Fix iTaSC build error when building with libc++.

This was using TreeElement before it was fully defined, which gives undefined
behavior that happened to work with other libraries but not libc++.

Based on patch by Marcus von Appen, modifications for brevity and to ensure we
don't dereference invalid memory. Ref T37477.

1 files changed, 3 insertions, 3 deletions

diff --git a/intern/itasc/kdl/treejnttojacsolver.cpp b/intern/itasc/kdl/treejnttojacsolver.cpp
index 624bbef7990..e8b4d385ab2 100644
--- a/intern/itasc/kdl/treejnttojacsolver.cpp
+++ b/intern/itasc/kdl/treejnttojacsolver.cpp
@@ -28,16 +28,16 @@ int TreeJntToJacSolver::JntToJac(const JntArray& q_in, Jacobian& jac,
         return -1;
 
     //Lets search the tree-element
-    SegmentMap::const_iterator it = tree.getSegments().find(segmentname);
+    SegmentMap::value_type const* it = tree.getSegmentPtr(segmentname);
 
     //If segmentname is not inside the tree, back out:
-    if (it == tree.getSegments().end())
+    if (!it)
         return -2;
 
     //Let's make the jacobian zero:
     SetToZero(jac);
 
-    SegmentMap::const_iterator root = tree.getSegments().find("root");
+    SegmentMap::value_type const* root = tree.getSegmentPtr("root");
 
     Frame T_total = Frame::Identity();
 	Frame T_local, T_joint;