diff --git a/VirtualRobot/Safety.cpp b/VirtualRobot/Safety.cpp
index 9baadf4c1f6f75fc32f87af35352ae10069237bf..f54ac0e7d277bf0c7162e9b2542af10a4bb23c64 100644
--- a/VirtualRobot/Safety.cpp
+++ b/VirtualRobot/Safety.cpp
@@ -2,7 +2,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <Eigen/src/Core/Matrix.h>
+
 
 #include "MathTools.h"
 #include "VirtualRobot.h"
@@ -36,4 +36,4 @@ namespace VirtualRobot
         const float maxDistance = *std::max(distances.begin(), distances.end());
         return Circle{.center = Eigen::Vector2f::Zero(), .radius = maxDistance};
     }
-} // namespace VirtualRobot
\ No newline at end of file
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Safety.h b/VirtualRobot/Safety.h
index c8072523b1b2eabe64a222d5e4e4ff110d43f2f0..b8967eb91775ca2dcae1c38ac41545c0bbb2a307 100644
--- a/VirtualRobot/Safety.h
+++ b/VirtualRobot/Safety.h
@@ -1,7 +1,7 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <Eigen/src/Core/Matrix.h>
+
 
 #include "MathTools.h"
 #include "VirtualRobot.h"
diff --git a/VirtualRobot/Workspace/NaturalPosture.cpp b/VirtualRobot/Workspace/NaturalPosture.cpp
index 5f6c73bf84f266190ff5f4d34c5f852de409c725..8ac329473b053a24d42c22dd2b56ede01a6ee590 100644
--- a/VirtualRobot/Workspace/NaturalPosture.cpp
+++ b/VirtualRobot/Workspace/NaturalPosture.cpp
@@ -6,7 +6,7 @@
 #include <fstream>
 #include <stdexcept>
 
-#include <Eigen/src/Core/Matrix.h>
+
 
 #include <VirtualRobot/IK/CompositeDiffIK/Soechting.h>
 #include <VirtualRobot/IK/CompositeDiffIK/SoechtingNullspaceGradient.h>
diff --git a/VirtualRobot/Workspace/WorkspaceGrid.cpp b/VirtualRobot/Workspace/WorkspaceGrid.cpp
index 6c64a612bf19da070875fd5128c13ca1e7e1f5fe..a1630c0ad1e994c4a8f49e72eba1b22e26b769e3 100644
--- a/VirtualRobot/Workspace/WorkspaceGrid.cpp
+++ b/VirtualRobot/Workspace/WorkspaceGrid.cpp
@@ -9,8 +9,8 @@
 #include <cmath>
 #include <iostream>
 #include <algorithm>
-#include <Eigen/src/Geometry/AngleAxis.h>
-#include <Eigen/src/Geometry/Transform.h>
+
+
 using namespace std;
 
 #define MIN_VALUES_STORE_GRASPS 100
@@ -564,4 +564,3 @@ namespace VirtualRobot
     }
 
 } //  namespace
-
diff --git a/VirtualRobot/tests/MecanumPlatformKinematicsTest.cpp b/VirtualRobot/tests/MecanumPlatformKinematicsTest.cpp
index 0377eccba02b7b68fcb30ed146f58e1411c5e612..38b9b3b5b7fd84182697fdc49b253f6b54b02abd 100755
--- a/VirtualRobot/tests/MecanumPlatformKinematicsTest.cpp
+++ b/VirtualRobot/tests/MecanumPlatformKinematicsTest.cpp
@@ -28,7 +28,7 @@
 
 #include <VirtualRobot/IK/platform/MecanumPlatformKinematics.h>
 
-#include <Eigen/src/Core/IO.h>
+
 
 BOOST_AUTO_TEST_SUITE(MecanumPlatformKinematics)
 
diff --git a/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp b/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp
index 599bac7e6d7360ed9c11e19c44e85b52d9ab14d9..eac7c48de8cc28bdb6d2a3db226402381276a335 100755
--- a/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp
+++ b/VirtualRobot/tests/OmniPlatformKinematicsTest.cpp
@@ -29,7 +29,7 @@
 
 #include "MathTools.h"
 
-// #include <Eigen/src/Core/IO.h>
+// 
 
 #include <VirtualRobot/IK/platform/OmniWheelPlatformKinematics.h>
 // #include <VirtualRobot/VirtualRobotTest.h>