    Vector3D operator * (float coeff, const Vector3D &vector);
-
-    /*! Cross product
-    *
-    * \brief Cross product
-    *
-    * \param vectorA first vector
-    * \param vectorB second vector
-    *
-    * \return cross product
-    */
-    Vector3D CrossProduct(const Vector3D &vectorA, const Vector3D &vectorB);
-
-    /*! Dot product
-    *
-    * \brief Dot product
-    *
-    * \param vectorA first vector
-    * \param vectorB second vector
-    *
-    * \return dot product
-    */
-    float DotProduct(const Vector3D &vectorA, const Vector3D &vectorB);
+namespace flair {
+namespace core {
+class Vector2D;
+class RotationMatrix;
+class Quaternion;
+
+/*! \class Vector3D
+*
+* \brief Class defining a 3D vector
+*/
+class Vector3D {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Vector3D using specified values.
+  *
+  * \param x
+  * \param y
+  * \param z
+  */
+  Vector3D(float x = 0, float y = 0, float z = 0);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Vector3D();
+
+  /*!
+  * \brief x
+  */
+  float x;
+
+  /*!
+  * \brief y
+  */
+  float y;
+
+  /*!
+  * \brief z
+  */
+  float z;
+
+  /*!
+  * \brief x axis rotation
+  *
+  * \param value rotation value in radians
+  */
+  void RotateX(float value);
+
+  /*!
+  * \brief x axis rotation
+  *
+  * \param value rotation value in degrees
+  */
+  void RotateXDeg(float value);
+
+  /*!
+  * \brief y axis rotation
+  *
+  * \param value rotation value in radians
+  */
+  void RotateY(float value);
+
+  /*!
+  * \brief y axis rotation
+  *
+  * \param value rotation value in degrees
+  */
+  void RotateYDeg(float value);
+
+  /*!
+  * \brief z axis rotation
+  *
+  * \param value rotation value in radians
+  */
+  void RotateZ(float value);
+
+  /*!
+  * \brief z axis rotation
+  *
+  * \param value rotation value in degrees
+  */
+  void RotateZDeg(float value);
+
+  /*!
+  * \brief rotation
+  *
+  * \param matrix rotation matrix
+  */
+  void Rotate(const RotationMatrix &matrix);
+
+  /*!
+  * \brief rotation
+  *
+  * Compute a rotation from a quaternion. This method uses a rotation matrix
+  * internaly.
+  *
+  * \param quaternion quaternion
+  */
+  void Rotate(const Quaternion &quaternion);
+
+  /*!
+  * \brief Convert to a Vector2D
+  *
+  * Uses x and y coordinates.
+  *
+  * \param vector destination
+  */
+  void To2Dxy(Vector2D &vector) const;
+
+  /*!
+  * \brief Convert to a Vector2D
+  *
+  * Uses x and y coordinates.
+  *
+  * \return destination
+  */
+  Vector2D To2Dxy(void) const;
+
+  /*!
+  * \brief Norm
+  *
+  * \return value
+  */
+  float GetNorm(void) const;
+
+  /*!
+  * \brief Normalize
+  */
+  void Normalize(void);
+
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between min and max
+  *
+  * \param min minimum value
+  * \param max maximum value
+  */
+  void Saturate(const Vector3D &min, const Vector3D &max);
+
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between min and max
+  *
+  * \param min minimum Vector3D(min,min,min) value
+  * \param max maximum Vector3D(max,max,max) value
+  */
+  void Saturate(float min, float max);
+
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between -abs(value) and abs(value)
+  *
+  * \param value saturation Vector3D value
+  */
+  void Saturate(const Vector3D &value);
+
+  /*!
+  * \brief Saturate
+  *
+  * Saturate between -abs(Vector3D(value,value,value)) and
+  *abs(Vector3D(value,value,value))
+  *
+  * \param value saturation Vector3D(value,value,value)
+  */
+  void Saturate(float value);
+
+  float &operator[](size_t idx);
+  const float &operator[](size_t idx) const;
+  Vector3D &operator=(const Vector3D &vector);
+  Vector3D &operator+=(const Vector3D &vector);
+  Vector3D &operator-=(const Vector3D &vector);
+
+private:
+};
+
+/*! Add
+*
+* \brief Add
+*
+* \param vectorA vector
+* \param vectorB vector
+*
+* \return vectorA+vectorB
+*/
+Vector3D operator+(const Vector3D &vectorA, const Vector3D &vectorB);
+
+/*! Substract
+*
+* \brief Substract
+*
+* \param vectorA vector
+* \param vectorB vector
+*
+* \return vectorA-vectorB
+*/
+Vector3D operator-(const Vector3D &vectorA, const Vector3D &vectorB);
+
+/*! Minus
+*
+* \brief Minus
+*
+* \param vector vector
+*
+* \return -vector
+*/
+Vector3D operator-(const Vector3D &vector);
+
+/*! Divid
+*
+* \brief Divid
+*
+* \param vector vector
+* \param coeff coefficent
+*
+* \return vector/coefficient
+*/
+Vector3D operator/(const Vector3D &vector, float coeff);
+
+/*! Hadamard product
+*
+* \brief Hadamard product
+*
+* \param vectorA vector
+* \param vectorBA vector
+*
+* \return Hadamard product
+*/
+Vector3D operator*(const Vector3D &vectorA, const Vector3D &vectorB);
+
+/*! Multiply
+*
+* \brief Multiply
+*
+* \param vector vector
+* \param coeff coefficent
+*
+* \return coefficient*vector
+*/
+Vector3D operator*(const Vector3D &vector, float coeff);
+
+/*! Multiply
+*
+* \brief Multiply
+*
+* \param coeff coefficent
+* \param vector vector
+*
+* \return coefficient*vector
+*/
+Vector3D operator*(float coeff, const Vector3D &vector);
+
+/*! Cross product
+*
+* \brief Cross product
+*
+* \param vectorA first vector
+* \param vectorB second vector
+*
+* \return cross product
+*/
+Vector3D CrossProduct(const Vector3D &vectorA, const Vector3D &vectorB);
+
+/*! Dot product
+*
+* \brief Dot product
+*
+* \param vectorA first vector
+* \param vectorB second vector
+*
+* \return dot product
+*/
+float DotProduct(const Vector3D &vectorA, const Vector3D &vectorB);
 
 } // end namespace core
Index: /trunk/include/FlairCore/Vector3DSpinBox.h
===================================================================
--- /trunk/include/FlairCore/Vector3DSpinBox.h	(revision 12)
+++ /trunk/include/FlairCore/Vector3DSpinBox.h	(revision 13)
@@ -17,54 +17,57 @@
 #include <Vector3D.h>
 
-namespace flair { namespace gui {
-    class Layout;
+namespace flair {
+namespace gui {
+class Layout;
 
-    /*! \class Vector3DSpinBox
-    *
-    * \brief Class displaying 3 QDoubleSpinBox for x,y,z on the ground station
-    *
-    */
-    class Vector3DSpinBox: public Box {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Vector3DSpinBox at given position. \n
-            * Each DoubleSpinBox is saturated to min and max values.
-            *
-            * \param position position to display the Vector3DSpinBox
-            * \param name name
-            * \param min minimum value
-            * \param max maximum value
-            * \param step step
-            * \param decimals number of decimals
-            * \param default_value default value if not in the xml config file
-            */
-            Vector3DSpinBox(const LayoutPosition* position,std::string name,double min,double max,double step,int decimals=2,core::Vector3D default_value=core::Vector3D(0,0,0));
+/*! \class Vector3DSpinBox
+*
+* \brief Class displaying 3 QDoubleSpinBox for x,y,z on the ground station
+*
+*/
+class Vector3DSpinBox : public Box {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Vector3DSpinBox at given position. \n
+  * Each DoubleSpinBox is saturated to min and max values.
+  *
+  * \param position position to display the Vector3DSpinBox
+  * \param name name
+  * \param min minimum value
+  * \param max maximum value
+  * \param step step
+  * \param decimals number of decimals
+  * \param default_value default value if not in the xml config file
+  */
+  Vector3DSpinBox(const LayoutPosition *position, std::string name, double min,
+                  double max, double step, int decimals = 2,
+                  core::Vector3D default_value = core::Vector3D(0, 0, 0));
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Vector3DSpinBox();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Vector3DSpinBox();
 
-            /*!
-            * \brief Value
-            *
-            * \return value
-            */
-            core::Vector3D Value(void) const;
-            //operator core::Vector3D() const;
-        private:
-            /*!
-            * \brief XmlEvent from ground station
-            *
-            * Reimplemented from Widget.
-            *
-            */
-            void XmlEvent(void);
+  /*!
+  * \brief Value
+  *
+  * \return value
+  */
+  core::Vector3D Value(void) const;
+  // operator core::Vector3D() const;
+private:
+  /*!
+  * \brief XmlEvent from ground station
+  *
+  * Reimplemented from Widget.
+  *
+  */
+  void XmlEvent(void);
 
-            core::Vector3D box_value;
-    };
+  core::Vector3D box_value;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/Vector3Ddata.h
===================================================================
--- /trunk/include/FlairCore/Vector3Ddata.h	(revision 12)
+++ /trunk/include/FlairCore/Vector3Ddata.h	(revision 13)
@@ -18,72 +18,70 @@
 #include <Vector3D.h>
 
-namespace flair
-{
-namespace core
-{
+namespace flair {
+namespace core {
 
-    /*! \class Vector3Ddata
-    *
-    * \brief Class defining a 3D vector and a io_data
-    * User must manually use the io_data's Mutex to access to Vector3D values.
-    */
-    class Vector3Ddata: public io_data, public Vector3D
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Vector3D using specified values.
-            *
-            * \param x
-            * \param y
-            * \param z
-            */
-            Vector3Ddata(const Object* parent, std::string name,float x=0,float y=0,float z=0,uint32_t n=1);
+/*! \class Vector3Ddata
+*
+* \brief Class defining a 3D vector and a io_data
+* User must manually use the io_data's Mutex to access to Vector3D values.
+*/
+class Vector3Ddata : public io_data, public Vector3D {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Vector3D using specified values.
+  *
+  * \param x
+  * \param y
+  * \param z
+  */
+  Vector3Ddata(const Object *parent, std::string name, float x = 0, float y = 0,
+               float z = 0, uint32_t n = 1);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Vector3Ddata();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Vector3Ddata();
 
-            /*!
-            * \brief X Element
-            *
-            * Get a vectorer to x element. This pointer can be used for plotting.
-            *
-            * \return pointer to the element
-            */
-            IODataElement* XElement(void) const;
+  /*!
+  * \brief X Element
+  *
+  * Get a vectorer to x element. This pointer can be used for plotting.
+  *
+  * \return pointer to the element
+  */
+  IODataElement *XElement(void) const;
 
-            /*!
-            * \brief Y Element
-            *
-            * Get a pointer to y element. This pointer can be used for plotting.
-            *
-            * \return pointer to the element
-            */
-            IODataElement* YElement(void) const;
+  /*!
+  * \brief Y Element
+  *
+  * Get a pointer to y element. This pointer can be used for plotting.
+  *
+  * \return pointer to the element
+  */
+  IODataElement *YElement(void) const;
 
-            /*!
-            * \brief Z Element
-            *
-            * Get a pointer to z element. This pointer can be used for plotting.
-            *
-            * \return pointer to the element
-            */
-            IODataElement* ZElement(void) const;
+  /*!
+  * \brief Z Element
+  *
+  * Get a pointer to z element. This pointer can be used for plotting.
+  *
+  * \return pointer to the element
+  */
+  IODataElement *ZElement(void) const;
 
-        private:
-            /*!
-            * \brief Copy datas
-            *
-            * Reimplemented from io_data. \n
-            * See io_data::CopyDatas.
-            *
-            * \param dst destination buffer
-            */
-            void CopyDatas(char* dst) const;
-    };
+private:
+  /*!
+  * \brief Copy datas
+  *
+  * Reimplemented from io_data. \n
+  * See io_data::CopyDatas.
+  *
+  * \param dst destination buffer
+  */
+  void CopyDatas(char *dst) const;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Watchdog.h
===================================================================
--- /trunk/include/FlairCore/Watchdog.h	(revision 12)
+++ /trunk/include/FlairCore/Watchdog.h	(revision 13)
@@ -20,24 +20,25 @@
 namespace core {
 
-    /*! \class Watchdog
-    *
-    * \brief Watchdog class
-    *
-    * Calls a given function if not touched within a specified period of time
-    *
-    */
-    class Watchdog:public Thread {
-    public:
-        Watchdog(const Object* parent,std::function<void()> _expired,Time _timer);
-        ~Watchdog();
+/*! \class Watchdog
+*
+* \brief Watchdog class
+*
+* Calls a given function if not touched within a specified period of time
+*
+*/
+class Watchdog : public Thread {
+public:
+  Watchdog(const Object *parent, std::function<void()> _expired, Time _timer);
+  ~Watchdog();
 
-        //reset the timer
-        void Touch();
-        void SetTimer(Time _Timer);
-    private:
-        void Run();
-        std::function<void()> expired;
-        Time timer;
-    };
+  // reset the timer
+  void Touch();
+  void SetTimer(Time _Timer);
+
+private:
+  void Run();
+  std::function<void()> expired;
+  Time timer;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/Widget.h
===================================================================
--- /trunk/include/FlairCore/Widget.h	(revision 12)
+++ /trunk/include/FlairCore/Widget.h	(revision 13)
@@ -21,125 +21,129 @@
 class FrameworkManager_impl;
 
-namespace flair
-{
-namespace gui
-{
+namespace flair {
+namespace gui {
 
-    /*! \class Widget
-    *
-    * \brief Abstract class for all Framework's widget classes
-    *
-    * A widget is an object to display on the ground station. \n
-    * Communication with ground station is done through xml files; properties of theses files
-    * are modified through appropriate method. \n
-    * A xml file is used for default values of the Widget, if it has been specified in the
-    *  constructor of the FrameworkManager.
-    */
-    class Widget: public core::Object
-    {
-        friend class core::FrameworkManager;
-        friend class ::Widget_impl;
-        friend class ::FrameworkManager_impl;
+/*! \class Widget
+*
+* \brief Abstract class for all Framework's widget classes
+*
+* A widget is an object to display on the ground station. \n
+* Communication with ground station is done through xml files; properties of
+*theses files
+* are modified through appropriate method. \n
+* A xml file is used for default values of the Widget, if it has been specified
+*in the
+*  constructor of the FrameworkManager.
+*/
+class Widget : public core::Object {
+  friend class core::FrameworkManager;
+  friend class ::Widget_impl;
+  friend class ::FrameworkManager_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Widget, the xml file specified to the FrameworkManager's
-            * constructor is sued for default values. \n
-            * Two Widget with same parent must have different names. If a brother Widget already
-            * has the same name, the name of the new one will be automatically changed. \n
-            * Type must agree with predifined (hard coded) types
-            * in ground station code.
-            *
-            * \param parent parent
-            * \param name name
-            * \param type type
-            */
-            Widget(const Widget* parent,std::string name,std::string type);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Widget, the xml file specified to the FrameworkManager's
+  * constructor is sued for default values. \n
+  * Two Widget with same parent must have different names. If a brother Widget
+  *already
+  * has the same name, the name of the new one will be automatically changed. \n
+  * Type must agree with predifined (hard coded) types
+  * in ground station code.
+  *
+  * \param parent parent
+  * \param name name
+  * \param type type
+  */
+  Widget(const Widget *parent, std::string name, std::string type);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            virtual ~Widget();
+  /*!
+  * \brief Destructor
+  *
+  */
+  virtual ~Widget();
 
-            /*!
-            * \brief Set enabled
-            *
-            * Enable or disable the Widget on the ground station. \n
-            * A disabled widget is greyed out on the ground station
-            * and in unmodifiable.
-            *
-            * \param status
-            */
-            void setEnabled(bool status);
+  /*!
+  * \brief Set enabled
+  *
+  * Enable or disable the Widget on the ground station. \n
+  * A disabled widget is greyed out on the ground station
+  * and in unmodifiable.
+  *
+  * \param status
+  */
+  void setEnabled(bool status);
 
-            /*!
-            * \brief Is enabled?
-            *
-            * \return true if widget is enabled
-            */
-            bool isEnabled(void) const;
+  /*!
+  * \brief Is enabled?
+  *
+  * \return true if widget is enabled
+  */
+  bool isEnabled(void) const;
 
-        protected:
-            /*!
-            * \brief Set a persistent xml property
-            *
-            * The property will be saved in the configuration xml and also used to configure the ground station.
-            *
-            * \param prop property to set and save
-            * \param value value to set and save
-            */
-            template <typename T>
-            void SetPersistentXmlProp(std::string prop,T value);
+protected:
+  /*!
+  * \brief Set a persistent xml property
+  *
+  * The property will be saved in the configuration xml and also used to
+  *configure the ground station.
+  *
+  * \param prop property to set and save
+  * \param value value to set and save
+  */
+  template <typename T> void SetPersistentXmlProp(std::string prop, T value);
 
-            /*!
-            * \brief Get a persistent xml property
-            *
-            * Get the property from the xml file. If no corresponding property is found in the xml, value remains unchanged. \n
-            * Thus value can be initialized with a default value before calling this method.
-            *
-            * \param prop property to get
-            * \param value value to store the result
-            * \return true if value was changed
-            */
-            template <typename T>
-            bool GetPersistentXmlProp(std::string prop,T &value);
+  /*!
+  * \brief Get a persistent xml property
+  *
+  * Get the property from the xml file. If no corresponding property is found in
+  *the xml, value remains unchanged. \n
+  * Thus value can be initialized with a default value before calling this
+  *method.
+  *
+  * \param prop property to get
+  * \param value value to store the result
+  * \return true if value was changed
+  */
+  template <typename T> bool GetPersistentXmlProp(std::string prop, T &value);
 
-            /*!
-            * \brief Set a volatile xml property
-            *
-            * This property should be used to configure the ground station (one time init). \n
-            * The property will be destroyed after calling SendXml() as it should no be used anymore.
-            *
-            * \param prop property to set
-            * \param value value to set
-            * \param node if sepcified, node to set; otherwise use the node of the Widget
-            */
-            template <typename T>
-            void SetVolatileXmlProp(std::string prop,T value,xmlNodePtr node=NULL);
+  /*!
+  * \brief Set a volatile xml property
+  *
+  * This property should be used to configure the ground station (one time
+  *init). \n
+  * The property will be destroyed after calling SendXml() as it should no be
+  *used anymore.
+  *
+  * \param prop property to set
+  * \param value value to set
+  * \param node if sepcified, node to set; otherwise use the node of the Widget
+  */
+  template <typename T>
+  void SetVolatileXmlProp(std::string prop, T value, xmlNodePtr node = NULL);
 
-            /*!
-            * \brief Send xml
-            *
-            * Send Widget's xml to ground station. \n
-            * New changes will be taken into account by ground station. \n
-            * All volatile properties will be erased after calling ths method, as they should not be used anymore.
-            */
-            void SendXml(void);
+  /*!
+  * \brief Send xml
+  *
+  * Send Widget's xml to ground station. \n
+  * New changes will be taken into account by ground station. \n
+  * All volatile properties will be erased after calling ths method, as they
+  *should not be used anymore.
+  */
+  void SendXml(void);
 
-            /*!
-            * \brief Xml event
-            *
-            * This method must be reimplemented to handle a xml event. \n
-            * It is automatically called when something changed from
-            * ground station. \n
-            */
-            virtual void XmlEvent(void){};
+  /*!
+  * \brief Xml event
+  *
+  * This method must be reimplemented to handle a xml event. \n
+  * It is automatically called when something changed from
+  * ground station. \n
+  */
+  virtual void XmlEvent(void){};
 
-         private:
-            class Widget_impl* pimpl_;
-    };
+private:
+  class Widget_impl *pimpl_;
+};
 
 } // end namespace gui
Index: /trunk/include/FlairCore/cvimage.h
===================================================================
--- /trunk/include/FlairCore/cvimage.h	(revision 12)
+++ /trunk/include/FlairCore/cvimage.h	(revision 13)
@@ -18,105 +18,106 @@
 #include <stdint.h>
 
-namespace flair
-{
-namespace core
-{
-    /*! \class cvimage
-    *
-    * \brief Class defining an image of kind IplImage
-    *
-    * IplImage is an image struct defined in OpenCV.
-    *
+namespace flair {
+namespace core {
+/*! \class cvimage
+*
+* \brief Class defining an image of kind IplImage
+*
+* IplImage is an image struct defined in OpenCV.
+*
+*/
+class cvimage : public io_data {
+public:
+  class Type : public DataType {
+  public:
+    /*!
+    \enum Format_t
+    \brief Picture formats
     */
-    class cvimage: public io_data {
-    public:
-        class Type: public DataType {
-        public:
-            /*!
-            \enum Format_t
-            \brief Picture formats
-            */
-            enum class Format {
-                YUYV,/*!< YUYV 16 bits */
-                UYVY,/*!< UYVY 16 bits */
-                BGR,/*!< BGR 24 bits */
-                GRAY,/*!< gray 8 bits */
-            } ;
-            Type(uint16_t _width, uint16_t _height, Format _format):width(_width),height(_height),format(_format) {}
+    enum class Format {
+      YUYV, /*!< YUYV 16 bits */
+      UYVY, /*!< UYVY 16 bits */
+      BGR,  /*!< BGR 24 bits */
+      GRAY, /*!< gray 8 bits */
+    };
+    Type(uint16_t _width, uint16_t _height, Format _format)
+        : width(_width), height(_height), format(_format) {}
 
-            size_t GetSize() const {
-                size_t pixelSize;
-                switch(format) {
-                case Format::GRAY:
-                    pixelSize=1;
-                    break;
-                case Format::YUYV:
-                case Format::UYVY:
-                    pixelSize=2;
-                    break;
-                case Format::BGR:
-                    pixelSize=3;
-                    break;
-                default:
-                    pixelSize=0; //TODO should throw an exception instead
-                }
-                return pixelSize*width*height;
-            }
-            std::string GetDescription() const {return "cv image";};
+    size_t GetSize() const {
+      size_t pixelSize;
+      switch (format) {
+      case Format::GRAY:
+        pixelSize = 1;
+        break;
+      case Format::YUYV:
+      case Format::UYVY:
+        pixelSize = 2;
+        break;
+      case Format::BGR:
+        pixelSize = 3;
+        break;
+      default:
+        pixelSize = 0; // TODO should throw an exception instead
+      }
+      return pixelSize * width * height;
+    }
+    std::string GetDescription() const { return "cv image"; };
 
-            Format GetFormat() const {return format;};
-            uint16_t GetWidth() const {return width;};
-            uint16_t GetHeight() const {return height;};
+    Format GetFormat() const { return format; };
+    uint16_t GetWidth() const { return width; };
+    uint16_t GetHeight() const { return height; };
 
-        private:
-            uint16_t width;
-            uint16_t height;
-            Format format;
+  private:
+    uint16_t width;
+    uint16_t height;
+    Format format;
+  };
 
-        };
+  /*!
+  * \brief Constructor
+  *
+  * Construct an io_data representing an IplImage.
+  *
+  * \param parent parent
+  * \param width image width
+  * \param height image height
+  * \param name name
+  * \param allocate_data if true, IplImage image data is allocated; otherwise
+  *img->imagedata must be changed
+  * \param n number of samples
+  */
+  cvimage(const Object *parent, uint16_t width, uint16_t height,
+          Type::Format format, std::string name = "", bool allocate_data = true,
+          int n = 1);
 
-        /*!
-        * \brief Constructor
-        *
-        * Construct an io_data representing an IplImage.
-        *
-        * \param parent parent
-        * \param width image width
-        * \param height image height
-        * \param name name
-        * \param allocate_data if true, IplImage image data is allocated; otherwise img->imagedata must be changed
-        * \param n number of samples
-        */
-        cvimage(const Object* parent,uint16_t width,uint16_t height,Type::Format format,std::string name="",bool allocate_data=true,int n=1);
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~cvimage();
 
-        /*!
-        * \brief Destructor
-        *
-        */
-        ~cvimage();
+  /*!
+  * \brief IplImage
+  *
+  * \return IplImage
+  */
+  IplImage *img;
 
-        /*!
-        * \brief IplImage
-        *
-        * \return IplImage
-        */
-        IplImage* img;
+  Type const &GetDataType() const { return dataType; };
 
-        Type const&GetDataType() const {return dataType;};
+private:
+  /*!
+  * \brief Copy datas
+  *
+  * Reimplemented from io_data. \n
+  * See io_data::CopyDatas.
+  *
+  * \param dst destination buffer
+  */
+  void CopyDatas(char *dst) const;
 
-    private:
-        /*!
-        * \brief Copy datas
-        *
-        * Reimplemented from io_data. \n
-        * See io_data::CopyDatas.
-        *
-        * \param dst destination buffer
-        */
-        void CopyDatas(char* dst) const;
-
-        bool allocate_data;
-        Type dataType;
-    };
+  bool allocate_data;
+  Type dataType;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/cvmatrix.h
===================================================================
--- /trunk/include/FlairCore/cvmatrix.h	(revision 12)
+++ /trunk/include/FlairCore/cvmatrix.h	(revision 13)
@@ -21,192 +21,199 @@
 struct CvMat;
 
-namespace flair { namespace core {
-
-    /*! \class cvmatrix
-    *
-    * \brief Class defining a matrix of kind CvMat
-    *
-    * CvMat is a matrix struct defined in OpenCV.
-    *
-    */
-    class cvmatrix: public io_data {
-    public:
-        class Type: public DataType {
-        public:
-            Type(size_t _nbRows,size_t _nbCols,ScalarType const &_elementDataType):nbRows(_nbRows),nbCols(_nbCols),elementDataType(_elementDataType) {}
-            size_t GetSize() const {
-                return nbRows*nbCols*elementDataType.GetSize();
-            }
-            std::string GetDescription() const {return "matrix";}
-            size_t GetNbRows() const {return nbRows;}
-            size_t GetNbCols() const {return nbCols;}
-            ScalarType const &GetElementDataType() const {return elementDataType;}
-
-        private:
-            size_t nbRows,nbCols;
-            ScalarType const &elementDataType;
-        };
-
-        /*!
-        * \brief Constructor
-        *
-        * Construct an io_data representing a CvMat. \n
-        * It uses a cvmatrix_descriptor to get size and elements' names. \n
-        * Names are used for graphs and logs.
-        *
-        * \param parent parent
-        * \param descriptor matrix description
-        * \param type type of matrix elements
-        * \param name name
-        * \param n number of samples
-        */
-        cvmatrix(const Object* parent,const cvmatrix_descriptor *descriptor, ScalarType const &elementDataType,std::string name="",uint32_t n=1);
-
-        /*!
-        * \brief Constructor
-        *
-        * Construct an io_data representing a CvMat. \n
-        * Elements are unamed.
-        *
-        * \param parent parent
-        * \param rows matrix rows
-        * \param cols matrix cols
-        * \param type type of matrix elements
-        * \param name name
-        * \param n number of samples
-        */
-        cvmatrix(const Object* parent,uint32_t rows, uint32_t cols, ScalarType const &elementDataType,std::string name="",uint32_t n=1);
-
-        /*!
-        * \brief Destructor
-        *
-        */
-        ~cvmatrix();
-
-        /*!
-        * \brief Element value
-        *
-        * Element is accessed by locking and unlocking the io_data Mutex.
-        *
-        * \param row element row
-        * \param col element col
-        *
-        * \return element value
-        */
-        float Value(uint32_t row, uint32_t col) const;
-
-        /*!
-        * \brief Element value
-        *
-        * Element is not accessed by locking and unlocking the io_data Mutex. \n
-        * Thus, this function should be called with Mutex locked. \n
-        * This function is usefull when multiple successive access are done to the
-        * elments of the matrix. It avoids unnecessary locking and unlocking.
-        *
-        * \param row element row
-        * \param col element col
-        *
-        * \return element value
-        */
-        float ValueNoMutex(uint32_t row, uint32_t col) const;
-
-        /*!
-        * \brief Set element value
-        *
-        * Element is accessed by locking and unlocking the io_data Mutex.
-        *
-        * \param row element row
-        * \param col element col
-        * \param value element value
-        */
-        void SetValue(uint32_t row, uint32_t col,float value);
-
-        /*!
-        * \brief Set element value
-        *
-        * Element is not accessed by locking and unlocking the io_data Mutex. \n
-        * Thus, this function should be called with Mutex locked. \n
-        * This function is usefull when multiple successive access are done to the
-        * elments of the matrix. It avoids unnecessary locking and unlocking.
-        *
-        * \param row element row
-        * \param col element col
-        * \param value element value
-        */
-        void SetValueNoMutex(uint32_t row, uint32_t col,float value);
-
-        /*!
-        * \brief get CvMat
-        *
-        * The io_data Mutex must be used by the user.
-        */
-        CvMat* getCvMat(void) const;
-
-        /*!
-        * \brief Element name
-        *
-        * If cvmatrix was created without cvmatrix_descriptor, element name is empty.
-        *
-        * \param row element row
-        * \param col element col
-        *
-        * \return element name
-        */
-        std::string Name(uint32_t row, uint32_t col) const;
-
-        /*!
-        * \brief Element
-        *
-        * Get a pointer to a specific element. This pointer can be used for plotting.
-        *
-        * \param row element row
-        * \param col element col
-        *
-        * \return pointer to the element
-        */
-        IODataElement* Element(uint32_t row, uint32_t col) const;
-
-        /*!
-        * \brief Element
-        *
-        * Get a pointer to a specific element. This pointer can be used for plotting. \n
-        * This function can be used for a 1D matrix.
-        *
-        * \param index element index
-        *
-        * \return pointer to the element
-        */
-        IODataElement* Element(uint32_t index) const;
-
-        /*!
-        * \brief Number of rows
-        *
-        * \return rows
-        */
-        uint32_t Rows(void) const;
-
-        /*!
-        * \brief Number of colomns
-        *
-        * \return colomns
-        */
-        uint32_t Cols(void) const;
-
-        Type const &GetDataType() const {return dataType;};
-
-    private:
-        /*!
-        * \brief Copy datas
-        *
-        * Reimplemented from io_data. \n
-        * See io_data::CopyDatas.
-        *
-        * \param dst destination buffer
-        */
-        void CopyDatas(char* dst) const;
-
-        class cvmatrix_impl* pimpl_;
-        Type dataType;
-    };
+namespace flair {
+namespace core {
+
+/*! \class cvmatrix
+*
+* \brief Class defining a matrix of kind CvMat
+*
+* CvMat is a matrix struct defined in OpenCV.
+*
+*/
+class cvmatrix : public io_data {
+public:
+  class Type : public DataType {
+  public:
+    Type(size_t _nbRows, size_t _nbCols, ScalarType const &_elementDataType)
+        : nbRows(_nbRows), nbCols(_nbCols), elementDataType(_elementDataType) {}
+    size_t GetSize() const {
+      return nbRows * nbCols * elementDataType.GetSize();
+    }
+    std::string GetDescription() const { return "matrix"; }
+    size_t GetNbRows() const { return nbRows; }
+    size_t GetNbCols() const { return nbCols; }
+    ScalarType const &GetElementDataType() const { return elementDataType; }
+
+  private:
+    size_t nbRows, nbCols;
+    ScalarType const &elementDataType;
+  };
+
+  /*!
+  * \brief Constructor
+  *
+  * Construct an io_data representing a CvMat. \n
+  * It uses a cvmatrix_descriptor to get size and elements' names. \n
+  * Names are used for graphs and logs.
+  *
+  * \param parent parent
+  * \param descriptor matrix description
+  * \param type type of matrix elements
+  * \param name name
+  * \param n number of samples
+  */
+  cvmatrix(const Object *parent, const cvmatrix_descriptor *descriptor,
+           ScalarType const &elementDataType, std::string name = "",
+           uint32_t n = 1);
+
+  /*!
+  * \brief Constructor
+  *
+  * Construct an io_data representing a CvMat. \n
+  * Elements are unamed.
+  *
+  * \param parent parent
+  * \param rows matrix rows
+  * \param cols matrix cols
+  * \param type type of matrix elements
+  * \param name name
+  * \param n number of samples
+  */
+  cvmatrix(const Object *parent, uint32_t rows, uint32_t cols,
+           ScalarType const &elementDataType, std::string name = "",
+           uint32_t n = 1);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~cvmatrix();
+
+  /*!
+  * \brief Element value
+  *
+  * Element is accessed by locking and unlocking the io_data Mutex.
+  *
+  * \param row element row
+  * \param col element col
+  *
+  * \return element value
+  */
+  float Value(uint32_t row, uint32_t col) const;
+
+  /*!
+  * \brief Element value
+  *
+  * Element is not accessed by locking and unlocking the io_data Mutex. \n
+  * Thus, this function should be called with Mutex locked. \n
+  * This function is usefull when multiple successive access are done to the
+  * elments of the matrix. It avoids unnecessary locking and unlocking.
+  *
+  * \param row element row
+  * \param col element col
+  *
+  * \return element value
+  */
+  float ValueNoMutex(uint32_t row, uint32_t col) const;
+
+  /*!
+  * \brief Set element value
+  *
+  * Element is accessed by locking and unlocking the io_data Mutex.
+  *
+  * \param row element row
+  * \param col element col
+  * \param value element value
+  */
+  void SetValue(uint32_t row, uint32_t col, float value);
+
+  /*!
+  * \brief Set element value
+  *
+  * Element is not accessed by locking and unlocking the io_data Mutex. \n
+  * Thus, this function should be called with Mutex locked. \n
+  * This function is usefull when multiple successive access are done to the
+  * elments of the matrix. It avoids unnecessary locking and unlocking.
+  *
+  * \param row element row
+  * \param col element col
+  * \param value element value
+  */
+  void SetValueNoMutex(uint32_t row, uint32_t col, float value);
+
+  /*!
+  * \brief get CvMat
+  *
+  * The io_data Mutex must be used by the user.
+  */
+  CvMat *getCvMat(void) const;
+
+  /*!
+  * \brief Element name
+  *
+  * If cvmatrix was created without cvmatrix_descriptor, element name is empty.
+  *
+  * \param row element row
+  * \param col element col
+  *
+  * \return element name
+  */
+  std::string Name(uint32_t row, uint32_t col) const;
+
+  /*!
+  * \brief Element
+  *
+  * Get a pointer to a specific element. This pointer can be used for plotting.
+  *
+  * \param row element row
+  * \param col element col
+  *
+  * \return pointer to the element
+  */
+  IODataElement *Element(uint32_t row, uint32_t col) const;
+
+  /*!
+  * \brief Element
+  *
+  * Get a pointer to a specific element. This pointer can be used for plotting.
+  *\n
+  * This function can be used for a 1D matrix.
+  *
+  * \param index element index
+  *
+  * \return pointer to the element
+  */
+  IODataElement *Element(uint32_t index) const;
+
+  /*!
+  * \brief Number of rows
+  *
+  * \return rows
+  */
+  uint32_t Rows(void) const;
+
+  /*!
+  * \brief Number of colomns
+  *
+  * \return colomns
+  */
+  uint32_t Cols(void) const;
+
+  Type const &GetDataType() const { return dataType; };
+
+private:
+  /*!
+  * \brief Copy datas
+  *
+  * Reimplemented from io_data. \n
+  * See io_data::CopyDatas.
+  *
+  * \param dst destination buffer
+  */
+  void CopyDatas(char *dst) const;
+
+  class cvmatrix_impl *pimpl_;
+  Type dataType;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/cvmatrix_descriptor.h
===================================================================
--- /trunk/include/FlairCore/cvmatrix_descriptor.h	(revision 12)
+++ /trunk/include/FlairCore/cvmatrix_descriptor.h	(revision 13)
@@ -16,70 +16,69 @@
 #include <string>
 
-namespace flair { namespace core
-{
+namespace flair {
+namespace core {
 
-    /*! \class cvmatrix_descriptor
-    *
-    * \brief Class describing cvmatrix elements, for log and graphs purpose
-    *
-    * This class allows to give a name to matrix elements. These names
-    * will be used in graphs and logs.
-    */
-    class cvmatrix_descriptor {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a matrix descriptor.
-            *
-            * \param rows matrix rows
-            * \param cols matrix cols
-            */
-            cvmatrix_descriptor(uint32_t rows, uint32_t cols);
+/*! \class cvmatrix_descriptor
+*
+* \brief Class describing cvmatrix elements, for log and graphs purpose
+*
+* This class allows to give a name to matrix elements. These names
+* will be used in graphs and logs.
+*/
+class cvmatrix_descriptor {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a matrix descriptor.
+  *
+  * \param rows matrix rows
+  * \param cols matrix cols
+  */
+  cvmatrix_descriptor(uint32_t rows, uint32_t cols);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~cvmatrix_descriptor();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~cvmatrix_descriptor();
 
-            /*!
-            * \brief Set element name
-            *
-            * \param row element row
-            * \param col element col
-            * \param name element name
-            */
-            void SetElementName(uint32_t row, uint32_t col,std::string name);
+  /*!
+  * \brief Set element name
+  *
+  * \param row element row
+  * \param col element col
+  * \param name element name
+  */
+  void SetElementName(uint32_t row, uint32_t col, std::string name);
 
-            /*!
-            * \brief Element name
-            *
-            * \param row element row
-            * \param col element col
-            *
-            * \return element name
-            */
-            std::string ElementName(uint32_t row, uint32_t col) const;
+  /*!
+  * \brief Element name
+  *
+  * \param row element row
+  * \param col element col
+  *
+  * \return element name
+  */
+  std::string ElementName(uint32_t row, uint32_t col) const;
 
-            /*!
-            * \brief Number of rows
-            *
-            * \return rows
-            */
-            uint32_t Rows(void) const;
+  /*!
+  * \brief Number of rows
+  *
+  * \return rows
+  */
+  uint32_t Rows(void) const;
 
-            /*!
-            * \brief Number of colomns
-            *
-            * \return colomns
-            */
-            uint32_t Cols(void) const;
+  /*!
+  * \brief Number of colomns
+  *
+  * \return colomns
+  */
+  uint32_t Cols(void) const;
 
-        private:
-            uint32_t rows,cols;
-            std::string **element_names;
-
-    };
+private:
+  uint32_t rows, cols;
+  std::string **element_names;
+};
 
 } // end namespace core
Index: /trunk/include/FlairCore/io_data.h
===================================================================
--- /trunk/include/FlairCore/io_data.h	(revision 12)
+++ /trunk/include/FlairCore/io_data.h	(revision 13)
@@ -19,150 +19,157 @@
 class io_data_impl;
 
-namespace flair { namespace core {
+namespace flair {
+namespace core {
 
-    class Object;
+class Object;
 
-    class DataType {
-    public:
-        virtual std::string GetDescription() const =0;
-        //size in bytes
-        virtual size_t GetSize() const =0;
-    };
+class DataType {
+public:
+  virtual std::string GetDescription() const = 0;
+  // size in bytes
+  virtual size_t GetSize() const = 0;
+};
 
-    class DummyType: public DataType {
-    public:
-        size_t GetSize() const {return 0;}
-        std::string GetDescription() const {return "dummy";};
-    };
-    extern DummyType dummyType;
+class DummyType : public DataType {
+public:
+  size_t GetSize() const { return 0; }
+  std::string GetDescription() const { return "dummy"; };
+};
+extern DummyType dummyType;
 
