changed maxiter back to int

Author: ccarigna

orocos_kdl/src/chainiksolvervel_pinv.cpp

@@ -69,7 +69,7 @@ namespace KDL
         // else silently ignore
     }
 
-    void ChainIkSolverVel_pinv::setMaxIter(const unsigned int maxiter_in)
+    void ChainIkSolverVel_pinv::setMaxIter(const int maxiter_in)
     {
         if (maxiter_in >= 1)
             maxiter = maxiter_in;

orocos_kdl/src/chainiksolvervel_pinv.hpp

@@ -87,9 +87,9 @@ namespace KDL
 
         /**
          * Set maxIter
-         * \pre 1 <= maxiter, otherwise maxiter is ignored
+         * \pre maxiter >= 1, otherwise maxiter is ignored
          */
-        void setMaxIter(const unsigned int maxiter_in);
+        void setMaxIter(const int maxiter_in);
 
         /**
          * Retrieve the number of singular values of the jacobian that are < eps;
@@ -117,7 +117,7 @@ namespace KDL
          * Get maximum number of iterations
          * \pre maxiter >= 1, otherwise maxiter is ignored
          */
-        unsigned int getMaxIter() const { return static_cast<unsigned int>(maxiter); }
+        int getMaxIter() const { return maxiter; }
 
         /**
          * Retrieve the latest return code from the SVD algorithm
@@ -146,7 +146,7 @@ namespace KDL
         std::vector<JntArray> V;
         JntArray tmp;
         double eps;
-        unsigned int maxiter;
+        int maxiter;
         unsigned int nrZeroSigmas;
         int svdResult;
         double sigmaMin;

orocos_kdl/tests/solvertest.cpp

@@ -517,7 +517,7 @@ void SolverTest::FkPosAndIkPosTest()
 
 void SolverTest::IkSingularValueTest()
 {
-	unsigned int maxiter = 30;
+	int maxiter = 30;
 	double	eps = 1e-6 ;
 	int maxiter_vel = 30;
 	double	eps_vel = 0.1 ;
@@ -697,9 +697,9 @@ void SolverTest::IkVelSolverWDLSTest()
 }
 void SolverTest::IkVelSolverPinvTest()
 {
-    unsigned int maxiter = 30;
+    int maxiter = 30;
     double eps = 1e-6;
-    unsigned int maxiternew = 10;
+    int maxiternew = 10;
     double epsnew = 0.1;
 
     std::cout << "KDL-IK Pinv Vel Solver Tests for Near Zero SVs" << std::endl;