http://bugs.orocos.org/show_bug.cgi?id=1024

Summary: chain/tree fksolvers jntToCart are not marked const
Product: KDL
Version: kdl-trunk
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P3
Component: Kinematic Solvers
AssignedTo: orocos-dev [..] ...
ReportedBy: andy [dot] somerville [..] ...
Estimated Hours: 0.0

Not sure if it's intentional, but the interface for

virtual double CartToJnt(const JntArray& q_init, const Frames&
p_in,JntArray& q_out)=0;

functions are not marked as const and so fail to compile if a solver is passed
by const reference to a function (as is common practice).

If it's desirable for CartToJnt to be able to modify "this" so that specific
implementations can change some cache members, I believe it could be solved
with "mutable" and still make the function const.

Affected files:

treeiksolver.hpp
treeiksolverpos_nr_jl.hpp
treeiksolvervel_wdls.hpp
chainiksolver.hpp
chainiksolverpos_nr.hpp
chainiksolverpos_nr_jl.hpp
chainiksolvervel_pinv_givens.hpp
chainiksolvervel_pinv.hpp
chainiksolvervel_pinv_nso.hpp
chainiksolvervel_wdls.hpp