-    class ScalarType: public DataType {
-    public:
-        ScalarType(size_t _size):size(_size) {}
-        size_t GetSize() const {return size;}
-        virtual std::string GetDescription() const {return "scalar";};
-    private:
-        size_t size;
-    };
+class ScalarType : public DataType {
+public:
+  ScalarType(size_t _size) : size(_size) {}
+  size_t GetSize() const { return size; }
+  virtual std::string GetDescription() const { return "scalar"; };
 
-    class SignedIntegerType: public ScalarType {
-    public:
-        SignedIntegerType(size_t sizeInBits):ScalarType(sizeInBits/8){}
-        std::string GetDescription() const {return "int"+std::to_string(GetSize()*8)+"_t";};
-    };
-    extern SignedIntegerType Int8Type;
-    extern SignedIntegerType Int16Type;
+private:
+  size_t size;
+};
 
-    class FloatType: public ScalarType {
-    public:
-        FloatType():ScalarType(4){}
-        std::string GetDescription() const {return "float";};
-    };
-    extern FloatType floatType;
+class SignedIntegerType : public ScalarType {
+public:
+  SignedIntegerType(size_t sizeInBits) : ScalarType(sizeInBits / 8) {}
+  std::string GetDescription() const {
+    return "int" + std::to_string(GetSize() * 8) + "_t";
+  };
+};
+extern SignedIntegerType Int8Type;
+extern SignedIntegerType Int16Type;
 
+class FloatType : public ScalarType {
+public:
+  FloatType() : ScalarType(4) {}
+  std::string GetDescription() const { return "float"; };
+};
+extern FloatType floatType;
 
-    /*! \class io_data
-    *
-    * \brief Abstract class for data types.
-    *
-    * Use this class to define a custom data type. Data types ares used for logging and graphs. \n
-    * The reimplemented class must call SetSize() in its constructor. \n
-    * io_data can be constructed with n samples (see io_data::io_data).
-    * In this case, old samples can be accessed throug io_data::Prev.
-    */
-    class io_data: public Mutex {
-        friend class IODevice;
-        friend class ::IODevice_impl;
-        friend class ::io_data_impl;
+/*! \class io_data
+*
+* \brief Abstract class for data types.
+*
+* Use this class to define a custom data type. Data types ares used for logging
+*and graphs. \n
+* The reimplemented class must call SetSize() in its constructor. \n
+* io_data can be constructed with n samples (see io_data::io_data).
+* In this case, old samples can be accessed throug io_data::Prev.
+*/
+class io_data : public Mutex {
+  friend class IODevice;
+  friend class ::IODevice_impl;
+  friend class ::io_data_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an io_data. \n
-            *
-            * \param parent parent
-            * \param name name
-            * \param n number of samples
-            */
-            io_data(const Object* parent,std::string name,int n);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an io_data. \n
+  *
+  * \param parent parent
+  * \param name name
+  * \param n number of samples
+  */
+  io_data(const Object *parent, std::string name, int n);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            virtual ~io_data();
+  /*!
+  * \brief Destructor
+  *
+  */
+  virtual ~io_data();
 
-            /*!
-            * \brief Set data time
-            *
-            * \param time time
-            */
-            void SetDataTime(Time time);
+  /*!
+  * \brief Set data time
+  *
+  * \param time time
+  */
+  void SetDataTime(Time time);
 
-            /*!
-            * \brief Data time
-            *
-            * \return data time
-            */
-            Time DataTime(void) const;
+  /*!
+  * \brief Data time
+  *
+  * \return data time
+  */
+  Time DataTime(void) const;
 
-            /*!
-            * \brief Previous data
-            *
-            * Access previous data. io_data must have been constructed with
-            * n>1, io_data::SetPtrToCircle must have been set and
-            * io_data::prev must have been allocated.
-            *
-            * \param n previous data number
-            *
-            * \return previous data
-            */
-            const io_data* Prev(int n) const;
+  /*!
+  * \brief Previous data
+  *
+  * Access previous data. io_data must have been constructed with
+  * n>1, io_data::SetPtrToCircle must have been set and
+  * io_data::prev must have been allocated.
+  *
+  * \param n previous data number
+  *
+  * \return previous data
+  */
+  const io_data *Prev(int n) const;
 
-            virtual DataType const&GetDataType() const =0;
+  virtual DataType const &GetDataType() const = 0;
 
-        protected:
-            /*!
-            * \brief Specify the description of the reimplemented class data's
-            *
-            *  This method must be called in the constructor of the reimplemented class, once by element. \n
-            *  Each element description must be called in the same order as CopyDatas put the datas in the buffer. \n
-            *  The description will be used for the log descriptor file.
-            *
-            * \param description description of the element
-            * \param datatype type of the element
-            */
-            void AppendLogDescription(std::string description, DataType const &datatype);
+protected:
+  /*!
+  * \brief Specify the description of the reimplemented class data's
+  *
+  *  This method must be called in the constructor of the reimplemented class,
+  *once by element. \n
+  *  Each element description must be called in the same order as CopyDatas put
+  *the datas in the buffer. \n
+  *  The description will be used for the log descriptor file.
+  *
+  * \param description description of the element
+  * \param datatype type of the element
+  */
+  void AppendLogDescription(std::string description, DataType const &datatype);
 
-            /*!
-            * \brief Set the datas to circle
-            *
-            * \param ptr pointer to the data to circle
-            */
-            void SetPtrToCircle(void **ptr);
+  /*!
+  * \brief Set the datas to circle
+  *
+  * \param ptr pointer to the data to circle
+  */
+  void SetPtrToCircle(void **ptr);
 
-            /*!
-            * \brief Pointer to previous data
-            *
-            * Reimplemented class must allocate this pointer if n>1. \n
-            * Pointer must be allocated with the same kind of reimplemented class.
-            */
-            io_data* prev;
+  /*!
+  * \brief Pointer to previous data
+  *
+  * Reimplemented class must allocate this pointer if n>1. \n
+  * Pointer must be allocated with the same kind of reimplemented class.
+  */
+  io_data *prev;
 
-        private:
-            /*!
-            * \brief Copy datas
-            *
-            * This method is automatically called by IODevice::ProcessUpdate to log io_data datas. \n
-            * This method must be reimplemented, in order to copy the datas to the logs.
-            * Copied datas must be of size io_data::Size.
-            *
-            * \param dst destination buffer
-            */
-            virtual void CopyDatas(char* dst) const =0;
+private:
+  /*!
+  * \brief Copy datas
+  *
+  * This method is automatically called by IODevice::ProcessUpdate to log
+  *io_data datas. \n
+  * This method must be reimplemented, in order to copy the datas to the logs.
+  * Copied datas must be of size io_data::Size.
+  *
+  * \param dst destination buffer
+  */
+  virtual void CopyDatas(char *dst) const = 0;
 
-            io_data_impl *pimpl_;
-    };
+  io_data_impl *pimpl_;
+};
 
 } // end namespace core
Index: /trunk/include/FlairFilter/Ahrs.h
===================================================================
--- /trunk/include/FlairFilter/Ahrs.h	(revision 12)
+++ /trunk/include/FlairFilter/Ahrs.h	(revision 13)
@@ -18,167 +18,168 @@
 
 namespace flair {
-    namespace core {
-        class Euler;
-        class Vector3D;
-        class ImuData;
-        class Quaternion;
-        class AhrsData;
-    }
-    namespace gui {
-        class Tab;
-        class DataPlot1D;
-    }
-    namespace sensor {
-        class Imu;
-    }
+namespace core {
+class Euler;
+class Vector3D;
+class ImuData;
+class Quaternion;
+class AhrsData;
+}
+namespace gui {
+class Tab;
+class DataPlot1D;
+}
+namespace sensor {
+class Imu;
+}
 }
 
 class Ahrs_impl;
 
-namespace flair { namespace filter {
-    /*! \class Ahrs
-    *
-    * \brief Abstract class for AHRS
-    *
-    * Use this class to define a custom AHRS. This class is child
-    * of an Imu class, which will provide measurements. \n
-    *
-    */
-    class Ahrs : public core::IODevice {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an Ahrs.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            Ahrs(const sensor::Imu* parent,std::string name);
+namespace flair {
+namespace filter {
+/*! \class Ahrs
+*
+* \brief Abstract class for AHRS
+*
+* Use this class to define a custom AHRS. This class is child
+* of an Imu class, which will provide measurements. \n
+*
+*/
+class Ahrs : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an Ahrs.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  Ahrs(const sensor::Imu *parent, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Ahrs();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Ahrs();
 
-            /*!
-            * \brief Get parent Imu
-            *
-            * This function is identical to (Imu*)Parent()
-            */
-            const sensor::Imu *GetImu(void) const;
+  /*!
+  * \brief Get parent Imu
+  *
+  * This function is identical to (Imu*)Parent()
+  */
+  const sensor::Imu *GetImu(void) const;
 
-            /*!
-            * \brief Get ahrs datas
-            *
-            * \return AhrsData
-            */
-            const core::AhrsData *GetDatas(void) const;
+  /*!
+  * \brief Get ahrs datas
+  *
+  * \return AhrsData
+  */
+  const core::AhrsData *GetDatas(void) const;
 
-            /*!
-            * \brief Lock the graphical user interface
-            *
-            * When locked, parameters cannot be modified.
-            *
-            */
-            void LockUserInterface(void) const;
+  /*!
+  * \brief Lock the graphical user interface
+  *
+  * When locked, parameters cannot be modified.
+  *
+  */
+  void LockUserInterface(void) const;
 
-            /*!
-            * \brief Unlock the graphical user interface
-            *
-            */
-            void UnlockUserInterface(void) const;
+  /*!
+  * \brief Unlock the graphical user interface
+  *
+  */
+  void UnlockUserInterface(void) const;
 
-            /*!
-            * \brief Use default plot
-            *
-            * Plot the datas defined in imudata,
-            * and datas defined in Imu::imudata.
-            *
-            */
-            void UseDefaultPlot(void);
+  /*!
+  * \brief Use default plot
+  *
+  * Plot the datas defined in imudata,
+  * and datas defined in Imu::imudata.
+  *
+  */
+  void UseDefaultPlot(void);
 
-            /*!
-            * \brief Add plot
-            *
-            * Add plot of an AhrsData to the default plot
-            *
-            * \param ahrsData ahrs datas to plot
-            * \param color color to use
-            */
-            void AddPlot(const core::AhrsData *ahrsData,gui::DataPlot::Color_t color);
+  /*!
+  * \brief Add plot
+  *
+  * Add plot of an AhrsData to the default plot
+  *
+  * \param ahrsData ahrs datas to plot
+  * \param color color to use
+  */
+  void AddPlot(const core::AhrsData *ahrsData, gui::DataPlot::Color_t color);
 
-            /*!
-            * \brief Roll plot
-            *
-            * Use this plot to add own curves.
-            *
-            * \return plot
-            *
-            */
-            gui::DataPlot1D *RollPlot(void)const ;
+  /*!
+  * \brief Roll plot
+  *
+  * Use this plot to add own curves.
+  *
+  * \return plot
+  *
+  */
+  gui::DataPlot1D *RollPlot(void) const;
 
-            /*!
-            * \brief Pitch plot
-            *
-            * Use this plot to add own curves.
-            *
-            * \return plot
-            *
-            */
-            gui::DataPlot1D *PitchPlot(void) const;
+  /*!
+  * \brief Pitch plot
+  *
+  * Use this plot to add own curves.
+  *
+  * \return plot
+  *
+  */
+  gui::DataPlot1D *PitchPlot(void) const;
 
-            /*!
-            * \brief Yaw plot
-            *
-            * Use this plot to add own curves.
-            *
-            * \return plot
-            *
-            */
-            gui::DataPlot1D *YawPlot(void) const;
+  /*!
+  * \brief Yaw plot
+  *
+  * Use this plot to add own curves.
+  *
+  * \return plot
+  *
+  */
+  gui::DataPlot1D *YawPlot(void) const;
 
-            /*!
-            * \brief Rotation speed around x axis plot
-            *
-            * Use this plot to add own curves.
-            *
-            * \return plot
-            *
-            */
-            gui::DataPlot1D *WXPlot(void) const;
+  /*!
+  * \brief Rotation speed around x axis plot
+  *
+  * Use this plot to add own curves.
+  *
+  * \return plot
+  *
+  */
+  gui::DataPlot1D *WXPlot(void) const;
 
-            /*!
-            * \brief Rotation speed around y axis plot
-            *
-            * Use this plot to add own curves.
-            *
-            * \return plot
-            *
-            */
-            gui::DataPlot1D *WYPlot(void) const;
+  /*!
+  * \brief Rotation speed around y axis plot
+  *
+  * Use this plot to add own curves.
+  *
+  * \return plot
+  *
+  */
+  gui::DataPlot1D *WYPlot(void) const;
 
-            /*!
-            * \brief Rotation speed around z axis plot
-            *
-            * Use this plot to add own curves.
-            *
-            * \return plot
-            *
-            */
-            gui::DataPlot1D *WZPlot(void) const;
+  /*!
+  * \brief Rotation speed around z axis plot
+  *
+  * Use this plot to add own curves.
+  *
+  * \return plot
+  *
+  */
+  gui::DataPlot1D *WZPlot(void) const;
 
-        protected:
-            /*!
-            * \brief Get ahrs datas
-            *
-            * \param ahrsData ahrs datas
-            */
-            void GetDatas(core::AhrsData **ahrsData) const;
+protected:
+  /*!
+  * \brief Get ahrs datas
+  *
+  * \param ahrsData ahrs datas
+  */
+  void GetDatas(core::AhrsData **ahrsData) const;
 
-        private:
-            class Ahrs_impl *pimpl_;
-    };
+private:
+  class Ahrs_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/ButterworthLowPass.h
===================================================================
--- /trunk/include/FlairFilter/ButterworthLowPass.h	(revision 12)
+++ /trunk/include/FlairFilter/ButterworthLowPass.h	(revision 13)
@@ -16,91 +16,89 @@
 #include <IODevice.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class LayoutPosition;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+}
+namespace gui {
+class LayoutPosition;
+}
 }
 
 class ButterworthLowPass_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class ButterworthLowPass
-    *
-    * \brief Class defining a Butterworth low pass filter
-    */
-    class ButterworthLowPass : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a ButterworthLowPass at position. \n
-            * After calling this function, position will be deleted as it is no longer usefull. \n
-            * The filter is automatically updated when parent's
-            * IODevice::ProcessUpdate is called.
-            *
-            * \param parent parent
-            * \param position position to display settings
-            * \param name name
-            * \param order order of the filter
-            */
-            ButterworthLowPass(const IODevice* parent,const gui::LayoutPosition* position,std::string name,int order);
+namespace flair {
+namespace filter {
+/*! \class ButterworthLowPass
+*
+* \brief Class defining a Butterworth low pass filter
+*/
+class ButterworthLowPass : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a ButterworthLowPass at position. \n
+  * After calling this function, position will be deleted as it is no longer
+  *usefull. \n
+  * The filter is automatically updated when parent's
+  * IODevice::ProcessUpdate is called.
+  *
+  * \param parent parent
+  * \param position position to display settings
+  * \param name name
+  * \param order order of the filter
+  */
+  ButterworthLowPass(const IODevice *parent,
+                     const gui::LayoutPosition *position, std::string name,
+                     int order);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a ButterworthLowPass at position. \n
-            * The ButterworthLowPass will automatically be child of position->getLayout() Layout. After calling this function,
-            * position will be deleted as it is no longer usefull. \n
-            * The filter is updated manually with UpdateFrom method. \n
-            *
-            * \param position position to display settings
-            * \param name name
-            * \param order order of the filter
-            */
-            ButterworthLowPass(const gui::LayoutPosition* position,std::string name,int order);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a ButterworthLowPass at position. \n
+  * The ButterworthLowPass will automatically be child of position->getLayout()
+  *Layout. After calling this function,
+  * position will be deleted as it is no longer usefull. \n
+  * The filter is updated manually with UpdateFrom method. \n
+  *
+  * \param position position to display settings
+  * \param name name
+  * \param order order of the filter
+  */
+  ButterworthLowPass(const gui::LayoutPosition *position, std::string name,
+                     int order);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~ButterworthLowPass();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~ButterworthLowPass();
 
-            /*!
-            * \brief Output value
-            *
-            * \return filtered output
-            */
-            float Output(void) const;
+  /*!
+  * \brief Output value
+  *
+  * \return filtered output
+  */
+  float Output(void) const;
 
-            /*!
-            * \brief Output matrix
-            *
-            * \return filtered output
-            */
-            core::cvmatrix* Matrix(void)const ;
+  /*!
+  * \brief Output matrix
+  *
+  * \return filtered output
+  */
+  core::cvmatrix *Matrix(void) const;
 
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-        private:
-
-            class ButterworthLowPass_impl* pimpl_;
-    };
+private:
+  class ButterworthLowPass_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/ControlLaw.h
===================================================================
--- /trunk/include/FlairFilter/ControlLaw.h	(revision 12)
+++ /trunk/include/FlairFilter/ControlLaw.h	(revision 13)
@@ -17,105 +17,108 @@
 
 namespace flair {
-    namespace gui {
-        class LayoutPosition;
-    }
-    namespace core {
-        class cvmatrix;
-    }
+namespace gui {
+class LayoutPosition;
+}
+namespace core {
+class cvmatrix;
+}
 }
 
-namespace flair { namespace filter {
-    /*! \class ControlLaw
-    *
-    * \brief Base class for control law
-    * input must be created by reimplemented class.\n
-    * output is created by this class, it is of size (nb_out,1) and type float.\n
-    * see constructor for nb_out
-    */
-    class ControlLaw : public core::IODevice {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a ControlLaw
-            *
-            * \param parent parent
-            * \param name name
-            * \param nb_out number of output
-            */
-            ControlLaw(const core::Object* parent,std::string name,uint32_t nb_out=1);
+namespace flair {
+namespace filter {
+/*! \class ControlLaw
+*
+* \brief Base class for control law
+* input must be created by reimplemented class.\n
+* output is created by this class, it is of size (nb_out,1) and type float.\n
+* see constructor for nb_out
+*/
+class ControlLaw : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a ControlLaw
+  *
+  * \param parent parent
+  * \param name name
+  * \param nb_out number of output
+  */
+  ControlLaw(const core::Object *parent, std::string name, uint32_t nb_out = 1);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~ControlLaw();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~ControlLaw();
 
-            /*!
-            * \brief Output value
-            *
-            * \param index output index, between 0 and nb_out-1
-            *
-            * \return output value
-            */
-            float Output(uint32_t index=0) const;
+  /*!
+  * \brief Output value
+  *
+  * \param index output index, between 0 and nb_out-1
+  *
+  * \return output value
+  */
+  float Output(uint32_t index = 0) const;
 
-            /*!
-            * \brief Use default plot
-            *
-            * Plot the output value at given position. \n
-            * Only Output(1,1) is plotted. \n
-            * In case of a mutliple output ControlLaw, this function should be reimplemented. \n
-            * After calling this function, position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display plot
-            */
-            virtual void UseDefaultPlot(const gui::LayoutPosition* position);
+  /*!
+  * \brief Use default plot
+  *
+  * Plot the output value at given position. \n
+  * Only Output(1,1) is plotted. \n
+  * In case of a mutliple output ControlLaw, this function should be
+  *reimplemented. \n
+  * After calling this function, position will be deleted as it is no longer
+  *usefull. \n
+  *
+  * \param position position to display plot
+  */
+  virtual void UseDefaultPlot(const gui::LayoutPosition *position);
 
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented class must fill input matrix before calling this.
-            *
-            * \param time time of the update
-            */
-            void Update(core::Time time);
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented class must fill input matrix before calling this.
+  *
+  * \param time time of the update
+  */
+  void Update(core::Time time);
 
-            /*!
-            * \brief Reset the internal state of the control law
-            *
-            * Doesn't do anything by default
-            *
-            */
-            virtual void Reset() {};
+  /*!
+  * \brief Reset the internal state of the control law
+  *
+  * Doesn't do anything by default
+  *
+  */
+  virtual void Reset(){};
 
-        protected:
-            /*!
-            * \brief input matrix
-            *
-            * This matrix must be created by the reimplemented class.
-            *
-            */
-            core::cvmatrix *input;
+protected:
+  /*!
+  * \brief input matrix
+  *
+  * This matrix must be created by the reimplemented class.
+  *
+  */
+  core::cvmatrix *input;
 
-            /*!
-            * \brief output matrix
-            *
-            * This matrix is created by this class. Its size is (nb_out,1) and its type
-            * is io_data::Float.
-            *
-            */
-            core::cvmatrix *output;
+  /*!
+  * \brief output matrix
+  *
+  * This matrix is created by this class. Its size is (nb_out,1) and its type
+  * is io_data::Float.
+  *
+  */
+  core::cvmatrix *output;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            virtual void UpdateFrom(const core::io_data *data)=0;
-    };
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  virtual void UpdateFrom(const core::io_data *data) = 0;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/EulerDerivative.h
===================================================================
--- /trunk/include/FlairFilter/EulerDerivative.h	(revision 12)
+++ /trunk/include/FlairFilter/EulerDerivative.h	(revision 13)
@@ -16,84 +16,81 @@
 #include <IODevice.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class LayoutPosition;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+}
+namespace gui {
+class LayoutPosition;
+}
 }
 
 class EulerDerivative_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class EulerDerivative
-    *
-    * \brief Class defining an euler derivative
-    */
+namespace flair {
+namespace filter {
+/*! \class EulerDerivative
+*
+* \brief Class defining an euler derivative
+*/
 
-    class EulerDerivative : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an EulerDerivative at given position. \n
-            * After calling this function, position will be deleted as it is no longer usefull. \n
-            * The filter is automatically updated when parent's
-            * IODevice::ProcessUpdate is called. \n
-            * The optional init_value parameters allow to specify
-            * the size of the input datas and its inital values.
-            * If unspecified, a 1*1 size is used, and values are
-            * initialized with 0.
-            *
-            * \param parent parent
-            * \param position position to display settings
-            * \param name name
-            * \param init_value initial value
-            */
-            EulerDerivative(const core::IODevice* parent,const gui::LayoutPosition* position,std::string name,const core::cvmatrix* init_value=NULL);
+class EulerDerivative : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an EulerDerivative at given position. \n
+  * After calling this function, position will be deleted as it is no longer
+  *usefull. \n
+  * The filter is automatically updated when parent's
+  * IODevice::ProcessUpdate is called. \n
+  * The optional init_value parameters allow to specify
+  * the size of the input datas and its inital values.
+  * If unspecified, a 1*1 size is used, and values are
+  * initialized with 0.
+  *
+  * \param parent parent
+  * \param position position to display settings
+  * \param name name
+  * \param init_value initial value
+  */
+  EulerDerivative(const core::IODevice *parent,
+                  const gui::LayoutPosition *position, std::string name,
+                  const core::cvmatrix *init_value = NULL);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~EulerDerivative();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~EulerDerivative();
 
-            /*!
-            * \brief Output value
-            *
-            * \param row row element
-            * \param col column element
-            *
-            * \return element value
-            */
-            float Output(int row, int col) const;
+  /*!
+  * \brief Output value
+  *
+  * \param row row element
+  * \param col column element
+  *
+  * \return element value
+  */
+  float Output(int row, int col) const;
 
-            /*!
-            * \brief Output matrix
-            *
-            * \return filtered output
-            */
-            core::cvmatrix *Matrix(void) const;
+  /*!
+  * \brief Output matrix
+  *
+  * \return filtered output
+  */
+  core::cvmatrix *Matrix(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            class EulerDerivative_impl* pimpl_;
-    };
+  class EulerDerivative_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/Gx3_25_ahrs.h
===================================================================
--- /trunk/include/FlairFilter/Gx3_25_ahrs.h	(revision 12)
+++ /trunk/include/FlairFilter/Gx3_25_ahrs.h	(revision 13)
@@ -17,52 +17,51 @@
 #include <Gx3_25_imu.h>
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class Gx3_25_ahrs
-    *
-    * \brief Class for 3dmgx3-25 ahrs
-    *
-    * This class constructs a Gx3_25_imu as Imu of this Ahrs.
-    */
-    class Gx3_25_ahrs : public Ahrs
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an Ahrs for 3dmgx3-25
-            *
-            * \param parent parent
-            * \param name name
-            * \param serialport Imu SerialPort
-            * \param command command for the Gx3_25_imu continuous mode
-            * \param priority priority of the Gx3_25_imu Thread
-            */
-            Gx3_25_ahrs(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,sensor::Gx3_25_imu::Command_t command,uint8_t priority);
+namespace flair {
+namespace filter {
+/*! \class Gx3_25_ahrs
+*
+* \brief Class for 3dmgx3-25 ahrs
+*
+* This class constructs a Gx3_25_imu as Imu of this Ahrs.
+*/
+class Gx3_25_ahrs : public Ahrs {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an Ahrs for 3dmgx3-25
+  *
+  * \param parent parent
+  * \param name name
+  * \param serialport Imu SerialPort
+  * \param command command for the Gx3_25_imu continuous mode
+  * \param priority priority of the Gx3_25_imu Thread
+  */
+  Gx3_25_ahrs(const core::FrameworkManager *parent, std::string name,
+              core::SerialPort *serialport,
+              sensor::Gx3_25_imu::Command_t command, uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Gx3_25_ahrs();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Gx3_25_ahrs();
 
-            /*!
-            * \brief Start Gx3_25_imu Thread
-            *
-            */
-            void Start(void);
+  /*!
+  * \brief Start Gx3_25_imu Thread
+  *
+  */
+  void Start(void);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
-    };
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/JoyReference.h
===================================================================
--- /trunk/include/FlairFilter/JoyReference.h	(revision 12)
+++ /trunk/include/FlairFilter/JoyReference.h	(revision 13)
@@ -17,186 +17,190 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core {
-        class Quaternion;
-        class AhrsData;
-    }
-    namespace gui {
-        class LayoutPosition;
-    }
+namespace flair {
+namespace core {
+class Quaternion;
+class AhrsData;
 }
+namespace gui {
+class LayoutPosition;
+}
+}
 
 class JoyReference_impl;
 
-namespace flair { namespace filter {
-    /*! \class JoyReference
-    *
-    * \brief Class creating references from a joystick
-    */
-    class JoyReference : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a JoyReference at given position. \n
-            * The JoyReference will automatically be child of position->getLayout() Layout. After calling this function,
-            * position will be deleted as it is no longer usefull. \n
-            * JoyReference compute reference in quaternion, wz, altitude and altitude speed.
-            *
-            * \param position position
-            * \param name name
-            */
-            JoyReference(const gui::LayoutPosition* position,std::string name);
-
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~JoyReference();
-
-            /*!
-            * \brief Set roll axis value
-            *
-            * \param value value
-            */
-            void SetRollAxis(float value);
-
-            /*!
-            * \brief Set pitch axis value
-            *
-            * \param value value
-            */
-            void SetPitchAxis(float value);
-
-            /*!
-            * \brief Set yaw axis value
-            *
-            * \param value value
-            */
-            void SetYawAxis(float value);
-
-            /*!
-            * \brief Set thrust axis value
-            *
-            * \param value value
-            */
-            void SetAltitudeAxis(float value);
-
-            /*!
-            * \brief Get orientation reference
-            *
-            * \return reference
-            */
-            core::AhrsData* GetReferenceOrientation(void) const;
-
-            /*!
-            * \brief Get z reference
-            *
-            * \return reference
-            */
-            float ZRef(void) const;
-
-            /*!
-            * \brief Get z derivative reference
-            *
-            * \return reference
-            */
-            float DzRef(void) const;
-
-            /*!
-            * \brief Get roll trim
-            *
-            * \return trim value
-            */
-            float RollTrim(void) const;
-
-            /*!
-            * \brief Get pitch trim
-            *
-            * \return trim value
-            */
-            float PitchTrim(void) const;
-
-            /*!
-            * \brief Set yaw reference
-            *
-            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
-            * This method reset the yaw.
-            *
-            * \param value value
-            */
-            void SetYawRef(float value);
-
-            /*!
-            * \brief Set yaw reference
-            *
-            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
-            * This method reset the yaw.
-            *
-            * \param value value, only the yaw part of the quaternion is used
-            */
-            void SetYawRef(core::Quaternion const &value);
-
-            /*!
-            * \brief Set z reference
-            *
-            * Altitude of the output is obtained by integrating the vz desired altitude speed.\n
-            * This method reset z.
-            *
-            * \param value value
-            */
-            void SetZRef(float value);
-
-            /*!
-            * \brief Trim up roll
-            *
-            * Roll trim value is increased by one
-            */
-            void RollTrimUp(void);
-
-            /*!
-            * \brief Trim down roll
-            *
-            * Roll trim value is decreased by one
-            */
-            void RollTrimDown(void);
-
-            /*!
-            * \brief Trim up pitch
-            *
-            * Pitch trim value is increased by one
-            */
-            void PitchTrimUp(void);
-
-            /*!
-            * \brief Trim down pitch
-            *
-            * Pitch trim value is decreased by one
-            */
-            void PitchTrimDown(void);
-
-            /*!
-            * \brief Update references
-            *
-            * Calls UpdateFrom with values entered manually.
-            *
-            * \param time time
-            */
-            void Update(core::Time time);
-
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
-
-            class JoyReference_impl* pimpl_;
-    };
+namespace flair {
+namespace filter {
+/*! \class JoyReference
+*
+* \brief Class creating references from a joystick
+*/
+class JoyReference : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a JoyReference at given position. \n
+  * The JoyReference will automatically be child of position->getLayout()
+  *Layout. After calling this function,
+  * position will be deleted as it is no longer usefull. \n
+  * JoyReference compute reference in quaternion, wz, altitude and altitude
+  *speed.
+  *
+  * \param position position
+  * \param name name
+  */
+  JoyReference(const gui::LayoutPosition *position, std::string name);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~JoyReference();
+
+  /*!
+  * \brief Set roll axis value
+  *
+  * \param value value
+  */
+  void SetRollAxis(float value);
+
+  /*!
+  * \brief Set pitch axis value
+  *
+  * \param value value
+  */
+  void SetPitchAxis(float value);
+
+  /*!
+  * \brief Set yaw axis value
+  *
+  * \param value value
+  */
+  void SetYawAxis(float value);
+
+  /*!
+  * \brief Set thrust axis value
+  *
+  * \param value value
+  */
+  void SetAltitudeAxis(float value);
+
+  /*!
+  * \brief Get orientation reference
+  *
+  * \return reference
+  */
+  core::AhrsData *GetReferenceOrientation(void) const;
+
+  /*!
+  * \brief Get z reference
+  *
+  * \return reference
+  */
+  float ZRef(void) const;
+
+  /*!
+  * \brief Get z derivative reference
+  *
+  * \return reference
+  */
+  float DzRef(void) const;
+
+  /*!
+  * \brief Get roll trim
+  *
+  * \return trim value
+  */
+  float RollTrim(void) const;
+
+  /*!
+  * \brief Get pitch trim
+  *
+  * \return trim value
+  */
+  float PitchTrim(void) const;
+
+  /*!
+  * \brief Set yaw reference
+  *
+  * Yaw part of the output quaternion is obtained by integrating the wz desired
+  *angular speed.\n
+  * This method reset the yaw.
+  *
+  * \param value value
+  */
+  void SetYawRef(float value);
+
+  /*!
+  * \brief Set yaw reference
+  *
+  * Yaw part of the output quaternion is obtained by integrating the wz desired
+  *angular speed.\n
+  * This method reset the yaw.
+  *
+  * \param value value, only the yaw part of the quaternion is used
+  */
+  void SetYawRef(core::Quaternion const &value);
+
+  /*!
+  * \brief Set z reference
+  *
+  * Altitude of the output is obtained by integrating the vz desired altitude
+  *speed.\n
+  * This method reset z.
+  *
+  * \param value value
+  */
+  void SetZRef(float value);
+
+  /*!
+  * \brief Trim up roll
+  *
+  * Roll trim value is increased by one
+  */
+  void RollTrimUp(void);
+
+  /*!
+  * \brief Trim down roll
+  *
+  * Roll trim value is decreased by one
+  */
+  void RollTrimDown(void);
+
+  /*!
+  * \brief Trim up pitch
+  *
+  * Pitch trim value is increased by one
+  */
+  void PitchTrimUp(void);
+
+  /*!
+  * \brief Trim down pitch
+  *
+  * Pitch trim value is decreased by one
+  */
+  void PitchTrimDown(void);
+
+  /*!
+  * \brief Update references
+  *
+  * Calls UpdateFrom with values entered manually.
+  *
+  * \param time time
+  */
+  void Update(core::Time time);
+
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
+
+  class JoyReference_impl *pimpl_;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairFilter/LowPassFilter.h
===================================================================
--- /trunk/include/FlairFilter/LowPassFilter.h	(revision 12)
+++ /trunk/include/FlairFilter/LowPassFilter.h	(revision 13)
@@ -16,84 +16,81 @@
 #include <IODevice.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class Layout;
-        class LayoutPosition;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+}
+namespace gui {
+class Layout;
+class LayoutPosition;
+}
 }
 
 class LowPassFilter_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class LowPassFilter
-    *
-    * \brief Class defining a first order low pass filter
-    */
-    class LowPassFilter : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a LowPassFilter at position. \n
-            * After calling this function, position will be deleted as it is no longer usefull. \n
-            * The filter is automatically updated when parent's
-            * IODevice::ProcessUpdate is called. \n
-            * The optional init_value parameters allow to specify
-            * the size of the input datas and its inital values.
-            * If unspecified, a 1*1 size is used, and values are
-            * initialized with 0.
-            *
-            * \param parent parent
-            * \param position position to display settings
-            * \param name name
-            * \param init_value initial value
-            */
-            LowPassFilter(const core::IODevice* parent,const gui::LayoutPosition* position,std::string name,const core::cvmatrix* init_value=NULL);
+namespace flair {
+namespace filter {
+/*! \class LowPassFilter
+*
+* \brief Class defining a first order low pass filter
+*/
+class LowPassFilter : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a LowPassFilter at position. \n
+  * After calling this function, position will be deleted as it is no longer
+  *usefull. \n
+  * The filter is automatically updated when parent's
+  * IODevice::ProcessUpdate is called. \n
+  * The optional init_value parameters allow to specify
+  * the size of the input datas and its inital values.
+  * If unspecified, a 1*1 size is used, and values are
+  * initialized with 0.
+  *
+  * \param parent parent
+  * \param position position to display settings
+  * \param name name
+  * \param init_value initial value
+  */
+  LowPassFilter(const core::IODevice *parent,
+                const gui::LayoutPosition *position, std::string name,
+                const core::cvmatrix *init_value = NULL);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~LowPassFilter();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~LowPassFilter();
 
-            /*!
-            * \brief Output value
-            *
-            * \param row row element
-            * \param col column element
-            *
-            * \return element value
-            */
-            float Output(int row, int col) const;
+  /*!
+  * \brief Output value
+  *
+  * \param row row element
+  * \param col column element
+  *
+  * \return element value
+  */
+  float Output(int row, int col) const;
 
-            /*!
-            * \brief Output matrix
-            *
-            * \return filtered output
-            */
-            core::cvmatrix* Matrix(void) const;
+  /*!
+  * \brief Output matrix
+  *
+  * \return filtered output
+  */
+  core::cvmatrix *Matrix(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            class LowPassFilter_impl* pimpl_;
-    };
+  class LowPassFilter_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/NestedSat.h
===================================================================
--- /trunk/include/FlairFilter/NestedSat.h	(revision 12)
+++ /trunk/include/FlairFilter/NestedSat.h	(revision 13)
@@ -16,86 +16,83 @@
 #include <ControlLaw.h>
 
-namespace flair
-{
-    namespace gui
-    {
-        class Layout;
-        class LayoutPosition;
-    }
+namespace flair {
+namespace gui {
+class Layout;
+class LayoutPosition;
+}
 }
 
 class NestedSat_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class NestedSat
-    *
-    * \brief  Class defining a PID with saturations
-    *
-    * The output of this control law is calculated
-    * as follows: \n
-    * p_ref=Sat(p_ref,k*sat_ref) \n
-    * d_ref=Sat[(p_ref-p)*kp,k*sat_dref] \n
-    * law=Sat[(d-d_ref)*kd,sat_u] \n
-    * where p, p_ref and d are input values (see SetValues()), \n
-    * where sat_ref, sat_dref and sat_u are settings availables on the ground station, \n
-    * where k is a conversion factor (see ConvertSatFromDegToRad()).
-    */
-    class NestedSat : public ControlLaw
-    {
-        friend class ::NestedSat_impl;
+namespace flair {
+namespace filter {
+/*! \class NestedSat
+*
+* \brief  Class defining a PID with saturations
+*
+* The output of this control law is calculated
+* as follows: \n
+* p_ref=Sat(p_ref,k*sat_ref) \n
+* d_ref=Sat[(p_ref-p)*kp,k*sat_dref] \n
+* law=Sat[(d-d_ref)*kd,sat_u] \n
+* where p, p_ref and d are input values (see SetValues()), \n
+* where sat_ref, sat_dref and sat_u are settings availables on the ground
+*station, \n
+* where k is a conversion factor (see ConvertSatFromDegToRad()).
+*/
+class NestedSat : public ControlLaw {
+  friend class ::NestedSat_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a NestedSat at given place position. \n
-            * The NestedSat will automatically be child of position->getLayout() Layout. After calling this function,
-            * position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display settings
-            * \param name name
-            */
-            NestedSat(const gui::LayoutPosition* position,std::string name);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a NestedSat at given place position. \n
+  * The NestedSat will automatically be child of position->getLayout() Layout.
+  *After calling this function,
+  * position will be deleted as it is no longer usefull. \n
+  *
+  * \param position position to display settings
+  * \param name name
+  */
+  NestedSat(const gui::LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~NestedSat();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~NestedSat();
 
-            /*!
-            * \brief Set input values
-            *
-            * \param p_ref proportional reference
-            * \param p proportional value
-            * \param d derivative value
-            */
-            void SetValues(float p_ref,float p,float d);
+  /*!
+  * \brief Set input values
+  *
+  * \param p_ref proportional reference
+  * \param p proportional value
+  * \param d derivative value
+  */
+  void SetValues(float p_ref, float p, float d);
 
-            /*!
-            * \brief Convert saturation parameters in radians
-            *
-            * If this function is called, saturation parameters
-            * on the ground station will be interpreted as degrees. \n
-            * Thus, an internal conversion from degrees to radians will
-            * be done (k=PI/180).
-            */
-            void ConvertSatFromDegToRad(void);
+  /*!
+  * \brief Convert saturation parameters in radians
+  *
+  * If this function is called, saturation parameters
+  * on the ground station will be interpreted as degrees. \n
+  * Thus, an internal conversion from degrees to radians will
+  * be done (k=PI/180).
+  */
+  void ConvertSatFromDegToRad(void);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            NestedSat_impl* pimpl_;
-    };
+  NestedSat_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/Pid.h
===================================================================
--- /trunk/include/FlairFilter/Pid.h	(revision 12)
+++ /trunk/include/FlairFilter/Pid.h	(revision 13)
@@ -16,84 +16,81 @@
 #include <ControlLaw.h>
 
