diff --git a/dmp.cc b/dmp.cc
index dcf109ab44a91fabc3e313126a368052d7f7d932..6009a7c192836b69878b2dc9541f9406f049199a 100644
--- a/dmp.cc
+++ b/dmp.cc
@@ -66,8 +66,9 @@ void Dmp::resetState() {
 	g = zeros<mat>(nDims,1);
 }
 
-
-mat Dmp::getVel(const mat& posIn, const double& dt) {
+// Modified version of a part of the DMP software at
+//www-clmc.usc.edu/Resources/Software
+mat Dmp::getVel(const mat& posIn, const double& dt) {   
 	mat pos = posIn.t();
 	if (firstSample) {
 		g = pos;
@@ -97,29 +98,3 @@ mat Dmp::getVel(const mat& posIn, const double& dt) {
 }
 
 
-/*
-for j = 1:7
-	psi = exp(-0.5*((x(j)-c).^2).*D);
-	f  = sum(v(j)*w(:,j).*psi)/sum(psi+1.e-10);
-	
-	
-
-	% The dynamical systems:
-	vd = (alpha_v*(beta_v*(0-x(j))-v(j)))*tau;
-	xd = v(j)*tau;
-
-	zd = (alpha_z*(beta_z*(g(j)-yact(j))-z(j))+f)*tau;
-
-	yd = z(j)*tau;
-
-	gd = alpha_g*(G(j)-g(j));
-
-	% State update:
-	x(j)  = xd*dt+x(j);
-	v(j)  = vd*dt+v(j);
-	z(j)  = zd*dt+z(j);
-	g(j)  = gd*dt+g(j); 
-	yrefd(j) = yd;
-end
-*/
-
diff --git a/traj2dmp.cc b/traj2dmp.cc
index efc056b61583da861b65e8752b3665036bb64a9b..290b58c102992cf3a58bee6552191bcc13039ed3 100644
--- a/traj2dmp.cc
+++ b/traj2dmp.cc
@@ -12,6 +12,10 @@ mat smartDiff(const mat& inMat) { //now supports col vecs only
 	
 }
 
+
+
+// Modified version of a part of the DMP software at
+//www-clmc.usc.edu/Resources/Software
 Dmp traj2dmp(const mat& trajectory, const double& dt) {
 	int nbrDims = trajectory.n_cols; // Number of dimensions
 	double tau;;