diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index 6935c3bdbe29f97d35f45ff778654e0f909f91b7..b941324fe1d2264b503cea1d845a3e81603f844c 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/source/Navigation/components/Navigator/Navigator.cpp
@@ -143,4 +143,4 @@ namespace armarx::nav::components
         return robot;
     }
 
-} // namespace armarx::nav::components
\ No newline at end of file
+} // namespace armarx::nav::components
diff --git a/source/Navigation/libraries/algorithms/smoothing/CircularPathSmoothing.h b/source/Navigation/libraries/algorithms/smoothing/CircularPathSmoothing.h
index 403c54700c1783c6bc70147ef82df126797dbd64..0a471a479953c5e0dca4d29e2f29230ca506e0d2 100644
--- a/source/Navigation/libraries/algorithms/smoothing/CircularPathSmoothing.h
+++ b/source/Navigation/libraries/algorithms/smoothing/CircularPathSmoothing.h
@@ -100,4 +100,4 @@ class CircularPathSmoothing
         }
     };
 
- } // namespace armarx::nav::algo
\ No newline at end of file
+ } // namespace armarx::nav::algo
diff --git a/source/Navigation/libraries/client/NavigationStackConfig.cpp b/source/Navigation/libraries/client/NavigationStackConfig.cpp
index 0630609218094468340321f64da5b22e8d860856..b503f003b11d4c6db82d6f291ca1f4624b697898 100644
--- a/source/Navigation/libraries/client/NavigationStackConfig.cpp
+++ b/source/Navigation/libraries/client/NavigationStackConfig.cpp
@@ -63,4 +63,4 @@ namespace armarx::nav::client
 
         return *this;
     }
-} // namespace armarx::nav::client
\ No newline at end of file
+} // namespace armarx::nav::client
diff --git a/source/Navigation/libraries/client/NavigationStackConfig.h b/source/Navigation/libraries/client/NavigationStackConfig.h
index 5cc49488317e0784b853972256e0d38d8e9362e6..d066a91af2fd8db6e7745d59ae69387ae06c904f 100644
--- a/source/Navigation/libraries/client/NavigationStackConfig.h
+++ b/source/Navigation/libraries/client/NavigationStackConfig.h
@@ -81,4 +81,4 @@ namespace armarx::nav::client
     private:
         aron::datanavigator::DictNavigator dict;
     };
-} // namespace armarx::nav::client
\ No newline at end of file
+} // namespace armarx::nav::client
diff --git a/source/Navigation/libraries/client/Navigator.h b/source/Navigation/libraries/client/Navigator.h
index 17374fe22ecee9b0cee584236a9759e604c7c00f..87879e9ee7a8d6b85c3c11849ea84946843f71bb 100644
--- a/source/Navigation/libraries/client/Navigator.h
+++ b/source/Navigation/libraries/client/Navigator.h
@@ -28,4 +28,4 @@ namespace armarx::nav::client
     protected:
     private:
     };
-} // namespace armarx::nav::client
\ No newline at end of file
+} // namespace armarx::nav::client
diff --git a/source/Navigation/libraries/core/DynamicScene.h b/source/Navigation/libraries/core/DynamicScene.h
index 5b2d21f829bbca35eb57f56ce2707b834cd8bb18..89e5536a0381b248390d190d2e62b91ce6d965bb 100644
--- a/source/Navigation/libraries/core/DynamicScene.h
+++ b/source/Navigation/libraries/core/DynamicScene.h
@@ -33,4 +33,4 @@ namespace armarx::nav::core
     };
 
     using DynamicScenePtr = std::shared_ptr<DynamicScene>;
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/core/MemoryReferencedElement.h b/source/Navigation/libraries/core/MemoryReferencedElement.h
index 4b4cc1552ece60de2ebf7068adb00dd2f6cddd66..ef77602901cf30468ef7daa2ee03fc5f564ebccf 100644
--- a/source/Navigation/libraries/core/MemoryReferencedElement.h
+++ b/source/Navigation/libraries/core/MemoryReferencedElement.h
@@ -36,4 +36,4 @@ namespace armarx::nav::core
     protected:
     private:
     };
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/core/StaticScene.h b/source/Navigation/libraries/core/StaticScene.h
index de143e0f046e9e3d6bced611445670a28dcb395b..02269338b22be3377cb714ea0ff6819e883b34f0 100644
--- a/source/Navigation/libraries/core/StaticScene.h
+++ b/source/Navigation/libraries/core/StaticScene.h
@@ -35,4 +35,4 @@ namespace armarx::nav::core
 
     using StaticScenePtr = std::shared_ptr<StaticScene>;
 