-namespace flair
-{
-    namespace gui
-    {
-        class LayoutPosition;
-    }
+namespace flair {
+namespace gui {
+class LayoutPosition;
+}
 }
 
 class Pid_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class Pid
-    *
-    * \brief Class defining a PID
-    */
-    class Pid : public ControlLaw
-    {
-        friend class ::Pid_impl;
+namespace flair {
+namespace filter {
+/*! \class Pid
+*
+* \brief Class defining a PID
+*/
+class Pid : public ControlLaw {
+  friend class ::Pid_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a PID at given position. \n
-            * The PID will automatically be child of position->getLayout() Layout. After calling this function,
-            * position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display settings
-            * \param name name
-            */
-            Pid(const gui::LayoutPosition* position,std::string name);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a PID at given position. \n
+  * The PID will automatically be child of position->getLayout() Layout. After
+  *calling this function,
+  * position will be deleted as it is no longer usefull. \n
+  *
+  * \param position position to display settings
+  * \param name name
+  */
+  Pid(const gui::LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Pid();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Pid();
 
-            /*!
-            * \brief Reset integral
-            *
-            */
-            void Reset(void);
+  /*!
+  * \brief Reset integral
+  *
+  */
+  void Reset(void);
 
-            /*!
-            * \brief Set input values
-            *
-            * \param p proportional value
-            * \param d derivative value
-            */
-            void SetValues(float p,float d);
+  /*!
+  * \brief Set input values
+  *
+  * \param p proportional value
+  * \param d derivative value
+  */
+  void SetValues(float p, float d);
 
-            /*!
-            * \brief Use default plot
-            *
-            * Plot the output values at position. \n
-            * Plot consists of 4 curves: proportional part,
-            * derivative part, integral part and
-            * the sum of the three. \n
-            * After calling this function, position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display plot
-            */
-            void UseDefaultPlot(const gui::LayoutPosition* position);
+  /*!
+  * \brief Use default plot
+  *
+  * Plot the output values at position. \n
+  * Plot consists of 4 curves: proportional part,
+  * derivative part, integral part and
+  * the sum of the three. \n
+  * After calling this function, position will be deleted as it is no longer
+  *usefull. \n
+  *
+  * \param position position to display plot
+  */
+  void UseDefaultPlot(const gui::LayoutPosition *position);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            Pid_impl* pimpl_;
-    };
+  Pid_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/PidThrust.h
===================================================================
--- /trunk/include/FlairFilter/PidThrust.h	(revision 12)
+++ /trunk/include/FlairFilter/PidThrust.h	(revision 13)
@@ -16,124 +16,122 @@
 #include <ControlLaw.h>
 
-namespace flair
-{
-    namespace gui
-    {
-        class LayoutPosition;
-    }
+namespace flair {
+namespace gui {
+class LayoutPosition;
+}
 }
 
 class PidThrust_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class PidThrust
-    *
-    * \brief Class defining a Pid for Thrust.\n
-    * This Pid as an extra offset for compensating gravity.
-    */
-    class PidThrust : public ControlLaw
-    {
-        friend class ::PidThrust_impl;
+namespace flair {
+namespace filter {
+/*! \class PidThrust
+*
+* \brief Class defining a Pid for Thrust.\n
+* This Pid as an extra offset for compensating gravity.
+*/
+class PidThrust : public ControlLaw {
+  friend class ::PidThrust_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a PidThrust at given position
-            * The PidThrust will automatically be child of position->getLayout() Layout. After calling this function,
-            * position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display settings
-            * \param name name
-            */
-            PidThrust(const gui::LayoutPosition* position,std::string name);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a PidThrust at given position
+  * The PidThrust will automatically be child of position->getLayout() Layout.
+  *After calling this function,
+  * position will be deleted as it is no longer usefull. \n
+  *
+  * \param position position to display settings
+  * \param name name
+  */
+  PidThrust(const gui::LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~PidThrust();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~PidThrust();
 
-            /*!
-            * \brief Reset integral and offset to 0
-            *
-            */
-            void Reset(void);
+  /*!
+  * \brief Reset integral and offset to 0
+  *
+  */
+  void Reset(void);
 
-            /*!
-            * \brief Reset integral to 0
-            *
-            */
-            void ResetI(void);
+  /*!
+  * \brief Reset integral to 0
+  *
+  */
+  void ResetI(void);
 
-            /*!
-            * \brief Reset offset to 0
-            *
-            */
-            void ResetOffset(void);
+  /*!
+  * \brief Reset offset to 0
+  *
+  */
+  void ResetOffset(void);
 
-            /*!
-            * \brief Set offset to specified value in ground station
-            *
-            */
-            void SetOffset(void);
+  /*!
+  * \brief Set offset to specified value in ground station
+  *
+  */
+  void SetOffset(void);
 
-            /*!
-            * \brief Get offset
-            *
-            * \return current offset
-            */
-            float GetOffset(void);
+  /*!
+  * \brief Get offset
+  *
+  * \return current offset
+  */
+  float GetOffset(void);
 
-            /*!
-            * \brief Step up the offset according to specified value in ground station
-            *
-            * \return false if offset is at its maximum (1) value, true otherwise
-            */
-            bool OffsetStepUp(void);
+  /*!
+  * \brief Step up the offset according to specified value in ground station
+  *
+  * \return false if offset is at its maximum (1) value, true otherwise
+  */
+  bool OffsetStepUp(void);
 
-            /*!
-            * \brief Step down the offset according to specified value in ground station
-            *
-            * \return false if offset is at its minimum (specified in ground station) value, true otherwise
-            */
-            bool OffsetStepDown(void);
+  /*!
+  * \brief Step down the offset according to specified value in ground station
+  *
+  * \return false if offset is at its minimum (specified in ground station)
+  *value, true otherwise
+  */
+  bool OffsetStepDown(void);
 
-            /*!
-            * \brief Set input values
-            *
-            * \param p proportional value
-            * \param d derivative value
-            */
-            void SetValues(float p,float d);
+  /*!
+  * \brief Set input values
+  *
+  * \param p proportional value
+  * \param d derivative value
+  */
+  void SetValues(float p, float d);
 
-            /*!
-            * \brief Use default plot
-            *
-            * Plot the output values at position. \n
-            * Plot consists of 4 curves: proportional part,
-            * derivative part, integral part and
-            * the sum of the three. \n
-            * After calling this function, position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display plot
-            */
-            void UseDefaultPlot(const gui::LayoutPosition* position);
+  /*!
+  * \brief Use default plot
+  *
+  * Plot the output values at position. \n
+  * Plot consists of 4 curves: proportional part,
+  * derivative part, integral part and
+  * the sum of the three. \n
+  * After calling this function, position will be deleted as it is no longer
+  *usefull. \n
+  *
+  * \param position position to display plot
+  */
+  void UseDefaultPlot(const gui::LayoutPosition *position);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            PidThrust_impl* pimpl_;
-    };
+  PidThrust_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/SimuAhrs.h
===================================================================
--- /trunk/include/FlairFilter/SimuAhrs.h	(revision 12)
+++ /trunk/include/FlairFilter/SimuAhrs.h	(revision 13)
@@ -17,51 +17,49 @@
 #include <stdint.h>
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class SimuAhrs
-    *
-    * \brief Class for a simulation Ahrs
-    *
-    * This class constructs a SimuImu as Imu of this Ahrs.
-    */
-    class SimuAhrs : public filter::Ahrs
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a simulation Ahrs.
-            *
-            * \param parent parent
-            * \param name name
-            * \param dev_id number id of the simulated Ahrs
-            * \param priority priority of the SimuImu Thread
-            */
-            SimuAhrs(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);
+namespace flair {
+namespace filter {
+/*! \class SimuAhrs
+*
+* \brief Class for a simulation Ahrs
+*
+* This class constructs a SimuImu as Imu of this Ahrs.
+*/
+class SimuAhrs : public filter::Ahrs {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a simulation Ahrs.
+  *
+  * \param parent parent
+  * \param name name
+  * \param dev_id number id of the simulated Ahrs
+  * \param priority priority of the SimuImu Thread
+  */
+  SimuAhrs(const core::FrameworkManager *parent, std::string name,
+           uint32_t dev_id, uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SimuAhrs();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SimuAhrs();
 
-             /*!
-            * \brief Start SimuImu Thread
-            *
-            */
-            void Start(void);
+  /*!
+ * \brief Start SimuImu Thread
+ *
+ */
+  void Start(void);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
-    };
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/TrajectoryGenerator1D.h
===================================================================
--- /trunk/include/FlairFilter/TrajectoryGenerator1D.h	(revision 12)
+++ /trunk/include/FlairFilter/TrajectoryGenerator1D.h	(revision 13)
@@ -16,141 +16,141 @@
 #include <IODevice.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class LayoutPosition;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+}
+namespace gui {
+class LayoutPosition;
+}
 }
 
 class TrajectoryGenerator1D_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class TrajectoryGenerator1D
-    *
-    * \brief Class generating a trajectory in 1D
-    *
-    * This class generates position and velocity references, given
-    * an absolute maximum velocity and an absolute acceleration. \n
-    * When trajectory is started (see StartTraj()), position and velocity will increase
-    * at the given acceleration. If the maximum velocity is reached,
-    * velocity will not increase anymore. Then, velocity will decrease according
-    * to the given acceleration until velocity is null and final position is reached. \n
-    * Manual inputs can be introduced using SetPositionOffset() and SetSpeedOffset().
-    *
-    */
-    class TrajectoryGenerator1D : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a TrajectoryGenerator1D at given position. \n
-            * The TrajectoryGenerator1D will automatically be child of position->getLayout() Layout. After calling this function,
-            * position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display settings
-            * \param name name
-            * \param unit unit of the position (for exemple m, deg, etc). Its only used for display on ground station.
-            */
-            TrajectoryGenerator1D(const gui::LayoutPosition* position,std::string name,std::string unit="");
+namespace flair {
+namespace filter {
+/*! \class TrajectoryGenerator1D
+*
+* \brief Class generating a trajectory in 1D
+*
+* This class generates position and velocity references, given
+* an absolute maximum velocity and an absolute acceleration. \n
+* When trajectory is started (see StartTraj()), position and velocity will
+*increase
+* at the given acceleration. If the maximum velocity is reached,
+* velocity will not increase anymore. Then, velocity will decrease according
+* to the given acceleration until velocity is null and final position is
+*reached. \n
+* Manual inputs can be introduced using SetPositionOffset() and
+*SetSpeedOffset().
+*
+*/
+class TrajectoryGenerator1D : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a TrajectoryGenerator1D at given position. \n
+  * The TrajectoryGenerator1D will automatically be child of
+  *position->getLayout() Layout. After calling this function,
+  * position will be deleted as it is no longer usefull. \n
+  *
+  * \param position position to display settings
+  * \param name name
+  * \param unit unit of the position (for exemple m, deg, etc). Its only used
+  *for display on ground station.
+  */
+  TrajectoryGenerator1D(const gui::LayoutPosition *position, std::string name,
+                        std::string unit = "");
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~TrajectoryGenerator1D();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~TrajectoryGenerator1D();
 
-            /*!
-            * \brief Start trajectory
-            *
-            * \param start_pos start position
-            * \param end_pos end position
-            */
-            void StartTraj(float start_pos,float end_pos);
+  /*!
+  * \brief Start trajectory
+  *
+  * \param start_pos start position
+  * \param end_pos end position
+  */
+  void StartTraj(float start_pos, float end_pos);
 
-            /*!
-            * \brief Stop trajectory
-            *
-            */
-            void StopTraj(void);
+  /*!
+  * \brief Stop trajectory
+  *
+  */
+  void StopTraj(void);
 
-            /*!
-            * \brief Reset
-            *
-            * Reset all outputs to 0. This can be done only when IsRunning()==false.
-            *
-            */
-            void Reset(void);
+  /*!
+  * \brief Reset
+  *
+  * Reset all outputs to 0. This can be done only when IsRunning()==false.
+  *
+  */
+  void Reset(void);
 
-            /*!
-            * \brief Is trajectory running?
-            *
-            * \return true if trajectory is running
-            */
-            bool IsRunning(void) const;
+  /*!
+  * \brief Is trajectory running?
+  *
+  * \return true if trajectory is running
+  */
+  bool IsRunning(void) const;
 
-            /*!
-            * \brief Set position offset
-            *
-            * \param value position offset
-            */
-            void SetPositionOffset(float value);
+  /*!
+  * \brief Set position offset
+  *
+  * \param value position offset
+  */
+  void SetPositionOffset(float value);
 
-            /*!
-            * \brief Set speed offset
-            *
-            * \param value speed offset
-            */
-            void SetSpeedOffset(float value);
+  /*!
+  * \brief Set speed offset
+  *
+  * \param value speed offset
+  */
+  void SetSpeedOffset(float value);
 
-            /*!
-            * \brief Update using provided datas
-            *
-            * Uses values specified by StartTraj(),
-            * SetPositionOffset() and SetSpeedOffset().
-            *
-            * \param time time of the update
-            */
-            void Update(core::Time time);
+  /*!
+  * \brief Update using provided datas
+  *
+  * Uses values specified by StartTraj(),
+  * SetPositionOffset() and SetSpeedOffset().
+  *
+  * \param time time of the update
+  */
+  void Update(core::Time time);
 
-            /*!
-            * \brief Position
-            *
-            */
-            float Position(void) const;
+  /*!
+  * \brief Position
+  *
+  */
+  float Position(void) const;
 
-            /*!
-            * \brief Speed
-            *
-            */
-            float Speed(void) const;
+  /*!
+  * \brief Speed
+  *
+  */
+  float Speed(void) const;
 
-            /*!
-            * \brief Output matrix
-            *
-            * \return matrix
-            */
-            core::cvmatrix *Matrix(void) const;
+  /*!
+  * \brief Output matrix
+  *
+  * \return matrix
+  */
+  core::cvmatrix *Matrix(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice. Nothing to do in this IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice. Nothing to do in this IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            TrajectoryGenerator1D_impl* pimpl_;
-    };
+  TrajectoryGenerator1D_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/TrajectoryGenerator2DCircle.h
===================================================================
--- /trunk/include/FlairFilter/TrajectoryGenerator2DCircle.h	(revision 12)
+++ /trunk/include/FlairFilter/TrajectoryGenerator2DCircle.h	(revision 13)
@@ -16,144 +16,140 @@
 #include <IODevice.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-        class Vector2D;
-    }
-    namespace gui
-    {
-        class LayoutPosition;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+class Vector2D;
+}
+namespace gui {
+class LayoutPosition;
+}
 }
 
 class TrajectoryGenerator2DCircle_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class TrajectoryGenerator2DCircle
-    *
-    * \brief Class generating a circle trajectory in 2D
-    *
-    * This class generates position and velocity references, given
-    * a maximum velocity and an absolute acceleration, for a circle. \n
-    * When trajectory is started (StartTraj), position and velocity will increase
-    * at the given acceleration untill maximum velocity is reached. \n
-    * When trajectory is asked to be finished (see FinishTraj()), position
-    * and velocity will decrease at the given acceleration untill null velocity is reached. \n
-    * Position and velocity of the center of the circle can be manually changed
-    * through SetCenter() and SetCenterSpeed().
-    */
-    class TrajectoryGenerator2DCircle : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a TrajectoryGenerator2DCircle at position. \n
-            * The TrajectoryGenerator2DCircle will automatically be child of position->getLayout() Layout. After calling this function,
-            * position will be deleted as it is no longer usefull. \n
-            *
-            * \param position position to display settings
-            * \param name name
-            */
-            TrajectoryGenerator2DCircle(const gui::LayoutPosition* position,std::string name);
+namespace flair {
+namespace filter {
+/*! \class TrajectoryGenerator2DCircle
+*
+* \brief Class generating a circle trajectory in 2D
+*
+* This class generates position and velocity references, given
+* a maximum velocity and an absolute acceleration, for a circle. \n
+* When trajectory is started (StartTraj), position and velocity will increase
+* at the given acceleration untill maximum velocity is reached. \n
+* When trajectory is asked to be finished (see FinishTraj()), position
+* and velocity will decrease at the given acceleration untill null velocity is
+*reached. \n
+* Position and velocity of the center of the circle can be manually changed
+* through SetCenter() and SetCenterSpeed().
+*/
+class TrajectoryGenerator2DCircle : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a TrajectoryGenerator2DCircle at position. \n
+  * The TrajectoryGenerator2DCircle will automatically be child of
+  *position->getLayout() Layout. After calling this function,
+  * position will be deleted as it is no longer usefull. \n
+  *
+  * \param position position to display settings
+  * \param name name
+  */
+  TrajectoryGenerator2DCircle(const gui::LayoutPosition *position,
+                              std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~TrajectoryGenerator2DCircle();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~TrajectoryGenerator2DCircle();
 
-            /*!
-            * \brief Start trajectory
-            *
-            * \param start_pos start position
-            * \param nb_lap number of laps, -1 for infinite
-            */
-            void StartTraj(const core::Vector2D &start_pos,float nb_lap=-1);
+  /*!
+  * \brief Start trajectory
+  *
+  * \param start_pos start position
+  * \param nb_lap number of laps, -1 for infinite
+  */
+  void StartTraj(const core::Vector2D &start_pos, float nb_lap = -1);
 
-            /*!
-            * \brief Stop trajectory
-            *
-            * Stop abruptly the trajectory.
-            */
-            void StopTraj(void);
+  /*!
+  * \brief Stop trajectory
+  *
+  * Stop abruptly the trajectory.
+  */
+  void StopTraj(void);
 
-            /*!
-            * \brief Finish trajectory
-            *
-            * Finish smoothly the trajectory.
-            */
-            void FinishTraj(void);
+  /*!
+  * \brief Finish trajectory
+  *
+  * Finish smoothly the trajectory.
+  */
+  void FinishTraj(void);
 
-            /*!
-            * \brief Set center position
-            *
-            * \param value center position
-            */
-            void SetCenter(const core::Vector2D &value);
+  /*!
+  * \brief Set center position
+  *
+  * \param value center position
+  */
+  void SetCenter(const core::Vector2D &value);
 
-            /*!
-            * \brief Set center speed
-            *
-            * \param value center speed
-            */
-            void SetCenterSpeed(const core::Vector2D &value);
+  /*!
+  * \brief Set center speed
+  *
+  * \param value center speed
+  */
+  void SetCenterSpeed(const core::Vector2D &value);
 
-            /*!
-            * \brief Update using provided datas
-            *
-            * Uses values specified by StartTraj(),
-            * SetCenter() and SetCenterSpeed().
-            *
-            * \param time time of the update
-            */
-            void Update(core::Time time);
+  /*!
+  * \brief Update using provided datas
+  *
+  * Uses values specified by StartTraj(),
+  * SetCenter() and SetCenterSpeed().
+  *
+  * \param time time of the update
+  */
+  void Update(core::Time time);
 
-            /*!
-            * \brief Position
-            *
-            * \param point returned position
-            */
-            void GetPosition(core::Vector2D &point) const;
+  /*!
+  * \brief Position
+  *
+  * \param point returned position
+  */
+  void GetPosition(core::Vector2D &point) const;
 
-            /*!
-            * \brief Speed
-            *
-            * \param point returned speed
-            */
-            void GetSpeed(core::Vector2D &point) const;
+  /*!
+  * \brief Speed
+  *
+  * \param point returned speed
+  */
+  void GetSpeed(core::Vector2D &point) const;
 
-            /*!
-            * \brief Output matrix
-            *
-            * \return matrix
-            */
-            core::cvmatrix *Matrix(void) const;
+  /*!
+  * \brief Output matrix
+  *
+  * \return matrix
+  */
+  core::cvmatrix *Matrix(void) const;
 
-            /*!
-            * \brief Is trajectory running?
-            *
-            * \return true if trajectory is running
-            */
-            bool IsRunning(void) const;
+  /*!
+  * \brief Is trajectory running?
+  *
+  * \return true if trajectory is running
+  */
+  bool IsRunning(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice. Nothing to do in this IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice. Nothing to do in this IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            TrajectoryGenerator2DCircle_impl* pimpl_;
-
-    };
+  TrajectoryGenerator2DCircle_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/UavMultiplex.h
===================================================================
--- /trunk/include/FlairFilter/UavMultiplex.h	(revision 12)
+++ /trunk/include/FlairFilter/UavMultiplex.h	(revision 13)
@@ -17,207 +17,202 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class io_data;
-    }
-    namespace gui
-    {
-        class TabWidget;
-        class Layout;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class io_data;
 }
+namespace gui {
+class TabWidget;
+class Layout;
+}
+}
 
 class UavMultiplex_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class UavMultiplex
-    *
-    * \brief Class defining uav multiplexing
-    */
-    class UavMultiplex : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a uav multiplexing
-            *
-            * \param parent parent
-            * \param name name
-            */
-            UavMultiplex(const core::FrameworkManager* parent,std::string name);
-
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~UavMultiplex();
-
-            /*!
-            * \brief Set roll torque
-            *
-            * roll torque is placed in input(0,0)
-            *
-            * \param value value between -1 and 1
-            */
-            void SetRoll(float value);
-
-            /*!
-            * \brief Set pitch torque
-            *
-            * pitch torque is placed in input(1,0)
-            *
-            * \param value value between -1 and 1
-            */
-            void SetPitch(float value);
-
-            /*!
-            * \brief Set yaw torque
-            *
-            * yaw torque is placed in input(2,0)
-            *
-            * \param value value between -1 and 1
-            */
-            void SetYaw(float value);
-
-            /*!
-            * \brief Set thrust
-            *
-            * thrust is placed in input(3,0)
-            *
-            * \param value value between 0 and 1
-            */
-            void SetThrust(float value);
-
-            /*!
-            * \brief Set roll trim
-            *
-            * trim is placed in input(4,0)
-            *
-            * \param value value
-            */
-            void SetRollTrim(float value);
-
-            /*!
-            * \brief Set pitch trim
-            *
-            * trim is placed in input(5,0)
-            *
-            * \param value value
-            */
-            void SetPitchTrim(float value);
-
-            /*!
-            * \brief Set yaw trim
-            *
-            * trim is placed in input(6,0)
-            *
-            * \param value value
-            */
-            void SetYawTrim(float value);
-
-            /*!
-            * \brief Update using provided datas
-            *
-            * Uses values specified by Set*().
-            *
-            * \param time time of the update
-            */
-            void Update(core::Time time);
-
-            /*!
-            * \brief Lock user interface
-            *
-            * User interface will be grayed out.\n
-            * Use it do disallow changes when flying.
-            *
-            */
-            void LockUserInterface(void) const;
-
-            /*!
-            * \brief Unlock user interface
-            *
-            * User interface will be enabled.\n
-            *
-            */
-            void UnlockUserInterface(void) const;
-
-            /*!
-            * \brief Layout
-            *
-            * Layout to place custom widgets.\n
-            *
-            * \return the layout
-            */
-            gui::Layout* GetLayout(void) const;
-
-            /*!
-            * \brief Use default plot
-            *
-            * Derived class can implement this function do draw default plot.
-            *
-            */
-            virtual void UseDefaultPlot(void){};
-
-            /*!
-            * \brief Motors count
-            *
-            * This function must be reimplemented, in order to get the number of motors.
-            *
-            * \return motors count
-            */
-            virtual uint8_t MotorsCount(void) const=0;
-
-            /*!
-            * \brief Multiplex value
-            *
-            * Get the mutliplexed value of a motor, if SetMultiplexComboBox() was used.\n
-            *
-            * \param index index of the motor, from 0 to MotorsCount()
-            * \return multiplexed index of the motor
-            */
-            int MultiplexValue(int index) const;
-
-            /*!
-            * \brief Get TabWidget
-            *
-            * Usefull to add tabs.\n
-            *
-            * \return the TabWidget
-            */
-            gui::TabWidget* GetTabWidget(void) const;
-
-        protected:
-            /*!
-            * \brief Set multiplex ComboBox
-            *
-            * Draws a ComboBox to define motor multiplexing. \n
-            * This is used to change the order of the output motors.
-            *
-            * \param name description of the motor (ex front left)
-            * \param index index of the motor, from 0 to MotorsCount()
-            */
-            void SetMultiplexComboBox(std::string name,int index);
-
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * This function is automatically called by ProcessUpdate()
-            * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
-            * This function must be reimplemented, in order to process the data from the parent.
-            *
-            * \param data data from the parent to process
-            */
-            virtual void UpdateFrom(const core::io_data *data)=0;
-
-            UavMultiplex_impl *pimpl_;
-    };
+namespace flair {
+namespace filter {
+/*! \class UavMultiplex
+*
+* \brief Class defining uav multiplexing
+*/
+class UavMultiplex : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a uav multiplexing
+  *
+  * \param parent parent
+  * \param name name
+  */
+  UavMultiplex(const core::FrameworkManager *parent, std::string name);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~UavMultiplex();
+
+  /*!
+  * \brief Set roll torque
+  *
+  * roll torque is placed in input(0,0)
+  *
+  * \param value value between -1 and 1
+  */
+  void SetRoll(float value);
+
+  /*!
+  * \brief Set pitch torque
+  *
+  * pitch torque is placed in input(1,0)
+  *
+  * \param value value between -1 and 1
+  */
+  void SetPitch(float value);
+
+  /*!
+  * \brief Set yaw torque
+  *
+  * yaw torque is placed in input(2,0)
+  *
+  * \param value value between -1 and 1
+  */
+  void SetYaw(float value);
+
+  /*!
+  * \brief Set thrust
+  *
+  * thrust is placed in input(3,0)
+  *
+  * \param value value between 0 and 1
+  */
+  void SetThrust(float value);
+
+  /*!
+  * \brief Set roll trim
+  *
+  * trim is placed in input(4,0)
+  *
+  * \param value value
+  */
+  void SetRollTrim(float value);
+
+  /*!
+  * \brief Set pitch trim
+  *
+  * trim is placed in input(5,0)
+  *
+  * \param value value
+  */
+  void SetPitchTrim(float value);
+
+  /*!
+  * \brief Set yaw trim
+  *
+  * trim is placed in input(6,0)
+  *
+  * \param value value
+  */
+  void SetYawTrim(float value);
+
+  /*!
+  * \brief Update using provided datas
+  *
+  * Uses values specified by Set*().
+  *
+  * \param time time of the update
+  */
+  void Update(core::Time time);
+
+  /*!
+  * \brief Lock user interface
+  *
+  * User interface will be grayed out.\n
+  * Use it do disallow changes when flying.
+  *
+  */
+  void LockUserInterface(void) const;
+
+  /*!
+  * \brief Unlock user interface
+  *
+  * User interface will be enabled.\n
+  *
+  */
+  void UnlockUserInterface(void) const;
+
+  /*!
+  * \brief Layout
+  *
+  * Layout to place custom widgets.\n
+  *
+  * \return the layout
+  */
+  gui::Layout *GetLayout(void) const;
+
+  /*!
+  * \brief Use default plot
+  *
+  * Derived class can implement this function do draw default plot.
+  *
+  */
+  virtual void UseDefaultPlot(void){};
+
+  /*!
+  * \brief Motors count
+  *
+  * This function must be reimplemented, in order to get the number of motors.
+  *
+  * \return motors count
+  */
+  virtual uint8_t MotorsCount(void) const = 0;
+
+  /*!
+  * \brief Multiplex value
+  *
+  * Get the mutliplexed value of a motor, if SetMultiplexComboBox() was used.\n
+  *
+  * \param index index of the motor, from 0 to MotorsCount()
+  * \return multiplexed index of the motor
+  */
+  int MultiplexValue(int index) const;
+
+  /*!
+  * \brief Get TabWidget
+  *
+  * Usefull to add tabs.\n
+  *
+  * \return the TabWidget
+  */
+  gui::TabWidget *GetTabWidget(void) const;
+
+protected:
+  /*!
+  * \brief Set multiplex ComboBox
+  *
+  * Draws a ComboBox to define motor multiplexing. \n
+  * This is used to change the order of the output motors.
+  *
+  * \param name description of the motor (ex front left)
+  * \param index index of the motor, from 0 to MotorsCount()
+  */
+  void SetMultiplexComboBox(std::string name, int index);
+
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * This function is automatically called by ProcessUpdate()
+  * of the Object::Parent's if its Object::ObjectType is "IODevice". \n
+  * This function must be reimplemented, in order to process the data from the
+  *parent.
+  *
+  * \param data data from the parent to process
+  */
+  virtual void UpdateFrom(const core::io_data *data) = 0;
+
+  UavMultiplex_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairFilter/X4X8Multiplex.h
===================================================================
--- /trunk/include/FlairFilter/X4X8Multiplex.h	(revision 12)
+++ /trunk/include/FlairFilter/X4X8Multiplex.h	(revision 13)
@@ -18,90 +18,89 @@
 class X4X8Multiplex_impl;
 
-namespace flair
-{
-namespace filter
-{
-    /*! \class X4X8Multiplex
-    *
-    * \brief Class defining X4 and X8 multiplexing
-    *
-    * The output order of the motors can be changed through ground station.
-    */
-    class X4X8Multiplex : public UavMultiplex
-    {
-        friend class ::X4X8Multiplex_impl;
+namespace flair {
+namespace filter {
+/*! \class X4X8Multiplex
+*
+* \brief Class defining X4 and X8 multiplexing
+*
+* The output order of the motors can be changed through ground station.
+*/
+class X4X8Multiplex : public UavMultiplex {
+  friend class ::X4X8Multiplex_impl;
 
-        public:
-             /*!
-            \enum UavType_t
-            \brief type of UAV
-            */
-            typedef enum {
-                X4,/*!< 4 motors: front left, front right, rear left, rear right */
-                X8/*!< 8 motors: top front left, top front right, top rear left, top rear right, bottom front left, bottom front right, bottom rear left, bottom rear right */
-                } UavType_t;
+public:
+  /*!
+ \enum UavType_t
+ \brief type of UAV
+ */
+  typedef enum {
+    X4, /*!< 4 motors: front left, front right, rear left, rear right */
+    X8  /*!< 8 motors: top front left, top front right, top rear left, top rear
+           right, bottom front left, bottom front right, bottom rear left, bottom
+           rear right */
+  } UavType_t;
 
-            /*!
-            \enum MotorNames_t
-            \brief Motor names
-            */
-            typedef enum {
-                TopFrontLeft=0,/*!< Top front left, X4 or X8 */
-                TopFrontRight=1,/*!< Top front right, X4 or X8 */
-                TopRearLeft=2,/*!< Top rear left, X4 or X8 */
-                TopRearRight=3,/*!< Top rear right, X4 or X8 */
-                BottomFrontLeft=4,/*!< Bottom front left, X8 */
-                BottomFrontRight=5,/*!< Bottom front right, X8 */
-                BottomRearLeft=6,/*!< Bottom rear left, X8 */
-                BottomRearRight=7,/*!< Bottom rear right, X8 */
-                } MotorNames_t;
+  /*!
+  \enum MotorNames_t
+  \brief Motor names
+  */
+  typedef enum {
+    TopFrontLeft = 0,     /*!< Top front left, X4 or X8 */
+    TopFrontRight = 1,    /*!< Top front right, X4 or X8 */
+    TopRearLeft = 2,      /*!< Top rear left, X4 or X8 */
+    TopRearRight = 3,     /*!< Top rear right, X4 or X8 */
+    BottomFrontLeft = 4,  /*!< Bottom front left, X8 */
+    BottomFrontRight = 5, /*!< Bottom front right, X8 */
+    BottomRearLeft = 6,   /*!< Bottom rear left, X8 */
+    BottomRearRight = 7,  /*!< Bottom rear right, X8 */
+  } MotorNames_t;
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a X4 and X8 multiplexing
-            *
-            * \param parent parent
-            * \param name name
-            * \param type type
-            */
-            X4X8Multiplex(const core::FrameworkManager* parent,std::string name,UavType_t type);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a X4 and X8 multiplexing
+  *
+  * \param parent parent
+  * \param name name
+  * \param type type
+  */
+  X4X8Multiplex(const core::FrameworkManager *parent, std::string name,
+                UavType_t type);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~X4X8Multiplex();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~X4X8Multiplex();
 
-            /*!
-            * \brief Use default plot
-            *
-            * Plot the output values.
-            *
-            */
-            void UseDefaultPlot(void);
+  /*!
+  * \brief Use default plot
+  *
+  * Plot the output values.
+  *
+  */
+  void UseDefaultPlot(void);
 
-            /*!
-            * \brief Motors count
-            *
-            * Reimplemented from UavMultiplex.
-            *
-            * \return motors count
-            */
-            uint8_t MotorsCount(void) const;
+  /*!
+  * \brief Motors count
+  *
+  * Reimplemented from UavMultiplex.
+  *
+  * \return motors count
+  */
+  uint8_t MotorsCount(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            X4X8Multiplex_impl *pimpl_;
-
-    };
+  X4X8Multiplex_impl *pimpl_;
+};
 } // end namespace filter
 } // end namespace flair
Index: /trunk/include/FlairMeta/HdsX8.h
===================================================================
--- /trunk/include/FlairMeta/HdsX8.h	(revision 12)
+++ /trunk/include/FlairMeta/HdsX8.h	(revision 13)
@@ -16,21 +16,19 @@
 #include "Uav.h"
 
-namespace flair
-{
-namespace meta
-{
-    /*! \class HdsX8
-    *
-    * \brief Class defining an ardrone2 uav
-    */
-    class HdsX8 : public Uav {
-        public:
-            HdsX8(core::FrameworkManager* parent,std::string uav_name,filter::UavMultiplex *multiplex=NULL);
-            ~HdsX8();
-            void StartSensors(void);
+namespace flair {
+namespace meta {
+/*! \class HdsX8
+*
+* \brief Class defining an ardrone2 uav
+*/
+class HdsX8 : public Uav {
+public:
+  HdsX8(core::FrameworkManager *parent, std::string uav_name,
+        filter::UavMultiplex *multiplex = NULL);
+  ~HdsX8();
+  void StartSensors(void);
 
-        private:
-
-    };
+private:
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairMeta/MetaDualShock3.h
===================================================================
--- /trunk/include/FlairMeta/MetaDualShock3.h	(revision 12)
+++ /trunk/include/FlairMeta/MetaDualShock3.h	(revision 13)
@@ -17,11 +17,11 @@
 
 namespace flair {
-    namespace core {
-        class AhrsData;
-        class Quaternion;
-    }
-    namespace filter {
-        class Ahrs;
-    }
+namespace core {
+class AhrsData;
+class Quaternion;
+}
+namespace filter {
+class Ahrs;
+}
 }
 
@@ -31,40 +31,42 @@
 namespace meta {
 
-    /*! \class MetaDualShock3
-    *
-    * \brief Classe intégrant la manette MetaDualShock3
-    */
-    class MetaDualShock3 : public sensor::TargetEthController {
-        friend class ::MetaDualShock3_impl;
+/*! \class MetaDualShock3
+*
+* \brief Classe intégrant la manette MetaDualShock3
+*/
+class MetaDualShock3 : public sensor::TargetEthController {
+  friend class ::MetaDualShock3_impl;
 
-        public:
-            MetaDualShock3(core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority);
-            ~MetaDualShock3();
-            core::AhrsData* GetReferenceOrientation(void) const;
-            float ZRef(void) const;
-            float DzRef(void) const;
-            void SetYawRef(float value);
-            /*!
-            * \brief Set yaw reference
-            *
-            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
-            * This method reset the yaw.
-            *
-            * \param value value, only the yaw part of the quaternion is used
-            */
-            void SetYawRef(core::Quaternion const &value);
-            void SetZRef(float value);
-            float RollTrim(void) const;
-            float PitchTrim(void) const;
-            void ErrorNotify(void);
-            void Rumble(uint8_t left_force,uint8_t left_timeout=20,uint8_t right_force=0,uint8_t right_timeout=0);
-            void SetLedON(unsigned int ledId);
-            void SetLedOFF(unsigned int ledId);
-            void FlashLed(unsigned int ledId,uint8_t on_timeout,uint8_t off_timeout);
+public:
+  MetaDualShock3(core::FrameworkManager *parent, std::string name,
+                 uint16_t port, uint8_t priority);
+  ~MetaDualShock3();
+  core::AhrsData *GetReferenceOrientation(void) const;
+  float ZRef(void) const;
+  float DzRef(void) const;
+  void SetYawRef(float value);
+  /*!
+  * \brief Set yaw reference
+  *
+  * Yaw part of the output quaternion is obtained by integrating the wz desired
+  *angular speed.\n
+  * This method reset the yaw.
+  *
+  * \param value value, only the yaw part of the quaternion is used
+  */
+  void SetYawRef(core::Quaternion const &value);
+  void SetZRef(float value);
+  float RollTrim(void) const;
+  float PitchTrim(void) const;
+  void ErrorNotify(void);
+  void Rumble(uint8_t left_force, uint8_t left_timeout = 20,
+              uint8_t right_force = 0, uint8_t right_timeout = 0);
+  void SetLedON(unsigned int ledId);
+  void SetLedOFF(unsigned int ledId);
+  void FlashLed(unsigned int ledId, uint8_t on_timeout, uint8_t off_timeout);
 
-        private:
-            class MetaDualShock3_impl* pimpl_;
-
-    };
+private:
+  class MetaDualShock3_impl *pimpl_;
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairMeta/MetaUsRangeFinder.h
===================================================================
--- /trunk/include/FlairMeta/MetaUsRangeFinder.h	(revision 12)
+++ /trunk/include/FlairMeta/MetaUsRangeFinder.h	(revision 13)
@@ -17,43 +17,41 @@
 
 namespace flair {
-    namespace filter {
-        class ButterworthLowPass;
-        class EulerDerivative;
-    }
-    namespace sensor {
-        class UsRangeFinder;
-    }
-    namespace gui {
-        class DataPlot1D;
-    }
+namespace filter {
+class ButterworthLowPass;
+class EulerDerivative;
+}
+namespace sensor {
+class UsRangeFinder;
+}
+namespace gui {
+class DataPlot1D;
+}
 }
 
-namespace flair
-{
-namespace meta
-{
-    /*! \class MetaUsRangeFinder
-    *
-    * \brief Classe haut niveau pour capteur à ultra son
-    *
-    * Contient une dérivée d'euler et un passe bas.
-    * Cette classe est adaptée pour un capteur d'altitude.
-    */
-    class MetaUsRangeFinder: public core::Object {
-        public:
-            MetaUsRangeFinder(sensor::UsRangeFinder* us);
-            ~MetaUsRangeFinder();
-            void UseDefaultPlot(void);
-            float z(void) const;
-            float Vz(void) const;
-            gui::DataPlot1D *GetZPlot();
-            gui::DataPlot1D *GetVzPlot();
+namespace flair {
+namespace meta {
+/*! \class MetaUsRangeFinder
+*
+* \brief Classe haut niveau pour capteur à ultra son
+*
+* Contient une dérivée d'euler et un passe bas.
+* Cette classe est adaptée pour un capteur d'altitude.
+*/
+class MetaUsRangeFinder : public core::Object {
+public:
+  MetaUsRangeFinder(sensor::UsRangeFinder *us);
+  ~MetaUsRangeFinder();
+  void UseDefaultPlot(void);
+  float z(void) const;
+  float Vz(void) const;
+  gui::DataPlot1D *GetZPlot();
+  gui::DataPlot1D *GetVzPlot();
 
