meka-patch.patch

diff --git a/orocos_kdl/src/chain.hpp b/orocos_kdl/src/chain.hpp
index 7758c79..fcd0739 100644
--- a/orocos_kdl/src/chain.hpp
+++ b/orocos_kdl/src/chain.hpp
@@ -84,6 +84,16 @@ namespace KDL {
          * @return a constant reference to the nr'd segment
          */
         const Segment& getSegment(unsigned int nr)const;
+        /**
+         * Meka Patch : 
+	 * Request the nr'd segment of the chain. There is no boundary
+         * checking.
+         *
+         * @param nr the nr of the segment starting from 0
+         *
+         * @return a reference to the nr'd segment
+         */
+	Segment* getMutableSegment(unsigned int nr){ return &segments[nr]; };
 
         virtual ~Chain();
     };
diff --git a/orocos_kdl/src/chainidsolver_recursive_newton_euler.hpp b/orocos_kdl/src/chainidsolver_recursive_newton_euler.hpp
index 3140cd2..c8789a1 100644
--- a/orocos_kdl/src/chainidsolver_recursive_newton_euler.hpp
+++ b/orocos_kdl/src/chainidsolver_recursive_newton_euler.hpp
@@ -58,9 +58,9 @@ namespace KDL{
          * \param torques the resulting torques for the joints
          */
         int CartToJnt(const JntArray &q, const JntArray &q_dot, const JntArray &q_dotdot, const Wrenches& f_ext,JntArray &torques);
-
+	Chain chain; // Meka Patch : allow to be modified online (SetPayload in Dynamatics)
     private:
-        Chain chain;
+        //Chain chain;
         unsigned int nj;
         unsigned int ns;
         std::vector<Frame> X;