{"action":"created","comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/23684027","id":23684027,"diff_hunk":"@@ -962,18 +977,17 @@ void RigidBodyManipulator::doKinematicsNew(double* q, bool compute_gradients, do\n             dcrm(body.twist, joint_twist, body.dtwistdq, djoint_twistdq, &dcrm_twist_joint_twistdq); // TODO: make dcrm templated\n             body.dJdotVdq = bodies[body.parent]->dJdotVdq\n                 + dcrm_twist_joint_twistdq\n-                + dTransformAdjoint(T, body.SdotV, body.dTdq_new, dSdotVdq);\n+                + dTransformAdjoint(body.T_new, body.SdotV, body.dTdq_new, dSdotVdq);\n \n             // dJdotvdv\n             // TODO: exploit sparsity better\n-            Matrix<double, TWIST_SIZE, Eigen::Dynamic> jacobian(TWIST_SIZE, 0);\n             std::vector<int> v_indices;\n-            geometricJacobian(0, i, 0, jacobian, &v_indices);\n+            auto jacobian = geometricJacobian<double>(0, i, 0, 0, &v_indices);","path":"systems/plants/RigidBodyManipulator.cpp","position":107,"original_position":107,"commit_id":"6437b356215212a22ca55aa54535a930ed76c0a0","original_commit_id":"6437b356215212a22ca55aa54535a930ed76c0a0","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":"this might get us on windows?  i have the win64 build server humming, but have to fix the win32 build server.","created_at":"2015-01-28T12:49:06Z","updated_at":"2015-01-28T12:49:06Z","html_url":"https://github.com/RobotLocomotion/drake/pull/716#discussion_r23684027","pull_request_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/716","_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/23684027"},"html":{"href":"https://github.com/RobotLocomotion/drake/pull/716#discussion_r23684027"},"pull_request":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/716"}}},"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/716","id":28167315,"html_url":"https://github.com/RobotLocomotion/drake/pull/716","diff_url":"https://github.com/RobotLocomotion/drake/pull/716.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/716.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/716","number":716,"state":"open","locked":false,"title":"Quaternion/new forward kinematics sprint","user":{"login":"tkoolen","id":2585880,"avatar_url":"https://avatars.githubusercontent.com/u/2585880?v=3","gravatar_id":"","url":"https://api.github.com/users/tkoolen","html_url":"https://github.com/tkoolen","followers_url":"https://api.github.com/users/tkoolen/followers","following_url":"https://api.github.com/users/tkoolen/following{/other_user}","gists_url":"https://api.github.com/users/tkoolen/gists{/gist_id}","starred_url":"https://api.github.com/users/tkoolen/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tkoolen/subscriptions","organizations_url":"https://api.github.com/users/tkoolen/orgs","repos_url":"https://api.github.com/users/tkoolen/repos","events_url":"https://api.github.com/users/tkoolen/events{/privacy}","received_events_url":"https://api.github.com/users/tkoolen/received_events","type":"User","site_admin":false},"body":"See https://github.com/mitdrc/drc/issues/811\r\n\r\nThe idea is to keep old stuff working and call new code if RigidBodyManipulator.use_new_kinsol is set to true, as was done for geometricJacobian before. 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