diff --git a/src/Mod/Robot/App/CMakeLists.txt b/src/Mod/Robot/App/CMakeLists.txt
index eccb50227..f4290bf2f 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)
 else(MSVC)
-    add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H -DEIGEN2_SUPPORT)
+    add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H -DEIGEN2_SUPPORT -DEIGEN_NO_EIGEN2_DEPRECATED_WARNING)
 endif(MSVC)
 
 
diff --git a/src/Mod/Robot/App/kdl_cp/frameacc.hpp b/src/Mod/Robot/App/kdl_cp/frameacc.hpp
index 1b2213904..03e32e3eb 100644
--- a/src/Mod/Robot/App/kdl_cp/frameacc.hpp
+++ b/src/Mod/Robot/App/kdl_cp/frameacc.hpp
@@ -79,9 +79,9 @@ public:
     IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1);
 
 
-    IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps);
+    IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps);
+    IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps);
     IMETHOD friend VectorAcc operator - (const VectorAcc& r);
     IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs);
     IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs);
@@ -133,9 +133,9 @@ public:
     IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2);
     IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2);
     IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2);
-    IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps);
+    IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps);
+    IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps);
     IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
     IMETHOD TwistAcc Inverse(const Twist& arg) const;
     IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
@@ -171,9 +171,9 @@ public:
     IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2);
     IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2);
     IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2);
-    IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps);
+    IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps);
+    IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps);
 
     IMETHOD TwistAcc  Inverse(const TwistAcc& arg) const;
     IMETHOD TwistAcc  Inverse(const Twist& arg) const;
@@ -227,9 +227,9 @@ public:
      // the new point.
      // Complexity : 6M+6A
 
-     IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon);
+     IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps);
+     IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps);
+     IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps);
 
 
      IMETHOD Twist GetTwist() const;
diff --git a/src/Mod/Robot/App/kdl_cp/frames.cpp b/src/Mod/Robot/App/kdl_cp/frames.cpp
index 03984fee3..935a14793 100644
--- a/src/Mod/Robot/App/kdl_cp/frames.cpp
+++ b/src/Mod/Robot/App/kdl_cp/frames.cpp
@@ -377,7 +377,7 @@ double Rotation::GetRotAngle(Vector& axis,double eps) const {
 
 bool operator==(const Rotation& a,const Rotation& b) {
 #ifdef KDL_USE_EQUAL
-    return Equal(a,b);
+    return Equal(a,b,epsilon);
 #else
     return ( a.data[0]==b.data[0] &&
              a.data[1]==b.data[1] &&
diff --git a/src/Mod/Robot/App/kdl_cp/frames.hpp b/src/Mod/Robot/App/kdl_cp/frames.hpp
index 31b32ed41..8c769d5b4 100644
--- a/src/Mod/Robot/App/kdl_cp/frames.hpp
+++ b/src/Mod/Robot/App/kdl_cp/frames.hpp
@@ -244,7 +244,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
+     inline friend bool Equal(const Vector& a,const Vector& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Vector& a,const Vector& b);
@@ -493,7 +493,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     friend bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon);
+     friend bool Equal(const Rotation& a,const Rotation& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      friend bool operator==(const Rotation& a,const Rotation& b);
@@ -651,7 +651,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
+     inline friend bool Equal(const Frame& a,const Frame& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Frame& a,const Frame& b);
@@ -726,7 +726,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon);
+     inline friend bool Equal(const Twist& a,const Twist& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Twist& a,const Twist& b);
@@ -889,7 +889,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon);
+     inline friend bool Equal(const Wrench& a,const Wrench& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Wrench& a,const Wrench& b);
@@ -982,7 +982,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon);
+     inline friend bool Equal(const Vector2& a,const Vector2& b,double eps);
 
 	//! The literal equality operator==(), also identical.
 	inline friend bool operator==(const Vector2& a,const Vector2& b);
@@ -1034,7 +1034,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon);
+     inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps);
 };
 
 //! A 2D frame class, for further documentation see the Frames class
@@ -1075,7 +1075,7 @@ public:
         tmp.SetIdentity();
         return tmp;
      }
-     inline friend bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon);
+     inline friend bool Equal(const Frame2& a,const Frame2& b,double eps);
 };
 
 IMETHOD Vector diff(const Vector& a,const Vector& b,double dt=1);
diff --git a/src/Mod/Robot/App/kdl_cp/frames.inl b/src/Mod/Robot/App/kdl_cp/frames.inl
index 3836ca749..e80d2b706 100644
--- a/src/Mod/Robot/App/kdl_cp/frames.inl
+++ b/src/Mod/Robot/App/kdl_cp/frames.inl
@@ -1294,7 +1294,7 @@ IMETHOD void posrandom(Frame& F) {
 
