diff --git a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
index 6fcb426c8bed135936a1dd6b6d7ff3d3d087758f..a0e2eeea3be35075c07e37ca04038271d94c5825 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp
@@ -134,4 +134,10 @@ namespace armarx
         }
     }
 
+    DynamicsHelper::DynamicsData::DynamicsData(VirtualRobot::RobotNodeSetPtr rnsJoints,
+                                               VirtualRobot::RobotNodeSetPtr rnsBodies) :
+        rnsJoints(rnsJoints), rnsBodies(rnsBodies), dynamics(rnsJoints, rnsBodies)
+    {
+        q = qDot = qDDot = tau = tauGravity = Eigen::VectorXd::Zero(rnsJoints->getSize());
+    }
 } // namespace armarx
diff --git a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h
index f78705da723703a67e8bb92e56862c7d27a32854..9c95959453ed0481735463aac4abb784b63be75b 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h
@@ -45,11 +45,7 @@ namespace armarx
         struct DynamicsData
         {
             DynamicsData(VirtualRobot::RobotNodeSetPtr rnsJoints,
-                         VirtualRobot::RobotNodeSetPtr rnsBodies) :
-                rnsJoints(rnsJoints), rnsBodies(rnsBodies), dynamics(rnsJoints, rnsBodies)
-            {
-                q = qDot = qDDot = tau = tauGravity = Eigen::VectorXd::Zero(rnsJoints->getSize());
-            }
+                         VirtualRobot::RobotNodeSetPtr rnsBodies);
 
             DynamicsData(const DynamicsData& r) = default;
             VirtualRobot::RobotNodeSetPtr rnsJoints, rnsBodies;