diff --git a/src/liboncilla/Supervisor.cpp b/src/liboncilla/Supervisor.cpp
index 4c324fb..729d6b5 100644
--- a/src/liboncilla/Supervisor.cpp
+++ b/src/liboncilla/Supervisor.cpp
@@ -1,44 +1,45 @@
 /*
  * Supervisor.cpp
  *
  *  Created on: Jan 21, 2013
  *      Author: tuleu
  */
 
 #include "Supervisor.h"
 #include <liboncilla/utils/OncillaBackend.h>
 #include "Oncilla.h"
 namespace rci {
 namespace oncilla {
 
-Supervisor::Supervisor(OncillaBackend & backend) :
-        d_l4s(4, SupervisorL4::Ptr()), d_world(backend.CreateSupervisorWorld()),
-                d_trunk(backend.CreateSupervisorTrunk()) {
-    LIBONCILLA_FOREACH_LEG(l) {
-        d_l4s[l] = backend.CreateSupervisorL4(l,
-                Oncilla::nameOfLeg(l) + " Oncilla Supervised L4");
-    }
+Supervisor::Supervisor(OncillaBackend & backend)
+	: d_l4s(4,SupervisorL4::Ptr())
+	, d_trunk(backend.CreateSupervisorTrunk())
+	, d_world(backend.CreateSupervisorWorld()){
+	LIBONCILLA_FOREACH_LEG(l) {
+		d_l4s[l] = backend.CreateSupervisorL4(l,
+		                                      Oncilla::nameOfLeg(l) + " Oncilla Supervised L4");
+	}
 }
 
-Supervisor::~Supervisor() {
+Supervisor::~Supervisor(){
 }
 
-const SupervisorTrunk::Ptr & Supervisor::getTrunk() {
-    return d_trunk;
+const SupervisorTrunk::Ptr & Supervisor::getTrunk(){
+	return d_trunk;
 }
 
-const SupervisorL4::Ptr & Supervisor::getL4(Leg l) {
-    if (l >= NUM_LEGS) {
-        std::ostringstream os;
-        os << "Leg " << l << "is out of range [0 3].";
-        throw std::out_of_range(os.str());
-    }
-    return d_l4s[l];
+const SupervisorL4::Ptr & Supervisor::getL4(Leg l){
+	if (l >= NUM_LEGS){
+		std::ostringstream os;
+		os << "Leg " << l << "is out of range [0 3].";
+		throw std::out_of_range(os.str());
+	}
+	return d_l4s[l];
 }
 
-const SupervisorWorld::Ptr & Supervisor::getWorld() {
-    return d_world;
+const SupervisorWorld::Ptr & Supervisor::getWorld(){
+	return d_world;
 }
 
 } /* namespace oncilla */
 } /* namespace rci */
diff --git a/src/liboncilla/Supervisor.h b/src/liboncilla/Supervisor.h
index e847de8..697e012 100644
--- a/src/liboncilla/Supervisor.h
+++ b/src/liboncilla/Supervisor.h
@@ -1,41 +1,41 @@
 /*
  * Supervisor.h
  *
  *  Created on: Jan 21, 2013
  *      Author: tuleu
  */
 
 #ifndef SUPERVISOR_H_
 #define SUPERVISOR_H_
 
 #include <liboncilla/nodes/SupervisorNodes.h>
 #include "common.h"
 
 #include <vector>
 
 class OncillaBackend;
 
 namespace rci {
 namespace oncilla {
 
 class Supervisor {
 public:
-    typedef boost::shared_ptr<rci::oncilla::Supervisor> Ptr;
-    Supervisor(OncillaBackend & backend);
-    virtual ~Supervisor();
+	typedef boost::shared_ptr<rci::oncilla::Supervisor> Ptr;
+	Supervisor(OncillaBackend & backend);
+	virtual ~Supervisor();
 
-    const SupervisorTrunk::Ptr & getTrunk();
+	const SupervisorTrunk::Ptr & getTrunk();
 
-    const SupervisorL4::Ptr & getL4(Leg l);
+	const SupervisorL4::Ptr & getL4(Leg l);
 
-    const SupervisorWorld::Ptr & getWorld();
+	const SupervisorWorld::Ptr & getWorld();
 private:
-    std::vector<SupervisorL4::Ptr> d_l4s;
-    SupervisorTrunk::Ptr d_trunk;
-    SupervisorWorld::Ptr d_world;
+	std::vector<SupervisorL4::Ptr> d_l4s;
+	SupervisorTrunk::Ptr d_trunk;
+	SupervisorWorld::Ptr d_world;
 
 };
 
 } /* namespace oncilla */
 } /* namespace rci */
 #endif /* SUPERVISOR_H_ */
diff --git a/src/liboncilla/nodes/SupervisorWorld.cpp b/src/liboncilla/nodes/SupervisorWorld.cpp
index 5f0ffca..be52f91 100644
--- a/src/liboncilla/nodes/SupervisorWorld.cpp
+++ b/src/liboncilla/nodes/SupervisorWorld.cpp
@@ -1,14 +1,14 @@
 #include "SupervisorWorld.h"
 
 namespace rci {
 namespace oncilla {
 
-SupervisorWorld::SupervisorWorld() :
-        rci::ResourceNode("Supervised Oncilla World") {
+SupervisorWorld::SupervisorWorld()
+	: rci::ResourceNode("Supervised Oncilla World") {
 }
 
 SupervisorWorld::~SupervisorWorld() {
 }
 
 } /* namespace oncilla */
 } /* namespace rci */
diff --git a/src/liboncilla/nodes/SupervisorWorld.h b/src/liboncilla/nodes/SupervisorWorld.h
index ae6bab0..62f1207 100644
--- a/src/liboncilla/nodes/SupervisorWorld.h
+++ b/src/liboncilla/nodes/SupervisorWorld.h
@@ -1,19 +1,19 @@
 #pragma once
 