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/core/TopologicScene.h b/source/Navigation/libraries/core/TopologicScene.h
index 34ba9a1b5d272490c91dd5fd7137fda228f613b3..75e5930f4154fd11463a366de9ee79f6da49fa73 100644
--- a/source/Navigation/libraries/core/TopologicScene.h
+++ b/source/Navigation/libraries/core/TopologicScene.h
@@ -30,4 +30,4 @@ namespace armarx::nav::core
     protected:
     private:
     };
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/core/Trajectory.cpp b/source/Navigation/libraries/core/Trajectory.cpp
index 02556b2f718f8c262d3d31063d5fbe83bdcd2391..c673e059c66a8666f2fe4489d7d518e98fa7b36b 100644
--- a/source/Navigation/libraries/core/Trajectory.cpp
+++ b/source/Navigation/libraries/core/Trajectory.cpp
@@ -50,4 +50,4 @@ namespace armarx::nav::core
 
         return bestProj;
     }
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/core/Trajectory.h b/source/Navigation/libraries/core/Trajectory.h
index 49311e2281bf976e231baedbb5b5819da33d4486..9a9b43a68e29cf84fe8ef2a79d6ea1baf514eb6a 100644
--- a/source/Navigation/libraries/core/Trajectory.h
+++ b/source/Navigation/libraries/core/Trajectory.h
@@ -47,4 +47,4 @@ namespace armarx::nav::core
 
     using TrajectoryPtr = std::shared_ptr<Trajectory>;
 
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/core/constants.h b/source/Navigation/libraries/core/constants.h
index bf36260f05c96a66a5313a90bd8f512ac2c9f29e..fbcfd94a734668fb2206f1426df01918f9b28e51 100644
--- a/source/Navigation/libraries/core/constants.h
+++ b/source/Navigation/libraries/core/constants.h
@@ -33,4 +33,4 @@ namespace armarx::nav::core
     const std::string TRAJECTORY_CONTROLLER = "trajectory_controller";
     const std::string SAFETY_CONTROLLER = "safety_controller";
 
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/core/types.h b/source/Navigation/libraries/core/types.h
index c4b992db5bb29d8f53ca3bad3e8ba75b50f9d34c..faf02bb82208f8b511edfd57cd93476b49f6c5b7 100644
--- a/source/Navigation/libraries/core/types.h
+++ b/source/Navigation/libraries/core/types.h
@@ -68,4 +68,4 @@ namespace armarx::nav::core
         VirtualRobot::RobotPtr robot;
     };
 
-} // namespace armarx::nav::core
\ No newline at end of file
+} // namespace armarx::nav::core
diff --git a/source/Navigation/libraries/factories/GlobalPlannerFactory.h b/source/Navigation/libraries/factories/GlobalPlannerFactory.h
index 0c81cf10f6e919310bea139ebec7a8db0419dbb5..7213befc78c3d572232e8d53b5831ddd83c5948f 100644
--- a/source/Navigation/libraries/factories/GlobalPlannerFactory.h
+++ b/source/Navigation/libraries/factories/GlobalPlannerFactory.h
@@ -32,4 +32,4 @@ namespace armarx::nav::fac
         create(const aron::datanavigator::DictNavigatorPtr& params, const core::Scene& ctx);
     };
 
