Hi,

We announced it previous summer, and I finally pushed the changes to a new kinfam_refactored branch
(since I had to cherry pick its a bunch of not so nice commits)
It was mentioned in a reply to a question, but got a bit lost.
I would like to ask the KDL devs for testing, approval and merging it into the master, probably there is need for a new release number (but I don't know what number, since
the numbers on the wiki differ from the numbers in the code...)

It contains changes of the KDL tree and chain, without braking the existing API (although some will be flagged deprecated when compiling)
Documentation can be found under:
http://orocos.org/wiki/main-page/kdl-wiki/user-manual/kinematic-chains/k...

It also contains some additions to path definitions.

related discussions we had on it include:
http://www.orocos.org/forum/rtt/rtt-dev/feedback-api-change-kdl-tree-and...
http://www.orocos.org/forum/rtt/rtt-dev/getchain-treecpp-kdl
http://www.orocos.org/forum/orocos/orocos-users/kdl-treenrofsegments-and...

kind regards,

Nick