diff --git a/.gitignore b/.gitignore
index 850a639..4fe2d3b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,3 +3,5 @@ build/
 *.txt
 !CMakeLists.txt
 *.log
+.project
+.cproject
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 801d101..79acf8f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -30,7 +30,9 @@ set(SOURCES ${CMAKE_PROJECT_NAME}/geometry/Translation.cpp
             ${CMAKE_PROJECT_NAME}/kinematics/JointAccelerations.cpp
 
             ${CMAKE_PROJECT_NAME}/dynamics/JointTorques.cpp
-            ${CMAKE_PROJECT_NAME}/dynamics/JointImpedance.cpp)
+            ${CMAKE_PROJECT_NAME}/dynamics/JointImpedance.cpp
+            
+            ${CMAKE_PROJECT_NAME}/robot/JointState.cpp)
 
 set(HEADERS ${CMAKE_PROJECT_NAME}/geometry/Translation.hpp
             ${CMAKE_PROJECT_NAME}/geometry/Rotation.hpp
@@ -40,7 +42,9 @@ set(HEADERS ${CMAKE_PROJECT_NAME}/geometry/Translation.hpp
             ${CMAKE_PROJECT_NAME}/kinematics/JointAccelerations.hpp
 
             ${CMAKE_PROJECT_NAME}/dynamics/JointTorques.hpp
-            ${CMAKE_PROJECT_NAME}/dynamics/JointImpedance.hpp)
+            ${CMAKE_PROJECT_NAME}/dynamics/JointImpedance.hpp
+            
+            ${CMAKE_PROJECT_NAME}/robot/JointState.hpp)
 
 # Shared object
 
diff --git a/src/rst-rt/robot/JointState.cpp b/src/rst-rt/robot/JointState.cpp
new file mode 100644
index 0000000..ec7fd81
--- /dev/null
+++ b/src/rst-rt/robot/JointState.cpp
@@ -0,0 +1,56 @@
+/* ============================================================
+ *
+ * This file is a part of RST-RT (CogIMon) project
+ *
+ * Copyright (C) 2016 by Dennis Leroy Wigand <dwigand at cor-lab dot uni-bielefeld dot de>
+ *
+ * This file may be licensed under the terms of the
+ * GNU Lesser General Public License Version 3 (the ``LGPL''),
+ * or (at your option) any later version.
+ *
+ * Software distributed under the License is distributed
+ * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
+ * express or implied. See the LGPL for the specific language
+ * governing rights and limitations.
+ *
+ * You should have received a copy of the LGPL along with this
+ * program. If not, go to http://www.gnu.org/licenses/lgpl.html
+ * or write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The development of this software was supported by:
+ *   CoR-Lab, Research Institute for Cognition and Robotics
+ *     Bielefeld University
+ *
+ * ============================================================ */
+
+#include "JointState.hpp"
+
+namespace rstrt {
+namespace robot {
+
+JointState::JointState() {
+}
+
+JointState::JointState(int size) {
+    this->angles.resize(size);
+    this->angles.fill(0);
+
+    this->velocities.resize(size);
+	this->velocities.fill(0);
+
+	this->torques.resize(size);
+	this->torques.fill(0);
+}
+
+
+std::ostream& operator<<(std::ostream& os, const JointState& cd) {
+    return os << "JointState : {\nangles : " << cd.angles << "\nvelocities : " << cd.velocities << "\ntorques : " << cd.torques << "\n}";
+}
+
+std::istream& operator>>(std::istream& is, JointState& cd) {
+    return is;// >> cd.angles;
+}
+
+}
+}
diff --git a/src/rst-rt/robot/JointState.hpp b/src/rst-rt/robot/JointState.hpp
new file mode 100644
index 0000000..89c34a3
--- /dev/null
+++ b/src/rst-rt/robot/JointState.hpp
@@ -0,0 +1,53 @@
+/* ============================================================
+ *
+ * This file is a part of RST-RT (CogIMon) project
+ *
+ * Copyright (C) 2016 by Dennis Leroy Wigand <dwigand at cor-lab dot uni-bielefeld dot de>
+ *
+ * This file may be licensed under the terms of the
+ * GNU Lesser General Public License Version 3 (the ``LGPL''),
+ * or (at your option) any later version.
+ *
+ * Software distributed under the License is distributed
+ * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
+ * express or implied. See the LGPL for the specific language
+ * governing rights and limitations.
+ *
+ * You should have received a copy of the LGPL along with this
+ * program. If not, go to http://www.gnu.org/licenses/lgpl.html
+ * or write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The development of this software was supported by:
+ *   CoR-Lab, Research Institute for Cognition and Robotics
+ *     Bielefeld University
+ *
+ * ============================================================ */
+
+#pragma once
+
+#include <iostream>
+
+#include <Eigen/Dense>
+
+namespace rstrt {
+namespace robot {
+
+class JointState {
+public:
+	JointState();
+	JointState(int size);
+
+//private:
+    Eigen::VectorXf angles;
+    Eigen::VectorXf velocities;
+    Eigen::VectorXf torques;
+};
+
+// Displaying:
+std::ostream& operator<<(std::ostream& os, const JointState& cd);
+// Reading:
+std::istream& operator>>(std::istream& is, JointState& cd);
+
+}
+}