Index: source/blender/ikplugin/intern/itasc_plugin.cpp
===================================================================
--- source/blender/ikplugin/intern/itasc_plugin.cpp	(revision 21963)
+++ source/blender/ikplugin/intern/itasc_plugin.cpp	(working copy)
@@ -328,15 +328,15 @@
 }
 static double EulerAngleFromMatrix(const KDL::Rotation& R, int axis)
 {
-	double t = sqrt(R(0,0)*R(0,0) + R(0,1)*R(0,1));
+	double t = KDL::sqrt(R(0,0)*R(0,0) + R(0,1)*R(0,1));
 
 	if (t > 16.0*KDL::epsilon) {
-		if (axis == 0) return -atan2(R(1,2), R(2,2));
-        else if(axis == 1) return atan2(-R(0,2), t);
-        else return -atan2(R(0,1), R(0,0));
+		if (axis == 0) return -KDL::atan2(R(1,2), R(2,2));
+        else if(axis == 1) return KDL::atan2(-R(0,2), t);
+        else return -KDL::atan2(R(0,1), R(0,0));
     } else {
-		if (axis == 0) return -atan2(-R(2,1), R(1,1));
-        else if(axis == 1) return atan2(-R(0,2), t);
+		if (axis == 0) return -KDL::atan2(-R(2,1), R(1,1));
+        else if(axis == 1) return KDL::atan2(-R(0,2), t);
         else return 0.0f;
     }
 }
@@ -347,7 +347,7 @@
 	double qy = R(0,2) - R(2,0);
 	double qw = R(0,0) + R(1,1) + R(2,2) + 1;
 
-	double tau = 2*atan2(qy, qw);
+	double tau = 2*KDL::atan2(qy, qw);
 
 	return tau;
 }
@@ -381,7 +381,7 @@
         Y = 0.0 ;
     } else {
         X = KDL::atan2(R(2,1), R(1,1));
-        Z = KDL::atan2(-R(0,1), sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2))));
+        Z = KDL::atan2(-R(0,1), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,2))));
         Y = KDL::atan2(R(0,2), R(0,0));
     }
 }
@@ -394,7 +394,7 @@
         Z = 0.0 ;
     } else {
         X = KDL::atan2(-R(1,2), R(2,2));
-        Y = KDL::atan2(R(0,2), sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1))));
+        Y = KDL::atan2(R(0,2), KDL::sqrt( KDL::sqr(R(0,0)) + KDL::sqr(R(0,1))));
         Z = KDL::atan2(-R(0,1), R(0,0));
     }
 }