Why is nr_of_jnts a double and not unsigned int?

[guru-florida]

The constructor for TreeIkSolverPos_Online takes nr_of_jnts argument but it is a double. Looking at the source code, the argument is only used to construct the JntArray objects and that constructor takes an unsigned int...it seems to me the nr_of_jnts argument should also be an unsigned int. I can't see a use case for having non-integer number of joints. The argument is not used anywhere else but the constructor.

orocos_kinematics_dynamics/orocos_kdl/src/treeiksolverpos_online.cpp

Line 29 in 4f705fe

TreeIkSolverPos_Online::TreeIkSolverPos_Online(const double& nr_of_jnts,

I can do a PR if you like.

[MatthijsBurgh]

@guru-florida thanks for your comment.

I agree with you. Internally an uint is used. So this API doesn't make any sense.

Changing this API, would be a breaking change. Therefore I don't want to change it for now. So I created a milestone for the next breaking release. This could be long way down the road. But I will add this issue to that milestone.