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/LocalPlannerFactory.cpp b/source/Navigation/libraries/factories/LocalPlannerFactory.cpp
index c5f4e44af3e72a1f5e74c45ae01be3e5db3897ba..fb56781be3f43053c7beec02e339f7316e4b88f2 100644
--- a/source/Navigation/libraries/factories/LocalPlannerFactory.cpp
+++ b/source/Navigation/libraries/factories/LocalPlannerFactory.cpp
@@ -37,4 +37,4 @@ namespace armarx::nav::fac
 
         return localPlanner;
     }
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/LocalPlannerFactory.h b/source/Navigation/libraries/factories/LocalPlannerFactory.h
index abc8475df141123b125631d3ddcb611c1b559344..57724fd878f2a468805efb63985f03626a97f9b0 100644
--- a/source/Navigation/libraries/factories/LocalPlannerFactory.h
+++ b/source/Navigation/libraries/factories/LocalPlannerFactory.h
@@ -36,4 +36,4 @@ namespace armarx::nav::fac
     protected:
     private:
     };
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/NavigationStackFactory.cpp b/source/Navigation/libraries/factories/NavigationStackFactory.cpp
index 2b1d8cebb7d3c3507fa0c1d07fe9b4d06757cf2a..037b52fc324f22554078bce90f9a924ccbd69ee8 100644
--- a/source/Navigation/libraries/factories/NavigationStackFactory.cpp
+++ b/source/Navigation/libraries/factories/NavigationStackFactory.cpp
@@ -48,4 +48,4 @@ namespace armarx::nav::fac
         return create(dict, ctx);
     }
 
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/NavigationStackFactory.h b/source/Navigation/libraries/factories/NavigationStackFactory.h
index d6528f4b515ae20bb7658028c3d960f24eb19a25..f25b73c5753af575c29f5242ce07116f0118f2ce 100644
--- a/source/Navigation/libraries/factories/NavigationStackFactory.h
+++ b/source/Navigation/libraries/factories/NavigationStackFactory.h
@@ -37,4 +37,4 @@ namespace armarx::nav::fac
     protected:
     private:
     };
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/SafetyControllerFactory.cpp b/source/Navigation/libraries/factories/SafetyControllerFactory.cpp
index 38da6fb4eb55b3a7455ce6a560eda34705d250d0..6901659438de249ff881bbe37d7cb4c01416860e 100644
--- a/source/Navigation/libraries/factories/SafetyControllerFactory.cpp
+++ b/source/Navigation/libraries/factories/SafetyControllerFactory.cpp
@@ -40,4 +40,4 @@ namespace armarx::nav::fac
 
         return controller;
     }
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/SafetyControllerFactory.h b/source/Navigation/libraries/factories/SafetyControllerFactory.h
index 9c48ea97791e4c7f74442d8f7f6ffdd75efc1460..6b303c2d3b5771f1d9b7ef0a3e9fab348a5f8e86 100644
--- a/source/Navigation/libraries/factories/SafetyControllerFactory.h
+++ b/source/Navigation/libraries/factories/SafetyControllerFactory.h
@@ -37,4 +37,4 @@ namespace armarx::nav::fac
     protected:
     private:
     };
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/TrajectoryControllerFactory.cpp b/source/Navigation/libraries/factories/TrajectoryControllerFactory.cpp
index 9daf57247df9f565ba601638e35a0e06936daa9e..4ebfc3dd52818965634b33eb8e8cc10fd1d1845b 100644
--- a/source/Navigation/libraries/factories/TrajectoryControllerFactory.cpp
+++ b/source/Navigation/libraries/factories/TrajectoryControllerFactory.cpp
@@ -42,4 +42,4 @@ namespace armarx::nav::fac
 
         return controller;
     }
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/factories/TrajectoryControllerFactory.h b/source/Navigation/libraries/factories/TrajectoryControllerFactory.h
index ba584c2cc7f25c8b7b229190fcecd7f7409b01ec..361f104afb2cc9b217ea884dd52a21603d385be6 100644
--- a/source/Navigation/libraries/factories/TrajectoryControllerFactory.h
+++ b/source/Navigation/libraries/factories/TrajectoryControllerFactory.h
@@ -38,4 +38,4 @@ namespace armarx::nav::fac
     protected:
     private:
     };
-} // namespace armarx::nav::fac
\ No newline at end of file
+} // namespace armarx::nav::fac
diff --git a/source/Navigation/libraries/global_planning/AStar.cpp b/source/Navigation/libraries/global_planning/AStar.cpp
index 3209a24fc4fba4ff97607a7939de2c53e6df5b9a..ba64f1b318951b61c6f3d582279c6b3153abecb8 100644
--- a/source/Navigation/libraries/global_planning/AStar.cpp
+++ b/source/Navigation/libraries/global_planning/AStar.cpp
@@ -33,4 +33,4 @@ namespace armarx::nav::glob_plan
 
