diff --git a/src/Mod/Robot/App/AppRobot.cpp b/src/Mod/Robot/App/AppRobot.cpp
index 021c48a892..000a073227 100644
--- a/src/Mod/Robot/App/AppRobot.cpp
+++ b/src/Mod/Robot/App/AppRobot.cpp
@@ -25,22 +25,19 @@
 #include <Base/Console.h>
 #include <Base/Interpreter.h>
 
-#include <CXX/Extensions.hxx>
-#include <CXX/Objects.hxx>
-
+#include "Edge2TracObject.h"
+#include "PropertyTrajectory.h"
 #include "Robot6AxisPy.h"
 #include "Robot6Axis.h"
-#include "Simulation.h"
-#include "TrajectoryPy.h"
-#include "Trajectory.h"
-#include "PropertyTrajectory.h"
-#include "WaypointPy.h"
-#include "Waypoint.h"
 #include "RobotObject.h"
-#include "TrajectoryObject.h"
-#include "Edge2TracObject.h"
+#include "Simulation.h"
+#include "Trajectory.h"
 #include "TrajectoryCompound.h"
 #include "TrajectoryDressUpObject.h"
+#include "TrajectoryObject.h"
+#include "TrajectoryPy.h"
+#include "WaypointPy.h"
+#include "Waypoint.h"
 
 
 namespace Robot {
diff --git a/src/Mod/Robot/App/Edge2TracObject.cpp b/src/Mod/Robot/App/Edge2TracObject.cpp
index dec177ec79..0ee5577f8d 100644
--- a/src/Mod/Robot/App/Edge2TracObject.cpp
+++ b/src/Mod/Robot/App/Edge2TracObject.cpp
@@ -20,27 +20,22 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
-
 #ifndef _PreComp_
+# include <BRepAdaptor_Curve.hxx>
+# include <CPnts_AbscissaPoint.hxx>
+# include <TopoDS.hxx>
+# include <TopoDS_Edge.hxx>
 #endif
 
-#include "Edge2TracObject.h"
-//#include <App/DocumentObjectPy.h>
-//#include <Base/Placement.h>
 #include <Base/Sequencer.h>
 #include <Mod/Part/App/edgecluster.h>
 #include <Mod/Part/App/PartFeature.h>
-#include <TopoDS.hxx>
-#include <TopoDS_Edge.hxx>
-#include <TopoDS_Vertex.hxx>
-#include <BRep_Tool.hxx>
-#include <BRepAdaptor_Curve.hxx>
-#include <CPnts_AbscissaPoint.hxx>
-#include <TopExp.hxx>
-#include "Waypoint.h"
+
+#include "Edge2TracObject.h"
 #include "Trajectory.h"
+#include "Waypoint.h"
+
 
 using namespace Robot;
 using namespace App;
diff --git a/src/Mod/Robot/App/Edge2TracObject.h b/src/Mod/Robot/App/Edge2TracObject.h
index 4881350e7b..c440dd8d90 100644
--- a/src/Mod/Robot/App/Edge2TracObject.h
+++ b/src/Mod/Robot/App/Edge2TracObject.h
@@ -20,17 +20,13 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_Edge2TracObject_H
 #define ROBOT_Edge2TracObject_H
 
-#include <App/GeoFeature.h>
-#include <App/PropertyFile.h>
 #include <App/PropertyGeo.h>
 
-#include "Trajectory.h"
 #include "TrajectoryObject.h"
-#include "PropertyTrajectory.h"
+
 
 namespace Robot
 {
diff --git a/src/Mod/Robot/App/PreCompiled.h b/src/Mod/Robot/App/PreCompiled.h
index ae65dc14b3..564b76b41c 100644
--- a/src/Mod/Robot/App/PreCompiled.h
+++ b/src/Mod/Robot/App/PreCompiled.h
@@ -39,16 +39,33 @@
 #ifdef _PreComp_
 
 // standard
-#include <iostream>
-#include <sstream>
-#include <cstdio>
 #include <cassert>
-#include <string>
+#include <iostream>
 #include <map>
+#include <sstream>
+#include <string>
 #include <vector>
-#include <set>
-#include <bitset>
+
+// kdl_cp
+#include "kdl_cp/chain.hpp"
+#include "kdl_cp/chainiksolverpos_nr.hpp"
+#include "kdl_cp/chainiksolvervel_pinv.hpp"
+#include "kdl_cp/chainiksolverpos_nr_jl.hpp"
+#include "kdl_cp/chainfksolverpos_recursive.hpp"
+#include "kdl_cp/frames_io.hpp"
+#include "kdl_cp/path_line.hpp"
+#include "kdl_cp/path_roundedcomposite.hpp"
+#include "kdl_cp/rotational_interpolation_sa.hpp"
+#include "kdl_cp/trajectory_composite.hpp"
+#include "kdl_cp/trajectory_segment.hpp"
+#include "kdl_cp/utilities/error.h"
+#include "kdl_cp/velocityprofile_trap.hpp"
+
+// OCC
+#include <BRepAdaptor_Curve.hxx>
+#include <CPnts_AbscissaPoint.hxx>
+#include <TopoDS.hxx>
+#include <TopoDS_Edge.hxx>
 
 #endif // _PreComp_
 #endif
-
diff --git a/src/Mod/Robot/App/PropertyTrajectory.cpp b/src/Mod/Robot/App/PropertyTrajectory.cpp
index 8bd149f72a..0d79999938 100644
--- a/src/Mod/Robot/App/PropertyTrajectory.cpp
+++ b/src/Mod/Robot/App/PropertyTrajectory.cpp
@@ -20,24 +20,18 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
-
 #ifndef _PreComp_
 # include <sstream>
 #endif
 
-
-#include <Base/Console.h>
-#include <Base/Writer.h>
 #include <Base/Reader.h>
-#include <Base/Exception.h>
-#include <Base/FileInfo.h>
-#include <Base/Stream.h>
+#include <Base/Writer.h>
 
 #include "PropertyTrajectory.h"
 #include "TrajectoryPy.h"
 
+
 using namespace Robot;
 
 TYPESYSTEM_SOURCE(Robot::PropertyTrajectory , App::Property)
diff --git a/src/Mod/Robot/App/PropertyTrajectory.h b/src/Mod/Robot/App/PropertyTrajectory.h
index 53e01d5e39..7d2c0283d7 100644
--- a/src/Mod/Robot/App/PropertyTrajectory.h
+++ b/src/Mod/Robot/App/PropertyTrajectory.h
@@ -20,18 +20,18 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef PROPERTYTRAJECTORY_H
 #define PROPERTYTRAJECTORY_H
 
-#include "Trajectory.h"
 #include <App/Property.h>
 #include <Base/BoundBox.h>
 
+#include "Trajectory.h"
+
+
 namespace Robot
 {
 
-
 /** The part shape property class.
  * @author Werner Mayer
  */
diff --git a/src/Mod/Robot/App/Robot6Axis.cpp b/src/Mod/Robot/App/Robot6Axis.cpp
index 5cb04af7c6..26849f6c29 100644
--- a/src/Mod/Robot/App/Robot6Axis.cpp
+++ b/src/Mod/Robot/App/Robot6Axis.cpp
@@ -20,30 +20,22 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
-
 #ifndef _PreComp_
+# include "kdl_cp/chainfksolverpos_recursive.hpp"
+# include "kdl_cp/chainiksolvervel_pinv.hpp"
+# include "kdl_cp/chainiksolverpos_nr_jl.hpp"
 #endif
 
 #include <Base/FileInfo.h>
-#include <Base/Writer.h>
 #include <Base/Reader.h>
 #include <Base/Stream.h>
-
-#include "kdl_cp/chain.hpp"
-#include "kdl_cp/chainfksolver.hpp"
-#include "kdl_cp/chainfksolverpos_recursive.hpp"
-#include "kdl_cp/frames_io.hpp"
-#include "kdl_cp/chainiksolver.hpp"
-#include "kdl_cp/chainiksolvervel_pinv.hpp"
-#include "kdl_cp/chainjnttojacsolver.hpp"
-#include "kdl_cp/chainiksolverpos_nr.hpp"
-#include "kdl_cp/chainiksolverpos_nr_jl.hpp"
+#include <Base/Writer.h>
 
 #include "Robot6Axis.h"
 #include "RobotAlgos.h"
 
+
 #ifndef M_PI
     #define M_PI    3.14159265358979323846 /* pi */
 #endif
diff --git a/src/Mod/Robot/App/Robot6Axis.h b/src/Mod/Robot/App/Robot6Axis.h
index c1a76f1c02..e2348c3a96 100644
--- a/src/Mod/Robot/App/Robot6Axis.h
+++ b/src/Mod/Robot/App/Robot6Axis.h
@@ -20,17 +20,16 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_ROBOT6AXLE_H
 #define ROBOT_ROBOT6AXLE_H
 
-#include "kdl_cp/chain.hpp"
-#include "kdl_cp/jntarray.hpp"
-
 #include <Base/Persistence.h>
 #include <Base/Placement.h>
+#include "kdl_cp/chain.hpp"
+#include "kdl_cp/jntarray.hpp"
 #include <Mod/Robot/RobotGlobal.h>
 
+
 namespace Robot
 {
 
diff --git a/src/Mod/Robot/App/Robot6AxisPyImp.cpp b/src/Mod/Robot/App/Robot6AxisPyImp.cpp
index a9609f1a9b..32c5477c3f 100644
--- a/src/Mod/Robot/App/Robot6AxisPyImp.cpp
+++ b/src/Mod/Robot/App/Robot6AxisPyImp.cpp
@@ -20,19 +20,19 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
+#ifndef _PreComp_
+# include <sstream>
+#endif
 
-#include "Mod/Robot/App/Robot6Axis.h"
-#include <Base/PlacementPy.h>
 #include <Base/MatrixPy.h>
-#include <Base/Exception.h>
-#include <sstream>
+#include <Base/PlacementPy.h>
 
 // inclusion of the generated files (generated out of Robot6AxisPy.xml)
 #include "Robot6AxisPy.h"
 #include "Robot6AxisPy.cpp"
 
+
 using namespace Robot;
 
 // returns a string which represents the object e.g. when printed in python
diff --git a/src/Mod/Robot/App/RobotAlgos.cpp b/src/Mod/Robot/App/RobotAlgos.cpp
index fe40610606..e997478ce5 100644
--- a/src/Mod/Robot/App/RobotAlgos.cpp
+++ b/src/Mod/Robot/App/RobotAlgos.cpp
@@ -20,31 +20,17 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
-
 #ifndef _PreComp_
-
+# include "kdl_cp/chainiksolverpos_nr.hpp"
+# include "kdl_cp/chainiksolvervel_pinv.hpp"
+# include "kdl_cp/chainfksolverpos_recursive.hpp"
+# include "kdl_cp/frames_io.hpp"
 #endif
 
-#include "kdl_cp/chain.hpp"
-#include "kdl_cp/chainfksolver.hpp"
-#include "kdl_cp/chainfksolverpos_recursive.hpp"
-#include "kdl_cp/frames_io.hpp"
-#include "kdl_cp/chainiksolver.hpp"
-#include "kdl_cp/chainiksolvervel_pinv.hpp"
-#include "kdl_cp/chainjnttojacsolver.hpp"
-#include "kdl_cp/chainiksolverpos_nr.hpp"
-
-#include <cstdio>
-#include <iostream>
-
-#include <Base/Console.h>
-#include <Base/VectorPy.h>
-
-
 #include "RobotAlgos.h"
 
+
 using namespace Robot;
 using namespace std;
 using namespace KDL;
@@ -62,8 +48,6 @@ using namespace KDL;
 // FeatureView
 //===========================================================================
 
-
-
 RobotAlgos::RobotAlgos()
 {
 	
@@ -75,13 +59,13 @@ RobotAlgos::~RobotAlgos()
 
 void RobotAlgos::Test()
 {
-	    //Definition of a kinematic chain & add segments to the chain
+    // Definition of a kinematic chain & add segments to the chain
     KDL::Chain chain;
-    chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020))));
-    chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480))));
-    chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645))));
+    chain.addSegment(Segment(Joint(Joint::RotZ), Frame(Vector(0.0, 0.0, 1.020))));
+    chain.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0.0, 0.0, 0.480))));
+    chain.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0.0, 0.0, 0.645))));
     chain.addSegment(Segment(Joint(Joint::RotZ)));
-    chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120))));
+    chain.addSegment(Segment(Joint(Joint::RotX), Frame(Vector(0.0, 0.0, 0.120))));
     chain.addSegment(Segment(Joint(Joint::RotZ)));
  
     // Create solver based on kinematic chain
@@ -92,12 +76,12 @@ void RobotAlgos::Test()
     KDL::JntArray jointpositions = JntArray(nj);
  
     // Assign some values to the joint positions
-    for(unsigned int i=0;i<nj;i++){
+    for (unsigned int i = 0; i < nj; i++) {
         float myinput;
-        printf ("Enter the position of joint %i: ",i);
-        int result = scanf ("%e",&myinput);
-	(void)result;
-        jointpositions(i)=(double)myinput;
+        printf("Enter the position of joint %i: ", i);
+        int result = scanf("%e", &myinput);
+        (void)result;
+        jointpositions(i) = (double)myinput;
     }
  
     // Create the frame that will contain the results
@@ -106,31 +90,30 @@ void RobotAlgos::Test()
     // Calculate forward position kinematics
     int kinematics_status;
     kinematics_status = fksolver.JntToCart(jointpositions,cartpos);
-    if(kinematics_status>=0){
-        std::cout << cartpos <<std::endl;
-        printf("%s \n","Success, thanks KDL!");
-    }else{
-        printf("%s \n","Error: could not calculate forward kinematics :(");
+    if (kinematics_status >= 0) {
+        std::cout << cartpos << std::endl;
+        printf("%s \n", "Success, thanks KDL!");
+    }
+    else {
+        printf("%s \n", "Error: could not calculate forward kinematics :(");
     }
 
-
-	//Creation of the solvers:
-	ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver
-	ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
-	ChainIkSolverPos_NR iksolver1(chain,fksolver1,iksolver1v,100,1e-6);//Maximum 100 iterations, stop at accuracy 1e-6
+	// Creation of the solvers:
+    ChainFkSolverPos_recursive fksolver1(chain);// Forward position solver
+    ChainIkSolverVel_pinv iksolver1v(chain);    // Inverse velocity solver
+    ChainIkSolverPos_NR iksolver1(chain, fksolver1, iksolver1v,
+        100, 1e-6);// Maximum 100 iterations, stop at accuracy 1e-6
 	 
-	//Creation of jntarrays:
+	// Creation of jntarrays:
 	JntArray result(chain.getNrOfJoints());
 	JntArray q_init(chain.getNrOfJoints());
 	 
-	//Set destination frame
+	// Set destination frame
 	Frame F_dest=cartpos;
 	 
 	iksolver1.CartToJnt(q_init,F_dest,result);
 
-	for(unsigned int i=0;i<nj;i++){
-        printf ("Axle %i: %f \n",i,result(i));
-    }
-
+	for (unsigned int i = 0; i < nj; i++)
+        printf("Axle %i: %f \n", i, result(i));
 
 }
diff --git a/src/Mod/Robot/App/RobotAlgos.h b/src/Mod/Robot/App/RobotAlgos.h
index fc5ec10c54..ff8330579e 100644
--- a/src/Mod/Robot/App/RobotAlgos.h
+++ b/src/Mod/Robot/App/RobotAlgos.h
@@ -20,22 +20,16 @@
  *                                                                         *
  ***************************************************************************/
 
- 
-
-
 #ifndef _RobotAlgos_h_
 #define _RobotAlgos_h_
 
-#include <Base/Vector3D.h>
-#include <string>
-
-#include "kdl_cp/frames_io.hpp"
 #include <Base/Placement.h>
+#include <Base/Vector3D.h>
+
 
 namespace Robot
 {
 
-
 /** Algo class for projecting shapes and creating SVG output of it
  */
 class RobotExport RobotAlgos
diff --git a/src/Mod/Robot/App/RobotObject.cpp b/src/Mod/Robot/App/RobotObject.cpp
index 54c0a40f2d..8dc39e3786 100644
--- a/src/Mod/Robot/App/RobotObject.cpp
+++ b/src/Mod/Robot/App/RobotObject.cpp
@@ -20,18 +20,15 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-#ifndef _PreComp_
-#endif
-
-#include "RobotObject.h"
 #include <App/DocumentObjectPy.h>
 #include <Base/Placement.h>
-
-#include <Base/Writer.h>
 #include <Base/Reader.h>
+#include <Base/Writer.h>
+
+#include "RobotObject.h"
+
 
 using namespace Robot;
 using namespace App;
diff --git a/src/Mod/Robot/App/RobotObject.h b/src/Mod/Robot/App/RobotObject.h
index c92eaa6c7b..bfa622f2f5 100644
--- a/src/Mod/Robot/App/RobotObject.h
+++ b/src/Mod/Robot/App/RobotObject.h
@@ -20,17 +20,15 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_ROBOTOBJECT_H
 #define ROBOT_ROBOTOBJECT_H
 
 #include <App/GeoFeature.h>
 #include <App/PropertyFile.h>
-#include <App/PropertyGeo.h>
-#include <App/PropertyLinks.h>
 
 #include "Robot6Axis.h"
 
+
 namespace Robot
 {
 
diff --git a/src/Mod/Robot/App/RobotObjectPyImp.cpp b/src/Mod/Robot/App/RobotObjectPyImp.cpp
index 86fda96b77..50fd855f4a 100644
--- a/src/Mod/Robot/App/RobotObjectPyImp.cpp
+++ b/src/Mod/Robot/App/RobotObjectPyImp.cpp
@@ -20,15 +20,13 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-#include "Mod/Robot/App/RobotObject.h"
-
 // inclusion of the generated files (generated out of RobotObjectPy.xml)
 #include "RobotObjectPy.h"
 #include "RobotObjectPy.cpp"
 
+
 using namespace Robot;
 
 // returns a string which represents the object e.g. when printed in python
diff --git a/src/Mod/Robot/App/Simulation.cpp b/src/Mod/Robot/App/Simulation.cpp
index c01e4043c7..87477cd837 100644
--- a/src/Mod/Robot/App/Simulation.cpp
+++ b/src/Mod/Robot/App/Simulation.cpp
@@ -20,36 +20,19 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-#ifndef _PreComp_
-
-#endif
-
-#include "kdl_cp/chain.hpp"
-#include "kdl_cp/frames_io.hpp"
-
-#include <cstdio>
-#include <iostream>
-
-#include <Base/Console.h>
-
-
 #include "Simulation.h"
 
+
 using namespace Robot;
 using namespace std;
 using namespace KDL;
 
-
-
 //===========================================================================
 // Simulation class
 //===========================================================================
 
-
-
 Simulation::Simulation(const Robot::Trajectory &Trac,Robot::Robot6Axis &Rob)
 :Pos(0.0),Trac(Trac),Rob(Rob)
 {
diff --git a/src/Mod/Robot/App/Simulation.h b/src/Mod/Robot/App/Simulation.h
index 5c1b99de9c..6f27994087 100644
--- a/src/Mod/Robot/App/Simulation.h
+++ b/src/Mod/Robot/App/Simulation.h
@@ -19,17 +19,15 @@
  *   Suite 330, Boston, MA  02111-1307, USA                                *
  *                                                                         *
  ***************************************************************************/
-
  
 #ifndef _Simulation_h_
 #define _Simulation_h_
 
-#include <Base/Vector3D.h>
 #include <Base/Placement.h>
-#include <string>
 
-#include "Trajectory.h"
 #include "Robot6Axis.h"
+#include "Trajectory.h"
+
 
 namespace Robot
 {
diff --git a/src/Mod/Robot/App/Trajectory.cpp b/src/Mod/Robot/App/Trajectory.cpp
index b827ad0a95..e47a0cf162 100644
--- a/src/Mod/Robot/App/Trajectory.cpp
+++ b/src/Mod/Robot/App/Trajectory.cpp
@@ -20,30 +20,28 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
 #ifndef _PreComp_
 # include <memory>
+
+# include "kdl_cp/path_line.hpp"
+# include "kdl_cp/path_roundedcomposite.hpp"
+# include "kdl_cp/rotational_interpolation_sa.hpp"
+# include "kdl_cp/trajectory_composite.hpp"
+# include "kdl_cp/trajectory_segment.hpp"
+# include "kdl_cp/utilities/error.h"
+# include "kdl_cp/velocityprofile_trap.hpp"
 #endif
 
-#include <Base/Writer.h>
-#include <Base/Reader.h>
 #include <Base/Exception.h>
-
-#include "kdl_cp/chain.hpp"
-#include "kdl_cp/path_line.hpp"
-#include "kdl_cp/path_roundedcomposite.hpp"
-#include "kdl_cp/trajectory_composite.hpp"
-#include "kdl_cp/rotational_interpolation_sa.hpp"
-#include "kdl_cp/velocityprofile_trap.hpp"
-#include "kdl_cp/trajectory_segment.hpp"
-#include "kdl_cp/path_roundedcomposite.hpp"
-#include "kdl_cp/utilities/error.h"
+#include <Base/Reader.h>
+#include <Base/Writer.h>
 
 #include "Trajectory.h"
 #include "RobotAlgos.h"
 
+
 #ifndef M_PI
     #define M_PI 3.14159265358979323846
     #define M_PI    3.14159265358979323846 /* pi */
diff --git a/src/Mod/Robot/App/Trajectory.h b/src/Mod/Robot/App/Trajectory.h
index 67fc28c3a4..d5db4e234b 100644
--- a/src/Mod/Robot/App/Trajectory.h
+++ b/src/Mod/Robot/App/Trajectory.h
@@ -20,18 +20,16 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_Trajectory_H
 #define ROBOT_Trajectory_H
 
-#include "kdl_cp/trajectory.hpp"
-
-#include "Waypoint.h"
+#include <vector>
 
 #include <Base/Persistence.h>
 #include <Base/Placement.h>
 
-#include <vector>
+#include "Waypoint.h"
+
 
 namespace KDL {class Trajectory_Composite;}
 
diff --git a/src/Mod/Robot/App/TrajectoryCompound.cpp b/src/Mod/Robot/App/TrajectoryCompound.cpp
index 7d677219c4..8da304bc6d 100644
--- a/src/Mod/Robot/App/TrajectoryCompound.cpp
+++ b/src/Mod/Robot/App/TrajectoryCompound.cpp
@@ -20,26 +20,11 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-#ifndef _PreComp_
-#endif
-
 #include "TrajectoryCompound.h"
-//#include <App/DocumentObjectPy.h>
-//#include <Base/Placement.h>
-#include <Mod/Part/App/edgecluster.h>
-#include <Mod/Part/App/PartFeature.h>
-#include <TopoDS.hxx>
-#include <TopoDS_Edge.hxx>
-#include <TopoDS_Vertex.hxx>
-#include <BRep_Tool.hxx>
-#include <BRepAdaptor_Curve.hxx>
-#include <CPnts_AbscissaPoint.hxx>
-#include <TopExp.hxx>
 #include "Waypoint.h"
-#include "Trajectory.h"
+
 
 using namespace Robot;
 using namespace App;
diff --git a/src/Mod/Robot/App/TrajectoryCompound.h b/src/Mod/Robot/App/TrajectoryCompound.h
index 2f997fc1cd..6de01b0807 100644
--- a/src/Mod/Robot/App/TrajectoryCompound.h
+++ b/src/Mod/Robot/App/TrajectoryCompound.h
@@ -20,17 +20,13 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_TrajectoryCompound_H
 #define ROBOT_TrajectoryCompound_H
 
-#include <App/GeoFeature.h>
-#include <App/PropertyFile.h>
-#include <App/PropertyGeo.h>
+#include <App/PropertyLinks.h>
 
-#include "Trajectory.h"
 #include "TrajectoryObject.h"
-#include "PropertyTrajectory.h"
+
 
 namespace Robot
 {
diff --git a/src/Mod/Robot/App/TrajectoryDressUpObject.cpp b/src/Mod/Robot/App/TrajectoryDressUpObject.cpp
index fb4d21c100..1988407b00 100644
--- a/src/Mod/Robot/App/TrajectoryDressUpObject.cpp
+++ b/src/Mod/Robot/App/TrajectoryDressUpObject.cpp
@@ -20,26 +20,11 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-#ifndef _PreComp_
-#endif
-
 #include "TrajectoryDressUpObject.h"
-//#include <App/DocumentObjectPy.h>
-//#include <Base/Placement.h>
-#include <Mod/Part/App/edgecluster.h>
-#include <Mod/Part/App/PartFeature.h>
-#include <TopoDS.hxx>
-#include <TopoDS_Edge.hxx>
-#include <TopoDS_Vertex.hxx>
-#include <BRep_Tool.hxx>
-#include <BRepAdaptor_Curve.hxx>
-#include <CPnts_AbscissaPoint.hxx>
-#include <TopExp.hxx>
 #include "Waypoint.h"
-#include "Trajectory.h"
+
 
 using namespace Robot;
 using namespace App;
diff --git a/src/Mod/Robot/App/TrajectoryDressUpObject.h b/src/Mod/Robot/App/TrajectoryDressUpObject.h
index e02caf8b99..82b8590d85 100644
--- a/src/Mod/Robot/App/TrajectoryDressUpObject.h
+++ b/src/Mod/Robot/App/TrajectoryDressUpObject.h
@@ -20,18 +20,14 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_TrajectoryDressUpObject_H
 #define ROBOT_TrajectoryDressUpObject_H
 
-#include <App/GeoFeature.h>
-#include <App/PropertyFile.h>
 #include <App/PropertyGeo.h>
 #include <App/PropertyUnits.h>
 
-#include "Trajectory.h"
 #include "TrajectoryObject.h"
-#include "PropertyTrajectory.h"
+
 
 namespace Robot
 {
diff --git a/src/Mod/Robot/App/TrajectoryObject.cpp b/src/Mod/Robot/App/TrajectoryObject.cpp
index 1532f6d4bf..8d0c6a31d4 100644
--- a/src/Mod/Robot/App/TrajectoryObject.cpp
+++ b/src/Mod/Robot/App/TrajectoryObject.cpp
@@ -20,16 +20,14 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-#ifndef _PreComp_
-#endif
-
-#include "TrajectoryObject.h"
 #include <App/DocumentObjectPy.h>
 #include <Base/Placement.h>
 
+#include "TrajectoryObject.h"
+
+
 using namespace Robot;
 using namespace App;
 
diff --git a/src/Mod/Robot/App/TrajectoryObject.h b/src/Mod/Robot/App/TrajectoryObject.h
index ffd8b0463c..0a22e22e60 100644
--- a/src/Mod/Robot/App/TrajectoryObject.h
+++ b/src/Mod/Robot/App/TrajectoryObject.h
@@ -20,17 +20,16 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_TrajectoryObject_H
 #define ROBOT_TrajectoryObject_H
 
 #include <App/GeoFeature.h>
-#include <App/PropertyFile.h>
 #include <App/PropertyGeo.h>
 
