{"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":8,"created_at":"2015-03-21T00:48:01Z","updated_at":"2015-03-22T20:14:20Z","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/84690710","html_url":"https://github.com/RobotLocomotion/drake/pull/884#issuecomment-84690710","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/884","id":84690710,"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":"2015-03-22T20:14:20Z","updated_at":"2015-03-22T20:14:20Z","body":"Site: drake001.csail.mit.edu\nBuild Name: master-pull-rdeits-zmp-cache-rebase-into-RobotLocomotion-master\nBuild Server Directory: /private/tmp/drake-master-714/drake\nPull Request: https://github.com/RobotLocomotion/drake/pull/884\nCDash: http://kobol.csail.mit.edu/cd/viewTest.php?onlyfailed&buildid=11991\n\nMost recent commits to drake included in this build:\n```\n9e9cd4c Merge branch 'zmp-cache-rebase' of https://github.com/rdeits/drake\n16c0d92 Merge pull request #887 from psiorx/jc-fix-testPositionConstraintsmex\n84aff10 Merge pull request #814 from tkoolen/cmm-com-cleanup\n7c16492 WIP: reformatting zmp lqr cache\nc15584e Revert change to getCOM.\n```\n\n373 tests run:\n 356 passed\n 0 cancelled (with missing dependencies )\n 1 timed out\n 16 failed\n  3 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/18\\\">known issue #18</a>: Singularities in the euler-angle floating base joint cause infrequent errors on unit tests with random initial conditions\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/585\\\">known issue #585</a>: testIndividualCentersOfPressure fails on win64\n  1 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/774\\\">known issue #774</a>: testForwardKin fails with wrap-around errors\n  1 <a href=\\\"https://github.com/RobotLocomotion/drake/issues/822\\\">known issue #822</a>: testURDF fails now that it is parsing every urdf in drake\n  5 unknown\n\nexamples/Atlas/runAtlasWalkingPlanning (unknown issue)\n```\nerror_id = MATLAB:nonExistentField\nerror_message = Reference to non-existent field 'tspan'.\nis_segfault = 0\n```\n```Matlab\n\n                            < M A T L A B (R) >\n                  Copyright 1984-2014 The MathWorks, Inc.\n                     R2014a (8.3.0.532) 64-bit (maci64)\n                             February 11, 2014\n\n \nTo get started, type one of these: helpwin, helpdesk, or demo.\nFor product information, visit www.mathworks.com.\n \nTo reproduce this test use rng(734797106,'twister')\n \n[Warning: Disabling autosave for simulink blocks (to avoid generating a lot of\n*.mdl.autosave files in your directory.  If you aren't a regular Simulink user\nand don't want this disabled, comment out this section in addpath_drake.\nTo disable this warning in the future, add\n   warning('off','Drake:DisablingSimulinkAutosave')\nto your matlab startup.m] \n[> In addpath_drake at 74\n  In addpath_drake at 4] \n Added the lcm jar to your javaclasspath (found via cmake)\n[Warning: Currently all of your LCM traffic will be broadcast to the network,\nbecause:\n  Route to multicast channel does not run through the loopback interface.\n  Consider running: sudo\n  /private/tmp/drake-master-714/drake/util/setup_loopback_multicast.sh\n] \n[> In checkDependency at 62\n  In checkDependency at 73\n  In runAtlasWalkingPlanning at 15\n  In fevalPackageSafe at 21] \n Added the lcmgl jar to your javaclasspath (found via cmake)\n Calling addpath_snopt\n Calling addpath_gurobi\nReference to non-existent field 'tspan'.\n\nError in Biped/planWalkingStateTraj (line 19)\nts = 0:0.1:walking_plan_data.comtraj.tspan(end);\n\nError in runAtlasWalkingPlanning (line 69)\n[xtraj, htraj, ts] = r.planWalkingStateTraj(walking_plan_data);\n\nError in fevalPackageSafe (line 21)\n  feval(f);\n\n \n<test_name>examples/Atlas/runAtlasWalkingPlanning</test_name> <error_id>MATLAB:nonExistentField</error_id> <error_message>Reference to non-existent field 'tspan'.</error_message> \n\n\n```\n\nexamples/Atlas/runDRCDoorTask (unknown issue)\n```\nerror_id = MATLAB:nonExistentField\nerror_message = Reference to non-existent field 'tspan'.\nis_segfault = 0\n```\n```Matlab\n\n                            < M A T L A B (R) >\n                  Copyright 1984-2014 The MathWorks, Inc.\n                     R2014a (8.3.0.532) 64-bit (maci64)\n                             February 11, 2014\n\n \nTo get started, type one of these: helpwin, helpdesk, or demo.\nFor product information, visit www.mathworks.com.\n \nTo reproduce this test use rng(734810223,'twister')\n \n[Warning: Disabling autosave for simulink blocks (to avoid generating a lot of\n*.mdl.autosave files in your directory.  If you aren't a regular Simulink user\n\n\n**This post was going to be too long and has been truncated**"}}