diff --git a/build/bin/mainV6.exe b/build/bin/mainV6.exe
index 73b9944..441da19 100644
Binary files a/build/bin/mainV6.exe and b/build/bin/mainV6.exe differ
diff --git a/src/collections/methods/gamba.cpp b/src/collections/methods/gamba.cpp
index 970fc4a..460e77b 100644
--- a/src/collections/methods/gamba.cpp
+++ b/src/collections/methods/gamba.cpp
@@ -9,10 +9,10 @@ Gamba::Gamba(rb::Vector3 pos, unsigned int* dataPos, std::string cosciaData, std
         const auto& caviglia = processor.getData();
 
         pezzi.push_back(new Coscia(pos,2));
-        pezzi.push_back(new Caviglia(rb::Vector3{pos[0],pos[1],pos[3]+200},2));
+        pezzi.push_back(new Caviglia(rb::Vector3{pos[0],pos[1],pos[2]+200},2));
 
         sensori.push_back(new Sensore(pos,_Float16( 0.2 ),dataPos,coscia));
-        sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[3]+200},_Float16( 0.2 ),dataPos,caviglia));
+        sensori.push_back(new Sensore (rb::Vector3{pos[0],pos[1],pos[2]+200},_Float16( 0.2 ),dataPos,caviglia));
 
         // modifico la rotazione relativa della gamba
         sensori[0]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
diff --git a/src/csv/headers/csv.hpp b/src/csv/headers/csv.hpp
index 8b6f098..e71dabb 100644
--- a/src/csv/headers/csv.hpp
+++ b/src/csv/headers/csv.hpp
@@ -4,6 +4,9 @@
 #include <vector>
 #include <string>
 
+#ifndef CSV_H
+#define CSV_H
+
 #define DATA_PATH std::string("./../../data/")
 
 class CSVProcessor {
@@ -19,4 +22,6 @@ public:
     // Getter for data
     const std::vector<std::vector<float>>& getData() const;
 
-};
\ No newline at end of file
+};
+
+#endif
\ No newline at end of file
diff --git a/src/include.hpp b/src/include.hpp
index 741e112..fddee8c 100644
--- a/src/include.hpp
+++ b/src/include.hpp
@@ -6,4 +6,5 @@
 #include "pieces/headers/sensore.hpp"
 #include "pieces/headers/torso.hpp"
 #include "joints/headers/rigid_joint.hpp"
-#include "joints/headers/pivot_joint.hpp"
\ No newline at end of file
+#include "joints/headers/pivot_joint.hpp"
+#include "collections/headers/gamba.hpp"
\ No newline at end of file
diff --git a/src/joints/headers/pivot_joint.hpp b/src/joints/headers/pivot_joint.hpp
index e6c5b5f..863b6ed 100644
--- a/src/joints/headers/pivot_joint.hpp
+++ b/src/joints/headers/pivot_joint.hpp
@@ -1,5 +1,8 @@
 #include "joint_interface.hpp"
 
+#ifndef PIVOTJ_H
+#define PIVOTJ_H
+
 class PivotJoint : public JointInterface {
     protected:
         void rotate(unsigned int id) override;
@@ -25,4 +28,6 @@ class PivotJoint : public JointInterface {
 
         PivotJoint(PieceInterface* father,std::vector<PieceInterface*> childs, rb::Vector3 pivotPoint);
         ~PivotJoint();
-};
\ No newline at end of file
+};
+
+#endif
\ No newline at end of file
diff --git a/src/joints/headers/rigid_joint.hpp b/src/joints/headers/rigid_joint.hpp
index 0a69aae..e902a49 100644
--- a/src/joints/headers/rigid_joint.hpp
+++ b/src/joints/headers/rigid_joint.hpp
@@ -1,5 +1,7 @@
 #include "joint_interface.hpp"
 
+#ifndef RIGIDJ_H
+#define RIGIDJ_H
 
 class RigidJoint : public JointInterface {
     protected:
@@ -16,4 +18,6 @@ class RigidJoint : public JointInterface {
 
         RigidJoint(PieceInterface* father,std::vector<PieceInterface*> childs);
         ~RigidJoint();
-};
\ No newline at end of file
+};
+
+#endif
\ No newline at end of file
diff --git a/src/testMain.cpp b/src/testMain.cpp
index ea125c8..8e3c98f 100755
--- a/src/testMain.cpp
+++ b/src/testMain.cpp
@@ -69,6 +69,8 @@ int main() {
         gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]}));
         
 
+        //provo ad aggiungere una collection
+        Gamba g = Gamba({0,0,0},&pos,"coscia_filt.csv","coscia_filt.csv");
         printf("Ho costruito tutto!\n");
     }
     catch(char* e){