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--- a/KDL/install/include/kdl/rotational_interpolation_sa.hpp
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+/***************************************************************************
+  tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  rotational_interpolation_sa.h
+
+                        rotational_interpolation_sa.h -  description
+                           -------------------
+    begin                : Mon January 10 2005
+    copyright            : (C) 2005 Erwin Aertbelien
+    email                : erwin.aertbelien@mech.kuleuven.ac.be
+
+ ***************************************************************************
+ *   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., 59 Temple Place,                                    *
+ *   Suite 330, Boston, MA  02111-1307  USA                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+ /*****************************************************************************
+ *  \author
+ *  	Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
+ *
+ *  \version
+ *		ORO_Geometry V0.2
+ *
+ *	\par History
+ *		- $log$
+ *
+ *	\par Release
+ *		$Id: rotational_interpolation_singleaxis.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
+ *		$Name:  $
+ ****************************************************************************/
+
+#ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
+#define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
+
+#include "frames.hpp"
+#include "frames_io.hpp"
+#include "rotational_interpolation.hpp"
+
+
+namespace KDL {
+
+
+	 /**
+	  * An interpolation algorithm which rotates a frame over the existing
+	  * single rotation axis
+	  * formed by start and end rotation. If more than one rotational axis
+	  * exist, an arbitrary one will be chosen, therefore it is not recommended 
+	  * to try to interpolate a 180 degrees rotation.
+	  * @ingroup Motion
+	  */
+class RotationalInterpolation_SingleAxis: public RotationalInterpolation
+	{
+		Rotation R_base_start;
+		Rotation R_base_end;
+		Vector rot_start_end;
+		double angle;
+	public:
+		RotationalInterpolation_SingleAxis();
+		virtual void SetStartEnd(Rotation start,Rotation end);
+		virtual double Angle();
+		virtual Rotation Pos(double th) const;
+		virtual Vector Vel(double th,double thd) const;
+		virtual Vector Acc(double th,double thd,double thdd)   const;
+		virtual void Write(std::ostream& os) const;
+		virtual RotationalInterpolation* Clone() const;
+		virtual ~RotationalInterpolation_SingleAxis();
+	};
+
+}
+
+
+#endif