diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 8d6e69e41d741bd70bdc6e212df2490ecbc4b62c..37481e684cc0a57b74a93d1c1d124cabd6b7835d 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -26,17 +26,13 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
         std::list<FrameBasePtr> frame_list_;
 
     protected:
-        std::string 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(const std::string& _frame_sturcture);
+        TrajectoryBase();
         virtual ~TrajectoryBase();
         
-        // Properties
-        std::string getFrameStructure() const;
-
         // Frames
         const FrameBasePtrList& getFrameList() const;
         FrameBasePtr getLastFrame() const;
@@ -92,11 +88,6 @@ inline FrameBasePtr TrajectoryBase::getLastKeyOrAuxFrame() const
     return last_key_or_aux_frame_ptr_;
 }
 
-inline std::string TrajectoryBase::getFrameStructure() const
-{
-    return frame_structure_;
-}
-
 } // namespace wolf
 
 #endif
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index c95128244b1d66cda2d2747ce0940a360e133c03..89cfa5bbdd8b8a417fe902981f847514c944b743 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -43,7 +43,7 @@ namespace wolf
 Problem::Problem(const std::string& _frame_structure, SizeEigen _dim) :
         tree_manager_(nullptr),
         hardware_ptr_(std::make_shared<HardwareBase>()),
-        trajectory_ptr_(std::make_shared<TrajectoryBase>(_frame_structure)),
+        trajectory_ptr_(std::make_shared<TrajectoryBase>()),
         map_ptr_(std::make_shared<MapBase>()),
         processor_is_motion_list_(std::list<IsMotionPtr>()),
         frame_structure_(_frame_structure),
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 84007a6cdbd9afece5ff51b271db25f92d4f41ff..281df3b63a181a653d936ebb86bd0d8e60044114 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -3,9 +3,8 @@
 
 namespace wolf {
 
-TrajectoryBase::TrajectoryBase(const std::string& _frame_structure) :
+TrajectoryBase::TrajectoryBase() :
     NodeBase("TRAJECTORY", "TrajectoryBase"),
-    frame_structure_(_frame_structure),
     last_key_frame_ptr_(nullptr),
     last_key_or_aux_frame_ptr_(nullptr)
 {