diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
index ab47171fa0b1cbef3d6dfcce03fbf5b369bca757..e6c41c8d2e05d1b05e3fec5ea81aa497fd0823c5 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
@@ -21,8 +21,8 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
+
 #include "NJointCartesianVelocityController.h"
-#include "../RobotUnit.h"
 
 #include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
index 81394ce916138417457267ec2ac4ef73fb294f22..aed56406e6f690a8f58013848b44b6deffd6f9c5 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h
@@ -24,33 +24,19 @@
 #pragma once
 
 
-#include "NJointControllerWithTripleBuffer.h"
-#include <VirtualRobot/Robot.h>
-#include "../ControlTargets/ControlTarget1DoFActuator.h"
-#include "../SensorValues/SensorValue1DoFActuator.h"
-#include <VirtualRobot/IK/DifferentialIK.h>
-#include <RobotAPI/libraries/core/CartesianVelocityController.h>
+#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerWithTripleBuffer.h>
+
+#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
+#include <RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h>
 #include <RobotAPI/interface/units/RobotUnit/NJointCartesianVelocityController.h>
+#include <RobotAPI/libraries/core/CartesianVelocityController.h>
+
+#include <VirtualRobot/IK/DifferentialIK.h>
+#include <VirtualRobot/VirtualRobot.h>
 
 namespace armarx
 {
-
     TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityController);
-    //TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityControllerConfig);
-
-    /*class NJointCartesianVelocityControllerConfig : virtual public NJointControllerConfig
-    {
-    public:
-        NJointCartesianVelocityControllerConfig(std::string const& nodeSetName, const std::string& tcpName, VirtualRobot::IKSolver::CartesianSelection mode):
-            nodeSetName(nodeSetName),
-            tcpName(tcpName),
-            mode(mode)
-        {}
-
-        const std::string nodeSetName;
-        const std::string tcpName;
-        const VirtualRobot::IKSolver::CartesianSelection mode;
-    };*/
 
     TYPEDEF_PTRS_HANDLE(NJointCartesianVelocityControllerControlData);
     class NJointCartesianVelocityControllerControlData