         return {};
     }
-} // namespace armarx::nav::glob_plan
\ No newline at end of file
+} // namespace armarx::nav::glob_plan
diff --git a/source/Navigation/libraries/global_planning/AStar.h b/source/Navigation/libraries/global_planning/AStar.h
index ec12f2f5b3d06375b7947884d1fcd007e3f3842a..d08f9748c273b0eb891fe4bfeb9284d5b18e40a9 100644
--- a/source/Navigation/libraries/global_planning/AStar.h
+++ b/source/Navigation/libraries/global_planning/AStar.h
@@ -46,4 +46,4 @@ namespace armarx::nav::glob_plan
         AStarParams params;
     };
 
-} // namespace armarx::nav::glob_plan
\ No newline at end of file
+} // namespace armarx::nav::glob_plan
diff --git a/source/Navigation/libraries/global_planning/GlobalPlanner.cpp b/source/Navigation/libraries/global_planning/GlobalPlanner.cpp
index 34481f7cf036fe954b40199decd80b201c741779..8f68dec64b2cf162781a266bc1984480d4fac67c 100644
--- a/source/Navigation/libraries/global_planning/GlobalPlanner.cpp
+++ b/source/Navigation/libraries/global_planning/GlobalPlanner.cpp
@@ -8,4 +8,4 @@ namespace armarx::nav::glob_plan
     {
     }
 
-} // namespace armarx::nav::glob_plan
\ No newline at end of file
+} // namespace armarx::nav::glob_plan
diff --git a/source/Navigation/libraries/global_planning/GlobalPlanner.h b/source/Navigation/libraries/global_planning/GlobalPlanner.h
index fb5ecceb6bd7919db0839a173f39e20f5b857b74..b03aec235bc5305374c47857e1775b2e9f417eef 100644
--- a/source/Navigation/libraries/global_planning/GlobalPlanner.h
+++ b/source/Navigation/libraries/global_planning/GlobalPlanner.h
@@ -55,4 +55,4 @@ namespace armarx::nav::glob_plan
     };
 
     using GlobalPlannerPtr = std::shared_ptr<GlobalPlanner>;
-} // namespace armarx::nav::glob_plan
\ No newline at end of file
+} // namespace armarx::nav::glob_plan
diff --git a/source/Navigation/libraries/global_planning/Point2Point.cpp b/source/Navigation/libraries/global_planning/Point2Point.cpp
index 37cd1d66866cb65f743b0d63e9336776ea68f057..0c25bbc6b98bd749747b65dd48c3b5398bb50fb2 100644
--- a/source/Navigation/libraries/global_planning/Point2Point.cpp
+++ b/source/Navigation/libraries/global_planning/Point2Point.cpp
@@ -4,6 +4,7 @@
 
 #include <VirtualRobot/Robot.h>
 
+#include "Navigation/libraries/core/Trajectory.h"
 #include "Navigation/libraries/core/types.h"
 #include "Navigation/libraries/global_planning/GlobalPlanner.h"
 #include "Navigation/libraries/global_planning/core.h"
@@ -41,8 +42,8 @@ namespace armarx::nav::glob_plan
 
         if (params.includeStartPose)
         {
-            trajectory->push_back(
-                core::Waypoint{.pose = core::Pose(context.robot->getGlobalPose())});
+            trajectory->push_back(core::TrajectoryPoint{
+                core::Waypoint{.pose = core::Pose(context.robot->getGlobalPose())}});
         }
 
         trajectory->push_back(core::Waypoint{.pose = goal});
@@ -50,4 +51,4 @@ namespace armarx::nav::glob_plan
         return trajectory;
     }
 