-        private:
-            sensor::UsRangeFinder* us;
-            filter::ButterworthLowPass *pbas_z,*pbas_vz;
-            filter::EulerDerivative *vz_euler;
-            gui::DataPlot1D* vz_plot;
-    };
+private:
+  sensor::UsRangeFinder *us;
+  filter::ButterworthLowPass *pbas_z, *pbas_vz;
+  filter::EulerDerivative *vz_euler;
+  gui::DataPlot1D *vz_plot;
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairMeta/MetaVrpnObject.h
===================================================================
--- /trunk/include/FlairMeta/MetaVrpnObject.h	(revision 12)
+++ /trunk/include/FlairMeta/MetaVrpnObject.h	(revision 13)
@@ -17,60 +17,53 @@
 #include "io_data.h"
 
-namespace flair
-{
-    namespace core
-    {
-        class Vector3D;
-        class FloatType;
-    }
-    namespace gui
-    {
-        class DataPlot1D;
-        class DataPlot2D;
-        class Tab;
-    }
-    namespace filter
-    {
-        class EulerDerivative;
-        class LowPassFilter;
-    }
-    namespace sensor
-    {
-        class VrpnClient;
-    }
+namespace flair {
+namespace core {
+class Vector3D;
+class FloatType;
+}
+namespace gui {
+class DataPlot1D;
+class DataPlot2D;
+class Tab;
+}
+namespace filter {
+class EulerDerivative;
+class LowPassFilter;
+}
+namespace sensor {
+class VrpnClient;
+}
 }
 
-namespace flair
-{
-namespace meta
-{
+namespace flair {
+namespace meta {
 
-    /*! \class MetaVrpnObject
-    *
-    * \brief Classe haut niveau intégrant un objet VRPN
-    *
-    * Contient un objet VRPN et une dérivée, d'euler.
-    */
-    class MetaVrpnObject: public sensor::VrpnObject {
-        public:
-            MetaVrpnObject(const sensor::VrpnClient *parent,std::string name);
-            MetaVrpnObject(const sensor::VrpnClient *parent,std::string name,uint8_t id);
-            ~MetaVrpnObject();
-            gui::DataPlot1D* VxPlot(void) const;//1,0
-            gui::DataPlot1D* VyPlot(void) const;//1,1
-            gui::DataPlot1D* VzPlot(void) const;//1,2
-            gui::DataPlot2D* XyPlot(void) const;
-            void GetSpeed(core::Vector3D &speed) const;
+/*! \class MetaVrpnObject
+*
+* \brief Classe haut niveau intégrant un objet VRPN
+*
+* Contient un objet VRPN et une dérivée, d'euler.
+*/
+class MetaVrpnObject : public sensor::VrpnObject {
+public:
+  MetaVrpnObject(const sensor::VrpnClient *parent, std::string name);
+  MetaVrpnObject(const sensor::VrpnClient *parent, std::string name,
+                 uint8_t id);
+  ~MetaVrpnObject();
+  gui::DataPlot1D *VxPlot(void) const; // 1,0
+  gui::DataPlot1D *VyPlot(void) const; // 1,1
+  gui::DataPlot1D *VzPlot(void) const; // 1,2
+  gui::DataPlot2D *XyPlot(void) const;
+  void GetSpeed(core::Vector3D &speed) const;
 
-        private:
-            void ConstructorCommon(const sensor::VrpnClient *parent,std::string name);
-            filter::LowPassFilter *pbas;
-            filter::EulerDerivative *euler;
-            gui::DataPlot2D *xy_plot;
-            gui::DataPlot1D *vx_opti_plot,*vy_opti_plot,*vz_opti_plot;
-            gui::Tab* plot_tab;
-            core::FloatType elementDataType;
-
-    };
+private:
+  void ConstructorCommon(const sensor::VrpnClient *parent, std::string name);
+  filter::LowPassFilter *pbas;
+  filter::EulerDerivative *euler;
+  gui::DataPlot2D *xy_plot;
+  gui::DataPlot1D *vx_opti_plot, *vy_opti_plot, *vz_opti_plot;
+  gui::Tab *plot_tab;
+  core::FloatType elementDataType;
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairMeta/SimuX4.h
===================================================================
--- /trunk/include/FlairMeta/SimuX4.h	(revision 12)
+++ /trunk/include/FlairMeta/SimuX4.h	(revision 13)
@@ -16,21 +16,20 @@
 #include "Uav.h"
 
-namespace flair
-{
-namespace meta
-{
-    /*! \class SimuX4
-    *
-    * \brief Class defining a simultation x4 uav
-    */
-    class SimuX4 : public Uav {
-        public:
-            //simu_id: 0 if simulating only one UAV
-            //>0 otherwise
-            SimuX4(core::FrameworkManager* parent,std::string uav_name,int simu_id=0,filter::UavMultiplex *multiplex=NULL);
-            ~SimuX4();
-            void StartSensors(void);
-            void SetupVRPNAutoIP(std::string name);
-    };
+namespace flair {
+namespace meta {
+/*! \class SimuX4
+*
+* \brief Class defining a simultation x4 uav
+*/
+class SimuX4 : public Uav {
+public:
+  // simu_id: 0 if simulating only one UAV
+  //>0 otherwise
+  SimuX4(core::FrameworkManager *parent, std::string uav_name, int simu_id = 0,
+         filter::UavMultiplex *multiplex = NULL);
+  ~SimuX4();
+  void StartSensors(void);
+  void SetupVRPNAutoIP(std::string name);
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairMeta/SimuX8.h
===================================================================
--- /trunk/include/FlairMeta/SimuX8.h	(revision 12)
+++ /trunk/include/FlairMeta/SimuX8.h	(revision 13)
@@ -16,21 +16,20 @@
 #include "Uav.h"
 
-namespace flair
-{
-namespace meta
-{
-    /*! \class SimuX8
-    *
-    * \brief Class defining a simultation x8 uav
-    */
-    class SimuX8 : public Uav {
-        public:
-            //simu_id: 0 if simulating only one UAV
-            //>0 otherwise
-            SimuX8(core::FrameworkManager* parent,std::string uav_name,int simu_id=0,filter::UavMultiplex *multiplex=NULL);
-            ~SimuX8();
-            void StartSensors(void);
-            void SetupVRPNAutoIP(std::string name);
-    };
+namespace flair {
+namespace meta {
+/*! \class SimuX8
+*
+* \brief Class defining a simultation x8 uav
+*/
+class SimuX8 : public Uav {
+public:
+  // simu_id: 0 if simulating only one UAV
+  //>0 otherwise
+  SimuX8(core::FrameworkManager *parent, std::string uav_name, int simu_id = 0,
+         filter::UavMultiplex *multiplex = NULL);
+  ~SimuX8();
+  void StartSensors(void);
+  void SetupVRPNAutoIP(std::string name);
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairMeta/Uav.h
===================================================================
--- /trunk/include/FlairMeta/Uav.h	(revision 12)
+++ /trunk/include/FlairMeta/Uav.h	(revision 13)
@@ -17,84 +17,86 @@
 
 namespace flair {
-    namespace core {
-        class FrameworkManager;
-    }
-    namespace filter {
-        class Ahrs;
-        class UavMultiplex;
-    }
-    namespace actuator {
-        class Bldc;
-    }
-    namespace sensor {
-        class UsRangeFinder;
-        class BatteryMonitor;
-        class VrpnClient;
-        class Imu;
-        class Camera;
-    }
+namespace core {
+class FrameworkManager;
+}
+namespace filter {
+class Ahrs;
+class UavMultiplex;
+}
+namespace actuator {
+class Bldc;
+}
+namespace sensor {
+class UsRangeFinder;
+class BatteryMonitor;
+class VrpnClient;
+class Imu;
+class Camera;
+}
 }
 
 namespace flair {
 namespace meta {
-    class MetaUsRangeFinder;
-    class MetaVrpnObject;
+class MetaUsRangeFinder;
+class MetaVrpnObject;
 
-    /*! \class Uav
-    *
-    * \brief Base class to construct sensors/actuators depending on uav type
-    */
-    class Uav: public core::Object {
-        public:
-        /*
-            typedef enum {
-                None,
-                Auto,//rt serial if hds x4 ou x8, auto ip sinon
-                AutoIP,
-                UserDefinedIP,
-                AutoSerialPort,
-                } VRPNType_t;
+/*! \class Uav
+*
+* \brief Base class to construct sensors/actuators depending on uav type
 */
-            //uav_name: for optitrack
-            Uav(core::FrameworkManager* parent,std::string name,filter::UavMultiplex *multiplex=NULL);
-            ~Uav();
-            void SetupVRPN(std::string optitrack_address,std::string name);
-            //vrpn serial: broken, need to add serial port in uav specific code
-            //void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int VRPNSerialObjectId);
-            virtual void SetupVRPNAutoIP(std::string name);
+class Uav : public core::Object {
+public:
+  /*
+      typedef enum {
+          None,
+          Auto,//rt serial if hds x4 ou x8, auto ip sinon
+          AutoIP,
+          UserDefinedIP,
+          AutoSerialPort,
+          } VRPNType_t;
+*/
+  // uav_name: for optitrack
+  Uav(core::FrameworkManager *parent, std::string name,
+      filter::UavMultiplex *multiplex = NULL);
+  ~Uav();
+  void SetupVRPN(std::string optitrack_address, std::string name);
+  // vrpn serial: broken, need to add serial port in uav specific code
+  // void SetupVRPNSerial(core::SerialPort *vrpn_port,std::string name,int
+  // VRPNSerialObjectId);
+  virtual void SetupVRPNAutoIP(std::string name);
 
-            virtual void StartSensors(void);
-            void UseDefaultPlot(void);
-            actuator::Bldc* GetBldc(void) const;
-            filter::UavMultiplex* GetUavMultiplex(void) const;
-            sensor::Imu* GetImu(void) const;
-            filter::Ahrs* GetAhrs(void) const;
-            MetaUsRangeFinder* GetMetaUsRangeFinder(void) const;
-            sensor::UsRangeFinder* GetUsRangeFinder(void) const;
-            sensor::BatteryMonitor* GetBatteryMonitor(void) const;
-            sensor::VrpnClient* GetVrpnClient(void) const;
-            meta::MetaVrpnObject* GetVrpnObject(void) const;
-            sensor::Camera* GetVerticalCamera(void) const;
+  virtual void StartSensors(void);
+  void UseDefaultPlot(void);
+  actuator::Bldc *GetBldc(void) const;
+  filter::UavMultiplex *GetUavMultiplex(void) const;
+  sensor::Imu *GetImu(void) const;
+  filter::Ahrs *GetAhrs(void) const;
+  MetaUsRangeFinder *GetMetaUsRangeFinder(void) const;
+  sensor::UsRangeFinder *GetUsRangeFinder(void) const;
+  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
+  sensor::VrpnClient *GetVrpnClient(void) const;
+  meta::MetaVrpnObject *GetVrpnObject(void) const;
+  sensor::Camera *GetVerticalCamera(void) const;
 
-        protected:
-            void SetBldc(const actuator::Bldc *bldc);
-            void SetMultiplex(const filter::UavMultiplex *multiplex);
-            void SetAhrs(const filter::Ahrs *ahrs);
-            void SetUsRangeFinder(const sensor::UsRangeFinder *us);
-            void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
-            void SetVerticalCamera(const sensor::Camera *verticalCamera);
+protected:
+  void SetBldc(const actuator::Bldc *bldc);
+  void SetMultiplex(const filter::UavMultiplex *multiplex);
+  void SetAhrs(const filter::Ahrs *ahrs);
+  void SetUsRangeFinder(const sensor::UsRangeFinder *us);
+  void SetBatteryMonitor(const sensor::BatteryMonitor *battery);
+  void SetVerticalCamera(const sensor::Camera *verticalCamera);
 
-        private:
-            sensor::Imu* imu;
-            filter::Ahrs* ahrs;
-            actuator::Bldc* bldc;
-            filter::UavMultiplex *multiplex;
-            sensor::UsRangeFinder* us;
-            MetaUsRangeFinder* meta_us;
-            sensor::VrpnClient *vrpnclient;
-            MetaVrpnObject* uav_vrpn;
-            sensor::BatteryMonitor* battery;
-            sensor::Camera* verticalCamera;
-    };
+private:
+  sensor::Imu *imu;
+  filter::Ahrs *ahrs;
+  actuator::Bldc *bldc;
+  filter::UavMultiplex *multiplex;
+  sensor::UsRangeFinder *us;
+  MetaUsRangeFinder *meta_us;
+  sensor::VrpnClient *vrpnclient;
+  MetaVrpnObject *uav_vrpn;
+  sensor::BatteryMonitor *battery;
+  sensor::Camera *verticalCamera;
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairMeta/UavFactory.h
===================================================================
--- /trunk/include/FlairMeta/UavFactory.h	(revision 12)
+++ /trunk/include/FlairMeta/UavFactory.h	(revision 13)
@@ -21,5 +21,7 @@
 #include <Uav.h>
 
-flair::meta::Uav* CreateUav(flair::core::FrameworkManager* parent,std::string uav_name,std::string uav_type,flair::filter::UavMultiplex *multiplex=NULL);
+flair::meta::Uav *CreateUav(flair::core::FrameworkManager *parent,
+                            std::string uav_name, std::string uav_type,
+                            flair::filter::UavMultiplex *multiplex = NULL);
 
 #endif // UAVFACTORY
Index: /trunk/include/FlairMeta/UavStateMachine.h
===================================================================
--- /trunk/include/FlairMeta/UavStateMachine.h	(revision 12)
+++ /trunk/include/FlairMeta/UavStateMachine.h	(revision 13)
@@ -26,281 +26,275 @@
 
 namespace flair {
-    namespace core {
-        class FrameworkManager;
-        class AhrsData;
-        class io_data;
-    }
-    namespace gui {
-        class PushButton;
-        class GridLayout;
-        class Tab;
-        class DoubleSpinBox;
-    }
-    namespace filter {
-        class ControlLaw;
-        class NestedSat;
-        class Pid;
-        class PidThrust;
-        class TrajectoryGenerator1D;
-    }
-    namespace sensor {
-        class TargetController;
-    }
-    namespace meta {
-        class MetaDualShock3;
-        class Uav;
-    }
-}
-
-namespace flair { namespace meta {
-
- /*! \class UavStateMachine
+namespace core {
+class FrameworkManager;
+class AhrsData;
+class io_data;
+}
+namespace gui {
+class PushButton;
+class GridLayout;
+class Tab;
+class DoubleSpinBox;
+}
+namespace filter {
+class ControlLaw;
+class NestedSat;
+class Pid;
+class PidThrust;
+class TrajectoryGenerator1D;
+}
+namespace sensor {
+class TargetController;
+}
+namespace meta {
+class MetaDualShock3;
+class Uav;
+}
+}
+
+namespace flair {
+namespace meta {
+
+/*! \class UavStateMachine
 *
 * \brief State machine for UAV
 *
-* thread synchronized with ahrs, unless a period is set with SetPeriodUS or SetPeriodMS
+* thread synchronized with ahrs, unless a period is set with SetPeriodUS or
+*SetPeriodMS
 */
 
-class UavStateMachine : public core::Thread
-{
-    protected:
-        enum class AltitudeMode_t {
-            Manual,
-            Custom
-        };
-        const AltitudeMode_t &GetAltitudeMode(void) const {
-            return altitudeMode;
-        }
-        bool SetAltitudeMode(const AltitudeMode_t &altitudeMode);
-
-        //uses TrajectoryGenerator1D *altitudeTrajectory to go to desiredAltitude
-        //available in mode AltitudeMode_t::Manual
-        //return true if goto is possible
-        bool GotoAltitude(float desiredAltitude);
-
-        enum class OrientationMode_t {
-            Manual,
-            Custom
-        };
-        const OrientationMode_t &GetOrientationMode(void) const {
-            return orientationMode;
-        }
-        bool SetOrientationMode(const OrientationMode_t &orientationMode);
-
-        enum class ThrustMode_t {
-            Default,
-            Custom
-        };
-        const ThrustMode_t &GetThrustMode() const {
-            return thrustMode;
-        }
-        bool SetThrustMode(const ThrustMode_t &thrustMode);
-
-        enum class TorqueMode_t {
-            Default,
-            Custom
-        };
-        const TorqueMode_t &GetTorqueMode(void) const {
-            return torqueMode;
-        }
-        bool SetTorqueMode(const TorqueMode_t &torqueMode);
-
-        enum class Event_t {
-            EnteringFailSafeMode,
-            EnteringControlLoop,
-            StartLanding,
-            FinishLanding,
-            Stopped,
-            TakingOff,
-            EmergencyStop,
-            Stabilized, //as soon as uav is 3cm far from the ground
-            ZTrajectoryFinished,
-        };
-
-        UavStateMachine(meta::Uav* uav,uint16_t ds3Port=20000);
-        ~UavStateMachine();
-
-        const core::Quaternion &GetCurrentQuaternion(void) const;
-
-        const core::Vector3D &GetCurrentAngularSpeed(void) const;
-
-        const meta::Uav *GetUav(void) const;
-
-        void Land(void);
-        void TakeOff(void);
-        void EmergencyStop(void);
-        //! Used to signal an event
-        /*!
-            \param event the event which occured
-        */
-        virtual void SignalEvent(Event_t event);
-
-        virtual const core::AhrsData *GetOrientation(void) const;
-        const core::AhrsData *GetDefaultOrientation(void) const;
-
-        virtual void AltitudeValues(float &z,float &dz) const;//in uav coordinate!
-        void EnterFailSafeMode(void);
-        bool ExitFailSafeMode(void);
-        void FailSafeAltitudeValues(float &z,float &dz) const;//in uav coordinate!
-
-        gui::GridLayout *GetButtonsLayout(void) const;
-        virtual void ExtraSecurityCheck(void){};
-        virtual void ExtraCheckJoystick(void){};
-        virtual void ExtraCheckPushButton(void){};
-
-        void GetDefaultReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
-        virtual void GetReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
-        //float GetDefaultThrustOffset(void);
-        const core::AhrsData *GetDefaultReferenceOrientation(void) const;
-        virtual const core::AhrsData *GetReferenceOrientation(void);
-
-        /*!
-        * \brief Compute Custom Torques
-        *
-        * Reimplement this method to use TorqueMode_t::Custom. \n
-        * This method is called internally by UavStateMachine, do not call it by yourself. \n
-        * See GetTorques if you need torques values.
-        *
-        * \param torques custom torques
-        */
-        virtual void ComputeCustomTorques(core::Euler &torques);
-
-        /*!
-        * \brief Compute Default Torques
-        *
-        * This method is called internally by UavStateMachine when using TorqueMode_t::Default. \n
-        * Torques are only computed once by loop, other calls to this method will use previously computed torques.
-        *
-        * \param torques default torques
-        */
-        void ComputeDefaultTorques(core::Euler &torques);
-
-        /*!
-        * \brief Get Torques
-        *
-        * \return torques current torques
-        */
-        //const core::Euler &GetTorques() const;
-
-        /*!
-        * \brief Compute Custom Thrust
-        *
-        * Reimplement this method to use ThrustMode_t::Custom. \n
-        * This method is called internally by UavStateMachine, do not call it by yourself. \n
-        * See GetThrust if you need thrust value.
-        *
-        * \return custom Thrust
-        */
-        virtual float ComputeCustomThrust(void);
-
-        /*!
-        * \brief Compute Default Thrust
-        *
-        * This method is called internally by UavStateMachine when using ThrustMode_t::Default. \n
-        * Thrust is only computed once by loop, other calls to this method will use previously computed thrust.
-        *
-        * \return default thrust
-        */
-        float ComputeDefaultThrust(void);
-
-        /*!
-        * \brief Get Thrust
-        *
-        * \return current thrust
-        */
-        //float GetThrust() const;
-
-        /*!
-        * \brief Add an IODevice to the control law logs
-        *
-        * The IODevice will be automatically logged among the Uz logs,
-        * if logging is enabled (see IODevice::SetDataToLog, FrameworkManager::StartLog
-        * and FrameworkManager::AddDeviceToLog). \n
-        *
-        * \param device IODevice to log
-        */
-        void AddDeviceToControlLawLog(const core::IODevice* device);
-
-        /*!
-        * \brief Add an io_data to the control law logs
-        *
-        * The io_data will be automatically logged among the Uz logs,
-        * if logging is enabled (see IODevice::SetDataToLog, FrameworkManager::StartLog
-        * and FrameworkManager::AddDeviceToLog). \n
-        *
-        * \param data io_data to log
-        */
-        void AddDataToControlLawLog(const core::io_data* data);
-
-        const sensor::TargetController *GetJoystick(void) const;
-
-        gui::Tab *setupLawTab,*graphLawTab;
-
-    private:
-        /*!
-        \enum AltitudeState_t
-        \brief States of the altitude state machine
-        */
-        enum class AltitudeState_t {
-            Stopped,        /*!< the uav motors are stopped */
-            TakingOff,      /*!< take off initiated. Motors accelerate progressively until the UAV lift up */
-            Stabilized,     /*!< the uav is actively maintaining its altitude */
-            StartLanding,   /*!< landing initiated. Altitude is required to reach the landing altitude (0 by default) */
-            FinishLanding   /*!< motors are gradually stopped */
-        };
-        AltitudeState_t altitudeState;
-        void ProcessAltitudeFiniteStateMachine();
-        void ComputeReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
-
-
-        float groundAltitude; // effective altitude when the uav leaves the ground
-        float currentAltitude,currentVerticalSpeed;
-
-        bool failSafeMode;
-        void SecurityCheck(void);
-        void MandatorySecurityCheck(void);
-        void CheckJoystick();
-        void GenericCheckJoystick();
-        void CheckPushButton(void);
-        void GenericCheckPushButton(void);
-        void Run(void);
-        void StopMotors(void);
-
-        meta::Uav *uav;
-
-        core::Quaternion currentQuaternion;
-        core::Vector3D currentAngularSpeed;
-
-        const core::AhrsData *ComputeReferenceOrientation(void);
-
-        void ComputeOrientation(void);
-        void ComputeAltitude(void);
-
-        void ComputeTorques(void);
-        core::Euler currentTorques,savedDefaultTorques;
-        bool needToComputeDefaultTorques;
-
-        void ComputeThrust(void);
-        float currentThrust,savedDefaultThrust;
-        bool needToComputeDefaultThrust;
-
-        gui::PushButton *button_kill,*button_take_off,*button_land,*button_start_log,*button_stop_log;
-        gui::GridLayout *buttonslayout;
-        gui::DoubleSpinBox *desiredTakeoffAltitude,*desiredLandingAltitude;
-        AltitudeMode_t altitudeMode;
-        OrientationMode_t orientationMode;
-        ThrustMode_t thrustMode;
-        TorqueMode_t torqueMode;
-        bool flagBatteryLow;
-        bool flagConnectionLost;
-        bool flagZTrajectoryFinished;
-        filter::NestedSat *uRoll,*uPitch;
-        filter::Pid *uYaw;
-        filter::PidThrust *uZ;
-
-        MetaDualShock3 *joy;
-        filter::TrajectoryGenerator1D *altitudeTrajectory;
+class UavStateMachine : public core::Thread {
+protected:
+  enum class AltitudeMode_t { Manual, Custom };
+  const AltitudeMode_t &GetAltitudeMode(void) const { return altitudeMode; }
+  bool SetAltitudeMode(const AltitudeMode_t &altitudeMode);
+
+  // uses TrajectoryGenerator1D *altitudeTrajectory to go to desiredAltitude
+  // available in mode AltitudeMode_t::Manual
+  // return true if goto is possible
+  bool GotoAltitude(float desiredAltitude);
+
+  enum class OrientationMode_t { Manual, Custom };
+  const OrientationMode_t &GetOrientationMode(void) const {
+    return orientationMode;
+  }
+  bool SetOrientationMode(const OrientationMode_t &orientationMode);
+
+  enum class ThrustMode_t { Default, Custom };
+  const ThrustMode_t &GetThrustMode() const { return thrustMode; }
+  bool SetThrustMode(const ThrustMode_t &thrustMode);
+
+  enum class TorqueMode_t { Default, Custom };
+  const TorqueMode_t &GetTorqueMode(void) const { return torqueMode; }
+  bool SetTorqueMode(const TorqueMode_t &torqueMode);
+
+  enum class Event_t {
+    EnteringFailSafeMode,
+    EnteringControlLoop,
+    StartLanding,
+    FinishLanding,
+    Stopped,
+    TakingOff,
+    EmergencyStop,
+    Stabilized, // as soon as uav is 3cm far from the ground
+    ZTrajectoryFinished,
+  };
+
+  UavStateMachine(meta::Uav *uav, uint16_t ds3Port = 20000);
+  ~UavStateMachine();
+
+  const core::Quaternion &GetCurrentQuaternion(void) const;
+
+  const core::Vector3D &GetCurrentAngularSpeed(void) const;
+
+  const meta::Uav *GetUav(void) const;
+
+  void Land(void);
+  void TakeOff(void);
+  void EmergencyStop(void);
+  //! Used to signal an event
+  /*!
+      \param event the event which occured
+  */
+  virtual void SignalEvent(Event_t event);
+
+  virtual const core::AhrsData *GetOrientation(void) const;
+  const core::AhrsData *GetDefaultOrientation(void) const;
+
+  virtual void AltitudeValues(float &z, float &dz) const; // in uav coordinate!
+  void EnterFailSafeMode(void);
+  bool ExitFailSafeMode(void);
+  void FailSafeAltitudeValues(float &z, float &dz) const; // in uav coordinate!
+
+  gui::GridLayout *GetButtonsLayout(void) const;
+  virtual void ExtraSecurityCheck(void){};
+  virtual void ExtraCheckJoystick(void){};
+  virtual void ExtraCheckPushButton(void){};
+
+  void GetDefaultReferenceAltitude(float &refAltitude,
+                                   float &refVerticalVelocity);
+  virtual void GetReferenceAltitude(float &refAltitude,
+                                    float &refVerticalVelocity);
+  // float GetDefaultThrustOffset(void);
+  const core::AhrsData *GetDefaultReferenceOrientation(void) const;
+  virtual const core::AhrsData *GetReferenceOrientation(void);
+
+  /*!
+  * \brief Compute Custom Torques
+  *
+  * Reimplement this method to use TorqueMode_t::Custom. \n
+  * This method is called internally by UavStateMachine, do not call it by
+  *yourself. \n
+  * See GetTorques if you need torques values.
+  *
+  * \param torques custom torques
+  */
+  virtual void ComputeCustomTorques(core::Euler &torques);
+
+  /*!
+  * \brief Compute Default Torques
+  *
+  * This method is called internally by UavStateMachine when using
+  *TorqueMode_t::Default. \n
+  * Torques are only computed once by loop, other calls to this method will use
+  *previously computed torques.
+  *
+  * \param torques default torques
+  */
+  void ComputeDefaultTorques(core::Euler &torques);
+
+  /*!
+  * \brief Get Torques
+  *
+  * \return torques current torques
+  */
+  // const core::Euler &GetTorques() const;
+
+  /*!
+  * \brief Compute Custom Thrust
+  *
+  * Reimplement this method to use ThrustMode_t::Custom. \n
+  * This method is called internally by UavStateMachine, do not call it by
+  *yourself. \n
+  * See GetThrust if you need thrust value.
+  *
+  * \return custom Thrust
+  */
+  virtual float ComputeCustomThrust(void);
+
+  /*!
+  * \brief Compute Default Thrust
+  *
+  * This method is called internally by UavStateMachine when using
+  *ThrustMode_t::Default. \n
+  * Thrust is only computed once by loop, other calls to this method will use
+  *previously computed thrust.
+  *
+  * \return default thrust
+  */
+  float ComputeDefaultThrust(void);
+
+  /*!
+  * \brief Get Thrust
+  *
+  * \return current thrust
+  */
+  // float GetThrust() const;
+
+  /*!
+  * \brief Add an IODevice to the control law logs
+  *
+  * The IODevice will be automatically logged among the Uz logs,
+  * if logging is enabled (see IODevice::SetDataToLog,
+  *FrameworkManager::StartLog
+  * and FrameworkManager::AddDeviceToLog). \n
+  *
+  * \param device IODevice to log
+  */
+  void AddDeviceToControlLawLog(const core::IODevice *device);
+
+  /*!
+  * \brief Add an io_data to the control law logs
+  *
+  * The io_data will be automatically logged among the Uz logs,
+  * if logging is enabled (see IODevice::SetDataToLog,
+  *FrameworkManager::StartLog
+  * and FrameworkManager::AddDeviceToLog). \n
+  *
+  * \param data io_data to log
+  */
+  void AddDataToControlLawLog(const core::io_data *data);
+
+  const sensor::TargetController *GetJoystick(void) const;
+
+  gui::Tab *setupLawTab, *graphLawTab;
+
+private:
+  /*!
+  \enum AltitudeState_t
+  \brief States of the altitude state machine
+  */
+  enum class AltitudeState_t {
+    Stopped,      /*!< the uav motors are stopped */
+    TakingOff,    /*!< take off initiated. Motors accelerate progressively until
+                     the UAV lift up */
+    Stabilized,   /*!< the uav is actively maintaining its altitude */
+    StartLanding, /*!< landing initiated. Altitude is required to reach the
+                     landing altitude (0 by default) */
+    FinishLanding /*!< motors are gradually stopped */
+  };
+  AltitudeState_t altitudeState;
+  void ProcessAltitudeFiniteStateMachine();
+  void ComputeReferenceAltitude(float &refAltitude, float &refVerticalVelocity);
+
+  float groundAltitude; // effective altitude when the uav leaves the ground
+  float currentAltitude, currentVerticalSpeed;
+
+  bool failSafeMode;
+  void SecurityCheck(void);
+  void MandatorySecurityCheck(void);
+  void CheckJoystick();
+  void GenericCheckJoystick();
+  void CheckPushButton(void);
+  void GenericCheckPushButton(void);
+  void Run(void);
+  void StopMotors(void);
+
+  meta::Uav *uav;
+
+  core::Quaternion currentQuaternion;
+  core::Vector3D currentAngularSpeed;
+
+  const core::AhrsData *ComputeReferenceOrientation(void);
+
+  void ComputeOrientation(void);
+  void ComputeAltitude(void);
+
+  void ComputeTorques(void);
+  core::Euler currentTorques, savedDefaultTorques;
+  bool needToComputeDefaultTorques;
+
+  void ComputeThrust(void);
+  float currentThrust, savedDefaultThrust;
+  bool needToComputeDefaultThrust;
+
+  gui::PushButton *button_kill, *button_take_off, *button_land,
+      *button_start_log, *button_stop_log;
+  gui::GridLayout *buttonslayout;
+  gui::DoubleSpinBox *desiredTakeoffAltitude, *desiredLandingAltitude;
+  AltitudeMode_t altitudeMode;
+  OrientationMode_t orientationMode;
+  ThrustMode_t thrustMode;
+  TorqueMode_t torqueMode;
+  bool flagBatteryLow;
+  bool flagConnectionLost;
+  bool flagZTrajectoryFinished;
+  filter::NestedSat *uRoll, *uPitch;
+  filter::Pid *uYaw;
+  filter::PidThrust *uZ;
+
+  MetaDualShock3 *joy;
+  filter::TrajectoryGenerator1D *altitudeTrajectory;
 };
-
 };
 };
Index: /trunk/include/FlairMeta/XAir.h
===================================================================
--- /trunk/include/FlairMeta/XAir.h	(revision 12)
+++ /trunk/include/FlairMeta/XAir.h	(revision 13)
@@ -16,21 +16,19 @@
 #include "Uav.h"
 
-namespace flair
-{
-namespace meta
-{
-    /*! \class XAir
-    *
-    * \brief Class defining an ardrone2 uav
-    */
-    class XAir : public Uav {
-        public:
-            XAir(core::FrameworkManager* parent,std::string uav_name,filter::UavMultiplex *multiplex=NULL);
-            ~XAir();
-            void StartSensors(void);
+namespace flair {
+namespace meta {
+/*! \class XAir
+*
+* \brief Class defining an ardrone2 uav
+*/
+class XAir : public Uav {
+public:
+  XAir(core::FrameworkManager *parent, std::string uav_name,
+       filter::UavMultiplex *multiplex = NULL);
+  ~XAir();
+  void StartSensors(void);
 
-        private:
-
-    };
+private:
+};
 } // end namespace meta
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/AfroBldc.h
===================================================================
--- /trunk/include/FlairSensorActuator/AfroBldc.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/AfroBldc.h	(revision 13)
@@ -16,84 +16,79 @@
 #include "Bldc.h"
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class I2cPort;
-    }
-    namespace sensor
-    {
-        class BatteryMonitor;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class I2cPort;
+}
+namespace sensor {
+class BatteryMonitor;
+}
 }
 
 class AfroBldc_impl;
 
-namespace flair
-{
-namespace actuator
-{
-    /*! \class AfroBldc
-    *
-    * \brief Class for Mikrokopter's blctrlv2
-    *
-    * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
-    */
-    class AfroBldc : public Bldc
-    {
-        friend class ::AfroBldc_impl;
+namespace flair {
+namespace actuator {
+/*! \class AfroBldc
+*
+* \brief Class for Mikrokopter's blctrlv2
+*
+* blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
+*/
+class AfroBldc : public Bldc {
+  friend class ::AfroBldc_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a AfroBldc.
-            *
-            * \param parent parent
-            * \param layout layout
-            * \param name name
-            * \param motors_count number of motors
-            * \param i2cport I2cPort
-            */
-            AfroBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,core::I2cPort* i2cport);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a AfroBldc.
+  *
+  * \param parent parent
+  * \param layout layout
+  * \param name name
+  * \param motors_count number of motors
+  * \param i2cport I2cPort
+  */
+  AfroBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
+           uint8_t motors_count, core::I2cPort *i2cport);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~AfroBldc();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~AfroBldc();
 
-            /*!
-            * \brief Has speed measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has speed measurement
-            */
-            bool HasSpeedMeasurement(void) const{return false;};
+  /*!
+  * \brief Has speed measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has speed measurement
+  */
+  bool HasSpeedMeasurement(void) const { return false; };
 
-            /*!
-            * \brief Has current measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has current measurement
-            */
-            bool HasCurrentMeasurement(void) const{return false;};
+  /*!
+  * \brief Has current measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has current measurement
+  */
+  bool HasCurrentMeasurement(void) const { return false; };
 
-        private:
-            /*!
-            * \brief Set motors values
-            *
-            * Reimplemented from Bldc. \n
-            * Values size must be the same as MotorsCount()
-            *
-            * \param values motor values
-            */
-            void SetMotors(float* values);
+private:
+  /*!
+  * \brief Set motors values
+  *
+  * Reimplemented from Bldc. \n
+  * Values size must be the same as MotorsCount()
+  *
+  * \param values motor values
+  */
+  void SetMotors(float *values);
 
-            class AfroBldc_impl* pimpl_;
-    };
+  class AfroBldc_impl *pimpl_;
+};
 } // end namespace actuator
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/BatteryMonitor.h
===================================================================
--- /trunk/include/FlairSensorActuator/BatteryMonitor.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/BatteryMonitor.h	(revision 13)
@@ -16,72 +16,67 @@
 #include <GroupBox.h>
 
-namespace flair
-{
-    namespace gui
-    {
-        class LayoutPosition;
-        class Label;
-        class DoubleSpinBox;
-    }
+namespace flair {
+namespace gui {
+class LayoutPosition;
+class Label;
+class DoubleSpinBox;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
+namespace flair {
+namespace sensor {
 
-    /*! \class BatteryMonitor
-    *
-    * \brief Base class for battery monitor
-    */
+/*! \class BatteryMonitor
+*
+* \brief Base class for battery monitor
+*/
 
-    class BatteryMonitor : public gui::GroupBox
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a BatteryMonitor at given position.
-            *
-            * \param position position
-            * \param name name
-            */
-            BatteryMonitor(const gui::LayoutPosition* position,std::string name);
+class BatteryMonitor : public gui::GroupBox {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a BatteryMonitor at given position.
+  *
+  * \param position position
+  * \param name name
+  */
+  BatteryMonitor(const gui::LayoutPosition *position, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~BatteryMonitor();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~BatteryMonitor();
 
-            /*!
-            * \brief Is batteru low?
-            *
-            * \return true if battery is below threshold
-            *
-            */
-            bool IsBatteryLow(void) const;
+  /*!
+  * \brief Is batteru low?
+  *
+  * \return true if battery is below threshold
+  *
+  */
+  bool IsBatteryLow(void) const;
 
-            /*!
-            * \brief Set battery value
-            *
-            * \param battery value
-            *
-            */
-            void SetBatteryValue(float value);
+  /*!
+  * \brief Set battery value
+  *
+  * \param battery value
+  *
+  */
+  void SetBatteryValue(float value);
 
-            /*!
-            * \brief Get battery voltage
-            *
-            * \return battery voltage
-            *
-            */
-            float GetVoltage(void) const;
+  /*!
+  * \brief Get battery voltage
+  *
+  * \return battery voltage
+  *
+  */
+  float GetVoltage(void) const;
 
-        private:
-            float batteryvalue;
-            gui::DoubleSpinBox *battery_thresh;
-            gui::Label *battery;
-    };
+private:
+  float batteryvalue;
+  gui::DoubleSpinBox *battery_thresh;
+  gui::Label *battery;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/BlCtrlV2.h
===================================================================
--- /trunk/include/FlairSensorActuator/BlCtrlV2.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/BlCtrlV2.h	(revision 13)
@@ -16,91 +16,86 @@
 #include "Bldc.h"
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class I2cPort;
-    }
-    namespace sensor
-    {
-        class BatteryMonitor;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class I2cPort;
+}
+namespace sensor {
+class BatteryMonitor;
+}
 }
 
 class BlCtrlV2_impl;
 
-namespace flair
-{
-namespace actuator
-{
-    /*! \class BlCtrlV2
-    *
-    * \brief Class for Mikrokopter's blctrlv2
-    *
-    * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
-    */
-    class BlCtrlV2 : public Bldc
-    {
-        friend class ::BlCtrlV2_impl;
+namespace flair {
+namespace actuator {
+/*! \class BlCtrlV2
+*
+* \brief Class for Mikrokopter's blctrlv2
+*
+* blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
+*/
+class BlCtrlV2 : public Bldc {
+  friend class ::BlCtrlV2_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a BlCtrlV2.
-            *
-            * \param parent parent
-            * \param layout layout
-            * \param name name
-            * \param motors_count number of motors
-            * \param i2cport I2cPort
-            */
-            BlCtrlV2(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,core::I2cPort* i2cport);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a BlCtrlV2.
+  *
+  * \param parent parent
+  * \param layout layout
+  * \param name name
+  * \param motors_count number of motors
+  * \param i2cport I2cPort
+  */
+  BlCtrlV2(const core::IODevice *parent, gui::Layout *layout, std::string name,
+           uint8_t motors_count, core::I2cPort *i2cport);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~BlCtrlV2();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~BlCtrlV2();
 
-            /*!
-            * \brief Get battery monitor
-            *
-            * \return BatteryMonitor
-            */
-            sensor::BatteryMonitor* GetBatteryMonitor(void) const;
+  /*!
+  * \brief Get battery monitor
+  *
+  * \return BatteryMonitor
+  */
+  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
 
