diff --git a/cob_omni_drive_controller/include/cob_omni_drive_controller/VelocityEstimator.h b/cob_omni_drive_controller/include/cob_omni_drive_controller/VelocityEstimator.h
index 036ab7a7..ceeb1c44 100644
--- a/cob_omni_drive_controller/include/cob_omni_drive_controller/VelocityEstimator.h
+++ b/cob_omni_drive_controller/include/cob_omni_drive_controller/VelocityEstimator.h
@@ -8,21 +8,29 @@
 class VelocityEstimator {
     double overflow_;
     double overflow_twice_;
-    double last_pos_;
+    double last_pos_, last_val_;
     double norm(double val){
-        while(val >= overflow_){
+        /*********HACK***********/
+        if(std::abs(val)>overflow_) {
+            const double tmp = last_val_;
+            last_val_ = 0
+            return tmp;
+        }
+        
+        /*while(val >= overflow_){
             val -= overflow_twice_;
         }
         while(val < -overflow_){
             val += overflow_twice_;
-        }
-        return val;
+        }*/
+        
+        return last_val_ = val;
     }
 public:
-    VelocityEstimator(double overflow) : overflow_(overflow), overflow_twice_(overflow*2) {  reset(); }
+    VelocityEstimator(double overflow) : overflow_(overflow), overflow_twice_(overflow*2), last_pos_(0.), last_val_(0.) {  reset(); }
     double estimateVelocity(double pos, double vel, double period) {
         if(overflow_ > 0 && period >  0 && !std::isnan(last_pos_)) vel = norm( pos - last_pos_) / period;
-        else if(overflow_ < 0 && period >  0 && !std::isnan(last_pos_)) vel = ( pos - last_pos_) / period;
+        else if(overflow_ <= 0 && period >  0 && !std::isnan(last_pos_)) vel = ( pos - last_pos_) / period;
         last_pos_ = pos;
         return vel;
     }
diff --git a/cob_twist_controller/src/augmented_solver.cpp b/cob_twist_controller/src/augmented_solver.cpp
index e959000c..0abf4836 100644
--- a/cob_twist_controller/src/augmented_solver.cpp
+++ b/cob_twist_controller/src/augmented_solver.cpp
@@ -1,6 +1,7 @@
 #include "ros/ros.h"
 
 #include "cob_twist_controller/augmented_solver.h"
+#include <Eigen/Geometry>
 
 
 augmented_solver::augmented_solver(const KDL::Chain& chain, double eps, int maxiter):