diff --git a/.gitignore b/.gitignore
index 730aa05..3c8f9ab 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,11 +1,54 @@
-/src/python/frenetix/_version.py
-/build-python
-/dist
-
-*.egg-info
+# =====================
+# Python Build Artifacts
+# =====================
+__pycache__/
+*.py[cod]
+*.pyd
 *.so
+*.egg-info/
+dist/
+wheelhouse/
+_deps/
+
+# =====================
+# Project-specific
+# =====================
+/src/python/frenetix/_version.py
+/build-python/
+/venv*/
+*.vscode
 
-/venv*
+# =====================
+# CMake Build Artifacts
+# =====================
+build/
+build-*/
+CMakeFiles/
+CMakeCache.txt
+cmake_install.cmake
+Makefile
+CTestTestfile.cmake
+CTestCostData.txt
+DartConfiguration.tcl
+Testing/
+install/
+_install/
 
-__pycache__
+# =====================
+# OS / Editor Metadata
+# =====================
+.DS_Store
+*.swp
+*.swo
+*.bak
+*.tmp
+Thumbs.db
 
+# =====================
+# Generated C++ Files
+# =====================
+*.cxx
+*.o
+*.obj
+*.a
+*.out
\ No newline at end of file
diff --git a/cmake/ci-prefetch-dependencies.cmake b/cmake/ci-prefetch-dependencies.cmake
index 6facbed..5492e15 100644
--- a/cmake/ci-prefetch-dependencies.cmake
+++ b/cmake/ci-prefetch-dependencies.cmake
@@ -7,7 +7,7 @@ message(STATUS "Prefetching dependencies")
 file(MAKE_DIRECTORY ${_fetch_prefix})
 
 file(DOWNLOAD
-    https://boostorg.jfrog.io/artifactory/main/release/1.85.0/source/boost_1_85_0.tar.gz
+    https://archives.boost.io/release/1.85.0/source/boost_1_85_0.tar.gz
     ${_fetch_prefix}/boost_1_85_0.tar.gz
     EXPECTED_HASH SHA256=be0d91732d5b0cc6fbb275c7939974457e79b54d6f07ce2e3dfdd68bef883b0b
 )
diff --git a/src/strategies/FeasabilityFunctions/CheckYawRateConstraint.cpp b/src/strategies/FeasabilityFunctions/CheckYawRateConstraint.cpp
index fc60e34..75dbfb3 100644
--- a/src/strategies/FeasabilityFunctions/CheckYawRateConstraint.cpp
+++ b/src/strategies/FeasabilityFunctions/CheckYawRateConstraint.cpp
@@ -24,7 +24,7 @@ void CheckYawRateConstraint::evaluateTrajectory(TrajectorySample& trajectory)
 
     for (size_t iii = 0; iii < lengthToCheck; ++iii) 
     {
-            double yawRate = (iii > 0) ? (trajectory.m_cartesianSample.theta[iii] - trajectory.m_cartesianSample.theta[iii - 1]) / trajectory.m_dT : 0.0;
+            double yawRate = (iii > 0) ? (std::abs(trajectory.m_cartesianSample.theta[iii]) - std::abs(trajectory.m_cartesianSample.theta[iii - 1])) / trajectory.m_dT : 0.0;
             double thetaDotMax = m_kappaMax * trajectory.m_cartesianSample.velocity[iii];
 
             if (std::abs(std::round(yawRate * 100000) / 100000.0) > thetaDotMax) inFeasability++;