diff --git a/src/Mod/Robot/App/CMakeLists.txt b/src/Mod/Robot/App/CMakeLists.txt
index bae201dbe..837482984 100644
--- a/src/Mod/Robot/App/CMakeLists.txt
+++ b/src/Mod/Robot/App/CMakeLists.txt
@@ -1,7 +1,7 @@
 if(MSVC)
-    add_definitions(-DFCAppRobot -DHAVE_ACOSH -DHAVE_ASINH -DHAVE_ATANH -DEIGEN2_SUPPORT)
+    add_definitions(-DFCAppRobot -DHAVE_ACOSH -DHAVE_ASINH -DHAVE_ATANH)
 else(MSVC)
-    add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H -DEIGEN2_SUPPORT -DEIGEN_NO_EIGEN2_DEPRECATED_WARNING)
+    add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H)
 endif(MSVC)
 
 
diff --git a/src/Mod/Robot/App/kdl_cp/velocityprofile_traphalf.cpp b/src/Mod/Robot/App/kdl_cp/velocityprofile_traphalf.cpp
index 1631b4bd9..c95288449 100644
--- a/src/Mod/Robot/App/kdl_cp/velocityprofile_traphalf.cpp
+++ b/src/Mod/Robot/App/kdl_cp/velocityprofile_traphalf.cpp
@@ -41,6 +41,7 @@
 
 
 //#include "error.h"
+#include <algorithm>
 #include "velocityprofile_traphalf.hpp"
 
 namespace KDL {