Pour boiling water over rosemary in small bowl; let stand
until cool. Strain; discard rosemary. Combine rosemary water
and orange juice concentrate in 2-cup measure; add water to
measure 2 cups.
Combine orange juice mixture and remaining ingredients,
except sugar, in large saucepan; heat to boiling. Stir
in Splenda(R) and return to boiling, stirring constantly.
Boil hard 1 minute, stirring constantly.
Pour jelly into sterilized pint jars and seal; cool. Store
in refrigerator 2 to 3 weeks.