{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1274","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1274/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1274/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1274/events","html_url":"https://github.com/RobotLocomotion/drake/pull/1274","id":102473599,"number":1274,"title":"Starting the core C++ stack","user":{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-08-21T22:30:20Z","updated_at":"2015-08-23T02:39:49Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1274","html_url":"https://github.com/RobotLocomotion/drake/pull/1274","diff_url":"https://github.com/RobotLocomotion/drake/pull/1274.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1274.patch"},"body":"\r\nI've started moving the `DynamicalSystem` class hierarchy over into C++.  The most dramatic accomplishment right now is running the pendulum simulation in c++ and visualizing the output via an LCM visualizer.  This means that I've taken a first pass at implementing:\r\n- DrakeSystem, including simulate, cascade, and coordinate frame logic\r\n- runLCM (currently publishes, but doesn't yet subscribe), \r\n- CoordinateFrame, MultiCoordinateFrame, and LCMCoordinateFrame \r\n- the pendulum class dynamics.  (not the toughest part)\r\n\r\nThis pull also removes implementation from the matlab CoordinateFrame class, which is now close(r) to being the thin wrapper on top of the C++ version of that class.  \r\n\r\nI've played a lot with different design decisions, and really really want everyone's feedback.  Best to get something we're happy with early.  The types for the vector arguments to the dynamics, etc methods are a placeholder, pending the discussion on #1273 .\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/133775960","html_url":"https://github.com/RobotLocomotion/drake/pull/1274#issuecomment-133775960","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1274","id":133775960,"user":{"login":"rdeits","id":591886,"avatar_url":"https://avatars.githubusercontent.com/u/591886?v=3","gravatar_id":"","url":"https://api.github.com/users/rdeits","html_url":"https://github.com/rdeits","followers_url":"https://api.github.com/users/rdeits/followers","following_url":"https://api.github.com/users/rdeits/following{/other_user}","gists_url":"https://api.github.com/users/rdeits/gists{/gist_id}","starred_url":"https://api.github.com/users/rdeits/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rdeits/subscriptions","organizations_url":"https://api.github.com/users/rdeits/orgs","repos_url":"https://api.github.com/users/rdeits/repos","events_url":"https://api.github.com/users/rdeits/events{/privacy}","received_events_url":"https://api.github.com/users/rdeits/received_events","type":"User","site_admin":false},"created_at":"2015-08-23T02:39:49Z","updated_at":"2015-08-23T02:39:49Z","body":"Oh, I think the Travis build is failing because `runPendulumDynamics` is trying to simulate 5000 seconds of execution in real time. "}}