diff --git a/src/OncillaL1L2.h b/src/OncillaL1L2.h
index 2b7d5e2..8f38412 100644
--- a/src/OncillaL1L2.h
+++ b/src/OncillaL1L2.h
@@ -1,124 +1,124 @@
 #pragma once
 
 #include <tr1/memory>
 
 
 #include <rci/dto/JointAngles.h>
 #include <rci/ResourceNode.h>
 #include <rci/Controlled.h>
 #include <rci/Sensing.h>
 
 
 
 #include "OncillaSynchronizer.h"
 
 
 namespace rci{
 namespace oncilla{
 
 
 class OncillaL1L2;
-typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL1Ptr;
+typedef std::tr1::shared_ptr<OncillaL1L2> OncillaL1L2Ptr;
 
 /**
  * Node class, representing the hip node of the quadruped robot.
  *
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class OncillaL1L2: public rci::ResourceNode,
                  public rci::Controlled,
                  public rci::Sensing,
                  public rci::PositionControlled,
                  public rci::PositionSensing, // Two encoder values
                  public rci::VelocityControlled,
                  public rci::TorqueControlled,
                  public rci::ImpedanceControlled {
 
 public:
 	const static unsigned int MotorAxisIndex       = 0;
 	const static unsigned int MagneticEncoderIndex = 1;
 	/**
 	 * Special constructor to also link to webots
 	 */
 	OncillaL1L2(OncillaSynchronizer &s, const std::string &name = "Oncilla Hip");
 
 	virtual ~OncillaL1L2();
 
 	/**
 	 * Returns, if controller is converged.
 	 * @return True, if controller is converged after last command.
 	 */
 	bool isConverged() const;
 
 	/**
 	 * Commanding a joint position.
 	 * @param position Position command
 	 * @return Return, if successfull. (e.g. not exceeding joint limits)
 	 * @todo Check for correct control mode
 	 */
 	bool setJointPosition(JointAnglesPtr position);
 
 
 	void setRawLocalCommand(double value);
 
 	double getRawLocalCommand() const ;
 
 	/**
 	 * Returns current joint position.
 	 * @return Current joint position
 	 */
 	virtual JointAnglesPtr getJointPosition() const;
 
 
 	double getRawLocalMotorAxisPosition() const;
 
 	double getRawLocalMagneticEncoderPosition() const;
 
 
 	void updateRawLocalMotorAxisPosition(double value);
 
 	void updateRawLocalMagneticEncoderPosition(double value);
 
 	/**
 	 * Commanding a joint velocity.
 	 * @param position Position command
 	 * @return Return, if successfull. (e.g. not exceeding joint limits)
 	 * @todo Check for correct control mode
 	 */
 	virtual bool setJointVelocity(rci::JointVelocitiesPtr vel);
 
 	/**
 	 * Returns current joint torque.
 	 * @return Current joint torque
 	 */
 	virtual bool setJointTorque(JointTorquesPtr torque);
 
 	/**
 	 * Returns current joint torque.
 	 * @return Current joint torque
 	 */
 	virtual bool setJointImpedance(JointImpedancePtr imped);
 
 	/**
 	 * Returns latest position command. Note, that this is the latest valid
 	 * commanded position. If the position command exceeds limits and is
 	 * therefore rejected, it ..
 	 */
 	virtual JointAnglesPtr getLastPositionCommand() const;
 
 	/**
 	 * Print
 	 */
 	std::string print() const;
 
 private:
 	/**
 	 * Reference to OncillaSynchronizer
 	 * @todo This is a dangerous reference which will become invalid as soon as
 	 * OncillaSynchronizer gets deleted outside.
 	 */
 	OncillaSynchronizer &synchronizer;
 };
 
 }
 }