diff --git a/MotionPlanning/CSpace/CSpace.cpp b/MotionPlanning/CSpace/CSpace.cpp
index 7f72f2418667d3322313fffae154abbb7d7f9f05..40a496b56cfa381089e7739f5f842b3867c64dd4 100644
--- a/MotionPlanning/CSpace/CSpace.cpp
+++ b/MotionPlanning/CSpace/CSpace.cpp
@@ -406,7 +406,7 @@ namespace Saba
         return d;
     }
 
-    float CSpace::getDirectedMaxMovement(const Eigen::VectorXf& /*config*/, const Eigen::VectorXf& /*nextConfig*/)
+    float CSpace::getDirectedMaxMovement(const Eigen::VectorXf& config, const Eigen::VectorXf& nextConfig)
     {
         SABA_ASSERT(config.rows() == dimension)
         SABA_ASSERT(nextConfig.rows() == dimension)
diff --git a/VirtualRobot/IK/PoseQualityMeasurement.cpp b/VirtualRobot/IK/PoseQualityMeasurement.cpp
index c6c19271e6908f646a3d4be82d379bd0cd7f2779..fa1d0116d0aeee89cdbd14ba3bab189c91efad66 100644
--- a/VirtualRobot/IK/PoseQualityMeasurement.cpp
+++ b/VirtualRobot/IK/PoseQualityMeasurement.cpp
@@ -29,7 +29,7 @@ namespace VirtualRobot
         return 0.0f;
     }
 
-    float PoseQualityMeasurement::getPoseQuality(const Eigen::VectorXf& /*direction*/)
+    float PoseQualityMeasurement::getPoseQuality(const Eigen::VectorXf& direction)
     {
         VR_ASSERT(direction.rows() == 3 || direction.rows() == 6);
         VR_WARNING << "Please use derived classes..." << endl;
diff --git a/VirtualRobot/Workspace/VoxelTreeND.hpp b/VirtualRobot/Workspace/VoxelTreeND.hpp
index 36f8275169f3a389f9cd599b9ff417dffec118c3..b0b2e1400134737738336b58917878cb7acbc160 100644
--- a/VirtualRobot/Workspace/VoxelTreeND.hpp
+++ b/VirtualRobot/Workspace/VoxelTreeND.hpp
@@ -312,7 +312,6 @@ namespace VirtualRobot
                     idElementMapping[(unsigned int)(i + 1)] = e; // we start with 1, but root is already created!
                 }
 
-                VR_ASSERT(tree->currentElementID == (unsigned int)expectedID);
 
                 FileIO::readString(tmpString, file);
                 THROW_VR_EXCEPTION_IF(tmpString != "DATA_START", "Bad file format, expecting DATA_START");