From 09cd775420ae8d5d406c349b348993aff5ef33e2 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Tue, 17 Apr 2018 13:51:44 +0200
Subject: [PATCH] Use '#pragma once' instead of include guards

---
 source/RobotAPI/applications/RobotControlUI/RobotControlUI.h  | 4 +---
 source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h | 4 +---
 .../applications/WeissHapticUnit/WeissHapticUnitApp.h         | 4 +---
 source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h | 4 +---
 source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h  | 4 +---
 .../RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h   | 4 +---
 source/RobotAPI/components/EarlyVisionGraph/GraphMap.h        | 4 +---
 source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h  | 4 +---
 .../components/EarlyVisionGraph/GraphPyramidLookupTable.h     | 4 +---
 .../RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h | 4 +---
 source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h  | 4 +---
 source/RobotAPI/components/EarlyVisionGraph/MathTools.h       | 4 +---
 source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h  | 4 +---
 source/RobotAPI/components/EarlyVisionGraph/Structs.h         | 4 +---
 .../components/GamepadControlUnit/GamepadControlUnit.h        | 4 +---
 .../RobotAPI/components/RobotNameService/RobotNameService.h   | 4 +---
 source/RobotAPI/components/RobotState/RobotStateComponent.h   | 4 +---
 source/RobotAPI/components/RobotState/SharedRobotServants.h   | 4 +---
 source/RobotAPI/components/ViewSelection/ViewSelection.h      | 4 +---
 source/RobotAPI/components/units/ATINetFTUnit.h               | 4 +---
 source/RobotAPI/components/units/ForceTorqueObserver.h        | 4 +---
 source/RobotAPI/components/units/ForceTorqueUnit.h            | 4 +---
 source/RobotAPI/components/units/ForceTorqueUnitSimulation.h  | 4 +---
 source/RobotAPI/components/units/GamepadUnitObserver.h        | 4 +---
 source/RobotAPI/components/units/HandUnit.h                   | 4 +---
 source/RobotAPI/components/units/HandUnitSimulation.h         | 4 +---
 source/RobotAPI/components/units/HapticObserver.h             | 4 +---
 source/RobotAPI/components/units/HapticUnit.h                 | 4 +---
 source/RobotAPI/components/units/HeadIKUnit.h                 | 4 +---
 source/RobotAPI/components/units/InertialMeasurementUnit.h    | 4 +---
 .../components/units/InertialMeasurementUnitObserver.h        | 4 +---
 source/RobotAPI/components/units/KinematicUnit.h              | 4 +---
 source/RobotAPI/components/units/KinematicUnitObserver.h      | 4 +---
 source/RobotAPI/components/units/KinematicUnitSimulation.h    | 4 +---
 source/RobotAPI/components/units/LaserScannerUnitObserver.h   | 4 +---
 source/RobotAPI/components/units/MetaWearIMUObserver.h        | 4 +---
 source/RobotAPI/components/units/OptoForceUnitObserver.h      | 4 +---
 .../components/units/OrientedTactileSensorUnitObserver.h      | 4 +---
 source/RobotAPI/components/units/PlatformUnit.h               | 4 +---
 source/RobotAPI/components/units/PlatformUnitObserver.h       | 4 +---
 source/RobotAPI/components/units/PlatformUnitSimulation.h     | 4 +---
 source/RobotAPI/components/units/RobotPoseUnit.h              | 4 +---
 source/RobotAPI/components/units/RobotUnit/BasicControllers.h | 4 +---
 source/RobotAPI/components/units/RobotUnit/Constants.h        | 4 +---
 source/RobotAPI/components/units/RobotUnit/ControlModes.h     | 4 +---
 .../RobotUnit/ControlTargets/ControlTarget1DoFActuator.h      | 4 +---
 .../units/RobotUnit/ControlTargets/ControlTargetBase.h        | 4 +---
 .../ControlTargets/ControlTargetHolonomicPlatformVelocity.h   | 4 +---
 .../components/units/RobotUnit/DefaultWidgetDescriptions.h    | 4 +---
 .../components/units/RobotUnit/Devices/ControlDevice.h        | 4 +---
 .../RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h  | 4 +---
 .../units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h     | 4 +---
 .../components/units/RobotUnit/Devices/SensorDevice.h         | 4 +---
 .../units/RobotUnit/JointControllers/JointController.h        | 4 +---
 .../units/RobotUnit/NJointControllers/NJointController.h      | 4 +---
 ...NJointHolonomicPlatformUnitVelocityPassThroughController.h | 4 +---
 .../NJointKinematicUnitPassThroughController.h                | 4 +---
 .../RobotUnit/NJointControllers/NJointTrajectoryController.h  | 4 +---
 source/RobotAPI/components/units/RobotUnit/PDController.h     | 4 +---
 .../components/units/RobotUnit/RobotSynchronization.h         | 4 +---
 source/RobotAPI/components/units/RobotUnit/RobotUnit.h        | 4 +---
 source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp      | 4 +---
 .../RobotAPI/components/units/RobotUnit/RobotUnitObserver.h   | 4 +---
 .../units/RobotUnit/SensorValues/SensorValue1DoFActuator.h    | 4 +---
 .../components/units/RobotUnit/SensorValues/SensorValueBase.h | 4 +---
 .../units/RobotUnit/SensorValues/SensorValueForceTorque.h     | 4 +---
 .../RobotUnit/SensorValues/SensorValueHolonomicPlatform.h     | 4 +---
 .../components/units/RobotUnit/SensorValues/SensorValueIMU.h  | 4 +---
 .../units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h | 4 +---
 .../components/units/RobotUnit/Units/ForceTorqueSubUnit.h     | 4 +---
 .../units/RobotUnit/Units/InertialMeasurementSubUnit.h        | 4 +---
 .../components/units/RobotUnit/Units/KinematicSubUnit.h       | 4 +---
 .../components/units/RobotUnit/Units/PlatformSubUnit.h        | 4 +---
 .../components/units/RobotUnit/Units/RobotUnitSubUnit.h       | 4 +---
 .../components/units/RobotUnit/Units/TCPControllerSubUnit.h   | 4 +---
 .../units/RobotUnit/Units/TrajectoryControllerSubUnit.h       | 4 +---
 source/RobotAPI/components/units/RobotUnit/util.h             | 4 +---
 .../RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h  | 4 +---
 .../units/RobotUnit/util/ControlThreadOutputBuffer.h          | 4 +---
 .../units/RobotUnit/util/EigenForwardDeclarations.h           | 4 +---
 .../units/RobotUnit/util/JointAndNJointControllers.h          | 4 +---
 .../RobotAPI/components/units/RobotUnit/util/KeyValueVector.h | 4 +---
 source/RobotAPI/components/units/RobotUnit/util/Time.h        | 4 +---
 .../units/RobotUnit/util/introspection/ClassMemberInfo.h      | 4 +---
 .../units/RobotUnit/util/introspection/ClassMemberInfoEntry.h | 4 +---
 .../units/RobotUnit/util/introspection/DataFieldsInfo.h       | 4 +---
 source/RobotAPI/components/units/SensorActorUnit.h            | 4 +---
 source/RobotAPI/components/units/TCPControlUnit.h             | 4 +---
 source/RobotAPI/components/units/TCPControlUnitObserver.h     | 4 +---
 source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h             | 4 +---
 source/RobotAPI/drivers/GamepadUnit/Joystick.h                | 4 +---
 source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h     | 4 +---
 source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h             | 4 +---
 source/RobotAPI/drivers/OptoForce/OptoForce.h                 | 4 +---
 source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h         | 4 +---
 .../drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h      | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h   | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/Checksum.h          | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/Response.h          | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h   | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h     | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h        | 4 +---
 .../drivers/WeissHapticSensor/TransmissionException.h         | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/Types.h             | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h | 4 +---
 source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h   | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h    | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/IMU.h                    | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h    | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h              | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h               | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h             | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h               | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/Includes.h               | 4 +---
 source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h            | 4 +---
 source/RobotAPI/drivers/XsensIMU/XsensIMU.h                   | 4 +---
 .../DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h            | 4 +---
 .../DebugDrawerViewer/DebugDrawerViewerWidgetController.h     | 4 +---
 .../gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h         | 4 +---
 .../RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h   | 4 +---
 .../gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h     | 4 +---
 .../gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h        | 4 +---
 .../HapticUnitPlugin/MatrixDatafieldDisplayWidget.h           | 4 +---
 .../gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h        | 4 +---
 .../HomogeneousMatrixCalculatorGuiPlugin.h                    | 4 +---
 .../HomogeneousMatrixCalculatorWidgetController.h             | 4 +---
 .../KinematicUnitPlugin/KinematicUnitConfigDialog.h           | 4 +---
 .../gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h  | 4 +---
 .../LaserScannerPlugin/LaserScannerPluginGuiPlugin.h          | 4 +---
 .../LaserScannerPlugin/LaserScannerPluginWidgetController.h   | 4 +---
 .../gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h | 4 +---
 .../gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h    | 4 +---
 .../RobotUnitPlugin/QWidgets/ControlDevicesWidget.h           | 4 +---
 .../RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h  | 4 +---
 .../RobotUnitPlugin/QWidgets/NJointControllersWidget.h        | 4 +---
 .../RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h            | 4 +---
 .../RobotUnitPlugin/QWidgets/SensorDevicesWidget.h            | 4 +---
 .../gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h        | 4 +---
 .../RobotUnitPlugin/RobotUnitPluginWidgetController.h         | 4 +---
 .../gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h    | 4 +---
 .../gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h      | 4 +---
 .../SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h        | 4 +---
 .../ArmarXTCPMover/TCPMoverConfigDialog.h                     | 4 +---
 .../SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h       | 4 +---
 .../gui-plugins/ViewSelection/ViewSelectionConfigDialog.h     | 4 +---
 .../gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h        | 4 +---
 .../gui-plugins/ViewSelection/ViewSelectionWidgetController.h | 4 +---
 .../RobotAPI/interface/components/ViewSelectionInterface.ice  | 4 +---
 source/RobotAPI/interface/core/FramedPoseBase.ice             | 4 +---
 source/RobotAPI/interface/core/LinkedPoseBase.ice             | 4 +---
 source/RobotAPI/interface/core/OrientedPoint.ice              | 4 +---
 source/RobotAPI/interface/core/PoseBase.ice                   | 4 +---
 source/RobotAPI/interface/core/PoseBaseStdOverloads.h         | 4 +---
 source/RobotAPI/interface/core/RobotState.ice                 | 4 +---
 .../RobotAPI/interface/core/RobotStateObserverInterface.ice   | 4 +---
 source/RobotAPI/interface/core/Trajectory.ice                 | 4 +---
 .../interface/core/moved_to_robotcomponents_RobotIK.ice       | 4 +---
 .../interface/observers/KinematicUnitObserverInterface.ice    | 4 +---
 source/RobotAPI/interface/observers/ObserverFilters.ice       | 4 +---
 .../interface/observers/PlatformUnitObserverInterface.ice     | 4 +---
 .../interface/selflocalisation/SelfLocalisationProcess.ice    | 4 +---
 source/RobotAPI/interface/speech/SpeechInterface.ice          | 4 +---
 source/RobotAPI/interface/units/ATINetFTUnit.ice              | 4 +---
 source/RobotAPI/interface/units/ForceTorqueUnit.ice           | 4 +---
 source/RobotAPI/interface/units/GamepadUnit.ice               | 4 +---
 source/RobotAPI/interface/units/HandUnitInterface.ice         | 4 +---
 source/RobotAPI/interface/units/HapticUnit.ice                | 4 +---
 source/RobotAPI/interface/units/HeadIKUnit.ice                | 4 +---
 source/RobotAPI/interface/units/InertialMeasurementUnit.ice   | 4 +---
 source/RobotAPI/interface/units/KinematicUnitInterface.ice    | 4 +---
 .../interface/units/KinematicUnitInterfaceStdOverloads.h      | 4 +---
 source/RobotAPI/interface/units/LaserScannerUnit.ice          | 4 +---
 source/RobotAPI/interface/units/MetaWearIMU.ice               | 4 +---
 source/RobotAPI/interface/units/MetaWearIMUInterface.ice      | 4 +---
 source/RobotAPI/interface/units/OptoForceUnit.ice             | 4 +---
 source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice | 4 +---
 source/RobotAPI/interface/units/PlatformUnitInterface.ice     | 4 +---
 source/RobotAPI/interface/units/RobotPoseUnitInterface.ice    | 4 +---
 .../RobotUnit/NJointCartesianActiveImpedanceController.ice    | 4 +---
 .../units/RobotUnit/NJointCartesianTorqueController.ice       | 4 +---
 .../units/RobotUnit/NJointCartesianVelocityController.ice     | 4 +---
 .../RobotAPI/interface/units/RobotUnit/NJointController.ice   | 4 +---
 .../units/RobotUnit/NJointJointSpaceDMPController.ice         | 4 +---
 .../units/RobotUnit/NJointTaskSpaceDMPController.ice          | 4 +---
 .../interface/units/RobotUnit/NJointTrajectoryController.ice  | 4 +---
 .../RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice | 4 +---
 source/RobotAPI/interface/units/TCPControlUnit.ice            | 4 +---
 source/RobotAPI/interface/units/TCPMoverUnitInterface.ice     | 4 +---
 source/RobotAPI/interface/units/UnitInterface.ice             | 4 +---
 source/RobotAPI/interface/units/WeissHapticUnit.ice           | 4 +---
 .../RobotAPI/interface/visualization/DebugDrawerInterface.ice | 4 +---
 .../visualization/DebugDrawerInterfaceStdOverloads.h          | 4 +---
 .../libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h   | 4 +---
 source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h | 4 +---
 .../libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h        | 4 +---
 source/RobotAPI/libraries/core/CartesianPositionController.h  | 4 +---
 source/RobotAPI/libraries/core/CartesianVelocityController.h  | 4 +---
 source/RobotAPI/libraries/core/FramedOrientedPoint.h          | 4 +---
 source/RobotAPI/libraries/core/FramedPose.h                   | 4 +---
 source/RobotAPI/libraries/core/LinkedPose.h                   | 4 +---
 source/RobotAPI/libraries/core/OrientedPoint.h                | 4 +---
 source/RobotAPI/libraries/core/PIDController.h                | 4 +---
 source/RobotAPI/libraries/core/Pose.h                         | 4 +---
 source/RobotAPI/libraries/core/RobotAPIObjectFactories.h      | 4 +---
 source/RobotAPI/libraries/core/RobotStatechartContext.h       | 4 +---
 source/RobotAPI/libraries/core/Trajectory.h                   | 4 +---
 source/RobotAPI/libraries/core/VectorHelpers.h                | 4 +---
 .../RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h | 4 +---
 .../core/checks/ConditionCheckEqualsPoseWithTolerance.h       | 4 +---
 .../libraries/core/checks/ConditionCheckMagnitudeChecks.h     | 4 +---
 source/RobotAPI/libraries/core/math/ColorUtils.h              | 4 +---
 .../RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h | 4 +---
 source/RobotAPI/libraries/core/math/MathUtils.h               | 4 +---
 source/RobotAPI/libraries/core/math/MatrixHelpers.h           | 4 +---
 source/RobotAPI/libraries/core/math/SVD.h                     | 4 +---
 .../RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h  | 4 +---
 source/RobotAPI/libraries/core/math/StatUtils.h               | 4 +---
 source/RobotAPI/libraries/core/math/TimeSeriesUtils.h         | 4 +---
 source/RobotAPI/libraries/core/math/Trigonometry.h            | 4 +---
 .../RobotAPI/libraries/core/observerfilters/MatrixFilters.h   | 4 +---
 .../libraries/core/observerfilters/MedianDerivativeFilterV3.h | 4 +---
 source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h | 4 +---
 .../libraries/core/observerfilters/PoseMedianFilter.h         | 4 +---
 .../libraries/core/observerfilters/PoseMedianOffsetFilter.h   | 4 +---
 .../RobotAPI/libraries/core/remoterobot/RobotStateObserver.h  | 4 +---
 source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h   | 4 +---
 .../OrientedTactileSensorGroupRemoteStateOfferer.h            | 4 +---
 .../OrientedTactileSensorGroup/OrientedTactileSensorTest.h    | 4 +---
 .../StatechartProfilesTestGroupRemoteStateOfferer.h           | 4 +---
 .../statecharts/StatechartProfilesTestGroup/TestState.h       | 4 +---
 .../statecharts/TrajectoryExecutionCode/PlayTrajectory.h      | 4 +---
 .../TrajectoryExecutionCodeRemoteStateOfferer.h               | 4 +---
 .../WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h     | 4 +---
 .../statecharts/WeissHapticGroup/WeissHapticSensorTest.h      | 4 +---
 source/RobotAPI/statecharts/operations/RobotControl.h         | 4 +---
 238 files changed, 238 insertions(+), 714 deletions(-)

