diff --git a/cpp/Position.hpp b/cpp/Position.hpp
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+/**
+* 
+* Position.hpp - C++ header for Position class
+*
+* Copyright (C) 2014 Simon D. Levy
+
+* This code is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as 
+* published by the Free Software Foundation, either version 3 of the 
+* License, or (at your option) any later version.
+* 
+* This code is distributed in the hope that it will be useful,     
+* but WITHOUT ANY WARRANTY without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+* 
+* You should have received a copy of the GNU Lesser General Public License 
+* along with this code.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdio.h>
+#include <math.h>
+
+#include <iostream>
+#include <vector>
+using namespace std; 
+
+
+/**
+* A class representing the position of a robot.
+*/class Position 
+{    
+    friend class CoreSLAM;
+    
+public:
+    
+    /**
+    * Constructs a new position.
+    * @param x_mm X coordinate in millimeters
+    * @param y_mm Y coordinate in millimeters
+    * @param theta_degrees rotation angle in degrees
+    */
+    
+    Position(double x_mm, double y_mm, double theta_degrees)
+    {
+        this->x_mm = x_mm;
+        this->y_mm = y_mm;
+        this->theta_degrees = theta_degrees;
+        
+    }
+    
+    /**
+    * Empty position constructor.  All values are set to zero.
+    */
+    Position(void)
+    {
+        this->x_mm = 0;
+        this->y_mm = 0;
+        this->theta_degrees = 0;       
+    }
+    
+    
+    friend ostream& operator<< (ostream & out, Position & position)
+    {
+        char str[100];
+        
+        sprintf(str, "<x = %7.0f mm  y = %7.0f mm theta = %+3.3f degrees>",
+            position.x_mm, position.y_mm, position.theta_degrees);
+        
+        out << str;
+        
+        return out;
+    }
+    
+    /**
+    * Distance of robot from left edge of map, in millimeters.
+    */
+    double x_mm;
+    
+    
+    /**
+    * Distance of robot from top edge of map, in millimeters.
+    */
+    double y_mm;
+    
+    /**
+    * Clockwise rotation of robot with respect to three o'clock (east), in degrees.
+    */
+    double theta_degrees;    
+};