{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1123","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1123/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1123/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1123/events","html_url":"https://github.com/RobotLocomotion/drake/pull/1123","id":89670646,"number":1123,"title":"Use 3-vectors to store points throughout Drake","user":{"login":"psiorx","id":3849600,"avatar_url":"https://avatars.githubusercontent.com/u/3849600?v=3","gravatar_id":"","url":"https://api.github.com/users/psiorx","html_url":"https://github.com/psiorx","followers_url":"https://api.github.com/users/psiorx/followers","following_url":"https://api.github.com/users/psiorx/following{/other_user}","gists_url":"https://api.github.com/users/psiorx/gists{/gist_id}","starred_url":"https://api.github.com/users/psiorx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/psiorx/subscriptions","organizations_url":"https://api.github.com/users/psiorx/orgs","repos_url":"https://api.github.com/users/psiorx/repos","events_url":"https://api.github.com/users/psiorx/events{/privacy}","received_events_url":"https://api.github.com/users/psiorx/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":{"login":"psiorx","id":3849600,"avatar_url":"https://avatars.githubusercontent.com/u/3849600?v=3","gravatar_id":"","url":"https://api.github.com/users/psiorx","html_url":"https://github.com/psiorx","followers_url":"https://api.github.com/users/psiorx/followers","following_url":"https://api.github.com/users/psiorx/following{/other_user}","gists_url":"https://api.github.com/users/psiorx/gists{/gist_id}","starred_url":"https://api.github.com/users/psiorx/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/psiorx/subscriptions","organizations_url":"https://api.github.com/users/psiorx/orgs","repos_url":"https://api.github.com/users/psiorx/repos","events_url":"https://api.github.com/users/psiorx/events{/privacy}","received_events_url":"https://api.github.com/users/psiorx/received_events","type":"User","site_admin":false},"milestone":null,"comments":16,"created_at":"2015-06-19T22:08:34Z","updated_at":"2015-07-15T19:41:12Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1123","html_url":"https://github.com/RobotLocomotion/drake/pull/1123","diff_url":"https://github.com/RobotLocomotion/drake/pull/1123.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1123.patch"},"body":"...and use implicit conversion to homogeneous coordinate just-in-time.  \r\n\r\nThere were a few places where the code was taking advantage of the fact that a vector can be transformed using [x, y, z, 0] in homogeneous coordinates which violates the assumption that all inputs to e.g. forwardKin should be interpreted as [x, y, z, 1].  \r\n\r\nThose have been singled out and special cased to fit the new convention. Resolves #849 "},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/121723697","html_url":"https://github.com/RobotLocomotion/drake/pull/1123#issuecomment-121723697","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1123","id":121723697,"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":"2015-07-15T19:41:12Z","updated_at":"2015-07-15T19:41:12Z","body":"Site: DRAKE003\nBuild Name: precompiled-pull-psiorx-jc-3xn-cleanup-into-RobotLocomotion-master\nBuild Server Directory: C:/cygwin64/tmp/drake-precompiled/drake-3955\nPull Request: https://github.com/RobotLocomotion/drake/pull/1123\nCDash: http://kobol.csail.mit.edu/cd/viewTest.php?onlyfailed&buildid=13957\n\nMost recent commits to drake included in this build:\n```\n3697def Merge branch 'jc-3xn-cleanup' of https://github.com/psiorx/drake\n299cabc fixed segfault\nc85ab65 Merge pull request #1162 from RussTedrake/acro_cpp_test\n855cb7d fixed upstream merge conflict\n1179d78 addressed code review comments\n```\n\n406 tests run:\n 286 passed\n 83 cancelled (with missing dependencies  SDPSolver:10, avl:4, bullet:11, gloptipoly3:3, gurobi:14, iris:9, lcm:24, mosek:2, octomap:1, sedumi:3, yalmip:2)\n 0 timed out\n 37 failed\n  4 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/374\\\">known issue #374</a>: failing imu unit tests\n  1 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/466\\\">known issue #466</a>: implement Jdot*v for drakeFunction.kinematic methods\n  1 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/468\\\">known issue #468</a>: non-bullet builds can throw logical error in active_collision parsing in collisionDetect\n  27 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/569\\\">known issue #569</a>: lcppath.mexw64 and lcppath.mexw32 fails to load on win machines\n  4 unknown\n\ntestConvexHull (error_id = )\ntestIK (error_id = )\ntestIKtraj (error_id = )\ntestIKpointwise (error_id = )\n\n\nDetailed test output:\n\ntestConvexHull (unknown issue)\n```\nerror_id = \nerror_message = \nis_segfault = 0\n```\n```Matlab\n\n```\n\ntestIK (unknown issue)\n```\nerror_id = \nerror_message = \nis_segfault = 0\n```\n```Matlab\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/r_clav.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/l_foot.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/r_larm.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/r_hand.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/l_lglut.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/l_lleg.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/r_scap.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/l_talus.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/r_uarm.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/r_farm.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/l_uglut.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/l_uleg.obj' could not be resolved and will be ignored by Drake.\nWarning: Couldn't find package 'Atlas' in ROS_ROOT, ROS_PACKAGE_PATH, or user supplied package map\nWarning: Mesh 'package://Atlas/urdf/meshes/ltorso.obj' could not be resolved and will be igno\n\n**This post was going to be too long and has been truncated**"}}