diff --git a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
index 87cbd26d1..d402525e5 100644
--- a/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
+++ b/source/RobotAPI/applications/RobotControlUI/RobotControlUI.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_SIMPLECOMPONENTTEST_H
-#define _ARMARX_SIMPLECOMPONENTTEST_H
+#pragma once
 
 // ArmarXCore
 #include <ArmarXCore/core/Component.h>
@@ -53,4 +52,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h b/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
index c234e3c93..8d19a2211 100644
--- a/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
+++ b/source/RobotAPI/applications/ViewSelection/ViewSelectionApp.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_APPLICATION_RobotComponents_ViewSelection_H
-#define _ARMARX_APPLICATION_RobotComponents_ViewSelection_H
+#pragma once
 
 
 #include <ArmarXCore/core/application/Application.h>
@@ -51,4 +50,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h b/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
index de2d0c52c..f9e9ea0a9 100644
--- a/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
+++ b/source/RobotAPI/applications/WeissHapticUnit/WeissHapticUnitApp.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_APPLICATION_RobotAPI_WeissHapticUnit_H
-#define _ARMARX_APPLICATION_RobotAPI_WeissHapticUnit_H
+#pragma once
 
 #include <ArmarXCore/core/application/Application.h>
 #include <RobotAPI/components/units/HapticObserver.h>
@@ -52,4 +51,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index c18fd24a0..cd2d8579c 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -23,8 +23,7 @@
  *             GNU General Public License
  */
 
-#ifndef __ARMARX_DEBUGDRAWERCOMPONENT_H__
-#define __ARMARX_DEBUGDRAWERCOMPONENT_H__
+#pragma once
 
 
 // Coin3D & SoQt
@@ -588,4 +587,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h b/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h
index 7904916da..624c60090 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphGenerator.h
@@ -7,8 +7,7 @@
 // Date:        08.07.2008
 // *****************************************************************
 
-#ifndef _GRAPH_GENERATOR_H_
-#define _GRAPH_GENERATOR_H_
+#pragma once
 
 // *****************************************************************
 // includes
@@ -82,4 +81,3 @@ private:
     static vector<Face> m_Faces;
 };
 
-#endif /* _GRAPH_GENERATOR_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h b/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h
index b97a195b3..e64f1ee45 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphLookupTable.h
@@ -7,8 +7,7 @@
 // Date:        10.10.2008
 // *****************************************************************
 
-#ifndef _GRAPH_LOOKUP_TABLE_H_
-#define _GRAPH_LOOKUP_TABLE_H_
+#pragma once
 
 // *****************************************************************
 // includes
@@ -62,4 +61,3 @@ private:
 };
 
 
-#endif /* _GRAPH_LOOKUP_TABLE_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h b/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h
index e8533388a..d6ba662e1 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphMap.h
@@ -7,8 +7,7 @@
 // Date:        12.06.2007
 // *****************************************************************
 
-#ifndef _GRAPH_MAP_H_
-#define _GRAPH_MAP_H_
+#pragma once
 
 // *****************************************************************
 // includes
@@ -71,4 +70,3 @@ private:
 };
 
 
-#endif /* _GRAPH_MAP_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h b/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h
index 2a609783b..f8ef20486 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphProcessor.h
@@ -7,8 +7,7 @@
 // Date:        12.06.2007
 // *****************************************************************
 
-#ifndef _GRAPH_PROCESSOR_H_
-#define _GRAPH_PROCESSOR_H_
+#pragma once
 
 // *****************************************************************
 // forward declarations
@@ -47,4 +46,3 @@ namespace GraphProcessor
     bool getCircumcircle(CSphericalGraph* pGraph, int nIndex1, int nIndex2, int nIndex3, TSphereCoord& center, float& fRadius);
 };
 
-#endif /* _GRAPH_PROCESSOR_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h b/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h
index b871f1d0a..932c2ec44 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphPyramidLookupTable.h
@@ -7,8 +7,7 @@
 // Date:        10.10.2008
 // *****************************************************************
 
-#ifndef _GRAPH_PYRAMID_LOOKUP_TABLE_H_
-#define _GRAPH_PYRAMID_LOOKUP_TABLE_H_
+#pragma once
 
 // *****************************************************************
 // includes
@@ -49,4 +48,3 @@ private:
 };
 
 
-#endif /* _GRAPH_PYRAMID_LOOKUP_TABLE_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h b/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h
index 62e3dadc5..d72962934 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/GraphTriangulation.h
@@ -7,8 +7,7 @@
 // Date:        12.06.2007
 // *****************************************************************
 
-#ifndef _GRAPH_TRIANGULATION_H_
-#define _GRAPH_TRIANGULATION_H_
+#pragma once
 
 // *****************************************************************
 // forward declarations
@@ -49,4 +48,3 @@ private:
 
 };
 
-#endif /* _GRAPH_TRIANGULATION_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h b/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h
index 84460e1b2..9b7081e69 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/IntensityGraph.h
@@ -7,8 +7,7 @@
 // Date:        12.06.2008
 // *****************************************************************
 
-#ifndef _INTENSITY_GRAPH_H_
-#define _INTENSITY_GRAPH_H_
+#pragma once
 
 // *****************************************************************
 // includes
@@ -94,4 +93,3 @@ public:
 
 };
 
-#endif // _INTENSITY_GRAPH_H_ 
diff --git a/source/RobotAPI/components/EarlyVisionGraph/MathTools.h b/source/RobotAPI/components/EarlyVisionGraph/MathTools.h
index 336629401..a42bd392f 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/MathTools.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/MathTools.h
@@ -7,8 +7,7 @@
 // Date:        12.06.2007
 // *****************************************************************
 
-#ifndef _MATH_TOOLS_H_
-#define _MATH_TOOLS_H_
+#pragma once
 
 // *****************************************************************
 // defines
@@ -69,4 +68,3 @@ public:
 
 };
 
-#endif /* _MATH_TOOLS_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h b/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h
index fc8ffdbe8..53362a758 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/SphericalGraph.h
@@ -7,8 +7,7 @@
 // Date:        12.06.2007
 // *****************************************************************
 
-#ifndef _SPHERICAL_GRAPH_H_
-#define _SPHERICAL_GRAPH_H_
+#pragma once
 
 // *****************************************************************
 // includes
@@ -162,4 +161,3 @@ protected:
 
 };
 
-#endif /* _SPHERICAL_GRAPH_H_ */
diff --git a/source/RobotAPI/components/EarlyVisionGraph/Structs.h b/source/RobotAPI/components/EarlyVisionGraph/Structs.h
index 64e071bcd..4b3993414 100644
--- a/source/RobotAPI/components/EarlyVisionGraph/Structs.h
+++ b/source/RobotAPI/components/EarlyVisionGraph/Structs.h
@@ -7,8 +7,7 @@
 // Date:        12.06.2007
 // *****************************************************************
 
-#ifndef _STRUCTS_H_
-#define _STRUCTS_H_
+#pragma once
 
 #include <vector>
 #include <Eigen/Core>
@@ -82,4 +81,3 @@ struct THypothesis
 
 
 
-#endif /* _STRUCTS_H_ */
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index fb208fa43..2614a96ff 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_GamepadControlUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_GamepadControlUnit_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -114,4 +113,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/RobotNameService/RobotNameService.h b/source/RobotAPI/components/RobotNameService/RobotNameService.h
index 52e49da46..92f594234 100644
--- a/source/RobotAPI/components/RobotNameService/RobotNameService.h
+++ b/source/RobotAPI/components/RobotNameService/RobotNameService.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_RobotNameService_H
-#define _ARMARX_COMPONENT_RobotAPI_RobotNameService_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -95,4 +94,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 6429cc267..95b5680f2 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotStateComponent_RobotStateComponent_H
-#define _ARMARX_COMPONENT_RobotStateComponent_RobotStateComponent_H
+#pragma once
 
 #include "SharedRobotServants.h"
 
@@ -190,4 +189,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index f27bda005..b01b94f56 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef __SHARED_ROBOT_SERVANTS_H__
-#define __SHARED_ROBOT_SERVANTS_H__
+#pragma once
 
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/system/ImportExportComponent.h>
@@ -161,4 +160,3 @@ namespace armarx
     typedef IceInternal::Handle<SharedRobotServant> SharedRobotServantPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.h b/source/RobotAPI/components/ViewSelection/ViewSelection.h
index d945aa460..c0ee88d25 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.h
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.h
@@ -23,8 +23,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotComponents_ViewSelection_H
-#define _ARMARX_COMPONENT_RobotComponents_ViewSelection_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -233,4 +232,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/ATINetFTUnit.h b/source/RobotAPI/components/units/ATINetFTUnit.h
index ad0e12159..e8fdfc296 100644
--- a/source/RobotAPI/components/units/ATINetFTUnit.h
+++ b/source/RobotAPI/components/units/ATINetFTUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ROBOTAPI_UNITS_ATINetFTUnit_H
-#define _ROBOTAPI_UNITS_ATINetFTUnit_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -186,4 +185,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index 89734e7f4..24c031200 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
-#define _ARMARX_ROBOTAPI_FORCETORQUEOBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/ForceTorqueUnit.h>
 #include <RobotAPI/libraries/core/FramedPose.h>
@@ -122,4 +121,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index c6dd29bdb..30dcf8952 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_FORCE_TORQUE_UNIT_H
-#define _ARMARX_COMPONENT_FORCE_TORQUE_UNIT_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -96,4 +95,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
index 0846cc891..a52d64e37 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnitSimulation.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef ARMARX_COMPONENT_FORCE_TORQUE_UNIT_SIMULATION_H
-#define ARMARX_COMPONENT_FORCE_TORQUE_UNIT_SIMULATION_H
+#pragma once
 
 #include "ForceTorqueUnit.h"
 
@@ -100,4 +99,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/GamepadUnitObserver.h b/source/RobotAPI/components/units/GamepadUnitObserver.h
index 7edd3c2f1..fcccf65fc 100644
--- a/source/RobotAPI/components/units/GamepadUnitObserver.h
+++ b/source/RobotAPI/components/units/GamepadUnitObserver.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_GAMEPAD_OBSERVER_H
-#define _ARMARX_ROBOTAPI_GAMEPAD_OBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/GamepadUnit.h>
 #include <ArmarXCore/observers/Observer.h>
@@ -90,4 +89,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index 35e9aa8ce..9a6d2bcec 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_UNITS_HANDUNIT_H
-#define _ARMARX_CORE_UNITS_HANDUNIT_H
+#pragma once
 
