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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
+
+#ifndef KDLINERTIA_HPP
+#define KDLINERTIA_HPP
+
+#include <Eigen/Array>
+#include "frames.hpp"
+
+namespace KDL {
+
+using namespace Eigen;
+
+/**
+ *	This class offers the inertia-structure of a body
+ *	An inertia is defined in a certain reference point and a certain reference base.
+ *	The reference point does not have to coincide with the origin of the reference frame.
+ */
+class Inertia{
+public:
+
+	/**
+	 * 	This constructor creates a cartesian space inertia matrix,
+	 * 	the arguments are the mass and the inertia moments in the cog.
+	 */
+	Inertia(double m=0,double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0);
+
+    static inline Inertia Zero(){
+        return Inertia(0,0,0,0,0,0,0);
+    };
+
+    friend class Rotation;
+    friend class Frame;
+
+    /**
+     * F = m*a
+     */
+   // Wrench operator* (const AccelerationTwist& acc);
+
+
+    ~Inertia();
+private:
+    Matrix<double,6,6,RowMajor> data;
+
+};
+
+
+
+
+}
+
+#endif