diff --git a/intern/itasc/CMakeLists.txt b/intern/itasc/CMakeLists.txt
index 31c74cda745..855e44e8fca 100644
--- a/intern/itasc/CMakeLists.txt
+++ b/intern/itasc/CMakeLists.txt
@@ -369,7 +369,6 @@ set(SRC
   WSDLSSolver.cpp
   WorldObject.cpp
   eigen_types.cpp
-  ublas_types.hpp
 
   kdl/chain.cpp
   kdl/chainfksolverpos_recursive.cpp
diff --git a/intern/itasc/ublas_types.hpp b/intern/itasc/ublas_types.hpp
deleted file mode 100644
index f8090973570..00000000000
--- a/intern/itasc/ublas_types.hpp
+++ /dev/null
@@ -1,83 +0,0 @@
-/* SPDX-FileCopyrightText: 2009 Ruben Smits
- *
- * SPDX-License-Identifier: LGPL-2.1-or-later */
-
-/** \file
- * \ingroup intern_itasc
- */
-
-#ifndef UBLAS_TYPES_HPP_
-#define UBLAS_TYPES_HPP_
-
-#include <boost/numeric/ublas/matrix.hpp>
-#include <boost/numeric/ublas/vector.hpp>
-#include <boost/numeric/ublas/matrix_proxy.hpp>
-#include <boost/numeric/ublas/vector_proxy.hpp>
-#include "kdl/frames.hpp"
-#include "kdl/tree.hpp"
-#include "kdl/chain.hpp"
-#include "kdl/jacobian.hpp"
-#include "kdl/jntarray.hpp"
-
-
-namespace iTaSC{
-
-namespace ublas = boost::numeric::ublas;
-using KDL::Twist;
-using KDL::Frame;
-using KDL::Joint;
-using KDL::Inertia;
-using KDL::SegmentMap;
-using KDL::Tree;
-using KDL::JntArray;
-using KDL::Jacobian;
-using KDL::Segment;
-using KDL::Rotation;
-using KDL::Vector;
-using KDL::Chain;
-
-#define u_scalar double
-#define u_vector ublas::vector<u_scalar>
-#define u_zero_vector ublas::zero_vector<u_scalar>
-#define u_matrix ublas::matrix<u_scalar>
-#define u_matrix6 ublas::matrix<u_scalar,6,6>
-#define u_identity_matrix ublas::identity_matrix<u_scalar>
-#define u_scalar_vector ublas::scalar_vector<u_scalar>
-#define u_zero_matrix ublas::zero_matrix<u_scalar>
-#define u_vector6 ublas::bounded_vector<u_scalar,6>
-
-inline static int changeBase(const u_matrix& J_in, const Frame& T, u_matrix& J_out) {
-
-    if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
-        return -1;
-    for (unsigned int j = 0; j < J_in.size2(); ++j) {
-        ublas::matrix_column<const u_matrix > Jj_in = column(J_in,j);
-        ublas::matrix_column<u_matrix > Jj_out = column(J_out,j);
-		Twist arg;
-        for(unsigned int i=0;i<6;++i)
-            arg(i)=Jj_in(i);
-		Twist tmp(T*arg);
-        for(unsigned int i=0;i<6;++i)
-                    Jj_out(i)=tmp(i);
-    }
-    return 0;
-}
-inline static int changeBase(const ublas::matrix_range<u_matrix >& J_in, const Frame& T, ublas::matrix_range<u_matrix >& J_out) {
-
-    if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())
-        return -1;
-    for (unsigned int j = 0; j < J_in.size2(); ++j) {
-        ublas::matrix_column<const ublas::matrix_range<u_matrix > > Jj_in = column(J_in,j);
-        ublas::matrix_column<ublas::matrix_range<u_matrix > > Jj_out = column(J_out,j);
-		Twist arg;
-        for(unsigned int i=0;i<6;++i)
-            arg(i)=Jj_in(i);
-		Twist tmp(T*arg);
-        for(unsigned int i=0;i<6;++i)
-                    Jj_out(i)=tmp(i);
-    }
-    return 0;
-}
-
-}
-#endif /* UBLAS_TYPES_HPP_ */