 #include <RobotAPI/components/units/SensorActorUnit.h>
 
@@ -185,4 +184,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/HandUnitSimulation.h b/source/RobotAPI/components/units/HandUnitSimulation.h
index 308223c3b..1c02fd686 100644
--- a/source/RobotAPI/components/units/HandUnitSimulation.h
+++ b/source/RobotAPI/components/units/HandUnitSimulation.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_UNITS_HANDUNITSIMULATION_H
-#define _ARMARX_CORE_UNITS_HANDUNITSIMULATION_H
+#pragma once
 
 
 #include "HandUnit.h"
@@ -90,4 +89,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index d1c3a4a81..e6b31b334 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
-#define _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/HapticUnit.h>
 #include <ArmarXCore/observers/Observer.h>
@@ -158,4 +157,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index 555b4bd51..df548dc31 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_HAPTIC_UNIT_H
-#define _ARMARX_COMPONENT_HAPTIC_UNIT_H
+#pragma once
 
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/application/properties/Properties.h>
@@ -85,4 +84,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 775d9bdc1..bbdd75e22 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_HEADIKUNIT_H
-#define _ARMARX_HEADIKUNIT_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -119,4 +118,3 @@ namespace armarx
 }
 
 
-#endif // _ARMARX_HEADIKUNIT_H
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnit.h b/source/RobotAPI/components/units/InertialMeasurementUnit.h
index af78c2680..2e5e956ad 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnit.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_InertialMeasurementUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_InertialMeasurementUnit_H
+#pragma once
 
 
 #include "SensorActorUnit.h"
@@ -103,4 +102,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 7082e8e89..1ceba2cf5 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_IMU_OBSERVER_H
-#define _ARMARX_ROBOTAPI_IMU_OBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/InertialMeasurementUnit.h>
 #include <ArmarXCore/observers/Observer.h>
@@ -91,4 +90,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index 988c39634..64b65dd2b 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_KINEMATIC_UNIT_H
-#define _ARMARX_COMPONENT_KINEMATIC_UNIT_H
+#pragma once
 
 #include <RobotAPI/components/units/SensorActorUnit.h>
 
@@ -144,4 +143,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/KinematicUnitObserver.h b/source/RobotAPI/components/units/KinematicUnitObserver.h
index d1f44cba5..1f306d686 100644
--- a/source/RobotAPI/components/units/KinematicUnitObserver.h
+++ b/source/RobotAPI/components/units/KinematicUnitObserver.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExport.h>
 #include <ArmarXCore/core/Component.h>
@@ -214,4 +213,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/KinematicUnitSimulation.h b/source/RobotAPI/components/units/KinematicUnitSimulation.h
index be76cca88..27c7158ea 100644
--- a/source/RobotAPI/components/units/KinematicUnitSimulation.h
+++ b/source/RobotAPI/components/units/KinematicUnitSimulation.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_KINEMATIC_UNIT_SIMULATION_H
-#define _ARMARX_COMPONENT_KINEMATIC_UNIT_SIMULATION_H
+#pragma once
 
 #include "KinematicUnit.h"
 
@@ -191,4 +190,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/LaserScannerUnitObserver.h b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
index 7981b89b6..4b093eb49 100644
--- a/source/RobotAPI/components/units/LaserScannerUnitObserver.h
+++ b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_LASER_SCANNER_UNIT_OBSERVER_H
-#define _ARMARX_ROBOTAPI_LASER_SCANNER_UNIT_OBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 #include <ArmarXCore/observers/Observer.h>
@@ -84,4 +83,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/MetaWearIMUObserver.h b/source/RobotAPI/components/units/MetaWearIMUObserver.h
index 57011afb7..6dba1f746 100644
--- a/source/RobotAPI/components/units/MetaWearIMUObserver.h
+++ b/source/RobotAPI/components/units/MetaWearIMUObserver.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_META_WEAR_IMU_OBSERVER_H
-#define _ARMARX_ROBOTAPI_META_WEAR_IMU_OBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/MetaWearIMU.h>
 #include <ArmarXCore/observers/Observer.h>
@@ -84,4 +83,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/OptoForceUnitObserver.h b/source/RobotAPI/components/units/OptoForceUnitObserver.h
index fec71d82c..1fcdb2669 100644
--- a/source/RobotAPI/components/units/OptoForceUnitObserver.h
+++ b/source/RobotAPI/components/units/OptoForceUnitObserver.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_OptoForce_OBSERVER_H
-#define _ARMARX_ROBOTAPI_OptoForce_OBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/OptoForceUnit.h>
 #include <ArmarXCore/observers/Observer.h>
@@ -90,4 +89,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
index 14585223a..033f9cd08 100644
--- a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
+++ b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_IMU_OBSERVER_H
-#define _ARMARX_ROBOTAPI_IMU_OBSERVER_H
+#pragma once
 
 #include <RobotAPI/interface/units/OrientedTactileSensorUnit.h>
 #include <ArmarXCore/observers/Observer.h>
@@ -86,4 +85,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index afa1a29be..119f4a224 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_UNITS_PLATFROMUNIT_H
-#define _ARMARX_CORE_UNITS_PLATFROMUNIT_H
+#pragma once
 
 #include <RobotAPI/components/units/SensorActorUnit.h>
 
@@ -126,4 +125,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index c36aa4264..47d86bbef 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_H
-#define _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExport.h>
 #include <ArmarXCore/core/Component.h>
@@ -152,4 +151,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index b21bf16cf..a4ba66acb 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_PLATFORM_UNIT_SIMULATION_H
-#define _ARMARX_COMPONENT_PLATFORM_UNIT_SIMULATION_H
+#pragma once
 
 #include "PlatformUnit.h"
 
@@ -138,4 +137,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotPoseUnit.h b/source/RobotAPI/components/units/RobotPoseUnit.h
index 457edcdf7..d62076592 100644
--- a/source/RobotAPI/components/units/RobotPoseUnit.h
+++ b/source/RobotAPI/components/units/RobotPoseUnit.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_H
-#define _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_H
+#pragma once
 
 #include <RobotAPI/components/units/SensorActorUnit.h>
 
@@ -128,4 +127,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/BasicControllers.h b/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
index 74027102b..ff0592b4b 100644
--- a/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
+++ b/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_BasicControllers_H
-#define _ARMARX_LIB_RobotAPI_BasicControllers_H
+#pragma once
 
 #include <cmath>
 #include <type_traits>
@@ -287,4 +286,3 @@ namespace armarx
             float positionPeriodLo, float positionPeriodHi);
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Constants.h b/source/RobotAPI/components/units/RobotUnit/Constants.h
index a56fce762..6ee2be06c 100644
--- a/source/RobotAPI/components/units/RobotUnit/Constants.h
+++ b/source/RobotAPI/components/units/RobotUnit/Constants.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_ControllerConstants_H
-#define _ARMARX_LIB_RobotAPI_ControllerConstants_H
+#pragma once
 
 #include <cmath>
 #include <string>
@@ -37,4 +36,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlModes.h b/source/RobotAPI/components/units/RobotUnit/ControlModes.h
index 6b2f856d4..ffc95e5c9 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlModes.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlModes.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_ControlModes_H
-#define _ARMARX_LIB_RobotAPI_ControlModes_H
+#pragma once
 
 #include <string>
 
@@ -60,4 +59,3 @@ namespace armarx
         static const std::string HolonomicPlatformVelocity = "HolonomicPlatformVelocity";
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
index db15a4bd3..857df32bb 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_ControlTarget1DoFActuator_H
-#define _ARMARX_LIB_RobotAPI_ControlTarget1DoFActuator_H
+#pragma once
 
 #include "ControlTargetBase.h"
 #include <ArmarXCore/observers/variant/Variant.h>
@@ -129,4 +128,3 @@ namespace armarx
 #undef make_ControlTarget1DoFActuator
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
index 0283c00ab..af8fa62e0 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_JointControlTargetBase_H
-#define _ARMARX_LIB_RobotAPI_JointControlTargetBase_H
+#pragma once
 
 #include <memory>
 #include <string>
@@ -181,4 +180,3 @@ namespace armarx
     make_DummyControlTarget(StopMovement, ControlModes::StopMovement);
 #undef make_DummyControlTarget
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
index db3b57e37..2a8c9b454 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetHolonomicPlatformVelocity.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_ControlTargetHolonomicPlatformVelocity_H
-#define _ARMARX_LIB_RobotAPI_ControlTargetHolonomicPlatformVelocity_H
+#pragma once
 
 #include "ControlTargetBase.h"
 #include <ArmarXCore/observers/variant/Variant.h>
@@ -72,4 +71,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
index 9cb801659..cc70c31ce 100644
--- a/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
+++ b/source/RobotAPI/components/units/RobotUnit/DefaultWidgetDescriptions.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_UNIT_RobotAPI_DefaultWidgetDescriptions_H
-#define _ARMARX_UNIT_RobotAPI_DefaultWidgetDescriptions_H
+#pragma once
 
 #include <string>
 #include <set>
@@ -91,4 +90,3 @@ namespace armarx
         }
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
index 8eea2a875..bd9507336 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/ControlDevice.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_ControlDevice_H
-#define _ARMARX_LIB_RobotAPI_ControlDevice_H
+#pragma once
 
 #include <string>
 #include <memory>
@@ -173,4 +172,3 @@ namespace armarx
     inline void ControlDevice::rtWriteTargetValues(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) {}
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h b/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h
index 58a76c9c5..fd54ec245 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_DeviceBase_H
-#define _ARMARX_LIB_RobotAPI_DeviceBase_H
+#pragma once
 
 #include "../util.h"
 
@@ -78,4 +77,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
index a7d8324cb..734907c05 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_RTThreadTimingsSensorDevice_H
-#define _ARMARX_LIB_RobotAPI_RTThreadTimingsSensorDevice_H
+#pragma once
 
 #include"SensorDevice.h"
 #include "../SensorValues/SensorValueRTThreadTimings.h"
@@ -144,4 +143,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h b/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
index e6b582298..7ec5bc038 100644
--- a/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
+++ b/source/RobotAPI/components/units/RobotUnit/Devices/SensorDevice.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_SensorDevice_H
-#define _ARMARX_LIB_RobotAPI_SensorDevice_H
+#pragma once
 
 #include"DeviceBase.h"
 #include "../SensorValues/SensorValueBase.h"
@@ -92,4 +91,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
index bd620f6aa..1fdb7fe24 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_JointController_H
-#define _ARMARX_LIB_RobotAPI_JointController_H
+#pragma once
 
 #include "../ControlTargets/ControlTargetBase.h"
 #include "../util.h"
@@ -176,4 +175,3 @@ namespace armarx
         return &controlTarget;
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index 6e3f56c37..b9fbd1980 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_NJointController_H
-#define _ARMARX_LIB_RobotAPI_NJointController_H
+#pragma once
 
 #include <map>
 #include <atomic>
@@ -534,4 +533,3 @@ namespace armarx
     }
 }
 #include "NJointController.hpp"
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
index 112a15faa..8cc71e918 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformUnitVelocityPassThroughController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_NJointHolonomicPlatformUnitVelocityPassThroughController_H
-#define _ARMARX_LIB_RobotAPI_NJointHolonomicPlatformUnitVelocityPassThroughController_H
+#pragma once
 
 #include <VirtualRobot/Robot.h>
 
@@ -81,4 +80,3 @@ namespace armarx
         NJointHolonomicPlatformUnitVelocityPassThroughControllerControlData initialSettings;
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
index 3a651d7f8..6936d394c 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointKinematicUnitPassThroughController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_NJointKinematicUnitPassThroughController_H
-#define _ARMARX_LIB_RobotAPI_NJointKinematicUnitPassThroughController_H
+#pragma once
 
 #include <atomic>
 
@@ -106,4 +105,3 @@ namespace armarx
         void onConnectComponent() override {}
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
index 54d065ca9..5de238702 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTrajectoryController.h
@@ -1,5 +1,4 @@
-#ifndef ARMARX_NJointTRAJECTORYCONTROLLER_H
-#define ARMARX_NJointTRAJECTORYCONTROLLER_H
+#pragma once
 
 #include "NJointController.h"
 #include <VirtualRobot/Robot.h>
@@ -69,4 +68,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/PDController.h b/source/RobotAPI/components/units/RobotUnit/PDController.h
index 7f0e64be5..eabc9410c 100644
--- a/source/RobotAPI/components/units/RobotUnit/PDController.h
+++ b/source/RobotAPI/components/units/RobotUnit/PDController.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_PDController_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_PDController_H
+#pragma once
 
 #include <algorithm>
 #include <cmath>
@@ -344,4 +343,3 @@ namespace armarx
         return out;
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h b/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h
index 5e0aa926b..2b65c5f57 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotSynchronization.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_UNIT_RobotAPI_RobotSynchronization_H
-#define _ARMARX_UNIT_RobotAPI_RobotSynchronization_H
+#pragma once
 
 #include <VirtualRobot/Robot.h>
 #include "Devices/SensorDevice.h"
@@ -51,4 +50,3 @@ namespace armarx
         VirtualRobot::RobotPtr robot;
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
index 3bdaee759..9d16cc9a7 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_H
+#pragma once
 
 #include <thread>
 #include <atomic>
@@ -924,4 +923,3 @@ namespace armarx
 }
 
 #include "RobotUnit.ipp"
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp b/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp
index 9e462648e..df0a0e814 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.ipp
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_IPP
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_IPP
+#pragma once
 
 #include "RobotUnit.h"
 
@@ -397,4 +396,3 @@ namespace armarx
         nJointCtrl->deactivatePublish(draw, observer);
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h
index b19070736..499f042b3 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitObserver.h
@@ -1,5 +1,4 @@
-#ifndef _ARMARX_ROBOTUNITOBSERVER_H
-#define _ARMARX_ROBOTUNITOBSERVER_H
+#pragma once
 
