diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 5ab5f053fee0c4559a4f8fd473dee43777f54197..dc810f2764b895923f7a0516f6e7a6e14e2ebc5d 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -205,7 +205,6 @@ class Problem : public std::enable_shared_from_this<Problem>
                                           const double &_time_tol);
 
         /** \brief Emplace frame from string frame_structure, dimension and vector
-         * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
          * \param _time_stamp Time stamp of the frame
          * \param _frame_structure String indicating the frame structure.
          * \param _dim variable indicating the dimension of the problem
@@ -222,7 +221,6 @@ class Problem : public std::enable_shared_from_this<Problem>
                                      const Eigen::VectorXd& _frame_state);
 
         /** \brief Emplace frame from string frame_structure and state
-         * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
          * \param _time_stamp Time stamp of the frame
          * \param _frame_structure String indicating the frame structure.
          * \param _frame_state State vector; must match the size and format of the chosen frame structure
@@ -239,7 +237,6 @@ class Problem : public std::enable_shared_from_this<Problem>
                                      const VectorComposite& _frame_state);
 
         /** \brief Emplace frame from state
-         * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
          * \param _time_stamp Time stamp of the frame
          * \param _frame_state State; must be part of the problem's frame structure
          *
@@ -255,7 +252,6 @@ class Problem : public std::enable_shared_from_this<Problem>
                                      const VectorComposite& _frame_state);
 
         /** \brief Emplace frame from string frame_structure and dimension
-         * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
          * \param _time_stamp Time stamp of the frame
          * \param _frame_structure String indicating the frame structure.
          * \param _dim variable indicating the dimension of the problem
@@ -273,7 +269,6 @@ class Problem : public std::enable_shared_from_this<Problem>
                                      const SizeEigen _dim);
 
         /** \brief Emplace frame from state vector
-         * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
          * \param _time_stamp Time stamp of the frame
          * \param _frame_state State vector; must match the size and format of the chosen frame structure
          *
@@ -289,7 +284,6 @@ class Problem : public std::enable_shared_from_this<Problem>
                                      const Eigen::VectorXd& _frame_state);
 
         /** \brief Emplace frame, guess all values
-         * \param _frame_key_type Either AUXILIARY or NON_ESTIMATED
          * \param _time_stamp Time stamp of the frame
          *
          * - The structure is taken from Problem
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 6029815eb42f1af25a1281533e1e3bdc8ab7d81d..431524af94e218b17f2ce223ca47483c0d3cd058 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -58,8 +58,6 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
 
     protected:
          StateStructure frame_structure_;  // Defines the structure of the Frames in the Trajectory.
-        // FrameBasePtr last_key_frame_ptr_; // keeps pointer to the last key frame
-        // FrameBasePtr last_key_or_aux_frame_ptr_; // keeps pointer to the last estimated frame
         
     public:
         TrajectoryBase();
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 3dceffdd79180d3bb3bd9f5d4a27d33321ace5b7..40396509fd506ce25a65a8e510b9b4dde8818f64 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -428,10 +428,10 @@ TimeStamp Problem::getTimeStamp ( ) const
 
     if (not ts.ok())
     {
-        const auto& last_kf_or_aux = trajectory_ptr_->getLastFrame();
+        const auto& last_kf = trajectory_ptr_->getLastFrame();
 
-        if (last_kf_or_aux)
-            ts = last_kf_or_aux->getTimeStamp(); // Use last estimated frame's state
+        if (last_kf)
+            ts = last_kf->getTimeStamp(); // Use last estimated frame's state
 
     }
 
@@ -462,10 +462,10 @@ VectorComposite Problem::getState(const StateStructure& _structure) const
 
     VectorComposite state_last;
 
-    const auto& last_kf_or_aux = trajectory_ptr_->getLastFrame();
+    const auto& last_kf = trajectory_ptr_->getLastFrame();
 
-    if (last_kf_or_aux)
-        state_last = last_kf_or_aux->getState(structure);
+    if (last_kf)
+        state_last = last_kf->getState(structure);
 
     else if (prior_options_ and prior_options_->mode != "nothing")
         state_last = prior_options_->state;
@@ -511,10 +511,10 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
 
     VectorComposite state_last;
 
-    const auto& last_kf_or_aux = trajectory_ptr_->closestFrameToTimeStamp(_ts);
+    const auto& last_kf = trajectory_ptr_->closestFrameToTimeStamp(_ts);
 
-    if (last_kf_or_aux)
-        state_last = last_kf_or_aux->getState(structure);
+    if (last_kf)
+        state_last = last_kf->getState(structure);
 
     else if (prior_options_ and prior_options_->mode != "nothing")
         state_last = prior_options_->state;
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index bd05620f6fb13bdaa20a97343c12141f44d60c97..7c483113468573388e5cca87ebf1bf243f41a911 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -34,7 +34,6 @@ TEST(TrajectoryBase, ClosestKeyFrame)
 
     FrameBasePtr F1 = P->emplaceFrame(          1, Eigen::Vector3d::Zero() );
     FrameBasePtr F2 = P->emplaceFrame(          2, Eigen::Vector3d::Zero() );
-    // FrameBasePtr F3 = P->emplaceFrame(AUXILIARY,     3, Eigen::Vector3d::Zero() );
     FrameBasePtr F3 = std::make_shared<FrameBase>(3, P->getFrameStructure(),
                                                   //                                                              P->getDim(),
                                                   std::list<VectorXd>({Eigen::Vector2d::Zero(),Eigen::Vector1d::Zero()}) );