Keep with the old default number of iterations (30). The default from...

Keep with the old default number of iterations (30). The default from ConstrainedIK (1000) is much too much.

VirtualRobot/IK/ConstrainedOptimizationIK.cpp

@@ -29,7 +29,7 @@
 using namespace VirtualRobot;
 
 ConstrainedOptimizationIK::ConstrainedOptimizationIK(RobotPtr& robot, const RobotNodeSetPtr& nodeSet, float timeout, float tolerance) :
-    ConstrainedIK(robot, nodeSet),
+    ConstrainedIK(robot, nodeSet, 30),
     nodeSet(nodeSet),
     timeout(timeout),
     tolerance(tolerance)