 #include <rci/ResourceNode.h>
 
 namespace rci {
 namespace oncilla {
 
 class SupervisorWorld: public rci::ResourceNode {
 public:
-    typedef boost::shared_ptr<SupervisorWorld> Ptr;
+	typedef boost::shared_ptr<SupervisorWorld> Ptr;
 
-    SupervisorWorld();
-    virtual ~SupervisorWorld();
+	SupervisorWorld();
+	virtual ~SupervisorWorld();
 
-    virtual void reset() = 0;
+	virtual void reset() = 0;
 };
 
 } /* namespace oncilla */
 } /* namespace rci */
diff --git a/src/liboncilla/utils/OncillaBackend.h b/src/liboncilla/utils/OncillaBackend.h
index 4e256db..044a390 100644
--- a/src/liboncilla/utils/OncillaBackend.h
+++ b/src/liboncilla/utils/OncillaBackend.h
@@ -1,62 +1,63 @@
 /*
  * Backend.h
  *
  *  Created on: Jan 18, 2013
  *      Author: tuleu
  */
 
 #ifndef LIBONCILLA_ONCILLABACKEND_H_
 #define LIBONCILLA_ONCILLABACKEND_H_
 
 #include <biorob-cpp/plugin/PluginLoader.h>
 #include <biorob-cpp/base/common.h>
 #include <boost/shared_ptr.hpp>
 #include <liboncilla/common.h>
 
 namespace rci {
 namespace oncilla {
 
-class Synchronizer;
-class L0;
-class L1L2;
-class L3;
-typedef L1L2 L1;
-typedef L1L2 L2;
-class Trunk;
-class SupervisorWorld;
-class SupervisorTrunk;
-class SupervisorL4;
-}
-}
+	class Synchronizer;
+	class L0;
+	class L1L2;
+	class L3;
+	typedef L1L2 L1;
+	typedef L1L2 L2;
+	class Trunk;
+	class SupervisorWorld;
+	class SupervisorTrunk;
+	class SupervisorL4;
+
+} /* namespace oncilla */
+} /* namespace rci */
 
 class OncillaBackend {
-    BIOROB_CPP_DECLARE_PLUGIN (OncillaBackend);
-    DISABLE_ASSIGNEMENT (OncillaBackend);
-    DISABLE_COPY (OncillaBackend);
+	BIOROB_CPP_DECLARE_PLUGIN (OncillaBackend);
+	DISABLE_ASSIGNEMENT (OncillaBackend);
+	DISABLE_COPY (OncillaBackend);
 public:
-    typedef std::tr1::shared_ptr<OncillaBackend> Ptr;
-    OncillaBackend();
-    virtual ~OncillaBackend();
-    virtual boost::shared_ptr<rci::oncilla::Synchronizer> CreateSynchronizer() = 0;
+	typedef std::tr1::shared_ptr<OncillaBackend> Ptr;
+	OncillaBackend();
+	virtual ~OncillaBackend();
+	virtual boost::shared_ptr<rci::oncilla::Synchronizer> CreateSynchronizer() = 0;
 
-    virtual boost::shared_ptr<rci::oncilla::L0> CreateL0(rci::oncilla::Leg l,
-            const std::string & name) = 0;
-    virtual boost::shared_ptr<rci::oncilla::L1> CreateL1(rci::oncilla::Leg l,
-            const std::string & name) = 0;
-    virtual boost::shared_ptr<rci::oncilla::L2> CreateL2(rci::oncilla::Leg l,
-            const std::string & name) = 0;
-    virtual boost::shared_ptr<rci::oncilla::L3> CreateL3(rci::oncilla::Leg l,
-            const std::string & name) = 0;
+	virtual boost::shared_ptr<rci::oncilla::L0> CreateL0(rci::oncilla::Leg l,
+	                                                     const std::string & name) = 0;
+	virtual boost::shared_ptr<rci::oncilla::L1> CreateL1(rci::oncilla::Leg l,
+	                                                     const std::string & name) = 0;
+	virtual boost::shared_ptr<rci::oncilla::L2> CreateL2(rci::oncilla::Leg l,
+	                                                     const std::string & name) = 0;
+	virtual boost::shared_ptr<rci::oncilla::L3> CreateL3(rci::oncilla::Leg l,
+	                                                     const std::string & name) = 0;
 
-    virtual boost::shared_ptr<rci::oncilla::Trunk> CreateTrunk() = 0;
+	virtual boost::shared_ptr<rci::oncilla::Trunk> CreateTrunk() = 0;
 
-    virtual boost::shared_ptr<rci::oncilla::SupervisorWorld> CreateSupervisorWorld() = 0;
+	virtual boost::shared_ptr<rci::oncilla::SupervisorWorld> CreateSupervisorWorld() = 0;
 
-    virtual boost::shared_ptr<rci::oncilla::SupervisorTrunk> CreateSupervisorTrunk() = 0;
+	virtual boost::shared_ptr<rci::oncilla::SupervisorTrunk> CreateSupervisorTrunk() = 0;
 
-    virtual boost::shared_ptr<rci::oncilla::SupervisorL4> CreateSupervisorL4(
-            rci::oncilla::Leg l, const std::string & name) = 0;
+	virtual boost::shared_ptr<rci::oncilla::SupervisorL4> CreateSupervisorL4(rci::oncilla::Leg l,
+	                                                                         const std::string & name) = 0;
 
 };
 
 #endif /* LIBONCILLA_ONCILLABACKEND_H_ */