diff --git a/examples/SharedMemory/IKTrajectoryHelper.cpp b/examples/SharedMemory/IKTrajectoryHelper.cpp
index 13bd8a2ad..a9af38164 100644
--- a/examples/SharedMemory/IKTrajectoryHelper.cpp
+++ b/examples/SharedMemory/IKTrajectoryHelper.cpp
@@ -18,7 +18,6 @@ struct IKTrajectoryHelperInternalData
     VectorRn m_nullSpaceVelocity;
     
     b3AlignedObjectArray<Node*> m_ikNodes;
-    Jacobian* m_ikJacobian;
     
     IKTrajectoryHelperInternalData()
     {
@@ -48,23 +47,21 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
 {
 	bool useAngularPart = (ikMethod==IK2_VEL_DLS_WITH_ORIENTATION || ikMethod==IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE) ? true : false;
 
-	m_data->m_ikJacobian = new Jacobian(useAngularPart,numQ);
-	
-//    Reset(m_ikTree,m_ikJacobian);
+    Jacobian ikJacobian(useAngularPart,numQ);
 
-    m_data->m_ikJacobian->Reset();
+    ikJacobian.Reset();
 
     bool UseJacobianTargets1 = false;
     
     if ( UseJacobianTargets1 ) {
-        m_data->m_ikJacobian->SetJtargetActive();
+        ikJacobian.SetJtargetActive();
     }
     else {
-        m_data->m_ikJacobian->SetJendActive();
+        ikJacobian.SetJendActive();
     }
     VectorR3 targets;
     targets.Set(endEffectorTargetPosition[0],endEffectorTargetPosition[1],endEffectorTargetPosition[2]);
-    m_data->m_ikJacobian->ComputeJacobian(&targets);						// Set up Jacobian and deltaS vectors
+    ikJacobian.ComputeJacobian(&targets);						// Set up Jacobian and deltaS vectors
     
     // Set one end effector world position from Bullet
     VectorRn deltaS(3);
@@ -112,8 +109,8 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
 					completeJacobian.Set(i+3,j,angular_jacobian[i*numQ+j]);
 				}
 			}
-			m_data->m_ikJacobian->SetDeltaS(deltaC);
-			m_data->m_ikJacobian->SetJendTrans(completeJacobian);
+			ikJacobian.SetDeltaS(deltaC);
+			ikJacobian.SetJendTrans(completeJacobian);
 		} else
 		{
 			VectorRn deltaC(3);
@@ -126,53 +123,53 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
 					completeJacobian.Set(i,j,linear_jacobian[i*numQ+j]);
 				}
 			}
-			m_data->m_ikJacobian->SetDeltaS(deltaC);
-			m_data->m_ikJacobian->SetJendTrans(completeJacobian);
+			ikJacobian.SetDeltaS(deltaC);
+			ikJacobian.SetJendTrans(completeJacobian);
 		}
     }
     
     // Calculate the change in theta values
     switch (ikMethod) {
         case IK2_JACOB_TRANS:
-            m_data->m_ikJacobian->CalcDeltaThetasTranspose();		// Jacobian transpose method
+            ikJacobian.CalcDeltaThetasTranspose();		// Jacobian transpose method
             break;
 		case IK2_DLS:
         case IK2_VEL_DLS:
 		case IK2_VEL_DLS_WITH_ORIENTATION:
-            m_data->m_ikJacobian->CalcDeltaThetasDLS();			// Damped least squares method
+            ikJacobian.CalcDeltaThetasDLS();			// Damped least squares method
             break;
         case IK2_VEL_DLS_WITH_NULLSPACE:
         case IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE:
             assert(m_data->m_nullSpaceVelocity.GetLength()==numQ);
-            m_data->m_ikJacobian->CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity);
+            ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity);
             break;
         case IK2_DLS_SVD:
-            m_data->m_ikJacobian->CalcDeltaThetasDLSwithSVD();
+            ikJacobian.CalcDeltaThetasDLSwithSVD();
             break;
         case IK2_PURE_PSEUDO:
-            m_data->m_ikJacobian->CalcDeltaThetasPseudoinverse();	// Pure pseudoinverse method
+            ikJacobian.CalcDeltaThetasPseudoinverse();	// Pure pseudoinverse method
             break;
         case IK2_SDLS:
-            m_data->m_ikJacobian->CalcDeltaThetasSDLS();			// Selectively damped least squares method
+            ikJacobian.CalcDeltaThetasSDLS();			// Selectively damped least squares method
             break;
         default:
-            m_data->m_ikJacobian->ZeroDeltaThetas();
+            ikJacobian.ZeroDeltaThetas();
             break;
     }
     
     // Use for velocity IK, update theta dot
-    //m_data->m_ikJacobian->UpdateThetaDot();
+    //ikJacobian.UpdateThetaDot();
     
     // Use for position IK, incrementally update theta
-    //m_data->m_ikJacobian->UpdateThetas();
+    //ikJacobian.UpdateThetas();
     
     // Apply the change in the theta values
-    //m_data->m_ikJacobian->UpdatedSClampValue(&targets);
+    //ikJacobian.UpdatedSClampValue(&targets);
     
     for (int i=0;i<numQ;i++)
     {
         // Use for velocity IK
-        q_new[i] = m_data->m_ikJacobian->dTheta[i] + q_current[i];
+        q_new[i] = ikJacobian.dTheta[i] + q_current[i];
         
         // Use for position IK
         //q_new[i] = m_data->m_ikNodes[i]->GetTheta();
@@ -203,4 +200,4 @@ bool IKTrajectoryHelper::computeNullspaceVel(int numQ, const double* q_current,
         }
     }
     return true;
-}
\ No newline at end of file
+}