diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
index fd1522db93803516e2785e63f6adbfee32beb637..bc246422b98fbd89feac994a2ace52645532e22a 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.cpp
@@ -23,8 +23,6 @@
  */
 #include "NJointHolonomicPlatformGlobalPositionController.h"
 
-#include <SimoxUtility/math/convert/mat4f_to_rpy.h>
-
 namespace armarx
 {
     NJointControllerRegistration<NJointHolonomicPlatformGlobalPositionController>
@@ -122,20 +120,17 @@ namespace armarx
     }
 
 
-    void NJointHolonomicPlatformGlobalPositionController::setGlobalPos(const PoseStamped& currentPose)
+    void NJointHolonomicPlatformGlobalPositionController::setGlobalPos(const PlatformPose& currentPose)
     {
         // ..todo: check if norm is too large
 
-        const float yaw = simox::math::mat4f_to_rpy(currentPose.pose).z();
-        const Eigen::Affine3f pose(currentPose.pose);
-
-        getWriterControlStruct().globalPosition << pose.translation().x(), pose.translation().y();
-        getWriterControlStruct().globalOrientation = yaw;
+        getWriterControlStruct().globalPosition << currentPose.x, currentPose.y;
+        getWriterControlStruct().globalOrientation = currentPose.rotationAroundZ;
 
         getWriterControlStruct().startPosition = currentPosition;
         getWriterControlStruct().startOrientation = currentOrientation;
 
-        getWriterControlStruct().lastUpdate = IceUtil::Time::microSeconds(currentPose.header.timestampInMicroSeconds);
+        getWriterControlStruct().lastUpdate = IceUtil::Time::microSeconds(currentPose.timestampInMicroSeconds);
         writeControlStruct();
 
 
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
index e8af657eda264ea87d999dd625699b00df162f62..59838fb021ae9df4ecf544d2feb40d7898ce8a63 100755
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h
@@ -108,7 +108,7 @@ namespace armarx
 
         void setTarget(float x, float y, float yaw, float translationAccuracy, float rotationAccuracy);
 
-        void setGlobalPos(const PoseStamped& currentPose);
+        void setGlobalPos(const PlatformPose& currentPose);
 
 
     protected: