diff --git a/lwrserv/BangBangTrajectroy.cpp b/lwrserv/BangBangTrajectroy.cpp
index 461a71a..8bf1e05 100644
--- a/lwrserv/BangBangTrajectroy.cpp
+++ b/lwrserv/BangBangTrajectroy.cpp
@@ -9,24 +9,13 @@ template <class T, unsigned SIZE>
 BangBangJointTrajectroy::BangBangJointTrajectroy(
         unsigned int steps_,
         float totalTime_,
-        Vec<float,SIZE> jointMovement,
-        Vec<float,SIZE> maxJointRange,
-        Vec<float,SIZE> maxJointVelocityPerStep,
-        Vec<float,SIZE> maxJointAccelarationPerStep
+        Vec<float,SIZE> jointMovement
         )
 {
-    super(steps_, totalTime_,  jointMovement, maxJointVelocityPerStep, maxJointAccelarationPerStep);
-
-    //unused 
-    (void) maxJointRange;
-    Vec<float,LBR_MNJ> currentInk(0.0f);
-    Vec<float,LBR_MNJ> currentInkLast(0.0f);
-    Vec<float,LBR_MNJ> currentDist(0.0f);
-    Vec<float,LBR_MNJ> currentDistLast(0.0f);
-    for (unsigned int currStep = 0 ; currStep < steps ; ++currStep)
-    {
-        for (unsigned int currJoint = 0 ; currJoint < joints ; currJoint++)
-        {
-        }
-    }
+    Vec< float, SIZE> velocity = jointMovement / steps * 1.5f;
+    LinearJointTrajectory(
+            steps_,
+            totalTime_,
+            jointMovement,
+            velocity);
 }
diff --git a/lwrserv/LinearTrajectory.cpp b/lwrserv/LinearTrajectory.cpp
index ecaa926..529153d 100644
--- a/lwrserv/LinearTrajectory.cpp
+++ b/lwrserv/LinearTrajectory.cpp
@@ -6,9 +6,7 @@ template <class T, unsigned SIZE>
 LinearJointTrajectory::LinearJointTrajectory(
         unsigned int steps_,
         float totalTime_,
-        Vec<float,SIZE> jointMovement,
-        Vec<float,SIZE> maxJointVelocityPerStep,
-        Vec<float,SIZE> maxJointAccelarationPerStep
+        Vec<float,SIZE> jointMovement
         )
 {
     Vec< float, SIZE> velocity = jointMovement / steps * 1.5f;
@@ -16,8 +14,6 @@ LinearJointTrajectory::LinearJointTrajectory(
             steps_,
             totalTime_,
             jointMovement,
-            maxJointVelocityPerStep,
-            maxJointAccelarationPerStep,
             velocity);
 }
 
@@ -26,12 +22,10 @@ LinearJointTrajectory::LinearJointTrajectory(
         unsigned int steps_,
         float totalTime_,
         Vec<float,SIZE> jointMovement,
-        Vec<float,SIZE> maxJointVelocityPerStep,
-        Vec<float,SIZE> maxJointAccelarationPerStep,
         Vec<float,SIZE> velocity
         )
 {
-    super(steps_, totalTime_, jointMovement, maxJointVelocityPerStep, maxJointAccelarationPerStep);
+    super(steps_, totalTime_, jointMovement);
 
     if ( velocity > jointMovement/totalTime)
     {
diff --git a/lwrserv/Trajectroy.cpp b/lwrserv/Trajectroy.cpp
index 9ae99e5..3dcedb4 100644
--- a/lwrserv/Trajectroy.cpp
+++ b/lwrserv/Trajectroy.cpp
@@ -6,9 +6,7 @@ template <class T, unsigned SIZE>
 Trajectory::Trajectory(
         unsigned int steps_,
         float totalTime_,
-        Vec<float,SIZE> jointMovement,
-        Vec<float,SIZE> maxJointVelocityPerStep,
-        Vec<float,SIZE> maxJointAccelarationPerStep
+        Vec<float,SIZE> jointMovement
         )
 {
     steps = steps_;
@@ -19,8 +17,6 @@ Trajectory::Trajectory(
 
     // unused
     (void) jointMovement;
-    (void) maxJointVelocityPerStep;
-    (void) maxJointAccelarationPerStep;
 }
 
 Trajectory::~Trajectory()
diff --git a/lwrserv/include/BangBangTrajectroy.h b/lwrserv/include/BangBangTrajectroy.h
index 079d720..6746a5d 100644
--- a/lwrserv/include/BangBangTrajectroy.h
+++ b/lwrserv/include/BangBangTrajectroy.h
@@ -11,10 +11,7 @@ class BangBangJointTrajectroy : public Trajectory
         BangBangJointTrajectroy(
                 unsigned int steps_,
                 float totalTime_,
-                Vec<float,SIZE> jointMovement,
-                Vec<float,SIZE> maxJointRange,
-                Vec<float,SIZE> maxJointVelocityPerStep,
-                Vec<float,SIZE> maxJointAccelarationPerStep);
+                Vec<float,SIZE> jointMovement);
 
         ~BangBangJointTrajectroy();
     private:
diff --git a/lwrserv/include/LinearTrajectory.h b/lwrserv/include/LinearTrajectory.h
index e42c4f3..02c8b3e 100644
--- a/lwrserv/include/LinearTrajectory.h
+++ b/lwrserv/include/LinearTrajectory.h
@@ -10,16 +10,12 @@ class LinearJointTrajectory: public Trajectory
         LinearJointTrajectory(
                 unsigned int steps_,
                 float totalTime_,
-                Vec<float,SIZE> jointMovement,
-                Vec<float,SIZE> maxJointVelocityPerStep,
-                Vec<float,SIZE> maxJointAccelarationPerStep);
+                Vec<float,SIZE> jointMovement);
         template <class T, unsigned SIZE>
         LinearJointTrajectory(
                 unsigned int steps_,
                 float totalTime_,
                 Vec<float,SIZE> jointMovement,
-                Vec<float,SIZE> maxJointVelocityPerStep,
-                Vec<float,SIZE> maxJointAccelarationPerStep,
                 Vec<float,SIZE> velocity);
         ~LinearJointTrajectory();
     private:
diff --git a/lwrserv/include/Trajectroy.h b/lwrserv/include/Trajectroy.h
index cc438eb..ae6672d 100644
--- a/lwrserv/include/Trajectroy.h
+++ b/lwrserv/include/Trajectroy.h
@@ -9,9 +9,7 @@ class Trajectory
         Trajectory (
             unsigned int steps_,
             float totalTime_,
-            Vec<float,SIZE> jointMovement,
-            Vec<float,SIZE> maxJointVelocityPerStep,
-            Vec<float,SIZE> maxJointAccelarationPerStep
+            Vec<float,SIZE> jointMovement
             );
         ~Trajectory();