diff --git a/ShoulderCase/Circle.m b/ShoulderCase/Circle.m
new file mode 100644
index 0000000..b89b8c6
--- /dev/null
+++ b/ShoulderCase/Circle.m
@@ -0,0 +1,40 @@
+classdef Circle < handle
+
+  properties
+    points
+    numberOfPoints
+    radius
+    center
+    normal
+  end
+
+
+
+  methods
+    function obj = Circle(center,radius,normal,numberOfPoints)
+      obj.center = center;
+      obj.radius = radius;
+      obj.numberOfPoints = numberOfPoints;
+      obj.normal = normal;
+
+      obj.createPoints;
+    end
+
+    function createPoints(obj)
+      obj.points = obj.radius*[cos(2*pi*(1:obj.numberOfPoints)/obj.numberOfPoints)',...
+                               sin(2*pi*(1:obj.numberOfPoints)/obj.numberOfPoints)',...
+                               zeros(obj.numberOfPoints,1)];
+       obj.rotate(vrrotvec([0 0 1],obj.normal));
+       obj.translate(obj.center);
+    end
+
+    function rotate(obj,rotationVector)
+      obj.points = (vrrotvec2mat(rotationVector)*obj.points')';
+    end
+
+    function translate(obj,vector)
+      obj.points = obj.points + vector;
+    end
+  end
+
+end