make IK compile on Mac OSX
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*
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*
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* Author: Samuel R. Buss, sbuss@ucsd.edu.
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* Web page: http://math.ucsd.edu/~sbuss/MathCG
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* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
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*
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*
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This software is provided 'as-is', without any express or implied warranty.
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