My first encounter with agile software development was working with Kent Beck at the dawn of Extreme Programming. One of the things that impressed me about that project was the way we went about planning. This included an approach to estimating which was both lightweight yet more effective than what I'd seen before. Over a decade has now passed, and now there is an argument amongst experienced agilsts about whether estimation is worth doing at all, or indeed is actively harmful. I think that to answer this question we have to look to what purpose the estimates will be used for.