[Bug 1024] New: chain/tree fksolvers jntToCart are not marked const

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: [email protected]
        ReportedBy: [email protected]
   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

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