From 78dc783c0645db4b0f2d8d958d34063782f5a0a7 Mon Sep 17 00:00:00 2001
From: Alessandro Croci <alessandro.croci@iit.it>
Date: Sat, 7 Oct 2023 15:22:13 +0200
Subject: [PATCH] Remove trailing whitespaces

---
 src/TSID/include/BipedalLocomotion/TSID/SE3Task.h | 2 +-
 src/TSID/src/SE3Task.cpp                          | 4 ++--
 src/TSID/tests/SE3TaskTest.cpp                    | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/TSID/include/BipedalLocomotion/TSID/SE3Task.h b/src/TSID/include/BipedalLocomotion/TSID/SE3Task.h
index 4cda6ca911..1de819bdee 100644
--- a/src/TSID/include/BipedalLocomotion/TSID/SE3Task.h
+++ b/src/TSID/include/BipedalLocomotion/TSID/SE3Task.h
@@ -78,7 +78,7 @@ class SE3Task : public TSIDLinearTask, public BipedalLocomotion::System::ITaskCo
     std::size_t m_linearDoFs{m_linearVelocitySize}; /**< DoFs associated to the linear task */
     std::size_t m_DoFs{m_spatialVelocitySize}; /**< DoFs associated to the entire task */
 
-    Eigen::MatrixXd m_jacobian; /**< Jacobian matrix in MIXED representation */                                                               
+    Eigen::MatrixXd m_jacobian; /**< Jacobian matrix in MIXED representation */
 
     /** State of the proportional derivative controller implemented in the task */
     Mode m_controllerMode{Mode::Enable};
diff --git a/src/TSID/src/SE3Task.cpp b/src/TSID/src/SE3Task.cpp
index 8c58ae521e..4c347d776b 100644
--- a/src/TSID/src/SE3Task.cpp
+++ b/src/TSID/src/SE3Task.cpp
@@ -209,7 +209,7 @@ bool SE3Task::initialize(std::weak_ptr<const ParametersHandler::IParametersHandl
         std::copy(mask.begin(), mask.end(), m_mask.begin());
         // compute the DoFs associated to the task
         m_linearDoFs = std::count(m_mask.begin(), m_mask.end(), true);
- 
+
         m_DoFs = m_linearDoFs + m_angularVelocitySize;
 
         // Update the mask description
@@ -296,7 +296,7 @@ bool SE3Task::update()
 
         // take the all angular part
         iDynTree::toEigen(this->subA(m_robotAccelerationVariable)).bottomRows<3>() = m_jacobian.bottomRows<3>();
-    }  
+    }
 
 
 
diff --git a/src/TSID/tests/SE3TaskTest.cpp b/src/TSID/tests/SE3TaskTest.cpp
index c826cf1366..e150faee76 100644
--- a/src/TSID/tests/SE3TaskTest.cpp
+++ b/src/TSID/tests/SE3TaskTest.cpp
@@ -156,7 +156,7 @@ TEST_CASE("SE3 Task")
             const auto DoFs = std::count(mask.begin(), mask.end(), true) + 3;
 
             parameterHandler->setParameter("mask", mask);
-            
+
             SE3Task task;
             REQUIRE(task.setKinDyn(kinDyn));
             REQUIRE(task.initialize(parameterHandler));