KDL IkSolverPos joint limits


I have not found an option to set joint limits of a chain. Does the IkSolverPos not take joint limits into account? If this is true, the solution can be out of range of a manipulator with its physical constraints and thus useless.

Is there a possibility to get multiple or all solutions to be able to choose one that complies with the joint limits? Is it planned to add an IkSolver respecting the joint limits?

Kind regards,