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diff --git a/intern/itasc/kdl/treefksolverpos_recursive.cpp b/intern/itasc/kdl/treefksolverpos_recursive.cpp
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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
+
+#include "treefksolverpos_recursive.hpp"
+#include <iostream>
+
+namespace KDL {
+
+    TreeFkSolverPos_recursive::TreeFkSolverPos_recursive(const Tree& _tree):
+        tree(_tree)
+    {
+    }
+
+    int TreeFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName)
+    {      
+		SegmentMap::const_iterator it = tree.getSegment(segmentName); 
+		SegmentMap::const_iterator baseit = tree.getSegment(baseName); 
+        
+        if(q_in.rows() != tree.getNrOfJoints())
+    	    	return -1;
+        else if(it == tree.getSegments().end()) //if the segment name is not found
+         	return -2;
+        else if(baseit == tree.getSegments().end()) //if the base segment name is not found
+         	return -3;
+        else{
+			p_out = recursiveFk(q_in, it, baseit);	
+        	return 0;        	
+        }
+    }
+
+	Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit)
+	{
+		//gets the frame for the current element (segment)
+		const TreeElement& currentElement = it->second;
+		
+		if(it == baseit){
+			return KDL::Frame::Identity();
+		}
+		else{
+			Frame currentFrame = currentElement.segment.pose(((JntArray&)q_in)(currentElement.q_nr));
+			SegmentMap::const_iterator parentIt = currentElement.parent;
+			return recursiveFk(q_in, parentIt, baseit) * currentFrame;
+		}
+	}
+
+    TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive()
+    {
+    }
+
+
+}