-            /*!
-            * \brief Has speed measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has speed measurement
-            */
-            bool HasSpeedMeasurement(void) const{return true;};
+  /*!
+  * \brief Has speed measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has speed measurement
+  */
+  bool HasSpeedMeasurement(void) const { return true; };
 
-            /*!
-            * \brief Has current measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has current measurement
-            */
-            bool HasCurrentMeasurement(void) const{return true;};
+  /*!
+  * \brief Has current measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has current measurement
+  */
+  bool HasCurrentMeasurement(void) const { return true; };
 
-        private:
-            /*!
-            * \brief Set motors values
-            *
-            * Reimplemented from Bldc. \n
-            * Values size must be the same as MotorsCount()
-            *
-            * \param values motor values
-            */
-            void SetMotors(float* values);
+private:
+  /*!
+  * \brief Set motors values
+  *
+  * Reimplemented from Bldc. \n
+  * Values size must be the same as MotorsCount()
+  *
+  * \param values motor values
+  */
+  void SetMotors(float *values);
 
-            class BlCtrlV2_impl* pimpl_;
-    };
+  class BlCtrlV2_impl *pimpl_;
+};
 } // end namespace actuator
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/BlCtrlV2_x4_speed.h
===================================================================
--- /trunk/include/FlairSensorActuator/BlCtrlV2_x4_speed.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/BlCtrlV2_x4_speed.h	(revision 13)
@@ -16,5 +16,4 @@
 /*********************************************************************/
 
-
 #ifndef BLCTRLV2_X4_SPEED_H
 #define BLCTRLV2_X4_SPEED_H
@@ -23,96 +22,91 @@
 #include <Thread.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-        class FrameworkManager;
-        class I2cPort;
-
-    }
-    namespace gui
-    {
-        class TabWidget;
-        class Tab;
-        class SpinBox;
-        class DoubleSpinBox;
-        class ComboBox;
-        class PushButton;
-        class GroupBox;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+class FrameworkManager;
+class I2cPort;
+}
+namespace gui {
+class TabWidget;
+class Tab;
+class SpinBox;
+class DoubleSpinBox;
+class ComboBox;
+class PushButton;
+class GroupBox;
+}
 }
 
-namespace flair
-{
-namespace actuator
-{
-    class BlCtrlV2_x4_speed : public core::Thread,public core::IODevice
-    {
+namespace flair {
+namespace actuator {
+class BlCtrlV2_x4_speed : public core::Thread, public core::IODevice {
 
-        public:
-            BlCtrlV2_x4_speed(core::FrameworkManager* parent,std::string name,core::I2cPort* i2cport,uint8_t base_address,uint8_t priority);
-            ~BlCtrlV2_x4_speed();
-            void UseDefaultPlot(void);
-            void LockUserInterface(void);
-            void UnlockUserInterface(void);
-            void SetEnabled(bool status);
-            void SetUroll(float value);
-            void SetUpitch(float value);
-            void SetUyaw(float value);
-            void SetUgaz(float value);
-            void SetRollTrim(float value);
-            void SetPitchTrim(float value);
-            void SetYawTrim(float value);
-            void SetGazTrim(float value);
-            float TrimValue(void);
-            int StartValue(void);
+public:
+  BlCtrlV2_x4_speed(core::FrameworkManager *parent, std::string name,
+                    core::I2cPort *i2cport, uint8_t base_address,
+                    uint8_t priority);
+  ~BlCtrlV2_x4_speed();
+  void UseDefaultPlot(void);
+  void LockUserInterface(void);
+  void UnlockUserInterface(void);
+  void SetEnabled(bool status);
+  void SetUroll(float value);
+  void SetUpitch(float value);
+  void SetUyaw(float value);
+  void SetUgaz(float value);
+  void SetRollTrim(float value);
+  void SetPitchTrim(float value);
+  void SetYawTrim(float value);
+  void SetGazTrim(float value);
+  float TrimValue(void);
+  int StartValue(void);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(core::io_data *data){};
-            void WriteValue(uint16_t value);
-            float GetSpeed(void);
-            void StartTest(void);
-            void StopTest(void);
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
-            void Update(void);
-            gui::Tab* main_tab;
-            gui::TabWidget* tab;
-            gui::GroupBox* reglages_groupbox;
-            gui::SpinBox *min,*max,*test;
-            gui::PushButton *button_avg,*button_avd,*button_arg,*button_ard;
-            gui::ComboBox *av_g,*av_d,*ar_g,*ar_d,*pas;
-            gui::DoubleSpinBox *trim,*kp,*ki;
-            gui::SpinBox *start_value,*poles;
-            core::Time start_time,flight_start_time;
-            int time_sec;
-            float speed_av_g,speed_av_d,speed_ar_g,speed_ar_d;
-            float int_av_g,int_av_d,int_ar_g,int_ar_d;
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(core::io_data *data){};
+  void WriteValue(uint16_t value);
+  float GetSpeed(void);
+  void StartTest(void);
+  void StopTest(void);
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
+  void Update(void);
+  gui::Tab *main_tab;
+  gui::TabWidget *tab;
+  gui::GroupBox *reglages_groupbox;
+  gui::SpinBox *min, *max, *test;
+  gui::PushButton *button_avg, *button_avd, *button_arg, *button_ard;
+  gui::ComboBox *av_g, *av_d, *ar_g, *ar_d, *pas;
+  gui::DoubleSpinBox *trim, *kp, *ki;
+  gui::SpinBox *start_value, *poles;
+  core::Time start_time, flight_start_time;
+  int time_sec;
+  float speed_av_g, speed_av_d, speed_ar_g, speed_ar_d;
+  float int_av_g, int_av_d, int_ar_g, int_ar_d;
 
-            //matrix
-            core::cvmatrix *input;
-            core::cvmatrix *output;
+  // matrix
+  core::cvmatrix *input;
+  core::cvmatrix *output;
 
-            int tested_motor;
-            core::I2cPort* i2cport;
-            uint8_t slave_address;
+  int tested_motor;
+  core::I2cPort *i2cport;
+  uint8_t slave_address;
 
-            bool enabled;
+  bool enabled;
 
-            uint16_t SatPWM(float vel_cons,uint16_t min,uint16_t max);
-    };
+  uint16_t SatPWM(float vel_cons, uint16_t min, uint16_t max);
+};
 } // end namespace actuator
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/Bldc.h
===================================================================
--- /trunk/include/FlairSensorActuator/Bldc.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Bldc.h	(revision 13)
@@ -17,174 +17,172 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class Layout;
-        class TabWidget;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class cvmatrix;
+}
+namespace gui {
+class Layout;
+class TabWidget;
+}
 }
 
 class Bldc_impl;
 
-namespace flair
-{
-namespace actuator
-{
-    /*! \class Bldc
-    *
-    * \brief Base class for brushless motors drivers
-    */
-    class Bldc : public core::IODevice
-    {
-        friend class ::Bldc_impl;
+namespace flair {
+namespace actuator {
+/*! \class Bldc
+*
+* \brief Base class for brushless motors drivers
+*/
+class Bldc : public core::IODevice {
+  friend class ::Bldc_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Bldc.
-            *
-            * \param parent parent
-            * \param layout layout
-            * \param name name
-            * \param motors_count number of motors
-            */
-            Bldc(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Bldc.
+  *
+  * \param parent parent
+  * \param layout layout
+  * \param name name
+  * \param motors_count number of motors
+  */
+  Bldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
+       uint8_t motors_count);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Bldc. \n
-            * This contructor must only be called for a simulated device.
-            *
-            * \param parent parent
-            * \param name name
-            * \param motors_count number of motors
-            */
-            Bldc(const core::Object* parent,std::string name,uint8_t motors_count);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Bldc. \n
+  * This contructor must only be called for a simulated device.
+  *
+  * \param parent parent
+  * \param name name
+  * \param motors_count number of motors
+  */
+  Bldc(const core::Object *parent, std::string name, uint8_t motors_count);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Bldc();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Bldc();
 
-            /*!
-            * \brief Lock user interface
-            *
-            */
-            void LockUserInterface(void) const;
+  /*!
+  * \brief Lock user interface
+  *
+  */
+  void LockUserInterface(void) const;
 
-            /*!
-            * \brief Unlock user interface
-            *
-            */
-            void UnlockUserInterface(void) const;
+  /*!
+  * \brief Unlock user interface
+  *
+  */
+  void UnlockUserInterface(void) const;
 
-            /*!
-            * \brief Use default plot
-            *
-            * \param tabwidget TabWidget to draw plots
-            */
-            void UseDefaultPlot(gui::TabWidget* tabwidget);
+  /*!
+  * \brief Use default plot
+  *
+  * \param tabwidget TabWidget to draw plots
+  */
+  void UseDefaultPlot(gui::TabWidget *tabwidget);
 
-            /*!
-            * \brief Output from motors
-            *
-            * First column is real speed if available, secund column is current if available
-            *
-            */
-            core::cvmatrix *Output(void) const;
+  /*!
+  * \brief Output from motors
+  *
+  * First column is real speed if available, secund column is current if
+  *available
+  *
+  */
+  core::cvmatrix *Output(void) const;
 
-            /*!
-            * \brief Motors count
-            *
-            * \return number of motors
-            */
-            uint8_t MotorsCount(void) const;
+  /*!
+  * \brief Motors count
+  *
+  * \return number of motors
+  */
+  uint8_t MotorsCount(void) const;
 
-            /*!
-            * \brief Enable motors
-            *
-            * \param true to enable all motors
-            */
-            void SetEnabled(bool status);
+  /*!
+  * \brief Enable motors
+  *
+  * \param true to enable all motors
+  */
+  void SetEnabled(bool status);
 
-            /*!
-            * \brief Are motors enabled?
-            *
-            * \return true if motors are enabled
-            */
-            bool AreEnabled(void) const;
+  /*!
+  * \brief Are motors enabled?
+  *
+  * \return true if motors are enabled
+  */
+  bool AreEnabled(void) const;
 
-            /*!
-            * \brief Set motor power
-            *
-            * Changes the power (from 0 to 1) of a specific motor. \n
-            * By default power is set to 1 for each motor which has no effect. \n
-            * A value <1 will decrease the power of a motor sent to the reimplemented Bldc class through SetMotors. \n
-            * The power value is applied after applying saturation between min value and max value.
-            * So the resulting value cannot be higher than max value
-            * but it can be lower than min value.
-            *
-            * \param motor_id id of the motor
-            * \param value power value (from 0 to 1)
-            *
-            */
-            void SetPower(int motor_id,float value);
+  /*!
+  * \brief Set motor power
+  *
+  * Changes the power (from 0 to 1) of a specific motor. \n
+  * By default power is set to 1 for each motor which has no effect. \n
+  * A value <1 will decrease the power of a motor sent to the reimplemented Bldc
+  *class through SetMotors. \n
+  * The power value is applied after applying saturation between min value and
+  *max value.
+  * So the resulting value cannot be higher than max value
+  * but it can be lower than min value.
+  *
+  * \param motor_id id of the motor
+  * \param value power value (from 0 to 1)
+  *
+  */
+  void SetPower(int motor_id, float value);
 
-            /*!
-            * \brief Layout
-            *
-            * This the same Layout as passed to the constructor
-            *
-            * \return a Layout
-            */
-            gui::Layout* GetLayout(void) const;
+  /*!
+  * \brief Layout
+  *
+  * This the same Layout as passed to the constructor
+  *
+  * \return a Layout
+  */
+  gui::Layout *GetLayout(void) const;
 
-            /*!
-            * \brief Has speed measurement
-            *
-            * \return true if it has speed measurement
-            */
-            virtual bool HasSpeedMeasurement(void) const=0;
+  /*!
+  * \brief Has speed measurement
+  *
+  * \return true if it has speed measurement
+  */
+  virtual bool HasSpeedMeasurement(void) const = 0;
 
-            /*!
-            * \brief Has current measurement
-            *
-            * \return true if it has current measurement
-            */
-            virtual bool HasCurrentMeasurement(void) const=0;
+  /*!
+  * \brief Has current measurement
+  *
+  * \return true if it has current measurement
+  */
+  virtual bool HasCurrentMeasurement(void) const = 0;
 
-        protected:
-            core::cvmatrix *output;
+protected:
+  core::cvmatrix *output;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            /*!
-            * \brief Set motors values
-            *
-            * values size must be the same as MotorsCount()
-            *
-            * \param values set motors values
-            */
-            virtual void SetMotors(float* values)=0;
+  /*!
+  * \brief Set motors values
+  *
+  * values size must be the same as MotorsCount()
+  *
+  * \param values set motors values
+  */
+  virtual void SetMotors(float *values) = 0;
 
-            class Bldc_impl* pimpl_;
-    };
+  class Bldc_impl *pimpl_;
+};
 } // end namespace actuator
 } // end namespace framewor
Index: /trunk/include/FlairSensorActuator/Camera.h
===================================================================
--- /trunk/include/FlairSensorActuator/Camera.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Camera.h	(revision 13)
@@ -18,129 +18,125 @@
 #include <cvimage.h>
 
-namespace flair
-{
-    namespace gui
-    {
-        class GroupBox;
-        class Tab;
-        class TabWidget;
-        class Picture;
-        class GridLayout;
-    }
+namespace flair {
+namespace gui {
+class GroupBox;
+class Tab;
+class TabWidget;
+class Picture;
+class GridLayout;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class Camera
-    *
-    * \brief Base class for Camera
-    *
-    * Use this class to define a custom Camera.
-    *
-    */
-    class Camera : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Camera.
-            *
-            * \param parent parent
-            * \param name name
-            * \param width width
-            * \param height height
-            * \param format image format
-            */
-            Camera(const core::FrameworkManager* parent,std::string name,uint16_t width,uint16_t height,core::cvimage::Type::Format format);
+namespace flair {
+namespace sensor {
+/*! \class Camera
+*
+* \brief Base class for Camera
+*
+* Use this class to define a custom Camera.
+*
+*/
+class Camera : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Camera.
+  *
+  * \param parent parent
+  * \param name name
+  * \param width width
+  * \param height height
+  * \param format image format
+  */
+  Camera(const core::FrameworkManager *parent, std::string name, uint16_t width,
+         uint16_t height, core::cvimage::Type::Format format);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Camera. \n
-            * This contructor must only be called for a simulated device.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            Camera(const core::IODevice* parent,std::string name);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Camera. \n
+  * This contructor must only be called for a simulated device.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  Camera(const core::IODevice *parent, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Camera();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Camera();
 
-            /*!
-            * \brief Use default plot
-            *
-            * \param image image to display
-            */
-            void UseDefaultPlot(const core::cvimage *image);
+  /*!
+  * \brief Use default plot
+  *
+  * \param image image to display
+  */
+  void UseDefaultPlot(const core::cvimage *image);
 
-            /*!
-            * \brief get Layout
-            *
-            * \return a Layout available
-            */
-            gui::GridLayout* GetLayout(void) const;
+  /*!
+  * \brief get Layout
+  *
+  * \return a Layout available
+  */
+  gui::GridLayout *GetLayout(void) const;
 
-            /*!
-            * \brief plot tab
-            *
-            * \return plot tab
-            */
-            gui::Tab* GetPlotTab(void) const;
+  /*!
+  * \brief plot tab
+  *
+  * \return plot tab
+  */
+  gui::Tab *GetPlotTab(void) const;
 
-            /*!
-            * \brief Save picture to file
-            *
-            * \param filename filename
-            */
-            void SaveToFile(std::string filename) const;
+  /*!
+  * \brief Save picture to file
+  *
+  * \param filename filename
+  */
+  void SaveToFile(std::string filename) const;
 
-            /*!
-            * \brief Width
-            *
-            * \return width
-            */
-            uint16_t Width(void) const;
+  /*!
+  * \brief Width
+  *
+  * \return width
+  */
+  uint16_t Width(void) const;
 
-            /*!
-            * \brief Height
-            *
-            * \return height
-            */
-            uint16_t Height(void) const;
+  /*!
+  * \brief Height
+  *
+  * \return height
+  */
+  uint16_t Height(void) const;
 
-             /*!
-            * \brief Output matrix
-            *
-            * Output matrix is of the same size as declared in constructor. \n
-            *
-            * \return the output matrix
-            */
-            core::cvimage* Output(void);
+  /*!
+ * \brief Output matrix
+ *
+ * Output matrix is of the same size as declared in constructor. \n
+ *
+ * \return the output matrix
+ */
+  core::cvimage *Output(void);
 
-            core::DataType const &GetOutputDataType() const;
+  core::DataType const &GetOutputDataType() const;
 
-        protected:
-            /*!
-            * \brief get GroupBox
-            *
-            * \return a GroupBox available
-            */
-            gui::GroupBox* GetGroupBox(void) const;
+protected:
+  /*!
+  * \brief get GroupBox
+  *
+  * \return a GroupBox available
+  */
+  gui::GroupBox *GetGroupBox(void) const;
 
-            core::cvimage *output;
+  core::cvimage *output;
 
-        private:
-            gui::Tab *main_tab,*sensor_tab,*plot_tab;
-            gui::TabWidget *tab;
-            gui::GroupBox* setup_groupbox;
-            gui::GridLayout* setup_layout;
-    };
+private:
+  gui::Tab *main_tab, *sensor_tab, *plot_tab;
+  gui::TabWidget *tab;
+  gui::GroupBox *setup_groupbox;
+  gui::GridLayout *setup_layout;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/Controller.h
===================================================================
--- /trunk/include/FlairSensorActuator/Controller.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Controller.h	(revision 13)
@@ -23,66 +23,72 @@
 
 namespace flair {
-    namespace core {
-        class Message;
-    }
+namespace core {
+class Message;
+}
 }
 
-namespace flair { namespace sensor {
+namespace flair {
+namespace sensor {
 
-    enum class ControllerAction {
-        SetLedOn,
-        SetLedOff,
-        Rumble,
-        FlashLed,
-        Exit
-    };
+enum class ControllerAction { SetLedOn, SetLedOff, Rumble, FlashLed, Exit };
 
-    class RumbleMessage: public core::Message {
-    public:
-        RumbleMessage(unsigned int leftForce,unsigned int leftTimeout,unsigned int rightForce,unsigned int rightTimeout);
-        unsigned int GetLeftForce() const;
-        unsigned int GetLeftTimeout() const;
-        unsigned int GetRightForce() const;
-        unsigned int GetRightTimeout() const;
-        void SetLeftForce(unsigned int leftForce);
-        void SetLeftTimeout(unsigned int leftTimeout);
-        void SetRightForce(unsigned int rightForce);
-        void SetRightTimeout(unsigned int rightTimeout);
-    private:
-        static const unsigned int leftForceOffset=sizeof(ControllerAction);
-        static const unsigned int leftTimeoutOffset=sizeof(ControllerAction)+sizeof(unsigned int);
-        static const unsigned int rightForceOffset=sizeof(ControllerAction)+2*sizeof(unsigned int);
-        static const unsigned int rightTimeoutOffset=sizeof(ControllerAction)+3*sizeof(unsigned int);
-    };
+class RumbleMessage : public core::Message {
+public:
+  RumbleMessage(unsigned int leftForce, unsigned int leftTimeout,
+                unsigned int rightForce, unsigned int rightTimeout);
+  unsigned int GetLeftForce() const;
+  unsigned int GetLeftTimeout() const;
+  unsigned int GetRightForce() const;
+  unsigned int GetRightTimeout() const;
+  void SetLeftForce(unsigned int leftForce);
+  void SetLeftTimeout(unsigned int leftTimeout);
+  void SetRightForce(unsigned int rightForce);
+  void SetRightTimeout(unsigned int rightTimeout);
 
-    class SwitchLedMessage: public core::Message {
-    public:
-        SwitchLedMessage(bool isOn,unsigned int ledId);
-        bool IsOn() const;
-        unsigned int GetLedId() const;
-        void SetOn();
-        void SetOff();
-        void SetLedId(unsigned int ledId);
-    private:
-        static const unsigned int isOnOffset=sizeof(ControllerAction);
-        static const unsigned int ledIdOffset=sizeof(ControllerAction)+sizeof(bool);
-    };
+private:
+  static const unsigned int leftForceOffset = sizeof(ControllerAction);
+  static const unsigned int leftTimeoutOffset =
+      sizeof(ControllerAction) + sizeof(unsigned int);
+  static const unsigned int rightForceOffset =
+      sizeof(ControllerAction) + 2 * sizeof(unsigned int);
+  static const unsigned int rightTimeoutOffset =
+      sizeof(ControllerAction) + 3 * sizeof(unsigned int);
+};
 
-    class FlashLedMessage: public core::Message {
-    public:
-        FlashLedMessage(unsigned int ledId,unsigned int onTime,unsigned int offTime);
-        unsigned int GetLedId() const;
-        unsigned int GetOnTime() const;
-        unsigned int GetOffTime() const;
-        void SetLedId(unsigned int ledId);
-        void SetOnTime(unsigned int onTime);
-        void SetOffTime(unsigned int offTime);
-    private:
-        static const unsigned int ledIdOffset=sizeof(ControllerAction);
-        static const unsigned int onTimeOffset=sizeof(ControllerAction)+sizeof(unsigned int);
-        static const unsigned int offTimeOffset=sizeof(ControllerAction)+2*sizeof(unsigned int);
-    };
+class SwitchLedMessage : public core::Message {
+public:
+  SwitchLedMessage(bool isOn, unsigned int ledId);
+  bool IsOn() const;
+  unsigned int GetLedId() const;
+  void SetOn();
+  void SetOff();
+  void SetLedId(unsigned int ledId);
 
-}}
+private:
+  static const unsigned int isOnOffset = sizeof(ControllerAction);
+  static const unsigned int ledIdOffset =
+      sizeof(ControllerAction) + sizeof(bool);
+};
+
+class FlashLedMessage : public core::Message {
+public:
+  FlashLedMessage(unsigned int ledId, unsigned int onTime,
+                  unsigned int offTime);
+  unsigned int GetLedId() const;
+  unsigned int GetOnTime() const;
+  unsigned int GetOffTime() const;
+  void SetLedId(unsigned int ledId);
+  void SetOnTime(unsigned int onTime);
+  void SetOffTime(unsigned int offTime);
+
+private:
+  static const unsigned int ledIdOffset = sizeof(ControllerAction);
+  static const unsigned int onTimeOffset =
+      sizeof(ControllerAction) + sizeof(unsigned int);
+  static const unsigned int offTimeOffset =
+      sizeof(ControllerAction) + 2 * sizeof(unsigned int);
+};
+}
+}
 
 #endif // CONTROLLER_H
Index: /trunk/include/FlairSensorActuator/Gps.h
===================================================================
--- /trunk/include/FlairSensorActuator/Gps.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Gps.h	(revision 13)
@@ -17,223 +17,218 @@
 #include <nmea/nmea.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-        class FrameworkManager;
-        class GeoCoordinate;
-        class Vector3D;
-    }
-    namespace gui
-    {
-        class Layout;
-        class DataPlot1D;
-        class Tab;
-        class TabWidget;
-        class PushButton;
-        class Map;
-        class Label;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+class FrameworkManager;
+class GeoCoordinate;
+class Vector3D;
 }
-
-namespace flair
-{
-namespace sensor
-{
-    /*! \class Gps
-    *
-    * \brief Base class for GPS
-    */
-    class Gps : public core::IODevice
-    {
-        public:
-            /*!
-            \enum FixQuality_t
-            \brief Fix qualty indicators
-            */
-            enum class FixQuality_t {
-                Invalid=0,/*!< invalid */
-                Gps=1,/*!< Gps */
-                DGps=2,/*!< Differential Gps */
-                Pps=3,/*!< Pps */
-                Rtk=4,/*!< RTK */
-                RtkFloat=5,/*!< RTK float */
-                Estimated=6,/*!< Estimated */
-                Manual=7,/*!< Manual */
-                Simulation=8,/*!< Simulation */
-                };
-
-            /*!
-            \enum NMEAFlags_t
-            \brief NMEA flags
-            */
-            enum NMEAFlags_t {
-                GGA=0x01,/*!< GGA */
-                VTG=0x02,/*!< VTG */
-                GST=0x04,/*!< GST */
-                };
-
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Gps.
-            *
-            * \param parent parent
-            * \param name name
-            * \param NMEAFlags NMEA sentances to enable
-            */
-            Gps(const core::FrameworkManager* parent,std::string name,NMEAFlags_t NMEAFlags);
-
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Gps();
-
-            /*!
-            * \brief Use default plot
-            *
-            */
-            void UseDefaultPlot(void);
-
-            /*!
-            * \brief East plot
-            *
-            * \return east plot
-            */
-            gui::DataPlot1D* EPlot(void) const;
-
-            /*!
-            * \brief North plot
-            *
-            * \return north plot
-            */
-            gui::DataPlot1D* NPlot(void) const;
-
-            /*!
-            * \brief Up plot
-            *
-            * \return up plot
-            */
-            gui::DataPlot1D* UPlot(void) const;
-
-            /*!
-            * \brief East velocity plot
-            *
-            * \return east velocity plot
-            */
-            gui::DataPlot1D* VEPlot(void) const;
-
-            /*!
-            * \brief North velocity plot
-            *
-            * \return north velocity plot
-            */
-            gui::DataPlot1D* VNPlot(void) const;
-
-            /*!
-            * \brief Main tab
-            *
-            * \return main tab
-            */
-            gui::TabWidget* GetTab(void) const;
-
-            /*!
-            * \brief Setup Layout
-            *
-            * \return setup Layout
-            */
-            gui::Layout* GetLayout(void) const;
-
-            /*!
-            * \brief Plot tab
-            *
-            * \return plot Tab
-            */
-            gui::Tab* GetPlotTab(void) const;
-
-            /*!
-            * \brief Number of used satellites
-            *
-            * \return number of used satellites
-            */
-            uint16_t NbSat(void) const;
-
-            /*!
-            * \brief Fix Quality
-            *
-            * \return fix quality
-            */
-            FixQuality_t FixQuality(void) const;
-
-            /*!
-            * \brief Set reference for ENU coordinates
-            *
-            * The actual position is used as reference to calculate
-            * ENU coordinates.
-            *
-            * \return fix quality
-            */
-            void SetRef(void);
-
-            /*!
-            * \brief Get ENU position
-            *
-            * \param point to store position
-            */
-            void GetENUPosition(core::Vector3D *point);
-
-        protected:
-            /*!
-            * \brief Parse a NMEA frame
-            *
-            * This function must be called by the reimplemented class. \n
-            * When a frame is parsed, GPS datas are filled.
-            *
-            * \param frame NMEA frame
-            * \param frame_size frame size
-            *
-            */
-            void parseFrame(const char *frame, int frame_size);
-
-            NMEAFlags_t NMEAFlags;
-
-        protected:
-            core::GeoCoordinate *position;
-
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
-
-            gui::Tab *main_tab,*sensor_tab;
-            gui::TabWidget* tab;
-            gui::PushButton *button_ref;
-            gui::DataPlot1D* e_plot;
-            gui::DataPlot1D* n_plot;
-            gui::DataPlot1D* u_plot;
-            gui::DataPlot1D* ve_plot;
-            gui::DataPlot1D* vn_plot;
-            gui::Tab* plot_tab;
-            gui::Map *map;
-            gui::Label *nb_sat_label,*fix_label;
-            uint16_t nb_sat;
-            FixQuality_t fix;
-            bool take_ref;
-            nmeaINFO info;
-            nmeaPARSER parser;
-            nmeaGPGGA pack;
-            nmeaPOS pos;
-            double lat_ref,long_ref,alt_ref;
-
-            //matrix
-            core::cvmatrix *output;
-    };
+namespace gui {
+class Layout;
+class DataPlot1D;
+class Tab;
+class TabWidget;
+class PushButton;
+class Map;
+class Label;
+}
+}
+
+namespace flair {
+namespace sensor {
+/*! \class Gps
+*
+* \brief Base class for GPS
+*/
+class Gps : public core::IODevice {
+public:
+  /*!
+  \enum FixQuality_t
+  \brief Fix qualty indicators
+  */
+  enum class FixQuality_t {
+    Invalid = 0,    /*!< invalid */
+    Gps = 1,        /*!< Gps */
+    DGps = 2,       /*!< Differential Gps */
+    Pps = 3,        /*!< Pps */
+    Rtk = 4,        /*!< RTK */
+    RtkFloat = 5,   /*!< RTK float */
+    Estimated = 6,  /*!< Estimated */
+    Manual = 7,     /*!< Manual */
+    Simulation = 8, /*!< Simulation */
+  };
+
+  /*!
+  \enum NMEAFlags_t
+  \brief NMEA flags
+  */
+  enum NMEAFlags_t {
+    GGA = 0x01, /*!< GGA */
+    VTG = 0x02, /*!< VTG */
+    GST = 0x04, /*!< GST */
+  };
+
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Gps.
+  *
+  * \param parent parent
+  * \param name name
+  * \param NMEAFlags NMEA sentances to enable
+  */
+  Gps(const core::FrameworkManager *parent, std::string name,
+      NMEAFlags_t NMEAFlags);
+
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Gps();
+
+  /*!
+  * \brief Use default plot
+  *
+  */
+  void UseDefaultPlot(void);
+
+  /*!
+  * \brief East plot
+  *
+  * \return east plot
+  */
+  gui::DataPlot1D *EPlot(void) const;
+
+  /*!
+  * \brief North plot
+  *
+  * \return north plot
+  */
+  gui::DataPlot1D *NPlot(void) const;
+
+  /*!
+  * \brief Up plot
+  *
+  * \return up plot
+  */
+  gui::DataPlot1D *UPlot(void) const;
+
+  /*!
+  * \brief East velocity plot
+  *
+  * \return east velocity plot
+  */
+  gui::DataPlot1D *VEPlot(void) const;
+
+  /*!
+  * \brief North velocity plot
+  *
+  * \return north velocity plot
+  */
+  gui::DataPlot1D *VNPlot(void) const;
+
+  /*!
+  * \brief Main tab
+  *
+  * \return main tab
+  */
+  gui::TabWidget *GetTab(void) const;
+
+  /*!
+  * \brief Setup Layout
+  *
+  * \return setup Layout
+  */
+  gui::Layout *GetLayout(void) const;
+
+  /*!
+  * \brief Plot tab
+  *
+  * \return plot Tab
+  */
+  gui::Tab *GetPlotTab(void) const;
+
+  /*!
+  * \brief Number of used satellites
+  *
+  * \return number of used satellites
+  */
+  uint16_t NbSat(void) const;
+
+  /*!
+  * \brief Fix Quality
+  *
+  * \return fix quality
+  */
+  FixQuality_t FixQuality(void) const;
+
+  /*!
+  * \brief Set reference for ENU coordinates
+  *
+  * The actual position is used as reference to calculate
+  * ENU coordinates.
+  *
+  * \return fix quality
+  */
+  void SetRef(void);
+
+  /*!
+  * \brief Get ENU position
+  *
+  * \param point to store position
+  */
+  void GetENUPosition(core::Vector3D *point);
+
+protected:
+  /*!
+  * \brief Parse a NMEA frame
+  *
+  * This function must be called by the reimplemented class. \n
+  * When a frame is parsed, GPS datas are filled.
+  *
+  * \param frame NMEA frame
+  * \param frame_size frame size
+  *
+  */
+  void parseFrame(const char *frame, int frame_size);
+
+  NMEAFlags_t NMEAFlags;
+
+protected:
+  core::GeoCoordinate *position;
+
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
+
+  gui::Tab *main_tab, *sensor_tab;
+  gui::TabWidget *tab;
+  gui::PushButton *button_ref;
+  gui::DataPlot1D *e_plot;
+  gui::DataPlot1D *n_plot;
+  gui::DataPlot1D *u_plot;
+  gui::DataPlot1D *ve_plot;
+  gui::DataPlot1D *vn_plot;
+  gui::Tab *plot_tab;
+  gui::Map *map;
+  gui::Label *nb_sat_label, *fix_label;
+  uint16_t nb_sat;
+  FixQuality_t fix;
+  bool take_ref;
+  nmeaINFO info;
+  nmeaPARSER parser;
+  nmeaGPGGA pack;
+  nmeaPOS pos;
+  double lat_ref, long_ref, alt_ref;
+
+  // matrix
+  core::cvmatrix *output;
+};
 } // end namespace sensor
 } // end namespace framewor
Index: /trunk/include/FlairSensorActuator/Gx3_25_imu.h
===================================================================
--- /trunk/include/FlairSensorActuator/Gx3_25_imu.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Gx3_25_imu.h	(revision 13)
@@ -18,69 +18,72 @@
 
 namespace flair {
-    namespace core {
-        class FrameworkManager;
-        class SerialPort;
-    }
+namespace core {
+class FrameworkManager;
+class SerialPort;
+}
 }
 
 class Gx3_25_imu_impl;
 
-namespace flair { namespace sensor {
-    /*! \class Gx3_25_imu
-    *
-    * \brief Class for 3dmgx3-25 Imu
-    */
-    class Gx3_25_imu : public Imu, public core::Thread {
-        friend class ::Gx3_25_imu_impl;
+namespace flair {
+namespace sensor {
+/*! \class Gx3_25_imu
+*
+* \brief Class for 3dmgx3-25 Imu
+*/
+class Gx3_25_imu : public Imu, public core::Thread {
+  friend class ::Gx3_25_imu_impl;
 
-        public:
-            /*!
-            \enum Command_t
-            \brief Command for the continuous mode
-            */
-            enum Command_t{
-                EulerAnglesAndAngularRates=0xcf,/*!< Euler angles and angular rates */
-                AccelerationAngularRateAndOrientationMatrix=0xc8,/*!< Acceleration, angular rate and orientation matrix */
-                };
+public:
+  /*!
+  \enum Command_t
+  \brief Command for the continuous mode
+  */
+  enum Command_t {
+    EulerAnglesAndAngularRates = 0xcf, /*!< Euler angles and angular rates */
+    AccelerationAngularRateAndOrientationMatrix =
+        0xc8, /*!< Acceleration, angular rate and orientation matrix */
+  };
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Gx3_25_imu.
-            *
-            * \param parent parent
-            * \param name name
-            * \param serialport SerialPort
-            * \param command command for continuous mode
-            * \param priority priority of the Thread
-            */
-            Gx3_25_imu(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,Command_t command,uint8_t priority);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Gx3_25_imu.
+  *
+  * \param parent parent
+  * \param name name
+  * \param serialport SerialPort
+  * \param command command for continuous mode
+  * \param priority priority of the Thread
+  */
+  Gx3_25_imu(const core::FrameworkManager *parent, std::string name,
+             core::SerialPort *serialport, Command_t command, uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Gx3_25_imu();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Gx3_25_imu();
 
-        private:
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+private:
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            class Gx3_25_imu_impl* pimpl_;
-    };
+  class Gx3_25_imu_impl *pimpl_;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/HokuyoUTM30Lx.h
===================================================================
--- /trunk/include/FlairSensorActuator/HokuyoUTM30Lx.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/HokuyoUTM30Lx.h	(revision 13)
@@ -21,154 +21,150 @@
 #include <vector>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-        class FrameworkManager;
-        class SerialPort;
-        class Mutex;
-    }
-    namespace gui
-    {
-        class Tab;
-        class TabWidget;
-        class RangeFinderPlot;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+class FrameworkManager;
+class SerialPort;
+class Mutex;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class RangeFinderPlot;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class HokuyoUTM30Lx
-    *
-    * \brief Classe intégrant le telemetre laser Hokuyo UTM 30lx
-    */
-    class HokuyoUTM30Lx : public core::Thread, public LaserRangeFinder
-    {
-        public:
+namespace flair {
+namespace sensor {
+/*! \class HokuyoUTM30Lx
+*
+* \brief Classe intégrant le telemetre laser Hokuyo UTM 30lx
+*/
+class HokuyoUTM30Lx : public core::Thread, public LaserRangeFinder {
+public:
+  /*!
+ * \brief Constructor
+ *
+ * Construct a Hokuyo UTM30-Lx.
+ *
+ * \param parent parent
+ * \param name name
+ * \param serialport serialport
+ * \param priority priority of the Thread
+ */
+  HokuyoUTM30Lx(const core::FrameworkManager *parent, std::string name,
+                core::SerialPort *serialport, uint8_t priority);
+  void getMesure(int startStep, int endStep, int clusterCount, int interval,
+                 int scanNumber = 0);
+  core::cvmatrix *getDatas(void);
 
-             /*!
-            * \brief Constructor
-            *
-            * Construct a Hokuyo UTM30-Lx.
-            *
-            * \param parent parent
-            * \param name name
-            * \param serialport serialport
-            * \param priority priority of the Thread
-            */
-            HokuyoUTM30Lx(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,uint8_t priority);
-            void getMesure(int startStep, int endStep,int clusterCount, int interval, int scanNumber=0);
-            core::cvmatrix* getDatas(void);
+  /*!
+  * \brief Use default plot
+  *
+  */
+  void UseDefaultPlot(void);
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~HokuyoUTM30Lx();
 
-            /*!
-            * \brief Use default plot
-            *
-            */
-            void UseDefaultPlot(void);
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~HokuyoUTM30Lx();
+private:
+  core::SerialPort *serialport;
+  core::Mutex *bufRetMut;
+  core::Mutex *sendingCmdMut;
+  gui::Tab *main_tab;
+  gui::TabWidget *tab;
+  gui::RangeFinderPlot *plot;
 
-        private:
-            core::SerialPort *serialport;
-            core::Mutex* bufRetMut;
-            core::Mutex* sendingCmdMut;
-            gui::Tab* main_tab;
-            gui::TabWidget* tab;
-            gui::RangeFinderPlot* plot;
+  // matrix
+  core::cvmatrix *output;
 
-            //matrix
-            core::cvmatrix *output;
+  std::queue<std::string> bufRet;
 
