change README

README.md

@@ -6,40 +6,40 @@ Core part is the singleton class TF_Tree
 
 ## Initialize TF_Tree
 Get an instance of the class
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 TF_Tree & tfTree = TF_Tree::instance(); 
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 set a new TF:
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 tfTree.addTF("refPoint","global"); 
 tfTree.addTF("front","refPoint"); 
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 Each TF with "name" is referenced to an other TF. Main base is "global". It's default base, if not defined differently
 
 After initialize neede TFs, the structure can be showed: 
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 tfTree.printBranches("global"); 
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 Set Values for Translation and Orientation: 
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 tfTree.getTF("refPoint")->setTrans(eeros::math::Vector3(0.0, 0.0, 0.7));
 tfTree.getTF("refPoint")->setRPY(0.1, -0.1, 0.12);
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 ## Get Trafo-Matrix
 Get initialized TF: 
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 TrafoMatrix* tf_ref = tfTree.getTF("refPoint"); 
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 ## Get Trafo-Matrix With Base
 Get TF from Goal to Base: 
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 TrafoMatrix tf_front_global = tfTree.trafoFromWithBase("front","global"); 
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 ## Jacobi-Matrix
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 Matrix<6,6,double> jacobian =  tf_front_global.getJacobiMatrix(); 
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