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diff --git a/intern/itasc/kdl/inertia.cpp b/intern/itasc/kdl/inertia.cpp
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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library 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
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#include "inertia.hpp"
+
+#include <Eigen/Array>
+
+namespace KDL {
+using namespace Eigen;
+
+Inertia::Inertia(double m,double Ixx,double Iyy,double Izz,double Ixy,double Ixz,double Iyz):
+data(Matrix<double,6,6>::Zero())
+{
+    data(0,0)=Ixx;
+    data(1,1)=Iyy;
+    data(2,2)=Izz;
+    data(2,1)=data(1,2)=Ixy;
+    data(3,1)=data(1,3)=Ixz;
+    data(3,2)=data(2,3)=Iyz;
+
+	data.block(3,3,3,3)=m*Matrix<double,3,3>::Identity();
+}
+
+Inertia::~Inertia()
+{
+}
+
+
+
+}