diff --git a/CGII/src/AtomicTransform.cpp b/CGII/src/AtomicTransform.cpp
index 55c0f8f..0f7d420 100644
--- a/CGII/src/AtomicTransform.cpp
+++ b/CGII/src/AtomicTransform.cpp
@@ -190,15 +190,30 @@ void AtomicRotationTransform::optimize_value(const Vec3 &local_vector, const Vec
 
 	// optimize this that: target = this->calculate_matrix() * local_vector;
 
-	float first_guess = angle(local_vector, target);
+	double result = 0.0;
 
-	double result = least_squares(local_vector, target, first_guess);
+	Vec3 lp = local_vector - (dot(local_vector, axis) * axis);
+	Vec3 tp = target - (dot(target, axis) * axis);
+
+	result = (double)angle(lp, tp);
+
+	result = result * 180 / PI;
+
+	//std::cout << "angle before bounds check: " << result << std::endl;
+
+
+	//float first_guess = angle(local_vector, target);
+
+	//double result = least_squares(local_vector, target, first_guess);
 
 	if (inverse)
 		result = -result;
 
 	result = clamp(result, lower_limit, upper_limit);
 
+
+	//std::cout << "angle after bounds check: " << result << std::endl;
+
 	set_value(result);
 }
 
diff --git a/CGII/src/IKViewer.cpp b/CGII/src/IKViewer.cpp
index 4141d2d..f296af2 100644
--- a/CGII/src/IKViewer.cpp
+++ b/CGII/src/IKViewer.cpp
@@ -218,6 +218,8 @@ void IKViewer::optimize()
 	/*Task 3.3: Implement CCD	*/
 	for (int i = 0; i < max_iterations; i++)
 	{
+		std::cout << "iteration: " << i << std::endl;
+
 		int kc_size = kinematic_vector.size();
 
 		// reverse iterate through kinematic chain
diff --git a/CGII/src/SkeletonViewer.h b/CGII/src/SkeletonViewer.h
index 0dab858..84a8b87 100644
--- a/CGII/src/SkeletonViewer.h
+++ b/CGII/src/SkeletonViewer.h
@@ -1,5 +1,5 @@
-// This source code is property of the Computer Graphics and Visualization 
-// chair of the TU Dresden. Do not distribute! 
+// This source code is property of the Computer Graphics and Visualization
+// chair of the TU Dresden. Do not distribute!
 // Copyright (C) CGV TU Dresden - All Rights Reserved
 //
 #pragma once
@@ -61,7 +61,7 @@ private:
 
 public:
 	// The constructor of this class
-	SkeletonViewer(DataStore*);	
+	SkeletonViewer(DataStore*);
 
 	// Create the gui elements
 	void create_gui();