diff --git a/src/Mod/Robot/App/kdl_cp/chain.cpp b/src/Mod/Robot/App/kdl_cp/chain.cpp
index d7510ad11..90c9294f1 100644
--- a/src/Mod/Robot/App/kdl_cp/chain.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chain.cpp
@@ -25,9 +25,9 @@ namespace KDL {
     using namespace std;
 
     Chain::Chain():
-        segments(0),
         nrOfJoints(0),
-        nrOfSegments(0)
+        nrOfSegments(0),
+        segments(0)
     {
     }
 
diff --git a/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp b/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp
index 8617f80cd..30bd614ba 100644
--- a/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chaindynparam.cpp
@@ -27,16 +27,16 @@ namespace KDL {
 
     ChainDynParam::ChainDynParam(const Chain& _chain, Vector _grav):
         chain(_chain),
-	grav(_grav),
-	chainidsolver_coriolis( chain, Vector::Zero()),
-	chainidsolver_gravity( chain, grav),
 	nj(chain.getNrOfJoints()),
 	ns(chain.getNrOfSegments()),
+	grav(_grav),
 	jntarraynull(nj),
+	chainidsolver_coriolis( chain, Vector::Zero()),
+	chainidsolver_gravity( chain, grav),
 	wrenchnull(ns,Wrench::Zero()),
-	Ic(ns),
 	X(ns),
-	S(ns)
+	S(ns),
+	Ic(ns)
     {
 	ag=-Twist(grav,Vector::Zero());
     }
diff --git a/src/Mod/Robot/App/kdl_cp/chaindynparam.hpp b/src/Mod/Robot/App/kdl_cp/chaindynparam.hpp
index bac007c5b..7a2e1d70a 100644
--- a/src/Mod/Robot/App/kdl_cp/chaindynparam.hpp
+++ b/src/Mod/Robot/App/kdl_cp/chaindynparam.hpp
@@ -57,7 +57,7 @@ namespace KDL {
         const Chain chain;
 	int nr;
 	unsigned int nj;
-        unsigned int ns;	
+        unsigned int ns;
 	Vector grav;
 	Vector vectornull;
 	JntArray jntarraynull;
diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp
index 77e1634d8..0d5f84a0d 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr.cpp
@@ -25,7 +25,7 @@ namespace KDL
 {
     ChainIkSolverPos_NR::ChainIkSolverPos_NR(const Chain& _chain,ChainFkSolverPos& _fksolver,ChainIkSolverVel& _iksolver,
                                              unsigned int _maxiter, double _eps):
-        chain(_chain),fksolver(_fksolver),iksolver(_iksolver),delta_q(_chain.getNrOfJoints()),
+        chain(_chain),iksolver(_iksolver),fksolver(_fksolver),delta_q(_chain.getNrOfJoints()),
         maxiter(_maxiter),eps(_eps)
     {
     }
diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr_jl.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr_jl.cpp
index ee22e2c18..888062f34 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr_jl.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolverpos_nr_jl.cpp
@@ -36,7 +36,7 @@ namespace KDL
 {
     ChainIkSolverPos_NR_JL::ChainIkSolverPos_NR_JL(const Chain& _chain, const JntArray& _q_min, const JntArray& _q_max, ChainFkSolverPos& _fksolver,ChainIkSolverVel& _iksolver,
                                              unsigned int _maxiter, double _eps):
-        chain(_chain), q_min(chain.getNrOfJoints()), q_max(chain.getNrOfJoints()), fksolver(_fksolver),iksolver(_iksolver),delta_q(_chain.getNrOfJoints()),
+        chain(_chain), q_min(chain.getNrOfJoints()), q_max(chain.getNrOfJoints()), iksolver(_iksolver), fksolver(_fksolver),delta_q(_chain.getNrOfJoints()),
         maxiter(_maxiter),eps(_eps)
     {
     	q_min = _q_min;
diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
index fd6dbd5b5..0849110e2 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
@@ -34,8 +34,8 @@ namespace KDL
         jac_eigen(m,n),
         U(MatrixXd::Identity(m,m)),
         V(MatrixXd::Identity(n,n)),
-        S(n),
         B(m,n),
+        S(n),
         tempi(m),
         tempj(m),
         UY(VectorXd::Zero(6)),
diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.cpp b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.cpp
index 7ea6a4ec2..3243872b1 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.cpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.cpp
@@ -36,8 +36,8 @@ namespace KDL
         eps(_eps),
         maxiter(_maxiter),
         alpha(_alpha),
-        opt_pos(_opt_pos),
-        weights(_weights)
+        weights(_weights),
+        opt_pos(_opt_pos)
     {
     }
 
