diff --git a/libs_required/ACG/Scenegraph/TransformNode.cc b/libs_required/ACG/Scenegraph/TransformNode.cc
index 440e236369008ac3b0dd4cd0098dc79cb323986e..3a5d764bd7993329afd62c4c783bbfe40d253fcd 100644
--- a/libs_required/ACG/Scenegraph/TransformNode.cc
+++ b/libs_required/ACG/Scenegraph/TransformNode.cc
@@ -134,6 +134,17 @@ translate(const Vec3d& _v)
   updateMatrix();
 }
 
+//----------------------------------------------------------------------------
+
+
+void
+TransformNode::
+setTranslation(const Vec3d& _v)
+{
+  translation_ = _v;
+  updateMatrix();
+}
+
 
 //----------------------------------------------------------------------------
 
@@ -154,6 +165,22 @@ rotate(double _angle, const Vec3d& _axis)
 //----------------------------------------------------------------------------
 
 
+void
+TransformNode::
+setRotation(const Quaterniond& rotation)
+{
+  quaternion_ = rotation;
+  quaternion_.normalize();
+  rotation_matrix_ = quaternion_.rotation_matrix();
+  inverse_rotation_matrix_ = rotation_matrix_;
+  inverse_rotation_matrix_.transpose();
+  updateMatrix();
+}
+
+
+//----------------------------------------------------------------------------
+
+
 void
 TransformNode::
 scale(const Vec3d& _s)
@@ -256,7 +283,7 @@ enter(GLState& _state, const DrawModes::DrawMode& /* _drawmode */ )
 
   if (is2DObject_)
     ortho2DMode(_state);
-  
+
   if(isPerSkeletonObject_)
     perSkeletonMode(_state);
 }
@@ -360,19 +387,19 @@ ortho2DMode(GLState& _state)
 
   if (width == 0 || height == 0)
     return;
-  
+
 //   _state.viewport(0,0,width, height);
   _state.reset_projection();
-  
+
   _state.ortho(-(GLdouble)width/2.0, (GLdouble)width/2.0, -(GLdouble)height/2.0, (GLdouble)height/2.0, 0.01, 20.0);
 //   _state.ortho(0.0, (GLdouble)width, (GLdouble)height, 0.0, 0.01,20.0);
-  
+
   _state.reset_modelview();
-  
-  _state.lookAt( Vec3d(0.0,0.0,0.0), 
-                 Vec3d(0.0,0.0,1.0), 
+
+  _state.lookAt( Vec3d(0.0,0.0,0.0),
+                 Vec3d(0.0,0.0,1.0),
                  Vec3d(0.0,-1.0,0.0));  // flip up direction (y-axis) s.t. opengl coordsys matches image coordsys
-  
+
   _state.scale(scaleFactor2D_, scaleFactor2D_, 1.0);
 
   //   move image center to window center
diff --git a/libs_required/ACG/Scenegraph/TransformNode.hh b/libs_required/ACG/Scenegraph/TransformNode.hh
index 498b773584543ebdf48bf0bf06dc04cf01cf1683..2d8f039f492766290c30a5d6a47622b10216a15c 100644
--- a/libs_required/ACG/Scenegraph/TransformNode.hh
+++ b/libs_required/ACG/Scenegraph/TransformNode.hh
@@ -86,7 +86,7 @@ namespace SceneGraph {
     specified center. This is the base class for e.g. the
     TrackballNode and the ManipulatorNode, that only add a GUI for
     generating the transformations.
-    
+
     Note that in order for the transformations to apply in
     each traversal of the scenegraph, one has to call
     apply_transformation(true) once.
@@ -137,10 +137,16 @@ public:
   /// Add a translation to the current Transformation.
   void translate(const Vec3d& _v);
 
+  /// translation setter
+  void setTranslation(const Vec3d& _v);
+
   /** Add a rotation to the current Transformation.
       Assume angle in degree and axis normalized */
   void rotate(double _angle, const Vec3d& _axis);
 
+  /// rotation setter
+  void setRotation(const Quaterniond& rotation);
+
   /// Add scaling to the current Transformation.
   void scale(double _s) { scale(Vec3d(_s, _s, _s)); }
 
@@ -178,12 +184,12 @@ public:
   const Vec3d& translation() const { return translation_; }
 
   /// return scale matrix
-  const GLMatrixd& scale() const { 
-    return scale_matrix_; 
+  const GLMatrixd& scale() const {
+    return scale_matrix_;
   }
   /// return inverse scale matrix
-  const GLMatrixd& inverse_scale() const { 
-    return inverse_scale_matrix_; 
+  const GLMatrixd& inverse_scale() const {
+    return inverse_scale_matrix_;
   }
 
   bool apply_transformation() { return applyTransformation_; }
@@ -194,11 +200,11 @@ public:
   // ortho 2d mode
   bool is2D(){return is2DObject_;};
   void set2D(bool _2d){is2DObject_ = _2d;};
-  
+
   bool isPerSkeletonObject(){return isPerSkeletonObject_;};
   void setPerSkeletonObject(bool _is){isPerSkeletonObject_ = _is;};
   void setPerSkeletonModelView(GLMatrixd _is){perSkeletonModelView_ = _is;};
-  
+
   void ortho2DMode(GLState& _state);
   void perSkeletonMode(GLState& _state);
   void update2DOffset(ACG::Vec2d _offset){offset_ += _offset;};