diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 8c61f80b9a72194a2b77e3fdfe9e06dd653ddb2a..e3931fa1720bd83e152f8fb42b07adb0ccade6b8 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -334,7 +334,6 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
     public:
         bool isMotionProvider() const;
 
-        void setTimeTolerance(double _time_tolerance);
 
         bool isVotingActive() const;
 
@@ -342,7 +341,13 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
 
         int getDim() const;
 
+        void setTimeTolerance(double _time_tolerance);
         double getTimeTolerance() const;
+        bool checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2);
+        bool checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts);
+        bool checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts);
+        bool checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap);
+
 
         void link(SensorBasePtr);
         template<typename classType, typename... T>
@@ -418,14 +423,15 @@ inline SensorBasePtr ProcessorBase::getSensor() const
     return sensor_ptr_.lock();
 }
 
-inline void ProcessorBase::setTimeTolerance(double _time_tolerance)
-{
-    params_->time_tolerance = _time_tolerance;
-}
 inline int ProcessorBase::getDim() const
 {
     return dim_;
 }
+
+inline void ProcessorBase::setTimeTolerance(double _time_tolerance)
+{
+    params_->time_tolerance = _time_tolerance;
+}
 inline double ProcessorBase::getTimeTolerance() const
 {
     return params_->time_tolerance;
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 5186fb9c4d798aebcf4e6d9dab41677d1d318fd1..5d9716490f1bfb230dba745e812a3a0104238718 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -303,11 +303,6 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
 
         FrameBasePtr computeProcessingStep();
 
-        bool checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2);
-        bool checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts);
-        bool checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts);
-        bool checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap);
-
 
 
         // These are the pure virtual functions doing the mathematics
@@ -548,26 +543,6 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
         Eigen::MatrixXd unmeasured_perturbation_cov_;   ///< Covariance of unmeasured DoF to avoid singularity
 };
 
-inline bool ProcessorMotion::checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2)
-{
-    auto dt = std::fabs(_ts1 - _ts2);
-    return dt <= params_motion_->time_tolerance;
-}
-
-inline bool ProcessorMotion::checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts)
-{
-    return checkTimeTolerance(_cap->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorMotion::checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts)
-{
-    return checkTimeTolerance(_frm->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorMotion::checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap)
-{
-    return checkTimeTolerance(_frm->getTimeStamp(), _cap->getTimeStamp());
-}
 
 }
 
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 7164a422611ca45f4b446953537d135eafb2cf4d..370421716736811e1885d9ba05c405ddd5230a2d 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -138,11 +138,6 @@ class ProcessorTracker : public ProcessorBase
 
         StateStructure getStateStructure() const;
 
-        bool checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2);
-        bool checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts);
-        bool checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts);
-        bool checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap);
-
         virtual CaptureBasePtr getOrigin() const;
         virtual CaptureBasePtr getLast() const;
         virtual CaptureBasePtr getIncoming() const;
@@ -306,27 +301,6 @@ inline FeatureBasePtrList& ProcessorTracker::getNewFeaturesListIncoming()
     return new_features_incoming_;
 }
 
-inline bool ProcessorTracker::checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2)
-{
-    auto   dt  = std::fabs(_ts1 - _ts2);
-    return dt <= params_tracker_->time_tolerance;
-}
-
-inline bool ProcessorTracker::checkTimeTolerance(const CaptureBasePtr _cap, const TimeStamp& _ts)
-{
-    return checkTimeTolerance(_cap->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorTracker::checkTimeTolerance(const FrameBasePtr _frm, const TimeStamp& _ts)
-{
-    return checkTimeTolerance(_frm->getTimeStamp(), _ts);
-}
-
-inline bool ProcessorTracker::checkTimeTolerance(const FrameBasePtr _frm, const CaptureBasePtr _cap)
-{
-    return checkTimeTolerance(_frm->getTimeStamp(), _cap->getTimeStamp());
-}
-
 inline StateStructure ProcessorTracker::getStateStructure ( ) const
 {
     return state_structure_;
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 3a79503910406c38e6f6b250e80381fa20bd8387..2673eb2469e5403cb0c985790a9f9452f1cdd507 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -217,4 +217,25 @@ void ProcessorBase::printProfiling(std::ostream& _stream) const
 
 }
 
+bool ProcessorBase::checkTimeTolerance (const TimeStamp& _ts1, const TimeStamp& _ts2)
+{
+    auto   dt  = std::fabs(_ts1 - _ts2);
+    return dt <= params_->time_tolerance;
+}
+
+bool ProcessorBase::checkTimeTolerance (const CaptureBasePtr _cap, const TimeStamp& _ts)
+{
+    return checkTimeTolerance(_cap->getTimeStamp(), _ts);
+}
+
+bool ProcessorBase::checkTimeTolerance (const FrameBasePtr _frm, const TimeStamp& _ts)
+{
+    return checkTimeTolerance(_frm->getTimeStamp(), _ts);
+}
+
+bool ProcessorBase::checkTimeTolerance (const FrameBasePtr _frm, const CaptureBasePtr _cap)
+{
+    return checkTimeTolerance(_frm->getTimeStamp(), _cap->getTimeStamp());
+}
+
 } // namespace wolf