-} // namespace armarx::nav::glob_plan
\ No newline at end of file
+} // namespace armarx::nav::glob_plan
diff --git a/source/Navigation/libraries/global_planning/Point2Point.h b/source/Navigation/libraries/global_planning/Point2Point.h
index 45068d1ba675083772e20e5428373ac938e8b207..112f81bf8a8c9178c1c500b8038139fba00d784b 100644
--- a/source/Navigation/libraries/global_planning/Point2Point.h
+++ b/source/Navigation/libraries/global_planning/Point2Point.h
@@ -31,6 +31,8 @@ namespace armarx::nav::glob_plan
     {
         bool includeStartPose{false};
 
+        float velocity;
+
         Algorithms algorithm() const override;
         aron::datanavigator::DictNavigatorPtr toAron() const override;
         static Point2PointParams FromAron(const aron::datanavigator::DictNavigatorPtr& dict);
@@ -50,4 +52,4 @@ namespace armarx::nav::glob_plan
 
     private:
     };
-} // namespace armarx::nav::glob_plan
\ No newline at end of file
+} // namespace armarx::nav::glob_plan
diff --git a/source/Navigation/libraries/global_planning/core.h b/source/Navigation/libraries/global_planning/core.h
index dccac16c3c491a577c2fbfb43ee4e6ca8bea390d..5def4dbe951c9d106cc0b8489dc11010f88fd16a 100644
--- a/source/Navigation/libraries/global_planning/core.h
+++ b/source/Navigation/libraries/global_planning/core.h
@@ -36,4 +36,4 @@ namespace armarx::nav::glob_plan
         {Algorithms::AStar, "AStar"},
         {Algorithms::Point2Point, "Point2Point"}};
 
-} // namespace armarx::nav::glob_plan
\ No newline at end of file
+} // namespace armarx::nav::glob_plan
diff --git a/source/Navigation/libraries/local_planning/LocalPlanner.cpp b/source/Navigation/libraries/local_planning/LocalPlanner.cpp
index 94ee6d97df33a8b406ed0f98e926c0d20c09d61c..3958ba3a7a039d5d9599ee223a8d533cbb367252 100644
--- a/source/Navigation/libraries/local_planning/LocalPlanner.cpp
+++ b/source/Navigation/libraries/local_planning/LocalPlanner.cpp
@@ -6,4 +6,4 @@ namespace armarx::nav::loc_plan
     {
 
     }
-}
\ No newline at end of file
+}
diff --git a/source/Navigation/libraries/local_planning/LocalPlanner.h b/source/Navigation/libraries/local_planning/LocalPlanner.h
index a2846c4d7a1416a781a21db8819c92ed1d2b136d..8b24ee0a9593d205e7ae1eb1e1fe63947c973407 100644
--- a/source/Navigation/libraries/local_planning/LocalPlanner.h
+++ b/source/Navigation/libraries/local_planning/LocalPlanner.h
@@ -57,4 +57,4 @@ namespace armarx::nav::loc_plan
 
     using LocalPlannerPtr = std::shared_ptr<LocalPlanner>;
 
-} // namespace armarx::nav::loc_plan
\ No newline at end of file
+} // namespace armarx::nav::loc_plan
diff --git a/source/Navigation/libraries/local_planning/TimedElasticBands.cpp b/source/Navigation/libraries/local_planning/TimedElasticBands.cpp
index 36d9723edf3870bab4f8c93c19fba7a534f371c3..ddc7dfd55ba534f655ad5adc0ae722cf4e0423b6 100644
--- a/source/Navigation/libraries/local_planning/TimedElasticBands.cpp
+++ b/source/Navigation/libraries/local_planning/TimedElasticBands.cpp
@@ -36,4 +36,4 @@ namespace armarx::nav::loc_plan
         // TODO implement
         return {};
     }
-} // namespace armarx::nav::loc_plan
\ No newline at end of file
+} // namespace armarx::nav::loc_plan
diff --git a/source/Navigation/libraries/local_planning/TimedElasticBands.h b/source/Navigation/libraries/local_planning/TimedElasticBands.h
index adc625a6962eed031f4c99dfcab27c4ea2eabe3d..753783e68dc8f43f3bc24914d6487eae6e8e14a5 100644
--- a/source/Navigation/libraries/local_planning/TimedElasticBands.h
+++ b/source/Navigation/libraries/local_planning/TimedElasticBands.h
@@ -53,4 +53,4 @@ namespace armarx::nav::loc_plan
 
