diff --git a/lwrserv/include/Trajectroy.h b/lwrserv/include/Trajectroy.h
index 6c70a7a..fdd2aa6 100644
--- a/lwrserv/include/Trajectroy.h
+++ b/lwrserv/include/Trajectroy.h
@@ -31,42 +31,70 @@ enum TrajectoryType {
     TrajectoryCartFivePoly,
     
     TrajectoryJointLSPB,
-    TrajectoryCartLSPB
+    TrajectoryCartLSPB,
+    __TrajectoryCount
 };
-static struct {
+static struct TrajectoryTypeStr{
     enum TrajectoryType type;
     std::string str;
-} TrajectoryTypeStr[] =
-{
-    {  .type = TrajectoryJointLinear  , .str="JointLinear" },
-    {  .type = TrajectoryJointLSPB    , .str="JointLSPB" },
-    {  .type = TrajectoryJointBangBang, .str="JointBangBang" },
-    {  .type = TrajectoryJointFivePoly, .str="JointFivePoly" },
-
-    {  .type = TrajectoryCartLinear  , .str="CartLinear" },
-    {  .type = TrajectoryCartLSPB    , .str="CartLSPB" },
-    {  .type = TrajectoryCartBangBang, .str="CartBangBang" },
-    {  .type = TrajectoryCartFivePoly, .str="CartFivePoly" },
-};
+}* trajectoryTypeStr = NULL;
 /// END OF TRAJECTORY LIST
 
+static void initTrajectoryType ()
+{
+    if (trajectoryTypeStr == NULL)
+    {
+        trajectoryTypeStr = new struct TrajectoryTypeStr[__TrajectoryCount];
+
+        int i = 0;
+
+        trajectoryTypeStr[i].type = TrajectoryJointLinear;
+        trajectoryTypeStr[i].str  = "JointLinear";
+        ++i;
+        trajectoryTypeStr[i].type = TrajectoryJointLSPB;
+        trajectoryTypeStr[i].str  = "JointLSPB";
+        ++i;
+        trajectoryTypeStr[i].type = TrajectoryJointBangBang;
+        trajectoryTypeStr[i].str  = "JointBangBang";
+        ++i;
+        trajectoryTypeStr[i].type = TrajectoryJointFivePoly;
+        trajectoryTypeStr[i].str  = "JointFivePoly";
+        ++i;
+
+        trajectoryTypeStr[i].type = TrajectoryCartLinear;
+        trajectoryTypeStr[i].str  = "CartLinear";
+        ++i;
+        trajectoryTypeStr[i].type = TrajectoryCartLSPB;
+        trajectoryTypeStr[i].str  = "CartLSPB";
+        ++i;
+        trajectoryTypeStr[i].type = TrajectoryCartBangBang;
+        trajectoryTypeStr[i].str  = "CartBangBang";
+        ++i;
+        trajectoryTypeStr[i].type = TrajectoryCartFivePoly;
+        trajectoryTypeStr[i].str  = "CartFivePoly";
+        ++i;
+    }
+}
+
 static std::string toString(enum TrajectoryType type)
 {
-    int items = sizeof(TrajectoryTypeStr) / sizeof(TrajectoryTypeStr[0]);
+    initTrajectoryType();
+    int items = __TrajectoryCount;
     for (int i = 0 ; i < items ; ++i)
     {
-        if (TrajectoryTypeStr[i].type == type)
-            return ""+ TrajectoryTypeStr[i].str;
+        if (trajectoryTypeStr[i].type == type)
+            return ""+ trajectoryTypeStr[i].str;
     }
     return "default";
 }
 static enum TrajectoryType toEnum(std::string name)
 {
-    int items = sizeof(TrajectoryTypeStr) / sizeof(TrajectoryTypeStr[0]);
+    initTrajectoryType();
+    int items = __TrajectoryCount;
     for (int i = 0 ; i < items ; ++i)
     {
-        if (TrajectoryTypeStr[i].str == name)
-            return TrajectoryTypeStr[i].type;
+        if (trajectoryTypeStr[i].str == name)
+            return trajectoryTypeStr[i].type;
     }
     return TrajectoryDefault;
 }
diff --git a/lwrserv/src/commands.cpp b/lwrserv/src/commands.cpp
index 4d5327e..3932185 100644
--- a/lwrserv/src/commands.cpp
+++ b/lwrserv/src/commands.cpp
@@ -1,6 +1,6 @@
 /**
  * @file
- * @author  John Doe <jdoe@example.com>
+ * @author  Philipp Schoenberger <ph.schoenberger@googlemail.com>
  * @version 1.0
  *
  * @section LICENSE
@@ -18,7 +18,7 @@
  *
  * @section DESCRIPTION
  *
- * The time class represents a moment of time.
+ * This file contains the commands for the client interface
  */
 #include <stdlib.h>
 #include <string>
@@ -41,15 +41,25 @@
 #include "StringTool.h"
 
 
+/**
+ * Creates a trajectory form last commanded position.
+ * After this the trajectory is added to the queue for the 
+ * robot interface thread which is processing the trajectory
+ * The function will wait until the trajectory is executed
+ *
+ * @param newJointPos the Joint values for the new position
+ */
 void moveRobotTo(Robot::VecJoint newJointPos)
 {
+    /// create a trajectory with the current set trajectory type by the helper function
     Trajectory<Robot::joints>* newTrajectory = SvrData::getInstance()->createTrajectory(newJointPos);
 
-    // add trajectory to queue for sender thread
+    /// add trajectory to queue for robot interface thread
     SvrData::getInstance()->pushTrajectory(newTrajectory);
+    /// save new joint position for the next trajectory
     SvrData::getInstance()->setCommandedJointPos(newJointPos);
 
-    //Wait to end of movement
+    ///wait to end of processing/movement
     float sampleTimeMs = SvrData::getInstance()->getSampleTimeMs();
     while (true)
     {
diff --git a/lwrserv/src/main.cpp b/lwrserv/src/main.cpp
index c2c6c01..dc5b4f6 100644
--- a/lwrserv/src/main.cpp
+++ b/lwrserv/src/main.cpp
@@ -12,13 +12,22 @@
 #include "Mat.h"
 #include "Vec.h"
 
+/**
+ *  starts the Interface for the robot interface fri and also the client interface.
+ *  Each one is running in a spearate threadwise
+ *
+ *  @retval 0 if no error is occuring otherwise the negative errno code
+ *
+ *  @author philipp schoenberger <ph.schoenberger@googlemail.com>
+ */
 int main()
 {
     int err = 0;
-    //Setting pthread for FRI interface
+
+    ///Setting pthread for FRI interface
     pthread_t fri_t;
 
-    //Start the thread for the robot movement
+    ///Start the thread for the robot movement
     err = pthread_create(&fri_t,NULL,&SvrHandling::threadRobotMovement,NULL);
     if (err > 0 )
     {
@@ -26,7 +35,7 @@ int main()
         return err;
     }
 
-    //Start client handling
+    ///Start client handling with main thread
     SvrHandling *svr = new SvrHandling();
     if (svr == NULL)
     {
@@ -35,5 +44,6 @@ int main()
     }
     svr->run();
 
+    /// return ok should never happen cause the programm runs as a deamon
     return 0;
 }