-			std::queue<std::string> bufRet;
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
+  /*!
+  * \brief Send a command
+  * \param command Command to send (see Hokuyo UTM 30-LX doc for more
+  * informations)
+  * \return Return code
+  */
+  std::string sendCommand(std::string command);
+  /*!
+  * \brief Start the laser
+  *
+  */
+  void startLaser(void);
+  /*!
+  * \brief Stop the laser
+  *
+  */
+  void stopLaser(void);
+  /*!
+* \brief Stop and reset the laser's settings
+*
+*/
+  void resetConfig(void);
+  /*!
+* \brief Decode incomming datas
+* \param datas Datas to decode
+* \param startStep Set the first mesured point
+* Decode mesured points from incoming datas and fill the output matrix
+*/
+  void decodeDatas(std::vector<std::string> datas, int startStep);
+  /*!
+  * \brief Explode a string into a vector
+  * \param str The string to explode
+  * \param delimiter The character separating elements
+  * \return A vector containing the elements
+  */
+  static std::vector<std::string> explode(const std::string str,
+                                          char delimiter);
+  /*!
+* \brief Calculate the checksum
+* \param code Data from which calculate
+* \param byte Data's size
+* \return A character corresponding to the code's checksum
+*/
+  static int encodeSum(const char *code, int byte);
+  /*!
+* \brief Check if a data correspond to its checksum
+* \param data Datas to check
+*/
+  static bool checkSum(std::string data);
+  /*!
+* \brief Decode datas using the 2 character encoding
+* \param data Datas to decode
+* \return Decoded datas
+*/
+  static float decode2car(const char *data);
+  /*!
+* \brief Decode datas using the 3 character encoding
+* \param data Datas to decode
+* \return Decoded datas
+*/
+  static float decode3car(const char *data);
+  /*!
+* \brief Decode datas using the 4 character encoding
+* \param data Datas to decode
+* \return Decoded datas
+*/
+  static float decode4car(const char *data);
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
-            /*!
-            * \brief Send a command
-            * \param command Command to send (see Hokuyo UTM 30-LX doc for more informations)
-            * \return Return code
-            */
-            std::string sendCommand(std::string command);
-            /*!
-            * \brief Start the laser
-            *
-            */
-            void startLaser(void);
-            /*!
-            * \brief Stop the laser
-            *
-            */
-			void stopLaser(void);
-			/*!
-            * \brief Stop and reset the laser's settings
-            *
-            */
-		    void resetConfig(void);
-		    /*!
-            * \brief Decode incomming datas
-            * \param datas Datas to decode
-            * \param startStep Set the first mesured point
-            * Decode mesured points from incoming datas and fill the output matrix
-            */
-		    void decodeDatas(std::vector<std::string> datas, int startStep);
-            /*!
-            * \brief Explode a string into a vector
-            * \param str The string to explode
-            * \param delimiter The character separating elements
-            * \return A vector containing the elements
-            */
-			static std::vector<std::string> explode(const std::string str, char delimiter);
-			/*!
-            * \brief Calculate the checksum
-            * \param code Data from which calculate
-            * \param byte Data's size
-            * \return A character corresponding to the code's checksum
-            */
-			static int encodeSum(const char* code, int byte);
-			/*!
-            * \brief Check if a data correspond to its checksum
-            * \param data Datas to check
-            */
-			static bool checkSum(std::string data);
-			/*!
-            * \brief Decode datas using the 2 character encoding
-            * \param data Datas to decode
-            * \return Decoded datas
-            */
-			static float decode2car(const char* data);
-			/*!
-            * \brief Decode datas using the 3 character encoding
-            * \param data Datas to decode
-            * \return Decoded datas
-            */
-			static float decode3car(const char* data);
-			/*!
-            * \brief Decode datas using the 4 character encoding
-            * \param data Datas to decode
-            * \return Decoded datas
-            */
-			static float decode4car(const char* data);
-
-			/*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
-
-    };
+  /*!
+* \brief Update using provided datas
+*
+* Reimplemented from IODevice.
+*
+* \param data data from the parent to process
+*/
+  void UpdateFrom(const core::io_data *data){};
+};
 } // end namespace sensor
 } // end namespace framewor
Index: /trunk/include/FlairSensorActuator/HostEthController.h
===================================================================
--- /trunk/include/FlairSensorActuator/HostEthController.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/HostEthController.h	(revision 13)
@@ -11,5 +11,6 @@
 //  version:    $Id: $
 //
-//  purpose:    Base class for host side remote controls that talks to target side through ethernet connection
+//  purpose:    Base class for host side remote controls that talks to target
+//  side through ethernet connection
 //
 //
@@ -24,85 +25,97 @@
 
 namespace flair {
-    namespace core {
-        class FrameworkManager;
-        class cvmatrix;
-        class TcpSocket;
-        class Socket;
-        class Mutex;
-    }
-    namespace gui {
-        class Tab;
-        class TabWidget;
-        class DataPlot1D;
-    }
+namespace core {
+class FrameworkManager;
+class cvmatrix;
+class TcpSocket;
+class Socket;
+class Mutex;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class DataPlot1D;
+}
 }
 
-namespace flair { namespace sensor {
-    enum class ControllerAction;
+namespace flair {
+namespace sensor {
+enum class ControllerAction;
 
-    /*! \class HostEthController
-    *
-    * \brief Base Class for host side remote controls that talks to target side through ethernet connection
-    *
-    * There are 2 communication channels:
-    *   - 1 connection with the ground station to display the values. Output for analog sticks is normalized in the range [-1, 1] (float values)
-    *   - 1 connection with the target to send the controller values (and receive controller state modification requests)
-    */
-    class HostEthController : public core::Thread, public core::IODevice {
-    public:
-        HostEthController(const core::FrameworkManager* parent,std::string name,std::string address,int port,uint32_t period=10,uint32_t _bitsPerAxis=7,uint8_t priority=0);
-        ~HostEthController();
-        void DrawUserInterface();
-    protected:
-        std::string controllerName;
-        core::TcpSocket *controlSocket; //connection to the target
-        core::Socket *dataSocket;
-        std::string targetAddress;
-        int targetPort;
-        gui::Tab *tab;
-        gui::TabWidget *tabWidget;
-        virtual bool IsDataFrameReady() { return true;};
-        virtual void CompleteDataFrameGrab() {};
-//        int8_t *datas;
-//        uint8_t dataSize;
-        char *dataFrameBuffer;
-        size_t dataFrameSize;
-        virtual void ProcessMessage(core::Message *controllerAction) {};
+/*! \class HostEthController
+*
+* \brief Base Class for host side remote controls that talks to target side
+*through ethernet connection
+*
+* There are 2 communication channels:
+*   - 1 connection with the ground station to display the values. Output for
+*analog sticks is normalized in the range [-1, 1] (float values)
+*   - 1 connection with the target to send the controller values (and receive
+*controller state modification requests)
+*/
+class HostEthController : public core::Thread, public core::IODevice {
+public:
+  HostEthController(const core::FrameworkManager *parent, std::string name,
+                    std::string address, int port, uint32_t period = 10,
+                    uint32_t _bitsPerAxis = 7, uint8_t priority = 0);
+  ~HostEthController();
+  void DrawUserInterface();
 
-        virtual std::string GetAxisDescription(unsigned int axis);
-        virtual void GetAxisData()=0; //responsible for getting the axis data from the hardware
-        unsigned int axisNumber;
-        core::cvmatrix* axis;
-        gui::DataPlot1D **axisPlot;
-        uint32_t bitsPerAxis;
-        uint32_t nativeBitsPerAxis;
+protected:
+  std::string controllerName;
+  core::TcpSocket *controlSocket; // connection to the target
+  core::Socket *dataSocket;
+  std::string targetAddress;
+  int targetPort;
+  gui::Tab *tab;
+  gui::TabWidget *tabWidget;
+  virtual bool IsDataFrameReady() { return true; };
+  virtual void CompleteDataFrameGrab(){};
+  //        int8_t *datas;
+  //        uint8_t dataSize;
+  char *dataFrameBuffer;
+  size_t dataFrameSize;
+  virtual void ProcessMessage(core::Message *controllerAction){};
 
-        virtual std::string GetButtonDescription(unsigned int button);
-        virtual void GetButtonData()=0; //responsible for getting the button data from the hardware
-        unsigned int buttonNumber;
-        core::cvmatrix* button;
-        uint8_t buttonOffset;
-        bool meaningfulDataAvailable;
+  virtual std::string GetAxisDescription(unsigned int axis);
+  virtual void
+  GetAxisData() = 0; // responsible for getting the axis data from the hardware
+  unsigned int axisNumber;
+  core::cvmatrix *axis;
+  gui::DataPlot1D **axisPlot;
+  uint32_t bitsPerAxis;
+  uint32_t nativeBitsPerAxis;
 
-    private:
-        class DataSender : public core::Thread {
-        public:
-            DataSender(Object* parent,HostEthController* hostEthController,std::string name,uint8_t priority=0);
-            void Run();
-        private:
-            HostEthController* hostEthController;
-        };
-        DataSender *dataSender;
+  virtual std::string GetButtonDescription(unsigned int button);
+  virtual void GetButtonData() = 0; // responsible for getting the button data
+                                    // from the hardware
+  unsigned int buttonNumber;
+  core::cvmatrix *button;
+  uint8_t buttonOffset;
+  bool meaningfulDataAvailable;
 
-        bool ControllerInitialization();
-        bool ConnectedWithTarget();
-        void SendControllerInfo();
-        void Run();
-        void BuildDataFrame();
-        bool writeBits(uint16_t value,uint8_t valueSizeInBits,char *buffer,uint8_t offsetInBits);
-        core::Mutex *connectionEstablishedMutex;
-    };
+private:
+  class DataSender : public core::Thread {
+  public:
+    DataSender(Object *parent, HostEthController *hostEthController,
+               std::string name, uint8_t priority = 0);
+    void Run();
 
-}}
+  private:
+    HostEthController *hostEthController;
+  };
+  DataSender *dataSender;
+
+  bool ControllerInitialization();
+  bool ConnectedWithTarget();
+  void SendControllerInfo();
+  void Run();
+  void BuildDataFrame();
+  bool writeBits(uint16_t value, uint8_t valueSizeInBits, char *buffer,
+                 uint8_t offsetInBits);
+  core::Mutex *connectionEstablishedMutex;
+};
+}
+}
 
 #endif // HOSTETHCONTROLLER_H
Index: /trunk/include/FlairSensorActuator/Imu.h
===================================================================
--- /trunk/include/FlairSensorActuator/Imu.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Imu.h	(revision 13)
@@ -17,126 +17,127 @@
 
 namespace flair {
-    namespace core {
-        class ImuData;
-        class OneAxisRotation;
-    }
-    namespace gui {
-        class Tab;
-        class TabWidget;
-        class GroupBox;
-        class Layout;
-        class DataPlot1D;
-    }
+namespace core {
+class ImuData;
+class OneAxisRotation;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class GroupBox;
+class Layout;
+class DataPlot1D;
+}
 }
 
 class Ahrs_impl;
 
-namespace flair { namespace sensor {
-    /*! \class Imu
-    *
-    * \brief Base class for Imu
-    *
-    * Use this class to define a custom Imu.
-    *
-    */
-    class Imu : public core::IODevice {
-        friend class ::Ahrs_impl;
+namespace flair {
+namespace sensor {
+/*! \class Imu
+*
+* \brief Base class for Imu
+*
+* Use this class to define a custom Imu.
+*
+*/
+class Imu : public core::IODevice {
+  friend class ::Ahrs_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct an Imu.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            Imu(const core::FrameworkManager *parent,std::string name);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct an Imu.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  Imu(const core::FrameworkManager *parent, std::string name);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct an Imu. \n
-            * This contructor must only be called for a simulated device.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            Imu(const core::IODevice *parent,std::string name);
+  /*!
+  * \brief Constructor
+  *
+  * Construct an Imu. \n
+  * This contructor must only be called for a simulated device.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  Imu(const core::IODevice *parent, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Imu();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Imu();
 
-            /*!
-            * \brief Setup Layout
-            *
-            * \return setup Layout
-            */
-            gui::Layout *GetLayout(void) const;
+  /*!
+  * \brief Setup Layout
+  *
+  * \return setup Layout
+  */
+  gui::Layout *GetLayout(void) const;
 
-            /*!
-            * \brief Lock user interface
-            *
-            */
-            void LockUserInterface(void) const;
+  /*!
+  * \brief Lock user interface
+  *
+  */
+  void LockUserInterface(void) const;
 
-            /*!
-            * \brief Unlock user interface
-            *
-            */
-            void UnlockUserInterface(void) const;
+  /*!
+  * \brief Unlock user interface
+  *
+  */
+  void UnlockUserInterface(void) const;
 
-            /*!
-            * \brief Use default plot
-            *
-            */
-            void UseDefaultPlot(void);
+  /*!
+  * \brief Use default plot
+  *
+  */
+  void UseDefaultPlot(void);
 
-            /*!
-            * \brief Plot tab
-            *
-            * \return plot Tab
-            */
-            gui::Tab *GetPlotTab(void) const;
+  /*!
+  * \brief Plot tab
+  *
+  * \return plot Tab
+  */
+  gui::Tab *GetPlotTab(void) const;
 
-        protected:
-            /*!
-            * \brief Setup GroupBox
-            *
-            * \return setup GroupBox
-            */
-            gui::GroupBox *GetGroupBox(void) const;
+protected:
+  /*!
+  * \brief Setup GroupBox
+  *
+  * \return setup GroupBox
+  */
+  gui::GroupBox *GetGroupBox(void) const;
 
-            /*!
-            * \brief UpdateImu
-            *
-            * The reimplemented class must call this function as soon as IMU datas are available. \n
-            * It handles the data rotation if it was defined.
-            *
-            */
-            void UpdateImu();
+  /*!
+  * \brief UpdateImu
+  *
+  * The reimplemented class must call this function as soon as IMU datas are
+  *available. \n
+  * It handles the data rotation if it was defined.
+  *
+  */
+  void UpdateImu();
 
-            /*!
-            * \brief Get imu datas
-            *
-            * \param imuData imu datas
-            */
-            void GetDatas(core::ImuData **imuData) const;
+  /*!
+  * \brief Get imu datas
+  *
+  * \param imuData imu datas
+  */
+  void GetDatas(core::ImuData **imuData) const;
 
+private:
+  gui::Tab *mainTab, *sensorTab, *plotTab;
+  gui::TabWidget *tab;
+  gui::GroupBox *setupGroupbox;
+  core::OneAxisRotation *rotation;
+  core::ImuData *imuData;
 
-        private:
-            gui::Tab *mainTab,*sensorTab,*plotTab;
-            gui::TabWidget* tab;
-            gui::GroupBox *setupGroupbox;
-            core::OneAxisRotation* rotation;
-            core::ImuData *imuData;
-
-            gui::DataPlot1D *axPlot,*ayPlot,*azPlot;
-            gui::DataPlot1D *gxPlot,*gyPlot,*gzPlot;
-            gui::DataPlot1D *mxPlot,*myPlot,*mzPlot;
-    };
+  gui::DataPlot1D *axPlot, *ayPlot, *azPlot;
+  gui::DataPlot1D *gxPlot, *gyPlot, *gzPlot;
+  gui::DataPlot1D *mxPlot, *myPlot, *mzPlot;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/LaserRangeFinder.h
===================================================================
--- /trunk/include/FlairSensorActuator/LaserRangeFinder.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/LaserRangeFinder.h	(revision 13)
@@ -16,124 +16,116 @@
 #include <IODevice.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class cvmatrix;
-
-    }
-    namespace gui
-    {
-        class Tab;
-        class TabWidget;
-        class GroupBox;
-        class Layout;
-        class RangeFinderPlot;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class cvmatrix;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class GroupBox;
+class Layout;
+class RangeFinderPlot;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class LaserRangeFinder
-    *
-    * \brief Classe generique intégrant les telemetres laser
-    */
-    class LaserRangeFinder : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Laser Range Finder.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            LaserRangeFinder(const core::FrameworkManager* parent,std::string name);
-            /*!
-            * \brief Constructor
-            *
-            * Construct a UsRangeFinder. Simulation part.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            LaserRangeFinder(const core::IODevice* parent,std::string name);
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~LaserRangeFinder();
+namespace flair {
+namespace sensor {
+/*! \class LaserRangeFinder
+*
+* \brief Classe generique intégrant les telemetres laser
+*/
+class LaserRangeFinder : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Laser Range Finder.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  LaserRangeFinder(const core::FrameworkManager *parent, std::string name);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a UsRangeFinder. Simulation part.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  LaserRangeFinder(const core::IODevice *parent, std::string name);
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~LaserRangeFinder();
 
-            /*!
-            * \brief Use default plot
-            *
-            */
-            void UseDefaultPlot(void);
+  /*!
+  * \brief Use default plot
+  *
+  */
+  void UseDefaultPlot(void);
 
-            /*!
-            * \brief Plot
-            *
-            * \return DataPlot1D
-            */
-            gui::RangeFinderPlot* GetPlot(void) const;
+  /*!
+  * \brief Plot
+  *
+  * \return DataPlot1D
+  */
+  gui::RangeFinderPlot *GetPlot(void) const;
 
-            /*!
-            * \brief Setup Layout
-            *
-            * \return a Layout available
-            */
-            gui::Layout* GetLayout(void) const;
+  /*!
+  * \brief Setup Layout
+  *
+  * \return a Layout available
+  */
+  gui::Layout *GetLayout(void) const;
 
-            /*!
-            * \brief Plot tab
-            *
-            * \return plot Tab
-            */
-            gui::Tab* GetPlotTab(void) const;
+  /*!
+  * \brief Plot tab
+  *
+  * \return plot Tab
+  */
+  gui::Tab *GetPlotTab(void) const;
 
-            /*!
-            * \brief Value
-            *
-            * \return output value
-            */
-            float Value(void) const;
+  /*!
+  * \brief Value
+  *
+  * \return output value
+  */
+  float Value(void) const;
 
-        protected:
-        /*!
-            * \brief Output matrix
-            *
-            * \return output matrix
-            */
-            core::cvmatrix *output;
+protected:
+  /*!
+      * \brief Output matrix
+      *
+      * \return output matrix
+      */
+  core::cvmatrix *output;
 
-            /*!
-            * \brief Setup GroupBox
-            *
-            * \return a GroupBox available
-            */
-            gui::GroupBox* GetGroupBox(void) const;
+  /*!
+  * \brief Setup GroupBox
+  *
+  * \return a GroupBox available
+  */
+  gui::GroupBox *GetGroupBox(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            gui::Tab* main_tab;
-            gui::TabWidget *tab;
-            gui::GroupBox* setup_groupbox;
-            gui::Tab* sensor_tab;
-            gui::RangeFinderPlot* plot;
-            gui::Tab* plot_tab;
-
-    };
+  gui::Tab *main_tab;
+  gui::TabWidget *tab;
+  gui::GroupBox *setup_groupbox;
+  gui::Tab *sensor_tab;
+  gui::RangeFinderPlot *plot;
+  gui::Tab *plot_tab;
+};
 } // end namespace sensor
 } // end namespace framewor
Index: /trunk/include/FlairSensorActuator/Mb800.h
===================================================================
--- /trunk/include/FlairSensorActuator/Mb800.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Mb800.h	(revision 13)
@@ -17,64 +17,61 @@
 #include <Gps.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class SerialPort;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class SerialPort;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class Mb800
-    *
-    * \brief Class for mb800 gps receiver
-    */
-    class Mb800 : public core::Thread, public Gps
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Mb800.
-            *
-            * \param parent parent
-            * \param name name
-            * \param serialport serialport
-            * \param NMEAFlags NMEA sentances to enable
-            * \param priority priority of the Thread
-            */
-            Mb800(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,Gps::NMEAFlags_t NMEAFlags,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class Mb800
+*
+* \brief Class for mb800 gps receiver
+*/
+class Mb800 : public core::Thread, public Gps {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Mb800.
+  *
+  * \param parent parent
+  * \param name name
+  * \param serialport serialport
+  * \param NMEAFlags NMEA sentances to enable
+  * \param priority priority of the Thread
+  */
+  Mb800(const core::FrameworkManager *parent, std::string name,
+        core::SerialPort *serialport, Gps::NMEAFlags_t NMEAFlags,
+        uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Mb800();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Mb800();
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            void Sync(void);
-            core::SerialPort *serialport;
-    };
+  void Sync(void);
+  core::SerialPort *serialport;
+};
 } // end namespace sensor
 } // end namespace framewor
Index: /trunk/include/FlairSensorActuator/Novatel.h
===================================================================
--- /trunk/include/FlairSensorActuator/Novatel.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Novatel.h	(revision 13)
@@ -17,64 +17,61 @@
 #include <Gps.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class SerialPort;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class SerialPort;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class Novatel
-    *
-    * \brief Class for Novatel gps receiver
-    */
-    class Novatel : public core::Thread, public Gps
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Novatel.
-            *
-            * \param parent parent
-            * \param name name
-            * \param serialport serialport
-            * \param NMEAFlags NMEA sentances to enable
-            * \param priority priority of the Thread
-            */
-            Novatel(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,Gps::NMEAFlags_t NMEAFlags,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class Novatel
+*
+* \brief Class for Novatel gps receiver
+*/
+class Novatel : public core::Thread, public Gps {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Novatel.
+  *
+  * \param parent parent
+  * \param name name
+  * \param serialport serialport
+  * \param NMEAFlags NMEA sentances to enable
+  * \param priority priority of the Thread
+  */
+  Novatel(const core::FrameworkManager *parent, std::string name,
+          core::SerialPort *serialport, Gps::NMEAFlags_t NMEAFlags,
+          uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Novatel();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Novatel();
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            core::SerialPort *serialport;
-            void Sync(void);
-    };
+  core::SerialPort *serialport;
+  void Sync(void);
+};
 } // end namespace sensor
 } // end namespace framewor
Index: /trunk/include/FlairSensorActuator/Ps3Eye.h
===================================================================
--- /trunk/include/FlairSensorActuator/Ps3Eye.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Ps3Eye.h	(revision 13)
@@ -16,51 +16,46 @@
 #include "V4LCamera.h"
 
-namespace flair
-{
-    namespace core
-    {
-        class cvimage;
-        class FrameworkManager;
-    }
-    namespace gui
-    {
-        class GridLayout;
-        class DoubleSpinBox;
-        class CheckBox;
-    }
+namespace flair {
+namespace core {
+class cvimage;
+class FrameworkManager;
+}
+namespace gui {
+class GridLayout;
+class DoubleSpinBox;
+class CheckBox;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class Ps3Eye
-    *
-    * \brief Class for Ps3Eye camera
-    */
-    class Ps3Eye : public V4LCamera
-    {
+namespace flair {
+namespace sensor {
+/*! \class Ps3Eye
+*
+* \brief Class for Ps3Eye camera
+*/
+class Ps3Eye : public V4LCamera {
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Ps3Eye.
-            *
-            * \param parent parent
-            * \param name name
-            * \param camera_index index of the camera, ie /dev/videox
-            * \param priority priority of the Thread
-            */
-            Ps3Eye(const core::FrameworkManager* parent,std::string name,int camera_index,uint8_t priority);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Ps3Eye.
+  *
+  * \param parent parent
+  * \param name name
+  * \param camera_index index of the camera, ie /dev/videox
+  * \param priority priority of the Thread
+  */
+  Ps3Eye(const core::FrameworkManager *parent, std::string name,
+         int camera_index, uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Ps3Eye();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Ps3Eye();
 
-        private:
-    };
+private:
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/RadioReceiver.h
===================================================================
--- /trunk/include/FlairSensorActuator/RadioReceiver.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/RadioReceiver.h	(revision 13)
@@ -17,87 +17,82 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class Tab;
-        class TabWidget;
-        class Layout;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class cvmatrix;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class Layout;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class RadioReceiver
-    *
-    * \brief Base class for radio receiver
-    */
-    class RadioReceiver : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a RadioReceiver.
-            *
-            * \param parent parent
-            * \param name name
-            * \param nb_channels number of supported channels
-            */
-            RadioReceiver(const core::FrameworkManager* parent,std::string name,unsigned int nb_channels);
+namespace flair {
+namespace sensor {
+/*! \class RadioReceiver
+*
+* \brief Base class for radio receiver
+*/
+class RadioReceiver : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a RadioReceiver.
+  *
+  * \param parent parent
+  * \param name name
+  * \param nb_channels number of supported channels
+  */
+  RadioReceiver(const core::FrameworkManager *parent, std::string name,
+                unsigned int nb_channels);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~RadioReceiver();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~RadioReceiver();
 
-            /*!
-            * \brief get channel value
-            *
-            * \param id channel id
-            * \return value of the channel, between 0 and 1.
-            *  Returns -1 if channel is out of bound
-            */
-            float ChannelValue(unsigned int id) const;
+  /*!
+  * \brief get channel value
+  *
+  * \param id channel id
+  * \return value of the channel, between 0 and 1.
+  *  Returns -1 if channel is out of bound
+  */
+  float ChannelValue(unsigned int id) const;
 
-            /*!
-            * \brief Is transmitter connected?
-            *
-            * \return true if transmitter is connected
-            */
-            bool IsConnected(void) const;
+  /*!
+  * \brief Is transmitter connected?
+  *
+  * \return true if transmitter is connected
+  */
+  bool IsConnected(void) const;
 
-            /*!
-            * \brief Setup Layout
-            *
-            * \return a Layout available
-            */
-            gui::Layout* GetLayout(void) const;
+  /*!
+  * \brief Setup Layout
+  *
+  * \return a Layout available
+  */
+  gui::Layout *GetLayout(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            core::cvmatrix *output;
-            bool is_connected;
-            unsigned int nb_channels;
-            gui::Tab* main_tab;
-            gui::TabWidget* tab;
-            gui::Tab* setup_tab;
-    };
+  core::cvmatrix *output;
+  bool is_connected;
+  unsigned int nb_channels;
+  gui::Tab *main_tab;
+  gui::TabWidget *tab;
+  gui::Tab *setup_tab;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/SimuBldc.h
===================================================================
--- /trunk/include/FlairSensorActuator/SimuBldc.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/SimuBldc.h	(revision 13)
@@ -16,103 +16,99 @@
 #include <Bldc.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class SharedMem;
-        class IODevice;
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class DoubleSpinBox;
-        class Layout;
-    }
+namespace flair {
+namespace core {
+class SharedMem;
+class IODevice;
+class cvmatrix;
+}
+namespace gui {
+class DoubleSpinBox;
+class Layout;
+}
 }
 
-namespace flair
-{
-namespace actuator
-{
-    /*! \class SimuBldc
-    *
-    * \brief Class for a simulation bldc
-    *
-    */
-    class SimuBldc : public Bldc
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuBldc. Control part.
-            *
-            * \param parent parent
-            * \param layout layout
-            * \param name name
-            * \param motors_count number of motors
-            * \param dev_id device id
-            */
-            SimuBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,uint32_t dev_id);
+namespace flair {
+namespace actuator {
+/*! \class SimuBldc
+*
+* \brief Class for a simulation bldc
+*
+*/
+class SimuBldc : public Bldc {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuBldc. Control part.
+  *
+  * \param parent parent
+  * \param layout layout
+  * \param name name
+  * \param motors_count number of motors
+  * \param dev_id device id
+  */
+  SimuBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
+           uint8_t motors_count, uint32_t dev_id);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuBldc. Simulation part.
-            *
-            * \param parent parent
-            * \param name name
-            * \param motors_count number of motors
-            * \param dev_id device id
-            */
-            SimuBldc(const core::Object* parent,std::string name,uint8_t motors_count,uint32_t dev_id);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuBldc. Simulation part.
+  *
+  * \param parent parent
+  * \param name name
+  * \param motors_count number of motors
+  * \param dev_id device id
+  */
+  SimuBldc(const core::Object *parent, std::string name, uint8_t motors_count,
+           uint32_t dev_id);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SimuBldc();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SimuBldc();
 
-            /*!
-            * \brief Get motors speeds.
-            *
-            * This function should only be used for the simulation part.
-            *
-            * \param value array to store motors speeds
-            */
-            void GetSpeeds(float* value) const;
+  /*!
+  * \brief Get motors speeds.
+  *
+  * This function should only be used for the simulation part.
+  *
+  * \param value array to store motors speeds
+  */
+  void GetSpeeds(float *value) const;
 
-            /*!
-            * \brief Has speed measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has speed measurement
-            */
-            bool HasSpeedMeasurement(void) const{return false;};
+  /*!
+  * \brief Has speed measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has speed measurement
+  */
+  bool HasSpeedMeasurement(void) const { return false; };
 
-            /*!
-            * \brief Has current measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has current measurement
-            */
-            bool HasCurrentMeasurement(void) const{return false;};
+  /*!
+  * \brief Has current measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has current measurement
+  */
+  bool HasCurrentMeasurement(void) const { return false; };
 
-        private:
-            /*!
-            * \brief Set motors values
-            *
-            * Reimplemented from Bldc. \n
-            * Values size must be the same as MotorsCount()
-            *
-            * \param values motor values
-            */
-            void SetMotors(float* value);
+private:
+  /*!
+  * \brief Set motors values
+  *
+  * Reimplemented from Bldc. \n
+  * Values size must be the same as MotorsCount()
+  *
+  * \param values motor values
+  */
+  void SetMotors(float *value);
 
-            core::SharedMem *shmem;
-            gui::DoubleSpinBox *k;
-    };
+  core::SharedMem *shmem;
+  gui::DoubleSpinBox *k;
+};
 } // end namespace actuator
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/SimuCamera.h
===================================================================
--- /trunk/include/FlairSensorActuator/SimuCamera.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/SimuCamera.h	(revision 13)
@@ -18,92 +18,89 @@
 #include <cxcore.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class SharedMem;
-    }
-    namespace gui
-    {
-        class SpinBox;
-    }
+namespace flair {
+namespace core {
+class SharedMem;
+}
+namespace gui {
+class SpinBox;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class SimuCamera
-    *
-    * \brief Class for a simulation camera
-    */
-    class SimuCamera : public core::Thread, public Camera
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuCamera. Control part.
-            *
-            * \param parent parent
-            * \param name name
-            * \param width width
-            * \param height height
-            * \param channels number of channels
-            * \param dev_id device id
-            * \param priority priority of the Thread
-            */
-            SimuCamera(const core::FrameworkManager* parent,std::string name,uint16_t width,uint16_t height,uint8_t channels,uint32_t dev_id,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class SimuCamera
+*
+* \brief Class for a simulation camera
+*/
+class SimuCamera : public core::Thread, public Camera {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuCamera. Control part.
+  *
+  * \param parent parent
+  * \param name name
+  * \param width width
+  * \param height height
+  * \param channels number of channels
+  * \param dev_id device id
+  * \param priority priority of the Thread
+  */
+  SimuCamera(const core::FrameworkManager *parent, std::string name,
+             uint16_t width, uint16_t height, uint8_t channels, uint32_t dev_id,
+             uint8_t priority);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuCamera. Simulation part.\n
-            * The Thread of this class should not be run.
-            *
-            * \param parent parent
-            * \param name name
-            * \param width width
-            * \param height height
-            * \param channels number of channels
-            * \param dev_id device id
-            */
-            SimuCamera(const core::IODevice* parent,std::string name,uint16_t width,uint16_t height,uint8_t channels,uint32_t dev_id);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuCamera. Simulation part.\n
+  * The Thread of this class should not be run.
+  *
+  * \param parent parent
+  * \param name name
+  * \param width width
+  * \param height height
+  * \param channels number of channels
+  * \param dev_id device id
+  */
+  SimuCamera(const core::IODevice *parent, std::string name, uint16_t width,
+             uint16_t height, uint8_t channels, uint32_t dev_id);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SimuCamera();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SimuCamera();
 
-        protected:
-            /*!
-            * \brief SharedMem to access datas
-            *
-            */
-            core::SharedMem *shmem;
+protected:
+  /*!
+  * \brief SharedMem to access datas
+  *
+  */
+  core::SharedMem *shmem;
 
-        private:
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+private:
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            gui::SpinBox *data_rate;
-            size_t buf_size;
-            IplImage* img;
-    };
+  gui::SpinBox *data_rate;
+  size_t buf_size;
+  IplImage *img;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/SimuGps.h
===================================================================
--- /trunk/include/FlairSensorActuator/SimuGps.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/SimuGps.h	(revision 13)
@@ -17,59 +17,55 @@
 #include <Gps.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class SimuGps
-    *
-    * \brief Class for a simulation GPS
-    */
-    class SimuGps : public core::Thread, public Gps
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Novatel.
-            *
-            * \param parent parent
-            * \param name name
-            * \param NMEAFlags NMEA sentances to enable
-            * \param priority priority of the Thread
-            */
-            SimuGps(const core::FrameworkManager* parent,std::string name,Gps::NMEAFlags_t NMEAFlags,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class SimuGps
+*
+* \brief Class for a simulation GPS
+*/
+class SimuGps : public core::Thread, public Gps {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Novatel.
+  *
+  * \param parent parent
+  * \param name name
+  * \param NMEAFlags NMEA sentances to enable
+  * \param priority priority of the Thread
+  */
+  SimuGps(const core::FrameworkManager *parent, std::string name,
+          Gps::NMEAFlags_t NMEAFlags, uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SimuGps();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SimuGps();
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
-    };
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
+};
 } // end namespace sensor
 } // end namespace framewor
Index: /trunk/include/FlairSensorActuator/SimuImu.h
===================================================================
--- /trunk/include/FlairSensorActuator/SimuImu.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/SimuImu.h	(revision 13)
@@ -18,81 +18,83 @@
 
 namespace flair {
-    namespace core     {
-        class SharedMem;
-        class AhrsData;
-    }
-    namespace gui {
-        class SpinBox;
-    }
+namespace core {
+class SharedMem;
+class AhrsData;
+}
+namespace gui {
+class SpinBox;
+}
 }
 
-namespace flair { namespace sensor {
-    /*! \class SimuImu
-    *
-    * \brief Class for a simulation Imu
-    */
-    class SimuImu : public Imu, public core::Thread {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuImu. Control part.
-            *
-            * \param parent parent
-            * \param name name
-            * \param dev_id device id
-            * \param priority priority of the Thread
-            */
-            SimuImu(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class SimuImu
+*
+* \brief Class for a simulation Imu
+*/
+class SimuImu : public Imu, public core::Thread {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuImu. Control part.
+  *
+  * \param parent parent
+  * \param name name
+  * \param dev_id device id
+  * \param priority priority of the Thread
+  */
+  SimuImu(const core::FrameworkManager *parent, std::string name,
+          uint32_t dev_id, uint8_t priority);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuImu. Simulation part.\n
-            * The Thread of this class should not be run.
-            *
-            * \param parent parent
-            * \param name name
-            * \param dev_id device id
-            */
-            SimuImu(const core::IODevice* parent,std::string name,uint32_t dev_id);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuImu. Simulation part.\n
+  * The Thread of this class should not be run.
+  *
+  * \param parent parent
+  * \param name name
+  * \param dev_id device id
+  */
+  SimuImu(const core::IODevice *parent, std::string name, uint32_t dev_id);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SimuImu();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SimuImu();
 
-        private:
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+private:
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data);
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data);
 
-            typedef struct {
-                float q0;
-                float q1;
-                float q2;
-                float q3;
-                float wx;
-                float wy;
-                float wz;
-            } imu_states_t;
-            gui::SpinBox *data_rate;
-            core::SharedMem *shmem;
-            core::AhrsData *ahrsData;
-    };
+  typedef struct {
+    float q0;
+    float q1;
+    float q2;
+    float q3;
+    float wx;
+    float wy;
+    float wz;
+  } imu_states_t;
+  gui::SpinBox *data_rate;
+  core::SharedMem *shmem;
+  core::AhrsData *ahrsData;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/SimuLaser.h
===================================================================
--- /trunk/include/FlairSensorActuator/SimuLaser.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/SimuLaser.h	(revision 13)
@@ -17,84 +17,79 @@
 #include <Thread.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class SharedMem;
-    }
-    namespace gui
-    {
-        class SpinBox;
-    }
+namespace flair {
+namespace core {
+class SharedMem;
+}
+namespace gui {
+class SpinBox;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class SimuUs
-    *
-    * \brief Class for a simulation UsRangeFinder
-    */
-    class SimuLaser : public core::Thread, public LaserRangeFinder
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuUs. Control part.
-            *
-            * \param parent parent
-            * \param name name
-            * \param dev_id device id
-            * \param priority priority of the Thread
-            */
-            SimuLaser(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class SimuUs
+*
+* \brief Class for a simulation UsRangeFinder
+*/
+class SimuLaser : public core::Thread, public LaserRangeFinder {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuUs. Control part.
+  *
+  * \param parent parent
+  * \param name name
+  * \param dev_id device id
+  * \param priority priority of the Thread
+  */
+  SimuLaser(const core::FrameworkManager *parent, std::string name,
+            uint32_t dev_id, uint8_t priority);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuUs. Simulation part.\n
-            * The Thread of this class should not be run.
-            *
-            * \param parent parent
-            * \param name name
-            * \param dev_id device id
-            */
-            SimuLaser(const core::IODevice* parent,std::string name,uint32_t dev_id);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuUs. Simulation part.\n
+  * The Thread of this class should not be run.
+  *
+  * \param parent parent
+  * \param name name
+  * \param dev_id device id
+  */
+  SimuLaser(const core::IODevice *parent, std::string name, uint32_t dev_id);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SimuLaser();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SimuLaser();
 
-        protected:
-            /*!
-            * \brief SharedMem to access datas
-            *
-            */
-            core::SharedMem *shmem;
+protected:
+  /*!
+  * \brief SharedMem to access datas
+  *
+  */
+  core::SharedMem *shmem;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            gui::SpinBox *data_rate;
-    };
+  gui::SpinBox *data_rate;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/SimuUs.h
===================================================================
--- /trunk/include/FlairSensorActuator/SimuUs.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/SimuUs.h	(revision 13)
@@ -17,84 +17,79 @@
 #include <Thread.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class SharedMem;
-    }
-    namespace gui
-    {
-        class SpinBox;
-    }
+namespace flair {
+namespace core {
+class SharedMem;
+}
+namespace gui {
+class SpinBox;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class SimuUs
-    *
-    * \brief Class for a simulation UsRangeFinder
-    */
-    class SimuUs : public core::Thread, public UsRangeFinder
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuUs. Control part.
-            *
-            * \param parent parent
-            * \param name name
-            * \param dev_id device id
-            * \param priority priority of the Thread
-            */
-            SimuUs(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class SimuUs
+*
+* \brief Class for a simulation UsRangeFinder
+*/
+class SimuUs : public core::Thread, public UsRangeFinder {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuUs. Control part.
+  *
+  * \param parent parent
+  * \param name name
+  * \param dev_id device id
+  * \param priority priority of the Thread
+  */
+  SimuUs(const core::FrameworkManager *parent, std::string name,
+         uint32_t dev_id, uint8_t priority);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuUs. Simulation part.\n
-            * The Thread of this class should not be run.
-            *
-            * \param parent parent
-            * \param name name
-            * \param dev_id device id
-            */
-            SimuUs(const core::IODevice* parent,std::string name,uint32_t dev_id);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuUs. Simulation part.\n
+  * The Thread of this class should not be run.
+  *
+  * \param parent parent
+  * \param name name
+  * \param dev_id device id
+  */
+  SimuUs(const core::IODevice *parent, std::string name, uint32_t dev_id);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~SimuUs();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~SimuUs();
 
-        protected:
-            /*!
-            * \brief SharedMem to access datas
-            *
-            */
-            core::SharedMem *shmem;
+protected:
+  /*!
+  * \brief SharedMem to access datas
+  *
+  */
+  core::SharedMem *shmem;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            gui::SpinBox *data_rate;
-    };
+  gui::SpinBox *data_rate;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/Srf08.h
===================================================================
--- /trunk/include/FlairSensorActuator/Srf08.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/Srf08.h	(revision 13)
@@ -17,90 +17,86 @@
 #include <UsRangeFinder.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class I2cPort;
-    }
-    namespace gui
-    {
-        class SpinBox;;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class I2cPort;
+}
+namespace gui {
+class SpinBox;
+;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class Srf08
-    *
-    * \brief Class for ultra sonic SRF08
-    */
-    class Srf08 : public core::Thread, public UsRangeFinder
-    {
+namespace flair {
+namespace sensor {
+/*! \class Srf08
+*
+* \brief Class for ultra sonic SRF08
+*/
+class Srf08 : public core::Thread, public UsRangeFinder {
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a SimuUs. Control part.
-            *
-            * \param parent parent
-            * \param name name
-            * \param i2cport i2c port
-            * \param address i2c slave address
-            * \param priority priority of the Thread
-            */
-            Srf08(const core::FrameworkManager* parent,std::string name,core::I2cPort* i2cport,uint16_t address,uint8_t priority);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a SimuUs. Control part.
+  *
+  * \param parent parent
+  * \param name name
+  * \param i2cport i2c port
+  * \param address i2c slave address
+  * \param priority priority of the Thread
+  */
+  Srf08(const core::FrameworkManager *parent, std::string name,
+        core::I2cPort *i2cport, uint16_t address, uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~Srf08();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~Srf08();
 