     private:
     };
-} // namespace armarx::nav::loc_plan
\ No newline at end of file
+} // namespace armarx::nav::loc_plan
diff --git a/source/Navigation/libraries/local_planning/core.h b/source/Navigation/libraries/local_planning/core.h
index 6244b1dd49a393c6e6bb086deffa007d2538aee5..1f55d446449c33132656212375c46d7b80d888b0 100644
--- a/source/Navigation/libraries/local_planning/core.h
+++ b/source/Navigation/libraries/local_planning/core.h
@@ -34,4 +34,4 @@ namespace armarx::nav::loc_plan
     const static simox::meta::EnumNames<Algorithms> AlgorithmNames{
         {Algorithms::TimedElasticBands, "TimedElasticBands"}};
 
-} // namespace armarx::nav::loc_plan
\ No newline at end of file
+} // namespace armarx::nav::loc_plan
diff --git a/source/Navigation/libraries/safety_control/LaserBasedProximity.cpp b/source/Navigation/libraries/safety_control/LaserBasedProximity.cpp
index 2134e9d689c57d3dbc2973f597e2fd0724ba2b2d..4f213f71438a3208a35eb67a2f636d258d2c4f5d 100644
--- a/source/Navigation/libraries/safety_control/LaserBasedProximity.cpp
+++ b/source/Navigation/libraries/safety_control/LaserBasedProximity.cpp
@@ -30,4 +30,4 @@ namespace armarx::nav::safe_ctrl
     {
         return {}; // TODO implement
     }
-} // namespace armarx::nav::safe_ctrl
\ No newline at end of file
+} // namespace armarx::nav::safe_ctrl
diff --git a/source/Navigation/libraries/safety_control/LaserBasedProximity.h b/source/Navigation/libraries/safety_control/LaserBasedProximity.h
index 45363b1260d4b1922c87fe95b670ebf317a3cf39..bb67d4e84fb6099eb210f073ce635f34c8e85fbd 100644
--- a/source/Navigation/libraries/safety_control/LaserBasedProximity.h
+++ b/source/Navigation/libraries/safety_control/LaserBasedProximity.h
@@ -51,4 +51,4 @@ namespace armarx::nav::safe_ctrl
 
     private:
     };
-} // namespace armarx::nav::safe_ctrl
\ No newline at end of file
+} // namespace armarx::nav::safe_ctrl
diff --git a/source/Navigation/libraries/safety_control/SafetyController.cpp b/source/Navigation/libraries/safety_control/SafetyController.cpp
index 954a7a5cdd500f638f927a62869e4ca44fcf82a5..1c1bb1113c348705a0b89647e97200e4ef6e12dd 100644
--- a/source/Navigation/libraries/safety_control/SafetyController.cpp
+++ b/source/Navigation/libraries/safety_control/SafetyController.cpp
@@ -6,4 +6,4 @@ namespace armarx::nav::safe_ctrl
     {
 
     }
-}
\ No newline at end of file
+}
diff --git a/source/Navigation/libraries/safety_control/SafetyController.h b/source/Navigation/libraries/safety_control/SafetyController.h
index 917cfa6f75d60836e44ee1b0f100db32000b0f95..ed0892fd191295a940a36de6aeed3c1a6fd7148e 100644
--- a/source/Navigation/libraries/safety_control/SafetyController.h
+++ b/source/Navigation/libraries/safety_control/SafetyController.h
@@ -56,4 +56,4 @@ namespace armarx::nav::safe_ctrl
     };
 
     using SafetyControllerPtr = std::shared_ptr<SafetyController>;
-} // namespace armarx::nav::safe_ctrl
\ No newline at end of file
+} // namespace armarx::nav::safe_ctrl
diff --git a/source/Navigation/libraries/safety_control/core.h b/source/Navigation/libraries/safety_control/core.h
index 259726c65fae393cfa8532ccb43fa131d6ca4612..0a108846428f038cd0ee88989fc0727dd2601de9 100644
--- a/source/Navigation/libraries/safety_control/core.h
+++ b/source/Navigation/libraries/safety_control/core.h
@@ -34,4 +34,4 @@ namespace armarx::nav::safe_ctrl
     const static simox::meta::EnumNames<Algorithms> AlgorithmNames{
         {Algorithms::LaserBasedProximity, "LaserBasedProximity"}};
 
