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--- a/KDL/install/include/kdl/trajectory_segment.hpp
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+/***************************************************************************
+  tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  trajectory_segment.h
+
+                        trajectory_segment.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: trajectory_segment.h,v 1.1.1.1.2.5 2003/07/23 16:44:26 psoetens Exp $
+ *		$Name:  $
+ ****************************************************************************/
+
+#ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
+#define KDL_MOTION_TRAJECTORY_SEGMENT_H
+
+#include "frames.hpp"
+#include "frames_io.hpp"
+#include "trajectory.hpp"
+#include "path.hpp"
+#include "velocityprofile.hpp"
+
+
+namespace KDL {
+
+
+	/**
+	 * Trajectory_Segment combines a VelocityProfile and a Path into a
+	 * trajectory
+	 * @ingroup Motion
+	 */
+	class Trajectory_Segment :  public Trajectory
+	{
+		VelocityProfile* motprof;
+		Path*      geom;
+		bool aggregate;
+	public:
+		/**
+		 * This constructor assumes that \a geom and <_motprof> are initialised correctly.
+		 */
+		Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, bool _aggregate=true);
+
+		/**
+		 * This constructor assumes that \a geom is initialised and <_motprof> needs to be
+		 * set according to \a duration.
+		 */
+		Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, double duration, bool _aggregate=true);
+
+		virtual double Duration() const;
+		// The duration of the trajectory
+
+		virtual Frame Pos(double time) const;
+		// Position of the trajectory at <time>.
+
+		virtual Twist Vel(double time) const;
+		// The velocity of the trajectory at <time>.
+		virtual Twist Acc(double time) const;
+		// The acceleration of the trajectory at <time>.
+
+ 		virtual Trajectory* Clone() const
+			{
+				if ( aggregate )
+					return new Trajectory_Segment( geom->Clone(), motprof->Clone(), true );
+				return new Trajectory_Segment( geom, motprof, false );
+			}
+
+		virtual void Write(std::ostream& os) const;
+
+	    virtual Path* GetPath();
+
+	    virtual VelocityProfile* GetProfile();
+
+
+		virtual ~Trajectory_Segment();
+	};
+
+
+
+}
+
+
+#endif