{"action":"closed","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/665","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/665/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/665/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/665/events","html_url":"https://github.com/RobotLocomotion/drake/issues/665","id":53045235,"number":665,"title":"Remove Linear/AffineSystem dependence on spotless?","user":{"login":"kuindersma","id":6393437,"avatar_url":"https://avatars.githubusercontent.com/u/6393437?v=3","gravatar_id":"","url":"https://api.github.com/users/kuindersma","html_url":"https://github.com/kuindersma","followers_url":"https://api.github.com/users/kuindersma/followers","following_url":"https://api.github.com/users/kuindersma/following{/other_user}","gists_url":"https://api.github.com/users/kuindersma/gists{/gist_id}","starred_url":"https://api.github.com/users/kuindersma/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kuindersma/subscriptions","organizations_url":"https://api.github.com/users/kuindersma/orgs","repos_url":"https://api.github.com/users/kuindersma/repos","events_url":"https://api.github.com/users/kuindersma/events{/privacy}","received_events_url":"https://api.github.com/users/kuindersma/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2014-12-29T14:42:41Z","updated_at":"2015-01-09T13:02:26Z","closed_at":"2015-01-09T13:02:26Z","body":"(discovered via DRC issue https://github.com/mitdrc/drc/issues/647) addpath_spotless is being called from CoordinateFrame.getPoly. For example, here's the stack trace when I remove it from the path and run the Atlas state machine:\r\n\r\nError in CoordinateFrame/getPoly (line 90)\r\nobj.poly=msspoly(obj.prefix(1),obj.dim);\r\n\r\nError in PolynomialSystem/setInputFrame (line 146)\r\nif obj.getNumStates()>0 && any(match(obj.getStateFrame.getPoly,frame.getPoly)~=0)\r\n\r\nError in DrakeSystem/setNumInputs (line 314)\r\nobj=setInputFrame(obj,CoordinateFrame([class(obj),'Input'],num_u,'u'));\r\n\r\nError in DrakeSystem (line 27)\r\nobj = setNumInputs(obj,num_u);\r\n\r\nError in PolynomialSystem (line 13)\r\nobj = obj@DrakeSystem(num_xc,num_xd,num_u,num_y,direct_feedthrough_flag,time_invariant_flag);\r\n\r\nError in AffineSystem (line 18)\r\nobj = obj@PolynomialSystem(num_xc,num_xd,num_u,num_y,false,tiflag,false);\r\n\r\nError in LinearSystem (line 6)\r\nobj = obj@AffineSystem(Ac,Bc,[],Ad,Bd,[],C,D,[]);\r\n\r\nError in LinearInvertedPendulum (line 36)\r\nobj = obj@LinearSystem([zeros(2),eye(2);zeros(2,4)],[zeros(2);eye(2)],[],[],C,D);\r\n\r\nError in AtlasBalancingController (line 59)\r\nlimp = LinearInvertedPendulum(com(3));\r\n\r\nError in runAtlasStateMachine (line 29)\r\nstanding_controller = AtlasBalancingController('stand',r,options);"}}