 #include <ArmarXCore/observers/Observer.h>
 
@@ -33,4 +32,3 @@ namespace armarx
 
 } // namespace armarx
 
-#endif // ARMARX_ROBOTUNITOBSERVER_H
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h
index 274192eed..23e427b8d 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_LIB_RobotAPI_SensorValue1DoFActuator_H
-#define _ARMARX_LIB_RobotAPI_SensorValue1DoFActuator_H
+#pragma once
 
 #include "SensorValueBase.h"
 
@@ -184,4 +183,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
index 50f09acea..293880b63 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueBase_H
-#define _ARMARX_LIB_RobotAPI_SensorValueBase_H
+#pragma once
 
 #include <typeinfo>
 #include <memory>
@@ -175,4 +174,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
index ab8f4e08f..f60f7b8bc 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueForceTorque.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueForceTorque_H
-#define _ARMARX_LIB_RobotAPI_SensorValueForceTorque_H
+#pragma once
 
 #include "Eigen/Core"
 #include "SensorValueBase.h"
@@ -50,4 +49,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h
index 6e1a1a6a3..1c98f1ef7 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueHolonomicPlatform.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueHolonomicPlatformVelocity_H
-#define _ARMARX_LIB_RobotAPI_SensorValueHolonomicPlatformVelocity_H
+#pragma once
 
 #include "SensorValueBase.h"
 
@@ -140,4 +139,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h
index 5b1fa90bf..6108b2b55 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueIMU.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueIMU_H
-#define _ARMARX_LIB_RobotAPI_SensorValueIMU_H
+#pragma once
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -51,4 +50,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
index 5cdf78bb3..7c1ff7bae 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueRTThreadTimings.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_LIB_RobotAPI_SensorValueRTThreadTimings_H
-#define _ARMARX_LIB_RobotAPI_SensorValueRTThreadTimings_H
+#pragma once
 
 #include "SensorValueBase.h"
 
@@ -87,4 +86,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
index 983655a0a..74344e31a 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/ForceTorqueSubUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_ForceTorqueSubUnit_H
-#define _ARMARX_LIB_RobotAPI_ForceTorqueSubUnit_H
+#pragma once
 
 #include "RobotUnitSubUnit.h"
 
@@ -60,4 +59,3 @@ namespace armarx
         std::string agentName;
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h
index 4aa002816..8e38eac85 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/InertialMeasurementSubUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_InertialMeasurementSubUnit_H
-#define _ARMARX_LIB_RobotAPI_InertialMeasurementSubUnit_H
+#pragma once
 
 #include "RobotUnitSubUnit.h"
 
@@ -50,4 +49,3 @@ namespace armarx
         std::map<std::string, std::size_t> devs;
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h
index dec997ae3..ea1714088 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/KinematicSubUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_KinematicSubUnit_H
-#define _ARMARX_LIB_RobotAPI_KinematicSubUnit_H
+#pragma once
 
 #include <mutex>
 
@@ -123,4 +122,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index 35a9635b4..1b75e30f3 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_PlatformSubUnit_H
-#define _ARMARX_LIB_RobotAPI_PlatformSubUnit_H
+#pragma once
 
 #include <mutex>
 
@@ -83,4 +82,3 @@ namespace armarx
         Eigen::Matrix4f positionCorrection = Eigen::Matrix4f::Identity();
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h
index 78e2a0283..74d52cb22 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_RobotUnitSubUnit_H
-#define _ARMARX_LIB_RobotAPI_RobotUnitSubUnit_H
+#pragma once
 
 #include <ArmarXCore/core/ManagedIceObject.h>
 
@@ -39,4 +38,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
index 433c1624c..7ba8b05af 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TCPControllerSubUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_TCPControllerSubUnit_H
-#define _ARMARX_LIB_RobotAPI_TCPControllerSubUnit_H
+#pragma once
 
 #include <RobotAPI/interface/units/TCPControlUnit.h>
 #include "../RobotSynchronization.h"
@@ -96,4 +95,3 @@ namespace armarx
         void reportJointStatuses(const NameStatusMap&, Ice::Long, bool, const Ice::Current&) override {}
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
index d8fe66d56..f5c017091 100644
--- a/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_TrajectoryControllerSubUnit_H
-#define _ARMARX_LIB_RobotAPI_TrajectoryControllerSubUnit_H
+#pragma once
 
 #include "RobotUnitSubUnit.h"
 
@@ -166,4 +165,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util.h b/source/RobotAPI/components/units/RobotUnit/util.h
index e9bc00916..c83cc4b68 100644
--- a/source/RobotAPI/components/units/RobotUnit/util.h
+++ b/source/RobotAPI/components/units/RobotUnit/util.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_util_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_util_H
+#pragma once
 
 #include <ArmarXCore/core/util/PropagateConst.h>
 #include <ArmarXCore/core/ManagedIceObject.h>
@@ -34,4 +33,3 @@
 
 #include <type_traits>
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h b/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h
index d860476e4..0ad2e3cc0 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/AtomicWrapper.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef ARMARX_AtomicWrapper_H
-#define ARMARX_AtomicWrapper_H
+#pragma once
 
 #include <atomic>
 namespace armarx
@@ -59,4 +58,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
index af9e0bd0e..37a705e27 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_ControlThreadOutputBuffer_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_ControlThreadOutputBuffer_H
+#pragma once
 #include <memory>
 
 #if __GNUC__< 5
@@ -434,4 +433,3 @@ namespace armarx
         return entry;
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h b/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h
index 7ed9b4cd2..2ebf88ed4 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/EigenForwardDeclarations.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ARMARX_EigenForwardDeclarations_H
-#define ARMARX_EigenForwardDeclarations_H
+#pragma once
 
 namespace Eigen
 {
@@ -62,4 +61,3 @@ namespace Eigen
     typedef Quaternion<float, 0> Quaternionf;
     typedef Quaternion<double, 0> Quaterniond;
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h b/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h
index 602961a95..37193e272 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/JointAndNJointControllers.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_UNIT_RobotAPI_RobotUnit_JointAndNJointControllers_H
-#define _ARMARX_UNIT_RobotAPI_RobotUnit_JointAndNJointControllers_H
+#pragma once
 
 #include <vector>
 
@@ -54,4 +53,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h b/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h
index 44f561476..799baf845 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/KeyValueVector.h
@@ -19,8 +19,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ARMARX_KeyValueVector_H
-#define ARMARX_KeyValueVector_H
+#pragma once
 
 #include <ArmarXCore/core/util/TemplateMetaProgramming.h>
 #include <vector>
@@ -242,4 +241,3 @@ namespace armarx
         return ": " + to_string(*key);
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/Time.h b/source/RobotAPI/components/units/RobotUnit/util/Time.h
index 5078217fb..832ca38dd 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/Time.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/Time.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef ARMARX_STOPWATCH_H
-#define ARMARX_STOPWATCH_H
+#pragma once
 #include <chrono>
 #include <ArmarXCore/core/time/TimeUtil.h>
 #include <ArmarXCore/observers/variant/TimestampVariant.h>
@@ -124,4 +123,3 @@ namespace armarx
 }
 #define ARMARX_STOPWATCH(...) ::armarx::detail::TimerTag<__VA_ARGS__>{} *[&]
 #define ARMARX_VIRTUAL_STOPWATCH(...) ::armarx::detail::VirtualTimerTag<__VA_ARGS__>{} *[&]
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
index 4505e8f27..fc17efbbb 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef ARMARX_ClassMemberInfo_H
-#define ARMARX_ClassMemberInfo_H
+#pragma once
 #include <ArmarXCore/core/util/algorithm.h>
 
 #include "ClassMemberInfoEntry.h"
@@ -205,4 +204,3 @@ namespace armarx
         }
     }
 }
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h
index 0059613d9..c682df829 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfoEntry.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef ARMARX_ClassMemberInfoEntry_H
-#define ARMARX_ClassMemberInfoEntry_H
+#pragma once
 
 #include "DataFieldsInfo.h"
 namespace armarx
@@ -238,4 +237,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
index b39df93ca..8d902d973 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef ARMARX_DataFieldsInfo_H
-#define ARMARX_DataFieldsInfo_H
+#pragma once
 #include "../EigenForwardDeclarations.h"
 #include <string>
 #include <chrono>
@@ -250,4 +249,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/SensorActorUnit.h b/source/RobotAPI/components/units/SensorActorUnit.h
index ea5faa311..e41418d70 100644
--- a/source/RobotAPI/components/units/SensorActorUnit.h
+++ b/source/RobotAPI/components/units/SensorActorUnit.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef SENSOR_ACTOR_UNIT_H
-#define SENSOR_ACTOR_UNIT_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExport.h>
 #include <ArmarXCore/core/Component.h>
@@ -131,4 +130,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index b8e6ec97d..263b92b64 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_TCPCONTROLUNIT_H
-#define _ARMARX_TCPCONTROLUNIT_H
+#pragma once
 
 #include <RobotAPI/interface/units/TCPControlUnit.h>
 #include <RobotAPI/libraries/core/FramedPose.h>
@@ -280,4 +279,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/components/units/TCPControlUnitObserver.h b/source/RobotAPI/components/units/TCPControlUnitObserver.h
index d31dfb9c8..e62e4377e 100644
--- a/source/RobotAPI/components/units/TCPControlUnitObserver.h
+++ b/source/RobotAPI/components/units/TCPControlUnitObserver.h
@@ -19,8 +19,7 @@
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
-#ifndef _ARMARX_TCPCONTROLUNITOBSERVER_H
-#define _ARMARX_TCPCONTROLUNITOBSERVER_H
+#pragma once
 
 #include <ArmarXCore/observers/Observer.h>
 #include <RobotAPI/interface/units/TCPControlUnit.h>
@@ -82,4 +81,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
index 38d3c2ef7..1db681dc7 100644
--- a/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
+++ b/source/RobotAPI/drivers/GamepadUnit/GamepadUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_GamepadUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_GamepadUnit_H
+#pragma once
 
 #include<linux/joystick.h>
 #include<sys/stat.h>
@@ -113,4 +112,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/GamepadUnit/Joystick.h b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
index e8e3e4e7d..132bb751d 100644
--- a/source/RobotAPI/drivers/GamepadUnit/Joystick.h
+++ b/source/RobotAPI/drivers/GamepadUnit/Joystick.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_Joystick_H
-#define _ARMARX_COMPONENT_RobotAPI_Joystick_H
+#pragma once
 
 #include<linux/joystick.h>
 #include<sys/stat.h>
@@ -91,4 +90,3 @@ namespace armarx
         }
     };
 }
-#endif
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
index b8669a660..78feddf97 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_HokuyoLaserUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_HokuyoLaserUnit_H
+#pragma once
 
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/services/tasks/PeriodicTask.h>
@@ -129,4 +128,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h b/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h
index 5f15bb2c6..39d30c9f5 100644
--- a/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h
+++ b/source/RobotAPI/drivers/MetaWearIMU/MetaWearIMU.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_MetaWearIMU_H
-#define _ARMARX_COMPONENT_RobotAPI_MetaWearIMU_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -105,4 +104,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/OptoForce/OptoForce.h b/source/RobotAPI/drivers/OptoForce/OptoForce.h
index 1665b6fa4..4c4724b39 100644
--- a/source/RobotAPI/drivers/OptoForce/OptoForce.h
+++ b/source/RobotAPI/drivers/OptoForce/OptoForce.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_OptoForce_H
-#define _ARMARX_COMPONENT_RobotAPI_OptoForce_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -96,4 +95,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
index 903404963..baef34563 100644
--- a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
+++ b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_OptoForceUnit_H
-#define _ARMARX_COMPONENT_RobotAPI_OptoForceUnit_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -143,4 +142,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
index 9e8a653a3..d8a1c3496 100644
--- a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
+++ b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
@@ -1,5 +1,4 @@
-#ifndef SENSORPACKAGEUNIT_H
-#define SENSORPACKAGEUNIT_H
+#pragma once
 
 #include <ArmarXCore/core/Component.h>
 #include <RobotAPI/interface/units/UnitInterface.h>
@@ -161,4 +160,3 @@ namespace armarx
         std::string prefix;
     };
 }
-#endif // SENSORPACKAGEUNIT_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
index cb6205e4d..a5a60bef4 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ABSTRACTINTERFACE_H
-#define ABSTRACTINTERFACE_H
+#pragma once
 
 #include <string>
 #include "Types.h"
@@ -88,4 +87,3 @@ private:
 std::ostream& operator<<(std::ostream& strm, const AbstractInterface& a);
 
 
-#endif // ABSTRACTINTERFACE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
index ca6197e93..d2a05bc19 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/BinaryLogger.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef BINARYLOGGER_H
-#define BINARYLOGGER_H
+#pragma once
 
 #include <fstream>
 
@@ -40,4 +39,3 @@ private:
     std::ofstream log;
 };
 
-#endif // BINARYLOGGER_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
index 8bcfb8d92..019f6cdf7 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationHelper.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef CALIBRATIONHELPER_H
-#define CALIBRATIONHELPER_H
+#pragma once
 
 #include <vector>
 #include <Eigen/Core>
@@ -56,4 +55,3 @@ namespace armarx
     };
 }
 
-#endif // CALIBRATIONHELPER_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
index 159003840..8f3874cdf 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/CalibrationInfo.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef CALIBRATIONINFO_H
-#define CALIBRATIONINFO_H
+#pragma once
 
 #include <Eigen/Core>
 namespace armarx
@@ -43,4 +42,3 @@ namespace armarx
     };
 }
 
