Index: src/joint.cpp
===================================================================
--- src/joint.cpp	(revision 30213)
+++ src/joint.cpp	(working copy)
@@ -154,5 +154,10 @@
       }
   }

+  Vector Joint::JointOrigin() const
+  {
+    return origin;
+  }
+
 } // end of namespace KDL

Index: src/joint.hpp
===================================================================
--- src/joint.hpp	(revision 30213)
+++ src/joint.hpp	(working copy)
@@ -102,6 +102,13 @@
          */
         Vector JointAxis() const;

+        /**
+         * Request the Vector corresponding to the origin of a revolute joint.
+         *
+         * @return Vector
+         */
+        Vector JointOrigin() const;
+
         /**
          * Request the type of the joint.
          *