Mod/Robot: fix some spaces and a couple of warnings

Warnings wsa:
src/Mod/Robot/App/kdl_cp/chaindynparam.cpp|105 col 5| warning: control may reach end of non-void function [-Wreturn-type]
src/Mod/Robot/App/kdl_cp/chainidsolver_recursive_newton_euler.cpp|82 col 5| warning: control may reach end of non-void function [-Wreturn-type]

src/Mod/Robot/App/kdl_cp/chaindynparam.cpp

@@ -44,64 +44,65 @@ namespace KDL {
     //calculate inertia matrix H
     int ChainDynParam::JntToMass(const JntArray &q, JntSpaceInertiaMatrix& H)
     {
-	//Check sizes when in debug mode
+        //Check sizes when in debug mode
         if(q.rows()!=nj || H.rows()!=nj || H.columns()!=nj )
             return -1;
         unsigned int k=0;
-	double q_;
+        double q_;
 
-	//Sweep from root to leaf
+        //Sweep from root to leaf
         for(unsigned int i=0;i<ns;i++)
-	{
+        {
-	  //Collect RigidBodyInertia
+          //Collect RigidBodyInertia
           Ic[i]=chain.getSegment(i).getInertia();
           if(chain.getSegment(i).getJoint().getType()!=Joint::None)
-	  {
+          {
-	      q_=q(k);
+              q_=q(k);
-	      k++;
+              k++;
-	  }
+          }
-	  else
+          else
-	  {
+          {
-	    q_=0.0;
+            q_=0.0;
-	  }
+          }
-	  X[i]=chain.getSegment(i).pose(q_);//Remark this is the inverse of the frame for transformations from the parent to the current coord frame
+          X[i]=chain.getSegment(i).pose(q_);//Remark this is the inverse of the frame for transformations from the parent to the current coord frame
-	  S[i]=X[i].M.Inverse(chain.getSegment(i).twist(q_,1.0));  
+          S[i]=X[i].M.Inverse(chain.getSegment(i).twist(q_,1.0));
         }
-	//Sweep from leaf to root
+        //Sweep from leaf to root
         int j,l;
-	k=nj-1; //reset k
+        k=nj-1; //reset k
         for(int i=ns-1;i>=0;i--)
-	{
+        {
 
-	  if(i!=0)
+          if(i!=0)
-	    {
+            {
-	      //assumption that previous segment is parent
+              //assumption that previous segment is parent
-	      Ic[i-1]=Ic[i-1]+X[i]*Ic[i];
+              Ic[i-1]=Ic[i-1]+X[i]*Ic[i];
-	    } 
+            }
 
-	  F=Ic[i]*S[i];
+          F=Ic[i]*S[i];
-	  if(chain.getSegment(i).getJoint().getType()!=Joint::None)
+          if(chain.getSegment(i).getJoint().getType()!=Joint::None)
-	  {
+          {
-	      H(k,k)=dot(S[i],F);
+              H(k,k)=dot(S[i],F);
-	      j=k; //countervariable for the joints
+              j=k; //countervariable for the joints
-	      l=i; //countervariable for the segments
+              l=i; //countervariable for the segments
-	      while(l!=0) //go from leaf to root starting at i
+              while(l!=0) //go from leaf to root starting at i
-		{
+                {
-		  //assumption that previous segment is parent
+                  //assumption that previous segment is parent
-		  F=X[l]*F; //calculate the unit force (cfr S) for every segment: F[l-1]=X[l]*F[l]
+                  F=X[l]*F; //calculate the unit force (cfr S) for every segment: F[l-1]=X[l]*F[l]
-		  l--; //go down a segment
+                  l--; //go down a segment
 
-		  if(chain.getSegment(l).getJoint().getType()!=Joint::None) //if the joint connected to segment is not a fixed joint
+                  if(chain.getSegment(l).getJoint().getType()!=Joint::None) //if the joint connected to segment is not a fixed joint
-		  {    
+                  {
-		    j--;
+                    j--;
-		    H(k,j)=dot(F,S[l]); //here you actually match a certain not fixed joint with a segment 
+                    H(k,j)=dot(F,S[l]); //here you actually match a certain not fixed joint with a segment
-		    H(j,k)=H(k,j);
+                    H(j,k)=H(k,j);
-		  }
+                  }
-		} 
+                }
-	      k--; //this if-loop should be repeated nj times (k=nj-1 to k=0)
+              k--; //this if-loop should be repeated nj times (k=nj-1 to k=0)
-	  }
+          }
 
-	}
+        } // for
+        return 0;
     }
 
     //calculate coriolis matrix C

src/Mod/Robot/App/kdl_cp/chainidsolver_recursive_newton_euler.cpp

@@ -69,7 +69,7 @@ namespace KDL{
             //Collect RigidBodyInertia and external forces
             RigidBodyInertia Ii=chain.getSegment(i).getInertia();
             f[i]=Ii*a[i]+v[i]*(Ii*v[i])-f_ext[i];
-	    //std::cout << "a[i]=" << a[i] << "\n f[i]=" << f[i] << "\n S[i]" << S[i] << std::endl;
+            //std::cout << "a[i]=" << a[i] << "\n f[i]=" << f[i] << "\n S[i]" << S[i] << std::endl;
         }
         //Sweep from leaf to root
         j=nj-1;
@@ -79,5 +79,6 @@ namespace KDL{
             if(i!=0)
                 f[i-1]=f[i-1]+X[i]*f[i];
         }
+        return 0;
     }
 }//namespace