 #include "Trajectory.h"
 #include "PropertyTrajectory.h"
 
+
 namespace Robot
 {
 
diff --git a/src/Mod/Robot/App/TrajectoryPyImp.cpp b/src/Mod/Robot/App/TrajectoryPyImp.cpp
index 9a2a621f91..1dcd42193c 100644
--- a/src/Mod/Robot/App/TrajectoryPyImp.cpp
+++ b/src/Mod/Robot/App/TrajectoryPyImp.cpp
@@ -20,18 +20,16 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-#include <Base/VectorPy.h>
 #include <Base/PlacementPy.h>
-#include "Mod/Robot/App/Trajectory.h"
 
 // inclusion of the generated files (generated out of TrajectoryPy.xml)
 #include <Mod/Robot/App/TrajectoryPy.h>
 #include <Mod/Robot/App/TrajectoryPy.cpp>
 #include <Mod/Robot/App/WaypointPy.h>
 
+
 using namespace Robot;
 
 // returns a string which represents the object e.g. when printed in python
diff --git a/src/Mod/Robot/App/Waypoint.cpp b/src/Mod/Robot/App/Waypoint.cpp
index a098a181d8..db2734bd87 100644
--- a/src/Mod/Robot/App/Waypoint.cpp
+++ b/src/Mod/Robot/App/Waypoint.cpp
@@ -20,26 +20,17 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
-
 #ifndef _PreComp_
+# include "kdl_cp/chain.hpp"
 #endif
 
-#include <Base/Writer.h>
 #include <Base/Reader.h>
-
-#include "kdl_cp/chain.hpp"
-#include "kdl_cp/chainfksolver.hpp"
-#include "kdl_cp/chainfksolverpos_recursive.hpp"
-#include "kdl_cp/frames_io.hpp"
-#include "kdl_cp/chainiksolver.hpp"
-#include "kdl_cp/chainiksolvervel_pinv.hpp"
-#include "kdl_cp/chainjnttojacsolver.hpp"
-#include "kdl_cp/chainiksolverpos_nr.hpp"
+#include <Base/Writer.h>
 
 #include "Waypoint.h"
 
+
 #ifndef M_PI
     #define M_PI 3.14159265358979323846
     #define M_PI    3.14159265358979323846 /* pi */
diff --git a/src/Mod/Robot/App/Waypoint.h b/src/Mod/Robot/App/Waypoint.h
index f62ebd649f..0c822aa2d3 100644
--- a/src/Mod/Robot/App/Waypoint.h
+++ b/src/Mod/Robot/App/Waypoint.h
@@ -20,20 +20,16 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #ifndef ROBOT_WAYPOINT_H
 #define ROBOT_WAYPOINT_H
 
-#include "kdl_cp/chain.hpp"
-#include "kdl_cp/jntarray.hpp"
-
 #include <Base/Persistence.h>
 #include <Base/Placement.h>
 
+
 namespace Robot
 {
 
-
 /** The representation of a waypoint in a trajectory
  */
 class RobotExport Waypoint : public Base::Persistence
diff --git a/src/Mod/Robot/App/WaypointPyImp.cpp b/src/Mod/Robot/App/WaypointPyImp.cpp
index 6ef5810a0a..3f27fcaba1 100644
--- a/src/Mod/Robot/App/WaypointPyImp.cpp
+++ b/src/Mod/Robot/App/WaypointPyImp.cpp
@@ -20,22 +20,16 @@
  *                                                                         *
  ***************************************************************************/
 
-
 #include "PreCompiled.h"
 
-
 #include <Base/PlacementPy.h>
-#include <Base/Placement.h>
-#include <Base/Exception.h>
 #include <Base/UnitsApi.h>
 
-#include "Mod/Robot/App/Waypoint.h"
-
-
 // inclusion of the generated files (generated out of WaypointPy.xml)
 #include "WaypointPy.h"
 #include "WaypointPy.cpp"
 
+
 using namespace Robot;
 using namespace Base;