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diff --git a/intern/itasc/kdl/utilities/traits.h b/intern/itasc/kdl/utilities/traits.h
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+++ b/intern/itasc/kdl/utilities/traits.h
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+#ifndef KDLPV_TRAITS_H 
+#define KDLPV_TRAITS_H 
+
+#include "utility.h"
+
+ 
+// forwards declarations :
+namespace KDL {
+   class Frame;
+    class Rotation;
+    class Vector;
+    class Twist;
+    class Wrench;
+	class FrameVel;
+	class RotationVel;
+	class VectorVel;
+	class TwistVel;
+}
+
+
+/**
+ * @brief Traits are traits classes to determine the type of a derivative of another type.
+ *
+ * For geometric objects the "geometric" derivative is chosen.  For example the derivative of a Rotation
+ * matrix is NOT a 3x3 matrix containing the derivative of the elements of a rotation matrix.  The derivative
+ * of the rotation matrix is a Vector corresponding the rotational velocity.  Mostly used in template classes
+ * and routines to derive a correct type when needed.
+ * 
+ * You can see this as a compile-time lookuptable to find the type of the derivative.
+ *
+ * Example
+ * \verbatim
+	Rotation R;
+    Traits<Rotation> dR;
+   \endverbatim
+ */
+template <typename T>
+struct Traits {
+	typedef T valueType;
+	typedef T derivType;
+};
+
+template <>
+struct Traits<KDL::Frame> {
+	typedef KDL::Frame valueType;
+	typedef KDL::Twist derivType;
+};
+template <>
+struct Traits<KDL::Twist> {
+	typedef KDL::Twist valueType;
+	typedef KDL::Twist derivType;
+};
+template <>
+struct Traits<KDL::Wrench> {
+	typedef KDL::Wrench valueType;
+	typedef KDL::Wrench derivType;
+};
+
+template <>
+struct Traits<KDL::Rotation> {
+	typedef KDL::Rotation valueType;
+	typedef KDL::Vector derivType;
+};
+
+template <>
+struct Traits<KDL::Vector> {
+	typedef KDL::Vector valueType;
+	typedef KDL::Vector derivType;
+};
+
+template <>
+struct Traits<double> {
+	typedef double valueType;
+	typedef double derivType;
+};
+
+template <>
+struct Traits<float> {
+	typedef float valueType;
+	typedef float derivType;
+};
+
+template <>
+struct Traits<KDL::FrameVel> {
+	typedef KDL::Frame valueType;
+	typedef KDL::TwistVel derivType;
+};
+template <>
+struct Traits<KDL::TwistVel> {
+	typedef KDL::Twist valueType;
+	typedef KDL::TwistVel derivType;
+};
+
+template <>
+struct Traits<KDL::RotationVel> {
+	typedef KDL::Rotation valueType;
+	typedef KDL::VectorVel derivType;
+};
+
+template <>
+struct Traits<KDL::VectorVel> {
+	typedef KDL::Vector valueType;
+	typedef KDL::VectorVel derivType;
+};
+
+
+
+#endif
+
+
+