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diff --git a/intern/itasc/kdl/treefksolver.hpp b/intern/itasc/kdl/treefksolver.hpp
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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Copyright  (C)  2008  Julia Jesse
+
+// 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_TREE_FKSOLVER_HPP
+#define KDL_TREE_FKSOLVER_HPP
+
+#include <string>
+
+#include "tree.hpp"
+//#include "framevel.hpp"
+//#include "frameacc.hpp"
+#include "jntarray.hpp"
+//#include "jntarrayvel.hpp"
+//#include "jntarrayacc.hpp"
+
+namespace KDL {
+
+    /**
+	  * \brief This <strong>abstract</strong> class encapsulates a
+	  * solver for the forward position kinematics for a KDL::Tree.
+     *
+     * @ingroup KinematicFamily
+     */
+
+    //Forward definition
+    class TreeFkSolverPos {
+    public:
+        /**
+         * Calculate forward position kinematics for a KDL::Tree,
+         * from joint coordinates to cartesian pose.
+         *
+         * @param q_in input joint coordinates
+         * @param p_out reference to output cartesian pose
+         *
+         * @return if < 0 something went wrong
+         */
+        virtual int JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName)=0;
+        virtual ~TreeFkSolverPos(){};
+    };
+
+    /**
+     * \brief This <strong>abstract</strong> class encapsulates a solver
+     * for the forward velocity kinematics for a KDL::Tree.
+     *
+     * @ingroup KinematicFamily
+     */
+//    class TreeFkSolverVel {
+//    public:
+        /**
+         * Calculate forward position and velocity kinematics, from
+         * joint coordinates to cartesian coordinates.
+         *
+         * @param q_in input joint coordinates (position and velocity)
+         * @param out output cartesian coordinates (position and velocity)
+         *
+         * @return if < 0 something went wrong
+         */
+//        virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
+
+//        virtual ~TreeFkSolverVel(){};
+//    };
+    
+    /**
+     * \brief This <strong>abstract</strong> class encapsulates a solver
+     * for the forward acceleration kinematics for a KDL::Tree.
+     *
+     * @ingroup KinematicFamily
+     */
+
+//    class TreeFkSolverAcc {
+//   public:
+        /**
+         * Calculate forward position, velocity and accelaration
+         * kinematics, from joint coordinates to cartesian coordinates
+         *
+         * @param q_in input joint coordinates (position, velocity and
+         * acceleration
+         @param out output cartesian coordinates (position, velocity
+         * and acceleration
+         *
+         * @return if < 0 something went wrong
+         */
+//    virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
+
+//        virtual ~TreeFkSolverAcc()=0;
+//    };
+
+
+}//end of namespace KDL
+
+#endif