{"action":"created","comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/38276439","id":38276439,"diff_hunk":"@@ -3,9 +3,18 @@\n \n class DLLEXPORT_RBM RigidBodyFrame {\n public:\n+  RigidBodyFrame(const std::string& _name, const std::shared_ptr<RigidBody>& _body, const Eigen::Matrix4d& _Ttree)\n+   : name(_name), body(_body), Ttree(_Ttree), frame_index(0) {}\n+  RigidBodyFrame(const std::string& _name, const std::shared_ptr<RigidBody>& _body, const Eigen::Vector3d& xyz=Eigen::Vector3d::Zero(), const Eigen::Vector3d& rpy=Eigen::Vector3d::Zero())\n+          : name(_name), body(_body), Ttree(), frame_index(0) {","path":"drake/systems/plants/RigidBodyFrame.h","position":7,"original_position":7,"commit_id":"9891824d83aca8423c26fe50e2505e6426df14f5","original_commit_id":"9891824d83aca8423c26fe50e2505e6426df14f5","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":"get rid of unnecessary Ttree() in initializer list","created_at":"2015-08-30T21:54:44Z","updated_at":"2015-08-30T21:54:44Z","html_url":"https://github.com/RobotLocomotion/drake/pull/1303#discussion_r38276439","pull_request_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1303","_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/38276439"},"html":{"href":"https://github.com/RobotLocomotion/drake/pull/1303#discussion_r38276439"},"pull_request":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1303"}}},"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1303","id":43718711,"html_url":"https://github.com/RobotLocomotion/drake/pull/1303","diff_url":"https://github.com/RobotLocomotion/drake/pull/1303.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1303.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1303","number":1303,"state":"open","locked":false,"title":"Loop orientation constraint","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 one turned into a bigger changed than I intended.\r\n\r\nOur loop joint constraints have always been position-only constraints.  This pull request adds the additional orientation constraint - ensuring that loop joint acts as a single continuous joint along the specified axis (instead of as a ball joint).  It deletes one of the annoying warnings that has appeared whenever we load a urdf with loops.\r\n\r\nGetting it working in matlab was a tiny change to RigidBodyLoop.m only.  Porting it to c++ involved cleaning up the loop and frame c++ classes, parsers, converters from matlab, etc.  Lots of little touches.  Also zapped the positionConstraints() method and moved positionConstraintsNew to positionConstraints().\r\n\r\nAlong the way, it excited a bug in our mex jacobian calculations when forwardKin was called with the base being a rigidbody frame (instead of a body).  \r\n\r\nLet's see if the build servers find anything I've missed...","created_at":"2015-08-30T19:22:16Z","updated_at":"2015-08-30T21:54:44Z","closed_at":null,"merged_at":null,"merge_commit_sha":"4002413c898815142d3894b24f7b316dd107c6cb","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1303/commits","review_comments_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1303/comments","review_comment_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments{/number}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1303/comments","statuses_url":"https://api.github.com/repos/RobotLocomotion/drake/statuses/9891824d83aca8423c26fe50e2505e6426df14f5","head":{"label":"RussTedrake:loop_orientation_constraint","ref":"loop_orientation_constraint","sha":"9891824d83aca8423c26fe50e2505e6426df14f5","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},"repo":{"id":17115630,"name":"drake","full_name":"RussTedrake/drake","owner":{"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},"private":false,"html_url":"https://github.com/RussTedrake/drake","description":"A planning, control, and analysis toolbox for nonlinear dynamical systems.  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