The pr2mechanismmodel::KinematicHelpers class seems to be missing from the pr2mechanismmodel package. Was this moved to another package?

This is used in the Coding a realtime Cartesian controller with Eigen tutorial: http://www.ros.org/wiki/pr2_mechanism/Tutorials/Coding%20a%20realtime%20Cartesian%20controller%20with%20Eigen

I found the following questions that were not answered: http://comments.gmane.org/gmane.science.robotics.ros.user/7999

http://listarc.com/showthread.php?1780322-Cartesian+controller+tutorial