-#endif // CALIBRATIONINFO_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
index 2da831ea4..fefd7838d 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Checksum.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef CHECKSUM_H
-#define CHECKSUM_H
+#pragma once
 
 class Checksum
 {
@@ -34,4 +33,3 @@ private:
     static const unsigned short CRC_TABLE_CCITT16[256];
 };
 
-#endif // CHECKSUM_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Response.h b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
index cd8493bff..3e03fe190 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Response.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Response.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef RESPONSE_H
-#define RESPONSE_H
+#pragma once
 
 #include "Types.h"
 #include "TransmissionException.h"
@@ -192,4 +191,3 @@ public:
     }
 };
 
-#endif // RESPONSE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
index 1088ebcf4..883e3a96e 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef SERIALINTERFACE_H
-#define SERIALINTERFACE_H
+#pragma once
 
 #include "AbstractInterface.h"
 #include <iostream>
@@ -51,4 +50,3 @@ private:
     int blockingReadAll(unsigned char* buf, unsigned int len);
 };
 
-#endif // SERIALINTERFACE_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
index 4ca900d64..13e93c7b5 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TactileSensor.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef TACTILESENSOR_H
-#define TACTILESENSOR_H
+#pragma once
 
 #include "AbstractInterface.h"
 using namespace std;
@@ -125,4 +124,3 @@ private:
 
 std::ostream& operator<<(std::ostream& strm, const TactileSensor& a);
 
-#endif // TACTILESENSOR_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
index bc19a4c86..37a03936e 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TextWriter.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef TEXTWRITER_H
-#define TEXTWRITER_H
+#pragma once
 
 #include <fstream>
 
@@ -41,4 +40,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
index 82e3bf15d..b7f033a9a 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/TransmissionException.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef TRANSMISSIONEXCEPTION_H
-#define TRANSMISSIONEXCEPTION_H
+#pragma once
 
 #include <stdexcept>
 
@@ -42,4 +41,3 @@ public:
     { }
 };
 
-#endif // TRANSMISSIONEXCEPTION_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/Types.h b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
index 495fc4b2b..14a8cadbe 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/Types.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/Types.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef TYPES_H
-#define TYPES_H
+#pragma once
 
 #include <vector>
 
@@ -72,4 +71,3 @@ typedef enum
 
 const char* status_to_str(status_t status);
 
-#endif // TYPES_H
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
index e432f6223..7f1ee4d4d 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef WEISSHAPTICSENSOR_H
-#define WEISSHAPTICSENSOR_H
+#pragma once
 
 #include <ArmarXCore/core/services/tasks/RunningTask.h>
 #include <ArmarXCore/core/system/ImportExportComponent.h>
@@ -79,4 +78,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h
index 80f9298ca..b89a7da4e 100644
--- a/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h
+++ b/source/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.h
@@ -23,8 +23,7 @@
  *             GNU General Public License
  */
 
-#ifndef ARMAR4_FT_UNIT_ARMAR4_H
-#define ARMAR4_FT_UNIT_ARMAR4_H
+#pragma once
 
 #include <RobotAPI/components/units/HapticUnit.h>
 #include <RobotAPI/interface/units/WeissHapticUnit.h>
@@ -87,4 +86,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h b/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
index d5a073128..862be33c7 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IIMUEventDispatcher.h
@@ -6,8 +6,7 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef IIMUEVENTDISPATCHER_H_
-#define IIMUEVENTDISPATCHER_H_
+#pragma once
 
 #include "Includes.h"
 #include "IMUEvent.h"
@@ -97,4 +96,3 @@ namespace IMU
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h
index 0eb554c34..96fe244e7 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMU.h
@@ -6,12 +6,10 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef IMU_H_
-#define IMU_H_
+#pragma once
 
 #include "IMUDeducedReckoning.h"
 #include "IMUDevice.h"
 #include "IMUEvent.h"
 #include "IMUState.h"
 
-#endif /* IMU_H_ */
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
index 94ea5b8ca..3c04ea058 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDeducedReckoning.h
@@ -6,8 +6,7 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef IMUDEDUCEDRECKONING_H_
-#define IMUDEDUCEDRECKONING_H_
+#pragma once
 
 #include "IIMUEventDispatcher.h"
 #include "IMUState.h"
@@ -63,4 +62,3 @@ namespace IMU
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h
index 0eccbad7e..b3e925211 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUDevice.h
@@ -6,8 +6,7 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef IMUDEVICE_H_
-#define IMUDEVICE_H_
+#pragma once
 
 #include "Includes.h"
 #include "IMUHelpers.h"
@@ -216,4 +215,3 @@ namespace IMU
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h
index b342fb84f..ea70d2a91 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUEvent.h
@@ -6,8 +6,7 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef IMUEVENT_H_
-#define IMUEVENT_H_
+#pragma once
 
 #include "IMUHelpers.h"
 #include "IMUState.h"
@@ -68,4 +67,3 @@ namespace IMU
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h
index 8e5dd202c..40be79b0a 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUHelpers.h
@@ -6,8 +6,7 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef IMUHELPERS_H_
-#define IMUHELPERS_H_
+#pragma once
 
 #include "Includes.h"
 
@@ -74,4 +73,3 @@ namespace IMU
 
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h b/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h
index f1f3df1c3..0203e532f 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/IMUState.h
@@ -6,8 +6,7 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef IMUSTATE_H_
-#define IMUSTATE_H_
+#pragma once
 
 #include "Includes.h"
 
@@ -63,4 +62,3 @@ namespace IMU
     };
 }
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h b/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h
index 364db5615..c934806a5 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/Includes.h
@@ -6,8 +6,7 @@
  *      Mail:   david.gonzalez@kit.edu
  */
 
-#ifndef INCLUDES_H_
-#define INCLUDES_H_
+#pragma once
 
 /////////////////////////////////////////////////////////////////////////////
 //GENERAL INFORMATION
@@ -52,4 +51,3 @@
 #define _IMU_USE_XSENS_DEVICE_
 /////////////////////////////////////////////////////////////////////////////
 
-#endif /* INCLUDES_H_ */
diff --git a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h
index 3f7c4fe03..231cc0618 100644
--- a/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h
+++ b/source/RobotAPI/drivers/XsensIMU/IMU/Xsens/Xsens.h
@@ -5,8 +5,7 @@
  *      Author: gonzalez
  */
 
-#ifndef XSENS_H_
-#define XSENS_H_
+#pragma once
 
 #include "../Includes.h"
 #include "../IMUState.h"
@@ -36,4 +35,3 @@ namespace IMU
 
 #endif
 
-#endif
diff --git a/source/RobotAPI/drivers/XsensIMU/XsensIMU.h b/source/RobotAPI/drivers/XsensIMU/XsensIMU.h
index 5ba920184..017a53ba1 100644
--- a/source/RobotAPI/drivers/XsensIMU/XsensIMU.h
+++ b/source/RobotAPI/drivers/XsensIMU/XsensIMU.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_XsensIMU_H
-#define _ARMARX_COMPONENT_RobotAPI_XsensIMU_H
+#pragma once
 
 
 #include <ArmarXCore/core/Component.h>
@@ -105,4 +104,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
index 4dc7932a6..89910ac2b 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
-#define _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
index 9ddf8f556..baf1ca3ba 100644
--- a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
-#define _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
+#pragma once
 
 #include "ui_DebugDrawerViewerWidget.h"
 
@@ -129,4 +128,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
index 3275f61fc..74fc9a145 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitConfigDialog.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
+#pragma once
 
 #include <QDialog>
 
@@ -66,4 +65,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
index 6d816d1c4..dce60f105 100644
--- a/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HandUnitPlugin/HandUnitGuiPlugin.h
@@ -21,8 +21,7 @@
 
 */
 
-#ifndef _ROBOTAPI_ARMARXGUI_PLUGINS_HANDUNITWIDGET_H
-#define _ROBOTAPI_ARMARXGUI_PLUGINS_HANDUNITWIDGET_H
+#pragma once
 
 /* ArmarX headers */
 #include "ui_HandUnitGuiPlugin.h"
@@ -155,4 +154,3 @@ namespace armarx
     typedef boost::shared_ptr<HandUnitWidget> HandUnitGuiPluginPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
index a21d576a1..ba318632e 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitConfigDialog.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARXGUI_PLUGINS_HapticUnitCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_HapticUnitCONFIGDIALOG_H
+#pragma once
 
 #include <QDialog>
 
@@ -48,4 +47,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
index dfee031bb..993bb2aa4 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/HapticUnitGuiPlugin.h
@@ -21,8 +21,7 @@
 
 */
 
-#ifndef _ARMARXGUI_PLUGINS_HapticUnitWIDGET_H
-#define _ARMARXGUI_PLUGINS_HapticUnitWIDGET_H
+#pragma once
 
 /* ArmarX headers */
 #include "ui_HapticUnitGuiPlugin.h"
@@ -135,4 +134,3 @@ namespace armarx
     //typedef boost::shared_ptr<HapticUnitWidget> HapticUnitGuiPluginPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
index ce2f39cce..8ea0c076e 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef MATRIXDATAFIELDDISPLAYWIDGET_H
-#define MATRIXDATAFIELDDISPLAYWIDGET_H
+#pragma once
 
 #include <QWidget>
 #include <QMutex>
@@ -95,4 +94,3 @@ namespace armarx
     };
 }
 
-#endif // MATRIXDISPLAYWIDGET_H
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
index 13e889f8a..1c09b0b5c 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDisplayWidget.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef MATRIXDISPLAYWIDGET_H
-#define MATRIXDISPLAYWIDGET_H
+#pragma once
 
 #include <QWidget>
 #include <QMutex>
@@ -89,4 +88,3 @@ namespace armarx
     };
 }
 
-#endif // MATRIXDISPLAYWIDGET_H
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
index 7d54a3399..61298f432 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorGuiPlugin.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_HomogeneousMatrixCalculator_GuiPlugin_H
-#define _ARMARX_RobotAPI_HomogeneousMatrixCalculator_GuiPlugin_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
index d3d87d89b..50f8d3aec 100644
--- a/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
+++ b/source/RobotAPI/gui-plugins/HomogeneousMatrixCalculator/HomogeneousMatrixCalculatorWidgetController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_HomogeneousMatrixCalculator_WidgetController_H
-#define _ARMARX_RobotAPI_HomogeneousMatrixCalculator_WidgetController_H
+#pragma once
 
 #include "ui_HomogeneousMatrixCalculatorWidget.h"
 
@@ -133,4 +132,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
index ddd0e9c59..a3fee64e2 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitConfigDialog.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef KINEMATICUNITCONFIGDIALOG_H
-#define KINEMATICUNITCONFIGDIALOG_H
+#pragma once
 
 #include <QDialog>
 #include <QFileDialog>
@@ -78,4 +77,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 1ed5f04bb..61162d6b4 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -21,8 +21,7 @@
 
 */
 
-#ifndef ARMARX_COMPONENT_GUIHANDLERKINEMATICUNIT_GUI_H
-#define ARMARX_COMPONENT_GUIHANDLERKINEMATICUNIT_GUI_H
+#pragma once
 
 /* ArmarX headers */
 #include <RobotAPI/gui-plugins/KinematicUnitPlugin/ui_kinematicunitguiplugin.h>
@@ -334,4 +333,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
index 29630e9e5..8c77c21fa 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
-#define _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
index 2cd057674..194e9903c 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
-#define _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
+#pragma once
 
 #include <RobotAPI/gui-plugins/LaserScannerPlugin/ui_LaserScannerPluginWidget.h>
 
@@ -129,4 +128,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
index 1bfcd9083..028d5e256 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitConfigDialog.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARXGUI_PLUGINS_PLATFORMUNITCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_PLATFORMUNITCONFIGDIALOG_H
+#pragma once
 
 #include <QDialog>
 
@@ -61,4 +60,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index b8d143e89..18cde3712 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -21,8 +21,7 @@
 
 */
 
-#ifndef _ARMARXGUI_PLUGINS_PLATFORMUNITWIDGET_H
-#define _ARMARXGUI_PLUGINS_PLATFORMUNITWIDGET_H
+#pragma once
 
 /* ArmarX headers */
 #include "ui_PlatformUnitGuiPlugin.h"
@@ -232,4 +231,3 @@ namespace armarx
     typedef boost::shared_ptr<PlatformUnitWidget> PlatformUnitGuiPluginPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h
index 5b543169d..1feb693f4 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_ControlDevicesWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_ControlDevicesWidget_H
+#pragma once
 
 #include <mutex>
 #include <atomic>
@@ -122,4 +121,3 @@ namespace armarx
         std::vector<QTreeWidgetItem*> tags;
     };
 }
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h
index a4d242e04..1bd814875 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllerClassesWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllerClassesWidget_H
+#pragma once
 
 #include <mutex>
 #include <atomic>
@@ -135,4 +134,3 @@ namespace armarx
         NJointControllerClassesWidget* parent;
     };
 }
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h
index c0779cbad..a930d82b1 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllersWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_NJointControllersWidget_H
+#pragma once
 
 #include <mutex>
 #include <atomic>
@@ -166,4 +165,3 @@ namespace armarx
         void valueChangedSlot(std::string name, VariantBasePtr value) override;
     };
 }
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
index 046141c3e..7a6a122a0 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_RobotUnitWidgetBase_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_RobotUnitWidgetBase_H
+#pragma once
 
 #include <mutex>
 #include <atomic>
@@ -111,4 +110,3 @@ namespace armarx
         UI* ui;
     };
 }
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h
index d8a5b4535..95053ffd5 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_SensorDevicesWidget_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_SensorDevicesWidget_H
+#pragma once
 