-} // namespace armarx::nav::safe_ctrl
\ No newline at end of file
+} // namespace armarx::nav::safe_ctrl
diff --git a/source/Navigation/libraries/server/NavigationStack.h b/source/Navigation/libraries/server/NavigationStack.h
index 1c2d82e98836f04d06984e96ebfbdfb872cb03e7..ef64de955dcba89f3204aa97a94a30d939308e30 100644
--- a/source/Navigation/libraries/server/NavigationStack.h
+++ b/source/Navigation/libraries/server/NavigationStack.h
@@ -36,4 +36,4 @@ namespace armarx::nav::server
         traj_ctrl::TrajectoryControllerPtr trajectoryControl;
         safe_ctrl::SafetyControllerPtr safetyControl = nullptr;
     };
-} // namespace armarx::nav::server
\ No newline at end of file
+} // namespace armarx::nav::server
diff --git a/source/Navigation/libraries/server/Navigator.cpp b/source/Navigation/libraries/server/Navigator.cpp
index 14ad6b73edd2e4040c85e2883cbd7b2d31a85885..fdc44b1076c92e3c32b7323dfaac75644b85649b 100644
--- a/source/Navigation/libraries/server/Navigator.cpp
+++ b/source/Navigation/libraries/server/Navigator.cpp
@@ -62,4 +62,4 @@ namespace armarx::nav::server
             executor.move(res.velocity());
         }
     }
-} // namespace armarx::nav::server
\ No newline at end of file
+} // namespace armarx::nav::server
diff --git a/source/Navigation/libraries/server/Navigator.h b/source/Navigation/libraries/server/Navigator.h
index 38e12c3e8045b6963f3ad7b1fbf30ff97bf7c46d..1acb8e20b7c476f8f448fcd3872ccfdcdf3267dc 100644
--- a/source/Navigation/libraries/server/Navigator.h
+++ b/source/Navigation/libraries/server/Navigator.h
@@ -76,4 +76,4 @@ namespace armarx::nav::server
 
         ExecutorInterface& executor; 
     };
-} // namespace armarx::nav::server
\ No newline at end of file
+} // namespace armarx::nav::server
diff --git a/source/Navigation/libraries/trajectory_control/TrajectoryController.cpp b/source/Navigation/libraries/trajectory_control/TrajectoryController.cpp
index c475d071a60b46ce539fa0edf8aea51a4f56f9aa..b4c17cc77dec04ccd14b2cffff47c2a93c54f85a 100644
--- a/source/Navigation/libraries/trajectory_control/TrajectoryController.cpp
+++ b/source/Navigation/libraries/trajectory_control/TrajectoryController.cpp
@@ -6,4 +6,4 @@ namespace armarx::nav::traj_ctrl
     {
     }
 
-} // namespace armarx::nav::traj_ctrl
\ No newline at end of file
+} // namespace armarx::nav::traj_ctrl
diff --git a/source/Navigation/libraries/trajectory_control/TrajectoryController.h b/source/Navigation/libraries/trajectory_control/TrajectoryController.h
index a7c981d713925c4aa2218f4c02cd32b3dcebc79c..1d44c85f7365b50dbff394dddad077afb4359af5 100644
--- a/source/Navigation/libraries/trajectory_control/TrajectoryController.h
+++ b/source/Navigation/libraries/trajectory_control/TrajectoryController.h
@@ -63,4 +63,4 @@ namespace armarx::nav::traj_ctrl
     };
     using TrajectoryControllerPtr = std::shared_ptr<TrajectoryController>;
 
