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diff --git a/intern/itasc/kdl/jacobian.hpp b/intern/itasc/kdl/jacobian.hpp
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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 KDL_JACOBIAN_HPP
+#define KDL_JACOBIAN_HPP
+
+#include "frames.hpp"
+
+namespace KDL
+{
+    //Forward declaration
+    class ChainJntToJacSolver;
+
+    class Jacobian
+    {
+        friend class ChainJntToJacSolver;
+    private:
+        unsigned int size;
+        unsigned int nr_blocks;
+    public:
+        Twist* twists;
+        Jacobian(unsigned int size,unsigned int nr=1);
+        Jacobian(const Jacobian& arg);
+
+        Jacobian& operator=(const Jacobian& arg);
+
+        bool operator ==(const Jacobian& arg);
+        bool operator !=(const Jacobian& arg);
+        
+        friend bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon);
+        
+
+        ~Jacobian();
+
+        double operator()(int i,int j)const;
+        double& operator()(int i,int j);
+        unsigned int rows()const;
+        unsigned int columns()const;
+
+        friend void SetToZero(Jacobian& jac);
+
+        friend void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest);
+        friend void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest);
+        friend void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest);
+
+
+    };
+}
+
+#endif