 #include <mutex>
 #include <atomic>
@@ -103,4 +102,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h
index d32aec4a9..d34aaa5f7 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/StyleSheets.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_Style_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_Style_H
+#pragma once
 
 #include <QString>
 #include <QColor>
@@ -88,4 +87,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
index 77ac9510d..e3281fce1 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_WidgetController_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_WidgetController_H
+#pragma once
 
 #include "ui_RobotUnitPluginWidget.h"
 
@@ -168,4 +167,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
index 3021b4d75..9f7828b80 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPluginGuiPlugin.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_RobotUnitPlugin_GuiPlugin_H
-#define _ARMARX_RobotAPI_RobotUnitPlugin_GuiPlugin_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
index 5500ad060..61e90b516 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.h
@@ -21,8 +21,7 @@
 
 */
 
-#ifndef ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
-#define ARMARX_COMPONENT_ROBOTVIEWER_GUI_H
+#pragma once
 
 /* ArmarX headers */
 #include <RobotAPI/gui-plugins/RobotViewerPlugin/ui_RobotViewerGuiPlugin.h>
@@ -194,4 +193,3 @@ namespace armarx
     typedef boost::shared_ptr<RobotViewerWidgetController> RobotViewerGuiPluginPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
index f9dfa67da..20e4166ea 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMover.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARXGUI_TCPMOVER_H
-#define ARMARXGUI_TCPMOVER_H
+#pragma once
 
 /** ArmarX headers **/
 #include "TCPMoverConfigDialog.h"
@@ -153,4 +152,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
index 618110da8..f5a2a86d8 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXTCPMover/TCPMoverConfigDialog.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
-#define _ARMARXGUI_PLUGINS_HANDUNITCONFIGDIALOG_H
+#pragma once
 
 #include <QDialog>
 
@@ -66,4 +65,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
index 995d9503c..6a48629ba 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_COMPONENT_MDIGUIPLUGIN_H
-#define ARMARX_COMPONENT_MDIGUIPLUGIN_H
+#pragma once
 
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
 
@@ -50,4 +49,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h
index 343f29b91..ebb7b13b9 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionConfigDialog.h
@@ -1,5 +1,4 @@
-#ifndef VIEWSELECTIONCONFIGDIALOG_H
-#define VIEWSELECTIONCONFIGDIALOG_H
+#pragma once
 
 
 #include <QDialog>
@@ -52,4 +51,3 @@ private:
 
 };
 
-#endif // VIEWSELECTIONCONFIGDIALOG_H
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
index ec6e2923f..e95aa125a 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionGuiPlugin.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_ViewSelection_GuiPlugin_H
-#define _ARMARX_RobotAPI_ViewSelection_GuiPlugin_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExportComponent.h>
 #include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
@@ -53,4 +52,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
index b7921c274..1b5f87d8b 100644
--- a/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ViewSelection/ViewSelectionWidgetController.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_ViewSelection_WidgetController_H
-#define _ARMARX_RobotAPI_ViewSelection_WidgetController_H
+#pragma once
 
 #include "ui_ViewSelectionWidget.h"
 
@@ -140,4 +139,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/interface/components/ViewSelectionInterface.ice b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
index df3fc7d0b..9ba19073a 100755
--- a/source/RobotAPI/interface/components/ViewSelectionInterface.ice
+++ b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
@@ -21,8 +21,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ROBOTCOMPONENTS_COMPONENT_ViewSelection_SLICE_
-#define _ROBOTCOMPONENTS_COMPONENT_ViewSelection_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/core/PoseBase.ice>
 #include <RobotAPI/interface/core/FramedPoseBase.ice>
@@ -94,7 +93,6 @@ module armarx
 
 };
 
-#endif
 
 
 
diff --git a/source/RobotAPI/interface/core/FramedPoseBase.ice b/source/RobotAPI/interface/core/FramedPoseBase.ice
index fa986d906..41f3d684a 100644
--- a/source/RobotAPI/interface/core/FramedPoseBase.ice
+++ b/source/RobotAPI/interface/core/FramedPoseBase.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_ROBOTSTATE_FRAMED_POSE_SLICE_
-#define _ARMARX_ROBOTAPI_ROBOTSTATE_FRAMED_POSE_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/observers/VariantBase.ice>
 #include <ArmarXCore/interface/observers/Filters.ice>
@@ -119,4 +118,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/core/LinkedPoseBase.ice b/source/RobotAPI/interface/core/LinkedPoseBase.ice
index b9801d610..2aaa1b30c 100644
--- a/source/RobotAPI/interface/core/LinkedPoseBase.ice
+++ b/source/RobotAPI/interface/core/LinkedPoseBase.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_ROBOTSTATE_LINKEDPOSE_SLICE_
-#define _ARMARX_ROBOTAPI_ROBOTSTATE_LINKEDPOSE_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/core/FramedPoseBase.ice>
 #include <RobotAPI/interface/core/RobotState.ice>
@@ -57,4 +56,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/core/OrientedPoint.ice b/source/RobotAPI/interface/core/OrientedPoint.ice
index 28bbdfba3..088d4deda 100644
--- a/source/RobotAPI/interface/core/OrientedPoint.ice
+++ b/source/RobotAPI/interface/core/OrientedPoint.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_POINTWITHNORMAL_SLICE_
-#define _ARMARX_ROBOTAPI_POINTWITHNORMAL_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/observers/VariantBase.ice>
 #include <ArmarXCore/interface/observers/Filters.ice>
@@ -58,4 +57,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/core/PoseBase.ice b/source/RobotAPI/interface/core/PoseBase.ice
index 107bb57f9..81e24b0da 100644
--- a/source/RobotAPI/interface/core/PoseBase.ice
+++ b/source/RobotAPI/interface/core/PoseBase.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_POSE_SLICE_
-#define _ARMARX_ROBOTAPI_POSE_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/observers/VariantBase.ice>
 #include <ArmarXCore/interface/observers/Filters.ice>
@@ -88,4 +87,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/core/PoseBaseStdOverloads.h b/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
index 873c5033f..890c603ea 100644
--- a/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
+++ b/source/RobotAPI/interface/core/PoseBaseStdOverloads.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_POSE_SLICE_STD_OVERLOADS_
-#define _ARMARX_ROBOTAPI_POSE_SLICE_STD_OVERLOADS_
+#pragma once
 
 #include <cmath>
 
@@ -49,4 +48,3 @@ namespace std
     }
 }
 
-#endif
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index d155fb158..593e5b2b2 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
-#define ARMARX_ROBOTSTATE_ROBOTSTATE_SLICE
+#pragma once
 
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
 #include <RobotAPI/interface/units/PlatformUnitInterface.ice>
@@ -261,4 +260,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
index 607f0812c..6f0abb5b3 100644
--- a/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
+++ b/source/RobotAPI/interface/core/RobotStateObserverInterface.ice
@@ -21,8 +21,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_ROBOTSTATE_OBSERVER_SLICE_
-#define _ARMARX_ROBOTAPI_ROBOTSTATE_OBSERVER_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
 
@@ -37,4 +36,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/core/Trajectory.ice b/source/RobotAPI/interface/core/Trajectory.ice
index 3bcf4960a..3b0bc1cb6 100644
--- a/source/RobotAPI/interface/core/Trajectory.ice
+++ b/source/RobotAPI/interface/core/Trajectory.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_TRAJECTORY_SLICE_
-#define _ARMARX_ROBOTAPI_TRAJECTORY_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/observers/VariantBase.ice>
 #include <ArmarXCore/interface/core/BasicTypes.ice>
@@ -63,4 +62,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice b/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
index e18e9e401..b2b7f6c40 100644
--- a/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
+++ b/source/RobotAPI/interface/core/moved_to_robotcomponents_RobotIK.ice
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ARMARX_ROBOTAPI_ROBOTIK_SLICE
-#define ARMARX_ROBOTAPI_ROBOTIK_SLICE
+#pragma once
 
 #include <RobotAPI/interface/core/FramedPoseBase.ice>
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -290,4 +289,3 @@ module armarx
 
     };
 };
-#endif
diff --git a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
index 6dbefd259..71f5598e0 100644
--- a/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/KinematicUnitObserverInterface.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_SLICE_
-#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
 
@@ -34,4 +33,3 @@ module armarx
     };
 };
 
-#endif 
diff --git a/source/RobotAPI/interface/observers/ObserverFilters.ice b/source/RobotAPI/interface/observers/ObserverFilters.ice
index 4ba287295..ad2df8e05 100644
--- a/source/RobotAPI/interface/observers/ObserverFilters.ice
+++ b/source/RobotAPI/interface/observers/ObserverFilters.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_OBSERVER_FILTERS_SLICE_
-#define _ARMARX_ROBOTAPI_OBSERVER_FILTERS_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/observers/VariantBase.ice>
 #include <ArmarXCore/interface/observers/Filters.ice>
@@ -105,4 +104,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
index 73db196ec..e7eddd170 100644
--- a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_SLICE_
-#define _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/PlatformUnitInterface.ice>
 
@@ -34,4 +33,3 @@ module armarx
     };
 };
 
-#endif 
diff --git a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
index 35a48b0d1..0a352add1 100644
--- a/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
+++ b/source/RobotAPI/interface/selflocalisation/SelfLocalisationProcess.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_SELFLOCALISATION_SELFLOCALISATIONPROCESS_SLICE_
-#define _ARMARX_ROBOTAPI_SELFLOCALISATION_SELFLOCALISATIONPROCESS_SLICE_
+#pragma once
 
 module armarx
 {
@@ -34,4 +33,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/speech/SpeechInterface.ice b/source/RobotAPI/interface/speech/SpeechInterface.ice
index ea06c3caa..2e9c62eff 100644
--- a/source/RobotAPI/interface/speech/SpeechInterface.ice
+++ b/source/RobotAPI/interface/speech/SpeechInterface.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_SPEECH_INTERFACE_SLICE_
-#define _ARMARX_ROBOTAPI_SPEECH_INTERFACE_SLICE_
+#pragma once
 
 #include <Ice/BuiltinSequences.ice>
 
@@ -99,4 +98,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/ATINetFTUnit.ice b/source/RobotAPI/interface/units/ATINetFTUnit.ice
index a4815f07b..8339b68f5 100644
--- a/source/RobotAPI/interface/units/ATINetFTUnit.ice
+++ b/source/RobotAPI/interface/units/ATINetFTUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_ATINetFTUnitInterface_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_ATINetFTUnitInterface_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/core/PoseBase.ice>
 #include <RobotAPI/interface/units/UnitInterface.ice>
@@ -56,4 +55,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/ForceTorqueUnit.ice b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
index 8fa5e9b96..8d0c2985c 100644
--- a/source/RobotAPI/interface/units/ForceTorqueUnit.ice
+++ b/source/RobotAPI/interface/units/ForceTorqueUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  **/
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 #include <RobotAPI/interface/core/RobotState.ice>
@@ -88,4 +87,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/GamepadUnit.ice b/source/RobotAPI/interface/units/GamepadUnit.ice
index 255e95d28..671e1de9b 100644
--- a/source/RobotAPI/interface/units/GamepadUnit.ice
+++ b/source/RobotAPI/interface/units/GamepadUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_GAMEPAD_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_GAMEPAD_SLICE_
+#pragma once
 
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
@@ -80,4 +79,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index b3bb4e62a..c2059f9fe 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_UNITS_HANDUNIT_SLICE_
-#define _ARMARX_CORE_UNITS_HANDUNIT_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
@@ -120,4 +119,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/HapticUnit.ice b/source/RobotAPI/interface/units/HapticUnit.ice
index 2f3ca404c..dcaec0c5c 100644
--- a/source/RobotAPI/interface/units/HapticUnit.ice
+++ b/source/RobotAPI/interface/units/HapticUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 #include <RobotAPI/interface/core/RobotState.ice>
@@ -65,4 +64,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/HeadIKUnit.ice b/source/RobotAPI/interface/units/HeadIKUnit.ice
index 24c44037e..d053a371f 100644
--- a/source/RobotAPI/interface/units/HeadIKUnit.ice
+++ b/source/RobotAPI/interface/units/HeadIKUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_HEADIK_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_HEADIK_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 #include <RobotAPI/interface/core/RobotState.ice>
@@ -64,4 +63,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
index 08afce9d6..9acedc051 100644
--- a/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
+++ b/source/RobotAPI/interface/units/InertialMeasurementUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
+#pragma once
 
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
@@ -81,4 +80,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterface.ice b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
index 09d6ecfdd..02c46a3c3 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterface.ice
+++ b/source/RobotAPI/interface/units/KinematicUnitInterface.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_KINEMATICUNIT_SLICE_
-#define _ARMARX_CORE_KINEMATICUNIT_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 
@@ -302,4 +301,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h b/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h
index 4ade323a9..a19b8d051 100644
--- a/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h
+++ b/source/RobotAPI/interface/units/KinematicUnitInterfaceStdOverloads.h
@@ -21,8 +21,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_KINEMATICUNITINTERFACESTDOVERLOADS_H
-#define _ARMARX_KINEMATICUNITINTERFACESTDOVERLOADS_H
+#pragma once
 
 #include <string>
 
@@ -34,4 +33,3 @@ namespace armarx
     std::string to_string(const armarx::OperationStatus& status);
 
 }
-#endif
diff --git a/source/RobotAPI/interface/units/LaserScannerUnit.ice b/source/RobotAPI/interface/units/LaserScannerUnit.ice
index f022260d0..0f1fa77ec 100644
--- a/source/RobotAPI/interface/units/LaserScannerUnit.ice
+++ b/source/RobotAPI/interface/units/LaserScannerUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_LASER_SCANNER_UNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_LASER_SCANNER_UNIT_SLICE_
+#pragma once
 
