Hoping that this makes it through, else not sure how to submit small
patches now ...
S

Index: chainiksolvervel_wdls.hpp
===================================================================
--- chainiksolvervel_wdls.hpp (revision 29637)
+++ chainiksolvervel_wdls.hpp (working copy)
@@ -74,7 +74,16 @@
ChainIkSolverVel_wdls(const Chain& chain,double
eps=0.00001,int maxiter=150);
//=ublas::identity_matrix
~ChainIkSolverVel_wdls();
-
+
+ /**
+ * Calculate the inverse velocity kinematics in the base frame,
+ * at \a q_in given \a v_in
+ *
+ * @param q_in Input joint positions
+ * @param v_in Input cartesian velocity (in base frame!)
+ * @param qdot_out Output joint velocities
+ * @return -2 if maxiter exceeded, 0 otherwise
+ */
virtual int CartToJnt(const JntArray& q_in, const Twist&
v_in, JntArray& qdot_out);
/**
* not (yet) implemented.