 IMETHOD bool operator==(const Frame& a,const Frame& b ) {
 #ifdef KDL_USE_EQUAL
-    return Equal(a,b);
+    return Equal(a,b,epsilon);
 #else
         return (a.p == b.p &&
                 a.M == b.M );
@@ -1307,7 +1307,7 @@ IMETHOD bool operator!=(const Frame& a,const Frame& b) {
 
 IMETHOD bool operator==(const Vector& a,const Vector& b) {
 #ifdef KDL_USE_EQUAL
-    return Equal(a,b);
+    return Equal(a,b,epsilon);
 #else
         return (a.data[0]==b.data[0]&&
                 a.data[1]==b.data[1]&&
@@ -1321,7 +1321,7 @@ IMETHOD bool operator!=(const Vector& a,const Vector& b) {
 
 IMETHOD bool operator==(const Twist& a,const Twist& b) {
 #ifdef KDL_USE_EQUAL
-    return Equal(a,b);
+    return Equal(a,b,epsilon);
 #else
         return (a.rot==b.rot &&
                 a.vel==b.vel  );
@@ -1334,7 +1334,7 @@ IMETHOD bool operator!=(const Twist& a,const Twist& b) {
 
 IMETHOD bool operator==(const Wrench& a,const Wrench& b ) {
 #ifdef KDL_USE_EQUAL
-    return Equal(a,b);
+    return Equal(a,b,epsilon);
 #else
     return (a.force==b.force &&
             a.torque==b.torque );
@@ -1350,7 +1350,7 @@ IMETHOD bool operator!=(const Rotation& a,const Rotation& b) {
 
 IMETHOD bool operator==(const Vector2& a,const Vector2& b) {
 #ifdef KDL_USE_EQUAL
-    return Equal(a,b);
+    return Equal(a,b,epsilon);
 #else
         return (a.data[0]==b.data[0]&&
                 a.data[1]==b.data[1] );
diff --git a/src/Mod/Robot/App/kdl_cp/framevel.hpp b/src/Mod/Robot/App/kdl_cp/framevel.hpp
index def77ff68..ee8616738 100644
--- a/src/Mod/Robot/App/kdl_cp/framevel.hpp
+++ b/src/Mod/Robot/App/kdl_cp/framevel.hpp
@@ -111,9 +111,9 @@ public:
     IMETHOD friend void SetToZero(VectorVel& v);
 
 
-    IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps);
+    IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps);
+    IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps);
     IMETHOD friend VectorVel operator - (const VectorVel& r);
     IMETHOD friend doubleVel dot(const VectorVel& lhs,const VectorVel& rhs);
     IMETHOD friend doubleVel dot(const VectorVel& lhs,const Vector& rhs);
@@ -167,9 +167,9 @@ public:
     IMETHOD friend RotationVel operator* (const RotationVel& r1,const RotationVel& r2);
     IMETHOD friend RotationVel operator* (const Rotation& r1,const RotationVel& r2);
     IMETHOD friend RotationVel operator* (const RotationVel& r1,const Rotation& r2);
-    IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps);
+    IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps);
+    IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps);
 
     IMETHOD TwistVel Inverse(const TwistVel& arg) const;
     IMETHOD TwistVel Inverse(const Twist& arg) const;
@@ -221,9 +221,9 @@ public:
     IMETHOD friend FrameVel operator * (const FrameVel& f1,const FrameVel& f2);
     IMETHOD friend FrameVel operator * (const Frame& f1,const FrameVel& f2);
     IMETHOD friend FrameVel operator * (const FrameVel& f1,const Frame& f2);
-    IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps);
+    IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps);
+    IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps);
 
     IMETHOD TwistVel  Inverse(const TwistVel& arg) const;
     IMETHOD TwistVel  Inverse(const Twist& arg) const;
@@ -293,9 +293,9 @@ public:
      // = Equality operators
      // do not use operator == because the definition of Equal(.,.) is slightly
      // different.  It compares whether the 2 arguments are equal in an eps-interval
-     IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps=epsilon);
+     IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps);
+     IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps);
+     IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps);
 