diff --git a/src/Mod/Robot/App/kdl_cp/joint.cpp b/src/Mod/Robot/App/kdl_cp/joint.cpp
index 7dbec1b16..758fa605c 100644
--- a/src/Mod/Robot/App/kdl_cp/joint.cpp
+++ b/src/Mod/Robot/App/kdl_cp/joint.cpp
@@ -42,7 +42,7 @@ namespace KDL {
     // constructor for joint along arbitrary axis, at arbitrary origin
     Joint::Joint(const std::string& _name, const Vector& _origin, const Vector& _axis, const JointType& _type, const double& _scale, 
                  const double& _offset, const double& _inertia, const double& _damping, const double& _stiffness):
-      name(_name), origin(_origin), axis(_axis / _axis.Norm()), type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
+      name(_name), type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness), axis(_axis / _axis.Norm()), origin(_origin)
     {
       if (type != RotAxis && type != TransAxis) throw joint_type_ex;
 
@@ -55,7 +55,7 @@ namespace KDL {
     // constructor for joint along arbitrary axis, at arbitrary origin
     Joint::Joint(const Vector& _origin, const Vector& _axis, const JointType& _type, const double& _scale, 
                  const double& _offset, const double& _inertia, const double& _damping, const double& _stiffness):
-      name("NoName"), origin(_origin), axis(_axis / _axis.Norm()), type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness)
+      name("NoName"), type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness), axis(_axis / _axis.Norm()), origin(_origin)
     {
       if (type != RotAxis && type != TransAxis) throw joint_type_ex;
 
diff --git a/src/Mod/Robot/App/kdl_cp/rigidbodyinertia.cpp b/src/Mod/Robot/App/kdl_cp/rigidbodyinertia.cpp
index 66da9354b..904b6de7e 100644
--- a/src/Mod/Robot/App/kdl_cp/rigidbodyinertia.cpp
+++ b/src/Mod/Robot/App/kdl_cp/rigidbodyinertia.cpp
@@ -30,7 +30,7 @@ namespace KDL{
     const static bool mhi=true;
 
     RigidBodyInertia::RigidBodyInertia(double m_,const Vector& h_,const RotationalInertia& I_,bool mhi):
-        m(m_),h(h_),I(I_)
+        m(m_),I(I_),h(h_)
     {
     }
     
diff --git a/src/Mod/Robot/App/kdl_cp/trajectory_stationary.hpp b/src/Mod/Robot/App/kdl_cp/trajectory_stationary.hpp
index 2dd45fe1f..013242758 100644
--- a/src/Mod/Robot/App/kdl_cp/trajectory_stationary.hpp
+++ b/src/Mod/Robot/App/kdl_cp/trajectory_stationary.hpp
@@ -31,7 +31,7 @@ namespace KDL {
 		Frame pos;
 	public:
 		Trajectory_Stationary(double _duration,const Frame& _pos):
-		  pos(_pos),duration(_duration) {}
+		  duration(_duration),pos(_pos) {}
 		virtual double Duration() const {
 			return duration;
 		}
diff --git a/src/Mod/Robot/App/kdl_cp/tree.cpp b/src/Mod/Robot/App/kdl_cp/tree.cpp
index 92a76915c..3e8edbb49 100644
--- a/src/Mod/Robot/App/kdl_cp/tree.cpp
+++ b/src/Mod/Robot/App/kdl_cp/tree.cpp
@@ -26,7 +26,7 @@ namespace KDL {
 using namespace std;
 
 Tree::Tree(const std::string& _root_name) :
-  nrOfSegments(0), nrOfJoints(0),root_name(_root_name) {
+  nrOfJoints(0),nrOfSegments(0),root_name(_root_name) {
     segments.insert(make_pair(root_name, TreeElement::Root(root_name)));
 }
 
diff --git a/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp b/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp
index 6dd7a6d4b..6d341be92 100644
--- a/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp
+++ b/src/Mod/Robot/App/kdl_cp/treeiksolverpos_nr_jl.cpp
@@ -30,7 +30,7 @@ namespace KDL {
                                                  TreeFkSolverPos& _fksolver, TreeIkSolverVel& _iksolver,
                                                  unsigned int _maxiter, double _eps) :
         tree(_tree), q_min(tree.getNrOfJoints()), q_max(tree.getNrOfJoints()),
-        fksolver(_fksolver), iksolver(_iksolver), delta_q(tree.getNrOfJoints()),
+        iksolver(_iksolver), fksolver(_fksolver), delta_q(tree.getNrOfJoints()),
         endpoints(_endpoints), maxiter(_maxiter), eps(_eps) {
         
         q_min = _q_min;