Possible correction in kdl_tl.cpp

[ash22194]

Line 126 in trac_ik/trac_ik_lib/src/kdl_tl.cpp

Instead of q_curr(j) = q_min(j);

Shouldn't it be? q_curr(j) = q_max(j);

[Patrick Beeson]

No. By default the vanilla KDL algorithm says that if you go below q_min you clamp the value to q_min. All we are doing here is saying, if you are below q_min, but can add 360 degrees and still be within q_max then do that (it's better to "rollout" than to "clamp" when trying to gradient descent to a solution). But if adding 360 it not within the bounds, then it defaults to clamping like the old algorithm.