Caught from the following warning:
In file included from IK_QChain.h:47,
from IK_QChain.cpp:44:
TNT/cmat.h: In function `void TNT::matmultdiag(TNT::Matrix<T>&, const TNT::Matri
x<T>&, const TNT::Vector<T>&)':
TNT/cmat.h:593: warning: left-hand operand of comma has no effect