[ODE] Inverse Dynamics in ODE -- does it take morecomputation thanjust pure forward dynamics?

[Jon Watte]

> I totally agree that this is a pain.
> We could also simply make sure that the low limit is always smaller 
> than the high limit.

In that case, we should document that that's so, too. I hate code 
that silently hides bugs. ;-) Anyway, I like that suggestion -- 
anyone willing to apply to the CVS source?

Cheers,

		/ h+