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diff --git a/intern/itasc/kdl/jacobian.cpp b/intern/itasc/kdl/jacobian.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 "jacobian.hpp"
+
+namespace KDL
+{
+    Jacobian::Jacobian(unsigned int _size,unsigned int _nr_blocks):
+        size(_size),nr_blocks(_nr_blocks)
+    {
+        twists = new Twist[size*nr_blocks];
+    }
+
+    Jacobian::Jacobian(const Jacobian& arg):
+                       size(arg.columns()),
+                       nr_blocks(arg.nr_blocks)
+    {
+        twists = new Twist[size*nr_blocks];
+        for(unsigned int i=0;i<size*nr_blocks;i++)
+            twists[i] = arg.twists[i];
+    }
+
+    Jacobian& Jacobian::operator = (const Jacobian& arg)
+    {
+        assert(size==arg.size);
+        assert(nr_blocks==arg.nr_blocks);
+        for(unsigned int i=0;i<size;i++)
+            twists[i]=arg.twists[i];
+        return *this;
+    }
+
+
+    Jacobian::~Jacobian()
+    {
+        delete [] twists;
+    }
+
+    double Jacobian::operator()(int i,int j)const
+    {
+        assert(i<6*(int)nr_blocks&&j<(int)size);
+        return twists[j+6*(int)(floor((double)i/6))](i%6);
+    }
+
+    double& Jacobian::operator()(int i,int j)
+    {
+        assert(i<6*(int)nr_blocks&&j<(int)size);
+        return twists[j+6*(int)(floor((double)i/6))](i%6);
+    }
+
+    unsigned int Jacobian::rows()const
+    {
+        return 6*nr_blocks;
+    }
+
+    unsigned int Jacobian::columns()const
+    {
+        return size;
+    }
+
+    void SetToZero(Jacobian& jac)
+    {
+        for(unsigned int i=0;i<jac.size*jac.nr_blocks;i++)
+            SetToZero(jac.twists[i]);
+    }
+
+    void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest)
+    {
+        assert(src1.size==dest.size);
+        assert(src1.nr_blocks==dest.nr_blocks);
+        for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
+            dest.twists[i]=src1.twists[i].RefPoint(base_AB);
+    }
+
+    void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest)
+    {
+        assert(src1.size==dest.size);
+        assert(src1.nr_blocks==dest.nr_blocks);
+        for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
+            dest.twists[i]=rot*src1.twists[i];
+    }
+
+    void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest)
+    {
+        assert(src1.size==dest.size);
+        assert(src1.nr_blocks==dest.nr_blocks);
+        for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++)
+            dest.twists[i]=frame*src1.twists[i];
+    }
+
+    bool Jacobian::operator ==(const Jacobian& arg)
+    {
+        return Equal((*this),arg);
+    }
+    
+    bool Jacobian::operator!=(const Jacobian& arg)
+    {
+        return !Equal((*this),arg);
+    }
+    
+    bool Equal(const Jacobian& a,const Jacobian& b,double eps)
+    {
+        if(a.rows()==b.rows()&&a.columns()==b.columns()){
+            bool rc=true;
+            for(unsigned int i=0;i<a.columns();i++)
+                rc&=Equal(a.twists[i],b.twists[i],eps);
+            return rc;
+        }else
+            return false;
+    }
+    
+}