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diff --git a/intern/itasc/ControlledObject.hpp b/intern/itasc/ControlledObject.hpp
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+/* $Id: ControlledObject.hpp 20853 2009-06-13 12:29:46Z ben2610 $
+ * ControlledObject.hpp
+ *
+ *  Created on: Jan 5, 2009
+ *      Author: rubensmits
+ */
+
+#ifndef CONTROLLEDOBJECT_HPP_
+#define CONTROLLEDOBJECT_HPP_
+
+#include "kdl/frames.hpp"
+#include "eigen_types.hpp"
+
+#include "Object.hpp"
+#include "ConstraintSet.hpp"
+#include <vector>
+
+namespace iTaSC {
+
+#define CONSTRAINT_ID_ALL	((unsigned int)-1)
+
+class ControlledObject : public Object {
+protected:
+	e_scalar m_maxDeltaQ;
+    unsigned int m_nq,m_nc,m_nee;
+    e_matrix m_Wq,m_Cq;
+    e_vector m_Wy,m_ydot,m_qdot;
+	std::vector<e_matrix> m_JqArray;
+public:
+    ControlledObject();
+    virtual ~ControlledObject();
+
+	class JointLockCallback {
+	public:
+		JointLockCallback() {}
+		virtual ~JointLockCallback() {}
+
+		// lock a joint, no need to update output
+		virtual void lockJoint(unsigned int q_nr, unsigned int ndof) = 0;
+		// lock a joint and update output in view of reiteration
+		virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double* qdot) = 0;
+	};
+
+	virtual void initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee);
+
+	// returns true when a joint has been locked via the callback and the solver must run again
+	virtual bool updateJoint(const Timestamp& timestamp, JointLockCallback& callback) = 0;
+	virtual void updateControlOutput(const Timestamp& timestamp)=0;
+    virtual void setJointVelocity(const e_vector qdot_in){m_qdot = qdot_in;};
+	virtual double getMaxTimestep(double& timestep);
+	virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0;
+
+    virtual const e_vector& getControlOutput() const{return m_ydot;}
+
+	virtual const e_matrix& getJq(unsigned int ee) const;
+
+    virtual const e_matrix& getCq() const{return m_Cq;};
+
+    virtual e_matrix& getWq() {return m_Wq;};
+    virtual void setWq(const e_matrix& Wq_in){m_Wq = Wq_in;};
+
+    virtual const e_vector& getWy() const {return m_Wy;};
+
+    virtual const unsigned int getNrOfCoordinates(){return m_nq;};
+    virtual const unsigned int getNrOfConstraints(){return m_nc;};
+};
+
+}
+
+#endif /* CONTROLLEDOBJECT_HPP_ */