diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
index e6c41c8d2e05d1b05e3fec5ea81aa497fd0823c5..2b55cc15c11be833e581c36eafbdf31cdffec55c 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.cpp
@@ -27,6 +27,7 @@
 #include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
 
 #include <VirtualRobot/RobotNodeSet.h>
+#include <VirtualRobot/Robot.h>
 
 #define DEFAULT_TCP_STRING "default TCP"
 
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityController.cpp b/source/RobotAPI/libraries/core/CartesianVelocityController.cpp
index f7a7307bfb316db667d23ff59713d80551cd1e63..93d3df8e907c5086e00a470d9f4e9bdfe3dfb37f 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityController.cpp
+++ b/source/RobotAPI/libraries/core/CartesianVelocityController.cpp
@@ -22,14 +22,16 @@
  */
 
 #include "CartesianVelocityController.h"
-#include <ArmarXCore/core/logging/Logging.h>
-
-#include <Eigen/Core>
 
 #include <RobotAPI/libraries/core/math/MathUtils.h>
 
-#include <VirtualRobot/math/Helpers.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <VirtualRobot/math/Helpers.h>
+#include <VirtualRobot/Robot.h>
+
+#include <Eigen/Core>
 
 using namespace armarx;
 
diff --git a/source/RobotAPI/libraries/core/CartesianVelocityController.h b/source/RobotAPI/libraries/core/CartesianVelocityController.h
index 1c2b0b28ee9607a989e25ca984e12fb893ce6ca4..3e37d44f53308858b756f84423cf06cd65995404 100644
--- a/source/RobotAPI/libraries/core/CartesianVelocityController.h
+++ b/source/RobotAPI/libraries/core/CartesianVelocityController.h
@@ -23,11 +23,10 @@
 
 #pragma once
 
-#include <VirtualRobot/RobotNodeSet.h>
-
 #include <VirtualRobot/IK/DifferentialIK.h>
-#include <VirtualRobot/Robot.h>
-#include <Eigen/Dense>
+#include <VirtualRobot/VirtualRobot.h>
+
+#include <Eigen/Core>
 
 namespace armarx
 {