-            /*!
-            * \brief Set Range
-            *
-            * check datasheet for values
-            */
-            void SetRange(void);
+  /*!
+  * \brief Set Range
+  *
+  * check datasheet for values
+  */
+  void SetRange(void);
 
-            /*!
-            * \brief Set Max Gain
-            *
-            * check datasheet for values
-            */
-            void SetMaxGain(void);
+  /*!
+  * \brief Set Max Gain
+  *
+  * check datasheet for values
+  */
+  void SetMaxGain(void);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            void SendEcho(void);
-            void GetEcho(void);
+  void SendEcho(void);
+  void GetEcho(void);
 
-            bool is_init;
-            core::Time echo_time;
-            float z_1,z_2;
-            gui::SpinBox *gain,*range;
-            uint16_t address;
-            core::I2cPort* i2cport;
-    };
+  bool is_init;
+  core::Time echo_time;
+  float z_1, z_2;
+  gui::SpinBox *gain, *range;
+  uint16_t address;
+  core::I2cPort *i2cport;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/TargetController.h
===================================================================
--- /trunk/include/FlairSensorActuator/TargetController.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/TargetController.h	(revision 13)
@@ -25,72 +25,87 @@
 
 namespace flair {
-    namespace core {
-        class FrameworkManager;
-        class cvmatrix;
-        class Socket;
-        class io_data;
-    }
-    namespace gui {
-        class Tab;
-        class TabWidget;
-        class DataPlot1D;
-    }
+namespace core {
+class FrameworkManager;
+class cvmatrix;
+class Socket;
+class io_data;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class DataPlot1D;
+}
 }
 
-namespace flair { namespace sensor {
-    enum class ControllerAction;
+namespace flair {
+namespace sensor {
+enum class ControllerAction;
 
-    /*! \class TargetController
-    *
-    * \brief Base Class for target side remote controls
-    *
-    */
-    class TargetController : public core::Thread, public core::IODevice {
-    public:
-        TargetController(const core::FrameworkManager* parent,std::string name,uint8_t priority=0);
-        ~TargetController();
-        //void DrawUserInterface();
-        virtual bool IsConnected() const=0;
-        virtual bool IsDataFrameReady()=0;
-        //axis stuff
-        unsigned int GetAxisNumber() const;
-        virtual std::string GetAxisName(unsigned int axisId) const;
-        float GetAxisValue(unsigned int axisId) const;// always in the range [-1.0,1.0]
-        //button stuff
-        unsigned int GetButtonNumber() const;
-        bool IsButtonPressed(unsigned int buttonId) const;
-        virtual std::string GetButtonName(unsigned int axisId) const;
-        //controller state stuff
-        virtual bool IsControllerActionSupported(ControllerAction action) const {return false;};
-        bool SetLedOn(unsigned int ledId);
-        bool SetLedOff(unsigned int ledId);
-        bool Rumble(unsigned int left_force,unsigned int left_timeout,unsigned int right_force,unsigned int right_timeout);
-        bool FlashLed(unsigned int ledId,unsigned int on_timeout,unsigned int off_timeout);
-        void UpdateFrom(const core::io_data *data){}; //TODO
-        gui::Tab* GetTab(void) const;
+/*! \class TargetController
+*
+* \brief Base Class for target side remote controls
+*
+*/
+class TargetController : public core::Thread, public core::IODevice {
+public:
+  TargetController(const core::FrameworkManager *parent, std::string name,
+                   uint8_t priority = 0);
+  ~TargetController();
+  // void DrawUserInterface();
+  virtual bool IsConnected() const = 0;
+  virtual bool IsDataFrameReady() = 0;
+  // axis stuff
+  unsigned int GetAxisNumber() const;
+  virtual std::string GetAxisName(unsigned int axisId) const;
+  float
+  GetAxisValue(unsigned int axisId) const; // always in the range [-1.0,1.0]
+  // button stuff
+  unsigned int GetButtonNumber() const;
+  bool IsButtonPressed(unsigned int buttonId) const;
+  virtual std::string GetButtonName(unsigned int axisId) const;
+  // controller state stuff
+  virtual bool IsControllerActionSupported(ControllerAction action) const {
+    return false;
+  };
+  bool SetLedOn(unsigned int ledId);
+  bool SetLedOff(unsigned int ledId);
+  bool Rumble(unsigned int left_force, unsigned int left_timeout,
+              unsigned int right_force, unsigned int right_timeout);
+  bool FlashLed(unsigned int ledId, unsigned int on_timeout,
+                unsigned int off_timeout);
+  void UpdateFrom(const core::io_data *data){}; // TODO
+  gui::Tab *GetTab(void) const;
 
-    protected:
-        virtual bool ProcessMessage(core::Message *msg)=0;
-        void QueueMessage(core::Message msg);
-        virtual bool ControllerInitialization()=0;// {return true;};
-        //axis stuff
-        unsigned int axisNumber;
-        core::cvmatrix* axis=NULL;
-        virtual void AcquireAxisData(core::cvmatrix &axis)=0; //responsible for getting the axis data from the hardware
-        uint16_t bitsPerAxis;
-        //button stuff
-        unsigned int buttonNumber;
-        core::cvmatrix* button=NULL;
-        virtual void AcquireButtonData(core::cvmatrix &button)=0; //responsible for getting the button data from the hardware
-        //controller state stuff
-        unsigned int ledNumber;
-    private:
-        void Run();
-        std::queue<core::Message *> changeStateQueue;
-        flair::gui::Tab* main_tab;
-        flair::gui::Tab* setup_tab;
-    };
+protected:
+  virtual bool ProcessMessage(core::Message *msg) = 0;
+  void QueueMessage(core::Message msg);
+  virtual bool ControllerInitialization() = 0; // {return true;};
+  // axis stuff
+  unsigned int axisNumber;
+  core::cvmatrix *axis = NULL;
+  virtual void AcquireAxisData(core::cvmatrix &axis) = 0; // responsible for
+                                                          // getting the axis
+                                                          // data from the
+                                                          // hardware
+  uint16_t bitsPerAxis;
+  // button stuff
+  unsigned int buttonNumber;
+  core::cvmatrix *button = NULL;
+  virtual void AcquireButtonData(core::cvmatrix &button) = 0; // responsible for
+                                                              // getting the
+                                                              // button data
+                                                              // from the
+                                                              // hardware
+  // controller state stuff
+  unsigned int ledNumber;
 
-}}
+private:
+  void Run();
+  std::queue<core::Message *> changeStateQueue;
+  flair::gui::Tab *main_tab;
+  flair::gui::Tab *setup_tab;
+};
+}
+}
 
 #endif // TARGETCONTROLLER_H
Index: /trunk/include/FlairSensorActuator/TargetEthController.h
===================================================================
--- /trunk/include/FlairSensorActuator/TargetEthController.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/TargetEthController.h	(revision 13)
@@ -12,5 +12,6 @@
 //
 //  purpose:    class that gets remote controls through an ethernet connection.
-//              Typical use case: a remote control is plugged in a workstation and sends remote control
+//              Typical use case: a remote control is plugged in a workstation
+//              and sends remote control
 //              data to a distant target (this class) through Wifi
 //
@@ -24,62 +25,68 @@
 
 namespace flair {
-    namespace core {
-        class FrameworkManager;
-        class cvmatrix;
-        class TcpSocket;
-        class Socket;
-    }
-    namespace gui {
-        class Tab;
-        class TabWidget;
-        class DataPlot1D;
-    }
+namespace core {
+class FrameworkManager;
+class cvmatrix;
+class TcpSocket;
+class Socket;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class DataPlot1D;
+}
 }
 
-namespace flair { namespace sensor {
-    /*! \class TargetController
-    *
-    * \brief Base Class for target side remote controls
-    *
-    */
-    class TargetEthController : public TargetController {
-    public:
-        TargetEthController(const core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority=0);
-        ~TargetEthController();
-        //void DrawUserInterface();
-    protected:
-        bool IsConnected() const;
-        //axis stuff
-        std::string GetAxisName(unsigned int axisId) const;
-        //button stuff
-        std::string GetButtonName(unsigned int axisId) const;
-        //controller state stuff
-        bool ProcessMessage(core::Message *msg);
-        bool IsControllerActionSupported(ControllerAction action) const;
+namespace flair {
+namespace sensor {
+/*! \class TargetController
+*
+* \brief Base Class for target side remote controls
+*
+*/
+class TargetEthController : public TargetController {
+public:
+  TargetEthController(const core::FrameworkManager *parent, std::string name,
+                      uint16_t port, uint8_t priority = 0);
+  ~TargetEthController();
+  // void DrawUserInterface();
+protected:
+  bool IsConnected() const;
+  // axis stuff
+  std::string GetAxisName(unsigned int axisId) const;
+  // button stuff
+  std::string GetButtonName(unsigned int axisId) const;
+  // controller state stuff
+  bool ProcessMessage(core::Message *msg);
+  bool IsControllerActionSupported(ControllerAction action) const;
 
-        bool IsDataFrameReady();
-        void AcquireAxisData(core::cvmatrix &axis); //responsible for getting the axis data from the hardware
-        void AcquireButtonData(core::cvmatrix &button); //responsible for getting the button data from the hardware
+  bool IsDataFrameReady();
+  void AcquireAxisData(core::cvmatrix &axis); // responsible for getting the
+                                              // axis data from the hardware
+  void AcquireButtonData(core::cvmatrix &button); // responsible for getting the
+                                                  // button data from the
+                                                  // hardware
 
-        bool ControllerInitialization();
+  bool ControllerInitialization();
 
-    private:
-        uint16_t readBits(uint8_t offsetInBits,uint8_t valueSizeInBits,char *buffer,size_t bufferSize);
-        uint8_t getByteOrNull(char *buffer,int byte,size_t bufferSize);
-        uint32_t charBufferToUint32(char *buffer, size_t bufferSize);
-        core::TcpSocket *listeningSocket;
-        int listeningPort;
-        core::TcpSocket *controlSocket=NULL;
-        core::Socket *dataSocket;
-        std::string *axisName=NULL;
-        std::string *buttonName=NULL;
-        size_t dataFrameSize;
-        char *dataFrameBuffer;
-        char *receiveFrameBuffer;
-        size_t receiveCurrentPosition;
-        uint8_t buttonOffset;
-    };
-
-}}
+private:
+  uint16_t readBits(uint8_t offsetInBits, uint8_t valueSizeInBits, char *buffer,
+                    size_t bufferSize);
+  uint8_t getByteOrNull(char *buffer, int byte, size_t bufferSize);
+  uint32_t charBufferToUint32(char *buffer, size_t bufferSize);
+  core::TcpSocket *listeningSocket;
+  int listeningPort;
+  core::TcpSocket *controlSocket = NULL;
+  core::Socket *dataSocket;
+  std::string *axisName = NULL;
+  std::string *buttonName = NULL;
+  size_t dataFrameSize;
+  char *dataFrameBuffer;
+  char *receiveFrameBuffer;
+  size_t receiveCurrentPosition;
+  uint8_t buttonOffset;
+};
+}
+}
 
 #endif // TARGETCONTROLLER_H
Index: /trunk/include/FlairSensorActuator/UsRangeFinder.h
===================================================================
--- /trunk/include/FlairSensorActuator/UsRangeFinder.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/UsRangeFinder.h	(revision 13)
@@ -16,139 +16,133 @@
 #include <IODevice.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-    }
-    namespace gui
-    {
-        class Tab;
-        class TabWidget;
-        class GroupBox;
-        class Layout;
-        class DataPlot1D;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+}
+namespace gui {
+class Tab;
+class TabWidget;
+class GroupBox;
+class Layout;
+class DataPlot1D;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class UsRangeFinder
-    *
-    * \brief Base class for UsRangeFinder
-    *
-    * Use this class to define a custom UsRangeFinder.
-    *
-    */
-    class UsRangeFinder : public core::IODevice
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a UsRangeFinder. Control part.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            UsRangeFinder(const core::FrameworkManager* parent,std::string name);
+namespace flair {
+namespace sensor {
+/*! \class UsRangeFinder
+*
+* \brief Base class for UsRangeFinder
+*
+* Use this class to define a custom UsRangeFinder.
+*
+*/
+class UsRangeFinder : public core::IODevice {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a UsRangeFinder. Control part.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  UsRangeFinder(const core::FrameworkManager *parent, std::string name);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a UsRangeFinder. Simulation part.
-            *
-            * \param parent parent
-            * \param name name
-            */
-            UsRangeFinder(const core::IODevice* parent,std::string name);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a UsRangeFinder. Simulation part.
+  *
+  * \param parent parent
+  * \param name name
+  */
+  UsRangeFinder(const core::IODevice *parent, std::string name);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~UsRangeFinder();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~UsRangeFinder();
 
-            /*!
-            * \brief Lock user interface
-            *
-            */
-            void LockUserInterface(void) const;
+  /*!
+  * \brief Lock user interface
+  *
+  */
+  void LockUserInterface(void) const;
 
-            /*!
-            * \brief Unlock user interface
-            *
-            */
-            void UnlockUserInterface(void) const;
+  /*!
+  * \brief Unlock user interface
+  *
+  */
+  void UnlockUserInterface(void) const;
 
-            /*!
-            * \brief Use default plot
-            *
-            * Should no be used for the simulation part.
-            */
-            void UseDefaultPlot(void);
+  /*!
+  * \brief Use default plot
+  *
+  * Should no be used for the simulation part.
+  */
+  void UseDefaultPlot(void);
 
-            /*!
-            * \brief Plot
-            *
-            * \return DataPlot1D
-            */
-            gui::DataPlot1D* GetPlot(void) const;
+  /*!
+  * \brief Plot
+  *
+  * \return DataPlot1D
+  */
+  gui::DataPlot1D *GetPlot(void) const;
 
-            /*!
-            * \brief Setup Layout
-            *
-            * \return a Layout available
-            */
-            gui::Layout* GetLayout(void) const;
+  /*!
+  * \brief Setup Layout
+  *
+  * \return a Layout available
+  */
+  gui::Layout *GetLayout(void) const;
 
-            /*!
-            * \brief Plot tab
-            *
-            * \return plot Tab
-            */
-            gui::Tab* GetPlotTab(void) const;
+  /*!
+  * \brief Plot tab
+  *
+  * \return plot Tab
+  */
+  gui::Tab *GetPlotTab(void) const;
 
-            /*!
-            * \brief Value
-            *
-            * \return output value
-            */
-            float Value(void) const;
+  /*!
+  * \brief Value
+  *
+  * \return output value
+  */
+  float Value(void) const;
 
-        protected:
-            /*!
-            * \brief Output matrix
-            *
-            * \return output matrix
-            */
-            core::cvmatrix *output;
+protected:
+  /*!
+  * \brief Output matrix
+  *
+  * \return output matrix
+  */
+  core::cvmatrix *output;
 
-            /*!
-            * \brief Setup GroupBox
-            *
-            * \return a GroupBox available
-            */
-            gui::GroupBox* GetGroupBox(void) const;
+  /*!
+  * \brief Setup GroupBox
+  *
+  * \return a GroupBox available
+  */
+  gui::GroupBox *GetGroupBox(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            gui::Tab* main_tab;
-            gui::TabWidget *tab;
-            gui::GroupBox* setup_groupbox;
-            gui::Tab* sensor_tab;
-            gui::DataPlot1D* plot;
-            gui::Tab* plot_tab;
-    };
+  gui::Tab *main_tab;
+  gui::TabWidget *tab;
+  gui::GroupBox *setup_groupbox;
+  gui::Tab *sensor_tab;
+  gui::DataPlot1D *plot;
+  gui::Tab *plot_tab;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/V4LCamera.h
===================================================================
--- /trunk/include/FlairSensorActuator/V4LCamera.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/V4LCamera.h	(revision 13)
@@ -18,134 +18,131 @@
 #include <highgui.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvimage;
-        class FrameworkManager;
-    }
-    namespace gui
-    {
-        class GridLayout;
-        class DoubleSpinBox;
-        class CheckBox;
-        class Label;
-    }
+namespace flair {
+namespace core {
+class cvimage;
+class FrameworkManager;
+}
+namespace gui {
+class GridLayout;
+class DoubleSpinBox;
+class CheckBox;
+class Label;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class V4LCamera
-    *
-    * \brief Base class for V4l camera
-    */
-    class V4LCamera : public core::Thread, public Camera
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a Camera.
-            *
-            * \param parent parent
-            * \param name name
-            * \param camera_index camera index
-            * \param width width
-            * \param height height
-            * \param format image format
-            * \param priority priority of the Thread
-            */
-            V4LCamera(const core::FrameworkManager* parent,std::string name,uint8_t camera_index,uint16_t width,uint16_t height,core::cvimage::Type::Format format,uint8_t priority);
+namespace flair {
+namespace sensor {
+/*! \class V4LCamera
+*
+* \brief Base class for V4l camera
+*/
+class V4LCamera : public core::Thread, public Camera {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a Camera.
+  *
+  * \param parent parent
+  * \param name name
+  * \param camera_index camera index
+  * \param width width
+  * \param height height
+  * \param format image format
+  * \param priority priority of the Thread
+  */
+  V4LCamera(const core::FrameworkManager *parent, std::string name,
+            uint8_t camera_index, uint16_t width, uint16_t height,
+            core::cvimage::Type::Format format, uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~V4LCamera();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~V4LCamera();
 
-        protected:
-            /*!
-            * \brief Set Gain
-            *
-            * \param value value between 0 and 1
-            */
-            virtual void SetGain(float value);
+protected:
+  /*!
+  * \brief Set Gain
+  *
+  * \param value value between 0 and 1
+  */
+  virtual void SetGain(float value);
 
-            /*!
-            * \brief Set Auto Gain
-            *
-            * \param value value
-            */
-            virtual void SetAutoGain(bool value);
+  /*!
+  * \brief Set Auto Gain
+  *
+  * \param value value
+  */
+  virtual void SetAutoGain(bool value);
 
-            /*!
-            * \brief Set Exposure
-            *
-            * \param value value between 0 and 1
-            */
-            virtual void SetExposure(float value);
+  /*!
+  * \brief Set Exposure
+  *
+  * \param value value between 0 and 1
+  */
+  virtual void SetExposure(float value);
 
-            /*!
-            * \brief Set Auto Exposure
-            *
-            * \param value value
-            */
-            virtual void SetAutoExposure(bool value);
+  /*!
+  * \brief Set Auto Exposure
+  *
+  * \param value value
+  */
+  virtual void SetAutoExposure(bool value);
 
-            /*!
-            * \brief Set Brightness
-            *
-            * \param value value between 0 and 1
-            */
-            virtual void SetBrightness(float value);
+  /*!
+  * \brief Set Brightness
+  *
+  * \param value value between 0 and 1
+  */
+  virtual void SetBrightness(float value);
 
-            /*!
-            * \brief Set Saturation
-            *
-            * \param value value between 0 and 1
-            */
-            virtual void SetSaturation(float value);
+  /*!
+  * \brief Set Saturation
+  *
+  * \param value value between 0 and 1
+  */
+  virtual void SetSaturation(float value);
 
-            /*!
-            * \brief Set Hue
-            *
-            * \param value value between 0 and 1
-            */
-            virtual void SetHue(float value);
+  /*!
+  * \brief Set Hue
+  *
+  * \param value value between 0 and 1
+  */
+  virtual void SetHue(float value);
 
-            /*!
-            * \brief Set Contrast
-            *
-            * \param value value between 0 and 1
-            */
-            virtual void SetContrast(float value);
+  /*!
+  * \brief Set Contrast
+  *
+  * \param value value between 0 and 1
+  */
+  virtual void SetContrast(float value);
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            CvCapture* capture;
+  CvCapture *capture;
 
-            gui::Tab* sensor_tab;
-            gui::DoubleSpinBox *bright,*exposure,*gain,*contrast,*hue,*sharpness,*sat;
-            gui::CheckBox *autogain,*awb,*autoexposure;
-            gui::Label *fps;
-    };
+  gui::Tab *sensor_tab;
+  gui::DoubleSpinBox *bright, *exposure, *gain, *contrast, *hue, *sharpness,
+      *sat;
+  gui::CheckBox *autogain, *awb, *autoexposure;
+  gui::Label *fps;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/VrpnClient.h
===================================================================
--- /trunk/include/FlairSensorActuator/VrpnClient.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/VrpnClient.h	(revision 13)
@@ -6,5 +6,6 @@
  * \file VrpnClient.h
  * \brief Class to connect to a Vrpn server
- * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
+ * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS
+ * 7253
  * \date 2013/04/03
  * \version 4.0
@@ -16,16 +17,13 @@
 #include <Thread.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class FrameworkManager;
-        class SerialPort;
-    }
-    namespace gui
-    {
-        class TabWidget;
-        class Layout;
-    }
+namespace flair {
+namespace core {
+class FrameworkManager;
+class SerialPort;
+}
+namespace gui {
+class TabWidget;
+class Layout;
+}
 }
 
@@ -33,81 +31,81 @@
 class VrpnObject_impl;
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class VrpnClient
-    *
-    * \brief Class to connect to a Vrpn server
-    */
-    class VrpnClient:public core::Thread
-    {
-        friend class ::VrpnObject_impl;
+namespace flair {
+namespace sensor {
+/*! \class VrpnClient
+*
+* \brief Class to connect to a Vrpn server
+*/
+class VrpnClient : public core::Thread {
+  friend class ::VrpnObject_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a VrpnClient. Connection is done by IP.
-            *
-            * \param parent parent
-            * \param name name
-            * \param address server address
-            * \param us_period Thread period in us
-            * \param priority priority of the Thread
-            */
-            VrpnClient(const core::FrameworkManager* parent,std::string name,std::string address,uint16_t us_period,uint8_t priority);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a VrpnClient. Connection is done by IP.
+  *
+  * \param parent parent
+  * \param name name
+  * \param address server address
+  * \param us_period Thread period in us
+  * \param priority priority of the Thread
+  */
+  VrpnClient(const core::FrameworkManager *parent, std::string name,
+             std::string address, uint16_t us_period, uint8_t priority);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a VrpnClient. Connection is done by XBee modem.
-            *
-            * \param parent parent
-            * \param name name
-            * \param serialport SerialPort for XBee modem
-            * \param us_period Xbee RX timeout in us
-            * \param priority priority of the Thread
-            */
-            VrpnClient(const core::FrameworkManager* parent,std::string name,core::SerialPort* serialport,uint16_t us_period,uint8_t priority);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a VrpnClient. Connection is done by XBee modem.
+  *
+  * \param parent parent
+  * \param name name
+  * \param serialport SerialPort for XBee modem
+  * \param us_period Xbee RX timeout in us
+  * \param priority priority of the Thread
+  */
+  VrpnClient(const core::FrameworkManager *parent, std::string name,
+             core::SerialPort *serialport, uint16_t us_period,
+             uint8_t priority);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~VrpnClient();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~VrpnClient();
 
-            /*!
-            * \brief Setup Layout
-            *
-            * \return a Layout available
-            */
-            gui::Layout* GetLayout(void) const;
+  /*!
+  * \brief Setup Layout
+  *
+  * \return a Layout available
+  */
+  gui::Layout *GetLayout(void) const;
 
-            /*!
-            * \brief Setup Tab
-            *
-            * \return a Tab available
-            */
-            gui::TabWidget* GetTabWidget(void) const;
+  /*!
+  * \brief Setup Tab
+  *
+  * \return a Tab available
+  */
+  gui::TabWidget *GetTabWidget(void) const;
 
-            /*!
-            * \brief Is XBee used?
-            *
-            * \return true if connection is based on XBee modem
-            */
-            bool UseXbee(void) const;
+  /*!
+  * \brief Is XBee used?
+  *
+  * \return true if connection is based on XBee modem
+  */
+  bool UseXbee(void) const;
 
-        private:
-            /*!
-            * \brief Run function
-            *
-            * Reimplemented from Thread.
-            *
-            */
-            void Run(void);
+private:
+  /*!
+  * \brief Run function
+  *
+  * Reimplemented from Thread.
+  *
+  */
+  void Run(void);
 
-            class VrpnClient_impl* pimpl_;
-    };
+  class VrpnClient_impl *pimpl_;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/VrpnObject.h
===================================================================
--- /trunk/include/FlairSensorActuator/VrpnObject.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/VrpnObject.h	(revision 13)
@@ -6,5 +6,6 @@
  * \file VrpnObject.h
  * \brief Class for VRPN object
- * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
+ * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS
+ * 7253
  * \date 2013/04/03
  * \version 4.0
@@ -17,19 +18,16 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class cvmatrix;
-        class Vector3D;
-        class Euler;
-        class Quaternion;
-    }
-    namespace gui
-    {
-        class TabWidget;
-        class Tab;
-        class DataPlot1D;
-    }
+namespace flair {
+namespace core {
+class cvmatrix;
+class Vector3D;
+class Euler;
+class Quaternion;
+}
+namespace gui {
+class TabWidget;
+class Tab;
+class DataPlot1D;
+}
 }
 
@@ -37,152 +35,151 @@
 class VrpnClient_impl;
 
-namespace flair
-{
-namespace sensor
-{
-    class VrpnClient;
+namespace flair {
+namespace sensor {
+class VrpnClient;
 
-    /*! \class VrpnObject
-    *
-    * \brief Class for VRPN object
-    */
-    class VrpnObject: public core::IODevice
-    {
-        friend class ::VrpnObject_impl;
-        friend class ::VrpnClient_impl;
+/*! \class VrpnObject
+*
+* \brief Class for VRPN object
+*/
+class VrpnObject : public core::IODevice {
+  friend class ::VrpnObject_impl;
+  friend class ::VrpnClient_impl;
 
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a VrpnObject. Connection is done by IP.
-            *
-            * \param parent parent
-            * \param name VRPN object name, should be the same as defined in the server
-            * \param tab Tab for the user interface
-            */
-            VrpnObject(const VrpnClient *parent,std::string name,const gui::TabWidget* tab);
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a VrpnObject. Connection is done by IP.
+  *
+  * \param parent parent
+  * \param name VRPN object name, should be the same as defined in the server
+  * \param tab Tab for the user interface
+  */
+  VrpnObject(const VrpnClient *parent, std::string name,
+             const gui::TabWidget *tab);
 
-            /*!
-            * \brief Constructor
-            *
-            * Construct a VrpnObject. Connection is done by IP.
-            *
-            * \param parent parent
-            * \param name name
-            * \param id VRPN object id, should be the same as defined in the server
-            * \param tab Tab for the user interface
-            */
-            VrpnObject(const VrpnClient *parent,std::string name,uint8_t id,const gui::TabWidget* tab);
+  /*!
+  * \brief Constructor
+  *
+  * Construct a VrpnObject. Connection is done by IP.
+  *
+  * \param parent parent
+  * \param name name
+  * \param id VRPN object id, should be the same as defined in the server
+  * \param tab Tab for the user interface
+  */
+  VrpnObject(const VrpnClient *parent, std::string name, uint8_t id,
+             const gui::TabWidget *tab);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~VrpnObject(void);
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~VrpnObject(void);
 
-            /*!
-            * \brief Plot tab
-            *
-            * \return plot Tab
-            */
-            gui::Tab* GetPlotTab(void) const;
+  /*!
+  * \brief Plot tab
+  *
+  * \return plot Tab
+  */
+  gui::Tab *GetPlotTab(void) const;
 
-            /*!
-            * \brief Get Last Packet Time
-            *
-            * \return Time of last received packe
-            */
-            core::Time GetLastPacketTime(void) const;
+  /*!
+  * \brief Get Last Packet Time
+  *
+  * \return Time of last received packe
+  */
+  core::Time GetLastPacketTime(void) const;
 
-            /*!
-            * \brief Is object tracked?
-            *
-            * \param timeout_ms timeout
-            * \return true if object is tracked during timeout_ms time
-            */
-            bool IsTracked(unsigned int timeout_ms) const;
+  /*!
+  * \brief Is object tracked?
+  *
+  * \param timeout_ms timeout
+  * \return true if object is tracked during timeout_ms time
+  */
+  bool IsTracked(unsigned int timeout_ms) const;
 
-            /*!
-            * \brief Get Euler angles
-            *
-            * \param euler output datas
-            */
-            void GetEuler(core::Euler &euler) const;
+  /*!
+  * \brief Get Euler angles
+  *
+  * \param euler output datas
+  */
+  void GetEuler(core::Euler &euler) const;
 
-            /*!
-            * \brief Get Quaternion
-            *
-            * \param quaternion output datas
-            */
-            void GetQuaternion(core::Quaternion &quaternion) const;
-            /*!
-            * \brief Get Position
-            *
-            * \param point output datas
-            */
-            void GetPosition(core::Vector3D &point) const;
+  /*!
+  * \brief Get Quaternion
+  *
+  * \param quaternion output datas
+  */
+  void GetQuaternion(core::Quaternion &quaternion) const;
+  /*!
+  * \brief Get Position
+  *
+  * \param point output datas
+  */
+  void GetPosition(core::Vector3D &point) const;
 
-            /*!
-            * \brief Output matrix
-            *
-            * Matrix is of type float and as follows: \n
-            * (0,0) roll (rad) \n
-            * (1,0) pitch (rad) \n
-            * (2,0) yaw (rad) \n
-            * (3,0) x \n
-            * (4,0) y \n
-            * (5,0) z \n
-            *
-            * \return Output metrix
-            */
-            core::cvmatrix *Output(void) const;
+  /*!
+  * \brief Output matrix
+  *
+  * Matrix is of type float and as follows: \n
+  * (0,0) roll (rad) \n
+  * (1,0) pitch (rad) \n
+  * (2,0) yaw (rad) \n
+  * (3,0) x \n
+  * (4,0) y \n
+  * (5,0) z \n
+  *
+  * \return Output metrix
+  */
+  core::cvmatrix *Output(void) const;
 
-            /*!
-            * \brief State matrix
-            *
-            * Matrix is of type float and as follows: \n
-            * (0,0) roll (deg) \n
-            * (1,0) pitch (deg) \n
-            * (2,0) yaw (deg) \n
-            *
-            * \return State metrix
-            */
-            core::cvmatrix *State(void) const;
+  /*!
+  * \brief State matrix
+  *
+  * Matrix is of type float and as follows: \n
+  * (0,0) roll (deg) \n
+  * (1,0) pitch (deg) \n
+  * (2,0) yaw (deg) \n
+  *
+  * \return State metrix
+  */
+  core::cvmatrix *State(void) const;
 
-            /*!
-            * \brief x plot
-            *
-            * \return x plot
-            */
-            gui::DataPlot1D* xPlot(void) const;
+  /*!
+  * \brief x plot
+  *
+  * \return x plot
+  */
+  gui::DataPlot1D *xPlot(void) const;
 
-            /*!
-            * \brief y plot
-            *
-            * \return y plot
-            */
-            gui::DataPlot1D* yPlot(void) const;
+  /*!
+  * \brief y plot
+  *
+  * \return y plot
+  */
+  gui::DataPlot1D *yPlot(void) const;
 
-            /*!
-            * \brief z plot
-            *
-            * \return z plot
-            */
-            gui::DataPlot1D* zPlot(void) const;
+  /*!
+  * \brief z plot
+  *
+  * \return z plot
+  */
+  gui::DataPlot1D *zPlot(void) const;
 
-        private:
-            /*!
-            * \brief Update using provided datas
-            *
-            * Reimplemented from IODevice.
-            *
-            * \param data data from the parent to process
-            */
-            void UpdateFrom(const core::io_data *data){};
+private:
+  /*!
+  * \brief Update using provided datas
+  *
+  * Reimplemented from IODevice.
+  *
+  * \param data data from the parent to process
+  */
+  void UpdateFrom(const core::io_data *data){};
 
-            void mainloop(void);
-            class VrpnObject_impl* pimpl_;
-    };
+  void mainloop(void);
+  class VrpnObject_impl *pimpl_;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSensorActuator/XBldc.h
===================================================================
--- /trunk/include/FlairSensorActuator/XBldc.h	(revision 12)
+++ /trunk/include/FlairSensorActuator/XBldc.h	(revision 13)
@@ -16,79 +16,74 @@
 #include "Bldc.h"
 
-namespace flair
-{
-    namespace core
-    {
-        class IODevice;
-        class I2cPort;
-    }
-    namespace gui
-    {
-        class Layout;
-    }
+namespace flair {
+namespace core {
+class IODevice;
+class I2cPort;
+}
+namespace gui {
+class Layout;
+}
 }
 
 class XBldc_impl;
 
-namespace flair
-{
-namespace actuator
-{
-    /*! \class XBldc
-    *
-    * \brief Class for Xufo Bldc
-    */
-    class XBldc : public Bldc
-    {
-        public:
-            /*!
-            * \brief Constructor
-            *
-            * Construct a XBldc.
-            *
-            * \param parent parent
-            * \param layout layout
-            * \param name name
-            * \param i2cport i2cport
-            */
-            XBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,core::I2cPort* i2cport);
+namespace flair {
+namespace actuator {
+/*! \class XBldc
+*
+* \brief Class for Xufo Bldc
+*/
+class XBldc : public Bldc {
+public:
+  /*!
+  * \brief Constructor
+  *
+  * Construct a XBldc.
+  *
+  * \param parent parent
+  * \param layout layout
+  * \param name name
+  * \param i2cport i2cport
+  */
+  XBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
+        core::I2cPort *i2cport);
 
-            /*!
-            * \brief Destructor
-            *
-            */
-            ~XBldc();
+  /*!
+  * \brief Destructor
+  *
+  */
+  ~XBldc();
 
-            /*!
-            * \brief Has speed measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has speed measurement
-            */
-            bool HasSpeedMeasurement(void) const{return false;};
+  /*!
+  * \brief Has speed measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has speed measurement
+  */
+  bool HasSpeedMeasurement(void) const { return false; };
 
-            /*!
-            * \brief Has current measurement
-            *
-            * Reimplemented from Bldc. \n
-            *
-            * \return true if it has current measurement
-            */
-            bool HasCurrentMeasurement(void) const{return false;};
+  /*!
+  * \brief Has current measurement
+  *
+  * Reimplemented from Bldc. \n
+  *
+  * \return true if it has current measurement
+  */
+  bool HasCurrentMeasurement(void) const { return false; };
 
-        private:
-            /*!
-            * \brief Set motors values
-            *
-            * Reimplemented from Bldc. \n
-            * Values size must be the same as MotorsCount()
-            *
-            * \param values motor values
-            */
-            void SetMotors(float* value);
+private:
+  /*!
+  * \brief Set motors values
+  *
+  * Reimplemented from Bldc. \n
+  * Values size must be the same as MotorsCount()
+  *
+  * \param values motor values
+  */
+  void SetMotors(float *value);
 
-            class XBldc_impl* pimpl_;
-    };
+  class XBldc_impl *pimpl_;
+};
 } // end namespace actuator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/Blade.h
===================================================================
--- /trunk/include/FlairSimulator/Blade.h	(revision 12)
+++ /trunk/include/FlairSimulator/Blade.h	(revision 13)
@@ -20,39 +20,33 @@
 #include <ISceneNode.h>
 
-namespace irr
-{
-    namespace scene
-    {
-        class IMesh;
-    }
+namespace irr {
+namespace scene {
+class IMesh;
+}
 }
 
-namespace flair
-{
-namespace simulator
-{
-    class MeshSceneNode;
-    class Model;
+namespace flair {
+namespace simulator {
+class MeshSceneNode;
+class Model;
 
-    class Blade : public irr::scene::ISceneNode
-    {
-        public:
+class Blade : public irr::scene::ISceneNode {
+public:
+  Blade(Model *parent,
+        const irr::core::vector3df &position = irr::core::vector3df(0, 0, 0),
+        bool inverted = false, irr::s32 id = -1);
+  virtual void OnRegisterSceneNode(void);
+  virtual void render(void);
+  virtual const irr::core::aabbox3d<irr::f32> &getBoundingBox(void) const {
+    return Box;
+  }
+  void SetRotationSpeed(float value);
 
-            Blade(Model* parent,const irr::core::vector3df& position = irr::core::vector3df(0,0,0),bool inverted=false,irr::s32 id=-1);
-            virtual void OnRegisterSceneNode(void);
-            virtual void render(void);
-            virtual const irr::core::aabbox3d<irr::f32>& getBoundingBox(void) const
-            {
-                return Box;
-            }
-            void SetRotationSpeed(float value);
-
-
-        private:
-            irr::scene::IMesh *pale;
-            irr::core::aabbox3d<irr::f32> Box;
-            MeshSceneNode *pale_1,*pale_2;
-            irr::scene::ISceneNodeAnimator *anim;
-    };
+private:
+  irr::scene::IMesh *pale;
+  irr::core::aabbox3d<irr::f32> Box;
+  MeshSceneNode *pale_1, *pale_2;
+  irr::scene::ISceneNodeAnimator *anim;
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/Castle.h
===================================================================
--- /trunk/include/FlairSimulator/Castle.h	(revision 12)
+++ /trunk/include/FlairSimulator/Castle.h	(revision 13)
@@ -19,17 +19,15 @@
 
 #include <Gui.h>
-namespace flair
-{
-namespace simulator
-{
-    class Castle:public Gui
-    {
-        public:
-            Castle(const flair::simulator::Simulator* parent,int app_width, int app_height,int scene_width, int scene_height,std::string media_path);
-            ~Castle();
+namespace flair {
+namespace simulator {
+class Castle : public Gui {
+public:
+  Castle(const flair::simulator::Simulator *parent, int app_width,
+         int app_height, int scene_width, int scene_height,
+         std::string media_path);
+  ~Castle();
 
-        private:
-
-    };
+private:
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/DiscreteTimeVariable.h
===================================================================
--- /trunk/include/FlairSimulator/DiscreteTimeVariable.h	(revision 12)
+++ /trunk/include/FlairSimulator/DiscreteTimeVariable.h	(revision 13)
@@ -20,36 +20,29 @@
 #include <stdlib.h>
 
-namespace flair
-{
-namespace simulator
-{
-    template <typename T,size_t size>
-    class DiscreteTimeVariable
-    {
-        public:
-            DiscreteTimeVariable(){};
-            ~DiscreteTimeVariable(){};
-            T& operator[](ssize_t idx)
-            {
-                if(idx>0) idx=0;
-                if(idx<(ssize_t)(-size+1)) idx=-size+1;
-                return array[-idx];
-            }
-            const T&operator[](ssize_t idx) const
-            {
-                return const_cast<T&>(*this)[idx];
-            };
-            void Update(void)
-            {
-                for(int i=size-1;i>0;i--)
-                {
-                    array[i]=array[i-1];
-                }
-            }
+namespace flair {
+namespace simulator {
+template <typename T, size_t size> class DiscreteTimeVariable {
+public:
+  DiscreteTimeVariable(){};
+  ~DiscreteTimeVariable(){};
+  T &operator[](ssize_t idx) {
+    if (idx > 0)
+      idx = 0;
+    if (idx < (ssize_t)(-size + 1))
+      idx = -size + 1;
+    return array[-idx];
+  }
+  const T &operator[](ssize_t idx) const {
+    return const_cast<T &>(*this)[idx];
+  };
+  void Update(void) {
+    for (int i = size - 1; i > 0; i--) {
+      array[i] = array[i - 1];
+    }
+  }
 