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
@@ -83,4 +82,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/MetaWearIMU.ice b/source/RobotAPI/interface/units/MetaWearIMU.ice
index 994aa33ac..7cd97f8e4 100644
--- a/source/RobotAPI/interface/units/MetaWearIMU.ice
+++ b/source/RobotAPI/interface/units/MetaWearIMU.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_MetaWearIMU_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_MetaWearIMU_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/core/PoseBase.ice>
 #include <RobotAPI/interface/units/UnitInterface.ice>
@@ -48,4 +47,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/MetaWearIMUInterface.ice b/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
index 3dbf0f5ad..c360a1e10 100644
--- a/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
+++ b/source/RobotAPI/interface/units/MetaWearIMUInterface.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_MetaWearIMUInterface_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_MetaWearIMUInterface_SLICE_
+#pragma once
 
 
 module armarx
@@ -43,4 +42,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/OptoForceUnit.ice b/source/RobotAPI/interface/units/OptoForceUnit.ice
index 553aa0428..8b893b11b 100644
--- a/source/RobotAPI/interface/units/OptoForceUnit.ice
+++ b/source/RobotAPI/interface/units/OptoForceUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_OPTOFORCETUNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_OPTOFORCETUNIT_SLICE_
+#pragma once
 
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
@@ -70,4 +69,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice b/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
index 48a0fdd7d..7d14330d2 100644
--- a/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
+++ b/source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_SENSORPACKAGE_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_SENSORPACKAGE_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/core/PoseBase.ice>
 #include <RobotAPI/interface/units/UnitInterface.ice>
@@ -56,4 +55,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index 9f6871745..df76354fa 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_UNITS_PLATFORMUNIT_SLICE_
-#define _ARMARX_CORE_UNITS_PLATFORMUNIT_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 
@@ -105,4 +104,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice b/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
index ed0e8454f..7864ce45e 100644
--- a/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotPoseUnitInterface.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_SLICE_
-#define _ARMARX_CORE_UNITS_ROBOTPOSEUNIT_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 #include <RobotAPI/interface/core/PoseBase.ice>
@@ -94,4 +93,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice
index 93770eda2..8dd9671c7 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianActiveImpedanceController.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_NJointCartesianActiveImpedanceControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointCartesianActiveImpedanceControllerInterface_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 #include <RobotAPI/interface/core/Trajectory.ice>
@@ -42,4 +41,3 @@ module armarx
         void setControllerTarget(float x, float y, float z, float qw, float qx, float qy, float qz);
     };
 };
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
index 1406dc1fb..d53e0347f 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianTorqueController.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_NJointCartesianTorqueControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointCartesianTorqueControllerInterface_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 #include <RobotAPI/interface/core/Trajectory.ice>
@@ -42,4 +41,3 @@ module armarx
         void setControllerTarget(float forceX, float forceY, float forceZ, float torqueX, float torqueY, float torqueZ);
     };
 };
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
index 743e5cbe6..d9bf18450 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_NJointCartesianVelocityControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointCartesianVelocityControllerInterface_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 #include <RobotAPI/interface/core/Trajectory.ice>
@@ -54,4 +53,3 @@ module armarx
         void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
     };
 };
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
index 1f8f44605..76771b197 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_NJointControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointControllerInterface_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/core/BasicTypes.ice>
 #include <ArmarXCore/interface/core/UserException.ice>
@@ -96,4 +95,3 @@ module armarx
 
     dictionary<string, NJointControllerInterface*> StringNJointControllerPrxDictionary;
 };
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
index 947a7dbbe..0feba2e5a 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointJointSpaceDMPController.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_NJointJointSpaceDMPControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointJointSpaceDMPControllerInterface_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 #include <RobotAPI/interface/core/Trajectory.ice>
@@ -56,4 +55,3 @@ module armarx
     };
 
 };
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
index 850ab231f..c65d4da8f 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_NJointTaskSpaceControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointTaskSpaceControllerInterface_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 #include <RobotAPI/interface/core/Trajectory.ice>
@@ -127,4 +126,3 @@ module armarx
         void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
     };
 };
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
index 834da723e..388ed7b14 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTrajectoryController.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_NJointTrajectoryControllerInterface_SLICE_
-#define _ARMARX_ROBOTAPI_NJointTrajectoryControllerInterface_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
 #include <RobotAPI/interface/core/Trajectory.ice>
@@ -51,4 +50,3 @@ module armarx
         float getCurrentProgressFraction();
     };
 };
-#endif
diff --git a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
index a0431370e..49a8e8a19 100644
--- a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_RobotUnit_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_RobotUnit_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/core/UserException.ice>
 #include <ArmarXCore/interface/core/BasicTypes.ice>
@@ -180,4 +179,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/TCPControlUnit.ice b/source/RobotAPI/interface/units/TCPControlUnit.ice
index 622b745dd..4e395feea 100644
--- a/source/RobotAPI/interface/units/TCPControlUnit.ice
+++ b/source/RobotAPI/interface/units/TCPControlUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_FORCETORQUE_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/UnitInterface.ice>
 #include <RobotAPI/interface/core/RobotState.ice>
@@ -94,4 +93,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
index 9b2f227cd..71f7f1777 100644
--- a/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
+++ b/source/RobotAPI/interface/units/TCPMoverUnitInterface.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_CORE_TCPMOVERUNIT_SLICE_
-#define _ARMARX_CORE_TCPMOVERUNIT_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
 
@@ -111,4 +110,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/UnitInterface.ice b/source/RobotAPI/interface/units/UnitInterface.ice
index 916c31d58..cb3e572e4 100644
--- a/source/RobotAPI/interface/units/UnitInterface.ice
+++ b/source/RobotAPI/interface/units/UnitInterface.ice
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
-#define _ARMARX_CORE_UNITS_UNITINTERFACE_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/core/UserException.ice>
 
@@ -100,4 +99,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/units/WeissHapticUnit.ice b/source/RobotAPI/interface/units/WeissHapticUnit.ice
index 303f0a6a9..413bc8129 100644
--- a/source/RobotAPI/interface/units/WeissHapticUnit.ice
+++ b/source/RobotAPI/interface/units/WeissHapticUnit.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_ROBOTAPI_UNITS_WEISSHAPTIC_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_WEISSHAPTIC_SLICE_
+#pragma once
 
 #include <RobotAPI/interface/units/HapticUnit.ice>
 
@@ -52,4 +51,3 @@ module armarx
 
 };
 
-#endif
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
index 0a25c6ee6..629d152d9 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterface.ice
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
-#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_
+#pragma once
 
 #include <ArmarXCore/interface/core/UserException.ice>
 #include <ArmarXCore/interface/core/BasicTypes.ice>
@@ -432,4 +431,3 @@ module armarx
     };
 };
 
-#endif
diff --git a/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h b/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
index 324d8a7f8..955a492a5 100644
--- a/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
+++ b/source/RobotAPI/interface/visualization/DebugDrawerInterfaceStdOverloads.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_API_DEBUGDRAWERLAYER_SLICE_STD_OVERLOADS_
-#define _ARMARX_API_DEBUGDRAWERLAYER_SLICE_STD_OVERLOADS_
+#pragma once
 
 #include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
 #include <cmath>
@@ -54,4 +53,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h b/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h
index cac8083cc..73277c1b2 100644
--- a/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h
+++ b/source/RobotAPI/libraries/RobotAPIVariantWidget/RobotAPIVariantWidget.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_LIB_RobotAPI_RobotAPIVariantWidget_H
-#define _ARMARX_LIB_RobotAPI_RobotAPIVariantWidget_H
+#pragma once
 
 #include <ArmarXGui/libraries/VariantWidget/VariantWidget.h>
 
@@ -40,4 +39,3 @@ namespace armarx
         }
     }
 }
-#endif
diff --git a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h
index 857ae73ce..34b2d03e6 100644
--- a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h
+++ b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLogger.h
@@ -21,8 +21,7 @@
  *             GNU General Public License
  */
 
-#ifndef armarx_SimpleJsonLogger_SimpleJsonLogger
-#define armarx_SimpleJsonLogger_SimpleJsonLogger
+#pragma once
 
 #include "SimpleJsonLoggerEntry.h"
 
@@ -58,4 +57,3 @@ namespace armarx
     };
 }
 
-#endif // armarx_SimpleJsonLogger_SimpleJsonLogger
diff --git a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h
index 221da5043..440346580 100644
--- a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h
+++ b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.h
@@ -21,8 +21,7 @@
  *             GNU General Public License
  */
 
-#ifndef armarx_SimpleJsonLogger_SimpleJsonLoggerEntry
-#define armarx_SimpleJsonLogger_SimpleJsonLoggerEntry
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 
@@ -60,4 +59,3 @@ namespace armarx
     };
 }
 
-#endif // armarx_SimpleJsonLogger_SimpleJsonLoggerEntry
diff --git a/source/RobotAPI/libraries/core/CartesianPositionController.h b/source/RobotAPI/libraries/core/CartesianPositionController.h
index dd592515b..9d6843006 100644
--- a/source/RobotAPI/libraries/core/CartesianPositionController.h
+++ b/source/RobotAPI/libraries/core/CartesianPositionController.h
@@ -21,8 +21,7 @@
  *             GNU General Public License
  */
 
-#ifndef armarx_core_CartesianPositionController
-#define armarx_core_CartesianPositionController
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 
@@ -60,4 +59,3 @@ namespace armarx
     };
 }
 
-#endif // armarx_core_CartesianPositionController
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityController.h b/source/RobotAPI/libraries/core/CartesianVelocityController.h
index 1dad93ff1..e55ec62c3 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityController.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityController.h
@@ -21,8 +21,7 @@
  *             GNU General Public License
  */
 
-#ifndef armarx_core_CartesianVelocityController
-#define armarx_core_CartesianVelocityController
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 
@@ -55,4 +54,3 @@ namespace armarx
     };
 }
 
-#endif // armarx_core_CartesianVelocityController
diff --git a/source/RobotAPI/libraries/core/FramedOrientedPoint.h b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
index 87736b79a..dede436bd 100644
--- a/source/RobotAPI/libraries/core/FramedOrientedPoint.h
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.h
@@ -18,8 +18,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_RobotAPI_FramedOrientedPoint_H
-#define ARMARX_RobotAPI_FramedOrientedPoint_H
+#pragma once
 
 
 #include "OrientedPoint.h"
@@ -107,4 +106,3 @@ namespace armarx
     };
 }
 
-#endif // armarx_core_FramedOrientedPoint
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index edbd1b541..462362723 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_FramedPose_H
-#define _ARMARX_COMPONENT_RobotAPI_FramedPose_H
+#pragma once
 
 #include "Pose.h"
 
@@ -372,4 +371,3 @@ extern template class ::IceInternal::Handle< ::armarx::FramedOrientation>;
 
 
 
-#endif
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index be87f528f..ff2bede9e 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_RobotAPI_LinkedPose_H
-#define _ARMARX_RobotAPI_LinkedPose_H
+#pragma once
 
 #include "FramedPose.h"
 
@@ -176,4 +175,3 @@ namespace armarx
     typedef IceInternal::Handle<LinkedDirection> LinkedDirectionPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/OrientedPoint.h b/source/RobotAPI/libraries/core/OrientedPoint.h
index 6442406db..62594ffd4 100644
--- a/source/RobotAPI/libraries/core/OrientedPoint.h
+++ b/source/RobotAPI/libraries/core/OrientedPoint.h
@@ -18,8 +18,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_RobotAPI_OrientedPoint_H
-#define ARMARX_RobotAPI_OrientedPoint_H
+#pragma once
 
 
 #include <RobotAPI/interface/core/OrientedPoint.h>
@@ -84,4 +83,3 @@ namespace armarx
     typedef IceInternal::Handle<OrientedPoint> OrientedPointPtr;
 }
 
-#endif // armarx_core_OrientedPoint
diff --git a/source/RobotAPI/libraries/core/PIDController.h b/source/RobotAPI/libraries/core/PIDController.h
index c402574ed..0d31868f9 100644
--- a/source/RobotAPI/libraries/core/PIDController.h
+++ b/source/RobotAPI/libraries/core/PIDController.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_PIDController_H
-#define _ARMARX_COMPONENT_RobotAPI_PIDController_H
+#pragma once
 
 #include <ArmarXCore/core/logging/Logging.h>
 #include <Eigen/Core>
@@ -105,4 +104,3 @@ namespace armarx
     typedef boost::shared_ptr<MultiDimPIDController> MultiDimPIDControllerPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index 19ef3a155..a3c79e750 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_COMPONENT_RobotAPI_Pose_H
-#define _ARMARX_COMPONENT_RobotAPI_Pose_H
+#pragma once
 
 #include <RobotAPI/interface/core/PoseBase.h>
 
@@ -282,4 +281,3 @@ namespace Eigen
     extern template class Matrix<float, 3, 3>;
     extern template class Matrix<float, 4, 4>;
 }
-#endif
diff --git a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
index c7b72bbc5..17ca6912b 100644
--- a/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
+++ b/source/RobotAPI/libraries/core/RobotAPIObjectFactories.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
-#define _ARMARX_ROBOTAPI_OBJECT_FACTORIES_H
+#pragma once
 
 #include <ArmarXCore/core/system/FactoryCollectionBase.h>
 
@@ -45,4 +44,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.h b/source/RobotAPI/libraries/core/RobotStatechartContext.h
index aef36c6ad..511c41fea 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.h
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.h
@@ -21,8 +21,7 @@
 */
 
 
-#ifndef ARMARX_COMPONENT_RobotApi_StatechartContext_H
-#define ARMARX_COMPONENT_RobotApi_StatechartContext_H
+#pragma once
 
