diff --git a/src/rl/plan/AdvancedOptimizer.cpp b/src/rl/plan/AdvancedOptimizer.cpp
index f66f25f..b3a9363 100644
--- a/src/rl/plan/AdvancedOptimizer.cpp
+++ b/src/rl/plan/AdvancedOptimizer.cpp
@@ -61,7 +61,7 @@ namespace rl
 		{
 			bool changed = true;
 			::rl::math::Vector inter(this->getModel()->getDofPosition());
-						
+			
 			while (changed && path.size() > 2)
 			{
 				while (changed && path.size() > 2)
@@ -76,11 +76,8 @@ namespace rl
 						{
 							::rl::math::Real ij = this->getModel()->distance(*i, *j);
 							::rl::math::Real jk = this->getModel()->distance(*j, *k);
-							
 							::rl::math::Real alpha = ij / (ij + jk);
-							
 							this->getModel()->interpolate(*i, *k, alpha, inter);
-							
 							::rl::math::Real ratio = this->getModel()->distance(*j, inter) / ik;
 							
 							if (ratio > this->ratio)
diff --git a/src/rl/plan/Optimizer.cpp b/src/rl/plan/Optimizer.cpp
index 59bff2e..c05ac13 100644
--- a/src/rl/plan/Optimizer.cpp
+++ b/src/rl/plan/Optimizer.cpp
@@ -84,13 +84,12 @@ namespace rl
 		{
 			bool changed = false;
 			::rl::math::Vector inter(this->getModel()->getDofPosition());
-				
+			
 			for (VectorList::iterator i = path.begin(), j = ::std::next(i); i != path.end() && j != path.end();)
 			{
 				if (length > 0 && this->getModel()->distance(*i, *j) > length)
 				{
 					this->getModel()->interpolate(*i, *j, static_cast<::rl::math::Real>(0.5), inter);
-					
 					j = path.insert(j, inter);
 					
 					if (nullptr != this->getViewer())