diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index 67a5bbb8d0e63fd57b4a4b668ded6e5c2bc9b82b..82f40c96e51ccad906af768f5ad9ddb7ecfa6e1c 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -373,8 +373,8 @@ void CQuadarm_Task_Priority_Ctrl::task_cog(MatrixXd& JG,MatrixXd& JG_pseudo,Matr
   joint_pose.resize(this->arm_.nj);
 
   // This should be done, otherwise an eigen assertion arises in the robot computer
-  //vector<Eigen::Matrix4d,Eigen::aligned_allocator<Eigen::Matrix4d> > Transf(this->arm_.nj);
-  vector<Matrix4d> Transf(this->arm_.nj); // Vector of HT of frames relative to each links
+  vector<Eigen::Matrix4d,Eigen::aligned_allocator<Eigen::Matrix4d> > Transf(this->arm_.nj);
+  //vector<Matrix4d> Transf(this->arm_.nj); // Vector of HT of frames relative to each links
   Transf.resize(this->arm_.nj);
   // Eigen stuff
   vector<MatrixXd> T_base_to_joint(this->arm_.nj+1); // Vector of HT of frame links relative to base