{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/744","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/744/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/744/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/744/events","html_url":"https://github.com/RobotLocomotion/drake/pull/744","id":56719290,"number":744,"title":"Quaternion/new kinematics cleanup","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},"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":15,"created_at":"2015-02-05T19:46:21Z","updated_at":"2015-02-11T12:11:51Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/744","html_url":"https://github.com/RobotLocomotion/drake/pull/744","diff_url":"https://github.com/RobotLocomotion/drake/pull/744.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/744.patch"},"body":"See https://github.com/RobotLocomotion/drake/pull/716 and https://github.com/mitdrc/drc/issues/934\r\n* forwardKin options struct\r\n* modify dTransformAdjoint and turn it into dTransformSpatialForce for more convenience and efficiency\r\n* get rid of forwardKinV, instead merge forwardKinV into forwardKin,use in_terms_of_v boolean in options struct\r\n* add in_terms_of_qdot option to geometricJacobian\r\n* update dcross Matlab implementation: add da and db inputs.\r\n* differentiate between nq and nv in C++ code (addition w.r.t. https://github.com/mitdrc/drc/issues/934)\r\n* made eigenToMatlab more efficient and moved it and related functions to drakeUtil. (addition w.r.t. https://github.com/mitdrc/drc/issues/934)"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/73871791","html_url":"https://github.com/RobotLocomotion/drake/pull/744#issuecomment-73871791","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/744","id":73871791,"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},"created_at":"2015-02-11T12:11:51Z","updated_at":"2015-02-11T12:11:51Z","body":"let me know what you think about compute_gradients.  otherwise, i think it looks ready to go."}}