Actually you can use ROS to do this if you have to complete a form 11, using the offline software which contains a pension calculator. The advantage being that you can do several drafts till you get it right and upload it, or if you are missing bits of information, and you can even email the drafts to your accountant when you get confused. That's how I do it anyway... poor accountant, he is very patient as I find tax-speak hard to understand.
I do think ROS still needs to be translated from tax-speak into English for normal people who are not accountants otherwise it will never get widespread use.
Imogen