diff -u -r1.2 -r1.3
--- Define.java	30 Jun 2005 00:36:10 -0000	1.2
+++ Define.java	13 Apr 2011 00:09:52 -0000	1.3
@@ -5,7 +5,7 @@

 import org.jdom.Element;
 
 /**

- *

+ * 

  * @author tonyj
  */
 public class Define extends Element

@@ -13,29 +13,40 @@

     private Map rotations = new HashMap();
     private Map constants = new HashMap();
     private Map positions = new HashMap();

+

     public Define()
     {
         super("define");
     }

+

     public void addConstant(Constant constant)
     {
         addContent(constant);

-        constants.put(constant.getRefName(),constant);

+        constants.put(constant.getRefName(), constant);

     }

+

     public void addPosition(Position position)
     {
         addContent(position);

-        positions.put(position.getRefName(),position);

+        positions.put(position.getRefName(), position);

     }

+

     public void addRotation(Rotation rotation)
     {
         addContent(rotation);

-        rotations.put(rotation.getRefName(),rotation);

+        rotations.put(rotation.getRefName(), rotation);

     }

+

     public Rotation getRotation(String name)
     {
         return (Rotation) rotations.get(name);
     }

+
+    public Position getPosition(String name)
+    {
+        return (Position) positions.get(name);
+    }
+

     public Constant getConstant(String name)
     {
         return (Constant) constants.get(name);

diff -u -r1.3 -r1.4
--- Rotation.java	30 Oct 2007 18:29:29 -0000	1.3
+++ Rotation.java	13 Apr 2011 00:09:52 -0000	1.4
@@ -23,6 +23,20 @@

       setAttribute("y","0.0");
       setAttribute("z","0.0");
       setAttribute("unit","radian");

+   }
+   
+   /** 
+    * Creates an identity rotation called <code>name</code> with given
+    * rotations about the X, Y, and Z axes.
+    * @param name The unique name of this rotation. 
+    */
+   public Rotation(String name, double rx, double ry, double rz)
+   {
+      super("rotation",name);
+      setAttribute("x",Double.toString(rx));
+      setAttribute("y",Double.toString(ry));
+      setAttribute("z",Double.toString(rz));
+      setAttribute("unit","radian");

    } 
    
    /**