diff --git a/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp b/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp
index 860c83c68..8617f80cd 100644
--- a/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp
@@ -26,7 +26,7 @@
 namespace KDL {
 
     ChainDynParam::ChainDynParam(const Chain& _chain, Vector _grav):
-        chain(_chain), 
+        chain(_chain),
 	grav(_grav),
 	chainidsolver_coriolis( chain, Vector::Zero()),
 	chainidsolver_gravity( chain, grav),
@@ -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_;
-	
-	//Sweep from root to leaf
+        double q_;
+
+        //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);
-	      k++;
-	  }
-	  else
-	  {
-	    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
-	  S[i]=X[i].M.Inverse(chain.getSegment(i).twist(q_,1.0));  
+          {
+              q_=q(k);
+              k++;
+          }
+          else
+          {
+            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
+          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)
-	    {
-	      //assumption that previous segment is parent
-	      Ic[i-1]=Ic[i-1]+X[i]*Ic[i];
-	    } 
+        {
 
-	  F=Ic[i]*S[i];
-	  if(chain.getSegment(i).getJoint().getType()!=Joint::None)
-	  {
-	      H(k,k)=dot(S[i],F);
-	      j=k; //countervariable for the joints
-	      l=i; //countervariable for the segments
-	      while(l!=0) //go from leaf to root starting at i
-		{
-		  //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]
-		  l--; //go down a segment
-		  
-		  if(chain.getSegment(l).getJoint().getType()!=Joint::None) //if the joint connected to segment is not a fixed joint
-		  {    
-		    j--;
-		    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);
-		  }
-		} 
-	      k--; //this if-loop should be repeated nj times (k=nj-1 to k=0)
-	  }
+          if(i!=0)
+            {
+              //assumption that previous segment is parent
+              Ic[i-1]=Ic[i-1]+X[i]*Ic[i];
+            }
 
-	}
+          F=Ic[i]*S[i];
+          if(chain.getSegment(i).getJoint().getType()!=Joint::None)
+          {
+              H(k,k)=dot(S[i],F);
+              j=k; //countervariable for the joints
+              l=i; //countervariable for the segments
+              while(l!=0) //go from leaf to root starting at i
+                {
+                  //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]
+                  l--; //go down a segment
+
+                  if(chain.getSegment(l).getJoint().getType()!=Joint::None) //if the joint connected to segment is not a fixed joint
+                  {
+                    j--;
+                    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);
+                  }
+                }
+              k--; //this if-loop should be repeated nj times (k=nj-1 to k=0)
+          }
+
+        } // for
+        return 0;
     }
 
     //calculate coriolis matrix C
@@ -110,10 +111,10 @@ namespace KDL {
 	//make a null matrix with the size of q_dotdot and a null wrench
 	SetToZero(jntarraynull);
 
-	
+
 	//the calculation of coriolis matrix C
 	return chainidsolver_coriolis.CartToJnt(q, q_dot, jntarraynull, wrenchnull, coriolis);
-	
+
 
     }
 
@@ -122,7 +123,7 @@ namespace KDL {
     {
 
 	//make a null matrix with the size of q_dotdot and a null wrench
-	
+
 	SetToZero(jntarraynull);
 	//the calculation of coriolis matrix C
 	return chainidsolver_gravity.CartToJnt(q, jntarraynull, jntarraynull, wrenchnull, gravity);
diff --git a/src/Mod/Robot/App/kdl_cp/chainidsolver_recursive_newton_euler.cpp b/src/Mod/Robot/App/kdl_cp/chainidsolver_recursive_newton_euler.cpp
index 47a0ebecf..e27586f39 100644
--- a/src/Mod/Robot/App/kdl_cp/chainidsolver_recursive_newton_euler.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainidsolver_recursive_newton_euler.cpp
@@ -23,7 +23,7 @@
 #include "frames_io.hpp"
 
 namespace KDL{
-    
+
     ChainIdSolver_RNE::ChainIdSolver_RNE(const Chain& chain_,Vector grav):
         chain(chain_),nj(chain.getNrOfJoints()),ns(chain.getNrOfSegments()),
         X(ns),S(ns),v(ns),a(ns),f(ns)
@@ -48,10 +48,10 @@ namespace KDL{
                 j++;
             }else
                 q_=qdot_=qdotdot_=0.0;
-            
+
             //Calculate segment properties: X,S,vj,cj
-            X[i]=chain.getSegment(i).pose(q_);//Remark this is the inverse of the 
-                                                //frame for transformations from 
+            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
             //Transform velocity and unit velocity to segment frame
             Twist vj=X[i].M.Inverse(chain.getSegment(i).twist(q_,qdot_));
@@ -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