-} // namespace armarx::nav::traj_ctrl
\ No newline at end of file
+} // namespace armarx::nav::traj_ctrl
diff --git a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp
index d3c1582f7f722182fa8f0c4f821a3889718f2547..34330e998560ba55bd08eb8d0e1520abf560735f 100644
--- a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp
+++ b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.cpp
@@ -119,4 +119,4 @@ namespace armarx::nav::traj_ctrl
 
     // TrajectoryFollowingController
 
-} // namespace armarx::nav::traj_ctrl
\ No newline at end of file
+} // namespace armarx::nav::traj_ctrl
diff --git a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h
index 81943af94e96afb67a7392b33330a2f3cdc7ef87..3e4ac7e056ff4f1cd9a83a7e494c851b3ef62c12 100644
--- a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h
+++ b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h
@@ -67,4 +67,4 @@ namespace armarx::nav::traj_ctrl
     };
     using TrajectoryFollowingControllerPtr = std::shared_ptr<TrajectoryFollowingController>;
 
-} // namespace armarx::nav::traj_ctrl
\ No newline at end of file
+} // namespace armarx::nav::traj_ctrl
diff --git a/source/Navigation/libraries/trajectory_control/WaypointController.cpp b/source/Navigation/libraries/trajectory_control/WaypointController.cpp
index bb201876884a4c5bf2741414f5ca3ea354d0876e..2e3282800a87b763386832b06c9e85c72588ef61 100644
--- a/source/Navigation/libraries/trajectory_control/WaypointController.cpp
+++ b/source/Navigation/libraries/trajectory_control/WaypointController.cpp
@@ -34,4 +34,4 @@ namespace armarx::nav::traj_ctrl
     {
         return {}; // TODO implement
     }
-} // namespace armarx::nav::traj_ctrl
\ No newline at end of file
+} // namespace armarx::nav::traj_ctrl
diff --git a/source/Navigation/libraries/trajectory_control/WaypointController.h b/source/Navigation/libraries/trajectory_control/WaypointController.h
index 7ac0503c3adf511451e518e9b60da768f9da779c..238ad56e75a5d2bcbcf0fb8da94a8b1272207308 100644
--- a/source/Navigation/libraries/trajectory_control/WaypointController.h
+++ b/source/Navigation/libraries/trajectory_control/WaypointController.h
@@ -50,4 +50,4 @@ namespace armarx::nav::traj_ctrl
     };
     using WaypointControllerPtr = std::shared_ptr<WaypointController>;
 
-} // namespace armarx::nav::traj_ctrl
\ No newline at end of file
+} // namespace armarx::nav::traj_ctrl
diff --git a/source/Navigation/libraries/trajectory_control/core.h b/source/Navigation/libraries/trajectory_control/core.h
index 9d63d74f6153b6af88bfc5c8ada6322a7140dc74..ae00840b78659ea41b8988860e47256b7b14e079 100644
--- a/source/Navigation/libraries/trajectory_control/core.h
+++ b/source/Navigation/libraries/trajectory_control/core.h
@@ -37,4 +37,4 @@ namespace armarx::nav::traj_ctrl
         {Algorithms::WaypointController, "WaypointController"},
         {Algorithms::TrajectoryFollowingController, "TrajectoryFollowingController"}};
 
-} // namespace armarx::nav::traj_ctrl
\ No newline at end of file
+} // namespace armarx::nav::traj_ctrl
diff --git a/source/Navigation/libraries/util/util.h b/source/Navigation/libraries/util/util.h
index 85f5d33d875b10e0022ce4de612fe8818c1b12d0..19142303ff20bc8cc8f3c373728e11a19bf308d0 100644
--- a/source/Navigation/libraries/util/util.h
+++ b/source/Navigation/libraries/util/util.h
@@ -30,4 +30,4 @@ namespace armarx::nav::util
 
     VirtualRobot::SceneObjectSetPtr asSceneObjects(const objpose::ObjectPoseSeq& objectPoses);
 
-} // namespace armarx::nav::util
\ No newline at end of file
+} // namespace armarx::nav::util