{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/884","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/884/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/884/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/884/events","html_url":"https://github.com/RobotLocomotion/drake/pull/884","id":63339632,"number":884,"title":"Cache LQR solutions and speed up the ZMP tracker analytic solution","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},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/waiting%20for%20code%20update","name":"waiting for code update","color":"eb6420"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-03-21T00:48:01Z","updated_at":"2015-03-22T05:28:53Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/884","html_url":"https://github.com/RobotLocomotion/drake/pull/884","diff_url":"https://github.com/RobotLocomotion/drake/pull/884.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/884.patch"},"body":"This implements a cache around LQR, which should remove the ~5-10s cost the first time it's called, and the smaller but significant cost each subsequent time it's called. The cache should see an extremely high hit rate, since we almost always call the ZMPTracker from the exact same CoM height. "},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/84524631","html_url":"https://github.com/RobotLocomotion/drake/pull/884#issuecomment-84524631","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/884","id":84524631,"user":{"login":"RobotLocomotionBuild","id":8457190,"avatar_url":"https://avatars.githubusercontent.com/u/8457190?v=3","gravatar_id":"","url":"https://api.github.com/users/RobotLocomotionBuild","html_url":"https://github.com/RobotLocomotionBuild","followers_url":"https://api.github.com/users/RobotLocomotionBuild/followers","following_url":"https://api.github.com/users/RobotLocomotionBuild/following{/other_user}","gists_url":"https://api.github.com/users/RobotLocomotionBuild/gists{/gist_id}","starred_url":"https://api.github.com/users/RobotLocomotionBuild/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RobotLocomotionBuild/subscriptions","organizations_url":"https://api.github.com/users/RobotLocomotionBuild/orgs","repos_url":"https://api.github.com/users/RobotLocomotionBuild/repos","events_url":"https://api.github.com/users/RobotLocomotionBuild/events{/privacy}","received_events_url":"https://api.github.com/users/RobotLocomotionBuild/received_events","type":"User","site_admin":false},"created_at":"2015-03-22T05:28:53Z","updated_at":"2015-03-22T05:28:53Z","body":"*** BUILD FAILED with compilation errors. ***\n\nSite: drake001.csail.mit.edu\nBuild Name: master-pull-rdeits-zmp-cache-rebase-into-RobotLocomotion-master\nBuild Server Directory: /private/tmp/drake-master-7134\nPull Request: https://github.com/RobotLocomotion/drake/pull/884\nCDash: http://kobol.csail.mit.edu/cd/index.php?project=Drake&date=20150322\n\nMost recent commits to drake included in this build:\n```\n5ea7acc Merge branch 'master' of https://github.com/RobotLocomotion/drake-distro\ne2c1dce update gurobi\n30c0edf Merge branch 'master' of https://github.com/RobotLocomotion/drake-distro\nb2e35ac update submodules.  especially snopt\nec5c233 fix source dir to allow debugging.\n```\n\n```\n7134/build/include/snopt/snopt.hh\n-- Installing: /tmp/drake-master-7134/build/include/snopt/snfilewrapper.hh\n-- Installing: /tmp/drake-master-7134/build/lib/libsnopt_c.a\n-- Installing: /tmp/drake-master-7134/build/lib/pkgconfig/snopt_c.pc\n-- Installing: /tmp/drake-master-7134/build/include/snopt/snopt.h\n-- Installing: /tmp/drake-master-7134/build/include/snopt/snoptProblem.hh\n-- Installing: /tmp/drake-master-7134/build/lib/libsnopt_cpp.a\n-- Installing: /tmp/drake-master-7134/build/lib/pkgconfig/snopt_cpp.pc\n\n-------------------------------------------\n-- gurobi\n-------------------------------------------\nUsing GUROBI_DISTRO file /Users/russt/gurobi5.6.2_mac64.pkg\ntar: Error opening archive: Failed to open 'Payload'\ntar: Error opening archive: Failed to open 'gurobi6.0.2_mac64.tar.gz'\nmv: rename gurobi602 to ../../gurobi602: No such file or directory\nUsing GUROBI_DISTRO file /Users/russt/gurobi5.6.2_mac64.pkg\nmkdir: tmp: File exists\ntar: Error opening archive: Failed to open 'Payload'\ntar: Error opening archive: Failed to open 'gurobi6.0.2_mac64.tar.gz'\nmv: rename gurobi602 to ../../gurobi602: No such file or directory\n\nBUILD_PREFIX: /tmp/drake-master-7134/build\n\n\n-- The C compiler identification is Clang 6.0.0\n-- The CXX compiler identification is Clang 6.0.0\n-- Check for working C compiler: /usr/bin/cc\n-- Check for working C compiler: /usr/bin/cc -- works\n-- Detecting C compiler ABI info\n-- Detecting C compiler ABI info - done\n-- Check for working CXX compiler: /usr/bin/c++\n-- Check for working CXX compiler: /usr/bin/c++ -- works\n-- Detecting CXX compiler ABI info\n-- Detecting CXX compiler ABI info - done\nerror: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/install_name_tool: can't open file: /tmp/drake-master-7134/gurobi/gurobi602/mac64/lib/libgurobi60.so (No such file or directory)\n-- Writing addpath_gurobi.m and rmpath_gurobi.m to /tmp/drake-master-7134/build/matlab\n-- Configuring done\n-- Generating done\n-- Build files have been written to: /tmp/drake-master-7134/gurobi/pod-build\nInstall the project...\n-- Install configuration: \\\"Release\\\"\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_r_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_lib_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_bin_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_include_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_pkgconfig_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_base_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_data_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_config_path.m\n-- Installing: /tmp/drake-master-7134/build/matlab/pods_get_models_path.m\nCMake Error at cmake_install.cmake:67 (FILE):\n  file INSTALL cannot find\n  \\\"/tmp/drake-master-7134/gurobi/gurobi602/mac64/include/gurobi_c.h\\\".\n\n\nmake[2]: *** [install] Error 1\nmake[1]: *** [all] Error 2\nmake: *** [all] Error 2\n```\n"}}