diff --git a/src/common_fc.h b/src/common_fc.h
index 2523d17912b14ee6b5015a874fcf7353bae39116..4ff7765627dd9fe8fdc2edadb27c8752743763b6 100644
--- a/src/common_fc.h
+++ b/src/common_fc.h
@@ -14,8 +14,6 @@
 
 // Eigen
 #include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Eigenvalues>
-#include <eigen3/Eigen/SVD>
 
 // KDL
 #include <kdl/frames.hpp>
diff --git a/src/kinematics.h b/src/kinematics.h
index e8849c02cb2a6f9032a31ecef2b6b87ceb1a5103..442dffd74bc87758274ec7dcf9ff39825c650916 100644
--- a/src/kinematics.h
+++ b/src/kinematics.h
@@ -3,8 +3,6 @@
 
 // Eigen
 #include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Eigenvalues>
-#include <eigen3/Eigen/SVD>
 
 // KDL stuff
 #include <kdl/frames.hpp>