[Bug 1043] New: Errors in underlying IK solver are not correctly processed

http://bugs.orocos.org/show_bug.cgi?id=1043

           Summary: Errors in underlying IK solver are not correctly
                    processed
           Product: KDL
           Version: kdl-trunk
          Platform: All
        OS/Version: All
            Status: NEW
          Severity: major
          Priority: P3
         Component: Kinematic Solvers
        AssignedTo: [email protected]
        ReportedBy: [email protected]
   Estimated Hours: 0.0


The chainiksolverpos_nr (and the _jl version) ignores any error in the
underlying IK velocity solver. With the correct set of input conditions, this
allows bad data to be returned.

While this patch fixes the problem, the solver tests now fail as they assume
that you can always invert any joint position. Obviously this is false, and
shows that the original implementation was incorrect in that the tests all
passed. See orocos-kdl/tests/solvertest.cpp:SolverTest::FkPosAndIkPosLocal(),
which uses random joint angles and always assumes success.

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