 #include <RobotAPI/libraries/core/FramedPose.h>
 #include <RobotAPI/interface/units/KinematicUnitInterface.h>
@@ -110,4 +109,3 @@ namespace armarx
     };
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/Trajectory.h b/source/RobotAPI/libraries/core/Trajectory.h
index 472434943..15cef1251 100644
--- a/source/RobotAPI/libraries/core/Trajectory.h
+++ b/source/RobotAPI/libraries/core/Trajectory.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ARMARX_ROBOTAPI_TRAJECTORY_H
-#define ARMARX_ROBOTAPI_TRAJECTORY_H
+#pragma once
 
 
 #include <boost/tokenizer.hpp>
@@ -447,4 +446,3 @@ namespace armarx
 
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/VectorHelpers.h b/source/RobotAPI/libraries/core/VectorHelpers.h
index 04fbfd27e..4d99a3158 100644
--- a/source/RobotAPI/libraries/core/VectorHelpers.h
+++ b/source/RobotAPI/libraries/core/VectorHelpers.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef VECTORHELPERS_H
-#define VECTORHELPERS_H
+#pragma once
 
 #include <ArmarXCore/core/exceptions/Exception.h>
 
@@ -319,4 +318,3 @@ namespace armarx
         return minValue;
     }
 }
-#endif //
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
index a5729abbe..7c95aa50b 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPose.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
-#define _ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSE_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExport.h>
 #include <ArmarXCore/observers/ConditionCheck.h>
@@ -95,4 +94,3 @@ namespace armarx
         }
     };
 }
-#endif // CONDITIONCHECKEQUALSPOSITION_H
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
index 9a79cb82e..e11a91fcf 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckEqualsPoseWithTolerance.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
-#define ARMARX_ROBOTAPI_CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExport.h>
 #include <ArmarXCore/observers/ConditionCheck.h>
@@ -121,4 +120,3 @@ namespace armarx
     };
 }
 
-#endif // CONDITIONCHECKEQUALSPOSITIONWITHTOLERANCE_H
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
index ba0356e04..1009903e4 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
-#define ARMARX_CONDITIONCHECKMAGNITUDECHECKS_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExport.h>
 #include <ArmarXCore/observers/ConditionCheck.h>
@@ -60,4 +59,3 @@ namespace armarx
     };
 
 }
-#endif
diff --git a/source/RobotAPI/libraries/core/math/ColorUtils.h b/source/RobotAPI/libraries/core/math/ColorUtils.h
index ffc75388d..b28b8c8eb 100644
--- a/source/RobotAPI/libraries/core/math/ColorUtils.h
+++ b/source/RobotAPI/libraries/core/math/ColorUtils.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_COLORUTILS_H
-#define _ARMARX_COLORUTILS_H
+#pragma once
 
 #include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
 #include "MathUtils.h"
@@ -160,4 +159,3 @@ namespace armarx
     }
 
 }
-#endif
diff --git a/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h b/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h
index 1ff667977..c8479ee65 100644
--- a/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h
+++ b/source/RobotAPI/libraries/core/math/LinearizeAngularTrajectory.h
@@ -21,8 +21,7 @@
  *             GNU General Public License
  */
 
-#ifndef armarx_math_LinearizeAngularTrajectory
-#define armarx_math_LinearizeAngularTrajectory
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 #include <vector>
@@ -53,4 +52,3 @@ namespace armarx
     }
 }
 
-#endif // armarx_math_LinearizeAngularTrajectory
diff --git a/source/RobotAPI/libraries/core/math/MathUtils.h b/source/RobotAPI/libraries/core/math/MathUtils.h
index 4d3880951..0607aa0d9 100644
--- a/source/RobotAPI/libraries/core/math/MathUtils.h
+++ b/source/RobotAPI/libraries/core/math/MathUtils.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_ROBOTAPI_MATH_MATHUTILS_H_
-#define ARMARX_ROBOTAPI_MATH_MATHUTILS_H_
+#pragma once
 
 #include <math.h>
 #include <Eigen/Eigen>
@@ -180,4 +179,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/math/MatrixHelpers.h b/source/RobotAPI/libraries/core/math/MatrixHelpers.h
index 859be8dd2..6a2d1c086 100644
--- a/source/RobotAPI/libraries/core/math/MatrixHelpers.h
+++ b/source/RobotAPI/libraries/core/math/MatrixHelpers.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_ROBOTAPI_MATH_MATRIXHELPERS_H_
-#define ARMARX_ROBOTAPI_MATH_MATRIXHELPERS_H_
+#pragma once
 
 #include <math.h>
 #include <Eigen/Eigen>
@@ -69,4 +68,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/math/SVD.h b/source/RobotAPI/libraries/core/math/SVD.h
index 91fc384b1..99502ebf8 100644
--- a/source/RobotAPI/libraries/core/math/SVD.h
+++ b/source/RobotAPI/libraries/core/math/SVD.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_ROBOTAPI_MATH_SVD_H_
-#define ARMARX_ROBOTAPI_MATH_SVD_H_
+#pragma once
 
 #include <math.h>
 #include <Eigen/Eigen>
@@ -55,4 +54,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h b/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
index 817d91e19..d306c3c64 100644
--- a/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
+++ b/source/RobotAPI/libraries/core/math/SlidingWindowVectorMedian.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_ROBOTAPI_MATH_SLIDINGWINDOWVECTORMEDIAN_H_
-#define ARMARX_ROBOTAPI_MATH_SLIDINGWINDOWVECTORMEDIAN_H_
+#pragma once
 
 #include "StatUtils.h"
 
@@ -97,4 +96,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/math/StatUtils.h b/source/RobotAPI/libraries/core/math/StatUtils.h
index 709997af1..f32c3d56c 100644
--- a/source/RobotAPI/libraries/core/math/StatUtils.h
+++ b/source/RobotAPI/libraries/core/math/StatUtils.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_ROBOTAPI_MATH_STATUTILS_H_
-#define ARMARX_ROBOTAPI_MATH_STATUTILS_H_
+#pragma once
 
 #include <math.h>
 #include <vector>
@@ -73,4 +72,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h b/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h
index 17d7824df..849087942 100644
--- a/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h
+++ b/source/RobotAPI/libraries/core/math/TimeSeriesUtils.h
@@ -21,8 +21,7 @@
  *             GNU General Public License
  */
 
-#ifndef armarx_math_TimeSeriesUtils
-#define armarx_math_TimeSeriesUtils
+#pragma once
 
 #include <boost/shared_ptr.hpp>
 
@@ -54,4 +53,3 @@ namespace armarx
     }
 }
 
-#endif // armarx_math_TimeSeriesUtils
diff --git a/source/RobotAPI/libraries/core/math/Trigonometry.h b/source/RobotAPI/libraries/core/math/Trigonometry.h
index 2bfa53108..f9ef05646 100644
--- a/source/RobotAPI/libraries/core/math/Trigonometry.h
+++ b/source/RobotAPI/libraries/core/math/Trigonometry.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef ARMARX_ROBOTAPI_MATH_TRIGONOMETRY_H_
-#define ARMARX_ROBOTAPI_MATH_TRIGONOMETRY_H_
+#pragma once
 
 #include <math.h>
 
@@ -57,4 +56,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h b/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
index 22780cf18..17407c34d 100644
--- a/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
+++ b/source/RobotAPI/libraries/core/observerfilters/MatrixFilters.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_MATRIXFILTERS_H
-#define _ARMARX_ROBOTAPI_MATRIXFILTERS_H
+#pragma once
 
 #include <ArmarXCore/observers/filters/DatafieldFilter.h>
 #include <RobotAPI/interface/observers/ObserverFilters.h>
@@ -308,4 +307,3 @@ namespace armarx
     }
 }
 
-#endif // _ARMARX_ROBOTAPI_MATRIXFILTERS_H
diff --git a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h
index 7465f719b..0c9178cab 100644
--- a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h
+++ b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_ROBOTAPI_MedianDerivativeFilterV3_H
-#define _ARMARX_ROBOTAPI_MedianDerivativeFilterV3_H
+#pragma once
 
 #include <RobotAPI/libraries/core/EigenStl.h>
 #include <ArmarXCore/observers/filters/MedianFilter.h>
@@ -76,4 +75,3 @@ namespace armarx
     } // namespace Filters
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
index 9226a3dc1..de3c5eea8 100644
--- a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_ROBOTAPI_OFFSETFILTER_H
-#define _ARMARX_ROBOTAPI_OFFSETFILTER_H
+#pragma once
 
 #include <RobotAPI/interface/observers/ObserverFilters.h>
 #include <ArmarXCore/observers/filters/DatafieldFilter.h>
@@ -153,4 +152,3 @@ namespace armarx
     }
 }
 
-#endif // _ARMARX_ROBOTAPI_OFFSETFILTER_H
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
index 0eb4f6386..be995fa04 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_ROBOTAPI_POSEMEDIANFILTER_H
-#define _ARMARX_ROBOTAPI_POSEMEDIANFILTER_H
+#pragma once
 
 #include <ArmarXCore/observers/filters/MedianFilter.h>
 #include <RobotAPI/libraries/core/FramedPose.h>
@@ -152,4 +151,3 @@ namespace armarx
     } // namespace Filters
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
index d50dba06f..584b51e38 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianOffsetFilter.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_ROBOTAPI_PoseMedianOffsetFilter_H
-#define _ARMARX_ROBOTAPI_PoseMedianOffsetFilter_H
+#pragma once
 
 #include <RobotAPI/libraries/core/EigenStl.h>
 #include <ArmarXCore/observers/filters/MedianFilter.h>
@@ -74,4 +73,3 @@ namespace armarx
     } // namespace Filters
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
index 9a5244590..e101bb357 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
+++ b/source/RobotAPI/libraries/core/remoterobot/RobotStateObserver.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
+#pragma once
 
 #include <ArmarXCore/core/system/ImportExport.h>
 #include <ArmarXCore/core/Component.h>
@@ -112,4 +111,3 @@ namespace armarx
     typedef IceInternal::Handle<RobotStateObserver> RobotStateObserverPtr;
 }
 
-#endif
diff --git a/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h b/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h
index ed8107e67..607a6b0fe 100644
--- a/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h
+++ b/source/RobotAPI/libraries/widgets/DebugLayerControlWidget.h
@@ -21,8 +21,7 @@
 
 */
 
-#ifndef DEBUGLAYERWIDGET_H
-#define DEBUGLAYERWIDGET_H
+#pragma once
 
 /* ArmarX headers */
 
@@ -91,4 +90,3 @@ private:
     Ui::DebugLayerControlWidget* ui;
 };
 
-#endif // DEBUGLAYERWIDGET_H
diff --git a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h
index 383895435..92ea07c58 100644
--- a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorGroupRemoteStateOfferer.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_REMOTESTATEOFFERER_H
+#pragma once
 
 #include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
 #include "OrientedTactileSensorGroupStatechartContext.generated.h"
@@ -51,4 +50,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h
index ac9eeba07..690c8756d 100644
--- a/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h
+++ b/source/RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_OrientedTactileSensorTest_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_OrientedTactileSensorGroup_OrientedTactileSensorTest_H
+#pragma once
 
 #include <RobotAPI/statecharts/OrientedTactileSensorGroup/OrientedTactileSensorTest.generated.h>
 
@@ -55,4 +54,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
index f0878727c..73f191c9a 100644
--- a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
+#pragma once
 
 #include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
 #include <RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupStatechartContext.generated.h>
@@ -53,4 +52,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
index fbb529481..1737f94b0 100644
--- a/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
+++ b/source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
+#pragma once
 
 #include "TestState.generated.h"
 
@@ -54,4 +53,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h b/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h
index 3cfe827bb..afc11e6ea 100644
--- a/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h
+++ b/source/RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_PlayTrajectory_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_PlayTrajectory_H
+#pragma once
 
 #include <RobotAPI/statecharts/TrajectoryExecutionCode/PlayTrajectory.generated.h>
 
@@ -55,4 +54,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h b/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h
index b7561428f..155861772 100644
--- a/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/TrajectoryExecutionCode/TrajectoryExecutionCodeRemoteStateOfferer.h
@@ -20,8 +20,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_TrajectoryExecutionCode_REMOTESTATEOFFERER_H
+#pragma once
 
 #include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
 #include "TrajectoryExecutionCodeStatechartContext.generated.h"
@@ -51,4 +50,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
index 5a6dd58ff..9fd3d4457 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
@@ -22,8 +22,7 @@
  *             GNU General Public License
  */
 
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_REMOTESTATEOFFERER_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_REMOTESTATEOFFERER_H
+#pragma once
 
 #include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
 #include "WeissHapticGroupStatechartContext.generated.h"
@@ -53,4 +52,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
index c08c6c538..247302b36 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
@@ -21,8 +21,7 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
-#ifndef _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
-#define _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
+#pragma once
 
 #include <RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h>
 
@@ -54,4 +53,3 @@ namespace armarx
     }
 }
 
-#endif
diff --git a/source/RobotAPI/statecharts/operations/RobotControl.h b/source/RobotAPI/statecharts/operations/RobotControl.h
index a7d03beee..78f9a394c 100644
--- a/source/RobotAPI/statecharts/operations/RobotControl.h
+++ b/source/RobotAPI/statecharts/operations/RobotControl.h
@@ -20,8 +20,7 @@
 *             GNU General Public License
 */
 
-#ifndef _ARMARX_COMPONENT_ROBOTCONTROL_H
-#define _ARMARX_COMPONENT_ROBOTCONTROL_H
+#pragma once
 
 #include <ArmarXCore/statechart/Statechart.h>
 #include <ArmarXCore/core/system/ImportExportComponent.h>
@@ -161,4 +160,3 @@ namespace armarx
     };
 }
 
-#endif
-- 
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