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diff --git a/intern/iksolver/intern/IK_Chain.h b/intern/iksolver/intern/IK_Chain.h
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+/**
+ * $Id$
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
+
+#ifndef NAN_INCLUDED_IK_Chain_h
+
+#define NAN_INCLUDED_IK_Chain_h
+
+/**
+ * @author Laurence Bourn
+ * @date 28/6/2001
+ */
+
+#include "IK_Segment.h"
+#include <vector>
+#include "MT_Scalar.h"
+#include "TNT/cmat.h"
+
+/**
+ * This class is a collection of ordered segments that are used
+ * in an Inverse Kinematic solving routine. An IK solver operating
+ * on the chain, will in general manipulate all the segments of the
+ * chain in order to solve the IK problem.
+ * 
+ * To build a chain use the default constructor. Once built it's
+ * then possible to add IK_Segments to the chain by inserting
+ * them into the vector of IK_Segments. Note that segments will be
+ * copied into the chain so chain's cannot share instances of 
+ * IK_Segments. 
+ * 
+ * You have full control of which segments form the chain via the 
+ * the std::vector routines. 
+ */
+class IK_Chain{
+
+public :
+
+	/**
+	 * Construct a IK_Chain with no segments.
+	 */
+
+	IK_Chain(
+	);
+
+	// IK_Chains also have the default copy constructors
+	// available. 
+
+	/** 
+     * Const access to the array of segments
+	 * comprising the IK_Chain. Used for rendering
+	 * etc
+     * @return a vector of segments
+	 */
+
+	const 
+		std::vector<IK_Segment> &
+	Segments(
+	) const ;
+
+
+	/**
+	 * Full access to segments used to initialize
+	 * the IK_Chain and manipulate the segments.
+	 * Use the push_back() method of std::vector to add
+     * segments in order to the chain
+	 */
+
+		std::vector<IK_Segment> &
+	Segments(
+	);
+
+
+	/** 
+	 * Force the IK_Chain to recompute all the local 
+	 * segment transformations and composite them
+	 * to calculate the global transformation for 
+	 * each segment. Must be called before 
+	 * ComputeJacobian()
+     */
+
+		void
+	UpdateGlobalTransformations(
+	);
+
+	/** 
+	 * Return the global position of the end
+	 * of the last segment.
+	 */
+
+		MT_Vector3 
+	EndEffector(
+	) const;
+
+
+	/** 
+	 * Return the global pose of the end
+	 * of the last segment.
+	 */
+
+		MT_Vector3
+	EndPose(
+	) const;
+
+
+	/** 
+	 * Calculate the jacobian matrix for
+	 * the current end effector position.
+	 * A jacobian is the set of column vectors
+	 * of partial derivatives for each active angle.
+	 * This method also computes the transposed jacobian.
+	 * @pre You must have updated the global transformations
+	 * of the chain's segments before a call to this method. Do this
+	 * with UpdateGlobalTransformation()
+	 */
+
+		void
+	ComputeJacobian(
+	);
+	
+
+	/** 
+	 * @return A reference to the last computed jacobian matrix
+	 */
+
+	const 
+		TNT::Matrix<MT_Scalar> &
+	Jacobian(
+	) const ;
+
+	/** 
+	 * @return A reference to the last computed transposed jacobian matrix
+	 */
+
+	const 
+		TNT::Matrix<MT_Scalar> &
+	TransposedJacobian(
+	) const ;
+
+	/** 
+	 * Count the degrees of freedom in the IK_Chain
+	 * @warning store this value rather than using this function
+	 * as the termination value of a for loop etc.
+	 */
+
+		int
+	DoF(
+	) const;
+
+
+private :
+
+	/// The vector of segments comprising the chain
+	std::vector<IK_Segment> m_segments;
+
+	/// The jacobain of the IK_Chain
+	TNT::Matrix<MT_Scalar> m_jacobian;
+
+	/// It's transpose
+	TNT::Matrix<MT_Scalar> m_t_jacobian;
+
+	MT_Vector3 m_end_effector;		
+	MT_Vector3 m_end_pose;
+
+};
+
+
+#endif
+\ No newline at end of file