{"action":"created","comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/25345461","id":25345461,"diff_hunk":"@@ -253,10 +260,12 @@ void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )\n             // intentionally do nothing..\n             break;\n         }\n+\n         model->addCollisionElement(i,T,shape,params_vec,group_name);\n-        if (model->bodies[i]->parent<0) {\n+        if (model->bodies[i]->parent==nullptr) {","path":"systems/plants/constructModelmex.cpp","position":34,"original_position":34,"commit_id":"caeffc8f81a31cfbc8c97f0cf6ac6b2e53a154db","original_commit_id":"caeffc8f81a31cfbc8c97f0cf6ac6b2e53a154db","user":{"login":"avalenzu","id":2574034,"avatar_url":"https://avatars.githubusercontent.com/u/2574034?v=3","gravatar_id":"","url":"https://api.github.com/users/avalenzu","html_url":"https://github.com/avalenzu","followers_url":"https://api.github.com/users/avalenzu/followers","following_url":"https://api.github.com/users/avalenzu/following{/other_user}","gists_url":"https://api.github.com/users/avalenzu/gists{/gist_id}","starred_url":"https://api.github.com/users/avalenzu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/avalenzu/subscriptions","organizations_url":"https://api.github.com/users/avalenzu/orgs","repos_url":"https://api.github.com/users/avalenzu/repos","events_url":"https://api.github.com/users/avalenzu/events{/privacy}","received_events_url":"https://api.github.com/users/avalenzu/received_events","type":"User","site_admin":false},"body":"```c++\r\nif (!model->bodies[i]->hasParent()) {\r\n```","created_at":"2015-02-25T15:01:33Z","updated_at":"2015-02-25T15:01:33Z","html_url":"https://github.com/RobotLocomotion/drake/pull/799#discussion_r25345461","pull_request_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/799","_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/25345461"},"html":{"href":"https://github.com/RobotLocomotion/drake/pull/799#discussion_r25345461"},"pull_request":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/799"}}},"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/799","id":29773986,"html_url":"https://github.com/RobotLocomotion/drake/pull/799","diff_url":"https://github.com/RobotLocomotion/drake/pull/799.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/799.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/799","number":799,"state":"open","locked":false,"title":"upgrade c++ urdf support (and removes boost dependency)","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},"body":"Lots of changes in here (too many).  I will annotate the diff in here.  \r\n\r\nHighlights:\r\n  - implemented our own urdf parser in c++ (to avoid the boost dependency).  only populates the fields needed for the new kinsol logic.\r\n  - changes RigidBodyManipulator parent member variable in c++ to be a pointer instead of an index.  transmissions, loop joints, etc, also use pointers.  this forced more changes than I wanted, but I think it's absolutely the right thing to do (we would have done it in matlab, too, if we didn't have to maintain the pass-by-value contract).  this enabled, for instance, the additional logic to reorder links so that parents come before children in the kinematic tree - which is assumed in the kinematics/dynamics logic.\r\n  - updated testURDFmex to check matlab vs c++ kinematics and dynamics for *every* urdf inside drake.  \r\n  - fixed a bunch of little bugs found by above (with the urdfs, and a few logic bugs that cropped up in the code)\r\n\r\nLimitations: \r\n  - I left the old URDFRigidBodyManipulator interface there, but it doesn't add anything beyond backwards compatibility.. including the ability to populate the old kinsol data structures.\r\n  - i haven't parsed collision meshes in the new parser yet, but it should be trivial.  i think almost everything else is done.\r\n\r\nI won't be surprised if the build servers find things I've missed in my local testing.  Let's see.  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