 // = Conversion to other entities
      IMETHOD Twist GetTwist() const;
diff --git a/src/Mod/Robot/App/kdl_cp/jacobian.cpp b/src/Mod/Robot/App/kdl_cp/jacobian.cpp
index bc989557f..854501713 100644
--- a/src/Mod/Robot/App/kdl_cp/jacobian.cpp
+++ b/src/Mod/Robot/App/kdl_cp/jacobian.cpp
@@ -126,12 +126,12 @@ namespace KDL
 
     bool Jacobian::operator ==(const Jacobian& arg)const
     {
-        return Equal((*this),arg);
+        return Equal((*this),arg,epsilon);
     }
     
     bool Jacobian::operator!=(const Jacobian& arg)const
     {
-        return !Equal((*this),arg);
+        return !Equal((*this),arg,epsilon);
     }
     
     bool Equal(const Jacobian& a,const Jacobian& b,double eps)
diff --git a/src/Mod/Robot/App/kdl_cp/jacobian.hpp b/src/Mod/Robot/App/kdl_cp/jacobian.hpp
index a7a749787..5627365f0 100644
--- a/src/Mod/Robot/App/kdl_cp/jacobian.hpp
+++ b/src/Mod/Robot/App/kdl_cp/jacobian.hpp
@@ -44,7 +44,7 @@ namespace KDL
         bool operator ==(const Jacobian& arg)const;
         bool operator !=(const Jacobian& arg)const;
         
-        friend bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon);
+        friend bool Equal(const Jacobian& a,const Jacobian& b,double eps);
         
 
         ~Jacobian();
diff --git a/src/Mod/Robot/App/kdl_cp/jntarrayacc.hpp b/src/Mod/Robot/App/kdl_cp/jntarrayacc.hpp
index bc401e87e..dceb02187 100644
--- a/src/Mod/Robot/App/kdl_cp/jntarrayacc.hpp
+++ b/src/Mod/Robot/App/kdl_cp/jntarrayacc.hpp
@@ -61,7 +61,7 @@ namespace KDL
         friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
         friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
         friend void SetToZero(JntArrayAcc& array);
-        friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon);
+        friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
 
     };
 }
diff --git a/src/Mod/Robot/App/kdl_cp/jntarrayvel.hpp b/src/Mod/Robot/App/kdl_cp/jntarrayvel.hpp
index f8acf7f18..cb06482a7 100644
--- a/src/Mod/Robot/App/kdl_cp/jntarrayvel.hpp
+++ b/src/Mod/Robot/App/kdl_cp/jntarrayvel.hpp
@@ -54,7 +54,7 @@ namespace KDL
         friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
         friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
         friend void SetToZero(JntArrayVel& array);
-        friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon);
+        friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps);
 
     };
 }
diff --git a/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.cpp b/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.cpp
index 34144cfa0..3fb8a0f92 100644
--- a/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.cpp
+++ b/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.cpp
@@ -115,7 +115,7 @@ namespace KDL
         return src1.data.isApprox(src2.data,eps);
     }
 
-    bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2){return Equal(src1,src2);};
+    bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2){return Equal(src1,src2,epsilon);};
     //bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2){return Equal(src1,src2);};
 
 }
diff --git a/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.hpp b/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.hpp
index b69f84fe6..49a2d725c 100644
--- a/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.hpp
+++ b/src/Mod/Robot/App/kdl_cp/jntspaceinertiamatrix.hpp
@@ -203,7 +203,7 @@ class MyTask : public RTT::TaskContext
          * @return true if each element of src1 is within eps of the same
 		 * element in src2, or if both src1 and src2 have no data (ie 0==rows())
          */
-        friend bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps=epsilon);
+        friend bool Equal(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2,double eps);
 
         friend bool operator==(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
         //friend bool operator!=(const JntSpaceInertiaMatrix& src1,const JntSpaceInertiaMatrix& src2);
diff --git a/src/Mod/Robot/Gui/CMakeLists.txt b/src/Mod/Robot/Gui/CMakeLists.txt
index 2cad43f35..c316cff3b 100644
--- a/src/Mod/Robot/Gui/CMakeLists.txt
+++ b/src/Mod/Robot/Gui/CMakeLists.txt
@@ -1,7 +1,7 @@
 if(MSVC)
     add_definitions(-DFCGuiRobot -DHAVE_ACOSH -DHAVE_ASINH -DHAVE_ATANH -DEIGEN2_SUPPORT)
 else(MSVC)
-    add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H -DEIGEN2_SUPPORT)
+    add_definitions(-DHAVE_LIMITS_H -DHAVE_CONFIG_H -DEIGEN2_SUPPORT -DEIGEN_NO_EIGEN2_DEPRECATED_WARNING)
 endif(MSVC)