diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 66dfd49060d6573f80024f3af7f22bc299169315..f6fdfe61ccb88fcf5e7eccfac7798cd5f64e868a 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -21,6 +21,8 @@
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
+
+
 #include <RobotAPI/libraries/core/FramedPose.h>
 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
@@ -32,6 +34,12 @@
 using namespace Eigen;
 using namespace std;
 
+
+template class ::IceInternal::Handle<::armarx::FramedPose>;
+template class ::IceInternal::Handle<::armarx::FramedPosition>;
+template class ::IceInternal::Handle<::armarx::FramedDirection>;
+template class ::IceInternal::Handle<::armarx::FramedOrientation>;
+
 namespace armarx
 {
 
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index 257d8f95a2f7046dbc9a3ebd06be2ee5868e91e5..cce0aedfd3d136e8db173197a0b652cdb77fdeac 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -363,4 +363,12 @@ namespace armarx
     typedef IceInternal::Handle<FramedPose> FramedPosePtr;
 
 }
+
+extern template class ::IceInternal::Handle<::armarx::FramedPose>;
+extern template class ::IceInternal::Handle<::armarx::FramedPosition>;
+extern template class ::IceInternal::Handle<::armarx::FramedDirection>;
+extern template class ::IceInternal::Handle<::armarx::FramedOrientation>;
+
+
+
 #endif
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index a56c01fb0826e3f9f369e2237c174b8945bb7703..f6e8963d3ac67555c690e60df458bcf66595b4cf 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -15,12 +15,13 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    
- * @author     
- * @date       
+ * @package
+ * @author
+ * @date
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
+#define EIGEN_NO_STATIC_ASSERT
 #include "Pose.h"
 
 #include <VirtualRobot/Robot.h>
@@ -31,6 +32,19 @@
 using namespace Eigen;
 using namespace std;
 
+template class ::IceInternal::Handle<::armarx::Pose>;
+template class ::IceInternal::Handle<::armarx::Vector2>;
+template class ::IceInternal::Handle<::armarx::Vector3>;
+template class ::IceInternal::Handle<::armarx::Quaternion>;
+
+namespace Eigen
+{
+    template class Matrix<float, 3, 1>;
+    template class Matrix<float, 3, 3>;
+    template class Matrix<float, 4, 4>;
+}
+
+
 namespace armarx
 {
 
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index d9cadc18bd23ecbf8197f721f16c62444de60323..424da519184ab454c9f894316e0c22497f9ae464 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -270,4 +270,16 @@ namespace armarx
     typedef IceInternal::Handle<Pose> PosePtr;
 
 }
+
+extern template class ::IceInternal::Handle<::armarx::Pose>;
+extern template class ::IceInternal::Handle<::armarx::Vector2>;
+extern template class ::IceInternal::Handle<::armarx::Vector3>;
+extern template class ::IceInternal::Handle<::armarx::Quaternion>;
+
+namespace Eigen
+{
+    extern template class Matrix<float, 3, 1>;
+    extern template class Matrix<float, 3, 3>;
+    extern template class Matrix<float, 4, 4>;
+}
 #endif