-        private:
-            T array[size];
-
-    };
+private:
+  T array[size];
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/Gui.h
===================================================================
--- /trunk/include/FlairSimulator/Gui.h	(revision 12)
+++ /trunk/include/FlairSimulator/Gui.h	(revision 13)
@@ -22,27 +22,22 @@
 #include <vector3d.h>
 
-namespace irr
-{
-    class IrrlichtDevice;
-    namespace video
-    {
-        class ITexture;
-    }
-    namespace scene
-    {
-        class IAnimatedMesh;
-        class ISceneManager;
-    }
+namespace irr {
+class IrrlichtDevice;
+namespace video {
+class ITexture;
+}
+namespace scene {
+class IAnimatedMesh;
+class ISceneManager;
+}
 }
 
-namespace flair
-{
-    namespace core
-    {
-       class Object;
-       class Vector3D;
-       class Euler;
-       class Quaternion;
-    }
+namespace flair {
+namespace core {
+class Object;
+class Vector3D;
+class Euler;
+class Quaternion;
+}
 }
 
@@ -51,103 +46,106 @@
 class Model_impl;
 
-namespace flair
-{
-namespace simulator
-{
-    class Simulator;
+namespace flair {
+namespace simulator {
+class Simulator;
 
-    class Gui: public core::Object
-    {
-        friend class ::Simulator_impl;
+class Gui : public core::Object {
+  friend class ::Simulator_impl;
 
-        public:
-            Gui(const Simulator* parent,std::string name,int app_width, int app_height,int scene_width, int scene_height,std::string media_path,irr::video::E_DRIVER_TYPE driver_type=irr::video::EDT_OPENGL);
-            ~Gui();
-            irr::core::vector3df getRotation(void) const;
-            irr::video::ITexture* getTexture(std::string filename) const;
-            irr::scene::IAnimatedMesh* getMesh(std::string filename) const;
-            irr::scene::ISceneManager* getSceneManager(void) const;
-            float getAspectRatio(void) const;
+public:
+  Gui(const Simulator *parent, std::string name, int app_width, int app_height,
+      int scene_width, int scene_height, std::string media_path,
+      irr::video::E_DRIVER_TYPE driver_type = irr::video::EDT_OPENGL);
+  ~Gui();
+  irr::core::vector3df getRotation(void) const;
+  irr::video::ITexture *getTexture(std::string filename) const;
+  irr::scene::IAnimatedMesh *getMesh(std::string filename) const;
+  irr::scene::ISceneManager *getSceneManager(void) const;
+  float getAspectRatio(void) const;
 
-        protected:
-            irr::IrrlichtDevice *getDevice(void) const;
-            void setMesh(std::string file,irr::core::vector3df position = irr::core::vector3df(0,0,0),irr::core::vector3df rotation= irr::core::vector3df(0,0,0),irr::core::vector3df scale= irr::core::vector3df(1,1,1));
+protected:
+  irr::IrrlichtDevice *getDevice(void) const;
+  void setMesh(std::string file,
+               irr::core::vector3df position = irr::core::vector3df(0, 0, 0),
+               irr::core::vector3df rotation = irr::core::vector3df(0, 0, 0),
+               irr::core::vector3df scale = irr::core::vector3df(1, 1, 1));
 
-        private:
-            Gui_impl *pimpl_;
-    };
+private:
+  Gui_impl *pimpl_;
+};
 
-    /*!
-    * \brief get Gui
-    *
-    * \return the Gui
-    */
-    Gui* getGui(void);
+/*!
+* \brief get Gui
+*
+* \return the Gui
+*/
+Gui *getGui(void);
 
-    bool noGui(void);
+bool noGui(void);
 
-    bool isGlExtensionSupported(const std::string& ext); // check if a extension is supported
+bool isGlExtensionSupported(
+    const std::string &ext); // check if a extension is supported
 
-    /*!
-    * \brief Convert to irrlicht scale
-    *
-    * \param value value in simulator scale
-    *
-    * \return value in irrlicht scale
-    */
-    float ToIrrlichtScale(float value);
+/*!
+* \brief Convert to irrlicht scale
+*
+* \param value value in simulator scale
+*
+* \return value in irrlicht scale
+*/
+float ToIrrlichtScale(float value);
 
-    /*!
-    * \brief Convert to simulator scale
-    *
-    * \param value value in irrlicht scale
-    *
-    * \return value in simulator scale
-    */
-    float ToSimulatorScale(float value);
+/*!
+* \brief Convert to simulator scale
+*
+* \param value value in irrlicht scale
+*
+* \return value in simulator scale
+*/
+float ToSimulatorScale(float value);
 
-    /*!
-    * \brief Convert to irrlicht coordinates
-    *
-    * irrlicht is left handed and as a different scale
-    *
-    * \param vect vector in simulator coordinates
-    *
-    * \return vector in irrlicht coordinates
-    */
-    irr::core::vector3df ToIrrlichtCoordinates(irr::core::vector3df vect);
+/*!
+* \brief Convert to irrlicht coordinates
+*
+* irrlicht is left handed and as a different scale
+*
+* \param vect vector in simulator coordinates
+*
+* \return vector in irrlicht coordinates
+*/
+irr::core::vector3df ToIrrlichtCoordinates(irr::core::vector3df vect);
 
-    /*!
-    * \brief Convert to irrlicht coordinates
-    *
-    * irrlicht is left handed and as a different scale
-    *
-    * \param vect vector in simulator coordinates
-    *
-    * \return vector in irrlicht coordinates
-    */
-    irr::core::vector3df ToIrrlichtCoordinates(core::Vector3D vect);
+/*!
+* \brief Convert to irrlicht coordinates
+*
+* irrlicht is left handed and as a different scale
+*
+* \param vect vector in simulator coordinates
+*
+* \return vector in irrlicht coordinates
+*/
+irr::core::vector3df ToIrrlichtCoordinates(core::Vector3D vect);
 
-    /*!
-    * \brief Convert to simulator coordinates
-    *
-    * irrlicht is left handed and as a different scale
-    *
-    * \param vect vector in irrlicht coordinates
-    *
-    * \return vector in simulator coordinates
-    */
-    core::Vector3D ToSimulatorCoordinates(irr::core::vector3df vect);
+/*!
+* \brief Convert to simulator coordinates
+*
+* irrlicht is left handed and as a different scale
+*
+* \param vect vector in irrlicht coordinates
+*
+* \return vector in simulator coordinates
+*/
+core::Vector3D ToSimulatorCoordinates(irr::core::vector3df vect);
 
-    /*!
-    * \brief Convert to irrlicht orientation
-    *
-    * irrlicht is left handed
-    *
-    * \param quat quaternion in simulator frame
-    *
-    * \return quaternion in irrlicht frame
-    */
-    core::Quaternion ToIrrlichtOrientation(core::Quaternion quat);
+/*!
+* \brief Convert to irrlicht orientation
+*
+* irrlicht is left handed
+*
+* \param quat quaternion in simulator frame
+*
+* \return quaternion in irrlicht frame
+*/
+core::Quaternion ToIrrlichtOrientation(core::Quaternion quat);
 
 } // end namespace simulator
Index: /trunk/include/FlairSimulator/Man.h
===================================================================
--- /trunk/include/FlairSimulator/Man.h	(revision 12)
+++ /trunk/include/FlairSimulator/Man.h	(revision 13)
@@ -20,43 +20,36 @@
 #include <Model.h>
 
-namespace irr
-{
-    namespace scene
-    {
-        class IAnimatedMeshSceneNode;
-    }
+namespace irr {
+namespace scene {
+class IAnimatedMeshSceneNode;
+}
 }
 
-namespace flair
-{
-    namespace gui
-    {
-        class DoubleSpinBox;
-    }
+namespace flair {
+namespace gui {
+class DoubleSpinBox;
+}
 }
 
-namespace flair
-{
-namespace simulator
-{
-    class Simulator;
+namespace flair {
+namespace simulator {
+class Simulator;
 
-    class Man: private Model
-    {
-        public:
-            Man(const Simulator* parent,std::string name);
-            ~Man();
+class Man : private Model {
+public:
+  Man(const Simulator *parent, std::string name);
+  ~Man();
 
-        private:
-            size_t dbtSize(void) const;
-            void WritedbtBuf(char* dbtbuf);
-            void ReaddbtBuf(char* dbtbuf);
-            void CalcModel(void);
-            void AnimateModel(void){};
-            bool OnEvent(const irr::SEvent& event);
+private:
+  size_t dbtSize(void) const;
+  void WritedbtBuf(char *dbtbuf);
+  void ReaddbtBuf(char *dbtbuf);
+  void CalcModel(void);
+  void AnimateModel(void){};
+  bool OnEvent(const irr::SEvent &event);
 
-            irr::scene::IAnimatedMeshSceneNode* node;
-            gui::DoubleSpinBox *t_speed,*r_speed;
-    };
+  irr::scene::IAnimatedMeshSceneNode *node;
+  gui::DoubleSpinBox *t_speed, *r_speed;
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/MeshSceneNode.h
===================================================================
--- /trunk/include/FlairSimulator/MeshSceneNode.h	(revision 12)
+++ /trunk/include/FlairSimulator/MeshSceneNode.h	(revision 13)
@@ -20,47 +20,39 @@
 #include <IMeshSceneNode.h>
 
-namespace flair
-{
-namespace simulator
-{
-    class Model;
+namespace flair {
+namespace simulator {
+class Model;
 
-    class MeshSceneNode : public irr::scene::IMeshSceneNode
-    {
-        public:
-            MeshSceneNode(Model* parent,irr::scene::IMesh* mesh,
-                const irr::core::vector3df& position = irr::core::vector3df(0,0,0),
-                const irr::core::vector3df& rotation = irr::core::vector3df(0,0,0),
-                irr::video::ITexture* texture=NULL, irr::s32 id=-1);
+class MeshSceneNode : public irr::scene::IMeshSceneNode {
+public:
+  MeshSceneNode(
+      Model *parent, irr::scene::IMesh *mesh,
+      const irr::core::vector3df &position = irr::core::vector3df(0, 0, 0),
+      const irr::core::vector3df &rotation = irr::core::vector3df(0, 0, 0),
+      irr::video::ITexture *texture = NULL, irr::s32 id = -1);
 
-            virtual void OnRegisterSceneNode(void);
-            virtual void render(void);
-            virtual const irr::core::aabbox3d<irr::f32>& getBoundingBox() const
-            {
-                return Box;
-            }
-            virtual irr::u32 getMaterialCount(void) const
-            {
-                return 1;
-            }
-            virtual irr::video::SMaterial& getMaterial(irr::u32 i);
-            virtual void setMesh( irr::scene::IMesh* ptr);
-            virtual  irr::scene::IMesh* getMesh(void);
-            virtual void setReadOnlyMaterials(bool readonly);
-            virtual bool isReadOnlyMaterials(void) const
-            {
-                return false;
-            }
-            virtual irr::scene::IShadowVolumeSceneNode* addShadowVolumeSceneNode(const irr::scene::IMesh* shadowMesh=0,
-            irr::s32 id=-1, bool zfailmethod=true, irr::f32 infinity=1000.0f)
-            {
-                return NULL;
-            }
+  virtual void OnRegisterSceneNode(void);
+  virtual void render(void);
+  virtual const irr::core::aabbox3d<irr::f32> &getBoundingBox() const {
+    return Box;
+  }
+  virtual irr::u32 getMaterialCount(void) const { return 1; }
+  virtual irr::video::SMaterial &getMaterial(irr::u32 i);
+  virtual void setMesh(irr::scene::IMesh *ptr);
+  virtual irr::scene::IMesh *getMesh(void);
+  virtual void setReadOnlyMaterials(bool readonly);
+  virtual bool isReadOnlyMaterials(void) const { return false; }
+  virtual irr::scene::IShadowVolumeSceneNode *
+  addShadowVolumeSceneNode(const irr::scene::IMesh *shadowMesh = 0,
+                           irr::s32 id = -1, bool zfailmethod = true,
+                           irr::f32 infinity = 1000.0f) {
+    return NULL;
+  }
 
-        private:
-            irr::scene::IMesh *mesh;
-            irr::core::aabbox3d<irr::f32> Box;
-            irr::video::SMaterial Material;
-    };
+private:
+  irr::scene::IMesh *mesh;
+  irr::core::aabbox3d<irr::f32> Box;
+  irr::video::SMaterial Material;
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/Model.h
===================================================================
--- /trunk/include/FlairSimulator/Model.h	(revision 12)
+++ /trunk/include/FlairSimulator/Model.h	(revision 13)
@@ -25,26 +25,21 @@
 #ifdef GL
 #include <aabbox3d.h>
-namespace irr
-{
-    class SEvent;
-    namespace scene
-    {
-        class ISceneManager;
-        class ISceneNode;
-        class ITriangleSelector;
-    }
+namespace irr {
+class SEvent;
+namespace scene {
+class ISceneManager;
+class ISceneNode;
+class ITriangleSelector;
+}
 }
 #endif
 
-namespace flair
-{
-    namespace gui
-    {
-        class TabWidget;
-    }
-    namespace sensor
-    {
-        class SensorGL;
-    }
+namespace flair {
+namespace gui {
+class TabWidget;
+}
+namespace sensor {
+class SensorGL;
+}
 }
 
@@ -53,64 +48,60 @@
 class Model_impl;
 
-namespace flair
-{
-namespace simulator
-{
-    class Simulator;
-    class AnimPoursuite;
+namespace flair {
+namespace simulator {
+class Simulator;
+class AnimPoursuite;
 
-    class Model : public core::IODevice
-    {
-        friend class ::Gui_impl;
-        friend class ::Simulator_impl;
-        friend class ::Model_impl;
-        friend class AnimPoursuite;
-        friend class sensor::SensorGL;
+class Model : public core::IODevice {
+  friend class ::Gui_impl;
+  friend class ::Simulator_impl;
+  friend class ::Model_impl;
+  friend class AnimPoursuite;
+  friend class sensor::SensorGL;
 
-        public:
-            Model(const Simulator* parent,std::string name);
-            virtual ~Model();
+public:
+  Model(const Simulator *parent, std::string name);
+  virtual ~Model();
 
+  typedef struct simu_state {
+    core::Quaternion Quat;
+    core::Vector3D W;
+    core::Vector3D Pos;
+    core::Vector3D Vel;
+  } simu_state_t;
 
-            typedef struct simu_state {
-                core::Quaternion Quat;
-                core::Vector3D W;
-                core::Vector3D Pos;
-                core::Vector3D Vel;
-            } simu_state_t;
+#ifdef GL
+  irr::scene::ISceneNode *getSceneNode() const;
+  irr::core::aabbox3d<irr::f32> *Box() const;
 
-    #ifdef GL
-            irr::scene::ISceneNode* getSceneNode() const;
-            irr::core::aabbox3d<irr::f32>* Box() const;
+  virtual size_t dbtSize(void) const = 0;
+  virtual void Draw(void){};
+  virtual void ExtraDraw(void){};
+  virtual void WritedbtBuf(char *dbtbuf) = 0;
+  virtual void ReaddbtBuf(char *dbtbuf) = 0;
+  virtual bool OnEvent(const irr::SEvent &event) = 0;
 
-            virtual size_t dbtSize(void) const =0;
-            virtual void Draw(void){};
-            virtual void ExtraDraw(void){};
-            virtual void WritedbtBuf(char* dbtbuf)=0;
-            virtual void ReaddbtBuf(char* dbtbuf)=0;
-            virtual bool OnEvent(const irr::SEvent& event)=0;
+  //! Sets the value of the camera's far clipping plane (default: 2000.0f)
+  /** \param zf: New z far value. */
+  void setCameraFarValue(float zf);
+#endif
+  gui::TabWidget *GetTabWidget(void) const;
 
-            //! Sets the value of the camera's far clipping plane (default: 2000.0f)
-            /** \param zf: New z far value. */
-            void setCameraFarValue(float zf);
-    #endif
-            gui::TabWidget* GetTabWidget(void) const;
+protected:
+  DiscreteTimeVariable<simu_state_t, 3> state;
+  float dT(void) const;
+  virtual void CalcModel(void) = 0;
+#ifdef GL
+  AnimPoursuite *getCamera(void) const;
+  virtual void AnimateModel(void) = 0;
+  // void setPosition(core::Vector3D pos);
+  void setScale(float value);
+  void setTriangleSelector(irr::scene::ITriangleSelector *selector);
+#endif
 
-        protected:
-            DiscreteTimeVariable<simu_state_t,3> state;
-            float dT(void) const;
-            virtual void CalcModel(void)=0;
-    #ifdef GL
-            AnimPoursuite* getCamera(void) const;
-            virtual void AnimateModel(void)=0;
-            //void setPosition(core::Vector3D pos);
-            void setScale(float value);
-            void setTriangleSelector(irr::scene::ITriangleSelector* selector);
-    #endif
-
-        private:
-            void UpdateFrom(const core::io_data *data){};
-            class Model_impl* pimpl_;
-    };
+private:
+  void UpdateFrom(const core::io_data *data){};
+  class Model_impl *pimpl_;
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/Parser.h
===================================================================
--- /trunk/include/FlairSimulator/Parser.h	(revision 12)
+++ /trunk/include/FlairSimulator/Parser.h	(revision 13)
@@ -22,29 +22,27 @@
 #include <libxml/tree.h>
 
-namespace flair
-{
-namespace simulator
-{
-class Parser:public Gui
-{
+namespace flair {
+namespace simulator {
+class Parser : public Gui {
 
-/*can create:
-- cylinders: in y axis
+  /*can create:
+  - cylinders: in y axis
 
-*/
-    public:
-        Parser(Simulator* parent,int app_width, int app_height,int scene_width, int scene_height,std::string media_path, std::string xmlFile);
-        ~Parser();
+  */
+public:
+  Parser(Simulator *parent, int app_width, int app_height, int scene_width,
+         int scene_height, std::string media_path, std::string xmlFile);
+  ~Parser();
 
-
-    private:
-        xmlDoc *doc;
-        std::string media_path;
-        Simulator* parent;
-        void processElements(xmlNode * a_node);
-        void processObjects(xmlNode * a_node);
-        void processParams(xmlNode * a_node);
-        irr::core::vector3df getMeshVect(xmlNode * mesh_node, xmlChar * param);
-        irr::core::vector3df getSceneVect(xmlNode * mesh_node, xmlChar * param, bool isScale=false);
+private:
+  xmlDoc *doc;
+  std::string media_path;
+  Simulator *parent;
+  void processElements(xmlNode *a_node);
+  void processObjects(xmlNode *a_node);
+  void processParams(xmlNode *a_node);
+  irr::core::vector3df getMeshVect(xmlNode *mesh_node, xmlChar *param);
+  irr::core::vector3df getSceneVect(xmlNode *mesh_node, xmlChar *param,
+                                    bool isScale = false);
 };
 }
Index: /trunk/include/FlairSimulator/SensorGL.h
===================================================================
--- /trunk/include/FlairSimulator/SensorGL.h	(revision 12)
+++ /trunk/include/FlairSimulator/SensorGL.h	(revision 13)
@@ -18,42 +18,35 @@
 #define SENSORGL_H
 
-namespace irr
-{
-    namespace scene
-    {
-        class ISceneNode;
-        class ISceneCollisionManager;
-    }
+namespace irr {
+namespace scene {
+class ISceneNode;
+class ISceneCollisionManager;
+}
 }
 
-namespace flair
-{
-    namespace simulator
-    {
-        class Model;
-    }
+namespace flair {
+namespace simulator {
+class Model;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    class SensorGL
-    {
-        public:
-            SensorGL(const simulator::Model *parent);
-            virtual ~SensorGL()=0;
+namespace flair {
+namespace sensor {
+class SensorGL {
+public:
+  SensorGL(const simulator::Model *parent);
+  virtual ~SensorGL() = 0;
 
-        protected:
-    #ifdef GL
-            irr::scene::ISceneCollisionManager* CollMan(void) const;
-            irr::scene::ISceneNode* Node(void) const;
-    #endif
-        private:
-    #ifdef GL
-            irr::scene::ISceneCollisionManager* collMan;
-            irr::scene::ISceneNode* node;
-    #endif
-    };
+protected:
+#ifdef GL
+  irr::scene::ISceneCollisionManager *CollMan(void) const;
+  irr::scene::ISceneNode *Node(void) const;
+#endif
+private:
+#ifdef GL
+  irr::scene::ISceneCollisionManager *collMan;
+  irr::scene::ISceneNode *node;
+#endif
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSimulator/SimuCameraGL.h
===================================================================
--- /trunk/include/FlairSimulator/SimuCameraGL.h	(revision 12)
+++ /trunk/include/FlairSimulator/SimuCameraGL.h	(revision 13)
@@ -18,67 +18,64 @@
 #include <ISceneNodeAnimator.h>
 
-// in order to get function prototypes from glext.h, define GL_GLEXT_PROTOTYPES before including glext.h
+// in order to get function prototypes from glext.h, define GL_GLEXT_PROTOTYPES
+// before including glext.h
 #define GL_GLEXT_PROTOTYPES
 #include <GL/gl.h>
 
-namespace irr
-{
-    namespace scene
-    {
-        class ICameraSceneNode;
-    }
+namespace irr {
+namespace scene {
+class ICameraSceneNode;
+}
 }
 
-namespace flair
-{
-    namespace gui
-    {
-        class DoubleSpinBox;
-        class Vector3DSpinBox;
-    }
-    namespace simulator
-    {
-        class Model;
-    }
+namespace flair {
+namespace gui {
+class DoubleSpinBox;
+class Vector3DSpinBox;
+}
+namespace simulator {
+class Model;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class SimuCameraGL
-    * \brief Class for a simulation camera
-    *
-    */
-    class SimuCameraGL : public SimuCamera, public SensorGL, public irr::scene::ISceneNodeAnimator
-    {
-        public:
-            //top left origin
-            SimuCameraGL(const simulator::Model* parent,std::string name,int width,int height,int x,int y,int dev_id);
-            ~SimuCameraGL();
-            //! Sets the value of the near clipping plane. (default: 1.0f)
-            /** \param zn: New z near value. */
-            void setNearValue(float zn);
+namespace flair {
+namespace sensor {
+/*! \class SimuCameraGL
+* \brief Class for a simulation camera
+*
+*/
+class SimuCameraGL : public SimuCamera,
+                     public SensorGL,
+                     public irr::scene::ISceneNodeAnimator {
+public:
+  // top left origin
+  SimuCameraGL(const simulator::Model *parent, std::string name, int width,
+               int height, int x, int y, int dev_id);
+  ~SimuCameraGL();
+  //! Sets the value of the near clipping plane. (default: 1.0f)
+  /** \param zn: New z near value. */
+  void setNearValue(float zn);
 
-            //! Sets the value of the far clipping plane (default: 2000.0f)
-            /** \param zf: New z far value. */
-            void setFarValue(float zf);
+  //! Sets the value of the far clipping plane (default: 2000.0f)
+  /** \param zf: New z far value. */
+  void setFarValue(float zf);
 
-        private:
-            void UpdateFrom(const core::io_data *data);
-            void animateNode(irr::scene::ISceneNode* node, irr::u32 timeMs);
-            ISceneNodeAnimator* createClone(irr::scene::ISceneNode* node,irr::scene::ISceneManager* newManager=0);
-            void getImage(void);
-            void putImage(char* pixels);
-            irr::scene::ICameraSceneNode* camera;
-            irr::scene::ISceneManager* smgr;
-            gui::Vector3DSpinBox *position,*direction,*up;
-            gui::DoubleSpinBox *fov;
-            int width,height,x,y;
-            char* buffer;
-            bool use_pbo,invert_pixel,disable_output;
-            GLuint *pboIds;
-            int index ;
-    };
+private:
+  void UpdateFrom(const core::io_data *data);
+  void animateNode(irr::scene::ISceneNode *node, irr::u32 timeMs);
+  ISceneNodeAnimator *createClone(irr::scene::ISceneNode *node,
+                                  irr::scene::ISceneManager *newManager = 0);
+  void getImage(void);
+  void putImage(char *pixels);
+  irr::scene::ICameraSceneNode *camera;
+  irr::scene::ISceneManager *smgr;
+  gui::Vector3DSpinBox *position, *direction, *up;
+  gui::DoubleSpinBox *fov;
+  int width, height, x, y;
+  char *buffer;
+  bool use_pbo, invert_pixel, disable_output;
+  GLuint *pboIds;
+  int index;
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/SimuLaserGL.h
===================================================================
--- /trunk/include/FlairSimulator/SimuLaserGL.h	(revision 12)
+++ /trunk/include/FlairSimulator/SimuLaserGL.h	(revision 13)
@@ -17,40 +17,33 @@
 #include <SensorGL.h>
 
-namespace flair
-{
-    namespace gui
-    {
-        class DoubleSpinBox;
-        class Vector3DSpinBox;
-    }
+namespace flair {
+namespace gui {
+class DoubleSpinBox;
+class Vector3DSpinBox;
+}
 }
 
-namespace flair
-{
-    namespace simulator
-    {
-        class Model;
-    }
+namespace flair {
+namespace simulator {
+class Model;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class SimuUsGL
-    * \brief Class for a simulation us
-    *
-    */
-    class SimuLaserGL : public SimuLaser, public SensorGL
-    {
-        public:
-            SimuLaserGL(const simulator::Model* parent,std::string name,int dev_id);
-            ~SimuLaserGL();
+namespace flair {
+namespace sensor {
+/*! \class SimuUsGL
+* \brief Class for a simulation us
+*
+*/
+class SimuLaserGL : public SimuLaser, public SensorGL {
+public:
+  SimuLaserGL(const simulator::Model *parent, std::string name, int dev_id);
+  ~SimuLaserGL();
 
-        private:
-            void UpdateFrom(const core::io_data *data);
-            gui::DoubleSpinBox *range;
-            gui::Vector3DSpinBox *position,*direction;
-    };
+private:
+  void UpdateFrom(const core::io_data *data);
+  gui::DoubleSpinBox *range;
+  gui::Vector3DSpinBox *position, *direction;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSimulator/SimuUsGL.h
===================================================================
--- /trunk/include/FlairSimulator/SimuUsGL.h	(revision 12)
+++ /trunk/include/FlairSimulator/SimuUsGL.h	(revision 13)
@@ -17,40 +17,33 @@
 #include <SensorGL.h>
 
-namespace flair
-{
-    namespace gui
-    {
-        class DoubleSpinBox;
-        class Vector3DSpinBox;
-    }
+namespace flair {
+namespace gui {
+class DoubleSpinBox;
+class Vector3DSpinBox;
+}
 }
 
-namespace flair
-{
-    namespace simulator
-    {
-        class Model;
-    }
+namespace flair {
+namespace simulator {
+class Model;
+}
 }
 
-namespace flair
-{
-namespace sensor
-{
-    /*! \class SimuUsGL
-    * \brief Class for a simulation us
-    *
-    */
-    class SimuUsGL : public SimuUs, public SensorGL
-    {
-        public:
-            SimuUsGL(const simulator::Model* parent,std::string name,int dev_id);
-            ~SimuUsGL();
+namespace flair {
+namespace sensor {
+/*! \class SimuUsGL
+* \brief Class for a simulation us
+*
+*/
+class SimuUsGL : public SimuUs, public SensorGL {
+public:
+  SimuUsGL(const simulator::Model *parent, std::string name, int dev_id);
+  ~SimuUsGL();
 
-        private:
-            void UpdateFrom(const core::io_data *data);
-            gui::DoubleSpinBox *range;
-            gui::Vector3DSpinBox *position,*direction;
-    };
+private:
+  void UpdateFrom(const core::io_data *data);
+  gui::DoubleSpinBox *range;
+  gui::Vector3DSpinBox *position, *direction;
+};
 } // end namespace sensor
 } // end namespace flair
Index: /trunk/include/FlairSimulator/Simulator.h
===================================================================
--- /trunk/include/FlairSimulator/Simulator.h	(revision 12)
+++ /trunk/include/FlairSimulator/Simulator.h	(revision 13)
@@ -24,44 +24,44 @@
 
 namespace flair {
-    namespace core {
-        class Quaternion;
-        class Vector3D;
-    }
+namespace core {
+class Quaternion;
+class Vector3D;
+}
 }
 
-namespace flair
-{
-namespace simulator
-{
-    class Model;
-    class Gui;
+namespace flair {
+namespace simulator {
+class Model;
+class Gui;
 
-    class Simulator: public core::FrameworkManager
-    {
-        friend class Model;
-        friend class Gui;
-        friend class GenericObject;
+class Simulator : public core::FrameworkManager {
+  friend class Model;
+  friend class Gui;
+  friend class GenericObject;
 
-        public:
-            //yaw_deg: rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
-            Simulator(std::string name,int optitrack_mstime=10,float yaw_deg=30);
-            ~Simulator();
-            void RunSimu(void);
-            //get rotation of the vrpn coordinate with respect to the earth coordinate, around z axis; in radians
-            float Yaw(void) const;
-            //compute rotation of the vrpn coordinate with respect to the earth coordinate, around z axis
-            core::Quaternion ToVRPNReference(core::Quaternion quat_in);
-            core::Vector3D ToVRPNReference(core::Vector3D point_in);
+public:
+  // yaw_deg: rotation of the vrpn coordinate with respect to the earth
+  // coordinate, around z axis
+  Simulator(std::string name, int optitrack_mstime = 10, float yaw_deg = 30);
+  ~Simulator();
+  void RunSimu(void);
+  // get rotation of the vrpn coordinate with respect to the earth coordinate,
+  // around z axis; in radians
+  float Yaw(void) const;
+  // compute rotation of the vrpn coordinate with respect to the earth
+  // coordinate, around z axis
+  core::Quaternion ToVRPNReference(core::Quaternion quat_in);
+  core::Vector3D ToVRPNReference(core::Vector3D point_in);
 
-        private:
-            Simulator_impl* pimpl_;
-    };
+private:
+  Simulator_impl *pimpl_;
+};
 
-    /*!
-    * \brief get Simulator
-    *
-    * \return the Simulator
-    */
-    Simulator* getSimulator(void);
+/*!
+* \brief get Simulator
+*
+* \return the Simulator
+*/
+Simulator *getSimulator(void);
 
 } // end namespace simulator
Index: /trunk/include/FlairSimulator/X4.h
===================================================================
--- /trunk/include/FlairSimulator/X4.h	(revision 12)
+++ /trunk/include/FlairSimulator/X4.h	(revision 13)
@@ -22,71 +22,62 @@
 #include <stdio.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class Mutex;
-    }
-    namespace gui
-    {
-        class DoubleSpinBox;
-    }
-    namespace actuator
-    {
-        class SimuBldc;
-    }
+namespace flair {
+namespace core {
+class Mutex;
+}
+namespace gui {
+class DoubleSpinBox;
+}
+namespace actuator {
+class SimuBldc;
+}
 }
 
 #ifdef GL
-namespace irr
-{
-    namespace scene
-    {
-        class IMesh;
-    }
+namespace irr {
+namespace scene {
+class IMesh;
+}
 }
 #endif
 
-namespace flair
-{
-namespace simulator
-{
-    class Simulator;
-    class Blade;
-    class MeshSceneNode;
+namespace flair {
+namespace simulator {
+class Simulator;
+class Blade;
+class MeshSceneNode;
 
-    class X4 : public Model
-    {
-        public:
-            X4(const Simulator* parent,std::string name, int dev_id);
-            ~X4();
+class X4 : public Model {
+public:
+  X4(const Simulator *parent, std::string name, int dev_id);
+  ~X4();
 #ifdef GL
-            virtual void Draw(void);
-            virtual void ExtraDraw(void){};
+  virtual void Draw(void);
+  virtual void ExtraDraw(void){};
 
-        protected:
-                    irr::scene::IMesh *red_arm,*black_arm,*motor;
-                    MeshSceneNode *fl_arm,*fr_arm,*rl_arm,*rr_arm;
-                    MeshSceneNode *fl_motor,*fr_motor,*rl_motor,*rr_motor;
-                    Blade *fl_blade,*fr_blade,*rl_blade,*rr_blade;
-                    core::Mutex *motor_speed_mutex;
+protected:
+  irr::scene::IMesh *red_arm, *black_arm, *motor;
+  MeshSceneNode *fl_arm, *fr_arm, *rl_arm, *rr_arm;
+  MeshSceneNode *fl_motor, *fr_motor, *rl_motor, *rr_motor;
+  Blade *fl_blade, *fr_blade, *rl_blade, *rr_blade;
+  core::Mutex *motor_speed_mutex;
 #endif
-        private:
-            void CalcModel(void);
-    #ifdef GL
-            bool OnEvent(const irr::SEvent& event){};
-            void AnimateModel(void);
-            size_t dbtSize(void) const;
-            void WritedbtBuf(char* dbtbuf);
-            void ReaddbtBuf(char* dbtbuf);
-    #endif
+private:
+  void CalcModel(void);
+#ifdef GL
+  bool OnEvent(const irr::SEvent &event){};
+  void AnimateModel(void);
+  size_t dbtSize(void) const;
+  void WritedbtBuf(char *dbtbuf);
+  void ReaddbtBuf(char *dbtbuf);
+#endif
 
-            actuator::SimuBldc *motors;
-            float motor_speed[4];
-            gui::DoubleSpinBox *m,*arm_length,*l_cg;
-            gui::DoubleSpinBox *k_mot,*c_mot;
-            gui::DoubleSpinBox *f_air_vert,*f_air_lat;
-            gui::DoubleSpinBox *j_roll,*j_pitch,*j_yaw;
-    };
+  actuator::SimuBldc *motors;
+  float motor_speed[4];
+  gui::DoubleSpinBox *m, *arm_length, *l_cg;
+  gui::DoubleSpinBox *k_mot, *c_mot;
+  gui::DoubleSpinBox *f_air_vert, *f_air_lat;
+  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/include/FlairSimulator/X8.h
===================================================================
--- /trunk/include/FlairSimulator/X8.h	(revision 12)
+++ /trunk/include/FlairSimulator/X8.h	(revision 13)
@@ -21,73 +21,65 @@
 #include <stdint.h>
 
-namespace flair
-{
-    namespace core
-    {
-        class Mutex;
-    }
-    namespace gui
-    {
-        class DoubleSpinBox;
-    }
-    namespace actuator
-    {
-        class SimuBldc;
-    }
+namespace flair {
+namespace core {
+class Mutex;
+}
+namespace gui {
+class DoubleSpinBox;
+}
+namespace actuator {
+class SimuBldc;
+}
 }
 
 #ifdef GL
-namespace irr
-{
-    namespace scene
-    {
-        class IMesh;
-    }
+namespace irr {
+namespace scene {
+class IMesh;
+}
 }
 #endif
 
-namespace flair
-{
-namespace simulator
-{
-    class Simulator;
-    class Blade;
-    class MeshSceneNode;
+namespace flair {
+namespace simulator {
+class Simulator;
+class Blade;
+class MeshSceneNode;
 
-    class X8 : public Model
-    {
-        public:
-            X8(const Simulator* parent,std::string name, int dev_id);
-            ~X8();
-            virtual void Draw(void);
-			virtual void ExtraDraw(void){};
-        protected:
+class X8 : public Model {
+public:
+  X8(const Simulator *parent, std::string name, int dev_id);
+  ~X8();
+  virtual void Draw(void);
+  virtual void ExtraDraw(void){};
+
+protected:
 #ifdef GL
-            irr::scene::IMesh *red_arm,*black_arm,*motor;
-			MeshSceneNode *fl_arm,*fr_arm,*rl_arm,*rr_arm;
-			MeshSceneNode *tfl_motor,*tfr_motor,*trl_motor,*trr_motor;
-			MeshSceneNode *bfl_motor,*bfr_motor,*brl_motor,*brr_motor;
-			Blade *tfl_blade,*tfr_blade,*trl_blade,*trr_blade;
-			Blade *bfl_blade,*bfr_blade,*brl_blade,*brr_blade;
+  irr::scene::IMesh *red_arm, *black_arm, *motor;
+  MeshSceneNode *fl_arm, *fr_arm, *rl_arm, *rr_arm;
+  MeshSceneNode *tfl_motor, *tfr_motor, *trl_motor, *trr_motor;
+  MeshSceneNode *bfl_motor, *bfr_motor, *brl_motor, *brr_motor;
+  Blade *tfl_blade, *tfr_blade, *trl_blade, *trr_blade;
+  Blade *bfl_blade, *bfr_blade, *brl_blade, *brr_blade;
 #endif
-        private:
-            void CalcModel(void);
-    #ifdef GL
-            bool OnEvent(const irr::SEvent& event){};
-            void AnimateModel(void);
-            size_t dbtSize(void) const;
-            void WritedbtBuf(char* dbtbuf);
-            void ReaddbtBuf(char* dbtbuf);
-            core::Mutex *motor_speed_mutex;
-    #endif
+private:
+  void CalcModel(void);
+#ifdef GL
+  bool OnEvent(const irr::SEvent &event){};
+  void AnimateModel(void);
+  size_t dbtSize(void) const;
+  void WritedbtBuf(char *dbtbuf);
+  void ReaddbtBuf(char *dbtbuf);
+  core::Mutex *motor_speed_mutex;
+#endif
 
-            actuator::SimuBldc *motors;
-            float motor_speed[8];
-            gui::DoubleSpinBox *m,*arm_length,*l_cg;
-            gui::DoubleSpinBox *k_mot,*c_mot;
-            gui::DoubleSpinBox *f_air_vert,*f_air_lat;
-            gui::DoubleSpinBox *j_roll,*j_pitch,*j_yaw;
-            gui::DoubleSpinBox *j_r,*sigma,*S;
-    };
+  actuator::SimuBldc *motors;
+  float motor_speed[8];
+  gui::DoubleSpinBox *m, *arm_length, *l_cg;
+  gui::DoubleSpinBox *k_mot, *c_mot;
+  gui::DoubleSpinBox *f_air_vert, *f_air_lat;
+  gui::DoubleSpinBox *j_roll, *j_pitch, *j_yaw;
+  gui::DoubleSpinBox *j_r, *sigma, *S;
+};
 } // end namespace simulator
 } // end namespace flair
Index: /trunk/scripts/flair_format_dir.sh
===================================================================
--- /trunk/scripts/flair_format_dir.sh	(revision 13)
+++ /trunk/scripts/flair_format_dir.sh	(revision 13)
@@ -0,0 +1,16 @@
+#! /bin/sh
+DIR=$1
+if [ ! -d $DIR ]; then
+  echo "Directory $DIR not found"
+  exit 1
+fi
+CLANG_FORMAT_CMD=$(locate --regex /clang-format$)
+if [ $? -ne 0 ]; then
+  echo "clang-format command not found. Please install it before running this script."
+  exit 2
+else
+  echo "clang-format binary used is $CLANG_FORMAT_CMD"
+fi
+
+find $DIR \( -name '*.h' -o -name '*.cpp' \) -execdir $CLANG_FORMAT_CMD -style=llvm -i {} +
+
