diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp
index 1973401..f7b115e 100644
--- a/NetworkPerception.cpp
+++ b/NetworkPerception.cpp
@@ -2,7 +2,8 @@
 
 #include "RoboidControl/NetworkSync.h"
 
-void NetworkPerception::ProcessPacket(Roboid *roboid, unsigned char *buffer,
+void NetworkPerception::ProcessPacket(Roboid* roboid,
+                                      unsigned char* buffer,
                                       int packetsize) {
   // printf("packet received, type = 0x%02x %d %d %d %d\n", buffer[0],
   // buffer[2], buffer[3], buffer[4], buffer[5]);
@@ -12,7 +13,7 @@ void NetworkPerception::ProcessPacket(Roboid *roboid, unsigned char *buffer,
   }
 }
 
-Int32 NetworkPerception::ReceiveInt32(unsigned char *data, int startIndex) {
+Int32 NetworkPerception::ReceiveInt32(unsigned char* data, int startIndex) {
   Int32 a = Int32((UInt32)(data[startIndex + 3]) << 24 |
                   (UInt32)(data[startIndex + 2]) << 16 |
                   (UInt32)(data[startIndex + 1]) << 8 |
@@ -20,13 +21,13 @@ Int32 NetworkPerception::ReceiveInt32(unsigned char *data, int startIndex) {
   return a;
 }
 
-float NetworkPerception::ReceiveFloat100(unsigned char *data, int startIndex) {
+float NetworkPerception::ReceiveFloat100(unsigned char* data, int startIndex) {
   Int32 intValue = ReceiveInt32(data, startIndex);
   float f = (float)intValue / 100.0F;
   return f;
 }
 
-Vector3 NetworkPerception::ReceiveVector3(unsigned char *data, int startIndex) {
+Vector3 NetworkPerception::ReceiveVector3(unsigned char* data, int startIndex) {
   float x = ReceiveFloat100(data, startIndex);
   float y = ReceiveFloat100(data, startIndex + 4);
   float z = ReceiveFloat100(data, startIndex + 8);
@@ -34,9 +35,9 @@ Vector3 NetworkPerception::ReceiveVector3(unsigned char *data, int startIndex) {
   return v;
 }
 
-void NetworkPerception::ReceiveObject(unsigned char *data, Roboid *roboid) {
+void NetworkPerception::ReceiveObject(unsigned char* data, Roboid* roboid) {
   unsigned char objectId = data[1];
-  char poseType = data[2];
+  // char poseType = data[2];
   Vector3 worldPosition = ReceiveVector3(data, 3);
   Vector3 worldAngles = ReceiveVector3(data, 15);
   Quaternion worldOrientation = Quaternion::Euler(worldAngles);
@@ -48,7 +49,7 @@ void NetworkPerception::ReceiveObject(unsigned char *data, Roboid *roboid) {
     //        worldPosition.z, worldDirection.x, worldDirection.z);
 
   } else {
-    Vector3 myPosition = roboid->GetPosition(); // Vector3::zero;
+    Vector3 myPosition = roboid->GetPosition();  // Vector3::zero;
     Vector2 myPosition2 = Vector3::ProjectHorizontalPlane(myPosition);
     Quaternion myOrientation = roboid->GetOrientation();
     Vector3 myDirection = myOrientation * Vector3::forward;
diff --git a/NetworkPerception.h b/NetworkPerception.h
index 60e32ce..4f02b5d 100644
--- a/NetworkPerception.h
+++ b/NetworkPerception.h
@@ -8,16 +8,16 @@ namespace Passer {
 namespace RoboidControl {
 
 class NetworkPerception : public Sensor {
-public:
-  void ProcessPacket(Roboid *roboid, unsigned char *buffer, int packetsize);
+ public:
+  void ProcessPacket(Roboid* roboid, unsigned char* buffer, int packetsize);
 
-protected:
-  void ReceiveObject(unsigned char *data, Roboid *roboid);
+ protected:
+  void ReceiveObject(unsigned char* data, Roboid* roboid);
 
-  Int32 ReceiveInt32(unsigned char *data, int startIndex);
-  float ReceiveFloat100(unsigned char *data, int startIndex);
-  Vector3 ReceiveVector3(unsigned char *data, int startIndex);
+  Int32 ReceiveInt32(unsigned char* data, int startIndex);
+  float ReceiveFloat100(unsigned char* data, int startIndex);
+  Vector3 ReceiveVector3(unsigned char* data, int startIndex);
 };
 
-} // namespace RoboidControl
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
+}  // namespace Passer
\ No newline at end of file